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‘Amplitude of the heaving motion ‘The amplitude ratio A can be oltained from Fig. 4.6; therefore the total damping coefficient can be calcu- lated by integrating , over the entire length of the ship, that is, ua a ' ona coefficient & for the same values used in Example 4,1 Solution: ‘The data are presesited in Table 4.2. a ae Simpson's Prodvet Matipler ® © © © 2 ‘0.000 000) , 000, ‘sto 0325 4 rc as%0 0325 2 tum 0660 oats 1369 4 3476 ‘0.000 0.00 8000 ' ‘0000 suM Column Number Description ‘ith the values fom columns >.c) anil @ ar om Sectional Damping Coeticlent by py? A/a} Simpeon's Muli Pradust = O«@ ee9co3,05 fy o8 Hawa Fiore 46 Amplitude ratios 7 for twoulimensional floating boties in hea Here fs seetinal ing. motion (8) ea coeficicnt, H, is breadth of cach seetior, and T'is drata ‘The damping coefficient for heaving is be fats =4}xs%SUM + abd x 66567 or b= 106.67 [b-see/. 1 should be noted that damping is sery important in the evaluation of amplitude of motion synckronism, whereas it bas less effect on the arspli- tude of motion at frequencies that are further away from synchronism, However, the damping hax greater effect on the phass lag of motions at frequen- cies ciflerent from the synéhronous one. Ii strip theory the internetion between adjacent sections is ignored, However, the results obtained from such calculations agree well with experimental ‘ones, Vhere are three different methods of obtainin damping by model tests [242] 1. Free oscillations in alsa wate: 2, Ferced oscillations in calm water, 3. Forced oscillations in regular waves. Meihod 1 is not very accurate, since there is a large amount of damping in heaving motion and an extinction curve cannot be determined accurately, By using method 2 all the factors determining the damping force can be determined accorately. Th inespocially the ease with the exciting forces generated by am oscillator, Although metho! 3 represents a more realistic situation, it is difficult to determine HEAVING 45 the exciting force accurately and thercfore this ‘method can deliver results only for a more qualitative study. In any event the values of the damping co- llcient can be different in the three experimental Procedures, since the physical conditions in these procedures are different. Determination of the damping coeffi method 2 follows, by Experimental Determination of Gamping. ‘The ampli= tude of the exciting force (here the driving force) F, can be kept constant for a wide range of frequencies both akove and below the natural frequency of heaving, and a diagram may be obtained experi- ‘mentally as shown in Fig. 47. In reality only a part of this diogram is obtaived by the test, and the scale of the ordinates is not important, The maximum value of the magnification factor j, is measured and put equal to 1/2k. A line is drawn parallel to the thase having an ordinate value of /3/2 = 0.707 times the maximum ordinate or equal to J/2/4x, The horizontal tine crosses the dynamic response curve al two vahies of A, namely, A, and A;. Now from (48) 7 2) 4 ant BETA + 4etn + = Solving for A, we obtain T T T T so} 4 4 t sof 38 = 2o- x02 4 20 notre 2280 4 24 70] tol 4 Ogee = 1 104 i ; 0 5a -0m Martie 1S 20 7 — - Flare 47. Plot of nmgnification factor versus turning factor. —_—_————46 UNCOUPLED HEAVING, PITCHING AND ROLLING MOTIONS and Am tae? 26 fL ae Thus Aj= Abed (Tim Since the damping fuclor x iswally has « small value in ship motion, we can neglect the value of x? and et ARF ie Again, as both A, and A; are approximately equal to 1.0, we may write A#AS2 AJ-AP=(A, FADIA, A) = 4x or A, = Ay) = 40 so that In Fig, 4.7 we read the values of Ay anc Ay as, 9.700 and 1.125, respectively. Therefore the non+ dimensional damping coefficient w for this particular cease is determin WA, — Ay 1125 = 0.300 ® =021 ‘The experimentally obtained comping force co- efficient" obtained by the forced oscillation method in calm water is shown in Fig. 48. The results have been plotted nondimensionally. Both (eoretical and experimental investigations enable