Chapter Four UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS 4.1 GENERAL pitching angular motion about the transverse axis. When a ship pitches, it trims alternately by the bow and by the stern, f=yawing angular motion about the vertical axis. lescribed with the help of Figure 4.1, which shows the six kinds of motion, three linear and three rota- tional about the three principal axes, Accordingly, a=surging motion backwards and forwards in the direction of ship travel. b=swaying _athwartship motion of the ship. ‘heaving motion vertically up and down. 4=rolling angular motion about the longi tudinal axis, When the ship rolls, it lists alternately from starboard to port and then back to starboard. ‘Although in reality a ship experiences all six kinds at ‘Tani lngitodinal axis J vane ac 1 The x, », and z-axes of a ship Figur 3836 UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS of motion simultaneously, only one motion at a time will be treated in the following sections. However, it must be borne in mind that any one kind of motion is not independent of the others; in the first approxi- mation coupling between the motions is neglected in order to simplify the problem. If a body is free to move in space, it is said to have six degrees of freedom of motion; whereas, if a body is so restrained that it can move only in two directions or rotate only about two axes, it is said to have two degrees of freedom. However, for the sake of simplicity only one degree of freedom is considered in this chapter. 4.2 HEAVING Let us suppose that a ship is forced down deeper into water from its equilibrium position and then suddenly released. Since its buoyant force is then greater than its weight, the ship will move vertically upward. When the equilibrium position is reached, the ship continues rising because of its momentum: however, now the ship’s weight is greater than the buoyant force. This will tend to slow the motion. When the velocity is finally zero, the ship reaches its extreme position, and since the weight is now greater than the buoyant force the ship will move vertically downward. The downward velocity will increase until the equilibrium position is reached, when the buoyancy will again become equal,to the weight. However, because of momentum the ship will move further down until the extreme position is reached, that is, the position from which the ship started. But the ship will not stay there because of the inequality of the forces. This is again a simple harmonic _motion as discussed in Chapter 2. As described in that chapter, this oscillatory motion, known as heaving, will continue indefinitely if there is no damping force, which, when present, always acts in the opposite direction of motion. This motion is known as free oscillation; if there is damping, the motion is tetmed damped oscillation. In the case of free oscillation, the difference in displacement of the ship to its upper extreme positio from the equilibrium position is the same in magni- tude as the difference in displacement from the equilibrium position to. its lower extreme position, This magnitude is known as the amplitude of the heaving motion. The time required for one complete cycle of motion is termed the heaving period. Since the free heaving motion is a simple harmonic motion, the period of oscillation is independent of the ampli- tude and is thus known as the natural period. The frequency of motion is likewise called the natural frequency of the ship. However, when damping is present, the amplitude of the heaving motion gradually decreases until the ship finally stops at its equilibrium position The period will be slightly greater in the case of damped oscillation. Now suppose that the ship is being oscillated vertically up and down. by a fluctuating force that is periodic in nature. For a certain amount of time the motion will be rather irregular; such a motion is known as transient oscillation. But because of damping, the irregularities soon disappear and a steady-state oscillation takes their place. This is known as forced oscillation, in which the amplitude and frequency of motion are dependent on the amplitude and frequency of the exciting force. The damping will also affect the amplitude of forced oscillation. In this case of forced, damped oscillations the following four elements are of importance: 1. The inertial force, which is preseat when the ship is in oscillatory motion, is F,=- where a is the virtual mass (ship mass plus added mass), and 7= d?! HEAVING 37 Be MC, cost +C, sin!) (4.4) z=e MA sin(c,t ~ 8) (45) where v= b/2a is the decaying constant, is the circular frequency of the damped oscillation, that is, (46a) ie eal cre frequency of the undamped oscillation, and C, and C,, or A and 8, arg constants to be determined from the initial conditions. ‘The damped period is given by (4.6b) which is greater than T, since w, < w,. Free, damped heaving motion is illustrated in Fi ‘As mentioned above, the constants ‘can be found by prescribing the initial conditions. For example, when t = 0, (= andalso — (b) Consider (a): if = 0 in (4.4), then a=C, and cos at + C, sin w4t) Consider (b): a ve-"{C, cos wyt + C, sin wy!) BT Cr cos ag + C, sin og + ae "C, sing + C, sin wt) We have already specified that, at 1=0,dz dr =0 Free damped oscillation.38 UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS, or 0) = vC, +@,C;, from which (sos 4 +2 sino) Forced Heaving Motion In this case, for the equilibrium condition the equa- tion of motion is a+ be +z = Fy cos wt (474) The solution of the equation is 2 = Aew" sin(coyt — B)+ 2, c08(,t ~€3) where z, is the amplitude of the forced motion, and #, is the phase angle of the forced motion in relation