Kretanje jedrilice pod dejstvom promenljivog vetra
Sailing yacht motion in gusting wind
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2014
Authors
Kalajdžić, Milan![](/themes/Miragemashinery/images/orcid.png)
Contributors
Hofman, MilanRadojčić, Dejan
Motok, Milorad
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Bačkalov, Igor
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Simić, Aleksandar
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Doctoral thesis (Published version)
Metadata
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U radu je razvijen inovativni postupak za proračun kretanja jedrilice pod uticajem promenljivog, haotičnog vetra u vodenoj struji. Postupak omogućava procenu optimalnog položaja jedara tokom njenog nestacionarnog kretanja. Primenjeni metod je baziran na dugogodišnjem istraživanju u kojem se autor bavio uticajem promenljivog vetra na dinamički stabilitet broda. Ovakvim pristupom proširen je klasični postupak predviđanja brzine jedrilice pri konstantnom vetru. Algebarske jednačine se, na taj način, pretvaraju u nelinearne spregnute diferencijalne jednačine kretanja jedrilice i time analiza postaje mnogo zahtevnija. Ipak, postupak vodi kroz sve komplikovane probleme, i omogućava glavni cilj: određivanje zaletanje, zanošenja i valjanja jedrilice tokom vremena pod uticajem promenljivog vetra i vodene struje. Postupak se može primeniti za različite položaje jedara: konstantan tokom kretanja, ili promenljiv, koji prati optimum u odnosu na vetar. Pomoću stohastičke analize dobijenih rezultata,... takođe se mogu odrediti, porediti i analizirati srednja brzina plovidbe, srednji nagib, ugao zanošenja jedrilice. Vetar je, generalno, vremenski zavistan fenomen, tako da (zbog promenljive sile vetra) kretanje jedrilice ne može biti stacionarno. Uprkos tome, u većini istraživanja, performanse jedrilice (njena brzina, zanošenje, itd.) smatraju se konstantnim, a uticaj udara vetra se zanemaruje. Prikazano istrživanje primenjuje inovativne tehnike razvijene u analizi uticaja promenljivog vetra na stabilitet i sigurnost broda, a analiza obuhvata udare vetra i posledice nestacionarnog kretanje jedrilice. Takođe, kao osnovni slučaj rešava se i stacionarno kretanje jedrilice, sa i bez uticaja vodene struje, za konstanstan vetar i rezultati se prikazuju u formi polarnih dijagrama. Osnovna procedura je, ukratko, sledeće. Za pretpostavljene složene uslove nestacionarnog kretanja jedrilice pod dejstvom haotičnog vetra u vodenoj struji, rešavaju se spregnute nelinearne diferencijalne jednačine plovidbe iii jedrilice sa tri stepena slobode kretanja. Promenljiva brzina vetra se određuje iz odgovarajućih semi-empirijskih spektara vetra, proračunava se prividna brzina vetra i odgovarajući vremenski zavisne sile i momenti vetra. Hidrodinamičke sile koje deluju na trup jedrilice, određuju se na bazi semi- empirijskih polinoma tzv. Delftske serije jedrilica, pri čemu se, kao merodavna brzina, uzima relativna brzina jedrilice u odnosu na brzinu vode. Diferencijalne jednačine kretanja se rešavaju numeričkim putem, i određuje zaletanje, valjanje, zanošenje i zakretanje jedrilice u funkciji vremena. Vrši se stohastička analiza dobijenih kretanja, i traži srednja brzina plovidbe, zanošenja, itd. pod različitim uslovima – u slučaju da se jedra postave u fiksan (optimalan) položaj u odnosu na stacionarno kretanje, i u slučaju da je položaj jedara promenljiv, i da odgovara trenutnom optimumu. Analizira se uticaj brzine i pravca vetra, brzine i pravca vodene struje, položaja jedara, i određuje se povećanje srednje brzine plovidbe koje se postiže pravilnim pozicioniranjem jedara tokom realnog, nestacionarnog jedrenja...
