Ocean Engineering 108 (2015) 563–570

Contents lists available at ScienceDirect

Ocean Engineering
journal homepage: www.elsevier.com/locate/oceaneng

Analytical models of hydrodynamic pressure field causing by a moving

ship in restricted waterways
Zhi-hong Zhang, Hui Deng n, Chong Wang
College of Science, Naval University of Engineering, Wuhan 430033, China

art ic l e i nf o a b s t r a c t

Article history: Based on the potential flow theory, a linear shallow-water wave equation which satisfies Laplace
Received 13 April 2015 equation, free surface and seabed boundary conditions is established. For the slender ship assumption,
Accepted 25 August 2015 boundary conditions of different restricted waterways and continuous matched condition across the step
Available online 15 September 2015
depth change between inner and outer regions, these mathematical problems of sub-subcritical, sub-
Keywords: supercritical, and super-supercritical mixed flows are solved analytically by using Fourier integral
Restricted waterways transform method, meanwhile, analytical models for ship hydrodynamic pressure field in different
Subcritical flow restricted waterways such as open water, rectangular canal, dredged channel and stepped canal are
Supercritical flow established. The characteristics of ship hydrodynamic pressure field in different restricted waterways and
Mixed flow
mixed flows are obtained by numerical calculation, the influences of sidewall or step on SHPF are ana-
Ship hydrodynamic pressure field (SHPF)
lyzed. The analytical models are verified by the comparison between the calculated results with the
experimental ones as well as the successful degeneration from complex models to simple ones.
& 2015 Elsevier Ltd. All rights reserved.

1. Introduction
With the development of rivers, lakes and high speed ships
around the world, ships often move at high speed in restricted
waterways and shallow water (Zhou and Zhen, 2006), and the
research on shallow-water wave problem has practical sig-
nificance in shipbuilding, coastal and hydraulic engineering. The
sinkage and trim caused by a moving ship in shallow water are
concerned with wave resistance and safe sailing (Tuck, 1966; Beck
et al.,1975; Gourlay and Tuck, 2001; Zhou et al., 2013).The ship
wake-waves maybe influence the safeties of other ships or archi-
tectures and bring washing effect on sidewall in restricted
waterways (Jiang, 2001; Zhou et al., 2012). The pressure variation
caused by a moving ship which can be called as ship hydro-
dynamic pressure field (SHPF) represents itself inherent physical
features, meanwhile, its characteristic signal can be used as the-
oretical basis of discovering and identifying ship target for
underwater ordnance (Sahin and Hyman, 2001; Lazauskas, 2007;
Zhang and Gu, 2006; Zhang et al. 2002).
At present, most researches on SHPF mainly aim at constant
depth or open water, and rarely concern the actual non-uniform
depth, sidewall effects and so on. Beck et al. (1975), Gourlay (2000,
2001, 2008) and Jiang (2001) researched ship hydrodynamic force
and forecasted ship squat, in this paper, we will further extend the
n
Corresponding author. Tel.: þ 86 15926419650.
E-mail address: denghui8411@163.com (H. Deng).
pressure distribution on hull surface to the whole flow field, and
the sub-subcritical flow to the sub-supercritical and super-super-
critical mixed flows in inner and outer regions, then establish
analytical models of open water, rectangular canal, dredged
channel and stepped canal respectively. The characteristics of
SHPF in different restricted waterways and mixed flows are
obtained by numerical calculation, and the calculated results are
compared with typical experimental ones.
An inclined bottom can be treated as a series of stepped bottom
by using the continuous matched condition on every step junction,
these mathematical methods which are used for establishing
analytical models of SHPF in dredged channel or stepped canal can
be extended to solve more complex problems such as trapezoidal
or parabolic bottom and so on.
Furthermore, these analytical models of SHPF in this paper can
be used as typical verification of numerical solutions in some
special simplified conditions for complex bottom or sidewall.
2. Governing equations
A Cartesian coordinate system oxyz is employed and moves with
ship, the origin o locates at the center of hull waterline, with z
vertically upward, z = 0 the plane of undisturbed free surface, and
the x-axis coincident with the longitudinal axis of ship, the ship bow
is oriented in the positive x-direction, as shown in Fig. 1. Supposing
the ship length is L (or 2l), width 2b, the depth of water h. The flow is
symmetric about y = 0, we consider only the region y ≥ 0.

http://dx.doi.org/10.1016/j.oceaneng.2015.08.046
0029-8018/& 2015 Elsevier Ltd. All rights reserved.
564 Z.-h. Zhang et al. / Ocean Engineering 108 (2015) 563–570

y z y z
V o y
x
o h
H
Fig. 1. Coordinate system.
h
The fluid is assumed to be inviscid, incompressible and irrota-
tional. Ignoring the nonlinear and dispersive effects (Jiang, 2001;
Deng et al., 2014a, 2014b), a steady shallow-water wave equation wh
can be derived, which satisfies the Laplace equation, free surface
Fig. 2. Cross-section of dredged channel.
and seabed boundary conditions, i.e.

