Innovative Ship Design

Naval Architecture & Ocean Engineering 서울대학교 조선해양공학과 학부4학년 “창의적 선박설계” 강의 교재
[2009] [09] [10]
Innovative ship design

- Ship Motion & Wave Load -
April, 2009
Prof. Kyu-Yeul Lee
Department of Naval Architecture and Ocean Engineering,

Seoul National University of College of Engineering
Hydrodynamics
Seoul
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Advanced Ship Design Automation Lab.
http://asdal.snu.ac.kr
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Naval Architecture & Ocean Engineering
Chap.1 Loads acting on a ship
Hydrodynamics
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Load : f ( x) σact : Actual Stress
Ship Structural Design

y σt : Allowable Stress
cause f ( x)
Shear Force : V ( x) x
Bending Moment : M ( x)
 Ship Structural Design Deflection : y ( x)
y f ( x)
L
‘relations’ of load, S.F., M ( x)

B.M., and deflection V ( x)
what is designer’s major interest? dV ( x) dM ( x)
= − f ( x) , = V ( x)
dx dx
d 2 y ( x) y ( x)
 Safety : , EI
dx 2
= M ( x)
Freact x
Won’t ‘IT’ fail under the load?
what is our interest?
a ship global  Safety : Stress should meet :
Won’t it fail under the

σ act ≤ σ l
M M
σ act
, where= =
a stiffener load? I y yi Z
local
a plate Differential equations of the defection curve
 Geometry :
How much it would be d 4 y ( x)
EI = − f ( x)
bent under the load? dx 4
Hydrodynamics
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cause f ( x)
y f ( x)
L

= − f ( x) , = V ( x)
dx dx
d 2 y ( x) y ( x)
 Safety : , EI
dx 2
= M ( x)
Freact x

σ act ≤ σ l
M M
σ act
, where= =
local
 Geometry :
a ship bent under the load?
EI
dx 4
= − f ( x)
y
z f ( x)
x x
L
Actual stress on midship section should be
what kinds of load f
less than allowable stress
cause hull girder moment?
M S + MW
σ act . ≤ σ l , σ act . =
Z mid Hydrostatics
MS = Still water bending moment

MW = Vertical wave bending moment Hydrodynamics
Allowable stress by Rule (for example):
Hydrodynamics , σ l = 175 f1 [ N / mm 2 ]
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cause f ( x)
y f ( x)
L

= − f ( x) , = V ( x)
dx dx
d 2 y ( x) y ( x)
 Safety : , EI
dx 2
= M ( x)
Freact x

σ act ≤ σ l
M M
σ act
, where= =
local
 Geometry :
a ship bent under the load?
EI
dx 4
= − f ( x)
what kinds of load f cause hull girder moment? =

f ( x) f S ( x) + fW ( x)
M S + MW V= ( x) VS ( x) + VW ( x)
σ act . ≤ σ l , σ act . = , MS = Still water bending moment
MW = Vertical wave bending moment =M ( x) M S ( x) + M W ( x)
Z mid
Hydrostatics Hydrodynamics fW(x) : load in wave

fS(x) : load in still water = added mass + diffraction
= weight + buoyancy + damping + Froude-Krylov + mass inertia
f S ( x) : load in still water fW ( x) : load in wave

x buoyancy x
VS ( x) = ∫ f S ( x)dx VW ( x) = ∫ fW ( x)dx added mass
0 0 diffraction
VS ( x) : still water shear force VW ( x) : wave shear force
x x
M S ( x) = ∫ VS ( x)dx M W ( x) = ∫ VW ( x)dx
0 0
damping mass inertia
Hydrodynamics weight F .K
M S ( x) : still water bending
moment
M W ( x): vertical wave bending
moment
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1. Loads acting on a ship (1)
- Loads in still water
what kinds of load fS cause Ms ?
(MS : Still water bending Moment in midship)
=
f ( x) f S ( x) + fW ( x)
f(x) : distribution load in longitudinal direction
fS(x) : distribution load in longitudinal direction in still water
fW(x) : distribution load in longitudinal direction in wave
In still water w( x)
z w(x):weight
z
fS=
( x) b( x) − w( x) x
x +
z b(x):bouyancy
b( x )
b(x) : buoyancy distribution in longitudinal direction =

w(x) = LWT(x) + DWT(x) z f S(x)= b(x) – w(x) : Load
- w(x) : weight distribution in longitudinal direction fS ( x )
- LWT(x) : lightweight distribution
- DWT(x) : deadweight distribution x
Hydrodynamics
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Still water Still water
1. Loads acting on a ship (2) Load Curve, fS(x)
Weight, w(x)
Shear Force, VS(x) Bending Moment, MS(x)
- Example of 3,700TEU Container carrier Buoyancy, b(x) x
VS ( x) = ∫ f S ( x)dx
x
M S ( x) = ∫ VS ( x)dx
0 0
 Example of 3,700 TEU Container Ship in Homogeneous 10t Scantling Condition

- Principal dimensions & drawings
- principal dimension - profile & plan drawing - midship section
- Loading Condition (Sailing state) in homogeneous 10t scantling condition
- Frame space : 800mm
Hydrodynamics
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Still water
Shear Force, VS(x)
Still water
Bending Moment, MS(x)
Weight, w(x)
- Lightweight Buoyancy, b(x) x
VS ( x) = ∫ f S ( x)dx
x
M S ( x) = ∫ VS ( x)dx
0 0
(Example of 3,700TEU Container carrier)
E/R
AP FP
LIGHTWEIGHT DISTRIBUTION DIAGRAM
TONNES
240.0
Engine
220.0
200.0
180.0 Bow Thruster
160.0 Emergency
140.0 Pump
120.0
Crane
100.0
80.0
60.0
40.0
20.0
A.P F.P
0.0
Hydrodynamics 0 25 50 74 99 125 150 175 200 226 251 276 301 326 FR. NO
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Still water
Shear Force, VS(x)
Still water
Weight, w(x)
- Deadweight Buoyancy, b(x) x
VS ( x) = ∫ f S ( x)dx
x
M S ( x) = ∫ VS ( x)dx
(Example of 3,700TEU Container carrier) 0 0
Deadweight distribution in longitudinal direction

in homogenous 10t scantling condition
- Loading Plan in homogenous 10t scantling condition
- Deadweight distribution curve in homogenous

10t scantling condition
A.P
Hydrodynamics FR.Space : 800 mm F.P
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Still water
Shear Force, VS(x)
Still water
Weight, w(x)
- Buoyancy curve Buoyancy, b(x) x
VS ( x) = ∫ f S ( x)dx
x
M S ( x) = ∫ VS ( x)dx
0 0
(Example of 3,700TEU Container carrier)
 Buoyancy 계산방법  Buoyancy Curve in Homogeneous 10ton Scantling Condition

100 ton
(1) 수선면 아래의 선박

단면적계산
z'
y'
A.P F.P FR.No
FR.Space : 800 mm
(2) 면적 길이 방향으로 적분하여 부피

계산
x
Hydrodynamics
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Still Water
Shear Force, VS(x)
Still Water
Weight, w(x)
- Load/Shear/Moment curve Buoyancy, b(x) x
VS ( x) = ∫ f S ( x)dx
x
M S ( x) = ∫ VS ( x)dx
Load Curve f S ( x) =Weight+ Buoyancy

=Lightweight
Weight curve + Deadweight Lightweight Distribution Curve Deadweight Distribution Curve
in homogenous 10t scantling condition in homogenous 10t scantling condition
LIGHTWEIGHT DISTRIBUTION DIAGRAM
TONNES
240.0
220.0
200.0
180.0
= +
160.0
140.0
120.0
100.0
80.0
60.0
40.0
20.0
A.P F.P 0.0 A.P F.P
0 25 50 74 99 125 150 175 200 226 251 276 301 326 FR. NO
A.P FR.Space : 800 mm F.P
+
Bouyancy Curve Load Curve = Weight w(x) + Buoyancy b(x)
in homogenous 10t scantling condition in homogenous 10t scantling conditi on
100 ton
F.P
A.P F.P A.P FR.No
FR.Space : 800 mm FR.No
Hydrodynamics
Still Water shear Force

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Still water
Shear Force, VS(x)
Still water
Weight, w(x)
- Load/Shear/Moment curve Buoyancy, b(x) x
VS ( x) = ∫ f S ( x)dx
x
M S ( x) = ∫ VS ( x)dx
Load Curve fS=

( x) b( x) − w( x)
x
Still Water VS ( x) = ∫ f S ( x)dx
0
Shear Curve
Shear force
Permissible shear force
Actual still water shear

force is lower than
permissible Shear.
→ O.K
Still Water
x
Bending M S ( x) = ∫ VS ( x)dx
0
Moment Curve
Bending Moment
Permissible
Bending Moment
Actual still water
bending moment is
Hydrodynamics
lower than permissible
bending.
→ O.K
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2. Loads in wave
In still water fS ( x )
z f S(x)= b(x) – w(x) : Load
z
fS=
( x) b( x) − w( x) x
x f(x) : Distribution load in longitudinal direction

fS(x) : Distribution load in longitudinal direction in still water
fW(x) : Distribution load in longitudinal direction in wave
+
In wave  Loads in wave
z z
• from 6DOF motion of ship fW ( x)
x = [ξ1 , ξ 2 , ξ 3 , ξ 4 , ξ 5 , ξ 6 ] ?
T
x
x
• for example, consider heave motion ξ3
=f ( x) f S ( x ) + fW ( x)
= b( x) − w( x) − m( x) ξ3 + f D ( x) + f F . K ( x) + f R ( x)
 ref.> 6 DOF motion of ship
additional loads in wave
Yaw ξ6 Where,
z
Heave ξ3
Pitch ξ5 −a33 ( x) ξ3 − b33 ( x) ξ3

f R ( x) =
y
O
In order to know loads in wave,
Roll ξ4 we have to know ξ3 , ξ3
Hydrodynamics fD(x) : Diffraction force in a unit length
know ξ3 , ξ3 ?
@
fR(x) : Radiation force in a unit length How toSDAL
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x fF.K(x) : Froude-Krylov force in a unit length National
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3. 6DOF Equation of motion of ship
How to know ξ3 , ξ3?  선박에 작용하는 압력
Linearized ∂Φ  ∂Φ I ∂Φ D ∂Φ R 
By solving equation of motion, Bernoulli Eq. Fluid =
Pρgz − −ρ = − ρgz − ρ  + + 
∂t  ∂t ∂t ∂t 
we could know the velocities,
accelerations.
 선박에 작용 하는 유체력
∂Φ I ∂Φ D ∂Φ R
∫∫ PndSρgz=
FFluid =
SB∫∫
−dS
SB
n − ρ ∫∫ (
SB ∂t
+
∂t
dS+
∂t
)
= FStatic + FF . K + FD + FR
 선박의 6자유도 운동방정식 선박의 Surface force로 작용

Newton’s Law 2nd
Mx = ∑ F = FBody + FSurface
= FGravity + FFluid +FExternal
Wave exciting force를 제외한
Body force Surface force 외력 (ex. 제어력 등)
FF.K : Froude-krylov force Mx = FGravity + FStatic + FF . K + FD + FR +FExternal , dynamic + FExternal , static
FD : Diffraction force
FR : Radiation force FRestoring FWave exciting FR =
− Ax
 − Bx
ΦI : Incident wave velocity potential
added Damping
ΦD : Diffraction wave velocity potential mass Coefficient
ΦR : Radiation wave velocity potential

=
 (FGravity + FStatic ) + FWave exciting − Ax
Mx  − Bx + FExternal , dynamic + FExternal , static
M A : 6 × 6 added mass matrix =

Linearization , ( FRestoring (FGravity + FStatic ) ≈ −Cx)
B : 6 × 6 damping coeff. matrix
Hydrodynamics ( M + A ) x + Bx =
+ Cx FWave exciting + FExternal , dynamic + FExternal , static
C : 6 × 6 restoring coeff. matrix
By solving equation of motion, we could know the velocities,
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accelerations!!
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Chap 2.
6 DOF Equations of Ship Motion
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(변위 : x = [ξ1 ,, ξ 6 ]T )
Coordinate system
z z′ z
Yaw ξ6
Heave ξ3 Pitch ξ5 y
ξ2 y′
y ξ4
O
zc′
O ξ3
G O′ G
U Roll ξ4 yc′
x
xc,yc,zc: distance from O’-x’y’z’ to center of gravity
z′ z O-xyz : Global coordinate system

① right-handed coordinate system (O-x,y,z)
origin in the plane of the undisturbed free-surface
ξ1 ξ5 x′ ② if body moves with a mean forward speed,
O coordinate moves with the same speed
ξ3 zc′ x
O′
G ③ body have the x-z plane as a plane of symmetry
xc′ O’-x’ y’ z’ : Body-fixed coordinate system
 G : Position of center of gravity
Hydrodynamics
1) Newman, J.N. , Marine Hydrodynamics, The MIT Press, Cambridge, 1977, pp 285~290
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Uncoupled Heave motion equation
Mξ3 = ∑ F = FBody + FSurface

 Heave 운동 방정식 유도
= Fgravity + FFluid
평형상태에서
= Fgravity + Fstatic + FF . K + FD + FR
더 들어간 부피
Z
W
− Mg Fexciting,3
X
z ρgV0 − ρgAwp ⋅ ξ 3 − A33ξ3 − B33ξ3
= − Mg + ( ρgV0 − ρgAwpξ3 ) + Fexciting ,3 − A33ξ3 − B33ξ3

Fdamping Frestore
B
∴ ( M + A33 )ξ3 + B33ξ3 + ρgAwpξ 3 = Fexciting ,3
 Surge 운동 방정식 유도  Sway 운동 방정식 유도

(Heave에서 복원력 성분만 제외) (Heave에서 복원력 성분만 제외)
∴ ( M + A11 )ξ1 + B11ξ1 = Fexciting ,1 ∴ ( M + A22 )ξ2 + B22ξ2 = Fexciting , 2
Hydrodynamics
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Uncoupled Heave motion equation 풀이
ex) For Heave motion ,( M :Mass of ship)
(M + A33 )ξ3 + B33ξ3 + C33ξ3 = Fexciting ,3

,( A33 : heave motion에 의한 heave 방향 added mass)
,( B33 : heave motion에 의한 heave 방향 damping coefficient)
,( C33 : heave motion에 의한 heave 방향 복원력 coefficient)
Assumption : 시간이 충분히 흘러 steady 상태에서, 선박이 외력의 주파수 ω 와 같은 운동을 함

(Harmonic Motion) -> 초기 Transient Motion은 고려하지 않음.
ξ 3 (t ) = ξ 3Aeiωt Fexciting ,3 = F3Aeiωt = η 0 f 3Aeiωt

( η 0 : Wave Amplitude, Real), (ξ3A : Amplitude of heave motion, Complex)
ξ3 (t ) = iω ξ 3Aeiωt A
( f 3 : 1m 파고에 대한 Wave exciting force Amplitude, Complex)
ξ3 (t ) = −ω ξ e
2
3
A i ωt
( ω : Wave exciting frequency)
( M + A33 )(−ω 2ξ 3Aeiωt ) + B33 (iω ξ 3Aeiωt ) + C33 (ξ 3A eiωt ) = η 0 f 3Aeiωt  RAO(Response Amplitude Operator)
: 1m wave Amplitude 를 가지는
동일한 항으로 정리가능
주파수 ω인 wave에 대한
{− ω (M + A ) + iωB + C }ξ e = η
heave운동 변위의 진폭
2 A iωt A i ωt
33 33 33 3 f e
0 3
{− ω (M + A ) + iωB + C }ξ = η f ξ 3A
ξ 3A = η 0 f 3A D −1 = f 3A D −1
2 A A
η0
33 33 33 3 0 3
Hydrodynamics
= D ( Complex)
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Uncoupled roll motion equation
 Roll 운동 방정식 유도 I xxξ4 = ∑ M = M Body + M Surface

O
z = M gravity + M Fluid
z′
(+)
rG γG
MT z
= M gravity + M static + M F . K + M D + M R
W τe y
ξ4 τ
W rG × Wk M exciting,4
g ξ4
y
rG O g1 rB1 × ∆k − A44ξ4 − B44ξ4
G Z y′
rB1 = ∆ ⋅ GZ + M exciting , 4 − A44ξ4 − B44ξ4
B B1
K , GZ = − yG + y B1
F∆ C
L τ restoring
γB 1
F∆
O sin x
π −γ
+ π 2π
rB1 γ π −γ − x
sin(π − γ ) = sin γ
oy ' z ' : Body fixed coordinate

oyz : Global coordinate
MT : B1을 지나는 부력 작용선과 선체 중심선과의 교점
Hydrodynamics
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Uncoupled Roll motion equation
 Roll 운동 방정식 유도 I xxξ4 = ∑ M = M Body + M Surface
z
z′ = M gravity + M Fluid
MT
W
W
g
O g1
y rG × Wk M exciting,4
G Z y′
rB1 × ∆k − A44ξ4 − B44ξ4
B B1
GZ = ∆ ⋅ GZ + M exciting , 4 − A44ξ4 − B44ξ4
K
F∆ = −GM sin ξ 4
= −∆ ⋅ GM sin ξ 4 + M exciting , 4 − A44ξ4 − B44ξ4
C
L
γB 1
F∆
sin ξ 4 ≈ ξ 4
O sin x
π −γ
rB1
+ π
γ π −γ −
2π
x ≈ −∆ ⋅ GM ξ 4 + M exciting , 4 − A44ξ4 − B44ξ4
sin(π − γ ) = sin γ
∴ ( I 44 + A44 )ξ4 + B44ξ4 + ∆ ⋅ GM T ξ 4 = M exciting ,4

oy ' z ' : Body fixed coordinate
oyz : Global coordinate
M T : B1을 지나는 부력 작용선과 선체 중심선과의 교점
 Pitch 운동 방정식 유도  Yaw 운동 방정식 유도

(Roll 운동 방정식과 동일) (RollHeave에서 복원력 성분만 제외)
∴ ( I + A55 )ξ5 + B55ξ5 + ∆ ⋅ GM Lξ5 = M exciting ,5

Hydrodynamics
55 ∴ ( I 66 + A66 )ξ6 + B66ξ6 =
M exciting ,6
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Uncoupled Pitch motion equation
For Pitch motion
,( I55 : Mass moment of inertia of ship with respect to y axis)
( A55 + I 55 ) ξ5 + B55ξ5 + C55ξ5 =

,( A55 : pitch motion에 의한 pitch 방향 added mass)
Fexciting ,5 ,( B55 : pitch motion에 의한 pitch 방향 damping coefficient)
,( C55 : pitch motion에 의한 pitch 방향 복원력 coefficient)
Assumption : 시간이 충분히 흘러 steady 상태에서, 선박이 외력의 주파수 ω 와 같은 운동을 함

A iωt
ξ5 (t ) = ξ5Aeiωt =
Fexciting ,5 F=
5 e η0 f5Aeiωt
( η 0 : Wave Amplitude, Real), (ξ5A : Amplitude of pitch motion, Complex)
ξ5 (t ) = iω ξ5Aeiωt
( f 5A : 1m 파고에 대한 Wave exciting force Amplitude, Complex)
ξ5 (t ) = −ω 2ξ5Aeiωt ( ω : Wave exciting frequency)
( A55 + I 55 )(−ω 2ξ5Aeiωt ) + B55 ⋅ (iω ξ5Aeiωt ) + C55 ⋅ (ξ5A eiωt ) =

η0 f5Aeiωt  RAO(Response Amplitude Operator)
동일한 항으로 정리가능 : 1m wave Amplitude 를 가지는
{−ω 2
}
( A55 + I 55 ) + iω B55 + C55 ξ5Aeiωt =
η0 f5Aeiωt
pitch운동 변위의 진폭
ξ5A
{−ω 2
( A55 + I 55 ) + iω B55 + C55 ξ =
η f } A A
ξ5A = η0 f5A D −1 = f5A D−1
η0
5 0 5
= D ( Complex)
Hydrodynamics
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Motion of any point on the body  Motion of equation :
x = Frestoring + Fexciting + Fradiation
M
- Acceleration of any point Find : Acceleration x of any point
 Translatory displacements of body fixed coordinate in the x-,y-,

and z-directions with respect to the origin(O)
x=
 ( ) ( ) (
ξ1 + z ′ξ5 − y′ξ6 i + ξ2 − z ′ξ4 + x′ξ6 j + ξ3 + y′ξ4 − x′ξ5 k )
ξiT = ξ1j + ξ 2k + ξ3 ,(Surge, Sway, Heave)
 Angular displacements of rotational motion in the x-,y-, z- x-,y-,z- acceleration are coupled with other motions
axis with respect to the origin(O)
 ex.) Acceleration of heave motion : ξ3 + y′ξ4 − x′ξ5 k( )
ξiR = ξ j4 + ξk
5 + ξ6
,(Roll, Pitch, Yaw) ( )
ξ3 + y′ξ4 − x′ξ5 k
①+②+③
 Position vector of any point about the Origin(O) ① : heave acceleration ② heave acceleration by roll
= T + ′+
xξxξx R × ′ ③ : heave acceleration by pitch
 Velocity vector z z′
 = T +  ′ +  R × ′ +
xξxξxξx R × ′
x′
 Acceleration vector
O O' G
 = T + ′ + R × ′ +  R ×  ′ +  R ×  ′ + R × ′
xξxξxξxξxξx ξ5 x′
G′
=  (
′ + R × ′ + 2  R ×  ′ + R × ′
ξxξxξxξx
T + )
 선박을 강체로 가정하면, 선박 위의 한 점은 시간에 따라 k
i x′ G
변하지 않는다  i j k 
O ξ5 z1 s
  
,  ξxR × ′ =ξ 4 ξ5 ξ6 
 
 = T + R × ′
xξξx  x′ y′ z ′ 
Heave motion caused by pitch motion
G′
 Similarly, roll motion cause heave motion If ξ5 is small,
s ≈ z1k
= ( ) ( ) ( )
ξ1 + z ′ξ5 − y′ξ6 i + ξ2 − z ′ξ4 + x′ξ6 j + ξ3 + y′ξ4 − x′ξ5 k
xcξ5 ≈ z1k
( x = xi + yj + zk : position vector with respect to O-xyz coordinate)

Hydrodynamics
x′ = x′i + y′j + z ′k
@
( : position vector with respect to O’-x’y’z’ coordinate) Seoul SDAL 22
National Advanced Ship Design Automation Lab. /203
1) Newman, J.N. , Marine Hydrodynamics, The MIT Press, Cambridge, 1977, pp 307~310 Univ. http://asdal.snu.ac.kr
M
- (참조) Acceleration of any point Find : Acceleration x of any point
P′ P′
y′ ξx× ′
y′ x′ = [ x′, y′]
T
P
y x = [ x, y ]
T x′ y x = [ x, y ]
T
x′ = [ x′, y′]
T
ξ6 jO′
jO′
i O′ (회전운동) Linearize i O′ ξ6 (회전운동)
O′ O′ x′
k O′ k O′
ξT = [ξ1 , ξ 2 ] ξT = [ξ1 , ξ 2 ]
T T
jO (병진운동) jO (병진운동)
kO kO
O iO x O iO x
Inertial frame Inertial frame
(O-frame) (O-frame)
 Position vector of any point about the Origin(O)  Position vector of any point about the Origin(O)
If summing the body motions ξj are small and neglecting,
=
xξR T x+ O
O′
′ ξxR × ′
= T + ′+
xξxξx × ′
ξ R x′
R
 If we consider 2-dimensional motion
 x   ξ1  cos ξ 6 − sin ξ 6   x′ 
=   +  
cos ξ 6   y′ 
 y  ξ 2   sin ξ 6  If we consider 2-dimensional motion
i j k
 x   ξ1   x′ cos ξ 6 − y sin ξ 6   x   ξ1   x′ 
=   +   y  = ξ  +   + 0 0 ξ 6
 y  ξ 2   x′ sin ξ 6 + y′ cos ξ 6     2   y′  x′ y′ 0
Linearize (cosθ→1, sinθ→θ)  i j k 
x  ξ1   x′   − y′ξ 6  ,  ξx × ′ = 
ξ4 ξ5 ξ6 
 x   ξ1   x′ − y′ξ 6   y = ξ  +   +  + x′ξ   R
=  ξ  +  y′ + x′ξ     2   y′   6  x′ y′ z ′ 
Hydrodynamics    2 
y 6
@
: ξT=ξ1i+ ξ2j+ ξ3k , (Surge, Sway, Heave) )
( Translatory displacements Seoul
SDAL 23
( Angular displacements : ξRNational
=ξ4i+ ξ5j+ ξ6k Advanced
Univ. , (Roll, Ship
Pitch,
Design
http://asdal.snu.ac.kr Yaw) )
Automation Lab. /203
M
- (참조) Acceleration of any point Find : Acceleration x of any point
P′ P′
y′ x′ = [ x′, y′]
T
y′ ξx× ′
P
x = [ x, y ]
x′
x′ = [ x′, y′]
y T T
y x = [ x, y ]
T
jO′ ξ6 (회전운동)
i O′ jO′ ξ6 (회전운동)
i O′
O′ O′ x′
k O′
Linearize k O′
ξT = [ξ1 , ξ 2 ]
T
jO (병진운동) ξT = [ξ1 , ξ 2 ]
T
jO (병진운동)
kO
O iO x kO
O iO x
Inertial frame
(O-frame) Inertial frame
(O-frame)
 Position vector of any point about the Origin(O)  Position vector of any point about the Origin(O)
=
xξR T x+ O O′
′ = T + ′+
xξxξx R × ′
 Velocity vector
dx  O 
 Velocity vector
= ξR
T +x
′ O O′  ′
O′ R+ x
dt  = T +  ′ +  R × ′ +
xξxξxξx R × ′
 +ω
= ξR x × O RO′ x′ + O O′  ′
T
(선형화한 가정으로 인해 구심가속도
 Acceleration vector  Acceleration vector 성분이 나타나지 않음)
d 2x
= (
 + xω × O
ξR R′ +xω × O  O′R′ +xω × O RO′  x′ + OR Ox′  ′ + O ) ( ′ )  = T + ′ + R × ′ +  R ×  ′ +  R ×  ′ +
xξxξxξxξxξx R × ′
T O′ O′
dt 2
=  +ω
ξR x × O ′+ω
R× ω
x ×O R′ + ω
x ×O R′ + ω
x × O RO′ x′ + O ′ ② E-frame 에 대한 ⑥ A-frame 를 고정시켜 놓았을 때,
T O′ O′ O′ O′ A-frame의 원점 A-frame 에 대한 점 P의 가속도
② E-frame 에 대한 ④A-frame이 회전하고 있 A의 가속도
A-frame의 원점 을 때, 점 P의 회전 중심 ⑥ A-frame 를 고정시켜 놓았을 때,
A의 가속도 A-frame 에 대한 점 P의 가속도
( )
방향의 가속도 (구심력)
d 2x   = T + ′ + R × ′ + 2  R ×  ′ +

xξxξxξxξx R × ′
2
ξR
= T +ω
x × O O′
′+ω
R× ω
x× O
O′
′R x × RO′ x′ +
+ 2ω O O
O′
′
dt ⑤ Coriolis Acceleration (Coriolis Effect)
①E-frame에 ③A-frame이 각 가속도를
대한 점 P의 가지고 회전하고 있을 때, 회전 좌표계에서 기술된 움직이는 점을
①E-frame 에 대한 ③A-frame이 각 가속도를 ⑤ Coriolis Acceleration (Coriolis Effect)
회전 좌표계에서 기술된 움직이는 점을 가속도 점 P의 접선 방향의 가속도 고정 좌표계에서 바라봤을 때,발생하는 효과
점 P의 가속도 가지고 회전하고 있을 때,
Hydrodynamics 고정 좌표계에서 바라봤을 때,발생하는 효과
점 P의 접선 방향의 가속도
@
: ξT=ξ1i+ ξ2j+ ξ3k , (Surge, Sway, Heave) )
( Translatory displacements Seoul
SDAL 24
( Angular displacements : ξRNational
=ξ4i+ ξ5j+ ξ6k Advanced
Univ.
, (Roll, Ship
Pitch,
Design
Yaw) )
Automation Lab. /203
 Motion of equation for roll, pitch, yaw
I ω = M restoring + M exciting + M radiation
Moment in pitch motion Find : Moment I ω
 Moment in pitch motion (with respect to y-axis)
 Moment by mass moment of inertia

τ pitch1 = Iω z z′
, ( I : mass moment of inertia )
, (ω
 : Angular acceleration )
= I 55ξ5 j

 Moment by inertia force O O′ I yyξ5
M ξ1 zc′
τ pitch 2 = zc k × M ξ1i + xc i × M ξ3k G x′
xc′
moment arm force M ξ3
(
= M zcξ1 − M xcξ3 j ) x'c,y’c,z’c: distance from O’-x’y’z’ to center of gravity
 Moment in pitch motion

x = [ξ1 , ξ 2 , ξ 3 , ξ 4 , ξ 5 , ξ 6 ]
T
τ pitch =τ pitch1 +τ pitch 2 ξ 3 : roll

ξ1 : surge
(
= M zc′ξ1 − M xc′ξ3 + I 55ξ5 j ) ξ 2 : sway
ξ 3 : heave
ξ 4 : pitch
ξ 5 : yaw
 Moment in roll motion  Moment in yaw motion

(with respect to x-axis, yc=0 according to Lateral Symmetric) (with respect to z-axis , yc=0 according to Lateral Symmetric)
τ roll = ( − M zc′ξ2 + I 44ξ4 + I 46ξ6 ) i τ yaw = ( M xc′ξ2 + I 64ξ4 + I 66ξ6 ) k

Hydrodynamics
@
1) Journee, J.M.J. , Adegeest, L.J.M. ,Theoretical Manual of Strip Theory program“ Seaway for Windows”, Delft Seoul
University of Technology, 2003, pp38~4225
SDAL
2) 구종도 역, 선체와 해양구조물의 운동학, 연경문화사, pp68~71 National
Univ.
/203
 Equation of motion : Mx = Frestoring + Fexciting + Fradiation
Mass moment of inertia I ω = M restoring + M exciting + M radiation
Find :Mass moment of inertia I
 mass moment of Inertia
∫∫∫ ρ ( y + z )dV= ∫∫∫ ρ ( x + z )dV= ∫∫∫ ρ ( x + y 2 )dV

2
=
2 2
I 44 2 2
, I 55 , I 55
V V V
I 46 = ∫∫∫ ρ xzdV , I 45 = ∫∫∫ ρ xydV ...

