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CAMS M6 FD Sea Keeping Models
CAMS M6 FD Sea Keeping Models
(Module 6)
Dr Tristan Perez
Centre for Complex Dynamic Systems and Control (CDSC)
18/09/2007
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Some of the loads depend on the excitation due to the waves, while other depend on the motion of the vessel itself. The second type of loads give the system a feedback structure.
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waves
Linear Loads
Loads
Linear eq of motion
Motion
Nonlinear Loads
So, the linear model should not be seen as a limitation; rather as a basis upon which we can build nonlinear models based on the assumption of force superposition.
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Radiation forces
Radiation loads appear due to the motion of the ship the change in momentum of the fluid due to the motion of the hull changes the pressure on the hull, which induce the loads. These loads have two components
Proportional to the accelerations Proportional to the velocities
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Radiation forces
Boundary conditions: free surface condition (dynamic+kinematic conditions) sea bed condition dynamic body condition Regular outgoing waves are observed at large distance from the vessel radiation condition
rad = j =1 j
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rad = 0
2
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Computing forces
Forces and moments are obtained by integrating the pressure over the average wetted surface Sw:
Radiation forces and moments:
DOF:
rad ,i
rad (n )i ds Sw t = rad (r n )i 3 ds Sw t
i = 1,2,3. i = 4,5,6.
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i = cos( t )
Then, after integrating the pressure over the surface of the hull, the radiation forces in the DOF j due to the motion in the DOF i take the following form:
The added mass and damping coefficients depend on Shape of the hull Forward speed Water depth
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Symmetry
There is a total of 36 added mass and 36 damping coefficients. If the structure has zero speed and a plane of symmetry, half of the coefficients are zero. (for this to hold with forward speed, the plane of symmetry has to be parallel to the forward direction.) If the structure has zero speed and there is no current, then the matrices of added mass and damping are symmetric:
rest =
(Awp waterplane area)
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Froude-Kriloff loads
The Froude-Kriloff loads are obtained by integrating the pressure due to undisturbed wave field over the mean wetted surface of the bodyIt is assumed that the body does not disturb the wave field. These can be considered within a nonlinear framework by integrating over the instantaneous wetter surface.
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Diffraction loads
The diffraction loads appear due to the change in the wave field by the presence of the body. These can be computed in a similar way as the radiation forces by considering a BVP; the main difference is that the boundary condition on the body:
The velocity due to the diffraction potential has to be equal and opposite to the velocity due to undisturbed wave potential. This body condition ensures there will be no fluid transport through the body.
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combined
motion
Motion RAO
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Force RAO
For a regular wave
= cos( t + )
exc ,i = i ( ) cos[ t + i ( )]
The amplitude and phase of the excitation force depend on Encounter angle (wave freq, vessel speed, heading relative to waves) Wave amplitude Forward speed
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Force RAO
exc ,i (t ) = Fi ( j ) cos( t + + arg[ Fi ( j )])
1 24 4 3
i ( )
1442443
,i ( )
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Motion RAO
i (t ) = H i ( j ) cos( t + + arg[ H i ( j )])
14 4 2 3
i ( )
1442443 4 4
,i ( )
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~ ~ [ [M RB + A ( )] + j B( ) + G] = exc
2
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Motion RAO
The Force RAO relates the wave elevation to the linear excitation forces. By combining the Force RAO with the Force to motion frequency response matrix we obtain the motion frequency response due to wave elevation or Motion RAO:
H( j ) := G( j ) F( j )
H( j ) = [H1 ( j ), H 2 ( j )K, H 6 ( j )] F( j ) = [F1 ( j ), F2 ( j )K, F6 ( j )]
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S ,i ( ) = Fi ( j ) S ( )
2
S ,i ( ) = H i ( j ) S ( )
2
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* * nmi = 2 Fi ( j ,U , ) S ( jn , m )
nmi = arg Fi ( j ,U , )
* n * m * n [n / 2, n + / 2] * m [ m / 2, m + / 2]
e,n
* * (n )2U * n = cos m g
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p + gz + + = C dt 2
Then,
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V1 = A1 cos(1t ) + A2 cos(2t )
Then,
2 Mean components A12 A2 2 V1 = + rapidly varying components 2 2 2 A12 A2 + cos(21t ) + cos(22t ) 2 2 + A1 A2 cos[(1 2 )t ] + A1 A2 cos[(1 + 2 )t ]
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Hydrodynamic Codes
The working principle of all codes:
Input data and Pre-processing Hull geometry Loading condition Environment (frequencies) Calculation settings Additional damping and spring to represent PD controller, mooring, or linear viscous damping.
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Output data and Code Post-processing A(w), [A()] B(w), [B()] 1st order force FRF 2nd order force FRF Motion FRF
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References
Faltinsen, O.M. (1990) Sea Loads on Ships and Ocean Structures. Cambridge University Press. Journe, J.M.J. and W.W. Massie (2001) Offshore Hydromechanics. Lecture notes on offshore hydromechanics for Offshore Technology students, code OT4620. (http://www.ocp.tudelft.nl/mt/journee/) Perez, T. and T. I. Fossen (2006) Time-domain Models of Marine Surface Vessels Based on Seakeeping Computations. 7th IFAC Conference on Manoeuvring and Control of Marine Vessels MCMC, Portugal, September.
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