Nedeleg BIGI

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Nedeleg BIGI Ph.D. Thesis / UNIVERSITÉ DE BRETAGNE OCCIDENTALE part of Université européenne de Bretagne Submitted by for the degree of DOCTOR AT UNIVERSITÉ DE BRETAGNE OCCIDENTALE Nedeleg BIGI Specialized in mechanics Completed at ENSTA Bretagne, in the Dupuy de Lôme École Doctorale des Sciences Pour l’Ingénieur Research Institute (IRDL - CNRS FRE 3744) Investigation of the dynamic motions Ph. D. thesis examined on 15th December 2017 and operability of a ship towed by kite Committee members Prof. Dominic A. Hudson Evaluation des limites d’utilisation des Shell Professor of Ship Safety and Efficiency at the University of navires tractés par kite par l’étude des Southampton / Reviewer mouvements de tenue à la mer et de Prof. Carlos Guedes Soares Distinguished professor at the Technical University of Lisbon / manœuvrabilité Reviewer Invited Prof. Sandrine Aubrun Professor at Centrales Nantes, LHEEA / Examiner Dr. Lorenzo Fagiano Associate professor at Politecnico Di Milano Prof. Xavier Carton Ing. Marc Le Boulluec Professor at University of Western Brittany / Examiner Research Engineer at IFREMER Dr.-Ing. Richard Leloup Dr. Eng. Gian Mauro Maneia Research and Development Director at beyond the sea® / Senior researcher at Ce.S.I Centro Studi Industriali Examiner Dr. Sime Malenica Co-supervisors Deputy Director of the Research Department of Bureau Veritas, Dr. Jean-Baptiste Leroux France / Examiner Associate Professor, IRDL, ENSTA Bretagne Dr. Serge Sutulo Dr. Alain Nême Associate Professor at the Technical University of Lisbon / Associate Professor, IRDL, ENSTA Bretagne Examiner Dr. Kostia Roncin Dr.-Ing. habil. Christian Jochum Associate Professor, IRDL, ENSTA Bretagne Associate Professor, ENSTA Bretagne / Primary supervisor . A mon père, “La vraie générosité envers l’avenir consiste à tout donner au présent.” Albert Camus, L’homme révolté, 1951. iii Remerciements Sous l’apparence d’un travail individuel, l’exercice de thèse est un travail collectif à bien des égards et à ce titre, je remercie l’ensemble des personnes qui y ont contribué de près ou de loin. Il me semble tout d’abord essentiel de remercier mon équipe de travail et notamment mon directeur de thèse et mes encadrants car ils ont été les instigateurs et les porteurs à l’ENSTA Bretagne du projet beyond the sea initié par Yves Parlier. Ainsi, je remercie Christian Jochum pour son énergie et enthousiasme. Je voudrais également souligner la bienveillance qu’il a eue à mon égard tout au long des trois ans. Je remercie Jean-Baptiste Leroux, Alain Nême et Kostia Roncin pour la pédagogie et la rigueur dont ils ont fait preuve pour m’aider à réaliser cette thèse. Je remercie également mes collègues doctorants et ingénieurs de recherche de l’équipe be- yond the sea: Morgann Behrel, Vincent Podeur, Antoine Maison, Chloé Duport et Alain de Solminihac. Leur curiosité et leur motivation ont été un véritable atout. Je peux dire que sans cette équipe de travail la tâche aurait été bien plus complexe ! Je voudrais aussi remercier tous mes autres collègues de l’ENSTA Bretagne, en particulier Antoine Morvan, Julien Le Clanche, Martin Monloubou, Guilhem Blès, Jean-Marc Lau- rens, Jean-Yves Pradillon et Yves-Marie Scolan. Je remercie également les collègues de la société beyond the sea, Yves Parlier, Richard Leloup et Fabien Griffon avec qui il a été agréable d’échanger sur la thématique des navires tractés par kite. Je souhaite remercier également mon comité de suivi de thèse Sime Malenica et Marc Le Boulluec pour leurs conseils avisés. Mes deux rapporteurs, Carlos Guedes Soares et Do- minic Hudson, pour leur relecture détaillée du manuscrit. Je remercie également l’ensemble des membres du jury ainsi que les invités. Ce manuscrit de thèse marque aussi la fin de mes études, c’est donc le moment d’exprimer ma gratitude envers tous ceux qui m’ont soutenu tout au long de mon parcours. Depuis le lycée, j’ai suivi un cursus aménagé à la pratique de la voile à haut niveau. Ce parcours m’a donnée les qualités humaines nécessaires à la réalisation d’une thèse. C’est donc un grand merci à mon coach René Baget (« faut rien lâcher ! »). C’est aussi un grand merci à Pierre Johannel proviseur du Lycée Kerichen en 2008 et Damien Coadour, enseignent v chercheur de l’ENSTA Bretagne et responsable formation au pôle Sciences Humaines et Sociales qui ont œuvrés à créer une convention inédite entre le pôle France voile de Brest, l’ENSTA Bretagne et les classes préparatoires aux grandes écoles du lycée Kerichen dont j’ai pu bénéficier et qui m’a indirectement permis de réaliser cette thèse. Ce n’est qu’après avoir expliqué ce parcours sportif et scolaire atypique que je peux re- mercier pleinement Morgann Behrel ami depuis le lycée en classe sport-étude avec qui ensemble nous avons suivi le même parcours jusqu’à poursuivre