us to dew the following conclusions: a, ‘The damping force coefficient is priportional to the square of the waterplane area, bo, Ships with V-type sections experience more dimp= ing than do U-type ships for th: same load waternkane, ¢. The nondimensional damping coefiiciont, when plotted te a base of w,VB/a, reaches *: maximum value and then decreases rapidly (see Fig. 4.8). In the region of resonance, where camping plays a very important role, this decrement in champing does not appeat fo have a large effect. d, The higher the speed of advance, the lower is the, wave damping. In general, it can be said that the dampingcos Kxtsyeos.n,t (4.16) However, if the surface’ wave profile is taken to be the affective wave profile (this assumption means a greater exciting force and the design will therefore be on the safer side), the expression for the exciting force becomes (20m. reosaats)sosent (4.126) F = Fy cos ot co cmomny 1 Note tit the exciting force F is postive if it acts in the positive direction, that is, downward Comparing (4.10)-and-(4.12a), we find the phase angle belicen the-wave-profile and the heaving force due to. waves to be Ew (4.126) the amplitude of the » city free gam be expresset nondimensionally as Fo alli eo Fil seoemitocosmnde ain Note: Kar.the beam.sea_condition, (ic. «=.90° or 2107) the exciing force—for heaving teaches: the ‘maximum value. Examples.6 Calculation of the Amplitude of the exciting Force for Meaving ‘for ‘The Ship Model Described in Example 4 1 From that example the following data are available Lo Lee an B= 25020 g 0208 p= 19 RTbiseet nt Find fy and Fy. : olution above values, the wave number is Qn 62k 1,” 9.20 07K! and the simensionless force aniplitude is 2 pee aif _ahOreostkccoss)de The numerical values of fy and F, are determined with the help of Tabled Thus Integral = x sx SUM =} 48 x 9.92 = 1587 ‘Therefore = aby = 3962, Note: If more stations than the Fve taken in this example are considered, more cocurate resvil can be obtained for Fo, The typical exciting force coefficient for heaving. fy asa function of the ratiovf encovintcring {o ship lenpth for differen: values of tise water area 1 is given in Fig. 4.10. The following e drawn about the heaving force [242] 4, The heaving fores is small when the effective wavelength is less thaw half of the ship's length, b. When the ratio of effective wavelength to ship length is equal to the waterptave arc the saving force seems o be zero, coefficient,HEAVING $1 the TABLE 44 Ssaion a feo : Speers Prodvat wi ren ET cmthecnnt reongconn Smee @ @ ° C12. 0 ® ° ° 0596 =m oma 1 : ee ts 4 ® iw 0s 8200 om 196 2 rk Pe Stee OM a tH ‘ » ° eee eaten real tec cies 1 Description of Table 4 Colony Naber Dewrption Colum Nner Description 0 Staion Number © ‘Ga th cn ° {et (alread of watered y= o Cos ike co 0) o Coon 8 Simon's Matter @ Dystance fous LCG, + © ® econ = fective wve number 16 eee : : : 4, 4 ° os 0S aa ling force coeticient or heaving, /, (242) ¢. Tite easing force is small oF modevate when the value of the waterplane area eoeficent. effective wavelength is equal to the ship's length 4. As the effective wavelength approaches infinity, I itis assumed, as mentioned carlier, that the the aondimensional heaving foree approaces. the waves pass along the ship very slowly, ve vertical os : we, oP $ ») es SeS2__ UNCOUPLED HEAVING, PITCIING, AND ROLLING MOTIONS displacement of any section in the wave is termed atic fivate aid is given by ‘The static heave amiplitude is then wer(O ii ning at Fa Fcosen,t - ames cos (kx = oy dx Example 4.7 Given: L 4500 B= 7h Cre = 0.80 A" = 12,500 tons ” |. Theradded mass for heaving is, 80% of the actual mass of the ship. 2. The coefficient for damping is given in the none dimensional form as by gL JA = 1.0. 3. The amplitude of the exciting force for heaving ‘motion is given nondimensionally as fy = Ey/pgé 1 ONT (see Fig 410, Find the heaving aruplitude of the ship. Solution, Inertial foree ssthore Ue virtual mass is = 1,565,222 Ib-sce?