(1 − Fh2 ) ϕxx + ϕyy = 0 (1)

z
where Fh is the depth Froude number, Fh = V / gh , g is the grav- y
itational acceleration, and ϕ (x, y ) is the depth-averaged velocity
potential. H
Fh < 1 and Fh > 1 are known as subcritical and supercritical h
speed, respectively, Fh = 0.8–1.2 is referred to transcritical speed. In
addition to the range of transcritical speed, Eq. (1) is suitable for
wh
forecasting the ship sinkage or trim (Gourlay, 2001, 2008). For ship
moving at subcritical or supercritical speed, the governing equa- wH
tion corresponds to elliptic or hyperbolic equation respectively, Fig. 3. Cross-section of stepped canal.
and when ship moves at subcritical speed, the upstream, down-
stream and transverse infinity should satisfy the condition of
disturbance attenuation
y
ϕ (x, y) → 0, as x → ± ∞ or y → ∞ (2)

When ship moves at supercritical speed, it is necessary to set

the condition for the ship waves still moving backward h
ϕ (x, y) = ψ (x + β2 y) (3)

where β2 = Fh2 − 1 . wh
For different restricted waterways, it is necessary to give the
corresponding boundary conditions. As shown in Figs. 2–4, there Fig. 4. Cross-section of rectangular canal.

are dredged channel, stepped canal and rectangular canal, the

depth of inner region is h, its velocity potential ϕ , and the depth of
∞ ∞
outer region is H, its velocity potential Φ . The flow on the stepped ~ ~
ϕ (k, y) = ∫−∞ ϕ (x, y) eikxdx, Φ (k, y) = ∫−∞ Φ (x, y) eikxdx (8)
interface between inner region and outer one should satisfy the
continuous matched conditions that disturbance velocity potential
1 ∞
and transverse volume flux are equal respectively on interface ϕ (x, y) = ∫−∞ ϕ~ (k, y) e−ikxdk, Φ (x, y)
(Beck et al.,1975; Gourlay, 2008) 2π
1 ∞
ϕ (x, wh/2 − 0) = Φ (x, wh/2 + 0) (4) =
2π
∫−∞ Φ~ (k, y) e−ikxdk (9)

hϕy (x, wh/2 − 0) = HΦy (x, wh/2 + 0) (5) The velocity field and pressure field can be acquired by calcu-
lation after obtaining the disturbance velocity potential, then the
The boundary condition on y = wH /2 of stepped canal or
y = wh/2 of rectangular canal should satisfy the impenetrable ship hydrodynamic force, sinkage and trim also can be calculated.
condition along the sidewall normal direction, The longitudinal disturbance velocity in inner and outer regions
can be obtained from Eq. (9)
Φy (x, y) = 0 (6)
i ∞
The hull boundary condition with the assumption of a slender ϕx (x, y) = − ∫−∞ kϕ˜(k, y) e−ikxdk, Φx (x, y)
ship can be written as, 2π
i ∞
ϕy (x, 0) = − Vfx (x), as x ≤ l (7)
= −
2π
∫−∞ kΦ˜ (k, y) e−ikxdk (10)

where f (x ) = S (x ) /(2h) is the equation of ship hull waterline,

and the Wigley mathematical ship model is used for calculation,
its S (x ) = Smax [1 − (x/l )2] is the cross-sectional area under the
waterline at position x, then f (x ) = b [1 − (x/l )2], here b = Smax/(2h)
(Deng et al., 2014a, 2014b).
Solving the above mathematical problems by using Fourier
integral transform method, and the transformation and inverse
transformation forms of Fourier integral transform in inner and
outer regions can be expressed as follows (Gourlay, 2014):
here letting − 2ikπ ϕ˜(k, y ) e−ikx = ϕ˜R (k, y ) + iϕ˜I (k, y ), ϕ˜0 (k , y ) = 2ϕ˜R (k , y ),
Φ˜ 0 (k , y ) = 2Φ˜ R (k , y ).
Defining the pressure coefficient is Cp = Δp/(0.5ρV2), here Δp is
disturbance pressure, ρ is water density. According to the Bernoulli
equation, the pressure field around ship can be obtained, and the
pressure coefficients of inner and outer regions can be expressed
as Cp = 2ϕx /V and Cp = 2Φx/V respectively, furthermore, those also
can be written as follows:
 Z.-h. Zhang et al. / Ocean Engineering 108 (2015) 563–570 565

2 ∞
~ 2 ∞
~ determined, and then the velocity potential of inner or outer
Cp =
V
∫0 ϕ0 (k, y) dk, Cp =
V
∫0 Φ0 (k, y) dk
(11) region can be got respectively from Eq. (9)
where ϕ̃0 (k , y ) and Φ̃0 (k , y ) can be obtained from Eq. (10). iV ∞
ϕ (x, y) = −
2π
∫−∞ f˜ (k) g1(k, y) g2 (k) e−ikxdk (22)

