Experimental and Numerical Analysis of the Roll Decay Motion for a Patrol Boat

Transcription

1 Experimental and Numerical Analysis of the Roll Decay Motion for a Patrol Boat R. Broglia, B. Bouscasse, A. Di Mascio and C. Lugni INSEAN Italian Ship Model Basin Rome, Italy P. Atsavapranee NSWCCD Naval Surface Warfare Center Cardrock Division West Bethesda, MD, USA ABSTRACT An experimental and numerical study of the free roll decay motion for a vessel of the Italian Navy is presented. Experimentally both sea trials and model scale tests have been carried out; numerical analysis has been performed by means of unsteady RANS simulations. The focus is on the analysis of the roll motion coefficients (damping and period of oscillations) at different Froude and Reynolds numbers. To this aim, experiments and numerical simulations were carried out at different Froude and Reynolds numbers. Sea trials were carried out on the Italian Navy ship Comandante Bettica in the Mediterranean Sea, close to the coast of Sicily; models experiments were performed in the towing tank at INSEAN. Computations were carried out by means of an inhouse unsteady RANS solver. KEYWORDS: Roll decay; sea trials; model tests; unsteady RANS simulations. INTRODUCTION The analysis of the roll motion of a ship is of practical interest for both safety and comfort reasons. In this paper an experimental and numerical analysis of the roll decay for patrol boat of the Italian Navy is carried out. Full scale trials in the Mediterranean sea in cooperation with NSWCCD (Naval Surface Warfare Center, Carderock Division) and model scale experiments at the INSEAN towing tank have been performed. For a proper comparison, hull in fully appended configuration, (i.e. with the rudders, bilge keels, fins, and propeller apparatus, including struts, A-brackets and the propeller shaft) has been considered. To properly understand the effect of the rotating propeller on the roll damping, model scale experiments have been performed with and without the rotating propeller. Several Froude numbers have been considered, both in full and model scale, to highlight the effect of the ship speed on the roll damping. Numerical simulations have been carried out for three different Froude numbers; the steady flow around the vessel with a fixed heel angle, and the unsteady free roll decay of the vessel from an initial of heel angle of 10 degrees are computed. Numerical studies of the motion with six degrees of freedom of a ship are usually performed by means of liner potential theory; therefore, viscous related phenomena are intrinsically neglected, i.e. separations and vortical structures are in general not taken into account or modelled by means of zero thickness vortex layers shed from prescribed separation lines (usually coincident with geometrical singularity). Methods based on this theory give a satisfactory prediction of vertical motions, i.e. surge, heave and pitch, and, depending on the geometry of the body, of sway and yaw motions. In any case small amplitude motions have to be considered. On the contrary, such techniques fail when applied to the analysis of the roll motion. In this case the hydrodynamics is highly non linear, because viscous effects, flow separation and vortex shedding phenomena as well as lift damping contribution, are important. In this case methods based on the unsteady Reynolds Averaged Navier Stokes equations (URANSE), can contribute to improve the prediction of the roll motion of a ship. The paper is organized as follows: in the next section, the experimental setups of the sea trials and the model tests will be presented first; then the numerical model will be briefly recalled. An overview of the flow field as computed by the numerical simulations will be then shown; numerical and experimental results will follow. Conclusions and perspectives wind up the paper. FULL SCALE TRIALS An ad hoc experimental campaign for the roll decay in calm water was performed in October 2007 on the Italian Navy ship Comandante Bettica in the Mediterranean Sea close to the coast of Sicily. The vessel, the third in the Comandante class, is a patrol ship (see Fig. 1) with a L DW L = 80m, a B max = 12.2m and a full load displacement of 1520tons. The ship is equipped with two rudders, two propeller axis, bilge keels and active fins. The Paper No: 2009-TPC-618 First Author s Name: Broglia Page: 1 of 8