The thesis develops an innovative procedure for prediction of sailing yacht motion in water current due to changeable, gusting wind. In addition, the method enables the assessment of optimal position of sails throughout unsteady yacht's motion. Method is based on long-term investigations done by the author in the field of gusting wind influence on ship dynamic stability. The classical procedure for prediction of sailing yacht velocity in constant wind is extended by this novel approach. Algebraic equations are, in that way, transformed to nonlinear coupled differential equation of yacht motion, so the analysis became much more challenging. The procedure leads to a perplex problem, but still enables the main goal: the prediction of sailing yacht unsteady surge, sway and roll in gusting wind аnd water currеnt. This could be done for different position of sails: constant throughout the motion, or changeable, adjusted optimally to the instantaneous wind. By stochastic analysis of the obtai...ned results, the mean vessel velocity, her mean heel, mean leeway angle, could be assessed, compared and analyzed. The wind is, generally, a time dependent phenomenon, so (due to the changeable wind forces) a sailing yacht motion cannot be stationary. In spite of that, in a great majority of investigations, the sailing yacht performances (her speed, list etc.) are considered constant, and the influences of wind gusts are neglected. The present investigation exploits the innovative techniques developed in the analysis of gusting wind influence on ship stability and safety, and includes the wind gusts and the consequent non-stationary yacht motion into the analysis. Also, as a base case, steady motion of sailing yacht in constant wind with, and without the impact of water current is solved, and presented in the form of polar diagrams. The basic procedure is, briefly, the following. For assumed complex conditions of unsteady sailing yacht motion under the influence of gusting wind and water current, coupled nonlinear differential equations of yacht motion with three degrees of freedom are derived and solved. The changeable wind speed is assessed from appropriate semiempirical wind spectrums, and the time-dependent wind forces and moments v (depending on the apparent wind speed) are included into nonlinear differential equations of yacht’s motion. Hydrodynamic forces acting on the hull are determined on the basis of semi-empirical polynomial of, so called, Delft yacht series, where, yacht speed relative to water is taken as the representative speed. The differential equations are solved numerically, giving the time-history of vessel surge, sway and roll. From the obtained data, the mean vessel speed, her mean list, etc. are derived by a detailed stochastic analysis for a variety of conditions - in case of sails placed in a fixed (optimal) position relative to the stationary motion, and in case of (unsteady) position corresponding to the current optimum. The influence of intensity and direction of wind and water current are analysed, and the increase of mean yacht speed due to proper positioning of sails is determined...
Keywords:
vodena struja / promenljiv vetar / optimizacija / nestacionarno / nelinearno kretanje / matematički model / jedrilica / jedra / dinamičko jedrenje / aero-hidrodinamika / unsteady / sails / sailing yacht / optimization / nonlinear movement / mathematical model / gusting wind / dynamic sailing / current / aero-hydrodynamicsSource:
2014Publisher:
- Univerzitet u Beogradu, Mašinski fakultet
Funding / projects:
- Development of new generation of safe, efficient, ecological (SE-ECO) ships (RS-MESTD-Technological Development (TD or TR)-35009)
URI
http://eteze.bg.ac.rs/application/showtheses?thesesId=3601https://nardus.mpn.gov.rs/handle/123456789/6239
https://fedorabg.bg.ac.rs/fedora/get/o:12360/bdef:Content/download
http://vbs.rs/scripts/cobiss?command=DISPLAY&base=70036&RID=514521507
https://machinery.mas.bg.ac.rs/handle/123456789/28
Collections
Institution/Community
