L0

"N

I NGTO
04'

HYDROMECHANICS

TABLES OF THE GOLDSTEIN FACTOR

AERODYNAMICS

by
"C.L.

Tibery

Of Z?
' ;r

4/

and
STRUCTURAL

J.W. Wrench, Jr.

...

. o fet

MECHANICS
0
APPLIED

MATHEMATiCS
APPLIED MATHEMATICS LABORATORY
0

RESEARCH AND DEVELOPMENT REPORT

ACOUSTICS AND
VIBRATION
December 1964

Report 1534

TABLES OF THE GOLDSTEIN FACTOR

by
C.L. Tibery
and
J.W. Wrench, Jr.

December 1964

Report 1534
S-R003 03 01

TABLE OF CONTENTS
Page
ABSTRACT .............................................
IN T R OD UC T IO N .....................................

.......................................
..........................................

. . . . . .
. .................. ...........

1
1

FORMULAS AND CALCULATIONAL PROCEDURES .

......
....................................
.
2

DESCRIPTION AND PREPARATION OF TABLES ......

.. ...
...

METHODS OF INTERPOLATION ........................................

T AB L E S .. ...........

..................................

. .................

REFERENCES ......................................................

.......................

10
10

..................................... . 13- 67
68

ii

ABSTRACT
The tables of the Goldstein factor ,'esented in this report have been
computed on the IBM 7090 system at the 'Z;pi.-d Mathejnatics Laboratory.
They were computed for the purpose of supplying -,ore extensive and rfrliable information than that available in similar tables of Goldstein, Lock
and Yeatman, Kramer, Tachmindji and Milam, and the second of the present.
authors. These tables are applicable to the calculation of the distribution
of the circulation along lightly loaded, optimum propellers for which Lhe
number of blades ranges from two to ten, inclusive. The Goldstein factor
determines the effect of a finite number of propeller blades on the circulation, and simultaneously relates the maximum value of the tangential
velocity component induced at a lifting line with its circumferential average.
The emphasis on an increased number of blades, as reflected in these
more extensive tables, arises from the need to alleviate the loading or cavitation problems associated with the increased power of modern ships.

INTRODUCTION
In 1929 Goldstein I gave an exact determination of the distribution of circulation along
a propeller blade, corresponding to minimum energy loss in the slip stream for a prescribed
thrust. This is applicable to the theory of the lightly loaded, optimum propeller with a zero
hub and a finite number of blades operating in a uniform flow.
In particular, Goldstein deri ed a relationship between the distribution of circulation
for a propeller with a finite number of blades to that for an idealized propeller with an infinite
number. Indeed, if G and G. represent the respective circulations and p represents the
number of blades, then p G. G. = x, which is termed the Goldstein factor.
Goldstein exhibited this factor as a linear combination of the sums of two infinite series;
the first in~olhes the so-called Goldstein function, which is expressible in terms of a Lommel
function and the modified Bessel function of the second kind, the second, the logarithmic derivative of the modified Bessel function of the first kind. The coefficients a m of the terms of
the second series are the solutions of an infinite system of linear equations with complicated
coefficients. The numerical solution of this system is a formidable task, both mathematically
and computationally, to which considerable attention will be devoted in the body of this report.
Goldstein was able to show that these coefficients a. can be approximated by a multiple of the coefficients occurring in the Maciaurin expansion of the inverse sine function.
In 1954 members of the staff of the Applied Mathematics Laboratory prepared a
UNIVAC program for the evaluation of P, based on the approximate coefficients a*.

IReferences are listed on page 68.

N-,~hich ,Nere p)Ublished,(2 ;n 195-5, serl. v to

The underlI~-,
in a

p ranain-, front 3 t hrouzah 6. p

Here ji rv.prke.t'nt~.
am ,i

of I, (*ore -poniniz to r
kiI;equent

v\here nwis, the

,,.

the angzular

.,

= 0.:..-(0.25)2(0.5)6.

of the (iold-tvit

~ce\sufce ill

0.975.