2 last ones can be activated both manually and automatically. The trials, part of an international cooperation between NSWCCD and INSEAN, included the measurement of the velocity field in a transversal plane of the bilge keels through the NSWCCD submersible PIV system, the measurement of the local hydrodynamic loads on the bilge keel through the use of 8 strain gages installed, and finally the measurement of the motion of the ship through an inertial platform system. A wave radar system was also installed and used to measure the wave field around the vessel. In the following we will present just the results relative to the measurement of the roll motion of the ship. Major details about the PIV and local forces measurement can be found in Atsavapranee et al. (2008). and the inertial platform MOTAN. Thrust and torque of the propellers have been also measured by using two Remmers dynamometers. All the signals have been acquired at a sample rate of 100Hz. Several model speeds, corresponding to F n = 0.088, 0.106, 0.138, 0.166, 0.189, 0.227, 0.276, and three different initial heel angles, 5, 10, 15deg respectively, have been considered. Fig. 2: INSEAN model of the Bettica ship. Fig. 1: A patrol ship of the Italian Navy Comandante Class. The motion, in manual mode, of the active fins was used to excite the initial roll angle of the ship. Once the target heel angle was reached, the motion of the fins was stopped and the roll decay event of the ship occurred. The entire time history of the roll motion was acquired and a post-processing analysis was developed to window the roll decay event. MODEL EXPERIMENTS To properly get a correlation law between full scale and model scale, roll decay experiments in calm water were performed at INSEAN. A wooden fully appended model (scale factor 20) of the ship (see fig. 2) has been used in the wave basin number 2, which is 220m long, 9m wide and 3.6m deep. This facility is characterized by a dynamometric carriage able to run in a range of velocity between 0 and 7m/s. The speed, managed via software, can be imposed with an accuracy of 1mm/s. A suitable experimental set-up has been designed to reproduce the condition realized during the full scale trials. The model has been self propelled and left free to heave, pitch and roll. Because the unavailability of active fins and rudders, the hull was partially restrained transversally. To the purpose, elastic cables hinged at the water level (see Fig. 3), have been used to limit the yaw, sway and surge motions of the model. During the tests the hull has been forced to get an initial heel angle. Then by using a suitable release mechanism, the model has been left free to damp its roll motion. Motions of the model have been measured by using both the optical system Krypton Fig. 3: Experimental Set-up: elastic cables are used to restrain yaw and sway motion. NUMERICAL SIMULATIONS The mathematical model employed for the simulations of the flow field is described by the Reynolds Averaged Navier Stokes equations, the turbulent viscosity being calculated by means of the Spalart and Allmaras (1994) one equation model. The problem is closed by enforcing appropriate conditions at the physical and the computational boundaries. On solid walls, the velocity of the fluid is set to zero and the normal pressure gradient is set to zero (no slip condition). At the inflow, the velocity is set to the undisturbed flow value and the normal pressure gradient is set to zero; at the outflow, the velocity is extrapolated from inner points whereas the pressure is set equal to zero. At the free surface, the dynamic boundary condition requires continuity of stresses across the surface, whereas its location is determined by the kinematic condition. Paper No: 2009-TPC-618 First Author s Name: Broglia Page: 2 of 8

3 Numerical method The equations are approximated by a finite volume technique, with pressure and velocity co located at cell center. The viscous terms are computed by means of a standard second order centered finite volume approximation, while for the inviscid part, three different schemes can be adopted: a second order ENO (Essentially Non Oscillatory) scheme, a third order upwind scheme and a fourth order centered scheme (Di Mascio et al., 2008). For the simulation presented in this work, the third order upwind scheme has been used. For the simulation of the free surface a single phase level set algorithm is used (i.e. only the liquid phase of the fluid is computed (Di Mascio et al., 2007)). An ENO technique (similar to the one used for the bulk flow) is used to solve the level set equations. The physical time derivative in the governing equations is approximated by a second order accurate, three point backward finite difference formula. In order to obtain a divergence free velocity field at every physical time step, a dual- or pseudo time derivative is introduced in the discrete system of equations Merkle and Athavale (1987). Acceleration of the convergence ratio for the inner iteration is achieved by means of local time stepping, an implicit Euler scheme with approximate factorization (Beam and Warming, 1978) and an efficient multi grid technique (Favini et al., 1996). The propeller is simulated through the use of an actuator disk model (Hough and Ordway, 1965). Given the advance, thrust and torque coefficients (J, Kt, Kq in the following), the axial, radial and tangential force distributions are computed and added as source terms to the Navier Stokes equation