V V
 관성 모멘트는 계산하기 위해 많은 정보가 필요하여, 계산이 복잡하다.

따라서 자료가 주어지거나 추정식을 사용하여 구한다. (m=ρ▽)
 관성모멘트를 Radius of gyration ( 관동반경 k44, k55, k66 )을 이용하여 표현하면 다음과 같다.
I 44 = k44 2 ρ∇, I 55 = k55 2 ρ∇, I 66 = k66 2 ρ∇,
 관성모멘트 추정식
- 추정식①1) - 추정식②1) (Proposal of Bureau Veritas) - 추정식③2) K44
k44 ≈ 0.30 B to 0.40 B - 객선 : 0.38 ~ 0.43

  2 KG  
2
 - 화물선 : 0.32 ~ 0.35(만재)
k44 ≈ 0.289 B 1.0 +   
 k55 ≈ 0.22 L to 0.28 L 0.375 ~ 0.4(Ballast)
 k ≈ 0.22 L to 0.28 L   B  
- 석탄운반선 : 0.31~0.33(만재)
 66
0.35~0.39(Ballast)
- 전함 : 0.34 ~ 0.38
- 순양함 : 0.39 ~ 0.42
- 어선 : 0.38 ~ 0.44
Hydrodynamics
@
1) Journee, J.M.J. , Adegeest, L.J.M. ,Theoretical Manual of Strip Theory program“ Seaway for Windows”, Delft Seoul
University of Technology, 2003, pp38~4226
SDAL
2) 구종도 역, 선체와 해양구조물의 운동학, 연경문화사, pp68~71 National
Univ.
/203
Restoring Force & Moment1) I ω = M restoring + M exciting + M radiation

Find : Restoring Force & moment
 Restoring force & Moment in “Hydrostatic by pressure integration technique”
 선박의 운동(자세 변화)시 복원력이 생기는 자세 : Heave(ξ3), Roll(ξ4), Pitch(ξ5)
 ∆F3   − ρ gAWP (ξ3 )

(k )
− ρ gTWP (ξ3( k ) ) ρ gLWP (ξ3( k ) )   ∆ξ3 
(k )
   − ρ gT (ξ ( k ) ) − ρ gI (ξ ( k ) ) − ρ gV (ξ ( k ) ) z ( k ) + mg ⋅ z ( k )   (k ) 
 ∆F4   WP 4 T 4 4 B G ρ gI P (ξ 4( k ) )
 ⋅  ∆ξ 4 
 ∆F   ρ gL (ξ ( k ) ) ρ gI P (ξ5( k ) ) − ρ gI L (ξ5( k ) ) − ρ gV (ξ5( k ) ) z B( k ) + mg ⋅ zG( k )   ∆ξ ( k ) 
 5  WP 5   5 
y  (k) : k번째 자세
z
x
L
C
LCF
 이 때, 미소 경사시에 수선면적이 x-z평면에 대하여 대칭(Lateral symmetric)이라 하면,

수선면의 x축에 대한 1차 모멘트(TWP) 와 products of inertia(IP)는 ‘0’ 이므로, TWP=0, IP=0 이다.
 (k)를 생략하여 나타내고, 초기자세를 정적 평형상태 기준으로 표현하면 (ΔFk= Fk-0 =Fk , Δξk=ξk-0=ξk)
 F3   − ρ gAWP 0 ρ gLWP   ξ3 
     
− ρ gIT − ρ gV z B + mg ⋅ zG
 F4   ⋅  ξ4 
0 0

F   ρ gLWP − ρ gI L − ρ gV z B + mg ⋅ zG  ξ 
 5  0   5
AWP : 수선 면적
TWP : x축에 대한, 수선면의 폭 뱡향 1차 모멘트  Δξj 대신 ξj 가 쓰인 이유?
LWP :y축에 대한, 수선면의 종 뱡향 1차 모멘트 : 선박의 자세변화가 임의의 자세로부터 변한 것이 아닌,
IT : x축에 대한, 수선면의 횡 뱡향 2차 모멘트
정적 평형상태로 부터 변한 것으로 고려했기 때문
IL : y축에 대한, 수선면의 종 뱡향 2차 모멘트
IP : x축 및 y축에 대한 수선면의 모멘트 ex) ∆ξ3 = ξ3 − 0
xG ,yG,, zG : 무게 중심
= ξ3
Hydrodynamics xB ,yB, zB : 부력 중심
1) 이규열, 2009년 창의적선박설계 강의자료, Hydrostatics Calculation by Pressure Integration Technique, 2009년 5월
Seoul
National
Univ. @ SDAL
27
/203
Restoring Force & Moment1) I ω = M restoring + M exciting + M radiation

Find : Restoring Force & moment
 Restoring force & Moment in “Hydrostatic by pressure integration technique”
 F3   − ρ gAWP 0 ρ gLWP   ξ3 
     
− ρ gIT − ρ gV z B + mg ⋅ zG
 F4   ⋅  ξ4 
0 0

F   ρ gLWP − ρ gI L − ρ gV z B + mg ⋅ zG  ξ 
 5  0   5
Fk j 형태로 나타내면
 Restoring Force & Moment
Fk j ,Restoring = −Ck jξ j ( Fkj : j방향 운동(자세변화)에 의한 k방향의 복원력)
( Ckj: j방향 운동(자세변화)에 의한 k방향의 복원력계수)
C33 = ρ gAWP
( C33 : heave motion에 의한 heave 방향 복원력 coefficient)
C35 = C53 = − ρ gLWP ( C35 : pitch motion에 의한 heave 방향 복원력 coefficient)
( C53 : heave motion에 의한 pitch 방향 복원력 coefficient)
C44= ρ gIT + ρ gV z B − mg ⋅ zG
( C44 : roll motion에 의한 roll 방향 복원력 coefficient)
C55= ρ gI L + ρ gV z B − mg ⋅ zG ( C55 : pitch motion에 의한 pitch 방향 복원력 coefficient)
AWP : 수선 면적 xG , yG,, zG : 무게 중심
TWP : x축에 대한, 수선면의 폭 뱡향 1차 모멘트 xB , yB, zB : 부력 중심
LWP : y축에 대한, 수선면의 종 뱡향 1차 모멘트 V : displaced volume of water
IT : x축에 대한, 수선면의 횡 뱡향 2차 모멘트 GMT : transverse metacentric height
IL : y축에 대한, 수선면의 종 뱡향 2차 모멘트 GML : longitudinal metacentric height
IP : x축 및 y축에 대한 수선면의 모멘트
Hydrodynamics
1) 이규열, 2009년 창의적선박설계 강의자료, Hydrostatics Calculation by Pressure Integration Technique, 2009년 5월
Seoul
National
Univ. @ SDAL
28
/203
 Coupled heave Motion equation
Coupled Heave-pitch motion equation 유도 M ξ3 = Frestoring + Fexciting + Fradiation

Find :Coupled Heave motion eq.
 Uncoupled Heave motion Equation  Coupled Heave motion Equation 유도
=
①M ξ3 ∑=
F FBody + FSurface  ① Acceleration of ship
 운동방정식을 위해 선박의 무게 중심의 가속도를 고려
= Fgravity + FFluid
( x, y, z ) → ( xc , yc , zc )
= Fgravity + Fstatic + FF . K + FD + FR ( ) (
x =ξ1 + zcξ5 − yξ6 i + ξ2 − zcξ4 + xξ6 j +
 )
(ξ + y ξ − xξ ) k
3 c 4 5
− Mg Fexciting,3 연성된 가속도를 고려하면
ρgV0 − ρgAwp ⋅ ξ 3 − A33ξ3 − B33ξ3 M ξ3 (

M ξ3 + ycξ4 − xcξ5 )
 ② Restoring Force & Moment
② ③
 C33, C35 are related with heave motion
 ① Acceleration of ship Fgravity + Fstatic
M ξ
3
 ② Restoring Force & Moment

− Mg ρgV0 − ρgAwp ⋅ ξ 3
Fgravity + Fstatic
C33 = ρ gAWP , C35 = − ρ gLWP
Hydrodynamics
연성된 복원력 성분
Seoul
National
Univ. @ SDAL
29
/203

① Mξ3 = ∑ F = FBody + FSurface  ③ Radiation Force

= Fgravity + FFluid  From the definition of Radiation Force
6 6
= Fgravity + Fstatic + FF . K + FD + FR FR ,k = ∑ ξ Fk j e A
j
iωt
=∑ (−ξj Ak j − ξj Bk j )
k =1 k =1
6
− Mg Heave 운동 경우
Fexciting,3 ∑ (−ξ A
j =1
j 3j − ξj B3 j )
ρgV0 − ρgAwp ⋅ ξ 3 − A33ξ3 − B33ξ3
(
−ξ1 A31 − ξ2 A32 − ξ3 A33 − ξ4 A34 − ξ5 A35 − ξ6 A36
= )
② ③ (
+ −ξ1 B31 − ξ2 B32 − ξ3 B33 − ξ4 B34 − ξ5 B35 − ξ6 B36 )
 ③ Radiation Force 선박의 형상이 Lateral Symmetric이라면, resultant
FR horizontal force(y방향) = 0 이다.
따라서 A33, B32=0 이다. 또한 압력분포도
Lateral symmetric이므로 A34, B34,A36, B36=0
( ) (
−ξ1 A31 − ξ3 A33 − ξ5 A35 − ξ1 B31 − ξ3 B33 − ξ5 B35
= )
( Fjk : j방향 운동으로 인해 나타나는 k방향 힘 )
( Akj : j방향 운동으로 인해 나타나는 k방향 added mass )
( Bkj : j방향 운동으로 인해 나타나는 k방향 damping coefficient )
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① Mξ3 = ∑ F = FBody + FSurface  ① Acceleration of ship
= Fgravity + FFluid M ξ3 (

M ξ3 + ycξ4 − xcξ5 )
= Fgravity + Fstatic + FF . K + FD + FR  ② Restoring Force & Moment
Fgravity + Fstatic
− Mg Fexciting,3 C33 = ρ gAWP , C35 = − ρ gLWP
ρgV0 − ρgAwp ⋅ ξ 3 − A33ξ3 − B33ξ3
 ③ Radiation Force
6
② ③ FR ,k = ∑ ξ jA Fk j eiωt
k =1 6
Heave 운동
∑ (−ξ A
j =1
j 3j − ξj B3 j )
= ( ) (
−ξ1 A31 − ξ3 A33 − ξ5 A35 + −ξ1 B31 − ξ3 B33 − ξ5 B35 )
 Coupled Heave motion of Equation
( ) ( ) ( )
M ξ3 + ycξ4 − xξ5 = −ξ1 A31 − ξ3 A33 − ξ5 A35 + −ξ1 B31 − ξ3 B33 − ξ5 B35 + ( −C33ξ3 − C35ξ5 ) + F3eiωt
M (ξ + y ξ − xξ ) + (ξ A

Hydrodynamics + ξ3 A33 + ξ5 A35 ) + (ξ B )
+ ξ3 B33 + ξ5 B35 + ( C33ξ3 + C35ξ5 ) =
F3eiωt
@
3 c 4 5 1 31 1 31
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 Coupled Pitch Motion equation
Coupled Heave-pitch motion equation 유도 I ω = M restoring + M exciting + M radiation

Find :Coupled Pitch motion eq.
 Uncoupled pitch motion Equation  Coupled pitch motion Equation 유도

I 55ξ5
= ∑=
M M Body + M Surface  ① Acceleration of ship
= M gravity + M Fluid τ = I 55ξ5
τ = ( M zcξ1 − M xcξ3 + I 55ξ5 ) j
rG × Wk , rB5 × ∆k , M exciting,5 , − A55ξ5 − B55ξ5  ② Restoring Moment
= ∆ ⋅ GZ L + M exciting ,4 − A44ξ4 − B44ξ4  C53, C55 are related with heave motion
 ① Moment in pitch motion Fgravity + Fstatic
I 55ξ5
− Mg ρgV0 − ρgAwp ⋅ ξ 3
 ② Restoring Moment
M gravity + M static C55 = ρ gAWP , C53 = − ρ gLWP
연성된 복원력 성분
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 Coupled Pitch Motion equation

Find :Coupled Pitch motion eq.
 Uncoupled pitch motion Equation  Coupled pitch motion Equation 유도

I 55ξ5
= ∑=
M M Body + M Surface  ③ Radiation Moment
= M gravity + M Fluid  From the definition of Radiation Force
6 6
= M gravity + M static + M F . K + M D + M R FR ,k = ∑ ξ Fk j e A
j
iωt
=∑ (−ξj Ak j − ξj Bk j )
k =1 k =1
rG × Wk , rB5 × ∆k , M exciting,5 , − A55ξ5 − B55ξ5 Pitch 운동 경우 6
∑ (−ξ A j 5j − ξj B5 j )
= ∆ ⋅ GZ L + M exciting ,5 − A55ξ5 − B55ξ5 j =1
 ③ Radiation Moment (
−ξ1 A51 − ξ2 A52 − ξ3 A53 − ξ4 A54 − ξ5 A55 − ξ6 A56
= )
M R = FR ,k (
− ξ1 B51 − ξ2 B52 − ξ3 B53 − ξ4 B54 − ξ5 B55 − ξ6 B56 )
선박의 형상이 Lateral Symmetric이라면, resultant
horizontal force(y방향) = 0 이다.
따라서 A52, B52=0 이다. 또한 압력분포도

Lateral symmetric이므로 A54, B54,A56, B56=0
= ( ) (
−ξ1 A51 − ξ3 A53 − ξ5 A55 + −ξ1 B51 − ξ3 B53 − ξ5 B55 )
( Fjk : j방향 운동으로 인해 나타나는 k방향 힘 )
Hydrodynamics
( Akj : j방향 운동으로 인해 나타나는 k방향 added mass )
( Bkj : j방향 운동으로 인해 Univ.
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damping coefficient )
나타나는 k방향
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 Coupled Pitch Motion of equation

Find :Coupled Pitch motion of eq.
 Uncoupled pitch motion of Equation  Coupled pitch motion of Equation 유도

I 55ξ5
= ∑=
M M Body + M Surface  ① Moment in pitch motion
= M gravity + M Fluid I 55ξ5 ( M z ξ − M x ξ + I ξ ) j
c 1 c 3 55 5
= M gravity + M static + M F . K + M D + M R  ② Restoring Moment

M gravity + M static
rG × Wk , rB5 × ∆k , M exciting,5 , − A55ξ5 − B55ξ5 C55 = ρ gAWP , C53 = − ρ gLWP
= ∆ ⋅ GZ L + M exciting ,5 − A55ξ5 − B55ξ5
 ③ Radiation Moment
 From the definition of Radiation Force
6 6
FR ,k = ∑ ξ Fk j eA
j
iωt
=∑ (−ξj Ak j − ξj Bk j )
k =1 k =1
6
Pitch 운동 경우
∑ (−ξ A
j =1
j 5j − ξj B5 j )
= ( ) (
−ξ1 A51 − ξ3 A53 − ξ5 A55 + −ξ1 B51 − ξ3 B53 − ξ5 B55 )
 Coupled Pitch motion of Equation
( ) ( ) ( )
M zcξ1 − xξ3 + I 55ξ5 = F5eiωt − ξ1 A51 + ξ3 A53 + ξ5 A55 − ξ1 B51 + ξ3 B53 + ξ5 B55 − ( C53ξ3 + C55ξ5 )
M ( z ξ − xξ ) + I
Hydrodynamics ξ + (ξ1 A51 + ξ3 A53 + ξ5 A55 ) + (ξ1 B51 + ξ3 B53 + ξ5 B55 ) + ( C33ξ3 + C35ξ5 ) =
F5eiωt
@
c 1 3 55 5
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 Coupled heave Motion of equation
Coupled Roll-Sway-Yaw motion equation I ω = M restoring + M exciting + M radiation

Find :Coupled roll motion of eq.
 Uncoupled Roll motion of Equation  Coupled Roll motion of Equation 유도

I xxξ4 = ∑ M = M Body + M Surface  ① Moment in pitch motion
= M gravity + M Fluid I 44ξ4 ( −M z ξ + I
c 2 44 4ξ + I 46ξ6 ) j
= M gravity + M static + M F . K + M D + M R  ② Restoring Moment
M gravity + M static
rG × Wk M exciting,4 ρ gIT + ρ gV z B − mg ⋅ zG =
C44
rB1 × ∆k − A44ξ4 − B44ξ4

FR =  ③ Radiation Moment
 From the definition of Radiation Force
6 Roll 6
FR ,k = ∑ ξ jA Fk j eiωt ∑ (−ξ A j kj − ξj Bk j )
k =1 k =1
= ( ) (
−ξ2 A42 − ξ4 A44 − ξ6 A46 + −ξ2 B42 − ξ4 B44 − ξ6 B46 )
 Coupled Roll motion of Equation
( −M zcξ2 + I 44ξ4 + I 46ξ6 ) + (ξ2 A42 + ξ4 A44 + ξ6 A46 ) + (ξ2 B42 + ξ4 B44 + ξ6 B46 ) + ( C44ξ4 ) =
F4 eiωt
 Coupled Sway motion of Equation

M (ξ2 − zcξ4 + xcξ5 ) + (ξ2 A22 + ξ4 A24 + ξ6 A26 ) + (ξ2 B22 + ξ4 B24 + ξ6 B26 ) = F2 eiωt
 Coupled Yaw motion of Equation
( M xcξ2 + I 46ξ4 + I66ξ6 ) + (ξ2 A62 + ξ4 A64 + ξ6 A66 ) + (ξ2 B62 + ξ4 B64 + ξ6 B66 ) =
Hydrodynamics F6 eiωt
1) Kreyszig, Advanced engineerng mathematics, Wiley, Systems of Ordinary differential equations,pp.125~165
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(변위 : x = [ξ1 ,, ξ 6 ]T )
6DOF Equation of ship Motion (M, A, B, C : 6 × 6 Matrix )
 6DOF Equations of Ship Motion : 6 coupled equation (단, 계수 A,B,C 및 외력 Fexciting은

주어져 있다고 가정)
Given Find
(M + A )x + Bx + Cx = Fexciting x, x , x
 Assumption
1. Small amplitude water wave (파장에 비해 파고가 작음)
2. small amplitude motion (선박의 운동이 작음)
3. Slender body (선박의 길이에 비해 폭이 작음, Strip theory에서 자세히 설명)
 물체의 전후 동요(Surge)는 독립적으로 취급 (Coupling 고려 안함)
4. Lateral symmetry (symmetric about xz-plane)
 물체 운동이 종운동(Longitudinal motion) 과 횡운동(Transverse motion)으로 나뉨
surge,heave,pitch sway,roll,yaw
서로 영향을 주지 않음
z z (ex) 좌우 대칭 선박
x
y Heave운동에 의해 영향을 받는 운동은?
y surge , pitch
x sway , roll , yaw
1) Journee,
HydrodynamicsJ.M.J. , Adegeest, L.J.M. ,Theoretical Manual of Strip Theory program“ Seaway for Windows”, Delft University of Technology, 2003, pp38~42
3) Journee, J.M.J. , Massie, W.W. , Offshore Hydrodynamics, Delft University of Technology, 2001,pp8-1~4
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 Coupled heave Motion of equation
6DOF Equation of ship Motion Mx = Frestoring + Fexciting + Fradiation

Find : 6 DOF equation of ship motion
 Surge motion of Equation

( ) ( ) (
M ξ1 + zc ξ5 + ξ1 A11 + ξ3 A13 + ξ5 A15 + ξ1 B11 + ξ3 B13 + ξ5 B15 = )
F1eiωt
 Heave-Pitch Motion of Equation
( ) ( ) ( )
M ξ3 − xξ5 + ξ1 A31 + ξ3 A33 + ξ5 A35 + ξ1 B31 + ξ3 B33 + ξ5 B35 + ( C33ξ3 + C35ξ5 ) = F3eiωt
( ) ( ) ( )
M zcξ1 − xξ3 + I 55ξ5 + ξ1 A53 + ξ3 A53 + ξ5 A55 + ξ1 B53 + ξ3 B53 + ξ5 B55 + ( C33ξ3 + C35ξ5 ) =
F5eiωt
 Roll-Sway-Yaw Motion of Equation
( ) ( ) (
M ξ2 − zcξ4 + xcξ5 + ξ2 A22 + ξ4 A24 + ξ6 A26 + ξ2 B22 + ξ4 B24 + ξ6 B26 = )
F2 eiωt
( ) ( ) ( )
− M zcξ2 + I 44ξ4 + I 46ξ6 + ξ2 A42 + ξ4 A44 + ξ6 A46 + ξ2 B42 + ξ4 B44 + ξ6 B46 + ( C44ξ 4 ) =
F4 eiωt
Matrix from
( c 2 46 4 66 6 ) ( 2 62 4 64 6 66 ) (
M x ξ + I ξ + I ξ + ξ A + ξ A + ξ A + ξ B + ξ B + ξ B = 2 62 4 64 6 F eiωt
66 ) 6
(M + A )x + Bx + Cx = Fexciting : 6DOF Equation of ship motion

 M 0 0 0 MzC 0   ξ1   A11 0 A13 0 A15 0   ξ1 
      
 0 M 0 − MzC 0 MxC  ξ 2 
 0
 A22 0 A24 0 A26  ξ 2 
 0 0 M 0 − MxC 0  ξ3   A31 0 A33 0 A35 0  ξ3 
     +     
 0 − MzC 0 I 44 0 − I 46  ξ 4   0 A42 0 A44 0 A46  ξ 4 
 MzC 0 − MxC 0 I 55 0  ξ   A51 0 A53 0 A55 0  ξ 
   5    5
− I 64  
 0 MxC 0 0 I 66  ξ 6   0 A62 0 A64 0 A66  ξ 6 
 B11 0 B13 0 B15 0   ξ1  0 0 0 0 0 0   ξ1   F1 
 0  
B22 0 B24 0 B26  ξ 2 
 
0 0  ξ 2   F 
 0 0 0 0  2
B 0 B33 0 B35 0  ξ3  0 0 C33 0 C35 0  ξ3   F3 
+  31    +     =  
 0 B42 0 B44 0 B46  ξ 4  0 0 0 C44 0 0  ξ 4   F4 
Hydrodynamics  B51 0 B53 0 B55 0  ξ  0 0 C53 0 C55 0  ξ5   F5 
   5      
 0 B62 0 B64 0 B66  ξ6  0 0 0
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ξ1 
ξ 
6DOF Equation of ship Motion  2
ξ 
x =  3
 6DOF Equations of Ship Motion ξ 4 
: 3 kinds of coupled motions (surge / heave-pitch / sway-roll-yaw) ξ 5 
 
ξ 6 
 M 0 0 0 MzC 0   B11 0 B13 0 B15 0 

 0 MxC 
 M 0 − MzC 0 0
 B22 0 B24 0 B26 
 0
M=
0 M 0 − MxC 0 

B
B =  31
0 B33 0 B35 0   F1 

 0 − MzC 0 I 44 0 − I 46  0 B42 0 B44 0 B46  F 
 MzC 0 − MxC 0 I 55 0   B51 0 B53 0 B55 0   2
   
 0 MxC 0 − I 64 0 I 66   0 B62 0 B64 0 B66   F3 
Fexciting = 
 F4 
운동 방정식 : (M + A )x + Bx + Cx = Fexciting  F5 
 
 F6 
 A11 0 A13 0 A15 0  0 0 0 0 0 0
0
 A22 0 A24 0 A26  0 0 0 0 0 0

A 0 A33 0 A35 0  0 0 C33 0 C35 0
A =  31  C= 
0 A42 0 A44 0 A46  0 0 0 C44 0 0
 A51 0 A53 0 A55 0  0 0 C53 0 C55 0
   
 0 A62 0 A64 0 A66  0 0 0 0 0 0
1) Journee,
@
2) Newman, J.N. , Marine Hydrodynamics, The MIT Press, Cambridge, 1997, pp 307~311 Seoul SDAL 38
3) Journee, J.M.J. , Massie, W.W. , Offshore Hydrodynamics, Delft University of Technology, 2001,pp8-1~4 National
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6DOF Equation of ship Motion
: Heave-Pitch Equation of Motion Surge Pitch
Heave
 6DOF Equations of Ship Motion
: 3 kinds of coupled motions (surge / heave-pitch / sway-roll-yaw) x = [ξ1 , ξ 2 , ξ 3 , ξ 4 , ξ 5 , ξ 6 ]
T
 M 0 0 0 MzC 0   B11 0 B13 0 B15 0 

 0 M 0 − MzC 0 MxC  0 B22 0 B24 0 B26 
Sway Yaw
  Roll
 0 0 M 0 − MxC 0  B 0 B33 0 B35 0 
M=  B =  31 
 0 − MzC 0 I 44 0 − I 46  0 B42 0 B44 0 B46 
 MzC 0 − MxC 0 I 55 0   B51 0 B53 0 B55 0 
     F1 
 0 − I 64 I 66   0 B66 
MxC 0 0 B62 0 B64 0
F 
 2
운동 방정식 : (M + A )x + Bx + Cx = Fexciting  F3 
Fexciting = 
 F4 
 A11 0 A13 0 A15 0  0 0 0 0 0 0  F5 
0 A26  0 0
 
 A22 0 A24 0
 0 0 0 0  F6 
A 0 A33 0 A35 0  0 0 C33 0 C35 0
A =  31  C= 
0 A42 0 A44 0 A46  0 0 0 C44 0 0
 A51 0 A53 0 A55 0  0 0 C53 0 C55 0
   
 0 A62 0 A64 0 A66  0 0 0 0 0 0
 heave-pitch  M + A33 − MxC + A35  ξ3   B33 B35  ξ3  C33 C35  ξ 3   F3 
+  + =
motion of equation

:− MxC + A53 A55 + I yy  ξ5   B53 B55  ξ5  C53 C55  ξ 5   F5 
(가정3. Surge운동은 독립적)
1) Journee,
@
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전후동요 종동요
변위 상하동요 변위
: Sway-Roll-Yaw Motion of Equation 변위
 6DOF Equations of Ship Motion x = [ξ1 , ξ 2 , ξ 3 , ξ 4 , ξ 5 , ξ 6 ]

