ICFMAS2018 - Proceedings - 2018 10 27 28 PDF

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PROCEEDINGS
The First International Conference on Fluid

Machinery and Automation Systems 2018
ICFMAS2018
October 27 – 28, 2018
Hanoi, Vietnam
Organized by
VIETNAM FLUID POWER ASSOCIATION
and
HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY
BACH KHOA PUBLISHING HOUSE

Organizers
Vietnam Fluid Power Association Hanoi University of Science and

Technology
Sponsors
Ho Chi Minh City University of Vietnam Maritime University

Technology
Nong Lam University – HaiDuong Pump Manufacturing

Ho Chi Minh City Joint Stock Company
Ho Chi Minh City University of Advanced Industry and Education

Technology and Education Equipment Company Limited
Research Institute of Agricultural Nam Hai Engineering Company

Machinery
Editoral Board
Editor-in-chief: Prof. Dr. Nguyen The Mich
Technical Editor: Dr. Vu Van Truong
Members: Assoc. Prof. Dang Xuan Thi

Prof. Dr. Dinh Van Phong
Prof. Dr. Le Anh Tuan
Assoc. Dr. Hoang Thi Kim Dung
Dr. Pham Van Sang
Dr. Truong Van Thuan
International Members: Prof. Young-Do Choi (Korea)

Prof. Baoshan Zhu (China)
Prof. Iga Yuka (Japan)
Prof. Hwang Yunn Lin (Taiwan)
Prof. Hyoung Gwon Choi (Korea)
Prof. Andrew Ragai Henry Rigit
Dr. Nguyen Van Bo (Singapore)
Preface
PREFACE
ICFMAS2018 is the first edition of an international

conference founded to treat the topics of fluid machinery
and automation systems.
The scope of ICFMAS includes Turbomachine and

renewable energy, Hydraulic/pneumatic dynamics and
control, Numerical simulation and modeling, Advanced
industrial applications and design related to thermal
dynamics and combustion, ship engineering,
hydraulic/pneumatic power machines, valves and
pipelines system, aerodynamics, vehicles.
ICFMAS2018 is organized by Vietnam Fluid Power Association (VinFPA) and School

of Transportation Engineering, Hanoi University of Science and Technology (HUST).
The organizing committee of ICFMAS2018 is:
Prof. Dr. Dang Xuan Thi, President of VinFPA (Honorary Chairman)
Prof. Dr. Nguyen The Mich, Vice President of VinFPA (Chairman)
Prof.Dr. Dinh Van Phong, Vice President of HUST(Co-chairman)
The ICFMAS2018 aims to bring together academic scientists, researchers, and

manufacturers to exchange their experiences and the research results on all aspects
of fluid machinery and automation systems, to establish and strengthen the academic
– industry partnership and networking, to present the development of products in the
fluid machinery and automation field.
We welcome today in Hanoi, over 120 participants in four parallel sections, held over
two days. We thank Vietnam Fluid Power Association for their support and School of
Transportation Engineering (HUST) for hosting our conference.
We wish all of you a very productive and enjoyable conference!
NGUYEN The Mich,

Prof. Dr., School of Transportation Engineering, HUST
Vice President of VinFPA
Chairman of ICFMAS2018
i October 27 - 28, 2018

Hanoi, Vietnam
Preface
ii October 27 - 28, 2018

Hanoi, Vietnam
International Conference on Fluid Machinery and Automation Systems - ICFMAS2018
Conference Information
ICFMAS2018
October 27 – 28, 2018
Hanoi University of Science and Technology, Hanoi, Vietnam
Overview
The First International Conference on Fluid Machinery and Automation Systems 2018
(ICFMAS2018) is organized by Vietnam Fluid Power Association (VinFPA) and
School of Transportation Engineering, Hanoi University of Science and Technology
(HUST). The ICFMAS2018 is held on 27th – 28th October 2018 at Hanoi University
of Science and Technology, Hanoi, Vietnam. ICFMAS2018 aims to bring together
academic scientists, researchers, and manufacturers to exchange their experiences
and the research results on all aspects of fluid machinery and automation systems, to
establish and strengthen the academic – industry partnership and networking, to
present the development of products in the fluid machinery and automation field.
Science Topics
S1: Turbomachine (pump, turbine, and fan) and Renewable energy
(wind/ocean/hydro-power)
S2: Hydraulic/pneumatic dynamics and control (modeling, optimizing and
automation engineering)
S3: Numerical simulation and modeling (CFD, theory methodologies for
nano/mega- scale flows)
S4: Advanced industrial applications and design (related to thermal dynamics
and combustion, ship engineering, hydraulic/pneumatic power machines,
valves and pipelines system, aerodynamics, vehicles, etc…)
Language
The official language of ICFMAS2018 is English.
Simultaneous translation is not provided.
Organizing Committee
Prof. Dr. Nguyen The Mich, Conference Chairman (Hanoi University of
Science and Technology, Vice President of VinFPA)
Assoc. Prof. Dr. Dang Xuan Thi, Conference Honorary Chairman (President
of VinFPA)
Prof. Dr. Dinh Van Phong, Conference Co-chairman (Vice President of
HUST)
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Hanoi, Vietnam
International Scientific Advisory Board

Prof. Young-Do Choi (Mokpo University, Korea)
Prof. Baoshan Zhu (Tsinghua University, China)
Prof. Iga Yuka (Tohoku University, Japan)
Prof. Hwang Yunn Lin (National Formosa University, Taiwan)
Prof. Hyoung Gwon Choi (National Univeristy of Science and Technology,
Korea)
Prof. Andrew Ragai Anak Henry Rigit (University Malaysia Sarawak,
Malaysia)
Local Scientific Advisory Board
Prof. Nguyen The Mich, Prof. Le Anh Tuan, Assoc. Prof. Truong Viet Anh,
Assoc. Prof. Le Hong Anh, Prof. Le Danh Lien, Assoc. Prof. Nguyen Van Bay,
Mr. Nguyen Trong Nam, Assoc. Prof. Hoang Duc Lien, Dr. Nguyen Ngoc Linh,
Dr. Vu Dinh Quy, Dr. Pham Thi Thanh Huong, Assoc.Prof. Khong Vu Quang,
Assoc. Prof. Duong Ngoc Khanh, Dr. Pham Van Sang, Prof. Huynh Trung Hai,
Assoc. Prof. Nguyen Ngoc Trung, Assoc. Prof. Nguyen Phu Khanh, Assoc.
Prof. Bui Quoc Thai, Assoc. Prof. Ngo Sy Loc, Assoc. Prof. Hoang Thi Bich
Ngoc, Assoc. Prof. Hoang Sinh Truong, Assoc. Prof. Ngo Khanh Hieu, Assoc.
Prof. Ly Hung Anh, Dr. Tran Tien Anh, Assoc. Prof. Dang Ngoc Thanh, Assoc.
Prof. Nguyen Thien Tong, Assoc. Prof. Le Van Hoc, Prof. Nguyen Duc Cuong,
Assoc. Prof. Ngo Van Hien, Assoc. Prof. Phan Anh Tuan, Assoc. Prof. Le
Thanh Tung, Assoc. Prof. Le Quang, Assoc. Prof. Nguyen Phu Hung, Assoc.
Prof. Le Van Sy, Dr. Tran Dang Quoc, Assoc. Prof. Tran Thi Thu Huong, Prof.
Luong Cong Nho, Prof. Nguyen Hay, Prof. Nguyen Lac Hong, Assoc. Prof. Do
Van Dung, Assoc. Prof. Tran Ngoc Thanh, Assoc. Prof. Pham Xuan Duong,
Assoc. Prof. Mai Thanh Phong, Assoc. Prof. Le Minh Phuong, Dr. Nguyen The
Truyen
Conference Secretariat
Dr. Pham Van Sang, Dr. Truong Van Thuan,
Dr. Vu Van Truong, Assoc. Dr. Hoang Thi Kim Dung
School of Transportation Engineering, Hanoi University of Science and
Technology, No. 01 Dai Co Viet, Hai Ba Trung, Hanoi, Vietnam
Tel: (+84) 24 3868 4944
Email: icfmas2018@hust.edu.vn
http://ste.hust.edu.vn/iCFMAS2018/
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Contents
PREFACE .................................................................................................................... i
Conference Information .............................................................................................. iii
The Dynamic Analysis and Control of Hydraulic Machine System and Industrial
Robotic Manipulators ................................................................................................... 1
Yunn-Lin Hwang
Aerodynamic Performances of a Transonic Axial Compressor with Rotor Hub Fillet ....... 9
Hoang-Tung Vu, Dinh-Quy Vu, Cong-Truong Dinh
Vertical Axis Wind Turbine with Pivoting Blades – A New Study of Vertical Axis
WindTurbine .............................................................................................................. 13
Nguyen Van Khanh, Le Danh Lien
The Coefficient of Wind Power Utilization of Vertical Axis Wind Turbine with Pivoting
Blades ....................................................................................................................... 17
Le Danh Lien, Nguyen Van Khanh
Design and Optimization of a Wind Turbine Blade Working at Low Wind Speeds .... 22
Nguyen Cong Hao, Nguyen The Mich, Tran Van Tran
Relationship of Geometric Parameters and Kinetic to Characteristics of Wind Turbine

Works at Low Wind Speed ........................................................................................ 29
Nguyen Cong Hao, Nguyen The Mich, Tran Van Tran
Numerical Simulation and Testing of a Two-boby Heaving Wave Energy Converter .... 35
Phung Van Ngoc, Nguyen The Mich, Dang The Ba, Chu Dinh Do
Effects of Mesh on the Simulation of the 5.5 kW Centrifugal Fan

of the Dong Tam Ltd .................................................................................................. 42
Nguyen Ngoc Hoang Quan, Ngo Khanh Hieu
Propeller Simulation in Open-water Condition with SnappyHexMesh/OpenFOAM

Mesh Generator ........................................................................................................ 51
Le Van Long, Mai Ngoc Luan, Ngo Khanh Hieu
Model Order Reduction for Highly Non-linear and Stiff Convection-Diffusion-Reaction

Flow Problem ............................................................................................................ 57
Van Bo Nguyen, and The Mich Nguyen
Robust Multi-Loop PID Controller Design for Multivariable Process with Time Delay .... 64
Phan Tan Hai, Truong Nguyen Luan Vu
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Studying Hydraulic Regenerative Braking System on the Dump Truck ..................... 68

Luyen Van Hieu, Ngo Sy Loc, Tran Khanh Duong
Using CFD to Investigate Effect of Rudder on Propeller’s Hydrodynamic

Characteristics........................................................................................................... 74
Nguyen Chi Cong, Luong Ngoc Loi, Ngo Van He, Vu Van Duy, Pham Ky Quang
A Novel Design and Performance Analysis of Mini Water Turbine-Generator for

Portable Applications Using CFD with Experimental Validation ................................ 83
Anh Dung Hoang, Chang-Jo Yang, Manh Hung Nguyen, Hong Ha Tran
Evaluation of Performance and Wake Characteristics of Two-Bladed Tidal Stream

Turbine Using Numerical Method .............................................................................. 93
Nguyen Manh Hung, Tran Hong Ha, Hoang Anh Dung, Changjo Yang
The Application of DNS for the Research of the Appearance and Propagation of
Nonstationary Disturbance Mach Wave .................................................................. 101
Dinh Hoang Quan, Nguyen Quoc An
The Application of DNS for Investigation of Laminar-turbulent Transition by Tollmien-

Schlichting Wave in the Supersonic Boundary Layer .............................................. 105
Dinh Hoang Quan, Phan Van Tu, Dang Ngoc Thanh
To Suggest the Two-pitch Propeller Uses for Fishing Ships Operating in VietNam’s
Ocean ...................................................................................................................... 109
Nguyen Chi Cong, Luong Ngoc Loi, Ngo Van He, Vu Vun Duy, Pham Ky Quang
A New Concept of Savonius Turbine to Improve the Power Coefficient .................. 115
Mich Nguyen The, Van-Thuan Truong, Trong-Hiep Nguyen, Truong V. Vu
Researching and Building Mathematical Models in order to Calculate and Design the
Pneumatic Pressure Stabilizer Automatic Valve...................................................... 119
Tang Xuan Long
Influences of Inlet Configuration on Flow Hydrokinetic Behavior

in GLCC Separator .................................................................................................. 124
Le Van Sy, Dang Thuc Van
Calculation of Thermodynamic Parameters of High Pressure Turbine Stage of DR 76

Engine Based on Geometric Parameters ................................................................ 131
Vu Duc Manh, Nguyen Trung Kien, Dao Trong Thang
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A Rapid Object-Oriented Process to Develop Controllers for Autonomous Underwater

Vehicles ................................................................................................................... 139
Ngo Van Hien, Pham Gia Diem
A Hierarchical Implementation Model to Realize Cooperative Controllers

of AUS-MAUVs........................................................................................................ 147
Nguyen Son Tung, Ngo Van Hien
Optimal Control of Power Flow in Hybrid Wind-diesel System Applied to Electrical

System in Phu Quy Island ....................................................................................... 153
Thang Diep-Thanh, Quang Nguyen-Phung, Huy Nguyen-Duc
A Multi-Fidelity Model to Predict the Performance of Torpedo Propellers ............... 160

Nguyen Anh Tuan, Vu Thanh Trung, Bui Duy Thinh
An Approach to Study the Airflow over 3D Objects by the Vortex-lattice Method .... 164
Pham Thanh Dong, Nguyen Anh Tuan, Pham Vu Uy
Numerical Method to Study Helicopter Main Rotor-fuselage Aerodynamic Interaction

................................................................................................................................ 172
Pham Thanh Dong, Nguyen Anh Tuan, Dang Ngoc Thanh, Pham Vu Uy
Model of Cascade Reservoirs Operation and Relationship of Annual Energy

Production with Price in Vietnam Competitive Generation Market .......................... 180
Phan Tran Hong Long, Le Quoc Hung
Computation of the Critical Speed of a Rotor Supported by Foil-air Bearings ......... 185
Pham Minh Hai, Nguyen Minh Quan
Effect of Friction Models on Simulation of Hydraulic Steering System .................... 190

Nguyen Van Lai, Tran Xuan Bo, Tran Khanh Duong
Influence of the Designing Parameters on Flow Fluctuation and Pressure of the

Improved Roots Blower ........................................................................................... 196
Nguyen Hong Thai, Tran Ngoc Tien, Phan Tien Dung, Nguyen Quang Huy
Constructing Computational Program to Determine Induced Torque Components on

Helicopter Main Rotor Rotation Axis ........................................................................ 204
Nguyen Khanh Chinh, Pham Vu Uy
Balance Control Method for UAV Camera Using Zero Velocity Controller .............. 210
Nguyen Khac Thap, Nguyen Van Tam, Mac Luu Phong, Pham Van Tien
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Modified Controls Doubly Fed Induction Generator under Unbalanced Voltage

Dip for Reduction of Current Harmonic with PI-ANN Controller............................... 214
Hai Nguyen-Thanh
Comparison and Validation of Aerodynamic Prediction using Missile Datcom with

CFD and Experimental ............................................................................................ 221
Le Quoc Dinh, Vu Manh Hieu, Nhu Van Su, Dinh Tien Dung
Unsteady Swirl Flow Suppression in the Draft Tube of Francis Hydro Turbine Model
by J-Groove ............................................................................................................. 225
Young-Do Choi, Zhenmu Chen
Suppression of the Swirl Flow in a Draft Tube of a Bulb Turbine Model by Optimum
J-Groove Shape ...................................................................................................... 232
Viet Luyen Vu, Young-Do Choi
Neural Networks Based Control for an Autonomous Underwater Vehicle Equipped

with the Collective and Cyclic Pitch Propeller .......................................................... 238
Minh Q. Tran, Hung D. Nguyen
Quantitative Manoeuvring Characteristics of an Underwater Vehicle Equipped with

Collective and Cyclic Pitch Propeller ....................................................................... 246
Hung D. Nguyen, Arno Dubois, Zhi Q. Leong, Jonathan Binns, Minh Q. Tran
Design and Manufacture of Five-hole Air-data Probe: Identification and Calibration

Using Least-Squares Method .................................................................................. 256
Do Cat Tuan, Nguyen Cao Truong Son, Ngo Dinh Tri, Le Thi Minh Nghia
Ship Course Control by Integrating Neural Network with Modal Control Technique .... 266
Le Thanh Tung, Hoang Cong Liem
The Gas Generator with Two Zones of Fire – mixed Complex

in the Liquid Fuel Jet Engine ................................................................................... 271
Nguyen Hanh Hoan
Effect of Runner Blade Density Ratio (l/t) on Energy Characteristics of H-type

Darrieus Turbine...................................................................................................... 276
Nguyen Quoc Tuan, Nguyen The Mich, Vu Van Truong, Do Huy Cuong
The Calculation of the Pneumatic System Parametersof a Launcher for High Speed
UAV ......................................................................................................................... 280
Vuong Trung Anh, Nguyen Đuc Cuong,Vu Hoa Binh, Pham Van Hiep, Tran Duy Duyen
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Design Process of a Small-scale Wind Turbine for Water Pumping to Meet

Household Needs .................................................................................................... 284
Ly Hung Anh
Study on Identifying Several Geometric Parameters of Hydrostatic Spindle Bearing

on External Cylindrical Grinding Machine based on Ability of Manufacturing
Technology .............................................................................................................. 289
Van-Hung Pham,Tuan-Anh Bui,Thuy-Duong Nguyen
Studying Effects of Extending Forces on the Ship Hull in Maneuvering .................. 296
Vu Van Duy, Pham Ky Quang, Nguyen Thanh Nhat Lai, Nguyan Chi Cong
Impact of Flow Configuration inside Spray Drying Tower on Drying Efficiency and
Product Quality ........................................................................................................ 305
Thi Thu Hang Tran, Maciej Jaskulski, Kieu Hiep Le, Evangelos Tsotsas
A Numerical Investigation on Droplet Formation in Microfluidic Double T-junction

under the Effects of Channel Depth ........................................................................ 310
Ich Long Ngo, Trung Dung Dang
Numerical Study of the Aerodynamic Characteristics and the Equilibrium of

Unmanned Aerial Vehicle Regarding the Horizontal Tail Role ................................ 314
Bui Vinh Binh, Hoang Thi Bich Ngoc, Nguyen Hong Son
Numerical Simulation for Solidification of Water, Molten Silicon, Molten Germanium

on a Cold Plate ........................................................................................................ 322
Binh D. Pham, Truong V. Vu
An Adaptive Coupled Level Set/Volume of Fluid Method for Simulation of Multiphase

Flows on Unstructured Grids ................................................................................... 327
Long Cu Ngo, Hyoung-Gwon Choi
On Different Forms of Energy Equation in Engineering ........................................... 333

Nguyen Van Que
The Flow Behavior of the Gas-Liquid Cylindrical Cyclone (GLCC) Separator when
Changing the Different Geometrical Configurations of Inlets ................................... 339
Ho Minh Kha, Nguyen Thanh Nam, Hoang Duc Lien, Nguyen Ngoc Phuong, Vo Tuyen
Modeling and Simulating Specialized Vehicle Regenerative Braking System ......... 347
Luyen Van Hieu, Ngo Sy Loc, Tran Khanh Duong, Pham Van Hai, Đong Minh Tuan
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Development of a New Side-coil MR Brake Employing Separating Walls between the

Coils and MR Fluid .................................................................................................. 353
Nguyen Ngọc Diep, Le Dai Hiep, Nguyen Quoc Hung
Optimal Design of Wind Turbine Blades using Vortex Theory ................................. 357
Tran Tien Anh
Development of Preliminary Design for Tidal Power Plant at Kuching Barrage ...... 368
Andrew Ragai Henry Rigit, Norman Baggio Anak Francis
A Study of Finite Element Method for Fluid-Structure Interaction on Large

Deformation Using Spring Analogy Method and Delaunay Triangulation ................ 375
Sang T. Ha, Hieu V. Vu, Hyoung-Gwon Choi
Numerical Simulation of Cavitating Flow with Thermodynamic Effects

of Cavitation ............................................................................................................ 382
Anh Dinh Le, Yuka Iga
Aerodynamic Performances of a Single-stage Transonic Axial Compressor with

Blade Design near Stator Hub Surface ................................................................... 388
Tuan-Long Vu, Tan-Hung Dinh, Cong-Truong Dinh
Effects of Different Rotors Distance on Aerodynamic Performances of a Multi-rotor

Unmanned Aerial Vehicles ...................................................................................... 392
Cong-Truong Dinh, Dinh-Quy Vu
Research on the Star Topology Connection of Multi-PLC for Automation Control .. 397
Vo Nhu Thanh, Tran Ngoc Hai
Identification of Aerodynamic Coefficients of Unmanned Aerial Vehicles According to

Flight Testing Data .................................................................................................. 402
Dang Ngoc Thanh, Nguyen Van Thang
Modeling the Characteristic Curve of Wind Turbine on Various Pitch Angle and Tip
Speed Ratio............................................................................................................. 406
Phan Tran Hong Long, Ho Ngoc Dung, Ho Sy Mao
A Study on Air Flow Through Intake Manifold of an Inline 4 Cyliner Engine ............ 410
Nguyen Phu Thuong Luu
Evaluate Basic Technical Parameters of the Electro-hydraulic Control System of the

Ship Steering Gear .................................................................................................. 415
Le Van Hoc, Nguyen Ngoc Dam
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Design Control System Using the Sustainable Controller Incorporating Predictive

Elements ................................................................................................................. 420
Nguyen Tien Sang, Le Duc Dung, Pikina Galina Alekceevna, Nguyen Tien Khang
Modeling and Simulation Research Position Control of Hydraulic Cylinder using High
Speed on/off Valve is based on the Method PWM (Pulse Width Modulation) of
Control Pulse ........................................................................................................... 426
Do Viet Long, Hoang Sinh Truong, Tran Xuan Bo
Investigate Magnetic Field of Dual Halbach Array in Linear Generator using for Wave
Energy Conversion .................................................................................................. 430
Do Huy Diep, Dang The Ba, Nguyen Van Duc
Effect of Accommodation and Container on Air Resistance Acting on Hull of the

Container Ship......................................................................................................... 437
Ngo Van He, Bui Dinh The
Aerodynamic Modeling of a Missile Model using a Semi-Empirical Datasheet

Component Build-up Method ................................................................................... 441
Luu Hong Quan, Le Tran Thanh Hai, Le Doan Quang, Nguyen Phu Hung
Research on Modeling Hydraulic System of Working Tool of Hydraulic Excavator by

Matlab Simhydraulics .............................................................................................. 448
Chu Van Dat, Nguyen Tien Khu
A Study on Lateral Instability of Tractor Semitrailer Turning Maneuvers on Roads with

High Adhesion Coefficient ....................................................................................... 455
Duong Ngoc Khanh, Vo Van Huong, Ta Tuan Hung
Simulation of Flow Rate in a Water-in-Glass Evacuated Tube Solar Water Heater ..... 460
Van Chuong Ta, Nguyen An Nguyen, Quoc Uy Nguyen
Models of High Technology Sea Salt Production by Three-Dimensional Evaporation

(E3D) ....................................................................................................................... 464
Hoang Duc Lien, Nguyen Quang Hieu
Developing New Design of a Top-lid Updraft Biomass Cookstove

by CFD Modeling..................................................................................................... 469
Linh Nguyen Huu, Dung Le Duc
Lifting and Discharging the Cassava Roots System for Hydraulic Transmission..... 474
Tung Nguyen Dinh, Tan Nguyen Van
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Develop an Immersed Boundary Method Solver in OpenFOAM ............................. 480

Vu Do Quoc, Sang Van Pham
A Study on Ions Transports Through Charged Nanopores ..................................... 486

Pham Van Sang, Nguyen Viet Bac
The Expansion of Lean Limit for Direct Injection Natural Gas Engine by Auxiliary
Injection ................................................................................................................... 492
Tran Dang Quoc, Jong Tai Lee
Numerical Simulation of a Hydraulic Hoisting Actuator for Flat Gate of Irrigation

Systems in Simhydraulics........................................................................................ 498
Van-Thuan Truong, Tuan-Anh Dao
Dynamic Simulation of a Underwater Hydraulic Manipulator ................................... 503

Van-Thuan Truong, Khanh-Duong Tran
Design and Manufacture Constant Volume Combustion Chamber (CVCC) Application

for Combustion Study .............................................................................................. 507
Nguyen Phi Truong, Nguyen Tuan Nghia, Le Anh Tuan
Discontinuous Galerkin for Advection-Diffusion Equation by Combining Recovery-

based Scheme and Interface-Centered Binary-Reconstruction Scheme ................ 511
Loc H. Khieu, Eric Johnsen
Study on Optimization of Moringa Oleifera Leaveshammer Mill .............................. 517

Le Anh Duc, Pham Quoc Trang
Study on Computation of Aerodynamic Force Acting on Bus in Crosswind Conditions

by Using CFD .......................................................................................................... 522
Do Tien Quyet, Nguyen Trong Hoan, Trinh Minh Hoang
Numerical and Experimental Investigation of Cavitation Instabilities in Turbopump in

Liquid Propellant Rocket ......................................................................................... 528
Yuka Iga
Coefficient Diagram Method for Velocity Control of Hydraulic Motors ..................... 535
Quang Hieu Ngo
Improve Intake Port/Valve of RV165-2 Engine by Simulation Method..................... 539

Le Viet Hung, Do Van Dung, Nguyen Anh Thi
Study on the effect of solid phase in solid-liquid two phase mixture on working mode
of centrifuge feed pump systems at the coal processing plants in Quang Ninh....... 544
Vu Nam Ngan, Vu Ngoc Tra
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A Validation Study of an Iso-surface based VOF Technique in OpenFOAM® for

Sloshing Problem .................................................................................................... 548
Jiwon Choi, Kyoungsik Chang, Sang-Wook Lee, Geon-Hong Kim
Effects of Configurative Parameters on the Dynamic Stiffness and Stability of

Pneumatic Vibration Isolation Model ....................................................................... 552
N.Y.P. Vo, M.K. Nguyen, T.D. Le
Disturbance Observer Based Adaptive Sliding Mode Control and Its Application to a
Self-balance Dual-arm Field Robot ......................................................................... 558
Hoang Son, Dian Songyi, Duong Van Tai
A Numerical Study on Transitional Flow over Aerospatiale A-airfoil Using

DDES/IDDES .......................................................................................................... 567
Gabin Lee, Kyongsik Chang, Sang-Wook Lee, Geon-Hong Kim
Effects of the Spanwise Length of Computational Domain on LES based Airfoil Noise
Prediction ................................................................................................................ 571
GyeongBo Kim, Kyoungsik Chang, Sang-Wook Lee, Geon-Hong Kim, Byeong Cheon Kim
Pressure Wave Propagation in Porous Structure Saturated with Water and Methane
Bubbles ................................................................................................................... 574
A. A. Gubaidullin, O. Yu. Boldyreva, Duong Ngoc Hai, D. N. Dudko, N. G. Musakaev,
Nguyen Tat Thang, Nguyen Quang Thai
Modified Controls Doubly Fed Induction Generator under Unbalanced Voltage Dip for
Reduction of Current Harmonic with PI-ANN Controller .......................................... 578
Hai Nguyen-Thanh
Evaluating the Ability of Salinity Intrusion Prevention for Tam Ky River of Phu Ninh
Reservoir ................................................................................................................. 585
Cuong T. Nguyen, Kien C. Nguyen, Phuong T. T. Phan, Son T. Hoang
Researching on Developing the Decision Support System for Salinity Control

Operation and Management in Vu Gia – Thu Bon River Basin ............................... 590
Son T. Hoang, Lam X. Nguyen, Trinh D. Tran, Son T. Nguyen, Phuong T. T. Phan,
Cuong T. Nguyen
Numerical Simulation of the Contra-Rotating Propeller by using Ansys CFX .......... 597
Vu Pham Duc Dung, Tran Tien Anh
Development and Application of a Simulation Model for Intermittent Gas Lift Method
in Petroleum Production .......................................................................................... 606
Le Quoc Trung, Nguyen The Duc
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Study on the Parameterized Three-dimensional Models of Different Shifted Helical

Gear Pairs ............................................................................................................... 614
Truong Duc Phuc
An Approach to Analyze the Threshold Stability of Internal Gear Motors and Pumps
................................................................................................................................ 622
Trong Hoa Pham, Toan Thang Le, Wenming Cheng, Van Trung Vu, Anh Ngoc Nguyen,
Thuy Chi Nguyen
Research Results of Design, Manufacture and Testing of Horizontal Axial Flow

Submersible Pump (Capsule Type) for Irrigation, Drainage in Agriculture and
Preventing Local Flooding ....................................................................................... 630
Nguyen Minh Tuan, Nguyen Van Bay
Aeromechanic Performance of a Single-stage Transonic Axial Compressor using

Bleeding Airflow....................................................................................................... 634
Cong-Truong Dinh, Dinh-Quy Vu, Xuan-Truong Le, Duc-Hai Nguyen
Simulation Dynamic System Electric Powertrain using in the Automobile ............... 642
Quang Thanh Nguyen
Simulation of Pitch-roll-yaw Vibrations of Vehicle using Matlab Simulink ................ 647

Quang Thanh Nguyen
Two Advanced Non-Intrusive Methods for Velocity Distribution Measurement in Fluid

Mechanics with Some Recent Research and Development .................................... 653
Nguyen Tat Thang
A Solution for Measuring the Oil Film Temperature of the Connecting-rod Big End
Bearing in the Experimental Device ........................................................................ 662
Tran Thi Thanh Hai, Pham Trung Thien, Luu Trong Thuan
Aeroacoustics Analysis of Main Rotor of Helicopter UAV ........................................ 666

Nguyen Hoang Son, Hoang Thi Kim Dung, Nguyen Phu Khanh
Modelling of Thermal Behavior of Thermosyphon ................................................... 671

Cong Nghia Phong, Hoang Thi Kim Dung, Nguyen Phu Khanh
Some Aspects of Cavitation Around a Triangular Cavitator with Curved Sides.......678

Pham Van Duyen, Nguyen Quang Huy, Hoang T. Hong Minh, Vu Van Duy, Truong Viet Anh
Author Index ............................................................................................................ 683
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The Dynamic Analysis and Control of Hydraulic Machine System and

Industrial Robotic Manipulators
Yunn-Lin Hwang*
Department of Mechanical Design Engineering, National Formosa University
*Email: hwang@nfu.edu.tw
Abstract
A mechanical system is controlled by hydraulic piston systems with many control parameters. That is the
reason why a hydraulic machine is on duty, so many circumstances may be happened. The simulators are
necessary in order to observe easily and to analyze both the operating conditions and fault situations of
different mechanical systems. This paper establishes the simulation model between AMESim software and
RecurDyn software to track a circle path. The dynamic analysis and control states of dynamic system and
hydraulic control system are analyzed by both the CAE softwares - AMESim and RecurDyn. The simulators
of these systems are applied to a real virtual model in order to investigate the operations of hydraulic
machine tools. The research achievements developed in this paper can also be used in other multibody
dynamic systems.
Keywords: CAE, Hydraulic control, Machine tools, AMESim,simulation.
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8 October 27 - 28, 2018

Hanoi, Vietnam
Aerodynamic Performances of a Transonic Axial Compressor

with Rotor Hub Fillet
Hoang-Tung Vu, Dinh-Quy Vu, Cong-Truong Dinh *
Department of Aeronautical and Space Engineering, School of Transportation Engineering, Hanoi University of
Science and Technology, 1 Dai Co Viet Road, Hai Ba Trung District, Hanoi 100000, Vietnam
*E-mail: truong.dinhcong@hust.edu.vn
Abstract
This paper presents the effects of rotor hub fillet in a transonic axial compressor, NASA Rotor 37, using
three-dimensional Reynolds-averaged Navier-Stokes equations using k-ε model with the scalable wall
function on aerodynamic performances, such as total pressure ratio, efficiency, stall margin. The numerical
result of rotor 37 on total pressure ratio and efficiency curves was validated with experimental data. The
numerical results showed that the peak adiabatic efficiency and total pressure ration were maximal with the
rotor hub fillet radius of 5 mm and 6 mm, respectively.
Keywords: Transonic axial compressor, Rotor hub fillet, Total pressure ratio, Adiabatic efficiency, Stall
margin.
1. Introduction that, for the range of cases tested, employment of a

uniform blade fillet reduces the overturning
Flow phenomenon near the rotor blades are the
secondary flow.
the source of reduction compressor aerodynamic
The present workpresented therotor fillet radius
performances, such as total pressure rartio, efficiency
variation in a transonic axial compressor with NASA
and stall margin. In the real compressor, the rotor
Rotor 37, using three-dimensional (3D) Reynolds-
blades are producted with fillet to reduce the
averages Navier-Stokes (RANS) equations to find its
structural failure and damage.
effect on the aerodynamic performances.
Kugeler, E. et all. [1] presented the effect of
rotor blade fillets in a 15-stage compressor. The 2. Numerical Analysis
fillets affected on the secondary flow and reduced the
2.1. Description of Geometry
corner stall at the rotor hub and stator tip. The result
was a higher throttling range for the fillet case The compressor considered in this work is a
compared with the clean case. Matteo, P. [2] transonic axial compressor using NASA Rotor 37 at a
presented the effect of rotor and stator fillets on speed of 17188.7rpm (1800rad/s). The additional
aerodynamic performance of an axial 4.5 stages design specifications are listed in Table 1. The blade
compressor. Thestatic pressure raised also the total airfoil sections of NASA Rotor 37 are designed using
pressure is reduced with the fillet which decreased the multiple circular arcs. From the AGARD report by
cross-flow. Sebastian, M. et all. [3] presented the
effect of blade fillets, where the results showed an
Table 1. Design specification of axial compressor [6]
increasing loss by around 10% compared to the base
Number of rotor blades 36
case. Justin, J. O. [4] presented the effect of
centrifugal blade fillets on the flow structure where a Rotational speed (rpm) 17188.7
small scraping vortex appeared inside the impeller, Choking mass flow rate (kg/s) 20.93
developed in the case of clean blades (without blade Tip clearance  (mm) 0.356
fillets) at the corner of the hub pressure surface, Chord length of blade tip (mm) 27.79
disappears in the case with blade fillets due to a local Inlet hub-tip ratio 0.7
flow acceleration produced by the fillet. The result Blade aspect ratio 1.19
showed that the shroud passage vortex in the case Tip relative inlet Mach number 1.48
with blade fillets grows toward the impeller exit with Hub relative inlet Mach number 1.13
a higher vortex core than that in the case of clean Tip solidity 1.29
blades, which means that there are more wake flows Ratio of mass flow rate at near-stall
with blade fillets, leading to aerodynamic 0.925
point to that at choking point
performance drops. Vasudevan, K. [5] presented the
effects of the fillet with the experimental study for Table 2. Range of parameter for stator fillet.
changing the modification of the secondary flows and RF / RH(%) 2 3 4 5 6 7
the generation of the losses under a low Reynolds
number condition is discussed. The result indicated
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The hexahedral elements were used to mesh the

computational domain in the rotor block with offset
method grids wereused near the blades as shown in
Fig.2.
The working fluid was considered as an ideal
gas.An average static pressure was set at the rotor
outlet boundary for steady state simulation. A
turbulence intensity of 5% was specified at the rotor
inlet boundary. The adiabatic smooth wall condition
was used at the surfaces of the blades, shroud and hub.
Periodic conditions wereused at the side boundaries
of the computational domain. The two-equation k-
turbulence model with a scalable wall function was
used with y+ valuesof the first nodesnear the walls in
Figure 1. Meridional plane of a transonic axial a range from 20 to 100.
compressor rotor 37. The convergence criteria in this work to
determine condition numerically: the inlet and outlet
mass flow rate, total pressure ratio and efficiency
variations are no changed for 100 steps. The number
of interactions is fixed at 600 for choking point and
peak efficiency, and 1000 for determining the near-
stall point. The performance curves were constructed
so that the average static pressure at the outlet surface
starts at the choking condition (0Pa) and finishes at
the last stable convergence condition where the total
pressure ratio achieves the maximum value. The step
of average static pressure at the outlet surface near the
peak efficiency was fixed at 100Pa and near-stall
condition was fixed at 50Pa (which corresponds to
0.00015kg/s). The performance parameters to be
Figure 2. Computational domain and grid structure evaluated were total pressure ratio (PR), adiabatic
with rotor hub fillets. efficiency (η), stall margin (SM), and stable range
extension (SRE) [8].
Dunham [9], the total pressure ratio and
polytropic efficiency are 2.106 and 88.90%, 3. Results and Discusion
respectively, at the designed mass flow rate of 20.19 The numerical results for compressor with rotor
kg/s (96.50% of the choking mass flow rate) at a 37 blades as presented in [9] showed that the
reference temperature of 288.15 K and reference optimum number of nodes was found to be 480,000
pressure of 101,325Pa. through a grid-dependency test. The results show that
The stator fillet radius (RF) is the parameter in the rotor and stator blocks were constructed with
the parametric study with the maximum rotor chord 54×46×106 nodes and 54×37×100 nodes,
length reference value at the hub surface of 4.2865 respectively. 5×46×84 nodes were assigned tothe O-
cm (= RH) as shown in Fig.1. The variation detail of type grid around the rotor blade, and 5×37×84 nodes
this parameter is presented in the Table 2, where the were assigned tothe O-type grid around the stator
dimensionless value (RF/RH) is varied from 2% to blade. The rotor tip clearanceswere constructed with
7%. 4×46×84 nodes.
2.2. Numerical analysis Figure 3 shows that the mass flow rate at
For the aerodynamic analysis,3-D RANS choking point with different rotor blade fillets
equations were solved using ANSYS CFX-15.0® [7]. decreases (-14.8%) as compared to therotor without
Design-Modeler® was used to design the rotor and blade fillets. The results shown in Fig. 4 indicate that
Turbo-Grid®was employed to generate the meshes. the maximum efficiency at peak efficiency condition is
ANSYS CFX-Pre, CFX-Solver, and CFX-Post were at RF/RH = 5%, and the difference of mass flow rate
used to define boundary conditions, to solve the and efficiency at peak efficiency condition are -4.7%
governing equations, and to postprocess the results, and 16%, respectively.
respectively.
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Figure 3. Comparison of mass flow rate at choking

Figure 5. Comparison of mass flow rate and PR. at
point with rotor blade fillets.
Near-stall point with rotor blade fillets.
Figure 4. Comparison of mass flow rate and EFF. at

Figure 6. Comparison of stall margin with rotor
peak EFF. point with rotor blade fillets.
blade fillets.
Figure 5 illustrates the mass flow rate and total equations. The results of parametric study showed
pressure at Near-stall point at different rotor fillet that the mass flow rate is decreased, whereas the
radius. The results show that the mas flow rate efficiency and total pressure ratio areimproved with
decreases, whereas the total pressure ratio increases rotor blade fillets as compared to without rotor blade
as compared to the without rotor blade fillets. The fillets, 16% and 18.2%, respectively.
maximum total pressure ratio at near-stall condition is
Based on this work, the optimization of rotor
at RF/RH = 6%. The difference of mass flow rate and
blade fillets combined with tip clearance on other
total pressure ratioat near-stall condition are -3.8%
performances will need to be continued in a future
and 18.2%, respectively.
work.
The stall margin with different rotor hub fillet is
presented in Fig. 6, where the maximum stall margin
is 12 at RF/RH = 5% as compared to without rotor hub Acknowledgments
fillet (11.79).
This work is a part of the research project
4. Conclusion supported by Vietnamese Government under Grant
In this work, the variation of rotor blade fillets No. ĐTĐL.CN-54/16.
was studied to find the effect of this parameter on
aerodynamic performances of a single-stage transonic
axial compressor, NASA Rotor 37 using 3D RANS
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References [5] K. Vasudevan, Experimental Study of Endwall Flow

in a Low-Speed Linear Compressor Cascade: Effect
[1] E. Kugeler, A. Weber, D. Nurnberger and K. Engel, of Fillet Radius, International Journal of Turbines &
Influence of Blade Fillets on the Performance of a 15 Sustainable Energy, Vol. 1 (2017), No 1, pp. 1-7.
Stage Gas Turbine Compressor, Proceedings ASME [6] J. Dunham, CFD validation for propulsion system
Turbo Expo 2008: Power for Land, Sea and Air, components, AGARD advisory report No. 355,
GT2008-50748 (2008), Berlin, Germany. Advisory Group on Aerospace Research and
[2] P. Matteo, Structural and Fluyd-Dynamic Analysis of Development, North Atlantic Treaty Organization,
an Axial Compressor with Adjustable Inlet Guide ISBN92-836-1075-X (1998).
Vanes, Master of Science, Department of Industrial [7] ANSYS CFX-15.0. ANSYS CFX-Solver Theory
Engineering, Faculty for Engineering, University of Guide, ANSYS Inc., 2013.
Padova, Matriculation No. 1034265 (2012), Italy. [8] C. T. Dinh, M. W. Heo and K. Y. Kim, Aerodynamic
[3] S. Mank, L. Duerrwaechter, M. Hilter, R. Williams, S. performance of transonic axial compressor with a
Hogg and G. Ingram, Secondary Flows and Fillet casing groove combined with blade tip injection and
Radii in a Linear Turbine Cascade, Proceedings ejection, Aerospace Science and Technology, Vol 46
ASME Turbo Expo 2014: Turbine Technical (2015), pp. 176-187.
Conference and Exposition, GT2014-25458 (2014), [9] C. T. Dinh, S. B. Ma and K. Y. Kim, Effects of a
Dusseldorf, Germany. Circumferential Feed-Back Channel on Aerodynamic
[4] J. O. Justin, The Effects of Blade Fillets on Performance of a Single-Stage Transonic Axial
Aerodynamic Performance of a High-Pressure Ratio Compressor, Proceedings ASME Turbo Expo 2017:
Centrifugal Compressor, International Compressor Turbomachinery Technical Conference and
Engineering Conference at Purdue, Paper No. 2396 Exposition, GT2017-63536 (2017), Charlotte, NC
(2016), pp. 1-9. USA.
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Vertical Axis Wind Turbine with Pivoting Blades – A New Study of Vertical
Axis WindTurbine
Nguyen Van Khanh1, Le Danh Lien2,*
International green power Joint – Stock
1
2
Hanoi University of Science and Technology
*Email: ledanhlien@gmail.com
Abstract
This paper presents results of study, design, manufacture and experiment of a vertical axis pivoting blade
wind turbine generator with 5kW capacity at 13m/s calculating wind velocity. The operational principle of this
type of wind turbines is different from vertical axis fixed blade wind turbines in that, their blades turn around
the axis of the wind turbine while turning itself around their axis of the blades. When a blade is in the
perpendicular direction of the wind velocity, the other axisymmetric blade lies in the direction of wind. The
design and calculation are based on a vertical axis fixed blade wind turbine. The results of study,
manufacture and experiment show that, the vertical axis pivoting blade wind turbine operates more
effectively than the vertical axis fixed blade wind turbine by reducing their resistance area of wind by 2 times
compared to the vertical axis fixed blade wind turbine.These types of the vertical axis wind turbine can be
made and widely used in practice.
Keywords: wind turbine, generator, fixed, pivoting.
For augmentation of effective wind power

I. Introduce
utilization in these regions must create a new type
The application of sources of fossil power to of vertical axis wind turbine, operational principle
produce electricity to service manufacture and life at of that is different from ordinary vertical axis
present cause environmental pollution more and more wind turbine and that has higher coefficient of
seriously, moreover sources of fossil power being wind power utilization.
exploited with big intensity so become more and more
The vertical axis wind turbine with pivoting
exhausted.
blades is a type of vertical axis wind turbine, the
For the reduction of environmental pollution and operational principle of that is different from
the supplement of energy resource to manufacture and ordinary vertical axis wind turbine. At present
life, the application of new and renewable energy that is studing in the world [3] and in Viet Nam
sources is promoted in the development countries also [2] and is studying to enter application in the
in the growing countries. In there wind is important practice.
energy source, that doesn’t cause environmental
2. The operational principle of vertical axis
pollution and never becomes exhausted.
wind turbine with pivoting blades
The application of wind power – one of infinite
natural energy source to produce electricity takes The operational principle of vertical axis
interest and is promoted in many countries on the wind turbine with pivoting blades is different
world. But for effective application of this infinite from ordinary vertical axis wind turbine in that,
natural energy source need to study for invention of its blades turn around the axis of the wind turbine
many type of differents machines and equipments while turning itself around their axis of the blades
conforming for each climate region and land and for on that method, rotative velocity of blades is as
demand of electrical utilization to service manufacture half as that of wind working wheel axis.
and life of each country. While a blade is in the perpendicular
At present the horizontal axis aerodynamic blade direction of the wind velocity, the other
wind turbines are essential equipments utilizing for axisymmetric blade lies in the direction of wind.
generation of electric energy in zones with high wind So this second blade doesn’t cause resistance on
velocity. For the zones with low wind velocity and operation of first blade (fig. 1). When moving to
near close ground zones, vertical axis wind turbines next positon the blades should be disposed so that,
prove advantage. However the vertical axis wind the force impacting on two axisymmetric blades
turbines usually have low coefficient of wind power doesn’t cause resistance each other but
utilization. supplement one another.
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Let’s see the exemplar in the figure 1. Two The blade area of the vertical axis fixed flat
blades 1 and 2 lie in axisymmetrical positions (position blade wind turbine is defined from the formula
1 and position 2). In the position 1, the wind velocity calculating power of that as [1, 4, 5]:
V1 divides into two components as VF1 and Vn1. The
velocity VF1 in direction of turbine blade dosn’t create V3 F
P
rotative moment. The velocity Vn1 divides again into 204 , kW. (1)
two components as Vr1 in direction to center and Vt1
perpendicular to radius. The only velocity Vt1 create In there:
rotative moment on turbine axis. P – The power of wind turbine,
V2 270o  – The Individual mass of air,  = 0.125
kGs2/m4,
Vn2 Vr2
VF2 V – The calculating wind velocity,
Vt2 V = 13m/s,
2
F – The area on wind action of working
V V wheel of wind turbine, m2,
0o 180o ω  – The optimal coefficient of wind power

utilization of vertical axis fixed flat blade wind
φ
turbine, max = 0.192,
V1
 – Efficiency of wind turbine generator, 
Vr1 Vn1 = 0.70 – 0.75.
VF1
1 Vt1 From this formular we find out:
o
90 204P
F , m2. (2)
Fig. 1. The diagram of blade positions of the vertical V3 
axis pivoting blade wind turbine. To carry out study with small scale of wind
turbine we design, manufacture the generator with
In the position 2, the wind the velocity V2 divides the vertical axis pivoting blade wind turbine
in two components as VF2 and Vn2. The velocity VF2 in having power 5kW.
direction of turbine blade dosn’t create rotative For the vertical axis fixed blade wind turbine
moment. The velocity Vn2 divides into two with power 5kW, the area on wind action of the
components as Vr2 in centrifugal direction and Vt2 in working wheel has value as:
direction perpendicular to radius. The only velocity V t2
create rotative moment on turbine axis. 204  5
Fcđ   25.793 m2.
Both two components of velocity Vt1 and Vt2 0.125 133  0.192  0.75
together lie in direction with rotative velocity of In the above calculation the preliminary
turbine. Therefore the blades don’t block movement value of efficiency of wind turbine generator is
each other’s but supplement one another. In other selected as 0.75, the coefficient of wind power
position it’s the same, the blades in axisymmetric utilisation is selected maximal as 0.192.
positions don’t blok movement each other’s but With the vertical axis fixed blade wind
supplement one another. For this reason the pivoting turbine, the blade of that in one side create
blade wind turbine augment effect of wind power rotative moment, the other blade in
utilization and reduce size of turbine. axisymmetrical side create resistant moment and
3. Calculation of parameters of vertical axis doesn’t create useful work for wind turbine.
pivoting blade wind turbine Conversely, with the vertical axis pivoting blade
wind turbine the blades in both sides don’t block
3.1. First we will calculate the parameters of the each other’s but create the force to supplement
vertical axis pivoting blade wind turbine based on the one another. For this reason we can sketchily
calculation of the vertical axis fixed blade wind calculate the area on wind action of the vertical
turbine axis pivoting blade wind turbine by half of the
area on wind action of the vertical axis fixed
blade wind turbine.
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Ftđ = Fcđ/2 = 12.896m2. while turning itself around their axis of the blades.
Besides the rotary angle (or rotary velocity) of the
The area of each wind blade is as half as the area blades is as half as that of wind turbine. For this
on wind action of working wheel. We have the area of reason in the structure of the wind turbine it’s
each wind blade as: necessary one toothed wheel mechanism (gear
Ftđ1 = Ftđ/2 = 6.448m2. box) with transmissive ratio (as 1/2) connecting
the rotary axis of wind turbine with that of blades.
We choose the width of blade B = 2m, the hight
of blade will be: The vertical axis generator is placed under
the wind turbine. The axis of generator will
H = Ftđ1/2 = 6.448/2 = 3.224m. connect with that of the wind turbine through the
As a precaution, we augment the hight of blade to toothed wheel mechanism to augment velocity of
10% and round that up H = 3.5m, we have the wind turbine to that of generator. The generator
dimention of blade as BxH = 23.5 = 7m2. The area on belong to the type of permanent magnet
wind action of the wind turbine will be: generator. The generating alternating electricity
has charged a battery through the regulator and
Ftđ = 27 = 14m2. the inveter. The electricity from the battery has
utilized directly for objects utilizing direct
3.2. The definition of rotary number of wind turbine.
current. The direct current by inverter is changed
The rotary velocity of wind turbine is defined to the alternating current for use of objects
from the relation: utilizing alternating current or conducted on
nD National Grid.
V ,m / s .
60 The structural diagram of the generator with
(3) the vertical axis pivoting blade wind turbine is
introduced in figure 2.
In there:
V – The velocity of the blade end of wind 4
working wheel, m/s;
D – The diameter of the wind working wheel 3 5
defining on blade end, m;
n – The rotary number of the wind turbine axis, 2
v/ph.
1
The velocity of the blade end of wind working
wheel have as maximum value as wind velocity. From 6
the expression (3) to find out:
60V
n , rpm. (4)
D
The diameter of the wind working wheel D Fig. 2. The structural diagram of the generator with
defining on blade end have value as 2B = 4m. the vertical axis pivoting blade wind turbine.
Replacing the values of V and D in (4) we define the 1. The permanent magnet generator, 2. The frame
rotary number of wind turbine as: for fixation of wind turbine, 3. The frame for
fixation of wind turbine blades, 4. The blades of
60.13
n  62.10 rpm. wind turbine working wheel, 5. The blade
.4 correcting on wind direction, 6. The gear box of
the transmitting mechanism.
We choose the rotary number of wind turbine as
synchronous rotary number as n = 60 rpm. In this diagram it’s designed the solid frame
2 for fixation the rotary frame 3 of wind working
4. The designing of the structure of generator with wheel. While the turbine operates, the blade frame
vertical axis pivoting blade wind turbine 3 is turning together with blade 4, else this blade
The working wheel of wind turbine have two turns with the blade frame while turning
blades, those turn around the axis of the wind turbine
itself around their axis. The gear box is placed under
the beam of the blade frame 3. The flat blade 5
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correcting the wind turbine on wind direction has

The blades of the vertical axis wind turbine
disposed on the top of the wind turbine frame 2. The
have relative big area on wind action, therefore
generator 1 is placed under the wind turbine.
the frame of the wind turbine has to make solid to
The turbine has manufactured, experimentally resist storm. For the generator with the vertical
studied in the laboratary [2]. The particularity of wind axis pivoting blade wind turbine having big
turbine is introduced in the figure 3. From the power, its blades will have the area on wind
particularity in the figure 3 we see, the generator with action more bigger. For this reason the problem
the wind turbine gets designing power 5kW with resisting storm for the wind generator with big
calculative wind velocity as 13m/s. power have to pay the exceptional attention.
P, W
Conclusion
The generator with the vertical axis two
pivoting blades wind turbine has theoretically
studied, designed, successfully experimentally
manufactured and studied in the laboratory. That
is also placed, experimentally operated on the
location. The generator starts with wind velocity
3m/s and gets designing power 5kW with
calculative wind velocity 13m/s. The generator
V, m/s stability operates and has well evaluated. That has
puted by Holand Bierens Machinefabriken BV
Fig. 3. The experimental particularity of the vertical Company the problem of cooperation to
axis pivoting blade wind turbine with power 5 kW and manufacture for maket [2].
calculative wind velocity 13m/s
Literature
The generator with the vertical axis pivoting
blade wind turbine has experimentally installed on the [1] Đặng Đình Thống, Lê Danh Liên. (2006). Cơ sở
năng lượng mới và tái tạo. Nhà xuất bản Khoa
location (fig. 4). The generator stably operates, starts học và Kỹ thuật, Hà Nội.
with wind velocity as 3m/s and gets designing power [2] Công ty CP Năng lượng xanh Quốc tế. (2016).
(5kW) with wind velocity 13m/s. Catalogue (Tài liệu nội bộ).
[3] United States Patent Stroburg. Windmill with
pivoting blades. Patent No US 7,766,602 B1. Aug.
3, 2010.
[4] Tony Burton, David Sharpe, Nick Jenkins, Evin
Bossanyi. (2011). Wind Energy Handbook. John Wiley & sons,
[5] J.F. Manwell, J.G.McGowan and A.L. Rogers.
Wind Energy Explained. (2002). Theory, Design
and Application. John Wiley & sons, LTD,
England.
Fig. 4. The vertical axis pivoting blade wind

turbine with power 5 kW is placed on the location.
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The Coefficient of Wind Power Utilization of Vertical Axis Wind Turbine

with Pivoting Blades
Le Danh Lien1,*, Nguyen Van Khanh2
1
2
International green power Joint – Stock
*Email: ledanhlien@gmail.com
Abstract
The paper presents methods and results of theoretical and experimental calculation for coefficients of wind
power utilization of vertical axis wind turbines with pivoting blades. The calculating results show that, the
coefficients of wind power utilization of theoretical and experimental calculation are equal.The coefficient of
wind power utilization of the vertical axis wind turbines with pivoting blades is higher than that of vertical axis
wind turbines with fixed blades. When calculating and designing vertical axis wind turbines with pivoting
blades, this coefficient of wind power utilization can be used to calculatea working wheel of the wind
turbines.
Keywords: wind turbine, wind power, pivoting blade, coefficient, efficiency.
1. Introduce
2. Calculation for power of wind turbine
The wind power is a infinite source of clean
We will calculate power of wind turbine for two
natural energy. Today the application of wind power
cases: Case of vertical axis fixed blade wind turbine,
to generate electricity more and more has promoted in
its blades turn around only the axis of wind turbine
the world also in the our country. Together to
and case of vertical axis pivoting blade wind turbine,
horizontal axis wind turbines with big power, vertical
its blades turn around the axis of wind turbine while
axis wind turbines with small power were studying
turning itself around their axis of the blades.
and applying widly.
2.1. Case of the vertical axis wind turbine with fixed
Classical vertical axis wind turbines have the blades
coefficient of wind power utilization very small in We see the case of the vertical axis wind turbine
comparision with this of horizontal axis wind turbines with two fixed blades, when its left half is covered by
with good aerodynamic blades. Therefore scientists in a plate (fig. 1), then the wind force on left half of
the world and in the our country were trying one’s turbine has not influence on the wind force on right
best to study for creation of the vertical axis wind half of this.
turbines, which have the high coefficient of wind When the turbine blade in the position
power utilization. perpendicular to wind direction, corresponding
Vertical axis wind turbine with pivoting blades setting angle at 90o, received power of wind working
is one of type of wind turbine, which is studying and wheel is bigger.
experimental applying in the world and in Vietnam. Then the power of air flow in one second though
In the world the Invention on operational principle of the section of blade Fo is defined as [1, 4, 5]:
the type of this turbine has received patent in USA in mVo2 Vo3 Fo
year 2010 [3]. In Vietnam engineer Nguyen Van Eo  
2 2 .
Khanh and his collaborators have successfully
designed and manufactured the type of this turbine. (1)
This product has got the monopoly licence on useful In there:
solusion in 2015 and satisfactorily experimentally m – The air mass moves though the section,
operates on location. Fo – the section in the first position of wind
blade,
However not any document of the coefficient of
Vo – The wind velocity of the air flow in the
wind power utilization of this turbine is announced.
outside of wind turbine,
Therefore in this paper we mention the problem of
 – The air individual mass.
theoretical and experimental calculation for
When the blades change positions, component
coefficients of wind power utilization of vertical axis
velocity in the direction perpendicular to the blade
wind turbines with pivoting blades.
will changing. This velocity will have value
Vφ as: Vφ = Vosinφ.
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180o
270o 90o ω
V
φ
φ
Fig. 2. The structural diagram of the vertical axis

0o wind turbine with pivoting blades.
2.2. Case of vertical axis wind turbine with pivoting

Fig. 1. The structural diagram of the vertical axis
blades
wind turbine with fixed blades.
In this case two blades of wind turbine will turn
The power of air flow through the section F φ around the axis of wind turbine while turning itself
while blade changing to new position correlative around their axis (fig. 2). The blades turn itself
angle φ, has value as: around their axis according to the principle as:
m V 2 V 2 sin 2 Fo Vo sin  Vo3Fo sin 3  angular velocity of blades is as half as that of turbine
E     o  axis.
2 2 2
(2) In the position, when the right blade is
The angle φ is changing from 0o to 180o. When perpendicular to wind direction (fig. 3), (when angle
the angle φ isbigger than 180o, second blade begin to φ = 180o), left blade will coincide with wind direction
start working process. (φ = 0o). In this case wind power is received by wind
Total of wind power receiving by wind turbine turbine such as:
in half of period (correlative 180o) has value as:
mVo2 Vo3 Fo
180o m V2 180o
Vo3 Fo sin 3  Eo  
 
.
E  cđ   ; 2 2
 0o 2  0o 2
When the blades move to new positions
or:
correlative with angle φ, component wind velocity
V3 F 180o
Vo3 Fo
 sin
directed to the direction perpendicular to the blade,
E  cđ  o o 3
 .K  cđ . according to the diagram of wind action on blade is
2  0o 2
(3) defined as:
180o
K  cđ   sin 3
. 2.2.1. The area from 0o to 180o
 0o
(4) 
The medium received power of wind turbine is V  Vo sin ; (6)
2
defined as:
The air mass moves to blade:
Vo3 Fo  180 3 Vo3 Fo 
o
Ecđtb  
2  max  min  0o
sin  
360
.K  cđ .

(5) m  Fo V  Fo Vo sin ;
2
In there:
The power of air flow is transmited to blade:
 - The efficiency of wind turbine,
Unit of power: [Ecđtb] = kGm/s; (kGm/s)/102 = kW.
18 October 27 - 28, 2018

Hanoi, Vietnam
but are in the same with rotative direction of working

V2 270o
wheel, so they have rotative moment suplemented
Vn2 Vr2 one another.
VF2
Vt2 Then total of power received by wind turbine in
2 half of period is defined as:
Vo3 Fo
 K  tđ1  K  tđ2  .
V V
E  tđ  E  tđ1  E  tđ2 
180o
2
0o ω
φ
We have coefficient in total:
V1 K∑tđ = K∑tđ1 + K∑tđ2. (13)
Vr1 Vn1 Similarly in the part 2.1, we have the medium
VF1
power of wind generator such as:
1 Vt1
E  tđ1  E  tđ 2 Vo3 Fo 
E tđtb   K  tđ .
 max  min 
o
90 2.180
(14)
Fig. 3. The position diagram of blades of vertical
axis wind turbine with pivoting blades in the working In there coefficient
time. K∑tđ = K∑tđ1 + K∑tđ2. (15)
Unit of power [Etđtb] = kGm/s; (kGm/s)/102 =
mV2 Fo   F V3 
E1   Vo sin Vo2 .sin 2  o o sin 3 kW
2 2 2 2 2 2 (7)
3. Determination of coefficient of wind power
However because of the rotation of blade around utilization
their axis, so blade isn’t directed to the radius of wind
The coefficient of wind power utilization of
working wheel, wind force on blade will have un
vertical axis wind turbine with pivoting blades is
component derected to the radius, the other
defined through this coefficient of vertical axis wind
component derected to the direction perpendicular to
turbine with fixed blades.
the radius creates rotative moment for working wheel.
For determination of coefficient of wind power
The component energy creating rotative moment
utilization of vertical axis wind turbines with pivoting
has value such as:
blades, we need to define the ratio of wind power of
Vo3 Fo     Vo3 Fo
E1  .sin 3 cos  90o    K  tđ1 . wind working wheels in cases of fixed blades and of
2 2  2 2 pivoting blades.
(8)
Signing the ratio of wind power of wind
In there: working pivoting blade wheel with wind power of
wind working fixed blade wheel by coefficient Kz, we
   have:
K  tđ1  sin 3 cos  90o   . (9) E E  E  tđ 2
2  2 K z   tđ   tđ1
E  cđ E  cđ
2.2.2. The area from 180o to 360o (16)
E  tđ1  E  tđ2 K  tđ1  K  tđ2 K  tđ
The component velocity derected to the Kz   
E  cđ K  cđ K  cđ
direction perpendicular to turbine blade is defined as: (17)
   Approximately, for determination of coefficient
V  Vo sin  Vo sin 180o  
2  2 (10) Kz, we may change angle φ from 0o to 180o one after
the other values 0o, 1o, 2o, 3o... to 180o, apart about 1o.
Vo3 Fo     V F
3
E2  .sin 3 180o   cos   90o   o o K  tđ 2 Like this we have 180 of positions correlative 180 of
2  2 2  2 rotative angles of blades. If we define total of wind
(11) power impacting on blade for 180 of positions of
    blades apart 1o, we will receive the values of
K  tđ 2  sin 180o   cos   90o 
3
 2   2  (12)
functions K∑cđ and K∑tđ as:
In these new positions the wind forces on two

blades in the axisymmetric positions aren’t opposites,
19 October 27 - 28, 2018

Hanoi, Vietnam
For the vertical axis wind turbine with fixed 204  P 204  5
blades: When left blade being covered don’t cause Fcđ    25,793m2
V3 0.125 133.0.192  0,75
resistance for motion of right blade.
In there:
180o
P – The power of wind turbine,
K  cđ   sin 3
 = 76.4022.
ρ – The air individual mass, ρ = 0.125 kGs2/m4,
 0o
V – The calculating wind velocity,
For the vertical axis wind turbine with pivoting V = 13m/s,
blades: Wind power impacting on blades in each
position has value as total of wind power as  – The coefficient of wind power utilization of
impacting on two axisymmetric blades. So we vertical axis wind turbine with fixed blades, his value
calculate function K∑tđ in the interval from 0o to 180o is as  = max = 0.192.
as sum of two functions K∑tđ1 and K∑tđ2 as:  – The efficiency of wind generator,
 = 0.75.
We have:
Like this, The vertical axis wind turbine with
K∑tđ = K∑tđ1 + K∑tđ2 = 135.9925. pivoting blades has diminished area on wind action of
K  tđ 135.9925
wind turbine as:
Kz    1.7799. Fcđ 25.793
K  cđ 76.4022 KF    1.842 times.
Ftđ 14
In this case the vertical axis wind working wheel
with fixed flat blades has coefficient of wind power It means, the coefficient of wind power
utilization equivalent with that of the moving flat utilization of vertical axis wind turbine with pivoting
plate. The maximum value of coefficient of wind blades increases 1.842 times.
power utilization of the moving flat plate as ξ = From there it finds out, the coefficient of wind
0,192 [1], [5]. We find out, the coefficient of wind power utilization of the experimental vertical axis
power utilization of the vertical axis wind working wind turbine with pivoting blades is:
wheel with pivoting blades has value as:
ξtđ= KF.ξcđ = 1.8420.192 = 0.353.
ξtđ = Kzξcđ = 1.77990.192 = 0.3417  0.342.
Like this, we see the coefficient of wind power The error between theoretical and experimental
utilization of the vertical axis wind turbine with calculations has value as:
pivoting blades having fairly high value. This is tt   tn 0.353  0.342
bigger than coefficient of wind power utilization of     0.0311  3.11%.
tt 0.353
vertical axis wind turbine with fixed blades.
We will test this through practice of In there: tt = 0,342 – the coefficient of wind
experimental study and manufacture of vertical axis powerutilization according to the theoretical
wind turbine with pivoting blades of engineer calculation, tn = 0.353 – the coefficient of wind
Nguyen van Khanh and coworkers of International power utilization of the experimental vertical axis
green power Joint – Stock [2]. wind turbine with pivoting blades.
Engineer Nguyen van Khanh and coworkers
have experimentally designed, manufactured and The received experimental coefficient of wind
studied one vertical axis wind turbine with two power utilization of the vertical axis wind turbine
pivoting blades, width of each blade as 2.0m, hight of with pivoting blades is corresponding to the
blade as 3.5m, area on wind action Ftđ= 14m2. The theoretical calculating coefficient of wind power
wind turbine has designed with wind velocity as utilization of that, error is about 3%.
13m/s, having power as 5kW. However if exactly calculate loss and efficiency
According to the particularity of experimental of electric generator and of wind turbine with
study of the wind turbine (fig. 4), the capacity of this pivoting blades it can be able more different of two
has achieved calculate value as 5kW with wind these coefficients. But with foregoing results of
velocity 13m/s. theoretical and experimental calculations we can
According to the theoretical calculation for evaluate preliminary coefficient of wind power
vertical axis ordinary flat blade turbine, for utilization and efficiency of wind turbine with
achievement of capacity 5kW with wind velocity pivoting blades.
13m/s, it is necessary area on wind action of turbine
as:
20 October 27 - 28, 2018

Hanoi, Vietnam
P, W
Utilisation of vertical axis wind turbines with
pivoting blades will reduce dimention of wind
turbines and have conditions to augment power of
wind turbines.
However, when utilizing vertical axis wind
turbines with pivoting blades must to pay the special
attentions to possibility to resist typhoon and to
solidity of wind turbines, because blades of vertical
axis wind turbines usually have big areas on wind
V, m/s
action. That is essential weakness of the vertical axis
wind turbines.
Fig. 4. Experimental particularity of vertical axis
pivoting blade wind turbine with capacity 5kW, Literature
calculating velocity 13m/s. [1] United States Patent Stroburg. Windmill with
pivoting blades. Patent No US 7,766,602 B1. Aug. 3,
4. Conclution 2010.
[2] Công ty CP Năng lượng xanh Quốc tế. Catalogue (Tài
Foregoing results of theoretical and liệu nội bộ). 2016.
experimental calculations show that, the vertical axis [3] Đặng Đình Thống, Lê Danh Liên. Cơ sở năng lượng
wind turbine with pivoting blades has coefficient of mới và tái tạo. 238 trang. Nhà xuất bản Khoa học và
wind power utilization bigger than this of the vertical Kỹ thuật, Hà Nội. Xuất bản lần thứ nhất. 2006.
axis wind turbine with fixed blades. We can utilize [4] J.F. Manwell, J.G.McGowan and A.L. Rogers. Wind
these coefficients for calculation and design of Energy Explained.. Theory, Design.
vertical axis wind turbines with pivoting blades. [5] Я. И. Шевтер. Ветроенергетические Агрегаты.
Изд. “Машино- строение”. Москва. 1972.
21 October 27 - 28, 2018

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Design and Optimization of a Wind Turbine Blade Working

at Low Wind Speeds
Nguyen Cong Hao 1,*, Nguyen The Mich 1,2, Tran Van Tran 1,3
1
Institute of Mechanics, VietNam Academy Of Science And Technology, 18 Hoang Quoc Viet, Cau Giay, Hanoi,
Vietnam
2
Hanoi University of Science and Technology, Vietnam
3
VNU University of Science, Vietnam
*
Email: haovdtn@gmail.com
Abstract
Blade of wind turbine works with low wind speeds work requires not only consistent with the regime's Re flo
cover but also have put off appropriate angle. In terms of how the flow of the profile chord with the lines to
ensure a constant angle synthetic flows by how optimal angle. That leads to the velocity triangles in section
along the length of the blade are spread triangles. Blade of wind turbine should be designed to interact with
the wind when adsorption is the most energy that is reaching peak performance. Optimal performance is
evaluated by the power factor (CP), is the ratio obtained energy than the energy of the wind flow.
Performance depends on the design of the blade, from the selection of cross-channel (profile), the ratio of
the length of the radius profil chord blade, corner put off, the blade and the blade twisting. This paper used
the method of correction Glauert and combining different blade sections for the different radius r from the
length side to the tips, a new blade creates higher performance using the same fields profiles.
Keywords: Profile of blade, NACA, Optimization.
study to understand the low Reynolds number flow

1. Introduction
[1].
Wind energy has been one of the most viable In the 1970s and early 1980s, the designers
sources of renewable energy. The low cost of wind found that the optimal pitch angle is an important
energy is competitive with more conventional sources characteristic profiles. Accordingly, the profiles has
of energy. As a sustainable energy resource, wind been used in the aircraft blade also used for wind
energy is increasingly important in national and turbines blade. The profiles NACA as NACA 44xx
international energy policy in response to climate and 230xx has been used quite a lot because the lift
change. A wind turbine is a machine which converts coefficient is large and the drag coefficient is low [2].
the power in the wind into electricity. The subsystems In this paper, we combined the basic profile. To
of a wind turbine include the rotor, the drive train, the create a new blade has better aerodynamics.
nacelle and main frame, the machine controls, the
2. Describe the problem and basic design theory
electrical system, the tower and the foundation. The
rotor consists of the blades and the supporting hub. 2.1. Describe the problem
Wind turbine blade profiles are often constructed The wind turbine blades are assembled from
using a combination of 2-D airfoil tools and the Blade multiple profiles. Profile changes from root to tip.
Element Momentum (BEM) theory. BEM theory Different profile types have different aerodynamics
gives the angle of twist and chord length for a given characteristics. we combined the different profile. To
cross section of the airfoil and rotation speed at a create a new that L/D ratio value is hightest. We
finite number of positions along the blade span. A divide the blade into four region (Figure1) and we
three dimensional shape can be extruded from these now call:
two dimensional sections. The BEM theory considers Root profile: The position of the root profile is at
a given airfoil cross section as independent, then 20% of the blade length. The Reynolds number at
processes the wind with a speed and direction that is which the profile optimisation is conducted is
obtained from vector sum of the oncoming wind
speed and the wind speed generated by rotor rotation.
Unlike aerodynamic studies on higher Reynolds
number flows, the numerical or analytical study of
flows at very low Reynolds numbers is not quite
matured. The 2D airfoil geometries are considered for Fig. 1. A typical blade plan and region classification.
22 October 27 - 28, 2018

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300,000. The design range for the angles of attack are

10 – 25°. During start-up conditions of the wind
rotor, the rotational velocity is low.
Mid profiles: The mid profile is positioned at
50% of the blade radius. The profile are optimised at
Reynolds numbers of 350,000. The design range for
the angles of attack for this profiles is 1 – 15°.
Semi profiles: The semi profile is positioned at
75% of the blade radius. The profile are optimised at
Reynolds numbers of 380,000. The design range for
the angles of attack for this profiles is 1 – 15°. Fig. 2. A blade elements.
Tip profiles: The tip profile is located at 95% Here ,  is pitch angle,  is angle of attack,  is
span of the wind rotor blade. The remaining 5% of
the blade is used for rounding off the blade and it is flow angle, dFL
is lift force, dFD is drag force, dFN
assumed that the blade tapers to zero thickness. The is the force perpendicular to the plane of rotation
Reynolds number for optimisation is 400,000. The (thrust force), dFT is tangential to the circle rotor.
design range for the angles of attack for this profiles
This force is maked useful torque.
is 1 – 10° [3].
Tipspeed ratio is defined:
Optimal in each section, then we combine
sections back to create a new blade. R
 (3)
2.2. Basic design theory U
The forces acting on the side of a horizontal axis Blade element momentum method ( 4) for:
wind turbine can be represented as a function of the
lift coefficient, drag coefficient and angle of attack a  1/[1  4 sin 2  /(CL cos  )] ,
[4]. As depicted in Figure 2, blade is divided into N
elements (or section). In addition, the follo a ,  1 /[ 4 cos  /(CL  1)] ,
assumptions were applied:
4 sin  (cos   r sin  )
- There are no aerodynamic interactions between the CL  (4)
different blade elements.  (sin   r cos  )
- The forces on the blade elements are only From Figure 3, we have
determined by the lift and drag coefficients.
U (1  a) 1 a
In analyzing the forces on the element, Note that tan    (5)
r (1  a ) r (1  a , )
,
lift and drag forces are perpendicular and parallel to
the relative wind speed of U rel , U rel is the sum of U rel  U (1  a) / sin  (6)
the wind speed at the rotor, U r  U (1  a) , and
the rotation of the blade. This rotation component is
dFT  dFL sin   dFD cos  (7)
vector sum of velocity rounds, r , and the angular dFN  dFL cos   dFD sin  (8)
velocity at wake, r / 2 , or
r  r/2  r (1  a , ) (1) dFL  1 / 2C L W 2 cdr (9)
Where, a is axial induction factor and a , is tangential dFD  1 / 2C D W 2 cdr (10)

induction factor. If rotor has Z blade, The sum of axial force act
U Ur  section at radius r
a , a,  (2) 1 2
2 2 dFN  Z U rel (C L cos  C D sin  )cdr
is axial velocity through rotor disk, U is 2
2 2 (11)
downwash. The relationship between the interaction U (1  a )
force, the angle and velocity in the blade, looking   (C L cos  C D sin  ) rdr
2
down from the tips are described above Figure 3. sin 
Tangential torque action to the radius r is
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1 2
dM  ZrdFT  Z U rel (C L sin   C D cos  )crdr
2
2 2
U (1  a ) 2
  (C L cos   C D cos  ) r dr
2
sin 
(12)
With  is solidity, is defined by:
  Zc /( 2r ) (13)
Coefficient of Power is:
R
P
 dM
CP  
rh
1 / 2 U 3 A 1 / 2 U 3R 2
(14)
Fig. 3. The local forces on an airfoil of the blade.
With  h and  r
is the speed ratio at tip and
ratio elements. Axial force coefficient is defined
dFN
CTr 
1 / 2 U 2 2rdr (15)
  (1  a 2 )(C L cos  C D sin  ) / sin 2 
This coefficient is used to recalculate the axial

induction factor when a> 0.4 (equivalent CT >0.96)
Fig. 4. Base root profiles and Optimised root profile.
[4].According to the empirical formula developed by
Glauert, when CT >0.96, a is calculate Accordingly, the angle of attack and pitch angle
is well defined.
a  (1 / F )[0,143  0,0203  0,6427(0,889  CT ) ] (16)
3. Specific calculations
Here F is Prandtl's tip-loss factor, if including 3.1. Root Profile
the effect of air flow tends to move around tip blade
The base profiles and the optimised foil are
Z ( R r )
2  displayed in figures 4, comparison between the base
2 r sin 
F cos 1 [e ] (17) profile aerodynamic characteristics and those of the
r
optimised foil are displayed in table 1.
Based on the formula and the equation above,
Though some shapes are similar, there are
blade shape of optimization roto( C P is hightest) can
considerable differences in the camber and airfoil
be calculated as follows. From equation (14), with the contours. Foils MH46 and LWK80-120 were selected
assumption ignored the drag (CD = 0) and coefficient to add geometric diversity to the sample base.
F = 1, Cp is the maximum when
Table 1. Aerodynamic characteristics of the base

[sin 2  (cos   r sin  )(sin   r cos  )] (18) profiles and root optimal
 Profil Clmax Attack angle L/Dmax Attack angle
From here, we have [5]: LWK80- 0.95 12 43.27 8
120
  (2 / 3) tan 1 (1 / r ) (19)
MH46 1.10 11 77.68 5
Meanwhile, according to equation (4) the AH82- 1.21 8 93.33 7
distribution of chord length along the span is 150A
calculated by
8F sin  (cos   r sin  ) AH93-157 1.24 14 98.21 6
c (20)
ZC L (sin   r cos  ) OPTIMA 1.23 7 100.81 6
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profiles and mid optimal
Profil Clmax Attack L/Dmax Attack
angle angle
AG47C-03F 1.15 11 61.82 7
E221 1.16 15 76.69 6
NACA1514 1.32 16 67.03 6
NACA2208 1.25 11 76.83 6
OPTIMAMID 1.51 12 137.55 9
Fig. 5. Optimised mid profile and base mid profiles.
The optimised root airfoil seems similar to foil ah93.

However, the optimised foil is thinner, with a lower
camber and has a sharper nose. In fact, the final
airfoil composition included 33% of foil AH82-150A,
46% of foil AH93-157.
The objective for task was to optimise the L/D. Fig. 6. Optimised semi profile and base semi
As can be seen in Figure 6, the L/D ratio and lift profiles.
coefficient versus angle of attack curve for task
of foil NACA23021 and 34% of foil SD7084.
optima is the best. The optimiser would surely have
Geometrically, foil AG04 is quite thin with a sharp
encounteredthis minimum solution area and then
leading edge.
decided to rather launch a search path in the other
The results from four successful optimisation
direction. Nevertheless, tweaking of the optimisation
tasks are presented in table 3. The L/D values for the
parameters did successfully produce a root profile to
various tasks were all within 18% of one another,
match the desired objectives.
however, task NACA23021 achieved the highest
3.2. Mid Profile objective. The Clmax constraint of 1.34 is
The base profiles selected for optimisation and approximately. Generating a suitable airfoil below
the optimised mid profile are displayed in figures 5 this constraint caused the optimiser to work harder.
and their characteristics are contained in table 2. Foils Figure 13 plots the L/D ratios for all the tasks vs.
AG47C-03f were chosen for their geometric angle of attack. The trend for all the optimisation
diversity. At first glance, the optimised mid profile tasks is almost identical. Most tasks achieve a
seems unique to the other base foils. It has a similar maximum L/D ratio at 9°. Examination of the lift
nose to foil NACA1514. In truth, the percentage coefficients in figure 12 allows better insight into the
breakdown of the optimised mid profile is 48% of foil differences between the tasks. Tasks AG04 and
NACA1514, 27.5% of foil E221. SD7084 reach a higher Clmaxat a lower angle of
These all achieved their Clmax values at angles attack than task Optimasemi. Task Optimasemi is
of attack of 11° to 15°. Though task naca1514seems more conservative in regard to its Clmax constraint.
to yield a favourable lift coefficient trend,
3.4. Tip Profile
examination of figure 11 shows that its L/D ratios are
The tip profile is selected to design for stall
not as favourable.
regulation. The design objective was to aximise the
3.3. Semi Profile lift-to-drag ratios over a narrow range of angles of
attack and encourage transition to stall beyond this
The optimisation problem for the semi profile is
range.The base profiles and the optimised tip profile
an extension of the mid profile optimisation problem.
are plotted in figures 7. Their aerodynamic
The base profiles selected for optimisation and the
characteristics are displayed in table 4.
optimised profile are displayed in figures 6. Their
Similar to the design problem of the root
aerodynamic characteristics displayed in table 3.
station, the tip station base profile shapes are quite
The optimised semi foil looks very similar to
varied. These foils were selected on the condition that
foil NACA23021; however, the underside of the
they met the Clmax constraint and then according to
airfoil is reminiscent of foil NACA64008.
the summated lift-to-drag ratios over the angle of
Speculations aside, the optimised foil constitutes 66%
attack 10 to 15° range.
25 October 27 - 28, 2018

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Table 3. Aerodynamic characteristics of the base L/D ratios follow more or less the same trend. Below
profiles and semi optimal an angle of attack of 5°, there is differentiation in the
Profil Clmax Attack L/Dmax Attack profile. However, it is clear that the tip profile has
angle angle been designed to operate at angles of attack below
AG04 1.24 11 68.85 6 10°. In figure 14, the lift coefficients for each task are
NACA23021 1.34 15 55.29 9 plotted against the angle of attack. All the tasks
NACA64008 1.089 12 55.76 8 manage to peak before an angle of attack of 12°.
SD7084 1.158 11 76.99 4 4. Results and conclude
OPTIMASEMI 1.14 13 82.87 6
This paper presents a method designed and
optimization of blade of horizontal axis wind turbines
working at low wind speeds, suit wind conditions in
Vietnam. Designed for use on Blade Element
Momentum Method (BEM) and One Dimensional
Momentum Theory. Optimization may therefore
depend on the choice of Glauert correction and divide
the blade into four region, each its has own function:
Section root heavy loads, so there are larger profile,
mid and semi section are two main parts to create
Fig. 7. Base profiles and optimised tip profile. moment, tip section has large rotational velocity so it
needs tapering to reduce friction. All calculations
Table 4. Aerodynamic characteristics of the base have been programmed in MATLAB service of the
profiles and tip optimal design calculations [6].
Clmax Attack L/Dm Attack Profil
angle ax angle
E180 1.1 10 80.94 4
MH83 1.84 15 83.44 8
NACA2111 1.54 14 61.21 7
NACA615122 1.09 12 55.76 8
OPTIMATIP 0.895 10 81.29 5
Similar to the design problem of the root station,

the tip station base profile shapes are quite varied.
These foils were selected on the condition that they
met the Clmax constraint and then according to the
summated lift-to-drag ratios over the angle of attack
10 to 15° range. Foils MH83 were added for
diversity. The geometry of the optimised tip foil is
similar to that of foil NACA2111. The nose is sharper Fig. 8. Lift coefficient vs. angle of attack at root
and in general the foil is thinner. In fact, the profile.
optimised tip profile constitutes the follo: 20% of foil
E180, 59% of foil NACA2111, 21% of foils
NACA615122. Base foils E180 adequately fulfil the
Clmax constraint, while maintaining high values of
L/D. A further advantage of foils E180 was that their
positions of maximum camber and maximum
thickness occur further backalong the chord than the
other base foils. This has the effect of extending the
upper airfoil surface on the leading side of the airfoil.
At increased velocities and angles of attack this
assists in boundary layer separation and hence stall.
Figure 15 displays the L/D ratios of the various
tasks' optimum profiles against angle of attack. These Fig. 9. L/D ratio vs. angle of attack at root profile.
26 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 10. Lift coefficient vs. angle of attack at mid

Fig. 13. L/D ratio vs. angle of attack at semi profile.
profile.
Fig. 11. L/D ratio vs. angle of attack at mid profile.

Fig. 14. Lift coefficient vs. angle of attack at tip
profile.
Fig. 12. Lift coefficient vs. angle of attack at semi

profile.
Some calculation results of some blade were

built from the profile with input data as number of
blade B=3, the radius R  6m ,   60rpm , angle
Fig. 15. L/D ratio vs. angle of attack at tip profile.
of pitch of root section 50, mid root section 100 and
semi section 150, tip root section 200. some basic profiles and optimal profiles (see figure
16).
At the root blade need to select large profile to
bear the force, so L/D ratios does not need big (see
figure 9). In the mid blade is the place where the main
electricity production, so choose L/D ratios of great
value(see figure 11). At the semi and tip blade, speed
of rotation is hight so choose a small profile (see
figure 13 and 15). The power of turbine is made up of
27 October 27 - 28, 2018

Hanoi, Vietnam
5. References NASA Lewis Research Center and The General

Electric Company.
[1] Sagarkumar M. Agravat and N. V. S. Manyam. [10] Tangler, J. L., Smith, B. and Jager, D. (1992). “SERI
Analysis of a Wind Turbine Blade Profile for Tapping Advanced Wind Turbine Blades”, NREL/TP-257-
Wind Power at the Regions of Low Wind Speed. 4492.Golden, CO.
Journal, 2, (2015), pp. 127-134. [11] Eppler, R. (1990). Airfoil Design and Data , New
York, NY: Springer-Verlag; 562 pp.
[2] Nghiên cứu thiết kế và chế tạo hệ thống Tua bin gió [12] Selig, M. S., Donovan, J. F. and Fraser, D. B. (1989).
kiểu trục ngang có công suất trong dải từ 15-20kW, Đề Airfoils at Low Speeds, Soartech 8.Virginia Beach,
tài nghiên cứu khoa học cấp nhà nước GS. TS. VA: H. A. Stokely.
Nguyễn Thế Mịch, (2014). [13] Hansen, A. C. and Butterfield, C. P. (1993).
[3] Peter J. Schubel and Richard J. Crossley. Wind "Aerodynamics of Horizontal-Axis Wind Turbines
Turbine Blade Design. Journal, 7, (2012), pp. 3425- "Annual Review of Fluid Mechanics. Vol. 25.
3449. [14] Laino, D. and Butterfield, C. P., "Using YAWDYN
[4] James F. Manwell, Jon G. McGowan, Anthony L. to Model Turbines with Aerodynamic Control
Rogers . Wind Energy Explained: Theory, Design Systems,
and Application. Wiley, UK, (2009). "ASME Wind Energy Conference, New Orleans, LA,
[5] Vries, O. de. Fluid dynamic aspects of wind energy 1994.
conversion. DTIC Document. (1979). [15] Leishman, J. G. and Beddoes, T. S., "A semi-
[6] Trần Văn Trản. Phương pháp số thực hành, tập 2, Empirical Model for Dynamic Stall," Journal of the
NXB Đại học Quốc gia (2007). American Helicopter Society , Vol. 34, 1989, pp. 3-
[7] Walter Frost and Carl Aspliden, “Characteristics of 17.
the Wind”, Chapter 8 in Wind Turbine Technology. [16] Hariharan, N., “High Order Simulation of Unsteady
Edited by David A. Spera, New York, ASME Press, Compressible Flows Over Interacting Bodies with
1994. Overset Grids”, Ph.D. Dissertation, School of
[8] <http://www.eren.doe.gov/wind >, the official web- Aerospace Engineering, Georgia Institute of
site for the Energy Efficiency and Renewable Energy Technology, 1996.
Network, Department of Energy. [17] Berkman, M. E., “An Integrated Navier Stokes-Full
[9] Collins, J. L., R. K. Shaltens, R. H. Poor, and R. S. Portential-Free Wake Method for Rotor Flows”, Ph.D.
Barton, April 1982, “Experience and Assessment of Dissertation, School of Aerospace Engineering,
the DOE-NASA Mod-1 2000-kW Wind Turbine Georgia Institute of Technology, 1998.
Generator at Boone, North Carolina”, NASA TM-
82721, DOE/NASA/23066-2, Cleveland, Ohio:
28 October 27 - 28, 2018

Hanoi, Vietnam
International Conference of Fluid Machinery and Automation Systems - ICFMAS2018
Relationship of Geometric Parameters and Kinetic to Characteristics of

Wind Turbine Works at Low Wind Speed
Nguyen Cong Hao 1,*, Nguyen The Mich 1,2, Tran Van Tran 1,3
1
Institute of Mechanics, VietNam Academy Of Science And Technology, 18 Hoang Quoc Viet, Cau Giay, Ha Noi,
Vietnam
2
Hanoi University of Science and Technology, Viet Nam
3
VNU University of Science, Viet Nam
*
Email: haovdtn@gmail.com
Abstract
Wind is a clean and inexhaustible energy. Right now, humans use about 18 terawatts of power worldwide.
And, technically, the study found, we could extract about 400 terawatts of wind power from the Earth's
surface and 1,800 terawatts of power from the upper atmosphere. Designer goals increase the performance
of wind turbine. Normally for production of wind turbines, manufacturers often use according to NACA. To
increase performance, they usually rotate blade by wind speed. This paper presents an alternative method
to increase performance, divided into four section, optimally at each section, then we joined to create new
blade. Then evaluate work of new turbines and compared with some previous results.
Keywords: Wind turbine, geometric parameters, kinetic parameters.
1. Introduction Thrust is created as a result of torque. Torque is a

force
The horizontal wind turbine is designed to have a
applied by the wind on the blade. According to
computing speed of 8 m/s to 12 m/s, at most 13 m/s.
Newton's third law, the opposite force and the force
The starting velocity is between 2.5 m/s and 3.5 m/s,
acting on the blade cause the air behind the rotor to
depending on the moment of inertia of the rotor mass
reverse the rotor. The tangential velocity in the rotor
of the magnetic field in the case of the permanent
current is determined by the tangent factor:
magnet generator and the friction torque of the
bearing. Vrot  (1  a ' )r (3)
The characteristics of Vietnamese winds are Where, r is the radius from the center of the roto.
monsoon winds and winds are unstable and depend
on terrain. Another distinguishing feature is that the 2.2. Ratio of rotational speed and blade tip and
wind in the areas where it is possible to exploit wind rotational speed
power is only favorable in the range of 6m/s to Velocity of the nose is the ratio between velocity and
8.5m/s. With such an average wind speed, once we free flow velocity (V infinity) determined by the
purchase and install wind turbines, it calculate the R
design of the wind turbine at a wind speed of around formula:  . The blade tip velocity at each
12 m/s, in addition to the monsoon characteristics, the V1
energy recovery coefficient will be very low, leading
to a higher investment in a kW than the nominal
figure for a kW.
2. The influence of geometric parameters
2.1. Axial induction factor
The reduction of the air velocity of the lateral
stream at the rotor, we call Axial induction factor: a
V  (1  a)V1 (1)
Expression of thrust and power:
P  2 AV13 a(a  1) 2 Fig. 1. Velocity triangle over arifoil.
(2)
P  AV12 a(1  a) 2
r
The aerodynamic shape of the blade causes the torque point is determined by x . The blade tip
on the rotor when it comes in contact with the wind. V1
29 October 27 - 28, 2018

Hanoi, Vietnam
is durable.It is important to select the bones along the

blades, the hollow material and the surface material
as well as the blade so that the center of gravity is as
close as possible to the rotor axis.
3. Kinetic and dynamic parameters of wind
turbines
The kinetic parameters of the wind turbine are
the starting speed, the speed used to calculate the
nominal power, the cutting speed to ensure the
durability of the turbine. The rotational speed of the
rotor at nominal speed, the coefficient of variation
between the tip velocity of the blade tip on the
velocity of the wind at the rotational axis of the wind
rotor.
Dynamic parameters are the capacity of the unit,
which is the overall efficiency of the unit, which is
the energy absorption coefficient of the rotor wind.
Dynamic parameters determine the quality of the unit
it determines the return capacity of a wind farm.
4. Calculate the basic parameters of the turbine

Turbine capacity in the range of 15kW to 20kW,
the wind speed is 6m/s.
Fig. 2. Triangular velocity. Determination of rotor diameter of turbine:
2080.N tr
velocity affects the rotor angular velocity in the D  20m (4)
number of revolutions per minute of the blade. The C P .V 3
blade tip ratio is important in the design of a wind Determination of blade number Z: With the
turbine, which affects blade twist and design power. velocity v = 6 (m/s), we choose the number of blades
Each turbine configuration typically has an optimum Z = 3.
nose-to-nose ratio. Select the scan area ratio:
D 2
2.3. Pitch angle, blade twists and chord length SC   10m 2 (5)
As the wind turbine develops, the range of 4Z
operating velocity needs to be increased since the Select the lift angle β:
turbine is designed for a wind speed range. in figure    (6)
2, the first image shows the velocity at infinity at low U  (1  a) 2
velocity and high velocity because of the relative tg  
r (1  a' ) 2
velocity variation, and to optimize the angle of attack 3.x 
of the blade with the wind, downhill. 3.x
Figure 2 shows the velocity relationship across Determine the number of revolutions:
the blade supply curve as variation in velocity along 30V
n  45.8 (rpm) (7)
the length of the blade, so that the entire blade section R
is made of some optimal angle profile with incoming Choose profill type:
wind in the wind plane, from which the blades are
twisted from tip to root.
2.4. Geometric parameters of wind turbine blades
Roto wind is the most important factor in
determining the energy conversion efficiency
between wind and roto. The important parameters of
ro to wind are the ro diameter, the disk ratio is the
ratio of the total area of the leaves on the scanning
area of ro diameter. Shaped projection of the leaves.
Blade angle, blade twist. The profile of the blade is
selected, for large turbines on a leaf, the combination
of multiple profiles ensures that the power exchange
30 October 27 - 28, 2018

Hanoi, Vietnam
Root Profile
The base profiles and the optimised foil are
displayed in figures 3, comparison between the base
profile aerodynamic characteristics and those of the
optimised foil are displayed in table 1.
Fig. 4. Optimised mid profile and base mid profiles.
Fig. 3. Base root profiles and Optimised root profile.

profiles and root optimal
angle angle
LWK80-120 0.95 12 43.27 8
MH46 1.10 11 77.68 5 Fig. 5. Optimised semi profile and base semi
AH82-150A 1.21 8 93.33 7 profiles.
AH93-157 1.24 14 98.21 6 Table 2. Aerodynamic characteristics of the base
OPTIMA 1.23 7 100.81 6 profiles and mid optimal
Though some shapes are similar, there are angle angle
AG47C-03F 1.15 11 61.82 7
considerable differences in the camber and airfoil
contours. Foils MH46 and LWK80-120 were selected E221 1.16 15 76.69 6
to add geometric diversity to the sample base. The NACA1415 1.32 16 67.03 6
optimised root airfoil seems similar to foil ah93. NACA2208 1.25 11 76.83 6
However, the optimised foil is thinner, with a lower OPTIMAMID 1.51 12 137.55 9
camber and has a sharper nose. In fact, the final
airfoil composition included 33% of foil AH82-150A, of the optimised mid profile is 48% of foil
46% of foil AH93-157. NACA1415, 27.5% of foil E221.
These all achieved their Clmax values at angles
The objective for task was to optimise the L/D. of attack of 11° to 15°. Though task naca1415 seems
As can be seen in Figure 3, the L/D ratio and lift to yield a favourable lift coefficient trend,
coefficient versus angle of attack curve for task examination of figure 11 shows that its L/D ratios are
optima is the best. The optimiser would surely have not as favourable.
encounteredthis minimum solution area and then Semi Profile
decided to rather launch a search path in the other The optimisation problem for the semi profile is
direction. Nevertheless, tweaking of the optimisation an extension of the mid profile optimisation problem.
parameters did successfully produce a root profile to The base profiles selected for optimisation and the
match the desired objectives. optimised profile are displayed in figures 5. Their
Mid Profile aerodynamic characteristics displayed in table 3.
The base profiles selected for optimisation and The optimised semi foil looks very similar to
the optimised mid profile are displayed in figures 4 foil NACA23021; however, the underside of the airfoil
and their characteristics are contained in table 2. Foils is reminiscent of foil NACA64008. Speculations aside,
AG47C-03f were chosen for their geometric diversity. the optimised foil constitutes 66% of foil NACA23021
At first glance, the optimised mid profile seems and 34% of foil SD7084. Geometrically, foil AG04 is
unique to the other base foils. It has a similar nose to quite thin with a sharp leading edge.
foil NACA1415. In truth, the percentage breakdown
31 October 27 - 28, 2018

Hanoi, Vietnam
Table 3. Aerodynamic characteristics of the base E180, 59% of foil NACA2111, 21% of foils
profiles and semi optimal NACA615122. Base foils E180 adequately fulfil the
Clmax constraint, while maintaining high values of
Profil Clmax Attack L/Dmax Attack L/D. A further advantage of foils E180 was that their
angle angle positions of maximum camber and maximum
AG04 1.24 11 68.85 6 thickness occur further backalong the chord than the
NACA23021
other base foils. This has the effect of extending the
1.34 15 55.29 9 upper airfoil surface on the leading side of the airfoil.
NACA64008 1.089 12 55.76 8 At increased velocities and angles of attack this
SD7084 1.158 11 76.99 4 assists in boundary layer separation and hence stall.
OPTIMASEMI 1.14 13 82.87 6 Table 4. Aerodynamic characteristics of the base
profiles and tip optimal
angle angle
E180 1.1 10 80.94 4
MH83 1.84 15 83.44 8
NACA2111 1.54 14 61.21 7
NACA615122 1.09 12 55.76 8
OPTIMATIP 0.895 10 81.29 5
5. Some design results of results
Calculated results are expressed in the topic of
Fig. 6. Base profiles and optimised tip profile.
design calculations. Here we just quote the results of
The results from four successful optimisation the calculation process. The calculation results are
tasks are presented in table 3. The L/D values for the shown in the tables and diagrams of the sections of
various tasks were all within 18% of one another, the turbine blades. The folloblade tables show some
however, task NACA23021 achieved the highest of the results of the design calculations, in order to
objective. The Clmax constraint of 1.34 is select a few options, so that we can design a real
approximately. Generating a suitable airfoil below sample for fabrication, Determine the working
this constraint caused the optimiser to work harder. characteristics of the sample and then use the same
theory to turn the trigger.
Tip Profile
The tip profile is selected to design for stall Table 5. Results parameters of the blade
regulation. The design objective was to aximise the 3D image of the blades
lift-to-drag ratios over a narrow range of angles of x α φ β
attack and encourage transition to stall beyond this 0.1 4 34.5 30.5
range.The base profiles and the optimised tip profile 0.2 4 25.7 21.7
are plotted in figures 6. Their aerodynamic 0.3 4 19.1 15.1
characteristics are displayed in table 4. 0.4 4 14.9 10.9
0.5 4 12.2 8.2
Similar to the design problem of the root
station, the tip station base profile shapes are quite 0.6 4 10.3 6.3
varied. These foils were selected on the condition that 0.7 4 8.9 4.9
they met the Clmax constraint and then according to 0.8 4 7.8 3.8
the summated lift-to-drag ratios over the angle of 0.9 4 6.9 2.9
attack 10 to 15° range. 1 4 6.3 2.3
Similar to the design problem of the root station,
the tip station base profile shapes are quite varied.
These foils were selected on the condition that they
met the Clmax constraint and then according to the
summated lift-to-drag ratios over the angle of attack
10 to 15° range. Foils MH83 were added for
diversity. The geometry of the optimised tip foil is
similar to that of foil NACA2111. The nose is sharper
and in general the foil is thinner. In fact, the Fig. 7. Adjustable blade shape.
optimised tip profile constitutes the follo: 20% of foil
32 October 27 - 28, 2018

Hanoi, Vietnam
Image simulation results:
Fig. 10. Simulation results in the longitudinal axis

along the axis of the turbine.
6. Experimental results and discussion

TT GTtb SLtb
1 V wind(m/s) 2.053 2.0782
ΔV 0.0262 0.01776
P(W) 2.900 2.9218
ΔP 0.0218 0.02600
2 V wind 3.092 3.0992
ΔV 0.0072 0.00520
P 15.678 15.6682
ΔP 0.0098 0.03488
3 V wind 4.015 4.047
ΔV 0.032 0.02220
P 37.184 37.1988
ΔP 0.0148 0.00704
4 V wind 5.079 5.0872
ΔV 0.0082 0.00829
Fig. 8.Simulated painting for different winds. P 72.625 72.7964
ΔP 0.1714 0.1311
5 V wind 6.089 6.092
ΔV 0.003 0.0068
P 125.49 125.722
ΔP 0.2261 0.2260
6 V wind 7.086 7.0812
ΔV 0.0036 0.01628
P 199.283 200.05
ΔP 0.7696 0.30888
Fig. 9. The flow picture is at right angles to the rotor
axis of the wind turbine. It is difficult to create experimental conditions
with the wind turbine test conditions under the same
conditions as the large-capacity turbines. For that
reason, sample turbine experiments can only be
33 October 27 - 28, 2018

Hanoi, Vietnam
performed on small sample sizes. In the case of the [5] Vries, O. de. Fluid dynamic aspects of wind energy
subject, model turbines only have capacity of less conversion. DTIC Document. (1979).
than 200Wats. With such a small power model [6] Trần Văn Trản. Phương pháp số thực hành, tập 2,
turbine, the measurement will certainly have NXB Đại học Quốc gia (2007).
[7] Walter Frost and Carl Aspliden, “Characteristics of
significant errors. This is the limitation of the turbine the Wind”, Chapter 8 in Wind Turbine Technology.
model of the subject. We will correct the results by Edited by David A. Spera, New York, ASME Press,
referring to the materials and when testing the field 1994.
turbines. [8] <http://www.eren.doe.gov/wind >, the official web-
The turbine is installed in the gardens of the Hai site for the Energy Efficiency and Renewable Energy
Duong Pump Manufacturing Joint Stock Company. Network, Department of Energy.
This campus is located in Hai Duong City. To the [9] Collins, J. L., R. K. Shaltens, R. H. Poor, and R. S.
right of Highway 5A when going from Hanoi to Hai Barton, April 1982, “Experience and Assessment of
Phong. the DOE-NASA Mod-1 2000-kW Wind Turbine
Generator at Boone, North Carolina”, NASA TM-
82721, DOE/NASA/23066-2, Cleveland, Ohio:
NASA Lewis Research Center and The General
Electric Company.
[10] Tangler, J. L., Smith, B. and Jager, D. (1992). “SERI
Advanced Wind Turbine Blades”, NREL/TP-257-
4492.Golden, CO.
[11] Eppler, R. (1990). Airfoil Design and Data , New
York, NY: Springer-Verlag; 562 pp.
[12] Selig, M. S., Donovan, J. F. and Fraser, D. B. (1989).
Airfoils at Low Speeds, Soartech 8.Virginia Beach,
VA: H. A. Stokely.
[13] Hansen, A. C. and Butterfield, C. P. (1993).
"Aerodynamics of Horizontal-Axis Wind Turbines. "
Annual Review of Fluid Mechanics. Vol. 25
[14] Laino, D. and Butterfield, C. P., "Using YAWDYN
to Model Turbines with Aerodynamic Control
Systems," ASME Wind Energy Conference, New
Orleans, LA, 1994.
5. References [15] Leishman, J. G. and Beddoes, T. S., "A semi-
[1] Sagarkumar M. Agravat and N. V. S. Manyam. Empirical Model for Dynamic Stall," Journal of the
Analysis of a Wind Turbine Blade Profile for Tapping American Helicopter Society , Vol. 34, 1989, pp. 3-
Wind Power at the Regions of Low Wind Speed. 17.
Journal, 2, (2015), pp. 127-134. [16] Hariharan, N., “High Order Simulation of Unsteady
[2] Nghiên cứu thiết kế và chế tạo hệ thống Tua bin gió Compressible Flows Over Interacting Bodies with
kiểu trục ngang có công suất trong dải từ 15-20kW, Đề Overset Grids”, Ph.D. Dissertation, School of
tài nghiên cứu khoa học cấp nhà nước GS.TS. Nguyễn Aerospace Engineering, Georgia Institute of
Thế Mịch, (2014). Technology, 1996.
[3] Peter J. Schubel and Richard J. Crossley. Wind [17] Berkman, M. E., “An Integrated Navier Stokes-Full
Turbine Blade Design. Journal, 7, (2012), pp. 3425- Portential-Free Wake Method for Rotor Flows”, Ph.D.
3449. Dissertation, School of Aerospace Engineering,
[4] James F. Manwell, Jon G. McGowan, Anthony L. Georgia Institute of Technology, 1998.
Rogers . Wind Energy Explained: Theory, Design
and Application. Wiley, UK, (2009).
34 October 27 - 28, 2018

Hanoi, Vietnam
Numerical Simulation and Testing of a Two-boby Heaving Wave Energy

Converter
Phung Van Ngoc1,*, Nguyen The Mich1, Dang The Ba2, Chu Dinh Do3
1
Hanoi University of Scientist anh Technology
2
University of Engineering and Technology, Vietnam National University 144 XuanThuy
3
Son La college, No 2 Chieng Cong, Son La city
*
Email: phungthanhngoc@gmail.com
Abstract
The device design a small scale point absorber was constructed and tests in July 2016 on west Lake. The
tests were aimed at performance characterization and validation of a linear dynamics model in the frequency
domain. The coefficents used in the model are obtained through a combination of bench-top and tank-side
experiment. The device produced an average of 40W from waves of 35 cm height and frequencies between
0,6-0,8 Hz. The experimental results compare reasonably well with the frequency domain dynamics model.
However, there is a significant amount of scatter in the experimental values which was attributed to various
sources.
Keywords:wave ocean energy; buoys; generator; rotor; converter.
1. Introduction increases mechanical energy loss, and it is very hard

to get the generators and related accessories available
1.1. Ocean wave energy
to fit the device’s characteristics. They cause
In terms of fossil energy resource depletion reliability problems when operating in extreme
and sustainable development, the use of renewable marine environment conditions and this is the biggest
energy, including wave energy is inevitable. The barrier to the success of the project to manufacture
global power potential represented by waves is wave energy converter in real field conditions [7].
estimated to be 1–15 TW [1]. Technically, the Recently, a number of different working
potential available in Sweden is estimated to 5–10 principles to convert wave energy using linear
TWh annually which can be compared to Sweden’s generator have been presented and described [7].
total electric energy consumption during one year, Particularly, the direct conversion using point
144 TWh [1]. absorbed and three-phase synchronous three-slide
In Vietnam, according to the latest studies, the linear generator have been simulated for 10kW units
total wave power in the coast zone is about 58677.02
MW while the total electric power generation
capacity of Vietnam in 2010 was 12200.00 MW [2,
3]. The region has great potential for wave energy in
Vietnam is South-Central offshore. The annual
average wave energy flux for this region is over
30kW/m and reaches the maximum value of about
100 kW/m in December. This is a good energy
resource to meet the energy demand of the
development.
1.2. Wave energy conversion technologies
Up to day, different types of wave energy
conversion principles are illustrated, which have
carefully been documented and presented as in Fig. 1
[4]. So far most researchers have concentrated on the
hydrodynamic aspects of different converters. The
two best known concepts are the IPS buoy [5] and the
AquaBouy [6, 7]. These devices all require an
intermediate mechanical structure to transform the
kinetic energy of the buoy to that compatible with the
conventional turning generator, such as pump and Fig. 1. Illustration of different principles for wave
turbine systems. However, the complexity in structure energy absorption.
35 October 27 - 28, 2018

Hanoi, Vietnam
[7]. This structure has the advantage of simple, related to still water level, a is the wave amplitude,
without many intermediate structures, less ω is angular frequency, k is wave number.
mechanical energy loss. Permanent magnet generator
helps more dependable operation in hard conditions - Buoy’s motion
of the marine environment [6-7]. We select a point-absorbed system of mass m
For starting develop wave energy convertor and model its response to monochromatic wave
that is suitable with wave conditions and using extinction. The dynamic equation of motion for a
purposes in Vietnam, this study deals with a 300W heaving structure is [12]
wave energy convertor. This device consists of a
buoy connects directly with a linear permanent mb s (t )  Sb s(t )  Fw,b (t )  Ff ,b (t )  Fu (t )  Fc (t )  Fm
magnet generator placed at the sea bottom. The mb s (t )  Fw, p (t )  Ff , p (t )  Fu (t )  Fc (t )  Fm  Fdrag (t )
generator consists of a two-slide piston with surface (2)
mounted permanent magnets. The piston is connected
to a buoy by a robe. Stator is situated outside piston where sb is the vertical distances of displacement
with symmetric winding. Reciprocal movements of from equilibrium of the buoy, mb1 is the mass of the
the piston induce currents in stator winding (Fig. 2a). buoy, Fe,b(t) is the excitation force, Fr,b(t) is radiation
force, Fb,b(t) is the net buoyancy force, Fb,drag is the
2. Concept model and modeling drag force, Fb,f is the friction loss force, Fb,u is the
2.1. Concept model electromagnetic load force from generator.
The concept and operation of the device are
described in Fig. 2. The piston is covered with rows The see quations can bere organised as follows.
of permanent magnets of alternating polarity. The mb  mr ,11 ())ub (t )  mr ,12 ()u p (t )  g1 (t ) (3)
magnet rows are separated with aluminum spacers.
mr ,21 ()ub (t )  (m p  mr ,22 ())u p (t )  g 2 (t )
The stator is made of laminated electrical non-
oriented steel sheets and isolated copper conductors. When the expressions for the radiation forces
The conductors are wound in slots (holes) in the give nine quation (3) have been used, and the
stator steel and forms closed loops or coils. When the following functions have been introduced to increase
buoy oscillates in heave mode under wave forces, it the read ability.
makes piston move relative to the stator. Reciprocate
movements of the piston induce currents in stator g1 (t )  Fe,b (t )  k11 (t )ub (t )  k12 (t )u p (t )
winding.  R f ,bub (t )  Sb sb (t )  Fu (t )  Fc (t )  Fm (4)
2.2. Governing equations g 2 (t )  Fe, p (t )  k21 (t )ub (t )  k22 (t )u p (t )
- Linear wave theory  R f , p u p (t )  Fu (t )  Fc (t )  Fm  Fdrag (t )
Ocean waves are very complex. In this study, the
analysis is carried out for the linear wave theory only. By further manipulation the equations of motion
Then the wave equation has the form: can be written as the following system of equations:
 (t )  a cos(t  kx) (1)
3. Point wave absorber model
In which, (t) is the surface water displacement The point wave absorber model contains a float
and a reaction part that includes a central column and
a reaction plate. For extreme wave conditions, we
assumed the absorber to be locked, and we performed
the numerical study assuming all the parts are moving
together as a single rigid body.
Fig. 2. Device’s model.

Fig. 3. The concept device’s model.
36 October 27 - 28, 2018

Hanoi, Vietnam
We first designed the model using SolidWork, where mb is the mass of the body, at is the
and then further modified the geometry in the acceleration vector for the translation, Ω and a Ω are
numerical modeling by keeping the center of
the angular velocity and acceleration vectors, I g is the
buoyancy, B, as close as to the original SolidWork
design. The model properties and the dimensions are moment of inertia tensor at the center of gravity, F
shown in Tab. 1 and (Fig.2, Fig.3), respectively, and M are the resulting force and moment acting on
where G is the center of gravity, and the metacentric the body, including the buoyancy force, wave load
M is calculated by following and the weight of the body. The corresponding
translational and rotational motions are calculated by
BM  I /  (5) integrating the accelerations over time, and the
GM  OG  OB  BM
equation of motion is coupled with the RANS method
where O is located at the intersection of the mean free through iterations.
surface and the longitudinal axis of the FPA, I is the
Numerical wave tank settings
area of inertia, and  is the displacement of the
model. The domain and the domain boundaries of the
numerical wave tank are plotted in Fig. 4, where the
Modeling rans method
water depth is 70 m. To reduce the size of the
We applied a finite volume method-based RANS problem, a symmetric boundary is applied along the
model (StarCCM+) for solving the details of the x-y plane. The given computational domain is 100 m
unsteady incompressible flow field around the FPA. wide (0m≤y≤100m); 170 m high (-70m≤z≤100m); 7
The continuity equation and the Navier-Stokes wavelengths long (-2λ≤x≤5λ) in the regular wave
equations are given as.
analysis and 9 wavelengths long (-2λ≤x≤8λ) in the
.U  0, irregular wave analysis. The wall width to FPA
(6)
 (U t  U .U )  p  Fb  T diameter radius is around. The effect of wave
reflection from the side wall is assumed to be small in
where ρ is the water density, U is the flow velocity this study. However, more studies need to be
vector, and Ut is its time derivative, Fbis the body
performed to quantify the impacts. The incident wave
force vector (e.g., gravity), and T is the stress tensor.
condition is specified at the inflow boundary, and a
The governing equations are discretized over sponge-layer method is applied by placing a damping
the computational domain and are solved using a zone (2λ in the wave propagation direction) in front
transient SIMPLE for the pressure–velocity coupling. of the down wave boundary in order to absorb the
The set of linear equations is solved through outgoing and reflecting waves without creating
the use of an algebraic multigrid method. Ak-ω SST additional numerical disturbance. Note that the
turbulence model is applied with a two-layer all y+ sponge-layer damping zone method has been tested.
wall treatment model, and the unsteady simulation It successfully absorbs the waves in a numerical wave
is performed using a second order implicit scheme
tank without the presence of the absorber.
for time marching. The water free surface is captured
using a volume of fluid (VOF) method, and a
morphing model is adopted to move the mesh, where
the cell movement and its deformation are taken into
account in the momentum equation using an arbitrary
Lagrangian-Eulerian method.
Absorber response calculation
The translation and rotation of the body of the
body (Fig. 2) is calculated by solving the equation of
motion after the excitation force is obtained, and the
equation of motion calculation is coupled with the
RANS simulation. The translation and the rotation of
the body at the center of gravity are solved following.
F  mb at (7) Fig. 4. The transliton and rotation of the body.
M  I g a    I g 
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Mooring configuration JONSWAP spectrum wave is applied for the irregular

The FPA is connected to a mooring system to analysis.
contain its horizontal and rotational motions. We are
Meshing
not trying to model a particular mooring system in
this study. For design and optimization purposes, we As shown in Fig. 5, the mesh is finer near the free
use OrcaFlex to conduct the mooring line surface in order to capture the wave dynamics and
configuration study, which is a fully 3D time domain has a higher resolution around the FPA to model the
fluid and structural dynamic modeling tool. It has details of the flow around it and its interaction with
widely been used for modeling the dynamics of the waves. In addition, prism-layer cells are placed along
offshore systems. The excitation forces on the the FPA surface so that y+ satisfies the turbulence
absorber include the buoyancy force and the modelrequirement.
hydrodynamic wave loads that are calculated through The grid size x (in the wave propagation
the use of Morison’s equation. The dynamics of the direction) is adjusted with the incident wavelength,
absorber and the mooring system are then modeled and it is smaller than λ/80. The grid size z (in the
using a finite element method. The drag and added- vertical direction) near the free surface is in the range
mass coefficients for the Morison’s equation are between H/10 and H/20, where H is the wave height.
given based on. Note that the effects of wave The total number of cells is on the order of 0.7
diffraction and radiation as well as the nonlinear million for the regular wave analysis and 1.5 million
interaction between waves and the floating body are for the irregular wave analysis.
not considered in the modeling. Although OrcaFlex In addition, a very small time step is utilized to
has its limitations, it can provide us first-cut results in avoid highly distorted cells, created by the morphing
a very short time. model due to the large movement of the FPA at each
Based on the approach used by Fitzgerald and time step. The time step size is also given based on
Bergdahl, and after running a series of OrcaFlex the incident wave period, and it is approximately
simulations with various mooring configurations, we T/300 in the regular wave analysis and T p/600 in the
present an "acceptable" mooring design (Fig. 4), for
irregular wave analysis, where T and T p are the period
which the deviation of pitch is less than 25 degrees.
and the peak period for the regular and irregular
The FPA model is connected to eight mooring lines
waves, respectively.
that are divided into two layers. Each layer has four
Long linear wave comparison
lines in the configuration of a cross, and each For long linear waves, the comparison of the
mooring line is connected to a spring system. The heave and surge motions of the FPA are plotted in
spring stiffness is equal to 160kn/m and is determined Fig.6, which shows the results from the RANS
based on a series of OrcaFlexruns. method and OrcaFlex are in good agreement. When
In the RANS simulation, the sway, roll and yaw the wave is linear and the wave period is large, the
motions are constrained, and the FPA is only allowed vertical component of the excitation force is
to move freely in surge, heave, and pitch. The dominated by the buoyancy force, and the horizontal
mooring system is designed based on the one used in
the OrcaFlex modeling. Given that a symmetry
boundary is applied, only four mooring lines are
specified along the symmetry boundary in the RANS
simulation (Fig.5).
Rans simulation
To model the details of the flow around the FPA,
including wave overtopping and the nonlinear
interaction between waves and the moored FPA, we
utilized the RANS method. The FPA wave energy
system is analyzed in both regular and irregular
waves, where a 5th-order Stokes wave with a height Fig. 5. Mesh around the point wave absorber model.
of 10m is applied for the regular wave study and a
38 October 27 - 28, 2018

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component is determined by the hydrodynamic wave and the FPA heave motion increases. As a result, the
loads. The buoyancy force is proportional to the waves are more likely to overtop the FPA model (Fig.
immersed volume of the FPA, and the hydrodynamic 4), particularly in extreme wave scenarios, where a
wave loads in the horizontal direction can be wave with a height of 10 m is generally nonlinear
calculated accurately through the use of Morison’s when the wave period is smaller than 11 sec. In
equation because the size of the FPA is muchsmaller addition, flow separation is observed around the float
than the incident wavelength and wave overtopping and the reaction plate in the RANS simulation. These
barely occurs. nonlinear effects generally provide additional
Regular wave analysis damping that constrains the FPAmotions.
The response amplitude operators (RAOs)
Figure 8 plots the surge and pitch of the FPA in
obtained from OrcaFlex only have good agreements
waves. The surge response is in the range between 3
with those obtained from the RANS method when the
m and 6 m, and the pitch angle is around 5 degrees.
wave period is larger than 17 sec (Fig. 7). When the
Both the surge and the pitch increase slightly as the
wave period is small, the RAOs predicted by the
wave period decreases.
RANS method are smaller than those predicted by
Figure 9 shows the hydrodynamic pressure
OrcaFlex. As opposed to the OrcaFlex results, the
distribution near the FPA model at a time instant of
RANS solutions do not experience a resonance period
t/T=7.65. Note that the absorber is subject to a wave
in heave, at least within the range of wave periods
at its peak at t/T=10.49, and at its trough at t/T=9.99.
that are studied. As shown in the heave motion of the
Because the motion of fluid particles decreases
FPA generally follows the wave elevation when the
rapidly with increasing depth below the free surface,
incident wave period is sufficiently larger than the
the hydrodynamic wave impact on the float is more
body natural period. When incident wave period
significant than that on the reactionplate.
decreases, the phase shift between the wave elevation
Fig. 7. Comparison of raos from rans and OrcarFlex.
Fig. 6. Comparison of the heave and surge motions

from rans and OrcarFlex.
Fig. 8. Surger and pitch motions of the FPA model
from rans simulations.
39 October 27 - 28, 2018

Hanoi, Vietnam
and the hydrodynamic wave loads and the feasible

values of the added-mass and damping coefficients
for predicting the excitation force of this particular
FPA geometry require further investigation,
particularly in the body axial direction. A more
rigorous method is to compute the hydrodynamic
coefficients through the use of a potential flow
method.
Fig. 9. Hydrodynamic pressure contour around FPA. Although using OrcaFlex for predicting the FPA
motions has its limitations, OrcaFlex is still an
The corresponding horizontal and vertical forces, efficient numerical tool that provides us with a very
including the buoyancy force, wave impact, and the useful first-cut analysis, particularly for small
weight of the FPA device are plotted in Fig. 14. amplitude linear wave scenarios. The computational
Given that the fluid particle velocity is proportional to cost for running such a design and optimization tool
the incident wave frequency, the forces increase as is small. On the other hand, under extreme wave
the incident wave period decreases as expected. The conditions, the hydrodynamics of a FPA is complex.
forces on the FPA body under extreme wave The interaction between waves and the moored FPA
conditions are useful information for further cost is often fully nonlinear, and wave overtopping often
assessment. occurs. Therefore, the use of RANS models is
suggested.
Irregular wave analysis
In our irregular wave analysis, we only present a 5. Conclusions
scenario where the FPA is modeled using a In this paper, we presented the results of our study
JONSWAP spectrum wave with a significant wave of the hydrodynamics of a moored FPA in extreme
height of 10 m and a peak period of 17.5 sec. The wave conditions. We analyzed the baseline mooring
corresponding hydrodynamic response histories from configuration using OrcaFlex and modeled the detail
the RANS method are shown in Fig. 15. The of the flow using a RANS method. The study shows
maximum heave motion is on the order of the that waves often overtop the FPA when the FPA is
maximum wave height. We plan to conduct a more under extreme wave conditions. The FPA motions are
detailed analysis with a longer period of simulation constrained by the effects of viscous damping as well
and various wave conditions in the future. as the nonlinear interaction between waves and the
moored FPA. Furthermore, through a few irregular
4. Discussions
wave simulations, we find that the maximum heave
As the wave period decreases, the phase shift motion of the FPA is on the order of the maximum
between the FPA heave motion and the wave wave height, although more simulations are needed to
elevation increases. Therefore, the nonlinear confirm this. Overall, we found our mooring line
interaction between waves and the FPA device design to be effective. We also found that the
becomes more significant, especially in small wave Morison’s Equation method can be only used for a
period and large wave height scenarios. As a result, very few scenarios and with caution for extreme wave
the additional damping forces, including those due to scenariosanalyses.
flow separation and wave overtopping, limit the
motion of the FPA, particularly under the extreme 6. Acknowledgment
wave conditions. This study is completed with partial funding
from the project "Researching, designing and
The Morison’s equation prediction is expected to manufacturing a prototype model of a smart source
be applicable when the wave is linear. However, for using renewable energy", University of Engineering
some linear wave scenarios, the OrcaFlex results are and Technology, Vietnam National University.
deviated from the RANS simulations, as shown in
Fig. 9. In addition to the aforementioned nonlinear
effects, the relationship between the buoyancy force
40 October 27 - 28, 2018

Hanoi, Vietnam
References [4] G.M. Hagerman and T. Heller. 1988. Wave energy: a

survey of twelve near-term technologies. Proceedings
[1] A. Clement, P. McCullen, A. Falcao, A. Fiorentino, F. of the international Renewable Energy Conference,
Gardner, K. Hammarlund, G. Lemonis, T. Lewis, K. pages 98–110. Honolulu, Hawaii, 18-24 September.
Nielsen, S. Petroncini, P. Schild M.-T. Pontes, B.-O. [5] G. Fredriksson. 1993. Ips wave power buoy. Wave
Sjostrom, H. C. Sorensen, and T. Thorpe. 2002. Wave Energy R&D, Cork, Ireland.
energy in europe: current status and perspectives. [6] B-O Sjöström. 1994. The past, the present, and the
Renewable and Sustainable Energy Reviews, 6:405– future of the hose-pump wave energy converter. First
431. European Wave Energy Symposium. Edinburgh.
[2] MOST (Ministry of Science and Technology). 2010. [7] Dang the Ba, Dinh Van Manh and Pham Thi Minh
Study on evaluation of potential marine energy Hanh. 2010. Modeling and Simulation of a Heaving-
sources and propose of exploitation approaches. Buoy Wave-Energy Convertor. International
KC.09.19/06-10 Project report. Conference on Engineering Mechanics and
[3] IMECH (Institute of Mechanics), Vietnam Academy Automation (ICEMA 2010). Hanoi, July 1-2, 2010.
of Science and Technology. 2003. Study on potential
use of marine energy sources of Vietnam. Project
report.
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Effects of Mesh on the Simulation of the 5.5 kW Centrifugal

Fan of the Dong Tam Ltd
Nguyen Ngoc Hoang Quan1,*, Ngo Khanh Hieu2
1
Vietnam Aviation Academy, Ho Chi Minh city, Viet Nam
2
Ho Chi Minh City University of Technology, VNU-HCM, Viet Nam
*Email: quannh@vaa.edu.vn
Abstract
A centrifugal fan is a machine for moving a gas, such as air, by accelerating it radially outward in an impeller
to a surrounding casing, generally of scroll shape. The speed of the air stream entering into the fan is
increased by the impeller thereby it gains kinetic energy and accelerates radially changing the direction by
90°. The centrifugal fan is widely used to move air/gas continuously in industries and commercial
applications. They are used in transporting gas or materials and in ventilation systems for buildings and
vehicles. With its role, research into its operational characteristics and performance is extremely important.
Testing a flow field of a centrifugal fan by the physical laboratory is difficult because of complicated system
testing and heavy workload, and the results observed with the naked-eye different from the actual value.
Therefore, the numerical simulation method was applied to establish three-dimensional model of the
centrifugal fan. Previously, the author had built a simulation model of the characteristics of a centrifugal fan
using Ansys CFX. However, in this model, the error of mass flow rate between the inlet and the outlet of the
fan is extremely high (approximately 14.5%). Therefore, the authors have sought to overcome this problem.
One of those ways is to change the mesh. This paper investigates the effect of mesh on the accuracy of
numerical analysis results, based on which give the appropriate mesh for the simulation of the 5.5 kW
centrifugal fan of the Dong Tam Ltd.
Keywords: Centrifugal fan, Structured Mesh, Ansys CFX.
forward curved the air exits tangentially from the

1. Introduction
circumference of the fan. A forward curved
Centrifugal fans are one of the types of turbo centrifugal fan is characterised by its cylindrical
machinery which are used to move air continuously shape and lots of small blades on the circumference
with in slight increase in static pressure. The of the impeller, while a Backward curved centrifugal
centrifugal fan is a drum shape composed of a fan is characterised by its cylindrical shape, several
number of fan blades mounted around a hub. As large curved blades and a conical inlet nozzle (fig.2).
shown in the figure 1, the hub turns on a driveshaft
Centrifugal fans are popular choices for today’s
mounted in bearings in the fan housing.
modernized applications around the world, especially
The gas enters from the side of the fan wheel, in industrial and commercial applications from shop
turns 90 degrees and accelerates due to centrifugal ventilation to material handling, boiler applications to
force as it flows over the fan blades and exits the fan some of the vehicle cooling systems. Due to their
housing. The centrifugal fans have simple simple design, centrifugal fans are manufactured
impellerconstruction with backward or forward easily and quickly, which can save a lot on
curved blades. The backward curved blades must be production costs. There are six advantages offered by
operated at a much higher speed of rotation than the centrifugal fans: First-rate energy efficiency,
forward curved blades. With a backward curved
blade, the air exits in a radial direction whereas with a
Fig. 1. The Centrifugal Fan Parts. Fig. 2. Backward and forward curved Blade [1].
42 October 27 - 28, 2018

Hanoi, Vietnam
Enhanced durability, Ability to restrict overloading, the blade passage can be reduced by controlling the
Greater versatility, multiple sizes and Easy to main blade numbers with splitter blades. The
maintain. With the above advantages, the search for application of splitter blades in a centrifugal fan leads
the new design to improve the performance or to significant improvement in the overall fan
research the characteristics of the centrifugal fan performance. Other interesting studies on CFD
pattern is extremely important and a top priority. optimization are presented in [4] and [5]. In the first,
There are many ways to do this: The traditional the authors presents the design methodology for the
method is based on experimental data, the empirical centrifugal fan system with impellers having
and theoretical formula. However, the test data can't backward blades. The numerical design technique is
provide accurate calculations nor identification of established for it and the CFD optimization has been
several characteristics of centrifugal fans such as carried out for volute casing to advance the outcomes
braking torque, efficiency, pressure and velocity which have been achieved from the numerical
distribution or can't accurately reveal the flow field of method. The outcomes are correlated with those
a new type due to the change of structure. So, a new obtained from the numerical method established. The
method is implemented, which is the numerical concept of 2D steady state analysis is applied in the
simulation method. This method can be used analysis CFD analysis of the centrifugal fan. In the second, a
flow field with the development of computer CFD study on flow characteristics in the centrifugal
technology and the computational fluid dynamics of fan in nominal and off-design conditions. Numerical
rapid development. Moreover, the rapid increase in calculations were carried out using ANSYS CFX
capabilities of computers, numerical simulation offers package. The numerical model was verified on the
a low-cost alternative to evaluate its performance. grounds of experimental tests using the standard
methods to determine the performance curve of
At the present time, a lot of research efforts have
centrifugal fans. The paper also presents the pressure
been made is performed by the numerical simulation,
distributions in select cross-sections of a machine,
to study the characteristics of the centrifugal fans. For
relative velocity, and static pressure profiles inside
example, research by Lucio Cardillo and al [2]. In
the rotor blade channels for the full range of flow
this paper a method for predicting an industrial
characteristics. From this research, we derive to the
centrifugal fan’s performance are presented when the
fact that the problem of numerical Simulation of
fan impeller incorporates cambered plate blades using
centrifugal fan performance is rapidly growing,
the unstructured open source finite volume solver
employing many different methods, and applied
OpenFOAM. The solved the incompressible
tovarious purposes in the world. However, recent
Reynolds-Averaged Navier-Stokes ((RANS)
research has focused on elucidating the operational
equations using the finite volume method and a
characteristics of the centrifugal fan or evaluating the
standard k-ε turbulence model with the synthetic
flow-field features associated with the interaction
wall-treatment available in OpenFOAM are used. The between the fan components. Meanwhile, the study of
model base time-varying flow at a fan impeller-volute the effect of the mesh on the results of the numerical
interface using the “frozen rotor” approach that simulation model of the centrifugal fan has not
researchers have shown results in accurate predictions received as much attention. So, a simulation model on
of centrifugal fan performance. In addition, the the performance 5.5 kW Centrifugal Fan of the Dong
impeller and volute grids using an Arbitrary Mesh Tam Ltd using two different mesh type has been
Interface (AMI) are connected. The numerical carried out based on three-dimensional RANS
performance predictions with experimental results equations by Ansys CFX. The important results will
both at peak pressure and at peak efficiency condition be compared to find a more precise mesh. In the
is compared. Besides in the field of centrifugal fan following paragraphs, the general concept of this
simulation, the article of Jin-Hyuk Kim and al. [3] is method is illustrated to help readers to follow easily.
also very noticeable. This paper presents a numerical Also, the proposed approach and its results will be
investigation on the aerodynamic performance discussed.
according to the application of splitter blades in an
impeller of a centrifugal fan used for a refuse 2. Basic definitions
collection system. Numerical analysis of a centrifugal
Computational fluid dynamics (CFD) research
fan was carried out by solving three dimensional
uses mathematical and computational models of
RANS with the shear stress transport (SST)
flowing fluids to describe and predict fluid response
turbulence model. A validation of numerical results
in problems of interest. CFD is based on the Navier-
was conducted by comparison with experimental data
Stokes equations. These equations describe how the
for the pressure and efficiency. Throughout the
velocity, pressure, temperature, and density of a
numerical analyses of the centrifugal fan with splitter
moving fluid are related. Computers are used to
blades, it was found that the reverse-flow regions in
perform the calculations required to simulate the
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Hanoi, Vietnam
of the governing equations is very important due to

use of different equations which lead to different
results. Some of these may be accurate results, some
are incorrect results and even instability or
divergence. Therefore, care should be taken to ensure
the right governing equation is used to solve the
practical problem during the CFD process.
 Continuity equation:
    u j  (1)
 0
t x j
 Momentum equation:
 
  ui     uiu j  pij   ji   0; i  x, y, z (2)
t x j
 Energy equation:
 
  E     u j E  u j p  q j  ui ji   0 (3)
t x j
Fig. 3. Basic Flow Chart of CFD methodology. Where τ is the viscous stress tensor, with:
Table 1. Comparison of experiment and CFD  ij  2  Sij
(4)
Experiment CFD With S trace-less viscous strain-rate is defined
Quantitative description Quantitative prediction of by:
of flow phenomena using flow phenomena using
measurements CFD software 1  ui u j  1 u
 For one quantity at a  For Sij     k
all desired 
2 x j xi  3 xk ij
time quantities   (5)
 At a limited number of  With high resolution in
points and time instants space and time q is the heat flux, with:
 Laboratory-scale model  Actual flow domain T  T
q j    C p
 For a limited range of  For virtually any x j Pr x j
problems and opera-ting problem and realistic (6)
conditions operating conditions
 Error sources: Where the Prandtl number Pr is defined by:
 Error sources:
measurement errors, flow modeling, discretization, C p
Pr  (7)
disturbances by the iteration, implementation 
probes
These equations describe how the velocity,
pressure, temperature, and density of a moving fluid
interaction of liquids and gases with surfaces defined are related. It makes use of numerical methods,
by boundary conditions. mathematical modeling and software tools to solve
CFD gives an insight into flow patterns that are and analyze problems that involve fluid flows and
difficult, expensive or impossible to study using an uses the latest in computer hardware and elegant
experimental technique. And it still ensures high programming techniques to model and simulate liquid
accuracy for difficult problems with a low cost, a and gas interactions with surfaces, as defined by
short time... boundary conditions. This gives insight into flow
patterns that would be difficult, expensive or
2.1. The Governing Equations of CFD impossible to study using traditional techniques.
All of the CFD methods are based on the 2.2. Discretization methods
fundamental governing equations of fluid dynamics, The central process in CFD is the process of
such as: the continuity, momentum, and energy discretization, i.e. the process of taking differential
equations which are the mathematical statements of equations with an infinite number of degrees of
three physical principles: Law of Mass Conservation, freedom and reducing it to a system of finite degrees
Newton’s Second Law, and Law of Energy of freedom. Hence, instead of determining the
Conservation [6]. There is little difference between solution everywhere and for all times, the model will
these equations for aerodynamic theory, the selection
44 October 27 - 28, 2018

Hanoi, Vietnam
be solved with its calculation at a finite number of turbulence models are: k – ε model, k – ω model, SST
locations and at specified time intervals. The partial model, Baseline (BSL) Reynolds Stress model…
differential equations are then reduced to a system of
algebraic equations that can be solved on a computer. 2.5. Ansys CFX
Errors creep in during the discretization process. The Ansys CFX is a high-performance computational
nature and characteristics of the errors must be fluid dynamics (CFD) software tool that delivers
controlled in order to ensure that: reliable and accurate solutions quickly and robustly
- Solve the correct equations (consistency across a wide range of CFD and multi-physics
property). applications. CFX is recognized for its outstanding
accuracy, robustness and speed with rotating
- The error can be reduced when the number of machinery such as pumps, fans, compressors, and gas
degrees of freedom is increased (stability and and hydraulic turbines. Ansys CFX is a software
convergence). which use Control Volume Finite Element Method.
There are various techniques for numerical Ansys CFX employs an element based Finite
discretization. Three commonly used methods for Volume approach to discretize in space and high-
discretization: Finite volume method, Finite element resolution scheme is chosen for the stabilization of
method and Finite difference method. the convective term. Time discretization is achieved
by Second Order Backward Euler scheme. Tri-linear
2.3. Meshing
finite element based functions are used as
The partial differential equations that govern interpolation scheme. Ansys CFX uses a coupled
fluid flow and heat transfer are not usually amenable solver, which solves the hydrodynamic equations (for
to analytical solutions, except for very simple cases. u, v, w, and p) as a single system. First, non-linear
Therefore, in order to analyze fluid flows, flow equations are linearized (coefficient iteration), then
domains are split into smaller subdomains (made up these linear equations are solved by an Algebraic
of geometric primitives like hexahedra and Multigrid (AMG) solver [8].
tetrahedral in 3D and quadrilaterals and triangles in
3. Numerical modeling
2D). The governing equations are then discretized
and solved inside each of these subdomains. Care 3.1. Geometry and Mesh Generation
must be taken to ensure proper continuity of solution
across the common interfaces between two The centrifugal fan stage consists of an inlet
subdomains, so that the approximate solutions inside region, an impeller, an outlet, and a volute casing
various portions can be put together to give a (Fig. 4). The impeller consists of 8 backward blades
complete picture of fluid flow in the entire domain. with an entry angle of 38.78o and an exit angle of
The subdomains are often called elements or cells, 42.270 relative to the tangential direction (Fig.5). The
and the collection of all elements or cells is called a inlet diameter is 240 mm and the outlet of the
mesh or grid [7]. The mesh quality can be centrifugal fan has a rectangular shape with
conclusively determined based on the following dimensions 250 x 180 mm. In fact, the geometric
factors: Rate of convergence, Solution precision, model of this centrifugal fan must be in accordance
CPU time required and mesh Independence result.
2.4. Turbulence models
Turbulence models are used to predict the
effects of turbulence in fluid flow without resolving
all scales of the smallest turbulent fluctuations. A
turbulent fluid flow has features on many different
length scales, which all interact with each other. A
common approach is to average the governing
equations of the flow, in order to focus on large-scale
and non-fluctuating features of the flow. However,
the effects of the small scales and fluctuating parts
must be modelled. Some have very specific
applications, while others can be applied to a wider
class of flows with a reasonable degree of confidence.
The models can be classified as either eddy-viscosity Fig. 4. The 5.5 kW Centrifugal Fan of the
or Reynolds stress models. Some common types of Dong Tam Ltd.
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Fig. 5. The entry angle and the exit angle of the

centrifugal fan.
Fig. 6. The computational domain.
with its actual design configurations.

The computational domain refers to a simplified
form of the physical domain both in terms of
geometric representation and boundary condition
imposition. This simplified form should retain all
physically important features of the problem but can
ignore minor details. The computational domain is a
prerequisite for all simulation problems. In this
model, the whole inside domain of the centrifugal fan
was considered as the computational domain for the
numerical analysis. This computational domain Fig. 7. The unstructured tetrahedral mesh for the
includes a rotating impeller domain and a stationary centrifugal fan.
domain (volute casing, inlet, and outlet) (see fig.6). (a) The rotating domain; (b) The static domain.
The detailed CAD model is prepared in CAD
packages and is meshed using two different methods Prism layers are used along the wall surfaces to
for surface as well as for volume meshing resolve the boundary layers.
respectively. Mesh generation was performed using As show in Table 2, the total number of the
Ansys ICEMCFD. This program was chosen because computational mesh elements was given.
it is full featured and it is compatible with a wide
range of CAD and commercial computational fluid 3.2. Boundary condition
dynamics software. To construct these mesh, In order to account for the turbulence
unstructured tetra hedral cells were used and the phenomena in the flow, the k – ω model was selected,
finest meshes are used in the first model. The which has been recommended in many publications
unstructured mesh that uses triangular elements for and conveys well the flow conditions in the CFD
surface meshing and for volume meshing surface turbo machinery simulation.The turbulence level was
meshing tetra element is used. The unstructured mesh defined to be the medium intensity of about 5%. The
is generated automatically and it is possible to smooth flow in the control volume was treated as air at 25 oC
and refine the mesh afterward. The mesh density was and 1.01325 ×105 Pa reference pressure, continuous
increased in the region where the parameter gradient flow and isentropic. And the rotation speed of the
was large in order to well simulate the flow field in centrifugal fan is 2515 rev/min.
the centrifugal fan. The unstructured mesh diagram is
shown in Fig.7. For the boundary conditions, inflow, outflow,
far-field, symmetry and no-slip wall conditions are
The second model, the structured mesh is used utilized. No-slip and smooth boundary conditions are
with the same mesh size in the rotating domain and specified for the flow at all wall boundaries, which
the volume mesh size of the static domain. The prism include the impeller and the casing of the stationary
layers are generated after the volume mesh are domain. At the inlet, the boundary was defined was
created by building prisms from the surface mesh. defined as a subsonic inlet, with the mass flow rate is
2.046 kg/s.A subsonic outlet boundary condition was
46 October 27 - 28, 2018

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Table 4. Comparison of results

Experi- First Err- Second Err-
ment model or model or
Mass flow 13.9
rate at 2.046 2.33 2.09 2.2%
outlet %
Average
dynamic 856 896.6 4.7% 893.5 4.4%
pressure
Torque 14.43 13.06
From the above post-processed results for CFD

analysis of the case study it can be observed that the
two parameters used for validation of numerically
obtained results are been correlated. Usually for
centrifugal fan models, because of the mass
conservation, the mass flow rate at the inlet and the
outlet are usually equivalent. However, there is a
certain error in the simulation. As observed from
table 4, the mass flow rate at the outlet error of the
unstructured mesh is quite large, while the structured
mesh is not too large. In the structural mesh, the error
between the mass flow rate at the inlet and outlet is
2.2%. The comparison of the dynamic pressure error
at the inlet was not too large about approximately 4%.
Fig. 8. The structured tetrahedral mesh for the The structured mesh has a small and acceptable error.
centrifugal fan. Whereas, when using an unstructured mesh to
simulate, the error is quite remarkable. This can be
(a) The rotating domain; (b) The static domain.
explained by the fact that when using this mesh, the
Table 2. Final mesh details conservation of energy cannot be found between the
volumetric flow rate of the airflow in the inlet with
First model Second model the rotation speed set by the impeller. The current
Static domain 4.4 million 4.9 million simulation result in this model shows that the
Rotating domain 5.9 million 3.3 million impeller tends to have excess energy, so the mass
Table 3. Summary boundary condition flow rate at the outlet tends to be higher than the mass
flow rate set up in the inlet. In addition, the error in
Inlet Mass flow rate: 2.046 kg/s. the dynamic pressure of the unstructured mesh is
Oulet Atmospheric pressure greater than that of the structured mesh. This results
in a larger result of braking torque on the impeller of
Casing and impeller No slip wall, smooth wall.
the unstructured mesh pattern than the structural
Rotation speed: 2515 r/min mesh.
Next, some other notable simulation results of
imposed with the pressure is specified. Table 3 the structure mesh model (the result of the model
provides a summary of the boundary conditions used shows lower error) are also presented, such as Y+
in the centrifugal fan simulations. distribution, velocity and pressure distribution on the
impeller, velocity and pressure distribution across the
3.3. Simulation result analysis
cross-section through the outlet of the centrifugal fan.
Comparison between the simulation and Firstly, consider the value Y+ of the model, the
experimental results implemented at the Ho Chi Minh value of Y+ shows the accuracy in the behavior of the
City University of Technology [9] is presented. For boundary layer on the surface of the impeller. In
the validation of the present numerical solutions, the Ansys CFX, the maximum value of Y+ is 200 [8].
characteristics of mass flow rate and average dynamic The results from actual simulation runs obtained the
pressure of the centrifugal fan werecompared to the largest value of Y+ 30.65.
experimental results according to mas flow rates at
inlet, as shown in Table 4.
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Fig. 11. Distribution of Y+ on the impeller.
Fig. 9. Velocity distribution across the cross-section

through the outlet of the centrifugal fan.
Fig. 12. Velocity distribution on the impeller.
Fig. 10. Pressure distribution across the cross-section

through the outlet of the centrifugal fan.
In the movement of the fluid flow, velocity and

pressure distributions play an important role, as it will
fully display the physical and behavioral
characteristics of the flow, and is the factor that
makes up the dimensionless quantities of the
problem.Velocity and pressure distribution of the
structure mesh is showed from figure 10 to figure 13. Fig. 13. Pressure distribution on the impeller.
Observe the velocity value, which is found in 3.4. Efficiency of the centrifugal fan
each blade of the impeller, the velocity at the top is
smaller than the bottom of the blade, which is due to Calculated according to the theory [10], the
the flow direction of the fluid passing through the average dynamic pressure at the inlet is 856 Pa. From
impeller and the rotation of the impeller being this, the useful power of the centrifugal fan (at the
clockwise. mass flow rate of 2.046 kg/s) is 1.4924 kW and
power loss in impeller is 0.2 kW [10 - chapter 3].
Finally, the streamline of the airflow is present From that, theory is:
in the figure 14.
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4. Conclusion and Future Work

4.1. Conclusion
The numerical simulation model of centrifugal
fan was established using Ansys CFX software to
study the flow field in the fan. The paper proposes a
more modern tool for assessing the complete flow
characteristics and performance of the machine based
on the Control Volume Finite Element Method Ansys
CFX [8] software. The simulation using CFD
technique sallows us to obtain primary indicators of
the centrifugal fan (pressure, velocity, efficiency,
power loss). Those values are difficult to be clearly
resolved in a theoretical way. To investigate the
effects of mesh on the characteristics of a centrifugal
fan, two mesh model were applied. And from the
results of the numerical analysis, it can be deduced
that the structured mesh shows better results. As a
Fig. 14. The streamline of the airflow.
result of numerical calculations, the centrifugal fan
(include mass flow rate and dynamic pressure) has
Wuseful _ theory 1.4924
theory    88.2% been generated and correlated with the previously
Wuseful _ theory  Wloss 1.4924  0.2 (8) obtained experimental results. Overall this paper was
successful in achieving the aim of validating
Calculate based on the experimental results of
commercial CFD software for the prediction of
the characteristics of the fan [9] with the same
centrifugal fan performance and to gain a better
average pressure in the inlet of the centrifugal fan, the
understanding of the centrifugal compressor physics.
electric power for the engine of the fan recorded from
The CFD model can beexpected that the analytical
the non-contact measuring device is 4.18 kW, the fan
tool will become a necessary andimportant part of
efficiency from experimental results experiment is: turbo machinery design and optimization.
Wuseful _ experiment 1.3964 (9)
experiment    38.5% 4.2. Future Work
Welectric engine 4.18  0.9
- Develop the problem calculate the structure of
Based on the numerical result, the braking the centrifugal fan.
torque is 13.06. From there, the power loss of the fan - Most notably, building problem of the shape of
(at the same flow rate of 2.046 kg/s) is 3.439 kW. centrifugal fan, development a CFD-based
And fan performance is determined from the optimization model that couples a CFD block and an
numerical simulation results CFD) as: EA block with optimization algorithms for shape
W 1.3964 (10) optimization.
CFD  useful _ CFD   36.75%
Wbraking _ CFD 3.799273
- Building the simulation model with hexahedral
The analysis result of the fan efficiency shows mesh.
that there is a large difference between theoretical Acknowledgments
analysis, numerical simulation and experimental
investigation. This can be explained by the results of The authors would like to express our sincere
theoretical analysis based on assumptions that ignore thanks to the High performance computing lab,
the effects of airflow through the impeller. In fact, the Faculty of Computer Science & Engineering, Ho Chi
numerical simulation results show the vortex at the Minh City University of Technology for giving the
tip of the blade, as well as the significant increase in computing resources to serve this research.
pressure on the upper surface of the blade compared References
to the bottom of the blade. This leads to a significant
increase in braking torque on the centrifugal fan. The [1] https://www.rs-online.com/designspark/fan-types-
difference error between simulation and experiment is why-choose-a-forward-curved-centrifugal-fan.
about 3.2%. [2] Lucio Cardillo, Alessandro Corsini, Giovanni Delibra,
Franco Rispoli, Anthony G. Sheard, Paolo Venturini,
Predicting the Performance of an Industrial
Centrifugal Fan Incorporating Cambered Plate
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Hanoi, Vietnam
Impeller Blades,. Periodica Polytechnica Mechanical [6] Versteeg. H. K and Malalasekera, W, An Introduction
Engineering. (2014) 58(1), pp 15 - 25. to Computational Fluid Dynamics. Pearson, England
(2007) Chapter 2.
[3] Jin-Hyuk Kim, Kyung-Hun Cha, Kwang-Yong Kim
and Choon-Man Jang, Numerical Investigation on [7] https://www.cfd-online.com/Wiki/Meshing
Aerodynamic Performance of a Centrifugal Fan with
[8] Ansys turtorial guide.
Splitter Blades, International Journal of Fluid
Machinery and Systems. Vol 5, No. 4, (2012) ISSN [9] Báo cáo kết quả khảo sát thực nghiệm trong hợp đồng
1882-9554. triển khai kết quả khoa học công nghệ về việc đo thực
nghiệm đặc tính quạt ly tâm công suất 5.5 kW giữa
[4] Vivek Brahmbhatt, Gaurav Patel, Performance
Trung tâm nghiên cứu công nghệ và thiết bị công
Enhancement of IND 25 Centrifugal Fan by CFD
nghiệp với Công ty TNHH KTCN Đồng Tâm (2017).
Analysis. International Journal of Innovative Research
in Science, Vol. 3, Issue 3 (2014) ISSN: 2319-8753. [10] N. N. Vibhakar, Studies on radial tipped centrifugal
fan, Doctor of philosophy, Veer Narmad South
[5] Tomasz Siwek, Jan Górski, Stanisław Fortuna,
Gujarat University. (2012), pp.110 – 174.
Numerical and Experimental Study of Centrifugal Fan
Flow Structures and Their Relationship with Machine
Efficiency Polish Journal of Environmental Studies
(2014) vol. 23, pp. 2359-2364.
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Propeller Simulation in Open-water Condition with

SnappyHexMesh/OpenFOAM Mesh Generator
Le Van Long1, Mai Ngoc Luan1, Ngo Khanh Hieu2,*
1
Junior Undergraduate Student in the Department of Aerospace Engineering
2
Senior Lecturer in the Department of Aerospace Engineering
Ho Chi Minh City University of Technology (HCMUT), Vietnam
*Email: ngokhanhhieu@hcmut.edu.vn
Abstract
A propeller is a device that converting rotary energy from the piston engines into the energy of the fluid
thereby creating thrust to propel vessels. For this reason, it is extremely necessary to perform analysis on
hydrodynamic characteristics of propellers. Nowadays, with the aid of the open-source software OpenFoam,
researchers are allowed to carry out numerical simulations with high accuracy. To acquire this outcome, one
must be aware of the importance of the meshing process. However, this procedure often requires skills and
experiences from the conductors. Thus, in this paper, an automatic meshing approach based on the
snappyHexMesh/OpenFOAM version 5.0 is introduced. Follow this approach, the propeller mesh is
generated by snappyHexMesh and the propeller simulation is described using Multi – Reference Frame
method with k – epsilon turbulence model. The obtained results are acceptabe in comparison with the
experiments provided by the manufacturer.
Keywords: snappyHexMesh, OpenFOAM, propeller simulation.
To descibe the motions in a rotating machinery

1. Introduction
problem, there are two popular methods, namely,
With its coastline expand approximately 3260 Arbitrary Mesh Interface (AMI) and Multi Reference
km [1] with a great variety of islands and Frame (MRF), the former is often used with the
archipelagos, Vietnam possesses huge potential to PIMPLE solver for transient models and the latter
develop marine tourism, cargo transportation and goes with the SIMPLE solver for steady – state
fishing activities. For this reason, naval means of models [2]. In his study [3], Andreas Peters has
transportation such as vessels and ships play a vital choosen the AMI method to predict the affect of
role in making use of these advantages. This also cativation erosion on the P1225 propeller in oblique
implies an undeniable importance of ship propellers flow. Although he did not mention particularly what
whose main function is to creating thrust from the meshing tool he used, it can be observed that Peters
engine power. contructed most of his computing field with
Nowadays, there is a huge demand for hexahedra cells along with thin prism layers covering
propellers in the domestic market, yet most of the the boundary regions adjacent to the propellers.
propellers used are manufactured following Similarly, in [4], Jianxi Yao also used the AMI
traditional models and selected based on subjective method to analyse the hydrodynamic performance of
experiences without appropriate verifications from a propeller in oblique flow. In his research, Yao
scientific studies. As a result, this may lead to employed a hybrid mesh, a combination of hexahedra
inadequate or excessive use of engine power, from cells in the outer part and tetrahedrons in the inner
which causes economical inefficiency. part with triangular prisms in the boundary layers.
Thanks to the aid of computational fluid The author explained that the utilization of such
dynamics (CFD) which is considered simpler than hybrid mesh results from the complicated
theoretical calculations and much less expensive than configuration of the propeller.
conducting experimental tests, an optimal working In steady – state cases, such as [5], Tuomas
range for propellers can be derived. However, the Turunen and his teammates applied MRF method and
accuracy of the CFD relies largely on the 3D model the SIMPLE solver to investiagate a marine propeller
of object, the mesh of object, the turbulence in open – water conditions. The simulating grid they
modeling…. used is included of hexahedrons generated by the
There is a wide variety of publications related to snappyHexMesh utility together with prismastic cells
propeller simulation with different objectives. The in the layers and tetrahedrons in the propeller surface,
methods to construct a propeller mesh in these studies which is a great similarity to [4]. The same as
also varies and utilize a diverse number of meshing Turunen, Niroumand and his team also used the MRF
generators. method in his study about turbulent flow around the
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2. Propeller meshing approach with snappy

HexMesh
2.1. Introduction to snappyHexMesh
SnappyHexMesh is an automatic meshing utility
integrated in the open-source software OpenFOAM.
This utility allows researchers to refine a coarse
background mesh structure and turn it into a smoother
one which meets the requirements of a numerical
Fig. 1a. Edge mesh generated by sHM in simulation problem. Follow this, before being able to
OpenFOAM version 3.0. use sHM, the conductors are requested to create a
simple background mesh system. In OpenFOAM,
another module named blockMesh is provided to
perform this particular function[2]. Furthermore,
there are various ways to construct a background
mesh in snappyHexMesh cases, yet in this paper, the
authors decide to use blockMesh for its suitability for
propeller simulation problems. The mesh generated
by sHM includes three-dimensional hexahedra and
split-hexahedra cells. Besides, the geometries used in
sHM cases are recommended to be in STL
Fig. 1b. Edge mesh generated by sHM in (stereolithography) format. With its automatic nature,
OpenFOAM version 5.0. snappyHexMesh’s users are required to declare a
Table 1. Mesh quality comparisons between sHM number of initial parameters upon their demand for a
mesh and commercial mesh CFD problem to create a complete and well-
developed simulation mesh.
commercial
2.1.1. Distinguished features of snappyHexMesh
sHM mesh mesh
Number of cells 2,871,231 2,778,491 From 2013 to 2015, snappyHexMesh has been
developed relatively thorough for users in
Max non-orthogonality 65.2097 63.9777 OpenFOAM version 2.0 series. In 2016, OpenFOAM
Max Skewness 3.2409 2.47234 has been updated to the 3.0 version which comes
Max AR 21.9912 8.9122 along with multiple new mesh functionalities in order
to improve the quality of the mesh generated by sHM,
dtmb4119 propeller in open water [6]. However, the especially in cases with geometry made of curves and
CFD mesh used in this publication comprises entirely edges such as ship propellers (Fig. 1a and Fig. 1b).
of unstructured tetrahedrons. This leads to an increase in studies employing sHM
Therefore, in this paper, the authors would like as an alternative meshing tool for other commercial
to introduce a new approach to ship propeller options among the CFD community in the past 5
simulation with the application of snappyHexMesh years. At the time of this study, OpenFOAM version
(sHM) in the meshing process. So, the mesh is 5.0 has been released with further improvements
generated automatically by snappyHexMesh. And the which not only promote the mesh quality but also
simulation of free-propeller in open water condition enhance the usability of sHM.
is based on the MRF approach with k-epsilon
turbulence modelling. As a case study, the To clarify the benefits of snappyHexMesh, the
performance of a Wageningen B-series propeller authors introduce a few comparisons between the
obtained from simulation in comparison with the mesh generated by sHM and the mesh constructed
Wageningen B-series experiments has shown the manually with another tool which utilizing tetrahedral
reliability of our approach. And in conclusion, as a cells. Table 1 shows some fundamental mesh quality
mesh generator integrated in OpenFOAM, parameters, Table 2 shows the errors of the two sets
snappyHexMesh holds a considerable economic of results and number of iterations.
advantage compared to other commercial meshing As can be seen, the mesh from the commercial
tools. This article would be a great support to tool has a slightly better quality than that of sHM, but
researchers who are beginners in propeller simulation these differences do not reduce the reliability of the
with OpenFOAM. sHM mesh. On the other hand, the snappyHexMesh
errors and number of iterations are much lower in
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Table 2. Efficiency errors and numbers of iteration

comparisons
sHM commercial sHM commercial
mesh mesh mesh mesh
J Δη (%) Iterations
0.1 0.9373 8.546 381 743
0.2 1.4624 6.876 298 719
0.3 1.8506 5.294 279 608
0.4 2.2492 4.313 304 488
0.5 3.0463 4.482 492 436
Fig. 2. Max skewness dependency on angle tolerance
0.6 5.5285 5.98 379 399 and deviation tolerance of geometry.
0.7 11.5675 2.24 375 428
0.75 0.0073 65.47 366 455
almost every J. This partly proves the advantages of

sHM in simulating open – water propellers.
2.1.2. Geometry selection in snappyHexMesh
In the numerical simulation of the dynamics of
the propeller, the geometry of the object plays a
decisive role in the final result. Using geometry in
STL format with appropriate Deviation Tolerance Fig. 3. Non-orthorgonality dependency on angle
(DT), Angle Tolerance (AT) parameters will help tolerance and deviation tolerance of geometry.
improve mesh quality. In this paper, the authors
choose the AT and DT parameters of the propeller
based on the criteria for evaluating Max Skewness
and Non-orthorogonality according to OpenFOAM
standards.
According to the diagrams in Fig. 2 and Fig. 3,

the set of parameters that match the STL format is
DT = 0.1 and AT = 8 degree is consistent with
OpenFOAM mesh rating criteria.
2.1.3 Development of snappyHexMesh user interface Fig. 4. BKASM interface.
Along with the snappyHexMesh mesh
development, the authors also creates a simple tool as 2.2. Propeller mesh step by step with snappy
an user interface for sHM, this tool named BKAero HexMesh generator
SnappyMesher (BKASM) (Fig. 4).
1. Creating a background mesh of hexahedral
In BKASM, the team has integrated four main cells: this can be done by using blockMesh.
processes in conducting a propeller simulation case,
namely, creating background mesh by blockMesh 2. Cell splitting at feature edges: splitting mesh
module, generating sHM mesh, adjusting sHM mesh element adjacent to the pointed edges of the
and running solver with k – ε turbulence model and geometry. The feature edges can be
Multi Reference Frame method [7]. This tool extracted from STL geometry file using the
proposes all of the important value, which have been utility surfaceFeatureExtract.
validated thanks to several B – Series Wageningen 3. Cell splitting at surfaces: smoothing grid
propellers, one of which is presented in this paper. mesh closer to the defined geometry.
4. Cell removal: deleting unnecessary area of
mesh. In external flow case, that is the
volume area inside the propeller geometry.
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surface to create a conforming mesh. This is

Creating the background
hexahedral mesh (blockMesh)
a valid snapped or body fitted mesh that can
be used for simulation.
7. Mesh layers: In the propeller simulation with
the choice of turbulence models, users
Cell splitting at feature edges Mesh layer
should carefully consider the properties of
the boundary layer in order to obtain the
most reliable results.
Cell splitting at surfaces Snapping to surfaces 2.3. Propeller simulation domain
According to a number of papers have been
previously published [7] [9], the authors continue to
Cell removal
Cell splitting in specified regions
adjust the computational domains in order to fit the
(remove cells inside propeller)
marine propeller in open-water condition.
Fig. 5. The process of generating a mesh using Using the Multi Reference Frame (MRF) model,
sHM [8]. the rotating domain sizes have a great influence on
simulation results. In this paper, the authors choose
sizes of rotor domain: diameter and width are 1.15D
and 0.3D, respectively (Table 3). However, the width
of this domain depends on the thickness of the
propeller, this size must be sufficient to create
boundary layers as well as not too far from the
propeller surface, where in actually the fluid is less
affected by the rotation of the propeller.
3. Case study
Fig. 6. Domain sizes.
To prove the feasibility of applying the mesh
Table 3. Test results of a number of sizes for the generated by snappyHexMesh into a propeller
rotor simulation case, the authors have done numerical
analysis on different models of propeller. In this
Diameter Width %Ct %Cq %Cp paper, the team presents the results of a 3-blade
1.1D 0.25D 8.22% 6.64% 1.41% Wageningen B-Series propeller to examinate the
quality of the mesh system. Follow this, the thrust
1.1D 0.30D 8.73% 7.42% 1.15%
coeffecient (Ct), the torque coefficient (Cq) and the
1.1D 0.35D 9.77% 8.54% 1.07% power coefficient (Cp) in the range of J from 0.1 to
1.15D 0.25D 7.02% 6.67% 0.27% 0.75 are simulated and then compared to
experimental data provided by the Netherlands Ship
1.15D 0.30D 6.24% 5.39% 0.75% Model Basin (N.S.M.B) at Wageningen [10].
1.15D 0.35D 7.44% 6.91% 0.43%
3.1. Geometry, meshing and boundary conditions
1.2D 0.30D 9.43% 8.21% 1.07%
The propeller used is scaled with a diameter of
1.2D 0.35D 10.52% 9.44% 0.93% 240 mm (standard experimental diameter of
1.2D 0.45D 10.45% 9.44% 0.86% Wageningen B-Series propellers [11]). The blade
area ratio (Ae/A0) and pitch ratio (P/D) at 0.7R are
0.45 and 0.7, respectively (Fig. 7). The dimensions of
5. Cell splitting in specified regions: splitting the computional domains relative to the propeller’s
the grid cells in the necessary areas. The diameter are shows in Fig. 6. These sizes are selected
mesh near the propeller will be refined so as in order to assure that the space is large enough for
to ensure the accuracy of the simulation the flow to expand, thus yielding the most accurate
results.
results. Fig. 8 shows the surface mesh on one blade of
6. Snapping to surfaces: after deleting the cells the propeller.
in the regions specified and refining the
volume mesh, the points are snapped on the
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Table 5. Boundary layer sizes
Number of boundary layers 10

The minimum thickness 0.00025D
The maximum thickness 0.00125D
The maximum expansion ratio 1.2
According to these data, all the values are rated OK

Fig. 7. Propeller geometry. based on the recommended criteria in OpenFOAM.
This indicates that the mesh from sHM satisfies all
the requirements of a simulation mesh.
Based on the sizes stated in Table. 4 ,the

boundary region is adjusted to consist of 10 layers,
with the first layer thickness and the expansion
ratioare 0.24 mm and 1.2, respectively (Fig. 9).
As mentioned above, the 2-equation k-ε
turbulence model is chosen to describe the flow
around the propeller in this case. The propeller is
assumed to rotate steadily at 330 rpm (34.56 rad/s)
with the perpendicular flow velocity ranges from
0.132 m/s to 0.99 m/s (equivalent to J range).
3.2. Results validation
Fig. 8. Surface mesh.
The non-dimensional coefficients are extracted
from ParaView and displayed as performance
characteristics in Fig. 10. As can be seen, the mesh
created by snappyHexMesh has described quite
exactly the Ct of this 3-blade propeller, with the
errors are no greater than 6%. In Cq case, this value
stands at 12%, which is identical to the Cp case.
However, there is a slight increase in error at J = 0.75,
this can be explained as one of the disadvantages of
the k-ε turbulence model [12]. Nonetheless, the
computed results have expressed accurately the
optimal working range of the propeller compared to
real – life situation, that is from J = 0.4 to J = 0.7.
Fig. 11and Fig. 12 show the flow velocity
Fig. 9. Layer expansion. distributions when J = 0.6 (highest efficiency).
4. Conclusion
Table 4. Mesh quality ratings
This article has summarized some key points of
Mesh quality parameters Quality mesh generation of snappyHexMesh specialized for
Number of cells 2,871,231 ship propeller simulation in open – water without the
Max AR OK influence of water surface and accompanied objects.
Max non-orthorgonality OK These points are included of suitable AT and DT
Max skewness OK values of the STL geometry used in a sHM case
providing the best mesh quality along with verified
Layer cover 97.20% computing domain dimensions, sizes of mesh cells
and thickness of boundary layers. Additionally, a user
The mesh parameters are acquired thanks to the interface for sHM has been developed aims to help
checkMesh module and already been listed in Table 1.
55 October 27 - 28, 2018

Hanoi, Vietnam
Acknowledgments
This research is funded by Vietnam
NationalUniversity Ho Chi MinhCity (VNU-HCM)
under grant number C2017-20-01.
References
[1] L. V. Loi, Nhung dieu can biet ve dat, bien, troi Viet
Nam, Thanh Nien publishing house, 2007.
[2] Christopher J. Greebshields (2017). User Guide
OpenFOAM version 5. OpenFOAM Foundation LTD.
[3] Andreas Peters, Udo Lantermann, Ould el Moctar,
Numerical Prediction of Cativation Erosion on a Ship
Fig. 10. Functional characteristic comparisons Propeller in Model- and Full-Scale, Wear,
between numerical and experimental data. https://doi.org/10.1016/j.wear.2018.04.012.
[4] Jianxi Yao, Investigation on hydrodynamic
performance of a marine propeller in oblique flow by
RANS computations, Int. J. Nav. Archit. Ocean Eng.
(2015) 7:56~69, http://dx.doi.org/10.1515/ijnaoe-
2015-0005, pISSN: 2092-6782, eISSN: 2092-6790.
[5] Tuomas Turunen, Timo Siikonen, Johan Lundberg
and Rickard Bensow, Open-water computaions of a
marine propeller using OpenFOAM, 11th World
Congress on Computational Mechanics, Jul 2014.
[6] Amirhossein Niroumand, Amin Ashtari Larki,
Mahmoud Abbaszadeh, Numerical simulation of
turbulent flow around the dtmb4119 propeller in open
Fig. 11. Velocity field downflow of the propeller. water conditions.
[7] P. Q. Thien, B. K. Huy, L. T. Hien, Ngo. K. Hieu,
Computational approach for a marine propeller based
on Multi Reference Frame using OpenFOAM ,
Journal of Transportation Science and Technology,
Ho Chi Minh City University of Transport, Vol 20,
Aug 2016.
[8] Philip Cardiff, Introdution to Meshing in OpenFOAM,
5th UK Éire FOAM/ OpenFOAM User Day,
University College Dublin, Dublin, Ireland. 16th-17th
January 2017.
[9] B. K. Huy, Khao sat dac tinh luc day chan vit tau thuy
cua tau song nho, Aerospace Engineering Master
Thesis, Ho Chi Minh City University of Technology,
HCMVNU, Jan 2016.
[10] M.M. Bernitsas, D. Ray, P. Kinley, “KT, KQ and
Fig. 12. Velocity distributions on the surface of the Efficiency Curves for the Wageningen B-Series
Propellers”, Department of Naval Architecture and
propeller and flow velocity direction.
Marine Engineering, College of Engineering, The
researchers who are not familiar with propeller University of Michigan, Ann Arbor, Michigan, 1981.
simulation. [11] Allan B.Murray, B.V.Korin-Kroukovsky, Edward
V.Lewis, “Self – Propulsion Tests with Small
With the above accomplishments, the authors Models”, In The Society of Naval Architects and
has gained the goals debated. That is to reduce the Marine Engineers, Washington D.C, 1951.
simulating cost both in time and resources and assist [12] ANSYS, Inc, Lecture 6 Turbulence Modeling,
the conductors in the meshing process maintaining Introduction to ANSYS FLUENT, Dec 2010.
high accuracy of the results.
In future researches, the team continues to
develop the sHM mesh with k – ω STT turbulence
model in order to gain better accuracy in the low and
high advance ratios. This is also a foundation for
other transient flow and cativation effect studies.
56 October 27 - 28, 2018

Hanoi, Vietnam
Model Order Reduction for Highly Non-linear and Stiff Convection-

Diffusion-Reaction Flow Problem
Van Bo Nguyen1,*, The Mich Nguyen2
1,*
Fluid Dynamic Department, Institute of High Performance Computing, A-star, Singapore 138632
2
Fluid Machinery and Automation Department, School of Transportation Engineering, Hanoi University of
Science and Technology, Hanoi, Vietnam
*
Email: nguyenvb@ihpc.a-star.edu.sg
Abstract
In this study, a reduced model based on the Garlerkin-projection method is implemented to speed up the
computational time of the full model of the highly non-linear and stiff convection-diffusion-reaction problem.
In particular, the proper orthogonal decomposition (POD) technique is employed to project the full
discretization system of the ordinary differential equations (ODEs) with size N onto the reduced system of
size K. The discrete empirical interpolation method (DEIM) is used to approximate the non-linear functions at
L number of interpolation points. Here, K and L is much smaller than N (K<<N). Thus, the size of obtained
reduced model is much smaller compared to the full model. The numerical results show that the reduced
model can both accurately reproduce and predict the solutions of the full model of highly non-linear and stiff
convection-diffusion-reaction problem. In addition, the reduced model can also speed up the computational
time of the full model up to three orders of magnitude compared to full model with the size of N = 2000, while
it still maintain the solutions at high accuracy (10-3). In conclusion, it implies that the POD-DEIM reduced
model can have great benefit to apply to different problem, take for example problem required Monte Carlo
simulations, uncertainly qualification problem, multi-discipline design problem, dynamics controls problem,
etc.
Keywords: Proper orthogonal decomposition; Discrete empirical interpolation method; Reduced model order;
Galerkin projection method.
CSP method decomposes the equations governing the

1. Introduction
chemistry into fast and slow modes. The species and
Numerical simulation of reacting flows in reactions corresponding to fast modes are eliminated
chemical process is vitally important for improving from the system in the following integration step.
manufacture, producing as well as combustion Thus, the system of equations becomes smaller and,
processes, but is also a computationally challenging since the small (fast) time scales have been removed,
task. The accurate modelling of typical processes non-stiff. However, the algorithm is usually
using detailed, skeleton, or even just the reduced initialized using the Eigen-modes of the Jacobian of
reaction mechanisms might lead to stiff systems of the chemical source term. Similarly, the ILDM, a
differential equations with multi scale dynamics. method based on a dynamical systems approach,
Therefore, fine spatial grids and small time steps are separates automatically the slow and fast time scales.
usually required in the simulation. In addition, a The ILDM is usually applied in conjunction with a
complex chemistry model often involves many tabulating procedure that allows its use in CFD
chemical species and many reactions, which means simulation codes. Although time-scale separation
that these models can quickly become very large. To methods have been applied successfully in numerical
address these challenges, we develop a projection- simulations of reacting flows, their computational
based model reduction technique for reacting flows cost is usually still high when the number of chemical
that reduces computational cost while maintaining species and/or reactions is high.
accuracy.
In this paper, we focus instead on projection-
Over the past years, several methods have been
based model reduction. In which, the reduced models
developed to reduce the computational cost of
are obtained by performing Galerkin projection of the
evaluating the chemical source term. These methods
large-scale system of equations onto the space
include, among others, the quasi-steady-state
spanned by a small set of basis vectors. Different
approximation, the partial equilibrium approximation
methods exist to construct the required basis vectors.
[1], principal component analysis [2], intrinsic low-
Such methods include, for example, Krylov subspace
dimensional manifold (ILDM) [3-5], and
methods [8,9], balanced truncation [10,11], and
computational singular perturbation (CSP) [6,7]. The
57 October 27 - 28, 2018

Hanoi, Vietnam
proper orthogonal decomposition (POD) [12,13]. The In these expressions, Ci is the mass
method is able to obtain in many cases orders-of- concentration of the species ith. [Ci] is mole
magnitude reduction in the order of the system, since concentration of the species ith. Wi is molecular
the dynamics of interest can often be represented by a weight of species ith. k0 is the pre-coefficient of
small number of POD modes. The POD modes are Arrhenius equation. n is exponential, while Eac is
constructed as the span of a set of state solutions activation energy. br is the order of species ith in
(snapshots). Such snapshots are computed by solving reaction r. Nr is number of reaction, Ns is number of
the large-scale system for selected values of species. R is gas constant, T is temperature of the
parameters and selected inputs. However, in the case system. Cp is specific heat constant of the mixture. u
of nonlinear systems, the POD–Galerkin method is velocity of the mixture. Dax is diffusion coefficient
leads to inefficient reduced models since the of the mixture. Qreaction is heat energy released from
projected nonlinear term requires computations that chemical reaction. Qcoolant is heat energy taken out the
scale with the dimension of the original large-scale system by the coolant.  is density of the mixture. c
problem. Methods to approximate the projected is the density of the coolant mixture. Cpc specific heat
nonlinear term in a POD reduced model include the of the coolant mixture. And T c is coolant temperature.
missing point estimation technique [12,14]. Another
approach is the empirical interpolation method (EIM) Chemical kinetic model of this problem is
[15,16]. The coefficients of this expansion are expressed as the two following reactions, which are
determined by interpolation. We use here the discrete shown in Figure. 1 [18].
empirical interpolation method (DEIM), a discrete The reaction rate of the first reaction is expressed
variant of the EIM [17]. We show that a POD–DEIM as:
reduced model can accurately represent chemical
36100∓2100
kinetics, while providing significant speedups in 𝑟𝐷𝐻𝑇 = 𝐴 ∗ 𝑒𝑥𝑝 (17.8 − ) [𝐻𝑂𝑁𝑂]2
𝑅𝑇
computation times.
(4)
For organization of this paper, Section 2 of this
paper introduces the governing equations of reacting And the reaction rate for the second reaction is:
flow model and numerical solution approach. Section 3
𝑟𝐷𝐻𝑇 = 𝑓(𝑝𝐻, 𝐼)
presents the POD–DEIM model reduction approach.
Section 4 presents an application of the model 25500 ∓ 2100
∗ 𝑒𝑥𝑝 (11.3 − )
reduction method to a stiff system of the convection – 𝑅𝑇
diffusion and reaction process system in continuous
pharmaceutical process and Section 5 concludes the [𝐷𝐻𝑇 + ][𝑁𝑂2− ]. (5)
paper. It should be noted that the first reaction is very
2. Governing equations fast reaction, while the second reaction is slow
reaction. The speed of the second reaction is function
The continuous pharmaceutical process, in this of the pH environment and ionic strength.
study, is identified and modelled through two steps of
synthesis of Sodium Nitrotetrazolate 3 (NaNT) from
5-Aminotetrazole-1 (5-AT) 1 via 5-Diazominum-1H-
tetrazole (DHT) intermediate [18]. The process is
modelled in one-dimensional problem, which is
expressed as the followings:
𝑑𝐶𝑖 (𝑡) 𝜕𝐶𝑖 (𝑡) 𝜕2 𝐶𝑖 (𝑡)
= −𝑢 + 𝐷𝑎𝑥 +
𝑑𝑡 𝜕𝑥 𝜕𝑥2
𝑛
𝑇 −𝐸
𝑊𝑖 ∑𝑁𝑟
𝑟=1 𝑘0 𝐶𝑖 (t) ( ) exp (𝑅𝑇(𝑡)𝑎 ) ∏𝑁𝑠
𝑖 [𝐶𝑖 ]
𝑏𝑟,𝑖
(1)
𝑇𝑓
𝑑𝑇(𝑡) 𝜕𝑇(𝑡) 𝜕 2 𝑇(𝑡)

𝜌𝐶𝑝 = 𝜌𝐶𝑝 𝑢 + 𝐷𝑎𝑥
𝑑𝑡 𝜕𝑥 𝜕𝑥 2
+𝑄𝑟𝑒𝑎𝑐𝑡𝑖𝑜𝑛 + 𝑄𝑐𝑜𝑜𝑙𝑎𝑛𝑡 (2)
Fig. 1: Reaction setup for the direct NaNT 3
𝑑𝑇𝑐 (𝑡) 𝜕𝑇𝑐 (𝑡) 𝜕2 𝑇𝑐 (𝑡)
𝜌𝑐 𝐶𝑝𝑐 = 𝜌𝑐 𝐶𝑝𝑐 𝑢𝑐 + 𝐷𝑎𝑥,𝑐 − synthesis kinetic study [18].
𝑑𝑡 𝜕𝑥 𝜕𝑥 2
𝑄𝑐𝑜𝑜𝑙𝑎𝑛𝑡 (3)
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For the numerical methodology, in this sutdy, performing Galerkin projection of equation (3) on to
the system of equations (1)-(3) are discretized using subspace spanned by column basis vectors:
the finite diffferent method in the spatial space, while dYr / dt  V T g VYr (t ), T , p  (7)
the second order Euler implcit is employed for the
With the initial condition Yr  V Y . Although
0 T 0
temporal discretization. Since the first reaction length
is 0.5 m and discretized using 100 grid points, and
the reduced-order model obtained after applying the
second reactor is 5.5 m and discrete using 300 grid
projection technique is low in dimension, as can be
points. Variables in the first reactor and second observed in Equation (7), the evaluation of the
reactor include AT-1, HNO2, DHT-2, T, and Tc
nonlinear reaction source term at each time step still
(reactor 1), and HNO2, DHT-2, NaNT, T, and Tc
depends on the dimension M. This makes the solution
(reactor 2). Therefore, the number of state space in
of the obtained reduced-order model as expensive as
the reactor 1 and the reactor 2 are 1500. Due to the
the solution of the original system. An effective way
different in the reaction speed between reaction 1 and
to overcome this difficulty is to approximate the
reaction 2, it makes the system is very stiff to solve nonlinear function by projection and interpolation.
with multi time scales. To accurately solve for this
This is the idea behind the DEIM [19], which is a
system, it requires very time concumming, while we
discrete version of the EIM proposed by Barrault et al.
need the solver is fast enought to give the feedback
[15].
for controller in the real time. Thus, to overcome this
challenging task, the reduced model reduction of the 3.2. Proper Orthogonal Decomposition
proper orthogonal decomposition and discrete
The POD technique, also known as the
empirical interpolation method (POD-DEIM) is
Karhunen–Loeve decomposition [20], is a method for
employed. Details of the POD – DEIM method is
constructing basis vectors with global support that
described as the following sections.
capture the dominant characteristics of a dynamical
3. Model reduction methodology system. In the method of snapshots, such basis
vectors (POD modes) are computed from an
Projection-based methods derive a reduced-
ensemble of solutions (snapshots) obtained by solving
order model by projecting the governing equations
the large-scale system for selected values of
onto a subspace spanned by a set of basis vectors
parameters and inputs. The POD modes are computed
[20]. In this section, we describe the projection based
as follows.
model reduction idea, the POD technique, and the
DEIM employed in the approximation of the Given a set of Q snapshots Yj, where Yj ϵ RM,
nonlinear source term. the POD compute the set of K<< Q basis vectors Vi,
where Viϵ RM the ith basis vectors, which is obtained
3.1. Projection framework by solving the minimization problem
Consider the nonlinear system of ODEs 2
 Y   Y v v
Q K
resulting from spatial discretization of the chemical Min
T
,
, 1  i, j  K
viT v j   ij
j j i i
dynamic source term: v K
j 1 i 1
i 1 2
s.t.
dY / dt  g Y , T , p  (6) (8)
with the initial conditions Y(t=0) = Y0. Here, The solution of (8) can be obtained by finding

Y  Y ,...,Y ,...,Y ,...,Y
1
1
1
N N
Ns
N
Ns  R M
is the vector of mass
the singular vectors of the snapshots matrix Y. in
particular, supposing that the singular value
fraction of species discretized over the computational decomposition of Y is Y=VΣW, where
V  v1,...vQ  R M Q
domain, which has N grid points, T is temperature,
and p is pressure of the gas mixture. The vector W  w1 ,...wQ  R M Q
 1 1 Ns Ns 
g (Y , T , p)  g (Y , T , p),..., g (Y , T , p),..., g (Y , T , p),..., g (Y , T , p)  R
1 N N N M
orthogonal, and
and
singular values
are
are
contains the reaction rates of species over the
computational domain. The total number of unknown   diag (1 ,..., Q )  RQ Q 1   2  ...   Q  0
with .
Then the POD basis vi 1  V  R
of the equations (6) is M = Ns ×N. K M Q
. The error in
Assume that the state vector Y can be approximating the snapshots using K POD modes is
represented as a linear combination of K basis vector, given by
Y = VYr, where Yr  R is the reduced state vector
K 2
 Y j   Y v vi 
Q K Q
with K<< M and the basis V  R

M K
. With this j 1 i 1
T
j i 
i  K 1
i
2
2 (9)
assumption, the reduced order model is obtained by
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coolant at 278.5 (K), radius of coolant pipe at 0.0075

(m), coolant velocity 1.0 (m/s), and heat transfer
3.3. Discrete Empirical Interpolation Method
coefficient of 1.0e+10 (J/m2).
The DEIM provides an efficient approach to
The basis vectors of POD and DEIM are
build reduced order models whose computational cost
constructed from 3000 snapshots of state solution and
is independent of the dimension of the original large-
3000 snapshots of nonlinear function. Following are
scale system. To construct the POD–DEIM reduced-
the numerical results of full model, reduced model
order model, two sets of basis vectors are used: the
with POD, and reduced model with POD-DEIM
POD modes V obtained from the solution snapshots
method.
and the DEIM modes U obtained from snapshots of
the nonlinear source term. Computation of U 4.2. Numerical results and discussion
proceeds as described above for V, but replacing state
snapshots Yj Ξ Y(tj,T,P) with snapshots of the For the error analysis, the reduced model are
nonlinear terms gj = g(tj,T,P). The nonlinear source constructed from different number of POD modes
term is approximated by a linear combination of L and different number of interpolation points. The
basis vectors U ϵ RM×L with the corresponding relative errors of the numerical results between
expansion coefficient c ϵ RL as g(t,T,P) = Uc(t). In reduced model and full model are calculated as the
this study, we use the DEIM algorithm proposed in following form:
[19] since it provides an efficient methodology to ∑𝑁𝑠+1 𝑃𝑂𝐷
−𝑌𝑖𝐹𝑢𝑙𝑙 ‖
𝑖=1 ‖𝑌𝑖
compute the desired interpolation indices for 𝐸𝑟𝑟𝑜𝑟 =
‖𝑌𝑖𝐹𝑢𝑙𝑙 ‖ (11)
determining the coefficients c(t).
From the DEIM basis vectors U, the DEIM

finds a set of interpolation indices that allow the The results of the relative numerical errors are
shown in the Figure. 2 as following:
determination of the coefficients c(t) in [19]. This
involves the evaluation of the nonlinear source term It can be seen that increase number of both the
at only a subset of points L<<M, hence eliminating POD modes and number of interpolation points can
the dependence on M of the reduced order model. improve the accuracy of the reduced model compared
The POD–DEIM reduced-order model then becomes: to the full model. However, increase the interolation
points can rapidly increase the accuracy of the
 V TU ( PTU ) 1 g PTVYr (t ), T , p 
dYr (t )
reduced model, while it only happen as the number of
dt (10) POD modes smaller than 70. When the number of
POD modes is greater than 70, increasing the number
where P is index matrix, which determines the of POD modes does not improve the accuracy, it even
interpolation points, were determined from the add in more numerical noise to the system.
indices the maximum errors of the approximations.
The temperature and pressure are evaluated at the The most important parameter in constructing
interpolation points. In Equation (10), the reduced model is the reduction of the
1 K L
V U (P U )  R
T T
and P V R
T L
can be
precomputed in an offline stage. Therefore, the online
computation of the reduced order model requires
solution of K nonlinear equations with L values of
g(tj,T,P) at the interpolation points.
4. Reduced model for continuous pharmaceutical

process
4.1. Numerical setup
In this application, the numerical simulations are

performed with the input parameters, which are
length of the first reactor 0.5(m), length of second
reactor 5.5 (m), radius of tubular reator 0.005 (m), Fig. 2: Relative error of the reduced model with
feeding temperature of 278.5 (K), mass concentration different number of POD modes and different number
of reactant 5AT-1 of 9.168 (kg/m3), reactant HNO2 of of interpolation points.
10.139 (kg/m3), inlet velocity of mixture 0.1 (m/s),
total resident time of 70 (seconds), temperature of the
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computational time compared to running of the full

model. Similarly, to examine for the simulation time
of reduced model, the reduced models are constructed
using different number of POD modes and different
number of interpolation points. The simulation
speedup is computed by taking the simulation time of
the full model divided by the simulation time of the
reduced model. The results are shown in the
following table:
Table. 1: Comparison of the computational time
between the full model with the reduced models in
term of computational speed up.
Number of interpolation points (DEIM)
POD 5 10 20 30 40 50
10 3879 1962 971 642 499 392
20 2062 1070 542 352 264 209
30 702 354 179 122 90 72 Fig. 3: Comparison of the temperature of the system
40 559 283 147 100 74 56 between the full model, POD reduced model, and
50 551 285 145 90 65 53 POD-DEIM reduced model.
60 541 271 139 88 63 52
The numerical results shown that with a

sufficient number of POD model and number of
interpolation points the reduced model can speedup
upto 3 orders of magnitude in computational time
compared to the full model. Take for example, the
reduced model with 20 POD modes and 10
interpolation points can speeup the calculation about
1070 time with the relative error of about 8.0E-03. In
fact, the accepted error in industry can be about
couple of percent, therefore the reduced model can be
speed up upto 2000 times compared to the full model.
In addition, in this study, we also performed the
simulations for different scenariors, which are the
Fig. 4: Comparison of the temperature of the coolant
isothermal condition, exothermal condition, and
between the full mode, POD reduced model, POD-
exothermal condition with coolant. The numreical
DEIM reduced model.
results shown that the reduced model with POD and
POD-DEIM can predict well all conditions performed
by the full model with resonable accuracy. The
comparison results are shown in Figs. 3-8 as the
following for the exothermal condition with coolant
to proof for the capability of the reduced model in
prediction.
In general, the obtained results show that both
the POD and POD-DEIM method can reproduce and
predict the full model accurately. In fact, the POD-
DEIM can attain the full solution at lower accuracy
compared to the POD method, however, it can speed
up the computational time with about two-order of
magnitude faster than the POD method.
Fig. 5: Comparison of the reactant 5AT-1 between
the full mode, POD reduced model, POD-DEIM
reduced model.
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5. Conclusions
This paper shows how projection based reduced
modelling using the POD method combined with the
DEIM is an effective strategy for reducing the cost of
chemical kinetics evaluations in reacting flow
simulations. It might help to support the accurate
control of the continous chemical reacting process in
general, as well as the continuous pharmaceutical
process in particular to improve the product quality
and the optimal process. Here we focused on
application of the POD–DEIM approach to the
transport equations of convection-diffusion-and
reaction flow problem only; however, the POD-
Fig. 6: Comparison of the reactant HNO2 among the DEIM can also apply to the general case with higher
full model, POD reduced model, and POD-DEIM dimensions of Navier-Stokes chemical reacting flow
reduced model. applications. The reduced-order models can be
parameterized and then used for design space studies
as well as quantification of the effects of parameter
uncertainties on output quantities of interest. It also
can apply to improve the product quality and optimal
control, especially is the real time simulation and
control.
Acknowledgments
We would like to thank for the financial support
the project Grant No: A1718g0094, entitled: “Model
predictive control for Pharmaceutical Manufacturing”
under IHPC, A-Star, Singapore.
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[9] Feldmann, P., and R. W. Freund. Efficient Linear An ‘Empirical Interpolation’ Method: Application to
Circuit Analysis by Pade Approximation Via the Efficient Reduced-Basis Discretization of Partial
Lanczos. Differential Equations. Comptes Rendus
Mathematique 339(9): 667–672, (2004).
[10] Process. IEEE Transactions on Computer-Aided
Design of Integrated Circuits and Systems 14(5): 639– [17] Grepl, M. A., Y. Maday, N. C. Nguyen, and A. Patera.
649, (1995). Efficient Reduced-Basis Treatment of Non-affine and
Nonlinear Partial Differential Equations. ESAIM:
[11] Gugercin, S., and A. Antoulas. A Survey of Model Mathematical Modelling and Numerical Analysis
Reduction by Balanced Truncation and Some New 41(3): 575–605, (2007).
Results. International Journal of Control 77(8): 748–
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Kralj, and Klavs F. Jensen, Synthesis and Kinetics of
[12] Sorensen, D., and A. Antoulas. The Sylvester Highly Energetic Intermediates by Micromixers:
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700, (2002). (9), 4132-4139, DOI: 10.1021/ie100263p
[13] Everson, R., and L. Sirovich. “The Karhunen-Loeve [19] Chaturantabut, S., and D. Sorensen. Nonlinear Model
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and Symmetry. Cambridge University Press (1998). Springer Verlag, (1977).
63 October 27 - 28, 2018

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Robust Multi-Loop PID Controller Design for Multivariable Process

with Time Delay
Phan Tan Hai1, Truong Nguyen Luan Vu2,*
1
Faculty of Vehicle and Energy Engineering, Ho Chi Minh City University of Technology and Education, 01 Vo
Van Ngan Street, Thu Duc Dictrict., Ho Chi Minh City, Vietnam
2
Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology and Education, 01 Vo Van
Ngan Street, Thu Duc Dictrict., Ho Chi Minh City, Vietnam
*
Email: vuluantn@hcmute.edu.vn
Abstract
In this paper, an analytical design method of multi-loop PID controller is proposed by considering the µ-
syntheses in the presence of multiplicative output uncertainty that is used to measure the degree of
robustness for multi-loop control system. Firstly, analytical tuning rules of multi-loop PID controller are
derived based on the well-known Internal Model Control (IMC) approach. Secondly, the proportional gain,
integral time constant and derivative time constant of the controller are tuned to achieve the desired level of
robustness via the µ-syntheses.
The simulations studies are conducted by tuning various controllers of the multivariable processes with
multiple time delays. The results indicate that the proposed method consistently performs well with fast and
well-balanced closed-loop time responses.
Keywords: Multiplicative uncertainty, Stability robustness, Robustness performances, Multi-loop PID
controller, Internal Model Control (IMC) approach
1. Introduction The closed-loop transfer function matrix can be

obtaied by considering the standard block diagram of
Multi-loop PID controller have been widely
the multi-loop feedback control shown in Fig. 1,
used for controlling the industrial multivariable
 
1
process because of its simple, robustness against H(s)  I  G(s)G C (s ) G (s )G C (s ) (1)
sensor/actuator failure, and easy understandability.
Therefore, there are many design methods that have where, G C ( s) and G (s) denotes the decentralized
been reported in the literature.
controller and multivariable procoess, respectively.
It is clear that the internal model control (IMC)
method [1] is very well known method for the
In accordance with Grosdidier and Morari [9],
analytical design of IMC-PID controllers while taking
the overall closed-loop system H( s) is stable if
into account time delays. Recently, several methods,
which extend the IMC-PID method of the SISO case column diagonal dominance is achieved for all loops
to the MIMO case,have been reported with promising at all frequencies. Thus, the inverse of matrix can be
results [2-4]. The other widely used approach is the reasonably approximated as:
extension of single-loop relay tuning to the multi-
loop case [5-7]. This approach is straightforward,

H-1 (s)  diag G -1 ( s)GC-1 ( s)  I  (2)
because it directly combines single-loop relay auto- Therefore, the multi-loop controller can be
tuning and sequential tuning, wherein the multi-loop written by
GC (s)  diag  G -1 ( s)  H-1 ( s)  I 
1
control system is tuned sequentially loop by loop, (3)
closing the ith loop when it has been tuned and the jth
D
loop needs to be opened.
In this paper, ananalytical design method of
multi-loop PI/PID controllers is introduced based on
the IMC and direct synthesis approach [8]. The G c1 0 0
+ G11 G12 G1n
R 0 G c2 0 U G 21 G 22 G 2n Y
proposedtuning rulers are analytical forms that
providesinformation on thedynamic interactions + - +
0 0 G cn G n1 G n2 G nn
useful for estimating the controller parameters.
Gc G
2. Analytical design method
Fig. 1. Multi-loop feedback control system.
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It follows from linear algebra that the (i,i)th To evaluate the closed-loop performance, the
ii integral absolute error (IAE) criterion is considered,
diagonal element of G -1 ( s) corresponds to G ( s ) ,
G (s) which is defined as
T
ii
and it is clear that G ( s) is the diagonal element of IAE  0
e(t ) dt (13)
G s .
ji
Then, it is can be rewritten as
where T is a finite time which is chosen for the
integral approach steady-state value.
  s 
diag G -1 ( s)   diag  ii  (4) 3.2. Total variation (TV)
 gii  s   To evaluate the magnitude of the manipulated
where, ii ( s) the diagonal element of the frequency- input usage, the total up and down movement of the
dependent relative gain array for G (s) is introduced control signal is considered as.
T
by Bristol [10:] TV   u(k  1)  u (k ) (14)
k 1
G ii ( s ) TV is a good measure of the smoothness of

ii ( s)  gii ( s) (5)
G(s) controller output and should be small.
 
1 4. Robust Stability Analysis
Furthermore, H ( s)  I
-1
can be expressed as
The robustness of a control system is one of the
most important issues in any controller design,
 h ( s) 
H ( s)  I   diag  ii
1
-1
 (6) because the dynamics of real plants usually have
1  hii ( s)  many sources of uncertainty, which cause poor
where hii is the diagonal element of H( s) . performance or even instability in the control
Substituting Eq. (4) and Eq. (6) into Eq. (3), the systems. In this study, a well-known method for
multi-loop controller can be obtained as robust stability[11]is introduced for a fair comparison
with other existing controller design methods.
The robust stability can be examined under
  h ( s)  
GC ( s)  diag ii ( s) gii1 ( s)  ii  (7) output multiplication uncertainty. For a multi-delay
  1  hii ( s)   process with an output multiplicative uncertainty of
 0 , the upper bound of the robust stability can be
The rational approximation form of Eq. (7) can written as
  1/   I  G  j  G c  j   G  j  G c  j 
1
be found by expanding gci ( s) in a Maclaurin series.
  (15)
  I   G  j  G c  j  
 
1
1 ,   0
gci ( s)   pi (0)  spi(0)  s 2 pi'' (0) (8)  
s
where G( j )G c ( j) is invertible.
The first two terms of the above equation can be To insure a fair comparison, the degree of robust
constituted as the standard PID controller given by stability will be held at the same level for all of the
 
1 design methodsbeing compared. In the simulation
gci ( s)  K Ii  sKCi  s 2 K Di (9) study, the proposed multi-loop PI controller is tuned
s
by adjusting the closed-loop time constant, i , so that
where K Ii , K Ci and K Di correspond to the integral,
the  value of the proposed control system is kept the
proportional, and derivative terms of the standard
PID controller, respectively. same as or larger than those of the other methods.
Finally, the proposed PID controller parameters 5. Case study
can be found by
KCi  pi(0) (10) Two input, Two output (TITO) processes are
widely used in industrial practice. A large number of
K Ii  pi (0) (11)
previous studiesfocused on designing multi-loop
K Di  pi (0)
''
(12) control system of TITO processes. In this section,
TITO multi-delay processes with first-order plus
3. Multi-loop control system performance
delay time (FOPDT) dynamics are considered. The
3.1. Integral absolute error index multi-loop feedback controller can be derived from
Eq. (7) as
65 October 27 - 28, 2018

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Tii s  1  1 
gci (s)  ii (s )  ii s  (16)

Kii   i s  1  e 
where Kii and Tii denote the gain and time constant
of g ii , respectively. The order of the IMC filter is
selected as 1 in order for the controller to be
realizable.
The iith element of the frequency-dependent
relative gain array is calculated by
1
 ii ( s)  (17)
K12 K 21 T11s  1T22 s  1 ei s Fig. 2. Closed-loop responses to the sequential
1 e
K11 K 22 T12 s  1T21s  1 unit step changes in the set-point for the ISP reactor.
where the effective delay  ei is defined by Table 1. PI/PID controller parameters and robust
performanceanlysis for the ISP reactor.
ei  12  21  11   22 .
Parameter Proposed Chien et al. Shen and Yu
An analytical tuning rule of the multi-loop PI
controller can be obtained as:
K ci 0.45 0.26 0.46
 ii (0) 0.15 0.16 0.18
K Ci  
2 Kii (i  ii ) 2 (18)  Ii 4 1.42 1.50
 2
ii 
 2 ii  0  i  ii   K ei Tei   ei   Tii  1 1.77 4.45
 Di 0.32 - -
ii (0) 0.13 - -
K Ii  (19)
Kii (i  ii ) i 0.12 - -
where, 0.73 - -
K ei denotes the interaction quotient defined by  0.6 0.4 0.5
K12 K 21 IAE 4.5 6.7 7.5
K ei  (20) TV 2 2 2.7
K11 K 22
Robust analysis for the ISP reactor under ±10%
The effective time constant Tei is defined by parametric uncertainty in all parameters
Tci  Tjj  Tij  Tji , j  i (21) IAE(+10%) 4.01 5.5 5.0
TV(+10%) 2.01 2.0 2.64
6. Simulation study IAE(-10%) 3.30 4.3 5.3
In this section, one TITI example is considered TV(-10%) 2.70 1.52 2.2
to demonstrate the effective performance of the
proposed control system.
robust level than those of the Chien et al.’s and Shen
The industrial-scale polymerization (ISP)
and Yu’sdesign methods.
reactor is consiered that has the transfer function
The resulting multi-loop PI/PID controllers by
matrix as follows [12] :
the proposed and other methods are listed in Table
 22.89e 0.2 s 11.64e 0.4 s  1.For a sequential unit step change in the set-points at
  t = 0 and at t = 15, Fig. 2 compares the closed-loop
4.572s  1 1.807s  1 
G( s)   (22) time responses afforded by the proposed methodwith
 4.689e 0.2 s 5.8e 0.4 s
 those given by the the Chien et al [12] and Shen and
 
 2.174s  1 1.801s  1  Yu methods [13]. The proposed controller shows a
superior response with a faster settling time and less
The proposed method is fair compared with overshoot over the other methods for the set-point
those of Chien’s [12], and Shen and Yu [14] design tracking. The values of the robust performance in
methods in this simulation study. Table 1 also confirm the superior performance of the
proposed controller.
For the proposed method a, the i values are For the robustness study, the controller is
adjusted to obtain   0.6 , in order to have a higher investigated by inserting a perturbation uncertainty of
±10% in all three parameters simultaneously toward
66 October 27 - 28, 2018

Hanoi, Vietnam
the worst case model mismatch as an actual process. [3] M. Lee, K. Lee, C. Kim, J. Lee, Analytical design of
As shown in Table 1, the proposed method provide multi-loop PID controllers for desired closed-loop
the effective robust performance for the set-point responses,AIChE J. 50(2004) 1631-5.
tracking prolem. [4] N.L.V. Truong, J. Lee, M. Lee, Design of multi-loop
PID controllers based on the generalized IMC-PID
7. Conclusions method with Mp criterion, IJCAS 5 (2007) 212-217.
[5] A.P. Loh, C.C. Hang, C.K Quek, V.U. Vasnani,
An analytical tuning rules of the multi-loop PID Autotuning of multi-loopproportional - integral
controller are proposed for multivariable processes, controllers using relay feedback, Ind EngChemRes.
which is straightforward and easy to implement in the 32 (1993) 1102-1107.
multi-loop control systems. [6] S.H. Shen, C.C. Yu, Use of relay-feedback test for
The maximum upper bound in the output automatic tuning of multivariable systems, AIChE J
multiplicative uncertainty was utilized to measure the 40 (1994) 627-46.
[7] Y. Halevi, Z.J. Palmor, T. Efrati , Automatic tuning
robust level.
of decentralized PID controllers for MIMO
The robustness studies were conducted by processes, J Process Control 7(1997) 119-28.
inserting a perturbation uncertainty of ±10% in all [8] D.E. Seborg, T.F. Edgar, D.A. Mellichamp, Process
parameters. The results demonstrated that the dynamics and control, New York: John Wiley & Sons
proposed method afforded the superior robust (1989).
performance over other well-known existing [9] P. Grosdidier, M. Morari,Interaction measures for
methods. systems under decentralized control, Automatica 22
(1986) 309-319.
Acknowledgments [10] E.H. Bristol. Recent results on interactions in
multivariable process control. AIChE Annual Meeting
This research is supported by the Ho Chi Minh
at Florida. (1978) p. 78b.
City University of Technology and Education. [11] S.L. William, Control system fundamentals, 1st edn.
References CRC (1999).
[12] I.L. Chien, H.P. Huang, J.C. Yang, A simple multi-
[1] M. Morari, E. Zafiriou, Robust process control, loop tuning method for PID controllers with no
Englewood Cliffs, New Jersey: Prentice Hall (1989). proportional kick, Ind. Eng. Chem. Res. 38 (1999)
[2] S. Cha, D. Chun, J. Lee, Two step IMC-PID method 1456-1468.
for multi-loop control system design, Ind EngChem [13] S.H. Shen, C.C. Yu. Use of relay-feedback test for
Res. 41 (2002) 3037-41. automatic tuning of multivariable systems, AIChE J
40 (1994) 627-646.
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Studying Hydraulic Regenerative Braking System on the Dump Truck

Luyen Van Hieu1, 2,*, Ngo Sy Loc1, Tran Khanh Duong1
1
School of Transportation Engineering, Hanoi University of Science and Technology, N01, Dai Co Viet St.,
Hanoi
2
Faculty of Automobile Engineering, Hung Yen University of Technology and Education, Dan Tien, Khoai Chau,
Hung Yen
*
Email: lvhieugt@gmail.com
Abstract
This paper presents a principle diagram of the proposed hydraulic transmission on a garbage dump truck.
The proposed system recovers kinetic energy in the braking process and stored in the accumulator. The
recoverable energy could be used to lift and rotate the garbage tank. The dynamic equations of a braking
process the vehicle and rotating the garbage tank and the results have been obtained and simulated from
the Matlab - Simulink program are presented.
Keywords: Hydraulic Regenerative Braking System; Braking to recover kinetic energy.
1. Introduction hydrostatic energy and store it in a hydraulic

accumulator for other possible using lifting crane....
Conventionally, during a vehicle braking process,
A system for the purpose has been proposed,
the kinetic energy turns to heat at the braking shoes
modeling and simulating relevant parameters of
[1]. In our study, we aim to turn the same to
braking and accelerating and results will be presented
13
hereunder.
Table 1: Values of the studying vehicle parameters
12
Desig-
Names Values Units
1 layout of braking pedal nation
pacc
5 6 7 11 10 Vehicle mass (no-load) m 1700 kg
4 Vehicle mass (full) m 2500 kg
9
Vehicle wheel’s radius
V1 8
rbx 0.355 m
3 A
6a 6b Inertial torque of the
Kinetic energy
B
C Jbx 5.222 Kg.m2
2
recovery braking E wheel
Nomal braking
The cross-sectional area
ÐT4
F 2.4 m2
1 PTO CLPTO
of the vehicle
Clutch The coefficient of air
Engine Manual K 0.58
CL
transmission resistance [4]
CLPTO
pacc
The transmission ratio
V1
Control Unit Br from PTO’s shaft to the
CL itrp3 7.8
vehicle wheels (number
Figure 1: The principle diagram of the HRBS. lever 3)
The principle diagram of the proposed hydraulic The total length of the
l 1.5 m
regenerative braking system (HRBS) is shown in pipe from pump to H.A.
Figure 1. The main components are: 1- oil tank; 2- Inside diameter of the
d 0.0127 m
hydraulic pump; 3- control valve L to lift; 4- control pipe
valve HRB; 5- return line; 6- one way valve; 7- Number of wheels n 6
pressure transducer; 8- pressure switch; 9- pressure Volume of oil that
indicator; 10- hydraulic accumulator; 11- the oil line pump gear made in 1 dp 14 cc/rev
to lift; 12- control valve R to lift; 13- Cylinder; PTO rotation
unit- power take-off unit; Br- signal from braking Gas volume at the pre-
Vao 0.025 m3
pedal; Pacc- signal from pressure transducer; V1- valve charge pao
control signal; CL- clutch off control signal; CLPTO- The pre-charge pressure
pa0 70 bar
PTO-on control signal; A, B, C, E - position of of gas
braking pedal.
68 October 27 - 28, 2018

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v Jbx – moment of inertia of the wheel [kg.m2];

rbx – The working radius of the wheels [m];
Pr1, Pr2 – rolling resistance of front and rear tires, total
Pj of rolling resistance:
Pw
Y Pr = Pr1+Pr2 = f.G (4)
where: f – Rolling resistance coefficient;
h
G
hw
bx rbx x O Pp1, Pp2 – The braking force of the normal braking
Pr1 Pr2 Pp2 Ppp system at front and rear tires:
A Z1 Pp1 Z2 B
a b M p1
L Pp1  (5)
rbx
Figure 2: Forces acting on the vehicle in braking M p2
process. Pp2  (6)
rbx
pga , Vga
Vfm = Vg-Vga
gas N2
pao ,Vao pgo ,Vgo pg , Vg Mp1, Mp2 – Moment of the normal braking system at
gas N2 front and rear tires [Nm];
Vf = Vgo-Vg
gas N2 gas N2 In case the braking system using the drum, the same
transfer force and the cylinders on the same side [3]:
Mp1= Mp2 = Mp = 2P’rtC (7)
Fluid P’ – transfer force at brake pad [N];
a b c d
rt – The radius of the drum [m];
Figure 3: The hydraulic Accumulator and state of C – Ratio of drum brake, C = 1,05.
charge. Ppp– The braking force of the HRBS at rear wheel
M bxp
Ppp  (8)
rbx
2. The system description Mbxp –The braking moment of the HRBS at the rear
Some parameter values of the system and the tires [Nm];
studying vehicle are shown in Table 1. rbx – The working radius of the wheels [m];
The braking moment of the HRBS at the rear tires is
3. Modeling and simulating relevant parameter of from pump moment [5]:
dump truck when braking i trp M p i ptc .io .M p
M bxp   (9)
3.1. Modeling relevant parameters trp trp
Balancing equation of forces acting on the test ηtrp – the transfer efficiency;
vehicle when brakes in a horizontal way have the p – the angular velocity of the pump shaft [1/s];
following form: p=bx.iptc.io (10)
Pj – (Pp1 + Pp2+Ppp+ Pr +Pw) = 0 (1) bx – the angular velocity of the wheel shaft [1/s];
Where: v
bx  (11)
Pj – vehicle’s inertia force [3] which is defined as [N]: rbx
G dv Mp – The moment of the pump [Nm];
Pj   (2)
g dt iptc – The ratio from the pump shaft to the out shaft of
where: the manual transmission;
G – weight of the vehicle [N]; io – The main transmission gear ratio needs proactive;
t – time [s]; rbx – The working radius of the wheels[m];
g – the acceleration of gravity, g = 9.81[m/s2]; Pw is air resistance [N]:
 – is a proportionality constant taking care of all Pw = KFv2 (12)
rotating masses in the moving vehicle [3]. To K – Coefficient of air resistance;
simplify the calculation, an assumption has been F – The vehicle cross-sectional area [m2];
made namely only vehicle wheels are used to v – The vehicle braking speed [2] which is defined as:
t
account, neglecting the contribution of the others
rotating parts, hence: v = v0 -  a v dt (13)
0
J bx .g where: vo – initial braking speed [m/s];

  1 2
(3) av – vehicle acceleration [m/s2];
G.rbx
69 October 27 - 28, 2018

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- Model of the hydraulic pump: k k k k

pao Vao  pgo Vgo  pg Vg = pga Vga
Torque equation [5]: (22)
d p .Δp p where:
Mp = (14) k – the adiabatic exponent which can be assumed at
2π.ηmp 1,4 [9] for two-atom gases such as nitrogen;
Flow rate equation [5]: Vao – the effective gas volume (m3);
d p .ωp .η vp pao – the pre-charge pressure (N/m2);
Qp  (15) Vgo – the gas volume at the minimum operating
2 pressure (m3);
where: pgo – the minimum operating pressure (N/m2) (the
dp – pump displacement (cc/rev) initial pressure of accumulator);
pp – pressure difference pump (N/m2): pg – the operating pressure (N/m2);
pp = pcr – pcv (16) Vg – the gas volume at the working pressure (m3);
pcr – The hydraulic pressure at outlet of hydraulic pga – the high pressure (N/m2);
pump [N/m2]: pcr = plp + pg (17) Vga – the gas volume at the high pressure (m3).
plp – Hydraulic pressure line loss from the pump to The recovery energy is energy which change air
hydraulic accumulator [N/m2]; volume inside the hydraulic accumulator.
pcv – Hydraulic pressure at inlet of hydraulic pump vg
[N/m2]; Ea   pdV (23)
mp – mechanic efficiency of the hydraulic pump; vgo
vp – volume efficiency of the hydraulic pump From (22) and (23) =>:
- Model of the pipeline is written in the form of
pressure loss [5]:
pgo Vgo  Vg 
In order to minimize the total pressure losses in 1 k

the system, the cross dimension of the pipelines Ea =    1 (24)
should be chosen in such a way that the oil will flow k -1  Vgo 


 
in the laminar regime, total pressure loss includes
local pressure losses and line pressure loss: 3.2. Method of calculation
lp .v2
plp  10.(   v  p ) d [N/m2] (18) Using equations from (1) to (24) to setup on the
d 2.g Matlab-Simulink program and calculate with the
where: process such as figure 4.
 – the density of the hydraulic oil [kg/m3]
lp – the length of the charging line [m] Begin
v – pressure loss coefficient at the entrance of the
charging line Input parameters and dt
 – local line pressure loss coefficient
 – a dimensionless friction factor depending on Assign pg, av and v
Reynold number (Re), from the case of laminar flow
[6]:
false
64 v 
= (19)
Re true
v .d
Re = d (20) Calculate parameters

where:
Output
d – the internal diameter of the pipe [m];
 – the oil kinetic viscosity [m2/s];
vd – average oil velocity [m/s]: Draw parameters versus time graphs
4.Q p
vd = 2
(21)
π.d End
- Model for the fluid accumulator Figure 4: The flow chart showing calculating steps in
Neglecting any heat transfer may be presented the proposed HRBS during the braking process.
in the energy recovering process, the following model
for the accumulator could be arrived [7]:
70 October 27 - 28, 2018

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X'A
o
c+
A
XB B YA
ke
Y'B YB
Figure 5: Velocity in the braking process. Y'C kd kc Y'A XA Gh

XC X'C X'B t
c
C
kb
YC ka
Jqt 
o
x
E
c
b kc
o
x
O
g
ka
Figure 9: Forces of lifting mechanism of the garbage

tank of the vehicle.
the first m =2000kg and the second m =2500kg, after
Figure 6: The acceleration of the vehiclein the twice brakingthe vehicle to recover kinetic energy the
braking process.
pressure of the accumulator increases from 80bar to
111bar, the recovery energy of the accumulator was
recovered 44,38kJ.
4. Modeling and simulating relevant parameters of
the dump truck when lifting tank
4.1. Modeling relevant parameters
When the HRBS is used for lifting the garbage
tank, the recovered energy from the accumulator is
reused to operate the cylinder, we can model the
Figure 7: the hydraulic pressure of the accumulator HRBS in reusing process by relevant parameters of
in the braking process. the systemsuch as figure 9 and 10 :
Parameters in the figure 9, having relation as:
DB2=BC2+DC2-2.BC.DC.cos(2c+) (25)
2 2 2
DC =BC +BD -2.BC.BD.cosb (26)
BC2=DC2+DB2-2.DC.DB.cosx (27)
DC.sinc = DO.sino (28)
 = 2o - g+t (29)
d = o - g+c (30)
BD =Lo + s (31)
Lo – Initial length of cylinder [m];
Figure 8: The recovery energy of the accumulator in s – Stroke of cylinder [m];
the braking process.
Remove part ABC from the vehicle and setting
force vectors, we have:
3.3. Some simulation results
Mc=0 => YB. BC.cosb - XB.BC. sinb
The figure 5, 6,7, 8 shown some results of the +XA.AC.sin(c+o)+YA.AC.cos(c+o) = 0 (32)
brakingprocess with twice times recovery braking,
71 October 27 - 28, 2018

Hanoi, Vietnam
Ox=0 => YA.sin(2o-g)-XA.cos(2o-g)

pmax, Vmax
+XB.cos(d+x) -YB.sin(d+x)+XC.sind
gas N2
pao ,Vao XB pmin ,Vmin
-YC.cosd=0 (33)
Vfmax= Vmin-Vmax
Oy=0 => - YA.cos(2o-g)-XA.sin(2o-g) gas N2
dpt
gas N2
pxhoi
+XB.sin(d+x) +YB.cos(d+x)-XC.cosd Dpt
- YC.sind=0 (34)
px
Sx
oil
Because the mass of the BC bar and cylinder a b c
DB are lighter than the mass of tank so we can Figure 10: State of the hydraulic accumulator
negatively the mass of them, it’s easy to set YB=0,
1
XC=0. =>  p 1.4
- XB.BC. sin(b)+XA.AC.sin(c+o) Vmax  Vao  ao  (50)
 pmax 
+YA.AC.cos(c+o) = 0 (35)
YA.sin(2o-g)-XA.cos(2o-g)+XB.cos(d+x) -
Vmax 1.4
pg = p .( ) (51)
YC.cosd=0 (36) max
Vmax + Vfx
- YA.cos(2o-g)-XA.sin(2o-g)+XB.sin(d+x) - Pressure of cylinder,is defined as:
YC.sind=0 (37) px = pg - plx (52)
Jqt. + Gh.OG.cos(2o - g+t) – YA.AO = 0 (38) plx – pressure loss from the Accumulator to the
Setting: cylinder, including local pressure losses and line
[sin(2o-g) sind + cos(2o-g) cosd ] = U (39) pressure loss, the loss was confirmed same (18)
[cos(2o-g) sind -.sin(2o-g) cosd ] = M (40) Vfx – hydraulic volume into the cylinder;
[cos(d+x) sind -sin(d+x) cosd] = Z (41) s..d 2pt
Vfx  (53)
XB .M.BC. sin( b )  Z.AC.sin(  c   o ) 4
YA = (42)
M.AC.cos( c   o )  U.AC.sin( c   o ) dVfx
Q fx  (54)
From (25) and (31) we have: dt
(Lo+s)2=BC2+DC2-2.BC.DC.cos(2c+) (43) 4.2. Method of calculation
Derivative equation with time, we have:
Using equations from (25) to (54) to setup on the
2. Lo  s  .s  2.BC.DC.sin(2c  q) .2.c => Matlab - Simulink program and calculate with the
process such as figure 11:
2.BC.DC.sin(2 c  q) . c
s
 Lo  s 
(44)
Begin
Derivative equation with time, we have:
Input parameters and dt
DC.cos c .c  DO.cos o .o =>
DO.cos  o . o Calculator parameters
c  (45)
DC.cos  c . false   65
o
Derivative equation (30) with time => true

d 2d o
  (46) Calculator parameters
dt dt
d Output
=>   (47)
dt Draw parameters versus time graphs
G
J qt  h .GO2 (48) End
g
Figure 11: The flow chart showing calculating steps
p x .D2pt p xhoi .(D2pt  d2pt ) in the proposed HRBS during the energy reusing
XB   (49) process.
4 4
72 October 27 - 28, 2018

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Figure 12: Force of cylinder. Figure 14: The accumulator pressure in using process
Figure 13: The rotation angle of tank.

Figure 15: Fluid volume.
4.3. Some simulation results
hydraulic regenerative braking system on the dump
The figure 12, 13, 14, 15 shown some results of truck actually.
the energy reusing process of the HRBS to lift and
rotate the garbage tank of the dump truck with the References
different mass of the garbage tank (800kg, 1000kg, [1] Châu Thành Trí - Châu Ngọc Thạch, Hệ thống thắng
and 1250kg). The recovered energy with hydraulic trên xe ô tô, Nhà xuất bản trẻ, 2005.
pressure is 110bar, the system uses to rotate the tank [2] Lương Duyên Bình (2010), Vật lý Đại cương tập 1:
until the limited rotational angle of about 650. The Cơ- Nhiệt. NXB Giáo dục Việt Nam.
more mass the system is, the longer the rotated stroke [3] Nguyễn Hữu Cẩn (2004), Phanh Ô tô, Cơ sở khoa học
time is. The min hydraulic pressure is 81.74 bar và thành tựu mới, Nhà xuất bản khoa học và kỹ thuật.
together. [4] Nguyễn Hữu Cẩn, …(2005), Lý thuyết ô tô máy kéo,
Nhà xuất bản khoa học và kỹ thuật.
5. Conclusion [5] Trần Ngọc Hải – Trần Xuân Tùy (2013), Giáo trình hệ
thống truyền động thủy lực và khí nén. Nhà xuất bản
- Using the proposed hydraulic regenerative xây dựng.
braking system on the dump truck, the kinetic energy [6] Phạm Văn Vĩnh (2005), Cơ học chất lỏng ứng dụng,
could be recovered and reused; Nhà xuất bản giáo dục.
- The results from the test, the modeling and [7] Bùi Hải – Trần Thế sơn (2002), Kỹ Thuật Nhiệt. Nhà
simulating are a foundation for us to apply the xuất bản khoa học và kỹ thuật.
73 October 27 - 28, 2018

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Using CFD to Investigate Effect of Rudder on Propeller’s Hydrodynamic

Characteristics
Nguyen Chi Cong1,2*, Luong Ngoc Loi2, Ngo Van He2, Vu Van Duy1, Pham Ky Quang1
1
VietNam marinetime University
2
Hanoi University of Science and Technology, No. 1, Dai Co Viet, Hai Ba Trung, Hanoi, Viet Nam
*Email: congnc.vck@vimaru.edu.vn
Abstract
The interaction between a propeller and a rudder in the propulsion systems has become the hot debate in
recent years. How the rudder affects a propeller’s hydrodynamic features and a propeller has effects on a
rudder’s features have yet been the big question. In this work, the authors employed the numerical method
to investigate the interaction between a propeller and a rudder. The propeller using in this research has
some important parameters as follows; the diameter of 3.65 m; speed of 200 rpm; average pitch of 2.459 m;
boss ratio of 0.1730, the number of blade of 4. Moreover, the rudder using in the paper having the cross
section is the symmetric Naca 0018 airfoil used commonly in building ship rudders . The turbulent RNG k-e
model was employed to calculate and simulate for the two case; the free propeller and the rudder-propeller
system. Then from the obtained results, for example, pressure distribution, velocity distribution, thrust and
torque coefficients, propeller efficiency, the relationship of a propeller and a rudder in ship operation will be
analyzed in the detailed way. The effects of the interaction of them on the ship maneuverability also are
investigated. The achieved results of this paper are the significant foundation to calculate and design of an
innovative kind of high performance propellers and rudders for commercial vessels.
Keywords: CFD, Propeller-rudder.
1. Introduction utilized to model the propeller (S. A. Kinnas, Y. Tian,

and A. Sharma, 2012) [3]. Following Kinnas’s
The hydrodynamic interaction between a
project, in 2015, Chen used the RANS model to study
propeller and a rudder is of great has been a hot
the effect of scale on hydrodynamic performances of
debate because of its effect on the performance of
a propeller and the obtained results are relatively
both [Han et al. 2001] used a surface panel method to
appropriate with experimental outcomes [5]. RANS
solve the flow around a horn-type rudder and a
model combined with k- turbulent viscous model
vortex-lattice method to solve the flow around the
was used to study the unsteady caveating turbulent
propeller, respectively. The three-dimensional flow
flow around full scale marine propeller (Bin.J et al.,
around the rudder and the propeller was computed
2016) [8]. In 2017, at 10th International conference on
simultaneously, considering the interactions between
marine technology, Arnob.B got some results relating
them. The surface pressure distributions and the
computation of hydrodynamic characteristic of
cavity patterns on the horn-type rudder were
marine propeller using induction factor method base
calculated and compared with the measurements in
on normal induced velocity.
experiments conducted at Samsung Ship Model Basin
(SSMB). Abramowski (2005) in Journal of In this paper, authors employed the numerical
theoretical and applied mechanics published the study method to predict the hydrodynamic performance of
of the forces on the propeller during ship the propeller-rudder system. The hydrodynamic
maneuvering. In 2009, Phillips utilized the blade interaction between the propeller and rudder was
element momentum theory to a Reynolds carefully investigated. The numerical results of the
averaged Navier Stokes flow solver to investigate pressure distribution, hydrodynamic characteristics,
the maneuvering coefficients of a self-propelled ship and flow field in the propeller downstream were also
at drift by coupling a propeller performance. One presented and discussed.
year following, he used the numerical method (CFD)
to get insight into the interaction between the 2. Theoretical foundation
propeller and rudder at straight ahead conditions. 2.1. Propeller’s hydrodynamic features
Various numerical methods have been proposed
based on potential flow theory for the analysis of According to theory of wing, the blade is
propellers. For instance, combination of a panel divided into a large number of elementary strips, as
method which is also known as Boundary Element seen in figure 1. Considering a blade element of the
Method (BEM) with a vortex lattice method was propeller’s blade as shown in figure 1, each of these
elementary strips can then be regarded as an airfoil
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Figure 1. Blade element of the propeller’s blade.

subject to a resultant incident velocity W. The T Q
KT  , KQ  2 5
resultant incident velocity was considered to n D
2 4
n D
comprise an axial velocity V together with a
Va KT . J
rotational  r velocity, which clearly varies linearly J ,0 
nD KQ .2
up the blade. (3)
The section will, therefore, experience lift and 2.2. Theory of numerical method
drag forces from the combination of this incidence In this paper, the problem was addressed by
angle and the section zero lift angle, from which one utilizing the finite volume method of ANSYS
can deduce that, for a given section geometry, the FLUENT in which the fundamental equations are the
elemental thrust and torque are given by [7]: continuity equation and the Reynolds-Avaraged
1
dT   .Z .cW
. 2 (cl .cos   cd .sin  )dr Navies - Stockes equations in moving reference
2 frame written as follows [8].
1
dK   ZcW . 2 (cl .sin   cd .cos  )rdr Conservation of mass
2 
(1)  . vr  0
t (4)
Therefore, the thrust and torque of a propeller
can be found by integrating formula. Conservation of momentum
rt
1 
T    .Z .cW
. 2 (cl .cos   cd .sin  ) dr (  vr )  .(  vr .vr )   (2  vr 
rh
2 t
r
t
1     r  a  r  a )  p    F (5)
Q    .Z .cW
. 2 (cl .sin   cd .cos  )rdr
2
rh
(2) d dvt
Where a  and a 
Where: dt dt
Z and c are the number of blades and the chord The stress tensor  is given by

  
length of the section respectively. T 2
    v  v  vI 
cl ,cd are the lift and drag coefficient of the  3  (6)
profile at the specific radius.
The momentum equation contains four
From the formula (2), we find the
additional acceleration terms. The first two terms are
characteristic coefficients of a propeller such as
the Coriolis acceleration ( 2  vr ) and the
thrust, torque, efficiency coefficient. These
coefficients can be defined as follows [18-20]: centripetal (     r ), respectively. These terms
appear for both steadily moving reference frames
(that is, and are constant) and accelerating reference
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Hanoi, Vietnam
Figure 2. The propeller, rudder and computational mesh in both cases.

frames (that is, and/or are functions of time). The
3.2. Computational mesh
third and fourth terms are due to the unsteady change
of the rotational speed and linear velocity, To investigate how the rudder has effects on the
respectively. These terms vanish for constant propeller in maneuvering of the ship, the first step in
translation and/or rotational speeds. calculation and simulation process we have to
construct the geometry model of the free propeller
3. Calculation models and boundary conditions
and propeller - rudder system. To build the geometry
3.1. Problem geometry and domain model we can use some card engineering software
such as Solidworks, Inventor, Catia, NX.... In this
The studied propeller and rudder in this article
article, the team use the Solidworks software having
are equipped in the Tan Cang Foundation Ship. The
many advantages in modeling complex surfaces to
crucial characteristics of the propeller and rudder is
construct the model geometry of the problem. The
given in the table 1, 2 below. The rudder is installed
second step is to make the fluid domain covering the
after the propeller the position between the rudder
free propeller and propeller - rudder system. The
and propeller displayed in the fig 2.
investigated domain has sizes shown in the fig 3 and
Table 1. Propeller detail parameters consists of two components: The first part is dynamic
domain consisting of the propeller; the second part is
No Parameters Value Unit the static domain including of the rudder. The third
step in the simulation process is to mesh and refine on
the built domains. All the domains are meshed by the
1 Diameter 3,65 m
Table 2. Rudder detail parameters
2 Pitch 2,459 m
No Parameters Value Unit
3 Revolution 200 rpm
1 Rudder height 4,8 m
4 Pitch ratio 0,6737
2 Chord length of top 3,45 m
section
5 Number of blade 4
Blade thickness ratio 0,0493 3 Chord length of bottom 2.45 m
6 section
Boss ratio 0,1730
7 4 Rudder area
Cross section Naca 66, a = 0,8
8 5 Rudder profile Naca 0018
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Polyhedral mesh in the ICEM meshing tool. The

dynamic domain is modeled with small mesh around
propeller that is shown in figure 4 and the stationary
domain with larger mesh. At first, a mesh with
200000 polyhedral cells was used as a model, and
then smaller mesh with 225000, 250000, 300000,
325000, 350000, 400000, 450000, 500000 polyhedral
cells were utilized. After that the results were
compared at advance coefficient of 0.1. Comparison
of results indicated that the minimum number of cells
for this model is 325000 polyhedral cells and the
figure 6 shows the results independence from meshes.
Therefore in this research, the teams used the meshes
which have 631646 cells for the free propeller and
682736 for the rudder-propeller system in all Figure 3. Result independence from meshes.
calculations. The detailed meshes in both cases are
displayed in the table 3, tale 4 and figure 3. through the PISO algorithm. Convergence precision
3.3. Calculation method and boundary conditions of all residuals is under 0.0001. The details of
boundary conditions are shown in the table 5 below.
The RNG kε two equation model is chosen 4. Results and discussion
as the turbulent model to close Reynolds averaged
equations velocity inlet is selected as inlet boundary 4.1. Effects of rudder on the thrust and torque of
condition [1]. Assume that inlet velocity is the propeller
uniform at axis direction and its value equals to The figure 3 and figure 4 reveal the pressure
the advance velocity of the ship. Pressure outlet is distribution on the back face and pressure face of the
specified as the outlet boundary condition, and propeller in the both cases at different advance ratio J.
gauge pressure on the outlet is set to be 0 pa. As to As can be seen, the pressure distribution on the back
wall boundary condition, no slip condition is face of the propeller in both cases is the relative
enforced on wall surface and standard wall function similarity while the distribution pressure of the
is also applied to adjacent region of the walls. pressure face of the propeller in the propeller-rudder
Moving reference frame (MRF) is used to establish system and the open-water propeller is small different
the moving coordinate system rotating with the especially at the region toward the propeller hub. In
propeller synchronously and the stationary coordinate
Table 5. Boundary conditions
system fixing on static shaft of the propeller,
respectively. The first order upwind scheme with
No Name Conditions Value Units
numerical under- relaxation is applied for the
discretization of the convection term and the central 1 Inlet Velocity 1,22 – m/s
difference scheme is employed for the diffusion inlet 8,52
term. The pressure - velocity coupling is solved
2 Outlet Pressure 0 Pa
Table 3. Mesh detail parameters of the free propeller outlet
Domain Nodes Elements Polyhedra 3 Wall Static wall -
Dynamicfluid 1649594 326437 326437 4 Blade Rotational 0 Rpm

wall
Staticfluid 1710639 305209 305209
5 Hub Rotational 0 Rpm
All Domains 3360233 631646 631646 wall
Table 4. Mesh detail parameters of the propeller -
rudder system 6 Static Static wall -
shaft
Domain Nodes Elements Polyhedra 7 Static Static -
Dynamicfluid 1649594 326437 326437 domain fluid
Staticfluid 1968607 356299 356299 8 Dynamic Moving 200 rpm

domain reference
All Domains 3618201 682736 682736 frame
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Hanoi, Vietnam
the propeller-rudder system, the propeller thrust goes advance ratio J of 0.7. At the designed optimal point
up compared with the open-water propeller because of the propeller corresponding to the exploited
the low pressure area toward the hub decreases. The velocity of the vessel, the propeller’s efficiency in the
pressure value at this region is about -1.2 x 104 Pa. propeller-rudder system increases about 4.8
The torque of the propeller in this case also increase, percentages. The higher efficiency of the propeller in
however the raise of the propeller thrust is higher the system corresponds to the different ship advance
than the raise of the torque acting on the propeller. As velocity is shown in the figure 10.
the result, the propeller efficiency in the propeller -
From the velocity distribution on the axial
rudder rise slightly. When the advance ratio J goes up
plane displayed in the figure 6, 7 we can see that the
the thrust and torque coefficients also increase. The
rudder has considerable effect on the velocity field
higher percentage of the propeller’s thrust and torque
especially in the region behind the propeller hub.
gets the maximum about 28.2% and 11.6%
From the figure 9, it can be clearly seen that hub
respectively. At the exploited velocity of the ship, the
vortices of propellers are affected by the following
higher percentage of thrust and torque of the studied
rudders in different way, the starboard rudder will
propeller is about 9.7% and 4.9%. The difference of
interact with the hub vortices while port side
the thrust, torque, coefficient in the cases is shown in
rudder will affect the tip vortices. The behavior of
the figure 11.
the interaction between moving components can
4.2. Effects of rudder on the efficiency of the further lead to the variation of hydrodynamic
propeller performance.
The figure 9 illustrates the characteristic 4.3. The force acting on the rudder in the operation
curves of the propeller in the cases. From this figure,
Figure 11 shows the pressure distribution on
we can recognize that the efficiency of the propeller
two faces of the rudder at advance ratio J = 0.4. We
in the propeller - rudder system is slightly higher than
can see that pressure distribution on two faces is not
the efficiency of the free propeller. The higher
equal, this means having the horizontal force acting
advance ratio the vessel gets, the higher efficiency the
on the rudder in the rudder-propeller interaction. As
propeller obtains. The higher efficiency of the
we known forces acting on a wing in general and on
propeller reaches about 14.84% corresponding to the
Figure 4. Pressure distribution on pressure face at different advance ratios for two cases.
78 October 27 - 28, 2018

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Figure 5. Pressure distribution on back face at various advance ratios for two cases.
rudder in particular depend on attack angle of flow,
4.4. The effects of interaction between the rudder
wing area, the angle between the flow velocity
and the propeller on maneuvering the ship
direction and the chord line of the wing, velocity
magnitude of flow coming up the wing. The flow From the simulation results, we can recognize
after going through the propeller will interact with the that in the ship operation the forces acting on the
rudder. The flow velocity going out the propeller rudder are not only the drag but also the horizontal
presented in the figure 13 shows that the attack angle force. The magnitude of the horizontal force depends
of the flow going out the propeller to the rudder is not on the advance velocity of the ship and the angular
zero, so according to the theory of wing stated in velocity of the propeller. The forces and vorticity
[9-12], the flow acts the rudder with the specific force generating by the interaction of the rudder and
divided to two components. One having the direction propeller make the ship moving the in zigzag routine.
against the movement of the ship is called the drag
and the other one is called the horizontal force. The 5. Conclusion
magnitude of forces acting on the rudder In this paper, the propeller, and rudder of the
corresponding to advance velocity is shown in the Tan Cang Foundation ship is analyzed at different
figure 13. As can be seen that if angular velocity is advance ratios to construct the characteristic curves.
constant and advance ratio increases, the forces acting The effects of rudder on the hydrodynamic propeller
on the rudder also goes up. The drag on the rudder features are also investigated and these are some
goes up rapidly with nearly linear principle of obtained results in the paper.
advance ratio J, meanwhile the horizontal force on
the rudder raise slowly and gets the maximum about  This paper covers the process of CFD to
4.5 kN at the advance ratio J of 0.4. construct the propeller’s characteristic curves
from which the team investigates the effects of
the rudder on the propeller’s hydrodynamic
features.
79 October 27 - 28, 2018

Hanoi, Vietnam
Figure 6. Velocity distribution on axial plane at J of 0.1-0.2.
Figure 7. Stream line surrounding propeller at J = 0.3-0.4.
 The achieved simulation results, such as  In this study, the rudder has slight effect on the
pressure, velocity distribution, characteristic propeller’s hydrodynamic characteristic. At the
curves, are appropriate with the turbo machinery designed optimal point of the studied propeller,
theory, and have the reasonable accuracy. the efficiency in the rudder-propeller system goes
up about 4.8 percentages compared with the free
 The characteristic propeller curves are open-water propeller. On the contrary, the
constructed by using MRF and RNG k-ε model propeller also has significant impact to the
in the Ansys Fluent 14.5. The maximum hydrodynamic features of the rudder. The
efficiency of the propeller is 0.685 with open interaction between the propeller and the rudder
water propeller and is 0.714 with the rudder - makes the horizontal force on the rudder in the
propeller system at the advance ratio 0.6.
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Hanoi, Vietnam
Figure 8. Vortex surrounding the propeller at J = 0.4.
Figure 9. Hydrodynamic coefficients of the free open propeller and propeller in the rudder-propeller system.
Figure 10. % Higher thrust, torque, efficiency of the rudder - propeller system compared with the free propeller
ship operation, this force reaching the maximum

Acknowledgments
value is 4.5 kN at the advance ratio J = 0.4. The
force generating on this interaction reduces the This work was supported by the application-
instability of the maneuvering of the ship and oriented basic research program of Hai Phong City in
makes the ship moving on the zigzag routine. Viet Nam.
81 October 27 - 28, 2018

Hanoi, Vietnam
Figure 11. Distribution pressure on two faces of the rudder at J=0.4.
Figure 12. Velocity field before rudder and forces on the rudder at different advance ratios J.
[9]. Ghassemi, H., The effect of wake flow and skew

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Issue 2, pp.148-156. performance. Journal of Huazhong University of
[4] Kuiper. G. 2010. New developments and propeller science and technology, Vol.40, pp.77-88.
design. Journal of Hydrodynamics, Vol.7, 22, doi: [12]. Lin. Y, Rao. Z, Yang. C. 2017. Hydrodynamic
10.1016/s1001-6058(09) 60161-x, pp. 7-16. optimization of a seven-bladed propeller with skew.
[5] Lee, S. K. 2008. Ice Controllable Pitch Propeller Journal of Shipbuilding of China, Vol. 57, Issue 4,
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July 20 - 23, 2008, in Banff, Alberta, Canada, pp. 9- on interaction effects on hydrodynamic performance
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15.
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A Novel Design and Performance Analysis of Mini Water Turbine-

Generator for Portable Applications Using CFD with Experimental
Validation
Anh Dung Hoang 1,*, Chang-Jo Yang 2, Manh Hung Nguyen 3, Hong Ha Tran 4
1,3,4
Division of Fluid Power Automation, Faculty of Marine Engineering, Vietnam Maritime University,
Hai Phong, Vietnam
2
Department of Marine Engineering, Mokpo National Maritime University, Mokpo 58628, Republic of Korea
*Email: dungvmu@gmail.com
Abstract
As green energy is becoming a substantial approach for the sake of environment preservation, developing
equipment for utilizing renewable source from nature is a righteous strategy. This paper introduces about
authors’ idea of a novel design of mini water turbine-generator following recent development background of
horizontal axis tidal turbines based on the theory of wind turbines. The device is aimed to absorb power
wherever there is flow presence, and convert it into electricity which is sufficient for small consuming
equipment or handheld devices. According to computational simulation and experimental validation, the
novel design of 0.25m diameter mini water turbine is proved to be able to produce 5W of power at regular
flow velocity about 0.83m/s. Moreover, the size advantage allows this device to be carried conveniently and
serve as portable sustainable power generator.
Keywords: CFD, Tidal energy, Water turbine, Turbine-generator, Renewable energy.
1. Introduction Array – the world’s largest offshore wind farm can

generate maximum about 630MW of electricity,
In this modern and technology oriented age,
which is enough for approximately 500,000 homes
man is continuously looking for various method to
[3]. The advent of renewable energy is not only being
generate electricity in order to serve the vast growing
seen in those large-scale projects but also in man’s
demand, especially when someday we may
daily life for quite long time ago. Before electricity
eventually run out of our preferred fossil sources.
change our life, we already know how to take
Likewise, we also need to do this in an environmental
advantage of wind/flow power in labor work,
friendly manner for the sake of preserving our earth.
especially in farming (wind mill, water wheel). And
That explained why renewable energy has been being
today, with the high advance of digital technology it
put in interest for recent decades.
is seen that our life has been seriously modernized
According to a summary made by International
with hi-tech and smart equipment. This also means
Energy Agency, a short period of time from 2014 to
that people need energy source to maintain the
2015 shows significant change of game in energy
“power on” status anytime anywhere. In other words,
source balance. In details, the traditional fossil fuels
it is necessary to have a ready-to-supply system to
use in electricity generation continued its decline in
serve man’s new living style. In fact, chargers,
2015 with around 105TWh less generated (-2%).
batteries and the likes are doing their job excellently.
“Other sources”, which are non-hydro renewables,
But the question is what if there’s a situation where
biofuels and waste, compensated this decrease by
those are not functioned or completely used up when
generating 115TWh more than in 2014 (11% increase)
they are still in need? Then, trying to get power from
[1]. Harnessing renewable energies means “to be
any possible source in the surrounding is quite an
powered” from the nature. Thus, wherever there is a
idea. This is how we came up with the thought of a
possible natural source (solar, wind, heat, flow…) we
portable device for converting water flow’s dynamic
are logically able to utilize this untapped power by a
energy into electricity which is applicable for low
certain energy transfer/converting method. Compared
consuming equipment as smart phone, light, power
to fossil fuel, renewables are unquestionably
bank, etc.
disadvantageous in power density, but when it comes
This paper presents the authors’ novel design of
to a huge scale picture the amount of exploitable
mini water-turbine generator for portable applications.
energy from renewables is worth consideration as a
Among various renewable sources, we are interested
potential substitution or at least prominent provision
in water flow because of its considerable availability.
for future need. The Ivanpah Solar Electric
And since the aim of the design is a handheld sized
Generating System (ISEGS) is a typical evidence of
device, water is much more advantageous than its
renewable source’s capability as it can supply up to
similar brother - wind because of the significant
392MW of electricity [2]. Even greater, The London
83 October 27 - 28, 2018

Hanoi, Vietnam
difference in density, which consequently results in this case. The rotor is connected to a long shaft so
distinctive sizing. Solar power is already a popular that all electrical components are kept free from
alternative energy supply but its low efficiency is a water. This prototype is sized according to 5W power
disadvantage. An ideal solar cell is said to have scale which is a typical consumption rate for most
maximum power conversion efficiency of 30%, while handheld devices. The sample generator unit is 6V
practical value can be just in half [4]. In this work, a three phase synchronous motor type. Preliminary
small scale water turbine is designed based on calculation results about 0.25m rotor.
aerodynamics’ blade element momentum theory
(BEMT) which is widely used in wind turbine study. After several attempts, the device is seen to be
The turbine is then simulated with the aid of able to light up a 5W bulb at flow velocity about
computational fluid dynamics (CFD) to estimate its 0.8~1m/s, but the illumination is not at its maximum,
performance and validated with experiment. With this not stable and sometimes flickering occurs. This is
study, we hope to bring about a new approach to the due to the fact that voltage regulator is not yet
way we find and use energy, that is an environment installed in this trial equipment. The measured
friendly and portability favored energy use. generator’s output voltage is actually around 5V and
electric current measured for the bulk is around 0.8A.
2. Methodology Besides, considerable loss due to transmission
2.1. Origination of the Idea mechanism (belt efficiency, vibration, centering
inaccuracy due to long shaft) is noticed. This rough
As mentioned in the Introduction, while large- experiment is inadequate but did point out that the
scale systems are under research and development for concept of mini-scale water-turbine is applicable and
recent decades, small water turbines can also find has considerable realization in the growing green era.
their appropriate place in portable applications. The
principle of the turbine stated in this study is based on 2.2. Design and evaluation method
typical Horizontal Axis Turbine (HAT) design which
is claimed to be much more popular than the rest for To achieve a maximum power coefficient, the
its high efficiency and several advantages [5]. Since shape of the blade should be in aerodynamic form,
the utmost goal in design is to maximize the energy called airfoil. In this paper, for proper word use, such
capture of the rotor, the number of blades is set to
optimum value of 3. The explanation of this can be
found in Burton et al.’s thorough work on wind
energy from aerodynamic theory to detailed design
[6]. Hence, the idea of mini water turbine-generator
was built up as schemed in Figure 1.
Practically, a simple prototype was made by 3D

printing technology in order to confirm the idea’s
appropriateness (Figure 2). Blade design is randomly
picked and then 3D printed as a full rotor, some
structural parts for the generator unit are also (a)Generator Installation
manufactured by 3D printing. Print filament material
is polylactic acid (PLA) which is strong enough for
(b)Sample rotor and full set preliminary test

Fig. 1. Device configuration scheme. Fig. 2. Design of the prototype.
84 October 27 - 28, 2018

Hanoi, Vietnam
airfoils will be termed as hydrofoil (as for water Table. 1. Design parameters.
related application) from now on. Rotor size is Parameters Value
decided based on basic wind energy theory’s equation
given by German aerodynamicist Albert Betz [7]: Design power range [W] 5~10
Captured Energy T Water Density [kg/m3] 998
Power Efficiency C P  
AvailableEnergy 1
AV 3
(1)
2 Applicable water velocity [m/s] ≥1.0
Number of blade 3
Assuming that real flow velocity is around 1m/s,
then a passage of 0.2mm diameter is necessary for Design TSR 3~4
water flow containing about 24.5W of energy to pass
Rotor diameter [m] 0.25
through turbine rotor. Also recognized from Betz’s
theorem, maximum efficiency of wind turbine is Hydrofoil NREL S823
limited under 0.593 (Betz Limit). Moreover, due to
various losses (hydrodynamic loss, generator
efficiency, mechanical loss) practical efficiency value
can be as low as under 0.3. Hence the given sizing is
theoretically enough to supply 5 to 10W of electricity
for corresponding applications. One thing to keep in
mind that in open world, natural flows are not
imperative to have limited 1m/s velocity. Thus, more
power can be captured at higher flow velocity
locations, i.e. water fall, slope stream, lessened
channel passage. Therefore, as long as ample flows
exist, the device is expected to be handy.
For blade part, among huge collections of Fig. 3. NREL S823 blade section diagram.
hydrofoils available so far we are interested in the are both unbeneficial for the energy transfer process.
collection of US’s well-known National Renewable Thus, every turbine has an optimum TSR range
Energy Laboratory (NREL), especially the S823, (feasible range) where energy transfer can be done
because this American laboratory concentrates their effectively. In experiment, the variation of TSR is
work specially on hydrofoils for HAT [8]. The S823 controlled by adjusting the load on rotor.
is a suitable choice for our project since it is
recommended by NREL for small turbines. In The detail procedure for estimating TSR range
addition to aerodynamic design, this hydrofoil also and design of blade are solved by BEMT, which was
has structural reliability for its original satisfactory first originated by Froude in 1878. The theory has
thickness. been improved for years by many researchers and
scientists, in this work the design procedure follows
To assure the dimensionless expression in
Manwell et al.’s publication [9]. The In general, rotor
carrying science research, Betz introduces a non-
design specifications are summarized in Table 1.
dimensional parameter representing the relationship
Blade section geometries and detail design
between water flow velocity and turbine’s rotor
parameters for each section are in turn shown in
rotational speed called tip-speed ratio (TSR):
Figure 3 and Table 2. As sorted in Table 2, r/R
R indicates the position of each blade section from tip
 (2) to root (11 sections in total), induction factor is the
V fractional decrease in velocity between the free
stream and the rotor plane [9], and the rest of the
If power efficiency CP (also a non-dimensional parameters are dimension information. The last two
expression), represents the power capture rate, TSR
blade sections (r/R 0.10 and r/R 0.05) are actually not
lets us understand the obstructing rate in movement.
taken into account due to the presence of the hub.
High TSR means high rotor rotation or low flow
Performance evaluating method is the
velocity. Too high TSR imaginably means that the
combination of numerical evaluation by CFD and
rotor rotates so fast that water hardly passes through
true scale experimental validation. The solution for
it. This results in dispersion of flow direction,
numerical method in this work is ANSYS’s
backflow or upstream turbulence. In contrast, low
CFX-Solver. CFX is a renowned powerful software
TSR means the slow rotating rotor or fast flow of
intended to deal with various fluid flow problems
water current. Too low TSR may lead to blocking the
[10]. It consists of three components including
rotation of turbine rotor. Too high or too low TRSs
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Hanoi, Vietnam
Table 2. Blade section design parameters.

