Abstract
AbstractIn order to study dynamics of multibody system (MBS) moving in ambient fluid, we adopt geometric modeling approach of fully coupled MBS-fluid system, incorporating boundary integral method and time integrator in Lie group setting. By assuming inviscid and incompressible fluid, the configuration space of the MBS-fluid system is reduced by eliminating fluid variables via symplectic reduction without compromising any accuracy. Consequently, the equations of motion for the submerged MBS are formulated without explicitly incorporating fluid variables, while effect of the fluid flow to MBS overall dynamics is accounted for by ‘added mass’ effect to the submerged bodies. In such approach, the ‘added masses’ are expressed as boundary integral functions of the fluid density and the flow velocity potential. In order to take into account additional viscous effects and include fluid vorticity and circulation in the system dynamics, vortex shedding and evolution mechanism is incorporated in the overall model by unsteady potential flow method, enforcing Kutta conditions on MBS sharp edges. In summary, presented approach exhibits significant computational advantages in comparison to the standard numerical procedures that - most commonly - comprise finite volume discretization of the whole fluid domain and (loosely coupled) solving fluid and MBS dynamics on different meshes.
Published Version
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