Ship Stability Course Part 1

Planning Procedure of Naval Architecture and Ocean Engineering
Ship Stability
September 2013
Myung-Il Roh
Department of Naval Architecture and Ocean Engineering

Seoul National University
1
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
Ship Stability
þ Ch. 1 Introduction to Ship Stability

þ Ch. 2 Review of Fluid Mechanics
þ Ch. 3 Transverse Stability
þ Ch. 4 Initial Transverse Stability
þ Ch. 5 Free Surface Effect
þ Ch. 6 Inclining Test
þ Ch. 7 Longitudinal Stability
þ Ch. 8 Curves of Stability and Stability Criteria
þ Ch. 9 Numerical Integration Method in Naval Architecture
þ Ch. 10 Hydrostatic Values
þ Ch. 11 Introduction to Damage Stability
þ Ch. 12 Deterministic Damage Stability
þ Ch. 13 Probabilistic Damage Stability (Subdivision and Damage
Stability, SDS)
2
Ch. 3 Transverse Stability
3
Representation of a Point “P” on the object with respect to
the body fixed frame (decomposed in the body fixed frame)
z, z¢ ( yP¢ , z ¢P ) The position vector of the point P
decomposed in the body fixed frame
Invariant with respect to the body fixed frame
yP¢
P
z ¢P
O, O¢
y, y¢
O¢x¢y¢z ¢ : The body fixed frame

Oxyz : The inertial frame
4
Rotate the object with an angle of ϕ and then represent the
point “P” on the object with respect to the inertial frame.
z ( yP¢ , z ¢P ) The position vector of the point P
z¢ Invariant with respect to the body fixed frame
( yP , z P ) The position vector of the point P

decomposed in the initial frame
yP
Variant with respect to the inertial frame
y¢
yP¢ z ¢P P
zP
O, O¢ f
y

5
Coordinate Transformation of a Position Vector
z ¢P sin f ( yP , z P ) The position vector of the point P

yP P Variant with respect to the inertial frame
y¢
yP¢ z ¢P
yP = yP¢ cos f - z ¢P sin f
zP
yP¢
O, O¢ f
y
yP¢ cos f

6

z ¢P cosyf
¢
yP¢ z ¢P
zP
z P = yP¢ sin f + z P¢ cos f
yP¢ yP¢ sin f
O, O¢ f
y

7

y¢
yP¢ z ¢P
zP
z P = yP¢ sin f + z P¢ cos f
O, O¢ f
y Matrix Form
é yP ù écos f - sin f ù é yP¢ ù

ê z ú = ê sin f cos f ú ê z ¢ ú
ë Pû ë ûë Pû
n n b
O¢x¢y¢z ¢ : The body fixed frame r = R
P b P r
It cannot be too strongly emphasized that
the rotational transformation and the coordinate transformation are important.
8
Representation of a Point “P” on the object with respect to
the body fixed frame (decomposed in the body fixed frame)
é yP ù écos f - sin f ù é yP¢ ù z, z¢
ê z ú = ê sin f ( yP¢ , z ¢P ) The position vector of the point P
ë Pû ë cos f úû êë z P¢ úû decomposed in the body fixed frame
yP¢
P
z ¢P
O, O¢
y, y¢

9
é yP ù écos f - sin f ù é yP¢ ù z
ê z ú = ê sin f ( yP¢ , z ¢P ) The position vector of the point P
ë Pû ë cos f úû êë z P¢ úû decomposed in the body fixed frame

P
é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
yP¢ ê z ú = ê sin -f úê ¢ ú
ë Pû ë ( ) cos ( -f ) û ë zP û
yP
O, O¢ zP
-f y
z ¢P
y¢
10
Change of the total center of mass caused by moving a
load of weight “w” with distance “d” from “g” to “g1”
“Change of z, z¢ ( yG¢ 1 , zG¢ 1 )
the center of mass” The position vector of the changed total center
of mass G1 decomposed in the body fixed frame
g d g1
yG¢ = d yG¢
w
d yG¢ = d
W
yG¢ 1 G1
G , where w is the weight of the
= d yG¢ moving load
zG¢ zG¢ 1
W is total weight of the
object.
y, y¢
11
Rotate the object with an angle of “-ϕ” and then represent
the total center of mass with respect to the inertial frame
w ( yG¢ 1 , zG¢ 1 )
yG¢ = d z
W The position vector of the changed total center of
mass G1 decomposed in the body fixed frame
z¢
( yG1 , zG1 )
The position vector of the changed total center
of mass G1 decomposed in the initial frame
G G1
yG¢ 1
yG1 é yG1 ù écos ( -f ) - sin ( -f ) ù é yG¢ 1 ù
zG1 ê ú=ê úê ¢ ú
z
êë G1 úû ë sin ( -f ) cos ( -f ) û êë zG1 úû
-f zG¢ 1 y
é cos (f ) sin (f ) ù é yG¢ 1 ù
=ê úê ¢ ú
ë - sin ( f ) cos ( f ) û êë zG1 úû
yG1 = yG¢ 1 cos f + zG¢ 1 sin f

y¢
zG1 = - yG¢ 1 sin f + zG¢ 1 cos f
12
Change of the center of buoyancy caused by changing
the shape of immersed volume
“Change of z The position vector of the point B1
( yB¢ 1 , z B¢ 1 )
the center of buoyancy” decomposed in the body fixed frame
z¢
( yB1 , z B1 ) The position vector of the point B1
ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û
O, O¢
-f y
z B1
yB¢ 1
z ¢B1
B yB1 B1
d z ¢B y¢
d yB¢
13
(1) Calculate the initial centroid “B” of the rectangle for z’<0 with respect to the body fixed frame.
(2) Then calculate new centroid “B1” caused by moving a partial triangular area with respect to the
body fixed frame.
z, z¢ The position vector of the point B1

( yB¢ 1 , z B¢ 1 )
B is centroid of “ abcd”
B1 is centroid of “ ebcf”
O, O¢
a z ¢B1 d y, y¢
yB¢ 1 B1
d z ¢B
B
e d yB¢
b c
Oxyz : The inertial frame 14
(3) Rotate the new centroid “B1” with an angle of “-f”(clockwise direction).
(4) Then calculate the position vector of the point “B1” with respect to the inertial frame.
z The position vector of the point B1

( yB¢ 1 , z B¢ 1 )
z¢
( yB1 , z B1 ) The position vector of the point B1
é yB1 ù écos ( -f ) - sin ( -f ) ù é yB¢ 1 ù

ê ú=ê úê ¢ ú
z
êë B1 úû ë sin ( -f ) cos ( -f ) û êë z B1 úû
-f y
z B1 é cos (f ) sin (f ) ù é yB¢ 1 ù
B1 =ê úê ¢ ú
yB¢ 1 ë - sin ( f ) cos ( f ) û êë z B1 úû
z ¢B1
B yB1 yB1 = yB¢ 1 cos f + z B¢ 1 sin f
y¢
z B1 = - yB¢ 1 sin f + z B¢ 1 cos f
15
Application of Rotational
Transformation of
a Position Vector to a Body in Fluid
16
Stability of a ship ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Stable Condition (1/3)
① Apply an external heeling moment to
z , z¢ the ship.
② Then release the external
z¢ moment.
③ Test whether it returns to its initial
equilibrium position.
Heeling
moment h t
G
FG
O, O¢
-f y, y¢
FB
B
B1
y¢
17
i j k i ( yG × FG , z - zG × FG , y ) é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
Stability of a ship r ´F = x yG zG = + j(- xG × FG , z + zG × FG , x ) ê z ú = ê sin -f úê ú
G G G ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Stable Condition (2/3) F G,x FG , y FG , z + k ( xG × FG , y - yG × FG , x )
z Resultant moment about

x-axis through point O ( τ e ) :
z¢
τ e = rG ´FG +rB1 ´FB
Heeling = i ( yG × FG , z - zG × FG , y )
moment h t
+ j(- xG × FG , z + zG × FG , x )
+ k ( xG × FG , y - yG × FG , x )
G é FG , x ù é 0 ù
ê ú ê
+ i ( yB1 × FB , z - z B1 × FB , y )
ú
rG FG = ê FG , y ú = ê 0 ú + j(- xB1 × FB , z + z B1 × FB , x )
O, O¢ êë FG , z úû êë -W úû +k ( xB1 × FB , y - yB1 × FB , x )
-f y
= i ( yG × FG , z - zG × FG , y )
é FB , x ù é 0 ù
rB1 ê ú + i ( yB1 × FB , z - z B1 × FB , y )
FB = ê FB , y ú = êê 0 úú
B B1 êë FB, z úû êë D úû = i ( yG × ( -W ) + yB1 × D)
y¢ If W = D
= i ( yG × ( - D ) + yB1 × D)
= i × D( yB1 - yG )
18
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Stable Condition (3/3)
z , z¢ Resultant moment about
z¢
= i × D( yB1 - yG )
= i × D × GZ
• Transverse Righting Moment
G t r = D × GZ
yG r Z
G FG
O, O¢ The moment arm induced by the
buoyant force and gravitational
-f y, y¢ force is expressed by GZ, where Z
yB1 is the intersection point of the line
of buoyant force(D) through the
rB1 new position of the center of
FB buoyancy(B1) with a transversely
B B1
parallel line to a waterline through
the center of the ship’s mass(G).
y¢
Restoring tr Stable!!
moment
19
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Neutral Condition (1/3)
z , z¢ Suppose G is higher than that of
the stable condition.
z¢
G
FG Heeling
moment h t
O, O¢
-f y, y¢
FB
B
B1
y¢
20
- Neutral Condition (2/3) F G,x FG , y FG , z + k ( xG × FG , y - yG × FG , x )

z¢
G é FG , x ù é
Heeling 0 ù
ê ú ê ú = i ( yG × FG , z - zG × FG , y )
FG ê=moment
F =h t 0
G, y ú ê ú + j(- xG × FG , z + zG × FG , x )
êë FG , z úû êë -W úû
+ k ( xG × FG , y - yG × FG , x )
+ i ( yB1 × FB , z - z B1 × FB , y )
rG + j(- xB1 × FB , z + z B1 × FB , x )
O, O¢ +k ( xB1 × FB , y - yB1 × FB , x )
-f y
= i ( yG × FG , z - zG × FG , y )
rB1 ê ú ê ú + i ( yB1 × FB , z - z B1 × FB , y )
F
FB ê B , y ú = ê 0 ú
=
y¢ If W = D
= i ( yG × ( - D ) + yB1 × D)
= i × D( yB1 - yG )
21
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Neutral Condition (3/3)
z
If G and B1 are on one line,
z¢ calculate resultant moment about
e
x-axis through point O ( τ ) :
G
FG
= i × D( yB1 - yG )
0
rG
O, O¢ yG
-f yB y
1
rB1 Neutral!!
FB
B B1
y¢
22
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Unstable Condition (1/3)
Suppose G is higher than that of the
G z , z¢ neutral condition.
FG z¢
Heeling
moment h t
O, O¢
-f y, y¢
FB
B B
B1
y¢
23
- Unstable Condition (2/3) F G,x FG , y FG , z + k ( xG × FG , y - yG × FG , x )

G x-axis through point O ( τ e ) :
z¢
FG τ e = rG ´FG +rB1 ´FB
éF ù é 0 ù
HeelingG , x = i ( yG × FG , z - zG × FG , y )
ê ú ê 0 ú
= FG , y h
moment
ê t =
ú ê ú + j(- xG × FG , z + zG × FG , x )
êë FG , z úû êë -W úû
rG + k ( xG × FG , y - yG × FG , x )
+ i ( yB1 × FB , z - z B1 × FB , y )
+ j(- xB1 × FB , z + z B1 × FB , x )
O, O¢ +k ( xB1 × FB , y - yB1 × FB , x )
-f y
= i ( yG × FG , z - zG × FG , y )
rB1 ê ú + i ( yB1 × FB , z - z B1 × FB , y )
FB = ê FB , y ú = êê 0 úú
y¢ If W = D
= i ( yG × ( - D ) + yB1 × D)
= i × D( yB1 - yG )
24
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Unstable Condition (3/3)
z If G is so high that G locates on
G the right side of B1, calculate
z¢ resultant moment about x-axis
FG e
through point O ( τ ) :
τ e= rG ´FG +rB1 ´FB

= i × D( yB1 - yG )
yB1 - yG < 0
O, O¢ yG
-f yB
1
y Unstable!!
B B1
FB y¢
25
Stability of a ship according to
relative position between “G”, “B”, and “M” at small angle of inclination
• Righting(Restoring) Moment : Moment to return the ship to the upright floating position
• Stable / Neutral / Unstable Condition : Relative height of G with respect to M is
one measure of stability.
FG
• Stable Condition ( G < M ) • Neutral Condition ( G = M ) • Unstable Condition ( G > M )
FG Z
G
FG M G, Z, M M
G Z
B B1 B B1 FG B B1
FG
FG M G M
K K K G
G Z M
FB B
FB B
FB B
FB FB FB
G: Center of mass K : Keel
B: Center of buoyancy at upright position B1: Changed center of buoyancy
FG : Weight of ship FB : Buoyant force acting on ship
Z : The intersection of the line of buoyant force through B1 with the transverse line through G
M : The intersection of the line of buoyant force through B1 with the centerline of the ship
26
Importance of transverse stability
FG FGFG FG FG F
G
G G
te te
B
B2 B B1
B1
FB0 F FF
B1 FB BF
0BB
12
2
The ship is inclined further from it. The ship is inclined further from it.
The ship is in static equilibrium state. Because of the limit of the breadth, “B” can not
move further. the ship will capsize.
As the ship is inclined, the position of the center of buoyancy “B” is changed.
Also the position of the center of mass “G” relative to inertial frame is changed.
One of the most important factors of stability is the breadth.