/ft b, Since = 79x Vat.” fii ‘= 395,42/ Ibs-sec/ft (by muluplying by 2240) . The restoring force coefficient is €= 1.99 x 32.2 x (450 x 10-x 0.80) [from (49)] = 1,614,766 lb/ft d, The dimensionless exciti I =0.17 pag so tha Fy = O17 1.99 32.2% 10 x 450 70 = M4N377Ib The tuning fuctor is ~_ festa V1.565.222 = 1016 rad/see and the damping factor is ¥ 0.126 roie k where 2 = 0124 The heaving amplitude Say “1,614,766 VEE Cat) fb (0.1247 » (LAGI)! =4708HEAVING 83 Example 4.8 With the a following given in Example 4.7 find the a. The plase relationship between the wave motion and the heaving motion, b. The maximum beavi seaway. The relative mo Ship.with respec! t0 th . The magnitude of the urtximum eesultant relative motion (i.e. displacement) of the ship with respect to the waive surface, on (ic. displacement) of the lation The phase.angle between the waxe_mation and the heaving motion is expressed as te where 1, is the phase angle between the watve motion and the exciting foree.edused. by. waves, the phase angle between the ee heaving motion, Now =0'Trom (4.126) sand fron (4.76) : no ( ws \ at) O12 1 is) Note: The investigation of pinise angles is a rather important aspect of the study of ship motior is will be shown kater, bath dleck wetness aud resistance of a ship es depend on the ship's relative position with respect to the wives W should also be noted that, if the frequency of encounter is very nearly equal to the natural frequency of heaving, the phase lagsprediction may become ‘extremely uncertain, since in this resonance region the damping influence: the heaving motion appreciably. Gn the other and, if the damping is very small, che phase ki i 0" below resonance ane 1RO? above resonance, Near the resonance rane the wotion amplitude is also very sensitive to damping: therefore motion predictions near resonance are not always isa. b, The.equation.of heaving motion ofa an @ Tim — F0bcos(o,t =A aim ~ Famheonlng 0 The magnitude of 22/4"? is maximum when 0s (= 8) = = LO thus Oro ae 4.70 x (L187 = 6.54 fYsce! Let the equation 6f wave motion abou point on the calm waterline be given as y fixed C= Geos ‘The heaving motion of the same point for the steady= state conditien is then Fm 2, c0s(«,! — 0) where «is the phase angle between the wave motion and the motion of the ship. Thus the relat 4 = SLens., cost 9] The maximum relative motion of the ship is obtained when ds 0 dent) : cor, differentinting, we have 2 og — sin ong + 24 sin(eag 6) =6 reba +E sim(oogt )) Since ¢,#0, the expression inside the brackets is vero. thatis, = sins + Psinfns ~ 1) =0 rd + eAsinlongs —F) from which msinog + (sin 0, cos £ ~ cost sin) =0S4__UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS, Now, inserting the values of =,.é,. and 6, we hive 47 ee ~ sim eng +g [sim ng x cost ~ 326") cos wt x sin -396)] = or ~ 0.638 sin «1, + 0.299 cos «o,t = 0 from which tan ef = 0.469 Thus 9,8 25.11 (or 205.10") Figure 4 und s is maximum when «ot = 25.11° ‘The maximur resultant relative motion is ob:ained by inserting this value of «,t into the equation for he relative motion, that is 47 = tOfeos25.11°- Tcost25.11? +3860" 1] = 708 Nose also that by drawing curves for gz, and itis seca that al «,f = 25° and 205° the neisimum rtotive motion of 704 ft is obtained: Also note that in Vig. 4.11 the motion curve precedes the wave curve since s=5,cosfo,—(—39.6)]. that is, the phase angle et deg) eo Motion relative to free surfaceACCELERATED ROTATIONAL MONON $8 is positive in relation to the wave curve (see Section since 22) Then Ship Model Correlation From the dynamical analysis. (see following relations hold between the ‘model able 4.5) the ship and the Leak Mm an Note: In place of a seouit.a geometrically similar ship ean also be considered (using the appropriate le factor seale factor) for finding the physical dimensions of quantities occurring in ship dynamics, where ___Venathof ship * Length of model M andl L are ship quantities, and m and Fare moxlel quantities Consider two ships (or one ship and one model) 42 ACCELERATED ROTATIONAL that are exacily similar in all xespeets except dimen. MOTION sions: in other words, if the rclation between any linear