-
3DEXPERIENCE Conference 2019 – Design, Modeling & Simulation21 November 2019 | Darmstadt
Dr.-Ing. Thomas Rosenlöcher, Maximilian Rösner, Prof. Dr.-Ing. Berthold SchlechtInstitut für Maschinenelemente und Maschinenkonstruktion Lehrstuhl Maschinenelemente
Analysis of a Voith-Schneider-Propeller in SIMPACK
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 2
dimensioning: ship hull, thruster housing, blades, couplings, motor, drive train, …
dimensioning: drive train components
standards (DIN 743, ISO 6336) software (mdesign, KissSoft, ..)
finite-element-method (Nastran, Ansys, …)
? measurement → component load ?
determination of design loads for single components by
transfer/ extrapolation of measured forces and torques
? simulation → component load ?
determination of design loads for single components by
transfer/ extrapolation of simulated forces and torques
loads loads
multibody-system simulation (MBS)
calculation of design loads for single components by
recalculation of measured or simulated load cases
global load assumptions (forces/torques hub, motor)
measurement of forces and torques at thruster
simulation of propeller loads (CFD)
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 3
dimensioning: ship hull, thruster housing, blades, couplings, motor, drive train, …
dimensioning: drive train components
standards (DIN 743, ISO 6336) software (mdesign, KissSoft, ..)
finite-element-method (Nastran, Ansys, …)
? measurement → component load ?
determination of design loads for single components by
transfer/ extrapolation of measured forces and torques
? simulation → component load ?
determination of design loads for single components by
transfer/ extrapolation of simulated forces and torques
loads loads
multibody-system simulation (MBS)
calculation of design loads for single components by
recalculation of measured or simulated load cases
global load assumptions (forces/torques hub, motor)
measurement of forces and torques at thruster
simulation of propeller loads (CFD)
paddle wheel conventional screw propeller
Voith-Schneider propeller
www.saechsische-dampfschiffahrt.de www.maritimepropulsion.com www.voith.com
azimuth thruster
www.schottel.de
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 4
Outlook
Introduction
History
Function
Basic principle
Mathematical description (kinematic, speeds and forces)
Multibody-system model of the VSP
Simulation of operational conditions
Conclusion
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 5
Voith-Schneider propeller
— Combination of propulsion and steering for good manoeuvrability and positioning
— Consists of circularly arranged rudder blades rotating around vertical axis
— Adjustment of pitch of blades over rotation by lever mechanism
— Definition of direction of propulsion
— With two propellers sideways movement is possible
— Used in tugs, ferries, minesweepers and floating cranes since 1927
Voith-Schneider propeller
Tugboat with two propellers arranged one behind the other
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 6
History
— Voith-Schneider propeller: company J. M. Voith GmbH + inventor Ernst Schneider
— Schneider made invention during his student days through theoretical considerations
— No tests carried out at the beginning
— End of 1925: Schneider applied for patent (Austria, France and Germany)
— With a small test model Schneider was able to convince Voith of his drive system
— First demonstration boat “Torqueo”, powered by a 60 HP gasoline engine was built in 1929
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 7
Function
— Vertically arranged rudder blades rotate around a common axis
— Blades pitched periodically around their own axis
— Rotation generates propulsion and allows to steer the ship at the same time
— Change from forward to reverse travel without changing of direction of rotation
— For steering it is not necessary that the rudder is flown with a sufficiently high velocity
— Single wing moves through the water on a cycloidal path - cycloidal propeller
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 8
Basic principle
— Drive in neutral position, rotor blades tangentially positioned on circular path
− No force applied by rotor blades, regardless of applied speed
— Deflected at constant angle causes different inflow - pressure difference - force effect
— When wings deflected unevenly, thrust force generation to the left
− Vertical forces must neutralize each other
— Conditions with so-called normal law fulfilled (normal of rudders must always meet at control point S at all times)
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 9
Mathematical description
— Kinematic description of joint position points by calculation of angles as function of leading point vector (∆L) and lengths of levers