So, we usually consider that transverse stability is more important than longitudinal
stability. - Overview of Ship Stability 27
Summary of static stability of a ship (1/3)
te l When an object on the deck moves to

the right side of a ship, the total center of
mass of the ship moves to the point G1, off
the centerline.
l Because the buoyant force and the
FG1 FG1 gravitational force are not on one line, the
G G1 forces induces a moment to incline the
ship.
* We have a moment on this object
relative to any point that we choose.
B It does not matter where we pick a
point.
FB
G: Center of mass of a ship

G1: New position of center of mass after the object on the deck moves
to the right side
FG: Gravitational force of a ship
B: Center of buoyancy at initial position
FB: Buoyant force acting on a ship
B1: New position of center of buoyancy after the ship has been inclined
Z: The intersection of a line of buoyant force(FB) through the new position
of the center of buoyancy (B1) with the transversely parallel line to the
waterline through the center of mass of a ship(G) 28
te
FG F
FGG11
GG G1G
1
BB B1
l The total moment will only be zero

FB FF when the buoyant force and the
BB
gravitational force are on one line. If the
moment becomes zero, the ship is in static
tr equilibrium state.
G1: New position of center of mass after the object on the deck moves
to the right side
of the center of buoyancy (B1) with the transversely parallel line to the
l When the object on the deck returns to the
te initial position in the centerline, the center of
mass of the ship returns to the initial point G.
l Then, because the buoyant force and the
gravitational force are not on one line, the
forces induces a restoring moment to
FG return the ship to the initial position.
G Z
G1 ※ Naval architects refer to the restoring
moment as “righting moment”.
l The moment arm of the buoyant force
B B1 and gravitational force about G is
expressed by GZ, where Z is defined as the
intersection point of the line of buoyant
force(FB) through the new position of the
FB center of buoyancy(B1) with the
transversely parallel line to the waterline
through the center of mass of the ship(G)
tr
G1: New position of center of mass after the object on the deck moves • Transverse Righting Moment
to the right side
t righting = FB × GZ
B1: New position of center of buoyancy after the ship has been inclined l By the restoring moment, the ship
of the center of buoyancy (B1) with the transversely parallel line to the returns to the initial position.
Restoring moment at large angle of inclination (1/3)
M
GZ » GM × sin f
te For a small angle of inclination
FG
(about 7° to 10°)
G //
Z
• The use of metacentric height(GM)
//
as the restoring arm is not valid for
a ship at a large angle of inclination.
B B1
To determine the restoring

FB arm ”GZ”, it is necessary to know
the positions of the center of
tr mass(G) and the new position of the
B: Center of buoyancy in the previous state (before inclination) center of buoyancy(B1).
Z : The intersection of a vertical line through the new position of the
center of buoyancy(B1) with the transversely parallel line to a
waterline through the center of mass(G)
31
M: The intersection point of the vertical line through the center
of buoyancy at previous position (Bi-1) with the vertical line
through the center of buoyancy at present position (Bi) after
inclination
32
M: The intersection point of the vertical line through the center
of buoyancy at previous position (Bi-1) with the vertical line
through the center of buoyancy at present position (Bi) after
inclination
GZ ¹ GM 35 × sin f35
C35
C30
f=35°
G Z
FB ,35
FB ,30
L35
L30
33
Evaluation of Stability
: Merchant Ship Stability Criteria – IMO Regulations for Intact Stability
(IMO Res.A-749(18) ch.3.1)
þ IMO recommendation on intact stability for passenger and cargo ships.
Righting Arm D = const. Area A: Area under the righting arm curve
(GZ) (D: displacement)
between the heel angle of 0° and 30°
Area B: Area under the righting arm curve
between the heel angle of 30° and min(40°, ff )
※ ff : Heel angle at which openings in the hull
GM fm: Heel angle of maximum righting arm
57.3°
※ After receiving approval of
A B calculation of IMO regulation
Angle of heel from Owner and Classification
(f [°])
0 10 20 30 40 50 60 70 80 Society, ship construction can
fm ff proceed.
IMO Regulations for Intact Stability
(a) Area A ≥ 0.055 m-rad
(b) Area A + B ≥ 0.09 m-rad The work and energy
(c) Area B ≥ 0.030 m-rad considerations (dynamic stability)
(d) GZ ≥ 0.20 m at an angle of heel equal to or greater than 30°
(e) GZmax should occur at an angle of heel preferably exceeding
30° but not less than 25°. Static considerations
(f) The initial metacentric height GMo should not be less than 0.15 m.
34
Calculation of the Inclination Angle
Caused by Moving a Load
35
(1) Move a load of weight “w” with distance “d” from “g” to “g1”.
(2) Center of mass is then changed from G to G1.
(3) Because the point G1 and the point B are not on one line, the body will be inclined up to an angle “–ϕ”
so that the point B1 and G1 are on one line. We call this state as “static equilibrium”.

ë P û ë ( ) cos ( -f ) û ë z ¢P û
z, z¢
g d g1
yG¢ 1
G G1
= d yG¢
zG¢ FG
FzG¢
G1
O, O¢
y, y¢
FB
B
36

ë P û ë ( ) cos ( -f ) û ë z ¢P û
z
z¢
G G1
yG¢ 1
FG
O, O¢
-f zG¢ 1 y
FB
B B1
d yB¢ d z ¢B
y¢
37

ë P û ë ( ) cos ( -f ) û ë z ¢P û
z To be equilibrium state,
the heeling moment of FG
z¢ about x-axis must be
equal to the restoring
moment of FB about x-axis.
Resultant moment
about x-axis through
e
point O ( τ )
G yG¢ = d yG¢ should be zero.
rG G1 τ e = rG1 ´FG +rB1 ´FB
O, O¢ é 0 ù
-f F G = êê 0 úú y = i ( yG1 × FG , z - zG1 × FG , y )
êë -W úû + i ( yB1 × FB , z - z B1 × FB , y )
rB1 é0ù
FB = êê 0 úú = i ( yG1 × ( -W ) + yB1 × D)
B B1
êë D úû
=0
d yB¢ d z ¢B
y¢
W × yG1 = D × yB1
38
Calculation of the Heeling(Inclining) Angle ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Heeling(Inclining) Moment
é yG1 ù écos ( -f ) - sin ( -f ) ù é yG¢ 1 ù
W × yG1 = D × yB1 z ê ú=ê úê ú
êë zG1 úû ë sin ( -f ) cos ( -f ) û êë zG¢ 1 úû
z¢ yG1 = yG¢ 1 cos f + zG¢ 1 sin f
zG1 = - yG¢ 1 sin f + zG¢ 1 cos f
M
The heeling(inclining) moment
of FG about x-axis
G yG¢ = d yG¢
( )
= W × yG1
yG1 = W × ( y¢ cos f + z ¢ sin f )

O, O¢
G1 é 0 ù
G1 G1
ê 0 ú
= y yG¢ 1 = d yG¢
-f zG¢ 1 FG êê úú
ë -W û
é0ù
zG¢ 1 = O¢G
FB = êê 0 úú = W × (d yG¢ cos f + O¢G sin f )
B B
êë D úû
1
d yB¢ d z ¢B
y¢
39
Calculation of the Heeling Angle ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Restoring Moment
z The heeling moment of FG
about x-axis
z¢ = W × (d yG¢ cos f + O¢G sin f )
M
é yB1 ù écos ( -f ) - sin ( -f ) ù é yB¢ 1 ù
ê ú=ê úê ú
êë z B1 úû ë sin ( -f ) cos ( -f ) û êë z B¢ 1 úû
yB1 = yB¢ 1 cos f + z B¢ 1 sin f
G z B1 = - yB¢ 1 sin f + z B¢ 1 cos f
d yG¢
G1 é 0 ù The restoring moment of
O, O¢
ê 0 ú
-f =
FG ê ú y FB about x-axis
êë -W úû
é0ù ( )
= D × yB1
yB¢ 1 FB = êê 0 úú
B êë D úû = D × ( y¢ cos f + z ¢ sin f )
yB1 B1
B1 B1
z ¢B1 y¢ yB¢ 1 = d yB¢ , z ¢B1 = -O¢B + d z ¢B

d yB¢ d z ¢B
= D × ( -O¢B sin f + d yB¢ cos f + d z ¢B sin f )
40
The heeling angle can be calculated by equating
the heeling moment and the restoring moment in “Static Equilibrium”. (1/5)
ê z ú = ê sin -f úê ú z The heeling moment of FG
ë P û ë ( ) cos ( -f ) û ë z ¢P û
about x-axis
z¢ = W × (d yG¢ cos f + O¢G sin f )
M The restoring moment ofFG

about x-axis
= D × ( -O¢B sin f + d yB¢ cos f + d z ¢B sin f )
G
d yG¢ W Therefore
yG1 G1 W × (d yG¢ cos f + O¢G sin f )
O, O¢ = D × ( -O¢B sin f + d yB¢ cos f + d z ¢B sin f )
-f y If W =D
z B1
yB¢ 1 d yG¢ cos f + O¢G sin f
z ¢B1 = -O¢B sin f + d yB¢ cos f + d z ¢B sin f
B yB1 B1
d yB¢ d z ¢B
D y¢ To calculate the angle of
inclination,
d yG¢ , O¢G, O¢B, d yB¢ , and d z ¢B
should be known.
41
y
ê z ú = ê sin -f úê ú z d yG¢ cos f + O¢G sin f G 1
ë P û ë ( ) cos ( -f ) û ë z ¢P û = -O¢B sin f + d yB¢ cos f + d z ¢B sin f

z¢ yB1
M How to calculate GZ ?
1. GZ = yB1 - O¢G sin f
??? known
To calculate GZ,
G Z d yB¢ and d z ¢B should be known.
d yG¢
yG1 G1
O, O¢ 2. GZ = KN - KG sin f
??? known
-f y
z B1 KN = KO sin f + yB1
To calculate GZ,
d yB¢ and d z ¢B should be known.
B yB1 B1
d yB¢ , d z ¢B are related to the changed
K N y ¢
d yB¢ d z ¢B volume under the water plane.
42
y
ê z ú = ê sin -f úê ú z d yG¢ cos f + O¢G sin f G 1
ë P û ë ( ) cos ( -f ) û ë z ¢P û = -O¢B sin f + d yB¢ cos f + d z ¢B sin f

