رسالة ماجستير بعنوان Azimuth Thruster Design for the Battlestar Relaxica Thrust Vectoring for Houseboats

رسالة ماجستير بعنوان
Azimuth Thruster Design for the Battlestar Relaxica Thrust Vectoring for Houseboats
A Thesis Presented to the faculty of the Department of Mechanical Engineering
California State University, Sacramento
Submitted in partial satisfaction of
the requirements for the degree of
MASTER OF SCIENCE
in
Mechanical Engineering
(Design and Dynamic Systems)
by
Brett Andrew Leary
TABLE OF CONTENTS
Page
Acknowledgements VI
List of Tables .X
List of Equations . XII
List of Figures . XIV
Chapter
INTRODUCTION . 1
Motivation . 1
Relevance . 3
Thesis Scope 5
BACKGROUND . 7
Marine Propulsion 7
Rudder, Tunnel, and Side Thrusters 10
Azimuth Thrusters 15
PRODUCT DESIGN 19
Quality Requirements .19
Design Selection .20
Parts and Materials 24
Assembly Process .81ix
CONCLUSION 92
Design Review 92
Future Efforts 95
Appendix A – Four-Bladed Propeller Results .98
Appendix B – Five-Bladed Propeller Results 99
Appendix C – Wageningen B-Series Bp-δ Graphs 100
Appendix D – Engineering Drawings .103
Bibliography .124x
List of Tables
Table Page
Table 1 – Propellers in the Wageningen B-Screw Series 9
Table 2 – Quality Requirements 20
Table 3 – Propulsion Type Selection .22
Table 4 – Power System Selection 23
Table 5 – Propeller Power Transmission Selection .24
Table 6 – Boat Displacement Solved 26
Table 7 – Speed-Length Ratio Solved .28
Table 8 – Shaft Horsepower Solved 28
Table 9 – True Shaft Horsepower Solved 28
Table 10 – Power for Headwind Solved 30
Table 11 – Shaft Horsepower for Headwind Solved 30
Table 12 – Power for Crosswind Solved 31
Table 13 – Shaft Horsepower for Crosswind Solved .31
Table 14 – Actual Speed and Speed-Length Ratio Solved .32
Table 15 – Block Coefficient Solved 33
Table 16 – Wake Factor Solved 34
Table 17 – Speed of Advance Solved 34
Table 18 – Suggested Shaft Speed for Various Vessels .34
Table 19 – Power Factor Solved .35xi
Table 20 – Advance Coefficient, Diameter, and Pitch Solved .38
Table 21 – DIA-HP-RPM Conversion Factors 39
Table 22 – DIA-HP-RPM Solved and Converted 39
Table 23 – B5.50 Propeller Approximate Thrust Solved .40
Table 24 – Thrust Required for Crosswind Solved 41
Table 25 – Developed Area and Cavitation Check Solved 43
Table 26 – Large Propeller Cost 44
Table 27 – Composite Propeller Cost Estimating Ratio Table .46
Table 28 – Drag Force Check .63
Table 29 – Low Speed Thrust Improvement with Ducted Nozzle .67
Table 30 – Servo Torque Required Solved 71
Table 31 – Azimuth Thruster Installation Kit Bill of Materials .89
Table 32 – Bill of Materials Cost for Prototype .90
Table 33 – Bill of Materials Cost for 100 Units 91
Table 34 – Total Cost for Prototype, 100 Units, and a Single Unit 91
Table 35 – Competitor Thruster Cost Comparison 91
Table 36 – Rating the Final Thruster Design .94xii
List of Equations
Equations Page
Equation 1 – Boat Displacement .26
Equation 2 – Speed-Length Ratio .27
Equation 3 – Displacement Speed .27
Equation 4 – Shaft Horsepower 28
Equation 5 – True Shaft Horsepower 28
Equation 6 – Power for Headwind 29
Equation 7 – Shaft Horsepower for Headwind 29
