Skip to main content
SpringerLink
Log in

Turn and zigzag maneuvers of a surface combatant using a URANS approach with dynamic overset grids

  • Original article
  • Published:
Journal of Marine Science and Technology Aims and scope Submit manuscript

Abstract

Unsteady Reynolds averaged Navier–Stokes (URANS) computations of standard maneuvers are performed for a surface combatant at model and full scale. The computations are performed using CFDShip-Iowa v4, a free surface solver designed for 6DOF motions in free and semi-captive problems. Overset grids and a hierarchy of bodies allow the deflection of the rudders while the ship undergoes 6DOF motions. Two types of maneuvers are simulated: steady turn and zigzag. Simulations of steady turn at 35° rudder deflection and zigzag 20/20 maneuvers for Fr = 0.25 and 0.41 using constant RPM propulsion are benchmarked against experimental time histories of yaw, yaw rate and roll, and trajectories, and also compared against available integral variables. Differences between CFD and experiments are mostly within 10 % for both maneuvers, highly satisfactory given the degree of complexity of these computations. Simulations are performed also with waves, and with propulsion at either constant RPM or torque. 20/20 zigzag maneuvers are simulated at model and full scale for Fr = 0.41. The full scale case produces a thinner boundary layer profile compared to the model scale with different reaction times and handling needed for maneuvering. Results indicate that URANS computations of maneuvers are feasible, though issues regarding adequate modeling of propellers remain to be solved.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17

Similar content being viewed by others

Abbreviations

a ij :

Wave amplitude

a e :

Surface area of solid surface

A :

Bretschneider coefficient which depends on wave period and wave height

A θ :

Coefficient for axial body force

A x :

Coefficient for azimuthal body force

B :

Bretschneider coefficient which depends on wave period

C 1, C 2, C 3 :

Constants defining order of accuracy of 6DoF solver

D p :

Propeller diameter

f bx :

Axisymmetric body force in axial direction

f bθ :

Axisymmetric body force in azimuthal direction

F e :

Fluid forces in the earth reference system

F prop :

Propeller forces in the ship reference system

F ship :

Fluid forces in the ship reference system

H 1/3 :

Significant wave height

I x :

Moment of inertia about x-axis

I y :

Moment of inertia about y-axis

I z :

Moment of inertia about z-axis

J :

Advance coefficient

J :

Transformation matrix from \(\dot{{\varvec {\eta }}}\) to \( {\mathbf{v}} \)

K i :

Wave number

K Q :

Torque coefficient

K T :

Thrust coefficient

(K, M, N):

Moments in x, y, z direction

L e :

Fluid moments in the earth reference system

L ship :

Fluid moments in the ship reference system

M :

Mass

M(α i ):

Directional spectrum

N :

Angular velocity of propeller

p:

Pressure

p :

Roll velocity

\( \dot{p} \) :

Roll acceleration

p 1 :

Upstream point of propeller volume

p 2 :

Downstream point of propeller volume

q :

Pitch velocity

\( \dot{q} \) :

Pitch acceleration

r :

Yaw velocity

\( \dot{r} \) :

Yaw acceleration

r :

Distance vector

r h :

Propeller hub radius

r p :

Propeller radius

S(ω i ):

Frequency spectrum

T m :

Modal wave period

u :

Surge velocity

\( \dot{u} \) :

Surge acceleration

U :

Wave velocity in x-direction

U ship :

Ship forward velocity

v :

Sway velocity

\( \dot{v} \) :

Sway acceleration

V :

Wave velocity in y-direction

w :

Heave velocity

\( \dot{w} \) :

Heave acceleration

W :

Wave velocity in z-direction

x G, y G, z G :

Distance from the center of rotation to the center of gravity of the ship

x CG, y CG, z CG :

Center of gravity

x rot, y rot, z rot :

Center of rotation of ship

(X, Y, Z):

Forces in x, y, z direction

α:

Angle of incidence

α 0 :

Heading angle

α j :

Dispersion angle

η(x 1, x 2, x 3, ϕ, θ, ψ):

Position and Euler angles

\( \dot{\varvec{{\eta }}} \) :

Rate of change of position and Euler angles

v :

Linear and angular velocity vector

ξ:

Wave elevation

µ j :

Angle of incidence

ϕ ij :

Random phase

φ :

Generic degree of freedom on 6DoF solver

ω i :

Wave frequency

Δt :

Time step

∇u :

Velocity gradient

Δx :