Lhe direction of its

ais~ the'

,alue

H, the tad ius of the propeller.

('onsevquent l\, in 195.) an

-'\ste()cqut

0.2(0.1)0.8(0.05)0.95,

desk calculations, re~ ealed that the substitution of a*~

rfl for a Itz in the calcu-

lat Ion of 1, eOWL to uaert

I ILO

eloc i t of' the

r i,. the distance front (the axis of rotaticn, and

elocit,
-

and I/L,

ield the Goldstein~ factor for

laroze errors, for propellers, operating at large adx ance ratios

i

l\ est i godion v as- made or procedlures for -solx ing the infinite

uff-ient initial number of the unknowns at

ins1r

suerlibe'
le
ractor. Tb i, research cti minated in the pl)li cation 2 of an e ffecti xe p~roceduire

for e~ al uat imr thle coeffi cient s a

In 19.56i 'Taciindj t and MIili am
\ho-o

pttbl l-hed tables of the Goldsteina factor for p~ropel lers

nii iber of hI ades. ranmed fromt 3 throL1ugh 6.

intethe

'kitl

Thes,,e results N,ere obtained on the UNIVAC

\ppl ied Mat ieniat ic.s Laboratory and inat ed the use of a,, m

4. togyether

The techntique for estimatinrg the lat aes of the coefficients a,, used xN
as. that

it

dlescribed in Reference 2. whli ch will bie further el aborat ed upon in tis,, report.
I~n Jan uar\ 1961 an 1IN 7O~)s

tem \xa

insta tied in the \ ppl ted Maitheat ics

Laborator\ (AMIL).

The capabilities of thi.- electronic compu t er are such as to j usti fy its Ilse

ii tw
tieOal timttion of

the Goldsteini factor to a prec i sion hi therto unattai ned.

Imas

iio'\

Accordingly

VML

ohbain Alre table ap;)romi nations to the Ool(Lstei a factor, u.sinpg suitably modified sys-

em- of order.- rantginri

Reference 2.

up to IlO to e'matuate thie coefficients a.. lby the pr~oced ure des crilied in

These final1 data, together Nithi t he SLtIMS of the (-on ti tuent series, are presented

in tabultar form at t he end of this report.

FORMULAS AND CALCULATIONAL PROCEDURES

The Goldste in factor, &, canl he dlefineido by the relation

2n~~

wheore p is- ftho number of blades in the propeller,

Iis the circulation around flie bl1ado secti on,
wis thev angular velocitv.
u; is the xebocity of the screw surface in the dlirection of its axis.
v i.s the velocity of advance of t0e propeller, and
ipt the ratio wr '(,., where r i., the distance froni the axis of rotation to the blade section.

Goldstein1 showed that

12)
2

where v-

p (n +

(2m+1)

[2
[21

and the coefficients am satisfy the following infinite system of equations:

(2+)(I'(v110 )/I.(vL 0 )1
Z

I1(V 1L)

2n [

pjo1p~n

4n 2 -(2m + 1)2

= 2n [Kp,(PnIlo)/Kpn (Pn o)]

m=O

(2me+l1) [4n 2

n?=0

The function T,

in

(2

1,

(1

(2 m +1)2

4 2

n -(2

)
m

+1) 2 ]

n=1, 2, 3,.. .[31

- (2 m + 1) 2 1

(v It) is called the Goldstein function and is defined as follows:

T1, v(x) = S 1 , v(ix) - v e

KU(x),

[41

where 81, 1 is a Lommel function as defined by Watson 4 and K,(x) is the modified Bessel
function of the second kind of order v. In Equations [21 and [31, IV is the modified Bessel
function of the first kind. The prime affixed to each of these functions denotes differentiation
with respect to the argument.
The SHARE subroutine LABESF was used to evaluate the Bessel functions ln(nx) and
Kn(n x) for arguments nx not exceeding 50. The first derivatives of these functions were then
calculated by means of the well-known formulas
/,(rx)

