Theory Stability Module

1 Introduction

In aNySim there are four methods for the calculation of restoring moments for roll
and pitch and restoring forces for heave:

1. Linear hydrostatics, using GMT and GML for small and large roll and pitch angles,
and the waterline area at the mean draft for all heave excursions.
2. GZ-curves for roll and pitch and heave, heave-roll and heave-pitch curves given
by the user.
3. GZ-curves for rol and pitch and heave, heave-roll and heave-pitch curves
calculated with a Patran model.
4. A method which estimates the shift of the buoyancy point.

The applied method may be different for each vessel.

2 Linear hydrostatics

When there is no Stability section present for a body aNySim applies linear
hydrostatics for the calculation of restoring roll and pitch moments and restoring
forces for heave:

Fz = Z * C33 + * C35 [kN]

Mx = * C44 [kNm]
My = Z * C53 + * C55 [kNm]

with: Z = heave [m]

roll [rad]
= pitch [rad]
C33 = * g * Awl’ [kN/m]
C35 = * g *Awl’ * (XF’ – XG) [kN]
C53 = C35 [kN]
C44 = * g * * GMT’ [kNm]
C55 = * g * * GML’ [kNm]
The waterline area Awl’, longitudinal flotation position XF’ and the metacentric
heights w.r.t. the keel KMT’ and KML’ are scaled from the values in the Hyd-file with
the scaling factor:
 1
3

where: displacement from ini-file [m3]

displacement from hyd-file [m3]

Awl’ = * Awl
XF’ = * XF
KMT’ = * KMT
KML’ = * KML

The metacentric heights GMT and GML are then found with:

GMT’ = KMT’ – ZG [m]

GML’ = KML’ – ZG [m]

The CoG coordinates XG and ZG are read from the ini-file.

3 User defined GZ-curves

The user can use his own curves of heave restoring force versus heave, transverse
stability arm GZT versus roll and longitudinal stability arm GZL versus pitch. As an
option, it is also possible to apply user defined curves for the coupling stiffnesses
heave – roll and heave – pitch.

During a simulation the stiffness coefficients C33, C34, and C35 and the stability arms
GZT and GZL are found by linear interpolation in the user defined curves. The
restoring forces follow then from:

Fz = Z * C33 + * C34 + * C35 [kN]

Mx = Z * C34 + * g * * GZT [kNm]
My = Z * C35 + * g * * GZL [kNm]

4 Calculated GZ-curves

The GZ- and the heave restoring curves can also be calculated with a Patran model of
the vessel. This model should include the hull up to the main deck, the main deck
itself and all superstructures which add to the buoyancy of the vessel. Care must be
taken that the normals of all panels point outwards.

The GZ-curves are calculated up to heel cq trim angles where the GZ becomes
negative. In the calculations the displacement is kept constant for all angles.
The heave restoring curve is calculated from zero draft up to the highest panel of the
Patran model.

5 Estimation method

In case GZ-curves are not given by the user nor calculated with a Patran model a
method is used in which the shift of the buoyancy point due to roll and/or pitch is
estimated.

Z
G
θ

Bnew
B

From the Hyd-file:

KML [m] longitudinal metacentric height w.r.t. the keel

KMT [m] transverse metacentric height w.r.t. the keel
CoF [m] floatation point waterline w.r.t. buoyancy point
Awl [m2] waterline area

From the aNySim ini-file:

KG [m] vertical position CoG w.r.t. the keel

COB0 [m] initial centre of buoyancy

M [ton] vessel mass

V0 [m3] vessel displacement

From the aNySim simulation data:

z [m] vessel heave motion

 [deg] vessel roll motion
[deg] vessel pitch motion

GMT = KMT - KG
GML = KML - KG

BML = KML – KB
BMT = KMT – KB

KB = CoB0_z

Calculation of new ship-fixed buoyancy point B (in horizontal system of axes): SFT0

XBnew= CoB0x *(Vo/(Vo-z*Awl)) +BML* tan - COFx*(z*Awl)/(V0-z*Awl )

YBnew= CoB0y *(Vo/(Vo-z*Awl)) -BMT* tan - COFy*(z*Awl)/ (V0-z*Awl )

ZBnew= CoB0z*Vo - (To-z/2)*Awl*z

(Vo-Awl*z)

Now the earth-fixed gravity force can be applied at the CoG:

Fzw = gM [kN] gravity force at CoG

At the buoyancy point the upward, earth-fixed buoyancy force can be applied:

FB = ρg(V0-Awl*z) [kN] buoyancy force at CoB

The hydrostatic spring matrix (with coefficients C33, C34, and C35) is set to zero.