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978-0-521-76052-2 - Ship Resistance and Propulsion: Practical Estimation of Ship Propulsive Power
Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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SHIP RESISTANCE AND PROPULSION
Ship Resistance and Propulsion is dedicated to providing a comprehensive and modern
scientific approach to evaluating ship resistance and propulsion. The study of propulsive power enables the size and mass of the propulsion engines to be established and
estimates made of the fuel consumption and likely operating costs. This book, written
by experts in the field, includes the latest developments from applied research, including those in experimental and CFD techniques, and provides guidance for the practical
estimation of ship propulsive power for a range of ship types. This text includes sufficient
published standard series data for hull resistance and propeller performance to enable
practitioners to make ship power predictions based on material and data contained
within the book. A large number of fully worked examples are included to illustrate
applications of the data and powering methodologies; these include cargo and container
ships, tankers and bulk carriers, ferries, warships, patrol craft, work boats, planing craft
and yachts. The book is aimed at a broad readership including practising naval architects and marine engineers, sea-going officers, small craft designers and undergraduate
and postgraduate degree students. It should also appeal to others involved in transportation, transport efficiency and eco-logistics, who need to carry out reliable estimates of
ship power requirements.
Anthony F. Molland is Emeritus Professor of Ship Design at the University of
Southampton in the United Kingdom. For many years, Professor Molland has extensively researched and published papers on ship design and ship hydrodynamics including propellers and ship resistance components, ship rudders and control surfaces. He
also acts as a consultant to industry in these subject areas and has gained international
recognition through presentations at conferences and membership on committees of the
International Towing Tank Conference (ITTC). Professor Molland is the co-author of
Marine Rudders and Control Surfaces (2007) and editor of The Maritime Engineering
Reference Book (2008).
Stephen R. Turnock is Professor of Maritime Fluid Dynamics at the University of
Southampton in the United Kingdom. Professor Turnock lectures on many subjects,
including ship resistance and propulsion, powercraft performance, marine renewable
energy and applications of CFD. His research encompasses both experimental and theoretical work on energy efficiency of shipping, performance sport, underwater systems
and renewable energy devices, together with the application of CFD for the design of
propulsion systems and control surfaces. He acts as a consultant to industry in these
subject areas, and as a member of the committees of the International Towing Tank
Conference (ITTC) and International Ship and Offshore Structures Congress (ISSC).
Professor Turnock is the co-author of Marine Rudders and Control Surfaces (2007).
Dominic A. Hudson is Senior Lecturer in Ship Science at the University of Southampton
in the United Kingdom. Dr. Hudson lectures on ship resistance and propulsion, powercraft performance and design, recreational and high-speed craft and ship design. His
research interests are in all areas of ship hydrodynamics, including experimental and
theoretical work on ship resistance components, seakeeping and manoeuvring, together
with ship design for minimum energy consumption. He is a member of the 26th International Towing Tank Conference (ITTC) specialist committee on high-speed craft and
was a member of the 17th International Ship and Offshore Structures Congress (ISSC)
committee on sailing yacht design.
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978-0-521-76052-2 - Ship Resistance and Propulsion: Practical Estimation of Ship Propulsive Power
Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
Frontmatter
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Ship Resistance and Propulsion
PRACTICAL ESTIMATION OF
SHIP PROPULSIVE POWER
Anthony F. Molland
University of Southampton
Stephen R. Turnock
University of Southampton
Dominic A. Hudson
University of Southampton
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978-0-521-76052-2 - Ship Resistance and Propulsion: Practical Estimation of Ship Propulsive Power
Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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cambridge university press
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c Anthony F. Molland, Stephen R. Turnock, and Dominic A. Hudson 2011
This publication is in copyright. Subject to statutory exception
and to the provisions of relevant collective licensing agreements,
no reproduction of any part may take place without the written
permission of Cambridge University Press.
First published 2011
Printed in the United States of America
A catalog record for this publication is available from the British Library.
Library of Congress Cataloging in Publication data
Molland, Anthony F.
Ship resistance and propulsion : practical estimation of ship propulsive power /
Anthony F. Molland, Stephen R. Turnock, Dominic A. Hudson.
p. cm.
Includes bibliographical references and index.
ISBN 978-0-521-76052-2 (hardback)