Equation 8 – Power for Crosswind 31
Equation 9 – Shaft Horsepower for Crosswind .31
Equation 10 – Block Coefficient .33
Equation 11 – Wake Factor for Single Screw 33
Equation 12 – Speed of Advance 33
Equation 13 – Power Factor 35
Equation 14 – Advance Coefficient 37
Equation 15 – Optimum Propeller Diameter .37
Equation 16 – Optimum Propeller Pitch 38
Equation 17 – DIA-HP-RPM for Three Bladed Propeller .39
Equation 18 – Approximate Thrust .40
Equation 19 – Thrust Required for Crosswind 41xiii
Equation 20 – Developed Area versus Disc-Area Ratio 42
Equation 21 – Actual Blade Loading 42
Equation 22 – Allowable Blade Loading .43
Equation 23 – Lewmar Cost Estimating Ratio 45
Equation 24 – Drag Force .62
Equation 25 – Servo Torque Required 70
Equation 26 – Moment of Inertia for a Cylinder .71xiv
List of Figures
Figure Page
Figure 1 – Battlestar Relaxica Logo . 1
Figure 2 – Parallel Parking a Houseboat 2
Figure 3 – Parking at the Pump Out Station . 3
Figure 4 – Number of New Houseboats Sold in the US . 4
Figure 5 – Retail Value of New Houseboats Sold in the US . 5
Figure 6 – Hooke and Bernoulli Propellers 8
Figure 7 – Normand’s Napoleon Propeller . 8
Figure 8 – Wageningen B-Screw Series Four-Bladed Propeller Shape . 9
Figure 9 – Wageningen B4.40 Open Water Test Results 9
Figure 10 – Rudder Erosion Example .11
Figure 11 – Ship Turning with Rolls-Royce Tunnel Thrusters 13
Figure 12 – KTL Kupplungstechnik Tunnel Thruster Model 13
Figure 13 – Lewmar, VETUS, and Imtra Tunnel Thrusters .14
Figure 14 – Minn Kota Ulterra, Elco EP-20, and Sideshift Side Thrusters 15
Figure 15 – Azipod and Thrustmaster Azimuth Thrusters .17
Figure 16 – Siemens SCHOTTEL Azimuth Thrusters 17
Figure 17 – Wärtsilä Azimuth Thruster Section View .18
Figure 18 – Troost B5.50 Series Propeller Bp-δ graph 37
Figure 19 – B5.50 with 15” Diameter and 12.5” Pitch 46xv
Figure 20 – Electric Motor to Drive Thruster 48
Figure 21 – Main Housing Operation Stresses 49
Figure 22 – Main Housing Crash Stresses .50
Figure 23 – Velocity Vectors and Drag for Cylinder .52
Figure 24 – Velocity Vectors and Drag for Ellipsoid 53
Figure 25 – Velocity Vectors and Drag for Semicircle Nose .54
Figure 26 – Velocity Vector and Drag for Semicircle Nose & Screw Cover .55
Figure 27 – Velocity Vector and Drag for Semicircle Nose & No Screws 56
Figure 28 – Velocity Vectors and Drag for Ellipsoid Nose .57
Figure 29 – Velocity Vector and Drag for Ellipsoid Nose & Screw Cover 58
Figure 30 – Velocity Vector and Drag for Ellipsoid Nose & No Screws .59
Figure 31 – Velocity Vectors and Drag for Blunted Nose .60
Figure 32 – Velocity Vector and Drag for Blunted Nose & Screw Cover .61
Figure 33 – Velocity Vector and Drag for Blunted Nose & No Screws .62
Figure 34 – Main Housing Isometric .64
Figure 35 – Main Housing Cross Section 65
Figure 36 – Parker Rotary Seal .65
Figure 37 – Fin and Duct Improvements .67
Figure 38 – Wärtsilä EnergoProFin Propeller Improvement 67
Figure 39 – Initial Housing Support Shaft Stress and Displacement 68
Figure 40 – Final Housing Support Shaft Stress and Displacement .69 xvi
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