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Su Altı Araçlarının Manevra Karakteristiklerinin Değerlendirilmesi-II: Akışkan Sınırlarının Etkileri

Year 2021, , 135 - 174, 31.12.2021
https://doi.org/10.54926/gdt.983658

Abstract

Düşey düzlemde de hareket yeteneğine sahip olan su altı araçlarının manevra problemi aracın yörüngesini tanımlamak için tüm serbestlik derecelerinin matematiksel olarak dikkate alınmasını gerektiren zorlayıcı bir problemdir. Literatürde bu probleme çözüm getiren çalışmalar ağırlıklı olarak aracın derin dalmış durumunu dikkate alırlar. Bu çalışmalar problemin çözümünü kolaylaştıran sonsuz akışkan alanı varsayımına dayanırlar. Bunun yanında su altı araçlarının haberleşme, konum belirleme, solunum ve yanma havası ihtiyacını karşılama ve deniz tabanının sörveyi vb. gibi çeşitli operasyonel ihtiyaçlar sebebiyle akışkan sınırlarına yaklaşması kaçınılmaz bir zorunluluktur. Bu zorunluluk aracın manevra performansının sınır etkilerini de kapsayacak şekilde tahmin edilebilmesini gerektirir. Bu gereklilik ise problemin yapısının değişerek karmaşıklık seviyesinin artmasına ve dolayısıyla cevaplanması gereken yeni soruların ortaya çıkmasına sebep olur. Karşılıklı etkileşimler sebebiyle ortaya çıkan düzlem dışı kuvvetler, sevk parametreleri ile kontrol yüzeyleri üzerindeki etkiler ve tüm bu etkilerin manevra modelinde nasıl temsil edileceği gibi hususlar bu soruların en önemlilerindendir. Söz konusu soruların cevaplandırılabilmesi için öncelikle sınırların varlığı sebebiyle aracın manevra karakteristiklerinde gerçekleşen değişimlerin ayrı ayrı incelenip matematiksel olarak ifade edilmeleri gereklidir. Matematiksel olarak ifade edilen bu etkilerin manevra modelinde temsil edilmesi ise ikinci aşamayı oluşturur. Bu aşamada hidrodinamik katsayıların sınır akışlarını kontrol eden parametrelerin (Froude sayısı, derinlik, dip omurga mesafesi vb.) de bir fonksiyonu olacak şekliyle mevcut manevra modellerinde kullanımı literatürde yaygın kabul gören yaklaşımdır. Hareket denklemleri sınır etkilerini de dikkate alacak şekilde yeni bir manevra modeli türetilmesi seçeneği ise halihazırda kavramsal düzeyde kalmış bir yöntemdir. Operasyonel ihtiyaçların su altı araçlarının artan oranda akışkan sınırlarına yakın kullanımını gerektirmesi son yıllarda bu alandaki akademik çalışmalara olan ihtiyacı artırmıştır. Bu durum sınır etkilerinin farklı yönlerinin ayrıntılı olarak incelenmesi için araştırmacıları motive ederek bu alanda hatırı sayılır seviyede bir literatürün oluşmasına sebep olmuştur. “Su altı araçlarının manevra karakteristiklerinin değerlendirilmesi” ana başlığının ikinci bölümünü oluşturan bu çalışma kapsamında; mevcut literatür yatay ve düşey düzlem serbestlik derecelerinde serbest su yüzeyinin varlığı sebebiyle meydana gelen değişiklikler ile bu iki düzlemin karşılıklı etkileşimleri, serbest su yüzeyinin takıntılar ile karşılıklı etkileşimi ve sevk sistemi üzerindeki etkileri ve deniz tabanının etkileri başlıkları altında sınıflandırılmıştır. Bunun yanında bu etkilerin manevra modellerinde temsil edilebilmesi için gösterilen gayretlere ve sınırların varlığının problemin sayısal ve deneysel analizine getirdiği ilave zorluklara da yer verilmiştir. Böylece konu hakkında genel bir değerlendirme yapılması ve literatürde eksik kalan potansiyel araştırma alanlarının belirlenmesi hedeflenmiştir.

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Assessment of the Maneuvering Characteristics of Underwater Vehicles-II: Effects of Fluid Boundaries

Year 2021, , 135 - 174, 31.12.2021
https://doi.org/10.54926/gdt.983658

Abstract

Having the motion ability also in the vertical plane, the maneuvering problem of underwater vehicles is a challenging subject that requires mathematical consideration of all degrees of freedom to define the trajectory of the vehicle. Studies in the literature, which address this problem, are mainly focused on the deeply submerged condition of the vehicle. These studies are based on the assumption of infinite fluid field that simplifies the problem. Due to the operational requirements such as communication, positioning, meeting the need for breathing and combustion air, and the survey of the seabed etc. it is inevitable for underwater vehicles to approach fluid boundaries. As a result prediction of vehicle's maneuvering performance under the boundary effects is crucial. This requirement causing further increase in the level of complexity and arise new questions. Issues such as out-of-plane forces resulting from interference effects, effects on propulsion parameters and control surfaces and how all these effects will be represented in the maneuvering model are the most important ones. In order to address all these questions alterations in the maneuvering characteristics of the vehicle due to the presence of boundaries must be examined separately and expressed mathematically. The representation of these mathematically expressed effects in the maneuvering model forms the second phase. In this phase; the use of hydrodynamic coefficients which are functions of governing parameters of boundary flows (Froude number, depth, keel-seabed distance, etc.) in the existing maneuvering models is the widely accepted approach in the literature. The option of deriving a new set of motion equations which takes boundary effects into account is currently in the conceptual stage. Extensive use of underwater vehicles in the proximity of fluid boundaries due to the operational requirements has increased the need for academic studies in this field in recent years. This situation motivates the scholars to investigate the different aspects of the above mentioned topic and led to the gathering of a considerable amount of literature. The scope of this study -which constitutes the second part of the main topic of “assessment of the maneuvering characteristics of underwater vehicles”- is to classify the current literature. The topics to be covered are; changes in the horizontal and vertical planes due to the presence of the free surface and the interactions in between, the interactions between the free surface and appendages, free surface and propulsion system and the effects of the seabed. The efforts regarding the representation of all these effects in the maneuvering models are also discussed. Furthermore, additional difficulties brought by the existence of fluid boundaries in to the numerical and experimental analysis of the problem are mentioned. Thus, it is aimed to provide a general assessment of the subject and identify potential research areas that are not addressed in the literature yet.