1. Ship resistance. 2. Ship resistance – Mathematical models.
3. Ship propulsion. 4. Ship propulsion – Mathematical models.
I. Turnock, Stephen R. II. Hudson, Dominic A. III. Title.
VM751.M65 2011
623.8 12–dc22
2011002620
ISBN 978-0-521-76052-2 Hardback
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Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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Contents
Preface
page xv
Nomenclature
xvii
Abbreviations
xxi
Figure Acknowledgements
xxv
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
History
Powering: Overall Concept
Improvements in Efficiency
references (chapter 1)
1
3
3
5
2 Propulsive Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1
2.2
2.3
2.4
Components of Propulsive Power
Propulsion Systems
Definitions
Components of the Ship Power Estimate
7
7
9
10
3 Components of Hull Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.1 Physical Components of Main Hull Resistance
3.1.1 Physical Components
3.1.2 Momentum Analysis of Flow Around Hull
3.1.3 Systems of Coefficients Used in Ship Powering
3.1.4 Measurement of Model Total Resistance
3.1.5 Transverse Wave Interference
3.1.6 Dimensional Analysis and Scaling
3.2 Other Drag Components
3.2.1 Appendage Drag
3.2.2 Air Resistance of Hull and Superstructure
3.2.3 Roughness and Fouling
3.2.4 Wind and Waves
3.2.5 Service Power Margins
references (chapter 3)
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Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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vi
Contents
4 Model-Ship Extrapolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.1 Practical Scaling Methods
4.1.1 Traditional Approach: Froude
4.1.2 Form Factor Approach: Hughes
4.2 Geosim Series
4.3 Flat Plate Friction Formulae
4.3.1 Froude Experiments
4.3.2 Schoenherr Formula
4.3.3 The ITTC Formula
4.3.4 Other Proposals for Friction Lines
4.4 Derivation of Form Factor (1 + k)
4.4.1 Model Experiments
4.4.2 CFD Methods
4.4.3 Empirical Methods
4.4.4 Effects of Shallow Water
references (chapter 4)
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5 Model-Ship Correlation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.1 Purpose
5.2 Procedures
5.2.1 Original Procedure
5.2.2 ITTC1978 Performance Prediction Method
5.2.3 Summary
5.3 Ship Speed Trials and Analysis
5.3.1 Purpose
5.3.2 Trials Conditions
5.3.3 Ship Condition
5.3.4 Trials Procedures and Measurements
5.3.5 Corrections
5.3.6 Analysis of Correlation Factors and Wake Fraction
references (chapter 5)
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6 Restricted Water Depth and Breadth . . . . . . . . . . . . . . . . . . . . . . . . . 97
6.1 Shallow Water Effects
6.1.1 Deep Water
6.1.2 Shallow Water
6.2 Bank Effects
6.3 Blockage Speed Corrections
6.4 Squat
6.5 Wave Wash
references (chapter 6)
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7 Measurement of Resistance Components . . . . . . . . . . . . . . . . . . . . . 108
7.1 Background
7.2 Need for Physical Measurements
7.3 Physical Measurements of Resistance Components
7.3.1 Skin Friction Resistance
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Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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7.3.2 Pressure Resistance
7.3.3 Viscous Resistance
7.3.4 Wave Resistance
7.4 Flow Field Measurement Techniques
7.4.1 Hot-Wire Anemometry
7.4.2 Five-Hole Pitôt Probe
7.4.3 Photogrammetry
7.4.4 Laser-Based Techniques
7.4.5 Summary
references (chapter 7)
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8 Wake and Thrust Deduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
8.1 Introduction
8.1.1 Wake Fraction
8.1.2 Thrust Deduction
8.1.3 Relative Rotative Efficiency ηR
8.2 Origins of Wake
8.2.1 Potential Wake: w P
8.2.2 Frictional Wake: w F
8.2.3 Wave Wake: w W
8.2.4 Summary
8.3 Nominal and Effective Wake
8.4 Wake Distribution
8.4.1 General Distribution
8.4.2 Circumferential Distribution of Wake
8.4.3 Radial Distribution of Wake
8.4.4 Analysis of Detailed Wake Measurements
8.5 Detailed Physical Measurements of Wake
8.5.1 Circumferential Average Wake
8.5.2 Detailed Measurements
8.6 Computational Fluid Dynamics Predictions of Wake
8.7 Model Self-propulsion Experiments
8.7.1 Introduction
8.7.2 Resistance Tests
8.7.3 Propeller Open Water Tests
8.7.4 Model Self-propulsion Tests
8.7.5 Trials Analysis
8.7.6 Wake Scale Effects
8.8 Empirical Data for Wake Fraction and Thrust Deduction Factor
8.8.1 Introduction
8.8.2 Single Screw
8.8.3 Twin Screw
8.8.4 Effects of Speed and Ballast Condition
8.9 Tangential Wake
8.9.1 Origins of Tangential Wake
8.9.2 Effects of Tangential Wake
references (chapter 8)
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Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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viii
Contents
9 Numerical Estimation of Ship Resistance . . . . . . . . . . . . . . . . . . . . . 166
9.1 Introduction
9.2 Historical Development
9.3 Available Techniques
9.3.1 Navier–Stokes Equations
9.3.2 Incompressible Reynolds Averaged Navier–Stokes
equations (RANS)
9.3.3 Potential Flow
9.3.4 Free Surface
9.4 Interpretation of Numerical Methods
9.4.1 Introduction
9.4.2 Validation of Applied CFD Methodology
9.4.3 Access to CFD
9.5 Thin Ship Theory
9.5.1 Background
9.5.2 Distribution of Sources
9.5.3 Modifications to the Basic Theory
9.5.4 Example Results