z¢ yB1
How to calculate GZ ?
M
In special case, we can simplify
the calculation of GZ.
1. M does not change at small angle of
inclination. (about 7° to 10°)
G Z 2. For wall sided ship, the submerged
d yG¢ volume and emerged volume are same.
yG1 G1 3. Main deck is not submerged and bottom
O, O¢ is not emerged.
-f
z B1 GZ » GM × sin f
GM = KB + BM - KG
B
관계 ID가 rId7인 이미지 부분을 파일에서
찾을 수 없습니다 .
yB1
y¢KB ≒ 51~52% draft Center of gravity
K d yB¢ d z ¢B N How can you get the

of the ship
value of the BM?
To calculate GZ,
BM should be calculated!! 43
Another Approach to Calculate the Heeling Angle:
Assume that the body is not inclined, whereas “the reference waterline” W × (d yG¢ cos f + OG sin f )
is inclined. In this case the gravitational force(W) through point G1 and
buoyant force(Δ) through point B1 are acting normal to “the reference waterline”.
= D × ( -OB sin f + d yB¢ cos f + d z ¢B sin f )
z, z¢
B is centroid of “ abcd” same same
B1 is centroid of “ ebcf” The heeling moment of W
M about longitudinal axis
through point O
= W × (d yG¢ cos f +O¢G sin f )
f
W
d yG¢ G1 The righting moment of D
G about longitudinal axis
through point O
O, O¢ y, y¢
a d = D × (-O¢B sin f +d yB¢ cos f +d z ¢B sin f )
B1
D
d z ¢B
B
e d yB¢
b c
K
é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù Static Equilibrium
ë P û ë ( ) cos ( -f ) û ë z ¢P û z ① Newton’s 2nd law
ma = åF
Emerged
z¢
volume(vs)
= FG + FB = 0 , (Q a = 0)
M ② Euler equation
I w& = åt
= MT ,G + MT , B = 0 , (Q w& = 0)
G FG
d yG¢
yG1 G1 In the case of barge, the submerged
O, O¢ volume and immerged volume are same
-f y at every heeling angle f.
z B1 FG + FB = 0 is always satisfied.
The draft “z” does not need to be adjusted.

B yB1 Moment is the function of f: M = M (f )
d yB¢ d z ¢B
FB y¢
MT ,G (f ) + MT , B (f ) = 0
Submerged
volume(vp)
Wall sided ship: A main deck is not submerged.

MT (f ) = 0
45
é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù Static Equilibrium
ë P û ë ( ) cos ( -f ) û ë z ¢P û z ① Newton’s 2nd law
ma = åF
Emerged
z¢
volume(vs)
= FG + FB = 0 , (Q a = 0)
M ② Euler equation
I w& = åt
= MT ,G + MT , B = 0 , (Q w& = 0)
G FG
d yG¢
O, O¢
yG1 G1 MT ,G (f ) + MT , B (f ) = 0
-f y
z B1
MT (f ) = 0
B yB1
FB y¢ W × (d yG¢ cos f + O¢G sin f )
d yB¢ d z ¢B
-D × ( O¢B sin f + d yB¢ cos f + d z ¢B sin f ) = 0
Submerged Æ Nonlinear function of one variable
d yB¢ = d yB¢ (f ) , d z B¢ = d z B¢ (f ) volume(vp)
How can we solve this problem?

Wall sided ship: A main deck is not submerged.
46
Numerical Method for Solving Nonlinear Equation (1/11)
z
z¢
MT = f1 , f = x MT (f ) = f1 ( x ) M
f1 ( x ) = 0 : Nonlinear function of one variable

G FG
d yG¢
yG1 G1
O, O¢
Given: x ( ) , f1 x (
0
( ) 0) -f
z B1
y
Find: x* , where f1 ( x* ) = 0 B yB1

d yB¢ d z ¢B
FB y¢
Assumption x* = x ( 0) + d x ( 0)
( 0)
Taylor series expansion of f1 at x = x MT (f ) = 0
2
¶f 1 ¶ f1 2
(
f1 x ( 0)
+d x ( 0)
) = f (x )
1
( 0)
+ 1
¶x ( 0)
d x( 0) +
2! ¶ x 2 (d x )
( 0)
+L
x( )
x 0
Linearization
¶f1
( )
f1 x ( 0) + d x ( 0) » f1 x ( 0) + ( ) ¶x x( )
0
d x( 0)
47
MT = f1 , f = x MT (f ) = f1 ( x ) Given: x( 0) , f1 x( 0) ( )
Find: x* , where f1 ( x ) = 0
*
f1 ( x ) = 0 : Nonlinear function of one variable * ( 0)

+ d x( 0)
Assumption: x = x
¶f1
( )
f1 x ( 0) + d x ( 0) = f1 x ( 0) + ( ) ¶x x( )
0
d x( 0) z
z¢
L.H.S (
f1 x ( 0) + d x ( 0) ) = f1 ( x* ) = 0 M
¶f G
0 = f1 x ( ) ( 0)
+ 1
¶x x( )
0
dx ( 0)
O, O¢
yG1
d yG¢
FG
G1
-f y
z B1
¶f
- f1 x ( ) ( 0)
= 1
¶x x( )
0
dx ( 0)
B yB1
y¢
Find d yB¢ d z ¢B
FB
Known Known
MT (f ) = 0
48
MT = f1 , f = x MT (f ) = f1 ( x ) ( )
Given: x( 0) , f1 x( 0)
Find: x* , where f1 ( x ) = 0
*
f1 ( x ) = 0 : Nonlinear function of one variable * ( 0)

+ d x( 0)
Assumption: x = x
¶f1
( )
- f1 x ( 0) =
¶x x( )
0
d x( 0)
Find
Known Known z
z¢
* ( 0) ( 0)
Iteration M
x =x +d x
G FG
! No (1) ( 0)
x = x +d x ( 0)
O, O¢
yG1
d yG¢
G1
f1 ( x ) = 0 Æ Check
* -f y
x* = x (1) + d x (1) z B1
Yes B yB1
y¢
d yB¢ d z ¢B
FB
We found the solution, x* .

MT (f ) = 0
49
If the submerged volume and the emerged volume
are not same, the draft should be adjusted (1/2)
① Apply an external heeling moment to the ship.
② Then release the external moment. Submerged volume te
③ Test whether the ship returns to
W2
its initial equilibrium position. W3
FG Emerged volume
W f L
B1 G
B
L2
FB FB L3
WL: Water plane in the previous state
(initial state before inclination)
W2L2: Water plane after a small angle of heel
W3L3: Adjusted water plane
B1: New position of center of buoyancy
after the water plane is adjusted
For the ship to be in static equilibrium, the magnitude of the buoyant

force has to be equal to the magnitude of the weight: Force equilibrium.
① A ship with triangular section shape is inclined with an angle of f .
② In this case, the submerged volume and the emerged volume are not same.
③ Thus, the draft should be adjusted to maintain same displacement(volume).
50
Static Equilibrium
② Then release the external moment.
① Newton’s 2nd law
its initial equilibrium position. ma = åF
Submerged volume te = FG + FB = 0 , (Q a = 0)
W2 ② Euler equation
W3 Emerged volume
I w& = åt
FG
= MT ,G + MT , B = 0 , (Q w& = 0)
W f L
B1 G In this case, the submerged volume and
immerged volume are not same at the heeling
B angle “Ф”. And the draft “z” should be
L2 adjusted to maintain same displacement.
FB FB L3 It means that the following equations should
be satisfied.
FG ( z , f ) + FB ( z , f ) = 0
M T ,G ( z , f ) + M T , B ( z , f ) = 0
F( z, f ) = 0
: Nonlinear functions of two variables
MT ( z, f ) = 0 51
F( z, f ) = 0 f1 ( x1 , x2 ) = 0
MT ( z, f ) = 0 f 2 ( x1 , x2 ) = 0
f1 ( x1 , x2 ) = 0, f 2 ( x1 , x2 ) = 0 : Nonlinear functions of two variables
Given: x1( ) , x2( ) , f1 x1( ) , x2(

0 0
( 0 0)
) (
, f 2 x1( 0) , x2( 0) )
* *
Find: x1 , x2 , where f1 ( x1* , x2* ) = 0, f 2 ( x1* , x2* ) = 0
* ( 0) ( 0) * ( 0) ( 0)
Assumption x1 = x1 + d x1 , x2 = x2 + d x2
( 0) ( 0)
Taylor series expansion of f1 , f 2 at 1 x = x 1 , x2 = x2
¶f1 ¶f1
(
( 0) ( 0) ( 0) ( 0) ( 0) ( 0)
f1 x1 + d x1 , x2 + d x2 = f1 x1 , x2 + )
¶x1 x(0) , x(0)
(
( 0)
d x1 +
¶x2
) d x2( 0) + L
x1( ) , x2( )
0 0
1 2
¶f 2 ¶f 2
( ) (
f 2 x1( 0) + d x1( 0) , x2( 0) + d x2( 0) = f 2 x1( 0) , x2( 0) + ) ¶x1
d x1( 0) +
¶x2
d x2( 0) + L
x1( ) , x2( ) x1( ) , x2( )
0 0 0 0
52
F( z, f ) = 0 f1 ( x1 , x2 ) = 0
MT ( z, f ) = 0 f 2 ( x1 , x2 ) = 0
( 0) ( 0) ( 0) ( 0)
( ( 0) ( 0)
Given: x1 , x2 , f1 x1 , x2 , f 2 x1 , x2 ) ( )
f1 ( x1 , x2 ) = 0, f 2 ( x1 , x2 ) = 0
Find: x1 , x2 , where f1 ( x1 , x2 ) = 0, f 2 ( x1 , x2 ) = 0
* * * * * *
: Nonlinear functions of two variables * ( 0) ( 0) * ( 0) ( 0)

Assumption: x1 = x1 + d x1 , x2 = x2 + d x2
( 0) ( 0)
Taylor series expansion of f1 , f 2 at 1 x = x 1 , x2 = x2
¶f1 ¶f1
(
( 0) ( 0) ( 0) ( 0) ( 0) ( 0)
f1 x1 + d x1 , x2 + d x2 = f1 x1 , x2 + )
¶x1 x( ) , x( )
( 0)
d x1 + ( ¶x2
) d x2( 0) + L
x1( ) , x2( )
0 0 0 0
1 2
¶f 2 ¶f 2
( ) (
f 2 x1( 0) + d x1( 0) , x2( 0) + d x2( 0) = f 2 x1( 0) , x2( 0) + ) ¶x1
d x1( 0) +
¶x2
d x2( 0) + L
x1( ) , x2( ) x1( ) , x2( )
0 0 0 0
Linearization
¶f1 ¶f1
( ( 0) ( 0)
f1 x1 + d x1 , x2 + d x2 ( 0) ( 0)
) = f (x
1
( 0)
1
( 0)
, x2 ) +
¶x1 x(0) , x(0)
( 0)
d x1 +
¶x2 x(0) , x(0)
d x2( 0)
1 2 1 2
¶f ¶f
( ) (
f 2 x1( 0) + d x1( 0) , x2( 0) + d x2( 0) = f 2 x1( 0) , x2( 0) ) + 2
¶x1 x(0) , x(0)
d x1( 0) + 2
¶x2 x(0) , x(0)
d x2( 0)
1 2 1 2
53
F( z, f ) = 0 f1 ( x1 , x2 ) = 0
MT ( z, f ) = 0 f 2 ( x1 , x2 ) = 0
( 0) ( 0)
(
( 0) ( 0) ( 0) ( 0)
Given: x1 , x2 , f1 x1 , x2 , f 2 x1 , x2 ) ( )
f1 ( x1 , x2 ) = 0, f 2 ( x1 , x2 ) = 0
* * * * * *

¶f1 ¶f
( ) (
f1 x1( 0) + d x1( 0) , x2( 0) + d x2( 0) = f1 x1( 0) , x2( 0) + ) ¶x1 x(0) , x(0)
d x1( 0) + 1
¶x2 x(0) , x(0)
d x2( 0)
1 2 1 2
¶f 2 ( 0 ) ¶f 2
( ) (
f 2 x1( 0) + d x1( 0) , x2( 0) + d x2( 0) = f 2 x1( 0) , x2( 0) ) +
¶x1 x(0) , x(0)
d x1 +
¶x2 x(0) , x(0)
d x2( 0)
1 2 1 2
L.H.S f1 ( x1( ) + d x1( ) , x2( ) + d x2( ) ) = f1 ( x1* , x2* ) = 0