dimensions of one ship and the corresponding Ifa purely rigid body has an accelerated rotational dimension of the other ship is 2 (ic. 1, = Al) prove — motion, the aeccleration of any particle of the hody that the periods for small aseillitions are in the ratio ata perpendicular distance r from the axis of rotation of or T= AUT, (T, and Ly are for the kirger _hastwo components: hull, and 7; and L, for the smaller one.) We know from Example 4 that 1. The first is ro, along the direction of instantancous velocity, 2. The second is rev, directed toward the axis. and Here the instantaneous angular velocity is da _ 7 ade TABLE, 48 PHYSICAL DIMENSIONS OF QUANTITIES IN SIP DYNAMICS ac om mae gt and time franca at, Qn Meuse Quanity Measare | Rotem Forma Mase Volume and first moment of area e Uength Second moment ats Tne Density Sprite chvity Mase pot unl ae Accel Maes moment ‘Momentum and imple ‘Moment of neetin and product of inertia ore thee Sree an preture (eer nd work ‘ Sain mer ower loti moda MT Moment of fare of mort Angi svomicntn or omen am Mart nen ites (onsen pt rian) wrt Awe ‘Angular sifoes (moment pe radian) mar? Asse velcity af ereulaefesweney, 0 Linear Resiblity oe receptnnee(dieplacement evolion re anit orc woe Ang wecieration rt icy ante Nees 8 Kinematic vsedity eT ®$6 UNCOUPLED HEAVING, PITCHING, ate 412 ‘Two components of acceleration of a pariicle ‘accoerated rotational motion, : See Fig. 4.12. The component forees acting on the Particle in two directions, as shown by arrows in in 4.12, are F = mass, x acceler = mass > aeeeleration = mru? we consider the body to be composed of different particles i i clear that the resultant force on each individual particle has all diteetions parallel to the plane of rotation. It is; therefore, meaningless to ek all these forces, although the contribation of each particle must be added to the total rotational elect of the body. Thus we adkd the moments of forces about the axis of rotation. Therefore tie sum cof moments of forces Fal about the axis of rotation ispiven by Pre mar = med The total moment of all the forces rotation is about the axis of EF y= Limp? eb Eine Se i apy ae where 1 is the moment of inertia of the body about the axis of rotation, that is, Zp?) ‘The quantity Binny2) depends eit the distribution of the mass of the body, as well as on the axis of rotation, and itis referred toss the moment af inert of the boy about the particular axis. "Therefore i ‘ust be remembered thst, although the total mass M-= Em, of & body is « singlesvalued quantity. the AND ROLLING MOTIONS ‘moment of inertia of a bowy may have “ifferent values. depending upon the particular axis in question. In other weds, there is no such thing as the moment of inertia of @ body; rather, there are moments of snertit, each referring to a particular axis, such as the moment of inertia of a ship bout the x-axis (ic, for rolling), the moment of inertia of the same ship about the y-vtis (for pitching), and simitarly about the avaxis (for yawing), and: all thes? values are «lfcrent from each other, Ni, if1 is the moment of inertia abcut a particular axis of a body of total mass M, a related length k is defined by the dimen- sionally homogeneous equation rast where bis ealled the rads of gyration of the ship about a particnar axis. Thercfore we may have radi of gytition for three diferent rotetional motion namely; rolling, pitching, and yawing. Thus, if we have the nraper radius of gyration, tke moment ot inertig at aI is obtained fom the relation In practice, the radius of gyration of a vessel ‘about any axis is obtained by considering the total weight of the vessel as the sum of mtny sinall weights ‘ad then adding the products of each small weight and the squire of its distance from the particular axis concerned, that is, R Elwye? A re wy is the weight of the ith element, ris the lw ‘rou 6; Figure 4.13, Radius of gyration for rolling.ACCELERATED ROTATIONAL MOTION 57 "ar vous 69 Pique ata direct distance of the ith element from the axis of of total rotatien, and A is the total weight of the vessel, dimen ‘Radius of Coration for Diffsrent Angulne Notions v Rants oF Gyration: ron ROLUNG ‘The moment of inertia for rolling is (sce Fig, 4.13) Hoots fant : 7 fase (8? estas Thus 1 he Safwan +N] 20, where 1, = weight of the ith clemen! Ny stransverse. distance of the CG of the ith element from the axis through the ship (ie, from the rolling axis} = vertical distance of the CG of the ith element from the axis throgh the CG the hip 1, = moment of inertia ofthe ith element about itsown CG Note that the axis of rolling is through the CG of the ship and perpendicular to the plane of this page. However if the ship is subdivided inte sufficiently sonal weights, he radi of eatin ean be foun from + Latif? ean Hm Elmot +201 ‘ls oun & Figure 4.18 on Raulus of gyration for pitching, from which Sept e al | me eee aay 3 RADIUS oF GraaTiON FoR Prrcinc With reference to of inertia is ig. 4.14, the pitching moment = MR, = Jame fase + sincef=aft shor - ; “ 4 1, 1 3 Efw(sd + 29] +2 Bom g Ems? +210] However, if the ship is subdivided into sufficiently small weights, the radius of gyration can be found from aa! waa nl ap ad 4 a2 Ty Key g ELwdad + 22) thal is, weg a] (4.15) Rantus oF GyraTion rox YAWING ‘The yawing moment of inertia is 1, = Mk, = fare 5 fares ay) Radius of gyration for yawing,S8__UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS 4 a a 1, \ Ew lat Af) 4 EL, a ‘The axis of yawing through the CG is perpenclieular to the piane of the paper, as in Fig. 4.15, Again, if the ship is subdivided into sufficiently small weights, the radius of gyration ean be fovnd from el fia =! spe 7 emg lM wi that is, (4.16) Example 4.9 ‘A homogeneously loaded barge (A= 600 tons) is considered 10 have 12 uniform divisions, exch ‘weighing 50 tons. Find te radius of gyration for rolling, pitehing, and yawing if the weights are considered (o be eentered at the CG ef each division, at is, assuming that (he mass moment of inertia ‘of cach division about its own CG can be neglected. Soe Fig. 416, Solution The londs and the positions of their C in Table 4.SA. c sare listed Equations 4.14, 4.15, and 4.16 yield, respectively, 54.750 a ae 32S, ieaky= 550K 360750 2 SO 625, esky 2 65 Begg HU DS, ey = 24.02 ft = 525.00, ica ky, = 25.00 fk Note: Since the barge is homogeneous, it may be considered to he mace up of many more small boxes than just 12, as shovta in the above example. Then he radius of gyration for rolling, would approach O.28K7H, and the radi of gyration for both pitching ane yawing would also approsteh O28K7L, This is illustrated frelow for the pitching radius of gyration For a homogeneous boxly t= [nga “TABLE 454 lan Cy vey yy ey 1s =m 82s mas a8 Be to saa ee ee acs eo 0 esl 0 as 4 4M Fs 2s om sas 5 9 0 ts 3s eos tas 6 ew 8 8 wh tas i De aks ks el ol ay as 9 “em 35 wo 3. 635 he es om 3s a8 Me poles O28 62s a ee ones as ooh tas ut Woes badd af tat wOtech wieltst) wise fs ey ey eH ene) fiomte] ftom] yas waas, 935 sans 4a "0 mas eis as ages aes an 0 M36 wwe OWENS aS az) M26. 9S Hs HRS aa Ma "ais as Ngas. os © lam 8 N36 meas Rs ES wQMES ange M28 onn3s ms USS ATES aaa iat ects) ois ates eras ti 08 MIS WO mS LIS AIS 2H 0 Mas mmas BS Aes AIDS aM ey a MOS mm2s as SRS ALES aa SUMS TA@ Mw OM 9 and 1 fing Ge ede NM a Foy the determination of pitching radits of pyrae n S/S a eis 5 A Ae ee alt | |< —20 1. + Figure 446 Barge of 12 uniform divisions.TABLE 480, Satin ™ z Ne pace?) Distange fons ching Avis urn THeretore ye AS tion, k,, we have the values shown in Table 4.50, Therefore : 1a bx 45s = 12877.64 ton-see" Mt fia itis Be My cOn/32.2, 2S 9KO7A (ie. O2KRTL hove 600 rece! MO toneect Example 4.10 c ‘A mantel weighing 7.50 Ib should be ballasted to 11.50 Ih in order to have a displacement correspond ing to that of the prototype. However, after ballasting the model, as shown in Fig. 4.17, itis found that the pitching radius of gyration is i2 in., whereas that Of the prototype is 0.25L. Ifthe leith of the model is § ft, and if the equal weightsare to be equidistart {om the CG so that the CG will remain at the original Figere 47 ROTATIONAL MOTION 59 mat Simp’ Prot Mati ans \ ans nat wand ° ‘ ° asm 49500 ae ' ane Ar sco hawt jon, how far wxty tom the CG shoukl the weights be located? Solution: : “The desired mass moment of inert: should be is us : u = «(0.25 x OOin,)* @ ¢ 2590 Ihsin.? 