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2.019 Design of Ocean Systems Seakeeping (IV) March 4, 2011
2.019 Design of Ocean Systems Seakeeping (IV) March 4, 2011
2.019 Design of Ocean Systems Seakeeping (IV) March 4, 2011
Lecture 8
Seakeeping (IV)
March 4, 2011
Incident wave:
ηI = a cos(ωt − kx) y ζ2 (t) = <{ζ̄2 eiωt }
6
X
Equation of motion: [(Mj` + Aj` )ζ̈` + Bj` ζ̇` + Cj` ζ` ] = F̄Ej eiωt (j = 1, . . . , 6) (1)
`=1
6
X
[−ω 2 (Mj` + Aj` ) + iωBj` + Cj` ]ζ̄j = FEj (j = 1, . . . , 6)
`=1
Mj` : 6 × 6 elements of the egeneralized mass matrix
Aj` , Bj` : 6 × 6 elements of added mass and wave damping matrices
Cj` : 6 × 6 elements of hydrostatic restoring matrix
FEj : 6 elements of the wave excitation vector
ζ¯j (ω)
Transfer function or Response Amplitude Operator (RAO): Hj (ω) = a (j = 1, . . . , 6)
Numerical Method for Potential-Flow Problems
Φ = Ux →
u = U, v = 0, w = 0
2D point source:
m
√ m
ur
Φ =
2π
ln x2 + z 2
=
2π
ln r
ur = 2πr
2D point source plus point sink:
p
m
Φ =
2π
ln
(x + s) + z −
2π
ln
(x − s)2 + z 2
2 2
source
sink
2D doublet or dipole: source + sink, as s → 0 while keeping 2ms = µ.
m
(p
(x + s)2 + z2
) z
Φ = lim ln p
s→0 2π (x − s)2 + z 2
m 2xs µ x
= lim √ = √
s→0 2π x2 + z 2 2π x2 + z 2
µ √ x
Φ = Ux + 2π x2 +z 2
p µ
a= 2πU
Three-dimensional point source:
Q
Φ(~x, ξ~) =−
4πR
Q 1 O
=− p
4π (x − ξ)2 + (y − η)2 + (z − ζ)2
Distribute sources of strength M (ξ~, t)dS, varying with space ξ and pulsating in
time t and proportional to surface area dS:
dΦ = 1
M ~, t)G(~x, ξ~)dS
(ξ
4π
1 1
G(~x, ξ~) = + 0
R R
Z ∞
(µ + ν)e−µH
= +2 − cosh µ(ζ + H) cosh µ(z + H)J0 (µr)dµ
0 µ sinh µH − ν cosh νH
k2 − ν 2
+2πi 2 cosh k(z + H) cosh k(ζ + H)J0 (kr)
(k − ν 2 )H + ν
ω2
ν= g = k tanh kH
p p
R= (x − ξ)2 + (y − η)2 + (z − ζ)2 , R0 = (x − ξ)2 + (y − η)2 + (z + 2H + ζ)2
Source Method
• Distribution sources on the body surface with unknown strengths:
M (ξ~, t) = Re{M̄ (ξ~)eiωt }
R
Φ̄D (~x) = 1
4
π S
M̄D (ξ~)G(~x, ξ~)dS
• The source strength is found by requiring the velocity satisfies the boundary
condition on the body surface S
Diffraction problem: R
Boundary
1
¯
D (~x) +
−M̄D (ξ~) ∂ G(~x, ξ~)dS
= −
∂Φ¯ I
−
2
M 1
4
π
S ∂n ∂n
condition
−
1
¯
x)
2
Mj (~ +
4
1
π
−SM̄j (ξ~) ∂∂n G(~x, ξ~)dS
= −(iω)nj
• To solve the integral equation for unknown source strengths, we apply the so-called
panel method: Subdividing the body surface into N elements with the assumption of
an uniform distribution of source strength over each element. This will leads to N
equations and N unknown source strengths:
PN ∂Φ̄I (~
xm )
−M̄D (~xm ) + α ¯
M (~
x ) = −
n=1 mn D n ∂n
m = 1, 2, · · · , N
R
αmn = ∂
G(~
x m , ~n )dS
ξ
∆Sn ∂n
• Once unknown source strengths on the body are found, the diffraction and radiation
potentials can be evaluated:
PN R
Φ̄D (~x) = M̄D (~
x n ) 1
G(~
x , ~n )dS
ξ
n=1 4π ∆Sn
• Numerical solution of the linear system of N equations:
[A]{M } = {b}
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