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13.42 Spring 2005

13.42 Design Principles for Ocean Vehicles

Prof. A.H. Techet Spring 2005

Froude Krylov Excitation Force

The total potential is a linear superposition of the incident, diffraction, and radiation potentials,

φ = φφ++φ

(

IDR

) e

i

t

ω

.

(1)

The radiation potential is comprised of six components due to the motions in the six directions,

φ

j

where j =,,,,,123456 . Each function

φ

j

is the potential resulting from a unit motion in

j th

direction for a body floating in a quiescent fluid. The resulting body boundary condition follows

from lecture 15:

φ

j

n

=

in

ω

j

;

(

j

1 2 3)

=,,

φ

j

n

=

(

i

ω

rn

×

)

j

3

;

(

j

4 5 6)

= ,,

r = (xyz,

,

)

1 2 3)

n = n j =,, = nnn, ,

j

(

(

xyz

)

(2)

(3)

(4)

(5)

In order to meet all the boundary conditions we must have waves that radiate away from the body.

Thus

φe

j

ikx

as x →±∞ .

For the diffraction problem we know that the derivative of the total potential (here the incident

potential plus the diffraction potential without consideration of the radiation potential) normal to

the body surface is zero on the body:

φ

T

n

=

0

on

S

B

, where

φ

T

= φ + φ .

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13.42 Spring 2005

φ

I

φ

D

=−

n

n

; on S

B

(6)

We have so far talked primarily about the incident potential. The formulation of the incident

potential is straight forward from the boundary value problem (BVP) setup in lecture 15. There

exist several viable forms of this potential function each are essentially a phase shifted version of

another. The diffraction potential can also be found in the same fashion using the BVP for the

diffraction potential with the appropriate boundary condition on the body. This potential can be

approximated for a long wave condition. This long wave approximation assumes that the incident

wavelength is very long compared to the body diameter and thus the induced velocity field from

the incident waves on the structure can be assumed constant over the body and approximated by

the following equation:

φ

D

i

∂∂

φφ

II

+

∂∂

xy

φ

I

ω

z

φφ

1

2

+

φ

3

(7)

Further explanation of this approximation can be found in Newman (p. 301).

Ultimately, if we assume the body to be sufficiently small as not to affect the pressure field due to

an incident wave, then we can diffraction effects can be completely ignored. This assumption

comes from the Froude-Krylov hypothesis and assures a resulting excitation force equivalent to

the froude-krylov force:

F

FK

( ) =−

t

ρ

∫∫

φ

I

t

n dS

(8)

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2. Vertical Froude-Krylov Force on a Single Hull Vessel

z
x
T
B
Deep water incident wave potential is:
a
ω kz
i (
ω t
− kx) 
φ
=
e
Re
i e
I
k

(9)

The force in the vertical direction is found from the incident potential using eq. 8 along the bottom

, so the force per unit

of the vessel. Here the normal in the z-direction,

length in the z-direction is

n , is negative:

z

n

= −

z

1

F

FK

z

=

Re

B / 2

B

/ 2

i

ρ ω

ia

ω

e

kT

e

i

(

t

ω

kx

)

dx

k

(10)

=

Re

2

ρω

o

k

2

a e

kT

e

i

t

ω

 −/ ikB

 

e

2

e

ikB

/

2

 

(11)

=

Re

2

ρ

2

ω

k

2

a e

kT

e

i

t

ω

sin(

kB

/

2)

(12)

Recall that

Using the vertical velocity we can rewrite the force in terms of the velocity.

sin z

e

iz

e

iz

2 i

.

=

( )

w t

= Re

 

a

ω e

kz

i e

i

(

ω t

kx

)

(

w t

)

=

Re

 

a

ω 2 kz

e

w x

(

=, =, =

0

z

0)

t

Re

i

e

a

()

ω t

kx

2

ω

e

i

t

ω

(13)

(14)

(15)

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Now we can write the force in the vertical direction as a function of the vertical (heave)

acceleration,

F

z

=

Re

2

ρ

k

2

e

kT

(

sin kB

/

2)

w

(0 0

,,

t

)

.

