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F(t)
where we dene to denote the velocity potential that corresponds to unit velocity
U = 1. In this case the velocity potential for an arbitrary velocity U is = U .
in the uid is given by
The linear momentum L
=
L
v dV =
dV
Greens
theorem
ndS
|{z}
0 at
Lx (t = T ) =
U nx dS = U
nx dS
B
The force exerted on the uid from the body is F (t) = (mA U ) = mA U .
1
T
dt [F (t)] =
Newtons Law
mA U dt = mA U ]T0
| {z }
Lx (t = T )Lx (t = 0) = U
nx dS
B
mA U
= n
= (U, 0, 0) n
= U nx ,
= U nx
U
n
= U nx
mA =
= nx
n
nx dS
B
mA =
dS
n
mji
|{z}
i
|{z}
B
jforce/moment
idirection of motion
nj dS =
i
B
j
dS = j uid momentum due to
n
i body motion
mji =
i
B
j
n
i (j n
)dS
dS =
B
Divergence
Theorem
i j + i 2 j dV
| {z }
=0
Therefore,
i j dV = mij
mji =
V
(i j ) dV
4. Relationship to the kinetic energy of the uid. For a general 6 DoF body motion
Ui = (U1 , U2 , . . . , U6 ),
= Ui i ; i = potential for Ui = 1
|{z}
notation
1
K.E. =
2
dV = 21
V
1
= Ui Uj
2
Ui i Uj j dV
i j dV = 12 mij Ui Uj
V
symmetry
m11 m12 0
m22 0
m33
mij =
U1
U2
U3
0
0
m34
m44
0
0
m35
m45
m55
m16
m26
0
0
0
m66
3
3
Fx
Fy
Fz
Mx
My
Mz
12 independent coecients
m11 0
0
m22 0
m22
mij =
0
0
0
0
0
0
m35
0
m55
0
m35
0
0
0
m55
Exercise How about 3 planes of symmetry (e.g. a cuboid); a cube; a sphere?? Work
out the details.
x2
x5
x2
x4
x1
x4
x3
x6
x3
Goal To estimate the added mass coecients mij for a 3D slender body.
Idea Estimate mij of a slender 3D body using the 2D sectional added mass coecients
(strip-wise Mkl ). In particular, for simple shapes like long cylinders, we will use known 2D
coecients to nd unknown 3D coecients.
mij =
[Mkl (x) contributions]
3D
2D
Discussion If the 1-axis is the longitudinal axis of the slender body, then the 3D added
mass coecients mij are calculated by summing the added mass coecients of all the thin
slices which are perpendicular to the 1-axis, Mkl . This means that forces in 1-direction
cannot be obtained by slender body theory.
Procedure In order to calculate the 3D added mass coecients mij we need to:
1. Determine the 2D acceleration of each crossection for a unit acceleration in the ith
direction,
2. Multiply the 2D acceleration by the appropriate 2D added mass coecient to get the
force on that section in the j th direction, and
3. Integrate these forces over the length of the body.
Examples
Sway force due to sway acceleration
Assume a unit sway acceleration u 3 = 1 and all other uj , u j = 0, with j = 1, 2, 4, 5, 6.
It then follows from the expressions for the generalized forces and moments (Lecture
12, JNN 4.13) that the sway force on the body is given by
For each 2D slice, a distance x from the origin, a unit 5 acceleration in 3D, results
to a unit acceleration in the -3 direction times the moment arm x (U 3 = xu 5 = x).
The hydrodynamic force on each slice is then given by
F3 (x) = M33 (x)U 3 = xM33 (x)
6
m35 =
xM33 (x)dx
L
For each 2D slice, a distance x from the origin, a unit 5 acceleration in 3D, results
to a unit acceleration in the -3 direction times the moment arm x (U 3 = xu 5 = x).
The hydrodynamic force on each slice is then given by
F3 (x) = M33 (x)U 3 = xM33 (x)
However, each force F3 (x) produces a negative moment at the origin about the 5 axis
F5 (x) = xF3 (x)
Putting everything together, we obtain
m55 =
x2 M33 (x)dx
L
In the same manner we can estimate the remaining added mass coecients mij - noting
that added mass coecients related to the 1-axis cannot be obtained by slender
body theory.
In summary, the 3D added mass coecients are shown in the following table. The empty
boxes may be lled in by symmetry.
L
L
L
L
L
L
L
L
L
L
L
L
L
L
m66 = x2 M22 dx
(r, , t) = U (t)
r +
a3
2r2
|{z}
cos
3a
= U
cos
t r=a
2
(
)
3
|r=a = 0, U sin , 0
2
1
9
||2 r=a = U 2 sin2
2
8
Then,
(
Fx = () 2r
)
2
= U 3a
3a
9
d sin ( cos ) U
cos + U 2 sin2
2
8
d sin cos +U
|0
(
)
Fx = U 2a3
| {z }
{z
2 9 2
d cos sin3
|0
{z
=0
=2/3
4
a3 + 23 a3
3
Part of Fx is due to the pressure gradient which must be present to cause the uid to
accelerate:
U
U
U
1 p
U
+w
+U
=
(ignore gravity)
+v
t
x
y | {z
z}
x
|{z}
| {z }
0
dp
= U for uniform (1D) accelerated ow
dx
Force on the body due to the pressure eld
F =
p
ndS =
pdV ;
B
VB
Fx =
VB
10
p
dV = U
x
Analogue: Buoyancy force due to hydrostatic pressure gradient. Gravitational acceleration g U = uid acceleration.
ps = gy
ps = gj F s = gj Archimedes principle
Summary: Total force on a xed sphere in an accelerated ow
(
)
Fx = U
+ m(1)
= U 32 = 3U m(1)
|{z}
|{z}
Buoyancy
added mass
1
11
12
13