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Experimental and Numerical Study of Planing Hulls in Waves

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Experimental and Numerical Study of Planing Hulls in Waves Università degli Studi di Trieste Dipartimento di Ingegneria e Architettura XXXII ciclo del Dottorato di Ricerca in Ingegneria Industriale e dell’Informazione Experimental and numerical study of planing hulls in waves Tesi di Dottorato in Architettura Navale (ING-IND/01) Dottorando Supervisore Pigazzini Riccardo Vasco Ing. Amedeo Migali Co-Supervisore Prof. Alberto Francescutto A.A. 2019/2020 To my parents, Louis and Nadia Abstract The work presented in this thesis has been carried out as part of the SOPHYA (Seakeeping Of Planing Hull YAchts) project. The research and development project is aimed at the investigation of the performances of planing pleasure-boats in terms of sea-kindliness, safety and powering in mild weather conditions. This investigation is pursued via three complementary approaches: model scale experiments,sea trials and numerical simulations. This thesis is mainly focused on the study of planing hulls seakeeping, in particular, a large part of this work has been dedicated to experimental investigations and data analysis both in model and full scale. The results of towing tank tests have been then used as reference data for CFD simulations with the aim of to develop a reliable computational framework for seakeeping simulations of planing hulls. A novel experimental work has been carried out in order to investigate nonlinear behavior of planing hulls in regular waves and the effects of geometrical parameters, speed and wave steepness on higher harmonic response of hull motions and accelerations. An extensive analysis of the second and third harmonic response of motion and accelerations is presented, adding valuable results to the Naples Systematic Series data set and providing detailed benchmark data for future computational studies. Full scale calm water and seakeeping trials have been carefully planned and executed, the yacht has been fully instrumented and a wave buoy has been used for directional sea state mea- surement. An innovative integrated analysis method of on-board and wave measurements has been developed in order to improve full scale transfer functions estimation. The effect of wave directional distribution models on the estimated transfer functions has been investigated. The results show a remarkable agreement with model scale experimental results. Planing hull calm water and seakeeping simulations have been performed using open source CFD code. An open source fully automated pre-processing procedure has been developed to drastically reduce time-to simulations. The procedure generate a mesh refined ad-hoc for planing hull simulations and a ready-to-run case folder using OpenFOAM built-in and custom tools. Calm water simulations showed an underestimation of the running trim angle and resistance at high speeds. Seakeeping simulations however showed much better agreement with experimental results in terms of motion transfer functions. New simulation tools have been implemented for the specific case of reproducing towing tank conditions, such as virtual accelerometers and new restraint capabilities that are more faithful of the real towing arm restraint conditions. The tested simulation framework has been used to investigate the effect of hull form variations on seakeeping performances of eight alternative hulls. Experimental results on the best performing hull alternative show comparable results with simulations. i Sommario Il lavoro presentato nella presente tesi è stato svolto nell’ambito del progetto SOPHYA (Seakee- ping Of Planing Hull YAchts). Il progetto di ricerca e sviluppo è finalizzato all’indagine delle prestazioni imbarcazioni plananti da diporto in termini di tenuta al mare, sicurezza e propul- sione in condizioni di mare medie. Questa indagine è stata condotta attraverso tre approcci complementari: esperimenti in scala modello, prove in mare e simulazioni numeriche. La tesi si concentra principalmente sulla tenuta al mare degli scafi plananti, in particolare, buona parte del lavoro è stata dedicata allo studio sperimentale e all’analisi dei dati delle prove su modello e scala reale. I risultati sono stati utilizzati come dati di riferimento per le simulazioni CFD al fine di sviluppare un procedura affidabile per le simulazioni di scafi plananti su onda. È stato condotta un’indagine sperimentale estensiva sullo studio del comportamento non linea- re di scafi plananti in onde regolari e l’effetti dei parametri geometrici dello scafo, della velocità e della pendenza dell’onda sulla risposta ultra armonica dei moti e delle accelerazioni. Ilcontributo principale dello studio è rappresentato dall’ampia analisi della seconda e terza risposta armonica del moto e delle accelerazioni. I risultati rappresentano