9.6 Estimation of Ship Self-propulsion Using RANS
9.6.1 Background
9.6.2 Mesh Generation
9.6.3 Boundary Conditions
9.6.4 Methodology
9.6.5 Results
9.7 Summary
references (chapter 9)
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10 Resistance Design Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
10.1 Introduction
10.2 Data Sources
10.2.1 Standard Series Data
10.2.2 Other Resistance Data
10.2.3 Regression Analysis of Resistance Data
10.2.4 Numerical Methods
10.3 Selected Design Data
10.3.1 Displacement Ships
10.3.2 Semi-displacement Craft
10.3.3 Planing Craft
10.3.4 Small Craft
10.3.5 Multihulls
10.3.6 Yachts
10.4 Wetted Surface Area
10.4.1 Background
10.4.2 Displacement Ships
10.4.3 Semi-displacement Ships, Round-Bilge Forms
10.4.4 Semi-displacement Ships, Double-Chine Forms
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Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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Contents
ix
10.4.5 Planing Hulls, Single Chine
10.4.6 Yacht Forms
references (chapter 10)
239
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11 Propulsor Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
11.1 Basic Requirements: Thrust and Momentum Changes
11.2 Levels of Efficiency
11.3 Summary of Propulsor Types
11.3.1 Marine Propeller
11.3.2 Controllable Pitch Propeller (CP propeller)
11.3.3 Ducted Propellers
11.3.4 Contra-Rotating Propellers
11.3.5 Tandem Propellers
11.3.6 Z-Drive Units
11.3.7 Podded Azimuthing Propellers
11.3.8 Waterjet Propulsion
11.3.9 Cycloidal Propeller
11.3.10 Paddle Wheels
11.3.11 Sails
11.3.12 Oars
11.3.13 Lateral Thrust Units
11.3.14 Other Propulsors
11.3.15 Propulsion-Enhancing Devices
11.3.16 Auxiliary Propulsion Devices
references (chapter 11)
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12 Propeller Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
12.1 Propeller Geometry, Coefficients, Characteristics
12.1.1 Propeller Geometry
12.1.2 Dimensional Analysis and Propeller Coefficients
12.1.3 Presentation of Propeller Data
12.1.4 Measurement of Propeller Characteristics
12.2 Cavitation
12.2.1 Background
12.2.2 Cavitation Criterion
12.2.3 Subcavitating Pressure Distributions
12.2.4 Propeller Section Types
12.2.5 Cavitation Limits
12.2.6 Effects of Cavitation on Thrust and Torque
12.2.7 Cavitation Tunnels
12.2.8 Avoidance of Cavitation
12.2.9 Preliminary Blade Area – Cavitation Check
12.2.10 Example: Estimate of Blade Area
12.3 Propeller Blade Strength Estimates
12.3.1 Background
12.3.2 Preliminary Estimates of Blade Root Thickness
12.3.3 Methods of Estimating Propeller Stresses
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Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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Contents
12.3.4 Propeller Strength Calculations Using Simple Beam
Theory
references (chapter 12)
286
293
13 Powering Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
13.1 Selection of Marine Propulsion Machinery
13.1.1 Selection of Machinery: Main Factors to Consider
13.1.2 Propulsion Plants Available
13.1.3 Propulsion Layouts
13.2 Propeller–Engine Matching
13.2.1 Introduction
13.2.2 Controllable Pitch Propeller (CP Propeller)
13.2.3 The Multi-Engined Plant
13.3 Propeller Off-Design Performance
13.3.1 Background
13.3.2 Off-Design Cases: Examples
13.4 Voyage Analysis and In-service Monitoring
13.4.1 Background
13.4.2 Data Required and Methods of Obtaining Data
13.4.3 Methods of Analysis
13.4.4 Limitations in Methods of Logging and Data Available
13.4.5 Developments in Voyage Analysis
13.4.6 Further Data Monitoring and Logging
references (chapter 13)
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14 Hull Form Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
14.1 General
14.1.1 Introduction
14.1.2 Background
14.1.3 Choice of Main Hull Parameters
14.1.4 Choice of Hull Shape
14.2 Fore End
14.2.1 Basic Requirements of Fore End Design
14.2.2 Bulbous Bows
14.2.3 Seakeeping
14.2.4 Cavitation
14.3 Aft End
14.3.1 Basic Requirements of Aft End Design
14.3.2 Stern Hull Geometry to Suit Podded Units
14.3.3 Shallow Draught Vessels
14.4 Computational Fluid Dynamics Methods Applied
to Hull Form Design
references (chapter 14)
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322
322
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331
333
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334
15 Numerical Methods for Propeller Analysis . . . . . . . . . . . . . . . . . . . . 337
15.1 Introduction
15.2 Historical Development of Numerical Methods
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Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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15.3 Hierarchy of Methods
15.4 Guidance Notes on the Application of Techniques
15.4.1 Blade Element-Momentum Theory
15.4.2 Lifting Line Theories
15.4.3 Surface Panel Methods
15.4.4 Reynolds Averaged Navier–Stokes
15.5 Blade Element-Momentum Theory
15.5.1 Momentum Theory
15.5.2 Goldstein K Factors [15.8]
15.5.3 Blade Element Equations
15.5.4 Inflow Factors Derived from Section Efficiency
15.5.5 Typical Distributions of a, a and dKT /dx
15.5.6 Section Design Parameters
15.5.7 Lifting Surface Flow Curvature Effects
15.5.8 Calculations of Curvature Corrections
15.5.9 Algorithm for Blade Element-Momentum Theory
15.6 Propeller Wake Adaption
15.6.1 Background
15.6.2 Optimum Spanwise Loading
