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Numerical Analysis of the Thrust Characteristics of Propulsion Systems of Hybrid Remotely Operated Vehicle

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Iranian Journal of Science and Technology, Transactions of Mechanical Engineering Aims and scope Submit manuscript

Abstract

Small- and medium-sized compact hybrid remotely operated vehicles (HROVs) are particularly sensitive to force control, and research on the interaction of their propulsion system is key and essential to their development. In this paper, the effects of the relative position to the cabin, ambient velocity and rotational speed of adjacent thrusters on the thrust characteristics of a propulsion system are analyzed. The influence of the propulsion system at high flow velocity is obviously different from that in static water. At high flow velocity, different rotational speeds of adjacent thrusters can result in thrust variation of more than 18% for the observed thrusters, compared to no rotation of adjacent thrusters. In Group 1 (with larger space), the operating thrusters arranged perpendicular to the flow and along the flow can affect the thrust change by 19.87% and 19.27%, respectively. In Group 2 (with smaller space), those are 12.71% and 17.28%, respectively. An explanation is given for the mechanism of the influence of adjacent thrusters at different positions.

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Abbreviations

HROV:

Hybrid remotely operated vehicle

AUV:

Autonomous underwater vehicle

ROV:

Remote operated vehicle

HUV:

Hybrid underwater vehicle

DP:

Dynamic positioning

CIA:

Critical incoming angle

CFD:

Computational fluid dynamics

DOFs:

Degrees of freedom

KRISO:

Korea Research Institute of Ships and Ocean Engineering

MOERI:

Maritime Ocean Engineering Research Institute

SST:

Shear stress transport turbulence model

MRF:

Multi-reference frame

GCI:

Grid convergence index

β :

Thruster placement angle (deg)

D 0 :

Diameter of the KP458 propeller (m)

D:

Diameter of thruster (m)

τ ij :

Shear stress (Pa)

ρ :

Density of fluid (kg/m3)

p :

Pressure (Pa)

\({\mathbf{\bar{v}}}\) :

Mean velocity vector (m/s)

\({{\bar{p}}}\) :

Mean pressure (Pa)

I :

Identity tensor

\({\mathbf{\bar{T}}}\) :

Mean viscous stress tensor

\({\mathbf{{f}}}_b\) :

Resultant of the body forces

\({\mathbf{{T}}}_{RANS}\) :

Reynolds stress tensor

μ t :

Turbulent eddy viscosity

r ji :

Grid refinement factor

K T :

Thrust coefficient

p a :

Apparent order

h i :

Representative grid size of the ith grid

ϕ i :

Key variable on the grid

ϕ ext 43 :

Extrapolated value

e a 43 :

Approximate relative error

e ext 43 :

Extrapolated relative error

GCIfine 43 :

Fine-grid convergence index

K Ti :

Thrust coefficient of thruster i

K Te :

Experimental thrust coefficient

\(K_{TS}\) :

Thrust coefficient calculated by steady-state calculation

\(K_{TU}\) :

Thrust coefficient calculated by unsteady-state calculation

\(K_{Qe}\) :

Experimental torque coefficient

\(K_{QS}\) :

Torque coefficient calculated by steady-state calculation

\(K_{QU}\) :

Torque coefficient calculated by unsteady-state calculation

\(\eta_{e}\) :

Experimental efficiency of the KP458 propeller

\(\eta_{S}\) :

Efficiency calculated by steady-state calculation

\(\eta_{U}\) :

Efficiency calculated by unsteady-state calculation

V max :

Maximum velocity of the fluid flow caused by thruster (m/s)

ω :

Rotational speed of thruster (r/s)

θ f :

Influence angle upstream of thruster (deg)

θ b :

Influence angle downstream of thruster (deg)

V :

Velocity magnitude (m/s)

\(\bar{V}\) :

Ambient flow velocity magnitude(m/s)

d :

Distance between propeller central axis and cabin edge (m)

α :

Flow velocity angle (deg)

γ :

Flow direction angle(deg)

Ti :

Thrust of thruster i(N)

T 0 :

Thrust of upstream thruster in still water(N)

T :

Thrust of downstream thruster in still water(N)

x 0 :

Distance between the thrusters in still water(m)

φ :

Angle of thruster deflection(deg)

t φ :

Ratio of the downstream thruster with deflection angle to the upstream propeller

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Authors and Affiliations

  1. Dalian University of Technology, Dalian City, Liaoning Province, China

    Jian Liu, Qianjin Yue, Cen Zeng & Yabin Zhang

Authors
  1. Jian Liu
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  2. Qianjin Yue
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  3. Cen Zeng
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  4. Yabin Zhang
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Corresponding author

Correspondence to Jian Liu.

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The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper. The authors received no financial support for the research.

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Liu, J., Yue, Q., Zeng, C. et al. Numerical Analysis of the Thrust Characteristics of Propulsion Systems of Hybrid Remotely Operated Vehicle. Iran J Sci Technol Trans Mech Eng (2023). https://doi.org/10.1007/s40997-023-00689-z

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  • DOI: https://doi.org/10.1007/s40997-023-00689-z

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