inoltre un notevole contributo ai dati della serie sistematica di Napoli e forniscono un riferimento dettagliato per futuri studi computazionali. Le prove di tenuta al mare al vero sono state pianificate ed eseguite, lo yacht è stato com- pletamente strumentato e una boa ondametrica è stata utilizzata per la misurazione direzionale dello stato del mare. È stato sviluppato un metodo innovativo di analisi integrata delle misure di moti a bordo e d’onda al fine di migliorare la stima delle funzioni di trasferimento in scala reale ed è stato investigato l’effetto dei modelli di distribuzione direzionale dell’onda sul risultato. Le funzioni di trasferimento al vero ottenute con l’analisi integrata proposta sono confrontabili con quelle in scala modello. Sono state eseguite simulazioni in acqua calma e di seakeeping di uno scafo planante utilizzando un codice open source basato su foam-extend. In seguito è stata sviluppata una procedura di pre- processing automatizzata che riduce drasticamente i tempi di pre-simulazione. Questa procedura genera una griglia raffinata ad-hoc per simulazioni di idrodinamica navale e prepara una cartella del caso da simulare pronta per l’uso. La procedura utilizza strumenti di generazione griglie compresi in openFOAM ed altri svilupati appositamente. Le simulazioni di acqua calma hanno mostrato una una sottostima dell’assetto in corsa e della resistenza alle alte velocità, tuttavia le simulazioni di seakeeping mostrano risultati molto più fedeli ai dati sperimentali in termini di funzioni di trasferimento. Sono inoltre stati implementati nuovi strumenti per le simulazioni che debbano riprodurre fedelmente le condizioni della vasca navale, come accelerometri virtuali e nuove condizioni cinematiche più fedeli al reale fissaggio del braccio di rimorchio. I solutori e gli strumenti sviluppati sono stati in seguito utilizzati per studiare l’effetto delle variazioni della forma dello scafo sulle prestazioni di tenuta del mare di otto diverse varianti. I risultati sperimentali dello scafo con le migliori prestazioni sono comparabili con quelli ottenuti dalle simulazioni. iii Contents List of papers 3 1Introduction 7 1.1 Historicalbackground .................................. 7 1.2 Theseakeepingofplaninghullyachts. 10 1.3 Literaturereview ..................................... 11 2Modelexperiments 17 2.1 Introduction........................................ 17 2.2 Calmwatertests ..................................... 18 2.3 Seakeepingtests...................................... 31 2.4 Nonlinear effects ..................................... 45 2.5 Closure .......................................... 82 3Fullscaleseatrials 85 3.1 Introduction........................................ 85 3.2 Seakeepingtrialsplanning ................................ 87 3.3 Seastatemeasurements ................................. 97 3.4 Loadingconditionmeasurements . 98 3.5 Shipmotionsmeasurements ............................... 99 3.6 Shippropulsionmeasurements. 103 3.7 Integratedanalysis .................................... 106 3.8 Propulsion data analysis . 130 3.9 Closure .......................................... 140 4Numericalsimulations 141 4.1 Introduction........................................ 141 4.2 Computationalfacilities ................................. 141 4.3 Automatedpre-processing ................................ 142 4.4 Calmwatersimulations ................................. 155 4.5 Regularwaves....................................... 165 4.6 Effectofhullshape.................................... 171 4.7 Closure .......................................... 178 5 Conclusions 179 5.1 Future work . 181 1 CONTENTS Bibliography 189 2 List of papers Journal papers Pigazzini, R., Contento, G., Martini, S., Puzzer, T., Morgut, M. and Mola, A., 2018. VIV analysis of a single elastically-mounted 2D cylinder: Parameter Identification of a single-degree-of-freedom multi-frequency model. Journal of Fluids and Structures,78,pp.299-313. Pigazzini, R., Contento, G., Martini, S., Morgut, M. and Puzzer, T., 2018. An investigation on VIV of a single 2D elastically-mounted cylinder with different mass ratios. Journal of Marine Science and Technology,pp.1-14. Conference papers Pigazzini, R., Puzzer, T., Martini, S., Morgut, M., Contento, G., Gatin, I., Vukčević,V.,Jasak, H., Begovich, E., Caldarella, S. and Migali, A., 2018. Experimental and Numerical Prediction of the Hydrodynamic Performances of a 65 ft Planing Hull in Calm Water. In Technology and Science for the Ships of the Future: Proceedings of NAV 2018: 19th International Conference on Ship & Maritime Research (Vol. 1, pp. 480-487). IOS Press. Martini, S., Pigazzini, R., Puzzer, T., Morgut, M. and Contento, G., 2018, June. Numerical Investigation of 2D Vortex Induced and Wake Induced Vibrations of Two Circular Cylinders in Tandem Arrangement. In Technology and Science
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