15.6.3 Optimum Diameters with Wake-Adapted Propellers
15.7 Effect of Tangential Wake
15.8 Examples Using Blade Element-Momentum Theory
15.8.1 Approximate Formulae
15.8.2 Example 1
15.8.3 Example 2
15.8.4 Example 3
references (chapter 15)
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16 Propulsor Design Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
16.1 Introduction
16.1.1 General
16.1.2 Number of Propeller Blades
16.2 Propulsor Data
16.2.1 Propellers
16.2.2 Controllable Pitch Propellers
16.2.3 Ducted Propellers
16.2.4 Podded Propellers
16.2.5 Cavitating Propellers
16.2.6 Supercavitating Propellers
16.2.7 Surface-Piercing Propellers
16.2.8 High-Speed Propellers, Inclined Shaft
16.2.9 Small Craft Propellers: Locked, Folding and
Self-pitching
16.2.10 Waterjets
16.2.11 Vertical Axis Propellers
16.2.12 Paddle Wheels
16.2.13 Lateral Thrust Units
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Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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Contents
16.2.14 Oars
16.2.15 Sails
16.3 Hull and Relative Rotative Efficiency Data
16.3.1 Wake Fraction wT and Thrust Deduction t
16.3.2 Relative Rotative Efficiency, ηR
407
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413
references (chapter 16)
17 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
17.1 Background
17.2 Example Applications
17.2.1 Example Application 1. Tank Test Data: Estimate of
Ship Effective Power
17.2.2 Example Application 2. Model Self-propulsion Test
Analysis
17.2.3 Example Application 3. Wake Analysis from Full-Scale
Trials Data
17.2.4 Example Application 4. 140 m Cargo Ship: Estimate of
Effective Power
17.2.5 Example Application 5. Tanker: Estimates of Effective
Power in Load and Ballast Conditions
17.2.6 Example Application 6. 8000 TEU Container Ship:
Estimates of Effective and Delivered Power
17.2.7 Example Application 7. 135 m Twin-Screw Ferry, 18
knots: Estimate of Effective Power PE
17.2.8 Example Application 8. 45.5 m Passenger Ferry, 37 knots,
Twin-Screw Monohull: Estimates of Effective and
Delivered Power
17.2.9 Example Application 9. 98 m Passenger/Car Ferry, 38
knots, Monohull: Estimates of Effective and Delivered
Power
17.2.10 Example Application 10. 82 m Passenger/Car Catamaran
Ferry, 36 knots: Estimates of Effective and Delivered
Power
17.2.11 Example Application 11. 130 m Twin-Screw Warship, 28
knots, Monohull: Estimates of Effective and Delivered
Power
17.2.12 Example Application 12. 35 m Patrol Boat, Monohull:
Estimate of Effective Power
17.2.13 Example Application 13. 37 m Ocean-Going Tug:
Estimate of Effective Power
17.2.14 Example Application 14. 14 m Harbour Work Boat,
Monohull: Estimate of Effective Power
17.2.15 Example Application 15. 18 m Planing Craft,
Single-Chine Hull: Estimates of Effective Power
Preplaning and Planing
17.2.16 Example Application 16. 25 m Planing Craft, 35 knots,
Single-Chine Hull: Estimate of Effective Power
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Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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xiii
17.2.17 Example Application 17. 10 m Yacht: Estimate of
Performance
17.2.18 Example Application 18. Tanker: Propeller Off-Design
Calculations
17.2.19 Example Application 19. Twin-Screw Ocean-Going Tug:
Propeller Off-Design Calculations
17.2.20 Example Application 20. Ship Speed Trials: Correction
for Natural Wind
17.2.21 Example Application 21. Detailed Cavitation Check on
Propeller Blade Section
17.2.22 Example Application 22. Estimate of Propeller Blade
Root Stresses
17.2.23 Example Application 23. Propeller Performance
Estimates Using Blade Element-Momentum Theory
17.2.24 Example Application 24. Wake-Adapted Propeller
references (chapter 17)
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APPENDIX A1: Background Physics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
A1.1 Background
A1.2 Basic Fluid Properties and Flow
Fluid Properties
Steady Flow
Uniform Flow
Streamline
A1.3 Continuity of Flow
A1.4 Forces Due to Fluids in Motion
A1.5 Pressure and Velocity Changes in a Moving Fluid
A1.6 Boundary Layer
Origins
Outer Flow
Flow Within the Boundary Layer
Displacement Thickness
Laminar Flow
A1.7 Flow Separation
A1.8 Wave Properties
Wave Speed
Deep Water
Shallow Water
references (appendix a1)
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APPENDIX A2: Derivation of Eggers Formula for Wave Resistance . . . . . . 484
APPENDIX A3: Tabulations of Resistance Design Data . . . . . . . . . . . . . . . 487
APPENDIX A4: Tabulations of Propulsor Design Data . . . . . . . . . . . . . . . . 522
Index
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Anthony F. Molland, Stephen R. Turnock and Dominic A. Hudson
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Preface
New ship types and applications continue to be developed in response to economic,
societal and technical factors, including changes in operational speeds and fluctuations in fuel costs. These changes in ship design all depend on reliable estimates of
ship propulsive power. There is a growing need to minimise power, fuel consumption and operating costs driven by environmental concerns and from an economic
perspective. The International Maritime Organisation (IMO) is leading the shipping sector in efforts to reduce emissions such as NOx, SOx and CO2 through the
development of legislation and operational guidelines.