Thickness-
Local Chord Twist
Local chord length
r/R induction length angle
TSR ratio
factor [mm] [Deg]
[%]
1.00 3.0 0 0.033 1.68 10.0
0.90 2.7 0.262 0.036 3.18 11.3
0.80 2.4 0.304 0.039 4.68 12.5
0.70 2.1 0.320 0.042 6.18 13.8
0.60 1.8 0.327 0.044 8.31 15.0
Fig. 4. Simulation domain and boundary conditions.
0.50 1.5 0.331 0.047 11.12 16.3
water turbine). In fact, the real flow is
0.40 1.2 0.332 0.050 14.75 17.5
multiphase type, and the turbine in this case may
0.30 0.9 0.333 0.053 19.19 18.8 operate in shallow water or discontinuous fluid,
0.20 0.6 0.333 0.056 23.49 20.0 so two-phase flow is involved in the problem.
- Free surface effect: The effect of free surface is
0.10 0.3 0.333 0.059 21.64 N/A
set as a must in two-phase flow problems.
0.05 0.2 0.333 0.061 11.23 N/A - Effect of cavitation: This is only optional effect
and only considerable for industrial fluid
CFX-Pre for setting up and defining the scope of machinery. Cavitation is only importance for the
problem, CFX-Solver for solving series of Partial aspect of durability, material concern,
Differential Equations (PDE) and CFD-Post for maintenance or any related issues.
results analysis and visualization. The most important In CFD, the equations relating to fluid flow can
work in CFD numerical study is meshing. It is the be closed (numerically) by the specification of
discretization process of fluid domain in order to conditions on the external boundaries of a domain. It
generate finite volumes for conserving relevant is the boundary conditions that produce different
quantities such as mass, momentum, and energy. solutions for a given geometry and set of physical
Mesh quality plays key role for the convergence as models. Hence, bound-ary conditions determine to a
well as accuracy of the solution. large extent the character-istics of the solution.
The mini water turbine-generator in this Therefore, it is important to set boundary conditions
research is to be undergone the explained procedure. that accurately reflect the real situ-ation to ensure
The details are described further in the following accurate results. For all simulation pre-sented here,
sections. the following boundaries are applied:
- Inlet: Fluid predominantly flows into the domain
3. CFD Simulation (free stream inflow velocity).
3.1. CFD Simulation - Outlet: Fluid predominantly flows out of the
domain (if the flow continues in the same
This part introduces the making of direction after contacting the turbine).
computational calculation domain which is carefully - Opening: Fluid can simultaneously flow both in
setup and adapted with our available experimental and out of the domain. In this case, it is specified
facility condition. The main flow passage (domain) is for air at the top boundary.
2m x 0.5m x 0.625m (Length x Width x Height) in - Wall: Impenetrable boundary to fluid flow. This
size which is large enough for 10W experimental is set to turbine blade, hub, structure (if
scale turbine as shown in Figure 4. According to real available), riverbed, flow tunnel wall (if
experiment circumstance, supporting jig is required available).
for positioning the turbine under water. Hence, this Additionally, the interface model which defines
structure was taken into account in CFD simulation as the way the solver defines flow physics across the
to heighten the realistic factor. In addition, the interface is used. The type of interface model applied
following characteristics were added in the setup of in this study is general connection. This type of
simulation domain: boundary simply connects the components of the
- Multiphase flow: As usual, researchers pay more domain together, the rotating component (rotor) and
attention to the blade or rotor region which is stationary component (tunnel, supporting jig).
oftenly enclosed within one kind of fluid, so
they can just set simple domain with one
working fluid (air for wind turbine, water for
86 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 7. Convergence monitoring.

excessive because of the trade-off in huge computer
performance as well as solving time while the
displayed results (calculated torque and power
efficiency) are not much differed from fine mesh.
3.3. Turbulence Model
Turbulence model is required for solving the
effect of turbulent flow which usually appears in real
Fig. 5. Mesh formation. flow. Among available models, the k–ω Shear Stress
Transport (SST) turbulence model, which was
introduced by Menter in 1994 was chosen [12]. This
model is stable and is generally retained by ANSYS
as an innovative turbulence modeling for solving
CFD problems. It was rated the most accurate model
for aerodynamic applications [13].
3.4. Solving and Convergence
All simulations are proceeded in steady state
with precise convergence’s residual target that was
set to 1e-5, one order stricter than the default set
value. It is more realistic if simulation to be done in
transient state. Yet transient simulation of a huge
domain up to 5 million nodes is virtually incapable
Fig. 6. Mesh independency study result. due to limitation of common High Performance
Computer (HPC) in present time. As long as proper
meshing is made, steady state simulation is reliable.
3.2. Meshing
As shown in Figure 7, the calculation gets converged
The mesh composition is illustrated in Figure 5. after over 2000 time steps. The solution monitoring
Hybrid meshing method (combination of tetra and parameters have smooth variation without any
hexa) is used for convenience of meshing process. irregularity.
The most important factor that effects the reliability
During solving process, one important factor
of a mesh is non-dimensional wall function called y-
needs to be monitored in order to correctly measure
plus (y+). The mesh is well made at very high quality
simulation accuracy, that is imbalance. Residuals are
which results in dimensionless wall function y+ is
not a direct measure of solution accuracy, the
under 6 around rotor region and is under 1 at blade
numerical imbalance of the PDEs does. As long as
part. Such range of y+ is able to guarantee the
imbalance is kept lower than 1%, the solution
accuracy of the simulations [11].
accuracy is secure and the simulation result is
Mesh dependency study was carried out by
trustworthy. As shown in Figure 8, all imbalance
attempting the same simulation for a series of four
components are under 1% and even almost zero for a
mesh formations which are different in element
long stable calculation process. In summary, the
density (coarse, normal, fine and super fine) and the
numerical method applied in this study was effective
optimum one was fine mesh with the total number of
and well progressed.
nodes of about 5 million, which is enough to get
numerical convergence and reliable results (Figure 6).
Super fine mesh seems to be most reliable but is
87 October 27 - 28, 2018

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torque meter unit. In this work, TSR value is changed

by controlling turbine’s RPM via power brake unit.
This is done by means of resistance control function
of power brake. In general, the main components of
experimental apparatus include:
- Flow tunnel: The tunnel is able to generate
maximum nominal flow speed of about 1.1m/s.
Flow speed can be adjusted by inverter located
at pump control unit.
- Turbine structure: This includes the transmission
mechanism, torque meter and RPM counter.
Fig. 8. Imbalance monitoring.
- Control and monitoring unit: This unit is
connected to torque meter and RPM counter. It
provides real-time monitoring for torque and
RPM of the turbine. An electrical resistance
based power break is installed to adjust turbine’s
rotational speed. Measured data is stored in a
data logger.
Experimental turbine rotor is manufactured at
high precision and has utmost similarity with
computational model. As seen in Figure 9, CFD
design rotor and the real one are definitely alike. Each
experiment was carried out at each value of TSR
ranging from 1 to 7. Sampling rate at all measure
points are set to 100, then is average over time for
each case.
5. Results and Discussions
5.1. CFD vs Experiment
To begin with, Figure 10 shows 3D visualization
of flow pattern with additional detailed views of the
rotor only from front and rear in case of CFD
simulation at TSR 4 – one of the most effective TSR
value found in both CFD and experiment.
Fig. 9. Experiment setup. In general, the flow pattern is reasonable as seen
in actuality, the streamlines developed smoothly and
4. Experimental Validation the wake has swirling shape without any abnormality.
Despites the fact that CFD is a powerful The liquid volume generated in the figure is
convenient technique for solving fluid dynamic additional visualization of real water behavior.
problems, experimental validation is still However, looking at the rear side of rotor, some flow
indispensable so that research results can be in irregular direction are found on blades’ suction
convincingly recognized. The experiment of mini side at trailing edges. Usually, fluid within turbine’s
water-turbine generation is carried out in a flow wake region should flow following the blade’s
tunnel system. This is the way many researchers carry rotational movement. On blade’s pressure surface, the
out their job, i.e. Batten et al.’s experimental study on streamlines are distributed evenly and reasonably; but
a 3-blade HAT in a cavitation tunnel and also in a the streamlines on suction surface’s edge tends to
towing tank [14]. move in radial direction from root to tip. Radial flow
The turbine unit is submerged inside main flow has no effect in transferring water’s kinetic energy
passage and is fixed by firm support as shown in into rotor’s torque due to the escape of water from the
Figure 9. Water is circulated inside the tunnel by a core region to the periphery. Though, this
booster pump, and inflow speed is maintained at phenomenon happens at the rear, after water
constant via pump motor’s inverter. Additionally, a contacting the blades, so it does not affect much to
flow meter is fitted at the upstream location to record the performance of the turbine. Power efficiency is
the minor changes of inflow velocity. At the top of about 0.36, a reasonable value since the CFD
the turbine structure, torque sensor and RPM counter simulation set-up here is relatively closed to real
are positioned and will transfer measured data to the condition, and CFD result is still numerical study.
88 October 27 - 28, 2018

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(a)Overview of wake and streamlines
Fig. 11. Turbine’s efficiency in CFD and experiment.
(b)Streamlines on rotor pressure side (left) and

suction side (right)
Fig. 10. CFD simulation results.
More precise and detailed analysis is stated in
comparison with experimental results hereafter. Fig. 12. Power output at 0.78 m/s inflow velocity.
To analyze the rest of CFD results, and for more
convenient evaluation, CFD results and experiment other operating points, the turbine can operate but
results are put in CP vs TSR graph together as shown power efficiency is too low to meet the desired target.
in Figure 11. According to the figure, the experiment 5.2. Detailed Performance Evaluation
and CFD have some-what similar curve
characteristics where the most efficient point in The main target of CFD simulation is to
experiment is around TSR 4. In case of CFD results, determine the capability of designed turbine in non-
the device is efficient at TSR 2 to 5, peak operating dimensional aspect (qualitative aspect), therefore free
point is found at TSR 3, but the device’s efficiency stream velocity V was kept constant at 1m/s as
gradually drops as TSR decreases. On the other theoretically calculated. When it comes to
hands, experiment data indicates that the turbine can experiment, even though inflow velocity is
operate within TSR from about 3.5 to 7. This is supposedly maintained at constant as well, real
because of the fact that for TSR bellows 3.5, the rotor influences still led to inevitable fluctuation of this
ceases to rotate due to either high resistance (internal parameter. Thus thorough quantitative evaluation of
reason) or weak inflow velocity (external reason). the experimental turbine’s performance with respect
Hence in actual, the device is unable to operate at low to variation of inflow velocity was carried out.
TSR. Throughout the range, experiment data has Firstly, it is seen that the turbine hardly rotates
strong fluctuation but the averaged CP is lower than at weak water velocity which is under 0.78m/s.
that of CFD. This is reasonable since the experiment Figure 12 shows the output power at V = 0.78m/s. In
condition is not as ideal as CFD. There are some this case, the turbine can generate maximum power
scatter points in experiment results and this is equal to 3.7W only, and this is achieved at high load
inevitable as the equipment can be affected by condition (low RPM). Power efficiency at these
impulsive fluctuation or non-constant flow points is about 27-30% as calculated. At low load
conditions. All in all, the CFD simulations assure condition, output power is roughly 2.5W and the
accurate and reliable results which are similar to device’s efficiency is about 22%. Since inflow water
some HAT related works done by other researchers, velocity is not yet high, it is certainly that output
i.e. Bryden et al. [15], Coiro et al. [16], Kinnas et al. power remains low regardless of efficiency. At
[17] and Bahaj [18]. The experiment results also another case where water velocity reaches about
indicated feasible TSR range, within 3.5 to 5.5. At 0.81m/s, the turbine is found to be less efficient as CP
lays between 24~27% for high load condition. The
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Hanoi, Vietnam
Fig. 13. Power output at 0.81m/s inflow velocity. Fig. 16. Power output at 0.89m/s inflow velocity.
Fig. 14. Power output at 0.83m/s inflow velocity. Fig. 17. Power output at 0.97m/s inflow velocity.
Fig. 18. Power output at 1.06m/s inflow velocity.

Fig. 15. Power output at 0.86m/s inflow velocity.
weak power just round 1~2W. When water velocity is
device can get similar output power of about at 0.97m/s, about 9.7W of power is produced at high
3.2~3.7W (Figure 13). In this case, there is a moment load condition (Figure 17). Looking at the graph
where turbine’s revolution rises as high as nearly pattern, power generation again ceases at low load as
400rpm, however no considerable power output is the previous cases. At such high water velocity, rotor
expected. can rotate at high speed up to 500rpm but the
The significant change appears when water presence of power is extremely frail. In this case, the
velocity is at 0.83m/s, where the desired output highest efficiency is about 38%.
power, P = 5W, is obtained as seen in Figure 14. High The maximum water velocity data extracted
efficiency is also recorded in this case with maximum from experiment is about 1.06m/s. Fig. 18 shows the
value is 37%. This tendency is maintained as inflow power output characteristic of the turbine in this last
velocity becomes higher and higher (Figure 15 and case. Generally, generated power is kept as high as
Figure 16). At V = 0.89m/s, output power is almost at 9W and continues to uphold to about 7~7.5W even at
6W despites that CP has a little decrease. But for low 400rpm rotor revolution. Surprisingly, turbine
load condition, low output power is found in all case efficiency is this case is about 25-30%, that explains
so far. Particularly, when rotor’s revolution rises up why output power is unable to extent higher than 9W.
to about 375~400rpm, the turbine can produce very In actual, real-time experiment witness a lot of
90 October 27 - 28, 2018

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impulsive data and fluctuation at such relatively high Acknowledgments

inflow speed. Moreover, losses, equipment
This research was a part of the project titled
imprecision and environmental influences also
"Development of Micro Power Generator for Leisure
become magnified. Therefore, the outcome here has
Use", funded by the Ministry of Oceans and
not yet cover fully the overall performance of the
Fisheries, Korea.
turbine.
Nomenclature
All in all, the designed turbine is proved to
satisfy given goal. Designed turbine is most efficient A: Swept area, m2
at operating TSR = 3~4, and is able to generate CP: Power Efficiency
desired output power at 0.83m/s or higher water flow P: Output power, W
velocity. In reality, during experimental data T: Torque, Nm
acquisition, the seemingly wide range of rotor y: Normal axis to wall in coordinate system, m
revolution (250~400rpm) changes rapidly that it is V: Inflow velocity, m/s
almost impossible to clarify by normal eyes. At a λ: Tip-speed ratio (TSR)
certain flow velocity, output power continuously
ρ: Water density, kg/m3
oscillates between its peak and minimum values. But
ω: Angular velocity, rad/s
in average estimation aspect, the device operates
smoothly in various condition and is able to produce References
required power as long as flow velocity is high
[1] International Energy Agency, World Energy Balance
enough. Since CFD calculation and experiment has
(2016), France.
quite similarity in terms of turbine’s power variation [2] C. K. Ho, C. A. Sims, J. M. Christian, Evaluation of
characteristic without any strangle or abnormal sign, glare at the Ivanpah Solar Electric Generating System,
research result is achievable, and this novel design is Energy Procedia 69 (2015) 1296-1305.
promising and can be developed more in future [3] E. Platt, The London Array, the world’s largest
studies. offshore wind farm, The Telegraph (2012).
[4] Henry J. Snaith, Estimating the Maximum Attainable
6. Conclusions Efficiency in Dye-Sensitized Solar Cells, Advanced
Functional Materials 20 (2010) 13-19.
This paper introduces a new approach to the use
[5] Tidal Energy Technology Brief 3, International
of water-turbine for generation of electricity supply Renewable Energy Agency (2014).
for portable applications, especially for handheld [6] T. Burton, D. Sharpe, N. Jenkins, E. Bossanyi, Wind
devices as hand phones, chargers, light… The work Energy Handbook, Hohn Wiley & Sons, Ltd, ISBN
was carried out thoroughly using CFD and 13: 987-0-417-48997-9 (2010).
experiments, and provides useful results for related [7] A. Betz, Schraubenpropeller mit Geringstem
fields of study as well as itself further development. Energieverlust, Nach.der Kgl. Gesellschaft der Wiss.
In summary, the following conclusions are given. Zu Gottingen, Math.-Phys. Klasse (1919) 193-217.
1. The device is most efficient when tip-speed ratio [8] D. M. Somers, NREL Airfoil Families for HAWTs,
National Renewable Energy Laboratory (NREL),
ranges from 3 to 4, where maximum power
USA, AWEA (1995).
efficiency is 38%. [9] J. F. Manwell, J. G. McGowan, A. L. Rogers, Wind
2. According to CFD simulation results, the device Energy Explained - Theory, Design and Application,
also has acceptable performance when tip-speed 2nd Edition (2009) 91-152.
ratio is extended to 2 and 5. But in experimental [10] ANSYS Inc., ANSYS CFX Documentation Ver. 15,
validation, the device is only able to operate at http://www.ansys.com (2015).
tip-speed ratio higher than 3.5 due to the fact [11] S. M. Salim and S. C. Cheah, Wall y+ Strategy for
that the rotor hardly maintains revolution at high Dealing with Wall-bounded Turbulent Flows,
load condition. Proceedings of the International MultiConference of
Engineers and Scientists (IMECS 2009), Vol II, Hong
3. The device can produce 5W of power from
Kong.
0.83m/s velocity flow excluding all loss to [12] F. R. Menter, Two-Equation Eddy-Viscosity
transmission mechanism. This output is close to Turbulence Models for Engineering Applications,
prediction and is able to supply basic power for AIAA Journal, Vol. 32, No. 8 (1994) 1598-1605.
handheld devices. For a flow of 1m/s and [13] ANSYS Inc, Innovative Turbulence Modeling: SST
higher, the device can generate up to 7~9W or Model in ANSYS CFX, Technical Brief (2004).
more. [14] W. M. J. Batten, A. S. Bahaj, A. F. Molland, J. R.
4. Despite the existent of practical influence Chaplin, Experimentally Validated Numerical Method
factors during trial operation, the device for the Hydrodynamic Design of Horizontal Axis
Tidal Turbines, Ocean Engineering 34 (2007) 1013-
operates normally and has continuous power
1020.
extraction.
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[15] I. G. Bryden, S. Naik, P. Fraenkel, C. R. Bullen, [17] S. A. Kinnas, W. Xu, Performance Prediction and
Matching Tidal Curent Plants to Local Flow Design of Marine Current Turbines, in 16th Offshore
Conditions, Energy, Volume 23, Issue 9 (1998) 699- Symposium, Texas Section of the Society of Naval
709. Architects & Marine Engineers (SNAME), Houston,
[16] D. P. Coiro, U. Maisto, F. Scherillo, S. Melone, F. Texas (2010).
Grasso, Horizontal axis tidal current turbine: [18] A. S. Bahaj, W. M. J. Batten, G. McCann,
numerical and experimental investigations, Experimental Verifications of Numerical Predictions
Proceeding of Offshore wind and other marine for the Hydrodynamic Performance of Horizontal
renewable energies in Mediterranean and European Axis Marine Current Turbines, Renewable Energy 32,
seas, European seminar, Rome, Italy (2006). (2007) 2479-2490.
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Evaluation of Performance and Wake Characteristics of Two-Bladed Tidal

Stream Turbine Using Numerical Method
Nguyen Manh Hung1, Tran Hong Ha2, Hoang Anh Dung2, Changjo Yang3,*
1,2
Falcuty of Marine Engineering, Vietnam Maritime University, Hai Phong, Vietnam
3
Division of Marine Engineering, Mokpo National Maritime University, Mokpo, South Korea
* Email: cjyang@mmu.ac.kr
Abstract
This paper presents a detailed analysis of performance characteristics and the wake investigation of a two-
bladed tidal stream turbine using CFD. The turbine has a 100kW power output rated at 2m/s inflow velocity
and has a diameter of 8.76m. The rotor using S814 airfoil, based on the Blade Element Momentum theory
(BEMT), is designed with two blades, rather than the wind- or tidal industry preference of three, mainly
because by parking the rotor horizontally, the three-bladed rotors need to be lifted so high when raised
above the surface. In addition, a twin-bladed rotor is more cost-effective than a three-bladed one in terms of
the energy cost. For validation, the current study’s results are compared to other experimental and
computational studies in order to get a comprehensive evaluation. Besides that, the impacts of seabed and
water surface on the turbine performance are also taken into consideration. The simulation results show that
the turbine can achieve the highest power coefficient of nearly 41.2% at TSR 6, corresponding to
approximately 102 kW power output. From the investigation of the turbine’s wakes, it indicates that at a
distance of 25D downstream the turbine (D is the rotor diameter), the tidal current velocity reaches a
maximum restoration of approximately 94%, while this value of the tidal speed is 58% at 1D downstream.
These results could be seen as a reliable reference when considering optimizing the tidal array layouts
consisting of numerous marine current turbines deployed inside.
Keywords: Marine current turbine, Tidal energy, Wake prediction, Two-bladed rotor, Tip speed ratio (TSR).
1. Introduction rotors are obviously numerous. Those benefits consist

of cheaper construction as they require fewer less
One of the main sources of ocean energy – tidal
material to construct and are easier to install. Industry
current power has recently become more and more
leaders estimate that two-bladed turbines could cost
attractive and it plays a significant role in the global
about 20% less to construct and install while still
energy production because of its higher energy
generating the same amount of power as three-bladed
density, more accurate predictability, and reliability.
turbines [3]. Removing the third blade makes the
Moreover, interest in the marine renewable energy
rotor lighter and allows engineers to place the rotor
devices, and particularly marine current turbines has
on the downside of the tower. In addition, two-bladed
increased significantly over the past decade and
rotors are often easier to install than three-bladed
several devices such as vertical (VATT) and
turbines which must be constructed on-site. There
horizontal axis turbines (HATT) and reciprocating
were several two-bladed commercial tidal turbines
hydrofoils are now being designed around the world
that have been installed to evaluate its hydrodynamics
to harness tidal stream energy. Marine current turbine
performance, such as Seaflow [4] and SeaGen [5]
technology has attracted significant interest from both
projects currently being deployed in the UK.
academic and industrial researchers. This interest is
However, there are still some engineering issues that
reflected in the number of research studies being
must be addressed before two-bladed turbines
carried out on Computational Fluid Dynamics (CFD)
become commonplace. Because the blades are lighter
and laboratory experimental modeling studies of
and more flexible, it is possible that the blades will
turbine design and performance, etc. In addition, the
spring back and hit the turbine tower in strong flow
existing flow fields in areas of interest for tidal
conditions. Two-bladed turbines also suffer from
current turbine development using a numerical
dynamic imbalances. For instance, when the top
modeling approach are recently being examined [1,
blade is in the tidal current, the bottom blade is being
2].
shaded by the tower. This causes problems with
Although constructed wind or tidal farms
yawing and puts unnecessary wear on the bearings.
featuring three-bladed turbines are the industry
This makes them particularly unsuitable for high flow
standard, the researchers and scientists have been
velocity areas.
paying many attentions to develop two-bladed
With those potential benefits as mentioned
turbines because the potential benefits of two-bladed
above, it is important to optimize the two-bladed
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turbines’ performance and their construction features power. The coastal region of most countries has an
to deal with the existent engineering issues. For those average depth of water of about 40-60 m. It is
reasons, this paper aims to present a detailed assumed that when the rated power of the rotor
evaluation of a two-bladed tidal turbine performance (Prated) is 100 kW, an estimated power coefficient
and an analysis of turbine’s flow fields by (Cp) is 45%, the mechanical efficiency (η) is 90%,
investigating the turbine’s wake characteristics using water density (ρ) is 1024 kg/m3, the current speed (V)
CFD simulation. Results of the present study are also is 2 m/s, the design diameter of the turbine is
compared to other experimental and numerical therefore 8.76 m according to the Eq. (1).
studies. The study is performed using the finite
volume code ANSYS 17.0. Boundary conditions for 8Prated
D (1)
the turbine are applied with two-phase flow model to  C p  V 3
replicate an operating environment similar to the real
site. According to the turbine diameter value as
2. Turbine Design calculated in Eq. (1), it can be said that the designed
turbine is suitable for the water depth of 40-60 m.
2.1. Blade foil selection Table 1 summarizes the turbine design parameters
The characteristics of a tidal current power used for this study.
turbine are very similar to those of a wind power In this paper, blade elemental momentum theory
turbine. In fact, a tidal current power turbine can use (BEMT) is applied for the turbine design. Figures (2)
a similar airfoil to that used in wind power, but the and (3) show distributions of chord length and twist
seawater density is thousand times higher than the air. angle of the airfoil used.
A test and verification on the characteristics of an
airfoil in seawater are therefore required. However, 2.3. Construction of the turbine blade design
since the test and verification of this airfoil are The final design of the turbine blade was
beyond the scope of this paper, this study used the calculated based on the design parameter of Table 1.
S814 airfoil, as shown in Fig. (1), previously adopted Point coordinates required to visualize a three-
in other commonly used tidal current power turbines. Table 1 Turbine design parameters
The major advantage of the S814 is its minimized
sensitivity of maximum lift coefficient to roughness Parameters Values
effects [6]. Rated power, Prated [kW] 100
2.2. Determination of turbine design parameters Estimated power coefficient, Cp [%] 45

Estimated mechanical efficiency [%] 90
Because the two-piece rotors are only suitable
for sites where tidal current speed is not high. Thus, Rated current speed, V [m/s] 2
the design velocity was selected in a small range, Water density, ρ [kg/m3] 1024
around 2 m/s. Besides that, a tidal current generator Tip speed ratio, λ 6
installed in the ocean, unlike wind power, has
Turbine diameter, D [m] 8.76
limitations of turbine size according to the depth of
Blade number [EA] 2
water of the installed generator. To design the current Tidal speed range [m/s] 1.3 – 4
speed of a tidal current turbine, a velocity is chosen
Rotational speed [rpm] 26.16
that can calculate the maximum amount of power
generation in the target waters by considering the tide
range in addition to data showing the direction and
speed of the tidal current such as increase in wind
Fig. 1. S814 blade airfoil profiles. Fig. 2. Distribution of chord length.
94 October 27 - 28, 2018

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Fig. 5. Mesh dependence study.

Fig. 3. Distribution of twist angle.
Fig. 4. 3D model of two-bladed rotor.
dimensional model were obtained and modeled as

shown in Figs. (4) and 10 using SolidWorks, a three-
dimensional modeling program.
3. Numerical method Fig. 6. Fine grid resolution of blade geometry.
3.1. Grid generation strategy
The fidelity of any CFD simulations depends on
the type of grid utilized (e.g. structured or
unstructured) and the grid numbers. For the
prediction of torque that occurs in the blade, a dense
prism-layer was composed around the blade and the
rest of the area was composed as a tetra-prism mesh.
Figure (5) shows a mesh dependency study which
compares the torque extracted by the turbine blade
among different grid numbers. It indicates that the
grids numbers smaller than 18.6 million elements
show a fluctuated value of the torque, while the grids
with higher 18.6 million elements show a stable Fig. 7. Dimension of the domain layout.
torque. To save the calculation time and reduce the external domain where the fluid flows. The external
computational costs, the grid number of 18.6 million domain was modeled into a rectangular shape with
element and 6.54 million nodes was selected while 35D long, 10D wide and 6D high.
still keeping the simulation’s accuracy and reliability.
Figure (6) illustrates fine grid resolution with 18.6 The internal domain is set to rotating condition
million elements for the rotating domain. for the blade and hub; its boundary conditions are
indicated in Fig. (8). Inlet boundary is normal speed,
3.2. Calculation domain and boundary conditions outlet boundary is static pressure, side walls are set to
Figures (7) and (8) show a full calculation symemetric, and the top boundary is set to “Opening
domain of the turbine and its flow fields, including Pressure and Direction”. The seabed, blades and hub
the internal domain where a turbine rotates, and the are all no-slip wall boundaries. The fluid is sea water
95 October 27 - 28, 2018

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Fig. 8. Computational domain.

at 250C. Turbulence model used is an SST k-ɷ with
turbulence intensity is set to 5% for the whole flow-
field, because it can can accurately predict size and
onset of flow peel caused by an adverse pressure Fig. 9. Pressure distributions on pressure and suction
gradient by calculating the transport of turbulence sides of the blade.
shearing stress and the accuracy of analysis is
obtained regardless of y+ (non-dimensional wall
distance) of the mesh because it can be easily
extended into an automatic wall treatment. All
simulations are done in steady state by ANSYS CFX
Solver.
In this paper, the turbine is tested at a range of
TSRs, from 3 to 9, corresponded to inflow tidal speed
from high to low. The relationship between the tidal
current velocity and blade’s rotational speed is
described by TSR (or λ) and given in the following
equation:
R
TSR  (2)
V Fig. 10. Velocity streamlines on pressure and suction
sides of the blade.
4. Results and Discussion
TSR 3 (corresponding to a tidal speed of 4 m/s), the
4.1. Evaluation of turbine performance observed seperation flows on the blade surface, in
4.1.1. Flow characteristics Fig. (10), are more significant on the suction side
than those on the blade surface at greater TSRs (or
Figures (9) and (10) present pressure lower stream velocities). This phenomenon is
distributions and limiting velocity streamlines on both unbeneficial for energy exchanging performance, thus
the pressure and suction sides of the rotor blade at power efficiency may be considerably influenced. At
TSR 3, TSR 6 and TSR 9. As shown in Fig. (9), at TSR 6, the streamlines are evenly-distributed on both
TSR 3 (or the highest inflow velocity), the pressure in the pressure and suction sides of the whole blade
the region near the tip and the leading edge obtains a surface. At TSR 9 (or the lowest inflow velocity), the
negative value on the suction side of the blade. The streamlines distributed on the blade surface are also
negative pressure region of the blade at TSR 3 is even; however, the power captured by the rotor
much greater than that of the blade at higher TSRs. blades can be small due to low kinetic energy
The occurrence of the negative pressure on the available on the tidal current.
suction side gradually slows down as the TSR Figure (11) shows a difference in three-
increases. Normally, on blade’s pressure side, the dimensional velocity streamlines around the rotor. It
streamlines are distributed evenly and reasonably is obvious that at TSR 3 and TSR 6, the velocity
while the streamines on the suction side tend to move streamlines formulate the same vortex with a large
radially from the root vortex toward tip at high tidal twist angle as the rotation direction of the rotor.
speeds. The reason is that at extremely high inflow Reversely, at TSR 9, the twist angle of the
tidal speed, water is quickly detached from blades. At streamlines is small compared to low TSRs.
96 October 27 - 28, 2018

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(a) TSR 3
Fig. 12. Torque and power output curves.
(b) TSR 6
Fig. 13. Comparison of CP between the present

design and other studies.
boundary conditions, the number of blades and the
experimental scale were set relatively similar to the
present design. Seen from the graph, it shows that the
CP curve of the present study is only followed by the
model designed by W. Tian et al. Furthermore, the
models of W. Tian et al. And Hu et al. Also obtain
the highest CP at TSR 6.
(c) TSR 9 4.2. Analysis of turbine wake characteristics

Fig. 11. Velocity streamlines on pressure and suction 4.2.1. Wake visualizations
sides of the blade. The wake structures at TSR 6 were studied, as
4.1.2. Performance curves shown in Fig. (14) and Fig. (15). The turbine wake
could be divided into main three zones, such as near
Performance curves of the two-bladed tidal (with a distance from the turbine to a point
stream turbine are shown in Figs. (12) and (13). The downstream the turbine, L≤ 2D), intermediate (2D
power output and torque extracted at the designed <L< 5D) and far wake (L≥ 5D) [9]. The length of
TSR 6 are compared to those at other TSRs. It can be each of these zones depends on the rotor diameter and
seen that the power and torque decrease steadily as has its own properties that are determined by the
the TSR increases. The turbine can produce about values of pressure, p and tidal speed, V. A highlighted
102 kW at TSR 6, corresponding to 41.2% power feature of the turbine wake structure is that the
coefficient. Although the turbine at TSR 3 generates vortices propagating downstream of the turbine
the highest power output (443,000 kW), the CPis the generally spread out and normally mixed with the
lowest in comparison to the turbine at other TSRs. ambient flow at the far wake zone.
The CP curve of the present study is validated to Therefore, it is crucialto understand the turbine
other models designed and tested by Bahaj et al [6], wake structure of every turbine to define an optimum
W. Tian et al [7] and Hu et al [8]. The comparison is layout for a tidal farm deployed with many turbines.
carried out against those models because the
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Fig. 14. The cross section (ZX plane) of velocity downstream the turbine (stream-wise position).
(a) Top view (XY plane or transverse position)
(b) Side view (ZY plane or depth-wise position)

Fig. 15. Velocity field at TSR 6 in the vertical and horizontal planes through the turbine hub.
The optimum array layout will give the best lateral As depicted in Fig. (14), it can be seen that at
and longitudinal spacing between two adjacent the near wake region, the induced velocity behind the
turbines in the farm to obtain the highest efficiency of turbine is much higher (as displayed by green color)
every single turbine without the turbine wake effect. than the ambient speed. Nevertheless, at 3D
downstream, the high velocity area reduces
98 October 27 - 28, 2018

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Fig. 16. Stream-wise velocity deficit along the

centerline. Fig. 18. Depth-wise velocity deficit at ZY plane.
nearly 42% and this deficit decreases gradually in its
magnitude in the far wake zone.
5. Conclusions
This paper provides a numerical study on the
performance and wake prediction of tidal turbines as
a potential method of harnessing tidal current energy.
To sum up, several conclusions are given as follows:
1- At lower TSRs than the design point at TSR 6, the
observed seperation flows on the blade surface are
more significant on the suction side than those on the
blade surface at higher TSRs. This phenomenon is
Fig. 17. Transverse velocity deficit at XY plane. unbeneficial for energy exchanging performance, thus
significantly, and this area completely disappears at power efficiency may be considerably influenced.
the far wake region. In the far wake region, the 2- The two-bladed turbine used can achieve the
velocity downstream the turbine mixes strongly with highest power coefficient of nearly 41.2% at TSR 6,
the ambient flow. Then, the tidal stream velocity can corresponding to approximately 102 kW power
reach almost the same value as the inflow speed. output.
4.2.2. Velocity deficits 3- At a distance of 25D downstream the turbine (D is
Figure (16) shows detailed stream-wise velocity the rotor diameter), the tidal current velocity reaches
deficits (a ratio between the induced velocity a maximum restoration of approximately 94%, while
downstream the turbine, V and the inflow velocity, this value of the tidal speed is 58% at 1D
V0) along the longitudinal center-line of each turbine downstream.
disc. Center-line is a parallel line with y-axis which Acknowledgments
passes through a center-point of the turbine hub.
The turbine velocity deficit of the present study We thank Prof. Yang Changjo for giving to us
is also compared to other studies. It shows that the useful advices with his extensive knowledge and
deficit at the near wake region is clearly different. helping us to have the best conditions to carry out this
This may be caused by the turbulence conditions and research methodically. Based on the material and
the turbine characteristics of these designs. However, technical basis at Mokpo National Maritime
the velocity deficit patterns are fairly similar at the far University (MMU), the main author and Associate
wake region for all the models. The tidal flow speed Prof., Dr. Tran Hong Ha have been cooperating with
can obtain smaller of 10% velocity deficit at 25D Prof. Yang and other researchers in the Ocean Fluid
downstream. In other words, the flow’s energy can Mechanics Lab at MMU to prepare an experimental
restore over 90% of the initial tidal flow’s energy at study for a scale-down turbine design similar to one
the inlet. presented in this paper. The experimental results will
Figures (17) and (18) present the transverse and be discussed in near future.
depth-wise velocity deficits of the tidal flow.
Similarly, the velocity deficit at 1D downstream is
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References [5] P. L. Fraenkel, Development and testing of Marine

Current Turbine’s SeaGen 1.2MW tidal stream
[1] K. M. Thyng, “Numerical simulation of Admiralty turbine. Proceedings of 3rd International Conference
Inlet, WA, with tidal hydrokinetic turbine siting on Ocean Energy, Bilbao, 6th Oct, 2010.
application”, Ph.D. Dissertation, Department of [6] A. S. Bahaj, W. M. J. Batten, G. McCann,
Mechanical Engineering, University of Washington, Experimental verifications of numerical predictions
US, 2012. for the hydrodynamic performance of horizontal axis
[2] M. C. Easton, D. K. Woolf, P. A. Bowyer, The marine current turbines, Renewable Energy. 32 (2007)
dynamics of an energetic tidal channel, the Pentland 2479-2490.
Firth, Scotland, Continental Shelf Research. 48 (2012) [7] W. Tian, B. Song, J. H. VanZwieten, P. Pyakurel, Y.
50-60. Li, Numerical simulations of a horizontal axis water
[3] MAREX, “Two-Blade Turbines the Future of turbine designed for underwater mooring platforms,
Offshore Wind Energy”, 23 September, 2015. International Journal of Naval Architecture and Ocean
[Online]. Available at: https://www.maritime- Engineering. 8 (2016) 73-82.
executive.com/article/two-blade-turbines-the-future- [8] Q. Hu, Y. Li, Y. Di, J. Chen, A large-eddy simulation
of-offshore-wind-energy#gs.Y8VdTvI. study of horizontal axis tidal turbine in different
[4] P. L. Fraenkel, P.Clutterbuck, B. Stjernstrom, J. Bard, inflow conditions, Journal of Renewable and
Seaflow: Preparing For The World’s First Pilot Sustainable Energy. 9 (2017) 1-19.
Project For The Exploitation Of Marine Currents At A [9] M. J. Werl, “A new analytical model for wind turbine
Commercial Scale. Proceedings of 3rd European wakes", FloDesign Inc. Wilbraham, MA 01095,
Wave Energy Conference, Patras, Sep-Oct 1998. Wilbraham USA, 1 June, 2008. [Online]. Available at
www.flodesign.org/pdf/fdwt200801.pdf.
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The Application of DNS for the Research of the Appearance and

Propagation of Nonstationary Disturbance Mach Wave
Dinh Hoang Quan*, Nguyen Quoc An
Le Quy Don Technical University
*Email: hoangquan10383@gmail.com
Abstract
In the framework of three-dimensional Navier-Stokes equations, the appearance and propagation of
nonstationary disturbance Mach waves, induced by two-dimensional roughness on a side wall of wind-tunnel
test section, are investigated by direct numerical simulation at the free-stream Mach number 2,5. It is shown
that the two-dimensional roughness generate a longitudinal nonstationary Mach wave. The wake structure is
considered in detail.
Keywords: Navier-Stokes, Mach wave, roughness, nonstationary, wind-tunnel.
1. Introduction
where ( , ,  ) is a curvilinear coordinate system,
x  x   ,   , y  y   ,   , z  z  , ,   are
Laminar-turbulent transition (LTT) in
hypersonic boundary-layer flows is one of the major
unresolved problems in Fluid Dynamics over one Cartesian coordinates, Q is a vector of conservative
hundred years. For the laminarization of the flow it is variables, E , G and F are flux vectors in the
necessary to understand the mechanisms of LTT. In ( , ,  ) coordinate system. These vectors are
addition, the investigation of LTT mechanisms
expressed in terms of the corresponding vectors Q c ,
provides the key to understanding many of the
fundamental problems associated with turbulent Ec , G c in the Cartesian coordinate system as
flows of gases and liquids [1]. Q  JQc ,
The interaction effects due to low frequency     
E  J  Ec  Gc  Fc ,
disturbances on aircraft aerodynamic parameters are
  x  y  z
still problematic. These disturbances are called Mach
wave and generated by rough surfaces [5]. In     
G  J  Ec  Gc  Fc , (2)
experiments and computations for the aerodynamics  x y z
of subsonic aircraft, those effects are usually ignored;
    
however, they may become considerable in F  J  Ec  Gc  Fc ,
supersonic flow. This interaction accelerates the  x y z
transition process from a laminar to a turbulent flow,
increases the surface temperature, and alters the lift where J  det ( x y, z)  (  ,  ) is the
force. Therefore, it is necessary to study the effects of transformation Jacobian. Cartesian vector
the low frequency disturbances on the aerodynamic components for three-dimensional Navier–Stokes
parameters of supersonic and hypersonic aircraft. equations in dimensionless form are
Despite of enormous efforts into smoothing the     u 
aircraft surface, which have been made, there always  u    uu  p   
   xx Re  
exist rough parts which could be rivets, components
Q c    v  , Ec    uv  xy Re  ,
of transmitters and receivers, etc. Thus far, there have    
been many studies on this issue   w   uw   xz Re 
  e    uH  I x Re 
2. Mathematical equations
The Navier–Stokes equations for 3D viscous  v 
  vu   Re 
compressible unsteady flows are solved numerically.  yx  
The conservative form of these equations is G c    vv  p   yy Re  ,
Q E G F  
   0, (1)   vw   yz Re 
 t      vH  I y Re 
 
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Hanoi, Vietnam
 w  S  110.4 K/T . The bulk viscosity is assumed to be

  wu   Re  zero.
 zx  
Fc    wv   zy Re  . Hereafter the dependent variables are
 
  ww  p   zz Re 
normalized to the corresponding free-stream
  wH  I z Re  parameters: pressure – to the doubled dynamic
pressure U  ; the coordinates – to the reference
 2
here length L that is the distance from the leading edge to

p 1 2  
e  2
u  v  w  ,
2 the corner point; time t – to L  U  , where asterisks
 (  1) 2 
denote dimensional quantities.
  u 2  v 2  w2 
T 1
H 3. Numerical method
  1 M 2
2
The Navier–Stokes equations are integrated

are total energy per unit volume and total specific using the open source code HSFlow (High Speed
enthalpy, respectively;  is the stress tensor with Flow) [1], which implements an implicit finite-
components volume shock-capturing method with the second-
 u 2  order approximation in space and time. Godunov-
 xx     2  div V  , type TVD scheme with Roe approximate Riemann
 x 3  solver is used. Reconstruction of dependent variables
 v 2  at the grid cell boundaries is performed using WENO
 yy     2  div V  ,
 y 3
(Weighted Essentially Non-Oscillatory) approach [2],

which effectively gives the third-order space
 w 2 
 zz     2  div V  , approximation. The system of nonlinear algebraic
 z 3  equations, which approximates the governing partial
 u v  differential equations, is solved using the Newton
 xy      , iteration method. At every iteration step, the
 y x  corresponding linear algebraic system is solved using
 u w  the GMRes (Generalized Minimal Residual) method.
 xz      ,
 z x  Note that this approach is most efficient if the
computational domain contains shock waves and
 v w 
 yz      ;
other strong spatial in homogeneities of the flow such
 z y  as boundary-layer separations. Although the
computational scheme is dissipative, its numerical
I is the heat flux vector with components dissipation can be reduced by using a sufficiently fine
T
I x   u xx  v xy  w xz   
grid. This allows reliable modeling of such
,
x nonstationary processes as susceptibility and
T instability of supersonic boundary layers [1],
I y   u yx  v yy  w yz    , nonlinear development of instabilities in the boundary
y layer on the plate [3] and in the zone of detachment at
T
I z   u zx  v zy  w zz   
the compression angle [4].
,
z The Navier-Stokes equations integrate in the

 . x x /L , y y /L ,
Pr    1 M 2
dimensionless variables:
The fluid is a perfect gas with the specific heat

z z /L , u u /u , v v /u , w w /u ,
ratio (  ) and Prandtl number( Pr ) being constant.
t tu /L , / , p p/ u2 ,
The system of equations is closed by the state
equation
T T /T , / . The Reynolds number
T
p .
 M 2 Re u L/ , where L is the characteristic
The dynamic viscosity  is calculated using length of the plate, which is chosen equal to L = 1 m.
Sutherland’s formula   T  S  1 /  S  T  , where

32
102 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 3. The boundary condition of the computational

Fig. 1. The roughness on the aircraft. domain.
p  p F ( x1 )
p    O( 2 )
p U 2 M 2  1
u   U  F ( x1 )
u     O( 2 )
U  M 2  1
w
Roughness w    F ( x1 )  O ( 2 )
U 
T   T (  1) M 2 F ( x1 )
T  
  O( 2 )
T M 2  1
5. Computational parameters
Fig. 2. Numerical method for generation Mach wave. The parameters of the incoming flow are as
follow: Mach number M=2.5, Reynolds number
4. Generation of nonstationary Mach wave Re=5.000.000, temperature T=129 (K), adiabatic
invariant γ=1.4, Prandtl number Pr =0.71; the length
In fact, on the surface of aircraft has usually the of the computational domain Lx =3.4 (m), the width
roughness, In the supersonic flow the roughness and height Ly=Lz= 0.1 (m); the mesh comprises
generated disturbance. The perturbation propagates 3180331 nodes, corresponding to the numbers of
on the wing and can be to change the Aero nodes in x, y, z directions Nx, Ny, Nz of 721; 11; 401,
characteristics of the wing. respectively. The positions of the leading and trailing
It is assumed that an object with a length of a edges of the object are:
and a characteristic height of h is attached to the x1  236.25, x2  251.25 (mm),
surface. The shape of the object in the coordinate h
h  0.15 (m),    0.01
system  z1 , x1  is depicted in figure 3: x1  x2
The Akkeret formular [5] is used to compute the 6. Numerical results

aerodynamic parameters of the wave generated by the
In order to see how to change the flow between
object in figure 3:
the disturbances from the stationary and unsteady
z1  ( z  zB ) / a, x1  ( x  x0 ) / a
Mach wave, let's see their pressure field.
z1   F ( x1 )  ampl*sin( t),
Figure 4 shows the pressure field of the
0  x1  1,   h / a  1, F ( x1 )  0 perturbation from the unsteady Mach wave (4a) and
where: ampl - vibration amplitude,  - the stationary Mach wave (4b). It is clearly seen that
vibration frequency. the disturbance field of the unsteady Mach wave (4a)
also has the form of two quasi-parallel lines as in the
case of the stationary Mach wave (4b). But due to the
vibrations of the aircraft, there is a change in the
intensity of the perturbation on each line (5A), which
is not observed in the case for the stationary wave
Mach 5b, there the perturbation intensity almost does
not change along the flow.
103 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 5. Profils of pressure of stationary and

nonstationary Mach wave.
The change in the disturbance caused by the

Mach wave when it comes to the vibration of the
flying instrument depends less on the initial vibration
amplitude of the flying instrument, but depends on
Fig. 4. Pressure of nonstationary (a) and stationary
the frequency of oscillation of the flying instrument.
(b) Mach wave.
Specifically, when the frequency of oscillation
increases, the noise generated by the edges on the
Next we consider the change of pressure in the surface of the aircraft will go out.
case of non-vibrating aircraft and when considering
Acknowledgments
the vibration of the flying instrument. We also study
the dependence of pressure on the vibration We thank a lot Prof. Egorov I.V. and Fedorov
amplitude and frequency of flying instruments. A.V. for your assistance in this paper.
In Figure 5, it is clear that the vibration of the
flying instrument increases the extreme value of the References
pressure, which is estimated to increase by between [1] Andrey Novikov, Ivan Egorov, "Direct Numerical
2% and 7%. Also in the region with Z <-5 we see the Simulations of Transitional Boundary Layer over a
non-stop pressure compared to the case does not take Flat Plate in Hypersonic Free-Stream," 46th AIAA
into account the vibration of the aircraft. Fluid Dynamics Conference, Washington, D.C.,
In Figure 5, we also find that, with the same AIAA Paper 2016-3952 , pp. pp. 1-20., 13–17 June
2016.
amplitude (frequency 80 hz), the dependence of [2] Jiang, Guang-Shan & Shu, Chi-Wang , "Efficient
pressure on the oscillation frequency is negligible. implementation of weighted ENO schemes," Journal
But with the same amplitude (amplitude 0.3 mm) the of Computational Physics 126 (1), pp. pp. 202-228. ,
pressure is inversely proportional to the oscillation 1996.
frequency. This is consistent with the practice in solid [3] Егоров И.В., Новиков А.В. , "Прямое численное
mechanics, where the greater the vibration frequency, моделирование ламинарно-турбулентного обтекания
the oscillation will diminish. плоской пластины при гиперзвуковых скоростях
потока," Журнал вычислительной математики и
7. Conclusion математической физики, no. том 56, No 6, с.
145-162., 2016.
Taking into account the vibration of the flying [4] Andrey Novikov, Ivan Egorov, Alexander Fedorov,
instrument, the ridge on the surface of the flying "Direct Numerical Simulation of Wave Packets in
instrument still produces a pair of waveforms with Hypersonic Compression-Corner Flow," AIAA
Mach waveforms. However, the field of interference Journal, 2016, Vol. 54, No. 7, pp. 2034-2050..
produced by Mach waves taking into account the [5] Динь Х. К., Егоров И. В., Федоров А. В.,
vibration of the flying instrument has varying degrees "Взаимодействие волн Маха и пограничного слоя
of intensity on each of the interfering paths, whereas при сверхзвуковом обтекании пластины с острой
in the case of stop waves no change is observed. передней кромкой," Ученные записки Цаги, 2017.
104 October 27 - 28, 2018

Hanoi, Vietnam
The Application of DNS for Investigation of Laminar-turbulent Transition

by Tollmien-Schlichting Wave in the Supersonic Boundary Layer
Dinh Hoang Quan*, Phan Van Tu, Dang Ngoc Thanh
*Email: hoangquan10383@gmail.com
Abstract
A pair of oblique waves at low amplitudes is introduced in a supersonic flat-plate boundary layer at Mach 3.
Its downstream development and the concomitant process of laminar to turbulent transition is then
investigated numerically using linear-stability theory and direct numerical simulations (DNS). In the present
paper, the linear and nonlinear regimes are studied, and our results are great agreement with the results of
Mayer and Fasel [1], [2]. The simulations demonstrate the oblique breakdown is a viable path to turbulence.
In this paper was used method with the second-order approximation in time and third-order approximation in
space.
Keywords: numerical simulation, DNS, numerical method, disturbance, oblique wave, supersonic.
1. Introduction incompressible case. Although, in recent years,

significant progress has been made, but many aspects
Laminar-turbulent transition (LTT) in
of the LTT in the supersonic boundary layers are still
hypersonic boundary-layer flows is one of the major
not investigated. For the future of supersonic civil
unresolved problems in Fluid Dynamics over one
transport [8], as well as for many supersonic aircraft,
hundred years. For the laminarization of the flow it is
reliable methods of LTT prediction are required. This
necessary to understand the mechanisms of LTT. In
is due to the fact that the transition in supersonic and
addition, the investigation of LTT mechanisms
hypersonic boundary layers is accompanied by a
provides the key to understanding many of the
significant increase in heat flows to the streamlined
fundamental problems associated with turbulent
surface. The increase in heat load (caused by the
flows of gases and liquids.
transition) significantly complicates the design and
In [3] O. Reynolds first introduced a paint into
operation of high-speed aircraft. In addition, LTT
the liquid flow, which allowed observing the flow
leads to a significant increase in skin friction drag
structure inside the flow. At low Reynolds numbers,
and, as a result, lead to a decrease the aerodynamic
the flow in the channel remains layered. As the
quality of the aircraft.
Reynolds number increases, the flow gradually
becomes chaotic and transverse flow arises along the When the studying the LTT in supersonic
channel axis. It is also shown in [3] that the boundary layers, there are two main difficulties. The
occurrence of a turbulent flow in a channel occurs at first, qualitative experimental data for a supersonic
the same Reynolds number, which is called critical. It transition is more difficult to obtain and more
is the first rough criterion (method) of predicting LTT expensive than for an incompressible low-speed flow.
in a viscous flow. Namely, when the critical Reynolds The second, the physical process of LTT in the
number is exceeded, the flow turns to turbulence. In supersonic boundary layer is more complicated than
[4], [5], [6], LTT was studied in detail in the in the case of low-speed.
boundary layer of the flat plate. It is shown that near
It is known from the linear stability theory [9]
the leading edge of the plate the flow always remains
that for an incompressible two – dimensional
laminar, and turbulence arises at some distance
boundary layer on a plate or a convex profile there is
downstream.
only one unstable mode-the TS wave. In the
In [7] the authors obtained a solution for a
supersonic boundary layer this mode is called the first
viscous flow. They also showed that in the boundary
mode according to the terminology [9]. However, in
layer has unstable perturbations such as traveling
contrast to the incompressible boundary layer, where
waves (Tollmina-Schlichting waves (TS)). The
according to the Squier's theorem two-dimensional
laminar-turbulent transition directly depends on the
TS wave have maximum growth increments, for
amplification of such waves. When a certain
supersonic boundary layers the three-dimensional
amplitude of the TS wave is reached, the transition to
(oblique) waves are the most unstable. Thus, we must
turbulence begins.
solve a more difficult problem of three-dimensional
Laminar-turbulent transition at supersonic flow
unstable perturbations. In addition to the first mode in
rates is much more complicated than in the
105 October 27 - 28, 2018

Hanoi, Vietnam
the supersonic boundary layer, there exists a family

of modes of an acoustic nature.
Currently, the role of direct numerical
simulation of LTT process has increased
significantly. Numerical experiments allow us to
obtain results and make a detailed comparison with
physical experiments. In addition, numerical
simulation can be used to study the effect of different
conditions on the transition process. Thus, numerical
Fig. 1. The boundary condition of the computational
simulation can provide a clear understanding and the
domain.
necessary information for the development of
engineering methods of LTT prediction.
3. Boundary conditions
2. Numerical method
Computations are carried out for the flow over a
The Navier–Stokes equations are integrated flat plate. The computation domain in ( x, y) plane
using the open source code HSFlow (High Speed is shown in Fig. 1. It is extruded along the spanwise
Flow) [11], which implements an implicit finite- z-axis to obtain the 3D domains a full domain with
volume shock-capturing method with the second-
order approximation in space and time. Godunov-
0.015  z  0.015 m .
type TVD scheme with Roe approximate Riemann The boundary conditions are: no-slip conditions
solver is used. Reconstruction of dependent variables u  v  w  0 and T  Tw on the y  ymin (bottom)
at the grid cell boundaries is performed using WENO
(Weighted Essentially Non-Oscillatory) approach boundary; the free-stream conditions u  1 , v  0 ,
[12], which effectively gives the third-order space p  1  M2 , T  1 on the x  xmin  0 (left) and
approximation. The system of nonlinear algebraic
y  ymax (top) boundaries; the linear extrapolation
equations, which approximates the governing partial
differential equations, is solved using the Newton from the interior for the dependent variables u , v , w
iteration method. At every iteration step, the , p and T on the x  xmax  1.09 (right) boundary.
corresponding linear algebraic system is solved using For the full domain, the symmetry condition
( u n  v n  p n  T n  0 , w  0 ) are
the GMRes (Generalized Minimal Residual) method.
Note that this approach is most efficient if the
computational domain contains shock waves and imposed at z  0.015 , z  0.015 .
other strong spatial in homogeneities of the flow such
as boundary-layer separations. Although the 4. Generation of disturbances
computational scheme is dissipative, its numerical The problem is solved in two steps. First, a
dissipation can be reduced by using a sufficiently fine steady laminar flow field is computed using a time-
grid. This allows reliable modeling of such dependent method. Then, unsteady disturbances are
nonstationary processes as susceptibility and imposed onto the steady solution. Namely, local in
instability of supersonic boundary layers [11], space and harmonic in time forcing is introduced on
nonlinear development of instabilities in the boundary the wall surface via the boundary condition for the
layer on the plate [13] and in the zone of detachment vertical velocity perturbation:
at the compression angle [14].
v(y 0) A(t )vp (x p )cos( z )cos( t) ,
The Navier-Stokes equations integrate in the
x1  x  x2 , t0
dimensionless variables: x x /L , y y /L ,
where:  is x-component and  is z-
z z /L , u u /u , v v /u , w w /u , component of the wave number,
2x (x 2 x1 ) 2
t tu /L , / , p p/ u2 , xp , x2 x1 are
x2 x1 TS
T T /T , / . The Reynolds number boundaries of the forcing region in the streamwise

and spanwise direction respectively with central point
Re u L/ , where L is the characteristic x0 (x1 x 2 ) / 2 . This choice of x0 is also
length of the plate, which is chosen equal to L = 1 m. motivated by the expectation that, in natural
conditions, the most effective excitation of boundary-
layer instabilities occurs near the plate leading edge.
106 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 3. Q-criterion=5 (sider view).
Fig. 2. Condition for the vertical velocity

perturbation.
The amplitude of the forcing is included by

formula:
0, t 0,
2
T t / 0.9T
A(t ) . 0.1 , 0 t T,
1, t T.
where T 2 /
Fig. 4. Q-criterion of flow structure (above view).
Flow parameters
second area, with a value of Q=100, illustrates the
Computations are carried out at free-stream early nonlinear stage. The last region at a value of
Mach number M  3.0 , the unit Reynolds number Q=150 corresponds to a strongly nonlinear stage.
Re,1  U  /   2.181106 m1 ,   14 , For verification of our results, it has been
Pr  072 , T  103.6K . The wall is isothermal compared with the results of professor H.F. Fasel
with Tw  Tadiabatic , The reference length scale published in the ISI papers [1], [2].
L  0.7239 m,   211,52м1 ,   0.3% and the Figures 5a and 5b show the structure of the
contours of the perturbation of the longitudinal
forcing region with x1  0,394 m, x2  0, 452 m. velocity and compare the results obtained in this
paper (the lower part of the figure) with the results of
5. Results of numerical method
[2] (the upper part of the figure). The results are
To visualize the unsteady flow field, the Q- presented in two sections above the wall with y  0,9
criterion is used. mm and y  2,3 mm and correspond to the early
1
Q   S  stage of the transition (from x  0,546 m to 0, 670
2 2
2 
m).
where:
1 1 Figure 5c shows the flow structure using Q-
S  V   V   and   V   V   .
T T
2   2   criterion and comparison of the present method

(lower part) with the results of [1] (upper part). The
First, we consider the general picture of the flow obtained perturbation field patterns are slightly
field when Q-criterion=5. The figure 4 shows a side shifted down the flow in comparison with the results
view of the structure of the instantaneous flow field. of [1]. However, in General there is quite good
The fragments in the vicinity of the generator and in agreement.
the areas corresponding to the early and late nonlinear
stage are shown at an enlarged scale. 6. Conclusion
Next, we consider structure of flow from above The codes used are verified on the problem of
with Q-criterion (figure 4). This figure shows three development of three-dimensional perturbations in
stages of the development of the disturbance. The the boundary layer on the plate at Mach number 3.
107 October 27 - 28, 2018

Hanoi, Vietnam
Acknowledgments
We thank Prof. Egorov I.V. and Fedorov A.V.
for your assistance in this paper.
References
[1] Mayer, C. S. J., von Terzi, D. A. & Fasel, H. F., "DNS
of complete transition to turbulence via oblique
breakdown at Mach 3," AIAA-2008-4398, 2008.
[2] Mayer, C. S. J., von Terzi, D. A. & Fasel, H. F., "DNS
of complete transition to turbulence via oblique
breakdown at Mach 3: Part. ii," AIAA-2009-3558,
2009b.
[3] Reynolds, on the experimental investigation of the
circumstances which determine whether the motion of
water shall be direct or sinuous, and the law of
resistance in parallel channels, Berlin: Phil. Trans.
Roy. Soc. 174, 935-982, 1883.
[4] H. K. Dryden, Airflow in the boundary layer near a
Fig. 5. plate, NACA Rep. 562 (1936).
[5] H. L. Dryden, Boundary layer flow near flat plates,
a) Contours of the perturbation of the Proc. Fourth Internat. Congress for Appl. Mech.
longitudinal component of the velocity above the wall Cambridge-England 1934, 175.
with y  0,9 mm [6] H. L. Dryden, Turbulence and the boundary layer,
JAS 6, 85-100 and 101-105 (1939).
b) Contours of the perturbation of the [7] Schlichting H., Gersten K., Boundary layer theory,
longitudinal component of the velocity above the wall Springer, 8th Revised and Enlarged Edition.
with y  2,3 mm [8] Parikh, P. G. & Nagel, A. L., Application of laminar
flow control to supersonic transport configurations,
c) Q-criterion in the early state of the transition Technical Report CR-181917. NASA, 1990.
[9] L. M. Mack, Boundary-layer stability theory, Internal
from x  0,546 m to 0, 670 m
Document 900-277. Jet Propulsion Laboratory,
Pasadena, California, 1969.
For this purpose, direct numerical simulation was [10] Егоров И.В., Новиков А.В. , "Прямое численное
performed and the results were compared with similar моделирование ламинарно-турбулентного
results [1], [2]. The Laminar-turbulent transition was обтекания плоской пластины при гиперзвуковых
obtained by excitation of inclined waves of low скоростях потока," Журнал вычислительной
amplitude. математики и математической физики, no. том 56,
No 6, с. 145-162., 2016.
The linear and nonlinear stages of the [11] Pramod K. Subbareddy, Graham V. Candler, "DNS of
downstream disturbance evolution and the transition to turbulence in a hypersonic boundary
accompanying laminar-turbulent transition process layer," 41st AIAA Fluid dynamics conference and
are considered. exhibit 27-30 june 2011, Honolulu, Hawaii.
[12] Andrey Novikov, Ivan Egorov, "Direct Numerical
At the early stage of the transition, the flow Simulations of Transitional Boundary Layer over a
structures have the form of the letter "X" in the (x-z) Flat Plate in Hypersonic Free-Stream," 46th AIAA
plane and look like "rope string" in the "x-y" plane Fluid Dynamics Conference, Washington, D.C.,
when they are visualized using the Q-criterion. AIAA Paper 2016-3952 , pp. pp. 1-20., 13–17 June
2016.
The results obtained in this paper are in good [13] Andrey Novikov, Ivan Egorov, Alexander Fedorov,
agreement with the similar results of [1], [2], which "Direct Numerical Simulation of Wave Packets in
confirms the correctness of the numerical method Hypersonic Compression-Corner Flow," AIAA
used and its applicability to the study of the Journal, pp. Vol. 54, No. 7, pp. 2034-2050, 2016.
development of three-dimensional perturbations in
supersonic boundary layers, including the nonlinear
stages of laminar-turbulent transition.
108 October 27 - 28, 2018

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To Suggest the Two-pitch Propeller Uses for Fishing Ships Operating in

VietNam’s Ocean
Nguyen Chi Cong1,2*, Luong Ngoc Loi2, Ngo Van He2, Vu Van Duy1, Pham Ky Quang1
1
VietNam Marinetime University
2
Hanoi University of Science and Technology, No. 1, Dai Co Viet, Hai Ba Trung, Hanoi, Vietnam
Abstract
The global price of oil, which is both finite and limited in quantity, has been going up steadily because of the
rising requirements for energy in both developing and developed countries. Moreover, regulations have been
strengthened across all industries to address global warming. Many studies of hull resistance, propulsion
and operation of ships have been performed to reduce fuel consumption and emissions. In this work, the
team shown the data about the exploiting characteristics of the fishing ships in Viet Nam’s ocean and
suggested the two-pitch propeller using for them. In the next step, the conducted Reynolds-averaged Navier-
Stokes (RANS) CFD open water model tests was employed to calculate and construct the hydrodynamic
curves of this propeller with the different operations. From obtained results, for example, thrust, torque
coefficients, efficiency and characteristic curves, the authors prove that the consumption fuel efficiency of
the two-pitch propeller is extremely smaller than that of the fixed propeller with the same geometry.
Keywords: CFD, Two -pitch propeller, Fishing ship.
1. Introduction  Fixed propellers.

Viet Nam, consisting of twenty- eight of This type of propeller, with appropriate cost,
provinces and cities with more than 3200 kilometer of convenient installation, repair, maintenance during
a coastline and one - million square kilometer of the process exploitation, has mainly equipped for the
exclusive economic zone, has many advantages to fleet of our country. However, it only achieves high
develop marine economy. According to statistics in efficiency at the optimal operating point
2017, the marine economy contributes about 47-48% corresponding with the specific operating condition
of GDP in which fishing with 7 percentages of GDP, (usually full-load condition), while it gets low
plays important role in making job opportunities. To efficiency in other operating conditions. It’s
2020, with strategy developing marine economy of characteristic curves is displayed in the figure 1, and
contributing 53-55% of GDP and 55-60% of exports, from this figure we can realize that the propeller
the government is expected to reach 64% of offshore reaches the maximum efficiency at the advance ratio
fisheries. The development of offshore fishing also J of 0.8.
has important political sense in stating Vietnam's
national sovereignty over the Exclusive Economic  The controllable pitch propeller.
Zone [1]. A controllable pitch propeller, shown in the
In developed countries, with economic figure 2, with pitch changing in the specific operating
growth, material facilities and advanced technology, condition, improves significantly its efficiency and
their fishing fleet is equipped with controllable pitch reduces fuel consumption. Because cost of a
propellers which have efficiency more than fixed controllable pitch propeller is higher about 10 times
propellers equipped in Viet Nam’s fishing fleets. than a fixed propeller and its process of installation
and maintenance requires fully skillful workers, it is
On the other hand, cost of the controllable not appropriate with fleets of Viet Nam. In particular,
pitch propellers is relative expensive and maintenance exploiting condition of this vessel has two stages: full
requirement of them is so complicate, so in the near load and no load.
future, it is not feasible to install controllable pitch
propellers for offshore fishing vessels in Viet Nam in Based on the above analysis, the authors,
general and Haiphong City in particular. It is possible together with marine engineers, proposed the two-
to highlight the idea of this research as follows: pitch propeller, which can change the pitch
corresponding with two loads of operating conditions,
to improve efficiency for offshore fishing fleets.
109 October 27 - 28, 2018

Hanoi, Vietnam
Figure 1. Fixed propeller and characteristic curves.
Figure 2. A controllable pitch propeller and its characteristic curves.
Figure 3. An element of a propeller’s blade.

demonstrate effectiveness of two-pitch propeller
 Stage 1: Free running to search for fish and application for offshore fishing vessels, and the
running with full load to a port; calculation process is applied for a specific propeller.
 Stage 2: Running in exploiting process of 2. Mathematical basis
seafood.
2.1. Thrust and torque of a controllable pitch
In addition, with this type of propeller, air propeller
pollution is reduced because of significantly
decreasing fuel consumption and it can apply widely According to theory of wing, the blade is
for different types of ship. In an offshore fishing divided into a large number of elementary strips, as
vessel, the amount of fuel consumption is seen in Figure 1. Considering a blade element of the
considerably reduced for each trip about 4-6 propeller’s blade as shown in figure 1, each of these
percentages. Because the large number of offshore elementary strips can then be regarded as an airfoil
fishing goes up in the near future, the economic subject to a resultant incident velocity W. The
efficiency would dramatically improve. resultant incident velocity was considered to
comprise an axial velocity V together with a
The main aims of the paper, therefore, the rotational velocity, which clearly varies linearly up
authors present the numerical method process to the blade.
110 October 27 - 28, 2018

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The section will, therefore, experience lift and 3. The procedure of numerical simulation
drag forces from the combination of this incidence
3.1. Geometry and domain
angle and the section zero lift angle, from which one
can deduce that, for a given section geometry, the In this section, the authors employed the
elemental thrust and torques are given by [2]: numerical simulation for the propeller, equipped in
1 the Tan Cang Foundation Ship, with two different
dT   .Z .cW
. 2 (cl .cos   cd .sin  )dr pitches and its main parameters are shown in the table
2
1.
1
dK   ZcW . 2 (cl .sin   cd .cos  )rdr Table 1. Main parameters of the investigated
2 (1) propeller
No Parameters Value Unit
Therefore, the thrust and torque of a propeller
can be found by integrating formula. 1 Diameter 3.650 m
r
t 2 Pitch 2.459 m
1
T    .Z .cW
. 2 (cl .cos   cd .sin  ) dr 3 Revolution 200 rpm
rh
2 4 Number of blade 4
rt
1 5 Rake 10 Deg
Q    .Z .cW
. 2 (cl .sin   cd .cos  )rdr 6 Screw 25 Deg
rh
2
(2) 7 Blade thickness ratio 0.049 10
Where: 8 Cross section Naca 66, a=0.8
Z and c are the number of blades and the chord In this paper, the team uses the Solidwork
length of the section respectively. software to build the propeller geometry and fluid
cl, cd are the lift and drag coefficient of the profile at domain. The computational domain is a cylinder (13
the specific radius. D in length and 7 D in diameter) surrounding the
propeller, whose axis coincides with the rotational
These formula demonstrates the relationship axis of the propeller. The inlet is located 3 D from the
between the pitch and the thrust, torque of a front face of it, and the outlet is situated 10 D from
controllable pitch propeller. the end of the propeller. The computational domain is
2.2. The numerical basis. divided into two parts: dynamic domain, static
domain. The dynamic domain is a rotating domain
The team employed the numerical method to with the angular velocity equaling the revolution of
demonstrate advantages of a two-pitch propeller the propeller, and the others is the stationary domain.
compared with a fixed propeller at the same The interactions between them are solved by using
geometry. In moving reference frame, the governing the sliding mesh method [4-10]. The sizes of the
equations for turbulent impossible flow are the domain and geometry of the propeller are shown in
conservation of mass and momentum, given as [3]: the figure 1 below.
Conservation of mass
 3.2. Mesh and boundary conditions
 . vr  0
t (3) In this paper, the Ansys meshing ICEM tool
Conservation of momentum was used to mesh and refine the problem. It is
 modeled by the polyhedral mesh in which the
(  vr )  .(  vr .vr )   (2  vr      r dynamic domain is modeled with small mesh and the
t stationary domain is modeled with larger mesh. In
 a  r  a )  p    F (4) this work, the mesh node number of the dynamic and
Where static domain used to calculate and simulate is
1503968, 1408705 respectively, and the total mesh
dvt node number of the all domain is 2912673. The main
a variables of mesh, the meshed propeller, domain are
dt
presented in the table and figure 4 below.
 unit tensor and determine as follows. The RNG k ε two equation model is
 
chosen for all calculations in this project. Velocity
 T 2 
    v  v  vI  inlet is selected as inlet boundary condition with
 3  (5)
assumption that velocity distribution is uniform at
axis direction and its value equals to the advance
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velocity of the ship. The first order upwind scheme Table 2. Boundary conditions for simulation
with numerical under- relaxation is applied for
the discretization of the convection term and the No Name Conditions Units
central difference scheme is employed for the 1 Inlet Velocity inlet m/s
diffusion term. The pressure - velocity coupling is
solved through the PISCO algorithm [4-12]. 2 Outlet Pressure outlet Pa
The details of boundary conditions are shown in the 3 Wall Static wall
table 2.
4 Blade Rotational wall Rpm
4. Results and analysis
5 Hub Rotational wall Rpm
The figure 5 shows pressure distribution of 6 Static shaft Static wall
pressure and back face of the studied propeller at
different pitch corresponding with J of 0.6 and 0.75. 7 Static domain Static fluid
As can be seen from this figure that, the difference of
8 Dynamic domain Moving -200
pressure distribution between two faces at the first is
reference frame rpm
smaller than that at the second pitch. The maximum
pressure, at the second pitch, of the pressure face respective. Most area of this face, at the second pitch,
reaches to 2.105 Pa, while it is 7.2.104 Pa at the first gets the pressure value of -1.5.105 Pa, while it is -
pitch. The almost area of the pressure face at the 7.2.104 Pa. As the result, the propeller’s thrust, at the
second pitch gets the pressure about 6.104 Pa, and second pitch, is considerably higher than that at the
with the first pitch it is about 2.4.104 Pa. On the other first pitch.
hand, in the suction face, the minimum pressure of
the back face in two case is -2.5.105 and -1.25.105 The figure 6 presents Z force distribution on
the propeller’s faces for two cases. As can be seen
Figure 4. Geometry and mesh
Figure 5. Pressure distribution on the propeller’s faces at different pitches corresponding with J= 0.6 and 0.75.
112 October 27 - 28, 2018

Hanoi, Vietnam
that, there are significant difference of Z force the fixed propeller’s curves consists of three
distribution of two faces at different pitches important curves: thrust, torque, efficient curve, while
especially on the back back face. The minimum force the two-pitch propeller have six curves: three curves
on the back face, at the second pitch, is -70 N, while at the first pitch and three with the other pitch. From
that is -40 N at the first pitch. Most area of blade’s these, we realizes that the vessel equipped the two-
back face, at the first pitch, has the Z force value in pitch propeller operates with the high efficiency than
the range from -22 N to 20 N. As the consequence, the fixed propeller by changing the propeller’s pitch
the thrust coefficient in this case is considerably when the vessel operates out of the optimal designed
higher than that in the first pitch. point of the propeller. For example, when the vessel
runs at the advance ratio of 0.75, with the fixed
The figure 7 and 8 shows the characteristic
propeller, the efficiency is significantly low about
curves of the two propeller: the fixed propeller and
0.18. In the contrary, the efficiency of the two-pitch
the two-pitch propeller. The change principle of
propeller is about 0.59 at the second pitch. This is
curves , thrust, torque and efficiency is absolutely
meaningful for vessels with two different operating
appropriate with the theory of turbomachinery stated
condition such as fishing vessel, tugboat....
in [8-10]. The thrust and torque coefficient alters in a
linear function of the advance ratio. The efficient 5. Conclusion
curve is almost linear with small advance ratios. The
In this paper, the team suggested a type of
maximum efficiency of the fixed propeller is 0.655 at
two-pitch propeller for offshore fishing fleets of
the advance ratio J of 0.6, and it is 0.75, with the two-
Vietnam and proved advantages of it by using
pitch propeller, at the advance ratio J of 1.2.
numerical method. Following is some important
In addition, form these figures, we can see that conclusions.
Figure 6. Z force distribution on the propeller’s faces at different pitches corresponding with J = 0.6. and 0.75.
Thrust coefficient KT
0,7
Torque coefficient KQ
0,6 Efficiency 
Hydrodynamic coefficients
0,5
0,4
0,3
0,2
0,1
0,0
0,0 0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8

Advance ratio J
Figure 7. The characteristic curves of the fixed propeller.
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Hanoi, Vietnam
1,2
K at the first pitch
T
10 K at the first pitch
Q
at the first pitch

1,0
K at the second pitch
T
10 K at the second pitch
Hydrodynamic coefficients
Q
at the second pitch

0,8
0,6
0,4
0,2
0,0
0,0 0,2 0,4 0,6 0,8 1,0 1,2 1,4

Advance ratio J
Figure 8. The characteristic curves of the two-pitch propeller.

– Based on the statistical data of the General [5] Kuiper. G. 2010. New developments and propeller
Department of Aquatic Resource Exploitation design. Journal of Hydrodynamics, Vol.7, 22, doi:
10.1016/s1001-6058(09) 60161-x, pp. 7-16.
and Protection, Ministry of Agriculture and Rural
[6] Lee, S. K. 2008. Ice Controllable Pitch Propeller
Development of Vietnam team analyzed Strength Check based on IACS Polar Class Rule.
carefully and suggested a type of two-pitch Originally presented at the IceTech Conference held
propeller for offshore fishing fleets of Vietnam. July 20 - 23, 2008, in Banff, Alberta, Canada, pp. 9-
– The numerical simulation was employed to the 15.
specific propeller at two different pitches to [7] Ghassemi, H., The effect of wake flow and skew
prove the efficiency of the two pitch propeller angle on the ship propeller performance. Sharif
University of Technology, 2009. 16: p. 10.
compared the fixed propeller. In the following
[8] John. P. B, Poul. A. Hydrodynamics Of Ship
publication, the team will present a technical Propellers. Cambridge University press, 1996, pp. 1-
solution for a two- pitch propeller equipped in an 600.
offshore fishing vessel, and conduct experimental [9] Ira H. Abbott, Albert. E.Von Doenhoff, Theory of
research. Wing sections.Dover bulication, inc, New York, 1958:
pp. 1-705.
Acknowledgments [10] Ghassemi, H., The effect of wake flow and skew angle
This work was supported by the application- on the ship propeller performance. Sharif University
oriented basic research program of Hai Phong City in of Technology, 2009. 16: p. 10.
[11] S. Brizzolara, S.G., D. Grassi, Hub effect in propeller
Viet Nam.
design and analysis. Third International Symposium
References on Marine Propulsors smp’13, Launceston, Tasmania,
Australia, May 2013, 2013: p. 10.
[1] The statistical data of the General Department of [12] Wang. Z, Xiong. Y, Qi. W. 2012. Numerical
Aquatic Resource Exploitation and Protection, prediction of contra-rotating propellers open water
Ministry of Agriculture and Rural Development of performance. Journal of Huazhong University of
Viet Nam. science and technology, Vol.40, pp.77-88.
[2] Carlton, J.S., Marine Propellers and Propulsion, ed. 2. [13] Lin. Y, Rao. Z, Yang. C. 2017. Hydrodynamic
2007. 556. optimization of a seven-bladed propeller with skew.
[3] ANSYS Fluent Theory Guide. 2013. Journal of Shipbuilding of China, Vol. 57, Issue 4,
[4] Hu. J, Li. T, Lin. Y, Ji. Z, Du. X. 2017.Numerical pp.1-13.
simulation of open water performance of B series of
contra-rotating propellers based on RANS methods.
Journal of Dalian University of Technology, Vol. 57,
Issue 2, pp.148-156.
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A New Concept of Savonius Turbine to Improve the Power Coefficient

Mich Nguyen The*, Van-Thuan Truong, Trong-Hiep Nguyen, Truong V. Vu
Hanoi University of Science and Technology, No.1, Dai Co Viet, Hai Ba Trung, Hanoi, Vietnam
*Email: mich.nguyenthe@hust.edu.vn
Abstract
This paper presents some research results of Savonius turbine having flow guide vane for improving turbine
efficiency. By changing the interactive relationship among geometric parameters and installing suitable flow
guide vane, the research builds up some different configurations of model. These configurations are
implemented in Fluent for obtaining general view of flow, pressure distribution, mechanic power of turbine
and energy conversion coefficient Cp. Theorical calculation and numerical simulation results are useful base
for design optimization and realistic pattern experiment. Research results show that power coefficient Cp of
turbine having suitable guide vane increase up to 0.36, 2 times larger than the older configuration without
guide vane.
Keywords: Savonius turbine; Power coefficient; Asymetric directional flow.
1. Introduction Simulation using Fluent software for 2D problems

with all models designed for three types of
Exploiting low speed flow via drag type turbine
configurations. Based on the results of the simulation,
such as Savonius turbine or straight blades turbine to
the best specimen for each configuration was selected
generate electricity has been a considered trend for
for three further studies. With these we have obtained
many years. This topic is not new but its applications
the following simulation results:
are still limited due to low efficiency. Recently, many
scientists over the world are interested in overcoming
1. The lines P = f (n) correspond to V = const,
this deficiency in aspect of solving extravagant
for n = (5 v / p; 6 v / p; 7 v / p; ... 14 v / p)
energy in negative reproduction zone. Some
researches focused on reducing drag coefficient in
this zone by interlocking mechanism as in [1] and [2]; 2. The lines Cp = f (λ) correspond to V = const,
for n = (5 v / p; 6 v / p; 7 v / p; ... 14 v / p).
some others focused on reducing flow speed and drag
force acting on blades as in [3] and [4]. However,
these works didn’t mention calculation methodology, 3. The line P = f (V) with n = const. The next
just showed experimental results based on turbine step is to compute the 2D design of the flow velocity
output as illustration. minimizer in the negative bias region and to compile
that component into the 2D model to simulate the
In this paper, authors focus on resolving three second step of the 2D problem to identify the
aspects related to the low and ultra-low velocity flow families. curve P = f (n); Cp = f (λ); P = f (V) on the
turbine combinations: 1. Basing on purpose of same coordinate system with unconventional turbine
reducing flow velocity in negative reproduction zone; assemblies minimizing the velocity of the current in
2. To find the optimal profile for gathering the most the negative region. Based on that, the superiority of
energy of the flow and minimizing flow conflict after the proposed turbine power generation capacity of the
interaction with blades by suitable blades proposed team was determined. The next step is to
arrangement; 3. Optimizing control strategy of design the power control structure and proceed to
turbine combination due to required usage, keep determine the relationship between the turbine power
turbine safe in overload and idle regimes. This is a and the angle of rotation of the control mechanism.
new point of view to improve turbine lifetime. In On the basis of all serious cases of interest of 2D
conventional manner, residual power is wasted via models for 3 cases. We select the superior model and
heat by electrical resistance. It sometimes disrupts construct the 3D model to proceed with the study to
human safety. determine their curves P = f (n); Cp = f (λ); P = f (V)
according to the actual size of a group topic being
For solving the above three problems, the
studied.
research is implemented in following process:
2. Calculate turbine models
To calculate the basic parameters for Savonius
turbine combination with different configurations of Determine the basic dimensions of the rotor
turbine blades:
wing profile, correlative position among the wings.
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Hanoi, Vietnam
The resistance of the liquid flow to each

impeller is determined by the formula:
Rx  Cx .q.S (1.1)
coefficient of drag, depending on the shape of the
object at the water blocking position by 0.34.
q:
hydrodynamic pressure is determined:
q  0,5..u 2 , u is the velocity of the fluid.
S: cross section: S  d .H where d is the
diameter, H is the height of the wing.
The kinetic energy of the liquid current is
Fig. 1. Model of current turbine 1.
determined by the expression:
m.u 2 (Nm / s).
P (1.2)
2
m - mass of moving objects. u - velocity of the
flow.
The liquid volume moves with the velocity u
over the As section in 1s by:
Vk = u. As , m3 / s. (1.3)
Mass flow of liquid by:

G  .u.A s (Ns / m)
m  (1.4)
g g
Substituting the value of m into the kinetic Fig. 2. Model of current turbine 2.
energy equation we obtain:
 .u. As .u 2 . As .u 3 (W).
P  (1.5)
2 2
Cp is determined:
Pt Pt
Cp   (1.6)
Pa 0, 5. As.u 3
is a large capacity:
Pt  T . and Ct 
T 4T
 (1.7)
Tw  . As .d .u 2
Power factor Cp = f (λ); and the momentum
factor Cm = f (λ);
Capacity: P  C p  As.u 3 (1.8) Fig. 3. Model of current turbine 3.
Momentum: T  Ct . . As .d .u
2
(1.9)
4 3. Numerical Simulation
The 2D configuration options for simulating the Numerical simulation using the Fluent software
determination of Cp for the three configurations were is performed on the K- model. We proceed to
calculated based on the inherent references of the determine the domain of the simulation, taking into
research results of the turbine working principle account that the sizes of the domain are sufficiently
under the Savonius turbine resistance principle. Study large to not affect the simulation results, the meshing
on 3 consecutive 3D images below Fig.1 is the model of the structure, and the rotation of the grid with the
of current turbine Savonius two blades. rotational speed of the rotor. Savonius tuabine.
116 October 27 - 28, 2018

Hanoi, Vietnam
We performed meshing and simulation for the 3

selected 2D samples in samples received from design
calculations:
When choosing a region for the survey, the team
also paid much attention to the selection of the area
behind the Savonius turbosphere far enough to allow
the fullest possible consideration of the influence of
the turbine fringe behind the rotor savonius.
Figure 4 introduces the characteristic curve
Cp = f (λ) for the three selected 2D models with the
unmanned wing assembly;
Calculations made in the TSR range range from
0.3 to 0.85.
Fig. 4
Figure 5 shows them the characteristic lines P =

f (n); Cp = f (λ); P = f (V) for three selected 2D
Fig. 5
models with directional wings;
Figure 6 shows the characteristic line P = f (n);
for 03 selected 3D models with wing-shaped
combination;
Figure 7 presents the contour lines for the three
samples at v = 2 m / s and n = 10 rpm.
4. Conclusion
From the results shown in Fig. 6, we should
choose the second configuration to design a flow
turbine with similar working parameters as in this
paper. That is the Savonius type turbine type of
resistance working at low flow rates.
With the proper configuration of the divider, the
power factor of the turbine Cp = 0.55 instead of
Cp = 0.32 as in the case of the Savonius turbine
without a current-carrying device. This means that
one can reduce the size of the wing system by 1.2
times when designing a turbine of the same capacity.
Fig. 6
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References
[1]. Mohamed, ALJEN and ADI MAIMUN. Low Speed
Vertical Axis Current Turbine for Electrification of
Remote Areas in Malaysia,Marine Technology
Centre, Faculty of Mechanical Engineering Universiti
Teknologi Malaysia 81310 Johor Bahru, Johor.
[2]. ST. JOHNS,Design and development of marine
current energy conversion system using hybrid
vertical axis turtine,Master of Engineering Faculty of
Engineering and Applied Science Memorial
University of Newfondland.
[3] . Phung Quang Son, The evolution of coastal estuaries
in the Red River Delta during the operation years of
Fig. 7 Hoa Binh Hydropower Plant, Remote Sensing and
Geomatic Center, Geological Institute, 84 Chua Lang,
Acknowledgments Dong Da , Hanoi.
The authors are grateful for the financial
supports of project No: B2017-BKA-44 provided by
Ministry of Education
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Researching and Building Mathematical Models in order to Calculate and

Design the Pneumatic Pressure Stabilizer Automatic Valve
Tang Xuan Long*
Academy of Military Science and Technology
*Email: longtank2012@gmail.com
Abstract
This paper presents the structure and the operating principles of the pneumatic pressure stabilizer
automaticvalve which supplying for PG-27 driving on the RH8 missile. Researching this valve as an
automatic device with normal specification of the pattern valve include the parameters affect the valve as
friction, initial gap, spring shiffness of siphon phrase, ect… Analysis the dynamics equations will determine
the parameters and boundary conditions then solve the system differential equations using the numerical
integration Runge-Kutta methods on the computer. The research results are applied to process of designing
and manufacturing according to the model of the pneumatic pressure stabilizer automatic valve.
Keywords: pneumatic pressure stabilizer automatic valve, automatic device, driving unit.
1. Question When the pressure vessel is sealed by an

electric - firemagic valve located between the
The PG - 27 driving unit on the RH08 missile
pressure vessel and the pressure stabilizer, under
operates during the launch phase of the missile when
effect of springs (10), (13) and the stiffness of syphon
turbine engine is working unstable, the pneumatic
box (4), the valve moves all the way to the left,
energy source supply to the driving unit is taken from
creating the initial throttle, opening between valve
the pressure storage tank (the volume of the tank is
Vt 0  1, 2liters and the pressure is pt 0 
350 105 N / m2 ). While working pressure of the
driving unit is pd  8  2  105 N / m2 . In order to
maintain stable output pressure for the driving unit in
above range, the RH08 missile was fitted with an
automatic element called the pneumatic pressure
stabilizer automatic valve which reduced and
stabilized the output pressure automatically when the
input pressure decreased.
When researching, designing, manufacturing a
system that supplies pneumatic sources for driving
unit PG-27 on the RH8 missile, it is necessary to
reserch the pneumatic pressure stabilizer automatic
valve. In the following, the author presents: contents
operation principles, construction of a dynamic
equation system and identifies factors affecting
qualities of automatic valve operation. The research
results are applied to process of designing and
manufacturing according to the model of the
pneumatic pressure stabilizer automatic valve.
2. Content Fig. 1. Structure diagram of the the pneumatic
2.1. The operating principle of the pneumatic pressure stabilizer automatic valve.
pressure stabilizer automatic valve 1-screw; 2-lid; 3-base of the syphon box; 4-syphon
The pneumatic pressure stable automatic valve is box; 5-directional tube for syphon box; 6-screw
composed of the main components as shown in Fig. (1). adjusts the initial throttling gap; 7-valve; 8-valve
The operating principle of the pneumatic shaft; 9-valve body; 10-spring; 11-lid; 12-face of the
pressure stabilizer automatic valve is as follows: syphon box; 13-spring; 14-spring base; 15- pneumatic
conduit.
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Hanoi, Vietnam
causing the value pd to decrease to the value pd

before increasing.
As a result, any increased impedance about the
pneumatic pressure pd in the output system of the
pneumatic pressure stabilizer automatic valve, the
Fig. 2. Dynamics diagram of valve shaft. value of the discharge opening at the valve head must
be automatically changed accordingly adjusting the
input and initial excess pressure values pressure value only changes within a small limit that
Pt 0  Pd 0  0 N / m2 . can be set by the adjusting screw (Fig. 1).
When electric-firemagic valve works, In addition, the pneumatic pressure pt in the
compressed pressure from pressure vessel is valve door is gradually reduced as the pneumatic in
connected to the entrance of the pneumatic pressure the flush tank is drained out by the time of the load
stabilizer automatic valve and is connected to initial system, the regulation of the throttling gap  x occurs
throttling gap δ0, then controling of pneumatic as well as the case described above to automatically
pressure from the output cavity of the pneumatic
maintain the output load stability until the value pt
pressure stabilizer automatic valve, by pneumatic
conduit (15), is led into the feedback chamber and is greater than the value pd .
impact on sectional area of the syphon box, make The main technical parameters for assessing the
syphon box with the control valve shaft (8) move to quality of the pneumatic pressure stabilizer automatic
the right until until the force balance condition are valve with industrial functions in general and the
satisfied and set the value of new throttling gap δx. functions applied in military weapons systems and
In order to better explain the principle of military equipment in particular are delayed response
operation of the pneumatic pressure stabilizer time  , overshoot  and preset pressure error  [1].
automatic valve, we introduce an equilibrium force The theoretical basis for studying and
equation on valveshaft(8) in static state of the form: determining above-mentioned technical parameters is
Ssp . pd  C1  x10   0   x   C2  x20   0   x   the dynamics mathematical model of the pneumatic
pressure stabilizer automatic valve established below.
 C3  x30   0   x    Ffr  0 (1) 2.2. Building dynamics mathematical model of the
hay pneumatic pressure stabilizer automatic valve
pd   0  C1  C2  C3   C1 .x10  C2 .x20 
Select the dynamics computational coordinates
 C3 .x30   x  C1  C2  C3   Ffr  / Ssp
(2) as follows:
Motional direction of symmetric axis of control
here: C1 , C2 , C3 -the hardness of the syphon box (4),
valve shaft (8) is x axis; the positive direction of axis
spring (13) and spring (10) respectively; x10 , x20 , x30 - x coincides with the movement direction of valve
the initial compression of the syphon box (4), spring shaft, i.e. direction reducing the throttling gap  x .
(13) and spring (10) respectively; Ssp    Rout
2
 Rin2  The direction of pneumatic pressure applying to
sidewall of syphon box in the feedback chamber and
( Rout , Rin - outer radius, inner radius of the syphon he direction of compression force of the spring (10)
box); Ffr - the friction force of the valve shaft (8) in stabilizing the valve shaft (8) is the same as the
the valve (7) and the syphon lead pipe (5) in the valve direction of the x axis.
body (9). The direction of compression force of spring
From the above equation it is easy to see that (13) and compression force of syphon box (4) are
the value of the pneumatic pressure applied to loading opposite to positive direction of the x axis.
system of the pneumatic pressure stabilizer automatic The direction of frictional forces acting on outer
valve is proportional to the throttling gap, i.e:If the surface of the directional tube (5) for syphon box (4)
pressure pd supplying load system is reduced, the and the frictional force acting on the outer surface of
the valve shaft (8) are reversed in the movement
throttling gap  x automatically increase to direction of valve shaft.
supplement the pneumatic from the input vapor Below we build a system of dynamic equations
source to increase the value pd up to the value pd describing operation of the pneumatic pressure
before decreasing.Conversely, if it increases, the stabilizer automatic valve.
throttling gap  x must automatically decrease to limit According to the law of Newton-d'Alembert [2],
the supply of pneumatic from the vapor source, the motion equation of the linkage cluster includes:
spring (10) - the syphon box (4) - the compression
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spring (13) with converted mass mc by the x axis in temperature Tt and Tta in those compartments, i.e.
the form: Td  Td  t  and Tt  Tt  t  . To close the equation
d 2 describing dynamics of the the pneumatic pressure
mc . 2 x  Fsp  FC 3  FC1  FC 2 
dt stabilizer automatic valve below, we developed
  Ffr1  Ffr 2  .sign  x 
additionally equations for pressure and pneumatic
(3) temperatures in the described compartments.
Inside: Equations of pneumatic pressure and
Fsp - Pneumatic pressure applying on syphon temperature in cavity from the outlet of valve to
box (6) in the feedback chamber, Fsp  Ssp . pd ; operating compartments of load system[3]:
dpd k .K . f g . R.Tt
FC 3 - Compression force of spring (10),  . pt .    , (5)
dt Vd 0  Vd
FC 3  C3  x30   0   x   (here: x30 - initial dTd Td dpd k. f g .Td . R.Tt . pt .Td
compression length of springs (10);  0 - initial   .   , (6)
dt pd dt Vd 0  Vd  . pd .Tt
throttling gap at valve shaft when Pta 0  Pt 0  0 N / m2 );
Equations of pneumatic pressure and
FC1 - Compression force of the syphon box (4), temperature in cavity from the inlet of the pneumatic
FC1  C1  x10   0   x  (here: x10 - initial compression pressure stabilizer automatic valve to the pressure
length of the syphon box (4)); storage tank:
dpt k .K . f g . R.Tt
FC 2 - Compression force ofspring (13),  . pt .    , (7)
dt Vt 0
FC 2  C2  x20   0   x  (here: x20 - initial compression
dTt T dpt k . f g .Tt . R.Tt . pt .Td
length ofsprings (13));  t  .    (8)
dt pt dt Vt 0
Ffr1 - Friction force on valve shaft (8);
In Eq. (5), Eq.(6), Eq.(7) andEq.(8):
F fr 2 - Friction force on the syphon box(4); k - The pneumatic heat coefficient, k = 1.41;
Substituting the above calculating expressions into 2k
Eq. (1), we have: K- Coefficient, K   2, 62 ;
k 1
f g - The effective area of throttling gap,
d 2
mc . 2 x  S sp . pd  C3  x30   0   x    f g  . .d s .  0   x  (here: ds - valve shaft's
dt
diameter; µ - flow coefficient of throttling gap, µ =
 C1  x10   0   x   C2  x20   0   x   0,8 [3]);
  Ffr1  Ffr 2  .sign  x  R - Pneumatic constant;
Vd 0 - Initial volume of working chamber;
(4)
Vd - Variable volume over time ofworking
Values C1 , C2 , C3 , x10 , x20 , x30 ,  0 , Ffr1
chamber;
and F fr 2 were determined by experimental Vt 0 - Volume of the pressure storage tank;
measurement on comparative sample of the Tt , Td - Pneumatic temperature in the working
pneumatic pressure stabilizer automatic valve.
chamber and the pressure storage tank;
In Eq. (4), in addition to time variable  x =
    - Pneumatic flow function [3]:
 x  t  , we see that the pneumatic pressure pd in the
 2 k 1
cavity from the outlet of the pneumatic pressure   pd  k  pd  k
stabilizer automatic valve to the operating       ; 0,528  pt
compartments of the system is also variable changing        pt   pt 
over time pd  pd  t  .In addition, the influence of  p
0, 258; 0  d  0,52
the pressure change law pd  t  is also influenced by  pt
the law of change in the pressure pt in the chamber Thus, the dynamical mathematical model of the
from the inlet of the valve to the pressure vessel in pneumatic pressure stabilizer automatic valve
the process of operation and load system descending supplying to the driving unit consists of five
equations (Eq. (4) to Eq. (8)) with five variables are
over time pt  pt  t  .At the same time, considering
the corresponding unknown numbers  x , pd , pt ,
the change of heat - aerodynamics in above
Td and Tt .
compartments is a multivariate process, the laws of
change pd  t  and pt  t  lead to changes in
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Table 1. Input parameters
Parameter Symbol Value Unit

Initial pressure of the
pt 0 350.105 N/m2
pressure storage tank
Initial temperature of the
Tt 0 300 K
Initial volume of the
Vt 0 1,2.10-3 m3
Initial pressure at the pd 0 0 N/m2
outlet of the valve Fig. 3. Moving rule  x  t  of the valve shaft.
Initial temperature at Td 0 300 K
the outlet of the valve
Initial volume at the
Vd 0 125.10-6 m3
outlet of the valve
Converted mass mc 1,2 kg
Hardness of the syphon
C1 12.103 N/m
box (4)
Hardness of spring (13) C2 52.103 N/m
Hardness of spring (10) C3 4.10 3
N/m
Initial compression x10 4.10-3 m
length of springs (13)
Initial compression length Fig. 4. Pressure change rules pt  t  and pd  t  .
x20 3.10-3 m
of the syphon box (4) On Fig. 3 and Fig. 4, the results from survey of
Initial compression the dynamics model (Eq. (4) ÷ Eq. (8)) of the
x30 0,8.10-3 m
length of springs (10) pneumatic pressure stabilizer automatic valve by the
Initial throttling gap 0 0,3.10-3 m fourth-generation Runge-Kutta numerical integration
Friction force on valve Ffr1
method on an electronic computer with the Visual
2 N
shaft (8) Basic programming language.
Friction force on the F fr 2 2.3.2. Discussion
13 N
syphon box(4)
Valve shaft's diameter ds 3.10-3 m After the electric-firemagic valve of the
Effective area of pressure storage tank is controlled to activate the
S sp 1,83.10-4 m2 work, pulse pressure pt  350.105 N / m2 from the
syphon box cover
pressure storage tankis supplied directly to the inlet of
Equation systems (4) ÷ (8), as we see, is a the pneumatic pressure stabilizer automatic valveand
system of nonlinear differential equations that often continues through the throttling gap of the valve shaft
contain strong nonlinear functions such as the (8) (Fig. 1 and Fig. 2), the pneumatic pressure is
sign  x  function of the friction components, the reduced and automatically stabilized at
pd  8, 7.105 N / m2 to provide the PG - 27 driving
flow function    , the square root of the
unit during the launch phase t = 14,5s with pressure
temperature Tt . The system of nonlinear stable error   pd   4, 6% , response time   0, 2s
differential equations has no common solution, so it and overshoot   10% (see the rule of pd  t  in
can not be solved by conventional analytical methods Fig. 4).
but only by numerical integration. During during the launch phase of the missile,
the PG-27 driving unit continuously consumes the
2.3. Calculating and discussion pneumatic source to obey the control signal, so the
pneumatic pressure in the pressure storage tank is
2.3.1. Calculating decreased from pt  350.105 N / m2 to
Proceed to solve the dynamics mathematical pt  12.10 N / m (see the rule of pt  t  in Fig. 3).
5 2
model of the pneumatic pressure stabilizer automatic Thus, although the pneumatic source in the pressure
valve with the input parameters are listed in Tab. 1. storage tank gradually reduced, but thanks to the
122 October 27 - 28, 2018

Hanoi, Vietnam
pneumatic pressure stabilizer automatic valve work pneumatic source in the pressure storage tank and
well, thepneumatic pressure source for the PG -27 pressure stabilizer automatic rule pd  t  at the output
driving unit is still remains stably at necessary level. of the valvein order to provide stable pressure for the
3. Conclusion PG - 27 driving unit operating in the first 15 seconds
of the missile's orbit.
Based on the study of the function and
construction of the pneumatic pressure stabilizer The pt  t  and pd  t  rules obtained when
automatic valve, which provides the pneumatic examining the mathematical model are fully
source for the PG - 27 driving unit operating during consistent with the function of the pneumatic pressure
the launching phase of the missile, we built the stabilizer automatic valve. These results are used as a
principle of its operation as an automatic adjustment scientific basis for issues design analysis and design
elementin order to reduce of output pneumatic source synthesis the pneumatic pressure stabilizer automatic
pressurein order to reduce of output pneumatic source valve. This pneumatic valve will be used for various
pressure of the pressure storage tank. purposes in military aircraft, military equipment and
From operation principle of the pneumatic in industry.
pressure stabilizer automatic valve and based on the References
solid motion law of Newton - d'Alembert, the first law
[1] R.B. Walters, Hydraulic and electric - Hydraulic
of thermodynamics, we have studied construction of
control systems, Kluwer Academic Publishers. 44
nonlinear mathematical model describing mechanical- (2000) 55–57.
physical processes occuring and interacting with each [2] Ahmed A. Shabana, Computational Dynamics, John
other in valve. Wiley & Sons, Inc. 54 (2001) 83–85.
[3] Герц Е.В., Крейнин Г.В., Расчёт пневмоприводов,
Survey of dynamics mathematical model on
Изд. Машиностроение, Москва. 68 (1975) 88–91.
computer by Runge-Kutta numerical integral method,
we determined pressure reduction rule pt  t  of the
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Influences of Inlet Configuration on Flow Hydrokinetic Behavior in GLCC

Separator
Le Van Sy1,*, Dang Thuc Van2
1
PetroVietnam University, 762 CMT-8, Long Toan, Ba Ria City, Vietnam
2
PV Engineering J.S.C, 673 Nguyen Huu Tho, Nha Be, Ho Chi Minh City, Vietnam
*Email: sylv@pvu.edu.vn
Abstract
Gas-Liquid Cylindrical Cyclone Separator (GLCC) has been widely used in petroleum industry due to
predominant advantages such as simple geometry, compact size, low weight, and low maintenance cost.
Besides its maturity, the flow hydrokinetic behavior inside GLCC body for different inlet designs is not
completely understood yet. This study presents influences of inlet configuration on flow hydrokinetic
behavior inside GLCC body by FEM analysis. The different inlet nozzles were designed for investigating the
effect of inclined inlet angle, number of inlet and geometry of inlet nozzles. The FEM simulated results are
verified to one of practical experiments. They showed that the velocity changes of single inlet are more
significant and clearly recognized than the dual inlet. For single inlet, flow patterns of tangential and axial
velocities and their maximum magnitude changed insignificantly when the inclined inlet angles are varied
from 5 degree to 30 but they increased significantly and reached to maximum value at 40 , not specific in
27 degree only as experimental model. These results are very important for new design of GLCC
separators in practical industry.
Keywords: GLCC, turbulence flow, hydrokinetic behavior, velocity field, inlet configuration.
1. Introduction centrifugal/buoyancy forces caused by the swirling

motion/vortex and the gravity forces. The liquid is
Crude oil production collecting from offshore
forced radially towards the wall of the cylinder and is
field is normally being in mixture of liquid and gas
collected from the bottom, while the gas moves to the
forms. In order to transport them to storages, mixtures
center of the cyclone and is taken out from the top.
of this crude oil have to be classified firstly to a
To enhance the swirling flow, the mixture of gas and
unique state or every single phase product by
liquid can be injected through two or more inclined
separators. Separating liquid and gas flow is very
tangential inlets.
important in refining and gas processing applications.
GLCCs have been studied by many researchers,
In petroleum industry, people have used conventional
mostly by Tulsa University and Chervron company
vessel-type separators which are large, heavy, and
who has held the patent of GLCC separator [1]. Most
have high capital for investment and operating costs.
of researchers have focused on a separating efficiency
Gas-Liquid Cylindrical Cyclone Separator
for a flow characteristics [2, 3, 5]. A few researchers
(GLCC) is a compact seperator. It has been studied
have built up mechanistic models of GLCC and
and applied to petroleum industry due to its
acquired experimental data for the GLCC at several
superiority such as being a simple, compact, low-cost
separator that can be used as an economically
attractive alternative to the conventional separator. Inlet
The wide variety of GLCC may have different
performance requirements, varying from only partial
317
separation to a complete phase separation. Potential

applications include: control for multiphase flow
LDV Measurement
meters and pumps, portable well test metering, steam

899
1613
quality metering, flare gas scrubbing, primary surface

area
or subsea separation and pre-separation upstream of

slug catchers or primary separators.
The GLCC separator is simply fabricated and
Outlet
included a vertically installed pipe mounted with a
mix downward inclined tangential inlet, together with
102
a gas outlet at the top and a liquid outlet at the bottom

(Fig. 1). The multiphase flow is fed through inlet and Fig. 1. Normal Configuration of GLCC separator.
is separated into single phases due to their
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Tab. 1. Testing parameters

N Type of Working Flow rate Reynold
o. inlet fluid (m3/s) number
1 1 Water 0.00063 9285
2 1 Water 0.00454 66855
3 2 Water 0.00063 9285
4 2 Water 0.00454 66855
76,2
Inlet 19,05
Inlet
Fig. 2. Schematic of the Experimental Facility [2]. Body
operating pressures then measure operational 88,9
76,2
envelope for liquid carryover and the equilibrium
liquid level [7]. For CFD (Computational fluid
dynamics) aspect, Erdal [2] firstly presented CFD Outlet
simulations utilizing a commercial code called CFX. Outlet
These simulations showed details of the Body
Inlet
hydrodynamic flow behavior in the GLCC for both Fig. 3. Topview of Inlet Configurations.
single-phase and two-phase flow. Their simulation
model was only specified a GLCC with inclined inlet 2). These three sections are connected to each other
angle at -27 degree as experiment model. with flanges. GLCC test section is made from a clear
How to define an optimal inclined inlet angle is acrylic pipe with inner diameter of 3.5” (88.9 mm)
a difficult problem that most of researchers need to (Fig. 3).
study, especially for GLCC inlet diameters are The different inlet configurations are
smaller than its body diameter. A majority of constructed to investigate the flow field: one inclined
experimental laboratory and pilot plant studies and gradually reduced inlet nozzle, two inclined inlets
conducted so far of flow in cyclones have covered the (Fig. 3.). These inlet configurations can be easily
influence of operating parameters or changes in changed by using bolt connection.
geometry on the separation efficiency. For examples, To understand the complex, turbulent, swirling
higher inlet velocity give higher separation efficiency flow that occurs in the GLCC and the effects of
for most cyclones, but this also increases the pressure different factors (inlet geometry and fluid viscosity),
drop across the cyclone [7]. a series of experiments were planned to measure local
This paper will focus on studying for different axial and tangential velocities and turbulent kinetic
configuration of GLCC inlet and inclined angle of energy. Local measurements are conducted along the
GLCC inlet. The geometrical configuration is diameter at differentlocations below the inlet. The
probably the most main influence on the GLCC measurement plane is defined as the mid-plane
performance. All components of swirling flow between 317 mm to 899 mm below the inlet (Fig. 1.)
velocity inside GLCC are investigated and compared for two different inclined inlet configuration with
with Erdal. An agreement between measured data and parameter as Tab. 1.
simulated result is a confirmation for the accuracy of
simulation model via this study. 2.2. Turbulent Model and Boundary Conditions
2. Testing conditions and FEM Model The most commonly used computational fluid
dynamics (CFD) techniques for turbulent flows are:
2.1. Practice Experiment a) Reynolds averaged Navier Stokes (RANS); b)
Erdal [2] designed an experimental facility for Large eddy simulation (LES); c) Direct numerical
single-phase flow for investigating hydrodynamic simulation (DNS).
behavior and turbulent intensities inside GLCC body In the literature, standard k-epsilon model, RNG
(Fig. 2). The author used both same inner diameter of k-epsilon model, algebraic stress model and Reynolds
PVC pipes for GLCC body and inlet. Flow metering stress model are adopted to numerically simulate the
section is built to allow flowrate measurements by turbulent flow of Staiman separators (dust separator).
rotameters for different inlet configurations (single In the present paper, the flow in the cyclone separator
or two inlets). GLCC configuration is divided into is strongly swirling flow, which has the anisotropic
three sections, namely, the Inlet Section, the Testing feature. In order to obtain the values of the Reynolds
Section (Measurement), and the Outlet Section (Fig. stress terms, the Reynolds stress model was carried
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out for its adaptation with the strongly anisotropic

flow [6].
Erdal [2] using the k-epsilon turbulence model
for FE simulation and showed that is more accurate
than the RSM one. They did a comparison among the
experiment data with CFX (k-epsilon) and CFX
(RSM) simulation with single inclined inlet at
flowrate of 72 gpm. However, simulations with both Fig. 4. Meshing Method.
turbulence models failed to predict the finer details of
the flow such as the upward flow region, the Tab. 2. Comparasion of Meshing
wavelength of vortex, and the local axial velocity Element Total Skewness Time
profiles. The k-epsilon turbulence model predicts size (mm) elements ratio
stronger upward flow regions and shorter vortex 2 3 600 000 0.888 24 hours
wavelength. In additional, the k-epsilon model predict 2.5 1800 000 0.815 12 hours
higher tangential velocity than the measurements, 2.7 1500 000 0.876 10 hour
which indicates higher rotational flow. The RSM
model predicts much lower tangential velocity than hexahedral mesh due to the presence of some curved
measurements. faces created through the blending operation. The
hexahedral mesh failed to satisfy the criteria available
In general, several turbulence models including
for hexahedral meshing scheme. In order to generate
k-epsilon, RNG and full Reynolds stress calculation
a hexahedral dominant mesh, the whole geometry
were reviewed in previous study [4] and realized that
was decomposed into different mesh-able portions
resizable k-epsilon model is nearly suitable to
using Boolean operations and splits. The section
measurement results.
where the tangential inlet joins the main cyclone body
2.3. Numerical method and boundary condition and the point where the water rich outlet joins the
main body were both meshed using a tetrahedral
Equations were solved numerically through mesh type. This mesh type was used because it can be
transferring to algebraic equations based on the easily adjusted to suit the complex geometry. An
control volume method. The pressure-velocity unstructured hexahedral mesh type was selected to
coupling algorithm SIMPLE and the QUICK mesh the rest of the separator, as this was to align
interpolation scheme were used in the numerical easily with flow direction, thereby reducing
simulation with Fluent 15. For the consideration of numerical diffusion when compared with other mesh
strongly swirling flow in the cyclone separator, the types such as the tetrahedral.
PRESTO scheme was adopted for the pressure
discretization. The prototype design of cyclone In this study, three refinement meshes of GLCC
separator shows the geometric configuration and were generated by FLUENT solver and compared
mesh distribution of the cyclone separator in this these results in order to find the grid dependent as
thesis, and all the test cases were simulated using Tab. 2.
unstructured tetrahedral grids generated by robust By changing the global interfaced planes
method. Boundary conditions were set as follows: the coordinate, we can control a skewness ratio of a
inlet boundary condition was assumed as velocity FLUENT model in acceptable range to ensure enough
inlet condition and the velocities were set for water quality of mesh. With a small difference in result, the
only. It was assumed that the inlet velocity was total element in 1,500,000 and element size 2.7 mm
uniform. from above Tab.2 is considered as a sufficient grid
independency and reasonable time for all of CFD
The boundary condition for the inlet nozzles is models of this study.
volumetric flow rate. It was set to 0.00063 m3/s and
0.00454 m3/s as experiment conditions. The boundary 3. Results and discussion
condition for wall was regarded as no slip. Finally, In this study, the eleven GLCC models with
the boundary condition for gas and liquid outlets was different inlet angles were simulated with the same
set at atmospheric pressure. meshing properties and boundary conditions to be
2.4. Meshing density sure the accuracy of the obtained results. The axial
and tangential profiles are extracted from the
simulated models at three sections located at x-
Hexahedral and tetrahedral meshing schemes of
distances below inlet section such as: 317 mm,
a commercial pre-processor, meshing with Fluent
467mm, and 899 mm. The model with 27 degree
were used to mesh the model geometry. It is not
inclined inlet angle was used to validate the
possible to automatically mesh the full geometry with
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upward flow near GLCC center line is always

increased when inlet inclined angle escalation. This
trend of axial velocity is kept in the section near the
inlet while they are reversed about GLCC centerline
on the measured plans toward the outlet.
The velocity of downward flow near the wall
has high positive magnitude and is decayed as the
fluid flow moves far frominlet toward the outlet.
The distribution of axial velocity profiles with
respect to different inlet angles are showed Fig. 9. It
Fig. 5. Tangential Velocity Comparison.
Fig. 7. Axial velocity profiles.
Fig. 6. Axial velocity profiles comparison.

experimental data from Erdal’s experiments (Fig. 5,
Fig. 6, Fig. 19, and Fig. 20).
3.1. Single inclined gradually reduce inlet
3.1.1. Axial velocity
The axial velocity is an important component of
the flow in GLCC body which presents the movement
of fluid flow in axial direction toward the outlet. The
axial velocity profile presents two flow streams
(upward and downward flow) existing in GLCC
body. The upward flow is near the cylindrical Fig. 8. Axial velocity profiles at different points.
centerline directed to inlet while the downward flow
near the wall directed to the bottom GLCC at narrow
radial distance. Larger inlet angle creates higher
magnitude of axial velocity. The axial velocity tends
to reduce from the wall to near the cylindrical
centerline then increase again to the wall of GLCC.
Downward to bottom of GLCC, the minimum axial
velocity is gradually increased its algebraic value [4].
Variation of axial velocities is slightly changed
in the range of inlet angle from 5 to 30. However,
they varied significantly for inlet angles that is larger
than 30. The magnitude of axial velocities near wall
region is decreased at one side and is increased in the
other side while they are only increased in the region
near the central axis of GLCC body according to the
Fig. 9. Distribution of maximum axial velocity.
inclined inlet angle increase (Fig.7). This means that
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3.1.2. Tangential velocity

The maximum tangential velocity depends on
the inlet angle which happens mainly at the wall
region. This is one of the most important factors
effecting the GLCC performance. In the GLCC with
high inlet angle (Fig. 11), the tangential velocity near
the wall region has slightly changed. The distribution
of tangential velocity profiles with respect to different
inlet angles are showed Fig. 12. The maximum
tangential velocity is increased significantly at the
inlet angle which is larger than 35 because the fluid
flow is pushed in axial direction and interacts to the
upward flow which is decrease the intensity of
Fig. 10. Tangential velocity profiles. tangential velocity.
3.2. Dual inclined inlet
3.2.1. Axial velocity
Fig. 13. shows a comparison between the
different simulated models. Near the inlet, the swirl
decay is very low. Erdal [2] had noticed that swirl
decay is more rapid for a single inlet than for two
inlets which make the flow more symmetric.
Typical as the single inlet GLCC, the minimum
axial velocity is almost focused at center of GLCC.
Larger inlet angle creates higher magnitude of axial
velocity. The axial velocity tends to reduce from the
wall to near the cylindrical centerline then increase
Fig. 11. Tangential velocity profiles in different
point.
Fig. 13. Axial velocity profiles in different inlet

angle.
Fig. 12. Distribution of maximum tangential velocity.
showed clearly that the maximum axial velocities are

very small change in the range of 5-30. However, it
increases sharply and mostly reaches to maximum
value at the inlet angle 40. This may be explained by
effect of the flow entering GLCC body interacted to
the swirl flow in the vortex region which results in a
negative pressure pushed the fluid flow toward the
outlet.
Fig. 14. Axial velocity profiles in different inlet

angle.
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again to another wall of GLCC and axisymmetric. bottom, the tangential velocity gradually reduced. It
Compare with the single inlet GLCC, the means that the turbulence of flow also reduced
distribution of axial velocity profiles with different downward to bottom of GLCC. There is not much
inlet angles in Fig. 15 is smoothly changed. change in distribution of maximumtangential velocity
in Fig. 18.
3.2.2. Tangential velocity
4. Conclussion
Typical as the single inlet GLCC, the minimum
tangential velocity is almost focused at center of This paper has been studied the influence of
GLCC. There is not much change of magnitude of inlet configurations on flow hydrokinetic behavior
tangential velocity in different inlet angles GLCC. using CFD simulations. A suitable turbulent model in
The tangential velocity tends to reduce from the wall these simulations showed resulting changes when the
to near the cylindrical centerline then increase again inclined angle and nozzle configuration were varied.
in negative direction to another wall of GLCC and
symmetric in centerline in Fig. 18. Downward to
Fig. 18. Distribution of maximumtangential velocity.
Fig. 15. Distribution of maximum axial velocity.
a) b)
Fig. 19. Contour profiles betweet a) Measurment;
b) Simulation of tangential velocity with single inlet.
Fig 16. Tangential velocity profiles.
a) b)
Fig. 20. Contour profiles betweet a) Measurment;
b) Simulation of axial velocity with single inlet.
Fig. 17. Tangential velocity profiles.
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By comparing a proper numerical simulated inlet angleresults a higher maximum radial

results to practical experiments then agreements velocity. There is much change of maximum radial
showed a potential tool which can help to better near the inlet area more than outlet area for
understand the effect of inclined inlet angle on a different inclined angle configurations.
complex flow patterns of the GLCC separators in
- Higher Reynolds flow is created a bigger change in
both cases of single and dual inlet nozzles. The
velocity, especially for radial velocity.
following conclusions can be extracted from this
study: References
- The flow patterns of tangential and axial velocities [1] G. E. Kouba, O. Shoham, A Review of Gas-Liquid
and their maximum magnitude changed Cylindrical Cyclone (GLCC) Technology,
insignificantlywhen the inclined inlet angles are International Conference of Production Separation
Systems, Aberdeen, UK, April 23 & 24, (1996), 1-5.
varied from 5to 30 but they increased
[2] F. M. Erdal, S. A. Shirazi, O. Shoham, G. E. Kouba,
significantly and reached to maximum value at 40. CFD simulation of single-phase and two-phase flow
The velocity changes of single inlet GLCC are in gas-liquid cylindrical cyclone separators, SPE
more significant and clearly recognized than the Journal, Vol. 2-4 (1997), 40-46.
dual inlet one. [3] Ferhat M Erdal, Local Measurement and
computational fluid dynamics simulation in GLCC
- The axial velocities of downward flow are Separator, The University of Tulsa (2001), 24-144.
decreased at one side and increased in the other [4] Le Van Sy, Influence of Inlet Angle on Flow Pattern
side. The velocities of downward flow were and Performance of Gas Liquid Cylindrical Cyclone
decayed as the flow move far from inlet downward Separator, Journal Particulate Science and
to the outlet. Technology, Vol. 35-5 (2017), 555-564.
[5] Rainier H, Caroline G, Noël M. Numerical
- The maximum tangential velocity depends investigation of swirling flow in cylindrical cyclones.
significantly on the inlet angle which happens Chemical engineering research and design 89 (2011),
mainly in the wall region. The maximum tangential 2521-2539.
velocity is almost independent on the change of [6] Elsayed K., C. Lacor. The effect of cyclone inlet
inlet angle at the nearest and the farthest from inlet dimensions on the flow pattern and performance,
section. The minimum tangential velocity is almost Applied Mathematical Modelling 35(2011), 1952-
1968.
focused at GLCC center. The maximum tangential
[7] S. Movafaghian, J.A. Marturet, R. Mohan, O.
velocity of single inlet GLCC is increased Shoham, G. Kouba. The effects of geometry, fluid
significantly at the inlet angle of 35 while there is properties and pressure on the hydrodynamics of gas–
not significantly changed in dual inlet one. liquid cylindrical cyclone separators, International
Journal of Multiphase Flow. 26-6(2000), 999-1018.
- The radial velocity profiles have an axial symmetry
and their magnitudes is much smaller than ones of
axial and tangential velocity. A bigger inclined
130 October 27 - 28, 2018

Hanoi, Vietnam
Calculation of Thermodynamic Parameters of High Pressure Turbine Stage

of DR 76 Engine Based on Geometric Parameters
Vu Duc Manh*, Nguyen Trung Kien, Dao Trong Thang
Military Technical Academy, 236 Hoang Quoc Viet, Bac Tu Liem, Ha Noi, Vietnam
*Email: ducmanhvu@mta.edu.vn
Abstract
Thermodynamic parameters at the turbine stage largely depend on flow characteristics and as such drive
power and efficiency of the turbine stage. Calculating these parameters is a fundamental step for designing,
testing, and optimizing turbine engines. The objective of this research is to investigate the high-pressure
turbine stage of the DR-76 gas-turbine engine. This paper calculates thermodynamic parameters at the
mean cross-section and other altitudes of the high-pressure turbine stage of the engine under typical
operating modes, considering that the adiabatic index, k, is varying with temperatures.
Keywords: Gas Turbine Engine, High Pressure Turbine, Thermodynamics, Geometric Parameters, Adiabatic
Index.
1. Introduction the stage, while the behavior of the parameters in the

blade channel is linear.
The turbine is one of the main components that
The second approach is CFD simulation. This is
have the greatest impact on the durability, reliability
a great tool to solve the problem which gives
and performance of gas turbine engines. Therefore,
important results including pressure development,
studies on turbines are always topical, especially the
temperature, velocity and turbulent in the whole area
following topics: improving aerodynamics; stresses
of the turbine blade [12]. However, this method
created by aerodynamic loads, inertial loads, thermal
requires powerful computer resources and good CFD
loads, heat transfer and cooling systems; and using
simulation skilled users [13].
new materials. In general, studing thermodynamic
In technical problems, the first method is
parameters of the turbine stages provides fundamental
normally used to estimate boundary conditions for
background which is needed for the above topics. The
CFD simulation [13, 14], and finally is to perform
thermodynamic parameters include conditions of gas
experimentations. The first approach is still widely
flowing in the stage of the main sections (pressure,
utilized in software to calculate thermodynamics
temperature, density, and triangular velocity) and
cycles for gas turbine engines such as Uni_MM,
other parameters such as the degree of reaction, the
DVIGwT, ЦИАМ, ГРАД (Russa), GSP (NLR-
blade twisting rule…[1, 6].
Holland) và GateCyleTM (GE, US) [15, 16]. The flow
In this study, there are two types of problems: in the calculating zone is the single-phase flow and as
(1) bottom-up approach or testing approach (in such using the first approach could be acceptable.
accordance with the stratum geometry for computing Some studies showed a small difference when
aerodynamic parameters), and (2) top-down approach compare results achieved using the first and the
or designing approach (a predetermined requirement second approaches [12, 13].
of aerodynamic parameters for calculating the
The authors adopted the first approach in order
geometric parameters of stages). The first approach is
to estimate the boundary conditions for our CFD
normalled used for applied studies on anexisting
models which will be developed latter and we hope to
engines.
report the outcomes for further details about the
There are two common methods used for dynamics conditions of the gas turbine studied here.
examining this problem: The studied object is high pressure blade of DR-76
gas turbine engine with geometry dimension
The first method uses the conservation equations
measured at Vietnam Naval Academy (Nha Trang –
(mass flow, energy, momentum) and aerodynamic
Khanh Hoa).
functions (mass flow, pressure, temperature) to
calculate the average parameters (triangle speed, In previous gas dynamics calculations for
temperature, pressure) before and after the nozzle turbine stages, the adiabatic index k, was assumed to
blades, rotor blades. The results obtained when using be a constant (1,33). But in practice, temperature has
this method are acceptable, but they do not evaluate a significant effect on index k [8, 10], so the authors
the distribution of parameters along the perimeter of will continue to develop a method for calculating the
131 October 27 - 28, 2018

Hanoi, Vietnam
aerodynamic parameters for the anterior and posterior Formula estimating total temperature:
parts of the nozzle blade, the rotor blades at the 3 k g T *   1 2
T ,T *   *  1 
T
points in the cross-section (tip, mean, and the hub) 
taking into account the change in the adiabatic index T k g T *   1
k in accordance with temperature. The calculated (4)
object is a high-pressure turbine of DR 76 engine at
different partial load modes (100%, 80%, 62,5%, Critical speed of sound:
50% and Reverse) [4, 5].   R
2k g T *
 
ath T *   T * m/s (5)
2. Calculating model development kg T   1
* g
A model of aerodynamic calculation is

developed for the turbine stage at the mean cross-  
k g T * 1
  k g T *  1 k g T *  
section (see Section 2.1) and at other cross-sections
Sg T *    2  
(see Section 2.2).
  
 kg T *  1 

Rg
(6)
2.1. Calculating thermodynamic parameters for the
turbine at the mean cross-section 4th step: Calculating rotor output speed and work
1st step: Determining the angle of gas flow in - The flow velocity at the blade is calculated
accordance with geometry of the blade profile and the using equation (1) and (2), in which at the first step,
data reported on refs. [7, 9]: angle of attack (i), angle temperature T2*, pressure p2*shown in equation (2),
of separation (δ). (3), (6) are assumed to be T 0*, p0*, respectively.
2nd step: Calculating the cross-section area (F) - The rotor work is determined using the
(see Figure 1) from the diameter shown in Table 1. following equation
Lu  u1  w1u  u2  w2u
3rd step: Calculating parameters for the flow at
the inlet and outlet of nozzle blade. (7)
- The flow speed is calculated using the mass Where u1 and u2 are the rotation speed at inlet and
flow equation outlet, respectively; w1u and w2u are blade’s relative
velocity at inlet and outlet, respectively.
G  T*
q  Speed, wu, is determined based on absolute
 
(1)
S g T *  p*  F  K g velocity c and flow angle.
5th step: Calculating the pressure drop coefficient
Kg is the constant chosen in ref. [7].
and the temperature and pressure parameter behind
- Determining velocity, pressure, static the rotor
temperature in accordance with aerodynamic
functions, taking into account the effect of From the work created due to the rotation of
blades, isentropic work (Hst) and useful work on the
temperature on the adiabatic index, k.
axis (Lst) are determined by multiplying the
Determination of the speed coefficient () corresponding coefficients.
through the flow equation
Determining the total isoentropic temperature
1 1
T2s*after the turbine stage by solving equation [8]:
 
 kg T*
 
 1  kg T * 1  
 kg T  1
*
 
 kg T * 1
 
q  ,T *       1   2   
 k g (T * ) 
    
 kg T *  1 





(2) H st  c pg  
T0  T0  Rg  T2 s  1 
* * * 1
2
kJ/kg
 *
T2 s  T2 s  
*
adiabatic index:  b0  1  b1  1000  b2   1000  
   
2
T*  T* 
 
(8)
kg T *
 b0  b1   b2    , Axial velocity at the output is determined using
1000  1000  the equation [9]:
b0=1,429; b1=-0,144; b2=0,034 [8, 10]
 
 
Formula estimating total pressure:   kJ/kg
 
kg T *
Lst  c pg  
T0*  T0*  Rg  T2*  1 
1
2
 T2*  T2*  
p  k g T  1  *  k g T *  1  b0  1  b1  1000  b2   1000  

p ,T *    1  2    
p*  k g T *  1 
    (3) (9)
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Hanoi, Vietnam
The coefficient of pressure drop in the stage πst* is calculated using the equation [8]:
1
   T * 2 T2*s   2 b0 1    T *  T2*s  
            2  b2   0      
2s
b b b 1
 b1 
2
T  T   
2 1 0
 
* *
 st*  0*   0*       
1000 1000  arctg 1000
   
 
exp

T2 s  T2 s    T * 2 T *
    b  1       

 
T *




 
T *



 1  1 
0 2 s
 b2   1000   b1  1000  b0  1  
0
0 0 2 b b 2 b b
  
2 2
 
        1000   1000 
(10)
where:   b1  4  b2   b0  1 m  1 1   st  m    ri  
2 2 2 m
1   1     
    rm  
2
m c1a  m m/s
c2 a i  c2 a  m 
From the temperature T2*calculated at step 5, we m  1 Lu  m  r    m 1

repeat step 4, calculating at step 4 and step 5 will be    1   st  m   1   i  
m 1 c
    rm  
2
repeated until the deferences of speed, pressure, 1a  m  

temperature at the rotor output after the deviation do (12)
not exceed 1% between two consecutive steps.
where: c1a-m , c2a-m - mean axial velocity at the inlet
2.2. Calculating thermodynamic parameters at and outlet of the rotor blade, which is calculated in
different diameters of the turbine stage step 2; ri - radius in the cross-section i; rm - mean
radius; ρst-m - degree of reaction on mean diameter;
6th step: Determining the twisting rule for the c1a  m
c1a  m  ; Lu  Lu where um – mean speed of
blades um  um 
2
The twisting rule usually selects the rotation, m/s.

dependence: cu  ave  r m  const , where
8th step: Determining the absolute speed c, the
c  c2u relative w at different radius, when the axial velocity
cu  ave  1u - the average velocity in the
2 and the flow angle are known.
direction of rotation at a radius r, m - m is the
characteristic coefficient (m=-1,0÷1,0). Usually, in 9th step: Determining the flow pressure,
the modern turbine the following regular laws: m = 1 temperature at different radius from the aerodynamic
- law of conservation of circulation; m=cos2α1 - the equation
law of the exit angle from the nozzle constant
(α1=const). 10th step: Absolute angle at the outlet of the
rotor blade is calculated using the equation:
7th step: Determining the axial speed at the inlet
and outlet of the rotor blade at different radius c 
 2  arcsin  2a 
Axial velocity at the input is determined using  c2 
the equation [9]:
11th step: Testing the selected coefficients by
comparing the calculated velocity in the triangular
m  1 1   st  m    ri  
2 2 m
1   1      velocity with the actual velocity shown in Table 2. If

    rm  
2
m c1a  m m/s
c1a i  c1a  m 
the error exceeds 5% by any radius, then the
  m 1
m  1 Lu  m  r   coefficients must be re-selected.
   1   st  m   1   i  
m 1 c
    rm  
2
1a  m  
(11)
133 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 1. Air-gas channel of high-pressure turbine stage and profile of blade at different radius [3].
3. Input data for the model
The simulated model used in this work is a high-pressure turbine stage of DR 76 gas turbine engine. Figure 1
shows the turbine’s air-gas channel and the nozzle blade’s profile, the rotor blade. Main specifications including
dimensions measured directly in the engine is listed in Table 1.
The flow parameters at the input are obtained by solving the thermal cycle [2] and these are shown in Table 2.
The air-gas channel is divided into 3 sections: 0-0 –inlet nozzle blade, 1-1 – outlet nozzle blade, and 2-2 –
outlet rotor blade as shown clearly in Figure 1.
Table 1. Basic geometric parameters of the air-gas channel of the high-pressure turbine
Geometric parameters Inlet nozzle Outlet nozzle Inlet rotor Outlet rotor
blade blade blade blade
Outter diameter, m 0,453 0,446 0,448 0,4515
Inner diameter, m 0,390 0,390 0,387 0,387
Geometric angle on tip section, deg 90 14 92 22
Geometric angles in the mean section, deg 90 14 70 25
Geometric angles in hub section, deg 90 14 60 31
Table 2. Parameters of the gas flow at the inlet of the high-pressure turbine [2]
Parameters Symbol (unit) load, %
100 80 62,5 50 reverse
Temperature Tg* (K) 1246 1163 1100 1055 1156
Pressure pg* (kPa) 1203 1039 914 818 943
Mass flow Gg (kg/s) 14 13 11,7 10,9 12
Turbine rotation speed n (rpm) 20360 19780 19260 18840 19500
1400
p*-
4. Results and discussion 1200 100
%
4.1. Thermodynamic parameters of gas in a turbine 1000 p*-
p, kPa
stage at load modes 80%

800
From method developed in Section 2, the p*-
600 rev
variation in the gas flow parameters in the turbine
stage at different load modes at standard ambient 400 p*-
conditions can be estimated. 0 1 2 62,5
cross-section %
Fig. 2. Variation in pressure in the turbine stage

at load modes.
134 October 27 - 28, 2018

Hanoi, Vietnam
k
1.9 0.4 p*  k  1  k 1
1.8 ( 0    1,85 ), those, the flow in the high-
0.38 pcr  2 
1.7
0.36 pressure turbine of DR76 gas turbine engine is under
1.6
ρ_st
π*
0.34 critical conditions. Relative speed and absolute speed

1.5
0.32 are less than the speed of sound (Fig.4 and 5).
1.4
1.3 0.3 Figures 4 shows that the absolute and relative
100 80 62.5 50 reverse flow speeds in the studied load modes vary in a
mode narrow range.
π_st* p0*/p1 p1*/p2 ρ_st Figures 6 and 7 show the change in gas
temperature and density in the turbine.
Fig. 3. Pressure ratio and degree reaction.
1300
Figures 3 and 4 shows the variation in total T*-100%
pressure p* and static pressure p in the turbine stage 1250
T*-80%
at different load modes. From the results shown in 1200
1150 T*-rev
Figures 2 and 3, it can be shown that in the studied
T, K
load modes the pressure ratio πst* and the degree 1100 T*-62,5%
reaction ρst in the turbine vary insignificantly (in the 1050 T*-50%
range 1.6 ÷ 1.75). It was shown in ref. [11], the 1000
T-100%
pressure ratio of the high-pressure turbine is the least 950
variable when the load mode is changed. 900 T-80%
0 1 2 T-rev
600 c-100% cross-section
500 c-80% Fig. 6. Change of temperature in the turbine under

c-62,5% operating conditions.
400
c, w, m/s
c-50%
300 3.5
c-rev ρ-100%
200 w-100% ρ-80%
w-80%
3 ρ-62,5%
100 ρ-50%
ρ, kg/m3
w-62,5% ρ-rev
0 w-50% 2.5
0 1 2
w-rev
cross-section
2
Fig. 4. Relative speed w and absolute speed c.
1.5
0.8 0 1 2
cross-section
0.75
lamda_c1 Fig. 7. Change of gas density in the turbine under
lamda_w2 operating conditions.
0.7
lamda
4.2. Thermodynamic parameters of gas flow at

0.65
different diameters
Figures 8 ÷ 12 shows the results in the nominal
0.6 mode (100% load). In Figures 8-10, it is shown that
100 80 62.5 50 reverse the temperatures, pressures and densities in the front
mode and rear stages practically do not change with the
height. Before the rotor blades, the parameters are
Fig. 5. Absolute speed coefficient c1 and w2. variable, and there is a rule: increasing the pressure
Figures 3 shows that the pressure ratio in the and temperature as the height increases, which is
nozzle blade p0* p1 and the rotor blades p1* p2 in the explained by the balancing of the centrifugal force
due to the rotational movement of the rotor. The
studies load modes vary in a narrow range and
density of the gas flow decreases as the height
correspond approximately to 1.39 ÷ 1.5 and 1, 7 ÷ 1.83.
increases due to an increase in temperature, which is
All these values are below the critical pressure drop
greater than the increase in pressure.
135 October 27 - 28, 2018

Hanoi, Vietnam
100 the next stage does not change with altitude, which
increases the technology in designing and
80 manufacturing the next stage of the turbine.
60
l, %
100
40 p1
80
p2
20
p0 60
l, %
0
600 800 1000 1200 40
p, Pa 20
Fig. 8. Dependence of flow pressure with blade 0
height in normal mode. 0 20 40 60 80 100
angle, deg
100
α1 α2 β1 β2
80
Fig. 11. Dependence of gas flow angle with blade
60 height in normal mode.
l, %
40 Figure 12 shows that the absolute velocity at the

inlet of the rotor blades c1 and its components (c1a and
20 T1 c1u) decreases from the hub to the tip of the blade.
T2
0 The absolute velocity at the output (c2, c2a, c2u) varies
1110 1120 1130 1140 1150 1160 1170 less significantly with height, so that the gas flow in
T, K the next stage is fairly uniform. The relative velocity
at the input of the rotor blade w1 decreases from hub
Fig. 9. Dependence of flow temperature with blade
to tip, and at the output w2 - on the contrary.
height in normal mode.
The variation trend of these parameters in partial
100
modes is analogous to normal mode, and they do not
80 contradict the published theories of the gas turbine [7,
60 9].
l, %
40 Figure 13 shows the change in the degree of

20
reaction of the turbine stage ρst with height in the
modes. It can be seen that the degree of reactivity
0 increases from the hub to the tip, in the hub 0.25 to
2 2.5 3 3.5
0.3, in the upper part 0.43 to 0.47, they are in the
ρ, kg/m3
recommended range [6, 9]. The degree of reaction at
ρ0 ρ1 ρ2 the same cross-section in different modes is slightly
Fig. 10. Dependence of flow density with blade different, which is partially shown in Figure 3 (mean
height in normal mode. cross-section).
Figure 11 shows that the exit angle of the flow

after the rotor blade α2 slightly varies with the blade
height. Thus, the entry angle on the nozzle blade of
100 c1
80
60 c1a
l, %
40 c1u
20
0 c2
50 100 150 200 250 300 350 400 450 500 550 c2a
velocity, m/s
c2u
Fig. 12. The dependence of velocities on blade height in normal mode.
136 October 27 - 28, 2018

Hanoi, Vietnam
accordance with the twisting rule: the angle α1 and α2

100
100% load are constant.
80% load
80 - The trend of thermodynamic flow parameters
reverse
62,5% load
at different load modes is quite identical.
60
50% load
l, %
References
40 [1] Đào Trong Thắng, Nguyễn Trung Kiên. Cơ sở tính
toán, thiết kế động cơ tuabin khí tàu thủy, Nhà xuất
20 bản Quân đội nhân dân, 2014.
0 [2] Vũ Đức Mạnh, Nguyễn Trung Kiên, Đào Trọng

0.2 0.3 0.4 0.5 Thắng. Nghiên cứu ảnh hưởng của nhiệt độ môi
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62,5% load
0 [7] О.Н. Емин, В.Н. Карасев, Ю.А. Ржавин, Выбор
55 60 65 70 параметров и газодинамический расчет осевых
α2, deg компрессоров и турбин авиационных ГТД,
Издательство МАИ, Москва, 2004.
[8] Нгуен Чунг Киен. Диссертация на соискание
Fig. 14. Dependence of the flow angle α2 on height in ученой степени кандидата технических наук,
the load modes. “Эффективность и регулирование мощности
морского газотурбинного двигателя с паровым
Figure 14 shows the result of the angle α2 at теплоутилизационным контуром при атмосферной
different heights in different load modes. The angle конденсации пара и управляющем электроприводе”.
α2 varies slowly with height (the largest is 2.1°), and Санкт – Петербургский Государственный Морской
the difference between the load modes is small (the Технический Университет, Санкт – Петербург -
max deviation is 7°). Therefore, the flow tears in the 2007.
next stage is very favorable and can provide high [9] Ю. А. Ржавин, О. Н. Емин, В. Н. Карасев ; под ред.
efficiency. Ю. А. Ржавина, Лопаточные машины двигателей
летательных аппаратов, теория и расчет. ISBN:
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978-5-7035-2048-2, Москва , МАИ-ПРИНТ 2008.
The method for calculating the thermodynamic [10] Чу Хонг Ха, Диссертация на соискание ученой
parameters of the turbine stage is developed in this степени кандидата технических наук
article, taking into account the change in the adiabatic “Совершенствование матетматических моделей
index k, when the basic geometric parameters of the проектирования ступени осевого компрессора
stage. морского газотурбинного двигателя” Санкт –
Петербургский Государственный Морской
The results give the following conclusions: Технический Университет, Санкт – Петербург -
- The basic thermodynamic flow parameters in a 2004.
high-pressure turbine (pressure ratio, degree of [11] И.В. Коляр. Судоывые газотурбинные установки.
reaction, speed) in only differ slightly under different Судостроение- Ленинград 1967.
load modes. [12] Кривцов А.В, Шаблий Л.С “Связанное
- The flow parameters of the turbine stage of газодинамическое моделирование двигателя
DR76 engine at different heights change in беспилотного летательного аппарата”,
Электронный жирнал Труды МАИ No 74.
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[13] Russell W. Claus, Scott Townsend, A review of high [15] Горюнов И.М, Болдырев О.И (2011)“Направления
fidelity, gas turbine engine simulations. //ICAS 2010, развития современных математических моделей
2010. 27th International Congress of The рабочих процессов газотурбинных двигателей”
Aeronautical Sciences. Современные проблемы науки и образования.– №
6 Уфа: УДК 621.452.32.
[14] Кривошеев И.А, Холова Ю.А “Разработка
системы моделирования по расчету турбин на базе [16] Мураева М.А, Горюнов И.М, Харитонов В.Ф
I-S диаграмм”, Молодой Ученый ISSN 2072-0297, “Термодинамические основы изотермического
7/2011 том 1. расширения и методика расчета турбины ГТД с
изотермическим расширением”, Вестник УГАТУ
ISSN 1992-6502, Т.19 No 3(69), 2015, c.111-118.
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A Rapid Object-Oriented Process to Develop Controllers for Autonomous

Underwater Vehicles
Ngo Van Hien*, Pham Gia Diem
*Email: hien.ngovan@hust.edu.vn
Abstract
This paper presents a rapid object-oriented process, which is based on the real-time Unified Modeling
Language (UML)/System Modeling Language (SysML), hybrid automata and Model-Driven Architecture
(MDA) in order to quickly develop the controllers of Autonomous Underwater Vehicles (AUVs). This process
completely covers the requirement analysis, design, implementation and deployment phases of systems,
and can be applied to various AUV platforms. It also allows the developed design elements to be
customizable and reusable in new applications of AUV control. The paper shows out step-by-step the AUV
dynamic model for control, specialization of MDA’s features such as the Computation Independent Model
(CIM) combined with use-cases and hybrid automata, the Platform Independent Model (PIM) carried out by
using real-time UML/SysML, and as well as its Platform Specific Model (PSM) implemented by sub-system
paradigms and object-oriented mechanisms to entirely perform the development lifecycle of AUV controller.
The detailed design model of PIM is also converted into the implementation model of PSM by using open-
source platforms in order to quickly simulate and realize the control performance and operational
functionalities of this system. Finally, this process was applied to completely implement a planar course-
tracking controller of a miniature autonomous underwater vehicle.
Keywords: AUV control, underwater robot, hybrid automata, Real-Time UML/SysML, MDA.
1. Introduction Predictive Control (MPC) and Linear Quadratic

Regulator (LQR). Teixeira, Quintas and Pascoal [4]
AUVs have seen unprecedented levels of growth
have introduced the development of terrain
over the last decade. Even though AUVs have been
navigation methods for small AUVs, which was
mainly used for military applications, there is a
based on standard navigation sensors, and could be
considerable and increasing interest for civilian
dispensed with the need of dedicated sensors for
applications. It is postulated that AUVs will be used
terrain data acquisition. This study has addressed the
in the future extensively for environmental
problem of implementation of terrain navigation in
monitoring, the biology of ocean resources, disaster
underwater scenarios characterized by smooth sea-
and tsunami warnings, etc. Control systems have a
bottom topography and very shallow water, where the
significant impact on the performance of AUVs and
terrain information available for navigation is always
marine structures allowing them to perform tasks in
scarce. A rapid procedure for a fast calibration of the
severe sea states and during long periods of time.
main hydrodynamic parameters of an AUV has been
AUVs are designed to operate with adequate
proposed and validated using simulation tools and the
reliability and economy, and in order to achieve this,
experimental data coming from campaigns at sea [5],
it is essential to control the motion. The problem of
that indicated the identification of the main
designing motion controllers for AUV is equally
hydrodynamic properties is very important for the
challenging because these controllers are tightly
tuning of an accurate dynamic model of the vehicle.
connected with the dynamic models. There are
The identified hydrodynamic parameters could be
actually many AUV control applications that have
then used for developing model-based localization
used soft computing techniques to optimally solve the
and navigation filters for the AUV.
control of AUV dynamics [1, 2]. For example, A
However, we find that these guidance and
hybrid-driven underwater glider model,
control models are based on the structural procedures
hydrodynamics estimation, and an analysis of the
and implementations. Thus, they could be difficult to
motion control have been introduced in [3] that
customize and re-use the designed control elements
included the estimation of hydrodynamic coefficients
for implementing controllers of different AUVs into
by using the Strip theory and Computational Fluid
various software and hardware platforms in order to
Dynamics (CFD), and basically combined with the
suitably realize them. In fact, the immersion in an
analysis of motion control of the glider by using the
industrial control context makes the designers and
Neural Network Predictive Control (NNPC); its
programmers take into account costs and existing
performance has been compared with the Model
standards for analyzing, designing and implementing
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effectively these systems. The customization and re- Table 1. SNAME notations for underwater vehicles.
utilization are factors to be associated with the Degreeof Motions Forceand Linear Positionand
production of a new application in order to reduce its freedom moment and Eulerangles
costs, resources and time development. In addition, angular
the Object Management Group (OMG) have velocity
standardized the Model-Driven Architecture (MDA) 1 Surge X u x
[6], which has been started with the well-known and 2 Sway Y v y
long established idea to separate the specification of 3 Heave Z w z
system operations from the details of the way that 4 Roll K p ϕ
system uses the capabilities of its platform. MDA 5 Pitch M q θ
provides an approach for, and enables tools to be 6 Yaw N r ψ
provided for: specifying a system independently of From the large field of guidance, navigation and
the platform that supports it; specifying platforms; control of underwater vehicles, the 6 DoF (Degrees of
choosing a particular platform for the system; and Freedom) dynamic model of AUVs in body frame
transforming the system specification into one for a [13, 14] can be written in the following form:
particular platform. 𝜂̇ = 𝐽(𝜂)𝜈
{
From the above consideration, we have 𝑀𝜈̇ + 𝐶(𝜈)𝜈 + 𝐷(𝜈)𝜈 + 𝑔(𝜂) = 𝜏 + 𝑔𝑜 + 𝜔
developed a rapid object-oriented process to (1)
T
systematically analyze, design, implement and deploy Where: η =(x, y,z, ϕ, θ, ψ) is the position
the AUV controller of which dynamic behaviors can (NED: North, East and Down) and orientation (Euler
be modeled by Hybrid Automata (HA) [7, 8]. This RPY: Roll, Pitch and Yaw angles); ν = (u, v , w, p,
control system permits an AUV to reach and follow a T
q, r) is the velocity and angular velocity; M = MRB +
reference course in the Cartesian space. In this
model, we specify the AUV dynamic model for MA is a massmatrix, which denotes the 6×6 system
control, MDA’s features such as the CIM performed inertia matrix containing MRB - the generalized
by specifying the use-case model of UML/SysML [9, constant inertia matrix, and MA - the added mass
10] combined with HA, the PIM carried out by using inertia matrix; C(ν) = CRB(ν) + CA(ν)is the 6×6
the real-time UML/SysML [11, 12], as well as its Coriolis and centripetal forces matrix including added
PSM implemented by the object-oriented mass; linear and nonlinear hydrodynamic damping
mechanisms of open-source platforms in order to are contained within the 6×6 matrix D(ν)=D+Dn(ν),
make up an executable process for analyzing, D contains the linear damping terms, and Dn(ν)
designing, implementing and realizing systematically contains the nonlinear damping terms; g(η)is the 6×1
the AUV controller. vector of gravitational and buoyancy effects; τ is the
The structure of this paper is organized as 6×1 control input force and torque; g0 is the ballast
follows: Section 2 introduces the overview of AUV force and torque; and finally ω is the 6×1 vector
dynamic model and general control structure. In external disturbances caused by wind, waves and
Section 3, an executable MDA process for AUV ocean current.
controllers is proposed by unifying the real-time
UML/SysML, HA and object-oriented 2.2. Control architecture of AUVs
implementation mechanisms; the analysis, design and Main sub-systems, which can be participated in
realization models of AUV controllers are developed the physical control architecture of AUVs are the
by implementing the detailed components of CIM, guidance system, navigation system, and control
PIM and PSM. Following this approach, a planar system [15]. Fig. 1 shows out a functional block
course-tracking controller of a miniature autonomous diagram, which captures how these sub-systems
underwater vehicle was completely developed and interact. Here, the guidance system is responsible for
successfully taken on trial trip that is presented in producing the desired course for the vehicle to
Section 4. Finally, the conclusions are made in follow; the navigation system addresses the task of
Section 5. determining the current state of the vehicle. The
2. AUV Dynamics and Control Architecture controllers are responsible for providing the
corrective signals and events to enable the vehicle to
2.1. AUV dynamic model for control follow a desired path. This is achieved by receiving
According to the Society of Naval Architects the desired state of the vehicle from the guidance
and Marine Engineers (SNAME) [13], the six motion system, and the current state of the vehicle from the
components of an underwater vehicle are defined as navigation system. Environmental disturbances,
surge, sway, heave, roll, pitch, and yaw in Table 1. which can be ocean currents, winds, waves, etc., are
extremely complex and highly dynamic, and make
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implemented; The PIM is used by software architects

and designers to describe the software solution at a
high level, independent of the solution’s deployment
platform. This high-level definition of the solution
can then be translated into multiple platform-specific
models. The PSM specifies a combination between
the details found in the PIM with the details
representing how a solution can be implemented on a
Fig. 1. Block diagram of guidance, navigation and
platform. Furthermore, MDA supports also for model
control for underwater vehicles.
transformations that are the processes of converting
the control of an AUV highly challenging tasks. one model to another model of the same system. The
These disturbances appear and must be taken into input to the transformation is the marked PIM and the
account for an AUV in order to traverse such mapping. The result is the PSM and the record of
environments. transformation.
Furthermore, industrial control systems of actual Starting from the characteristics of the above
machines or actuators take into account models with AUV dynamic model (1), real-time UML/SysML [11,
discrete events and continuous behaviors that can be 12] together with the MDA specifications [6], we
called Hybrid Dynamic Systems (HDS) [7, 8, 16]. have defined a rapid object-oriented process, which
These behaviors are distributed on different operating permits us to systematically analyze, design and
modes, which are associated with processes related to implement controllers of AUVs modeled by HA and
the interactivity with users such as the designer, to re-use them for new control applications of
supervisor, maintainer etc. Furthermore, controlled different AUVs. This process will be gone into detail
systems do not always have the same behavior in next sub-sections for describing entirely the
because they are associated with validity hypotheses development of an AUV controller.
to check at any moment; the security forces to
3.1. Defining the CIM for an AUV controller
envisage events, and behaviors different from
nominal behaviors. Object collaborations with UML/SysML, which
From the above described AUV dynamic model are based on the use case model, interaction diagrams
(1) together with its general control architecture and and state machines are used to present the structural
characteristics of HDS, we find that controllers of and behavioral analysis of an AUV controller. From
AUV are HDS whose dynamic behaviors can be the above dynamic model and general control
modeled by HA. These controllers has the structure of AUVs, we present here the main use case
continuous/discrete parts and their interactions such model of AUV controllers as shown in Fig 2a, Fig. 2b
as the motions in surge, sway, heave, roll, pitch, and and Fig. 2c. Here, MDS is the Measurement and
yaw, and external interacting events from the Display System combined with the guidance and
guidance and navigation system and environmental navigation system; MES is the Marine Environment
disturbances. In our approach, we are interested in System including disturbances such as the wind,
developing the course-tracking controller of AUVs, waves, ocean currents etc.
so we can use this hybrid dynamic model to find out In this model, we use the dynamic model of
the control algorithms with a specific guidance law AUV (1) and LOS guidance [17] because we are
such as the Line-Of-Sight (LOS) guidance presented interested in the course-tracking control of AUV. It
in Lekkas and Fossen [17]. is necessary to provide industrial conditions, e.g. the
maximum swing angles of rudder and sail planes,
3. Executable process to develop an AUV
velocity, immersible depth and other safe trip modes
controller
of the AUV being developed in order to make in the
MDA [6] is an approach to system development, operational safety of this system. In addition, an
which increases the power of models in that work. implemented functional block diagram must be
The three main goals of MDA are portability, defined in order to model continuous behaviors of
interoperability and reusability through architectural this system with events issued from outside; because
separation of concerns. MDA contains three models UML/SysML lacks the constructs for modeling
to separate the specification of the operation of a internal continuous behaviors for each state on the
system from the details of the way that system uses state machine diagram. Starting from the considered
the capabilities of its platform. The CIM is referred to dynamic model of AUV, its industrial constraint
as a domain model; it presents the system at the conditions (e.g. the maximum swing angles of rudder
highest level of abstraction. The goal of the CIM is to and sail planes, velocity, immersible depth and safe
model the problem entirely in business terms and trip modes), and the defined use case model with
without getting into the solution or how it might be LOS guidance, we propose here an implemented
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Fig. 3. An implemented functional diagram for the

AUV controller.
thrusters, and the desired driving angle di to the
needed servo-motor controllers for sail planes and
rudder) that depend on the concrete configuration of
AUV actuators; ,, and T are respectively the
overall torque and thrust acting on the AUV. In our
current model, the Integral Backstepping (IB)
techniques combined with Extended Kalman Filters
(EKF) [14, 18] are hierarchically used for the depth,
position and attitude control. To combine the
continuous-time model with the discrete-time model,
the nonlinear kinematic system model and linear
model of measurement system are respectively
associated with a white Gaussian state noise and a
white Gaussian measurement noise. The EKF
algorithm is an adaptive filter that estimates the
position, depth, attitude and velocity of the AUV.
Finally, the Proportional-Integral-Derivative (PID)
regulators are applied to the block of motor control.
In CIM, HA are used to describe mathematical
behaviors, i.e. the dynamic model of AUV:
Situations, Continuous State Variables, Event,
Transition, Global Continuous Behavior and
Fig. 2. Main use case model for the AUV controller Invariants of its HA of this system. A HA of the
(a), a scenario of course-tracking (b) and the local AUV controller is defined by the following form:
state machine of the “Drive” use case (c). HAUV = (Q, X,, A, Inv, F, qo, xo) (2)
Where:
functional block diagram of the AUV controller - Q is a set of states describing trip modes of
(Fig. 3). HAUV, e.g. the motion in horizontal translations,
Here, Desired cousre and depth actions hovering, immergence/emergence, rotations, roll,
respectively give the desired position (xd, yd) and pitch, and yaw, which are combined with the local
depth (zd) to the position and deep controller; Td is state machine oriented towards control modes (Fig.
the desired overall thrust; the position controller 2c) in permutations. Q can be called situations of the
receives the AUV’s position (x, y) and desired thrust, AUV controller; qo is the initial situation.
it outputs desired roll (d) and pitch (d) while desired - X presents the continuous state space of HAUV,
yaw (d) comes directly from the guidance system; Xn, xo is the initial value of this space, e.g.
the deep controller gives then the desired control continuous components of the AUV controller.
signals to the actuator commands (e.g. desired motor -  is a finite set of events, e.g. external
speeds di to needed motor controllers such as the interacting events from the guidance and navigation
main motor controllers for propellers and tunnel system, and environmental disturbances.
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- A is a set of transitions defined by (q, Guard,

, Jump, q’) and represented by an arc between
situations, here: qQ, q’Q; Guard is a subset of the
state space in which the continuous state must be, so
that the transition can be crossed; Jump represents the
continuous state transformation during the change of
situation; it is expressed by a state value function,
whose result is affected like initial value of the
continuous state in the new situation;  presents
the event being associated in the transition; this
association does not imply to give an input or output
direction to the event.
Fig. 4. Communication pattern of main control
- Inv is an application, which associates a subset
capsules for AUV controllers.
of the state space in each situation; it is called the
invariant of the situation, in which the continuous
time given just as fi F in its HA. Each global
state must remain, when the situation is q, the
continuous behavior corresponds to a situation in this
continuous state must verify xinv(q). HA. The IGCB’s capsule exchanges periodic signals
- F is defined by using the 6 DoF dynamic with other capsules such as the discrete part’s
model of AUV specified from (1), and the capsule, continuous part’s capsule and external
implemented functional block diagram (Fig. 3); the interface’s capsule. The internal interface’s capsule
evolution of continuous state is occurred when the verifies the Inv in HA of the AUV being developed,
situation is activated. F will be named the continuous and generates internal events; so that the discrete
fluid. part’s capsule can make its own evolution by these
To perform the evolution of an AUV controller, events. The external interface’s capsule is an
we introduced constraints as follows:  is intermediary, which receives or sends episodic events
considered in term of inputs/outputs and and periodic signals between the developed AUV and
internality/externality; X contains input/output their interacted systems such as MES and MDS in our
signals. We also presented the realization hypotheses case study.
of the HA’s evolution, which permit the invariant Inv In addition, the re-use is very important to
and guard control Guard can generate internal events develop controllers for different AUVs in our
for controllers; the details of these hypotheses can be approach because it makes it possible to reduce the
found in the authors’ report [19]. time and development cost. Different reusable
3.2. Constructing the PIM for an AUV controller views in the development phase are considered as
follows: The re-use view is based on the virtual
From the approach described in the authors’ mechanism of objects, classes, or class hierarch.
reports [19, 20], we have developed the 5 main The other re-use view is based on design
control capsules of PIM, which take part in the HA components, e.g. the implemented functional block
realization of the AUV being developed: the diagram, the global state machine of AUV, generic
continuous part’s capsule, discrete part’s capsule, state machine of main control capsule that can be
internal interface’s capsule, external interface’s specified to develop various control applications of
capsule and Instantaneous Global Continuous AUVs. The specializations, which permit the
Behavior (IGCB’s capsule). Fig. 4 shows out the capsule collaboration of a developed AUV to be
general communication pattern of these control customizable and reusable in the new control
capsules by using the real-time UML’s application for various AUVs, can be seen in the
collaboration diagram. It can be noted that if we use authors’ report [19].
the SysML notations to model these features, then
each capsule and its protocols respectively 3.3. Building the PSM for an AUV controller
correspond to a block and its flow ports and item i) Model transformation of an AUV controller:
flows. Here, the discrete part’s capsule contains a set To carry out control systems such as the AUV, the
of situations Q and transitions A in HA of the AUV PSM is firstly implemented to the simulation model
being developed (i.e. the macro-motion in surge, transformed from the above identified PIM. The
sway, heave, roll, pitch, and yaw). The continuous simulation results also permits us to theoretically
part’s capsule is combined with the continuous state evaluate the control performance and functionalities,
space X in the implemented functional block diagram. and to easily optimize the control design elements
The IGCB’s capsule contains concrete global before they are implemented and deployed. Then, the
continuous behaviors of the AUV being developed at PIM with the modifying control elements optimized
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in the PSM of simulation model is adapted to obtain

Table 2. Main characteristics of the MAUV.
the new updated PIM for realization models of AUV
that will be called PIM*. Finally, this PIM* is Parameter Value
converted into new PSMs by using different specific Size (L x H x W) 1.5m x 0.2m x 0.2m
platforms, which are based on the object-oriented Net dry weight 11.2 kg
Implementation Development Environment (IDE) in Autonomy 20 minutes
order to completely realize the AUV controller with 2 x Li-Po battery 22.2 V, 20000 mAh
compatible microcontrollers. Maximum load 214 W
ii) Implementing the PSM for the AUV capacity (Cmax)
simulation model: The ‘sub-system’ paradigms, Maximum 0.6 m/s
which are supported by software tools, e.g. LabView- immergence/emergence
VI, MatLab-Simulink and OpenModelica are used to speed
perform the control simulation model of AUV; Maximum horizontal 1.5 m/s
because they are easily adapted from the object- translation speed
oriented design elements of PIM. In this study, we
Maximum diving depth 1.0 m
use OpenModelica software [21] to simulate the
Maximum radius of 400 m
control performance of AUV, because it is tightly
action
based on the object-oriented mechanisms and
properties of Modelica language such as the
abstraction, encapsulation, modularity and heritance
[22]. In addition, Modelica is primarily used to deal
with the continuous and discrete time dynamics of
complex systems that is based on solving differential
and algebraic equations.
iii) Deploying the PSM for the AUV realization
model: In the PSM with realization models, we have
to update the PIM with the modifying control
elements optimized in the previous PSM of
simulation model. Then to carry out AUV with
microcontroller, we will convert this updated PIM Fig. 5. Transient control response in a desired course
(PIM*) into PSMs by using different specific from the current position.
platforms, which support object-oriented current position. One of the simulation results is then
programming languages such as C++, Java, Ada, etc. shown as Fig. 5 that indicates a transient response of
in order to completely realize its design model. This the MAUV’s course. In this simulation scenario, we
conversion of updated PIM into PSMs can be suppose the MAUV has a rudder’s steering angle of
performed by using object-oriented modeling 020o, a MAUV’s load capacity of 40%Cmax and a
software tools, which support the round-trip mean horizontal velocity of 0.4m/s; then the transient
engineering, e.g. IBM Rational Rose RealTime and period is 8.4s for the stabilized course.
IBM Rational Rhapsody [23]. All of obtained simulation results permit us to
4. Application theoretically evaluate the control performance of this
application within the control criteria such as the
Following the above described approach, we admissible timing response, transition and static
successfully developed a planar course-tracking errors. From that point, we can decide to choose the
controller of a Miniature AUV (MAUV), which must designed control elements and their properties for
reach and follow a geometric reference path in the implementing the realization model of this system.
Cartesian space starting from a given initial We have used then Arduino platform [24] to
configuration. In our case study, the propeller, sail quickly deploy the realization model for the
planes, rudder and displacement unit are used to controller. Because Arduino is an open-source
provide the translational forces and rotational electronics prototyping platform based on flexible,
moments that drive MAUV. The main characteristics easy-to-use hardware and software; it intended for
of MAUV are resumed in Table 2. designers and programmers interested in creating
In this application, the simulation model was interactive objects or environments. Arduino can
performed by using OpenModelica software. We sense the environment by receiving input from a
present here an example of the simulation cases that variety of sensors such as pressure, magnetometer,
supposes the guidance and navigation system address Inertial Measurement Unit (IMU), Global Positioning
a drive event in the Transferring situationto the System (GPS), etc., and can affect its surroundings by
MAUV controller with a desired course from the controlled actuators. Arduino Mega 2560 microcontroller
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[24] has been used on the board, and can be of MDA’s features with the real-time UML/SysML
programmed by using the Arduino programming and HA to systematically analyze, design,
language based on C++ and the object-oriented implement and realize the control parts of system.
embedded programming C++. The AUV dynamic model and general control
We have performed trial trips to test the architecture in use are adapted to gather the
realization model of this application. Fig. 6 shows out requirement analysis for AUV controller. The
the installation of the whole of MAUV components to MDA’s features are specified to obtain an
prepare test cases for the planar course-tracking executable MDA process including the CIM, PIM
controller. The test scenarios are based on the use and PSM for developing entirely this system. The
case model, state machine and desired courses with CIM of an AUV is defined to carry out its object-
various load capacities and steering angle of MAUV, oriented analysis phase by specializing use case
some of the main course-tracking test results are model and HA. The PIM is specified for obtaining
shown in Table 3. the detailed design model by specifying the real-
Based on the comparison between the time UML/SysML notations in the precise
experimental data of trial trip tests and the obtained behaviors and structures of AUV controllers. To
simulation results, the planar course-tracking realize AUV controllers, the PSM is firstly
controller of this MAUV was satisfied with implemented to simulation model, which is
performance requirements, e.g. the admissible control transformed from the identified PIM by applying
duration, transition and static errors. the determined model transformation rules. The
simulation results also permits us to theoretically
5. Conclusions
evaluate the system control performance and
In this paper, we have introduced a rapid functionalities, and to optimally determine the
object-oriented process to develop controllers for control design elements and their parametric values
AUVs. This process is based on the specialization before they are realized and deployed. Then, the
PIM with the modified control elements is adapted
to obtain the new updated PIM for the realization
model. This updated PIM is converted into new
PSMs by using different object-oriented specific
platforms in order to completely realize the AUV
controller with compatible microcontrollers.
Based on this approach, a planar course-
tracking controller of a MAUV was completely
implemented with the simulation model in
OpenModelica. The obtained simulation results
then permit us to mainly define the designed control
elements and their properties, as well as building the
implementation libraries for performing quickly the
realization model in Arduino Mega2560
microcontroller. Finally, this application was
completely deployed and successfully taken on trial
Fig. 6. Setting-up and testing for the planar course- trip. In addition, using the above described
tracking controller of MAUV. approach in this paper, development engineers may
be more capable of managing the system
Table 3. Test scenarios and experimental data in the complexity through the visual modeling artifacts
stabilized courses of the MAUV. and their model transformations.
No Desired Mean Duration for References
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A Hierarchical Implementation Model to Realize Cooperative Controllers

of AUS-MAUVs
Nguyen Son Tung, Ngo Van Hien*
*Email: hien.ngovan@hust.edu.vn
Abstract
A novel hierarchical control model is proposed to realize cooperative controllers, which permit an
Autonomous Unmanned Ship (AUS) to be coordinated with Multiple Autonomous Underwater Vehicles
(MAUVs) in the team-based operations to effectively perform missions for ocean exploration. This model is
based on Hybrid Automata (HA) and the real-time Unified Modeling Language (UML) to systematically depict
the development lifecycle of cooperative controllers. The paper shows out stepwise the main research
contents as follows: the coordinated structure and scenarios are defined to gather the requirements of
control analysis; Hybrid Dynamic Systems (HDS) and real-time UML features are specialized in order to
describe the layered architecture for each AUV cooperated in AUS-MAUVs group; hybrid control models and
their inter-communications are then implemented by the specialization of HA’s features. Finally, the obtained
simulation results of a cooperative control system for an AUS-MAUVs group, which were carried out by
using OpenModelica software, allow us to verify and evaluate the system performance with good reliability
for heterogeneous AUS-AUVs in the team-based operations.
Keywords: Autonomous Unmanned Ships, Multiple Autonomous Underwater Vehicles, Cooperative Control,
Hybrid Automata, Real-time UML.
1. Introduction (HA) features are specialized to model the behaviors

of AUS/AUVs coordination, as well as the real-time
Autonomous Unmanned Ships/Autonomous
capsule collaboration performed by using the real-
Underwater Vehicles (AUS/AUVs) are increasingly
time Unified Modeling Language (UML) [3-5] in
being used by operators in civilian and military areas
order to indicate the detailed architectural
for complex tasks such as the ocean exploration and
components. Then, these components are converted
survey. In fact, the AUS/AUV development is often
into the implementation model with open-source
limited to the sensors and underwater
platforms such as OpenModelica[6] based on
communications, so the information processing
Modelica language [7] to quickly perform the
speed, autonomy duration and zone of actions of
simulation model for the controller. Finally, a
AUS/AUVs are also restricted. A group of
cooperative controller of an AUS combined with a
coordinated AUS and Multiple AUVs dealing with
pair of small-scale AUVs was completely designed
tasks typically provides flexibility, robustness and
and simulated to perform predetermined cooperative
efficiency beyond what is possible with single AUV.
scenarios for ocean exploration and search.
Multiple underwater vehicles could survey large
The structure of this paper is organized as
ocean areas more rapidly and economically than that
follows: Section 2 introduces the coordinated control
could be accomplished with a single AUV or AUS,
structure and scenarios of an AUS/MAUVs team. In
and MAUV could fuse a multitude of sensor data to
Section 3, the object-oriented hierarchical control
improve accuracy of the position and velocity
architecture and hybrid implementation model are
estimates of the moving target and to use such
proposed to develop the cooperative controller for an
information for collaboratively target tracking [1, 2].
AUS/MAUVs team. Following this approach, the
Therefore, we could build an AUS and MAUVs team,
simulation model, which is implemented for a
which cooperatively operates in order to achieve this
cooperative controller of a pair of small-scale AUS
goal.
combined with 03 AUVs for performing the concrete
In this study, we have developed a cooperative
coordination scenarios, is presented in Section 4.
control model, which permits an AUS combined with
Finally, the conclusions and future works are made in
the MAUVs group to be deployed for performing
Section 5.
quickly missions in the wide range of actions in order
to improve the efficiency of ocean exploration and 2. Coordinated and control structure of an
survey. In our model, the physical control structure AUS/MAUVs team
and coordination scenarios are specified to gather the
2.1. Coordinated configuration and scenarios
requirements of control system; Hybrid Automata’s
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Hanoi, Vietnam
continuous behaviors and their interactions that are

called Hybrid Dynamic Systems (HDS) [8, 9]. These
behaviors are distributed on different operating
modes, which are associated with processes related to
the interactivity with users. Furthermore, controlled
systems do not always have the same behavior
because they are associated with validity hypotheses
to check at any moment. The behaviors of such
systems are thus complex; they can be modeled by
Hybrid Automata (HA) [10] for performing
completely design elements in the development
lifecycle of these systems. Hence, HDS are those
systems with interacting continuous and discrete
system dynamics. A HDS has a continuous evolution
and occasional jumps. The jumps correspond to the
change of state in an automaton that transits in
Fig. 1.Coordinated structure of an AUS/AUVs team. response to external events or to the continuous
evolution. A continuous evolution is associated to
Fig. 1 shows out a typical description of a each state of the automaton by means of ordinary
coordinated heterogeneous AUS/MAUVs team that differential equations. The structure of the equations
consists of an AUS as an acoustic navigation vehicle and the initial condition may be different for each
combined with one higher cost central AUV based on state. In the industrial control context, a HDS can
Differential Global Positioning System (DGPS) contain two parts with theirs interactions that are the
Intelligent Sonobuoys (DIS) to provide several HDS controller and the controlled HDS [10, 11].
different types low-cost AUVs with navigation These parts mutually exchange periodic signals and
information. Using the underwater DGPS concept, episodic events which are either external or internal
together with a set of intelligent surface sonobuoys, From the above coordinated configuration and
the precise position of the central AUV (master scenarios of an AUS/MAUVs team, the dynamic
AUV) carrying an acoustic pinger, could be estimated models for control of the individual AUS and AUV
by the measured time of arrival of acoustic signals described in [1, 12-14] together with the
and the DGPS positions of sonobuoys, which were characteristics of HDS, we find that the control
collected and computed by the navigation AUS via structure of an AUS/MAUVs team can be considered
radio link. Thus, the AUS always conveniently moves as industrial HDS whose dynamic behaviors can be
above to the master AUV, which enables the master modeled by HA. The controller has the
AUV remaining inside the projected area of the cone continuous/discrete parts and their interactions such
of communication of the ASV, to get the precise as the motional components of each vehicle in the
position from the AUS [2]. team, the external interacting events from the
With the DIS system, the central AUV as a guidance/navigation system and environment
master could get accurate DGPS position, without disturbances.
coming up to the surface to periodically calibrate its
3. Object-oriented hierarchical control
positions, which would severely disturb or even
architecture and hybrid implementation model for
deteriorate the whole strategy of the team
an AUS/MAUVs team
coordination and formation, besides the unwanted
energy consumed to heave up to the surface. Other 3.1. Object-oriented hierarchical control
AUVs as slavers (Slave AUVs) can get accurate architecture with real-time UML
position via acoustic link with the master AUV, and
The real-time UML [3-5] has its own the
then the master AUV as a master can generate and
graphical notation set to model structures and
allocate the waypoints to other slave AUVs. Thus, the
behaviours of real-time embedded systems. A capsule
whole AUS/MAUV team could conveniently
in the real-time UML is represented as a class,
implement the coordinated search or rescue scenario
stereotyped «capsule». Capsules have much of the
as a whole based on the novel acoustic navigation
same properties as classes, e.g. the operations,
scheme.
attributes and state machine. They also have several
2.2. General control structure with hybrid dynamic specialized properties such as public ports, private
systems for an AUS/MAUV team operations, message passing for modeling their
transmission relationships and behaviours.
Control systems of actual machines or actuators
As previously discussed, the heterogeneous
generally take account of models with discrete events,
148 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 2. An object-oriented hierarchical control architecture for an AUS/MAUVs team.
AUS/MAUV team is coordinated in such a strategy, defined when it is completed or when the whole
that one central AUV as a master, leads some low- system needs to be reconfigured and predicted errors
cost AUVs as slavers, with the help of one AUS and of each slave AUV. AUV_Sub_HDS_m are capsules,
some sonobuoys providing accurate acoustic which represent the slave AUVs in the group; It
navigation. Hence, an object-oriented hierarchical implies actions received/sent from
control structure could be proposed for each slave AUV_HDS_Organizer via AUV_Sub_HDS_
AUV in the AUS/MAUV team, organized in Organizer_m. AUV_HDS_Inter-preter and
architectural layers, as shown in Fig. 2, by using the AUV_Sub_HDS_-Interpreter_m are capsules, which
class diagram of capsules in the real-time UML. It are responsible for compiling and receiving/sending
consists of a global organizer (AUV_HDS_Organizer) signals or events between the corresponding
and a local organizer (AUV_Sub_HDS_Organizer) as controllers and organizers. In this paper, we focus on
upper layers, an AUV controller the cooperative control architecture of the
(AUV_HDS_Controller or AUS/MAUVs team, which will be discussed in detail
AUV_Sub_HDS_Controller) as a lower layer and an in the next sub-sections by specialization of Hybrid
AUV interpreter (AUV_HDS_Interpreter or Automata (HA).
AUV_Sub_HDS_Interpreter) interconnecting upper
3.2. Hybrid cooperative control model
layers and the lower layer as a middle interface. Each
hierarchy in the dedicated control architecture for The global continuous model of an AUS/MAUV
MAUV systems in Fig. 2 is corresponding to the team can be generally built by considering a set F =
individual AUV control layer. {F1, F2,..., Fn} of n > 3 Autonomous Vehicles (AVs)
Where: AUV_HDS is a capsule that proactively comprising at least the 01 AUS, 01 master AUV and
covers the main tasks expressed by the Operation() n-2 other slave AUVs; the dynamic properties of Fi
function received from AUS-HDS through the DIS can be not similar as that of Fj, (i, j = 1,2,...,n), i.e.
system. AUV_HDS_Organizer is an organizational these n AVs also set up a heterogeneous system in the
capsule, which is used to handle event-based AUS/MAUVs team. The dynamic model for control
coordination by sending new route points to each of each AV can be modeled as the following
slave AUVs in the group. It also allows the task to be nonlinear system (1).
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Hanoi, Vietnam
F’i(t) = fi(Fi(t), ui(t)) (1) combined with a state machine issued from the
Here, Fi(t), ui(t) and fi are respectively the continuous coordinated scenarios (i.e. the team coordination
state, the admissible control value or state feedback strategy ). Q can be called situations of the
and a vector field which defines the dynamic model cooperative controller of AUS/AUVs team; qo is the
of the ith individual AV. With the soft computing initial situation.
technique combined with various control laws [12, - X presents the continuous state space of HHCCM,
15-18], AVs could arrive at the desired position from Xn, xo is the initial value of this space, e.g.
one waypoint to another. continuous components Fi of the HCCM.
The global discrete model of an AUS/MAUVs -  is a finite set of events, e.g. the external
team can be realized by an event-based controller, interacting events from the AUS and the internal
which has an applicable state machine issued from event e triggered for Wi in the HCCM.
the coordinated scenarios described in Section 2.1. - A is a set of transitions between qQ and
This model generates a set W={W1, W2,..., Wn} of q’Q.
waypoints. The team coordination is defined and - Inv is an application for the interaction
updated by the following law [15]: function i of the HCCM which associates a subset of
Wi(t+1) = (Wi, t, e) (2) the state space to each situation; it is called the
Where: e is an event that is triggered when all invariant of the situation, in which the continuous
AVs arrive at the desired position; t is the time step; state must remain, when the situation is q, the
W(t+1) indicates the next value of W; finally, is the continuous state must verify xinv(q).
team coordination strategy, e. g. the coordinated -  is defined by using the global continuous
scenarios. The control ui is derived for the ith AV model F of the HCCM for each situation; the
based on Wi(t) and Wi(t+1). evolution of continuous state is occurred when the
An interaction between the global discrete and situation is activated.
continuous models can be carried out by the control ui Starting from the above discussed points: the
because it depends on both the continuous behaviors coordinated configuration and scenarios, control
and the state of in the discrete model; the interaction architecture and hybrid control characteristic, the
is determined by event e as well as providing a set of AUS/MAUVs team coordinately has an evolution,
coordination commands (3) corresponding to which is shown as Fig. 3 by using the state machine
waypoints W. in the real-time UML.
ui = i(Wi, e) (3) This state machine can be automatically
Here, i is the interaction function in the team implemented in the object-oriented convention by
coordination strategy. It should be noted that all AVs using the State Pattern described in [19]. This pattern
observe the same enabling event e which is triggered allows an object to alter its behavior when its internal
when all AVs have reached their previously state changes; the object will appear to change its class.
computed waypoints. Tools that implement this pattern for the state machine,
3.3. Implementation model by specializing hybrid such as IBM Rational Rose RealTime or IBM Rational
automata Rhapsody [20], can offer multiple transformation
services supporting roundtrip engineering between
The evolution of the above defined Hybrid models and different implementation languages.
Cooperative Control Model (HCCM) for an
AUS/MAUVs team can be carried out by using the 4. Application
HA’s formalism because HA has only one global Based on above proposed model, the simulation
continuous behavior at time given, contains the model is implemented for a cooperative controller of
invariant notation to verify hypotheses on the a pair of small-scale AUS combined with 03 AUVs
continuous state, is derived from an automaton
modeling also the dynamic behavior of interactive
software systems, and can be verified with proof tools
such as HyTech, CheckMate [8] and OpenModelica
[6].
A HA of HCCM is defined by the following
data:
HHCCM = (Q, X,, A, Inv,, qo, xo) (4)
Where:
- Q is a set of states describing operational
modes of HHCCM, e.g. the System Coordination, Fig. 3. State machine of evolution for a coordinated
Reconfiguration, Motion, Stop and Idle, which are AUS/MAUVs team.
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Hanoi, Vietnam
Fig. 4. Velocity convergence in the “3 AUVs flock” case.

for performing the coordination scenarios described
5. Conclusions
in Section 2.1. The desired coordinated control
behavior in this application is MAUV flocking like The paper has introduced a hierarchical
birds flying in loose formations, which is useful for implementation model to develop cooperative
underwater collaborative operation. There are three controller of AUS/AUVs team that can be used for
basic elements to maintain MAUV flocking: performing quickly missions in the wide range of
actions in order to improve the efficiency of ocean
i) Cohesion: attraction to distant neighbors up to
exploration and survey. This model is based on the
a reachable distance.
specialization of real-time UML and hybrid automata
ii) Separation: repulsion from neighbors within to entirely cover the analysis, design and
minimal distance. implementation phases for the cooperative controller
of an AUS/AUVs team. The paper contains the
iii) Alignment: velocity and average heading
following main points:
matching with neighbors.
 Adapting the specifications of coordinated
The simulation model was performed by using structure and scenarios of an AUS/MAUVs
OpenModelica [21] software in this application. Fig. team to gather control requirements, and to
4 illustrates the velocity transients in a MAUVs flock combine them with the characteristics of
due to the velocities of two slave AUVs in industrial hybrid dynamic systems;
convergence corresponding to the velocity of the  Defining the hybrid cooperative control
master AUV at 1.0m/s received from the AUS. model (HCCM) for an AUS/MAUV team;
All of obtained simulation results permit us to  Specializing the hybrid automata to
theoretically evaluate the control performance of this implement the HCCM that permits the
system within the control criteria such as the AUS/AUVs cooperatively operates in a
admissible timing response, transition, static errors team;
and run-time concurrency in the team, and to Finally, a cooperative controller of a pair of
evidence a good reliability of this approach. From small-scale AUS/3-AUVs was completely designed
that point, we can decide to choose the designed and simulated to illustrate a good reliability of the
control elements and their properties in order to proposed model.
accurately deploy the realization model of the above In the next time, we are going to perform the
application. physical deployment model and detailed experimental
scenarios and data of the above cooperative control
application.
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Optimal Control of Power Flow in Hybrid Wind-diesel System Applied to

Electrical System in Phu Quy Island
Thang Diep-Thanh1, Quang Nguyen-Phung 1,*, Huy Nguyen-Duc 2
1
Istitute for Control Engineering and Automation, Hanoi University of Science and Technology,
No. 1, Dai Co Viet, Hai Ba Trung, Hanoi, Viet Nam
2
School of Electricity, Hanoi University of Science and Technology, No. 1, Dai Co Viet, Hai Ba Trung, Hanoi,
Vietnam
*Email: quang.nguyenphung@hust.edu.vn
Abstract
The aim of this paper is to solve optimal power flow (OPF) in an islanded microgrid (MG). Apparently, we
deal with a formulation of an analytical control model for OPF. In an MG with load change, wind power
fluctuation that can significant influence the power flow and faces challenges. To maintain the balance of
power flow, a diesel engine generator (DEG) needs to be scheduled. The objective of the control problem is
to find the DEG output power by minimizing the total cost of energy. Using the optimal theory, the optimality
conditions obtained satisfy the Hamilton-Jacobi-Bellman equation and leads to a feedback control or to the
so called energy management to be implemented in a supervisory control and data acquisition(SCADA)
system. The study is based on the actual hybrid electrical system in Phu Quy island, Binh Thuan province.
Keywords: Wind power, Optimal power flow, Hamilton-Jacobi-Bellman equation.
1. Introduction complex for installation, integration, and operation.
For instance, the operation of these DG units have
Nowadays, human being face to climate change
different scenarios, hat is not because of the strategies
that make us to reach renewable energy to replace the
of the electricity producer but because of the
conventional generation. In fact, renewable electricity
stochastic load demand. Therefore, there are some
such as wind and solar actually plays an important
uncertainties to solve as stochastic modeling of
role in providing electrical energy as distributed
system that becomes of great interest. In order to deal
generations (DGs). However, the uncontrollable
with uncertainties, their sources must be considered at
nature of wind, photovoltaic power as well as load
small-scale time such a certain hour of the day that
change raises uncertainty for power system operation
may affect the modeling and evaluation of the system
is still complex to solve the balance of power. To deal
capacity.
with these issues, the examination of impact of
distributed generation on the power fluctuations from This paper is adopted the proposed model in [7]
penetration of wind is presented in [1], [2], and [3]. in which the works have been modeled the optimal
control of wind-diesel-photovoltaic power system.
In addition, the load flow problem which is
Similarly, this paper consider the power flow under
typically formulated as a set of non-linear equations
uncertainties of hybrid wind-diesel power system.
based on constraints of bus voltages has taken some
The problem is described as an optimal control of
advantage. Such stochastic demand has been
power flow by minimizing the cost of electricity
developed and presented in [4]–[6], those authors
production. Therefore utilizes the energy balance
used stochastic and probability programming
equation in real time to formulate the optimal power
techniques as well as fuzzy algorithm to modelling of
flow problem as optimal control problem by using
the uncertainties. Although the works in [4]–[6] have
dynamic programming. To do this it, will be easy if
been specified to load flow problem with some
we derive an algorithm similar to the Bellman
algorithms, the aforementioned methods are typically
principle where the optimality conditions satisfy
dependent on probability model. Furthermore,
Hamilton-Jacobi-Bellman equations, and the value
probability model is really not the real world because
function is convex. In addition, a numerical example
it is built from data availability and stochastic nature
is presented by applying to the power system in Phu
of the uncertainty in the past and it cannot predict
Quy island, Binh Thuan. The results are summarized
accurate probability in the future.
and discussed along with practical concerns.
However, the research in all these directions was
2. Study object: Hybrid wind-diesel power system
based on non-convex, and non-linear programming
and the DG units are always available. Moreover, in Considering the hybrid power system including
the industrial systems the power system is the most AC loads, wind turbine generator (WTG), and diesel
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Hanoi, Vietnam
the demand depends on the power consumption

habits. Hence, the fluctuations in loads and WTG
Wind Turbine output power are adjusted by control in the DEG
Generator (WTG) output power. Therefore, the expression of the power
DG2
balance in equation (1) for randomness in such DG

associated with demand can be described as follows:
AC Bus
PDEG t PL t PWTG t 0 (3)
Load
The power generation of DEG must evolve the

fluctuations in loads and DGs in equation (3). In
literature the optimal power flow (OPL) problem has
AC Bus been investigated based on linear and non-linear
programming such [9], [10], [11], [12], [13], and
DG1
[14]. In contrary, we will formulate the considered

problem as an optimal control one in order to find out
the optimal policies for operation of microgrid in the
Fig 1. Wind-diesel power system of an islanded next section.
microgrid. To formulate a new model, we shall assume that
engine generator (DEG). In reality, small WTG and the power generation in the real time, and let X(t) be
DEG are often employed into micro-grid. Fig 1 the difference between cumulative production and
shows the configuration of an islanded MG. cumulative demand, called energy surplus at time t if
X(t) is positive and backlog if X(t) is negative. They
As in Fig 1, the system consists of three DG satisfy the one-dimentional differential equation:
units, that is DG1 (as synchronous generator), and dX t
DG2 (as asynchronous machine). The DGs are U t PL t PPV t (4)
dt
connected to AC bus by power electronic devices
used synchronization as AC sources as DEG, and dX t
f t , X t ,U t (5)
induction machine as WTG. In addition, WTG is dt
stochastic source, for it is either locally dispatchable PWTG ,min t PWTG t PWTG ,max t (6)
or non-dipatchable and make used of non- PDEG,min t t PDEG t PDEG,max t t (7)
DEG DEG
controllable primary energy source. On the other
hand, the DEG is used for the conversion of where U(t)=PDEG(t) is the control variable in
mechanical energy into electrical energy as equation (3) and U t 0, in [kW], PWTG(t),
dispatchability [8].
and PDEG(t) are within their forecasted upper bounds
In what following, we describe the modeling of PWTG,max(t), PDEG,max(t), and lower bounds PWTG,min(t),
the considered microgrid. First of all, the total power PDEG,min(t), (in [kW]), (t) is indicator index of state of
generation of DGs satisfies the demand such as: DEG unit at time t, X(t) is the energy in [kWh] and
PDEG t PWTG t PL t (1) X t , , f(t,X(t),U(t)) is the state
i
PDEG t j
PWTG t PL t (2) function and satisfies the Lipschitz condition:
i j f t , X1 ,U f t , X 2 ,U K X1 X 2 (8)
where PL(t) refers to the load demand at time t;
where K is constant.
PWTG(t) is the non-dispatchable (WTG) output
powergeneration at time t; and PDEG(t) is the Operating reserve constraint:
dispatchable DEG output power generation at time t.
Make sure that the DEG can take responsibility
3. Mathematic formulation for the operating reserve as the following:
In this section, we consider an optimal control PDEG ,i t PL t R
problem for the system described in section 2, and i
assume that the DEG is always available in

continuous time. The problem is considered in finite where R is the required operating reserve.
time (i.e., 0 <T <) in order to find the DEG output Minimum required number of DEG online
power. (MRN) that’s imposed as:
As mentioned above, the produced power by DEG , i t MRN
WTG depends on the environmental conditions, and i
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Hanoi, Vietnam
Cumulative This function will be used to establish the

Electricity Production
and Demand optimality conditions. For simplicity in the
presentation of the model, we use only the sign v(t,X).
t
PL s ds Based on the dynamic programming principle, the
t0
following theorem is used for the generalization of
the value function in (11).
t
t0
U (s) PWTG s ds
3.1. Bellman optimality principle
Taking t t t T , we have that
t t T
t
v(t , X ) inf E G ( s,.)ds G ( s,.)ds
U
Fig 2. Electricity Production to track demand load. t t t
t t
The behavior of the state variable X t will be inf E G(.)ds v t t, X t t (12)
specified shortly in the subsection 3.2. U
t
Let us define cost function (cost-to-go or cost-
to-arrive) which is given by The Bellman principle of optimality in Ref [15]
T (see also [16] and [17] for more details), states that if
J t , X ;U g s, X s , U s C U s ds (9) U *  t,. is an optimal control policy exercised over the
t
time interval [t, T] for a given start state at time t,
where g(t,X(t),U(t)) is the running cost function: then if we operated this policy up to time t  t then
g(.) = X+C++ X-C- withC+ representing a unit surplus the remaining component of the policy will be
cost at time t,C- the unit backlog cost at time t , optimal for the control problem over [t + t, T] with
C+ = max(0, X), andC- = min(0, -X), C(U(t)) = start state being the current state at time t + t. If we
diesel.Pdieselis operating cost function. assume the existence of such an optimal policy, then,
Now, let’s G(t,X,U) be the total cost function: as t  0 , we are lead to the partial differential
equation (Hamilton-Jacobi-Bellman equation) for
Now, let’s G(t,X,U) be the total cost function v(t, X).
G t , X ,U C X t C X t CU t (10)
0 inf G t , X ;U t vt t , X
Thus, the function J t , X ;U is called an U (.) (t ,.)
overall cost of the system. To simplify things, we U t, X PL t PWTG t vX t, X (13)

make the following assumptions in this paper to
describe the hybrid power system: where the terms vt (t , X ) , and vX (t , X ) denote
Our motivation is to obtain admissible control the gradient of value function respect to time t and
U t, X t , X that optimizes the cost function (9). state variable X, respectively.
In what following, we will build the model that In principle, once a minimizing solution U*(t,X)
satisfies the contrary (3)-(8) and optimization of by is known, it may be used as closed loop feedback:
using the dynamic programming approach. that is, the control policies are taken as these
functions of the current state parameters. The optimal
We formulate the power flow problem defined
policies are therefore given by.
above. Under appropriate conditions, the optimal
control policy is to satisfy (3-8) in order to determine U* t , X arg min G t ,. f t ,. v X t , X (14)
U
the OPL U(t,X) which minimize the cost function
described in (9). These policies are characterized by a The Proof of this optimal policies is developed
target production level subject to capacity constraints. from the results in page 8 of Ref [18].
We denote v(t,X) the value function, i.e.: 3.2. Optimal control strategies
v(t , X ) inf J (t , X ;U ) (11) The production target is specified for energy
U (.) (t ,.)
X(t) having to make by time T, the production period.
The cumulative electricity production is the total
energy produced by time t. The cumulative electricity
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Hanoi, Vietnam
production must equal to total demand at time T; that based on Kushner’s approach [20]. By adopting the
is one of the objectives is to ensure that: algrorithm in [21], the HJB equation (11) which
t t includes the gradient of value function of v(t, X) can
U s PWTG s ds PL s ds (15) be solved. Let X > 0 and t > 0 denote the length of
the finite difference interval of the variable X and t
t0 t0 respectively. The first-orders partial derivative of the
By definition, the energy in equation (6) whose value functions vt(.) and vx() in equation (11) are
value is described as follows: replaced by the following expressions:
t
v t t, X v t, X
X (t ) Xo U ( s) PL s PWTG s ds (16) vt t , X (19)
t
t0
v t, X X v t ,.
In the Fig2 which is modified from the if f t ,. 0
v X t ,. X (20)
framework in [19], the dotted line is cumulative v t ,. v t, X X
demand by time t, and the straight line is cumulative otherwise
electricity production by time t. Our objective is to X
meet production as closely as possible at every time t
for period T, or, equivalent to keep X(t) close to zero. Using X and t, and after manipulations, the
HJB equations can rewritten as follows:
The following theorem presents the necessary
and sufficient conditions for which an optimal v (t t, X ) v (t , X )
v (t , X ) min G (.)
solution exists. U (.) t
Theorem 3.1. Let v(t , X ) Q be a solution to v (., X X) v (.)

U PL PWTG (21)
(8). Then for all  t , X   Q : X
(i) for every admissible control system U(t, X):

The next theorem shows that v t , X is an
v t, X J t , X ;U t (17)
approximation to v t , X for small step size X.
(ii) If there exists an admissible system U*(t, X)
such that Theorem 4.1 Let v t , X denote a solution to
HJB equation (18). Assume that there are constants
U * t, X arg min G t ,. f t ,. vX t , X (18) Cg and Kg such that
U (.) (.)
Kg
*
0 v t, X Cg 1 X (22)
almost everywhere int, then v(t, X) =J(t,X;U ), and
U*(t, X) is the optimal solution.
then
Proof. The Proof of this theorem is developed
from the results in page 8 of Ref [18]. lim v (t , X ) v(t , X ) (23)
0
The optimal feedback control (11) is designed to

drive the system to the optimal point (hedging point Proof. The proof of this theorem is adopted
or zero point), and corresponds to the value function from the one in [22] for the case of deterministic
described by equation (11). Then, when the value control problem.
function v(t,X) is available, an optimal policy can be
In this study, we make use of the policy
obtained as in equation (14). However, an analytical
improvement technique to obtain a solution of the
solution of equation (11) is so hard to find. Thus, the
numerical solution of HJB equation (14) is adopted approximating optimization problem. Let GX and GU
from Kushner’s method [20] to be represented in the be the grids of the states and control vectors
next section. belonging to the control space, the algorithm is
represented as follows:
4. Numerical Approach
Step 1 (Initialization): Choose . Let k = 1
In this section, we develop the numerical
and vk t , X 0 , t, X t0 , T GX and(initial
method for solving the optimality conditions
represented in the previous section. This method is policy) U k GU .
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Step 2: For a given U k GU , compute Wind Turbine Generator
vk 1
t, X vk t , X , t, X t0 , T GX
Long Hải 1 Long Hải 2

PWTG(t)
WindBus
22.0
Step 3: Compute the corresponding value
Ngu Phung 3
function to obtain the control policy U t, X t
Long Hải 3
Huyen Doi
Step 4: Convergence test
Ngu Phung 4
min vk t , X t vk 1
t, X t
Long Hải
UBXa
min
Ngu Phung 2
max vk t , X t vk 1
Ngu Phung 1
max t, X t
Viba
Ngu Phung 5
If max min
, then stop, else k = k+1 and
go to the step 2.
NMN so 1
Cao Cát
VHTT Huyen
5. Numerical Example
The proposed model in section 3 is for PL2
Đá Đen
Buu dien
application of hybrid wind/photovoltaic/diesel engine PL1
Truyen hinh
generator generation system such as follows:
Dai
Nong Nghiep
Xóm Rãy
Fig 3 presents the hybrid wind-diesel power
system in Phu Quy island where the total demand
Tam Thanh 1
load PL = PL1 + PL2.
Phu Quy
Xóm Cội
TT
The study is based on the actual hybrid electrical
Tam Thanh
system in Phu Quy island, Binh Thuan province. This Cho
includes 6 diesel engine generator of 3000kW, and 3
Tam Thanh
Phú Thăng
wind turbine generator of 1 MW for each. The
UBXa
constraints of system parameters in equations (3)-(8)

Linh Quang
for MG presents in the Table 2. The wind power
Quang Hải
forecast is assumed as in Fig 7. Meanwhile, the daily
Phu Quy
Cang
load profile is shown in Fig 8 [23].

Tu dung
Gò Mây
The results are shown in Figs 9-10, Fig9
represents the optimal production of DEG output
DieselBus PDEG(t)
power versus time t in the interval [0.24h]. Fig10
22.0
represents the cumulative electricity production of
MG and the load demand versus time t. This Fig Diesel Engine Generator
PL = PL1 + PL2
shows that, the effectiveness of optimal control gives Fig 3. The hybrid power system in Phu Quy island.
the birth to optimal power flow of MG that satisfies
the load demand. Thus, it’s obviously that the balance
of power is satisfied as in equation (1). Table 2: Parameters of optimal power flow model
6. Conclusions Description Lower Upper
The paper has studied the optimal problem of Time interval [h] 0 24
power flow with main objective: optimal control of WTG power [kW] 0 3000
power flow for hybrid system with uncertain power DEG power [kW] 500 2800
injection such as wind power output and load Load demand [kW] 0 3500
demand. C Backlog cost [$/kWh] 10 -
C Surplus cost [$/kWh] 1 -
diesel [$/kW] 0.1
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Fig 9. Optimal output power of DEG.