T
: 3 kinds of coupled motions (surge / heave-pitch / sway-roll-yaw)

좌우동요 선수동요
 M 0 0 0 MzC 0   B11 0 B13 0 B15 0 
변위 변위
 0 M 0 − MzC 0 MxC  0 B22 0 B24 0 B26 
횡동요
  변위
 0 0 M 0 − MxC 0  B 0 B33 0 B35 0 
M=  B =  31 
 0 − MzC 0 I 44 0 − I 46  0 B42 0 B44 0 B46 
 MzC 0 − MxC 0 I 55 0   B51 0 B53 0 B55 0   F1 
   
 0 MxC 0 − I 64 0 I 66   0 B62 0 B64 0 B66  F 
 2
F 
운동 방정식 : (M + A )x + Bx + Cx = Fexciting Fexciting =  3
 F4 
 F5 
 A11 0 A13 0 A15 0  0 0 0 0 0 0  
0
 A22 0 A24 0 A26  0 0 0 0 0 0  F6 

A 0 A33 0 A35 0  0 0 C33 0 C35 0
A =  31  C= 
0 A42 0 A44 0 A46  0 0 0 C44 0 0
 A51 0 A53 0 A55 0  0 0 C53 0 C55 0
   
 0 A62 0 A64 0 A66  0 0 0 0 0 0
 sway-roll-yaw :  m + A22 − mzc + A24 mxc + A26  ξ2   B22 B24 B26  ξ2  0 0 0 ξ 2   F2 
   
− mz + A I xx + A44 − I xz + A46  ξ4  +  B42 B44 B46  ξ4  + 0 C44 0 ξ 4  =  F4 
 c 42
 mxc + A62 − I zx + A64 I zz + A66  ξ6   B62 B64 B66  ξ6  0 0 0 ξ 6   F6 
1) Journee,
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(풀이) Coupled Heave-pitch motion of equation in frequency domain
 Assumption : 시간이 충분히 흘러, 선박이 외력의 주기와 같은 운동을 함

 Given : Coupled heave-pitch motion of equation 의 계수

파고(real) Wave exciting force amplitude
(complex)
ω : Wave frequency
 M + A33 − MxC + A35  ξ3   B33 B35  ξ3  C33 C35  ξ3   Fext ,3  η 0 F3Aeiωt 
  +  + = =  
 − MxC + A53 A55 + I 55  ξ5   B53 B55  ξ5  C53 C55  ξ5   Fext ,5  η 0 F5Aeiωt 
 Find : heave, pitch 운동 변위, 속도, 가속도

Motion amplitude(complex)
ξ 3 (t ) = ξ 3Aeiωt  ξ3 (t ) = iωξ 3Aeiωt , ξ3 (t ) = −ω 2ξ 3Aeiωt 

  ξ 3A , ξ 5A 만 구하면 됨
A i ωt   A iωt  2 A i ωt 
ξ 5 (t ) = ξ 5 e  ξ 5 (t ) = iωξ 5 e , ξ 5 (t ) = −ω ξ 5 e 
① 운동 방정식에 변위,속도,가속도 대입
 M + A33 − MxC + A35  − ω 2ξ 3Aeiωt   B33 B35  iωξ 3Aeiωt  C33 C35  ξ 3Aeiωt  η 0 F3Aeiωt 
+ + =
− Mx + A
 C 53 A55 + I yy  − ω 2ξ 5Aeiωt   B53 
B55  iωξ 5Aeiωt  C53
 
C55  ξ 3Aeiωt  η 0 F5Aeiωt 
Hydrodynamics (가속도) (속도) (변위)
@
1) Bhattacharyya,R., Dynamics of Marine Vehicles, John Wiley & Sons, 1978, pp183-207 Seoul SDAL 41
2) Kreyszig, Advanced engineerng mathematics, Wiley, Systems of Ordinary differential equations,pp.125~165 National
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(풀이) Coupled Heave-pitch motion equation in frequency domain
(continue)
① 운동 방정식에  M + A33 − MxC + A35   −ω 2ξ3Aeiωt   B33 B35  iωξ3Aeiωt  C33 C35  ξ3Aeiωt  η0 F3Aeiωt 
   2 A iωt  +   A iωt 
+   A iωt  = A iωt 
변위,속도,가속도 대입  − MxC + A53 A55 + I 55   −ω ξ5 e   B53 B55  iωξ5 e  C53 C55  ξ3 e  η0 F5 e 
i ωt  M + A33 − MxC + A35  ξ3A   B33 B35  ξ3A  C33 C35  ξ3A  η0 F3A 
② 양변을 e 로 나눔 −ω 2
  A  + iω   +  =  
 − MxC + A53 A55 + I 55  ξ5   B53 B55  ξ5A  C53 C55  ξ3A  η0 F5A 
ξ 3A   2  M + A33 − MxC + A35   B33 B35  C33 C35   ξ3A  η0 F3A 
③  A  로 묶어서 정리  −ω  + ω +   =  
A55 + I 55  B B55  C53 C55   ξ3A  η0 F5A 
i
ξ 5    − MxC + A53  53
 −ω 2 ( M + A33 ) + iω B33 + C33 −ω 2 (− MxC + A35 ) + iω B35 + C35  ξ3A  η0 F3A 
 2   =  
 −ω (− MxC + A53 ) + iω B53 + C53 −ω 2 ( A55 + I 55 ) + iω B55 + C55  ξ3A  η0 F5A 
 P Q  ξ 3A  η 0 F3A  −ω 2 ( M + A33 ) + iω B33 + C33

P = 
R S  A  =  A
 
  ξ 3  η 0 F5  −ω 2 (− MxC + A35 ) + iω B35 + C35 
Q =
 
−ω 2 (− MxC + A53 ) + iω B53 + C53 
R =
S =
−ω 2 ( I 55 + A55 ) + iω B55 + C55 
 
Hydrodynamics
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(풀이) Coupled Heave-pitch motion equation in frequency domain
(continue)
ξ 3A   P Q  ξ 3A  η 0 F3A  −ω 2 ( M + A33 ) + iω B33 + C33
P = 
R S  A  =  A
 
③  A  로 묶어서 정리   ξ 3  η 0 F5  −ω 2 (− MxC + A35 ) + iω B35 + C35 
Q =
ξ 5   
−ω 2 (− MxC + A53 ) + iω B53 + C53 
R =
S =
−ω 2 ( I 55 + A55 ) + iω B55 + C55 
 
−1
④ 역행렬을 곱하여 ξ 3A   P Q  η 0 F3A  1  S − Q  η 0 F3A 
 A =    A
=   A
변위 를 ξ 3 , ξ 5 구함
A A
ξ 5   R S  η 0 F5  PS − QR − R P  η 0 F5 
 F3A S − F5AQ 
=
1  A
(
η 0 F3 S − F5 Q
A
 )
η 0
PS − QR 

 =

(
PS − QR η 0 − F3A R + F5A P   ) F5A P − F3A R 
η 0 PS − QR 

ξ 3A F3A S − F5AQ
⑤ 1m 파고에 대한 ∴ =
η0 PS − QR
Heave-Pitch 연성
운동 변위 (RAO*) ξ 5A F5A P − F3A R
=
η0 PS − QR ※ RAO(Response Amplitude Operator) : 1m v에 대한 선박의 운동 응답
Hydrodynamics
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/203
: Solving 6DOF Equation of motion in Frequency domain
 6DOF Equation of ship Motion

(M + A )x + Bx + Cx = Fexciting
General Case
ξ1  ξ1A  Complex amplitude  f1 A 
ξ   A   A
 2  ξ 2   f2 
ξ 3  ξ 3  iωt
A  f 3A  iωt
A i ωt
x =   =  A  e = x e , x = iωx e , x = −ω x e , Fexciting = η 0  A  e = η 0f Ae iωt
A i ωt 2 A i ωt
ξ 4  ξ 4   f4 
ξ 5  ξ 5  A  f A
   A  5A 
ξ 6  ξ 6   f 6 
(M + A )(− ω 2 x Aeiωt ) + B(iωx Aeiωt ) + C(x Aeiωt ) = η0f Aeiωt  RAO(Response Amplitude Operator)
: 1m wave Amplitude 를 가지는
{− ω (M + A ) + iωB + C}x e
2 A i ωt
= η 0 f A e i ωt 선박의 6자유도 운동 변위
{− ω (M + A ) + iωB + C}x
2 A
= η 0f A
x = η0 D f
A −1 A xA
= D −1f A
η0
Hydrodynamics
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: 6DOF RAO(Response Amplitude Operator)
 Example of RAO
<Roll>
<Pitch>
1) 그림 출처 : Newman, J.N. , Marine Hydrodynamics,

Hydrodynamics
The MIT Press, Cambridge, 1977, pp 47
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Chap.3 Surface Force &

Moment
Hydrodynamics
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Force acting on a ship in fluid ΦD : Diffraction wave velocity potential

How to know fluid pressure on Ship’s body?
z  Bernoulli Equation  Laplace Equation

y
∂Φ 1 ∇ 2Φ = 0
ρ + P + ρ ∇Φ + ρgz = 0
2
∂t 2
Φ = ΦI + ΦD + ΦR
Linearization Linear combination
Basis solutions
of basis solutions
∂Φ  ∂Φ I ∂Φ D ∂Φ R 
P = − ρgz − ρ
PFluid = − ρgz − ρ  + + 
dF = PndS ∂t  ∂t ∂t ∂t 
dS 유체입자가 선체표면에
작용하는 압력 = Pstatic + PF . K + PD + PR
Pdynamic
FFluid = ∫∫ PFluid ndS = Fstatic + FF . K + FD + FR

dF : 하나의 유체 입자가 SB
선박 표면에 가하는 힘 ( S B: wetted surface) FF.K: Froude- krylov force
dS : 미소 면적 FD: Diffraction force
n : 미소 면적의 Normal 벡터 선박의 침수 표면 전체에 대하여 적분 (표면력) FR: Radiation force
(유체입자가 선박에 작용하는 힘과 모멘트)
Hydrodynamics  유체입자 하나에 작용하는 Body force 와 Surface force로부터 구한 압력을 선박

의 침수 표면 전체에 대해 적분하여 선박에 작용하는 Seoul
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Force & moment acting on the surface
- 계산방법
 i j k 
 
r ×n = x y z = i ( yn3 − zn2 ) + j( z n1 − xn3 ) + k ( xn2 − yn1 ) 
 Fluid force  n1 n2 n3 ( j = 1,  ,6) 
 
acting on the surface
F = ∫∫ PndS 성분별로 F1 = ∫∫ Pn1dS F j = ∫∫ Pn j dS
나눠쓰면,
SB SB
(n = [n , n , n ] )
SB
F2 = ∫∫ Pn2 dS
T
1 2 3
SB
F3 = ∫∫ Pn3 dS
SB
 Fluid moment
acting on the surface  

M 1 = ∫∫ P( yn3 − zn2 )dS , F4 = ∫∫ Pn4 dS 
M = ∫∫ P(r × n )dS
성분별로
나눠쓰면,  
SB
SB  S B 
 n = [n1 , n2 , n3 ]T   
  
M 2 = ∫∫ P( z n1 − xn3 )dS , F5 = ∫∫ Pn5 dS 
 r = [x, y, z ]   
 
T
  SB SB
 
M 3 = ∫∫ P( xn2 − yn1 )dS , F6 = ∫∫ Pn6 dS 

 
Hydrodynamics
SB  S B 
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Chap.3 Surface Force & Moment
Froude-Krylov Force & Diffraction Force
- Fruode-Krylov Force & Diffraction Force

- Radiation Force
Hydrodynamics
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Froude-Krylov Force & Diffraction Force (1)
입사파에 의한 힘 산란파에 의한 힘
 Incident Wave & Diffraction Wave Velocity Potential
Φ I ( x , y , z , t ) = φ I ( x , y , z ) e i ωt
+
 g − ikx kz 
φ
 I ( x , y , z ) = − η e e 
 ω 0  Froude-Kriloff Force Diffraction Force
∂φD ∂φ
Φ D ( x , y , z , t ) = φ D ( x , y , z ) e i ωt Body B.C. : =− I (on S B )
∂n ∂n
 Froude Krylov Force & Diffraction Force

∂Φ I ∂Φ D
PFK = − ρ = − ρφI ( x, y, z )iωeiωt , PD = − ρ = − ρφD ( x, y, z )iωeiωt
∂t ∂t
FFK + FD = ∫∫ (PFK + PD )ndS

Consider SB
kth component
FFK ,k + FD ,k = ∫∫ (PFK + PD )nk dS = − ρ ∫∫ (φI + φD )e iωt iωnk dS
(k=3이면, Heave Force) SB
SB
1) Journee, J.M.J. , Adegeest, L.J.M. ,Theoretical Manual of Strip Theory program“ Seaway for Windows”, Delft University of Technology, 2003, pp36~38
Hydrodynamics
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φk : Radiation potential
(k = 1, , 6)
(Continue)
FFK ,k + FD ,k = − ρ ∫∫ (φI + φD )e iωt iωnk dS Radiation wave velocity potential Body B.C.
SB ∂φk
= iωnk
∂φk ∂n
= − ρ ∫∫ (φI + φD )eiωt dS
SB ∂n
 ∂φ ∂φ  Green’s 2nd Theorem 사용
= − ρe ∫∫  φI k + φD k dS
i ωt
SB
 ∂n ∂n   ∂φk ∂φD 
 ∫∫S D
φ dA = ∫∫SB ∂n 
φ dA
∂n
k
 B
 ∂φ ∂φ 
= − ρe iωt ∫∫  φI k + φk D dS
 ∂n ∂n 
SB Haskind relations:
Diffraction Wave velocity potential Body B.C.
 ∂φ ∂φ  ∂φD ∂φ
= − ρe iωt ∫∫  φI k − φk I dS =− I (on S B )
∂n ∂n
SB
 ∂n ∂n 
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(Continue)
(k = 1, , 6)
Already found
kth radiation wave velocity potential : φk
g
Incident wave velocity potential : φI = − η 0 e −ik ( x cos µ − y sin µ ) e kz
ω
대입
 ∂φ ∂φ 
FFK ,k + FD ,k = − ρe iωt ∫∫  φI k − φk I dS
SB
 ∂n ∂n 
 ∂φ ∂φ 
= − ρe iωt ∫ ∫  φI k − φk I dldx
L Cx
 ∂n ∂n 
= − ρe iωt ∫ ( f k + hk )dx
L
 ∂φ 
 f k = ∫C φI k dl : 단면에 작용하는 Froude-Krylov force 
 x ∂n 
 ∂φI 
 k

h = − ∫C x
φ k
∂n
dl : 단면에 작용하는 Diffraction force 

Hydrodynamics
1) Journee, J.M.J. , Adegeest, L.J.M. ,Theoretical Manual of Strip Theory program“ Seaway for Windows”, Delft University of Technology, 2003,
2) Newman, J.N. , Marine Hydrodynamics, The MIT Press, Cambridge, 1997, pp 300~307 National
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Chap.3 Surface Force & Moment
Radiation Force
- Froude-Krylov Force & Diffraction Force

- Radiation Force
Hydrodynamics
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Radiation Force (FR) (1)
정수중 선박의 강제
운동에 의해 발생한 힘
 Radiation Wave Velocity Potential
Φ R ( x , y , z , t ) = φ R ( x , y , z ) e i ωt
6
φR ( x, y, z ) = ∑ ξ jAφ j ( x, y, z ) - B.C.과 Laplace Eq. 으로부터 구한 것
- 변위 ξ j 는 주어진 값 (ξ j (t ) = ξ jAe iωt )
A
Radiation Force j =1
 Radiation Force
∂Φ R 6
PR = − ρ = − ρiω ∑ ξ jAφ j ( x, y, z )eiωt
∂t j =1
FR = ∫∫ PR ndS
SB
Consider
kth component
 6 
(k=3이면, Heave Force) FR ,k = ∫∫ PR nk dS = ∫∫  − ρiω ∑ ξ jAφ j ( x, y, z )e iωt nk dS
 
SB SB
j =1
 6 A  i ωt
= − ρ ∫∫  ∑ ξ j φ j e iωnk dS
 j =1 
SB
Hydrodynamics
1)
Seoul
Journee, J.M.J. , Adegeest, L.J.M. ,Theoretical Manual of Strip Theroy program“ Seaway for Windows”, Delft University of Technology, 2003,
@
pp30~33
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(Continue)
(k = 1, , 6)
 6
FR ,k = − ρ ∫∫  ∑ ξ jAφ j e iωt iωnk dS
SB
 j =1  ∂φk
= iωnk 대입
∂n
 6 A  iωt ∂φk
= − ρ ∫∫  ∑ ξ j φ j e dS
SB
 j =1  ∂n
 ∂φ ∂φ ∂φ 
= − ρ ∫∫ ξ1Aφ1eiωt k dS + ∫∫ ξ 2Aφ2 eiωt k dS +  + ∫∫ ξ 6Aφ6 eiωt k dS 
 SB ∂n SB ∂n SB ∂n 
 6
∂φ 
= − ρ∑  ∫∫ ξ jAφ j eiωt k dS 
j =1 
SB ∂n 
6
 ∂φ 
= ∑ ξ jA  − ρ ∫∫ φ j k dS e iωt ∂φk
j =1  SB ∂n  Fk j = − ρ ∫∫ φ j dS 로 치환
SB ∂n
6
= ∑ ξ jA Fk j eiωt ( Fk j : j방향 운동으로 인해 나타나는 k방향 힘 )
j =1
Hydrodynamics
1)
Seoul
Journee, J.M.J. , Adegeest, L.J.M. ,Theoretical Manual of Strip Theroy program“ Seaway for Windows”, Delft University of Technology, 2003,
@
pp30~33
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Windows”, Delft University of Technology, 2003, pp30~33
(If Slender body)
Cx
(Continue)
6
FR ,k = ∑ ξ jA Fk j eiωt
j =1
∂φk L ∂φ 
Fk j = − ρ ∫∫ φ j dS = ∫  − ρ ∫ φ j k dl dx = ∫ f k j dx
L
SB ∂n 0
 cx ∂n  0
(단면에서 구한 힘 또는 모멘트를 길이 방향으로 적분하여

선박 전체에 작용하는 힘 또는 모멘트를 계산 = “Strip Theory”)
∂φk
fk j = −ρ ∫ φ j
dl (단면에서 j방향 운동으로 인해 나타나는 k방향 힘 )
cx ∂n
= ω 2 ak j − iωbk j
(단면의
Hydrodynamics (단면의
Added mass) Damping Coefficient)
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1) Journee, J.M.J. , Adegeest, L.J.M. ,Theoretical Manual of Strip Theory program“ Seaway for
Windows”, Delft University of Technology, 2003, pp30~33

(Continue) z
∂φ ξ4
fk j = − ρ ∫ φ j k dl ξ2 y
cx ∂n 변위 : ξ j = ξ jAeiωt
= ω 2 a jk − iωb jk 속도 : ξ j = ξ jAiωeiωt
ξ3 C
x
가속도 : ξj = −ξ jAω 2 eiωt
L L
∫0 ak j dx − iω ∫0 b=
L
∫0 k j
Fk j == ω 2
f dx k j dx ω 2 Ak j − iω Bk j
(Added mass) (Damping Coefficient)
6 6
= ∑ ξ Fk j e
FR ,k = A
j
iωt
∑ j
ξ A iωt
e (ω 2
Ak j − iω Bk j )
j =1 j =1
6 6
= ∑ (ξ
j =1
ω e Ak j − ξ iω e Bk j ) =∑ (−ξj Ak j − ξj Bk j )
A
j
2 iωt A
j
iωt
j =1
Hydrodynamics
− ξj − ξ j
(가속도에 비례) (속도에
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How to find added mass and damping coefficient ???
단면의 정보로 부터 선박의 added mass와 Damping Coefficient 구하기 위해서는

각 단면의 a jk , b jk ( j , k = 1,  ,6) 를 구한 뒤, 길이 방향으로 적분한다. (Strip Theory)
- Radiation wave velocity potential ( φ j : 선박의 j방향 운동변위가 1일 때 Velocity Potential)

대입 ∂φk
φ1 , φ2 , φ3 , φ4 , φ5 , φ6 f jk = − ρ ∫ φ j dl = ω 2 a jk − iωb jk
cx ∂n
- Added mass component - Damping coefficient component

6개 Velocity L L
potential을 A jk = ∫ a jk dx B jk = ∫ b jk dx
0 0
모두 구해야
Matrix를 - Added mass matrix - Damping coefficient
구할 수 있음  A11 A12  A16  matrix B B  B16 
11 12
A A22  B B22 
A 6×6 =  21  B 6×6 =  21 
         
   
Hydrodynamics  A61 A66   B61 B66 
1) Journee, J.M.J. , Massie, W.W. , Offshore Hydrodynamics, Delft University of Technology, 2001,8-5~10
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z
z
y ξ4
ξ2 y
x1
x ξ3 C
x
 Strip Theory
: 각 2차원 단면의 유체력 계수 (Added mass, Damping Coefficient) 및 Wave exciting force를
구한 후, 이를 길이 방향으로 적분하여 전체의 유체력을 구하는 근사적 방법
 Assumption
(1) Resulting motion will be small
(2) The hull is slender
(3) Forward speed of the ship should be relatively low
(4) The frequency of encounter should not be too low or too high
(5) The hull sections are wall-sided at the waterline
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다음 중 2-D 단면에서 구할 수 있는 것은? ( φ j : 선박의 j방향 운동변위가 1일 때 Velocity Potential)
φ1 φ2 φ3 φ4 φ5 φ6
z
ξ4
ξ2 y
y축 병진 운동 : ξ 2 (t ) = ξ 2Ae iωt
ξ3 Cx z축 병진 운동 : ξ 3 (t ) = ξ 3Ae iωt
x축 회전 운동 : ξ 4 (t ) = ξ 4Ae iωt
Hydrodynamics
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φ1 , φ5 , φ6 은 어떻게 구할 수 있을까? (φ j : 선박의 j방향 운동변위가 1일 때 Velocity Potential)

z
z축 병진 운동 : ξ 3 (t ) = ξ 3Ae iωt φ3 , φ5 = − x1φ3
y
y축 병진 운동 : ξ 2 (t ) = ξ 2Ae iωt φ2 , φ6 = x1φ2
x1
z y
(-) Moment (+) Moment
− x1φ3 x1φ2
x x
x1 x1
φ3 φ2
※ φ1 은 일반적인 2-D strip theory로 구할 수 없다.
따라서, 경험식 또는 길이 방향 단면을 사용하여 계산함
Hydrodynamics
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y
x1
x  Conclusion
2-D 단면의 세 velocity potential
z φ2 , φ3 , φ4 을 구하고, φ5 = − xφ3 ,
ξ4 φ6 = xφ2
ξ2 y 의 관계식을 사용하여
다른 velocity potential을 구한다.
y축 병진 운동 : ξ 2 (t ) = ξ 2Ae iωt
ξ3 C z축 병진 운동 : ξ 3 (t ) = ξ 3Ae iωt
x 즉, 2-D 단면의 φ2 , φ3 , φ4 만
x축 회전 운동 : ξ 4 (t ) = ξ 4Ae iωt 구하면 된다.
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1) Journee, J.M.J. , Massie, W.W. , Offshore Hydrodynamics, Delft University of Technology, 2001,8-5~10 z
ξ4
Radiation Force (FR) (10) ξ2 y
 ∂φk  ※ f jk : 2-D 단면에서 j 방향 운동에 ξ3 C

Given : φ2 , φ3 , φ4  f jk = − ρ ∫c φ j dl  의해 나타나는 k 방향 힘 x
 x ∂n 
∂φ2 ∂φ
f 22 = − ρ ∫ φ2 dl = ω 2 a22 − iωb22 , f 33 = − ρ ∫ φ3 3 dl = ω 2 a33 − iωb33
cx ∂n cx ∂n
∂φ ∂φ
f 44 = − ρ ∫ φ4 4 dl = ω 2 a44 − iωb44 , f 24 = − ρ ∫ φ2 4 dl = ω 2 a24 − iωb24
cx ∂n cx ∂n
∂φ ∂ (− xφ3 ) ∂φ
f 55 = − ρ ∫ φ5 5 dl = − ρ ∫ (− xφ3 )
cx ∂n cx ∂n
dl = − ρx 2 ∫ φ3 3 dl = x 2 ω 2 a33 − iωb33
cx ∂n
( )
∂φ ∂ ( xφ2 ) ∂φ
f 66 = − ρ ∫ φ6 6 dl = − ρ ∫ ( xφ2 )
cx ∂n cx ∂n
dl = − ρx 2 ∫ φ2 2 dl = x 2 ω 2 a22 − iωb22
cx ∂n
( )
∂φ ∂ (− xφ3 ) ∂φ
f 35 = − ρ ∫ φ3 5 dl = − ρ ∫ φ3
cx ∂n cx ∂n
dl = − ρ (− x) ∫ φ3 3 dl = − x ω 2 a33 − iωb33
cx ∂n
( )
∂φ ∂ ( xφ2 ) ∂φ
f 26 = − ρ ∫ φ2 6 dl =
cx ∂n
− ρ ∫ φ2
cx ∂n
dl = − ρ x ∫ φ2 2 dl =
cx ∂n
(
− x ω 2 a22 − iωb22 )
∂φ ∂ ( xφ2 ) ∂φ
f 46 = − ρ ∫ φ4 6 dl = − ρ ∫ φ4
cx ∂n cx ∂n
dl = − ρx ∫ φ4 2 dl = − x ω 2 a42 − iωb42
cx ∂n
( )
∂φ4 ∂φ
(a22 , b22 ), (a24 , b24 ), (a33 , b33 ), (a44 , b44 ) 만 알고 있으면, ※ ρ ∫c φ2
dl = ρ ∫ φ4 2 dl
Hydrodynamics x ∂n cx ∂n
나머지 added mass 및 damping coefficient를 구할 수 있다. National
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이므로, @
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Added Mass & Damping Coefficients
(a33,b33) 를 알고 있으면, (a35,b35), (a53,b53), (a55,b55)

added mass 및 damping coefficient를 구할 수 있다.
 Added Mass (Heave 운동의 경우) Review : strip theory & 선박 운동 방정식 유도 과정)
z
x = x1 z 단면의 상하 동요로 인한 a ( x )
y 33 1
z방향 added mass :
x1 y
0 단면의 상하 동요로 인한 a35 ( x1 ) = − x1a33
y축 방향 회전 added mass :
x
단면에 작용하는 − a33ξ3 − a35ξ5 = −a33ξ3 + x1a33ξ5
added mass force :
(
(a35 = − xa33 ) = −a33 ξ3 − x1ξ5 )
 Damping Coefficient(Heave 운동의 경우)
x = x1 z 단면의 상하 동요로 인한 b33 ( x1 )

z방향 Damping Coefficeitns :
y
0 단면의 상하 동요로 인한 b35 ( x1 ) = − x1b33
y축 방향 회전 damping Coefficient :
단면에 작용하는 −b33ξ3 − b35ξ5 −b33ξ3 + x1b33ξ5

=
( )
damping coefficient
Hydrodynamics
force : ( b35 = − xb33 ) −b ξ − x ξ
=
@
33 3 1 5
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Added Mass & Damping Coefficient  A0 = a dx, B 0 = b dx 
- Heave & Pitch motion  jk ∫L jk jk ∫L jk 
(a33,b33)를 알고 있으면, (A33,B33),(A35,B35), (A53,B53), (A55,B55)
added mass 및 damping coefficient를 구할 수 있다.
U
A33 = ∫ a33 dx − b33A A53 = − ∫ xa33 dx +
U
B330 +
U
x Ab33A
L ω 2
L ω2 ω2
B33 = ∫ b33 dx + Ua33A B53 = − ∫ xb33 dx − UA330 − Ux A a33A
L
L
U U U2
A35 = − ∫ xa33 dx − B +
0
x b −A
a33A A55 = ∫ x a33 dx +
2 U2
A −
0 U
x b + A U2
x A a33A
ω2 ω2 ω2
33 A 33
ω ω ω
L 2 33 2 A 33 2
L
U2
B35 = − ∫ xb33 dx + UA − Ux a −0 A
b33A B55 = ∫ x b33 dx +
2 U2
B + Ux A a +
0 2 A U2
x Ab33A
ω
33 A 33 2
ω ω
L 2 33 33 2
L
F3 = ρα ∫ ( f 3 + h3 )dx + ρα
U A
h3
L iω
 U 
F5 = − ρα ∫  x( f 3 + h3 ) + ρα
U
h3  dx − ρα x A h3A
L
 iω  iω
U : 선박의 전진 속도 h j : Sectional Diffraction force (jth mode)