3. Theoretical models iV ∞
Φ (x, y) = −
2π
∫−∞ f˜ (k) g2 (k) e−ik [x + β (y − w /2)] dk
4 h
(23)
As shown in Figs. 2 and 3, because of h ≥ H , then Fh ≤ FH , here where g1 (k , y ) = cosh [kβ1 (y − wh/2)] − ic1 sinh [kβ1 (y − wh/2)],
FH = V / gH . For different water depths and sailing speeds, usually, g2 (k ) = 1/{β1 [ sinh (kβ1wh/2) + ic1 cosh (kβ1wh/2)]}.
there are three kinds of mixed flow named as sub-supercritical, Therefore, for the sub-supercritical mixed flow in dredged
sub-subcritical and super-supercritical flow in inner and outer channel, ϕ̃0 (k , y ) and Φ̃0 (k , y ) in Eq. (11) can be obtained respec-
regions, the sub-supercritical mixed flow means that the flow is tively,
subcritical in inner region, and supercritical in outer one, and
~ V ~
others can be so on. Noting β1 = 1 − Fh2 , here Fh < 1; β2 = Fh2 − 1 , ϕ0 (k, y) = − kf (k )[ cos (kx) g3 (k, y)
π
here Fh > 1; β3 = 1 − FH2 , here FH < 1; β4 = FH2 − 1 , here FH > 1; − c1 sin (kx) cosh (kβ1y)] g4 (k ), Fh < 1 (24)
c1 = Hβ4 /(hβ1), c2 = Hβ3/(hβ1), c3 = Hβ4 /(hβ2 ).
For Fh < 1 or Fh > 1, Eq. (1) can be transformed by using Fourier
integral transform and Eq. (2) (Gourlay, 2014) V ~
~
~ ~ Φ0 (k, y) = − kf (k ) g4 (k ) g5 (k, y), FH > 1
ϕyy (k, y) − β12 k 2ϕ (k, y) = 0, Fh < 1 π (25)
(12)
where g3 (k , y ) = sinh (kβ1wh/2) cosh [kβ1 (y − wh/2)] ,
where ϕ̃(k , y ) = A (k ) e y k β1 + B (k ) e−y k β1.
~ ~ − c12 cosh (kβ1wh/2) sinh [kβ1 (y − wh/2)]
ϕyy (k, y) + β22 k 2ϕ (k, y) = 0, Fh > 1 (13)
g4 (k ) = 1/{β1 [sinh2 (kβ1wh/2) + c12 cosh2 (kβ1wh/2)]} ,
where ϕ̃(k , y ) = C (k ) eiy k β2 + D (k ) e−iy k β2 .
Using Fourier integral transform, Eq. (2) becomes
~ g5 (k, y) = sinh (kβ1wh/2) cos [kx + kβ4 (y − wh/2)]
ϕ (k, y) → 0, as x → ± ∞ ory → ∞ (14)
− c1 cosh (kβ1wh/2) sin [kx + kβ4 (y − wh/2)].
Meanwhile, Eqs. (4) and (7) become
With some special conditions, solutions can be simplified as
ϕ˜(k, wh/2 − 0) = Φ˜ (k, wh/2 + 0) (15) follows:

hϕ˜y (k, wh/2 − 0) = HΦ˜ y (k, wh/2 + 0) (16) (1) For wh → ∞, there is only inner region, Eq. (24) can be
simplified, the pressure coefficient is just degenerated to that
of subcritical flow of open water, namely,
Φ̃y (k, y) y = wH /2
=0 (17)
2 ∞ ~
Cp = −
πβ1
∫0 kf (k ) e−ykβ1 cos (kx) dk, Fh < 1
(26)
ϕ̃y (k, 0) = iVkf˜ (k ) (18)
∞
(2) For wh = 0, there is only outer region, then h = H , c1β1 = β4 ,
Because of f˜ (k ) = ∫−∞ f (x ) eikxdx , for Wigley ship model, then Eq. (25) can be simplified, the pressure coefficient is just
we can get, degenerated to that of supercritical flow of open water, namely,

4b ⎡ l cos (kl) sin (kl) ⎤ 2 ∞ ~

f˜ (k ) = − 2 ⎢
⎣
− ⎥ Cp = ∫0 kf (k ) sin [k (x + yβ4 )] dk, FH > 1
l k 2
k3 ⎦ (19) πβ4 (27)

where f˜ (k ) is even function about k. (3) For H = 0, then c1 = 0, there is only inner region, Eq. (24) can
be simplified, and the pressure coefficient is just degenerated
to that of subcritical flow of rectangular canal, namely,
3.1. Dredged channel
2 ∞ kf˜ (k ) cosh [kβ1 (y − wh/2)]
3.1.1. Sub-supercritical mixed flow
Cp = −
πβ1
∫0 sinh (kβ1wh/2)
cos (kx) dk, Fh

Supposing the flow is subcritical in inner region and super- (28)

