Fundamentals of Ship Hydrodynamics: Fluid Mechanics, Ship Resistance and Propulsion
Lothar Birk, University of New Orleans, USA
Bridging the information gap between fluid mechanics and ship hydrodynamics
Fundamentals of Ship Hydrodynamics is designed as a textbook for undergraduate education in ship resistance and propulsion. The book provides connections between basic training in calculus and fluid mechanics and the application of hydrodynamics in daily ship design practice. Based on a foundation in fluid mechanics, the origin, use, and limitations of experimental and computational procedures for resistance and propulsion estimates are explained.
The book is subdivided into sixty chapters, providing background material for individual lectures. The unabridged treatment of equations and the extensive use of figures and examples enable students to study details at their own pace.
Key features:
- Covers the range from basic fluid mechanics to applied ship hydrodynamics.
- Subdivided into 60 succinct chapters.
- In-depth coverage of material enables self-study.
- Around 250 figures and tables.
Fundamentals of Ship Hydrodynamics is essential reading for students and staff of naval architecture, ocean engineering, and applied physics. The book is also useful for practicing naval architects and engineers who wish to brush up on the basics, prepare for a licensing exam, or expand their knowledge.
Table of Contents
List of Figures xvii
List of Tables xxvii
Preface xxxi
Acknowledgments xxxv
About the Companion Website xxxvii
1 Ship Hydrodynamics 1
1.1 Calm Water Hydrodynamics 1
1.2 Ship Hydrodynamics and Ship Design 6
1.3 Available Tools 7
2 Ship Resistance 10
2.1 Total Resistance 10
2.2 Phenomenological Subdivision 11
2.3 Practical Subdivision 12
2.3.1 Froude's hypothesis 14
2.3.2 ITTC's method 15
2.4 Physical Subdivision 17
2.4.1 Body forces 18
2.4.2 Surface forces 18
2.5 Major Resistance Components 20
3 Fluid and Flow Properties 26
3.1 A Word on Notation 26
3.2 Fluid Properties 29
3.2.1 Properties of water 29
3.2.2 Properties of air 31
3.2.3 Acceleration of free fall 32
3.3 Modeling and Visualizing Flow 32
3.4 Pressure 35
4 Fluid Mechanics and Calculus 41
4.1 Substantial Derivative 41
4.2 Nabla Operator and Its Applications 44
4.2.1 Gradient 44
4.2.2 Divergence 45
4.2.3 Rotation 47
4.2.4 Laplace operator 48
5 Continuity Equation 50
5.1 Mathematical Models of Flow 50
5.2 Infinitesimal Fluid Element Fixed in Space 51
5.3 Finite Control Volume Fixed in Space 54
5.4 Infinitesimal Element Moving With the Fluid 55
5.5 Finite Control Volume Moving With the Fluid 55
5.6 Summary 56
6 Navier-Stokes Equations 59
6.1 Momentum 59
6.2 Conservation of Momentum 60
6.2.1 Time rate of change of momentum 60
6.2.2 Momentum flux over boundary 60
6.2.3 External forces 63
6.2.4 Conservation of momentum equations 65
6.3 Stokes' Hypothesis 66
6.4 Navier-Stokes Equations for a Newtonian Fluid 67
7 Special Cases of the Navier-Stokes Equations 71
7.1 Incompressible Fluid of Constant Temperature 71
7.2 Dimensionless Navier-Stokes Equations 75
8 Reynolds Averaged Navier-Stokes Equations (RANSE) 82
8.1 Mean and Turbulent Velocity 82
8.2 Time Averaged Continuity Equation 84
8.3 Time Averaged Navier-Stokes Equations 87
8.4 Reynolds Stresses and Turbulence Modeling 89
9 Application of the Conservation Principles 94
9.1 Body in a Wind Tunnel 94
9.2 Submerged Vessel in an Unbounded Fluid 99
