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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2021, Vol. 55 Issue (10): 1930-1936    DOI: 10.3785/j.issn.1008-973X.2021.10.015
    
Prediction of turning radius of autonomous ship with two propellers
Xiong-dong WANG1(),Zhang-ming PENG1,Hua-chen PAN1,Xiao-qing TIAN1,2,*(),Ze-fei ZHU1,Jian-xing LENG2
1. School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China
2. Ocean College, Zhejiang University, Zhoushan 316021, China
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Abstract  

A model remote-controlled ship equipped with two propellers was used as the research object. A real-scale three-dimensional hybrid grid was established by using the sliding grid technology. The SST model was used for computational fluid dynamics (CFD) calculations. The self-propulsion simulation of the ship was conducted in the stationary coordinate system. The turning moment of the ship caused by single-propeller propulsion was calculated through the resistance/thrust balance and the eccentric position of the single propeller. A large-area rotating grid including the ship and the propeller was established. The turning characteristics of the ship under two working conditions were numerically simulated. The turning radius can be obtained by using interpolation. A turning experiment was performed on a real ship model with the left propeller speed of 7 560 r/min. The turning radius of the real ship was measured. The relative error between the numerical simulation value and the experimental measurement value was 5.56%. The versatility of the method was verified, and data support was provided for the subsequent precise control of the dual-propeller autonomous surface ship.

Key words： autonomous ship      differential speed      turning radius      hybrid grid      computational fluid dynamics (CFD)     
Received: 19 November 2020      Published: 27 October 2021
CLC:  U 661  
Fund:  国家自然科学基金资助项目（51709070）；浙江省重点研发计划资助项目（2018C04002，2021C03013）；浙江省属高校基本科研业务费专项资金资助项目（GK199900299012-026）
Corresponding Authors: Xiao-qing TIAN     E-mail: wangxiongdong@hdu.edu.cn;tianxiaoqing@hdu.edu.cn
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Xiong-dong WANG
Zhang-ming PENG
Hua-chen PAN
Xiao-qing TIAN
Ze-fei ZHU
Jian-xing LENG
Cite this article:

Xiong-dong WANG,Zhang-ming PENG,Hua-chen PAN,Xiao-qing TIAN,Ze-fei ZHU,Jian-xing LENG. Prediction of turning radius of autonomous ship with two propellers. Journal of ZheJiang University (Engineering Science), 2021, 55(10): 1930-1936.

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https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2021.10.015     OR     https://www.zjujournals.com/eng/Y2021/V55/I10/1930


双桨无人船转弯半径预报

采用安装有2个螺旋桨的模型遥控船为研究对象，采用滑移网格技术建立实尺度三维混合网格，运用SST模型进行计算流体力学(CFD)仿真. 对该船在静止坐标系下进行自航模拟，通过阻力/推力平衡和单个螺旋桨的偏心位置计算单螺旋桨推进下船的转弯力矩. 建立包含船、桨在内的大区域旋转网格，对该船2种工况下的转弯特性进行数值模拟. 通过插值，可得转弯半径. 对左侧螺旋桨转速为7 560 r/min的实船模型进行转弯实验，测出实船的转弯半径. 数值模拟值与实验测量值之间的相对误差为5.56%，验证了该方法的通用性，为后续双桨水面无人船的精确控制提供数据支持.


关键词： 无人船,  差速,  转弯半径,  混合网格,  计算流体力学（CFD） 
Fig.1 Drone ship
Fig.2 40F propeller
Fig.3 Three-dimensional grids of hull
Fig.4 Three-dimensional grids of propeller
Fig.5 Three-dimensional grids of hull around
Fig.6 Calculated parts of hull
Fig.7 Moment of force, thrust of propeller and resistance of ship calculated in every time step
Fig.8 Determination of self-navigation match points when rotation speed is between 6 500 and 10 000 r/min
Fig.9 Distribution of freedom surface around right propeller when rotation speed of propeller is 7 560 r/min
Fig.10 Distribution of wave height after ship passed when rotation speed of propeller is 7 560 r/min
Fig.11 Rotation parts
Fig.12 Whole calculated parts
Fig.13 Determination of angular velocity
Fig.14 Distribution of velocity vector when rotation speed of ship is −10.96 r/min
Fig.15 Streamlines of ship when rotation speed of ship is −10.96 r/min
Fig.16 Experimental system of unmanned ship turning radius
Fig.17 Some of experimental records
Fig.18 Location of gravity center of autonomous ship
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