0 0 0 0
( )
f 2 x1( 0) + d x1( 0) , x2( 0) + d x2( 0) = f 2 x1* , x2* = 0
( )
¶f1 ¶f1
(
0 = f1 x1 , x2 ( 0) ( 0)
) +
¶x1 x(0) , x(0)
( 0)
d x1 +
¶x2 x(0) , x(0)
d x2( 0)
1 2 1 2
¶f ¶f
(
0 = f 2 x1( 0) , x2( 0) ) + 2
¶x1 x(0) , x(0)
d x1( 0) + 2
¶x2 x(0) , x(0)
d x2( 0)
1 2 1 2
54
F( z, f ) = 0 f1 ( x1 , x2 ) = 0
MT ( z, f ) = 0 f 2 ( x1 , x2 ) = 0
( 0) ( 0)
(
( 0) ( 0)
) ( ( 0) ( 0)
Given: x1 , x2 , f1 x1 , x2 , f 2 x1 , x2 )
f1 ( x1 , x2 ) = 0, f 2 ( x1 , x2 ) = 0
* * * * * *

¶f1 ¶f1
(
0 = f1 x1( 0) , x2( 0) + ) ¶x1
d x1( 0) +
¶x2
d x2( 0)
x1( ) , x2( ) x1( ) , x2( )
0 0 0 0
¶f 2 ¶f 2
(
0 = f 2 x1( 0) , x2( 0) + ) ¶x1
d x1( 0) +
¶x2
d x2( 0)
x1( ) , x2( ) x1( ) , x2( )
0 0 0 0
Matrix form
é ¶f1 ¶f1 ù
ê
(
é - f1 x1 , x2 ( 0) ( 0)
) ù ê
ú = ê ¶x1 ¶x2 ú
ú
éd x1( 0) ù
ê ( 0) ú
ê - f x( 0) , x( 0) ú ê ¶f 2
êë 2 1 ( 2 ) úû ê
¶f 2 ú êëd x2 úû
ë ¶x1 ¶x2 úû x(0) , x(0)
1 2
55
F( z, f ) = 0 f1 ( x1 , x2 ) = 0
MT ( z, f ) = 0 f 2 ( x1 , x2 ) = 0
( 0) ( 0)
(
( 0) ( 0)
) (
( 0) ( 0)
Given: x1 , x2 , f1 x1 , x2 , f 2 x1 , x2 )
f1 ( x1 , x2 ) = 0, f 2 ( x1 , x2 ) = 0
* * * * * *

é ¶f1 ¶f1 ù
ê
(
é - f1 x1( 0) , x2( 0) ) ù ê
ú = ê ¶x1 ¶x2 ú
ú
éd x1( 0) ù
ê ( 0) ú
ê - f x( 0) , x( 0) ú ê ¶f 2
êë 2 1 ( 2 ) úû ê
¶f 2 ú êëd x2 úû
ë ¶x1 ¶x2 úû x(0) , x(0)
1 2 Find Iteration
Known
Known
x1* = x1( 0) + d x1( 0) , x2* = x2( 0) + d x2( 0)
No (1) ( 0) ( 0)
! ! x1 = x1 + d x1
f1 ( x1 , x2 ) = 0, f 2 ( x1 , x2 ) = 0 Æ Check
* * * *
x2(1) = x2( 0) + d x2( 0)
Yes
* *
We found the solution, x1 , x2 .
56
Calculation of Position and Orientation of a Barge Ship
When Cargo is Moved (1/2)
A cargo, which is loaded on a barge, is moved in -y direction and +x direction as in the figure.
Calculate the change of position and orientation (trim and heel) of the barge.
Plan view O - xyz : Global coordinate system (inertial frame)

Port y , y¢ Æ Centerline of the barge ship at the initial position
Æ It is located at the midship and on the water plane.
O - x¢y¢z ¢: Body fixed coordinate system
Æ It is the same with the global coordinate
After part j Fore part system at the initial position.
i
L
C G0: Center of gravity of the barge before moving the weight
O G0 , B0
g0 x , x¢ B0 : Center of buoyancy of the barge before moving the weight
w g1 g 0 , g1 : Center of gravity of the weight
w : Weight of the cargo
Starboard
Elevation view Section view

After perpendicular
z , z¢ Forward perpendicular
z , z¢
Starboard Port
k G0
After part Fore part k G
0
O i x , x¢ O j y , y¢
Baseline
B0 w g1 w g1 B0 Baseline
K
L
C
57
Calculation of Position and Orientation of a Barge Ship
A cargo, which is loaded on a barge, is moved in -y direction and +x direction as in the figure.
Calculate the change of position and orientation (trim and heel) of the barge.
Section view Elevation view
z z
z¢
z¢
Starboard Port
G0
G1
G0 y¢ G1
k
f y k i x
O B0 j O q
g1 B1 B0
B1
w N w g1 x¢
K
L
C
In the case of barge, the submerged volume and

Static Equilibrium immerged volume are same at every heeling angle f
① Newton’s 2nd law and trim angle q.
ma = åF = FG + FB = 0 , (Q a = 0) FG + FB = 0 is always satisfied.
② Euler equation The draft “z” does not need to be adjusted.

I xxw& x = åt x= MT ,G + MT , B = 0, (Q w& x = 0) Moment is the function of f and q: M = M (f , q )
I yyw& y = åt y= M L ,G + M L , B = 0, (Q w& x = 0) MT ,G (f , q ) + MT , B (f , q ) = 0 MT (f , q ) = 0
M L ,G (f , q ) + M L , B (f , q ) = 0 M L (f , q ) = 0 58
Calculation of Position and Orientation of a Ship
A cargo, which is loaded on a ship, is moved in -y direction and +x direction as in the figure.
Calculate the change of position and orientation (trim and heel) of the ship.
Plan view
After part
After part
z,z'
O,O' y,y'
Starboard
x,x'
10
Starboard Port
j
i
y , y¢
Port
Fore part
CL
Fore part
x , x¢
59
Calculation of Position and Orientation of a Ship
A cargo, which is loaded on a ship, is moved in -y direction and +x direction as in the figure.
Calculate the change of position and orientation (trim and heel) of the ship.
Static Equilibrium
te
W2 ① Newton’s 2nd law
Submerged volume
ma = åF = FG + FB = 0, (Q a = 0)
z,z'
O,O' y,y'
W3 Emerged volume
FG
x,x'
1
W L
② Euler equation
0 f
B1 G I xxw& x = åt x= MT ,G + MT , B = 0, (Q w& x = 0)
B
L2
FB FB L3 I yyw& y = åt y= M L ,G + M L , B = 0, (Q w& x = 0)
In this case, the submerged volume and

immerged volume are not same at the heeling
L
C
angle “f” and trim angle “q”. Thus the draft “z”
z z¢
should be adjusted to maintain same
x displacement (volume).
x It means that the following equations should
G Submerged be satisfied.
FG volume
W1 O L1
FG ( z , f , q ) + FB ( z , f , q ) = 0
q x¢
F O¢,O FB
M T ,G ( z , f , q ) + M T , B ( z , f , q ) = 0
Emerged
관계 ID가 rId26인 이미
M L ,G ( z , f , q ) + M L , B ( z , f , q ) = 0
지 부분을 파일에서 찾
을 수 없습니다 .
volume
B
F( z, f ,q ) = 0
MT ( z , f , q ) = 0 Nonlinear functions
of three variables
M L ( z, f ,q ) = 0 60
F( z, f ,q ) = 0 é F ( q HS ) ù
ê ú
ê T ( HS ) ú = 0
T
MT ( z, f ,q ) = 0 M q where q HS = [ z f q ]
M L ( z, f ,q ) = 0 êë M L ( q HS ) úû
( 0) ( 0) ( 0) ( 0) ùT
Given: F ( q HS ) , M T ( q HS ) , M L ( q HS ) , q HS = éë z f q û
* T
q *
Find: HS ë= é z *
f *
q ùû , where F ( q*HS ) = 0, M T ( q*HS ) = 0, M L ( q*HS ) = 0
( 0)
Assumption z = z
*
+ d z ( 0) , f * = f ( 0) + df ( 0) , q * = q ( 0) + dq ( 0)
é ¶F ¶F ¶F ù
(
é - F z ( 0) , f ( 0) ,q ( 0)) ù ê ¶z ¶f ¶q úú
ê ú ê éd z ( 0) ù
ê - M z ( 0) , f ( 0) ,q ( 0) ú = ê ¶M T ¶M T ¶M T ú ê ( 0) ú
ê T ( ) ú ê ¶z ¶f ¶q úú
êdf ú
ê ( 0) ú
ê ú ê
(
( 0) ( 0) ( 0)
êë - M L z , f , q ) úû ê ¶M L ¶M L ¶M L ú êëdq úû
ê ¶z ¶f ¶q úû z(0) ,f (0) ,q (0)
ë
61
ü Governing equation of hydrostatic equilibrium

T
é F ( q HS ) ù Given: q(HS0) = éë z ( 0) f ( 0) q ( 0) ùû ,
é F ( q HS ) ù é FB ( q HS ) + FG ( q HS ) + Fext ( q HS ) ù
ê ú ( )
F q(HS
0)
( )
, M T q(HS
0)
, M L q(HS
0)
( )
ê T ( HS ) ú = 0
ê ú ê ú
M q where ê M T ( q HS ) ú = ê M BT ( q HS ) + M GT ( q HS ) + M extT ( q HS ) ú ,
êë M L ( q HS ) úû êë M BL ( q HS ) + M GL ( q HS ) + M extL ( q HS ) úû T
êë M L ( q HS ) úû T Find: q*HS = éë z * f * q * ùû
q HS = [ z f q ]
, where F ( q HS ) = 0, M T ( q HS ) = 0, M L ( q HS ) = 0
* * *
é ¶F ¶F ¶F ù Assumption:
(
é - F z (i ) , f (i ) ,q (i ) ) ù ê ¶z ¶q úú
ê ú ê
¶f éd z (i ) ù z * = z ( 0) + d z ( 0) , f * = f ( 0) + df ( 0) ,
ê - M z (i ) , f (i ) ,q (i ) ú = ê ¶M T ¶M T ¶M T ú ê (i ) ú
ê T ( ) ú ê ¶z ¶f ¶q úú
êdf ú
ê (i ) ú
q * = q ( 0) + dq ( 0)
ê ú ê
(
(i ) (i ) (i )
ê ¶z ¶f ¶q úû z(i ) ,f (i ) ,q (i )
ë Find
Known ii == 01 Iteration
To be known
z(
i +1)
= z( ) + d z( ) , f (
i +1)
= f ( ) + df ( ) , q (
i +1)
= q ( ) + dq ( )
i i i i i i
i ¬ i +1
No z* = z ( ) + d z ( )
i i
! ! !
F q(HS (
i +1)
)
= 0, M T q(HS
i +1)
(
= 0, M L q(HS
i +1)
=0Æ) ( ) Check f * = f (i ) + df (i )
Yes q * = q (i ) + dq (i )
z (i +1) , f (i +1) , q (i +1)
* * *
are the solution, z , f , q . 62
ü Governing equation of hydrostatic equilibrium