9.2.1 Conservation of mass 100
9.2.2 Conservation of momentum 102
10 Boundary Layer Theory 106
10.1 Boundary Layer 106
10.1.1 Boundary layer thickness 107
10.1.2 Laminar and turbulent flow 108
10.1.3 Flow separation 110
10.2 Simplifying Assumptions 111
10.3 Boundary Layer Equations 115
11 Wall Shear Stress in the Boundary L Wall Shear Stress in the Boundary Layer 118
11.1 Control Volume Selection 118
11.2 Conservation of Mass in the Boundary Layer 119
11.3 Conservation of Momentum in the Boundary Layer 121
11.3.1 Momentum flux over boundary of control volume 122
11.3.2 Surface forces acting on control volume 124
11.3.3 Displacement thickness 130
11.3.4 Momentum thickness 131
11.4 Wall Shear Stress
12 Boundary Layer of a Flat Plate 132
12.1 Boundary Layer Equations for a Flat Plate 132
12.2 Dimensionless Velocity Profiles 134
12.3 Boundary Layer Thickness 136
12.4 Wall Shear Stress 140
12.5 Displacement Thickness 141
12.6 Momentum Thickness 142
12.7 Friction Force and Coefficients 143
13 Frictional Resistance 146
13.1 Turbulent Boundary Layers 146
13.2 Shear Stress in Turbulent Flow 152
13.3 Friction Coefficients for Turbulent Flow 153
13.4 Model-Ship Correlation Lines 155
13.5 Effect of Surface Roughness 157
13.6 Effect of Form 160
13.7 Estimating Frictional Resistance 161
14 Inviscid Flow 165
14.1 Euler Equations for Incompressible Flow 165
14.2 Bernoulli Equation 166
14.3 Rotation, Vorticity, and Circulation 171
15 Potential Flow 177
15.1 Velocity Potential 177
15.2 Circulation and Velocity Potential 182
15.3 Laplace Equation 184
15.4 Bernoulli Equation for Potential Flow 187
16 Basic Solutions of the Laplace Equation 191
16.1 Uniform Parallel Flow 191
16.2 Sources and Sinks 192
16.3 Vortex 196
16.4 Combinations of Singularities 198
16.4.1 Rankine oval 198
16.4.2 Dipole 202
16.5 Singularity Distributions 204
17 Ideal Flow Around A Long Cylinder 207
17.1 Boundary Value Problem 207
17.1.1 Moving cylinder in fluid at rest 208
17.1.2 Cylinder at rest in parallel flow 210
17.2 Solution and Velocity Potential 211
17.3 Velocity and Pressure Field 214
17.3.1 Velocity field 215
17.3.2 Pressure field 216
17.4 D’Alembert's Paradox 218
17.5 Added Mass 219
18 Viscous Pressure Resistance 223
18.1 Displacement Effect of Boundary Layer 223
18.2 Flow Separation 226
19 Waves and Ship Wave Patterns 230
19.1 Wave Length, Period, and Height 230
19.2 Fundamental Observations 233
19.3 Kelvin Wave Pattern 235
20 Wave Theory 239
20.1 Overview 239
20.2 Mathematical Model for Long-crested Waves 240
20.2.1 Ocean bottom boundary condition 241
20.2.2 Free surface boundary conditions 242
20.2.3 Far field condition 246
20.2.4 Nonlinear boundary value problem 247
20.3 Linearized Boundary Value Problem 248
21 Linearization of Free Surface Boundary Conditions 250
21.1 Perturbation Approach 250
21.2 Kinematic Free Surface Condition 252
21.3 Dynamic Free Surface Condition 254
21.4 Linearized Free Surface Conditions for Waves 256
22 Linear Wave Theory 259
22.1 Solution of Linear Boundary Value Problem 259
22.2 Far Field Condition Revisited 265
22.3 Dispersion Relation 265
22.4 Deep Water Approximation 267
23 Wave Properties 271
23.1 Linear Wave Theory Results 271
23.2 Wave Number 272
23.3 Water Particle Velocity and Acceleration 275
23.4 Dynamic Pressure 279
23.5 Water Particle Motions 280
24 Wave Energy and Wave Propagation 284
24.1 Wave Propagation 284