K'(nx)

I [I,,+(n) - In . 1 (nx)]

(51

(nx) + K n(tx)1

[61

[K

For arguments nx exceeding 50, the ratios I(nx)/l1(nx) and K '(nx),'K, (nx) were cal5
culated from the following asymptotic series:

t-(-

x-,'+(- -(4 -x 2)

2nz 2

8n 2 z 5

8n 3

128n

28

[71

4 zI

x(4-10z 2 + x4t

2
)
x(4-x
___

2nz 2

______

8n 2 z5

x(64 - 660x 2 + 456x 4

128n
where z=(1 +x

4)

+ 456x 4 - 25X6)

x(64 -560x

lx''(nx)'K (nx)~~

x(,-_1OX2
38 +,

8n 3 z

25 X6)

....

,8]

11

2)

The Goldstein function T1 1 (VILo) was calculated from the following asymptotic formula,
proN ided that the last term calculated (in this case, the sixth) was numerically less than
5 x 10-6.
'2 (to)

-ro(Po)

T, '(V/to)-

74 (10

+...

[9]

V.

where
2

=1

#o

40

T(/'0)

'r2

(Y

(1+

A2) 4

and, in general,

'r+ 2("o)

o
=1 IL2O0
1+

If, on the other hand,

'r 1 0 (lio)

T_
i. 2
J

7'

(o)

r/~

exceeded 5 X 10-6, then T1 . ,(x) was calculated from

one of the followving txNo formulas giken by Goldstein. The first is used when 1, is an even
integer; the second is used in all other cases.
4

T,

/(X)

V2

2
V (

I (,,2 -2 2)
+

- 22) (,2

...

WT

TI. ,(X) =

_4 2)
-

(-1)

1,(x)

R6

-...
22

- 1/2

(22 _ 1,2) (42

vK1 ,(X)

[101

X4

'2 in

[111

,2)

The deroatives of the Goldstein function Nere obtained by term-by-terni differentiation

of the three preceding series.
Occasionally, Formulas [101 and [111] do not yield sufficient accuracy when singleprecision arithmetic 's used on the computer. This difficulty is due to the fact that the terms
invokling the Bessel function K, or I are nearly equal to the sum of all the remaining terms
in each series, respecti-vely.
evaluate TI,

Accordingly, double-precision arithmetic has been used to

,(x) in these exceptional cases.

To evaluate 1,(x) in double-precision arithmetic for integer values of v,, the following
power series was used:

1!(n+1X) 2
I,(M =

X124

- + 2!(n
(n+1)

,,
vI!

1)(n +2)

+ . . ..

For v equal to one-half an odd integer, the following explicit, irmulas were used:

-I

(x) = cosh x

1131

V -

I2
(x)

cosh = -

sinhx

If we let t rcpresent x - , we can write, in gcneral, 6

2T

(el=A,(t)cosh

_5

X4

A_,

(t)sinh x

[14]

,vi ere A, (t) is a polynomial in t satisfying the relations

A,(t) =1

Ao(t) =0;

An + I(t) = A n - I(t) - (2n + 1) tAn(M

[15]

For the double-precision e~aluaLion of Kn(x), use was made of the recurrence formula

Kn 4. 1 (x) = -

K (x) + K n

(x )

[16]

in conjunction with the integral representations 4

Ko(x

K1 (x)

= f0' exp (-x cosh t) dt

[171

cosh t exp (-x cosh t) dt

[181

which were employed to evaluate Ko(x) and K,(x) to 14 significant figures by Simpson's rule.
The upper bound
fc 0osh t exp (-x cosh t) dt < 2 exp

- eN)