<1
critical in outer one. In inner region, combining the general solu-
tion of Eq. (12) with Eq. (18), we get (4) For FH = 1, then β4 = 0, c1 = 0, the pressure coefficient also can
be degenerated to Eq. (28), which means the influence of
iVf˜ (k ) outer region is equivalent to that of rectangular canal sidewall.
ϕ˜(k, y) = 2B (k ) cosh (y k β1) + sgn (k ) e y k β1
β1 (20)
3.1.2. Sub-subcritical mixed flow
where “ sgn ” is the sign function. Supposing the flow is all subcritical in inner and outer
In outer region, combining the general solution of Eq. (13) with regions, the inner solution ϕ̃(k , y ) is the same form as Eq. (20).
Eq. (3) and replacing ϕ̃ with Φ̃ , β2 with β4 respectively, we can obtain In outer region, combining the general solution of Eq. (12) with
⎧ D (k ) e−iykβ4 , k > 0
⎪
Eq. (2), meanwhile, replacing B (k ) and β1 with D (k ) and β3
Φ̃(k, y) = ⎨ ⎪ respectively, we get
⎩ C (k ) e−iykβ4 , k < 0 (21)
Φ̃(k, y) = D (k ) e−y k β3 (29)
According to the matched conditions Eqs. (15) and (16), B (k ),
C (k ) and D (k ) can be
566 Z.-h. Zhang et al. / Ocean Engineering 108 (2015) 563–570

According to Eqs. (15) and (16), we get B (k ) and D (k ), and the where g10 (k , y ) = cos [kβ2 (wh/2 − y )] sin (kβ2 wh/2) ,
velocity potential of inner and outer region can be got respectively
− c32 sin [kβ2 (wh/2 − y )] cos (kβ2 wh/2)
iV ∞
ϕ (x, y) = − ∫−∞ f˜ (k ) sgn (k ) g6 (k, y) g7 (k ) e−ikxdk
2π (30) g11 (k ) = 1/{β2 [sin2 (kβ2 wh/2) + c32 cos2 (kβ2 wh/2)]} ,

g12 (k, y) = c3 cos (kβ2 wh/2) sin [kx + kβ4 (y − wh/2)]

iV ∞
Φ (x, y) = −
2π
∫−∞ f˜ (k) sgn (k) g7 (k) e−ikx − k β (y − w /2) dk
3 h
(31) + sin (kβ2 wh/2) cos [kx + kβ4 (y − wh/2)].

where g6 (k , y ) = c2 sinh [ k β1 (wh/2 − y )] + cosh [kβ1 (wh/2 − y )], With some special conditions, solutions can be simplified as
follows:
g7 (k ) = 1/{β1 [c2 cosh (kβ1wh/2) + sinh ( k β1wh/2)]}

Therefore, for the sub-subcritical mixed flow in dredged (1) For wh = 0, there is only outer region, Eq. (38) can be
channel, ϕ̃0 (k , y ) and Φ̃0 (k , y ) in Eq. (11) can be obtained respec- degenerated to Eq. (27).
tively (2) For h = H , then c3 = 1 and β2 = β4 , inner solution is the same
form as outer one, they all can be simplified to Eq. (27).
~ V ~ (3) For H = 0, then c3 = 0, there is only inner region, Eq. (37) can
ϕ0 (k, y) = − kf (k ) g6 (k, y) g7 (k ) cos (kx), Fh < 1
π (32) be simplified, the pressure coefficient is just degenerated to
the result of supercritical flow of rectangular canal, namely,
V
Φ˜ 0 (k, y) = − kf˜ (k ) e−kβ3 (y − wh/2) g7 (k ) cos (kx), FH < 1 kf˜ (k ) cos [kβ2 (y − wh/2)]
π (33) 2 ∞
Cp =
πβ2
∫0 sin (kβ2 wh/2)
cos (kx) dk, Fh > 1
(39)
With some special conditions, solutions can be simplified as
follows:

(1) For wh → ∞, there is only inner region, substituting the sim- 3.2. Stepped canal
plified Eq. (32) into Eq. (11), we can get the subcritical result
Eq. (26) of open water. 3.2.1. Sub-supercritical mixed flow
In inner region, the solution ϕ̃(k , y ) is the same form as Eq. (20).
(2) For h = H , there are β1 = β3 and c2 = 1, the inner solution is the
same form as outer solution, substituting them into Eq. (11), In outer region, combining the general solution of Eq. (13) with
we can also get Eq. (26). Eq. (17) and replacing β2 with β4 , we get
(3) For H = 0, then c2 = 0, there is only inner region, we can get Φ˜ (k, y) = 2D (k ) e−i k β4 wH /2 cos [ k β4 (y − wH /2)] (40)
the subcritical result Eq. (28) of rectangular canal.
According to Eqs. (15) and (16), we get B (k ) and D (k ), and the
3.1.3. Super-supercritical mixed flow velocity potential of inner or outer region can be got respectively
Supposing the flow is all supercritical in inner and outer
iV ∞
regions. In inner region, combining the general solution of Eq. (13) ϕ (x, y) = −
2π
∫−∞ f˜ (k) q1(k, y) q2 (k) e−ikxdk (41)
with Eq. (18), we can obtain