Fig 7. Wind power forecast.
Fig 10. Cumulative production.
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Fig 8. Demand Load.
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A Multi-Fidelity Model to Predict the Performance of Torpedo Propellers

Nguyen Anh Tuan1,*, Vu Thanh Trung1, Bui Duy Thinh2
1
Le Quy Don Technical University, 236 Hoang Quoc Viet, Bac Tu Liem, Ha Noi, Vietnam
2
Naval Technical Institute, 9 Mac Quyet, Duong Kinh, Hai Phong, Vietnam
*Email: anhtuannguyen2410@gmail.com
Abstract
This paper presents an effective model to predict the relationships between the required power, thrust and
forward speed of a torpedo based on the combination of the unsteady panel method and the momentum
theory. The torpedo investigated in this study consists of two coaxial contra-rotating propellers and a
cylindrical body. Firstly, a low-cost momentum-theory-based model predicts the performance of the
propellers. Secondly, this model is corrected by the use of the unsteady panel method, which is based on
the potential-flow theory and has a higher fidelity level. The effects of the body on the numerical results are
also investigated. To provide the detailed explanation of the thrust production mechanism, unsteady three-
dimensional wake structures obtained by the panel method are presented. The multi-fidelity model
developed in this study requires a minimal computational effort and is applicable to the various different
working regimes of the torpedo.
Keywords: Torpedo propellers, momentum theory, unsteady panel method.
1. Introduction CFD approach while the accuracy of the results is

still guaranteed.
Torpedoes are self-propelled weapons with an
explosive warhead operating under water. The use of 2. Torpedo Model
torpedoes began in the 19th century [1], and today
The torpedo model used in this study consists of
they have become a popular type of naval weapons.
a cylindrical body and two coaxial contra-rotating
While cruising under water, the propellers of a four-blade propellers as shown in Fig. 1. The torpedo
torpedo play an important role in generating thrust is more than 3 m in length and its maximum diameter
and maintaining the motion of the torpedo. These is 0.4 m. The diameter of the propellers is
days, with the advent of powerful computers, it has approximately 0.24 m.
become possible to use computational fluid dynamics In this study, we investigate the performance of
(CFD) to predict the performance of torpedo the propellers while varying the torpedo forward
propellers [2]. However, this approach requires a vast speed from 0 to 10 m/s and the rotation speed of the
amount of computer resourses, as long as large propellers from 2000 to 6000 rpm.
computational time. Therefore, it is neccesary to
3. Methodology
develop more efficient methods for preliminary
desigining processes in which many calculations are 3.1. Momentum Theory
typically required.
The momentum theory was developed to predict
To this end, in this paper, we present a multi- the relationship between the power consumption,
fidelity numerical model that is based on the unsteady forward velocity and propeller thrust [3]. As
panel method and the momentum theory to predict illustrated in Fig. 2, propellers could be modeled by a
the performance of torpedo propellers. Firstly, the thin disk, across which there are sudden changes in
prediction is made with the momentum theory, then pressure and flow speed.
correction terms and factors are added to the model in The thrust T of the propeller could be defined as
an effort to enhance its accuracy. These correction the change in the momentum across the disk as
terms and factors are determined in the form of high-
T   A Vi  Vc Vs
order polynomial functions by fitting numerical
results obtained by the unsteady panel method. The where Vi, Vc and Vs denote the induce flow
present approach can be applied to many types of velocity at the propllers, the forward speed and the
torpedoes with less computational effort than the induced fow in the far field behind the propellers,
respectively.
There is pressure jump at the position of the
disk, which is attributed to the sudden change in the
acceleration of the flow.
Fig. 1. Torpedo model.
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where σ and μ denote source and doublet

elements, respectively; Sb and Sw denote the body and
wake surfaces; r is the position vector; and n is the
surface’s normal vector.
The doublets in the wake can be replaced by a
vortex line system [4] with the core size growing as a
function of time, circulation and fluid viscosity [5].
The panel method implements three boundary
conditions, including the far-field, the Neumann and
the Dirichlet conditions. The formulas of these
boundary conditions are respectively given by
lim   0
Fig. 2. Illustration of the momentum theory. r 
   Vb   n  0
The power P can be defined in two ways: the
product of the thrust and the flow speed at the disk
 i  const
and the change in the kinetic energy across the disk: Here, Vb is the velocity of the body and the
1 subscript i represents the space inside the body.
P  T Vi  Vc    A Vc  Vs   Vc 2 
2
2   The Kutta condition is imposed at the trailing

edges of the propeller blades. According to this, all
From Eqs. (1-2), it is possible to derive the vortices at these edges are shed freely into the
relationship between the power, speed and thrust as surrounding fluid and form the wake.
follows:
The pressure on the torpedo surface is calculated
V V 
2
T  by the Bernoulli equation:
P T c   c  
2  2  2  A  1  
p  pref        Vref  
2
 t 
 2
As shown in Fig. 2, Vc and A are the speed of
the torpedo and the area of the disk, respectively. In Eq. (6), the subscript ref is used to represent
Equation (3) represents the relationship between reference values. Here, the reference pressure pref is
the power, the speed and the thrust in an ideal equal to the undisturbed pressure, whereas Vref is the
working condition. This condition is based on the local velocity of the surface.
uniform induced flow assumption, and the power is The panel mesh of the torpedo model used for
minimum at given levels of thrust and speed. In the present method is shown in Fig. 3.
reality, the induced flow cannot be uniform; and thus,
the required power is larger than the theoretically 3.3. Skin Friction Effect
predicted value. Moreover, the effects of skin friction Equation (3) does not consider the skin friction
force and the body are ignored in this equation. effect; however, the contribution of this term can be
Consequently, it is necessary to correct Eq. (3) by calculated separately and added to the equation in an
proposing additional terms and factors. effort to correct the results.
3.2. Unsteady Panel Method In the present study, the Reynolds number can
The unsteady panel method is based on the be estimated as
potential flow theory [4] and solves the Laplace
equation of the velocity potential Ф. The solution to
this equation can be represented by the sum of flows
induced by sources and doublets:
1  1  1 
  r, t          n     dS 
4 S   r 
b  r 
1  
1
  n    dS
4 Sw r
Fig. 3. The panel mesh of the torpedo.
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Vref c
Re 

where c is the mean chord length of the blades, ν
is the kinematic viscosity of water, and the reference
velocity Vref is defined as the product of the angular
velocity of a propeller and the radius of the second
moment of blade area.
In this study, the rotation speed of the propellers
varies from 2000 to 6000 rpm; thus, Re is between Fig. 4. Thrust-power relationship with respect to
5 105 and 1.5 106 . The skin friction drag various forward speeds.
coefficient Cf within this range of Reynolds number
may be estimated by the following equation [6]:
0.074
Cf 
Re0.2 V = 0 m/s V = 2.5 m/s V = 5.0 m/s
The power required to overcome the skin

friction force is calculated by multiplying the moment
due to this force and the angular velocity of the
V = 7.5 m/s V = 10 m/s
propellers.
4. Numerical Results and The Corrected Model Fig. 5. The preformance of the propellers predicted
4.1. Numerical Results by the theoretical model and by the numerical model.
The simulation program runs 22 cases torpedo increases. To provide an explanation of this
corresponding to various different values of trend, the wake patterns corresponding to the forward
propellers’ rotation speed and torpedo’s forward speed of 0 and 10 m/s are shown in Fig. 6. Here, the
speed. For each simulation, the propeller thrust and rotation speed of the propellers is 4000 rpm. In the
power are computed, and their relationships are case of 0 m/s, the wake is tangled and located near
presented in Fig. 4. In this figure, each line is the propeller, therefore, makes the flow across the
corresponding to one value of the torpedo speed. The cross section of the propellers more chaotic. On the
solid lines represent the results of the whole torpedo contrary, in the second case, the wake moves further
model, while the dashed lines show the results of the and further from the propellers as time progresses,
propellers without the body effect. It is obvious that and probably has less impact on the flow at the cross
the body effect on the performance of the torpedo’s section of the propeller. In other words, the flow at
propellers is very small, and in most cases, it can be the cross section of the propellers is more uniform in
neglected. It should be noted that this effect is due to the case of 10 m/s. The theoretical model based on
the aerodynamic interference between the body and the momentum theory assumes that this flow is
the propellers. At a given thrust level, cases uniform; and thus, it can predict the performance of
corresponding to higher forward speeds require more the propellers more accurately at a higher forward
power. In fact, moving forward is disadvantageous speed (Fig. 5).
for the thrust production mechanism because it gives
4.2. The Corrected Model
a negative angle of attack to the propellers. Therefore,
more power is consumed to overcome this adverse As mentioned earlier, the objective of this study
effect. The same trend is also found in Eq. (3). is to correct Eq. (3) by adding necessary terms and
Next, the effect of the skin friction force is factors. Based on the analysis conducted in section
included, and the theoretical results are shown 4.1, this equation could be reformed as follows:
together with the numerical results (Fig. 5).
V V 
2
T 
It is seen that when the propellers generate more P  Pf T ,Vc    T ,Vc  T  c   c  
thrust and require greater power, the effect of the skin 2
  2  2  A 
friction force is larger. This larger effect can be
explained by the higher rotation speed of the
propellers in order to generate more thrust. in which Pf T ,Vc  is the power due to the skin
Additionally, the prediction of the theoretical model
friction force, whereas  T ,Vc  is used to include
becomes more accurate as the forward speed of the
162 October 27 - 28, 2018

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0 m/s
10 m/s
Fig. 6. Wake patterns of the propellers.

the effects of the body, the propeller configurations
and the wake, which make the flow non-uniform.
The unknown functions in Eq. (9) is determined
by the two-dimensional interpolation method and the
results are shown in Fig. 7. Pf T ,Vc  is represented
by a second-order polynomial function, while a third-
order polynomial function is used for  T ,Vc  .
The expressions of Pf T ,Vc  and  T ,Vc  are

given by
Pf  0.5545  0.3455Vc  1.459T  ...
0.1156Vc 2  0.1676VcT  0.08879T 2 Fig. 7. Correction functions.
  1.538  0.1177Vc  0.02866T  ...
Table 1. Validation of the corrected model
0.01114Vc 2  0.006272VcT  0.004023T 2  ...
Case n Vc T (kN) Pnum(kW)Ptheor(kW)Pcor(kW)
0.0003245Vc 3  0.0006424Vc 2T  ... (rpm) (m/s)
0.00005VcT 2  0.0001562T 3 1 2500 3 1.57 15.15 9.22 15.04
2 3500 6 2.28 32.15 20.02 32.50
It is noted that the units of the power and thrust
in Eq. 10 are kW and kN, respectively. 3 4500 9 2.96 56.12 34.69 57.42
4 5500 0 11.08 217.44 120.96 216.93
To validate the corrected model, the simulation
program runs for four new cases and the comparison the momentum theory. With this correction, the
are made and given in Table 1. In this table, Pnum, predicted results have been improved significantly.
Ptheor and Pcor denote the powers computed by the
numerical model, theoretical model and the corrected References
model, respectively. It is found that with the [1] E. Gray, The devil's device the story of robert
corrections, the prediction has been improved whitehead, inventor of the torpedo, Naval Inst. Pr.
profoundly, and the errors are negligible. (1975).
[2] J.D. Anderson, J. Wendt, Computational fluid
5. Conclusions dynamics, McGraw-Hill (1995).
[3] W.F. Durand, Aerodynamic theory: a general review
The present paper has introduced a novel model of progress under a grant of the guggenheim fund for
to predict the performance of torpedo propellers. The the promotion of aeronautics, Julius Springe (1935).
model developed in this study is based on the [4] J. Katz, A. Plotkin, Low-speed aerodynamics,
numerical results from the unsteady panel method Cambridge Univ. Pr. (2001).
and the momentum theory. The correction functions [5] A. T. Nguyen, J.-K. Kim, J.-S. Han, J.-H. Han,
are derived and added to the conventional equation of Extended unsteady vortex-lattice method for insect
flapping wings, J. Aircr. 53 (2016) 1709-1718.
[6] S.F. Hoerner, Fluid dynamic drag, (1965).
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An Approach to Study the Airflow over 3D Objects by the Vortex-lattice

Method
Pham Thanh Dong*, Nguyen Anh Tuan, Pham Vu Uy
Faculty of Aerospace, Le Quy Don Technical University, 236 Hoang Quoc Viet, Bac Tu Liem, Ha Noi, Vietnam
*Email: mrbook29@gmail.com
Abstract
In this work, we propose an alternative approach that uses the vortex-lattice method to study the airflow over
a 3D object. The development of this approach can extend the applicability of the vortex lattice method to
investigate aerodynamic interactions between objects. The results of this research are validated by
comparing with those in previous studies.
Keywords: 3D object, aerodynamic characteristics, vortex-lattice method, CFD.
1. Introduction equation [5,8,9]. Through the application of the

Dirichlet or Neumann boundary conditions, the panel
The components that make up the aircraft are
method can predict the pressure, and aerodynamic
always designed with optimal aerodynamics. This has
forces and moments with a lower computational
important implications for aircraft mobility in space.
effort and an acceptable level of accuracy. Moreover,
As we know, the wing (or helicopter main rotor) is
empirical approaches based on wind tunnel
the main equipment used to create the lifting force for
experiments and real flight tests also has a great
the aircraft. The fuselage is attached to the wings to
important role. However theses approaches are very
carry passenger, cargo, etc. In some cases, the
expensive and require lots of effort to eliminate
fuselage also plays a big role in creating lift, such as
measurement errors.
the aerodynamic design of US B1, B2 fighter jets, or
supermaneuverable fighter aircraft Sukhoi of Russian. Here the authors introduces an additional
The fuselages of these are usually flattened to approach to use the vortex-lattice method (VLM)
increase the area of the projection on the horizontal when studying airflow over 3D objects [6,9]. As we
plane. The fuselage having such function is also know, the VLM proved to be the simplest and require
called lifting body [11]. Lifting body provides lift significantly less computational time compared to
only in high speed modes with significant angles of above mentioned approaches. The VLM is used to
attack. In most other conventional aircraft, the calculate the aerodynamic characteristics of aircraft
fuselage mainly serves as a carrier, not engaged in the and study the process of vortical wake formation.
process of generating lift. And in this case, the VLM also turned out to be very effective while
fuselage is often found in large, rounded shapes, and studying the steady and unsteady flows of an ideal
is called non-lifting body [10]. In the aerodynamic fluid.
combination of wing and aircraft fuselage, if the
2. Nonlinear VLM methodology
fuselage is a non-lifting body, then its presence in
only has an influence on the total lift due to the Within the framework of the VLM approach
aerodynamic effect induced by the wing. [6,9], the singularity elements are vortex panels and
the solution from the incompressible potential flow
There are many methods to study the airflow
equation is obtained by imposing the non-penetration
through the 3D body (lifting body and non-lifting
boundary condition:
body). It is known that the aerodynamic
characteristics of 3D objects are commonly studied        n  0 (1)
by the CFD method, which solves the Navier-Stokes where   represents the potential of the
equations numerically and is available in many
commercial software programs, such as Ansys freestream flow,  is the perturbation potential and
Fluent/CFX [7]. This type of approach requires a nthe vector normal to the body surface.
great deal of computer resources to run simulations The body’s solid surface is divided into
with high-resolution meshes for 3D objects. quadrilateral panels, and the vortex ring singularity
Computational time is normally extremely high, and elements are placed on these panels. Fig. 1 presents
users are not allowed to interfere in the inside code. an example of body geometry divided into panels
Another approach to study the aerodynamic with the vortex rings placed on the panels, and the
characteristics of 3D objects is that based on the use surface normal vectors defined at the panel
of the panel method, which solves the Laplace
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q   a12 (4)
12
The velocity induced by a vortex ring ij at an
arbitrary point in space is the sum of the velocities
induced by each of the four vortex lines:
qij = q12  q23  q34  q41 (5)
With the VLM approach, the unknown

intensities of all the vortex rings distributed over the
body surface are determined by applying the zero
normal flow boundary condition expressed in Eq. (1)
at all collocation points. Knowing that for each
collocation point, the local velocity is equal to the
Fig. 1. Vortex rings over camber surface of an sum of the freestream velocity and the velocities
arbitrary body. induced by all the vortex rings over the wing surface
and the wake, the boundary condition at all
collocation points (collocation points are placed at the
collocation points is written ni the form of a system
center of each panel).
of linear equations that enables us to determine the
The wake vortices are aligned with the incoming unknown vortex rings intensities:
flow velocity and the circulation of each wake vortex M
is equal to the circulation of the trailing edge vortex a
j 1
ij  ni  j  V  ni , i  1, 2,..., M (6)
placed directly upstream of it. Thus, the three-
dimensional Kutta condition of null trailing edge
In Eq. (6), V is the freestream velocity, M is
circulation is formulated as
 TE  0 (2) the total number of vortex rings over the body surface
M  N  n , N, n are the number of vortex rings in the
where  TE is the circulation at the trailing edge y and x direction, aij denotes the velocity induced by
point. the unit strength vortex ring j at the ith panel
collocation point and ni the surface normal vector
Each vortex ring is composed of four vortex calculated at the ith panel collocation point. The
lines, the leading edge line placed on the quarter velocities induced by the wake vortices are added to
chord line of the corresponding panel and the trailing the velocities induced by the trailing edge vortices,
edge line placed on the quarter chord line of the since the wake vortices’ intensities are determined
downstream panel. The direction of positive with the condition of null trailing edge circulation.
circulation is defined according to the right hand rule.
The velocity induced by each of the four vortex lines Determining the vortex intensity  of each
of a vortex ring at an arbitrary point in space is given vortex ring on the body is the basis to study the
by the Biot-Savart law [1,9]: characteristics of airflow over the model. So compute
 r1  r2 r r  the pressure distribution, the local circulation is
q  r0   1  2  needed. The fluid dynamic loads then can be
12 4 r  r 2
 r1 r2  computed by using the Kutta–Joukowski theorem and
1 2
(3)
the pressure difference is given by Eq. (7) [9]:
In Eq. (3), q is the induced velocity,  is the   
12 pij   Vx +q x ,Vy +q y ,Vz +q z   i i , j i 1, j
vortex intensity, r1 is the position vector from the 
ij cij
beginning of the vortex line to an arbitrary point in
i , j  i , j 1  

space, r2 is the position vector from the end of the  Vx +q x ,Vy +q y ,Vz +q z    j  ij 
ij bij t 

vortex line to an arbitrary point in space, r0 is the (7)
vector from the beginning to the end of the vortex
line, and r1 and r2 are the magnitudes of the vectors. Here  i ,  j -are the panel tangential vectors in
The induced velocity given in Eq. (3) can be rewritten the x and y directions, respectively; cij , bij - are the
in a more suitable form for numerical calculations as panel lengths in the x and y directions; the velocity-
a product between the vortex intensity  and the potential time derivative is obtained by using the
velocity a12 induced by the unit strength vortex line.  t  ijt t
The value of this term depends only on the positions definiti  ij   ij  ij . The contribution
t t t
of the vortex line and the point where the induced of this panel to the loads is:
velocity is calculated:
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F = -  p S ij  nij (8)
The total forces and moments are then obtained

by adding the contribution of each individual
panel. In equation (8), n ij is the norm vector of vortex
panel ij at its collocation point, Sij is area of the
vortex panel.
Since the vortex wake is force free, each vortex
must move with the local stream velocity. The local
velocity components induced by the wake and free
stream velocity are determined in the inertial frame of
reference. To achieve the vortex wake rollup, at each
time step, the induced velocity (qx,qy,qz)is calculated
and then the vortex elements are moved by
(x, y, z )l  (qx , q y , qz )l  t (9) Fig. 2. Span-wise strips and
surface panels’ division of
3. Results and discussion helicopter fuselage
In this calculating model, the 3D body is the geometry.
helicopter fuselage, like as a closed volume, whose
the surface is repsresented by quadrilateral vortex
ring elements. At each control point on the fuselage The figure shows the top,
surface the non-penetration condition is satisfied. below and front views of the
helicopter fuselage.
If the helicopter fuselage is a non-lifting body
and the 3-D shaped of fuselage is expected to have
effects on the performance of the helicopter main
rotor. It is assumed that the fuselage is streamlined
and no free wake is shed from the helicopter fuselage.
Otherwise, if the helicopter fuselage is a lifting body,
in addition to its role of creating lift (although small),
there are the influences on the aerodynamic properties
of the other components of the helicopter. Hence, it is
necessary to take into account the wake effect.
Here, the helicopter fuselage is modeled by 540
vortex ring elements as shown in Figure 2. On the Fig. 3. The position of the wake shedding edge,
helicopter fuselage, there is a shedding edge. When which is used in simulating body wake.
simulating the free vortex wake, it is assumed that the
helicopter fuselage is suddenly set in motion with a the variations of the lift and drag coefficients when
dimensionless step of integration over time. And the the helicopter is in forward flight (Fig. 6). The noises
shedding edge has position on the helicopter fuselage appear in this plot are due to many reasons, and one
like as shown on Fig.3. With the assumption that the of these is the effect of the free wake behind the
location of the shedding edge is known, we can helicopter fuselage.
simulate the shapes of free wake behind the 3D body In addition to the use of the VLM, the authors
in some cases such as demonstrated in Fig.16. also use the CFD method to study airflow around the
In forward flight, at a speed of U0=30m/s, with helicopter fuselage for compare. The modelling of the
angle of attack alfa=0 degrees, achieved results is helicopter fuselage, which is used in this paper, is
streamline images are simulated and shown in Fig. 4. done using Inventor 2015. For a CFD analysis, the
body should be enclosed in a continuum where in the
In the case of no free wake shedding, the boundary conditions are applied. This enclosure
convergence of lift and drag coefficients is quick. In around the aircraft is made in ANSYS Workbench
Fig 5, 50 time steps are simulated with the time step 16.1 as shown in Fig. 7. The meshing of the body is
size of 0.01s. done using ANSYS ICEM CFD 16.1. The continuum
In the other case with the assumption of wake from ANSYS Workbench is imported, then the
shedding from the edge shown in Fig. 3. We received continuum is divided into different parts like inlet,
166 October 27 - 28, 2018

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Fig. 4. Simulation of streamlines over the helicopter

fuselage by VLM.
Fig. 7. Building model of helicopter fuselage in

Ansys-Fluent.
Fig. 5. Convergence of lift and drag coefficients

when no free wake is shed.
Fig. 8. Detail of meshing.

simulation is air. The important boundary conditions
in an External Flow Analysis are Mach number or
velocity at inlet of the continuum and pressure at the
outlet of the continuum. The velocity of 30 m/s is
given at the inlet boundary condition for the
continuum. The outlet boundary condition is given as
pressure and its value is given as 0 Pa. The rest of the
faces of the continuum are mentioned as wall, which
means that these faces are under no-slip condition,
i.e. there is zero velocity on these faces. This no-slip
Fig. 6. Convergence of lift and drag coefficients condition means that the flow conditions will not
when helicopter fuselage isa liftting body. apply outside these walls and adjacent to these walls.
outlet, wall and fuselage and the required meshing After set up the solution methods and controls for this
conditions are applied and the continuum is meshed simulation, we get some results are shown in
(Fig. 8). Fig.9÷14.
The simulation of this continuum is done in The expected graphical results are set to the lift
ANSYS Fluent 16.1. In this, initially the meshing of and drag coefficients at various angle of attack
the continuum is checked and once the software (Fig.14). The contour results are for the pressure and
approves it, the models, materials and boundary velocity in Figs. 9 and 10.
conditions are set. For detail, the model used for this The vorticity discriminant on the helicopter
kind of simulation is the k-ε model. This is a two fuselage (Fig 11). Depending on the case of 3D
equation model in which one equation corresponds to objects, through contours of vorticity can help us
the turbulent kinetic energy (k) and the other is the identify or predict the positions of the wake shedding
Specific dissipation rate (ε). The working fluid in this
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Fig. 9. Distribution of pressure on vertical plane. Fig. 12. Distribution of pressure on helicopter
fuselage.
Fig. 10. Distribution of velocity on vertical plane.
Fig. 13. Streamline of airflow through over the

helicopter fuselage in Ansys-fluent.
edges. In this case, the location of shedding edges is

not very clear, so we can only use assumptions that
its positions is known as shown in Fig. 3.
Contours of static pressure on the helicopter
fuselage are shown in Fig. 12.
The velocity streamlines visualization of the
helicopter fuselage shown in Fig. 13 is very similar
to that from the VLM (Fig. 4). We can see that the
flow is attached on the fuselage and separations do
not occur in the both of model from Ansys fluent and
from VLM.
Fig. 11. Vorticity discriminant on the helicopter

fuselage.
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Fig. 14. Convergence of lift and drag coefficients at various angle of attack by Ansys-Fluent.
Fig. 15. Comparison lift and drag coefficients at various angle in some cases.
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Fig. 16. The vortex structure obtained at the final time steps 120 th and 250 for the angle of attack alfa=00.
however, this can be useful when solving interaction
Figure 15 presents the dependence of the lift and
problems between flying objects.
drag coefficients at various angles of attack by
ANSYS-Fluent and by the VLM. It is seen that the It was found that the aerodynamic force
difference between the drag coefficients obtained by coefficients on non-lifting objects are small, even in
the VLM models with and without wake shedding is the case of allowing wake shedding. Therefore, for
inconsiderable. However, when comparing with simplicity, when dealing with the problem of
ANSYS-Fluent, these drag coefficients are relatively aerodynamic interaction between multi objects, the
small. The assumption of inviscid, incompressible aerdynamic force coefficients on non-lifting objects
flow may account for this discrepancy. Even there are could be neglected and the wake shedding may not be
differences between the drag coefficients by VLM considered.
and ANSYS, but they seem to be much smaller than
This work is currently underway and will be
the weight of the helicopter and probably do not
improvied to apply to more complex configurations
affect the flight performance. For the lift coefficient,
that consist of lifting and nonlifting components (for
the model without wake shedding provides a closer
example a combination of main rotor and helicopter
result to that by ANSYS-Fluent. As mentioned
fuselage).
earlier, this trend could be attributed to the presence
of the wake that causes an erratic effect on the References
prediction result.
[1] Белоцерковский С. М, Локтев Б. Е, Ништ М. И.
With the assumption of the given location of the Исследование на ЭВМ аэродинамических и
shedding edge, the wake pattern is shown in Fig. 16. аэроупругих характеристик винтов вертолётов.-
The wake moves with the local velocity of the fluid М.: Машиностроение, 1992.
[2] Горбунов В.Г., Дець Д.О., Желанников А.И.,
and disperses at a large distance from the helicopter
Сетуха А.В. Моделирование обтекания самолетов
fuselage. на больших углах атаки вихревым методом.
4. Conclusion Научный вестник Московского государственного
Технического университета Гражданской авиации,
The present paper has introduced an approach to № 177 (3), стр 10÷13, 2012.
study the flow over 3D lifting and non-lifting objects. [3] Аубакиров Т.О., Желанников А.И., Шкаплеров
This approach can accurately predict the aerodynamic А.Н. Методика и результаты расчета вихревого
properties of the flow around 3D objects and perform следа за самолетами. Научный вестник
rapid simulations. The current problem may have not Московского государственного Технического
университета Гражданской авиации, № 177 (3),
presented the whole capability of the approach; стр 20÷24, 2012.
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[4] Ginevsky A.S., Zhelannikov А.I. (2015), Vortex of helicopter main rotor blade”, Chinese Journal of
wakes of aircraft. Aeronautics, 26(3), page 535–543.
[5] Santiago Martin Lugones, Mauricio Vicente Donadon, [9] J. Katz, A. Plotkin. Low-speed aerodynamics,
Ana Scarabino, (2016), “A panel method based Cambridge University Press, 2001.
aerodynamic code for analysis of wind turbine [10] Benjamin A. Broughton and Michael S. Selig (2006).
blades”, 21st International Congress of Mechanical “Hybrid Inverse Design Method for Nonlifting Bodies
Engineering, October, 24-28, Natal – RN Brazil. in Incompressible Flow”. Journal of aircraft, Vol. 43,
[6] Raghuveera Padakannaya (1974), “The vortex lattice No. 6, November–December.
method for the rotor-vortex interaction problem”, [11] John L. Hess (1972). Calculation of potential flow
Nasa Contractor Report. about arbitrary three-dimentional lifting bodies. Final
[7] https://www.ansys.com/. Technical Report prepared under Contract for Naval
[8] Tan Jianfeng, Wang Haowen, (2013), “Panel/full-span Air Systems Command Department of the Navy.
free-wake coupled method for unsteady aerodynamics
171 October 27 - 28, 2018

Hanoi, Vietnam
Numerical Method to Study Helicopter Main Rotor-fuselage Aerodynamic

Interaction
Pham Thanh Dong*, Nguyen Anh Tuan, Dang Ngoc Thanh, Pham Vu Uy
*Email: mrbook29@gmail.com
Abstract
This paper develops a numerical method that is capable of analyzing the aerodynamic characteristics of a
helicopter main rotor when considering the influence of the fuselage. The method is based on an unsteady
nonlinear vortex-lattice method that can be used to simulate the interactions between the helicopter
components efficiently. To clarify the effect of the main rotor-fuselage interaction, the aerodynamic
characteristics of the main rotor are determined along with those of the combined main rotor-fuselage
system. The paper also shows velocity fields and free wake patterns in several flight regimes. The fuselage
is modeled as a streamlined object and discretized into a system of quadrilateral vortex panels. The no-
penetration boundary condition is satisfied on the fuselage surface, and no vorticity is shed from the
fuselage.
Keywords: Helicopter rotor, rotor-fuselage aerodynamic interaction, vortex-lattice method.
1. Introduction
For the purpose of creating a rotary wing
A main rotor is a helicopter component that computational tool that can overcome the limitations
generates required aerodynamic lift force and drag mentioned above and be used to simulate and
during flight. Thus far, there have been a great deal of investigate many cases (taking into account
studies on helicopters, particularly on the compressibility, viscosity of the fluid environment,
aerodynamics of helicopter main rotors. However, considering the influence the helicopter fuselage or
research on the aerodynamic interaction between other parts, etc.), we have used the vortex lattice
helicopter components, such as main rotor, fuselage, method to solve the problem of aerodynamic
tail rotor, and stabilizers, is still quite limited. A main interaction between helicopter main rotor blades and
rotor is mounted on a vertical mast over the top of a the fuselage.
helicopter, and the aerodynamic characteristics of the
2. The unsteady nonlinear vortex-lattice method
main rotor itself can be determined by various
and helicopter model
different numerical methods [1-8]. Nevertheless,
these characteristics may be altered when the The mathematical model solving the
aerodynamics of the fuselage is taken into aerodynamic problem of helicopter main rotors has
consideration. The questions of how the main rotor- been developed in our previous work [10]. The
fuselage aerodynamic interaction takes place and to model is based on an unsteady nonlinear vortex-
what degree this interaction affects the performance lattice method (UNVLM) while considering the
of a helicopter have not been answered entirely. In concept of "finite vortex", and the effects of
fact, the fuselage can obstruct the induced downward compressibility and viscosity of the fluid. Similar
flow generated by the main rotor; thus, the effective models have been applied to ship and aircraft
disk area of the main rotor is reduced and the lift propellers, and yacht sails. The results from these
force decreases. On the other hand, the fuselage can models are relatively close to experimental values
play a role of an under-surface that can enhance the and data published by previous authors.
aerodynamic performance of the main rotor in a
The construction of the vortex model is based on
similar way to the ground effect.
the non-penetration boundary condition, the
Recently, with the development of computational Traplugin-Zoukovsky condition for the finite velocity
techniques, the use of high-performance computers, a at the trailing edges of lifting surfaces (the Kutta
number of studies on multifarious systems have been condition), and the Kelvin’s circulation theorem
conducted. Игнаткин Ю. М [3] studied the [1,9]. For the aerodynamics of the main rotor, the
interaction between the main rotor and tail rotor of a blades are replaced by vortex ring elements. The
helicopter using a discrete vortex method. However, main advantage of using vortex ring elements is a
due to the complexity of the multi-component minimal programming effort compared to other
aerodynamics system, the results of many previous methods. Applying all of the rules of the vortex
studies have not been verified or compared with other theory, we can obtain a linear equation system that is
calculations.
172 October 27 - 28, 2018

Hanoi, Vietnam
solved to determine the circulation of each vortex

ring element. The linear equation system contains
vortex circulation variables for the main rotor as
follows [1,3,9]:
 a11 a12 a1m   1   RHS1 
     
 a21 a22 a2 m    2   RHS2 
 
     
     
 am1 am 2 amm    m   RHSm 
(1)
In this case, the right-hand side of the equations
Fig. 1. Main rotor- fuselage model and positions of
(1) is the sum of the free stream velocity, rotation
collocation points.
velocity and the velocity induced by the free wake
and other vortex ring elements at each control point is positioned below the main rotor as shown in Figure
on the blades of main rotor, 1. The distance from 3D body of the helicopter
RSH k  [U(t)+u w ,V(t)+vw ,W(t)+w w ]k  nk , fuselage to the rotation plane of main rotor is h, and
k=1÷m; where m is number of vortex rings on the L1 is distance from the rotational center of the
blades, m  n  N  slc , n and N is number of vortex helicopter main rotor to its nose.
rings in the chordwise and spanwise directions, The linear system of equations determining the
respectively, slc- number of blades. The coefficients circulations of the vortices in the multi- components
aij are determined by the Bio-Savar law for each system helicopter main rotor-fuselage will be
quadrilateral vortex on the blades of the main rotor expanded as
[1,4], where i=1÷n, j=1÷N;  k - is the circulation of  a11 a12 a1m      1    RHS1  
         
the vortex rings on the main rotor. The solution is  a21 a22 a2 m   A2m M     2    RHS 2  
         
based on the time-stepping technique, and at the          
 am1 am 2 amm       m    RHS m  
initial moment, only the main rotor-bound vortex     
         
rings exist. Note that the closing segment of the        
 A3   M 1   B 2 M 1 
Th
trailing-edge vortex elements will represent the   M  m   A4M  M       
         
starting vortex. During the second time step, the main         
rotor moves along its flight path and each trailing-           (2)
edge vortex panel sheds a wake panel with a vortex
Here, in equation (2), the matrices of
strength equal to its circulation in the previous time
coefficients A2, A3, A4, and B2 are defined by the
step [9].
induced velocities by the vortex elements on the
W  T.Ett helicopter (quadrilateral vortex panels). Specifically,
t A2 is the coefficient matrix generated by the bound
vortices on the fuselage calculated at the control
Here W is strength of wake vortex at time points on main rotor. A3 is the matrix of coefficients
t
induced by the vortex elements on the main rotor
step t, and T.E is strength of bound vortex at the
t t calculated at the control points on helicopter fuselage.
trailing edges of main rotor blades at time step t- A4 is the coefficient matrix induced by the bound
1.This time-stepping methodology can then be vortices on helicopter fuselage at its control points.
continued for any type of flight path, and at each time Th is the circulations matrix of the vortex rings on the
step the wake vortex corner points can be moved with helicopter fuselage, and B2 is the matrix of the
the local velocity, so that wake rollup can be coefficients determined by the normal component of
simulated (equation 5). the total velocity at the control points on the fuselage.
In this model, the 3D body of the helicopter M is the total number of vortex rings on the 3D model
fuselage is a closed volume, whose the surface is of the helicopter fuselage, M=sg_ng x sg_d=540, in
repsresented by quadrilateral vortex ring elements. At which sg_ng, sg_d are the number of vortex rings in
each control point on the fuselage surface the non- the axial and vertical directions of the 3D model.
penetration condition is satisfied. The 3-D shaped Comparing equations (1) and (2), it is found that
fuselage is expected to have effects on the when considering the influence of the helicopter
performance of the helicopter main rotor. It is fuselage on the performance of the main rotor, the
assumed that the fuselage is streamlined and no free system of equationsexpands considerably, which
wake is shed from the helicopter fuselage. Modeled signifies an increase in the computatinal cost.
by 540 vortex ring elements, the helicopter fuselage
173 October 27 - 28, 2018

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Determining the strength values of vortices on

the main rotor and the fuselage is the basis for
calculating the aerodynamic characteristics of the
model, such as the pressure difference, lift, drag and
moment coefficients, or velocity fields. To compute
the pressure distribution, the local circulation is
needed. The circulation of the leading-edge vortex
line is equal to i , j but for the others, this quantity is
determined as the difference i , j  i 1, j . The fluid
dynamic loads then can be computed by using the Fig. 2. The distribution of vortex strengths on blade
Kutta-Jukowski theorem and the pressure difference at 50th time step
is given by Eq. (3) [1,9]:
panel. In equation (4), n ij is norm vector of vortex
 i , j  i 1, j
pij    U(t)+u w ,V(t)+v w ,W(t)+w w ij  i panel ij at its collocation point.
 cij
Since the vortex wake is force free, each vortex
i , j  i , j 1   must move with the local stream velocity. The local
  U(t)+u w ,V(t)+v w ,W(t)+w w ij   j  ij  velocity is a result of the velocity components
bij t 
induced by the wake and main rotor blades, and
(3) usually measured in the inertial frame of reference X,
Here  i ,  j -are the panel tangential vectors in Y, Z at each vortex ring corner point. To achieve the
vortex wake rollup, at each time step, the induced
the i and j directions; cij , bij - are the panel lengths in velocity (u, v, w)is calculated and then the vortex
the ith and jth directions; the velocity-potential time elements are moved by
derivative is obtained by using the definition (x, y, z )l  (u, v, w)l  t (5)
  ijt  ijt t
ij  ij  . The contribution of this In the case of a strong wake rollup the size of
t t t
the wake vortex ring can increase (or be stretched)
panel to the loads is:
and if a vortex line segment length increases its
F = -  p S ij  nij (4) strength must be reduced [1, 4, 8, 9].
The total forces and moments are then obtained 3. Results and disscution
by adding the contribution of each individual Based on the developed compuattional model
Fig. 3. The transient lift coefficient variation with time andthe root wake of main rotor and main rotor-fuselage
models in hover.
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Hanoi, Vietnam
Fig. 4. The transient lift coefficient variation with time when climbing with velocity vz=10 m/s.
for main rotor- fuselage systems, we consider the rotor model cT_prop and the main rotor- fuselage
specific calculation conditions: dimensions of the model cT_prop-fuselage model is not significant, the
main rotor blade are bxR=0.52x10.2m, in which b is lift coefficient of the main rotor model is greater than
the chord length, and R is the span of a blade, the root that of the main rotor- fuselage model, about 5% (the
cutout radius of the blades: Rtr=0.25R. Rotational average values are cT_prop = 0.0072 and cT_prop-
speed   192 rpm; initial pitch angle,   150 ; main fuselage = 0.0068).
rotor rotates counterclockwise (viewed from above); In Figure 4, the helicopter climbs at a speed of
number of rotor blades, sl=2;time step t  0.008 s. 10m/s, the lift coefficient has a larger mean value
than in the hover (figure 7) and the dynamic variation
Figure 2 show the results with an one-blade
is stronger over time, which is in agreement with
main rotor at 50th time step. The distribution of
many other studies. In forward flight, at a speed of
vortex strengths on blade increases along the
U0=50m/s, an angle of attack alfa=±10 degrees, the
spanwise direction and decreases along the chordwise
free wake patterns of both models main rotor and
direction. This result is consistent with the theory of
main rotor-fuselage are simulated and shown in
helicopter aerodynamics.
figures 5 and 6.
A comparison between the simulation results
Figure 7 shows the oscilations of the lift
from the helicopter main rotor models with and
coefficients, and the amplitude of these oscillations
without the fuselage in several regimes of flight is
are the most when the helicopter is in forward flight
shown in Figures 3, 4 and 5. In Figure 3, the main
at a non-zero angle of attack. While hovering,
rotor model and the main rotor-fuselage model are in
climbing or descending vertically, the time history of
hover. After 80 time steps, the airflow through the
the lift coefficient convergences quite fast; however,
rotating main rotor is pushed downward and shown
in forward flight at a non-zero angle of attack, the
by the pattern of the vortex wake in the vertical plane
convergence occurs very slowly as shown in figure 7.
through the center of rotation in Figure 3. The root
One of the causes of this phenomenon is the collision
vortex effect can be observed clearly on that plane.
between the surface of rotor blades and the wake
The variations of the lift coefficients of the main rotor
vortex, especially in the second half of the rotation
in the two models converge. The average difference
cycle.
between the values of lift coefficients of the main
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Hanoi, Vietnam
Fig. 5. Vortex wake of the main rotor with and without fuselage model in the 80th time step when the helicopter
moves with velocity U0=50m/s, at angle of attack alfa_prop=±10 degrees.
Fig. 6. Free wake of the main rotor-fuselage model at the 80th time step in various regimes of flight.
This collision causes strong impulses in the Figures 8 and 9 show the effect of the distance
variation of the lift coefficient. The other causes between the main rotor and the helicopter fuselage.
maybe is change of the angle of attack of the blades As shown in Figure 1, the helicopter fuselage is
following time. located underneath the rotor a non-dimensional
176 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 7. The transient lift coefficient variation against time of the helicopter main rotor-fuselage model in various
regimes of flight.
Fig. 8. Free wake of main rotor-fuselage model in hover at various distances h .

h
distance of h ( h  -Non-dimensional quantities). Figure 10 shows the induced velocity field on a
R vertical plane x=0. The image shows the formation of
Here the distance h varies within range from 0.01 to vortices below the blade tips, which is similar to
0.1. The results show that the vortex wake pattern and those found behind fixed wings.
the lift coefficient time history do not change
In an axial flight regime when the helicopter
significantly when varying the distance value h . It is moves vertically downwards with respect to vz=-10
possible to state that the selection of the distance h is m/s, the velocity field is obtained on horizontal
mainly based on structural criteria, rather than planes as shown in Figure 11. The figure clearly
aerodynamic performance. shows the movement of the airflow when the
helicopter rotor is rotating. Air is pumped down to
form a jet flow. The understand of induced velocity
177 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 9. The transient lift coefficient variation with time of the helicopter main rotor-fuselage model in various
distances h between main rotor and fuselage.
on these planes are of great importance for future
In the main rotor-fuselage model, the influence
research.
of the fuselage on the aerodynamic characteristics of
4. Conclusion the main rotor in terms of lifting force is not large,
only about 5÷7 percent. Thus, in some preliminary
In this paper, we have set up a mathematical
calculations of flight regimes this effect can be
model to study the aerodynamic characteristics of a
ignored to reduce computational effort.
helicopter main rotor while considering the influence
of a fuselage by an unsteady nonlinear vortex-lattice The dynamic load on the blades of the main
method. Comparisons of the main rotor model with rotor is significant, especially in skew flow regimes.
the main rotor-fuselage model in multiple flight Therefore, it is necessary to conduct more research on
regimes have been made. The results are consistent this issue.
with the theory of helicopter aerodynamics.
References
[1] Белоцерковский С. М, Локтев Б. Е, Ништ М. И.
Исследование на ЭВМ аэродинамических и
аэроупругих характеристик винтов вертолётов.-
М.: Машиностроение, 1992.
[2] Макеев П. В, Шомов А. И. Численное
моделирование режимов «вихревое кольцо»
несущего винта вертолета. Электронный журнал
«Труды МАИ». Выпуск № 45.
[3] Игнаткин Ю. М, Макеев П. В,Гревцов Б.С, Шомов
А. И. Нелинейная лопастная вихревая теория
винта и ее приложения для расчета
аэродинамических характеристик несущих и
рулевых винтов вертолета. Весник МАИ. Т16.№5-
2009.
Fig. 10. Field of induced velocity on plane x=0 after

80 time step helicopter moving.
178 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 11. Field of induced velocity on planes of z-direction when the helicopter moves down
with velocity vz=-10 m/s.
[4] Артамонов. Б.Л. (2015), “Расчет индуктивных [7] Oleg Solovyov, Vitaliy Kobrin, Sergey Yeryomenko,
скоростей несущего винта На основе модели с (2015), “Mathematical Modeling of the Flow behind
непрерывно распределенной Циркуляцией Main rotor”, Studies in Engineering and Technology,
вихревого слоя”, Научный вестник МГТУ ГА- Vol. 2, No. 1, ISSN 2330-2038 E-ISSN 2330-2046,
УДК 629.735.33.014.16:533.662.6, № 211, стр 37- page 77-85.
44. [8] Tan Jianfeng, Wang Haowen, (2013), “Panel/full-span
[5] Гарипова Л.И., Батраков А.С., Кусюмов А.Н., free-wake coupled method for unsteady aerodynamics
Михайлов С.А., (2014), “Определение of helicopter main rotor blade”, Chinese Journal of
аэродинамических характеристик модели Aeronautics, 26(3), page 535–543.
несущего винта на режиме осевого обтекания”, [9] J. Katz, A. Plotkin. Low-speed aerodynamics,
Проектирование летательных аппаратов, УДК Cambridge University Press, 2001.
629.735.45, ISSN 0579-2975. Изв. вузов. [10] Pham Thanh Dong, Nguyen Anh Tuan, Dang Ngoc
Авиационная техника. № 3, стр 7-13. Thanh, Pham Vu Uy. Buiding the calculation model
[6] Лебедь В.Г., Калкаманов С.А. (2015), of aerodynamic characteristics of helicopter rotor,
“Математическая модель нелинейной Jounal of Science and Technology- Military Technical
аэродинамики вертолета одновинтовой схемы для Academy, 185 (2017), page 70–80.
задач моделирования динамики полета на
вертолетных тренажерах”, Системи обробки
информации, випуск 7 (132), ISSN 1681-7710, УДК
629.735.45, стр 50-54.
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Hanoi, Vietnam
Model of Cascade Reservoirs Operation and Relationship of Annual

Energy Production with Price in Vietnam Competitive Generation Market
Phan Tran Hong Long1,*, Le Quoc Hung2
1
Thuy Loi University, 175 Tay Son, Dong Da, Ha Noi, Vietnam
2
PV Power, 167 Trung Kinh, Cau Giay, Hanoi, Vietnam
*Email: phanllq@tlu.edu.vn
Abstract
In a competitive generation market, hydro power plants have some advantages due to their low cost and
ability to quickly respond to rapidly varying loads. The paper introduces the cascade reservoir operation
model between two hydro-power plants on Chu basin in North Central of Vietnam and the relationship of
monthly production with price of each station in the competitive generation market. The sale data of monthly
price was collected from 2012 to 2018. Dynamic programming method was applied to calculate the monthly
energy productivity and the objective function was chosen is the maximum revenue. The flood control in
raining season, monthly minimum discharge and minimum water level was applied in boundary conditions.
Keywords: Competitive electricity market, dynamic programming, cascade hydro-power plants, reservoir
operation.
also multi-national one trading the power among

1. Introduction
countries in the same region. ASEAN member
1.1. Two large hydro-power plants on Chu River countries such as Singapore, Philippines, Thailand,
Malaysia, etc. have positive steps in forming their
Chu river (name in Vietnam, Vietnamese: Sông individual electricity market and toward the ASEAN
Chu) or Nam Sam River (name in Laos) is the largest electricity market in the future. Following the Prime
tributary of Ma River. It originates from Houa peak at
Minister's Decision 63/QD-TTg dated 8-Nov-2013,
2062 m near Xam Neua town, Houaphanh Province
the competitive electricity wholesale market would be
in eastern Laos and travels east to meander through
put under pilot implementation from 2016 to 2018
Nghe An and Thanh Hoa provinces of Vietnam. It and was expected to begin operations officially from
joins Ma River on the left in Thieu Hoa. 2019 [1, 2].
The river is 325 km long (165 km in Laos and
2. Methods and Materials
160 km in Vietnam) with a drainage area of about
7,580 km² (4,570 km² in Laos and 3,010 km² in 2.1. Problem Description
Vietnam).
There are several current problems that can be
There are two large hydro-power plants on this pointed out. Firstly, following the Prime Minister's
river. The first HPP, Hua Na is located in Nghe An Decision 214/QD-TTg dated 13-Feb-2018 about the
province, Que Phong district, Dong Van commune. operating reservoirs on the Ma river basin, the Hua
With a total investment capital of VND 7,065 trillion, Na HPP and Cua Dat HPP must be moderate with
this hydro-power plant was the first large-scale follow new conditions such as minimum level
project of the Vietnam National Oil and Gas Group. reservoir, term of flood control, etc. (unlike the
The second HPP, Cua Dat which has bigger reservoir process of design consultants) beside has engaged in
but smaller rated capacity (97MW compare to competitive electricity markets. This is a problem that
180MW) is located in Thanh Hoa province, Thuong needs some solution of calculation to optimize
Xuan district, downstream of Hua Na. revenue and limit excessive discharge. Secondly,
although two HPPs are located on the same river, but
1.2. Competitive generating market the owners are different [4].
The deregulation and development of electricity
market proved that it is the advanced stage of
management science in energy field. Electricity
market creates fair competitive business environment
for participants and becomes outstanding solution to
attract the investment and to raise the efficiency of
production and business activities for the power Fig. 1. A revised development stages of power sector
industry. Electricity market has been developed all reform in Vietnam [3].
over the world, not only a single national market but
180 October 27 - 28, 2018

Hanoi, Vietnam
1400
1400
1200 y = -2.2165x + 1032
1200
2013 1000
1000 800
2014
800 600
2015
600 400
2016 200
400
2017 0
200
2018 0 50 100 150
0 Power Output of Rainy Month (mil.kWh)
Aug
Apr
Feb
Sep
Mar
May
Jan
Jun
Jul
Oct
Nov
Dec
Fig. 2. The real monthly mean price of Hua Na HPP Fig. 4. The relationship between monthly mean price
from Feb-2013 to May-2018 [6]. and production of Hua Na HPP in Rainy Season.
1200 1400
2012 1200
1000
2013 1000
800 800
2014
600 600 y = 1.4599x + 950.56
2015
400
400
2016 200
200 2017 0
0 0 20 40 60 80
2018
Aug
Apr
Feb
Mar
May
Sep
Jan
Jun
Jul
Nov
Dec
Oct
Power Output of Dry Month (mil.kWh)
Fig. 3. The real monthly mean price of Cua Dat HPP

Fig. 5. The relationship between monthly mean price
from Jul-2012 to May-2018 [7].
and production of Hua Na HPP in Dry Season.
2.2. Data collection 1000
Over operation period from 2012 to 2018, two 800
hydro-power plants had collected much data as flow-
rate, transmission power, payment output... The using 600
data will have divided by month with Hua Na HPP
400
and Cua Dat HPP respectively [5]. y = -1.5996x + 728.83
200
While Hua Na HPP has data from Feb-2013 to
May-2018, Cua Dat HPP has longer data from Jul- 0
2012 to May-2018. 0 20 40 60 80
2.3. Relationship of monthly output with price Power Output of Rainy Month (mil.kWh)
Divided by period of hydrological year (water

year), there are two main seasons as dry season and Fig. 6. The relationship between monthly mean price
rainy season. While the rainy season lasts from July and production of Cua Dat HPP in Rainy Season.
to November, the dry season lasts from December to
June of next year. Each HPP has different While the price of dry season increase with the
relationship. The Hua Na often has higher price than production of month, that of rainy season decrease
that of Cua Dat. when the production rises.
The relationships of Hua Na are shown in Fig. 4 2.4. Dynamic Programming
and 5 while Cua Dat’s are shown in the next two The dynamic programming, developed by
figures. Those are shown its linear equation Richard Bellman in the 1950s, is a technique used for
respectively. optimizing a multistage process. It is a “Solution-
seeking” concept which replaces a problem of n
decision variables by n sub problems having
181 October 27 - 28, 2018

Hanoi, Vietnam
1200
Array before_point_HN and before_point_CD
used to record the process how to reach the maximum
1000 value.
800
At the end of period, as yearly30-Sep,
600 conventional dynamic programming is run through
400 y = 4.1743x + 628.01 this corridor to find the trajectory, upstream water
200
level couple of two reservoirs, which gives maximum
objective function value, B_max.
0
0 10 20 30 40 50 60 2.6. Case calculation
Power Output of Dry Month (mil.kWh) Following the new conditions, such as flood
control, the water level in reservoir always less than
Fig. 7. The relationship between monthly mean price 235m for Hua Na and 110m for Cua Dat from 01-Jul
and production of Cua Dat HPP in Dry Season. to 30-Nov; the time to calculate the optimal plan
suggests starting from 01-Oct yearly to 30-Sep next
preferably one decision variable each. The approach years. The new period of optimal calculation is not
allows analysts to make decisions stage-by-stage, only from beginning of dry season or rainy season but
until the final result is obtained. For operating also from time–condition of water level (before
reservoir, the water levels have been divided from flood).
full water supply level to dead water level. For one
month, with two values of water level at the Two case in discharge condition was applied,
beginning and end of month, the values of discharge, the same in the above decision and the smaller than
head, power and revenue will be calculated. If the that. Four equations which list in figure 4 to 7 used to
basin has two reservoirs (or more), with two couple calculate the monthly revenue by multi power output
values of water level at begin and end of the term, the with price which calculated from the corresponding
sum of revenues will be calculated [8]. formula.
2.5. Step-wise procedure of the algorithm 3. Results
Depending on the natural inflow, release 3.1. List of upstream water level curve
capacity, and boundary conditions of reservoir, the With each calculated year of operation
maximum value of revenue for all reservoirs (in this guaranteed, a curve of water level will be drawn.
study, the object is cascade reservoir system) at every With all the years of operation guaranteed, a set of
time step of operating horizon are found out. optimum curves will be drawn. With the maximum of
Considering the maximum revenue as in the revenue, two upstream water level curves of HPPs are
code Visual Basic 2010 bellows: shown in two next figures.
If B_max(i, j + 1, l1, l2) 3.2. Time slice of upstream water level complex
<B_max(i, j, k1, k2) + B_HN + B_CD With 12 months of each calculated year, a total
Then of 11 slices of time can be drawn.
B_max(i, j + 1, l1, l2) = At the point of departure and ending each
B_max(i, j, k1, k2) + B_HN + B_CD calculated year is a common point, so there should be
before_point_HN(i, j + 1, l1, 240
l2) = k1
235
before_point _CD(i, j + 1, l1,
l2) = k2 230
End If 225
These letter i, j are index of year and month 220
With B_max is total revenue, B_HN and B_CD are
revenue at year i and month j of Hua Na and Cua Dat 215
respectively. These letter k and l index of the 01-Oct 13-Dec 24-Feb 08-May 20-Jul 01-Oct
beginning and end of month. These indexes 1 and 2
of k and l are representing Hua Na and Cua Dat Fig. 8. The evolution process upstream water level in
respectively. 39 year of Hua Na HPP.
182 October 27 - 28, 2018

Hanoi, Vietnam
108
Upstream level of Cua

111
103
98 109
Dat
93 107
88
105
83
235 237 239
78
Upstream level of Hua Na
73
01-Oct 13-Dec 24-Feb 08-May 20-Jul 01-Oct
Fig. 11. The upstream water level complex of two
Fig. 9. The evolution process upstream water level HPPs in 1st December.
in 39 year of Cua Dat HPP.
Upstream level of Cua

111
112
Upstream level of Cua Dat
111 109
Dat
110
107
109
108 105
235 237 239
107
106 Upstream level of Hua Na
105
235 236 237 238 239 240 Fig. 12. The upstream water level complex of two
Upstream level of Hua Na HPPs in 1st January.
context, the operating cascade HPP system plays an
Fig. 10. The upstream water level complex of two important role for hydro-contribution.
HPPs in 1st November.
Under the conditions permit, in the dry season,
no time slice at these times. depending on the price increases, the output will
Some time slices of upstream water complex by increase, so every two consecutive months, there will
time as1-Nov; 1-Dec and 1-Jan are shown in three be a month of trying to generate less electricity of
next figures.. reserving water and generate more electricity in the
rest of the month.
3.3. Revenue and power output
Conversely, in the rainy season, the electricity
In the first case with the normal discharge price is low. As the general trend, hydro power plants
conditions: there are 7 of 46 calculated years that only generate excess water, keeping upstream water
have small flow and the minimum flow condition is levels increasing over time.
not specified.
With 11 slices cut time is illustrated, the
In this case, the average revenue of 39 upstream water level integration of two reservoirs
calculated years is 1171 billion VND with the yearly will be found for which one should be kept the high
product of Hua Na and Cua Dat are 780 and 607 water, will be better than other reservoir. In the case
million kWh respectively. of two reservoirs on the Chu River, for example on
In the second case with the smaller discharge November 1st, the water level of Hua Na reservoir is
conditions: there is only four year that has small flow often elevated earlier than Cua Dat reservoir.
and the minimum flow condition is not specified. A review of the sections will show at what time,
In this case, the average revenue of 42 when, where the water level is, or how the water
calculated years is 1169 billion VND with the yearly touches the boundary. It then determines the length of
product of Hua Na and Cua Dat are 762 and 590 time the operator or owner of the reservoir should pay
million kWh respectively. more attention to the regulation of electricity
generation.
4. Discussion and Conclusion
The section of time can be reconstituted in three
Hydro-power still and will be leading the energy dimensions into tubular strips for easier observation
security in Vietnam in the future and within that and observation. In the case of operation of three
183 October 27 - 28, 2018

Hanoi, Vietnam
reservoirs, the above sections are three-dimensional [3] Cuong, Duong Manh, Viet Nam’s Energy
cubes instead of the two-dimensional table as in the Development: EU – Regional Training Seminar on
paper. Each dimension of the cube represents the Sustainable Energy in South East Asia and the Pacific,
dimension of each corresponding reservoir. Presentation (2016).
[4] Prime Minister, The Decision "Promulgating
Combining power generation of inter-reservoir operation Process reservoir on the Ma River basin,"
will increase power output and increase the level of (2018).
power supply safety. This is necessary when energy [5] Hua Na Hydro-power JSC., Report on the
"Assessment of change in average power of Hua Na
demand is increasing, reducing dependence on fossil
NMTD when operating under inter-reservoir
energy sources such as coal thermal power. operation on the Ma River basin," (2015).
References [6] EVN, Payment of electricity output of Hua Na HPP
from 2013 to 2018.
[1] Prime Minister, The Decision "Regulation of the road- [7] EVN, Payment of electricity output of Cua Dat HPP
map, the conditions and electricity industry structure from 2012 to 2018.
to form and develop the level of the electricity market [8] Nandalal, K.D.W. & Bogardi J.J., Dynamic
in Vietnam," (2013). Programming Based Operation of Reservoir
[2] Ministry of Industry and Trade, The circular "Rules Applicability and Limits, in Cambridge (2007).
operate competitive electricity market," (2014).
184 October 27 - 28, 2018

Hanoi, Vietnam
Computation of the Critical Speed of a Rotor Supported by Foil-air

Bearings
Pham Minh Hai*, Nguyen Minh Quan
School of Mechanical Engineering, Hanoi University of Science and Technology, No. 1, Dai Co Viet,
Hai Ba Trung, Hanoi, Vietnam
*Email: hai.phamminh1@hust.edu.vn
Abstract
For high-speed rotating machinery to become more environmentally friendly, foil-air bearings have been
deemed one of the most suitable solutions. With the ability to resist being seized-up due to high heat or
centrifugal effect, foil air bearings can serve for a very long time between scheduled maintenances. For all
their advantages, foil-air bearings show non-linear dynamics which requires thorough analysis for each rotor-
bearing deployment. This paper points out the key parameters that influence on the rotor stability. In the
paper, a model of a turbocharger with foil-air bearings is used to demonstrate the dynamic behavior of a
whole shaft-bearing system. In that, the dynamic model of the foil structure of the bearings is constructed
considering various physical conditions. The preliminary results show good correlation with other published
experimental data.
Keywords: turbomachinery, foil-air bearing, non-linear dynamics.
1. Introduction it is necessary to investigate foil structure to

determine the stiffness by modeling method.
Together with the increased usage of
turbomachinery in various industries today, the According to Arghir [5], the foil structure was
application of Oil-free technologies including air (or considered as a number of nodes connected together
“gas”) bearings has been in progress for several by linear springs with different stiffnesses. By using
decades [1]. A significant drawback of conventional Castigliano’s theorem, elementary stiffnesses were
air self-acting bearing is the necessity of tight radial formulated, and then a stiffness matrix was
clearance for air pressure generation, which can lead established for the whole bump foil. However, this
to seizing because shaft expansion (due to high calculation presumed that the bumps remained
temperature, centrifugal force) can exceed this circular before and after loads being applied.
clearance [2]. A foil-air bearing (FAB) can overcome Moreover, the assumption of simultaneous contacts
this problem by using a compliant foil structure to between top foil and all bumps are maintained all the
form soft contact with shaft surface instead of rigid time, which seems unrealistic, especially in the area
bearing surface. When stationary, shaft may be forced where the aerodynamic pressure is low or even lower
to get contact with the foil by preload. As rotating, than the ambient pressure.
shaft will become entirely airborne while the foil is
Other research from Roger Ku [6] and Iordanoff
pushed away by aerodynamic pressure. One popular
[7] have established formulas for the bump stiffness.
structure of FABs drawing much attention consists of
Nevertheless, all formulas have not considered
two foil layers: corrugated sheet metal (bump foil)
bending moment at contact points between bump
acts as an elastic foundation and planar sheet metal
ends and bearing sleeve while for continuous bump
(top foil) embraces the journal to generate
foils, this bending moment can not be neglected.
aerodynamic pressure.
Therefore, this paper aims to introduce a set of
Having been widely applied into high-speed
formulas for one bump stiffness considering the
machines (turbo blowers, Air Cycle Machine,…), foil
bending moment with different boundary conditions
air bearings (FABs), especially bump-foil bearings,
at bump ends. Then, the general stiffness of bearing is
have made remarkable advances over the past four
calculated using assumptions suitable with real
decades [2], resulting from a wide range of research
conditions; the results are compared with result from
on modeling their structures to investigate static and
other research. Based on that, analysis of steady
dynamic performance.
equilibrium state of a whole FAB-rotor system is
Theoretically, characteristic equations governing implemented.
journal eccentricity, aerodynamic pressure and foil
displacement are established and then solved either
independently [3] or simultaneously [4] to figure out
dynamic response of FAB-rotor system. Before that,
185 October 27 - 28, 2018

Hanoi, Vietnam
systems connecting and inter-acting with each other.

𝑦 fixed edge Like previous work [11], the rotor is considered as a
free edge
rigid body and absolutely balanced. The minor
variation of the deflection of the top foils in the axial
direction is neglected.
𝜃
2.2. Equations of motion
𝑥J , 𝑦J
2.2.1. Rotor motion and Air-film pressure distribution
top foil 𝑥 The equation of the rigid rotor can be written as:
1
{ε″ } = 2 ([K f ]{f} + {S}) + [K u ]{u} + [K g ]{ε′ } (1)
Ω
bump T
foil in which {ε} = {εx1 , εy1 , εx2 , εy2 } are the
eccentricities of the journal centers; {S} =
{0, −g, 0, −g}T are the static forces due to gravity; {u}
Fig. 1. Schematic diagram of a foil-air bearing
are the centrifugal forces due to residual imbalances;
(FAB). T
and {f} = {Fx1 , Fy1 , Fx2 , Fy2 } are the air-film reaction
forces. When the rotor is run at a rotational speed of
Ω, the rotor is also subjected to the gyroscopic effect
that is accounted for by the [K g ] matrix. Further
details can be found in the author’s previous work
[11].
The distribution of the pressure in the air film is
governed by the Reynolds equation for for the
compressible air-film [12]:
∂ ∂ψ ̃
∂h
Fig. 2. Schematic diagram of a common turbocharger ∂ψ 1
[ψ (h̃ − ψ )]
∂θ ∂θ ∂θ
shaft supported by two oil-lubricated floating ring = { ∂ ∂ψ ̃
∂h ∂ψ
} (2)
∂τ Λ
+ [ψ (h̃ − ψ )] −
bearings (FRB). ∂ζ ∂ζ ∂ζ ∂θ
where
Rotor
ψ = p̃. h̃ ; h̃ = 1 − εx cos θ − εy sin θ + w
̃
Eccentricity Air-film
6μΩ R 2
of bearing- forces w
̃ = w/c ; Λ = ( )
pa c
journal center Air-film
2.2.2. Foil deflection
Air-film With the foil structure model used in this paper,
pressure the deflection in the axial direction is negligible and
Foils can be omitted. Then, the equation governing the foil
Deflection of deflection in the circumferential direction can be
bearing surface written as:
̃ (θ)
dw 2 F(θ)
= η (K − w
̃ (θ) ) (3)
Bearing housing dτ td
Fig. 3. Schematic diagram of a FAB-rotor system. where K td = k b . L. c/pa ; kb is the stiffness per
unit area of the foil structure; η is the loss factor; Fθ is
2. Dynamic Model of a FAB-rotor System obtained by integrating pressure mesh along the axial
direction.
2.1. Rotor dynamic model of a turbo-charger
The general observation is that the deflection of
A typical turbo-charger consists of a rotor the foil structures under the hydrodynamic pressure in
running in two floating-ring bearings (FRBs) which the air-film is key to the dynamics of the whole
are lubricated with oil (Figure 2). In this paper, the system.
two FRBs are replaced by two FABs. In the view of
rotordynamic analysis, the whole system can be
described in Figure 3, in which there are three sub-
186 October 27 - 28, 2018

Hanoi, Vietnam
For elements from the right end to the acting

point of the pressing force F
φi − φi−1
Δs
L
XN ∑ a i . sinφi Δ s
1 i=1
= N L
EI
Fixed - Roller −YN . (∑ bi . cosφi Δ s − ∑ a i . cosφi Δ s)
{ i=1 i=1 }
1
+
ρo
(5a)
And for elements from the fixed end to the
acting point of the pressing force F
Fixed - Slider
φi − φi−1
Δs
L
XN ∑ a i . sinφi Δ s
i=1
N L
1
= −YN . (∑ bi . cosφi Δ s − ∑ a i . cosφi Δ s)
EI
i=1 i=1
F L
Fixed - Blocked
−F. (∑ ci . cosφi Δ s − ∑ a i . cosφi Δ s)
Fig. 4. Boundary condition of a single bump. { i=1 i=1 }
1
+
3. Innovation of foil-structure modelling ρo
3.1. Elasticity model of the bump foil
(5b)
The curvatures at an arbitrary point on the bump
with the boundary conditions are defined by:
before and after bending can be described in the
equation below [9]: yN = 0 ∑L a . sinφi Δ s = 0
Case (a): { ⇔ { i=1 i
1 1
φo = φo1 φo = φo1
M = EI. (ρ − ρ) (4)
o yN = 0 ∑L a . sinφi Δ s = 0
Case (b): { ⇔ { i=1 i
where ρo , ρ are the radii of curvature before and φo = φo1 φo = φo1
after bending, E is the elastic modulus of bump yN = 0 ∑Li=1 a i . sinφi Δ s = 0
material, I is the moment inertia of cross section and Case (c): {φo = φo1 ⇔ { φo = φo1
M is the internal bending moment. xN = 0 ∑Li=1 a i . cosφi Δ s = 0
Under pressure from the top bearing foil, each
bump of the supporting foil can respond in various
modes. In this paper, three typical cases are Solving equations (5a,b) with one of the
considered, as shown in Fig. 4abc. boundary conditions using Newton-Raphson
algorithm, the effective stiffness of the bump can then
Discretising equation (4) by n elements along be calculated as follows:
the length of the bump and using backward difference
F
method result in the following equations: K bump = v (6)
F
in which vF is the deflection at the acting point of the

force F.
187 October 27 - 28, 2018

Hanoi, Vietnam
Fr
F2 F2
F1 F1
Fo
Fig. 6. Stability of rotor-FAB system.
Fig. 5. Bump reaction forces.
3.3. Impoved foil-deflection equation
Table 1. Comparison of effective stiffness Ktot
Using the stiffness determined by equation (6),
Kim test Fixed- Fixed- Fixed- the foil-structure equtions are replaced by:
dw
̃ (θ) 2
data [3] roller (a) slider (b) blocked (c) = ([K eff ]−1 F(θ) − w
̃ (θ) ) (9)
dτ η
1.069E7 7.976E6 1.187E7 3.282E10 4. Computation of the critical speed

With the improved foil-deflection equation
above, it is necessary to investigate the influence of
3.2. Effective stiffness of foil-structure geometry paramters (ratio of bearing width and rotor
Since the bump foil is continuous, the effective diameter, L/D, and radial clearance, C) on the
stiffness of the bearing can be estimated using the stability of rotor-FAB system. The stability of the
roller-bearing approach. Fig. 5 show the bump system is characterzied by critical speeds, which can
reaction forces onto the top foil when pressed down be understood to be the speed where the rotor shifts
by the circular journal of the rotor. from equilibrium state to unstable state and the
maximum speed where the rotor can sustain the
With a given deflection δ0 of the center of shaft, stability. Table 2 shows the basic dynamic parameters
the total force can be calculated by: of the rotor and the two foil air bearings.
Fr = F0 + 2F1 cos η +
2F1 cos( 2η)+. . . +2Fm cos( m η (7)
Table 2. Parameters of the simulated rotor-
The effective stiffness of the bearing can be
bearing system
determined by:
F Parameters Value Units
K tot = δ r (8)
0 µ 1.95x10-5 N.s/m2
With the typical foil bearing presented in works pa 101325 Pa
done by Kim et al [3], the total effective stiffness of
the foil structure is shown in Table 1. Co 32 m
It has shown that the stiffnesses of elastic model  0.25
in this paper with boundary conditions (1), (2) and
θF 90 (o)
from experiment by Kim [3] are nearly the same. The
similarity has reinforced acceptable accuracy of the mr 3 kg
elastic model proposed by the authors. Remarkably, -3
the stiffness shows a sharp increase in Case (c) where Jx=Jy 6.7x10 Kg.m2
two ends of the bump are fixed and blocked. Jp 1.2x10-4 Kg.m2
188 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 6 illustrates equilibrium state of rotor [3] Daejong Kim (2007) “Parametric Studies on Static
according to rotating speed at L/D = 1.25 and and Dynamic Performance of Air Foil Bearings with
C = 0.4C0. The foil model in Case (b) is used. When Different Top Foil Geometries and Bump Stiffness
Re( λ) ≤ 0 , rotor’s motion is considered to be in Distributions”, ASME Journal of Tribology, Vol. 129,
April 2007.
equilibrium, while Re(λ) > 0 , rotor will work [4] P. Bonello, H.M. Pham, (2014). The efficient
unstably [11]. From that, it can be seen that rotor computation of the nonlinear dynamic response of a
motion shifts from equilibrium to unstable state at the foil–air bearing rotor system.Journal of Sound and
speed of about 12000 rpm and back to equilibrium Vibration,Vol 333(15) / 3459–3478.
state at around 60000rpm and maintains up to the [5] S. Le Lez, M. Arghir, J. Frene (2007) “A New Bump-
speed of above 80000 rpm. Type Foil Bearing Structure Analytical Model”,
ASME Journal of Engineering for Gas Turbines and
Further tests with foil-models of Case (a) and Power, Vol, 129, O ctober 2007
Case (c), the top speeds that the system can reach [6] Ku, C. P., Heshmat, H. (1992) “Compliant Foil
vary from around 40000rpm (case (a)) to 100000rpm Bearings Structural Stiffness Analysis Part I:
(case (c)). Theretical Model Including Strip and Variable Bump
Foil Geometry”, ASME Journal of Tribology, 114(2),
5. Conclusions pp. 394-400.
[7] Iordanoff, I., (1999) “Analysis of an Aerodynamic
The paper has presented the computation Compliant Foil Thrust Bearing: Method for a Rapid
technique for the determination of the critical speeds Design”, ASME Journal of Tribology, 121, pp. 816-
of a foil-air bearing-supported rotor. Also, the paper 822.
present a newly developed model of the bump foil [8] Hai Pham, P. Bonello (2013) “Efficient Techniques
with good agreement with experimental data from for thr Computation of the Nonlinear Dynamics of a
other international research. The recults has further Foil-Air Bearing Rotor System”, Proceedings of
reinforced the importance of constructing accurate ASME Turbo Expo 2013: Turbine Technical
models of the foil structures in order to make the best Conference and Exposition, Texas, USA.
deployment of foil-air bearing in real rotor-system [9] A. P. Chavan, Hong Zhou (2016), “Analysis and
Simulation of Slender Curved Beams”, International
designs of high-speeds rotating machinery. Journal of Engineering Research & Technology,
Acknowledgments ISSN: 2278-0181, Vol. 5, pp. 214-221.
[10] F. Xu, D. Kim, B. Z. Yazdi (2016), “Theoretical
This research is funded by Vietnam National Study of Top Foil Sagging Effect on the Performance
Foundation for Science and Technology of Air Thrust Foil Bearing”, Proceedings of ASME
Development (NAFOSTED) under grant number Turbo Expo 2016: Turbomachinery Technical
107.01-2015.26. Conference and Exposition.
[11] Pham Minh Hai, Nguyen Minh Quan, Nguyen Xuan
References Ha, Dang Bao Lam (2017), “A parametric study on
the effect of a discontinuous-foil air bearing on the
[1] C. DellaCorte, R. J. Bruckner (2011) “Remaning
dynamics of a turbomachine”. Proceedings of The
Technical Challenges and Future Plans for Oil-Free
11th SEATUC Symposium, Ho Chi Minh City, 2017.
Turbomachinery”, J. Engineering for Gas Turbines
[12] Minh-Hai Pham, Xuan-Ha Nguyen, Bao-Lam Dang
and Power, Vol.133/042502, April 2011.
(2015), “On the computation of the vibration of foil-
[2] G. L. Agrawal (1997) “Foil Air/Gas Bearing
air bearing – rotor systems”. Proceedings of the 16th
Technology – An Overview”, Proceedings of the
ASIA PACIFIC VIBRATION CONFERENCE.
ASME Turbo Expo, Orlando, Florida, USA, No. 97-
GT-347
189 October 27 - 28, 2018

Hanoi, Vietnam
Effect of Friction Models on Simulation of Hydraulic Steering System

Nguyen Van Lai*, Tran Xuan Bo, Tran Khanh Duong
Department of Fluid Power & Automation Engineering, Ha Noi University of Science and Technology,
Vietnam, No. 1 Dai Co Viet Road, Hai Ba Trung Dist., Hanoi
*Email: nguyenvanlai@humg.edu.vn
Abstract
This paper focuses on investing effects of three friction models: steady-state friction model, LuGre model,
and new modified LuGre model on simulation of dynamic characteristics of a hydraulic steering system.
Mathematical model of the system is developed basing on a hydraulic system consisting a hydraulic cylinder
and a directional control valve. Characteristics of wheel angles, displacement and velocity of the cylinder
piston, pressures in the two-cylinder chambers, and steering assisted force created by the cylinder are
analyzed under different conditions of steering angle and under the effects of the friction models. Results
show that steering law is correctly simulated by using all the three friction models. However, the new
modified LuGre model gives a best simulation results while the steady-state friction model causes much
oscillations in the characteristics of velocity, pressures, and steering assisted force.
Keywords:Hydraulic steering system; LuGre model; modified LuGre model; steady-state friction model;
simulation.
behaviors of friction observed in hydraulic and

1. Introduction
pneumatic cylinders with a relatively good accuracy
Hydraulic steering system are often used in 6, 11.
mobile vehicles for reasons related to their good Although the usefulness of the new modified
power/weight ratio and durability 1-2. However, the LuGre model has been verified in simulating the
dynamic characteristics of the hydraulic system are friction of hydraulic cylinder, the validity of this
relatively complicated due to its high nonlinearities. model in predicting the motion of hydraulic steering
One of the nonlinearities of the hydraulic system is system has not been investigated.
friction. Friction may cause control errors, limits In this article, effect of the new modified LuGre
cycles, and poor performance of the system. To model on simulation of hydraulic steering system is
simulate accurately the dynamic characteristics of the examined and the simulation rerults of the new
hydraulic steering system, it is, therefore, necessary modified LuGre model are compared to those the
to find an accurate mathematical model of friction. steady-state friction model and the LuGre model.
Mathematical models to describe the steady-
2. The Model of Hydraulic Steering System
state friction characteristics have been proposed and
are widely used in mechanical systems including 2.1. System model
hydraulic systems 3-4. Those models are very
In this investigation, the schematic diagram of
useful when the motions of a hydraulic system are
the hydraulic steering system is shown in Fig.1. The
predicted or analyzed under steady-state operating
main components of the hydraulic steering system
conditions. However, the steady-state friction models
include two wheels 1, tie rod 2, feedback link from
are not enough or useless to predict orcontrol the
wheel 3, spool directional valve 4, power steering
motion of a hydraulic system when the system
unit 5, steering wheel 6, hydraulic cylinder 7, supply
operates under oscillating velocity conditions.
pressure ps from hydraulic pump.
Several dynamic friction models have been
proposed so far 4-9 and among them, the LuGre When the steering wheel 6 is operated, it rotates
model [7], is most widely utilized, especialy, an angle . The power steering unit 5 having a
mechanical systems. However, Tran et al 10 have transmission ratio i shifts “signal ” to the spool
show that the LuGre model can not simulate well the displacement x1 of hydraulic valve 4. The spool of
dynamic friction behaviors of hydraulic and hydraulic valve 4 links to the feedback link 3. The
pneumatic cylinders. They have made modification feedback signal from wheel acts to bar R3 of the
to theLuGre model by incorporating lubricant film feedback link and moves the spool of hydraulic valve
dynamics into the model, and replacing the usual a displacement x2. Because of the displacement x2, the
fluid friction term with a first –order lead dynamics, width of hydraulic valve port is  = x1 – x2. That
and it has been show that the proposed model, called results in ps presured oil from the hydraulic pump fed
the new modified LuGre, can simulate the dynamic to a chamber of the hydraulic cylinder 7 with
volumetric flow rate Q1 and hyadraulic oil from the
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Hanoi, Vietnam
ps   p 
w u   
2 (4)
Q2  cd   p2  s 
 2   2 
Where w is the width of hydraulic valve port,
cdis a volumetric flow rate coefficient of hydraulic
valve port, is a specific mass of hydraulic oil.
The relationship between the volumetric flow
rates Q1 and Q2 and the pressures p1 and p2 in both
chambers of the cylinder are described in the
following forms
V
Q1  A1 y  1 p 1
h (5)
V2
A2 y  Q2  p 2
h
Where y is the displacement of piston in
hydraulic cylinder; h is the effective bulk modulus of
the fluid; A1 and A2 are the piston areas, respectively;
V1 and V2 are the fluid volumes in the two cylinder
chambers and are given by:
Fig. 1. Schematic diagram of the hydraulic steering V1  V10  A1 y (6)
system. V2  V20  A2 L  y 
other chamber of hydraulic cylinder passing the Where L stands for the stroke length of the
hydraulic valve to the tank with volumetric flow rate cylinder; V10 and V20 are the dead volumes in the two
Q2. When steering wheel is operated in cylinder chambers, respectively.
reverserotation (an angle -), the volumetric flow The motion of the hydraulic cylinder can be
rates of hyadraulic oil in to one chamber of the described as follows:
cylinder 7 is Q2 and out to other chamber of cylinder
my  p1 A1  p2 A2  Fr  Fcd (7)
is Q1.
Because of operating performance of the Where m is a mass of cross bar and piston, Fcd is
hydraulic steering system, it has an underlap the resistance force of the road surface; Fcd depends
hydraulic valve. It means that the ports A, B, P, T of on the resistance moment and mechanical structrure
hydraulic valve in center position are connected 13. of the steering system, Fr is the friction force on the
The volumetric flow rates, Q1 and Q2passing the hydraulic cylinder calculated from one of thefriction
valve ports when the displacement of spool ε ≤ u (u models in Section 2.2.
isthe lap of the spool)can be written in the following When the steering wheel operates an angle ,
forms: the spool of valve moves a displacement and the two
wheels rotates an angle  and .  and  can be
ps   ps 
w u   
2
Q1  cd    p1  calculated in the following formulas 12:
 2   2  (1)
R R
  1   3 y cos  (8)
ps   p 
w u   
2 i R2
 cd   p1  s 
 2   2 
y
 ( rad ) (9)
  p  R2
w u    s   p2  s 
2 p
Q2  cd l . cos    
 2   2  (2)     arctg
m  l . sin    (10)
 p 
w u    s   s  p2 
2 p
 cd l  2m. sin   2l . sin   m. sin   
2
 2   2   arcsin
l 2  cos 2      m  l . sin   
2
The volumetric flow rates Q1 and Q2 passing the

valve ports when the displacement of spool ε  u has Where  is an angle of the tie rod (Fig.1); m is a
the following forms: distance between two feedback links, l is a parameter
depended on structure of the steering system.
ps   ps 
w u   
2 (3)
Q1  cd    p1 
 2   2 
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dz
Fr   0 z   1   2v (13)
dt
Where z is the mean deflection of the elastic,0
is the stiffness of the elastic bristle, 1 is the micro-
viscous friction coefficient, and gs(v) is a Stribeck
function given by:
gs (v)  Fc   Fs  Fc  e 
 v / vs 
n
(14)
For steady state, friction force is given by
equation (11).
Fig. 2. Steady-state friction model 3.
2.2.3. The Modified LuGre Model
Tran et al 8 have extended the LuGre model
for simulating the dynamic behaviors of friction of
hydraulic cylinders in the fluid lubrication regime by
incorporating lubricant film dynamics into the model
and replacing the the usual fluid friction term with a
first-order lead dynamics. The model is called the
new modified LuGre model and described by:
Fig. 3. Bristle model 6. dz 0z
v v (15)
2.2. Friction models dt g s  v, h 
gs  v, h   Fc  1  h  Fs  Fc  e
 v / vs 
n
In this section, short descriptions of the steady- (16)
state friction model, the LuGre model, and the new
dz dv
modified LuGre model are presented. Fr   0 z   1   2 (v  T ) (17)
dt dt
2.2.1. Steady-state friction model
The steady–state friction model 3-4 that are Where T is the time constant for fluid friction
the combination of Coulomb friction, viscous friction, dynamics, gs(v, h) is a Stribeck function that
and static friction have been proposed and presented expresses the Coulomb friction and the Stribeck
in Fig.2. Those friction models are most commonly effect and is obtained by incorporating a
used on simulation and control of mechanical dimentionless lubricant film thickness, h, into
systems. The steady-state friction force Fr is given theStribeck function gs(v) of the LuGre model.
bay a function of velocity as follows The lubricant film dynamics can be given by:
Fr  Fc   Fs  Fc  e
 v / vs 
n
  2v (11) dh 1
  hss  h  (18)
Where Fc is the Coulomb friction force, Fs is the dt  h
static friction force, vs is the Stribeck velocity, n is  hp  v  0, h  hss 
exponent that affect the slope of the Stribeck curve, 
 h   hn  v  0, h  hss  (19)
2 is the viscous friction coefficent and v is the 
velocity between the two surfaces in contact.  h 0  v  0
2.2.2. LuGre Model K v 23
 f v  v  b
hss   (20)
Canudas de Wit et al 6 have proposed the
v  v 
2
 K f vb 3
LuGre model that combined the Dahl model 4 with b
K f  1  Fc / Fs  vb
an arbitrary steady-state friction characteristic and 2
3
(21)
Stribeck curve. The LuGre model is based on the
bristle model of two surfaces in contact shown in Where hss is the dimensionless steady-state
Fig.3. lubricant film thickness parameter, Kf is the
Contacting asperities on the surfaces are proportional constant for lubricant film thickness, vb
modeled as rigid bristles on one surface and elastic is the velocity within which the lubricant film
ones on another surface. The LuGre model is given thickness is varied, and hp, hn and h0 are the time
by: constants for acceleration, deceleration, and dwell
dz  z periods, respectively. In Equation (18); h < hss
v 0 v (12) corresponds to the acceleration period, h > hss to the
dt gs  v 
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Tab. 1. The parameters of 5 tons – weight truck

Parameters Values Parameters Values
Mt (kg) 5000 A1 (m2) 8,04.10-4
rbx (m) 0,4 A2 (m2) 5,499.10-4
a (m) 0,06 L (m) 0,2
(0) 100 cd 0,6
R2 (m) 0,162 (kg/m3) 860 Fig. 4. The angle of steering wheel.
R3 (m) 0,182 h(MPa) 1400
i 20 m (kg) 3
ps (Pa) 5.106 Fcd(N) 600
Tab. 2. The parameters of the friction models
Parameters Values
v>0 v< 0
Fs (N) 850 -350 Fig. 5. The displacement of the tie rod.
Fc (N) 180 -105
vs (m/s) 0,0125 0,015 Thedirective effective coefficient of steering
vb (m/s) 0,05 -0,05 system: 0.65.
2 (N.s/m) 320 350
The inversive effective coefficient of steering
n 0,6 0,9 system: 0.5.
T (s) 0,33 0,07
Figure 4 shows the change of the steering wheel
0 (N/m) 5.106
angle. The steering wheel is rotated as follows: The
1 (N.s/m) 0,1
angle of the steering wheel is increased from 0 to 900
hp (s) 0,25 in the period 0.15s and is held at 900 from 1.2s to
hn (s) 1,5 1.25s. After that, the steering wheel is rotated
h0 (s) 40 inversely from 90 to 00 in period 0.15s and is held at
00 for a time 1.1s.
deceleration period. For steady state, friction force is
When the angle of the steering wheel is rised
given by
from 0 to 900, the tie rod moves a distance from 0 to
Frss  Fc  1  hss  Fs  Fc  e
 v / vs 
n
  2v (22) 0.03 m as presented in Fig.5. When the angle of the
steering wheel is 900, the displacement of the tie rod
The static parameters Fs, Fc, vs, vb, n and 2 of is increased continuously and equals 0.05 m in the
the three models were identified from the measured period from 0.5s to 1.2s. This resultcan be explained
steady-state friction characteristcs using the least- as: The angle of the steering wheel is increased and
squares method, and the dynamic parameters 0, 1, that leads the displacement of the spool x1 to be
h and T, were identified from the measured dynamic bigger. With this displacement x1, the piston of
friction characteristics by the methods proposed in hydraulic cylinder moves to the right and the tie rod
Tran et al 8. also moves to the right which acts on the feedback
link x2 connecting the spool of hydraulic valve.
3. Simulation results and discussion Finally, the hydraulic valve open  is reduced. When
In this section, characteristics of displacement the angle of the steering wheel is 900 and maintained
and velocity, angle are presented under different constantly, after the delay time 0.4s the hydraulic
conditions of the steering wheel angle. valve open is 0 m and the tie rod dwells in the
position 0.05m. Fig.6 shows the relation between the
Simulation is done by the Matlab/Simulink
hydraulic valve open and time. When the steering
software with the parameters of a 5 tons – weight
wheel is rotated from 90 to 00 in period 0.15s and
truck, parameters of the hydraulic steering system and
held it in angle 00 for a time 1.1s, the tie rod moves
the friction models as presented in Tab.1 and Tab.2.
inversely.
The another parameters of 5 ton – weight truck:
Fig. 5 shows the results of simulation of the tie
The weight distributioncoefficient of truck:
rod displacement with the steady-state friction model,
0.4/0.6.
the LuGre model and the modified LuGre model.
The resistance coefficient of the front tires and
From Fig. 5 and Fig. 6, the characteristics of the tie
road surface: 0.02.
rod displacement and hydraulic valve open are the
same when simulating the steering system with the
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Hanoi, Vietnam
Fig. 6. The displacement of the spool of the hydraulic Fig. 8a. The pressures in non-piston rod chamber.
valve.
Fig. 8b. The pressures in piston rod chamber.

Fig. 7. The velocity of the tie rod.
steady-state friction model, the LuGre model and the
modified LuGre model. It means that mathematical
model of thesteering system incorporating the friction
models in the Section 2.2 can be used in simulation of
dynamical characteristics of the steering system.
However, there are the marked differences between
velocity curves of the tie rod presented in Fig. 7, and
pressures in the both chambers of cylinder showed in
Fig. 8, and the steering assisted forces in Fig. 9 when Fig. 9. The steering assisted force.
using the friction models. friction model. For simulating result, the LuGre
When the angle of the steering wheel is constant model, the steering assisted force changes from 600N
in the period of time from 0.1s to 1.2s and from 1.3s to 680N, then it held 600N constantly when the time
to 2.5s, the results of simulation with the fricton from 0.3s to 0.4s and the time reaches 1.5s to 1,6s,
models in the section 2.2 about the velocity of the tie the assisted force varies from 500N to 680N. The
rod equals 0 presented in Fig. 7. However, the assisted force comes to be 600N constantly after
velocity of the tie rod reaches 0 more slowly with the 0.01s and balances the resistant force Fcd with the
steady-state friction model. The result of simulation is simulation using the new modified LuGre model.
the best with the new modified LuGre model.
4. Conclusion
As the same, when the angle of steering wheel is
constant and force acting the wheels is not varied, the In this paper, effects of the steady-state friction
pressures in the both chambers of cylinder also come model, the LuGre model and the new modified LuGre
to be constant. It means that the steering assisted model on simulation of a hydraulic steering system
force of cylinder acting the tie rod does not change. are investigated. The results show that all the three
Fig. 8a and Fig. 8b show the simulating results of the models can capture correctly physical characteristics
pressures in the both chambers of cylinder using the of the system. However, the steady-state friction
steady-state friction model, the LuGre model and the model causes much oscillations on the system
modified LuGre model. The pressure curve of the characteristics. The new modified LuGre model gives
simulating result using the modified LuGre model is the best simulation results while the LuGre model
early stably under condition of the constant steering- causes small oscillation in the system characteristics.
wheel angle. References
Figure 9 presents the steering assisted force of
[1] Tom Wong, "Hydraulic power steering system design
the hydraulic system. The simulating results show
and optimization simulation”, SAE Technical Paper
that the steering wheel is rotated after 0.05s, the Series 2001-01-0479, 2001.
steering assisted force of the hydraulic system comes [2] M. R. Nimbarte, L.P. Raut. Efficiency Analysis of
to be constant. At the moment 0.2s the steering Hydraulic Power Steering System. International
assisted force oscillatesamplitude from -250N to Journal of Engineering Research and Applications
1300N with the simulation using the steady-state
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Hanoi, Vietnam
(IJERA)- ISSN: 2248-9622 - Vol. 3, Issue 3, May-Jun [8] Hideki Yanada a, Yuta Sekikawa (2008). “Modeling
2013, pp. 1230-1235. of dynamic behaviors of friction”, Elsevier Ltd.
[3] Armstrong H.B (1991). “Control of machines with Mechatronics, Vol 18, Issue 7, 2008, pp 330-339.
friction”. Boston, MA: Springer. [9] K. J. Astrom and C. Canudas de Wit (2008).
[4] Armstrong H.B, Dupont P and Canudas DWC (1994). “Revisiting the LuGre Friction Model”, IEEE Control
“A survey of models, analysis tools and compensation Systems Magazine, 2008, 28 (6), pp.101-114.
methods for the control of machines with friction”, [10] Tran XB, Hafizah N and Yanada H (2012). “Modeling
Automatica; 30(7), pp. 1083–1138. of dynamic friction behaviors of hydraulic cylinders”,
[5] V. van Geffen (2009). “A study of friction models Mechatronics; 22(1).pp. 65–75.
and friction compensation”, Technische Universiteit [11] XB Tran,W.H. Khaing, H Endo and H. Yanada
Eindhoven - Department Mechanical Engineering - (2014). “Effect of friction model on simulation of
Dynamics and Control Technology Group – hydraulic actuator”, IMechE, Vol 228, Issue 9, 2014,
Eindhoven pp 175-180.
[6] Xuan Bo Tran, Hideki Yanada (2013). “Dynamic [12] Phạm Minh Thái. Hướng dẫn làm đồ án môn học:
Friction Behaviors of Pneumatic Cylinders”, Thiết kế hệ thống lái của ô tô – máy kéo bánh xe –
Intelligent Control and Automation, Vol.4 Trường Đại học Bách khoa Hà Nội – 1991.
No.2(2013), Article ID:31741 pp.180-190. [13] Bùi Hải Triều. Giáo trình truyền động thủy lực và khí
[7] C. Canudas de Wit, H. Olsson, K. J. Astrom, P. nén. Đại học Nông nghiệp Hà Nội – 2006.
Lischinsky (1995). “A New Model for Control of
Systems with Friction”, IEEE Transactions on
Automatic Control, Vol. 40, No. 3. pp. 419 – 425.
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Influence of the Designing Parameters on Flow Fluctuation and Pressure of

the Improved Roots Blower
Nguyen Hong Thai*, Tran Ngoc Tien, Phan Tien Dung, Nguyen Quang Huy
Hanoi University of Science and Technology, No. 1, Dai Co Viet, Hai Ba Trung, Hanoi, Viet Nam
*Email: thai.nguyenhong@hust.edu.vn
Abstract
Positive displacement pumps are applied in industrial systems as hydraulic power source. Two important
parameters used to evaluate the quality of the machine are fluid stability and pressure. In this paper, in order
to evaluate the influence of the typical designing parameters on the design quality of a Roots blower with
improved profile, we establish a mathematical model of the flow rate and pressure with the rotation angle of
the driving shaft. Based on that, the authors introduce formulas to determine the fluctuation of flow rate and
the theoretical pressure. From obtained theoretical results, we conduct a survey with the typical parameters
designed in order to select the designing parameters satisfying requirement that the fluctuation of flow rate
and pressure are minimum. This research also introduces the design solution aiming to improve the working
quality when designing high flow rate blowers.
Keywords: Roots blower, fluctuation of flow rate, fluctuation of pressure, flow rate, pressure.
1. Introduction clearance between two rotors changed from 0.12mm

to 0.15mm without influence on blower’s
Roots blower is a non-contact hydraulic
performance. In addition, this research also showed
machine which has higher flow rate than the normal
that in terms of Roots blower, when the number of
ones. In addition, this type of blower has the ability to
teeth increased, it had no effect on raising blower’s
work in different environments which can transport
performance. In fact, it just increased blower’s
materials with low to high viscosity, or even can
pressure as well as stabilize the flow rate. Following
handle solid wastes. Thus, this blower is used widely
this research, in 2014, Kang and Ha introduced a new
in many different industrial fields such as food
design with a rotor having profile that contained the
processing, oil transport, fly-ash conveying system in
dedendum rotor is a hypocycloid arc and the
thermal power plant, water waste treatment,
addendum rotor is a complex line profile , this
agricultural production and drying machines etc…
research also showed the rotor profile that affected on
[1]. In recent years, this type of blower has been
blower’s performance significantly. Specifically, the
researched by many scientists in order to improve the
new design introduced by the authors had raised the
working quality as well as the performance. One of
performance of volume from 8% to 10% compared to
the most interesting points is improving the profile of
the traditional one [11]. In order to improve the
rotors with different conjugate curves. Based on that,
working quality of blower, Hsieh et al. [9] connected
many new blowers were developed. The detail about
Roots blowers with each other so that each blower’s
these improvements has been introduced in section 1
rotors rotate with varied phase angles in serial and
of the documents [2-4]. However, this type of blower
parallel connections. This research showed that
also has some drawbacks which are vibrations and
parallel connection has advantages which are
noises caused by instant changes of forces acting on
increasing the average flow rate value as well as
the rotors. In order to reduce vibrations and noises,
better fluid quality while serial connection increases
Mimi [5] changed the transformed volume parameter
and stabilizes the pressure in the outlet. Following
of the Roots blower having three-lobe rotor with the
this research, Hsieh et al., 2015 [10] used the
complex line profile which contained the addendum
Pumplinx software to analyze models of cylindrical
rotor is an arc, the flank is an involute arc and the
and screw type Roots blowers. The results showed
dedendum rotor is an epicycloid. Recently, Kang and
that the cylindrical type Roots blower had higher flow
Ha (2012) [7] have researched the dynamic of fluid in
rate but the fluid quality was lower than the screw
two type of Roots blowers with the support of fluent,
blower. Based on this research, the cylindrical type
a commercial software, one of these blowers has
Roots blower is chosen for high flow rate demand,
profiles of rotors designed in traditional form [11]
while the screw type is recommended for better fluid
and the other has profile of rotors designed in the
quality. This analysis shows that the use of simulation
Litvin form [12] with the rotation speed ranging from
software has several advantages that it can solve the
1000 to 5000 rpm. This research discovered that
interactive multi-field problem. However, when it
when the clearance between rotor and stator reduced
comes to the optimization of design parameters, there
from 1.25 mm to 0.5 mm, pressure rose to 425% and
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Hanoi, Vietnam
are drawbacks that make it difficult to determine the With ψ is the parameter of {ES}. In the Eq. (1) the
most optimal parameters. Thus, in this paper, the sign “  ” and “  ” are supposed that the addendum
authors will model the process of volumetric rotor profile has the above sign, while the dedendum
transformation in the chamber by analytic formulas, has the below sign.
based on that, this paper evaluates the influence of
design parameters of profile on the working quality of 2.2. Instant flow rate of Roots blower
blower through fluctuation of flow rate and pressure Let Vd ( ) be the volume of the outlet chamber
with the hypothesis that there is no radial clearance
between rotor and stator as well as there is no depending on the rotation angle  of shaft drive, it is
clearance between two rotors in the contact period. possible to calculate the instant flow rate of the
blower:
2. Variation of Instant Flow Rate And Pressure dVd ( )  dVd ( )  d
With The Rotation Angle of Shaft Drive Q( )   
dt  d  dt
2.1. Equation of rotor profile  dV ( )   dS ( ) 
  d   B d  (2)
 d   d 
Where S d ( ) is the cross section of the outlet
ES Dedendum
profile
chamber (Fig. 2) which has perpendicular direction to
TL the shaft drive;  is the rotation speed of shaft drive
R O1 O2
R and B is the axial dimension of the rotor.
TL
inlet chamber
ES
α
Addendum
profile
R
450
O1 O2 ω2
R
Fig. 1. Roots blower [2, 3].
Based on [2, 3] that we have mentioned above,
Sd
the rotor profile of Roots blowers has the addendum outlet
chamber
circle that is a locus of the point K located
permanently on ellipse {ES} when {ES} rolling Fig. 2. Area of the section of outlet chamber.
without slide on the external side of the pitch circle of
the rotor {TL}, and the dedendum circle is a locus of Thus, the problem can be solved by calculating
the point K located permanently on ellipse {ES} S d ( ) in relation with  with S d ( ) is calculated in
when {ES} rolling without slide on the internal side this following particular case:
of the pitch circle of the rotor {TL}(Fig. 1). With the Case 1: When rotation angle  of shaft drive roll
principle of building profile above, the mathematical steadily in the interval: 0     / 4 .
formula of the rotor profile is given by:
S d ( )  S ABCD ( )  S * ( ) (3)
r
bd
( ,  , ) 
 a (1  cos ) cos(   )  Where: S ABCD ( ) (Fig. 3a), S * ( ) (Fig. 3b) are
  a (1  cos ) sin(   )  given by equations (4) and (5), respectively:
S ABCD ( )  S EBF ( )  S DCF ( )  S ABE ( ) (4)
 b sin(   ) sin   R cos  
 b cos(   ) sin   R sin   (1) With:
 S EBF ( )  2 R( R  2a)  0.5 ( R  2a) 2

Where R is the radius of { }; a is the TL 
S ABE ( )  0.5( R  2a) (AO1 B)  0.25 ( R  2a) sin(2AO1 B)
2 2
elliptical larger axis of {ES}; b is the elliptical 

( )  0.5( R  2a) (CO2 D)  0.25 ( R  2a) 2 sin(2CO2 D)
2
 S
 DCF
 x E ( ) 
1    
shorter axis of {ES};  ( )  tan and AO1B    ; CO2 D    .
  y E ( )  ; 4 4
  

   
0.5
1 
 x E ( )   y E ( )  .
2 2
 ( ) 
R  
0
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 xd ( ) / xc ( )  bd
rotor rotor    R( z,  )r ( ,  , ) (7)
 y d ( ) / yc ( )
C
R ω1 R In the Eq. (7), R( z,  ) is the cosine direction
ω2 matrix in the xOy coordinate system of the reference
E A O1 O2 D F
system which associate with shelf while
r bd ( , , ) is the coordinate of rotor profile given

SABCD by Eq. (1).
B
rotor rotor
a) Area of SABCD
C
R R
ω2 S5
ω1 K
A O1 O2 D
rotor rotor
S3
C S1 S2
R R S4
ω1 K ω2
A O1 O2 D
B
S*
Fig. 4. Area S1, S2, S3, S4, S5
B
Case 2: When the rotation angle  of shaft driver
olls steadily in the interval  / 4     / 2 . Due to
b) Area of S* the symmetrical position between the rotor and stator
Fig. 3. Area of outlet chamber when 0     / 4 . (the case) withO1O2 direction (Fig. 5) we have:
Where: S d ( )  S stator  2S rotor  S A ( ) (8)
S * ( )  S1 ( )  S 2 ( )  S3 ( )  S 4 ( )  S5 ( )
(5)
With: S1 ( ) , S 2 ( ) , S3 ( ) , S 4 ( ) , S5 ( ) are the `
component areas (Fig. 4) and are given by:
6 SA

 5

S1 ( )   y d ( ) x d ( )
α
 8  ( ) O2 450
 O1
S 2 ( ) 
 6

 y c ( ) xc ( )
R ω2
ω1
 8  ( ) R

S 3 ( ) 
 6

 y d ( ) x d ( ) (6)
 6
S ( )   y ( ) x ( )
 4 c   c
Fig. 5. Area of SA.
 4
4
 In this case we have:

 3

S 5 ( )   y d ( ) x d ( ) S stator is the whole area in the chamber given by:
S stator   ( R  2a) 2  4R(R  2a) (9)
Where in (6)  ( ) is the parameter of {ES}
S rotor is the area of rotor given by:
corresponding with the meshing period K with the
rotation angle  [3]; while xd ( ) , yd ( ) , xc ( ) , 2 2 
yc ( ) arethe coordinates of the add endumand
0

 0

S rotor  2 y e ( ) xe ( )  y h ( ) xh ( ) (10)



dedendum profile of rotors, when rotors are driven
by shaft drive rolling an angle  , therefore: Where xe ( ) , ye ( ) , xh ( ) , yh ( ) are
coordinatesofprofilegivenbyEq. (1) and  is the
198 October 27 - 28, 2018

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parameter of {ES}. S A ( ) isthe area of the part instant flow rate of outlet chamber depending on the
illustrated inFig.5.Due to the symmetrymentioned rotation angle of shaft drive.
above, therefore S A ( ) is given by:  106
  1.55
[cm3/min]
S A ( )  S ABCD (   )  S * (   ) (11) 1.50
Qmax
2 2
Case 3: With the particular angles:   0 ;    / 2 1.45
Q
(Fig. 6a) area of outlet chamber is given by: 1.40
S d ( )  S stator  2S rotor 
1 1.3
(12) 5
2 1.30
when    / 4 (Fig. 6b) we have: 1.25
S d ( )  S stator  2S rotor  S k 
1 1.20
13) Qmin
2 1.15
Where: Area S k (illustrated in Fig. 6b) and 0 20 40 60 80 100 120 140 160 180 α [0]
Fig. 7. Instant flow rate of Roots blower.
determined by:
1

S k   ( R  2a) 2  S rotor
2
(14)  From the figure 7, it is clear that the instant flow
rate fluctuates cyclically with the circle π/2 for each
Sstator value of the rotation angle of shaft drive. The instant
flow rate reachs the maximum value Qmax when
rotor

rotor
  n / 2 and falls to the minimum value Qmin when
Srotor R   (2n  1) / 4 (wherenis a natural number) inthe
ω2
working cycle of blower.
450
O1 O2
2.3. The variationofpressureofoutlet chamberfor
R each value of the rotation angle of shaft drive
ω1 Srotor
In order to calculate pressure of outlet chamber
Sd for each value of the rotation angle of the shaft drive,
we assume that when the blower is working the
variation of outlet volume is responsible for the fluid
a)  0
transportation from the lower to the higher pressure in
the outlet. Thus, the displaced gas mixes with the
Sstator previously compressed fluid. Therefore, we assume
rotor
that the outlet of blower is connected with a reservoir
Srotor rotor which has volume V z ; the pressure of the inlet is P1
450 ; the gas from the inlet fills the chamber S k ( S k is the
ω2 cross section area of chamber which is limited by the
O1 450 O2
Sk Srotor rotor and stator) , when S k appears, the volume in
R R which reachs the value Vk (Fig. 8) Let Vt ( ) is the
ω1
Sd total volume of the outlet and reservoir, we have:
Vt ( )  Vd ( )  Vz (15)
Vf is the total volume of the outlet and reservoir right
b)   /4 before the immission of the fluid volume from S k

Fig. 6. Area of outlet chamber with the particular (Fig. 8), therefore V f is given by:
angles. V f  Vz  min(Vd ( )) (16)
Example 1: With the parameters design of blower With the hypothesis that the thermal energy is
which have radius of {TL}: R = 41.63mm; {ES} has preserved between the before and the after period
parameters: the elliptical larger axis a = 12.15mm; the when there is the mixing of gas from S k to outlet,
elliptical shorter axis b = 8.51mm whilethe axial thus we have:
dimension of rotor B = 120 mm, rotation speed of cv mVk TVk  cv mV f TV f  cv (mVk  mV f )Tx (17)
shaft driven* = 750rpm. Then, the figure 7 illustratesthe
199 October 27 - 28, 2018

Hanoi, Vietnam
P2 (1 )Vdk ( )  Px (Vk  V f ) k (23)

ω2 Where: k is adiabatic index (with gas let k  1.4 ) from
which we have:
O2 Vd ( ) P1Vk  P2 max V f  Vk  V f 
k
P2 ( )    (24)
Vk  V f  V ( ) 
Vz  t 
Example 2: Based on design parameters in example 1
categories 2.2 and the hypothesis that the volume of
ω1 reservoir equal  times the volume, we have the
O1
figure of the pressure variation in the outlet for each
value of rotation angle of shaft drive. Some of the
Vk values of  are illustrated in Fig. 9. For this type of
blower, there is sudden variation of pressure in the
outlet. The pressure drops to minimum value when
Fig. 8. Calculation of load pressure.    / 4  n / 2   (n is natural number,  is
condition of converging solution of i , in this case
The left side of equation is the total thermal 10-5). When the volume of reservoir is extended
energy before the mixing of gas and the right side is much larger compared to Vk , the sudden variation
the total thermal energy after that mixing period. tend to be smaller and equal to zero when    .
Where: cv is specific heat at constant volume; mVk , Thus, it is showed that the increase of the sized ratio
mV f of reservoir is one of the solutions to increase the
are the mass of gas in the chambers Vk , V f working quality of blower.
respectively; TVk , TV f are temperature of gas included
2.1
P2 [Bar]
into volume Vk , V f ; Tx outlet chamber gas 0

2.05
temperature right after the mixing period. The gas
satisfies the perfect gas law. 2.00 P2max
Let P2 max be the outlet pressure maximum 1.95 =2
value of reservoir; P2 (1 ) is the pressure of outlet for =4
1.90 =∞
each value of rotation angle of shaft drive. If the
outlet pressure reaches the value P2 (1 )  P2 max the 1.85
valve of reservoir will open to prevent the overload at
1.80
the setting pressure ( P2 max ); Px is the pressure of the
[0]
outlet and reservoir right after the mixing period. By 1.75
0 20 40 60 80 100 120 140 160 180
imposing the equation of state for ideal gas, we have:
Fig. 9. Variation of pressure for each value.
P2 max V f
mV f TV f  (18) 
R* 3. Fluctuation of Flow Rate And Pressure
PV
mVk TVk  1 k (19) 3.1. Fluctuation of flow rate
R*
Px (Vk  V f ) LetδQ, Qmax , Qmin be the fluctuation of flow rate,
(mVk  mV f )Tx  (20) maximum andminimum flow rateof instant flow rate
R*
Where: R* is the gas constant. After replacing respectively, we have:
components of Eq. (17) by equations (from Eq. 18 to Qmax  Qmin
Q  100% (25)
Eq. 20) we have: Qtb
P1Vk P2 max V f Px (Vk  V f ) Where Qtb is the average flow rate of blower and is
  (21) given by:
R* R* R*
From which
P1Vk  P2 max V f Qtb  qn * (26)
Px  (22)
Vk  V f Where n * is the rotation speed of shaft drive, while q
On the other hand,by imposing adiabatic equation: is the flow rate of blower in one working cycle and is
given by:
200 October 27 - 28, 2018

Hanoi, Vietnam
q  2ZSk B (27) onthe value   b / a when  increase steadily to 1. We

Where area S k was given by the Eq. (14), and: have the figure of average flow rate and of instant
flow rate given by Fig. 10, the variation of pressure in
Qmax  Q(n / 2)
the outlet is given by Fig. 11 andthe fluctuations of
 .
Qmin  Q(( 2n  1) / 4) flow rate and pressure are given by Fig. 12.
3.2. Fluctuation of pressure

Similarly, let δP , Pmax , Pminbe the fluctuation of
pressure, maximum and minimum pressure of Roots
blower, then:
Pmax  Pmin
P  100% (19)
Ptb
Where: Ptb is the average value of pressure and is
given by:
P  Pmin
Ptb  max (20)
2
While: Pmax  P2 max is the given value of pressure,
Pmin  P2 (   / 4  n / 2) .
3.3. Influence of typical parameter design  on the

fluctuation of flow rate and pressure
In order to evaluate the influence of typical
parameter designλonthe fluctuation of flow rate and
pressure wecarry out a surveywith the value of  in the
interval [0.4  1] showed in table 1 (λ is chosenin
[0.4  1] in order to avoid undercutting effect
introduced in [3] and when λ = 1 the Roots blower
transform into the traditional form [11]) with the
hypothesis that the fluid is gas, the stable load
pressure P2 max  2 bar, rotation speed of shaft
driven* = 750rpm, B = 120mm. Pressure depends
Table 1. The surveyed parameters of fluctuation of

flow rate and pressure
λ = b/a a [mm] b [mm] R [mm] Fig. 10. Flow rate of blower
0.4 13.35 5.340 39.117109
0.5 12.95 6.475 39.936878 From fig. 10, it is showed that whenthe design
0.6 12.55 7.530 40.789990 parameter λ decreases while the radial dimension
0.7 12.15 8.505 41.632248 Rb =R+ 2a (Fig. 13) and the axial dimension B are
0.8 11.75 9.400 42.430657 kept constant it is showed thatthe flow rate increase.
0.9 11.35 10.215 43.159874 Specifically, we havean improved design λ = 0.4
compared tothe traditional design λ = 1 [11] the
1.0 11.00 11.000 44.000000
theoretical flow rate Qtbincreaseby Qtb  14.08% .
This isanadvantageof this design principle.
201 October 27 - 28, 2018

Hanoi, Vietnam
%
30
2.10
P2 [Bar] Q ΔQ
P ΔP
2.05 25
2.00 P2max
20
1.95
=1.0
=0.9
15
1.90 =0.8
=0.7
=0.6 10
1.85 =0.5
=0.4
1.80 5
α [0]
1.75 0
0 20 40 60 80 100 120 140 160 180 λ=0.4 λ=0.5 λ=0.6 λ=0.7 λ=0.8 λ=0.9 λ=1.0
Fig. 11. The variation of pressure in the outlet. Fig. 12. Fluctuations of flow rate and pressure.
Rb Rb
Sk Sk
a) Traditional Roots blower [11] b) Improved Roots blower
Fig. 13. Area of cross section of chambers of the traditional and improved types of Roots
blower.
From the diagrams in Fig. 11 and Fig. 12 it is showed Specifically, the theoretical flow rate increases by
that for this type of Roots blower which hasan approximately 14.08% more than the traditional
improved rotor profile, the coefficientλdoes blower (Fig. 10).
notinfluence significantly on the quality of blower.
ii) When the design parameter  increases, the
The coefficients  Q ,  P do not increase
fluctuation of flow rate and pressure decrease.
significantlycompared tothe blower designed in Specifically, from = 0.4 to = 1,the fluctuation
traditional way [11]. Specifically, whenλ = 0.4, the of flow rate decreases by 0.06 while the
value of Q increase by fluctuation of pressure falls by 0.005.
 Q   Q( 0.4)   Q( 1)  0.06 andthe value of  P iii) The results of this research showed that the new
increase by  P   P( 0.4)   P( 1)  0.005 design is more adaptable for applications which
require high flow rate such as pneumatic systems
compared to the traditional blower.
or other applications in industry requiring the
4. Conclusions stability of flow rate and pressure.
From the results of this research as well as from References
discussions in section 3 of this paper, it is shown that: [1] Y B Li, K Jia, Q W Meng, H Shen, X H Sang, Flow
i) The design parameter  does not influence simulation of the effects of pressure angle to lobe
pump rotor meshing characteristics, Materials Science
significantly on the working quality of the blower
and Engineering 52 (2013) 032022,
(fluctuation of flow rate and pressure) and helps Doi:10.1088/1757-899X/52/3/032022.
to increase the flow rate of the blower.
202 October 27 - 28, 2018

Hanoi, Vietnam
[2] Nguyen Hong Thai, Tran Ngoc Tien, Pham Thien 28, Issue 02 (2012) 229 – 238, Doi:
Toan, A hydraulic external gear pump with the 10.1017/jmech.2012.26.
improved cycloid profile, VCFM 20, Can Tho, [8] Yaw-Hong Kang, Ha-Hai Vu, A newly developed
Vietnam (2017), pp. 681-691. rotor profile for lobe pumps: Generation and
[3] Nguyen Hong Thai, Tran Ngoc Tien, Influence of the numerical performance assessment, Journal of
designing parameters on the profile slippage and flow Mechanical Science and Technology 28 (3) (2014)
of the Roots blower, Journal of Science and 915-926, Doi: 10.1007/s12206-013-1159-7.
Technology Development (2017). [9] Chiu-Fan Hsieh, Yu-Cheng Deng, A design method
[4] Nguyen Hong Thai, Tran Ngoc Tien, A novel profile for improving the flow characteristics of a multistage
in design of the high-pressure Roots blower, VCFM Roots pumps, Vacuum 121 (2015) 217-222, Doi:
20, Can Tho, Vietnam (2017), pp. 692-698. 10.1016/j.vacuum.2015.09.001.
[5] Giovanni Mimmi, Paolo Pennacchi, Compression [10] Chiu-Fan Hsieh, Qin-Jie Zhou, Fluid analysis of
Load Dynamics in a Special Helical Blower: A cylindrical and screw type Roots vacuum pumps,
Modeling Improvement, Journal of Mechanical Vacuum 121 (2015) 274-282, Doi:
Design (2001), 402-407, Doi: 10.1115/1.1377016. 10.1016/j.vacuum.2015.04.037.
[6] Nguyen Hong Thai, Phan Tien Dung, Tran Ngoc [11] Nguyen Hong Thai, Nguyen Thanh Trung,
Tien, Pressure variability at the intake and exhaust Establishing formulas for design of Roots pump
ports of the improved Roots blower in relationship geometrical parameters with given specific flow rate,
with the driving shaft rotation angle, The Tenth Journal of Science and Technology, Volume 53,
National Conference on Mechanics, Ha Noi, 2017. Number 4 (2015) 533-542, Doi:
[7] Y.-H. Kang, H.-H. Vu and C.-H. Hsu, Factors 10.15625/0866708X/53/4/3908.
Impacting on Performance of Lobe Pumps: A [12] Litvin, F.L, Alfonso Fuentes, Gear geometry and
Numerical Evaluation, Journal of Mechanics, Volume applied theory, Cambridge 2001.
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Constructing Computational Program to Determine Induced Torque

Components on Helicopter Main Rotor Rotation Axis
Nguyen Khanh Chinh1,*, Pham Vu Uy2
1
Military Institute of Science and Technology, No 17 Hoang Sam street, Cau Giay district, Ha Noi, Vietnam
2
*Email: chinhnk301279@gmail.com
Abstract
Main rotor is the basic component of a helicopter. On the single main rotorconfiguration, about 80% of the
power of engine system is supplied to the main rotor to overcome the torque on its rotation axis. In case of
axial flow with respect to the rotor or low forward velocity, the induced torque component occupies a large
proportion. The article presents the calculation model to determine the specific component of the induced
torque. The calculation model is based on the nonlinear, unsteady blade vortex theory for the rotating
blades, taking into account the diffusion of the vortex. A computational program is coded on the basis of the
model. Calculation results are evaluated by comparison with availableresults of some other authors.
Keywords: Helicopter main rotor, induced drag, vortex model, diffusing vortex.
The rotor has a number of bladesis kla , rotating

1. Introduction
at a speed H , moving with velocity U . Rotor angle
There are two drag components that appearance
while helicopter main rotor is working, profile drag of attack is  H , pitch angle of the blades is  .
and induced drag. In which the profile drag maintain Considered the analysis is in half-speedcoordinates.
almost constant thoughout low speed range and some Model for calculating the induced torque of
increase at the higher airspeeds, it can be determined helicopter main rotor is constructed according to
by experimental or CFD modeling methods. At a nonlinear unsteady discrete vortex method [2].
hover or at lower airspeeds, induced torque Assume that there is no flow separation on the
component occupies a large proportion. It changes blade surfaces but there are still flow separations at
quickly by airspeed. the tip and root of blades. Diagram of a blade and its
With different operating states, the blades move total substituted vortex system are described as
complex. Field velocity in spatial flow is unequal and shown on the figure (fig 2).
asymmetric. The resulting resistance of movement is Substituted vortex system is discretized to
different, resulting in different driving power straight vortex segments, includes a bounded vortex
requirements. This difference is mainly due to the system and free vortex systems I, II, III that exit from
difference in the induced drag component. This has trailing edge, root and tip of blade, respectively. At
not been calculated separately in classic propeller checkpoints on blades which are represented by dots
theory. Discrete vortex method can calculate in the figure, the not flow normally condition be
separately the component induced drag. executed.
2. Model for calculating the induced torque of m ,  , k are blade indicators, horizontal line
helicopter main rotor indicators, along line indicators of straight

vortexsegments, respectively. p ,  are horizontal and
2.1. Rotary wing model according to
nonlinearunsteady discrete vortex method
Figure 1. Drag components curves [1]. Figure 2. Vortex model and checkpoints collocation.
204 October 27 - 28, 2018

Hanoi, Vietnam
along position indicators of checkpoints. r n


   m  s .vm  NN  rr  ss 12  x , y , z  
3
The dimensionless vortex intensities are written s  2  1 
as shown in the figure (fig 2). They have the
In the above formulas, the velocity
following relationship:
 componentsinduced by the unit vortex v x , y , z  only
m  1kk r    m kk 1r  m kk 1r 
 1 depend on the position of the vortex. They are
(1   n ; 1  k  N ; 1  m  kla ) determined by the formulas:
 0.5a a a 
m  1kk r   m kkr1 ( k  0 ) vx  2 2 0 2  1  2 
a0  b0  c0  r1 r2 
 1

0.5b0  a1 a2 
m  1kk r   m kk 1r ( k  N 1 ) vy     (3)
 1 a  b02  c02  r1 r2 
2
0
 
s 1
 m ks    m ik 1k   m ikk 1 0.5c0  a1 a2 
1 1 1
vz    
i 1
a  b02  c02  r1 r2 
2
( 1  k  N ; 1  m  kla ; s  2,3...r ; r  2,3... )

0
where
a0  2  1   1   0    2   1  1  0  ;

m2 s
 1    m 10 s  m 10 s 1  ( 1    n ; 1  m  kla )
 1
b0   2   1  1  0    2  1   1   0  ;
 
s 1
m  2 s
    m  2 i
 1  m  2 i
 1 c0  2  1  1  0   2  1  1  0  ;
i 1
( 1    n ; 1  m  kla ; s  2,3...r ; r  2,3... ) r1  1  0   1  0    1   0 

2 2 2
;

 m3 s 1    m Ns
N 1  m N 1 
r2  2  0   2  0    2   0  ;
 Ns 1 2 2 2
 1
( 1    n ; 1  m  kla ) a1  1  2  1  0   1  2  1  0    1   2   1   0  ;
a 2  2  1  2  0   2  1  2  0    2   1   2   0  ;
 
s 1
 m  s    m i 1   m i 1
3 3 3
i 1 1,1,1  , 2 , 2 ,2  , 0 , 0 ,0  are the dimensionless

( 1    n ; 1  m  kla ; s  2,3...r ; r  2,3... ) coordinates of the vortex tips and the point,
respectively.
m0s  m sN 1  0
1 1
(1)
Applying not flow normally condition at the
The vortex system induces velocity at any point checkpoints, we receive equations:
in flowing space: kla N 1 n kla N 1
W x, y, z  W x, y, zn  W x, y, z np  W x, y, z I  W x, y, z II  W x, y, z III (2) 



m 1 k 1 1
 k 1r
m  k .am  kk 10ppv 1    m kkr 1.amnn 11kk 10ppv 1  H mpp0v1r (4)
m 1 k 1
1
in which where
1 kla N 1 n v  1,2,..., n ; p  1,2,...,N  1 ; m  1,2,..., kla , so that the
w x , y , z  n 
4
 
m 1 

k 1 1
 k 1r
m  k .vm  kk 1 x , y , z 
equations consist n  N  1 kla corresponding equation
1 kla N n
at n  N  1 kla checkpoints.
w x , y , z  np 
4


m 1

k 1 1
m 
 1k r
k .vm  1kk  x , y , z 
Coefficients:
 r N 1 1 s 1   k 1 pp 1 n  1k 1 pp 1  1k pp 1 
kla
vm  k 0vx    vm k 10vx  vm k 0vx  .cos  n0v , x 

1
w x , y , z  I 
4
    m kk 1.vmn  r  s 1k  x , y , z 
m 1  s 1 k 1
n  r  s 1k 1
am  kk 10ppv 1  pp 1
4    
r N

   m ks .vmnn  rr  ss 12 kk  x , y , z   1   k 1 pp 1 n  1k 1 pp 1  1k pp 1 
1
vm  k 0vy    vm k 10vy  vm k 0vy  .cos  n0v , y 

pp 1
s 1 k 1  
1 kla
 r n 4    
w x , y , z  II 
4
      2 s
1 .vm  1ss  rr  x , y , z 
1   k 1 pp 1 n  1k 1 pp 1  1k pp 1 
m

vm  k 0vz    vm k 10vz  vm k 0vz  .cos  n0v , z 
m 1 s 1 1
pp 1


4 
r n
   m  s .vm  ss  rr 1 x , y , z   
2
 
s  2  1 
vmnn 11kk 10ppvx1.cos  n0ppv 1 , x 
1
1 kla  r n  3 s amnn 11kk 10ppv 1 
w x , y , z  III    m  1.vm  1NN  rr  ss 11 x, y , z  4 
4 m 1  s 1  1
vmnn 11kk 10ppvy1.cos  n0ppv 1,y   vmnn 11kk 10ppvz1.cos  n0ppv 1,z 
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Right side:
 
H mpp0v1r  u cos H cos l  1  y  0ppv 1  z0ppv 1   H x cos  n0ppv 1, x 

 u sin  H  z0ppv 1     H cos  n
pp 1
x 0v y
pp 1
0v , y
u cos H sin l  x0ppv 1  1     H cos  n

y
pp 1
0v z
pp 1
0v ,z
u – dimensionless translation velocity of rotor;  l –
azimuth angle of blade; x , y ,z – dimensionless
angular velocity components of rotor; n – normal
vector at thecheckpoint; x , y, z – vectors indicate the Figure 2.Radius of the vortex core
direction of the coordinate axes.
 N 1 1 s n  r  s 1k 1 pp 1 N 1 1 s 1 n  r  s 1k pp 1   02  0.6820.15cxp
   m kk 1vmn  r  s 1k 0vj    m k .vmn  r  s k 0vj 
 k 1 k 0  cxp  Re0.15
kla r 1    – radius of the vortex core at the moment t , formed
n n
1
H j      m  1.vm  s  r 0vj    m  .vm  s 1 r 0vj 
2 s  1s  r pp 1  2  s 1  s  r pp 1
4 m 1 s 1   1  1  at the moment  ;  0 – the radius of the vortex core
 n n  when formed;  e – kinematic viscosity; cxp – profile
   m  s 1.vm  1NN  rr  ss 101 ppvj1    m  s1.vm  NN  rr  ss 10ppvj1 
3 3
  1  1  drag coefficient.
At the distance between the checkpoint and the
1 kla n
 n n


4
 
 0 r 1
m 1  v  m
10 pp 1
00 vj  m  NN 11r 1  vm 1NN 110ppvj1  yarn of vortexsegment is smaller than the vortex core

m 1 1   
    radius, unit velocity decrease linearly to zero.
( j  x, y , z )
2.3. Calculation of aerodynamic characteristics
Unknows of the equations are intensities of
Derives from the solution about vortex intensity
horizontal bounded vortex segments m  kk 1r and of the equations (eq 4+5) determine the differential
1 r pressure across the blade surfaces:
intensities of horizontal free vortex segments  m kk 1
pm pp 1r  2  w0 xm pp 1r sin mr  w0 zm pp 1r cos m pp 1r  cosm pp 1
at current step.
The equation system is closed when adding Rn
 w0 ym pp 1r sin m pp 1  m pp 1r
equations that describe conservation condition of bpp 1
circulation along closed paths:
2  w0 xm pp 1r cos mr  w0 zm pp 1r sin mr  m 11 pp 1r
Rn
   
n r 1

 1
 k 1r
m  k  m 1 r
kk 1
s 1
1 s
m kk 1
(5) l pp 1
m pp 1r
This equations have  N  1 kla equation. The sum  (7)

of the number of equations of systems (4) and (5) is
in which
 N  1 n  1 kla . This is equal to the number of
unknows. m 11 pp 1r 
1
4
 m 1 prp  m 1prp m 1pp 11r  m 1pp 11r 
The problem solving sequence is performed
m pp 1r 1  n 
   m  p  m  p    m  rpp 1 
 p 1r  p 1r 1
according to the calculation steps, starting from the 
1
moment when there is information of the loading on      

the blades and the vortex structure behind the rotor. w0 x , y , z m pp 1r – components of relative velocity.
  0 ;   0 ; u  0 ; 0  0 ;  H  0 ;
Normal force coefficient of blade element:
  0 ;      ; u  u   ; 0  0   ; H  H   1 n
c'ym pp 1r   pm pp 1r
n  1
2.2. Vortex diffusion model
Thrust coefficient of rotor:
During equations solving to determine the
1  kla  N ' p 1r 1 ' 0r
    c ym p cos m p  c ym1 cos m1
p 1r
vortex intensities, it may occur that the problem does c  0r
not converge due to the blades cutting through the  N  m 1  p  2 2

vortex segments. To avoid this situation, we use the 1 Nr  
N 1 cos m N 1   b
 c'ym Nr
vortex diffusion model [3], see figure (fig 2). (8)
2 
    4 e t   
2 2
0 (6)
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Induced torque coefficient: each step  . In which St is chosen to ensure the

1  kla  N ' p 1r p 1 1 ' 0r 0 convergence of the program (Section 3.1).
    c ym p rp sin m p  c ym1 r1 sin m1
p 1r
mki  0r
The figure below (fig 4) shows some vortex
 N  m 1  p  2 2
system images when running the program.
1 Nr   Image a – vertical flight with U  5m / s ,  H  90o ,
N 1 rN 1 sin  m N 1   b
 c 'ym Nr N
(9)
2    10o , H  192rpm .
New coordinates of free vortexsegments for the next
Image b – forward flight with U  25m / s ,
step are found as follows:
 H  15o ,   10o , H  192rpm .
r 1  r  wx 0r  ; r 1  r  wy 0r  ;  r 1   r  wz 0r  (10)
3. Results and Reviews
2.4. Build a computational program in C ++
The computational program is applied formain
A C++ program is coded on the basis of the rotor of the helicopter Mi-8. The geometry and
given model. The algorithm block diagram shown in kinematic parameters of the rotor are taken according
the figure (fig 3). to the helicopter technical document [4].
Geometry parameters: outer radius R  10.64m ,
The calculation time of the program depends on
the number of steps St and azimuth change through
chord b  0.52m , inner radius rtb  2m , number of
blades kla  5 , twist angle l  5o .
Kinematic parameters: angular velocity
H  192rpm , pitch angles   1o...14o , attack angle
 H  90o...90o .
3.1. Evaluate the convergence of the program and

the correctness of the model
Run the program with St  74 ,   20o (4
turns) for hover, the dependence of the thrust
coefficient on the azimuth (or number of steps) is
obtained (fig 5). Compare it with the corresponding
graph of the other author (fig 6).
The shape of the graphs has a good analogy. The
results are convergent. From the calculation step
s  36 (  4 or2 turns) to s  72 (  8 or 4 turns)
the deviation of the results is c  14% . Thus, when
determining the result at the calculation points, we
can take the number of steps to be 36. For this, the
time to run the program for a calculation point is
about 35 minutes to a computer with normal
b
Figure 3. Algorithm block diagram. Figure 4. Votex system images.
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Hanoi, Vietnam
Figure 5. Thrust coefficient vs azimuth

(   20o ,   12o ).
Figure 7. Hover polar with   3o...12o (   1o ).
Figure 6. Thrust coefficient vs azimuth

(   20o ,30o ,50o ) [2].
configuration (CPU core-i3 3.5GHz, RAM 4.0GB).
To evaluate the correctness of the model, we
build the hover polar of the rotor and compare it with
one available in the document [3].
The hover porlar of the rotorare shown in figure
8 when performing the calculation program with
different pitch angles   3o...12o .
Figure 8. Mi-8 hover polar [4].
The hover porlar received has a good qualitative
similarity to that given in the document (fig 8). In
3.3. Investigation of induced torque versus
terms of value, the porlar are left-shifted compared to
translation velocities in forward flight
the available characteristics. That is, at each value of
c , the value of mki on the received hover porlaris less Calculating the induced torque coefficient at
than the value of mkp on the available characteristics. calculation points with different translation velocities,
we obtain the coefficient versus translation velocity
This is explained by the fact that mkp is the value characteristics (Fig. 10).
obtained in the experiment, it consists of two As the translation velocity increases, the
components of the induced torque and profiled induced torque decreases rapidly.This is consistent
torque. with the arguments given in the introduction of the
3.2. Investigation of inducedtorque versuspitch article. But from U  5m / s to U  10m / s , the
anglesin hovering induced torque is slightly increased. This may be due
to a calculated error, the number of steps is not large
The variation of the induced torque coefficient enough so that the obtained value converges with the
versus pitch angles when calculated according to the error less than the difference value between the two
model given in the figure (fig 9). calculated steps.
The shape of the graph corresponds to one in the 4. Conclusions
document [2]. Due to the twisting of the blades, the The paper presents a model for calculating
smallest value of the induced torqueis not at   0o induced torque for main rotor helicopter using
but at   3o . nonlinear unsteady discrete vortex method that takes
into account vortex diffusion.
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Figure 10. Induced torquecoefficient vs translation

velocity characteristics in forward flight  H  30o ,
U  0...50m / s ( U  5m / s ).
Figure 9. Induced torquecoefficient vs pitch References
anglecharacteristics in hovering   3o...12o [1] C. Hollingsworth, Introduction to helicopter
(   1o ). aerodynamics, Nas corpus christi, Texas 2013.
[2] С.М. Белоцерковский, Б.Е. Лотев, М.И. Ништ,
A computation program based on the proposed Исследование на ЭВМ аэродинамических
model is coded. иаэроупругих характеристик винтов ветолетов,
The program is used to investigate the effect of Машиностроение, Москва, 1992.
flight conditions on the aerodynamic characteristics
[3] В. М. Щеглова, Метод аэродинамического расчета
of Mi-8 main rotor. Although not much comparable, несущего винта c учетом диффузии свободных
the obtained aerodynamic characteristics of the вихрей для малых скоростей полета, Ученые
rotoraccording to the model are well-matched with записки цаги, Том XLII, № 2, 2011.
the results of some other authors as well as given in [4] В. Б. Зозуля, Ю. П. Иванов, Практическая
some documents. аэродинамическа вертолета Ми-8, Машиностроение,
Москва, 1977.
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Balance Control Method for UAV Camera Using Zero Velocity Controller
Nguyen Khac Thap1 , Nguyen Van Tam2 , Mac Luu Phong3 , Pham Van Tien4,*
1
Director of Aero-optoelectronic center
2
Algorithm Engineer, Aero-optoelectronic center
3
Embedded Systems Engineer, Aero-optoelectronic center
4
Automatic Control Engineer, Aero-optoelectronic center
*Email: tienpv62@viettel.com.vn
Abstract
UAV Camera is a communication system for Unmanned Aerial Vehicle systems, serving reconnaissance,
surveillance, target detection, photographic in space, etc. Recently, UAV cameras must be equipped with
the orientation stabilization function to eliminate unintentional vibrations of the mechanical system, helping to
improve the quality of the captured video and the efficiency of the target tracking function. In this paper, we
propose to employ a new PI controller base on the non-linearizing the classic PID controller to make
balanced directional control of the UAV Camera. This controller speeds up the response and reduces the
angle error of the UAV camera compared to conventional methods
Keywords: Gyroscopes, pid controller, balance with two axis, non-linear controller.
1. INTRODUCTION 2. PROBLEM OF BALANCE CONTROL

UAV Camera is a communication system for 2.1. New way for control of UAV Camera
Unmanned Aerial Vehicle systems, serving
From a mathematical formula, the position of a
reconnaissance, surveillance, target detection,
point by time is determined by integrating velocity. It
photographic in space, monitoring security grid,
is found that when v = 0, the position of the point is
forests and wild fauna and flora, etc. Vibration,
always at zero. With control of the position of the
oscillation of the fuselage, wind and convective
camera (the angle value of the camera in the ground
currents in flight make the UAV camera unstable,
reference frame as feedback value for the controller)
blurry image transmission makes observation
we can control its position indirectly through the
missions difficult or ineffective. Therefore, the
velocity (the value of the angular velocity as the
balance problem, stability of the view of UAV
feedback value for the directional equilibrium
Camera is set out urgent and necessary. In fact this
controller). Therefore, the problem to be solved is the
issue has been studied by many scientists from the
speed control so that its value is always equal to 0
final years of the last century, demonstrates the
(velocity zero controller).
importance and practical application of this system is
high. Up to now, most stable control methods use an The absolute position of the camera is
angle as the feedback value, but, the large error rate, determined by the azimuth value (Pan angle) and the
the response rate of the system is slow when affected angle angle (Tilt angle). Because these two angles are
by noise, reduces the efficiency of the operation and independent, the balanced controller is divided into
operating equipment. two independent units that control the angular
For the purpose of reducing the angle error, position of each axis. The individual design helps to
optimizing response capability in confined simplify the mathematical model, which makes it
conditions, the authors propose a method of using a easier and more efficient to calculate the optimal set
PI controller built on the basis of classical PID non- of control parameters.
linearization for balanced directional controller of
UAV Camera. This is a completely new controller 2.2. Stabilization loop construction
with parameters computed in the traditional PID The UAV Camera Speed Control System model
controller model, but the structure is optimized using consists of three main components (Figure 1):
the nonlinear function of the sign to invert the - UAV Camera: Controller object;
instantaneous control voltage under the sign 'e' of the - Speed controller: Performs the control signal
angular rate. calculation from the feedback value of the angular
Control method of the author group was verified velocity sensor;
by MATLAB simulation software and applied to the - Angular velocity sensor (Gyroscope): Determine
UAV Camera Eyephoenix 1.0 system owned by the the value of velocity feedback angle for the velocity
Military Telecommunications Industry Group. controller.
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Hanoi, Vietnam
Table of gimbal one-axis parameter values:

Table 1
Symbol Unit Define
Ra Ω Resistor of DC motor
La mH Inductance of DC motor
Ke Vs/rad Constant electric motor
Kt Nm/A Constant torque of motor
Jm kgm2/s2 The inertia of the motor
Figure 1: Balanced directional control architecture. Jc kgm2/s2 The inertia of the mechanical
b Nms/rad platform
Td Nm Motor friction
ua V Contact resistance
ia A Motor voltage
w rad/s Electric current of the motor
e V Angular rate of the mechanical
τ Nm platform
Electromagnetic induction
Torque of DC motor
Figure 2: Gimbal model with one axis.
After laplace chemical equation (1) we obtain a
system model Gimbal rotary input voltage is placed
on the engine and the output is the angular velocity of
mechanical blocks as follows:
3.2. Model of Gyroscope
Gyroscope angular rate sensor is the first order
Figure 3: Model of gimbal one axis. system with the time constant τ≪1 and influenced by
white noise. The angular rate of the Gyroscope is
consist of three main components: the true velocity
w, the bias drift of the angular velocity b, and the
measurable noise. Angular rate values are usually
processed to filter out noise before being used as
feedback values for the controller. The filter
Figure 4: Model of Gyroscope. gyroscope noise measurements often changes the
dynamics of the Gyroscope (the time constant τ of the
2.3. Desired performance requirements for balance Gyroscope is increased). This issue affects the
control balance control of the Gimbal system, which can
cause instability.
Balanced directional controls for UAV cameras
must meet fully the following requirements:
- Angle misalignment does not exceed 0,020 (no 4. Zero blance control
impact noise) and 0,10 (when noise is present);
4.1. Constraction of control
- The angle drift does not exceed 60/h;
- Setting time: 60ms. The speed controller is not structured as follows
(Figure 5):
- PI linear controller: is the main component,
3. Mathematical model of gimbal motion calculates the voltage value for balance control in the
3.1. Mathematical Model of DC-Platform System direction of the return velocity of the gyroscope. The
PI parameter is calculated on the model of the
By the voltage of the DC motor, we determine gimbal;
the velocity of the mechanical mass in the following - Saturation function (.): Voltage limit function of the
equations: motor;
 dia - Nonlinear component sign (.): Helps reverse the
ua  Ra ia  La dt  e voltage signal, increasing the response speed of the

e  K e  system as the angular velocity of the gyroscope
 (1) reverses. This is the new point of the directional
  KT ia   Jm  Jc  d   b  Td
 dt balance controller.
T  dFx sin t
 d  
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Figure 5: Constraction of PI-Stab control.
Figure 7: Angle rate and angular error after time-

dependent control during process noise.
Figure 6: Angle rate and angle error after time-

dependent control in the absence of process noise.
4.2. Control Design

- Structure of PI control:
ki ki  k p s
R( s )  k p   (2)
s s
- Model of Gimbal:
Ke (3)
G( s) 
(( J c  J m ) s  b)( Ls  R)  K e 2 Figure 8: Angular rate and angular error when
with L<<R Model of Gimbal is reduced: subjected to sine-wave interference on the Pan axis.
k (4)
G( s)  5.2. Results in UAV camera Eyephoenix 1.0
Ts  1
(J  Jm ) R Ke (5) In fact, the balance control application on the
and T  c ;k 
bR  Ke 2
bR  Ke 2 Eyephoenix 1.0 camera, we obtain the graph (Figure
- Closed-loop transfer function: 8).
R( s)G( s) k (ki  k p s)
G( s)   (6) 6. Conclusion
1  R( s)G( s) k (ki  k p s)  s(Ts  1)
- Closed-loop Property Polynomial The PI-Stab velocity controller proposed by the
(7) group of authors meets the angular equilibrium
A(s)  k (ki  k p s)  s(Ts  1)  Ts 2  (1  kk p )s  kki requirements for modern UAV cameras. The
- G(s) is stable if controller demonstrates and demonstrates
sustainability, well adapted to the effects of sine-
ki  n2 / k
kki  n 2  (8) wave interference. The PI-Stab controller is far better
  2n T  1 than the conventional PI controller. This is a big step
0  1  kk p  2n T 0  k p  forward in building a balanced directional control
 k
system, enabling us to be at the forefront of one of the
5. Simulation and results most important core technologies in the research,
5.1. Simulation in MATLAB-Simulink design, manufacture and production of UAV cameras.
Gimbal one axis with model parameter T =

0.087s,
k = 56, with n = 20, we obtain the parameter of
balance controller direction: The following is the
result of the controller's balanced direction and the
influence of process noise on the control system.
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References Control Servo System for One Axis Gimbal

Mechanism" , Vol. 27, No. 1, (January 2014) 157-
[1] Nguyễn Doãn Phước, " Lý thuyết điều khiển tuyến 170.
tính", 2009. [4] K. Tang, S. Huang, K. Tan, and T. Lee, “Combined
[2] Nguyễn Doãn Phước, "Phân tích và điều khiển hệ phi PID and adaptive nonlinear control for servo
tuyến", 2015. mechanical systems”, Mechatronics, vol. 14, pp.701-
[3] M. Abdoa, A. R. Toloeib, A. R. Valib, M. R. Arvanb, 714, 20.
"Modeling, Control and Simulation of Cascade
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Modified Controls Doubly Fed Induction Generator under Unbalanced

Voltage Dip for Reduction of Current Harmonic with PI-ANN Controller
Hai Nguyen-Thanh*
HCMC University of Technology and Education,No 1, Vo Van Ngan, Thu Duc, Ho chi Minh City, Vietnam
Le Hong Phong High School for The Gifted, No 235, Nguyen Van Cu, Dist 5, Ho chi Minh City, Vietnam
*Email: hai_nguyenthanh2012@yahoo.com.vn
Abstract
This paper presents modified for doubly fed induction generator (DFIG) driven by a wind turbine, and
controlled by artificial neural network (ANN) controller during unbalanced voltage dips. The proposed control
technique is used to control the active and reactive power of DFIG during grid voltage dips for Sequence
Component controller (SCC) using hybrid PI with ANN controller (PI-ANN). The SIMULINK/MATLAB
simulation for DFIG and corresponding results and waveforms are displayed. Comparisons of the simulation
results with a traditional PI, hybrid PI with PI-ANN controller modification of SFOC with SCC for operation
under unbalanced voltage dip are provided to evaluate the newly proposed methods in the paper.
Keywords: Artificial neural network, grid-connected DFIG, PI controller, SFOC, unbalanced voltage dips.
concrete connection of the turbines [12]. Based on the

1. Introduction
reasons above, this article mainly concentrates on
Most wind energy conversions systems contain finding the controlling methods of P and Q that are
generators the most popular being the DFIG. The not contingent on DFIG and the SCC system in state
main advantage of DFIG’s in comparison to other of unbalanced voltage.
generators is that for a similar power rating the Comparisons of the simulation results with a
converter in the rotor of the DFIG is normally sized traditional PI, hybrid PI with PI-ANN controller
according to the range of speed required. DFIG’s modification of SFOC with SCC for operation under
operate with a speed range typically 30% of the rated unbalanced voltage dip are provided to evaluate the
speed of the induction generator and therefore the newly proposed methods in the paper.
rotor converter can been sized to a value of 30% of In addition to maintaining the connection to
the rated power of the induction generator. The distribution network during unbalance voltage dips,
reasons for this popularity is the low cost of power generators need to keep providing sufficient powers
electronic circuits needed to allow independent with acceptable qualities, a modified Stator Flux
control of power (active and reactive) delivered to the Oriented Control (SFOC) based control method is
grid and variable speed operation frequency [twelfth]. proposed in [6] which uses four command values of
DFIG is the cheapest solution for wind farms [3]. rotor current components such as
There are more wind farm’s connections to the grid
and the penetration has been up to more than 50% in
idr* , iqr* , idr* , iqr*
to achieve independent control
several countries [4]. of active (P) and reactive power (Q) as well as
Recently, there have been numerous scientific constant torque, or constant active power, or balance
research projects on SFOC. Nevertheless, controlling stator current, or no oscillation of rotor current.
the SFOC with the hybrid Proportional Integral (PI) This paper presents new SFOC based control
with artificial neural network (ANN) controller, and schemes which use PI-ANN controllers to deduce
Sequence Component controller (SCC) during the idr* , iqr*
state of unbalanced voltage dips is an issue that from active and reactive power errors. These
widely attracts much attention. PI controllers provided simplicity to the control
When it comes to unbalanced grid, the negative- system and also increase the independence of the
sequence component is the main factor that leads to system with parameter’s variations. The commanded
the interference of signal during the transmission. The * *
i ,i
complements contained in the second- stage reduction values of dr  qr  are calculated from feedback
of current harmonic result in the deformation of quantities
current and voltage, while affecting the controlling 2. System modeling
units like active (P) and reactive power (Q) [13].
Moreover, unbalanced grid also affects other wind This section discusses the control structure for
turbines on the wind farm interminably due to the vector control of grid connected doubly fed induction
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3 L  Vs 
3
 3

Qs  vqs ids  vds iqs  vqs ids  Vs m 
2 2 2 Ls   s Lm
 idr 
 (3.2)
The equations above have showed that
independent control of P, Q can be by controlling idr
and iqr in SFOC.
2.2. Unbalanced Network Voltage
In the network is unbalanced, the three phase
Fig. 1 Relationships between (α,β)s, (α,β)r, dq+ and quantities such as voltage, current, and flux
dq− reference frames [6,7]. decomposed into positive and negative sequence
generator. The control methods in [8] are based on components (with zero sequence components is zero).
SFOC, while the methods in [7] and this paper are The ( ,  ) reference frame, the rotor current can be
based on SFOC with SCC using PI-ANN Controller. decomposed into positive and negative sequence
components as [6]
Dynamic model of DFIG with balanced grid
voltage in a generally rotating reference frame dq [2] I (t )  I  (t )  I  (t )
(4)
considered in this paper. Furthermore, positively and
In Fig. 1, the transformation between ( ,  ) ,
negatively rotating reference frames, which been
denoted as dq+ and dq− respectively, also used to
(dq)+ and (dq)- reference frames are given by
develop control model for DFIG during unbalanced
  j slip t  j 2 slip t
voltage dip. These reference frames presented in the idqr   i( ) r e  i(dq )r e
figure 1. (5.1)
 j slip t j 2 slip t
In SFOC reference frame, the d axis is attached
to the stator flux space vector, stator flux is given,
idqr   i( )r e  i(dq )r e
(5.2)
respectively by equations (1.1) and (1.2).
According to (4), (5.1), (5.2) and Fig.1 the rotor
 ds   s  Lmims current are given by
(1.1)
 j 2 slipt
 qs  0 i(dq )r  i(dq )r   i(dq )r   i(dq )r   i(dq )r e
(1.2) (6)
The stator voltage equations and stator current When unbalanced voltage, the equations for
of DFIG in a generally rotating reference frame dq as active and reactive powers in the stator [6]; [7].
shown in equations (2.1), (2.2) P s  Ps 0  Ps _ sin2 sin(2 st )  Ps _ cos2cos(2 st )
(7.1)
d ds
vds  Rs ids  s  qs  Q s  Qs 0  Qs _ sin2 sin(2 st )  Qs _ cos2cos(2 st )
dt (2.1) (7.2)
d qs  Ps 0 
 Q 
 0
  
0 0 0 
vqs  Rs iqs  s  ds   s0   sd   sq   sd   sq    sd  
dt  Ps _ sin2  3 s  
(2.2)   sd   sq   sd   sq    sq  
       
 Ps _ cos 2  2 Ls   sq   sd   sq   sd    sd 
2.1. Balanced network voltage
 Qs _ sin2   
 0 0 0 0   sq  
   
In Fig. 1, the d-axis of the reference frame is Qs _ cos 2   0 0 0 0 
fixed to the stator flux rotating at the synchronous
  sq   sd   sq   sd  
speed of ωs, Vs, Vr, equations in the new reference   
  sd   sq   sd   sq    I rd  
frame can be derived by easy replacing ω with ωs in    
3 L    sq   sd   sq   I rq  

(1), (2.1), (2.2), and. The equations for active and  s m  sd  
reactive powers in the stator flux referenced frame is 2 Ls   sq   sd   sq   sd    I rd  
  
shown in equation (3.1) and (3.2)  sd   sd   sq    I rq  
 sq 
  sd   sq   sd   sq  
(8)
Ps 
3
2
  3 3 L
vds ids  vqs iqs  vqs iqs   Vs m iqr
2 2 Ls The total power imported from the rotor shaft
(3.1) equals to the sum of the power outputs from the
equivalent voltage source jωsψsand j(ωs-ωr)ψs.
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3   rotor currents (I-dqr -= 0) in SCC and with SFOC ψ+qr

Pe   Re[ js . s .I s  j (s  r ). r I r = 0. The oscillation in these equations happens at
2

twice the frequency of the positive sequence
3
 r Re[ j s .I r ]  Pe 0  Pe _ sin2  Pe _ cos 2 component. However, the performance of digitally
2 (9) designed Notch filters is not perfect. Therefore, the
inclusion of SCC helps to clear all the negative
I  
 Pe0    sq   sd    sq   sd    rd   sequence components. With I-dqr-= 0, ψ+qr = 0 and
  3Lm r        I rq   (6), rotor current given by
 Pe _sin2   2L .   sd   sq  sd   sq  .  I  
 Pe _cos2  s       rd 
  sq  sd   sq  sd    I  
 
  I dqr  I dqr 
 rd   (10) (13)
The electromagnetic torque of the DFIG is Substituting (1), (7) and (13) the equations for
calculated as: active and reactive powers in the stator:
    
Pe ( Pe 0  Pe _ sin2  P e _ cos 2 ) Ps   1.5(Vds  I ds   Vqs  I qs  )
Te   (14.1)
r r (11)     
Qs   1.5(Vds  I qs   Vqs  I ds  )
(14.2)
3. Control structure and modeling
SCC also functions as a current controller using
The structure of modified control method for
PI-F and PI–ANN controllers to regulate the positive
DFIG is show in Fig. 2 [10]. The improve scheme
sequence components of rotor current. Negative
newly proposed this study is that the substitution of
sequence components of rotor current will increase
PI in Fig. 2 to SCC with PI-ANN (Fig. 4)
the power rating of Rotor Side Converter if being
respectively. The rotor side converters of DFIG are
used to control generator’s active and reactive power.
control to attain the independent control of active and
reactive powers .The control system, using hybrid The proposed ANN in this study utilizing the
PI-ANN controller, has provided better performances Back Propagation (BP) algorithm in [14], [15] to
of the generated powers. However, this is only perform an offline training process for determining
warrant when apply to the balanced voltage. During suitable values for the key two coefficients KP and KI
unbalance voltage, the stability of the powers are of the PI controller. As given in Fig. 5, the ANN
needful, SCC has been suggested which shown in consists of one input layer, two hidden layers and one
Fig. 3. Notch filters use to eliminate high order output layer. Wherein, the input layer has two
harmonic components in negative sequences of the neurons as the error value e(t) and its derivative value
stator voltage. de(t) of the current as shown in Fig. 4, each hidden
layer has two neurons, and the output layer has two
In Fig. 3 and Fig. 4 the control scheme proposed
neurons as KP and KI. The input and output
in this study, applies SCC to 2nd eliminate the
operational values of the j-th neuron in the q-th
negative sequences of the stator current which cause
hidden layer is computed in (15) and (16),
distortions in power responses.
respectively.
The newly proposed scheme is also included a
netq=∑vqj xj (15)
SCC which help to eliminate the negative sequence
components of the fundamental frequency and all the Zq = ah(netq) = ah(∑vqj xj) (16)
harmonics components of stator voltage. The Notch
Where vqj is the weight gain for the q-th hidden
filters are assigned to remove the negative sequence
layer, ah(.) is the operational function used for hidden
components which cause oscillation in active power,
layers, and a0(.) is the operational function used for
reactive power, and electromagnetic torque according
output layer. Then, the two coefficients KP and KI are
to equations (8) and (9).
calculated by.
However, reference values of I+dqr + are the
KP= a0(net1) = a0(v1q Zq) = a0(∑v1q.ah(netq)) (17)
output of two PI-ANN controllers, as shown in Fig. 3,
instead of been calculated from equation (6) as in KI =a0 (net2) =a0 (v2q. Zq) = a0(∑v2q. ah(netq)) (18)
[12]. The PI-ANN controllers will provide the
As shown in Figs. 4 and 5, the BP algorithm has
independence with parameter variations for the
two main steps in transmitting information between
commanded values of I+dqr +. Robust responses of
layers as follows. Firstly, the input data x(k) is
I+dqr +* the variation of active and reactive power can
transmitted forward to generate the valuey (k) at the
also be obtained with PI controllers with an-ti wiup.
output. Then, the error value E(k) between the above
Eliminate harmonic negative sequence components of
output value y(k) and the reference value d(k) in the
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Psref +* ωsl (imsLm/Ls + σLridr) ωsl σLriqr VDC
- idr - Vαr*
+ PI PI Var* PWM RSC
+
- + αβ
Vdr jθsl Vbr*
e
iqr +
PI PI abc Vcr*
+ + +
- - Vqr Vβr*
idr iar
Qsref -jθsl iαβr αβ
iqr e abc ibr
d - θr
ωsl Fig. 4. Design structure of the PI-ANN controller.
dt θsl ωr
+
θs dt DFIG
PLL
Vαβs αβ
abc
Vα,b,cs
Unbalanced
Grid
Fig. 2. Control structure of SFOC with traditional PI

Controller.
Qsref +* ωsl (imsLm/Ls + σLridr) ωsl σLriqr VDC
idr-
+
Qs+ - +*
idr+ + idr+* PI- - Vαr*
Var* PWM
Fig. 5. Structure of the ANN in four layers.
PI ANN RSC
+ + + + αβ
+*
- Vdr +*
jθsl Vbr*
+ iqr+ iqr
+* e
Ps+ PI- +
abc Vcr*
+
-
PI
+ + ANN +
V +*
Table 1. Parameters of the 2.3MW DFIG
+ - + qr Vβr*
idr iar
Psref iαβr αβ
iqr-+* iqr+ e
-jθsl
abc ibr
θr
Parameter Symbol Value
ωsl d -
dt θsl + ωr
θ
+s dt DFIG Stator inductance LS 159.2 (μH)
+
αβ
PLL
Iαβs abc
Rotor inductance Lr 159.2 (μH)
Vdqs+ Notch Vαβs
filter e
-jθs
αβ Magnetic inductance Lm 5.096 (mH)
SCC
- - abc
+*
idr- i- dr-
PI
+ Vds- Vds Vα,b,cs Stator resistance RS 4 (mΩ)
-j2θs - Notch jθs
e + filter e Unbalanced
+* PI
iqr- i- - - V-
qr- Vqs- qs Grid
Rotor resistance Rr 4 (mΩ)
Fig. 3. The newly proposed SFOC-based scheme Number of pole pairs p 2
with the PI-ANN controller and SCC.
Frequency (angular) ωS 100π (rad/s)
data set is transmitted back to the previous layer to
update fittingly the weight gainsvqj. The data set Inertia J 93.22 (kg.m2)
utilized for the offline training process is S{x(k),
Inertia of Rotor Jrot 4.17×106 (kg.m2)
d(k)}, and the goal of this training process is to
minimize the error E(k+1)as given in (19).Normally,
the offline training process in ANN is performed without loss of generality, the rotor speed is 1400
some times with several data sets to achieve a good rpm. The wind speed’s variation is shown in Fig 7.
result as desired.
Figures 8-14 present the responses of active
E(k+1) = E(k) +0.5∑(di(k)-yi(k)) → min (19) power, reactive power, torque and rotor current. In
each figure, there are four sub-figures for the
responses obtained with traditional PI controller, SCC
4. Simulation results
with PI-ANN controller. The red lines in the figures
We carry out the simulations of the proposed above are the commanded values of P and Q. The
control methods for the 2.3MW grid-connected DFIG average values over one period are observed for
with the parameters given in Table 1. The active and reactive power.
commanded values of P and Q are altered every 50s,
Harmonics analyses of the rotor currents are
with the reference value of P changing from 1 to 2
shown in Fig. 14 for the traditional PI and the
MW while that of Q from 1.2 to 0.8 MVAR. The grid
proposed control method.
voltages are balanced until the 60th second, at which
point one of the phase voltages is reduced by 10%.
The voltages are then balanced again from the 80th
second (Fig 6). The proposed control methods are for
the variable speed and constant frequency of DFIG;
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STATOR UNBALANCED VOLTAGES FROM 30TH TO 70TH SECOND (AT 60TH SECOND) 5. Discussion
1000
Figure 8-13 shows the simulation results of the
0 2.3MW DFIG the active power. Figure A, B are
corresponding to traditional PI (Fig. 2), SCC with PI-
Vabcr [V]
-1000
59.9 59.92 59.94 59.96 59.98 60 60.02 60.04 60.06 60.08 60.1 ANN (Fig. 3) methods. Figure C is combining all
STATOR BALANCED VOLTAGES AGIAN 80TH SECOND (AT 80TH SECOND)
1000
methods.
The Fig. 8, 10 shows the simulation results of
0
the active power. The results show that the proposed
-1000
79.9 79.92 79.94 79.96 79.98 80 80.02 80.04 80.06 80.08 80.1
-0.75 PI PI-NEU REF -1.4
TIME [S] PI PI-NEU REF
th th
Fig. 6. Stator unbalanced voltages from 60 to 80 -1.5
second, and then balanced voltages again. -1.5
QS [MVAR]
-1.7
PS [MW]
-1
50.0250.0350.0450.0550.06
49.98 50 50.02
49.995 50 50.005
50.03 50.06
-1.9
-1.25 -2.1
49.8 49.9 50 50.1 50.2 49.8 49.9 50 50.1 50.2
(A) (B)
TIME [s] TIME [s]
Fig. 10. Reactive and active power stator during

transient state.
WITH PI TRADITIONAL WITH PI-NEURAL
-9.2 PI PI-NEURAL
-10 -12
-9.4
-12 -13 -9.6
-14 -14 -9.8

Fig. 7. Random variation of the wind speed. 20
-9
40 60
(A)
80 100 20
-9
40 60
(C)
80 100 39.9
-9.2
39.95 40
(D)
40.05 40.1
TIME [S] TIME [S]

Te [KN.m}
WITH PI TRADITIONAL WITH PI-NEURAL PI PI-NEU REF

1.6 -1.6 -1.5 -9.5 -9.5 -9.4
-1.8 -1.8 -1.52

-10 -10 -9.6
20 30 40 20 30 40 29.9 29.95 30 30.05 30.1
-2 -2
-1.54 (D) (E) (F)
-12 -13 -12
-2.2 -2.2
20 40 60 80 100 20 40 60 80 100 40 40.05 40.1 40.15 40.2
-12
(A) (B) (C) -12.5 -12.5
-1.45 -1.48
-1.45 TIME [S] -12.5
PS [MW]
-1.5
-1.5 -1.5 -13 -13 -13
65 70 75 65 70 75 69.9 69.95 70 70.05 70.1
-1.52 (G) (H) (I)
-1.55 TIME [S]
-1.55
20 30 40 20 30 40 34.8 34.9 35 35.1 35.2
-1.9
(D)
-1.9
(E) (F) Fig. 11. Generator torque during unbalanced voltage.
-2
WITH PI TRADITIONAL
-2.05 0
-2 -2
-2
-2
-2.05
-2.1 -2.1
(A)
2
65 70 75 65 70 75 69.8 69.9 70 70.1 70.2
(G) (H) (I) 0
TIME [s]
-2
48 48.5 49 49.5 50 50.5 51 51.5 52
WITH PI-NEURAL
0
Fig. 8 Active power stator (Ps). -2

(B)
-2
-0.5 -0.5 -1.15 PI PI-NEU REF 0
-0.75 -1.75
-2
48 48.5 49 49.5 50 50.5 51 51.5 52
-1 -1 -1.2 TIME [S]
-1.25 -1.25
-1.5
20 40 60 80 100
-1.5
20 40 60 80 100
-1.25
40 40.05 40.1 40.15 40.2
Fig. 12. Current rotor during transient state.
(A) (C) (C)
-0.75 -0.75 -0.75
methods have insignificant steady state errors in
QS [MVAR]
-0.8 -0.8 -0.8

active power response during balanced voltage,
-0.85
52 54 56 58
-0.85
52 54 56 58
-0.85
54.9 54.95 55 55.05 55.1
especially compared with the steady state error of the
(D) (E) (F)
-0.7 -0.7 -0.75 traditional PI method. When during unbalanced
-0.8 -0.8
-0.8
voltage dips, the steady responsive than traditional PI
-0.9 -0.9
65 70 75 65 70 75
-0.85
69.9 69.95 70 70.05 70.1
Similarly, reactive power shows in Figure 9, 10.
(G) (H) (I)
TIME [s] The transient state and steady state under balanced
Fig. 9. Active power stator (Qs). voltage is insignificant steady state. The results in
Fig. 10 also shows better reactive power for the two
proposed methods which are less oscillated during
unbalanced voltage dips.
218 October 27 - 28, 2018

Hanoi, Vietnam

The performance of generator torque is much
1.8 1.8 better for the proposed control scheme during
1 1
unbalanced voltage as shown in Fig. 11.
0 0
-1 -1 The waveforms of rotor current in the modified

-1.8 -1.8
59.5 60
(A)
60.5 59.5 60
(B)
60.5 control methods is less dips when voltage unbalance
1.8 1.8
happens, compared with the traditional PI for rotor
1 1 speed regions Fig 12, 13.
Iabcr [kA]
0 0
-1 -1
Total harmonic distortion (THD) of the newly
-1.8 -1.8 control schemes has been significantly reduced
79.5 80 80.5 79.5 80 80.5
(C) (D) during the unbalanced voltage, when compared with
Fig. 13. Current rotor during unbalanced voltages the THD in the traditional PI. The SCC with PI-ANN
from 60th to 80th second. controller therefore is more robust in harmonic
content reduction. Fig 14 and table 2 show THD’s
Sub-parts (A), (B): around the 60th second. rotor current during unbalance voltage.
Sub-parts (C), (D): around the 80th second 6. Conclusion
100
SCC & PI-ANN The proposed scheme for DFIG with the
90 60
TRADITONAL PI
80
inclusion of SCC has elevated the stability of the
40
torque response during the grid voltage unbalance
70 20 when being compared with other modifications of PI-
60 ANN for better stabilities during the unbalanced
0
90 95 100 105 110 voltage dip. This improvement helps reduce the
50
Mag
40 electrical stress on converters and the mechanical

stress on the gear box. Furthermore, the responses of
30
active and reactive power are ameliorated when being
20
compared with a traditional method, although the
10 oscillations are still quite high. In this study, the
0 observations are made during the occurrence of the
-10 voltage dip in one phase, transient states as well as
0 50 100 150 200 250 300 steady states of the powers and torque under the
Frequency (Hz)
unbalanced condition.
Fig. 14. THD's rotor current during unbalanced
voltage. References
[1] Ackermann, T. ; Wind power in power systems; John
Table 2THD’s rotor current when unbalanced voltage
Wiley and Sons, USA, 2003.
[2] Leonhard, W.; Control of electric drives; Springer-
Frequency THD Verlag, 3rd edition, USA, 2001.
(Hz) [3] Wenske, J.; “Special report direct drives and drive-
SCC PI-ANN PI train development trends”; Wind Energy Report
(†) % Germany 2011, Siemens Press Picture, 2011.
[4] Alegría, M. I., Andreu, J., Martín, L. J., Ibanez, P.,
st Villate, L. J., Camblong, H. ; “Connection
1 50 5.7 27.8 7.9 requirement for wind farms: A survey on technical
requirements and regulation”; Renewable and
2nd 100 4.2 50 8.4 Sustainable Energy Review, Vol. 11, Issue 8, pp.
rd 1858-1872, 2007.
3 150 2 44.4 3.6
[5] Muljadi, E., Yildirim, D., Batan, T., and Butterfield,
4th 200 1 33.3 1.5 C.P.; “Understand the unbalanced-voltage problem in
wind turbine generation”; Proceeding of IEEE
5th 250 2.4 4 2.5 Industry Application Conference, Phoenix, USA, pp.
1359-1365, 1999.
6th 300 1 62.9 2.7 [6] Xu, L., Wang, Y.; “Dynamic modeling and control of
DFIG based wind turbines under unbalanced network
 THD  THDPI (Traditional ) 
(†) Deviation    100% conditions”; IEEE Transactions of Power Systems.,
 THDPI (Traditional )  Vol. 22, No. 1 , pp.314–323, 2007.
219 October 27 - 28, 2018

Hanoi, Vietnam
[7] Jiabing, H., Yikang, H., Lie, X., Williams, W. B.; [10] Chondrogiannis, S.; Technical aspects of offshore
“Improve control of DFIG systems during network wind farms employing doubly fed induction
unbalance using PI-R current regulators”; IEEE generators, PhD Thesis, Faculty of Engineering and
Transactions on Industrial Electronics, Vol. 56, No. 2, Physical Sciences, The University of Manchester,
pp. 439-451, 2009. United Kingdom, 2007.
[8] Pham-Dinh, T., Nguyen, A. N., Nguyen-Thanh, H.; [11] Yikang, H., Jiabing, H., Rende, Z.; “Modelling and
“Improving stability for independent power control of control of wind-turbine used DFIG under network
wind turbine doubly fed induction generator with fault conditions”; Proceeding of ICEMS 2005, Vol. 2,
SFOC and DPC during grid unbalance”; Proceeding pp. 986-991, Nanjing, China.
of IPEC 2012, pp. 155-160, Ho Chi Minh City, [12] Hai Nguyen-Thanh; “Modified Controls for DFIG
Vietnam. under Unbalanced Voltage for Eliminate Rotor
[9] Pham-Dinh, T., Nguyen-Thanh, H., Uchida, K., Currents Harmonics Using PI-Fuzzy Controller”,
Nguyen, G. M. T.; “Comparison between International Journal of Electrical Energy, Vol. 3,
modifications of SFOC and PDC in control of grid- No. 1, March 2015, pp 6-12.
connected doubly fed induction generator under [13]. Hai NguyenThanh, Cuong Vo-Viet; “Modified
unbalanced voltage dip”; Proceeding of SICE 2013, Controls for Doubly Fed Induction Generator under
pp. 2581-2588, Nagoya Japan. Unbalanced Voltage Distortion for Torque Stability
and PI-Fuzzy Controller”; Proceeding of 7th IEEE
International Conference on CIS and RAM 2015,
pp 65-70, 15-17 July, 2015, Angkor Wat, Cambodia.
220 October 27 - 28, 2018

Hanoi, Vietnam
Comparison and Validation of Aerodynamic Prediction using Missile

Datcom with CFD and Experimental
Le Quoc Dinh1,*, Vu Manh Hieu2, Nhu Van Su1, Dinh Tien Dung1
1
Viettel Aerospace Institute, Hanoi, Vietnam
2
Military Technical Academy, 236 Hoang Quoc Viet, Hanoi, Vietnam
*Email: lequocdinhvt@gmail.com
Abstract
In missile premilitary design it is necessary to quickly and economically estimate the aerodynamics of a wide
variety of missile configuration designs. Since the utimate shape and aerodynamic perfomance are so
dependent upon the subsystems utilized, such as payload size, propulsion system selection and launch
mechanism, the designer must be capable of predicting a wide variety of configurations accurately. The
fundamental purpose of Missile Datcom is to provide an aerodynamic design tool which has the predictive
accuracy suitable for premilitary design, and the capability for the user to easily substitute methods to fit
specific applications. This paper presents comparison of aerodynamic characteristics of some missile,
achieved by using Missile Datcom tool with experiments and CFD tool.
Keywords: Missile Datcom, aerodynamic characteristics, missile premilitary design.
1. Introduction 3. Semi-empirical, engineering levelcodes

In missile premilitary design it is necessary to In conceptual and preliminary design stage of
quickly and economically estimate the aerodynamics missiledesign, engineering level codes are utilized
of a wide variety of missile configuration designs. inorder to predict aerodynamic characteristics of
Since the utimate shape and aerodynamic perfomance variousconfigurations considering the importance of
are so dependent upon the subsystems utilized, such fastcalculation time. In this paper Missile DATCOM
as payload size, propulsion system selection and is used to calculate aerodynamic characteristics of
launch mechanism, the designer must be capable of SA-3. Results were compared with CFD results and
predicting a wide variety of configurations experimental data [6].
accurately. The fundamental purpose of Missile
Missile DATCOM: Missile DATCOM is a
Datcom is to provide an aerodynamic design tool
semi-empiricalaerodynamic prediction code for
which has the predictive accuracy suitable for
missiles which isdeveloped by U.S Air Force Flight
premilitary design, and the capability for the user to
Laboratory [1]. Thiscode calculates static, dynamic
easily substitute methods to fit specific applications.
coefficients and controlcharacteristics of missiles
The main target of this research is to examine with remarkable accuracy inconceptual design
the capabilitiesof Missile Datcomtool by stage.Equivalent angle of attack and component
comparingresults with the CFD results and the build-upmethods are implemented in Missile
experimental data. DATCOM thatoffers aerodynamic characteristics
calculation of widerange of missile configurations.
2. Model
4. CFD simulation
Figure 1 shows a solid model representation of the
SA-3 missile with three fin sets (canards, wings, and Viscous CFD simulations were performed to
control surfaces from nose to tail, respectively) [5]. calculate the flow-field and steady aerodynamic
coefficients in supersonic flow. The SA-2model was
Parameters of SA-3 missile are given in the table
analyzed at Mach numbers ranging from 0.8 to 4.5
1.
and various angle of attacks between 0º and 8º.
Surface grids and volume grids aregenerated
with Ansys Meshing and 30 prismatic elements are
created to resolveboundary layer flow. First point of
the surface is chosento give y + < 20 for grid
modeling. Tetrahedral elementsare used for the
Fig. 1. SA-3 Model. volume grids and the mesh growth rate is kept below
221 October 27 - 28, 2018

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Table 1.
N. Parameters Unit Values
Mass
Weight before
1 Kg 952.7±45
launch
2 The second stage Kg 422.3±20
3 The first stage Kg 530.4±25
Total sizes
4 Total size mm 59.8±60 Fig. 2. Computational grid for SA-3 Model.
The length of the
5 mm 4131.5± 40
second stage
The diameter of
6 mm 552±5
start engine
The diameter of
7 mm 381±4
the second stage
8 Wingspan mm 1192.4±12
9 Span of rudder mm 56±6
Wings
10 The shape of wing Trapezoid
11 Elongation 1.46±0.15
12 contraction 5.85±0.6 Fig. 3. y+ Value of SA-3 Model.
Lens (made of
13 Profile
2 arcs)
Fins
14 The shape of fins Trapezoid
15 Elongation 2±0.02
16 contraction 4±0.04
17 Profile Hexagon
The relative
18 thickness of fins 0.04±0.002
profile
The relative
19 thickness of fins 0.06±0.003 Fig. 4. Mach number contour of SA-3 at M=1.0, α=4°.
profile
20 Axis of rotation At 35% MAC
Stabilizator 5. Flow-Field visualizations and comparison of
The area of 2 results
21 m2 0.94±0.05
stabilizater Parametric studies were performedusing Missile
The shape of DATCOM and CFD simulation for M = 0.5 to
22 Rectangle
stabilizater M =2.8 and 0º angle of attack to 8º at the same
23 The sizes m 0.824x0.57 intervals as the experimental data.
Symmetrical
24 profile Flow-field visualizations of SA-3 model at Mach
profile
number 1; 1.5 and 4° angle of attack is shown in the
1.2. Volume meshes for the SA-3 model is shown in Picture 4 and 5.
Picture 2 [4]. Figures 6–11 give a survey of the results of these
Picture 3 shows the y+ values for the SA-3 at studies and comparison of the computed Missile
Mach number 1.5 and angle of attack 0.It can be seen DATCOM output, CFD results and the experimental
that the y+ values are in the range of 0.0 - 15 on the data.
whole model. These pictures show that the drag force coefficient
is less variable at the lower velocity range, spikes at
With this grid model simulation was performed subsonic velocity and reaches the maximum at Mach
and drag force, lift force and pitching moment number about 1.1, the derivative of lift force
coefficients (Cd, Cl and Cm respectively) were
calculated.
222 October 27 - 28, 2018

Hanoi, Vietnam
a)
Fig. 5. Mach number contour of SA-3 at M=1.5, α=4°.
Fig. 7. a) Cd vs. Mach Number, Angle of Attack=0º;

b) Percent difference.
a)
Missile DATCOM is acceptable for the conceptual

missile design stage, but for the detailed design
studies CFD analysis have tobe conducted to get
accurate results.
References
[1] Blake, W., Auman, L., Doyle, J., Rosema, C.,

Underwood, M.: Missile Datcom User’s Manual, Air
b) Research Laboratory, 2008.
Fig. 6. a) Cd vs. Mach Number, Angle of Attack = 0º; [2] O. Akman, Arodynamic prediction for hb-1 and hb-2
b) Percent difference. supersonic and hypersonic test cases and comparison
with experiment, 5th International scientific
conference on defensive technologies, Belgrade,
coefficient decreases linearly in the range 1.5 ÷ 4.2 of Serbia, 18-19 September 2012.
March number. [3] Lesieutre, D.J.: MISL3 Aerodynamic Analysis for
As can be seen in these pictures, difference Finned Vehicles with Axisymmetric Bodies, Nielsen
Engineering and Research, 2010.
between the test data and the DATCOM results range
from 8% to 25 %. The bigger March number, the [4] Fluent 12.0.16 Users Guide, Fluent, Inc.
larger difference between test data and DATCOM [5] Книга 1. Общие сведения. Конструкция
results. CFD has a greatagreement with the планера,двигателей-В27У, 1961г.
experimental data.
[6] Акт совместных испытаныий системы зенитного
6. Conclusion управляемого ракетного оружия для борьбы с
низколетящимм целями С-125, том 1, 1961г.
In this paper, aerodynamic analyses are performed
byusing CFD and Missile DATCOM for SA-3 model.
Results from CFD and DATCOM are compared with
theexperimental data. It can be concluded that CFD
resultsare in good agreement with experiments at
each Machnumber. However Missile DATCOM
shows the difference ranging from 8 to 25%. So
223 October 27 - 28, 2018

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a) a)
b) b)
Fig. 8. a) Cd vs. Mach Number, Angle of Attack=4º; Fig. 10. a) Cd vs. Mach Number, Angle of attack=8º;
b) Percent difference. b) Percent difference.
a) a)
b) b)
Fig. 9. a) Cd vs. Mach Number, Angle of Attack=6º; Fig. 11. a) Cl (alpha) vs. Mach Number;
b) Percent difference. b) Percent difference.
224 October 27 - 28, 2018

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Unsteady Swirl Flow Suppression in the Draft Tube of Francis Hydro

Turbine Model by J-Groove
Young-Do Choi1,*, Zhenmu Chen2
1
Department of Mechanical Engineering, Institute of New and Renewable Energy Technology Research, Mokpo
National University, 1666 Youngsan-ro, Cheonggye-Myeon, Muan-Gun, Jeonnam, 58554, Republic of Korea
2
Graduate School, Department of Mechanical Engineering, Mokpo National University, 1666 Youngsan-ro,
Cheonggye-Myeon, Muan-Gun, Jeonnam, 58554, Republic of Korea
*Email: ydchoi@mokpo.ac.kr
Abstract
The pressure fluctuations of the turbines are caused by the swirl component in the draft tube, which is an
undesired phenomenon that needs to be improved when the turbine operates in the off-design condition. In
order to avoid these kinds of unsteady flow phenomena, a technology of J-Groove on the draft tube wall is
investigated by numerical method. The validation test of performance was conducted to compare the result
of numerical and experimental methods. The steady and unsteady state analyses were conducted to
investigate the internal flow of a Francis hydro turbine model draft tube with and without J-Groove. The swirl
flow in the draft tube is significantly suppressed by the J-Groove installation. Moreover, according to the
unsteady state analysis, the amplitude of pressure fluctuation in the draft tube is reduced effectively by the J-
Groove.
Keywords: Francis hydro turbine, J-Groove, Draft tube, Vortex rope, Unsteady swirl flow.
1. Introduction stabilizing water can mitigate the pressure fluctuation

caused by a vortex rope. However, the structure of
Hydropower plays a significant role in
the runner shaft with air or water supply for jet flow
supporting energy and water systems all over the
is very complex, which will significantly increase the
world. It has been considered as a green solution in
cost of the facility and the maintenance.
the current global energy market. The global
The J-Groove is an effective technology to
hydropower capacity of 1212GW has been installed
suppress various abnormal flow phenomena in
according to the 2016 hydropower status report [1].
turbomachines by controlling the angular momentum
Moreover, with the advancement of Francis hydro
of the main flow [11]. Due to the sharp pressure
turbine runner design technology over the years,
gradient, jet flow forms in the grooves and runs
higher efficiencies have been achieved. However, the
against the main flow up to a low pressure region.
hydro turbine operation is still handicapped due to the
Therefore, the shallow grooves mounted parallel to
occurrence of severe noise and vibration of the
the pressure gradient are termed “J-Groove” by
system. In case of the Francis hydro turbine, those
Kurokawa et al. [11, 12]. Choi et. al [13] has
undesirable phenomena are caused by pressure
investigated the suppression of cavitating flow in an
fluctuations in the draft tube at off-design point [2-4].
inducer by J-Grooves. The suction performance of an
Usually, the large pressure fluctuation in the draft
inducer can be improved remarkably at almost all
tube is associated with the unsteady swirl flow and is
flow rates by employing J-Groove according to the
detrimental to the stable operation of the Francis
experimental study. Moreover, Kurokawa et. al [14]
hydro turbine. Furthermore, the unsteady swirl flow
have studied the effect of J-Groove on the
at the partial flow rate is particularly undesirable for
suppression of swirl flow in a conical diffuser. The
the hydro turbine performance.
diffuser instead of Francis hydro turbine draft tube
Many researchers have tried to mitigate the
has been grooved in this study. The swirl intensity in
pressure fluctuation and swirl flow in the draft tube of
the diffuser decreases effectively by installation of
Francis hydro turbine. Air admission into the draft
the J-Groove on the dif-fuser wall. The amplitude of
tube of Francis hydro turbine is one of the most
the pressure fluctuation caused by the rotation of the
widely used methods to mitigate the pressure
vortex core around the dead water region near the
fluctuation amplitude developed by the vortex rope.
diffuser inlet is mitigated by J-Grooves.
The aeration with suitable air volume fraction into the
As the J-Groove is only applied on the conical
draft tube can reduce the amplitude of the pressure
diffuser instead of the Francis hydro turbine draft
fluctuation [5-9]. Moreover, Kirschner et. al [10]
tube, the effect of the J-Groove on the real Francis
have tried to control vortex with an axial jet in the
hydro turbine draft tube is still not clearly understood.
draft tube of a model pump-turbine. The injection of
Therefore, in this study the J-Groove is applied in a
225 October 27 - 28, 2018

Hanoi, Vietnam
test Francis hydro turbine model. The internal flow

characteristics with J-Groove have been studied in
comparison with those of the Francis hydro turbine
model draft tube without J-Groove.
2. Experimental and Numerical Methods
2.1. Test Francis Hydro Turbine Model and
J-Groove Model
A Francis hydro turbine model is used for the
performance investigation and internal flow
characteristics analysis. The inlet diameter of the Fig. 1. Performance test facility of Francis hydro
runner is D1=146mm and the outlet diameter of the turbine model.
runner is De=112mm, which is pico size for the
Francis hydro turbine model runner. The number of
the runner blades is Zr=9. In addition, the number of
guide vanes and stay vanes are the same, Zg=Zs=12.
The design point of the Francis hydro turbine model
is H=15.5m for the effective head, Q=0.032m3/s for
the water flow rate and the rotation speed is N=1800
min-1. For the performance validation test, the
experiment was conducted on a Francis hydro turbine
model facility as shown in Fig. 1.
The J-Groove is mounted on the draft tube wall
to suppress the swirl flow as shown in the Fig. 2. The
J-Grooves are uniformly distributed in the
circumferential direction. The J-Groove number is
fixed to 18. A strong reverse flow is induced in the J-
Groove due to the pressure gradient of the main flow
if the J-Groove is mounted parallel on the wall of
diffuser, which is able to reduce the angular Fig. 2. Schematic view of the cross section of Francis
momentum of the main flow [11-15]. In this study, in hydro turbine model.
order to check the effect of the J-Groove on the Table 1. Dimension of the J-Grooves.
performance of the Francis hydro turbine model, four L1/De L2/De D [mm]
different J-Groove dimension and location on the
Case 1 0.643 1.089 4
draft tube are designed. The J-Groove length of Cases
1 and 2 is the same, while the location of those two Case 2 0.33 1.089 4
cases is different. The J-Groove length and location Case 3 0.464 0.536 4
of Cases 3 and 4 are the same, while the groove depth Case 4 0.464 0.536 2
(D) is different. The J-Groove depth from Case 1 to 3
is 4mm and that of Case 4 is 2mm. The dimension of
the J-Groove is shown in Table 1 in detail. The
J-Groove length (L1) and location (L2) are normalized
by the runner outlet diameter.
2.2. Numerical Method
A similar numerical method from the previous
study of Francis hydro turbine model has been
adopted for this study. The numerical simulations
were carried out with the commercial CFD software
ANSYS CFX [16]. A constant total pressure
boundary condition with flow direction normal to the
inlet surface was specified at the inlet and the static
pressure was set at the outlet of the domain. High
quality hexahedral structure mesh was adopted for
CFD analysis as shown in Fig. 3. Fig. 3. Numerical mesh of the fluid domain (Non JG).
226 October 27 - 28, 2018

Hanoi, Vietnam
GV Opening 100 Casing loss

0.55 [%] GV&SV loss
Hydraulic efficiency (%)

0.79 90 RV loss
0.90 142
0.50
0.80 133 80
0.82 125
0.45 DT loss
117 70
 /bep=0.99 108
Q11 (m3/s)
0.40 0.98
100 60
0.35 92 50
0.96 0.10 0.15 0.20 0.25 0.30 0.35 0.40 0.45
0.97
0.30 0.94 Q11 (m3/s)
83
0.86
0.91
0.95 Fig. 6. Component loss distribution on the test
0.89 0.92
0.25 0.83 75 Francis hydro turbine model by steady state CFD
0.79 0.82
0.85
0.88 analysis.
0.20 0.84
67
0.80 0.84 0.83
0.82 18
58
45 50 55 60 65 70 15
N11 (r/min)
DT / H (%)
12
Fig. 4. Hill chart of the test Francis hydro turbine 9

model by experiment.
H Loss
6
100 10 0
BEP 0.10 0.15 0.20 0.25 0.30 0.35 0.40 0.45
PL Q11 (m3/s)
90 DPL 9
80 8 Fig. 7. Loss distribution on the turbine draft tube by
unsteady state CFD analysis.
70 7
Efficiency (%)
Power (kW)
60 6 3. Result and Discussion

50 5 3.1. Performance of the Francis Hydro Turbine
40 4 Model
30 3
Eff. Exp. Figure 4 indicates the hill chart of the test
20 Eff. CFD 2 Francis hydro turbine model by experiment. There is
Power Exp.
10
Power CFD
1 the best efficiency with the N11 of 65.7 and Q11 of
0 0 0.389 conditions at 100% guide vane opening. The
0.10 0.15 0.20 0.25 0.30 0.35 0.40 0.45 0.50 0.55 efficiency in the hill chart is normalized by the best
Q11 (m3/s) efficiency. The Q11 decrease slight with increasing
Fig. 5. Performance curves by CFD analysis and the N11. For the CFD analysis validation test, the
experiment. performance by CFD analysis is compared with
experiment in Fig. 5. The performance was conducted
For steady state analysis, the general connection with a constant N11 by different guide vane opening.
was set as “Frozen rotor” condition between the The result shows that the efficiency and output power
rotating runner domain and the stationary domain. by CFD analysis agree well with that of experiment,
The Shear Stress Transport (SST) turbulence model which means that the numerical method is reasonable.
was adopted as turbulence model, which has been In order to investigate the effect of J-Groove on the
well known to estimate both separation and vortex suppression of unsteady flow in the draft tube of
occurrence on the wall of a complicated blade shape. Francis hydro turbine model, three flow rate
For the unsteady state analysis, the interface conditions were selected to apply the J-Groove as
between the rotating runner domain and the stationary shown in Fig. 5. The best efficiency point (BEP), part
domain was defined as “transient rotor-stator”, in load (PL) and deep part load (DPL) are obtained at
which the relative position between the rotor and flow rate ratio (Q/Qbep) of 100%, 69.0% and 49.3%,
stator is updated during each time step. An improved respectively.
URANS formulation Scalable Adaptive Simulation The component loss distribution on the test
(SAS) model was utilized for turbulence treatment, Francis hydro turbine model by CFD analysis with
with the ability to adapt the length scale to resolved steady state analysis is illustrated in Fig. 6. The loss
turbulent structures. The SAS turbulence model shows at the casing exists with a relatively low percentage
favorable result in the prediction of unsteady flow and the loss increases slightly with higher flow rate.
characteristic in the draft tube. The losses at the guide vane and stay vane passages
decrease rapidly with the increase in flow rate, while
227 October 27 - 28, 2018

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the losses keep to constant until the flow rate reaches

a certain extent. The loss at the runner passage is
insensitive to the flow rate. However, the loss in draft
tube exists to a large extent at the off design flow rate
as shown in Fig. 7 in detail. Especially at the partial
flow rate, the loss at the draft tube exists in a
significant amount.
3.2. Swirl Intensity Distribution Fig. 8. Measuring location of swirl intensity.
In order to examine the effect of J-Groove on 2.5
Q11
the internal flow of the test Francis hydro turbine 0.113
0.194
2.0
model, the non-dimensional number of swirl intensity 0.271
0.335
Swirl intensity
0.357
distribution has been investigated. The swirl intensity 1.5 0.392
0.421
is defined by swirl number (S), which is the ratio of
1.0
the axial flux of angular momentum to the axial flux
of the axial momentum. The equation is defined as 0.5
follows [17]: Diffuser
r VzV r dr
0.0
2 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5
z/De
S (1) Fig. 9. Swirl intensity distribution without J-Groove

R  Vz2 rdr by different unit flow rate using steady state CFD
r analysis.
where VZ, Vθ, r, and R represent the velocity
components in the axial and circumferential 2.0
Non JG
directions, radial position, and draft tube cross- Case 1
Case 2
sectional radius, respectively. The measuring location Case 3
1.5 Case 4
Swirl intensity
of the swirl intensity distribution is illustrated in Fig.
8. The locations in the draft tube of the test Francis
hydro turbine model with Z/De=0.36 to 4.29 including 1.0
diffuser are selected for analysis.

The swirl intensity distribution without
Diffuser
J-Groove by different unit flow rate using CFD with 0.5
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5
steady state analysis is presented in Fig. 9. It can be z/De
seen that the swirl intensity of partial flow rate is (a) DPL (Q/Qbep=49.3%)
1.2
higher than that of high flow rate. The swirl intensity
reduces with increasing the flow rate, due to the high Non JG
Case 1
flow rate is closer to the design point and the rotating 0.9
Case 2
Case 3
Swirl intensity
Case 4
flow in draft tube existing from runner passage is low
near design point. The swirl intensity exists to a large
extent in the draft tube, and may be able to cause the 0.6
large pressure fluctuation, vibration and even the

cavitation. Moreover, the swirl flow in the draft tube Diffuser
0.3
contributes to the loss in draft tube, and this kind of 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5
z/De
energy is hard to recover by draft tube. Therefore, the
(b) PL (Q/Qbep=69.0%)
swirl intensity has to be reduced in the partial flow 0.5
condition. Non JG
Case 1
Figure 10 indicates the swirl intensity Case 2

Case 3
Case 4
distribution with J-Groove application at three flow 0.4
Swirl intensity
rate conditions by CFD with steady state analysis.

The effect of the J-Groove on mitigating the swirl
0.3
intensity distribution is significant. At the DPL and
PL conditions, the effects by Cases 1 and 2 on the
suppression of swirl flow are more obvious than those 0.2
Diffuser
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5
of Cases 3 and 4. Especially for Case 1, there is the z/De
lowest swirl flow distribution in the draft tube in (c) BEP (Q/Qbep=100%)
comparison with the other J-Groove shapes as shown
Fig. 10. Swirl intensity distribution with J-Groove by
steady state CFD analysis.
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1.0 10
Min. swirl No.

0.8 HDT
Loss
8
/ H (%)
0.6 6
Swirl No.
Loss
HDT
0.4 4
0.2 2
0.0 0
DPL PL BEP
NonJG
Fig. 11. Min. swirl No. and loss in draft tube without Fig. 13. Pressure monitoring points on the draft tube
J-Groove. wall.
1.0 10
1200
Min. swirl No. NonJG
0.9 HDT
Loss
9 Case 4
1000
f/fn=0.31
/ H (%)
Swirl No.
0.8 8 800
Amplitude
Loss
0.7 7 HDT 600
400
0.6 6
200
0.5 5
Non JG Case 1 Case 2 Case 3 Case 4
0
(a) DPL (Q/Qbep=49.3%) 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
DT1_1 f/fn
0.9 9
1200
Min. swirl No.
NonJG
0.8 HDT 8
Loss Case 4
1000
f/fn=0.31
/ H (%)
Swirl No.
0.7 7 800
Amplitude
Loss
600
HDT
0.6 6
400
0.5 5
200
0.4 4
Non JG Case 1 Case 2 Case 3 Case 4
0
(b) PL (Q/Qbep=69.0%) 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
DT1_2 f/fn
0.5 5
1200
Min. swirl No.
NonJG
0.4 HDT
Loss 4 Case 4
1000
/ H (%)
Swirl No.
0.3 3 800 f/fn=0.31

Amplitude
Loss
600
HDT
0.2 2
400
0.1 1
200
0.0 0
Non JG Case 1 Case 2 Case 3 Case 4 0
(c) BEP (Q/Qbep=100%) 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
DT2_1 f/fn
Fig. 12. Min. swirl No. and loss in draft tube with
J-Groove by steady state CFD analysis. 1200
NonJG
Case 4
in Fig. 10 (a) and (b). However, the swirl intensity is 1000
relatively low for the BEP condition and there is the 800
f/fn=0.31
most obvious effect on reducing swirl intensity

Amplitude
600
distribution by Case 2. In order to quantitatively
evaluate the effect of J-Groove on the swirl flow 400
suppression, the minimum swirl No. is adopted. The 200

minimum swirl No. is the minimum value from the
swirl intensity curve by different J-Groove shapes 0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
from Z/De=0.36 to 4.29. Moreover, the loss in the DT2_2 f/fn
draft tube is also investigated. The swirl flow in the Fig. 14. Pressure fluctuation on the draft tube wall by
draft tube contributes to the losses under without. unsteady state CFD analysis.
229 October 27 - 28, 2018

Hanoi, Vietnam
J-Groove condition and the loss in draft tube will fluctuation in the draft tube is suppressed by the
decreases with low minimum swirl number at the J-Groove installation on the draft tube wall.
BEP condition as shown in Fig. 11. However, the
relationship between minimum swirl number and the
loss in the draft tube with J-Groove installation is in
contrary to that without J-Groove as shown in Fig. 12,
which means that the loss in the draft tube with
J-Groove installation is not only caused by the swirl
flow, the J-Groove shape also contributes losses for
draft tube. Lower minimum swirl number exists with
higher losses in the draft tube with J-Groove
installation. In other words, the larger the effect of
J-Groove is on the suppression of swirl flow in draft
tube, the larger the losses in the draft tube by (a) Non JG
J-Groove.
3.3. Pressure fluctuation distribution
In order to investigate the effect of J-Groove on
the pressure fluctuation in draft tube, 4 monitoring
points i.e DT1_1, DT1_2, DT2_1 and DT2_2 are set
along the draft tube wall as shown in Fig. 13. The two
monitoring points (DT1_1, DT2_1) are on one side of
the draft tube and the others are located at the
opposite position to each other. The pressure is
collected by CFD analysis with unsteady state (b) JG (Case 4)
analysis under the condition of PL (Q/Qbep=69.0%). Fig. 15. Vortex rope in the draft tube by unsteady
In this study, as there is the lowest draft tube loss in state CFD analysis.
Case 4, the Case 4 is selected for CFD analysis with 4. Conclusion
unsteady state calculation to compare with the case
without J-Groove installation. For better The internal flow characteristics in a test Francis
understanding, a fast Fourier transformation (FFT) hydro turbine model are investigated by focusing on
analysis method is carried out to obtain pressure the effects of the J-Groove for the suppression of
fluctuation frequency and amplitude. The frequency unsteady flow phenomena in draft tube. In general,
domain obtained from the draft tube wall is plotted in the performance evaluated by CFD analysis is
the Fig. 14. The frequency is normalized by the matched well with that by experiment. The losses in
runner rotation frequency (fn). It can be seen that the draft tube caused by the swirl flow decrease with
main frequency of 0.31 times of the runner rotation decreasing the minimum swirl number in the cases
frequency occurs in the draft tube, which is occurred without J-Groove installation. Furthermore, according
by the main vortex rope frequency in the draft tube. to the present study, it has been obvious that the
The main vortex rope frequency cannot be shifted by effect of J-Groove on the suppression of the swirl
the effect of the J-Groove installation in those four flow in the draft tube is significant. However, it
pressure monitoring points. However, the amplitude contributes to the occurrence of losses in the draft
of the vortex rope is mitigated by the J-Groove tube as well. The more effective the J-Groove is on
installation. Especially the frequency close to the the suppression of swirl flow in draft tube, the larger
runner rotation frequency (f/fn=1), the amplitude is the losses in the draft tube with J-Groove installation.
suppressed by the J-Groove. Although the effect of the J-Groove on the frequency
The vortex rope in the draft tube results in the of the draft tube vortex rope is insensitive, mitigating
pressure fluctuation and vibration of turbine facility. the amplitude of the vortex rope is effective. The
Figure 15 shows the selected snapshots of typical length of vortex rope in the draft tube is effectively
vortex rope behavior in the draft tube with and mitigated by the installation of J-Groove.
without J-Groove, which is captured by CFD Acknowledgment
unsteady state analysis under PL condition. The This work was supported by the Korea Institute of
vortex rope in the draft tube is identified by Energy Technology Evaluation and Planning (KETEP)
instantaneous iso-surface of pressure. The length of and the Ministry of Trade, Industry & Energy (MOTIE)
the vortex rope is mitigated by the J-Groove
of the Republic of Korea (No. 20163010060350).
installation effectively. Therefore, the pressure
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Hanoi, Vietnam
References [9] W. F. Li, J. J. Feng, H. Wu, J. L. Lu and X. Q. Luo,

Numerical Investigation of Pressure Fluctuation
[1] International Hydropower Association, 2016 Reducing in Draft Tube of Francis Turbines,
Hydropower Status Report, International Hydropower International Journal of Fluid Machinery and
Association, United Kingdom (2016). Systems, 8 (3) (2015) 202-208.
[2] Q. Shao, S. Liu, Y. Wu, W. Wu and X. Tao, Three- [10] O. Kirschner, H. Schmidt, A. Ruprecht and P.
Dimensional of Unsteady Flow in a Model Francis Meusburger, Experimental investigation of vortex
Hydraulic Turbine, Tsinghua Science and control with an axial jet in the draft tube of a model
Technology, 9 (6) (2004) 694-699. pump-turbine, IOP Conf. Series: Materials Science
[3] D. Chirkov, A. Avdyushenko, L. Panov , D. and Engineering, 12 (2010) 012092.
Bannikov, S Cherny, V. Skorospelov and I. Pylev, [11] J. Kurokawa, J-Groove Technique for Suppressing
CFD simulation of pressure and discharge surge in Various Anomalous Flow Phenomena in
Francis turbine at off-design conditions, IOP Conf. Turbomachines, International Journal of Fluid
Series: Earth and Environmental Science, 15 (2012) Machinery and Systems, 4 (1) (2011) 1-13.
032038.
[12] S. L. Saha, J. Kurokawa, J. Matsui and H. Imamura,
[4] M. Nishi and S. Liu, An Outlook on the Draft-Tube- Suppression of Performance Curve Instabiligy of a
Surge Study, International Journal of Fluid Mixed Flow Pump by Use of J-groove, Journal of
Machinery and Systems, 6 (1) (2013) 33-48. Fluids Engineering, 122(2000)592-597.
[5] Z.-D. Qian, J.-D. Yang and W.-X. Huai, Numerical [13] Y.-D. Choi, J. Kurokawa and H. Imamura,
Simulation and Analysis of Pressure Pulsation in Suppression of Cavitation in Inducers by J-Grooves,
Francis Hydraulic Turbine with Air Admission, Journal of Fluids Engineering, 129 (1) (2007) 15-22.
Journal of Hydrodynamics, Ser. B, 18 (4) (2007) 467-
472. [14] J. Kurokawa, H. Imaumura and Y.-D. Choi, Effect of
J-Groove on the Suppression of Swirl Flow in a
[6] B. Papillon, M. Sabourin, M. Couston and C. Conical Diffuser, Journal of Fluids Engineering, 132
Deschenes, Methods for Air Admission in (2010) 071101.
Hydroturbines, Proc. of the XXIst IAHR Symposium
on Hydraulic Machinery and Systems, Lausanne, [15] J. Kurokawa, S. L. Saha, J. Matsui and T. Kitahora,
(2002). Passive Control of Rotating Stall in a Parallel-Wall
Vaneless Diffuser by Radial Grooves, Journal of
[7] R. Huang, Y. An, X. Luo and B. Ji, Numerical Fluids Engineering, 122 (2000) 90-96.
Simulation of Pressure Vibrations in a Francis
Turbine Draft Tube with Air Admission, Proc. of the [16] ANSYS Inc., ANSYS CFX Documentation Ver. 15,
ASME 2014 4th Joint US-European Fluids http://www.ansys.com (2015).
Engineering Division Summer, Chicago, Illinois,
[17] H. J. Sheen, W. J. Chen, S. Y. Jeng and T. L. Huang,
USA (2014).
Correction of Swirl Number for a Radial-Type Swirl
[8] A. Yu, X. W. Luo and B. Ji, Numerical Simulation Generator, Experimental Thermal and Fluid Science,
and Analysis of the Internal Flow in a Francis 12 (4) (1996) 444-451.
Turbine with Air Admission, IOP Conf. Series:
Materials Science and Engineering, 72 (2015) 042047
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Suppression of the Swirl Flow in a Draft Tube of a Bulb Turbine Model by

Optimum J-Groove Shape
Viet Luyen Vu1, Young-Do Choi2,*
1
Grduate School, Department of Mechanical Engineering, Mokpo National University, 1666 Youngsan-ro,
Cheonggye-Myeon, Muan-Gun, Jeonnam, 58554, Republic of Korea
2
Department of Mechanical Engineering, Institude of New and Renewable Energy Technology Research, Mokpo
National University, 1666 Youngsan-ro, Cheonggye-Myeon, Muan-Gun, Jeonnam, 58554, Republic of Korea
*Email: : ydchoi@mokpo.ac.kr
Abstract
The swirl flow, which is generated by rotating runner into a draft tube of a hydro turbine, effects on the
performance of the hydro turbines. Due to various operating conditions of a hydro turbine, the variation of
swirl intensity causes flow instabilities in the draft tube. Therefore, J-Groove, a group of grooves mounted on
the draft tube wall of a hydro turbine, is considered for suppressing swirl flow in the bulb turbine model. The
influence of the J-Groove on the turbine’s performance and pressure pulsation were examined by CFD
analysis in the first step. Then, the optimum design of J-Groove shape will be conducted while considering
dimensions as the length, the depth, the angle and the number of grooves in the next step. The swirl number
is evaluated in the draft tube at various operating conditions to figure inspective effect of the J-Groove
installation to the main flow in downstream of the turbine model. The FFT analysis was employed to analyse
the pressure pulsation of the flow in the draft tube of the turbine model.
Keywords: Bulb turbine model, Swirl flow, J-Groove shape, optimum design, Computational Fluid Dynamic
(CFD) analysis.
curve of a mixed flow pump. In the present study, the

1. Introduction
influence of J-Groove on the turbine’s performance
Part load operations, as well as start/stop of the and pressure pulsation will be examined by CFD
turbines, are becoming more frequent with the analysis. Then, the optimum design of J-Groove will
deregulation of electricity markets and the be conducted by considering some dimensions as the
introduction of renewable energy resources [1]. length (L), the depth (D), the angle (α) and the
Double regulated reaction turbines of the bulb and number of grooves (No.) in the next step.
Kaplan types are the best adapted for such a scheme
2. Turbine model and numerical method
because they offer a wide operating range with
relatively high efficiency. Nevertheless, they are not 2.1. Turbine model and grids
designed to operate under unfavorable flow
The full fluid passage, shown in Fig. 1, consists
conditions. There is a need for the necessity of
of five fluid domains namely as the inlet, guide vane,
turbines that can operate beside the best efficiency
runner, draft tube and extension domains. The runner
region. The swirl flow, generated by rotating runner
and guide vane have 4 blades and 16 vanes,
into a draft tube of a hydro turbine, effects on the
respectively. The initial J-Groove shape has been
performance of the turbines. Due to various operating
shown in Fig. 2. The normalized dimensions of a
conditions of a turbine, the variation of swirl intensity
groove by the runner diameter are indicated in Table
causes flow instabilities in the draft tube. Many
1. The hexahedral mesh was generated for whole
researchers [2-5] have been studied the swirl flow
passage domain. The mesh of one pitch of the runner
characteristics andmethods to suppress the swirl flow
blade and guide vanepassages, full inlet and draft
in the draft tube. J. Kurokawa et al [4] proposed a
tube domains are represented in Fig. 3. An O-grid is
group of grooves inserted on the wall of a conical
utilized on the runner blade and guide vane to
diffuser, called J-Groove (JG), for suppressing swirl
increase the density of the grid layer number near the
flow in the diffuser. The study found that the
walls to achieve reasonable CFD analysis results. Fig.
unsteady flow as swirl intensity and pressure
4 illustrates the normalized efficiency and unit power
fluctuation in the diffuser was significantly reduced
of the full passage domain of the bulb turbine model
by the J-Groove application. S. L. Saha et al [5]
under various grid numbers. Since the turbine
suggested a shallow J-Groove to suppress instability
efficiency does not change significantly over 6.5
in the performance curve and gave a criterion for
million nodes, the mesh contained 6.5 million nodes
optimum design of J-Groove to stabilize performance
was selected for this study.
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Hanoi, Vietnam
Fig. 1. Computational fluid domain.
Fig. 3. The mesh generation in one flow passage of

(a) runner blade, (b) guide vane, (c) full inlet domain
and (d) full draft tube domain of the selected grid.
Fig. 2. The dimensions of J-Groove installation in the

draft tube (DT) domain.
Table 1. Dimension of a groove
D L  (deg.) No.
1.036 0.507 12 16
2.2. Numerical method and Boundary conditions

The commercial software ANSYS CFX 18.1 [6]
is utilized for the numerical simulation, the Shear
Stress Transport turbulence model was adopted in the
present study. The steady state numerical simulation Fig. 4. Comparison of the turbine performance decay
is conducted to predict the turbine’s performance and calculation for all tested grids.
calculate swirl number in the draft tube. The without and with J-Groove. Thenumerical analysis is
boundary conditions for steady state calculation are performed by varying guide vane angle to obtain
indicated in Table 2. Runner domain is a rotating different flow rate. The figure clearly shows the slight
domain and the others are the stationary domains. difference in efficiency between without and with the
The rotating domain is connected to stationary J-Groove installation. After application of J-Groove
domains via frozen rotor frame interfaces. And on draft tube, the efficiency of the turbine model has
theresidual target is set at 10-6. Then, the steady-state been dropped by 0.4% approximately without altering
result was set as the initial value for the unsteady performance at BEP. The Eqs. (1) and (2) are used for
state calculation. For unsteady calculation, 180 time calculating the component losses in stationary and
steps were calculated per one runner revolution. Ten rotating domains, respectively in the both without
runner revolutions are necessary until theresult is J-Groove and with J-Groove.
considered as periodic in time.
p
3. Results and discussion hloss  100% (1)
 gH
3.1. Performance curve and loss analysis T
p 
The performance curves of the bulb turbine Q (2)
model in both cases of the draft tube without and with hloss  RN  100%
 gH
J-Groove by CFD result are indicated in Fig. 5. In the
present study, the runner blade angle and rotational The percentage component losses (except draft
speed were kept constant for all loads of both cases tube and extension domains) are listed in Table 3.
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Table 2. Boundary conditions for the fluid passage 5.5
Inlet Total pressure 5.0
Outlet Static pressure 4.5

Walls No-slip 4.0
Percentage loss (%)

90 12 3.5
3.0
85 10 2.5
2.0
80 8
Unit power P11 (kW)

1.5
Efficiency  (%)
DT- Without JG
1.0 DT- With JG
75 6
0.5 Extension- Without JG
Extension- With JG
70 4 0.0
-Without JG
0.90 0.95 1.00 1.05 1.10 1.15 1.20
-With JG
3
P11-Without JG Unit discharge Q11 (m /s)
65 2
P11-With JG
Fig. 6. Comparison of hydraulic losses in the draft
60 0 tube and extension domains between the draft tube
0.90 0.95 1.00 1.05 1.10 1.15 1.20
3
without and with J-Groove installation.
Unit discharge Q11 (m /s)
Fig. 5. Comparison of the turbine performance Table 3. Percentage component losses (excepting the
without and with J-Groove by CFD analysis. draft tube and extension domains)
Fig. 5 illustrates the percentage loss in the draft tube Q/QBEP Q/QBEP Q/QBEP
Domain
and extension domains under various unit discharges. = 90% = 100% = 107%
The loss analysis pointed out that the different Inlet 0.08 0.10 0.11
efficiency between the case without J-Groove and Without
with J-Groove models is almost in the draft tube and Guide
J- 1.06 0.42 0.22
extension domains. The losses in draft tube and vane
Groove
extension domains increase slightly after implicating
Runner
the draft tube with J-Groove. At the best efficiency
& tip 4.98 6.44 8.40
point (BEP), Q11= 1.064, the loss in the draft tube is
gap
lowest in both cases. From Fig. 6, the relatively large
loss in draft tube and extension domains was found at Inlet 0.09 0.10 0.12
partial load (Q/QBEP = 90%), which has lower
efficiency than the BEP. Guide
1.06 0.42 0.21
With J- vane
3.2. Swirl number Groove
Runner
The swirl number [7] has been used as a & tip 5.04 6.51 8.49
reference to evaluate the swirl flow characteristics in gap
the draft tube without and with J-Groove at various
operating conditions of the bulb turbine model. The Fig. 7b illustrates the comparison of the swirl
form of the swirl number is indicated in Eq. (3). Here, intensity distribution between without and with
Vz , V , r, R are the circumferential, axial velocities, J-Groove installation in the draft tube at the four
operating conditions by CFD analysis. The figure
radial position, and draft tube cross-sectional radius,
pointed out that, the swirl intensity at the partial load
respectively. The locations for calculating swirl
is higher than the other operating conditions such as
number are shown in Fig. 7a. The swirl intensity was
the BEP condition. The higher swirl intensity at
calculated at four operating conditions as partial load
partial load condition also contributes to the large loss
mode (Q/QBEP = 90% and 95%), at BEP
in the draft tube. However, the consistent effect of
(QBEP=100%) and overload (Q/QBEP = 103%) in both
J-Groove on reducing the swirl intensity at the four
without and with the J-Groove.
operating conditions was found in the Fig. 7b.
 V V r
2
z dr
Sno.  r
(3)
R  Vz2 rdr
r
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5.5 Vz* -Without JG

5.0 V* -Without JG
Vz* -With JG
4.5
V* -With JG
4.0
Vz*; V* (Location 1)

3.5
3.0
2.5
2.0
1.5
1.0
0.5
Fig. 7. (a) The locations for calculating swirl 0.0
number; (b) Comparison of the swirl number -0.5
0.0 0.2 0.4 0.6 0.8 1.0
distribution between the draft tube without and with Radial position
J-Groove.
5.5 Vz* -Without JG
3.3. Components velocity distribution 5.0 V* -Without JG
4.5 Vz* -With JG
*
Fig. 8 shows the distribution of the axial ( V )z 4.0
V* -With JG
and tangential ( V* ) velocities for two operating

3.5
3.0
conditions in both the draft tube without and with J-
2.5
Groove installation at three locations. Both of the
2.0
velocities are normalized by the inlet averaged axial
1.5
velocity Vz0 of the runner. The remarkable difference 1.0
by the J-Groove is found at the vicinity of the draft 0.5
tube wall of locations 1 and 2 for both operating 0.0
conditions. In there, the tangential velocity is -0.5
decreased relatively by J-Groove installation. As the 0.0 0.2 0.4 0.6 0.8 1.0
Radial position
flow in the groove, this has no swirl, come out from
the groove and mixes with the main flow. Thus, the 5.5 Vz* -Without JG
swirl of the main flow in the vicinity of the draft tube 5.0 V* -Without JG
wall is suppressed. 4.5 Vz* -With JG
4.0 V* -With JG

3.4. Pressure pulsation analysis
3.5
In order to figure out more detail about the 3.0
effect of J-Groove on the flow instability, the 2.5
unsteady numerical calculation was conducted at the 2.0
BEP condition. Five selected points were set on the 1.5
wall of the draft tube as seen in Fig. 9 to measure the 1.0
pressure pulsation in both cases of the draft tube 0.5
without and with J-Groove installation. From CFD 0.0
result, the Fast Fourier Transformation (FFT) analysis -0.5
is utilized to obtain the pressure pulsation and its 0.0 0.2 0.4 0.6 0.8 1.0
Radial position
frequency in the draft tube. Fig. 9 illustrates the
amplitude of pressure fluctuation are significantly Fig. 8. The axial and tangental velocities distribution
suppressed by the J-Groove installation at all the at three locations.
measuring points. The positive effect of J-Groove on
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30 P3- with JG
P3- without JG
25
20 0.22fn
Amplitude
15
10
0
0.0 0.5 1.0 1.5 2.0 2.5 3.0
Frequency (f/fn)
30 30 P4- with JG
P1- with JG
P4- without JG
P1- without JG
25 0.11fn 25
20 20
0.22fn
Amplitude
Amplitude
15 15
10 10
5 5
0 0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 0.0 0.5 1.0 1.5 2.0 2.5 3.0
Frequency (f/fn) Frequency (f/fn)
30 30 P5- with JG
P2- with JG
P2- without JG P5- without JG
25 25
0.11fn
20 20
0.22fn
Amplitude
Amplitude
15 15
10 10
5 5
0 0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 0.0 0.5 1.0 1.5 2.0 2.5 3.0
Frequency (f/fn) Frequency (f/fn)
Fig. 9. Comparison of pressure fluctuation on the draft tube wall between the draft tube without and with J-
Groove installation.
the turbine model. Moreover, the pressure pulsation
suppressing pressure pulsation can be seen clearly at
in the draft tube is significantly suppressed by the J-
the peaks pressure amplitude (frequency = 0.11fn and
Groove installation.
0.22fn Hz). The highest reduction of
pressureamplitude is found at the peaks point. 5. Future plan
4. Conclusion The positive effect of the J-Groove on
suppressing swirl flow and pressure pulsation was
In this study, the J-Groove was applied in the
examined by CFD analysis. In the next step, the
draft tube of a bulb hydro turbine to suppress the
optimization design of J-Groove will be conducted to
swirl flow. The performance of the bulb turbine
improve the results.
model shown that, the J-Groove mounted on the draft
tube wall gained slightly losses in the draft tube and Acknowledgments
extension domains of the turbine model. The high
This work was supported by the New and
swirl number contributed to the large losses in the
Renewable Energy of the Korea Institute of Energy
draft tube and extension domains at part load and
Technology Evaluation and Planning (KETEP) grant
high load conditions. From the CFD analysis result
funded by the Korea Government Ministry of Trade,
obviously point out that the J-Groove is the affective
Industry andEnergy (No. 20163010060340).
method to reduce the swirl number in the draft tube of
236 October 27 - 28, 2018

Hanoi, Vietnam
References [4] J. Kurokawa, H. Imamura, Y-D. Choi, Effect of J-

Groove on the suppression of swirl flow in a conical
[1] P.P Jonsson, B.G. Mulu, M.J. Cervantes, diffuser, Journal of Fluids Engineering 071101 132
Experimental investigation of a Kaplan draft tube-Part (2010).
II: Off-design conditions, Applied Energy (2012) Vol. [5] S.L. Saha, J. Kurokawa, J. Matsui, H. Imamura,
94, 71-83. Suppression of performance curve instability of a
[2] M. Nishi, S.H. Liu, An outlook on the draft tube surge miexd flow pump by use of J-Groove, Journal of
study, International Journal of Fluid Machinery and Fluids Engineering 122 (2000) 592-597.
System (2013) 6-1 33. [6] ANSYS Inc, ANSYS CFX Documentation version
[3] B. Ji, K. Miyagawa, T. Nakashima, Y. Tsujimoto, K. 18.1, http://www.ansys.com (2017).
Yonezawa, X.W. Luo, Numerical analysis of [7] H.J. Sheen, W.J. Chen, S.Y. Jeng, T.L. Huang,
cavitation surge in a draft tube with swirling flow, Correction of swirl number for a radial type swirl
Proceeding of the Turbomachinery Society of Japan generator, Experimental Thermal and Fluid Science
Conference (2013). (1996) 12, 444-451.
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Neural Networks Based Control for an Autonomous Underwater Vehicle

Equipped with the Collective and Cyclic Pitch Propeller
Minh Q. Tran, Hung D. Nguyen*
Australian Maritime College, College of Sciences and Engineering, University of Tasmania, Australia
*Email: h.d.nguyen@utas.edu.au
Abstract
This paper presents a neural network controller for an autonomous underwater vehicle (AUV) equipped with
an innovative collective and cyclic pitch propeller (CCPP). The AUV equipped with a CCPP consists of a
new type of propulsion system based on the principle of a helicopter rotor. The dynamics of the AUV with
CCPP is briefly described for control design. The main objective of the proposed neural networks based
control algorithm is to move the AUV in all directions using only one CCPP with a shaft speed, collective
pitch and cyclic angles by carrying out various underwater mission manoeuvres. The proposed control
algorithm is applied for numerical simulation study using the recently developed mathematical models of an
observation class underwater vehicle platform, namely Gavia,equipped with a CCPP. The work in this paper
is a continuity on verification of capability of the AUV with CCPP to move in all directions. The simulation
results demonstrate the good performance in the course keeping, changing and trajectory tracking controls
using neural network based control algorithm.
Keywords: Autonomous Underwater Vehicle, Collective and Cyclic Pitch Propeller, Neural Networks, Control
and Simulation.
1. Introduction practical applicability of the CCPP to an AUV in

fundamental manoeuvrable performance at both
The underwater exploration has been increasing
cruising speed and low speed [5]. In this paper, the
in recent years with the utilization of advanced
neural network controller is applied to enhance the
marine systems. There is a growing need within
performance characteristic of the system.
marine sciences and engineering that require
conventional torpedo shaped AUVs being capable of The control of underwater vehicle are
accomplishing more complex surveillance missions challenging due to the nonlinear behaviour of
in challenging operational environments; such as underwater vehicles and the external disturbance.
under ice explorations surveys [1], and industrial There are a variety of commonly used control
subsea infrastructure inspections [2]. algorithms for AUV, including the Proportional
Integral Derivative controller (PID) [6], H-infinity
The conventional AUV usually consists of the
controller [7], neural network [8], sliding mode
fixed pitch propeller at the aft end and control
control (SMC) [9], fuzzy logic [10], adaptive control
surfaces as the propulsion system. However, it has the
technique [11] and the linear quadratic regulator
disadvantage such that several important operations
(LQR). Among those control techniques, the neural
requiring low speed control of AUV could not be
networks is characterised by flexibility and an
accomplished, including the station keeping, circle
aptitude for dealing with non-linear problems; they
turning, and recovery on board a mother ship. One of
are envisaged to be beneficial when used on AUVs
the latest innovations in the underwater propulsion is
[12]. The neural network has been applied to the
the Collective and Cyclic Pitch Propeller (CCPP),
control of the underwater vehicles [13-15]. In the
which has the mechanism similar to the helicopter
previous studies, the control input signal were the
main rotor. The prototype of CCPP utilised in this
control surface angle and in this study, the cyclic
study was built at Memorial University of
angle from the CCPP is utilised as the control input.
Newfoundland [3]. A series of initial tests were
The control objective is to steer the AUV in the
carried out to study its characteristics and the
desired heading.
performance of CCPP in straight line model captive
The paper is structured as follows. Section 2
test was investigated at the Australian Maritime
introduces the AUV dynamic model and the CCPP
College, University of Tasmania [4].
empirical model. Section 3 briefly describes the
As part of the research project to analyse the neural network algorithm and the control objective
practical applicability of the CCPP to an AUV, for the study. The simulation of proposed controller is
different types of controllers have been developed. performed and discussed in section 4. Section 5
The optimal controller was developed to examine the summarises the study and future works.
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Hanoi, Vietnam
2. AUV Dynamics of all blades could be changed simultaneously to a

particular value, similarly to the CPP (controllable
2.1. AUV System Description
pitch propeller), in the collective pitch setting. This
A Gavia class modular, streamlined torpedo feature allows the propulsor to alter its axial thrust
shaped AUV is used as the platform for the study. without changing the propeller rotational speed. In
The overall length of the vehicle is 2.7 m, a addition, the angles of each propeller blade can be
maximum hull diameter of 0.2 m and the dry weight positioned periodically during a rotation in the cyclic
in air is 70 kg. The AUV is originally propelled and pitch setting by manipulating the orientation of swash
manoeuvred with a three-bladed propeller and four plate. Therefore, the CCPP can generate thrust, as
independent control surfaces in an “X-wing” well as forces in the vertical and horizontal
configuration located aft of the propeller. With the directions.
exception of thrust from the propeller, AUV
2.2. Equations of Motion
manoeuvrability side forces are only generated when
the vehicle is cruising. In this study, the CCPP is The underwater vehicle is considered as a rigid
proposed as an alternative propulsion system for the body in three-dimensional space. The equations of
Gavia AUV so that the side forces could be produced motion for the AUV are obtained from Euler’s
even at low speed. rotational equations of motion for kinematic and
Newton’s second law for dynamic. The kinematic and
For the derivation of the AUV mathematical
dynamic models are derived in accordance with the
dynamic model, the coordinate system is defined.
SNAME notation [16].
There are two reference frames generally utilised to
determine the motion of the underwater vehicle The kinematic model of the AUV consists
including the Body fixed frame (B) and the Earth
fixed framework (E), shown in Fig. 2. of the position 1  and orientation 2 
vector  , described in the earth-fixed
The position and orientation of the AUV are
described in the Body-fixed frame. The linear and coordinate system:
angular velocities, external forces and moments are  x  
     
presented in the Earth-fixed frame.
  E   1  ; 1   y  ;  2     (1)
The working principle of the CCPP is similar to  2  z  
   
the conventional main rotor of the helicopter. The
essential component of CCPP is a swash plate
controlled by linear actuators as shown in Fig. 1. The The vector of linear 1  and angular 2 
swash plate enables the adjustment of the propeller velocities:
pitch angles as the shaft is rotating. The pitch angles u  p
     
    1;
B 1   v  ; 2   q  (2)
2   w r
   
The Jacobi matrix J1 and J 2 to transform the
Fig. 1. The Gavia AUV.
translational velocities and angular velocities from B
frame to E frame respectively [17]:
Fig. 2. The Collective and Cyclic Pitch Propeller. Fig. 3. The coordinate system.
239 October 27 - 28, 2018

Hanoi, Vietnam
 c c  s c  c s s s s  c c s 
 
J1 2    s c c c  s s s c s  s s s  (3)
 s c s c c 
  
where c  cos(), s  sin(), and t  tan()
 1 s t c t 
 
J 2 2    0 c  s  (4)
0 s / c c / c 
  
The kinematic equations are generally written as Fig. 4. Captive tests using the Towing Tank.
 1   J1 2  33   1 
    (5)
2   33 J 2 2   2 
The dynamic equations of motion based on
Newton’s second law is defined as [18]:
M  C    D    g     (6)
where M RB is the rigid body of inertia and

added mass matrix, CRB is the Coriolis and
centrifugal matrix, D   is hydrodynamic damping
matrix, and g   is the hydrostatic force vector.  is
the vector of forces 1 

and moments  2 
generated from the propulsion system Fig. 5. Thrust coefficients with collective angles.
X K
      
  B   1  ;  1   Y  ;  2   M 
(7)

 2 Z N
   
The CCPP mathematical model is derived using
the experimental method. A series of experiments
were designed and performed in the Towing Tank at
the Australian Maritime College. The test setup is
shown in Fig. 4.
The tests included the measurements of
hydrodynamic forces and moments generated by the
CCPP over the range of different parameter settings.
The force and moment vector  is the function of Fig. 6. Side force coefficients with cyclic angles.
propeller rotational speed n, advance coefficient J ,
multi-variables regression method and implemented
collective angle  col , and cyclic angle  cyc . in the AUV general dynamic model.
  f  n, J ,  col ,  cyc  (8) The general motion equations can be

decomposed into three subsystems to describe the
The empirical force model was estimated based hydrodynamics of an AUV: the lateral subsystem, the
on the experimental data from the captive model tests longitudinal subsystem, and the speed subsystem.
and the bollard pull tests. For example, Fig. 5 and 6 This traditional approach is applicable in practice for
show the measured thrust KT and side forces KY streamlined torpedo-shaped AUVs when the coupling
coefficients over the range of collective and cyclic between subsystems is weak [19]. In this study, the
angles. These coefficients were approximated by a focus is on the lateral subsystems.
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The simple model for the AUV motion in the system blocks. The AUV and navigation system for
horizontal plane is presented as: simulation study is a full mathematical model of the
AUV equipped with CCPP.
     cyc (9)
Guidance sub-system is to generate desired
 r (10) trajectory, and/or carry out underwater mission
planning and scheduling algorithms. The guidance
In state-space form, the model is written as [20]: system in this research will generate desired heading
 r   0  r     for course control, desired depth for depth control,
    1   cyc
0    0 
(11) desired speed for speed control, and desired trajectory
  
including desired course, speed and positions.
where  is heading of the AUV,  is the model Control sub-system is to implement control
coefficients derived by using the system identification algorithm and determine control signals included in
method [20] and verified by the analytical method.  the vector of inputs τ. For course control, the RPM
is the propulsion model coefficients estimated from and collective pitch angle are constant, while the
the experimental study. up/down cyclic pitch and left/right cyclic angles are
varied. For depth control, the up/down cyclic pitch
With x1  t    , x2 t   r , the above equation angle is varied. For the speed control the RPM is kept
could be written as: constant while the collective pitch angle is varied. For
trajectory tracking control to implement an

 x1  t   x2  t 
 (12) underwater mission, all inputs are varied.

 x2  t    x2   cyc
As the preliminary design of neural networks
Based on the developed mathematical models a based controllers for underwater missions will be
trajectory tracking control system to carry various considered to study feasibility of the AUV equipped
underwater mission is designed and verified by with CCPP and to verify whether the AUV with only
numerical simulation study. one CCPP can move in all directions. Wind, waves
and current have no effects. The following control
3. Neural Networks Based Control Algorithms
scenarios have been simulated:
After developing mathematical models for the 1. Course keeping and changing manoeuvre
AUV equipped with the CCPP, in order to study the with one control of varying left/right cyclic
feasibility of whether the CCPP can move the AUV pitch angle, while the RPM and collective
in all directions, simulation study using various pitch angle are kept constant;
control laws has been done. In this paper, neural 2. Depth keeping manoeuvre with one control
networks based control algorithms are adopted. Fig. 7 of up/down cyclic pitch angle, while the
shows the block diagram of trajectory tracking RPM and collective pitch angle are kept
control system consisting of the guidance, navigation constant;
and control sub-systems, for the AUV equipped with 3. Speed keeping and changing maneovre with
CCPP to carry various underwater missions. Three one control of varying collective pitch angle,
subsystems are described below: while RPM and cyclic pitches are kept
constant; and
Navigation sub-system (including dynamic plant
4. Simple trajectory tracking manoeuvre with
AUV with CCPP) is to implement measurements of
two controls of varying collective pitch ang
state variables, filtering and observation algorithms to
left/right cyclic pitch angles, while the RPM
provide state variables for both guidance and control
and cyclic pitch angles are kept constant.
3.1. Neural Networks Based Control
In order to determine the control signals, a
multilayer perceptron neural network for steering the
AUV is proposed. It is assumed that the only input
for steering in horizontal plane is the cyclic pitch
angle from CCPP  cyc and it is also the only output of
the multilayer perceptron. The heading angle  is
selected as the input for the neural network controller.
Fig. 7 Guidance, navigation and control systems. The designed multilayer perceptron neural
network calculates the generated forces from the
241 October 27 - 28, 2018

Hanoi, Vietnam
CCPP to minimize the tracking errors in the heading the linear and logistic sigmoidal activation functions
angle  of AUV. The control objective is to minimise are utilised in this study.
to heading error e   r  . 3.2. Guidance System
The neural network consists of different single The guidance system used in the simulation
neuron model as display in Fig. 8. study is based on the waypoints, light of sight
technique and underwater simulator using simplified
For a single neuron with an input x, weight w ,
mathematical model to generate desired trajectory
bias b and activation function f : including desired heading, speeds, and positions. The
guidance algorithm [18, 23] is summarized as
 n 
x    wi xi   b (13) follows:
 i 1   Waypoints vector: [x1,y2,z2)…(xn,yn,zn)];
 n 
 LOS technique with the radius R at the

y  f  x   f    wi xi  b (14) waypoint as R = 2L (where L is the length of
  i 1  
the vehicle);
The activation function could be defined as the  A simplified mathematical model is
threshold function, linear function, logistic function linearised one; and
or the hyperbolic function [22].  The desired trajectory should be smooth.
The number of connected neuron forms the 4. Simulation Results
neural network as shown in Fig. 9.
The AUV dynamic model and neural network
The output of these neurons are given as: controller module are implemented in the numerical
simulation program using MATLAB. Due to the
 n  
yi  f j    wi j xi   b j  (15) limited time when writing this paper, the following
  i 1   simulation scenarios (using neural networks based
control algorithms) are reported:
The four layer perceptron neural networks with
 Course control (course keeping and
changing control in horizontal plane; and
 Trajectory tracking control using some
simple desired trajectory patterns.
4.1. Course Keeping and Changing Manoeuvre
One of the typical missions of surveying style
AUV is conducting a survey with the lawn mower
pattern while maintaining a desired depth over the
bottom. The main requirement of this mission is to do
course changing and changing manoeuvre. This
mission is selected as the first case study for the
controller design of the AUV equipped with CCPP.
Fig. 8. A single neuron [21]. The control objective was to control the AUV at
desired heading 15 degrees by adjusting the input
cyclic angle in the range of 20 degrees. It was also
assumed that the AUV forward speed is constant in
these operating conditions and the state initial values
were zero. The performance requirement for the
system under control was minor oscillation about the
reference input signals.
The simulation aims to demonstrate the
performance of the AUV equipped with CCPP in the
time domain. The full state feedback is assumed for
the controller. The performance of the heading
control system using neural network controller is
presented. The simulated scenario for the heading
control was that the AUV needs to change the yaw
Fig. 9. Feed forward Neural network [21]. angle to 0.6 rad and then to -0.3 rad after 30 s. The
total simulation time was 50 s.
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Fig. 10. Heading control using Neural Network. Fig. 12. Time series of heading angle and error of the
course keeping and changing manoevre under change
Fig. 14 Simulated trajectory tracking control in controller design parameters.
Fig. 11. Control input signal.
Fig. 10 shows the response of yaw angle in the

lateral plane and the corresponding control signal. It
can be seen from the simulation that the AUV is able
to maintain the desired heading with little overshoot
and the CCPP works effectively. The cyclic angle is
adjusted to its maximum value and then gradually to Fig. 13. Simulated trajectory tracking control with two
its initial position.
different starting point.
In order to investigate the effectiveness of the programs, the starting point of the desired trajectory
proposed neural networks based controller, when was accidentally set differently with starting point of
changing the neural networks control design the AUV actual trajectory, but the NN based
parameters, it is seen that the system response is very controller still manoeuvred the AUV tracking the
sensitive to those parameter as shown in Fig. 12. The desired trajectory well.
AUV response is hunting the desired heading angle.
After debugging the simulation program and
4.2. Trajectory Tracking Control setting the same starting points for both desired and
In investigation of whether the up/down cyclic actual trajectories, the controller can move the vehicle
can do an underwater mission a simple 2D trajectory tracking the desired trajectory very well as shown in
on the horizontal plane is generated as a desired circle Fig. 14. It can be seen that from Fig. 14 the difference
and used as an input of the neural networks based between the desired trajectory and actual trajectory is
controller. Fig. 13 shows a simulated trajectory very small.
tracking control manoeuvre scenario. As seen in Fig.
12, it is interesting that during running the simulation
243 October 27 - 28, 2018

Hanoi, Vietnam
who assisted and supported all experimental work.

Thanks should also go to the organizing committee of
ICFMAS2018 for financial sponsorship to attend this
conference.
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Quantitative Manoeuvring Characteristics of an Underwater Vehicle

Equipped with Collective and Cyclic Pitch Propeller
Hung D. Nguyen, Arno Dubois, Zhi Q. Leong, Jonathan Binns, Minh Q. Tran*
Australian Maritime College, University of Tasmania, Maritime Way, Newnham, Tas 7250, Australia
*Email: h.d.nguyen@utas.edu.au
Abstract
Operating an underwater vehicle at low speed, such as docking (homing), stationary keeping and under-ice
navigation, in severe and harsh environments is a great challenge. Applications of underwater vehicles have
been widened from small underwater/subsea missions to complicated under-ice missions such as in the
Arctic and Antarctic areas. To fulfil the complicated missions in such harsh environmental conditions, the
conventional propulsion systems for underwater vehicles are not appropriate any more, thus operation of
such underwater vehicles requires new types of propulsion system to enhance efficiency, to prolong
operating time period and to effectively operate underwater vehicles at very low speed. A novel type of
propulsion system, namely controllable and cyclic pitch propeller (CCPP), has been designed for underwater
vehicles and its performance has been quantified by Computational Fluids Dynamics (CFD) simulation and
towing tank captive tests. The idea of a CCPP for an underwater vehicle comes from the rotor of a
helicopter. The current investigation shows a great potential of this type of propulsion system to be an
alternative propulsion system in order to improve omni-directional manoeuvring characteristics and
controllability. This paper is to report on the latest information on quantification of the performance of the
underwater vehicle equipped with the CCPP using numerical and experimental approaches.
Keywords: Underwater vehicles (UVs), collective and cyclic pitch propeller, novel type of propulsion system
for UVs, and manoeuvrability.
1. Introduction cyclic pitch propellers for underwater vehicles. Some

of them have been patented.
Operation of autonomous underwater vehicles
Humphrey [5-6] first designed and fabricated a
(AUVs) for various underwater missions has many
collective and cyclic pitch propeller (CCPP) for a
challenges, of which two are manoeuvres at very low
torpedo shaped AUV in 2005 and did some initial
speed, such as docking/homing and stationary
tests without any AUV body. The performance of the
keeping, and prolongation of operating time due to
CCPP was not quantified by his experiments. In order
flat batteries. For operating an AUV, especially
to quantify the performance of the CCPP installed in
torpedo shaped one, at very low speed, the
an AUV body, Niyomka [3] and Niyomka et al [7]
conventional control surfaces do not have effects
designed a torpedo shaped AUV fairing to attach the
sufficient to generate side forces. In addition, the
CCPP and did captive tests to quantify the
conventional propeller for a torpedo-shaped AUV can
performance of the CCPP designed and fabricated by
generate axial drag only. Thus the AUV equipped
Humphey [5-6]. In [3] Niyomka developed prediction
with a conventional propeller always needs control
programs to predict performance of the CCPP using
surfaces or tunnel thrusters to improve
the blade element momentum theory (BEMT) method
manoeuvrability. However the installation of such
and did some captive experiments to validate the
control surfaces and/or tunnel thrusters requires more
predicted results as well as developed numerical
space and batteries in order for an AUV to do an
simulation to visualise the performance of the CCPP,
underwater mission for a long time.
and the AUV equipped with the CCPP. Further
Many researchers suggested and designed new
information on prediction programs, towing tank
types of AUV propulsion device for improvement of
experiments and simulation can be found in [3, 7-9].
efficiency and manoeuvrability, for examples, a
Currently two research projects continue to
tandem propeller system by Haselton et at [1], which
undergo quantification of performance by two
is capable of manoeuvring in all six degrees of
methods: towing tank captive test and CFD modelling
freedom, a variable vector propeller developed by
methods. Results of further captive tests and system
Nagashima et al [2] utilizing radio control helicopter
identification as well as numerical simulation of
elements of a swash plate and dc servomotors.
manoeuvring performance were reported in [4, 10-
Niyomka [3] and Tran [4] and references thereafter
15], while the initial results of CFD modelling
surveyed recent work on other types of collective and
methodology were reported in [16-18].
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Fig. 2. ROV/AUV with CCPP and force and moment

balance mechanism [3].
Fig. 1. CCPP designed by Humphrey [3-6].
Table 2. Particulars of the AUV with CCPP [3-6]
Table 1. Particulars of the CCPP [3-6, 16-18]
Parameters Base Configuration
Parameters Base Configuration Length 2.335 m
Rotation direction Counter-clockwise Diameter 0.4052 m
Rotation speed (max) 600 rpm Volume 0.16 m3
Average rotation speed 300 rpm Structural mass 126 kg
o
Collective pitch angle  29 [ ] Surface area 2.285 m2
o
Cyclic pitch angle  20 [ ] swash plate [3]. Particulars of the CCPP are given in
Number of blades 4 Table 1. Further details on the CCPP can be found in
Blade section profile NACA0012 [3-6].
Chord length cmax = 0.037 [m]
Blade span 0.118 m 2.2. AUV Equipped with CCPP
Blade span profile Tapered to 0.70cmax
Rake angle 20 [o]
So far there is no free-running AUV equipped
Diameter 0.305 [m] with a CCPP (also named an underwater helicopter)
Blade root radius 0.042 [m] yet. There is only one prototype of CCPP installed on
Blade area ratio 0.15 an AUV body fairing for testing to quantify the
Pitch point 0.25c hydrodynamic performance of the CCPP and
manoeuvring characteristics of the AUV equipped
The main purpose of this paper is to report with it. Fig. 2 shows the torpedo-shaped AUV body
recently updated research results on quantification of fairing installed with the prototyped CCPP.
hydrodynamic performance of the CCPP, and Particulars of the AUV body fairing equipped with
manoeuvring performance of a torpedo shaped AUV the CCPP are shown in Table 2.
equipped with a CCPP. Section 2 will describe the
prototyped CCPP and the AUV body installed with 2.3. Control of CCPP
the CCPP for research, Section 3 is about the Like a helicopter rotor, the CCPP is to generate
numerical simulation study, Section 4 about the axial force by the collective pitch angle, and lateral
experimental results and Section 5 about the latest (side) forces by the cyclic pitch angle. The side forces
simulation results. Some main conclusions will be are very important for the CCPP and used to
highlighted in the last session of the paper. manoeuvre the AUV in all directions. Fig. 3 shows
2. Description of AUV Equipped with CCPP the principle of generating axial and side forces by
the CCPP. The collective pitch control and variation
2.1. Prototyped CCPP over the azimuth cycle, i.e. cyclic pitch, manipulates
The idea of using a CCPP for an underwater the entire swash plate assembly upward or downward.
vehicle comes from a helicopter rotor which This causes the pitch of all blades to change
generates omni-directional forces and moments to simultaneously. The cyclic pitch control tilts the
manoeuvre a helicopter in all directions. A CCPP as swash plate assembly to one side. This causes the
shown in Fig. 1 was originally designed for a pitch of the blades to change unevenly. The pitch
torpedo-shaped AUV. The main shaft is driven by a angle of each blade depends on the location of each
brushless dc motor and four blades of the CCPP are blade in the rotation. The resultant uneven pitch of
controlled by a connecting linkage, 3 actuators and each blade generates more thrust on the greater pitch
angled blades on one side, and less thrust on the
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Fig. 4. Reference frames and the ROV/AUV

equipped with a CCPP.
Fig. 3. Conceptual generation of thrust (axial) and
ν   u, v, w,p,q,r  is the vector of velocities
T
side forces by CCPP [16-18]. where
lesser pitch-angled blades on the opposite site. The including surge, sway, heave velocities, roll, pitch
cyclic pitch can generate lateral thrust because of this and yaw rates, M the intertial matrix, C  ν  the
unbalanced thrust angle and the rake angle which is
Coriolis and centrifugal matrix, D  ν  the damping
defined as the angle between the blade’s chord and
the rotational plane, perpendicular to the rotational matrix, g the buoyancy and gravity vector, τ is the
axis. From Fig. 3 it can be seen that the force input vector, J    the transformation matrix, and
imbalance results from the cyclic pitch variation and
   x, y,z, , , 
T
the applied blade rake angle [3, 7-9, 16-18]. the vector of positions and
In order to control the side and axial forces for orientations. The simulated results are reported in the
omni-directional manoeuvres of the AUV, the following section. Further information on the
azimuthal pitch profile is controlled by a single mathematical models is found in [3-4].
collective pitch parameter, two cyclic pitch
parameters, and the azimuthal blade position: 3. Numerical Simulation Study
 tot  azi   coll  cycl sin  azi     cycl

cos  azi    (1) A lot of research has recently been done on
where azi is the azimuthal blade position,  coll the quantification of air-dynamics of helicopter rotors
collective pitch angle,  cycl the up/down cyclic pitch and helicopters but very little on the quantification of
hydrodynamics of the CCPP and AUV equipped with

angle and  cycl the left/right cyclic pitch angle. CCPP. Since the prototype of the CCPP was designed
and fabricated in 2005, great efforts have been made
2.4. Modelling of AUV Equipped with CCPP at the AMC, University of Tasmania to quantity
In order to quantify the performance of the AUV hydrodynamic characteristics of the CCPP and the
equipped with the CCPP, the reference frames shown AUV equipped with it.
in Fig. 3 are selected to describe its kinametics and
3.1. BEMT Method
kinetics in 6 degrees of freedom. Fig. 4 shows forces
and moments to be generated by the CCPP. To In [3, 7-9] the blade element momentum theory
manoeuvre the ROV/AUV is to control the total (BEMT) method was used to predict propeller
thrust, namely F, in a desired direction, expectedly performance based on the Leishman-Beddoes
omni-directionally. dynamic stall model. The predicted results were
compared to those of experiments. Two results did
Based on the reference frames in Fig. 4 the
not well agree to each other in the cases of the
following mathematical model including kinetic and
collective pitch setting, but they had the same trends.
kinametic equations, respectively, was developed and
Fig. 5 shows comparison of predicted results using
its hydrodymic coefficients were estimated using the
the optimised time constant to the measured results
body build-up method [3-4, 19-20], for a collective pitch setting of -80% an up/down
ν  M1  τ  C  ν  ν  D  ν  ν  g 
pitch cyclic setting of -80%, and a right/left cyclic
(2) setting of -80% at various advance coefficients.
η  J   η ν (3)
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Fig. 5. Comparison of the predicted results using

BEMT with the measured results [3]. Fig. 7. 3D trajectory tracking control [3].
Fig 6. Turning circle tests at RPM = 250 with various

left/right cyclic pitch angles [3,9].
Fig. 8. Validation of side-force magnitude and
Numerical simulation programs based on the
orientation [16].
proposed mathematical model with hydrodynamic
coefficients estimated by the body build-up method analysis and verification of hydrodynamic
were developed to assess the manoeuvrability of coefficients of the proposed mathematical model.
AUV equipped with the CCPP. The simulated tests Analysis of uncertainties in the developed
included turning circle tests at different values of mathematical models should be made.
RPM collective pitch angles and right/left cyclic pitch
angles, zigzag manoeuvring tests, yaw control test, 3.2. CFD Modelling Method
depth control test, turning and driving tests and It is a continuity of Niyomka’s project Dubois et
trajectory tracking control test. The simulated results al [16] in 2016 developed a numerical methodology
show flexible manoeuvrability and controllability of using CFD to investigate the hydrodynamic
the AUV equipped with the CCPP. It has seen that it performance of sinusoidally pitching hydrofoils as an
is possible to control the underwater vehicle in all initial tool for analysis of the side-force phase shift
directions using one CCPP. Fig. 6 shows turning occurring in the CCPP operation. As shown Fig. 8 it
circles of the AUV equipped with CCPP for different can be seen that the CFD simulated side-force
values of cyclic angles. Through the numerical magnitude and orientation agree with those of
simulation, it is seen that the AUV equipped with a experiments. The developed methodology is a good
CCPP can move in all directions as shown in Fig. 7. tool to analyse the hydrodynamic performance.
See [3, 9] for further information.
Dubois et al in [17] developed other numerical
For further investigation of CCPP, Niyomka [3] methodology to simulate and investigate the
suggested some further work including estimation of hydrodynamic performance of the CCPP using an
maximum generated torque, further development of URANS approach with transitional k-  SST
performance prediction program and uncertainty turbulence modelling applied on a periodic domain,
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Fig. 10. Comparison of side-force orientation for

experimental (3D) and numerical (2D) results [18].
Fig. 9. Azimuthal force evolution: (a) intended force

component, (b) perpendicular force component [17].
modelling a single propeller blade. The numerical
results as shown in Fig. 9 have indicated capability of
the CCPP to generate an effective manoeuvring force
by applying cyclic pitch at zero collective and zero
forward velocity.
For further numerical simulation, Dubois et al Fig. 11. Comparison of forward thrust predicted by
[18] in 2018 developed a simplified numerical experiments (3D) & numerical analysis (2D) [18].
method to analyse the hydrodynamic performance of
the CCPP under bollard pull condition through
numerical evaluation of two-dimensional pitching
hydrofoils and did comparison with experiments. In
this method, the complex three-dimensional flow
problem was reduced to a two-dimensional problem.
Fig. 10 shows the comparison of side-force
orientation for experimental (3D) and numerical (2D)
results. Fig. 11 shows comparison of the forward
thrust predicted by the experiments (3D) and
numerical analysis (2D).
4. Experimental Approach
Niyomka [3] in 2014 conducted captive tests
including propulsion and resistance test using towing
tank as shown in Fig. 12. Propulsion tests included
collective pitch, combined collective and cyclic pitch
and resistance tests. The experimental results show
that performance of the CCPP with a collective pitch
setting was similar to a conventional CPP. The CCPP Fig. 12. Towing tank facility for experiments [3].
with a positive right/left cyclic pitch setting generated
force in the port direction. The CCPP with a negative the collective pitch is quite similar to that of the
right/left cyclic pitch setting affects the direction of conventional CPP and the relationship between the
the transfer thrust differently. Further information can coefficients and advanced coefficient J for different
be found in [3]. collective pitch angle settings was formulated. Fig 13
illustrated the thrust coefficient KT versus J. Further
From the propulsion and resistance tests, it was information on the torque coefficient, KQ, thrust
understood that the characteristics of the CCPP with
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Fig. 13. Thrust coefficient KT versus advance

coefficient J, for positive collective pitch setting [3].
Fig. 15. Gavia AUV propeller open water diagram
[4].
Fig 14. Setup for propeller open water test (FPP) [4].
coefficient KT and torque coefficient KQ can be found
in [3]. However, the effects of combined collective
Fig. 16. Experiment for CCPP using towing tank [4].
and cyclic angles were not very clear.
and manoeuvring forces generated by the CCPP in
Tran [4, 10-15] continued Niyomka’s research
addition to Niyomka work in [3]. Setup of further
[3] for systematic investigation on the hydrodynamic
experiments including bollard pull and captive model
performance of the CCPP and AUV equipped with
tests done by Tran [4] is shown in Fig. 16.
the CCPP by doing more experiments, system
identification and numerical simulation as well as The bollard pull experiments provided extensive
comparison study based on modelling of the measurement data to formulate the propulsion model
conventional propulsion systems using FPP and empirically, so that it will be possible to embed it into
CCPP. Two mathematical models, one for AUV with the AUV mathematical model for more accurate and
conventional FPP and one for AUV with CCPP have precise simulation of the manoeuvrability of the AUV
been developed. Fig. 14 shows the setup of propeller equipped with CCPP. Fig. 17 and 18 show the effects
open water test conducted using the towing tank at of collective pitch angle settings on KT and KQ. Fig.
AMC/UTAS. 19 shows the effect of horizontal cyclic pitch angle
settings on KY, and Fig. 20 the effect of vertical
From the data of the propeller open water test
cyclic pitch angle settings on KZ.
done for a fixed pitch propeller (FPP), the
performance of a FPP installed on the Gavia AUV The captive model tests increased understanding
has been studied as shown in Fig. 15, then compared of effects of positive collective pitch angle settings on
with that of the CCPP. KT, KQ as shown in Fig. 21 and 22, and effects of
negative collective pitch angle settings on KT and KQ
There is no free-running prototype or full scaled
as shown in Fig. 23 and 24. For interested readers,
AUV equipped with AUV yet, it is still challenging to
further information on effects of collective angle
quantify the hydrodynamic performance in real-world
settings can be found in [4].
working conditions. Alternatively, further captive
tests for the AUV with CCPP were conducted using
the AUV towing tank for investigation of the thrust
251 October 27 - 28, 2018

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Fig. 20. Effect of vertical cyclic pitch angle setting.