[19

2J

shows that the infinite upper limit of integration in Equation [18] can be replaced by the finite
limit 6, with a resulting truncation error less than 8 exp

when x - 0.25, which correponds to p = 2, Ito = 0.25, and m

--

, or approximately 1.03 x10

21

0. This is the least value of x

encountered in the preparation of the tables. The upper bound for the tiuncation error given in
Equation [191 holdb a fortiori for the integral appcaring in Equation [17], since the integrand
therein i,, less at corresponding positive %alues ef I than the integrand occurring in Equation
[181.
Accordingly, the values of Ko(x) and K 1 (x) were calculated by applying Simpson's
rule to the respective integrals, in which the range of integration was modified so as to
extend from 0 to 6, and 250 subdivisions were employed.
A further computational difficulty arose from the slow convergence of the series

1a'

=0

(2m

(vp .)
1) 2

when it assumes large values, because in that case T1, v(v it) is nearly equal to unity.
We note that the Euler-Maclaurin summation fornula

nz=N

(2x+ 1) 2

(2m +1)2
+--

yields

1x

1
12

(2N+ 1)2

4
(2 N + ) 3

1
720

4 .6 .8
+ +
(2N + 1)5

[20]

where R represents the remainder term, and the value of the definite integral is simply

(2N + l) - '
In the evaluation of the related sum

M= 0

(2m + 1)2

the first 100 terms were summed on the IBM 7090 system, and the remainder term as estimated
from Equation [201 was added. The numerical value of the left side of Equation [201 was thus
found to be 0.00249 9979, approximately.
In the evaluation of the ratio I1 (v'u)/I 1 (vp 0 ) for large values of It and Io, it was found
8
necessary to use the following asymptotic formula due to Lehmer:

In (nx) -(2n) - '/2 a - 1 /2

efZ

exp [-V (ix)]

[211

where

3x 2 -2
24nz 3

x 4 - 4x 2

375x 6

16n2 z6
13x 8

3654x 4

5760n

1512x 2 + 16
z9

2
4
232X 6 + 288X - 32w

128n
and ;5=(I-f x 2 )1/2

4 z 12

There remains, in the calculation of the Goldstein factor by Equation [21, the evaluation of the coefficients am from the infinite system of equations in [3.

Now, Goldstein 1 showed that this system can be approximated by the following infinite
system
00

*2
m

77

n=1, 2, 3,

1+2 4n

-0 2n-2r-1
-0m
2n

[221

24

where a,* is generally a good approximation to a . Furthermore, he showed that

Pa
1

(2m)!
2

+ gL

2 m.(!)

[231

(2 m + 1)

where the second factor on the right is identifiable as the coefficient of x2 m + 1 in the
Maclaurin expansion of arcsin x.
By introducing Stirling's asymptotic approximation to the factorial function; namely

n! - (2,,)1

2 nn

1/2

[24]

-n

we find that
2

a *a0,M

IL0
1 + I2

(,7 m)-1 /2
2

[25]

m+1

which shows that a *, and consequently am, decreases as

.,,iyas

,-

3 /2

. Thus, the

monotonic decrease in the coefficients a m in the second series in ,quation [21 contributes
relatively little to the rapidity of convergence of that series.
This approximation of he coefficients am by the numbers a* constitutes the basis for

an iterative procedure developed for their accurate evaluation on the 1. 4 7090 system. This
procedure will now be described.
For simplicity of notation, let b/
Idesignate an element of the matrix of coefficients
for the infinite system, Equation [31, and let c, represent the corresponding constant term.
Similarly, we shall use b* and c* to repeesent the corresponding elements in the infinite
system, Equation [221.
Then the first equation of the system in Equation [3) can be written

bl

=1

1;+ a.

[261

We replace this by the approximate equation

a +

I,

1,1
0

+1 a* = c

[27]

- b* a*

[28]

and note that

00

+1a = c

i6*

Then our first approximation a(0 1 ) to a is obtained by solving Equation [271, using
the result in Equation [281.
Similarly, we form the system
b

a0 + b12 a1-

00

b*

21 1j+1

I b*

b21 ao + b22 a, +

j2=
S

[29]

a*=c
+1

2,

and solve- it for a second approximation a(2) to a0 and for a first approximation a ( 1 ) to a 1.
Here the residual infinite sums are given by

1-2

b*1'

]j+

a =c

- i

a*
- b
0

a*1

[30]

and i = 1, 2.
This procedure is then continued until a suitable number of the initial coefficients
ha~e been approximated.