ρ : 유체의 밀도 ω: Encounter wave frequency
α : Wave amplitude x A , a Ajk , b jkA : Values at the aftermost section
Hydrodynamics
f j : Sectional Froude Krylov force (jth mode) Seoul
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Added Mass & Damping Coefficient  A0 = a dx, B 0 = b dx 
 jk ∫L jk jk ∫L jk 
- Sway & Roll & Yaw motion
(a22,b22), (a24,b24) , (a44,b44)를 알고 있으면added mass 및 damping coefficient를 구할 수 있다.
U U2
A22 = ∫ a22 dx − bA A46 = ∫ xa24 dx +
U
B − 0 U
x b + A
a24A
L ω 2 22
L ω2
24
ω2
A 24
ω2
B22 = ∫ b22 dx + Ua22A B46 = ∫ xb24 dx − UA + Ux a +
0 A U2
b24A
L
ω
24 A 24 2
L
U
A24 = A42 = ∫ a24 dx − bA
U U
L ω 2 24
A62 = ∫ xa22 dx − 0
B22 − x Ab22A
L ω 2
ω 2
B24 = B42 = ∫ b24 dx + Ua A

L
24
B62 = ∫ xb22 dx + UA22
0
+ Ux A a22A
L
U U U2
A26 = ∫ xa22 dx + 0
B22 − x Ab22A + a22A A64 = ∫ xa24 dx −
U 0
B24 −
U
x Ab24A
L ω 2
ω 2
ω 2
L ω2 ω2
U2
B26 = ∫ xb22 dx − UA + Ux a +0 A
b22A B64 = ∫ xb24 dx + UA24
0
+ Ux A a24A
ω2
22 A 22 L
L
U2 U U2
U A66 = ∫ x a22 dx + A − xA b +
2
A44 = ∫ a44 dx −
2 0 A
bA x A a22A
ω ω ω
2 22 2 22 2
L ω 2 44 L
2
U U2
B44 = ∫ b44 dx + Ua + B B66 = ∫ x b22 dx + B + Ux A a +
2 0 2 A
A *
x Ab22A
ω ω
44 44 2 22 22 2
L L

ρ : 유체의 밀도 ω : Encounter wave frequency
Hydrodynamics
f j : Sectional Froude Krylov force (jth mode) B4* : Roll Damping SDAL Seoul
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 A0 = a dx, B 0 = b dx 
Sway & Roll & Yaw Force  jk ∫L jk jk ∫L jk 
F2 = ρα ∫ ( f 2 + h2 )dx + ρα
U A
h2
L iω
F4 = ρα ∫ ( f 4 + h4 )dx + ρα
U A
h4
L iω
 U 
F6 = ρα ∫  x( f 2 + h2 ) + ρα
U
h2  dx + ρα x A h2A
L
 iω  iω

ρ : 유체의 밀도 ω : Encounter wave frequency
Hydrodynamics
f j : Sectional Froude Krylov force (jth mode) B4* : Roll Damping Seoul
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Radiation Force (FR) (10) (We don’t need to calculate φ D ( x, y , z ) )
-Summary ∂φ
Green’s
2nd theorem ∂φD Body B.C. ∂φI
φD k φk − φk
∂n ∂n ∂n
Φ I : Incident wave
velocity potential
Φ I ( x , y , z , t ) = φ I ( x , y , z ) e i ωt  Froude-Krylov Force & Diffraction Force
+
 ∂φk ∂φI 
FFK ,k + FD ,k = − ρe iωt ∫
L ∫C x
Φ D : Diffraction wave  φ − φ dldx
 ∂n ∂n 
I k
velocity potential
Fixed Φ D ( x , y , z , t ) = φ D ( x , y , z ) e i ωt
+
Φ R : Radiation wave  Radiation Force
velocity potential
∂φk
6
Φ R ( x , y , z , t ) = φ R ( x , y , z ) e i ωt = ∑ φ j e i ωt f jk = − ρ ∫ φ j dl = ω 2 a jk − iωb jk
j =1 cx ∂n
L
F jk = ∫ f jk dx = ω 2 A jk − iωB jk
0
6 6
Hydrodynamics
FR ,k = ∑ ξ F jk e A
j
i ωt
= ∑ (−ξj A jk − ξ j B jk )
j =1 Seoul
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Chap.4 Velocity Potential
- Incident Wave Velocity Potential

- Problem in Infinitely Long Horizontal Circular Cylinder
- Radiation Wave Velocity Potential
- Diffraction Wave Velocity Potential
Hydrodynamics
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Force acting on a ship in fluid ΦD : Diffraction wave velocity potential

How to know fluid pressure on Ship’s body?
z  Bernoulli Equation  Laplace Equation

y
∂Φ 1 ∇ 2Φ = 0 How to know
ρ + P + ρ ∇Φ + ρgz = 0
2
velocity potential?
∂t 2
Linearization Linear combination
Basis solutions
of basis solutions
∂Φ  ∂Φ I ∂Φ D ∂Φ R 
P = − ρgz − ρ
PFluid = − ρgz − ρ  + + 
dF = PndS ∂t  ∂t ∂t ∂t 
dS 유체입자가 선체표면에
작용하는 압력 = Pstatic + PF . K + PD + PR
Pdynamic
FFluid = ∫∫ PFluid ndS = Fstatic + FF . K + FD + FR

dF : 하나의 유체 입자가 SB
선박 표면에 가하는 힘 ( S B: wetted surface) FF.K: Froude- krylov force
dS : 미소 면적 FD: Diffraction force
n : 미소 면적의 Normal 벡터 선박의 침수 표면 전체에 대하여 적분 (표면력) FR: Radiation force
(유체입자가 선박에 작용하는 힘과 모멘트)
Hydrodynamics  유체입자 하나에 작용하는 Body force 와 Surface force로부터 구한 압력을 선박

의 침수 표면 전체에 대해 적분하여 선박에 작용하는 Seoul
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Φ I : Incident Wave V.P.
Velocity Potential Φ D : Diffraction Wave V.P.
- Decomposition of Velocity Potential Φ R : Radiation Wave V.P.
How to know velocity potential?
z z
y y  파랑 중 선박 주위 유체의 운동
: 유체장의 운동으로 인해 유체 입자의 속도,가속도,압력이
정지상태 교란
변하게 되고, 선박 표면의 유체 입자가 선박에 가하는 압력도
변하게 된다.
선형화1)된 wave로 분해
z Incident wave velocity potential (Φ I )  Total Velocity Potential

y
 입사파가 선박에 의해 교란되지 않는다고 가정함
 입사파에 의한 velocity potential
Superposition Theorem
+ Laplace equation은 선형
z Diffraction wave velocity potential (Φ D ) 방정식이므로, 각의 해를
y  선박의 존재로 인하여 교란된 파(wave). 물체 고정 더한 것 (superposition)도
Fixed  산란파에 의한 velocity potential 해가 된다1).
+ =−
Pρgz −ρ
∂ΦT
z Radiation wave velocity potential (Φ R ) ∂t
FFluid = ∫∫ PndS
y
 정수 중에서 선박의 강제 진동으로 인해 발생하는 파(wave) SB
 기진력에 의한 파의 velocity potential
= Fstatic + FF . K + FD + FR
Hydrodynamics
1) Erwin Kreyszig, Advanced Engineering Mathematics, Wiley, 2005, Ch 12.1 (pp 535~538)
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: Decomposition of Velocity Potential Φ R : Radiation Wave V.P.
z z
정지상태
교란 변하게 되고, 선박 표면의 유체 입자가 선박에 가하는 압력도
변하게 된다.

y
z Diffraction wave velocity potential (Φ D ) 방정식이므로, 각의 해를
y  선박의 존재로 인하여 교란된 파(wave). 물체 고정 더한 것 (superposition)도
Fixed  산란파에 의한 velocity potential 해가 된다1).
+
z Radiation wave velocity potential (Φ R )
y
 정수 중에서 선박의 강제 진동으로 인해 발생하는 파(wave)
 기진력에 의한 파의 velocity potential
Hydrodynamics
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: Superposition of Velocity potential Φ R : Radiation Wave V.P.
 Decomposition of Velocity potential
Φ T ( x , y , z , t ) = Φ I ( x , y , z , t ) + Φ D ( x , y , z , t ) + Φ R ( x, y , z , t ) 시간이 많이 지나 Steady 상태에서

Harmonic Motion
= {φI ( x, y, z ) + φD ( x, y, z ) + φR ( x, y, z )}e iωt (Transient motion 고려안함)
Time Independent Term (Complex)
Φ ( x, y, z , t ) = Re{Φ T ( x, y, z , t )} (or Take an Imaginary term)

Wave의 Phase차이를 고려해 주어야 한다.
ex) If φI ( x, y, z ) is not a complex (real) If φI ( x, y, z ) is a complex

Let φI ( x) = a Let φI ( x) = a + ib
Φ I = φ I ( x ) e i ωt (Euler 공식) Φ I = φ I ( x ) e i ωt (Euler 공식)
= a (cos ωt + i sin ωt ) = (a + ib )(cos ωt + i sin ωt )

= a cos ωt + ia sin ωt = (a cos ωt − b sin ωt ) + i (b cos ωt + a sin ωt )
Re{Φ I } = a cos ωt Re{Φ I } = a cos ωt − b sin ωt = c cos(ωt − ε )

Phase가 안나타남
Hydrodynamics Phase가 나타남
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: Superposition of Velocity potential Φ R : Radiation Wave V.P.
 Decomposition of Velocity potential

Φ T ( x , y , z , t ) = Φ I ( x , y , z , t ) + Φ D ( x , y , z , t ) + Φ R ( x, y , z , t ) 시간이 많이 지나 Steady 상태에서
Harmonic Motion
(Transient motion 고려안함)
= {φI ( x, y, z ) + φD ( x, y, z ) + φR ( x, y, z )} eiωt = φT eiωt
파진폭 파고
Time Independent Term (Complex) (wave (wave
6 amplitude) height)
=φI ( x, y, z ) + φD ( x, y, z ) + ∑ ξ jAφ j ( x, y, z )
j =1
6
선박의 운동변위(Given)
※ φ R ( x, y , z ) = ξ
A
φ + ξ φ + ξ φ + ξ φ + ξ φ + ξ φ = ∑ξ φ j
A A A A A A
1 1 2 2 3 3 4 4 5 5 6 6
j =1
j
ξ j (t ) = ξ jAeiωt
φ j : 선박의 j방향 운동변위가 1일 때 Velocity Potential
크기(Amplitude)
ξ jA : 선박의 j방향 운동변위의 크기 ( j = 4,5,6에서는 rotational angle in Radian)
Hydrodynamics Erwin Kreyszig, Advanced Engineering Mathematics, Wiley, 2005, Ch 12.1 (pp 535~538)
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Incident Wave Velocity Potential

- Problem of Infinitely Long Horizontal Circular Cylinder
Hydrodynamics
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Incident Wave Velocity Potential1) Φ D : Diffraction Wave V.P.
Φ R : Radiation Wave V.P.
z z
정지상태
변하게 된다.

y
Laplace equation은 선형
z Radiation wave velocity potential (Φ R ) 방정식이므로, 각의 해를
y
 정수 중에서 선박의 강제 진동으로 인해 발생하는 파(wave) 더한 것 (superposition)도
 기진력에 의한 파의 velocity potential 해가 된다1).
+
z Diffraction wave velocity potential (Φ D )
y  선박의 존재로 인하여 교란된 파(wave). 물체 고정
Fixed  산란파에 의한 velocity potential
Hydrodynamics
+
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1) Dean, R.G. , Water wave mechanics for engineers
Incident Wave Velocity Potential1) and scientists, Prentice-Hall,Inc, 1984, pp.41-77
: Superposition of Velocity potential
Wave Equation ② Boundary condition(B.C.) :

Kinematic Free Surface B.C.
① Governing Equation : Dynamic Free Surface B.C.
(경계면 사이에서 압력의 변화가 없음
(No flow across the interface
 경계면에서 속도가 동일함)
∇ 2Φ = 0 즉, 두 매질의 경계면에서 압력은 동일)
z
x
Lateral B.C.
w Lateral B.C.
h
u Bottom B.C.
Hydrodynamics
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: Boundary Condition
Boundary condition(B.C.) *η : z방향 변위
Dynamic Free Surface B.C. Kinematic Free Surface B.C.

z
z = η ( x, t )
x
Lateral B.C.
w Lateral B.C.
h
u Bottom B.C.
① Kinematic Free Surface B.C.(KFSBC)

: 경계면 사이에 유동(flow)이 없기 위해서는 경계면에서 입자의 속도가 동일해야 한다(z축 방향 속도가 같음)
 유체입자의 z 방향 속도 :  자유표면의 z 방향 속도 :
∂Φ dη ( x, t ) ∂η ∂η dx ∂η ∂η
w= = + = +u
∂z z =η dt ∂t ∂x dt ∂t ∂x z =η
 자유표면(free surface)의 x축 방향속도는

유체 입자의 x방향 속도성분 u와 같다.
dη ∂Φ ∂η ∂η
∴ w = at z=η  = +u
dt ∂z ∂t ∂x
Hydrodynamics
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 자유표면의 z 방향 속도 :
z
z = η ( x, t )
dη ( x, t ) ∂η ∂η dx x
= + Lateral B.C.
dt ∂t ∂x dt w Lateral B.C.
h
① ② u Bottom B.C.
①②의 의미는?
양변에 dt를 곱하면,
∂η ∂η ① 위치가 고정일 때, 시간 변화에 따른 η의 변화량

dη =
( x, t ) dt + dx
∂t ∂x ② 시간이 고정일 때, 위치 변화에 따른 η의 변화량
① ②
t = t2 z t = t2
∂η
기울기 :
∂x ∂η
∂η x dx
t = t1 dt ∂x
∂t
dx
Hydrodynamics
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*η : z방향 변위
z z = η ( x, t )  Kinematic Free Surface Boundary condition의 의미
(F.S.B.C.)
x
 즉, Kinematic F.S.B.C.은
w 두 매질간에 경계를 만드는 조건
h
u
dη
dt
속도가 속도가
다르면 ? 같으면 ?
w
경계면에서 유체입자가 경계면을 유지함
서로 이동함
즉, 경계가 없음
Hydrodynamics
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: Boundary condition

z
z = η ( x, t )
x
Lateral B.C.
w Lateral B.C.
h
u Bottom B.C.
② Bottom B.C. (BBC)

: 바닥면에서 유체가 스며들거나 바닥으로 침투하지 않는다면(Impermeable) 다음 조건이 성립
(바닥면의 속도) = (바닥면의 유체의 속도) ∂Φ

∴ =0
→ (좌변) : 바닥면은 고정되어 있으므로,
∂n z =− h
(바닥면의 속도) = 0 만약, 바닥이 수심 z=-h에서

→ (우변) : 평평하다고 가정하면
∂Φ (Horizontal bottom)
(바닥면 유체의 속도)= V • n =
∂n z =− h ∂Φ
=0
Hydrodynamics
∂z z =− h Seoul
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Bernoulli Equation
Dynamic Free Surface B.C. Kinematic Free Surface B.C. ∂Φ P 1
+ + ∇Φ + g z = F (t )
2
z ∂t ρ 2
z = η ( x, t )
x
Lateral B.C.
w Lateral B.C.
h
u Bottom B.C.
③ Dynamic Free Surface B.C. (DFSBC) : 경계면에서 유체의 압력은 대기압과 같아야 함
Wave가 생성되기 전 상태를 고려하면, V = ∇Φ = 0, P = Patm (on z = 0) 이므로, Patm / ρ = F (t )

Wave가 생성되었을 때, Bernoulli Equation에 의해 표면에서 유체의 압력은,
∂Φ PSurface 1 Patm
+ + ∇Φ
= + gη = (on z η )
2
∂t ρ 2 ρ
한편, 경계면에서 표면의 압력은 대기압과 같으므로,
(PSurface = Patm (on z = η ) ) ∂Φ 1
+ ∇ Φ + gη = 0
2
∂Φ Patm 1 Patm ∂t 2
+ + ∇Φ + η =
2
g
ρ 2 ρ =η)
Hydrodynamics
∂t (at zSDAL
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Bernoulli Equation
∂Φ P 1
+ + ∇Φ + g z = F (t )
2
*η : z방향 변위 ∂t ρ 2
z z = η ( x, t )
 Dynamic Free Surface Boundary condition의 의미
x
(F.S.B.C.)
w  즉, Dynamic F.S.B.C.은
h
u ‘자유’ 표면을 만드는 조건
(압력이 동일하도록 자유 표면의 모양이 변함)
수면 위 압력은
수면 위 압력은 대기압으로
Pair 대기압 Pair 항상 동일함2)
Pair
유동
발생
z=0
Pfluid Pfluid (P air = Pfluid )

Pfluid 유동이 없는
Bernoulli equation에 의해
상태 압력의 차이만큼
유체의 유동이 생기면
수면의 높낮이(z)가 바뀜
(P = Pfluid ) 속도에 따라 압력이 달라짐
즉, 경계면이 ‘자유’롭게 변형됨
Hydrodynamics
air
(P air ≠ Pfluid )
2) 실제로는 수면의 높이차이에 의해 대기압도 변하지만, 그 차이가 작다고 보고, 수면에서 대기압은 모두 동일한 것으로 가정함
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z L
z = η ( x, t )
x
Lateral B.C.
w Lateral B.C.
h
u Bottom B.C.
④ Lateral B.C. (DFSBC)

: 주기가 일정하다는 조건에 의해 Periodic lateral B.C를 적용한다.
파의 주기(wave period)를 T, 파장(wave length)을 L 이라고 하면, 다음이 성립한다.
Φ ( x, z , t ) = Φ ( x, z , t + T )
Φ ( x , z , t ) = Φ ( x + L, z , t )
Hydrodynamics
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z L
z = η ( x, t )
x
Lateral B.C.
w Lateral B.C.
h
u Bottom B.C.
<Summary of the 2-D periodic water wave boundary condition>

① Kinematic Free Surface B.C.(KFSBC) ③ Dynamic Free Surface B.C. (DFSBC)
∂Φ ∂η ∂η ∂Φ 1
− −u = + ∇Φ + gη = 0 (on z = η )
2
0 (on z = η )
∂z ∂t ∂x ∂t 2
② Bottom B.C. (BBC) ④ Lateral B.C.
∂Φ Φ ( x, z , t ) = Φ ( x, z , t + T )
=0
∂z
Hydrodynamics z =− h Φ ( x , z , t ) = Φ ( x + L, z , t )
1) Dean, R.G. , Water wave mechanics for engineers and scientists, Prentice-Hall,Inc, 1984, pp.41-77
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Incident Wave Velocity Potential1)
: Linearization(선형화) of boundary condition z η << 1 w << 1
u << 1 x
∂Φ ∂η ∂η
= +u (on z = η )
∂η
∂z ∂t ∂x dη 기울기 : << 1
∂x
dx
우변을 Tayler series로 전개하면, (High Order Term)
 ∂η ∂η   ∂η ∂η  ∂  ∂η ∂η   ∂η 
 + u  =
 + u  + η  + u  + H .O.T =  
 ∂t
= ∂x  z η=
 ∂t ∂x  z 0 ∂z  ∂t
= ∂x  z 0  ∂t  z =0
여기서 파장에 비해 파고가 작다고 가정했으므로, η << 1, u << 1, w << 1

(For infinitesimally small waves, eta is small, and therefore it is assumed that velocities and pressures are small) 1)
∂Φ ∂Φ
u z =0 = << 1 , w z =0 = << 1
∂x z =0 ∂z z =0
작은 항이 두 개 이상 곱해진 경우를 무시하면,

∂Φ ∂η
= (at z = 0) => Linearized Kinematic Free Surface B.C.(KFSBC)
∂z ∂t
Hydrodynamics
2) kundu,P.K., Fluid Mechanics, Academic Press, 2008, pp.219-223
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Incident Wave Velocity Potential1) z η << 1 w << 1
: Linearization(선형화) of boundary condition u << 1 x
③ Dynamic Free Surface B.C. (DFSBC)

∂Φ 1
+ ∇Φ + gη = 0 (on z = η )
2
dη 기울기 :
∂η
∂t 2 << 1
∂x
dx
(High Order Term)

Tayler series로 전개하면,
 ∂Φ 1   ∂Φ 1  ∂  ∂Φ 1 
η η + η + ∇Φ + gη  + H .O.T = 0
2
= + ∇ Φ
2
+
2
 + ∇ Φ + g   g  
 ∂t 2  z =η  ∂t 2  z =0 ∂z  ∂t 2  z =0
여기서 파장에 비해 파고가 작다고 가정했으므로, η << 1, u << 1, w << 1

(For infinitesimally small waves, eta is small, and therefore it is assumed that velocities and pressures are small)1)
∂Φ ∂Φ
u z =0 = << 1 , w z =0 = << 1
∂x z =0 ∂z z =0
작은 항이 두 개 이상 곱해진 경우를 무시하면,

 ∂Φ  1 ∂Φ
 + gη  = 0 η =− (on z = 0)
 ∂t  z =0 g ∂t
=> Linearized Dynamic Free Surface B.C.(DFSBC)
Hydrodynamics
2) kundu,P.K., Fluid Mechanics, Academic Press, 2008, pp.219-223
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z L
z = η ( x, t )
x
Lateral B.C.
w Lateral B.C.
h
u Bottom B.C.
<Summary of the 2-D periodic water wave boundary condition>

① Kinematic Free Surface B.C.(KFSBC) ③ Dynamic Free Surface B.C. (DFSBC)
∂Φ ∂η 1 ∂Φ
= (on z = 0) η =− (on z = 0)
∂z ∂t g ∂t
② Bottom B.C. (BBC) ④ Lateral B.C.
∂Φ Φ ( x, z , t ) = Φ ( x, z , t + T )
=0
∂z
Hydrodynamics z =− h Φ ( x , z , t ) = Φ ( x + L, z , t )
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z L
z = η ( x, t )
x
Lateral B.C.
w Lateral B.C.
h
u Bottom B.C.

∂Φ ∂η ∂Φ 1 ∂ 2Φ
= (on z = 0) =−
∂z ∂t ∂z g ∂t 2
③ Dynamic Free Surface B.C. (DFSBC)
1 ∂Φ t로 미분 ∂η 1∂ Φ 2 ∂ 2Φ ∂Φ
η =− =− + g = 0 (on z = 0)
g ∂t ∂t g ∂t 2 ∂t 2
∂z
(on z = 0) (Φ tt + gΦ z = 0)
Hydrodynamics => Linearized Free Surface B.C.
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Boundary condition(B.C.)
Linearized Free Surface B.C.
Φ tt + gΦ z = 0 (on z = 0)
1 ∂Φ ∂Φ ∂η
(on z = 0) η = − = (on z = 0)
g ∂t ∂z ∂t
z L
z = η ( x, t )
x
Lateral B.C.
w Lateral B.C.
Bottom B.C. h
u Φ ( x, z , t ) = Φ ( x, z , t + T )
∂Φ
=0 Φ ( x , z , t ) = Φ ( x + L, z , t )
∂z (on z = −h)
Hydrodynamics
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 Φ = Φ ( x, z , t ) 에서 시간에 대한 주기 함수로
Φ tt + gΦ z = 0 (on z = 0) 가정하고, 시간 항을 분리하면,

z L
z = η ( x, t )
x
{
Φ = Re φ ( x, z ) eiωt }
( φ ( x, z ) : Complex amplitude of the velocity potential)
Lateral B.C.
w Lateral B.C.
Bottom B.C. h
u Φ ( x, z , t ) = Φ ( x, z , t + T )
∂Φ
=0 위 Velocity potential을 지배 방정식과
∂z (on z = − h) Φ ( x , z , t ) = Φ ( x + L, z , t )
경계 조건에 대입하면,
① 지배 방정식 ③ Bottom B.C.