References

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  • Amiri, M. M., Esperança, P. T., Vitola, M. A., & Sphaier, S. H. (2019). An initial evaluation of the free surface effect on the maneuverability of underwater vehicles. Ocean Engineering, 196(December 2019), 106851. https://doi.org/10.1016/j.oceaneng.2019.106851
  • Amiri, M. M., Sphaier, S. H., Vitola, M. A., & Esperança, P. T. (2018). URANS Investigation of the Interaction Between the Free Surface and a Shallowly Submerged Underwater Vehicle at Steady Drift. Applied Ocean Research, 84(June 2018), 192–205. https://doi.org/10.1016/j.apor.2019.01.012
  • Bettle, M., Toxopeus, S. L., & Gerber, A. (2010). Calculation of Bottom Clearance Effects on Walrus Submarine Hydrodynamics. International Shipbuilding Progress, 57(3–4), 101–125.
  • Broglia, R., Di Mascio, A., & Muscari, R. (2007). Numerical study of confined water effects on a self-propelled submarine in steady manoeuvres. Proceedings of the International Offshore and Polar Engineering Conference, 17(2), 443–450.
  • Bystron, L., & Anderson, R. (2000). The submarine underwater maneuvering. Submarine Technology research and development. In The 5th International Conference on Submarines Selection (pp. 132–143). China Ship Scientific Research Center.
  • Carrica, P. M., Kim, Y., & Martin, J. E. (2019). Near-Surface Self Propulsion of a Generic Submarine in Calm Water and Waves. Ocean Engineering, 183(May), 87–105. https://doi.org/10.1016/j.oceaneng. 2019.04.082
  • Conway, A. S. T., Valentinis, F., & Seil, G. (2018). Characterisation of Suction Effects on a Submarine Body Operating Near the Free Surface. Proceedings of the 21st Australasian Fluid Mechanics Conference (10-13 December 2018), Adelaide, Australia. Retrieved from https://people.eng.unimelb. edu.au/imarusic/proceedings/21/Contribution_766_final.pdf
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  • Dawson, D.W., “A Practical Computer Method for Solving Ship-Wave Problems”, Proc. 2nd Int. Conf. Nu- merical Ship Hydrodynamics, Office of Naval Research, USA, 30-38, 1977.
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  • Doğrul, A. (2019). Hydrodynamic Investigation of a Submarine Moving Under Free Surface. Journal of ETA Maritime Science, 7(3), 212-227.
  • Du, X. xu, Wang, H., Hao, C. zhi, & Li, X. liang. (2014). Analysis of Hydrodynamic Characteristics of Unmanned Underwater Vehicle Moving Close to the Sea Bottom. Defence Technology, 10(1), 76–81. https://doi.org/10.1016/j.dt.2014.01.007
  • Dubbioso, G., Broglia, R., & Zaghi, S. (2017). CFD Analysis of Turning Abilities of a Submarine Model. Ocean Engineering, 129(October), 459–479. https://doi.org/10.1016/j.oceaneng.2016.10.046
  • Efremov, D. V., & Milanov, E. M. (2019). Hydrodynamics of DARPA SUBOFF Submarine at Shallowly Immersion Conditions. TransNav, 13(2), 337–342. https://doi.org/10.12716/1001.13.02.09
  • Farell, C. (1973). On the Wave Resistance of a Submerged Spheroid. Journal of Ship Research, 17(1), 1–11.
  • Farell, C., & Guven, O. (1973). On the Experimental Determination of the Resistance Components of a Submerged Spheroid. Journal of Ship Research, 17 (1973): 72–79. https://doi.org/10.5957/ jsr.1973.17.2.72
  • Gertler, M. (1950). Resistance Experiments On A Systematic Series Of Streamlined Bodies Of Revolution-For Application to the Design Of High-Speed Submarines (Report no. C-297). Navy Department David Taylor Model Basin, Washington D.C. Retrieved from https://apps.dtic.mil/dtic/tr/fulltext/ u2/a800144.pdf
  • Gertler, M., & Hagen, G. R. (1967). Standart Equations of Motion For Submarine Simulation (Report no. SR-009-01 01). Navy Ship Research and Development Center, Washington D.C.
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There are 63 citations in total.

Details

Primary Language Turkish
Subjects Engineering
Journal Section Articles
Authors

Oğuzhan Kırıkbaş 0000-0002-2504-8727

Ömer Kemal Kınacı 0000-0002-2956-9562

Şakir Bal 0000-0001-8688-8482

Publication Date December 31, 2021
Published in Issue Year 2021

Cite

APA Kırıkbaş, O., Kınacı, Ö. K., & Bal, Ş. (2021). Su Altı Araçlarının Manevra Karakteristiklerinin Değerlendirilmesi-II: Akışkan Sınırlarının Etkileri. Gemi Ve Deniz Teknolojisi(220), 135-174. https://doi.org/10.54926/gdt.983658