Thus, with each step of the process, one obtains an improved

approximation to ai, i = O, 1, 2, ...

, n.

The convergence of the sequence Ia(k)I of approximations to am can be accelerated

by means of the Aitken 82 process. 9 By this process, one forms an associated sequence
I b(k)I defined by the relation

(k k
b(k) = am
S
M
seqaence(k-i)
The sequence

I,

[a(k + i)

~ )

-_a M I2
m

a(k + 1)

(k )
2 am
+ am(k - 1)

[31]

ame

if convergent, has the same limiting value as the original sequence

la (k)I and, moreover, generally converges at a much faster-rate.

Further sequences, such as Ic (k)I from Ib(k),, can be formed successively by the
Aitken

82

process, but the eventual serious loss of significant figures precludes the indefinite

repetition of this technique.

In practice, it was discovered that the successive application of the Aitken process
to the solutions of successixe linear systems approximating the infinite system in Equation
[31 resulted in exce.-sixe lo.ss of significant figures. Accordingly, it was found preferable
to exaluate the coefficients a,, by soixing the appropriate linear systems of orders ranging
from 30 through 80, in increments of 10, on the IBM 7C90 computer system.

DESCRIPTION AND PREPARATION OF TABLES

Because of their inherent interest and value, it was decided that the functions

It2

Tlv

2' 1m

2 I/

(2m + 1)2

= 0

.2 2

l,(v')

t2 71ly~

U "[(V/tLo)

should each be tabulated, in addition to their difference, which is the Goldstein factor, .
The precision decided upon for these tabular data is five significant figures, which
are presented in floating-point form; that is, with the exponent of the appropriate power of
10 printed dizectly after the decimal digits of the number.
The attainment of accuracy to five significant figures was especially difficult in
ert:, part, of the second table because of the xery slow convergence of the series
a

especially when

= 0

0/9o
.975. Thus, when p

3, It

= 1.5, and

m'= 0

t,(ito) decreases only from 0.941696 to 0.0071486

I ,'it= 0.975, we find that, the ratio I(v'

when m increases from 0 to 19. On the other hand, when p = 3, t0 = 1.5, and tIto = 0.5, we
find that this ratio of %alues of the modified Bessel function 1,, decreases from 0.249529 to
0.101451 x 10- 25 for the same variation in m.
The ranges of parameters covered by the tables in this report are as follows:
p

2(1) 10, Ito = 0.2-5(0.25)6(1) 12, and iL,'Io

0.2(0.1)0.8(0.05)0.9(0.025)0.975. Hero the

number withia parentheses designates the wvidth of the uniform subintervals into which the
interval defined by the bracketing numbers has been subdivided.

METHODS OF INTERPOLATION
An examination of the tabular

,alues of the Goldstein factor t, corresponding to values,

of it0 in the inter,al from 0.25 to 1, inclusive, reveals that interpolation with third differences
is required to yield intermediate values of t to comparable accuracy.

10

This conclusion , based upon the following analysis. The table of v corresponoing
to JL./t = 0.2 and p = 3 contains the following entries, whose successive differences are
shown:

0
!L

A2

A3

-0.0124
- 0.0065
-0.0026

0.0059
0.0039

0.25
0.50
0.75
1.00

1.6344
1.6034
1.5600
1.5101

0.031
-0.0434
_0.0499

1.25

1.4576

- 0.0525,1

Since the second differences are nearly in geometric progression, the Goldstein factor
in the indicated range was fitted to an expression of the form
x=c

-c

10-

[32]

c2 e-3

where the c's are positive numbers.