Fig. 17. Effect of collective pitch angle setting KT [4].
Fig. 21. Effect of positive collective pitch angle

Fig. 18. Effect of collective pitch angle settings on settings on KT [4].
KQ [4].
Fig. 22. Effect of positive collective pitch angle

setting on KQ [4].
Fig. 19. Effect of horizontal cyclic pitch angle
setting.
From the experiment results, it can be seen that
the CCPP is capable of generating effective
manoeuvring forces. The results provided an insight
into the relationship between the manoeuvring forces
and controlled parameters.
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Fig. 26. Effect of negative horizontal cyclic pitch

Fig. 23. Effect of negative collective pitch angle angle settings on KY [4].
settings on KT [4].
Fig. 24. Effect of negaitive collective pitch angle

settings on KQ [4].
Fig. 27. Effect of positive vertical cyclic angle setting
The experiments also looked at the effects of KZ [4].
various cyclic pitch angle settings as shown in Fig.
25, 26, 27 and 28 [4,13-15].
Fig. 25. Effect of positive horizontal cyclic pitch Fig. 28. Effect of negative vertical pitch angle setting
angle settings on KY [4]. on KZ [4].
253 October 27 - 28, 2018

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Fig. 29. Zigzag test of AUV equipped with FPP and

CCPP [4, 12].
Fig. 31. Heading control [4, 12].
6. Conclusions
So far several research projects have been
undertaken with great efforts and both numerical and
experimental approaches to entirely quantify the
hydrodynamic performance of the CCPP and the
AUV equipped with CCPP. Two projects were
completed and one project is underway.
The CCPP with control of collective pitch angle
has manoeuvring characteristic of a controllable pith
propeller, while it with control of cyclic pitch angle
can generate side forces which can be used to
Fig. 30. Depth control [4, 12]. manoeuvre the AUV in all directions. Both numerical
simulation studies and experiments show feasibility
5. Further Numerical Simulation of an underwater vehicle using the CCPP. It is
In [4, 10-15] after conducting experiments and understood that the size forces generated by the
estimating the hydrodynamic coefficients of the current prototype are still small, and need further
proposed mathematical models for Gavia AUV, Tran investigation. In comparison with an AUV equipped
et al examined the controllability of the AUV with a conventional FPP, the AUV equipped with
equipped with CCPP by numerical simulation using CCPP has more flexible manoeuvrability, and can be
optimal control algorithm. The results show good controlled in all directions using only one CCPP.
controllability. The simulation study done shows In order to have full understanding of an AUV
good results on various manoeuvres including with CCPP the current prototype of CCPP should be
acceleration manoeuvre test, stopping test, turning improved. Some recommendations for future work
circle test, pull-out manoeuvre and zig-zag test, depth include uncertainty estimation of a CFD-
changing manoeuvre, meander manoeuvre (vertical methodology for performance analysis of a CCPP,
zig-zag test), spiral manoeuvre and reverse spiral test. and 3D CFD modelling, redesign the CCPP and a full
As representative result, Fig. 29 shows compared scaled AUV equipped with it.
zigzag test of and AUV equipped with FPP and
CCPP. It can be seen that the zigzag test of the AUV Acknowledgments
equipped with the CCPP is much better than that of This paper is mainly based three research
the AUV equipped with the conventional FPP. projects funded by the Australian Maritime College
The numerical simulation results in [3, 12] and University of Tasmania. All experimental work
shows feasibility of omni-directional control schemes was done using the AMC experimental facilities
for the AUV equipped with CCPP. Fig. 30 and 31 including towing tank, circulating water tank and
indicated successful depth and heading controls. control lab and PC clusters. The authors would like to
Further information on simulated results can be found express sincere thanks to the AMC/UTAS Funding
in [3, 12-15] as well as in the paper to be presented at Committee and all technicians who assisted and
this conference. supported all experimental work. Thanks should also
go to the organizing committee of ICFMAS2018 for
financial sponsorship to attend this conference.
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Design and Manufacture of Five-hole Air-data Probe: Identification and

Calibration Using Least-Squares Method
Do Cat Tuan, Nguyen Cao Truong Son, Ngo Dinh Tri*, Le Thi Minh Nghia
Ho Chi Minh City University of Technology, 268Ly Thuong Kiet, District 10, Ho Chi Minh City, Vietnam
*Email: ngodinhtri@hcmut.edu.vn
Abstract
In the field of aerodynamics, flow measurement is very important. Magnitude and direction are two essential
parameters of the airflow. The use of the multi-hole pressure probes has become popular to determine flow
velocity and direction in three-dimensional flow fields with proper calibrations. This paper presents a five-
hole probe design, which is fabricated and experimented successfully in laboratory. Main objective of this
paper is to identify and calibrate mathematical models of angle of attack, sideslip angle and velocity based
on the five-hole pressure data. The method for calibrating is least-squares. In this paper, the probe is
validated so that it can measure angles and velocity of the airflow within the acceptable root-mean-square
errors.
Keywords: Five-hole airdata probe, angle of Attack, sideslip angle, velocity, least-squares method
Nomenclature Velocity components with respect

𝑢 to the x axes
m/s
Symbols Velocity components with respect
𝑣, to the y axes
m/s
AOA
Angle of attack Degree Velocity components with respect
Alpha 𝑤 to the z axes
m/s
AOS
Sideslip angle Degree Greek Symbols
Beta
𝐶𝑝𝑎𝑣𝑒 Average pressure coefficient - 𝛼 Angle of attack Degree
Angle of attack pressure 𝛽
𝐶𝑝𝛼 - Sideslip angle Degree
coefficient
Sideslip angle pressure 𝜇 Viscosity N ⋅ s/m2
𝐶𝑝𝛽 -
coefficient 𝜈 Kinematic viscosity m2 /s
𝐶𝑝5 Fifth hole pressure coefficient -
𝜌 Density of air kg/m3
𝑑 Hole diameter mm
𝐷 Probe diameter mm
1. Introduction
𝐼 Turbulence intensity
In field of aerodynamics, flow field
𝑃 Static pressure Pa
measurement is critically important, especially in
𝑃0 Total pressure Pa measuring airflow’s magnitude and direction. Multi-
𝑃1 Pressure of hole 1 Pa hole air-data probes has been studied and developed
in order to measure three dimensional flow fields
𝑃2 Pressure of hole 2 Pa since the 50's. Such probes constitute reliable and
𝑃3 Pressure of hole 3 Pa robust measurement tool that can simultaneously
obtain the magnitude of all three components of
𝑃4 Pressure of hole 4 Pa
velocity vector, or in other words, during operation,
𝑃5 Pressure of hole 5 Pa they could measure accurately both total, static
𝑅𝑀𝑆𝐸 Root-mean squared errors - pressures and direction of airflow at once. With the
2 proper calibration, such probes have proven to be
𝑅 Coefficient of Determination -
able in obtaining the scalar and vector properties of
𝑅𝑒 Reynolds number - the flow field in terms of the static and total pressure
m/s as well as the three dimensional velocity vectors in
𝑉 Test section velocity relevant steady flow fields (Bryer and Pankhurst [1],
Everett et al. [2], Treaster and Yocum [3]). In recent
256 October 27 - 28, 2018

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decades, there has been a variety of developments of Firstly, the tip configuration is very important
sophisticated methods of flow field measurement like because it could be used to identify accurately the
Hot-Wire Anemometry (HWA), Laser-Doppler direction and the magnitude of a three-dimensional
Velocimetry (LDV) and Particle-Image Velocimetry airflow. There are many kinds of the tip
(PIV). Such methods are inappropriate for industrial configuration, such as cone, pyramid and hemisphere
and UAV applications due to some drawbacks shapes. For each of these tip shapes, there are also
mentioned in [4][5]. Five-hole probe, however, have advantages and disadvantages, which depend on
some advantages over such methods as their complexity level of fabrication and probe response to
maintenance, relatively low cost, and simplicity in aerodynamic flow. Conical and pyramid
operation. Hence, it allows five-hole probe to be configurations are easier to fabricate. It is acceptable
robust and reliable tools most appropriate for many for a low-cost, home-built probe in our study.
purposes including research and industry. Another important point is that grouping holes with a
A multi-hole probe has symmetric holes on the relative precision during fabrication is considerably
probe tip. The tip of probe is a special configuration. important. It is suitable for conical and pyramid
The flow direction and velocity are computed from probes chosen to be fabricated. In addition, for
the differences between all of holes’ pressures. probes’ tip of hemisphere, we don’t need to calibrate
Nowadays, the multi-hole probe is used for many the probe because the mathematical formulas which
applications. For example, the probe is used in flight were studied for such probe’s shape that can be used
test for UAV. Besides, the probe can be used for to directly calculate the velocity, angle of attack and
turbo-machinery in order to determine the flow sideslip angle from relationship between pressure
velocity and the flow angle. Another probe taps. In spite of without calibrating, this hemisphere
application is used for wind turbines. shape also gives accurate measurements. But the
There has been a variety of commercial multi- greatest disadvantage is that manufacturing
hole air probes as well as air data boom system hemisphere probe is extremely challenging.
selling around the world. On the one hand, an air data
Furthermore, the number of holes at the tip of
boom system is not the same as the multi-hole air
the probe is important because the larger the number
probe since this is a combination between Pitot-static
of holes, the better the accuracy of a probe to measure
tube and guide vanes for angle of attack and sideslip
the angles. There are five-hole probe, seven-hole
angle. Such system is not only bulky (its entire
probe, twelve-hole probe and eighteen-hole probe.
weight is around 1 kg and its dimension is about 0.8m
The number of holes depends on the extend of
for test boom and 0.138 x 0.076 x 0.017m for data
accuracy we want and the specific application of the
system) but also expensive (of around 2000 USD for
probe. The five-hole probe is limited to 55 degrees
a full-component system including a Pitot-static
and seven-hole probes to 75 degrees. For angle that is
system and smart vanes, see in [16]). This is not
larger than 75 degrees, one needs a twelve- or and
suitable for a low cost, small UAV platform. On the
eighteen-hole probe. Besides, the number of holes is
other hand, typical multi-hole probes that is currently
also dependent of the number of sensors so the five-
sold are products from AEROPROBE Corporation
hole probe is the most suitable for a low-cost home-
[17]. However, such probes’ price is really high (up
built probe.
to 2500 USD and more) corresponding to their
accuracy, operating range, response time and The probe length is 175 mm, and its tip outer
maintainability. However, the calibration services or diameter is D=8 mm. Each inner pressure holes have
data system are usually support packages (see in approximate diameter of d=1 mm. As shown in Fig 1,
[18]), which means that the total expense for a fully the hole arrangement is in plus-sign, which has a
completed probe system is extremely high which is center hole named 𝑃5 , the top and bottom holes
completely unsuitable for a low-cost UAV platform. named 𝑃1 and 𝑃3 respectively and the left and right
This study demonstrates the in-house inexpensive holes named 𝑃4 and 𝑃2 respectively (P stands for
fabrication, and individual calibration and validation Port). The couple of 𝑃1 and 𝑃3 is also called pitch
of a 5-hole probe in wind tunnel with acceptable measuring hole because they are used to identify
accuracy, in which the calibration based on an pitch angle. It is similar for the couple of 𝑃4 and 𝑃2 in
inexpensive method. measuring yaw angle. The term of pitch and yaw here
2. Instrumentation and Data Acquisition Systems is replacements for angle of attack (AOA) and
sideslip (AOS), because when probe is calibrated in
2.1. Design and Fabrication of Five-hole Probe wind tunnel, the pitch angle is the same as AOA and
There has been a lots of different probe designs. so is that of yaw angle and AOS.
There are two important constraints on probe design:
tip configuration and number of holes at the probe tip.
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Fig 1. CAD sketch of five-hole air-data probe.
error is 6.25% . Besides, the Arduino Mega is the

2.2. Data acquisition systems
most robust and easiest board to receive easily analog
One of the most important things for air-data signal from pressure sensor.
probe is data acquisition system that measures the
The sensors are connected to Arduino Mega:
pressures of the five-hole probe. The data acquisition
system includes six pressure sensors and a o Sensors are powered by 5V DC by
microprocessor. The pressure sensors are chosen as breadboard.
Freescale Semiconductor MPXV7002DP differential
o Sensors are connected to GND by
pressure sensors and the microprocessor is chosen as
breadboard.
Arduino Mega 2560. The sensors will convert the
signal pressure to signal voltage (Analog signal). This o Output sensors of five-hole probe are analog
transducer combines advanced micromachining signals and connected directly to pin
techniques, thin-film metallization, and bipolar A1,A2,A3,A4,A5 of Arduino.
process to provide an accurate, high level analog
output signal that is proportional to the applied o Output sensor of pitot probe is connected
pressure. It can be used with a wide range pressure directly to pin A0 of Arduino.
±2000𝑃𝑎. Its typical error is 2.5% and its maximum
(a)
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(b)
Fig 2. (a) Full system diagram; (b) Hardware connections.
3. Model Identification and Calibration frequency whereas the airflow velocity is about 12
m/s. For this data, the angle of attack and sideslip are
3.1. Collecting data
varied from −200 to 200 in 50 increments. In
The data must be collected at different angles in addition, a first-order low-pass filter with a cutoff
the same speed condition. During collecting data, the frequency of 0.5 Hz is applied to the output of each of
probe is placed in the middle of the test section of the the pressure sensors to reduce noise. The pressures at
wind tunnel on a frame that can be rotated to vary the all ports of the probe are measured and data is written
sideslip angle. The angle of attack is mounted by the in each condition.
rod and can also be varied by rotating the rod. During
calibration, the wind tunnel fan is activated at 18Hz
Fig 3. Contours of pressure distribution at 5 holes.
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increase when the sideslip angle decreases and vice

The principle of multi-hole probe measurements
versa. Meanwhile, the pressures of the fourth hole
is based on the fact that is a probe is immersed in a
increase when the sideslip angle increases and vice
stream. In Figure 4, pressures of all ports are the
versa.
contours which show the magnitude of the pressures
with respect to the AOA and the AOS. In the contour 3.2. Mathematical Model Identification of Angle of
of the center port, the pressures of the center hole 𝑃5 Attack and Sideslip Angle
are concentric circles. The pressures of the center
At each location, the five-hole pressures as well
hole are greater near the center of the circle and
as the direction and the magnitude of the calibration
smaller far away from the center of the circle. When
flow are recorded. The average pressure is equal to:
the angles of attack and sideslip increase, flow
separation makes the pressure of the center hole 𝑃ave = 0.25 (𝑃1 + 𝑃2 + 𝑃3 + 𝑃4 )
lower.
The relationship between 𝑃1 and 𝑃3 characterizes
The curvature of the arc increases as the the angle of attack, whereas the relationship between
pressure increases, since the flow is more directly 𝑃2 and 𝑃4 characterizes the sideslip angle. Therefore,
into the hole and exhibits greater dependence upon we have to establish equations that describe the
the twisting of the hole with respect to the mean flow. relationship between pressures of all ports. The
In Figure 4 of pressure distribution, the pressure standard non-dimensional grouping for the data
contours of ports 1,2,3,4 show arcs which are reduction are represented in the following equations:
symmetric. The pressures of the first hole and third
𝑃3 − 𝑃1
hole characterize the change of the angle of attack. 𝐶𝑝𝛼 =
The pressures of first hole increase when the angle of 𝑃5 − 𝑃𝑎𝑣𝑒
attack decreases and vice versa. Meanwhile, the 𝑃4 − 𝑃2
pressures of third hole increase when the angle of 𝐶𝑝𝛽 =
𝑃5 − 𝑃𝑎𝑣𝑒
attack increases and vice versa. Because when the
angle of attack increases, the flow is more directly We use some 𝐶𝑝𝛼 , 𝐶𝑝𝛽 , AOA to plot surface
flow into the third hole. As the result, the pressures of which presents the dependency of AOA on 𝐶𝑝𝛼 , 𝐶𝑝𝛽 ,
third hole increases whereas the pressures of first
see Fig 4. The surface with highest coefficient of
flow decreases.
determination 𝑅2 can show the relationship of three
On the other hand, the pressures of the second parameters:
hole and fourth hole characterize the change of the
sideslip angle. The pressures of the second hole
(a) (b)
Fig 4. Least squares AOA surface fitting of rational polynomial model (a) and polynomial model (b).
The equation of AOA is a rational polynomial and polynomial shown below and respectively, R2 are
0.9939 and 0.9919:
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−0.39595 + 17.644205𝐶𝑝𝛼 + 0.68876656𝐶𝑝𝛽 + 2.3146267𝐶𝑝𝛼 2 − 5.4772663𝐶𝑝𝛽 2 + 0.036251293𝐶𝑝𝛼 𝐶𝑝𝛽

𝐴𝑂𝐴 =
1 + 0.014074689𝐶𝑝𝛼 + 0.11382881𝐶𝑝𝛽 + 0.079427094 𝐶𝑝𝛼 2 + 0.23705264𝐶𝑝𝛽 2 + 0.036232922𝐶𝑝𝛼 𝐶𝑝𝛽
2 2 3
𝐴𝑂𝐴 = −0.4247 + 17 × 𝐶𝑃𝛼 + 0.7274 × 𝐶𝑃𝛽 + 1.887 × 𝐶𝑃𝛼 − 0.9299 × 𝐶𝑃𝛼 𝐶𝑃𝛽 − 4.475 × 𝐶𝑃𝛽 − 0.8884 × 𝐶𝑃𝛼
2 2 3
− 0.6526 × 𝐶𝑃𝛼 𝐶𝑃𝛽 − 2.3 × 𝐶𝑃𝛼 𝐶𝑃𝛽 + 0.3373 × 𝐶𝑃𝛽
Surface of AOS is also plotted in Fig 5, which is a function of 𝐶𝑝𝛼 , 𝐶𝑝𝛽 . and the equations of AOS which
are dependent on 𝐶𝑝𝛼 , 𝐶𝑝𝛽 with R2 are 0.9921 and 0.9920 respectively for each type of models:

𝐴𝑂𝑆 =
1 + 0.055357355𝐶𝑝𝛼 − 0.0077806289𝐶𝑝𝛽 + 0.088378771𝐶𝑝𝛼 2 + 0.06409505𝐶𝑝𝛽 2 + 0.051033568𝐶𝑝𝛼 𝐶𝑝𝛽
2 2 3
𝐴𝑂𝑆 = −1.088 + 2.085 × 𝐶𝑃𝛼 + 20.75 × 𝐶𝑃𝛽 + 0.2853 × 𝐶𝑃𝛼 + 1.31 × 𝐶𝑃𝛼 𝐶𝑃𝛽 − 0.6213 × 𝐶𝑃𝛽 + 0.1417 × 𝐶𝑃𝛼
2 2 3
− 1.558 × 𝐶𝑃𝛼 𝐶𝑃𝛽 − 1.119 × 𝐶𝑃𝛼 𝐶𝑃𝛽 − 1.056 × 𝐶𝑃𝛽
(a)
(b)
Fig 5. Least squares AOS surface fitting of rational polynomial model (a) and polynomial model (b).
The equation of AOS which are dependent on 𝐶𝑝𝛼 , 𝐶𝑝𝛽 with R2 are 0.9921 and 0.9920 respectively for each
type of models.
𝐴𝑂𝑆 =
1 + 0.055357355𝐶𝑝𝛼 − 0.0077806289𝐶𝑝𝛽 + 0.088378771𝐶𝑝𝛼 2 + 0.06409505𝐶𝑝𝛽 2 + 0.051033568𝐶𝑝𝛼 𝐶𝑝𝛽
2 2 3
𝐴𝑂𝑆 = −1.088 + 2.085 × 𝐶𝑃𝛼 + 20.75 × 𝐶𝑃𝛽 + 0.2853 × 𝐶𝑃𝛼 + 1.31 × 𝐶𝑃𝛼 𝐶𝑃𝛽 − 0.6213 × 𝐶𝑃𝛽 + 0.1417 × 𝐶𝑃𝛼
2 2 3
− 1.558 × 𝐶𝑃𝛼 𝐶𝑃𝛽 − 1.119 × 𝐶𝑃𝛼 𝐶𝑃𝛽 − 1.056 × 𝐶𝑃𝛽
We can calculate the speed of the airflow by 𝑃𝑎𝑣𝑒 − 𝑃

𝐶𝑝𝑎𝑣𝑒 =
static pressure and total pressure, which are 𝑃0 − 𝑃
determined by the center-hole pressure coefficient
and average pressure coefficient. The standard where: 𝑃0 is total pressure measured by Pitot (Pa), 𝑃
pressure coefficients are calculated from measured is static pressure measured by Pitot (Pa)
pressures:
A curve fitting of 𝐶𝑝5 , 𝐶𝑝𝑎𝑣𝑒 are also shown that
𝑃5 − 𝑃 is a function of the AOA and AOS in terms of the two
𝐶𝑝5 =
𝑃0 − 𝑃 models (rational polynomial and polynomial)
respectively, shown in Fig 6 and Fig 7.
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𝐶𝑃5 = 0.5218 + 0.004994 × 𝛼 − 0.001548 × 𝛽

− 0.0003794 × 𝛼 2 + 1.123𝑒_ − 05
0.52033852 + 0.0036006382𝛼 − 0.00036823474𝛼 2 − 2.0266332𝑒 − 05𝛼 3 + 0.00081858142𝛽 − 0.0005895614𝛽 2
× 𝛼𝛽 − 0.0005842 × 𝛽2 − 2.131𝑒
𝐶𝑝5 =
1 − 0.0017353713𝛼 + 0.0062233575𝛽 − 05 × 𝛼 3 + 3.531𝑒 − 06 × 𝛼 2 𝛽
(a) − 3.323𝑒 − 06 × 𝛼𝛽2
(b)
Fig 6. Cp5 model of rational polynomial (a) and polynomial (b).
−0.13855629 − 0.002342429𝛼 − 8.7012675𝑒 − 05𝛼 2 − 1.6982229𝑒 − 05 𝛼 3 + 0.001846872 𝛽 − 0.0005046781𝛽 2

𝐶𝑝𝑎𝑣𝑒 =
1 + 0.0038862069𝛼 − 0.0052121581𝛽
(a)
𝐶𝑃𝑎𝑣𝑒 = −0.1393 − 0.001765 × 𝛼 + 0.0005282 × 𝛽

− 5.558𝑒 − 05 × 𝛼 2 − 4.054𝑒 − 05
× 𝛼𝛽 − 0.0005052 × 𝛽2 − 1.649𝑒
− 05 × 𝛼 3 − 1.235𝑒 − 06 × 𝛼 2 𝛽
+ 1.047𝑒 − 06 × 𝛼𝛽2
(b)
Fig 7. Cpave model of rational polynomial (a) and polynomial (b).
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Once the values for 𝐶𝑝5 , 𝐶𝑝𝑎𝑣𝑒 are obtained by The accuracy is given in terms of the root-mean-
the values of AOA and AOS, the total and static square (RMS) of the measurement error. The RMS is
pressure can be computed from Equation with defined as:
parameters 𝐶𝑝5 , 𝐶𝑝𝑎𝑣𝑒 , 𝑃5 , 𝑃𝑎𝑣𝑒 : 𝑁
𝐶𝑝5 𝑃𝑎𝑣𝑒 − 𝐶𝑝𝑎𝑣𝑒 𝑃5 1
𝑃= 𝑅𝑀𝑆 = √ ∑ 𝑒𝑖2
𝐶𝑝5 − 𝐶𝑝𝑎𝑣𝑒 𝑁
𝑖=1
𝑃5 − 𝑃
𝑃0 = 𝑃 + Where: N is the number of samples
𝐶𝑝5
Then the velocity magnitude is calculated from: 𝑒𝑖 – the error between measured value and true value
We have to evaluate the statistical data analysis
2(𝑃0 − 𝑃) such as the coefficient of determination 𝑅2 value. For
𝑉=√
𝜌 measurements values, a data set has n values marked
4. Data Validation 𝑦1 , 𝑦2 … 𝑦𝑛 (data from true values), with a mathematic
Validation evaluates how good the probe is. In model value 𝑦̂1 , 𝑦̂2 … 𝑦̂𝑛 (data from five-hole probe
this chapter, we use discrete validation and measurements). The mean of the observed data is the
continuous validation time domains tests in order to average of values marked 𝑦1 , 𝑦2 … 𝑦𝑛 :
𝑛
validate the mathematic models of the probe by wind- 1
𝑦̅ = ∑ 𝑦𝑖
tunnel testing. 𝑛
Discrete validation is a test in which the probe is 𝑖=1
The sum of squares of residuals (called the
fixed in the wind tunnel to collect discrete data
residual sum of squares) measures the discrepancy
samples of the flow. In the wind-tunnel tests, the
between the data and an estimation model:
probe is evaluated at low airflow speed of 12 𝑚/𝑠
and high airflow speed of 20 𝑚/𝑠. 𝑆𝑆𝑟𝑒𝑠 = ∑(𝑦𝑖 − 𝑦̂𝑖 )2
Continuous validation is a test measurement, in 𝑖
which the probe is evaluated by calibration equations The total sum of squares, is defined as being the
and continuously rotated in pitch motion whereas the sum, over all observations, of the squared differences
0 of each observation from the overall mean:
sideslip angle is fixed at 0 . In this case, we just
concentrate on varying angles of attack with a fixed 𝑆𝑆𝑡𝑜𝑡 = ∑(𝑦𝑖 − 𝑦̅)2
AOS. In the wind-tunnel tests, the probe is run at an 𝑖
airflow speed of 12 𝑚/𝑠. For this speed, the angle of The coefficient of determination 𝑅2 is defined
attack is changed from −200 to 200 in 50 increments as the Equation:
at 00 sideslip. In this experiment, the potentiometer is 𝑆𝑆𝑟𝑒𝑠
used to compute the actual AOA in comparison with 𝑅2 = 1 −
𝑆𝑆𝑡𝑜𝑡
the AOA measured by the probe.
Table 1. All the results of all kind of validations
AOA AOS Velocity
Angle Range of Actual 2 2 𝑅𝑀𝑆𝐸
𝑅 (%) 𝑅𝑀𝑆𝐸(deg) 𝑅 (%) 𝑅𝑀𝑆𝐸 (%)
Measurement Airspeed (deg)
−200 to 200 12 𝑚/𝑠 98.31% 1.67970 98.34% 1.62940 3.7467%
Discrete Validation
−100 to 100 (with

12 𝑚/𝑠 97.81% 0.95640 - - 3.435%
00 AOS)
−100 to 100
20 𝑚/𝑠 99.46% 0.48190 - - 3.4756%
(with 00 AOS)
−100 to 100 (with
12 𝑚/𝑠 - - 95.96% 1.29410 4.321%
00 AOA)
−100 to 100
20 𝑚/𝑠 - - 99.58% 0.47320 4.3566%
(with 00 AOA)
Continuous
Validation
−200 to 200 (with

12 𝑚/𝑠 99.15% 1.2670 - - 5.3676%
00 AOS)
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Fig 8. Angle of attack continuous validation.
turbulence intensity of the wind tunnel.The

From Table 1, we find that the root-mean
mathematical models of the probe must be validated
squared error of AOA/AOS is very small, the
in flight test. The five-hole probe will be deployed in
maximum errors is about 1.680. While, the
an unmanned air vehicle to measure airspeed.
measurement errors of both angles at low speed are
greater than its at high speed. Besides, for validation, Acknowledgments
the coefficients of determination of angles are very
This work was supportedby theAerospace
high that means the mathematical model calibration is
Engineering Laboratory and the Fluid Mechanics
fixed to the data very well. However, the coefficients
Laboratory of the HCMC University of Technology.
of determination at low speed are smaller than its at
high speed too. Another important point is that the References
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[10] Sema Karahan and Ali T. Kutay, "Calibration of Five- http://www.mouser.com/ds/2/302/MPXV7002-
Hole Probe with Redundant Coefficients," American 1127332.pdf. [Accessed 9 10 2017].
Institute of Aeronautics and Astronautics, 2015. [19] F. Semiconductor, "Implementing Auto-Zero for
[11] Jose C.Gonsalez and E.Allen Arrington, "Five-hole Integrated," 2010.
Flow Angle Probe Calibration for the NASA Glenn [20] "Wikipedia Kalman Filter," [Online]. Available:
Icing Research Tunnel," National Aeronautics and https://en.wikipedia.org/wiki/Kalman_filter.
Space Administration, 1996. [Accessed 2017].
[12] G.L. Morrison, M.T. Schobeiri and K.R. Pappu, [21] "Wikipedia Low-pass Filter," [Online]. Available:
"Five-hole pressure probe analysis technique," Flow https://en.wikipedia.org/wiki/Low-pass_filter.
Measurement and Instrumentation 9 (1998), p. 153– [Accessed 2017].
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[13] Ravirai Jangir, Nekkanti Sitaram and Ct Gajanan, "A online.com/Wiki/Turbulence_intensity. [Accessed
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[14] Christopher Crowley, "The effect of turbulence on a
multi-hole Pitot calibration," Flow Measurement and
Instrumentation, vol. 33, pp. 106-109, 2013.
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Ship Course Control by Integrating Neural Network with Modal Control

Technique
Le Thanh Tung*, Hoang Cong Liem
*Email: lethanhtung70@yahoo.com
Abstract
Ship autopilots play an important role in insurance of safe navigation and efficient transportation as else. For
their successful design and development many control techniques were and are being developed. In this
paper, the application of artificial neural network (ANN) is investigated in order to design an autopilot for a
surface ship. Feed forward multilayered architecture of ANN is used for approximation the nonlinear forward
dynamics of the ship. The course controller is designed via modal control. The performance of designed
autopilot is evaluated in still water and different wave frequencies. The stability and robustness of designed
system is verified through simulation, carried out in Matlab. The results show that, the proposed autopilot
can efficiently be used to control the course of a ship.
Keywords: Autopilot, modal control, neural network, ship dynamic, ship steering dynamics.
1. Introduction The equations of ship motion have been widely

introduced [24-26]. They are obtained from Newton’s
The main duty of an autopilot is to keep the
laws expressing conservation of linear and angular
course of ship in a predefined direction using mostly
momentum. The main difficulty when deriving these
the rudder. The safety and efficiency of transportation
equations is to describe the hydrodynamics forces
are directly depended on the performance of ship
acting on the hull. Generally, these forces are
autopilots. For the reason, a lot of techniques like
complicated functions of parameters of ship’s motion,
Proportional Integral Derivative (PID) controller,
environment and topography as well. The ship is
optimal control theory, adaptive control, nonlinear
considered as a rigid body with 6 degrees of freedom
control are used to improve the autopilot
corresponding to translation in 3 directions and
performance. The major feature of these approaches
rotations around 3 axes. The equations of dynamics
is that they require the exact knowledge of dynamics
are expressed in body fixed coordinate system.
of controlled objects, which is difficult to obtain in
Without considering the dynamics of sensors and
practice due to complexity of ship hydrodynamics.
actuators, ship motion can be presented as a 12-order
For adaptive and nonlinear control there are some
system of 1st order differential equations as follow
demerits like difficult design and stability analysis.
[26]:
The mentioned above disadvantages can be overcame
by using ANN because of ANN approximation ability .
of arbitrary smooth function with required accuracy M   C ( )  D( )   g ( )     E
[1, 2]. The first method of application of ANN to ship .
steering is to use a conventional controller for   J ( ) (1)
training the neural network (NN) controller [3-12].
Another method of developing NN controller is to Where: and are the vectors of ship kinematical
integrate NN with other control techniques in sense of parameters in body fixed and earth fixed coordinate
adaptive control [13-23]. frames respectively; M - inertia matrix; C - Coriolis
The structure of the paper is organized as matrix; D - damping matrix; g - restoring forces;
follows. A brief description of ship dynamics,  - control forces; E - forces of environmentdi
environment model, controller design and estimation sturbances.
of ship model parameters by NN is presented in the For course keeping problem, the sway and the
next section. Simulation study is carried out in the coupling between yaw motion and the pitch and roll
third section. Conclusion is presented in the last motions can be neglected, the forward speed is
section. considered constant. The ship motion is considered in
2. Mathematical basics horizontal plane (yaw motion) and can be expressed
by following equations [26]:
2.1. Ship motion equations and environment
disturbance
266 October 27 - 28, 2018

Hanoi, Vietnam
yg 

heave
y Ship .
Og xg
yaw 
ωy
Earth fixed frame
zg roll surge
O ωx x NN -
pitch Body fixed frame forward model
ωz and six degree of freedom
sway
z
Fig. 1. Earth fixed and body fixed frames. Fig. 3. Training NN forward model.
x
0g φ xg The feedback coefficients r1, r2are the solutions
ω of following equation:
0
det sI  A  BR   (s  s1 )( s  s 2 ) (6)
δ
The solution of the equation (8) is:
z
s1 s 2 s  s 2  f ( )
zg r1   ; r2  1
g ( ) g ( )
(7)
Fig. 2. Parameters of the yaw motion.
Where: d- desired course; I- identity matrix; s1,
. s2- the poles of close loop system, empirically chosen
  f ( )  g ( ) to meet the required performance;
0 1 0 
; R  r1 r2  .
.
A ; B  
  (2) 0 f(ω)  g ( ) 
Where: , are yaw angle and yaw rate 2.3. Estimation ship model parameters by NN
respectively;  is the rudder deflection. For estimation the values of functions f() and
The main environment disturbance is the sea g() a multilayer feed forward NN is used. The NN
wave. In this paper, the following wave model is approximates the nonlinear relation
adopted from [27]. .
  f ( )  g ( ) . Then the values of the
.
x w  Aw x w  bw ; w  C T x w functions are calculated by formulas:
. .
0 1  0  0     g ( )
Aw   2 ; b w   ; C w    g ( )  ; f ( )  when   0 or
-ωn -2ξω n  K w  1   
(3) .
(8)
Where:  is a zero mean Gaussian white noise
 (  g ( ) )
f ( )  when   0
sequence, n - the dominating wave frequency,  - the 
relative damping ratio of the wave, Kw is the gain that In the numerical computation aspect, formula
is depended on the wave energy. In the transfer (8) has following form:
function form, the model is: . .
 ( ,    )   ( ,  )
Kws g ( ) 
w  C T ( sI  Aw ) 1 B  
s 2  2 n s   n2 (4) .
  g ( )
2.2. Controller design f ( )  when    or (9)

For controller design, at first, the values of f() . .
 (   ,  )  g (   )  ( ,  )  g ( )
and g() in formula (2) are considered known. The 
rudder deflection is defined as:  
when   
  r1 (   d )  r2 (5)
267 October 27 - 28, 2018

Hanoi, Vietnam
Performance is 8.35188e-009, Goal is 1e-008

10
0 1-course
10
2-yaw rate
8 3-rudder deflection
-2
10
Training-Blue Goal-Black
6 1
-4
10 4
-6 2
10
2
0
-8
10
3
-2
0 1 2 3 4 5 6 7 0 20 40 60 80 100 120 140 160 180 200
7 Epochs t(s)
Fig. 4. Network training through BP. (a)

f(w)
w -0.03
φ
Calculation of δ 1-NN estimation
φd Ship 2-theoretical
control action
ω -0.0305
r1 r2
Calculation
-0.031
f(ω),g(ω),r1,r2
1
Fig. 5. Block schema of close loop system. -0.0315
3. Simulation study -0.032

2
In practice, the training data is collected from

experiment carried out on real ship. However, due to -0.0325
0 20 40 60 80 100 120 140 160 180 200
lack of experimental data, the training data is t(s)
generated from simulation of a theoretical ship

(b)
model. In the paper, the model of Norrbin is chosen.
The parameters the model adopted from [28] are: g(w)
0.0162
T=31s; K=0.5 s-1; n3=0.4s-2; n1=1.
0.0161
At first, a set of couple (ω, δ)is randomly chosen 0.016

2
1-NN estimation
2-theoretical
in some range of variation. In the paper the range of 0.0159
variation is:  30 s 1    30 s 1 ;35 0    35 0 . 0.0158
The set of triple (, , ) is the training data, 0.0157
where, (, ) is the input,  is the desired output of 0.0156
NN. The NN with three layers is chosen. The input 0.0155

1
layer has two inputs  and Output layer has one 0.0154
output . The neuron number of hidden layer is 0.0153
chosen empirically. The training result is presented in 0.0152

0 20 40 60 80 100 120 140 160 180 200
figure 4. The block scheme of close loop system is t(s)
shown in figure 5.
(c)
Performance of designed autopilot in still water
is shown in figure 6. As it shown in the figure, the Fig. 6. Transition process of the closed loop system.
heading error, yaw rate and rudder deflection are
convergent to zero for finite time, the estimations of Theoretically, stability of close loop system is
f(ω) (figure 6b) and g(ω) (figure 6c) converged to the guaranteed by the choice of poles with negative real
finite values. part. However, due to the estimation error (figures 6b,
6c) to verify the stability of close loop system, the
simulation is carried out for initial state vector
randomly chosen in the ranges:  180 0    180 0
268 October 27 - 28, 2018

Hanoi, Vietnam
10
200 1- course
2- yaw rate
3- rudder deflection
150 8
100
6 1
50
course(deg)
4
0
-50 2
2
-100
0
-150
3
-2
-200 0 20 40 60 80 100 120 140 160 180 200
-4 -3 -2 -1 0 1 2 3 4 t(s)
yaw rate(deg/s)
(a) (a)
f(w)
-0.03
200 1-NN estimation
2-theoretical
150
-0.0305
100
1
50 -0.031
course(deg)
0
-0.0315
-50
-100 -0.032 2
-150
-0.0325
-200 0 20 40 60 80 100 120 140 160 180 200
-4 -3 -2 -1 0 1 2 3 4 t(s)
yaw rate(deg/s)
(b) (b)
g(w)
Fig. 7. Phase portrait of the close loop system. 0.0162
0.0161
and  30 s 1    30 s 1 . The phase portrait of the 2 1-NN estimation
0.016 2-theoretical
system with nominal parameters is shown in figure 0.0159
7a.
0.0158
Obviously, all trajectories converge to the origin 0.0157

1
of coordinate system. It means that, the close loop 0.0156
system is stable. Further study carried out for other 0.0155
ship parameters randomly chosen in the ranges: 0.0154
23s  T  33s; 0.2s1  K  0.6s1; 0.2s2  n 3  0.5s2 0.0153
shows that, the designed controller ensured the 0.0152

0 20 40 60 80 100 120 140 160 180 200
system stability as else (figure 7b for case K=0.47; t(s)
T=25; n3=0.48; n1=1). It means that, the controller

enhances the feature of a robust one for given range (c)
of parameter variation. Fig. 8. Performance of close loop system in the wave.
Performance of the close loop system is studied 4. Conclusions
for different wave frequencies. In figure 8 the case of
wave frequency ωn=0.7 is shown. A ship autopilot based on integrating NN and
conventional modal control technique for a ship with
In the wave, the variation or heading error, yaw nonlinear dynamics is proposed. The study on the
rate and estimation of f(ω) and g(ω) around the still performance of close loop system carried out for still
water characteristics is bounded. water and on the wave shows that, the proposed
autopilot can efficiently be used to control the course
of a ship. And although, the controller was designed
for nominal model but it ensures the stability of the
269 October 27 - 28, 2018

Hanoi, Vietnam
system when the ship parameters change in relative Offshore Structures”, Dynamic Positioning
wide range. It means that, the designed control Conference, Houston, Oct 17-18 (2000).
system has property of a robust one too. [14] Tzung-hang Lee, Yusong Cao and Yen-mi Lin.,
“Application of a Neural Network
Acknowledgments Predictor/Controller to Dynamic Positioning of
Floating Structures”, Tamkang Journal of Science and
The authors thank Hanoi University of Science Engineering, Vol 4, № 3 (2001), pp 141-154.
and Technology for supporting the budget of this [15] Fang Ming chung and Lee Zi yi., “Portable Dynamic
research. The results of this research are carried out in Positioning Control System on a Berge in Short
University project No 2017-PC-054. Crested Waves using Neural Network Algorithm”,
China Ocean Engineering, Vol 27, № 4 (2013), pp
References 469-480.
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[2] Terokhov V.A. et al., Neural network control systems, Vehicle”, International Journal of Control,
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[3] M. Endo, J. Van Amerongen and A.P. Bakkers., 383.
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[5] M.A. Unar., “Ship Steering Control using Feed Transducers, Vol 178, Iss 9 (2014), pp 282-285.
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of Electronics and Electrical Engineering, University Propagation Neural Network Variable Structure
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[6] A. N. Khizer, D. Yaping and M. A. Unar., “ Design of Journal of Information & Computational Science, Vol
Heading Controller for Cargo Ship using Feed 8, № 7 (2011), pp 1165-1172.
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(IJACT), Vol 5, № 9 (2013), pp 556-566. Stabilization”, International Journal of Advances
[7] D. M. Pathan, A. F. Abbassi and Z. A. Memon., Robotic Systems, Vol 10 (2013), pp 211-221.
“Neural Network Course Changing and Track [21] X.J. Yang and X.R. Zhao., “Self Organizing Neural
Keeping Controller for a Submarine”, Mehran Net Control of Ship’s Horizontal Motion”, Journal of
University Research Journal of Engineering & Physics: Conference Series 48 (2006). pp 1284-1288
Technology, Vol 31, № 4 (2012), pp 711-722. [22] Alexander Leonessa and Tannen S. VanZwieten.,
[8] D. M. Pathan, T. Hussain, J. Daudpoto and I. A. “Neural Network Model Reference Adaptive Control
Memon., “Neural Network Controller for a Ship”, of a Surface Vessel”, Decision and Control, Vol 1
Sindh University Research Journal, Vol 44, № 3 (2004), pp 662-667.
(2012), pp 399-404. [23] Hu Guanshan and Pan Weigang., “Adaptive Neural
[9] J. Velagic., “Design of Ship Controller and Ship Network Application in Ship Motion Control”,
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Structures”, Automation Congress. WAC’06, Jul 24- pp 675-683.
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[10] A. Zirilli et al., “Adaptive Steering of a Container Leningrad (1985). (in Russian).
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of Adaptive Control and Signal Processing, Vol 14 (1996). (in Russian).
(2000), pp 849-873. [26] Fossen T. Handbook of Marine Craft Hydrodynamics
[11] Fuat Alarcin., “Internal Model Control using Neural and Motion Control, Wiley (2011).
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“Application of a Neural Network
Predictor/Controller to Dynamic Positioning of
270 October 27 - 28, 2018

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The Gas Generator with Two Zones of Fire – mixed Complex in the Liquid
Fuel Jet Engine
Nguyen Hanh Hoan*
Academy of Military Science and Technology, 17 Hoang Sam, Cau Giay, Hanoi, Vietnam
*Email: hanhhoanvtl@gmail.com
Abstract
At the present, the liquid fuel jet engine (LFJE) is used to the maximum to propel the space launcher. In the
LFJE, the gas generator (GG) is a very important factor, it creates gas mixture that have got the stable
pressure, speed and temperature helps the main turbine blading in the fuel pumps of the LFJE. Beside, the
GG is used for other purposes such as, pressurized pressure, stability of pressure equipment in LFJE. The
paper presents some calculating theoretical research results of basic parameters of the tank create two
zones of fire – mixed complex in the LFJE.
Keywords: The liquid fuel jetengine, the gas generator.
1. Introduction combustion chamber. The structural components in

the interface must all be constructed with due regard
Liquid fuel jet engines (LFJE) are generally
to the configuration, size and position of all other
divided into two types, namely engines with a closed
components of the interface area which makes the
flow cycle and engines with an open flow cycle. The
construction and design involved and hence
engine with a closed flow cycle is referred to as
expensive [1].
“direct auxiliary flow cycle” engine. Engines with an
open flow cycle are referred to as “parallel auxiliary The VietNamese ĐTL-01VN and Russian RD-
flow cycle” engines. Both types of engine operations 0211 (see Fig. 1 and Fig. 2) engines are two examples
according to the prior art have however certain of gas generator cycle engines (closed flow cycle
disadvantages. Engines operating with an open flow engines) [2],[3]. A gas generator (GG) or a pre-burner
cycle have a simpler construction particularly with operates exactly the same and hence are a single
regard to the interface between the main fuel supply component. The purpose of this component is to
line or lines and the combustion chamber. However, generate gas from (partial) combustion of the
open cycle engines have a separate discharge for the propellants to drive the turbine. The gas generator
exhaust gases of the gas generator whereby impulse
losses are unavoidable. Such impulse losses adversely
affect the thrust power of the jet engine.
Jet engines with a closed flow cycle avoid such
impulse losses, however closed flow cycle engines
have the disadvantage that a complicated and
expensive construction is required particularly of the
interface between the main flow supply lines and the
Fig. 1. ĐTL-01 VNschematic (19-GG). Fig. 2. Russian RD-0211 schematic.
271 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 4. The gas generator in LFJE ĐTL-01VN.

Fig. 3. The gas generator with two zones of fire -
mixed complex.
mixture ratio is usually fuel rich (in some
engine it is oxidizer rich) so that the gas temperatures are
low enough (typically 700 to 1200 K) to allow the use of
uncooled turbine blades [1],[4].
The paper presents some calculating theoretical
research results of basic parameters of the GG create
two zones of fire – mixed complex in the LFJE (see
Fig. 3).
2. Description of the mathematical model Fig. 5. Diagram of a two-stage fuel supply in the
chamber of the gas generator.
The gas generator is an important part of
turbopumpfed liquid jet engines as it creates hot gases 2. That the theimodynamic indexes of the generated
for theturbine to operate the turbopumps. The gas- gas using this method will be different from
generatorshould be operated in low-temperature parameters of gasgenerated using the same general
conditions because the turbine fed by the gas- value a in a single-stage scheme. In order to calculate
generator has temperature limitations with respect to a diagram with a two-stage fuel feed experimental
its material. Moreoverpropellants using in the gas- data is required on the complex process of
generator does not contributeto thrust generation. vaporization andon the partial combustion of the
Thus the mass flow rate of the propellant for the gas- excess component, and in addition,data is required on
generator should be properly determined so as to be the degree of balance of the total compositionof the
just enough to operate the pumps butnot so much as gas mixture. A theoretical prediction of the
to create loss. Figure 4 illustrates the design composition and temperature of generator gas using
conceptof the gas generator in a stand-alone complex hydrocarbon fuels is difficult.
configuration. A staged injection of the fuel generates 3. Mathematical modelof the dynamic Equations
astable pilot zone for combustion (zone 1); the rest of
the fuel isinjected in a second zone (2) to provide the A thermodynamic calculation of the
requiredtemperature to the turbine. composition and temperature of the generator gas
with a two-zone fuel supply in the chamber can be
This generator gas from two zones enters the accomplished by assuming the following simplified
combustionchamber, with oxidizer ratio α<<1 In the diagram of theprocess. Since the heat of evaporation
first zone, and with α>>1 in the second. Virtually all and the heat capacity suppliedin the second zone of
of the mass of oxidiser (i.e. most of the total mass the component is usually rather great, theproducts of
flow) is running through the turbopump, and we are combustion of the basic fuel after its introduction are
not wasting it by dumping it overboard. sharply cooled. The rates of the chemical reactions
In the zone 1 the fuel and oxidlzer are passed with the dropin temperature diminish and at certain
through the head in a proportion reliably facilitating temperature T3 , can becompared to the rate of
ignition and atable burning,i.e., close to cooling. At further cooling the composition
stoichlometric. The excess of one of the components does not change, and the final composition of
necessary for the corresponding lowering of generator gas is acquired as a result of the mixing of
temperature passes through the auxiliary belt in zone
272 October 27 - 28, 2018

Hanoi, Vietnam
The weight fraction of evaporated oxidizer is

(1-g.)
The mixture total energy equation is given by
g 1 g
f
x
q
(f)
q I (TGG ) 
q
O
x
k
O
I (TGG ) =
k k
iF   GG km0 iO
(3)
1   GG km0
Where iF and iO - complete enthalpy of the fuel
and the oxidizer at Tf in kJ/kg.
Fig. 6. Determination of the oxidizer ratio.
Iq and Ik - complete enthalpy of combustion
the products of combustion of the basic fuel and the products and evaporated oxidizer at TGG in kJ/kg.
vaporizing component.
O - a molecular weight ofevaporated oxidizer.
As an example let us examine a possible scheme
of calculating a gas generator with an overall value of The equation (3) is that which has only one
excess oxidizer ratio αGG>>1. Pressure in the power of the unknown quantity - the general excess
combustion chamber the value pGG of excess oxidizer oxidizer ratio  GG in gas generator.
ratio in the first zone αO(1), temperatures Tf and TGG
willbe considered given (see Fig. 5 and Fig. 6). The mass flow rates of the fuels are found in the
following manner
1. Based on the results of the thermodynamic
calculation ata known pressure pGG let us determine mO
the value αOf1), at which the equilibrium value of the mF GG  km0
 GG
temperature is equal to Tf (enthalpy of the fuel in this
case is equal to deficiency IT.f). The lowering of O
thetemperature of the products of combustion from T1 mO(1)   O(1) km0 mF GG  mO (4)
 GG
to Tf is caused by heating, evaporation and by the
participation of mO(e) of oxidizer from the total quantity mO(2)  mO  mO(1)
of mO(e) , supplied in the second zone. It is obvious that.
The gas constant of the steam-gas mixture is
m(1)  mO( e ) m( e ) equal to
k (f)
m  O  km(1)  O
mF GG mF GG
Ro R
RGG  g1  (1  g ) o (5)
f O
(e)
  O( f )   O(1)  km0
m O (1)
mF GG
Where RO - specific gas constant of the
The combustion productsof excess oxidizer ratio evaporated oxldizer.
 O( f ) with the mole fraction and a molecular weight
On the basis the calculated data the relationship
of µf.
kGG is determined
2. In order to lower temperature of the products
of combustionof a fixed composition (number of
moles xq( f ) =const) fromTf up to TGG for each kGG  km0 GG (6)
kilogram of the mixture mO( f ) of oxidizer should be
Volume in the combustion chamber
evaporated. The weight fraction of the chilled combus
tion productsgis equal to. 1  (mF GG  mO(1) )  R1  T1
V  (7)
mF GG  mO(1)  mO( e ) pGG
g
mF GG  mO(1)  mO( 2) Where 1 , R1, T1- The time of stay of the
products of combustion in the combustion chamber,
1   O( f ) km0
g (2) the gas constant and the temperature of the products
1   GG km0 of combustion.
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Hanoi, Vietnam
4. Calculator example of gas generator The relationship km(1) is

To demonstrate the selection and definition of
input data, an example problem has been prepared
km(1)  10  km0  5  3.37  16.85 (10)
using the flow diagram specified above (Fig. 1).
Formulaof the combustion productsin the first
Input data of engine ĐTL-01VN [2]: zone: C 3.2293 H 19.7477 N 16.2168 O 44.637.
Parameter Value Complete enthalpy ofthe combustion productsin
the first zone: -485.44 kJ/kg.
Nominal thrust 200 kN
Calculation of the ballasting factor N1 (the ratio
Working hours 150s of the consumption of the ballasting component
Fuel Kerosin TC1 (oxidizer) to the fuel consumption in the first zone of
the GG) to obtain the gas temperatureis low enough
C7.21H13.29 (typically 750K).
Enthalpy of the fuel – 246.5 kJ/kg mo(2) m(2)
N1   (1) o (11)
Oxidizer AK27I m1 mo  mF GG
N5.786O15.926 H 4.922
i=0,p=18,
Enthalpy of the oxidizer – 1958 kJ/kg (1%c1.327h16.622n16.66o45.86[-278]),
Pressure PK in the 14Mpa (n1%n5.786o15.926h4.922[-246.5]),
combustion chamber
n1=1,2,3,4;
Pressure on the nozzle 0,05Mpa
On the basis the calculated data,the ballasting
On the basis the calculated data, the mass flow factor N1 = 1.8 on T = 755.1 K.
rates of the oxidizeris found in the following manner
Calculator of the relationship kGG
kg
mO  49.7 (8) The mass flow rate of the oxidize in the first
s zone GG:
Pressure in the combustion chamber GG pGG mO(1)  km(1) .mF GG  16,85.mF GG (12)
рGG  pK  рi  18 10 Ра (9) 6
The mass flow rate of the oxidize in the second

Where рi - pressure losses along the way of zone GG:
the gas from the exhaust of the turbine into the  
mO(2)  N1 mF GG  mO(1) 
(13)
combustion chamber.
1.8  (mF GG  16.85  mF GG )  32.13mF GG
The technique is implemented and tested on the
basis of the software system "Astra4.rs" in calculating The mass flow rate of the oxidizer:
the structure and properties of the liquid propellant
kg
combustion products, which include hydrazine, mO  mO(1)  mO(2)  49.7 (14)
combustion products, ammonia, and products of their s
catalytic [5].
From equations (12)÷(14), the mass flow rates
i=0, of the fuel in the GG is
p=18, kg
mF GG  1.35 (15)
fuel=(c7.21h13.29[-1958]), s
ox=(n5.786o15.926h4.922[-246.5]), On the basis the calculated data the relationship
alpha=5,6,7,8; kGG is determined
Result of thermodynamics on zone of fire 1 mO

kGG   48 (16)
The temperature: 1970 K mF GG
The oxidizer ratio in the first zone αO(1):5
274 October 27 - 28, 2018

Hanoi, Vietnam
The general excess oxidizer ratio  GG in gas

generator.
kGG 48
 GG  0
  14.3 (17)
km 3.37
Volume in the combustion chamber
1  (mF GG  mO(1) )  R1  T1
V  
pGG Fig. 7. Temperature dependence TGG of kGG.
0.07  (0.33  5.56)  260.817  1970
 0.014 m3 (18) n1=1.73;
18 106
On the basis the calculated data, the results are
Temperature dependence TGG of kGG shown in Figure 7.
Set the value of kGG from 0 to 60, find the value 5. Conclusion
of TGG, respectively
In this study, a design method for a two zone
*Varian: kGG =20 gas generator with an overall value of excess oxidizer
mO 49.7 ratio (a oxidize rich gas generator using kerosene
kGG    20 (19) fuel) was established and validated. From the
mF GG mF GG method, the parametric study was accomplished to
identify the major parametric effects of the
kg
 mF GG  2.45 (20)
gasgenerator design.
s For thegas generator design, empirical data for
the 1000 K material limitation were assumed as
Using the program"Astra4.rs" at  0  2 , we are
1
optimal points, and the results agreed withthese
have T1  3331K requirements. According to the results in Figure 7,
the temperature TGG of the GG was slightly
The relationship km(1) is dependent on the relationshipkGG ,and this
temperature decreased as the oxidizer ratioincreased.
km(1)  10  km0  2  3.37  6.74 (21) Analysis of results in Fig.7: The temperature
TGG=700K at kGG=48. In order to calculate a two zone
The mass flow rate of the oxidize in the first gas generator when αGG<<1 (a fuel rich gasgenerator)
zone GG is one could use the same mode of calculation.
kg It is expected that this design approach can be
mO(1)  km(1) .mF GG  16.85.mF GG  17.84 (22)
s used to design an entire engine system that combines
design modules for other components, including
The mass flow rate of the oxidize in the second turbopump, turbine, and feeding systems.
zone GG is
kg References
mO(2)  mO  mO(1)  31.86 (23) [1] М.В. Добровольский, “Жидкостные ракетные
s
двигатели”, Изд. МГТУ им.Н.Э. Баумана, 2005,
The ballasting factor N1 is 486 с.
[2] Nguyen Hanh Hoan, The research of designing
mo(2) mo(2) principle and technology of manufacturing a booster
N1    1.73 (24) liquid rocket engine to serve the program of national
m1 mo(1)  mF GG space science and technology, Space science and
technology program VN, 2011.
Using the program"Astra4.rs" atN1=1.73, we are [3] http://www.russianspaceweb.com/rd0210.html
have TGG=1793K, [4] А.А. Дорофеев. Проектирование и расчет
параметров и характеристик камеры ракетного
i=0,p=18, двигателя,. Москва, Машиностроение 1999, 578 c.
[5] В.Г.Трусов, В.Е.Медведев, Учебное пособие
(1%c1.327h16.622n16.66o45.86[-278]), “Рабочий процесс и проектирование термических
(n1%n5.786o15.926h4.922[-246.5]), спецдвигателей”, М:Машиностроение, 1991, 72 с.
275 October 27 - 28, 2018

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Effect of Runner Blade Density Ratio (l/t) on Energy Characteristics

of H-type Darrieus Turbine
Nguyen Quoc Tuan1, Nguyen The Mich2, Vu Van Truong2, Do Huy Cuong2
Institute for Hydro power and Renewable energy – Vietnam Academy for Water Resources
1
2
Hanoi University of Science and Technology – No. 1, Dai Co Viet Str., Hai Ba Trung, Ha Noi, Vietnam
*Email: nguyentuan.afm@gmail.com
Abstract
Today, with the economic development, the energy demand is growing in the world, and traditional energy
sources are increasingly exhausted. So scientists in the world have been directed to new sources of
renewable energy. Nowadays, the potential of the river, estuaries and coastal flows in our country is very
much. We can exploit these energy sources to generate electricity to serve for life. H-type Darrieus turbine is
a type used to exploit these energy sources, which is a simple type, easy-to-install and principle of operation
is based on the kinetic energy of flow. This paper presents the results of study on the effect of runner blade
density (l/t) on turbine efficiency, so that we can choose the suitable runner sample with actual flow
condition.
Keywords: Simulation, H-type Darrieus turbine, hydro power, renewable energy, Ansys-Fluent software.
1. Introduction * l/t and blade numbers. The computational models

studied with flow velocity on changes in the range of
Today, world electricity consumption is about
1.2 m/s - 3.5 m/s [2], meanwhile, researches on
16% of renewable energy sources [1]. One of the
straight-blade vertical-axis wind turbine usually has a
renewable energy sources of oceans and rivers is
wind speed up to 9 m/s and turbine efficiency of 32%
being used for electricity generation, such as flows in
[1]. Simulation calculations can evaluate the working
river, coastal, tidal flow. In our country, the potential
characteristics of turbine, thus possibly select a
of these energy sources are enormous. In many recent
turbine runner model of high-energy property.
years there are research works and applying to
develop the H-type Darrieus turbine to exploit these 3. Model Geometry
sources of energy. In Vietnam, this is a new type of
This paper simulates the dynamic relationship in
turbine, it is very need to have scientific studies on
cases of changing l/t ratio of H-type Darrieus turbine
this turbine type to use and exploit the flow
runner with different velocities, specifically in 05
conditions in Vietnam.
cases including l/t = 0.13; l/t = 0.19; l/t = 0.25; l/t =
The H-type Darrieus turbine is composed of
0.32 and l/t = 0.38.
straight blades which same frofiles along the length
of blades, the blades are symmetrically by rotating From which, the physical model will be established
center. So, the working characteristic (efficiency) and for 05 cases with the parameters as shown in the
rotation of turbine is independent of the flow below Table 1 and Figure 1:
direction and water level as the other traditional
Table 1: Simulation cases on changing ratio l/t and
turbine types such as: Francis turbine, Kaplan turbine,
blade numbers.
the Pelton turbine. This paper presents the results of
theoretical research on H-type Darrieus turbine, as
well as some research results on simulation
calculations for cases of changing the blade numbers, Blade
Runner Runner Profile
his is the basis for selecting turbine runner model is number
Cases diameter heigh chord Ratio l/t
suitable with conditions of surveyed flow. Z
D(m) H(m) l(m)
2. Research Methodology Case 1 1 1 4 0.1 0.13
The article use Ansys-Fluent software to Case 2 1 1 6 0.1 0.19
calculate, simulate energy exchange process between
Case 3 1 1 8 0.1 0.25
water flow and turbine runner by models of H-type
Case 4 1 1 10 0.1 0.32
Darrieus turbine runner in cases of changing the ratio
Case 5 1 1 12 0.1 0.38
276 October 27 - 28, 2018

Hanoi, Vietnam
run the simulation. After that the models are meshed

as shown as the following Figure 2 and Figure 3;
The meshing is done on Gambit software, the
thickest mesh density is at blade profile and blade tip
locations, in these areas the mesh is thicker than the
others such as inlet and outlet areas.
Fig. 1. The runner of H-type Darrieus turbine.

4. Meshing model
There are many models of turbulence flow, in
which k- model and k- model are most commonly
Fig 2. The turbine runner model after meshed.
used ones. The k- model is used with the problem
in boundary layer, near the wall while the more
distant regions, need to use k- model. When using
k- model, it is necessary to use a wall function to
resolve the boundary layer. This means that the
mesh density near the wall should be included in
order to obtain all of viscous boundary layers.
In almost cases, k- model gives the same
results as other models when using a coarser mesh Fig 3. Structureless mesh model on blade profile.
density near the wall, which reduces the time to
complete the calculations [3]. 5. Solution method
The selection of solver, viscous model,
This paper uses k- turbulent flow model for
calculation and simulation, shown by 02 equations material properties, boundary conditions are carried
out as follows:
on kinetic energy k and  turbulent loss rate as
follows [4]: Solver:
(  ) (  ut )   t    2 Interpolation method: Implicit; Direction: 3D;

       C1 Gk  C2  Time: Steady; Turbulence model: k-; Heat
t xt xt     xt k k exchanger: None; Material: salt water with ρ=1000
(1) kg/m3.
(  k ) (  kut )   t  k  Seting up conditions for problem calculation:

        Gk   (2) Velocity, ignoring the influence of gravitational
t xt xt  k  xt  acceleration
Where: C1, C2,  k are empirical constants, Gk Boundary condition:
is the quantity expressing the formation of kinetic Inlet condition: inlet velocity change in the
energy, it depends on the velocity gradients and range 1.5 – 3.5 m/s
turbulence viscosity.
Blade condition: Wall
u u j u j
Gk  t ( t  ) (3)
x j xt xt Symmetrical surfaces
Turbulent viscosity is derived from k and , Outlet condition: Residual pressure (variance
including a constant is determined empirically by C µ between outlet and inlet pressures) Pres = 0
= 0.09, we have: Figure 4 shows the 3D problem model with
k 2 setting boundary conditions before proceeding to
 t   C (4) run and simulate models by Ansys-Fluent software.

05 models with same type of triangle and
structureless mesh are meshed before proceeding to
277 October 27 - 28, 2018

Hanoi, Vietnam
Outlet
Inlet
Wall
Fig 4. Problem model with Boundary condition.

6. Simulation results Fig 8. Velocity distribution around blade profile in
After simulations for the study cases, we the case of l/t = 0.32 (Case 4).
obtain the simulation results as follows:
Fig 9. Velocity distribution around blade profile in

Fig 5. Velocity distribution around blade profile in
the case of l/t = 0.38 (Case 5)
the case of l/t = 0.13 (Case 1).
In Figures 5, 6, 7, 8 and 9, we find that field of
velocity distribution changing into several separate
regions when the flow to the turbine runner, in runner
location and after runner region, there is whirlpool
phenomenon in runner area, inlet and outlet edges of
runner blade profile. The flow velocity through the
runner is reduced when increases number of runner
blades, this indicating that the drag increases as
number of runner blades is increased. To evaluate the
performance characteristics of turbine, we compile
the calculation results of the study cases on the
Fig 6. Velocity distribution around blade profile in relational graph of - as shown in Fig. 10 below
0.5
TH1
0.4 (l/t=0.13)
TH2
0.3 (l/t=0.19)

0.2
0.1
0.0
0.00 0.50 1.00 1.50 2.00 2.50 3.00 3.50
Fig 7. Velocity distribution around blade profile in Velocity ratio 
Fig 10. Relationship curves - of research cases.
278 October 27 - 28, 2018

Hanoi, Vietnam
As shown in Fig. 8, when the flow velocity - With water flow speed ranging in 1.2 - 3.5 m/s, it is
increases or velocity ratio  increases, the efficiency possible to fully choose H-type Darrieus turbine with
 increases and reaches the maximum value and then aspect ratio l/t = 0.32 to exploit the water flow
it decreases. When increasing the ratio l/t, the turbine energy, ensuring that turbine has the highest
efficiency also increases, according to the simulation performance. These research results can be fully
results, case 4 with l/t = 0.32 (Z = 10 blades) has applied in order to select the turbine runner geometric
highest efficiency at  = 0.418,  = 2.37 compared parameters that used to exploit water flow energy.
with other cases. References
So that, case 4 with l/t = 0.32 (Z = 10 blades) is
[1] https://vi.wikipedia.org/wiki/N%C4%83ng_l%C6%B
the one of working turbine with highest efficiency 0%E1%BB%A3ng_t%C3%A1i_t%E1%BA%A1o.
compared with other cases in the same range of
[2] Dr. S.V. Prabhu, Mr. Vimal Patel, Mr. Himanshu
studied flow velocities. Chaudhari. Performance Prediction of H-Type
Darrieus Turbine by Single Stream Tube Model for
7. Conclusion
Hydro Dynamic Application, International Journal of
This paper presents the research results on the Engineering Research & Technology (IJERT),
effect of ratio l/t on H-type Darrieus turbine (2013), pp. 3.
efficiency by using Ansys-Fluent software. Based on [3] M.H. Mohamed, Performance investigation of H-
the results of simulation and calculations on turbine rotor Darrieus turbine with new airfoil shapes,
Renewable Energy Lab. of Mechanical Power
runner models in cases of l/t = 0.13; l/t = 0.19; l/t =
Engineering Dept., Faculty of Engineering, Mattaria,
0.25; l/t = 0.32 and l/t = 0.38 respectively, it is shown Helwan University, P.O. 11718, Cairo, Egypt, (2012),
that: pp.7
- As the flow velocity increases or the velocity [4] Rémi Gosselin, Guy Dumas, and Matthieu Boudreau,
ratio  increases, the efficiency  of the models Parametric study of H-Darrieus vertical-axis turbines
increases with and reaches the maximum value, then using uRANS simulations, Laboratoire de Mécanique
des Fluides Numérique, Département de génie
it decreases; mécanique Université Laval, Québec, Québec, G1V
- When changing the ratio l/t of turbine runner, 0A6, Canada, (2013), pp.3.
the turbine energy characteristics also change. Based
on the simulation results, we find that case 4 has the
ratio l/t = 0.32 (Z = 10 blades) is the case that runner
has best efficiency compared with remaining research
cases;
279 October 27 - 28, 2018

Hanoi, Vietnam
The Calculation of the Pneumatic System Parameters of a Launcher for

High Speed UAV
Vuong Trung Anh1,*, Nguyen Đuc Cuong2, Vu Hoa Binh1,
Pham Van Hiep3, Tran Duy Duyen4
1
Institute of technologies for air-defense and air forces, 166 Hoang Van Thai, Thanh Xuan, Hanoi
2
VietnamAerospace Association, 3General Department of Defense Industry
4
Air forces-air defense academy
*Email: trunganhatt@gmail.com
Abstract
The pneumatic launchers are widely used for launching high speed UAVs. This paper presents the dynamic
model of the mechanical system of the pneumatic launching devices. The dynamic model includes the
masses of the piston, pulley system, UAV and the bogie. The expansion process of compressed air is
assumed to be an adiabatic process. On the said basis, an algorithm to solve the problem by numerical
methods and corresponding software were developed in MATLAB. The dynamic model with the different
sets of parameters was investigated, that allows selection the reasonable designing parameters of the
launcher, ensuring the UAV reaches the required speed when exiting the launcher.
Keywords: Pneumatic launchers, UAVs, MATLAB.
1. Introduction This is a type of launcher has the stroke ratio

q = 4 of the bogie compared with the piston. This
Nowaday, the pneumatic launchers are widely
type of launcher has the advantage of reducing the
used for both military and civilian purposes to launch
cylinder length 4 times with the stroke of the bogie.
UAVs. The use of the pneumatic launchers enable
The disadvantage is that the cylinder diameter is very
UAVs to take-off in complex terrains without the
large, the masses of piston and pulley are also large.
runway with high reliability, fast response and
suitable for many various types of UAVs . With the above types of pneumatic launcher
This type of launcher is actuated by compressed depending on the designer, depending on the
air energy. When launching the compressed air in conditions of application and practical requirements
pressure tank is liberated into the cylinder creating one can choose different parameter sets. For example,
pressure on the piston pulling the cable causing the increasing the working pressure allows to reduce the
bogie to move, the UAV moves at the same time diameter of the cylinder, increasing the length of the
because it is fixed on the bogie . There are many sliding rails can reduce the pressure but leads to
design schemes of the pneumatic launchers but the increasing the volume of the pressure tank, etc. Each
most frequently used are the following types. set of parameters are selected that have the
advantages and disadvantages. So it is necessary to
- The pneumaticlauncher with 1:1 ratio.
construct a dynamic model of the launcher to
This is a type of launcher has the stroke ratio
type of launcher has the advantage of self-directed
cylinder without piston shaft, so the masses are
small, in the calculation can be ignored, the cylinder
diameter is also small. The disadvantage is the long
cylinder is difficult to fabricate, it is easy deformed in
the process of transportation. Fig. 1. The 1:1 ratio pneumatic launcher.
- The pneumatic launcher with 2:1 ratio.
This is a type of launcher has the stroke ratio
type of launcher has the advantage of reducing the
cylinder length 2 times with the stroke of the bogie.
The disadvantage is that the cylinder diameter is
larger than the mentioned cylinder, the masses of
piston and pulley are also larger.
Fig. 2. The 2:1 rate launcher pneumatic.
- The pneumatic launcher with 4:1 ratio.
280 October 27 - 28, 2018

Hanoi, Vietnam
ensuring the UAV reaches the required speed when

exiting the launcher.
2. Content
It's well-known that the launching UAVs
occurres in very short time (approximately less than
0.5 s) thus one may assume that the expansion of
Fig. 3. The 4:1 ratio pneumatic launcher. compressed air into the cylinder is an adiabatic
process. The discharge valve and the pipes to the
In these figures:
cylinder can be designed so that the compressed air
1: UAV to be launched
flow is large enough, therefore the pressure losses on
2: Bogie
the valves and pipes may be ignored. For medium and
3: Cable
small UAVs one can also ignore the aerodynamic
4: Sliding rails
force (the lift and drag of UAV), the friction force on
5: Cylinder
the sliding rails (rolling friction) and the component
6: Piston
of weight of the piston on the inclined plane, because
7: Pressure tank
these forces are very small compared with the thrust
8: Discharge valve
of piston. When designing the launcher with the q
9: Pipe
ratio, the velocity of the UAV will equal q times the
10: Moveable pulleys
velocity of the piston, the acceleration of UAV also
calculate the parameter sets to assist in the design by q times the acceleration of the piston, so when
process. considering the equation of motion of the moving
The work [1] presents a mathematical model of system, we must use the equivalentmasses of
pneumatic launcher for UAV to dispers birds in components UAV, the bogie, and the cable through
airport with the constructing a mathematical model of the motion of piston. On the other hand, the UAV and
the pneumatic system by calculating the necessary air bogie moves on inclined plane, so the motion
flow and maximum force needed to launch UAV. equation has the form as follows:
However, due to small mass (few kg) and low exit
speed of UAV (15 m/s) the change of pressure due to (qmUAV  qmgp  qmc  m pp ) x 
(1)
increased volume of compressed air when the piston  Fpt  qFdc  q(mUAV  mgp ) g sin 
moves was ignored and the mass of the piston was
not considered. The work [2] has constructed the The useable acreage of the piston:
mathematical model of the adiabatic expansion

process and calculate the dependence of compressed S ( D2  d 2 ) (2)
air temperature from the volume of pressure tank. 4
However, due to the high pressure of the compressed
The force acting on the piston:
air (5-20 MPa) a small cylinder diameter is used, so
the dynamics of the mechanical system of the piston - 
moveable pulleys – bogiewas ignored. Fpt  P(x) ( D2  d 2 ) (3)
4
In this paper the authors have constructed a
mathematical model that takes into account the The adiabatic process:
dynamics of the whole mechanical system that
interacting with the expansion of compressed air into P( x) V ( x)k  PV
0 0
k
(4)
a unified dynamics system. This model is very
necessary when considering the pneumatic launchers Theinstantaneous volume of the compressed air at the
for high speed UAV but using the civilian stroke x of the piston:
compressed air source (small pressure, about 1Mpa
≈10 bar), since the diameter of the pneumatic cylinder
V ( x)  V0  S  x (5)
must be large, we need to use moveable pulley to Here:
reduce its length. Some actual numbers for example: x (m): the instantaneous stroke of the piston
UAV mass 60 kg , 30 m/s take-off speed, cylinder mUAV (kg): the mass of UAV
diameter is over 250 mm, piston mass is about 20 kg, mgp (kg): the mass of bogie
and mass of bogie is about 9-12 kg). The algorithm mc (kg): the mass of cable
was coded and solved by numerical method in mpp (kg): the mass of piston and moveable
MATLAB to investigate the dynamics of the pulleys
mentioned system with different parameter sets, α: the launching angle of UAV
allowing selection of reasonable launcher parameters,
281 October 27 - 28, 2018

Hanoi, Vietnam
q: the ratio of the bogie stroke compared with

the piston
g = 9.8 m/s2: gravitational acceleration
Fdc (N): the UAV engine thrust
Fpt (N): the thrust generated by air pressure on
the piston
S (m2): the useable acreage of the piston Fig. 5. The algorithm scheme of dynamics of
D (m): the internal diameter of cylinder pneumatic launcher.
d (m): the piston shaft diameter
P(x) [N/m²]: theinstantaneous pressure Changing the design parameters will change the
corresponding to piston x stroke values on the diagram and change the results of the
V(x) [m3]: the instantaneous volume exit speed of UAV. According to the algorithm
corresponding to piston x stroke scheme the authorsdevelopeda Matlab software and
k = Cp/Cv = 1.4: the adiabatic exponent applied for a case with specific input parameters:
coefficient for air mUAV = 60 kg, the engine thrust Fdc = 300N, the
P0, V0 : initial pressure and volume of stroke ratio q = 4.
compressed air source (including the pipe) Although the bogie is designed by light
materials (aluminum alloy) but it still must ensure
As said above the designing of pneumatic structural strength, for the mass mUAV under 100 kg
launchers requires designers have to choose the and the take-off speed about 30 m/s, one can assume
certain parameters with the real conditions depending that the bogie mass mgp = 0.15mUAV. For
on the manufacturing technology, requirements about pneumatic piston we only use pulling force, so
the masses, size, climatic conditions. Therefore, the d/D = 0.2 is guaranteed to withstand stress. The
algorithm based on input parameters and parameters launching angle α = 120 usually is used.
are selected to calculate the other necessary
parameters for the pneumatic system. Here the
designers can choose the following parameters: the
suitable launching angle α, the sliding rails length L,
working pressure P0, the volume V0, the cylinder
diameter D and the d/D ratio, the ratio of mgp/mUAV,
designing solution according to the q ratio, etc.
The following figures 4 and 5 shows the
algorithm scheme for describingdynamic process of
the mechanical system at launching a UAV, the
process is made with the ideal gas assumption.
During the launching process the pressure and Fig. 6. The influence of the pressure P0 to the exit
volume of compressed air is continually changed speed.
depending on the stroke of the piston, so we
The result of the dependence of the exit velocity
calculate the motion of the UAV according the
on initial pressure as follows (when the design
following algorithm scheme:
parametersL=6m, D=0.25m, V0=0.3m3):
The results show that the substantial disparity in
the exit speed of UAV with consideration ofthe
masses of the piston, the moveable pulleys, the bogie
and the cables (about 14%). With the type of
pneumatic launcher using low pressure if ignored
mentioned components in the calculation can lead to
failure to achieve the required take-off speed of
UAVs.
The results of the dependence of the exiting
velocity on the initial volume as follows (when the
design parameters L=6m, D=0.25m, P0=7 bar):
Fig. 4. The calculation scheme of pneumatic system.
282 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 7. The influence of the volume V0 to the exit Fig. 9. The influence of the sliding rails length to the
speed. exit speed.
It is evident that if the initial volume V0 in the and its mass. So choosing L with size L = 6m is
range under 300 litres it greatly affects to the exit lightweight enough, at the same time ensures the
speed, but the more volume the less its impact is, and required exit speed.
when it is large enough, then it almost no longer
affects the exit speed. Thus if the pressure tank is 3. Conclusion
designed too large there will be many disadvantages, So through the construction of the dynamic
in this example, the volume of the pressure tank about model of pneumatic system in the process of
300 litres is reasonable. launching UAV the authors have developed a Matlab
The results of calculation of the dependence of software to create an effective tool to aid for the
the exitspeed on the cylinder diameter with different design process of pneumatic launchers for high speed
stroke ratios q are presented in the fig. 8 (the design UAV using low pneumatic pressure. It is the pressure
parameters L=6m, V0=0.3m3 , P0=7 bar). of civilian sources, more popular and more safety. On
the other hand due to the use the low pressure, one
has to design with large pneumatic cylinder diameter
and it needs to use the moveable pulley to reduce the
length for the cylinder. This led to the mass of this the
componentsof the mechnical system is also pretty
large. Calculation results have shown the
considerable disparity of value of the exit speed
between ignoring and taking into account the mass of
the system including the piston, moveable pulleys,
cable, bogie. Within the scope of this article, the
Fig. 8. The influence of the cylinder diameter D to losses of pressure on the pipeline and the valve from
the exit speed. the pneumatic tank to the cylinder ware not
considered (in fact it is often difficult to built the
With this result one found that choosing q pipeline big enough and to connect it into the
greatly influences to the exit speed,with the same cylinder), so to ensure reaching the required exitspeed
cylinder diameter, the difference in exit speed of UAV one should consider these losses, which
betweenq = 1 and q = 4 is significant (about 30%) isfurther research of the authors.
because when q = 1 the piston stroke isequal to L, so
References
the compressed air is expanded in the cylinder with
more volume than when q = 4 (piston stroke is L / 4). [1] Robotics and Mechatronics, EE-Math-CS, University
So choosing q = 1is better for exit speed, but the of Twente, P.O. Box 217, 7500 AE Enschede, The
length of cylinder also too big. At the other hand, q=4 Netherlands. Robird autonomous take-off: pneumatic
allows to decrease the cylinder length but the launching system.
[2] Applied Mechanics and Materials. ISSN: 1662-7482,
diameter of the cylinder must be very large.
Vol. 299, pp 27-30. The Modeling and Simulation of
The result of the dependence of the exit speed UAV Pneumatic Launch System.
on the sliding rails length as in fig. 9 (the design [3] Andrew Parr. Hydraulics and pneumatics: a
parametersD=0.25m, V0=0.3m3 , P0=7 bar). technician´s and engineer´s guide [M].Oxford:
Elsevier, 2006.
This result shows, if the length of sliding rails is
larger then it is more beneficial to the exit speed of
UAV, however this leads to the bulky size and hard
to move, and also to increases the stroke of the piston
283 October 27 - 28, 2018

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Design Process of a Small-scale Wind Turbine for Water Pumping to Meet

Household Needs
Ly Hung Anh*
Ho Chi Minh City University of Technology, Vietnam
*Email: lyhunganh@hcmut.edu.vn
Abstract
This paper presents the design process of a small-scale wind turbine for water pumping to meet household
needs. Theory of horizontal axis wind turbine is employed to calculate optimum local power coefficient,
solidity and angle of relative wind at various radial positions of turbine blade corresponding to various local
speed ratios and drag to lift ratios. From these results, blade chord and its inclined angle are determined at
various radial positions of turbine blade. A specific design of small-scale wind pump with direct transmission
is presented to illustrate the process, in which rotor blades are designed in detail.
Keywords: Wind pump, horizontal wind turbine, rotor blade theory, tip speed ratio.
1. Introduction
a: axial induction factor.
Household wind turbine for water pumping has
r
not been received sufficient systematic development The local speed ratio  is the
despite high demand from the market. For example, Vtk
clean water used for daily living is lacking in the dimensionless parameter characterizing the rotational
Mekong Delta. Although the windy area of this speed at each radial position r. The local speed ratio
region is very good but there has not been any record at the tip 0 is tip speed ratio:
of the locals using wind turbine for pumping.
For this reason, a design process of a small-scale
wind turbine (300 – 500 W) for water pumping to
meet household needs is presented in this paper. The
piston pump is chosen for the advantage of high head.
In this design, the pump is driven directly by the shaft
of wind turbine without gearbox.
2. Fundamentals of Horizontal Axis Wind Turbine
Among components of wind turbine for water
pumping, the rotor plays a crucial role in absorbing
the wind energy. Therefore, the blade of the turbine
must be designed extremely well in terms of
aerodynamic to obtain the maximum power. The
design process is referred to [1] and is described
briefly in Fig. (1), where CP is the local power
local
coefficient at each radial position r and has the

expression as:
1  k   k   a  1
2
CPlocal  4 1  a   2   1    4a
2   2

 k 
 1   (1)
  
in which:
λ: local speed ratio,
Fig. 1. Theoretical map of horizontal axis wind
k: drag to lift ratio,
turbine.
284 October 27 - 28, 2018

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R
0  (2) Turbine power Pt
Vtk
Designed wind
in which: speed Vtk
: angular velocity of rotor (rad/s),

Diameter D Qdaily based
R: radius of rotor (m).
Pumping power Pb on Hb
In Eq. (1), for each pair of given  k ,   , CP local
is
CPlocal
maximum when  0 . Assume that k is TSR 0
a Blade
constant at all radial positions. For the value of a to Rpm N geometry
get maximum CP , the solidity  r and the angle of
local
Number of blades n
relative wind  are determined from Eq. (3) and Eq.
(4). Geometries of blade including chord length and Piston’s stroke S
twist angle at each radial position are determined Pump
Cylinder’s diameterDb
from Eq. (5) and Eq. (6).
4a sin 2  Fig. 2. Design proccess of turbine and pump.

 r CL  (3)
1  a  cos   k sin   A wind turbine for water pumping is divided
1  a  1 into the following components:
tan   . (4)
1  b   - Rotor turbine
2 r r - Control panel
c (5)
n - Transmission system
    (6) - Pump
with: - Tower and substructure
1  k   k   a  1  k 
2 The geometry of the blade and the specification
b    1    4a  1   (7) of the pump are also presented in detail. A brief
2   2     design process is shown in Fig. (2) and the detail
 design is demonstrated in the next section.
in which: 3.1. Designed Wind speed
CL : lift coefficient,
As the wind distribution almost remained
C: chord length (m), unchanged through years, the probability of windy
 : twist angle (deg), period in each year is the same. Moreover, the period
of low speed wind is very long but its kinematic
 : angle of attack (deg).
power is low. By contrast, kinematic power of high
3. Design Proccess speed wind is pretty hight but its period is short.
The system is designed based on the chosen Therefore, the wind speed is chosen at the value
power suitable for the location of the turbine. where the wind power density is highest. According
According to that, the quantity of water pumped daily to Tian Pau Chang [3] Vtk  1.5  1.8 Vtb , with Vtb is
can be determined from the head. the yearly average wind speed.
For the purpose of researching the application of According to document of Vietnamese Hydro –
commercial products in the market, this paper Meteorological [4], the average wind speed in Ben
presents the design process for pumping wind turbine Tre at the attitude of 6 m is Vtb= 4 m/s. If the designed
with power Pt = 350 W. Piston pump is chosen for wind speed is chosen to be Vtk= 1.5 Vtbthen the
the priority of high head. The shaft of the wind designed wind speed in Ben Tre is Vtk= 6 m/s.
turbine drives the pump directly without the use of
gearbox to minimize mechanical loss. 3.2. Rotor Diameter and Power of Pump
Wind power to turbine:
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Hanoi, Vietnam
1 Table 1. Daily water quantity according to head and

Pw   AVtk3 (8) equivalent period (m3/day)
2
Equivalent Head (m)
Power received by shaft:
period
1 (hour) 5 7 10 12 15
Pt  C p  AVtk3 (9)
2 4 67.8 48.4 33.9 28.3 22.6
Useful power of pump: 5 84.8 60.6 42.4 35.3 28.3
1 Table 2. Variation of rotational speed with TSR

Pb  bck C p  AVtk3 (10)
2 0  (rad/s) N (vòng/phút)
In which: 1.7 6.8 65
2 8.0 76
 : air density (kg/m3),
2.2 8.8 84
A: area of rotor turbine (m2),
3.3. Tip Speed Ratio, Rotational Speed and Number
C p : power coefficient of turbine, of Blades
b : pump efficiency, Wind turbine for water pumping needs to create

high torsional moment to drive the shaft of the pump
ck : mechanical efficiency. directly. For that reason, the tip speed ratio (TSR) of
the turbine should be small. Angular velocity is
When the tip speed ratio is between 1 and 2 and determined from Eq. (2) corresponding to the values
the drag to lift ratio k is between 0.08 and 0.10, the of 0 . The values of 0 ,  andN (rpm) are shown in
power coefficient of the turbine is determined
Table 2.
according to [1], which gives Cp = 0.40. For the
Power coefficient Cpof turbine is Cp= 0.40 when
chosen power of wind turbine Pt = 350 W, the rotor
TSR 0  2 [1] as shown in Fig. (3). Therefore, the
diameter calculated from Eq. (9) is D  3 m.
wind turbine for water pumping in this design has
The efficiency of piston pump ηband the TSR 0  2 and the corresponding rotational speed of
mechanical efficiency ηck is around 65% and 95%
rotor is Ω = 8 rad/s orN = 76 rpm.
respectively. The useful power of the pump
The optimum TSR is obtained when rotor
Pbdetermined from Eq. (10) is 230 W.
absorbs the most wind energy from its swept area.
3.2 Daily Quantity of Water According to Ragheb [6], the optimum TSR λopt is
related to the number of blades n in Eq. (13):
Depending on the value of head Hb needed and
4
the daily equivalent period of designed wind speed h opt 
(hour), the flow Q (m3/s) and daily pumped water n
quantity Qdaily (m3/day) are determined from Eq. (11) (13)
and Eq. (12). As a result, the number of blades chosen is n = 6
Q
Pb
(11) to obtain the optimum TSR λ0 = 2.
 Hb
3.4. Specification of Piston Pump
P
Qdaily  b  h  3600 (12) Piston pump is characterized by two main
 Hb
parameters, which are stroke (S) and bore of cylinder
The daily water quantities with different values (Db). The rotational speed of turbine is also the
of Hband h are shown in Table 1. At a region with number of circle of piston per minute and the smaller
average wind speed Vtb= 4 m/s and designed wind the rotational speed, the bigger the moment is. In this
speed Vtk= 6 m/s as chosen, with rotor diameter design, the daily flow is 22.6 m3 for the head of 15 m;
D  3 m , user can determine the daily quantity of flow of 1.57 l/s for 4 hours of equivalent period of
pumped water from required head and equivalent designed wind speed. Quantity of water pumped per
period. circle of piston is 1.24 liters, which is also the volume
Hb= 15 m and h = 4 are chosen to progress to the of the cylinder. Depending on the manufacturing
next step of design. The daily water quantity is condition, S and Dp are chosen.
therefore 22.6 m3/day.
286 October 27 - 28, 2018

Hanoi, Vietnam
4. Detailed Design of Blade Geometry

The specification of the water pumping wind
turbine is shown in Table 4.
Table 4. Specification of the water pumping wind

turbine
Power of rotor (W) 374
Power of pump (W) 231
Head (m) 15
Daily flow (m3) 22.6
Volume of piston pump (liter) 1.24
Designed wind speed (m/s) 6
Diameter of rotor (m) 3
TSR 2 Fig. 3. Variation of power coefficient with TSR of
Rotational speed of rotor (rpm) 76 different values of k [2].
Number of blades 6
The difference between the values of maximum

power when TSR is low and high is not significant as
shown in Fig. (3). Hence, it is not necessary to get a
complex design of blade geometry. Reality proves
that existing wind turbines for water pumping
nowadays have blades manufactured with simple
curved panels. In this paper, the 10% curved panel is
selected, which has lift coefficient CL = 1.0 when
angle of attack α = 3o and k = 0.09 [7].
For the blade geometry design, the chord length
Fig. 4. Blade geometry of the wind turbine.
is chosen to change linearly by radius. This option is
selected to help simplifying manufacturing process.
The wind turbine has 6 individual blades
attached to the hub whose diameter equal to 20% of
rotor’s diameter as shown in Fig. (4). The
orthographic projections of the blade including front
view, top view and side view are shown in Fig. (5).
Dimensions of a blade including chord length c
(m) and blade angles at multiple radial positions from
hub  r R  0.2; r  0.3 m  to tip  r R  1.0; r  1.5 m 
are shown in Table 5. The chord length decreases
linearly from hub (0.42 m) to tip (0.3 m). The blade is
also twisted with the blade angles are 45° at hub and
15° at tip as shown in Fig. (5).
The wind turbine has 6 individual blades
attached to the hub whose diameter equal to 20% of
rotor’s diameter as shown in Fig. (4). The
orthographic projections of the blade including front
view, top view and side view are shown in Fig. (5).
A blade is manufactured from a right trapezoidal
aluminum panel as shown in Fig. (6). The length of
the panel is 1.2 m, the short base is 308 mm and the
long base is 431 mm.
Fig. 5. Orthographic projections of the blade
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Hanoi, Vietnam
Table 5: Dimensions of blade A specific blade design of a 350 W water

r/R r (m)  c (m) pumping wind turbine with direct transmission is also
presented. The wind pump has the head of 15 m and
0.2 0.3 45o 0.42
the flow of 22.6 m3/day. The rotor has diameter of 3
o
0.4 0.6 32 0.39 m and 6 blades while the hub has diameter of 0.6 m.
0.6 0.9 24 o
0.36 Each blade of the shape of simple curved panel is
manufactured from a right trapezoidal aluminum
0.8 1.2 19o 0.33 panel, whose length, short base and long base are 1.2
o
1.0 1.5 15 0.30 m, 0.31 m and 0.43 m respectively.
References
[1] B. Tony, S. David, J. Nick, B. Ervin, Wind Energy
Handbook, John Wiley & Sons, Ltd., (2001).
[2] L. H. Anh, Thiết kế động cơ gió phát điện công suất
300 W, Luận văn tốt nghiệp đại học, Bộ môn Kỹ thuật
Hàng không, Trường Đại học Bách Khoa-ĐHQG
TP.HCM, (2005).
[3] T.P. Chang, Wind Speed and Power Density Analyses
Based on Mixture Weibull and Maximum Entropy
Distributions, International Journal of Applied
Fig. 6. Dimensions of the aluminum panel. Science and Engineering, 8(1) (2010) 39-46.
[4] http://tiasang.com.vn/Default.aspx?
5. Conclusion tabid=114&News=815&CategoryID=31
[5] The Economic of Wind Energy, European Wind
This paper has presented a design process of a Energy Association, (1997).
wind turbine for water pumping to meet household [6] M. Ragheb, Optimal Rotor Tip Speed
needs. Depending on power, head and the average Ratio,http://mragheb.com/NPRE%20475%20Wind%2
wind speed of the region, the diameter of the rotor 0Power%20Systems/Optimal%20Rotor%20Tip%20S
and the daily quantity of water pumped can be peed%20Ratio.pdf.
[7] Đ. Đ. Khoa, Thiết kế turbine gió bơm nước tưới cà
determined. The selection of blade with chord length
phê, Luận văn tốt nghiệp đại học, Bộ môn Kỹ thuật
changing linearly from hub to tip helps simplify the Hàng không, Trường Đại học Bách Khoa-ĐHQG
manufacturing process. TP.HCM, (2008).
288 October 27 - 28, 2018

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Study on Identifying Several Geometric Parameters of Hydrostatic Spindle

Bearing on External Cylindrical Grinding Machine based on Ability of
Manufacturing Technology
Van-Hung Pham*,Tuan-Anh Bui,Thuy-Duong Nguyen
School of Mechanical Engineering, Hanoi University of Science and Technology, No. 1 Dai Co Viet, Hanoi,
Vietnam
*Email: hung.phamvan@hust.edu.vn
Abstract
The characteristic of hydrostatic spindle bearing on the external cylindrical grinding machine are shown as
the stability of spindle center, the loading capacity and the bearing stiffness. Thus, they show a decisive
influence on the surface quality of the machined workpieces, especially the fine machined work-parts. The
characteristics of the hydrostatic bearing depends on the gap between bearing and bearing journal. In fact,
the machining capabilities for fabricating the spindle and bearing will affect their dimension tolerance. Under
the current machining technology conditions in Vietnam, a fine-machining process for the copper bearing
with a diameter of 70 mm, which is performed in a horizontal boring machine, the dimension tolerance of
+0.02 is achieved. And to ensure the hydrostatic bearing clearance, the bearing journal need to be
machined according to the actual tolerance of the bearing. In addition, the dimension tolerance of -0.003 is
achieved when a fine-grinding process of a shaft is carried out. Therefore, this writing presents a study to
determine several geometric parameters of the spindle bearing to ensure the working capacity of the
hydrostatic bearing based on the actual machining capability.
Keywords: Hydrostatic spindle bearing, grinding machine, hydrostatic bearing clearance.
grinding that needs to be achieved quickly after the

1. Introduction
startup is our research goal. The study focusses on
Analysis of the influence of machine parameters designing and fabricating a hydrostatic spindle
and machining parameters on the quality of bearing integrating on the grinding machine to
machining on machine tools are always concerned by determine the hydrostatic bearing characteristics and
scientists. Analyzing the influence of the parameters feasible parameters for the grinding machine spindle.
to predict defects of the product and thereby to Fig. 1 presents a spindle unit structure of a CNC
determine the appropriate parameters for each machine integrated hydrostatic bearings [1].
specific processing conditions. There are many researches on hydrostatic
The parameters of structure, stiffness, vibration, bearing and industrial applications published in the
of the machine are important parameters that world. They are mainly used in heavy industry such
determine the quality of processing. Particularly, the as cement, coal or in the noncutting shaping. In the
machine stability after the start-up is most important field of machine tools, there is a few researches to
factor that affects the machining accuracy. In integrate the hydrostatic bearing into the machine and
addition, when studying the factors affecting the study the characteristics of hydrostatic bearing to
precision of machining, it is necessary to analyze the precision machining, especially on the grinding
technological parameters. In each case, there will be machine. In 2015, Bo-Sung Kim et al. presented a
factors that are decisive to the accuracy and need to study on thermal characteristics of the grinding
be studied and adjusted to suit the purpose of machine applied hydrostatic bearing. They indicated
processing. the effect of thermal deformation of CNC grinding
Grinding is a fine machining process that machine integrated a hydrostatic bearing on
determines the precision dimension and the surface machining quality. The study indicates that the heat
roughness. Therefore, studying the influence of distortion of the grinding machine spindle depends on
machine parameters, grinding parameters on surface the hydrostatic bearing temperature and it can be used
quality is important in the field of mechanical to evaluate the thermal deformation characteristics of
processing. Stabilization of the wheel axis when
289 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 1. Spindle unit structure of a CNC machine integrated hydrostatic bearings [1].
the grinding machine[1]. Hua-Chih Huang et al. program was performed with speed, oil viscosity and
(2015) developed a design methodology and tools for stiffness parameters when varying film thickness [5].
analyzing hydrostatic sliding boards using capillary
on a high precision grinding machine[2]. V.
Srinivasan (2013) analyzed the effect of static and
dynamic loads on the hydrostatic bearing when
changing the pressure and viscosity of the lubricant in
the bearing. The authors studied the Reynolds
equation and boundary conditions for analyzing
variations in parameters related to hydrostatic bearing
such as temperature distribution, oil viscosity changes
and radial load. Analyzing the simulation results, the
authors found that when increasing the lubricant
viscosity in the bearing with the moving pads, the
wear reduced and the bearing life increased [3].
Besides, in 2007, K. Wasson pointed out that the
spindle structure integrating a hydrostatic bearing is
suitable for machine tools that require a high
precision in mechanical machining. In particular, the
analysis also suggests that the design of the spindle
with hydrostatic bearing to replace conventional
roller bearings results in a reasonable cost on low and
medium speed machines [4]. In 2013, Nirav Doshi &
Mehul Bambhania presented a study to optimize the
film thickness on the V-25 vertical lathe machine Fig. 2. Hydrostactic bearing used for the V-25 lathe
spindle [5].
with a hydrostatic spindle bearing. The simulation
290 October 27 - 28, 2018

Hanoi, Vietnam
In 2008, Ryszard PrzybyÃl presented the

possibility of increasing the stiffness of machine tools
spindle units due to the advantage of a poorly known
property of the hydrostatic journal bearings, which is
the ability to reach displacements of shaft suitable
with the load sign, opposite to it or equal to zero, for
one of the acting force directions [6]. The author also
discussed the advantages of that phenomenon in
different spindle units of various machine tools.
Chen D. et al. (2012) presented the dynamic and
static characteristics of a hydrostatic spindle for
machine tools. Hence, the authors have shown the
influence of the eccentricity ratio on the film
thickness, stiffness and deformation of a spindle
system. In which, the parameter changes in a static
model caused the deformation of the spindle. In
addition, the dynamic model was used to analyze the
vibration response caused by the eccentricity. They
analyzed the effect of imbalanced vibration on the
machining accuracy. The imbalance-induced force in
two directions is derived from the dynamic results.
The research shows that the location and stiffness of
the bearing affect the machining accuracy of
workpiece [7]. A thermo-mechanical error model of a
hydrostatic spindle for a high precision machine tool
was proposed by Chen D. et al. in 2011. The authors Fig. 3. Diagram of temperature field distribution on
have believed that the variation of motion error which spindle [8].
was induced by thermal effects on a machine
worktable during machining. They have also
evaluated the heat power generated in the spindle
elements and the coefficients of convection heat
transfer over its outer surface. Hence, they showed
that the influence of thermal effect on spindle
stiffness variation is considerable [8].
In 2016, He Qiang et al. presented a numerical
and experimental method to select the parameters and
fabricate the hydrostatic spindle unit to replace the Fig. 4. Test equipment general lay-out [10].
ball bearing spindle in a vertical machining
shows a correspondence between the spindle structure
equipment, whose operating speed is 800 rpm [9]. S.
and the dynamic parameters, including the stiffness
Uberti et al. presents a study on design and
[11].
manufacture of testing benches for inspection and
assessment of a hydrostatic bearing applied in a linear 2. Hydrostatic bearing parameters
moving spindle, which enables to carry out the tests In this study, the hydrostatic bearing was
to reduce vibration and determine the stiffness of the designed to replace the hydrodynamic bearings on the
hydrostatic bearing and to improve machining 3K12 external cylindrical grinding machine.
accuracy [10]. Hydrostatic bearing parameters should ensure the
W. Chen et al. designed a hydrostatic bearing technical requirements as well as the load capacity of
the bearing when operating. The journal and bearing
for a spindle milling machine from the dynamic point
parts of the bearing are designed and fabricated in a
of view. The conducted machining experiments large batch production process with the required
291 October 27 - 28, 2018

Hanoi, Vietnam
Based on the law of conservation of mass,

conservation of energy, the Reynold equations for
56
radial and axial drive are given as follows:
  h3 P    h3 P  h
     6r
x   x  z   z  x
(2)
Ø70H7
g6
And the dimensionless equation
  h 3 p  2   h 3 p  dh
     3
     y   y  d
(3)
where λ = L/D: ratio of length and diameter of
44 the bearing;
112
φ: angle coordinates; p - oil film pressure,
Fig. 5. Cross-section of hydrostatic spindle bearing y-radial coordinates;
designed for the 3K12 grinding machine.
y , p, h ,  ,  : dimensionless parameters.
The lubricant film thickness is determined by
equation [9]:
h  ho 1   cos 
(4)
where, h – film thickness,
ho – film thickness under line eccentricity,
φ – angular position from the line of
eccentricity,
Ɛ = e/ho – eccentricity ratio.
Fig. 6. The structure of a constant pressure oil
supply hydrostatic bearing on machine tools [9]. 2.1. Clearance of hydrostatic spindle bearing
assembly is H7/g6. Fig. 5 shows the cross-section of The designed hydrostatic bearing is composed
the spindle bearing designed for the 3K12 grinding of 4 oil recesses. The bearing length, recess length
machine. Accordingly, the dimension of the shaft and and shaft diameter are 56 mm, 28 mm and 70 mm,
bearing should be machined to the required respectively. These parameters are considered as
dimension in the range 70+0.030 and 70−0.01
−0.029 , parameters to calculate the remaining parameters. In
respectively. Thus, the largest clearance h0max is 59 the case, the layout of the four oil recesses is
μm and the smallest clearance h0min is 10 μm. illustrated in Fig. 7.
The structure and principle operation of the The shape and size of the oil recesses have a
hydrostatic spindle unit used for the medium-sized certain influence on bearing working ability with high
outer grinding machine is shown in Fig. 6. The wet rotational frequency, whereby the lubricant can be
lubrication was performed by the lubricant in four swept out of the oil recess to create turbulent effects
high pressure recesses provided by a pump system or hydrodynamic effects resulting in large losses in
through a restrictor that completely separates the the oil recess. To overcome this issue, the recess
shaft and bearing surfaces. The center of the spindle depth must be increased larger than 20Δ ( - diameter
coincides with the center of the bearing. With respect clearance). Thus the oil chamber is set below the
to the weight of the shaft, the external load (P), the eccentric (e), the net hydrodynamic flow is zero [12].
effective area of the oil recess F, and the eccentricity
Using hydrostatic bearing for the grinding
e, the equilibrium force equation can be written as:
machine spindle, the minimum oil film thickness to
P   p3  p1  .F (1)
ensure a completely wet lubrication condition is
calculated by equation as follows:
In fact, with hydrostatic spindle bearing and the  min
Reynold's assumption that e is very small. homin  RzT  RzB   b 
3 (5)
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ho  L    / 2 (7)
ho U   1.5 ho  L  (8)
where: β = pr/ps - Ratio of oil recess and pump

pressure.
2.2. Lubricant viscosity for hydrostatic spindle
bearing
The lubricant viscosity η is determined by
equation as:
Sh
  2
n  D  (9)
. 
ps  2ho 
Where Sh - speed parameter; n – spindle speed (s-1).

For the designed spindle of the grinding
machine, the speed parameter can be estimated as
0.105.
According to the experience of manufactures,
the oil recess pressure pr in accordance with the
ability of manufacturing technology is in the range of
1-5 MN/m2, and the best pressure is in the range of 1-
2 MN/m2. Hence, the lubricant recess pressure of the
spindle bearing of external cylindrical grinding
machine is chosen as 2 MN/m2.
Fig. 7. Layout of oil recess and pressure in For the designed hydrostatic spindle bearing, the
hydrostatic bearing [12]. lower limit of clearance ho(L) is estimated about 15
µm, the pump pressure ps is determined as 5 MN/m2.
where: RzT - surface roughness of bearing journal; Similarly, the pump pressure which approximates
2.85 MN/m2 is also calculated with the upper limit of
RzB – surface roughness of bearing;
clearance ho(U) about 22.5 µm. Thus, the lubricant
γb = 2 – 3 µm – Reserve distance to keep the oil film viscosity changes in the range of 1.9 x10-3- 2.5x10-3
uninterrupted. Pa.S.
In actual processing conditions, the specific
For the designed spindle bearing unit, the
geometry dimensions of the bearing-journal are
bearing and bearing journal surfaces are fine
defined as follows: (1) a fine-machining process for
machined, the surface roughness can be achieved as
the copper bearing with a diameter of 70 mm, which
3.2 – 0.8 µm. Thus, the minimum oil film thickness is
is performed in a horizontal boring machine, a
about 9 µm. Hence, Δmin can be chosen as 27 µm. The
tolerance of +0.02 is achieved; (2) a fine-grinding
limited relative eccentricity  of a hydrostatic bearing
process of a shaft with diameter of 70 mm is carried
is usually 0.4. The relative eccentricity of the
out, the dimension tolerance of -0.003 is also
grinding machine hydrostatic spindle can be chosen
achieved. As a result, the diameter clearance
as 0.3.
generated by the shaft-bearing structure is about 23
2e µm. The clearance hor corresponding to β = 0.4 can be
 (6) estimated as 12 µm. Therefore, to ensure the

lubrication condition, it is necessary to re-determine
So, the eccentricity e of the grinding machine the viscosity corresponding to the actual clearance.
hydrostatic spindle can be calculated as 4.5 µm. The Hence, the lubricant viscosity is estimated as 1.2x10-3
lower limit of clearance ho(L) corresponding to Pa.S.
β = 0.4 and the upper limit of clearance ho(U) In addition, the concentric flow qo is estimated
corresponding to β = 0.7 can be written as follows by equation as follows:
[12]: ps .ho 3 .  .Bn
qo 
 (10)
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For the bearing with four recesses, the lubricant z = ½. [β/ (1- β)] – for orifice control,
flow per restrictor qres can be expressed as follows:
z = [β/ (1- β)] – for capillary control.
q
qres  o (11) The bearing film stiffness at eccentricity ratio of
4 0.3 with orifice control and other main parameters for
the designed and fabricated spindle bearings are listed
In the case of upper limit of clearance for the
as follows:
designed spindle bearing, the lubricant flow qo(U) is
estimated about 23.8x10-6 m3/s. So, the flow per + Number of recesses N = 4.
restrictor qres about 5.95x10-6 m3/s is also indicated.
Similarly, the lubricant flow qo(R) for the fabricated + Bearing parameters: D = 70 mm, a = 14 mm, θ
bearing is estimated as 7.54x10-6 m3/s, the flow per = 300, L = 56 mm.
restrictor qres(R) is about 1.89x10-6 m3/s. + Clearances h0 = 15 – 22.5 µm and h0(R) = 12
For light machine oil, the maximum temperature µm used for the designed and fabricated spindle
rise is increased according to the power ratio, and it is bearings, respectively.
said to be as [12] + Pump pressure ps = 2.85 – 5 MN/m2 and ps(R) =
5 MN/m2used for the designed and fabricated spindle
ps 1  K 
T  (12) bearings, respectively.
 .C
With four recesses and orifice control:
Where C - Specific heat capacity (C = 2120
J/kgK);  - Density (= 855 kg/m3); K – Power ratio,  1   
J n  7.65Kbs
and K = 1 - 3 for the spindle of machine tool. 2    2 1   
(15)
So, the temperature raise for the fabricated where Kbs = (1-a/L) = 0,75.
spindle bearing is about 5.5o C.  1   
J n  5.74
The results show that, with the viscosity of the 2    1.52 1   
Hence, (16)
oil used for the bearing with a large radial clearance,
the temperature raise of lubricant increases with Since Eqs. (14), (16) with the parameters
respect to the oil used in the case of controlling the mentioned above, the hydrostatic film stiffness can be
smaller clearance. In the case of fabricated estimated and showed in Table 1.
hydrostatic bearing, the maximum temperature raise From Table 1, along with a defined oil viscosity,
of the lubricant is about 5.5 ° C. The lubrication the stiffness of the hydrostatic bearing can be
calculations must calculate the increase of oil increased depending on the control of the bearing
temperature, which is the basis for choosing the clearance. Therefore, the manufacturing process plays
viscosity index VI (Viscosity Index) beside the an important role to ensure the working parameters of
lubricant viscosity. the bearing.
2.3. Spindle bearing stiffness 3. Conclusion
The hydrostatic film stiffness depending on the Hydrostatic bearing designed and manufactured
number of recesses and control structure is written as within tolerances H7/g6 corresponding to the
follows [13]: clearance of 15-22.5 μm. However, in the case of
 a   single fabrication under laboratory conditions, the
 1   sin 2  
2 value obtained is 12 μm. The current technological
. 
p .L.D 3N L N
J s . capabilities have controlled a smaller clearance than
h0 2   (13)
z  1  2 .sin 2   that of the large batch machining. This has an
N important meaning for the need to redefine some of
or ps L.D (14) the key parameters of the hydrostatic bearing
J  Jn including the lubricant viscosity to ensure its working
h0 conditions.
where, N - Number of recesses, The oil viscosity selected for the designed
bearing is approximately 1.9 x 10-3 - 2.5x10-3 Pa.S.
N .a  L  a 
The lubricant viscosity for the fabricated spindle
 bearing is required smaller, it is approximate 1.2x10 -3
 .D.b - Bearing shape factor, Pa.S.
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Table 1. Hydrostatic film stiffess of the designed and Viscosity and Pressure, Indian Journal of
fabricated spindle bearings Science and Technology, (2013).vol. 6 (6S).
[4] K. Wasson, A Comparison of rolling element
Parameter Hydrostatic film stiffness J and hydrostatic bearing spindles for precision
(kgf/µm) machine tool applications, in Proceedings of
ASPE Conference Precision Bearings and
Designed Fabricated Spindles(June 2007.
spindle spindle [5] N. Doshi and M. Bambhania, Optimization of
bearing bearing Film Thickness for Hydrostatic Circular Pad
Bearing Used in V-25 vertical Turning Machine,
β = 0.4; ps = 5 MN/m2; 71.65 - International Journal on Mechanical
ho = 15 µm Engineering and Robotics (IJMER), (2013). vol.
1, no. 1.
β = 0.5; ps = 4 MN/m2; 66.37 - [6] R. P. I, Some Aspects of Application of the
ho = 15 µm Hydrostatic Bearings in Machine Tools,
Technical University of Lodz, (2008). vol. Vol.
β = 0.5; ps = 4 MN/m2; 44.25 - 12, no. No. 3.
ho =22.5 µm [7] D. Chen, J. Fan, and F. Zhang, Dynamic and
static characteristics of a hydrostatic spindle for
β = 0.7; ps = 2.85 34.06 - machine tools, Journal of Manufacturing
MN/m2; ho = 22.5 µm Systems, (2012). vol. 31, no. 1, 26-33.
[8] D. Chen, M. Bonis, F. Zhang, and S. Dong,
Thermal error of a hydrostatic spindle, Precision
β = 0.4; ps = 5 MN/m ;2
- 89.57
Engineering, (2011). vol. 35, no. 3, 512-520
ho = 12 µm
[9] L. l. Qiang He, Ren Fengzhang, Volinsky Alex,
Numerical Simulation and Experimental Study
The lubricant film stiffness increases when the
of the Hydrostatic Spindle with Orifice
actual clearance of the bearing is 12 μm. The raise of
Restrictors. (2015), 1293-1303.
lubrication temperature decreases compared to the
[10] G. B. a. D. C. S. Uberti, Study & design of a
bearing designed with the same working conditions
special test bench for hydrostatic spindle
of the bearing. Therefore, the temperature raise of the
housings, in In Proceedings of DESIGN 2010,
oil is also controlled compared to the designed
the 11th International Design Conference
bearing.
Dubrovnik, Croatia, 2010, 1729-1740.
References [11] W. Chen, Y. Sun, Y. Liang, Q. Bai, P. Zhang,
and H. Liu, Hydrostatic spindle dynamic design
[1] G.-T. B. Bo-Sung Kim, Gwi-Nam Kim, Hong-
system and its verification, Proceedings of the
Man Moon, Jung-Pil Noh, Sun-Chul Hu, A
Institution of Mechanical Engineers, Part B:
Study on the Thermal Characteristics of the Journal of Engineering Manufacture,(2014). vol.
Grinding Machine Applied Hydrostatic Bearing, 228, no. 1, 149-155.
Transactions of the Canadian Society for
[12] W. B. Rowe, Hydrostatic, Aerostatic and
Mechanical Engineering,(2015).vol. 39, no. 3,
Hybrid Bearing Design. Oxford: Butterworth-
717-728.
Heinemann, 2012.
[2] S.-J. W. Hua-Chih. Huang, Chih-Ming Chen, [13] W. B. Rowe, Dynamic and Static Properties of
Taipei, Taiwan, October 25-30, 2015., Design of Recessed Hydrostatic Journal Bearings by Small
a Hydrostatic Slide Table for Precision Surface Displacement Analysis, Journal of Lubrication
Grinding Machine, in The 14th IFToMM World
Technology, (1980). vol. 102, no. 1, 71-79.
Congress, Taipei, Taiwan, October 25-30, 2015.
[3] V. Srinivasan, Analysis of Static and Dynamic
Load on Hydrostatic Bearing with Variable
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Studying Effects of Extending Forces on the Ship Hull in Maneuvering

Vu Van Duy1, Pham Ky Quang1, Nguyen Thanh Nhat Lai3, Nguyen Chi Cong1,2*
1
VietNam marinetime University
2
3
University of Ho Chi Minh City of Transport
Abstract
This paper presented the model to investigate effects of extending forces on the ship hull in maneuvering
from which the authors employed the numerical method to determine the extending forces on the specific
vessel. The prototype ship model in this study, derived from the Tancang Foundation, with the dynamic
parameters satisfies the Froude dynamic similarity criterion and has the scale factor of 100. The obtained
results in this work shown the changing principle of extending forces depending on the bow’s velocity and
drifting angle in the vessel’s different maneuver.
Keywords: CFD, ship maneuver.
1. Introduction the ship tending to turn right because the propeller’s

rotational direction is clockwise considering from
When a ship moves at a specific speed, thrust
bow to . However, the T* force has small values due
made by a propeller equals with drag due to fluid
to the difference in drag on the propeller’ blades in a
flow around the hull. As a vessel changes its direction
rotation.
in particular, flow is deviated from a ship's axis at an
angle causing pressure difference between its sides. – As the ship changes its direction, the rudder
This difference makes hydrodynamic forces acting on rotates at a φ angle, pressure distribution on both
the hull called the extending forces. sides of the rudder is asymmetric and this makes a
hydrodynamic force on rudder, divided into two
Therefore, for the specific speed and certain
components: steering force R and resistance RD.
turning angle, a vessel will undergo different
Moreover, there is additional force P, divided into
extending forces. If magnitude of these forces
components, a centrifugal force Flt, an additional
exceeds the allowable value, change of direction of
resistance Tgt and an overturning moment. Force
the ship would be difficult, dangerous and could
components acting on a vessel in operation are shown
meet an unstable state in special . Based on the above
in the figure 1.
analysis, we can realize that it is necessary to
thoroughly study the scientific basis of fluid – The main objective of this paper, therefore,
dynamics, navigational control and ship stability to is to use the numerical method in order to determine
ensure safety for a ship’s maneuver. More detailed the extending forces and torque acting on a vessel in
analysis is made in the figure 1 below. maneuver corresponding with different velocity and
turning angle. This is the crucial base to evaluate
Where: r: radius of turning circle; V: instant
effects of flow on a ship’s maneuver and stability.
speed of a vessel; ω: angular velocity; P: extending
force; Flt: centrifugal force; T: thrust of the propeller; 2. Study procedure
T*: horizontal force generated by the propeller; T ':
In this paper, the team employed the numerical
Drag on the hull; R: steering force of a rudder; RD:
method to investigate effect of extending force on a
drag of a rudder.
vessel in maneuver. The procedure of study consists
From the figure 1, we can make some of six steps, and is shown in the figure 1.
conclusions:
– Steps 1,2,3,4 illustrate process of modeling a
– When a vessel goes straight with speed V, real problem, then construct, mesh the model and set
the drag T' and thrust T are equal in magnitude, and the boundary condition to compute and simulate.
the gravity and the thrust Acimet are balanced. At this
time, the propeller with additional force T * makes
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Figure 1. Forces acting on a vessel in maneuver and study procedure.
Figure 2. Additional moment acting on a vessel.
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– Step 5: Determine components of an criterion of Froude and the factor of geometric

extending force. similarity was 100. The main parameters of the
prototype and ship model are shown in the table 1.
The most fundamental cause is asymmetric
Table 1. Main parameters of the prototype
distribution of pressure between two sides of a hull,
which makes the extra torque Mgtto incline ship with
No Name Value Unit
the angle θ0. This point, Archimedes force set on it,
is altered or the shape of displaced fluid volume is 1 L.O.A 112.5 m
changed.
2 L.B.P 105.28 m
Where:
3 Breadth 18.2 m
C: Centre of gravity, D: Centre of buoyancy, M (the
intersection point of gravity force and buoyancy 4 Depth 6.7 m
force); K: Original point. To investigate effects of additional forces and
In this situation, appearing a recovering moment is moments in a ship’s maneuver, in this paper, the team
calculated to the following formula: uses the SST k-ω turbulent model for multiphase
flow. The number of working points for simulation
Mhp = G . CM . Sinθ (1) consists of 16 cases, corresponding to different
speeds and nose angles as follows:
Mhp = RA . CM . Sinθ (2) – Velocity Vi= {4.5, 5.5, 6.5, 7.5} (m / s)
The closer, the recovering moment reaches, – Nose angle φi = {00, 100 , 200, 300 }
the greater, the risk of the ship falls into an instable
state. The ship's operator in this context has fully to In this article, the studied model satisfies the
understand this danger in order to ensure safety in Froude standard with geometric scale of 100, so the
maneuver. velocity for the model ship problem is calculated as
+ Determine of centrifugal force Flt: follows:
The centrifugal force is specified by the total Vm = VS / k1/2 = {0.45; 0.55; 0.65; 0.75}.
pressure acting on the hull in the Oy direction (shown The geometry and mesh details are presented
in the figure 1) and makes a ship yawed during in table 2 and figure 3 below.
maneuver. Table 2. Mesh information for simulation.
+ Specify additional resistance T gt:
Domain Nodes Số phần tử lưới Polyhedra
An additional force is determined by the total Pha khí 747309 122673 122673
pressure on the hull in the Ox direction and causes a Pha nước 765411 142550 142550
vessel reduced advance velocity in maneuver. Tổng 1512720 265223 265223
– Step 6: Analyze and evaluate results With a complicated problem as two-phase
In this step, the obtained results are analyzed flow, the total number of meshes is more than 1.5
carefully to assess the effect of flow on the million requiring high configuration computer and
components of addition force. long calculation time. The geometry of the problem
and domain’s mesh on the axial domain was
– Step 7: Change speed of a vessel displayed in the figure 3:Following is some gained
This step is the same as the four step, by results at different nose angles.
resetting the boundary conditions for the problem – For the ship going straight.
(here is the change in the velocity inlet).
Forces-Direction Vector (1 0 0): gives the
– Step 8: Vary the bow’s angle value of the force acting on the ship's hull and this
In this step, we have to construct the force have the same direction of the ship’s axis;
computational model by rotating the hull with + The figure 5 reveals the force due to water
different angles, then meshing the model (repeat from flow acts on the model hull;
step 3). + The force acting on the ship's hull, known as
the drag, for the studied hull model in this case is
3. Results and analysis 0.31426 N.
In order to facilitate further research, the PhD
students constructed a research model of the M / V
TAN CANG FOUNDATION ship with similarity
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By using the same procedures for different speed of The relationship between the ship’s advance
the investigated ship: 0.55; 0.65; 0.75, we obtained velocity and resistance at nose angle of 0 is shown in
the results shown in the table 3: figure 6.
Table 3. Resistance of the model with different
velocity at nose angle of 00
Velocity (m/s) 0,45 0,55 0,65 0,75
Drag of model 0,314 0,376 0,523 0,698
Figure 3.Geometry and mesh of the problem.
Figure 4. Pressure distribution on two sides of the vessel at φ = 00.
Figure 5. The model ship’s resistance taken in the Fluent.
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Figure 6. The drag of the model ship at φ = 00.
Figure 7. Pressure distribution on two sides of the vessel at φ = 100.
Figure 8. The drag and centrifugal forces of the model ship at φ = 00, φ = 100.
Figure 9. Additional moment at turning angle φ = 100.
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When the vessel goes straight, the obtained Additional of the prototype = 4,171.k3 = 4,171,106 (N) (5)
results from simulating shows that the value of the With a rapidly increasing drag, the speed of
centrifugal force and the additional torque is the vessel decreases rapidly because the thrust made
approximately zero. Similarly, we deploy for the by the propeller do not overcome this force, so we
other cases with different nose angles: have to choose an appropriate turning angle in the
– Nose angle of  = 100 ship's maneuvering process.
Figure 3.7 shows the asymmetry in pressure We can show the change of hull’s resistance
distribution of the hull’s sides causing the additional by keeping advance velocity and changing turning
force, resistance and overturning moment. angle.
Table 4. Calculation results with  = 100 As can be seen from the figure 12 that the
model ship’s resistance at the same nose angle of 30
Speed (m/s) 0,45 0,55 0,65 0,75 degree goes up when advance velocity alters from
0.45 to 0.75 and the difference of this force is
Drag of the model calculated as below.
0,354 0,471 0,612 0,715
(N)
Additional drag of the ship model = 4,824 -
Centrifugal force of 1,430 = 3,394 (N)
0,047 0,065 0,083 0,148
the model (N) Additional drag of the prototype = 3,394.k3 =
Additional moment 3,394,106 (N)
0,09 1,0 7,88 10,89
of the model The figure 3.12 reveals that the model ship’s
To express the additional force and centrifugal force resistance at different turning angles is a part of a
third degree curve with the turning angles, and this
at nose angle of 100 , we have:
gets the minimum when the vessel goes straight. To
From obtained results of the model, we can determine principle of hull’s resistance, we assume
calculate to the prototype vessel as follows: that it is the function of turning angle with third
degree as follows:
Resistance, centrifugal force of prototype =
resistance, centrifugal of the model * k3 (3) T = a.3 + b.2 + c. + d với 0  35 (6)
We also present the overturning torque in the We specify the resistance curves with various
case of nose angle φ = 100 in the figure below. nose angles at the advance velocity of 0.75. When the
vessel goes straight with  = 0, the resistance is 0,698
From the obtained results of the model ship, N. We have d = 0,698.
we can find the extending force and torque of the real
ship by using following formula. Because the resistance curve goes through
three points: (10; 0,715), (20; 2,027) and (30; 4,824),
Additional torque of the prototype = Model’s replacing coordinates of these to the 3.8 equation, we
additional torque * k4 (4) have:
From the figure 10, we see that the extra 27000.a + 900.b + 30.c - (4,824 - 0,698) = 0
torque increases rapidly as the speed increases from
0.55 to 0.65 and 0.75. This is the potential cause of 8000.a + 400.b + 20.c - (2,027 - 0,698) = 0 1000.a +
the ship's unstable balance. 100.b + 10.c - (0,715 - 0,698) = 0
– Results for nose angle of 200 and 300 Solving this system of equation, we
determined these value of parameters as follows:
The calculation results in the table 3,
extending forces and torques, is shown in the figure a = 0,00003167; b = 0,005525; c = - 0,05672.
11. Therefore, the resistance curves showing the
relationship between turning angle and hull’s drag
Figure 3.11 demonstrates that the resistance becoming:
acting on the ship hull increases rapidly when nose
T = 0,00003167.3 + 0,005525.2 - 0,05672. +0,698 (7)
angle goes up, and the maximum value of this force is
4.824 N at velocity of 0.75 m/s and the nose angle Using the same procedure, we also determined
varying from 00 to 300. This additional forces are the resistance curves for the other cases as follows:
calculated as follows: + Resistance curve with advance velocity of
Additional force of the ship model = 4,824 - 0,65 m/s:
0,653 = 4,171 (N) T = 0,0001457.3 - 0,00129.2 + 0,007233. + 0,523 (8)
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Figure 10. Resistance, centrifugal force, additional moment of the model ship.
Figure 11. Drag of the model ship at different speed.
Figure 12. Drag of the model ship at different turning angle.
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Figure 13. The centrifugal force of the model at differnt speeds.
Figure 14. The additional moment of the model at differnt speeds.

+ Resistance curve with advance velocity of 0,55 m/s: + Centrifugal force ofreal vessels = 0,148.k3 =
0,148,106 (N).
T = 0,00002567.3 + 0,001445.2 - 0,007517. +
In addition from the figure 3.13, we identify
0,376 (9) that the centrifugal force at the same advance velocity
+ Resistance curve with advance velocity of 0,45 m/s decreases significantly when the nose angle increases
T = -0,0000645.3 + 0,00424.2 - 0,03195. in a range of 20 -300 .
+ 0,31 (10) The additional moment corresponding with
various turning angle is displayed in the figure. From
– Centrifugal force (N) this figure, we can realize that when the speed and
Figure 13 demonstrates the centrifugal force at nose angle rise, the torque increases dramatically
different turning angles corresponding with advance and reaches the maximum value at speed of 0.75 m /
velocity of the model ship. From this figure, we also s and the nose angle of 300. The additional torque on
realizes that when the nose angle changes in the range model ship and prototype is specified as follows.
of 0-100, at the same speed of 0.75, the maximum + The additional torque of the model = 32,15 -
value of the centrifugal force gets 0.148 N and is 0 = 32,15 (N.m).
determined as below. + The additional torque on real vessel =
32,15.k4 = 32,15,108 (N.m)
+ Centrifugal force of ship model = 0.148 - 0
= 0.148 (N).
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4. Conclusion of the current effects on maritime safety in Haiphong

fairway, Vietnam. International Association of
In conclusion, the article presented a model Maritime Universities, 17th Annual General
studying the effect of fluid dynamics on a ship in Assembly, ISBN: 978-604-937-120-2, 26 - 29
maneuver by simulating and calculating extending October, 2016, Vietnam, pp. 170 - 179.
forces and moments. The calculated results for the M [2] TTr. Tiếu Văn Kinh. Sổ tay hàng hải, tập I, II. Nhà
/V TAN CANG FOUNDATION model at 16 xuất bản Giao thông vận tải, Hà Nội, 2010.
working points in order to illustrate the changing [3] PGS. TS. TTr. Phạm Kỳ Quang (Chủ biên), TS. Vũ
Văn Duy, ThS. Bùi Văn Cường, ThS. Cổ Tấn Anh
principle of additional force components with
Vũ, ThS. Nguyễn Thành Nhật Lai. Sách chuyên khảo
different speeds and turning angles. “Ứng dụng CFD trong khoa học hàng hải”. Nhà xuất
Acknowledgments bản Khoa học và Kỹ thuật, ISBN: 978-604-67-0897-1,
Hà Nội, năm 2017.
This work was supported by the application-oriented [4] NCS. ThS. Cổ Tấn Anh Vũ (Chủ nhiệm đề tài), PGS.
basic research program of Hai Phong City in Viet TS. Phạm Kỳ Quang, TS. Vũ Văn Duy cùng các thành
Nam. viên khác. Xây dựng chương trình tính toán mô phỏng
và thử nghiệm một số nguyên nhân cơ bản dẫn đến tai
References nạn hàng hải trên tuyến luồng Sài Gòn phục vụ công
tác đào tạo và huấn luyện thuyền viên. Đề tài Khoa
[1] Prof. Dr. Luong Cong Nho, Prof. Dr. Pham Ky
học Công nghệ cấp Bộ Giao thông vận tải; mã số:
Quang, Dr. Vu Van Duy, PhD. Student Bui Van
DT174030, năm 2017.
Cuong, PhD. Student Co Tan Anh Vu, PhD. Student
[5] Hồ sơ tàu M/V TAN CANG FOUNDATION.
Nguyen Thanh Nhat Lai. Calculation and simulation
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Impact of Flow Configuration inside Spray Drying Tower on Drying

Efficiency and Product Quality
Thi Thu Hang Tran1, Maciej Jaskulski2,*, Kieu Hiep Le1, Evangelos Tsotsas3
1
Heat Engineering Department, Hanoi University of Science and Technology, Hanoi, Vietnam
2
Faculty of Process and Environmental Engineering, Lodz University of Technology, Lodz, Poland
3
Thermal Process Engineering, Otto-Von-Guericke-University Magdeburg, Germany
*Email: maciej.jaskulski@p.lodz.pl
Abstract
In this paper, a model-based analysis is performed to elucidate the influence of flow configuration of a spray
drying tower on both dehydration efficiency and product quality. Firstly, a Computational Fluid Dynamic -
CFD model of spray drying tower that accounts for the heat, mass and momentum interaction between
discrete phase via user defined functions, i.e. droplets and particles, and multicomponent non-isothermal
fluid phase is presented. Then the CFD simulations are performed for an industrial scale drying tower, where
skim milk serves as drying product, with different flow configurations, i.e. axial flow of inlet air, inlet airflow
with 30° swirl, airflow with 60° swirl, whereas other operating conditions are remained unchanged.
Furthermore, the denaturation kinetic is integrated in the CFD model by using a scalar function. The
simulation results show that a better dehydration efficiency and higher product quality can be achieved with
the swirl inlet airflow. However, the configuration with swirl inlet airflow results in a higher wall deposition rate
due to centrifugal motion of droplet/particle. The simulation results also suggests that the square nozzle
hanging plate is recommended instead of round hanging plate.
Keywords: CFD simulation, spray drying tower, flow configuration, drying efficiency, product quality.
1. Introduction if inflation/deflation phenomena occur during the

drying process at elevated temperature [6].
In the recent decades, spray drying process has
Additionally, the protein denaturation kinetic is
been widely used in several industrial sectors such as
implemented in the CFD solver to predict the impact
diary or pharmaceutical powder productions. A low
of drying process parameters on protein activity level
concentration of solid in the solvent feed of dryer
after the spray drying [7].
results in a high temperature of drying agent that may
Following this introduction, the CFD model is
provide a massive thermal energy for particle
briefly recalled. Afterward, the CFD simulation is
formulation and liquid evaporation. The heat and
performed with different flow configurations. All
mass transfer between the liquid droplet/solid particle
simulation results including drying efficiency,
and the drying agent depends strongly on the
product quality and wall deposition are compared to
hydraulic design of the dryers. A proper flow
show the impact of each parameter on the drying
configuration can help to increase the dehydration
process and to show which configuration and
efficiency and to restrain the product denaturation.
parameters can give optimal results in spray drying of
Since the optimization of spray drying designs by
skimmed milk when using novel mono-disperse
empirical try and error method is a difficult and
multi-stream atomizers.
expensive process, it should be alternatively done by
sensitivity analysis performed based validated dryer 2. Model description
models.
2.1. Dryer configuration
Computational fluid dynamics (CFD) or
computational fluid dynamics coupled with discrete CFD simulations are performed on a pilot scale
phase model (CFD-DPM) are powerful approaches to spray drying tower (c.f. Fig. 1) with total height of
describe the drying behavior of real spray drying 6.1 m and inner diameter of 0.4 m. To prevent heat
towers [1]. By using CFD simulations, the fluid phase loss to environment, the outer tower is issulated by
hydrodynamic behaviors have been used to 100 mm glass wool layer, except of a length of 0.72
investigate [2,3]. By incorporating the particle m from the bottom. The ambient air is sucked in by a
solidification kinetic into the CFD simulation, the fan and is heated up by electrical heaters. The hot air
particle formulation, agglomeration can be described enters the drying chamber on top of the tower
[4,5]. Recently, the CFD model of skimmed milk whereas the exhausted air flow out near the bottom of
spray drying developed in frame of ENTHALPY the tower. The skim milk solution, with initially 45%
project can also predict evolution of particle diameter mass fraction of solid, is atomized on the top of the
305 October 27 - 28, 2018

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surface. Those differences change the mesh structure

near the air inlet area. However, all mesh quality
parameters and number of mesh element were kept
constant.
2.2. Transport models
For the fluid phase transport, a multispecies
fluid including air and water vapor is firstly created.
To describe the flow of drying agent with axial flow,
the realizable k-ε turbulence model was used. The
turbulence model was changed to the RNG k-ε with
switching on option of swirl dominated flow, which
is recommended for calculations with rotary airflow,
to simulate the swirl flow.
The heat and mass interactions between
continuous and discrete phases are described by
Characteristic Drying Curve (CDC) model where the
drying process is comprised of two periods: 1 st and
2nd periods. During the 1st drying period, the droplet
acts as a pure water droplet. In the 2 nd drying period,
a dry shell is formulated by which the evaporation is
restrained. Therefore, the drying rate in 2nd period is
decreased by a retardation coefficient factor f. The
moisture content of transition point between 1st and
2nd periods are denoted as critical moisture content
Fig. 1. Spray drying tower with different atomizer Xcr. For skim milk, the correlations of f and Xcr
configurations. depending on moisture content and temperature,
velocity developed in our published own work [6]
tower via a novel mono-disperse multi-stream will be used in this work.
atomizers designed by TNO (Netherlands
Organization for Applied Scientific Research, 2.3. Denaturation kinetic equations
Netherland). In this work, two different atomizers, i.e. In this work, the denaturation of whey protein is
CL and SQ configurations, are considered. In the CI considered. In the work of Atuonwu et al [8], a
configuration, four printing heads arranged one Williams-Landel-Ferry (WLF) style model was
beside the other, the heads are mounted on the round suggested to calculate the deactivation kinetic of
base (diameter 214 mm) plate used in the drying whey protein. The aforementioned heat and mass
tower. Each printing head has a base plate with 150 transfer reaction model and protein deactivation
outlets placed in one line (c.f. Fig. 1). Whereas, in SQ model were implemented in CFD solver by using
configuration the heads are mounted on the User Defined Functions codes. Other operating
rectangular (188 mm x 188 mm) base plate. To conditions and input parameters of CFD model are
distinguish different air inlet directions, additional listed in Table 1.
markings added to the name of the atomizers are
listed as: Ax for axial flow of air, 30 for airflow with 3. Result and discussion
30° swirl and 60 for airflow with 60° swirl. The simulation results are presented in Figs. 2-5.
ANSYS Meshing software was used for grid The air velocity at the symmetrical plane of spray
generation. Several meshes with different densities drying tower are presented in Fig. 2. In the cases of
and element shapes were tested to obtain accurate, vertical inflow, i.e. CI_Ax and SQ_Ax, high
grid independent solutions. Additionally, near the velocities are observed near to the axis of the tower as
wall area, where the highest gradients of velocity are there is no large disturbance by the atomized droplets
predicted, a five-step boundary layer was generated. of the hot air movement. With increasing swirl angle
Finally, a fine mesh with 385k tetrahedral elements in the middle of the drying chamber region of low
was generated. Skewness of 0.88 and aspect ratio of velocities is created. In cases with 60° swirl angle the
5.33 indicate a high quality of the mesh. For every lowest air velocities can be observed near to the
case, with different printing head configurations, a tower axis and the highest can be found near to the
new mesh was generated with different computational dryer wall. Swirling air distribution has a significant
elements on the atomizer support plate and air inlet impact on particle flow trajectories. Particles rotation
306 October 27 - 28, 2018

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Table 1. Operating conditions and input parameters

used in CFD simulations.
Parameters Correlation/value
Equilibrium moisture content GAB equation [9]
Inlet air mass flow rate 0.1 kg/s
Inlet air temperature 200 oC
Initial droplet diameter 180 µm
Initial solid mass fraction 45%
Initial droplet temperature 55 oC
Mass flow rate of skim milk
0.018 kg/s
solution
Initial droplet velocity 18.7 m/s
Fig. 3. Temperature distribution at cros sectionof

dryer with different atomizer configurations.
Fig. 2. Velocity distribution at cross section of dryer

with different atomizer configurations.
increases their residence time inside the drying
chamber (Table 2). However, in drying chambers
with such a small diameter (400 mm) swirling
movement of air can give surprising results which are
described later in this section.
The temperature of the continuous phase
presented in Fig. 3 decreases along the tower because
the heat is transferred to the discrete phase for Fig. 4. Particle wall deposition after 400 s presented
moisture evaporation. The minimum temperature in logarithmic scale with different atomizer
observed in the atomization zone was around 60°C. configurations.
In the cone chute a zone of lower temperature (about
307 October 27 - 28, 2018

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40°C) was observed, formed as a result of heat losses

to the atmosphere through un-insulated cone walls.
Analysis of air temperature contours reveals swirling
airflow along the dryer walls. Additionally, two
regions of different temperatures can be identified in
all simulated cases. In all the cases, we find the low
temperatures in the atomization zone as the hot air is
revolving around. In the air temperature distributions,
low temperatures in the atomization zone are in the
center as the four heads of spray nozzles are arranged
parallel to each other near to the dryer axis. Hot air is
flowing around the spray envelope.
With axial air flow evaporation takes place in
the middle of the dryer. With an increase in the angle
of air rotation the centrifugal force that pushes the
particle toward the walls of the dryer also increases.
Near to the wall evaporation rate is lower due to
lower air temperature. However the drying process is
much longer, due to longer residence time of particles
inside the drying chamber. Analysis of drying
efficiency (c.f. Table 2) shows that 30° swirl
increases the residence time and this improves drying
efficiency. However too strong rotation pushes
particles into the low temperature region and
decreases drying efficiency.
Powder deposition on the dryer walls is an
Fig. 5. Changes in protein activity of particles
undesirable process during spray drying. This
streams obtained with different atomizer
phenomenon can reduce the product quality or, in
configurations.
extreme case, stop the drying process by clogging the
drying chamber. To calculate the number of inter- Table 2. Properties of outlet product obtained from
particle collisions it was necessary to perform all CFD simulations.
calculations in transient state. The number of time Case tres, s W, % Mdep, % Aact, %
steps maintained for every simulation was 400 with
time step size of 0.1 s. Analysis of contours where CI_Ax 3.08 92.32 0.47 92.87
powder can be deposited (Fig. 4) and overall CI_30 3.95 95.15 0.84 90.92
percentage of feed storage on the dryer wall (Table 2) CI_60 5.46 87.91 2.15 93.54
shows that in such a narrow spray dryer swirling
movement of air is not recommended and strongly SQ_Ax 2.92 93.08 0.60 88.91
increases powder deposition on the dryer walls. In SQ_30 3.97 98.69 0.82 91.85
axial air flow cases no deposition on the cylindrical
SQ_60 6.80 95.98 2.07 93.87
part of the dryer is observed. Powder is gathering
only on the walls of the bottom conical part near to
the particle outlet. Swirling air movement increases product powder received from CFD simulations for
significantly powder deposition on the wall. every atomizer configuration are presented in
The changes in protein activity for selected Table 2.
particle streams are presented in Fig. 5. As can be 4. Conclusion and closing remark
seen, strong swirling movement of air decreases
deactivation rate despite the longer residence time of In this work, a CFD model based analysis is
particles inside the drying chamber. Near to the wall performed to investigate the influence of atomizer
particles are drying slower in low temperature region and air inlet flow configurations on drying efficiency
which results in lower protein deactivation. and product quality. The results indicate that the
round nozzle hanging plate (CL configuration) is not
For the sake of cursory inspections, average recommended due to lower dehydration efficiency
residence time tres, average percentage of water compared to square hanging plate (SQ configuration).
removed from particles Wre, particle wall deposition Furthermore, the swirl air inlet flow is also not
Mdep, average protein activity levels Aact of outlet
308 October 27 - 28, 2018

Hanoi, Vietnam
suggested for narrow diameter of chamber since it [2] D.B. Southwell, T.A.G. Langrish, The effect of swirl
can enhance the wall deposition, especially with swirl on flow stability in spray dryers, Chemical
60o. However, the swirl air inlet flow configuration Engineering Research and Design 79 (2001) 222–234.
can lead to a higher active level of whey protein and [3] C. Lebarbier, T.K. Kockel, D.F. Fletcher, T.A.G.
Langrish, Experimental measurement and numerical
higher drying efficiency. Therefore, the swirl air inlet simulation of the effect of swirl on flow stability in
flow is recommended for a wide drying tower. spray dryers, Chemical Engineering Research and
This study shows that both thermo-hydraulic Design 79 (2001) 260–268.
[4] M. Jaskulski, P. Wawrzyniak, I. Zbiciński, CFD
behavior and product quality of real spray drying
simulations of droplet and particle agglomeration in
tower can be investigated by using CFD simulations. an industrial counter-current spray dryer, Advanced
In the future, this CFD model-based sensitivity Powder Technology 29 (2018) 1724–1733.
analysis can be extended to pave the way for both [5] M. Jaskulski, P. Wawrzyniak, I. Zbiciński, CFD
designing and optimizing spray drying towers in model of particle agglomeration in spray drying,
reality. Drying Technology 33 (2015) 1971–1980.
[6] T.T.H. Tran, M. Jaskulski, E. Tsotsas, Reduction of a
Acknowledgments model for single droplet drying and application to
The research leading to these results has CFD of skim milk spray drying, Drying Technology
35 (2017) 1571–1583.
received funding from the European Union’s Seventh
[7] M. Jaskulski, J.C. Atuonwu, T.T.H. Tran, A.G.F.
Framework Programme for research, technological Stapley, E. Tsotsas, Predictive CFD modeling of whey
development and demonstration under grant protein denaturation in skim milk spray drying
agreement n°613732 – project ENTHALPY. powder production, Advanced Powder Technology 28
(2017) 3140–3147.
References [8] X.D. Chen, S.X.Q. Lin, Air drying of milk droplet
[1] E. Tsotsas, Multiscale approaches to processes that under constant and time-dependent conditions, AIChE
combine drying with particle formation, Drying Journal 51 (2005) 1790–1799.
Technology 33 (2015) 1859–1871.
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A Numerical Investigation on Droplet Formation in Microfluidic Double

T-junction under the Effects of Channel Depth
Ich Long Ngo1,2,*, Trung Dung Dang3*
1
School of transportation engineering, Hanoi University of Science and Technology, No. 1, Dai Co Viet,
2
School of mechanical engineering, Yeungnam Univeristy, Gyeongsan, 38541, South Korea
3
School of chemical engineering, Hanoi University of Science and Technology, No. 1, Dai Co Viet,
*Email: ngoichlong@ynu.ac.kr
Abstract
Microfluidic devices are receiving increasingly significant interests due to their potential applications,
including purification technologies, immobilization of bioactive materials used in biological techniques. The
droplet formation in a microfluidic double T-junction devices is studied numerically under the effects of
channel depth. Numerical results show obviously good agreement with experimental ones obtained in
literature. It was found that droplet size increases with increasing channel depth. Particularly, channel depth
affects significantly to droplet formation, droplet size, shape and even flow regime in double T-junction. Four
regimes of droplet formation under the effect of channel depth was first discovered in the present study.
These results are useful for many applications in nanoparticle synthesis with different concentrations,
hydrogel bead generation, and cell transplantation in biomedical therapy.
Keywords: Biological techniques, CFD, droplets, Microfluidic devices.
1. Introduction and water fraction (wf). This paper showed that

alternating droplet formation (ADF) exists at low wf
Recently, the fabrication of microparticles has
and low Reynolds number with capillary number
been attacked significant interests due to its potential
ranging from 0.001 to 0.05.In addition, a droplet
applications such as purification technologies,
pairwith different size and viscosities was generated
immobilization of bioactive materials, and spacer and
from two dispersed flows with different flow rates
calibration standards[1-3]. Besides other methods, e.g.
[10]. Another MFDTD that includes tapered
precipitation polymerizationand soap-free emulsion
expansion chamber and two triangular wings was also
polymerization, microfluidic devices (MFD) are new
used to generated ADF. Idea of this design is to
and advanced approach that can be used for preparing
reduce the flow instability and preventing reagents
microparticles with narrow size distribution from
from back flowing [11]. By controlling relative flow
monodisperse droplets [2, 4, 5]. Water-in-oil droplets
rates of the two dispersed flows and pinch function
formed in microchannels was firstreported by
width, various droplet size ratios (1:5 to 5:1) can be
Thorsen et al.[6]. In general, the microdroplets are
obtained in alternating mode. While these
continuously formed at a junction when two
experimental investigations provide important
immiscible liquids such as a hydrophilic solution and
information on ADF in MFDTD, a systematic
hydrophobic oil are supplied into separate channels of
numerical study can be very useful for identifying
a MFD. Depending on the geometrical structure, the
more comprehensive parameter ranges for ADF and
MFD can be divided into four types, co-flowing,
gaining further insight into this interesting
T-junctions, flow-focusing, and terrace devices [3, 4,
phenomenon.
7, 8].
Computational fluid dynamic (CFD) has been
Along the MFDs mentioned above, microfluidic
used in studying formation of microdroplets in
double T-junction device (MFDTD) was developed
MFDs. Menech et al. [12, 13] studied the dynamics of
from the original T-junction device. Since the droplet
droplet when it collides to the wall and breakup into
pairs with different compositions can be formed, it
two smaller droplets in a microfluidic symmetric
can be used for indexing the concentrations of solutes
T-junction using phase-field model. Three distinct
in a droplet, protein crystallization [9] or used as an
regimes of droplet formation, namely squeezing,
initial process in droplet-merging techniques [10].
dripping and jetting, in microfluidic T-shaped
Zheng et al.[9] experimentally identified four
junction were proposed in this study.On the other
different regimes of the fluid flow in a MFDTD that
hand, Bashir et al. [14] used two phase level-set
are characterized as a function of capillary number
method to investigate extensively wetting effects on
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the droplet size and droplet formation in a specific T-

junction with different flow rate ratios, viscous ratios
and surface tensions. Moreover, the Lattice
Boltzmann method used also used to study droplet
generation in flow-focusing devices of various
designs [15-17]. Although many effects were taken
into account in previous studies, no research
considers extensively the effects of channel depth
ratio (CDR) on droplet formation in a MFDTD. Fig. 1. Schematic diagram of computational domain
The objective of this study is to examine droplet for a MFDTD.
formations in MFDTD under the effects of channel used to describe flow field for continuous and
depth ratio, besides othereffects of the channel width dispersed phase flows, respectively. In Eq. (5), α is
ratio, capillary number and wf on the flow volume fraction that is 0 in continuous flow, and vary
characteristics. The 3D two-phase flow problem was sharply to 1 across the interface (α=0.5), as shown in
solved using volume of fluid (VOF) method. The Fig. 1.
droplet formationare also analyzed extensively for a
wide range of CDR, from 0.1 to 10. Additionally, the last term on the right hand side
of Eqs. (3) and (4) is the volumetric surface-tension
2. Numerical methodology force acting only on the interfaces between different
The schematic structure of MFDTD is illustrated fluids, where σ, κ and n denote surface tension
in Fig. 1, where all dimensions are as the function of coefficient, curvature and unit normal vector of the
the main channel width Wc. In this figure, the interface, respectively. Here δ is the Dirac delta
continuous flow supplies oil through the main function, which is zero everywhere except on the
channel with average velocity Uc while the other two interface. This force can be calculated using
for the dispersed flows supply water with identical Continuum Surface Force (CSF) model proposed by
average velocity Ud. By varying the flow rates of the Brackbill et al. [18]. Important parameters that
continuous and dispersed flows, water droplets are characterize this two-phase flow in a microfluidic
formed in this MFDTD with controllable channel are shown in Eq. (6), i.e. Reynolds number
concentrations. (Re), Capillary number (Ca), density ratio (γ), and
viscosity ratio between two phases (β).
Both fluids are assumed to have constant
physical properties. The system is scaled using the A geometric reconstruction scheme (the
main channel width Wc and average velocity of piecewise linear interpolation calculation, PLIC) is
continuous flow Uc as the length and the velocity used. Fully non-wetting boundary condition isapplied
scale, respectively. The non-dimensional variables so that dispersed flows do not wet the walls. The
are therefore introduced in Eq. (1), where u, p, ρ and PISO scheme is used for pressure-velocity coupling
μ are the velocity, pressure, bulk density and bulk with the ease of convergence problem. PRESTO
viscosity of fluid flows, respectively. (Pressure Staggering Option) and QUICK (Quadratic
x * y * z * ux * u y * uz (1) Upstream Interpolation for Convective Kinetics)
x*  ; y  ; z  ; ux  ; u y  ; uz  scheme are utilized for pressure interpolation and
Wc Wc Wc Uc Uc Uc
computing a higher-order convective variable at a
Uc W
t*  t; p*  c p; *  Wc ; n*  Wcn face, respectively.
Wc cU c
 m 1 n 1   y     z m  (7)
n
U   1     1    
 u  0 (2) 
 m   n    b     a  
 
T
1
Re  ut  u  u     pI  u   u    n
 Ca
(3) 
m  1.7  0.5  b / a  ; n  
1.4

2
2+0.3  b / a  1 / 3
for b/a  1/3
for b/a  1/3
  1
 Re  ut  u  u    pI   u  u    n

T
 Ca
(4)
At the three inlets, velocity profiles of laminar
fully-developed flow are imposed through the User-
t  u    0 (5)
Defined Function (UDF). For a rectangular cross-
cU cWc U   (6)
Re  ; Ca  c c ;   d ;   d section channel, an empirical formula proposed by
c  c c
Natarajan and Lakshmanan [19] can be used, as
By carrying out dimensional analysis, non- shown in Eq. (7), where a, and b are half length of
dimensional form of the governing equationsare rectangular sides. Variables y and z in Eq. (7) are
shown from Eq. (2) to Eq. (5) after dropping asterisk denoted for coordinates in two directions on the plane
from all non-variables shown in Eq. (1). Eqs. (3) and perpendicular to the channel.
(4) are known as momentum equations, which can be
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Hanoi, Vietnam
Fig. 2. Comparing with experimental results obtained

Fig. 3. Droplet formation as a function of channel
by Zheng et al. [9], (a) experimental, (b) numerical.
depth ratio for Ca=0.1, wf=0.4, β≈0.0173, Re≈0.15,
λ=1.0, (a) ε = 0.5, (b) ε = 1.0, (c) ε = 1.5.
In addition, atmospheric pressure condition is
imposed at the outlet as a reference pressure in the ε=0.5, 1.0, and 1.5, respectively. It implicates that
system. No-slip boundary condition is used for the microdroplets with the size less or larger than main
channel walls. Other essential parameters, i.e. the channel width can be effectively controlled by
channel width ratio of the dispersed to the continuous designing a appropriate CDR. The increase of droplet
flow, CDR, and water fraction are defined in Eq. (8): size as a function of CDR can be known to be due to
Wd L 2Qd the increase of flow rate feeding to both channels
 ;   dep ; wf  (8) while their ratio are kept constant. Notably, the same
Wc Wc 2Qd  Qc
wf and channel width ratio (λ) are set. In addition, the
3. Results and discussions increase of channel depth also results in the decrease
of total flow resistance that allows a larger droplet
The numerical results of droplet formation in
forming in a larger space.
this MFDTD were validated by comparing with those
obtained in Zheng’s study [9], as shown in Fig. 2. Particularly, four regimes of droplet formation
Three particular values of wf, 0.2, 0.4, and 0.6 were in a MFDTD under effects of CDR are shown in Fig.
considered while Ca was kept constant at 0.015. At 4. The CDR ranging from very small (ε=0.15) to very
this Ca, droplets were formed in alternating mode. large (ε=10) value is extended from that mentioned in
Based on the results in Fig. 2, it can be concluded that Fig. 3. For ε=0.15, the droplets are formed and
the numerical results show are in good agreement merged unstably at an arbitrary position in the main
with those obtained by Zheng et al. [9]. The droplet channel, as shown in Fig. 4a. When the CDR
size increases with increasing the wf for both increases, the ADF occurs at the upstream behind the
experimental and numerical studies, and it is also in double T-junction, however, they merge each other at
line with the results in literature [20, 21]. the downstream. Nevertheless, the larger droplets
generate at the end, as shown in Fig. 4b, ε=0.3. For
Fig. 3 shows the the effects of CDR on the
larger CDR, droplets form stably in alternating mode
droplet formation in the MFDTD for three particular
(Fig. 4c). However, when the CDR reaches a
cases of CDR, ε=0.5 (Fig. 3a), ε=1.0 (Fig. 3b), and
prescribed large value, ε=7.0 (Fig, 4d), two dispersed
ε=1.5 (Fig. 3c). Both top and side view to
flows interact each other, resulting in the asymmetric
microchannel that correspond to two virtual cameras
phenomenon of droplet formation. In addition, this
used in experiment, are also provided to observe the
droplet variation in both directions. Notably, Re
≈0.15 implicates the flow is in laminar regime. Its
reasonal for a flow through a microchannel. Ca=0.1
(less than unity) means the capillary force acting on
the interface between two phases is dominant. In
addition, β≈0.0173 (less then unity) mean the
continuous flow (oil) has higher viscosity than that of
dispersed flow (water). It was found from Fig. 3 that
droplet size increases as the CDR increases.
Supposed that effective diameter of droplet (Deff) is
defined in Eq. (9).
6Vd
Deff  3 (9)

Fig. 4. Four regimes of droplet formation under
In Eq. (9),Vd is the volume of droplet that are effects of CDR, (a) Unstable merging, (b) Stable
assumed to be equivalent to its volume in spherical merging, (c) Stable alternating, (d) unstable-
shape. Consequently, the result of Deff obtained for asymmetric alternating.
three cases of CDR are 0.307, 0.775, and 1.24 for
312 October 27 - 28, 2018

Hanoi, Vietnam
mode is unstable with various droplet sizes formed at [7] T.D. Dang, Y.H. Kim, H.G. Kim, G.M. Kim,
the end. In summary, the channel depth affects Preparation of monodisperse PEG hydrogel
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and even flow regime in a MFDTD. device, J Ind Eng Chem, 18 (2012) 1308-1313.
[8] T.D. Dang, S.W. Joo, Preparation of tadpole-shaped
4. Conclusions calcium alginate microparticles with sphericity
control, Colloid Surface B, 102 (2013) 766-771.
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investigated numerically underthe effects of channel droplets of in microfluidic channels alternating
depth. Consequently, numerical results show composition and applications to indexing of
obviously good agreement with experimental ones concentrations in droplet-based assays, Anal Chem,
reportedin Zheng’s study. Droplet size increases with 76 (2004) 4977-4982.
the increasing the CDR and the microdroplets with [10] B.J. Jin, Y.W. Kim, Y. Lee, J.Y. Yoo, Droplet
merging in a straight microchannel using droplet size
the size less or larger than main channel width can be
or viscosity difference, J Micromech Microeng, 20
effectively controlled by designing a appropriate (2010) 1-10.
CDR. but the relative depth of droplet decreases with [11] L.H. Hung, K.M. Choi, W.Y. Tseng, Y.C. Tan, K.J.
increasing channel depth. Particularly, the channel Shea, A.P. Lee, Alternating droplet generation and
depth affects significantly to droplet formation, controlled dynamic droplet fusion in microfluidic
droplet size, shape and even flow regime in a device for CdS nanoparticle synthesis, Lab Chip, 6
MFDTD. Four regimes of droplet formation under the (2006) 174-178.
effect of channel depth was first discovered in the [12] M. De Menech, Modeling of droplet breakup in a
present study. These results are useful for many microfluidic T-shaped junction with a phase-field
model, Phys Rev E, 73 (2006) 1-9.
applications in nanoparticle synthesis with different
[13] M. De Menech, P. Garstecki, F. Jousse, H.A. Stone,
concentrations, hydrogel bead generation, and cell Transition from squeezing to dripping in a
transplantation in biomedical therapy. microfluidic T-shaped junction, J Fluid Mech, 595
Acknowledgments (2008) 141-161.
[14] S. Bashir, J.M. Rees, W.B. Zimmerman, Simulations
We would appreciate the contributions and of microfluidic droplet formation using the two-phase
supports from Prof. Sang Woo Joo, Prof. Chan Byon, level set method, Chem Eng Sci, 66 (2011) 4733-
and Prof. Byeong Jun Lee in Yeungnam University 4741.
(YU) of South Korea. [15] M.M. Dupin, I. Halliday, C.M. Care, Simulation of a
microfluidic flow-focusing device, Phys Rev E, 73
References (2006) 1-4.
[16] L. Wu, M. Tsutahara, L.S. Kim, M.Y. Ha, Numerical
[1] D. Dendukuri, D.C. Pregibon, J. Collins, T.A. Hatton, simulations of droplet formation in a cross-junction
P.S. Doyle, Continuous-flow lithography for high- microchannel by the lattice Boltzmann method, Int J
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(2006) 365-369. [17] L.S. Kim, H.K. Jeong, M.Y. Ha, K.C. Kim,
[2] T. Nisisako, T. Torii, T. Higuchi, Novel Numerical simulation of droplet formation in a micro-
microreactors for functional polymer beads, Chem channel using the lattice Boltzmann method, J Mech
Eng J, 101 (2004) 23-29. Sci Technol, 22 (2008) 770-779.
[3] C.A. Serra, Z.Q. Chang, Microfluidic-assisted [18] J.U. Brackbill, D.B. Kothe, C. Zemach, A continuum
synthesis of polymer particles, Chem Eng Technol, method for modeling surface tension, Journal of
31 (2008) 1099-1115. Computational Physics, 100 (1992) 335-354.
[4] G.M. Whitesides, The origins and the future of [19] N.M. Natarajan, Lakshmanan, Laminar flow in
microfluidics, Nature, 442 (2006) 368-373. rectangular ducts: Prediction of velocity profiles and
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production of emulsions and particles by milli- and [20] I.-L. Ngo, T.-D. Dang, C. Byon, S.W. Joo, A
microfluidic techniques, Curr Opin Colloid In, 13 numerical study on the dynamics of droplet formation
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Numerical Study of the Aerodynamic Characteristics and the Equilibrium

of Unmanned Aerial Vehicle Regarding the Horizontal Tail Role
Bui Vinh Binh1,*, Hoang Thi Bich Ngoc1, Nguyen Hong Son2
1
Hanoi University of Science and Technology, Dai Co Viet, Hai Ba Trung, Hanoi, Vietnam
2
Hanoi University of Industry, Cau Dien Street, Bac Tu Liem District, Hanoi, Vietnam
*Email: binhbv89@gmail.com
Abstract
In order to fly, an aircraft must be in balance (equilibrium). The equilibrium means that the sum of the
pitching moments about the center of gravity generated by the forces acting on the aircraft must be zero.
The horizontal tail located behind the main wing provides equilibrium, stability and control of the aircraft. The
horizontal tail typically has a long moment arm from the aerodynamic center to the centre of gravity, so a
small change in aerodynamic force of this one can lead to a large change in pitching moment. Because of
the importance of the horizontal tail in the aircraft design, three dimensional models of unmanned aerial
vehicle (UAV) with wing-tail-fuselage interference were studied numerically in this paper. Lift coefficients of
wing alone and UAV’s wing were compared with each other to evaluate the influence of the fuselage and tail
on the wing. In addition to calculating the aerodynamic characteristics of UAV, this paper presents results of
aerodynamic characteristics of each component of the aircraft in order to determine the equilibrium of UAV.
Keywords: Wing alone and UAV’s wing, Horizontal tail, Aerodynamics, Equilibrium.
1. Introduction calculate the aerodynamic characteristic contribution

of each component of the aircraft through different
This work studies the aerodynamic
types of configurations (wing profile-2D, wing alone,
characteristics and the equilibrium of aircraft in the
wing-fuselage and wing-fuselage-tail). The article
cruise flight mode at constant airspeed and altitude
clearly investigated the downwash phenomenon
[1] [2]. All of the aerodynamic components can affect
behind the wing and fuselage but was not evaluate the
the equilibrium of the aircraft. If an aircraft is to
influence of downwash on the horizontal tail as well
remain in balance, the resultant force as well as the
as the longitudinal equilibrium.
resultant moment about the center of gravity must
both be equal to zero. On the other hand, if the forces Present numerical results were compared with
and moments do not sum to zero, the aircraft will be experimental results performed by Thomas and
subjected to translation and rotational accelerations. Wolhart [8] for a model airplane with sweptback
wing of 45 degrees and a Mach number of 0.13.
In this paper, a classic unmanned aerial vehicle
(UAV) configuration was studied with high-wing Aerodynamic forces as well as physical
twin-boom (two longitudinal booms fixed to the main phenomena were analyzed for the UAV and
wing on either side of its centre line). Twin tailbooms components as wing, fuselage and tail. Analyzing
provide mounting points for an H-tail configuration. pitching moments of all components allowed to
determine the equilibrium state of UAV and adjust
The horizontal tail is located behind the main
the design in an attempt to satisfy the equilibrium. In
wing, so its aerodynamic characteristics are affected
the work [9], G. Zhang et al studied the tail dihedral
by both the wing and fuselage. The velocity of flow
effects on the aerodynamic and stability
towards the tail is not the velocity at infinity, that is
characteristics of aircraft. They proved that the tail
changed in both direction and magnitude when over
actually plays a vital role in the longitudinal
the wing and fuselage. Moreover, the aerodynamic
characteristics. Choosing the suitable tail types can
characteristics of the horizontal tail are of great
really satisfy the equilibrium of the aircraft. However,
importance for the longitudinal equilibrium and
the study did not specifically analyze the
stability of the aircraft [3] [4]. So, it must study the
aerodynamic characteristics of the tail as a
wing and fuselage wakes to recognize those changes.
component of the aircraft.
The aerodynamic characteristics of UAV (lift,
2. Comparison of numerical and experimental
drag, pitching moment) have assessed using Fluent
results for a model airplane
software (Ansys) [5], [6]. The geometry model of two
cases were simulated: wing alone and UAV complete Thomas D. F. and Wolhart W. D. [8] performed
model. L. Smith [7] also introduced an approach to experiments to measure aerodynamic forces of a
314 October 27 - 28, 2018

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Figure 1. Dimensions of model airplane in

experiment of Thomas and Wolhart [8].
Figure 3. Mesh on the airplane symmetry surface.
Figure 2. Model airplane planeform.

model airplane in a wind tunnel for determining static
stability characteristics of the airplane.
By using the Fluent software, we have
performed simulations for the model of Thomas and Figure 4. Lift coefficient - comparison of numerical
Wolhart to determine the aerodynamic forces of and experimental results [8].
aircraft. The grid generation and boundary conditions
of the numerical method are presented in detail in
section 3.
2.1. Model airplane in experiment
Principle dimensions of the model airplane are
shown in Figure 1 (the unit is inches). The mounting
point of model was in the quarter-chord point of the
mean aerodynamic chord of the wing. The model
airplane had high sweptback wing (45 degrees for the
quarter line).
The main wing had the profile NACA 65A008,
root chord of 9.2 inches, tip chord of 5.5 inches, span
of 44.1 inches and aspect ratio of 6. Horizontal tail Figure 5. Drag coefficient - comparison of numerical
had root chord of 6 inches, tip chord of 3.64 inches and experimental results [8].
and span of 13.4 inches. Vertical tail had root chord airplane and wing were the same. A wide range of
of 7.4 inches, tip chord of 4.4 inches and wing span angle of attack was examined, from α=-4o to α=20o.
of 8.3 inches. Other dimensions are shown in Figure
1 and Figure 2 (planeform of the model airplane Figure 4 presents numerical results of lift
drawn with Solidworks). coefficients as compared with experimental results
with respect to the angle of attack. It was observed
With the dimensions of the model airplane (in that the numerical and experimental were similar for
experiment) described above, this one was redrawn. angles of attack from -4o to 14o (differences were
The grid generation of the airplane symmetry surface smaller than 5%) and the lift coefficients were
is shown in Figure 3. increased almost linearly. At higher angles of attack,
2.2. Comparison of numerical and experimental from 14o to 20o, the lift coefficients of the aircraft
results increase s with convex curve (the speed of increasing
was reduced). However, at these high angles of
In the experiment, setting angles of wing and attack, lift coefficients did not fall with differences
horizontal tail were zero. So, angle of attack of the
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Figure 6. Pitching moment coefficient - comparison

of numerical and experimental results [8].
between the numerical and experimental results being
smaller than 7%.
Comparison of numerical and experimental drag Figure 7. Schematic view of the UAV.
coefficient results are shown in Figure 5. Drag
Table 1. The fuselage coordinates
coefficients increased with a concave curve and had
the minimum value when α = 0o. For angles of Coordinate Coordinate Coordinate
Coordinate
attack from -4o to 14o, numerical and experimental y -Lower y -Upper z
x (mm)
drag coefficients were similar. With angles of attack (mm) (mm) (mm)
from 14o to 20o, differences between the numerical 0 -158 -158 0
and experimental results were smaller than 7%. 130 -268 21 150
Figure 6 shows that numerical and experimental 280 -300 104 210
curves of pitching moment coefficients were always
520 -318 197 270
approaching each other. Differences of numerical and
experimental results on pitching moment coefficients 1660 -318 318 335
were very sensitive due to the long arm between the 3320 -318 318 335
aerodynamic center of horizontal tail and gravity
3720 -234 285 286
center of the airplane. Based on the comparisons in
Figures 4, 5 and 6, it could be concluded that the 4000 84 84 0
numerical method solving the differential equations Table 2. Dimensions of the wing and horizontal tail
for viscous flows (from Fluent) was sufficiently
accurate to calculate aerodynamic characteristics of Horizontal
Parameter Symbol Wing
aircrafts in the range of subsonic flows. tail
NACA NACA
3. Aerodynamic characteristic of UAV Profile
4412 0010
3.1. Aerodynamic model of UAV Span (m) b 15 3.0
Root chord (m) cr 1.0 0.57
The UAV studied in this work was a simple
model of UAV in practice as shown in Figure 7. Tip chord (m) ct 0.7 0.57
Simulation model includes aerodynamic components: Mean
wing, tail and fuselage (W-T-F). Fuselage coordinates aerodynamic c 0.859 0.570
of the UAV are given in Table 1. Dimensions of the chord (m)
wing and horizontal tail are given in Table 2. The Aspect ratio AR 17.6 5.0
airfoil section of vertical tail is NACA 0010. Two
Setting angle
plates of the vertical tail were located in the two tips
(degree)
i 4 0
of horizontal tail.
Sweep angle of
Due to the simulation study of the aircraft in leading edge  LE 0.57 0
conditions of the longitudinal stability and (degree)
equilibrium, the aerodynamic model was symmetrical Sweep angle of
across the plane passing through the fuselage shaft. trailing edge TE 1.72 0
To reduce the computation time of simulation, a haft (degree)
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Figure 10. Lift coefficient CL-W of wing alone with

Figure 8. Grid on the symmetry surface, wing, respect to the incidence angle of the wing.
fuselage, horizontal and vertical tail.
Figure 11. Drag coefficient CD-W of wing alone with

respect to the incidence angle of the wing.
Figure 9. Pressure coefficient on a wing half at =4o.
of the UAV model was applied. This was similar to
the method of A. Paziresh et al [10].
For meshing boundaries, the side surface was
0.5 bW ( bW - the wingspan) far away from the UAV.
The inlet and outlet surfaces were respectively 20 cW
and 50 cW far away from the UAV ( cW - the mean
chord of the wing). The top and bottom surfaces were
10 cW far away from the UAV. For boundary
conditions, the velocity at infinity was at the inlet
surface, the pressure at infinity was at the outlet Figure 12. CL-W/CD-W ratio of wing alone with respect
surface, the open condition was at the side, top and to the incidence angle.
bottom surfaces, the symmetry condition was at the
symmetry surface. 3.2. Aerodynamic characteristics of wing alone
The grid was generated to ensure physical Figure 9 shows the 3D distribution of pressure
properties of the problem. The mesh size was fine coefficients on a half of the wing alone. The lift
enough in intersection domains of UAV components coefficient (from pressure coefficients) decreased
and in boundary layers. Figure 8 shows grid on the from the root to the tip of the wing.
symmetry, wing, fuselage, horizontal and vertical tail.
Downwash flow behind the wing had great impact on Figure 10 presents the variation of the lift
the horizontal tail that was caused by wing tip coefficient of the wing alone with the incidence
vortices [11] [12]. In the present study for viscous angle. It showed an almost linear increase in lift
and vortex flows, turbulent model k-epsilon (k-ε) was coefficient with increasing the incidence angle α 
used for all simulation problems using Fluent 12o. The increase speed is reduced with  = 12o 18o.
software. The lift coefficient fallen with  > 18o.
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Figure 13. Streamlines along the upper surface of

wing alone with  = 0o.
Figure 15. Lift coefficients of wing aloneand UAV’s

wing.
Figure 14. Streamlines along the upper surface of

wing with  = 14o.
Drag coefficients of the wing alone are
presented in Figure 11. The drag coefficient increased
with a concave curve and had the minimum value Figure 16. Streamlines along the UAV at UAV=0o.
when the incidence angle  = – 2o. With  > 12o, the and tail which reduced the lift coefficient of the wing.
drag coefficient increased fast. The ratio of the lift The larger the angle of attack, the stronger the
coefficient to drag coefficient CL-W/CD-W is presented
interaction influence. The interaction between the
in Figure 12. It was maximum with  = 4o. Therefore, wing and the fuselage, between the wing and the tail
the setting angle of wing of UAV iW=4o was reduces the lift coefficient of the wing.
justifiable.
Figure 16 shows streamlines along the UAV
The increase of drag coefficients at high
with angle of attack UAV = 0o. With the setting angle
incidence angles was caused by the separation of the of wing iW = 4o and the setting angle of horizontal tail
flow on the wing upper surface. Figure 13 shows iH = 0o, streamlines through the wing and horizontal
streamlines along the upper surface with the tail were steady. Streamlines through the fuselage and
incidence angle  = 0o and there was not separations the wing tip were twisted in the wake region.
of the flow. However, in Figure 14, it is observed that
there was separations of the flow on the wing upper Figure 17 presents the drag coefficient of UAV
surface when  = 14o. The circular flow from the and components (wing, horizontal tail, vertical tail
lower surface to the upper surface at the wing tip and fuselage). Each component was calculated under
formed tip vortices. In section 3.3, we will review the influence of interactions each other.
aerodynamic characteristics of the wing of UAV (as a Evaluating the value of the lift coefficient of
component of the UAV). This allows to study the each component (in Figure 17) indicates that the wing
interaction influence of the fuselage and tail to the contributes substantially to the lift coefficient of the
wing. UAV. At high angles of attack, the lift coefficient of
3.3. Aerodynamic characteristics of the UAV fuselage also contributed a small part to the UAV lift
coefficient (< 3% CL=UAV). The vertical tail did not
Consider a model of UAV including wing-tail- create the lift due to the symmetry profile and its
fuselage. Figure 15 presents lift coefficients of the vertical location. The horizontal tail had a little
wing alone and the UAV’wing. Lift coefficients of contribution to the UAV lift. But it created a large of
UAV’ wing were always smaller than one of the wing pitching moment because of the long arm from the
alone. This showed interaction influence of fuselage aerodynamic centre of the horizontal tail to the
318 October 27 - 28, 2018

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Figure 18. Drag coefficients.

Figure 17. Lift coefficients.
(moment) equals zero, motion is constant. The center
gravity centre. Notably, the lift coefficient of of gravity of an airplane is the point at which it would
horizontal tail increased quite quickly from negative balance if it was suspended in air. In an aircraft where
to positive values with increasing the angle of attack. the aircraft weight may vary from time to time due to
At the angle of attack UAV = 0o, the lift coefficient of payload variations, or burning fuel, the center of
the horizontal tail was negative (although the gravity will not be fixed. The movement of the center
horizontal tail had the symmetric profile and zero of gravity should be limited due to requirement of the
setting angle). This phenomenon was caused by the stability of aircraft. The primary stability parameter
wing downwash effect. that influences the longitudinal stability is the
The lift coefficient of UAV increased almost derivative cm cm /  (cm is the pitching moment
linearly with increasing angle of attack with α  8o. coefficient). The derivative Cmcharacterizes the rate
The speed of the increase was reduced with of change of the pitching moment coefficient (C m)
 = 8o 14o. The lift coefficient decreased with with respect to the angle of attack (α). Static stability
 > 14o. Comparing the lift coefficients of the wing of an aircraft requires Cm to be negative. The Centre
and the UAV, it could be realized that they were of gravity position corresponding to C m = 0 is known
qualitatively similar but different in quantity as the neutral point. The center of gravity must lie
(considering the setting angle of wing iW = 4o). The ahead of the neutral point for positive stability. For
drag coefficient of each component and the UAV are the UAV as reviewed here, there is not factors
presented in Figure 18. The drag of UAV was mainly changing the position of gravity center.
caused by the drag of wing. However, at high angles In order to calculate the balance, it is necessary
of attack, the drag of the fuselage and horizontal tail to calculate the aerodynamic force (moment) of each
contributed a considerable part to the drag of UAV. component of the UAV as shown as in Figure 19.
The vertical tails did not create trivial lift and drag.
However, the setting of the vertical tails at two tip of 4.1. Equations of equilibrium
the horizontal tail reduced the tip effect of the
For UAV to be in balance in a certain flight
horizontal tail.
condition, the sum of forces (moments) must be zero.
4. Flight equilibrium The pitching moment of UAV is determined by the
following relation:
An aircraft in equilibrium when the net force
Figure 19. Aerodynamic forces and moments of UAV for calculating the equilibrium.
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M aircraft  ( M w M f M h Mv )
( LwlwCg Dw hwCg )( Lf l f Cg Df hf Cg ) (1)
( Lh lhCg Dh hhCg )( Lv lvCg Dv hvCg )
The pitching moment coefficient of UAV is

determined by:
M aircraft
Cm  (2)
1
V 2 Sw cw
2
where  is the density of air, V is the velocity of Figure 20. Pitching moment coefficients.
UAV, SW is the wing area, and cw is the mean chord drag, hence, the pitching moment coefficient was
of wing. The remaining parameters in the equations trivial. The pitching moment coefficient graphs of the
(1) and (2) are defined in Tables 3 and 4. wing and fuselage tend to go up, so, they could lead
Table 3. Definition of force and moment to an instability for the UAV.
components
The horizontal tail had a little contribution on
Pitching the lift and drag (Figures 17 and 18), but it created a
Components Lift Drag
moment large pitching moment due to the large arm from
Wing Lw Dw Mw aerodynamic centre of the horizontal tail to the center
Fuselage Lf Df M f of gravity. The graph of pitching moment coefficient
Horizontal tail Lh Dh Mh of the horizontal tail (Figure 20) tend go down and
Vertical tail Lv Dv Mv was the major component in pitching moment of
UAV. Thus, the equilibrium of UAV depended
According to the graph in Figures 17 and 18, largely on the aerodynamic characteristic of
values of the lift and the drag of UAV components horizontal tail. At the angle of attack UAV = 0o,
varied with respect to the angle of attack. In the pitching moment of UAV (equal sum of pitching
cruise mode, the angle of attack of UAV equals zero. moments of components) equaled zero.
Table 4. Torque arms of lift and drag
4.3. Neutral point and static margin
Torque arms of Torque arms of
Components The static margin (SM). The static margin is
lift (m) drag (m)
lw  C g  0 hwCg  0.2 defined as the non-dimensional difference between
Wing
l f Cg  0.3 h f  Cg  0
the aircraft center of gravity and the aircraft neutral
Fuselage point, expressed as a percentage of the mean
Horizontal tail lh  Cg  4 hh Cg  0.2
aerodynamic chord of the wing ( cW ) [13]. An aircraft
Vertical tail lv Cg  4.2 hv Cg  0.45
with a low static margin will be less stable and more
In the numerical calculation using Fluent responsive to pilot inputs. An aircraft with a large
software, lift and drag coefficients of aircraft models static margin will be high stable and slower to
were calculated. With the values of the arms in Table respond to the pilot inputs. Thus, the location of
4, pitching moments calculated, hence, the equations neutral point is the key to find the static margin.
(1) and (2) were solved. The position of the gravity center is the point
4.2. Pitching moment and equilibrium that the pitching moment of UAV about this point
Consider the position of the gravity center of equals zero ( M CG  0 ). The origin of
 0
UAV as the origin of coordinates with: xcg  0 and coordinates is coincident with the center of gravity,
zcg  0 . To ensure the balance condition in the thus, xC  0 (mm) .
G
cruise mode of UAV, the pitching moment coefficient

The position of the neutral point is the point at
of aircraft about the center of gravity equals zero at
which the derivative of the aircraft pitching moment
the angle of attack UAV = 0o.
about this point with respect to the angle of attack
Pitching moment coefficients of UAV and equals zero (MNp/=0) [4]. From the simulation
components are shown in Figure 20 in case of the results for the pitching moment of UAV, we
center of gravity and the neutral point being not in determine the position of the neutral point
overlap. The vertical tail did not create trivial lift and xNp=322(mm) at which the pitching moment about
320 October 27 - 28, 2018

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The horizontal tail have small area as compared to the

wing. However, a small change of lift on the
horizontal tail can make a large pitching moment for
UAV due to its long arm from the tail aerodynamic
center to the UAV gravity. The changes of the
horizontal tail setting angle and the elevator angle are
the basic to establish the equilibrium of the aircraft
Figure 21. Pitching moment coefficients about CG under the impact of environmental variations.
and NP of UAV. References
this point were almost unchanged as shown as in [1] S. A. Andrews, R. E. Perez, Analytic study of the
Figure 21. The static margin of UAV is calculated by conditions required for longitudinal stability of dual-
[3]: wing aircraft, Journal of Aerospace Engineering. 232
xN  xCG 322  0 (5) (2017) 1-15.
SM  P   0.375  37.5% [2] D. Keller, Numerical approach aspects for the
cW 859 investigation of the longitudinal static stability of a
The static margin SM = 37.5% is a relatively transport aircraft with circulation control, New
large for an aircraft for which the aircraft is very Results in Numerical and Experimental Fluid
stable and slow to respond to the pilot inputs. Mechanics IX. (2014) 13-22.
[3] R. C. Nelson, Flight stability and automatic control,
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4221-4226.
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[6] L. Gao, C. Li, H. Jin, Y. Zhu, J. Zhao and H. Cai,
solving differential equations for viscous flows. Aerodynamic characteristics of a novel catapult
Hence, using Fluent software in our study was launched morphing tandem-wing unmanned aerial
reasonable. vehicle, Advances in Mechanical Engineering. 9 (2),
In order to ensure the accurate of calculation (2017) 1-15.
steps and suitable grid for UAV model, we had [7] L. Smith, Investigation of a modified low-drag body
performed the comparisons of numerical results with for an alternative wing-body-tail configuration,
the published experimental results for an airplane Doctoral Thesis, University of Pretoria, South Africa
model. The comparisons between numerical and (2017).
[8] D. F. Thomas Jr, W. D. Wolhart, Static Longitudinal
experimental results about the aerodynamic
and Lateral Stability Characteristics at Low Speed of
characteristics showed that there are similar at angles 45 Degree Sweptback-midwing Models, National
of attack (aircraft<14o) and acceptable at high angles advisory committee for aeronautics (1957).
of attack (aircraft >18o). [9] Zhang, G. Q., Yu, S. C. M., Chien, A., Xu, Y,
The study that separate the results about each of Investigation of the tail dihedral effects on the
component of aircraft (wing, fuselage, horizontal and aerodynamic characteristics for the low speed aircraft,
vertical tail) allows the assessment of the level of the Advances in mechanical engineering. (2013) 1-12.
impact of the components in the aerodynamic [10] Ali Paziresh, Amir Hossein Nikseresht and Hashem
Moradi, Wing-body and vertical tail interference
characteristic of aircraft. This allows the design of the
effects on downwash rate of horizontal tail in subsonic
aircraft is adjustable, especially, when considering the flow, Journal of Aerospace Engineering. 30 (4) (2017)
balance of the aircraft. 1-12.
The comparison of lift coefficient of wing alone [11] M. Mahdi, Prediction of wing downwash using CFD,
and UAV’ wing allowed evaluate the change 3rd International workshop on numerical modelling in
aerodynamic characteristics of wing by the aerospace sciences – Romania. 7 (2) (2015) 105-111.
interacting with the fuselage. [12] A. Grote, R. Radespiel, Studies on tailplane stall for a
Based on the aerodynamic forces calculated for generic transport aircraft wind tunnel model, New
each component, we can evaluate the pitching Results in Numerical and Experimental Fluid
Mechanics VI. (2007) 26-35.
moment coefficients of the components and aircraft.
[13] M. H. Sadraey, Aircraft design, A John Wiley & Sons,
This study showed that the horizontal tail was the Ltd. (2012).
major component creating the pitching moment of
aircraft and strongly impacting on the equilibrium.
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Numerical Simulation for Solidification of Water, Molten Silicon, Molten

Germanium on a Cold Plate
Binh D. Pham, Truong V. Vu*
School of Transportation Engineering, Hanoi University of Science and Technology,01 Dai Co Viet,
*Email: vuvantruong.pfae@gmail.com
Abstract
In this paper, we present a numerical investigation of the solidification of water, molten silicon and molten
germanium drops on a cold plate. The numerical method used in this study is an axisymmetric front-
tracking/finite difference technique that represents the interfaces separating two phases by connected
elements. These elements move on a rectangular fixed grid where the Navier-Stokes and energy equations
are solved by a predictor-corrector scheme for the time integration and a central difference approximation for
spatial derivatives. The liquid drop with an initial shape as a section of a sphere is placed on the cold plate
that is the source of solidification. After complete solidification, the solidified drop has a horn shape because
of growth angle (ε) and volume expansion. In this paper, the growth angle is assumed to be constant. The
wetting angle (o) is also investigated.
Keywords: Numerical investigation; Front-tracking; growth angle; wetting angle.
1. Introduction experimental results. Specifically here, we choose:

The solidification of water, molten silicon and
o=76o±1o for water, o=33o±1o for silicon,
molten germanium drops on a cold plate were studied o=30o±1o for germanium. Each material possesses its
a lot. However, the authors mainly stop at the own growth angles. Here, the growth angle of water
experiment to give shape of the drops. Here, a is assumed to be ε=0o, with silicon ε=12o, with
significant work is Satunkin’s study [1]. The germanium ε=14o.
materials used in Satunkin’s experiments [1] were 2. Mathematical Formulation and Numerical
the molten silicon, molten germanium, molten InSb. Parameters
The experiments presented in this paper described
the initial liquid as part of the sphere. The author Fig. 1 shows the initial condition of the liquid
presented that the shapes of the droplets after drop which forms a part of a sphere placed on a cold
complete solidification is affected by the growth plate. The liquid drop is completely immersed in the
angle (ε), the wetting angle (o) of each drop. Huang
et al [2] also presented the solidification of a water
droplet on the cold plate in the paper “Effect of
contact angle on the water droplet freezing process on
a cold flat surface” [2]. The liquid which Huang at al
[2] studied is water. The authors performed the
experiments with different wetting angles (o). In the
paper, the authors also showed the process after
complete solidification. However, in this study, we
only study the solidification process of liquid and do
not study the process further.
In this paper, we investigate the solidification of
water, molten silicon, and molten germanium drops
on the cold plate through numerical simulation to
give a model that reasonably reflects the experiments.
The method used in the paper is front-tracking [3]
(one of the well-known methods for simulations of
multi-phase) to describe the process from the liquid to
solid state of the drops on the cold plate. The wetting
angles are chosen based on the experiment to Fig. 1. The initial shape and computational
compare the numerical simulation results with the domain of a liquid drop.
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computational domain with the presence of three – Bond number characterizes the ratio of gravity to
phases: solid, liquid and gas. Three interfaces on the
liquid drop are solid – liquid, solid – gas, liquid - gas. surface tension, We – Weber number represents the
These interfaces create a three – phase line (TPL). relation importance of the fluid's inertia compared to
Navier – Stokes and energy equations are used to its surface tension, θo – initial dimensionless
solve the problem with the phase boundaries
represented by the front–tracking method. The temperature, ρsl, ρgl – density ratios, μsl, μgl – viscosity
properties of each phase such as density ρ, viscosity ratios, ksl, kgl – thermal conductivity ratios, Cpsl, Cpgl –
μ, thermal conductivity k, heat capacity Cp are heat capacity ratios. The non-dimentional time is
assumed to be constant in each phase. The liquid and
the gas are assumed to be incompressible and τ=t/τc. Here, τc=ρlCplR2/kl is reference time,
immiscible, the equations are: R=[3Vo/(4pi)] -wetting radius, Vo – initial volume of
1/3
- Navier-Stokes equation: the liquid drop.

 (  u)
  uu        u  uT   3. Results and Comparions
t (1) 3.1. Water
   k (x  x f )n f .dS    f  g 
f The problem is simulated based on the data of the
experiment paper of Huang et al [2].The water
- Energy equation:
droplet has an initial volume of 56.34L. During the
( C p T) .
   C pTu    kT    q  (x  x f )dS solidification process, the cold plate was kept at
t f
-8.5oC. We assume that the initial water shape is part
(2) of the sphere with o=76o. Fig. 2 shows the
comparison of simulation results with experimental
- Continuity equation: results of Huang et al [2]. Considering the shape of
1  1 1  . the water droplet after complete solidification, we can
.u     f  (x  x f ) qdS see that the simulation result is very close to the
Lh   s l  experimental result. This confirms the accuracy of the
(3)
simulation method used in this study.
u=(u,v) is the velocity vector, p is the pressure, gis
the gravitational acceleration, T is the temperature, f Fig. 3 shows the temporal evolution of the
is used to impose a non-slip condition on the freezing process with the temperature field. The
solidinterfaces. Delta function δ(x−xf) has a zero important non-dimensional parameters of water are:
value at every positions except for positions xf at the Pr=7.5, St=0.1, Bo= 0.18 and We=5.10-3. In this
interfaces.  represents the surface tension paper, we use the growth angle of ε=0o, and the
. wetting angle of 0=76o same as those in the
coefficient, q is thermal flux at the solid-liquid experiment of Huang et al[2]. Because of Bo>0, the
interface, s - solid, l - liquid, Lh is latent heat of gravity is downward, acting on the cold plate. We
fusion. We have the following dimensionless consider the evolution of temperature over time.
parameters: Fig. 3a (at τ=0) depicts the initial condition of the
problem. The water drop is part of the sphere and is
C pl l C (T  T )  gR2 placed in the domain. The cold plate is placed under
Pr  , St  pl m c , Bo  l ,
kl Lh  the drop. Here the lowest temperature is shown in
blue. At the next stage, τ = 6.1, the temperature from
lU c2 R kl2
We   the cold plate causes the water drop to freeze (Fig.
 l RCl2 3b). The solidification process develops over time
T0  Tc  g g 
0  ,  sl  s ,  gl  ,  gl  , sl  s
Tm  Tc l l l l
k kg C ps C pg
ksl  s , k gl  , C psl  , C pgl 
kl kl C pl C pl
Here, Pr – Prandtl number characterizes the

temperature diffusion ratio, St – Stefan number Fig. 2. Comparison between simulation (right) and
represents the ratio of sensible heat to latent heat, Bo experiment (left[2]) of a frozen water drop.
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a) τ=0
a) τ=0
b) τ=165
b) τ=6.1
c) τ=329.64
Fig. 5. Time evolution of density field at different
stages: (a) τ=0, (b) τ=165 and (c) τ=329.64.
c) τ=12.13
drop shape is part of the sphere with o=33o. Fig. 4
Fig. 3. Time evolution of temperature field at
shows the comparison of simulation results with
different stages: (a) τ=0, (b) τ=6.1 and (c)
experimental results of Satunkin[1]. Considering the
τ=12.13.
shape of the silicon droplet after complete
solidification, we can see that the simulation result is
very close to the experimental result.This confirms
the accuracy of the simulation method used in this
study.
Fig. 5 shows the time evolution of the freezing
process with the density field. The important non-
dimensional parameters of silicon are given as:
Pr=8.10-3, St=0.1, Bo= 0.45 and We=0.2. In this
paper, we use the growth angle of ε=12o, and the
Fig. 4. Comparison between simulation (right) and
wetting angle of 0= 33o based on the experiment of
experiment (left [1]) of a crystallized silicon drop.
Satunkin [1]. Fig. 5 shows the evolution of the
and when water is frozen the drop volume increases solidification interface over time. At τ=0 (Fig. 5a),
and grows upward, causing the upward flow from the the silicon drop is shown in red. Here, the red
solidification surface.As a result, at τ=12.13, the corresponds to the highest density. At the next stage
increased volume of solid grown upwards produces a τ=165, the solidification process develops over time.
horn-shaped form at the top of the frozen droplet Molten silicon is frozen the drop volume increases
(Fig. 3c). The horn-shape appearings on the solid and grows upward causing the upward flow from the
drop matches the experimental results [2]. surface solidification (Fig. 5b). After complete
solidification the drop produces a horn-shaped form
3.2. Silicon
at the top (Fig. 5c). At τ=329.64, the horn-shape
The problem is simulated, based on the data of the appears on the solid drop matching the experimental
experiment paper of Satunkin [1].The silicon droplet results.
has an initial volume of 56.34L. The cold plate was
kept at 1227 oC. We assume that the initial silicon
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a) τ=0
Fig. 6. Comparison between simulation (right) and

experiment (left [1]) of the crystallized
germanium drop.
3.3. Germanium
The problem is simulated, based on the data of the
experiment paper of Satunkin[1]. The germanium b) τ=60
droplet has an initial volume of 50.70L. The cold
plate was kept at 800oC. Assume that the initial
germanium drop shape is part of the sphere with
o = 33o. Fig. 6 shows the comparison of simulation
result with experimental result of Satunkin[1]. In
shape of germanium droplet after complete
solidification, we can see that the simulation result is
very close to the experimental result. This confirms
the accuracy of the simulation method used in this c) τ=111.024
study. Fig. 7. Time evolution of temperature at different
Fig. 7 shows the temporal evolution over time of stages: (a) τ=0, (b) τ=60 and (c) τ=111.024.
a germanium drop freezing process with the
temperature field. During the solidification process, 4. Discussion
the cold plate was kept 800oC. The important non-
This paper studies the solidification process of
dimensional parameters of germanium are: Pr=8.10-3,
water, silicon, germanium drops on a cold plate. At
St=0.02, Bo=0.5 and We=0.2. In this paper, we use
the end of the solidification process, we obtain a solid
the growth angle of ε=14o, and the wetting angle of
shape in the form of a cone. However, their shapes
0=33o same as those in the experiment of Satunkin are different on the solidification drops. The
[1]. We consider the evolution of temperature over
solidified drops of silicon and germanium are more
time. Fig. 7a (at τ=0) describes the initial condition
conical than that of water, because each liquid has a
of the problem. The germanium drop is part of the
different growth angle, the larger the growth angle,
sphere and is placed in the domain. The cold plate is
the top of the liquid after complete solidification is
placed under the drop. Here the lowest temperature is
more conical. The growth angle of water, silicon and
shown in blue.At the next stage, τ=60, the
germanium are respectively 0 o, 12o, 14o. In addition,
temperature from the cold plate causes the
the change in volume of the liquid also causes the
germanium drop to freeze (Fig. 7b). The
shape of the drops at the end of the solidification
solidification process develops over time and when
process.
molten germanium is frozen the drop volume
increases and grows upward, causing the upward flow The focus in this paper is to use the font- tracking
from the solidification surface. As a result, at method to simulate the solidification process of
τ=111.024, the increased volume of solid grown different liquids and compare the results with the
upwards produces a horn-shaped form at the top of experiments. Although the simulation results are very
the frozen droplet (Fig. 7c). The horn-shape appears close to the experiments, many problems have still
on the solid drop matching the experimental been unresolved. For instance how non-dimensional
results[2]. parameters affect the solid shape and solidification
rate. In addition, other external factors affecting the
process of solidification such as wind speed, gas
pressure, etc. are not considered.
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Hanoi, Vietnam
5. Conclusions Development (NAFOSTED) under Grant number

107.03-2017.01.
The method we use in this paper is a front-
tracking method [3] to simulates the solidification of References
liquids with volume change. The growth angles of the
[1] G. A. Satunkin, “Determination of growth angles,
liquids are constant. We use the parameters of water, wetting angles, interfacial tensions and capillary
silicon and germanium in the two papers of Huang et constant values of melts,” J. Cryst. Growth, vol. 255,
al [2] and Satunkin [1]. The simulation results have no. 1, pp. 170–189, Jul. 2003.
been compared with the corresponding experimental [2] L. Huang, Z. Liu, Y. Liu, Y. Gou, and L. Wang,
results, showing well agreement. “Effect of contact angle on water droplet freezing
process on a cold flat surface,” Exp. Therm. Fluid
Acknowledgements Sci., vol. 40, pp. 74–80, Jul. 2012.
[3] G. Tryggvason et al., “A Front-Tracking Method for
This research is funded by Vietnam National
the Computations of Multiphase Flow,” J. Comput.
Foundation for Science and Technology Phys., vol. 169, no. 2, pp. 708–759, May 2001.
326 October 27 - 28, 2018

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An Adaptive Coupled Level Set/Volume of Fluid Method for Simulation of

Multiphase Flows on Unstructured Grids
Long Cu Ngo1, Hyoung-Gwon Choi2,*
1
Dept. of Mechanical Engineering, Seoul National University of Science and Technology, Seoul, Korea
2
Dept. of Mechanical and Automotive Engineering, Seoul National Univerisity of Science and Technology,
Seoul, Korea
*Email: hgchoi@snut.ac.kr
Abstract
We present a coupled level set/volume of fluid method for simulation of multiphase flows on adaptive
unstructured grids. The level set advection equation is solved in a narrow band around the interface on a
finite element framework. Meanwhile, the volume fraction of the volume-of-fluid method is obtained by using
a conservative unsplit semi-Lagrangian scheme. To combine the two approaches, we use the normal field
obtained from the level set function to reconstruct the interface in volume of fluid scheme. Then, the
reconstructed interface is used to reinitialize the level set function in a narrow band around the interface by
using a geometrical approach. The numerical method is validated in two- and three-dimensional benchmark
problems established in literature. During the simulations, the grids are updated by using an adaptive mesh
refinement approach to reduce the computational overhead. Numerical results show that the proposed
method performs an excellent mass conservation property as well as accurate prediction of interface
motions for complex flows.
Keywords: level set, volume of fluid, unstructured grid, mass conservation.
interface calculation (SLIC) and piecewise linear

1. Introduction
interface calculation (PLIC) in order to advect the
Numerical simulations of multiphase flow volume fraction based on a reconstructed interface.
require an additional numerical technique to track the However, the normal field needed to reconstruct the
interface movement together with solving the interface is still a remaining challenge in VOF
governing equations of the fluid flow. Among various methods, especially for unstructured grids.
numerical methods for tracking the movement of
In order to combine the advantages of LS/VOF
interface such as front tracking methods [1], level set
methods, researchers have developed the coupled
methods [2], volume of fluid methods [3] and the
LS/VOF methods by using the volume fraction
combined LS/VOF methods [4], LS methods and
function to improve mass conservation problem of LS
VOF methods have been used widely by researchers.
methods, while using LS function for computing
The LS methods capture an interface normal field in VOF methods. Sussman and Puckett
represented by a level set function ϕ by solving the [4] proposed a fully coupled LS/VOF method in
level set advection equation for an externally which both level set and volume of fluid advection
generated velocity field. The LS function is usually equations are solved simultaneously. The level set
initialized as a signed distance function with zero- function is then used to compute the normal field
value on the interface. LS methods are easy to used in the interface reconstruction step of the VOF
implement and in computing normal and curvature scheme. After that, the volume fraction field is used
field, as well as treat the merging and coalescence of in the level set reinitialization step in order to take the
interface naturally. However, they often suffer from advantage of mass conservation property of VOF
mass conservation issue and require an additional method for the level set method. This method also has
reinitialization step to maintain their property as a been implemented by a number of researchers, and
signed distance function. The review of the LS the concept of this method will be used in this study
methods and their application can be found in [5]. with some modifications. Yang et al. [6] performed a
coupled LS/VOF for adaptive unstructured grids in
In the VOF methods, an indicator function, two dimensional space.
defined to be the volume fraction of one fluid in each
This paper introduces a coupled LS/VOF
cell is evolved by an advection equation to determine
method which uses the state of the art VOF advection
the location of an interface. These method was
scheme for unstructured triangular grids. We solve
proven to be mass conservative. They also require an
the LS and VOF advection equation simultaneously
interface reconstruction step such as the simple line and employ the LS function to compute the normal
327 October 27 - 28, 2018

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field used in VOF interface reconstruction step. The

reconstructed interface is then used to reinitialize the
LS function to satisfy the signed distance function
property. The proposed method is validated against
some benchmark problems including the Zalesak’s
disk rotation, the 2D disk deformation problem and
the 2D broken dam problem. Numerical results show
that the method is well performed with for all test
cases.
2. Numerical methods
2.1. Level set advection equation
Figure 1. Description of the direct re-initialization
The level set method represents an interface by a
algorithm for a 2D unstructured grid.
zero iso-surface of a smooth function 𝜙 , usually
defined as a signed distance function. The motion of simulations. For each marked cell, the volume
interface is updated by solving the level set advection fraction is updated as follows:
equation with a given velocity field 𝐮 as follows: 1
𝜕𝜙 𝛼𝑘𝑛+1 = 𝛼𝑘𝑛 − ∑ 𝑉𝑘,𝑓 𝑛
(7)
+ 𝐮 ∙ ∇𝜙 = 0 (1) 𝑉𝑐
𝑓∈𝛤𝑐
𝜕𝑡
The LS advection equation is solved by where the superscript 𝑛 refers to the discrete
LSWRM proposed in [7] based on the linear finite time lelve, 𝑉𝑐 is the volume of the cell, 𝑉𝑘,𝑓 is the
element P1P1 and a second order Crank-Nicholson volumetric flux of one fluid across mesh cell face 𝛤𝑐 .
time integration scheme. The final formula of the For more details, see [8].
discretized equation in matrix form is written as
follows: 2.3. Coupled level set/volume of fluid method
𝑎𝑖𝑗 𝜙𝑗𝑛+1 = 𝑓𝑖 (2) In order to take the advantages of both level set
where 𝑎𝑖𝑗 is the element matrix and 𝑓𝑖 is the and volume of fluid method, the level set function is
force vector. Both terms can be written as follows: first used to determine the normal vector of the
1 interface on interfacial cells by using a least squares
𝑎𝑖𝑗 = ∫ (𝑤𝑖 + ∆𝑡 𝐮𝑛+1 ∙ ∇𝑤𝑖 ) approach. The normal vector field is then used to
𝛺 2
reconstruct the PLIC interface in the VOF scheme.
1
(𝑤𝑗 + ∆𝑡 𝐮𝑛+1 ∙ ∇𝑤𝑗 ) 𝑑𝛺 (3) Finally, the level set reinitialization is performed by
2 using a geometrical approach [9] based on the
1 𝑛+1 reconstructed interface from VOF scheme.
𝑓𝑖 = ∫ (𝑤𝑖 + ∆𝑡 𝐮 ∙ ∇𝑤𝑖 )
𝛺 2 2.4. Reinitialization of level set function
1
(∑ 𝜙𝑗𝑛 𝑤𝑗 − ∆𝑡 𝐮𝑛 ∙ ∑ 𝜙𝑗𝑛 ∇𝑤𝑗 ) 𝑑𝛺 (4) In order to maintain the signed distance function
2 property of LS function, it is necessary to apply a
where 𝑤 ∈ 𝐻1 is the linear basis function. re-initialization step in the LS method. Here, we use a
2.3. Volume of fluid method geometrical approach proposed in [9] for unstructured
In the VOF methods, an advection equation for grids. As shown in Figure 1, the level set value from
an indicator function, 𝛼(𝐱, 𝑡), is solved a node is determined by the shortest distance from
𝜕𝛼 that node to the interface segment on cut element. We
+ ∇ ∙ (𝐮𝛼) = 0 (5) use the interface segment taken from the interface
𝜕𝑥 reconstruction step in VOF scheme in steads of using
where 𝛼(𝐱, 𝑡) is defined as follows: the interface segment determined by the LS function
1 if 𝐱 ∈ 𝛺1 as proposed in [9]. The reinitialization step is
𝛼(𝐱, 𝑡) = { (6)
0 if 𝐱 ∈ 𝛺2 performed for only nodes within a narrow band near
with 𝛺1 and 𝛺2 are the sub-domains occupied the interface to reduce the computing time.
by the fluid 1 and fluid 2, respectively. 2.5. A fractional 4-step for the incompressible
The Eq. (6) is solved by using an unsplit Navier-Stokes equations
Lagrangian-Eulerian approach following the work of For flow problems with free surface, we coupled
[8] for the stencil of mesh cells around the interface. a LSM and the proposed direct re-initilization
In particular, the advection equation is applied only approach with the incompressible Navier-Stokes
for interfacial cells and their neighbors in our solver to capture the motion of interface. The
328 October 27 - 28, 2018

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Figure 2. The shapes of slotted disk after one rotation. Thick and thin lines show the numerical results and the
initial shapes, respectively.
fractional 4-step method [10] was employed to solve
the incompressible Navier-Stokes equations. In the
procedure, the pressure gradient is decoupled from 𝜌(𝜙) = 𝜌𝑔 + (𝜙𝑙 − 𝜌𝑔 )𝐻(𝜙) (13)
those of convection, diffusion and the other external 𝜇(𝜙) = 𝜇𝑔 + (𝜇𝑙 − 𝜇𝑔 )𝐻(𝜙) (14)
forces and the intermediate velocity does not need to
satisfy the continuity equation. In the following step, where the subscripts 𝑔 and 𝑙 indicate gas and
the pressure gradient is achieved from the continuity liquid, respectively.
constraint and the velocity is corrected by the
pressure. The splitting formulations are written as 3. Verification tests
follows We simulate the Zalesak’s disk rotation to
𝑢̂𝑖 − 𝑢𝑖𝑛 1 access how accurately sharp corners are evolved. A
+ (𝑢̂𝑗 𝑢̂𝑖,𝑗 + 𝑢𝑗𝑛 𝑢𝑖,𝑗
𝑛
) slotted disk which has a radius of 0.15 is initially
∆𝑡 2 centered at (0.50, 0.75) on a square unit
1 1 computational domain. The slot has the dimensions
=− 𝑝,𝑖𝑛 + (𝜎̂𝑖𝑗 + 𝜎𝑖𝑗𝑛 ),𝑗 + 𝑆𝑖𝑛 (8) 0.25 of length and 0.05 of width. The disk is driven
𝜌(𝜙) 2
by the following velocity field
𝑢𝑛∗ − 𝑢̂𝑖 1 𝑢(𝑥, 𝑦) = 2𝜋(0.5 − 𝑦), (15𝑎)
= 𝑝𝑛 (9)
∆𝑡 𝜌(𝜙) ,𝑖
where 𝜀 is the half thickness of transition zone which
𝑛+1
𝜌(𝜙) ∗ is set to two times of element characteristic length.
𝑝,𝑗𝑗 = 𝑢 (10)
∆𝑡 𝑖,𝑖 The density and viscosity are then computed as
follows:
𝑢𝑖𝑛+1 − 𝑢𝑖∗ 1
=− 𝑝𝑛+1 (11)
∆𝑡 𝜌(𝜙) ,𝑖
where ∆t is the time increment, 𝑢̂𝑖 and 𝑢𝑖∗ are

intermediate velocities, superscript n denotes the time
level, 𝜌(𝜙) is the density, 𝜎𝑖𝑗 = 𝜈(𝑢𝑖,𝑗 + 𝑢𝑗,𝑖 ) is the
viscous stress and 𝜈 = 𝜇(𝜙)/𝜌(𝜙) is the kinematic
viscosity; 𝜙 is the LS function. The Crank-Nicholson
scheme is employed to integrate the convection and
diffusion terms. For more details, see reference Choi
et al. [10].
The material properties are smoothed in the
interfacial transition region from one fluid to the
other via the smoothed Heaviside function defined as
follows:
0 𝑖𝑓 𝜙 < 𝜀
1 𝜙 1 𝜋𝜙
𝐻(𝜙) = { [1 + + sin ( )] 𝑖𝑓|𝜙| ≤ 𝜀 (12)
2 𝜀 𝜋 𝜀 Figure 3. Plot of shape error versus grid size for the
1 𝑖𝑓 𝜙 > 𝜀 Zalesak’s disk problem.
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3.2. Two dimensional deformation

In this test case, the two dimensional
deformation of a circular disk under a time-reversed
vortex flow is performed to assess the ability of the
proposed scheme to transport liquid filament which
becomes thin relative to the grid size. A circular fluid
disk of radius of 0.15 is initially centered at (0.5,
0.75) inside a square box of unit size. The driven
velocity field is given by
𝑢 = −𝑠𝑖𝑛2 (𝜋𝑥) sin(2𝜋𝑦) cos(𝜋𝑡/𝑇), (16𝑎)
𝑣 = sin(2𝜋𝑥) sin2 (𝜋𝑦) cos(𝜋𝑡/𝑇). (16𝑏)
where 𝑇 = 8 is the time period after which the

fluid element regains its initial shape. The vortex
flow spins the fluid element, stretches it into a thin
filament that spirals towards the vortex center and
then back again. Therefore, the fluid element is the
Figure 4. Plot of shape error versus grid size for the subject for very large deformations. It undergoes
two dimensional deformation problem. maximum deformation at the time 𝑡 = 𝑇/2 and
𝑣(𝑥, 𝑦) = 2𝜋 (𝑥 − 0.5). (15𝑏) returns to its initial shape at 𝑡 = 𝑇. Figure 5 shows
the shape of the disk after completing one period of
During the simulation, the slotted disk rotates time at the three resolutions. The shape error versus
around the domain center and should remain its the grid size is demonstrated in Figure 4 with the
shape. As shown in Figure 2, the shape of the disk second order convergence rate is achieved.
slightly deviates from its initial shape after one 3.3. 2D dam break problem
rotation on coarse mesh, but almost remain its initial
shape for the fine mesh. Figure 3 provides the Dam break problem is the collapse of a
dispersion and dissipation error versus the grid size rectangular water column after the failure of a dam
and shows that second-order convergence is supporting it. This problem has been studied
achieved. experimentally in detail by Martin and Moyce [10]
Figure 5. The shapes of the two dimensional deformation problem after finishing a single period. Thick and thin
lines show the numerical results and the initial shapes, respectively.
Figure 6. Schematic of 2D dam break problem.
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Figure 7. Evolution of free surface for two dimensional broken dam problem.
with investigations of the spreading velocity and the 𝑡/√𝑎/𝑔 where 𝑔 is the gravity. The computation was
falling rate of water columns. One of their studied carried out on an initial unstructured triangular grid of
case with the parameter 𝑎 = 0.05715 m is chose for 763 nodes which is then refined by two level of
our test. We choose the domain size of dimension 5a refinements. Figure 7 displays the evolution of the
 1.25a with the physical parameter of two fluids free surface on the adapted mesh. The water column
corresponding to realistic values of water and air at collapse and accelerates toward the air due to the
room temperature. pressure difference between the adjacent water and
The density ratio is 𝜌𝑤 /𝜌𝑎 = 843 and the air along the right boundary of the water column. It
viscosity ratio is 𝜇𝑤 /𝜇𝑎 = 46.7. The slip boundary then reaches and climbs up the left vertical wall, and
condition was applied on the boundary of the finally falls down and creates air bubbles. Figure 8
computational domain. The initial configuration of provides the comparison of the surge front position
the problem is illustrated in Figure 6 where 𝑠 and ℎ and the remaining water column height between our
represent the position of the surge front and the simulations and the experimental data of Martin and
remaining water column along the bottom and the left Moyce [11]. Generally, our numerical results are in
vertical wall of the domain as the simulation good agreement with experimental data.
progresses. The dimensionless time is given by 𝑡 ∗ =
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Hanoi, Vietnam
Figure 8. Comparison of (a) surge front position and (b) remaining water height with experimental data.
[4] Sussman M, Puckett EG. A coupled level set and
4. Conclusions volume of fluid method for computing 3D and
We present a coupled LS/VOF method which axisymmetric incompressible two phase flows.
Journal of Computational Physics 2000; 162 (2): 301-
uses the state of the arts VOF scheme to solve the
337.
VOF advection equation. The combination of the two [5] Gibou F, Fedkiw R, Osher S. A review on level-set
methods handles the mass conservation in LS method methods and some recent applications. Journal of
and the difficulty in computing the normal field in Computational Physics 2018; 353: 82-109.
VOF with the help of the LS function. The proposed [6] Yang X, James AJ, Lowengrub J, Zheng X, Cristini
method was implemented on adaptive unstructured V. An adaptive level-set/volume of fluid interface
triangular mesh and was validated against benchmark capturing method for unstructured grids, Journal of
problems. It was found that the proposed method Computational Physics 2006; 217: 364-394.
performed excellently not only for the prescribed [7] Choi HG. A least-square weighted residual method for
level set formulation. International Journal of
velocity fields, but when coupling with the
Numerical Method in Fluids 2012; 68:887-904.
incompressible Navier-Stokes solver. [8] Jofre L, Lehmkuhl O, Castro J, Oliva A. A 3-D
Acknowledgments volume of fluid advection method based on cell-
vertex velocities for unstructured meshes. Computers
This work was supported by the National and Fluids 2014; 94: 14-29.
Research Foundation of Korea (KRF) grant funded [9] Ngo LC, Choi HG. Efficient direct re-initialization
by the Korea government (MSIP) approach of a level set method for unstructured
(No. NRF-2017R1A2A2A05001177). meshes, Computer and Fluids 2017; 154: 167-183.
[10] Choi HG, Choi H, Yoo IY. A fractional four step
References finite element formulation of the unsteady
incompressible Navier-Stokes equations using SUPG
[1] Unverdi S, Tryggvason G. A front-tracking method and linear equal order element methods. Computer
for viscous, incompressible, multi-fluid flows. Journal Methods in Applied Mechanics and Engineering
of Computational Physics 1992; 100:25-37. 1997; 143: 333-348.
[2] Sussman M, Smereka P. Osher S. A level set approach [11] Martin JC, Moyce WJ. Part IV, An experimental
for computing solutions to incompressible two-phase study of the collapse of liquid colums on a rigid
flow. Journal of Computational Physics 1994; horizontal plane. Philosophical Transaction A 1952;
114:146-159. 224 (3): 312-324.
[3] Hirt CW, Nichols BD. Volume of fluid (VOF) method
for the dynamics of free boundaries. Journal of
Computational Physics 1981; 39 (1): 201-225.
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On Different Forms of Energy Equation in Engineering

Nguyen Van Que*
*Email nvque2003@gmail.com
Abstract
This paper, based on the equations of Continuum Mechanics and Mathematical tool, gives a clear derivation
of the different forms of energy equations in engineering. They are the general energy equation in
Aerodynamics, Bernoulli equation in Hydraulics and the first equation of Thermodynamics in engineering
Thermodynamics. It points out that for Thermo-Mechanical problems it is needed to use two equations
simultaneously. An example is given that illustrates the conclusions.
Keywords: Energy equation; continuum mechanics.
Symbol and abbreviations

v12 p1 v2 p
Δ(f) = (f2-f1).   gz1  2  2  gz2  h w
2g  2g  (1.2)
𝑓̇ = 𝑑𝑓/𝑑𝑡 Energy Equations in Aerodynamics:
G- Mass flow rate (kg/s)
v12 e v22
ρ- Density (kg/m ) 3 i1   gz1  q  ltb  i2   gz2
2 2 (1.3)
γ=gρ- specific gravity (N/m3)
There are some questions to clarify about these
L: expansion work equations:
Ltw: technical work - Are Eq. (1.1) and (1.2) the consequences of the
Lsh: shaft work. law of conservation of energy?
Qe: external heat. - How to derive Eq. (1.3)? Is it still valid with
energy loss?
Le- work done by external forces.
- What is the nature of the term hw in Eq. (1.2)?
Li- work done by internal forces.
- How are the above equations related to?
MV: Mass volume
This paper will answer these questions and
CV: Control Volume some other related questions. We are based on the
Eq.: equation knowledge of Continuum mechanics and the rigorous
mathematical tools.
GEE: General Energy equation
First, we introduce some concepts and theorems.
FET: the first equation of Engineering
Thermodynamics 2. Some concepts and theorems
KEE: Kinetics energy equation. 2.1. Definitions
CS: cross section + Thermo Mechanical system: a specific fluid

mass. The system does not exchange mass with the
1. Introduction environment. Velocity v and p, ρ, T of particles of the
Energy equations in different forms are system may be different. Thermo-Mechanical system
important in many basic engineering subjects. is the expansion of the closed system concept in the
Specifically: engineering thermodynamics.
First law of thermodynamics in engineering + Control volume (CV): is the fixed region of
thermodynamics: space. Note that the CV can exchange substance with
d’Qe=du+pdw (1.1) the environment, but with the steady flow, we have
input mass = output mass and the CV has constant
Bernoulli Equation in Hydraulics: mass. Thus, the concept of CV is more severe than
333 October 27 - 28, 2018

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the concept of open systems in engineering Q e External heat power.

thermodynamics
Le External mechanical power.
External heat Qe, is the heat that environment
exchange with the system. Qe> 0: heat added to Then (See [1], p 185)
system; Qe <0: Heat subtracted from system.
e
U  T  Le  Qe (3.1)
+ External work L , is the work done by external
forces that exchange with the system. Includes shaft We call this the general energy equation (GEE)
work Lsh; external tension work; external body force
3.2. Kinetic energy theorem
work. Le> 0: work added to system; Le <0: work
subtracted from system. Consider a system. Kinetic energy theorem is
(See [1], p 185):
+ Expansion work l  pdw ;  T  Le  Li (3.2)

Technical work l kt   wdp ;w  1/ 
Where Le ; Li - power delivered by external
+ Assumptions: forces (external mechanical power.) and by internal
forces.
• No chemical, nuclear reactions. Body force is
just gravity. Li     Dmn mn dW;
W m,n
• Z axis is upright.
Dmn  (1/ 2)(vm,n  vn,m )
Consider fluid flow with stress under Navie- (3.3)
Stokes law: We call this the kinetic energy equation (KEE).
We concretize the above equation.
ik  pik  ik
We calculate the power delivered by internal
forces
τik- shear tensor.
Substitute (2.1) into (3.3), combining continuity
2.2. Reynolds transport Theorem (See [2]) equation, we get:
This theorem connects the system and the CV as dw d
Li   p dt dW  L dt W
*
 ldW  L*  L  L*
follows: Wvc vc
(3.4)
Given a function f. Let W-CV; Wsys – System
Volume, occupies the CV instantaneously. L* - Dissipation power delivered by internal
Ω – surface bounds W. Then forces. L*  0
d f Substitute the above expression into (3.2), we

dt W
fdW   dW   fvn d
W
t 
get
vc
T  Le  L  L* (3.5)
With steady flow, and apply to the CV in
Figure 1. Since vn = 0 on the tube wall: 3.3. First law of thermodynamics in Engineering
thermodynamics
d
dt W
fdW   fvn d  (fv)2  (fv)1 From (3.1) and (3.2), subtract term by term, we

vc get:
On the other hand, G  (v)2  (v)1 so: U  Qe  Li  U  Li  Qe . Or
d dU  d' Li  d'Qe
dt W
fdW  G (f / )2  (f / )1   G(f / ) (3.6)
vc
(2.1) The symbol d’() means not a total differential.
3. Laws for a system
This is the expression of the first law of
3.1. Law of conservation of Energy thermodynamics in engineering thermodynamics:
Consider a system.
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For a thermo-mechanical system, external 4.1. The general energy equation

heat is equal to the total increase of internal energy
We specify terms of (3.1)
and work done by internal forces.
External mechanical power =body force power
We call (3.6) the first Equation of engineering
+pressure power +shear power +shaft power
thermodynamics (FET).
Le  Lf  Lp  Lshear  Lshaft
Substitute (3.4) into (3.6), we get:
Shear power =0 as v=0 on tube wall.
dU  pdW  d ' L*  d 'Qe (3.6’)
Body force is gravity, so according to (2.3)
where L* - dissipation work.
d
dt Wvc
As dissipation work turns into dissipation heat, Lk  gzdW  G(gz)
so d’L*=-d’Q* where Q*- dissipation heat, d’Q*>=0.
It follows: Pressure power
e *
dU  pdW  d'Q  d'Q (3.7) Lp   pv d   pv d  G(p / )
vc
n

n
From (3.7) we can write entropy equation. In

So L  G(gz  p / )  Ltb
fact, according to the second law of e
(4.1)
Thermodynamics: TdS=d’Qe+d’Q*, it follows:
d v2
Left side  3.1 
dt Wvc
TdS=dU+pdW (3.8) (u  )dW  G(u  v2 / 2)
2
Interestingly, although this equation has neither
dissipation heat nor dissipation work, it holds true
even for irreversible processes. Substitute the above expression into (3.1), we
Remarks: get
+ Work done by internal forces consists of G(u  v 2 / 2)  G(p/   gz)  L tb  Qe ;
expansion work and dissipation work. Dissipation
work always negative:  G(u  v 2 / 2  p /   gz)  L tb  Qe ;
Li  L  L*; L*  0. We denote i = u + pw - enthalpy. Divide by

G, it follows:
L*=0 only for reversible process.
 v2 
+ Although (3.6); (3.6 ') does not contain kinetic q  l tb    i   gz 
e 4.2)
energy, external forces work or shaft work, but they  2 
are still valid when they occur. qe, lsh – per unit mass; (j/kg)
+The FET (3.6) or (3.6’) is a combination of the Remarks.
GEE (3.1) and the KEE (3.2), not the consequence of
+The term p / ρ contained in i is the work done
GEE. Considering the FET as a consequence of the
by external pressure, taken with the minus sign.
GEE is a common mistake in engineering
thermodynamics. + Equation (4.2) is correct even for irreversible
processes.
In summary, we have three energy equations:
the GEE (3.1); the KEE (3.2) and the FET (3.6). We + Equation (4.2) contains the mechanical and
will specify these equations for a control volume. thermal terms, so it can be considered a general
energy equation.
4. Equations for control volume
Equation (4.2) is important for aerodynamics; it
Consider one dimensional, steady flow. The
is called the energy equation. However, it is often
control volume is limited by cross section 1; cross
considered to be a consequence of the following
section 2 and tube wall as shown in figure 1.
kinetic energy equation.
4.2. Kinetic energy equation
According to (3.5)
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T  Le  L  L* (*)
We have: Entropi(J/kg.K)
d
dt W
T (v2 / 2)dW  G(v2 / 2) 200
vc
d
dt W
Li  ldW  L*  (l  l* )G 0
vc
1 2 3
According to (4.1): x
Le  G(gz  p / )  Ltb v2 v2
(  z  p /  )1  (  z  p /  )2  h w ;
2g 2g
Substitute all into (*), we get   g
2 *
(v / 2  gz  p /   l)  ltb  l (4.3)
(4.5)
This is Bernoulli equation (for liquid) – the
On the other hand:
basic equation in Hydraulics.
2 2 2
(p / )  l   d(p / )   pd(1/ )   (1/ )dp  l kt The term hw is calculated by Darcy-Weisbach
1 1 1 formula:
Substitute the above expression into (4.3), we v2
get: hw   ; 𝜁 – Friction coefficient. It may be
2g
(v2 / 2  gz  l kt )  l tb  l* (4.4) due to local or pipe friction.
Remarks:
This equation is called the Bernoulli equation
for fluid. In some of the textbooks on aerodynamics, + Equation (4.4) is true even for the irreversible
the GEE (4.2) is derived from (4.4), as follows: process.
From isentropic equation p  Ck , we get + In the general case, l * is the dissipation work
due to the general irreversible processes (friction,
k p heat transfer, diffusion, etc.)
l kt    dp /   i
k 1  When using the Bernoulli equation, we do not
know the nature of the hw term. That will be reflected
Substitute the above expression into (4.4), we in the first equation of engineering thermodynamics.
get GEE (4.2)!
4.3. The first equation of engineering
This leads to the paradox: to have equation (4.2) thermodynamics
it is necessary to assume that the process is adiabatic
and reversible (isentropic), while equation (4.2) is From (3.7) we get:
valid for irreversible process.
u  l  qe  q*
Therefore Bernoulli equation (4.4) is not used (4.6)
for gas, it is confusion. This equation, however, is
Equation (4.6) applied to liquid, has a special
important in hydraulics, because hydraulics studies
the liquid as incompressible fluid. v2
form. In this case: q*   ;
For liquid, ρ= const; lkt=-pw; equation (4.4) 2
becomes On the other hand l=0 due to incompressibility,
so we get:
v2 v2
(  gz  pw)1  l tb  l*  (  gz  pw)2 u  qe  (v2 / 2)
2 2 (4.7)
*
Divide by g and let: l / g  h w ; ltb=0, so: The use of this equation is illustrated in the
example below.
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5. Example u2  u1  q  0
 q  Cv (T2  T1 )  84000 J / kg
Wq=qG=264,6 kW.
Find p2
Bernoulli Eq. Between 2-3, datum level 2:
p2 v 2 p v2 v2
z2    z3  3   0,05(L / d)
 2g  2g 2g
Water from reservoir 1 is drawn by the pump So p2=7913 kPa
Wb and heated by the heat source q, then transported
in pipe L as shown. For: Find T3:
d = 4cm; L = 2000m; V = 2.5 m / s; H = 2m. The FET between 2-3:
T1 = 10oC (Temperature in the reservoir); T 2 = u3  u2  h w g  0.05(L / d)(v2 / 2)  7812.5 J

o
30 C;
4200(T3  T2 )  7812.5  T3  304.9 0 K
pa = 101 kPa; p3 = pa.
Entropy s:
Water density ρ = 1000 kg / m3; Specific heat
Cv = 4200 j / (kg). Tds  du  pdw  du  Cv dT
Head loss between 2-3: hw = 0.05 (L / d) v2 /  ds  Cv (dT / T)
(2g); reservoir and pipe walls are heat insulated. The
head losses between 1-2 is ignored.  s  s1  Cv ln(T / T1 ) (*)
a. Find the pump power Wb, heat power Wq; Let s1=0 →s2=0+Cvln(T2/T1)=
pressure p2; temperature T3.
=286.8 (J/kg. K)
b. Graph the change of entropy along the pipe
axis. s3=s2+Cvln(T3/T2)=312.5 (J/kg. K)
Solution. From 2 to 3, Even though it is adiabatic, the
entropy is still increasing due to internal friction. The
flow rate G=ρvω=3,15 kg/s.; T2=2830K; process is irreversible.
T3=3030K.
Remark: For thermo mechanical problems we
Find Wb: need to use two equations simultaneously. With
Bernoulli equation Between 1-3, datum level 1: liquid, that is the FET and the Bernoulli Eq. as seen.
With the gas is the FET and the GEE.
p1 v12 p v2
z1    (wb / g)  z3  3  3  h w 6. Conclusion
 2g  2g
Based on the equations of Continuum
Where wb- work done by the pump per unit Mechanics, using a rigorous mathematical tool, we
mass. have a clear explanation of the different forms of
energy equations in engineering: the general energy
Substitute z1=0; z3=H; v1=0; v3=v; equation in aerodynamics, Bernoulli equation in
hw=0,05(L/d)v2/(2g); hydraulics and the first equation of thermodynamics
in engineering thermodynamics. For thermo
We get wb=798,7 J/kg; Wb=wb.G=24,681 (kW)
mechanical problem we need to use two equations
Find Wq simultaneously. With liquid, it is FET and Bernoulli
equation. With the gas is the GEE and FET. Some
Let q- heat per mass unit. The FET Between 1-2 other concepts and definitions are also clarified.
gives:
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Acknowledgments References
We thank the colleagues in the Department of [1] George E. Mase Theory and problems of continuum
fluid Mechanics, Le Quy Don Technical University mechanics
for valuable comments to this article. (In Russian, Mir, 1974).
[2] Nguyen Van Que. Vehicle Aerodynamics (In
Vietnamese).
[3] Vietnam people’s Army Press, 2013. P 41
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The Flow Behavior of the Gas-Liquid Cylindrical Cyclone (GLCC)

Separator when Changing the Different Geometrical Configurations
of Inlets
Ho Minh Kha 1, 2, *, Nguyen Thanh Nam2, Hoang Duc Lien3, Nguyen Ngoc Phuong1,
Vo Tuyen4
1
Ho Chi Minh City University of Technology and Education (HCMUTE),Vietnam
2
DCSELAB - Ho Chi Minh City University of Technology, VNU–HCM, Vietnam
3
Vietnam National University of Agriculture (VNUA), Vietnam
4
Ho Chi Minh City University of Food Industry (HUFI), Vietnam
*Email: 1424003@student.hcmute.edu.vn
Abstract
The gas-liquid cylindrical cyclone (GLCC) separator is used to alternative for the traditional separator that is
used over ten decades. However, the behavior of phases in the instrument is very rapid, complex and
unsteady which may cause the difficulty of enhancing the performance of the separation phases. Besides its
development, the effect of inlet structures over its hydrodynamics and performance is not fully understood.
The main objective of this study is to use experiments modeling for two phases flow (gas-water) to evaluate
the effect of inlet geometrical modifications in the reduction of liquid carry-over (LCO. Two different inlet
configurations are constructed, namely: One circular inlet and two symmetric circular inlets. From the results
presented in this work, we propose the use of the two symmetric circular inlets to enhance the separator
efficiency because of their effects. Besides, this study can be viewed as a padding step to optimizing the
operative parameters of GLCC in the further study.
Keywords: Gas-liquid cylindrical cyclone separator; GLCC; cyclone separator; multiphase flow; nozzle inlet.
1. Introduction tangential velocity to produce centripetal forces on

the entrained which are an order of magnitude higher
One of the main stages in the petroleum industry
than the force of gravity. The combination of
is the separationof the multiphase flow coming from
gravitational and centrifugal forces pushes the liquid
oil wells. On a conventionalpetroleum reservoir,
radially outward and downward toward the liquid
phases such as oil, gas, and water canbe encountered.
exit, while the gas is driven inward and upward
The quantities of each phase vary with time, reducing
toward the gas exit [3, 4, 5]. Despite these
the oil and gas fraction and increasing the water
advantages, the GLCC is still difficulty widely used
fraction. In mature oil wells, the water fraction can
in oil and gas industry owing to lack ofa predictive
reachvalues up to 90% [1]. The separation of this
mixture is criticalfor transportation and further
processing. The gas is treated tobe re-injected or used
as a fuel. Oil is stabilized before it is transportedto
refineries. Finally, the water is treated to be disposed
orre-injected to maintain the reservoir pressure [2].
The tradition type separators, that have been
popularly used for this work, are big, heavy, bulky,
and costly in purchasing and operating. The gas-
liquid cylindrical cyclone (GLCC) separator, a
potential substitute for the conventional one, was
patented by Chevron Petroleum Technology
Company and Tulsa University [3]. The GLCC is a
simple, compact, low-weight, low inhabitancy time
and the low-cost separator. Shown in Figure 1 is a
GLCC consisting of a vertical pipe with a tangential
inlet and outlets for gas and liquid.
The tangential flow from the inlet to the body of Figure 1. The Gas-Liquid Cylindrical Cyclone
the GLCC causes the flow to swirl with sufficient separator.
339 October 27 - 28, 2018

Hanoi, Vietnam
performance model that allows a proper design. In this investigation,

Additionally, many of the phenomena inside the two different inlet
cyclone are not fully understood [2]. The operational configurations (Figure 3)
envelope of a GLCC is described by two phenomena: have constructed with
Liquid carry-over (LCO) in the gas stream and gas the same inclined inlet
carry-under (GCU) in the liquid stream. The start of is 27o and cross-
liquid carry-over is identified by the first trace of sectional area of the
liquid in the gas stream. Similarly, the first visible inlet nozzle area to
bubbles in the liquid underflow mark the onset of gas about 28% of the area
carry-under. Although they have potential of the cylinder. The
applications, the complex phenomenon affecting the two-phase mixture is
separating efficiency have not been studied introduced into the
completely in the past [3, 6, 7, 8]. GLCC through a Y
junction and the static
The development of reliable performance-
mixers. The schematics
prediction tools will improve GLCC’s through
of the GLCC test
hardware modifications and, ultimately, will
section shows in Figure
governthe speed and extent to which GLCC
4. The experimental
technology is deployed inexisting and new field
facility meets following
applications. Recent laboratory observationsand Figure 2. Main
requirements:
computer simulations indicate that hardware dimensions of the GLCC
modifications to the GLCC can have a profound
 Two-phases (air-liquid), full separator.
effect on GLCC performance [4]. The GLCC
 Easy and quick change of different inlet
performance is dependentupon the tangential
configurations.
velocities of the swirling fluids,especially that of the
 The GLCC body is transparent to allow
liquid. The inlet is the single most redesigned
visualizations and is manufactured in Acrylic.
component of the GLCC because of the inlet’s
 The inlets are manufactured by stainless steel.
influence on tangential velocity [3, 4]. Kouba and
 One phase, 1 HP centrifugal pump, capable of
Shoham [3] observed experimentally that the optimal
producing 5-266 L/min (at max. head of 22 m).
inclined inlet angle is 27o which allowed to retard
 One phase, 3HP ring blower, capable of
significantly the onset of liquid carry-over (LCO) in
producing 325 m3/h (at max. head of 36 KPa).
comparison with the horizontal inlet.Many previous
 Two rotameters (1.6-16 m3/h) and flow rate
studies of GLCC separator were limited with the one
measurement tree to measure flow rates for
inlet model [9, 10, 11, 12]. Movafaghian et al [13]
different inlet configurations.
researched the effects of geometry, fluid properties
 One measures air flow.
and pressure on the hydrodynamics of GLCC with
 A 120-liter storage tank.
one and two inlets. But the two inlets is the same of
 Two static mixers.
the side.
Recent studies, they propose the use of multiple
tangential inlets to improve separation efficiency in
GLCC. Such inlet configuration leads to lower swirl
intensity decay than the unique inlet configuration. It
also engenders a more axisymmetric flow, which
would improve the GLCC performance with respect
to LCO [14, 15, 16, 17]. Thus far, over the past 22
years, more than 6500 GLCCs have been installed
around the world by the petroleum and related
industries [18]. However, the research has not been
conducted on two symmetric inlet types to compare
the effect of one type of inlet with the same angle of One circular inlet Two circular inlets
inclination and the area of the nozzle when it uses to (I.D 38mm) (I.D 27mm)
separator multiphase. Figure 3. The different inletconfigurations.
2. Experimental program
The GLCC’ geometry is modeled size
parameters along with experimental models of Hreiz.
R et al [16] (Figure 2).
340 October 27 - 28, 2018

Hanoi, Vietnam
Figure 4. Schematics of the GLCC test section.

rises (approximately 150 mm and higher), the liquid
3. Results and discussion
begins to appear in the upper part of the GLCC in
3.1. The flow hydrodynamics in the GLCC annular flow. If the liquid level continues to rise near
the inlet ≤ 100 mm (Figure 5 c), the flow above the
As the liquid level (LL) inside the GLCC is 150
GLCC will transition from annular flow to churn
mm lower than the inlet, the two-phase
flow.
hydrodynamics mainly occur in the lower part of the
GLCC (Figure 5 a, b), the upper part of the device In the GLCC upper part, liquiddroplets are
also appears a negligible amount of liquid. This pushed toward thewalls by centrifugal force and
image shows that the LL = 200 - 300 mm cases has coalesce into a liquid film. As this liquidfilm is
many air bubbles with the large size that are compact compared to individual droplets, the gas
concentrated on the top of the liquid, the core gas is willhave more difficulties to drive it up to the top
coarse and twists deeply down to the liquid exit and outlet. The liquidfrom the wall film falls down by
carries many bubbles. However, when the liquid level gravity into the liquid vortexthereafter. However, if
the gas flow rate is increased beyond a
certainthreshold tolerable by the system, the liquid is
carried over withthe gas stream in the GLCC upper
outlet. This limiting phenomenonis called Liquid
Carry-Over (LCO) [16, 21].
The LCO in the gas stream is largelydependent
on the flow pattern in the upper part of the GLCC.
Floodingmay occur in the GLCC at high liquid levels
and low gas rates, producingbubbly flow. The
unstable liquid oscillations, characteristic of
churnflow at moderate gas rates, may splash liquid
into the gas outlet. The liquidcan also be carried out
in droplets at the onset of annular mist flow athigh
gas rates. At very high gas rates, the centrifugal force
of the swirlinggas pushes the liquid to the wall of the
pipe, where it may form anupward-spiraling
continuous ribbon of liquid [3, 4, 19].
In our study, the GLCC is operated under
conditions of LCO. When the gas velocity in the
GLCC (Vg) decreases from about 9 m/s to about
a) LL = 300mm b) LL = 200mm c) LL = 100mm 1m/s and simultaneously, the liquid velocity in GLCC
Figure 5. Liquid level for air-water (one inlet). (Vl) in the cylindrical increases from 0.1 m/s to 0.5
m/s. The upper flow component of the GLCC also
341 October 27 - 28, 2018

