Solution 8
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katjusha.sultanova49Solution 8
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katjusha.sultanova49TMR4217 Hydrodynamics of High-Speed Marine Vehicles
Solution to Exercise 8: Dynamic Stability
1 Heave damping due to lifting effects
We model the ship hull with a transom stern and small draft as a low aspect ratio
wing and compare the damping effect on the heave motion from the hull and the
T-foil. The expression for the vertical lift force on the ship is,
The lift force on a foil with span s and chord length l is,
If we read through the derivation of the damping force from the foil in exercise
3.3, we see that an identical derivation can be done for the damping from the
ship hull. We get,
The span of the T-foil is set equal to the breadth B of the ship. Comparing B33S
with the damping coefficient for the foil,
we find that l = B/4 when the damping from the foil equals the damping from the
hull.
The free surface condition 0 implies that the forward speed is large.
The dynamic free surface condition for the ship with forward speed U is,
when the ship moves through the water with a high forward speed, the water
experiences accelerations much larger than the acceleration of gravity, g, in the
vicinity of the ship. We may therefore neglect the term including g in the free
surface condition. This condition can then be rewritten as,
1
This expression tells us that the rate of change with time of the potential at a
fixed position on the free surface is zero. Since we upstream have 0 on the
free surface, this will also be the situation downstream.
2 Roll damping fins
a)
Figure 1: Local coordinates of the damping fin
A local coordinate system x1 y1 z1 is fixed on a roll damping fin as shown in
Figure1. The origin of the coordinates is the centre of the fin with the global
coordinates ( xF , yF , zF ) . Then the relationship between the global system and the
local system is,
In this local coordinate system, using the strip theory, the fin can be divided into
strips with thickness dz1 . One such strip is taken out as shown in the figure, and
then we can use 2D theory to give the lift force on this strip. The linear lift force
on the strip is,
where the angle of attack is,
2
where xc is the x-coordinate of the centre of the strip at z and the velocity in y-
direction of the strip dz is,
So the total lift force on the fin,
where c( z1 ) is the chord of the strip at z1 , x1c is the local x1 -coordinate of the
centre of the strip at z1 , and zu and zd are the z-coordinate of the upmost edge and
lowest edge of the fin. They are all functions of the vertical position of the strip
and decided by the geometric design of the fin. Then according to the definition
of damping coefficients, we get,
The total roll moment on the vessel due to the lift force on the fin,
Substituting expression of in eq. (3) into the integration, we have,
Then the damping coefficients in the roll motion due to the fin,
3
The total yaw moment on the vessel due to the lift force on the fin,
where xcp is the x-coordinate of the centre of pressure on the strip. From linear
theory, the centre of pressure is 0.25c from the leading edge, hence,
So we have,
Then the damping coefficients in the roll motion due to the fin are,
b)
The velocity potential of the regular oblique waves can be written in the global
coordinate system as,
Then we can write the velocity and acceleration in y-direction of the flow,
4
Assume that the dimension of the fin is much smaller than wavelength, and then
we can use the long wave approximation to calculate the Froude-kriloff force
and diffraction force on the fin.
The Froude-kriloff force in y-direction on a strip at z,
The diffraction force in y-direction on the strip,
where A222 D ( z1 ) is the 2D added mass per unit length of the strip at z1 .
Considering the incident waves, the relative velocity in y-direction of the strip at
z,
So the lift force in y-direction on the strip,
We also need to consider the inertial force and added mass force on the strip,
where m( z1 ) is the mass per unit length of the strip at z1 .
So the total force in y-direction on the strip at z is,
Now we consider the bending moment M a at a cross-section at z za . From
Newton’s second law, we have,
Inserting eq. (26) into eq. (27), we have,
5
After inserting the expressions of a y |x xF xc1 and vw into equation (28), we have,
y yF
c)
If the fin is equipped with flap, then the linear 2D lift coefficient on a strip of the
fin,
where f is the angle of attack of the flap. In dynamic control, it can be
expressed as,
So the linear dynamic part of the lift force on the strip at z1 ,
So the total lift force on the fin is,
6
The total roll moment due to this dynamic lift,
The total yaw moment due to this dynamic lift,
where xcp1 is the centre of pressure on strip at z1 .
So we get damping coefficients,
7
By using these damping terms in the equations of motions, we can incorporate
the effect of flaps.