in the cells of the grid block describing the actuator disk. An in-house Chimera algorithm is used to manage blocks communication. The overlapping grid approach consists in dividing the geometry in separate regions that will be discretized by different and separate blocks. In this way there is not a single block describing the whole geometry, but a series of blocks each describing a single part of the computational domain. These groups of blocks, or even the blocks inside the same group, can overlap; the only requirement, obviously, is that the whole computational domain is discretized. The interpolation of the solution among different chimera component subgrids is enforced in a body-force fashion. In particular, for the chimera cells, instead of the standard RANSE, the following equations are solved: h q n+1 chimera = qn chimera t R n + κ `qn chimera qinterp i n δ (1) for model tests. Nevertheless, this small difference in the scale factor should not have a significant influence on the computed loads. In the frame of reference adopted the longitudinal axis is aligned with the free stream velocity, positive backward, the z-axis is vertical (positive upward) and y-axis completes a right hand system of reference. The origin is placed on the undisturbed free surface, amidships. Tab. 1: Computational parameters. F n Rn Trim Sinkage J K T 10K Q [deg] [mm] Numerical simulations were carried out for the conditions reported in table 1. Both steady state computations and free roll decay simulations were performed. In the steady tests, the vessel is fixed at the dynamical trim and sinkage provided by the experiments, and with an heel angle of ten degrees. For the free roll decay simulations, the steady state solutions are used as initial condition, and the ship is left free to roll around her longitudinal axis after a non-dimensional time of 0.5 unit. The unsteady simulations are carried out until a negligible roll angle is reached; as expected the steady state solution at zero heel angle is reached (see later). Numerical simulations were performed on three grid levels for all the tests, apart from the free roll decay at the lowest Froude number, for which computation on the finest mesh was not carried out. As already stated, the model is fixed in heave and pitch at the dynamical trim and sinkage (the values are reported in table 1): the trim is positive when the ship rotates the bow upward, whereas the sinkage is positive if the LCG moves downward, i.e. if the draft increases (in the table, the displacement of the point at midships is reported). The values of the advance ratio J = U/nD, thrust K T = T/ρn 2 D 4 and torque K Q = Q/ρn 2 D 5 coefficients for each Froude number considered are also reported. where q is the vector of the dependent variables, R is the vector of the residuals, κ = O(10) is a parameter chosen through numerical tests, and δ is the cell diameter. Parameters of the numerical simulations The calculations were performed around a model whose scale is λ = 15. In the preliminary experimental tests the same scale was used with the fixed roll axis configuration. However, the experimental set-up showed a large damping induced by the roll gear friction. Therefore a free model scale configuration, i.e. with the elastic cables to partially restrain the lateral motion, has been tested. Due to the large inertial loads during the transient stage, we were forced to use this set-up on a smaller model (i.e. λ = 20). This justifies the different scale factor used for computations and Fig. 4: Nave Bettica: overview of the surface mesh. Paper No: 2009-TPC-618 First Author s Name: Broglia Page: 3 of 8

4 Computational grid In this section the computational grid past the vessel is described. The ship is appended with the rudders and the propulsion apparatus; a pair of bilge keels and a pair of roll fins are also present on the hull surface. The volume grid around the hull and the appendages has been built by means of a standard grid generator; the computational grid exploits the Chimera-type topology capability (i.e. domains can overlap). The grid topology is chosen in order to match the requirements of the numerical algorithms, i.e. a grid clustering toward solid walls is determined by the estimated boundary layer thickness and refinements are considered around the free surface as well as in regions were strong gradients are expected. Due to the complexity of the geometry and the presence of various appendages, the generation of the mesh has been quite a challenging issue in many parts: the design of the grid focused on geometrical details of the hull and of the appendages, trying to keep as orthogonal as possible the cell faces in order to avoid degradation in the accuracy of the solution. The use of an overlapping grid approach easily allows the inclusion of appendages and the treatment of complex geometries, keeping the quality of the mesh, in terms of orthogonality, expansion