The estimation of ship propulsive power is fundamental to the process of designing and operating a ship. Knowledge of the propulsive power enables the size and
mass of the propulsion engines to be established and estimates made of the fuel
consumption and likely operating costs. The methods whereby ship resistance and
propulsion are evaluated will never be an exact science, but require a combination of
analysis, experiments, computations and empiricism. This book provides an up-todate detailed appraisal of the data sources, methods and techniques for establishing
propulsive power.
Notwithstanding the quantity of commercial software available for estimating
ship resistance and designing propellers, it is our contention that rigorous and robust
engineering design requires that engineers have the ability to carry out these calculations from first principles. This provides a transparent view of the calculation process and a deeper understanding as to how the final answer is obtained. An objective
of this book is to include enough published standard series data for hull resistance
and propeller performance to enable practitioners to make ship power predictions
based on material and data contained within the book. A large number of fully
worked examples are included to illustrate applications of the data and powering
methodologies; these include cargo and container ships, tankers and bulk carriers,
ferries, warships, patrol craft, work boats, planing craft and yachts.
The book is aimed at a broad readership, including practising professional naval
architects and marine engineers and undergraduate and postgraduate degree students. It should also be of use to other science and engineering students and professionals with interests in the marine field.
The book is arranged in 17 chapters. The first 10 chapters broadly cover resistance, with Chapter 10 providing both sources of resistance data and useable
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Preface
data. Chapters 11 to 16 cover propellers and propulsion, with Chapter 16 providing
both sources of propeller data and useable data. Chapter 17 includes a number of
worked example applications. For the reader requiring more information on basic
fluid mechanics, Appendix A1 provides a background to the physics of fluid flow.
Appendix A2 derives a wave resistance formula and Appendices A3 and A4 contain tabulated resistance and propeller data. References are provided at the end of
each chapter to facilitate readers’ access to the original sources of data and information and further depth of study when necessary.
Proceedings, conference reports and standard procedures of the International
Towing Tank Conference (ITTC) are referred to frequently. These provide an
invaluable source of reviews and developments of ship resistance and propulsion.
The proceedings and procedures are freely available through the website of the
Society of Naval Architects and Marine Engineers (SNAME), which kindly hosts
the ITTC website, http://ittc.sname.org. The University of Southampton Ship Science Reports, referenced in the book, can be obtained free from www.eprints
.soton.ac.uk.
The authors acknowledge the help and support of their colleagues at the University of Southampton. Thanks must also be conveyed to national and international
colleagues for their continued support over the years. Particular acknowledgement
should also be made to the many undergraduate and postgraduate students who,
over many years, have contributed to a better understanding of the subject through
research and project and assignment work.
Many of the basic sections of the book are based on notes of lectures on ship
resistance and propulsion delivered at the University of Southampton. In this context, particular thanks are due to Dr. John Wellicome, who assembled and delivered
many of the original versions of the notes from the foundation of the Ship Science
degree programme in Southampton in 1968.
Finally, the authors wish especially to thank their respective families for their
practical help and support.