( )
∇ 2 Φ = ∇ 2 φ ( x, z ) e iωt = e iωt ∇ 2φ ( x, z ) = 0 ( ) ∂Φ
= e i ωt
∂φ
=0 ∴
∂φ
= 0 (on z = −h)
 ∂ 2φ ∂ 2φ  ∂z ∂z ∂z
∇ φ = 0 ,  2 + 2 = 0 
2
 ∂x ∂z  ④ Lateral B.C.
② Linearized Free Surface B.C. Φ ( x , z , t ) = Φ ( x + L, z , t )

(
Φ tt + gΦ z = − ω 2φ eiωt + gφ z eiωt = 0 ) iωt
i ωt φ ( x, z , t )e= φ ( x + L, z , t )eiωt
e 로 나누면,
∴ − ω 2
φ + gφ z = 0 (on z = 0)
Hydrodynamics
φ ( x, z ) = φ ( x + L, z ) SDAL
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Φ tt + gΦ z = 0 (on z = 0)
z L
η (x, t )
x
Lateral B.C.
w Lateral B.C.
Bottom B.C. h
u ∂Φ Φ ( x, z , t ) = Φ ( x, z , t + T )
=0 Φ ( x , z , t ) = Φ ( x + L, z , t )
∂z (on z = − h)
Boundary condition(B.C.) * η : z방향 변위

− ω 2φ + gφ z = 0 (on z = 0)
z L
z = η ( x, t )
x
Lateral B.C.
w Lateral B.C.
Bottom B.C. h
u ∂φ φ ( x , z ) = φ ( x + L, z )
= 0 (on z = −h)
∂z
Hydrodynamics
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: Analytic solution 계산결과로 이동
공학 수학 Chapter 12.51) ② Boundary condition : ( Dirichlet B.C.1) )

(2-D Heat equation of y u ( x, b ) = f ( x )
Steady state ) b
① Governing Equation : u (0, y ) = 0 u ( a, y ) = 0
R
∂ 2
u ∂ 2
u
∇ 2u = 2 + 2 = 0 u ( x,0) = 0 a x
∂x ∂y
동일한 방정식을 푸는데 각각 다른 경계 조건이 적용됨
3학년 해양파 역학 ② Boundary condition(B.C.) : ( Robin B.C.1) )

(Wave Equation) Linearized Free Surface B.C.
− ω 2φ + gφ z = 0 (on z = 0)
① Governing Equation :
z L
∇ φ =0
2 z = η ( x, t )
x
 ∂ 2φ ∂ 2φ  Lateral B.C.
w
 2 + 2 = 0  h
Lateral B.C.
 ∂x ∂y Bottom B.C.
 u ∂φ φ ( x , z ) = φ ( x + L, z )
= 0 (on z = −h)
Hydrodynamics
∂z
2) Erwin Kreyszig, Advanced Engineering Mathematics 9th ,Wiley,2005,Ch12.5(p552~562)
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Incident Wave Velocity Potential1) Boundary condition(B.C.)
: Analytic solution − ω 2φ + gφ z = 0 (on z = 0)
z L
η (x, t )
x
Lateral B.C.
w Lateral B.C.
① Velocity potential φ h
Bottom B.C.
는 x, z 의 함수 이므로, u ∂φ φ ( x , z ) = φ ( x + L, z )
변수 분리법(separation of variables)에 의해 =0
∂z (on z = − h)
φ = F ( x) ⋅ G ( z ) 로 둘 수 있다.
Laplace Equation
∇ 2φ = 0 : Governing Equation
② Laplace Equation에 대입하면,
∂ 2φ ∂ 2φ ∂ 2 F ∂ 2G
∇ φ = 2 + 2 = 2 G + F 2 = Fxx G + FGzz = 0
2
∂x ∂z ∂x ∂z
FG 로 나눔 Gzz F Gzz F Fxx + pF = 0
∴ Fxx G + FGzz = 0 + xx = 0 = − xx = p
G F G F Gzz − pG = 0
(∵ x와 z만의 함수가 같은 것은 상수뿐)
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Linearized Free Surface B.C. z = η ( x, t )
z L
z = η ( x, t )
Lateral B.C. x
③ p 의 부호에 따른 방정식의 해를 계산해 보면, w Lateral B.C.
Bottom B.C. h
u φ ( x , z ) = φ ( x + L, z )
Fxx + pF = 0 ∂φ
=0
(on z = − h)
∂z
Gzz − pG = 0
(i) p < 0 일 때, p = −ν 2이라 하면,

Fxx −ν 2 F = 0 F = Aeνx + Be −νx
Lateral B.C.에 의해 x에 대한 주기함수여야 하는데 exponential 함수는 주기함수가 아님.
따라서 해가 될 수 없음.
(ii) p = 0 일 때,
Fxx = 0 F = Ax + B
F ( x) = Ax + B = F ( x + L) = A( x + L) + B
∴ F ( x) = B
wave는 x에 따라서 주기적으로 ‘변’하는 데, 이를 만족하지 않음.
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z L
z = η ( x, t )
Lateral B.C. x
Fxx + pF = 0 w
Bottom B.C. h Lateral B.C.
u ∂φ φ ( x , z ) = φ ( x + L, z )
Gzz − pG = 0 ∂z
=0
(on z = − h)
(iii) p > 0 일 때, p = k 2 이라 하면,
Fxx + k 2 F = 0 ( x) Aeikx + Be − ikx

F=
(Euler 공식에 의해 e ikx = cos kx + i sin kx 이므로,
x에 대한 주기 함수의 성질을 가짐 -> Lateral B.C. 만족)
한편, Gzz − pG = 0 에서
Gzz − k 2G = 0 G ( z ) = Ce kz + De − kz
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z L
z = η ( x, t )
Lateral B.C. x
w Lateral B.C.
Bottom B.C. h
u
F = Aeikx + Be − ikx ∂φ
=0
(on z = − h)
φ ( x , z ) = φ ( x + L, z )
∂z
기저 변환
F ( x) = A′ cos kx + B′ sin kx = F ( x + L) = A′ cos(kx + kL) + B′ sin( kx + kL)

2nπ
∴ kL = (n = 1, 2,)
2nπ
∴=
k = kn
L
∴ Fn ( x) = An eikn x + Bn e − ikn x
− kn z
G=
n ( z ) C n e kn z
+ Dn e
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z L
η (x, t )
x
Lateral B.C.
④ Bottom B.C. 적용 w Lateral B.C.
Bottom B.C. h
∂φn ∂Gn
( )
− kn z
u ∂φ φ ( x , z ) = φ ( x + L, z )
= F= F C k e kn z
− D k e ∂z
=0
(on z = − h )
∂z ∂z
n n n n n n
∂φn  φn (=x, z ) Fn ( x) ⋅ Gn ( z ) 
∂z z = − h
(
= Fn Cn kn e − kn h − Dn kn e kn h= 0 )  − ikn x 
=  Fn An e + Bn e
ikn x

Fn 나눔 Cn kn e − k h − Dn kn e k h = Cn = Dn e 2 k h =  G C e kn z + D e − kn z 
0  n 
n n n
n n
(
Gn ( z ) =Cn e kn z + Dn e − kn z =Dn e 2 kn h e kn z + Dn e − kn z =Dn e 2 kn h e kn z + e − kn z )
(
= Dn e kn h e kn z + kn h + e − kn z −=
kn h
) (
Dn e kn h e kn ( z + h ) + e − kn ( z + h ) )
 e kn ( z + h ) + e − kn ( z + h ) 
= 2 Dn e  kn h

 2 
2 Dn e kn h cosh kn ( z + h)
( )
∴ φn ( x, z ) = An eikn x + Bn e − ikn x 2 Dn e kn h cosh kn ( z + h)
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z L
η (x, t )
x
Lateral B.C.
( Aneik x + Bne−ik x ) 2Dek h cosh kn ( z + h)

φn ( x, z ) = n n n w
u
Bottom B.C.
∂φ
h Lateral B.C.
φ ( x , z ) = φ ( x + L, z )
=0
∂z (on z = − h)
Progressive wave인 경우 (방향 +x)
 φn (=
x, z ) Fn ( x) ⋅ Gn ( z ) 
z  − ikn x 
After Δt = n
F A n e ikn x
+ Bn e 
t = t1 t = t2 i ( kn x −ωt )  G 
Aei ( kn x +ωt ) =
Be  n 2 Dn e cosh kn ( z + h) 
k n h
x
x
파의 진행방향
Φ n = φn ⋅ eiωt
∴ An =
0
(
= An e i ( k n x +ω t )
+ Bn e − i ( kn x −ωt )
) ⋅ G ( z)
n
∴φn ( x, z )= 2 Bn Dn ⋅ e − ikn x ⋅ e kn h cosh kn ( z + h)
sin(kn x + ωt ) sin(kn x − ωt )
  ωt     ωt  
sin kn  x + =  sin kn  x −  
  kn     kn  
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z L
η (x, t )
⑤ Linearized Free Surface B.C. 적용 x
Lateral B.C.
w
∂φ
Lateral B.C.
Bottom B.C. h
−ω 2φn + g n = 0 u ∂φ
=0
φ ( x , z ) = φ ( x + L, z )
∂z ∂z (on z = − h)
φn = Fn ( x)Gn ( z ) 대입
 φn (=
x, z ) Fn ( x) ⋅ Gn ( z ) 
dGn  − ikn x 
−ωn2 Fn Gn + gFn =
0  n
F = B n e 
dz = G 2 D e kn h cosh k ( z + h) 
Fn 로 양변을 나눠줌  n n n 
dGn
Gn , 대입
dG dz cosh kn ( z + h) sinh kn ( z + h)
−ω Gn + g n =
2
0 −ωn2 + gkn =
0
dz cosh kn h cosh kn h
= Gn ( z ) 2 Dn e kh cosh k ( z + h) 
  z = 0 대입
= n 2kD e sinh k ( z + h) 
dG kh
 
 dz 
n
sinh kn h
=ωn2 gk
= n gkn tanh kn h
cosh kn h
∴ωn2 =
gkn tanh kn h
Hydrodynamics
=> dispersion relationSDAL
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Incident Wave Velocity Potential1) h→∞
: Reference, Dispersion Relation의 의미 e kh − e − kh e kh
lim(sinh kh ) = lim =
h →∞ h →∞ 2 2
e kh + e − kh e kh
lim(cosh kh ) = lim =
h →∞ h →∞ 2 2
 Deep sea 일 때, ( h→∞) sinh kh e kh / 2
lim(tanh kh ) = lim = kh =1
h →∞ h →∞ cosh kh e /2
ωn2 gkn tanh kn h ≈ gkn
 2π   2π n  L :파장
ω
 n =   n
k =  T :주기
 T   L 
 2π  2π
2
  =g
 T  L
2π g
2
= => 파장(길이)과 주기(시간)와의 관계식
T L 즉, 장파일수록 주기가 길고, 단파일수록 주기가 짧아짐을 알 수 있다.
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: Wave Amplitude
Linearized Free Surface B.C. Dynamic Free Surface B.C.
− ω 2φ + gφ z = 0 (on z = 0) 1 ∂Φ
η =−
g ∂t (on z = 0)
 Dynamic Free Surface B.C. 적용 z L
η (x, t )
x
Dynamic Free Surface B.C. : Lateral B.C.
( on z = 0 )
( )
iωn t
w Lateral B.C.
1 ∂ φn ( x, z )e iω
Bottom B.C. h
1 ∂Φ n u
ηn =
− =
− − n φn eiωnt
= ∂φ
=0
φ ( x , z ) = φ ( x + L, z )
g ∂t g ∂t g ∂z (on z = − h)
iωn
=− ⋅ 2 Bn Dn e − ikn x ⋅ e kn h cosh kn ( z + h) ⋅ eiωnt φn ( x, z )= 2 Bn Dn ⋅ e −ik x ⋅ e k h cosh kn ( z + h)
n n
g
 Wave amplitude
z=0 ω
일 때 이므로, ηˆn =
− n ⋅ 2 Bn Dn e k h ⋅ cosh kn h n
g
iω g 1
− n ⋅ 2 Bn Dn e − ik x ⋅ e k h cosh kn h ⋅ eiω t
ηn = n n n
2 Bn Dn e kn h =− ⋅ηˆn ⋅
g ωn cosh kn h
 ω  − i ( kn x −ωn t )
=i− n  ⋅ 2 Bn D n e ⋅ cosh kn h ⋅ e
kn h
 g  g cosh kn ( z + h)
∴φn =− ⋅ηˆn ⋅ e − ikn x ⋅
ωn cosh kn h
= iηˆn e − i ( kn x −ωnt )
 g cosh kn ( z + h)  iωnt
Φ n = − ⋅ηˆn ⋅ e − ikn x ⋅ e
Amplitude ω
 n cosh k n h 
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Incident Wave Velocity Potential1) Boundary condition(B.C.) *η : z방향 변위
: Summary Linearized Free Surface B.C.
− ω 2φ + gφ z = 0 (on z = 0)
<Summary of the wave equation> z L

η (x, t )
x
Lateral B.C.
Irregular wave의 경우, w Lateral B.C.
Bottom B.C. h
∞ u ∂φ φ ( x , z ) = φ ( x + L, z )
∑ Φ I , n ( x, z , t )
=0
Φ I ( x, z , t ) = ∂z (on z = − h)
n =1
(regular wave를 합성하여 irregular wave 만들 수 있음.)
 φI ,n eiωnt
Φ I , n ( x, z , t ) =
g cosh kn ( z + h)
φ
 I ,n ( x , z ) =− ⋅ ηˆ ⋅ e − ik x
⋅ n
ω n
cosh kn h
Regular wave의 경우,
φI eiωt
Φ I ( x, z , t ) =
g cosh k ( z + h)
φI ( x, z ) =− ⋅ηˆ ⋅ e − ikx
⋅
ω cosh kh
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: Summary Boundary condition(B.C.)
− ω 2φ + gφ z = 0 (on z = 0)
<Summary of the wave equation> z L
η (x, t )
x
Lateral B.C.
Regular wave의 경우, w Lateral B.C.
Bottom B.C. h
iωt
u ∂φ φ ( x , z ) = φ ( x + L, z )
φI e
Φ I ( x, z , t ) = ∂z
=0
(on z = − h)
g cosh k ( z + h)
φI ( x, z ) =− ⋅ηˆ ⋅ e − ikx ⋅
ω cosh kh
 cosh k ( z + h) 
If Deep water, (h → ∞)  lim 
h →∞ cosh kh
cosh k ( z + h)  
=e kz
 ek ( z + h) − e− k ( z + h) ek ( z + h) 
cosh kh =  lim = −
=
lim e kz 
 h →∞ e −e
kh kh h →∞ e kh

g
φI ( x, z ) = − ηˆe −ikx e kz
ω
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Incident Wave Velocity Potential1) Boundary condition(B.C.) *η : z방향 변위
: Summary, ϕI 계산과정 Linearized Free Surface B.C.
− ω 2φ + gφ z = 0 (on z = 0)
z L
η (x, t )
x
Lateral B.C.
w Lateral B.C.
Bottom B.C. h
u ∂φ φ ( x , z ) = φ ( x + L, z )
=0
∂z (on z = − h)
(해양파를 Regular wave로 가정)
Step1.
해상에서 파의 파고 및 주파수 계측
⇒ η0 , ω
Step2.
Dispersion Relation으로 부터 Wave number 계산
dispersion relation : ω 2 = gk tanh kh
Step3. g
φI ( x, z ) = − η 0 e −ikx e − kz
Velocity Potential식에 대입 ω
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Problem of
Infinitely Long Horizontal Circular Cylinder

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Problem of
< Analytic Solution >

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원형단면을 가진 무한히 긴 Cylinder의 무한 수심속 운동 (analytic solution)
- Problem description
- 원형단면을 가진 무한히 긴 Cylinder의 무한 수심속 운동 문제를 고찰하여 보자.(2차원 문제)
z
 π  π
φ = 0 θ = −  ξ3 φ = 0 θ = 
 2  2
R
y
θ r
(r = R )
∂φ
= − cos θξ 3Aω ∂φ
∂r
w
θ ∂r
θ =0
φ =0
(r → ∞ )
 π
θ θ * − 
=
 2
 π π
Governing equation r 2φ3rr + rφ3r + φ3θθ =
0 , ( y, z ) = (r co θs, r sin θ ),  r = R, − 2 ≤ θ ≤ 2 
 
,(Laplace Equation in Polar Coordinate)
A iωt
- Motion of the ship : ξ3 (t ) = ξ3 e
 Boundary Condition : Wave가 없음
① Free surface condition φ3 = 0, θ = − ,θ = 
 π π
 2 2
φ3 0, ( r → ∞ )
= , (물체로 부터 무한히 먼 곳에서 파가 발생하지 않음)
④ Body boundary condition :

∂φ3
Hydrodynamics − cos θ iω , ( r =
= R)
∂r
1) Faltinsen, O.M. , Sea loads on ships and offshore structures, Cambridge Univ. Press, 1998, Ch3 (pp 50~55)
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- Boundary Condition
 경계 조건 π

θ θ * − 
=
 2 z
 π  π
φ3 = 0, θ = −  φ3 = 0, θ = 
 2 ξ 3 = ξ 3Aeiωt  2
R
y
r
θ
(r = R )
∂φ3
w
θ ∂r
θ =0  ∂φ3 
= − cos θiω 

 ∂r 
φ3 = 0
,(r → ∞)
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- Boundary Condition = V (=
u , v, w ) , n (n1 , n2 , n3 )
=
Vn V=
n ( u, v, w ) ⋅ (n1 , n2 , n3 )
 물체 표면 경계 조건 = u n1 + v n2 + w n3
z  π
θ θ * − 
=
 2
- 물체 표면의 normal 속도는 그 점에서 유체입자의 표
면에 normal한 속도와 동일함 ∂Φ 3
= Vn
ξ 3 = ξ 3Aeiωt
(Body Boundary Condition) ∂n
R iωt ∂Φ 3 ∂φ
LHS : Φ 3 =ξ3 φ3e = ξ3A 3 eiωt
A
y ∂n ∂n
θ r
RHS : normal방향 속도 성분
∂ξ3
∂Φ w=
θ ∂t
w ∂n
θ =0
= ξ3A iω eiωt
면에 Normal한 속도 성분
n = [sin θ ,− cos θ ]
n2 Vn = ( 0, w ) ( n2 , n3 ) , ( w =
w n =⋅ ( 0, w ) )
θ
= [n2 , n3 ] n3
n = ξ3Aiω eiωt n3
( y, z ) = (r co θs, r sin θ ), LHS = RHS

 π π ∂φ3 iωt
 r = R,− ≤ θ ≤  ξ3A e = ξ3Aiω eiωt n3
 2 2 ∂n
Hydrodynamics ∂φ3
∴ iω n3 =
= − cos θ iω Seoul
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 π
- Finding analytic solution of Velocity Potential=θ θ * − 
 2
z
 π  π
φ3 = 0 θ = −  A i ωt
φ3 = 0 θ = 
 2 ξ3 = ξ e
3  2
Step1. Separation of Variable (assumption) R
y
φ (r ,θ ) = F (r )G (θ ) θ r (r = R )
0, Gθθ (θ ) − k G (θ ) =
Frr (r ) − kF (r ) = ∂φ3
2
Step2. Separate into two O.D.E’s 0 θ ∂r
Step2.1. Solve G (θ ) (Satisfying Boundary Conditions) Eigenvalues
θ =0
w
 ∂φ3 
Eigenfunctions  = − cos θiω 
 ∂r 
Step2.2. Solve F (r ) (with same Eigenvalues)
φ3 = 0
Step2.3. Assemble φ (r ,θ ) = F (r )G (θ ) (r → ∞ )
Step3. Find Coefficients (Applying Initial Conditions)
 Governing Equation r 2φ3 rr + rφ3 r + φ3θθ = 0

r 2φ3rr + rφ3r + φ3θθ =
0 φ3 (r ,θ ) = F (r )G (θ )라 하면,
,(Laplace Equation in Polar Coordinate)
1 ∂  ∂φ  1 ∂ φ 2 r 2 Frr G + rFr G + FGθθ = 0

+ 3
= 3
r ∂r  ∂r  r ∂θ
r 0 2 2
r 2 Frr + rFr G
= − θθ = k 2
F G
1 ∂φ3 ∂ 2φ3 1 ∂ 2φ3
+ 2 + 2 =0
r ∂r ∂r r ∂θ 2
r 2 Frr + rFr − k 2 F = 0, Gθθ + k 2G = 0
∂ 2φ3 ∂φ3 ∂ 2φ3 (Euler-Cauchy Equation1)), (Undamped System2))
r 2
+ + =0
∂r 2
∂r ∂θ 2
Hydrodynamics
@
1,2) Erwin Kreyszig, Advanced Engineering
Seoul Mathematics,
SDAL Wiley, 2005, 111
National
1) Ch. 2.5, p69-73, 2) Ch.2.4, p61~64 Advanced Ship Design Automation Lab. /203
 π
 2
z
 π  π
φ3 = 0 θ = −  A i ωt
φ3 = 0 θ = 
 2 ξ3 = ξ e 3  2
y
φ (r ,θ ) = F (r )G (θ ) θ r (r = R )
0, Gθθ (θ ) − k G (θ ) =
Frr (r ) − kF (r ) = ∂φ3
2
θ =0
w
 ∂φ3 
 ∂r 
φ3 = 0
, θ ) F ( r ) ⋅ Q (θ )
φ3 (r=
Gθθ + k G = 0 (Undamped
2 System2)) 2) k2 = -p2 <0
F ( r ) ⋅ Q (π / 2 ) =
φ3 (r , π / 2 )= 0
three cases according to k Gθθ − p G =
0 2
φ3 (r , −π / 2=) F ( r ) ⋅ Q ( −π / 2 )= 0
1) k2 = 0 (θ ) c3 e px + c4 e− px
G= p
π
−p
π
if (e 2
−e 2
)=
0
Gθθ = 0 Boundary Condition p
π
−p
π
π π e −e 2 =
2
0
G (θ=
) c1θ + c2 π  p −p pπ
G   =c3 e 2 + c4 e 2 =0 e =1
Boundary Condition 2 p = 0, Gθθ = 0
π π
π  π  π −p p <Trivial Solution>
G  = c1 + c2 = 0 G− =  c3 e
2
+ c4 e =2
0 if c3+c4=0, then c3=-c4
2 2  2  p
π
−p
π
π π
c= c= 0 −p c3 (e 2
− eπ 2
)=
0
( c3 + c4 ) (e
p
π
 π π 1 2 2
−e 2
)=
0 p −p
G−  =−c1 + c2 =
0 c3 = 0, ( e 2 − e 2 ≠ 0)
 2 2
c4 = 0
∴ G (θ ) =
Hydrodynamics 0 1,2) Erwin Kreyszig, Advanced Engineering
G (θ ) = 0
@SDAL<Trivial Solution>
Mathematics, Wiley, 2005, Seoul 112
<Trivial Solution> 1) Ch. 2.5, p69-73, 2) Ch.2.4, p61~64 National
Univ.
/203
 π
 2
z
 π  π
φ3 = 0 θ = −  A i ωt
φ3 = 0 θ = 
 2 ξ3 = ξ e
3  2
y
φ (r ,θ ) = F (r )G (θ ) θ r (r = R )
0, Gθθ (θ ) − k G (θ ) =
Frr (r ) − kF (r ) = ∂φ3
2
θ =0
w
 ∂φ3 
 ∂r 
φ3 = 0
, θ ) F ( r ) ⋅ Q (θ )
φ3 (r=
Gθθ + k G = 0 (Undamped
2 System2))
F ( r ) ⋅ Q (π / 2 ) =
φ3 (r , π / 2 )= 0
three cases according to k φ3 (r , −π / 2=) F ( r ) ⋅ Q ( −π / 2 )= 0
3) k2 = p2 > 0
r 2 Frr + rFr − k 2 F = 0,
G (θ ) C cos kx + D sin kx
=
(Euler-Cauchy Equation1))
Boundary Condition
π π π Case ① F ( r ) = r m 이 해가 되려면
=
G ( ) C cos k + D sin k
2 2 2 knπ
( k n 2, 4, 6...) am 2 + ( b − a ) m + c =0
π π π =C 0 and D sin= 0,=
G (=
− ) C cos k − D sin k 2
2 2 2 m2 − k 2 =
0
Case ② m = ±k
knπ
= =
D 0 and C cos
2
( k n 1,3,5...)
0,= ( r ) Ar k + Br − k
F=
Hydrodynamics
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Seoul SDAL Wiley, 2005, 113
1) Ch. 2.5, p69-73, 2) Ch.2.4, p61~64 National Advanced Ship Design Automation Lab. /203
 π
 2
z
 π  π
φ3 = 0 θ = −  A i ωt
φ3 = 0 θ = 
 2 ξ3 = ξ e
3  2
y
φ (r ,θ ) = F (r )G (θ ) θ r (r = R )
0, Gθθ (θ ) − k G (θ ) =
Frr (r ) − kF (r ) = ∂φ3
2
θ =0
w
 ∂φ3 
 ∂r 
φ3 = 0
r 2 Frr + rFr − k 2 F = 0, Gθθ + k 2G = 0

(Euler-Cauchy Equation1)) (Undamped System2))
F=
n (r ) , Gn (θ ) C cos knθ + D sin knθ
An r kn + Bn r − kn =
φ3 (r ,θ ) =( Ar k + Br − k ) ⋅ ( C cos knθ + D sin knθ )

n n
Hydrodynamics
@
1,2) Erwin Kreyszig, Advanced Engineering
Seoul Mathematics,
SDAL Wiley, 2005, 114
National
1) Ch. 2.5, p69-73, 2) Ch.2.4, p61~64 Advanced Ship Design Automation Lab. /203
 π
 2
z
 π  π
φ3 = 0 θ = −  A i ωt
φ3 = 0 θ = 
 2 ξ3 = ξ e
3  2
y
φ (r ,θ ) = F (r )G (θ ) θ r (r = R )
0, Gθθ (θ ) − k G (θ ) =
Frr (r ) − kF (r ) = ∂φ3
2
θ =0
w
 ∂φ3 
 ∂r 
φ3 = 0

φ3 (r ,θ ) =( Ar + Br − kn
) ⋅ ( C cos k θ + D sin k θ )
n n
kn
n n
F=
n (r ) An r kn + Bn r − kn
r→∞ 일때 φ = 0 이 되려면, A=0이어야 한다. Gn (θ ) Cn cos knθ + Dn sin knθ
=
φ3
∴= ( Br ) ⋅ ( C cos k θ + D sin k θ )
− kn
n n
물체 표면의 경계 조건을 대입하면,

∂φ3
= −iω cos θ , ( r = R )
∂r
∂φ3
∂r r = R
= ( )
− Bkn R − kn −1 ⋅ ( C cos knθ + D sin knθ ) =
−iω cos θ
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 π
 2
z
 π  π
φ3 = 0 θ = −  A i ωt
φ3 = 0 θ = 
 2 ξ3 = ξ e
3  2
y
φ (r ,θ ) = F (r )G (θ ) θ r (r = R )
0, Gθθ (θ ) − k G (θ ) =
Frr (r ) − kF (r ) = ∂φ3
2
θ =0
w
 ∂φ3 
 ∂r 
φ3 = 0
Case 1: φ3 (r ,θ ) =( Ar k + Br − k ) ⋅ ( C cos knθ + D sin knθ )

n n
π  F=
C = 0 and D sin  kn  = 0, kn = 2, 4 Gn (θ ) Cn cos knθ + Dn sin knθ
=
2 
Gn (θ ) = Dn sin knθ
Let us try to find such a combination which does satisfy the initial/boundary condition.
In order to allow all possible n’s we write an infinite series.
∞
φ = ∑ d n r − k sin knθ , ( d n =⋅
n 2, 4 )
Dn Bn , kn =
n =1
∂φ ∞
Hydrodynamics
∂r
∑ dn (−kn ) R − kn −1 sin knθ =
=
n =1
−iω cos θ
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- Finding analytic solution of Velocity Potential
Step1. Separation of Variable (assumption)
φ (r ,θ ) = F (r )G (θ )
0, Gθθ (θ ) − k G (θ ) =
Frr (r ) − kF (r ) =
2
Step2. Separate into two O.D.E’s 0
Eigenfunctions
Step2.3. Assemble φ (r ,θ ) = F (r )G (θ )
Case 2: φ3 (r ,θ ) =( Ar k + Br − k ) ⋅ ( C cos knθ + D sin knθ )

n n
π  F= An r kn + Bn r − kn
D = 0 and C cos  kn  = 0, kn = 1,3 n (r )
Gn (θ ) Cn cos knθ + Dn sin knθ
=
2 
Gn (θ ) = Cn cos ( knθ )
Let us try to find such a combination which does satisfy the initial/boundary condition.
In order to allow all possible n’s we write an infinite series.
∞
φ = ∑ cn r − k cos knθ , ( cn =⋅
n
1,3)
Cn Bn , kn =
n =1
∂φ ∞
Hydrodynamics
∂r
∑n n
=c ( − k ) R − kn −1
cos knθ =
−iω cos θ
r =R n =1 Seoul
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 π
 2
z
 π  π
φ3 = 0 θ = −  A i ωt
φ3 = 0 θ = 
 2 ξ3 = ξ e  2
3
φ (r ,θ ) = F (r )G (θ ) θ r
y
(r = R )
0, Gθθ (θ ) − k G (θ ) =
Frr (r ) − kF (r ) =
2
Step2. Separate into two O.D.E’s 0 ∂φ3
θ
Step2.1. Solve G (θ ) (Satisfying Boundary Conditions) Eigenvalues w ∂r
Eigenfunctions θ =0  ∂φ3


= − cos θiω 
Step2.2. Solve F (r ) (with same Eigenvalues)  ∂r 
φ3 = 0

∞
Case 2:
φ = ∑ cn r
n n
− kn
cos knθ ,
n =1 F=
∂φ ∞ Gn (θ ) Cn cos knθ + Dn sin knθ
=
∂r
∑ cn (−kn ) R − kn −1 cos knθ =
=
n =1
−iω cos θ
r =R
∞
∑n n
c ( − k ) R − kn −1
cos k nθ = c1 ( − k1 ) R − k1 −1
cos k1θ + c2 ( − k 2 ) R − k2 −1
cos k2θ +  ( k1 = 1)
n =1
= −iω cos θ
−c1 R −2 cos θ = −iω cos θ c1 = iω R 2
∞
φ (r ,θ ) = ∑ cn r − k cos knθ
n , (k=1일때만 만족함)
n =1
ω R2
Hydrodynamics
∴ φ (r ,θ ) =
i cos θ
r
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- Finding analytic solution of Added Mass
∂Φ T
P = − ρgz − ρ
∂t
z ex) 원형단면을 가진 무한히 긴 Cylinder의 무한 수심속 운동에
 π
φ = 0 θ = −  ξ3  π
φ = 0 θ =  의한 Velocity potential이 주어져 있다고 했을 때, Heave 방향
 2  2
R
y
Added mass 및 Damping Coefficient를 구하시오
θ r
ξ 3 (t ) = ξ 3Aeiωt
(r = R )
∂φ
∂r
= − cos θξ 3Aω ∂φ - 선박의 운동 변위 :
w
θ ∂r
- Radiation Wave Velocity Potential :

φ =0
(r → ∞ )
i ωt R2
Φ 3 (r , θ , t ) = φ3 (r , θ )e =ξ 3ωi cos θ ⋅ eiωt
A
r
∂φ3
sol) f 33 = − ρ ∫ φ3 dl , (on r = R) f 33 = − ρ ∫ Rω 2 cos 2 θ ⋅ dl
cx ∂n cx
R2
φ3 (r ,θ ) = ωi cos θ
r ∂φ3  R 2   R2 
φ3 =  ωi cos θ  ×  − 2 ωi cos θ 
∂φ3 ∂φ3 R2 ∂n  r   r 
= = − 2 ωi cos θ
∂n ∂r
4
r R4 2 2 R
= − 3 ω i cos 2 θ = 3 ω cos θ
2 2
r r
= Rω 2 cos 2 θ (on r = R)
V
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z
ex) 원형단면을 가진 무한히 긴 Cylinder의 무한 수심속 운동에
 π
φ = 0 θ = −  ξ3  π
φ = 0 θ = 
의한 Velocity potential이 주어져 있다고 했을 때, Heave 방향
 2
R
 2
y
θ r
(r = R )
∂φ
∂r
- 선박의 운동 변위 :
w
θ ∂r

