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Cavitation From hullborne to foilborne condition Resistance Maneuvering Steady free-surface effects Foil interaction Wave-induced motions

Hydrofoil lecture
O.M.Faltinsen CeSOS,NTNU

Hydrofoil vessels

Free surface-piercing foils

Fully-submerged foil system

T-foil on a semi-displacement vessel

Interceptor and high-speed rudder

Hard-chine planing hull

Antiroll damping fin

Interceptors

Sailing catamaran with foils

American Cup sail boat Stars & Stripes

University of Tokyo

Lift forces on propellers

Effect of tip vortices on propeller performance

Fully submerged foil system

Strut-foil system with winglets

Tractor propeller

Hydrofoil vessels
Cavitation and ventilation limits the speed Sufficient power during lift to foilborne condition Automatic motion control for submerged foil system Submerged foil system gives very good seakeeping behaviour

Important aspects(Johnston)
Maintenance of directional and roll stability Stable recovery when a foil comes out of the water (broaches) Graceful deterioration of performance in severe seas Safety

Foil configurations

Conventional: >65% of lift on forward foils Canard: >65% of lift on aft foils

Scaling of hydrofoil dimensions

Mg = 0.5 CLU 2 A

Flow past foil

M 2 = M 1 ( L2 / L1 )

A2 = A1 ( L2 / L1 )3
Foilspan / beam ( L2 / L1 )
1/ 2

Steady flow around foil without circulation

Kelvins theorem tells that a circulation is created around the foil

Cross-flow at trailing edge causes vortex shedding

Steady flow around foil with circulation

Foil geometry

Kutta condition at trailing edge

Lift coefficient dependence

Angle of attack Flap angle Camber Thickness to chord ratio Aspect ratio Foil submergence Submergence Froude number Interaction from upstream foil Cavitation number Reynolds number Surface roughness

2D Lift coefficient in infinite fluid

Stalling condition

Typical foil lift curves

2D Drag coefficient in infinite fluid

Scaling of foil experiments (van Walree)

Turbulent With Hama With Carborundum

Without Hama Laminar

Steady flow past foil

UL/U

Flap angle 4

Flap angle 0

Calculated velocity distribution on foil with flap

Suction side of foil Pressure side of foil

x/c

p = pa + gh + 0.5 U 2 (1 (U L / U ) 2 )

Cavitation index i
Cp = p p0 0.5 U 2
pv p0 0.5U 2

Cavitation-free buckets

C p min =

i = C p min

Foil loading-speed envelope

Trim and draft of monohull hydrofoil during take off

Resistance of monohull hydrofoil vessel

Propulsive power of foil catamaran at different draft

Minimalization of propulsive power during take-off of foil catamaran

Resistance in foilborne condition

Viscous resistance on foils and struts Induced drag due to trailing vortex sheets Wave resistance Spray resistance on struts

Speed and possible lifting height of foil catamaran. Operational limits

Maneuvering

Hydrofoil coordinated turn with bank angle

Coordinated turn
L cos = Mg MU 2 L sin = R U2 tan = Rg

g tan U

R = U

Turning of hydrofoil vessel

Side-force coefficient on yawed strut

Horseshoe vortex system for infinite Fn

Side force coefficient on strut used as rudder. Model Tests

Atmospheric pressure
0.30

CL
Cavitation number=0.35
0.15

-0.15

-0.30 -10 0 10

Yaw Angle

Maneuvering model in six degrees of freedom

Automatic control system

Heeled free-surface piercing foil

Wake profile for harmonically heaving NACA0015.Calculated by BEM

Steady potential flow past a 2D foil. Infinite fluid

Linear lifting(a) and thickness (b) problems.Steady potential flow past 2D foil in infinite fluid

Linear hydrodynamic pressure. Flat plate

Efficiency of flap

Projections of foil surface and vortex sheet

Lifting-line theory

Far-field view

Near-field view

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Free surface effect on lift

Free surface effect on lift

h/c = 5.0 h/c = 2.0 h/c = 1.0 h/c = 0.5

Wing-in-ground effect for small Fn

Wing-in-ground effect

2 1 c CL = CL 1 + 16 h

Approximate flow description for high Fn

Wave resistance due to lift on 2D foil

1 + 16 ( h / c )2 C L = C L 2 2 + 16 ( h / c )

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Wave resistance due to thickness effects of submerged 2D foil. Elliptical cross-section

Control volume for drag calculations

High Froude number foil around 3D foil

Potential flow drag coefficient at low and high Fn

Drag coefficient due to potential flow on a 3D horizontal foil

Drag coefficient of a horizontal foil

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Influence of forward foil on lift on aft foil

2D free-surface influence of forward foil on lift on aft foil

p/c = 10 p/c = 6

CL2

p/c = 2.5

c
Angle of attack on aft foil due to forward foil:

i = CL Fn 2 e2 / Fn cos 2 Fn c
2 h

1 x
Fn

Downwash velocity in the far-field wake of elliptical foil. Infinite fluid

Down wash velocity in the far-field wake due to image vortex system.
Elliptical foil

Aft foil

Downwash at aft foil due to forward foils

Vertical change in inflow angle atan(w/U) [deg]

Foil interaction. Effect of waves and wake due to upstream foil

Forward foil

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Birds in V-form

Birds in V-form

Flap action

Wagner problem

Thrust on a heaving foil

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Lift on foil harmonically oscillating in heave and pitch

&& U & U 0.25c& ) &&) UcC (k )(h L = 0.25 c 2 (h f
Heave acceleration Pitch angle Theodorsen function

Theodorsen function

c 2U C (k f ) = F (k f ) + iG (k f )
kf =

Abs(C(kf))
C (k f )

c kf = 2U C (k f ) = F (k f ) + iG (k f )

F(kf) G(kf)

2U C (k f ) = F (k f ) + iG (k f )

kf =

kf

Vertical acceleration (m/s2)

Operational limits of hydrofoil vessels and catamarans

Catamaran

Case study of hydrofoil vessel

(35 knots H1/3 = 1.5 m)

Foilcat 2900
(35-15 knots)

Heave lift coefficient. Elliptical foil .Aspect ratio 4

2D

Quasi-steady wave-induced motions

proportional to 0 - vertical wave velocity

3D

W M

U - vertical foil velocity proportional to e

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Wave-induced vertical motions of hydrofoil vessel in head sea

quasy-steady 3a/a 5aLf/a

Head sea performance of hydrofoil vessel

Why does a hydrofoil vessel behave better than a semi-displacement vessel? Lower excitation force Negligible resonance effect

3a/a

quasy-steady 5aLf/a

Wave-induced vertical motions of hydrofoil vessel in following sea

3a/a Ra/a at x=0.5Lf

Following sea performance

Why does a hydrofoil vessel behave badly? 0 Vertical motions proportional to e

5aLf/a

Automatic control Theoretical error sources

Wave generation by the foils Foil interaction

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Thrust force on a foil due to waveinduced relative vertical velocities

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