T
é F ( q HS ) ù Given: q(HS0) = éë z ( 0) f ( 0) q ( 0) ùû ,
é F ( q HS ) ù é FB ( q HS ) + FG ( q HS ) + Fext ( q HS ) ù
ê ú ( )
F q(HS
0)
, M T q(HS
0)
( )
, M L q(HS
0)
( )
ê T ( HS ) ú = 0
ê ú ê ú
M q where ê M T ( q HS ) ú = ê M BT ( q HS ) + M GT ( q HS ) + M extT ( q HS ) ú ,
êë M L ( q HS ) úû êë M BL ( q HS ) + M GL ( q HS ) + M extL ( q HS ) úû T
êë M L ( q HS ) úû T Find: q*HS = éë z * f * q * ùû
q HS = [ z f q ]
, where F ( q HS ) = 0, M T ( q HS ) = 0, M L ( q HS ) = 0
* * *
é ¶F ¶F ¶F ù Assumption:
(
é - F z ( 0) , f ( 0) ,q ( 0)) ù ê ¶z ¶q úú
ê ú ê
¶f éd z ( 0) ù z * = z ( 0) + d z ( 0) , f * = f ( 0) + df ( 0) ,
ê - M z ( 0) , f ( 0) ,q ( 0) ú = ê ¶M T ¶M T ¶M T ú ê ( 0) ú
ê T ( ) ú ê ¶z ¶f ¶q úú
êdf ú
ê ( 0) ú
q * = q ( 0) + dq ( 0)
ê ú ê
(
( 0) ( 0) ( 0)
ê ¶z ¶f ¶q úû z(0) ,f (0) ,q (0)
We have to know the
ë Find partial derivatives
Known
To be known associated with
é ¶FB ¶FG ¶Fext
+ +
¶FB ¶FG ¶Fext
+ +
¶FB ¶FG ¶Fext
+ +
ù hydrostatic equilibrium.
ê ¶z ¶z ¶z ¶f ¶f ¶f ¶q ¶q ¶q ú
ê ú These values are
ê ¶M BT ¶M GT ¶M extT ¶M BT ¶M GT ¶M extT ¶M BT ¶M GT ¶M extT ú related with the
ê ¶z + ¶z + ¶z ¶f
+
¶f
+
¶f ¶q
+
¶q
+
¶q ú
ê ú position and
ê ¶M BL ¶M GL ¶M extL ¶M BL ¶M GL ¶M extL ¶M BL ¶M GL ¶M extL ú orientation of the ship.
ê ¶z + ¶z + ¶z ¶f
+
¶f
+
¶f ¶q
+
¶q
+
¶q ú
ë
û è Nonlinear 63
Orientation of a ship with respect to the different reference frame
Inclination of a ship can be represented either with respect to the water plane fixed
frame(“inertial reference frame”) or the body fixed reference frame.
Are these two phenomena with respect to the different reference frames the same?
Rotation of a ship with respect to the water plane Rotation of a ship with respect to the body fixed
fixed reference frame reference frame
te z' z te z' z
FG
FG
y'
Z G Z G
f y y'
f
B1 B1
y
B B
FB
FB
tr
Same!!
tr
Submerged volume and emerged volume do not change with respect to the frame, that means
volume is invariant with respect to the reference frame. Also is the pressure acting on the ship
invariant with respect to the reference frame.
In addition, the magnitude of the moment arm “GZ” also does not change. However, the position
vectors of the center of mass “G” and the center of buoyancy “B1” are variant with respect to the water
plane fixed reference frame. 64
Water Plane Fixed Reference Frame vs. Body Fixed Reference Frame
How can we calculate ship’s center of buoyancy(B1)?
We can calculate the center of buoyancy with respect to the water plane fixed reference
frame (inertial reference frame).
Alternatively, we can calculate the center of buoyancy with respect to the body fixed
reference frame (non-inertial reference frame).
Method 1. Calculate center of buoyancy B1 directly with Method 2. Calculate center of buoyancy B1 with
respect to the water plane reference fixed frame. respect to the body fixed reference frame, then
transform B1 to the water plane fixed reference frame.
z zn
k (+) z z'
yn
j
t
G G y
x,x’ y f
O,O’ f O,O’ z ¢B1 / O¢ y'
z B1 / O
B B B1
yB¢ 1 / O '
yB1 / O B1
K
O : Origin of the water plane fixed reference frame O : Origin of the water plane fixed reference frame
O’ : Origin of the body fixed reference frame O’ : Origin of the body fixed reference frame
Water plane fixed reference frame Body fixed reference frame 65

Question : How to calculate center of the buoyancy(B1) with respect to water
n plane fixed frame?
é yP / O ù é cos f sin f ù é b yP / O ù
üComparison between Method 1 and Method 2 ên ú=ê ê ú
ë P / O û ë - sin f
z cos f úû ë b z P / O û
Method 1. Calculate center of buoyancy B1 directly Method 2. Calculate center of buoyancy B1 with
with respect to the water plane fixed reference frame. zn respect to the body fixed reference frame, then
k (+) transform B1 to the water plane fixed reference frame.
z j
yn
t z z'
G G y
x,x’ y f
O,O’ f O,O’ z ¢B1 / O¢ y'
z B1 / O
B B yB¢ 1 / O ' B1
yB1 / O B1
K
O : Origin of the water plane fixed frame (n-frame) O : Origin of the water plane fixed frame (n-frame)
O’ : Origin of the body fixed reference frame (b-frame) O’ : Origin of the body fixed reference frame (b-frame)
ü A, M z , M y with respect to the water plane ü A, M A, z ' , M A, y ' with respect to the body fixed
fixed frame frame
dA = dydz A = ò dA dA ' = dy ' dz ' M A, z ' = ò y ' dA M A, y ' = ò z ' dA
M A, z = ò ydA M A, y = ò zdA ü Center of buoyancy with respect to the body

fixed frame æ M A, z ' M A, y ' ö
ü Center of buoyancy with respect to the ( yB¢ 1 / O ' , z B¢ 1 / O ' ) = ç , ÷
è A A ø
water plane fixed frame
æM M ö ü Rotational transformation
( yB1 / O , z B1 / O ) = ç A, z , A, y ÷
è A A ø é yB1 / O ù é cos f sin f ù é yB¢ 1 / O ' ù
ê ú= ê ê ú
cos f úû êë z B¢ 1 / O ' úû
M A, z : The moment of sectional area M A, y : The moment of sectional area
under
Planning the of
Procedure water
Navalplane aboutand
Architecture z-axis under
Ocean Engineering, Fallthe water
2013, plane
Myung-Il Rohabout y-axis êë z B1 / O úû ë - sin f 66
Question : How to calculate center of the buoyancy(B1) with respect to water
n plane fixed frame?
é yP / O ù é cos f sin f ù é b yP / O ù
üComparison between Method 1 and Method 2 ên ú=ê ê ú
ë P / O û ë - sin f
z cos f úû ë b z P / O û
Method 1. Calculate center of buoyancy B1 directly Method 2. Calculate center of buoyancy B1 with
with respect to the water plane fixed reference frame. zn respect to the body fixed reference frame, then
k (+) transform B1 to the water plane fixed reference frame.
z j
yn
t z z'
G G y
x,x’ y f
O,O’ f O,O’ z B1 / O '
z ¢B1 / O¢ y'
z B1 / O
B B yB¢ 1 / O ' B1
yB1 / O B1 yB1 / O '
K
O : Origin of the water plane fixed frame (n-frame) O : Origin of the water plane fixed frame (n-frame)
O’ : Origin of the body fixed reference frame (b-frame) O’ : Origin of the body fixed reference frame (b-frame)
ü A, M z , M y with respect to the water plane ü A, M A, z ' , M A, y ' with respect to the body fixed
fixed frame frame
dA ' = dy ' dz ' M A, z ' = ò y ' dA M A, y ' = ò z ' dA
dA = dydz A = ò dA
ü Center of buoyancy with respect to the body
M A, z = ò ydA M A, y = ò zdA fixed frame æ M A, z ' M A, y ' ö
( yB¢ 1 / O ' , z B¢ 1 / O ' ) = ç , ÷
ü Center of buoyancy with respect to the Same è A A ø
water plane fixed frame
æM M ö ü Rotational transformation Convenient
( yB1 / O , z B1 / O ) = ç A, z , A, y ÷ é yB1 / O ù é cos f sin f ù é yB¢ 1 / O ' ù
è A A ø ê ú= ê ê ú
êë z B1 / O úû ë - sin f cos f úû êë z B¢ 1 / O ' úû 67
Components of the Heeling and
Restoring Moment Described
in the Water Plane Fixed Frame and
the Body Fixed Frame
68
Components of the Heeling Moment Described
in a Water Plane Fixed Reference Frame (1/3)
z, z¢
G
① FG
y, y¢

z, z¢
①+②+③=④
② Fg
g ③ Fg g1
1
d yG¢ G1
G
① FG FG1④
y, y ¢

z, z¢
z¢ ①+②+③=④
② Fg
g ③ Fg g1
1
d yG¢ G1
G
① FG FG1④
y, y ¢
y¢
Components of the Restoring Moment Described
in the Water Plane Fixed Reference Frame (1/4)
z, z¢
O, O¢
y, y¢
①FB
B

z, z¢
①+②+③=④
③Fg1
g1
O, O¢
g ④FB1 y, y¢
B1
②Fg ①FB
d z ¢B
B d yB¢

z, z¢
z¢ ①+②+③=④
③Fg1
g1
O, O¢
g ④FB1 y, y ¢
B1
②Fg ①FB
d z ¢B
B d yB¢
y¢
z
z¢ ①+②+③=④
g
②Fg O, O¢
③Fg1 y
①FB g1
B ④FB1
B1
d yB¢ d z ¢B
y¢
Moment Described in the Water Plane Fixed Reference
Frame and the Body Fixed Reference Frame
Water plane fixed frame ①+②+③=④ Body fixed frame ①+②+③=④
z z¢
z¢ z
y
③Fg
g 1
g1
②F O, O¢ O, O¢
g
③Fg y ④FB y¢
1
g1 g 1
①F ① B1
B ②F
④FB g
FB d z ¢B
B 1
B B d yB¢
d yB¢ d z ¢B 1 Same!!
y¢
Ñ: Displacement volume
v: Changed displacement volume (wedge)
BB1: Distance of changed center of buoyancy
gg1: Distance of changed center of wedge
The moments described in the water plane fixed reference frame can be
described in the body fixed reference frame by decomposing the forces and
moment arms in the body fixed reference frame.
76
Adjustment of the Draft and
Inclination Angle for Unbalanced
Displacement
77
W2
its initial equilibrium position. W3
FG Emerged volume
W f L
B1 G
B
L2
FB FB L3
B1: New position of center of buoyancy
For the ship to be in static equilibrium, the magnitude of the buoyant

force has to be equal to the magnitude of the weight: Force equilibrium.
① A ship with triangular section shape is inclined with an angle of f .
② In this case, the submerged volume and the emerged volume are not same.
③ Thus, the draft should be adjusted to maintain same displacement(volume).
78
Submerged volume te
W2
FG Emerged volume
W f L
B1 G
B
L2
FB
FB
79
Submerged volume te
W2
W3
FG Emerged volume
W f L
B1 G
B2
L2
FBF L3
B
80
its initial equilibrium position.
W3
W4 FG Emerged volume
W f f¢ L
Emerged volume Submerged volume
G L4
B2
B3
FB L3
B1: New position of center of buoyancy tr
For the ship to be in static equilibrium, the buoyant force and gravitational
force have to be on one line, so that the total moment about the transverse
axis through any point becomes 0: Moment equilibrium.
④ Due to the restoring moment, the angle of inclination decreases.
⑤ The submerged volume and the emerged volume are not same.
⑥ Thus, the draft should be adjusted again to maintain the same displacement.
The angle of inclination and the draft are coupled. Iteration is required!
81
Calculation of Center of Buoyancy
with Respect to the Water Plane fixed
Frame and the Body fixed Frame
Example
82
Method ① Direct Calculation of Center of Buoyancy
with Respect to the Water Plane Fixed Frame (1/6)
Example) A ship is inclined about x-axis through origin O with an angle of -30°.
Calculate center of buoyancy with respect to the water plane fixed frame.
• Given: Breadth(B) 20m, Depth(D) 20m, Draft(T) 10m, Angle of Heel(f) -30˚
• Find: Center of buoyancy(yB, zB)
G: Center of mass K: Keel
B: Center of buoyancy B1: Changed center of buoyancy
Section view S z
z,z‘ 20
S z‘
R
20 20
20 R
O O
y,y‘ -30˚ y
B B
10 B1
P
y‘
K
P K Q
Q
83
Example) A ship is inclined about x-axis through origin O with an angle of -30°. S
Calculate center of buoyancy with respect to the water plane fixed frame. z
z
• Given: Breadth(B) 20m, Depth(D) 20m, Draft(T) 10m, Angle of Heel(f) -30˚ 20 ‘ 20
R
O
-30˚ y
Sol.) P, Q, R, and S with respect to the water æM
( yB1 , z B1 ) = ç A, z ,
M A, y ö B
÷
plane fixed frame è A A ø
P B1
K y‘
P( yP , z P ) , for example, is calculated by rotational transformation of P¢( yP¢ , z¢P )
æ yP ö æ cos(-30o ) - sin(-30o ) ö æ yP¢ ö Q
ç ÷=ç o o ÷ç ÷
è z P ø è sin(-30 ) cos(-30 ) ø è z ¢P ø
æ 0.866 0.5 ö æ -10 ö æ -13.66 ö
=ç ÷ç ÷=ç ÷
è -0.5 0.866 ø è -10 ø è -3.66 ø
Q(yQ, zQ), R(yR, zR), and S(yS, zS) are calculated in the same way.
æ yQ ö æ cos(-30o ) - sin(-30o ) ö æ 10 ö æ 3.66 ö