ratio and grid refinement properties, satisfactory high. As an overview of the complexity of the geometry involved, the mesh on the solid surface is shown in figure 4. A total of around 6,000,000 volumes are used for the discretization of the whole domain. Steady state computations An overview of the solutions is given in figure 5 in terms of the axial velocity contour on the free surface and pressure field on the hull surface for the computation at medium speed. Velocity fields at different cross sections are reported in figure 6. Four cross sections are reported: around the bulb (x = 0.45), in the wake of the antiroll fin (x = 0.03), around the middle of the bilge keel (x = 0.05), and around maximum thickness region of the rudder (x = 0.48). The main features of the velocity fields are clearly resolved; of particular interest is the interaction between the wake of the antiroll fin and the flow around the bilge keel (as the hull begins to roll a strong interaction between the vortical structures shed from the fin and the bilge keel are expected). This interaction can be the cause of the high frequency component on the hydrodynamics forces measured on the bilge keel (see Atsavapranee et al. (2008)). In the last cross section, the acceleration of the flow due to the propeller and the wake of the shaft are also evident. RESULTS In this section, an overview of the flow field around the vessel in free roll decay (as computed by the numerical simulations) is given first; the analysis of the roll parameters (from the numerical simulations as well as from model tests and full scale trials) will follow. Fig. 6: Velocity field at x = 0.45, 0.03, 0.05, 0.48 planes; top F n = 0.106, middle F n = 0.227, bottom F n = Fig. 5: Overview of the steady solution for F n = As expected, as the velocity increases the boundary layer thickness decreases. For the medium and the high Froude number, the Paper No: 2009-TPC-618 First Author s Name: Broglia Page: 4 of 8

5 velocity fields look similar, whereas, for the lowest Froude number case, the shape of the wake of the stabilizers is completely different; it seems that at this Froude number there is a strong cross flow toward the symmetry plane, which bulges the contour lines of the velocity field toward the center plane. roll angle; the clockwise rotating flow around the tip of the bilge keel weakens, while the wake of the fin is on the right face of the bilge keel and the tip vortex shed from the fin becomes stronger. At this time instant a counter-clockwise flow around the keel starts to appear and, at the sequent snapshot (figure number 7), this vortex is well developed. At the time instant 3 the tip vortex of the fin reaches its maximum strength for the medium speed case. The time shift between the evolutions of the vortices at the tip of the bilge keel and at the tip of the stabilizer is due to the distance between the bilge keel and the fin, and depends on the forward speed. At this section, the maximum strength is attained with a delay of about one fourth of the period with respect to the bilge keel vortex at the medium speed, one eight of period at the highest speed, whereas at the lower speed it seems already dissipated (the figures at medium and lower speeds are not shown). Fig. 7: Axial velocity contours at x L pp = , F n = Roll decay computations In figure 7, a sequence of nine snapshots of the axial velocity and vorticity contours are shown for the cross section x = (around the bilge keel on the port side for the medium speed test). From this picture, the strong interactions between the wake of the antiroll fin and the flow around the bilge keel is evident. At the first time instant, the vessel is rotating counterclockwise (zero roll angle and maximum roll velocity). A large clockwise rotating flow (i.e. large negative values for the axial vorticity) is generated at the tip of the bilge keel; this vortex convects high momentum fluid toward the boundary layer on the hull surface on the left of the bilge keel, and viceversa low momentum fluid from the boundary layer at the right side. As a consequence the boundary layer on the hull surface is thinner on the left than on the right. At the same time, the wake of the fin is on the outer face of the bilge keel and the clockwise rotating vortex shed from the tip of the antiroll fin is observable. At the next time instant, the ship is approaching her maximum Fig. 8: Roll decay experiments (F n = 0.106, heel angle=5 ): time histories of the roll angle in linear (top panel) and log (bottom panel) scale. Model scale, both in self propelled (green line) and tow (red line) conditions, and full scale (black line) data, are represented. In the following snapshots (from 4 to 6) the vessel is rolling clockwise and a counter-clockwise vortices at the tip of the fin and along the tip of the bilge keel develops. At the time instant 7 the vessel is at the minimum roll angle, while in the following pictures the vessel is rotating counterclockwise. A clockwise vortex along the tip of the keel develops, whereas the trace of the tip vortex at the fin at this section, decreases in strength at first, and then a contra-rotating vortex starts to appear. Paper No: 2009-TPC-618 First Author s Name: Broglia Page: 5 of 8