118 ie 168i? 6 aglisec? ‘The deerense in the moment of inertia is 25901655 _ 935 Ib-i a a alfijsec*) The contribution of (wo weights (each weighing. 2b) to the total moment of inertia is However, the weights should produce a moment of an.2/gffusee?] mores that is, the Determination of pitehing gyradius of a model60 __ UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS oe wy x Figere 48 Illustration of vessel in Example 4.11 (otal moment of inertia due to the weights should be 400 995 _ 1355 bun? gg gf{ftjsee*} mtg then or re I8in, This means that the weights sivold be plied at a distance of 15.3 in, apart from the Example 4.11 From Fig. 4.18, T= soon Bah A= 13,000 tons CG = 10 ft afi of 00nd 30 1 above keel ‘and on the centerline of the ship kg = 040 of the ship's be 25 of the ship's lengih 22 = 0.25 of the ship's length, ‘A weight of 200 tons located ata position 100 ft forward of (0, 50 ft above keel, and § ft on starboard is shifted to a different position that is 50 ft forward of 09, 20 fl above keel, and 10 ft on starboard. Whit Will be the new CG, K... kyy and k,,? Solution: ‘A shift of weight can be considered in two steps oct Stotoord Rolling, pitching, and yawing radi of gyration for Eximple 4.11ACCELERATED ROTATIONAL MOTION 61 in the determination of the radius of gy (ny weight xl (yp ition of the same weight atitsnew location, ‘a. Removal of weight “The weight of 200 tons is considered to be removed from is original postion, Thus, referring to Fig. 4.1%, Coen 1 Mae, =M 13,000 = 3.0 (04 x 707 Bag * (04 1) 00 24 52 = Fp « Loo + 57) 313,842 ton-soe?-ft ‘and from Fig. 4.196 Crredaais Urn agen ~My oon =e (125 Say * (28) 200 = 38,» [otto + (200) = 6,230,590 ton-soe hf and, referring to Fig. 4.13¢, aeecdasey = led eqen — ME 13.004, x (128 jaa tt SP 200 ~ 322 = 6,232,919 ton see? x [C108 +54] Because of the removal of the weight the new CG of the vessel should be determined. Taking the moment about the forward perpendicutar, we have 13,000 x 260 — 200 « 150 13,000 — 300 61.72 from the forward per- pendicular ‘Thus the shift of (CG), is 1.72 f. “Taking the moment about the centerline, we have 13,000 2D = 200 x (+5) 13,000 ~ 200 ~QO8M (port) that isa shift of (CG), oF 0.08 ft “Taking the moment about the baseline, we have 12,000 4 30 -- 200 $0 14000 — 200 = 29,6941 above baseline New(CG), New(CG), New(CG), = “Ths the shift of (CG), is (30 — 29.69) = 031 fh ane (an where h,, is the dircet distance of the x-axis through the new CG and the x-axis through the old CG (Fig, 4.190, th Vevey OM = Ms h2, = (shift of G,} + (shift of Therefore on = s1agn2 {3.000 200) x [0.397 + (008) = 313841 tonsoe't and Urpen enon = Urree eeey —OM =P, where fi, isthe direct distance of the yaxis through the new CG and the (Fig. 4.19¢), that is, xis through the old CG 12, = (shi of G,} + (hift of 6)? Therefore 5 " 40) — 200) npg denen 8230,890 =" 55 x [1.727 +0317] = 6,229,376 ton-sec*-f and rt Denco 7 stan anea (M = where ly, isthe direct distance ofthe z-axis th: ough the new CG and the zaxis through the okt CG (Fig. 4199, that is, 2, = (shift of G,)? + (hift of G,)? Therefore (1300 ~ 200) es, = 6.232.919 — 00) erga ana * 622919 = 355 x [L727 + (0.08)7] = 6,231,740 ton-sec*-ft bb. Additions of Weight The weight of 200 tons is now considered to be placed at its new position, Thus, from Fig. 4.20dGI UNCOUPLED HEAVING, PITCLING, AND ROLLING MOTIONS t 21000 00m? + onan 2960/1? Nee ate Nea roy? (60.0 917297 4 (29.69 2018 ne? he? = 9.60~ F956 + un72— 10772 We o fa? (608 41.727 + 120.4 0.00)? 0? Ay? = (N1272~ 10707 + (908 + 000) rm ” Pique 420° Shit of center of gravity in each diteton, (en darr *Usadaguas IES, x [{61.72}? + (19.0877) anne a = 6.25602 tonsee?tt 2 09.69%" But, because of the addition of weight, the CG * [1008 + (9.6997) of the ship is changed, Taking the moment about = 15,055 ton-soet-n the forward perpendicular, we have From Fig. 4.206, : ee New (CO), = 22 200 2 62293764 é 260.77 ft from the forward % {161.72}? 