φ =0
(r → ∞ )
i ωt R2
Φ 3 (r , θ , t ) = φ3 (r , θ )e = ξ ωi cos θ ⋅ eiωt
3
A
r
∂φ3 π / 2 1 + cos 2θ
sol) f 33 = − ρ ∫ φ3 dl = − ρR ω ∫ 2 2
dθ
cx ∂n −π / 2 2
π /2
= − ρ ∫ Rω 2 cos 2 θdl θ sin 2θ 
= − ρR 2ω 2  +
4  −π / 2
cx
2
dl = Rdθ π
= − ρR 2ω 2
2
π /2
f 33 = − ρ ∫ Rω 2 cos 2 θ ⋅ Rdθ  πR 2 
−π / 2 = −ω 2
ρ 
π /2  2 
= − ρR ω ∫π cos 2 θdθ
2 2
− /2
a33 (반원 단면의 질량과 동일함)
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z
ex) 원형단면을 가진 무한히 긴 Cylinder의 무한 수심속 운동에
 π  π
의한 Velocity potential이 주어져 있다고 했을 때, Heave 방향
φ = 0 θ = −  ξ3 φ = 0 θ = 
 2
R
 2
y
θ
r
(r = R )
∂φ
- 선박의 운동 변위 :
∂r
w
θ ∂r
φ =0
i ωt R2
Φ 3 (r , θ , t ) = φ3 (r , θ )e =ξ ωi cos θ ⋅ eiωt
(r → ∞ ) A
3
r
sol)  πR 2  변위 : ξ 3 (t ) = ξ 3Aeiωt
f 33 = −ω  ρ  2
 2  속도 : ξ3 (t ) = ξ 3Aiωeiωt
 πR 2   ξ3 (t ) = −ξ 3Aω 2 eiωt
F33 = ξ e 3
A i ωt
f 33 = −ξ ω e 
3
A
ρ  = ξ 3 a33
2 i ωt 가속도 :
 2 
= ξ3 = a33
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Problem of
< Approximate Solution >
By Singularity distribution method

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원형단면을 가진 무한히 긴 Cylinder의 무한 수심속 운동 (approximate solution)
- Source & Sink
Source & Sink1)

ψ = constant φ = constant
y-z 평면에 normal하고 원점을 지나는 선에서 z
반경방향으로 흐르는 유동을 고려해 보자.
vr
m을 그 선(단위 길이 당)에서 흘러나오는 체적유량이라 하면, r
질량보존법칙으로부터 θ
( 2π r ) vr
=m y
m
또는, vr = ψ : streamline
2π r
이 유동은 반경 방향만의 유동(vθ=0)이므로, 이에 대한 속도 포텐셜은
∂φ m 1 ∂φ
= = , 0
∂r 2π r r ∂θ
을 적분하여 얻을 수 있다.
m if m>0, 유동은 반경방향 → Source
φ= ln r
2π if m<0, 유동은 원점방향 → Sink
m : Strength of Source (or Sink)
r : Source로부터의 거리
- 원점에서 떨어진 지점에서의 몇몇 실제 유동은 Source & Sink를 이용하여 근사화 가능
- 실제 유동에 존재하지 않는 가상적인 Velocity potential , 수학적인 특이점(singularity)
- 이 가상적인 유동에 대한 Velocity potential(Source or Sink)는 실제의 유동을
Hydrodynamics
근사적으로 표현하는 다른 기본 velocity potential들의 중첩으로 구해짐
1) Young, F.D. , Munson, B.R., Okiishi, T.H, Fluid Dynamics, Wiley, 2004, Ch 6.5.2
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- Source & Sink
∇⋅F = 0 :incompressible flow
∇⋅F ≠ 0 :compressible flow
Generate a body
shape by using
Source and Sink
P P
Source Sink
:net outward flow :net inward flow
(div F ( P ) > 0) (div F( P) < 0)
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- Source & Sink
Generate a body-like
P P shape by using
Source Sink Source and Sink
(div F( P) > 0) (div F( P) < 0)
Half Body
- Uniform Flow + Source

Uniform Flow
Dividing Streamline
Source
Stagnation Point
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- Source & Sink
P P shape by using
(div F( P) > 0) (div F( P) < 0)
Rankine Ovoid
- Uniform Flow + Source + Sink

Uniform Flow
Dividing Streamline
Source Sink
Stagnation Point
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- Source & Sink
P P shape by using
(div F( P) > 0) (div F( P) < 0)
 Singularity Distribution Method2) (2-D)

Laplace Equation을 만족함 ∇ 2 Φ = 0
특이점 (source, doublet, vortex)을 물체 경계면

을 생성하도록 분포시키고, 그 특이점의 강도
(Strength)를 결정한다. 그리고 특이점의 강도를 통
하여 전체 유장의 velocity potential을 구하는 방법
Velocity Potential Pressure Surface Force to Hull

∂Φ 1
ρ + P + ρ ∇Φ + ρg z = C
∫∫ PndS
2
∂t 2
FFluid = SB
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- 2 methods for finding solution
정수중 선박의 강제
운동에 의해 발생한 파 Given - Governing Equation : ∇ 2φ j = 0 ( j = 1,  ,6)
∂φ
z - Boundary Condition : −ω 2φ j + g j = 0 ∂φ j (on S B )
y ∂z = i ωn j
φ j ∝ e , as y → ±∞
 iky
∂n
∂φ j
A i ωt =0
Radiation Wave - Motion of the ship : ξ j = ξ j e ( j = 1,  ,6) ∂z z= −h
Find : φ j ( j = 1,  ,6)
How to solve ?
Lewis Conformal Mapping1) (2-D) Singularity Distribution Method2) (2-D)
Line
Source
각 Line마다 Source 분포.
Mapping a1 a3 경계 조건을 만족하도록
: w = 1+ +
Function ζ ζ3 Source Strength 구함.
1) Journee, J.M.J. , Massie, W.W. , Offshore Hydrodynamics, Delft Univ. of Technology, 2001, Ch 7-22~23
Hydrodynamics
2)
3)
Erwin Kreyszig, Advanced Engineering Mathematics, Wiley, 2005, Ch 17,Ch18
이승건, 선박운동 조종론, 부산대학교 출판부, 2004, pp93~101, pp91~93
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- Lewis Conformal Mapping for finding solution
 Lewis Conformal Mapping1) (2-D)
w − plane z − plane
Mapping a1 a3
: w = 1+ +
Function ζ ζ3
Hydrodynamics
2)
3)
Erwin Kreyszig, Advanced Engineering Mathematics, Wiley, 2005, Ch 17,Ch18
이승건, 선박운동 조종론, 부산대학교 출판부, 2004, pp93~101, pp91~93
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- Singularity Distribution Method for finding solution
 Singularity Distribution Method2) (2-D) ※ Laplace equation on polar coordinate
Laplace Equation을 만족함 1 ∂  ∂φ  1 ∂ 2φ
r + =0
r ∂r  ∂r  r 2 ∂θ 2
특이점 (source, doublet, vortex)을 물체 경계면
=0 =0
을 생성하도록 분포시키고, 그 특이점의 Let 2-D source φ = ln r
강도(Strength)를 결정한다. 그리고 특이점의 ( r : distance from source )
강도를 통하여 전체 유장의 velocity potential을 ∂φ 1 ∂φ ∂  ∂φ  ∂ 2φ
= , r = 1, r  = 0, =0
∂r r ∂r ∂r  ∂r  ∂θ 2
구하는 방법
Given : N개의 특이점분포 N개의 미지수가 존재함

(source, doublet, vortex)  N개의 경계조건으로 부터 방정식 구함
Find : 특이점의 강도(Strength)
Find Given
\ ∂φ
N = Vn
φ = ∑ qmφm ∂n
m =1
(특이점 하나로는 식을 만족 못하기 때문에, basis function의 Linear combination으로 해를 가정한다.)

Hydrodynamics
2)
3)
Faltinsen, O.M. , Sea loads on ships and offshore structures, Cambridge Univ. Press, 1998, Ch3 (pp 104~108)
이승건, 선박운동 조종론, 부산대학교 출판부, 2004, pp93~101
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- Singularity Distribution Method for finding solution
※ 2차원 source에 의한 Velocity potential :
 Singularity distribution method q ln r ,(r : Distance from source)
지금까지는 해석적인 방법을 이용하여 velocity potential을 구하였다.

다음의 형상에 대하여 Singularity distribution method를 이용하여 Velocity potential 을 계산해
보자.
ex) 반원이 ξ 3 (t ) = 1 ⋅ eiωt 로 운동 중일 때, ※물체의 경계면을 따라 source를 분포 시킨다.
Velocity potential을 구하시오.
z 1개의 Source 만으로는 다양한 물체의
φ3 가 구해짐
형상을 표현하기 어려움. =>여러 개의 소스
를 분포 시킨다.
ξ 3 (t ) = 1⋅ eiωt
S7 R y
 Governing Equation인 Laplace Equation
S1
은 Linear Equation이므로, 각 해를 더한
것(Superposition)도 Laplace Equation의
해가 된다.
N
φ = ∑ qmφm
S6 S2
m =1
S5 개념을 이해하기 위해 다음의 간단한 예제를

S3
S4 살펴 보자.
( ym , zm ) : S m S m+1 의 중점
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3)
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- Example 1. Finding solution by Singularity Distribution Method
i ωt
q ln r ,(r : Distance from source)
ex) 다음과 같은 단면이 ξ 3 (t ) = 1 ⋅ e 로 운동 중일
때, Velocity potential을 구하시오. Step 1. 선체에 Source 3개(S1,S2,S3)를 분포
z
φ3 가 구해짐 ① (η1 , ζ 1 ) 으로 부터 r1만큼 떨어진
위치 (y,z)에서속도 포텐셜
ξ 3 (t ) = 1⋅ eiωt
( y − η1 ) + ( z − ζ 1 )
2 2
S3 R y S1 q1=
ln r1 q1 ln
(η3 , ζ 3 ) (η1 , ζ 1 )
② 임의의 점에서의 Velocity potential은 3개의

source에 의한 Velocity potential의 합과 같다.
( y, z )
S2 φ3 q1 ln ( y − η1 ) 2 + ( z − ζ 1 ) 2
=
(η2 , ζ 2 )
+ q2 ln ( y − η2 ) 2 + ( z − ζ 2 ) 2
+ q3 ln ( y − η3 ) 2 + ( z − ζ 3 ) 2
3개의 미지수  3개의 식 필요함
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i ωt
ex) 다음과 같은 단면이 ξ 3 (t ) = 1 ⋅ e 로 운동 중일 Step 2. 물체 경계 조건(Body boundary condition)
때, Velocity potential을 구하시오.
물체 표면의 점의 속도와 유체의 속도가 동일해야 함
z
φ3 가 구해짐 3개의 점에 대해서 조건을 적용하면,
3개의 방정식이 구해짐
ξ 3 (t ) = 1⋅ eiωt ① 먼저 물체 표면의 3개 점에 대해 Velocity
S3 R y S1
potential을 구해 보자.
(η3 , ζ 3 ) (η1 , ζ 1 )
φ3 ( y=
1 , z1 ) q1 ln ( y1 − η1 ) 2 + ( z1 − ζ 1 ) 2
+ q2 ln ( y1 − η 2 ) 2 + ( z1 − ζ 2 ) 2
( y1 , z1 )
( y3 , z3 ) + q3 ln ( y1 − η3 ) 2 + ( z1 − ζ 3 ) 2
S 2 (η2 , ζ 2 )
φ3 ( y2=
, z2 ) q1 ln ( y2 − η1 ) 2 + ( z2 − ζ 1 ) 2
( y2 , z 2 ) + q2 ln ( y2 − η2 ) 2 + ( z2 − ζ 2 ) 2
+ q3 ln ( y2 − η3 ) 2 + ( z2 − ζ 3 ) 2
φ3 ( y3=
, z3 ) q1 ln ( y3 − η1 ) 2 + ( z3 − ζ 1 ) 2
+ q2 ln ( y3 − η2 ) 2 + ( z3 − ζ 2 ) 2
Hydrodynamics
η3 ) 2 + (SDAL
z3 − ζ 3 ) 2
+ q3 ln ( y3 −Seoul
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i ωt
ex) 다음과 같은 단면이 ξ 3 (t ) = 1 ⋅ e 로 운동 중일
Step 2. 물체 경계 조건(Body boundary condition)
때, Velocity potential을 구하시오.
물체 표면의 점의 속도와 유체의 속도가 동일해야 함
z
φ3 가 구해짐 3개의 점에 대해서 조건을 적용하면,
3개의 방정식이 구해짐
ξ 3 (t ) = 1⋅ eiωt ∂φ3
S3 R y S1 ② Body boundary condition : = iω n3 적용
∂n
(η3 , ζ 3 ) (η1 , ζ 1 )
∂φ3
( y1 , z1 )
= q1
∂n ( y1 , z1 )
∂
∂n
(
ln ( y1 − η1 ) 2 + ( z1 − ζ 1 ) 2 )
∂φ3
+ q2
∂
∂n
(
ln ( y1 − η2 ) 2 + ( z1 − ζ 2 ) 2 )
( )
( y3 , z3 ) ∂
∂n + q3 ln ( y1 − η3 ) 2 + ( z1 − ζ 3 ) 2
S 2 (η2 , ζ 2 ) ( y1 , z1 ) ∂n
=i ⋅ ω ⋅ n3 at ( y1 , z1 )
( y2 , z 2 ) ∂φ3
=
∂n ( y , z )
2
q1
∂
∂n2
(
ln ( y2 − η1 ) 2 + ( z2 − ζ 1 ) 2 +  )
③ given : ηm , ζ m ; ym , zm (m = 1, 2,3) =i ⋅ ω ⋅ n3 at ( y2 , z2 )
Find : q1 , q2 , q3
∂φ3
=
∂n ( y , z )
3
q1
3
∂
∂n
(
ln ( y3 − η1 ) 2 + ( z3 − ζ 1 ) 2 +  )
Hydrodynamics
식3개 미지수 3개  풀 수 있음! =i ⋅ ω ⋅ n3 at ( y3 , z3 )
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z
ξ 3 (t ) = 1⋅ eiωt
S3 R y S1
(η3 , ζ 3 ) (η1 , ζ 1 )
( y1 , z1 )
( y3 , z3 )
S 2 (η2 , ζ 2 )
Step 3. 방정식을 Matrix 형태로 나타내면,
( y2 , z 2 )
∂  ∂ 
( y1 − η1 ) + ( z1 − ζ 1 )  ( y1 − η3 ) + ( z1 − ζ 3 )  −i ⋅ ω ⋅ n3
2 2 2 2
q1 ln +  + q3 ln =
∂n   ( y , z ) ∂n   ( y , z ) at ( y1 , z1 )
1 1 1 1
I11 I13
q1 I11 + q2 I12 + q3 I13 =
b1
q1 I 21 + q2 I 22 + q3 I 23 =
b2  I11 I12 I13   q1   b1 
Aq = b A =  I 21 I 22 I 23  , q =  q2  , b = b2 
q1 I 31 + q2 I 32 + q3 I 33 =
b3  I 31 I 32 I 33   q3   b3 
q = A −1b
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i ωt
ex) 다음과 같은 단면이 ξ 3 (t ) = 1 ⋅ e 로 운동 중일 q ln r ,(r : Distance from source)
때, Velocity potential을 구하시오. Step 2. 물체 경계 조건(Body boundary condition)

z
φ3 가 구해짐 물체 표면의 점의 속도와 유체의 속도가 동일해야 함
3개의 점에 대해서 조건을 적용하면,
ξ 3 (t ) = 1⋅ eiωt 3개의 방정식이 구해짐
S3 R y S1
(η3 , ζ 3 ) (η1 , ζ 1 ) 식3개 미지수 3개인 문제로 풀 수 있음
( y1 , z1 ) 3개의 점에 대해서만 조건을 만족

물체 표면의 다른 점들은 알 수 없음
( y3 , z3 ) ∂φ3
∂n
S 2 (η2 , ζ 2 ) ( y1 , z1 )
더 많은 점에서 경계조건을 적용하면 더 정확한
해를 얻을 수 있다.
( y2 , z 2 )
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ex) 반원이 ξ 3 (t ) = 1 ⋅ eiωt 로 운동 중일 때, q ln r ,(r : Distance from source)
Velocity potential을 구하시오. Step 1. 경계면을 6개의 Line으로 근사화 한다.

z
φ3 가 구해짐
1개의 Source 만으로는 다양한 물체의
형상을 표현하기 어려움.
ξ 3 (t ) = 1⋅ eiωt  Governing Equation인 Laplace Equation
S7 R y
은 Linear Equation이므로, 각 해를 더한
S1
것(Superposition)도 Laplace Equation의
해가 된다.
 따라서, 더 많은 Line으로 근사화 하면,
S6 S2 더 정밀한 계산결과를 얻을 수 있음.
(현재는 6개 line으로 근사화)
S5 S3
S4 Step 2. 등분된 점과 점 사이를 선으로 연결
( ym , zm ) : S m S m+1 의 중점
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i ωt
ex) 반원이 ξ 3 (t ) = 1 ⋅ e 로 운동 중일 때, Step 3. 각 Line segment에 물체 경계면을
Velocity potential을 구하시오. 생성하도록 Line source를 분포시킨다.
z 한 Line에 분포된 source는 같은 강도
φ3 가 구해짐 (strength)를 가진다고 가정한다
i ωt
S1 ① 단위길이당 세기:q1
ξ 3 (t ) = 1⋅ e
S7 R y S1 q1∆s (η1 , ζ 1 ) ② 미소구간에서의
세기: q1∆s
r1
( y1 , z1 ) ( y, z ) 임의의위치
S6 S2
③ (η1 , ζ 1 ) 으로 부터 r1만큼 떨어진
위치 (y,z)에서속도 포텐셜
S2
( y − η1 ) + ( z − ζ 1 )
2 2
S5 S3 q1∆s ln r1 =q1∆s ln
S4 ④ Line 을 n등분하였을 경우
( ym , zm ) : S m S m+1 의 중점
∆φ1 = q1∆s ln ( y − η1 ) + ( z − ζ 1 )
2 2
⑤ Line 을 무한히 등분한 것으로 가정하고,

( y − η2 ) + ( z − ζ 2 )
2 2
Integral 형태로 나타냄 + q1∆s ln
∆φ1 q1 ∫ ( y − η ( s) ) + ( z − ζ ( s) ) ( y − ηn ) + ( z − ζ n )
2 2
=
2 2
ln ds +  + q1∆s ln
S1S2
n
= q1 ∑ ∆s ln ( y − ηn ) + ( SDAL
z −ζn )
Hydrodynamics
1) Journee, J.M.J. , Massie, W.W. , Offshore Hydrodynamics, Delft Univ. of Technology, 2001, Ch 7-30~36 2 2
3) 이승건, 선박운동 조종론, 부산대학교 출판부, 2004, pp93~101
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ex) 반원이 ξ 3 (t ) = 1 ⋅ eiωt 로 운동 중일 때, q ln r ,(r : Distance from source)
Velocity potential을 구하시오. Step 4. 나머지 5개의 line segment에도

z Line source를 분포시킨다.
φ3 가 구해짐
∆φ1 q1 ∫ ( y − η ( s) ) + ( z − ζ ( s) )
2 2
S=
1S 2 :
ln ds
S1S2
i ωt
ξ 3 (t ) = 1⋅ e
S7 R y S1 ∆φ2 q2 ∫ ( y − η (s) ) + ( z − ζ ( s) )
2 2
S=
2 S3 :
ln ds
S 2 S3

∆φ6 q6 ∫ ( y − η (s) ) + ( z − ζ ( s) )
2 2
S6 S2 S=
6 S7 :
ln ds
S6 S7
q1~q6까지 6개의 미지수

S5 S3
S4
( ym , zm ) : S m S m+1 의 중점  Velocity potential은 6개 Source에 의한
포텐셜의 합과 같다.
6
φ3 ( y, z=
) ∑ ∆φ
m =1
m
∑q ∫ ( y − η (s) ) + ( z − ζ (s) )
2 2
= m S S ln ds
m m+1
Hydrodynamics
1) Journee, J.M.J. , Massie, W.W. , Offshore Hydrodynamics, Delft Univ. of Technology, 2001, Ch 7-30~36 m =1
3) 이승건, 선박운동 조종론, 부산대학교 출판부, 2004, pp93~101 6개의 미지수  SDAL
6개의 식 필요함
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i ωt
ex) 반원이 ξ 3 (t ) = 1 ⋅ e 로 운동 중일 때,
z φ3 가 구해짐
Line segment들의 중점에 대해, Body boundary condition을 적용
ξ 3 (t ) = 1⋅ eiωt
S7 R y S1  6개의 line segment가 존재하므로, 6개의 방정식이 구해짐
( y6 , z 6 ) ∆φ1 ( y1 , z1 ) ∂φ3
= iωn3 ,(Body boundary condition)
∂n
S6 ( y5 , z 5 ) ( y2 , z 2 ) S2
( y 4 , z 4 ) ( y3 , z 3 ) 점 ( ym , zm ) 에 대해서,velocity potential을 구해 보면 다음과 같다.

∂ (∆φ1 ) S5 S3
∂n S4
φ= q1 ∫ ( ym − η ( s ) ) + ( z m − ζ ( s ) )
2 2
3 ( ym , z m ) S1S2
ln ds
하나의 line source에 의한 velocity potential

+ q2 ∫ ( ym − η ( s ) ) + ( z m − ζ ( s ) )
2 2
ln ds
S 2 S3
+
+ q6 ∫ ( ym − η ( s ) ) + ( z m − ζ ( s ) )
2 2
ln ds
S6 S7
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i ωt
ex) 반원이 ξ 3 (t ) = 1 ⋅ e 로 운동 중일 때,
z φ3 가 구해짐
Line segment들의 중점에 대해, Body boundary condition을 적용
ξ 3 (t ) = 1⋅ eiωt  6개의 line segment가 존재하므로, 6개의 방정식이 구해짐
S7 R y S1
( y6 , z 6 ) ( y1 , z1 ) ∂φ3
= iωn3 ,(Body boundary condition)
∂n
S6 ( y5 , z 5 ) ( y2 , z 2 ) S2
∂φ3 ∂ 
( y − η ( s) )2 + (z − ζ ( s) )2 ds 
∂n  ∫S1S 2
 LHS: = q1 ln
( y 4 , z 4 ) ( y3 , z 3 ) ∂n  ( ym , zm )
∂ (∆φ1 ) S5 S3
( ym , zm )
∂ 
( y − η ( s) )2 + (z − ζ ( s) )2 ds 
∂n  ∫S 2 S3
∂n S4
+ q2 ln
 ( ym , zm )
+
∂ 
( y − η ( s) )2 + (z − ζ ( s) )2 ds 
∂n  ∫S6 S7
+ q6 ln
 ( ym , zm )
 RHS : iωn3 = − iω cosθ ( ym , zm )
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z
ξ 3 (t ) = 1⋅ eiωt
S7 R y S1
( y6 , z 6 ) ( y1 , z1 )
S6 ( y5 , z 5 ) ( y2 , z 2 ) S2
( y 4 , z 4 ) ( y3 , z 3 )
6개 Line segment에 대해 Body boundary condition을 적용해 보면 S5 S3
다음과 같다. S4
∂  ∂ 
( y − η ( s) )2 + (z − ζ ( s) )2 ds  ( y − η ( s) )2 + (z − ζ ( s) )2 ds 
∂n  ∫S1S 2 ∂n  ∫S6 S7
q1 ln +  + q6 ln = −iω cos θ ( y1 , z1 )
 ( y1 , z1 )  ( y1 , z1 )
∂  ∂ 
∂n  ∫S1S 2 ∂n  ∫S6 S7
q1 ln +  + q6 ln = −iω cos θ ( y2 , z2 )
 ( y2 , z2 )  ( y2 , z2 )

∂  ∂ 
∂n  ∫S1S 2 ∂n  ∫S6 S7
q1 ln +  + q6 ln = −iω cos θ ( y6 , z6 )
 ( y6 , z6 )  ( y6 , z6 )
방정식 : 6개
미지수 : 6개 q1 ,  , q6 Now we can find the solution !!!