Substitution of the first four values of 1L
0 and &in Equation [321 yields four equations,
whose simultaneous solution yields the values
Co = 1.7462
01 = 0.2282

c2 = 0.1045
c3 = 2.5836
With this choice of coefficients, Equation [321 yields the approximation 1.4568 to the
,'alue of i<when 1to = 1.25.

We observe that if we interpolate in the table, the effect of the higher differences is
most pronounced %hen we attempt to calculate the value of tKcorresponding to IL = 0.375.
The Newton interpolation formula with forward differences gives

k(k -1)
f(Xo + kh) = f(wo) + kA f(x 0 ) +

2!

A2
Af()

k(k - 1)(k - 2) A 3 f(Xo) + ...

33!

331

whcre h is the tabular interval; A f(xo) represents the first forward difference, that is,

f(x0 + h) - f(Xo); and similarly for A2 /(xo), A 3 f(Xo), etc.

11

Thus, if linear interpolation is used, the approximation 1.6189 is found for the value
, corresponding to 140 = 0.375 when
=

,,'po =

0.2, p = 3. The use of second differences gives

1.6204, whereas third differences give the improved estimate 1.6208.

Substitution of

0 = 0.375 in Equation [32], %%ith the appropriate choice of coefficients,

yields &,= 1.6209. Consequentl). we infer that in this worst case, interpolation by means of
third differences sufices to

ield accuracy to %withina unit in the fourth decimal place or

fifth significant figure.

Inasmuch as the successive differences are not shown in the tables in this report, it
is perhaps more conxenient to interpolate by means of tables of Lagrangian interpolation
coefficients.10
Since n 4 1 successi'e tabulated functional Nalue6 are required to determine the nth
difference, it is e' ident that four-point Lagrangian interpolation is equi%alent to Ne%%tonian
interpolation with third differences.
In the specific interpolation considered abo'e, the Lagrangian four-point formula yields
5

K(.7)=16
K(0.375)
K(0.25)
-

5
15
T6 x(0.5) - -16 K(0.
-

16 (1.63,14) +

16

16

75

1
) + -16 K(1)

(1.6034) - - (1.5600) + -

16

(1.5101)

16

= 1.6209
Corresponding to 'alues of 140 exceeding unity, three-point Lagrangian interpolation
suffices to yield the full tabular accuracy.

12

TABLES
I to 3

(Pages 13-67)

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REFERENCES
1. Goldstein., S., "On the Vortex Theory of Screw Propellers," Proceedings of the Royal
Society of London, Vol. 123A, pp. ."0-465 (1929).
2. Wrench. J.W., Jr., "Calculation of Goldstein Factors," David Taylor Model Basin
Report 1111 (Sep 1955).
3. Tachmindji, A.J. and Milm, A.B., "The Calculation of Goldstein Factors for Three,
Four, Five and Six Bladed Propellers," Da'vid Taylor Model Basin Report 1034 (Mar 1956).
4. Watson, G.N., "A Treatise on the Theory of Bessel Functions," Second Edition,
Cambridge University Press, Cambridge (1952).
5. Wrench, J.W., Jr., "The Calculation of Propeller Induction Factors," David Taylor
Model Basin Report 1116 (Feb 1957).
2
6. Jones. C.W., "A Short Table for the Bessel Functions In+ ,/1(x), --77 K,+ 1 / 2 (x),"
Cambridge University Press, New York (1952).
7. Knopp, K., "Theory and Application of Infinite Series," Blackie & Son, Limited,
London (1928).
8. Lehmer, D.I1., "Note on the Computation of the Bessel Function I(x)," Mathematical
Tables and other Aids to Computation, Vol. 1, pp. 133-135 (1944).
9. Householder, A.S., "Principles of Numerical Analysis," McGraw-Hill Book Company,
New York (1953), pp. 117-118.
10. Mathematical Tables Project, Work Projects Administration, "T&bles of Lagrangian
Interpolation Coefficients," Columbia University Press, New York, (1944).

68

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