4 (9.6983 Perpendicular 62: 20 ton-see?-| mi " that is, shift of (CG), of (11.72 ~ 10, 71) = 0.95 f. an from Fig, 20. Taking the moment shout the eanterine, we have (he) 5, = HOO (— 0.083 4 200 10 Newica, =— 128005 300 F008 (ie, starboard)PITCHING 69 anil the shift of (CG), is (0.08 + 008) = 0.16 1. ‘Taking the moment about the bascline, we have 12,800 x 29.69 + 200 x 20 Ta 300 = 29.54 Ml above the bast (29.69 - 20.54) = 0.15 New(CG), The shift of (CG Relurning to the moments of inertia, we have, from Fig. 4.204, Doan OM man, hy, = (hilt of G,}? + (shift of GP? “Therefore 12,800 + 200 = 315055 - 5 x [10.169 + (0.15}4) = M5036 ton-sce?ft and from Fig.420e, Oss aee —(M + mil, (shift of G,)? + shift of Gy? Therefore 12.4004 200 = 6,253,620 ” Une ann = 625,600 — CHE * (C015) + (095)7] = 6.253.267 ton-sce?ft while from Fig 4.29% (bmi (shift OF 6.) + (shift of GP? Therefore (12,800 + 200) 32: [rossi + (0.16) = 6,255,657 ton-sec?t Unracad eevee 6256022 = Since See 7 then : or and 1 = 12448 f Also, as calculated earlier, (G,) New = 10.77 fa of 60 (G)) New = 008 fn -tarboard (G,) New = 29.54 1 above baseline 44 DITCHING AAs mentioned before, a ship may undergo a simple harmonic motion about ‘either a transveise axis (ie, y-axis) or a longitudinal axis (.e.. x-axis) if itis displaced from its equilibrium: position and. then feleased., or iit is given an initial velocity away from its equilibrium position. (See Fig. 4.1) 1 tas also been noted that we should always refer to the moments of forces, rather than the forces, when we describe angular motions like pitching and rolling. AAs in the case of heaving, the following four moments actin pitching and rolling motions: J. Inertial moment 2. Damping moment. 3. Restoring moment, 4, Freiting moment, Pitching motion is described in this. section; rolling motion, in section 45, ‘The equation of motion of pitching ean be written as ao do oF + 4 c= Mycosis where: a. Inet moment co : ‘ae Here(@is the virtual.mass_moment of inertia, and @PO/de is the angular acceleration of pitching. , Darnping moment = Hae Here @ is ‘the damping -mamcut coefficient, anid d0/dtis the angular selocity.ots uNCOU JED IIA VING, PETCHING, AND RO! LING] MOTIONS, The damping moment is again considered to be proportional to the angular yelocity for the ¢ of simplicity, as in the ease of heaving . Restoring moment = Here ¢ is the restoring moment coefficient, and {is the angular displacement in pitching Again the restoring moment is considered 10 be linearly proportional to the pitching displacement. ‘This is true only for small angles of pitching. 4. The exciting moment, My cos i,t is considered to be Muctwating with An encountering frequency I've can determine the various values of a, by ¢ and My we shall be able to determiae the motion characteristics for pitching. It should be noted, however, that the coefTicients, a, by ¢ and Ma of pitching are not the same as those of heaving or rolling, Therefore they should be determined separa tely for the diferent kinds of motion. Determination of Coefficients for Pitching Motion The virtual sass moment of inertia for pitehis «iis the vessel moment of inertia for pitching plus Use auldedl mass moment of inertia for pitching, that is, a= yt Syy (4.163) where af, is the added mass moment of inertia for pitching, and k,, isthe radius of gyration for pitching. The virtual mass moment of inertia for pitching, can also be defined as «= (vietual mass) x (radius of gyration’? M4 SM) x 3, where. Aly) is the seetiona Here it is assumed that the longitudinal distribu sion of mass is the same as of the longitudinal dis tribution of displacement: thus the vertical sist tion is aeglected, cn itis also assumed that the CG ke ship is ut the mi¢ship section, Note that for the nornutl ship Form the radius of gyration for the Pilehing motion is k,, = 0.24110 0261. where Lis the length ofthe ship. The added mass moment of inertia for pitching cean be determined by experiment or by