Thickness of propeller disk

References

  1. Larsson L, Stern F, Bertram V (2003) Benchmarking of computational fluid dynamics for ship flows: the Gothenburg 2000 workshop. J Ship Res 47:63–81

    Google Scholar 

  2. Hino T (ed) (2005) CFD workshop Tokyo 2005. National Maritime Research Institute, Japan

    Google Scholar 

  3. Carrica PM, Wilson RV, Noack R, Xing T, Kandasamy M, Stern F (2006) A dynamic overset, single-phase level set approach for viscous ship flows and large amplitude motions and maneuvering. In: 26th ONR symposium on naval hydrodynamics, Rome

  4. Hochbaum AC, Vogt M (2002) Towards the simulation of seakeeping and maneuvering based on the computation of free surface viscous flows. In: 24th ONR symposium on naval hydrodynamics, Fukuoka

  5. Carrica PM, Wilson RV, Noack R, Stern F (2007) Ship motions using single-phase level set with dynamic overset grids. Comput Fluids 36:1415–1433

    Article  MATH  Google Scholar 

  6. Jensen G, Klemt M, Xing Y (2004) On the way to the numerical basing for seakeeping and maneuvering. In: 9th symposium on practical design of ships, Luebeck

  7. Pankajakshan R, Remotigue S, Taylor L, Jiang M, Briley W, Whitfield D (2002) Validation of control-surface induced submarine maneuvering simulations using UNCLE. In: 24th ONR symposium on naval hydrodynamics, Fukuoka

  8. Venkatesan G, Clark W (2007) Submarine maneuvering simulations of ONR body 1. In: Proceedings of OMAE2007, San Diego

  9. Muscari R, Broglia R, Di Mascio A (2008) Trajectory prediction of a self-propelled hull by unsteady RANS computations. In: 27st ONR symposium on naval hydrodynamics, Seoul

  10. Carrica PM, Stern F (2008) DES simulations of the KVLCC1 in turn and zigzag maneuvers with moving propeller and rudder. In: Proceedings of SIMMAN 2008, Copenhagen

  11. Stern F, Toxopeus SL, Visonneau M, Guilmineau E, Lin WM, Grigoropoulos G (2011) CFD, potential flow, and system-based simulations of course keeping in calm water and seakeeping in regular waves for 5415M. NATO AVT-189 meeting, Portsdown

  12. Crane CL (1979) Maneuvering trials of 278000-DWT tanker in shallow and deep waters. Trans SNAME 87:251–283

    Google Scholar 

  13. Stern F, Agdrup K (eds) (2008) SIMMAN 2008 workshop on verification and validation of ship maneuvering simulation methods, Copenhagen

  14. Simman 2008. http://www.simman2008.dk/

  15. Stern F, Agdrup K, Kim SY, Hochbaum AC, Rhee KP, Quadvlieg F, Perdon P, Hino T, Broglia R, Gorski J (2011) Experience from SIMMAN 2008—the first workshop on verification and validation of ship maneuvering simulation methods. J Ship Res 55:135–147

    Google Scholar 

  16. Carrica PM, Wilson RV, Stern F (2006) Unsteady RANS simulation of the ship forward speed diffraction problem. Comput Fluids 35:545–570

    Article  MATH  Google Scholar 

  17. Sakamoto N, Carrica PM, Stern F (2008) URANS simulations for static and dynamic maneuvering for a surface combatant. In: Proceedings of SIMMAN 2008, Copenhagen

  18. Mousaviraad M, Carrica PM, Stern F (2010) Development and validation of harmonic wave group single-run procedure for RAO with comparison to regular wave and transient wave group procedures using URANS. Ocean Eng 37:653–666

    Article  Google Scholar 

  19. Carrica PM, Wilson RV, Stern F (2007) An unsteady single-phase level set method for viscous free surface flows. Int J Numer Meth Fluids 53:229–256

    Article  MathSciNet  MATH  Google Scholar 

  20. Bhushan S, Xing T, Carrica PM, Stern F (2009) Model- and full-scale URANS Simulations of Athena resistance, powering and seakeeping, and 5415 maneuvering. J Ship Res 53:179–198

    Google Scholar 

  21. Sethian JA, Smereka P (2003) Level set methods for fluid interfaces. Ann Rev Fluid Mech 35:341–372

    Article  MathSciNet  Google Scholar 

  22. Noack R (2005) SUGGAR: a general capability for moving body overset grid assembly. In: 17th AIAA CFD conference, 2005–5117, Toronto