Vf˜ (k )
ϕ˜(k, y) = 2B (k ) cos ( k β2 y) + sgn (k ) ei k β2 y
β2 (34) iV ∞ cos [kβ (y − w /2)]
Φ (x, y) = −
2π
∫−∞ f˜ (k) q2 (k) cos [kβ 4(wh − wHH )/2] e−ikxdk (42)
4
In outer region, according to Eqs. (13) and (3), Φ̃(k , y ) is the
same form as Eq. (21). B (k ), C (k ) and D (k ) can be obtained by using where
Eqs. (15) and (16), and the velocity potential of inner and outer q1 (k, y ) = cosh [kβ1 (wh/2 − y )] + c1 sinh [kβ1 (wh/2 − y )] tan [kβ4 (wh − wH ) /2],
region can be got respectively
q2 (k ) = 1/{β1[ sinh (kβ1wh/2) + c1 cosh (kβ1wh/2) tan (kβ4 (wh − wH ) /2)]} .
V ∞
ϕ (x, y) = ∫−∞ f˜ (k ) g8 (k, y) g9 (k ) e−ikxdk Therefore, for the sub-supercritical mixed flow in stepped
2π (35)
canal, ϕ̃0 (k , y ) and Φ̃0 (k , y ) in Eq. (11) can be obtained respectively
V
iV ∞ ϕ˜0 (k, y) = − kf˜ (k ) q1 (k, y) q2 (k ) cos (kx), Fh < 1
Φ (x, y) = ∫−∞ f˜ (k) g9 (k) e−ik [x + β (y − w /2)] dk
4 h π (43)
2π (36)

where g8 (k , y ) = i cos [kβ2 (wh/2 − y )] − c3 sin [kβ2 (wh/2 − y )], Vkf˜ (k ) q2 (k ) cos [kβ4 (y − wH /2)]
Φ˜ 0 (k, y) = − cos (kx),
g9 (k ) = 1/{β2 [ sin (kβ2 wh/2) − ic3 cos (kβ2 wh/2)]} . π cos [kβ4 (wh − wH )/2]
FH > 1 (44)
Therefore, for the super-supercritical mixed flow in dredged
channel, ϕ̃0 (k , y ) and Φ̃0 (k , y ) in Eq. (11) can be obtained respectively With some special conditions, solutions can be simplified as
follows:

V
ϕ˜0 (k, y) = kf˜ (k )[g10 (k, y) cos (kx) (1) For wh = wH or H = 0, there is only inner region, Eq. (43) can
π be degenerated to Eq. (28).
+ c3 cos (kβ2 y) sin (kx)] g11 (k ), Fh > 1 (37) (2) For wh → ∞, there is only inner region, Eq. (43) can be
degenerated to Eq. (26).
V
Φ˜ 0 (k, y) = kf˜ (k ) g11 (k ) g12 (k, y), FH > 1 (3) For wh = 0, then h = H , β1 = iβ4 ,c1 = i , there is only outer region,
π (38) substituting the simplified Eq. (44) into Eq. (11) and replacing
β2 with β4 , we can get Eq. (39).
 Z.-h. Zhang et al. / Ocean Engineering 108 (2015) 563–570 567

(4) For FH = 1, then β4 = 0 , c1 = 0, the inner and outer regions all

exist, Eq. (43) can be simplified and we get Eq. (28), which
means the influence of outer region is equivalent to that of
rectangular canal sidewall.

3.2.2. Sub-subcritical mixed flow

ϕ̃(k , y ) is the same form as Eq. (20). In outer region, combining
the general solution of Eq. (12) with Eq. (17), meanwhile replacing
B (k ) with D (k ) and β1 with β3, we get
Φ˜ (k, y) = 2D (k ) e− k β3 wH /2 cosh [ k β3 (y − wH /2)] (45) Fig. 5. Experimental ship model.

According to Eqs. (15) and (16), we get B (k ) and D (k ), and the

V cos [kβ4 (y − wH /2)]
velocity potential of inner or outer region can be got respectively Φ˜ 0 (k, y) = − kf˜ (k ) q6 (k ) cos (kx), FH > 1
π cos [kβ4 (wh − wH )/2] (53)
iV ∞
ϕ (x, y) = −
2π
∫−∞ f˜ (k) q3 (k, y) q4 (k) e−ikxdk (46) With some special conditions, solutions can be simplified as
follows:

iV ∞ cosh [kβ (y − w /2)]  For wh = wH or H = 0, there is only inner region, Eq. (52) can be
Φ (x, y) = −
2π
∫−∞ f˜ (k) q4 (k) cosh [kβ 3(wh − wHH )/2] e−ikxdk (47) degenerated to Eq. (39).
3
 For wh = 0, then β2 = β4 , c3 = 1, there is only outer region,
where q3 (k , y ) = c2 tanh [kβ3 (wh − wH ) /2] sinh [kβ1 (y − wh/2)], substituting the simplified Eq. (52) into Eq. (11), we can get
+ cosh [kβ1 (y − wh/2)] Eq. (39).
 For FH = 1, then β4 = 0, we can also get Eq.(39).
q4 (k ) = 1/{β1 [ sinh (kβ1wh/2) − c2 tanh (kβ3 (wh − wH )/2) cosh (kβ1wh/2)]}.