Anthony F. Molland
Stephen R. Turnock
Dominic A. Hudson
Southampton 2011
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Nomenclature
A
A0
AD
AE
AP
AT
AX
b
B
Bpa
Bpx
BWL
c
CA
CB
CDair
Cf
CF
CL
CM
CP
CR
CS
CT
CV
CW
CWP
D
Wetted surface area, thin ship theory (m2 )
Propeller disc area [π D2 /4]
Propeller developed blade area ratio, or developed blade area
(m2 )
Propeller expanded blade area ratio
Projected bottom planing area of planing hull (m2 ) or projected
area of propeller blade (m2 )
Transverse frontal area of hull and superstructure above
water (m2 )
Midship section area (m2 )
Breadth of catamaran demihull (m), or mean chine beam of
planing craft (m)
Breadth of monohull or overall breadth of catamaran (m)
Mean breadth over chines [= AP /LP ] (m)
Maximum breadth over chines (m)
Breadth on waterline (m)
Section chord (m)
Model-ship correlation allowance coefficient
Block coefficient
Coefficient of air resistance [Rair /1/2ρa AT V 2 ]
Local coefficient of frictional resistance
Coefficient of frictional resistance [RF /1/2ρW SV 2 ]
Lift coefficient
Midship coefficient [ A X/(B × T)]
Prismatic coefficient [∇/(L × A X)] or pressure coefficient
2
1
Coefficient of residuary resistance
√ [RR/ /2ρ SV ]
Wetted surface coefficient [S/ ∇ · L]
Coefficient of total resistance [RT /1/2ρ SV 2 ]
Coefficient of viscous resistance [RV /1/2ρ SV 2 ]
Coefficient of wave resistance [RW /1/2ρ SV 2 ]
Coefficient of wave pattern resistance [RW P /1/2ρ SV 2 ]
Propeller diameter (m)
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Nomenclature
Dair
DAPP
DF
Demihull
E
FH
FP
Fr
Frh
Fr∇
Fx
Fy
g
G
GM
h
H
HT
iE
J
k
KT
KQ
L
Lair
LAPP
LBP
lc
LCB
LCG
Lf
lK
lm
LOA
lp
LP
LPS
LWL
L/∇ 1/3
n
N
P
PAT
P/D
Aerodynamic drag, horizontal (planing craft) (N)
Appendage resistance (N)
Planing hull frictional resistance, parallel to keel (N)
One of the hulls which make up the catamaran
Energy in wave front
Hydrostatic pressure acting at centre of pressure of planing hull
(N)
Pressure force over wetted surface of planing hull (N)
√
Froude number [V/ g · L]
√
Depth Froude number [V/ g · h]
Volume Froude number [V/ g · ∇ 1/3 ]
Yacht sail longitudinal force (N)
Yacht sail transverse force (N)
Acceleration due to gravity (m/s2 )
Gap between catamaran hulls (m)
Metacentric height (m)
Water depth (m)
Wave height (m)
Transom immersion (m)
Half angle of entrance of waterline (deg.), see also 1/2 α E
Propeller advance coefficient (VA /nD)
Wave number
Propeller thrust coefficient (T/ρn2 D4 )
Propeller torque coefficient Q/ρn2 D5 )
Length of ship (m)
Aerodynamic lift, vertically upwards (planing craft) (N)
Appendage lift (N)
Length of ship between perpendiculars (m)
Wetted length of chine, planing craft (m)
Longitudinal centre of buoyancy (%L forward or aft of amidships)
Longitudinal centre of gravity (%L forward or aft of amidships)
Length of ship (ft)
Wetted length of keel, planing craft (m)
Mean wetted length, planing craft [= (l K + lc )/2]
Length of ship overall (m)
Distance of centre of pressure from transom (planing craft)(m)
Projected chine length of planing hull (m)
Length between pressure sources
Length on waterline (m)
Length–displacement ratio
Propeller rate of revolution (rps)
Propeller rate of revolution (rpm), or normal bottom pressure
load on planing craft (N)
Propeller pitch (m)
Atmospheric pressure (N/m2 )
Propeller pitch ratio
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Nomenclature
PD
PE
PL
PS
PV
Q
Rair
Rapp
Re
RF
RFh
RInd
rps
rpm
RR
RRh
RRK
RT
RV
RVK
RVR
RW
RWP
S
SAPP
SC
sfc
SP
t
T
TC
U
V
Va
VA
VK √
VK / Lf
VR
VS
W
wT
Z
(1+k)
(1+βk)
1/ α
2 E
xix
Delivered power (kW)
Effective power (kW)
Local pressure (N/m2 )
Installed power (kW)
Vapour pressure (N/m2 )
Propeller torque (Nm)
Air resistance (N)
Appendage resistance (N)
Reynolds Number (ρVL/μ or VL/ν)
Frictional resistance (N)
Frictional resistance of yacht hull (N)
Induced resistance of yacht (N)
Revolutions per second
Revolutions per minute
Residuary resistance (N)
Residuary resistance of yacht hull (N)
Residuary resistance of yacht keel (N)
Total hull resistance (N)
Viscous resistance (N)
Viscous resistance of yacht keel (N)
Viscous resistance of yacht rudder (N)
Wave resistance (N)
Wave pattern resistance (N)
Wetted surface area (m2 )
Wetted area of appendage (m2 )
Wetted surface area of yacht canoe body (m2 ) or separation
between catamaran demihull centrelines (m)
Specific fuel consumption
Propeller/hull interaction on planing craft (N)
Thrust deduction factor, or thickness of section (m)
Draught (m), or propeller thrust (N), or wave period (secs)
Draught of yacht canoe body (m)
Speed (m/s)
Speed (m/s)
Wake speed (VS (1 − wT )) (m/s)
Relative or apparent wind velocity (m/s)
Ship speed (knots)
Speed length ratio (knots and feet)
Reference velocity (m/s)
Ship speed (m/s)
Channel width (m)
Wake fraction
Number of blades of propeller
Form-factor, monohull
Form factor, catamaran
Half angle of entrance of waterline (deg.), see also iE
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Nomenclature
β
δ
ε
ηD
ηO
ηH
ηR
ηT
γ
φ
λ
μ
ν
ρ
ρa
σ
τ
τc
τR
τW
θ
ζ
∇
∇C
Viscous resistance interference factor, or appendage scaling
factor, or deadrise angle of planing hull (deg.) or angle of relative
or apparent wind (deg.)
