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Short Course on

SHIP
DYNAMICS
(Seakeeping)
Assoc. Prof. Dr. Adi Maimun bin Abdul
Malik
Universiti Teknologi Malaysia, June 2005
CONTENTS

1. Introduction
2. Ship Motions (Heaving)
3. Regular Waves
4. Irregular Waves
5. Vessel Motion in Irregular
Waves
6. Ship Stabilization
CHAPTER II

SHIP MOTIONS
INTRODUCTION
3. Heaving 1. Surge
2. Sway Linear
3. Heave
4. Roll
6. Yawing 5. Pitch Rotational
6. Yaw

5. Pitching 2. Swaying

1. Surging
4. Rolling
INTRODUCTION
Of the six motions, heave, roll and pitch are
considered as oscillatory motions (i.e moving about a
neutral point).

Surge, Sway and Yaw do not return to their original


equilibrium position unless forced by exciting forces
or moments.

To understand how the vessel behaves, it is usual to


first consider the one degree-of-freedom motion.
This assumes that the motions are uncoupled.
HEAVING MOTIONS
HEAVING MOTION

SHIP SYSTEM SPRING-MASS SYSTEM

z
Dashpot
Heave Amplitude Wave Excitation
b =Damping c =spring constatnt
zn z
x
External
Force, F(t)

Buoyancy Force (B.F.) = g.A w.Zn Newton


B.F
Spring constant, c = = .g.Aw Newton/metre
zn
EQUATION OF HEAVING
MOTION
.. .
(m+az) z + b z + c z = F o cos et

.. Inertial Damping Restoring Exciting


z
Forces Forces Forces Forces

m = mass of the ship


az = added mass
b = damping force coefficient
c = restoring force coefficient
z, = heave displacement, velocity and acceleration
Fo z ,z = amplitude of wave force (exciting force)
e = encounter frequency
FREE UNDAMPED HEAVING
MOTION..
When Fo = 0, b = 0 (m +az) z +c z =0

The solution for this differential equation is;


z = A1 cos zt + A2 sin zt
or A=
2 2
A +A
z = A sin (zt - ) = tan A2/A1
-1 1 2
FREE UNDAMPED HEAVING
MOTION
z = A sin (zt )
z = A z cos (zt - )
z = - A z2 sin (zt - )
= - z2.z

z
By substituting in Eqn of Motion;
2 c
=
z = natural freq. i.e z =
Tz (m+az )

Tz = heaving natural period (secs)


FREE UNDAMPED HEAVING
MOTION
Example 2.1 (cont.)

Ship Length L = 128 m


Beam B = 17 m
Draught T=6m
Added Mass (az) = 90 % of ship mass
and CB = CW

Assuming no damping, calculate the ships


heaving period in still water.
FREE UNDAMPED HEAVING
MOTION
Example 2.1 (cont.)

(m +az )
The natural heaving period Tz is
Tz =2
c

Ship mass = , m + az = + 0.9


= 1.9
where, = L B T CB [kg]

Spring constant, c = g AW
= g L B CW [kg/sec2]
FREE UNDAMPED HEAVING
MOTION
Example 2.1 (cont.)

The natural heaving period is:

1.9
Tz 2
gLB CW

1.9 L B T C B
2
gLB CW

1.9 T
2
g
6.81secs
FREE DAMPED HEAVING
MOTION
.. .
Where, F = 0 (m+az) z + b z + c z = 0

and (c/(m + az) = z2 and (b/(m + az)) = 2


b
where, = 2(m+a ) = decaying constant
z

.. .
z + 2 z + 2
z z = 0
FREE DAMPED HEAVING
MOTION
The solution for this differential equation is:

z = e-t (A1 cos dt + A2 sin dt)


or
z = e-t.A.sin (dt - )

d = circular freq. of damped oscillation

2 2
= z -
A1, A2 are constants to be determined from the initial
conditions.
FORCED HEAVING MOTION
.. .
(m+az) z + b z + c z =F o cos et
The solution of the equation is
z = e-t (A1 cos d.t + A2 sin dt) + za cos (et - 2)
or
z = A e-t sin (d.t - ) + za cos (et - 2)

Transient State Steady State

The steady state solution is usually taken for analysis.

z = za cos (et - 2)
FORCED HEAVING MOTION
The amplitude of the forced heaving motion z a is
given by: za = zst. z

Where, Fo
zst = static heaving amplitude =
z c a
z = magnification factor =
z st
e
z

z = 1
(1 2 )2 4k22
Freq. of encounter e
= tuning factor = =
Nat. freq. z
FORCED HEAVING MOTION

b c
k = = z =
z 2(m+az ) (m+az )

2 = phase angle between the exciting force and the


motion 2k
2

k =0
1
5

= tan 1 m
4 k =1

(za/zst)
3
k =2 e
2 z
k =3
F =F0 cos t
1
z =za cos (t-ez)
t ez
0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6
e2 = phase angle bet. Force Stiffness Damping Inertia
and motion Dependent Dependent Dependent
(Restoring forces (Damping forces (Inertia forces
dominate) dominate) dominate)

Magnification Factor vs Tuning Factor


FORCED HEAVING MOTION
Example 2.3

L = 137.16 m B = 21.34 m
CWP = 0.80 = 12,500 tonnes
e = 1.18 rad/sec
= 1025 kg/m3 = 1.025 tonnes/m3
Wave amplitude, a = 3 m
Added mass = 80% of the actual mass of ship
Damping coefficient, b = 5,670.00 tonnes/s

Find the heaving amplitude of the ship.