24.2 Wave Energy 287
24.2.1 Kinetic wave energy 287
24.2.2 Potential wave energy 290
24.2.3 Total wave energy density 292
24.3 Energy Transport and Group Velocity 293
25 Ship Wave Resistance 299
25.1 Physics of Wave Resistance 299
25.2 Wave Superposition 301
25.3 Michell's Integral 310
25.4 Panel Methods 312
26 Ship Model Testing 316
26.1 Testing Facilities 316
26.1.1 Towing Lank 317
26.1.2 Cavitation tunnel 320
26.2 Ship and Propeller Models 321
26.2.1 Turbulence generation 322
26.2.2 Loading condition 323
26.2.3 Propeller models 324
26.3 Model Basins 324
27 Dimensional Analysis 327
27.1 Purpose of Dimensional Analysis 327
27.2 Buckingham -Theorem 328
27.3 Dimensional Analysis of Ship Resistance 328
28 Laws of Similitude 332
28.1 Similarities 332
28.1.1 Geometric similarity 333
28.1.2 Kinematic similarity 333
28.1.3 Dynamic similarity 334
28.1.4 Summary 340
28.2 Partial Dynamic Similarity 340
28.2.1 Hypothetical case: full dynamic similarity 340
28.2.2 Real world: partial dynamic similarity 342
28.2.3 Froude's hypothesis revisited 343
29 Resistance Test 345
29.1 Test Procedure 345
29.2 Reduction of Resistance Test Data 348
29.3 Form Factor k 351
29.4 Wave Resistance Coefficient Cw 354
29.5 Skin Friction Correction Force FD 355
30 Full Scale Resistance Prediction 357
30.1 Model Test Results 357
30.2 Corrections and Additional Resistance Components 358
30.3 Total Resistance and Effective Power 359
30.4 Example Resistance Prediction 360
31 Resistance Estimates - Guldhammer and Harvald's Method 367
31.1 Historical Development 367
31.2 Guldhammer and Harvald's Method 369
31.2.1 Applicability 369
31.2.2 Required input 369
31.2.3 Resistance estimate 372
31.3 Extended Resistance Estimate Example 378
31.3.1 Completion of input parameters 379
31.3.2 Range of speeds 380
31.3.3 Residuary resistance coefficient 380
31.3.4 Frictional resistance coefficient 383
31.3.5 Additional resistance coefficients 383
31.3.6 Total resistance coefficient 384
31.3.7 Total resistance and effective power 384
32 Introduction to Ship Propulsion 389
32.1 Propulsion Task 389
32.2 Propulsion Systems 391
32.2.1 Marine propeller 391
32.2.2 Water jet propulsion 392
32.2.3 Voith Schneider propeller (VSP) 393
32.3 Efficiencies in Ship Propulsion 394
33 Momentum Theory of the Propeller 398
33.1 Thrust, Axial Momentum, and Mass Flow 398
33.2 Ideal Efficiency and ^rust Loading Coefficient 403
34 Hull-Propeller Interaction 408
34.1 Wake- Fraction 408
34.2 ^rust Deduction Fraction 414
34.3 Relative Rotative Efficiency 417
35 Propeller Geometry 420
35.1 Propeller Parts 420
35.2 Principal Propeller Characteristics 422
35.3 Other Geometric Propeller Characteristics 431
36 Lifting Foils 435
36.1 Foil Geometry and Flow Patterns 435
36.2 Lift and Drag 438
36.3 Thin Foil Theory 440
36.3.1 Thin foil boundary value problem 441
36.3.2 Thin foil body boundary condition 442
36.3.3 Decomposition of disturbance potential 445
37 Thin Foil Theory - Displacement Flow 447
37.1 Boundary Value Problem 447
37.2 Pressure Distribution 452
37.3 Elliptical Thickness Distribution 454
38 Thin Foil Theory - Lifting Flow 459
38.1 Lifting Foil Problem 459
38.2 Glauert ’s Classical Solution 463
39 Thin Foil Theory - Lifting Flow Properties 469
39.1 Lift Force and Lift Coefficient 469
39.2 Moment and Center of Effort 474
39.3 Ideal Angle of Attack 478
39.4 Parabolic Mean Line 480
40 Lifting Wings 484
