Advertisement

Numerical Prediction of Self-propulsion Point of AUV with a Discretized Propeller and MFR Method

  • Lihong WuEmail author
  • Xisheng Feng
  • Xiannian Sun
  • Tongming Zhou
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11741)

Abstract

It is important to determine the self-propulsion point for marine vehicles to evaluate the approaching velocity output from a determined propeller. A method is presented that significantly reduces the computational cost by coupling a discretized propeller with a MFR (Multiple Frames of Reference) method for evaluation of the propulsion factors of AUV (Autonomous Underwater Vehicle). The predicted approaching velocity in this study was approximately 2.8% lower than the design value of 1.0 m/s obtained using nominal wake fraction, which can be attributed to increased energy dissipation for the water at the wake caused by the propeller. The effective wake fraction was 0.303 and the thrust deduction was 0.163.Vortex pairing was found at the blade tip and developed downstream of the propeller. In addition, the hull and tail-planes were beneficial for improving the thrust of the propeller. The proposed method is a viable option to validate fluid dynamics analyses of the unsteady motion of self-propelled marine vehicles simulated with physics-based methods, particularly for cases which have a shortage of experimental data.

Keywords

Self-propulsion point AUV Discretized propeller MFR 

Notes

Acknowledgement

The authors are grateful to the Chinese Scholarship Council (CSC), the State Key Laboratory of Robotics, the Natural Science Foundation of China (with Grant No. 51009016 and 51409047) and the Fundamental Research Funds for the Central Universities (with Grant No. 3132017030, 3132018206) for their financial support, as well as the University of Western Australia (UWA in Australia) for providing facilities for simulations. In addition, many thanks should be given to the underwater vehicle center of SIA (Shenyang Institute of Automation, China) for providing the AUV model and some experimental data for validation. Grateful acknowledgement should also be given to Professor Xiannian Sun, who helped a lot in editing the manuscript.

References

  1. 1.
    Ueno, M., Nimura, T.: An analysis of steady descending motion of a launcher of a compact deep-sea monitoring robot system. In: OCEANS 2002 MTS/IEEE, pp. 277–285 (2002)Google Scholar
  2. 2.
    Azarsina, F., Williams, C.D.: Maneuvering simulation of the MUN explorer AUV based on the empirical hydrodynamics of axi-symmetric bare hulls. Appl. Ocean Res. 32, 443–453 (2010)CrossRefGoogle Scholar
  3. 3.
    McDonald, H., Whitfield, D.: Self-propelled maneuvering underwater vehicles. In: Proceedings of 21st Symposium on Naval Hydrodynamics, Throndheim, Norway (1996)Google Scholar
  4. 4.
    Pankajakshan, R., Remotigue, S., Taylor, L., et al.: Validation of control-surface induced submarine maneuvering simulations using UNCLE. In: Proceedings of 24th Symposium on Naval Hydrodynamics, Fukuoka, Japan (2002)Google Scholar
  5. 5.
    Lübke, L.O.: Numerical simulation of the flow around the propelled KCS. In: CFD Workshop Toykyo, Tokyo, Japan (2005)Google Scholar
  6. 6.
    Bhushan, S., Xing, T., Carrica, P., et al.: Model-and full-scale URANS simulations of athena resistance, powering, seakeeping, and 5415 maneuvering. J. Ship Res. 53(4), 179–198 (2009)Google Scholar
  7. 7.
    Carrica, P.M., Castro, A.M., Stern, F.: Self-propulsion computations using a speed controller and a discretized propeller with dynamic overset grids. J. Mar. Sci. Technol. 15, 316–330 (2010)CrossRefGoogle Scholar
  8. 8.
    Carrica, P.M., Fu, H.P., Stern, F.: Computations of self-propulsion free to sink and trim and of motions in head waves of the KRISO Container Ship (KCS) model. Appl. Ocean Res. 33, 309–320 (2011)CrossRefGoogle Scholar
  9. 9.
    Carrica, P.M., Hosseini, H.S., Stern, F.: CFD analysis of broaching for a model surface combatant with explicit simulation of moving rudders and rotating propellers. Comput. Fluids 53, 117–132 (2012)CrossRefGoogle Scholar
  10. 10.
    Chase, N., Carrica, P.M.: Submarine propeller computations and application to self-propulsion of DARPA Suboff. Ocean Eng. 60, 68–80 (2013)CrossRefGoogle Scholar
  11. 11.
    Mofidi, A., Carrica, P.M.: Simulation of ZigZag maneuvers for a container ship with direct moving rudder and propeller. Comput. Fluids 96, 191–203 (2014)CrossRefGoogle Scholar
  12. 12.
    Choi, J.E., Min, K.S., Kim, J.H., et al.: Resistance and propulsion characteristics of various commercial ships based on CFD results. Ocean Eng. 37, 549–566 (2010)CrossRefGoogle Scholar
  13. 13.
    Wei, Y.S., Wang, Y.S.: Unsteady hydrodynamics of blade forces and acoustic responses of a model scaled submarine excited by propeller’s thrust and side-forces. J. Sound Vib. 332, 2038–2056 (2013)CrossRefGoogle Scholar
  14. 14.
    Wang, C., Huang, S., Xin, C.: Research on the hydrodynamics performance of propeller-rudder interaction based on sliding mesh and RNG k-ε model. J. Ship Mech. 15(7), 715–721 (2011)Google Scholar
  15. 15.
    Huang, S., Xie, X.S., Hu, J.: Effect of fin on podded propeller hydrodynamic performance. J. Naval Univ. Eng. 21(2), 50–54 (2009)Google Scholar
  16. 16.
    Menter, F.R.: Two-equation eddy-viscosity turbulence models for engineering applications. AIAA J. 32(8), 1598–1605 (1994)CrossRefGoogle Scholar
  17. 17.
    Ji, B., Luo, X.W., Peng, X.X., et al.: Numerical analysis of cavitation evolution and excited pressure fluctuation around a propeller in non-uniform wake. Int. J. Multiph. Flow 43, 13–21 (2012)CrossRefGoogle Scholar
  18. 18.
    Wu, L.H., Li, Y.P., et al.: Hydrodynamic analysis of AUV underwater docking with a cone-shaped dock under ocean currents. Ocean Eng. 85, 110–126 (2014)CrossRefGoogle Scholar
  19. 19.
    Bettle, M.C., Gerber, A.G., Watt, G.D.: Unsteady analysis of the six DOF motion of a buoyantly rising submarine. Comput. Fluids 38, 1833–1849 (2009)CrossRefGoogle Scholar
  20. 20.
    Allmendinger, E.: Submersible Vehicle Systems Design. The Society of Naval Architects and Marine Engineers, New Jersey (1990)Google Scholar
  21. 21.
    Cairns, J., Larnicol, E., Ananthakrishnan, P.: Design of AUV propeller based on a blade element method. In: OCEAN 1998 Conference, Nice, France, pp. 672–675 (1998)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Ship Building and Ocean Engineering CollegeDalian Maritime UniversityDalianChina
  2. 2.State Key Laboratory of RoboticsShenyang Institute of Automation, Chinese Academy of SciencesShenyangChina
  3. 3.School of Civil and Resource EngineeringThe University of Western AustraliaCrawleyAustralia

Personalised recommendations