  23. Boger DA, Dreyer JJ (2006) Prediction of hydrodynamic forces and moments for underwater vehicles using overset grids. In: 44th AIAA aerospace science meeting and exhibit. AIAA-2006-1138, Reno

  24. Ismail F, Carrica PM, Xing T, Stern F (2010) Evaluation of linear and non-linear convection schemes on multidimensional non-orthogonal grids with applications to KVLCC2 tanker. Int J Numer Meth Fluids 64:850–886

    MathSciNet  MATH  Google Scholar 

  25. Menter FR (1994) Two-equation eddy viscosity turbulence models for engineering applications. AIAA J32:1598–1605

    Article  Google Scholar 

  26. Wallin S, Johansson A (2000) An explicit algebraic Reynolds stress model for incompressible and compressible turbulent flows. J Fluid Mech 403:89–132

    Article  MathSciNet  MATH  Google Scholar 

  27. Travin A, Shur M, Strelets M, Spalart PR (2002) Physical and numerical upgrades in the detached-eddy simulation of complex turbulent flows. In: Friederich R, Rodi W (eds) Fluid mechanics and its applications. Advances in LES of complex flows, Proceedings of EUROMECH colloquium 412, vol 65. Kluwer Academic Publishers, Dordrecht, pp 239–254

  28. Issa RI (1985) Solution of the implicitly discretized fluid flow equations by operator splitting. J Comp Phys 62:40–65

    Article  MathSciNet  Google Scholar 

  29. Bell JB, Collela P, Howie LH (1991) An efficient second order projection methods for incompressible viscous flows. In: 10th AIAA CFD conference, Honolulu

  30. Beck R, Cummins W, Dalzell J, Mander P, Webster W (1989) Motions in waves. In: Lewis E (ed) Principles of naval architecture, Chap. VIII

  31. Mousaviraad SM, Carrica PM, Huang J, Stern F (2008) CFD prediction of ship response to severe ocean waves and wind. In: 27st ONR symposium on naval hydrodynamics, Seoul

  32. Stern F, Kim HT, Patel VC, Chen HC (1988) A viscous-flow approach to the computation of propeller-hull interaction. J Ship Res 32:263–284

    Google Scholar 

  33. Carrica PM, Paik K, Hosseini H, Stern F (2008) URANS analysis of a broaching event in irregular quartering seas. J Mar Sci Technol 13:395–407

    Article  Google Scholar 

  34. Fossen TI (1994) Guidance and control of ocean vehicles. Wiley, New York

    Google Scholar 

  35. Carrica PM, Stern F (2010) Self-propulsion computations using speed controller and discretized propeller with dynamic overset grids. J Mar Sci Technol 15:316–330

    Article  Google Scholar 

Download references

Acknowledgments

This research was sponsored by Office of Naval Research grant N00014-01-1-0073 under the administration of Dr. Patrick Purtell. Computations were performed on the IBM Power 5 at the Department of Defense NAVO Major Shared Resource Center and on the SGI Altix 4700 at the NASA Advanced Supercomputing Division.

Author information

Authors and Affiliations

  1. IIHR Hydroscience and Engineering, The University of Iowa, Iowa City, IA, 52242, USA

    Pablo M. Carrica & Frederick Stern

  2. School of Aerospace Engineering, Universiti Sains Malaysia, 14300, Penang, Malaysia

    Farzad Ismail

  3. Naval Surface Warfare Center Panama City, Panama City, FL, 32407-7001, USA

    Mark Hyman

  4. Center for Advanced Vehicular Systems, Mississippi State University, Starkville, MS, 39762, USA

    Shanti Bhushan

Authors
  1. Pablo M. Carrica
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Farzad Ismail
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Mark Hyman
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Shanti Bhushan
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Frederick Stern
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Pablo M. Carrica.

Electronic supplementary material

Below is the link to the electronic supplementary material.

Supplementary material 1 (MPG 6084 kb)

Supplementary material 2 (MPG 7954 kb)

Supplementary material 3 (MPG 4372 kb)

Supplementary material 4 (MPG 8062 kb)

About this article

Cite this article

Carrica, P.M., Ismail, F., Hyman, M. et al. Turn and zigzag maneuvers of a surface combatant using a URANS approach with dynamic overset grids. J Mar Sci Technol 18, 166–181 (2013). https://doi.org/10.1007/s00773-012-0196-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00773-012-0196-8

Keywords

Search

Navigation