Mašinski fakultetTY - THES AU - Kalajdžić, Milan PY - 2014 UR - http://eteze.bg.ac.rs/application/showtheses?thesesId=3601 UR - https://nardus.mpn.gov.rs/handle/123456789/6239 UR - https://fedorabg.bg.ac.rs/fedora/get/o:12360/bdef:Content/download UR - http://vbs.rs/scripts/cobiss?command=DISPLAY&base=70036&RID=514521507 UR - https://machinery.mas.bg.ac.rs/handle/123456789/28 AB - U radu je razvijen inovativni postupak za proračun kretanja jedrilice pod uticajem promenljivog, haotičnog vetra u vodenoj struji. Postupak omogućava procenu optimalnog položaja jedara tokom njenog nestacionarnog kretanja. Primenjeni metod je baziran na dugogodišnjem istraživanju u kojem se autor bavio uticajem promenljivog vetra na dinamički stabilitet broda. Ovakvim pristupom proširen je klasični postupak predviđanja brzine jedrilice pri konstantnom vetru. Algebarske jednačine se, na taj način, pretvaraju u nelinearne spregnute diferencijalne jednačine kretanja jedrilice i time analiza postaje mnogo zahtevnija. Ipak, postupak vodi kroz sve komplikovane probleme, i omogućava glavni cilj: određivanje zaletanje, zanošenja i valjanja jedrilice tokom vremena pod uticajem promenljivog vetra i vodene struje. Postupak se može primeniti za različite položaje jedara: konstantan tokom kretanja, ili promenljiv, koji prati optimum u odnosu na vetar. Pomoću stohastičke analize dobijenih rezultata, takođe se mogu odrediti, porediti i analizirati srednja brzina plovidbe, srednji nagib, ugao zanošenja jedrilice. Vetar je, generalno, vremenski zavistan fenomen, tako da (zbog promenljive sile vetra) kretanje jedrilice ne može biti stacionarno. Uprkos tome, u većini istraživanja, performanse jedrilice (njena brzina, zanošenje, itd.) smatraju se konstantnim, a uticaj udara vetra se zanemaruje. Prikazano istrživanje primenjuje inovativne tehnike razvijene u analizi uticaja promenljivog vetra na stabilitet i sigurnost broda, a analiza obuhvata udare vetra i posledice nestacionarnog kretanje jedrilice. Takođe, kao osnovni slučaj rešava se i stacionarno kretanje jedrilice, sa i bez uticaja vodene struje, za konstanstan vetar i rezultati se prikazuju u formi polarnih dijagrama. Osnovna procedura je, ukratko, sledeće. Za pretpostavljene složene uslove nestacionarnog kretanja jedrilice pod dejstvom haotičnog vetra u vodenoj struji, rešavaju se spregnute nelinearne diferencijalne jednačine plovidbe iii jedrilice sa tri stepena slobode kretanja. Promenljiva brzina vetra se određuje iz odgovarajućih semi-empirijskih spektara vetra, proračunava se prividna brzina vetra i odgovarajući vremenski zavisne sile i momenti vetra. Hidrodinamičke sile koje deluju na trup jedrilice, određuju se na bazi semi- empirijskih polinoma tzv. Delftske serije jedrilica, pri čemu se, kao merodavna brzina, uzima relativna brzina jedrilice u odnosu na brzinu vode. Diferencijalne jednačine kretanja se rešavaju numeričkim putem, i određuje zaletanje, valjanje, zanošenje i zakretanje jedrilice u funkciji vremena. Vrši se stohastička analiza dobijenih kretanja, i traži srednja brzina plovidbe, zanošenja, itd. pod različitim uslovima – u slučaju da se jedra postave u fiksan (optimalan) položaj u odnosu na stacionarno kretanje, i u slučaju da je položaj jedara promenljiv, i da odgovara trenutnom optimumu. Analizira se uticaj brzine i pravca vetra, brzine i pravca vodene struje, položaja jedara, i određuje se povećanje srednje brzine plovidbe koje se postiže pravilnim pozicioniranjem jedara tokom realnog, nestacionarnog jedrenja... AB - The thesis develops an innovative procedure for prediction of sailing yacht motion in water current due to changeable, gusting wind. In addition, the method enables the assessment of optimal position of sails throughout unsteady yacht's motion. Method is based on long-term investigations done by the author in the field of gusting wind influence on ship dynamic stability. The classical procedure for prediction of sailing yacht velocity in constant wind is extended by this novel approach. Algebraic equations are, in that way, transformed to nonlinear coupled differential equation of yacht motion, so the analysis became much more challenging. The procedure leads to a perplex problem, but still enables the main goal: the prediction of sailing yacht unsteady surge, sway and roll in gusting wind аnd water currеnt. This could be done for different position of sails: constant throughout the motion, or changeable, adjusted optimally to the instantaneous wind. By stochastic analysis of the obtained results, the mean vessel velocity, her mean heel, mean leeway angle, could be assessed, compared and analyzed. The wind is, generally, a time dependent phenomenon, so (due to the changeable wind forces) a sailing yacht motion cannot be stationary. In spite of that, in a great majority of investigations, the sailing yacht performances (her speed, list etc.) are considered constant, and the