FORCED HEAVING MOTION
Example 2.3

The virtual mass is


a = 1 . 80 ' = 1 . 80 12,500 = 22,500 tonnes

The spring constant (restoring force coefficient)


is c = 1 . 025 9 . 81 (137 . 16 21 . 34 0 . 80 )
= 23,545 . 33 tonnes / s 2

F0 = 0 . 17
The exciting 1 . 025
force 9 . 81is
amplitde 3 137 . 16 21 . 34
= 15,010 . 15 kN
FORCED HEAVING MOTION
Example 2.3

Natural heaving frequency is


c 23 545 33
z = = = 1. 046 rad / sec
a 22, 500
The tuning factor is
e 1 . 180
= = = 1 . 28
z 1 . 046
The damping factor is
0 . 126 b
k= = = 0 . 120 where 2 =
wz 1 . 046 a
FORCED HEAVING MOTION
Example 2.3

The heaving amplitude


za = zs z
t
F0 1
=
c (1 - 2 )2 + 4 k 2 2
15, 010 . 15 1
=
23, 545 . 33 [1 - (1 . 128 )2 ]2 + 4 ( 0 . 120 )2 (1. 128 )2
= 1 . 433 m
ENCOUNTER PERIOD, Te

The absolute period of the waves (Tw) may not be


the same as the period of the waves encountered
(Te) by a ship during its travels.

The period of waves thus encountered by the ship is


known as the encountering period Te.

The encountering period Te (or the encountering


frequency e = 2 / Te) is a function of the absolute
period of the wave, the ship speed, and the angle
between the direction of wave travel and the
direction in which the ship is heading.
ENCOUNTER PERIOD, Te
wave direction Vs (ship speed)
Lw =wave length
crest Vw =wave speed
Vw (wave vel.)
Lw Vs =ship speed
=heading angle
crest
Le =Lw / cos
Lw

crest

LW
Absolute wave period, Tw =
VW

LW W VS
Encounter wave period, Te = e = w (1 - cos
VW VS cos g
ENCOUNTER PERIOD, Te

Vw Vw Vw

Vs


Vs

Vw
Vw
Vs Vw

i) Head Seas i) FollowingSeas i) Beam Seas


ADDED MASS, az
Added mass coefficient, C
C = Added mass of the section of unit length, beam Bn and section draught, Tn.
Half of the added mass for a circular section segment of unit length and
diameter, Bn.

i.e = r
Bn L = Unity = 1

Tn R = Bn/2

This method is called LEWIS TRANSFORMS


ADDED MASS, az

an B2n
C= or 2 an = C.
Bn 8

8
C for Lewis-form section is obtained from Figure 1
(refer to lecture notes) as a function of the
(draught/beam) ratio and the area coeff. of the
section as well as a function of circular frequency of
oscillation.
Section Area Sn
Area coeff. of section, n = B n x Tn = B n x Tn
ADDED MASS, az
The added mass of the total ship,
L /2
az =
L / 2
an dx
L /2
- L / 2 8 (x) .dx
2
or az = C. .[2.y ]
L /2
= . . C.y(2x).dx
2 - L /2

Where, Bn = 2y(x) i.e. y(x) is the half-breadth of the


waterline.
ADDED MASS, az
Example 2.4

Calculation of Added mass

Length of model, L = 5.852m


Wave length = ship length = 5.852m
Max. beam, B = 0.790m LCG = 0.1463m forward
of
Draught, T = 0.349m LCB = 0.1463m forward of
Model speed, u = 1.459 m/s
Displacement, = 1287.20 kg.
ADDED MASS, az
Example 2.4

Direction of ship travel, = 180o (i.e. head sea)


2
Stn Bn (m) Tn (m) S n(m )

0 0 0.349 0
5 0.790 0.349 0.2735
10 0.790 0.349 0.2735
15 0.790 0.349 0.2557
20 0 0.349 0
ADDED MASS, az
Example 2.4