ç ÷=ç o o ÷ç ÷=ç ÷
è zQ ø è sin(-30 ) cos(-30 ) ø è -10 ø è -13.66 ø
æ yR ö æ cos(-30o ) - sin(-30o ) ö æ10 ö æ13.66 ö
ç ÷=ç o o ÷ç ÷=ç ÷
è z R ø è sin(-30 ) cos(-30 ) ø è10 ø è 3.66 ø M A, z : The moment of sectional area
under the water plane about z-axis
æ yS ö æ cos(-30o ) - sin(-30o ) ö æ -10 ö æ -3.66 ö M A, y : The moment of sectional area
ç ÷=ç o o ÷ç ÷=ç ÷ under the water plane about y-axis
z
è ø è
S sin( -30 ) cos( -30 ) ø è 10 ø è 13.66 ø
84
z
R
O
(-3.66, 13.66) -30˚ y
Sol.) Area
æM
( y B1 , z B1 ) = çç A, z ,
M A, y ö
÷÷ S z B
è A A ø
P B1
To obtain the submerged area, the intersection
(13.66,3.66)
K y‘
point between the straight lines PS, QR, and y R
axis have to be calculated. To do this, equation Q
of straight line PS and QR have to be found. T U
Equation of straight line through two points is y
given as follows.
z -z
z - z1 = 2 1 ( y - y1 )
P
y2 - y1 (-13.66,-3.66)
Substituting two points of P, S into the equation of the
straight line
Q
13.66 - (-3.66) (3.66,-13.66)
z - (-3.66) = ( y - (-13.66))
(-3.66) - (-13.66)
Intersection
\ z = 1.732 y + 20 point T T (-11.55, 0)
Equation of straight line of QR can be obtained in the same way

Intersection
\ z = 1.732 y - 20 point U
U (11.55, 0)
85
z
R
O
(-3.66, 13.66) -30˚ y
Sol.) Area
æM
( y B1 , z B1 ) = çç A, z ,
M A, y ö
÷÷ S z B
è A A ø
P B1
(13.66,3.66)
K y‘
We divide the area into 4 part, A1, A2, A3, and A4, R
and calculate each area.
Q
T (-11.55,0) (11.55,0) U
1 A1 A2 y
Area A1 = -11.55 - (-13.66) ´ -3.66
2 A4
= 3.867 P A3
(-13.66,-3.66)
Area of A2, A3, and A4 can be calculated in the same way.
Area A2 = 55.66 Q
(3.66,-13.66)
Area A3 = 86.6
Area A4 = 53.87
86
z
R
O
(-3.66, 13.66) -30˚ y
Sol.) Centroid
æM
( yB1 , z B1 ) = ç A, z ,
M A, y ö
÷ S z B
è A A ø
P B1
(13.66,3.66)
K y‘
Centroid of A1 ( yc _ A1 , zc _ A1 ) can be calculated
as follows.
R
1 Q
yc _ A1 = -11.55 + ( ((-13.66) - (-11.55)) ) T (-11.55,0) (11.55,0) U
3 A1 A2 y
= -12.25 A4
1 P A3
zc _ A1 = -3.66 + (0 - (-3.66)) = -2.44 (-13.66,-3.66)
3
Centroids of A2, A3, and A4 are calculated in the same way. Q

(3.66,-13.66)
( yc _ A2 , zc _ A2 ) = (-3.96, -1.83)
( yc _ A3 , zc _ A3 ) = (-2.11, -6.99)
( yc _ A4 , zc _ A4 ) = (6.29, -4.55)
87
z
R
O
(-3.66, -30˚ y
Sol.) 1st moment of area
æM
( yB1 , z B1 ) = ç A, z ,
M A, y ö
÷ S13.66) z B
è A A ø
B1
P
(13.66,3.66)
K y‘
R
The 1st moments and centroid of the total area
are calculated as follows. M A, z = A ´ yB , M A, y = A ´ z B
1 1 T (-11.55,0) (11.55,0)U Q
A1 A2 y
M A, z M A, y
Area yB1 zB1
AreaⅹyB1 AreaⅹzB1 A4
P A3
A1 3.87 -12.25 -2.44 -47.38 -9.44 (-13.66,-
3.66)
A2 55.66 -3.96 -1.83 -220.24 -101.85
Q
A3 86.60 -2.11 -6.99 -183.01 -605.62 (3.66,-13.66)
A4 53.87 6.29 -4.55 338.78 -245.28
Sum 200.00 -111.85 -962.19
Centroid of total area:

æM M ö æ -111.85 -962. ö
( yB1 , z B1 ) = ç A, z , A, y ÷ = ç , ÷ = ( -0.56, -4.81)
è A A ø è 200 200 ø
88
Method ② First calculate the center of buoyancy with respect to the body fixed frame
and transform the calculated center of buoyancy with respect to the water plane fixed frame (1/3)
Calculate center of buoyancy with respect to the water plane fixed frame. z z‘ 20
S R
y
G: Center of mass K: Keel 20
B: Center of buoyancy B1: Changed center of buoyancy O -30˚
Sol.) æ M ' A, z ' M ' A, y ' ö B1 y‘
Area ( y ' B1 , z ' B1 ) = çç , ÷÷
B
è A A ø
z z 20
S ‘ R
• Total area before heeling P K Q
A2 y
A = 20 ´ 10 = 200 20
A1 O 30˚
B1 y‘
• Changed areas after heeling B
1 A
A1 , A2 = 10 ´ 10 ´ tan 30 = 28.87
2 P K Q
• Total area after heeling
A¢ = A - A1 + A2
= 200 - 28.87 + 28.87 = 200
Area is invariant with respect to frame.
89
S R
y
Sol.) æ M ' A, z ' M ' A, y ' ö B1 y‘
Centroid ( y ' B1 , z ' B1 ) = çç , ÷÷
B
è A A ø
z z 20
S ‘ R
• Centroid of total area before heeling P K Q
A2 y
( yc _ A , zc _ A ) = (0, -5) 20
A1 O 30˚
• Centroids of changed area after heeling B1 y‘
B
2 1
( yc _ A1 , zc _ A1 ) = (- ´ 10, - ´ 10 ´ tan 30o ) A
3 3
= (-6.67, -1.92) P K Q
2 1
( yc _ A 2 , zc _ A 2 ) = ( ´ 10, ´ 10 ´ tan 30o )
3 3
= (6.67,1.92)
90
S R
y
Sol.) æ M ' A, z ' M ' A, y ' ö z z‘ 20 B1 y‘
1st moment of area ( y ' B1 , z ' B1 ) = çç , ÷÷ S R B
è A A ø
The 1st moments and centroid of the total area A2 y

are calculated as follows. M ' A, z = A ´ y 'B , M ' A, y = A ´ z 'B 20
1 1 A1 O 30˚
y‘ P K Q
M A, z¢ M A, y¢ B
B1
Area y’B1 z'B1
Areaⅹy’B1 Areaⅹz’B1
A
A 200.00 0.00 -5.00 0.00 -1000.00
A1 -28.87 -6.67 -1.92 192.45 55.56 P K Q
A2 28.87 6.67 1.92 192.45 55.56
Sum 200.00 384.90 -888.89
Centroid of total area with respect to the body fixed frame
æ M¢ M ¢ ö æ 384.90 -888.89 ö
( yB¢ 1 , z ¢B1 ) = ç A, z , A, y ÷ = ç , ÷ = (1.92, -4.44 )
è A A ø è 200 200 ø
Transform the coordinates of the centroid of total area with respect to the body
Rotational
fixed frame to that with respect to waterplane fixed frame by rotational
transformation transformation
æ yB1 ö æ cos q - sin q ö æ yB¢ 1 ö æ cos( -30o ) - sin( -30o ) ö æ 1.92 ö æ -0.56 ö
çç ÷÷ = ç ÷ çç ¢ ÷÷ = ç o o ÷ç ÷=ç ÷ Same result
z
è 1øB è sin q cos q ø z
è 1ø
B è sin( -30 ) cos( -30 ) ø è -4.44 ø è -4.81 ø
91
Calculation of Center of Buoyancy of Ship with Constant Section
- Comparison of the Results of Method ① and Method ②
S z
z
Method ① Direct calculation of the center of 20 ‘ 20
buoyancy with respect to the water plane
fixed frame R
O
Calculation Result
-30˚ y
æ yB1 ö æ -0.56 ö
B
çç ÷÷ = ç ÷ P B1
è z B1 ø è -4.81 ø y‘
K
Q
Same
z z‘ 20
Method ② Transform the center of S R
buoyancy with respect to the body fixed
frame to that with respect to the water y
plane fixed frame 20
O -30˚
Calculation Result B1 y‘
B
æ yB1 ö æ -0.56 ö
çç ÷÷ = ç ÷
è z B1 ø è -4.81 ø
P K Q
92
[Example] Calculation of Center of Buoyancy (1/16)
A ship with three varied section shape is given. When this ship is inclined about x
axis with an angle of -30° at an intermediate state, calculate y and z coordinates of the
center of buoyancy (with respect to the water plane fixed frame).
• Given: Length(L) 50m, Breadth(B) 20m, Depth(D) 20m, Draft(T) 10m, Angle of Heel(f) -30˚
• Find: Center of buoyancy(y∇,c, z∇, c) after heeling
After part 20
z,z'
O,O' y,y' 20
Starboard 20 20
x,x' 10
10 10
20
20 20 20
10
20
Port 20
10
Fore part
CL 93
• Given: Length(L) 50m, Breadth(B) 20m, Depth(D) 20m, Draft(T) 10m, Angle of Heel(f) -30˚
• Find: Center of buoyancy(y∇,c, z∇, c) after heeling
Solution) z z'
y
-30˚
< Section A1 >
z,z
O,O' y,y' y'
'
z z'
x,
x' y
-30˚
< Section A2 >
y'
z z'
y
-30˚
< Section A3 >
y'
94
Solution) A1 In the same way of previous example, calculate center of buoyancy with respect to the
body fixed frame at first, then transform the center of buoyancy to that with respect to the
z O y
water plane fixed frame. (Method ②)
A2 x
Coordinates of P1, P2, Q1, and Q2 of section A3

• Coordinates of P1, Q1 are given (-5,0), (5,0) by geometric shape.
A3 To find P2 and Q2, calculate equations of straight lines PK and KQ.