(16)

Let’s look at the case where ω 0 the wavenumber,

2

k = ω /g 0 , also goes to zero and the

1

sin(kB/2) kB/2

e

kt

kT

(17)

(18)

to yield a simplified heave force.

F FK

z

Re

Re

2

ρ

2

ω

k

2

a

ρ

g aB

(1

1

kT

2

ω

g

) (

kB

T

e

/

2)

i

t

ω

 

 

e

it

ω

(19)

(20)

If we look at the case where ω 0 and consider the heave restoring coefficient,

 and the free surface elevation, ( , x t ) Re    η =

a e

i

(

ω t

kx

)

we can rewrite this force as

F

FK

z

Re

{

C

33

η x = ,t

(

0)

}

C

33

=ρ gB ,

(21)

3. Horizontal Froude-Krylov Force on a Single Hull Vessel

The horizontal force on the vessel above can be found in a similar fashion to the vertical force.

=

Re

F x

=

∫ ∫

S

B

i

ρ ω

i

ω

a

k

0

T

e

a

2

ω

 

1

=−

k

Re i

ρ

kz

ρ

φ

I

t

dz

 

e

e

kT i

 

e

i

n

x

(

t

ω

dS

−/ kB 2)

t

ω

2 sin(

e

i (

t

ω

kB

/

2)

 +/ kB 2)  

 

(22)

(23)

(24)

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As frequency approaches zero similar simplifications can be made like above for the vertical

force:

F

x

() t

Re

( )

u t

( )

u t

=

=

i

ρ

2

a ω

k

(

KT

)

Re

 

a

ω e

kz

e

i

(

e

i

ω t

ω t

kx

2

)

kB

Re

i a

2

ω

e

kz

i

e

()

t

ω

kx

/ 2

F

x

()

t

{

Re ρTB u

(

x = , z =,t

0

0

)}

(25)

(26)

(27)

(28)

Where ρTB = ρ, and is the vessel volume such that we are left with the surge force

F
ρ∀ u
(29)
x
FC
η + ρ∀w
(30)
z
33
4. Multi Hulled Vessel
z
-B/2
B/2
x
T
T

b

b

Again, let’s make a few basic assumptions: ( b/λ << 1 ), ( B/λ 1 ), ( a < b ), and ( b T ).

Let’s look at the force in the x-direction:

FK

F

x

ρ bT u

(

x = −B/, z = ,t + ρ bT u x = B/, z = , t

2

0)

(

2

0)

η(x, t) = a cos(ωt kx)

u

(

x, z, t =−a ω

)

2

e

kz

sin(

ωt kx

)

(31)

(32)

(33)

(34)

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F

FK

x

ρbT a ωωt + kB/+ ωt −/kB

(

)

sin(

2)

sin(

2

{

2

2ρ b T (a ω ) cos(kB/2) sin(ωt)

Note that when kB/=/2

π

2 (or B = λ/2 ) then

FK

F

x

( )

t =

0

.

 2) } (35) (36)

4.1. Multi Hulled Vessel with additional pontoon

z
-B/2
B/2
x
T
T
c
b
b

Use the same assumptions from above to find the x-force adjusted for the additional pontoon

between the two hulls.

FK

F

x

ρ

+

cp x

(

cp x

2

b T

(

a

ω

) cos(

kB

(

=−

B

/ 2

+

/ 2

B

=−

b

b

/ 2,

/ 2,

z

z

=

2

/

2) sin(

0,

t

=

t

)

)

0,

t

ω

)

The last two terms are the adjustment to the force for the addition of the pontoon,

Pressure is found from the incident potential:

p

(

x,,z t

)

= ρ g a e

kz

cos(

ωt kx ) .

FK

δ F

x

(

t

) .

For B >> b using

FK

δ F

x

=−

2

sin(

ρωga t

) sin

 

k

2

(

2

g = ω /k we get a force:

FK

F

x

( )

t ρωa

2

2

sin(

{

ωt bT

)

cos(

kB/

2)

B

+/δ

b

)

 

2 sin(

 (37) kB/ 2) } (38)

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