Find the added mass for heaving in terms of the


model mass.
2g 2g 2 9. 81
w 2 w = = =3.245rad /s
w w 5.852
w.u
From e = w x (1 ) cos
g
3.245 x1.459
= 3.245 (1- cos180)
9. 81
= 4.811 rad/s
ADDED MASS, az
Example 2.4
e2 Bn
Station Bn Tn Sn xB BnxTn
No 2g n Tn
1 2 3 4 5 6 7
0 0 0.349 0.0 0.0 0.0 0.0
5 0.790 0.349 0.2735 0.932 2.264 0.2757
10 0.790 0.349 0.2735 0.932 2.264 0.2757
15 0.790 0.349 0.2735 0.932 2.264 0.2757
20 0 0.349 0.0 0.0 0.0 0
Sn C Bn2 2 an SM Product
xB
bn= B T 8 n (9x11)
nn
8 9 10 11 12
0.0 0.0 0 0 0 1 0
0.992 0.76 0.6241 251.21 190.92 4 763.68
0.992 0.76 0.6241 251.21 190.92 2 381.84
0.997 0.76 0.6241 251.21 190.92 4 763.68
0 0.0 0 0 0 1 0
SUM 1909.2
ADDED MASS, az
Example 2.4

Added mass for heaving = an d


= 1/3 x stn spacing x product
= 1/3 x 1.463 x 1909.2
= 931.05 kg.

Added mass is 0.72 or 72% of mass of ship.


DAMPING, bz
The damping coefficient, b can be calculated similar
to the case of added mass.
2 2
Damping coefficient per unit length, bn.=
g A
e3
Amplitude of radiated waves
A
Amplitude of heaving motion z a
Values of can be obtained from Figure 2 (refer to
notes).
L /2
- L /2
The total damping coefficient, b =
bn.dx
DAMPING, bz
Example 2.5

Find the damping coefficient for heaving for the


model described in Example 2.4.

- 2 2 -2
-
Station
A ( A) bn = g A SM Product
No
e3
1 2 3 4 4 3 x4
0 0.0 0.0 0 1 0
5 0.55 0.303 268.41 4 1073.64
10 0.55 0.303 268.41 2 536.82
15 0.70 0.490 434.06 4 1736.24
20 0 0 0 1 0
SUM 3346.7
DAMPING, bz
Example 2.5

The damping coefficient for heaving,


b= bn.dx.

= 1/3 x 1.463 x 3346.7

= 1632.07 Ns/m or kg/s

RESTORING COEFFICIENT, cz
c = g Aw
= .g.L.B.Cw

Where Cw is waterplane area coefficient.


L /2 L /2
cmodel = g L / 2 2y(x)dx =gL / 2Bn.dx.
(STRIP THEORY)

RESTORING COEFFICIENT, cz
Example 2.6

Find the restoring force coefficient for heaving for
the model described in Example 2.4.

Station Bn c n = gB n SM Product
No [m] [kg/ms 2]
0 0 0 1 0
5 0.790 7,749.9 4 30,999.6
10 0.790 7,749.9 2 15,499.8
15 0.790 7,749.9 4 30,999.6
20 0 0 1 0
SUM 77,499.00
RESTORING COEFFICIENT, cz
Example 2.6

The restoring force coefficient for heaving is

c = 1/3 x station spacing x sum


= 1/3 x 1.463 x 77,499
= 37,793.68 N/m
EXCITING FORCE, Fz
z section z y(x) =Bn(x)/2
(x)

wave surface
x still y
x y(x)
water
dx

L/2
Fz = g - L / 2 2y(x). (x). dx

Where, = a cos (kx - et) and k = k cos


(x)

(is ships heading angle with respect to wave


direction)

Thus, F = g a
z
L /2
[ ]
2y(x). cos (kx cos .dx cos et
-L / 2
EXCITING FORCE, Fz

For the whole ship Fz = Fo.cos e t


Fo
and o = ( g .L.B ) (Non dimensional form)
a

2 l/2

= L.B - l / 2 y(x) cos(kxcos )dx.

Note : Phase angle between wave profile and heaving force


due to waves is 0o (i.e. hydrostatic part of the wave).

Typical values of fo is given in Figure 3 (see lecture notes).


EXCITING FORCE, Fz

Example 2.7

The following data are available:

= 1200 LCG = at amidships


L = LW = 5.86 m B = 0.8 m
T = 0.35 m a = 0.06 m
= 1000 kg/m3

Find f0 and F0
EXCITING FORCE, Fz
Example 2.7

The wave number is;k = 2 = 6.28 =1.07 m- 1
L W 5.85

Station k' = cos y cos


y =B n /2 Cos x SM Product
No. k x cos (kx cos) (kx cos )
1 2 3 4 5 6 7 8
0 0 - 0.5 - 2.93 1.570 0.000 0.000 1 0.000
5 0.4 - 0.5 - 1.465 0.785 0.707 0.283 4 1.132
10 0.4 - 0.5 0 0.000 1.000 0.4 2 0.8
15 0.4 - 0.5 1.465 - 0.785 0.707 0.283 4 1.132
20 0 - 0.5 2.93 - 1.570 0.000 0.000 1 0.000

SUM 3.064
EXCITING FORCE, Fz
Example 2.7

Integral = 1/3 * station spacing * SUM


= 1/3 * 1.465 * 3.064
= 1.496

Therefore
2 2
f0 =
LB *integral =
LB *1. 496 =0. 638
or
F0 = g a L B f0 =1, 760. 47 N

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