Therefore, for the sub-subcritical mixed flow in stepped canal,

4. Results and analysis
ϕ̃0 (k , y ) and Φ̃0 (k , y ) in
Eq. (11) can be obtained respectively
As shown in Fig. 5, the experimental ship model is L = 2.4 m in
V length, Smax = 0.0433 m2 in maximum cross sectional area and
ϕ˜0 (k, y) = − kf˜ (k ) q3 (k, y) q4 (k ) cos (kx), Fh < 1
π (48) b = Smax/(2h) in half width, and the Wigley mathematical model
used for calculation is in the same main dimensions as the
Vkf˜ (k ) q4 (k ) cosh [kβ3 (y − wH /2)] experimental ship model. In our previous articles (Deng et al.,
Φ˜ 0 (k, y) = − cos (kx), 2014a, 2014b), we had researched on the difference between the
π cosh [kβ3 (wh − wH )/2]
Wigley model and the experimental model, and found that the ship
FH < 1 (49)
type with the same main dimensions has little effect on the SHPF,
With some special conditions, solutions can be simplified as follows: because it belongs to the far field of ship. Therefore, we choose the
Wigley model to explore the analytical solutions of SHPF.
(1) For wh = wH or H = 0, there is only inner region, Eq. (48) can We use Eqs. (26) and (27) to calculate the SHPF of open water of
be degenerated to Eq. (28). constant depth, and compare the calculated results with our
(2) For wh → ∞, there is only inner region, Eq. (48) can be existing experimental ones, as shown in Figs.6 to 9, which show
degenerated to Eq. (26). that the calculated results are basically in agreement with
(3) For wh = 0, then β1 = β3, c2 = 1, there is only outer region, experimental ones, though there are some differences between
Eq. (49) can be degenerated to Eq. (28). them because of the simplification of theoretical model. As shown
(4) For FH = 1, then β3 = 0, Eq. (49) can also be degenerated to Eq. in Fig. 6 at subcritical speed, the longitudinal curve of SHPF is
Super-supercritical mixed flow
3.2.3.(28). symmetrical before and after, the positive pressure peaks exist
ϕ̃(k , y ) is the same form as Eq. (34), and Φ̃(k , y ) is the same form near ship bow which is x/L = − 0.5 and ship stern which is
as Eq. (40). According to Eqs. (15) and (16), B (k ) and D (k ) can be x/L = 0.5, the negative pressure peak exists near middle of ship
obtained, and the velocity potential of inner or outer region can be which is x/L = 0, and the experimental curve is slightly backward
got respectively compared with calculated one. As shown in Fig. 7 at supercritical
speed, the pressure near ship bow increases sharply to maximum,
iV ∞
ϕ (x, y) = −
2π
∫−∞ f˜ (k) q5 (k, y) q6 (k) e−ikxdk (50)
and pressure near ship stern decreases sharply to minimum. There
is zone of positive pressure in the water between bow and middle
of ship, zone of negative pressure in the water between middle
and stern of ship, and the calculated pressure decreases from
iV ∞ cos [kβ (y − w /2)]
Φ (x, y) = −
2π
∫−∞ f˜ (k) q6 (k) cos [kβ 4(wh − wHH )/2] e−ikxdk (51)
positive pressure peak to negative one linearly, the absolute values
4 of calculated peaks are slightly larger than experimental ones.
Cpmin is the negative pressure peak of longitudinal curve of SHPF, it
where
is an important characteristic value, which can be used for iden-
q5 (k, y ) = cos [kβ2 (y − wh/2)] − c3 tan [kβ4 (wh − wH ) /2] sin [kβ2 (y − wh/2)],
tifying ship target, meanwhile, influencing its safe sailing. We
q6 (k ) = 1/{β2 [c3 tan (kβ4 (wh − wH )/2) cos (kβ2 wh/2) − sin (kβ2 wh/2)]} . compare the calculated Cpmin with the experimental Cpmin of dif-
ferent y-value and Fh to further judge the accuracy of the theory, as
Therefore, for the super-supercritical mixed flow in stepped
shown in Fig. 8 at subcritical speed and Fig. 9 at supercritical
canal, ϕ̃0 (k , y ) and Φ̃0 (k , y ) in Eq. (11) can be obtained respectively
speed. When Fh < 0.8 or Fh > 1.2, the changes of calculated Cpmin
V and experimental Cpmin are relatively slow, but when Fh ¼0.8–1.2,
ϕ˜0 (k, y) = − kf˜ (k ) q5 (k, y) q6 (k ) cos (kx), Fh > 1
π (52) Cpmin changes dramatically, and there are some differences
568 Z.-h. Zhang et al. / Ocean Engineering 108 (2015) 563–570

0.04
0.0
0.00 Fh=0.52 wh=L/2
Cp h=0.2L, Fh=0.46 Cp h=0.1L
-0.2 wh=L
y=0.25L, experiment y=0.25L
-0.04 y=0.25L, calculation wh=3L
Cpmin ------ open water
y=0.50L, experiment wh=5L
y=0.50L, calculation -0.4
-0.08
-2 -1 0 1 2 -2 -1 0 1 2
x/L x/L
Fig. 6. Longitudinal curves of SHPF at subcritical speed. Fig. 10. Influence of rectangular canal width on SHPF.