— Center of drive: simple four-joint gearbox (B0-B-A-A0) ൰∆𝐿 = (𝐿1 cos 𝛿
𝐿1 sin 𝛿
൰𝐴 = (𝐿2 cos 𝜑
𝐿2 sin 𝜑
൰𝐵 = (𝐿4 cos 𝜓 + 𝐿1 cos 𝛿
𝐿4 sin 𝜓 + 𝐿1 sin 𝛿
൰𝑆(4) = (𝐿41 cos 𝜓 + 𝐿1 cos 𝛿
𝐿41 sin 𝜓 + 𝐿1 sin 𝛿
൰𝐻 = (𝐿7 cos 𝜑 + 𝜀
𝐿7 sin 𝜑 + 𝜀
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 10
Mathematical description
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 11
Mathematical description
— Additionally the deflection angle of the blade in relation to tangent to circle required to describe acting forces
— Angle between C, H and A0, υ can described by L6, L7 and position of C using A0-C
— Angle β between tangent at point H and lever 6, difference between υ and 90°
— Point C lies outside the circle if υ is greater than 90° and β is less than 0°
— Inner position for opposite signs
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 12
Approach to describe action forces
— Approach to describe acting forces for multibody-system simulation model
— Using overall model to make statements to loads acting on drivetrain
— Assumption: driving speed equal to inflow velocity in direction of travel
— Combination of different speed vectors
— Position of control point S defines direction of travel
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 13
Approach to describe action forces
— Inflow velocity acts correspondingly against direction of travel
— Described vectorially using control point position
— Resulting velocity (relevant for blade profile) results from superposition of inflow velocity v and circumferential velocity u
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 14
Approach to describe action forces
— Orientation of speed u and v is dependent on position at circumference
— Resulting speed q with maximum and minimum at 12 and 6 o’clock
— Velocity q and coefficients for lift and drag force (dependent on angle of attack and Reynolds number) simplified describe load conditions
— Resistance force is orientated in direction of resulting inflow velocity, lift force acts at right angles to it in the direction of the centre or to the outside
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 15
MBS model of the VSP
— Assembling of a CAD model based on the determined kinematic
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 16
MBS model of the VSP
— Determination of mass and mass moment of inertia of the components
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 17
MBS model of the VSP
— Assembling of a multibody system model
− Consideration of electric motor, bevel gear stage and complete mechanism
− Modelling of simplified force approach
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 18
Simulation of operational conditions
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 19
Simulation of operational conditions
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 20
Simulation of operational conditions
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 21
Simulation of operational conditions
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 22
Analysis of mechanism geometry
— Available model allows the analysis of the influence of the mechanism geometry on resulting thrust and drag forces
pitch → worse extreme valuesthrust in driving direction→ reducessideward thrust → increasesefficiency → reducesdriving torque → reducesresisting torque → reduces
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 23
Analysis of mechanism geometry
— Sideward movement of the drive due to the sideward thrust forces
— A second Voith-Schneider propeller which rotates in the opposite direction can be used to eliminate the sideward forces
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 24
Analysis of mechanism geometry
— Joints A and B have to support the highest loads
— The joints H and A0 have to transfer torques
— The acting forces lead to a bending of the wing
maximum resulting forces
resulting forces
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 25
Conclusion
— Kinematic description of mechanism is basis for constructive design
— Simulating operational conditions using a multibody-system model
— Simulation model will be used for further investigations
− Interactions between constructive design and resulting thrust forces
− Determination of occurring loads for drivetrain components
− Complete parameterization of geometric variables allows analysis of different drive train configurations
-
Analysis of a Voith-Schneider-Propeller in SIMPACK3DEXPERIENCE Conference 2019 / Dr.-Ing. Thomas Rosenlöcher21 November 2019 / Darmstadt
Page 26
»Knowledge builds bridges.«
Technische Universität DresdenFaculty of Mechanical Science and Engineering
Institute of Machine Elements and Machine DesignChair of Machine Elements
Münchner Platz 3D-01062 Dresden
www.tu-dresden.de/me
Thank you for your attention