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z
ξ 3 (t ) = 1⋅ eiωt
S7 R y S1
( y6 , z 6 ) ( y1 , z1 )
S6 ( y5 , z 5 ) ( y2 , z 2 ) S2
( y 4 , z 4 ) ( y3 , z 3 )
Step 6. 방정식을 Matrix 형태로 나타내면, S5 S3
S4
∂  ∂ 
∂n  ∫S1S 2 ∂n  ∫S6 S7
q1 ln +  + q6 ln = −iω cos θ ( y1 , z1 )
 ( y1 , z1 )  ( y1 , z1 )
I11 I16
q1 I11 + + q6 I16 = b1
q1 I 21 + + q6 I 26 = b2  I11  I16   q1   b1 
Aq = b A =      , q =    , b =   
  I 61  I 66  q6  b6 
q1 I 61 + + q6 I 66 = b6
ω R2
q = A −1b φ (r ,θ ) = i φ cos θ
r
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z
ξ 3 (t ) = 1⋅ eiωt
S7 R y S1
( y6 , z 6 ) ( y1 , z1 )
S6 ( y5 , z 5 ) ( y2 , z 2 ) S2
( y 4 , z 4 ) ( y3 , z 3 )
(참고) I jk 의 계산 S5
S4
S3
f ( y, z ) = ln ( y − η ( s) )2 + (z − ζ ( s) )2 라 하면,
 ∂f y − η (s) 
 = 2 
∂f ( y, z )  ∂f ∂f 
= ∇f • n =  ,  • (n2 , n3 )  ∂y ( y − η ( s ) ) + (z − ζ ( s ) ) 
2
∂n  ∂y ∂z   ∂f z − ζ (s) 
 = 
2 
 ∂z ( y − η ( s ) )2
+ ( z − ζ ( s ) ) 
∂ 
( y − η ( s) )2 + (z − ζ ( s) )2 ds 
∂n  ∫S k S k +1
I jk = ln
 ( y j ,z j )
 y j − η (s) z j − ζ (s) 
=∫ n2 + n3 2
 ( y j − η ( s ) ) + (z j − ζ ( s ) ) (y j −η (s)) + (z j − ζ (s)) 
2 2 2
ds
S k S k +1
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Radiation Wave Velocity Potential

Hydrodynamics
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z z
정지상태
변하게 된다.

y
y
+
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 Radiation wave velocity potential
6
Φ R ( x, y, z , t ) = φR ( x, y, z )e = ∑ ξ jAφ j ( x, y, z )eiωt
i ωt
j =1
정수중 선박의 강제  Boundary Condition1)

① Free surface condition
운동에 의해 발생한 파 ② Bottom B.C. (BBC)
z
∂φ j ∂Φ
y
−ω φj + g
2
= 0 (on z = 0) =0
∂z ∂z z =− h
③ Radiation Condition :
Radiation wave ‘Wave associated with the potentials must be radiating away from the body’1)
φ j ∝ e  iωt at y → ±∞ , ( j = 1, , 6 )
④ Body boundary condition : 선박 표면의 normal velocity(Vn)와 그 점에서 유체 입
∂Φ R
자의 normal Velocity( ∂n )가 동일함
∂Φ R ∂φ j S B : 침수표면
= Vn = iωn j (on S B )
∂n ∂n Vn : 침수표면에 normal인 속도
n j : 표면의 normal vector component
단위 진폭에 대한 단위 진폭에 대한
유체 속도 성분 선체 표면의 속도 성분
Hydrodynamics (선체 표면에 normal성분) (선체 표면에 normal성분)
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Radiation Velocity Potential
- 원형단면을 가진 무한히 긴 Cylinder의 무한 수심속 운동과 비교
 Radiation wave velocity potential 단순화 원형단면을 가진 무한히 긴 Cylinder의 무한 수
in Free surface1) 심속 운동 문제2)
Coordinate : Cartesian Coordinate Coordinate: Polar coordinate

원형 단면을 가진 경우는 Polar coordinate를 이용하
Governing Equation : ∇ φ3 =
2
0 는 것이 편리하다.
 π π
 r = R,− ≤ θ ≤ 
( y, z ) = (r co θs, r sin θ ), 
 Boundary Condition1) 2 2
Governing equation in polar coordinate
① Free surface condition r 2φ3 rr + rφ3 r + φ3θθ = 0
∂φ j
−ω φj + g
2
= 0 (on z = 0)  Boundary Condition
∂z
① Free surface condition
② Bottom B.C. (BBC)
π π
∂Φ φ3 = 0, θ = − ,θ = 
=0  2 2
∂z (자유수면에서 파가 발생하지 않음)
③ Radiation Condition :
z =− h
φ3 0, ( r → ∞ )
=
φ j ∝ e  iωt at y → ±∞ , ( j = 1, , 6 ) (물체로 부터 무한히 먼 곳에서 파가 발생하지 않음)
④ Body boundary condition

④ Body boundary condition ∂φ3
∂Φ R ∂φ j = − cos θ iω , ( r =
R)
= Vn = iωn j (on S B ) ∂r
∂n ∂n  Motion of Ship A iωt
ξ3 (t ) = ξ3 e
 Motion of Ship : ξ3 (t ) = ξ3A eiωt
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- Introduce Green Function

− ω 2φ + gφ z = 0 (on z = 0)
z
y
따라서, 단순한 형태의 2차원 source (q ln r ) 대신

Free surface condition을 만족하는 Green function을 사용함
ex) Green function introduced by Wehausen and Laitone(1960)

 − ik ( z −ζ )

( )
1 ∞e
z, ζ , t )
G (=
*
 ln ( z − ζ ) − ln z − ζ + 2 ⋅ PV ∫ dk  cos ωt
2π 
0 ν − k 
−e − iν ( z −ζ ) sin ωt
complex notation : z = x + iy, ζ = ξ + iη
Wave number : ν (= ω 2 / g )
3) 이승건, 선박운동 조종론, 부산대학교 출판부, 2004, pp93~101
Hydrodynamics
@
Wehausen,J.V.,Laitone,E.V.(1960), Surface Waves, Seoul SDAL 149
Handbuch der hysik,edited by S.Fluegge, Vol.9,Fluid Dynamics 3,Springer Verlag,Berlin,Germany,pp 446~778National
Univ.
/203
- Approximate solution by Frank Close-Fit Method
 Frank Close-Fit Method

: source를 q ln r 대신 Boundary condition을 만족하는 아래 함수(Green function)을 사용한다.
(단, 물체 표면 경계 조건은 만족하지 않음)
 − ik ( z −ζ )

) ( )
1 ∞e
 ( ∫
− iν ( z −ζ )
z, ζ , t )
G (=
*
ln z − ζ − ln z − ζ + 2 ⋅ PV dk  cos ω t − e sin ωt
 2π 0 ν −k 
A B
= A cos ωt + B sin ωt
공간상의 위치 : z= x + iy
= Re ( A cos ωt + B sin ωt ) + i ( − A sin ωt + B cos ωt ) 
source 위치 : ζ = ξ + iη
= Re ( A + iB ) × ( cos ωt − i sin=
ωt )  Re ( A + iB ) e −iωt  wave number : ν ( = ω
2
/ g)
(시간항을 분리)
z , ζ ) Re [ A] + i Re [ B ]
G (=
 − ik ( z −ζ )

Re ln ( z − ζ ) − ln ( z − ζ ) + 2 ⋅ PV ∫
1 ∞e
= dk  − i Re e − iν ( z −ζ ) 
2π 
0 ν −k 
Hydrodynamics
@
1) Frank,W., “OSCILLATION OF CYLINDERS IN OR BELOW THE FREE SURFACE OF DEEP FLUIDS”, NSRDC Report 2375, 1967
Seoul SDAL 150
2) Journee, J.M.J. , Adegeest, L.J.M. , "Theoretical Manual of Strip Theory program“ Seaway for Windows”", DelftNational
University
Univ.
of Technology,
Advanced 2003 Lab.
Ship Design Automation
/203
※ Green function
y
ξ 3 (t ) = 1⋅ eiωt S G * ( z , ζ , t ) = G ( z , ζ )e − iωt
S7 R x 1
( x6 , y6 ) ( x1 , y1 )  
 − ik ( z −ζ )

Re ln ( z − ζ ) − ln ( z − ζ ) + 2 ⋅ PV ∫
1 ∞e
( x5 , y5 )  G ( z , ζ )
= dk  − Re ie − iν ( z −ζ )  
S6 ( x2 , y2 ) S 2 2π ν −k 
 
0
( x4 , y4 ) ( x3 , y3 )
 
S5 S3
S4
G * ( z , ζ , t ) 대신, 시간 항을 분리시킨 G ( z , ζ ) 을 분포시킴
z= x + iy Laplace equation에서 시간항을 분리한 변위만의 속도 포텐셜을 구하는 것임

공간상의 위치 :
source 위치 : ζ = ξ + iη {
Re φ ( x, y ) eiωt
Φ ( x, y , t ) = }
wave number : ν ( = ω
2
/ g)
( ) (
∇ 2 Φ = ∇ 2 φ ( x, y ) eiωt = eiωt ∇ 2φ ( x, y ) = 0 )
 ∂ 2φ ∂ 2φ 
∴∇ φ 0,  =
= 2
+ 2 0
 ∂x ∂y
2

2) Journee, J.M.J. , Adegeest, L.J.M. , "Theoretical Manual of Strip Theory program“ Seaway for Windows”", Delft University of Technology, 2003
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※ Green function ※ 2차원 source :

y
 − ik ( z −ζ )

Re ln ( z − ζ ) − ln ( z − ζ ) + 2 ⋅ PV ∫
1 ∞e
S7 ξ 3 (t ) = 1⋅ eiωt S G ( z, ζ )
= dk  q ln r
R x 1
2π 
0 ν −k 
( x6 , y6 ) ( x1 , y1 ) −i Re e − iν ( z −ζ )


S6 ( x5 , y5 ) ( x2 , y2 ) S 2
( x4 , y4 ) ( x3 , y3 ) ※ 하나의 Line source에 의한 ※ 하나의 Line source에
S5 S3 velocity potential : 의한 Velocity potential:
S4
q1 ∫
∆φ1 = G ( z , ζ )ds q1 ∫
∆φ1 = ln rds
S1S2
S1S2
공간상의 위치 : z= x + iy
※ N개의 Segment가 존재 하므로, 임 ※ N개의 Segment가 존재 하
source 위치 : ζ = ξ + iη 의의 점에서의 Velocity potential은 므로, 임의의 점에서의
wave number : ν ( = ω Velocity potential은 다음과
2
/ g) 다음과 같다.
같다.
N N
φ3 ( x, y=
) ∑ ∆φ j
j =1
φ3 ( x, y=
) ∑ ∆φ j
j =1
N N
= ∑qj ∫ G ( z , ζ )ds = ∑qj ∫ ln rds
S j S j +1 S j S j +1
j =1 j =1
N개의 미지수 N개의 미지수

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y
N개의 Line 중점에 대해서 body boundary condition 적용
ξ 3 (t ) = 1⋅ eiωt S
∂φ3
S7 R x 1
= iωn3 = −iω cos θ j ( x6 , y6 ) ( x1 , y1 )

∂n
첫 번째 segment의 중간 지점에서의 속도 S6 ( x5 , y5 ) ( x2 , y2 ) S 2
( x4 , y4 ) ( x3 , y3 )
∂φ3 ∂  N 
= ∑qj ∫ G ( z1 , ζ )ds 
S5 S3
두 번째 segment에 분포된 source에 의한 S4
∂n z1= x1 + iy1 ∂n  j =1 S j S j +1
 첫 번째 segment의 중간 지점에서의 속도
∂ ∂ ∂
∂n ∫S1S2 ∂n ∫S2 S3 ∂n ∫S N S N +1
q1 G ( z1 , ζ ) ds + q2 G ( z1 , ζ ) ds +  + q N G ( z1 , ζ )ds
= q1 I11 + q2 I12 +  + qN I1N
∂φ3 ∂  N 
= ∑qj ∫ G ( z2 , ζ )ds = q1 I 21 + q2 I 22 +  + qN I 2 N
∂n z2= x2 + iy2 ∂n  j =1 S j S j +1

j번째 segment에 분포된 source에 의한
i번째 segment의 중간 지점에서의 속도
 ∂
∂φ3 ∂  N 
I ij =
∂n ∫ G ( zi , ζ )ds
= ∑qj ∫
S S
G ( z N , ζ )ds = q1 I N 1 + q2 I N 2 +  + qN I NN
j j +1
∂n z=
N xN + iy N
∂n  j =1 S j S j +1

방정식 : N개
미지수 : N개
Hydrodynamics
q1 , , qN Now we can find the solution !!!
1)
2)
Frank,W., “OSCILLATION OF CYLINDERS IN OR BELOW THE FREE SURFACE OF DEEP FLUIDS”, NSRDC Report 2375, 1967 Seoul
National
Journee, J.M.J. , Adegeest, L.J.M. , "Theoretical Manual of Strip Theory program“ Seaway for Windows”", Delft University of Technology,Univ.
2003 @ SDAL
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/203
y
 물체 표면 경계 조건(body boundary condition) 적용 S7 ξ 3 (t ) = 1⋅ eiωt S
R 1
∂φ3
x
= iωn3 = −iω cos θ j ( x6 , y6 ) ( x1 , y1 )

∂n S6 ( x5 , y5 ) ( x2 , y2 ) S 2
( x4 , y4 ) ( x3 , y3 )
∂φ3
= q1 I11 + q2 I12 +  + qN I1N = −iω cos θ1 S5 S3
∂n z1= x1 + iy1
S4
∂φ3
= q1 I 21 + q2 I 22 +  + qN I 2 N = −iω cos θ 2
∂n z2= x2 + iy2  I11 I12  I1N   q1   −iω cos θ1 
I I 2 N   q2   −iω cos θ 2 
  21 I 22
=
∂φ3         
= q1 I N 1 + q2 I N 2 +  + qN I NN = −iω cos θ N     
∂n z=
N xN + iy N  I N1 IN2  I NN   qN   −iω cos θ N 
j번째 segment에 분포된 source에 의한

∂
∂n ∫S j S j+1
I ij = G ( zi , ζ )ds
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j번째 segment에 분포된 source에 의한 ※ Green function

 − ik ( z −ζ )

Re ln ( z − ζ ) − ln ( z − ζ ) + 2 ⋅ PV ∫
1 ∞e
∂ G ( z, ζ )
= dk  − i Re e − iν ( z −ζ ) 
∂n ∫S j S j+1
I ij = G ( zi , ζ )ds 2π ν −k
 
0
I ij 를 어떻게 구할 것인가?
① G ( z , ζ ) 내부의 Principle value integral이 존재함

∂ 계산이 복잡하지만 구할 수 있음
∂n ∫
② ln( z − ζ )ds 의 적분
 ∞
 r n ⋅ cos(n ⋅ θ )  
γ + ln( r ) + ∑   + 
∞e
− i⋅k ⋅( z −ζ )
 n =1  n ⋅ n!  
PV ∫ = eν ⋅( y +η ) ⋅ {cos(ν ⋅ ( x − ξ )) − i ⋅ sin(ν ⋅ ( x − ξ ))} ⋅ 
⋅ dk 
0 ν −k   θ x − ξ > 0   ∞
 r n
⋅ sin( n ⋅ θ )  
i ⋅  θ − 2π for: x − ξ < 0   + ∑ 
n ⋅ n!

    n =1  
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 − ik ( z −ζ )

Re ln ( z − ζ ) − ln ( z − ζ ) + 2 ⋅ PV ∫
1 ∞e
∂ G ( z, ζ )
= dk  − i Re e − iν ( z −ζ ) 
∂n ∫S j S j+1
 
0

∂n ∫
     

( )
( L1 ) Re  ni ⋅∇ ⋅  ∫ ln( z −ζ ) ⋅ ds  
=
s  
  j  z = zi 
 ( x − ξ )2 + ( y −η )2    y −η j   yi − η j +1  
= sin(α i − α j ) ⋅ ln 
i j i j
 + cos(α i + α j ) ⋅ arctan  i  − arctan   
 ( xi − ξ j +1 ) + ( yi − η j +1 ) 2
2
  xi − ξ j x − ξ
      i j +1  
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 − ik ( z −ζ )

Re ln ( z − ζ ) − ln ( z − ζ ) + 2 ⋅ PV ∫
1 ∞e
∂ G ( z, ζ )
= dk  − i Re e − iν ( z −ζ ) 
∂n ∫S j S j+1
 
0

∂n ∫
     

( )
( L2 ) Re  ni ⋅∇ ⋅  ∫ ln( z −ζ ) ⋅ ds  
=
s  
  j  z = zi 
 ( x − ξ )2 + ( y + η )2    y +η j   yi + η j +1  
= sin(α i + α j ) ⋅ ln 
i j i j
 + cos(α i + α j ) ⋅ arctan  i  − arctan   
 ( xi − ξ j +1 ) + ( yi + η j +1 ) 2
2
  xi − ξ j x − ξ
      i j +1  
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 − ik ( z −ζ )

Re ln ( z − ζ ) − ln ( z − ζ ) + 2 ⋅ PV ∫
1 ∞e
∂ G ( z, ζ )
= dk  − i Re e − iν ( z −ζ ) 
∂n ∫S j S j+1
 
0

②
∂n ∫ ln( z − ζ )ds 의 적분
    − i ⋅k ⋅( z −ζ )  

( )
∞e
( L5 ) Re  ni ⋅∇ ⋅  ∫ ds ⋅ PV ∫
= ⋅ dk  
  0 ν − k  
 sj  z = zi 
 i ⋅(α i +α j ) ζj d ∞e
− i ⋅k ⋅( zi −ζ )

= Re −i ⋅ e ⋅ ∫ dζ ⋅ PV ∫ ⋅ dk 
 ζ j +1 dζ 0 ν −k 
k ⋅( yi +η j ) k ⋅( yi +η j +1 )
 ∞e ⋅ cos(k ⋅ ( xi − ξ j )) ∞e ⋅ cos(k ⋅ ( xi − ξ j +1 )) 
= sin(α i + α j ) ⋅ + PV ∫ ⋅ dk − PV ∫ ⋅ dk 

0 ν − k 0 ν − k 
k ⋅( yi +η j ) k ⋅( yi +η j +1 )
 ∞e ⋅ sin( k ⋅ ( xi − ξ j )) ∞e ⋅ sin( k ⋅ ( xi − ξ j +1 )) 
− cos(α i + α j ) ⋅ + PV ∫ ⋅ dk − PV ∫ ⋅ dk 

0 ν −k 0 ν −k 
Hydrodynamics
1) Frank,W., “OSCILLATION OF CYLINDERS IN OR BELOW THE FREE SURFACE OF DEEP FLUIDS”, NSRDC Report 2375, 1967 Seoul
2) Journee, J.M.J. , Adegeest, L.J.M. , "Theoretical Manual of Strip Theory program“ Seaway for Windows”", Delft University of Technology,National
2003
Univ. @
SDAL
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 − ik ( z −ζ )

Re ln ( z − ζ ) − ln ( z − ζ ) + 2 ⋅ PV ∫
1 ∞e
∂ G ( z, ζ )
= dk  − i Re e − iν ( z −ζ ) 
∂n ∫S j S j+1
 
0

②
∂n ∫ ln( z − ζ )ds 의 적분
     
=


(
( L7 ) Re  ni ⋅∇ ⋅  ∫ e )
− i ⋅ν ⋅( z −ζ )
⋅ ds  
 
  sj  z = zi 
{
− sin(α i + α j ) ⋅ +e
=
ν ⋅( yi +η j )
⋅ cos(ν ⋅ ( xi − ξ j )) − e
ν ⋅( yi +η j +1 )
⋅ cos(ν ⋅ ( xi − ξ j +1 )) }
+ cos(α + α ) ⋅ {+e }
ν ⋅( yi +η j ) ν ⋅( yi +η j +1 )
i j ⋅ sin(ν ⋅ ( xi − ξ j )) − e ⋅ sin(ν ⋅ ( xi − ξ j +1 ))
Hydrodynamics
1) Frank,W., “OSCILLATION OF CYLINDERS IN OR BELOW THE FREE SURFACE OF DEEP FLUIDS”, NSRDC Report 2375, 1967 Seoul
2) Journee, J.M.J. , Adegeest, L.J.M. , "Theoretical Manual of Strip Theory program“ Seaway for Windows”", Delft University of Technology,National
2003
Univ. @
SDAL
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/203

Diffraction Wave Velocity Potential

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z z
정지상태
변하게 된다.

y
Laplace equation은 선형
y
+
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산란에 의한 파  Diffraction wave velocity potential
z
Φ D ( x , y , z , t ) = φ D ( x , y , z ) e i ωt
y
Fixed  Boundary Condition1)

① Free surface condition ② Bottom B.C. (BBC)
Diffraction Wave
∂φD ∂φD
− ω 2φD + g = 0 (on z = 0) =0
∂z ∂z z= −h
③ Radiation Condition : 파가 무한이 발산하면 진동함
φD ∝ e  iωt as y → ±∞
④ Body boundary condition : 선박 표면에서 유체 입자의 속도가 Zero
Vn = 0 ∂ (φI + φD ) ∂φD ∂φ
=0 = − I (on S B )
∂n ∂n ∂n
(on S B )
S B : 침수표면
Vn : 침수표면에 수직인 속도
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산란에 의한 파
Given - Governing Equation : ∇ 2φD = 0
z
- Boundary Condition : ∂φD ∂φD ∂φ
y − ω 2φD + g =0 =− I
∂z ∂n ∂n
Fixed
φD ∝ e  iky , as y → ±∞ (on S B )
Diffraction Wave
Find : φ D
φD 를 직접 구할 수도 있지만, Body Boundary Condition과

Green 2nd Theorem을 사용하여, φD 를 φI 와 φR 로 대체 가능
(radiation potential)
Chap.3에서 계산과정 설명
φD , φk are the solutions of Laplace equation.
Both satisfy ∇ 2φD = 0 , ∇ 2φk = 0
∂φk ∂φ
∫∫φD
S
∂n
dA = ∫∫ φk D dA
S
∂n
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Chap 5.
Load Curve, Shear Force,
Bending Moment
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Load Curve, Shear Force, Bending Moment
- 왜 하는가? → 종강도 계산에 반영
Total shear force 및 Bending moment 구하기
Still water shear forces, Qs, Wave Shear force, Qw,

Still water bending moments, Ms, Bending moment, Mw
1. Weight curve W (x) Hydrostatics Hydrodynamics

2. Buoyancy curve B (x) 선박의 자세에 파랑 상태 하에서 선박에 작용
따른 선박에 작 하는 동적인 힘(모멘트) 계산
3. Load curve q ( x) = W ( x) + B ( x) 용하는 정적인
“Vertical Wave Bending Moment에 반영됨”
4. Shear force curve 힘(모멘트) 계산
Qs = ∫ qdx Class rule
5. Bending moment curve Direct Calculation

M x = ∫ Qs dx
Section Modulus 구하기
Bending Stress ≤ Allowable Bending Stress 아니오 종강도 부재

Shear Stress ≤ Allowable Shear Stress 수정
예
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Ship Structural Design E :young's modulus
I : mass moment of inertia
- Review of Mechanics of materials*
 What we have studied with Beam theory
Load : q ( x) y for example ,
cause q ( x) q
y
x
Bending Moment : M ( x) qL
Deflection : y ( x) L V (=
x) − qx
2
y q( x) qLx qx 2
‘relations’ of load, S.F., B.M., M ( x) M= ( x) −
and deflection V ( x) 2 2
qx
dV ( x)
y ( x) = − ( L3 − 2 Lx 2 + x3 )
dM ( x) 24 EI
= −q( x) , = V ( x)
dx dx
d 2 y ( x) y ( x)
, EI = M ( x) x
dx 2 Freact
< section of Beam>
what is our interest? σ
∆Ai
Stress should meet : < stress on beam section>
 Safety : yi
σ act ≤ σ allow y
M M
Won’t it fail under the load? σ act =
, where=
I y yi Z
Differential equations of the defection curve y : neutral axis

 Geometry :
yi : distance from neutral axis
How much it would be bent d 4 y ( x)
under the load? EI = −q( x) , ( I y : moment of inertia from y)
dx 4
, ( z : section modulus)
Hydrodynamics
*Gere J.M., Mechanics of Materials, 6th edition, Thomson, 2006

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Load : q ( x)

y
cause q ( x)
y q( x)
L

= −q( x) , = V ( x)
dx dx
d 2 y ( x) y ( x)
 Safety : , EI
dx 2
= M ( x)
Freact x

σ act ≤ σ allow
M M
σ act
, where= =
local
 Geometry :
EI = −q( x)
bent under the load? dx 4
a ship
y
z q ( x) *
z
w( x) w(x):weight
x
x x
+
L z b(x):bouyancy
b( x )
stress acting on midship section should be q
what kinds of load x
less than allowable stress
cause M mid ? =
σ act . ≤ σ l
M
, σ act . = mid
q(x)= b(x) – w(x) : Load
Hydrostatics z
q ( x)
Z mid
anything else? x
Allowable stress by Rule:
, σ l = 175 f1 [ N / mm 2 ] Hydrodynamics
Hydrodynamics
*대한조선학회, 선박해양공학개론, 1993, 동명사, p138

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- 선박에 작용하는 힘
z w z
균일 분포 하중
x x
길이 L
RA RB
(Review) 선박에 작용하는 힘

Mx = FBody + FSurface
= FGravity + Fstatic + FF . K + FD + FR (FR = − Ax − Bx )
동적 평형 상태
0 = −Mx + FGravity + Fstatic + FF . K . + FD − Ax − Bx
수직방향 힘성분 (운동 방정식의 3행 성분)
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Surge Pitch
선박의 6자유도 운동방정식에서 Heave-Pitch Motion유도 Heave
x = [ξ1 , ξ 2 , ξ 3 , ξ 4 , ξ 5 , ξ 6 ]
T
 M 0 0 0 MzC − MyC   B11 0 B13 0 B15 0 
 0
 M 0 − MzC 0 MxC  0
 B22 0 B24 0 B26 
 0 0 M MyC − MxC 0  B 0 B33 0 B35 0  Sway Yaw
M=  B =  31  Roll
 0 − MzC MyC I xx 0 − I xz  0 B42 0 B44 0 B46 
 MzC 0 − MxC 0 I yy 0   B51 0 B53 0 B55 0   F1 
   
− MyC MxC 0 − I zx 0 I zz   0 B62 0 B64 0 B66  F 
 2
F 
운동 방정식 : (M + A )x + Bx + Cx = Fexciting Fexciting =  3
 F4 
 F5 
 A11 0 A13 0 A15 0  0 0 0 0 0 0  
0
 A22 0 A24 0 A26  0 0 0 0 0 0  F6 

A 0 A33 0 A35 0  0 0 C33 0 C35 0
A =  31
0 A42 0 A44 0 A46 
 C=
0 0 0 C44 0 0

[F3 ( ) ]
= η 0 FFA. K ,3 + FDA,3 eiωt
 A51 0 A53 0 A55 0  0 0 C53 0 C55 0
    Froude-Krylov Diffraction
 0 A62 0 A64 0 A66  0 0 0 0 0 0
force force
 heave-pitch  M + A33 − MxC + A35  ξ3   B33 B35  ξ3  C33 C35  ξ 3   F3 
  +  + =
Hydrodynamics motion of equation :− MxC + A53 A55 + I xx  ξ5   B53 B55  ξ5  C53 C55  ξ 5   F5 
( yc = 0 으로 가정) National
1) RAO(Response Amplitude Operator) : 1m 파고에 대한
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y
분포 하중 z
q ( x)
x x
길이 L
RA RB
(Review) 선박에 작용하는 힘

Mx = FBody + FSurface
= FGravity + Fstatic + FF . K + FD + FR (FR = − Ax − Bx )
동적 평형 상태
0 = −Mx + FGravity + Fstatic + FF . K . + FD − Ax − Bx
수직방향 힘성분 (운동 방정식의 3행 성분)
( ) ( )
0 = − M ξ3 − xCξ5 + FStatic ,3 + FGravity ,3 + η 0 FFA. K ,3 + FDA,3 e iωt − A33ξ3 − A35ξ5 − B33ξ3 − B35ξ5
= 각 단면에 작용하는 힘을 배 길이 전체에 대해 적분한 값
L L/2
ex) 보 : =
Hydrodynamics
Fload ∫ w( x)dx + RA + RB ex) 중량 : Fstatic ,3 = ∫ m( x) gdx
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- 운동방정식에서 각 성분의 의미
 상하동요 운동 방정식에서 각 성분의 의미 (Review : strip theory & 선박 운동 방정식 유도 과정)
x = x1 z
단면의 상하 동요로 인한 a ( x )
z y z방향 added mass :
33 1
x3 0
x1 x2 단면의 상하 동요로 인한 a35 ( x1 ) = − x1a33
x
  y축 방향 회전 added mass :
y 단면에 작용하는 − a33ξ3 − a35ξ5 = −a33ξ3 + x1a33ξ5
added mass force :
(
(a35 = − xa33 ) = −a33 ξ3 − x1ξ5 )
( ) ( )
0 = − M ξ3 − xCξ5 + η 0 FFA. K ,3 + FDA,3 e iωt − A33ξ3 − A35ξ5 − B33ξ3 − B35ξ5 + FStatic ,3 + FGravity ,3
L/2 − a33 (ξ3 − x2ξ5 )

A33 = ∫−L / 2
a33 ( x) dx
− a33 (ξ3 − x1ξ5 ) − a33 (ξ3 − x3ξ5 )
L/2
A35 = − ∫ xa33 ( x)dx z
−L / 2
 
x
전체 x위치 단면의 x1 x2 x3
부가 질량 단위 길이당
부가 질량
y
Hydrodynamics
(Example of added massSDAL
force)
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 상하동요 운동 방정식에서 각 성분의 의미 (Review : strip theory & 선박 운동 방정식 유도 과정)
x위치 단면의 x위치 단면의

단위 길이당 단위 길이당
(
m( x) ξ3 − xξ5 )
Froude- Diffraction x위치 단면의 x위치 단면의
Froude Diffraction 단위 길이당 단위 길이당
Krylov force Total Total
-Krylov force buoyancy weight
force buoyancy weight
force
m( x ) g
( f 3 ( x) + h3 ( x) )dx (b( x) − m( x) g )dx

L/2 L/2
FFA. K ,3 + FDA,3 = ∫ FBuoyancy ,3 + FGravity ,3 = ∫
−L / 2 −L / 2
( ) ( )
0 = − M ξ3 − xCξ5 + η 0 FFA. K ,3 + FDA,3 e iωt − A33ξ3 − A35ξ5 − B33ξ3 − B35ξ5 + FStatic ,3 + FGravity ,3
b(x)
L/2
M =∫
L/2
∫
L/2
−L / 2
m( x)dx A33 =
−L / 2
a33 ( x) dx B33 = ∫ −L / 2
b33 ( x) dx
− a33 (ξ3 − xξ5 )
L/2
A35 = − ∫
L/2
전체 질량 x위치에서의 xa33 ( x)dx B35 = − ∫ xb33 ( x)dx − b33 (ξ3 − xξ5 )
−L / 2 −L / 2
단위 길이당
질량
전체 x위치 단면의 전체 x위치 단면의
부가 질량 단위 길이당 감쇠 계수 단위 길이당 η 0 ( f F . K , 3 + f D , 3 ) e i ωt
부가 질량 감쇠 계수
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- 하중(Load) 계산
하중(Load) ?
( ) ( )
0 = − M ξ3 − xCξ5 + FStatic ,3 + FGravity ,3 + η 0 FFA. K ,3 + FDA,3 e iωt − A33ξ3 − A35ξ5 − B33ξ3 − B35ξ5
 임의의 x위치(yz단면)에서 단위 길이에 작용하는 수직 방향 힘 성분
y
분포 하중 z
q ( x)
x x
길이 L
RA RB ( q (x) : 단위 길이당 하중)

dx dx
q( x) = w (
q (x) = −m( x) ξ3 − xξ5 )  Mass inertia
+ η 0 ( f 3 ( x) + h3 ( x) )eiωt  Froude-Krylov + Diffraction
( )
− a33 ( x) ξ3 − xξ5  Added mass force
− b33 ( x)(ξ − xξ )