6 Analysis of the roll decay parameters The time histories of the roll decay experiments, for both sea trials and model scale tests, are shown from figure 8 to figure 11, corresponding to four Froude numbers, i.e. F n = 0.106, 0.166, and 0.276, respectively. Linear and log scale of the instantaneous roll angle are used in the top and bottom panel of each figure respectively, to highlight the roll damping behavior. To understand the role of the propellers on the roll damping, experiments at the towing tank have been performed with both self propelled condition (green line in figures 8 11) and towed condition (red line in the same figures). motion. The comparison with the data of the model tests shows some interesting features related to the scale effects. The results relative to the towed model are in satisfactory agreement with the full scale data. Nevertheless, at the lower speeds, (F n = and 0.166), the effect of the rotating propeller is significant, both on the roll damping coefficient and on the period of the roll oscillations, whereas for high F n the agreement among ship, selfpropelled and towed models experimental data is definitely satisfactory. Fig. 9: Roll decay experiments (F n = 0.166, heel angle=10 ). For the legend see caption of figure 8. Concerning the full scale experiments, both mean values (black line in figures) and error bars (taking into account only for the repeatability error) have been estimated. To this purpose, the number of the full scale trials considered to determine the standard deviation and the mean value is reported in the legend of each figure. Note as the error bars were not estimated at F n = because of the low number of runs available. A first look at the full scale trial results highlights a strong dependence on the F n. As expected, because of the increase of the lift damping contribution, a rising roll damping is observed with the increasing F n. At low ship speed, roll damping shows a different behavior depending on the amplitude of the roll motion: At higher ship speed, (F n = and 0.276), an almost linear damping is observed, independently from the value of the roll Fig. 10: Roll decay experiments (F n = 0.227, heel angle=10 ). For the legend see caption of figure 8. The time histories of the roll angle, the longitudinal and lateral forces and for the roll moment computed by the numerical simulations are reported in figures for the three Froude numbers considered. For the lowest Froude number the computation shown refers to the medium mesh, the finest being not available. As it can be seen, for the medium and the high Froude numbers the damped oscillations of the roll motion are clear, whereas, at the lower velocity the decay is very small (practically negligible). This behavior is probably due to the poor resolution of the free surface at low Froude number, and to the consequent lack of resolution of the dissipation due to wave radiation; however, at the moment of writing, the situation is not yet clear and more investigations are required. Due to the additional damping created by the lift on the hull, on the stabilizers and on the bilge keels, the damping of the roll motion increases with the speed of the Paper No: 2009-TPC-618 First Author s Name: Broglia Page: 6 of 8

7 vessel, whereas the period of the oscillation is almost constant. The damping coefficients of the roll motion are computed as: σi = 1 ln (φi /φi+1 ) 2π the decrease of the contribution to damping from viscous forces (vorticity shedding from antiroll fins, bilge keels, rudders, etc...). (2) while the average roll angle is defined as: φ = 1 abs (φi + φi+1 ) 2 (3) where φi and φi+1 are successive maximums or minimums values of the roll angle. The roll coefficients (damping and period) are reported in figure 14. Fig. 12: Time histories of the roll angle for F n = and fine computations, for F n = medium computation. Fig. 11: Roll decay experiments (F n = 0.276, heel angle=10 ). For the legend see caption of figure 8. From these figures it is clear that the damping coefficient of the roll motion for the lowest forward speed case is negligible, whereas, as the speed increases, the damping of the oscillation increases. It can be also observed that the damping coefficient is practically constant for the first oscillations (higher values of the average roll angle); for F n = a strong decrease is observable as the vessel oscillation vanishes, whereas, for the highest speed, a slightly increase appears. The period of the oscillations at the lowest speed is constant (as expected, since the motion is not damped), whereas it increases in time for the other cases. This means that the oscillations in the final roll decay stage are longer and undamped. This behavior can be explained by Paper No: 2009-TPC-618 Fig. 13: Time histories of the longitudinal force (top), the lateral force (middle) and the roll moment (bottom). F n = 0.227, fine computations, F n = medium computation. In figure 10 numerical results (in blue) are superimposed to model and full scale trials for F n = 0.227; it can be seen that the numerical computation underestimates the damping of the roll motion. This underestimation could be due to different reasons: first of all, the numerical propeller model mimics only the effects of the First Author s Name: Broglia Page: 7 of 8

