Documente Academic
Documente Profesional
Documente Cultură
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).
z
Dashpot
Heave Amplitude Wave Excitation
b =Damping c =spring constatnt
zn z
x
External
Force, F(t)
z
By substituting in Eqn of Motion;
2 c
=
z = natural freq. i.e z =
Tz (m+az )
(m +az )
The natural heaving period Tz is
Tz =2
c
Spring constant, c = g AW
= g L B CW [kg/sec2]
FREE UNDAMPED HEAVING
MOTION
Example 2.1 (cont.)
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
.. .
z + 2 z + 2
z z = 0
FREE DAMPED HEAVING
MOTION
The solution for this differential equation is:
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)
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 )
= 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)
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
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
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.e = r
Bn L = Unity = 1
Tn R = Bn/2
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
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
- 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
RESTORING COEFFICIENT, cz
c = g Aw
= .g.L.B.Cw
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
wave surface
x still y
x y(x)
water
dx
L/2
Fz = g - L / 2 2y(x). (x). dx
Thus, F = g a
z
L /2
[ ]
2y(x). cos (kx cos .dx cos et
-L / 2
EXCITING FORCE, Fz
2 l/2
Example 2.7
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
SUM 3.064
EXCITING FORCE, Fz
Example 2.7
Therefore
2 2
f0 =
LB *integral =
LB *1. 496 =0. 638
or
F0 = g a L B f0 =1, 760. 47 N