40.1 Effects of Limited Wingspan 484
40.2 Free and Bound Vorticity 488
40.3 Biot-Savart Law 493
40.4 Lifting Line Theory 497
41 Open Water Test 500
41.1 Test Conditions 500
41.2 Propeller Models 503
41.3 Test Procedure 504
41.4 Data Reduction 506
42 Full Scale Propeller Performance 509
42.1 Comparison of Model and Full Scale Propeller Forces 509
42.2 ITTC Full Scale Correction Procedure 511
43 Propulsion Test 516
43.1 Testing Procedure 516
43.2 Data Reduction 519
43.3 Hull-Propeller Interaction Parameters 520
43.3.1 Model wake- fraction 521
43.3.2 Thrust deduction fraction 522
43.3.3 Relative rotative efficiency 523
43.3.4 Full scale hull-propeller interaction parameters 523
43.4 Load Variation Test 525
44 ITTC 1978 Performance Prediction Method 530
44.1 Summary of Model Tests 530
44.2 Full Scale Power Prediction 531
44.3 Summary 534
44.4 Solving the Intersection Problem 535
44.5 Example 537
45 Cavitation 541
45.1 Cavitation Phenomenon 541
45.2 Cavitation Inception 543
45.3 Locations and Types of Cavitation 546
45.4 Detrimental Effects of Cavitation 548
46 Cavitation Prevention 552
46.1 Design Measures 552
46.2 Keller's Formula 553
46.3 Burrill's Cavitation Chart 554
46.4 Other Design Measures 557
47 Propeller Series Data 560
47.1 Wageningen B-Series 560
47.2 Wageningen B-Series Polynomials 561
47.3 Other Propeller Series 565
48 Propeller Design Process 569
48.1 Design Tasks and Input Preparation 569
48.2 Optimum Diameter Selection 571
48.2.1 Propeller design task 1 572
48.2.2 Propeller design task 2 577
48.3 Optimum Rate of Revolution Selection 579
48.3.1 Propeller design task 3 579
48.3.2 Propeller design task 4 581
48.4 Design Charts 581
48.5 Computational Tools 585
49 Hull-Propeller Matching Examples 587
49.1 Optimum Rate of Revolution Problem 587
49.1.1 Design constant 588
49.1.2 Initial expanded area ratio 589
49.1.3 First iteration 590
49.1.4 Cavitation check for first iteration 593
49.1.5 Second iteration 594
49.1.6 Final selection by interpolation 596
49.2 Optimum Diameter Problem 598
49.2.1 Design constant 599
49.2.2 Initial expanded area ratio 600
49.2.3 First iteration 601
49.2.4 Cavitation check for first iteration 604
49.2.5 Second iteration 605
49.2.6 Final selection by interpolation 607
49.2.7 Attainable speed check 608
50 Holtrop and Mennen's Method 611
50.1 Overview of the Method 611
50.1.1 Applicability 611
50.1.2 Required input 612
50.2 Procedure 614
50.2.1 Resistance components 615
50.2.2 Total resistance 621
50.2.3 Hull-propeller interaction parameters 621
50.3 Example 623
50.3.1 Completion of input parameters 623
50.3.2 Resistance estimate 623
50.3.3 Powering estimate 625
51 Hollenbach's Method 628
51.1 Overview of the method 628
51.1.1 Applicability 629
51.1.2 Required input 629
51.2 Resistance Estimate 631
51.2.1 Frictional resistance coefficient 632
51.2.2 Mean residuary resistance coefficient 632
51.2.3 Minimum residuary resistance coefficient 635
51.2.4 Residuary resistance coefficient 637
51.2.5 Correlation allowance 637
51.2.6 Appendage resistance 637
51.2.7 Environmental resistance 638
51.2.8 Total resistance 638
51.3 Hull-Propeller Interaction Parameters 639
51.3.1 Relative rotative efficiency 639
51.3.2 Thrust deduction fraction 640
51.3.3 Wake fraction 640
51.4 Resistance and Propulsion Estimate Example 642
51.4.1 Completion of input parameters 642
51.4.2 Powering estimate 643
Index 651