The equation of straight line PK z ¢ = -2 y ¢ - 10
z z‘ 20
P Q The equation of straight line KQ z ¢ = 2 y ¢ - 10
• The equation of the inclined line (water plane) with an angle of -30° with respect to the
y
2 -30˚ Q2 body fixed frame is written as follows.
P1 O
0 z ¢ = tan 30 y ¢ = 0.5774 y ¢
P2 B1 Q1 y‘
B
• Intersection points (P2 and Q2) between the inclined line and straight lines (PK and KQ) are
calculated as follows.
K P2(-3.88, -2.24), Q2(7.03, 4.06)
< Section A3 > ※ Area below water plane can be calculated also by Gaussian Quadrature.
95
P1(-5,0), Q1(5,0)
Solution) A1 ①-A3: Sectional area of A3
P2(-3.88, -2.24), Q2(7.03, 4.06)
z O y
A2 x
• Total sectional area before heeling
A( x¢) = ò dA¢ A3_ 0 = 0.5 ´10 ´10 = 50
= òò dy¢ dz ¢ • Changed area after heeling
A3 = å Ai ( x¢) 1 1
A3_1 = (P1 - O) ´ (P2 - O) A3_ 2 = (Q1 - O) ´ (Q 2 - O)
2 2
z z‘ 20 i j k i j k
P Q
=0 -5 0 =0 5 0
y 0 -3.88 -2.24 0 7.03 4.06
2 -30˚ Q2 A3_2
P1 O
0 A3_1 = 5.60 = 10.15
P2 B1 Q1 y‘
B • Total sectional area after heeling
A3¢ = 50 - 5.60 + 10.15 = 54.55(m 2 )
Ak _ i ( x¢) : Partial area of section at x'
K
A3_0 A k ( x¢) : Sectional area at x’
< Section A3 > After inclination of the ship, the emerged area and the submerged area of the triangle
section are not same. That means it does not satisfy static equilibrium condition. Therefore,
the water plane of the ship should be adjusted. 96
Solution) A1 ②-A3: 1st moment of area of section A3

z O y • Calculate 1st moment of area to obtain the centroid of section A3 with respect to the body
A2 x fixed frame. M A , z = A ´ yc¢ _ 3 _ i , M A , y = A ´ zc¢ _ 3 _ i
3 ¢ 3 ¢
M A , z¢ M A , y¢
M ¢
= y dy dz ¢ ¢ Area y ¢ z ¢ 3
Ak , z¢ òò c _ 3_ i c _ 3_ i
3
Area´y'c_3_i Area´z'c_3_i
① A3_0 50.00 0.00 -3.33 0.00 -166.67
A3 = yc¢ _ k × Ak ( x¢) ② A3_1 5.60 -2.96 -0.75 -16.57 -4.18
= å yc¢ _ k _ i × Ak _ i ( x¢) ③ A3_2 10.15 4.01 1.35 40.69 13.73
z z‘ 20 ①-②+③ 54.55 57.26 -148.76
P Q
MA : 1st moment of area of MA : 1st moment of area of
3 , z¢ 3 , y¢
y the section A3 about the the section A3 about the
2 -30˚ Q2 A3_2 z' axis in y’ direction y' axis in z’ direction
P1 O
0
P2 B1 Q1 y‘ A3_1 • Centroid of section A3 with respect to the body fixed frame is calculated as
B follows.
æ M A3 , z ¢ M A3 , y ¢ ö
( yc¢ _ 3 , zc¢ _ 3 ) = ç , ÷
ç Area A Area A ÷
K è 3 3 ø
A3_0 æ 57.26 -148.76 ö

< Section A3 >
=ç , ÷ = (1.05, -2.73)
è 54.55 54.55 ø
97
Solution) A1 ①-A2, ②-A2: Sectional area and 1st moment of area of section A2
z O y
A2 x
• Calculate the 1st moment of area in order to know centroid of section A2 with respect to
the body fixed frame. M A , z = A ´ yc¢ _ 2 _ i , M A , y = A ´ zc¢ _ 2 _ i
2 ¢ 2 ¢
M A , z¢ MA
2, y¢
Area yc¢ _ 2 _ i zc¢ _ 2 _ i
A3 M A , z¢ = òò y¢ dy¢ dz ¢ 2
k
A2_0 200.00 0.00 -5.00 0.00 -1000.00
z z' = yc¢ _ k × Ak ( x¢) A2_1 -28.87 -6.67 -1.92 192.45 55.56
= å yc¢ _ k _ i × Ak _ i ( x¢) A2_2 28.87 6.67 1.92 192.45 55.56
Sum 200.00 384.90 -888.89
y
M A , z¢ : 1st moment of area of M A , y¢ : 1st moment of area of
A2_1 A2_2 2 the section A2 about the 2
section A2 about y' axis
y' z' axis in y’ direction
• Centroid of section A2 with respect to body fixed frame is calculated as follows.
A2_0 æ M A3 , z ¢ M A3 , y ¢ ö æ 384.90 -888.89 ö

( yc¢ _ 2 , zc¢ _ 2 ) = ç ,
ç Area A Area A
÷=ç
÷ è 200
, ÷ = (1.92, -4.44 )
< Section A2 > è 2 2 ø 200 ø
98
Solution)
A1 Coordinates of R1, R2, S1, and S2 of section A1
z O y
A2 x
• Coordinates of R1 and S1 are given as (-7.5,0), (7.5,0) by geometrical shape.

• Calculate equations of straight lines RR3 and SS3 to find R2 and S2.
A3 The equation of straight line RR3 z ¢ = -4 y ¢ - 30

The equation of straight line SS3 z ¢ = 4 y ¢ - 30
z z‘ 20
R S • The equation of the inclined line (water plane) with an angle of -30°
with respect to the body fixed frame is as follows.
-30˚ S y
2
20 R1 O z ¢ = tan 30 y ¢ = 0.5774 y ¢
B1 S1 y‘
R2 • Intersection points R2 and S2 between the inclined line and straight lines RR3 and SS3
B
can be calculated as follows.
R3 S3 R2(-6.55,-3.78), S2(8.77,5.06)
K
10
< Section A1 >
99
R1(-7.5,0), S1(7.5,0)
Solution) ①-A1: Sectional area of section A1 R2(-6.55, -3.78), S2(8.77, 5.06)
A1
z O y
• Total sectional area before heeling
A2 x
Ak ( x¢) = ò dA¢ A 1_ 0 = 0.5 ´ (15 + 10) ´10 = 125
= òò dy¢ dz ¢ • Changed area after heeling
1 1
= åAk _ i ( x¢) A 1_1= ( R1 - O) ´ ( R 2 - O) A1_ 2 = (S1 - O) ´ (S 2 - O)
A3 i 2 2
i j k i j k
z z‘ 20 = 0 -7.5 0 = 0 7.5 0
R S
0 -6.55 -3.78 0 8.77 5.06
y A1_2
-30˚ S2 = 14.19 = 18.98
20 R1 O A1_1
B1 S1 y‘ • Total sectional area after heeling
R2
B
R3 S3
A1¢ = 125 - 14.19 + 18.98 = 129.79(m 2 )
K
10 A1_0 After inclination of the ship, the emerged area and the submerged
area of the triangular section are not same. That means it does not
< Section A1 >
satisfy static equilibrium condition. Therefore, the water plane of
the ship should be adjusted. 100
R1(-7.5, 0), S1(7.5, 0) ※ Centroid of a triangle

Solution) Centroid of section A1 R2(-6.55, -3.78), S2(8.77, 5.06) y1 + y2 + y3 z1 + z2 + z3
A1 =( , )
(We divide the trapezoid into R3(-5.0, -10.0), S3(5.0, -10.0) 3 3
z O y
two triangles)
A2 x -7.5 - 5.0 + 5.0 0 - 10.0 - 10.0
15 Cetroid of A1_ 0 _1 = ( , )
3 3
A1_0_2 = (-2.5, -6.67)
A3 10 Area of A1_ 0 _1 = 0.5 ´10 ´10
A1_0_1
A1_0 = 50
z‘ 20 10
z -7.5 + 7.5 + 5.0 0 + 0 - 10.0
R S Cetroid of A1_ 0 _ 2 =( , )
3 3
y A1_2 = (1.67, -3.33)
-30˚ S2
20 R1 O A1_1 Area of A1_ 0 _ 2 = 0.5 ´15 ´10
B1 S1 y‘
R2 = 75
B
R3 S3 -2.5 ´ 50 + 1.67 ´ 75 -6.67 ´ 50 - 3.33 ´ 75
Cetroid of A1_ 0 = ( , )
K 125 125
10 A1_0
< Section A1 > = (0, -4.67)
101
R1(-7.5, 0), S1(7.5, 0) ※ Centroid of a triangle

Solution) Centroid of section A1 R2(-6.55, -3.78), S2(8.77, 5.06) y1 + y2 + y3 z1 + z2 + z3
A1 =( , )
R3(-5.0, -10.0), S3(5.0, -10.0) 3 3
z O y
A2 x
Cetroid of A1_ 0 = (0, -4.67)
A3 0 - 7.5 - 6.55 0 + 0 - 3.78

Cetroid of A1_1 = ( , )
z‘ 20
3 3
z
R S = (-4.68, - 1.26)
y A1_2
-30˚ S2
20 R1 O A1_1 0 + 7.5 + 8.77 0 + 0 + 5.06
R2 B1 S1 y‘ Cetroid of A1_ 2 = ( , )
B 3 3
R3 S3 = (5.42, 1.69)
K
10 A1_0
< Section A1 >
102
Solution) ②- A1: 1st moment of area of section A1

A1 • Calculate the 1st moment of area in order to know centroid of section A1 with respect to
z O y the body fixed frame. M A , z = A ´ yc¢ _1_ i , M A , y = A ´ zc¢ _1_ i
1 ¢ 1 ¢
A2 x
M A , z¢ M A , y¢
M = y¢ dy¢ dz ¢ Area yc¢ _1_ i zc¢ _1_ i 1
A, z¢ òò 1
① A1_0 125.00 0.00 -4.67 0.00 -583.34
= yc¢ × Ak ( x¢)
② A1_1 14.19 -4.68 -1.26 -66.48 -17.90
A3
= å yc¢ _ i × Ai ( x¢) ③ A1_2 18.98 5.42 1.69 102.90 32.02
①-②+③ 129.79 169.38 -533.42
z z‘ 20
R S M A , z¢ : 1st moment of area of M A , y¢ : 1st moment of area of
1 1
the section A1 about the the section A1 about the
y A1_2 z' axis in y’ direction y' axis in z’ direction
-30˚ S2
20 R1 • Centroid of section A1 with respect to the body fixed frame is
O A1_1 calculated as follows.
B1 S1 y‘
R2 æ M A1 , z ¢ M A1 , y ¢ ö
B
( yc¢ _1 , zc¢ _1 ) = ç , ÷
R3 ç Area A Area A ÷
S3 è 1 1 ø
K æ 169.38 -533.42 ö
10 A1_0 =ç , ÷ = (1.31, -4.11)
è 129.79 129.79 ø
< Section A1 >
103
Solution) ③ Displacement volume A1

z O y
A2 x
Area of this curve Ñ = ò dV = òòò dx¢ dy¢ dz ¢

Area Æ Volume(∇)
200 Ñ = ò Adx '
= òòò dz ¢ dy¢ dx¢
A3
F .P
=ò A( x¢) dx¢
A. P
129.79
54.55 • Displacement volume can be calculated by
integration of sectional area in longitudinal
A1 A2 A3 direction.
50
Ñ=ò A( x¢) dx¢ = 7,304(m3 )
0 25 50 0
x'
104
Solution) A1
④-1: Transverse moment of displaced volume (Body fixed frame)
z O y
A2 x
M A, z ' M A 2 , z ' M Ñ ,z¢ = òòò y¢ dy¢ dz ¢ dx¢

384.9 Area of this curve F .P A3
Æ Transverse =ò ( yc¢ × A( x¢)) dx¢
A. P
moment of volume
M A1 , z ' M Ñ , z ' = ò M A, z ' dx ' = yÑ¢ ,c ×Ñ
169.38
M A3 , z '
57.26 After finding each transverse moment of the sectional area about the z’
0 25 50 axis(MA,y'), the transverse moment of the displaced volume can be
x' obtained by integration of the transverse moment of the sectional area
over the length of ship.
50
M A, z¢ : Transverse moment of area about z' axis M Ñ, z ' = ò M A, z ' dx¢ = 12, 455(m 4 )
0
M A, y¢ : Vertical moment of area about y' axis
105
Solution) A1
④-1: Transverse moment of displaced volume (Body fixed frame)
z O y
A2 x
M A, y ¢
0 25 50 M Ñ , y¢ = òòò z ¢ dy¢ dz ¢ dx¢
M A 3 , y¢ x' F .P A3
=ò ( zc¢ × A( x¢))dx¢
-148.76 A. P
Area of this curve = zÑ¢ ,c ×Ñ