Boundary layer thickness (m)
Angle of propeller thrust line to heel (deg.)
Propulsive coefficient (η0 ηH ηR )
Open water efficiency (JKT /2π KQ )
Hull efficiency (1 − t)/(1 − wT )
Relative rotative efficiency
Transmission efficiency
Surface tension (N/m), or wave height decay coefficient, or course
angle of yacht (deg.), or wave number
Heel angle (deg.), or hydrodynamic pitch angle (deg.)
Leeway angle (deg.)
Dynamic viscosity (g/ms)
Kinematic viscosity (μ/ρ) (m2 /s)
Density of water (kg/m3 )
Density of air (kg/m3 )
Cavitation number, or source strength, or allowable stress (N/m2 )
Wave resistance interference factor (catamaran
resistance/monohull resistance), or trim angle of planing hull
(deg.)
Thrust/unit area, cavitation (N/m2 )
Residuary resistance interference factor (catamaran
resistance/monohull resistance)
Surface or wall shear stress (N/m2 )
Wave angle (deg.)
Wave elevation (m)
Ship displacement volume (m3 )
Displacement volume of yacht canoe body (m3 )
Ship displacement mass (∇ρ) (tonnes), or displacement force
(∇ρg) (N)
Conversion of Units
1 m = 3.28 ft
1 in. = 25.4 mm
1 kg = 2.205 lb
1 ton = 2240 lb
1 lbs/in.2 = 6895 N/m2
1 mile = 5280 ft
1 mile/hr = 1.61 km/hr
√
Fr = 0.2974 VK / L f
1 HP = 0.7457 kW
1 ft = 12 in.
1 km = 1000 m
1 tonne = 1000 kg
1 lb = 4.45 N
1 bar = 14.7 lbs/in.2
1 nautical mile (Nm) = 6078 ft
1 knot = 1 Nm/hr
1 knot = 0.5144 m/s
1 UK gal = 4.546 litres
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Abbreviations
ABS
AEW
AFS
AHR
AP
ARC
ATTC
BDC
BEM
BEMT
BMEP
BMT
BN
BSRA
BTTP
CAD
CCD
CFD
CG
CLR
CODAG
CP
CSR
DES
DNS
DNV
DSYHS
DTMB
EFD
FEA
FP
FRP
FV
American Bureau of Shipping
Admiralty Experiment Works (UK)
Antifouling systems on ships
Average hull roughness
After perpendicular
Aeronautical Research Council (UK)
American Towing Tank Conference
Bottom dead centre
Boundary element method
Blade element-momentum theory
Brake mean effective pressure
British Maritime Technology
Beaufort Number
British Ship Research Association
British Towing Tank Panel
Computer-aided design
Charge-coupled device
Computational fluid dynamics
Centre of gravity
Centre of lateral resistance
Combined diesel and gas
Controllable pitch (propeller)
Continuous service rating
Detached eddy simulation
Direct numerical simulation
Det Norske Veritas
Delft systematic yacht hull series
David Taylor Model Basin
Experimental fluid dynamics
Finite element analysis
Forward perpendicular, or fixed pitch (propeller)
Fibre-reinforced plastic
Finite volume
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Abbreviations
GL
GPS
HP
HSVA
IESS
IMarE
IMarEST
IMechE
IMO
INSEAN
ISO
ITTC
JASNAOE
LCG
LDA
LDV
LE
LES
LR
MAA
MARIN
MCR
MEMS
NACA
NECIES
NPL
NSMB
NTUA
ORC
P
PIV
QPC
RANS
RB
RINA
ROF
rpm
rps
S
SAC
SCF
SG
SNAJ
SNAK
SNAME
SP
SSPA
Germanischer Lloyd
Global Positioning System
Horsepower
Hamburg Ship Model Basin
Institute of Engineers and Shipbuilders in Scotland
Institute of Marine Engineers (became IMarEST from 2001)
Institute of Marine Engineering, Science and Technology
Institution of Mechanical Engineers
International Maritime Organisation
Instituto di Architectura Navale (Rome)
International Standards Organisation
International Towing Tank Conference
Japan Society of Naval Architects and Ocean Engineers
Longitudinal centre of gravity
Laser Doppler anemometry
Laser Doppler velocimetry
Leading edge of foil or fin
Large eddy simulation
Lloyd’s Register of Shipping
Mean apparent amplitude
Maritime Research Institute of the Netherlands (formerly NSMB)
Maximum continuous rating
Microelectromechanical systems
National Advisory Council for Aeronautics (USA)