influences of wind gusts are neglected. The present investigation exploits the innovative techniques developed in the analysis of gusting wind influence on ship stability and safety, and includes the wind gusts and the consequent non-stationary yacht motion into the analysis. Also, as a base case, steady motion of sailing yacht in constant wind with, and without the impact of water current is solved, and presented in the form of polar diagrams. The basic procedure is, briefly, the following. For assumed complex conditions of unsteady sailing yacht motion under the influence of gusting wind and water current, coupled nonlinear differential equations of yacht motion with three degrees of freedom are derived and solved. The changeable wind speed is assessed from appropriate semiempirical wind spectrums, and the time-dependent wind forces and moments v (depending on the apparent wind speed) are included into nonlinear differential equations of yacht’s motion. Hydrodynamic forces acting on the hull are determined on the basis of semi-empirical polynomial of, so called, Delft yacht series, where, yacht speed relative to water is taken as the representative speed. The differential equations are solved numerically, giving the time-history of vessel surge, sway and roll. From the obtained data, the mean vessel speed, her mean list, etc. are derived by a detailed stochastic analysis for a variety of conditions - in case of sails placed in a fixed (optimal) position relative to the stationary motion, and in case of (unsteady) position corresponding to the current optimum. The influence of intensity and direction of wind and water current are analysed, and the increase of mean yacht speed due to proper positioning of sails is determined... PB - Univerzitet u Beogradu, Mašinski fakultet T1 - Kretanje jedrilice pod dejstvom promenljivog vetra T1 - Sailing yacht motion in gusting wind UR - https://hdl.handle.net/21.15107/rcub_nardus_6239 ER -
@phdthesis{ author = "Kalajdžić, Milan", year = "2014", abstract = "U radu je razvijen inovativni postupak za proračun kretanja jedrilice pod uticajem promenljivog, haotičnog vetra u vodenoj struji. Postupak omogućava procenu optimalnog položaja jedara tokom njenog nestacionarnog kretanja. Primenjeni metod je baziran na dugogodišnjem istraživanju u kojem se autor bavio uticajem promenljivog vetra na dinamički stabilitet broda. Ovakvim pristupom proširen je klasični postupak predviđanja brzine jedrilice pri konstantnom vetru. Algebarske jednačine se, na taj način, pretvaraju u nelinearne spregnute diferencijalne jednačine kretanja jedrilice i time analiza postaje mnogo zahtevnija. Ipak, postupak vodi kroz sve komplikovane probleme, i omogućava glavni cilj: određivanje zaletanje, zanošenja i valjanja jedrilice tokom vremena pod uticajem promenljivog vetra i vodene struje. Postupak se može primeniti za različite položaje jedara: konstantan tokom kretanja, ili promenljiv, koji prati optimum u odnosu na vetar. Pomoću stohastičke analize dobijenih rezultata, takođe se mogu odrediti, porediti i analizirati srednja brzina plovidbe, srednji nagib, ugao zanošenja jedrilice. Vetar je, generalno, vremenski zavistan fenomen, tako da (zbog promenljive sile vetra) kretanje jedrilice ne može biti stacionarno. Uprkos tome, u većini istraživanja, performanse jedrilice (njena brzina, zanošenje, itd.) smatraju se konstantnim, a uticaj udara vetra se zanemaruje. Prikazano istrživanje primenjuje inovativne tehnike razvijene u analizi uticaja promenljivog vetra na stabilitet i sigurnost broda, a analiza obuhvata udare vetra i posledice nestacionarnog kretanje jedrilice. Takođe, kao osnovni slučaj rešava se i stacionarno kretanje jedrilice, sa i bez uticaja vodene struje, za konstanstan vetar i rezultati se prikazuju u formi polarnih dijagrama. Osnovna procedura je, ukratko, sledeće. Za pretpostavljene složene uslove nestacionarnog kretanja jedrilice pod dejstvom haotičnog vetra u vodenoj struji, rešavaju se spregnute nelinearne diferencijalne jednačine plovidbe iii jedrilice sa tri stepena slobode kretanja. Promenljiva brzina vetra se određuje iz odgovarajućih semi-empirijskih spektara vetra, proračunava se prividna brzina vetra i odgovarajući vremenski zavisne sile i momenti vetra. Hidrodinamičke sile koje deluju na trup jedrilice, određuju se na bazi semi- empirijskih polinoma tzv. Delftske serije jedrilica, pri čemu se, kao merodavna brzina, uzima relativna brzina jedrilice u odnosu na