Abstract
Range is an important factor to the design of autonomous underwater vehicles (AUVs), while drag reduction efforts are pursued, the investigation of body-propeller interaction is another vital consideration. We present a numerical and experimental study of the hull-propeller interaction for deeply submerged underwater vehicles, using a proportional-integral- derivative (PID) controller method to estimate self-propulsion point in CFD environment. The hydrodynamic performance of hull and propeller at the balance state when the AUV sails at a fixed depth is investigated, using steady RANS solver of Star-CCM+. The proposed steady RANS solver takes only hours to reach a reasonable solution. It is more time efficient than unsteady simulations which takes days or weeks, as well as huge consumption of computing resources. Explorer 1000, a long range AUV developed by Shenyang Institute of Automation, Chinese Academy of Sciences, was studied as an object, and self-propulsion point, thrust deduction, wake fraction and hull efficiency were analyzed by using the proposed RANS method. Behind-hull performance of the selected propeller MAU4-40, as well as the hull-propeller interaction, was obtained from the computed hydrodynamic forces. The numerical results are in good qualitative and quantitative agreement with the experimental results obtained in the Qiandao Lake of Zhejiang province, China.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
Bhattacharyya, A., Krasilnikov, V. and Steen, S., 2016. A CFD-based scaling approach for ducted propellers, Ocean Engineering, 123, 116–130.
Califano, A. and Steen, S., 2011. Numerical simulations of a fully submerged propeller subject to ventilation, Ocean Engineering, 38(14–15), 1582–1599.
Carrica, P.M., Castro, A.M. and Stern, F., 2010. Self-propulsion computations using a speed controller and a discretized propeller with dynamic overset grids, Journal of Marine Science and Technology, 15(4), 316–330.
Carrica, P.M., Kim, Y. and Martin, J.E., 2018. Near surface operation of a generic submarine in calm water and waves, Proceedings of the 32nd Symposium on Naval Hydrodynamics, Hamburg, Germany.
Chase, N. and Carrica, P.M., 2013. Submarine propeller computations and application to self-propulsion of DARPA Suboff, Ocean Engineering, 60, 68–80.
Coe, R.G., 2013. Improved Underwater Vehicle Control and Maneuvering Analysis with Computational Fluid Dynamics Simulations, Ph.D. Thesis, Virginia Polytechnic Institute and State University, Virginia.
De Barros, E. and Dantas, J.L.D., 2012. Effect of a propeller duct on AUV maneuverability, Ocean Engineering, 42, 61–70.
Denny, S.B., 1968. Cavitation and Open-Water Performance Tests of A Series of Propellers Designed by Lifting-Surface Methods, Department of the Navy Naval Ship Research and Development Center, Washington, D.C.
Di Felice, F., Felli, M., Liefvendahl, M. and Svennberg, U., 2009. Numerical and experimental analysis of the wake behavior of a generic submarine propeller, First International Symposium Marine Propulsors, Trondheim, Norway.
Dubbioso, G., Muscari, R., Ortolani, F. and Di Mascio, A., 2017. Analysis of propeller bearing loads by CFD. Part I: Straight ahead and steady turning maneuvers, Ocean Engineering, 130, 241–259.
Felli, M., Camussi, R. and Di Felice, F., 2011. Mechanisms of evolution of the propeller wake in the transition and far fields, Journal of Fluid Mechanics, 682, 5–53.
Gao, T., Wang, Y.X., Pang, Y.J. and Cao, J., 2016. Hull shape optimization for autonomous underwater vehicles using CFD, Engineering Applications of Computational Fluid Mechanics, 10(1), 599–607.
Gao, T., Wang, Y.X., Pang, Y.J., Chen, Q.L. and Tang, Y.G., 2018. A time-efficient CFD approach for hydrodynamic coefficient determination and model simplification of submarine, Ocean Engineering, 154, 16–26.
Gatchell, S., Hafermann, D. and Streckwall, H., 2011. Open water test propeller performance and cavitation behaviour using PPB and FreSCo, Proceedings of the Second International Symposium Marine Propulsors, Hamburg, Germany.
Guo, H.P., Zou, Z.J., Liu, Y. and Wang, F., 2018. Investigation on hull-propeller-rudder interaction by RANS simulation of captive model tests for a twin-screw ship, Ocean Engineering, 162, 259–273.
Hayati, A.N., Hashemi, S.M. and Shams, M., 2013. A study on the behind-hull performance of marine propellers astern autonomous underwater vehicles at diverse angles of attack, Ocean Engineering, 59, 152–163.
Hobson, B.W., Bellingham, J.G., Kieft, B., and Mcewen, R., Godin, M. and Zhang, Y.W., 2012. Tethys-class long range AUVs - extending the endurance of propeller-driven cruising AUVs from days to weeks, IEEE/OES Autonomous Underwater Vehicles, IEEE, Southampton, UK, pp. 1–8.
