Dr. Carolyn Q. Judge USNA EN455 Seakeeping and Maneuvering 2019 Course NotesContents Anh introduction to Seakeeping 1.1 What is seakeeping? 12 Components of Seakeeping 1.3 What features make for a ship that has good seakeeping qualities? Revi 24 2.2 23 24 25 The 3a 32 The Al 42 43 44 45 1.3.1 Mull Size 1.3.2 Hull Form 13.3 Metacentrie Height 1.3.4 Bales Seakeeping Index iew of Intact Statical Stability The Internal Moment for a Heeled Ship The Curve of Intact Statical Stability Gross Curves of Stability Correcting for Center of Gravity Location Free Surface Correction (at small angles of heel) 2.5.1 Static Effects 2.5.2 Dynamic Effects 2.5.3 Calculating the FSC and GMeq 2.5.4 Effect of a Free Surface on GZ 2.5.5 Damage Stability Input: Waves Regular Waves Irregular Waves 3.2.1 Superposition and Fourier Analysis 3.22 Wave Energy Spectrum 3.23 Idealized Wave Spectra 3.2.4 Review of Probability and Statistics with Marine Applications System: Ship Dynamics A Review of Dynamics Added Mass and Hydrodynamic Damping Ship Natural Frequencies Ship Inertia - Pitch, Yaw, and Roll Ship Transfer Function 10 10 10 10 u i 13 uh 15 18 19) 19. 20 20 20 21 21 25 26 33 36 40 45 62 64 69 74 7 16CONTENTS 4.6 Model Testing in Regular Waves 4.6.1 Experimental Model Ship Testing 4.7 Strip Theory 4.7.1 Lewis Coefficients 4.8 Roll Mitigation 4.9 Appendix: EOM Solution Derivation 5 The Output: Ship Motions in Waves 5.1 The Electronic Filter Analogy 5.2 First Challenge: Encounter Frequency Spectrum 5.3 Second Challenge: Motion Energy Spectrum 5.4 Ship Motion Probability Distributions 5.5 Polar Plots 5.5.1 Safe Operating Envelopes (SOE) 5.6 Model Testing in Irregular Seas 6 Introduction to Maneuvering 6.1 Introduction 62 Maneuverability Requirements 621 Directional Stability 6.2.2 Response 623 Slow Speed Maneuverability 6.24 Maneuverability Trade-Off 63. The Rudder 63.1 Rudder Types 6.4 Slow Speed Mancuverability 64.1 Rudder Position 642 Twin Propellers 64.3 Lateral Thrusters 644 Rotational Thrusters 7 Maneuvering Theory 7.1 Elements of Controllability 7.2 Basic Equations of Motion 7.2.1 Linear Equations 7.2.2 Notes on Notation 7.2.3 Control Forces and Moments 7.3. Captive Model Tests (PMM) 7.3.1 Styaight-Line Tests in a Towing Tank 7.3.2 Rotating-Arm Technique 7.3.3 Planar Motion Mechanism (PMM) ‘Technique 74. Directional Stability 7.5 Analysis of Turning Ability 7.5.1 The Three Phases of a Turn 7.6 Rudder Design Considerations 81 83 89 93 94 97 109 110 110 12 115 uy ur 118 123 124 124 124 125 126 126 127 127 129 129 129 130, 131 134 135 135 137 139) 140 141 143 145 146 148, 151 151 14CONTENTS 7.6.1 Rudder Definitions 7.6.2 Lift, Drag and Angle of Attack 7.6.3 Constraints on Rudder Design 8 Seakeeping Notation 9 Maneuvering Notation 10 Regular Waves Experiment 10.1 Computer Programming Laboratory 10.2 Experimental Laboratory 10.2.1 Regular Wav 10.2.2. Regular Wave Experimental Assignment s PreLab Assignment 11 Irregular Waves Experiment 11.1 Computer Programming Labora 11.2 Experimental Laboratory 1.21 Inv 11.22 Inreg: ny lar Waves PreLab Assignment Experimental Assignment lar Wave 12 Dynamic Ballasting Experiment 12.1 Dynamic Ballasting PreLab Assignment 12.2 Dynamic Ballasting Experimental Assignment 13 Heave and Pitch Motions in Head Seas Experiment 13.1 Computer Programming Laboratory 13.2 Experimental Laboratory 13.2.1 Heave and Pitch Motions in Head Seas PreLab Assignment 13.2.2. Heave and Pitch Motions in Head Seas Experimental Assignment 14 Roll Motion in Beam Seas Experiment 14.1 Computer Programming Laboratory 14.2 Experimental Laboratory 14.2.1 Roll Motion in Beam Seas PreLab Assignment 14.2.2 Roll Motion in Beam Seas Experimental Assignment 15 Ship Motions in Irregular Seas Experiment 15.1 Computer Programming Laboratory 15.2 Experimental Laboratory 15.2.1 Ship Motions in IW PreLab 15.2.2 Ship Motions in IW Experiment 16 Planar Motion Mechanism Experiment 16,1 Background 16.1.1 Model Details 16.2 Static PMM Experiment 30 30 31 