brzinu vode. Diferencijalne jednačine kretanja se rešavaju numeričkim putem, i određuje zaletanje, valjanje, zanošenje i zakretanje jedrilice u funkciji vremena. Vrši se stohastička analiza dobijenih kretanja, i traži srednja brzina plovidbe, zanošenja, itd. pod različitim uslovima – u slučaju da se jedra postave u fiksan (optimalan) položaj u odnosu na stacionarno kretanje, i u slučaju da je položaj jedara promenljiv, i da odgovara trenutnom optimumu. Analizira se uticaj brzine i pravca vetra, brzine i pravca vodene struje, položaja jedara, i određuje se povećanje srednje brzine plovidbe koje se postiže pravilnim pozicioniranjem jedara tokom realnog, nestacionarnog jedrenja..., The thesis develops an innovative procedure for prediction of sailing yacht motion in water current due to changeable, gusting wind. In addition, the method enables the assessment of optimal position of sails throughout unsteady yacht's motion. Method is based on long-term investigations done by the author in the field of gusting wind influence on ship dynamic stability. The classical procedure for prediction of sailing yacht velocity in constant wind is extended by this novel approach. Algebraic equations are, in that way, transformed to nonlinear coupled differential equation of yacht motion, so the analysis became much more challenging. The procedure leads to a perplex problem, but still enables the main goal: the prediction of sailing yacht unsteady surge, sway and roll in gusting wind аnd water currеnt. This could be done for different position of sails: constant throughout the motion, or changeable, adjusted optimally to the instantaneous wind. By stochastic analysis of the obtained results, the mean vessel velocity, her mean heel, mean leeway angle, could be assessed, compared and analyzed. The wind is, generally, a time dependent phenomenon, so (due to the changeable wind forces) a sailing yacht motion cannot be stationary. In spite of that, in a great majority of investigations, the sailing yacht performances (her speed, list etc.) are considered constant, and the influences of wind gusts are neglected. The present investigation exploits the innovative techniques developed in the analysis of gusting wind influence on ship stability and safety, and includes the wind gusts and the consequent non-stationary yacht motion into the analysis. Also, as a base case, steady motion of sailing yacht in constant wind with, and without the impact of water current is solved, and presented in the form of polar diagrams. The basic procedure is, briefly, the following. For assumed complex conditions of unsteady sailing yacht motion under the influence of gusting wind and water current, coupled nonlinear differential equations of yacht motion with three degrees of freedom are derived and solved. The changeable wind speed is assessed from appropriate semiempirical wind spectrums, and the time-dependent wind forces and moments v (depending on the apparent wind speed) are included into nonlinear differential equations of yacht’s motion. Hydrodynamic forces acting on the hull are determined on the basis of semi-empirical polynomial of, so called, Delft yacht series, where, yacht speed relative to water is taken as the representative speed. The differential equations are solved numerically, giving the time-history of vessel surge, sway and roll. From the obtained data, the mean vessel speed, her mean list, etc. are derived by a detailed stochastic analysis for a variety of conditions - in case of sails placed in a fixed (optimal) position relative to the stationary motion, and in case of (unsteady) position corresponding to the current optimum. The influence of intensity and direction of wind and water current are analysed, and the increase of mean yacht speed due to proper positioning of sails is determined...", publisher = "Univerzitet u Beogradu, Mašinski fakultet", title = "Kretanje jedrilice pod dejstvom promenljivog vetra, Sailing yacht motion in gusting wind", url = "https://hdl.handle.net/21.15107/rcub_nardus_6239" }
Kalajdžić, M.. (2014). Kretanje jedrilice pod dejstvom promenljivog vetra. Univerzitet u Beogradu, Mašinski fakultet.. https://hdl.handle.net/21.15107/rcub_nardus_6239
Kalajdžić M. Kretanje jedrilice pod dejstvom promenljivog vetra. 2014;. https://hdl.handle.net/21.15107/rcub_nardus_6239 .
Kalajdžić, Milan, "Kretanje jedrilice pod dejstvom promenljivog vetra" (2014), https://hdl.handle.net/21.15107/rcub_nardus_6239 .