Hanoi, Vietnam
(a) (b) (c)

Figure 7. The churn flow LCO regimethe churn
flow.
(a) Annular flow (b) Churn flow
Figure 6. Schematics of different LCO flow With two symmetric inlets and when the GLCC
regimes. is operated in a state of churn flow (Vg < 4 m/s and
transitions from theannular flow to the flow churn Vl > 0.25 m/s). The flow in the upper of the GLCC
(Figure 6) as the one inlet is used.However, when fluctuates very strongly and continuously changes. It
using the two-inlet type, the velocity value of Vg and is characterized by the presence of a very thick and
Vl inside the cylindrical will be higher than the one unstable liquid film, with the liquid often oscillating
inlet of the operational envelope for LCO. up and down in cycles (Figure 7). But, there is a
really interesting which is the oscillation around the
Annular flow [20] is a flow regime of two-phase tube is relatively uniform when using the two inlet
gas-water flow. It is characterized by the presence of type compared to the other inlet. This will affect the
a liquid film flowing on the channel wall (in a round performance of the separator.
channel this film is annulus-shaped which gives the
name to this type of flow) and with the gas flowing in In the GLCC lower part, if the swirl intensity
the gas core. The flow core can contain entrained is high enough, thefree gas-liquid interface gets
liquid droplets. In this case, the region is often carved out and the vortex can be observed. The liquid
referred to as annular-dispersed flow, where the flows from the inlet nozzle to the vortex in a
thinswirling film, to which we will refer to as Lower
entrained fraction may vary from zero (a pure annular
Swirling Liquid Film, LSLF. Large bubbles quickly
flow) to a value close to unity (a dispersed flow).
move toward the free interfacedue to buoyancy.
Often both types of flow, pure annular and annular-
Smaller bubbles, while being draggeddownward by
dispersed, are known under the general term of
the liquid, are pushed radially toward the
annular flow (Figure 6a).
vortexcenter. They form a bubbly filament which
The churn flow LCO regimethe churning flow allows a nice visualization of the vortex core. These
(Figure 6b) is a very chaotic and turbulent bubbles are supposed to rise up to thefree interface
regimecharacterized byunstable vertical oscillations and to disengage [3, 16].
of the flow that canoccur for moderate to high liquid
A variety of experiments has been conducted
flow rates. According to our visualobservations,
with both of the inlets to investigate the different flow
beyond a certain air flow rate, the USLF
patterns in the lower part of the GLCC. The study
(UpperLiquid Swirling Film) is destabilized, mainly
was restricted to gas-liquid flow rates upper the LCO
because of the air flowthat tries to lift it up. Thus, the
limit. The top part of the vortex, the crown, was
USLF loses its integrity, which resultsin a churn flow
maintained about 100 mm below the inlet nozzle
regime with violent oscillations just abovethe inlet
through a valve installed on the GLCC lower outlet
level. Liquid droplets areejected from the churn flow
(Figure 4). The vortex level was not set closer to the
region and may splash up to the gasoutlet, thereby
entrance level for two reasons. The first reason is
initiating the LCO. If the gas flow rate is increased
that, in field conditions, gas and liquid flow rates
further, more liquid is lifted by the gas, and the churn
fluctuate in time. Thus, the vortex level in the GLCC
flow regimeinvades all the upper part of the GLCC
must be maintained at a certain distance from the
[16, 21].
inlet, so that the control system has enough time to
342 October 27 - 28, 2018

Hanoi, Vietnam
(a) Excavated vortex (b) Deeply excavated

flow (Vl=0.27m/s, vortex flow
Vg= 10.5 m/s (Vl = 0.41m/s,
Vg = 6.4m/s)
Figure 9. Different vortex regimes in the GLCC
One circular inlet Two circular inlets lower part (case two inlets is used).
Figure 8. The filament core in the GLCC lower
part.
react in the case of a sudden increase of the liquid
flow rate, and prevents the vortex to exceed the inlet
level and to lead to a precocious LCO. The second
reason is that, when the vortex level is too close to the
entrance, we observed that the flow gets disrupted. As
noticed by Shoham and Kouba (1998), some distance
from the entrance is necessary to achieve an optimal
swirl intensity [16].
Figure 8 displays the filament core of one and
two circular inlets. The upward and downward flow
region near the cylindrical center line for one inlet
has a helical (spiral) shape. But, the upward and
downward flow region near the cylindrical center line
of two double inlets is a quite axisymmetric flow
field. In GLCC's design, this means that there is more
space to capture bubbles at the center and uplift them
to the gas-liquid interface for the separation.
Based on visual observations, the bubbly
filament presents a very complex hydrodynamics.
The flow pattern depends mainly on the liquid flow
rate and the number of the inlet. An increase in the
gas flow rate has little effect on the flow pattern but
increases the number of bubbles in the flow. As Vl
increases and Vg decreases, the flow pattern is
characterized by important centrifugal forces and so,
the vortex becomes deeply excavated and shows
tortuosities. bubbles tend to be smaller and, as the
swirl intensity becomes higher, most of the bubbles
concentrate in the filament, and bubble dispersion Ql = 2m3/h, Qg = 60m3/h Ql = 6 m3/h, Qg= 20m3/h
decreases (Figure 9). The warping of the vortex Figure 10. The flow hydrodynamics in the GLCC
comes from the use of a unique inlet nozzle, which lower part (one inlet).
induces a pronounced asymmetry in the flow.
343 October 27 - 28, 2018

Hanoi, Vietnam
Extremely few bubbles are found outside the region It is similar to the one-inlet type, where the two-
around the bubbly filament and the zone near the inlet types operate in high air flow mode but low fluid
vortex interface. flow. The gas core is also unstable but relatively
straightforward compared to the one-inlet type. The
When GLCC operating in high gas flow (Qg)
top of the helix (conical in the opposite cone) has
mode but low liquid flow (Ql). The gas core is
some large air bubbles that are concentrated around
unstable. the top of the twisted core has some air
the coiled core, which is very fragile and sometimes
large bubbles around it. The part nears the liquid exit,
interrupted when approaching the exit. However, as
the air core is to become thin and sometimes
the liquid flow increases and the air flow decreases,
interruptions. However, as the liquid flow increases
the gas core becomes clearer and more stable. The top
and the air flow decreases, the gas core becomes
of the twisted core (conical in shape, but longer and
clearer and more stable. The top of the twisted core is
deeper in shape) concentrates a large number of air
concentrated on a large number of air small bubbles
small bubbles around the coil and rotates around it
around the coil and constant vortex vibration, which
continuously. The lower section near to the liquid
is closer to the outlet of liquid the continuous gas core
outlet, gas coils are more stable and stable, the length
and more stable. The length of the twisting steps also
of the twisting step is increased (Figure 11).
increases and weakens as the flow approaches the exit
(Figure 10). 3.2. Liquid carry-over (LCO)
In order to determine the start of liquid carry-
over LCO for a given liquid flowrate, a series of
experiments is done at a fixed liquid flow rate. Agas
flow rate is chosen, the mixture is introduced into the
GLCC,and it is observed whether or not the liquid
reaches the upper outlet.
Figure 12 shows the variations of the
operational envelope for liquid carry-over (LCO)
threshold with the GLCCinlet configurations, at
atmospheric pressure for an air-water system. From
the graph shows that the operating limits of the two
symmetric inlet types are greatly expanded compared
to the other inlet types. This shows that the
performance will be increased when using two
symmetric inlets.
A series of experiments were conducted to
0.6
Liquid velocity in GLCC, Vl (m/s)
One circular inlet

0.5 Two circular inlets
0.4
0.3
0.2
0.1
0
0 2 4 6 8 10
Gas velocity in GLCC, Vg (m/s)
Ql = 3.2 m3/h Ql = 6 m3/h Figure 12. Effect of inlet geometry on the operational
Figure 11. The flow hydrodynamics in the GLCC envelope for liquid carry-over (LCO) threshold.
lower part (two inlets).
344 October 27 - 28, 2018

Hanoi, Vietnam
1 100% The operating limits of the two symmetric inlets

are greatly expanded compared to the one inlet type.
Separation performance with liquid

Liquid velocity in GLCC, Vl (m/s) 0.9
0.8 80% The separation efficiency of the device will be
higher when using two symmetric inlets. Such inlet
0.7 Two circular inlets structure leads to lower swirl intensity decay than one
0.6 One circular inlet 60% inlet configuration. Besides, it also creates a more
0.5 axis symmetric flow at the center line, which would
0.4 40% improve the uplift of air bubbles in the performance
of GLCC.However, the manufacturing is more
0.3
difficult and takes up more space than the other. In
0.2 20% addition, the two-phase flow balance for the two
0.1 inlets should also be considered.
0 0%
The size and the configuration of the two types
1 2 3 4 5 6 7 8 of inlets such experiments will work effectively with
Gas velocity in GLCC, Vg (m/s) flow ranges of the Vg and the Vl (effective area) are
located below the LCO graph (Figure 12)
Figure 13. Separation performance with liquid. corresponding to each inlet.
compare the performance of GLCC, the top part of
Acknowledgements
the vortex, the crown, was maintained about 100 mm
below the inlet nozzle. Test results show that the This research is supported by DCSELAB and
effect of structure and number of inlets has a clear funded by Vietnam National University HoChiMinh
impact on the performance of the separator. When City (VNU-HCM) under grant number C2018-20b-
using the two symmetric inlets type, the separation 01. The authors wish to thank DCSELAB - Ho Chi
efficiency of liquid is higher than the separation Minh City University of Technology, VNU – HCM,
efficiency of liquid for the one-inlet type (Figure 13). Vietnam for supporting this investigation.
References
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Modeling and Simulating Specialized Vehicle Regenerative Braking System

Luyen Van Hieu1, 2*, Ngo Sy Loc1, Tran Khanh Duong1,
Pham Van Hai2, Dong Minh Tuan2
1
School of Transportation Engineering, Hanoi University of Science and Technology, N01,
Dai Co Viet St. Hanoi
2
Faculty of Automobile Engineering, Hung Yen University of Technology and Education, Dan Tien, Khoai Chau,
Hung Yen
*Email: lvhieugt@gmail.com
Abstract
This paper presents a principle diagram of the proposed hydraulic transmission on a specialized truck. The
proposed system recovers kinetic energy in the brakingprocess and stored inthe accumulator.The recovered
energy is used to drive the specialized truck. The dynamic equations of braking and
acceleratingprocessusing the system have been obtained and simulated results usingMatlab-Simulink
program are presented.
Keywords: Hydraulic Regenerative Braking System; Braking to recover kinetic energy.
1. Introduction hydraulic accumulator for other possible using

vehicle initial accelerating, lifting crane.... A system
When using the normal braking system on the
for the purpose has been proposed, modeling and
vehicle, the kinetic energy turns to heat at the braking
simulating relevant parameters of braking and
shoes [1], this is a lossof energy. In our study, we aim
accelerating and results will be presented hereunder.
to turn the same to hydrostatic energy and store it in a
The principle diagram of the proposed hydraulic
regenerative braking system (HRBS) is shown in
14
Figure 1. The main components are: 1- oil tank; 2 one
way valve;3- hydraulic pump/motor; 4- control valve;
13
5- control valve HRB; 6- return line; 7- one way
valve; 8- pressure transducer; 9 – pressure switch;
15
1 10 – pressure indicator; 11- hydraulic accumulator;
V2
12 – vehicle accelerating control valve; 13 –
12
operating cylinder control valve; 14 – cylinder;
layout of braking pedal 15- oil reusable line; PTO unit- power take-off unit;
pacc 9
Br – signal from braking pedal; Pacc – signal from
6 7 8 11
pressure transducer; V1,V2– valve control signal;
V1
5
10 CL- clutchoff control signal; CLPTO-PTO-on control
signal; A, B, C, E - position of braking pedal.
4 A
6a 6b
Kinetic energy
B 2. The system description
C
recovery braking E
3
Nomal braking
The parameter values of the studying vehicle are
shown in Table 1.
PTO
2 Table 1: Values of the testing vehicle parameters
1 CLPTO
Desig
Clutch
Manual Names natio Values Units
Engine
transmission n
CL Vehicle mass (no-load) m 1700 kg
CLPTO Vehicle mass (full) m 2500 kg
pacc
V1
V2
Control Unit Br Vehicle wheel’s radius rbx 0,355 m
CL
Inertial torque of the
Jbx 5,222 Kg.m2
Figure 1: The principle diagram of the HRBS. wheel
The cross-sectional area
F 2,4 m2
of the vehicle
The coefficient of air K 0.58
347 October 27 - 28, 2018

Hanoi, Vietnam
resistance [4]  – is a proportionality constant taking care of all

The transmission ratio rotating masses in themoving vehicle[3]. To simplify
from PTO’s shaft to the the calculation, an assumption has been made
itrp3 7.8 namely only the vehicle wheels are used to account,
vehicle wheels (number
lever 3) neglecting the contribution of the others rotating
The total length of the parts, hence:
l 1.5 m
pipe from pump to H.A.
Inside diameter of the
d 0.0127 m J bx .g
pipe   1 2
Number of wheels n 6 G.rbx
(3)
Volume of oil that pump cc/re where: f – Rolling resistance coefficient
dp 14
gear made in 1 rotation v Pp1, Pp2 – The braking force of the normal braking
Gas volume at the pre- system at front and rear tires:
Vao 0.025 m3 Jbx– moment of inertia of the wheel [kg.m2];
charge pao
The pre-charge pressure rbx – The working radius of the wheels [m];
pa0 70 bar Pr1, Pr2 – rolling resistance of front and rear tires, total
of gas
of rolling resistance:
3. Modeling and simulating relevant parameter of Pr = Pr1+Pr2 = f.G (4)
car when braking where: f – Rolling resistancecoefficient
3.1. Modeling relevant parameters Pp1, Pp2 – The braking force of the normal braking
system at front and rear tires:
v
M p1
Pp1  (5)
rbx
Pj M p2
Pw
Y Pp2  (6)
rbx
h
G
Mp1, Mp2 – Moment of the normal braking system at
hw
bx rbx x O
front and rear tires [Nm];
Pr1 Pr2 Pp2 Ppp
A Z1 Pp1 Z2 B In case the braking system using the drum, the
a b
L same transfer force and the cylinders on the same side
Figure 2: Forces acting on the vehicle in the braking [3]:
process. Mp1= Mp2 = Mp = 2P’rtC (7)
P’ – transfer force at brake pad [N];
pga , Vga
rt – The radius of the drum [m];
Vfm = Vg-Vga
KhÝ N2
pao ,Vao pgo ,Vgo
pg , Vg
C – Ratio of drum brake, C = 1.05.
Ppp – The braking force of the HRBS at rear wheel
Vf = Vgo-Vg
KhÝ N2
KhÝ N2 KhÝ N2
M bxp
Ppp  (8)
DÇu thñy lùc
rbx
a b c d
Mbxp–Thebraking moment of the HRBS at the rear
Figure 3: The hydraulic Accumulator and state of tires [Nm];
charge. rbx – The working radius of the wheels [m];
Balancing equation of forces acting on the test
vehicle when brakes in a horizontal way have the The braking moment of the HRBS at the rear
following form: tires is from pump moment [5]:
i trp M p i ptc .i o .M p
Pj - (Pp1 + Pp2+Ppp+ Pr +Pw) = 0 (1) M bxp   (9)
Where: trp trp
Pj- vehicle’s inertia force [3] which is defined as[N]: ηtrp – thetransfer efficiency;
G dv p – the angular velocity of the pump shaft[1/s]:
Pj   (2) p=bx.iptc.io (10)
g dt
bx – the angular velocity of the wheel shaft[1/s]:
where:
v
G – weight of the vehicle [N]; bx 
t – time [s]; rbx (11)
g – the acceleration of gravity, Mp –The moment of the pump [Nm];
g = 9,81[m/s2];
348 October 27 - 28, 2018

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iptc – The ratio from the pump shaft to the out shaft of 64
the manual transmission; = (19)
io – The main transmission gear ratio needs proactive; Re
rbx – The working radius of the wheels [m]; v d .d
Re = (20)
Pw is air resistance[N];Pw = KFv2 (12) 
K – Coefficient of air resistance; where:
F – The vehicle cross-sectional area [m2]; d – the internal diameter of the pipe [m]
K – Coefficient of air resistance;  – the oil kinetic viscosity [m2/s]
F – The vehicle cross-sectional area [m2]; vd – average oil velocity [m/s]:
v - The vehicle braking speed[2] which is defined as:
t
4.Q p
vd = (21)
v = v0 -  a v dt (13)
π.d
2
0 - Model for the fluid accumulator

where: vo – initial braking speed [m/s]; Neglecting any heat transfer may be presented in
av – vehicle acceleration [m/s2]; the energy recovering process, the following model
- Model of the hydraulic pump: for the accumulator could be arrived [7]:
Torque equation [5]: k k k k
pao Vao  p go Vgo  p g Vg = p ga Vga (22)
d p .Δp p
Mp = (14) where:
2π.ηmp k – the adiabatic exponent which can be assumed at
Flow rate equation[5]: 1,4[9] for two-atom gases such as nitrogen;
d p .ωp .η vp Vao – the effective gas volume (m3);
Qp  (15) pao – the pre-charge pressure (N/m2);
2 Vgo–the gas volume at the minimum operating
where: pressure (m3);
dp – pump displacement (cc/rev) pgo – the minimum operating pressure (N/m2) (the
pp – pressure differencepump(N/m2): initial pressure of accumulator);
pp = pcr– pcv (16) pg – the operating pressure (N/m2);
pcr - The hydraulic pressure at outlet of hydraulic Vg – the gas volume at the working pressure (m3);
pump [N/m2]: pcr = plp + pg (17) pga – the high pressure (N/m2);
plp - Hydraulic pressure line loss from the pump to Vga – the gas volume at the high pressure (m3).
hydraulic accumulator [N/m2]; The recovery energy is energy which change air
pcv - Hydraulic pressure at inlet of hydraulic pump volume inside the hydraulic accumulator.
[N/m2]; vg
mp - mechanic efficiency of the hydraulic pump; Ea   pdV (23)
vp – volume efficiency of the hydraulic pump vgo
- Model of the pipeline is written in the form of
pressure loss [5]: From (22) and (23) =>:
Begin
In order to minimize the total pressure losses in
the system, the cross dimension of the pipelines Input parameters and dt
should be chosen in such away that the oil will flow
in the laminar regime, total pressure loss includes Assign pg, av and v
local pressure losses and line pressure loss:
lp .vd2
plp  10.(  v  p ) [N/m2] (18) false
v 
d 2.g
true
where:
 – the density of the hydraulic oil [kg/m3] Calculate parameters
lp – the length of the charging line [m]
v – pressure loss coefficient at the entrance of the Output
charging line
 – local line pressure loss coefficient Draw parameters versus time graphs
 – a dimensionless friction factor depending on

Reynold number (Re), from the case of laminar End
flow[6]: Figure 4: The flow chart showing calculating steps in
the proposed HRBS during the braking process.
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pgo Vgo  Vg 
1 k

Ea =    1
k -1  Vgo 


 
The ratio of recoverable energy is:
Figure 8: The recovery energy of the accumulator in

the braking process.
v
Pj
Pw
Y
Figure 5: Velocity in the braking process. G
h
hw Mbx bx rbx x O
Pr1 Pr2 Pk
A Z1 Z2 B
a b
L
Figure 9: Forces on thevehicle in accelerating.
Ea
 100% (24)
E v
3.2. Method of calculation

Using equations from (1) to (24) to setup on the
Matlab-Simulink program and calculate with the
process such as figure 4.
Figure 6: The acceleration of the vehiclein the 3.3. Some simulation results
braking process.
Figure 5, 6,7, 8 shown some results of the braking
vehicle from initial velocity vo = 30km/h until stop,
no-load mass 1700kg with two cases:
In case of emergency braking process, the normal
braking system and the HRBS operate together, the
braking distance and the acceleration vehicle
parameters suitable with condition safety, Sph = 9,33
< 9,5(m) and braking acceleration av = 7.03 >5(m/s2),
the HRBS still operates and the hydraulic
accumulator has recovery energy about 3KJ, with
 4,55%;
In case of the satisfied control conditions, the only
operating the HRBS, the recovery energy 18,4KJ
with  27,25%.
4. Modeling and simulating relevant parameters of
Figure 7: The hydraulic pressure of the accumulator the vehicle when accelerating
in the braking process.
4.1. Modeling relevant parameters
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Hanoi, Vietnam
Balancing the equation of forces acting on the Begin

test vehicle when accelerating in a horizontal way
have the following form:
Pk - Pw - Pr1 - Pr2 - Pj = 0 (26) Input parameters and dt
Pw– is air resistance,follow (12);
Pr1, Pr2 – rolling resistance of front and rear
wheels, follow (4); Calculator parameters
Pj – vehicle’s inertia force [4] which is defined as
(2), but vehicle velocity is defined as:
t false pg  pstop
v =  a v dt (27)
0
Pk – Pulling force at the active wheels [5]
true
Calculator parameters
M bxk
Pk 
rbx Output
(28)
M bxk M  i i M
Pk   bxkm  trm mtc o m (29) Draw parameters versus time graphs
rbx rbx rbx
m
bx = End
i mtc io Figure 10: The flow chart showing calculating steps
where: in the proposed HRBS during the accelerating
Mm – the moment at the shaft of the hydraulic process.
motor [Nm];
Mbxk – Pulling moment at the active wheel[N.m];
imtc – The ratio from the hydraulic motor shaft to
the out shaft of the manual transmission;
m – The angular velocity of the hydraulic motor
shaft [1/s];
bx – the angular velocity of the wheel shaft [1/s];
Mm– the moment at the shaft of the hydraulic
motor, is defined as [5]:
d .Δp .η
M m = m m mm (30)
2π
dm – the motor displacement [m3/rev]; Figure 11: Pressure of hydraulic accumulator in
ηmm – the mechanic efficiency of the hydraulic accelerating process.
motor; where: vm – motor volumetric efficiency.
pm – the pressure differencemotor [N/m2]; m – the angular velocity of the motor shaft [1/s].
pm = pcvm- pcrm (31) dm – motor displacement [m3/rev]
pcvm– Hydraulic pressure at inlet of hydraulic 1
pump: pcvm= pg -plm (32)   1.4
from (22) =>: Vga  Vao  pao  (37)
plm– Hydraulic pressure line loss from the  pga


hydraulic accumulator to hydraulic motor [N/m2];
The accumulator in reusing process: Vga 1.4
pg = pga .( ) (38)
Follow figure 3: Vfm = Vg - Vga (33) Vg
 Vg = Vga + Vfm (34) Vga
pg = pga .( )1.4 (39)
Vfm –The oil volume to reuse [m ], is definded as:
3

Vga + Qm dt

Vfm = Qm dt (35)
4.2. Method of calculation
Qm- Flow rate equation of hydraulic motor [m3/s]:
d m .ωm Using equations from (26) to (39) to setup on the
Qm  (36)
2 .ηvm Matlab-Simulink program and calculate with the
process such as figure 10.
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Hanoi, Vietnam
Figure 12: Vehicle velocity in accelerating process. Figure 14: Vehicle moving distance.
5. Conclusion
- Using the proposed hydraulic regenerative
braking system on the specialized vehicle,the kinetic
energy could be recovered and reused;
- The results from the test the modeling and
simulating is the foundation for us to applythe
hydraulic regenerative braking system on the
specialized vehicleactually.
References
Figure 13: Vehicle acceleration in accelerating [1] Châu Thành Trí - Châu Ngọc Thạch, Hệ thống thắng
trên xe ô tô, Nhà xuất bản trẻ, 2005.
process.
[2] Lương Duyên Bình (2010), Vật lý Đại cương tập 1:
Cơ- Nhiệt. NXB Giáo dục Việt Nam.
4.3. Some simulation results [3] Nguyễn Hữu Cẩn (2004) Phanh Ô tô, Cơ sở khoa học
và thành tựu mới, Nhà xuất bản Khoa học và Kỹ thuật.
The results on the figures 11, 12, 13, 14 shown the
[4] Nguyễn Hữu Cẩn,…, (2005), Lý thuyết ô tô máy kéo,
accelerating of the vehicle with operating at level Nhà xuất bản Khoa học và Kỹ thuật.
number 1 of the manual transmission with three cases [5] Trần Ngọc Hải – Trần Xuân Tùy (2013), Giáo trình hệ
(pga=100; 125; 150bar), the hydraulic pressure of thống truyền động thủy lực và khí nén. Nhà xuất bản
accumulator reduced down 85bar, the higher the Xây dựng.
pressure accumulator operates, the more moving [6] Phạm Văn Vĩnh (2005), Cơ học chất lỏng ứng dụng,
distance the vehicle is, the higher the speed is, and the Nhà xuất bản Giáo dục.
higher the accelerating of the vehicle is. [7] Bùi Hải – Trần Thế sơn (2002), Kỹ Thuật Nhiệt. Nhà
xuất bản Khoa học và Kỹ thuật.
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Development of a New Side-coil MR Brake Employing Separating Walls

between the Coils and MR Fluid
Nguyen Ngọc Diep1, Le Dai Hiep2, Nguyen Quoc Hung1,2,*
1
Department of Mechanical Engineering, Industrial University of Ho Chi Minh City
2
Computational Engineering, Vietnamese German University (VGU)
*Email:hung.nq@vgu.edu.vn
Abstract
In this study, a new configuration of magneto-rheological brake (MRB) is proposed, optimally designed and
evaluated. The brake has two coils placed directly on each side of the housing. The coils are separated with
the magnetorheological fluid (MRF) duct by a thin wall of the side housing. With this configuration, the inner
face of the side housing, which is interfaced with the MR fluid, is continuous. This allows the MR fluid duct to
be manufactured more easily and accurately. After an introduction of the proposed configuration, braking
torque of the proposed MRB is analyzed based on Bingham-plastic rheological model of the MRF. The
optimization of the proposed MRB and previously developed MRBs is then performed considering maximum
braking torque and mass of the brakes. Based on the optimal results, performance characteristics of the
proposed MRB are figured out by comparing with previous developed MRB.
Keywords: magnetorheological fluid (MRF), MR brake, side-coil MR brake.
fluid duct to be manufactured more easily and
1. INTRODUCTION
accurately, and avoid the contamination of the coils
In recent years, there have been a large number of with MRF.
researches on development and improvement of
2. THE PROPOSED MRF BRAKE
magnetorheological brake (MRB), and its application
in industry. In order to improve performance of In this study, a new configuration of a disc-type
MRBs, many MRB types have been proposed and MRB with two coils placed on each side of the brake
evaluated such as disc-type MRB [1-4], drum-type housing is introduced and its braking torque is
MRBs [5, 6], hybrid-type MRB (a combination of analyzed based on Bingham-plastic model of MRF.
disc-type and drum type MRB) with T-shaped rotor Figure 1a shows the previously developed MRB in
[7, 8]. Recently, Nguyen et al. [9-10] have proposed a which the two coil on each side of the housing
new configuration of MRBs in which magnetic coils directly contact with MRF [10], while Figure 1b
are placed directly on both sides of the housing of the shows the configuration of the proposed MRB in
MRB. With this proposed configuration, some which the coils are separated with MRF by a thin
disadvantages of the traditional MRBs such as wall. As shown in the figures, a disc (rotor) made of
“bottle-neck” problem of magnetic flux, a magnetic steel is fastened to the flange of the MRB
nonmagnetic bobbin is required, and difficulties in shaft made of nonmagnetic steel. The disc is
manufacturing and maintenance can be eliminated. It embedded inside a stationary envelop (housing) made
was shown that by placing the coils on each side of of magnetic steel. In Figure 1a, two wire-coils are
the housing, the mass of MRB was significantly directly placed on each side of the housing and
reduced compared to the MRB with one coil placed directly contact with the MRF (In this study, this is
on each side of the housing and the conventional referred as contact side-coil MRB). In Figure 1b,
MRB. The main problem in manufacturing of the there are not any slots on the inner face of the side
side-coil MRB is that the coils directly contact with housing, the side housing is composed of two parts
the MRF which results in manufacturing difficulty of and the coils are placed on the inner part of the
the MRF duct and contamination of the coils with housing from outside. In this case, the coils do not
MRF. contact with the MRF (In this study, this is referred as
non-contact side-coil MRB). The space between the
The main technical contribution of this work is
rotary disc and the housing is filled with MRF. In
to develop and investigate a new configuration of
order to prevent the leaking of MRF, radial lip seals
MRB with two coils placed directly on each side of
are employed. It is noted that, for the non contact
the housing. The coils are separated with the MRF by
MRB, the wall should be manufactured as thin as
thin walls of the side housing. With this
possible to prevent magnetic flow going through it.
configuration, the inner face of the side housing can
By assuming that the MRF rheologically
be manufactured continually. This allows the MR
behaves as Bingham plastic fluids and by the
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Hanoi, Vietnam
(a) contact side coil MRB [9] (b) non-contact (proposed) side coil MRB
Fig. 1. Configuration of the proposed side-coil MRBs.

assumption of a linear velocity profile in the MRF In the above, Rd is the outer radius of the disc,
ducts of the brake, the induced braking torque of the Ri is the inner radius of the active MRF volume in the
MRBs can be respectively determined as follows end-face duct which is almost equal to the outer
[10]: radius of the shaft flange, Rs is the shaft diameter at
 d 1 Rc41i Ri 4 4 yd 1 3 the sealing, d is the gap size of the end-face MRF
Td  [1  ( 3
) ]  ( R c 1i  R i ) ducts between the disc and the housing, do is the gap
d R c 1i 3
size of the annular MRF duct at the outer cylindrical
 d 2 Rc41o R c 1i 4 4 yd 2
 [1  ( ) ]  ( Rc31o  Rc31i )  face of the disc, td is the thickness of the disc,  is the
d Rc1 o 3 angular velocity of the rotor, Rc1i and Rc1o are the
 d 3 Rc42 i Rc 1o 4 4 yd 3 inner and outer radius of the inner coil while Rc2i and
[1  ( ) ]  ( Rc32 i  Rc31o )
d Rc 2 i 3 (1) Rc2o are the inner and outer radius of the outer coil.
 d 4 R 4
Rc 2 i 4 4 yd 4 µd1, µd2, µd3, µd4, µd5 and µd6 are respectively the
 c 2i
[1  ( ) ]  ( Rc32 o  Rc32 i ) average post yield viscosity of MRF denoted by
d Rc 2 o 3
MRF1, MRF2, MRF3, MRF4, MRF5 and MRF6
 d 5 Rd4 Rc 2 o 4 4 yd 5 while d1, d2, d3,d4, d5 and d6 are the corresponding
 [1  ( ) ]  ( R d3  Rc32 o )
d Rd 3 yield stress. y0 and µ0 are the zero-field yield stress
 Rd and viscosity of the MRF. Tsf is the friction torque
 2 R d2 t d ( yd 6   d 6 )  2Tsf between the shaft of the brake and the sealing, which
do
can be approximately calculated by [11].
and the off-state torque (the torque of the MRB when
no current is applied to the coil) of both the MRBs 3. OPTIMAL DESIGN OF PROPOSED MRF
can be determined by BRAKE
 0 R d4 Rs 4 4 y 0
T0  [1  ( ) ]  ( R d3  R s3 ) The optimization problem in this study is to find
d Rd 3 (2) optimal value of significant geometric dimensions of
 Rd the MRB that can produce a certain required braking
 2 R d2 t d ( y 0   0 )  2Tsf
do torque while the MRB mass is minimized. Generally,
the MRB mass can be approximately calculated by
mb  Vd  d  Vh  h  Vs  s  VMR  MR  Vc  c
(3)
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Hanoi, Vietnam
(a) contact side coil MRB (b) non-contact side-coil MRB

Fig. 2. Finite element model to analyze magnetic circuit of the MRBs.
where Vd, Vh, Vs,VMR and Vc are respectively gap size of the MRF ducts is, the greater braking
the geometric volume of the disc, the housing, the torque can be produced. However, the small gap size
shaft, the MRF and the coil of the brake. There may result in a large value of the off-state braking
parameters are functions of geometric dimensions of torque that degrades performances of the MRBs such
the MRB structures, which vary during the as high dissipated energy and overheat. Moreover, the
optimization process. ρd, ρh, ρs, ρMR, and ρc are density difficulty in manufacturing due to small gap size of
of the discs, the housing, the shaft, the MRF and the the MRF ducts is also an important issue should be
coil material, respectively. From the above, the taken into consideration. Therefore, in the
optimization design problem of the MRBs in this optimization, the MRF gap size is not considered as a
study can be summarized as follows: Find optimal design variable.
value of significant dimensions of the MRBs so that Table 1. Optimal solution of the MRBs
the brake mass determined by Eq. (3) is minimized,
while its maximum braking torque determined by Eqs. MRB Design parameter
Performance
(1) is constrained to be greater than a required type (mm)
braking torque. Coil: Max. Torque:
In this study, finite element models using 2D- nwc1=nwc2=5; 10Nm
axisymmetric couple element (PLANE 13) of nhc1=nhc2=11; Rc1i = Mass: 1.11 kg
commercial ANSYS software are employed to solve 25.16, Rc2i=44.21; Off-state Torque:
magnetic circuits of the MRB. The FE models used in No. of turns: 0.244Nm
this study are shown in Figure 2. Contact nturn1= nturn2=55 Power Cons.:
Housing: 27.27 W
4. RESULTS AND DISCUSSIONS R=56.06, th=4,63, Coil
In this section, optimal solutions of the above L=15.29 Resistance():
MRBs are obtained and presented with discussion. It Disc: Ri=15.96, Rc1= 0.814
is assumed that the commercial C45 steel is used for Rd= 53.06; td= 4 Rc2= 1.368
magnetic components of the MRB such as the Coil: nwc1=nwc2=
housing and the disc. The coil wires are sized as 21- 5; nhc1=nhc2= 10;
Max. Torque:
gage (diameter = 0.511mm) whose maximum Rc1i= 24.89,
10Nm
working current is around 3A and during the Rc2i=42.161;
Mass: 1.09 kg
optimization process, a current of 2.5A is applied to No. of turns:
Off-state Torque:
the coil. It is noteworthy that the cross section area of nturn1= nturn2=50
0.247 Nm
the coil is assumed to be fully wounded. In addition, Non- Housing:
Power Cons.:
the commercial MRF, MRF132-DG, made by Lord contact R=53.166,
23.85 W
Corporation is used in this research. In the th=5.6184,
Coil
optimization, the following significant parameters are L= 16.985
Resistance():
selected as design variables: The numbers of wire Disc:
Rc1=0.726;
layers along coil height (nhc1, nhc2), the numbers of Ri= 15.933,
Rc2= 1.182
wire layers along coil width (nwc1, nwc2), the inner Rd=50.366;
radius of the coils (Rci1, Rci2), the outer radius of the td= 4.1478
shaft flange Ri, the outer radius of the disc Rd, the
disc thickness td, the outer radius of the MRB R and Table 1 shows the optimal solution of both the
the housing thickness th. It is noted that the smaller contact and noncontact MRB. In this case, the
braking torque is constrained to be greater than 10Nm
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Hanoi, Vietnam
MRB has two coils placed directly on each side of the

10 housing. The coils are separated with the MRF duct
Contact MRB Noncontact MRB
by a thin wall of the side housing. After an
8 introduction of the proposed configuration, braking
torque of the proposed MRB was analyzed based on
Mass of MRB(Kg)
6 Bingham-plastic rheological model of the MRF. The

optimization of the proposed MRB and previously
4 developed MRBs was then performed considering
maximum braking torque and mass of the brakes.
2 From the optimal results, it was shown that the
noncontact side-coil MRB can provide equivalent
0
20 40 60 80 100
performance characteristics to the contact side-coil
Braking Torque(Nm)
MRB. It is noted that with this configuration, the
inner face of the side housing can be manufactured
Fig. 3. Optimization solution the side-coil MRBs. continually, which allows the MR fluid duct to be
manufactured more easily and accurately, and avoid
with 2% of accuracy, the convergence rate is set by the contamination of the coils with MRF. In addition,
0.1%. As above mentioned, the MRF gap size is not the coils can be maintained or rewired easily without
considered as a design variable and determined based dealing with the MRF in the ducts. As the second
on manufacturing advantages which is and the gap phase of this research, the MRB prototypes will be
size is set by 1mm for the contact side-side coil MRB manufactured and experiment work will be performed
and 0.8mm for the noncontact one. In addition, the for validation.
shaft radius is set by Rs=6mm considering the
strength of the shaft. As shown in the results, at the ACKNOWLEDGEMENT
optimum, braking torque of the MRBs can reach up This work was supported by the Vietnam
to 10Nm as constrained and the mass of the National Foundation for Science and Technology
optimized contact side-coil MRB is 1.09kg which is a Development (NAFOSTED) under grant no. 107.01-
bit smaller than that of the optimized noncontact one, 2015.32
1.11kg.
REFERENCES
Figure 3 show the optimal results of the of both
[1] Olabi A G and Grunwald A: Materials & Design Vol.
the contact and noncontact MRB as functions of
28 (10) (2007), p. 2658–2664.
braking torque. I is observed that the mass of the [2] An J, and Kwon D S: Journal of Intelligent Material
optimized noncontact MRB is always abit smaller Systems and Structures Vol.14(9) (2003), p. 541–550.
than that of the optimized contact MRB. [3] Park E J, Stoikov D, Luz L F and Suleman A:
Mechatronics Vol. 160 (2006), pp.405–416.
From the above, it is shown that by using a
[4] Liu B, Li W H, Kosasih P B and Zhang X Z: Smart
noncontact configuration of the side-coil MRB in Mater. Struct. Vol. 15(6) (2006), p. 1960–1969
which the coils are separated with the MRF by a thin [5] Huang J, Zhang J Q, Yang Y and Wei Y Q: Journal
wall, we can obtained a MRB with better of Materials Processing Technology Vol. 129 (2002),
performance characteristics to the contact side-coil p.559–562.
MRB. It is noted that with this configuration, the [6] Smith A L, Ulicny J C and Kennedy L C: Journal of
inner face of the side housing can be manufactured Intelligent Material Systems and Structures Vol.
continually, which allows the MR fluid duct to be 18(12) (2007), p.1131–1136.
manufactured more easily and accurately, and avoid [7] Nguyen Q H and Choi S B: Mechanics Based Design
of Structures and Machines Vol. 40(2) (2012), p:153-
the contamination of the coils with MRF. In addition,
162.
the coils can be maintained or rewired easily without [8] Nguyen Q H and Choi S B: Smart Mater. Struct. Vol.
dealing with the MRF in the ducts. 21(5) (2012).
[9] Q.H. Nguyen, N.D. Nguyen, S.B. Choi: Smart Mater.
5. CONCLUSION
Struct. Vol. 24 (1) (2015).
In this research, a new configuration of [10] Q.H. Nguyen, N.D. Nguyen, S.B. Choi: Vietnam
magneto-rheological brake (MRB) was proposed, journal of mechanics Vol 37(4) (2015).
optimally designed and evaluated. The proposed [11] EPS Division, Rotary seal design guide, Parker
Hannifin Corporation, Catalog EPS 5350, 2006.
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Optimal Design of Wind Turbine Blades using Vortex Theory

Tran Tien Anh*
Ho Chi Minh city University of Technology (HCMUT)
*Email: tienanh@hcmut.edu.vn
Abstract
The study presents a design and optimization procedure for rotor blades of wind turbine based on vortex
theory. This procedure is then applied to design a conventional planar blade for a horizontal wind turbine. A
free wake analysis procedure is also discussed in this study. This procedure is used for verifying the
calculating results. The investigated design procedure is compares well with theoretical results. A design
procedure bases on a lifting line method coupling with a Lagrange multiplier approach. The purpose is
finding out optimal distribution of circulation along the blade which minimizes the induced loss.
The blade geometry is then drawn based on 2D airfoil data. Airfoil viscous drag contribution is also added to
the inviscid solution. As a wake model, a simple fixed pitch helical wake is used. A more sophisticated wake
model which combines a free wake and a fixed pitch wake was not successful. Moreover, the results
obtained from this combined model are no more accurate than the results obtained from the fixed pitch
model. A simple and robust code is desired for preliminary design purposes. And the fixed pitch model is
sufficient for this purpose.
It has been shown that, in the planar blade wind turbine, there is a good agreement with the design code.
Keywords: planar blade wind turbine, vortex theory, lifting line method, free wake, fixed pitch wake.
vortex structure shed by the blades and the induced

1. Introduction
velocities are calculated accurately with the Biot-
This thesis focuses on the aerodynamics of wind Savart formula.
turbine wakes, in particular on the near-wake and the
2. Fundamental theory
far-wake i.e. distances smaller than ten diameters
downstream of the rotor. The main thesis goal is to Consider a wind turbine rotor, operating in a
increase the understanding of the development of the uniform, steady-state wind. It is also assumed that the
wake from the rotor region into the far field. An rotor blades are identical, and entirely rigid, i.e. no
attempt is made to develop a simple model that deflections are taken into account. Under these
describes the development of the near wake and far assumptions, the problem is axisymmetric. This
wake. means that for the purpose of design, only one blade
From a wider perspective the thesis goals fit well has to be actually solved.
within the general objective to design optimal and 2.1. Concept of the lifting line theory
cost-effective wind turbines and wind farms.
Compared to the aviation industry, commercial The Prandtl lifting-line theory is a mathematical
design and operation of wind turbines has a short model that predicts lift distribution over a three-
history. It may therefore be expected that wind dimensional wing based on its geometry.
turbine design will improve significantly in the next The lifting-line theory yieldsthe lift distribution
decades making it an interesting and challenging field along the span-wise direction, dL based only on the
for engineers. wing geometry (span-wise distribution of chord,
Optimization of complex systems such as wind airfoil, and twist) and flow conditions (ρ, V, φ).
turbine blades is an open-ended problem that spans Being a straight lifting surface with high aspect
several branches of engineering, aeronautical, ratio, each blade is replaced by a lifting line which is
mechanical, materials and manufacturing positioned at a quarter chord behind the leading edge
engineering, to name but a few. This thesis presents and has a varying circulation Γ along its span.
an optimization of wind turbine based on It uses a blade element approach, where the blade
aerodynamic considerations. The constraint is the is segmented in section in the spanwise direction. At
thrust exerted by the rotor on the tower for a given tip each section, the loads are determined by using the
speed ratio. This problem is well defined and can be velocity perceived at the control point (usually the
solved for practical applications, taking into account quarter-chord point), and 2D airfoil theory. The
viscous effects. The method uses a model of a rigid velocity at the control point is calculated using
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ïìïu ïüï
 ï xï
Q ind = ïíuy ïý (3)
ïï ïï
ïïu z ïï
î þ
Let L denote the unit vector, tangent to the
lifting line at the point of consideration. The direction
of L is defined according to the right-hand rule with
respect to the circulation. The lifting-line theory
applies the concept of circulation and the Kutta–
Joukowski theorem:
 
dL = rQ ´ L  Gds
(4)
Fig. 1. The lift distribution over a wing can be
According to the works of Shenkar [12], it
modeled with a concept of circulation [2].
immediately follows that the components of lift force
in axial and azimuthal direction of an infinitesimal
lifting line element are given by:
 
(
dTl = zˆ ⋅ dL = zˆ ⋅ r Q ´ Lˆ Gds ) (5)
 
(
dFl = yˆ ⋅ dL = yˆ ⋅ r Q ´ Lˆ Gds ) (6)
The torque and the bending moment of an
infinitesimal lifting line element which is caused by
lift force are:
   
( ) (
d tl = zˆ ⋅ r ´ dL = zˆ ⋅ r ´ rQ ´ L  Gds
) (7)
   
Fig. 2. The lifting line.
( )
dBM l = yˆ ⋅ r ´ dL = yˆ ⋅ r ´ rQ ´ L (
 Gds
) (8)
It is possible to define a drag vector, when we
potential flow theory, linearly adding the unperturbed know the drag-to-lift ratio of the airfoil at the point of
wind field with the velocity field generated by the operation. The drag force is assumed to act in a
vorticity distribution. The vorticity distribution is direction perpendicular to the lift and with
generated by the loads on the blade. The method of
magnitudeεtimes the magnitude of lift.
solution is iterative in our approach [10].
Consequently, the drag vector can be written as:
 
2.2. Aerodynamics of wind turbine dD = eL  ´ dL
é    ù (9)
Leta point on the lifting line be described by the
vector r (s ) - radius vector to a point on the lifting
= er êL
êë (
´ Q ´ L ú Gds
úû )
line, where s is an arc length coordinate along the And, by the same token, the components of drag
lifting line. At that point, the lifting line may have a force in axial and azimuthal direction are:
circulation of some strength Γ(s). The circulation is 
dTd = zˆ ⋅ dD
 of a
defined positive for the normal state of operation
é    ù (10)
wind turbine. And, there is a velocity vector Q, which
is the total sum of the kinematic velocity and the
= er zˆ ⋅ êL
êë (
´ Q ´ L ú Gds
úû )

velocity induced on that point by the trailing wake dFd = yˆ ⋅ dD
and also by the lifting line itself. é    ù (11)
The local velocity vector at a point on the lifting = er yˆ ⋅ êL
êë (
´ Q ´ L ú Gds
úû )
line is:
  
Q = Q kin + Q ind (1) The torque and the bending moment of an
Where infinitesimal lifting line element which is caused by
ïìï 0 ïüï drag force are:
 ï ï    
Q kin = ïí 0 ïý - W ´ r
ïï ïï
(2) (
d td = zˆ ⋅ r ´ dD
 é
) 
{ ) }
ïïV¥ ïï (12)
î þ = er zˆ ⋅ r ´ êL
ëê
 ù Gds
 ´ Q ´L
ú
ûú
(
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2G
c =  (20)
Q eff .C l

The triad r (s ) , β(s) and c(s) then describes the
geometry of the blade in a closed form.
To calculate the velocity component associated
with the vorticity, we employ a concept from
electromagnetism, applying the Biot-Savart law to
Fig. 3. The effective velocity plane. calculate the velocity “induced” by the vortex.
If the vorticity is concentrated in a curve from a
point a to a point b with constant circulation Γ, the
curve can be discretized in straight segments.
The velocity induced at a control point xcp can be
calculated by the Biot-Savart law:
 
 G ds ´ r
dQ ind =
4p  3 (21)
r
 
where here only, ds denotes the vortex element and r
is a vector, pointing from this element to the point of
interest- xcp. To find the total velocity induced at the
point of interest by the vortex system, it remains to
integrate this expression over the entire bound and
Fig. 4. The vorticity segment. trailing circulation.
 
(
dBM d = yˆ ⋅ r ´ dD
 é
)

2.3. Setup geometry of the horseshoe vortices
{ ) }
(13)
= er yˆ ⋅ r ´ êL
êë
 ´ Q ´L
(
 ù Gds
ú
úû
At the tip of the blade, the difference in pressure
between the lower and upper side leads to the
We have the total forces in two directions: axial formation of a tip vortex. The bound vortex and tip
direction and azimuthal direction. The lift part– drag vortices form a horseshoe vortex.
part separation here follows in principle the works of The blade is segmented in spanwise direction. A
Chattot[1]. horseshoe vortex is collocated at each blade segment.
The lifting line of continuous circulation is replaced
Axial direction with discrete segments of constant bound circulation
T = Tl + Td (14) each.
(thrust):
Each horseshoe is discretized in straight vortex
Azimuthal (15) filaments. The blade elements are discretized by three
Fa zi = Fl - Fd filaments: one bound at the quarter-chord line, two
direction:
 trailing in chord direction. According to Helmholtz
Q
The effective velocity vector eff is given by: theorem, the circulation Γ is constant for all filaments
   that compose the horseshoe, such that conservation of

Q eff = L ´ Q ´ L ( ) (16) circulation is satisfied. The direction of the filament
This vector may be separated into two defines the direction of the circulation [10].
components in the effective velocity plane: 2.4. Pre-optimization

u =Q . L
n eff (
 ´ yˆ
) (17) This procedure below here follows in principle the
 works of Kroo [8].
ut = Qeff .(-yˆ) (18)
2.4.1. Setting matrices for induced velocity by vortex
The inflow angle in this plane is given by: system
u
tan (f) = n (19) The induced velocities are then a linear function
ut of {g } , and therefore they can be formulated in a
Finally, the chord (also defined in the plane of matrix form. Vector formulation of velocity
the effective velocity) can be related to the local components induced at n control point by n horseshoe
magnitude of circulation as: vortex rings:
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Hanoi, Vietnam
 
Replacing Q ind and Q kin by the definition that we
constructed at section 2.4.1, we have:
Fl = éêëFC 1 ùúû {g }{g } + éêëFC 2 ùúû {g } (30)
Tl = éêëTHC 1 ùûú {g }{g } + éTHC 2 ù {g }
ëê ûú (31)
t l = éëêTO C 1 ùûú {g }{g } + éTO C 2 ù {g }
ëê ûú (32)
B M l = éëêB M C 1 ùûú {g }{g } + éëêB M C 2 ùûú {g }
(33)
Where [FC], [THC], [TOC] and [BMC] are the
coefficient matrices of azimuthal force, thrust, torque
and bending moment, respectively.
2.4.3. Drag force part
With the same way, we got the expressions of the
forces and moments that are caused by drag force:
Fd = éëê F C 3 ùûú {g }{g } + {F C 4 }{g } (34)
T d = éêëT H C 3 ùûú {g }{g } + {T H C 4 }{g } (35)
Fig. 5. Horseshoe vortex formulation [12].
t d = éêëT O C 3 ùúû {g }{g } + {T O C 4 }{g } (36)
éu ù éu ù é ù
ê 1 ú ê 1/1 ... u1/n ú ê g1 ú BM d = éêëB M C 3 ùúû {g }{g } + {B M C 4 }{g } (37)
ux = êê  úú = êê    úú ⋅ êê  úú = êëéUIC ûúù {g }
ê ú ê ú ê ú (22)
êëun úû êëun /1  un /n úû êë gn úû 2.5. Optimization using the Lagrange multiplier
method
év ù év ù é ù The objective of turbine blade design is also to
ê 1 ú ê 1/1 ... v1/n ú ê g1 ú maximize the lift force on the blade and reduce drag
ê ú ê
uy = ê  ú = ê    úú ⋅ êê  úú = éêëVIC ùûú {g }
(23) so that the force on the blade that acts in the
ê ú ê ú ê ú tangential direction is maximized (i.e. the Torque is
êëvn úû êëvn /1  vn /n úû êë gn úû
maximized).
The problem sought after is stated as, to find the
éw ù éw ù é ù
ê 1 ú ê 1/1 ... w1/n ú ê g1 ú circulation {g } that maximizes the torque t for a
ê ú ê
uz = ê  ú = ê    úú ⋅ êê  úú = êëéWIC úûù {g }
(24) given thrust constraint Tref. This is accomplished by
ê ú ê ú ê ú
êëwn úû êëwn /1  wn /n úû êë gn úû defining a goal function with constraint equations
appended with Lagrange multiplier:
An element in position (i, j) of such a matrix is J = t + l (T -Tref ) (38)
simply the velocity induced (in the respective
And the optimality conditions may be expressed
direction) at a control point (i) due to a unit
by the equation:
circulation magnitude of the horseshoe vortex (j).
Also defined is a vector: ïìï ¶J ïüï
ïï ï
ïìïUIC (i, j ) ïüï ïí ¶ (g )ïïý = {0} (39)
 ï ï  ïï ¶J ïï
Qind (i, j ) = ïíVIC (i, j ) ïý g ( j ) = QIC (i, j ) g ( j ) ïï ïï
ïï ï (25) ïî ¶l ïþ
ïïWIC(i, j )ïïï
î þ The equation system is conveniently solved
iteratively by the Newton method, iterating on the
Lagrange multiplier λ. In each step, {γ} is solved
2.4.2. Lift force part first, then the resulting thrust is calculated, and so on,
Expression of the forces and moments that are until convergence to the constrained thrust is
caused by lift force: achieved(according to reference [8]).
 
( ) (
Fl = B r ò yˆ ⋅ Q ind ´ Lˆ Gds + B r ò yˆ ⋅ Q kin ´ Lˆ Gds (26) ) 2.6. The helical wake model
 
( ) (
Tl = B r ò zˆ⋅ Q ind ´ Lˆ Gds + B r ò zˆ ⋅ Q kin ´ Lˆ Gds (27) ) The simplest wake model to be used is the simple
constant pitch helix, extending from the rotor plane
   
( ( )) ( (
tl = B r ò zˆ ⋅ r ´ Q ind ´ Lˆ Gds +B r ò zˆ ⋅ r ´ Q kin ´ Lˆ Gds )) (28) downstream to infinity. In the simple case of a planar
blade, the wake shape is described locally as a helix
é  é 
BM l = B r ò
ëê
( )
ù
úû êë ( ) ù
yˆ ⋅ êr ´ Q ind ´ Lˆ ú Gds +B r ò yˆ ⋅ êr ´ Q kin ´ Lˆ ú Gds
ûú
(29) with a fixed pitch, with the pitch angle
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Fig. 7. Helical wake.
Fig. 6. Induced velocity and displacement factor [12].
V + uz a) Radial discretization b) Tangential discretization

tan f = (40) Fig. 8. Wake discretization.
W r - uy
When we obtain the final value of w , we can
Let v be the magnitude of the induced velocity calculate the torque after having the induced velocity
vector in the yz plane, such that: influence coefficient matrices. Then, we can calculate
uz = v cos f (41) the most important coefficient– power coefficient of
wind turbine.
uy = v sin f (42)
3. Design process
Also, let w denote the axial displacement 3.1. Discrete wake formulation
velocity, defined as w = h − V where h = Ωr.tanφ is 3.1.1. Wake radial discretization
the linear pitch velocity. Plugging these definitions
into Eq. (40), we have: The strategies for radial discretization: uniform
 v = w . cos f (43) cosine distribution is employed. Segments are define
Now we can write: at the cosine of a uniform angle distribution, see Fig.
8a. Provides a solution with higher resolution at the
V +w
tan f = (44) root and tip, where circulation gradients are higher.
Wr
Such that s µ (1-cos θr)/2, where θr ranges from 0o to
or, in the more convenient dimensionless form:
180o by a fixed increment Δθr which determines the
1 l
 tan f =
xl
(1 + w) º
x
(45)
number of discretized segments. Δθr = 5 so we have
36 segments, corresponding to 36 control points.
The procedure described above follows in principle The length of each segment is given by:
the works of Shenkar[12]. R R æ 1 - cos q ö÷
- cos qr = R ççç r ÷
÷ (47)
2 2 çè 2 ø÷
From Eq. (45), we can construct the trailing
vortex. At first, we choose the value of w = 0, an 3.1.2. Wake tangential discretization
iterative loop is applied, in each step a new value of
w is calculated. From Eq. (43), we have: In the tangential direction there is an angular
u 2 + uy2 1 discretization Δθt = 5 at the rotor plane to a distance
w = z (46) defined by a parameter wakelength (Fig. 8b).
uz V Thereafter it remains constant until this distance
With each new value of w is calculated based on where the wake is terminated. The parameter
the average of the induced velocities on the lifting wakelength is defined as multiples of the rotor
line, the optimization process is conducted once diameter.
again, until convergence occurs.
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Table 1. Setting default parameters.

Parameter Value
Number of blades 3
Wind speed/ V 10 m/s
Airfoil NACA 4412
Lift coefficient / Cl 1.006
Drag-to-lift ratio / Cd /Cl 0.00989
Angle of attack / α 5o
Radial discretization / Δθr 5o
Fig. 9. Velocity profile in wake of a wind turbine Tangential discretization / Δθt 5o
[10]. Wake length / wakelength 20R = 10D
Number of iterations / Nit 15
Constrained thrust coefficient / CT 0.64
Tip speed ratio / λ 8
Rotor radius / R 10 m
Blade root radius / R0 2m
Air density / ρ 1.225 kg/m3
Many experimental and theoretical studies have

suggested that the wake velocity deficit is minimal
Fig. 10. Theoretical maximum power coefficient as a after 10D (where they probably mean that the
function of tip speed ratio for an ideal 3-blades velocity deficit is smaller than a certain percentage of
horizontal axis wind turbine (HAWT) [6]. the free stream velocity) [10].
3.4. Program parameters setup
3.2. Airfoil selection 3.4.1. Tip speed ratio
For determining the blade geometry, we need: α, Wake rotation behind the turbine causes
Cl andε- the airfoil specific properties at the design aerodynamic losses, which are most significant in the
point. The blade is designed with just one airfoil low tip-speed ratio region. The practical energy
NACA 4412. NACA 4412 has the minimum drag-to- extraction limit for slow-going turbines is much
lift ratio (Cd/Cl) is 0,00989 (Cl/Cd= 1.011) lower than the Betz limit (without wake rotation).
corresponding to the angle of attack (α) is 5o and the Modern HAWTs generally utilize a tip speed
lift coefficient (Cl) is 1.006 [7]. ratio of nine to ten for two bladed rotors and six to
It has been mentioned previously that the NACA nine for three blades. This has been found to produce
4412 is an old airfoil, and therefore may not give as efficient conversion of the winds kinetic energy into
large a power output as the designer would like electrical power [6].
because its maximum lift to drag ratio is lower than The input tip speed ratio λ = 8.
for more modern sections. We choose it such as an 3.4.2. Input parameters
example, and possibly replace it if we have any better Then, based on some reference results and with
airfoil in future. practical considerations, the following parameters are
chosen to be the program setting default.
3.3. Wake length
3.5. Calculating flow chart
The wake of a wind turbine is typically divided
into a near and a far wake.Fig. 9 gives a more The design process can be separated into several
realistic picture of the velocity profile in the wake. steps as following flow chart.
They estimate that the maximum velocity deficit is The wake is constructed at first with pitch that
attained after 1-2 rotor diameters (D). corresponds to w = 0 The calculation of the induced
velocities and the induction influence coefficient
matrices is then a simple matter of applying the Biot-
Savart law to each discrete vortex segment and
adding together the contributions from the entire
wake.
The force influence coefficient matrices are then
derived directly, and the optimization equations
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Fig. 12. Distribution of chord-radius ratio along

blade.
Fig. 11. Design and optimization procedure for wind Fig. 13. Design local pitch angle distribution.
turbine.
solved for the optimal circulation distribution. The
induction influence coefficient matrices are then used
again to recover the induced velocities on the lifting
line, for the purpose of calculating a new w . These
induced velocities are partly due to the trailing
vortices and partly due to the bound vortices. This
process is then repeated Nit iterations until
convergence of w occurs. . Fig. 14. 3D wind turbine blade geometry.
4. Results
coefficient and drag coefficient values are taken at
4.1. Design results Re = 0.5 ´ 106 .
4.1.1. Geometry The optimal blade chord and pitch angle
distributions with the tip-hub loss and the drag effects
The wind turbine blade geometry model is are presented. Apparent changes of chord and pitch
described by lifting line vector, local pitch angle and angle distributions occur at the hub and tip positions.
chord distribution. In some case, the blade tip needs to be modified due
In Fig. 12 the chord-radius ratio distribution with to manufacturing limits. However, the chord and
respect to radial location of each blade element both pitch angle distributions of main part of the blade are
of which are normalized with blade radius is shown. almost in a smooth spline manner. These results
Similarly in Fig. 13 local pitch distribution with reveal the tip-hub loss brings visible effect on both
respect to radial location is illustrated. The blade blade chord and pitch angles at the hub and tip
chord-length and pitch distribution for an optimum sections.
three-bladed rotor at the design tip-speed ratio λ = 8 In Fig. 14 the final shape of the design blade is
is tabulated for the airfoil NACA 4412 whose lift depicted.
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Fig. 15. Optimum dimensionless circulation Fig. 17. Azimuthal force coefficient distribution.
distribution.
Fig. 18. Thrust (axial force) coefficient distribution.

Fig. 16. Induced velocity factor in the rotor plane. The most important thing to be cared about wind
The rotor has a radius R and it contains B equally turbine blade is the power coefficient. The power
spaced blades. All the blades are identical and the coefficient of each blade section was simultaneously
chord (c), pitch angle (β) and aerodynamic calculated in the optimization process, thus a total
characteristics along the blades are known. rotor power coefficient was integrated.
In Fig. 17 to 20, we can see the negative
4.1.2. Design results characteristics contribution of the drag force to power production
Fig. 15 shows the dimensionless circulation G is and azimuthal force production are evident. However,
most uniform along the blade. The decreases in the contribution to the thrust, to the bending moment
circulation near the hub and tips are due to the hub-tip are negligible.
loss correction. Without this correction, G is Fig. 18 to 20 show that most of power, thrust
approximately constant over wind turbine blade. force, bending moment is produced near the tip,
Note: The circulation Γ is non-dimensioned by V.R simply because of the rapidly increasing contribution
Similarly, the induced velocity is approximately of Ωr to V and the airfoil drag deficit is most
constant over the blade, in accordance with the Betz pronounced. The combined effect emphasizes the
condition. The converged value that is used for importance of a careful airfoil selection, especially
updating the wake is calculated from Eq. (46) to be for the tip region of the blade.
w = -0.2499, which is lower than the optimal value The blades of modern large wind turbines
of 1/3 predicted by the BEM theory. become very long and their rotational speed decreases
The force of main interest is in the direction of (to keep a certain tip speed ratio), which implies that
the wind and the turbine’s axis–thrust force (axial the part of the blade close to its root (close to the
force). rotor hub) will operate at very low speed ratio, thus
The thrust caused by drag part is too small producing rotational wake-related losses and low CP.
compared to lift part.
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Fig. 19. Bending moment coefficient distribution. Fig. 21. Partial view of the vortex sheet behind a
turbine blade.
Fig. 22. Comparison circulation distribution.
Fig. 20. Power coefficient distribution. Note: The circulation Γ of both figures is non-
The upper 1/3 of the blade close to its tip

(
2
dimensioned by pV¥ ) (B.W)
generates 2/3 of the power for the whole blade. It also
follows that the blade design near the hub is not 4.2.1. Circulation
critical for power extraction, so that modifications to 4.2.2. Thrust, azimuthal force
accommodate the attachment to the hub and structural
considerations, such as increasing the thickness of the In Fig. 23, we can see the similarities between
blade to withstand the centrifugal loads, can be made two methods.
without compromising power performance. Note: Faxial and Fazim are non-dimensioned by
1 rV 2 R .
4.1.3. Wake simulation 2 ¥
4.2. Comparison with the blade element momentum 4.2.3. Power coefficient
In the reference [3], we found out some results With the same thrust coefficient CT = 0.64, same
about wind turbine aerodynamics with blade element λ = 8, we have the power coefficient of two methods.
momentum theory (BEM). So now, we conduct the
comparison between two methods: vortex method and The difference between vortex method and BEM
BEM with the same tip speed ratio, the same thrust method is quite small (about 4%), maybe if we
coefficient. change the better airfoil with better lift-to-drag ratio,
we can get the better power coefficient.
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also an inherent limitation of this simple wake

model.
Further steps:
- A optimization process of another
configuration or another wake model should
be carried out in order to have a comparison
about the quality of each configuration, each
wake model.
- Detailed drawings and assembly drawing
should be carried out for building a real wind
turbine blade and wind turbine tower in the
future.
Fig. 23. Comparison axial and azimuthal force
coefficient. References
Table 2. Vortex method versus BEM method [1] Chattot, J. J., (January 2003). Optimization of wind
turbine using helicoidal vortex model. Journal of
Vortex method BEM method Solar Energy Engineering, 2003-0522.
Tip speed ratio λ = 8 Tip speed ratio λ = 8 [2] Cleynen, O. (August 2011), Lifting line theory.
Thrust coefficient Thrust coefficient Retrieved from the OLPC Wiki:
CT = 0.64 CT = 0.64 https://en.wikipedia.org/wiki/Lifting-line_theory
[3] Delft University of Technology, (2011). BEM- blade
Power coefficient Power coefficient element momentum theory. Course AE4-135 rotor
CP = 0.45 CP = 0.47 and wake aerodynamics. Retrieved from:
- https://csimaoferreira.github.io/Rotor-Wake-
Aerodynamics-BEM/#/
5. Conclusions [4] DTU Wind Energy & World Bank Group, (2017).
Global wind atlas. Retrieved from :
https://www.globalwindatlas.info
Some achievements in this research: [5] GIZ, MOIT/ GIZ Energy Support Program, (2011).
- The existing literature on the calculation of Information about wind energy in Vietnam. Retrieved
wind turbine wakes is reviewed. Such as from:
introduction to wind turbine aerodynamics. http://gizenergy.org.vn/vn/knowledge-resources/giz-
- A design and optimization code based on a publications/publications
[6] Hau, E. (2006). Wind turbines, fundamentals,
lifting line method coupled with a Lagrange
technologies, application, economics (2nd ed.). Berlin,
multiplier approach has been brought out. Springer Berlin Heidelberg.
- The designed circulation distribution which [7] Illinois Institute of Technology, (2018). Airfoil tools
minimizes the induced loss is found, and the [Software]. Available from:
blade geometry is then derived based on the http://airfoiltools.com/airfoil/details?airfoil=naca4412
chord, pitch angle distributions and airfoil -il
data. [8] Kroo, I., (October 1984). Design and analysis of
optimally-loaded lifting systems. The American
There are still some limitations: Institute of Aeronautics and Astronautics Journal, 84-
- The airfoil selection is not good enough for a 2507.
maximum power coefficient. NACA 4412 is [9] Nelson, B., & Kouh, J. S., (May 2017). The
just an old airfoil with average value of lift, aerodynamic analysis of rotating wind turbine by
drag coefficient and lift-to-drag ratio, so we viscous-coupled 3D panel method. Applied Sciences
choose it as an typical example. Thus it can Journals, 7-551.
[10] Sanderse, B. (September 2016), Aerodynamics of
not be compared to new design airfoils, such wind turbine wakes- literature review. Energy
as NREL(National Renewable Energy research Centre of the Netherlands, ECN-E-09-016.
Laboratory) airfoil– an airfoil which is [11] Schubel, P. J., & Crossley, R.J., (September 2012),
designed for only one purpose of performance Wind turbine blade design. Publisher of Open Access
optimization of wind turbine (lift coefficient Journals, Energies, 2012-5.
about 1.5). [12] Shenkar, R. (September 2010), Design and
optimization of planar and nonplanar wind turbine
- The accuracy is not ensured for entire the
blades using vortex methods. Technical University of
wake, because there are some difference Denmark Mechanical Engineering.
properties between near and far wake. This is
366 October 27 - 28, 2018

Hanoi, Vietnam
Nomenclature B : Number of blades

Nit : Number of iterations
[UIC] J : Objective function of Lagrange method
[VIC] : Induced velocity influence coefficient V : Infinity velocity
matrix in the x, y, z axis c : Chord
[WIC]
h : Linear pitch velocity
[FC] : Azimuthal force coefficient matrix l : Dimensionless helical pitch
[THC] : Thrust force coefficient matrix n : Number of segments, control points
[TOC] : Torque coefficient matrix s : Arc length coordinate along the lifting line
[BMC] : Bending moment coefficient matrix v : Induced velocity magnitude normal to the
L̂ : Unit vector locally tangent to the lifting line helical surface of the wake
dL : Infinitesimal lift element Greek
symbols
dD : Infinitesimal drag element
 α : Angle of attack
Q : Velocity vector

 β : Local pitch angle
QIC : Local induced velocity influence coefficient
γ : Discrete circulation of the lifting line
vector
ε : = Cd/Cl , Airfoil drag to lift ratio
ŷ , ẑ : Unit vector in the y, z-axis
 η : Local out of plane angle
r : Radius vector to a point on the lifting line
Δθr : Radial discretization
a , a’ : Axial and tangential induction factor Δθt : Tangential discretization
w : Wake displacement velocity in the rotor λ : Tip speed ratio, also: Lagrange multiplier
(
plane w = w /V ) n : Kinematic viscosity of air
u x , u y, u z : Velocity component in x, y, z-axis t : Torque
un , ut : Normal and tangential velocity component r : Air Density
in the effective velocity plane π : Pi number
T : Thrust force (axial force) ϕ : Inflow angle
F : Azimuthal force x : = r/R , dimensionless radial position
L : Lift force Ω : Rotor angular velocity
D : Drag force Γ : Circulation
BM : Bending moment
P : Power Subscripts
Cl : Airfoil lift coefficient l : Lift part
Cd : Airfoil drag coefficient d : Drag part
CF : Azimuthal force coefficient b : Bound vortex part
CT : Thrust force coefficient w : Trailing wake part
CBM : Bending moment coefficient ind : Induced part
CP : Power coefficient kin : Kinematic part
R : Rotor radius azi : Azimuth
R0 : Root radius
367 October 27 - 28, 2018

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Development of Preliminary Design for Tidal Power Plant

at Kuching Barrage
Andrew Ragai Henry Rigit*, Norman Baggio Anak Francis
Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, Universiti Malaysia
Sarawak, 94300 Kota Samarahan, Sarawak, Malaysia
*Email: arigit@unimas.my
Abstract
Nowadays, the Malaysian government supports the production of electricity from natural phenomenon since
non-renewable energy are depleting. Kuching Barrage, located in Sarawak, has been operating since 1998.
Its primary function is to mitigate flood in Kuching. There have been several proposals to convert the flood-
mitigating barrage into an energy-harvesting barrage by constructing a tidal power plant. Although the
government supports green technology, the proposals have never been approved due to inevitable internal
reasons. Therefore, this project is introduced in hopes that the government will eventually approve of this
idea. There are four objectives in this project in which the most important parts are the selection of turbine
type and analysis of its parameters. The turbine type selected is bulb turbine. Based on the analysis, it
should have a diameter of 5.6 m and rated power of 3.75 MW. However, the turbine is too large to be
installed at the barrage because the lowest depth of the river water is 4.7 m. Hence, a recommendation to
overcome this hurdle is by proposing vortex turbine which is suitable for low head applications.
Keywords: Tidal power plant, Kuching barrage, Bulb turbine, Vortex turbine.
1. Introduction
2.1. Formation of Low and High Tides
This paper focuses mainly on the selection and
In nature, the moon possesses gravitational
study of low-head tidal turbine for the proposed tidal
attraction. Ocean tides respond to its gravitational
power plant at Kuching Barrage. A tidal barrage is a
pull as it orbits the Earth. The part of the Earth that is
small-scale, dam-like structure used to capture the
nearer to the moon is strongly attracted to the moon’s
energy from masses of water moving in and out of a
gravitational pull as compared to the part that is
bay or river due to tidal forces. This technology had
farther from the moon. Hence, the close part gets
been introduced in Malaysia many years ago.
closer to the moon and the far part gets farther,
Nonetheless, Kuching Barrage is not a tidal station, it
resulting in elongation of sea water in two directions.
is only used for flood control in Kuching. There were
It also causes there to be two rising and receding tides
many researchers conducted to convert the barrage
for every 24 hours, 50 minutes, and 28 seconds
into a tidal station. However, none of the researches
(approximately 1 day). Since the moon rotates around
are being implemented and this has been ongoing for
the earth, the timing of these tides at any point on the
several years. This project is introduced in hopes that
earth will vary, occurring 50 minutes later each day.
it will be used as a reference to assist in the
implementation of the proposed tidal power plant at 2.2. Types of Hydropower Turbines
Kuching Barrage.
2.2.1. Impulse Turbine
2. Literature Review Normally, to rotate an impulse turbine, the
velocity of water is used, and it is discharged to
Tidal energy is a form of hydropower that
atmospheric pressure. Each bucket on the runner is
converts the energy obtained from tides into
hit by the water stream. Usually, it is applicable for
electricity or other useful forms of power [1].
high head and low flowrate [2]. Pelton turbine and
Conventionally, it involves constructing a barrage
cross-flow turbine are types of impulse turbine.
across the opening of a tidal basin. The barrage
includes sluice gates that are used for allowing the 2.2.2. Reaction Turbine
movement of tide into the basin as the tide rises. The
A reaction turbine harnesses power from the
gates are then closed when the sea reaches its
maximum level. When the sea level drops and combined action of flowing water and pressure. It is
reaches its lowest point, the gates are opened to allow submerged directly in the water stream, and water
flows through the blades simultaneously, instead of
the collected sea water in the basin to flow back into
the sea. The water is forced to flow through tidal striking each individually. It is commonly used for
turbines which then convert the tidal energy into high water flowrate and lower head [2]. Types of
reaction turbine are Francis turbine, kinetic turbine,
electrical energy.
368 October 27 - 28, 2018

Hanoi, Vietnam
reversible pump-turbine, and propeller turbine. Under

the propeller turbine category, there are bulb, Straflo,
tubular, and Kaplan turbines.
2.2.3. Vortex Turbine
Vortex turbines are used in a water vortex
hydropower system. The system harnesses energy
from an artificial vortex created in the system itself
by using a small net head on a river [3], ranging from
0.7 m to 3.0 m [4]. The vortex is created in a
circulation tank where river water is channeled into it
from the river bank. The circulation tank has an outlet
at its base, causing the water to form a vortex.
Besides, the tangential entry at the circulation tank
also causes strong vortex flow. A vertical axis turbine
is placed at the tank center to harness energy from the
vortex, so potential energy is converted to rotational
kinetic energy at the vortex core. Finally, the water Fig. 1. Turbine application chart [5].
then flows back to the river through the tail race.
3. Methodology parameters correspond to the required turbine
capacity. Equation (2) is used to find H.
3.1. Mean Tidal Range and Potential Annual Power
Output H Z -Z (2)
A site visit to Kuching Barrage shall be
conducted to find any data associated to the barrage Where H = available net head (m);
methods of operation and operating components. The Zu = upstream head (m); Zd= downstream head (m).
visit is organized mainly for information gathering. If To find Q1t, two equations are needed which are:
the site visit is not conducted, a book entitled Tide
Tables Malaysia (Volume 2) shall be utilized. The
H 0.66R (3)
book contains data for tide levels in Malaysian coasts,
which is highly significant to determine the mean
Where, Hr = rated head (m); Rmean = mean tidal
tidal range. Microsoft Excel may be used to analyse
range of the barrage (m).
the data, although MATLAB is preferable.
After the mean tidal range is obtained, the Q C A 2gH (4)

potential annual power output can then be analyzed
by using (1) and it shall be compared with other Where, Q1t = rate of water discharge through
existing tidal power plant from across the globe. one turbine (m3/s); Cd = discharge coefficient
0.987 (1) (assumed as 1); A = area of sluice gate (25 m2);
g = gravitational acceleration (9.81 m/s2); Hr = rated
Where, Eyr = potential annual power output head (m).
(GWh/year); Ab = horizontal area of basin (m2); Rmean Once the values for Q1t and H have been
= mean tidal range (m); ηp = efficiency of power achieved, the turbine type can then be chosen from
conversion. the chart based on the values obtained.
3.2. Selection of Turbine Type 3.3. Turbine Parameters Analysis
A turbine application chart will be used for After selecting the most suitable turbine type, its
turbine type selection because the mean tidal range is parameters shall then be analyzed theoretically.
required in this chart. The mean tidal range value will 3.3.1. Turbine Diameter
be obtained from the previous section, meaning that
the data that will be used for the analysis is highly To find the turbine diameter, a few other
reliable since it is obtained from the book Tide Tables parameters need to be determined first by using (5),
Malaysia (Volume 2). (6), and (7). Then the turbine diameter can be
To choose the suitable turbine type, the flowrate calculated by using (8).
.
of water through a turbine, Q1t and the net head, H 920650 ∙ (5)
need to be determined first because these two
369 October 27 - 28, 2018

Hanoi, Vietnam
Where, Hr = rated head (m); nq = specific

rotational speed (rpm).
K 0.8434 0.00456 ∙ n (6)
Where, Ku = peripheral velocity coefficient; nq =
specific rotational speed (rpm).
. - .
n nQ H (7)
Where, nq = specific rotational speed of turbine
(rpm); n = actual rotational speed of turbine (rpm);
Q1t = rate of water discharge through one turbine
(m3/s); Hr = rated head (m).
∙ 60 ∙ 2g / πn (8)
Where, Dt = turbine diameter (m); Ku =
peripheral velocity coefficient; g = gravitational
acceleration (9.81 m/s2); Hr = rated head (m); n = Fig. 2. Use of turbines with several ranges of head
actual rotational speed of turbine (rpm). [6].
3.3.2. Turbine Rated Power
The rated power of a single turbine, P1t can be
calculated by using (9). Since the barrage has 5 gates,
5 turbines are proposed to be installed at the barrage,
thus P1t will be multiplied by 5. A graph will be
plotted to show the relationship between Hr and P1t.
P 8.22 ∙ Q H /1000 (9)
Where, P1t = rated power for one turbine (MW);
Q1t = rate of water discharge through one turbine
(m3/s); Hr = rated head (m).
3.3.3. Number of Blades
To find the number of blades, the characteristic Fig. 3. A specific design diagram for Kaplan turbine
factor, σ must be determined first. The value can only [6].
be obtained by using Figure 2, in which the x-axis is
the σ values, whereas the y-axis is the value of rated
head, Hr in m. To find the correct σ value, the Hr selection will be based on salinity and chlorinity of
value obtained previously shall be used as an water since the barrage is in saltwater [7].
indicator and the point at which it touches the shaded 3.3.5. Turbine Setting
area will be the perpendicular indicator for finding σ.
Once the σ value is achieved, the number of Turbine setting is the specific depth to place the
blades can then be determined by using Figure 3, in turbine by referring to the turbine diameter and
which the σ values are labelled along the x-axis. lowest tide level [8]. To make sure that the turbines
There is also a scale for the number of blades, are submerged at all times, the turbine centerline
labelled as z, located at the lower part inside the should be three quarters of the turbine diameter below
chart. Based on the scale, a turbine should have 4 to 8 the lowest tide level [5]. Figure 4 will be used as a
blades. To find the number of blades, the σ value reference to place the turbine.
shall be used as an indicator that will intersect at the
number of blades scale, hence acquiring the number 3.4. Numerical Analysis on Gate Opening for
of blades for the turbine. Varying Tide Levels
In this analysis, the potential power output will
3.3.4. Turbine Material be the controlled variable because supposedly, a
The material should be able to resist wear and power supply must be delivered at the same amount
cavitation. To find the best material, information on consistently. Apparently, the tide levels could not be
materials for turbines that operate under saltwater controlled to maintain the power output because it is
shall be collected and analyzed. The material natural that the tides have different heights from time
to time. Fortunately, this issue can be tackled by
370 October 27 - 28, 2018

Hanoi, Vietnam
plotted to determine the mean tidal range for that

area.
According to Figure 5, the tidal range that
occurred the most in Pending River is 4.35 to 4.65 m.
However, the mean tidal range is not within this
range. Based on the normal distribution, it is 3.9 m.
60 Histogram & Normal Distribution of Tidal 4000

Range
40
2000
Frequency
20
0 0
1.65-1.95
1.95-2.25
2.25-2.55
2.55-2.85
2.85-3.15
3.15-3.45
3.45-3.75
3.75-4.05
4.05-4.35
4.35-4.65
4.65-4.95
4.95-5.25
5.25-5.55
5.55-5.85
Tidal Range (m)
Fig. 5. Histogram and Normal Distribution of Tidal

Range at Kuching Barrage.
Fig. 4. Cross section of one of Kuching Barrage gates
[9].
Table 1. Comparison of annual power output of tidal power plant.
manipulating the gate opening. The gate is 25 m long Tidal Basin Mean Eyr, ηp = Eyr, ηp = Eyr, ηp =
and 1 m high. Only the height will be manipulated Power Area Tidal 20% 30% 40%
since it opens vertically. This analysis will be needing Plant (km2) Range (GWh/year) (GWh/year) (GWh/year)
(10). From (10), the parameter that must be obtained (m)
is Q1t because it will be needed for the next equation La 22.5 8.5 320.90 481.35 641.80
which is (4). In that equation, the desired parameter is Rance,
France
the area of the gate opening, because the height of the
gate opening can be determined from there. Lake 43 5.6 266.19 399.28 532.38
Sihwa,
P ρgQ Hη (10) Korea
Severn 570 7.5 6329.14 9493.71 12658.28
Where, P = potential power output (W); ρ = density Barrage,
UK
of sea water (1025 kg/m3); g = gravitational
acceleration (9.81 m/s2); Q1t = flowrate of water Jiangxia, 1.73 5.1 8.88 13.32 17.76
China
discharge through one turbine (m3/s); H = net water
head (m); ηt = efficiency coefficient of turbine. Kuching 3.88 3.9 11.65 17.47 23.30
Barrage,
4 Results and Discussion Malaysia
4.1. Basic parameters of Kuching Barrage 4.1.2. Potential Annual Power Output Calculation
The site visit was not able to be conducted due By using (1), given the basin horizontal area is
to inevitable internal problems. Therefore, there will 3.88 km2 [10], and assuming the efficiency of power
be no photographs of the site that will be displayed in conversion is 20%, the potential annual power output,
this section. Eyr is found to be 11.65 GWh per year. Thus, the
4.1.1. Mean Tidal Range Analysis barrage can potentially produce an average of 31.92
MWh daily. If the efficiency of power conversion is
Although no site visit was performed, the tidal taken as 30% and 40%, the Eyr values would be 17.47
range can still be obtained by using the book Tide GWh and 23.3 GWh per year respectively. Hence, the
Tables Malaysia (Volume 2). It shows the tide tables
daily power output would be 47.86 MWh and 63.84
covering Malaysia and Brunei Darussalam. Hence,
MWh. Table 1 is plotted to compare the Eyr of
there is available data for tide levels in Pending area
Kuching Barrage with other existing tidal power
where Kuching Barrage is located. From the data
obtained, the tidal range for each day is determined. plants from around the globe.
A histogram and a normal distribution are then
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Hanoi, Vietnam
4.2. Type of Turbine Selected Graph of Turbine Rated Power vs Rated

15
The two important parameters in choosing the Head
Rated Power, P1t (MW)

turbine type is Q1t and Hr of the barrage. Based on the
10
data on tide tables in Pending, the highest tide level,
Zu is 5.8 m, whereas the lowest tide level, Zd is 1.8 m.
By substituting both values into (2), H is found to be 5
4 m. Next, to determine Q1t value, Hr must be solved
in order to proceed to the next step. By using (3), the 0
Hr value is 2.57 m. Now Q1t can be solved. By 0 1 2 3 4 5
substituting the value of Hr into (4), assuming Cd as 1, Rated Head, Hr (m)
and given A is 25 m2, the Q1t value is 177.52 m3/s.
Fig. 6. Relationship between P1t and Hr.
Based on Figure 1, the point at which Q1t and Hr
values intersect is the point where the turbine type is
selected. The point is located within the bulb-type 4.3.4. Selection of Turbine Material
region. Hence, the most suitable turbine to be
According to Table 2, Stainless Steel (SS) 316 is
optimized at Kuching Barrage is bulb-type turbine.
more preferable than SS 304 since it is capable of
4.3. Parameters of Selected Turbine resisting chlorine and salinity of water. Both has high
resistance towards wear and galling, but SS 316 has
4.3.1. Determination of Turbine Diameter superior resistance towards corrosion due to existence
The first step to find the turbine diameter is by of 2% Molybdenum. Therefore, SS 316 is more
finding the turbine specific rotational speed, nq. The suitable to be implemented on marine applications,
value of Hr is substituted into (5), resulting in nq of especially in saltwater operation.
499.82 rpm. Next, the peripheral velocity coefficient, Table 2. Comparison between SS 304 and SS 316.
Ku shall be determined by using (6). By substituting
nq value into the equation, Ku is found to be 3.1226. Criteria Stainless Steel 304 Stainless Steel 316
Besides, the turbine actual rotational speed, n must  16% Chromium
also be calculated by using (7). The value of nq is  18% Chromium  10% Nickel
Contents
substituted into the equation and n is found to be  8% Nickel  2% Molybdenum
76.145 rpm. Since the values for n, and Ku have been
 Lowest cost
obtained, the turbine diameter, Dt can then be
corrosion resistant
calculated by using (8). The result is 5.562 m. The
option  Superior
turbine throat area can be calculated as well since it is corrosion resistance
Benefits  Resistant to
directly related to turbine diameter. By using formula
oxidation Chlorine resistance
for area of circle, the throat area is 24.3 m2.
 No limitations on
4.3.2. Determination of Turbine Rated Power fabrication
To find the rated power of a single turbine,  Kitchen and food  Offshore, marine
Equation (9) is used. The value of P1t is found to be applications and washdown
Applications
3.75 MW. Since the barrage is proposed to have 5  Buildings and site applications
turbines, the total rated power should be 18.75 MW. furnishing
Besides, as P1t is dependent on Hr, a graph is plotted
to predict the values of P1t if Hr changes accordingly. 4.3.5. Determination of Turbine Setting
4.3.3. Determination of Number of Blades As described earlier, to make sure the turbines
are submerged underwater at all times, the turbine
To find the number of blades, the value of
centerline should be 0.75 of the turbine diameter
characteristic factor, σ must be determined first by below the lowest tide level. In this case, the turbine
using Figure 2. The value is obtained based on Hr diameter is 5.562 m and the lowest tide level is at
calculated earlier. According to Figure 2, σ value is LSD -3.3, which is 4.7 m from the seabed. This
1.55. Once σ is obtained, the number of blades can means the centerline of the turbine should be at
then be determined. By referring to Figure 3, the total approximately LSD -7.5 (Calculation: -3.30 –
number of blades suitable for the turbine is four units, 0.75*5.562).
where z” is the scale for the number of blades.
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Hanoi, Vietnam
4.3.6. Overall Turbine Parameters Obtained Graph of Height of Gate Opening vs Tidal Net
1.0
Head
Table 3. Theoretical parameters of the bulb turbine. 0.9
Height of Gate Opening, h (m)

0.8
Parameters Symbol Outcome Unit
0.7
Rated head Hr 2.57 m 0.6
Flowrate of water 0.5
discharge through one Q1t 177.52 m3/s
0.4
turbine
0.3
Specific rotational speed nq 499.82 rpm
0.2
Actual rotational speed n 76.145 rpm 0.1
Turbine diameter Dt 5.562 m 0.0
Throat area - 24.3 m2 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0
Tidal Net Head, H (m)
Rated power output P1t 3.75 MW
Number of blades - 4 - Fig. 7. Graph of height of gate opening against
Material - SS 316 - tidal net head.
Turbine setting -
LSD -
-
with other turbine design journals. For instance, a
7.50 tidal power plant in Saemangeum, Korea has a tidal
Characteristic factor σ 1.55 - range of 4.5 m and Kuching Barrage has 4 m.
Peripheral velocity
Ku 3.1226 - However, Kuching Barrage has extremely low lowest
coefficient tide level which is 4.7 m, meanwhile Saemangeum
tidal power plant has lowest tide level of 20 m.
4.4. Result Of Numerical Analysis On Gate Opening
Therefore, installing a turbine with 5.6 m diameter at
For Varying Tide Levels
Kuching Barrage is not possible but it is possible to
Equation (10) is used in this analysis in which install a turbine with 7.5 m diameter at Saemangeum
the desired power output is chosen as 266 kW. This tidal power plant, although the tidal ranges are
value is obtained from Table 1 where it is derived slightly different from each other.
from Eyr of 11.65 GWh/year. From there, it can be
Thus, a suggestion to overcome this problem is
calculated that the daily power output is 31.92 MWh
by proposing to implement another type of turbine
and the hourly power output is 1.33 MW. Since there
that is vortex turbine. However, vortex turbine is still
will be 5 turbines, the power output for each turbine
a new technology, hence it must be studied in detail
is 266 kW. The value is then substituted into (10).
before implementing it at the barrage. As described
After calculation by Microsoft Excel using (10) and
previously, vortex turbine is suitable for extremely
(4), the result is presented as below. A table is
low-head tides, ranging from 0.7 m to 3.0 m. With
tabulated as well to present the result in a different
proper and advanced analysis, the turbine might be
perspective.
suitable for tidal range of 4.0 m. Vortex turbine has
Table 4. The required height of barrage gate for different mechanisms than a bulb turbine, thus a new
varying net heads. overall infrastructure of the tidal power plant at the
barrage may need to be studied as well.
Tidal net head Height of gate
(m) opening (m) Acknowledgement
1 0.72 Our deepest gratitude goes to Universiti
2 0.26 Malaysia Sarawak (UNIMAS) for assisting and
3 0.14 providing data throughout the completion of this
4 0.09 project. We would also like to thank our family
members and friends for all the encouragement.
5 0.06
6 0.05 Reference
7 0.04
[1] S. M. Rubayiat Tousif and S. M. Buland Taslim,
5. Recommendation “Tidal Power : An Effective Method of Generating
Power,” vol. 2, no. 5, pp. 1–5, 2011.
Based on Table 3, the calculated turbine [2] Q. H. Nagpurwala, “Hydraulic Turbines,” 2011.
diameter is 5.562 m. This value seems illogical [3] S. Mulligan and P. Hull, “Design and Optimisation of
because the turbine would be too large to be installed a Water Vortex Hydropower Plant,” Mater. Sci. Eng.
at the barrage. Supposedly, the turbine diameter A, vol. 6, p. 62330, 2010.
calculated is in optimum range when comparing it
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[4] A. Mohanan, “Power Generation with Simultaneous Hydropower Plant (Southern Sudan),” no. December,
Aeration using a Gravity Vortex Turbine,” Int. J. Sci. pp. 85–94, 2011.
Eng. Res., vol. 7, no. 2, pp. 19–24, 2016. [9] Sarawak Rivers Board, Barrage and Shiplock: The
[5] H. Swane, “Tidal Power Plant in Saemangeum,” no. Sungai Sarawak Regulation Scheme. 2000.
May, 2007. [10] K. Ahmed Samo, A. R. Henry Rigit, I. Ahmed Samo,
[6] C. Abeykoon and T. Hantsch, “Design and Analysis A. A. Shah Bukhari, A. Soomro, and A. Baharun,
of a Kaplan Turbine Runner Wheel,” no. June, 2017. “Suitable Powerhouse Design for Kuching Barrage
[7] S. J. Morrow, “Materials Selection for Seawater Tidal Power Scheme,” no. September, 2017.
Pumps,” 2010.
[8] Y. B. Gismella and W. A. Asaad, “Selection and
Optimization of Turbines for Juba Barrage
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A Study of Finite Element Method for Fluid-Structure Interaction on Large

Deformation Using Spring Analogy Method and Delaunay Triangulation
Sang T. Ha1,*, Hieu V. Vu2, Hyoung-Gwon Choi3
1
Dept. Of Mechanical Engineering, Seoul National University of Science and Technology, Seoul, Korea.
2
Dept. Of Mechanical Engineering, Le Quy Don University, 236, Hoang Quoc Viet, Ha Noi, Vietnam
3
Dept. Of Automotive and Mechanical Engineering, Seoul National University of Science and Technology, Seoul,
Korea
*Email: sanght.st@gmail.com
Abstract
Fluid-Structure Interaction (FSI) has received many attentions in the two recent decades due to its critical
applications, which can be found in many fields of science and engineering. When the effect of the flow is
substantial, and the solid deformation is significant, the FSI simulation has become challenging. This study
presents the application of the spring analogy method and the Delaunay triangulation into mesh movement
of the fluid sub-domain. The P2/P1 finite element method is used to solve both of the fluid and the structure
regions. The interaction of the flow and structure at the interface is solved by using a strong couple
partitioned algorithm with the Neumann-Dirichlet boundary conditions. Several FSI benchmark problems are
examed, and it is shown that the proposed method has a good performance in term of the efficiency and
straightforward implementation.
Keywords: Fluid-Structure Interaction, FEM, Large deformation, spring analogy method, Delaunay
triangulation.
1. Introduction
The partitioned methods can be categorized into
Fluid-structure interaction (FSI) occurs when two types; those are explicit and implicit coupling
fluid flow creates a deformation of the structure. This scheme. In the first type, the explicit scheme does not
deformation, in turn, changes the boundary conditions require the equilibrium on the fluid-structure
of the fluid flow. Nowadays, FSI problem plays an interface. The explicit scheme is efficient when the
important role, and its applications are seen in various deformation of the solid is too small that its influence
fields of engineering and sciences such as airplanes on the fluid flow is negligible. Then only the fluid
[1], bridge deck [2], turbo machinery [3] and blood stress needs to be applied to the structure, and no
flow through arteries [4] [5] [6] [7]. During the last iteration between the fluid and solid is needed. In
few decades, there has been a substantial contrast, the implicit coupling scheme always needs
improvement in the numerical method for simulating the exact satisfaction of the continuity of both stress
FSI problems. and velocity along the fluid-structure interface. In
some instances, (i.e., hemodynamics) the effect of the
The numerical approaches used in FSI
solid onto fluid flow is significant, and iteration
simulations can be classified into two groups:
between the fluid and solid is applied until the
partitioned [8] [9] and monolithic approaches [10]
continuous condition is satisfied. In [14] they have
[11] [12]. In the partitioned approach, the fluid and
considered the performance of explicit and implicit
solid solutions are obtained from individual solvers
with large displacement problem. The explicit
which are coupled at the interface of the two
coupling scheme has an advantage in computational
domains. In the second one, the monolithic approach,
cost while the implicit scheme is more stable and
the fluid and solid equations are combined and treated
accurate. In this regard, Fernández [15] proposed a
in one system.
semi-implicit coupling scheme based on the
As in the previous research mentioned [13], the projection algorithms. It assures the convergence and
monolithic approaches are more robust and efficient the accuracy while the computational cost reduces
than the partitioned ones. However, the partitioned significantly compared to the implicit one.
approach has an advantage of modularity since a best
In this paper, we proposed the combination of
available solver for each domain is readily employed.
the spring analogy for smoothing grid and for the
Further, it may be suitable for solving a large scale
mesh moving problem. Also, the new grid based on
FSI problems by parallel algorithm since the
Delaunay triangulation is generated. The interpolation
parallelization of the smaller matrix is much easier
is not required because of the nodal position is not
than that of the monolithic algorithm.
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changed. This method can be used for the cases with b) Solid domain
large deformation or the cases with strong add-mass. The solid domain is denoted by Ω with
2. Numerical method boundaryΓ . The governing equation of solid in the
Lagrangian form is written as follows:
2.1 Governing equations

 ∙  in Ω , 4
a) Fluid domain
with boundary conditions:
The governing equations of fluid flows are the
on
incompressible Navier-Stokes equations which can be
 ∙ ̅ on ,
written in the arbitrary Lagrangian-Eulerian (ALE)
form as follows: where  , , and  denote the solid density, the
solid displacement, the solid body force, and the solid
∙ 0 1
stress tensor, respectively. The governing equation
∂ (4) can be rewritten in the reference configuration by:
 ∙ ∙   5
∂   ∙  ,
where ρf, , vm, bf and f denote the fluid density, the where  and  ∙ denote the solid density and
fluid velocity, the mesh velocity, the fluid body force, divergent operator in the reference configuration; T is
and the fluid stress tensor, respectively. The fluid is the first Piola-Kirchhoff stress tensor. The
assumed Newtonian with the corresponding constitutive equations of solid in large deformation
constitutive equation is written by: are written as follows [16]:
 ; ; : , 6
  2 where is the second Piola-Kirchhoff stress tensor,
   , and denote the deformation gradient tensor and its
Jacobian, respectively.
where p, , I, and  indicate the pressure, the dynamic
c) Fluid-solid interface
fluid viscosity, the second-order identity tensor, and
the shear stress tensor respectively. The Dirichlet and In fluid-structure interaction problem, the
Neumann boundary conditions are described as interface between the fluid domain and solid domain
follows: (FS interface) needs to satisfy the balance conditions.
Let   denote the fluid-structure interface.
on 3 When the no-slip condition is applied, the velocity of
fluid flow is similar to that of the solid region on  ,
 ∙ ̅ on , and the balance condition can be written as follows:
where nf denotes the outer normal unit vector of the on .
fluid boundary, and  and  are the boundaries on
Due to the force equilibrium condition, the
which the velocity ( ) and traction ( ̅ ) are defined, traction should also be continued along the FS
respectively. interface:
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 ∙  ∙ 0 on .
The direction of the outer normal unit vector of

the solid region is opposite to that of the
fluiddomain when the mesh of fluid and solid
domain along the FS interface are conformed.
2.2. Finite element formulation
a) Incompressible fluid
The governing equations of fluid flows are
discretized by the P2/P1 finite element which
allocates the pressure variable only on the vertices
and the velocity variable on both vertices and mid- Fig. 3. Physical interpretation of the spring analogy.
node as showed on figure 1. The interpolation of
pressure and velocity is linear and quadratic in an The generalized-α methods is again adopted for
element, respectively. The finite element formulation solid and the Newton-Raphsoniteration method is
of the governing equation for fluid flow without the used to solve this nonlinear equation. The detailed
body force is written as follows: expressions for the matrices formare presented
Find  Ω ,  Ω , such that in [13].
2.3. Partitioned strong coupling algorithm
 Ω 0 7
Ω
The algorithm of partitioned strong coupling
with Neumann-Dirichlet boundary conditions at the
 interface is described in Fig.2. For convenience, Xn
. 
 denotes the variable at time level nth, and Xkis the
Ω
temporary variable at the new time level (n+1)th of
 : Ω iteration kth. Also, Yk+1 and X are the variables
obtained after solving fluid and solid, respectively.
An operator defined as:
.   ,
rk(Xk)= ∙ is called
 residual at kth iteration. The solutions of FSI coupling
for all admissible functions ,  , where are obtained when‖ ‖ is small enough.
  Ω , 0 on , In this work, the Aiken’s algorithm [19] is used.
The adaptive under-relaxation written as follow:
q  q Ω
In this work, we use the generalised-α method   ,
| |
[17] and the Newmark approximation [18] for the
temporal discretization. where  is under-relaxation used at
iteration, therefore, the value of current iteration is
b) Total Lagrangian formulation for structure calculated from two previous simulations:
In order to describe the large deformation of the . 1   10
structure, we can choose either the Updated
Lagrangianor Total Lagrangian formulation[10]. In 2.4. Mesh update procedure
this work, the Total Lagrangian was employed. The The fluid flow is simulated in ALE form so that
weak forms of the governing equations (5) for the the movement of the mesh is an essential problem in
solid domain are written as follows: the FSI problem. Since the no-slip condition should
Find  Ω , such that be satisfied, the movement of fluid grid nodes is same
 with that of the solid nodes along the FS interface.
.  : Ω .   The motion of other nodes in the internal fluid

Ω  domain is extended from the interface nodes such that
the mesh quality does not become worse when solid
for all admissible functions , where deformation is large. There are many algorithms have
  Ω , 0 on been used to describe the mesh motion [20]. The most
popular technique to solve mesh moving is using a
harmonic extension from FS interface Γ to fluid
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domain Ω . The displacement of fluid domain df is usually used to solve the moving boundary condition
solved by Laplace equation given by: problems or for mesh smoothing. The vertex springs
 0 inΩ (11) method [22], which is used for the mesh smoothing,
onΓ the force determined by Hook’s law is zero at every
node of the system,
The coordinate and velocity of the fluid mesh at
current configuration are obtained as: ∑ 0, (12)
where  is the stiffness of the spring between
node i and j and vi is the number of neighbours of

node i. Figure 3 depicts the physical interpretation of
t the vertex spring analogy, the segment is considered
Where denotes the coordinate of the as a spring, which is linear and proportional to its
reference configuration. In certain cases, the length. The equation (12) can be rewrite by a linear
prediction of the displacement of the FS interface for system [A]{x} = {b}, where the matrix [A] is formed
the first iteration is required to reduce the number of by the spring stiffness  and the vector {x} contains
FSI coupling [22]: the mesh position. The vector {b} contains the non-
3 1 homogeneous terms, which are implicitly formed by
. .  onΓ
2 2 the Dirichlet boundary conditions. The stiffness in the
where denotes the velocity of solid at time vertex spring analogy is constantly taken. Since the
level nth. numerical value of this constant has no influence, it is
For the case of large displacement, the harmonic chosen as unity,  1.
extension above fails, and a re-meshing procedure is Another method of spring analogy is the
usually used to obtain the fluid grid. In this work, we segment spring analogy, which is used for the mesh
used the combination of the spring analogy and the moving problems. In this method, the equilibrium
Delaunay triangulation to get a new mesh for the FSI lengths of the springs are equal to the initial lengths
problem. of the segments. Hook’s Law is applied to the
a) Mesh movement by spring analogy displacement of the nodes. The force is written as:
The spring analogy consists of replacing the ∑   0, (13)
mesh by fictitious springs [21]. This method is
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where  is the displacement of node i. At static changing, an interpolation procedure is not necessary
equilibrium of the system, the force at every to update the variables. This algorithm is simple and
node i has to be zero. The known displacement of the straightforward to implement, as showed in figure 5.
boundaries gives the Dirichlet boundary conditions.
3. Results and discussions
As proposed by Batina [21], the spring stiffness is
taken as proportional to the inverse of the segment In order to perform the present method, the 2D
length, benchmark problem proposed by Turek and Hron
1 [25] was selected. The two cases FSI2 and FSI3 are
ij  simulated, the domain is shown in figure 6, and its
x  x   y  y 
2 2
i j i j grid is depicted in figure 7. Table 1 describes the
dimension of the FSI domain, the material property,
b) Improve mesh quality by Delaunay triangulation. and the boundary conditions are illustrated in [25,26].
In mathematics and computational geometry, a Table 1: Dimension of the simulation geometry
Delaunay triangulation (also known as a Delone Dimension Value [m]
triangulation) for a given set P of discrete points in a
Channel Width H 0.41
plane is a triangulation DT(P) such that no point in P
Channel Length L 2.5
is inside the circumcircle of any triangle in DT(P).
The Delaunay triangulations maximize the minimum Cylinder Radius r 0.05
angle of all the angles of the triangles in the Flag Length l 0.35
triangulation. Figure 4 shows an example of Flag Width h 0.02
Delaunay triangulation and Non-Delaunay Cylinder Center C (0.2,0.2)
triangulation. Control point A (0.6,0.2)
Many researchers have investigated the Figure 8 shows the deformation of the flag in
Delaunay triangulation and its application [23]. From the fluid flow in case of FSI2, the pressure and the
a set of vertexes, the triangulation is unique and the magnitude velocity contours at time = 7.5 [s] are
Delaunay mesh has a good quality. After the mesh drawn, and it is in a good agreement with the results
updating, the grid may not be Delaunay triangulation, in the literature. In the case of FSI3, the
the diagonal edge swap algorithm [24] is used to get a displacement is not too massive, so only using the
new Delaunay mesh. Since the nodal position is not spring analogy is enough to get a mesh with good
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quality. This method is compared with the Laplace [4] F. Nobile, M. Pozzoli, C. Vergara, Time accurate
equation extension, and results are depicted in figure partitioned algorithms for the solution of fluid-
9. It is clear that the spring analogy creates a grid structure interaction problems in haemodynamics,
with a better aspect ratio. The Laplace equation Comput. Fluids. 86 (2013) 470–482.
[5] T.E. Tezduyar, S. Sathe, M. Schwaab, B.S. Conklin,
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[6] M. Bathe, R.D. Kamm, A fluid--structure interaction
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finite element analysis of pulsatile blood flow through
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better new grid, as showed in figure 10(b). T.J.R. Hughes, C.A. Taylor, A coupled momentum
method for modeling blood flow in three-dimensional
4. Acknowledgment deformable arteries, Comput. Methods Appl. Mech.
Eng. 195 (2006) 5685–5706.
This research was supported by a National Research [8] W.G.D. and D. Peric, A new staggered scheme for
Foundation grant funded by the Ministry of Science fluid–structure interaction, Int. J. Numer. Meth.
and ICT of the Korean government Engng. 93 (2013) 1–22.
(2017M2A8A4015005). [9] H.G. Matthies, J. Steindorf, Partitioned strong
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5. Reference Comput. Struct. 81 (2003) 805–812.
[10] C.M. Murea, S. Sy, Updated Lagrangian/Arbitrary
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between a compressible neo-Hookean structure and an
segregation methods. Application to aeroelasticity,
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[2] J.B. Frandsen, Numerical bridge deck studies using
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Interaction with Adaptive Time Stepping and a
(2013) 2015–2023.
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[13] S.T. Ha, L.C. Ngo, M. Saeed, B.J. Jeon, H. Choi, A [20] W. Dettmer, D. Perić, A computational framework for
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interaction of blood vessels, J. Mech. Sci. Technol. 31 195 (2006) 5754–5779.
(2017) 281–287. [21] Batina JT., Unsteady Euler airfoil solutions using
[14] T. He, Partitioned coupling strategies for fluid- unstructured dynamic meshes. AIAA Journal 1990;
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implicit and semi-implicit schemes, Wind Struct. 20 [22] Frederic J. Blom., Considerations on the spring
(2015) 423–448. analogy. Int. J. Numer. Meth. Fluids 2000; 32: 647–
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elastic structure with an incompressible fluid, Int. J. operations in Voronoi/Delaunay methods and
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[16] G. Holzapfel, Nonlinear solid mechanics: A 523–530.
continuum approach for engineering, 2000. [24] Barry Joe, “GEOMPACK - a software package for the
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Numerical Simulation of Cavitating Flow with Thermodynamic Effects of

Cavitation
Anh Dinh Le1,*, Yuka Iga2
1
Graduate School of Engineering, Tohoku University, Sendai, Japan
2
Institute of Fluid Science, Tohoku University, Sendai, Japan
*Email: le@cfs.ifs.tohoku.ac.jp
Abstract
Cavitation is the formation of vapor phase inner the liquid phase when the pressure lower than its saturated
vapor pressure due to the flow acceleration. Cavitation brings the harmful effects to hydraulic machines such
as: noise, vibration, erosion and performant decrease. When the cavitation occurs, the latent heat is
subtracted from the liquid phase, hence surrounding liquid temperature is decreased, saturated vapor
pressure is dropped, and then the cavitation can be suppressed. This is known as “the thermodynamic effect
of cavitation”. In this study, the numerical simulation of cavitating flow based on homogeneous model
concept with the thermodynamic effect of cavitation was studied. Our cavitation model and the Wilcox k-ω
model were selected for present study. A simplified thermodynamic model was proposed and had been
validated based on the Hord’s experiment of hydrofoil cavitation in cryogenic liquid. The obtained result of
temperature and pressure distribution on hydrofoil surface using our model shown the good agreement
comparison with Hord’s experimental data.
Keywords: Thermodynamic effect, Cavitation, Homogeneous model, Cryogenic.
1. Introduction liquid phase. A non-linear heat source representing

the latent heat of phase change was introduced to take
Cavitation is the formation of vapor phase inside
into account the thermodynamic effect on cavitation.
the liquid phase when the local pressure becomes
This method was applied to simulate the cavitating
lower than its roughly saturated vapor pressure due to
flow on the flat-plate cascade in hot water and liquid
flow acceleration. Cavitation is a major concern in
nitrogen. It was reproduced in the numerical
hydraulic machineries because of the increase in
simulation where the suction performance was
noise, vibration, performance degradation, and
increased according to the decrease in cavity volume
erosion. When cavitation occurs, the latent heat for
due to the thermodynamic effect. However, they
vaporization is supplied from the surrounding liquid,
could not evaluate the temperature depression inside
which decreases the local liquid temperature. This
the cavity because they did not take into account the
causes a drop in the saturated vapor pressure, and the
heat transfer in the mixture phase. Hosangadi et. al.
cavitation is suppressed. Thus, the hydraulic
[7] and Utturkar et. al. [8] accounted for the
machines would have a better performance. This is
thermodynamic effect of cavitation by solving an
called “thermodynamics effect of cavitation”, which
additional conservation equation for the mixture
appears in cryogenic liquid, referegerant liquid, and
enthalpy. Similar to the method used by Iga et. al. [6],
hot water [1-5]. In cavitation research, a number of
a source term, which is the function of latent heat and
cavitation experiments have been conducted using
mass transfer rate, was introduced in this equation.
water at room temperature, in that the thermodynamic
Their method was applied to simulate cryogenic
effect is often ignored. However, it should be note
cavitation on hydrofoil and ogive, and was widely
that the ultilization of the thermodynamic effect is
used by other researchers [9]. However, the
important in industrial applications, for example
inconsistency of the temperature profile was
cryogenic pump and refrigerant flows.
reproduced by their method. Meanwhile, Tsuda et. al.
Computational fluid dynamics (CFD) with a [10] suggested a simple model called “reduced
homogeneous model is a powerful tool for the critical radius model”. This model does not require
numerical simulation of cavitation. However, it is not solving an additional energy conservation equation.
suitable for the cavitation problem under Instead, the drop of saturated vapor pressure is
thermodynamic effect because there is no clear liquid estimated using a simple algebraic relation of
- bubble interface. Up to date, a number of efforts temperature depression and local vapor void fraction
have been made to couple the thermodynamic effect based on the B-factor theory [11]. This model showed
with the homogeneous model. Iga et. al. [6] solved the good agreement in the pressure profiles for a
the conservation equation of total energy for the variety of problems. However, its limitation is that
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the flow field temperature cannot be directly     ui  0 

reproduced as in Iga’s calculation. u     
  ui u j   ij p   ;
Q  i
; E ;E 
ij
Hence, in this study, we introduces a simplified  T   Tu  vi  eff Tx / C p 
thermodynamic model for the homogeneous model,    i
  
in order to simulate the cryogenic cavitating flow;  Y   Yui   0 
this model explicitly considers the latent heat and can
deal with temperature depression. Because latent heat 0 
explicitly appears in the source term, the degree of 0 
heat transfer rate can be adjusted to suit the S .
 Sh / C p 
homogeneous cavitation model. Our simplified  
thermodynamic model was coupled with our  m 
cavitation model and validated based on the
cavitation experiments on 2D quarter hydrofoil in Here, τij and κeff are shear stress and effective
liquid nitrogen and liquid hydrogen by Hord [2]. thermal conductivity, respectively. Cp is mixture
specific heat capacity and is expressed as follow:
2. Numerical Method
C p  (1  Y )C p g  YC pl (3)
2.1. Governing Equations
The liquid phase is assumed to be a Sh is the heat source concerning the heat transfer
compressible fluid and the equation of state is derived during the epavoration and condensation:
from the Tammann equation [14]. The gas phase is Sh  he  hc   Lm   0.8Lm (4)
assumed to be an ideal gas. In the homogeneous
equilibrium concept, the phases are assumed to share Where, he and hc are the heat transfer in
the same pressure, temperature, and velocity. evaporation and condensation. m+ and m- are the mass
Therefore, the equation of state for locally transfer rate regarding to the evaporation and
homogeneous gas-liquid two-phase medium is condensation process, respectively. In our simplified
obtained as follows: thermodynamic model, the heat input due to
condensation was adjusted to 80% to suite the
p  p  pc  homogeneous model [15].
 . (1)
Kl 1 Y  p T  Tc   RgY  p  pc  T
The mixture viscosity µ [16] in the term τij is
Here, ρ, p, Y and T are the density, pressure, gas expressed as:
mass fraction and temperature, respectively. Kl, pc,  L  (1   )(1  2.5 ) l   g . (5)
and Tc are the liquid constant, pressure constant, and
temperature constant for the liquid phase. Rg is the In this study, our cavitation model [17] is used
for the mass transfer rate m due to cavitation:
gas constant. The subscript l and g denote the liquid
phase and gas phase, respectively.   Ce [ (1   )]2/3 max(0, pv (T )  p)
The governing equations for the locally m 
 2 RT
homogeneous compressible two-phase medium can m . (6)
m  Cc [ (1   )] min(0, pv (T )  p)
2/3
be written in a simple form as for single-phase flow,
 2 RT
and the equation of state is reconstructed to close the 
systems [12, 13]. The mass conservation equation for
the gas phase includes the phase change rate due to Here, Ce and Cc are the empirical phase change
cavitation in the source term. Then, the governing constants, respectively. The saturated vapor pressure
equations of the compressible two-phase medium are pv(T) is estimated by Sugawara’s equation [18] for
expressed in term of 2D Cartesian coordinates as liquid nitrogen and by Antoine’s equation [19] for
follows: liquid hydrogen. In this study, the gas phase of the
working fluid is vapor.
Q (Ei  Evi )
  S, (2) The mixture speed of sound c is derived from
t xi the equation of state Eq. (1)
With: dp C2
c2   T. (7)
d  C0  C1 / Cp
Where,
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Table 1. Computational conditions

Tin Pin Vin
Fluid Runs σ
[K] [KPa] [m.s-1]
290C 83.06 568.3 23.9 1.70
LN2
296B 88.54 631.3 23.7 1.50
LH2 247B 20.64 366.8 65.2 1.68
Fig. 1. Comparison of mixture sound speed using Eq.

(7) and measured data [19] in water and liquid
nitrogen.
pc
C0  1  (1  Y )  Kl (T  Tc ) ; Fig. 2. Computational domain and grid.
( p  pc ) 2
Evi was discretized by a second-order space-centered
p
C1  Rg Y  K l (1  Y ) ; scheme. Hence, this scheme has second-order
p  pc accuracy in time and space. The scalable wall
p T  Tc function [24] was applied to the turbulence model.
C2  Rg Y  Kl (1  Y ) .
p  pc T 3. Result and Discussion
The relation between the mixture sound speed c 3.1. Computational Condition
and vapor void fraction α given by Eq. (7) in water at
The cavitation experiments on 2D hydrofoil in
293K and liquid nitrogen at 83K are shown in Fig. 1.
liquid nitrogen and liquid hydrogen [2] were chosen
The result in the case of water agrees well with the
for validating our simplified thermodynamic model.
measured values [20].
The numerical simulations included two runs of
Cavitation normally occurs under high Reynolds
experiments in liquid nitrogen, and one run of
number flow, and therefore it often seems to have a
experiments in liquid hydrogen, as shown in Table 1.
turbulence feature. Therefore, the standard k-ω model
An orthogonal grid consit of 17150 points was made
[21] is used in this study.
over the hydrofoil as shown in Fig. 2, in which y*
2.2. Numerical Scheme was in the range of 29 ~ 120. At the inlet, a uniform
velocity U0, temperature T0, void fraction α0 = 1%,
In this study, the unsteady cavitating flow was
turbulent intensity I0 = 5%, and turbulent viscous
simulated using an in-house code based on the finite
ratio µr = 1000 [9] were specified. A static pressure
difference method. The explicit TVD Maccormack
was set at the outlet boundary [7, 9]. A no-slip
scheme [22, 23], which is a predictor–corrector type
condition was applied at the wall and hydrofoil. The
scheme, was used. Backward and forward
symmetric and slip condition were applied at the
discretization were used in the predictor and corrector
symmetry boundary.
steps, respectively. The second-order symmetric TVD
scheme [23] was applied after the corrector step to
ensure stability near the shock. The viscous terms of
Fig. 3. Optimization of empirical phase change constant Ce - Cc, respectively.
384 October 27 - 28, 2018

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Fig. 4. Time-averaged pressure and temperature distribution in liquid nitrogen in runs 290C and 296B.
in runs 290C, and 296B, respectively. With regard to
3.2. Liquid Nitrogen Cavitation
the temperature profile, our model achieved a good
It is well-known that the calculation solution of agreement with the experimental data. The maximum
cavitation is sensitive to the empirical phase change temperature depression in the cavity leading edge was
constants in cavitation model. Up to date, the approximately 2.14K, and 2.27K in runs 290C, and
empirical phase change constants had been developed 296B, respectively. The temperature recovery rate
for the water at room temperature. However, for the agreed well with the experimental profile inside the
liquids other than water, those coefficient constants cavity. At downstream region of cavity trailing edge,
agreed poor with experimental data [8, 9]. Hence, this the excessive temperature, which was observed in
section, the optimization study of the empirical phase previous studies [7-9] as in Fig. 5, was decreased and
change constant for cryogenic cavitation in our fit well the measured values.
cavitation model is conducted.
3.3. Liquid Hydrogen Cavitation
Figure 3 is the quantitatively comparison of
time-averaged surface pressure and temperature Next, our simplified thermodynamic model was
profile by different sets of empirical phase change extended to liquid hydrogen cavitation. The
constant with experimental data in run 290C. This experiment run 247B was performed [2]. Figure 6
can be seen that, the Ce = 1,000 - Cc = 1, which were shows the comparison of the time-averaged pressure
suggested by Ochiai et al. [16] for numerical and temperature profiles on hydrofoil in run 247B
calculation of cavitating flow on NACA0015 in water with exparimental data and the existing numerical
at 273.15K, showed a poor agreement with result by other research group. Similar to the liquid
experiment. Acording to the result, Ce = 100,000 - Cc nitrogen cavitation described in previous section, the
= 1,000 showed the good agreement with the pressure distribution agreed with the experimental
experimental data regarding to pressure and profile. The temperature profile showed a good
temperature distribution. Therefore, the Ce = 100,000 tendency compared with experimental data inside the
- Cc = 1,000 is used for further discussion. cavity. In the downstream region of cavity trailing
Figure 4 shows the time-averaged surface edge, the excessive temperature [7] as in the lower
pressure and temperature distributions in runs 290C, figure in Fig. 6, was decreased in our model and a
and 296B using our simplified thermodynamic better temperature profile was reproduced. Hence, it
model. The results were quantitatively compared with is indicated that our simplified thermodynamic model
the experimental data [2]. The pressure distribution in with a reduction in heat input of 80% is applicable for
the two runs showed good agreement with the cavitation in liquid nitrogen and hydrogen.
experimental data. The obtained cavity length was
reasonably close to the measured value in the
experiment with our model: about 1.8 cm, and 1.2 cm
385 October 27 - 28, 2018

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Fig. 5. Numerical data of time-avearged pressure and temperature refered from Uttukar et. al. [8] in run 290C
and 296B in liquid nitrogen.
[4] J-P. Franc, C. Rebattlet, A. Coulon, An Experimental
4. Conclusions Investigation of Thermal Effects in a Cavitating
In this study, we introduced a simplified Inducer, ASME J. of Fluids Eng., (2004) Vol. 126.
thermodynamic model, in which the latent heat [5] Y. Yamaguchi, Y. Iga, Thermodynamics Effects on
explicitly appears in the source term and the heat Cavitation in High Temperature Water, ASME 2014
4th Joint US-European Fluid Engineering Division
transfer rate suitably is adjusted for the homogeneous
Summer Meeting and 11th International Conference
model. Our model was validated with the on Nanochannels, Micreochannels and Minichannels.
experimental data (about pressure and temperature [6] Y. Iga, N. Ochiai, Y. Yoshida, T. Ikohagi, Numerical
distribution) of liquid nitrogen and hydrogen. Investigation of Thermodynamic Effect on Unsteady
According to the resuls, the temperature Cavitation in Cascade, Proceeding of the 7th
depression due to evaporation was well reproduced in International Symposium on Cavitation, (2009)
our model. The temperature profile inside the cavity CAV2009 – Paper No. 78.
showed the good tendency compared with [7] A. Hosangadi, V. Ahuja, Numerical study of
experimental data. By adjusting the heat input due to cavitation in cryogenic fluids, ASME J. Fluids Eng. –
condensation to its 80%, it was found that the Trans ASME (2005), 127(2): 267-281.
excessive temperature at the cavity downstream [8] Y. Utturkar, Y. Wu, Y. G. Wang, Recent Progress in
region was reduced and showed good agreement with Modeling of Cryogenic Cavitation for Liquid Rocket
respect to experimental data in this region. Propulsion, Progress in Aerospace Sciences 41 (2005)
Finally, through comparison with existing 558-608.
numerical data, it was found that the pressure [9] C-C. Tseng, W. Shyy, Turbulence Modeling for
distribution is relatively easily reproduced by any Isothermal and Cryogenic Cavitation, 47th AIAA
Aerospace Sciences Meeting Including the New
model, but the temperature distribution is reproduced
Horizons Forum and Aerospace Exposition, (2009) 5-
well only by our simplified thermodynamic model. 8 January.
References [10] S. Tsuda, N. Tani, N. Yamanishi, Development and
Validation of a Reduced Critical Radius Model for
[1] J. Hord, Cavitation in Liquid Cryogens I - Venturi, Cryogenic Cavitation, ASME J. Fluids Eng. (2012)
NASA CR-2054 (1972). Vol. 134, pp. 051301-1-9.
[2] J. Hord, Cavitation in Liquid Cryogens II - Hydrofoil, [11] A. J. Stepanoff, Cavitation Properties of Liquids,
NASA CR-2156 (1973). ASME J. Eng. Power, (1964) 86, pp. 195-200.
[3] J. Hord, Cavitation in Liquid Cryogens III - Ogive,
NASA CR-2242 (1973).
386 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 6. Time-averaged pressure and temperature distribution in liquid hydrogen in runs 247B
(upper: our model, lower: referent data [7]).
[12] Y. Iga, M. Nohmi, A. Goto, B. R. Shin, T. Ikohagi, [18] S. Sugawara, New Steam Table. Journal of the Japan
Numerical Study of Sheet Cavitation Breakoff Society of Mechanical Engineers, Vol.35, No.186
Phenomenon on a Cascade Hydrofoil, ASME J. Fluids (1993), pp.999-1004 (in Japanese).
Eng. (2003) Vol. 125, pp. 643-651. [19] A. Van Itterbeek, O. Verbeke, F. Theewes, K. Staes, J.
[13] Y. Iga, N. Nohmi, A. Goto, T. Ikohagi, Numerical de Boelpaep, The Difference in Vapour Pressure
Analysis of Cavitation Instabilities Arising in the Between Normal and Equilibrium Hydrogen. Vapour
Three-Blade Cascade, ASME J. Fluids Eng. (2004) Pressure of Normal Hydrogen Between 200K and
Vol. 126, pp. 419-429. 320K, Physica (Amsterdam), (1964) 30,6, 1238-1244.
[14] H. T. Chen, R. Collins, Shock Wave Propagation Past [20] H. B. Karplus, The Velocity of Sound in a Liquid
on Ocean Surface, J. Comput. Phys., 7 (1971) 89-101. Containing Gas Bubbles, Armour Research
[15] L. D. Anh, Y. Iga, “Simplified Modeling of Cavitating Foundation of Illinois Institute of Technology, (1958)
Flow with Thermodynamic Effects for Homogeneous C00-248.
Model”, International Symposium on Transport [21] D. C. Wilcox, Turbulence Modeling for CFD, ISBN
Phenomena and Dynamics of Rotating Machinery 0-9639051-0-0 (1994).
ISROMAC (2017). [22] R. W. Maccormack, The Effect of Viscousity in
[16] D. R. H. Beattie, P. B. Whally, A Simple Two-Phase Hyper-velocity Impact Cratering, AIAA paper, (1969)
Frictional Pressure Drop Calculation Method, 69-354.
International Journal of Multiphase Flow, Vol. 8, No. [23] H. C. Yee, Upwind and Symmetric Shock - Capturing
1, pp. 83-87. Schemes. NASA Technical Memorandum (1987)
[17] N. Ochiai, Y. Iga, M. Nohmi, T. Ikohagi, Numerical 89464.
Prediction of Cavitation Erosion Intensity in [24] F. R. Menter, T. Esch, Elements of Industrial Heat
Cavitating Flows around a Clark Y 11.7% Hydrofoil, Transfer Predictions, 16th Brazilian Congress of
Journal of Fluid Science and Technology, (2010) Vol Mechanical Engineering (COBEM) (2001),
5, No 3. Uberlandia, Brazil.
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Aerodynamic Performances of a Single-stage Transonic Axial Compressor

with Blade Design near Stator Hub Surface
Tuan-Long Vu, Tan-Hung Dinh, Cong-Truong Dinh *
*Email: truong.dinhcong@hust.edu.vn
Abstract
This paper presents the effects of stator blade hub design in a single-stage transonic axial compressor,
NASA Stage 37, using three-dimensional Reynolds-averaged Navier-Stokes equations with k-ε model on
aerodynamic performances, such as total pressure ratio, efficiency and stall margin. The numerical result of
a single-stage transonic axial compressor (original case) on total pressure ratio and efficiency curves was
validated with experimental data. The numerical results with different stator blade hub design showed that
the aerodynamic performances of a single-stage transonic axial compressor increased with stator blade hub
design as compared to the original case. The reattachment and separation flows in stator domain are also
reduced with stator blade hub design.
Keywords: Single-stage transonic axial compressor, Stator blade hub design, Reynolds-averaged Navier-
Stokes analysis, Total pressure ratio, Adiabatic efficiency, Stall margin, Reattachment and separation flows.
1. Introduction speed cascade with significant secondary flows,

where there was an increased loss by 10% at the exit
In multistage axial compressors, the
plane.
aerodynamic performance can decrease as a result of
flow phenomena near the shroud surfaces, such as tip 2. Numerical analysis
leakage flow, flow separation, and reattachment.
2.1. Description of geometries
Many studies [1-5] have been performed to add a
fillet on compressor blades. However, only a few The model investigated is NASA stage 37
have investigated the effect of geometric modification single-stage transonic axial compressor with 36
at the stator hub on the aerodynamic performance. NASA Rotor 37 blades rotating at the speed of
Both Kanjirakkad [1] and Meyer et al. [2] 17185.7 rpm (100% of design speed) and 46 NASA
studied experimental the effect of stator fillets of Stator 37 blades. Multiple circular arcs were used to
different radii on low and high-speed compressor design the blade airfoil sections as shown in Figure 1.
cascades. The results showed that static pressure rose The design specifications of the compressor are
for fillets smaller than the boundary layer thickness,
but it decreased when the fillet radius was further
Table 1: Design specifications of NASA stage 37
increased. Curlette [3], conducted an experiment
compressor
with different fillet radii on two types profile blades:
a double circular arc (DCA) and a controlled Parameter Value
diffusion (CD) blades, both having the same chord, Number of rotor blades 36
maximum thickness, solidity, and stagger angle. The Number of stator blades 46
result showed that for CD blades, fillet size should be Rotational speed, rpm 17185.7
made only large enough for structural integrity, and Choking mass flow rate, 20.93
for DCA blades, the usable incidence range was kg⁄s
slightly extended. Kügeler et al. [4] presented the Rotor tip clearance τ, 0.4
effect of rotor blade fillets in a 15-stage compressor mm
with additional inlet and outlet guide vane designed Stator tip clearance τ, 0.762
for a stationary gas turbine. The impact of the fillets mm
on the secondary flow had an accumulative effect on Design stage pressure 2.05
the multistage compressor by reducing corner stall at ratio
the rotor hub and stator tip. The result was a higher Peak adiabatic 84
throttling range for the fillet case compared with the efficiency, %
clean case. Mank et al. [5] studied the effect of fillet Stall margin, % 10
radii of 16% of axial chord on a large scale, low
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Figure 1. Geometry and computational domain of

stage 37 compressor
Figure 3. Adiabatic efficiency as a function of
normalized mass flow rate of the three models.
Figure 2. From left to right: computational domain

and grid structure of the left and right models.
Figure 4. Pressure ratio as a function of normalized
mass flow rate of the three models.
detailed in Table 1. The rotor and stator had the tip
clearances of 0.04 and 0.0762 cm, respectively,
whereas the total pressure ratio and peak adiabatic The working fluid was considered as an ideal
efficiency at a mass flow rate of 20.74 kg⁄s were 2.00 gas. An average static pressure was set at the stator
and 84.00%, respectively. The design stage pressure outlet boundary for steady state simulation. A
ratio was 2.05, which occurred at a mass flow rate turbulence intensity of 5% was specified at the rotor
about 3% lower than that for the peak adiabatic inlet boundary. The shroud, hub, and blade surfaces
efficiency (about 96.5% of the choking mass flow were considered to be adiabatic smooth walls.
rate). The choking mass flow rate was 20.93 kg⁄s at Periodic conditions were used at the side boundaries
100% of the design speed. The reference temperature of the computational domain. The stator and stator
and pressure were, respectively, 288.15 K and blocks were connected by the general grid interface
101.325 Pa. (GGI). The frozen rotor method using specified pitch
angles (360°/36 =10° for rotor and 360°/46 = 7.826°
2.2. Numerical analysis for stator) was applied at the interface connection
There are two modified models which are between the rotor outlet and stator inlet surfaces. The
named right and left model, respectively. The two-equation k-ε turbulence model with a scalable
right/left model was created by rotating the stator wall function was used with y+ values of the first
blade’s cross-section at the shroud surface by an nodes near the walls ranging from 20 to 100.
angle of 0.5 degree clockwise/counterclockwise 3. Results and Discussion
(looking in the flow direction) around the
compressor’s axis. The detail of these two models are The mass flow rate at peak efficiency point of
presented in Figure 2. the right model increased 0.19% while that of the left
model only 0.09%, compared to the original model
[6]. At peak efficiency condition, the efficiency and
389 October 27 - 28, 2018

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(a) Original model (a) Original model
(b) Left model (b) Left model
(c) Right model (c) Right model
Figure 5. Mach number contours at 98% span of Figure 6. Mach number contours at 98% span of
stator blades at peak efficiency condition. stator blades at near-stall condition.
pressure ratio of the left model slightly increased by Figure 4 shows the pressure ratio line of three
0.01% and 0.3%, respectively. As shown in Figure 3, models. The graph also displays a better pressure
at near-stall condition, the only notable change was a ratio in the left model and an inferior pressing
2.32% drop in efficiency of the right model. In terms capability in the right model compared to the original
of stable range, there was a negligible increase by one in the whole operating range. The near-stall point
0.96% in left model, while the stable range of the of the two modified models also moved to the left of
right model was greatly extended by 19.07%. The the horizontal axis.
stall margin of the right model increased by 2.26%
Figure 5 shows the Mach number contours of
which was 20 times higher than that of the left model
the three models at 98% span at peak efficiency
did (0.13%).
390 October 27 - 28, 2018

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condition. It is easy to notice that the Mach number Based on this work, the design of the left model
contours distribution of the original and the left will be optimized with the use of the optimization
model were similar, which explains the slight surrogate model to maximize the aerodynamic
difference in the peak efficiency of these two models. performance of a single-stage transonic axial
As for the right model, low speed zones associated compressor in future work.
with vortices were formed on the suction side of the
References
stator blades. This is the cause for the 2.32% drop in
peak efficiency of this model. [1] V. Kanjirakkad, Experimental Study of Endwall Flow
in a Low-Speed Linear Compressor Cascade: Effect
From Figure 6, it can be seen that the blue low of Fillet Radius, International Journal of Turbines and
speed zones on the suction side of the stator blades in Sustainable Energy, Vol 1 (2017), pp. 1-7.
the original case were reduced in the left model, [2] R. Meyer, S. Schulz, K. Liesner, H. Passrucker and R.
which can explain for increasing the maximum Wunderer, A Parameter Study on the Influence of
pressure ratio of the model. Furthermore, in the right Fillets on the Compressor Cascade Performance,
model, the velocity between two blades was Journal of Theoretical and Applied Mechanics, Vol
accelerated, and the low speed zones moved back to 50.1 (2012), pp. 131-145.
[3] B. P. Curlett, The Aerodynamic Effect of Fillet
the trailing edge, resulting in stable range extension, Radius in a Low Speed Compressor Cascade, NASA
whereas pressure ratio drop. Technical Memorandum, No. 105347 (1991).
4. Conclusion [4] E. Kügeler, D. Nürnberger, A. Weber and K. Engel,
Influence of Blade Fillets on the Performance of a 15
In this work, two different geometries of stator Stage Gas Turbine Compressor, Proceedings ASME
blade were studied with the use of 3D RANS Turbo Expo 2008: Power for Land, Sea and Air, 2018.
equations in order to find the effect of these [5] S. Mank, L. Duerrwaechter, M. Hilfer, R. Williams, S.
modifications on aerodynamic performances of a Hogg and G. Ingram, Secondary Flows and Fillet
Radii in a Linear Turbine Cascade, Proceedings of
single-stage transonic axial compressor, NASA Stage
ASME Turbo Expo 2014: Turbine Technical
37. The results of the parametric study showed that Conference and Exposition, GT2008-50748 (2014).
the performances of the left model increased slightly. [6] C. T. Dinh, S. B. Ma and K. Y. Kim, Aerodynamic
In contrast, the peak efficiency of the right model Optimization of a Single-Stage Axial Compressor
dropped significantly, whereas this was compensated with Stator Shroud Air Injection, AIAA Journal,
by a great stable range extension. Vol.55, No. 8 (2017), pp. 2739-2754.
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Effects of Different Rotors Distance on Aerodynamic Performances

of a Multi-rotor Unmanned Aerial Vehicles
Cong-Truong Dinh*, Dinh-Quy Vu
Abstract
The paper presents the effects of different rotors distance on lift force in a multi-rotor UAV using three-
dimensional (3-D) Reynolds-averaged Navier-Stokes equations with SST turbulent model. The numerical
results for lift force of a single-stage rotors was validated with experimental data at different rotational speed.
A parametric study of rotors distance in 3 directions was evaluated to look for the bester lift force of a multi-
rotor UAV at 65% of maximum rotational speed (6600 rev/min). The results show the lift force of a multi-rotor
UAV with different rotor distances were improved considerable.
Keywords: Multirotor UAV, Rotors distance, Lift force, Reynolds-averaged Navier-Stokes analysis. SST
model.
1. Introduction improves the efficiency compared to a thick arm with

4 to 8%. The best configuration for overlapping
Unmanned aerial vehicles (UAV) has been
propellers was observed to be in a zone between 10%
studied in the past twenty years with the development
to 15% overlap while keeping minimal axial distance.
and usage in both military and civil operations.
Yeong and Dol [5] presented the aerodynamic
Among these usages are surveillance, search &
performance optimization on propeller design of a
rescue, geographical mapping, real-estate marketing,
micro aerial vehicle (quadrotor-typed) via Shear
television commercials, sport filming and others.
Stress Transport K-Omega (SST k-ω) turbulence
Aleksandrov [1] presented the simulations for
model. Kutty et all. [6] presented a numerical method
the determination of the lifting force using
utilized a standard k- turbulence model and a
SolidWorks Flow Simulation with an airfoil type
multiple reference frame model to predict the
similar to NACA6409 by scanning from the real
numerical results compared with the available
profile blade with the 3D printer. The mesh is done
experimental data for an advanced precision
with manual mesh control using planes and mesh
composites (APC) slow flyer propeller blade to
refinement around rotor’s curved surfaces to reduce
determine the discrepancy of the thrust coefficient,
the number of partial cells. The author also presented
power coefficient, and efficiencies. The results
also the effect of different diameter between of a
showed a reliable capability to predict the
coaxial rotor. Regmi [2] presented a 2-D CFD
performance of a low-speed, low Reynolds number
simulation on the perforated ducted propellers which
small-scale propeller. Penkov et all. [7] presented the
can benefit from a net thrust gain in comparison of
influence velocity and gap on lifting force. The
no-duct free propellers. The results showed that A
results showed that showed that the lifting force of a
computational mode was successfully developed and
quadcopter increased about 15% on gap distances
implemented by modeling the propeller with a
from 5 mm to 35 mm. From a distance of 70 mm, the
pressure jump across an actuate disc with an
lifting force will decrease about 2% and then will
infinitesimal small thickness. Aleksandrov [3]
stabilize. Papadimitriou et all. [8] presented an
presented the optimization with artificial neural
aerodynamic shape optimization of the quadcopter
network method on the different distances between
propeller blades with the propeller geometry
rotors to maximize the lifting force of a mini
parameterized using the ANSA software, the CFD
quadrotor helicopter. The optimal gap distance
simulation performed in OpenFOAM, and the post
between rotors is in range from 30 to 35 mm when
processing of the results conducted in META
helicopter mass is minimum and rotors are creating
software.
maximum lifting force. Dimitriadis et all. [4]
Base on the previous work of Aleksandrov [3],
presented the effects of propeller configuration on the
Penkov [7] and the necessary of research project
propulsion system efficiency of a multi-rotor with
supported by Vietnamese Government under Grant
five different designs. The results showed that the
No. ĐTĐL.CN-54/16, which need to lift a weight of 7
efficiency in hover conditions increases of 2 to 4%
kg, the effects of different rotors distance (horizontal
with a pusher configuration, and the shaped arm
392 October 27 - 28, 2018

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type with side and vertical views as shown in Figs.

1(b) and 1(c), respectively). The T-Motor 15x5
blades and Motor U7-490KV are presented in Fig. 2.
The detail design specifications of the Motor U7-
490KV are listed in Fig. 3 and Tab. 1.
The distance between two stages multirotor UAV
in vertical direction(H) and horizontal direction (L)
are the parameters in the parametric study with the
diameter of a rotor of 38.1 cm (= DB) and the height
of Motor U7-490 of 4.4 cm. The reference and
variation detail of these parametersare presented in
the Tabs. 2 and 3, respectively. The dimensionless
value (L/DB) and (H/HM) are varied from 1 to 3 and 1
to 4, respectively.
2.2. Numerical analysis
(a) Rotation rotor directions in X8 type
For the aerodynamic analysis,3-D RANS
equations were solved using ANSYS Fluent-15.0®
[9]. Design-Modeler® was used to design the Motor
U7-490KV and ICEM was employed to generate the
meshes. ANSYS Fluent and ANSYS Results-Post
(a) Side view were used to define boundary conditions, to solve the
governing equations, and to postprocess the results,
respectively.
The computational domain is divided in two
domains; one is rotational domain which rotates
around the axis of rotor, and stationary domain which
covers the rest of computational domain. The
Table 1. Design specifications of the Motor

U7-490KV
KV 490
Configuration 12N14P
Shaft Diameter 4mm
Motor Dimension ϕ60.7x39.5mm
Weight (g) 258g
Idle current 1.1A
No. of Cells (Lipo) 3-8S
Max Continuous current 44A
(A) 180S
(c) Vertical view (top to bottom) Max Continuous Power 1300W
Figure 1. T-Motor 15x5 blades and Motor U7- (A) 180S
490KV Distribution. Max efficiency current (10-25A) > 81%
and vertical directions between rotors) of a multi- Internal resistance 21mΩ
rotor UAV under X-type were studied to determine
the range of these parameters on the lifting force. Table 2. Dimensionless parameters of the reference
2. Numerical Analysis Variables L/DB H/HM

Value 1 1
2.1. Description of Geometry
The multirotor UAV considered in this Table 3. Range of parameter for distance
investigation is 8 rotors type of T-motor 15x5 carbon
Variables L/DB H/HM
fiber propellers (diameter 15 in and pitch 5 inches)
Lower bound 1 1
with the rotation directions of each rotor presented in
Upper bound 3 4
Fig. 1(a), the rotors are divided in 2 stages under X8-
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(a)T-Motor 15x5 blades (b) Motor U7-490KV

Figure 2. T-Motor 15x5 blades and Motor U7.
(a) Stationary domain (b) Rotation domain

Figure 5. Grid structure mesh.
Figure 3. Dimensional Space of Motor U7-490KV.
Figure 6. Convergence history of mass flow rate.

simulation as shown in Fig. 6. The numerical results
for a single rotoras compared to experimental results
in Fig. 7, where the difference between numerical and
experiment is less than 8%.
Based on the demand of the research project
supported by Vietnamese Government under Grant
No. ĐTĐL.CN-54/16, which need to lift a weight of 7
(a) Side view (b) Vertical view kg and works at 65% of maximum rotational speed
(6600 rev/min). Grid dependency tests for lifting
Figure 4. Geometry description for a single stage force of the multirotor UAV X8-type were performed
Rotor. for a range of 326,478 to 8,446,203 nodes to
hexahedral elements were used to mesh the stationary determine the optimum number of grids for the case
domain and the cut cell method for meshing the of a multirotor. Fig. 8 shows the results of these tests,
rotational domainnear the blades as shown in Fig.5. where the optimum number grids is 2,771,174 for
rotational and stationary domains.
The working fluid was considered as an air at 1
atm. The SST turbulence model was used with y+ Figure 9 illustrates the effect of vertical distance
valuesof the first nodesnear the blade walls near of 4. on lifting force of multirotor UAV. The results show
that the liftingforce increases with an increase in
3. Results and Discusion
vertical distance and reaches the maximum value at
The history of mass flow rate at inlet surface H/HM = 3.5, the maximum lifting forceis 11.9704 kg
was use to determine the convergence of the as compared to the lifting force of reference case of
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50
45
40 Simulation
35 Experiment
30
Thrust (N)
25
20
15
10
5
0
0 2000 4000 6000 8000 10000
Rotation speed (RPM)
Figure 7. Validation for a single rotor. Figure 9. Effect of vertical distance (H/HM) on lifting
force.
Figure 8. Grid dependency test with multirotor X8-

type for lifting force.
Figure 10. Effect of horizontal distance on lifting
force.
11.6964 kg, corresponds to an increase of 2.34% for
the lifting force. the effect of these parameters on lifting force of a
Figure 10 presents the effect of horizontal multirotor UAV X8-type using 3D RANS equations
distance on lifting force of multirotor UAV. The (SST model). The results of parametric study showed
results show that the liftingforce increases when the that the lifting force is increased with an increasing of
horizontal distance augments and reaches the these parameters, the maximum of lifting force is
maximum value at L/DB = 2.5,12.1584 kg, where this reached at H/HM and L/DB of 11.9704 kg and 12.1584
value is 11.6964 kg for reference case, correspond to kg for vertical and horizontal directions, respectively.
an increase of 3.95% for the lifting force.
Based on this work, the optimization of rotor
Figure 11presents the velocity on XOZ surface distances in vertical and horizontal directions will
of two best cases compared to reference case. The need to be continued in a future work.
results show that the high-speed zones under the rotor
Acknowledgments
stages in the case of H/HM = 3.5 are slightly longer
than of reference case (Fig. 11(b)), which are the This work is a part of the research project
reason of increase in lifting force as compared to its supported by Vietnamese Government under Grant
of reference case. Similarly, when these high-speed No. ĐTĐL.CN-54/16.
zonesdetached separately (case of L/DB = 2.5), the
References
lifting force also increases as shown in Fig. 10(c).
[1] D. Aleksandrov, Light-weight Multicopter Structural
4. Conclusion Design for Energy Saving, thesis of doctor (2013),
In this work, the variation of rotor distance in Tallinn University of Technology, Estonia.
vertical and horizontal directions was studied to find
395 October 27 - 28, 2018

Hanoi, Vietnam
[2] K. Regmi, Investigation of Perforated Ducted

Propellers to use with a UAV, Bachelor degree
(2013), University of New Orleans, United State.
[3] D. Aleksandrov and I. Penkov, Optimization of Lift
Force of Mini Quadrotor Helicopter by Changing of
Gap Size Between Rotors, Solid State Phenomena
Online (2013), ISSN: 1662-9779, Vol. 198, pp 226-
231, Trans Tech Publications, Switzerland.
[4] B. Theys, G. Dimitriadis, P. Hendrick and J. De
Schutter, Influence of propeller configuration on
propulsion system efficiency of multi-rotor
Unmanned Aerial Vehicles, International Conference
on Unmanned Aircraft Systems (ICUAS) (2016),
Arlington, VA USA.
[5] S. P. Yeong and S. S. Dol, Aerodynamic Optimization
of Micro Aerial Vehicle, Journal of Applied Fluid
Mechanics (2016), Vol. 9, No. 5, pp. 2111-2121.
(a) Reference case (b) H/HM = 3.5 [6] H. A. Kutty and P. Rajendran, 3D CFD Simulation
and Experimental Validation of Small APC Slow
Flyer Propeller Blade, Technical Note, Aerospace
2017.
[7] I. Penkov1 and D. Aleksandrov, Analysis and study of
the influence of the geometrical parameters of mini
unmanned quad-rotor helicopters to optimise energy
saving, International Journal of Automotive and
Mechanical Engineering ISSN: 2229-8649 (Print);
ISSN: 2180-1606 (Online); Volume 14, Issue 4
pp. 4730-4746, December 2017.
[8] D. Papadimitriou, V. Rosu, V. Naidu, D. Cruz, and J.
Skarakis, Reliability-Based Aerodynamic Shape
Optimization of a Quadcopter, American Institute of
Aeronautics and Astronautics (2018), DOI:
10.2514/6.2018-0664.
[9] ANSYS CFX-15.0. ANSYS CFX-Solver Theory
Guide, ANSYS Inc., 2013.
(c) L/DB = 2.5

Figure 11. Comparison of best cases on lifting force.
396 October 27 - 28, 2018

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Research on the Star Topology Connection of Multi-PLC for Automation

Control
Vo Nhu Thanh*, Tran Ngoc Hai
Faculty of Mechanical Engineering, University of Science and Technology, The University of Danang
*Email: vnthanh@dut.udn.vn
Abstract
Automation has been widely used for a long time in many industries. It has been applied mostly in assembly
line and production line. The main point of this study is to design a completed automatic production line of
selecting material to completely storage the final product in a shelf. There are four stations which process
different task. Each station is controlled by S7-1200 CPU, which is programmed by Siemens TIA Portal
software. When connecting these stations together by PROFINET, the switches from Siemens are used. As
a result, these stations could be communicated in parallel as Start Topology. It means one station can send
and receive data directly from all other stations. It is different to the master and slave system which is
generally used by S7-300. Also, for the star topology, the signal from one station to the other station would
be faster and more rapidly. The whole production line is tested and verified to work properly. Thus, Star
Topology for PLC connection would be applicable in automation industrial to replace the old system.
Keywords: Star topology, TIA Portal, S7-1200, PROFINET, Automation.
automated production system design of the stellar

1. Introduction
connection protocol between the PLCs. The Profinet
Automation has been widely used for a long standard allows for real-time communication of about
time in industries. It has been applied mostly in 1ms; In addition, with the upgrade of the Profinet
assembly and production line. Automation has a lot system to V2.3 can create a connection time of 31.25
of advantages such as increasing productivity, μs. In addition to fast connectivity and
production quality control, saving labor, increasing communication, Profinet also has the advantage of
operation time and production cycle reduction. Based being stable and less error prone.
on effectiveness of automation, it is proposed to The main point of this study is to design a
apply the new Siemens Simatic S7-1200 in a completed automatic production line of selecting
production line for experiment and testing. material to completely storage the final product in a
An integrated automation system is a system of shelf. The article focuses on communication between
management, control, monitoring and data collection PLCs. This system is an automatic production line
that is used extensively in many fields and in model consisting of 4 common stages: product
particular the manufacturing process in the industry selection stage, component assembly, product
[1], [3] , [4], [5]. Normally the control elements in the assembly stage and product placement. These steps
automation system are PLCs with advanced features are individually fabricated and then reconnected to a
of stability, high noise resistance and high scalability fully automated system via the Profinet protocol
combined with extended modules [6], [7]. With the using the star topology. The project will have 4
recent development of Siemens PLCs using the stations which were built and tested using S7-1200
Profinet communication system, recent developments PLC programmed by Simatic TIA Portal V11
have enabled the design of an integrated automation software. The communication between all stations by
system that communicates directly between PLCs Profinet network. Also when connecting these
instead of the system. Master-slave as before [8], [9]. stations together by Profinet, the switches from
The new communications standard Profinet takes Siemens were used. As a result, these stations could
advantage of Ethernet interfaces so it can be used to be communicated in parallel as start topology. It
establish various types of interfaces, such as ring means one station can send and receive data directly
topology, tree topology, star topology.)… [10]. from others station. It was different to the master and
At present, the S7-1200 series with low cost and slave system which was generally used by the S7-
good stability is gradually replacing Siemens S7-200 300. For the star topology, the signal can be
series PLCs and low-level PLC series from other transferred directly from one station to the other
automation companies. The use of an Ethernet port to station; thus, it would be faster and more rapidly. The
connect to a computer and a direct connection final step is testing and correcting any defects and
between the PLCs opens the direction for the problems which may occur during the experiment.
397 October 27 - 28, 2018

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Fig. 1. Picture of the automation system.
Fig. 3. The second station screws into the product.

When the product is delivered to the end of the
conveyor belt, there will be an infrared sensor at the
end of the conveyor belt recognizing the product
there to stop the conveyor and output the signal to the
PLC of the next station for control of the robot arm.
Get the product through the station and screw the
Fig. 2. Model of the product selection station. product. The three-stage RTT rotary grab arm
consists of a 24V DC motor that controls rotational
The production line finally worked properly. The motion and two pistons for lifting and stretching the
software Tia Portal was easier to program and handle hand to reach the target. product placement. On the
the data; however, it required more powerful PC to front of the machine is a vacuum mechanism to
run the software. The PLC S7-1200 is cheaper than vacuum the product. The size of the machine when
others competative and strong enough to do any reaching the whole is 500mm x 400mm x 450mm
automation task. It is the new technology that could (Fig. 3.).
be applicable in all industrial to replace the old Screw assembly station is composed of two
system. pistons on both sides, when the input signal, both
pistons of the two pistons will stretch and tighten the
2. Equipments
screws on the product. The robot arm will continue to
2.1. The station selects products according to transfer the product to the next station for assembly.
different criteria - color, material, orientation, and White block from station 1 was delivered directly to
order (station 1) [1] station 3 by the arm without screw closing.
To determine the required angular rotation of
The conveyor belt is made of aluminum alloy,
the arm, a 16 pulses / wire encoder, a planetary gear
synthetic rubber conveyor belt which has the size of
ratio of 102: 1, and a 2: 1 gear ratio are used. The
680mm x 50mm and driven by DC 24V motor. The
general transmission ratio is 204: 1 and the encoder is
product block consists of 2 square cylinders made of
located at the motor position, which corresponds to a
240mm x 80mm aluminum columnwhich can hold up
rotation of the arm that has 204x16 = 3264 pulses per
to 10 workpiece at once. [1] (Fig.2.).
wire. However, when using the high speed counter
(HSC) It will count both positive and negative pulses
Sensor systems used in the model include the
so it becomes 6528 pulses per wire. The encoder
IFM-IG5597 sensing sensor to classify the material of
consists of two A-channel wires and a B-channel is
the product, the working principle of this sensor is the
connected to the HSC counter so that it becomes
change in the impedance Z as described by equation
13056 counting pulse for a 360-degree rotation. So to
(1 ) with R is a pure resistance and jωL is the
rotate 180 degrees or 90 degrees, the output of the
magnetic impedance of the sensor.
HSC output signal is 6528 and 3264, respectively.
Z = R + jωL (1)
The station also has color sensors, ultrasonic 2.3. Assembly station (station 3)
sensors, and infrared sensors.
The products after the arm of the station
screwed to and placed on the base of the assembly
2.2. Product pick-up station and screw-in products station will be a similar arm structure at the screw-up
(station 2) mechanism up and transferred into the pressure
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Fig. 4. Assembly Station.
Fig. 6. Product sorting station.
Fig. 5. The completed product.

chamber to press the product. Black (screwed) Fig. 7. Watch table.
upwards into the white product downward. The
dropping signal of the arm at station 2 is the signal updates of data after each cycle, which makes it
for the arm at the station to operate. possible to build an optimal alignment algorithm and
At this time on the mold of the pressure save a lot of time compared to programming with
chamber there are two overlapping blocks. The mold FBD or LAD.
is pressed into the chamber by a piston. In the chassis, 3. Configuration
another piston above presses down and holds the
pressure for 2 seconds to completely assemble the 3.1. Connection between PLC controllers
two products together (Fig.4.). There are 4 Siemens S7-1214 DC / DC / DC
After the assembly is completed, the product is PLCs for 4 separate stations. Therefore, in order to
drawn up by the arm and passed to the last station to fully automate the operation, it is necessary to
the warehouse. establish communication and communication
2.4. Storage station (Station 4) between these PLCs. Stay in the TIA Portal software
to easily establish a connection between the PLCs.
Once the product has been assembled into a
cube (Fig.5.), the product will be moved to the last Here two CSM 1277 modules are used to
station for storage. This last station consists of a four- connect all the above stations together, these modules
row rack with seven storage locations. A total of 28 can be replaced by the common switch because the
locations are located on the shelf as shown in Fig.6. connection between the PLC by Profinet interface
Once the product has been placed on the shelf, it according to TCP/IP protocol. Stations 1, stations 2,
will be located in the Watch table (Fig.7.) of the PLC stations 3, and stations 4 are respectively given IPs
program that will update the location where the 192.168.111.211, 192.168.111.212, 192.168.111.213,
product and the next product when placed in the and 192.168.111.214 to prepare for the establishment
shelves will be in the next cell position. . of direct communication between stations.
Alignment algorithms are written in the SCL The languages used for programming for the
language in the PLC to save programming time as system include FBD and SCL. FBD or LAD are often
well as optimize the sorting capabilities of the station. used in PLC programming because of their simplicity
Language, SCL allows for the creation of loops and of programming; This language is often used to solve
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Fig. 8. Connection setup of PLCs using Siemens

CSM 1277 extension module.
Stat Stat Stat Stat

ion ion ion ion
1 2 3 4
Fig. 10. TSEND_C Unit at the 1st Station.
HMI
Fig. 9. Signal diagram of PLCs and HMI.

simple logic problems or to program applications
with the operations of sequential operators [2]. SCL
is very optimized for programming repeated
iterations.
3.2. Establish communication between PLCs
The connection process can be used in many
different ways but here to take advantage of the
Fig. 11. TRCV_C block at the second station.
Ethernet standard, direct connection between PLCs
using the built-in function blocks in TIA Portal transmission DONE. The operating principle is that
software is TSEND_C and TRCV_C. For each the initial signal on "sendsignal" is equal to 0 so when
communication from PLC to PLC, a pair of the inverted REQ bit becomes 1 it means that the
TSEND_C functions is written on the sending PLC signal will be allowed to transmit to the receiving
and TRCV_C is written on the receiving PLC. PLC. After the PLC at the other station receives the
signal, it will give the DONE signal at 1, which
As mentioned above, the stations will connect to
means that the "sendsignal" signal is now 1 and its
each other to signal the finished product at the
inverted bit at REQ is now 0 and connected
previous station and the next station can be started. In
temporarily. Break time occurs when the DONE
addition, the signal at the front station must wait for
signal is zero again, the REQ signal will return to 0
the signal of the next station to avoid the case when
and its inverted bit will be 1 and the signal will be
the product is transferred to the station after the cycle
transmitted again. Such a process repeats
has not completed the production process will
continuously indicating that the signal is continuously
automatically error. The communication diagram of
transmitted from the PLC to the receiving PLC.
the PLCs and HMI is shown in Figure 9.
In addition, the data to establish the connection
As shown in Figure 9, there are 10
is recorded in the data block "% DB25" of the PLC
communications between stations and HMI. With the
sent and "% DB29" of the PLC received. Data from
limit of the report, only one communication between
the output signal or the PLC sent (in bits) will be
station 1 and station 2 is shown. To set up the
written to the memory flag "% MB15". Then the data
transferring, TSEND_C will be used in the "open user
of the memory flag "% MB15" is sent with a 1 byte
communication" of the TIA Portal software.
magnitude (LEN = 1) will be written to the "% MB7"
In the TSEND_C block (Fig.10.), the REQ memory flag of the PLC. Then, these signals will be
signal is the input signal for the PLC to transmit the transmitted in bits of the input or output of the
signal. A memory flag has an initial signal of zero receiving PLC to signal the operation of the receiving
and its negative value as input to the TSEND_C station.
block. This signal is the signal of the data
400 October 27 - 28, 2018

Hanoi, Vietnam
addition, the Profinet standard extends

communication with computers, HMI displays to
create a complete SCADA system and completely
save design time. The development theme is the
Profinet V2.3 star topology for rapid communication
between PLC controllers to optimize performance for
more complex applications.
Fig. 12. Station 3 & 4 in operation displayed on the References
HMI touch panel [1] Vo Nhu Thanh, Vo Nhu Tien, Prototype of complex
sorting station for categorizing products by color,
4. Test and result material, orientation, and in sequence using siemens
plc s7-1200 family controller, UD’s Journal of
After connecting the PLCs together and setting Science and Technology, Vol 6(67) Pg. 75-69, 2013.
up the interfaces for the operating system, the system [2] Vo Nhu Thanh, Transformation Method from Hi-
was tested several times and was working correctly Graph Language to FBD (Function Block Diagram)
and properly as expected. Figure 12 showed the using SR (Set-Reset) Block in Siemens Simatic
displayment of HMI touch screen of station 3 and 4 Software for PLC (Programmable Logic Controller)
when the system was in operation. Although the Programming,UD’s Journal of Science and
programming program for each system has not been Technology, Vol 6(67) pg.64-67, 2013.
optimized, the system has performed well, [3] Boyer, Stuart, A. SCADA: Supervisory Control and
demonstrating the superiority of the communication Data Acquisition, Instrument Society of America,
Research Triangle, NC. 1993.
method by Profinet is simple, easy to use and take [4] Ezell, Barry, Supervisory Control and Data
advantage of the advantages of Ethernet. Acquisition Systems for Water Supply and Its
In this model, the stations are programmed Vulnerability to Cyber Risks, available on the internet
at: http://watt.seas.virginia.edu/~bce4k/home.html.
separately and then only using the Profinet
(August 1997).
connection method to transmit and receive data back [5] C.T Jones, Step 7 in 7 Steps, Patrick-Turner
and forth to form a fully automated production line Publishing, 2nd edition (2006).
model. [6] C. Clarke, D. Reynders, E. Wright Practical Modern
SCADA Protocols: DNP3, 60870.5 and Related
This allows the creation and design of discrete
Systems (2004).
stages of a complete system by different departments [7] K. Gowri Shankar, Control of Boiler Operation using
or groups, and then these discrete stages are PLC – SCADA, IMECS 2008, 19-21 March, 2008,
connected through the Profinet standard into a stable Hong Kong.
line. [8] Siemens Co., Ethernet Communication: Data
Exchange S7-1200 <-> S7-1200, Configuration
Breaking multiple workgroups creates the Example X17, September 2010.
ability to get things done faster. In addition, when [9] Siemens Co., SIMATIC TIA Portal Step 7 Basic
additional production lines are needed, it is only V10.5, Siemens AG, 12/2009.
necessary to make separate extensions without [10] Automation Today, “Profinet the leading industrial
interfering with the main operating system so that Ethernet standard”, Page 14-15, August, 2012.
labor productivity will not be affected much. In
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Identification of Aerodynamic Coefficients of Unmanned Aerial Vehicles

According to Flight Testing Data
Dang Ngoc Thanh, Nguyen Van Thang*
*Email: victoriousvn@yahoo.com
Abstract
The purpose of this research is to identify aerodynamic coefficients of unmanned aerial vehicles (UAV)
according to flight testing data. Functional dependencies for determining the aerodynamic coefficients used
in the design are complex non-linear functions from various factors. This paper presents the application of
Group method of data handling for determination of aerodynamic coefficients. The results of calculations of
aerodynamic coefficients UAVs are given.
Keywords: identification, aerodynamic coefficient, unmanned aerial vehicles, group method of data
handling.
1. Introduction In solving the problem, the initial values of the

aerodynamic derivatives for the statistical
At present, unmanned aerial vehicles (UAVs) for
calculations of the aerodynamic coefficients are used
various purposes are being developed and used in
as initial data: сх, сy, сz, mx, my, mz. As the output data,
many countries of the world. During the experimental
a set of optimal values of aerodynamic coefficients
development of a UAV, often arises the problem that a
corresponding to the minimum value of the general
number of design parameters of a UAV differ from
criterion is represented. In this case the aerodynamic
similar values obtained from measurement data. In
coefficients are found in Multivariate Polynomial [5].
essence, this means that in them, there are regularities
The listed aspects related to the solution of the
that are not explained by the initial mathematical
task posed cause the urgency of the problem.
model of the UAV, on which the corresponding ghost
characteristics were obtained [1]. This is especially 2. Group Method of Data Handling
true for aerodynamic models of UAVs.
GMDH is used in such fields as data mining,
When testing UAV on the experimental data
knowledge discovery, prediction, complex systems
obtained, the mathematical models of aerodynamic
modeling, optimization and pattern recognition.
characteristics (ADC) of UAVs are corrected, the
GMDH algorithms are characterized by inductive
control system settings are specified and, sometimes
procedure that performs sorting-out of gradually
it is necessary to change the constructive appearance
complicated polynomial models and selecting the best
of the apparatus. In aerodynamic modeling, it is
solution by means of the so-called external criterion.
proposed to use a structural-parametric synthesis
A GMDH model with multiple inputs and one
consisting of a two-level choice of UAV models. At
output is a subset of components of the base function (1)
the first level, a structural choice is made, where
n
a f
circuit decisions are determined, and this choice is
not amenable to complete formalization, which leads J  x1,..., xn   a0  i i (1)
to a certain subjectivism in the adopted UAV models. i 1
The second level, on which parametric studies are where fi are elementary functions dependent on
carried out, is a completely formalized stage, where different sets of inputs, a are coefficients and n is the
regular optimization methods are comprehensively number of the base function components [6,7].
applied [2,3]. In order to find the best solution GMDH
This paper provides the application of Group algorithms consider various component subsets of the
Method of Data Handling (GMDH) for computer- base function (1) called partial models. Coefficients
based mathematical modeling of multi-parametric of these models are estimated by the least
datasets that features fully automatic structural and squares method. GMDH algorithms gradually
parametric optimization of models [4]. increase the number of partial model components
The purpose of the research in this work is to and find a model structure with optimal
develop a complex method of structural-parametric complexity indicated by the minimum value of an
selection of UAV models from experimental data of external criterion. This process is called self-
aerodynamic modeling. organization of models.
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The most popular base function used in GMDH

is the gradually complicated Kolmogorov-Gabor

cx  cx 1 , 2 , 3 , 4 , , , M , x ,  y , z ;


polynomial (2)
n
y 
c  c  ,  ,  ,  , , , M ,  ,  ,  ;
 y 1 2 3 4 x y z 
J  x1 ,..., xn   a0  a x  i i z 
c  c  ,  ,  ,  , , , M ,  ,  ,  ;
 z 1 2 3 4 x y z 

n n n
i 1
n n (2) 
mx  mx 1 , 2 , 3 , 4 , , , M , x ,  y , z ; 

  a x x   a
ij i j ijk xi x j xk  ... 
my  my 1 , 2 , 3 , 4 , , , M , x ,  y , z ; 
i 1 j i i 1 j i k  j 
3. Algorithms of GMDH  
mz  mz 1 , 2 , 3 , 4 , , , M , x ,  y , z .
(3)

where  1 ,  2 ,  3 ,  4 - angles of deviation of rudders,
Basic combinatorial algorithm makes the
following steps:  ,  - angles of attack and slip, M - Mach number,
- Divides data sample onto parts A and B.  x ,  y ,  z - angular velocities along 3 axes [9].
- Generates structures for partial models. To solve this problem, basic polynomials are
- Estimates coefficients of partial models using constructed and then the coefficients of aerodynamic
Least squares method andsample A. forces and moments can be represented in the
- Calculates value of external criterion for partial following
models using sample B.
- Chooses the best model (set of models) fi  c0  c111  c2 2 2  c333  c4 4 4  c5 5 
(4)
indicated by minimal value of thecriterion. c6 6  c7 M 7  c8 x 8  c9 y 9  c10 z 10
where
f1  c x , f 2  c y , f 3  c z , f 4  m x , f 5  m y , f 6  m z .
The main task is to find a model of optimal

complexity in which the accepted external criterion
reaches its lower limit:
*  inf V , Pm 
V , Pm
where V is the initial set of statistical samples; Pm is
the set of mathematical models that are formed as a
result of the work of statistical synthesis, is the set
of external criteria.
A general view of the statistical sample with n inputs
There are various different algorithms of and s outputs is shown in Table 1.
GMDH, such as Combinatorial (COMBI), Table 1
Multilayered Iterative (MIA), Objective System
Analysis (OSA), Two-level (ARIMAD), INPUT OUTPUT
Multiplicative-Additive (MAA), Objective Computer a1 …. an J1 … Js
Clusterization (OCC), Group of Adaptive Models
Evolution (GAME). In this case Multilayered
Iterative algorithm is chosen with the aim to simplize (a1)1 …. (an)1 (J1)1 … (Js)1
process of calculation and decrease time of (a1)2 …. (an)2 (J1)2 … (Js)2 Training
calculation [8]. … …. … … … … part (А)
Let the coefficients of the aerodynamic forces (a1)Na …. (an)Na (J1)Na … (Js)Na
and moments be represented in the following
functional form
(a1)Na (an)Na (J1)Na
…. … (Js)Na+1
+1 +1 +1 Checking
…. … …
… … … part (В)
…. … (Js)N
(a1)N (an)N (J1)N
The multiple regression is a regression of an
effective trait with two or more factors, i.e., the
species model:
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y  а  b1 x1  b 2 x 2  ....  b к x к   (5) And the aerodynamic coefficients are shown in the

The parameters of the multiple regression next table.
equation are estimated by the method of least squares Table 3
for the training part. With its application, a system of № Cx Cy Cz mx my mz
normal equations is constructed, the solution of which 1 (Cx)1 (Cy)1 (Cz)1 (mx)1 (my)1 (mz)1
makes it possible to obtain estimates of regression 2 (Cx)2 (Cy)2 (Cz)2 (mx)2 (my)2 (mz)2
parameters [2,3].
… … … … … … …
(y  a  b x
i 1 i1 b2 xi 2  ...  b p xip )2  min (6) N (Cx)N (Cy)N (Cz)N (mx)N (my)N (mz)N
i Case for calculation:
Then optimized model will be found from - Objective: controlled air-bomb UAB-500
minimum condition of the regularity criterion: - m=500 kg;
NC - Time step: N=500;
  J
2
i
M
 J iE  - Training part: NT=300;
2 C   i 1
NC
(7) - Checking part: NC=200.
When using linear polynomials for the
 
2
J iE aerodynamic coefficient:
i 1
cx  0.263 0.08 0.77 5.942103 z 
where J iM is the model value of the optimality  3 3 3
criterion, J iT is the tabular (experimental) value of the   2.27810 y  7.99210   9.86710 
 3 3
optimality criterion, NC is the volume of the parity cy 15.1431.07810  4.32610 z 
part of the statistical sample.  3 3
 8.32110 y 8.264  9.97310 
4. Results and Discussion c 1.425 3.7811.461103   5.991103  
z z y
In this paper, the problem of information-  3
statistical synthesis of aerodynamic models of UAVs  1.05510   7.977
 3 3
is formulated. The problem of adjusting the UAV mz  8.9521.36110  9.98310 z 
model from experimental data consists of solving the   2.03103  1.564 1.79103 
problem of identifying UAV parameters and the  y  
problem of statistical analysis of the UAV model my  6.161103  9.879 9.865103 z 
completeness. 
Table 2 shows the kinematic parameters of the   7.189103 y  3.446103   4.527
UAV during the flight test (Input). When using high-order polynomials for the
Table 2 aerodynamic coefficient:
№ 1 2 … N

  
c x  0.2063  0.033  2  2  0.0021 2  2  
   
…   
  0.0078     0.0009 22

   … 
c  8.3671  0.00212  0.0051 2  
 ) ) … )  y 
 0.00162   0.0053  0.0064
 ) ) … )    z
c  8.3671  7.12  0.00463  0.00512 
 ) ) … )  z  
 ) ) )  0.0053  0.0064 y

… 
H H H … H  m y  2.67  8.25  0.00433  0.00532 

V V V … V  0.0065  0.0031 z

ωx (ωx)1 (ωx)2 … (ωx)N 2
 mz  2.67  0.0092  0.0016  
2
ωy (ωy)1 (ωy)2 (ωy)N  2

…  0.0053   0.0065  0.0031 z
ωz (ωz)1 (ωz)2 … (ωz)N The results show that the optimal complexity for
nx (nx)1 (nx)2 (nx)N our case is 4th order.
… The picture 1and 2 shows the quasi-coincidence
ny (ny)1 (ny)2 … (ny)N of the model value and the tabular (experimental)
nz (nz)1 (nz)2 … (nz)N value of the optimality criterion for lift coefficient
Cy.
404 October 27 - 28, 2018

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Analogically for other coefficients. 3. The polynomials that describe accurately all
the aerodynamic coefficients of UAVs can be used
for increasing the effectiveness of their controlling
process.
References
[1] Tarasov E.V., Balyk V.M., Ustinov S.A., Shipov O.V.
Methods for optimizing the oblicate characteristics of
technical objects using the example of aircraft and
JICA. -M .: MAM, 1992.
[2] Dubov Yu.A., Travkin SI, Yakimets VN Multi-
criteria models for the formation and selection of
variants of systems. - Moscow: Nauka, 1986. - 296 p.
picture 1 [3] Koryanov V. V., Nguyen Kuang Thuong, Nguyen
Van Thang. Multiple regression for the aerodynamic
model of unmanned aerial vehicles based on
experimental data. // Journal "The Bulletin of MSTU.
N.E. Bauman, No. 5, 2016. From 59-67pp.
[4] Tarasov EV, Balyk VM Loginov A.B. Selection of the
facial characteristics of aircraft systems. - MAI, 1998.
[5] Brusov V.S. Petrucik V.P. Morozov N.I.
Aerodynamics and dynamics of flight of small-size
unmanned aerial vehicles. - M. Publishing house
MAI-PRINT, 2010, 338p.
[6] Anatolyev, Stanislav (2002, 2003) "Durbin-Watson
statistic and random individual effects", Econometric
Theory, vol. 18, № 5, Problem 02.5.1, pp. 1273-1274;
picture 2 Vol. 19, № 5, Solution 02.5.2, pp. 882-883.
On the pictures 1 and 2 the quasi-coincidence of [7] Balik VM Statistical synthesis of design solutions for
the model and the table values. the development of complex systems. M. MAI
Publishing House, 2014, 278p.
[8] Suhoruchenkov BI, Menshikov VA Methods for
5. Conclusions analyzing the characteristics of aircraft. M .:
Mechanical Engineering, 1995.
1. A method has been developed for processing [9] Nguyen Quang Thuong, Nguyen Van Thang.
experimental data for computational and Numerical solution of the problem of information-
experimental studies of aerodynamic characteristics statistical synthesis of unmanned aerial vehicles based
of UAVs based on the self-organization approach. on experimental data // Journal of High-Tech
2. Algorithms, programs and numerical solution Technologies, № 3, 2016, pp. 11-20.
of the problem of identification of aerodynamic
models of UAVs based on experimental data are
implemented in the language of Matlab 2017..
405 October 27 - 28, 2018

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Modeling the Characteristic Curve of Wind Turbine on Various Pitch

Angle and Tip Speed Ratio
Phan Tran Hong Long*, Ho Ngoc Dung, Ho Sy Mao
Thuy Loi University, 175 Tay Son, Dong Da, Ha Noi, Vietnam
*Email: phanllq@tlu.edu.vn
Abstract
The wind turbine power efficiency coefficient is considered a function of the pitch angle of the turbine and the
tip speed ratio. However, the characteristic curves usually show that this relationship with some fixed value
of pitch angle. This is hardly to show the maximum power efficiency coefficient with any pitch angle and tip
speed ratio. The paper introduces the solution and the program to build the some characteristic curve for
power efficiency coefficient which base on these parameters. The data was collected from the wind tunnel
with a small turbine in the university laboratory. The number of blades is also changed with values of 2, 3
and 6.
Keywords: Characteristic curve, power efficiency coefficient, pitch angle, tip speed ratio.
1. Introduction The Computer Controlled Wind Energy Unit,

contains a small aero-generator and is used to study
1.1. Wind energy
the conversion of kinetic wind energy into electrical
Wind energy is a renewable source of energy
energy and to study the influence of some factors on
that occurs in the nature spontaneously and can be
this generation.
harnessed to meet the necessity of power. It is being
The unit consists of a stainless steel tunnel, an
used from a very early age and the technology of
aero-generator and an axial fan with variable speed. A
using this energy efficiently is being improved with
turbine to place up to blades and a generator are the
time. Wind power is the conversion of wind energy
core elements of the aero-generator.
into a useful form of energy. It is done using wind
The aero-generator incidence angle can be
turbines to make electricity, wind mills for
modified to simulate different weather conditions and
mechanical power, wind pumps for pumping water or
it is possible to set different blade configurations
drainage, or sails to propel ships. Today wind power
This unit allows rotate by hand the angle of
is the most competitively priced technology in many
every blade, as each one embeds its own calibrated
if not most markets worldwide [1, 2].
protractor.
In Vietnam, under the country’s current Power
The aero-generator has diameter 510mm and
Development Plan, the government targets 6,000 MW
starts at air speed 2,0m/s.
of wind energy and 12,000 MW of solar energy
Maximum power output is 60W and maximum
production by 2030.GIZ (anorganization from
voltage 12V while maximum charging current is 5A.
Germany) estimates that the technical potential of
wind power in Việt Nam is huge – at about 27
gigawatts – and able to replace a large share of future
planned thermal (coal and gas) power generation.
On September10, 2018, Vietnam’s Government
approved an amendment and revision of the wind
tariff defined as per Decision No 37/2011/QĐ-TTg
on the support mechanism for the development of
wind power projects in Việt Nam.Under the revision,
the feed-in tariff will be increased from 7.8 to 8.5 US
cents per kWh for onshore and 9.8 US cents per kWh
for offshore wind power projects [3]. Fig. 1. Laboratory equipment in TLU [4].
1.2. Wind tunnel in laboratory
Thanks to the investment from international
organization(example as WB), a number of
universities in Vietnam have invested in experimental
equipment to train initial human resources with a
Fig. 2. The aero-generator with 6; 3 and 2 blades [4].
certain understanding of wind energy.
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2. Methods and Materials

2.1. Problem Description
Human resources in the field of wind power in
Vietnam are increasing. Many of them have
knowledge of other energy fields, some of which are
knowledge of hydraulic turbines with characteristic
curves which are different with wind turbine.
In addition, the wind turbine power efficiency
coefficient is considered a function of the pitch angle
of the turbine and the tip speed ratio. However, the
characteristic curves usually show that this
relationship with some fixed value of pitch angle.
This is hardly to show the maximum power efficiency Fig. 5. Data measured Voltage in DC.
coefficient with any pitch angle and tip speed ratio.
2.2. Data collection
In order to construct the characteristic
trajectories, it is necessary to measure the data with
different angles. In the case of the laboratory, the
angles are not accurately represented so the cases are
described with an approximation angle on calibrated
protractor.
There are six value of beta in this study (≈ 90;
85; 75; 70; 60 and 45) and three cases with number of
blade (6; 3 and 2).
In case 6 blades and angle of each blade is Fig. 6. Data measured Current in DC.
approximately 85o, data measured are shown in five
figures below from 4 to 8with these basic parameters
as rotation speed; voltage; power current and power
output depends wind speed. Other cases in 6 blades
are shown in figures 9 and 10.
0
0
0
-30
30 0
0
-60
60
0
0
90
90
0
60
-60
0
Fig. 7. Data measured Power output in DC.

30
0
-30 0
0
0
Fig. 3. The angle of blades, beta (β), degree.

In the illustration, β = 90o.
Fig. 8. Figure from software of wind turbine in

laboratory.
Fig. 4. Data measured Rotation speed.
407 October 27 - 28, 2018

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Fig. 11. The power output depends on wind speed

Fig. 9. Overview data measured between Power
and number of blade (β ≈ 70o).
output in DC with wind speed in all case 6 blade.
Fig. 10. Overview data measured between rotational Fig. 12. The power coefficient depends on wind
speeds of aero generator with wind speed in all case 6 speed and blade angle β.
blades.
1,17 . (2)
In the cases with the same blade angle and
different number of blade, the power output is shown Where is the pressure of dry air; is the
in the next figure. water vapor pressure; T is the air temperature in
In three cases, the blade angle beta has value Kelvins; is the specific gas constant for dry air and
approximately 70 degree. The case with 6 blades has is the specific gas constant for water vapor [5].
the highest power output than other cases. The 3.2. Tip speed ratio
obtained value of the 6 blade case is generally greater
than about 1W compared to the case with 3 blades. Another important parameter is tip speed ratio
which can by calculated by equation:
3. Results
(3)
3.1. Power coefficient
The most important parameter in wind turbine is Where rotational speed (rad/s) and R is is
power coefficient which is calculated by equation: radius of aero-generator.
(1)
0,29835 3.3. Power coefficient depend tip speed ratio and
blade angle
Where A is swept area of wind turbine (aero-
generator)); u is wind velocity and is air density. Shown by equation [6]:
90 (4)
With data of template, atmosphere pressure and
air humidity during the measurement process, the air CPmax(λ) is the max power coefficient to depend
density can be calculated by equation: on tip speed ratio λ.
408 October 27 - 28, 2018

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test, sometimes the blade will rotate away from the

original angle.
With number of blade smaller than 6, the power
output is also smaller than that of 6 blade.
More research with real data is needed to build
integrated trajectories for more efficient wind turbine
operations.
In the case of the laboratory, due to the varying
angular velocity, the λ coefficients do not show as
much as the large turbines.
References
[1] GWEC, Global Status of Wind Power. [Online].
Fig. 13. The Power coefficient depends on tip speed Available:
ratio and blade angle. https://gwec.net/global-figures/wind-energy-global-
status/
[2] GWEC, Vietnam Wind Power 2018. [Online].
4. Discussion and Conclusion Available:
http://gwec.net/vietnam-wind-power-2018/
Vietnam’s wind energy potential is considerably [3] Vietnamnews, Wind power price rise a positive sign
high if compared to Thailand, Laos or Cambodia[7]. for VN’s renewable energy development, (2018).
With a coastline of more than 3,000 km and located [Online]. Available:
in the monsoonal climate zone, Vietnam has https://vietnamnews.vn/economy/465813/wind-
considerable potentials for harnessing its wind power-price-rise-a-positive-sign-for-vns-renewable-
resources. The provinces with the most promising energy-development.html
[4] Edibon, Computer Controlled Wind Energy Unit,
wind potentials include Binh Thuan, Ninh Thuan,
EEEC, (2018). [Online]. Available:
Vung Tau, Ben Tre, Soc Trang, Bac Lieu, Ca Mau http://www.edibon.com/en/equipment/computer-
and the Central Highlands. controlled-wind-energy-unit
Wind is a clean and inexhaustible energy. [5] Omni calculator. Air density calculator. [Online].
Available:
However, many measurements need to be analyzed to
https://www.omnicalculator.com/physics/air-density
define the relationship between the different [6] James F. Manwell, Jon G. McGowan, Anthony L.
parameters of the wind turbine. Rogers, Wind Energy Explained: Theory, Design and
In this study, with small wind turbine, the blade Application, 2nd Edition, Wiley. (2010).
[7] UPI Asia, Energy Resources Vietnam’s high wind
angle cannot rotate with specific angle. During the power potential, Article, July 2009.
409 October 27 - 28, 2018

Hanoi, Vietnam
A Study on Air Flow Through Intake Manifold of an Inline 4 Cyliner

Engine
Nguyen Phu Thuong Luu*
Automotive Engineering Department, HUTECH University, Vietnam
*Email: npt.luu@hutech.edu.vn
Abstract
The aim of this study is to predict and analyze the air flow through intake manifold and inlet port system
using Computational Flow Dynamics (CFD). Intake manifolds have a major effect on an engine performance
such as emission of noise and pollutants. The consequence of engine outputs and applications require
diverse designs of intake-air manifolds to satisfy the volumetric efficiency for the best engine performance. In
this paper, the flow characteristics of an ACURA HONDA air-intake manifold of four cylinders inline engine
are studied. The air-intake manifold model is designed by CATIA then meshed by AVL FIRE. The simulation
results are shown informative pictures of the flow field, which will help the designer to understand the effect
of various components of air intake system and can be used as a tool for optimization.
Keywords: Air flow, Manifold, CFD, Intake system, Engine.
1. Introduction In today’s world, major objectives of engine

designers are to achieve the twin goals of best
The engine cycle of typical internal combustion
performance and lowest possible emission levels. To
engines consist of four consecutive processes as
maximize the mass of air inducted into the cylinder
intake, compression, expansion (including
during the suction stroke, the intake manifold design,
combustion) and exhaust. Of these four processes, the
which plays an important role, has to be optimized.
intake and compression stroke is one of the most
The design becomes more complex in case of a multi-
important processes which influences the pattern of
cylinder engine as air has to be distributed equally in
air flow structure coming inside cylinder during
all the cylinders. Hence, configuration of manifold
intake stroke and generates the condition needed for
geometry becomes an important criterion for the
the fuel injection during the compression stroke. To
engine design [4]. Achieving this by means of
predict and analyze the flow through intake manifold
experimental methods would cost time and money.
and inlet port system many researchers are using
There is a need for CFD method (numerical method),
Computational Fluid Dynamics (CFD) and to validate
which could estimate the volumetric efficiency of the
the prediction by experimental data. Three-
engine during the design stage itself, without
dimensional model of air intake system was analyzed
undergoing any time consuming experiments. Also
by using the commercially available FLUENT
mapping the total pressure distribution at the
software as presented in [1]. Differences in engine
manifold, port and valve is an effective method for
outputs and applications require different designs of
analyzing computational prediction of the flow
intake-air manifolds in order to achieve the best
separation process in the region upstream of the valve
volumetric efficiency and thus the best engine
stem and in the vicinity of the valve seat, because the
performance [2]. As a result of the high velocity
total pressure is influenced by the mean [5].
inside the internal combustion engine (ICE), in
cylinder flows are typically turbulent. The exception 2. Intake manifold system model
to this is the flows in the corners and small crevices
An inlet manifold or intake manifold is the part
of the combustion chamber where the close distance
of an engine that supplies the fuel and air ratio
of the walls diminished out turbulence. Heat transfer,
mixture to the cylinder. The main function of the
evaporation, mixing and combustion rates all increase
intake manifold is to evenly distribute the combustion
as engine speed increases. This increases the time rate
mixture to each intake port in the cylinder heads. In
of fuel evaporation, the mixing of the fuel vapor and
this paper used the Edelbrock manifold of HONDA
air as well as combustion process.Flow inside the
manufacturer for simulation as shown in Figure 1. All
combustion chamber plays the main role in the
the dimensions of manifold are shown in Figure 2 and
combustion process. According to Musthafah Mohd
the values are shown in table 1. With R1 is the radius
Tahir and etc.. analyzed the behavior of the flow
of clucth from environment pressure connecting to
inside the L-type combustion chamber for in-cylinder
acceleration pedal controller and R2 isplenum
engine with three different simulations [3].
chamber the inlet port to each engine cylinders. H and
410 October 27 - 28, 2018

Hanoi, Vietnam
W are the dimesions of conecting of manifold to The configurations of the inlet and outlet ports
engine head ports as shown in Figure 2. to each cylinder are shown in Figure 1 and 2. The
port axis is offset set from the cylinder axis by 200
mm in the x direction and 200 mm in the y direction
and it is elevated from the horizontal plane at an
angle of 40 degrees.
The intake manifold model was built by using
the CATIA software with the dimension as shown in
table 1. In this paper, to make the intake manifold
simple for flow simulation the model was design as
shown in Figure 3. Fluid Properties are the properties
of the intake air or mixture fuel in case indirect
injection fuel system. This research study on indirect
Fig. 1. Edelbrock manifold using on Honda Accura
injection system the properties of intake air as shown
and Civic.
in Table 2. These values are constant.
Table 2. The air flow properties
Air constant [J/KgK] 287

Dynamics viscosity 1.824e-05
[Ns/m2]
C [J/KgK] 1007
Heat transmitted 0.0257
coefficient [W/mK]
Temperature [K] 303.15
Pressure [Pa] 100000
Density [kg/m3] 1.18858
Prandtl 0.9
Fig. 2. The intake manifold parameters.

Table 1. The intake manifold parameters value
Parameters Dimension Parameters Dimension

[mm] [mm]
Fig. 3. The intake manifold model designed by
A 242 W 41 CATIA.
In this research,AVL FIRE is used for pre-
B 242 H 28 processing of the intake port and manifold. Which is
a high-performance pre-processor for computational
C 283 R1 65
fluid dynamics (CFD) and injection molding
D 41 R2 81 simulations. AVL FIRE enables users to generate
quality grids and meshes in a highly interactive and
E 0 visual environment. Which supports most CAD
geometry formats and exports CFD meshes in native
411 October 27 - 28, 2018

Hanoi, Vietnam
formats. AVL FIRE isstate-of-the-art meshing Table 3. The condition values

technology allows users to develop high-quality
meshes to guarantee fast convergence rates. Condition Parameters Value
type
Automated mixed-type mesh generation minimizes
meshing time, while batch meshing enables large- Intake air 0.00803 [kg/s]
scale meshing jobs with no model clean-up and volume
minimal user input. AVL FIRE incorporates a variety Inlet
of tools for seamless integration into any existing Kinematic
0.02 [m2/s2]
engineering process, with a streamlined meshing energy
process that leads to shorter turnaround times. The Length of
meshing model results are shown in Figure 4. turbulence 0.001 [m]
Outlet Static 100000 [Pa]
pressure
2 Rigid wall Temperature 303.15 [K]

1
Table 4. The initial conditions values
Pressure [Pa] 100000
3
Density [kg/m ] 1.19
3 Temperature [K] 303.15
2 2
Kinematic energy [m /s ] 0.001
Length of turbulence [m] 0.001
Fig. 4. The intake manifold model meshed by AVL. Proficiency 0.005

1: Manifold inlet, 2: Plenum chamber, 3: Runner. The results of the simulations are shown in
The geometry under consideration for the Figure 5 to Figure 8 below. Those results illustrate
simulation current study is shown in Figure 4. It the velocity magnitude at one slice of the intake
consists of the inlet duct, plenum and various runners. manifold. It was observed that the different colored
This domain represents the intake regions of four regions indicate variation in the velocity magnitude
cylinders. The upstream effects on the flow entering of the system. The red colored region at the middle of
the ports are to be reasonably captured leading to the runners and the plenum wall portion indicates the
realistic in-port flow structure prediction. The flow high velocity. Due to the recirculation inside the
pattern in the intake region is insensitive to flow plenum chamber at the slice of intake manifold the
unsteadiness and valve operation and thus could be velocity magnitude was low as compared to other
predicted through steady flow test and computational region.
simulation with reasonable accuracy.
3. Simulations and results
Boundary conditions applied to the meshed
model of intake manifold by using the post processor
software AVL FLUENT which is shown in Figure 4.
The Reynolds number, Re = 24,970, is based on the
diameter of the inlet port and the velocity at the inlet
which is calculated from a mass flow rate of 1.19 kg/s
working at 2000 rpm with volume 450 cc engine [6].
The normal velocity at the inlet guided by the given
mass flow rate as shown in Table 3. The default Fig. 5. The total pressure contours in the intake
boundary conditions are used at the outlet (zero gauge manifold (Pa).
pressure). The wall boundaries have a no-slip
condition. The rigid wall model with standard wall The pressure in the intake manifold is changed
functions is employed in the calculation using the base on the cycle of the engine. Such as in the intake
inlet boundary conditions. The initial conditions are stroke the pressure outside and inside the engine are
set at in Table 4. different depend on the velocity of the piston. In the
real test the result compare to simulation have the
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Hanoi, Vietnam
different result because of the friction, acceleration intake tube design should limit the formation of the
controller and geometry of engine working. As the vortex area to reduce energy losses.
result show in Figure 5 the pressure not the same for
Beside that the velocity vector shown in Figure
all cylinders which is closed to the manifold inlet is
7, it is confirmed that the distribution of the inlet to
bigger than others.
each cylinder is uneven. Based on simulation results,
in order for the air to flow to the cylinders, the
velocity vector at the distribution pipe should be
closer to the inlet at higher velocities than the distal
ones.
Figure 8 illustrates the puppets created in the
distribution tubes. The confined space increases as
the air enters.Disruption produces a fraction of the
exhaust energy absorbed in the intake manifold. This
tangency is proportional to the speed of the piston's
movement in the cylinder. On gasoline engines,
turbulence needs to be overcome as they affect the
distribution and mixing of fuel.
Fig. 6. The contours of velocity manitude (m/s).

The intake manifold can be divided into 3 areas
as shown in Figure 4. The number 1 area is the
highest velocity in the intake manifold because of the
structure as venturi system. The result in Figure 6 is
shown that the higher velocity closer to inlet intake
manifold. And the velocity vectors as shown in
Figure 7. We can observe the area inside the intake
manifold which is different from each cylinder. There
are some areas have zero velocity that mean it is not a
good design. Because it will effect to fuel ratio which
is need optimal design.
Fig. 8. Path lines colored by velocity magnitude in

the intake manifold (m/s)
4. Conclusion
Through the use of AVL-Fire the results of the
fluid retention characteristics in the cylinder are
presented. Based on the available pipeline model, the
results are shown:
- The intake manifold has the formation of
turbulent flow areas and vortex movement of the
inner air that causes energy losses.
- The distribution zone has high air velocity due
Fig. 7. The predicted mean velocity vectors (m/s). to narrowing of cross section and speed of piston
movement. This area tends to be designed to extend
Through the velocity vector of the fluid at the the air velocity of the intake air and be useful in
simulated volume points, further demonstration of the mixing with the fuel.
formation of the vortex occurs inside the distribution
tubes. The larger the spin, the more energy lost by the - Inside the intake manifold there is the
flow through the intake manifold. Therefore, the formation of an airless zone that enters and no
413 October 27 - 28, 2018

Hanoi, Vietnam
exhaust air comes out. These areas are wasted space [3] Musthafah Mohd Tahir, Abdul Muhaimin Mohd
in the intake manifold. Shafie, Fudhail Abdul Munir, Muhammad Zahir
Hassan, Development of Numerical Model for
- The vortex inside the distribution tubes will Simulation Intake Flow in Combustion Chamber of L-
significantly affect the engine's rev range and distort Head Engine Type, International Journal of
to the injection fuel progress. Mechanical & Mechatronics Engineering IJMME-
IJENS Vol:17 No:02, 2017, pp 134-142.
- The distribution of intake air inside the [4] T OMSAI, B.PAVANNAIK, M.JANARDHAN, CFD
distribution tubes is uneven, affecting the operation of Models Of Flow In The Engine Cylinder Direct
the engine (vibration, shock) and fuel economy as Injection Diesel, (IJITR) International journal of
well as emission of pollution. innovative technology and research, Volume No.4,
Issue No.5, August – September 2016, 3990–3993.
References [5] Deverderkumar, Study on improvement of intake
[1] Rajesh Holkar, Yogesh N. Sule-Patil, Somnath manifold for compressed natural gas engine, Master
M.Pise, Yogesh A. Godase, Vishal Satish Jagadale, thesis, Thapar University, 2012, India.
Numerical Simulation of Steady Flow through Engine [6] Nguyen Phu Thuong Luu, Nguyen Thanh Nhan, A
Intake System Using CFD, Journal of Mechanical and study on air flow in intake manifold base on CFD
Civil Engineering (IOSR-JMCE, Volume 12, Issue 1 simulation, Proceedings of national conference on
Ver. II (Jan- Feb. 2015), PP 30-45. mechanical and stranportation engineering 2017,
[2] S. A. Sulaiman, S. H. M. Murad, I. Ibrahim and Z. A. Vietnam.
Abdul Karim, Study of flow in air-intake system for a
single cylinder go-kart engine, International Journal of
Automotive and Mechanical Engineering (IJAME),
2010, Volume 1, pp. 91-104.
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Evaluate Basic Technical Parameters of the Electro-hydraulic Control

System of the Ship Steering Gear
Le Van Hoc1,*, Nguyen Ngoc Dam2
1
Vietnam Maritime University
2
Sao Do University
*Email: levanhoc@vimaru.vn
Abstract
Time of putting the ship’s rudder over from limited position on one side to limited position on other side is
one of the most important parameters of the electro-hydraulic steering system of the ship. With each system,
it depends primarily on hydraulic oil’s operating pressure in the power cylinder driving ship’s steering rudder
and is specified by the standards of the Vietnam Register and International Convention SOLAS (Safety of
Life at Sea).
This article introduces the method of determining these technical parameters of the ship steering system W-
130 Japanese-built with the electro-hydraulic control system, equipped on a group of Vietnam's medium -
capacity ship from 6,000 tons to 12,000 tons by simulation method on Automation studio software (AS). The
method introduced in this article can be applied to all type of electro-hydraulic steering gear. The results
obtained allow evaluating the technical state of the system at any time, as the basis for correcting and
repairing them, meeting the requirements of safe and effective ship exploitation.
Keywords: Ship steering gear, Electro-hydraulic control system, Time of putting rudder over, streering
time,Operating pressure.
1. Introduction 2. The electro-hydraulic control system of the ship

steering gear
The steering system plays a very important role on
the ship. It directly affects the safety of the ship. The 2.1. Technical request (by Vietnam Register and
safe and effective exploitation of the steering system SOLAS)
is an inevitable requirement for all the marine Unless expressly provided otherwise, every ship
officers. Nowadays, ships use electro-hydraulic must be provideded with a main steering gear and an
steering system is widely used on the ship because of auxiliary steering gear. The main gear and the
its outstanding features such as reliable operation, auxiliary steering gear shall be arranged that failure
compact size, large capacity, easy to integrate with of one of them will not renderthe other one
the automatic control system. During the operation of inoperative. The main steering gear and rudder stock
the steering system, the steering time and pressure in shall be [3]:
the steering cylinder determine the accuracy of the - of adequate strength and capable of steering the
trajectory of the ship. In this article, authors introduce ship at maximun ahead service speed which shall be
the method of determining these technical parameters demostrated;
of the ship steering systems W-130 Japanese-built - capable of putting the rudder over from 350 on
with the electro-hydraulic control system, equipped one side to 350 on otherside with the ship at its
on a group of Vietnam's medium - capacity ship from deepest seegoing draught and running ahead at
6,000 tons to 12,000 tons by simulation method on maximum ahead sevice speed and under the same
Automation studio software. The method introduced conditions, from 350 on either side to 300 on the other
in this article can be applied to all type of electro- side in not more than 28s.
hydraulic steering gear. The results obtained allow
evaluating the technical state of the system at any 2.2. The ship steering system W-130 Japanese-built
time, as the basis for correcting and repairing them, This is the electro-hydraulic steering gear
meeting the requirements of safe and effective ship equipped onmedium - capacity ship with drving
exploitation. moment to 13Tm. In 2001, the Bach Dang shipyard
imported the steering system W-130 to build the
6300T Vinh Thuan ship, firstly built in Vietnam
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Hanoi, Vietnam
Table 1. The basic technical parameters of the

steering gear W-130
Steering moment M = 13 Tm
Operating pressure plv max = 180kG/cm2
Safety valve opening
pat = 225kG/cm2
pressure
Cylinder diameter D = 125 mm
Piston rod diameter d = 70mm
Steering sector radius R = 470mm
Piston stroke H/700 = 540mm
Maximum turn steering
   35 0
angle
Steering turn time t/700 = 23s
Emergencysteering
t/300 = 60s
time
Power motor N = 5,5 kW
Motor's operation
n = 1430 rpm
rotation
Oil pump’s type GFFP-AOS22AR-AO Fig. 1. The steering system W-130’s hydraulic
system.
under Japanese design and registration. After that, 1 – Oil tank (8-1), (8-2) - One-
steering system W-130 continued to be imported and (2-1), (2-2) – way valve
equiped for the 6300 - 6500T ships that are built up to Filter (9-1), (9-2) -
now. Thesteering gear W-130’s hydraulic principle (4-1), (4-2) - Safety valves
diagram is shown in figure 1. Motors (10) - Hydraulic
The W130 uses two-way cylinders with self- (5-1), (5-2) - key
aligning sprockets at the cylinder head and piston Pumps (11-1),(11-2) –
head. (6-1), (6-2) - Steering cylinders
The W-130 has a mains supply and backup Safety valves 13 – Sreering
power. The basic technical parameters of the steering (7-1), (7-2) - sector
system W-130 are shown in table 1. Pilot valves
3. Simulate steering gear W-130 on AS
3.1. Build simulation
3.1.1. Hydrolic circurt
Using the hydrolic module of AS as the figure 2,
the steering system W-130's hydraulic scircurt is built
as the figure 3.
3.1.2. Electric control circurt
Using the Electronic Control (JIC standard)
module of AS, authors establish electric
controlcircurt shown in figure 4.
3.1.3. Setting simulation for steering gear W-130
The steering gear W-130’s basis technical
parameters are introduced in table 2.
After putting up the device’s technical
parameters on the hydraulic circurt (Figure 3) and Fig. 2. Hydraulic module of AS [1].
the electric control circurt (Figure 4), simulation
interfaces of steering gear W-130 are established as at
the figure 5, figure 6.
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Table 2. The steering gear W-130’s basis technical

parameters
No Equipment Technical parameter
Pmax 250 kG/cm2

1 Oil pump Q 27 litre/min
nmax 1500 rpm
D 100 mm
Hydrolic
2 d 40 mm
cylinder
L 400 mm
3 Hydrolic pipe dt 8 mm
4 Stop valve Plv 1,5 kG/cm2
5 Safety valve Pmax 350 kG/cm2
N 3 kW
6 Motor
Nmax 2900 rpm
7 Oil tank V 74,25 litre
Fig. 4. Electric control circurt [4].
Fig. 5. Simulation interface of steering gear W-130.
Fig. 3. Hydraulic circurt [4].
3.2. Determining steering time and oil pressure in

power cylinder
3.2.1. The case of non load
Start simulation (figure 5, figure 6) by using Fig. 6. Simulation interfaces of steering gear W-130
command “Plotter” (figure 7) to determine time of with pump and motor.
putting the rudder over from 350 on one side to 350 on
otherside. pressure in the power cylinder. The simulation results
Time of putting the rudder over from 350 on one are displayed on the graphics 8, 9, 10.
side to 350 on otherside and hydraulic oil’s operating Pistons’s change position is shown in figure 8.
417 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 11. Putting up load on power cylinders
Fig. 9. Pressure’s change in the power cylinder.

Fig. 7.Graphicinterface on AS
Fig. 12.Steering time with the case of full load.
Fig. 10. Differential pressure between two sides of

Fig. 8. Pistons’s change position. the cylinder.
From the graph, operating pressure’s real value can
manual upload to the rudder or the rotation rudder of
be exported into text file using in the calculation by
the change in the rudder corner. During simulating on
the "Export" command (Figure 9).
the AS software, the authors performed test with the
Received result shows that when the pump
maximun load of 1.0 Tm.
periodically operates, pressure is 2.8bar. The
So the muximum force impacted on the cylinder
maximum pressure when turning the rudder is
head [2]:
12.96bar. The pressure difference between the two
sides of the piston is about 1 bar (5.1bar at the side of 10 4 104
F   4521.39( N )
piston’s top, 6.1bar at the side of piston’s pod). R  cos 35  0.3  cos 350  0.9
0
The above diagrams show that the necessary time After that, load is placed on power cylinders as
that piston moves from the middle position to the figure 11.
upper and lower position of the two cylinders is Simulation results in the case of full load are
different. However, in fact the two xy lanh are shown in the figures 12, 13, 14.
connected by the steering sector, so this difference is Graphic (figure 12) shows that time of putting the
disabled. rudder over from 350 on one side to 350 on otherside:
Thus, the rudder’s rotation time from the middle t = (9.8+14.8)/2 = 12.3s
position to the one of limited postions can be Muximun pressure in power cylinder when one of
approximated (obtained from the graph) as follows: pistons arrived to limited position is 28bar.
t = (6.7 + 4.5) / 2 = 5.6 seconds. It means that time of The differential pressure between the two sides of
putting the rudder over from 350 on one side to 350 on the pistons is 3.3bar.
otherside is 11.2s. 4. Conclusion
3.2.2. The case of full load The steering gear W-130’s technical parameters
In fact, load moment impacted on the rudder are checked by the Automation Studio software. Time
changes depending on the rudder’ position for the of putting the rudder over from 350 on one side to 350
418 October 27 - 28, 2018

Hanoi, Vietnam
on otherside is 11.2s in the case of non load, 12.3s in

the case of full load, meeting Vietnam Register and
SOLAS [4].
The results (operation pressure in power cylinder,
it’s difference between two sides of power cylinder)
obtained allow evaluating the technical state of the
steering gear’s equipments at any time and can be
used as the basis for correcting and repairing them,
Fig. 13. Oil pressure in power cylinder in the case of meeting the requirements of safe and effective ship
full load. exploitation.
Reference
[1] FAMIC®Technologies Inc. Automation Guide.
[2] Phan Văn Hội. Sổ tay thiết bị tàu thuỷ, Tập 1, NXB
KHKT, 1987.
[3] TCVN 6259-3-1997.
[4] Nguyễn Ngọc Đàm. Luận văn thạc sĩ: Nghiên cứu
thiết kế hệ thống máy lái điện - thủy lực trên phần
mềm Automation Studio. Trường Đại học Hàng hải
Việt Nam, 2013.
Fig. 14. The differential pressure between the two

sides of the piston.
419 October 27 - 28, 2018

Hanoi, Vietnam
Design Control System Using the Sustainable Controller Incorporating

Predictive Elements
Nguyen Tien Sang1,*, Le Duc Dung1, Pikina Galina Alekceevna2, Nguyen Tien Khang1,3
1
2
Moscow Power Engineering Institute, No. 14, Krasnokazarmennaya, Moscow, Russia
3
Viettel Aerospace Institute, No. 380, Lac Long Quan, Tay Ho, Hanoi, Vietnam
*Email: tiensang.mpei@gmail.com
Abstract
For the purpose of applying and improving the control quality of sustainable controllers using the PID rules,
this paper presents the method of changing the control principle according to the adjusted error  ( t ) to the
control according to the predictive error  ( t   p r ) , is predicted ahead of time  pr . The control system with
controller’s parameters is designed on a sustainable basis, incorporating the predictive elements formed on
the sustainable predictive controllers. The results of the study were tested using heat-sensitive models with
load delay and high-quality sustainable controllers. Based on this theory, the software of sustainable
controllers design incorporating predictive elements is built upon the C# programming language. The
software is used directly in the Window environment, step by step inherit and develop CASCAD software of
the Dr. Nguyen Van Manh.
Keywords: sustainable controller, predictive, soft oscillation, load-delay.
1. Introduction sustainable controllerfrom  t  to

 t    , by
  pr
Sustainable controllers have proven to be predicting before an interval time  pr . An interval

effective in controlling load-delayed objects in the time  pr depend on the delay of object (fig. 1).
industry. This paper proposes the use of a sustainable
controller incorporating the predictive elements, The transfer function of the predictive element
which evaluates the output response of the system is set to keep the feedback signal value y  t  but
according to the set-signal and noise-signal shiftan interval time  pr . Therefore, the erroris
corresponding to the different predictive times
[1, 3, 4]. determined according to the following formula:
Predictive control algorithms applied to cascade  pr  t   u  t   y  t  pr 

one-loop and two-loops circuits are presented in the
paper with superheated steam temperature objects of Then, the controlled element at the input of the
TGMP-314 boiler (straight-through boiler) and drum controller has the formula:
level object at Uong Bi Thermal Power Plant [1, 8].
 y  t   y  t   t  
This paper presents a sustainable controller y pr  y  t   pr   y  t     pr
t
design method that incorporate predictive elements,
which is the basis for GAP software development, thus, the transfer function of predictive
incorporating the synthesis design of controllers
applied with cascade two-loops circuits with soft component has the formula W
i
pr  s  e s pr
[1]. Using
oscillation and soft characteristics of the open-loop Taylor rule:
system. The software is highly effective when applied
for objects with load delay [2, 6]. pr
Wp (s)
(t) O(s)
Wpr(s) R(s)
2. The Sustainable Controller incorporating u(t) ε(t)
Predictive εpr(t) µ(t) x(t) y(t)
Controller Object
Predictive Elements Element
The predictive controller consists of two

components – the original predictive controllers with Fig. 1. One-loop control diagram with the predictive
PID rules W p  s  and the predictive component with controller.
the transfer function W pr  s  . The predictive element
generates the error pulse of input adjusted elementof
420 October 27 - 28, 2018

Hanoi, Vietnam
 s 
2
where:  inertia constant;
 s  e  s pr pr
W i
pr  1  s pr   ...
2! k
OPT ( s )   object’s
limit the first two elements, obtain the transfer 1  T1 s 1  T2 s 
function of the predictive element in the form of PD transfer function.
[1]:
(1) We obtained the the PID controller’s transfer
W pr  s   1   pr s
function in formula (2):
According to [3,7], the original sustainable  1 
R  s   k p 1   Td s 
controller can always be written in the form of a T s
 i 
generic PID as follows:
 1 
 1   3.053  1   21.063  s 
R s  kp 1 Td s  (2)  85.806  s 
 Ts
i 
In order to evaluate the sustainability of the
where, k p , Ti , Td  PID controller’s parameters. control system, the open-loop softness function was
constructed on the basis of the soft-oscillation index
According to fig. 1, the transfer function of the [4]:
predictive controller is defined by the formula: H  m   j   Wpr  m   j 
W pp r  s   W p r  s   W p  s 
R  m   j   O  m   j  ,
The predictive controller’s transfer function is
 1  where, Soft oscillation index is monotonically
W ppr  s   k p  1   Td s  1   pr s  decreasing function as follows [Mạnh 1999]:
 Ti s    
1 e
Transfoming, the transfer function of the m ( )  m 0 ,   0,
 
predictive controlleris the formula:
  pr  k p where: m0  const  first value;
W ppr  s   k p  1  
 Ti  Ti s (3)
  object’s time delay;
 k p (Td   pr ) s  k p Td  pr s 2
  softization coefficient.
corresponding to the transfer function of PID linear Fig. 2 presents the soft characteristic of the
controller. In which the PID controller’s parameters original open-loop sustainable control system with
are built on the basis of soft oscillation and soft first value m 0  0.403, corresponding to the
characteristics of the open-loop system, forming the
oscillation index m c  0.221 in the cases predictive
sustainable predictive controller.
time values are  pr  0, 2, 4, 5s .
3. Design of the one-loop control system with a
sustainable controller incorporating a predictive
element
Apply for design one-loop control system with
superheated steam temperature objects of TGMP-314
boiler, transform transfer function of the control
object to the quadratic rational function with delay:
k
O s 
  s
e ,
1  T1 s 1  T2 s 
k  1.751 C; T1  48.675s

o
where, 
T2  37.131s;   16.493s
The original sustainable controller is built
according to the formula [3,5]: Fig. 2. Soft characteristics of the open-loop
1 system with predictive time  pr : 1 – 0s; 2 – 2s;
O PT ( s ) 
1
R (s) 
s 3 – 4s; 5 – 5s.
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Fig. 4. Step response of one-loop noise signal with

Fig. 3. Step response of one-loop set-signal time values  pr : 1 – 0s; 2 – 2s; 3 – 4s; 5 – 5s.
with time values  pr : 1 – 0s; 2 – 2s; 3 – 4s; 5 – 5s.
As can see on fig. 2, when increasing the y2(t)

predictive time value, the soft open-loop system y1(t)
characteristic is narrowed, and away from the point Pr R2 O2 O1
  1 j , 0  , so the stability of the system is increased.
However, when increasing the value  pr , soft
characteristic of the open-loop system will surround R1 Pr
the point   1 j , 0  , the sustainable controller is no u(t)
longer able to keep the system stability. Therefore, it
is necessary to determine the value  pr for each Fig. 5. The cascade two-loops control system
incorporatingthe predictive elements.
system by determining the output responses of the
system corresponding to the different values  pr . canceling performance, consistent with previous
conclusions [3,7].
The output-response Laplace image of the
4. Design of the two-loops control system with a
control system corresponding to the set-input pulse is
sustainable controller incorporating predictive
determined as follows:
elements
W pr  s  R  s  O  s 
Y s  U s The cascade two-loops control system
1  W pr  s  R  s  O  s 
incorporating predictive elements is presented in fig. 5.
Assuming input pulse is a square pulse 1 t  The signal before entering each controller is predicted
an interval time  pr which the transfer function is
which Laplace image is 1s , output step response of
W pr  s   1   pr s .
the system is presented in fig. 3.
To build the soft characteristics of the single and
Fig. 3 presents step response of the system with double open-loop systems, the soft characteristics of
an input stepped pulse corresponding to the predictive the open-loop system have the transfer functions
time values  pr  0, 2, 4, 5s . When increasing the which are determined by the formula:
value  pr , set-input response performance of the
WPr  s  R1  s  O1  s WPr  s  R2  s  O2  s 
system is increased. Specifically  pr  5s, settling H1  s  
1  WPr  s  R2  s  O2  s 
time decrease by 2 times, Integral of error squared
decrease by 1.5 times. H 2  s   WPr  s  R1  s  O1  s   1 WPr  s  R2  s  O2  s 
Consider the noise-canceling performance of Apply for drum level of Uong Bi MR thermal
sustainable control system incorporating predictive power plant, the transfer function has the formula:
times. Fig. 4 presentsthe output response of the
k1 k2
system withnoise pulse   t   1 . O1  s   e  1 s ; O 2  s   e  2 s
s 1  T11 s  1  T21 s  T22 s 2
2
The predictive element does not improve noise

where: k1   ; T11  48.675 s ;  1 
reducing time of the one-loop sustainable controller,
which only slightly improved the error. This shows k 2   ; T21  48.675 s ; T22  48.675 s ;  2 
that the sustainable controller has high process noise-
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Fig. 7. Step response of two-loops set-signal with

time values  pr : 1 – 0s; 2 – 5s; 3 – 10s; 5 – 15s.
Fig. 6. Soft characteristics of cascade open-loop

system.
1 – internal loop with  pr  0s ;
2 – external loop with  pr  0s ;
3 – internal loop with  pr  10s ;
4 – external loop with  pr  10s .
If the first value of m0  0.772 , corresponding

to the oscillation index m c  0.461 and softization
coefficient   34.671 in the cases predictive time Fig. 8. Step response oftwo-loops noise-signal with
time values  pr : 1 – 0s; 2 – 5s; 3 – 10s; 5 – 15s.
values are  pr  0s and  pr  10s, the soft
characteristics of the internal and external open-loop Details control quality’s comparison corresponding to
systems are presented in fig. 6. the different values  pr in Tab. 1.
From data of fig. 6, When incorporating System’s output response according to noise-
predictive elements, soft characteristic of the external signal (fig.8) shows that the sustainable controller
open-loop system does not change shape much, only incorporating predictive elements improves the
far away point   1 j , 0  more, helps the system to quality of control; decreases control error and noise-
increase its sustainability. From cut off frequency, canceling time.
soft characteristics of the open-loop system do not Table 1. Comparison of control quality
surround the point   1 j , 0  , ensures that the two- corresponding to the values  pr .
loops control system is converged.
Predictivetime, s 0 5 10 15
Output response according to set-signal and
noise-signal, built on the basis of Laplace Overshoot 0.2 0.13 0.65 0.009
transformation as follows:
Settling time, s 370 276 250 158
W pr R1O1W pr R2 O2
Y s  U s ; Integral of error squared 65.60 58.8 53.67 49.77
1  W pr R1O1W pr R2 O2  W pr R2 O2
Table 2. Comparison of control quality
O1O 2 corresponding to the values  pr .
Y s    s .
1  W pr R1O1W pr R 2 O 2  W pr R 2 O 2
PredictiveTime, s 0 5 10 15
With input signalis stepped pulse
Overshoot 0.48 0.44 0.40 0.36
Using the set-signal incorporating the predictive
Settling time, s 403 325 313 206
element helps to reduce the system’s response time
by two times, and the control error is suppressed. Integral of error squared 9.69 8.16 6.80 5.67
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Hanoi, Vietnam
original sustainable control system without predictive

Control time with noise-signal decreases by 2
element.
times, overshoot decreases by 1.5 times; This shows
that the predictive element applied for the sustainable Users can compare the results of the output
controller has better noise-canceling performance than response of the system with classic controllers built
the original sustainable controller. Details in tab. 2. by different methods. By directly inputting the PID
controller's parameters into the software, as well as
From data in tab. 2, the effectively predictive
studying the influence of stable reserve, cutoff
time in range 0.3  0.5 object’s delay time.
frequency and PI, PID controller's parameters to
5. GAPsoftware, design ofthe sustainable output response with set-signal and noise-signal of
controller incorporating predictive elements the system.
In order to design sustainable controller The software supports the automatic control
incorporating predictive elements, The software subjects at the School of heat Engineering and
provides cascade one-loop and two-loops control Refrigeration, Hanoi University of Science and
system simulation function built fromthe object’s Technology.
transfer function, sustainable controller’s parameters, 6. Conclusion
and the of predictive time’s transfer function.
Sustainable controllers are built by evaluating the Apply for a sustainable controller incorporating
stability of the system with the soft characteristic of the predictive elements with industrial load-delayed
open-loop systemand softization coefficient (fig. 9). objects improves the quality of control, Oscillation of
the output responsedecreases by 1.2-1.5 times,
The software requires the input data which are response control time andnoise-canceling time
parameters of the heat transfer surfaces (for decreases by 1.5-2 times, and increase stable reserve
temperature objects), or object’s transfer function, of the system.
corresponding to the cascade one-loop and two-loops
circuits. The software automatically calculates the The method of design sustainable controller
sustainable controller’s parameters corresponding to incorporating predictive elements make control
the stable reserve requirements. quality of systems better.
Then, the software allow build output responses Using the predictive algorithm as a part of
of cascade one-loop and two-loops system according standard regulators does possible control of one-
to set-signal and noise-signal, corresponding to the circuit and double-circuit systems only by one
different times of predictive elements. Specially, parameter - predictive time, having refused expensive
when  pr  0 , the plotsmatchwithoutput response of procedure of object identification and optimum
parameters calculation of regulation.
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Hanoi, Vietnam
The results of the study are easy to apply for the [2] Nguyen T.S., Pikina G.A. Computer modelling of real
design of a one-loop and two-loops sustainable heat exchangers for Heat and Nuclear Power Plant //
controller, which is the basis for the theory of International Conference on “Design and Production
building software that controls thermal objects. Engineering”. July 25-26, 2016 Berlin, Germany.
[3] Мань Н.В, Оптимальный синтез робастной
The predictive control system is applied каскадной автоматической системы управления //
effectively to thermal loads with high load-delay, Теплоэнергетика, 2000. №9. С. 22-28.
typically in thermal power plants. [4] Мань Н.В, Робастная настройка многосвязных
систем управления по «мягкой» степени
Acknowledgments колебательности // Теплоэнергетика, 2000. №2. С.
48-52.
This work was supported by the application- [5] Мань Н.В, Расчет робастных систем
oriented basic research program. автоматического регулирования с помощью
расширенных комплексных частотных
References характеристик// Теплоэнергетика, 1996. №10. С.
[1] G.A. Pikina, T.S. Nguyen, I.S. Durgaryan, and F.F. 69-75.
Pashchenko. The Predictive Control Principle and [6] Пикина Г.А., Нгуен Т.С. Модели тепловых
Perspectives of its Application in Automatic Control процессов: метоические указания по выполнению
Systems. Proceeding of International Conference курсовой работы. - М.: Изд-во МЭИ, 2016, 24 с.
“Design and Produc-tion Engineering”, Berling, [7] Nguyễn Văn Mạnh, Tổng hợp bền vững hệ điều khiển
Germany, July 25-26, 2016. Journal of applied me- đối tượng bất định, Thông báo Khoa học, Hội nghị
chanical engineering. vol.5. Iss. 3. 2016 toàn quốc lần thứ 5 về Tự động hóa, Hà Nội, 2002,
Trang 155-161.
[8] Vũ Thu Diệp, Nghiên cứu phát triển lý thuyết hệ điều
khiển nhiều tầng trong điều khiển quá trình nhiệt trên
cơ sở chỉ số dao động mềm // Luận văn Tiến sỹ kỹ
thuật nhiệt, 2016.
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Modeling and Simulation Research Position Control of Hydraulic Cylinder

using High Speed on/off Valve is based on the Method PWM (Pulse Width
Modulation) of Control Pulse
Do Viet Long*, Hoang Sinh Truong, Tran Xuan Bo
Hanoi University of Science and Technology, 01 Dai Co Viet, Hai Ba Trung, Hanoi
*Email: long.doviet@hust.edu.vn
Abstract
Application of high speed on/off valve in hydraulic cylinder position control was researched in this paper. A
hydraulic circuit is proposed to position control hydraulic cylinder. The duty cycle of pulse control signal is
changed according to the displacement of the hydraulic cylinder. Model of high speed on off valve and
hydraulic circuit were simulated in Matlab Simulink. The Position and speed curve of hydraulic cylinder were
achieved by the means of simulation. The simulation curves shows the application ability of high speed
on/off valve to position control of hydraulic cylinder and the ability to replace the hydraulic proportional
valve.
Keywords: Hydraulic, Position Control, high speed On/off Valve, PWM.
1. Introduction
3. Control Signal Design
High speed on off valve (HSV) has the
HSV is controlled by PWM signal which was
advantages of low-cost, compact structure, excellent
produced according to the displacement signal of
repeatability, high speed responsibility and the ability
piston. The duty range of the PWM signal is 25% to
to be adjusted by pulse,etc. Especially it can be used
100%. The duty cycles are designed for this circuit,
as the interface between electronic control and fluid
as shown in Eq.1.
flow by pulse control which will be used widely.
In this paper, the hydraulic circuit scheme based
on high speed on off valve to control the position of
hydraulic cylinder on the analysis of flow
characteristics of high speed on off valve was
established. The method of PWM signal was applied
to generate the control signal. The duty cycle of the
PWM signal was changed according to the
displacement of the hydraulic cylinder. Simulated
research was done based on this scheme, a study of
position control in hydraulic cylinder using high
speed on off valve was carried out.
2. Hydraulic Circuit Design
The hydraulic circuit in which the position of
hydraulic cylinder is controlled directly by HSV was
designed. Displacement sensor is installed along a
vertically hydraulic cylinder. The displacement signal
was used as a basis signal of function to generate the
duty cycle of pulse control signal. The hydraulic
circuit was shown in Fig.1.
In this paper, the hydraulic pump was used as a
constant flow hydraulic pump. Flow from the system
into the hydraulic cylinder chambers was controlled Fig. 1. Hydraulic control circuit.
by high speed on off valve. The opening time of HSV
was controlled by PWM control pulse, in which the
duty cycle of PWM control pulse was changed
depending on the displacement of cylinder.
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Hanoi, Vietnam
. . . equation of the hydraulic system are shown as Eq.5 -

. . . Eq.8:
τ= . . (1)
5
. .
. .
6
Where τ is the duty cycle of PWM signal; x is
the displacement of piston.
4. Mathematical Modeling of HSV 7
The spool displacement of HSV is a function of 8

the pulse width modulation signal (PWM signal) and
was determined by the on off characteristics of high Where, m is the load mass; Ay is the area of
speed on off valve and its mathematical model. This piston in rod cavity; Aw is the area of piston in no-
function is shown as Eq.2: stem cavity; βc is viscous damping coefficient of oil;
∈ , g is the gravity acceleration; Vy0 is the initial volume
∈ , of rod cavity; βe is elastic modulus of oil; Qhsv is the
flow that flows into the rod cavity; Qx is the leakage
∈ ,
flow from rod to no-stem cavity; Vw0 is the initial
∈ , (2) volume of no-stem cavity; Qout is the flow that flows
∈ , out of no-stem cavity; kc is the leakage flow
coefficient;
∈ ,
∈ , 5. Simulation Verification
Where, T is the duty of the pulse signal; T1 is The Simulation parameters of the system are
delay-closed time; T2 is move-closed time; T3 is shown in the Table 1:
delay-released time; T4 is move-released time; xvm is
maximum displacement of spool valve Parameters Values Units
T1=t1/T; T2 =t2/T; T3= t3/T; T4= t4/T;
Tyc1 = (T-T1)T3/T2; Tyc2=(1-T-T3)T1/T4; Ay 0.000012 m2
T12 =T1+T22/(T2+T3); T34=1-T3-T42/(T1+T4); Aw 0.00002 m2

Ton= T1+T2;Toff = T3+T4;
The area of valve opening is shown as Eq.3: m 9 kg
(3) e 7 x 108 N.s/m
Where, is the average valve port area of c 250 N.s/m

HSV; D is the diameter of valve ball; θ is the half-
angle of valve seat; is the average displacement kc 1.25 x 10-13 m5/(N.s)
of valve ball.
The flow that goes through the high speed on off ρ 850 kg/m3
valve is shown as Eq.4:
x 0.2 m

Adjustment pressure of 3.5 Mpa
relief vavle
Where, Qhsv is the flow that through HSV; Cd is
the flow coefficient ; py, pw are the pressure of rod Maximum displacement of 0.0013 m
and no-stem cavity; ρ is the oil density. HSV (xvm)
Diameter of valve ball (D) 0.005 m
Mathematical Modeling of Hydraulic System:
The dynamic mathematical equation of the Half angle of valve seat () 20 deg
mechanical system and the dynamic mathematical
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Hanoi, Vietnam
The dynamic character parameters of HSV are hydraulic cylinder, and the given upper hydraulic
show in the table 2: circuit is suitable to the small flow system.
Paramet Valu Paramet Valu Paramet Valu
References
ers es ers es ers es
t1 2 t2 2.6 ton 4.6 [1] A. Ghaffari, F. Najafi M. Taghizadeh, "Modeling and
identification of a solenoid valve for PWM control
application," Comptes Rendus Mecanique, pp. 131-
t3 0.5 t4 4.1 toff 4.6 140, 2009.
[2] H.Liu and H.B.Gu, Mechanical Science and
Technology for Aerospace Engineering, pp. Vol.27
The Simulation Model is shownin Fig.2. No.7,p.866, 2008.
The simulation results are shownin Fig 3 -6. [3] Qinhe Gao, Hailong Niu Zhihao Liu, "The Research
on the Position Control of the Hydraulic Cylinder
Simulation results show in the first step that the Based on the Compound Algorithm of Fuzzy &
hydraulic cylinder position control can be achieved Feedforward-feedback," Sensors & Transducers, pp.
by HSV using the PWM method of control signal. Vol.162, Issue 1, pp.314-324, 2014.
The duty cycle of control signal was changed [4] G. L. Tao, J. W. Xie, H. Liu Z. Xiang, "Simulation
and experimental investigation on pressure dynamics
according with the displacement of the piston. of pneumatic high-speed on off valve," Journal of
6. Conclusion Zhejiang University (Engineering Science), pp. Vol.
42, No. 5, pp. 845, 2008.
The research result shows that HSV has the
better control effect on the position control of
Fig. 2. Simulink Model of hydraulic system.
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Hanoi, Vietnam
Fig. 3. Displacement curve of piston.
Fig. 4. Speed curve of cylinder.
Fig. 5. Through flow of HSV curve.
Fig. 6. Curve of displacement of piston and the duty cycle.
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Hanoi, Vietnam
Investigate Magnetic Field of Dual Halbach Array in Linear Generator

using for Wave Energy Conversion
Do Huy Diep, Dang The Ba*, Nguyen Van Duc
Faculty of Mechanics Engineering and Automation, University of Engineering and Technology, VNU
*Email: badt@vnu.edu.vn
Abstract
Linear permanent magnet machines have wide applications in various areas. In the wave energy
conversion, the use of linear generator has earlier been regarded as difficult and uneconomical. Many
attempts have been spent to overcome difficulties [15-17] however, for real field application, there are still
many problems. In this study, an attempt to improve the magnetic flux density in linear generator has been
investigated. A dual Halbach array structure is investigated on parameters of line generator in wave energy
converter to enhance flux density in air gap, thus to improve output performance of linear machine.
Numerical result from finite element method is employed to simulate and observe the flux distribution in the
machine. The result also shows that the double Halbach array has increased magnetic flux density
compared to the schema used in linear generator of Direct driven wave energy conversion.
Keyword:Dual-buoy converter, coreless linear generator, magnetic flux field, Halbach array.
wave energy absorber to a high speed rotating motion

1. Introduction
of generators which require complex mechanical
The topic of renewable energy is an evergreen interfaces. Alternatively, in many applications it can
subject, especially, in a world dominated by fossil be use low speed generators or linear generators. The
fuels. Renewable energy is widely talked about in idea with direct drive linear generators is to reduce
the contemporary world because it is unlimited, the complexity of the mechanical interfaces and
which means it’s sustainable and does not emit thereby reduce the number of movable parts and to
greenhouse gasses that are detrimental to the minimize the mechanical losses. The mechanical
environment and human health. A classic example of interface is in this way replaced with an electrical
renewable energy is wave energy. interface which can be expected to have a longer life
time and less maintenance. [2]
Wave energy, also known as ocean energy or
sea wave energy, is energy harnessed from ocean or A linear trigonal double-face permanent magnet
sea waves. The rigorous vertical motion of surface generator has been developed in VNU project –
ocean waves contains a lot of kinetic (motion) energy QG.14.01. The advantage of this model is the absence
that is captured by wave energy technologies to do of steel core in coils that means no cogging force is
useful tasks, for example, generation of electricity, induce. The limit of this model is weak output power
desalinization of water and pumping of water into due to the limited magnetic field inside the stator of
reservoirs. generator. This research aims to increasing magnetic
flux density and the output of linear generator by
Wave energy or wave power is essentially using dual Halbach arrays permanent magnets. So on,
power drawn from waves. When wind blows across we investigate the magnetic field with various sizes
the sea surface, it transfers the energy to the waves. of permanent magnets. The rest of paper is organized
They are powerful source of energy. The energy as follows: section 2 presents the comparison
output is measured by wave speed, wave height, and magnetic field strength between old model and new
wavelength and water density. The more strong the one. Section 3 introduces relation between magnet
waves, the more capable it is to produce power. The sizes and flux magnetic strength. Last section
captured energy can then be used for electricity summarizes important findings in this study.
generation, powering plants or pumping of water. It is
not easy to harness power from wave generator plants 2. Linear generator using for wave energy
(through wave energy converter (WEC)) and this is conversion
the reason that they are very few wave generator A schematic of a dual-buoy wave energy
plants around the world [1]. converter can be outlined as follows (Fig. 1) [2, 3]. It
WECs convert the mechanical energy of waves consists of two-buoy point absorber. One is a big
into electrical energy. WECstraditionally use a floating buoy, which connects to a tube. The other is
system which converts the slow linear motion of the a semi-submerged buoy which can free translate
430 October 27 - 28, 2018

Hanoi, Vietnam
inside the tube. A linear permanent magnet generator generator has open magnetic circuits at cogging force.
that is a direct-driven conversion mechanism The cogging force cause oscillatory output, which
connects two buoys. The generator has a translator shortens lifetime and increase the maintenance cost of
with coils in the form of a piston and a stator with the generators both ends of the generator which
permanent magnets of alternating polarity. The influence the magnetic flux in the generator. Third, a
translator connects with the first buoy and the stator linear suffers from large. Although, to overcome
is rigid connected with the second buoy. The relative difficulties many attempts have been spent but for
moving between two buoys make relatively real field application there are many problems.
translation between stator and translator. The current
A linear trigonal double-face permanent magnet
in the coils affects the translator with a
generator has been developed for a double-buoy wave
electromagnetic force that will damp the translator
energy converter in VNU project – QG.14.01. This
motion. Controlling the power output from the
generator is suitable for using in slack-moored direct
generator makes it possible to affect the dynamic of
driven wave energy conversion. Based on the
the whole system.
principle, a schema of generator and the connecting
The parameters that are connected to the ability from generator to buoy is shown in Figure 1 and 2.
to absorb energy are excitation force, radiation The advantage of this linear generator model is the
impedance and damping force. The first two absence of steel core in coils that means no cogging
parameters are dependent on the wave characteristics, force is induced. In general, the generator has been
buoy and translator geometry. By tuning the natural designed in the form of tubular with N magnetic slots.
frequency of the mechanical system to coincide with For more easy demonstrate here we use the form of
the wave frequency, the translator oscillation will be three magnetic slots (Fig. 2).
resonance. This is called phase control. The last
The most important parameter in a generator is
parameter, the damping force is related to the
magnetic flux field across to movement plane of the
generator characteristics and how energy is extracted
conductor in the coil. The self-inductance
from generator, i.e. it depends on the electric load. A
electromotive force is depends on turns of coils,
larger damping force will decrease the amplitude and
magnetic flux density in generator. With the fix
the velocity of the mechanical oscillation. By
volume in generator, double Halbach arrays structure
changing load and in turn the power outtake it will be
is applied to increase output magnitude. The schema
possible to control the absorption.
of generator is shown in Figure 3.
The use of linear generator has earlier been
3. Governing equations
regarded as difficult and uneconomical. First, a linear
generator has a varying speed and cannot be Due to the axial symmetry, we will investigate
connected directly to the grid. Second, a linear the 2D magnetic field in the plan along generator and
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Hanoi, Vietnam
Figure 3: The schema of magnets using double Halbach array structure.

across to center of a magnetic slot.For analysis
The governing equations of magnetic field, i.e.
magnetic flux field in generator with the arranging of
Laplace’s and Poisson’s equations, are significant for
magnet array, two case studies are simulated. In the
the solution of magnetic field. The Gauss’s law for
first case, permanent magnets with size of length
magnetisms is state that
25mm and width 10mm are arranged regularly with
space 7mm as the following in Fig. 2b. In the second

 Bi  0
uses double Halbach arrays magnets as shown in where i= 1,2.
Fig.3.
Thus, we can have a magnetic vector potential,
Based on PM arrangement, magnetic field Ai, so that
distribution in the generator is formulated with
 
Laplace’s and Poisson’s equations. Numerical
Bi   Ai
(3.3)
computation from finite element method is utilized to
Therefore the equation can be written as
analyze and observe flux variation in air gap of  
generator.  Bi  2 Ai
(3.4)
In formulation of the magnetic field, the
generator space under study is divided into two In region 1, the combination of Maxwell’s
regions bases on magnetic characteristics. The air gap equation and Eq. 3.1 gives
  
or coil space that has permeability of 1.0 is denoted   B1    0 H1  0 J (3.5)
as Region 1. The permanent magnet volume filled
with rare-earth magnetic material is denoted as Substituting Eq 3.4 into 3.5 yields
Region 2. The magnetic field property of Region 1  
and 2 is characterized by the relationship between 2 A1  0 J where J(A/m2) is current density
magnetic field intensity, H (in A/m) and flux density,
in the field. In permanent magnet J=0, therefore the
B (in Tesla) as:
  Laplace’s equation for Region 1 is obtained as
B1  0 H1 , 
(3.1) 2 A1  0
   (3.6)
B2  0r H2  0 M
(3.2) For Region 2, the combination of Maxwell’s
equation and Eq. 3.2 gives
Where μ0 is the permeability of free space with a
value of 4 x 10-7 H/m, μr is the relative permeability
  
 B2  0 r J  0 M (3.7)
of permanent magnets, M = Brem/μ0 is the residual
magnetization vector in A/m, and Brem is the
remanence.
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Hanoi, Vietnam
External Halbach array
Region 1
a (mm) b(mm)
Region 2
Internal Halbach array 10mm

Radially Axisally
magnetized PMs magnetized PMs
Figure 4: Polarization pattern and geometry of dual Halbach array
Relative permeability 1.0997785406

Similarly, Eq. 3.4 and Eq. 3.7 yield the Poisson
equation for Region 2 Bagnetic coercivity -890000 (A/m2)
  Bulk conductivity 625000 (Siemens/m)
2 A2  0 M remanenceBr 1.23 (Tesla)
(3.8)
Part I: Simulated calculation for 2
In next part, computational simulations will be configurations of magnets in the generator.
conducted in accordance to FEM method and Ansys Configuration 1 is arranged as in Figure 2b,
Maxwell tool to solve Maxwell equations to draw configuration 2 is arranged as in Figure 3, Figure 4.
conclusion about magnetic field as well as magnetic In configuration 1, there is only a polarized array of
flux density. magnets along the y direction spaced 7mm apart, and
the magnets dimensions are: 25mm long, 10mm
4. Finite element Analysis and Results
wide. The magnet arranged in configuration 2 has the
The computational simulations can be polarizations of Figure 4, in which the magnets along
categorized into 3 parts following the finite element the y direction have the same size as configuration 1.
method (FEM) using Ansys Maxwell tool to assist The magnet configuration 2 differs from the magnets
calculation. Material creating magnetic field in the 1 by the presence of magnets polarizing along the X
simulation is NdFe35 with the following features. direction that fill the gap between the linearly
polarized magnets. The magnets are 7mm long,
10mm wide. The distance between the two magnets is
16mm.
Figure 5: Magnetic flux density at center of generator in 2 types.
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Hanoi, Vietnam
the center line of generator which is introduced in

VNU project-QG.14.01, and red line shows the
magnetic flux density of generator when double
Halbach arrays structure is used. The maximum value
of magnetic flux density at center can improved
around 10.8% therefore the output performance can
be significantly increase.
Compared with the older configuration, the
generator using the dual Halbacharray structure
clearly demonstrates the superiority of generating a
flux density from B with a greater maximum value
than before. Therefore, the surveys of the flux density
from the field B in the generator as well as the change
Figure 6: Y axis magnetic field density (By) of the flux density from B to the different sizes of the
contribution of the generator. magnets are necessary to find the characteristics and
optimum for the generator.
Part 2 of the computational simulations to
understand the distribution of magnetic flux density
in the generator cross sectional area according to
configuration 2 above.
Figure 6 describes overall magnetic field
distribution of a tubular linear generator with dual
Halbach array. The structure parameters of Halbach
array in the numerical computations: Y-axially
polarization magnets size of 25mm length and 10mm
width, X-axially polarization magnets size of 7mm
length and 10mm width. In this simulation, magnets
(material NdFe35) with Br=1.23.
Figure 7: X axis magnetic field density (Bx) In generator, moving coils move along X axis,
contribution of the generator. therefore only By component of the magnetic field
across the coil to generate electromagnetic force. In
The figure shows that the magnetic flux density generator, By component magnetic field could be
is increase when Halbach arrays structure is used. presented as figure.
The blue-dot line shows the magnetic flux density at
Figure 8: Magnetic Flux Density along Y axis from center to the outside of the generator.
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Hanoi, Vietnam
In Fg. 8 each line represents Y-axis magnetic

field along with distance along X-axis. The
distribution of magnetic flux field is harmonically
functioning with period of PMs size. The amplitude
at center line is minimum and amplitude of others
line increase when it nears magnets. According to this
characteristic, we can take average of magnetic flux
density, thus magnetic flux density in the air gap can
be written as
By  Bˆtb (a, b) sin  wx  (4.1)
Where B(a,b) is the value of maximum magnetic

flux density that varies with the dimensions of
Halbach PMs.
Looking at the graph, we choose the optimal
According to the Faraday law, the induced
value of the horizontal polarization magnitude b =
electromagnetic force depends on the magnetic flux
25mm. From this we can choose value pairs based in
variation in a unit of time.
length of magnet polarized vertically and horizontally
For the purpose of increasing magnetic flux so that the maximum magnetic flux value is obtained
field, magnetic flux field is investigated with various when the magnitude of the magnet along the Y axis is
length of Y-axis polarization and X-axis polarization 32mm and the magnitude of the magnets along the X
PMs when the width is set at 10mm. In the next part, axis is 25 mm.
we investigate the maximum value of magnetic flux
For the geometry’s parameters above, the
density by changing the length of Y axis polarization
Halbach array help to increase the output power of
magnets a (mm) from 10mm to 40mm, and its
generator about 15%.
dependence on the length of X axis polarization
magnets b (mm). (Describe in figure 4). 5. Conclusions
For overcome the disadvantages of using PM
linear generator in wave energy converter, we have
apply double Hallback array for a double face air core
linear generator.
Ansys Maxell soft ware has been used to
simulation magnetic flux field in generator. The result
shows that the magnitude of flux magnetic field with
double Halback array is greater about 10.8% in
compaire with that normal double face array.
For improve more effect of double Halback
array, the analysis of flux field on the dimensions of
magnetic bars have been investigated, the results
shown a “optimate” configuration for this study.
The value of magnetic flux density increases as
the magnitude of the magnets increases, and The results of this study will be applied for
asymptotically approaches a value that cannot be develope the double-buoy direct driven wave
increased. Using this table, we can optimize the converter in UET-VNU.
magnitude of the polarization length along the Y Acknowlegement
direction. Next, with the magnitude of the magnets
with the longitudinal polarization determined a = This work has been supported/partly supported
32mm, we continue to investigate the change of B by VNU University of Engineering and Technology
max With the size change of the horizontal under project number CN17.07.
polarization magnet.
References
[1] J.M. Leishman and G. Scobie. The development of
wave power, a techno-economical study. Dept. of
Industry, NEL Report, EAU M25, 1976.
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[2] N.J. Baker. Linear Generators for Direct Drive Marine [7] K. Budal and J. Falnes. A resonant point absorber of
Renewable Energy Converters. Doctoral thesis, ocean-wave power. Nature, 256:478–479, 1975.
School of Engineering, University of Durham, 2003. [8] Jawad Faiz, Mahdi Ebrahimi-Salari, and
[3] N.J. Baker and M. A. Mueller. Direct drive wave Gh.Shahgholian, Rael Schmulian. Reduction of
energy converters. Rev. Energ. Ren. :Power Cogging Force in Linear Permanent-Magnet
engineering, pages 1–7, 2001. Generators. IEEE Transactions on magnetics, Vol. 46,
[4] Johannes Falnes. Ocean waves and oscillating No. 1, pp 135-140, January 2010.
systems. Cambridge. ISBN 0 521 78211 2, 2002. [9] Boström, C., Electrical Systems for Wave Energy
[5] Dang The Ba, Numerical simulation of a wave energy Conversion, Uppsala Dissertation. ISSN 1651-6714;
converter using linear generator. Vietnam J. of ISBN 978-91-554-7982-4, 2011.
Mechanics, Vol 35, No. 2, 2013. [10] O. Danielsson and M. Leijon. Flux distribution in
[6] Dang The Ba, Doan Van Tien and Nguyen Hoang linear permanent-magnet synchronous machines
Quan, Designing and Analyzing of a Dual-Buoy 5kW including longitudinal end effects. IEEE Transaction
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Pacific Workshop on MarineHydrodynamics –
APHydro 2016, September 20-23, Hanoi, Vietnam.
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Effect of Accommodation and Container on Air Resistance Acting on Hull

of the Container Ship
Ngo Van He*, Bui Dinh The
*Email: he.ngovan@hust.edu.vn
Abstract
In this paper, the effects of accommodation and container on air resistance acting on a hull of the 1200TEU
container ship is investigated by used a commercial CFD code. At first, the aero dynamic performances of
the original 1200TEU container ship is simulation by the CFD. The CFD results as pressure, velocity
distribution around hull and the air resistance acting on hull of the original ship are shown to clearly find the
effects of the original hull and container above deck on increasing air resistance of the ship. Secondly,
several new models with a different located accommodation on deck and changing container arrangement
above deck of the ship are proposed for the ship. The all models are computed by the CFD to investigated
the aero dynamics performance as well as the air resistances acting on the all hulls. By comparison at
others CFD results of the all models, the effects of accommodation and container above deck of the
container ship on air resistance to be found.
Keywords: Accommodation, hull, container ship, air resistance, CFD.
1. Introduction Recent years, it has many research on reduced

resistance acting on the ships. The most popular
In marine transportation, the container ships research is on reduced viscous resistance actin on hull
are one of the most popular ships in the world today. of a new kind of ship with a new hull form or new
They have a large portion of the world's cargo, taken applied technology [1-4]. The total water resistance
up to 60% of total cargo carrier each year. In marine as well as friction viscous resistance acting on a hull
transportation, economic efficiency is calculated can be reduced up to 20% of total resistance, the
based on the fuel consumption during the journey of added wave resistance acting on hull can be reduce
the ships. During the cruise, the fuel consumption is up to 40% in compared with the original hull form.
the amount of fuel consumed by the ship during the Others ones, they publish results of the research on
cruise to make the ship move. The fuel consumption air resistance acting on the ship and reduced air
of the ships is calculated according to resistances resistance by optimal hull shape of above water hull
acting on them. A ship has a good design, it will have part [5-9]. By used a streamlined accommodation and
lower resistance hull form, so it is the less fuel aero-dynamic hull form, most of the new hull form
consumption. In the area of marine transportation, which has proposed for the new ships can reduce a
research on reduce resistance acting on the ships as larger of air resistance acting on the hull above water
well as saving fuel oil are always necessary problems surface of the ship. The total air resistance acting on
that need theresearchers and designers to solve. hull can reduce up to 60% of total air resistance.
The resistance acting on a ship can understand In this study, the authors focus on the
that the fore to impede the ship movement, or the component of the aero-dynamic resistance acting on
force that we need to create by using a propeller above water surface hull of a container ship. By used
system. The total ship resistance is divided into two a commercial Computational Fluid Dynamic (CFD)
main components, the underwater resistance hull the effects between accommodation and hull on aero-
form and the air resistance acting on the ship. dynamic performances of ship be studied to reduce
Depending on the type of ship, the rate components the air resistance acting on the ship.
of the two types of resistance is different. For the
ships with a large wetted area or high-speed ship, the 2. Original container ship
viscous friction of water resistance and added wave The original container ship 1200TEU is used
resistance acting on the hull are the most of the total as a reference model in the research. Figure 1 shows
resistances acting on the ship. However, for the ships body plane of the ship. The detailed principal
with large superstructures above water surface such particular of the ship are shown in the Table 1.
as container ships, the air resistance acting on the ship
accounts for a relatively high proportion of total
resistance.
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Figure 1. Original container ship used for

computation.
Table 1. Principal particular of the ship
Name Valuate Unit
Length of ship, L 118 m
Breadth of ship, B 24.9 m
Height of ship, H 13.7 m
Draft of ship, d 8.3 m Figure 2. Development of the new models for the
Block coefficient, Cb 0.68 ship.
Table 2. Arranged container on deck of the ships
Model Number of Total
column container container
on hull on deck
Original 19 588
N1 17 584
N2 17 584
N3 17 584
3. Development of new hull form for the ship

Figure 3. Schema for used CFD to compute the aero-
In this section, the original hull is developed dynamic performances of the ship.
by re-arranged container on it deck and proposed a
new accommodation with streamlined and position at
4. Computational aero-dynamic performances of
front of the ship. Figure 2 shows the new models
the ships used CFD
which proposes for the container ship. The all new
models have the same the number of containers as In the research, a commercial CFD,
shown in Table 2. ANSYS-Fluent v.14.5 is used for computation the
aero-dynamic performances of the ships [10-11].
Figure 3 shows schema for used CFD to simulate the
aero-dynamic performances of the ship.
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Table 3. Computed conditions setup for CFD

Condition Valuate Unit
Turbulent viscous k-
model
Velocity inlet 14.5 m/s
Pressure outlet 1.05 at
Air density 1.225 kg/m3
Air viscosity 1.789 x 10-5 kg/m-s
Wind direction 0 - 180 degree
Figure 5. Pressure distribution around the ships at the

horizontal plane of the computed domain, at wind
direction of zero degree.
Figure 4. Pressure distribution around the ships at the

center plane of computed domain, wind direction of
zero degree.
For computation, the model is designed as

available problem, the computed domain and setup
boundary conditions are done as the reference user
guidance for CFD [10-11]. In this research, meshing
of computed domain in unstructured mesh generated
about 3.6 million T-grids. The turbulent viscous
model k- is used. The velocity inlet is setup for the
inlet, the pressure outlet is setup for the outlet. The
detailed condition setup for CFD computation is
shown in Table 3.
5. Effect of hull shape on aero-dynamic
performances of the ships
In this section, the effects of accommodation Figure 6. Velocity distribution around the ships at the
and container on deck of the ships are investigated by center plane of the computed domain, at wind
the CFD. Figures 4 to 6 show pressure and velocity direction of zero degree.
distribution around hull of the ships with the different
hull form as shown in the Figure 2.
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References
[1] Furuo. A, Ikeda. Y (2013). A Study on Frictional
Resistance Reduction of a Ship by Air Cavity Tank.
Proceeding of the Japan Society of Naval Architects
and Ocean Engineering, Osaka, Vol. 16, pp. 211-214.
[2] Ngo. V.H, Ikeda. Y (2014). Added resistance acting
on hull of a Non Ballast Water ship. Journal of Marine
Science and Application, Vol. 13No1, pp. 11-12.
[3] Ngo. V.H, Ikeda. Y (2014). Optimization of triangle
nose attached on the blunt bow ship to reduce added
resistance in wave by using CFD. Proceeding of the
Japan Society of Naval Architects and Ocean
Egineering, Vol.18, pp. 403-406, Osaka, Japan.
Figure 7. Air resistances acting on the ships in the [4] Mizutani. K, Ibata. S, Aoyama. Y, Ikeda. Y, Ngo. V.H
different wind direction from zero to 180 degree. (2015). A Role of Spray on the added resistance
acting on a blunt bow ship in head waves. Proceeding
The results as shown in the figures show of the 25th International Ocean and Polar Engineering
clearly different of the pressure and velocity Conference, Kona, Big Island, Hawaii, USA, pp.
distribution around the hull of ships. The results as 1025-1030.
[5] Ngo. V.H, Y. Ikeda (2013). A Study on Interaction
shown the hull shape has effects on the pressure and
Effects between Hull and Accommodation on Air
velocity distribution around the ship. Resistance of a Ship. Proceeding of the JASNAOE,
Figure 7 shows the CFD results of air Hiroshima, Japan, Vol.16, ISSN: 2185-1840, pp.278-
resistances acting on the ships in the different wind 281.
[6] K. Mizutani, D. Arai, Ngo. V.H, Y. Ikeda (2013). A
direction from 0 to 180 degree. Study on Reduction of the Wind Resistance Acting on
The results as shown the air resistance acting a Wood Chip Carrier. Proceeding of the JASNAOE,
on the ships with different hull shape shows clearly Hiroshima, Japan, Vol.16, ISSN: 2185-1840, pp.282-
285.
effects of accommodation and container on air
[7] K. Mizutani, Y. Akiyama, Ngo. V.H, Y. Ikeda (2014).
resistances acting on the hull of the ships. In the Effects of cargo handling equipment on wind
results as shown, the model N3 with a streamlined resistance acting on a wood chip carrier. Proceeding
accommodation located at the frontal hull has small of the JASNAOE, Hiroshima, Japan, Vol.18, ISSN:
air resistance hull form. The reduction of the air 2185-1840, pp.421-424.
resistance acting on the streamlined model N3 is up [8] Ngo. V.H, K. Mizutani, Y. Ikeda (2014). Reducing air
to 75% in comparison with it of the original model. resistance acting on a ship by using interaction effects
between the hull and accommodation. Proceeding of
6. Conclusion the 7th AUN/SEED-Net RCMME 2014, Hanoi,
Vienam, ISSN: 978-604-911-942-2, pp.497-501.
In this paper, the effects of hull shape as well
[9] Ngo. V.H, Phan. A.T, Luong. N.L, Y. Ikeda (2015). A
as an accommodation and container on deck of the Study on interaction Effects on air resistance acting on
container ship 1200TEU is investigated by used the a ship by shape and location of the accommodation.
CFD. The results as shown in the paper as well as the Journal of Science and Technology, Vietnam, Vol 27,
pressure distribution, velocity distribution and the air ISSN:1859-3585, pp. 109-112.
resistance acting on the ships are useful to optimal [10] ITTC, 2011, Practical Guideline for Ship CFD
hull structure design for the ships as well as the Application, No. 7.5-03-01-03.
container ships. The CFD results may be useful to [11] http://www.cfd-
understand that reasons make air resistance acting on online.com/Wiki/Best_practise_guidelines
the hull increased or reduced. That is too important in
ship design and marine transportation.
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Aerodynamic Modeling of a Missile Model using a Semi-Empirical

Datasheet Component Build-up Method
Luu Hong Quan1,*, Le Tran Thanh Hai1, Le Doan Quang2, Nguyen Phu Hung3
1
School of Transportation Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam
2
Faculty of Aviation Technologies, Vietnam Aviation Academy, Ho Chi Minh City, Vietnam
3
The Ministry of Science and Technology, Vietnam
*Email: quanlh.hust@gmail.com
Abstract
In the design process of a missile model, the design of the control system plays a very important role. To
design an automated control system from a preliminary missile model, it is necessary to simulate the control
characteristics of the missile. This paper focuses on aerodynamic parameter estimation of an anti-tank
missile using empirical codes and its application for a six degree-of-freedom model. First, missile geometry
model is built and put into flight condition with different velocities, angles of attack, sideslip angles and finset
deflection angles to obtain aerodynamic coefficients. The missile’s aerodynamic characteristic is analyzed
from these coefficients. The aerodynamic coefficients include both the force, moment and derivative
coefficients then is put into a Matlab/Simulink six degree-of-freedom model, combined with the input control
such as thrust and finset deflection angles to analysis the flight trajectory and velocities. The flight stability
characteristic is also analyzed. This is the first step in creating a flight control system to be implemented on
the missile.
Keywords: 6-degree of freedom model, Datcom, Javelin missile.
1. Introduction armored vehicles (attacking the top armor, which is

generally thinner), but can also take a direct-attack
In modern language, a missile is a guided self-
mode for use against buildings, targets inside the
propelled system, as opposed to an unguided self-
minimum top-attack engagement range, and targets
propelled munition, referred to as a rocket (although
under obstructions. The missile also has the ability to
these too can also be guided). Missiles have four
engage helicopters in the direct attack mode. It can
system components: targeting or missile guidance,
reach a peak altitude of 150 m (500 ft) in top-attack
flight system, engine, and warhead. Missiles come in
mode and 60 m (190 ft) in direct-fire mode. It is
types adapted for different purposes: surface-to-
equipped with an imaging infrared seeker. The
surface and air-to-surface missiles (ballistic, cruise,
tandem warhead is fitted with two shaped charges: a
anti-ship, anti-tank, etc.), surface-to-air missiles (and
precursor warhead to detonate any explosive reactive
anti-ballistic), air-to-air missiles, and anti-satellite
armor and a primary warhead to penetrate base armor.
weapons. All known existing missiles are designed to
An important concept that must be considered
be propelled during powered flight by chemical
when designing an aircraft, missile, or other type of
reactions inside a rocket engine, jet engine, or other
vehicle, is that of stability and control. The study of
type of engine. Non-self-propelled airborne explosive
stability is related to the flying qualities of the vehicle
devices are generally referred to as shells and usually
and gives us some indication if the vehicle is easy,
have a shorter range than missiles [1].
difficult, or impossible to fly. The control aspect of
The FGM-148 Javelin is an American man-
the study indicate if the control surfaces are large
portable fire-and-forget anti-tank missile fielded to
enough to force the vehicle into the desired flight
replace the M47 Dragon anti-tank missile in US
service. It uses an automatic infrared guidance that
allows the user to seek cover immediately after
launch, as opposed to wired-guided systems, like the
Dragon, where the user has to actively guide the
weapon throughout the engagement. The Javelin's
HEAT warhead is capable of defeating modern tanks
by attacking them from above, and is also useful
against fortifications in a direct attack flight.
Javelin is a fire-and-forget missile with lock-on
before launch and automatic self-guidance. The
Fig. 1. Javelin missile on fire.
system takes a top-attack flight profile against
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maneuvers. Here these problems is looked at, along

with some others, as they pertain to missiles.
A study about stability and control of a Brumby
UAV was done before in the thesis of Isaac D. rose.
This thesis presents an implementation of a CFD
prediction computer code to generate aerodynamic
coefficients for the Brumby UAV. The aerodynamic
coefficients include both the force and moment
coefficients. These values are verified by creating a
Matlab/Simulink six degree-of-freedom model. The
UAV’s stability and control characteristic is Fig. 2. Missile coordinate system.
examined in straight and level flight and coordinated Six degrees of freedom (6 DOF) refers to the
turn with a constant rate of climb. freedom of movement of a rigid body in three-
In this study, this Simulink model is used with dimensional space. Specifically, the body is free to
some appropriate changes of inputs and equations to change position as forward/backward (surge),
examine the stability and control characteristic of up/down (heave), left/right (sway) translation in three
Javelin missile model in non-deflection finset flight perpendicular axes, combined with changes in
and direct-attack mode. This is an important step in orientation through rotation about three perpendicular
the design of the missile control system. axes, often termed yaw (normal axis), pitch
2. Numerical method (transverse axis), and roll (longitudinal axis).
The movement of the missile is simulated using
2.1. Aerodynamic Calculation this model. Following equations of motion is used for
In the preliminary design of the missile, it is calculation [1]:
necessary to estimate the aerodynamic elements of Poisson's Kinematic equation is used to
the initial model, then constantly change the design calculate the navigation position of the missile:
parameters and re-evaluate the model. The process is
repeated until the design reaches the desired
p  Cb/nvCM
e n b
/e (1)
aerodynamic quality. The calculation of aerodynamic Euler Kinematic equation is used to calculate
parameters should be done in the shortest possible the Euler angle of the missile:
time by less expensive methods. The designer must
simultaneously be able to predict the variation of   H ()b
 (2)
b/ e
aerodynamic parameters for a large number of
geometric configurations. Thus, the Missile Datcom Translational Acceleration equation is used to
was born with the purpose of providing a precise calculate the velocity of the missile:
aerodynamic design suitable for the preliminary b b
v  (1/ m) FAb,T  Cb/ n g n  bb/ evCM
b
design, ie it is possible to quickly and easily generate CM / e / e (3)
the aerodynamic parameters of the profile Rotational Acceleration equation is used to
configuration. At the same time, it is possible to calculate the angular velocities of the missile:
/ e   J  M A,T b/ e J b/ e  (4)

change the geometry configuration to continue 1
performing the estimation effortlessly and
b
CM
b b
 b b b b

inexpensively.
Missile Datcom allows calculating the 3. Aerodynamic Calculation
aerodynamic properties of conventional missile
designs. These characteristics depend on many 3.1. Input Geometry and Flight Condition
factors, including the external geometry of the Non-dimensional aerodynamic force and
missile, the engine's air inlet and flight conditions. moment coefficients is calculated using MISSILE
Aerodynamic data from Missile Datcom is used DATCOM [3]. Geometric information of Javelin
in a Six degrees of freedom (6-DOF) model to ATGM obtained through a reference picture is given
calculate for the equations of motion. in Fig 2. Since the missile is symmetric in XZ and
2.2. Six Degrees of Freedom Model XY planes, same coefficients are used for both
planes.
The motion of the missile is examined on two
coordinate systems, Navigation system with the Only the perturbed response of the missile in
origin located on the surface and three axes oriented open loop is simulated in a relatively small time
by 3 fixed directions, and Body system fixed to the interval. This is the key point for most of the
missile. assumptions made especially in the aerodynamic
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coefficients. Now, some coefficients that show some

important aerodynamic characteristics of Javelin
missile is examined:
- Normal force coefficient change with angle
of attack(AOA):
Fig. 3. Javelin missile geometric infomation.