North East Coast Institution of Engineers and Shipbuilders
National Physical Laboratory (UK)
The Netherlands Ship Model Basin (later to become MARIN)
National Technical University of Athens
Offshore Racing Congress
Port
Particle image velocimetry
Quasi propulsive coefficient
Reynolds Averaged Navier–Stokes
Round back (section)
Royal Institution of Naval Architects
Rise of floor
Revolutions per minute
Revolutions per second
Starboard
Sectional area curve
Ship correlation factor
Specific gravity
Society of Naval Architects of Japan (later to become JASNAOE)
Society of Naval Architects of Korea
Society of Naval Architects and Marine Engineers (USA)
Self-propulsion
Statens Skeppsprovingansalt, Götaborg, Sweden
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Abbreviations
STG
TBT
TDC
TDW
TE
TEU
UTS
VCB
VLCC
VPP
VWS
WUMTIA
xxiii
Schiffbautechnische Gesellschaft, Hamburg
Tributyltin
Top dead centre
Tons deadweight
Trailing edge of foil or fin
Twenty foot equivalent unit [container]
Ultimate tensile stress
Vertical centre of buoyancy
Very large crude carrier
Velocity prediction program
Versuchsanstalt für Wasserbau und Schiffbau Berlin (Berlin
Model Basin)
Wolfson Unit for Marine Technology and Industrial
Aerodynamics, University of Southampton
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Figure Acknowledgements
The authors acknowledge with thanks the assistance given by the following companies and publishers in permitting the reproduction of illustrations and tables from
their publications:
Figures 8.5, 10.7, 10.9, 10.10, 10.12, 12.24, 14.17, 14.18, 14.19, 14.20, 14.21, 14.22,
14.23, 14.24, 14.30, 15.4, 15.14, 15.15, 15.17, 16.1, 16.2 and Tables A3.13,
A3.14, A3.15, A4.3 reprinted courtesy of The Society of Naval Architects and
Marine Engineers (SNAME), New York.
Figures 3.28, 3.29, 4.4, 4.5, 4.6, 7.6, 7.10, 7.16, 7.28, 8.4, 10.2, 10.3, 10.4, 10.5,
10.13, 10.14, 10.20, 10.21, 12.26, 14.15, 16.7, 16.8, 16.9, 16.10, 16.15, 16.16,
16.17, 16.19, 16.26 and Tables A3.1, A3.6, A3.24, A3.25, A3.26, A4.4, A4.5
reprinted courtesy of The Royal Institution of Naval Architects (RINA),
London.
Figures 10.11, 16.24 and Tables A3.2, A3.3, A3.4, A3.5, A3.12, A3.23, A4.1,
A4.2, A4.6 reprinted courtesy of IOS Press BV, Amsterdam.
Figures 4.8, 8.3, 8.12, 8.13, 16.3, 16.4, 16.5, 16.6, 16.13 reprinted courtesy of
MARIN, Wageningen.
Figure 10.23 and Tables 10.13, 10.14, 10.15, 10.16, 10.17 reprinted courtesy of
The HISWA Symposium Foundation, Amsterdam.
Figures A1.1, A1.7, A1.8 and Sections A1.1–A1.7 reprinted courtesy of Elsevier
Ltd., Oxford.
Figure 10.22 reprinted courtesy of The Japan Society of Naval Architects and
Ocean Engineers (JASNAOE), Tokyo (formerly The Society of Naval Architects of Japan (SNAJ), Tokyo).
Figure 3.10 reprinted courtesy of WUMTIA, University of Southampton and
Dubois Naval Architects Ltd., Lymington.
Figure 7.3 reprinted courtesy of WUMTIA, University of Southampton.
Figure 12.29 reprinted courtesy of The University of Newcastle upon Tyne.
Figures 12.31, 13.9, 15.17 reprinted courtesy of The North East Coast Institution
of Engineers and Shipbuilders (NECIES), Newcastle upon Tyne.
Table A3.7 reprinted courtesy of Ship Technology Research, Hamburg.
Table A3.27 reprinted courtesy of STG, Hamburg.
xxv
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Figure Acknowledgements
Figure 10.6 reprinted courtesy of BMT Group Ltd., Teddington.
Figure 12.25 reprinted courtesy of The Institution of Mechanical Engineers
(IMechE), London.
Figures 16.27, 16.28 and Tables 16.8, 16.9 reprinted courtesy of The Offshore
Racing Congress (ORC).
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