-533.42
Æ Vertical
M A1 , y¢
moment of
volume
M A 2 , y¢ M Ñ , y ' = ò M A, y ' dx ' After finding each vertical moment of the sectional area about the y’
-888.89 axis(MA,z), the vertical moment of the displaced volume can be obtained
by integration of the vertical moment of the sectional area over the
length of ship.
50
M A, y¢ : Transverse moment of area about z' axis M Ñ , y¢ = ò M A, y¢ dx¢ = -30, 794(m 4 )
0
M A, z¢ : Vertical moment of area about y' axis
106
Solution) ⑤ Center of buoyancy (Body fixed frame)
• Center of buoyancy can be calculated if we divide transverse and vertical moment by displaced volume.
M Ñ ,z¢ òòò y¢ dy¢ dz ¢ dx¢

yÑ¢ ,c = = æ M M Ñ, y ' ö
( yÑ¢ , c , zÑ¢ , c ) = ç TCB = Ñ , z ' , VCB = ÷
Ñ òòò dx¢ dy¢ dz¢ è Ñ Ñ ø
æ 12, 455 -30, 794 ö
z ¢ dy¢ dz ¢ dx¢ =ç , ÷ = (1.71, -4.21)
zÑ¢ ,c =
M Ñ , y¢
=
òòò è 7,304 7,304 ø
Ñ òòò dx¢ dy¢ dz¢ • Center of buoyancy with respect to the water
plane fixed frame, then, can be obtained by
rotational transformation.
107
Solution) ⑥ Center of buoyancy (Water plane fixed frame)
• Center of buoyancy with respect to the

water plane fixed frame can be obtained by
rotational transformation.
æ yÑ , c ö æ cos f - sin f ö æ yÑ¢ , c ö

ç ÷=ç ÷ç ÷
z
è Ñ , c ø è sin f cos f ø è zÑ¢ , c ø
æ yÑ , c ö æ cos f - sin f ö æ 1.71 ö

ç ÷=ç ÷ç ÷
z
è Ñ , c ø è sin f cos f ø è -4.21ø
æ cos(-30) - sin(-30) ö æ 1.71 ö æ -0.63 ö
=ç ÷ç ÷=ç ÷
è sin( -30) cos( -30) øè -4.21 ø è -4.50 ø
108
A1
[Example] Summary of z O y
A2
Calculation of Center of Buoyancy of a Ship
x
① Sectional area of each section ③ Displacement volume

(Body fixed frame) (Body fixed frame) A3
A( x¢) = ò dA = òò dy¢ dz ¢ Ñ = ò dV ⑤ Center of buoyancy
(Body fixed frame)
= òòò dz ¢ dy¢ dx¢
F .P M Ñ ,z¢ òòò y¢ dz ¢ dy¢ dx¢
=ò A( x¢) dx¢ yÑ¢ ,c = =
A. P Ñ òòò dz¢ dy¢ dx¢
② 1st moment of area of ④ 1st moment of F .P
A( x¢) × yc¢ dx¢
each section displacement volume =
ò A. P
F .P
(Body fixed frame) (Body fixed frame) A( x¢) dx¢
ò A. P
M A, z¢ = òò y¢ dy¢ dz ¢ M Ñ ,z¢ = òòò y¢ dz ¢ dy¢dx¢

F .P M Ñ , y¢ òòò z ¢ dz ¢ dy¢ dx¢
= yc¢ × A( x¢) =ò ( yc¢ × A( x¢)) dx¢ zÑ¢ ,c = =
A. P
• Integration of the area moment

Ñ òòò dz¢ dy¢ dx¢
F .P
over ship’s length ò A( x¢) × zc¢ dx¢
A. P
= F .P
ò A( x¢) dx¢
M A, y¢ = òò z ¢ dy¢ dz ¢ M Ñ , y = òòò z ¢ dz ¢ dy¢ dx¢ A. P
F .P
= zc¢ × A( x¢) =ò ( zc¢ × A( x¢))dx¢
A. P ⑥ Center of Buoyancy
(Waterplane fixed frame)
A( x¢) : Sectional area at x’
( yc¢ , zc¢ ) : Centroid of section at x'
æ yÑ , c ö æ cos f - sin f ö æ yÑ¢ , c ö
ç ÷=ç ÷ç ÷
( yÑ¢ , c , zÑ¢ , c ) : Center of displaced volume z
è Ñ , c ø è sin f cos f ø è zÑ¢ , c ø
109
Reference Slides
110
How does a ship float? (1/3)
þ The force that enables a ship to float Æ “Buoyant Force”

n It is directed upward.
n It has a magnitude equal to the weight of the fluid which is displaced
by the ship.
Ship
Ship
Water tank
Water
111
þ Archimedes’ Principle
n The magnitude of the buoyant force acting on a floating body in the
fluid is equal to the weight of the fluid which is displaced by the
floating body.
n The direction of the buoyant force is opposite to the gravitational
force.
Buoyant force of a floating body
= the weight of the fluid which is displaced by the floating body (“Displacement”)
Æ Archimedes’ Principle
þ Equilibrium State (“Floating Condition”)
n Buoyant force of the floating body W D = -W = -rgV
= Weight of the floating body
G
\Displacement = Weight
G: Center of gravity
B: Center of buoyancy B
W: Weight, D: Displacement
r: Density of fluid
V: Submerged volume of the floating body
(Displacement volume, Ñ) D
112
þ Displacement(D) = Buoyant Force = Weight(W)
D = L × B × T × CB × r T: Draft
CB: Block coefficient
r: Density of sea water
= W = LWT + DWT LWT: Lightweight
DWT: Deadweight
þ Weight = Ship weight (Lightweight) + Cargo weight(Deadweight)

Ship
Ship
Water
113
[Reference] Area, Moments, Centroid, and Moments of Inertia
y f 2 ( x)
dA
dy
dx
x y
f1 ( x)
O x1 x2 x
x2 f2 ( x ) x2 æ My Mx ö
ü Area Area = ò dA = ò dydx = ò ( f 2 ( x) - f1 ( x))dx ü Centroid ( xc , yc ) = ç ,
S
x1 ò f1 ( x ) x1
è Area Area
÷
ø
ü 1st moment of area about x axis, Mx
x2 f2 ( x ) x2 1
M x = ò ydA = ò ò ydydx = ò ( f 2 ( x) 2 - f1 ( x) 2 )dx
S
x1 f1 ( x ) x1 2
ü 1st moment of area about y axis, My
x2 f2 ( x ) x2 f2 ( x ) x2
M y = ò xdA = ò ò xdydx = ò x × ò dydx = ò x × ( f 2 ( x) - f1 ( x))dx
x1 f1 ( x ) x1 f1 ( x ) x1
S
ü 2nd moment of area (moment of inertia) about x axis, Ix

x2 f 2 ( x ) x2 1
I x = ò y 2 dA = ò ò y 2 dydx = ò ( f 2 ( x)3 - f1 ( x)3 )dx
x1 f1 ( x ) x1 3
S
ü 2nd moment of area (moment of inertia) about y axis, Iy

x2 f2 ( x ) x2 f2 ( x ) x2
I y = ò x 2 dA = ò ò x 2 dydx = ò x 2 × ò dydx = ò x 2 × ( f 2 ( x) - f1 ( x))dx
x1 f1 ( x ) x1 f1 ( x ) x1
S 114
y f 2 ( x)
[Reference] Area, Moments, Centroid, and Moments of Inertia
dA
- Transverse Moment of Inertia (IT) dy
dx
x y
2nd moment of water plane area f1 ( x)
O x1 x2 x
(Transverse Moment of Inertia (IT))
x2 f2 ( x ) x2 1
about x axis through point O: I x = ò y 2 dA = ò ò y 2 dydx = ò ( f 2 ( x)3 - f1 ( x)3 )dx
y dA S
x1 f1 ( x ) x1 3
b(x) dy
dx
y
O L x
x1 ® 0, x 2 ® L, f1 ( x) ® 0, f 2 ( x) ® b( x)
L b( x) L é {b( x)}3 ù
IT = ò y 2 dA = ò ò y 2 dy dx = ò ê ú dx
0 0 0
êë 3 úû
L 0 L é {-b( x)}3 ù 3
L é {b( x )} ù
On the other side :
ò ò y 2 dy dx = ò ê0 - ú dx = ò ê ú dx
0 -b ( x ) 0
êë 3 úû 0
êë 3 úû
2nd moment of 2 L 3
waterplane area IT = ò {b( x)} dx
about x axis 3 0
115

Ship Stability Course Part 1

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Ship Stability Course Part 1

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Planning Procedure of Naval Architecture and Ocean Engineering

Department of Naval Architecture and Ocean Engineering

þ Ch. 1 Introduction to Ship Stability

O¢x¢y¢z ¢ : The body fixed frame

( yP , z P ) The position vector of the point P

O¢x¢y¢z ¢ : The body fixed frame

z ¢P sin f ( yP , z P ) The position vector of the point P

O¢x¢y¢z ¢ : The body fixed frame

( yP , z P ) The position vector of the point P

O¢x¢y¢z ¢ : The body fixed frame

( yP , z P ) The position vector of the point P

é yP ù écos f - sin f ù é yP¢ ù

O¢x¢y¢z ¢ : The body fixed frame

( yP , z P ) The position vector of the point P

yG1 = yG¢ 1 cos f + zG¢ 1 sin f

z, z¢ The position vector of the point B1

z The position vector of the point B1

é yB1 ù écos ( -f ) - sin ( -f ) ù é yB¢ 1 ù

z Resultant moment about

z Resultant moment about

z Resultant moment about

τ e= rG ´FG +rB1 ´FB

One of the most important factors of stability is the breadth.

te l When an object on the deck moves to

G: Center of mass of a ship

l The total moment will only be zero

To determine the restoring

é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù

é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù

é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù

yG1 = W × ( y¢ cos f + z ¢ sin f )

z ¢B1 y¢ yB¢ 1 = d yB¢ , z ¢B1 = -O¢B + d z ¢B

M The restoring moment ofFG

ë P û ë ( ) cos ( -f ) û ë z ¢P û = -O¢B sin f + d yB¢ cos f + d z ¢B sin f

ë P û ë ( ) cos ( -f ) û ë z ¢P û = -O¢B sin f + d yB¢ cos f + d z ¢B sin f

K d yB¢ d z ¢B N How can you get the

value of the BM?

The draft “z” does not need to be adjusted.

Wall sided ship: A main deck is not submerged.

How can we solve this problem?

f1 ( x ) = 0 : Nonlinear function of one variable

Find: x* , where f1 ( x* ) = 0 B yB1

f1 ( x ) = 0 : Nonlinear function of one variable * ( 0)

f1 ( x ) = 0 : Nonlinear function of one variable * ( 0)

We found the solution, x* .

For the ship to be in static equilibrium, the magnitude of the buoyant

Given: x1( ) , x2( ) , f1 x1( ) , x2(

: Nonlinear functions of two variables * ( 0) ( 0) * ( 0) ( 0)

: Nonlinear functions of two variables * ( 0) ( 0) * ( 0) ( 0)

L.H.S f1 ( x1( ) + d x1( ) , x2( ) + d x2( ) ) = f1 ( x1* , x2* ) = 0

: Nonlinear functions of two variables * ( 0) ( 0) * ( 0) ( 0)

: Nonlinear functions of two variables * ( 0) ( 0) * ( 0) ( 0)

Plan view O - xyz : Global coordinate system (inertial frame)

Elevation view Section view

In the case of barge, the submerged volume and

② Euler equation The draft “z” does not need to be adjusted.

In this case, the submerged volume and

ü Governing equation of hydrostatic equilibrium

ü Governing equation of hydrostatic equilibrium

How can we calculate ship’s center of buoyancy(B1)?

Water plane fixed reference frame Body fixed reference frame 65

M A, z = ò ydA M A, y = ò zdA ü Center of buoyancy with respect to the body