the method of strip theory, that is, the shfp is considered to have different sections, for each of which the added nas is obtained. The: of Fert is obtainesl frou. the added amass, as is the ship's moment of inert the added mass mom« ‘4.l7e) where a, i the added mass for each scetion as deter= tnived in Scotion 4.2, and x is the distance of = sectio from the L Equation 4,17¢ ean be written as ate af cettay wnere’C is the aided mass coefficient, the values of, which are oitained from Fig. 4, example 4.12 model for which th Example 4.1. The data for this example Table 4.6, given in ‘ ded euss Solution, From the valves in Table 46, the monent of inertia for pitching is ie fagtde cok ede ee ixsx SUM =} x48 x 895.3 © 1368S Ih. where sis the station spacing, Figure 4.21 shows the values for added inertia for pitching. Mrom thr figure one can see that the added inertia is of the same order of m: is the inertiz of the actual ship, and the the determination of pitching motion adéca inertia should be ken into consideration, Paster Conericenr roR PITCHING The damping coulficient for pitehing can also be obtained by the method of str determined ior cach section and then integrated Heory, that is,ae PITCHING 65 7 Tavinae Staton a : oo Simpson's Product . Ne Kream eae 1] fa ny foo) M : ey © ® ® 0 ® ve on on hi ‘ sin an ousis F 2 0 sot = 048 an ust assis iH ans 2 sae nen 197% jertia » om = toe 101406 ‘100 ship's sum 4.176) Description of Table 46 Catcon Nebo Pesos Cohn Numer Deseripton Joter- +o Sinton Numer ° 42" = 0) < @ = Aled Mass Moment tert ah ® ‘Aled Mas or Fach Section «ined rom (of Bach Section ool ot Tabet 2 ° Lever Arm, gsdianee ofeach scion Kom LG ® Lever Atm Squared. =O *O) over the entire ent, fllown, wy for pitchingis |, ee Cee . Panesine -[ Bouton XE be fi bd ues of em herd 6) is the damping force cosfficient for each =4xsxSUM 2 strip along the ship's length, and@is the distance = 4x 48 x 1316.17 of the individual strip from the. LCG (same as the = 2108,9t-lb-see LCR) position, behing The dam i ay lamping for the pitching motion is increased ea) maine by the following: ne Find the damping coefficient (Gr pitching motion (1) Increase of beam 5 + ef the ship movtel for which the data are given in (2) Decrease of draft 7 Example 4.1. The relevant data are presented: in (3) Decrease of vertical prismatic coefficient (ie, : Table 47, increase of V-form), Ga On the other hand, there is rapid reduction in Solution : damping with an increase in frequerey of oscillation. From the data of Table 47, the dampingcoeMicient Such a high frequency, however, generally occurs TTT To : = inertia t ds ; 7 inertia lt 1 J °% > * © bane evi : at is, Figwe 421 Nondimensiomal added mags moment of inertia fr pitching motion {124 grated»66 UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS Description of Table 4.7 Clans Nurier Description 5 Station Nunsber I o Seetional Damping, Cocticint, b> 214402 [A tm Fig 46} I © {Ee Laver Avo eet nee of lv ction fea the LCG sta ‘outside the domain of resonance, ‘of not much significance. Figure 4.22 shows the experimentally obtained nondimensional damping coefficient for pitching I motion [72,73] where damping is, Reson Maeve Comment The restoring moment for pitching can be expressed ke siinple forts 2 ae rao Xy(dde = (ly where ¢ is the restoring moment coefficient, ‘aad 1, is the moment of inertia of the load waterpkine 070 TABLE AT No, ta wy © ® ° on wi 5 an 662 0 - aK 0230 bet Simpson's Proxet hisecc] Maltpier ® © om 4 30 oT 4 ry nas + 2 270 sun 13167 Cora Number Desciption 8 Leer Aem Squared 6 tn @ xO 6 Sings Muir ° Pret = 2 © ‘Thus, since BR, = 1, = py0VIR, = pgVGR9 for small angles of inlinotion, andl therefore or Note, however, that the restoring moment coelficient determined in this manner is valid only so long as the restoring moment for pitching can be considered tobe linearly proportional to the angle of inclination 0, Example 4.14 Devermine the restoring moment for the model nour 75 28 of qo l2e a7 65 25 on Figere 422 Nondimensional damping coefficient (124). 0.706 0977 07s 090s oun 2004