Table 1. Javelin Specifications After Burn-out
Mass 10.15 kg
Diameter 0.127 m
Length 1.081 m Fig. 5. Normal force change with angle of attack.
CG(from nose) 0.446 m Normal force doesn’t exit when angle of attack
is equal to zero because the missile body is
Table 2. Input vectors of aerodynamic database symmetric in XZ plane. Further, normal
force’sabsolute value increases with AOA, so AOA
Parameter Input should be increased if normal force is needed to
increase.
Mach [0.3 0.4 0.5 0.6]
- Axial force coefficient change with Mach
α, β, δe, δr [-5 -4 -3 -2 -1 0 1 2 3 4 5] deg number:
model. Since the missile flies in a close vicinity of the

ballistic trajectory when small perturbations are given
to the control surfaces, a small space around reference
condition is needed for the aerodynamic database.
Vector of input breakpoints used to determine the
space of aerodynamic database are given in Table 2.
After setting up the Missile datcom input, the

program exports the geometry file of the rocket with
Fig. 6. Axial force change with Mach number.
the calculated aerodynamic parameters. Techplot
software is used to verify this model: From the graph, the velocity can be determined
that the drag is smallest in the missile (0.5-0.6 M).
3.2. Aerodynamic outputs
Missiles flying in this velocity range achieves the
With the inputs given above, Missile Datcom highest performance.
calculates the aerodynamic coefficients in each given
- Pitching Moment Coefficient derivative with
case. The aerodynamic coefficients here include
respect to AOA:
aerodynamic force, moment and derivative
Fig. 7. Pitching Moment Coefficient derivative with

respect to AOA.
Fig. 4. Javelin Missile Geometry.
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Pitching Moment Coefficient derivative with

Psi (Yaw Angle) 0 radian
respect to AOA is negative, so that the missile have
the ability to stabilize [3]. U (Translational Velocity X
13 m/s
component)
4. Trajectory Simulation and Stability V (Translational Velocity Y
Examination 0 m/s
component)
4.1. Calculation Model W (Translational Velocity Z
0 m/s
component)
The nonlinear model is modeled by Simulink
[2]. The model uses an S-Function to perform P (Roll Angular Velocity) 0 radian/s
equations of motion. The model shown in Fig 8
allows the user to enter the gravitational acceleration, Q (PitchAngular Velocity) 0 radian/s
inertia matrix, initial conditions and input values for R (Yaw Angular Velocity) 0 radian/s
the control surfaces.
4.2. Simulation Result
4.2.1. Non-deflection finset flight
In this case, the input values of the finset
deflection is set to zero, after running the simulation,
the following results is obtained:
Fig. 8. Simulink Calculation model.

During the flight, the mass of fuel on the missile
decreases, so the mass properties changes during the
combustion process. All mass properties and thrust
are updated using the values in the paper of John
Harris and Nathan Slegers [9].
The Matlab Functions is used to calculates the Fig. 9. Flight trajectory in non-deflection finset case.
forces and moment that act on the missile. The input Fig 10, 11, 12 in turn shows euler angle,
of the function block is the state vector and the translational velocity and angular velocity data in this
control input values. After running Missile Datcom, case.
the results is obtained, this results is put into Matlab
function to calculate the force and moment.
The force and moment values are then applied
to the S-function for equation of motion calculation,
The initial state values of the state vector is set as the
parameters when the missile launch the flight motor
[10].
From this initial value, the S-function calculates
a new state vector in each time-step, bringing
together all the state vectors to get the simulation Fig. 10. Euler angle in non-deflection finset case.
result.
Table 3. Javelin missile initial state vector.
Initial State Vector Value Units

XE (Navigation East Position) 0 m
YE (Navigation West Position) 0 m
ZE (Navigation Down Position) -1 m
Phi (Roll Angle) 0 radian Fig. 11. Translational velocity in non-deflection
finset case.
Theta (Pitch Angle) 0.638 radian
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Fig. 14. Direct attack trajectory simulation.

Fig. 12. Angular velocity in non-deflection finset
case.
The results in Non-deflection finset flight is
compared to the data in the research of David Qi
Zhang [8] and the difference is not great:
Simulink Research
Difference
data data
Range 2171.2 m 2171.5 m 0.01 % Fig. 15. Direct attack finset deflection.
Flight time 13.81 s 14.00 s 1.36 %
4.2.3. Stability examination
Max speed 196.8 m/s 184.3 m/s 6.78 %
Time at max The aircraft model now be subjected to
4.1 s 4.0 s 2.5% perturbations about the trimmed equilibrium point. A
speed
doublet is composed of a positive displacement
immediately followed by a negative displacement
4.2.2. Direct attack flight with equal magnitude and duration. Because the input
is returned to the trimmed input value the net effect of
In fact, the Javelin missile has two types of
the doublet on the steady-state output is zero. The
attacks: the top attack used to attack tanks and direct
trim condition is that ofnon-deflection finset flight.
attacks used to attack targets under construction. In
Results for the input perturbations to the missile
this project, the direct attack mode is examined [6].
trimmed for this flight are shown in Figs 16-18.
Fig. 13. Direct attack trajectory. Fig. 16. Doublet response East position.
The approximately value of finset deflection

angle is calculated in three phases: climb out, change
direction and fly to the target by force equations.
After calculation, this model is run. The trajectory
results is shown in Fig 14 and calculated finset
deflection is shown in Fig 15.
The trajectory is quite accurate. Flight time is
about 13.55 s, about 3.21 % different to actual (14 s) Fig. 17. Doublet response Euler angle.
[6].
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The wind direction is counter with the missile

flight direction, so that it creates a drag force that
reduces the velocity of the missile. So, the missile
range is decreased.
5. Conclusion
In this paper, the aerodynamic characteristic of
Javelin missile is calculated in a range from Mach 0.3
to Mach 0.6 and -5 degree to 5 degree angle of attack
Fig. 18. Doublet response angular velocity.
and finset deflection angle. The calculated data is put
The figure shows that the Javelin missile returns into a Matlab/Simulink six degree-of-freedom model
to equilibrium after the doublet perturbation is to calculate for theNon-deflection finset flight and
applied. The model's ability to return to the Direct attack flight. The results show that the missile’
equilibrium point illustrates that the model is trajectory is parabolic in Non-deflection finset flight.
statically stable as well as dynamically stable The trajectory in Direct attack flight calculated
Dynamic stability is defined as the time-dependent though force equations is not much wrong with
behavior of the aircraft being stable in response to an reality. The stability of this missileis also been
impulsive input. Once perturbed from the equilibrium examined and the results shows that the model
point the aircraft returns to the equilibrium point presented in this thesis is shown to be stable
some time after the perturbation is applied. The
model presented in this thesis is shown to be Acknowledgments
stable[1]. The authors wish to thank Department of Aerospace
4.2.4. Wind effect Engineering and School of Transportation
Engineering of HUST for supporting this research.
During the flight, the missile is subjected by
many external forces that deflect the trajectory, in Glossary of Variables
particular is the effects of the wind. In this paper, the e
p n Position Vector of Navigation Frame
effect of wind on the missile trajectory is studied. Derivative taken with respect to the Earth
Because the wind is very complex, the impact of Fixed Frame
wind is analyzed in two main directions, vertical and
horizontal. C b/n
Direction Cosine Matrix of the Body Frame
A vertical and horizontal wind with velocity is with respect to the Navigation Frame
3 m/s is put in the flight of the missile. The result of
trajectory changing due to the effects of wind: v Cb M /e
Velocity Vector in the body frame of the
 Horizontal wind to horizontal trajectory: Center-of-Mass with respect to the Fixed
Earth

 Rotational Rate Derivative Vector
H () Transition matrix
bb/e Rotational Rate Vector expressed in the

Fig. 19. Horizontal trajectory with wind effect. Body Frame of the Body with respect to the
Fixed Earth
The wind creates a moment that changes the
direction of the missile, so the rocket moves to the b
v Cb M /e
Velocity Vector Body Derivatives in the
left. When the thrust is zero, the wind puss the missile Body Frame of the Center-of-Mass with
move to the right. respect to the Fixed Earth
 Vertical wind to vertical trajectory:
m Mass of vehicle
FAb,T Aerodynamic and Thrust Force Vector

expressed in the Body Frame
gn Gravity Vector in the Navigation Frame
Fig. 20. Vertical trajectory with wind effect.
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 b Cross Product Matrix of Rotational Rates in [2] Maurice, Andrew F, Aerodynamic Performance
b /e
Predictions of a SA-2 Missile using Missile Datcom,
the Body Frame of the Body with respect to 2009.
the Fixed Earth [3] Güneş Aydin, Aerodynamic Parameter Estimation of a
Rotational Rate Vector Body Derivative in Missile in Closed Loop Control and Validation with
b
 Cb M /e Flight Data, 2012.
the Body Frame of the Body with respect to [4] Lê Quang, Cơ Học Vật Bay, 2016.
the Fixed Earth [5] Christopher Rosema, Joshua Doyle, Lamar Auman,
and Mark Underwood, MISSILE DATCOM User’s
Jb Mass Moment of Inertia Tensor in the Body Manual, 2011 Revision.
Frame [6] Headquarters, Department Of The Army Javelin Close
Combat Missile System, Medium, 2008.
M b
A ,T
Aerodynamic and Thrust Moment Vector [7] Brian L. Stevens, Frank L. Lewis, Eric N. Johnson,
expressed in the Body Frame. Aircraft Control and Simulation, 2016.
[8] David Qi Zhang, Design and Analysis of the Two-
α Angle of attack Stage FGM-148 Javelin Anti-Tank Missile, 2012.
[9] John Harris, Nathan Slegers, Performance of a Fire-
β Side-Slip Angle
And-Forget Anti-Tank Missile with a Damaged Wing,
δe Elevator deflection angle 2009.
[10] Arda Aksu Aerodynamic Parameter Estimation of a
δr Rudder deflection angle Missile, AIAA Atmospheric Flight Mechanics
Conference, AIAA AVIATION Forum, (AIAA 2014-
References 2557).
[1] Isaac D. Rose, Aerodynamic Modeling of an
Unmanned Aerial Vehicle using a Computational
Fluid Dynamics prediction code, 2009.
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Research on Modeling Hydraulic System of Working Tool of Hydraulic

Excavator by Matlab Simhydraulics
Chu Van Dat, Nguyen Tien Khu*
Faculty of Mechanical Engineering & Energy in Transportation of Le Quy Don Technical University
*Email: tienkhuxmcb41@gmail.com
Abstract
System modeling is an important tool to accelerate the research process, design, manufacturing, and
production in most engineering fields. Simulating the working process of a system helps evaluating working
parameters in different conditions, hence we can adjust to achieve the expected goals. This paper focuses
on modeling hydraulic system of working tool of hydraulic excavator in working process using MATLAB
Simulink, SimHydraulics. In order to develop the model corresponding to the real system, the calculation of
the load acting on the cylinders in excavating, working principle, parameters of elements in the hydraulic
network were studied. The parameters of pressure, flow and power of the hydraulic system were gained
from simulation results.
Keywords: Hydraulic Excavator, Simulation modeling, Hydraulic system, SimHydraulics, MATLAB.
1. Introduction cycle: digging, shoveling the soil and then

transporting it to the discharge position, discharge
A mechanical, hydraulic, or electrical system
and return to dig. In this paper, we only study the
can be simulated independent or combined on a
digging process, the working tool of hydraulic
computer by software such as MATLAB-Simulink,
excavator is constructed as a mechanism has three
Automation Studio, Fluid Sim, Ansys, Adam, etc.
degrees of freedom, which is directly connected by
Each software has its own strengths that can describe
rotary joints and is driven independently by three
the visibility, operability of electrical, mechanical,
hydraulic cylinders.
and hydraulic elements. The simulation results of the
software can be obtained in various forms such as The working tool of hydraulic excavator is
graphs, tables, etc. described in Figure 1. Accordingly, the boom 1 is
connected to the swing 0 by the rotary joint O1, the
In the above software, MATLAB is most
rotation angle 1 of the boom will be changed by the
commonly used in the field of engineering. Many
stretching of the cylinder 4. The arm 2 is connected to
models are researched and developed with MATLAB
the boom 1 through the O2 rotation, the rotation angle
and MATLAB Simulink Extensions. MATLAB
Simulink library members allow kinetic and dynamic 2 of the arm is changed by the stretching of the
modeling of mechanical systems using cylinder 5. The bucket 3 is connected to the arm
SimMechanics, of hydraulics system using the through the O3 rotation, the angle 3 of the bucket
SimHydraulics module, planetary gear and will be changed by the cylinder 6, push link 7 and
components using SimDriveline. Using these guide link 8.
modules in a combined way, we have a powerful tool
for modeling mechanical and hydraulic systems.
In order to accelerate the process of research,
design and manufacture, the simulation control model
simulation model is very convenient. However,
models must be researched from the actual model
with its problems. Therefore, we have developed a
mechanical model and a model of hydraulic system of
working tool of hydraulic excavator with three
transmission cylinders using SimMechanics and
SimHydraulics.
2. Mechanical model of hydraulic system of
Fig. 1. The working tool of hydraulic excavator
working tool of hydraulic excavator
0. Swing; 1. Boom; 2. Arm; 3. Bucket; 4. Boom
During operation, the hydraulic shovel Cylinder; 5. Arm Cylinder; 6. Bucket Cylinder;
excavator will operate according to the following 7. Push Link; 8. Guide Link.
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Under the control of the driver (by controlling

the stretching of the cylinders 4, 5 and 6) will create
the trajectory of the point O4 which is the point on the
bucket teeth, the excavator will work, discharging the
soil (or other materials that need to be transported) so
they (these) are extremely important, deciding to
improve the productivity of the machine.
The trajectory of the O4can be determined by the
Denavit-Hartenberg matrix method:
l cos 1  l2 cos(1  2 )  l3 cos(1  2 3 ) 
  1 
R40  l1 sin 1  l2 sin(1  2 )  l3 sin(1  2 3 )  (1)
 0 
Where: l1 = O1O2; l2 = O2O3; l3 = O3O4

In order to have the data corresponding to the
actual model, the authors have built a 3D model of
Fig. 2. Overall model 3D of working tool of
the working tool elements of hydraulic excavator
hydraulic excavator in SimMechanics.
with Autodesk Inventor 2016 software.
Tab. 1. List of critical blocks and their setting
The modeling mechanical of the working tool of Block name Major parameters
hydraulic excavator is created by SimMechanics Boom Mass: 3196 kg
extension in Matlab. SimMechanicss is an effective Arm Mass: 1742 kg
tool for modeling and simulating mechanical systems Bucket Mass: 1488 kg
in a Matlab/Simulink environment. SimMechanicss Boom Cylinder Cylinder Mass: 227.7 kg
toolbox uses block modeling to model bodies, joints Piston Mass: 156.8 kg
and corresponding inputs and outputs, with each Arm Cylinder Cylinder Mass: 285.1 kg
block defining the physical properties such as mass Piston Mass: 224.5 kg
and moment of inertia, possible motion in joints, etc. Bucket Cylinder Cylinder Mass: 189.1 kg
Sensor blocks return the motion variables values Piston Mass: 132.7 kg
(motion outputs), actuator blocks represent the inputs. Push link Mass: 43.3 kg
The links of the working tool of hydraulic excavator Guide link Mass: 242.3 kg
9 x revolute joints Rotation in Z axis
are connected by rotary joints. The Elements of the
10 x cylindrical Translation in X and Y axis
working tool of hydraulic excavator bodies are and Rotation in Z axis
actuated by hydraulic cylinder, these actuators are
represented in the mechanical part of the model by
hydraulic excavator are actuated by three hydraulic
cylindrical joints (include: rotaty joint and prismatic
cylinders and each hydraulic cylinder has its own
joint). Overall model of the working tool in
electric control valve. A simple hydraulic circuit
SimMechanicss is shown in Fig 2.
without a power line is shown in Figure 4, which
consists of four hydraulic cylinders (two boom
The Prismatic joints of cylinder are used in hydraulic cylinders 10,11; arm hydraulic cylinder 12
connection to the hydraulics model. They can be and bucket hydraulic cylinder 13) with electric
actuated by motion and also provide necessary control valve (7,8 and 9) and hydraulic pump (4) with
information about position reached by the piston. An PC valve 6 and relief valve 5.
overview of the complete model of dynamics of the
hydraulic shovel excavator is shown in Figure 3. Hydraulic pump 4 is used in the hydraulic
excavator operating system as a double pump, which
Table 1 provides list of used blocks with major automatically adjusts the flow to ensure the system's
settings, which was used during designing presented power balance (LS - Pump). In the hydraulic system
kinematics model. using the LS pump, the oil supply line is partially
3. Simulation model of hydraulic circuit extracted as a feedback control pump. On the way
out of the pump also extracted an oil line to serve as
The hydraulic subsystem is modeled through the a comparison signal. When the load increases or
Matlab SimHydraulics toolbox. Basically, one of the decreases, the pressure on the inlet of the working
simplest hydraulic circuits consists of a hydraulic device will increase or decrease accordingly, this
cylinder controlled by 4 or 5 way proportional pressure is brought back relative to the pressure that
electric valve. Presented, the working tools of the the pump is delivering. Comparison results will be
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Fig. 3. The overall model of the working tool of hydraulic excavatorin SimMechanics.
given to drive the piston adjusting the deviation has only one pump. Figure 6 is a diagram of a
angle of the tilt plate, thereby changing the delivery hydraulic system that drives a cylinder simulated in
power of the pump to suit the load on the working SimHydraulics.
device. Figure 5 shows the actual pump control flow
In the hydraulic circuit, the hydraulic excavator
and simulation in SimHydraulics.
works using 4 way, 3 positon proportional electric
All elements of the hydraulic system driving valve and a PC valve to regulate and stabilize the
the hydraulic excavator must be modeled in Matlab. velocity of the cylinder when the external load
Building a hydraulic circuit in SimHydraulics has changes. The basic parameters of the hydraulic
the same rules as SimMechanicss despite the fact system are given in Table 2.
that these rules differ slightly from the standard
Tab. 2. Major parameters of the most important
hydraulic programs. The hydraulic pump control
blocks
circuit model is shown in Figure 5 and the reader
can compare it with the corresponding Block name Major parameters
SimHydraulics diagram. Obviously building a Maximum displacement:
simulation model in Matlab is more complicated qm=3.09×10-4m3/rad
than building the same model from real components. Pump
Volumetric efficiency: v= 0.99
Note that Figure 5 shows the actual diagram with Total efficiency:  = 0.95
two pumps, while the simulation model in Matlab Orifice maximum area: 200mm2
PC Valve
Orifice maximum opening: 0.05 m
Valve pressure setting: p=35MPa
Relief Valve
Valve regulation range: ∆p=7MPa
Valve passage maximum area:
Directional
A=1.5cm2
Valve 4/3
Valve maximum opening: s=0.01m
Piston area A: 0.0227 m2
Arm Piston area B: 0.01138 m2
Cylinder Piston stroke: 1.805 m
The hydraulic model described has been used

successfully for the initial test, in which the basic
functionality of the model has been tested. Figure 7
shows the control of the hydraulic piston position. It
shows that the position of the piston depends on the
position of the valve opening and closing, as it is the
basic operation during control of the direction of
Fig. 4. Hydraulic circuit block diagram. piston movement and its position.
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Fig. 5. Actual hydraulic pump control diagram and simulation in SimHydraulics.
Fig. 6. Overall view to hydraulics model of one cylinder using MATLAB SimHydraulics.
- Boom and arm operation simultaneously by
To build a hydraulic diagram simulating the
the corresponding cylinder.
working process of the hydraulic excavator, we must
determine the load acting on the cylinder. This load To determine the change in force on workplace
depends on many factors such as excavation method, disability, a case study is needed. In this paper, we
soil level…The excavation and landfill of a hydraulic presents how to determine the force acting on the
excavator can be carried out in the following ways: cylinders under case one. According, when digging
with the arm cylinder, we assume that the
- Boom and bucket are fixed, the arm is moved
homogeneous work environment (digging resistance
by the arm cylinder.
depends only on soil level and cut thickness). Boom
- Boom and arm are fixed, the bucket is moved and bucket are fixed by boom cylinder and bucket
by the bucket cylinder. cylinder. The arm cylinder is moved to excavation
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rG4: lever arm from G4 to O2;

rtg: lever arm from Ptg force to O2;
r01: lever arm from P01 to O2.
The force excavation resistance is determined by
the formula N.G. Dombrovski. Composition of the
tangential cutting resistance P01 and normal cutting
force with cutting trajectory P02 are calculated by the
formula:
P01  k1 .b.h [N] (3)
P02   .P01 [N] (4)
Where:
Fig. 7. Basics simulation of hydraulic piston without k1 (N/cm2): Separate digging force including
connection to the kinematics model. cutting force, friction of bucket to soil, resistance
of movement of soil when accumulating in bucket.
Separate digging force is determined
experimentally and depends on the level of
excavated soil. The values are determined
according to Table 3.
b (cm): the width of the cuttings, b = B (bucket
width).
h (cm): shearing thickness.
 = 0,1 - 0,45 is dependencies of the cutting
angle, cut conditions and sharp cutting.
Fig. 8. Diagram showing the digging process and the Remaining parameters such as the weight of the
soil by arm and the force acting on the arm cylinder. elements, lever arms, the size of the shear is
determined by the structural parameters of the
and land. In figure 8, position I is the start of the excavator and the orbit of the bucket tip when
digging process, position II is the finish. digging by arm.
To calculate the thrust of the arm cylinder, O2 Tab. 3. Separate digging force k1
rotary joint and D rotary joint are removed. Force
diagram to the structure as shown in Figure 8.
k 1,
From the moment equation with the point O2,we Level Type of soil
N/cm2
calculate: soil
I Sandy soil, wet sand, arable 3,0-12
 G 2 .rG 2  G3 .rG 3  P01 .r01
Ptg  (2) land, peat.
rtg
II Yellow clay, dry yellow clay, 12-20
Where: and loam.
Ptg: thrust of the arm cylinder; III Clay, clay moist and tight. 16-30
F23: reactive force at O2 joint; IV Clay and dry clay, hard clay
and gravel, dry humus. 25-42
P01: tangential cutting force with cutting
trajectory; 4. Putting mechanics and hydraulics together
P02: normal cutting force with cutting trajectory; Connection between the SimHydraulics and
SimMechanics models are obtained by introducing
G3: arm weight;
the “Prismatic Translational Interface” elements
G4: weight of bucket and soil; between the hydraulic and mechanical models of the
cylinders, show in Figure 9.
rG3: lever arm from G3 to O2;
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Fig. 11. Overall view to high control level with both

kinematics and hydraulics toolboxes together.
Fig. 9. Detailed view to Prismatic Translational

Interference, MTR stands for Mechanical
Translational Reference.
Fig. 12. Position of bucket arm before and after

digging.
Fig. 10. Solution Cycle for Co-Simulation.
Firstly, the mechanical system model will

calculate the load, the initial positions of the
cylinders. These parameters are inputted to the
hydraulic system model. The hydraulic system will Fig. 13. Graph of force on acting the arm piston.
calculate the pressure and flow accordingly. This 5. Results and discussion
pressure changes into the thrust of the cylinder, the
flow of the pump changes into the velocity of the Input data for the program was taken from the
cylinder, and we have the new the position of DOOSAN DX340LC-5 hydraulic excavator catalog.
thecylinder. Mechanical model uses forward The physical parameters of the elements are
dynamics to determine the positions and loads of the simulated through Autodesk Inventor 2016 software.
bodies by using the cylinder forces. New position and The position of the boom, arm and bucket are
load of the hydraulic cylinder is computed and determined from the initial conditions. When running
feedback to the hydraulic system model. In each the program, the energy supplied from the hydraulic
solution step, the cycle given in Figure 10 is repeated system in the form of pressure and flow convert to
and therefore simulation of hydraulic and mechanical velocity and thrust of the arm piston. The arm and
models is obtained. bucket perform the excavation and accumulation of
soil from the position I to position II as shown in
Complete model of hydraulic arm is shown on Figure 12.
Figure 11. One can see that the connection between
hydraulics and kinematics model is made via When digging with the arm cylinder, the
prismatic joint which is connected to the hydraulics cylinder force increases as the force rises. In addition,
sub model. The internal structure of these sub models the weight of the soil and lever arm increased. The
was discussed above.
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Fig. 15. Graph of the flow pump.

mechanics. Matlab extensions SimMechanics and
SimHydraulics were used together as the main
simulation tool. Successful cooperation of models
designed in these two simulation tools was
Fig. 14. Graph of rod valve position, arm piston accomplished via block named Prismatic Translation
position and velocity of arm piston.
Interface.
graph of the force acting on the arm piston is shown Although the test results are not yet available,
in Figure 13. the author believes that the model also yields reliable
Although the load varies, the velocity of the results. The successful combination of mechanical
cylinder during the excavation is almost unchanged. and hydraulic systems will open the way for more
In Figure 14, the cylinder speed changes only during sophisticated devices.
the transition period, then the vibration is stabilized
References
immediately.
[1] Prof. Dr of science. Nguyen Van Khang, Dynamics of
This result is accurate because in the Multibody Systems, Nhà xuất bản Khoa học và Kỹ
hydraulic system we use a load sensing variable- thuật, 2016.
displacement pump (LS pump) and a PC valve, [2] Lưu Bá Thuận, Tính toán máy thi công đất, Nhà xuất
proportional valve, 4-way, 3-position to adjust and bản Xây dựng, 2008.
stabilize the velocity. The flow of the pump is [3] Stanislav Vˇechet, Jiˇr´ıKrejsa, Hydraulic arm
stable, the graph of the flow of the pump is shown modeling via matlab simhydraulics, Engineering
in Figure 15. Mechanics, Vol. 16, 2009, No. 4, p. 287–296.
[4] Koivo, A.J., Thoma, M., Kocaoglan, E. and Andrade-
Presented modeling method was successfully Cetto, J. (1996) ‘Modeling and control of excavator
tested with the hydraulic system of the working tool dynamics during digging operation’, J. Aerosp. Eng.,
of a hydraulic excavator. We have presented an January, Vol. 9, No. 1, pp.10–18.
approach to modeling complex system which [5] Shop DOOSAN DX340LC-5 Operation and
Maintenance Manual, K1009684E, Serial Number
combines two di erent sub systems: hydraulics and 5001 and Up, 2012.
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A Study on Lateral Instability of Tractor Semitrailer Turning Maneuvers

on Roads with High Adhesion Coefficient
Duong Ngoc Khanh1,*, Vo Van Huong1, Ta Tuan Hung2
1
2
University of Transport and Technology
Email: tuanhung153@gmail.com
Abstract
There are many tractor semitrailer vehicle accidents caused by lateral instabilities, which may be classified
into two types: roll instability and yaw instability. The roll instability of tractor semitrailer frequently occurs
while directional maneuvers at high speed on roads with high adhesion coefficient. In this paper, a full
dynamic model of tractor semitrailer is developed based on Multi-body System Method and Newton-Euler
equations. The model includes adaptive submodels of vehicle dynamics as well as suspension model, tire
model, fifth wheel model, and so on. Rollover risk of the tractor semitrailer evaluation is based on the
maximum of a rollover risk indicator, namely the Load Transfer Ratio (LTR), which corresponds to the load
transfer between the left and the right sides of the vehicle. This model is applied to determine the lateral
instability of the tractor semitrailer while turning maneuvers on the high adhesion coefficient of roads.
Keywords: roll instability, adhesion coefficient, full dynamic model, turning maneuver, Load Transfer Ratio.
This paper focuses on lateral instability

1. Introduction
conditions of the tractor semitrailer when turning
In recent years, heavy vehicles often pose maneuvers on the high adhesion coefficient of roads.
serious highway safety risks due to their excessive And the dynamic model of the tractor semitrailer
weights, larger dimensions, and directional and roll derives by Newton-Euler approach. Rollover
stability limits. Accidents involving heavy vehicles conditions of the tractor semitrailer evaluation is
have serious consequences for road users and based on the rollover indicator, namely the Load
incidents induce major congestions or damage to the Transfer Ratio (LTR), which corresponds to the load
environment or the infrastructure at disproportionate transfer between the left and the right sides of the
economic costs. Vehicle dynamic instability can be vehicle; the distance critical, which corresponds to
defined as an unexpected response maneuver induce the lateral distance from center of gravities of sprung
disturbance, occurring in the ground plane: the masses and the outer tire contact patch with the
longitudinal, lateral, pitch, yaw and roll direction, or ground...
combinations of those. For a tractor semitrailer,
2. Tractor Semitrailer Model
lateral instability can be classified into two types:
yaw instability and roll instability (Fig. 1). The yaw 2.1. Coordinate systems
instability of the tractor semitrailer is defined as
A multi-body dynamic model of a tractor
swing trailer, oscillation trailer and jackknifing. The
semitrailer has been developed using Newton-Euler’s
yaw instability, cause by either braking or combined
Equations [2, 3] and simulated by a dynamic analysis
braking and steering maneuvers on the low adhesion
software program. The type of heavy vehicle
coefficient of roads. Jackknifing is characterized by
considered is a tractor semitrailer with 6-axles (3-
rapid and uncontrol relative angular yaw motion
axles for tractor and 3-axles for semitrailer). In order
between the tractor and the semitrailer [1]. The roll
to develop the model in cornering maneuvers, we
instability occurs when the centrifugal forces imposed
adopt a configuration of vehicle representing tractor
on the vehicle during a maneuver exceed the rollover
threshold of the vehicle. The rollover of vehicle
constitutes two main categories: maneuver rollover
and tripped rollover. The tripped rollover causes by
colliding with another vehicle or any obstacle. The
maneuver rollover occurswhile lane change or turning
maneuver on the high adhesion coefficient of roads.
In this case, the roll angle is increased. The rollover
condition of tractor semitrailer is determined when
tires on axles lose road contact (wheel lift-off).
Fig. 1. Lateral Instability categorization.
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Fig. 2. Tractor Semitrailer Coordinate Systems.
with 3 axles and one chassis body, and semitrailer Where

with 3 axles and one chassis. The motion of two body
mk 0 0 0 0 0 
in the coordinate system model is considered (Fig.2) 0
(OXYZ) is the earth-fixed coordinate system.  mk 0 0 0 0 
(C1x1y1z1) and (C2x2y2z2) are respectively the tractor 0 0 mk 0 0 0 
Mk   
and semitrailer’s sprung masses coordinate systems 0 0 0 J xk 0 0 
fixed at the center of gravity (CoG). The relative 0 0 0 0 J yk 0 
motion of C1x1y1z1) and (C2x2y2z2) with the fixed  
0 0 0 0 0 J zk 
(2)
coordinate system (OXYZ) are the rotation matrices.
2.2. Sprung Masses Model are the inertia matrices of the sprung masses;
In this paper, the motion of the two sprung 0 0 0 0 mv

k zk mvk yk 
masses in the earth-fixed coordinate system is  

0 0 0 mv
k zk 0 mvk xk 
considered (tractor and semitrailer). For each sprung 0 0 0 mv mv 0 
Ck(v) 
k yk k xk
mass, the mathematics model is formulated six
equations of motion corresponding with the six 0 mv
k zk mv
k yk 0 Jzkzk Jykyk 
 
degrees of freedom resulting from unconstrained mv
k zk 0 mv
k xk Jzkzk 0 Jxkxk 
motion.vk=[vxk,vyk,vzk,ωxk,ωyk,ωzk]T are the velocity mv mv 0 Jykyk Jxkxk 0 
vector of each sprung mass mkin the body-fixed  k yk k xk
(3)
coordinate systems Ck, respectively (k=1: sprung are Coriolis/centripetalmatrices.
mass of the tractor; k=2: sprung mass of the
semitrailer) (Fig.2). Jxk, Jyk, Jzk are the mass moments of inertia about
roll, pitch and yaw axes, respectively.
The six equations associated with the τvk=[FXk,FYk,FZk,MXk,MYk,MZk]T represent the total
translational motion of the body are known as external force and moments acting inthe
Newton Euler equationsof motion: corresponding directions.
Mk vk  Ck vk   vk (1)
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Fig. 3. Unsprung masses model.

2.3. Unsprung Masses Model
Each of the axles is thus characterized as a rigid
beam with 2 DOFs (vertical zAi and roll motion βAi)
(Fig.3).
Vertical and lateral forces and roll moment Fig. 4. Fifth Wheel Hitch Model.
balance on the axles yield the following equations:
 m A i v z A i  m A i (  y A i v x A i   x A i v y A i )  F A Z i
 (4)
 J A x i  x A i  ( J y A i  J z A i )  y A i  zA i  M A X i
Lateral forces between the sprung masses and

the axles, denoted by FRi, are assumed to be
transmitted through the respective roll centers. The
lateral forces on the left and right tires, denoted by
Fyi1 and Fyi2 respectively, are developed by the
Ammon Tire Model.
2.4. Modeling of Tires
Fig. 5. Left steer angle of road wheel.
Vehicle motions are primarily caused by forces
and moments developed at the tire-road interface. In This mean the acceleration at a coupling point is
this paper, assuming that the overturning moment and the same for both the tractor and semitrailer of
other moments are neglect. The longitudinal and vehicle [5].
lateral forces are computed based on Ammon Tire The roll moment MHx1 acting through the fifth
Model [4]. wheel may be computed as:
 sij  s2   2   M Hx1  CmHx (  '1  1 )
 Fxij   x max Fzij (t ) f 
xij ij
  (7)
 sij   ij
2 2  s x , max x , max   M Hx 2  cos( 2  1 ) M Hx1
  
 (5)
 s2   2  Where CmHx is roll angle stiffness of the fifth
  ij
 y max Fzij (t ) f   wheel hitch β’1 is calculated as:
x ij
 Fyij 
 sij2   ij2   max y , max 
   sin 2 cos( 2  1 )  2cos2 sin( 2  1 )
1'  atan
The inputs of the tire model are tire vertical 1 sin( 2  1 )sin 2  cos2 (8)
loads Fzij, lateral slip angles αij and longitudinal slip
2.6. Rollover Risk Indicator
ratios sij...
Rollover risk evaluation is based on a load
2.5. Modeling of Fifth Wheel Hitch
transfer indicator, Load Transfer Ratio (LTR), that
τvk in the equation (1) contains the constraint estimates the difference in the tire normal forces
forces and moments due to fifth wheel hitch acting on each side of the vehicle [6]. The LTR is
(coupling between tractor and semitrailer) (Fig. 4). depending on the load on each wheel and calculated
Assume that coupling mechanisms are relative rigid as follows:
in translation. The forces transmitted through the n
coupling are determined from kinematic constrains
as:
F zi 2 - Fzi1 
LTR  i 1
(9)
  n
R H 1  RH 2  0 (6) F
i 1
zi 2  Fzi1 
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Table 1. Tractor semitrailer parameters

Parameter name Symbol (Unit) Value
Tractor CNHTC HOWO A7 [7]
Semitrailer CIMC 40FT [8]
Total weight of tractor M1(kG) 10560
Total weight of semitrailer M2(kG) 37055
Sprung mass of the tractor m1(kG) 7620
Sprung mass of the semitrailer m2(kG) 34715
Wheel base of the tractor L1(mm) 3240+1340
Wheel base of the semitrailer L2(mm) 6945+1310+1310
Track width 2b1/2b2,3/2b4,5,6(mm) 2050/1860/1850
Height of hitch hH (mm) 1330
Sprung mass of tractor roll moment 2
Jx1(kgm ) 11494.3
of inertia
Sprung mass of semitrailer roll
Jx2(kgm2) 52828.7
moment of inertia
Sprung mass of tractor pitch
Jy1(kgm2) 38399.2
moment of inertia
Sprung mass of semitrailer pitch
Jy2(kgm2) 484022.2
moment of inertia
Sprung mass of tractor yaw
Jz1(kgm2) 34969.9
moment of inertia
Sprung mass of semitrailer yaw
Jz2(kgm2) 467066.4
moment of inertia
Where Fzi1, Fzi2 are normal loads acting on the rollover of tractor semitrailer. In stable cases, the
left-wheel and the right-wheel, respectively of the behavior parameters of vehicle are stability follow
equivalent axle i; When Fzi1=0 (Fzi2=0) all the right steering maneuvers.
(left) wheels lift off the road and the rollover
4. Conclusion
coefficient takes on the LTR=±1.
3. Results and Discussions
The model is simulated by Matlab/Simulink in
the high adhesion coefficient of road (0.8) and full
load. The tractor semitrailer parameters used in the
simulations are listed in table 1. The results of the
Load Transfer Ratio, lateral acceleration, roll angle,
Critical Distance [1] of the tractor and semitrailer
show below from Fig. 6 to Fig. 13. The turning
maneuver in an open-loop mode are often
characterized by a Ramp Steer Maneuver with some
amplitude of steering angle (Fig. 5) at 50km/h of
forward speed. Fig. 6. Load Transfer Ratio.
Fig. 6 illustrates Load Transfer Ratio (LTR) in
time domain while the tractor semitrailer is subjected
to a Ramp Steer Maneuver (Fig. 5). When all the left
tires of vehicle are lost contact from ground, LTR
equal 1. This is a signal of rollover condition. In this
examine, the rollover occurs when amplitude of RSM
δ11≥60 at 50 km/h. In these case, the roll angles of
sprung masses increase rapidly, center of gravities of
sprung masses are approached to the outer tire
contacts, referred to as Critical Distances (ΔY1, ΔY2)
of tractor and semitrailer shown in Fig. 12 and Fig.
13. The more amplitude of RSM δ11, the faster of Fig. 7. Yaw articulated angle.
458 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 8. Roll angle of the tractor. Fig. 11. Lateral acceleration of the semitrailer.
Fig. 9. Roll angle of the semitrailer. Fig. 12. Critical Distance of the tractor.
Fig. 10. Lateral acceleration of the tractor.

Fig. 13. Critical Distance of the semitrailer.
In this paper, the rollover stability of a tractor
[3] NGUYEN Van Khang, Dynamics of Multibody
semitrailervehicle is examined. A full dynamic model Systems, Science and Technics Publishing House,
of the tractor semitrailer is developed based on Multi- Hanoi (2007).
body system method and Newton–Euler equations. [4] Ammon. D, Modellbildung und Systementwicklung in
The model includes the details of vehicle dynamics as der Fahrzeugtechink, BG Teubner (1997).
well as fifth wheel model, tire model, etc, And the [5] Schramm Dieter, Hiller Manfred, Bardini Roberto,
model is applied to detect the rollover conditions of Vehicle Dynamics Modeling and Simulation,
the tractor semitrailer while turning on the high Springer-Verlag Berlin Heidelberg, Germany (2014).
adhesion coefficient of roads. The rollover occurs in [6] El-Gindy. M, Hosamel-deen. Y.H, Sensitivity
Parametric Analysis of UMTRI Static Roll Model, Int.
the high amplitude of steering maneuver.
J. of Vehicle Design, vol.10, no.2, (1989) pp.187-
References 189.
[7] Report test results of tractor No.0877 NK/KQTN-
[1] Peijun Liu, Analysis, Detection and Early Warning TO/14, Vietnam Motor Testing Centre, Vietnam
Control of Dynamic Rollover of Heavy Freight Register, Hanoi (2014).
Vehicles, Concordia University, Canada (1999). [8] Report test results of Semitrailer No. 0813
[2] Mike Blundell and Damian Harty, Multibody Systems NK/KQTN-TO/14, Vietnam Motor Testing Centre,
Approach to Vehicle Dynamics, Elsevier’s Science Vietnam Register, Hanoi (2014).
and Technology Right Department, Oxford (2004).
459 October 27 - 28, 2018

Hanoi, Vietnam
Simulation of Flow Rate in a Water-in-Glass Evacuated Tube Solar Water

Heater
Van Chuong Ta1,*, Nguyen An Nguyen1, Quoc Uy Nguyen2
1
Heat Engineering Department, School of Heat Engineering and Refrigeration, Hanoi University of Science and
Technology, Hanoi, Vietnam
2
Faculty of Energy Technology, Electric Power University, Hanoi, Vietnam
*Email: chuong.tavan@hust.edu.vn
Abstract
The natural circulation of water in evacuated tube solar collectors has a major influence on the process of
receiving and transmitting solar energy, so that it directly influences on the performance of collectors. Thus,
a simulation of flow rate in a water-in-glass evacuatedtube solar water heater was developed in this paper.
By analyzing the velocity distribution in a tube, the mass flow rate of water through the tube was determined.
The process was studied in various modes depending on the total heat radiation that the evacuated tube
absorbed, the average water temperature and the transverse incidence radiation angles in order to develop
the equation describing the mass flow rate in different operating modes. These results can be used to study
the convective heat transfer coefficient of water in the tube, which is an important performance parameter of
the solar collectors.
Keywords: simulation, evacuated tube, natural circulation, velocity, mass flow rate.
1. Introduction The natural circulation of water in evacuated

tubes of solar collectors has a major influence on the
The most available source of renewable energy
process of receiving and transmitting solar energy, so
on earth is solar energy. Solar energy is used
that it directly influences on the performance of
worldwide and is increasingly popular because the
collectors. These results can be used as an effective
greatest advantage of it as compared with other forms
tool to optimizesolar collectors parameters, thus it
of energy is that it is clean and can be supplied
may add to the value of the solar thermal energy
without any environmental pollution [1,2]. It is used
system performance.
in many industrial fields but the simplest and most
effective application is to heat water [3,4]. The water-
in-glass evacuated tube solar water heater is the most
widely used because it has higher thermal efficiency
than flat plate solar water heaters in particular for
high temperature operations Fig. (1). It’s contain two
concentric glass tubes connected to a hot water tank.
The concentric tubes have an empty space between
them where the air is evacuated at a pressure below
the atmospheric value. The inner tubes are filled with
water and the outside wall of each inner tube is
treated with an absorbent selective coating to receive Fig. 1. The water-in-glass evacuated tube solar water
solar radiation to increase the water temperature of heater.
the inner tubes [5].
Heat transfer and fluid flow processes in a
water-in-glass solar water heater are schematically
illustrated in Fig. (2). Water in the tubes is heated by
solar radiation received by the absorber surface,
creating a stream of hot fluid rising along the top
section of the tube, replaced by colder fluid from the
tank entering the bottom section of the tube. The flow
rate of natural circulation through the tubes depends
on thetotal heat radiation that the evacuated tube
absorbed, transverse incidence radiation anglesand
water temperature [5]. Fig. 2. Heat transfer and natural circulation flow in a
water-in-glass evacuated tube solar water heater.
460 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 4. Boundary conditions implemented in

simulations.
Fig. 3. Computational domain with mesh.
A correlation of flow rate in terms of tube 2.2. Initial and Boundary Conditions
geometryand operating parameters is an important A stationary fluid was considered as initial
component of asystem simulation model for condition for the velocity field. Similarly, a uniform
prediction of the long-termperformance of water-in- temperature field was considered as initial condition
glass systems. The development of a correlation for before the heating process begins. On the other hand and
flow rate through water-in-glass evacuated tubes has regarding thermal boundary conditions, a third kind
been presented in Budihardjo [5,6]. The tube being boundary condition was imposed on all the surfaces of
simulated has absorber diameter of 37mm and length the solution domain in order to take into account thermal
1.42m. The non-dimensional flow rates obtained from losses to the ambient. In addition, a boundary condition
experimental measurements were correlated as a was also imposed on the cylindrical surface of tubes, in
function of the operating parameters. The effect of order to consider the energy input due solar radiation.
varying operating parameterson the flow rate inside a Fig. (4) shows a schematic of the imposed boundary
tube withabsorber diameter of 47mm and length 1.8m conditions.
(the tubes common in Vietnam) has not been reported
The flow rate in awater-in-glass evacuated tube
elsewhere.
solar water heaterdepends on the total heat radiation that
2. Numerical Simulations the evacuated tube absorbed (G), transverse incidence
radiation angles (ξ), water temperature (tf) and the
A computational fluid dynamic package environmental temperature (tenv). In this paper, the
ANSYS-CFX was used for the CFD simulation process was studied in various modes depending on
offlow rate in a water-in-glass evacuated tube, which the operating parameters were shown in Table 1.
uses the Finite Volume Method (FVM).
Table. 1. Operational conditionsin simulations
2.1. Computational Domain
Test tf,0,oC G, W/m2 , o tenv, oC
The simulation of the whole collector with
1 20 200 90 20
multiple tubes were difficult due to computational
limits, therefore a simplified computational domain 2 20 300 90 20
and model was developed. The simplest option is to 3 20 400 90 20
simulate a tube with connected to a part of the hot 4 20 500 90 20
water tank. The tube being simulated has absorber
diameter of 47mm and length 1.8m, inclined at 21o to 5 20 600 90 20
vertical. The part of tank being simulated has 360mm 6 20 700 90 20
of diameter and 80mm of length. 7 20 800 90 20
A 3D meshed model of a computational domain 8 20 500 45 20
is built in ANSYS-ICEM as shown in Fig. (3). The 9 20 800 45 20
mesh influences the accuracy and the simulation time
of the solver. Therefore, the mesh is divided and 2.3. Governing Equations
controlled based on the size of the details. The mesh
of the computational domain has 113626 nodes and The governing equations of mass, momentum
399289 elements. and energy conservation were used to solve for the
transient hydrodynamic and thermal fields. The
equations with consideration of gravity effect can be
written as follows [7]:
461 October 27 - 28, 2018

Hanoi, Vietnam
Conservation of mass:
 (1)
  ( u)  0
t
Conservation of momentum:
u (2)
   u  u  p     (T  Tref ) g
t
Conservation of energy:
Cp
T
  C p u   T    (k  T )
(3)
t Fig. 5. Temperature distribution in a water-in-glass
2.4. Numerical Procedure evacuated tube solar water heater.
The transient simulation was initialized with the

tank and ambient temperatures of 20oC. In the model,
the variation of the proprieties with temperature is
allowed. At the start of the simulation, a time step of
0.5s was used and after the flow structure was
developed the time step size was increased to 3s.
Furthermore, the solution is iterated until
convergence is achieved, that is, residual for each Fig. 6. Velocity vectors in a water-in-glass evacuated
equation falls below 10-5 and changes in massflow tube solar water heater.
rates, temperature and energy for waterflow become
negligible.
A workstation with Intel Xeon E3processors of
3.8GHz and an installed memory of 32 GB, which
took about10h of CPU time depending on the case
study.
3. Natural Circulation Flow Rate Through an
Evacuated Tube
The mass flow rate of water(m) through an
evacuated tubes can be determined from the useful Fig. 7. Velocity vector distribution on the top section
energy (qu) collected by the tank and the temperature of tube opening.
increase of water in and out of the tube (Eq. (4))[8].
qu (4)
m  In this paper, the development of a correlation
C (to  ti )
p for flow rate through an evacuated tubes with
Various forms of Reynolds and Rayleigh or absorber diameter of 47mm and length 1.8m (the
Grashof numbers have been used in correlating tubes common in Vietnam) has been presented.
natural convection flow ratethrough an evacuated
tubes. Relation between convective heat transfer and 4. Results and Discussions
natural circulation in evacuated tubes was obtained The temperature distributionin the water-in-
by dimensionless numbers R a* (modified Rayleigh glass evacuated tube solar water heater is shown
number) represents convective heat transfer andRe inFig. (5). It can be observed that the water with a
Reynolds represents natural circulation in evacuated lower temperature goes to the bottom, whereas the
tubes, this relation comes from regression the two water with higher temperature circulates along the top
variables evaluating the constants a and b in Eq. (5) of the tube due to the buoyancy effects.
[9]. The velocity vectors distribution of the water on
a vertical planealong the manifold is shown inFig.
Re  a  Ra 
* b (5)
(6). The maximum velocity predicted by the
where numericalmodel is 0.036m/s. The hot water leaving
g  qu d 4 (6) the top section of the tube opening, replaced by cold
Ra*  N u Ra  Pr water from the tank entering in the bottom half of the
 2
tube (Fig. (7)). Higher velocities are observed at the
4m (7)
Re  hot water butthe cross section of hot water is smaller.
d Thus, inlet and outlet of water flow is balanced.
462 October 27 - 28, 2018

Hanoi, Vietnam
water heater. The simulation was studied in various

modes depending on the total heat radiation that the
evacuated tube absorbed, the average water
temperature and the transverse incidence radiation
angles in order to develop the equation describing the
mass flow rate in different operating modes. This
equation is applied in research of evacuated tubes to
calculate the mass flow rate and velocity of the water
inside the tube, hence it supports to study the
convective heat transfer coefficient of water inside
the tube as well as the useful energy of the tube.
Fig. 8. Temperature distribution on the top section of These results can be used in the design and optimize
the tube opening. the operation of the solar collectors. Thus, it may add
to the value of the solar thermal energy system
performance.
References
[1] K. Sukhatme, J K Nayak, Solar energy: Principles of
Thermal Collection and Storage, Third edition, Tata
McGraw-Hill Education. (2008).
[2] J. Duffie, W. Beckman, Solar Engineering of Thermal
Procsesses, John Wiley & Son, NEW YORK. (2002).
[3] Shoufeng Qiu, Matthias Ruth, Sanchari Ghosh,
Evacuated tube collectors: A notable driver behind the
solar water heater industry in China. Renewable and
Fig. 9. Non-dimensionalcirculation flow rate inthe Sustainable Energy Reviews. 47 (2015) 580–588.
water-in-glass evacuated tubein different operating [4] M.A. Sabiha, R. Saidur, Saad Mekhilef, Omid
modes. Mahian, Progress and latest developments of
evacuated tube solar collectors, Renewable and
Temperature distribution on the top section of
Sustainable Energy Reviews. 51 (2015) 1038–1054.
the tube opening is shown in Fig. (8). The maximum [5] Indra Budihardjo, Graham L. Morrison, Masud
temperature is 63.6oC and the minimum temperature Behnia, Development of TRNSYS Models for
is 60.46oC. Based on the velocity vector distribution Predicting the Performance of Water-in-Glass
on the top section of tube opening, the area of water Evacuated Tube Solar Water Heaters in Australia,
inlet and outlet will be determined. Therefore, the Destination Renewables. (2003) 2-10.
water temperature at the inlet (ti) and the water [6] Indra Budihardjo, Graham L. Morrison, Masud
temperature at the outlet (to) in the Eq. (4) will be Behnia, Natural circulation flow through water-in-
defined. Finally, the mass flow rate of water through glass evacuated tube solar collectors, Solar energy. 81
(2007) 1460-1472.
an evacuated tubes will be determined
[7] Wahiba Yaici, Mohamed Ghorab, Evueniy Entchev,
The mass flow rate of water through an Skip Hayden, Three-dimensional unsteady CFD
evacuated tubes in different operating modes simulations of a thermal storage tank performance for
depending on the total heat radiation that the optimum design, Applied Thermal Engineering. 60
evacuated tube absorbed, the average water (2013) 152-163.
temperature and the transverse incidence radiation [8] S.R. Park, A.K. Pandey, V.V. Tyagi, S.K. Tyagi,
angles were determined and reported in [10].Various Energy and exergy analysis of typical renewable
forms of Reynolds and Rayleigh numbers have been energy systems, Renewable and Sustainable Energy
used in correlating natural convection flow rate (Eq. Reviews. 30 (2014) 105–123.
[9] G.L. Morrison, I. Budihardjo, M. Behnia,
(5-7)). Non-dimensional circulation flow rate in the
Measurement and simulation of flow rate in a water-
water-in-glass evacuated tubein different operating in-glass evacuated tube solar water heater, Solar
modes is presented in Fig.(9) as Reynolds number energy. 78 (2005) 257-267.
versus modified Rayleigh number. This correlation [10] Tạ Văn Chương, Nguyễn Nguyên An, Nguyễn Quốc
can be used in a simulation model of evacuated tubes Uy (2017), Mô phỏng lưu động của nước trong bộ thu
to predict circulation flow rate between the collector năng lượng mặt trời kiểu ống thủy tinh chân không,
and the tank and research the convective heat transfer Tạp chí Khoa học và Công nghệ - Viện Hàn lâm Khoa
coefficient of water in the tube. học và Công nghệ Việt Nam. Số 55 (1) (2017), tr 132-
139.
5. Conclusions
This paper presents a numerical simulation of
flow rate in a water-in-glass evacuated tube solar
463 October 27 - 28, 2018

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Models of High Technology Sea Salt Production by Three-Dimensional

Evaporation (E3D)
Hoang Duc Lien1*, Nguyen Quang Hieu2
1
Faculty of Engineering, Viet Nam National University of Agriculture
2
Hai Phong Science and Technology Company, Vietnam
*Email: hdlien@vnua.edu.vn
Abstract
Vietnam has a great potential for marine salt production. However, the technology of sea salt production in
Vietnam is still very manual, low productivity and quality and highly dependent on climate, weather.
In this paper, we present a model of high-tech salt production by E3D. This is a solution contributing to
improve productivity, quality, lower sea product prices limit the impact of climate weather. And, it contributes
to improving labor productivity, improving salt farmers' living standards and protecting the marine ecological
environment
Keywords: Sea salt, high technology, three-dimensional evaporation.
The weak points of the above two methods of salt

1. Introducion
production are:
The world has 62 countries which producing salt - The capacity of water evaporated is limited
output of more than 100 million tons per year, because of the surface exposing sea salt-marsh;
Vietnam is ranked 23/62 with salt production of more - The use of rudimentary tools, traditional, age-
than 1.0 million tons of salt per year [8, 9]. old, not mechanized improvement; hard salt working,
Vietnam has a coastline of 3,260 km, sea water low productivity;
has a salinity of about 30-33 %, equivalent to the - If the climate changes, it causes big losses: The
average salinity of sea water in the world. amount of salt-pond water stored on exposing sea
Vietnam has a great potentiality for salt salt-marsh is very much (from 1,000 to 2,000 m3/ha)
production (total salt output is estimated at 120-130 difficult to distil, if it rains, it will cause many losses;
billion tons). Our country includes 21 provinces - Long-time salt production cycles in low
producing salt, stretching from Hai Phong city to Ca productivity;
Mau province. The area of salt production in the - Lots of effort and fuel: Dry sea water, sand
whole country in 2016 was estimated at 14,712 scraping, filtering brine, handicraft collecting salt,
hectares, of which the area of handicraft salt labor productivity is low; The cost of pumping water
production is 10,319 hectares; The area of industrial from saline water in low concentration to saline in
salt production reached 4,313 ha. Salt production high concentration in many levels and expense distil
output in 2016 reached about 1,306,933 tons, down salt.
10.6% over the same period of 2015 [1, 2].
At present, salt fields infrastructure have severely
However, due to the impact of global climate
degraded (including small-scale household salt farms,
change leading to the phenomenon of frequent storms
inter-household and salt-field salt production areas in
across the country, causing terrible influence on salt
production in the local.
Viet Nam has currently produced salt in two
popular methods [2, 7]:
1) The method of producing by exposing salt water
to the sun using rudimentary equipments such as
exposing sea salt-marsh, pump, water pedal reel,
salt rake. This method is applied in the central
and southern provinces of Vietnam;
2) The method of exposing sand is such as sand
drying, salt water filter, crystallized sea salt-
marsh. The method of producing by exposing
sea salt-marsh is popularly used in the northern
Figure 1. Production and transport of saltin
salt fields of Vietnam.
handicraft.
464 October 27 - 28, 2018

Hanoi, Vietnam
small scale) have not been strongly invested; Salt

production is still in on manual methods: hard labor,
low productivity, low product quality, narrow
consumption market... making high cost, low
production efficiency, income and living standard.
Majority of the salt workers life faced many
difficulties.
From the above situation, the productivity of salt
quality in our country is low, the high cost price, is
not competitive to other countries in the world and
fluctuations depend on many factors over the years.
Annually, Vietnam has imported tens of thousands of
tons of salt for daily life and chemical industry.
In order to overcome the above shortcomings, to
approach and apply advanced modern equipments
and technologies of the 4.0 industrial age, the Figure 2. E3D model of sea salt production.
research and designing of marine hi-tech sea salt 1- Tray No. 1; 2- Tray No. 2; 3- Salt water pumps;
production models in order to make a contribution to 4- Pipelines; 5- nozzle; 6- mosquito-nets Cloth;
improve productivity, quality of sea salt, utilizing 7- Racks.
renewable energy sources, minimizing environmental
pollution and climate change are urgent issues. 3.1. Model of producing sea salt E3D in craft
2. Methods and Materials for research 3.1.1. Installation model
2.1. Research Methods [3,6] Model height = 60cm.
- Statistical methods; The evaporation area of plastic tray: 0.4 x 0.3 =
- Method of design calculation; 0.12 m2.
- Test method, evaluation. The evaporation area of mosquito-nets cloth =
0.4 x 0.6 x 6 x 2 = 2.88 m2.
2.2. Research Materials A schematic diagram of the E3D model of sea
salt production is shown in Figure 2.
Salt water, brine salt water, crystalline salt.
3.1.2. Activity
3. Research results
Pour into glass trays No. 1 (E3D Experimental
In the scope of the paper, the design, installation Tray) 10 liters of seawater with a salinity of 2.5 %.
and testing of two models of high technology E3D Dip 5 square meters of damp cloth to drench the
sea salt production in manual and automation [4].
Table 1. Evaporation water on the test trays
Tray No. 1 E3D Tray No. 2 E2D
Time of Temperature Humidity

measurement Concentration Remaining Evaporated Concentration Remaining Evaporated Note
(0C) (%)
(%) water (ml) water (ml) (%) water (ml) water (ml)
10h 36 70 2,5 5.000 0 2,5 5.000 0

11h 36 65 4,1 3.000 2.000 2,7 4.500 500
12h 37 65 12,5 1.000 2.000 3,1 4.000 500
13h 37 65 25 500 500 3,5 3.500 500
14h 37 65 0 500 4,1 3.000 500
15h 36 65 5,0 2.500 500
465 October 27 - 28, 2018

Hanoi, Vietnam
1
B
7 E
4
A
11 (19)
10
21
2 D
14
18
E
C
13 (20)
Figure 3. E3D sea salt production model is equipped with automation equipment.
seawater, place on the rack (Fig. 2a). After 30 From formula (1) it is possible to calculate the
minutes, the dried curtain cloth, observed to have tiny volume of sea water remaining after experiment V2
crystalline salt grains cling to mosquito-nets cloth. when the parameters C1, V1, C2 are known,
Then the curtain was lowered, dipped in seawater in according to the following formula:
glass trays 1 for dissolved salts and measured salinity V2 = C1V1/C2 (2)
of seawater. Calculate the amount of water evaporated after the
Glass Tray No. 2 (E2D model tray) contains 10 experiment (V1 - V2) according to the formula:
liters of 2,5% degree saline water (Figure 2b). V1 – V2 = V1 – (C1V1/C2) (3)
3.1.3. Experiment Replacement of the measured data into the above
formula shows that: E3D three- dimensional
For purpose of the test, it has needed to be evaporation method yields 8 times higher E2D
equipped with a Digitat marin tester DMT-10. evapotranspiration.
Test conditions: Place two trays in the
greenhouse, follow from 10h to 15h sunny days, no 3.2. E3D sea salt production model is equipped with
clouds, light wind level 1, temperature 37- 380C; automation
humidity 70-80%. 3.2.1. Modeling
Dip the curtain cloth into tray No. 1 (model E3D)
and sun bathe it 10 times. Measure the salt The E3D model of sea salt production (Figure 3)
concentration every 30 minutes and record the results consists of the following:
in Table 1. - Frame A on bracket B; There are auxiliary
The E2D model cassette also sun bathe sea water systems such as marine water supply system C, D
for the same period of time. Measure salinity and water storage and preservation system, automatic
record results in table 1. control system E, intelligent control system F.
* Comment: From 13h, curtain fabrics appear more - Frame A is the conveyor belt, including: Rulo
salt crystals. 1 and 2 made of hard plastic, 2.0 - 3.0m in length,
At 14:00 dry cloth crystallized white clay on the net. diameter 0.2 - 0.35m. The roller bearing 3 is screwed
Formula based on constant: firmly to the holder B, and can be removed easily.
C1 x V1 = C2 x V2 = const (1) The rudder shaft 1 has a rotating handle 4 or a power
In which: C1 - Salt concentration before experiment; transmission wheel 5.
V1 - volume of solution before experiment;
C2 - Salt concentration after experiment; - Cloth bucket 6 made of spunbond synthetic
V2 - Volume of solution after experiment. fiber, good water absorption, thin, capillary, crease,
crease to increase evaporation surface and increase
466 October 27 - 28, 2018

Hanoi, Vietnam
permeability. The six-stitched grid was formed into minutes, seawater dissolves crystalline salt on the
the shape of a scarf and tied over the rulo shafts 1 and fabric and flows into glass trays 1, salt water reaches
2 into a conveyor belt. salt concentration of 25%. Experimented 10 times in
5h saline collected on 0.5 m2 fabric is 2500 ml
- Racks B is a cube frame made of hard plastic,
withsaltconcentration of 25%.
3.5 m long x 3 m wide x 2 m high. Area of 10 m2.
From the above results, 1,000 m2 of E3D
- Additional systems:
equipment can be counted in 5h of sun drying to
• Seawater C supply system includes pipelines obtain a saturated salt water of 5 m3, equivalent to the
from the seawater station: seawater pipeline 10, valve yield of saturated saline water collected per 1 ha of
11 [5]; sandy salt field of 10 workers in the above period,
meaning that out put and productivity increase 10
• The product collection system (salt and brine) times. This model is suitable for the production of
D consists of troughs 12, product containers (salt and saturated brine.
brine) 13, water valve 14, PVC pipe 15 leads water Test the operation of the model equipped with
into the tank;
automation system:
• Mechanical and automatic control system E: On the basis of E3D salt production model on
For mechanical and automation of equipment, the installation of mechanical and automatic control
motorized deceleration 17 (using solar or wind power
system E: To mechanically and automate the
engines) with power transmission system 18 wheel equipment, it is necessary to install the deceleration
drive transmission 5; engine 17 (with the use of solar motors or wind
• Automation system F: replaces valve 11, by power [11]) has a power transmission system 18
float 19 in marine water supply system C and valve attached to the transmission wheel 5; replace the
14 by electric valve 21 in product collection system water valve 11 by the electric float 19 and the electric
D; valve 20 in the sea water supply system C. Put the
float 19 in the trough 12.
• Intelligent control system G: Includes
concentration sensor and electronic valve located in Installation of intelligent control system F: Set
product collection system D, Camera and remote the sensor concentration 22 in the chute 12, replace
control. the water valve 14 by the electric valve 21. When
operating, the water reaches 300Bé the sensor 22
3.2.2. Assembly model closed circuit power 21 In the product collection
The E3D smart salt production equipment is fully system D for gut and salted water into the product
assembled according to the diagram (Figure 3). reservoir 16. Installation of camera and remote
Racks B stands on the ground, hard rock, control.
adjustable for balance and firmness. On bracket B Supply power for the engine, rulo 1rotate at a
with frame A; The rulo 1 is placed on two horizontal speed of 5-10 rpm and enough power to pull the grid
bars 7 (top); The rulo 2 is attached to two horizontal 6 drenched sea water revolve around axis rulo 1;
bars 8 (center); The lower half of the rulo 2 is located When the water level in the trough 12 drops below
in the trough 12. On the bracket B, it is possible to the set level, the electric float 19 closes the
attach a multiple grid A. electrically open circuit 20 for the seawater to flow
The feed system C includes: Seawater pipeline 10, automatically into the trough 12.
water valve 11 attached to horizontal bar 9 (bottom).
Connect the 10 conduits of sea water to the trough 12. Supply power to the concentration sensor 22,
The system of collecting products (salt and brine) D when the water level reaches 300Bé, the power valve
include: Water trough 12, salt bar 13, water valve 14, 21 open to discharge salt and water flows into the
pipe 15 attached to the horizontal bar 9 (bottom) reservoir 16.
3.2.3. Experiment Set up and balance the E3D salt production
equipment on vacant lots, have sunshine and wind;
Manually tested machine: After the assembly of Install the electric valve 20 with the pipeline of the
the above components onto the bracket B (frame A, seawater station. Install the deceleration motor 19 on
feed system C, product collection system D), it is the transmission wheel 5; power supply for E system
necessary to check the connections are not detected? and intelligent control system F.
Activity: Open valve 11, Supply seawater into Operation: The deceleration engine makes the
water trough 12, then lock it, rotate rulo 1 by hand roll 1 rotate slowly, pulling the net 6 moves from rulo
rotate 4 to dip all raw cloth 6 into seawater. After 30 1 to rulo 2, dipping into the trough and wetting it and
467 October 27 - 28, 2018

Hanoi, Vietnam
then moving upwards, the sea water evaporates. References

When the cloth 6 moves back to the rulo 2, the [1] Department of Processing, trading, agro-forestry-
evaporated seawater leaves the crystalline granules fishery and salt production. A synthesis report on the
clinging to the cloth 6 and is transferred to the trough development of the salt industry up to 2020 and a
12, when the salt water is not saturated, the salts vision to 2030. Ministry of Agriculture and Rural
dissolve in water causing the salt concentration water Development of Vietnam, (2013) Hanoi.
in the water increases, until the salt water is
saturated,13 salt scraped off the cloth 6 and fell to the [2] Bui Son Long and et al. Researching technology and
bottom of the trough 12. As the water evaporated, the equipment to mechanize collecting, transporting,
seawater in the trough 12 lowered below the set level, salting..., at industrial salt fields. State-level key
scientific and technological programs KC.07.08/06 –
the float 19 closed, the electric valve 20 opened the 10. (2010), Hanoi.
seawater sung to the limit will close the circuit. When
the concentration sea water in the trough reaches [3] Nguyen Van Bay. Pumps and pumping stations in
300Bé, the concentration sensor 22 opens the electric agriculture, Agricultural Publishing House, (1999),
valve 21, drains the salt and the juice into the tank 16. Hanoi.
If the E3D salt model is equipped with [4] Nguyen Quang Hieu. Vietnam Patent No. 891 and No.
intelligent control devices in automation [10] will 9738 issued on May 10, 1999 and on 11-10-2011.
certainly increase production and salt productivity (1999), Vietnam.
will increase several folds and will significantly
reduce the amount of manual labor of the people. [5] Hoang Duc Lien, Nguyen Thanh Nam. Hydraulics
and Water Supply and Drainage in Agriculture,
4. Conclusion EducationPublishing House. (2001), Hanoi.
The high-tech sea salt model E3D is a solution
[6] Hoang Duc Lien. Fluid engineering, Agricultural
that refers to the 3-dimensional evaporative salt Publishing House. (2008), Hanoi.
manufacturing (E3D) device. This is a new solution,
the issue of science and technology has not been [7] Nguyen Huu Thuan. Production of salt by the method
announced in Vietnam. The model was granted Patent of drying water, crystallized long days, deep salt water
No. 891 issued on May 10, 1999 [4]. saturation, with rain cover - The final report on the
independent trial production project at the State level
The high-tech sea-salt model E3D, if applied in of Vietnam. (2007).
production, will certainly contribute to: Technical
economic efficiency (Raising labor productivity, [8] Economics of Salt (2001). 10 th edition – Roskill
increasing productivity, raising salt quality, lowering Publishing – UK.
production cost product); Social efficiency
(Improvement of working environment, manual labor [9] Le sel - Alain Colas (1985). Presses universitaires de
reduction, improvement of salt farmers' life); France.
Environmental protection: All seawater are not
[10] Technical and economical proposal for equipments
directly contact with the soil and brought to the solar salt farms (2000) – Serra - Spain.
wastewater treatment area. Non-saline soils can be
cultivated, animal husbandry, aquaculture in the rainy [11] Technical proposal for a solar salt farm - CNTIC-
season, and rotational crops, intercropped with crops. China -1989/2005. (2005), China.
468 October 27 - 28, 2018

Hanoi, Vietnam
Developing New Design of a Top-lid Updraft Biomass Cookstove

by CFD Modeling
Linh Nguyen Huu, Dung Le Duc*
Hanoi University of Science and Technology, Hanoi, Vietnam
*Email: dung.leduc@hust.edu.vn
Abstract
CFD modeling applications on analyzing the details of fluid flow inside the biomass cookstoves help to
improve and optimize the design and operation of a thermochemical reactor. This paper presents an
approach that a detailed CFD simulation of the flow, heat transfer behavior and combustion in the
configuration of a Top-lid Updraft (TLUD) cookstove was performed. A new design of cookstove was
selected to investigate the effect of the distribution of secondary air holeson the flow field, heat transfer and
characteristics of combustion processes via ANSYS Fluent 17.1. Temperature gradients, path line of the
gas flow and combustion product concentrations were presented. The simulation results indicated that the
location of secondary air have a significant effect on the efficiency of combustion processes. The final
chosen design of the stove will operate with the secondary air holes located on the reactor body to favor a
good mixture between produced gas and the air in the secondary combustion zone.
Keywords: Biomass, TLUD rice husk cookstove, CFD.
1. Introduction whereas the secondary air required for gas

combustion is supplied at the top, above the fuel bed
Almost 3 billion people around the world cook
for generating the power required during the cooking
on open fires and traditional stoves. In Vietnam
process.
alone, 70% of rural households use firewood along
with agricultural residue for cooking. The
WHOclaims that short and long term health effects
associatedwith the smoke produced by these fuels has
contributed toapproximately 45,000 deaths per year
in the country [1].
In recent years, designers of household
cookstoves have focused on improving efficiency,
energy-saving and reducing emissions to mitigate
healthimpacts associated with the use of solid
biomass fuel leading the new designs of the improved
cookstoves in a clearner and more efficient manner
and also user-friendly. Most of them using the
gasification route with forced air supply as the
fundamental designfeature and many adopting Fig. 1. Micro-gasification process in TLUD
thermoelectric generators for driving the air supply cookstoves [6].
fans [2]. However, significant efforts are required There are two phases in the consumption of the
towards more efficient cookstoves to gainsignificant biomass [5]. The first phase refers to as the flaming
health, environmental, social and economicbenefits. mode invoving the evolution of volatile gases and
The gasifier cookstove designs fall in the conversion of the biomass to char by the propagating
following categories based on the direction of flow of pyrolysis front. Once all biomass is devolatiled and
the gasification air: updraft, downdraft, cross- about 20% of hot char is left on the grate and the left
draftand inverted updraft (also called Top-lid updraft char is consumed in a combustion mode and what
(TLUD)) [2]. Among of these kinds of gasifier will be left behind finally is ash. This is refer as the
cookstoves, TLUD became the most popular and the char mode. It is clear that flamming mode constituted
lowest-emitting type of solid biomass cookstove 80% of the total energy consumption, thus this work
based on emission measurement taken in the is concerned with detailed thermochemical evaluation
laboratory [3]. In the TLUD design, the biomass is lit of flaming mode using computations.
at the top where a charcoal bed is formed and Design of cookstoves has slowly grown from
pyrolysis occurs below this bed as illustrated in Fig.1. being primarily an art with trial and error approach
The primary air required for gasification is supplied into a more scientific exercise, with clear
at the bottom of the cookstove for gases generation identification of generic principles and mathematical
469 October 27 - 28, 2018

Hanoi, Vietnam
modeling including the use of advanced tools like the of stove and increased the intake of air to investigete
finite element analysis and CFD simulation [2]. Many the influence of sesondary air distribution on
biomass cookstove manufacturers have also relied on combustion processes (see Fig.3). Like the sample
CFD and heat transfer modelling and analysis studies, No.1, the secondary air is also supplied naturally and
along with rigorous efficiency, emissions, durability the dimensions of the stove are kept to 150 mm wide
testing; for geometry and materials optimization in and 550 mm high.
the development of advanced biomass of clean and
efficient stoves [7]. CFDs have provided more
information that helps designers to develop their
design stoves. In [2], Kailasnath B. Sutar et al
provided a detailed literature review of cookstove
modelling involve use of CFD for thermal analysis.
This paper presents an approach in which
detailed CFD simulation of the flow, heat transfer
behavior and combustion of produced gases in
configurations of TLUDcookstoves was performed
using CFD software ANSYS Fluent. Fig. 3. The domain caculation of two model.
2. TLUD cookstove 3. Methodology
A practical TLUD cookstove used in the The research is conducted on the TLUD
household in Vietnam (sample No.1) was selected as cookstove model that has been designed to fit the
a model stove for analysis and design of a new needs of cooking in the household in Vietnam with a
propsed model (sample No.2). The sample No.1 is pot placed on the top of the combustion chamber. The
150 mm diameter and 550 mm long cylindrical pot receives heat directly from the flame generated
chamber with a grate at the bottom (see Fig.2). Air from the produced-gas combustion. The research
for gasification comes from the bottom and for consists of two steps. The first step is to determine
combustion of gasification products is supplied on the gas composition of the gasification process
top of the stove from 24 holes of 4 mm diameter through an atomic balance of a global gasification
eachlocated at the outlet of stove. In actual stove, the reaction. The gaseous products are then used as the
secondary air is supplied into the combustion boundary and inlet conditions for CFD simulation of
chamber naturally. gaseous combustion in the second step.
3.1. Gas composition
In contrast to combustion processes, which work
with excess air, gasification processes operate at
substoichiometric conditions with the oxygen supply
controlled (generally 35 percent of the amount of O2
theoretically required for complete combustion or
less) [8]. In this work, the equivalence ratio of 0.35 is
considered as following equation:
( A / F ) real
w  0.35 (1)
( A / F ) stq
For rice husk, (A/F)stq = 4.5 [9].
The gas composition is calculated through an
atomic balance from the following global gasification
reaction:
Fig. 2. TLUD cookstove configure. Cx H y Oz N p Sq  x(O2  3.76 N2 )
 aCO2  bH 2O( g )  3.76 xN 2  dCH 4  eCO (2)
Although the sample No.1 produces cleaner
energy at a high performance level as compared to  gH 2  pNO  qSO2
conventional cooking stove, the emission of CO was The formula of CHONS analysis of dried rice
indicated at a relatively high level. A newly modified husk sample is gained from ultimate analysis. This
model (sample No.2) was proposed with some gave the composition of rice husk sample as
changes in the location and the numbers and diameter CH1.296O0.669N0.005S0.0007. We know the A/F for
of secondary air holes (14 holes of 8 mm diameter gasification and therefore x is known. The atomic
each) that were moved down to just below the outlet balance equations for C, H, O are written as below:
470 October 27 - 28, 2018

Hanoi, Vietnam
C: a + d + e = 1 (3) that are the standard dimensions of pot used for the
H: 2b + 4d + 2g = 1.296 (4) water boiling test (WBT) in the laboratory. Velocity
O: 2a + b + e + 0.0014 = 0.669 + 2x (5) inlet boundary condition for the fuel inlet, zero
There are three equations for determination of pressure gradient for the outlet and no-slip boundary
five unknowns (a, b, d, e, and g), thereby, the two condition for the wall were used. The wall of
additional equations which determine the equilibrium cookstove is assumed to be adiabatic, that represents
between the compounds appearing on the product the insulating material surrounding the combustion
side are required for solution of the problem. In this chamber. Finally, the operating calculations is fixed
case, there would be: under the operating pressure of 101325 Pa and the
C + CO2 2CO (6) gravity of 9.8 m/s2. The setting of boundary
CO + H2O  CO2 + H2 (7) conditions for both stoves is presented in table 2.
Assuming that the temperature is known, the
equilibrium constants Kp can be calculated for each of
these reaction and shown below in equations (8) and
(9), respectively. The equilibrium constants were
taken at 900oC.
e2
K1  (8)
a.N tot
a.g
K2  (9)
e.b
Where, Fig. 4. Computational domain
Ntot = a + b + d + e + g (10)
Using these equations, the atomic balance
equations were solved. The final composition of Table 2. Boundary conditions
gaseous products is shown in table 1. Boundary Temp Velocity Pressure
Type
condition (oC) (m/s) (pa)
Table 1. Composition of gaseous product (% mass) Velocity
Fuel inlet 750 0.6 /
CO2 H2O N2 CH4 CO H2 NO SO2 inlet
(%) (%) (%) (%) (%) (%) (%) (%) Secondary Velocity
25 2.5 /
12.35 6.86 40.64 6.07 20.76 13.12 0.16 0.03 air inlet inlet
Pressure
Outlet 25 / 0
outlet
3.2. Simulation of gaseous combustion Ambient
No-slip 25 / /
The present work focuses mainly on combustion wall
modeling. The fuel mixture is taken as CO2, H2O, N2, Pot wall No-slip 100 / /
CH4, CO, H2, NO, and SO2 whose compositions are Stove wall No-slip 750 / /
given in table 1. 4. Simualation results
The flame in the stove is non-premixed
combustion in which fuel and oxidizer enter the Fig.5 shows the temperature distributions of both
reaction zone in distinct zone and therefore, the stoves on the vertical middle plane during
chemical reactions were assumed to be mixing combustion. It can be observed obviously that the
controlled [5]. Therefore, the non-premixed heat is extracted more from the hot product gases
combustion model was employed to simulate the leaving the stove in the case of sample No.2
combustion of gas phase. The calculations were made compared to sample No.1. This could a reason why
with additional transport equation for the mixture the temperature distribution concentrates more
fraction and algebraic equation for mass fractions of uniformly with high intensity in the case of No.2 (see
various components. The viscous model and radiation Fig.6). This allows a more consistent and quicker heat
model was set as the RANS k-ɛ realizable model and transfer from the stove to the bottom of the pot,
DO, respectively. resulting in more efficient use of fuel and shortened
The 3-D computational domain of interior of the cooking time for optimized functioning of the
stove along with the boundary conditions used for the cookstove [7]. The difference between the
simulation is shown in Fig.4. Computations were temperature distributions of two stoves could be
performed in steady state through ANSYS Fluent explained by that sample No.2 whose secondary air
17.1. The pot placed on the fire during combustion supplied through holes on the body favor a good
has dimensions of 260 mm width and 285 mm height mixture between the gases and the air in the
471 October 27 - 28, 2018

Hanoi, Vietnam
combustion zone as shown in Fig.6 that would

contribute to increase combustion and thus increase
the heat energy generated during combustion. In
addition, the flame tends to last longer and cover over
the pot in the case of No.1 that could lead to a
decrease in the efficiency of combustion due to
higher heat loss from the flame to surrounding
ambient and the utilization of heat. Fig. 8. The change of temperature on the air
Fig.8 shows the temperature changes on the streamline of two stoves.
streamlines of secondary air flows for both models.
Obviously, the air is completely consumed before
passing through the space between the outlet of stove
and the bottom of the pot in the case of No.2, while in
the case of No.1, the air continues to consume around
the pot body. This explains why the remain
concentrations of CH4, CO, and H2 in the case of
sample No.1 is higher than sample No.2 (see Fig.9 –
11). This has a significant effect on the distribution of
products formed during combustion (CO2 and H2O).
It is clear from Fig.12 and Fig.13 that the higher Fig. 9. CH4 mole fraction.
gases consume, the higher amount of combustion
products (CO2 and H2O) are formed. This ensures a
more complete combustion and low emission of
incomplete combustible products and therefore,
attributes to a higher efficiency of combustion.
Fig. 10. CO mole fraction.
Fig. 5. Temperature contours on middle vertical

plane of two stoves.
Fig. 11. H2 mole fraction.
Fig. 6. Temperature contours on the bottom of the pot.
Fig. 12. CO2 mole fraction.

Fig. 7. Temperature contours across the secondary air
holes of two stoves.
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Hanoi, Vietnam
References
[1] Market Acceleration of Advanced Clean Cook Stoves
in the Greater Mekong Sub-Region.
[2] Kailasnath B. Sutar, Sangeeta Kohli, M.R. Ravi,
Anjan Ray, Biomass cookstoves: A review of
technical aspects, Renewable and Sustainable Energy
Reviews 41 (2015) 1128–1166.
[3] Jessica Tryner, Bryan D. Willson, Anthony J.
Marchese, The effects of fuel type and stove design on
emissions and efficiency ofnatural-draft semi-gasifier
Fig. 13. H2O mole fraction. biomass cookstoves, Energy for Sustainable
Development 23 (2014) 99–109.
5. Conclusion [4] Manoj Kumar, Sachin Kumar, S.K. Tyagi, Design,
development and technological advancement in the
This work describes the design and CFD modeling of
biomass cookstoves: A review, Renewable and
a newlymodified TLUD cookstove for household Sustainable Energy Reviews (26) 2013 265-285.
cooking in Vietnam. From the simulation results of [5] S. Varunkumar, N.K.S. Rajan, H.S. Mukunda,
gas phase combustion and heat transfer in the two Experimental and computational studies on a gasifier
stoves shown that suppyling secondary air plays a key based stove, Energy Conversion and Management 53
role in improving the utilization efficiency of TLUD (2012) 135–141.
cookstove. Through these results, the new TLUD [6] Keily De La Hoz C., Juan F. Pérez, Edwin Lenin
cookstove with the secondary air holes located on the Chica Arrieta, Design of a Top-Lit Up-Draft Micro-
body of cookstove (sample No.2) is found to be better gasifierBiomass Cookstove by Thermodynamic
Analysis and Fluent Modeling, International Journal
in terms of performance level because of a good
of Renewable energy research, Vol.7, No.4, 2017.
mixture between the gases and the air in the [7] Hassan Ali and Terence Tang Jia Wei, CFD Study of
combustion zone. an Improved Biomass Cookstove withReduced
Acknowledgments Emission and Improved Heat Transfer Characteristics,
Journal of Clean Energy Technologies, Vol. 5, No. 6,
The authors gratefully acknowledge Hanoi University November 2017.
of Science and Technology for the financial support [8] John Rezaiyan, Nicholas P. Cheremisinoff,
of this research. Gasification technologies: A Prime for Engineers and
Scientists, 2015, CRC Press.
473 October 27 - 28, 2018

Hanoi, Vietnam
Lifting and Discharging the Cassava Roots System for Hydraulic

Transmission
Tung Nguyen Dinh 1,*, Tan Nguyen Van2
1
Vietnam Research Institute Agricultural Machinery - RIAM, No 8- Tran Phu Road- Ha Dong- Hanoi, Vietnam
2
Talent Student of Mechanical Engineering (deep compartment: mechatronics), Hanoi University of Science
and Technology, Hanoi, Vietnam
*Email:nguyentungbo@gmail.com
Abstract
The lifting and discharging the cassava roots from trucking system was designed and manufactured by the
Research Institute of Agricultural Machinery (RIAM). The truck lift is tilted to a specified angle by a hydraulic
lifting gear. Maximum tilting angle and floor velocity are selected, ensuring the condition does not flip vertical
when the truck emptying cassava material, to meet the slump of the cassava root material and the
acceleration at the end of the lifting stroke gradually decreasing to 0. The article is presented a structure of
the operation on a lifting and discharging the cassava roots system. Hydrodynamic hydraulic dynamics
survey and simulation results are also perform to evaluate, select the structure and operation to reach the
stability operation system requirements.
Keywords: lifting and discharging the cassava roots system, hydraulic transmission, modeling and simulation.
1. Introduction the area of the yard operating, the quality of the

powder also decreased. Starting from the require in
Cassava is still widely grown in over 100
the above mentioned production, the research on the
countries around the world with a variety of cultivars,
design of the system of loading and unloading of
mostly in the tropical and sub-tropical climates such
cassettes for the transport of cassava roots using
as Africa, Asia, South America and some other
hydraulic transmission and steering is necessary and
countries. The United Nations Food and Agriculture
has scientific and practical significance. Suitable for
Organization (FAO) has declared that cassava is one
production. The research results will contribute to
of the most important food crops in the developing
raising the value of production and business for
world (including Vietnam) after rice and maize [1].
enterprises.
The main cassava cultivars of Vietnam are
concentrated mainly in the North Central, Central
Coast, Central Highlands, South East and Northern
Midlands and Mountains [2]. The total area of
cassava in these five ecological areas accounts for
97% of the country's cassava area. Cassava in
Vietnam is mainly processed into starch, especially
for export starch. According to Customs statistics
show that: the export of cassava starch of Vietnam in
recent years has grown rather impressive. In the past
years, tapioca starch earned nearly $ 1000 million
from exports, up from the value of some other
agricultural commodities [2]. Fig. 1. Human powerto dismantle, scratch cassava from
At the moment, there are many industrial the car to the yard.
cassava starch processing plants in Vietnam, not to 2. Structure and operation of the cassava lifting
mention small private processing establishments. But system
most of the industrial cassava starch processing
factories (from 400 to 500 metric tons per day) are The result of design, construction, layout of the
imported by conventional trucks without "lifting" principle, structure of lifting device, flip-flop and
around 20 to 40 tons and still have to remove the hydraulic control synchronously meet the
fresh cassava into the yard of the processing plant by requirements of cassava processing enterprises.
hand is to use human power to dismantle, scratch Industrial plant for removing and unloading cassava
from the car to the yard (Fig. 1), as a result, it takes a roots when gathering into yard for preparation for
lot of effort. Economic performance is very production as shown in Fig. (2), Fig. (3).
inefficient. Moreover, the slow down time also affect
474 October 27 - 28, 2018

Hanoi, Vietnam
will be moved/ lifted onto the lift-flip (lifting

platform), after the "seat belt" is lifted. From an initial
angle of "00" to a specified tilt/ lift angle (maximum)
due to a hydraulic lifting mechanism. Maximum
tilting angle and floor lift speed are selected to satisfy
the sloping condition of the cassava root material and
the acceleration at the end of the lifting stroke
decreases to 0, ensuring the condition does not flip
vertical when the truck is empty whether. Section 3
presents the results of hydrodynamic hydraulic lifting
dynamics survey to reach the stability operation
system requirements.
3. Hydrodynamic hydraulic lifting dynamics
survey
3.1. Building Modeling simulation
Firstly, it is necessary to develop a simple
hydraulic propulsion system to raise the floor level
when considering a cylinder-half lift structure with a
piston stroke "s" as shown in Fig (4).
Fig. 2. The result of selection and construction of the
structural principle of the system of loading and
unloading of cassava with scale of 450-500 tons per
day (in the previous state - and when operating).
Fig. 4. Hydraulic floor lifting plan (one cylinder-half

lifting mechanism) [3, 5].
- Case s  a
Fomular of floor lifting movement:
J 1   F 2 l 2  K   M L  
Including: F 2  f F1  floor lifting force
K – Velocity dependent friction
coefficient

M L  G cos
2
F1 - Thrust of the piston rod F1  A1 . p with
t Qg1
p dt
0 V1
Qg1 Calculated from the flow equation,
Fig. 3. Selection results and construction of Q g 1  Q 1  A 1
hydraulic circuit and hydraulic control application for Qp - Flow from the pump, the pump case
the system of elevator for loading cassava with scale
of 450-500 tons per day [3,4]. 1
provides enough for 2 cylinders Qp  Vp p
01- Oil tank; 02- Filter; 03, 05, 08- Valve; 06- 2
Piston; 07- Pump.
This diagram shows that when the truck
carrying fresh cassava roots to the processing plant
475 October 27 - 28, 2018

Hanoi, Vietnam
Piston velocity v  f   ; volume V1  V0  A1S ... with S  f   can be explained in the following block
diagram:
Fig. 5. Block diagram of floor-lift transmissions, case (inactive shock absorbers) [3, 5].
Note: the function removes the values p  0
Fan    f  Fan 
 p* khi p*  0
p can khi s  0
0 khi p  0 
*
with Fan  0 khi 0  s  H

- In case of s  a , the shock absorber starts
c s  H khi s  H
operation. The displacement of the piston reaches the  an  
volume V 2 in the cylinder. The volume decreases
with increasing s and the trailing flow
F4  f  F3  with F3  A2 . p2
a v 2  A 2 .V
increases the pressure p 2 p2 calculated from the expression:
Equation of motion: dp2 Qg2
 with V2  V20  A3  s  a
J  F2l2  M an  F4l2  K  M L   dt V2 .
In which: M an  Fan   .l2 The elastic Qg 2  QDr  A2V , QDr  K Dr ADr p2
wavelength of the end stop plate travels to the spindle The following general block diagram can be
shaft. explained (Fig.(6)):
Fig. 6. General block diagram of floor lift simulation [3, 5].
476 October 27 - 28, 2018

Hanoi, Vietnam
To remove the pressure values <0 using the F2' sin  4    Fxl cos 1  FR cos  2 
blocking function:
1
 p * k h i p *  0  F2'    Fxl cos 1  FR cos  2 
p   sin  4
 0 k h i p  0
*
 Fxl cos 1  FR cos  2 
To calculate the values and set up the model  4  arctan   
"Simulink" later need to determine the parameters  Fxl sin 1  FR sin  2 
through Fig.(7)&(8). 5    4
K – velocity dependent friction coefficient
M L  Gl 5 cos 
Fxl - Thrust of the piston rod F xl  A 1 . p with
t Qg
p   1
dt
0 V 
1
Qg calculated from the flow equation,

1
Q g1  Q p  A 1
Qp - flow from the pump, the pump case

1
provides enough for 2 cylinders Qp  Vp p
2
Piston velocity v  f   ; volume
V1  V0  A1S with S  f   .
From this we have the elevation equation:
l2cos5
J  K   Fxl cos 1  FRcos2  +Gl5cos  0
sin 4
t Qg1 t Vp np  A1
Fxl  A1  dt  A1  dt
0 V1 0
V0  A1S  
Select the parameters as follows:
A1  V0  Vp np
1000 10-3 0,62
105 9
0 mm mm/
mm3 103 mm3 v/p
mm2 2/N s
Then:
t 10 3  2  10000  0.62
F xl  10000  dt
Fig. 7. Diagram of the analysis to determine the force
components and rotation angles on the lift floor
0
10 5  10000  0.62 t 10  3
during work.  129032  ln  6.2 t  100   ln 100  
In which:
Through the process of calculation and
l7  3.12; l3  3.75; l4  0.7; l5  1.5; l2  4.5; H  0.52;
transformation we define the angles  2 ,  1 ,  5 ,  4

0  ; K  0.01; g  9.8 as follows:
12 H  l2 sin  3
Considering the diagram of Fig.(7), we have the  2  arcsin
 H
system of equations of the system: l22  l32  H 2  2l2 (l3  H )cos   3  arctan 
Equations of motion raised floor (    3 )  l3 
J 1  F 2 l 2 cos   K   M    H
5 L
l2l3  l2l7  l3l7  l2 (l3  H )cos 3  arctan 
In which: F 2  f F 1   f F xl   F ' : floor  l3 
2
 arccos
lifting force  H
F2' : Jet hinge from raised floor to wedge A1 B1C 1
l7 l22  l32  H 2  2l2 (l3  H )cos 3  arctan 
 l3 
be determined from the equation:
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Fig. 8. Matlab-Simulink diagram to solve the bridge overturning problem.
CC
1  arctan 1 2  arctan
l7 sin2  AC ˆ
1 1 sin C1 AK
1   process is 0,677 (rad) (approximately 38,79o). The
results of calculations are in line with reality.
CC2 l7 cos2  l4  AC ˆ
1 1 cos C1 AK1  
5  3   4
3.2. Structural lift survey
From the above mathematical relationships, we
can build a block diagram for the model as shown in
Fig.(5), Fig.(6), where we can construct the Matlab-
Simulink diagram to solve the problem as shown in
Fig.(8).
After solving the problem with Matlab-
Simulink, we obtain the results of the lifting angle
functions  ( t ) , the angular velocity over time  ( t )
Fig. 10a. Radial velocity (rad).
and the angular velocity over time  ( t ) for Lifts in
the work process are represented by graphs from
Fig.(9) to Fig.(11).
0.68
0.66
0.64
0.62
0.6
0.58
0.56
0.54
0.52
0.5
0.48
155 155.5 156 156.5 157 157.5 158 158.5 159 159.5 160 Fig. 10b. Trajectory of the structure.
t
At time 0 – 146.75 (s), the angular velocity
Fig. 9. Lifetime angle graph  (t ) (rad ).
 ( t ) increases due to load loading and decreases
From the graph of Fig. (9), we see that in the rapidly as the load decreases (Fig.(10a)). This result
period from 155 – 157.25 (s), the alpha spin angle is is reasonable due to the fact that the lift-and-lift
quickly increased. In fact, when the cylinder is structure has a trajectory of motion, which is the
working it takes a while to reach the working combination of many complex movements of the
pressure, so the floor starts to rise from t=155 (s). The cylinder-lift-knee mechanism as shown in Fig.(10b).
maximum inclination of the floor during the lifting
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During the lift,  max  0.1481 ( rad / s ) the time of 4. Conclusion

146.75 (s), near the time  m a x . The results of this study show that the market
and application in the production of cassava/ cassava-
0.25
based cassava/tapioca systems with a load capacity of
0.2 up to 80 tons.
0.15 From the model, the cassava/cassava system of
0.1
this cassava/cassava system determined the velocity
of the floor and the angle of inclination (angle of
0.05 elevation) was less than 40º satisfying the falling of
0
the cassava/cassava chips. The acceleration is
gradually reduced to 0, ensuring the condition does
-0.05
not flip vertical when the truck emptying cassava
-0.1 material. This lifting angle ensures stability for the
structure and satisfies the stable operation of the
-0.15
145 145.5 146 146.5 147 147.5 148 148.5 149 149.5 150 system.
t
References
Fig. 11. The graph is accelerated by time
[1] http://www.fao.org/faostat/en/?#data/QC
 (t ) (rad/ s 2 ). [2] http://cafef.vn/hon-80-luong-san-va-san-pham-san-
xuat-khau-sang-trung-quoc-2018062218065086.chn.
From Fig.(10a) and (11), we find 145.75 (s), [3] Bui Hai Trieu, Nguyen Dinh Tung,Hydraulic
146.75 (s), 149.4 (s),… The value of velocity and transmission and control applications, Scientific and
acceleration are the most significant changes, Technical Publishing House (2018).
reflecting the complexity of the lifting movement, [4] Holger Watter, Hydraulik und Pneumatik, Grundlagen
which directly affects the flip stability and longevity und Uebungen- Anwendungen und Simulation, 2
of the machine during operation. Therefore, the rigid Auflage. Vieweg & Teubner Verlag (Studium Buch),
design of the structure is extremely necessary. (2008).
[5] Bui Hai Trieu, Nguyen Dinh Tung, Modeling and
Simulation of Mechanical Engineering Systems,
Agricultural publisher, (2015).
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Develop an Immersed Boundary Method Solver in OpenFOAM

Vu Do Quoc, Sang Van Pham*
*Email: sang.phamvan@hust.edu.vn
Abstract
The simulations of moving objects with large trajectories usually pose difficulties due to re-meshing
procedure. In addition, in the conventional body-conformal meshing methods, moving objects results in
distorted mesh elements which degrade the overall accuracy of the solution. In this work, a new numerical
solver has been developed by integrating the immersed boundary method (IBM) with the PISO algorithm
employed in PisoFOAM, an available solver of OpenFOAM, a robust open source CFD platform. The
Pressure-Implicit Split-Operator (PISO) algorithm used in PisoFOAM is to employ the advantages of IBM in
simplifying the re-meshing process, that makes the modeling of solid bodies motion simpler and more
accuracy. A series of 2D well-documented validations of flows around stationary or mobile objects have
been carried out for the new numerical solver. The solver finds promising applications in modeling Fluid-
Structure Interaction problems.
Keywords: Immersed boundary method, FSI, PISO, OpenFOAM.
1. Introduction a set of procedures which enforcing the conditions at

the spatial location of structure-fluid boundary.
Over the last few decades, the fluid-structure
interaction (FSI) has gained increasing attention in 2. Numerical method
numerical simulation because understanding the
2.1. Governing equation
relationship between structures and fluid flows is
crucial in many real-life applications. Recently, The motion of a viscous incompressible fluid is
Microfluidics, which refers to different kind of governed by the following Navier-Stokes equations
microscale devices used for separating particles in and Newton equations:
flows can also be simulated using FSI technique.
However, current commercial simulation software is  u  0 (1)
not able to effectively handle problems involving u (2)
moving objects with large trajectories, i.e. the  (u   )u  p    2 u  f e
particles in microfluidics devices. The requirement of t
very big and complex computational mesh to capture dup (3)
M  Mg  F  Fi
theextremely long pathway of moving objects makes dt
such problems very challenging to be solved. In this dω p (4)
work, we aim to create a robust solver that can I T
effectively solve for FSI problemsand specialized in dt
simulations of microfluidics devices. The new solver 
In above equations, u  u x , u y , u z  is fluid
has been implemented inthe OpenFOAM open source velocity vector, p is static pressure,  is kinematic
environment, based on the available solver
pisoFOAM, using theImmersed Boundary Method 
viscosity of the fluid, u p  u px , u py , u pz is 
(IBM) to simplify the meshing process and to avoid translational velocity of the object,
theneed of re-meshing at every timestep when ω p  ( px ,  py ,  pz ) is angular velocity of the object.
simulating moving objects. The solver is also capable
Other parameters including M , g, F, Fi , I, T is the mass
of computing in parallel computer system in case of
dealing with large and complex models. The new of the object, gravitational acceleration, force acting
solver was validated with a series of well- on object’s surface by the fluid enclosed in the object
documented cases. The results are shown tobe in volume, collision force, moment of inertia and torque
good agreement with available data from previous about center of mass of the object, respectively. In
works, which proves the accuracy andefficiency of IBM method, presence of structure in flow field is
this new IBM solver. represented by an additional forcing term f e in the
In this study, we present an immersed boundary equation (2), which indicates the mutual interaction
method for fluid-structure interaction. Boundary between fluid and immersed boundary. The
conditions for fluid flow and structure are satisfied by calculating of f e follows the steps mentioned in [1].
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2.2. Collision model

2.2.1. Object – object collision
In the simulations concerning the interaction
between many moving bodies, a collision model is
needed to prevent these bodies from interpenetration
each other. In this work, the repulsivemodel proposed
by Wan and Turek [2] has beenadopted to compute
the collision force act upon immersed objects during
their movement.
Object – object collision: The repulsive force
acting upon the i-th object caused by colliding with
the j-th object is determined as following, where Ri ,
Rj , Xi , X j are the radius and the center of mass of the
ith and the jth object respectively, Rij  Ri  R j and
d  Xi  X j is the distance between their centers of
mass,  is the range of the repulsive force,  p and  'p
are small positive stiffness parameters for the
collision. Fig. 1. Flow chart of the IBM - PISO algorithm.
 1 implementation of an FSI solver in the Open FOA
  ' ( X i  X j )( R ij  d i , j ),  d i , j  R ij Menvironment due to itssimple meshing process. The
 p
 1 pisoFOAM, which is an available transient solver for
Fi ,p j  ( X i  X j )( R ij    d i , j ) 2 ,  R ij  d i , j  R ij   incompressible fluids, has been chosen for
 p
 0,  R    d modification since the PISO algorithm employed in
 ij i, j
pisoFOAM is very effective to solve the equations (1)

and (2). The combined PISO-IBM algorithm is
2.2.2. Object – Wall collision illustrated in Fig.1.
The repulsive force acting upon the ith object A library named IBMlib has also been created to
caused by colliding with rigid wall is: automatically creating the Lagrange points,
readingdata from external mesh files, calculating f e ,
 1 moving objects and writing data for post-process. The
  ' ( Xi  Xi )(2 Ri  d i ), d i  2 Ri
' ' '
core of the new solver is a main function consisting
 W the following peace of code:
 1
FiW   ( Xi  Xi' )(2 Ri    d i' ) 2 , 2 Ri  d i'  2 Ri   #include “readGeometryInfor.H”
 W while (runTime.loop())
0, 2 R    d ' {
 i i
 #include “UEqn.H”
#include “createForce.H”
where Xi' is the coordinate of the nearest imaginary solve(UEqn==-fvc::grad(p)+fe);
object,  w is a small positive stiffness parameter for while(piso.correct())
{
object-wall collision, usually it can be taken as #include “pEqn.H”
 w   p 2 ,and  w'   'p 2 . }
if(IBM.moving())
3. Implementation in OpenFOAM {
Simulations of fluid-structure interaction in #include “moveObjects.H”
OpenFOAM are normally not an easy task, especially }
}
when the moving body has complex geometry,
because traditional approaches namely finitevolume The predited velocity is obtained by solving
and finite element methods are computationally UEqn.H, which is expressed in OpenFOAM as
expensive for such simulations wherethe mesh following:
requires regeneration at every time step. Therefore, volVectorField UEqn
immersed boundary method isa proper choice for the
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{
fvm::ddt(U)
+ fvm::div(phi, U)
- fvm::laplacian(nu, U)
}
solve(UEqn == -fvc::grad(p) + pGrad)
where phiis the flux from previous time step andnuis

the kinematic viscosity of the fluid. After that, the
dictionary createForce.His included to calculate
the body force term f e by calling the function
calcForceEuler() in the IMBlib library, based on
the predicted velocity and desired velocity, while he
desired velocity is set to a fixed value or is taken
from the solution of Newton equation. The force
termwill then be added to the RHS of the Navier-
Stokes equation to resolve for velocity. The equations
used in the pressure and velocity correction step are
also modified arcordingly as the body forcebeing Fig 2. Computational domain of the cylinder
included. Afterwards, the solver checks whether the immersed in fluid flow (a) and Von-Karman vortex
problem involves object movement or not before street atRe= 100 (b) andRe= 185 (c)
calling the moveObjects.H dictionary, which solves
for Newton equations to get translational and Table 1. Mean drag coefficient and rms lift
rotational velocity of particles to move them coefficient atRe= 185
accordingly.
CDmean CLrms
Constant et al. [2] 1.430 0.436
4.1. Validations Pinelli et al. [3] 1. 387 0.428
4.1.1. Flow over a cylinder Present 1. 430 0.458
In this problem, we consider a fluid flow over a
stationary circular cylinder. The computational in Fig. 2b and 2c. As the flow oscillation, the mean
domain is sketched in Fig. 2. Boundary conditions for drag coefficient and the root-mean-square (rms) lift
the problem are: fixed velocity at theinlet, free stream coefficient are calculated and compared with
pressure at the outlet and slip condition at the upper available data from previous works of Pinelli et al. [3]
and lower wall. Thecylinder is discretized into 314 and Constant etal. [4] as depicted in Table. 1. The
Lagrange points evenly distributed on the surface. results are shown to be in good agreement with the
UniformCartesian mesh is used in the adjacency of published data.
the cylinder, i.e. in the region  D  x  D and
 D  y  D, outside this region, the mesh size is 4.1.2. Sedimentation of circular cylinder
stretched. In this validation, we consider the motion of a
circular cylinder sedimenting in a domain of
In this problem, we consider a fluid flow over a
dimension 2  6cm2 filling by fluid with density
stationary circular cylinder. The computational
 f  1 g cm 3 and kinematic viscosity  0.01 cm s .
2
domain is sketched in Fig. 2. Boundary conditions for
the problem are: fixed velocity at theinlet, free stream The cylinder has diameter d  0.25cm , density
pressure at the outlet and slip condition at the upper  p  1.5 g cm 3 and is located at the position (1, 4)cm
and lower wall. Thecylinder is discretized into 314
at thebeginning. Uniform Cartesian grid is used for
Lagrange points evenly distributed on the surface.
the entire domain with different mesh sizes, i.e.
UniformCartesian mesh is used in the adjacency of
 h  1 48 cm ,  h  1 96 cm and  h  1 144cm .
the cylinder, i.e. in the region D  x  D and
D  y  D, outside this region, the mesh size is To validate the simulation result, we calculated
stretched. the maximum Reynolds number duringthe cylinder
sedimentation, which is defined as the following:
The simulation is conducted at two different
Reynolds number 100 and 185. At both regimes, the
Von-Karman vortex shedding is observed as shown
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Table 2. Comparison of the maximum Reynolds number during the particle sedimentation
Unlmann
Present Wang (2008) Wan, Turek (2005) Glowinski (2001)
(2005)
1 1 1 1 1 1 1 1 1
 h ( cm )
96 144 72 144 48 96 192 256 256
Re Max 477.75 484.38 502.37 503.26 442.19 465.52 438.6 450.7 495
The temporal evolution of the particle positions

 p d U p (t)2 Vp (t)2
ReM ax  Max[Re(t)]  Max[ ] within the domain is demonstrated in the Fig. 4. It is
 observed that during the sedimentation, the particles
near two side walls fall quickly while those in
where U ( t )  (U p ( t ), V p ( t )) is the velocity of mass themiddle of the domain are held by the fluid, this
center of the cylinder at time t. As can be seen in would result in a space area enclosed by particles
Table 2, the results of present study are in rough around. The similar phenomenon has also been
agreement with those of previous works [2], [5]. In observed in previous works [5], [6]. At the end, all
addition to the comparison of the maximum Reynolds the particles settle down and stay on the bottom of the
number, an examination of some other quantities is domain. It is worth noticing that, during the whole
presented in Fig. 3, including time histories of the y- process, there is no pair of particles having their
coordinate of the particle center, vertical component boundary penetrate each other or into walls, which
of translational velocity of mass center of the particle. shows the reliability of current collision model. The
When the particle falls on the bottom of the channel, success of capturing complex behavior of many
it suffers from a colliding force and rebounds back. bodies in this simulation proves the capability of new
The process of falling and rebound back is repeated as IBM solver in applying to other particle flows related
can be seen from the Fig. 3b, the signof the vertical problems.
velocity changes alternately along with the decrease
in the velocity magnitude, finally the value of vertical 4.2.2. Inertial focusing in straight channel
velocity reach zero and the particle stays on the
bottom of the channel. In this study, the availability of applying the
4.2. Applications
4.2.1. Sedimentation of hundreds of particles
To examine the capability of current solver to

simulate problems involving motion and interaction
of many moving objects, we carried out asimulation
concerning sedimentation of one hundred and five
particles in a closed rectangular domain of 6  6cm 2 .
The particles were initially arranged into 5 rows and
21 columns, located at the top region of
computational domain, then they fall due to gravity.
Each particle had diameter of d  0.25cm , density
 p  1.5 g cm3 and was discretized into 63 points
evenly distributed on the surface. The fluid’s density
 f  1 g cm3 and the kinematic viscosity
  0.01cm2 s . Uniform Cartesian grid was
employed with the mesh size of  h  1 80 cm ,
resulting in a total of 230400 elements. They were
divided into 16 parts managed by corresponding 16
single processors for running in parallel. The average
elapsed time for one-time step is about 2.8 second
and with the chosen time step t  105 s, it takes Fig. 3. Time history of the y-coordinate of the
particle center (a), v-component of translational
nearly 148 hours to finish the simulation of 2 seconds
velocity (b) in 2 cases: h  1 48 (Level 3) and
long sedimentation.
h  1 96 (Level 4).
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A B C
D E F
G H I
Fig. 4. Temporal evolution of position of 105 particles, from A to I correspond to 0s, 0.25s, 0.5s, 0.65s,
0.75s, 1.00s, 1.25s, 1.50s and 2.00s.
IBM solver to study the inertial focusing behavior of The computational domain used in this
particle at low Reynolds number will be considered. simulation is a rectangular with dimension of [Lx,
The main difficulty of this simulation is that, the Ly] = [1.1, 1,1] cm and the fluid’s properties are still
focusing of particle can be achieved only when the identical with previous simulations, i.e.
channel’s length is very long compared to its height.  f  1 g cm and   0.01cm s . The particle has
3 2
More specifically, the aspect ratio of the channel, i.e.

AR = L/H with L is the channel length and H is the diameter of 0.1cm and density  p  1.5 g cm3 .
channel height, must be equal to at least several Firstly, a Poiseuille flow with parabolic velocity
hundreds. Thus, itrequires a very big computational profile is generated as illustrated in Fig. 5a. Then, the
mesh and very long time to run the simulation. To particle is released into the channel and it will move
overcome this issue, the immersed boundary method due to the convection of the pressure-driven flow and
enables us to use only a short segment of the channel eventually being converged at two equilibrium
with the periodic boundary condition being applied at positions located at 0.1cm and 1.0cm away from the
the inlet and outletto mimic the infinite long channel, lower wall and upper wall, respectively. As can be
other boundary is set to rigid wall. In this case, the seen in Fig. 5b, the initial distance from the particle
fluid flow within the channel is created and center to the channel center line directly affect the
manipulated by an additional pressure gradient term focusing length of the particle, since particle released
pGrad added to the right-hand side of the Navier- closer to the channel center line takes longer to reach
Stokes equation. its equilibrium position. This phenomenon is
currently adopted in many biology and biomedical
devices to separate particles of interest for further
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Fig. 5. (a) Parabolic fluid velocity profile created by adding a pressure gradient term to Navier-Stokes equation,
(b) Two focusing positions of particle moving in the channel.
analyze. The capability of the new IBM solver to References

perform such simulation provide a useful way to
develop new designs for these kinds of device. [1] M. Ulmann, An immersed boundary method with
direct forcing for the simulation of particulate flows.
5. Conclusion Journal of Computational Physics. (2005).
[2] D. Wan, S. Turek, An efficient multigrid-FEM
In this work, a new solver combining the IBM method for the simulation of solid-liquid two phase
and the PISO algorithm has been successfully flows, Journal of Computational and Applied
implemented in OpenFOAM opensource Mathematics (2005).
environment. The solver is validated by two popular [3] A. Pinelli, Immersed boundary methods for general
benchmarking problems that are flow over a cylinder finite-difference and finite-volume Navier-Stokes
and one circular cylinder sedimentation and the solvers, Journal of Computational Physics (2010).
obtained results are in good agreement with previous [4] E. Constant, Implementation of a discrete Immersed
study. Boundary Method in OpenFOAM, Journal of
Computer & Fluid (2016).
The solver shown great potential in applications [5] Z. Wang, Combined multi-direct forcing and
to simulations of microfluidic devices, based on the immersed boundary method for simulating flows with
promising results of the inertial focusing of particle in moving particles. International Journal of Multiphase
straight channel. Flow (2008).
[6] Z. Feng, E. Michaelides, The immersed boundary-
lattice Boltzmann method for solving fluid-particles
interaction problems. Journal of Computational
Physics (2003).
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A Study on Ions Transports Through Charged Nanopores

Pham Van Sang*, Nguyen Viet Bac
*Email: sang.phamvan@hust.edu.vn
Abstract
In this work, using a systematic, multiscale, multiphysics, and fully detailed numerical solver to examine the
impacts of the nanopores geometry, surface charge on transports of ions in Ohmic and Limiting current
regimes. By solving the Poisson-Nernst-Planck-Navier-Stokes equations, we can separate the
electromigration, the diffusion, and electroconvection transport components through nanopores. For the first
time, our simulation results show the presence of extended space charge layer near nanopores in Limiting
current regime, this finding helps to validate the theory of extended space charge layer and is useful in
studying the Overlimting current regimes of nanopores.
Keywords: Ion-selective membranes, charged nanopores, Ion transport, Poisson-Nernst-Plank-Navier-
Stokes equations.
1. Introduction
2. Formulation
Recently, applications by using ion-selective
In the system, transport of ions is governed by
membranes are widely applied in many different
the Nernst-Planck Eq. (1) and Eq. (2); electric
fields, such as blood analysis, water desalination, and
potential field is related to the ion concentrations via
fuel cells, etc. So far, current-voltage (I-V) curves
the Poisson Eq. (3) and Eq. (4); and the fluid motion
represent many characteristics of a conducting ion-
is governed by the Navier-Stokes Eq. (5) and Eq. (6).
selective membranes. As depicted in Fig. (1), a
typical I-V curve consists of three distinct regimes: A
low current Ohmic regime, a plateau-limiting regime,
and an overlimiting current regime. While the first
two regimes which could be explained by the
classical theory of concentration polarization, the
mechanism for the third regime was researched,
observed, and reported by many scientists with many
papers around the world.
We build a model of nanopore with different
parameters based on the real patterns which were
manufactured in a university laboratory Fig. (2). Then
we focus on research the impacts of dimension,
surface charge density, and voltage applied on Fig. 1. Sketch of a typical current-voltage (I-V) curve
characteristics of single-nanopore. To have a clear of a permselective membrane.
understanding and modeling of this phenomenon
would require an accurate calculation of the ion
concentrations, residual space charge, electric field
near the single-nanopore, which is a numerically
expensive, coupled, and multiscale problem.
In this research, we study the electroconvection
near a single-nanopore by accurately solving the full
Poisson-Nernst-Planck (PNP) equations and Navier-
Stokes (NS) equations. The PNP equations decoupled
in this work, and the inertial term in the NS equations
will be considered accurately. The I-V curve will be
observed in the first two regimes above.
We will examine in detail the transition between
the first two current regimes and they will be also
revealed carefully.
Fig. 2. Experimental model.
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0
0 ,
0
Where is the concentration of ions at the

bulk space, 0 is the characteristic length scale, 0
/2 is the average diffusivity, is the
Boltzmann constant, is the absolute temperature,
is the elementary charge, Z |Z | is ion valence,
is the dynamics viscosity of solution, and is the
permittivity of the solvent. Parameters ,
0
̃ , and are dimensionless

0
diffusion coefficients, the Debye length
/2 , and the space charge,
respectively. , ,
/ are the Peclet number, the Schmidt
number, and the Reynolds number, respectively.
The system is characterized by the
dimensionless Debye length . In this study,
0.001 corresponds to the characteristic length
1 2 , the bulk concentration
Fig. 3. Domain of simulation. 0.01 , and the absolute temperature
300 . Other parameters used in the simulation
These equations are given in the dimensionless form 9 2
as follows: include the diffusivities 10 / . The
1 ∂C surface charge density of the nanowall and the
∙ ̃ , (1) microwall is 0.001 / 0.0001 / ,
λD ∂t̃ respectively.
̃ D C Z ϕ Pe C , (2) For closure of the governing equations,
2 boundary conditions are also supplied. At the bulk
λD ∙ ϕ , (3)
space and the bottom, ionic species are well mixed,
Z C Z C , (4) 1, and the fluid is stationary, 0. At
1 1 ∂ 2 the microwall surface, no-flux condition is enforced
P U Re ∙
Sc λD ̃ to anions ̃ ∙ 0 ; cations are assumed to be
(5)
1 accumulated uniformly at a concentration of
2 ϕ,
λD 2 ; the common no-slip boundary
∙ 0, (6) conditionis enforced to the fluid 0. Bias voltage
is applied to the system through a fixed-value
Where ̃, , ϕ, , and denote the
boundary condition for electric potential at the bulk
dimensionless time, concentration of cations (+) and
ϕ and the bottom ϕ 0 . At periodic and
anions (−), electric poten-tial, vector of fluid velocity,
periodic-shadow boundary, all variables are assumed
and pressure, respectively. These quantities were
to be periodic.
normalized by the following reference values of time,
ionic concentration, electric potential, velocity, and 3. Numerical methods
pressure, respectively:
The PNP and NS equations are nonlinearly
2 coupled. These sets of equations relate to each other
0
0 ; 0 ; via the convection term in the PNP equations and
0 (7) the electric body force in the NS equations.
;
0
; In order to avoid solving the large system of
0 0
0 linear equations and guarantee the strong coupling of
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Table 1: Parameters of nanopores.

Nanopore
Case Nodes Width Thickness H1 H2
width
(
M4 49268 5 20 20 1000 1000
M5 49268 2.5 20 20 1000 1000
M6 49268 10 20 20 1000 1000
M7 48498 1.5 20 20 1000 1000
M8 51628 2.5 20 10 1000 1000
M9 64208 2.5 20 40 1000 1000
M10 48498 1.5 20 20 1000 2000
thus reduces to a simple zero-gradient boundary

condition for the electro chemical potential variables.
It is demonstrated that the equations involving μ±
require a lesser number of iterations in the Newton-
Raphson method than the equations involving C±.
To simulate and observe the ohmic and limiting
regime, we conducted seven simulation cases with
Fig. 4. Flow chart of simulation algorithm. different computational mesh, whose number of
the PNP equations, we developed a coupled method elements are shown in Table (1).
for solving the sets of PNP and NS equations. 4. Results and discussion
Starting with a velocity field from the previous
iteration or initial condition, the potential and 4.1. Current-voltage response of nanopore
concentrations are simultaneously solved from the
PNP equations. Then, electric body force is
calculated and substituted into the NS equations.
The velocity field obtained by solving the NS
equations is substituted back into the PNP
equations. The process is repeated until convergence
is reached [1].
The finite volume method, which is locally
conservative, is used for discretization of the
equations. The nonlinear discretized PNP equations
are solved using the Newton-Raphson method [2].
Due to the rapid variations of the ion concentrations
and electric potential in the EDL, the mesh near the
nanopore is refined using the GMSH [3].
To avoid the nonlinear no-flux boundary
condition of co-ions at the nanopore, the primitive
concentration variables are replaced by
electrochemical potential variables μ lnC
Z ϕ . In terms of the electrochemical potential
variables, the ionic fluxes can be written as
̃ ϕ
D . Taking into
account the no-slip boundary condition at the
microwall surface, the no-flux boundary condition
Fig. 5. Mesh of simulation model.
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Fig. 6. I-V curves of single nanopores.
Fig. 7. Concentration of Na+ and Cl- in Ohmic regime.

By conducting simulations for different bias Secondly, keeping the nanopore's width equal to 2.5
voltages, we examine the development of nm while increasing its thickness will result in lower
electroconvection flow and its effects on the slope in Fig. (6b) due to higher resistance. Thirdly,
distribution of ions and current passing through the the slope of the IV curve was reduced significantly
nanopore. when increase the distance from nanopore's surface to
Different slopes of I-V curves can be observed the bulk (H2) in Fig. (3). This was indicated by
in Fig. (6). Firstly, decreasing the width of nanopore comparing IV curves of case M7 and case M10,
while keeping the same thickness leads to lower slope where the H2 value of the latter is two times larger
as describe in Fig. (6a) where case M7 has smallest than that of the former.
slope with the smallest nanopore of 1.5nm width.
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Table 2: Thickness of EDL in limiting regime.

M4 M5 M6 M7 M8 M9 M10
Thickness of
3.5 4 0.2 4.2 4 4.2 5.7
EDL (nm)
Fig. 8. Concentration of Na+ and Cl- in Limiting regime.

Therefore, it has been demonstrated that the depletion of ion concentrations near the upper end of
width, thickness of the nanopore and the gap between the nanopore and an enrichment region near its lower
upper nanopore's surface and the bulk make great end as shown in Fig. (7), where the ion
impacts on the I-V curve. concentrations were plotted along the center line of
the nanopore (from 1 9.8 to 2 10.8 )
4.2. Concentration of Na+ and Cl-
for the bias voltages of V1 0.5.
4.2.1. Ohmic regime
4.2.2. Limiting regime
We applied a bias voltage of 0.5 between the
When bias voltage exceeds a certain value
bulk and bottom to generate an electric field along the
(V2 2.5), the concentration of ions near the upper
nanopore. Counterions driven by the electric field
end of the nanopore approached zero, meanwhile,
were conducted through the nanopore, leading to a
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4.3. Development of extended space charge layer

The extended space charge layers corresponding
to the different parameters of nanopores can also be
inferred from plots of the space charge
in Fig. (9).
As can be seen, in the Ohmic regime (V=0.5),
the thickness of the space charge layer is
approximately 0.1 in all cases (in the order of the
EDL thickness). In the limiting regime, the space
charge layer is much greater and can be extended up
to 2.5 nm and 5 nm (V2 2.5).
5. Conclusion
In this research, we carried out various
simulations using different models of single nanopore
to investigate characteristics of I-V curves, ion
concentration of and , and extended space
charge layers. These results enhance the accurate of
Fig. 9. Profile of space charge layer near the single the boundary conditions in many researches
nanopores in the Ohmic (V=0.5) and Limiting regime concerning the applications of ion-selective
(V=2.5). membranes. This research paves the way for a new
approaching method to investigate many different
according to Fig. (8) the ion concentrations in the kinds of artificial nanopores used to describe ion-
opposite side was enriched up to 2.5nM in case M5 selective membranes.
and M9. Beyond this value, a further increase in
voltage insignificantly reduces the concentration near References
the upper nanopore, but develops an extended space [1] V. S. Pham, Direct numerical simulation of
charge layer next to the EDL of the microwall. electroconvective instability and hysteretic current-
voltage response of a permselective membrane (11
The largest and smallest thickness of the October 2012).
concentration polarization layer that can be achieved [2] J. E. Dennis, Jr. and R. B. Schnabel, Numerical
were approximately 5.7 nm and 0.2 nm in case M10 Methods for Unconstrained Optimization and
and M6 respectively (corresponding to bias voltage of Nonlinear Equations (Prentice-Hall, Englewood
V2 2.5), which is much thicker than the thickness Cliffs, NJ, 1983).
of the original EDL. [3] C. Geuzaine and J. F. Remacle, Comput. Methods
Appl. Mech. Eng. 79, 1309 (2009).
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The Expansion of Lean Limit for Direct Injection Natural Gas Engine
by Auxiliary Injection
Tran Dang Quoc1,*, Jong Tai Lee2
1
School of Transportation Engineering, Hanoi University of Science and Technology, No. 1 Dai Co Viet road,
Hanoi, Vietnam.
2
School of Mechanical Engineering, SungkyunkwanUniv300 Chonchon-dong, Janan-gu, Suwon-si, Gyonggi-do,
440-746, Korea.
*Email: quoc.trandang@hust.edu.vn
Abstract
Expansion of lean limit is the effective method to improve the thermal efficiency and reduce temperature in-
cylinder for a direct injection natural gas engine with spark ignition. This engine has shorter mixing duration
as comparison with port injection engines, due to the CNG fuel were directly injected into cylinder at the
compression stroke. Therefore, enhancement of mixing duration in direct injection natural gas engine may
be one of the most important factors to extendthe lean burn limit. In this study, auxiliary injection is
experimentally investigated as the method to enhance mixing duration. Which the small supply energy
injected into the intake pipe at intake process, and main fuel injected into the cylinder whenstarting
compression process, directly. As the resultsare shown that,by the way such as auxiliary injection, lean limit
of CNG engine with direct injection was expanded to air-fuel equivalence ratio of λ = 1.5. The stable region
of operating engine found in the auxiliary injection ratio from AR = 5% to AR = 15% and thermal efficiency
increased approximately 5% as equal supply energy. In addition, the test results also exposed that the
expansion of lean limit by auxiliary injection is due to simultaneous with enhanced burning rate and
decreased heat loss, engine load can be conducted by means of auxiliary injection when fixed engine
speed.
Keywords: Auxiliary injection, DING engine, Lean limit, Mixing duration, Supply energy.
1. Introduction uninterested in mixing duration enhancement.

Therefore, in this study has used auxiliary injection as
Natural gas has known as one of fuel types can
the early method to expand lean limit for direct
replace the conventional hydro-carbon fuel (gasoline
injection natural gas engine. For this method, the
and diesel) because of consisting mainly of methane
supply energy of DING engine will be the
(approximately 90% CH4). The burning natural gas
combination of port injection and direct injection
can reduce CO2 emissions around 30% as comparison
types. Specifically, the small supply energy is
with gasoline and diesel [1]. In the last years, using
injected into the intake port during intake process,
natural gas fuel in the internal combustion engine is
and main fuel is directly injected into cylinder during
two main types such as direct injection and port inject
the early stage of the compression process. The
types [2]. Direct injection natural gas engine has
mixing duration is increased from auxiliary injection
larger power, higher thermal efficiency and larger
up to spark ignition, which is leaded to the
lean limit as comparison with port injection type [3].
homogeneity of mixture at igniting time will be better
These advantages due to the direct injector inserts on
than the direct injection type, so the burning rate is
the cylinder head close to spark plug, in addition, the
increased. The auxiliary injection method not only
only air is charged during intake process, so can
expands lean limit but also conducts engine load at
supply more fuel into cylinder. Butthe disadvantage
lean burn region, depends on the change in suitable
of direct injection type is shorter mixing duration than
auxiliary injection ratio [7].
that of port injection type [4].
For these reasons, the research on the expansion
In order to make good these disadvantages, the
of lean limit for direct injection natural gas engine by
direct injection natural gas engine should be
auxiliary injection is necessary extremely, and it is
enhanced mixing duration and expanded lean limit
very difficult to find out these results.
[5]. Most researches in the world have asserted that
the important key could be achieved a complete 2. Experiments and methods
success of expanding lean limit, is enhanced the mass
2.1. Experimental set up
flow rate and turbulent intensity into cylinder at the
ignition time and during combustion process [6],
nevertheless, these results are unclear and
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Fig. 1. Schematic diagram of experimental apparatus.

Fig. 3. The increase in mixing duration by auxiliary
The Fig. 1 is a schematic diagram of the injection.
experimental setup. It consists of the DING engine, a
dynamometer system, a CNG supply system, the mixing duration can achieve similar port injection
intake/exhaust systems, a cooling system, data type though auxiliary injection, the mixing duration
acquisition unit and several measuring devices. The can be obtained from the intake valve opened (IVC)
test engine has ε = 10.5 of the compression ratio, the to ignited time because of the small part fuel is
displacement volume of 1842 cc, 123 mm x 125 mm injected during intake process.
in the bore and stroke, respectively. The engine has 2.2. Experimental method
two injectors, the port injector inserted on intake pipe,
the direct injector installed on the cylinder head close The goals of the experiments are to appraise the
to spark plug. The direct injector used a ball valve possibility of expanding lean limit and conducting
type actuated by a solenoid, which had been engine performance by auxiliary injection. In order to
developed in the preceding research by the authors determine these goals, auxiliary injection has varied
[1~3]. During fuel supply process, the ball shaped in the wide range from auxiliary injection ratio of
poppet valve is rotated to lead to better gas-tightness AR = 0% to AR = 20% with the step is ∆AR = 5%.
by polishing effect. Fig. 2 shows the installed There are two main cases experiment that is (1) fixed
positions of two injectors. value of auxiliary injection at different ratios as
AR = 0%, 5%, 10%, 15% and AR = 20%, and then
Fig. 3 shows an example on the increase in air-fuel equivalence ratio enhances up to the misfire
mixing duration for direct injection natural gas engine occurrence. The use of auxiliary injection to enhance
with auxiliary injection. In case of non-auxiliary mixing duration will be reduced air mass intake into
injection, as see in the figure, the mixing duration is cylinder, the result in the supply energy decreases.
only obtained the maximum value in the range from Therefore, to exclude any effects on expanding lean
the intake valve closed (IVC) to ignited time
(ignition). It is due to the direct injector is only
supplied fuel during compression process. However,
Fig. 4. COVimep as functions of auxiliary injection.
Fig. 2. Installed position of direct and auxiliary

injectors in research DING engine.
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Fig. 5. Mass fraction burn rate as a function of crank Fig. 7. In-cylinder temperature as function
angle. of crank angle.
limit caused by changes in the supply energy, the test 3. Results and Discussions
was done to find out the causes of expanding lean 3.1. Lean limit with auxiliary injection
limit with auxiliary injection.
Fig. 4 represents COVimep as functions of air –
At each experiment, engine speed, spark timing fuel equivalence ratio (λ) for five values of auxiliary
and temperature of cooling water are maintained injection. The value of COVimep equal 5% is defined
1400rpm, MBT and 353K respectively. In addition, as a limit of engine operation stably. For AR = 0%,
the quantity of auxiliary injection and auxiliary the lean limit found in air – fuel equivalence ratio of
injection ratio can be determined by equations (1) as λ = 1.4, because the COVimep value is exceeded 5%
follow: when air – fuel equivalence ratio (λ) larger than 1.4.
(8) The value of air – fuel equivalence ratio equal 1.4
100%
(λ = 1.4) is reputed the basic lean limit to compare
with extending lean limit in case of using in auxiliary
Where: injection. Observing in the figure, the COVimep of
auxiliary injection is always smaller as comparison
 : Fuel mass flow rate of the port injection with non-auxiliary injection due to mixing duration
(kg/s). enhancement. It means that, the homogeneity of
mixture within the cylinder is enhanced, when using
 : Fuel mass flow rate of the direct injection auxiliary injection.
(kg/s).
To assess the expansion of lean limit when using
 AR: Auxiliary injection ratio (%). auxiliary injection, COVimep value has to obtain
Fig. 8. Thermal efficiency as function of auxiliary

Fig. 6. Variation of heat release rate according to injection.
crank angle.
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Fig. 9. Variation of torque and air mass intake with Fig. 11. Thermal efficiency as function of auxiliary
change in auxiliary injection. injection.
below 5%. As indicated in the figure, lean limit is Fig. 5 shows the mass fraction burn rate as
extended 7% approximately as comparison with DI function of crank angle for five value of auxiliary
type of AR = 0%. In case of COVimep value is injection. Herein, the flame development angle is
approximate 5%, the lean limit is extended around between 0% and 10% of mass fraction burned and the
9% (at λ = 1.53). It is shown that the auxiliary rapid burning is between 10% and 90% of mass
injection has affected the stableness of engine fraction burned. In this case, the supply energy is
operation in the lean limit region, which can be due to maintained at constant value to exclude the influence
the auxiliary injection is contributed to better burning of decreasing supply energy on the test results.
condition as good mixing and ignitibility. As see in the figure, the burning rate with
In addition, at air-fuel equivalence ratio of auxiliary injection was difference as comparison with
λ = 1.5, the change in the COVimep for the case of direct injection only (AR = 0%). In the range from
AR = 10% is very small. This means that engine 0% to 20%, mass fraction burn rate of auxiliary
operation with auxiliary injection of AR = 10% is the injection is rapidly enhanced as comparison with
most stable in compared with other value of auxiliary direct injection only. It means that the flammable
injection, which may be due to the enhanced burning mixture of auxiliary injection at ignition time is
rate and reduced heat loss into cylinder effectively. improved better than direct injection only. In the
The obtained results imply that the use in auxiliary range from 20% to 100%, for auxiliary injection, the
injection has expanded larger lean limit for direct increasing rate of mass fraction burn rate is rapider
injection natural gas engine. than direct injection. This is because the increment of
auxiliary injection will be reduced air mass intake
3.2. Burning rate enhancement and heat loss into cylinder, and resulted in the increase of the
decrement burning rate and supply energy. Although the supply
Fig. 10. Variation of torque according to auxiliary Fig. 12. Suitable auxiliary injection ratio according to
injection. air-fuel equivalence ratio.
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energy is a constant, the burning rate is trended to 3.3. Engine controller by auxiliary injection
enhance as auxiliary injection increases. It is showed
In order to confirm this possibility of auxiliary
the high ability can be obtained larger lean limit
injection, the experiment is conducted in the
along with higher power and thermal efficiency, in
condition as equal supply energy and varied auxiliary
addition, these results can be traced back to the
injection in the range from AR = 0% to AR = 20%.
expansion of lean limit because of enhanced both of
Fig. 9 showed the variation of torque and air mass
burning rate and heat loss decrement simultaneously.
intake with the change in auxiliary injection. In this
Fig. 6 indicates the variation of heat release rate case, the supplied fuel into cylinder is fixed and
according to crank angle for five values of auxiliary changed auxiliary injection ratio (AR) only. As
injection (such as AR = 0%, 5%, 10%, 15% and depicted in the figure, torque is enhanced when
20%). As depicted in the figure, the peak values of increasing auxiliary injection because of the
heat release rate with auxiliary injection were larger decrement of air mass intake. It mean that the
than that of non-auxiliary injection (AR = 0%) operating engine is close to port injection type
because of enhanced burning rate. In addition the air without throttle valve but thermal efficiency is larger
mass intake into cylinder is decreased as auxiliary than that of DI only (AR = 0%). In addition, the
injection increases, so the supply energy into cylinder mixing duration is enhanced and the result in the
seems to increase, in other words, the combustion of cycle-by-cycle variations in the combustion process is
unburned gases into cylinder is richer combustion reduced.
than as comparison with DI type (AR = 0%). It is
showed that the in-cylinder temperature and thermal Fig. 10 presents the variation of torque
efficiency are enhanced due to heat loss decrement. according to auxiliary injection at six values of air-
fuel equivalence ratio. As see in the figure, the torque
Fig. 7 indicates the in-cylinder temperature as curve of six values of air-fuel equivalence ratio is
function of crank angle for five values of auxiliary trended to decrease when auxiliary injection
injection (such as AR = 0%, 5%, 10%, 15% and increases, it is because of decreasing supply energy.
20%), which is determined from the in-cylinder Nevertheless, for equal air-fuel equivalence ratio, the
pressure curve. Within the engine cylinder, the torque of auxiliary injection ratio is smaller than that
temperature of gas mixture including burned and of basic condition (AR = 0%), it is due to the
unburned gases could be transferred to combustion decrement both of volumetric efficiency and supply
chamber walls, such as cylinder head, piston, cylinder energy. The main reason in here that is the intake
wall, piston ring and small part is escaped into process is included of air and natural gas, so has to
crankcase. Higher in-cylinder temperature is reduce supply energy as comparison with DI type
transferred to combustion chamber walls will reduce (AR = 0%). The maximum value of torque occurs on
thermal efficiency and engine power. Observing in the value of auxiliary injection equal 0% AR and then
the figure, for same air-fuel equivalence ratio, the decreases, which is similar to direct injection natural
gradient of in-cylinder temperature with auxiliary gas engine. The most torque increased for increasing
injection was larger than in compared to DI type, auxiliary injection compared with increasing air-fuel
which because of enhanced burning rate. It is means equivalence ratio based on the maximum torque for
that may be the heat is transferred by conduction AR = 0% and λ = 1. This means that the decrement of
through the combustion chamber walls is decreased volumetric efficiency is influenced on engine torque
significantly as comparison with DI type. For this insignificantly as comparison with supply energy
reason, more case studies are necessary to examine decrement.
the possibility of auxiliary injection in reduced heat
loss enhancement. Fig. 11 illustrates the thermal efficiency as
function of auxiliary injection at six values of
To quantify the decrement of heat loss as using
auxiliary injection. The thermal efficiency tends to
auxiliary injection, the experiment is performed in
become greater as auxiliary injection increases in the
same load. Fig. 8 illustrates thermal efficiency as
range of AR = 0% to 20% because of enhanced
function of auxiliary injection, as see in the figure,
burning rate and decreased heat transfer to
thermal efficiency is increased when increasing
combustion chamber walls at the same time. It also
auxiliary injection irrespective of the decrease in both
can be explained by the fact that the mixture in-
of air mass intake and supply energy. The cause to
cylinder is became leaner than when air-fuel
increase thermal efficiency is due to burning rate and
equivalence ratio is larger than λ = 1, in addition, the
heat loss decrement are increased. The reduction of
combustion processes is completed and reduced heat
heat loss is enhanced thermal efficiency
loss transfers to combustion chamber walls.
approximately 7% and the result in compensated the
decrement of supply energy as comparison with DI As depicted in the figure, the thermal efficiency
type. is reduced as air-fuel equivalence ratio is larger than
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λ = 1.3 due to total fuel mass flow rate decreases  By the way such as auxiliary injection, lean limit
rapidly. This means that the in-cylinder mixture to of CNG engine with direct injection was
become leaner and close to lean mixture limit. The expanded to air-fuel equivalence ratio of λ = 1.5.
starting point of rapid decrement is found at air-fuel The stable region of operating engine found in
equivalence ratio equal 1.5. It is due to the total the auxiliary injection ratio from AR = 5% to AR
supply energy is decreased too much as comparison = 15% andthermal efficiency increased
with increased heat loss decrement. approximately 5% as equal supply energy.
As same air-fuel equivalence ratio, thermal  The test results also exposed that the expansion
efficiency tends to become greater when auxiliary of lean limit by auxiliary injection is due to
injection increases and this tendency becomes enhanced both of burning rate and heat loss
particularly evident when the mixture leaner than. decrement; in addition, engine load can be
This can be traced back to the effect of increase in conducted by means of auxiliary injection when
cooling loss reduction and combustion acceleration fixed engine speed.
due to auxiliary injection and a combustion gas
temperature increases. 5. References
[1] Tran Dang Quoc, Daewoo Nam, Jong Tai Lee,
For above results are demonstrated that auxiliary
“A Study on Compression Ratio of CNG Engine with
injection is an effective method in expanding lean Early Direct Injection”, Annual Conference
limit for a DING engine, and to find out the suitable Proceedings, pages 139, KSAE 2008. 11.
auxiliary injection ratios for varying engine [2] Daewoo Nam, Tran Dang Quoc, Jong Tai Lee, 2008,
performance is necessary. “The Characteristic of Power and Emission for
Heavy-duty CNG Engine with Direct Injection
As presented and analyzed above results, using according to Various Compression Ratio”, pages
auxiliary injection is successfully expanded lean 3090-3095, KSME, 2008.11.
limit, because mixing duration and burning rate [3] Daewoo Nam, Tran Dang Quoc, Jong Tai Lee, “Effect
enhanced, and reduced heat loss transfer to of EGR in the Heavy-duty Direct Injection CNG
combustion chamber walls. For these reasons, to find Engine”, pages 606-611 KSAE, 2008.4.
out the suitable auxiliary injection ratios for the [4] Tran Dang Quoc, Kwangju Lee, Changhee Byun,
change in engine load is needed. Fig. 12 shows Daewoo Nam, JongTai Lee, “Experimental Study to
suitable auxiliary injection ratio according to air-fuel Expend the Lean Limit for Heavy-Duty Direct
Injection Natural Gas Spark Fueled Spark Ignition
equivalence ratio. Observed of figure, the operating engine”, page 37-40, KSAE 2010.11.
region close to air-fuel equivalence ratio of λ = 1, [5] Tran Dang Quoc, Kwangju Lee, Jong Tai Lee,
auxiliary injection ratio equal 10% is observed “A Study on Expansion of lean limit for Heavy-Duty
suitable to high engine performance. However, the DI engine with compressed natural gas”, Trans. of the
engine is operated with higher air-fuel equivalence Korean Hydrogen and New Energy Society (2011.10),
ratio (from λ = 1.2 to λ = 1.5) need to reduce Vol. 22, page 21, Annual Conference and Exhibition,
auxiliary injection to AR = 5%, because can take full No. 5, pp. 735-740.
advantage of direct injector such as high injection [6] Tran Dang Quoc, Thesis “A Study on Extension of the
pressure and high turbulent intensity. Lean Limit for Direct Injection Natural Gas Engine by
Using Auxiliary Injection”, The Graduate School,
4. Conclusions Sungkyunkwan University, Department of
Mechanical Engineering, Korea 2012/12.
To ascertain the possibility of achieving lean [7] Tran Dang Quoc, “Effects of High Power and
limit expansion for direct injection natural gas engine Thermal Efficiency on Lean Limit in Direct Injection
by auxiliary injection, the effects of the auxiliary Natural Gas Fueled Spark Ignition Engine”
injection is analyzed in terms of lean limit and Proceedings of the 3rd World Conference on Applied
performance characteristic. Sciences, Engineering & Technology 27-29
September 2014, Kathmandu, Nepal, ISBN 13: 978-
81-930222-0-7, pp 661-665.
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Numerical Simulation of a Hydraulic Hoisting Actuator for Flat Gate

of Irrigation Systems in Simhydraulics
Van-Thuan Truong*, Tuan-Anh Dao
*Email: thuan.truongvan@hust.edu.vn
Abstract
The paper presents a numerical simulation of a hydraulic hoisting actuator for flat gate of irrigation systems.
Dynamic characteristics and specifications of hydraulic actuator are developed and modeled in
MATLAB/Simulink environment. The research also considers the external load affecting on gate during
operation as realistic conditions. Hence numerical simulation is implemented for obtaining system
performance. The results obtained are in an agreement with theories and these deduces an effective
approach for dynamic analysis and design of hydraulic hoisting actuators which are usually used in irrigation
systems.
Keywords: Hydraulic hoisting actuator, numerical simulation, MATLAB/Simulink.
hanging flat gate, a 4/3 flow directional control valve,

1. Introduction
a pressure control valve for system protection, a
Hydraulic hoisting actuators are used widely in check valve for avoiding opposite flow in hydraulic
irrigation systems due to heavy load and compact of units, a counter balance for hanging negative load.
hydrostatic applications. Nowaday, these are vital
The operation of the system consists of 2 main
parts in hydropower plants or water resources control
regimes: hoisting load, lowering load. In hoisting
systems in which large scale gates are usually applied
load regime, hydraulic pump sucks oil from tank,
for water regulation. Many external factors have
then push oil through check valve, 4/3 valve (b
influence on response of whole system. They should
mode), check valve of counter balance valve to lower
be considered in calculation and design for the best
chamber of cylinder. Pressure in lower chamber
performance. Some recent work in related field can
increases to enough value to makes piston rod move
be mentioned as: Ning Chenxiao et al. [1]
upward thus pull the load. For hanging load at any
summarized some resources of vibration and noise of
middle position, counter balance valve is set at a
hydraulic hoist; Riccardo Bianchi et al. [2] had a
pressure value which is higher than pressure value
frequency-based approach of payload oscillation
generated by load. In lowering load regime, (4/3
reduction in load-handling machines; Hao Feng et al.
valve in a mode), pressure of oil pumped makes
[3] worked on modeling stiffness characteristics of
pressure setting in counter balance reduce in
hydraulic cylinder under multi-factors...However,
proportion to the stated ratio of valve, release oil in
investigating deeply in vibration of hydraulic
lower chamber of cylinder to tank.
actuators using large-scale cylinder seems to be a
research gap. Governing equations of actuator operation are
developed basing on Newton’s Law and fluid
This reasearch aims to build up a typical
mechanic theory:
hydraulic hoisting actuator for flat gate system in
irrigation reservoir. An equivalent model of it is built 
mx  PL AL  PU AU  mg   c x  F (1)
in MATLAB/Simulink and Simhydraulics module VL  (2)
with flexible parameters for quick and convenient Q1  AL x  PL
investigation. The model considers some main factors E
acting on load during operation as Archiemedes V (3)
AU x  Q2  U PU
force, friction of gate roller, difference of water levels E
in 2 sides of gate...Numerical simulation is
with m is working mass; PL, VL, AL, PU, VU, AU
implemented for obtaining system performance.
are pressure, oil volume and effective stress areas in
These results are base for system stability and
lower and upper chamber of cylinder, respectively; g
optimization design.
is gravity; Q1 and Q2 are input/output flow rates with
2. The system description assumption of no leakage. βc is viscous damping
coefficient of oil, x is displacement of piston; ƩF is
Figure 1 below illustrates a popular type of sum of external force impacting on equivalent mass.
hydraulic hoisting machine used in flat gate systems.
It consists of a hydraulic cylinder vertically set for
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Fig. 3. Interface of Simhydraulics element.
Fig. 4. Cylinder friction element in Simhydraulics.
Fig. 1. Diagram of hydraulic hoisting actuator.
Fig. 2. Hydraulic cylinder element in Simhydraulics. Fig. 5. Directional control valve in Simhydraulics.
3. System modeling Figure 5 displays a 4/3 directional control valve

Hydraulic hoisting actuator is a complex in Simhydraulics toolbox. By setting initial opening,
combination due to dynamically characteristic many types of 4/3 hydraulic valve can be built up for
response of each component. Building differential purpose. The valve parameters consist of passage
equations of whole system including many maximum area, maximum opening, flow discharge
components is not a good way. In this research, coefficient, critical Reynolds number and leakage
kinematics and dynamics of each hydraulic part are area. It allows to quickly change specifications of
modeled by a corresponding element in valve for many different hydraulic system
Simhydraulics module. Installing these elements let configurations.
us have a useful model of hydraulic hoisting actuator Hydraulic pump is the system’s heart because it
for quickly investigating and simulation. The supplies hydraulic oil to actuator. Characteristics of
modeling is presented in following. pump includes nominal pressure, displacement (oil
Figure 2 shows Simhydraulics element of volume in a rotation of shaft, nominal angular
hydraulic cylinder. The prismatic and rotational velocity and so on, which all are considered in pump
constraints between cylinder bore and rod as well as element model shown in figure 6.
hard stop are defined. Working areas, dead volume in Another important component in hydraulic
each chamber and cylinder orientation is easily set via actuator having negative load is counter balance
inside interface illustrated in figure 3. valve. It allows to keep hanging load at any position
However, cylinder element does not consider without of pump operation. We can set valve pressure
the friction as reality. It leads to use cylinder friction setting, spring stiffness, pilot ratio, backpressure ratio
element which simulates friction in the contact like real valve. This element’s appearance is shown in
between moving bodies in hydraulic cylinders. This figure 7.
element is shown in figure 4.
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By connecting the aforementioned components

with auxiliaries in a certain diagram, a full model is
fully established as in figure 8.
4. Numerical Simulation and Results
In previous sections, the configuration of
hydraulic hoisting actuator is presented and its
equivalent model is established. The research
Fig. 6. Hydraulic pump element. implements numerical simulation of the model with a
typical parameters of flat gate used in irrigation
systems. Table 1 shows the main parameters of
system.
Table 1. The parameters of system
Quantity/Factor Value (unit)

Equivalent Load ~50010 (kg)
Hydraulic cylinder
8 (m)
stroke
Cylinder bore diameter 0.3 (m)
Fig. 7. Counter balance valve element. Piston rod diameter 0.2 (m)
Max.Hoisting/Lowering
1 (m/minute)
speed
Fig. 8. Hydraulic hoisting actuator model built in Simhydraulics.
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Fig. 9. Load displacement in hoisting process.

Fig. 13. Load displacement in lowering process.
Fig. 10. Pressure in lower chamber in hoisting Fig. 14. Pressure in lower chamber in lowering
process. process.
Fig. 11. Pressure in upper chamber in lowering

Fig. 15. Pressure in upper chamber in lowering
process.
process.
vibration is more serious in lowering process shown
in Figures from (13) to (16). Pulses of load speed at
beginning of process can make flat gate be damaged.
The results are suitable with realistic system
performance: hoisting is more smooth than lowering
and can be base for prospective works.
4. Conclusion
This work built up a Simhydraulic model of a
hydraulic hoisting actuator for flat gate of irrigation
Fig. 12. Load speed in hoisting process.
systems and implemented numerical simulation with
a parameter set. Obtained results are in an agreement
Figures from (9) to (12) show system response
with theory and reality. The research results and
in hoisting process. The system performance is pretty
model will be useful base for prospective works of
smooth. A small pressure vibration in lower chamber
numerical simulation of large-scale hydraulic
of cylinder made a unconsidered vibration in
actuators.
displacement of piston rod in beginning. But the
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References
[1] Ning Chenxiao, Zhang Xushe, Study on Vibration and
Noise for the Hydraulic System of Hydraulic hoist,
Proceeding of 2012 International Conference on
Mechanical Engineering and Material Science
(MEMS 2012) 126-128.
[2] Riccardo Bianchi, Guido F Ritelli, Andrea Vacca,
Payload oscillation reduction in load-handling
machines: A frequency-based approach, Journal of
Systems and Control Engineering. (2017) 1–14.
[3] Hao Feng, Qungui Du, Yuxian Huang, Yongbin Chi,
Modelling Study on Stiffness Characteristics of
Hydraulic Cylinder under Multi-Factors, Journal of
Mechanical Engineering. 63 (2017)7-8, 447-456.
[4] A.A. Shabana, Theory of Vibration: An Introduction,
Second Edition, Springer-Verlag New York, Inc
(1996).
[5] Lương Ngọc Lợi, Cơ học thủy khí ứng dụng, NXB
Bách khoa Hà Nội (2009).
Fig. 16. Load speed in lowering process. [6] Mathworks: MATLAB/Simulink help (2018).
Available at http://www.mathworks.com/.
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Dynamic Simulation of a Underwater Hydraulic Manipulator

Van-Thuan Truong, Khanh-Duong Tran*
Hanoi University of Science and Technology, No.1, Dai Co Viet, Hai Ba Trung, Hanoi, Vietnam
*Email: duong.trankhanh@hust.edu.vn
Abstract
With the powerful characteristics and flexibility, a Underwater Hydraulic Manipulator (UHM) can help man to
implement many duties in difficult and dangerous situations. UHM’s operation is effected by not only gravity
but also Archiemedes force. The paper presents some research results of dynamic simulation of a UHM. A
model of UHM established basing on a real pattern is executed. Via recursive formulations, relations
between contigous parts through joints are acquired. Hence whole dynamics of the manupulator are
obtained upon on the desired trajectory it performs. Numerical results obtained are useful for predictive
analysis before an investigation of real pattern are implemented for effectiveness and safety.
Keywords: Underwater Hydraulic manipulator, Dynamic Simulation, Recursive formulators, RecurDyn.
1. Introduction UHM is essentially open-loop branch of

multibody system which is usually solved basing on
Underwater hydraulic manipulator (UHM) is an
Lagrangian dynamics or Newtonian mechanics.
interesting topic which attracts the attention of many
Lagrange's equations involve scalar quantities such as
researchers. According to the technical development
kinetic energy, potential energy, virtual
over the world, manipulators take an important role
displacements, generalized coordinates generalized
day by day in domestics and industries. For many
forces and virtual work. In Newtonian mechanics
difficult and dangerous duties under the water,
presented by Craig [6], the motion of rigid body in
manipulators become vital solution. Some recent
manipulator space is described by six equations. The
works can be highlighted such as: Shinichi Sagara et
first three equations called Newton's equations
al. [1, 2] developed control strategy for UHM;
describe the translation of rigid body and the other
Takashi Sonoda et.al. [3] developed a UHM for deep-
three equations called Euler's equations describe the
sea survey; Sunil Kumar et al. [4] took a review of
rotation of rigid body. Newtonian dynamics also
recent developments in modeling and control of
introduce a few important concepts such as the
underwater robot manipulator, Tang Quoc Nam et al.
angular velocity and angular acceleration. The
[5] designed a UHM for defence and marine research
application of these theory in multibody system was
and so on.
presented in a research of Hwang and Truong [7].
The research presents a brief review of recursive
algorithm followed by modeling and simulations of a
UHM via numerical recursion. A 4 degrees of
freedom of hydraulic manipulator which can work
underwater is investigated. The model is designed
based on a real pattern in CAD software. Kinematics
and kinetics of all links and joints in geometrical
constraints is analyzed via simulation for obtaining
driving torque, hydraulic cylinder forces...
Archiemedes force effecting on whole model is also
involve to calculation. The results acquired is used to
analyzed, estimated and improved real pattern.
2. UHM model
Figure 1 is the CAD model of UHM build
basing on the real one shown in Fig. 2.
CAD software helps to calculate whole
specification such as mass, center of gravity, inertia...
of each mechanical part due to definition of material
Fig. 1. CAD model of UHM. and designed parameters. In this research, length of
three last links in model are 700/605/515 mm,
respectively; total mass is about 60kg. Then the
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l= l1 l2 l3   ri P  r j P

(3)
i j
 Ri  Ai u P  R j  A j u P
Ai and Aj are the transformation matrices from

the local to the global coordinate systems. So the
length of spring is:
 
12 12 (4)
  l1    l2    l3  
2 2 2
l  ll
 
The virtual change δl can be in below form:
1 (5)
Fig. 2. Real model of UHM. l  l1 l1  l2 l2  l3 l3   ˆl  l
l
with l̂ is a unit vector along l , hence:
 l= R i  B i  θi   R j  B j  θ j (6)
T
where q kr   R k T θ k T  and Bk are the
generalized coordinate of body k and partial
derivative of with respect to the rotational coordinate
θ k of body k (k=i, j). The virtual work finallycan be
expressed as:
 W   F l (7)
 Ri   R j 
  Fˆl  I3 Bi     Fˆl  I3 B j   
i
  θ    θi 
 Ri   R j 
 Qi R  Qi      Q j R  Q j    
  θi    θi 
Fig. 3. Relationship model of 2 consecutive bodies.
where I3 is a identity matrix and QiR, Qiθ,QjR and Qjθ
model simulation is implemented in RecurDyn
are the vectors of generalized forces which are
software, in which gravity, Archiemedes force as well
respective to generalized coordinates. The kinematic
as joint friction are involved.
and kinetic relation acquired above are base for
Via recursive calculation, a manipulator which numerical calculation.
has n rigid bodies required 6n coordinates and there is
The general form of differential equation
interdependence between two consecutive bodies.
applicable for both honolomic and nonholomic
Fig. 3 illustrates a simple system including 2
system is following:
contiguous bodies, body i and body j, engaged
together through a spring-damper-actuator element.   Q  CqTλ  0
Mq (8)
The attachment points on each body are Pi and
Pj, respectively. The spring stiffness coefficient is k, in which M, Q, CTq, λ are intertia mass, generalized
damping coefficient is c and the actuator generates force vector, coefficient and Lagrange multipliers,
force f. The spring has the natural length of lo and respectively.
instantaneous length of l. The force along direction
The aforementioned formula is applied for
PiPj can be written as:
UHM model via co-simulation in RecurDyn and
F  k ( l  l o )  cl  f Matlab/Simulink. In this research, a spiral trajectory
(1)
of end effector (robot hand) is implemented. Via
The virtual work of the force: forward and backward kinematics, displacements of
each joint is defined as below:
W  F l (2)
where δl is the virtual change of spring length. PiPj
defined in form:
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Fig. 4. Co-simulation between Matlab/Simulink and

RecurDyn.
Fig. 6. Angular speed of joints.
Fig. 5. Trajectory of End Effector.
 xE   R*cos(/6*t)+30 (9)

 y E   R*sin( /6*t)
 z =10*t 2  2 * t  4
 E
yE (10)
1  arctan Fig. 7. Driving torque in revolute joints.
xE
sin  3 transition process while friction changes from static
θ 3  arc tan (11)
cos  3 stage to dynamic stage.
sinθ 2 (12) Actually, driving torque in each revolute joint is
θ 2 =atan2( )
cosθ 2 supplied by hydraulic cylinder force, and
θ 4  θ 2  θ 3 correlatively angular speed also depends on
(13)
translational displacement velocity of driving
with θi với i=1…4 are rotational angles from base to cylinder due to kinematic constraints. In the other
end effector, respectively; [xE, yE, zE] is center of end word, UHM’s operation is powered by controlling
effector. hydraulic cylinders. Fig. 8 describes velocity of each
hydraulic cylinder in order to catch desired trajectory.
3. Numerical Simulation
4. Conclusion
According to previous sections, a UHM model
and calculation formula are presented. In this section, The research built a underwater hydraulic
simulation is implemented via co-simulation in manipulator model and investigated it via numerical
RecurDyn and Matlab/Simulink as shown in Fig. 4. simulation. The results are suitable to theories of
mechanics. These are useful for analysis and
Following the function of rotational angles of all improvement in early design stage before an
revolute joints mentioned above, end effector can implementation of real model.
catch the defined trajectory as in Fig. 5.
Acknowledgments
Fig. 6 describes the angular speeds of all joints
(from base link to end effector link) upon desired The authors are grateful for the financial
trajectory and Fig. 7 shows the required torque supports provided by Ministry of Education and
values. We can see that at the beginning of Training, Vietnam under the grant contracts B2016-
movement, slope of curve is large. It is suitable to BKA-17.
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[3] Takashi Sonoda, Amir Ali Forough Nassiraei, Ivan

Godler, Tharindu Weerakoon and Kazuo Ishii,
Development of a Hydraulic Underwater Manipulator
for Deep-Sea Survey AUV) (2017), International
Translational velocity (mm/s)
Conference on Artificial Life and Robotics, Japan.

[4] Sunil Kumar, Vikas Rastogi and Pardeep Gupta,
Recent Developments in Modeling and Control of
Underwater Robot Manipulator: A Review(2016),
Indian Journal of Science and Technology, Vol. 9(48).
[5] Tăng Quốc Nam, Lê Tuấn Anh, Vũ quang Chiến, Vũ
Thế Hoàng, Nghiên cứu thiết kế chế tạo robot thám
hiểm dưới nước phục vụ quốc phòng và nghiên cứu
biển, Tuyển tập Hội nghị toàn quốc lần thứ 5 về cơ
điện tử, Việt Nam.
[6] John J. Graig, Introduction to Robotics: Mechanics
and Control, 2nd Edition, Addison-Wesley Publishing
Company, Inc.
Fig. 8. Velocities of driving hydraulic cylinders. [7] Yunn-Lin Hwang and Van-Thuan Truong, Dynamic
Analysis and Control of Multibody Manufacturing
References Systems Based on Newton-Euler Formulation,
[1] Radzi Bin Ambar and Shinichi Sagara, Development International Journal of Computational Methods, Vol.
of a master controller for a dual-arm underwater 12(2), 2015.
robot(2015), The Twentieth International Symposium [8] http://eng.functionbay.co.kr/
on Artificial Life and Robotics, Japan. [9] https://www.mathworks.com/
[2] Shinichi Sagara and Radzi Bin Ambar, Digital
Resolved Acceleration Control of Underwater Robot
with Multiple Manipulators (2014), Proceedings of
the 2014 International conference on Advanced
Mechatronic Systems, Japan.
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Design and Manufacture Constant Volume Combustion Chamber (CVCC)

Application for Combustion Study
Nguyen Phi Truong1,2,*, Nguyen Tuan Nghia2, Le Anh Tuan1
1
2
Hanoi University of Industry
*Email: truongnp7@gmail.com
Abstract
Constant volume combustion chamber (CVCC) is a simple type of combustion chamber which has constant
volume and it is transparent. It is possible to visualize and to adjust the spraying process, the mixing
formation and combustion process of the air-fuel mixture. This paper presents the process of designing and
manufacturing the constant volume combustion chamber for further research of homogeneous charge
compression ignition (HCCI). Ansys software was used for examining the durability of the combustion
chamber. The results show that, with the selected materials, observation glass and the chamber’s
parameters, the constant volume combustion chamber could operate safety upto the limit pressure of 100
bar.
Keyword: CVCC; HCCI; Ansys; combustion.
1. Introduction crystalline crystal. The size of the combustion

chamber is shown in Fig(1.2).
Constant volume combustion chamber is the
combustion chamber has many windows of quartz 2.2. Simulation results of combustion chamber
and smooth so it is easy to see inside the combustion (CVCC)
chamber. Constant volume combustion chamber is
When designing CVCC, make sure that the
usually cylindrical, depending on the purpose of use
CVCC can withstand maximum pressure to avoid
that it is horizontal or vertical. The constant-volume
damage and danger to the user. The simulation
combustion chamber (CVCC) has the advantage of
process must be secure. Calculating the maximum
being able to easily change combustion parameters
pressure at a rate equal to 1 [1], [2], [3] and 69 bar is
such as air-fuel ratio, excess air ratio, initial pressure
the result. But to be more secure, simulate the
chamber and temperature, nozzle and spark plug
resulting pressure inside the cylinder from 80 bar to
location, electrode gap and spark. This combustion
100 bar. Size diameter, height and thickness of
chamber is very flexible when researching, detecting
combustion chamber 80x90x60 (mm). Using the
combustion, controlling combustion, and flexibly
Ansys 15.0 simulation software, the CVCC is divided
assessing the formation of mixtures and combustion
into two parts, the main chamber and the quartz glass
of different fuels.
door. The body chambers and over head chambers are
The CVCC system can carry out a variety of materials designed with S45C steel (Carbon steel is
fire-oriented studies on forced fire and self- resistant to impact, good tensile strength, high
combustion. Research orientations may include: the oxidation resistance, good impact resistance) with
ratio between fuel and air, conditions (temperature, parameters in Tables (1) and (2).
pressure, ignition angle) for the occurrence of fuel
oxidation, combustion studies different fuels... etc. A-A B B-B
Constant volume combustion chamber (CVCC) has a

Ø140
M10x12
20
special structure combined with an optical system

42
Ø10x2
(like the study of phenomena near the upper dead

Ø40
Ø20
Ø50
Ø15
Ø5x2
173
40
40
40 25
center of the engine).

42
2. Design of constant volume combustion chamber B Ø80

Ø140
Ø170
Ø200
2.1. Model building Ø200
Ø170
Using solidwork 15.0 to design the shape of the A A

10
Ø
combustion chamber. The combustion chamber has

40
the main parts are combustion chamber and

40
Ø
45°
observation glass. The body of the combustion

chamber is made of S45C steel, the glass is made of Fig. 1. Body of CVCC.
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A-A pressure inside the combustion chamber is evenly

M6x4
Ø140 distributed on the surface, fixing the relevant parts.
Bolts are made of S45C material.
Ø110
20
Ø100
30
31
The simulation results shown in Fig (3) to Fig
35
Ø90
(7) show the maximum stress of the main chamber by

30
Ø80
47.9 Mpa.
Ø10x6
The simulated results show that the combustion

Ø156
Ø150
chamber ensures safety with an internal pressure of
Ø200
100 bar.
2.3. Manufacturing CVCC
Ø178
2.3.1. Manufacturing body, over head CVCC
A Ø125
Main details of the CVCC combustion chamber
are based on the parameters of the drawing. Carry out
the machining process details Fig (8a.b). To seal the
A combustion chamber when mounting, it is necessary
to use the gaskets as shown Fig (8b) [4]. These are
special types of bearings that can withstand high
pressure and temperature of the combustion chamber.
Fig. 2. Over head of CVCC.
After making the fire chamber as shown.
Table. 1. S45C Steel specification
Specification Unit Value
Density g/cc 7,85
Hardness, Brinell Mhos scale 167 - 229
Tensile Strength, Ultimate MPa 569
Tensile Strength, Yield MPa 343
Elongation at Break 20 %
Modulus of Elasticity GPa 205
0.29
Machinability 55 %
Shear Modulus GPa 80.0
Table. 2. Quartz glass specification
Specifications Unit Value
Specific gravity g/cm2 2.21
Hardness Mhos 5-7
Fig. 3. Von-mises Stress of CVCC at 80 bar.
scale
Rapture strength Mpa 800-1000
Compressive Mpa 60-700
stress
Young’s Modulus Gpa 77.8
20 °C
Young’s Modulus Gpa 82
50 °C
Young’s Modulus Gpa 85
900 °C
Possion ratio 0.17
Rigid index 900 C Gpa 36.9
Speed of longinal m/s 5.72x10-3
wave
Boundary Conditions for Simulation: The Fig. 4. Von-mises Stress of CVCC at 85 bar.
maximum divider size of 4 mm is 100 bar. The
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Fig. 8a. Main details of the CVCC.
Fig. 8b. Main details of the CVCC.

3. Conclusions
A constant volume combustion chamber is
designed with internal combustion air pressure up to
100 bar.
The internal combustion chamber has an internal
diameter of 70mm, a height of 90mm and a thickness
of 60mm.
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Reference [4] Prathan Srichai. Design Concept of Biodiesel Direct

Injection Constant Volume Combustion Chamber,
[1] Pulkrabek Willard W, “Engineering Fundamentals of The 3rd TSME International Conference on
the Internal Combustion Engine”. Prentice Hall, New Mechanical Engineering October 2012, Chiang Rai
Jersey. [5] http://help.solidworks.com
[2] Turns Stephen R, “An Introduction to Combustion: [6] http://help.ansys.com
Concepts and Applications”, 2nd edition. ISBN 0-70-
230096-5, McGraw-Hill Series in Mechanical
Engineering.
[3] Pattanit Nomthongthai, 2014, “Combustion
Characteristic Of Hydrogen In Constant Volume
Combustion Chamber”, A thesis submitted in partial
fulfillment of the requirements for the degree of
Master Of Engineering in Automotive Engineering
(international program) International College King
Mongkut’s Intittute Of Technology Ladkrabang
Academic Year 2014, KMITL-2014-IC-M-004-012
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Discontinuous Galerkin for Advection-Diffusion Equation by Combining

Recovery-based Scheme and Interface-Centered Binary-Reconstruction
Scheme
Loc H. Khieu1,* , Eric Johnsen2
1 Computational Engineering, Vietnamese-German University, Thu Dau Mot, Binh Duong, Vietnam
2 Mechanical Engineering, The University of Michigan, Ann Arbor, MI, US
*Email: loc.kh@vgu.edu.vn
Abstract
We present a Discontinuous Galerkin (DG) discretization for an advection-diffusion equation, which is a
popular model equation for the ubiquitous Navier-Stokes equations of Fluid Mechanics. The diffusion term is
discretized by the Recovery-based Discontinuous Galerkin (RDG) method, which achieves the order of
accuracy in the order of 3p, where p is the order of the polynomial basis used in the approximation. A naïve
combination of RDG and the basic DG for advection, however, will result in a suboptimal overall scheme,
due to the lower order of accuracy of the latter-just in the order of 2p. Thus, we have enhanced the DG
discretization for advection by utilizing the reconstruction idea of the famed MUSCL scheme. The highest
order of accuracy of the resultant schemes is in the order of 3p, as shown by preliminary results from Von
Neumann analyses.
Keywords: computational fluid dynamics; discontinuous Galerkin; advection-diffusion problems; Von
Neumann analyses.
1. Introduction “standard” or “basic” DG scheme for advection,

differencing from our own modifications mentioned
The Discontinuous Galerkin (DG) method was
later.
originally introduced for solving the steady-state
neutron transport equation on triangular meshes [1]. It The main difficulty preventing a simple
combines advantages of Finite Volume (FV) and extension to solving diffusive terms (i.e., second-
Finite Element (FE) approaches into one single order derivatives), such as in the Navier-Stokes
framework. It has several advantages over both high- equations, is the fact that derivatives are undefined at
order FV and high-order Finite Difference (FD) cell interfaces due to the aforementioned
methods: portability to complex geometries, discontinuities. Two main approaches have been
scalability in parallel architectures, and relatively followed in the past: one in which gradient
simple extension to high order on a compact information is provided and which is stabilized by
computational stencil. interior penalty terms or artificial diffusion with
adjustable parameters; and another more recent based
The stability of DG discretization for advection
on the idea of recovery of the underlying function
problems is provided by the combination of
over neighboring cells. With the former, interior
discontinuities in values of the equation variables
penalty methods have been used for elliptic and
across cells’ interfaces and upwind flux calculation.
parabolic problems [6]. Another class of methods
The former directly results from the discontinuous
treat the second-order partial differential equations as
nature of the numerical representation in each cell,
a system of first-order equations [7-9]. Such methods
and the latter is borrowed directly from FV for
have been used to solve for diffusive terms, but there
advection problem: at any interface that the variables
is no consistent methodology and often-adjustable
are discontinuous, a Riemann problem is solved to
parameters are required.
obtain common the common values. Numerical
dissipation is then produced, stabilizing the numerical The Recovery-based DG (RDG) method for
scheme. The introduction of the Runge-Kutta DG diffusion was introduced by Van Leer in 2005 [10].
(RKDG) method by Cockburn and Shu [2-5] made The interface discontinuity is removed in the weak
this approach appealing for time-dependent sense by a local reconstructed polynomial called the
convection-dominated problems. The RKDG method recovery function f, which is required to satisfy
was shown to be well-suited to handle shocks through moments with the original solution in the elements
the use of slope limiters in one and two dimensions, that span the interface. It is then used to compute the
on rectangular and triangular meshes. The order of necessary function values and derivatives at the
accuracy is 2p+1; this is subsequently called interface. Utilizing a p-order elemental tensor-product
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polynomial basis, RDG has been demonstrated to be Expressions of the Legendre basis functions
stable [11] and to achieve order 3p+2 or 3p+1 for p  (j ) ( x) change from cell to cell. However, if we map
even or odd, respectively [11], on a Cartesian grid.
Huynh [12] shows that RDG is the most accurate, and an arbitrary segment
that it has the most favorable stability restriction, in a  j  [ x j 1/ 2 , x j 1/ 2 ]   x j  x j 2 , x j  x j 2  (2)
comparison study of all contemporary DG schemes
for diffusion. The result is robust: it holds in any to a reference cell with a local coordinate   [0,1]
number of dimensions, for linear as well as nonlinear
via the transformation x  x j   x j 1/ 2 , the
equations, with or without mixed derivatives. Lo [13]
was the first to show the optimal accuracy for a 2-D expressions for  ( ) are universal; see Table 1 for
diffusion-shear operator and for the 2-D Navier- the expressions of  ( ) up to p  6 in one
Stokes terms; Johnsen et al. [14-16] showed it for 3-
dimension. Note that the Legendre polynomial basis
D turbulence calculations.
functions are orthogonal, i.e.,
Now there exists a significant disparity in the x j 1/2
  j ( x)  j ( x) dx  0 only when    . (3)
( ) ( )
order of accuracy between the diffusion discretization x j 1/2
with RDG and the advection discretization with the

basic DG for advection, 3p+1/3p+2 of the former Table 1. The basis functions of Legendre polynomial in the
compared to 2p+1 of the latter. Our previous study reference coordinate defined as   x  x j   2  1 / 2 on
[14] shows that the overall performance is indeed
an arbitrary cell  j  [ x j  x j / 2, x j  x j / 2] .
limited. We are then prompted to explore various
approaches for improving the DG discretization for
advection [14, 17], and our preference is the
interface-centered binary reconstruction, denoted
icb. It reaches a maximal order of accuracy 3p+1
while still preserves the compactness of required
computational stencil.
In this paper, we shall study a discretization for
the advection-diffusion equation that combines the
RDG and the icb discretizations, focusing on the
question of accuracy. Specifically, we try to
2.2. Reconstruction
determine if there is any deterioration in terms of
order of accuracy. Recovery reconstruction was originally used in
RDG to calculate the so-called recovery function. We
2. Recovery reconstruction
subsequently use it in our effort to improve the DG
2.1. DG numerical representation discretization for advection. To illustrate its principle,
it is sufficient to consider a problem of building a
In Discontinuous Galerkin, the unknown u in
new polynomial from the original data in cells Ω1 and
each cell is approximated by a piecewise polynomial
Ω2, see Fig. The reconstructed polynomial,
of degree p. For example, in one dimension,
p
temporarily denoted û  x  , is defined over the union
u j ( x)  a (j ) j( ) ( x), (1) of two cells, 1   2 . It is required to preserve a
 0
certain number of moments of the original numerical
solutions u1 ( x) and u 2 ( x ) in the weak sense, i.e.,
where j is the index of the cell in question,
 1 ( x ) u1 ( x ) dx   1 ( x ) uˆ ( x ) dx , k  1 , (4)
(k ) (k )
( )
 j ( x) are Legendre basis functions, and the 1 1
  ( x ) u 2 ( x ) dx    2( k ) ( x ) uˆ ( x ) dx , k  2 . (5)
( ) (k )
polynomial coefficients a j are called DG 2 2 2
coefficients, or moments. DG “numerical solution” in

The two sets 1 and 2 express which
each cell now comprises values of these coefficients,
computed from a system of discretized equations. moments of u1 ( x) and u 2 ( x ) , respectively, are
Note that the “numerical solution” in each cell (Finite preserved in the weak sense by the reconstruction.
Volume) or at each point (Finite Difference) Specifically, they contains  values of the moments
comprises only a single value obtained from just a we want to preserve. For example, assuming
single discretized equation. This is the crucial 1  {0,1} , Eq. (4) states that
difference between FV/FD and DG.
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Hanoi, Vietnam
where
 a1(0)  a2(0) a1(1)  a2(1) 
  
b  
(0)
2 3 
 1   9 5 (1) (1) 
 b    a2  a1    a1  a2  
(0) (0)
(10)
  2    4 4 
.
 b   a (1)  a (1) 
  3   2 1

 b 
 5  a1(0)  a2(0)   5  a1(1)  a2(1)  
2 2 
2.4. Reconstruction in interface-centered binary
schemes
Fig. 1. Recovery in one dimension for a piecewise- In the advection discretization icb [17] we now
linear discretization (p=1) on two adjacent intervals reconstruct two biased polynomials uˆ L and uˆR of
[-1,0] and [0,+1]. Shown are U ( x )  sin x , its
degree p̂  p , instead of just one unique polynomial
projections to piecewise-linear polynomials on two
like the recovery function f as in RDG. Again, the
intervals u1 ( x) and u 2 ( x ) , and lastly the recovery
polynomial reconstruction of uˆ L and uˆ R is
function f which is a cubic polynomial. On each
interval, these three polynomials yield the same conceptually the same as that of the recovery
value when taking their inner product with the test function. The “Left” and “Right” subscripts refer to
functions, making them indistinguishable in the the sides of the cell interface at x  0 in Fig. The left-
weak sense. biased polynomial uˆ L will preserve all (p+1)
moments of u1 ( x) of Ω1, and only a subset of all
1(0) ( x )  1(0) ( x)  moments of u2 ( x) of Ω2. In Eqs. (4) and (5),
1  (1) ( x)  1
  u ( x ) dx  1  (1) ( x)  uˆ ( x) dx. (6)
1  [0, p ] and all possibilities of 2   are shown
 1   1 
in Table 2 for p  1. Similarly, the right-biased
Expressions of the Legendre basis functions are
uˆ R ( x ) will preserve all (p+1) moments of u2 ( x) ,
shown in Table 1. And, the degree of the enhanced
2  [0, p ] , and only a subset of all moments of
polynomial û  x  is
u1 ( x) ( 1   ).
p̂  dim  1   dim  2  1  p. (7)
Table 2. All possible interface-centered binary
2.3. Reconstruction of the recovery function in RDG reconstruction (icb) schemes for p  1
(piecewise linear).
In the RDG discretization for diffusion,
1  2  [0, p ] , i.e., all available moments of u1 ( x)
and u 2 ( x ) will be preserved. The reconstructed
polynomial is called ‘recovery function’ and denoted
f(x). It is a polynomial of degree 2p+1 and continuous
across the interface x  0 between 1 and  2 . By
construction, it is indistinguishable in the weak sense The enhanced polynomials uˆ L and uˆ R are
from both original discontinuous numerical solutions
expressed by:
u1 ( x) and u 2 ( x ) . The function values and derivatives pˆ pˆ
at the interface are subsequently calculated using uˆ L   aˆ ( )

L 1( ) ( x ) and uˆ R   aˆ ( )
R  2( ) ( x ). (11)
0 0
expression of f and used in appropriate terms of the
diffusion discretization. Values of aˆ L(  ) are solution of the following
Following are expressions of the recovery system:
functions for p  1 (piecewise linear approximation): 1 
1( k ) ( x) u1 ( x)dx  1( k ) ( x) uˆL ( x) dx, k [0, p] (12)
1
u(0) ( x)  a(0)  a(1) (1) ( x), j  {1, 2} (8)
  ( x) u2 ( x)dx   2( k ) ( x) uˆL ( x) dx, k  . (13)
j j j j (k )
2 2 2
and
f ( x ) p 1  b (0)  b (1) x  b ( 2) x 2  b (3) x 3 , (9) Vice versa, the system to solve for aˆ R(  ) is:
  ( x) u1 ( x)dx   1( k ) ( x) uˆR ( x) dx, k  , (14)

(k )
1 1 1
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Hanoi, Vietnam
(18)
2
2( k ) ( x) u2 ( x)dx   2(k ) ( x) uˆR ( x) dx, k [0, p]. (15)
2
 t u  a x u   xx u ,
Owing to the orthogonality of the Legendre where  is coefficient of diffusion and a is

basis functions, aˆ L( )  a1( ) and aˆ R( )  a 2( ) for all advection speed; both are assumed to be positive
  [0, p ]. without any loss of generality. The DG update
equations have the following general form:
For p  1 , the expressions for the remaining d
 v j u j dx   a  v j  x u j dx    v j  xx u j dx (19)
coefficients are: dt j j j
d
dt  j
icb1[0]  v j u j dx 
1
aˆL(2) 
6
 a1(0)  2a1(1)  a2(0)  ,  av j u j
x j 1/2
 a  u j  x v j dx (20)
(16) x j 1/2 j
1
aˆR(2)   a2(0)  2a2(1)  a1(0)  .    v j  xu j  u j  xv j 
x j 1/2
   u j  xx v j dx.
6 x j 1/2 j
icb1[1] In evaluation of the advection boundary terms,

1
 a1(1)  a2(1)  ,
x
aˆL(2)  , the interface values take the upwind
j 1/ 2
v ju j
6 (17)
x j 1/ 2
1 (1) (1) direction,

aˆR(2)   a2  a1  . u j 1/2  upwind  uˆ j 1/ 2, L ( x j 1/ 2 ), uˆ j 1/ 2, R ( x j 1/ 2 ) 
6 (21)
The values of uˆ L and uˆ R at the interface are  uˆ j 1/ 2, L ( x j 1/ 2 ),
then used for flux calculation. Fourier analysis on the u j 1/ 2  upwind  uˆ j 1/ 2, L ( x j 1/ 2 ), uˆ j 1/ 2, R ( x j 1/2 ) 
scalar linear advection shows that resulted schemes (22)
are maximally (3p+1)-order [17], i.e., fourth order for  uˆ j 1/2, L ( x j 1/2 ).
p  1 as shown in Table 2. Schemes of this family are
The recovery function f is substituted for any
denoted by icb#1[#2] where #1 is the value of p u-quantity of the diffusion boundary term,
and #2 is the subset  . A specific example of the
v  u  u j xv j    v j x f  f xv j 
x j1/2 x j 1/2
enhanced polynomials uˆ L and uˆ R calculated for j x j . (23)
x j1/2 x j 1/2
scheme icb1[0] is shown in Fig. .
The original discrete solution u j ( x ) is used in
3. Results from Von Neumann Analysis
both advection and diffusion volume integrals,
3.1. Methodology
 u j  x v j dx and  u j  xx v j dx respectively.
j j
We perform the Von Neumann analysis of the
DG scheme for the scalar linear advection–diffusion Eqn. (20) is then rewritten into the following
equation in one dimension matrix form:
x d  1 
a j  M(T )advec  M(T )diff   a j ; (24)
a dt 
 Pe

M (T )
Here T represents forward translation by one

cell, T a (j )  a (j 1) and T  1 a (j )  a (j1) ; Pe is the Peclet
number, Pe  a  x /  . We determine the Fourier
transform of the matrix operator M(T ), denoted
 () , by substituting T for its Fourier transform ei .
M
 () are calculated and their
Then the eigenvalues of M
Fig. 2. Illustration of the enhanced polynomials uˆ1 ( x) and Taylor-series expansions are compared against the
uˆ 2 ( x ) for the icb1[0] scheme. The original numerical exact differential operator in Fourier mode,
which is
solutions u1 ( x) and u 2 ( x ) are carried over from Fig. .
1 2 (25)
exact   i    .
Pe
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Hanoi, Vietnam
The order of accuracy and stability properties of

the overall scheme will then be determined.
3.2. Preliminary results
At p=1, the icb1[#]and RDG discretizations
have the same fourth order of accuracy when used
separately. We hope that the order of accuracy of the
combined scheme will stay unchanged. The question
of stability is of course equally important, if not
more, but it is yet the focus of this development stage.
Following is the Taylor expansion of the
“consistent”, or “good”, eigenvalue [10, 18]:
 2   Pe
con    i    i 
 Pe   675  180 Pe
(26)
 225  Pe 2  20 Pe 3  2  4
    O   7 .
360 1 5  4 Pe 
2
P e 
The first group is the exact eigenvalue, followed

by the error terms. The power of  outside of the
brackets of the first error term is 4, indicating a Fig. 3. Eigenvalues of the combined schemes of
possibly fourth order of accuracy. So it seems that, at RDG and icb at p=1 at various values of Pe number.
least for a piecewise linear approximation, there is no Note that the legend indicates only the specific
accuracy degradation with the combination of RDG advection discretization that is combined with RDG.
for diffusion and icb for advection. Fig. shows the
The first author thanks Prof. Bram van Leer for
loci of all two eigenvalues of matrix M   ; the loci
 his infinite wisdom and illuminating discussions.
at higher Pe numbers, 103 and 106, are similar to References
those reported in [17] for advection-only. This is
[1] Reed, W.H. and T.R. Hill, Triangular mesh methods
actually expected: higher the value of Pe is, higher for the neutron transport equation. 1973, Los Alamos
the domination of advection is in the flow. Scientific Laboratory.
4. Conclusions and future developments [2] Cockburn, B., S. Hou, and C.-W. Shu, The Runge--
Kutta local projection discontinuous Galerkin finite
We have presented a DG discretization for the element method for conservation laws. IV. The
advection-diffusion equation that combine Recovery- multidimensional case. Mathematics of Computation,
based DG (RDG) for diffusion and interfaced- 1990. 54(190): p. 545-581.
centered binary-reconstruction DG for advection [3] Cockburn, B., S.-Y. Lin, and C.-W. Shu, TVB Runge-
-Kutta local projection discontinuous Galerkin finite
(icb). The latter is our preferred approach to improve element method for conservation laws III: one-
upon the basic upwind DG for advection. dimensional systems. Journal of Computational
Preliminary result obtained by Von Neumann Physics, 1989. 84(1): p. 90-113.
[4] Cockburn, B. and C.-W. Shu, TVB Runge--Kutta
analysis for only piecewise linear discretization
local projection discontinuous Galerkin finite element
( p  1) are presented. It shows no degradation with method for conservation laws. II. General framework.
respect to order or accuracy – a good sign. The real Mathematics of Computation, 1989. 52(186): p. 411--
components of the eigenvalues are strictly non- 435.
positive for all values of Peclet number, implying [5] Cockburn, B. and C.-W. Shu, The Runge--Kutta
good stability properties as well. discontinuous Galerkin method for conservation laws
We still have our work cut out for us moving V: multidimensional systems. Journal of
Computational Physics, 1998. 141(2): p. 199-224.
ahead:
[6] Arnold, D.N., et al., Unified analysis of discontinuous
 Expanding the analysis to higher-order Galerkin methods for elliptic problems. SIAM Journal
approximation. on Numerical Analysis, 2002. 39(5): p. 1749-1779.
[7] Bassi, F. and S. Rebay, A high-order accurate
 Verifying the analytical results by numerical discontinuous finite element method for the numerical
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 Advancing to nonlinear set-ups. Journal of Computational Physics, 1997. 131(2): p.
267-279.
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[8] Cockburn, B. and C.W. Shu, The local discontinuous [14] Johnsen, E., L. Khieu, and A. Nair. A Simple Method
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Analysis, 1998. 35(6): p. 2440-2463. Simulations. in 52nd Aerospace Science Meeting.
[9] Peraire, J. and P.O. Persson, The compact 2014. National Habor, Maryland: AIAA.
discontinuous Galerkin (CDG) method for elliptic [15] Johnsen, E., S. Varadan, and A. Nair. Recovery
problems. Siam Journal on Scientific Computing, Discontinuous Galerkin Method for Compressible
2008. 30(4): p. 1806-1824. Turbulence. in 21st AIAA Computational Fluid
[10] Van Leer, B. and S. Nomura. Discontinuous Galerkin Dynamics Conference. 2013. San Diego, CA:
for Diffusion. in 17th AIAA Computational Fluid American Institute of Aeronautics and Astronautics.
Dynamics Conference. 2005. Toronto, Ontario, [16] Johnsen, E., S. Varadan, and B. Van Leer, A Three-
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of Recovery-Based Discontinuous Galerkin for Aerospace Sciences Meeting including the New
Diffusion, in 19th AIAA Computational Fluid Horizons Forum and Aerospace Exposition. 2013,
Dynamics Conference. 2009: San Antonio, TX. American Institute of Aeronautics and Astronautics:
[12] Huynh, H.T. A Reconstruction Approach to High- Grapevine, Texas.
Order Schemes Including Discontinuous Galerkin for [17] Khieu, L. and E. Johnsen, Analysis of Improved
Diffusion. in 47th AIAA Aerospace Sciences Meeting Advection Schemes for Discontinuous Galerkin
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Study on Optimization of Moringa Oleifera Leaveshammer Mill

Le Anh Duc 1,*, Pham Quoc Trang 2
1
Nong Lam University HoChiMinh City
2
Vinh Long Vocational College
*
Email: leanhduc@hcmuaf.edu.vn
Abstract
This study was performed to determination of the optimal operating parameters of the miller for Moringa
oleifera leaf milling. The optimization of Moringa Oleifera leaf miller in order to the miller performance in the
best performance conditions, minimum cost and ensure the quality of milled moringa.
Based on the Moringa miller was manufactured, using experiment planning method with "black boxes"
model and statistical analyses by a non-linear regression analysis method, the study determined two
second-order polynomial regression equations describing the influence of the working parameters include
hammer velocity (v), material feed rate (q) and clearance between the hammer and milling chamber (h) to
the quality of the milled moringa (Cn) and specific energy consumption (Ar).
Based on directed grope algorithm and random algorithm method, the results of solving optimal problems
gave optimal milling regime of the Moringa miller as follows: optimal norms for milling process: Cnmax =
84.7% and Armin = 0.146 kWh/kg at hammer velocity of 20 m/s, material feed rate of 4.5 kg/h and clearance
between the hammer and milling chamber of 2.8 mm.
Keywords: Moringa Oleifera, hammer mill, quality, specifiec energy consumption.
1. Introduction method, however the powder size is difficult to

achieve. In study of Okafor and Ogbobe (2015), the
Moringa Oleifera leaves has been identified as
dried Moringa leaves were coarsely milled using a
the vegetable with the high nutritional value among
manual corona plate mill in order to obtain a coarse
many types of food, as well as a source of high herbs
product, which was sieved using a USA standard
containing compounds. Moringa Oleifera leaves are
testing sieve No.30. Therefore, the study is needed to
good source of protein, beta-carotene, zeatin,
improve the miller performance in the best
vitamins A, B, C and E, nicotinic acid, folic acid,
performance conditions, minimum cost and ensure
amino acids, pyridoxine, riboflavin, minerals and
the quality of milled Moringa.
various phenolic compounds (Akinbamijo et al.,
2004). 2. Materials and methods
In 100 grams of fresh Moringa Oleifera leaves Material milling: dried Moringa leaves has
provide the same amount of protein as an egg, as moisture content of 8 ± 0,5% (Ali et.al., 2014;
much iron as a steak, as much Vitamin C as an Monica et. Al., 2010; Le Anh Duc, 2014).
orange, and as much calcium as a glass of milk.
The Moringa miller type of hammer mill with
Moringa Oleifera leaves contain seven times the
the hammers are fixed to the central rotor. The rotor
vitamin C in oranges, four times the calcium in milk,
is spun at a high speed inside the drum while dried
four times the beta-carotene in carrots, twice the
Moringa leaves are fed into a feed hopper. The
protein in milk and three times the potassium in
material is impacted by the hammer bars and is
bananas (Fahey, 2005; Victoria and Claudine, 2014).
thereby shredded and expelled through screens with a
Moringa Oleifera leaves has high nutrient selected size. The capacity of the hammer mill is 5 kg
content so it is easy to decompose, therefore fresh a hour.
leaves are difficult to preserve (Le Anh Duc, 2014).
Moringa powder size was determined by mesh
The most popular method used in the world is drying
sieve No.140 to ensure the powder size of reaches a
the leaves and then milling the dried leaves into
size ≤ 0.1 mm (Ali et.al., 2017).
powder. The powder can be easily preserved,
consumed or processed into other diverse products. Quality milling powder Cn was determined by
equation:
Now, there are some methods to mill the dried
m sp
Moringa leaves into powder, these methods have Cn  . 100 %
shortcomings such as low productivity, low milled m nl
powder quality and high energy consumption. Among
these methods, hammer mill is more effective
517 October 27 - 28, 2018

Hanoi, Vietnam
msp: the amount of milled product reaches the v

required size (0.075 - 0.1 mm), kg Moringa Cn
q hammer
mnl: the amount of raw material before milling, mill Ar
h
kg
Fig 1. “Black box” model describes the research
Specific energy consumptionis the energy cost
problem.
to mill 1 kg of Moriga leaves into the powder.
Specific energy consumptionAr (kWh/kg) was
determined by equation:
Based on the Moringa hammer mill has been
A
Ar  , kWh/kg manufactured with capacity of 5 kg per hour, the
m study was performed to determine the regression
A: electricity consumption to mill m kg of equations and describe the affects of milling
Moringa leaves, kg. parameters on technical norms of milling process.
m: the amount of raw milled Moringapowder, 3.1. Result of experimental planning model
kg. determination
The difference between two means value were To begin with the model of the “black box” type
statistical processing by LSD method (Least with several input factors that can be controlled that
Significant Difference) have an individual error rate is varied by the experimenter, and have one or more
of 0.05 (equivalent to a 95% confidence level). measured output responses. Experimental data are
used to derive an empirical model linking the outputs
2 . MSE and inputs. The modeling process is the construction
LSD   t  , .
n of a predictive mathematical model, using existing
historic data. In the study, using experiment planning
where α: individual error; MSE: mean- method with "black boxes" model shown in figure 1.
square error; : degrees of freedom of MSE; t: t-value
in Student’s t distribution. Input variables (experimental factors):
- v: hammer velocity (m/s).
If  x i  x j  ≤ LSDij: two means xi and xj no - q: material feed rate (kg/h).
significant difference.
- h: clearance between the hammer and
If  x i  x j > LSDij: two means xi and xj
milling chamber (mm).
significant difference. Output targets (response variables):
The generalized second-order polynomial model - Cn: quality of the milled Moringa (%).
used in the respond surface analysis was as folows - Ar: specific energy consumption (kWh/kg)
(Nguyen Canh, 1993):
k k k Levels and vary degrees of experimental
y  bo   bi x i   bii x i2   bijx i x j parameters as follows:
i 1 i 1 i 1 Hammer mill velocity: v = 20 – 30 m/swithvary
ji degree v = 5 m/s.
where: bo, bi, bii, bij: regression coefficients 
- Upper star: v = vo + .v= 33.4 m/s.
Experimental planning method: the statistical
design of experiments is an efficient procedure for 
planning experiments so that the data obtained can be - Lower star: v = vo - .v = 16.6 m/s.
analyzed to yield valid and objective conclusions. In Material feed rate: q = 4 – 6 kg/hwithvary
the study, the experiments were designed by multi-
degree q = 1 kg/h.
parameters Completed Random Design (CRD) with
“black box” model. Statistical analyses 
were performed by a non-linear regression analysis - Upper star: q = qo + .q= 6.7 kg/h.
method using analysis of variance (ANOVA).

Optimum solution: using directed grope - Lower star: q = qo - .q = 3.3 kg/h.
algorithm and random algorithm method.
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Table 1. Levels and vary degrees of experimental parameters.

Levels
Input Lower star Lower Center point Upper +1 Upper star Variation
Factors –α –1 0 +α
v, m/s 16.6 20 25 30 33.4 5
q, kg/h 3.3 4 5 6 6.7 1
h, mm 2.6 4 6 8 9.4 2
Clearance between the hammer and milling The regression equation describes the influence
chamber: h = 4 – 8 mmwithvary degree h = 2 mm. of hammer velocity (v), material feed rate (q) and
clearance between the hammer and milling chamber
 (h) to the quality of the milled Moringa (Cn):
- Upper star: h = ho + .h= 9.4 mm.
Cn = 64.4964 – 0.681676.v + 14.0573.q –
 1.31181.h + 0.238.v.q + 0.06825.v.h + 0.39125.q.h –
- Lower star: h = ho - .h = 2.6 mm.
0.0229386.v2 – 2.21042.q2 – 0.257829.h2
In Box and Hunter box statistics method, the
rotatable alpha level as the number of factors (k)
escalates was determined by equation:
kp 3
2 4 4
 2  1.681
A central composite rotatable design including
20 experiments formed by 6 center-points and 6 ( =
1.681) axial-points to 22 full factorial design was used
(Table 1).
3.2. Results of planning experiment and data
analysis
3.2.1. The quality of the milled Moringa
Based on the experimental planning design, the
experiments were conduct. Using the statistical
analyses by a non-linear regression analysis of
variance (ANOVA) method, the experimental data
were fitted to a second-order polynomial model and
regression coefficients were obtained. The study
determined two second-order polynomial regression
equations describing the influence of the working
parameters include hammer velocity (v), material
feed rate (q) and clearance between the hammer and
milling chamber (h) to the quality of the milled
Moringa (Cn) and specific energy consumption (Ar).
Fig 3. Relationship of input variables and response

variable Cn.
Fig 2. Result of experiments.
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Fig 4. The estimated effects for Cn.
Graphical analysis the relationships between

input variables (experimental factors) and output
targets (response variables) shown in figure 3.
Figure 3 shown that the quality of the milled
Moringa reach the best value at the combined levels
of q = 5.8 kg/h and v = 20 m/s; or h = 3.8 mm and v
= 17 m/s; or h = 4.6 kg/h and q = 4.9 kg/h.
Pareto analysis was used to estimate the
influence of input variables to the quality of the
milled Moringa. The Pareto chart, also called a Pareto
distribution diagram was built from
statistical analysis as shown in figure 4.
The lengths of the bars represent influence, and
are arranged with longest bars on the top and the
shortest to the bottom. In this way the chart visually
depicts which input variables are more significant to
the quality of the milled Moringa.
The effects level is arranged with longest bars
on the top and the shortest on the bottom of the chart. Fig 5. Relationship of input variables and response
In this way, the chart visually depicts which factors variable Ar.
are more effective.
3.2.2. Specific energy consumption
The regression equation describes the influence
of hammer velocity (v), material feed rate (q) and
clearance between the hammer and milling chamber
(h) to the specific energy consumption (Ar):
Ar = 0.559112 – 8.59885.10–3.v – 0,0883107.q –
0,0236785.h + 1.325.10–3.v.q – 5,375.10–4.v.h +
1.22949.10–4.v2 + 3.9576.10–3.q2 + 2.80136.10–3.h2
Graphical analysis the relationships between
input variables (experimental factors) and output
targets (response variables) shown in figure 5.
The results in figure 5 shown that the specific Fig 6. The estimated effects for Ar
energy consumption for milling process reach the
best value at the combined levels of q = 6.8 kg/h and The Pareto analysis was used to estimate the
v = 17 m/s; or h = 5 mm and v = 20 m/s; or h = 6.6 influence of input variables to the specific energy
kg/h and q = 6.5 kg/h. consumption of milling process shown in figure 6.
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The results of analyze the influence of the hammer velocity, material feed rate and clearance
experimental factors to function Ar by graphical between the hammer and milling chamber to the
method in figure 6 shown that the material feed rate quality of the milled Moringa and specific energy
(q) is the most important factor affecting the quality consumption for milling process.
of the milling product.
Using a directed grope algorithm and random
3.3. Optimization of parameters for milling process algorithm method for solving optimal problems, the
study determined optimal milling regime of the
The purpose of solving optimal problems aim to
Moringa hammer mill at hammer velocity of 20 m/s,
determine some optimum parameters by the
material feed rate of 4.5 kg/h and clearance between
combination of hammer velocity, material feed rate
the hammer and milling chamber of 2.8 mm. At this
and clearance between the hammer and milling
regime, the optimal norms for milling process are the
chamber for resulting in maximum the quality of the
quality of the milled Moringa of 84.7% and specific
milled Moringa and minimum specific energy
energy consumption of 0.146 kWh/kg.
consumption.
References
Target function: Cn max and Ar min.
[1]. Ali M.A.,Yusof Y.A., Chin N.L., Ibrahima M.N.,
Condition function: 1.681 ≥ xi ≥ – 1.681, i = 1 ÷ 3 Basra S.M.A., 2014. Drying kinetics and colour
analysis of Moringa Oleiferaleaves. Agricultural
 2 , x3 } R x   1,681  xi  1,681}
xiopt  x1opt , xopt opt
Science Procidia.
[2]. Ali M.A., Yusof Y.A., Chin N.L.; Ibrahim M. N.,
2017. Processing of Moringa leaves as natural source
of nutrients by optimization of drying and grinding
 y = f iopt iopt iopt mechanism. Journal of Food Engineering.
i imin (x 1 , x 2 , x 3 ) = min(max) f i (x 1 , x 2 , x 3 )
 [3]. Akinbamijo O.O., Adediran S.A., Nouala S. and
 x i  R x = {-1,681  x 1 , x 2 , x 3  1,681}, i = 1 ÷ 3 Saecker J., 2004. Moringa fodder in ruminant
nutrition in the Gambia. International
Based on directed grope algorithm and random Trypanotolerance Centre.
algorithm method, the results of solving optimal [4]. Fahey J.W., 2005. Moringa oleifera: Review of
problems gave optimal milling regime of the Moringa medical evidences for its nutritional, therapeutic, and
miller as follows: prophylactic properties. Part 1 Trees for life.
[5]. Monica P., Sharma H.K, Sarkar B.C. and Singh C.,
+ Optimal operating parameters: 2010. Kinetics of drumstick leaves (Moringa Oleifera)
during convective drying. African Journal of Plant
Hammer velocity: 20 m/s Science Vol. 4 (10), pp. 391 - 400.
Material feed rate: 4.5 kg/h [6]. Nguyen Canh, 1993. Experimental planning. Ho Chi
Minh City University of Technology.
Clearance between the hammer and milling [7]. Le Anh Duc, 2014. Study on drying regime of
chamber: 2.8 mm. moringa leaves by heat pump drying method. Science
and Technology Journal of Agriculture and Rural
+ Optimal norms: Development, No. 16/2014, pp.41-45.
[8]. Okafor G.I., Ogbobe N.M., 2015. Production and
Quality of the milled Moringa: 84.7% Quality Evaluation of Green and Black Herbal Teas
Specific energy consumption: 0.146 kWh/kg from Moringa oleifera Leaf. Journal of Food Resource
Science 4 (3): 62-72.
4. Conclusions [9]. Victoria Adaora Jideani and Claudine Florett
Diedericks, 2014. Nutritional, Therapeutic, and
Based on the Moringa miller was designed and Prophylactic Properties of Vigna subterranea and
manufactured, using experiment planning method and Moringa oleifera. Chapter 8, Antioxidant-Antidiabetic
statistical analyses by a non-linear regression analysis Agents and Human Health. Jideani and Diedericks,
method, the study determined the influence of the licensee InTech.
working parameters of Moringa hammer mill include
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Study on Computation of Aerodynamic Force Acting on Bus in Crosswind

Conditions by Using CFD
Do Tien Quyet*, Nguyen Trong Hoan, Trinh Minh Hoang
School of Transportation Engineering, Hanoi University of Science and Technology,No. 1 Dai Co Viet Street,
*Email:gvsd87@gmail.com
Abstract
Bus is the means of widely road transport used in Vietnam. Sufficient crosswind stability has become an
important criterion in the approval process of ground vehicles. With higher and larger side area road
vehicles, the influence of crosswind becomes more sensitive on bus dynamic behavior. The paper presents
a finite volume - based Reynolds Averaged Navier Stokes for the prediction of flow around a bus in the early
design steps. A 3D Computational Fluid Dynamics (CFD) simulation used the angles of crosswind relative
yaw angle to simulate the bus moving in crosswind conditions. The angle between upstream velocity and the
direction of the model varies from 00 and 450. In case of crosswind, all the aerodynamic components are
strongly existed to influence the vehicle dynamic behavior. For instant, in the case of 400 wind relative yaw
angle (βw), the study introduces a lift coefficient (CL) approximately of drag coefficient (CD)value in case of
pure front wind. Moreover, the side force coefficient (CS) becomes more than of reference drag coefficient
value (CD) in pure front wind condition.
Keywords: Crosswind,angles of crosswind relative yaw angle, CFD.
1. Introduction
Because of this, researchers have come up with
At present, there are a number of buses made in different solutions to overcome the problem. One
Vietnam that meet the needs of domestic passenger simple and effective solution is to replace two wind
transport. However, most of the Vietnamese sources with one source[1]. Equivalent wind speed in
automobile manufacturers have only made the bus stable crosswind conditions is calculated as follows:
body on the basis of the design of the foreign model.
  
vw = vUpwind +vCrosswind
Therefore, these car bodies have not been thoroughly (1)
evaluated, especially in aerodynamics [6]. v U pw ind  v w cos  w
(2)
The characteristics of the buses are its large v Crosswind  v w sin  w (3)
lateral surface. During the movement, they are
subjected to dynamic forces and moments such as In this paper, Ansys Fluent software will be
drag, lift, side force, yaw moment, rolling moment used to calculate the force and torque values of bus in
and pitch moment. These forces and momentum the case of a constant velocity value of 20 (m/s), the
depend basically on the angle between the direction angle of inclination varies from 00 to 450 with each
of motion of the vehicle and the direction of the wind value of step is 50.
(the wind relative velocity and direction of the
3. Theory
relative wind to the bus ( β w )). In the case of large
crosswind, side force and lift force can cause the Air movement around the bus is considered
vehicle to become unstable. This article presents uncompressed, where the Navier Stoke equation
some results of studying the effect of crosswind on describes the air flow as follows:
the motion of the bus by a simulation method in
Ansys Fluent software.
2. Research Objectives
When the car is moving in crosswind conditions,
the bus will be subject to two sources of wind: the
first wind is due to air resistance (Upwind) and
another one is a crosswind. If the full and accurate
description of the air flow affects the body bus, the
problem becomes very complex and can only be
solved on super-powerful computers. Fig. 1. Bus in crooswind condition.
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Fig. 4. Mesh generation of bus modeling.
Fig. 2. Bus geometry modeling.
Fig. 5. Wind velocity vw with β w .
ahead of the vehicle, 45.000 mm behind of the

vehicle, 20.000 mm left of the vehicle, 20000 mm
right of the vehicle and 20000 mm above of the
Fig. 3. Fluid Enclosure. vehicle. To simulate a bus moving in different
crosswinds, in the fluid enclosure the bus will rotate
 v 
ρ + v. v  = -  p + μ  2 v + f at an angle relative to the vertical axis.
 t  (4)
4.3. Mesh Generation
In Fluent software, there are different turbulent
flow models to solve this problem. Realizable k-
model with non-equilibrium wall function gives Table. 1. Solver Setting
accurate results compared to an empirical simulation Simulation 3D
of air flow around the bus [2]. Therefore, realizable Processing Option Serial
k- model with non-equilibrium wall function will be Pressure – Velocity Coupling
selected in this paper. Scheme Coupled
Time Steady
4. Model of Aerodynamic Simulation of Bus in Solver
Crooswind Condition Gradient Least Squares Cell Based
4.1. BusGeometry Modeling Pressure Standard
Momentum First Order Upwind
In this study, the THACO HB120SL-H380R-14 Turbulent Kinetic Energy First Order Upwind
bus was chosen as the study vehicle. The 3D model Turbulent Dissipation Rate First Order Upwind
of the bus is built using SolidWorks 16 with the First Order Upwind for
Iteration
following assumptions: the surface of the tire is 10000 Iterations
smooth, (no consideration of the elements vehicles Explicit Relaxation Factors
such as mirrors, handles). Pressure 0.25
Momentum 0.25
4.2. Fluid Enclosure Under – Relaxation Factors
Turbulent Kinetic Energy 0.8
The simulated space is limited by the planes at Turbulent Dissipation Rate 0.8
which the airflow is laminar and does not affect the Turbulent Viscosity 0.8
object as well as its motion. In this article, the Monitors
simulation space is a box like shape: 25.000 mm Residual, Statistic and
Residual, Drag, Lift
Force Monitors
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Fig. 6. Velocity contours for bus model at half bus height horizontal plain.
Fig. 7. Velocity contours for bus model at vertical symmetry plain.
To ensure accuracy and reduce the calculated 4.5. Solver Setting

volume, the simulated space is divided into 3
In this study, due to the high velocity of airflow,
different areas, the closer the tire, the smaller the
the solution was chosen on the basis of pressure in
mesh size [5]. The air velocity at the tire's surface is
steady mode [4], [7]. In this method, select some
considered zero, so the space close to the tire is
data as shown in Table 1.
divided into layers. The type of net used is Tet 4 and
Wed 6. The mesh density and the selected mesh size 5. Results and Discussion
must ensure the criteria for the convergent problem
[3]. The model of passenger car airplane simulation 5.1. Drag Coefficient CD
in this paper has an average mesh quality with over 5 D
million elements. CD =
ρ
4.4. Boundary Conditions vw A
2 (5)
The airflow will go from the "inlet" plane in the
simulated space. The velocity of the airflow is varied CD : Drag coefficient (-)
by the value of the angle to ensure the value (m/s).
Roads and tires are considered walls. The planar D : Aerodynamic drag (N)
surfaces in the simulated condition do not slip "no ρ : Air density (kg/m3)
slip". Flat "outlet"conditional is the constant pressure.
v w : Oncoming flow velocity (m/s)
A : Frontal area (m2)
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Fig. 9. Lift coefficient with ( β w ).