31 31 34 34 36 36CONTENTS 4 16.2.1 Static PMM PreLab 36 16.2.2 Static PMM Laboratory 37 16.3 Dynamic PMM Experiment 39 amic PMM PreLab 39, amic PMM Laboratory 39 17 Writing Guidelines for EN455 45 17.1 “The Data Suggest..." - Writing in the Sciences 45 17.2 Questions to Address Before Beginning to Write a7 17.2.1 Who is your Audience? a7 17.2.2. What Should be Presented?” a7 17.2.3. What are the Questions? a7 17.2.4 What are the Answers to those Questions? a7 17.2.5 Where to go from here? 4B 17.3 The Formal Scientific Research Report 4B 17.3.1 The Introduction 48 17.3.2. The Method 48 17.3.3. The Results 49 17.3.4 The Discussion of Results 49 17.3.5 The Conclusions and Recommendations 49 17.4 Guidelines for EN455 Research Report Sections 50 17.5 EN455 Lab Report Grading Rubric 51 17.6 EN455 Pair Interview Questions 52 17.7 Reflection Papers 52 17.8 Writing Team Lab Reports 52 17.8.1 Team Preparation Work 55 17.8.2. Collaboration Methods 87 18 Matlab Help 59 18.1 The Function File 59. 18.2 The Script File 60 18.3 Multiple Line Plots 61 19 Maxsurf Motions Guidelines 64 19.1 Assumptions 64 19.2 Getting Started oA 19.3 Analysis 66 19.3.1 Transom ‘Terms 66 19.3.2 Added Resistance 66 19.3.3. Wave Force 66 19.4 Conformal Mappings 66 19.5 Results 67 19.5.1 Graphs 67 19.6 Animation 68 19.6.1 Roll Decay Simulation 68CONTENTS 19.6.2 Regular Wave Surface 19.6.3. Irregular Wave Surface 19.7 Saving the Motions Model 19.8 ReferencWelcome to EN455! ‘These notes will serve as the backbone for the USNA Naval Architecture and Marine En- ginecring major course, EN455 ~ Seakceping and Mancuvering. These notes will be pulling from many resources, but as none of the single resources gave the information or organization desired for the elass, I have combined all into a handy package! The course consists of 2/3" seakeeping material and 1/3" maneuvering. In other words, Chapters 1 through 5 focus on seakeeping topics and Chapters 6 and 7 delve into maneuvering. The seakeeping portion starts with an explanation of what seakeeping is, describes wave excitations that create ship motions, reviews how rigid bodies respond to a force (specifically a harmonie force), and then discusses how we can use that knowledge to predict ship performances s. The manuev- ering portion of the text discusses different types of maneuvering concerns, the equations for predicting linearized maneuvering motions, experimental investigations into maneuvering characteristies, directional stability, turning ability, and rudder design considerations. The following is a list of the main resources of information used for the seakeeping material: in wa 1. Principles of Naval Architecture, Vol. III - editor Edward Lewis (1989) 2. Seakeeping: Ship Behaviour in Rough Weather — A.R.J.M Lloyd (1998) 3 4 Dynamics of Marine Vehicles R. Bhattacharyya (1978) Course notes from the United States Coast Guard Academy 5. Introduction to Naval Architecture — Gillmer and Johnson (1985) ‘There is less information available on the topic of maneuvering, so the main resource for ‘that material is’ 1. Principles of Naval Architecture, Vol. III - editor Edward Lewis (1989) This course is an undergraduate experience of seakeoping and mancuvering, so much of the learning is done through hands-on, laboratory experiences. Most sections of the book include at least one lab experience and corresponding assignment. The objectives listed at the beginning of each chapter include the information in the course notes, but also material covered from completing the labs. Typical assignments in the class include giving the information stated in the course objectives, conducting experiments and analyzing the data, and writing lab reports (fun!) I hope these notes make the material interesting and help you understand the important factors affecting the seakeeping and maneuvering aspects of ship design. At the very least, Thope to make the course more organized! ‘Thank you for your time, Professor Carolyn Judge