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

Year 2021, , 135 - 174, 31.12.2021

Oğuzhan Kırıkbaş , Ömer Kemal Kınacı , Şakir Bal

https://doi.org/10.54926/gdt.983658

Cited By: 1

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.

Keywords

Su altı aracı, denizaltı, serbest su yüzeyi, deniz tabanı, manevra modeli, hidrodinamik katsayı, manevra türevi, hesaplamalı akışkanlar dinamiği, dinamik stabilite, takıntı, sevk

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

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.

Keywords

Underwater vehicle, submarine, free surface, sea bottom, maneuvering model, hydrodynamic coefficient, maneuvering coefficient, computational fluid dynamics, dynamic stability, appendage, propulsion

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