Fig. 8. Drag coefficient with ( β w ).
Drag force is generated mainly by the pressure

difference between the front and rear surfaces of
avehicle.With the angle β w increases, the drag
coefficient CDdecreases at the angle β w = 50, then the
coefficient of drag increases almost linearly, except
for the angle β w = 250.
The deviation of the CD value at the angle β w = Fig. 10. Lift coefficient with ( β w ).
0
5 can be explained by the velocity spectra (Fig. 6).
At this angle, the blue area on the velocity spectrum At β w = 00, the value of lift coefficient is
is smaller than the other angular values. On the other negligible. With the angle β w increases, the value of
hand, the frontal area increases with respect to the the lift coefficient increases accordingly. This lift
angle β w = 00. coefficient value is maximized at β w = 310, then tends
With the angle β w increases, the blue area to decrease.At β w = 400 a lift coefficient (CL)
behind the vehicle (Fig. 7) increased significantly, so approximately of drag coefficient (CD) value in case
the drag coefficient CD increase accordingly. of pure front wind. At β w = 450 then the lift force
However, the β w = 250 has an abnormal increase. value is then equal to 6% of the static weight of the
The cause is that the front surface of the vehicle is bus, a significant figure.
curved, with a vertical curvature of approximately 5.3. Side Force Coefficient CS
250. So the value of the face area is not much change,
the pressure between the front and rear areas of the S
vehicle is not different from the other cases. CS =
ρ
vw A
5.2. Lift Coefficient CL 2 (7)
L C S : Liftcoefficient (-)
CL =
ρ
vw A S: Side force (N)
2 (6)
Fig. 7 shows that with the value of β w increase,
CL : Lift coefficient(-)
the flow separation in leeward side of the bus model
is increasing and create a very large vacuum.
L: Aerodynamic lift (N) Therefore, the pressuredifference between windward
The lift force is considered thepressure side and leeward side creates a great side force value.
difference between the upper and lower surfaces of
5.4. Yaw Moment Coefficient CYM
aground vehicle. Based on the velocity profile Fig.6,
with the angle β w increases, the uppervelocity region Y
of the vehicle has a high velocity (yellow and red), CYM =
ρ
while the lower velocity region of the vehicle has a vwAl
low velocity (blue). According to Becnuli's law, there 2 (8)
is a pressure difference between the upper and lower
surfaces of aground vehicle.
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Fig. 11. Yaw moment coefficient with ( β w ).

Fig. 13. Roll moment coefficient with ( β w ).
At β w = 00, the value of pitch moment

coefficient CPM is very small. With the angle β w
increases the value of pitch moment coefficient
complex change. The pitch moment effects on vehicle
weight distribution in the longitudinal direction. The
change in torque values will cause the load
distribution on the vehicle axles to change, which in
turn will affect the value of traction, braking force, so
leads to negative effects on the dynamics.
Fig. 12. Pitch moment coefficient with ( β w ).
5.6. Roll Moment CoefficientCRM
C YM : Yaw moment coefficient (-) R

CRM =
ρ
Y : Yaw moment (Nm) vwAl
2 (10)
l : Length of vehicle (m)
C RM : Roll Moment Coefficient (-)
When the vehicle is straight, the side force value R :Roll Moment (Nm)
is very small, so the yaw moment coefficient CYM
value is approximately zero. According to Hucho's At the angle β w = 00, the value of roll moment
[1], the rate of change yaw moment coefficient value coefficient is almost zero. With the angle β w
to wind relative yaw angle value ( ΔC YM / Δβ w ) is increases, the value of the side force coefficient
increases rapidly. The large value of (CMR) will
considered as an important indicator of vehicle
adversely affect the stability of the vehicle as it can
stability. Specifically, if ( ΔC YM / Δβ w )>>0, then the
cause the vehicle to over turn.
motion of the vehicle is very unstable, if
( ΔC YM / Δβ w )> 0 then the motion of the vehicle is Roll moment is generated mainly by the side
force. The changeable law of the CMR with the angle
considered as unstable, if ( ΔC YM / Δβ w ) <0 then the
β w is the same as the law of change of the CS.
motion of the vehicle is considered to be stable. Thus,
there is the conclusion that the movement of the Therefore, it is only possible to study the law of one
reference bus in this study is unstable. of the two parameters to evaluate the change in both
parameters.
5.5. Pitch Moment Coefficient CPM
The effect of forces and momentum depends
P very much on the angle β w and surface appearance of
CPM = the tire. In this study, the value of (CS, CYM) change
ρ
vwAl rule same as Wiliam's study but the value of (CD, CL,
2 (9) CRM, CPM) change different [2]. The difference can be
C PM : Pitch Moment Coefficient (-) explained by the difference in the surface of the 3D
bus. In this study, the front, side, and upper surfaces
P: Pitch moment (Nm) of the bus have largely curved. In Wiliam's study, it
was mostly flat surfaces. But both studies have shown
that both models are unsteady aerodynamic.
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6. Conclusion [3] A.Parab, A. Sakarwala, B. Paste, V. Patil, A.

Mangrulkar, Aerodynamic Analysis of a Car Model
This study calculates the force and moment using Fluent- Ansys 14.5, International Journal on
coefficients by CFD in crosswind conditions. In Recent Technologies in Mechanical and Electrical
crosswind conditions, the values of lift coefficient Engineering Volume: 1 Issue: 4, (2014), 7-13.
(CL) and side force coefficient (CS) are high at β w [4] S. Ruia, A. Dixit, CFD study of aerodynamic
performance of a popular vehicle’s outer body shape
=400. The calculation of the coefficient yaw moment
and analysis of the effect of aerodynamic AIDS,
CMY showed in this case the bú has unstable International Journal of Mechanical Engineering and
aerodynamic motion. The results of this study will be Technology , Volume 6, Issue 10, (2015), 171-193.
used as input to study vehicle dynamic behavior. [5] M. Lanfrit, Best practice guidelines for handling
Automotive External Aerodynamics with FLUENT,
References Version 1.2 (2005).
[1] W. H. Hucho, Aerodynamics of Road Vehicles, 4th [6] T.H. Tung, Research for improvement the
Edition (1998), 0-425. aerodynamic shape of coach assembled in Vietnam,
[2] Y. E. William , M.H. Mohamed, Investigation of Thesis, Hanoi University of Science and Technology
crosswind aerodynamics for road vehicles using CFD (2016).
technique, Eleventh International Conference of Fluid [7] Introduction to ANSYS Fluent, Release 14.5,
Dynamics Alexandria, Egypt (2013). November 15 (2012).
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Numerical and Experimental Investigation of Cavitation Instabilities in

Turbopump in Liquid Propellant Rocket
Yuka Iga*
Institute of Fluid Science, Tohoku University, JAPAN
*Email: iga@cfs.ifs.tohoku.ac.jp
Abstract
It is known that several kinds of cavitation instabilities occur in the turbopump inducer in a liquid propellant
rocket engine and it causes some troubles in the engine. Cavitation instabilities are classified into two types.
One is a rotating cavitation, which is an oscillation in the circumferential direction and causes swinging of the
axis of the turbopump, and the other is cavitation surge, which is an oscillation in the axial direction and
causes pulsation of the working fluid. The author has investigated the cavitation instabilities through
numerical simulation and experiment. The author has analysed cavitating flow in a three-blade cyclic
cascade using our compressible gas-liquid locally-homogeneous model. The numerical method provides
reasonable numerical predictions of the unsteady cavitation and cavitation instabilities. For example, rotating
cavitation and cavitation surge, caused by different mechanisms, have been reproduced without adding any
additional models or boundary conditions. The characteristics of occurrence and frequencies were
reasonably reproduced. Additionally, the influences on the cavitation instabilities were investigated about the
acceleration during the launch and the upstream pipe length of inducer. Moreover, new suppression
technique of cavitation instabilities using slit on blades was proposed. In experiment, applicability of the
suppression technique using slits on blades of inducer is examined. At first, tunnel experiment of single
hydrofoil with tip clearance was done where three-dimensional cavitation composed of tip leakage vortex
cavitation and sheet cavitation occurs. In the slit single hydrofoil, the unsteady characteristics of cavity was
affected by the slit. In consequence, slit inducer is made and tested.
Keywords: Rotating Cavitation, Cavitation Surge, Inducer, Cascade, Homogeneous Model.
1. INTRODUCTION hydrofoil and three-blade cascade and experiment of

a hydrofoil and inducer.
When we operate a pump in a condition of high-
speed rotation, low flow rate and low pressure, it is 2. NUMERICAL SIMULATION
known that various kinds of cavitation instabilities
2.1. Numerical Mehod
appear. The cavitation instabilities are often observed
in a inducer of turbopump in liquid propellant rocket In order to analyse numerically the cavitation
engine, because it is downsized with high rotational instabilities, the numerical method is needed which
speed. Then, the phenomenon has been investigated can reproduce the unsteady behaviour of the
actively in the research field of liquid rocket engine(1-3). cavitation. The author has developed locally
In industrial pumps, the phenomenon was homogeneous gas-liquid two-phase medium model(8)
investigated in a centrifugal pump(4) and a mixed flow which is classified as one-fluid two-phase model .
pump(5). The cavitation instabilities are classified into The characteristics of our model is compressibility in
two types according to the characteristics. One is a liquid phase, then, we can reproduce propagation of
rotating cavitation, which is an oscillation in the pressure wave in liquid phase which is caused by
circumferential direction and causes swinging of the collapse of cavitation in the flow field. Generally in
axis of the turbopump, and the other is cavitation homogeneous models, the gas-liquid interface in grid
surge, which is an oscillation in the axial direction scale is expressed by a gradient of void fraction in the
and causes pulsation of the working fluid. Nowadays, computational space. On the other hand, sub-grid
the phenomenon is suppressed in a liquid propellant scale bubbles are coarse grained and expressed as
rocket by empirical solution(6, 7) and be in a situation constant void fraction. Then, the large scale
in which there is no practical problem for the launch. defamation of cavity is easy to be reproduced,
But, because the mechanism of the cavitation although the thickness of the cavity surface depends
instability is still unknown in the first place, on the resolution of computational grids. Therefore,
additional investigation is expected. the model can be applied to the flow fields with
In the present study, the researches about the cavitation instabilities.
cavitation instabilities done by the author is In this study, the governing equationsare solved
introduced, which is numerical simulation of a using the finite difference method. Because it is
necessary to stably simulate discontinuities of a large
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Fig. 1. Time evolution of pressure distribution (left),

mass flux vectors (center) and void fraction contours
(right) around flat plate cascade hydrofoils(9).
density jump at the gas-liquid interface in a cavitating
flow field, the explicit TVD-MacCormack scheme Fig. 2. Time evolution of cavity length, re-entrant jet
with second-order accuracy in time and space is used. and lift coefficient(9) (h/c = 0.9,  =30°,  /2 = 1.95).
n
The present numerical method was validated in
analysis of three-blade cyclic flat-plate cascade
the past study(8, 9).
without adding a model or boundary condition for
2.2. Numerical Analysis of Break-off Phenomenon individual phenomena(10). The typical flow field is
of Sheet Cavitation(9) shown in Fig. 3 by time evolution of void fraction
distribution, which is super-synchronous rotating
Two-dimensional unsteady cavity flow through a
cavitation. In the figure, the cavity volume becomes
cascade of hydrofoils is numerically calculated.
large in the order of Blade 3 → Blade 2 →Blade 1
Particular attention is focused on cyclic phenomena
according to time evolution. The order in the present
of a sheet cavity in the transient cavitation condition,
cascade corresponds to rotating direction of the
and the mechanism of the break-off phenomenon is
pump. Therefore, this phenomenon is super-
examined. By analyzing the numerical results in
synchronous phenomenon.
detail, it becomes clear that there are at least two
mechanisms in the break-off phenomenon of the The wave forms are shown in Fig.4 which is
sheet cavity: one is that re-entrant jets play a about cavity volume in each blades, total cavity
dominant role in such a break-off phenomenon volume and upstream static pressure. From the figure,
(Fig.1), and the other is that pressure waves it is shown that the each cavity oscillates in each
propagating inside the cavity bring about another type
of break-off phenomenon accompanying with cavity
surface instabilities (Fig.2). Both mechanism of
break-off phenomenon has been observed
experimentally and discussed which is dominant by
researchers. In the study, it is shown that re-entrant
jet occurs when the cascade interaction is low and
the sheet cavity is relatively thick and pressure wave
( h/c = 0.9,  = 30°,  / 2  = 1.95, time interval =
in
1.2 ms) occurs when the cascade interaction is high
and the sheet cavity is relatively thin then the re-
entrant jet cannot enter to the cavity.
2.3. Cavitation Instabilities in Three-blade Cyclic

Cascade Fig. 3. Time evolution of void fraction distributions
around three-blade cascade under condition of
Several types of cavitation instabilities: rotating
“super-synchronous rotating cavitation” (= 0.105,
cavitations and cavitation surge, which occur by
 = 0.256,= 0.167) (11).
different mechanisms, were reproduced by numerical
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0.20
0.15

Marks
0.10 Even Blade Cascade: Colors
:in=3.0 deg :Super-S R.C
: =5.0 deg :Sync.R.C
: =7.0 deg :Sub-S R.C
: =9.0 deg :R-stall C
0.05
: =9.5 deg :C.S Type 1
: =1 1 deg :C.S Type 2
Uneven Blade Cascade: :C.S Type 3
0.00 : in=3.0 deg
0.0 0.2 0.4 0.6 0.8 1.0

Fig. 5. Head performance of the present cascade and

occurrence of cavitation instabilities (8).
1.5
Marks
Even Blade Cascade:
PVR
1.0 :in=3.0 deg

: =5.0 deg
Colors : =7.0 deg
:Super-S R.C : =9.0 deg
0.5 :Sync.R.C : =9.5 deg
:Sub-S R.C : =1 1 deg
:R-stall C Uneven Blade Cascade:
:C.S Type 3 :in=3.0deg
0.1 0.2 0.3 0.4 0.5


Fig. 4. Wave form of variation of cavity volume and

upstream pressure under condition of “super-
synchronous rotating cavitation” (= 0.105,
 = 0.256,= 0.167, prms = 4.16×103) (11).
blade in a same cycle with phase difference and the Fig. 6. Occurrence map of cavitation instabilities of
cavity does not move from blade to blade although the present three-blade cyclic cascade (8).
the cavity seems to propagate from blade to blade in
the aspect. At this time, the mean propagation
velocity of the uneven cavity volume to
circumferential direction is calculated to be Ucav =
3.71 m/s. In this case, the circumferential component
of the inflow velocity is Ut = 12.18 m/s, which
corresponds to the relative speed of the rotation of the
cascade. Then, the propagation velocity ratio of the
uneven cavity volume is estimated to be (Ut + Ucav)/Ut
=1.3 in this case.
Head performance of the present three-blade
cyclic flat-plate cascade and the occurrence of Fig. 7. Propagation velocity ratio of uneven cavity
cavitation instabilities are shown in Fig.5. Where, the volume in each rotating phenomenon (8).
case in which cavitation instabilities occur is colored
by each type of instabilities and the case in which cavitation surge (C. S Type 2) and superposition of
there is no cavitation, unsteady cavitation and super cavitation surge and sub-synchronous rotating
cavitation is shown by white marks. Additionally, the cavitation (C. S Type 3). It corresponds with well-
occurrence map of cavitation instabilities of the known knowledge that cavitation surge and rotating-
present cascade is shown in Fig.6. In the present stall are easy to occur in a low-flow rate condition.
study, various kinds of cavitation instabilities are And the propagation velocity ratio PVR of the
reproduced; super-synchronous rotating cavitation rotating cavitations are estimated and shown in Fig.7.
(Super-S R. C), synchronous rotating cavitation (Sync It also corresponds with actual shaft vibration in
R. C), sub-synchronous rotating cavitation (Sub-S R. which 1.2 < PVR< 1.45 in Super-S R. C, PVR = 0.75
C), rotating-stall cavitation (R-stall C), surging in Sub-S R. C and PVR = 0.45 in R-stall C.
oscillation with vortex cavity (C. S Type 1), general
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2.3. Mechanism of Propagation Direction of

Rotating Cavitaiton(8)
The propagation mechanism of rotating
cavitations, especially that of super-synchronous
rotating cavitation, is still unclear. The direction of
propagation of super-synchronous rotating cavitation
is in the direction of rotation of an impeller, which is
opposite the direction of rotating stall in general
pumps and fans. Also, neither the mechanism of the
order of appearance of rotating cavitations (super-
Fig. 8. Schematic of relationship between change in
synchronous, synchronous, and sub-synchronous
break-off cycle of sheet cavity and occurrence of
propagation) nor the mechanism of the discontinuity
rotating cavitations(8).
of the propagation speed during the transition
between different types of rotating cavitations has
been determined thus far.
From the present numerical results, it was shown
that the well-known order of appearance of rotating
cavitations, their opposite direction of propagation,
and their discontinuous propagation speeds can be
explained by using a unified mechanism based on the
natural characteristics of a decrease in the break-off
frequency of sheet cavitation and an assumption of
the existence of a latent rotating stall. When the
break-off cycle of a sheet cavity on a blade in a
cascade is equal to the integral multiple of the latent
rotating-stall cycle as shown in Fig.8, rotating Fig. 9. Schematic of the proposed mechanism of
cavitation can be considered to occur in a stable occurrence of rotating cavitations(8).
manner. Therefore, the discontinuity of the
propagation speed arises during the transition from
one type of rotating cavitation to another. The
direction of the apparent propagation of rotating
cavitations – super-synchronous, synchronous, or
sub-synchronous – is determined by the break-off
cycle of the sheet cavity on a blade at a certain
cavitation number. This means that, because the
break-off occurs with a one-third-cycle time-interval
between each of the three blades by the
circumferential symmetric property, the uneven
cavity area is seen to propagate to the forward or
backward blade where the latent rotating stall is
passing at the one-third cycle timing. Thus, rotating Fig. 10. Schematic diagram of the rotating cavitations
cavitation can be regarded as occurring in the well- in the inducer in the rotational coordinate system
known order of super-synchronous rotating explained by the present mechanism(8).
cavitation, synchronous rotating cavitation, and sub-
synchronous rotating cavitation, according to a in Fig.12, in which pulsational variation of upstream
decrease in the cavitation number as shown in Fig. 9 pressure is observed. The mechanism of the pulsation
and 10. is explained as below:
a) As a result of the simultaneous collapse of the
2.4. Mechanism of Pulsation Phenomenon due to three cloud cavities in the outlet of the cascade
Cavitation Surge(14) throats, the downstream pressure rapidly
Figure 11 show the time evolutions of the void increases.
fraction and the pressure distribution of Type 2 C.S, b) The increase in the inverse pressure gradient at
which is general cavitation surge, in which the three the rear end of the sheet cavity induces a re-
cavities oscillate in the same phase. And the wave entrant jet inside the sheet cavity.
form of variation of cavity volume and upstream c) The re-entrant jet flows upstream into the sheet
pressure under condition of cavitation surge is shown cavity, as shown in Fig. 23 (where mass flux
vector clearly indicates the velocity of the liquid
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(a) Void fraction distribution
Fig. 12. Wave form of variation of cavity volume and

upstream pressure under condition of cavitation surge
(= 0.105, = 0.162, = 0.186, prms = 8.66×103) (14).
d) The re-entrant jet impinges on the main flow near
the leading edge of the blade, and the pressure
increases rapidly in the vicinity of the leading
edge. At this time, the sheet cavity breaks off
from the leading edge because of the water
hammer pressure.
e) Due to the instantaneous pressure wave
propagation from the water hammer pressure, the
upstream pressure increases. The pressure
increase induces a dramatic increase in the first
peak of the waveform of the oscillation of the
upstream pressure.
f) The cavities that have broken off from leading
(b) Pressure distribution edge move through the throats, and the three
Fig. 11. Time evolution of the aspect of cavitation cavities choke the three cascade throats
around three-blade cascade under condition of simultaneously. Then, the flow around the inlet of
“cavitation surge” (=0.105,=0.162, = 0.186)(14). the cascade throat decelerates, and the pressure
phase, and the behavior of the re-entrant jet inside increases as a result of the stagnation effect.
the cavity can be observed). At the same time, a g) Due to the stagnation pressure caused by the
slight pressure increase is detected on the suction choking of the cascade throat, the upstream
side of the blade, as indicated by the dashed small pressure increases once again. This causes the
circles in Fig. 22. This occurs because the cavity second peak in the waveform of the upstream
collapses at the head of the re-entrant jet. pressure.
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higher flow rate condition is somewhat suppressed in

an amplitude of oscillation and the occurrence region.
4. CONCLUSION
The author has investigated the cavitation
instabilities arising in turbopump in liquid propellant
rocket through numerical simulation and experiment.
In order to analyse numerically the cavitation
instabilities, the numerical method based on
compressible gas-liquid locally-homogeneous model
was developed which can reproduce the unsteady
Fig. 13. Comparison with empirical frequency and
behaviour of the cavitation. The author has analysed
actual frequencies of cavitation surge(16).
cavitating flow in a three-blade cyclic cascade by the
h) The cloud cavities are shed downstream with numerical method. The results provide reasonable
repeated collapse/ re-expansion, and a numerical predictions of the unsteady cavitation and
downstream pressure increase is observed three cavitation instabilities. In particular, rotating
times during one cycle of Type 2 C.S. cavitation and cavitation surge, caused by different
mechanisms, have been reproduced without adding
2.5. Other Numerical Analysis
any additional models or boundary conditions. The
The influence of acceleration on cavitation characteristics of occurrence and frequencies were
instabilities was investigated by numerical reasonably reproduced. Additionally, the influences
simulation(15) which cannot be investigated on the cavitation instabilities were investigated about
experimentally because cavitation instabilities are the acceleration during the launch and the upstream
suppressed in actual launch. The results suggested pipe length of inducer. Moreover, new suppression
safer direction of install of inducer in the engine. technique of cavitation instabilities using slit on
Numerical analysis of cavitation instabilities in blades was proposed, in which jet flow through the
cascade was done with taking into account of slit make the cycle of unsteady cavity behaviour
upstream pipe length because it is well known that irregular and the regular cycle of cavitation instability
the cavitation surge frequency depends on the pipe will be broken.
length(16). Figure 13 shows the comparison of the
REFERENCES
present cavitation surge frequency with actual
frequencies of cavitation surge in actual inducer of (1) Acosta, A. J., An Experimental Study of Cavitating
space shuttle main engine. It is confirem that the Inducer, Proc. 2nd Symp. Naval Hydrodynamics,
present numerical simulation can reproduce actual ONR/ACR-38 (1958), pp. 533–557.
frequency of cavitation surge in rocket engine, (2) Sloteman, D. P., Cooper, P., and Dussourd, J. L.,
Control of Backflow at the Inlets of Centrifugal
although the simulation is about two-dimensional
Pumps and Inducers, Proc. 1st Int. Pump Symp.
cascade. (1984), pp. 9–22.
Additionally, new suppression technique of (3) Kamijo, K., Shimura, T., and Watanabe, M., A Visual
cavitation instabilities by slits on blades is now Observation of Cavitating Inducers, ASME Paper 77-
developed in which jet flow through the slit make the WA/FE-14, ASME Winter Annual Meeting, Atlanta
cycle of unsteady cavity behaviour irregular and the (1977).
regular cycle of cavitation instability will be (4) Friedrich, J. and Kosyna, G., Rotating Cavitation in a
broken(17, 18). Centrifugal Pump Impeller of Low Specific Speed,
Proc. ASME-FEDSM (2001), No. 18084.
3. EXPERIMENTAL STUDY (5) Sedlar, M., Sputa, O., and Komarek, M, CFD
Analysis of Cavitation Phenomena in Mixed-Flow
In experiment, applicability of the suppression Pump, Int. J. Fluid Machinery and Systems, Vol. 5,
technique using slits on blades of inducer was No. 1 (2012), pp. 18–28.
examined. At first, tunnel experiment of single (6) Shimagaki, M., et al., Effect of the Casing
hydrofoil with tip clearance was done where three- Configurations on the Internal Flow in Rocket Pump
dimensional cavitation composed of tip leakage Inducer, AIAA Paper 2006-5071 (2006), pp. 1–9.
vortex cavitation and sheet cavitation occurs. In the (7) Morino, M., et al., (Vision and Description) POGO
slit single hydrofoil, the unsteady characteristics of Fluctuation in Liquid Rocket, Turbomachinery, Vol.
17, No. 8 (1989), pp. 516–525 (in Japanese).
cavity was affected by the slit(19). Currently, slit
(8) Iga Y. and Yoshida, Y., Mechanism of Propagation
inducer is made and tested experimentally. In the slit Direction of Rotating Cavitations in a Cascade,
inducer, it is confirmed that rotating cavitation at Journal of Propulsion and Power, Vol. 27, No. 3
(2011), pp. 675-683.
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(9) Iga, Y., Nohmi, M., Goto, A., Shin, B. R., and (15) Iga, Y., Konno, T., Numerical Analysis of the
Ikohagi, T., Numerical Study of Sheet Cavitation Influence of Acceleration on Cavitation Instabilities
Break-off Phenomenon on a Cascade Hydrofoil, that arise in Cascade, International Journal of Fluid
Journal of Fluids Engineering, Trans. ASME, Vol. Machinery and Systems, Vol. 5, No. 1 (2012), pp.1-9.
125-4 (2003), pp. 643-651. (16) Iga, Y., Yoshida, Y., Numerical Analysis of the
(10) Iga, Y., Nohmi, M., Goto, A., and Ikohagi, T., Influence of Pipe Length on Cavitation Surges in a
Numerical Analysis of Cavitation Instabilities Arising Cascade, Journal of Propulsion and Power, (2014) (in
in The Three-Blade Cascade, J. Fluids Engineering, print).
Trans. ASME Vol.126 No.3 (2004), pp.419-429. (17) Iga, Y., Yoshida, Y., Numerical Analysis of
(11) Iga, Y., Hashizume, K., Yoshida, Y., Ikohagi, T., Controlling of Cavitation Instabilities in Tandem
Occurrence Mechanism and Oscillation Cascade , Trans. JSASS, Vol. 54, No. 184 (2011), pp.
Characteristics of Pulsation Phenomenon Arising in 137-143.
Cavitation Surge in Cascade, Journal of Environment (18) Kobayashi, H., Hagiwara, R., Kawasaki, S., Uchiumi,
and Engineering, Vol.4 -No.3 (2009), pp.524-538. M., Yada, K. and Iga, Y., “Numerical Analysis of
(12) Tsujimoto, Y., Yoshida, Y., Maekawa, Y., Watanabe, Suppression Effect of Asymmetric Slit on Cavitation
S., and Hashimoto, T., Observations of Oscillating Instabilities in Cascade”, J. Fluids Engineering, Trans.
Cavitation of an Inducer, Journal of Fluids ASME Vol.140, No.2(2018), pp.021302-1 – 7.
Engineering, Trans. ASME, 119 (1997), pp.775-781. (19) Kobayashi, Kawasaki, S. and Iga, Y., "An
(13) Goirand, B., et al., Space Launcher Liquid Propulsion, Experimental Study of an Influence of a Slit on
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Coefficient Diagram Method for Velocity Control of Hydraulic Motors

Quang Hieu Ngo*
Department of Mechanical Engineering, Can Tho University, Vietnam
*Email: nqhieu@ctu.edu.vn
Abstract
This paper presents the process of modeling, system identification, and control system design for hydraulic
actuator system. System identification approach is used with the purpose to estimate the mathematical
model of pneumatic actuator system and for controller design. Simulation has been performed based on the
identified model to compare the efficiency of the controller using coefficient diagram method (CDM) and PID
controller. The experiment also carries out using the experimental model in the laboratory. The results
obtained in the experiment are successful to prove that the efficiency of the designed controller.
Key words: coefficient diagram method, hydraulic motor, velocity control.
1. Introduction simple to use and simple to design. When tuning the

PID controller’s parameters, the control performance
The hydraulic motor is very common in
can be improved. There are many algorithms that
industrial application because it has the following
have been studied to optimize the PID controller,
advantages: its maintenance is easy and simple,
which must be mentioned in the Imperialist
relatively low cost, self cooling properties, good
Competitive Algorithm (ICA) [3]. The advantage of
power density (power/dimension rate). However,
this algorithm is that it does not care about the slope
there are difficulties of control due to various
of the adaptive function during optimization. To test
nonlinear characteristics of the system. The
the feasibility of this algorithm, the ICA applied the
nonlinearities present in hydraulic actuators are
control of the rotational angle of the motor shaft and
motivated by its very high stiffness, inherently
achieved good results with a steady state after 4
nonlinear behavior, parameter variations and high
seconds. In addition, Aly and Ayman have optimized
damping of the actuator systems, which make it
the PID controller by genetic algorithm [4], applied to
difficult to achieve precise motion control. The main
the hydraulic servo system, the experimental results
nonlinearities in hydraulic servo systems are the
show that the steady state error was 0.0027 rad, the
servo-valve dead zone and friction effects between
rising time was 0.115 seconds and the overshoot was
contact surfaces in actuator seals. Many authors
not too much. This method optimizes the controller
present a study on the characteristics of hydraulic
without regard to the mathematical model of the
actuators, for example, dead zone in hydraulic servo-
system, but based on input and output measurements
valves and the method used for compensation in
from the system. However, there are also
control system, developing a nonlinear accurate
disadvantages of running multiple loops to obtain
model of a hydraulic servo drive with friction, where
parameters. In order to determine the value of the
the nonlinear fluid flow relationship between the
objective function in the application of genetic
hydraulic valve’s driving voltage and the
algorithms, this is not always available.
upstream/downstream pressures is proposed, etc.
The main contribution of the paper is to identify
Design and control a servo hydraulic system,
the transfer function of the hydraulic system in Fig. 1
especially for hydraulic motor, have been carried out
and to design a controller which is able to control the
[1] by obtaining system parameter via experiment and
velocity of hydraulic cylinder to desired position. The
applying a PID controller for velocity control. The
controller, designed based on coefficient diagram
results showed the improvement in term of efficiency.
method, guarantees the stability and robustness of the
Control performance has no overshoot but settling
system. The simulation and experiment are performed
time is still large. Due to system nonlinearity, a
to show the efficiency of the controller.
mathematical model of hydraulic system could not
obtain exactly. However, the approximate system 2. Hydraulic system
model can be found by experiment [2]. In this model,
2.1. Servo hydraulic system
all system parameters have been considered,
however, some parameters could not determine due to The hydraulic transmission system consists of
hard measurement. three main components: The hydraulic pump supplies
fluid to the system during operation. The actuator is a
In the field of control, PID controllers are
hydraulic motor with two inlets that can reverse the
common to many applications because they are
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Fig. 1: Schematic drawing of a hydraulic servo Fig. 2: Data acquisition system by using Labview.
system.
rotation direction. The valve in the model is the
electromagnetic directional valve (4 ports and 3
positions). Diagram of the model is given in Figure 1.
During operation, the hydraulic pump brings
hydraulic oil from the tank to supply for hydraulic
motor via the valve with a pressure that can be
adjusted by the safety valve. The directional control
valve receives the control signal of the controller
through the amplifier to open the high pressure oil
supply hose for the motor, as the pressure difference
between the inlet and outlet causes the motor to Fig. 3: Input and output signal from system.
rotate. The velocity sensor is attached to the motor
shaft to monitor the speed at which the signal is fed to must be selected. It is appropriate that low-frequency
the controller. The controller plays an important role signals are not overridden by high-frequency signals.
in the operation of the system, which determines the The output signal is the velocity value measured from
accuracy and flexibility of the system. The controller the sensor. The inputs and outputs are shown in
will receive the reference signal compared to the Figure 3.
feedback signal and calculate the correct output
voltage to enable the throttle to open the throttle for The collection data will be processed by using
the system to reach the reference value with the Simulink Matlab to obtain the approximate system’s
smallest error and fastest speed. transfer function. Based on the received result, the
models having the highest percentage will be used for
2.2. System identification system control design. The following equivalent
The hydraulic transmission systems are highly transfer function, G(s), is used:
nonlinear depending on the parameters of the system 92 .62
such as valve flow, valve amplification, flow pressure G (s)  . (1a)
coefficient, oil pressure change, coefficient of s 2  9.028 s  29 .31
compression, leakage coefficient, ... lack of 3. Control system design
equipment to measure the parameters of the model so
the system modeling is difficult. To solve the 3.1. Coefficient diagram method (CDM)
problem, model identification is needed. To identify Control technology has been expanded in many
the system, the system is first connected to a different fields, simple and reliable control design
computer via the MyRIO Kit and a signal amplifier to requirements are essential. Classical control responds
receive real-time input and output. The computer will well to conventional control design problems, but
communicate with the MyRIO kit through a program complex systems cannot be applied. Modern control
written on Labview2014 (Figure 2) to send and has been developed to meet this requirement, but it
receive signals continuously to/from the system. requires complex, difficult to refine and less
The input-output data of the model will be taken robustness. Coefficients diagram method has been
in 20 seconds from the experiment with a sampling developed by Manabe [5] to solve this problem.
period of 0.02 seconds. The input signal is a sine CDM is an algebraic approach that simplifies the
voltage with different frequencies, these frequencies design of controllers using given characteristic
536 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 4: Block diagram for designing CDM controller. Fig. 5: Re-arrange the block diagram of CDM
controller.
polynomials and gives full information about
stability, responsiveness and robustness in a simple coefficients of the characteristic polynomial
single chart. In the first step, the CDM approach according to the definitions of the stability index
clearly defines the convexity of the closed loop and iand the equivalent time constant :
the controller, and then solves the remaining
a12 a 22 a1 (5)
parameters by design. These parameters are stable 1  ; 2  ;   .
a2a0 a 3 a1 a0
index, , and time constant, , that require
computation. The choice of these indicators affects To eliminate the steady error, Ba(s) is obtained
the stability or instability of the system and can also so that the following equation is satisfied:
be used to examine sustainability. The mathematical
formulation defining the design criteria has been P( s)
presented in [5] and block diagram for designing Ba ( s )  1. (6)
B p (s)
CDM controller is shown in Figure 4. s 0
3.2. Control system design by using coefficient From Equation (4)-(6), the control parameter
diagram method can be determined as follows:
The equivalent transfer function for hydraulic l1  l 0  1; k1  0.112; k 0  0.49; (7)
system, G(s), is as follows:
and then
92 .62
G (s)  . (1b) Bc (s) s  4 . 39 .
s 2  9.028 s  29 .31 Gc (s)   0 . 112 (8)
Ac ( s ) s 1
Control system diagram by using CDM is
shown in Figure 4 where G(s) is divided into two From block diagram in Figure 4, the functions
functions, Ap(s) and Bp(s). are arranged as shown in Figure 5 with controller and
pre-filter as follows:
B p (s) 92 . 62
G (s)   . (2)
A p (s) s 2  9 . 028 s  29 . 31 Ba (s) 8 .93 . (9)
G f (s)  
B c ( s ) s  4 . 39
In case of no disturbance, the control structure is
chosen as follows: 4. Simulation results
Bc (s) k s  k0 , The system in Figure 5 in which the transfer
Gc (s)   1 (3) functions are described in Eqs (2), (8) and (9) is
Ac ( s ) l1 s  l 0
simulated. The results in Figure 6 shows that the
where l1, l0, k1 and k0 are control parameters. CDM controller can reduce the overshoot, however,
Following [5], the close-loop characteristic function the rising time is longer than PID. In general, the
is given as follows: CDM controller can eliminate the overshoot, increase
rising time but it can reduce the settling time. The
P( s )  Ac ( s) A p ( s )  Bc ( s) B p ( s) control performance can be accepted.
 l1 s 3  9.028l1  l 0 s 2 5. Conclusions
(4)
 29.31l1  9.028l 0  92.62k1 s
The paper presents the model identification
 29.31l 0  92.62k 0 . process and the velocity controller design for
hydraulic motor based on the coefficient diagram
The design parameters are chosen to guarantee method (CDM). The controller is designed based on
system stability and control performance. Stable the CDM to ensure better transient response than the
index and time constant are selected as follows: PID controller. However, the robustness verification
 i  3 2  ,  0   3   and  0.6. The parameters of the controller has not been made yet. In subsequent
are chosen based on the influence of each parameter studies, load and power pressure will be changed to
on the response of the system. Determine the verify the robustness of the controller.
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Hanoi, Vietnam
[3] Afsanehkhabbazi Basmenj, Aidin Sakhavati, Jafar

Ghafuri. (2014). PID Controller Design for Position
Control of Electrohydraulic Actuators using
Imperialist Competitive Algorrithm, Indian Journal of
Science and Research, 1 (1): 775-779.
[4] Aly, Ayman A. (2011). PID parameters optimization
using genetic algorithm technique for electrohydraulic
servo control system, Intelligent Control and
Automation, 2 (02): 69-76.
[5] S. Manabe, “Brief tutorial and survey of coefficient
diagram method,” Proceeding of Asian Control
Conferrence 2002, pp. 1161-1166, 2002.
[6] Budiyono Agus, Kartidjo Muljowidodo and Sugama
Agus (2009). Coefficient diagram method for the
Fig. 6: Simulation results of PID and CDM control of an unmanned underwater vehicle. Indian
controllers. Journal of Marine Sciences, 38 (3): 316 – 323.
[7] Roengruen P., Tipsuwanporn V., Puawade P. and
Numsomran A. (2009). Smith predictor design by
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hydraulic motor, Shahid Beheshti University, Indian 35: 344-348.
Journal of Science and Research, 1 (2): 770 – 774.
[2] Hamamci S.E., Koksal M. (2001). Robust control of a
DC motor by Coefficient Diagram Method. 9th
Mediterranean Conference on Control and
Automation.
538 October 27 - 28, 2018

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Improve Intake Port/Valve of RV165-2 Engine by Simulation Method

Le Viet Hung1,*, Do Van Dung2, Nguyen Anh Thi3
1
Faculty of Civil Engineering, Ho Chi Minh City University of Technology and Education,
1 Vo Van Ngan Street, Thu Duc District, Ho Chi Minh City, Vietnam
2
Ho Chi Minh City University of Technology and Education,
1 Vo Van Ngan Street, Thu Duc District, Ho Chi Minh City, Vietnam
3
Viet Nam National University Ho Chi Minh City, Linh Trung Ward,
Thu Duc District, Ho Chi Minh City, Vietnam
*Email: LeVietHung@Sveam .com
Abstract
This article presents a research on improvements of 1-cylinder diesel engine using direct fuel injection
RV165-2 which is produced in Co. - MTV Engine And Vikyno Southern Farm Machinery & Vinappro to
enhance its working features. The loading process of the engine is modeled and simulated by using ANSYS
- FLUENT and AVL – BOOST software. The proposed measures for improvement of intake manifold and
intake valve were analyzed. The initial conditions of the model’s simulation are proposed and evaluated in
comparison with intake port/valve models. The initial conditions of the model’s simulation are based on the
engine structure and the conditional operating parameters from experiments. The characteristic parameters
of intake flow ratio, swirl ratio, power and emissions are selected as evaluation criteria.
Keywords: RV165-2, AVL - BOOST, FLUENT.
1. Introduction Nowadays, the unstoppable advance in

technology as well as the development of design and
Nowadays, based on several surveys on
stimulation software, the problems mentioned above
customers demand, small-size engine with relative
become acknowledged and enhanced. There are many
productivity is really prevalent in the field of
methods for engine renovation such as:
agriculture, sylviculture and pisciculture in Vietnam.
- Modifiy the compression ratio
However, a significant number of Chinese and
- Modify the stroke
Taiwanese engines which are mainly updated, handy,
- Renovate the intake part
attractively designed , state-of-the-art and less fuel-
consuming, mostly occupy Vietnam market compared In which, renovation of intake part and intake
to domestically manufactued engines. Hence, it is valve can increase volumetric efficiency, output
indispensable to upgrade Vietnamese engines’ while reduce specific fuel consumption [1]. Previous
operating feature and quality; in which, one-cylinder researches already used stimulation methods [2, 3, 4]
Diesel engine RV165-2, 16.5 HP produced by which are relatively simple, feasible and cost-saving.
SVEAM can be considered as one of the most
2. The Oretical Basis
specific Vietnamese engines, completely designed
and manufactured by Vietnamese engineers. 2.1. Intake Efficiency
Table 1. RV165-2’s specification
2.1.1. Effect of intake efficiency to power
Cylinder diameter (mm) 105
Useful power output [5] :
Stroke length (mm) 97
n
Cylinder Volume (cm3) 839 N e = ρ a .Vh .Q H .F.η v .η c .η m .i.
Maximum power (HP/v/ph) 16,5/2400 τ/2
Maximum torque 4,9/1800 Where: ρa : air intake density (kg/m3).
Compression ration 20 Vh: Working volume.
Fuel efficiency (g/HP/h) 210 QH: Lower Heating Value (kJ/kgNL).
F = mf / ma. ηv : inlet efficiency.
However, the engine was produced more than
10 years ago, whenscience technology was limitedly ηc : efficiency of fuel combustion.
apply to the design so that there are several problems ηm : mechanical efficiency.
such as: details surface roughness has not met the
requirement, VE has not high enough, high fuel i: number of cylinder. n: engine speed.
consumption,etc. That are the reasons why the engine τ: number of stroke.
has not reached the best operating feature.
539 October 27 - 28, 2018

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Inlet efficiency in 1 stroke: b. Swirl

G
ηv = a Induction swirl is intentional spinning of the
Gt intake air that promotes even mixing of fuel and air
Ga: actual mass of inlet air in 1 cycle when fuel is introduced to the intake or cylinder.
Swirl is generally created by shapes in piston and
Gt : theoretical mass of inlet air in 1 cycle. cylinder head, as these shapes converge, they propel
Therefore, air inlet efficiency of i cylinder per the air into motion. Some engines have flaps in the
time unit or efficiency Ne per a second: intake manifold that can be used to promote swirl.
Ga Swirl intensity increases the velocity of the air
ηv =
2 entraining into the fuel jet, which means an
Vh .ρ.n.i
τ acceleration of the mixing process. Also, excess swirl
Air inlet efficiency is a significant specification might cause the overlap of the sprays and increase in
of engine. Therein, mass of inlet air in each cycle unburned hydrocarbon emission. Swirl increases the
affect Inlet Air Efficiency and depend on the others ratio of ignitable mixture at the ignition point and
factor: reducing the soot generation.
- The aerodynamic loss of the intake reduces 2.2. Operation Process

the inlet air pressure pa. 2.2.1. Simulate on Ansys – Fluent
- Residual gas retention in cylinders,
occupying a fraction of the cylinder,
Meshing Inlet manifold and
- The inlet air heated by the surface of inlet
manifold and cylinder with high temperature to intake valve by Gambit.
reduce inlet air density.
2.1.2. Effect of inlet manifold’s shape on the air
entraining into the combustion chamber Import meshing result to Fluent.
a. Flow rate
Flow rate is ratio between the actual flow Check mesh, import material, set up boundary
measured in standard conditions and theoretical flow conditions, select turbulent model, operation
m a
a 
m t
Export: Apply equation to determine
Actual flow measured in standard conditions flow coefficients and swirl ratios.
Pa
m a  V (kg s )
RTa
Theoretical flow : Evaluate accuracy of the results. If not

m t  A  s C s (kg s ) correct, go back to the step 1.
Figure 1. Solution.
2
Piston acreage: A = πD /4 (m ) 2
a. Simulaltion of RV165-2 inlet manifold
Density:
1
P P k
 s  a  2  (kg m 3 )
RTt  P1 
Air flow velocity measured by entropy:

 k 1

2k   P2  k 
Cs  RTt 1    (m s)
k 1   P1  
 
P1 = 101325 N/m 2 , P2 = P1  ΔP
540 October 27 - 28, 2018

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Figure 2. Meshing model of inlet manifold and

intake valve in Fluent.
Figure 5. New design.
b.2 Simulation result in Ansys – Fluent
Figure 3. 3D model of inlet manifold in Solidwork.

b. Simulation result Ansys - Fluent with 2 Intake
valve solutions
b.1 Design drawing of 2 types Intake valve
Figure 6. Comparative graphs of flow coefficient of

intake valves.
Figure 7. Comparative graph of swirl coefficients at

Figure 4. Current design. different intake valve’s elevation levels.
2.2.2. Simulation on AVL - BOOST

a. Solutions
In this research, 6 types of inlet manifold
models were proposed and simulated with the
existing inlet manifold.
541 October 27 - 28, 2018

Hanoi, Vietnam
7 solutions of inlet joint are proposed with inlet

manifold parameter (Figure 3,4,5)
Changes are presented in table 2
(L: Length, R: curvature (độ cong) , D: Radius
(bán kính), mm).
Table 2. Thông số đường ống

Pipe 3 Pipe 8
Method
L R D L R D
71 70 49
1 63 40 49 78.5 32 44
129 32 44 Figure 9. Boost Model of Method 6.
25.5 70 49
2 135 90 49 33 32 44
83 32 44
81 70 49
3 62 40 49 89 32 44
139 32 44
0 60 71 70 54
4 63 40 54 78.5 32 49
129 32 49
0 60 41 70 54
Figure 10. Boost Model of Method 7.
5 135 90 54 48 32 49
98 32 49 b. AVL -BOOST simulation result
47 70 49 Simulation result of engine at speed 1200 rpm to
6 94 60 49 54.5 32 44 2400 rpm, 100% load.
105 32 44 b.1. Engine specification
Figure 8. Boost Model of Method 1,2,3,4,5.
Method 7:
Figure 11. Result of efficient characteristics.
Pipe 9 Pipe 10 Pipe 11
L R D L R D L R D Compare with exist engine, at 2400 rpm:
30 - - Solution 7 which have sub-inlet manifold,
intake efficiency, engine efficiency and torque was
30 - 25 96 40 25 50 32 25
increased (6,03% and 10,9%), reduce fuel
172 - consumption (9,83%). However, this is not the best
solution.
542 October 27 - 28, 2018

Hanoi, Vietnam
- Solution 6 with two inlets increased load Also at 2400 rpm, intake 7 reduced Soot less
efficiency (11.79%), engine power and torque (6.73%), CO decreased by 22.46%, and NOx
(18.79%), and reduced fuel consumption (15.83%). increased 11.99%.
This solution changes power characteristics, and
- The remaining options have less or no
meets the intial expectations
significant change.
- Solution 2,3,4,5 did not significantly affect
In summary, inlet manifolds 6 and 7 have a
engine power characteristics.
good exhaust emission performance, reduce CO and
Recognize solution 6 and 7 have a better Soot emissions, but increase NOx.
performance than required (6 is the best): increase
3. Conclusion
maximum power, maximum torque, and thermal
efficiency and reduce power fuel consumption. The modified RV165-2 engine shows the new
design of the intake valve and inlet manifolds. In
b.2. Emission characteristics
solution 6 and 7 has potential to increase the kinetic
energy of airflow, Increase the swirl coefficiency, the
velocity of the air entraining into the combustion
chamber, which means acceleration of the mixing
process, better combustion, increased engine power,
reduced fuel consumption. Although NOx emissions
increase, the engine emit less CO and Soot.
References
Figure 12. CO at 1800 and 2400 rpm. [1] Y.L.Qi, L. C. Dong, H. Liu, P. V. Puzinauskas and K.
C. Midkiff (2012). Optimization of intake port design
for SI engine. International Journal of Automotive
Technology, Vol. 13, No. 6, pp. 861–872.
[2] H. Mohamed Niyaz, A. S. Dhekane (2014). Twin
Helical Intake Port Design Optimization And
Validation By Using CFD Analysis. International
Journal of Emerging Technology and Advanced
Engineering, Volume 4, Issue 4, 454–462.
Figure 13. NOx at 1800 and 2400 rpm. [3] M. H. Shojaeefard, I. Sohrabiasl and E. Sarshari.
Investigation the effect of inlet ports design on
combustion characteristics and emission levels of
diesel engines. Iran University of Science and
Technology.
[4] Yungjin Kim, Yongtaek Han and Kihyung Lee (2014).
A Study on the Effects of the Intake Port
Configurations on the Swirl Flow Generated in a
Small D.I. diesel Engine. Journal of Thermal Science,
Vol. 23, No. 3, 297–306.
Figure 14. Soot at 1800 and 2400 rpm. [5] Văn Thị Bông, Huỳnh Thanh Công. (2011). Lý thuyết
động cơ đốt trong. Nhà xuất bản Đại Học Quốc Gia
Compared to the existing solution (inlet TPHCM.
manifold 1): [6] AVL GmbH. (2013). AVL BOOST User Guide.
[7] Bengt Andersson,… – Computational Fluid Dynamics
When engine speed increases, CO and Soot for Engineers, CAMBRIDGE.
tend to increase, NOx increases from around 1200- [8] John D. Anderson Jr, Computational fluid dynamics,
1400 rpm then decreases. McGraw-Hill Inc, 1995.
- At the rate of 1800 rpm, the inlet 6 has Soot

significantly decreased (21.02%), CO (61.4%), and
increased NOx (19.96%).
543 October 27 - 28, 2018

Hanoi, Vietnam
Study on the effect of solid phase in solid-liquid two phase mixture on

working mode of centrifuge feed pump systems at the coal processing plants
in Quang Ninh
Vu Nam Ngan*, Vu Ngoc Tra
Ha Noi University of Mining and Geology
*Email: vunamngan@gmail.com
Abstract
In the technology line in the coal processing plants in Quang Ninh has used a specialized pumping
equipment system to supply raw materials for coal processing equipment. Due to the complexity and
instability of the nature and concentration of solid phase in the stream of coal slurry when pumping, the
working mode of the pump often changes accordingly. This article investigates the effects of solid phase in
solid-liquid two-phase mixture on the working conditions of the pumping system in some coal processing
plants in Quang Ninh. Intersection of two characteristic lines: the pump with the pipeline network determines
the working mode of the pump system. When the parameters of solid particles (in solid phase) change, the
working point of the pump system will change accordingly. The results of the study will determine the
reasonable working mode of the coal sludge transportation system at the Quang Ninh coal plants.
Keywords: Pump system, Quang Ninh, Coal processing plants
METSO-HR200; METSO-V8-80; DENVER-ORION

1. Introduction
200/150F – CSA... Two-phase solid-liquid mixture
In the technology line in the coal processing passing through pumping equipment system
plants in Quang Ninh, using a system of specialized including solid phase and water phase. Solid phase: a
equipment to supply raw materials for coal collection of solid particles of different properties,
processing equipment. This pump system transports including: coal (major), manhetit, rock, gravel, sand,
mixed streams, including: coal (the main constituent), etc..., but they are very diverse in size. Concentration
manhetit, rocks, sand, gravel and water, called solid- of solid phase CT from 25% to 45%; The density of
liquid two-phase mixed. Due to the complexity and the solid-liquid mixture ρM ranges from 1120 kg/m3
instability of the nature and concentration of solid to 1300 kg/m3. Mechanical properties of solid
phase in the stream of coal slurry when pumping, the particles include: density of solid particle (ρS);
working mode of the pump often changes particle size (diameter) dS from 0.1 mm to 60 mm and
accordingly. In special cases, when the solid phase grain shape (sharpness). All of these factors have a
concentration in the mixed stream is unreasonable, it major impact on the working conditions of the
can lead to the pump system to work no effectively or pumping system.
stop working. That also corresponds to reducing the
3. Theoretical Study
production schedule, increasing the cost of the plant.
Therefore, it is necessary to study and determine the 3.1. Equation of pipeline characteristics with clean
proper working mode of the pumping equipment water
system due to the influence of the solid phase in the
When the pumping system is operating with
coal slurry stream, in order to improve its efficiency
clean water, the pipe network characteristic equation
and longevity.
is calculated according to [1], as in Eq. (1) below.
2. Two-phase solid-liquid mixture in the pumping Hmd = Hhh + Kmd.Q2 (1)
equipment system in the coal processing plants in
Quang Ninh Li 1
with: Kmd = ( i    i  1).
In Quang Ninh coal processing plants (Vang Di 2 gFi 2
Danh, Cua Ong and Hong Gai), different types of
where: Hhh - geometry height of pipeline
pumps are used in some countries: Vietnam, Russia,
network; Q - water flow; i: coefficient of loss locally
Australia, South Africa and China in the line of coal
at position i on the pipeline network; i, Di, Li, Fi -
pumping technology and waste sludge. These pumps
respectively: coefficient of friction loss along the
have the code: LTS-250; ПБ-100/31; ГPAT-170/85;
road, inner diameter, length and cross section of the i
5ГPK-8; WARMAN66EG, WARMAN100E-MP,
th pipe section. The coefficient i can be calculated by
WARMAN100EG-MP, WARMAN66EG; METSO-
the following Eq. (2) below.
HM200-C5; METSO-HM150-C5; METSO-HM250;
544 October 27 - 28, 2018

Hanoi, Vietnam
0,0195 3.3. Equation of characteristic curves of centrifugal

i = (2) pumps with clean water
3 Di
3.2. Equation of pipeline characteristics with solid- clean water, from the parameters of the pump in the
liquid mixture standard mode: the pressure column Hn, flow Qn and
rotation speed n, the pump characteristic curve
When the solid-liquid mixture is injected, the equation is calculated according to [1], as in Eq. (10)
resistance in the conduit network increases, its below.
characteristic line will move upward relative to the
clean water. In order to construct the pipeline   H   Q 2 
H=H 0 1-  1- n     (10)
network characteristics of the mixed stream, many   H0   Qn  
authors have come up with different calculation  
equations, according to [2], [3], [5], [6]. The pipeline
there: H0 = Hn(1.025 + 0.0075nq)
characteristic with solid-liquid mixture flow depends
on concentration, diameter, density of solid particles; n Qn
horizontal pipe length and vertical pipe section; nq =
settling velocity, resistance coefficient of solid H3/4
n
particle. Here, we use the equation of Duran-
Condolios-Smoldurev [2]: nq - the number of revolutions of the pump;
Y = a0. Q 2M . H0 - the pump pressure when the pump flow
is zero.
 
 L a1 a5  + 3.4. Equation of characteristic curves of centrifugal
 λ F D +a 6 + Q3 + 2


M 
4Q M -πD 2 cSF  

(3) pumps with solid-liquid mixture
  
Yhh. 1+cT 1- ρ0  solid-liquid mixture, the parameters of the pump such
  ρS   as flow Q, column H and efficiency η are reduced,
where: Y = g.HM; HM, QM - pressure and flow of meaning that the characteristic curve of the pump will
mixed stream; L = Lv + Lh is the actual length of the be moved down relative to the clean water.
pipeline; Lh, Lv - horizontal tube length and vertical According to Vocadlo [2], the pressure reduction
pipe section; cSF - settling velocity of solid particles: coefficient λH is calculated as follows:
 ρS  d ρ 
4 g.dS  ρS   H = CT  -1 0.167+6.02 s  S -1  (11)
cSF =  -1 (4)
 ρ0   D2  ρ0  
3 c w  ρ0  
with: cw - resistance coefficient of solid particle, where: D2 - the outer diameter of the
cw= 0.44; ds - diameter of solid particles; F - impeller.
coefficient of friction, according to Blasius [2]: F = From Eq. (10) and Eq. (11), we get the
0.3164/; D - inner diameter of pipe; - the density of characteristic curves of pumps with solid-liquid
solid phase; - the density of water phase; mixture according to Eq. (12) below.
a0 = 0,811/D4 (5) HM = H(1-H) (12)
a1 = 40,21.g1,5.CT..Lh.cos.D6,5. 4. Study the effect of solid phase in the mixed
(6)
10 / s 1,5  0 / s 0,5 / c0,75
w
stream on the working mode of centrifugal pump
systems
here: - the angle formed by the middle of the
The working point of the pumping system when
curved segments;
pumping solid-liquid mixture:
a5 = 968,21.Lv.CT.D4. 1   0 /  S  (7)
In Fig. (1), when the pump works with clean
a6 =  1  C T 1   0 / S   (8) water, ie CTA = 0, the pipeline network characteristic
with: - local resistance coefficient in is the Parabolic curve (point S0 defines the working
accessories; CT - the solid carrier concentration, (%). mode of the pump with clean water pipe network).
From Eq. (3), we obtain the pipe network
characteristic as follows: When the solid-liquid mixture is injected, the
HM = Y/g (9) required pressure in the pipeline increases, so that the
pipeline network characteristics of the PA will be
higher in relation to the increase in the CTA solid-
545 October 27 - 28, 2018

Hanoi, Vietnam
1/3
 0, 5.a1 
Qth =   (13)
 
 (.L / D)  a 6 
4.Q th
Cth = (14)
π.D 2
To determine the flow at the workstation of the
pumping system when pumping liquid-solid two
phase mixtures, some authors have come up with
different formulations, using the formula of Duran-
Condolios-Smoldurev [2]:
2
Fig. 1. Characteristics of pump and pipeline network. b3 - b1 - Qlv .= 0
0 - clean water pump; 1, 2, 3, 4 - mixed pump in (15)
order of increasing solid phase transport.   
 b 2  a 0 (.L / D)  a 6  (a1 / Q 3lv )  = 0

liquid transport concentration and will creates a where: b1= YM 1  C T 1   0 / s   ;
minimum point (limit point) on that characteristic b2 = [  Y0  Yn  / Q2n ](1-H);
curver. In contrast, the pressure of the pump is
reduced, so that the characteristic curve of the PB b3 = Y0 (1-H)
pump will be shifted downward by the increase in the Solving Eq. (15) we will find the working flow
CTB solids concentration. of Qlv pump system, (m3/h). Substituting the value of
In the case of stability, the solid phase transport Qlv received into the pump characteristic equation
concentration in the CTB pump and in the CTA pipe is when pumping solid-liquid mixture Eq. (12), then
the same, the two characteristic lines of the pump we’ll find the working pressure Hlv, (m).
system will intersect at the work points: S1, S2, S3 and 5. Practical application to calculate some pumps
they are called work points of the pump system. If the used in Quang Ninh coal plants
solid phase transport concentrati on continues to
increase until the two characteristics of the pump Using Matlab software to calculate the working
system do not intersect (two lines 4 in Fig.1), then point of the pumping system in the coal processing
there will be no working point (S4) next, at which plants in Quang Ninh. Based on the above
point the pump can not work anymore. When the calculations, combined with existing pipeline network
flow is smaller, corresponding to the smaller flow diagrams and the properties of solid particle
velocity in the conduit, the solid particles settle to the components in the solid-liquid mixture stream,
bottom of the conduit and thus reduces the cross- programmable calculations and plotting
sectional area of the tube. As the flow drops below characteristics for the pumps are used in Hong Gai
the critical flow, the solid settles down and the and Cua Ong Coal Company.
resistance increases immeasurably. At this point we 1 - DENVER-ORION HM-250 Pumps - Fig.
can not determine the network characteristics of the (2), with standard parameters: Qn = 600 m3/h; Hn = 25
conduit anymore, which is the left-hand branch of the m; n=1475 rpm; D2 = 0,60 m.
Qth point on the characteristic line. Given the limit
point of the pipeline network characteristics, we have Results in Fig.(2): Working point for pumping
clean water F (QF, HF) = F (476.1; 28.97); Working
the Qth critical flow (corresponding to the critical
point when pumping solid-liquid mixture M (QM, HM)
velocity Cth). With this Qth flow value, solid particles
= M (387.5; 26.39); Qth = 48.1 m3/h; Cth = 0.425 m3/s;
move in suspended state and are at risk of deposition.
H = 0,155.
The left-hand side of the minimum point on the
network trajectory deals with flows smaller than the 2- DENVER-ORION HR-200 Pumps - Fig. (3),
Qth value, where solid particles begin to settle. The with standard parameters: Qn = 360 m3/h; Hn = 18 m;
smaller the speed, the faster the solid particles settle. n = 1480 rpm; D2 = 0,40 m.
This deposition increases the resistance and reduces Results in Fig. (3): Working point when
the cross-sectional area of the conduit, which in turn pumping clean water F(QF , HF) = F(316,1 ; 19,76);
causes unstable flow. We can calculate the Qth value Working point when pumping solid-liquid mixture
by Duran-Condolios-Smoldurev as follows [2]: M(QM , HM) = M(224,3 ; 18,57); Qth = 48,1 m3/h;
Cth= 0,425 m/s; H = 0,182.
546 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 2. Characteristic curves of HM-250 pumps and

pipeline network. 1 and 1 '- clean water pumps;
2 and 2 '- solid-liquid mixture pump.
6. Remarks
From the results of calculations for the two Fig. 3. Characteristic curves of HR-200 pumps and
pumps HM-250 and HR-200, to evaluate the effect of pipeline networks. 1 and 1 '- clean water pumps;
solid phase in the two- phase liquid-solid mixture to 2 and 2 '- solid-liquid mixture pump.
the working mode of the equipment system, we turn
to the parameters of the solid particles are: CT, ρS or
dS change, but other values remain the same. The References
result is that the characteristic lines of the pump and
[1] Nguyen Duc Suong, Vu Nam Ngan, Hydraulic and
the conduction network are similar in Fig. (2) and
pneumatic machines, University of Mining and
Fig. (3): The working point of the pumping Geology. Ha Noi (2002).
equipment system will be for the corresponding [2] Nguyen Duc Suong, Research to improve the
values QM and HM decreases as we increment the efficiency of centrifugal pumps in the mining and
values CT, ρS or dS. According to some authors, the dredging of open pit mines and transportation away
working point of the mixed pumping system is flow from dumping sites. Ministry level project, code B98-
Qlv 1,2Qth the solid particles will not be deposited. 36 – 3 (2000).
With a view to the safety of deposition, the flow (or [3] Nguyen Duc Suong, Vu Nam Ngan, Study on factors
velocity) is as large as possible. However, if the flow influencing characteristics of centrifugal pumps used
in mines, Viet Nam Coal Journal. Hanoi, October
is too large, the pumps and piping network will
(1996) 11-12.
quickly wear down and the pressure loss in the [4] Vu Nam Ngan, Research to improve the life of
system will increase. From the above mentioned centrifugal pumps for the transportation of solid and
issues, the calculation and selection of the two-phase liquid mixtures Used from mines and factories in
solid-liquid mixture transport pump system must be Vietnam. Ministry level project, code B2006-02-12
in accordance with the specifications of the solid (2008).
phase and the operation of the pump must be safe [5] J. J. Vocadlo, M. S. SaGoo, Slurry flow in pipes and
about the deposition of solid particles. pumps, Worthington (Canada) Ltd; Brantford,
Ontario, Canada. Journal of Engineering for Industry
Acknowledgments (1973).
[6] Mez, W, The influence of solids concentration, solids
We thank the authors for allowing us to use the density and grain size distribution on the working
precious resources to research analysis. We also behaviour of centrifugal pumps, 9th International
sincerely thank Hon Gai Coal Company and Cua Ong conference on hydraulic transport of solids in pipes.
Coal Company for creating favorable conditions for Rome, Italy (1984).
us in the process of experiment. [7] Gao Zhi-qing, Xu Hongyua,,Wu Yu-Lin,
Experimental study on motion of solids particle in
centrifugal pump impellers, International conference
on pumps and systems. (1992) K3 p.504-512.
547 October 27 - 28, 2018

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A Validation Study of an Iso-surface based VOF Technique

in OpenFOAM® for Sloshing Problem
Jiwon Choi1, Kyoungsik Chang2,*, Sang-Wook Lee2, Geon-Hong Kim3
1
Department of Convergence Technology for Heavy Industries, University of Ulsan
2
School of Mechanical Engineering, University of Ulsan
3
Department of Ship Navigation Research, Hyundai Heavy Industry
*Email: kschang76@ulsan.ac.kr
Abstract
To assess the sloshing load, computational fluid dynamics (CFD) techniques could be useful tool at the
stage of initial tank design. However, there are still many difficulties in the numerical approach because the
sloshing is inherently highly unsteady and chaotic behavior. In this study, we used volume of fluid (VOF)
method of OpenFOAM® for validating numerical sloshing analysis. The basic VOF solver is used and that is
based on multi-dimensional universal limiter with explicit solution(MULES) with cell interpolation for capturing
the interface. Additionally, we applied an improved VOF solver using iso-surface algorithm instead of cell
interpolation. The feasibility and accuracy of VOF methods is investigated by comparing with experimental
data. The improved solver exhibits better performance to capture the sharp peak pressure. However, that
solver tends to overestimate the peak pressure whereas basic solver underestimates. Sharper interfaces
with less occurrence of breaking wave and small isolated regions detached from main flow are observed in
improved solver, compared with basic solver.
Keywords: Sloshing, Volume of Fluid (VOF), OpenFOAM, isoAdvector, Iso-surface.
1. Introduction
2. Numerical Method
With continuously strengthening environmental
The mass and momentum transport equations
regulations, the International Maritime Organization
for both liquid and gas phases are solved by multi-
(IMO) has been promoting the reduction of pollutant
phase VOF method with an assumption of
emissions such as CO2, SOx and Nox from ships.
incompressible and Newtonian fluid[5].
Especially, the IMO 2020 global sulfur cap is
stringent at 0.5% and enforced shipping industries to
consider LNG fuel. Although LNG-fueled ship may ∙ 0 (1)
be a promising approach in terms of reducing
emissions, it brings about structural reliability issue
of the storage tank, subjected to continuously ∙
repeated impact loads by sloshing during ship’s long- (2)
distance voyage. The tank level varies with ship’s ∙
operation and the sloshing loads even become more
severe at the specific filling level. Here, , , p and arethe mixture density and
To assess and predict the sloshing load, the dynamic viscosity weighted by volume fraction,
computational fluid dynamics (CFD)techniquescould pressure and velocity vector,respecitvely.
be useful tool at the stage of initial design. However,
there are still many difficulties in the numerical To track the interface of free surface, an
approachbecause the sloshing is inherently highly additional advection equation for the volume fraction
unsteady and chaotic behavior. is needed.
While many studies have been conducted for
computational modelling and simulation of sloshing ∙ 0 (3)
phenomena[1-3], the effects of spatial and temporal
discretization as well as interface-capturing schemes The volume fraction is set to 1 when a cell is
on accurate prediction of impact pressure are still not entirely filled by water and 0 when occupied by only
sufficiently studied. In this study, we appliedan air.
improved interface-capturing scheme based on iso- The precise determination of free surface is
surface algorithm in the volume of fluid (VOF) important for accurate predcition of highly nonlinear
method of OpenFOAM®and tested its feasibility and sloshing flow. A numerical scheme of multi-
accuracy by compared to experimental data from dimensional universal limiter with explicit solution
Hinatsu [4]. (MULES), which is introduced in the basic VOF
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solver interDyMFoam, is applied to reduce the 3. Computational Model

smearing in the advection term. The equation is
A rectangular tank model based on the
rewritten to the integral form as Eq. (4), where Ω is
experimental study by Hinatsu et al. [4] was
each cell, ∂Ω is the cell boundary and is the normal
considered (refer Fig. 1). The breadth (B), height (H)
vector to the cell boundary. It is then discretized and length (L) of the tank are 1200mm, 600mm and
temporally and spatially using the summation over
200mm, respectively. The motion of tank limited by
each face of a cell for the 2nd term as shown in Eq. (5),
only rolling motion with the period of 1.85s and the
where and are the advective fluxes and is the amplitude of 10°. The initial filling level in the tank is
delimiter giving the value 1 at the surface and 0
set by 0.2H. The simulation was carried out over the
elsewhere. These advective fluxes are expressed as duration of 28s.
Eq. (6) and (7) with the volumetric face fluxΦ . The
and denotes the quantity evaluated by the face
and the revised face respectively.
∙ 0 (4)
1
Δ |Ω | (5)
∈
Φ , (6)
Φ Φ 1 (7)
Fig. 1. Configuration of rectangular tank.
On the other hand, to tracethe interface more The OpenFOAM® blockMesh tool was used to
accuratelyin each cell, theisoAdvector scheme(in generate a simple structured grid system as shown in
interIsoDyMFoam)employing the concept of iso- Fig.2. The base size of the grid is 0.01m and total
surfaces [6] was considered. The volume fraction in a number of grids is 144,000.
cell attime is calculated from a function
, describing the continuous phase fraction field y
as shown in Eq. (8). The volume fraction transported
across face j during a time step∆ is described as Eq. x
(9). Here, is the variable of integration and is the
faces of cell. Then, the volume fractions at the next
time step can be represented as Eq. (10). The is the
list of all faces of cell .Here, is either +1 or 1
to ensure that the product is always in the
direction out from the cell boundary even when the
orientation of face makes point into the cell.
Fig. 2. Computational grid system.
1 In an open source software, OpenFOAM®,

, (8) interDyMFoam and interIsoDyMFoam solvers
were modifed to incorporte the adaptive re-meshing
∆
technique from interFoam and interIsoFoam
∆ ,∆ , , (9) solvers, resepctively.
1 Comparison of time history of pressure at a right
∆ ∆ ,∆ (10) vertical wall from 17.5s to 21s among
∈
interDyMFoam, interIsoDyMFoam solvers and
experimental data of Hinatsu et al. [4] is shown in
Fig. 3. It was confirmed that fluid mass is conserved
for entire period of simulation.
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interDyMFoam interIsoDyMFoam
Fig. 3. Time history of pressure at 17.5~21s.
Although the temporal variations of pressure

from both solversqualitatively agree well with
experimental data, interIsoDyMFoam solver
exhibits better performance to capture the sharp peak
pressure. However, interIsoDyMFoam solver tends
to overestimate the peak pressure whereas
interDyMFoam underestimates.
Fig. 4 shows the images of interface profile
between liquid and air at several time steps through
volume fraction field, which are computed by the
VOF technique. Sharper interfaces with less
occurrence of breaking wave and small isolated
regions detached frommain flow are observed in
interIsoDyMFoam solver, compared with
interDyMFoam solver. We presume that these small
discontinuous liquid regions may make unstable in
long-term simulation.
5. Conclusion
In this study, we examined the feasibility and
performance of interIsoDyMFoam solver for
accurate interface-capturing in sloshing flow Fig. 4. Volume fraction field from 18.3 to 18.8s in
simulation. Compared with interDyMFoam solver midplane of z-direction.
which uses linear interpolation, iso-surface based
interface capturing scheme in interIsoDyMFoam
solver produced sharper free surface interface with Acknowledgments
significant reduction of scattering liquid drops.
This work is partly supported by department of
However, it will be necessary to further improve the
convergence technology for heavy industries,
scheme to achieve better accuracy.
University of Ulsan and National Research
Foundation of Korea (NRF) grant funded by the
Korea government, MOE (NRF-
2016R1D1A1B03934121).
550 October 27 - 28, 2018

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References [4] M. Hinatsu, Experiments of two-phase flows for the

joint research, in Proceedings of SRI-TUHH
[1] M. L. Hosain, U. Sand and R. Bel Fdhila, Numerical miniWorkshop on Numerical Simulation of Two-
Investigation of Liquid Sloshing in Carrier Ship Fuel Phase Flows, National Maritime Research Institute &
Tanks, IFAC PapersOnLine. 51-2 (2018) 583–588. Technische Universitaet Hamburg, NMRI. (2001).
[2] B. Godderidge, S. Turnock, M. Tan and C. Earl, An [5] C.W. Hirt and B.D. Nichols, Volume of Fluid (VOF)
Investigation of Multiphase CFD Modelling of a Method for the Dynamics of Free Boundaries, Journal
Lateral Sloshing Tank, Computers & Fluids, 38 of Computational Physics. 39 (1979) 201-225.
(2009) 183-193. [6] J. Roenby, H. Bredmose and H. Jasak, A
[3] A. M. Aly, M. T. Nguyen and S.-W. Lee, Numerical Computational Method for Sharp Interface Advection,
Analysis of Liquid Sloshing Using the Incompressible Fluid Dynamics. DOI:10.1098/rsos.160405 (2016).
Smoothed Particle Hydrodynamics Method, Advances
in Mechanical Engieering, ID 765741 (2015) 1-14.
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Effects of Configurative Parameters on the Dynamic Stiffness and Stability

of Pneumatic Vibration Isolation Model
N.Y.P. Vo1, M.K. Nguyen2, T.D. Le3*
1,2
Ho Chi Minh City University of Technology and Education
3
Ton Duc Thang University
*Email: lemimimimi@yahoo.com.vn
Abstract
As known, one of ways to improve the isolation effectiveness is to reduce the stiffness of the isolation
system. However, a reduction in stiffness will lead to a low load bearing capacity. Hence, in this paper, a
pneumatic vibration isolation model (PVIM) by using the conceptual design of the cam and wedge
mechanism is introduced, which can be widely applied in vibration isolation. The main feature of the
proposed model is to offer the low resonant frequency region and high static bearing capacity. Due to
nonlinear dynamic model, the dynamic stiffness of the system is formulated and analyzed. Then, the effects
of the pressure ratio and geometrical parameters on the dynamic stiffness curves are investigated. In
addition, the equilibrium position and its stability are also analyzed in this work. Finally, some conclusions
are drawn.
Keywords: Pneumatic isolation model, vibration Isolation, Stability.
1. Introduction dynamic response. Furthermore, the limit case and

the bifurcation phenomenon of this oscillator were
Just as commonly known, a linear spring-mass-
studied and analyzed in detail by Cao et al. [7] and
damping isolation model exists a dichotomy the load
Tian et al. [8]. A novel dynamic model with stable-
bearing capacity and the low resonance frequency.
quasi-zero stiffness was suggested by Hao et al. [9]
Hence, the linear isolator is very difficult for
which is constructed by a positive stiffness
attenuating vibration in low frequency band. Many
component and a pair of inclined linear springs
efforts have been studied by engineers, scientists,
providing negative stiffness. Shaw et al. [10] had
scholars to surmount this issue. For recent years, the
experimental demonstrated a passive vibration
nonlinear vibration isolation systems with the
isolator incorporating a composite bistable plate
characteristic of high-static and low-dynamic
under the harmonic base excitation, showing a greater
stiffness or quasi-zero stiffness have been attracted.
isolation region and a lower peak response than the
Firstly, the conceptual design of the isolation method
equivalent linear system. Besides, in order to extend
with this characteristic was introduced by Alabuzhev
previous studies of the isolator with the characteristic
et al. [1]. Based on this ideal, Carrella et al. [2, 3]
of high-static and low-dynamic stiffness, Shaw et al.
proposed the useful vibration isolation models, then
[11] analyzed the steady-state response and the
investigated the effects of negative stiffness on the
results reveal that simple changes to the shape of the
natural frequency. The structure comprises the
force displacement curve can have large effects on
negative stiffness structure in parallel with the
the amplitude and frequency of peak response, and
positive stiffness structure. Due to opposite of the
can even lead to unbounded response at the certain
negative and positive stiffness structure the result is
levels of excitation. Li et al. [12] proposed a vibration
to achieve low dynamic stiffness. This leads to the
isolator using a magnetic spring combined with
resonance peak of the frequency-response curve
rubber membranes to obtain low natural frequency.
drifting to the left. The characteristic of these systems
Multi-Direction Quasi-Zero-Stiffness vibration
is Duffing oscillation. The frequency-response curve
isolator with time-delay active control, which can be
will be bended to the left or the right depending on
realized excellent vibration isolation in three
the softening or hardening system investigated fully
directions simultaneously was suggested and
by Brennan et al. [4]. Effect of a static force on the
analyzed by Xu et al. [13]. Besides Le et al [14, 15]
dynamic stiffness behavior of a harmonically excited
analyzed theoretically and built apparatus of a low
quasi-zero stiffness system and the stability of the
frequency vibration isolator, showing a lower
steady-state response were investigated by Kovacic et
resonant peak including the amplitude and frequency
al. [5]. Besides, Cao et al. [6] proposed a smooth or
than the equivalent linear isolator.
discontinuous nonlinear oscillator which is similar to
the Duffing oscillator and then, investigated the
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Motivation of this paper is to introduce a  Ve 01 

n
vibration isolation table model using the pneumatic Ps1  Po1  

V
 e 01  2 A H
1 o tan   2 A1u tan  
spring with the auxiliary chamber as shown in Fig. 1. n
 
The main advantages of the proposed model are to Ve 02
Ps 2  Po 2  
vercome the un-merit of the linear model and easy to V  2A
 R  r   H o2  2 A2  R  r   u 2 
2 2
 e 02 2
adjust the dynamic stiffness according to the change
of the mass of the isolated object. Next, the effects of (1)
the pneumatic spring on the dynamic stiffness of the in which
PVIM are analyzed comprehensively. V e 0 1  V s o 1  V c  L B M ; V e 0 2  V s o 2  V c  S C M (2)
2. Dynamic stiffness analysis
where Poand Vso are the pressure and volumes of the
49 pneumatic cylinder at initial position. A is the
LBM
effective area of piston. It is noted that subscribe
8
8
5
1
5
8
8
“1”and “2” present for spring 1 and 2, respectively.
Vc-LBM and Vc-SCMare the volumes of the auxiliary
chamber of the LBM and SCM. The geometrical
2
6 SCM 6 parameters of the VSIT including the inclined angle
7 2 7
of the wedge denoted by α, the radius of the
semicircular cam (R) and roller (r). Ho is the static
deformation in vertical direction of the table.
3 4
The dynamic stiffness of the LBM and SCM,
10 are determined as following:
Fig. 1. Schematic diagram of PVIM. Vˆ en01 (3)
Kˆ LBM  4n tan 2 
 
n 1
Fig.1 presents a schematic diagram of a ˆ ˆ
Ve01  2 H o tan   2uˆ tan 
vibration isolation table model using the pneumatic    
n
2 Aˆ  ˆ Vê02 ˆ 
  1  u 2 
spring with auxiliary chamber shorten pneumatic Kˆ SCM 
1  uˆ
P  Vˆdn2 
2  atm
 Vˆ  2 Aˆ 1  Hˆ 2  2 Aˆ 1  uˆ 2    1  uˆ 
vibration isolation table. In which, the isolated object   e02 o  
is supported by a load bearing mechanism (LBM) uˆ Vˆ en02

 4 Aˆ 2 Vˆdn2n
 
n1
1  uˆ ˆ
2
including two wedges 8 considered as the table legs, Ve02  2 Aˆ 1  Hˆ o2  2 Aˆ 1  uˆ 2
one pneumatic spring 1, two rollers 5 and an auxiliary (4)
chamber 3. This mechanism always offers the
positive stiffness in vertical direction, and the 3. Results
stiffness of which can be regulated by controlling the
3.1. Effects of pressure and auxiliary chamber
pressure of the cylinder 1. In addition, a stiffness
volume on the dynamic stiffness
corrected mechanism (SCM) connecting in parallel
with the LBM is introduced to reducing the dynamic This section will perform the numerical
stiffness of the PVIT. The structure of the SCM simulation to illustrate the effects of the pneumatic
comprises two semicircular cams, two rollers 6, one spring consisting of the pressure of the cylinder and
pneumatic spring 2 and one auxiliary chamber, which volume of the auxiliary chamber on the dynamic
can obtain the vertical negative stiffness in the region stiffness of the VSIT. In addition, the equilibrium
of expected operation. The same as LBM, adjusting position and its stability are also analyzed. In order to
the pressure of the cylinder 2 can lead to the change realize these works, the geometrical parameter of the
of the stiffness of SCM. During the operation, the VSIT PVIT is listed in the table 1
rollers 5, 6 only move in the horizontal direction and Table 1: Geometrical parameter of VSIT
always roll and without slide on the surface of the
Parameter Value
table leg and cam. With this structure, the PVIT can
attain the high static low dynamic stiffness behavior, Inclined angle of wedge () 37o
meaning that the load bearing capacity is remained Radius of semicircular cam 60mm
meanwhile the isolation region of the PVIT is (R)
extended toward the low frequency. Radius of roller (r) 20mm
Static deformation Ho 42.7mm
The pressure of the pneumatic spring 1 and 2 is
expressed as following: As above analyzed, the dynamic stiffness of the
VSIT is linear combination of the stiffness of the
LBM and SCM as shown in Eqs. (3-4).
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Firstly, a set of the configurative parameters The PVIM can even obtain the quasi-zero stiffness
including Pd1=1.91Bar, Aˆ  0.04, Vˆc  LBM  127.32, around the equilibrium position.
Vˆc  SCM  7.95 is used to illustrate. For which, the

0.030
simulation result is shown in Fig 2. It can be seen that

the stiffness curves of the VSIT are convex around
the equilibrium position, seeing the notation for each 0.015
curve in sub-panel. It is interesting to see that
Kˆ S
dynamic stiffness of the VSIT is increase according
to the reduction in the pressure (Pd2) of cylinder 2 at 0.000
the design equilibrium position. If the value of Pd2 is
big than 1.6Bar, the stiffness of the PVIM is negative
regardless the position. But, Pd2>1.55, round the
-0.015
equilibrium position, the PVIM may offer the positive -0.6 -0.3 0.0 0.3 0.6
stiffness around this position and negative one when
the isolated object moves away the equilibrium
û
position with a sufficient big distance. As known, to Fig. 3. Dynamic stiffness curves of PVIM for
ensure the load bearing capacity, the stiffness of an Aˆ  0.022 and the various value of Pd2 given in
isolator must be always positive in the region of panel, the same other parameters as in Fig. 2.
expected displacement. Hence, in this situation, it is
Fig. 4 presents the effects of the volume ( Vˆc  L B M )
unsuitable for designing a vibration isolation table.
of the auxiliary chamber of the LBM on the dynamic
0.005
stiffness of the PVIM for Pd1=1.91Bar, the same
other parameters as in Fig.3. The dynamic
0.000 stiffness curves are created by sections
Vˆc  L B M  0 , 1 4 .2 1, 3 0 .3 , 4 6 .3 9 , 7 8 .5 7 , 1 5 9 .0 1 as
Kˆ S
-0.005 shown Fig. 5(a-f), respectively. It is noted that the

dynamic stiffness of the PVIM is asymmetric around
the design equilibrium position, however, as the value
-0.010
of Vˆc  L B M is increased leading to that the asymmetry
of the stiffness curve is reduced. As known, the
-0.015
-0.6 -0.3 0.0 0.3 0.6
stiffness of the PVIM is the sum of the stiffness of the
LBM and SCM. Among them, the stiffness curve of
û the SCM is always symmetric. Hence, the asymmetry
Fig. 2. Dynamic stiffness curves of the PVIM for of the PVIM is only affected by the LBM and it was
various values of Pd2 given in panel. confirmed in above sub-section that the stiffness of
In order to ensure the positive stiffness the LBM is nearly unchanged if the values of the
regardless the position of the isolated object, the volume ( Vˆc  LBM ) is enough big, meaning that
dynamic stiffness of the PVIM must be a concave asymmetric of the stiffness curve of the PVIM is
parabola. As priviously presented, with Vc-SCM=0, this reduced remarkably. For instance, if Pd1=1.91Bar,
requirement is always satisfied. This value will be Vˆc  L B M  7 8 .5 8 , it can be observed that around the
taken into account the dynamic stiffness of the PVIM. DEP, the stiffness curve of the PVIM is nearly
The numerical simulation is shown in Fig. 2, herein, symmetric as plotted in Fig. 5(e) and the symmetric
the Aˆ  0.022 , Pd2=1.8, 2.4, 3.0, 3.6, the other of the stiffness curve will be improved if
parameters are the same as in Fig. 2. The detail for Vˆc  L B M  7 8 .5 8 as shown in Fig. 5(f). In addition, the
the notations of the stiffness curves and selected
value of the stiffness will be reduced even negative in
parameter is given in sub-panel. The result reveals
that the dynamic stiffness of the PVIM achieves the accordance with the increase in the value of VˆcLBM .
minimum value around the design equilibrium point If the stiffness of the PVIM is negative, resulting in
(DEP) and is increased as moving away this point. unwelcome in practical applications due to no
Furthermore, it is interesting to note that the dynamic competence for supporting the load. The
stiffness is upgraded when the pressure Pd2 is disadvantage can be overcome by adjusting the
reduced. In this case, if the value of Pd2 is properly pressure (Pd2) of the cylinder 2 as shown in Fig. 2.
calculated, the dynamic stiffness of the PVIM is
always positive at any position of the isolated object
for instance Pd2=1.8 (solid line) and 2.4 (dashed line).
554 October 27 - 28, 2018

Hanoi, Vietnam
in which Fˆg  Mg is the dimensionless gravity

Pd1 A1
force. Fˆ s  Fˆ L B M  Fˆ S C M is the dimensionless
restoring force.
When the PVIM achieves the DEP, meaning that
Kˆ S
the weight of isolated object is calculated by Eq. (5).

Therefore, Eq. (7) is expressed as bellow:
n
 Vê 2  uˆ
fˆ  u ,  , Pe1   2 AVˆ ˆn 
d2

 Vˆ  2 Aˆ 1  Hˆ 2  2 Aˆ 1  uˆ 2  1  uˆ 2
 e2 o 
ˆ ˆ uˆ
 2 APatm
Vˆc  LBM 1  uˆ 2
û  Vê1 
n
 Vˆdn1   tan   2 tan 

ˆ ˆ
Fig. 4. Influence of the auxiliary chamber volume  Ve1  2 H o tan   2uˆ tan  
Vˆc  L B M of the LBM on the dynamic stiffness of the (7)
PVIM for Pd1=1.91Bar.
80 0.24
Vˆc  LBM  0 Vˆc  LBM  14.21
0.23
0.22
Pressure Pd1
0.21
fˆ (uˆ ,  , Pe1 )  0
0.20
Kˆ S
0.19
0.18
0.17
0 0.16
-0.6 0.0 0.6 -0.6 0.0 0.6
0.105
Vˆc  LBM  30.3 0.065
Vˆc  LBM  46.39
0.100
0.060
0.095
û
0.055
0.090
0.050
0.085
Kˆ S
0.045
0.080
0.075 0.040
0.070 0.035
0.065 0.030
-0.6 0.0 0.6 -0.6 0.0 0.6
0.015 0.035
Vˆc  LBM  159.01 Vˆc  LBM  78.57
0.010 0.030
0.005 0.025
0.6
0.000 0.020
Kˆ S
-0.005 0.015
f (uˆ ,  , Pd 1 )  0
-0.010 0.010 0.3
-0.015 0.005
-0.020 0.000
-0.6 0.0 0.6 -0.6 0.0 0.6
û
0.0
û û
Fig. 5. Dynamic stiffness curves of VSIT for and the -0.3

various value of Vˆc  LBM
-0.6
3.2. The analysis of equilibrium position 1.0 1.1 1.2 1.3 1.4 1.5
In this section, the bifurcation and stability of the

undamped system without the external excitation
given in Eq. (6) are discussed and analyzed with the Fig. 6. (a) The equilibrium surface in space (,uˆ,Vâc1) ;
equilibria. (b) Stability curves for the equilibrium positions
Mẏ = f(u, ,Pe1) (5) created by section Pˆd1  2B ar .
with y is the absolute displacement of the isolated
object, f  u ,  , Pe 1  is a nonlinear function, and take The equilibrium surface in space with Eq.(7) for
dimensionless form: ˆ
VˆcLBM 159.01, VˆcSCM  0, A=0.01, Pd2=3.6Bar, is shown
fˆ  u, , Pe1  Fˆs  Fˆg (6) in Fig. 6a. It can be seen that depending on the
pressure ratio  and Pd1, the equilibrium point of the
VSIT may lay on the plane having uˆ  0 or the
curved surface, meaning that the system may exit
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Hanoi, Vietnam
three or one equilibrium position. In order to further (stable equilibrium point) appeared when Fˆgf  Fˆ gf 2
illustrate the stability of the equilibrium points, a
curve for fˆ  u ,  , Pe 1   0 in the plane  uˆ,   as shown or Fˆ g f  Fˆ gf 1
, as Fˆ gf 2  Fˆgf  Fˆ gf 1 the system has three
in Fig. 6b is created by the cutting section having equiliria including two centers and a saddle point
Pd1=2Bar. In shaded region where fˆ  u, , Pe1  is
(unstable point). The system exits a center and a
center-saddle point when Fˆgf  Fˆ gf 1 or Fˆgf  Fˆ gf 2 ,
positive, the out of this region, fˆ  u ,  , Pe 1  is
negative. It can be seen that number and stability of where Fˆ gf 1 and Fˆ gf 2 are the limited force of gravity
the equilibrium positions may be varied with the which are determined by Eq. (8). The stiffness of
pressure ratio . But its real significance is to display isolated table at the equilibrium position is positive
the fact that  at point A (called A) is a bifurcation for the center point and negative for the saddle one as
point of the system, at this section, the value of presented in Fig. 8(c). Meanwhile, the stiffness of
A=1.2. When the A, then there is only one stable which at the center-saddle point is quasi-zero but this
equilibrium position (called center point) at uˆ  0 equilibrium is unstable because, the stiffness may be
due to fˆ  u, , Pe1  changing from positive to
negative as the isolated object is moved away from
the center-saddle point. If <A, there is only one
negative on passing through this equilibrium position. stale equilibrium point depicted by a yellow filled
But value of  is larger than A the system has three circle as in Fig. 8(b). The stiffness of the system at
equilibria including two centers which are on solid this point is always positive as shown in Fig. 8(d).
curve and an unstable equilibrium position (saddle Fˆ gf 1  Fˆs (uˆ1 ) and Fˆ gf 2  Fˆs (uˆ2 ) ,where û1 and
point) lied on dashed line ( uˆ  0 ). Furthermore, the
VSIT can be to attain the quasi-zero stiffness (solid û2 are roots of dFˆs / duˆ  0 (8)
line) for  =A, larger one than zero (dashed line) for
<A and negative stiffness (dot line) for >A round
the DEP for shown in Fig. 7.
Fˆg
Fˆg 1
0.020 Fˆg
Fˆg 2
0.015
Fˆg
0.010 -0.7 0.0 0.7

1
1
Kˆ S
0.005
0.000
0
-0.005 0
-0.6 -0.3 0.0 0.3 0.6
û
Fig. 7. Quasi-zero stiffness around the DEP for Fig. 8. Restoring force and stiffness curves for
Pd1=2Bar and=1.1(dashed line), 1.2 (solid line), 1.3 various values of the pressure ratio .
(dot line). 4. Conclusions
When the static equilibrium position is not The investigation indicates that a structure is
coincidence the DEP, the equilibrium point of the called VSIT is designed which is connected by both
system is affected by the weight of isolated object LBM and SCM in parallel. This model not only offers
and the pressure ratio  as shown in Fig. 8. In this a low dynamic stiffness but remains the load bearing
figure, the center point is denoted by a yellow filled capacity. Analysis of the system stiffness and its
circle, the saddle one is drawn by a red filled square configurative parameters indicates that the pneumatic
and the green filled diamond presents for the center- spring consisting of the pressure and the volume of
saddle point. If >A (A is the value of  at the auxiliary chamber has strong effects. The simulation
bifurcation point A in Fig. 6) the system will occur results provide a solution to choose the suitable
one or three stable equilibrium positions depending parameters to gain the positive stiffness and the
on the force of gravity of the isolated object as shown stiffness curve is a concave parabola at DEP is
in Fig. 8(a). Here, it can be seen that a center point satisfied.
556 October 27 - 28, 2018

Hanoi, Vietnam
Acknowledgments [8] Tian, R., Cao, Q., & Yang, Q. The codimension-two
bifurcation for the recent proposed SD oscillator.
This research is funded by Vietnam National Nonlinear Dynamic 2010; 59; 19-27.
Foundation for Science and Technology [9] Hao, Z., & Cao, Q. A novel dynamical model for
Development (NAFOSTED) under grant number GVT nonlinear supporting system with stablequasii-
107.04-2016.35. zero-stiffness. Journal of Theoretical and Applied
Mechanics 2014; 52, 199-213.
References [10] Shaw, A. D., Neild, S. A., Wagg, D. J., Weaver P. M.,
[1] Alabuzhev A., Critchin A., Kim L., Migirenko K. & Carrella A. A nonlinear spring mechanism
Chon V., & Stepanov P. Vibration protecting and incorporating a bistable composite plate for vibration
measurement with quasi-zeo stiffness, Taylor isolation. Journal of Sound and vibration 2013; 332;
&Francis Group, New York; 1989. 6265-6275.
[2] Carrella A., Brennan M.J., Waters T. P., & Shin K. [11] Shaw, A. D., Neild, S. A., & Wagg, D. J. Dynamic
On the design of a high-static-low-dynamic stiffness analysis of high static low dynamic stiffness vibration
isolator using linear mechanical springs and magnets, isolation mounts. Journal of Sound and vibration
Journal of Sound and Vibration 2008; 315; 712-720. 2014; 332; 1437-1455.
[3] Carrella A., Brennan M. J., & Waters T.P. [12] Li, Q., Zhu, S., Hu, J., Min, Q., & Pang, L. A negative
Demonstrator to show the effects of negative stiffness stiffness vibration isolator using magnetic spring
on the natural frequency of a simple oscillator, combined with rubber membrane. Journal of
Proceedings of Mechanical Engineers Part C: Journal Mechanical Science and Technology 2013; 27; 813-
of Mechanical Engineering Science 2008; 222; 1189- 824.
1192. [13] Xu, J., & Sun, X. A multi-directional vibration
[4] Brennan M. J., Kovacic I., Carrella A., & Waters T. P. isolator based on Quasi-Zero-Stiffness structure and
On the jump-up and jump-down frequencies of the time-delayed active control. International Journal of
Duffing oscillator, Journal of Sound and Vibration Mechanical Science 2015; 100; 126-135.
2008; 318; 1250-1261. [14] Le T. D., & Ahn K. K. A vibration isolation system in
[5] Kovacic, I., Brennan M. J., & Lineton, B. Effects of a low frequency excitation region using negative
static force on dynamic behavior of a harmonically stiffness structure for vehicle seat. Journal of Sound
excited quasi-zero stiffness system. Journal of Sound and Vibration 2011; 330; 6311-6335.
and vibration 2009; 325; 870-883. [15] Le T. D., & Ahn K. K. Experimental investigation of
[6] Cao, Q. I., Wiercigroch, M., Pavlovskaia, E. E., a vibration isolation system using negative stiffness
Crebogi, C., & Thompson, J. M. T. Archetypal structure. Journal of Mechanical Sciences 2013; 70;
oscillator for smooth and discontinuous dynamics. 99-112.
Physical review E 2006; 74.
[7] Cao, Q. I., Wiercigroch, M., Pavlovskaia, E. E.,
Crebogi, C., & Thompson, J. M. T. The limit case
response of the archetypal oscillator for smooth and
discontinuous dynamic. International journal of Non-
linear Mechanics 2008; 43; 462-473.
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Disturbance Observer Based Adaptive Sliding Mode Control and Its

Application to a Self-balance Dual-arm Field Robot
Hoang Son1,*, Dian Songyi2, Duong Van Tai3
1,3
Vietnam National University of Forestry, Hanoi 1000, Vietnam
2
School of Electrical Engineering and Information, Sichuan University, Chengdu 610065, China
*Email: hoangsonbk83@yahoo.com.vn
Abstract
This paper presents a novel scheme of adaptive sliding mode control (ASMC) based on a disturbance
observer (DOB), and applies it to the trajectory tracking control problem for a field robotic system. Firstly, we
show that it is difficult to avoid the impact of such issues as nonlinearities, parameter uncertainties, and
external disturbances during the working processes of field robots. Moreover, the uncertainties and
disturbances (UAD) are not easily determined. To resolve this problem, we propose a DOB-based adaptive
sliding mode control scheme. This controller includes a novel adaptive mechanism to estimate the upper
boundary of the UAD, allowing the controller to counteract the impacts of the UAD without prior knowledge
of its exact upper boundary. Secondly, we completely eliminate the chattering effect by using a new
saturation function δ(s) for the sliding surface. The stability of the control algorithm is proven by means of
Lyapunov theory. Finally, the control algorithm is applied to self-balance trajectory motion control of a dual-
arm field robot. Simulation results verify the effectiveness and the feasibility of the proposed control scheme.
Keywords: Adaptive sliding mode control, uncertainty and disturbance, observer, self-balance dual-arm
robot.
primary obstacle for application of SMC is the

1. Introduction
chattering phenomenon, which is inherent and often
Recently, study of trajectory tracking control lead to the damage of actuators and systems [1]. Two
problem for robotic manipulators or field robotic well-known methods of resolving this problem
systems has attracted growing interest for various involve the use of a boundary layer [5], and the use of
industrial applications. However, control issue of higher order SMC methods [20, 21].
manipulator-type robotic systems encounters
However, the control algorithms discussed
numerous difficulties, such as high nonlinearity of
above are not easy for practical implementation
dynamic model, parameter uncertainties, and external
owing to their complex structure (e.g., the sliding
disturbances, which often lead to performance
variable in [18] can not readily reach zero).
deterioration and even to system unstability under
Furthermore, while the chattering phenomena
conventional control methods. Therefore, it is crucial
encountered in the approaches discussed in [1, 17] are
that seeking a suitable control method satisfy the high
diminished, they are not fully eliminated, so the
nonlinearity of the dynamic model and suppress the
control signals are not smooth enough to deal with
impacts of uncertainties and disturbances for these
the trajectory tracking issue for manipulator-type
robotic systems.
robotic systems. Therefore, the present research
Sliding mode control (SMC), due to its main focuses on developing a novel ASMC scheme that
features including the robustness of a closed-loop meets the requirements of simplification in control
system and the finite-time convergence [1], is a structure to be easily implemented, counteraction of
popular strategy to counteract the high nonlinearity the UAD without prior knowledge of its boundaries,
and UAD of robotic systems [2-16]. However, the and complete elimination of the chattering
design of the SMC requires knowledge of the phenomenon.
boundaries of the UAD, which is typically a difficult
Specifically, the design concept began from an
task. Some studies had focused on methods
analysis of the characteristics of the UAD to provide
employing adaptive SMC (ASMC) to counteract the
a new definition of its upper boundary that has a
impacts of the UAD without prior knowledge of its
simple structure [2-4]. Therefore, the proposed
boundaries. Two types of ASMC methods have been
ASMC uses an adaptive law which is simpler in
developed. The first method uses adaptive law to
control structure than the adaptive laws in [2-4],
define a compensator for the UAD [2-4]. The second
while maintaining accuracy, robustness, and
method employs an adaptive-gain SMC algorithm to
convergence. To eliminate the chattering
ensure a dynamic adaptation of the control gain that
phenomenon and to smooth control signal, the
is sufficient to suppress the UAD [1, 17-19]. The
proposed controller employs a new δ(s) function for
558 October 27 - 28, 2018

Hanoi, Vietnam
(control inputs), and d (t )  R n1 is the vector of

external disturbances given as
d (t )  d1 , d1  0 . (2)
The complexity of the mechanical structure

causes modeling error, which results in parameter
variations of the robot during working processes. The
actual dynamics equation of Eq. (1) has known
components and unknown components. Therefore,
representing the known components as
M0 (q), H0 (q, q), G0 (q) , yields the following
expressions.
M ( q )  M 0 ( q )  M ( q ) (3.a)
Fig.1. Schematic illustration of the self-balance H ( q , q )  H 0 ( q , q )   H ( q , q ) (3.b)
dual-arm robot.
G ( q )  G0 ( q )   G ( q ) (3.c)
the sliding surface. The use of δ(s) function has
decreased the loss of the energy of the control signal, Substituting the expressions Eq. (3.a), Eq. (3.b)
so it provides better control action than sat(s) and Eq. (3.c) into Eq. (1), the dynamic equation of the
function employed in [5]. Finally, the control robot can be re-written as.
algorithm is applied to two joint-based self-balance M 0  q  q  H 0  q , q   G0  q   F  w(t )
(4)
adjusting mechanism of a dual-arm field robot
illustrated in Figure 1, which was developed by our with
research group [22, 23]. The field robot is used for w(t )   M 0 ( q ) q  H ( q , q )  G ( q )  d (t ) (5)
inspection of high-voltage power transmission lines,
and this self-balance adjusting mechanism helps to where w(t) represents the UAD of a MDOF
keep a balance of the robot while moving along the robotic system. The expression includes both the
power lines or helps to lift some arm of the robot (so- parameter uncertainties and external disturbances.
called climbing mechanism) while climbing and
The following equation with no UAD is denoted
overcoming obstacles [22]. The results of the
as the nominal dynamics of a MDOF robot.
simulation demonstrate the effectiveness and
feasibility of the proposed ASMC scheme. M 0  q  q  H 0  q, q   G0  q   F (6)
This paper is divided into the following sections. Therefore, in the absence of the UAD for MDOF
The dynamics and UAD analysis of a multi-degree- robotic system (M(q)  H(q, q)  G(q)  d(t)  0) ,
of- freedom (MDOF) robot are discussed in Section the nominal dynamics given in Eq. (6) are equal to
2. In Section 3, the adaptive sliding mode controller the actual dynamics given in Eq. (1). In reality, this is
employing a disturbance observer (DOB) is unlikely to occur.
introduced. In Section 4, the smoothing method for
the control signal is proposed. The results of the Some common assumptions are used in the
simulation are presented in Section 5. Finally, Section successive sections of this paper as follows.
6 provides concluding remarks. Assumptions 1: The inertia matrix M  q  is
2. Dynamics and UAD analysis of MDOF robot positive definite and invertible.
From [24], the Euler-Lagrange equation of A.1.1 The norm of M  q  is upper bounded by
Multi-degree- of-freedom (MDOF) robot in joint
space can be generally written as an unknown positive number [2]:
M  q  q  H  q , q   G  q   F  d (t ) M ( q )   0m . (7)
, (1)
A.1.2 There exist positive constants 1 and  2
where q  R n1 is the vector of joint angles,
satisfying the following inequality
M  q   R n n is the inertia moment matrix, 2 2
 1 x  x T M ( q ) x   2 x ,  x  R n 1
. (8)
H ( q, q )  R n1 is the interactional and centrifugal
A.1.3 Using the properties of the matrices
vector, G  q   R n 1 is the gravitational vector,
M  q  and C ( q , q ) , provides the following equation
F  R n 1 is the vector of applied joint torques
[25]:
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Hanoi, Vietnam
xT ( M ( q )  2C ( q, q )) x  0 , x  R n1 , (9) 3.2. Controller design

Case 1: The UAD in Eq. (5) is assumed to be
C  q, q  q  H ( q , q ) absent. According to the sliding surface in Eq. (15),
where
the sliding mode controller is defined as follows
Assumptions 2: The vectors H ( q , q ) and G ( q ) F   M 0 (q )[e  qd ]  H 0 (q, q )  G0 (q)
are upper bounded by positive functions [3] given by (18)
 C0 (q, q ) s  k1 sgn( s )  k2 s,
A.2.1 and A.2.2.
A.2.1 where k1  diag ( k11 , k12 ...k1n ), k1i  0 ,
2
H ( q , q )   1h   2h q   3h q (10)
k 2  diag ( k 21 , k22 ...k2 n ), k2i  0
A.2.2
G ( q )   1g   2g q (11) and sgn(s) is a standard sign function.
Remark 1: The control law given in Eq. (18) is
Here, 1h ,  2h ,  3h , 1g and 2g are positive the SMC.
numbers.
Case 2: The UAD in Eq. (5) is present, and prior
According to A.1.1, A.2.1, and A.2.2, we can knowledge of the upper boundary in Eq. (14) is
conclude that the UAD are upper bounded by a unknown. The adaptive sliding mode controller is
positive function: calculated as follows
2
w ( t )   0w   1w q   2w q   3w q F   M 0 (q )[e  qd ]  H 0 (q, q )  G0 (q)
. (12)
 C0 (q, q ) s  k1 sgn( s )  k2 s  f w .
Here,  0w ,  1w ,  2w and 3w are positive numbers. (19)
However, in reality only the position and the The term f w is a compensator used to
velocity variables are measurable, so Eq. (12) is
applied toward binding the position and speed counteract the effects of the UAD in Eq. (5), which is
variables, as has been studied previously in [2-4]: accordingly defined as follows.
2
w ( t )  b0  b1 q  b2 q , (13) (bˆ ) 2 s
fw   (20)
bˆ s   2
where b0 , b1 , b2 are positive numbers,
respectively. Here, b̂ is the estimation of b defined in Eq.
2 (14), which is updated by the following adaptive law.
Assigning   max(1, q , q ) and 
bˆ    s ,  0 (21.a)
b  b0  b1  b2 , Eq. (13) can be re-written as 1 1
bˆ (0)  0 (21.b)
w(t )  b . (14)
In Eq. (20),  is defined by the following
3. Adaptive sliding mode controller with DOB
expressions.
3.1. Sliding surface design    2  ,  2  0 (22.a)
The sliding surface can be a nonlinear [8, 9, 13]  (0 )  1 (22.b)
or linear surface [6, 11, 12, 26]. In this paper, the
sliding surface s  0 is chosen as linear surface for Remark 2: The control law given in Eq. (19)
the purpose of achieving simple control structure: with fw given by Eq. (20) is the ASMC1.
s  e   e , (15) Theorem: When the dynamics of a MDOF robot
defined by (4), the sliding surface given in Eq. (15),
where e  q  qd  R n1 is the vector of the
and the ASMC1 defined by Eq. (19) and Eq. (20) are
tracking error,   diag ( 1 ,...,  n ),  i >0 , and qd is used, the tracking error e converges to the sliding
the desired trajectory. surface. Moreover, s and e are related by Eq. (15);
According to the definition of e , there exist the therefore, the tracking error e converges
following variations. asymptotically to zero.
e  q  qd  R nx1 (16)
Proof: Consider the following Lyapunov
e  q  qd  R nx1 (17) function candidate:
1 1 1
V  s T M 0 ( q ) s   11b 2   21  2
2 2 2 , (23)
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Hanoi, Vietnam
where sT M 0 ( q ) s  0 , the Lyapunov function is s T (bˆ ) 2 s

V   k1 s T sgn( s )  k 2 s T s   s T w (t )
positive definite. The derivative of V is bˆ s   2
V  0.5sT M 0 (q)s  0.5sT M 0 (q)s  0.5sT M 0 (q)s  b s   2 .
(33)
    1
  11bb 2 The parameters given by Eq. (33) have the
(24) following properties.
s T w (t )  s w (t ) (34.a)
Substituting  in Eq. (22.a) yields
2
    2 w(t )  b0  b1 q  b2 q
V  s T M 0 ( q ) s  0.5 s T M 0 ( q ) s   11bb . (34.b)
 w(t )  b
(25)
From Eq. (34.a) and Eq. (34.b), we have
where 0.5s M 0 ( q ) s  0.5s M 0 ( q ) s .
T T
 
s T w ( t )  s b . (35)
The derivative of Eq. (15) is
According to Eq. (35) and Eq. (33), we obtain
s  e   e   e  q  qd . (26)
the following.
Substituting q in Eq. (4) into Eq. (26) yields s T (bˆ ) 2 s
V   k1 s T sgn( s )  k 2 sT s 
s  e  qd  M 0 ( q ) 1 ( F  w(t )  H 0 ( q , q ) bˆ s   2
 G0 ( q ))  s b  b s   2
(27)  V   k1 sT sgn( s )  k 2 s T s
Substituting s in Eq. (27) into Eq. (25) yields  (bˆ ) 2 s T s  (bˆ ) 2 s   4
2
the following. 
bˆ s   2
V  sT M0 (q)[e  qd  M0 (q)1(F  w(t) (36)
   2 Because sT s 
2
, Eq. (36) can be rewritten
H0 (q, q))  G0 (q))]  0.5sT M 0 (q)s  11bb (28)
s
as
Substituting F in (19) with f w given by Eq. (20) 4
V  k1sT sgn(s)  k2sT s 
into Eq. (28), yields the following. bˆ s   2
. (37)
(bˆ )2 s
V  k1sT sgn( s)  k2 sT s  sT ( According to Eq. (21.a) and Eq. (21.b), we can
bˆ s   2
conclude that bˆ  0 , so the following conditions can
 w(t ))  0.5sT ( M 0 (q)  2C0 (q, q )) s be obtained.
    2
 11bb
V  0 (38)
s  0
(29) V  0  (39)
Using A.1.3 of Assumptions 1:   0
sT ( M 0 ( q )  2C0 ( q, q )) s  0 (30) Thus, the theorem is proved according to
Lyapunov theory [27].
the expression given in Eq. (29) can be written
as 4. Smoothing control signal
s (bˆ ) s
T 2
The chattering effect of phase trajectories about
V  k1sT sgn( s)  k2 sT s 
bˆ s   2 the surface s  0 arises owing to the discontinuous
sign function sgn(s) in the ASMC1 in Eq. (19). This
    2
 sT w(t )   11bb problem can be eliminated through replacing the
(31)
and, since Table 1: The nominal parameters of the self-balance
  dual-arm robot*
b  b  bˆ  b  bˆ  1 s , (32)
m01 m02 l1 l2c I01 I02
we obtain (kg) (kg) (m) (m) (Kgm2) (Kgm2)
3.313 36 0.96 0.5 0.0636 0.52
* m represents mass, lc is the center of mass, and I is the
inertia.
561 October 27 - 28, 2018

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Joint 2 Motor 1
Link 2
Link 1
Joint 1
  Motor2
Counter-weight box
Fig. 3. The structure of the self-balance adjusting

mechanism.
improve the smoothness of control signal, and helps
Fig. 2. A comparison of the sat(s) and δ(s) functions. to eliminate the chattering phenomenon as well as
reduce the tracking error compared with the one
discontinuous function by continuous function in the while using the method proposed in [5].
neighborhood of the sliding surface.
5. Application and simulation
In [5], this chattering effect was solved using a
boundary layer  . When s is in this boundary layer, The plant chosen for simulating the control
the sign function sgn(s) was replaced by saturation algorithm is self-balance adjusting mechanism of the
function sat(s). However, the disadvantage of the dual-arm field robot in Figure1 [22, 23].
above method is that the tracking error is increased 5.1. Dynamic equations and numbering system used
because the control signal is weakened when in the simulations
replacing the sgn(s) function by sat(s). To solve this
problem, we replace the sgn(s) function in the 5.1.1. The nominal dynamics
ASMC1 by a new δ(s) function. The δ(s) function is The self-balance adjusting mechanism of the
designated as dual-arm robot is a 2-DOF manipulator illustrated in
1 if s  Figure 3. Utilizing nominal parameters, where m
 represents mass, lc is the center of mass, and I is the
 (4   )s s
 ( s)    arctan( ) if   s  
 4  inertia, the nominal dynamic equation can be written
1 as follows.
if s  
M 0  q  q  C 0  q , q  q  G 0  q   F  w ( t )
(40)
M M012 
The properties of δ(s), as shown in Figure 2, M0 (q)   011  (42)
ensure that when s is in the boundary layer  , the M021 M022 
absolute value of δ(s) is always greater than the M011 (q)  m01l12c  m02 (l22c  l12  2l1l2c cos(q2 ))  I01  I02
absolute value of sat(s). This properties decreases the
loss of the control signal energy and so the controller M 012 (q)  M 021 (q)  m02 (l22c  l1l2c cos(q2 ))  I 02
will provide the adequately strong control signal. M 022 (q)  m02l22c  I 02
Therefore, this method helps to reduce tracking l
errors. The control law ASMC1 is re-calculated as l1c  1
follows: 3
F   M 0 ( q )[  e  qd ]  H 0 ( q , q )  G0 ( q ) C (q, q) C012 (q, q)
C0 (q)   011  (43)
 C0 ( q , q ) s  k1 ( s )  k 2 s  f w C021(q, q) C022 (q, q)
(41) C011   m02 l1l2 c sin( q2 ) q 2
where f w is given by Eq. (20). The control law C 012   m 02 l1l2 c sin( q 2 ) q 2  m 02 l1l2 c sin( q 2 ) q1
given in Eq. (41) with f w given by Eq. (20) is the C 021  m02 l1l2 c sin( q 2 ) q1
ASMC2. C 022  0
Remark 3: Replacing the sgn(s) function by the
δ(s) function as describe in Eq. (40), which helps to
562 October 27 - 28, 2018

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Because the robot arm motion occurs in the 5

horizontal plane,
G0 (q )  0 . (44)
0
The values for the nominal parameters utilized
in Eq. (42) and Eq. (43) above are defined in Table 1.
5.1.2. The components of the UAD for simulations -5
0 1 2 3 4 5 6
4
Gravitational disturbances
2
The robot hangs on high-voltage power
transmission lines, and, when the electric wires 0
vibrate, the axes deviate from horizontal, generating a -2
gravitational disturbance component ΔG. Through
research [28] and the actual testing process on a self- -4
0 1 2 3 4 5 6
balance dual-arm robot under the conditions of the
working environment, ΔG is defined as follows.
 G1  10 sin(2 t ) (45.a) Fig. 4. Random signals reflecting disturbances owing
 G 2  7 sin(2 t ) (45.b) to the wind.
Parameter uncertainties M 0 (q), C0 (q, q )
qd
Installing additional equipment will cause qd , qd
d (t )
changes in the mass of the counter weight box and of
q, q
m 2 (e.g., camera and transmission equipment). By s ee
design, the deviation of m 2 is 10%. Without loss of b̂ fw
generality, m 2  1.1m02 .
Due to the complex mechanical structure and

the uneven distribution of the bar, changes in load Fig. 5. Structure of the proposed ASMC scheme.
parameter cause an error in the calculation of the
inertia component I1 and I2 . Without loss of
3
generality, I 1  1.1 I 01 and I 2  1.15 I 02 .5
External disturbances 2
The primary external disturbance on the robot is

.5
that of the wind. Retaining generality in the

1
simulation, the input drag is given by the random

.5
signals shown in Figure 4.

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
5.2. Structure and parameters of proposed controller Fig. 6. Desired trajectory of joints.
As mentioned, the plant is the self-balance
adjusting mechanism of the field robot controlled by at if 0  t  tb

the proposed ASMC2 defined in Eq. (41) and Eq. qd  atb if tb  t  t f  tb
(20), which is illustrated by the block diagram given  (47)
in Figure 5. a(t f  t ) if t f  tb  t  t f
The desired trajectory of joints is comprised of a qd  [qd 1 qd 1 ]T
linear function and two parabolic functions [29] as a
follows in Figure 6:
if 0  t  tb

 1 2 qd  0 if tb  t  t f  tb
 q0  at if 0  t  tb  (48)
 2 a if t f  tb  t  t f
qd   qb  atb (t  tb ) if tb  t  t f  tb (46)
 qd  [qd 1 qd 2 ]T
 q f  1 a (t f  t ) 2 if t f  tb  t  t f
 2
qd  [ q d 1 q d 2 ]T
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In Eq. (46)–Eq. (48), the following definitions signal (20) of the ASMC1 and the ASMC2, and the
are applied, for t f  [5 5 ]T , q 0  [ 0 0 ]T and Figure 12 shows the control signal of the SMC.
15 7 T
qf  [ ] .
18 18
6(q f  q0 )
a (49)
0.2
t 2f
0.1
tf a t  4a(qf  q0 )
2 2
f 0
tb   (50)
2 2a 0 1 2 3 4 5 6
1 0.2
qb  q0  atb2 (51)
2 0.1
In the simulation, the initial values of the self- 0

balance dual-arm robot are selected as follow -0.1
[ q 1 (0 ) q 2 (0 )]T  [0 .1 0 .1]
T
(52) 0 1 2 3 4 5 6
[ q 1 ( 0 ) q 2 (0 )]  [0 0 ]
  T T
(53)
Fig. 8. Tracking errors of the joints.
The parameters of the controller are
  diag (5,5) ,  1  20,  2  30 , k1  diag (10,10) ,
0.5
k 2  diag (100,100) , and 1   2  0.02 .
0
5.3. Simulation results
e1
-0.5
The simulation results shown in Figures 7 and 8,
and Figure 9 indicate that the SMC are not eliminated -1
-0.05 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
the effects of UAD, the tracking errors do not 0.5
converge to zero, and the Phase trajectories do not
converge to the sliding surface, while using both the 0
e2
ASMC1 and the ASMC2, the effects of UAD are -0.034

-0.036
clearly eliminated, good tracking performance is

-0.038
-0.5 -0.04
-0.042
-0.044
obtained, and the tracking errors converge to zero. 6 7 8 9
x 10
-3
-1
However, as shown in Figures 10 and 13, when using -0.1 -0.05 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
the ASMC1, the chattering effect occurs, and the
control signals are not smooth. But when replacing Fig. 9. Phase trajectory of SMC.
sgn(s) function by δ(s) function, the ASMC2
eliminates the chattering phenomenon, and the
0.5
control signal is smooth, as shown in Figures 11 and
14. The Figures 15 and 16 show the compensator 0
3
e1
-0.5 -0.005
-0.01
-0.015
2 -0.02
0 1 2
-3
-1 x 10
-0.05 0 0.05 0.1 0.15

1 0.5
0 0
0 1 2 3 4 5 6
e2
1.5 -0.03
-0.5 -0.04
-0.05
-0.06
-0.07
1 0.01 0.012 0.014
-1
-0.05 0 0.05 0.1 0.15
0.5
Fig. 10. Phase trajectory of ASMC1.
0
0 1 2 3 4 5 6
Fig. 7. Trajectories of the joints
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0.5
100
0
e1
50
0.02
-0.5 0
-0.02
-0.04 0
-0.06
-5 0 5 10
-3
x 10
-1
-0.05 0 0.05 0.1 0.15 -50
0.5 0 1 2 3 4 5 6
100
0
50
e2
0.05
-0.5 0
-0.05
-5 0 5 10 15
-1
x 10
-3
0
-0.05 0 0.05 0.1 0.15
-50
Fig. 11. Phase trajectory of ASMC 2. 0 1 2 3 4 5 6
100
Fig. 14. Control signal of ASMC 2 for the joints.
50
20
0
-50 0
0 1 2 3 4 5 6
100
-20
50 0 1 2 3 4 5 6
0 20
-50
0 1 2 3 4 5 6 0
Fig. 12. Control signal of SMC for the joints. -20

0 1 2 3 4 5 6
100
Fig. 15. Compensator signal of ASMC 1.
50
20
0
-50 0
0 1 2 3 4 5 6
100
-20
50 0 1 2 3 4 5 6
0 20
-50 0
0 1 2 3 4 5 6
Fig. 13. Control signal of ASMC 1 for the joints. -20

0 1 2 3 4 5 6
6. Conclusions
Fig. 16. Compensator signal of ASMC 2.
In this paper, firstly, an adaptive sliding mode
controller was proposed for the trajectory tracking phenomenon is eliminated by using the δ(s) function
control problem of an MDOF robot. We show that the for the sliding surface. Finally, the proposed
novel adaptive algorithm is able to estimate the upper controller was applied to the trajectory tracking
boundary of the UAD, verifying that this controller control problem of the self-balance adjusting
can counteract the UAD without prior knowledge of mechanism for a self-balance dual-arm robot. This
its exact upper boundary. This proposed adaptive simulation results validate the feasibility and the
algorithm is simpler than the other method in [2-4] as effectiveness of the proposed control scheme.
well as accurate, robust, convergence of the closed-
loop control system. Secondly, the chattering
565 October 27 - 28, 2018

Hanoi, Vietnam
References for rigid robotic manipulators, IEEE transactions on

[1] B. Bandyopadhyay et al. (Eds.), Advances in sliding automatic control, vol. 39, no. 12, pp. 2464-2469,
mode control, Springer-Verlag, Germany, 2013. 1994.
[2] Mezghani Ben Romdhane Neila, Damak Tarak, [15] Man Zhihong and M. Palaniswami, Robust tracking
Adaptive terminal sliding mode control for rigid control for rigid robotic manipulators, IEEE Transact-
robotic manipulators, International Journal of ions on Automatic Control, vol. 39, no. 1, pp. 154-
Automation and Computing, vol. 8, no. 2, pp. 215- 159, 1994.
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[3] Sze San Chong, Xinghuo Yu and Man Zhihong, A Jalali, Mozhdeh Adibi, Model-free adaptive fuzzy
robust adaptive sliding mode controller for robotic sliding mode controller optimized by particle swarm
manipulators, in IEEE Workshop on Variable for robot manipulator, I.J. Information Engineering
Structure Systems, pp. 31-35, Tokyo, Japan, and Electronic Business, vol. 5, no. 1, pp. 68-78,
December 1996. 2013.
[4] Man Zhihong, Xinghuo Yu, Adaptive terminal sliding [17] Plestan, F., Shtessel, Y., Brégeault, V., Poznyak, A.,
mode tracking control for rigid robotic manipulators New methodologies for adaptive sliding mode control,
with uncertain dynamics, The Japan society of International Journal of Control, vol. 83, no. 9, pp.
mechanical Engineers, vol. 40, no. 3, pp. 493-502, 1907-1919, 2010.
1997. [18] Huang, Y.J., Kuo, T.C., Chang, S.H., Adaptive sliding
[5] Chun Yi Su, Tin Pui Leung, a sliding mode controller mode control for nonlinear systems with uncertain
with bound estimation for robot manipulators, IEEE parameters, IEEE Transactions on System, Man, and
transactions on robotics and automation, vol. 9, no. 2, Cybernetics-Part B, vol. 38, pp. 534-539, 2008.
pp. 208-214, 1993. [19] Dian Songyi, Wu Zhang, Pu Ming, Adaptive sliding
[6] Lei Po Liu, Zhu Mu Fu, Xiao Na Song, Sliding mode mode control for gas feeding system of solid oxide
control with disturbance observer for a class of fuel cells, Journal of Sichuan University, vol. 46, no.
nonlinear systems, International Journal of 5, pp. 148-155, 2014.
Automation and Computing, vol. 9, no. 5, pp. 487- [20] Bartolini, G., Ferrara, A., Usai, E., Utkin, V.I., On
491, 2012. multi-input chattering-free second-order sliding mode
[7] Dong Xinzhuang, State feedback sliding mode control control, IEEE Transactions on Automatic Control,
for a class of systems with mismatched uncertainties vol. 45, no. 9, pp. 1711-1717, 2000.
and disturbances, in Proceedings of the 25th Chinese [21] Levant, A, Principles of 2-sliding mode design,
Control Conference, pp. 928-933 Harbin, China, Automatica, vol.43, pp. 576-586, 2007.
August 2006. [22] Dian Songyi, Wen Xuefeng, Dong Hang, Weng Tao,
[8] Guo Yishen, Chen Li, Terminal sliding mode control Development of a self-balance dual-arm robot for
for coordinated motion of a space rigid manipulator inspection of high-voltage power transmission lines,
with external disturbance, Applied Mathematics and in Proceedings of 2012 IEEE International Conference
Mechanics, vol. 29, no. 5, pp. 583-590, 2008. on Mechatronics and Automation, pp. 2482-2487,
[9] Liu Hui, Junfeng Li, Terminal sliding mode control Chengdu, China, August 2012.
for spacecraft formation flying, IEEE Transactions on [23] Dong Hang, Dian Songyi, Wen Xuefeng, Weng Tao,
Aerospace and Electronic Systems, vol. 45, no. 3, pp. Tian Shuang, Study on centroid adjustment
835-846, 2009. mechanism for power transmission line inspection
[10] Vicente Parra Vega, Suguru Arimoto, Yun Hui Liu, robot with dual suspension arms, Control Engineering
Gerhard Hirzinger and Prasad Akella, Dynamic of China, vol. 19, no. 6, pp. 1248-1251, 2012.
sliding PID control for tracking of robot manipulators: [24] Richard M. Murray, Zexiang Li, S. Shanhar Sastry, A
Theory and experiments, IEEE Transactions on mathematical introduction to robotic manipulation,
Robotics and Automation, vol. 19, no. 6, pp. 967-976, CRC Press, USA, 1994.
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[11] Dao xiang Gao, Zenqi Sun, Wen Wang, Adaptive and Sung Hyun Han, Real-time adaptive control of
fuzzy sliding mode control for robotic manipulators, robot manipulator based on neural network
in Proceedings of the 8th World Congress on compensator, in ICROS-SICE International Joint
Intelligent Control and Automation, pp. 4811-4816, Conference 2009, pp. 2091-2096, Fukuoka, Japan,
Jinan, China, July 2010. August 2009.
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sliding mode control for robotic manipulators, in simulation, Tsinghua University Press, China, 2012.
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Decision and Control, Hawaii, USA, December 2003. USA, 2002.
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moving fast terminal sliding mode control for robotic Dynamic simulation of the non-linear vibration of
manipulators, in Proceedings of the 2012 IEEE cables based on ADAMS, Mechanical and Electronic
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Biomimetics, Guangzhou, China, December 2012. [29] John J Craig. Introduction to robot mechanics and
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robust MIMO terminal sliding mode control scheme
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A Numerical Study on Transitional Flow over Aerospatiale A-airfoil Using

DDES/IDDES
Gabin Lee1 , Kyongsik Chang2,* , Sang-Wook Lee2, Geon-Hong Kim3
1
2
3
Abstract
Transitional flow over an A-airfoil at a critical angle of attack(α =13.3°) with Reynolds number of 2.1 106 is
simulated using two version of detached eddy simulation. This flow features transition to turbulence and a
mild separation around trailing edge. Specified comparisons of Reynolds stresses are carried out using
published experimental data from LESFOIL project. The impact of delayed switching function of IDDES and
DDES on Reynolds stresses is studied by comparing with LES results and experimental data. Simple
delayed function features too much dissipating in instantaneous turbulence. IDDES applies to selection of
wall-modeled LES and DDES by adopting deformed blending function and elevating function. The IDDES
exhibited better prediction of Reynolds stresses in the wake region compared with DDES.
Keywords: IDDES (improved detached eddy simulation), DDES(detached eddy simulation), mild separation.
1. Introduction overwhelmingly disspates on resolved turbulence in

the boundary layer.
Detached eddy simulation (DES) model was
The DDES model requires a delicated shielding
initially formulated for the Spalart-Allmaras model,
function to preserve formation of turbulence
then, it was impletemented with another two-equation
structures in the switch from RANS to LES region. It
model based on Reynolds averaged Navier-Stokes
results in a relatively strong logarithmic layer
(RANS) equations by appropriately modifying the
mismatch between RANS and LES regions.
length scale. DES models based on two-equation
Animproved delayed detached eddy simulation
models behave as a hybrid RANS-LES model.
(IDDES) model features a complicated blending
However, the grid generation is much more
function and shielding function which allows to use
complicated compared with simple RANS or large
both DDES model and wall-modeled LES model. In
eddy simulation (LES) model due to the RANS-LES
thisstudy, with an aim of validation of DDES and
switch. Since DES model is non-zonal approach, it
IDDES models, we carried outnumrical simulations
provides a single smooth velocity field across the
of transition to turbulent flow aroundan Aerospatiale
RANS and LES regions of the solution.
A-airfoil, whichoften has mild separation in wake
Problematic behavior of standard DES model
flow, using Star-CCM+(ver.11.04). The results were
has been reported by Mentor et al.[1] who
comparedwith experimental data as well as numerical
demonstrated that an artificial separtion could be
results from other groups from LESFOIL project [3]
produced by refining the maximum cell-edge length
inside the wall boundary layer. This effect was
termed as a grid induced separation (GIS) because the 2. Method
separtion depends on only grid spacing, not the flow
2.1. Boundary condition and grid system
physics. The GIS is affected by sudden grid
refinement from RANS to LES model without We considered Reynolds number of 2.1
balanced reduction in eddy viscosity by resolved 10 based on the free stream velocity and chord lengh
turbulence. A modeled stress depletion is also result (c). In flow condition with critical angle of attack of
of insufficient flow instabilities downstream of the 13.3° is applied. Compuataitonal domain is 20c in
switch from the RANS to LES model formulation. direction of free stream, 30c in normal direction to
For these reasons, Spalart [2] suggested a delayed the freestream, and 0.2c in spanwise direction. C-type
detached eddy simulation (DDES) model using mesh is applied and the number of mesh is
variation of blending function, which depends on the determinded based on Stefan and Frank [4]. Fig. 1
eddy viscosity and the wall distance based on showed C-type mesh system for the present study.
standard DES model. However, the DDES model Distriblution of x+, y+and z+ values along with
suction side of airfoil is shown in Fig.2. Table 1
567 October 27 - 28, 2018

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describes the average values of x+, y+ and z+. The average value of y+ is close to 1 and the
Conformal mesh on A-airfoil is created by the maximum value of y+ is lower than 2. Grid 2 and
directed mesh tool in Star-CCM+. Grid 3 cases have the same x+and y+, exceptz+
which is two times larger in Grid 2. That makes
difference in the minimum length to be selected in
DDES and IDDES models.
2.2. Numerical method

Incompressible fluxes are approximated with the
2nd order hybrid-least square (LSQ) difference scheme
for convection term and the 2nd order hybrid-bounded
central difference (BCD) schemefor unsteady term
with time step set to0.001s. All numerical simulations
were run withk- SST IDDES turbulent model
suggested by Menter [1].
The governing equation of DDES version of k-
Fig. 1. C-type mesh generation for A-airfoil. SST model read as:
∙
(1)
∙ /
∙ ∙ ω
∙ (2)
2 1
The DDES length scale reads as:

max 0, (3)
√
(4)
(5)
The governig equation of IDDES version of k-

SST model is a modified equation of DDES version
of k- SST(1) by replacing with .
The IDDES length scale reads as:
1 (6)
1 1
√
(7)
Fig. 2. x+, y+, z+ distributions on the suction side.
∆ (8)
Table 1. Grid systemsfor A-airfoil flow simulations ∆ min max , , (9)
Type x+ y+ z+ # of cells Modeled turbulent Reynolds stresses are based
Grid 1 720 1.04 112 11,520,000 on Boussinesq hypothesis[5]. The eddy viscosity
assumption is propotional to Reynolds stresses.
Grid 2 480 1.04 165 13,440,000
2
(10)
Grid 3 480 1.04 65 21,976,000 3
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3. Results
Lift and drag coefficients calculated from all
simulations were compared with experimental data
[3]. Drag coefficient from Grid 3 (fine) case
showed excellent agreement with experimental data.
However, lift coefficient from all gird systems
arepredicted as lower than experimental data. By
selecting the maximum interval distance among x,
yand z directions in IDDES model, it generates bigger
turbulence intensity, especially in coarse mesh.
Comparison of pressure coefficient
distribution at a suction side from IDDES is
shown in Fig. 3. All results underestimate the value
around the leading edge compared with experimental
data. The error may be due to applying totally
turbulent flow model to the transitional flow.
Fig. 4. Comparison of skin friction coefficient .
Table 2. Comparison of lift and drag coefficients
Similar as the pressure coefficient , there are
Exp1[3] Exp2[3] Grid 1 Grid 2 Grid 3
some difference at the leading edge between
1.574 1.515 1.435 1.333 1.370 numerical and experimental data. However, it showed
0.0308 0.0212 0.047 0.053 0.028 good agreement with LES results [3].
The time-averaged velocity profiles at three
different points on suction side is shown in Fig. 5.
Grid 1 and Grid 3 cases have consistency in selecting
the maximum distance of the IDDES model. The
IDDES results of Grid 1 and Grid 3 cases agree well
with experimental data. However, Grid 2 case is out
of the consistency in IDDES length selection as
shown in Fig. 2. Therefore, its velocity profiles also
showed out of the consistency compared to other
results.
Fig. 3. Comparison of pressure coefficient

distribution.
The skin friction coefficient distribution at a

suction side computed by IDDES was compared with
the experimental and the numerical data from other
institutions [1,3] in Fig. 4.
Fig. 5. Time-averaged velocity profile.
Reynolds stress terms such as ′ ′, and

′ ′ are shown in Fig. 6
At a location close to the leanding edge (0.3c),
there are somewhat difference between numerical and
experimental data. Especially, ′ ′ from IDDES
showed larger difference despite using fine grid
system. Because a transition to turbulence happens at
569 October 27 - 28, 2018

Hanoi, Vietnam
the leading edge, the IDDES results exhibits some models are generally accpetable to catch large scale
difference from experimental data in a transitional separtion such as flows around a cylinder. However,
flow. At mid-chord(0.7c), Reynolds stresses from the present flow induces only mild separation in the
IDDES show good agreement with experimental data. wake.
′ ′from IDDES with Grid 1 and Grid 3 show much In the study conducted by Naveedand Ning [5],
similar as experimental data. ′ ′ from the finest the results of DDES Spalart-Allmaras model are
mesh (Grid 3)shows better agreement with the similar with results from URANS (unsteady Reynolds
experimental data. Moreover, this becomes better averaged Navier-Stokes) because it is impossible to
downstrem of transition point. catch unsteadiness of flow and to predict eddy
Attrailing edge (0.96c), the Reynolds stresses although DES model can. Therefore, they used
from IDDES show much smaller magnitude modeled Reynolds stresses to compare with
compared to experimental data because IDDES experimental data. We also considered the modeled
Reynolds stresses, and observed similar results as
Naveed and Ning [5].
4. Conclusion
In this study, we found that DDES model does
not have capability to capture the resolved Reynolds
stress, which is same in URANS. The values of
resolved Reynolds stress from DDES simulation are
almost negligible. Thus, it is necessary to use
modeled Reynolds stress for numerical comparision.
However, IDDES model could produce
transitional flow and small scale eddy. Althogh there
is some difference compared with experimental data
(a)Reynolds stress ′ ′ and LES model, the efficiency of DES is worthy of
close attention when considiering the amount of
simulation time and cost.
Acknowledgments
This work is partly supported by Department of
Convergence Technology for Heavy Industries,
University of Ulsan and National Research Foundation
of Korea (NRF) grant funded by the Korea government,
Ministry of Education(NRF-2016R1D1A1B03934121).
References
[1] F. R. Menter, Two-equation eddy-viscosity turbulence
models for engineering applications, AIAA-Journal
(1994) 1598-1605.
(b) Reynolds stress - ′ ′ [2] P.R. Spalart, S. Deck, M.L. Shur, K.D. Squires, M. K.
Strelets, A. Travin, A new version of detached-eddy
simulation, resistant to ambiguous grid densities,
Theoretical and Computational Fluid Dynamics, 20.
(2006) 181-195.
[3] D. Lars, and C. Davor, LESFOIL: Large eddy
simulation of flow around a high lift airfoil. series:
notes on numerical fluid mechanics and
multidisciplinary design, 83 (1998-2001).
[4] S. Stefan, and T. Frank, Detached eddy simulation of
flow around A-airfoil flow turbulence and
combustion, 71, (2004) 261-278.
[5] D. Naveed, and Q. Ning, Behavior of detached-eddy
simulation for mild airfoil trailing-edge separation,
Journal of Aircraft, 48, (2011) No. 1. 193-202.
(c) Reynolds stress ′ ′
Fig. 6. Comparison of Reynolds stresses.
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Effects of the Spanwise Length of Computational Domain on LES based

Airfoil Noise Prediction
GyeongBo Kim1, Kyoungsik Chang2,*, Sang-Wook Lee2, Geon-Hong Kim3,
Byeong Cheon Kim2
1
2
3
Abstract
The Large-Eddy Simulation (LES) turbulence model is used to analyze the natural transient flow of NACA
0012 with chord-based Reynolds number of 408,000 and at 5.4 degree angle of attack. Through the skin
friction coefficient plot, the natural transition occurring can be seen. The results for three spanwise length,
Lz/c=0.1,0.2 and 0.4 are presented together and the observer for noise prediction is located 1.22 m upward
from the trailing edge. Resolved Reynolds stresses are presented. And the noise result is compared with
experiment and other LES simulation.
Keywords: Large-Eddy Simulation (LES), Natural transition, Acoustic analogy.
1. Introduction 3. Flow conditions and grid

According to Brooks et al. [1], airfoil self-noise NACA 0012 is chosen for the comparison for
can be divided into five types. One of these types is the present simulation. The airfoil has a sharp trailing
the trailing edge noise. A turbulence model which can edge, 0.1524 m chord length and an angle of attack of
capture unsteady turbulent boundary layer flow is 5.4°. The computational domain is O-type with the
need to predict trailing edge noise. The Large-Eddy distance of the diameter, 20c. The spanwise length is
Simulation(LES) turbulence model, which computes set to 0.1c, 0.2c, and 0.4c respectively. Table 1 show
directly the large turbulence structure through the the properties of the flow and the flow conditions in
filter, has the advantage that it can simulate more the present works.
accurately the turbulent flow than Reynolds Averaged
Table 1. Properties of the flow and conditions
Navier-Stokes (RANS) turbulence model. RANS is
based on time averaging, so it has a disadvantage of Mark Value Name
simulating for 3D turbulent flow. To predict trailing
edge noise with small computational resources, an c 0.1524 m Chord length
acoustics analogy such as Williams - Hawkings (FW- Uref 39.6 m/s Reference velocity
H) is applied. And when the shape is long and having
a same cross section, it can be calculated only a small α 5.4° Angle of attack
part of a whole shape airfoil also calculated only a ρair 1.1768 kg/m Density of air
small part. The result of aerodynamic and noise are
-5
compared with different spanwise length cases. μ 1.74 x 10 kg/m·s Dynamic viscosity
2. Numerical method Rec 4.08x105 Reynolds number
To solve the three-dimensional unsteady Fig. 1 represents the grid system. The mesh on
compressible Navier-Stokes equations, the Bounded- the airfoil surface are generated with the values of
Central method is used and the second-order Δx+≈50, Δy+≈ 0.5, and Δz+≈50. The grid is generated
Backward Differentiation Formula is set for the time. using Trimmer Cell Mesher and Prism Layer Mesher
Noise is calculated from Ffowcs Williams - of the commercial software, Star-CCM+. The number
Hawkings (FW-H) acoustic analogy. Since the airfoil of mesh point is about 2.1M, 3.9M, and 7.8M when
is fixed and the Mach number of flow is around 0.1, the spanwise length is set to 0.1c, 0.2c, and 0.4c,
Monopole and quadrupole sources are not considered respectively.
in this case.
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Fig. 1. Grid system of whole domain and around an

airfoil.
Fig. 3. Skin friction coefficient distribution along the
No-slip wall boundary conditions were used for suction side of the airfoil.
the airfoil surface, free-stream boundary condition is
used for the outer boundary of the computational Resolved reynolds stresses that are non-
domain, and periodic boundary conditions are applied dimensionalized with friction velocity at x/c = 0.9 are
for the spanwise surfaces. The inflow velocity is set compared with Wolf [2] in Fig. 4. The profiles of
to 39.6 m/s. resolved reynolds stress follow the tendency similarly
with Wolf [2]. However, the resolved reynolds
4. Result stresses of the present work are overpredicted with
The vortical structures of the flow field can be comparion with Wolf [2] because the friction velocity
seen in Fig. 2. The Q-criterion iso-surface colored at x/c=0.9 for nondimensionalization is
with the velocity magnitude is used. Two dimensional underpredicted than the value by Wolf [2] which is
flow structures are generated near the leading edge shown in Fig. 3. There is no big difference between
and these are developed into three dimensional flow the results with the different spanwise length.
by the flow instability. Finally the coherent structures
with turbulent flow features can be seen as flows go
downstream near the trailing edge and wake region
after that.
Fig. 4. Resolved reynolds stresses normalized by

friction velocity at x/c = 0.9.
Fig. 2. Iso-surface of turbulent vortical structures for
The two point pressure correlations are plotted
Q=1×106 colored with velocity magnitude.
in Fig. 5. Pressure correlations are calculatedat two
Fig. 3 shows skin friction coefficient different chordwise length (x/c=0.5 and 0.9) and three
distribution along the airfoil suction side. In the different spanwise length. When the spanwise length
simulation with the spanwise length Lz/c=0.1 by Wolf is 0.1, the pressure correlation at the position of
[2] a suction & blowing technique was applied for x/c=0.9 goes to the value of 0.4. This means that the
forced transition. Even thought the present results are spanwise length, 0.1 is not sufficient to simulate fully
corresponding to the natural transition without any three dimensional turbulent flows. However other
special treatment for transition, the transition region correlations are converging below 0.2 at all points in
with the increase of the skin friction coefficient can two lareg spanwise length cases.
be seen around x/c = 0.15.
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Fig. 6. Comparison of Sound pressure level in one-

third octave bands at observer.
5. Conclusion
Fig. 5. Two point spanwise pressure cerrelation at In this study, LES is conducted to predict the
two chord location. transitional flow feature and the airfoil noise. The
The observer is located 1.22 m upward from the effect of the spanwise length is investigated with
trailing edge. Fig. 6 shows the comparison of the three different ones, Lz/c=0.1, 0.2 and 0.4. The
noise between the present results with the three transitional flow from the laminar flow and to
spanwise length and the experiment of Brooks et al. turbuelnt one are predicted in all cases and there is no
[1] and with the LES result by Wolf [2]. The center big difference between the different spanwise length.
frequency of the one-third octave band in all three The predicted SPLs are shown with different level of
cases are shown and the peak frequency is predicted SPL but with the same peak frequency depending on
as 2.5 kHz which agree well with experimental result. the spanwisse length.
However the sound pressure level varies depending Acknowledgments
on the spanwise length. As the spanwise length
increses, overall sound pressure level approaces the This work is partly supported by Department of
experimental data [1]. Convergence Technology for Heavy Industries,
University of Ulsan and National Research Foundation
of Korea (NRF) grant funded by the Korea government,
Ministry of Education (No. 2016R1D1A1B03934121).
References
[1] T.F. Brooks, D.S. Pope, M.A. Marcolini, Airfoil self-
noise and prediction, NASA reference publication.
(1989) 2-41.
[2] W.R. Wolf, Airfoil aeroacoustics: LES and acoustic
analogy predictions, Stanford University. (2011) 140–
179.
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Pressure Wave Propagation in Porous Structure Saturated with Water and

Methane Bubbles
A. A. Gubaidullin1, O. Yu. Boldyreva1, Duong Ngoc Hai2,3*,
D. N. Dudko1, N. G. Musakaev1, Nguyen Tat Thang3, Nguyen Quang Thai3
1
Tyumen Branch of Khristianovich Institute of Theoretical and Applied Mechanics SB RAS, Tyumen,Russia
2
Graduate University of Science and Technology VAST, 18 Hoang Quoc Viet, Hanoi, Vietnam
3
Institute of Mechanics VAST, 264 Doi Can, Hanoi, Vietnam
*Email: dnhai@vast.vn
Abstract
A computer simulation of the propagation of a pressure wave in a porous structure is performed. The pores
of medium are filled with a mixture of water and gaseous methane. The latter is motivated by the fact that
the decomposition of natural gas hydrate in the rock produces water and methane. Mathematical model - a
system of partial differential equations - describes dynamic and heat exchange processes, including
nonlinearity of bubble oscillations and gas behavior. A parametric analysis of the process is performed.
Keywords: computer simulation, nonlinear model, pressure wave, porous structure, bubbles.
1. Introduction propagation in a porous medium containing a bubbly

liquid, two velocity, two stress tensors model of
Porous structures, in which the pores contain a
saturated porous medium is used [6, 7]. The pore
mixture of liquid and gas, are often found in natural
space is filled two-phase mixture of liquid with gas
and technical systems. Wave phenomena in them can
bubbles, bubble size is calculated using the equation
arise both under the influence of external influences,
for a gas bubble in a porous medium.
and be created for a specific purpose. Therefore, the
The equations of mass and momentum balance
study of wave processes in a porous medium
are in the form:
saturated with a bubbly liquid is relevant both from
the theoretical and from the practical point of view. 
Such processes can be associated with the
propagation of sound (weak perturbations), but the
lg
t 
 i 
lg l 
vi  0
presence of gas in the mixture lowers the threshold

for the transition of a linear perturbation to a
 s
t
 
 i  s vsi  0 (1)
nonlinear one by several orders of magnitude. The n
theoretical formulation of the problem in this case
becomes more complicated and requires taking into t
 
b  i n vi  0
b l
account the nonlinearity. Despite the existence of a i
number of papers devoted to the study of such a dv
problem [1-6], it remains insufficiently studied, l  g l l  l  g i pl  F i
dt
especially taking into account the nonlinearity. In this (1)
i
d s vs j ji
paper we have considered the evolution of the s   s i p     F i
pressure wave in this porous structure with the dt l s*
involvement of a nonlinear model and computer where j, vj, j are the density, velocity,
simulation. Water and methane were taken as liquid volumetric content of the j - th phase, the subscripts j
and gas. It is interesting that in the decomposition of = s, l, l+g relate to the skeleton of the porous
natural gas hydrate in the rock, water and methane are medium, liquid or mixture of liquid and bubbles; s*,
formed. pl are effective stress in the skeleton and the pressure
2. Mathematical Model in the liquid, respectively, nb is the number of
bubbles per unit volume.
This work continues the research begun in [6]. The skeleton of the porous medium is assumed to
However, in contrast to [6], where the gas was be elastic with effective moduli of elasticity s*, s*:
assumed to be adiabatic, the interphase heat transfer
between water and methane was taken into account
here, and the system of equations is supplemented by
the equation of heat influx to gas. To study wave
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
 sij*   s s* ij  smm  2 s* sij   s* ij pl  pg  g RgTg (6)
Bubble radius ab changes according to the

 s*   s s*  2 3  s*  (2) equation of Rayleigh-Plesset generalized for the
ij bubble in a porous medium [1]:
d s s
dt
1
 j j
 i vs   vsi
2
 da
b w w
R A
dt
where εs is strain of the solid phase, s is the
2
ratio of bulk elastic moduli of the skeleton and the pg  p 
l a
solid. b
w 
The state equations for solid and liquid phases are A
l0Cl x1g 3
given in the acoustic approximation:
(7)
s0 
ps  p  Cs2  s   
s0   

3 2
l 0  wR ab  wR   p g  pl 
2
(3)  2  a
p  p  C   
l l0
2
l 
l l0   2
b
Here subscript 0 indicates the unperturbed value, w  1 a  

4  R 1   s   b  
°j is the true density, Cj is the sound velocity in the l a 4 a 
b   s*  
material of the j - th phase, ps is true pressure of the  
solid phase. Here xg is the gas volume fraction in the bubbly
Interphase interaction is a sum of viscous liquid,  is the coefficient of surface tension at the
friction force F and added masses force Fm: liquid and gas boundary, wA accounts for the
F  Fm  F compressibility of the liquid [8].
To close the system of equations the relations
1  dl vl d s vs  between the true pressures pl, ps in the phases and the
Fm  m s  
2 l  g  dt dt 
 (4) effective pressure ps*in the skeleton are used

 s   s  s
F     s
l  g l s l s
 a 2 v  v  l  g  l l   g  g
Here as* is the characteristic size of the grains of
the skeleton, l is viscosity of the fluid, m,  are the  s  l   g  1
coefficients of interaction between phases dependent 4
on the structure of the pore space.  g   ab3nb (8)
The temperature of the skeleton and the fluid is 3
considered to be constant and equal to the initial
temperature T0. The equation of heat inflow to the
s* 
p   s ps  p
l 
gas phase is written in the form [7]: 1 mm
p  
s* 3 s*

d Tg 1 d g 3. Propagation of Step Compression Wave
 g c gV l   g pg  l  4 a 2 n q
dt  g dt b b gl
In this paper, which continues the study [6], the
Tg  T results of new calculations are presented.
q  Nu g 0 Calculation method for the movement of a porous
gl 2a
b medium saturated with liquid and gas bubbles is
 10, Pe  102 (5) based on the method of Lax – Wendroff. Pressure
Nu   wave propagation in such medium was numerically
2 studied. Wave process in the porous medium (x>0)
 Pe, Pe  10
was initiated by a stepwise compression wave from
T a a the pure liquid (x<0).

Pe  12  g  1 0
T b b
We have investigated the effect of porous
g  T0  g structure parameters and the initial wave amplitude
Here Tg is gas temperature, qgl is heat flow from on the wave properties in a porous medium with the
gas to liquid, cgV, g and g are specific heat, heat bubbly liquid.
conductivity and thermal conductivity of gas. Fig. (1) represents the change in the pressure in
The behavior of gas in the bubbles follows the the liquid p and the total stress  = s*  p in the step
Mendeleev-Clapeyron equation: wave passing from the pure liquid to the porous
medium containing bubbly liquid. The initial
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Hanoi, Vietnam
0.15
p0
0.15
0.1 p0
0.1
0.05 p/p0
x = 10 cm 0.05 p/p0
x = 5 cm x = 10 cm
0 x = 5 cm
0 0.1 0.2 0.3 0.4 0.5 0
t, ms 0 0.1 0.2 0.3 0.4 0.5
0.15 t, ms
0.15
0.1 p0
0.1 p0
0.05 p/p0
0.6 ms
0.05 p/p0
t = 0.3 ms 0.6 ms
0 t = 0.3 ms
0
0 40 80
0 40 80
x, cm
x, cm
1.06
1.06
1.04 1.04
Tg/T0 Tg/T0
1.02 1.02
t = 0.3 ms 0.6 ms t = 0.3 ms 0.6 ms

1 1
0 40 80 0 40 80
x, cm x, cm
Fig. 1. The pressure in the liquid p, total stress  and gas temperature Tg in the wave propagating from a liquid
into a porous medium. Gas fraction is 0.004, bubble radius is 0.25 mm (on the left), 0.5 mm (on the right).
parameters of the medium and wave used in With increasing bubble radius the period of
calculations and presented in Fig. (1) are the oscillations increases as shown in Fig. (1). With
following: bubbly liquid is water + methane, the increasing gas fraction as shown in Fig. (2) the
equilibrium pressure p0 = 40 bar (°g = 27.9 kg/m3), velocity of slow wave in a porous medium decreases.
the amplitude of initial step wave is 0.1· p0the initial Consequently, with increasing gas fraction, the
temperature T0 = 277 K, the gas volume fraction in pressure increasing in the wave passed into the
the bubbly liquid is 0.01, i.e. g = 0.004, the bubble porous medium is slower.
radius ab = 0.25 mm, the skeleton of the porous The analysis of calculated data shows the
medium is quartz, with porosity of 0.4 and a typical following. As the amplitude of the initial wave
grain size as* = 0.1 mm; effective elastic moduli of increases, the amplitude of pulsations increases. With
skeleton are s = s = 2109 Pa. increasing initial equilibrium pressure of the porous
When passing into a porous medium initial pulse medium, the velocities of both fast and slow
is devided into fast (deformational) and slow longitudinal waves increase.
(filtrational) waves as shown in Fig. (1) and Fig. (2). 4. Conclusions
In the fast wave the total stress increases
monotonically, and in the slow wave a gradual A computer simulation of the propagation of a
increase in pore pressure and subsequent damped pressure wave in a porous structure is performed. The
oscillations are observed. The fast and slow wave pores of medium are filled with a mixture of water
propagation is accompanied by increase of the and gaseous methane. The latter is motivated by the
temperature of gas bubbles. Oscillations of pressure, fact that the decomposition of natural gas hydrate in
stress and gas temperature in the slow wave are the rock produces water and methane. Mathematical
associated with bubble pulsations. model - a system of partial differential equations -
describes dynamic and heat exchange processes,
576 October 27 - 28, 2018

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0.15 References
x = 5 cm [1] Dontsov V.E., Kuznetsov V.V., Nakoryakov V.E.,
Pressure waves in porous medium saturated with
g = 0.004 liquid with gas bubbles, Izv. USSR Academy of
0.1
Sciences, MZhG 4 (1987) 85-92.
[2] Grinten J.G.M. van der, An experimental study of
0.05 p0 g = 0.008 shock-induced wave propagation in dry, water-
saturated, and partially saturated porous media,
p/p0 Proefschrift Eindhoven (1987)
0 [3] Smeulders D.M.J., On wave propagation in saturated
0 0.1 0.2 0.3 0.4 0.5 and partially saturated porous media, Proefschrift
t, ms Eindhoven (1992).
[4] Smeulders D.M.J. and van Dongen M.E.H., Wave
Fig. 2. The influence of gas fraction (g = 0.004,
propagation in porous media containing a dilute gas-
solid lines, and g = 0.008, dashed lines) on the liquid mixture: theory and experiments, J. Fluid Mech.
pressure p in the liquid and total stress  in the wave 343 (1997) 351-373
propagating from a liquid into a porous medium. [5] Dunin S.Z., Mikhailov D.N. and Nikolaevskii V.N.,
Bubble radius is 0.25 mm, x = 5 cm. Longitudinal waves in partially saturated porous
media. Influence of gas bubbles, J. Appl. Math. Mech.
including nonlinearity of bubble oscillations and gas 70(2) (2006) 251-263.
behavior. A parametric analysis of the process is [6] Gubaidullin A. A., Boldyreva O. Yu., Dudko D. N.
performed. The analysis shows the following. Passing Waves in Porous Media Containing Gas Hydrate, AIP
into a porous medium pulse is divided into Conference Proceedings. 1939 (2018) 020031-1 –
deformational and filtrational waves. Both waves can 020031-9.
have an oscillatory structure because of the [7] Nigmatulin R.I., Dynamics of Multiphase Media. Part
oscillations of the bubbles. The velocity of slow 1, New York: Hemisphere Publ. (1990).
[8] Nigmatulin R.I., Shagapov V.S. and Vakhitova N.K.,
(filtrational) wave in a porous medium depends on Consideration of compressibility of the carrier phase
gas fraction, with increasing gas fraction the velocity in the propagation of waves in a bubble liquid, USSR
decreases. Academy of Sciences Doklady 304 (1989) 1077-1081.
Acknowledgments
This work was supported by RFBR Project No.
17-51-540001 and VAST Project HTQT.NGA.01/17-
18 "Wave and filtration flow with phase transitions in
porous structures".
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Modified Controls Doubly Fed Induction Generator under Unbalanced

Voltage Dip for Reduction of Current Harmonic with PI-ANN Controller
Hai Nguyen-Thanh*
HCMC University of Technology and Education,No 1, Vo Van Ngan, Thu Duc, Ho Chi Minh City, Vietnam
Le Hong Phong High School for The Gifted, No 235, Nguyen Van Cu, Dist 5, Ho Chi Minh City, Vietnam
*Email:hai_nguyenthanh2012@yahoo.com.vn
Abstract
This paper presents modified for doubly fed induction generator (DFIG) driven by a wind turbine, and
controlled by artificial neural network (ANN) controller during unbalanced voltage dips. The proposed control
technique is used to control the active and reactive power of DFIG during grid voltage dips for Sequence
Component controller (SCC) using hybrid PI with ANN controller (PI-ANN). The SIMULINK/MATLAB
simulation for DFIG and corresponding results and waveforms are displayed. Comparisons of the simulation
results with a traditional PI, hybrid PI with PI-ANN controller modification of SFOC with SCC for operation
under unbalanced voltage dip are provided to evaluate the newly proposed methods in the paper
Keywords: Artificial neural network, grid-connected DFIG, PI controller, SFOC, unbalanced voltage dips.
1. Introduction reasons above, this article mainly concentrates on

finding the controlling methods of P and Q that are
Most wind energy conversions systems contain
not contingent on DFIG and the SCC system in state
generators the most popular being the DFIG. The
of unbalanced voltage.
main advantage of DFIG’s in comparison to other
Comparisons of the simulation results with a
generators is that for a similar power rating the
traditional PI, hybrid PI with PI-ANN controller
converter in the rotor of the DFIG is normally sized
modification of SFOC with SCC for operation under
according to the range of speed required. DFIG’s
unbalanced voltage dip are provided to evaluate the
operate with a speed range typically 30% of the rated
newly proposed methods in the paper.
speed of the induction generator and therefore the
In addition to maintaining the connection to
rotor converter can been sized to a value of 30% of
distribution network during unbalance voltage dips,
the rated power of the induction generator. The
generators need to keep providing sufficient powers
reasons for this popularity is the low cost of power
with acceptable qualities, a modified Stator Flux
electronic circuits needed to allow independent
Oriented Control (SFOC) based control method is
control of power (active and reactive) delivered to the
proposed in [6] which uses four command values of
grid and variable speed operation frequency [
rotor current components such as
twelfth]. DFIG is the cheapest solution for wind * * * *
idr  , i qr  , i dr  , i qr  to achieve independent control
farms [3]. There are more wind farm’s connections to
the grid and the penetration has been up to more than of active (P) and reactive power (Q) as well as
50% in several countries [4]. constant torque, or constant active power, or balance
Recently, there have been numerous scientific stator current, or no oscillation of rotor current.
research projects on SFOC. Nevertheless, controlling This paper presents new SFOC based control
the SFOC with the hybrid Proportional Integral (PI) schemes which use PI-ANN controllers to deduce
with artificial neural network (ANN) controller, and i dr* , i qr*
from active and reactive power errors. These
Sequence Component controller (SCC) during the PI controllers provided simplicity to the control
state of unbalanced voltage dips is an issue that system and also increase the independence of the
widely attracts much attention. system with parameter’s variations. The commanded
When it comes to unbalanced grid, the negative- * *
sequence component is the main factor that leads to values of idr  , iqr  are calculated from feedback
the interference of signal during the transmission. The quantities.
complements contained in the second- stage reduction 2. System modeling
of current harmonic result in the deformation of
current and voltage, while affecting the controlling This section discusses the control structure for
units like active (P) and reactive power (Q)[13]. vector control of grid connected doubly fed induction
Moreover, unbalanced grid also affects other wind generator. The control methods in [8] are based on
turbines on the wind farm interminably due to the SFOC, while the methods in [7] and this paper are
concrete connection of the turbines [12]. Based on the based on SFOC with SCC using PI-ANN Controller.
578 October 27 - 28, 2018

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The equations above have showed that

independent control of P, Q can be by controlling idr
and iqr in SFOC.
2.2. Unbalanced Network Voltage
In the network is unbalanced, the three phase
quantities such as voltage, current, and flux
decomposed into positive and negative sequence
components (with zero sequence components is zero).
Fig. 1. Relationships between (α,β)s, (α,β)r, dq+ and The ( ,  ) reference frame, the rotor current can be
dq− reference frames [6,7]. decomposed into positive and negative sequence
components as [6]
Dynamic model of DFIG with balanced grid I (t )  I  (t )  I  (t )
voltage in a generally rotating reference frame dq [2] (4)
considered in this paper. Furthermore, positively and
negatively rotating reference frames, which been In Fig. 1, the transformation between ( ,  ) ,
denoted as dq+ and dq− respectively, also used to (dq)+ and (dq)- reference frames are given by
develop control model for DFIG during unbalanced   j slip t  j 2 slip t
voltage dip. These reference frames presented in the idqr   i( ) r e  i(dq )r e
(5.1)
figure 1.
 j slip t j 2 slip t
In SFOC reference frame, the d axis is attached idqr   i( )r e  i(dq )r e
(5.2)
to the stator flux space vector, stator flux is given,
respectively by equations (1.1) and (1.2). According to (4), (5.1), (5.2) and Fig.1 the rotor
current are given by
 ds   s  Lmims
(1.1) j2slipt
 qs  0
i(dq)r i(dq)r i(dq)r i(dq)r i(dq)re
(1.2) (6)
The stator voltage equations and stator current When unbalanced voltage, the equations for
of DFIG in a generally rotating reference frame dq as active and reactive powers in the stator [6]; [7].
shown in equations (2.1), (2.2) P s  Ps 0  Ps _ sin2 s in(2 s t )  Ps _ cos 2cos(2 s t )
(7.1)
d ds
vds  Rs ids   s  qs  Q s  Qs 0  Qs _ sin2 sin(2 st )  Qs _ cos2cos(2 s t )
dt (2.1) (7.2)
d qs  Ps 0   0 0 0 0 
vqs  Rs iqs  s  ds  
 Q 
s 0 
 
  sd   sq   sd   sq    sd  
dt (2.2)  Ps _ sin2  3 s   sd   sq   sd 

 sq    sq  

       
2.1. Balanced network voltage  Ps _ cos 2  2 Ls   sq   sd   sq   sd    sd 
 Qs _ sin2   
 0 0 0 0   sq  
In Fig. 1, the d-axis of the reference frame is    
Qs _ cos 2   0 0 0 0 
fixed to the stator flux rotating at the synchronous
  sq   sd   sq   sd  
speed of ωs, Vs, Vr, equations in the new reference   
  sd   sq   sd   sq    I rd  
frame can be derived by easy replacing ω with ωs in    
3 s Lm   sd   sq   sd   sq   I rq  

(1), (2.1), (2.2), and. The equations for active and    
reactive powers in the stator flux referenced frame is 2 Ls   sq   sd   sq   sd    I rd  
    
shown in equation (3.1) and (3.2).  sd   sd   sq   I rq  
 sq 
  sd   sq   sd   sq  
(8)
3
 3
 3 L
Ps  vdsids  vqsiqs  vqsiqs   Vs m iqr
2 2 2 Ls The total power imported from the rotor shaft
(3.1) equals to the sum of the power outputs from the
equivalent voltage source jωsψsand j(ωs-ωr)ψs.
3 L  Vs 
3
 3
Qs  vqsids vdsiqs  vqsids  Vs m 
2 2 2 Ls sLm
idr
 (3.2)
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3   rotor currents (I-dqr -= 0) in SCC and with SFOC ψ+qr

Pe   Re[ js . s .I s  j (s  r ). r I r = 0. The oscillation in these equations happens at
2
twice the frequency of the positive sequence
3 
 r Re[ j s .I r ]  Pe 0  Pe _ sin2  Pe _ cos 2 component. However, the performance of digitally
2 (9) designed Notch filters is not perfect. Therefore, the
inclusion of SCC helps to clear all the negative
I  sequence components. With I-dqr-= 0, ψ+qr = 0 and
 Pe0  sq sd sq sd   rd
  3Lmr     I rq
(6), rotor current given by
Pe_sin2 2L . sd  sq  sd  sq.I 
 
 
Pe_cos2 s     I dqr  I dqr
 sq  sd  sq  sd  I 
  rd
  
(13)
 rd(10)
Substituting (1), (7) and (13) the equations for
The electromagnetic torque of the DFIG is active and reactive powers in the stator:
calculated as:
    
Ps   1.5(V ds  I ds   V qs  I qs  )
Pe ( Pe 0  Pe _ sin2  P e _ cos 2 ) (14.1)
Te  
r r (11) Qs
    
 1 .5 (V d s  I q s   V q s  I d s  )
(14.2)
3. Control structure and modeling
SCC also functions as a current controller using
The structure of modified control method for PI-F and PI–ANN controllers to regulate the positive
DFIG is show in Fig. 2 [10]. The improve scheme sequence components of rotor current. Negative
newly proposed this study is that the substitution of sequence components of rotor current will increase
PI in Fig. 2 to SCC with PI-ANN (Fig. 4) the power rating of Rotor Side Converter if being
respectively. The rotor side converters of DFIG are used to control generator’s active and reactive power.
control to attain the independent control of active and
reactive powers. The control system, using hybrid PI- The proposed ANN in this study utilizing the
ANN controller, has provided better performances of Back Propagation (BP) algorithm in [14], [15] to
the generated powers. However, this is only warrant perform an offline training process for determining
when apply to the balanced voltage. During suitable values for the key two coefficients KP and KI
unbalance voltage, the stability of the powers are of the PI controller. As given in Fig. 5, the ANN
needful, SCC has been suggested which shown in consists of one input layer, two hidden layers and one
Fig. 3. Notch filters use to eliminate high order output layer. Where in, the input layer has two
harmonic components in negative sequences of the neurons as the error value e(t) and its derivative value
stator voltage. de(t) of the current as shown in Fig. 4, each hidden
layer has two neurons, and the output layer has two
In Fig. 3 and Fig. 4 the control scheme proposed neurons as KP and KI. The input and output
in this study, applies SCC to 2nd eliminate the operational values of the j-th neuron in the q-th
negative sequences of the stator current which cause hidden layer is computed in (15) and (16),
distortions in power responses. . respectively.
The newly proposed scheme is also included a netq=∑vqj xj (15)
SCC which help to eliminate the negative sequence
components of the fundamental frequency and all the Zq = ah(netq) = ah(∑vqj xj) (16)
harmonics components of stator voltage. The Notch Where vqj is the weight gain for the q-th hidden
filters are assigned to remove the negative sequence layer, ah(.) is the operational function used for hidden
components which cause oscillation in active power, layers, and a0(.) is the operational function used for
reactive power, and electromagnetic torque according output layer. Then, the two coefficients KP and KI are
to equations (8) and (9). calculated by
However, reference values of I+dqr + are the KP= a0(net1) = a0(v1q Zq) = a0(∑v1q.ah(netq)) (17)
output of two PI-ANN controllers, as shown in Fig. 3,
instead of been calculated from equation (6) as in KI =a0 (net2) =a0 (v2q. Zq) = a0(∑v2q. ah(netq)) (18)
[12]. The PI-ANN controllers will provide the As shown in Figs. 4 and 5, the BP algorithm has
independencewith parameter variations for the two main steps in transmitting information between
commanded values of I+dqr +. Robust responses of layers as follows. Firstly, the input data x(k) is
I+dqr +* the variation of active and reactive power can transmitted forward to generate the valuey (k) at the
also be obtained with PI controllers with an-ti wiup . output. Then, the error value E(k) between the above
Eliminate harmonic negative sequence components of output value y(k) and the reference value d(k) in the
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Table 1. Parameters of the 2.3MW DFIG
Parameter Symbol Value

Stator inductance LS 159.2 (μH)
Rotor inductance Lr 159.2 (μH)
Magnetic inductance Lm 5.096 (mH)
dt Stator resistance RS 4 (mΩ)
Rotor resistance Rr 4 (mΩ)
Number of pole pairs p 2
Fig. 2. Control structure of SFOC with traditional PI Frequency (angular) ωS 100π (rad/s)
Controller.
Inertia J 93.22 (kg.m2)
Inertia of Rotor Jrot 4.17×106 (kg.m2)
STATOR UNBALANCED VOLTAGES FROM 30TH TO 70TH SECOND (AT 60TH SECOND)
1000
V abcr [V]
-1000
59.9 59.92 59.94 59.96 59.98 60 60.02 60.04 60.06 60.08 60.1
STATOR BALANCED VOLTAGES AGIAN 80TH SECOND (AT 80TH SECOND)
dt
1000
-1000
79.9 79.92 79.94 79.96 79.98 80 80.02 80.04 80.06 80.08 80.1
TIME [S]
Fig 6. Stator unbalanced voltages from 60 to 80th th
second, and then balanced voltages again.
Fig. 3. The newly proposed SFOC-based scheme E(k+1) = E(k) +0.5∑(di(k)-yi(k)) → min (19)
with the PI-ANN controller and SCC.
4. Simulation results
We carry out the simulations of the proposed

control methods for the 2.3MW grid-connected DFIG
with the parameters given in Table 1. The
commanded values of P and Q are altered every 50s,
with the reference value of P changing from 1 to 2
Fig. 4. Design structure of the PI-ANN controller. MW while that of Q from 1.2 to 0.8 MVAR. The grid
voltages are balanced until the 60th second, at which
point one of the phase voltages is reduced by 10%.
The voltages are then balanced again from the 80th
second (Fig 6). The proposed control methods are for
the variable speed and constant frequency of DFIG;
without loss of generality, the rotor speed is 1400
rpm. The wind speed’s variation is shown in Fig 7.
Fig. 5. Structure of the ANN in four layers. Figures 8-14 present the responses of active
data set is transmitted back to the previous layer to power, reactive power, torque and rotor current. In
update fittingly the weight gains vqj. The data set each figure, there are four sub-figures for the
utilized for the offline training process is S{x(k), responses obtained with traditional PI controller, SCC
d(k)}, and the goal of this training process is to with PI-ANN controller. The red lines in the figures
minimize the error E(k+1)as given in (19). Normally, above are the commanded values of P and Q. The
the offline training process in ANN is performed average values over one period are observed for
some times with several data sets to achieve a good active and reactive power.
result as desired.
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-9.2 PI PI-NEURAL
-10 -12
-9.4
-12 -13 -9.6
-14 -14 -9.8

20 40 60 80 100 20 40 60 80 100 39.9 39.95 40 40.05 40.1
(A) (C) (D)
-9 -9 TIME [S] -9.2 TIME [S]
T e [K N .m }
-9.5 -9.5 -9.4
-10 -10 -9.6

20 30 40 20 30 40 29.9 29.95 30 30.05 30.1
(D) (E) (F)
-12 -13 -12
Fig. 7. Random variation of the wind speed. -12.5

-12
-12.5
-12.5
WITH PI TRADITIONAL WITH PI-NEURAL PI PI-NEU REF

-13 -13 -13
1.6 -1.6 -1.5 65 70 75 65 70 75 69.9 69.95 70 70.05 70.1
(G) (H) (I)
-1.8 -1.8 TIME [S]
-1.52
-2 -2 Fig. 11. Generator torque during unbalanced voltage.
-1.54
-2.2 -2.2 WITH PI TRADITIONAL
20 40 60 80 100 20 40 60 80 100 40 40.05 40.1 40.15 40.2
0
(A) (B) (C)
-1.45 -1.48
-1.45 TIME [S] -2
P S [M W ]
(A)
-1.5 2
-1.5 -1.5
0
-1.52
-1.55
-1.55 -2
20 30 40 20 30 40 34.8 34.9 35 35.1 35.2 48 48.5 49 49.5 50 50.5 51 51.5 52
(D) (E) (F) WITH PI-NEURAL
-1.9 -1.9
-2 0
-2.05 -2
-2 -2
-2
(B)
-2
-2.05
-2.1 -2.1 0
65 70 75 65 70 75 69.8 69.9 70 70.1 70.2
(G) (H) (I) -2
48 48.5 49 49.5 50 50.5 51 51.5 52
TIME [s] TIME [S]
Fig. 8. Active power stator (Ps).
Fig. 12. Current rotor during transient state.
-0.5 -0.5 -1.15 PI PI-NEU REF WITH PI TRADITIONAL WITH PI-NEURAL
-0.75 -1.75 1.8 1.8
-1 -1 -1.2 1 1
-1.25 -1.25
0 0
-1.5 -1.5 -1.25
20 40 60 80 100 20 40 60 80 100 40 40.05 40.1 40.15 40.2
(A) (C) (C) -1 -1
-0.75 -0.75 -0.75
-1.8 -1.8
Q S [M V A R ]
59.5 60 60.5 59.5 60 60.5

-0.8 -0.8 -0.8 (A) (B)
1.8 1.8
-0.85 -0.85 -0.85
52 54 56 58 52 54 56 58 54.9 54.95 55 55.05 55.1 1 1
(D) (E) (F)
Iabcr [kA]
-0.7 -0.7 -0.75

0 0
-0.8 -0.8 -1 -1
-0.8
-0.9 -0.9 -1.8 -1.8

79.5 80 80.5 79.5 80 80.5
-0.85
65 70 75 65 70 75 69.9 69.95 70 70.05 70.1 (C) (D)
(G) (H) (I)
TIME [s]
Fig. 13. Current rotor during unbalanced voltages
Fig. 9. Active power stator (Qs). from 60th to 80th second.
-0.75 PI PI-NEU REF -1.4
PI PI-NEU REF
Sub-parts (A), (B): around the 60th second.
-1.5
Sub-parts (C), (D): around the 80th second
-1.5
Q [MVAR]
-1.7
P [MW]
-1
ANN (Fig. 3) methods. Figure C is combining all
S
S
50.0250.0350.0450.0550.06
49.98 50 50.02
50.03 50.06
-1.9
49.995 50 50.005 methods.
The Fig. 8, 10 shows the simulation results of
the active power. The results show that the proposed
-1.25 -2.1
49.8 49.9 50 50.1 50.2 49.8 49.9 50 50.1 50.2
(A) (B)
TIME [s] TIME [s]
Fig. 10. Reactive and active power stator during methods have insignificant steady state errors in
transient state. active power response during balanced voltage,
especially compared with the steady state error of the
Harmonics analyses of the rotor currents are traditional PI method. When during unbalanced
shown in Fig. 14 for the traditional PI and the voltage dips, the steady responsive than traditional PI.
proposed control method.
Similarly, reactive power shows in Figure 9, 10.
5. Discussion The transient state and steady state under balanced
voltage is insignificant steady state. The results in
Figure 8-13 shows the simulation results of the Fig. 10 also shows better reactive power for the two
2.3MW DFIG the active power. Figure A, B are proposed methods which are less oscillated during
corresponding to traditional PI (Fig. 2), SCC with PI- unbalanced voltage dips.
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100
6. Conclusion
SCC & PI-ANN
90 60
TRADITONAL PI The proposed scheme for DFIG with the
80 40 inclusion of SCC has elevated the stability of the
70 20 torque response during the grid voltage unbalance
60 when being compared with other modifications of PI-
0
50
90 95 100 105 110 ANN for better stabilities during the unbalanced
voltage dip. This improvement helps reduce the
M ag
40
electrical stress on converters and the mechanical
30 stress on the gear box. Furthermore, the responses of
20 active and reactive power are ameliorated when being
10 compared with a traditional method, although the
0
oscillations are still quite high. In this study, the
observations are made during the occurrence of the
-10
0 50 100 150 200 250 30 voltage dip in one phase, transient states as well as
Frequency (Hz) steady states of the powers and torque under the
Fig. 14. THD's rotor current during unbalanced unbalanced condition.
voltage.
References
Table 2. THD’s rotor current when unbalanced
voltage [1] Ackermann, T. ; Wind power in power systems; John
Wiley and Sons, USA, 2003.
[2] Leonhard, W.; Control of electric drives; Springer-
Frequency THD Verlag, 3rd edition, USA, 2001.
(Hz) [3] Wenske, J.; “Special report direct drives and drive-
SCC PI-ANN PI
train development trends”; Wind Energy Report
( †) % Germany 2011, Siemens Press Picture, 2011.
[4] Alegría, M. I., Andreu, J., Martín, L. J., Ibanez, P.,
1st 50 5.7 27.8 7.9 Villate, L. J., Camblong, H. ; “Connection
requirement for wind farms: A survey on technical
2nd 100 4.2 50 8.4 requirements and regulation”; Renewable and
Sustainable Energy Review, Vol. 11, Issue 8, pp.
3 rd
150 2 44.4 3.6 1858-1872, 2007.
[5] Muljadi, E., Yildirim, D., Batan, T., and Butterfield,
4th 200 1 33.3 1.5 C.P.; “Understand the unbalanced-voltage problem in
wind turbine generation”; Proceeding of IEEE
5th 250 2.4 4 2.5 Industry Application Conference, Phoenix, USA, pp.
6th 300 1 62.9 2.7 1359-1365, 1999.
[6] Xu, L., Wang, Y.; “Dynamic modeling and control of
 THD  THDPI (Traditional )  DFIG based wind turbines under unbalanced network
(†) Deviation    100% conditions”; IEEE Transactions of Power Systems.,
 THDPI (Traditional )  Vol. 22, No. 1 , pp.314–323, 2007.
The performance of generator torque is much [7] Jiabing, H., Yikang, H., Lie, X., Williams, W. B.;
better for the proposed control scheme during “Improve control of DFIG systems during network
unbalance using PI-R current regulators”; IEEE
unbalanced voltage as shown in Fig. 11. Transactions on Industrial Electronics, Vol. 56, No. 2,
The waveforms of rotor current in the modified pp. 439-451, 2009.
control methods is less dips when voltage unbalance [8] Pham-Dinh, T., Nguyen, A. N., Nguyen-Thanh, H.;
“Improving stability for independent power control of
happens, compared with the traditional PI for rotor
wind turbine doubly fed induction generator with
speed regions Fig 12, 13. SFOC and DPC during grid unbalance”; Proceeding
Total harmonic distortion (THD) of the newly of IPEC 2012, pp. 155-160, Ho Chi Minh City,
control schemes has been significantly reduced Vietnam.
[9] Pham-Dinh, T., Nguyen-Thanh, H., Uchida, K.,
during the unbalanced voltage, when compared with
Nguyen, G. M. T.; “Comparison between
the THD in the traditional PI. The SCC with PI-ANN modifications of SFOC and PDC in control of grid-
controller therefore is more robust in harmonic connected doubly fed induction generator under
content reduction. Fig 14 and table 2 show THD’s unbalanced voltage dip”; Proceeding of SICE 2013,
rotor current during unbalance voltage. pp. 2581-2588, Nagoya Japan.
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[10] Chondrogiannis, S.; Technical aspects of offshore [12] Hai Nguyen-Thanh; “Modified Controls for DFIG
wind farms employing doubly fed induction under Unbalanced Voltage for Eliminate Rotor
generators, PhD Thesis, Faculty of Engineering and Currents Harmonics Using PI-Fuzzy Controller”,
Physical Sciences, The University of Manchester, International Journal of Electrical Energy, Vol. 3, No.
United Kingdom, 2007. 1, March 2015, pp 6-12.
[11] Yikang, H., Jiabing, H., Rende, Z.; “Modelling and [13] Hai NguyenThanh, Cuong Vo-Viet; “Modified
control of wind-turbine used DFIG under network Controls for Doubly Fed Induction Generator under
fault conditions”; Proceeding of ICEMS 2005, Vol. 2, Unbalanced Voltage Distortion for Torque Stability
pp. 986-991, Nanjing, China. and PI-Fuzzy Controller”; Proceeding of 7th IEEE
International Conference on CIS and RAM 2015, pp
65-70, 15-17 July, 2015, Angkor Wat, Cambodia.
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Evaluating the Ability of Salinity Intrusion Prevention for Tam Ky River of

Phu Ninh Reservoir
Cuong T. Nguyen1,*, Kien C. Nguyen1, Phuong T. T. Phan2, Son T. Hoang3
1
Institute of Mechancics, Vietnam Academy of Science and Technology
2
National University of Civil Engineering
3
Institute of Geography, Vietnam Academy of Science and Technology, Vietnam
*Email: ntcuong@imech.vast.vn
Abstract
TamKy river is one of three river systems in Quang Nam province. Being a small river, however it takes an
important role in the economic development of Tam Ky city and Quang Nam province in general. Due to the
impact of climate change, the flow of the river has been decreasing and partly influenced by the deterioration
of Phu Ninh reservoir. This makes the salinity intrusion of this river get worse. In this study, we use MIKE21
software to set up a 2D hydraulic model to simulate the flow in Tam Ky river. After calibratingby the real
database, it is shown that the model is able to simulate the flow regime and salinity changes in Tam Ky river
very well. Based on the model that has been set, we calculate many salinity washing options of Phu Ninh
reservoir with different discharge flows then identify the required discharge rate of 26m3/s, 30m3/s and
37 m3/s corresponding to the flow in Tam Ky River at high, medium and low level compared to average flow
in dry season.
Keywords: Tam Ky River, MIKE21, Salinization, Estuary, Reservoirs Operating.
1. Introduction So, in this study, we set up a 2D model to study the

flow regime and salinity intrusion of this river.
Quang Nam has three main river systems: Vu
Gia, Thu Bon and Tam Ky. The Vu Gia and Thu Bon
Rivers are connected to form a complex river system.
This river system has also received special attention
from both management agencies as well as scientists Truong Giang river
due to the increasing problems of landslide, erosion,
accretion and flooding. Meanwhile, Tam Ky river is
smaller but directly influences Tam Ky city, the
capital of Quang Nam province. It has not Tam Ky river
encountered problems with sedimentation of
estuaries, river bank slides but faced another problem
which is salinity intrusion, especially since Phu Ninh
reservoir blocked the river to move water up north for
irrigation. The location of Tam Ky city and Phu Ninh Phu Ninh
reservoir
reservoir in Tam Ky basin is clearly shown in Figure
1. So far, little research has been done on this river.
Fig. 1. Tam Ky River Network (source from Google).
The studies have still mainly focused on the flood
season and the flooding problems of the river
Moreover, in this study we use the 2D model,
downstream. Representatively, a study by Nguyen
which was established and verified, to determine the
Ngoc Quynh (2015) suggested a toolset for flood
required discharge flow of Phu Ninh reservoir to
forecasting, reservoir management and flood
prevent salinization in downstream areas. This is an
management in Tam Ky river basin. There are also
urgent problem in reality to solve because since Phu
some studies on salinity intrusion such as "The
Ninh reservoir was built, salinity intrusion has been
summary report on the irrigation planning of Quang
more and more serious. Meanwhile, Phu Ninh
Nam province to 2020 with orientation towards 2050"
reservoir was designed to have function against
and in "Project on adjustment of general planning of
salinity intrusion and in 2012, Phu Ninh reservoir was
Tam Ky city to 2030 with a vision to 2030".
tested the flushing to clean salty water for
However, these studies just simply used one
downstream but not effectively.
dimensional model (1D) and there was no
comparative evaluation with actual measurements.
Therefore, the results are mainly qualitative and using

for building plans rather than quantitative reliability.
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2. Inputs for the models

In the 2D model for flow simulation in dry
season, the inputs consist of the following
componants: riverbed terrain, upstream and
lowerstream boundary data, real measured data and
some other information.
In this work, we inherited the measured
databases from the project invested by Quang Nam
province which include all the data of TamKy river’s
riverbed terrain, part of TruongGiang river that
connect to TamKy river and the estuary as shown in
Fig.2 below.
Fig. 2. Riverbed tarrain and entuary data measured in

2017.
The upperbound of the river system is the hourly Fig. 3. 1D hydraulic diagram MIKE11 for Tam Ky
real measured data at the required areas such as: Bau river.
Ven, Truong Chi, Da Giang, Phu Ninh, Tam Tien. Based on the riverbed terrain data, The 2D
The lowerbound data is the hourly real measured spreading model MIKE21 has been set as the Figure
water level at required areas including Cua Lo and 4 below.
Dong Thanh.
3. Set up and adjust the model
Based on the available data, our research group
has set up two models which are 1D hydraulic model
MIKE11 and 2D spreading model MIKE21. The 1D
hydraulic model is used to mathematically simulate
the flow on the river and calculate the inflow at the
upper bound for the 2D spreading model MIKE21.
From the hydraulic diagram and the terrain
maps of the basin, we processed the data and mapped
into the network of rivers and streams in the MIKE11
model which consists of 88 cross sections. The upper
bound includes Phu Ninh, Tam Tien, Truong Chi, Da
Giang and Bau Ven. The lowerbound is Hoa An
entuary and Cua Lo entuary as shown in Figure 3
below.
Fig. 4. Diagram using 2D spreading MIKE21.
586 October 27 - 28, 2018

Hanoi, Vietnam
0.250 Obs ThựcCal.

đo
Độ mặn (mg/l)
0.200
0.150
0.100
0.050
0.000 Thời gian (giờ)
2001 0:00
2001 0:00
2001 0:00
2001 0:00
2001 0:00
Fig. 5. Unstructured grid using in 2D model.
Because of the small terrain and the large depth Fig. 7. Salinization at Tam Anh station from
of the study area, the simulating the hydraulic and 11/8/2001 to 23/8/2001.
pollution spreading processes is quite complex. The The 2D model also give good calculated and
hydrodynamic model for Tam Ky basin uses an adjusted results at salinization. The differences to
unstructured grid (as in Figure 5) with a total of 8088 TamAnh station data are quite small. This is clearly
triangles computed from 4889 nodes, the largest shown in Fig.7.
triangle has the area of 10000m2.
4. Verification and application of numerical
The dataset from 7/3/2001 to 18/3/2001 is used models to determine the effective discharge flow of
to adjust the model. Using the upper and lower Phu Ninh reservoir to wash salinity
bounds as real measured data, the model is calibrated
by the water levels and the salnility at TamAnh After calibrating the model, the research team
station. In Fig.6 and Fig.7, the model calibration get obtained a set of parameters which is now sufficiently
the results closest to the water level and salinity that reliable to calculate the scenarios. To confirm the
real measured at TamAnh station. reliability of the model, we used this set of
parameters including the flow and the water level at
In Fig.6, The water level at TamAnh station the corresponding boundary as the calibration plans
oscillates synchronously with the obserbed data from 8/3/2017 to 19/3/2017 to verify the real data in
which is shown that the 2D model calculates the 2017.
water level quite well. The calculated peak and tidal The result of water levels at Tam Anh station
values are lower than the real ones. However, the is shown on Fig.8. It have an NSE target of 0.75. This
differences are small and acceptable. is a good result in the evaluation scale of this standard.
1.5 Tính… 1.000

Mực nước (m)
Obs. Cal. Obs. ThựcCal.

đo
0.800
1
0.600
0.5 0.400
0.200
0
0.000
11/7/2001 0:00
11/11/2001 0:00
11/15/2001 0:00
11/19/2001 0:00
11/23/2001 0:00
Thời gian (giờ)

3/6/2017 0:00
3/8/2017 0:00
3/10/2017 0:00
3/12/2017 0:00
3/14/2017 0:00
3/16/2017 0:00
3/18/2017 0:00
3/20/2017 0:00
-0.5 -0.200
-0.400
-0.600
-0.800
Fig. 6. The obserbed and calculaed water level at
TamAnh Station from 11/8/2001 to 23/8/2001. Fig. 8. Calculated and measured water levels at
TamAnh station in 2017.

587 October 27 - 28, 2018

Hanoi, Vietnam
The target for evaluating the calculated and - Option 2: the inflows into these upperbounds
measured results is the NSE (Nash-Sutcliffe are stable and equal to the average flow in the dry
Efficiency) which is calculated according to Function season of many years.
1 below.
N - Option 3: the inflows into these upperbounds
 Q  Qtt ,i 
2
tđ ,i are stable and less than the average flow in the dry
NSE  1  i 1
(1) season of many years. (4.1)
 Q  Qđ 
N
2
i 1
tđ ,i The boundary values (which is the discharge
where: flows) of Phu Ninh reservoir will be adjusted by
these options to get the salinity at the junction near
Qtđ,i: Real measured value of the flow at time i, Truong Giang river less than 4 per thousand (which
Qtt,i: Calculated value of the flow at time i, does not effect to the agricultural activities). With
: Average of real measured values of the flow, many calculation, the final option to get the minimum
dischages is determined as in Table 1 below.
N: The total number of the values in the string
Table 1. Results of three options
Fig.9 and Fig.10 below are the calculated results
Upperbound
of 2D model on all the river network. Required
compared to the
discharge flow of
No. average flow in dry
Phu Ninh
season of many
reservoir (m3/s)
years
Inflows are larger
(than the average
1 flow in the dry 37 m3/s
season of many
years)
2 Inflows are equal 30 m3/s
3 Inflows are less 26 m3/s

Fig. 9. Result at the water level in the whole region at
5pm on 11/11/2001.
5. Conclusions
In this work, the 2D model MIKE21 is
established to simulate the flow regime and the
process of the salinity intrusion of Tam Ky river in
the dry season. The riverbed terrain data and some
other data are remeadsured and synchronized. The
results of the model are quite consistent with the real
data.
Using the result of the model to calculate the
discharge plan for Phu Ninh reservoir in oder to wash
the salnility of Tam Ky river shows that: The required
discharge flow of Phu Ninh reservoir must be quite
large to ensure that the Agricultural activities will not
be effected by the salility of Tam Ky river (salinity
less than 4 per thousand). They are 26m3/s, 30m3/s
Fig. 10. Result of salinity sprea across the whole
and 37 m3/s, corresponding to the high, medium and
region at 2pm on 9/11/2001.
low level of the flow in Tam Ky river compared to
The established and verified model is used to the average anual flow. This also explains why Phu
calculate three options of upperbounds of Tam Ky Ninh reservoir discharged 20 milliions m3 in 2012 but
river as follow: salinity washing was not effective.
- Option 1: the inflows into these upperbounds This result also show that the amount water for
are stable and larger than the average flow in the dry salinity washing takes a large volumme of the
season of many years. reservoir, which makes the ability of salinity washing
588 October 27 - 28, 2018

Hanoi, Vietnam
of the reservoir is uneffective. Therefore, it is [2] Ngô Lê An, Nguyễn Ngọc Hoa (2013): Nghiên cứu
nescessary to continue researching to find other dự báo dòng chảy lũ lưu vực sông Vu Gia-Thu Bồn,
solution in exploiting and using the water amount of Tạp chí Khoa học kỹ thuật thủy lợi và môi trường, số
43 (2013).
Phu Ninh reservoir for salinity washing and irrigation
[3] Báo cáo tóm tắt quy hoạch thủy lợi tỉnh Quảng Nam
of the downstream area in the most effective way, đến năm 2020 định hướng tới năm 2050.
such as: allowing salinity intrusion deeperly into Tam [4] Đề án điều chỉnh quy hoạch chung thành phố Tam Kỳ
Ky river, building a dam to prevent salinity at a đến năm 2030, tầm nhìn đến năm 2030.
appropriate area, or pumping fresh water on the [5] NGUYEN Tien Cuong, TRINH Thu Phuong (2008):
surface into fields, etc. Forecasting the discharge into Hoa Binh reservoir by
applying the Connecting model MARINE-IMech1D,
Acknowledgments Vietnam Journal of Mechanics, 30 (3), 149-157.
The first author would like to thank for financial [6] H Van Lai, N Van Diep, NT Cuong, NH Phong:
Coupling hydrological–hydraulic models for extreme
support of Vietnam National Foundation for Science
flood simulating and forecasting on the North Central
and Technology Development (NAFOSTED) under Coast of Vietnam, WIT Transactions on Ecology and
grant number 107.03-2017.12. the Environment 124, 113-123.
References [7] DHI software (2014), MIKE 11 A modelling system
for River and channels, User Guide.
[1] Nguyễn Ngọc Quỳnh: Kết quả nghiên cứu đề xuất bộ [8] DHI software (2014), MIKE 11 A modelling system
công cụ dự báo lũ, điều hành hồ chứa và quản lý ngập for River and channels, Reference Manual.
lụt hạ du cho lưu vực sông Tam Kỳ, tỉnh Quảng Nam,
Tạp chí khoa học và công nghệ thủy lợi số 28 (2015).
589 October 27 - 28, 2018

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Researching on Developing the Decision Support System for Salinity

Control Operation and Management in Vu Gia – Thu Bon River Basin
Son T. Hoang1, Lam X. Nguyen2, Trinh D. Tran2, Son T. Nguyen2, Phuong T. T. Phan3,
Cuong T. Nguyen4,*
1
Institute of Geography, Vietnam Academy of Science and Technology
2
Vietnam Academy for Water Resources
3
National University of Civil Engineering
4
Institute of Mechanics, Vietnam Academy of Science and Technology
*Email: ntcuong@imech.vast.vn
Abstract
The decision support system (DSS) for salinity control operation and management is a relatively new
concept in Vietnam, although this concept has been introduced and applied in many countries over the
world. The paper presents some results of developing the DSS for the salinity control planning and
management for downstream area of the Vu Gia – Thu Bon river basin in the context of declining water
sources and water-related disputes in the basin.
Keywords: DSS, Vu Gia - Thu Bon River, Salinity Control.
1. Introduction infrastructure, especially for the traffic-irrigation

infrastructure. The weather is extreme, the quality of
The Vu Gia - Thu Bon river system originates
the vegetation cover is reduced, natural disasters and
from Kon Tum province, flows through Quang Nam
floods often happen and tend to more and
province and Da Nang city and finally flows out to
more frequently. Heavy rains cause soil erosion,
the East Sea at two estuaries namely Cua Dai and Cua
embankment erosion, river cutting, flooding, and
Han. The entire catchment area is located on the East
severe flood inundation, while rainfall is limited
side of the Truong Son Mountain Range with an area
during the dry season causes severe dryness.
of 10,350 km2 with great potential for land and water
resources, hydropower and forestry. The total In recent years, the Quang Hue connecting river
population in the basin is 1.7 million people with two branch between Vu Gia and Thu Bon rivers has been
major economic and tourist centers namely Da Nang continuously eroded and changed in flow dynamics,
and Hoi An are witnessing the rapid development and so the amount of water has been increasingly shifted
greatly contributing to the economic and tourist from the Vu Gia river to the Thu Bon river causing
development of the Central land strip. serious flooding in Hoi An city in flood season and
Due to the general characteristics of the Central lack of water for Da Nang city in the Vu Gia
region, the terrain of the basin is quite complex, downstream in dry season. In addition, after the
most is fully covered by high mountains with popular construction of the large reservoirs system, especially
height from 1500m to 2600m that is strongly divided for the transfer of water from Dak Mi 4 hydropower
with large steep slopes, and difficulty in building plant, there have been significant consequences for
the downstream area. The decrease of water flow to
the Vu Gia river causes the sharp decrease of river
flow in the dry season as well as the high intrusion of
salinity. The average salinity before having the
existing reservoirs is 3.7 days per year, but currently,
there are the year of 70-80 salinity days [6], that
seriously threatened to the major water supply plants
in the Da Nang city and caused serious consequences
to the people living, the economic sectors if there are
not timely responding solutions.
2. Methodology
Salinity intrusion is a consequence of the river
basin water resources management, in order to
Fig. 1. The Vu Gia – Thu Bon. develop the DSS for salinity control, it is needed to
590 October 27 - 28, 2018

Hanoi, Vietnam
firstly control water resources. Today, in order to basin and the project product just was a compartment
better support the planning and management of water of a DSS. The Center for Science and Technology
resources in the river basin, the development of a set Research, Application and Transfer of Quang Nam
of simulation tools and management support is very province (2008) conducted a researchproject on the
necessary. With the development of computer science application of information technology for the
and technology, GIS software, the modeling, and management of land and water resources in the Vu
system analysis have been rapidly developed. The Gia - Thu Bon river basin located in the Quang Nam -
Decision Support System (DSS) has quickly replaced Da Nang region and a database was developed for the
the old Management Information System (MIS). management of land and water resources in the Vu
Today, in the world, the DSS has been applied in Gia - Thu Bon river basin, Quang Nam - Da Nang
decision-making for the planning, management, and region. However, the main product of the project just
exploitation of water resources in the river basin. This was the database to serve the management of land
is a necessary issue and is a scientific issue that has and water resources in the Vu Gia - Thu Bon river
been interested in the world because of the basin. Nguyen Tung Phong (2013) researched and
practicality of this system for the proper development developed a decision support system (DSS) for the
and use of water resources in the river basin. management and exploitation of water resources in
Vietnam, but the decision-making support juststopped
So, how is a DSS? And what are the DSS
on the knowledge basis as the database and the
components? The DSS is understood as an approach
calculations of the scenarios for the future
or methodology to support decision-making. It is a
development. There are also a number of independent
flexible human-computer interactive information
projects serving many different purposes. In general,
system that is built to support in addressing
these researches have obtained many valuable
specialized non-structural management issues.
scientific and practical results, which have greatly
Similarly, Lucks, DP and JR Costa (1990) defined the
contributed to the development of the set of tools for
DSS as a system of database programs, optimal
supporting the implementation of the integrated water
mathematical approximation models or simulation
resources management (IWRM). However, due to the
models with corresponding algorithms that are set up
limitation of the research objectives and contents,
in relation to a specific issue, a specific site or a
until now, there have not beenany researchesthat have
specific area to assist in referencing, planning,
produced a complete decision support system for a
managing, operating, designing as well as decision-
river basin that taking into account the issues of
making to handle the disputes of water use
hydrological, hydraulic, water quality, groundwater
requirements. In Vietnam, the DSS is still a new
and WEB-based running in order to facilitate for the
concept and only applied to a number of specific
users.
researches. In general, the new researches are only
focused on the separate areas that have not been The design of the DSS in this research is derived
assembled in an integrated analysis framework that from the DSS model for the Colorado river basin of
forms the basis for river basin management the United States of America. This model has been
documents. applied to the water resources management in the
Colorado river basin and received positive feedback.
The Vietnam Academy for Water Resources
In addition, the DSS model is also proposed after
(2010) has developed a set of tools to support
comparing, analyzing the advantages and
decision-making in the management of the Thach
disadvantages of the DSS models using in the
Han river basin (Quang Tri province), however, the
country. The DSS is designed based on a
research results are only focused about the water
technological basis that is a real-time operating
quantity. The Vietnam Institute of Meteorology,
system consisting of three blocks of a computational
Hydrology and Climate Change (2004-2006) applied
part, a database part, and a display interface part as a
the DSF software that developed for the Mekong
WEB-GIS that is expected to be managed and
river basin (Halcrow-UK) includingflood inundation
operated by a technical unit that is selected by the
calculations and transboundary impact assessment
“Board of the management system”. In terms of
due to the development in using of the water
functionality, the system can be developed to address
resources and the Ca river basin, however, the
three objectives of (1) developing the planning and
research juststopped at the development of the DSF-
strategies for anti-drought solutions; (2) developing
decision support framework instead of reaching the
the operational plans for the system to control
full DSS. For the aspect of the solutions for water
salinity; (3) Forecasting and warning the salinity
using disputes, Huynh Thi Lan Huong (2010)
intrusion for developing the response measures.
conducted a ministry-level researchproject on the
development of a technical assistance system for The DSS will be expected to provide tools and
handling the water resources disputes in the Ba river data inputs to the DSS operating team in order to
591 October 27 - 28, 2018

Hanoi, Vietnam
a. Water level is validated at Giao Thuy station

located in the Thu Bon river
Fig. 2. Conceptual diagram of the decision support

system (DSS) for salinity control in the Vu Gia - Thu
Bon river basin.
calculate the effects of salinity intrusion under long-
term development scenarios and submit to the system
management board (corresponding to green arrows in
Figure 2). These scenarios can be climate change,
land use, hydropower development, irrigation, and
transportation scenarios, etc. b. Water level is validated at Ai Nghia station
located in the Vu Gia river
Fig. 4. Water levels are validated at Giao Thuy
3.1. Background modeling system station located in the Thu Bon river and Ai Nghia
The DSS will be expected to provide a station located in the Vu Gia river (red line -
comprehensive computational tool for calculating observed, black line - simulated).
from the upstream to the river estuaries of the Vu transfer, generates a discharge after the reservoir as
Gia- Thu Bon basin. To describe the river flow and an input for the Mike 11 model, in addition, the Mike
salinity intrusion, the mathematical modeling method Basin model also calculates across the entire basin
is mainly applied with some calculation tools with data series from 1976 to 2012 in order to
including Mike Nam, Mike Basin and MIKE 11 generate the flow correlation at observable positions
because of the ability to quickly calculate, the easy to in the cases of having reservoirs and without
apply and manipulate, and finally, the reliability level reservoirs, as the basis for proposing minimal flow
has been widely and internationally recognized. correlation. Finally, the Mike 11 model receives the
Schematic diagram of the system is shown in Figure 3. input data from the Mike Basin and Mike Nam
In this system, the Mike Nam model calculates (natural boundary) models using HD and AD
rainfall, runoff, generates modular series as inputs to modules for hydraulic calculations, salinity intrusion
other models. The Mike Basin model calculates water transport, and for impact assessment, and the model
balance, water use, reservoir regulating, water as a powerful tool for the determination of water
levels, and salinity controls over control points in the
basin [5]. The model system has been validated to
ensure the reliability as showing in Figures 4, 5 and 6.
Fig .3. Schematic diagram of the dry and saline flow Fig. 5. The saline flow rates are validated at Cau Lau
rates in the Vu Gia - Thu Bon river system. station located in the Thu Bon river (red points -
observed, black line - simulated).
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Hanoi, Vietnam
Table 1. Development scenarios
Development scenarios\
75% 85% 95%
Frequency
Water and irrigation

demand for the
TH1a TH1b TH1c
current status + without
hydropower plants system
Fig. 6. The saline flow rates are validated at Cam Ha
station located in the Thu Bon river (red points -
demand for the year of
observed, black line - simulated).
2030 + climate change & TH2a TH2b TH2c
3.2. Calculation results for planning and strategies sea level rise + without
hydropower plants system
The hydrological and water demand scenarios
following the dry frequency corresponding to the
typical frequency such as 75%, 85%, and 95%,
respectively at Nong Son and Thanh My stations for a demand for the current
status + having
relatively long period (from 1976 to 2016). These
hydropower plants system TH3a TH3b TH3c
scenarios have been calculated into hydrological
series, besides, the impacts of climate change and the (transfer of water from
Dak Mi 4 hydropower
reservoir operations have been integrated into the
calculation cases (Table 1). In addition, for long-term plant)
monitoring, the model system, hydrological scenarios
and data systems as well as the calculation results Water and irrigation
under these scenarios will be updated into the demand for the year of
database of the system when ending the project that 2030 + climate change &
ensures the information queries if necessary. These sea level rise + having
TH4a TH4b TH4c
tools will be transferred to the technical team hydropower plants system
operating the DSS system, ensuring that the team will (transfer of water from
be able to dynamically update the simulation network Dak Mi 4 hydropower
following the new development plans on the system. plant)
An example of a calculation result for the

planning and strategies purposes is shown in Figures
7 and 8.
Fig. 7. Salinity levels at the pump station of Cau Do

Water Supply Plant according to the calculation cases Fig. 8. Salinity intrusion level of 1‰ for the TH1b
of the 85% scenario. case.
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Hanoi, Vietnam
download and process the 10 days meteorological

forecasts data of the Global Forecast System (GFS)
from NCEP-NOAA National Prediction Centers
(USA). In addition, the GSMAP real-time rainfall
will be updated from the Japan Aerospace
Exploration Agency (JAXA) in order to monitor the
rainfall amount and make the initial conditions for the
model. These data are calibrated by using algorithms
that are built to ensure the required accuracy. The
programs on the server will automatically run every 6
hours to update the forecast and synchronize to the
database (Figure 10).
The GFS – NCEP weather forecast
3.3. Real-time decision-making support for

developing a medium-term (10-day) reservoir system
operation plan for salinity control The GSMAP (JAXA) hourly rainfall monitoring
The generated DSS was also a supporting tool Fig. 10. The GFS (NCEP-NOAA) weather forecast
for developing a real-time operation plan in the next and the GSMAP (JAXA) rainfall hourly monitoring.
10 days. Specifically, the operation problem of the
Vu Gia-Thu Bon basin will be the problem of the b) The computational modeling system: The
three participants of Da Nang city, Quang Nam modeling systems for calculating the salinity
province, and the hydropower reservoir owners. intrusion including the Mike 11 AD + HD models
Localities in downstream areas will need an objective and for generating the natural access flows using the
calculation tool in order to develop the reservoir Mike Nam model were developed and will be derived
operation plans ensuring the salinity control and safe for the Vu Gia - Thu Bon downstream area (Figure
water supply for all downstream economic sectors. 11). The calculation area will start with two control
The system is operated in accordance with the real- points located in the Vu Gia river side of the Vu Gia -
time, automatically updates the monitoring data and Quang Hue upstream and the Thu Bon river side of
hourly forecasts and supports the development of the Quang Hue - Giao Thuy upstream. The
operational plans through the connection of WEB- calculation area will consist of an entire system that
GIS (graphical and interactive interface), background together linking and extending into the sea. The
calculations system (models of hydrology, hydraulics, facilities on the system will be simulated by control
water balance and salinity intrusion), data collection structures such as An Trach, Bau Nit, and Ha Thanh
and processing system for the meteorological dams. The main water intakes located in the system
forecasts, systems for the hydro-meteorological and such as the Cau Do water supply plant, Hoi An water
saline intrusion monitoring and database system. supply plant, agricultural pumping stations including
Tu Cau, Cam Sa, and Vinh Dien pumping stations,
a) The data input for the meteorological forecasts: etc. will be simulated for salinity control. The entire
The host computer of the system are connected to downstream detailed model will synchronously
594 October 27 - 28, 2018

Hanoi, Vietnam
Fig. 13. The automatic station system measures water

level and salinity intrusion.
system for measuring the water level and salinity
intrusion. These stations are self-operated by using
solar electricity and can be deployed in most
locations connected to the center via the 3G internet
network, most of the system equipments are
manufactured in Vietnam, so it is effective cost and
Fig. 11. The downstream detailed model for the maintenance. However, the system for the Vu Gia -
operational support calculations [8]. Thu Bon river basis has not been implemented due to
lacking funds and local approval.
e) The DSS (WEB-GIS) interface and decision-
making support for operational plans
The interactive interface of the DSS is expected
to be a WEB-GIS flatform using the Google API’s
base maps. At the beginning, it will be in the default
mode of predicting salinity intrusion in the next 10
days. The support function for the operational plan
Fig. 12. The automatic station system measures water development will enable to simulate many trials at
level and salinity intrusion. two control points at the Vu Gia - Quang Hue and the
Thu Bon - Quang Hue confluence to control the
operate the HD and AD modules to simulate both the required additional operational flows from the
water level, water flow and salinity transport on the reservoirs for the Vu Gia and Thu Bon rivers.
system
The calculations implemented on the basis of
c) The database of the system: The PostgreSQL existing natural flows that generated by the
database is installed on the host computer that stores monitoring and forecasting data at the calculation
all basic information about the river basin, hydro- time will ensure that the development of the
meteorological data, and water demand. The database operational plans is realistic and appropriate. The
will provide all input/ output data from the calculation results will be analyzed to show the
mathematical models, the river basin water resources distance of salinity intrusion and salinity changes at
management scenarios, the reports, the simulation each control point, to allocate the flow additional
results of the mathematical models are also stored in operations between the reservoirs and the reservoir
this module, GIS maps, satellite imagery, which water balance, which will help to quickly decide to
integrates administrative maps, thematic maps on choose the plan or not.
river basin systems such as river systems, reservoirs,
land use, land classification, population density, etc.
4. Conclusion
This database is an information exchange center of
the entire system. The toolset for decision-making support system
(DSS) in salinity intrusion control for the Vu Gia -
d) The automatic station system measures water level Thu Bon river basin is presented in the article as a
and salinity intrusion result of initial research. It is concluded that the DSS
The research has also been succeeded in is one of the first salinity control systems to be built
researching and manufacturing the automatic station in Vietnam using GIS technology and operating on
the WEB-based platform and expecting to fully
595 October 27 - 28, 2018

Hanoi, Vietnam
system will be the bridge to promote the basic

research on mathematical models can be applied to
the real-life situations in the faster and more
convenient ways.
However, further research may focus on further
improving the accuracy of the simulation models of
meteorology, hydrology, hydraulics, and saline
intrusion.
References
[1] Hahn, B. and G. Engelen, Concepts of Decision
Supporting Systems, in: German Federal Institute of
Hydrology,. Decision Support Systems (DSS) for
Salinity analysis by space river basin management. Koblenz, Germany, 9-44,
2000.
[2] De Azevedo, G., T. Gates D. Fontane J. Labadie, and
R. Porto, Integration of Water Quantity and Quality in
Strategic River Basin Planning, Journal of. Water
Resources. Planning and Management, 126(2), 85-97,
2000.
[3] NGUYEN Tien Cuong, TRINH Thu Phuong (2008):
Forecasting the discharge into Hoa Binh reservoir by
Analysis of salinity and water level at the control applying the Connecting model MARINE-IMech1D,
points of the Cau Do water supply plant Vietnam Journal of Mechanics, 30 (3), 149-157.
[4] H Van Lai, N Van Diep, NT Cuong, NH Phong:
Fig. 14. The calculation results are given both in Coupling hydrological–hydraulic models for extreme
space and at the control points. flood simulating and forecasting on the North Central
Coast of Vietnam, WIT Transactions on Ecology and
the Environment 124, 113-123
[5] Hoành, Chu Thái, Hệ thống thông tin dữ liệu và các
mô hình toán dùng cho cân bằng quản lý nước tại
ĐBSCL, 1994.
[6] PGS. TS. Nguyễn Văn Tỉnh, Báo cáo tổng hợp cân
bằng nước Đề tài: Nghiên cứu xác định khả năng chịu
tải và dòng chảy tối thiểu của sông Vu Gia – Thu
Bồn” 2015.
[7] Sở NN & PTNT Đà Nẵng, Báo cáo Hiện trạng phát
Fig. 15. Water balance calculation for Song Tranh triển KTXH, thủy điện, phân lưu Quảng Huế.
reservoir. [8] Bộ TNMT, Báo cáo Tính toán và xây dựng quy trình
vận hành liên hồ chứa các hồ A Vương, Đắk Mi 4 và
support the real-time system operation. The tools are sông Tranh 2 trong mùa cạn.
based on the system of the Mike product family [9] Harro Stolpe, Nils Führer and Viet Quoc Trinh: Land
models that have been developed and validated for Use Adaption to Climate Change in the Vu Gia–Thu
the research area. Bon Lowlands: Dry Season and Rainy Season, A.
It is expected that this DSS could be used to Nauditt and L. Ribbe (eds.), Land Use and Climate
assist the decision-makers at various levels in the Change Interactions in Central Vietnam, Water
Resources Development and Management, DOI
aspect of planning on water use and will support the
10.1007/978-981-10-2624-9_11, Springer Science +
system operating as well as the real-time salinity Business Media Singapore .
intrusion forecasting and warning. In addition, this
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Numerical Simulation of the Contra-Rotating Propeller by using Ansys

CFX
Vu Pham Duc Dung, Tran Tien Anh*
Ho Chi Minh city University of Technology (HCMUT)
*Email: tienanh@hcmut.edu.vn
Abstract
This study presents the numerical simulations of the contra-rotating propeller (CRP) performance by using
multiple reference frames (MRF) method with Ansys CFX software. The model of CPR was built at the
laboratory with two propellers which have the same configuration (airfoil, diameter, hub diameter, pitch angle
at all sections…). Optimum of the propulsive efficiency of ships or aircrafts has always been one of the main
objectives for naval architects or aerospace designed engineers.
CPR are propulsion configurations offering higher efficiency compared to the conventional single propeller
(SP) by the recovering the rotational energy in the propeller slipstream. However, the fluid between two
propellers in CRP model is hard to calculate by the conventional analytical method. Nowadays, with the
development of science and technology, powerful capacity of the computational fluid dynamics tools, the
efficiency of the CRP could be analyzed quickly and robustly.
Keywords: Contra-rotating propeller (CRP), Ansys CFX, multiple reference frame (MRF), k -e turbulent
model.
1. Introduction
2. Multiple reference frame method
Contra-rotating propellers have been studied for
The MRF is the simplest method of the two
over 60 years as a more fuel efficient method of
approaches for multiple zones. It is a steady-state
aircraft propulsion. A CRP consists of 2 sets of
approximation in which individual cell zones can be
propeller blades, one directly behind the other in the
assigned different rotational and/or translational
axial direction, spinning in opposite directions.
speeds [13].
The fundamental premise behind CRPs is the
The flow in each moving cell zone is solved
elimination of the tangential velocity, which is
using the moving reference frame equations. At the
considered to be a loss in performance and efficiency.
interfaces between cell zones, a local reference frame
Contra-rotating propellers can significantly transformation is performed to enable flow variables
reduce or even eliminate the tangential velocity of the in one zone to be used to calculate fluxes at the
propelled air, or swirl losses, and also the torque boundary of the adjacent zone [10].
produced by the engine. This leads to a more efficient
and economical engine and less torsional loading on
the blades [9].
However, they can be very noisy. These
substantial noise problems limit commercial
applications [1].
Fig. 2. Moving zone inside stationary zone [5].