3 5
 Potential damping
+ (b( x) − m( x) g ) Hydrostatic force

+ Structural weight
Hydrodynamics
Heave,Pitch 변위, 가속도와 속도는 운동 방정식으로부터
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 선박의 heave 및 pitch 변위, 속도, 가속도 (파고 η0는 주어지는 값)

- Chap.4 운동방정식으로 부터 구한 Amplitude로 구함
< Amplitude > < 변위 > < 속도 > < 가속도 >
F3A S − F5AQ
ξ3 = η0
A
PS − QR 대입 ξ 3 (t ) = ξ 3Aeiωt 미분 ξ3 (t ) = iωξ 3Aeiωt 미분 ξ3 (t ) = −ω 2ξ 3Aeiωt

ξ = η0
A F5A P − F3A R ξ 5 (t ) = ξ 5Aeiωt ξ5 (t ) = iωξ 5Aeiωt ξ5 (t ) = −ω 2ξ 5Aeiωt
PS − QR
5
 속도, 가속도를 대입한 단위 길이당 수직 하중
( ) ( ) ( )
q ( x) = −m( x) ξ3 − xξ5 + η 0 ( f 3 ( x) + h3 ( x) )e iωt − a33 ξ3 − xξ5 − b33 ξ3 − xξ5 + (b( x) − m( x) g )
( ) ( ) ( )
= m( x)ω 2 ξ 3A − xξ 5A eiωt + η 0 ( f 3 ( x) + h3 ( x) )eiωt + a33ω 2 ξ 3A − xξ 5A eiωt − b33iω ξ 3A − xξ 5A eiωt + (b( x) − m( x) g )
[ ( ) ( ) ( )]
= m( x)ω 2 ξ 3A − xξ 5A + η 0 ( f 3 ( x) + h3 ( x) ) + a33ω 2 ξ 3A − xξ 5A − b33iω ξ 3A − xξ 5A eiωt + (b( x) − m( x) g )
Hydrodynamics
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 단위 길이당 수직 하중
Wave에 의한 힘 및 선박의 운동과 관련 질량과 물에 잠긴 형상에 관련
(Wave load) (Still water load)
[ ( ) ( ) (
q ( x) = m( x)ω 2 ξ 3A − xξ 5A + η 0 ( f 3 ( x) + h3 ( x) ) + a33ω 2 ξ 3A − xξ 5A − b33iω ξ 3A − xξ 5A eiωt + (b( x) − m( x) g ) )]
Mass Froude- Diffraction Added mass Potential Hydrostatic Structural
inertia Krylov force damping force weight
( )
b(x)
ex) t = 0 − a33 ξ3 − xξ5
(본래는 시간에 h3 ( x)
따라 변함: e iωt )
(
− b33 ξ3 − xξ5 ) (
− m( x) ξ3 − xξ5 )
f 3 ( x) m( x ) g
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Load Curve, Shear Force, Bending Moment z
(-)
z
(+)
- 하중(Load) 계산, 모멘트(Moment) 계산 x x
[ ( ) ( ) ( )]
q ( x) = m( x)ω 2 ξ 3A − xξ 5A + η 0 ( f 3 ( x) + h3 ( x) ) + a33ω 2 ξ 3A − xξ 5A − b33iω ξ 3A − xξ 5A eiωt + (b( x) − m( x) g )
Mass Froude- Diffraction Added mass Potential Hydrostatic Structural

inertia Krylov force damping force weight
Mass
inertia  z축 방향 힘의 평형 조건
Structural
∑ FZ = S .F . − ∫ q( x)dx = 0
x1
weight S .F .
z 0
x1
x S .F .( x1 ) = ∫ q ( x)dx = 0
0
B.M .
Hydrostatic  모멘트의 평형 조건(x=x1기준)
force
∑ M x= x1 =B.M . − ∫ S .F . ( x)dx = 0
x1
Froude-Krylov 0
x1
Diffraction B.M .( x1 ) = ∫ S .F .( x)dx
Added mass force
Hydrodynamics
 0
Potential damping
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- 하중(Load) 계산, 모멘트(Moment) 계산
[ ( ) ( ) (
q ( x) = m( x)ω 2 ξ 3A − xξ 5A + η 0 ( f 3 ( x) + h3 ( x) ) + a33ω 2 ξ 3A − xξ 5A − b33iω ξ 3A − xξ 5A eiωt + (b( x) − m( x) g ))]
= qdynamic ( x) + qstatic ( x)
적분
x1 x1 x1
S .F .( x1 ) = ∫ q( x)dx = ∫ qdynamic ( x)dx + ∫ qstatic ( x)dx
A. P . A. P . A. P .
적분
(x대신 적분 변수를 v로 둠)
B.M .( x1 ) = ∫
x1
S .F .( x)dx = ∫
x1
 x q dx + x1  x q (v)dv dx
A. P .  ∫A. P . ∫A.P.  ∫A.P. static
( v ) dv
A. P .
dynamic
 
VWBM SWBM
(Vertical Wave Bending Moment) (Still Water Bending Moment)
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Linked slide
Hydrodynamics
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Green’s 2nd Theorem
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1) Erwin Kreyszig, Advanced Engineering Mathematics, Wiley, 2005, Ch10.7 (pp 458~462)
∂F1 ∂F2 ∂F3
Proof) Green Theorem ∇•F = +
∂x ∂y
+
∂z
Divergence Theorem of Gauss1)
(Theorem 1) Divergence Theorem of Gauss

(Transformation Between Triple and Surface Integrals)
Let T be a closed bounded region in space whose boundary
is a piecewise smooth orientable surface S. z γ
n
S1
F( x, y, z ) : a vector function that is continuous γ S3 n
and has continuous first partial n S2
derivatives in T
y
∫∫∫ ∇ • FdV = ∫∫ F • ndA

x R
(2)
Fig. 250. Example of a special region
T S
Using component, F = [ F1 , F2 , F3 ], n = [cos α , cos β , cos γ ]

∂F1 ∂F2 ∂F3
(2’)
∫∫∫ (
T
+
∂x ∂y
+
∂z
)dxdydz = ∫∫ ( F1 cos α + F2 cos β + F3 cos γ )dA
S
= ∫∫ ( F1dydz + F2 dzdx + F3 dxdy )

Hydrodynamics
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Proof) Green Theorem
Divergence Theorem : ∫∫∫ ∇ • FdV = ∫∫ F • ndA

T S
(Example 4) Let F = f ∇g
  ∂g ∂g ∂g  
LHS : ∇ • F = ∇ • ( f ∇g ) = ∇ •   f ,f ,f  
  ∂x ∂y ∂z  
 ∂f ∂g ∂ 2 g   ∂f ∂g ∂ 2 g   ∂f ∂g ∂2g 
=  + f 2  +  + f 2  +  + f 2 
 ∂x ∂x ∂x   ∂y ∂y ∂y   ∂z ∂z ∂z 
= f ∇ 2 g + ∇f • ∇g
∂g
RHS : F • n = n • F = n • ( f ∇g ) = f (n • ∇g ) = f
∂n
(1) Green’s first formula
∂g
∫∫∫ ( f ∇ g + ∇f • ∇g )dV = ∫∫
2
f dA
Hydrodynamics T S
∂n
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(1) Green’s first formula

∂g
∫∫∫ ( f ∇
2
g + ∇ f • ∇ g )dV = ∫∫ ∂n dA
f
T S
(Example 4) Let F = f ∇g
∂g
∫∫∫ ( f ∇ g +
2
∇ f • ∇ g )dV = ∫∫ ∂n dA
f ①
T S
Let F = g ∇f
∂f
∫∫∫ ( )
g∇ f + ∇g • ∇f dV = ∫∫ g dA
2
②
T S
∂n
(2) Green’s second formula

 ∂g ∂f 
∫∫∫ ( )
f ∇ g − g∇ f dV = ∫∫  f − g dA
2 2
①-②:
T S 
∂n ∂n 
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(2) Green’s second formula

 ∂g ∂f 
∫∫∫ ( )
f ∇ g − g∇ f dV = ∫∫  f − g dA
2 2
T S 
∂n ∂n 
If f , g are the solutions of Laplace equation

Both satisfy ∇ 2 f = 0 , ∇ 2 g = 0
From Green’s 2nd formula, we can derive an equation (3)
 ∂g ∂f 
(3) ∫∫S  f ∂n − g ∂n dA = 0
항을 분리하여, 두 번째 항을 우변으로 넘김
∂g ∂f
(3’) ∫∫
S
f
∂n
dA = ∫∫ g dA
S
∂n
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[참고] 2변수 함수의 전미분
주어진 것: ( x1* , x2* ), f ( x1* , x2* )
f ( x1* + ∆x1 , x 2* + ∆x 2 ) ∂f
dx 2
∂x 2 실제 구해야 하는 것:
f ( x1 , x2 )
f ( x1* + ∆x1 , x2* + ∆x2 )
f ∆f = f ( x1* , x2* ) + ∆f
df
근사적으로 구할 수 있는 것:
f ( x1* , x2* ) ∂f
기울기= f ( x1* , x2* ) + df
∂x2
∂f ∆x1 , ∆x2 가 아주 작다면
x2 기울기=
∂x1
∆f ≅ df 라 볼 수 있음
∂f
∆x 2 = dx 2 dx1
∂x1
x 2 방향의 변화량
( x1* , x 2* ,0) ∆x1 = dx1 ∂f ∂f
df = dx1 + dx2
x1 ∂x1 ∂x2
x1 방향의 변화량
Hydrodynamics
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[참고] 선박의 Heave 운동과 Spring-mass-

damping system의 비교
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Nonlinearity
Nonlinearity of the nature Nonlinear Mathematical Model Numerical Method
Linearization
Linear Mathematical Model Analytic Solution
Ex) Heave Motion of a Ship – step 1
 Mass-Spring-Damper system
Z
k X
M
g ①
k
m : mass
z m
z=F
m g
= Fgravity mg
= −mgk By Newton’s 2nd law,
mz′′ = F
= mgk
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Nonlinearity
Linearization
Ex) Heave Motion of a Ship – step 2 =
Fstatic ∫∫=
SB
P ndS
static ρ gV0k  Archimedes’ Principle Fstatic = ρ gV0k
 Mass-Spring-Damper system
Z
k X
②
M
V0 g
m : mass ρ : density of sea water
V 0 : submerged volume
Fgravity
SB : submerged surface area − ks0
= −mgk
s0
z=F
m 0 m m
k
= Fgravity +Fstatic mg
= −mgk + ρ gV0k
z
= 0= (  z 0) : static equilibrium mz′′ = F
= mgk−ks0k
= 0 ( z ′′ = 0)
: static equilibrium
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Nonlinearity
Linearization
Ex) Heave Motion of a Ship – step 3 Fstatic = ∫∫ Pstatic ndS  Archimedes’ Principle Fstatic = ρ gV0k
SB
Fexternal , static
Z = ρ gV0k + Faddtional bouyancy  Mass-Spring-Damper system
k X additional ③
M buoyancy caused
z by additional
V0 g
displacement z
restoring
Fexternal , static force
m : mass ρ : density of sea water Fgravity if, z is small − ks0 − kz

V 0 : submerged volume s0
SB : submerged surface area Faddtional bouyancy 0
Awp : waterplane area = −mgk k z
m m
z=F
m = − ρ gAWP z z Fexternal
= −kz
mg
= Fgravity +Fstatic +Fexternal , static , static
= −mgk + ρ gV0k − ρ gAwp z +Fexternal , static , k = ρ gAWP

mz′′ = F
= − ρ gAwp z +Fexternal , static = mgk − ks0k − kzk + Fexternal , static
= −kz +Fexternal , static =−kzk + Fexternal ,static
=0 ( z ′′ = 0)
= 0=
( 
z 0)
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Nonlinearity
Linearization
SB
Fexternal , static
Z = ρ gV0k + Faddtional bouyancy  Mass-Spring-Damper system
k X additional ④
M buoyancy caused
z by additional
V0 g
displacement z
Fexternal , static restoring
force
m : mass ρ : density of sea water − ks0 − kz
Fgravity if, z is small
0
s0
SB : submerged surface area Faddtional bouyancy
Awp : waterplane area = −mgk k m
z
m
z=F
m = − ρ gAWP z z Fexternal
mg
= Fgravity +Fstatic +Fexternal , static = −kz
, static
= −mgk + ρ gV0k − ρ gAwp z +Fexternal , static , k = ρ gAWP mz′′ = F

= − ρ gAwp z +Fexternal , static Linearized = mgk − ks0k − kzk +Fexternal , static
Restoring Force = −kzk +Fexternal ,static
= −kz +Fexternal , static , k = ρ gAWP
= 0=
( 
z 0) mz′′ + kz =
0 Oscillation by
the restoring force
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Nonlinearity
Linearization
SB
Z
= ρ gV0k − ρ gAWP z  Mass-Spring-Damper system
k X = ρ gV0k − kz ④
z M
V0 g restoring
force
m : mass ρ : density of sea water Fgravity − ks0 − kz
SB : submerged surface area 0
Awp : waterplane area = −mgk 정수 중 선박의 강제 k m
z m
운동에 의해 발생한 힘
z=F
m z
mg
= Fgravity +Fstatic
= −mgk + ρ gV0k − ρ gAwp z mz′′ = F
= − ρ gAwp z = mgk − ks0k − kzk
Radiation Force = −kzk
= −kz Fradiation = ∫∫ Pradiation ndS
Ship will oscillate forever?
SB mz′′ + kz =
0 Oscillation by
the restoring force
Energy is dissipated by radiation wave
Hydrodynamics
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Nonlinearity
Linearization
SB
Z
z
k X = ρ gV0k − kz ⑤
z M
V0 g
Fradiation = −cz restoring
force
SB : submerged surface area
= −mgk 정수 중 선박의 강제
0 − cz ′
Awp : waterplane area k z
운동에 의해 발생한 힘 m m
z=F
m z z
= Fgravity +Fstatic +Fradiation mg
Dashpot
= −mgk + ρ gV0k − ρ gAwp z −cz
= − ρ gAwp z −cz mz′′ = F
Radiation Force
= mgk −ks0k − kzk −cz′k
= −kz −cz Fradiation = ∫∫ Pradiation ndS
opposite to velocity = −kzk−cz′k
SB
= −cz
c : damping coefficient
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Nonlinearity
Linearization
SB
Z
z z
k X = ρ gV0k − kz ⑤
z M
V0 g
Fradiation = −cz −maz restoring
force
= −mgk 정수 중 선박의 강제
0 − cz ′
Awp : waterplane area k z
운동에 의해 발생한 힘 m m
z=F
m z z
= Fgravity +Fstatic +Fradiation mg
Dashpot
= −mgk + ρ gV0k − ρ gAwp z −cz − maz
= − ρ gAwp z−cz − maz mz′′ = F
Radiation Force = mgk −ks0k − kzk −cz′k
= −kz −cz − maz opposite to velocity Fradiation = ∫∫ Pradiation ndS = −kzk−cz′k
SB
opposite to acceleration = −cz −maz
Hydrodynamics m a : added mass
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Nonlinearity
Linearization
SB
Z
z z
k X = ρ gV0k − kz
z M Fexciting
V0 g
Fradiation = −cz −maz
Fgravity
Awp : waterplane area = −mgk k
z=F
m Wave force
= Fgravity +Fstatic +Fradiation +Fexciting

+
= −mgk + ρ gV0k − ρ gAwp z −cz − maz+Fexciting
Diffraction Force mz′′ = F
= − ρ gAwp z −cz − maz +Fexciting
Froude-Kriloff Force
Fwave exciting = mgk −ks0k − kzk −cz ′k +F0 cos ωt

= −kz −cz − maz +Fexciting = −kzk −cz′k +F0 cos ωt
= ∫∫ Pwave exciting ndS
SB
m a : added mass
(= F exciting )
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Nonlinearity
Linearization
SB
Z
z z
k X = ρ gV0k − kz
z M Fexciting
V0 g
Fradiation = −cz −maz
Fgravity
Awp : waterplane area = −mgk k
z=F
m
= Fgravity +Fstatic +Fradiation +Fexciting
= −mgk + ρ gV0k − ρ gAwp z −cz − maz+Fexciting
mz′′ = F
= − ρ gAwp z −cz − maz +Fexciting
= mgk −ks0k − kzk −cz ′k +F0 cos ωt
= −kz −cz − maz +Fexciting = −kzk −cz′k +F0 cos ωt
(m + ma )
z + cz + kz =
Fexciting c : damping coefficient mz′′ + cz′ + kz =
F0 cos ωt
m a : added mass
Hydrodynamics
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Laplacian in Polar Coordinates
Advanced Ship Design Automation Laboratory,

Seoul National University, 20071)
Dennis G. Zill, Michael R. Cullen, Advanced Engineering Mathematics 3rd Edition,

p.728~p.732, Johns and Bartlett, 2006
Hydrodynamics
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1)Dennis G. Zill, Michael R. Cullen, Advanced
Problems in Polar Coordinates

Engineering Mathematics 3rd Edition, p.728~p.732,
Johns and Bartlett, 2006
 Laplacian in Polar Coordinates1)

 Relation between polar coordinates and
rectangular coordinates are given by
polar coordinate(r,θ)  rectangular coordinate (x,y)

y
x cos θ , y r sin θ
r=
( x, y ) or (r ,θ )
r
rectangular coordinate (x,y)  polar coordinate(r,θ) y
y θ
x + y , tan θ =
r =
2 2 2
x
x x
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 Laplacian in Polar Coordinates

 It is possible to convert the 2-D Laplacian of the
function u, ∇ 2u = u xx + u yy into polar coordinate.
Theorem 9.5
* Chain Rule
∂u ∂u ∂r ∂u ∂θ z = f (u , v) is differentiable and u = g ( x, y ) and v = h( x, y )

ux = = + ur rx + uθ θ x
=
If have
∂x ∂r ∂x ∂θ ∂x
continuous first partial derivatives, then
∂z ∂z ∂u ∂z ∂v ∂z ∂z ∂u ∂z ∂v
= + = +
∂x ∂u ∂x ∂v ∂x ∂y ∂u ∂y ∂v ∂y
∂  ∂u  ∂  ∂u ∂r ∂u ∂θ 
u xx =    +  = z f=
(u , v) f ( g ( x, y ), h( x, y ))
∂x  ∂x  ∂x  ∂r ∂x ∂θ ∂x 
∂  ∂u  ∂r ∂u ∂  ∂r  ∂  ∂u  ∂θ ∂u ∂  ∂θ 
=   +  +   +  
∂x  ∂r  ∂x ∂r ∂x  ∂x  ∂x  ∂θ  ∂x ∂θ ∂x  ∂x 
 ∂  ∂u  ∂r ∂  ∂u  ∂θ  ∂r ∂u ∂ 2 r  ∂  ∂u  ∂r ∂  ∂u  ∂θ  ∂θ ∂u ∂ 2θ
   +    + +   +    +
 ∂r  ∂r  ∂x ∂θ  ∂r  ∂x  ∂x ∂r ∂x  ∂r  ∂θ  ∂x ∂θ  ∂θ  ∂x  ∂x ∂θ ∂x
2 2
 ∂ 2u ∂r ∂ 2u ∂θ  ∂r ∂u ∂ 2 r  ∂ 2u ∂r ∂ 2u ∂θ  ∂θ ∂u ∂ 2θ
=  2 +  + + + 2  +
 ∂r ∂x ∂ θ ∂r ∂x  ∂ x ∂ r ∂x 2
 ∂ r ∂ θ ∂x ∂θ ∂x  ∂x ∂θ ∂x 2
= (urr rx + urθ θ x )rx + ur rxx + (uθ r rx + uθθ θ x )θ x + uθ θ xx

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y
 Laplacian in Polar Coordinates x 2 + y 2 , tan θ =
r2 =
x
Theorem 9.5
* Chain Rule
If z = f (u , v) is differentiable and u = g ( x, y ) and v = h( x, y ) have

∂z ∂z ∂u ∂z ∂v ∂z ∂z ∂u ∂z ∂v
u xx = (urr rx + urθ θ x )rx + ur rxx + (uθ r rx + uθθ θ x )θ x + uθ θ xx = + = +
∂x ∂u ∂x ∂v ∂x ∂y ∂u ∂y ∂v ∂y
= z f=
(u , v) f ( g ( x, y ), h( x, y ))
u x ur rx + uθ θ x
=
∂ 1 2x x
rx ( x 2 + y=
2
) =
∂x 2 x2 + y 2 r
∂  y 1 y y
θ x = arctan  = (− ) =
−
∂x  x y
1 + ( )2 x2 r2
x
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 Laplacian in Polar Coordinates y

x 2 + y 2 , tan θ =
r2 =
x
Theorem 9.5
* Chain Rule
u xx = (urr rx + urθ θ x )rx + ur rxx + (uθ r rx + uθθ θ x )θ x + uθ θ xx If z = f (u , v) is differentiable and u = g ( x, y ) and v = h( x, y ) have

∂z ∂z ∂u ∂z ∂v ∂z ∂z ∂u ∂z ∂v
= + = +
∂x ∂u ∂x ∂v ∂x ∂y ∂u ∂y ∂v ∂y
= z f=
(u , v) f ( g ( x, y ), h( x, y ))
x y
u x ur rx + uθ θ x
= rx = θx = −
r r2
 
∂ x ∂  1  1  1 2x  x2 + y 2 − x2 y 2
rxx =  x =  + x− =
3 
=
∂x  r  ∂x  x + y 
( ) ( )
3 3

2 2
x2 + y 2  2 x +y
2 2
 x +y
2 2 r
 
∂  y ∂  y  2 xy 2 xy
θ=  − =  − = − ( −1) =
∂x  r 2  ∂x  x 2 + y 2  ( )
xx 2 4
x +y
2 2 r
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y
r2 =
x
Theorem 9.5
* Chain Rule
u xx = (urr rx + urθ θ x )rx + ur rxx + (uθ r rx + uθθ θ x )θ x + uθ θ xx If z = f (u , v) is differentiable and u = g ( x, y ) and v = h( x, y ) have

∂z ∂z ∂u ∂z ∂v ∂z ∂z ∂u ∂z ∂v
2 = + = +
x y x y ∂x ∂u ∂x ∂v ∂x ∂y ∂u ∂y ∂v ∂y
∴ u xx= (urr + urθ (− 2 )) + ur 3 = z f=
(u , v) f ( g ( x, y ), h( x, y ))
r r r r x y
rx = θx = −
x y y 2 xy r2
+ (uθ r + uθθ (− 2 ))(− 2 ) + uθ 4 r
r r r r y2 2 xy
rxx = 3 θ xx =
x2 xy y2 xy y2 2 xy r r4
= urr 2 − urθ 3 + ur 3 − uθ r 3 + uθθ 4 + uθ 4
r r r r r r
x2 xy y2 y2 xy
= 2 urr − 2 3 urθ + 4 uθθ + 3 ur + 2 4 uθ
r r r r r
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 Laplacian in Polar Coordinates y

x 2 + y 2 , tan θ =
r2 =
x
y2 y 2 xy
rx =
x
rxx = 3 θx = − θ xx =
In the similar way for y r r2 r4
r
y x
ry = θy = x2 xy y2 y2 xy
r r2 u xx = 2 urr − 2 3 urθ + 4 uθθ + 3 ur + 2 4 uθ
r r r r r
x2 2 xy
ryy = 3 θ yy = − 4
r r
y2 xy x2 x2 xy
u yy = 2 urr + 2 3 urθ + 4 uθθ + 3 ur − 2 4 uθ
r r r r r
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y
r2 =
x
x2 xy y2 y2 xy
u xx = 2 urr − 2 3 urθ + 4 uθθ + 3 ur + 2 4 uθ
r r r r r
y2 xy x2 x2 xy
u yy = 2 urr + 2 3 urθ + 4 uθθ + 3 ur − 2 4 uθ
∴∇ 2=
u u xx + u yy r r r r r
x2 + y 2 x2 + y 2 x2 + y 2 r2 r2 r2
= 2
urr + 4
uθθ + 3
ur = 2 urr + 4 uθθ + 3 ur
r r r r r r
1 1
=urr + ur + 2 uθθ : Laplacian in polar coordinate
r r
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y
r2 =
x
1 1
∇ u = u xx + u yy = urr + ur + 2 uθθ
2
r r
Laplace equation in Polar Coordinates

1 1
∇ u = urr + ur + 2 uθθ = 0
2
r r
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Innovative Ship Design - Ship Motion & Wave Load

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Naval Architecture & Ocean Engineering 서울대학교 조선해양공학과 학부4학년 “창의적 선박설계” 강의 교재

[2009] [09] [10]

Prof. Kyu-Yeul Lee

Department of Naval Architecture and Ocean Engineering,

Chap.1 Loads acting on a ship

Ship Structural Design

‘relations’ of load, S.F., M ( x)

a ship global  Safety : Stress should meet :

Won’t it fail under the

Ship Structural Design

‘relations’ of load, S.F., M ( x)

a ship global  Safety : Stress should meet :

Won’t it fail under the

MS = Still water bending moment

Ship Structural Design

‘relations’ of load, S.F., M ( x)

a ship global  Safety : Stress should meet :

Won’t it fail under the

what kinds of load f cause hull girder moment? =

Hydrostatics Hydrodynamics fW(x) : load in wave

f S ( x) : load in still water fW ( x) : load in wave

b(x) : buoyancy distribution in longitudinal direction =

 Example of 3,700 TEU Container Ship in Homogeneous 10t Scantling Condition

- Loading Condition (Sailing state) in homogeneous 10t scantling condition

- Frame space : 800mm

Deadweight distribution in longitudinal direction

- Deadweight distribution curve in homogenous

 Buoyancy 계산방법  Buoyancy Curve in Homogeneous 10ton Scantling Condition

(1) 수선면 아래의 선박

(2) 면적 길이 방향으로 적분하여 부피

Load Curve f S ( x) =Weight+ Buoyancy

Still Water shear Force

Load Curve fS=

Actual still water shear

x f(x) : Distribution load in longitudinal direction

Pitch ξ5 −a33 ( x) ξ3 − b33 ( x) ξ3

 선박의 6자유도 운동방정식 선박의 Surface force로 작용

ΦR : Radiation wave velocity potential

M A : 6 × 6 added mass matrix =

z′ z O-xyz : Global coordinate system

Mξ3 = ∑ F = FBody + FSurface

z ρgV0 − ρgAwp ⋅ ξ 3 − A33ξ3 − B33ξ3

= − Mg + ( ρgV0 − ρgAwpξ3 ) + Fexciting ,3 − A33ξ3 − B33ξ3

 Surge 운동 방정식 유도  Sway 운동 방정식 유도

∴ ( M + A11 )ξ1 + B11ξ1 = Fexciting ,1 ∴ ( M + A22 )ξ2 + B22ξ2 = Fexciting , 2

ex) For Heave motion ,( M :Mass of ship)

(M + A33 )ξ3 + B33ξ3 + C33ξ3 = Fexciting ,3

Assumption : 시간이 충분히 흘러 steady 상태에서, 선박이 외력의 주파수 ω 와 같은 운동을 함

ξ 3 (t ) = ξ 3Aeiωt Fexciting ,3 = F3Aeiωt = η 0 f 3Aeiωt

 Roll 운동 방정식 유도 I xxξ4 = ∑ M = M Body + M Surface

oy ' z ' : Body fixed coordinate

∴ ( I 44 + A44 )ξ4 + B44ξ4 + ∆ ⋅ GM T ξ 4 = M exciting ,4

 Pitch 운동 방정식 유도  Yaw 운동 방정식 유도

∴ ( I + A55 )ξ5 + B55ξ5 + ∆ ⋅ GM Lξ5 = M exciting ,5

( A55 + I 55 ) ξ5 + B55ξ5 + C55ξ5 =

Assumption : 시간이 충분히 흘러 steady 상태에서, 선박이 외력의 주파수 ω 와 같은 운동을 함

( A55 + I 55 )(−ω 2ξ5Aeiωt ) + B55 ⋅ (iω ξ5Aeiωt ) + C55 ⋅ (ξ5A eiωt ) =

 Translatory displacements of body fixed coordinate in the x-,y-,

( x = xi + yj + zk : position vector with respect to O-xyz coordinate)

d 2x   = T + ′ + R × ′ + 2  R ×  ′ +

 Moment in pitch motion (with respect to y-axis)

 Moment by mass moment of inertia