un doctorat pour le même projet de recherche. Je ne saurais suffisamment remercier le soutien indéfectible qu’il m’a apporté tout au long de cette aventure. Je tiens à remercier particulièrement ma sœur ainée qui m’a donné l’envie de suivre ses pas dans la recherche, ma mère qui m’a transmis sa curiosité et son goût de la découverte. Je veux aussi remercier mon petit frère qui m’a toujours soutenu. Je souhaite remercier mes amis proches : ma colloc’ Albane, Hugo, Yvan, mon équipage de J80, Fabrice Morin, Frédéric Hauville et Patrick Bot. Ils ont toujours été de bon conseil pour ma thèse et bien plus encore. Enfin, je tiens également à exprimer ma gratitude à Aurélie, ma compagne, pour son soutien, sa disponibilité et sa patience en particulier lors de la période de rédaction. vi Abstract In order to reduce greenhouse gas emissions and shipping costs, the use of kites as an auxiliary propulsion device for ships is promising. In fact, compared to the use of classic sails, a kite does not reduce the pay load storage capacity and generates a greater towing force thanks to dynamic flights. Assuming that the interactions between a ship and a kite are negligible, the literature has shown by solving the mean equilibrium of the system that fuel savings are significant. These assumptions are strong since the kite induces ship motions and due to sea state the ship motion may change the kite flight. In order to estimate more accurately the performance and the operability of a kite-towed vessel, a dynamic modeling of the system is implemented. A classical kite modeling is used. This model neglects the mass of the kite and assumes straight and inelastic tethers. These assumptions lead to a kinematic model depending on the lift coefficient and the aerodynamic lift to drag ration angle. A linear evolution of these aerodynamic coefficients as a function of the curvature of the flight path is proposed. In addition, by developing a quasi- analytical line model, it is shown that from 2 m.s-1 of relative wind the straight tether assumption is reasonable. Based on the tether model, an analytical criterion assessing the minimum wind speed to enable a quasi-static kite flight is developed. In particular, it is shown that for a kite surfing kite, the minimum wind launch for quasi-static fly is 3.4 m.s-1. In order to solve all the interaction terms between the kite and the ship, a time domaine seakeeping model based on the linearized ship equation of motion assuming a potential flow is developed. The convolution product of the impulse response of the ship is computed with state-space systems. This method has the advantage to run fast. However, since horizontal ship motions are not well represented by such theories, a coupling with a maneuverability model is presented. Comparisons to front sea basin tests and gyration and zigzagging tests show rather good results. To study the interactions between the kite and the ship a monolithic coupling and a dissociated coupling are compared. The dissociated coupling neglects the influence of ship motions on the kite flight. In a calm water case, results obtained by the two types of coupling are very close. In regular waves, ship motions are dominated by the wave influence. Thus, a network of low frequency subharmonic appears in the kite excitation spectrum. The fundamental frequency of the subharmonic is given by the difference between the wave frequency and the frequency of the nearest kite excitation harmonic. When this difference is small enough, a lock-in phenomenon appears. This kite lock- in phenomenon is a benefit for the kite and the ship when the shift of the excitation harmonics corresponds to an increase. The kite towing is increased up to 34% and the kite efficiency is increased up to 4% compared to a calm water case. The roll amplitude is reduced by 20% compared to a flight configuration at the boundary of the kite lock-in phenomenon. This phenomenon as it is not visible with the dissociated approach shows the interest of a monolithic coupling. Furthermore, a course keeping stability study shows that the rudder needs to be actively controlled. vii Résumé Afin de réduire les émissions de gaz à effet de serre et le coût du transport maritime, l’utilisation des cerfs-volants comme système de propulsion auxiliaire des navires est prometteuse. Un cerf- volant réduit très peu la capacité d’emport et à surface égale permet en vol dynamique de générer une traction importante. En supposant que les interactions entre un navire et un cerf-volant sont négligeables, la littérature a montré en résolvant l’équilibre moyen du système que les économies de carburant pouvaient être significative. Ces hypothèses sont fortes car le cerf-volant impose des mouvements au navire qui lui même, en étant soumis aux vagues, peut modifier le vol du cerf-volant.
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