Fig. 1. Example of single propeller and CRP.
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Table 1: Propeller data

Propeller diameter 9 inches = 228.6 mm
Number of blade 2
Hub diameter 0.9 inches= 22.86 mm
Hub thickness 10 mm
Propeller airfoil unknown
Fig. 3. Stationary coordinate systems and moving

coordinate system [5].
Fig. 5. Rotating zone outside the propeller with

cylinder diameter 260mm, length of cylinder 40mm.
Fig. 4. Model of propeller Master Airscrew E9x6 in

Solidworks.
It should be noted that the MRF approach does

not account for the relative motion of a moving zone Fig. 6. Distance and size of the rotating zone inside
with respect to adjacent zones (which may be moving the stationary zone.
or stationary). The mesh remains fixed for the
computation. This is analogous to freezing the motion The computational domain refers to a simplified
of the moving part in a specific position and form of the physical domain both in terms of
observing the instantaneous flow field with the rotor geometrical representation and boundary condition
in that position. Hence, the MRF is often referred to imposition. This simplified form should retain all
as the “frozen rotor approach”. physically important features of the problem but can
ignore minor details. The computational domain is a
3. Numerical results for single propeller model
prerequisite for all simulation problems. So the size
First, a single propeller model was built to test of the computational domain should be reasonably
its operating in low speed condition. Then, the calculated. The expansion of the computational
archived results were compared with those having domain will limit the influence of the boundary
been given by wind tunnel test from the University of conditions in the simulations. However, increasing
Illinois. The results confirmed that the MRF method computational domain will increase the element of
in Ansys CFX can be used to simulate CRP model. mesh and running time of the model as well as
require a computer with higher configuration.
3.1. Geometric representation
3.2. Meshing
We use the propeller Master Airscrew E9x6 for
the model simulation. A 3D model of propeller was Mesh sizing at propeller surface is smooth, the
built by 3D scanning method. Then, its CAD model element mesh size in this area is smaller than that in
was built by using the software Solidworks. The error other areas and the number of elements is large
of 3D modeling by scanning is 10% compared to real enough to accurately describe the aerodynamic
model. behavior.
Calculating zone include 3 zones: propeller Specially, mesh size in parts at leading edge,
inside the rotating zone, rotating zone and stationary trailing edge and nose need to be very smooth,
zone. because these parts are important areas. It is
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Fig. 7. Rotating cylinder and propeller meshes.
Fig. 9. Volume meshing inside of stationary zone.
Fig. 10. Evaluation of rotating domain mesh size by

aspect ratio in Ansys ICEM meshing.
Fig. 8. Surface meshing of stationary zone. Different physics and different solvers have
different requirements for mesh quality. There are
intersection between two pressure surfaces. many methods and the programs to check quality of
Moreover, the leading edge is the location of mesh. In this study, Ansys ICEM meshing tool was
maximum pressure point which can change position used to check mesh quality.
when advance ratio changed.
3.3. Model solving
Hence it must be very smooth to detect behavior
It is necessary to set up two domains to solve the
in this section for accurate simulation result. Mesh
problem which is stationary and rotating zones
sizing at the stationary area is less smooth than the
corresponding to stationary and rotating mesh, with
rotating mesh.
angular velocity in rotating domain set to n=5000rpm.
Unstructured meshes were used with tetrahedron This angular velocity is one of the angular velocities
in domain volume and triangle mesh in surface, that the University of Illinois experimented with in
because it's much faster and simpler even for the wind tunnel. Therefore, it is easy to have a
complicated geometry and it is also an extremely reference data for comparing the results of
useful and flexible framework for the refinement of experiment with simulation, and to give comments on
unstructured meshes. the accuracy and reliability of the simulation method
applied in this study.
At regions far away from the rotating domain,
the flow is uniform and continuous, so there is no And for all simulations, the flow in the control
need to mesh smoothly this area (Figure 8). Volume volume was treated as air at 25oC under
grid (purple color) tend to develop as close to the 1.01325×105Pa reference pressure, continuous flow
rotating domain as dense to ensure continuity and isentropic.
between the two regions, as shown in Figure 9.
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Fig. 13. Boundary conditions at wall of stationary

zone.
Fig. 11. Boundary conditions at inlet.
Fig. 12. Boundary conditions at outlet.
a) Inlet conditions: Velocity components were

prescribed at the inlet boundary according to
the desired value of 9.144m/s and turbulence
is medium (5% intensity).
Fig. 14. Pressure distribution at front and rear
b) Outlet conditions: The boundary condition at surfaces (with J=0.4 and V=7.62 m/s).
outlet is set “static pressure”, with relative
pressure 0Pa.
Simulating results were reviewed for some cases
c) Wall conditions: The boundary condition at
in which rotation speed is fixed at 5000rpm and
wall is set to “opening”, with relative
advance ratio J varying from 0.2 to 0.6 by changing
pressure 0Pa.
inlet velocity from 3.81m/s to 11.43m/s, respectively
d) Set up frozen- rotor model for interface: The
and a static case in which the air flow velocity is zero.
frozen-rotor model makes the flow uniform
from rotating domain to stationary domain All pressure and velocity distributions are
and maintains the corresponding between examined at the 75% section of the propeller blade.
positions in rotating mesh and stationary The upper side has the small pressure while the lower
mesh. side has high pressure. Thus there is pressure
difference between these two surface, which creating
Turbulence model used in this model is the k–ε,
the thrust.
this turbulence model has seen fairly wide application
in aerodynamics problems, where viscous flows are The position with highest pressure is at the
typically well resolved and turbulence models are leading edge. When the advance ratio J increases, the
generally applied throughout the boundary layer. position with highest pressure tends to move up to the
upper surface of the blade section.
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Table 2: Dimensionless coefficients
J Thrust Torque Power Efficiency

coefficient coefficient coefficient h
CT CQ CP
0.20 0.1285 0.0131 0.0825 0.3117
0.28 0.1220 0.0133 0.0833 0.4100
0.40 0.1087 0.0133 0.0837 0.5198
0.48 0.0972 0.0131 0.0822 0.5680
0.60 0.0771 0.0122 0.0769 0.6018
Table 3: Experimental and simulation results for
dimensionless coefficients [6]
J Thrust Thrust Power Power
coefficient coefficient coefficient coefficient
CT CT CP CP
(experiment) (simulation) (experiment) (simulation)
0.20 0.1220 0.1285 0.0760 0.0825
0.28 0.1120 0.1220 0.0760 0.0833
0.40 0.1000 0.1087 0.0730 0.0837
0.48 0.0860 0.0972 0.0690 0.0822
0.60 0.0680 0.0771 0.0640 0.0769
Fig. 15. Velocity distribution (with J=0.4 and

V=7.62m/s).
By using dimensionless coefficient, we have [4]:

T
Thrust coefficient : CT =
rn 2D 4
Q
Torque coefficient: CQ =
rn 2D5
P
Power coefficient: C P = or C P = 2pCQ
rn 3D5
CT
Efficiency: h = J
CP
The graphs of thrust coefficient and power Fig. 16. Pressure distribution at front and rear
coefficient in simulation and Illinois experiment cases
surfaces (with J=0.6 and V=11.43 m/s).
have similar shapes, but they have errors at each
examined advance ratio value. really optimal. The error also comes from the
The values of the simulation cases are greater experimental set up.
than the experimental values because the experiment
cases have a lot of factors to reduce the thrust, such as - Thrust coefficient maximum error:
drags from propeller connection frame, unsteady flow
in wind tunnel... DCT = 0.08939 = 8.939%
The errors are acceptable. The error can come - Power coefficient maximum error:
from many different causes, probably due to mesh
size, rotating domain model and static domain is not DC P = 0.124354 = 12.4354%
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0.13
0.12
0.11
0.1
0.09
0.08
0.07
0.06
0.1 0.2 0.3 0.4 0.5 0.6 0.7
J
Thrust coefficient (experiment)

Thrust coefficient (simulation)
Fig. 18. Comparison of thrust coefficients with

Illinois university results.
0.09
0.08
0.07
0.06
Fig. 17. Velocity distribution (with J=0.6 &
V=11.43m/s). 0.05
0.1 0.3 0.5 0.7
4. Numerical results for CRP model J
4.1. Geometric representation, meshing and model
solving Power coefficient (experiment)
Power coefficient (simulation)
From the simulation model for single propeller
with acceptable results, we have fundamental Fig. 19. Comparison of power coefficients with
preparation for setting up the CRP model in Ansys Illinois university results [11].
CFX.
The steps to build and set up for solving the
CRP model are similar to the above steps for single
propeller. There is a little bit different in modeling.
The CRP has two propellers with the same
configuration, but they rotate in opposite directions
with the same axis. Fig. 20. Master Airscrew E9x6 and its mirror shape
in Solidworks.
The distance between 2 propellers is 85 mm.
As the simulation run time for CRP is too long,
averaging 3 days for one advance ratio case.
Therefore, only 4 simulation cases correspond to 4
different advance ratios are shown in this study.
With higher advance ratio value:
By using dimensionless coefficient, we have [12]:

Fig. 21. Two rotating domains outside the forward
V
Advance ratio: J = and backward propellers.
n f Df
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Fig. 22. Sizing mesh at the shaft (connect 2

propellers) should be smooth.
Fig. 26. Velocity distribution at backward propellers

(with J=0.4 and V=7.62 m/s).
Fig. 23. Pressure distribution at forward propeller

(with J=0.4 and V=7.62 m/s).
Fig. 27. Velocity distribution at forward propeller and

backward propellers (with J=0.4 and V=7.62 m/s).
Fig. 24. Pressure distribution at backward propeller
(with J=0.4 and V=7.62 m/s). Power coefficient: C P = 2pCQ
CT
Efficiency: h = J
CP
Forward and backward propellers have the same
rotating speed nf  n b and the same diameter
Df  Db.
Tf and Tb are thrusts of forward and backward

propellers respectively.
Qf and Qb are torques of forward and backward

Fig. 25. Velocity distribution at forward propeller
(with J=0.4 and V=7.62 m/s). propellers respectively.
As expected, a CRP model must have higher
Tf +Tb performance than conventional single propeller with
Thrust coefficient: CT = the same dimension and operation conditions.
rnf2Df4 In comparing with single propeller model, the
efficiency of this CRP model is smaller than that of
nfQf + nbQb single propeller model.
Torque coefficient: CQ =
rnf3Df5
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Table 4: Dimensionless coefficients for CRP The simulation results for the SP is acceptable in
comparing with the experimental result of the Illinois
J CT CQ CP h University.
0.20 0.243 0.027 0.169 0.287 The numerical simulations of the contra-rotating
0.40 0.201 0.028 0.175 0.460 propeller (CRP) were investigated in this study by
using multiple reference frames (MRF) method with
0.48 0.176 0.027 0.168 0.503
Ansys CFX software.
0.60 0.139 0.025 0.154 0.539
The forward propeller of a CPR was built by
Table 5: Comparison of efficiency for SP and CRP scanning the propeller Master Airscrew E9x6.
Otherwise, the afterward propeller was built by
J Efficiency of SP Efficiency of CRP
making a mirror shape of forward one.
0.20 0.3117 0.287
0.40 0.5198 0.460 The CRP model in this study is not an optimal
CRP pattern. The number of blades, blade profiles,
0.48 0.5680 0.503
distance between forward and afterward propellers,
0.60 0.6018 0.539 rotating speeds should be considered carefully for
choosing suitable values.
An optimal distance between forward and
backward propellers in CRP model must be studied,
analyses and designed carefully.
The CRP model investigated in this study is just

an example model that was built by using two
previous single propellers with arbitrary distance
between forward and backward propellers
That was reason why it has lower performance
than single propeller. The mesh quality also
influences on the results. In this study, quality of
mesh is not optimal. The mesh size just meet the
requirements for simulating.
5. Conclusion
Fig. 30. Velocity distribution at forward propeller

(with J=0.6 and V=11.43 m/s).
Fig. 28. Pressure distribution at forward propeller

(with J=0.6 and V=11.43 m/s).
Fig. 31. Velocity distribution at bbackward propellers

Fig. 29. Pressure distribution at backward propeller (with J=0.6 and V=11.43 m/s).
(with J=0.6 and V=11.43 m/s).
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References
[1] Nguyen Do Xuan Vinh (2005). Design of lifting and
propulsion system for 3 seat hovercraft, Chapter 3.
Bachelor thesis, Aerospace Engineering Department,
Ho Chi Minh city University of Technology.
[2] Nguyen Thong (2014). Lecture notes on “Applied
numerical methods”. Faculty of Civil Engineering, Ho
Chi Minh city University of Technology.
[3] Laskos, D. (2002). Design and cavitation performance
of contra-rotating propeller. Bachelor of Science in
Marine Engineering, Hellenic Naval Academy.
[4] Carpenter, P. W. & Houghton, E. L. (2003).
Aerodynamics for engineering students, 5th edition.
Fig. 32. Velocity distribution at forward propeller and Butterwoorth-Heinemainn.
backward propellers (with J=0.6 and V=11.43 m/s). [5] Ansys CFX Tutorial.
[6] Benson, W. M. (November 1938). Tests of a contra-
0.7 propeller for aircraft. NACA Tech Note 677.
0.6 [7] Betz, A. (September 1939). The theory of contra-
vanes applied to the propeller. NACA Tech Note 909.
0.5 [8] Biermann, D. & Gray, W. H. (February 1942). Wind
tunnel tests of single- and dual-rotation pusher
0.4
propellers having 3 to 8 blades. NACA ARR (WR L-
0.3 efficiency of 359).
SP [9] Reynolds, C. N. (1982). Advanced prop-fan engine
0.2 technology (APET) single and counter rotation
efficiency of
0.1 CRP gearbox/ Pitch change mechanism. NASA Contractor
Report 168114 (Vol. II), Contract NAS3-23045.
0 [10] Batchelor, G. K. (1967). An introduction to fluid
0 0.2 0.4 0.6 0.8 dynamics. Cambridge, England: Cambridge
University Press.
Fig. 33. Eficiency of single and contra-rotating
[11] John, B. B. & Michael, S. S. (2011). Propeller
propellers with different advance ratios J. performance data at low Reynolds numbers. 49th
CRP model used for simulating is only on the AIAA Aerospace Sciences Meeting, 4-7 January
arbitrary model with chosen rotating speed of 2011, Orlando, FL.
[12] Camci, C. & Akturk, A. (2010). Double ducted fan
5000rpm. Moreover, the influence of air temperature
(DDF)- A technology description document.
and compressibility of were not investigated in this Turbomachinery Aero-heat Transfer Laboratory,
study. Vertical Lift Research Center of Excellence,
A model of CRP should be tested in wind tunnel Department of Aerospace Engineering, The
Pennsylvania State University.
for comparing the simulating and experimental results. [13] Min, K. S., Chang, B. J. & Seo, H. W (September
Abbreviations 2009). Study on the contra-rotating propeller system
SP Single propeller design and full-scale performance prediction method.
CRP Contra-rotating propeller International Journal of Naval Architecture and Ocean
MRF Multiple reference frame Engineering, 1(1), pp. 29-38.
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Development and Application of a Simulation Model for Intermittent Gas

Lift Method in Petroleum Production
Le Quoc Trung, Nguyen The Duc*
Vietnam Petroleum Institute
*Email: ducnt@vpi.pvn.vn
Abstract
The Intermittent Gas Lift (IGL) is an artificial lift method for petroleum production suitable for producing wells
from depleted or low productivity reservoirs. There is a strong need for effective design for an IGL method
and computer programs that simulate the operation of lift systems are an important part of such procedures.
In the present study, a simulation model of IGL procedures is developed. The model is based on solution of
basic equations derived from fundamental mass and momentum balances in casing and tubing. A simulation
software has been developed and applied to optimize IGL design of gas lift wells in Bach Ho field of
Vietnam. The application results show that the simulation software can aid the engineer in the determination
of the optimum values of IGL designs.
Keywords: Intermittent Gas Lift, simulation model, petroleum production.
1. Introduction generality and many features of the IGL process was

not taken into consideration.
Artificial lifts are used in generating flow from
In order to develop a more generalized
wells in which no flow is occurring or the flow is
computation method for IGL design, Schmidt et
occurring at an uneconomical rate. The gaslift is a
al.[5]developed a hydrodynamic simulation model for
widely used method of artificial lift, where gas is
IGL process based on mechanical conservation
injected in the production well providing energy to
equations. Comparisons between simulated results
the flow. Gas lift is classified into continuous and
and measurements have demonstrated the capabilities
intermittent gas lifts. Continuous gas lift is used when
of their model.Liao et al.[6] introduced a mechanistic
the fluid fills into the wellbore continuously but is not
model for IGL system based on fundamental physical
able to come to the surface while intermittent gas lift
principles. In their model, an IGL cycle is divided
(IGL) is used when the fluid flow into the wellbore is
into foursstages. The mathematical model consists of
not continuous and the operating valve is not always
a system of ordinary and partial differential equations
submerged.
for each of the four stages. The resulting system of
The IGL method work in cycles. The engineer
equations is numerically solved. The model is capable
needs a simulation tool to determine the performance
of generating the detailed cyclic characteristics and
of the various designs under certain field conditions,
the overall performance of an intermittent gas-lift
to tune the operational parameters to their optimum
system. The model is validated using experimental
values. However, each cycle of an IGL process is
data collected by a number of previous
made of stages with transient flows. Besides, two-
investigators. Santos et al. [7] have also developed a
phase flow of oil and gas occurs in the well, which
mechanistic model and applied to different designs of
adds to the complexity of the computations.
IGL techniques.
Consequently, the task of simulation is very
In this study, a simulation model for IGL
complicated.
process is also developed. The model is also based on
Studies on computation and simulation for IGL
mechanical conversation equations. The detail of
techniques have been performed by Brown and
simulation model is described in Section 2.
Jessen [1], Brill et al. [2] and Neely et al. [3]. They
did some experimental work and established 2. Simulation Model
empirical rules for the setting of operational
2.1. System of equation
parameters of the IGL system.White et al. [4]
developed mathematical models from empirical The conventional IGL cycle and its stages can
relations to calculate some variables of the IGL be illustrated in Fig. 1. The motor valve controls the
system. Empirical models can predict some varying injection of gas following a timer program. The gas-
parameters of IGL cycles. The advantages of these lift valve is set to open at a certain pressure in the
models are quite simple. However, they were casing. The tubing is loaded with a column of liquid
developed based on measurements of some initial the gas-lift valve opens. The gas elevates the liquid
cycles and in some limited wells, so the lack of slug, leaving behind a film of liquid (the fallback).
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Gas flow through the Gas-lift valve is added to

the mass conservation equation
d  gc
Vc   gsc  qgi  qgv  (1-b)
dt
The equation for pressure drop in height does
not change:
Pc 2  Pc 1 e x p H  gv   (2-b)
The formation and development of the gas

Fig. 1. The main stages of an IGL cycle. column is described by the mass conservation
The liquid slug is produced at the surface and the gas equation
is also produced after that. Some liquid is also
produced by the dragging of the liquid film and
d
dt
 
gt1 At  Af hg   gsc qgv   (3-b)
droplets dispersed in the gas. At some point, the gas-
lift valve closes and the decompression of the tubing Pressure drop along the gas column is evaluated
begins. Finally, the reservoir pressure feeds the by the following equation
bottom of the well, reloading the system for the next
cycle. v b2 h g (4-b)
Pt 1  Pt 2  f gt  gt 1   gt 1 gh g
2 Dt
In the development of the mathematical model,
the Decompression stage can be divided into three Equation for liquid film is
sub-stages with different governing equation systems.
Thus, an IGL cycle is divided into seven stages in the dA f
hg  qr  q fs (5-b)
mathematical modeling. The basic equations used in dt
the simulation are presented below:
Pressure drop from well bottom to gas-lift valve
2.1.1. Injection is evaluated by:
The purpose of this stage is to increase the P w b  Pt 1   l g H w  H gv  (6-b)
pressure in the annulus between tubing and casing.
This stage starts when the motor valve is open until According to the law of mass conservation, the
the pressure in the annulus is large enough to cause velocity of the liquid slug is related to the velocity of
the gas-lift valve to open. the gas column and the velocity of the liquid film by
the following equation:
The continuity equation describes the mass
conservation law when gas is injected into the At v l  A t  Af v b  Afv f
(7-b)
annulus between tubing and casing is in the form:
The heigh and the velocity of the liquid slug are
d  gc related by:
Vc   gsc qgi (1-a)
dt
dhl
The pressure at the pump head on the surface dt

 hl  H gv : vl ;0  (8-b)
and the pressure at the gas-lift valve position are
related to each other by the ideal gas law: And the same is the equation for the heigh of
gas column:

Pc 2  Pc 1 e x p H gv   (2-a)
dhg
Z gc RT  hg  H gv : vb ;0 (9-b)
where   dt
Mg
The momentum equation for the liquid slug is
2.1.2. Elevation written as follows
During this period, the gas through the gas-lift
valve will create and develop a gas column that
pushes the liquid slug to the surface. This stage
begins when the gas-lift valve opens until the liquid
slug reaches the surface ( hl  H gv ).
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Af A  A  v 2.1.4. Decompression
 h  h  dvdt
l g
l
 vl2 
At
v 2f 
t
At
f 2
b
This stage begins when the liquid column no
longer exists, or in other words the gas column
1
  Pt 2  Pt 3   g  hl  hg  (10-b) reaches the surface ( h g  H gv ), and ends when the
l
gas-lift valve closes.
v2 h  h
 fl l l g  0 Compared to system of equations of the
2 Dt
previous stage, no equations of the forms (7), (9) and
The pressure at the slug top is related to the well (10) are required for this stage. In order to calculate
head pressure through the following equation the velocity of the liquid firm, instead of the equation
of the form (7), momentum equation of the form (12)
Pt 3  Pw h   g ts g H gv  hl  (11-b) for the liquid filmis used. The equations of the forms
(3) - (5) are rewritten accordingly. In summary, the
2.1.3. Production system of equations describing flows in this stage can
During this stage, the liquid slug was raised to be written as:
the surface and the liquid was produced. This stage d  gc
begins when the liquid slugreaches the well head Vc   gsc  Fgi qgi  qgv  (1-d)
( hl  H gv ) and ends when the gas column reaches the dt
surface ( h g  H gv ). Pc 2  Pc 1 e x p  H gv   (2-d)
Since the top of liquid slug is at the well head,

no equations of the forms (8) and (11) are required
d
dt
 
 gt1s At  A f H gv   (3-d)
for this stage. The momentum equation for the liquid
slug is rewritten from the previous stage. In summary,

  gsc q gv  q gp 
the system of equations describing flows in this stage
can be written as
where q gp  v gs A t  Af 
 0.5v 
2
d  gc
Vc   gsc  qgi  qgv  (1-c) Pt1  Pwh  f gt gt1s
gs Hgv
dt 2 Dt (4-d)
Pc 2  Pc 1 e x p  H gv   (2-c) gt1s gHgv
d
dt

gt1  At  Af  hg   gsc qgv  (3-c) H gv
dA f
 qr  q fs (5-d)
dt
v b2 h g (4-c) where q fs  v f A f
Pt 1  Pt 2  f gt  gt 1   gt 1 gh g
2 Dt
dAf
hg  qr (5-c) P w b  Pt 1   l g H w  H gv  (6-d)
dt
dv f D 
P w b  Pt 1   l g H  H  (6-c) Af  2  t  y 
w gv
dt  2 
A v (7-c)  dy f g  gt1s H gv 
 
At v l   Af  Afv 2
t b f
 vf  0.5v gs  (12-d)
dhg  dt 8  l H t1 
 hg  H gv : vb ;0 (9-c) f1 2 Dt Af Pt1  Pwh
dt  vf   gAf  0
4 2 H t1 l
dvl A
H gv  hg 
dt
 vl2  f v 2f
At 2.1.5. Decompression II

A  A  v
t f 2

1
 Pt 2  Pwh  (10-c)
This stage begins when when the gas-lift valve
closes and ends when the liquid film starts to turn
At
b
l direction (velocity of liquid film v f  0 ).
vl2 H gv  hg
 g  H gv  hg   f l 0 Compared to the system of equations of the
2 Dt
previous stage, due to the gas-lift valve closed, there
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is no need for equations of the forms (1) - (2) for the

annulus betweenthe tubing and the casing. Also
d
dt
 gt 4 s At  A f   H gv  hlr  (3-f)
because the gas is no longer flowing into the tubing at
the gaslift valve, the fluid from the reservoir flowing

  gsc  q gp 
into the tubing will no longer be forced to flow
through the film, instead it accumulates to form a
với q g p  v gs A t  Af 
liquid column above the gas-lift valve. Thus, the
 0.5v   H 
2
equation of the form (13) for calculating the height gs gv  hlr
and the equation of the form (14) for calculating the
Pt 4  Pwh  f gt  gt 4 s
2 Dt (4-f)
pressure drop for this liquid column should be added.
In summary, the system of equationsfor this

 gt 4s g H gv  hlr 
stage consists of: dAf
H  hlr   q fb (5-f)
d
 
gv
dt

 gt 4 s At  A f  H gv  hlr
(3-e)
dt
với q fb   v f A f

  gsc  q gp 
P w b  Pt 1   l g H  H  (6-f)
where A 
w gv
q gp  v gs t  Af
 0.5v   H gs
2
gv  hlr 
d
dt
 A  A  h   q  q
t f lr r fb (13-f)
Pt 4  Pwh  f gt  gt 4 s
2 Dt (4-e) Pt1  Pt 4   l ghlr (14-f)

 gt 4s g H gv  hlr  2.1.7. Loading
dA f The loading stage is assigned to the period from
H gv  hlr 
dt
  q fs (5-e) the end of the gas pressure ( v gs  0 ) until the
accumulated fluid reaches a certain height to start a
với q fs  v f A f new cycle ( hlr  lsi ).
P w b  Pt 1   l g H w  H gv  (6-e) Compared to the simulation equations of
previous stage, due to the gas velocity in the tubing is
dv f D  zero, the mass conservation equation of the form (13)
Af  2  t  y 
dt  2  and the momentum conservation equation of the form
(14) for the gas column are no longer used.Equation
 dy f g  gts 4 2 H gv  hlr    (12-e)
 v f 
 dt 8  l
0.5vgs
H t1
  
(11) should be added to calculate the pressure drop
along the gas column.
 
f D A P P In summary, the IGL cycle in the Loading stage
 1 v 2f  t  f t1 wh  gAf  0 is simulated by the following equations
4 2 H t1 l
dAf
H gv   q fb (5-g)
d
dt

At  Af hlr  qr   (13-e) dt
P w b  Pt 1   l g H w  H gv  (6-g)
Pt1  Pt 4   l ghlr (14-e)
Pt 4  Pw h   g ts g  H  h lr  (11-g)
2.1.6. Decompression III gv
This stage starts when the liquid film is reversed

( v f  0 ) until the gas pressure is exhausted
d
dt
 A  A  h   q  q
t f lr r fb (13-g)
( v gs  0 ). Pt1  Pt 4   l ghlr (14-g)

Compared to the previous stage, there is no 2.2. Closure formulas
momentum equation of the form (12) for liquid film.
The remaining equations are similar and can be In order to solve the equations described in
summarized for this stage as follows: Section 2.1, it is necessary to supplement the
formulas for determining the friction factors, the flow
609 October 27 - 28, 2018

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through the gas-lift valve and the flow from the

reservoir into the well.
The friction factor f gt can be determined by the
experimental function of the film thickness outside
the liquid slug [8].
f gt  0,059(1  55,9 y / r ) (15)
The liquid friction factor fl is the standard

Moody friction factor given by [9]
fl  fl Rel , / Dt  (16)
 l vl Dt
where Re l 
l
Gas flow through the valve can be approximated

by the equation for the air flow in the orifice flow
regime [10]
π 2 CY .Dvu2
qgv    gc (Pc 2  Pt1 ) (17) Fig. 2. Trajectory of well P1.
4 1  4
Table 1. Basic PVT parameters of fluids for well P1
where:
  D v p D vu Gas relative density 0.829
Oil specific gravity 0.83
(0,41  0,35 4 )(1  Pt1 /Pc 2 )
Y  1 Salinity of produced water (%) 2


C  0.598  0.468   4  10 12   1   4 
   qr  J   p r  p wb  (20)
2.3. Solution method

1  4
 0.87  8.1   4
Re g With a sufficiently small time step, equations

corresponding to each stage, starting from the
 g vg dv Injection stage, are solved to obtain the value of the
Reg  parameters at each step of time. After each time step,
g
the condition for stage transfer is checked and the
The opening or closing of the gas-lift valve system of simulation equations will change
depends on the pressure of the two sides of the valve accordingly if necessary.
and its configuration [10]. The IGL method mainly The system of equations corresponding to
uses injection-pressure-operated (IPO) gas-lift valves. different periods is not the same, but they are all
An IPO gas-lift valve’s closing force is supplied by a systems of ordinary differential equations. The
nitrogen charge, acting on the effective area of the implicit Euler method is chosen to solve these
bellows. equations due to its stability.
In the injection stage of an IGL cycle, IPO gas- 3. Application Result
lift valve stays closed till Eq. (18) hold
3.1. Description of the well
Pt 1  A vb  Avp  Pc 2  A v p  Pv b  A v b (18)
Simulation model was applied to optimize IGL
If the gas-lift valve is open, it will stay open design for well P1 of Bach Ho field. The trajectory of
while the condition in Eq. (19) is correct the P1 well is shown in Fig.2. Tubing diameter is 2
7/8 inch. Casing diameter is 5 1/2 inch. Currently, the
Pc 2  Avp  Pt 1  Avb (19) well P1 is equipped with four unloading valves and
an operating valve located at the depth of 2884 m.
The flow from the reservoir to the well is
The well test analysis results show that the production
determined from the well bottom pressure, reservoir
index of well is 0.33 m3/day/bar.
pressure and production index of well
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Table 2. Oil properties for well P1 Table 4. Injected gas composition

Solution Formation Dynamic Component Mole percent (%)
Pressure gas-oil ratio volume viscosity
Methane (CH4) 69.37
(bar) (m3/m3) factor (mPa.s)
300 188.9 1.290 0.613 Ethane (C2H6) 12.102
280 177.5 1.268 0.666 Propane (C3H8) 8.006
260 166.1 1.247 0.723 I-Buthane (I-C4H10) 2.918
240 154.7 1.226 0.785 N-Buthane (N-C4H10) 3.242
220 143.3 1.205 0.853 I-Penthane (I-C5H12) 0.892

200 132.0 1.185 0.928 N-Penthane (N-C5H12) 0.95
180 120.6 1.165 1.009 Carbon Dioxid (CO2) 0.124
160 109.2 1.145 1.097 Hydrogen Sulfide (H2S) 0
140 97.8 1.126 1.193 Nitrogen (N2) 1.524
120 86.4 1.107 1.298
Table 5. Reservoir parameters related to well P1
100 75.0 1.088 1.413
80 63.6 1.070 1.538 Reservoir pressure (bar) 89.45
60 52.2 1.052 1.674
Reservoir temperature (°C) 121
40 40.8 1.034 1.822
20 29.4 1.017 1.984 Production Index (m3/day/bar) 0.33
1 0 1 3.013
Table 3. Gas properties for well P1 3.2. Results of Calculation and Optimization
Formation Dynamic The developed simulation model is used to

Pressure volume viscosity Gas calculate and optimize key operational parameters
(bar) factor (mPa.s) compressibility that affect the IGL cycle including depth of gas-lift
valve, bellow charge pressure of gas-lift valve and
200 0.004 0.018 0.00021
gas injection rate.
180 0.005 0.018 0.00022
160 0.005 0.017 0.00024 3.2.1. Depth of gas-lift valve ( H gv
)
140 0.006 0.016 0.00026 To determine the depth of the gas-lift valve for
120 0.007 0.016 0.00028 IGL design, the simulation is performed with
100 0.009 0.015 0.00030 different valve positions. The results show that with
the well, the deeper the valve, the higher the
80 0.011 0.015 0.00033 efficiency. For this reason, the gas-lift valve was
60 0.015 0.014 0.00037 placed at the deepest maldrel (2884 m).
40 0.023 0.013 0.00043 3.2.2. Bellows charged pressure of gas-lift valve ( Pvb )
20 0.050 0.013 0.00053
Simulations were performed to determine
1 1 0.012 0.00060 optimal bellow charged pressure to obtain the largest
The properties of the fluids involved in the production liquid / injection gas ratio.
production process using the IGL method are shown The PPK1 pilot gas-lift valve is installed to
in Tables 1-3: The value of the basic PVT parameters apply the IGL method to well P1. The valve outer
of the fluid is given in Table 1; Tables 2-3 shows the diameter is 1 inch and the valve port diameter is 5/16
main properties of the oil and gasproduced from the inch. The calculations show that with this
well; The injected gas composition is shown in Table configuration, the IGL production parameters will be
4. Table 5 presents the values of reservoir parameters optimized when the bellow charged pressure is 69
related to well P1. bar.
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Hanoi, Vietnam
Table 6. Parameters for IGL design of well P1

Depth of gas-lift valve (m) 2884
Bellow charged pressure of gas- 69
lift valve (bar)
Gas injection rate (m3/day) 8500
Fig. 3. Plot of tubing head pressure and casing head

pressure vs. time for well P1 with the gas injection Table 7. Cycle parameters and production rate of
rate of 6500 m3/day. well P1
Kick off surface injection gas pressure (bar) 82.64
Slug height at opening (m) 558.58
Opening surface injection gas pressure (bar) 37.51
Closing surface injection gas pressure (bar) 28.7
Total cycle time (h) 8.06
Fig. 4. Plot of tubing head pressure and casing head Number of cycles per day 2.98
pressure vs. time for well P1 with the gas injection Total required gas volume per cycle (m3) 8505.1
rate of 8500 m3/day. Total produced liquid volume per day (m3) 7.31
Table 8. Comparison between calculation and
measurement of IGL operation parameters of well P1
with gas injection rate of 8500m3/day.
Measurement Calculation
Total produced liquid
volume per day (m3) 7 7.31
Fig. 5. Plot of tubing head pressure and casing head
pressure vs. time for well P1 with the gas injection Opening surface injection
rate of 10000 m3/day. gas pressure (bar) 36.7 37.51
3.2.3. Gas injection rate ( q gi ) Closing surface injection
gas pressure (bar) 25.1 28.7
Simulations were performed with three different
values for gas injection rates, namely 6500 m3/day, Total cycle time (h) 9.23 8.06
8500 m3/day and 10000 m3/day. Simulation results of
tubing and casing head pressures as functions of the and calculation on the model is shown in Table 8.
time with these three rates are presented in Figs.3, 4, From Table 8, the reliability of the simulation tool
5. It can be seen that with increasing gas injection developed in this study can be seen.
rate to 10,000 m3/day, the well is no longer produced
in the IGL regime. When the gas injection rate is 4. Conclusion
reduced to 6500 m3/day, the well is produced at IGL Study on computation and simulation for IGL
regime with one cycle per day but the liquid techniques have been performed in this work
production rate is only 3.5 m3/day. Thus, the value of parameters of IGL cycles. In order to develop a more
the gas injection rate designed for well P1 is 8500 generalized computation method for IGL design, the
m3/day. present model is developed from Santos’ model with
The results of calculating parameters for IGL some modifications. The system of simulation
design of well P1 are summarized in Table 6. Cycle equations is constructed for seven different stages of
parameters and production rate of the well an IGL cycle. The implicit Euler method is used to
corresponding to the selected design parameters are solve the system of simulation equations. Developed
shown in Table 7. simulation models and computer programs have been
applied to optimize the design of IGL technology for
Optimized calculation results were used for the an actual well of Bach Ho field. Applied results show
actual IGL design of well P1.Comparison of the reliability of the simulation model.
operational parameters between actual measurement
612 October 27 - 28, 2018

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Nomenclature o = Orifice port of valve

p = Produced
Variable [SI unit]:
r = Reservoir
A = Flow area [ m2 ] s = Surface
H = Depth [ m ] sc = Standard condition
C = Discharge coefficient si = Initial slug
D = Diameter [ m ] t = Tubing
J = Well production index [ m 3 / s / Pa ] t1 = Tubing at gas-lift valve
M = Molar mass [ kg / mol ] t2 = Tubing at gas-slug contact
P = Pressure [ P a ] t3 = Tubing at slug top
R = Specific gas constant [ J / kg / o K ] t4 = Tubing at liquid column top
Re = Reynolds number u = Upstream area of valve
vb = Bellow of valve
T = Temperature [ oK ]
vp = Port of valve
V = Volume [ m 3 ]
vu = Upstream area of valve
Y = Gas expansion coefficient
Z = Compressibility factor w = Well
f = Friction factor References
g = Gravity [ m 2 / s ] [1] K. E. Brown, F. W. Jessen, Evaluation of Port Size,
h = Height [ m ] Surface Chokes and Fluid Fall-Back in Intermittent
l = Length [ m ] Gas Lift Installations. J. Petrol. Technol. (March),
= Standard flow rate [ m 3 s ] (1962) 315-322.
q
[1] J. P. Brill et al., An Analytical Description of Liquid
r = Radius of tubing [ m ] Slug Flow in Small-Diameter Conduits. J. Petrol.
t = Time [ s ] Technol. (March), (1967) 419-432.
v = Velocity [ m / s ] [2] A. B. Neely, A Field Test and Analytical Study of
Weight [ kg ] Intermittent Gas Lift. SPE J., 14 (1973) 502-512.
w =
[3] G. W. White et al., An Analytical Concept of the
y = Film thickness [ m ] Static and Dynamic Parameters of Intermittent Gas
 = Ratio of port diameter to diameter Lift. J. Petrol. Technol. (March), (1963) 301-308.
[4] Z. Smidth et al., Hydrodynamic Model for
of gas-lift valve
Intermittent Gas Lifting of Viscous Oil, Journal of
 = Surface roughness [ m ] Petroleum Technology, (1984) 475-485.
 = Adiabatic coefficient [5] T. Liao et al., Investigation of Intermittent Gas Lift by
μ = Dynamic viscosity [ P a . s ] Using Mechanistic Modeling. Proceeding of
ρ = Density [ kg / m 3 ] Production Opperations Symposium held, Olkahoma,
OK, US, 2-4 April (1995), SPE-29454-MS.
Indexes: [6] O. G. Santos et al., Study of the dynamics,
c = Casing optimization and selection of intermittent gas-lift
c1 = Casing at injection valve methods – a comprehensive model, Journal of
Petroleum Science and Engineering, 32 (2001) 231–
c2 = Casing at gas-lift valve
248.
b = Bottom [7] G. A. Hughmark, Film Thickness, Entraiment and
f = Film Pressure Drop in Annular and Dispersed Flow,
g = Gas AEChE J., Vol. 19, No. 5, (1973) 1062-1064.
[8] L. F. Moody, Friction factors for pipe flow,
gv = Gas-lift valve
Transactions of the ASME, 66 (8), (1944) 671–684.
h = Head [9] American Petroleum Institute, Gas-lift Valve
i = Injection valve Performance Testing, API RP 11V2, March, (2001).
l = Liquid
613 October 27 - 28, 2018

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Study on the Parameterized Three-dimensional Models of Different Shifted

Helical Gear Pairs
Truong Duc Phuc*
School of Mechanical Engineering, Hanoi University of Science and Technology
No. 1 Dai Co Viet Road, Hanoi, Vietnam.
*Email: phuc.truongduc@hust.edu.vn
Abstract
In this research, the author studies the parameterization of three-dimensional (3-D) models for different type
of shifted helical gear pairs including shifted external helical gears, shifted herringbone gears, shifted
crossed axes helical gears, shifted internal helical gear and pinion, shifted helical gear and rack using the
programing tool inside Pro Engineer software. The tooth profile of the shifted helical gears is correct involute
curve. Moreover, the helical gears geometry is calculated with consideration of shifted coefficient and
backlash between the gear teeth. Therefore, the helical gear models are more complicated than the
standard helical gears. Standard helical gear is a special case of the shifted helical gear when the shifted
coefficient is equal to zero. In this paper, the author developed the fully parameterization of 3-D models of
different type of shifted helical gears for both single helical gear part and helical gear pair assembly. These
3-D models of helical gears can be changed automatically with the variation of any input parameters of the
helical gears. The result shows that fully parameterized 3-D models of different types of shifted helical gear
pairs such as external helical gears, herringbone gears, crossed axes helical gears, internal helical gear and
pinion, helical gear and rack were successfully developed at both the single helical part level and the
assembly level. This result opens opportunity for development of an automatic gear design tool for the CAD
softwares.
Keywords: Parameterized Design, 3D Model Designing, Helical gears, Herringbone gears, Crossed axes
helical gears, Internal helical gear, Helical gear and rack.
1. Introduction
Nowadays, the development of mechanical
design requires the support of computer aided design
(CAD). In order to reduce the design time, the
automatic design tool is necessary. To develope the
automatic design tool in the CAD softwares, the
design model must be parameterized so that the new
model is achieved quickly by only changing the input
parameters. The parametric design is suitable for the
standard mechanical component such as gears,
bearing, bolts, etc.
Figure 1. Interference between teeth of the gears.
Generally, designing of gears is time consuming
because its complicated shapes. Furthermore, the Recently, Camnetisc Inc. developed Gear Trax
design of gears with correct involute curve tooth software [5] which provide 3-D gear models with
profile is even more complex. AutoDesk Inventor [1] correct involute curve tooth profiles and export the
and Solidworks [2] are the most popular design raw model to other software such as Solidworks or
softwares which providing gear design library. Autodesk Inventor. The designers have to create the
Unfortunately, the gears models generated in these gear model from the imported raw model. Therefore,
softwares are the approximated models and causes it is also time comsuming. In addition, the imported
the interference between the teeth of the mating gears gear model is not parameterized so that can not be
as shown in the figure 1. In addition, these software changed if any input parameters is varied. Therefore,
utilize the arc curves instead of the involute curves it is inconvenient when the design of the gear must be
for the tooth profile of the gears. The difficulty of changed.
using the involute curves for the tooth profiles in In order to overcome the aforemention
these softwares in particular, and in gear design in difficulties and drawbacks, proper argorithms and
general is explained in our previous reports [3, 4]. solutions of parametric design of 3-D models for
shifted spur gears and shifted bevel gears were
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Hanoi, Vietnam
reported [3, 4]. In this paper, the author focuses on models of shifted helical gears inside the
the parameterization of three-dimensional (3-D) Pro/Engineer software. The parameterized 3-D helical
models for different type of shifted helical gear pairs gear models are programmed and created at both part
including shifted external helical gears, shifted level and assembly level. Furthermore, a report of the
herringbone gears, shifted crossed axes helical gears, helical gear parameters also generated.
shifted internal helical gear and pinion, shifted helical
The input parameters of the shifted external
gear and rack using the programing tool inside Pro
helical gears are the major parameters for calculating
Engineer software. These 3-D gear models are fully
the geometry of the shifted helical gears. They
parameterized so that its shape is changed
include the following parameters:
automatically according to the change of any input
(1) Normal module: mn
parameters.
(2) Normal Pressure angle: n
2. Methodology (3) Helix angle: 0
(4) Number of teeth: z1, z2
Figure 2 shows the process to create different
types of parameterized 3-D shifted helical gear (5) Normal shifted coefficients: xn1, xn2
models developed in this study. It consists of two (6) Normal backlash between teeth surface: cnn
main steps: (1) geometrical calculation of the shifted
helical gears pair and (2) create the parametric 3-D
Figure 2. Process to create the parameterized 3-D models for different types of shifted helical gears.
The calculations of the major parameters of the section and corresponding parameters. From the
shifted helical gears pair by applying the gears theory
[6-10] are summarized as follows: figure, the radial working pressure angle ws is
Radial pressure angle s is determined as: determined by the following formula:
tan  n (2.1) ( x n1  x n 2 )
 s  tan 1 ( ) inv  ws  inv  s  2 tan  n
cos  0 ( z1  z 2 ) (2.2)
Figure 3 shows the meshing of (a) standard
helical and (b) shifted helical gears in transverse
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Hanoi, Vietnam
Figure 3. Pressure angle and center distance in transverse section of helical gear;
(a) standard helical gear, (b) shifted profile helical gear [6].
Where, inv   tan    is involute function cr 2  cr (
z2
)
cnn z
( 2 )
z1  z2 2 cos  n cos  0 tan  s z1  z2 (2.5)
of  .
Solve Eq. (2.2) we obtain the radial working Transverse circular backlash cs0
pressure angle of helical gears. Transverse circular backlash cs0 is determined as:
Figure 4 shows the relation between the cnn
cs 0 
backlashes in different planes. cos n cos  0 (2.6)
We designate the portion of the circular
backlash between two gears equal to the gear ratio as
following:
z1 cnn z
cs 01  cs 0 ( ) ( 1 )
z1  z 2 cos  n cos  0 z1  z 2 (2.7)
z2 cnn z
c s 02  c s 0 ( ) ( 2 )
z1  z 2 cos  n cos  0 z1  z 2 (2.8)
Transverse angular backlash cs
Transverse angular backlash cs is determined as:
Figure 4. Backlash of helical gear [2]
c s 01 2 c s 01
c s 1  
r01 d 01 (Radians) (2.9)
The calculation of the backlashes is as follows:
c s 02 2 c s 02
Center backlash cr c s 2  
r02 d 02 (Radians) (2.10)
The total center backlash cr is determined as:
cnn The center distance increment factor y is
cr 
2 cos  n cos  0 tan  s (2.3) determined:
The center backlash between two helical gears is z1  z 2  cos  s 
y   1 
designated equal to the gear ratio as follows: 2 cos  0  cos  
ws (2.11)
z1 cnn z The center distance is determined as follow:
cr1  cr ( ) ( 1 )
z1  z 2 2 cos  n cos  0 tan  s z1  z 2 (2.4)
a x  a 0   a  c r  a 0  ym n  c r (2.12)
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 z  z2   z  z2  h a 2  (1  y  x n 1 ) m n (2.21)
a x   1  y  m n  c r   1  y  m n  c r 1  c r 2
 2 cos  0   2 cos  0 
Dedendum hd is determined as:
(2.13)
h d 1  (1 . 25  x n 1 ) m n (2.22)
Diameter of standard pitch circle d0 is
h d 2  (1 . 25  x n 2 ) m n (2.23)
determined as:
z1mn Whole depth ht of the teeth is determined as:
d 01 
cos  0 (2.14)
h t  h a 1  h d 1  h a 2  h d 2  ( 2 . 25  y  x n 1  x n 2 ) m n
(2.24)
z m
d 02  2 n Diameter of addendum circle dais determined as:
cos  0 (2.15)
d a 1  d 01  2 h a 1 (2.25)
Diameter of base circle db is determined as:
d a 2  d 02  2 h a 2 (2.26)
d b 1  d 01 cos  s (2.16)
Diameter of dedendum circle dd is determined as:
d b 2  d 02 cos  s (2.17)
d d 1  d a 1  2 ht (2.27)
Diameter of working pitch circle dw is
d d 2  d a 2  2 ht (2.28)
determined as:
d b1 Tooth space angle on standard pitch circle in
d w1   2cr1
cos  ws (2.18)
transverse section as following:
 4 x n1 tan  s cos  0  4 x n1 tan  s cos  0 2 c s 01
db 2  sbs 1    c s 1   
d w2   2cr 2 z1 z1 z1 z1 d 01
cos ws (2.19) (2.29)
 4 xn 2 tan  s cos  0  4 xn 2 tan  s cos  0 2cs 02
Addendum ha is determined as:  sbs 2    c s 2   
z2 z2 z2 z2 d 02
h a 1  (1  y  x n 2 ) m n (2.20) (2.30)
Figure 5. The process to create parametric 3-D models of shifted helical gears in Pro Engineer software.
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assembly level; (4) generating a report file of gear

Figure 5 shows the process to create
parameters. Table 1. shows some of paramters of the
parameterized 3-D models of shiftedhelical gears in
shiftedhelical gears defined inside Pro/Engineer
Pro Engineer software. This process has 4 steps: (1)
software, and Table 2 shows a part of program for
create the parameters for the helical gears pair, (2)
programming geometrical parameters of
create the 3-D helical gear model and programing the
shiftedhelical gears inside Pro/Engineer software.
gear parameters at part level; (3) create the 3-D
helical gear model and programing the gear pair at
Table 1. Parameters for helical gears gears
No. Name Symbol Value Description Note
1 NORMAL_MODULE mc 3 Module of the gears

2 ALPHA_N n 20 Normal Pressure Angle
3 HELIX_ANGLE 0 Helix Angle

4 TEETH_NUMBER_1 z1 16
Teeth Number Major input
5 TEETH_NUMBER_2 z2 24
parameters
6 MOD_COEFFICIENT_1 xn1 0.2
to calculate
Profile Shifted Coefficient
7 MOD_COEFFICIENT_2 xn2 0.1 gear
geometry
8 BACKLASH_NN cnn 0.2 Normal Backlash
9 FACE_WIDTH_1 b1 30
Face Width for Helical Gear 1 and
Helical Gear 2
10 FACE_WIDTH_2 b2 30
… ….. …… …… ….. …..
Table 2. A part of program of the geometrical parameters of helical gears inside Pro/Engineer software
ALPHA_S=ATAN((TAN(ALPHA_N))/COS(HELIX_ANGLE)) Calculate radial pressure angle

as in Eq. (2.1)
ANGLE_UNKNOWN=ALPHA_N+1
SOLVE
TAN(ANGLE_UNKNOWN)-
ANGLE_UNKNOWN*PI/180=2*(TAN(ALPHA_N))*(MOD_COEFFICIENT_1+MOD
Solve Eq. (2.2) to find working
_COEFFICIENT_2)/(TEETH_NUMBER_1+TEETH_NUMBER_2)+TAN(ALPHA_S
radial pressure angle ws
)-ALPHA_S*PI/180
FOR ANGLE_UNKNOWN
ALPHA_BS=ANGLE_UNKNOWN
IF METHOD_BACKLASH==0
BACKLASH_R=(0.5*BACKLASH_NN)/(COS(ALPHA_N)*COS(HELIX_ANGLE)*T
AN(ALPHA_S))
BACKLASH_S0_1=0 Determine method to produce
BACKLASH_S0_2=0 backlash, then calculate value
ELSE for each kind of backlash as in
BACKLASH_R=0 Eq. (2.3), (2.7), (2.8)
BACKLASH_S0_1=(BACKLASH_NN/(COS(ALPHA_N)*COS(HELIX_ANGLE)))*(
TEETH_NUMBER_1/(TEETH_NUMBER_1+TEETH_NUMBER_2))
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BACKLASH_S0_2=(BACKLASH_NN/(COS(ALPHA_N)*COS(HELIX_ANGLE)))*(
TEETH_NUMBER_2/(TEETH_NUMBER_1+TEETH_NUMBER_2))
ENDIF
Calculate center distance
Y=((TEETH_NUMBER_1+TEETH_NUMBER_2)/(2*COS(HELIX_ANGLE)))*(COS(ALPHA increment factor as in Eq.
_S)/COS(ALPHA_BS)-1) (2.11)
Calculate center distance as in

CENTER_DISTANCE=((TEETH_NUMBER_1+TEETH_NUMBER_2)/(2*COS(HELIX_AN
Eq. (2.13)
GLE))+Y)*NORMAL_MODULE+BACKLASH_R
Calculate standard pitch
STAND_PITCH_DIA_1=TEETH_NUMBER_1*NORMAL_MODULE/COS(HELIX_ANGLE) diameter as in Eq. (2.14) &
STAND_PITCH_DIA_2=TEETH_NUMBER_2*NORMAL_MODULE/COS(HELIX_ANGLE) (2.15)
………. ……….
3. Results and Discussions Set 2: mn = 5,0 = 20o, 0 = 30o, z1 = 16, z2 = 24, x1 =

0.3, x2 = 0.1, cn = 0.3, b1 = 40, b2 = 40, ds1 = 25, ds2 =
Figure 6 shows the parameterized 3-D models of
35, kw1 = 8, kw2 = 10, kh1 = 4, kh2 = 6, cf1 = 0.5, cf2 = 1
shifted external helical gear pairs with different sets (Backlash by changing center distance).
of input parameters. In these gears, the tooth profile is
correct involute curve, and the gears are fully Set 2: mn = 5,0 = 20o, 0 = 30o, z1 = 24, z2 = 16, x1 =
0.1, x2 = 0.3, cn = 0.3, b1 = 40, b2 = 40, ds1 = 35, ds2 =
parameterized. Therefore, the gears are automatically
25, kw1 = 10, kw2 = 8, kh1 = 6, kh2 = 4, cf1 = 1, cf2 = 1
updated their shape if any input parameters of the (Backlash by changing center distance), Note that the
gear is changed. To demonstrate this capability, the helical angle direction now is changed.
author created different type of external helical gears
Set 4: mn = 5,0 = 20o, 0 = 45o, z1 = 20, z2 = 20, x1 =
by only changing the input the parameters.
0.1, x2 = 0.1, cn = 0.3, b1 = 50, b2 = 50, ds1 = 35, ds2 =
Set 1: mn = 5,0 = 20o, 0 = 30o, z1 = 16, z2 = 24, x1 = 35, kw1 = 8, kw2 = 8, kh1 = 4, kh2 = 4, cf1 = 1, cf2 = 1
0, x2 = 0, cn = 0, b1 = 40, b2 = 40, ds1 = 25, ds2 = 35, (Backlash by changing tooth thickness).
kw1 = 8, kw2 = 10, kh1 = 4, kh2 = 6, cf1 = 0.5, cf2 = 1.
Set 1 Set 2 Set 3 Set 4

Figure 6. External helical gear sets with different input parameters.
Similarly, this method is applicable for the types of herringbone gear pair, crossed axes helical
shifted herringbone gear pair, shifted crossed axes gears pair (or screw gears), internal helical gears pair,
helical gears pair (or screw gears), internal helical helical gear and rack pair with the corresponding
gears pair, shifted helical gear and rack pair. Figure 7 parameters.
shows the parameterized 3-D models of different
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Herringbone gears Herringbone gears
mn = 3,0 = 20o, 0 = 30o, z1 = 16, z2 = 28, x1 = 0, mn = 4,0 = 20o, 0 = 45o, z1 = 14, z2 = 30, x1 =
x2 = 0, cn = 0, b1 = 40, b2 = 40, gw= 8, ds1 = 15, ds2 = 0.3, x2 = 0.1, cn = 0.3, b1 = 50, b2 = 50, gw= 10, ds1 =
25, kw1 = 6, kw2 = 8, kh1 = 3, kh2 = 4, cf1 = 0.5, cf2 = 1. 20, ds2 = 40, kw1 = 8, kw2 = 12, kh1 = 4, kh2 = 6, cf1 = 0.5,
(gwis the width of the groove between two helical cf2 = 1 (Backlash by changing tooth thickness).
gears).
Crossed axes helical gear Crossed axes helical gear

mn = 3,0 = 20 , 01 = 20 ,02 = 30 , z1 = 15, z2 =
o o o
mn = 3,0 = 20o, 01 = 45o,02 = 45o, z1 = 9, z2 =
24, x1 = 0, x2 = 0, cn = 0, b1 = 30, b2 = 30, ds1 = 15, ds2 24, x1 = 0.4, x2 = -0.4, cn = 0, b1 = 50, b2 = 30, ds1 =
= 20, kw1 = 6, kw2 = 8, kh1 = 3, kh2 = 4, cf1 = 0.5, cf2 = 10, ds2 = 25, kw1 = 4, kw2 = 8, kh1 = 2, kh2 = 4, cf1 = cf2 =
0.5. 0.5
Internal helical gear and pinion Internal helical gear and pinion
m = 3,0 = 20o, 0 = 30o, z1 = 14, z2 = 24, x1 = 0, m = 4,0 = 20o, 0 = 45o, z1 = 10, z2 = 30, x1 =
x2 = 0, cn = 0, b1 = 25, b2 = 25, ds1 = 15, kw1 = 5, kh1 = 0.5, x2 = 0.5, cn = 0.2, b1 = 40, b2 = 40, ds1 = 15, kw1 =
2.5, cf1 = 0.5, dos2 = 100. 5, kh1 = 2.5, cf1 = 0.5, dos2 = 200
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Helical gear and rack

Helical gear and rack
m = 4,0 = 20o, 0 = 30o, z1 = 12, z2 = 8, x = 0, cn
= 0, b1 = 30, b2 = 30, H = 25, ds1 = 10, kw1 = 4, kh1 = 2, m = 5,0 = 20o, 0 = 45o, z1 = 10, z2 = 9, x = 0.4,
cf1 = 0.5. cn = 0.2, b1 = 40, b2 = 40, H = 35, ds1 = 15, kw1 = 5, kh1
= 2, cf1 = 0.5 (Backlash by changing center distance)
In these shifted helical gear models, the tooth

profile is correct involute curve, and the gears are References
fully parameterized. Therefore, the helical gear pairs [1] http://www.autodesk.com/products/inventor/overview
are automatically changed their shape if any [2] http://www.solidworks.com/
parameters of the gear are varied. [3] Truong Duc Phuc (2016) “Parametric Design of 3-D
Models for Shifted Spur Gears”, Proceeding of
4. Conclusion
National Conference On Mechanical & Transportation
In this paper, the author studies the Engineering, Vol.3, ISBN: 978-604-95-0041-1, Page
parameterization of three-dimensional (3-D) models 491-496.
for different type of shifted helical gear pairs [4] Truong Duc Phuc (2017) “Automated Designs of
Shifted Spiral Bevel Gears with Parameterized Three
including shifted external helical gears, shifted
Dimensional” Proceeding of National Conference on
herringbone gears, shifted crossed axes helical gears, Mechanical & Transportation Engineering 2017.
shifted internal helical gear and pinion, shifted helical ISSN 978-604-73-5603-4
gear and rack using the programing tool inside Pro [5] http://camnetics.com/geartrax/
Engineer software. The helical gears are developed at [6] Faydor L. Litvin, Alfonso Fuentes, “Geometry and
both 3-D part level models and 3-D assembly level Applied Theory”, Second Edition 2004, Cambridge
with the correct involute curve. In addition, the University Press.
geometrical calculation of the all the shifted helical [7] L.Y. Wang, “Elements of Gear Technology”, First
gears takes consideration of shifted coefficient and Edition 1993, Editional Cooperater: Kohara Gear
Industry Co.Ltd. Japan.
backlash which provides general models for the
[8] G.M. Maitra, “Handbook of Gear Design”, Tata
helical gears. Differrent type of shifted helical gears McGraw-Hill Publishing Co.Ltd. 1988.
were successfully creared with fully paramterization. [9] Dennis P. Townsend, “Dudley’s Gear Handbook”,
The results demonstrate capability for further Second Edition 1962, McGraw-Hill Inc.
development of automatic gear design tools for CAD [10] Bevel Gears” Transactions of the ASME 174/ Vol.
softwares. 113, June 1991.
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An Approach to Analyze the Threshold Stability of Internal Gear Motors

and Pumps
Trong Hoa Pham1,*, Toan Thang Le2, Wenming Cheng2, Van Trung Vu1,
Anh Ngoc Nguyen1 , Thuy Chi Nguyen1
1
University of Transport and Communications (UTC), No.3 Cau Giay, Dong Da, Ha Noi, Vietnam
2
School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China
*Email: hoagtvt100@gmail.com
Abstract
Designers always desire an easy way to check the effect of geometry and working parameter variations on
the stability of the motor/pump that is supposedly stable at the early design stage. However, investigation of
the dynamic stability of the internal gear motor/pump requires the complicated mathematical model that
describes well the dynamic behaviour of the pump/motor. This paper introduces an approach to determine
the instability threshold for the internal gear motor and pump based on the critical speed and Sommerfeld
theory. It allows determining the instability threshold curve for the internal gear motor and pump. The effect
of geometry and working parameters on the ring gear stability is then analyzed. The results show that the
geometric and working parameters, e.g. radial clearance and radial force, have significant effects on the
stability of the internal gear motor/pump. They must be chosen correctly at the early design stage otherwise
the stable operating area will be greatly reduced.
Keywords: Stability, Instability threshold, Critical speed, Internal gear motor and pump, Rotor stability.
1. Introduction complex. Up to now, the model for study the stability

of the internal gear motor and pump is not released.
Internal gear pump and motor (IGMaP) is one of
Therefore, determination of the stable and unstable
the most common types of motors and
operating area for IGMaP is now still a challenge for
pumps for hydraulic fluid power applications e.g.
the pump and motor manufacturers. In reality, in
industry, mobile machinery, etc. because it is simple,
order to obtain the stable and unstable operating area
economical, and easy to assemble. A pump/motor
for IGMaP, the manufacturers have to perform lots of
term, here, refers to a pump which can work both as a
experiments. It will take time and cost. Moreover, it
pump and also as a motor. It can also operate in
can be done only after IGMaP is manufactured. A
bidirectional. Therefore, it can be used in open or
simple model which has significantly accuracy in this
closed loop hydrostatic drives and four-quadrant
case, therefore, will make sense. With the proposal
operation.
approach presented in this paper provides a simple
The instability can cause the negative effect; i.e.,
and easy method which helps designers easily to
the solid contact between the rotor and stator. This is
determine the IGMaP stability at the early design
unwanted phenomenon. Ahmad [1], in 2010,
stage.
performed a survey for the rotor contact phenomenon
in rotor dynamics. He pointed out that some main 2. System model
parameters effect on the rotor stability such as
An IGMaP equipment consists of three main
stiffness, damping, preload and acceleration of rotor.
elements, as shown in Fig.1; i.e., an outer ring gear
In the study [2] in 2017 and [3] in 2018, lots of
(rotor), a fixed-pinion gear (driving gear for case of
experiments for IGMaP were conducted by Pham. He
pump and output shaft for case of motor) and the
pointed out that the solid contact between the rotor
housing (stator) with a slightly larger diameter than
and stator was found when instability was occurred
that of the ring gear. In which, the gap between the
for both cases: at high pressure and low speed and
ring gear and the housing is full filled by the working
low pressure and high speed.
oil. In other words, the working oil is also the oil
In order to analyze the stability of the IGMaP
lubrication. The outer ring gear has no shaft.
under the different operating condition, it requires a
The dynamic behavior of the internal gear motor
mathematical model that faithfully describes the
and pump is mostly determined by the dynamic
dynamic behavior. However, due to lots of
respond of the outer ring gear (rotor). Meanwhile, the
phenomenon happened inside the internal gear motor
oil film properties are significantly influenced on the
and pump, building of an accurate mathematical
rotor stability. The value of the oil film thickness is
model for the internal gear motor and pump is
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(Source: http://www.hiseapump.com) Fig. 2. Ring gear-spring-damper system.

Fig. 1. Cross section of the internal gear motor.
Where: L is the length of the ring gear. D is the
very small compared to the other dimensions of diameter of the ring gear. μ is the dynamic viscosity
IGMaP. The range of film thickness is from 40 μm to of the oil lubrication. ω is the rotational speed. r is the
100μm. The oil film role is to separate the relative radius of the ring gear.
rotating surfaces of the outer ring gear and the The direct and cross-coupling coefficients of the
housing. Therefore, it prevents the solid contact and linearized oil film stiffness as a function of
reduces the friction. During operation, the oil film eccentricity ratio are presented in Fig.3. Similarity,
works as a spring-damper system. Without the direct and cross-coupling coefficients of the
considering the effect of the gear meshing, the model linearized oil film damping as a function of
which is used to study the influence of the lubrication eccentricity ratio are also presented in Fig.4. It shows
film on the rotor vibration characteristics is illustrated that the oil film stiffness and damping change
in the Fig. 2. In this model, the stiffness and damping according to the change of the eccentricity. These
of the oil film is linearized by both the direct parameters are also called as linear oil-film force
coefficients (kxx, kyy and bxx, byy) and the cross- coefficients of the ring gear. Each stiffness and
coupling coefficients (kxy, kyx and bxy, byx). These damping coefficients have a wide range of values.
coefficients are found by linearizing the ring gear This value is dependent on the eccentricity of the ring
force at the steady state condition. These stiffness and gear. It means that during the operation, if the
damping coefficients are computed as follows: working condition is changed, then the stable status
of the ring gear will also change accordingly.
F
kij Kij (1) 3. Stability analysis
c
And 3.1. Equation of motion
F
bij Bij (2)
cω The oil film forces applied on the ring gear can
be expressed as a function of the oil film stiffness and
In which: Kij and Bij , ∀ i,j ∈ {x,y}, are the
damping [5]:
dimensionless form of the stiffness and damping
which are given in the appendix [4]. These
Fx bxx x bxy y kxx x kxy y
parameters are a function of the eccentricity ratio (4)
ε(e/c). F is the radial force acting on the ring gear. c is Fy byy y byx x kyy y kyx x
the radial clearance. e is the eccentricity of the ring
gear. It is the distance from the ring gear center to the
housing center. The eccentricity is dependent on the In which eight coefficients (kij , cịj ) are defined
working conditions. Moreover, the similarity between in the appendix. In order to analyze the ring gear
the ring gear-housing and journal bearing allows us to stability, we firstly consider the equation of motion of
apply the Sommerfeld theory to analysis the stability free vibration of the ring gear mass for a given steady
of the ring gear. The Sommerfeld number is normally state condition. The following equation is written for
calculated as follows: the ring gear motion in both x and y directions.
F c
So
LDμω r (3) mrg x bxx x bxy y kxx x kxy y 0
(5)
mrg y byy y byx x kyy y kyx x 0
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2
mrg ω x0 jωbxx kxx x0
Where mrg is the ring gear mass. x and y are the ring
gear horizontal and vertical displacements from its jωbxy kxy y0 Fx
equilibrium position. After rearranging the Eq. (5), it
2 (8)
becomes: mrg ω y0 jωbyx kyx x0
mrg 0 x bxx bxy x jωbyy kyy y0 Fy

∙ ∙
0 mrg y byx byy y During operation, the oil film is considered as a
kxx kxy x (6) rotated spring with an equivalent stiffness as follows:
∙
kyx kyy y
2
0 keq mω (9)
3.2. Definition of the critical whirl frequency Where: keq is the equivalent stiffness of the oil film
thickness. Substituting the Eq. (9) into the Eq. (8)
Considering at the critical state where the ring gear
yields:
whirl at the frequency :
jω keq kxx jωbxx x0

x x0 e
jω
(7) jωbxy kxy y0 0
y y0 e
(10)
jωbyx kyx x0
After substituting the Eq. (7) into the Eq. (6) yields:
keq kyy jωbyy y0 0
Its condition of non-zero solution is:
Fig. 3. Non-dimensionless linearized oil film stiffness versus eccentricity.
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Fig. 4. Non-dimensionless linearized oil film damping versus eccentricity.
keq kxx jωbxx jωbxy kxy keq kxx keq kyy kyy kxy kyx
2 (15)
jωbyx kyx keq kyy jωbyy (11) bxx byy bxy byx
2
0 The critical whirl frequency ratio, λcrit ,
Ω
The real and imaginary parts of the determinant is given by,
(11) should equal to zero:
λcrit
byy keq kxx bxx keq kyy
(12) keq kxx keq kyy kyy kyx kxy (16)
kxy byx kyx bxy 0
And byy bxx byx bxy
2
keq kxx keq kyy bxx byy For a spring mass system with mass mrg and
(13) 2
2
bxy byx kyx kxy 0 stiffness keq , when keq mrg ω or ω k /m ,
then the system is in its critical condition; if the ω <
From Eq. (12) we have the equivalent stiffness k /m , then the system is stable, and if ω
of the oil film thickness: k /m , then the system is unstable.
kxx byy kyy bxx kxy byx kyx bxy The dimensionless critical speed is given by,
keq (14)
byy bxx
From Eq. (13) we have the critical whirl Ωcrit Ω m c⁄W (17)
crit
frequency:
Where: W is the force acting on the ring gear. It
contains two elements, i.e., gravity force and the
pressure force. The pressure force applied on the ring
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1 ε 1
So (20)
π L/D ε π 16 π ε
Based on the Sommerfeld number, the operating

area is divided into three region, i.e. Oil-whip, high-
speed, heavy load and mixed friction as described in
Fig. 6.
3.4. Analysis of stability based on the critical

frequency
Fig. 5. The operating area according to Sommerfeld The critical speed and whirl frequency divides
number Künne [6]. the operating area of the ring gear into two areas; i.e.,
gear is calculated based on the pressure distribution stable and unstable areas as described in Fig.6. If the
inside the internal gear motor and pump: speed is higher than the critical speed (Ωcrit ) then the
ring gear operates in unstable area and vice versa.
F F F The higher critical speed, the larger stable area of the
L
θ2 ring gear. In contrary to the critical speed, when the
x
2
dimensionless whirl frequency is smaller than the
F pRcosθdθdz critical whirl frequency then the ring gear is unstable,
L
2
θ1 (18) and vice versa. For small value of the critical whirl
L
θ2 frequency is better for the stability of the ring gear.
y
2
From these observations, we can conclude that with
F pRsinθdθdz this model, it allows analyzing the stability of the ring
L
2
θ1 gear according to the changing of the system’s
parameter and the working conditions. Effects of the
At the zero - load - running phase, the pressure applied force on the stability of the ring gear. In
is almost equal to zero, therefore, the force acting on operation, the radial force has much effect on the
the ring gear in this case is due to only its gravity, i.e. stability of the system. The effect of the radial force
W = mg, then the dimensionless critial speed is as acting on the ring gear is described in Fig. 7.
follows: From Fig.7 one can see that, when other
parameter of the system is constant then the more
Ωcrit Ω c/g (19)
crit increase of radial force, the more stability of the ring
gear, and vice versa. The effect of the nominal radial
3.3. Sommerfeld number clearance on critical speed is illustrated in Fig. 8. One
can see that the more decrease of the nominal radial
The Sommerfeld number can be expressed in
clearance, the more increase of the critical speed
terms of the eccentricity ratio as follows:
meaning that stable operating area of IGMaP
increases. From the stability point of view, the
Fig. 6. Stable and unstable areas of the ring gear as a function of the radial force.
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Fig. 7. Stable and unstable areas of the ring gear as a Fig. 8. Stable and unstable areas of the ring gear as a
function of the radial force. function of the radial clearance.
speed. Fig.9 shows that the more increase of the mass

of the ring gear, the more decrease of the critical
speed meaning that the stable is reduced.
Fig.10 points out that the ring gear will always
be stable when the relative eccentricity larger than
0.8. When the speed is smaller than the critical speed
then the ring gear is always stable no matter how
much the eccentricity is. For the specific speed, the
ring gear can be stable or unstable dependent on the
Fig. 9. Stable and unstable areas of the ring gear as a eccentricity. The ring gear will be unstable for the
function of the ring gear mass. small values of the eccentricity, and the ring gear will
decrease of radial clearance (c) will increase the be stable for the high values of the eccentricity. For
example: when the speed of 3000 rpm, if the
stable operating area and the capacity of the oil film
eccentricity ratio gear is unstable. While the
will also increase because of the increase of the oil
film dynamic pressure. However, too small value of eccentricity ratio is equal to 0.85 then the ring gear is
absolutely stable.
radial clearance also makes the solid contact between
the ring gear and housing easily occurs, particularly
in case of the misalignment. Therefore, the value of 3.5. Stability of IGMaP based on the Sommerfeld
radial clearance must be chosen correctly to ensure theory
The Sommerfeld number is dependent on the
the stability of IGMaP for the different operating
conditions. geometry parameters (L/D ratio). It also changes
respectively with the change of eccentricity ( ε ).
When other parameters are constant, the mass of According to Bünne [6], if the Sommerfeld number
the ring gear also has much effect on the critical (So) is smaller than 0.3 then the possible oscillation
Fig. 10. Stable and unstable areas of the ring gear as a function of the radial clearance.
627 October 27 - 28, 2018

Hanoi, Vietnam
both cases: at high pressure and low speed and low

pressure and high speed.
Need to know firstly the eccentricity:
As stated above that it is able to analysis the ring

gear stability if the eccentricity is given. In other
words, it can be determined the upper speed limit by
using the mass-spring system of the internal gear
motor and pump. However, calculation of the
eccentricity of the ring gear, particularly under the
dynamic loaded on the ring gear is complex. This is
because we have to solve the Reynold’s equation to
get the pressure distribution in the oil film. In
addition, the eccentricity is a function of all
geometric and working parameters. In next work, the
Fig. 11. Stability of IGMaP according to determining of eccentricity will be integrated into the
Sommerfeld theory. calculation process to compete the analysis of the
excitation of the rotor caused by oil-whip. If the stability of IGMaP.
Sommerfeld number (So) is larger than 10 then the
solid contact will possibly be occurred. Fig. 11 shows Nomenclatures
that for IGMaP have large value of L/D ratio, it must
be noted that the instability due to oil-whip D,R : Diameter and radius of the ring gear (m)
phenomenon can be occurred. However, for these L : The ring gear length (m)
IGMaP which have small value of L/D ratio, we need e : Eccentricity of the ring gear center (μm)
to check the instability according to the solid contact c : Radial clearance (μm)
condition, particularly in case of operating at high
e : The vector eccentricity
pressure and low speed. The safety operating area
according to Sommerfeld number is in a range from : Eccentricity variation
e
0.3 to 10. Therefore, Sommerfeld theory is used as
criteria to determine the stability of the ring gear. In ε e/c) : Relative eccentricity
reality, the L/D ratio for commercial internal gear ε : Relative eccentricity variation
motors and pumps are in a range from 0.2 to 0.4. It
εx , εy : Relative eccentricity in axis x, y
means that the solid contact phenomenon between the
ring gear and the housing need to be considered at the : Eccentricity in axis x, y
operating condition of high pressure and low speed. ex , ey
F : Load applied on the gear ring (N)
4. Conclusion P1 : Working pressure-high pressure (Pa)
P2 : Outlet pressure-low pressure (Pa)
Based on the results in this work, some
ΔP : Different pressure (Pa)
following conclusions can be drawn:
p : Hydrodynamic film pressure (Pa)
Due to lots of phenomenon happened inside the n : Speed of motor (rpm)
internal gear motor and pump, analysis of the ring ω : Angular velocity (rad/s)
gear stability is not easy. The mass-spring-damping μ : Viscosity of fluid (Pas)
system with the linearized stiffness and damping can HP : High pressure port
be used to analysis IGMaP stability. It allows
designers analyze the effect of geometry and working LP : Low pressure port
parameters on IGMaP stability. From the stability k : Stiffness coefficient (N/m)
point of view, for small values of radial clearance and K : Dimensionless stiffness coefficient
large value of the radial force is better for stable b : Damping coefficient (Ns/m)
status of IGMaP. B : Dimensionless damping coefficient
mrg : Mass of the ring gear (kg)
The similarly between the ring gear/housing and
journal bearing allow us to use Sommerfeld theory to keq : Equivalent stiffness of the oil film
determine the safety operating area of IGMaP for Ωcrit : Critical speed
628 October 27 - 28, 2018

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Fig. 12. Calculation of the radial force acting on the ring gear for 4-quadrant operation. In order to calculate the
radial force acting on the ring gear we need firstly determining the area of the pressure which is defined from the
angle θ1 and θ2 . These angles are computed based on the gear meshing point and the sealing point.
: Dimensionless critical speed Appendix

Ωcrit
So : Sommerfeld number F
2 2 2
Kxx 2π 16 π ε .Q ε
References c
2 2 2 2 4
Fπ π 2π ε 16 π ε
[1] S. Admad, “Rotor Casing Contact Phenomenon in Kxy 1/2
.Q ε
Rotor Dynamics - Literature Survey”, Journal of c4 ε 1 ε2
Vibration Control. Vol. 16, No. 9, pp. 1369 - 1377, Kyx
2010.
2 2 2 2 4
[2] Pham Hoa, Lutz Müller, Jürgen Weber, “Theoretical Fπ π 32 π ε 32 2π ε
and Experimental Study of Whirl and Stability 1/2
.Q ε
Phenomenon in Internal Gear Motor/Pump”, c4 ε 1 ε2
ASME/BATH FPMC Symposium on Fluid Power and 2 2 2 2 4
F π 32 π ε 32 2π ε
Motion Control, Florida, USA, October 16-19, 2017 Kyy .Q ε
(doi: 10.1115/FPMC2017-4336). c 1 ε2
[3] Trong Hoa Pham, Analysis of the Ring Gear Orbit, 2 1/2
Misalignment, and Stability Phenomenon for Internal
Fπ 1 ε
2 2 2
Gear Motors and Pumps, TU-Dresden, Dissertation
Bxx π 2π 16 ε . Q ε
c2 ε2
2018. F
[4] H. P. R. Gasch, R. Nordmann, Rotordynamik 2. 2 2 2
Bxy Byx 2π 4π 32 ε . Q ε
Auflage. Springer, 2005. c
[5] S. L. Qiu., “A Theoretical and Experimental on Fπ π
2
48 2π ε
2 2 2 4
π ε
Dynamic Characteristics of Journal Bearings”, Byy .Q ε
University of Wollongong, Dissertation 1995. 1/2
c2 ε 1 ε2
[6] Bünne , Einführung in die Maschinenelemente, vol.1. 4
2001. Q ε /
π 16 π ε
629 October 27 - 28, 2018

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Research Results of Design, Manufacture and Testing of Horizontal Axial

Flow Submersible Pump (Capsule Type) for Irrigation, Drainage in
Agriculture and Preventing Local Flooding
Nguyen Minh Tuan*, Nguyen Van Bay
Vietnam fluid power association, No. 4 Pham Van Dong Road, Cau Giay District, Hanoi, Vietnam
*Email: nptuan85@gmail.com
Abstract
This paper presents results of design, manufacture and testing of horizontal axial flow submersible pump
(capsule type HTCN370-3) for irrigation, drainage in agriculture and preventing local flooding with the
different ground conditions ΔZ = (0,5-3,0)m. The pump had installed with the submersible motor power 7,5
kW, electrisity current three – phase, voltage 380V and frequency 50Hz.
Pump HTCN370-3 was tested on the pump testing system of Hai Duong pump manufactering jont stock
company and received the good technical parameters: Head H = (1-4)m, capacity Q = (200-700)m3/h, and
pump efficient ηbmax = 61,52%.
Total weight of the pump – motor is 500kg. The pump may be installed in fixation or moving on the wagon,
advantageous to use for difirent ground conditions of cities or countries.
Keywords: Axial flow submersible pump, capsule type, discharge bowl, head, capacity, energy
characteristic curves.
1. Preface the submersible axial pumps in particular, are hardly

published in details and particular by the countries in
In recent years, the domestic units have
the world. The research institutions and the
implemented the research, design, manufacture and
companies specializing in manufacturing the
practical applications to produce some kinds of
submerged pumps only published the brief, general
submersible pumps with centrifugal, mixed-flow and
and principal technical information. The horizontal
vertical axis direction, types of pump heads for the
axial flow submersible pump (capsule type) was
irrigation in agriculture.
focused on researching and achieving the good results
The climate change has caused the inundation in for the irrigation in agriculture as well as the anti-
the increasingly large scale with the increasingly flood in the large scale. The professional technical
serious level of damage. To research and design the information about this type of pump is less published
types of submersible pumps - submersible electric in the scientific magazines.
motors with the small power and suitable features
In Vietnam, some units such as Mechanization
fully meeting the actual requirements are currently
Electrification Construction Corporation - Joint Stock
essential, especially, the types of submersible pumps
Copany, Hai Duong Pump Manufacturing Joint -
with the low water column and large flow. This
Stock Company, Hanoi University of Science and
article introduces the research results of the trial
Technology, Vietnam Academy for Water
production project for the submersible pump
Resources… focused on investing funds and human
assembly - submersible d electric motors with the
resources for researching, designing and
small power (7.5 kW) and the low water column
manufacturing the types of submersible pumps in
H = (1-4) m, the horizontal axial flow submersible
general and the horizontal axial flow submersible
pump (capsule type) for the irrigation in agriculture
pumps (capsule type) in particular. However, the
and in the local anti-flood.
achieved results are limited. The research results of
2. Methods and research subjects the above units have not specifically published;
therefore, there are no obtained documents from the
2.1. Research methods domestic units.
The theory of calculation and design of normal
The trial production project used the traditional
axial pumps is widely available in the domestic
researching method including collecting, analyzing
country and foreign countries. However, the theory of
and assessing the documents on the types of
calculation and design as well as the technical
submersible pumps in general from foreign countries,
documents serving for the design and manufacturing
although the documents are limited and brief. In
technology of the submersible pumps in general and
addition, the project has focused on researching the
630 October 27 - 28, 2018

Hanoi, Vietnam
issues relating to the theoretical basis of calculation - The design of the axial diffuser blades: Z2 = 5,
and design the conduction part of the horizontal axial 6, 7.
flow submersible pump (capsule type) based on the
With number of revolutions n=980 r/min and the
theoretical basis of calculation of the conventional
specific speed coefficients ns = 595, the horizontal
horizontal axial flow pumps. The project also uses the
axial flow submersible pump (capsule type) with the
gained experiences during the research of the
motor power N=7,5kW, n = 980rpm of the project
traditional horizontal axial flow pumps and the
symbolized HTCN370-3 and the assembly structure
submersible vertical axial pumps directly researched
presented as Figure 1. The impeller blades Z1 = 4
by center for researching, consulting of
and the the axial diffuser blades Z2=7.
mechanization electrification and contruction
(REMECO) since 2000. b) Impact of number of revolutions
The project was in close combination with the The number of revolutions is one of the main
study, calculation and design of the section guide factors to determine the specific speed coefficients of
flow with test samples of the impeller, especially the the pump. The different specific speed coefficients
samples axial diffuser of horizontal axial flow will determine the different structures of the section
submersible pump (capsule type) with the different flow guide of the submersible pump. To determine
specific speed coefficients (ns = 600, 980, 1200). the impact of impact of number of revolutions to the
structure and energy curves of submersible pumps
2.2. Research subjects
horizontal axis (capsule type), the project focuses on
Derived from the production practice and based researching the specific speed coefficient solutions of
on the experience gained during the many-year the submersible pump ns = 595, 980 and 1.200.
research on the axis flow submersible pump, the
c) Impact of open angle of the axial diffuser in
project has identified the research object is the
the horizontal axial flow submersible pump (capsule
horizontal axial flow submersible pump (capsule
type)
type) with the main specifications:
Like the vertical axial submersible pumps, the
Motor power: N = 7,5kW
fluid flow after coming out the impeller will flow into
Number of revolutions: n = 980 rpm the axial diffuser. When flowing out the axial
diffuser, the fluid flow cannot straightly flow like in
Total head: H = (1-4)m
the conventional axial pump, now flow deviation out
Capacity : Q = (200-700)m3/hr and round the shell of the submersible motor Figure
1). It means that, the fluid will flow following the
2.3. Manufacturing materials open flaring shape when coming out of the area of the
The material for manufacturing the horizontal axial diffuser. The open angle has a very large impact
axial flow submersible pump (capsule type): on the quality of the flow in the section guide flow of
- Impeller: Stainless steel SUS304 the horizontal axial submersible pumps (capsule
- Discharge bowl and other cast units: Cast- type). Conventionally, the open angle of the axial
iron 21-40 diffuser in the axial submersible pumps features the
- Column pipe and the system wagon: Carbon value:
steel CT38
γloe, chd = (350 – 760).
- Mechanical seal: Stainless steel SUS304 –
carbon For submersible pump capsule type HTCN370-
3, open angle γloe, chd = 600.
3. Research results
3.1. Some research contents Theo H
This paper presents the research results of

horizontal axial flow submersible pump (capsule 166
type) with the specific speed coefficients ns=595. The

140
main research contents mentioned including:

2 44.1 4
a) Determine the impact of the number blades in 200
the impeller and the number blades in the axial

diffuser of the pump
Figure 1: The structure of the horizontalaxial
- The design of the impeller blades: Z1 = 3, 4, 5. flowsubmersible pumps (capsule type) HTCN370-3.
631 October 27 - 28, 2018

Hanoi, Vietnam
3.2. Research results of testing the horizontal axial

submersible pumps (capsule type)
The project implemented the testing of
horizontal axial flow submersible pump (capsule
type) with N= 7,5kW, the number of
revolutions: n=980rpm, the design water column Htk
= 3,0m, calculation capacity Q = 370m3/h. At that
time, the specific speed coefficients of the pump will
be: ns = 595.
Research results of testing measured the
specifications. On the basis of calculating and
adjusting the specifications, it determined the basic Figure 2. Energy curves of horizontal axial flow
specifications of the horizontal axial flow submersible pumps (capsule type) HTCN370-3
submersible pump HTCN370-3 (table 1). The (D1 = 280mm, Z1 =4, Z2 = 7, ns = 595)
assembly of the horizontal axial flow submersible
pump (capsule type) of the project includes the 4. Conclusion
horizontal axial submersible motors with the motor The result of research the horizontal axial flow
power N=7,5kW manufactured in Hanoi Electro- submersible pump (capsule type HTCN370-3) shows,
Mechanical Manufacturing Joint Stock Company, the that it’s possible to calculate and design the flow
submersible pump HTCN370-3 completed in Hai conduction part of this pump based on the theoretical
Duong Pump Manufacturing Joint Stock Company. basis of calculations on the traditional axial pumps
Table 1. Specifications of horizontal axial flow with the supplementation of featured systems, in
submersible pumps type capsule HTCN370-3 (Z1 = 4, which, it requires to focus on the specific speed
Z2 = 7, ns = 595, γloe, chd = 600) coefficients of the pump, the impeller blades, the
axial diffuser blades and especially, the open flaring
angle of the flow direction part.
- For the pump HTCN 370-3 (with the capacity:
N = 7,5kW, n = 980rpm and the specific speed
coefficients: ns = 595), can determine the flow
direction part solutions as follows:
+ The number of the impeller blades: Z1 = 4
+ The number of the impeller blades: Z2 = 7
+ The open angle of the axial diffuser:
γloe, chd = 60o
Note:
- Diameterexhaust and postion install At that time, the basic specifications of the
flowmeter: Dx = 250mm pump reach to the optimal value at the water column:
Htư = 3,26m and capacity: QT.ư = 393m3/h. The
- Total head: Hb = Hak + ΔZ +αv2/2g (m)
performance of the pump reaches to the highest level
- Motor power: Ndc  3UI cos /1000 (kW) ηmax = 61,52%.
- Shaft power: Ntr = Nđc.ηđc (kW) - The project will continue to research the
(ηđc = 86%) horizontal axial flow submersible pumps (capsule
- Hydraulic power: Ntl = 9,81.Hb.Q (kW) type HTCN370-3) with other specific speed
- Efficiency: ηb = Ntl/Ntr
coefficients (ns = 980 và 1.200), the number of the
From table 1, can build energy curves of impeller blades Z1 = (3, 5) and the number of the
submersible pumps horizontal axis (capsule type) axial diffuser blades Z2 = (5, 9) as well as other open
HTCN370-3 (Figure 2). angles γ= (35o ÷ 76o). On the basis of achieved
research results, it will correctly determine the
optimal structural solutions for the types of the
horizontal axial flow submersible pumps (capsule
type) with the greater capacity, meeting the actual
production requirements.
632 October 27 - 28, 2018

Hanoi, Vietnam
5. References [3] Assoc. Prof. Dr. Nguyen Van Bay. The general
scientific report of the trial production project at the
[1] ME. Nguyen Minh Tuan. The Synth Report of project State level: Trial production of the submerged pump
trial "Complete design, technology submersible with the capacity of N =37, 55, 75 kW for agriculture.
pumps – eclectric motor (vertical and horizontal) Hanoi, 12/2004.
small capacity from 5kW to 7.5kW capsul type and [4] Assoc. Prof. Dr. Nguyen Van Bay. The general
vertical pump vertical diesel engine capacity of 20 scientific report of the scientific research subject at the
codes mobile force for irrigation, drainage in local level managed by the Ministry: Research, design,
agriculture and preventing local flooding”, Hanoi, manufacture and install the submersible pump - the
2014. small-sized mobile submersible electric motors that
[2] Nguyen Minh Tuan. The thesis “ Study the influence can be assembled with the diesel engine for the
of several size parameters and structural of the irrigation in agriculture and the local anti-flood in the
diffuser to performance of axial flow submersible urban areas and the fruit-focused areas. Hanoi,
pumps in Vietnam”, Hanoi, 2017. 12/2010.
[5] Lomakin A.A. Centrifugal and axial pumps, Scientific
and Technical Publisher, 1976.
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Aeromechanic Performance of a Single-stage Transonic Axial Compressor

using Bleeding Airflow
Cong-Truong Dinh*, Dinh-Quy Vu, Xuan-Truong Le, Duc-Hai Nguyen
Abstract
The paper presents the effects of airflow bleed from rotor shroud surface on aeromechanic performance of a
single-stage transonic axial compressor, NASA Stage 37, using three-dimensional Reynolds-averaged
Navier-Stokes equations with the k- turbulence model. A small variable airflow, less than 1% of smooth
casing choking mass flow rate, is bleed throughout a circumferential rotor shroud ejector located from rotor
leading edge in flow direction and bleeding width contacted on rotor shroud surface. The numerical results
showed that all aerodynamic performance augmented, whereas the deformation on rotor tip leading edge
reduces with a very small increasing in Von Mises stress as compared to the results for a smooth casing.
Keywords: Transonic axial compressor, Air bleeding, RANS, Total pressure ratio, Adiabatic efficiency, Stall
margin, Stable range extension, Deformation, Von Mises stress.
Nomenclature investigation of bleeding air system on shroud surface

downstream of rotor in multistage axial compressor
C Chord length of blade tip
EFF Adiabatic efficiency of a gas turbine engine. The numerical results showed
Mass flow rate that the bleeding air system with 3% of bleed rate
Mass flow rate of injection reduced the separated region near the suction surface
PR Total pressure ratio of rotor to increase by 1% in efficiency and 5% in
RANS Reynolds-averaged Navier-Stokes stall margin. Leishman et al. [4] presented the effects
SM Stall margin of the circular-hole bleed off-take from stator hub
SRE Stable range extension surface with a large bleed flow rate up to 15% of the
 Adiabatic efficiency primary mass flow. The results from low-speed
 Tip clearance design of an HP compressor stator simulation showed
that holes near the blade pressure surface give higher
Subscripts
bleed off-take pressure than holes near the blade
In Inlet suction surface. The bleed off-take pressure and static
Out Outlet pressure coefficient decreased with increasing bleed
1. Introduction rate. Grimsha et al. [5] presented the effects of
nonuniform bleed airflow upstream rotor of primary
The flow phenomenon in the tip clearance core mass on the stability of a low speed single-stage
region significantly affects on compressor axial compressor. The results showed that the total
performance, such as pressure rise, efficiency, pressure rise coefficient at near-stall point and stall
stability, deformation and bending stress. Andrew [1] margin of single-stage axial compressor increased
presented the effects of compressor bleed flow on slightly with an increasing in bleed rate from 2.1% to
theperformance of F404-GE-400 afterburning 6.2% bleed rate of primary core mass as compared to
turbofan engines. The experimental result showed 0% bleed rate.
that the thrust was linearly decreased with an increase
in bleeding flow at all power setting. Hathaway [2] Lerche et al. [6] presented a FSI method to
presented a passive control method of endwall predict the stresses of compressor blades in a single
blockage via bleeding flow of a low axial compressor stage centrifugal compressor. The numerical results
rotor. The results showed that the best bleeding showed very good with the experimental results
positions were between start of tip leakage flow (40% measured from a rotation test. Wang et al. [7]
of rotor chord length). The maximum improvement in presented the one-way FSI analysis of a 2-MW
rang extension was 55% when the position of offshore wind turbine blades to determine the torque
bleeding was bleed blockage aft of leakage jet at 70% value, stress and strain for the full machine, and these
of rotor chord length with 3.5% choking mass flow values are compared with other scholar’s results.
rate of bleeding flow. Ress et al. [3] presented an Chen et al. [8]. Song et al. [9] compared the total
pressure ratio, efficiency and stress between optimum
634 October 27 - 28, 2018

Hanoi, Vietnam
and initial design of a transonic axial compressor,

NASA Rotor 37, using 1-way FSI. The results show
that the adiabatic efficiency increases by 0.3% with a
constant of total pressure ratio and the maximum
stress decreases to 0.9MPa. However, author did not
care about the rotation speed of rotor in the stress
calculation. Kang and Kim [10] presented an optimal
design of impeller for centrifugal compressor using
Fluid-Structure-Interaction analysis and response
surface method for optimization method with 45
design points conducted by ANSYS DesignXplorer.
The results show that the efficiency increase by 1%
and the stress decreases by 10% with a constant of (a) 3D view
pressure ratio for optimum design as compared to
initial design.
In this paper, a circumferential bleeding ejector,
located between rotor leading and trailing edge,
combined with a small air bleeding were investigated
to improve the aerodynamic performance of a
transonic single-stage axial compressor. The effects
of air bleeding are also performed on structural
performance, such as deformation on rotor tip leading
edge and Von Mises stress near rotor hub surface.
The aerodynamic and structural performances results
(stall margin, stable range extension, adiabatic
efficiency, total pressure ratio, Von Mises stress and
deformation on rotor and stator blades) of this b) Meridional plane view
parametric study were compared to the corresponding Figure 1. Geometry and computational domain of
smooth casing results. Stage 37 compressor with a circumferential rotor air
2. Numerical Analysis bleeding.
2.1. Compressor model Figure 1(a) shows the 3D-view of bleeding

ejector combined with tip ejection in a transonic
This investigation examines a NASA Stage 37 single-stage axial compressor. The compressor
single-stage transonic axial compressor with 36 geometry and definition of geometric parameters of
NASA Rotor 37 blades rotating at a speed of 17185.7 the air bleeding are shown in Fig.1(b), where the
rpm (100% design speed) and 46 NASA Stator 37 bleeding ejector is circumferential and mounted on
stator blades.Dunham investigated the NASA Rotor the rotor casing between leading and trailing edge.
37 in an AGARD report [11]. The blade airfoil The bleeding position (L) indicated the bleeding
sections were designed using multiple circular arcs. position that compared to the rotor leading edge. The
Crouse reported on the development of the multiple widths of bleeding port (W) measured with reference
circular arc blade profile [12]. The NASA Stage 37 to rotor tip chord length (CR), were also tested. The
design specifications were detailed in the NASA ejection mass flow rate ( ) was also selected as an
Technical Paper 1337 reported by Reid and Moore operating parameter. The performance parameters of
[13]. The tip clearances for the rotor and stator are the axial compressor are the total pressure ratio (PR),
0.04 cm and 0.0762 cm, respectively, while the total adiabatic efficiency (η), stall margin (SM), and stable
pressure ratio and peak adiabatic efficiency at a mass range extension (SRE), which are defined in Dinh et
flow rate of 20.74 kg/s are 2.00 and 84.00%, al. [14].
respectively. The design stage pressure ratio is 2.05,
which occurs at a mass flow rate that is about 3% 2.2. Numerical methods
lower than that for the peak adiabatic efficiency The working fluid is air, which was considered
(about 96.5% of the choking mass flow rate). The to be an ideal gas. The average static pressure was set
choking mass flow rate is 20.93 kg/s at 100% of the at the stator outlet boundary for steady state
design speed. The near-stall condition and stall simulation. Adiabatic smooth wall conditions were
margin were 0.9365 of the choking mass flow rate used at blade surfaces, shroud, and hub surfaces of
and 10%, respectively. The reference temperature and the rotor and stator, and stator shroud injector
pressure are 288.15 K and 101,325 Pa, respectively.
635 October 27 - 28, 2018

Hanoi, Vietnam
were used in the other regions of the rotor and stator

blocks, and an H-type grid was used in the ejector
block and blade, as shown in Fig. 2(a). Fig. 2(b) was
showed the structure mesh for structure analysis. The
commercial computational fluid dynamics (CFD)
code ANSYS-CFX 15.0 [15] was used for the flow
analysis. Blade-Gen and Turbo-Grid were used to
create the blade shape and generate the computational
grid in the blade passage, respectively. Design-
Modeler and ICEM-CFD were used to design the
rotor bleeding ejection and generate the grid in the
bleeding ejector, respectively. ANSYS CFX-Pre,
(a) Flow mesh CFX-Solver, and CFX-Post were used to define
boundary conditions, solve governing equations, and
to post-process the results, respectively. For the
structure analysis, the compressor blades (rotor and
stator blades) were exported from Design-Modeler
into ANSYS Multiphysics, which were used also to
mesh, define boundary conditions, solve governing
equations, and to post-process the results,
respectively. The compressor blades structure mesh
was using H-type grid as shown in Fig. 2(b), where
the mesh on the compressor blades of structure and
flow parts were coincided.
(b) Structure mesh A grid-dependency test was performed for the
transonic single-stage axial compressor as shown in
Figure 2. Structure of the grid system.
Fig.3, where the Mesh 2 is the optimal mesh for the
surfaces. Periodic conditions wereused at the side single-stage 37without air bleeding, consists of
boundaries of the computational domain. The general 590,080 nodes with 340,556 nodes for rotor and
grid interface (GGI) method was used for the 249,524 nodes for stator.
connection at the interfaces between the stator and Figure 4 shows validation of the numerical
rotor domains and between the stator and injector performance curves for the total pressure ratio and
domains.A scalable wall function was used for the adiabatic efficiency of the transonic single-stage axial
turbulence model with y+ valuesin the range of 20 to compressor for the smooth casing compared to the
100 at the first nodesnear the wall. For structure experimental data reported by Reid and Moore [37].
analysis of compressor blades, the Titanium Alloy The numerical results are qualitatively in good
with the density of 4620kg/m3, Tensile and agreements with the experimental data. The predicted
Compressive Yield strength of 930MPa and Tensile peak adiabatic efficiency, 83.85% is very close to the
Ultimate strength of 1070 MPa were used for rotor measurement, 84.00%. The predicted near-stall
blades, whereas the structural steel with the density of
7850kg/m3, Tensile and Compressive Yield strength Table1. Dimensionless parameters and reference
of 250MPa and Tensile Ultimate strength of 460 MPa design for air bleeding.
were used for stator blades, which are implanted in
LB/CR WE/ CR
the ANSYS Multiphysics. Variable
(%) (%) (%)
In this work, three-dimensional RANS equations
using the k- turbulence model with the scalable wall Ref. value 40 5 0.5
function were solved numerically for the
aerodynamic analysis and the FSI analysis using the Table 2. Ranges of parameters for parametric study.
CFX pressure load from aerodynamic analysis and
rotational load on pressure and suction side of LB/CR WE/ CR
Variables
compressor blades is used to determine the (%) (%) (%)
deformation on rotor tip leading edge and Von Mises
stress near rotor hub surface. Hexahedral elements Lower 30 4 0.3
were used to mesh the computational domain. An O- Upper 60 6 0.6
type grid wasused near the blades, H/J/C/L-type grids
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(a) Performance curves of total pressure ratio and Figure 4. Validation of numerical results with
adiabatic efficiency experimental data for single-stage compressor, NASA
stage 37 (smooth casing).
aerodynamic performances such as total pressure
ratio, adiabatic efficiency, stall margin, and stable
range extension were evaluated using three-
dimensional (3-D) Reynolds-averaged Navier-Stokes
(RANS) equations. The reference design of
thebleeding ejection combined with ejection is shown
in Table 1. Fig.5(a) shows the optimum number of
nodes in thecircumferential rotor airflow bleeding
was determined as 36,800 for further calculations.
The results in Figure 5(b) show that the rotor airflow
bleeding extends largely the operating range by
delaying the stall from 0.9385 (smooth casing) to
(b) Choking mass flow rate and stall margin 0.9250 (reference design) with a slightly increase in
adiabatic efficiency (83.94% compared to 83.85% for
smooth casing). The total pressure ratio at peak
adiabatic efficiency of reference design (2.0148) is
superior to that of smooth casing (2.0045). The
reference design stall margin, 11.26%, is higher than
that of smooth casing, 9.95%, and the stable range
extension largest increases from 0.00% for the
smooth casing to 21.92% for the reference design.
The aeromechanic performance of a transonic
single-stage axial compressor was also tested for
different geometric parameters of rotor bleeding
airflow (bleeding position, bleeding width) and the
ejection mass flow rate. The aeromechanic
performance results (total pressure ratio, adiabatic
(c) Total pressure ratio and adiabatic efficiency at
efficiency, stall margin, stable range extension,
design condiiton (96.5% of choking mass flow rate)
deformation and bending stress) of this parametric
Figure 3. Grid dependency tests for single-stage study were compared to the corresponding smooth
compressor, NASA stage 37 (smooth casing).
casing results. The results of the parametric study
condition, 93.85% of the choking mass flow rate, is using the three parameters of the circumferential air
very close to the measurement, 93.65%. The bleeding (Table 2) on aeromechanic performance of
predicted stall margin, 9.95%, is also very close to the the single-stage transonic axial compressor, are
measurement, 10.00%. shown in Figs. 6-8.
Figure 6 shows the effect of bleeding position
To prove the aerodynamic performance of a ( ) on aerodynamic performance for NASA stage 37
transonic single-stage axial compressor using a casing with air bleeding, where the maximal value of total
bleeding ejector combined with airflow ejection, the pressure ratio and adiabatic efficiency are 2.0148 and
637 October 27 - 28, 2018

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pressure ratio and adiabatic efficiency are 2.0247 and

84.06%, respectively, at ( 0.7%), and
_
the maximal stall margin and stable range extension
value are11.26% and 21.92% at (
_
0.5% ), respectively. The minimum bending stress
and total deformation are399.58 MPa and 1.2942 mm
at ( 0.3%), respectively.
_
(a) Total pressure ratio and adiabatic efficiency at

peak condition
.
(a) Total pressure ratio
(b) Comparision of performance curves of total

pressure ratio and adiabatic efficiency
Figure 5. Effects of circumferential rotor air bleeding
on performance curves for NASA stage 37.
84.08%, respectively, at 40% and 60% of rotor blade
tip chord length, respectively. The maximal stall
margin and stable range extension value is 12.18%
and 21.92% at 50% and 40% of rotor blade tip chord (b) Adiabatic efficiency
length, respectively, whereas the minimum bending
stress and total deformation are 399.24 MPa (399.63
MPa for smooth casing) and 1.2840 mm (1.3051 for
smooth casing) at 50% of rotor blade tip chord length,
respectively.
The bleeding width (W) is one of most
influential parameter on aeromechanic performance
as shows in Fig. 7, where the maximal value of total
pressure ratio and adiabatic efficiency are 2.0182 and
84.12%, respectively, at 3% of rotor blade tip chord
length, and the maximal stable range extension value
is 22.52% at 6%, whereas the stall margin is 12.07%
at 7%. The minimum bending stress and total
deformation are399.34 MPa and 1.2828 mm at 7% of (c) Stall margin
rotor blade tip chord length, respectively. Figure 6. Effect of bleeding position ( ) on
Figure 8 shows the effect of ejection mass flow aerodynamic performance for NASA stage 37 with
rate ( ) on aeromechanic performance for air bleeding.
NASA stage 37, where the maximal value of total
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(a) Total pressure ratio (d) Stable range extension
(b) Adiabatic efficiency (e) Von-Mises stress
(c) Stall margin (f) Total deformation

Figure 7. Effect of bleeding width ( ) on aerodynamic performance for NASA stage 37 with air bleeding
(cont.).
4. Conclusion of the bleeding ejector design in the single-stage
transonic axial compressor needs to be performed
The performance of a circumferential bleeding
using the optimization techniques in order to
ejection combined with airflow ejection in a single-
maximize the aerodynamic performance and
stage transonic axial compressor, NASA Stage 37,
minimize mechanic performance in a future work.
was evaluated numerically using 3-D RANS analysis.
The numerical results show that all aerodynamic
References
performance of the single-stage transonic axial
compressor is augmented greatly by using tip ejection [1] S. D. Grimsha, G. Pullan, and T. Walker, Bleed-
and circumferential bleeding ejector as compared to Induced Distortion in Axial Compressors, Journal of
the smooth casing. The minimum bending stress and Turbomachinery, Vol. 137/101009 (2015), pp. 1–9.
[2] G. D. J. Smith and N. A. Cumpsty, Flow phenomena
total deformation are 399.24 MPa at 50% of rotor
in compressor casing treatment, Journal of
blade tip chord length and 1.2828 mm at 7% of rotor Engineering for Gas Turbines Power,Vol. 106 (1985),
blade tip chord length,respectively. The optimization pp.532-541.
639 October 27 - 28, 2018

Hanoi, Vietnam
(a) Total pressure ratio (d) Stable range extension
(b) Adiabatic efficiency (e) Von-Mises stress
(c) Stall margin (f) Total deformation

Figure 8. Effect of ejection mass flow rate ( ) on aerodynamic performance for NASA stage 37 with air
bleeding.
[3] B. H. Beheshti, J. A. Teixeira, P. C. Ivey, K. [6] A. H. Lerche, J. J. Moore, N. M.White, and J.
Ghorbanian and B. Farhanieh, Study of Tip Hardin,Dynamic Stress Prediction In Centrifugal
Clearance-Casing Treatment on Performance and Compressor Blades Using Fluid Structure Interaction,
Stability of a Transonic Axial Compressor, Journal of Proceedings of ASME TURBO EXPO 2012,
Turbomachinery, Vol. 126 (2004), pp.527-535. GT2012-69933 (2012), Copenhagen, Denmark.
[4] D. C.Rabe, and C. Hah, Application of casing [7] Z. K. Wang, G. C. Tsai and Y. B. Chen, One-Way
circumferential grooves for improved stall margin in a Fluid-Structure Interaction Simulation of an Offshore
transonic axial compressor, Proceedings of ASME Wind Turbine, International Journal of Engineering
Turbo Expo 2002, Amsterdam, Netherlands, GT2002- and Technology Innovation, Vol. 4 (2014), No. 3, pp.
30641 (2002). 127-137.
[5] H. Khaleghi, Effect of discrete endwall recirculation [8] J. Chen, Q. Wang, W. Z. Shen, X.Pang, S. Li and X.
on the stability of a high-speed compressor rotor, Guo, Structural optimization study of composite wind
Aerospace Science and Technology, Vol. 37 (2014), turbine blade, Materials and Design, Vol. 46 (2013),
pp.130–137. pp. 247-255.
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[9] Y. J. Song, H. S. Kang, and Y. J. Kim, Reliability Center, National Aeronautics and Space
Evaluation of an Axial Compressor Rotor Using Administration, Cleveland, Ohio 44135 (1974).
Fluid-Structural Interaction Analysis, 3rd [13] L. Reid and R. D. Moore, Design and Overall
International Conference on Materials and Reliability, Performance of Four Highly Loaded, High-Speed
Jeju, Korea, November 23-25, 2015. Inlet Stages for an Advanced High-Pressure-Ratio
[10] H. S. Kang and Y. J. Kim, Optimal design of impeller Core Compressor, NASA Technical Paper 1337,
for centrifugal compressor under the influence of one- Lewis Research Center, National Aeronautics and
way Fluid-Structure-Interaction, Journal of Space Administration, Cleveland, Ohio 44135 (1978).
Mechanical Science and Technology, Vol. 30(9) [14] C. T. Dinh, S. B. Ma and K. Y. Kim, Effects of a
(2016), pp. 3953-3959. Circumferential Feed-Back Channel on Aerodynamic
[11] J.Dunham, CFD validation for propulsion system Performance of a Single-Stage Transonic Axial
components, AGARD advisory report no. 355, Compressor, Proceedings ASME Turbo Expo 2017:
Advisory Group on Aerospace Research and Turbomachinery Technical Conference and
Development, North Atlantic Treaty Organization, Exposition, GT2017-63536 (2017), Charlotte, NC
ISBN 92-836-1075-X (1998). USA.
[12] J. E. Crouse, Computer program for definition of [15] ANSYS CFX-15.0.0, ANSYS CFX-Solver Theory
transonic axial-flow compressor blade rows, NASA Guide, ANSYS Inc., 2013.
Technical Note, NASA TN D-7345, Lewis Research
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Simulation Dynamic System Electric Power train using in the Automobile

Nguyen Quang Thanh*
Hanoi University of Industry, Hanoi, Vietnam
*Email: nguyenthanhquang@haui.edu.vn
Abstract
Electric vehicle power transmission systems are commonly used for future automobiles. The calculation of
engine power is one of the most important tasks, on this basis choose the power supply to the system.
The paper studies the dynamic model and simulation of a mechatronic system involving a DC motor and
several revolving parts. The methods employed are bond-graph modeling and numerical simulation using
Simulink in Matlab.
Keywords: Electric vehicle power transmission, Bond-graph model Electrodynamics.
1. Introduction tg2 = 25.00 mm. The belt is massless and does not
stretch: dc1 = 397.88 mm; lc1 = 750.00 mm; dc2a =
The mechatronic system considered for study in
300.00 mm (inner diameter); dc2b = 397.88 mm
this project involves an electrical DC motor that
(outer diameter); lc2 = 750.00 mm.
drives a two cylinders using sets of pulleys, belt and
gears (Figure 1). Although most physical properties Furthermore, to have sufficient information to
of this system is either (i) well-defined by the model this system, the assumptions below are
problem statement (List 1) or (ii) specified through proposed.
assumptions (List 2), there remains two controlled
(ii) List of assumptions
parameters that are left to explore. These parameters
are the torque equation constant of the DC motor - There is no loss of energy in the pulleys/belt and
(denoted “K”) and the bearing coefficient of friction gears systems and the motor inertia is negligible.
(denoted “r”). - The system operates in a zero-gravity environment.
The list of physical properties imposed by the - All pulleys, cylinders, gears are rigid bodies.
given problem statement is summarized below for - Gears material: steel (density Ds = 8.05×10-6
reference convenience. kg/mm3). Pulleys material: aluminum (density Da =
2.70×10-6 kg/mm3). Pulley 1 thickness: tp1 = 10.00
(i) List of given information
mm. Pulley 2 thickness: tp2 = 20.00 mm. Besides the
The Electrical domain: SE = 12 VDC; L = 10 typical assumptions made about typical physical
mH (Motor Inductor); R = 5 Ω (Motor resistor). properties such as inertia, material and geometry,
Cylinders material: steel (density Ds = 8.05×10-6 there are three assumptions that are worth of
kg/mm3); np1 = 32; np2 = 64; dp1 = 142.60 mm mentioning.
(Pitch diameter for 32 tooth 14 mm pitch HTD Firstly, all solid bodies are rigid, this will
profile); dp2 = 285.21 mm (Pitch diameter for 32 simplify the bond-graph model, as well as exclude the
tooth 14 mm pitch HTD profile); ng1 = ng2; dg1 = actual physics of the system from vibration (which in
397.88 mm; tg1 = 25.00 mm; dg2 = 397.88 mm; turn requires much more involved harmonic
analysis). This assumption is reasonable since the
motor given is operating at relatively low torque, and
the length-to-width ratio of the studied cylinders is
not so significant.
Secondly, the loss of energy (via dissipative
elements) at pulleys/belt and gears is neglected due to
its complexity. Lastly, the system is assumed to not
experience gravity.
2. Bond-graph modeling
2.1. Bond-graph model of the Electric Powertrain
system
The bond graph model consists of five basic
Fig. 1. Overview of the system. components [1,2]. The SE source of energy, the I
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Table 1. Derivation of efforts and flows

Effort Flow
1 e1 = SE1 f1 = f2 = P2/I2
2 e2 = e1-e3-e4 = SE1 - R3× f2 = P2/I2
P2/I2 - K× P6/I6
3 e3 = R3×f3 = R3×P2/I2 f3 = f2 = P2/I2
4 e4 = K×f5 = K×P6/I6 f4 = f2 = P2/I2
5 e5 = K×f4 = K×P2/I2 f5 = f6 = P6/I6
6 e6 = e5–e7 = K×P2/I2 - f6 = P6/I6
(I9+I11+I12+(I15+I17)×n
22)×n12×P6’/I6 -
(1+n22)×r×n12× P6/I6
7 e7 = n1×e8 = f7 = f6 = P6/I6
(I9+I11+I12+(I15+I17)×n
22)×n12× P6’/I6 +
(1+n22)×r×n12× P6/I6
8 e8 = 9+e10+e11+e12+e13 f8 = n1×f7 =
Fig. 2. Bond-graph model of the EP system. = (I9+I11+I12+(I15+I17) n1× P6/I6
×n22)×n1× P6’/I6 +
motor inductor, the R motor resistor, GY = K motor
(1+n22)×r×n1× P6/I6
torque equation ratio, TF pulleys/gears pair
transmission ratio. The five elements are linked by 9 e9 = I9×f9’ = I9×n1× f9 = f8 = n1×
constant velocity 1 junctions, transformer TF shown P6’/I6 P6/I6
in Fig. 2. 10 e10 = R10×f10 = r×n1× f10 = f8 = n1×
P6/I6 P6/I6
From the given information and made 11 e11 = I11×f11’ = I11×n1× f11 = f8 = n1×
assumptions, we can calculate the values of all the P6’/I6 P6/I6
elements in the bond-graph: 12 e12 = I12×f12’ = I12×n1× f12 = f8 = n1×
Source of energy: SE1 = 12 VDC; Motor P6’/I6 P6/I6
inductor: I2 = 10 mH; 13 e13 = n2×e14 = f13 = f8 = n1×
(I15+I17)×n22×n1×P6’/I6 P6/I6
Motor resistor: R3 = 5 Ω; Motor torque equation + r×n22×n1× P6/I6
ratio: GY = K (controlled parameter). 14 e14 = e15+e16+e17 = f14 = n2×f13 =
Pulleys transmission ratio: TF1 = np2/np1 = n1; (I15+I17)×n2×n1×P6’/I6 + n2×n1×P6/I6
Gear transmission ratio: TF2 = ng2/ng1 = n2. r×n2×n1× P6/I6
Pulley 1 moment of inertia: 15 e15 = I15×f15’ = f15 = f14 =
I6 = 0.5(π(dp1/2)2×tp1×Da)×(dp1/2)2; I15×n2×n1× P6’/I6 n2×n1×P6/I6
Pulley 2 moment of inertia: 16 e16 = R16×f16 = f16 = f14 =
I9 = 0.5(π(dp2/2)2×tp2×Da)×(dp2/2)2. r×n2×n1× P6/I6 n2×n1×P6/I6
Gear 1 moment of inertia: 17 e17 = I17×f17’ = f17 = f14 =
I11 = 0.5(π(dg1/2)2×tg1×Ds)×(dg1/2)2; I17×n2×n1×P6’/I6 n2×n1×P6/I6
Gear 2 moment of inertia:
I15 = 0.5(π(dg2/2)2×tg2×Ds)×(dg2/2)2.
Cylinder 1 moment of inertia: dP2 R K (1)
I12 = 0.5(π(dc1/2)2×lc1×Ds)×(dc1/2)2;  SE1  3 P2  P6
dt I2 I6
Cylinder 2 moment of inertia:
I17 = 0.5(π×lc2×Ds)×((dc2b/2)4-(dc2a/2)4). P6’ = e6 or (2)
Bearing resistance: R10 = R16 = r (controlled KI 6
parameter).
dP6 I2
 
P2  n12 1  n22 rP6
 (2)
2.2. Derivation of equations of motion dt 
I 6  n12 I 9  I11  I12  n22  I15  I17  
Derivation of equations of motion as follow.
Intuitively, this set of equations makes sense.
P2’ = e2 or (1) The first equation describes the voltage of the
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inductance, which is equal to the supplied voltage

SE1, minus the voltage drop across the resistor
(equals to current times its resistance), minus the
voltage drop across the motor (Kirkoff’s circuit law).
For the second equation, noticing if we multiply both
sides by I6, on the LHS we get total inertia times
angular acceleration, which equates the torque created
by moving the system minus the resistive torque
caused by bearing friction (Euler’s law of motion). a) General of first numerical scheme
The matrix form of this system of equations is:
P2   m1 m2   P2  SE1 
     (3)
 P6  m3 m4   P6   0 
Where:
⁄
⁄

m3  K / I 2  1   I9  I11  I12 

  I15  I17   n22 n12 / I6 
 
m4  r 1  n22 /  I 6  I9  I11  I12 
  I15  I17   n12
2.3. Derivation of efforts and flows
It can be quickly observed from the bond-graph
that there are only two elements that are given
(preferred) integral causality, leaving the system with
order 2 or 2 independent variables P2 and P6. On the
other hand, this is due to “rigid body assumption” that b) Subsystem of first numerical scheme
is made earlier.
Derivative causalities can be “fixed” by
introducing dissipative and stiffness elements, yet this
study will only consider the system as having 2
degrees of freedom.
The derivation of all efforts and flows across the
links of the bond-graph is shown below (Table 1).
3. Numerical simulations
Numerical simulation is employed to solve the
system of equations (a more direct approach to
simulation using block diagrams is presented in this
research); however, this method proposes some
numerical instabilities and has not yields consistent
results). The physical inputs are specified inside the
scope of a function (named “Physical inputs” in
Simulink) for the ease of varying parameters, then
converted to bond-graph elements (such as I, R, etc.)
and eventually coefficients of the equations (all of c) Subsystem 1 of first numerical scheme
these functions are based on previously stated Fig. 3. First numerical scheme.
equations).
Two schemes shown in Figure 3 and Figure 4
used in the simulation eventually yield exactly similar
results.
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dP2 P2    P2  0  R K
  SE1  3 P2    P6   (4)
dt  I2 I6
KI 6
dP6 P6    P6  0  I2
P2    n12 1  n22 rP6    
  (5)
dt  
I 6  n12 I 9  I11  I12  n22  I15  I17  
Using equation (1), the energy required to move
the system from rest to the angular velocity ω = 100
rad/s within τ = 5 seconds is:
SE1  P2    P2  0  
 
P2 SE1

W   SE1
0
I2
dt 
I2  P dt   I
0
2
2

2

 SE1  R3 K 
   P2    P6    SE1  
2I2 I
 2 I 6  (6)
2
 SE1  R 
    K  3 P2    SE1 
2I2  I 2 
Using equation (2) we can calculate the term
P2()/I2 (assuming r=0):
P2  

I  n I  I
6
2
1 9
2

11  I12  n2 I15  I17 
  (7)
I2 K
Let:
Fig. 4. Second numerical scheme.
u  K 
R3
P2   
 
I 6  n12 I 9  I11  I12  n22  I15  I17   R3 1

 (8)
I2  K
Using Cauchy’s inequality:
The required engine torque and the power
delivered by an electric vehicle is determined by the
forces acting on the vehicle while it is driven along u2
I 6 
 n12 I 9  I11  I12  n22  I15  I17   R3  
1 (9)
 K
the road. The power losses of the electric engine of
EV are considered in the calculations, a dynamic Thus, the energy needed:
equilibrium exists between the tractive effort between
the wheels and the road on the one hand and the total
running resistance on the other. The surplus force W
 2SE1 

 2
I n I  I
6
2
1 9
2

11  I12  n2 I15  I17 
  R3


 SE1   (10)
2I2   
accelerates the vehicle. In case of deceleration or 



driving downhill, the acting forces can drive the  30.37 MNm
movement of the EV [3].
4.2. The 110V DC motor
4.1. The 12V DC motor
Now let’s consider a more realistic situation, say
Intuitively, the goal of getting the 12V DC
using an 110V motor (assuming K = 1 and the
motor running up to ω = 100 rad/s within τ = 5
armature resistance and inductance are unchanged) to
seconds or less is impossible to achieve, because the
drive the system. The angular velocity versus time
12V DC used to, for example, start a car, drive an
plots for different values of bearing resistance are: In
industrial-size steel system that weighs over a ton.
the Figure 5 shown that, r = 0.01, is controlled
Mathematically we can prove this observation by
parameter very small, the angular velocity versus
some simple calculations below.
time linear increase, that means that the resistance in
We will prove that the energy generated by our the bearings is smallest, the bearings are best
source (12V battery) is not sufficient to drive the lubricated. When r increases to 0.1, the velocity of the
system. Standard recreational vehicle battery can cylinder 2 decreases, shown in Fig.6. In the case of
supply up to 4000 Watts, or 20 kilo-Joules in 5 r = 1, the velocity of the cylinder 2 decreases
seconds [4]. Now to simplify the analysis, let’s markedly, resulting in a clearer curve shown in Fig.7.
linearize the dynamics of the system. Equations (1) At the r =10, the velocity of cylinder 2 increased
and (2) become (1) and (2). rapidly in a very short time and then stable, curve of
angular velocity versus time shown in Fig 8.
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Hanoi, Vietnam
Fig. 5. Cylinder 2 angular velocity vs time, r = 0.01. Fig. 8. Cylinder 2 angular velocity vs time, r = 10.
5. Conclusions
In this paper, bond graph theory and numerical
simulation using Simulink in Matlab for modular
modeling method are applied to dynamic model and
simulation of a mechatronic system involving a DC
motor and several revolving parts. The effectiveness
of the modeling method in this paper is verified by
using the Kirkoff’s circuit law describes the voltage
of the inductance and Euler’s law of motion describes
total inertia times angular acceleration.
Through the research presented in this paper,
some useful conclusions can be formulated as:
Noticing as the bearing resistance increases, the
transient part of angular velocity is shorter, as well as
Fig. 6. Cylinder 2 angular velocity vs time, r = 0.1.
the steady-state maximum angular velocity decreases.
These results are expected since the energy
dissipation due to kinetic friction at the bearings
increases.
References
[1]. Samantaray, Arun. “About Bond Graphs.”
BondGraphs. 20 Mar 2006. Web. 10 Dec 2017.
[2]. Broenink, Jan. “Introduction to Physical Systems
Modelling with Bond Graphs.” University of Twente.
Web. 10 Dec 2017.
[3]. Mohamed El Baghdadi, Laurent De Vroey, Thierry
Coosemans, Joeri Van Mierlo, Wim Foubert, Rafael
Jahn. Electric Vehicle Performance and Consumption
Evaluation. World Electric Vehicle Journal Vol. 6 -
ISSN 2032-6653 (2013) WEVA Page 30-37.
Fig. 7. Cylinder 2 angular velocity vs time, r = 1.0. [4]. “Battery Basics: A Layman's Guide to Batteries”.
BatteryStuff. 27 Nov 2017. Web. 12 Dec 2017.
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Simulation of Pitch-roll-yaw Vibrations of Vehicle using Matlab Simulink

Quang Thanh Nguyen*
1
Hanoi University of Industry, Hanoi, Vietnam
*Email: nguyenthanhquang@haui.edu.vn
Abstract
The phenomena of pitch-roll-yaw vibrations in a vehicle are very rich and intricate. There are hundreds of
varied vibration phenomena in a moving vehicle. Performing analysis of the vibration has long been
recognized as a convention in studying the Noise-Vibration-Harshness (NVH) of the vehicle as a whole,
which mostly works on designing automotive - related components including optimizing the body structure
such that it can operate reliably under both static and dynamic loading conditions.
This paper presents the simulation and analysis of vehicle pitch-roll-yaw vibrations using Matlab Simulink.
When the excitation from the surface of the road creates resonance in both the hung-mass and the
suspension systems, the vehicle can enter dangerous conditions. A 3-D 7-DOF model that is capable of
describing altogether pitch-roll-yaw vibrations is implemented.
Keywords: Pitch-roll-yaw vibrations,3-D 7-DOF model, Matlab Simulink.
1. Introduction
2. Methodology
The traditional mathematical approach for
The most severe modes of failure to the vehicle
Vehicle vibration analysis involves the formulation of
are bending and twisting of its frame, which provides
the system of Lagrangian differential equations for
a serious risk to driver safety. Therefore, it is
the related vibration problem that is frequently
important to perform effective analysis and testing of
impossible, or very laborious, to be solved by hand
the vehicle chassis right at the design phase [4]. The
[1]. Rather, an approximate solution is quickly
connection points of the the body (or frame) with the
realized using numerical methods, which can be very
suspension are the points having force action, which
helpful in the early stages of the design process. For
thus undergo dynamic excitations. Varied excitation
analysis vibration, numerical method have applied to
forces are transmitted to different supporting points
effectively modeling vibration of a vehicle. The
of the body through varied transmission paths. The
accuracy of this method heavily depends on the
force on each point can be projected on the X, Y, and
complexity of the implemented analytical model [2].
Z axes. A comprehensive analysis of the transfer path
However, even with the highest-fidelity analytical
must be conducted using a matrix tool [5].
model, this approach is not accurate enough to be
used in later design phases, where the multi-body One formulates a parametric mathematical
dynamics simulation approach and the experimental model of the suspension-hung masses system, which
approaches yielding higher accuracy are preferred. is the key connector between the body-chassis and the
road, to understand how the road exerts loads onto the
One standard simulation software is Adams,
chassis. Determining the boundary conditions applied
which is described by its parent company MSC as
to the body-chassis through mathematical modeling
“Adams/Car Real Dynamics for Vehicle Design and
and simulate the dynamical behavior of the body-
Testing.MSC Software: Product Datasheet -
chassis under these boundary conditions.
Adams/CarTM”. Researchers at well-funded
1) Model road profiles causing excitation onto the
institutions or big corporations have long used Adams
suspension of the vehicle.
combined with several other software packages to
2) Create a mathematical model of the vehicle
virtually simulate the dynamical behaviors of the
suspension using Lagrangian equations and the
entire vehicle, including road profile, tires,
road profiles.
suspensions and chassis [3]. One obvious downside
3) Find the dynamic loads (boundary conditions)
of this technique is the cost coming along with these
from the suspension to the body-chassis by
software packages. The following one approaches
solving the model formulated on MATLAB
have been used to attain a cost-effective solution: The
Simulink software.
simulation approach based on 3-D full vehicle model
Criteria and restrictions of the paper that is capable
is an inexpensive, yet fairly accurate alternative to the
of:
experimental approach; the lumped mass approach
1) Verifying the structural integrity under dynamic
using Matlab Simulink software.
loads.
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Hanoi, Vietnam
Fig. 2. 3-D 7-DOF full vehicle model.

Fig. 1. Vehicle body design procedure.
2) Supporting the optimization, especially weight kf, cf, ktf, ctf are the stiffness and damping
reduce of the structure. coefficients of the front suspensions and front tires
3) Making use of the readily available software kr, cr, ktr, ctr are the stiffness and damping
MATLAB/Simulink. coefficients of the rear suspensions and rear tires.
Using recommendations the research done in this The matrix-form equation of motion of this
study, a logic design procedure is proposed shown in particular masses - springs - dampers system, a
Fig.1. This design procedure allows engineers to system of ordinary differential equations (ODE’s)
efficiently switch between the design and verification written in matrix form, can be deduced by applying
phases. The procedure starts by specifying the inputs, the Lagrangian equations of the second kind (2008),
which are the design/control parameters. Again, those for 3-D 7-DOF model system is:
are the physical properties of the suspension system
 0 
and the geometric shape of the chassis (which  
determine its center of mass and natural frequencies).  0 
Along this procedure, several design constraints are  0 
needed to be satisfied to reach the final design  
configurations. If any of those constraints are not met, M X  C X  K X   ktf y1  ctf y1  (1)
designers must respecify the inputs as described by  k y  c y 
the loops and logic gate Yes/No after each constraint.  tf 2 tf 2 
Furthermore, engineers can also use this procedure to  ktr y3  ctr y 3 
verify their optimized system.  
 ktr y4  ctr y 4 
3. Full vehicle Modelling Where the matrices that follow the conventions of
Based on model for the full vehicle, a simplified 7 the equation of motion are:
Degree-of-freedom (DOF) model for the suspension- Displacement vector (unknown kinematic
hung masses system is constructed (Figure 2). The variables):
7-DOF model includes the following unknown  
kinematic variables:  
x,φ,θ are the vertical displacement, roll and  
 
pitch angles of the hung masses respectively.  
X   x1  (2)
x1,x2,x3,x4 are the vertical displacements of the x 
front and rear axles respectively.  2
 x3 
With the design/control variables: x 
 4
G is the center of mass of the hung masses.
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Mass matrix (design/control parameters):

k44  k f  ktf  kr / w2
m 0 0 0 0 0 0 
0 I 0 0 0 0 0  k55  k f  ktf  kr / w2
 
 0 0 I 0 0 0 0 
  k12  k21  bk
1 f  b2k f  bk
1 r  b2kr
M   0 0 0 m44 m45 0 0  (3)
0 0 0 m m55 0 0  k13  k31  2a2kr  2a1k f
 54

0 0 0 0
0 0 0 0
0 m66 m67  k23  k32  ab
1 2k f  abk
1 1 f  a2bk
1 r  a2b2kr
 0 m76 m77 
With: k24  k42  bk
1 f  kr / w
I 1 I
m44  m55 
1
m f  2f ; m66  m77  mr  r2 k25  k52  b2k f  kr / w
4 b1 4 b1
1 I 1 2I 4. Profiles of the road excitation forces
m45  m54  m f  2f ; m 67  m 76  m r  2r
4 b1 2 b1 A complete half car model has been discussed for
Dissipation matrix (design/control parameters): a road profile measuring system. The input road
 c11 c12 c13 cf cf cr cr  profile is selected the random type, the same as the
c c c  bc b c bc bc  actual profile. The basic requirement for the input
 21 22 23 1 f 2 f 1 r 2 r 
road profile is that the profile has to be same at each
 c31 c32 c33 ac a2cf ac a2cr 

1 f 1 r
 speed. All the data are collected considering different
C  cf bc
1 f ac
1 f c f  c lf 0 0 0  (4) speeds of the vehicle. In simulation the speed of the
c b c ac 0 cf clf 0 0  vehicle is held constant. The road patch length is 25
 f 2f 1 f

cr bc a2cr 0 0 cr clr 0  m. The maximum and minimum agreement of the
1 r
c b c a c measured road profile with the input road profile is
 r 0 0 0 cr clr 
2 r 2 2 98%, 97%, respectively. Hence the maximum
With: accuracy of the road profile-measuring algorithm
c11  2cf  2cr with the half car model is within 1 mm, or, 96%.
After the simulation of a complete half car road
c22  b12c f  b22cf b12cr  b22cf profile measuring system, the outcome was a good
agreement between input and output road profile [5].
c12  c21  bc
1 f  b2cf  bc
1 r  b2cr
The profiles of the road cause excitations (in the
form of forced displacements) on the tires of the
c23  c32  abc
1 1 f  ab
1 2cf  a2bc
1 r  a2b2cr
vehicle, which will in turn be transferred as dynamic
loads onto the suspension and chassis of the vehicle,
c13  c31  2a2cr  2a1cf c33  2a12c f  2a 22cr creating stress on the chassis. Thus, the first step in
analyzing the chassis harmonics is to formulate a
Stiffness matrix (design/control parameters): mathematical model for the general sinusoidal road
 k11 k12 k13 k f k f  kr kr 
k  profile. If we a consider vehicle traveling on a
 21 k22 k23 k24 k25 b1kr b2 kr  straight path, the road profile at each tire can be
 k31 k32 k33 a1k f a1k f a2 kr a2 kr  expressed in terms of the one dimensional wave
 
k equation:
k k42 a1k f k44  r2 0 0  (5)
K  f w 
   2 v  (6)
 k f k52 a1k f
k
 r2 k55 0 0  y1  Y1   t
 w   0 
  kr b1kr a2 kr 0 0 kr  ktr 0 
   2 v  (7)
 kr b2 kr a2 kr 0 0 0 kr  ktr  y 2  Y2   t
With:  0 
wb1 b2  2 v
y3  Y2 sin   t
2 
 a1  a 2   (8)
k11  2k f  2kr  0 0 
 2 v 2 
k22  kr  b12k f  b22k f  b12kr  b22kr y 4  Y1 sin   t  a1  a 2   (9)
 0 0 
k33  2k f a12  2kr a22 As we can notice, since the profiles at the
two rear wheel is exactly the same, yet are shifted
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Fig. 3. Simulink diagram to solve the system.
Fig. 5. The blocks of solving equations.

Table 1. Fixed parameters of full vehicle model
ms =1050 Kg mf = 250 Kg mr = 380 Kg
kfl=kfr=krl=kr=26,000 a1 = 1.5 m b1=b2=0.625
N/m a2 = 1.0 m m
cfl=cfr=crl=cr=3000 Ixx, = 3000 Iyy = 600
Ns/m Kgm2 Kgm2
(1) to Eq.(6), the blocks of solving equations in

Simulink shown in Fig.5.
The fixed parameters of full vehicle model are
shown in Table 1.
Fig. 4. The inputs road reaction forces.
The simulation result is in agreement with
from those of the front wheels, a delay factor that is analytical solution using the above State-Space
dependent on the vehicle’s wheel base is introduced. Matrix solved using MATLAB Simulink coding and
output matrix are shown in equations ... as Stiffness
5. Modelling Pitch-roll-yaw Vibrations
Matrix, Mass Matrix, Dissipation Matrix, Damping
This system of ODE’s is solved numerically Matrix.
using Simulink, a numerical quantizer and solver
Stiffness Matrix:
application in MATLAB Simulink shown in Fig.3.
The goal here is to develop a program that allows 3.36e04 0 3680 8000 8000 8800 8800 
 
easily manipulation of the design/control parameters  0 2.25e04 0 7025 7025 7040 7040 
for designer’s need to modify them. Simulink is best  3680 2.15e04 2.461e04 8000 8000 6160 6160 
 
fit for this use because of its compact and explicit  8000 7025 8000 5.839e04 390.6 0 0 
(10)
 8000 7025 8000 390.6 5.839e04 0 0 
representation of parameters.  
 8800 7040 6160 0 0 6.38e04 0 
The inputs of this problem are the physical  
 8800 7040 6160 0 0 0 6.38e04
properties of the suspension mentioned above and the Mass Matrix:
road profiles derived in the next section, which are 1000 0 0 0 0 0
0
manipulated mathematically to form the right  
equations of motion proposed previously and  0 250 0 0 0 0 0
 0 0 300 0 0 0 0
automatically solved by the developed algorithm. The  
road reaction forces and displacements inputs shown  0 0 0 12.69 6.625 0 0  (11)
in Fig.4.  0 0 0 6.625 12.69 0 0 
 
 0 0 0 0 0 15 5 
Bases on the matrix-form equation of motion of  
this particular masses - springs - dampers system, Eq.  0 0 0 0 0 5 15
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Fig. 7. The magnitude vertical displacement of front

and rear axles.
Fig. 6. The output results Simulink block.

Dissipation Matrix
 0.1878 0.1937 0.9972 0.2408 1.991e 6 4.406e6 0.2132 
 
4.652e 16 4.136e 16 2.001e 17 2.229e 14 0.1683 0.1557 0.0657 
 0.1388 0.9704 0.001505 0.002128 0.9727 

0.19 0.07427
 (12)
 0.01137 0.6805 0.002016 0.009483 0.697 0.001339 0.009273
 0.01137 0.6805 0.002016 0.009483 0.697 0.001305 0.009657 
 
 0.6875 0.01241 0.003258 0.00571 0.001421 0.6985 0.005533 
 
 0.6875 0.01241 0.003258 0.00571 0.001431 0.6985 0.00612 
Damping Matrix
 146 0 16.1 35 35 38.5 38.5 
 
 0 94.08 0 28 28 30.8 30.8 
16.1 94.08 107.7 35 35 26.95 26.95
 
 35 28 35 1535 0 0 0  (13)
 35 28 35 0 1535 0 0 
 
38.5 30.8 26.95 0 0 1689 0  Fig. 8. The magnitude vertical displacement of hung
  masses.
38.5 30.8 26.95 0 0 0. 1689 
The Natural frequencies (Hz) is: 56.54; 54.89;

5.034; 8.442; 98.5; 79.91; 8.772.
6. Results of Analysis
Analysis of validated full vehicle simulation
model using Simulink is conducted to study the effect
of suspension spring and damping coefficient on ride
comfort and road holding shown in Fig.6.
The vertical, pitch and roll responses of the
vehicle body that are included from simulation results
are investigated and analyzed to represent the most
sensitive parameter to change in profiles of the road
excitation forces and sudden step phase angles. The Fig. 9. The Roll-Pitch-yaw of the hung masses body
magnitude vertical displacement of the front and rear vehicle.
axles x1, x2, x3, x4 shown in Fig.7. The magnitude
vertical displacement of the hung masses x shown in The roll and pitch angles of the hung masses
Fig.8. shown in Fig.9.
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7. Conclusions After conducting the research, an economical

and efficient method has been presented to meet the
In this paper, using Simulink in Matlab for
goal of analyzing roll-pitch-yaw response under
modeling method are applied to the simulation of
several criteria. Make use of the readily available
roll-pitch-yaw of the full vehicle model was
softwares MATLAB/Simulink.
developed to design a passive suspension for a
vehicle for satisfying smoothness in the moving. References
Mathematical modeling has been also performed [1] Biancolini, Marco Evangelos, Baudille, Riccardo,
using a seven degree-of-freedom model of the full Reccia, Luigi. Integrated multi-body/fem analysis of
vehicle for passive system. This validated simulation vehicle dynamic behavior. Paper Code: F02I112.
[2] Masoudi, Ramis & Uchida, Thomas & McPhee, John.
model is used as a platform to analyze the
(May 2015) Reduction of multibody dynamic models
performance of vehicle dynamics for different road in automotive systems using the proper orthogonal
profile. decomposition.
The results are performed between the behaviors [3] Adams/Car Real Dynamics for Vehicle Design and
Testing.MSC Software: Product Datasheet -
of these three motions in which shows the roll () and Adams/CarTM.
pitch () dynamic response of road vehicle is the [4] M.Kumar, C.D Naiju, S.J. Chethan Kumar, Joseph
parameter that should be used as a threshold to Kurian. Vibration analysis and improvement of a
improve the overall response of the road vehicle to vehicle chassis structure.Applied Mechanics and
any sudden external disturbances. Materials Vol. 372 (2013) pp 528-532. © (2013)
Trans Tech Publications, Switzerland.
doi:10.4028/www.scientific.net/AMM.372.528.
[5] Gang Sheng (Gang Sheng Chen). Vehicle Noise,
Vibration, and Sound Quality. SAE International,
SAE Order No. R-400, ISBN 978-0-7680-3484-4.
DOI 10.4271/R-400.
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Two Advanced Non-Intrusive Methods for Velocity Distribution

Measurement in Fluid Mechanics with Some Recent Research and
Development
Nguyen Tat Thang*
Department for Industrial and Environmental Fluid Dynamics, Institute of Mechanics - IMECH,Vietnam
Academy of Science and Technology - VAST
Faculty of Mechanics and Automation, Graduate University of Science and Technology - GUST, VAST
*Email: ntthang@imech.vast.vn
Abstract
Spatial and temporal velocity distribution is an important parameter to study the flow physics, and to
understand the flow behaviors, structures, and turbulent characteristics etc. in fluid mechanics. Together
with that, numerical simulation of fluid flows apparently requires experimental measurement data to validate
the models and to develop various closure correlations, for example. Single-point velocity measurement
techniques have been in operation with great success for a long time. However, in many cases, the
measured data at one point is obviously not enough in order to clarify, for example, the coherent structures
in turbulent/transient flows. This paper presents an overview of two advanced methods for spatial and
temporal velocity distribution measurement. The methods have been recently well established to study both
single-phase and two-phase flows in fluid mechanics. These are UVP (Ultrasonic Velocity Profile) and PIV
(Particle Imaging Velocimetry) methods. UVP method facilitates the simultaneous measurement of
instantaneous 1D velocity at single points along a measurement line (i.e. instantaneous 1D-velocity profile).
PIV method enables thesimultaneous measurement ofinstantaneous 2D/3D velocity at single-points in a 2D
measurement plane. The objective of this overview is to provide, to some extent, a comprehensive
description of the two methods. The applications and limiting factors are suggested. Some relevant recent
results of the research and development of the author’s research group are briefly reported.
Keywords: flow velocity measurement, velocity profile, velocity field, UVP, PIV.
1. Introduction at considerably reduced expenses, e.g. in aerospace

industry. On the other hand, numerical results only
Spatial and temporal velocity distribution is an
show an approximated picture of the flow process.
important parameter to obtain and understand in
Moreover, very often, numerical models require
detail the characteristics, behaviors and flow
experimental measurement data for model validation.
structures etc of fluid flows [1, 2]. Basically,
As a result, experimental measurement methods, in
theoretical study provides the background knowledge
general, and methods for velocity-distribution
of some basic flow configurations such as laminar
measurement, in particular, play a highly important
and/or potential flows in regular domains. However,
role in fluid mechanics.
fluid flows in reality almost all occur in the form of
Techniques for velocity measurement at one
turbulent flows of real fluids and/or in irregular
point in the flow domain have long been well
domains. When theoretical study is applied to such
established and exploited in experimental mechanics.
situations, the error of the received results must be
Mechanical/electrical measuring probes including
carefully considered and quantitatively evaluated.
Pitot-tube (for mean velocity measurement) and hot
Other approaches in fluid mechanics research may
wire sensor (for instantaneous velocity measurement)
include numerical simulation (typically now regarded
have been widely used, both in research and industry,
as CFD – Computational Fluid Dynamics) and
to obtain velocity at a point in the flow domain. The
experimental measurement. They have long been
hot wire anemometry (HWA) that uses hot wire
predominantly exploited to predict and determine in
probes can measure flow velocityat very high
great detail the characteristics of practical flow
frequency (possibly up to the order of MHz) and
configurations. Advanced numerical simulation that
spatial resolution which arecritically useful to study
is based on the approximated solution of the full
turbulence phenomena [3]. However, the methodis
equation system (i.e. Navier-Stokes equations)
intrusive by nature that makes its applications
describing flows of real fluids in general situations,
impractical in many situations. Besides, the intrusive
on one hand, is handy to study flows in/around
effects cannot be neglected and must be considered
complex geometries. In many cases, numerical
with a great care since they may substantially alter
experiments can be carried out for real scale models
the flow characteristics, for example. Another well
653 October 27 - 28, 2018

Hanoi, Vietnam
established, non-intrusive point-velocity author’s research group, in the field of UVP/PIV

measurement method is the Laser Doppler measurement, are highlighted. In more detail, an
Anemometry (LDA). This method also has high investigation of the particle-concentration effect on
spatial and temporal resolutions. Moreover, ithas UVP measurement of single-phase flow is initially
significantly high measurement accuracy. However, presented for the first time. And an initial result of the
these point measurement methods encounter development of an in-house PIV system is reported.
difficulties when they are used to investigate large The paper hopefully provides a consistent basis for
flow structures which are typical in turbulent and/or proper practical applications as well as appropriate
fast transient flows. It is very difficult to correlate the design of experiments where UVP/PIV methods are
measured data at single points at different time in used.
non-stationary or transient flows, for instance.
2. UVP Method
Instantaneous measured data of the velocity
distribution in either 2D plane or 3D space is required 2.1. Principle
to investigatevarious characteristics of the flow field
The principle of UVP method is to calculate 1D
such as the coherent structures in turbulent flow [3,
4]. Since in most practical applications, especially in velocity of discrete fluid parcels along the ultrasound
industry, fluid flows are turbulent, the velocity path by applying the ultrasonic echography and the
Doppler effect [7]. It is schematically shown in
distribution provides valuable information of the
whole flow field. Moreover, turbulence is a 3D Fig.(1). In order to measure instantaneous velocity
phenomenon, a complete picture of the flow profiles of liquid flows, the ultrasonic pulsed method
is exploited. The method uses a number of echoes
characteristics can only be obtained by using multi-
dimensional data simultaneously measured at multi- (each corresponding to an emitted short ultrasonic
locations in the flow domain [4]. In order to capture pulse) from the seeding particles suspended in the
liquid flow to calculate the Doppler shift frequency fd.
the velocity field, advanced velocity
profile/distribution measurement methods have The seeding particles should have approximately the
recently been developed and standardized. By using same density as that of the working liquid. Therefore,
their effect on the flow dynamics can be negligible. In
ultrasound and echo signal processing techniques,
UVP method can simultaneously measure order to have strong reflected signal, the acoustic
instantaneous1D-velocity at discrete locations along a impedance of the seeding particles should be different
as much as possible/practical from that of the
measurement line, i.e. a 1D-velocity profile. More
specifically, at each measurement point, the one working liquid.
directional velocity (of a fluid parcel) projected onto The Doppler shift frequency fd is the change of
the sound path can be obtained [5]. With the advent the frequency (of the emitted ultrasound) due to the
of 2D/3D velocity imaging methods, the movement of the fluid parcels (i.e. the Doppler effect)
measurement of instantaneous multi-dimensional as shown in Eq. (1):
multi-point velocityin a 2D plane or 3D space has
been enabled. 2D/3D PIV method has been fd  2 f0v / c (1)
established and become highly useful in both research
and industry [6]. UVP and PIV methods are non- where v is the velocity component (in the ultrasound
intrusive,whichishighly valuable in experimental path direction) of the main flow velocity; f0 is the
fluid mechanics. In order to properly implement the ultrasonic basic frequency; c is the sound speed in the
two methods in practical measurements, in-depth working liquid. Though each echo wave from a
information that essentially includes their principle, certain measurement point or channel (Fig.(1)) does
strengths, weaknessesand recommended applications contain some information of fd, it is currently difficult
are strongly necessary. to derive fd just by using one echo wave or echo
This paper presents an overview of UVP and signal (corresponding to one emitted ultra sound
PIV methods, and some directives obtained based on pulse). The reason is mainly due to the fact that fd is
the updated results of the author’s research group. It typically much smaller than f0 in most practical flows.
aims to provide, to some extent, comprehensive Therefore, several echo signals (corresponding to a
information of the two probably most advanced number of pulses emitted from the ultrasonic sensor
velocity-field measurement methods that have or transducer - TDX) back scattered from a
recently been well established and standardized. The measurement channel are needed.
principles, data acquisition and signal processing of As shown in Fig.(1), the TDX emits one
the methods will be described. The characteristics, ultrasonic pulse at regular time instancest1, t2,… tn.
general directions to applications, limitations of the Between two emissions, it is available (its working
techniques are stated. In addition, some relevant mode changes from emitting to receiving) to receive
recent research and development carried out by the
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2.2 Signal Processing

There are several signal processing techniques
used to detect fd such as the early developed zero
crossing method (suitable for measurements carried
out in the situation of high signal to noise ratio -
SNR), and advanced techniques including Fourier
spectral analysis (most widely used technique is the
fast Fourier transform - FFT) and autocorrelation, etc.
[9]. The most robust and widely used one is the
autocorrelation technique [10]. Hence, the
autocorrelation method will be explained below.
Originally, the autocorrelation signal processing
method has been developed and widely used first in
medical ultrasound systems, and then in commercial
UVP systems. The method is based on calculating the
average Doppler shift frequency by using the power
spectrum of the Doppler signal. In practice, instead of
direct calculation of the power spectrum (which is
Fig. 1. The principle of UVP method usually highly time consuming), autocorrelation
(figure from [8]). function based on Wiener-Khinchine theorem can be
used [10]. This method has been shown to be more
the echo signal reflected from moving particles along robust than the FFT-based techniques. The drawback
the sound path in the flow. After the emission of one of this technique is that it can only calculate the
pulse at tn, the TDX starts reception of the echo sound average Doppler shift frequency. For each
or echo wave. At tn+∆t, it receives the ultrasonic measurement channel, in order to separate (i.e. filter
signal comingback from the particular fluid parcel or out) the carrier wave to obtain the Doppler signal, the
measurement channel at the distance specified by ∆t quadrature detection algorithm is applied to the
where ∆t is the traveling time from the TDX surface received echo waves. Then autocorrelation function is
to the measurement channel and back to the TDX calculated according to Eq.(3) [10]:
(Fig.(1)). Therefore by electronically changing ∆t (by
the electronics), the discrete measurement channels R TPRF , t    z  t   z*  t  TPRF 
along the sound path are established. Accordingly, (3)
the echo signal or echo data belonging to each  Rx TPRF , t   jRy TPRF , t 
measurement channel is separated and known
where z(t) is the Doppler signal received after
exactly. By repeating the above process for a number
applying the quadrature detection algorithm to the
of consecutive time tn (n=1, 2,… nmax where nmax
echo signal of each measurement channel. It is
usually is in the range from 25 to 27), and at the pulse
expressed via the in-phase I(t) and quadrature-phase
repetition frequency Fprf, a number of echo waves for
Q(t) as:
each measurement channel are obtained. A velocity
profile can be derived by calculating fluid velocity at z  t   I  t   jQ  t  (4)
each measurement channel. This is done by analyzing
the obtained echo waves of the channel to get the and z*(t) is the conjugate complex of z(t). Then
Doppler shift fd at each measurement channel. Since Doppler shift frequency fd is calculated from the
the frequency shift can be detected with the motion phase of the complex autocorrelation function [10] as
toward or away from the ultrasonic source, the follows:
motion whose direction is perpendicular to the
measurement line can not be detected. Therefore, in 1  Ry TPRF , t  
fd  arctan   (5)
practical measurement, the ultrasonic TDX is set at 2 TPRF  Rx TPRF , t  
an inclined angle θ to the main flow direction. Hence
the fluid velocity at the measurement channels along The schematic block diagram of the calculation
the sound path (i.e. measurement line) is calculated algorithm is shown in Fig.(2). The echo signal from a
by using Eq.(2): point in the flow field is received by the electronics of
the receiver unit of the pulser receiver equipment
fd c
v . (2) (P/R). The signal is digitized by a high-speed
f0 2cos( ) digitizer. To derivez (t), the quadrature detection
algorithm is applied to the echo signals. In the
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Δz=Nλ0/2 (8)
where λ0 is the wavelength of the carrier wave; N is
the number of wave lengths of an emitted pulse.
2.3.2. Advantages
The following advantages of UVP method are
Fig. 2. Signal processing algorithm of the highly desirable in experimental fluid mechanics:
autocorrelation technique (figure from [8]). - The TDX can be set outside a containing wall.
algorithm, the digitized signals are multiplied with There is no disturbance to the flow field.
the in-phase I(t)and quadrature-phase Q(t)(phase shift Application to an existing flow system is relatively
π/2) of areference signal that has the basic frequency simple [5].
f0. Since fd (order of kHz usually) is much smaller - UVP method can be applied to the measurement of
than f0 (order of MHz typically), low pass filter is various opaque fluids such as sediment laden water,
applied to the outputs to extract the in-phase I(t) and liquid metals, chemical solvents etc., and non-
quadrature-phase Q(t) of the Doppler signal z(t). transparent container [11, 12].
2.3. Characteristics, applications and limitations - UVP method enables online measurement
ofinstantaneous velocity profiles of fluid flows. As
2.3.1. Characteristics a result, the method is useful for flow monitoring.
In the UVP method, the transducer receives In addition, the measurement of multi-dimensional
echo signal from the flow field only during each velocity distribution can be enabled by using a
pulse repetition period Tprf (Tprf = 1/Fprf), i.e. between number of synchronized UVP systems. Hence,
the emissions of two consecutive short pulses. This is simultaneous measurement of the velocity
to ensure that only one emitted pulse is in flight distribution in a 2D plane is possible [13].
during the reception of the echo signal. Hence, Tprf - UVP method does not require any calibration
defines the maximum measurable depth (Pmax) that is procedure thus reduces the workload [5].
defined in Eq.(6) [5,9]. More specifically, the echo
- Measurement of two-phase flow in industrial
signal reflected from a distance that requires a time
conditions is possible [14].
period larger than Tprf to come back to the TDX can
not be received. In another respect, the maximum 2.3.3. Practical measurement considerations and
measurable velocity (vmax) of UVP method is also limitations
limited based on the Nyquist’s sampling theorem, i.e.
fd<Fprf/2 where Fprf implies the sampling frequency of Research and development of UVP methods
the Doppler signal. To express the limit of vmax in (including those of hardware and software) have long
another way, in order to properly derivefd, the phase been being actively carried out in Japan, Switzerland,
change between two successive echo waves must be Sweden, France, USA and elsewhere. Obviously, the
in the range –π to +π radians. Hence, during Tprf, method is powerful in many situations where other
seeding particles in a particular fluid parcel must not measurement methods can not be applicable.
move a distance larger than λ/4 in both directions Nonetheless, continuous improvement of the method
towards or away from the TDX (where λ is the is under going. The capabilities of UVP method are
ultrasonic wavelength). This requirement also leads being expanded. Some related work has also been
to the condition that fd<Fprf/2. Therefore, according to carried out by the author’s research group [8,14-18].
Eq.(1), vmax is determined by Eq.(7) [5,9]: For practical measurement, the following
considerations must be carefully taken into account.
Pmax = cosθTprf c/2 (6) Using a single measurement line (i.e. sound
vmax = cFprf/(4f0) (7) path), at present, UVP method can measure only the
projected component of the 3D-velocity vector onto
The spatial resolution (Δz) of the method the measurement line. UVP method would be most
defined in Eq.(8) is conventionally denoted by the suitable for flow conditions where the true flow
channel width that means the thickness (in the sound direction typically does not change along the
path direction) of the measurement volume. The measurement line. Care must be taken to correctly
temporal resolution of the measurement is determined infer the measured data when there are flow
by the number of ultrasonic-pulse-repetition periods structures, e.g. vortices, along the measurement line.
(i.e. nTprf) where n is the number of the echo waves In such cases, the flow direction may substantially
used to calculate one instantaneous velocityof a fluid change from one point to another point along the
parcel [5,9]. measurement line.
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Fig. 4. Interrogation windows in two singly exposed

images (figure from [6]).
Fig. 3. Principle of PIV method (figure from [6]).
The actual velocity measured by UVP method is

the velocity of the reflecting particles present in the
fluid parcels (i.e. measurement volumes). Sometimes,
the number and characteristics of the seeding
particles in the flow might not be appropriate for
UVP measurement. The suitable diameter d of the
seeding (or ultrasonic reflecting) particles should
follow the following relationship: Fig. 5. Schematic diagram of the displacement
estimation based on Fourier transform
d>λ0/4 (9) (figure from [6]).
that ensures the mid-frequency regime of images can be singly exposed image pairs (or image
backscattering of ultrasound [19]. sequence or single images), doubly/multiply exposed
images, and continuously exposed videos of the flow
In addition, currently, the spatial resolution of field. The in-plane particle-motion displacement of
UVP measurement is considerable larger than that of the particles can then be estimated using the recorded
LDA and HWA measurements. It depends on the images and statistical methods. Based on the particle
ultrasonic beam width that is determined by TDX displacement and the time period between exposures,
active element diameter (typically in the order of the two-component velocity vector is calculated in
millimeter). Besides, UVP measurement of flows of 2D-PIV method [6]. 3D-PIV method reconstructs the
air and vapor is not practical presently. That third velocity component by using two particle
isbecause of very weak echo signal obtained in such images of the same flow field viewed from different
environments. angles (i.e. at least two cameras are required). The
3. PIV Method detailed method to analyze the third velocity
component can befound in textbooks on advanced
3.1. Principle PIV techniques, e.g. see [6].
The principle of PIV method is schematically To estimate 2D-velocity field, particle images
illustrated in Fig. (3). are divided into small rectangular areas that are called
PIV method is basically based on the optical interrogation windows as shown in Fig.(4). Statistical
imaging techniques and digital image processing as methods such as the auto-correlation (for
briefly shown in Fig. (3). The principle of the doubly/multiply exposed single images) or cross-
particle-image processing method will be briefly correlation (for singly exposed images) are applied to
discussed later on in this chapter. Similar to UVP the interrogation windows to determine the particle
method, PIV technique uses seeding particles as the displacement field. 2D-velocity field can be
light-backscattering media. The seeding particles calculated by using the displacement distribution and
should have approximately the same density as that of the time period between exposures [6].
the working fluids. Therefore, their effect on the flow 3.2. Particle Image Processing
dynamics can be negligible. The flow field is exposed
at least twice, in an appropriately short time interval, Particle images are usually stored in gray scale
to a light sheet, which is usually a laser sheet. The images for the analysis of the displacement field.
flow image (i.e. particle image) of the illuminated Currently, in a typical PIV system, the statistical
area is captured by using a (digital typically) camera method used is the estimation of the correlation
in recently developed PIV systems. The recorded coefficient of the time series data that composes of
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two dimensional gray scale images. It is possible to - It is a whole-field velocity measurement technique.
calculate the correlation coefficient directly using the Several specific PIV techniques have been
information of the light-intensity distribution in developed to measure 2D and/or 3D velocity field.
particle images. However, very often, the correlation
- Typically, the accuracy of PIV measurement can be
coefficient is efficiently calculated in-directly by
about 1%.
applying the Fourier transform and, again, the
Wiener-Khinchin theorem (used in UVP method) to - In PIV systems with pulsed laser, the pulse
the correlation function RII (Eq.(9)) and the power duration must be set short enough so that the

spectral function | I (rx,ry)|2 of the light-intensity field particle motion is frozen in one shot (image).
I(x,y). The schematic diagram of the procedure is
- The time duration between exposures, on one hand,
shown in Fig.(5) [6].
must be long enough to ease the detection of
K L particle displacement with sufficient time
RII (x, y)    I  i, j  I '  i  x, j  y (10) resolution. On the other hand, it must also be short
i K j  L
enough so that the out-of-plane effect of particle
As shown in Fig.(5), applying the Wiener- motion can be negligible. It defines the temporal
Khinchin theorem, the correlation function RII(x,y) resolution of PIV method.
can be calculated via the Fourier transform of the - The selection of the interrogation window size is
power spectrum ( I1 . I 2* ) of the light intensity critically important to the velocity calculation by
distribution I(x,y). In order to obtain I1 . I 2* , Fourier digital image processing. A small size increases
transform of the two interrogation windows I(x,y) and spatial resolution of PIV measurement. However,
I’(x,y) are executed. Consequently, the maximum of the size affects the calculation time, the maximum
RII(x,y) can be determined. It corresponds to the resolvable particle displacement etc.
displacement vector of the particles between the two - To avoid invalid velocity vectors, post-processing
images. Hence, the spatially averaged velocity vector of the final calculated velocity map is usually
at the interrogation window can be obtained [6]. implemented.
In addition to the application of Fourier 3.3.2. Advantages
transform, interpolation methods are exploited for the
optimal estimation of the maximum of the correlation PIV method is an advanced method that has
function of the particle displacement. These methods been relatively newly established and standardized.
are usually called sub-pixel estimation of particle Its main advantages includes [3, 6]:
displacement. They can significantly increase the
spatial resolution of PIV measurements [6]. - It has the capability of measuring 2D/3D
instantaneous velocity field at very high spatial and
3.3. Characteristics, applications and limitations temporal resolutions, possiblyup to the orders of
3.3.1. Characteristics micrometer (with μPIV systems) and microsecond
(withPIV systems that use high-speed imaging
PIV method has the following important equipment), respectively.
characteristics that must be carefully considered in
practical measurement applications [3,6]: - It can measure very high velocity (even supersonic
flow). This capability is enabled by using high
- Similar to UVP method, PIV method is a non-
speed photography that can overcome the out-of-
intrusive, indirect velocity measurement technique
plane particle motion in high speed flows.
that measures velocity of the seeding particles in
the interrogation windows. - PIV method is non-intrusive.Any disturbance to the
- At low particle density (or image density NI flow field caused by the measurement equipment
defined in Eq. (9)) NI<< 1, PTV (Particle can be neglected.
Tracking Velocimetry) method should be more - The method can be applicable to both air and
suitable and used instead. PIV method requires liquid.
NI>> 1.
NI   cz0 / M02  A (11)
3.3.3. Practical measurement considerations and
limitations
where A = πΔX2;c is the particle number density; Δz0 PIV method has been applied to several studies
is the light sheet thickness; M0 is the image carried out by the author’s research group [20, 21].
magnification coefficient and ΔX is the particle Along with the above listed important advantages, the
displacement. method has the following known limitations that need
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Fig. 6. Experimental flow loop for the investigation

of the particle-concentration effect on UVP
measurement of single-phase flow.
to be considered with care before designing any PIV
measurements: Fig. 7. Average velocity profiles measured by two
UVP systems (10 particles per measurement volume).
- One-camera systems are suitable for the
measurement of flows with negligible out of plane
motion. The optical axis must be set normal to the
lightsheet.
- PIV method requires optical access to the flow
field. Hence, only transparent fluids and container
can be used.
- In some flow configurations (e.g. high temperature
etc.), the use of seeding particlesmight be
impractical.
- Typically, offline digital image processing to
calculate velocity distribution is used in PIV
method. This is typical for PIV systems that exploit
high speed video imaging. Fig. 8. Average velocity profiles measured by two
UVP systems (70 particles per measurement volume).
4. Recent Research and Development
4.1. Particle Concentration Effect on UVP
Measurement
In practical measurement of industrial flows, the
measurement conditions may vary greatly. For
example, it might be not possible to control the
concentration of ultrasonic reflectors (i.e. seeding
particles), or lack of particles etc. Thus an
investigation of the particle concentration effect on
UVP measurement would be of significant
importance, which has not yet been investigated
previously. The experimental setup is schematically
shown in Fig. (6).
Fig. 9. Average velocity profiles measured by two
The part numbers in Fig. (6) are as follows. 1 is UVP systems (100 particles per measurement
the test pipe (transparent acrylic, inner diameter 50 volume).
mm); 2 is the ultrasonic TDX; 3 isthe turbine flow-
meter; 4 is the needle valve used to control the flow Two UVP systems (namely Burst_UDM and
rate in the pipe 1; 5 is the floor tank; 6 isthe overflow Spike_UDM) are used. The measured results are also
weir (in the floor tank); 7 is the circulation pump; 8 is compared with the power law of pipe flow. It is
the overflow drain tube; 9 is the water supply tube to confirmed that, when the particle concentration
the upper tank; 10 is the upper tank; 11 is the increases, the attenuation of the ultrasound also
overflow weir (in the upper tank). increases. Excessive attenuation may cause serious
trouble to UVP measurement and the measurable
Fig. (7) to Fig. (9) present the normalized depth decreases.
measured velocity profile along the pipe diameter.
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5. Concluding Remarks
Two advanced methods to measure velocity
distribution have been outlined. Their principle,
signal processing, characteristics and limitations have
been addressed. Successful applications of the
methods to practical measurements demand in-depth
understanding and relevant control of various
parameters and settings. The following concluding
remarks can be can be summarized:
- Fundamentals of UVP and PIV methods have been
presented.
- Basic guidelines for proper applications and
Fig. 10. Experimental setup of the measurement of experimental designs that use these methods have
Taylor-Couette flow by using the in-house developed been suggested.
PIV system at IMECH.
- The guidelines can be used to optimize practical
UVP/PIV measurements.
- In depth knowledge of the methods possibly helps
to reduce operational cost.
- It is possible to develop home-made UVP and PIV
systems at highly reduced cost based on separate
hardware and software (self-developed software or
open source code) for custom applications (e.g.
research, education etc.).
- An interesting extended application of the two
methods is the measurement of two-phase flow,
e.g. air-, vapor-water two-phase flow with/without
Fig. 11. A demonstration of the measured data heat and mass transfer. Measured data can be very
(Taylor-Couette flow) by the in-house developed PIV useful to support theoretical calculated results, e.g.
system. see [22]. One of the current research topics of the
author’s group focuses on this direction.
4.2. Development of an In-house PIV Measurement Acknowledgments
System for Single-Phase Flow Measurement
The author would like to acknowledge the
Effort to develop an in-house PIV measurement partial financial support from the 2018 annual
system (Fig. (10)) has been performed by the author’s research project of the Department for Industrial and
research group. A prototype system has been initially Environmental Fluid Dynamics, IMECH, VAST to
developed. It include a continuous laser pointer with prepare this manuscript.
an in-house made optics to create a laser sheet. A low
cost commercial digital camera is used to obtain flow References
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code PIVlab is used. Fig. (11) just shows a Cambridge University Press (2000).
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particle image (left) and the 2D-velocity field (right) Academic Press (2008).
obtained by using the in-house PIV system. [3] C. Tropea, A.L. Yarin, J.F. Foss, Springer Handbook
of Experimental Fluid Mechanics (2007).
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at the tested flow conditions. Fluid Flow, Springer (2012).
[6] M. Raffel, C.E. Willert, J. Kompenhans, Particle
Image Velocimetry: A Practical Guide, Verlag, Berlin
(1998).
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[7] Y. Takeda, Velocity profile measurement by [16] T.T. Nguyen, N.H. Duong, N. Tsuzuki, H. Murakawa,
ultrasound Doppler shift method, Int. J. Heat Fluid H. Kikura, Measurements of instantaneous velocity
Flow 7(4) (1986) 313-318. profiles of single-phase and two-phase bubbly flow in
[8] T.T. Nguyen, H. Murakawa, N. Tsuzuki, H. Kikura, a vertical pipe using ultrasound, Proc. 12th Int. Symp.
Development of multiwave method using ultrasonic Fluid Control Meas. Vis. - FLUCOME2013, Nov.
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[9] D.H. Evans, W.N. McDicken, Doppler Ultrasound: N. Tsuzuki, Measurements of single-phase and two-
Physics, Instrumentation, and Signal Processing, phase flow in a vertical pipe using ultrasonic pulse
Chichester, Wiley (2000). Doppler method and ultrasonic time-domain cross-
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Ultrason 32(3) (1985) 458-464. Measurement of bubbly two-phase flow in a vertical
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ultrasonic Doppler velocimetry to molten glass by Rheology, Elsevier Science (2002).
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A Solution for Measuring the Oil Film Temperature of the Connecting-rod

Big End Bearing in the Experimental Device
Tran Thi Thanh Hai1,*, Pham Trung Thien2, Luu Trong Thuan1
1
2
University of Economic and Technical Industries
*Email: hai.tranthithanh@hust.edu.vn
Abstract
This paper presents a measurement solution the lubricated film temperature of the connecting-rod big end
bearing. A specific experimental device and the connecting-rod model of photoelastic material are used to
determine the load diagram and measure the oil film pressure and the oil film temperature. The temperature
is measured at six different positions on the cross-section in the middle of the bearing according to the
perimeter by the type K temperature sensors. The thermocouple type K transmits the signal and reads the
DAQ signal connected to the computer via the ethernet cable and displays the results interface on the
LabVIEW software.
Keywords: Connecting-rod, bearing, temperature, type K sensor.
improvements to this study and realized a connecting-

1. Introduction
rod of photoelastic material by moulding. He
Since a few tens years, the elastohydrodynamic measured the film thickness, the pressure and the
lubrication (EHD) problems are commonly studied. temperature of lubricating film versus to the mode of
Fantino and al. [1, 2, 3] proposed a solution for the crankshaft. Michaud [11] and Fatu [12] in 2005
EHD problem for a short bearing subjected to developed a test bench to study the lubrication of the
dynamic loads. Oh and Goenka [4] studied the connecting-rod big end bearings under real and
extent of the active and inactive zones in the film of severe operating conditions. The maximum engine
the transient EHD of a connecting-rod big end speed can reach 20000 rpm with loads applied of 90
bearing. The problem of free borders is formulated kN in compression and 60 kN in traction.
like a complementary problem and dealt by Murty’s
2. Experimental Device
algorithm. In 2001, Bonneau and Hajjam [5]
presented a new algorithm based on JFO’s model. The experimental device (Fig.1) respects the
This algorithm ensures to monitor the rupture and kinematics of connecting-rod crank system and the
reformation of the lubricating film in the contact connecting-rod model. The connecting-rod model is
EHD. In 2004, Wang and al [7] present a study formed by a rigid small end (8) and a big end in
which takes into account the deformations due to photoelastic material (9a and 9b). It is placed parallel
the tightening of the screw during the functional with master connecting-rod. The studied connecting-
cycle. They consider also the influence of the inertia rod big end formed by a body (9a), a cap (9b) and the
effects and the total deformation of the connecting- journal (10) form a smooth bearing. An electric motor
rod on the lubricated parameters. In 2006, Tran T.T. (2) rotates the crankshaft (11) by the reduction gear.
Hai [6] studied the numerical modeling of the The rotation speed of the crankshaft is ranged
behavior of the connecting rod big end bearings between 0 and 250rpm. A master steel connecting-rod
requires to account for the interdependence of the (16) is linked to the journal and it is food in linked to
effects of the interfaces fluid, between connecting master piston (5). This system can slide on two solid
rod and the journal, and solid in the mating surface parallel pillar of the main body (1). During the
between the body and the cap. operation, the master connecting-rod alternatively
Parallel to these numerical modeling, many pushes the piston to the top and pulls it to the
experimental studies are carried out to determine the underneath. This resulting, motion has the classic
connecting-rod big end bearing behaviour. Bates and movement of connecting-rod crank system in the
al [8] measured the oil film thickness by the internal combustion engine. The piston (8) plays the
capacitive method. In 2000, Optasanu [9] used the role of piston in a real combustion engine. To
method of analysis per correlation of digital images simulate the explosion as in a real engine, which
and photoelasticity to measure respectively the film occurs a turn on two in a 4 – stroke engine, the axis of
thickness and to visualize the state of stresses the camshaft (6) turns twice more slowly than the
generated in the connecting-rod. Hoang [10] made crankshaft (11). The action of the camshaft on the
662 October 27 - 28, 2018

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Fig. 3. Sensor location.

so that there appears electromotive force in the
Fig. 1. Functional scheme of the experimental device. circuit. By measuring the electricity of the electrolyte,
we can obtain the corresponding temperature.
Thermocoupple sensor type K include one wire 0.5
mm, temparature rage -200 oC to 1250 oC.
3.2. Sensor location
The lubricated oil film temperature of the
connecting-rod big end bearing is measured at six
different positions on the cross-section in the middle
of the bearing according to the perimeter (Fig.3).
3.3. The method of receiving signals from the sensor
Fig. 2. Structure of thermocouple.
The thermocouple type K transmits the signal
push rod compress the spring which in turn exerts a and reads the DAQ signal connected to the computer
fort on the small end that thus simulates the explosion via the ethernet cable and displays the results
in an engine. The study in connecting-rod is interface on the LabVIEW software. The temperature
immersed in an oil chamber. measurement system is using DAQ hardware to
The diameter of big end is 97 mm, the radius collect analog data from temperature sensors.
clearance is C = 0.5 mm and the thickness is 20mm. Instruments Measurement signals are processed and
The oil lubrication for the connecting-rod is programmed using NI-DAQmx software and display
supplying by a hydraulic pump and a rotating results in LabVIEW software.
distribution and a distribution channel which cross all 4. Experimental Measurement the lubricated oil
along the length of the crankshaft. To determine the film temperature
forces of traction/ compression and of flexion on the
connecting-rod, the technique of extensometry is The Fig.4 is the photography of the
used. We use two sensors formed of 8 gauges of experimental device.
extensometry, a sensor for the longitudinal (X After calibration of the sensors
direction) and the other for the flexion moment. traction/compression and flextion, the load diagrams
3. Method of Measurement are measured. The Fig. 5 is the polar load diagram at
100 rpm.
3.1. Temperature sensor
The fig. 6 presents the oil film temperatures at
Temperature sensor to measurement the different positions of boring and at 360°of crank
temperature of the oil film lubrication of connecting- angle (angle of explosion). The maximum value of
rod big end bearing, we use the thermocouple type K sensor 1 (at 0o of boring) is 31.1837 oC, it means the
(Fig. 2). The structure of thermocouple consists of temperature of the oil film is maximum. At this
two different metal wires that are chemically bonded position, the film thickness is minimum. In the
at one end (hot end) to the other end (cold end). The opposite position (180o of boring, sensor 4 position),
thermocouple sensor is based on the difference in the temperature of the oil film is minimum value of
temperature between the two terminals of the two
wires (hot and cold head) different in chemical nature
663 October 27 - 28, 2018

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Fig. 7. Oil film temperature at different cycles.
Fig. 4. Photography of the experimental device.
Fig. 5. Load diagram at 100 rpm.
Fig. 8. Oil film temperature at 0o and 180o of boring,

rotation speed of 100 rpm.
the rotational frequency of 100 rpm. We note the little
variation of temperatures. However, the temperature
of the oil film is maximum in the maximum charge
zone. Indeed, at 0o of boring, the temperature of oil
film is maximum in the neighborhoods of 360o (zone
of explosion). Other side, at 180o of boring is in the
Fig. 6. Oi film temperature at different positions neighborhoods of 720o (0o) (the connecting-rod in the
of boring and at 360°of crank angle. top death center zone).
29.468 oC. At this position, the film thickness is 3. Conclusion
maximum.
This experimental study describes the solution
Fig.7 presents oil film temperature at different for measuring the lubricated oil film temperature of
cycles. We note here that, at each position of boring, the connecting-rod big end bearing in the
the measurements of temperature are almost constant. experimental device for lubricating condition of the
This can be explained, due to the low number of connecting-rod big end bearing. The temperature is
cycles, which means that the operating time is not measured at six different positions on the cross-
enough for increasing of the oil temperature. section in the middle of the bearing according to the
The Fig.8 represents the variation of the oil film perimeter by the type K temperature sensors. The
temperature versus the crank angle at 0o (sensor1 sensor transmits the signal and reads the DAQ signal
position) and 180o (sensor 4 position) of boring for connected to the computer via the ethernet cable and
664 October 27 - 28, 2018

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displays the results interface on the LabVIEW contacts Elastohydrodynamiques, Revue Européenne
software. des Eléments Finis (2001), pp. 679-704, Reef-
10/2001.
The experimental measurements show that, the [6] Thi Thanh Hai TRAN, Etude expérimentale et
temperature of the oil film is maximum in the modélisation des interactions lubrifiée ou non entre
maximum charge zone. At a rotational frequency, for les différents corps d'un palier de tête de bielle, Thèse
0o of boring, the temperature of the oil film is de doctorat de l'Université de Poitiers (2006).
maximum in the neighborhoods of 360o (zone of [7] Wang D., Keith G., Yang Q., Lubrication Analysis of
Connecting-Rod Bearing in a High-Speed Engine.
explosion). Other side, for 180o of boring is in the
Part I: Rod and Bearing Deformation, STLE
neighborhoods of 720o (0o) (the connecting-rod in the Tribology Transaction (2004), Vol. 47, pp. 280-289.
top death center zone). The temperature are almost [8] Bates T.W., Fantino B., Launay L. and Frêne J., Oil
constant for low number of cycles. Film Thickness in an Elastic Connecting-Rod
Bearing: Comparison between Theory and
References
Experiment, STLE Vol. 33 (1990), pp. 254-266.
[1] Fantino B., Frêne J., Du Parquet J., Elastic [9] Optasanu V., Modélisation Expérimentale et
Connecting-Rod Bearing with Piezoviscous Numérique de la Lubrification des Paliers Compliants
Lubricant: Analysis of the Steady-State sous Chargement Dynamique”, Thèse de Doctorat de
Characteristics, Transactions of the ASME Journal of l’Université de Poitiers (2000).
Lubrication Technology (1979), Vol. 101, pp. 190- [10] Hoang L.V., “Modélisation Expérimentale de la
200. Lubrification Thermoélastohydrodynamique des
[2] Fantino B., Influence des Défauts de Forme et des Paliers de Tête de Bielle. Comparaison entre les
Déformations Elastiques des Surfaces en Lubrification Résultats Théoriques et Expérimentaux”, Thèse de
Hydrodynamique sous Charges Statiques et Doctorat de l’Université de Poitiers (2002).
Dynamiques, Thèse de Docteur d’Etat ès Sciences, [11] Michaud P., Modélisation
Université Claude Bernard, Lyon I (1981). Thermoélastohydrodynamique Tridimensionnelle des
[3] Fantino B., Frêne J., Comparison of Dynamic Paliers de Moteurs. Mise en Place d'un Banc d'Essais
Behavior of Elastic Connecting-Rod Bearing in both pour Paliers Sous Conditions Sévères", Thèse de
Petrol and Diesel Engine, Transactions of the ASME Doctorat à Université de Poitier (2004).
Journal of Tribology (1985), Vol. 107, pp. 87-91. [12] Fatu A., Modélisation numérique et expérimentale de
[4] Oh K. P., Goenka P. K., The Elastohydrodynamic la lubrification de palier de moteur soumis à des
Solution of Journal Bearings Under Dynamic conditions sévères de fonctionnement”, Thèse de
Loading, Transactions of the ASME Journal of doctorat de l'Université de Poitiers (2005).
Tribology (1985), Vol. 107, pp. 389-395.
[5] Bonneau D. et Hajjam M., Modélisation de la Rupture
et de la Réformation des Films Lubrifiants dans les
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Aeroacoustics Analysis of Main Rotor of Helicopter UAV

Nguyen Hoang Son, Hoang Thi Kim Dung*, Nguyen Phu Khanh
Department of Aeronautical and Space Engineering, Hanoi University of Science and Technology
*Email: dung.hoangthikim@hust.edu.vn
Abstract
The aerodynamic noise (aeroacoustics) is referred to the noise generated by unsteady flow, which the
turbulent flow is connected to the noise sources. In this paper, the aerodynamic noise of main rotor of
helicopter UAV was carried out by using numerical method. First, the turbulent flow on and around the main
rotor, when it rotated at 700-800 RPM, was found out by using CFD method in ANSYS FLUENT software.
Then, Fast Fourier Transform (FFT) tools in ANSYS FLUENT software was applied to estimate the sound
pressure level from the fluctuation of pressure on and around the main rotor. With the aim of analysis of the
aerodynamic noise on the main rotor, three difference meshing grid, two turbulent model, four flight mode of
helicopter UAV and two rotated speed of main rotor were carried out. The major result was that the
aerodynamic noise depended on the aerodynamic characteristics of main rotor.
Keywords: Aeroacoustics, ANSYS, CFD, FFT, Helicopter.
1. Introduction
The continuity and momentum equations were:
Nowadays, thanks to be programmed for
autonomous flight and remotely piloted by a ground 0 (1)
control operator, unmanned aerial vehicles (UAV) are
widely used in various civil and military applications. 0 (2)
They are well-known as making some outstanding
characterizations such as light weight, reflexibility where ρ was density; u was air velocity; pij was
and particularly highly maneuverability. compression stresses tensor.
Helicopter UAV is a type of rotary-wing UAVs Compression stresses tensor was calculated
which designed to hovering in the air, taking off and according to following formula:
landing vertically, specially moving to any direction.
(3)
Our helicopter UAV includes one main rotor which
generates thrust against gravity and one second rotor
in the tail to balance with the main rotor. The main (4)
rotor of helicopter UAV was rotated at 700-800 RPM
in order to create a lift force of 898.15 N. where p was static pressure; δ was Kronecker's delta
function; μ was kinematic viscosity; τ was viscous
The acoustic problem was estimated from stress tensor.
remarks of [1-3]. Flowcs Williams Hawkings model
in ANSYS FLUENT software was first chose to Lighthill’s equation was obtained after subtract
estimate acoustic problem. Then, sound pressure of derivative over time of continuity equation with
signals was processed using the Fast Fourier derivative over space (xi) of momentum equation:
transform (FFT) in ANSYS software to compute
acoustic quantities as the overall sound pressure level (5)
(SPL).
where c0 was sound speed; Tịj was tensor of Lighthill
The aerodynamic problem was carried out with stress:
various meshing grid, turbulent model and flight
mode of helicopter UAV such as hover, forward (6)
flight with/without wind with help of CFD tool in
ANSYS sortware [4-5]. The left hand side of equation (5) represented
2. Theory of noise caculation the turbulence of the air molecules over time and
space, while the right hand side represented the cause
Aerodynamic noise was calculated using of fluctuations in flow.
Lighthill Theory [1]. Lighthill rearranged continuity
and momentum equations to give a propagated wave When flow was dominant by Reynolds stress,
equation in the air. Lighthill stress were approximately as follows:
666 October 27 - 28, 2018

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(7)
Reynolds stress represented the stress that
related to the exchange between the particles in fluid
flow. Therefore, the effect of Reynolds stress was
similar to viscous stresses. Quadratic differential with
low Mach number was estimated as follows: [3]
~ (8)
This relationship showed that eddy was main Fig. 1. Main rotor blades after modeling.
cause of native sound and aerodynamic sound sources
related to surface.
Curle's research and finally Ffwocs-Williams
and Hawkings expanded this theory in presence of
object to give complete wave about the origin of
noise and calculate the spread of porous or solid
surface of object: [4]
1
Fig. 2. Computational domain.
(9)
where dp = c02dρ; p' was negative pressure in the

measuring point (p’ = p – p0); p was static pressure at
the measuring point; p0 was ambient air pressure; ui
was fluid velocity component according to xi; un was
normal fluid velocity with surface of object; vi was
component of surface velocity according to xi; vn was
normal surface velocity component; H was heavy
side function; δ was Dirac Delta function. [5]
Fig. 3. Meshing grid.
In regards equation (9), the origin of
aeroacoustics noise could be due to turbulent noise ICEM tool of ANSYS was used for meshing.
(first term of right hand side), interaction between air Meshing grid was showed in Fig. 3. Three structural
flow with surface of object (second term of right hand meshin grid were carried out in order to esstimate the
side) and vibration of surface of object (third term of effect of mesh. There were:
right hand side).
• Grid 1: 371,156 elements;
3. Simulation setup
• Grid 2: 441,080 elements;
3.1. Aerodynamic problem
• Grid 3: 501,746 elements.
Main rotor of helicopter UAV included two
blades (Fig. 1). Each blade had NACA015 profiles, Two turbulent models were used to solve out the
chord length 130 mm, span length 1,500 mm and aerodynamic problem. There were k- ω SST and k-ε
incidence angle 120. [5] (Realizable) model. The k-ω model was used as a
closure for the Reynolds-Averaged Navier–Stokes
The computational domain was based on a (RANS) equations. The model attempted to predict
dynamic region (Rotor) and static region (Stator). The turbulence by two partial differential equations for
Rotor contains blades that rotated at 700 RMP and two variables, k and ω, with the first variable being
800 RMP. The stator stand still that contained the the turbulence kinetic energy (k) while the second (ω)
dynamic area and the whole computational domain. was the specific rate of dissipation (of the turbulence
The computational domain was presented in Fig. 2 kinetic energy k into internal thermal energy).
with D was equal 1,500 mm.
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The k-ε model was tailored specifically for calculated according to the theory (898.15 N) within
planar shear layers and recirculating flows. The relative error less than 0.1%. Therefore, medium
model attempted to predict turbulence by two partial mesh (grid 2) was selected to use for the following
differential equations for two variables, k and ε, with cases.
the first variable being the turbulence kinetic energy
Table 2. Lift force value of mesh case
(k) while the second (ε) was the turbulent dissipation
which determines the rate of dissipation of the Case Lift Deviation from the standard
turbulent kinetic energy. force force value (898.15 N)
With transient aerodynamic problem, time step (N)
size was identified following sampling frequency. Grid 1 898.197 0.0052%
This frequency was chose such as frequency of the
Grid 2 898.085 0.0072%
largest need to analyze the created sound. With the
aim of analysis of noise, this frequency was greater Grid 3 898.19 0.00045%
than threshold frequency of hear of people (from
20 Hz to 20 kHz). In this study, sample frequency Table 3. Sound Pressure Level of mesh case
was chose as 10 kHz. Therefore, the time step size of SPL (dB)
transient aerodynamic problem was 5*10-5s. Receivers
Grid 1 Grid 2 Grid 3
3.2. Acoustic problem
1 114.166 113.87 114.469
The acoustic problem was recommended when
2 114.171 112.804 113.122
the aerodynamic problem finished. Flowcs Williams
Hawkings model was chose to estimate this problem. 3 110.662 110.596 111.697
This acoustic model in ANSYS Fluent allowed to 4 110.651 112.022 109.665
select multiple source surfaces and receivers which
was inside or outside computational domain. Sound 5 87.1096 97.9814 87.075
pressure signals could be processed using the Fast 6 87.074 95.3569 86.6435
Fourier transform (FFT) and associated post
7 76.9585 75.066 77.4364
processing capabilities to compute and plot such
acoustic quantities as the overall sound pressure level 8 61.5025 60.7544 60.6201
(SPL). 9 57.1739 56.6625 56.8079
The coordinates of collected receivers were 10 53.5053 53.1361 53.4294
summarized in Table 1.
The SPL of different mesh had the same value
Table 1. Receivers positions with difference of 0.14-0.26% (Table 3).
Receiver X (m) Y (m) Z (m) Near main rotor blades (receivers from 1 to 4),
1 1 1 1 the maximum value of SPL was higher than 100 dB.
Far from main rotor (receivers 5 to 10), the maximum
2 -1 1 -1 value of SPL was lower than 100dB. It mean that, if
3 0 -1 -1 the operated engineers was located far from
helicopter UAV, they could hear the aeroacoustics
4 0 -1 1
noise of UAV but not in threshold hear.
5 1 -3 1
4.2. Influence of turbulent model
6 -1 -3 -1
Table 4. Lift force value of turbulent model case
7 10 -3 0
8 50 -3 0 Case Lift Deviation from the
force(N) standard force
9 80 -3 0 value (898.15 N)
10 120 -3 0 k-ω SST 898.197 0.0052%
k-ε Realizable 909.336 1.2%
4. Results
4.1. Influence of meshing Lift force of main rotor of different turbulent
model were presented in Table 4. The relative error of
Lift force of main rotor of different mesh were k- ω SST turbulent model in comparison with theory
presented in Table 2. Both of three mesh gave lift lift (898.15 N) was less than 0.1%, while this value of
force very close to the value of the lift that was
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k-ε (Realizable) was 1.2%. Due to the closer to theory 120

value of k-ω model than that of k-ε model, the k-ω
SST model was selected to use for the following 100
Sound Pressure Level (dB)

cases.
80
Table 5. SPL of turbulent model case
60
SPL (dB)
Receivers
k-ω SST k-ε Realizable 40
1 114.166 113.968 20 Hover Hover in wind

2 114.171 113.993 Forward Flight Forward Flight in Wind
0
3 110.662 110.655 1 2 3 4 5 6 7 8 9 10
Receiver
4 110.651 110.623
Fig. 4. SPL of flight modes.
5 87.1096 86.8114
1400
6 87.074 86.7248
1200
7 76.9585 77.1496
8 61.5025 61.5174 1000
9 57.1739 57.1873 800
10 53.5053 53.5185 Force (N) 600
The comportment of maximum SPL value was 400

the same as precedent. However, the SPL values of
k-ω model were higher around 0.17% than these of 200
k-ε model.
0
0 0.05 0.1 0.15 0.2 0.25 0.3
4.3. Flight mode Time (s)
700rpm 800rpm
Four flight modes: Hover (horizontal wind 5m/s
and no wind) and Forward flight (horizontal wind 5 Fig. 5. Lift force of rotation speed case.
m/s and no wind) were solved out in this section
(Table 6). hearing (0-140 dB). If the user must bear this noise in
a long time, that could cause great impact to health
Table 6. Lift force value of flight modes and human hearing. As such, this noise could affect
Case Lift force (N) humans, as well as the social life.
Hover 898.197 In comparison the X-coordinates, the more far
Hover in wind 903.775 out sound source, the SPL value reduced.
Flight Forward 992.186 When flight mode is changed from hover to
Flight Forward in wind 998.63 flight forward, the SPL value increased. It seemed
When flight in wind, the lift increased around that when the aerodynamic quality was improved, the
0.62% for hover mode and 0.65% for flight forward higher aeroacoustics noise created.
mode. The increases of lift seemed due to reverse 4.4. Rotation speed of main rotor
wind. When the speed of reverse wind increased, the
lift on the main rotor increased. Helicopter UAV was normally operated at
700 RPM, but it could be rotated until 800 RPM. At
When flight mode is changed from hover to the normal operation, lift force was 898.197 N. While
flight forward, this changed the loading of UAV in maximum operation, lift force raised up to
(larger than gravity acting on it) to make UAV 1159.97 N. The lift force was increased to 29% when
possible to move in the air. The lift raised up 10.46 in main rotor operated from 700 RPM to 800 RPM
case no wind and 10.5% when flying in the wind 5 (Fig.5).
m/s. This meant that the aerodynamic characteristics
of UAV increased. For this case, more receivers were chose to
carried out the SPL value. These were summarized in
The sound pressure level was about 54 up to 116 Table 7.
dB (Fig. 4), that was in the threshold of human
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UAV could be improved when the aerodynamic

Table 7. Positions of new receivers
characteristics improved.
Receiver X (m) Y (m) Z (m) 6. Conclusion
1 -1 -3 0 ANSYS FLUENT software was used to solve
2 -2 -3 0 aeroacoustics problem of main rotor of helicopter
3 -4 -3 0 UAV. The major results could be summarized as
follow:
4 -6 -3 0
- Mesh of computational domain (from 371,156
5 -8 -3 0 to 501,746 elements) had weak influence to
6 -10 -3 0 aerodynamic problem and so on acoustic problem;
7 1 -3 0 - Turbulent model had strong affect to
8 2 -3 0 aeroacoustics problem;
9 4 -3 0 - Flight mode changed, the aerodynamic noise
changed. The increases of lift seemed due to reverse
10 6 -3 0 wind. The aerodynamic characteristics of UAV
11 8 -3 0 increased;
12 10 -3 0 - Rotation speed increased, the lift force increase
13 50 -3 0 and induced an increase of aerodynamic noise.
14 80 -3 0 In the future work, to reduce the aerodynamic
noise of helicopter UAV, the aerodynamic geometry
15 120 -3 0
of helicopter UAV will be the first parameter need to
16 1 -1 1 be improve.
95 References
91.5778 91.6173
90 89.8374 89.8856
88.063 88.2068 [1] S. M. Grace, Computational Methods for
86.4727 86.5074
85 Aeroacoustics, Departement of Aerospace and
Sound Pressure Level (dB)
83.9448 83.9807
82.4074
80
81.928
Mechanical Engineering, Boton University.
[2] A. S. Lyrintzis, Intergral Method In Computational
75
Aeroacoustic From Nearfield To Farfield, School of
70 Aeronautic and Astronautic Purdue University, W.
65
66.3739 Lafayette.IN 47907-2023.
62.0104 [3] D. Thirumurthy, Design And Analysis Of Noise
60
58.3203 Suppresion Exhaust Nozzle Systems, Thesis of Master
55 of Science in Aeronautics and Astronautics, Faculty of
50 Purdue University.
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
[4] L. E. Eriksson, Numerical Simulation of
Receivers
Compressible Flows, Chalmers University of
700 rpm 800 rpm
Technology Göteborg, Sweden.
[5] N. K. Tran, V. Q. Dao, P. K. Nguyen, T. K. D. Hoang,
Fig. 6. Sound Pressure level of rotated speed case. V. K. Nguyen, Numerical Investigations of
aerodynamics characteristics of main rotors in
Following Fig. 6, the SPL value of 700 RPM Helicopter UAV used for pesticide spraying in
case was lower than that of 800 RPM case. This agriculture, Proceedings of the First International
remarked a linear relationship between aerodynamic Conference on Material, Machines and Methods for
and aero acoustic. The rise or fall of the aerodynamic Sustainable Development, Vol. 1, pp. 497-505, Da
characteristics made increase of fall down the SPL Nang-Vietnam, 18-19th May 2018.
value. Therefore, the aeroacoustics noise of helicopter
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Modelling of Thermal Behavior of Thermosyphon

Cong Nghia Phong, Hoang Thi Kim Dung*, Nguyen Phu Khanh
Department of Aeronautical and Space Engineering, Hanoi University of Science and Technology
*Email: dung.hoangthikim@hust.edu.vn
Abstract
Heat pipe, a thermodynamic device of very high thermal conductance, plays an important role in many
industrial applications, particularly in improving thermal performance of heat exchangers and decreasing
energy consumption in commercial application. In present study, a comprehensive CFD model was built to
simulate two phase flow and heat transfer phenomena during the operation of a thermosyphon (gravitational
heat pipe). Water and copper were respectively chosen to be the working fluid and heat pipe’s material. The
Volume of Fluid (VOF) model in ANSYS FLUENT has been employed for the simulation. The evaporation,
condensation and phase transition processes in a thermosyphon have been handled by adding a user-
defined function (UDF) to the FLUENT code. The simulation results are shown to be in good agreement with
available experimental data in four different heat inputs. In addition, the case of optimal UDF function is also
verified. It is concluded that CFD is a robust tool to model, explain and predict the complex flow and heat
transfer phenomena in a thermosyphon.
Keywords: Condensation, Evaporation, Mass Transfer Time Relaxation Parameter, Thermosyphon.
experimental work [3-5]. Therefore, in this study, a

1. Introduction
comprehensive CFD modelling has been employed to
A heat pipe is a heat transfer device with a cover all details of two-phase flow and heat transfer
highly effective heat transfer rate through evaporating phenomena during the operation of a thermosyphon.
and condensing a fluid that is circulating in a sealed Moreover, a UDF has been used to complete the
container. Heat pipes have been successfully used to FLUENT code in order to simulate the phase-
cool the electronic components and has been applied changed material. The CFD results have been
to heat exchangers, dehumidification, air conditioning compared with the experimental results to validate.
systems and solar water heating systems [1]. This is
The amount of the mass transfer in the phase
mainly because of their simple structure, special
change is affected by the mass transfer time
flexibility, high efficiency, good compactness. A
relaxation parameters. This parameter for the
wickless heat pipe, or a two-phase closed
evaporation was used with the same value of 0.1 in
thermosyphon, relies on gravitational forces to return
the experimental researcher of Fadhl et al. [2]. But for
the working fluid to the evaporator. This is different
the condensation, this parameter value has not been
from a wicked heat pipe, where the working fluid is
clearly suggested. Youngchul et al. [1] numerically
returned from the condenser by capillary forces.
studied a two-phase thermosyphon with four
Thermosyphon has three sections, which are the
parameters for condensation. This parameter is
evaporator at the bottom end, where heat is added and
recommended to be the value considering the ratio of
the liquid is vaporized; the condenser at the top end,
the liquid density to the vapor density because its
where heat is released and the vapor is condensed;
relative errors for the experimental data is minimal.
and an adiabatic section in the middle between the
This will also be verified in this study.
evaporator and condenser [2].
2. Physical model
When the thermosyphon operates, heat is added
to the evaporator where a liquid pool exists, changing 2.1. Volume of fluid (VOF) model
the liquid into vapor. The high temperature and
Numerical solutions, which base on the finite
pressure cause the vapor to flow and pass through the
volume method, are more complex for multiphase
adiabatic section toward the condenser. The vapor
flows than for a single-phase flow. The reasons for
adjacent to the condenser’s wall gives up its latent
this difficulty are that the interfaces between the
heat that is absorbed in the evaporator section. The
phases are not stationary and physical properties such
condensed liquid is then transported back to the
as density and viscosity change at the interfaces
evaporator due to gravity [2].
between the different phases, which requires an
Many early researches for the thermosyphon intensive computational effort. However, the volume
were mainly conducted through experiments. But of fluid (VOF) technique has been used to solve these
CFD models could reduce the amount of problems by determining the motion of all phases and
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defining the motion of the interfaces. In the present 1 (3)

study, the VOF model has been applied for the
modelling of a closed two-phase thermosyphon. Also, the volume fraction averaged density is
required in the momentum and the energy equations.
The VOF formulation relies on the fact that two In the VOF model, the momentum equation is
or more fluids (or phases) are not interpenetrating. expressed in Eq. (4) and a single set of the
For each additional phase that you add to your model, momentum equation is used without making a
a variable is introduced: the volume fraction of the distinction between the liquid and the vapor phase.
phase in the computational cell. In each control The external forces consist of the pressure, the
volume, the volume fractions of all phases sum to gravity, and the surface tension like the terms of the
unity. The fields for all variables and properties are right hand side in Eq. (4). The CFS (Continuum
shared by the phases and represent volume-averaged surface force) model is employed for the surface
values, as long as the volume fraction of each of the tension along the interface between the two phases:
phases is known at each location. Thus the variables
and properties in any given cell are either purely .
representative of one of the phases, or representative (4)
of a mixture of the phases, depending upon the .
volume fraction values. In other words, if the ith
fluid’s volume fraction in the cell is denoted as αi, where μ is dynamic viscosity; g is acceleration of
then the following three conditions are possible: gravity; and FCFS is surface tension force.
 αi = 0: cell is empty; 1 (5)
 αi = 1: cell is full;
 0 < αi < 1: cell contains the interface C C
between the ith fluid and one or more other fluids. (6)
Based on the local value of αi the appropriate
properties and variables will be assigned to each The contact angle on the wall is set to 40
control volume within the domain [3]. degrees for wall adhesion [3, 4].
2.2. Governing equations The energy equation is represented in Eq. (7),
including the source term caused by the phase
In the VOF model, the governing equations of change:
mass continuity, momentum and energy are used to
describe the motion of the working fluid in a (7)
. .
thermosyphon.
The continuity equation for the liquid phase and where SB is the energy source term used to calculate
the vapor phase in the VOF model is: the heat transfer during evaporation and
condensation; E is internal energy; and k is thermal
1
. conductivity.
(1)
1
1
where SM is the mass source term used to calculate (8)
the mass transfer during evaporation and , 1 ,
condensation; αl, ρl and vl are volume fractions, 1
density and velocity of liquid phases respectively;
is mass flow from vapor to liquid; and is 1 (9)
mass flow from liquid to vapor. A single energy equation is also solved
The volume fractions for the liquid and vapor throughout the domain for both phases, and the
phases (αv) must satisfy: calculated temperature is shared among the phases.
1 (2) 2.3. Mass and heat transfer during the evaporation
and condensation processes
Void regions are not allowed in the VOF model
because each cell should be occupied by either a In most researches, the mass transfer time
single phase or a combination of phases. The volume relaxation parameter was proposed on the basis of the
fraction for the liquid phase is used to get the volume- Hertz-Knudsen equation:
fraction-averaged density when the liquid phase and
the vapor phase are combined in a cell:
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√
(10)
√2
where a is accommodation coefficient; psat is
saturation pressure; Tv, Tl are temperature of vapor
and liquid phase respectively; and R is universal gas
constant.
The accommodation coefficient obtained from
the ratio of experimentally observed evaporation
velocity to theoretically maximum evaporation
velocity in evaporation process. Also, it can be used
in condensation process.
Under condition that temperature and pressure
are close to saturation state in Clausius-Clapeyron
equation, following relation can be obtained:
(11) Fig. 1. Geometry and grid generation.
where L is latent heat. (Fig. 1). According to the experimental condition, the
thermosyphon was divided into three sections
Substituting Eq. (11) in Eq. (10), one obtains: represented by the evaporator and condenser sections,
√ with an adiabatic section between them. Both
(12) evaporator and condenser have 200 mm length, while
√2 the adiabatic section has 100 mm length. The
thermosyphon is 0.5 m in the entire length and the
The source term in the governing equation of
inner and the outer diameters are 0.0202 m and
fluid flow and heat transfer can be obtained by
0.022 m, respectively.
multiplying the volumetric interfacial surface area by
Eq. (12), which relates to the mean Sauter diameter. The temperature distribution along the outer
The equations of mass flux in the evaporation and the wall of the thermosyphon was monitored using eight
condensation processes are [5]: different positions, which are the thermocouple
positions as shown in Fig. 1. According to the
(13)
experimental setup, Te1 and Te2 were used to record
the average temperature of the evaporator section,
(14) while Tc1 to Tc5 were used to record the average
temperature of the condenser section. Ta was used to
where βe and βc are mass transfer time relaxation record the average temperature of the adiabatic
parameters for the evaporation and the condensation: section.
With this 2D model, the grids have been
6 √
(15) generated simply and the fine meshes have been built
2 in the vicinity of the wall so as to get a thin film.
6 √ 3.2. Calculation conditions
(16)
2 The main properties in the fluid and the solid
domains are shown in Table 1. The liquid density, the
βe and βc are empirical coefficients. Generally, surface tension coefficient, and the specific heat of
βe and βc have been set equal to 0.1 in the numerical the vapor are given as a function of the temperature
analysis. However, βe and βc can be set equal to other and the others as a constant. The liquid temperature
values, for example proportional to ρl and ρv, can be varied from 300 K to 373 K, while the vapor
respectively. temperature can be varied from 373 K to less than
3. Numerical analysis 400 K. Thus, the liquid density has a large difference
of 38 kg/m3, while the vapor density has a small
3.1. Geometry and grid generation of thermosyphon difference of 0.0354 kg/m3. Accordingly, the vapor
A two-dimensional model is developed base on density is assumed to be constant, whereas the liquid
the experimental model [2] to simulate the two-phase density is given as the function of the temperature.
flow and heat transfer phenomena in a thermosiphon
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Table 1. Properties in fluid and solid domains initial velocity is defined equal to zero, and the
operating pressure and the operating density are set to
Property 101,325 Pa and 0.5542 kg/m3, respectively.
Value
(unit)
ρl (kg/m3) 859.0083+1.252209T-0.0026429T2 The solution methods and the calculation
ρv (kg/m3) 0.5542 conditions to analyze the heat and fluid flow in the
μl (kg/ms) 1.003*10-3 thermosyphon using the FLUENT program is made
μv (kg/ms) 1.34*10-5 on the basis of the FVM (Finite volume method).
σlv 0.09805856-1.845*10-5T-2.3*10-7T2 3.3. UDF and mass transfer time relaxation
kl (W/mK) 0.6 parameter
kv (W/mK) 0.0261
ks (W/mK) 387.6 In this study, ANSYS Fluent 18.2 is used to
Cp,l (J/kgK) 4,182 simulate the thermal behavior of the thermosyphon.
L (J/kg) 2,455,000 However, Fluent does not have the ability to simulate
the phase change material during the evaporation and
condensation processes. In order to circumvent this
In the boundary condition, a constant heat flux problem, an UDF has been used to complete the
is imposed on the evaporator section, while a existing Fluent code.
convective heat transfer is applied to the condenser
section cooled by the water jacket. Here, the This UDF is essentially required to calculate the
convective heat transfer coefficient is obtained from mass and heat transfer between the liquid and vapor
the experiment [2]. phases during the evaporation and condensation
processes, determined by the source terms in the
Adiabatic conditions are provided at the top and governing equations, particularly the continuity and
the bottom sections as well as in the middle section of energy equations. Source terms proposed by De
the thermosyphon. The wall boundary to solve the Schepper et al. [5] have been used to calculate the
momentum equation has a non-slip condition. In the mass and energy transfer. Mass sources (SM) in the
initial condition, the filling ratio, which means the continuity equations and energy sources (SE) in the
ratio of the initial liquid volume to the total volume of energy equation used in the present work can be
the evaporator section, is set to 50 % as depicted in found in Table 4, where Tmix and Tsat are the mixture
Fig. 1. The liquid volume fraction is defined as 1.0 in temperature and saturation temperature, respectively,
the liquid region while 0.0 in the vapor region. Also, and L stands for latent heat.
the initial temperatures of the liquid region and the
vapor region are set to 372 K and 374 K, respectively. The mass transfer time relaxation parameters
These temperatures will lead to a steady state quickly (βe, βc) in the source terms should be defined as the
because the saturation temperature is 373 K at one appropriate values in order to determine the amount
atmosphere pressure. The initial temperatures of the of mass transfer in the evaporation and the
solid region are made to correspond to those of the condensation. Following Youngchul et al. [1], the
liquid region and the vapor region, respectively. The value of βe should be set to 0.1 and the value of βc
Table 2. Source terms in continuity and energy equations
Thermal Phase change Temperature

Phase Source Term
energy process Condition
Liquid (17)
Evaporation Tmix > Tsat
Vapor (18)
Mass
transfer
Liquid (19)
Condensation Tmix < Tsat
Vapor (20)
Evaporation Tmix > Tsat (21)

Heat
transfer
Condensation Tmix < Tsat (22)
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equals 0.1*(ρl/ρv). Accordingly, this is considered to

be the optimal UDF case for numerical analysis of the
heat and fluid flow and the phase change for
thermosyphon. Therefore, in this study, these
parameters were selected for simulation analysis. But,
the other case with βc = 0.1 is also used for
comparison and validation.
4.1. Grid independence
Fig. 2. Temperature profiles along outer wall of
Four cases of different mesh sizes were used to thermosyphon with time.
test grid independence. The average temperature of
the evaporator, adiabatic and condenser sections for 172.87 W as shown in Fig. 2. Here, the measurement
different mesh sizes were monitored and are shown in positions from the y-axis are 0.05 m and 0.15 m for
Table 3. For the heating power of 172.87 W, it was the evaporator section, 0.25 m for the adiabatic
found that almost the same temperature differences section, and 0.32 m, 0.36 m, 0.40 m, 0.44 m, and 0.48
between the evaporator and condenser sections were m for the condenser section, respectively. In the
obtained for three different mesh sizes: 28770, 49972 result, the temperature values are considered to have
and 72475 cells. As a result, the mesh size of 28770 reached steady state at around 50 s. On the other
cells was selected for the simulation analysis. hand, it took the time more than about 15 days per
each case to reach a steady state using the computer.
Table 3. Grid independence results
4.3. Validation of numerical analysis
Mesh size
Teav (K) Ta (K) Tcav (K) Table 4 shows the surface average temperatures
(cells)
in the evaporator (Teav), adiabatic (Ta) and condenser
7923 384.99 364.24 311.29
(Tcav) sections, in addition to the thermal resistance of
28770 381.52 362.97 313.29 the system and the relative error RE between CFD
49972 381.24 363.27 313.29 simulation and experimental results (EXP). The
72475 380.99 362.68 313.31 simulation results of the VOF model showed the
same trend as the experimental data. The average
4.2. Steady state of numerical analysis relative error of evaporator, adiabatic and condenser
average temperatures are 10.16%, 10.32% and
Due to the characteristics of the VOF model, a 1.97%, respectively. The predicted CFD evaporator
transient simulation was done for the heat and fluid average temperature has deviated from the
flow in the thermosyphon. At the steady state, the experimental results due to in the experimental, the
results from the numerical solution have been wires of the heater wrapped around the evaporator
compared with the results measured in the section so heat is not supplied directly and evenly
experiment. To check out the steady state, the over the surface of the evaporator of the
temperature profiles are represented at an interval of thermosyphon and in the numerical analysis model, a
10 s at the eight points along the outer wall of the constant heat flux is established for the surface of
thermosyphon for βc = 0.1*(ρl/ρv) and heat input of evaporator. Unlike the experimental data in the
Table 4. Comparison between experimental data and CFD simulation for different heat inputs
Source Evaporator Adiabatic Condenser
Qin TeavEXP TeavCFD RE TaEXP TaCFD RE TcavEXP TcavCFD RE
W K K % K K % K K %
100.41 343.0 380.17 10.84 321.25 362.78 12.93 312.41 314.91 0.80
172.87 341.6 381.52 11.68 327.45 362.97 10.85 318.07 313.29 1.50
225.25 348.1 382.96 10.01 331.05 362.10 9.38 320.55 313.47 2.21
275.60 356.1 384.97 8.11 335.55 362.79 8.12 325.95 315.01 3.36
Average relative error% 10.16 10.32 1.97
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Table 5. Temperature of condenser section for

heating power of 275.60 W
TavEXP TavCFD REav

Case
K K %
βc = 0.1 325.95 307.02 5.81
βc = 0.1*(ρl/ ρl) 325.95 315.03 3.36
Fig. 3. Temperature of condenser section for heating

power of 275.60 W.
Fig. 5. Contours of volume fraction of pool boiling in

Fig. 4. Relative error of condenser section for heating the evaporator section at different times.
power of 275.60 W.
evaporator section with the heat wire, the condenser
section temperature shows better agreement with the
experimental results due to the convective heat
transfer conditions in the simulation are calculated
from the measured values in the experiment. For the
adiabatic section, the temperature is changed due to
the axial conduction heat transfer from the
evaporator.
4.4. Validation of optimal mass transfer time
relaxation parameters Fig. 6. Contours of volume fraction of condensed
liquid film in the condenser section at different times.
Youngchul et al. [1] performed a simulation
with different instances of mass transfer time However, that is only the numerical simulation
relaxation parameters. Accordingly, the value of the result for the case of heating power of 172.87 W. For
coefficient βe should be set to 0.1 and the value of βc the other case with different heating power, is this
equals 0.1*(ρl/ ρl) and this is considered to be the correct? And case βc = 0.1*(ρl/ ρl) is still optimal, best
optimal UDF case for numerical analysis of the heat fit? In order to answer these questions, a simulation is
and fluid flow and the phase change for performed with the heating power of 275.60 W and
thermosyphon. However, to verify this, the other case the results are shown in Table 5. The relative errors
with βc = 0.1 is also used. This study focuses on the for the case βc = 0.1*(ρl/ ρl) is smaller.
effects of the parameters in the condenser section
4.5. Discussion on heat and fluid flow in
only. Thus, the comparisons between the
thermosyphon
experimental and numerical results are confined to
the condenser section.
Fig. 5 and Fig. 6 show the volume fraction
For heating powers of 172.87 W, the contours of pool boiling in the evaporator and
temperature profiles along outer wall of condenser condensed liquid film in the condenser, respectively.
section is represented in Fig. 3 and the relative errors
At the beginning of the process, the liquid pool
of the numerical calculation for the experimental data
that initially filled half of the evaporator was heated
in the condenser section are shown in Fig. 4. In case
by imposing constant heat input. At positions where
βc = 0.1*(ρl/ ρl) with the smallest error, the relative
the liquid reached the boiling temperature, the liquid
errors are 1.5 % on average for the condenser section.
starts to evaporate and phase change occurs as shown
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5. Conclusion
The main objective of this work is the
development of a CFD model that allows to perform
simulations of the evaporation and condensation
phenomena in a thermosyphon. The simulation of
these processes is one of the steps required to model
the complete system in order to consider the phase
change material by implementing the appropriate
source terms in the flow governing equations. These
source terms, determining the mass and heat transfer
between the liquid and vapor phases, have been
Fig. 7. Descending liquid droplet due to gravity with linked to the main hydrodynamic equations of
time. FLUENT.
The CFD results of this work show that
FLUENT with the VOF method can successfully
model the complex phenomena inside the
thermosyphon. From the flow visualization, it is
found that the CFD simulation was able to reproduce
the operation of the thermosyphon, including the pool
boiling in the evaporator section and the condensed
liquid film in the condenser section.
The average surface temperature along the
Fig. 8. Temperature distribution and velocity vector thermosyphon has been compared with the
at steady state. experimental results at the same condition, showing
that the predicted results agreed with the
in Fig. 5. This continuous evaporation of liquid experimental results quite well. Thus, the mass
results in a decrease in the liquid volume fraction and transfer time relaxation parameter for the
an increase of the vapor volume fraction. At those condensation is recommended to be the value
positions where the liquid evaporates, bubbles are considering the density ratio, that is, 0.1 / ,
formed and transported toward the top region of the while the parameter for the evaporation is set to 0.1.
liquid pool. As shown in Fig. 5, when the heating This is optimal case for numerical analysis of the heat
power increases, the boiling process is faster and and fluid flow and the phase change for
more powerful. This is consistent with reality. thermosyphon even when heating power varies.
Following the above process, saturated vapor is References
transported upward to the condenser. As the vapor
reaches the condenser’s wall, where a convection heat [1] Youngchul Kim, Jongwook Choi, Sungcho Kim and
Yuwen Zhang, Effects of mass transfer time
transfer coefficient boundary condition is defined, the
relaxation parameters on condensation in a
vapor condenses along the cold walls forming film thermosiphon, J. of Mechanical Science and
wise condensation as shown in Fig. 6 and liquid Technology 29 (12) (2115) 5497-5505.
droplet as shown in Fig. 7. This liquid will then fall [2] B. Fadhl, L. C. Wrobel and H. Jouhara, Numerical
back to the evaporator section and recharge the liquid modelling of the temperature distribution in a two
pool. phase closed Thermosyphon, Applied Thermal
Engineering, 60 (2013) 122-131.
Fig. 8 depicts the temperature distribution and [3] W. A. Zisman, Relation of the equilibrium contact
the velocity vector in the thermosyphon. Ascending angle to liquid and solid constitution, Advances in
flow is observed in the center of the thermosyphon by Chemistry, 43 (1964) 1-51.
free convection, and descending flow is seen on the [4] S. G. Kandlikar and M. E. Steinke, Contact angles of
cold wall of the condenser section. Finally, droplets during spread and recoil after impinging on a
reasonable results can be obtained from a numerical heated surface, Chemical Engineering Research and
analysis of the heat and fluid flow and the phase Design, 79 (4) (2001) 491-498
[5] S. C. K. D. Schepper, G. J. Heynderickx and G. B.
change using the VOF model with the parameter
Marin, Modeling the evaporation of a hydrocarbon
considering the density ratio for the thermosyphon. feedstock in the convection section of a steam cracker,
Computers and Chemical Engineering, 33 (2009) 122-
132.
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Some Aspects of Cavitation Around a Triangular Cavitator

with Curved Sides
Pham Van Duyen2, Nguyen Quang Huy1, Hoang T. Hong Minh1,
Vu Van Duy2, Truong Viet Anh1*
1
Dept. Of Fluid Power & Automation Engineering, School of Transportation Engineering,
Hanoi University of Science & Technology (HUST), Hanoi, Vietnam
2
Vietnam Maritime University, Haiphong, Vietnam
Abstract
The cavitation is well known to be harmful to fluid machineries when generating in the flow system.
However, supercavitation is exploited in the application of high-speed submerged body. The occurrence of
supercavitation covering entirely the surface of the moving object can significantly reduce the resistance to
reduce the propulsion energy. In this study, the cavitation aspects of the three type of triangular cavitator
with curved sides, included: basic triangular-, convex triangular- and concave triangular- cavitator, has been
invetigated by the commercial software – ANSYS CFX. In conclusion, for enlargement of cavity size, the
concave triangular cavitator is a very effective design while the convex triangular cavitator can be used for
reducing the drag force.
Keywords: cavitation, triangular cavitator, supercavitation, high-speed submerged body, CFD.
1. Introduction* problem is the design of the nose of the headform, so

called cavitator for generating the supercavitation [6],
At high speeds, the flow around a submerged
[7].
body always makes complex phenomena, such as the
This study invetigated the cavitation
separation of the surface of the headform, unwanted
phenomenon that propagating from a 2.5D triangular
vortexes and wakes causing hydraulic losses or
cavitators for analysis and estimating the effects of
pressure drop and cavitation, drag and lift changes. At
the cavitator angle, flow speed to the drag and
a high flow speed, the occurrence of supercavitation
cavitation region. Our idea here aim to develop an
covering the surface of the moving object can
effective supercavitation by modifying a triangular
significantly reduce the resistance to reduce the
cavitator with a curved side. Particularly, we forcuses
propulsion energy [1], [2], [3]. In fact,
on 2 types of cavitator for analysis: concave
supercavitation was applied in design of several high
triangular - and convex triangular shapes.
speed torpedo, such as, VA-111 Shkval, Squall
In conclusion, the concaved triangular with the
torpedo with the speed by 200 knots (370 km/h or
curved angle by 10° is a good applicability for
100 m/s) of Russia, the Red Shark torpedo of Korea
improving the cavitation domain of a submerged
recently. In addition, the ship propeller generated
headform in a range of moving speed from 30 -60
under a supercavitation stage is also exploited for
m/s.
saving energy of propulsion The blades of a
supercavitating propeller are design to make 2. Models and numerical method
cavitation at the leading edge which covering the
blade surface in order to avoid water skin friction. 2.1, Cavitator model
The cavity collapses well behind the blade, which is The commercial software ANSYS CFX is
the reason the supercavitating propeller avoids the utilized for simulating the flow phenomena. The 2.5D
erosion damage due to cavitation. model was created by SolidWorks and the calculation
There are two main ways for generating domain is as shown in Fig.1 with the spanwide is D =
supercavitation: (1) Vaporous cavitation that 100 mm and without side walls. The unstructured
achieving by a cavitator – the nose of the body at a tetrahedral grid was used with smallest grid size 3.5
high speed; and (2) Ventilated supercavitation by mm and maximum grid size 100 mm. After meshing,
injecting gas to the cavity to amplify the size of the 2D domain consists of 6261 tetrahedral elements
cavitation domain [4], [5], [6]. The interested and 242197 mesh nodes. The grid is finely divided at
vincinity of the triangular cavitator for detecting the
generation of cavitation scope.
*
Corresponding author: Tel.: (+84) 0913516262
Email: anh.truongviet@hust.edu.vn
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The curved side is created by using an arc of - Model calculation: k-; cavitation
circle as shown in Fig.2. By changing the curved
radius, the exit angle of the flow will be changed the - Heat Exchanger: None;
separating condition by the curved edge angle . For - Material selection: water phase, temperature
estimating the effect of the curved side on the flow 25oC;
phenomenon, the cavitator models are created for
gas phase, temperature 25oC;
several cases with  from -50° to 50°. The basic
triangular cavitator has  = 0o. The minus value of  - Set problem condition:
means the cavitator is a convex triagle type. The plus
+ Inlet value: flow velocity, Vinlet (m/s) for three
value of  means the cavitator is a concave triagle cases: 30,40 and 50 m/s;
type. + Outlet Values: Pressure, Poutlet = 0.29 Mpa;
+ Open value: Pressure at depth (20 m).
+ Residual target: 10-5
For investigating the cavitation aspects, the
cavitation number is calculated by formula:
σ = (Pref - Pv) / (1/2 ρ U2) (1)
where:
σ - Cavitation number; Pref - reference pressure
(Pa); Pv - vapor pressure of the fluid (Pa); ρ = density
of the fluid (kg/m3); U - velocity of fluid (m/s).
3.1. The flow around the basic triangular cavitator
Fig. 1. Computational fluid domain
Fig.2 Diagram of the basic triangular cavitator and

concave-/convex cavitator with curved sides
2.2. Simulation method and Boundary conditions

In set-up the boundary conditions and
calculations:
The standard turbulence model k- with the
Reynolds averaged Navier-Stokes (RANS) equations
are employed and the Singhal cavitation model – the
common semi analytical models with Rayleigh -
Plesset cavitation equations are adopted in the present Fig. 3. Streamlines over the basic triangular cavitator.
study for steady state simulation [8], [9]. The
boundary conditions are as follow:
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Firstly, the flow in the case of a basic triangular For detecting the cavitation area, in Figure 4a
cavitator with 60° vertex angle is simulated and prensents the area where the pressure is under the
comparing to previous research works for confirming value of the saturated vapor pressure of water. When
the precision from the simulation data. Figure 3  = 0.63 at U = 30 m/s, the cavitation is started just
shows the streamlines over the basic triangular object behind the vertex. Increasing velocity to 40 m/s and
that are calculated at 3 different velocities: 30; 40 and 50 m/s, the cavity length is developing along the flat
50 m/s coresponding to the values of cavitation body of the cavitator and becoming supercavitation
number : 0.65; 0.36 and 0.23 (at water temparature state.
25oC). The separation flow which generated from the
As a common method for presenting the area of
sharp edge of the triagular prism makes some vortex
cavitation, the shape of cavity is determined by the
in teh domain of the wake. This separation flow cause
vapor phase domain where the density of vapor
a low pressure area behind the cavitator.
higher than 50%. So we will base on this phase
distribution to measure the size of cavity, included
the cavity- length L and diameter Dm.
(a) Cavity shape of CFD for 60° triangular

cavitator U = 40 m/s,  = 0,36
(b) Cavity shape of experiment data for 60°

conical cavitator U = 37 m/s,   0,35 []
Fig. 5. Comparison of present CFD result with
experiement data at approximatedly cavitation
number   0,35.
In Figure 5, comparing to other experimental
(a) Pressure contour of mixed phases data for a 60° conical cavitator, the present 2.5D
simulation gives the similar values Dm/D = 1.55 and
L/D = 2.5 at  = 0.36 is in the tendency [10], [11].
The good agreement is found between the numerical
and experimental results, indicating that the
simulation data can be used is for predicting the
cavitating flow in the next steps.
3.2. Aspects of cavitation in triangular Cavitator
with Curved Sides
(b) Cavitation shape in present of vapor volume
In cavitation mechanism, the formation of cavity
fraction contour
of the triangular cavitator is generated by the
Fig. 4. Cavitation of a basic triangular cavitator. separation flow. So that, the separation angle of
cavitator at the separation edge will directly affect to
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the separation flow, and of course this angle will convex triangular cavitator with  = -10°, the
influence to the size and the status of cavitation. For diameter of cavity is the minimum.
making clearance of this effect, the cavitation of
several models of the triangular with curved sides –
so called, convex and concave triangular cavitators
will be detected. Figure 6 shows the cavity shape in
different models and cavitation numbers by the
curved edge angle. Reminding that, the minus value
of  is used for a convex triagular type and the plus
value of  is used for a concave triagular type. The
convex triangular type seems to make the cavity
length abit longher only, but the concave triangular
type makes a increasing significantly in both of the
diameter and the length of cavity.
(a) Relation of edge angle  and max. cavity diameter
Fig. 6. Cavitation in three model type: basic -, 40°

convex- and 40° concave- cavitator at  = 0.23.
(b) Relation of edge angle  and cavity length
From the results of simulation, the detail effects
Fig. 7. On the effect of curved edge angle to the
of the curved edge angle  on the cavitation
dimension of cavitation.
dimension is shown in Figure 7. The relation between
the maximum cavity diameter (Dm) is in Figure 7a. Figure 7b shows the relation of edge angle 
In the case of convex triangular cavitator, the and cavity length L/D. The convex cavitator type
changing of the curved edge anhgle  from -50° to does not make changing significantly for the cavity
near 0o does not affect any significantly to the length. In a contrary, the concave cavitator type gives
maximum diameter of cavity. But in the case of a very strong influence to the cavity length, specially
concave triangular cavitator is different. At U = 30 at a low cavitation number ( = 0.36  0.23). The
m/s,  = 0.65, the diameter of cavity Dm will increas cavity length can increas 30 – 70% ( in comparison
slowly and alike linear relation. At a higher flow with the basic triangular type wwith the curved edge
velocity, the cavity diameter has a more clear and angle upper 20°. At  = 0.23, the cavity status
significant increasing at the edge angle  > 20°. become supercavitation with the cavity length is
Specially, at  = 50° and  = 0.23, the maximum around 12 times of the cavitator diameter D as shown
cavity diameter can reach 4 times of cavitator’s in Fig.6.
diameter D and 2 times bigger than the cavity caused
by the basic triangular cavitator ( = 0o). The case of
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invetigated and estimated by the commercial software

– ANSYS CFX.
The supercavitation region of several cavitators,
included: basic triangular-, convex triangular- and
concave triangular- cavitator. The main designed
parameter - the curved edge angle  in the range of
from -50° to 50°, is very useful tool for carrying out
the prediction that:
1. For enlargement of cavity size, the concave
triangular cavitator is a very effective
design. At supercavitation status, the
convex type can make the diameter of
cavity increasing near 200%, the length of
cavity increasing 30%. In application of
supercavitation, the concave triangular
Fig. 8. Relation of the curved edge angle and
design can be used as a nose cavitator of
drag coefficient.
high-speed submerged body.
Figure 8 shows the relation of the curved edge
2. For reducing the drag force, the convex
angle and drag coefficient. The interesting result is
triangular type with the curved edge angle
that there is an optimal shape for minimizing the drag
 from -30° to -20° can be used.
force at the  from -30° to -20°. For the concave type,
the relation between the curved angle and the drag 5. Future plan
force is alike of linear function.
In this trending study, the concave and convex design
4. Conclusion will be consider more detail in 3D cylindarical design
for developing the application of supercavitation.
In this study, the cavitation aspects of the three
type of triangular cavitator with curved sides has been
[6] M. Moghimi, N. M. Nouri and E. Molavi,
Experimental Investigation on Supercavitating
References
Flow over Parabolic Cavitators ,Journal of
[1] D.Yang, Y.L.Xiong and X.F.Guod, Drag Applied Fluid Mechanics, Vol. 10, No. 1, pp.
reduction of a rapid vehicle in supercavitating 95-102, 2017.
flow, International Journal of Naval [7] Young Kyun Kwack and Sung Ho Ko,
Architecture and Ocean Engineering, Vol. 9, Numerical analysis for supercavitating flows
Issue 1, January 2017, Pages 35-44. around axisymmetric cavitators, Int. J. Naval
[2] Jung-Kyu Choi et al., A numerical and Archit. Ocean Eng. (2013) 5:325~332.
experimental study on the drag of a cavitating [8] Ahn B.K., C.S. Lee, Kim H.T., Experimental
underwater vehicle in cavitation tunnel, and numerical studies on super-cavitating flow
International Journal of Naval Architecture and of axisymmetric cavitators, Intl. Journal of
Ocean Engineering, Vol. 7, Issue 5, September Naval Architecture and Ocean Engineering, 2
2015, Pages 888-905. (1) (2010), pp. 39-44.
[3] S. S. Kulkarni and R. Pratap, “Studies on the [9] ANSYS CFX Tutorials. Release 15.0. ANSYS,
dynamics of a supercavitating projectile,” Inc. November 2013. Southpointe. 275
Applied Mathematical Modelling, vol. 24, no. 2, Technology Drive. Canonsburg, PA 15317.
pp. 113–129, 2000. [10] Ebrahim Kadiva et al., The investigation of
[4] Byoung-KwonAhn et al., An experimental natural super-cavitation flow behind three-
investigation of artificial supercavitation dimensional cavitators: Full cavitation model,
generated by air injection behind disk-shaped Applied Mathematical Modelling, Vol. 45, May
cavitators, Intl. Journal of Naval Architecture 2017, pp. 165-178.
and Ocean Engineering, Vol. 9, Issue 2, 2017, [11] S. Morteza Javadpour et al., An experimental
Pages 227-237. and numerical study of supercavitating flows
[5] Karn et al., Dependence of supercavity closure around axisymmetric cavitators, J of Theoretical
upon flow unsteadiness, Exp. Therm. Fluid Sci., and Applied Mechanics 54, 3, pp. 795-810,
68 (2015), pp. 493-498. Warsaw 2016.
682 October 27 - 28, 2018

Hanoi, Vietnam
Author Index
A.A. Gubaidullin ................................................ 574 Hoang Duc Lien ......................................... 339, 464
Andrew Ragai Henry Rigit ................................. 368 Hoang Sinh Truong ............................................ 426
Anh Dinh Le ....................................................... 382 Hoang Son .......................................................... 558
Anh Dung Hoang.................................................. 83 Hoang Thi Bich Ngoc ........................................ 314
Anh Ngoc Nguyen .............................................. 622 Hoang Thi Kim Dung ................................. 666, 671
Arno Dubois ....................................................... 246 Hoang T. Hong Minh ......................................... 678
Binh D. Pham ..................................................... 322 Hoang-Tung Vu ..................................................... 9
Bui Dinh The ...................................................... 437 Hong Ha Tran ....................................................... 83
Bui Duy Thinh .................................................... 160 Hung D. Nguyen ........................................ 238, 246
Bui Vinh Binh .................................................... 314 Huy Nguyen-Duc ............................................... 153
Byeong Cheon Kim ............................................ 571 Hyoung-Gwon Choi ................................... 327, 375
Changjo Yang ....................................................... 93 Ich Long Ngo ..................................................... 310
Chang-Jo Yang ..................................................... 83 Jiwon Choi ......................................................... 548
Chu Dinh Do ........................................................ 35 Jonathan Binns ................................................... 246
Chu Van Dat ....................................................... 448 Jong Tai Lee ....................................................... 492
Cong Nghia Phong ............................................. 671 Khanh-Duong Tran ............................................ 503
Cong-Truong Dinh ......................... 9, 388, 392, 634 Kien C. Nguyen .................................................. 585
Cuong T. Nguyen ....................................... 585, 590 Kieu Hiep Le ...................................................... 305
D.N. Dudko ........................................................ 574 Kyongsik Chang ................................................. 567
Dang Ngoc Thanh .............................. 105, 172, 402 Kyoungsik Chang ....................................... 548, 571
Dang The Ba................................................. 35, 430 Lam X. Nguyen .................................................. 590
Dang Thuc Van .................................................. 124 Le Anh Duc ........................................................ 517
Dao Trong Thang ............................................... 131 Le Anh Tuan ...................................................... 507
Dian Songyi ........................................................ 558 Le Dai Hiep ........................................................ 353
Dinh Hoang Quan ....................................... 101, 105 Le Danh Lien.................................................. 13, 17
Dinh Tien Dung .................................................. 221 Le Doan Quang .................................................. 441
Dinh-Quy Vu .......................................... 9, 392, 634 Le Duc Dung ...................................................... 420
Do Cat Tuan ....................................................... 256 Le Quoc Dinh ..................................................... 221
Do Huy Cuong ................................................... 276 Le Quoc Hung .................................................... 180
Do Huy Diep ...................................................... 430 Le Quoc Trung ................................................... 606
Do Tien Quyet .................................................... 522 Le Thanh Tung ................................................... 266
Do Van Dung ..................................................... 539 Le Thi Minh Nghia............................................. 256
Do Viet Long ...................................................... 426 Le Tran Thanh Hai ............................................. 441
Dong Minh Tuan ................................................ 347 Le Van Hoc ........................................................ 415
Duc-Hay Nguyen ................................................ 634 Le Van Long ........................................................ 51
Dung Le Duc ...................................................... 469 Le Van Sy ........................................................... 124
Duong Ngoc Hai ................................................. 574 Le Viet Hung ...................................................... 539
Duong Ngoc Khanh ............................................ 455 Linh Nguyen Huu ............................................... 469
Duong Van Tai ................................................... 558 Loc H. Khieu ...................................................... 511
Eric Johnsen ....................................................... 511 Long Cu Ngo ...................................................... 327
Evangelos Tsotsas .............................................. 305 Lương Ngọc Lợi ........................................... 74, 109
Gabin Lee ........................................................... 567 Luu Hong Quan .................................................. 441
Geon-Hong Kim ................................. 548, 567, 571 Luu Trong Thuan ............................................... 662
GyeongBo Kim................................................... 571 Luyen Van Hieu ........................................... 68, 347
Hai Nguyen-Thanh ..................................... 214, 578 Ly Hung Anh...................................................... 284
Hieu V. Vu ......................................................... 375 M.K. Nguyen ...................................................... 552
Ho Minh Kha ...................................................... 339 Mac Luu Phong .................................................. 210
Ho Ngoc Dung.................................................... 406 Maciej Jaskulski ................................................. 305
Ho Sy Mao ......................................................... 406 Mai Ngoc Luan .................................................... 51
Hoang Anh Dung.................................................. 93 Manh Hung Nguyen ............................................. 83
Hoang Cong Liem .............................................. 266 Mich Nguyen The............................................... 115
683 October 27 - 28, 2018

Hanoi, Vietnam
Minh Q. Tran .............................................. 238, 246 Nguyen Van Tam ............................................... 210
N.G. Musakaev ................................................... 574 Nguyen Van Thang ............................................ 402
N.Y.P. Vo ........................................................... 552 Nguyen Viet Bac ................................................ 486
Ngo Dinh Tri ...................................................... 256 Nhu Van Su ........................................................ 221
Ngo Khanh Hieu............................................. 42, 51 Norman Baggio Anak Francis ............................ 368
Ngo Sy Loc................................................... 68, 347 O.Yu. Boldyreva ................................................ 574
Ngo Van He ........................................................ 437 Pham Gia Diem .................................................. 139
Ngô Văn Hệ .................................................. 74, 109 Pham Ky Quang ................................... 74, 109, 296
Ngo Van Hien............................................. 139, 147 Pham Minh Hai .................................................. 185
Nguyen An Nguyen ............................................ 460 Pham Quoc Trang............................................... 517
Nguyen Anh Thi ................................................. 539 Pham Thanh Dong ...................................... 164, 172
Nguyen Anh Tuan .............................. 160, 164, 172 Pham Trung Thien.............................................. 662
Nguyen Cao Truong Son .................................... 256 Pham Van Duyen ............................................... 678
Nguyen Chi Cong ......................................... 74, 109 Pham Van Hai .................................................... 347
Nguyễn Chí Công ............................................... 296 Pham Van Hiep .................................................. 280
Nguyen Cong Hao .......................................... 22, 29 Pham Van Sang .................................................. 486
Nguyen Duc Cuong ............................................ 280 Pham Van Tien ................................................... 210
Nguyen Hanh Hoan ............................................ 271 Pham Vu Uy ....................................... 164, 172, 204
Nguyen Hoang Son ............................................ 666 Phan Tan Hai ........................................................ 64
Nguyen Hong Son .............................................. 314 Phan Tien Dung.................................................. 196
Nguyen Hong Thai ............................................. 196 Phan Tran Hong Long ................................ 180, 406
Nguyen Khac Thap ............................................. 210 Phan Van Tu ....................................................... 105
Nguyen Khanh Chinh ......................................... 204 Phung Van Ngoc .................................................. 35
Nguyen Manh Hung ............................................. 93 Phuong T. T. Phan ...................................... 585, 590
Nguyen Minh Quan ............................................ 185 Pikina Galina Alekceevna .................................. 420
Nguyen Minh Tuan ............................................ 630 Quang Hieu Ngo ................................................ 535
Nguyen Ngoc Dam ............................................. 415 Quang Nguyen-Phung ........................................ 153
Nguyen Ngọc Diep ............................................. 353 Quang Thanh Nguyen ................................ 642, 647
Nguyen Ngoc Hoang Quan .................................. 42 Quoc Uy Nguyen ................................................ 460
Nguyen Ngoc Phuong ........................................ 339 Sang T. Ha.......................................................... 375
Nguyen Phi Truong ............................................ 507 Sang Van Pham .................................................. 480
Nguyen Phu Hung .............................................. 441 Sang-Wook Lee .................................. 548, 567, 571
Nguyen Phu Khanh .................................... 666, 671 Son T. Hoang ............................................. 585, 590
Nguyen Phu Thuong Luu ................................... 410 Son T. Nguyen ................................................... 590
Nguyen Quang Hieu ........................................... 464 T.D. Le ............................................................... 552
Nguyen Quang Huy .................................... 196, 678 Ta Tuan Hung .................................................... 455
Nguyen Quang Thai ........................................... 574 Tan Nguyen Van ................................................ 474
Nguyen Quoc An ................................................ 101 Tang Xuan Long ................................................ 119
Nguyen Quoc Hung ............................................ 353 Tan-Hung Dinh .................................................. 388
Nguyen Quoc Tuan ............................................ 276 Thang Diep-Thanh ............................................. 153
Nguyen Son Tung ............................................... 147 The Mich Nguyen................................................. 57
Nguyen Tat Thang ...................................... 574, 653 Thi Thu Hang Tran ............................................. 305
Nguyen Thanh Nam ........................................... 339 Thuy Chi Nguyen ............................................... 622
Nguyễn Thành Nhật Lai ..................................... 296 Thuy-Duong Nguyen.......................................... 289
Nguyen The Duc ................................................ 606 Toan Thang Le ................................................... 622
Nguyen The Mich ............................. 22, 29, 35, 276 Tran Dang Quoc ................................................. 492
Nguyen Tien Khang ........................................... 420 Tran Duy Duyen ................................................. 280
Nguyen Tien Khu ............................................... 448 Tran Hong Ha ....................................................... 93
Nguyen Tien Sang .............................................. 420 Tran Khanh Duong ............................... 68, 190, 347
Nguyen Trong Hoan ........................................... 522 Tran Ngoc Hai .................................................... 397
Nguyen Trung Kien ............................................ 131 Tran Ngoc Tien .................................................. 196
Nguyen Tuan Nghia ........................................... 507 Tran Thi Thanh Hai ............................................ 662
Nguyen Van Bay ................................................ 630 Tran Tien Anh ............................................ 357, 597
Nguyen Van Duc ................................................ 430 Tran Van Tran ................................................ 22, 29
Nguyen Van Khanh ........................................ 13, 17 Tran Xuan Bo ............................................. 190, 426
Nguyen Van Lai ................................................. 190 Trinh D. Tran ..................................................... 590
Nguyen Van Que ................................................ 333 Trinh Minh Hoang.............................................. 522
684 October 27 - 28, 2018

Hanoi, Vietnam
Trong Hoa Pham ................................................ 622 Vo Van Huong ................................................... 455

Trong-Hiep Nguyen ........................................... 115 Vu Do Quoc ....................................................... 480
Trung Dung Dang ............................................... 310 Vu Duc Manh ..................................................... 131
Truong Duc Phuc................................................ 614 Vu Hoa Binh ...................................................... 280
Truong Nguyen Luan Vu...................................... 64 Vu Manh Hieu .................................................... 221
Truong V. Vu ............................................. 115, 322 Vu Nam Ngan .................................................... 544
Truong Viet Anh ................................................ 678 Vu Ngoc Tra ....................................................... 544
Tuan-Anh Bui ..................................................... 289 Vu Pham Duc Dung ........................................... 597
Tuan-Anh Dao .................................................... 498 Vu Thanh Trung ................................................. 160
Tuan-Long Vu .................................................... 388 Va Van Duy.................................. 74, 109, 296, 678
Tung Nguyen Dinh ............................................. 474 Vu Van Truong .................................................. 276
Van Bo Nguyen .................................................... 57 Vương Trung Anh .............................................. 280
Van Chuong Ta .................................................. 460 Wenming Cheng................................................. 622
Van Trung Vu..................................................... 622 Xuan-Truong Le ................................................. 634
Van-Hung Pham ................................................. 289 Young-Do Choi .......................................... 225, 232
Van-Thuan Truong ............................. 115, 498, 503 Yuka Iga ..................................................... 382, 528
Viet Luyen Vu .................................................... 232 Yunn-Lin Hwang.................................................... 1
Vo Nhu Thanh .................................................... 397 Zhenmu Chen ..................................................... 225
Vo Tuyen ............................................................ 339 Zhi Q. Leong ...................................................... 246
685 October 27 - 28, 2018

Hanoi, Vietnam
PROCEEDINGS
The First International Conference on Fluid Machinery
and Automation Systems ICFMAS2018
Bach Khoa Publishing House, Hanoi

1 – Dai Co Viet – Hanoi
Tel. (84.24) 3868 4569; Fax. (84.24) 3868 4570
http://nxbbk.hust.edu.vn
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Responsible for Publication

Director – Editor-in-Chief: Dr. Bui Duc Hung
Editor: Dr. Vu Van Truong, Do Thanh Thuy

Book designer: Dr. Vu Van Truong
Vu Thi Hang, Nguyen Thi Thu
Cover designer: Duong Hoang Anh
Printed at: Tandaiviet Printing and Office Services Joint Stock Company, 16 Chua Lang
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Quantity: 140 copies. Size: (21 × 29.7) cm.
Registration No.: 3467-2018/CXBIPH/02-80/BKHN; ISBN: 978-604-95-0609-3.
Decision publish No.: 212/QĐ-ĐHBK-BKHN, 24/10/2018.
Archived: IV/2018.

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9 786049 506093

The First International Conference on Fluid

BACH KHOA PUBLISHING HOUSE

Vietnam Fluid Power Association Hanoi University of Science and

Ho Chi Minh City University of Vietnam Maritime University

Nong Lam University – HaiDuong Pump Manufacturing

Ho Chi Minh City University of Advanced Industry and Education

Research Institute of Agricultural Nam Hai Engineering Company

Editor-in-chief: Prof. Dr. Nguyen The Mich

Technical Editor: Dr. Vu Van Truong

Members: Assoc. Prof. Dang Xuan Thi

International Members: Prof. Young-Do Choi (Korea)

ICFMAS2018 is the first edition of an international

The scope of ICFMAS includes Turbomachine and

ICFMAS2018 is organized by Vietnam Fluid Power Association (VinFPA) and School

The ICFMAS2018 aims to bring together academic scientists, researchers, and

We wish all of you a very productive and enjoyable conference!

NGUYEN The Mich,

i October 27 - 28, 2018

ii October 27 - 28, 2018

iii October 27 - 28, 2018

International Scientific Advisory Board

iv October 27 - 28, 2018

Relationship of Geometric Parameters and Kinetic to Characteristics of Wind Turbine

Effects of Mesh on the Simulation of the 5.5 kW Centrifugal Fan

Propeller Simulation in Open-water Condition with SnappyHexMesh/OpenFOAM

Model Order Reduction for Highly Non-linear and Stiff Convection-Diffusion-Reaction

v October 27 - 28, 2018

Studying Hydraulic Regenerative Braking System on the Dump Truck ..................... 68

Using CFD to Investigate Effect of Rudder on Propeller’s Hydrodynamic

A Novel Design and Performance Analysis of Mini Water Turbine-Generator for

Evaluation of Performance and Wake Characteristics of Two-Bladed Tidal Stream

The Application of DNS for Investigation of Laminar-turbulent Transition by Tollmien-

Influences of Inlet Configuration on Flow Hydrokinetic Behavior

Calculation of Thermodynamic Parameters of High Pressure Turbine Stage of DR 76

vi October 27 - 28, 2018

A Rapid Object-Oriented Process to Develop Controllers for Autonomous Underwater

A Hierarchical Implementation Model to Realize Cooperative Controllers

Optimal Control of Power Flow in Hybrid Wind-diesel System Applied to Electrical

A Multi-Fidelity Model to Predict the Performance of Torpedo Propellers ............... 160

Numerical Method to Study Helicopter Main Rotor-fuselage Aerodynamic Interaction

Model of Cascade Reservoirs Operation and Relationship of Annual Energy

Effect of Friction Models on Simulation of Hydraulic Steering System .................... 190

Influence of the Designing Parameters on Flow Fluctuation and Pressure of the

Constructing Computational Program to Determine Induced Torque Components on

vii October 27 - 28, 2018

Modified Controls Doubly Fed Induction Generator under Unbalanced Voltage

Comparison and Validation of Aerodynamic Prediction using Missile Datcom with

Neural Networks Based Control for an Autonomous Underwater Vehicle Equipped

Quantitative Manoeuvring Characteristics of an Underwater Vehicle Equipped with

Design and Manufacture of Five-hole Air-data Probe: Identification and Calibration

The Gas Generator with Two Zones of Fire – mixed Complex

Effect of Runner Blade Density Ratio (l/t) on Energy Characteristics of H-type

viii October 27 - 28, 2018

Design Process of a Small-scale Wind Turbine for Water Pumping to Meet

Study on Identifying Several Geometric Parameters of Hydrostatic Spindle Bearing

A Numerical Investigation on Droplet Formation in Microfluidic Double T-junction

Numerical Study of the Aerodynamic Characteristics and the Equilibrium of

Numerical Simulation for Solidification of Water, Molten Silicon, Molten Germanium

An Adaptive Coupled Level Set/Volume of Fluid Method for Simulation of Multiphase

On Different Forms of Energy Equation in Engineering ........................................... 333

ix October 27 - 28, 2018

Development of a New Side-coil MR Brake Employing Separating Walls between the