Kim, H., Ranmuthugala, D., Leong, Z.Q. and Chin, C., 2018. Six-DOF simulations of an underwater vehicle undergoing straight line and steady turning manoeuvres, Ocean Engineering, 150, 102–112.
Martínez-Calle, J., Balbona-Calvo, L., González-Pérez, J. and Blanco-Marigorta, E., 2002. An open water numerical model for a marine propeller: A comparison with experimental data, ASME 2002 Joint U.S.-European Fluids Engineering Division Conference, ASME, Montreal, Quebec, Canada.
Martio, J., Sánchez-Caja, A. and Siikonen, T., 2017. Open and ducted propeller virtual mass and damping coefficients by URANS-method in straight and oblique flow, Ocean Engineering, 130, 92–102.
Menter, F. R., 1994. Two-equation eddy-viscosity turbulence models for engineering applications, AIAA Journal, 32(8), 1598–1605.
Morgut, M. and Nobile, E., 2012. Influence of grid type and turbulence model on the numerical prediction of the flow around marine propellers working in uniform inflow, Ocean Engineering, 42, 26–34.
Overpelt, B., Nienhuis, B. and Anderson, B., 2015. Free running manoeuvring model tests on a modern generic SSK class submarine (BB2), Proceedings of Pacific 2015, Sydney, Australia.
Phillips, A.B., Turnock, S.R. and Furlong, M., 2009. Evaluation of manoeuvring coefficients of a self-propelled ship using a blade element momentum propeller model coupled to a Reynolds-averaged Navier-Stokes flow solver, Ocean Engineering, 36(15–16), 1217–1225.
Phillips, A.B., 2010. Simulations of A Self Propelled Autonomous Underwater Vehicle, Ph. D. Thesis, University of Southampton, Southampton.
Phillips, A.B., Turnock, S.R. and Furlong, M., 2010. Influence of turbulence closure models on the vortical flow field around a submarine body undergoing steady drift, Journal of Marine Science and Technology, 15(3), 201–217.
Rhee, S.H. and Joshi, S., 2005. Computational validation for flow around a marine propeller using unstructured mesh based navierstokes solver, JSME International Journal Series B: Fluids and Thermal Engineering, 48(3), 562–570.
Sezen, S., Dogrul, A., Delen, C. and Bal, S., 2018. Investigation of self-propulsion of DARPA Suboff by RANS method, Ocean Engineering, 150, 258–271.
Shen, H.L., Obwogi, E.O. and Su, Y., 2016. Scale effects for rudder bulb and rudder thrust fin on propulsive efficiency based on computational fluid dynamics, Ocean Engineering, 117, 199–209.
Shen, Z.R., Wan, D.C. and Carrica, P.M., 2015. Dynamic overset grids in OpenFOAM with application to KCS self-propulsion and maneuvering, Ocean Engineering, 108, 287–306.
Stern, F., Wang, Z.Y., Yang, J.M., Sadat-Hosseini, H., Mousaviraad, M., Bhushan, S., Diez, M., Yoon, S.H., Wu, P.C., Yeon, S.M., Dogan, T., Kim, D.H., Volpi, S., Conger, M., Michael, T., Xing, T., Thodal, R.S. and Grenestedt, J.L., 2015. Recent progress in CFD for naval architecture and ocean engineering, Journal of Hydrodynamics, Ser. B, 27(1), 1–23.
Ueno, M. and Tsukada, Y., 2016. Estimation of full-scale propeller torque and thrust using free-running model ship in waves, Ocean Engineering, 120, 30–39.
Wang, J.H., Zou, L. and Wan, D.C., 2018. Numerical simulations of zigzag maneuver of free running ship in waves by RANS-Overset grid method, Ocean Engineering, 162, 55–79.
Wang, Y.X., Gao, T., Pang, Y.J. and Tang, Y.G., 2019. Investigation and optimization of appendage influence on the hydrodynamic performance of AUVs, Journal of Marine Science and Technology, 24(1), 297–305.
Young, Y.L. and Kinnas, S.A., 2003. Analysis of supercavitating and surface-piercing propeller flows via BEM, Computational Mechanics, 32(4–6), 269–280.
Author information
Authors and Affiliations
Corresponding author
Additional information
Foundation item: This work was financially supported by the National Natural Science Foundation of China (Grant No. 41806122), the Strategic Priority Research Program of the Chinese Academy of Sciences (Grant No. XDA11040102), the State Key Laboratory of Robotics of China (Grant No. 2017-Z08), Youth Innovation Promotion Association, CAS, and Jiang Xinsong Innovation Fund.
Rights and permissions
About this article
Cite this article
Wang, Yx., Liu, Jf., Liu, Tj. et al. A Numerical and Experimental Study on the Hull-Propeller Interaction of A Long Range Autonomous Underwater Vehicle. China Ocean Eng 33, 573–582 (2019). https://doi.org/10.1007/s13344-019-0055-z
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s13344-019-0055-z