0.4 0.2
0.1
0.2
Cp 0.0
Cp 0.0 h=0.2L, H=0.1L wh=L/2
Fh=1.36
-0.1 Fh=0.78, FH=1.11 wh=L
-0.2 h 0.1L calculation
-0.2 y=0.25L wh=1.5L
y 0 experiment
-0.4 -2 -1 0 1 2
-2 -1 0 1 2 x/L
x/L
Fig. 11. Influence of inner width on SHPF in dredged channel.
Fig. 7. Longitudinal curves of SHPF at supercritical speed.

0.0 1.0

0.5
Cpmin -0.4 h=0.1L, experiment
y/L

h=0.1L, calculation 0.0

y=0 y=0
y=0.25L y=0.25L
y=0.50L y=0.50L
-0.5
-0.8
-1.0
0.2 0.4 0.6 0.8 1.0 -2.0 -1.5 -1.0 -0.5 0.0 0.5 1.0 1.5 2.0
Fh x/L
Fig. 8. Comparison between calculated Cpmin and experimental Cpmin . Fig. 12. Two-dimensional distribution of SHPF of sub-supercritical mixed flow.

y = 0.25L is just on the interface between inner and outer regions,

0.0
Cpmin -0.4
-0.8
1.0 1.2 1.4 1.6 1.8
Fh
Fig. 9. Comparison between calculated Cpmin and experimental Cpmin .
between calculated Cpmin and experimental Cpmin , because the
actual problem has been nonlinear.
The influence of rectangular canal width on SHPF at subcritical
speed is shown in Fig. 10. We use Eqs. (26) and (28) to calculate SHPF
of open water and that of rectangular canal respectively, when canal
width is narrow such as wh = L/2 or wh = L , the influence of canal
sidewall on SHPF is obvious. For wh ≥ 3L , the calculated results of
rectangular canal are very close to those of open water, the influence
of rectangular canal sidewall can be ignored. Therefore, when canal
width becomes narrow, not only negative pressure peak of SHPF near
midship decreases, but also positive ones near ship bow and stern
reduce, because of the influence of canal sidewall.
For sub-subcritical mixed flow, the characteristics of SHPF in
dredged channel is similar with that of open water, which is
symmetrical along ship bow and stern. For sub-supercritical mixed
flow in dredged channel, the calculated results of different inner
width are shown in Fig. 11, for wh = L/2, the transverse distance
but for wh = L and wh = 1.5L , y = 0.25L is in inner region. Fig. 11
shows that the characteristics of SHPF of sub-supercritical mixed
flow is different from that of subcritical SHPF which is symmetric
h=0.1L, y=0
distribution before and after, meanwhile, it is also different from
experiment
calculation that of supercritical SHPF whose pressure curve increases sharply
near bow and decreases sharply near stern, it possesses the mixed
2.0 2.2 2.4 characteristics of subcritical and supercritical SHPF.
In order to understand two-dimensional characteristics of SHPF of
mixed flow, we calculate SHPF of sub-supercritical and super-super-
critical mixed flow in dredged channel, as typical calculated examples.
For wh = L , we know that y = ± 0.5L is just on the interface between
inner and outer regions. In Fig. 12, for h = 0.2L, Fh = 0.78, and
H = 0.07L, FH = 1.32, when y = 0, a larger positive pressure peak
appears near bow and a less one near stern and the negative pressure
peak appears after midship. When y > 0.5L , two-dimensional dis-
tribution of SHPF in outer region looks like “V”, and possess the mixed
characteristics of subcritical and supercritical flow in inner and outer
regions. In Fig. 13, for h = 0.2L, Fh = 1.21, and H = 0.1L, FH = 1.72, a
positive pressure peak appears near bow and a negative one appears
near stern, SHPF in inner and outer regions possess the characteristics
of supercritical speed, but the included angle of “V” in outer region is
less than that in inner one, because of FH > Fh . As shown in Figs.12 and
13, the calculated SHPF is continuous on the interface between inner
and outer regions.
In order to analyze the influence of stepped canal, for sub-
subcritical mixed flow, h = 0.2L , wh = L , Fh = 0.56 in inner region,
and H = 0.1L , wH = 3L , FH = 0.78 in outer region, we compare the
calculated results of y = 0.5L of stepped canal with those of
 Z.-h. Zhang et al. / Ocean Engineering 108 (2015) 563–570
1.0
0.5
y/L
0.0
-0.5
-1.0
-2.0 -1.5
Fig. 13. Two-dimensional distribution of SHPF of super-supercritical mixed flow.
0.00
y=0.5L
Cp
-0.04
h=0.2L, H=0.1L
Fh =0.56, FH=0.78 rectangular canal
-0.08
wh =L, wH=3L stepped canal
-0.12
-2 -1 0 1
x/L
Fig. 14. Influence of stepped and rectangular canal on SHPF.
rectangular canal. When the inner width of stepped canal is equal
to width of rectangular canal, the influence of stepped sidewall on
SHPF is less than that of rectangular canal sidewall, because there
is outer region in stepped canal. Therefore, the rectangular canal
has a greater effect on SHPF, its pressure curve is overall down
compared with that of stepped canal, as shown in Fig. 14.