8 fluid acceleration and swirl on the flow field, without providing any contribution to the roll damping due to the solid wall; the lack in the grid resolution could be another reason: a poor grid resolution on the free-surface can induce a poor prediction of the wave radiation damping (even if it is usually small for the roll motion). Moreover, a coarse grid around the appendages causes an underestimation of damping induced by small vortices. Turbulence modeling could be an additional source of error in the damping estimation. Finally, the different scale factor and the different constraints used in the model tests and numerical computation, could be a further reason for these discrepancies. However, the problem is still under analysis and any final conclusion can be drawn. has been observed. Numerical and experimental data are in reasonable agreement at medium Froude number, while numerical simulations appear to slightly underpredict the damping, with an undamped roll decay at the lowest speed. This disagreement can be due to either a lack in the grid resolution in the free surface region or to the lack in the contribution to the roll damping from the propeller. ACKNOWLEDGMENTS This work was partially supported by the Italian Ministry of Transportation through the INSEAN research program 2007/09, and by the Italian Navy through the 6DoF-RANSE and of the DALIDA research projects. Numerical computations have been performed on the parallel machines of CASPUR Supercomputing Center (Rome); their support is gratefully acknowledged. REFERENCES Atsavapranee, P., Engle, A., Grant, D., Carneal, J., Beirne, T., Etebari, A., Percival, A., Rosario, J., Lugni, C., and M., S. (2008). Full-Scale Investigation of Viscous Roll Damping with Particle Image Velocimetry. In Proc. of 27 th Symposium on Naval Hydrodynamics, Seoul, Korea. Fig. 14: Coefficients of the roll decay motion: left, period of the oscillation; right, damping coefficients. CONCLUSIONS The analysis of the roll decay motion for a patrol boat of the Italian Navy has been carried out by means of sea trials, model scale experiments and numerical simulations. The effect of the rotating propeller has been considered in the model experiments. A quite evident contribution was shown at the low F n. Better agreement between model and full scale data was observed by increasing the F n. Numerical simulations have been used for the analysis of the local flow field around the vessel; the snapshots of the axial velocity on a cross section between the stabilizer fin and the bilge keel highlights the formation of longitudinal vortex along the bilge keel. In accordance to the previous observation of the full scale PIV measurements (Atsavapranee et al., 2008), a strong interaction between the vorticity shed from the fin and the bilge keel has been also shown. Time histories of the roll angle, as well as of the global loads (forces and moments) have been analyzed. Numerical simulations were also used for the analysis of the dependencies of the roll decay parameters on the model speed. Similarly to both model tests and sea trials, an increase of the roll damping with the Froude number Beam, R. M. and Warming, R. F. (1978). An Implicit Factored Scheme for the Compressible Navier-Stokes Equations. AIAA Journal, 16: Di Mascio, A., Broglia, R., and Muscari, R. (2007). On the Application of the One Phase Level Set Method for Naval Hydrodynamic Flows. Computer and Fluids, 36(5): Di Mascio, A., Broglia, R., and R., M. (2008). Prediction of Hydrodynamic Coefficients of Ship Hulls by High-Order Godunov-Type Methods. J. Marine Sci. Tech., (in press). Favini, B., Broglia, R., and Di Mascio, A. (1996). Multi grid Acceleration of Second Order ENO Schemes from Low Subsonic to High Supersonic Flows. Int. J. Num. Meth. Fluids, 23: Hough, G. and Ordway, D. (1965). The generalized actuator disk. Developments in Theoretical and Applied Mechanics, 2: Merkle, C. L. and Athavale, M. (1987). Time Accurate Unsteady Incompressible Flow Algorithm Based on Artificially Compressibility. AIAA paper, Spalart, P. R. and Allmaras, S. R. (1994). A One Equation Turbulence Model for Aerodynamic Flows. La Recherche Aérospatiale, 1:5 21. Paper No: 2009-TPC-618 First Author s Name: Broglia Page: 8 of 8