When the outer width of stepped canal decreases, for example
from wH = 3L to 2L or 1.5L , the influence of stepped canal sidewall
on SHPF gradually increases, and pressure curve is overall down,
as shown in Fig. 15.
5. Conclusions
Using the potential flow theory and shallow-water wave
equation, considering the assumption of a slender ship, boundary
conditions of different restricted waterways and continuous mat-
ched condition between inner region and outer one, we use
Fourier integral transform method to solve the mathematical
problems of sub-subcritical, sub-supercritical, and super-super-
critical mixed flows, and establish analytical models of SHPF of
different restricted waterways such as open water, rectangular
canal, dredged channel and stepped canal. With some special
conditions, the analytical models of complex waterways can be
simplified to those of simple waterways such as open water or
rectangular canal. By numerical calculation, the characteristics of
SHPF in different restricted waterways and mixed flows are ana-
lyzed, the analytical models are verified by the comparison
between the theoretical results with the experimental ones.
For subcritical SHPF of open water, the positive pressure peaks
exist near ship bow and stern, the negative pressure peak exists
near middle of ship. For supercritical SHPF of open water, the
pressure near ship bow increases sharply to maximum and near
ship stern decreases sharply to minimum. The calculated results of
subcritical and supercritical SHPF are basically in agreement with
experimental ones, but the subcritical results can not reflect the
backward feature of SHPF, and the calculated pressure peaks of
supercritical speed are slightly bigger than the experimental ones.
When the width of rectangular canal is narrow, the influence of
canal sidewall on SHPF is obvious. When the width of rectangular
canal is bigger than treble ship length, the calculated results of rec-
tangular canal are very close to those of open water, and the
569
-1.0 -0.5 0.0 0.5 1.0 1.5 2.0
x/L
0.00
Cp -0.04 y=0.5L, wh=L wH=1.5L
h=0.2L, H=0.1L wH=2L
Fh=0.56, FH=0.78 wH=3L
-0.08
-0.12
-2 -1 0 1 2
2
x/L
Fig. 15. Influence of stepped canal width on SHPF.
influence of rectangular canal on SHPF can be ignored. The dis-
tribution of subcritical SHPF of rectangular canal is similar with that
of open water, however, the negative pressure peak near midship
reduces greatly because of the influence of rectangular canal
sidewall.
For the sub-subcritical mixed flow in dredged channel, the dis-
tribution of SHPF is similar with that of open water, which is sym-
metrical along ship bow and stern. For sub-supercritical mixed flow
in dredged channel, the characteristics of SHPF is different from that
of subcritical SHPF, meanwhile, it is also different from that of
supercritical SHPF whose pressure curve increases sharply near bow
and decreases sharply near stern, it possesses the mixed character-
istics of subcritical and supercritical SHPF. For super-supercritical
mixed flow in dredged channel, in inner and outer regions, the SHPF
shows the characteristics of supercritical flow, and the calculated
results are continuous and consistent on the interface.
For the sub-subcritical mixed flow in stepped canal, the influ-
ence of stepped sidewall on SHPF is less than that of rectangular
canal sidewall, because there is outer region in stepped canal.
When the outer width of stepped canal becomes narrow, the
influence on pressure curve increases gradually, and pressure
curve is overall down, when the stepped canal becomes rectan-
gular canal, it will have a greater effect on SHPF. Meanwhile, for
FH = 1 in outer region of stepped canal, the influence of outer
region is equivalent to that of rectangular canal sidewall.
For ship moving at supercritical speed in rectangular or step-
ped canal, because of the reflection waves of sidewall, the analy-
tical models of SHPF posses singularity and oscillatory, therefore,
the calculation of SHPF should need to be studied further and
carefully. Moreover, because of the ignorance of dispersive and
nonlinear effects, the analytical models of SHPF of this paper are
not suitable for transcritical speed.
Acknowledgments
Project is supported by the National Natural Science Founda-
tion of China (NO. 51479202 and 11502297) and the Natural Sci-
ence Foundation of Naval Engineering University (No.
HGDYDJJ15001).
570 Z.-h. Zhang et al. / Ocean Engineering 108 (2015) 563–570
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