to the exciting force. According to (4.7b), the motion is the sum of two oscillations; the first term describes a free, damped oscillation [compare with (44)], and the second term an oscillation with the same circular frequency as that of the exciting force for heaving. As long as both oscillations are effective, the result is called a transient motion. However, the first oscillation decays more or less quickly, depending, on the magnitude of v. For the steady condition the amplitude of the forced heaving motion z, is given by or ‘a= Zu'He where z, mst evng ample = 2 magnification factor 1 VIR? ae? (48a) Frequency of encounter Natural frequency A= tuning factor = , (486) k = nondimensional damping factor o (48) o, Big v = zasin (4) fe aasin (43) e, = phase angle between the exciting force and the motion 2kA 1— A? If it is assumed that a wave of a certain length and amplitude passes along rather slowly, so that the ship is in position to balance itself statically on the wave at every instant of its passage, the ship will then rise and fall slowly with the encountering frequency so as to keep balance between weight and buoyancy, and a static amplitude, 2, will result If the wave is now considered to move at its correct velocity, a dynamic amplitude, namely z,, will be produced. The ratio of the amplitude in the dynamic case to that in the static case is called the magnification ‘factor. By plotting = z,/z,, to a base of A we obtain the figure for dynamic response, as shown in Fig. 4.3. ‘The maximum response is obtained when the quantity under the root sign of (4.8a) is a minimum. The condition for this is obtained by differentiating with respect_to A and equating to zero. Thus, when A= J/1— 2k, then 1 Haas Also it can be seen from Fig 4.3 that for larger, and larger damping the maximum response tends to shift more and more toward the left, that iS; figs i8 obtained for A somewhat less than unit} It is true that a ship’s seakeeping is dependent ‘mainly on the forced oscillations, but the free oscilla~ tions are also important for two reasons: 1. The natural frequency ofa ship, which is evaluated from the free oscillations, determines the valueHEAVING . 1 . oe 8a 48 4 nang ter,» 2 07 20 Figure 43 Magnification factor versus tuning factor. the forces for inertia, damping, restoring, ‘end exciting are known, the various expressions for ‘the motion can be easily determined. In other words, 3940 UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS a a = body accelerating force + liquid accelerating it force dz =M +61 ae where M = mass of the vessel and 6! = force incre- ment or liquid accelerating force. Thus ; a Inertial force = a > One should remember that the concept of added mass is introduced into fluid mechanics for con- venience of evaluation and does not have any physical, significance. For example, one should not imagine that a body accelerating in an ideal fluid in a certain direction drags with it a certain amount of fluid mass. According to Ref. 135, an inertial coefficient Cis defined as Now, half of the added mass for a circular section segment of unit length and diameter B, is pxBy from Ref. 135 Sone? cores Example 4.1 Calculation of Added Mass Given Length of model L = 19.20 ft Maximum beam B= 2592 ft Draft T=1144ft Wavelength = ship length = 19.20 ft Longitudinal center of gravity LCG = +0.48 ft (forward of @) Longitudinal center of buoyancy LCB = +048 ft (forward of @) Model speed 4.788 ft/sec Displacement 2837.76 Ib Direction of ship travel 1 = 180° (ie., head sea) Station B, T, S,.= Sectional No. (n) tf) Area (r’} oO oO L144 0 5 2.592 1.144 2.944 10 2592 L144 2.944 15 2592 1144 2752 20 0 L144 0 Find the added mass for heaving, in terms of the model mass. Solution: From Table 3.2 the wave frequency is _ ng _ (2x 3.1416 x 32.2)" Oe 19.20 = 3.245 rad/see and the encountering frequency is a? Dy — —* u COS, Fw 08 = 4811 rad/sec where u is the model speed in feet per second.1] call 0204 06 08 10 1214 16 Fagure 4.4 Added mass coeflcients for two-dimensional floating bodies in heaving motion, [89] aUNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS. 2 TABLES - at 2 Aa Simpson's Product, tation om 4 8 BJT, Bx com xe Multiplice Number [0] (6) (0 wi BE ee m o ®@ © o ® © ® © @ ® ° ® e 0 0000 1.18% 0000 0000 0000 © 00.000 0.00 0.000 com aunt ‘0.000 5 2592 [las 2984 0952 2.266 «2965-0993 O98 GTB 5.113 SOL 42008 102592 L144 2948 ©0932-2266 «29650993 O98 HTB 513 SON 210022 15 2502 List 2752 0932 2266-2963 0928 O84 6T18 5113429517180 20 0.000 L144 0000 0.000 00000000000 0.00 0.000 000 = am 0.000 suM 47286 Description of Table 4.1 Colurn Number Description Column Number Description © Station Number @ Added Mass Coefficient, C, obtained from ® Beam at Station, B, {ft} Fig. 44 using the values from @, ©. and@ ® Deaf at Station, TL] @-0' Beam Squared. 8 ® Sectional Area a Station. $,(1] (on/8) x BE ® (oa) * 8, @=©*@ Sectional Added Mass Coecient, ©=]+@ Beam Draf Ratio, BT, a= C x (pm) x BE O=OxO 8x7, ® Simpson's Mukiplier O=G +O _Seetonal Area Coefficient, fy = S18, xT) @=Ox@ Product = 8x The data for this example are: it LL. A _ 2837.7 is example are presented in Table 4.1. Wedel mass 2837.76 _ 5613 th-sec2/ft Added mass for heavin; f dé = 4 x station spacing(s) x SUM =} x 48 x 47246 = 75.6 Ib-sec*/fe g 322 Therefore the added mass is 0.86 or 86% of the mass of the ship. Model tests have been conducted to determine the added mass during heaving motion [71], and from Fig. 4.5 it can be seen that the added mass for 8 ot ve et Ce Cen Cy 2s 25 08 0705 oa” yo 2s 07 O75 asee tole ‘|S 65 25 08 oar aso ‘ + kagaiotane AF 6 tun tome ost 4] Sick conten Ch Watepine eoetcet Gy" Mp sectncofiet po ° 2 6 ol Figure 4.5 Nondimensional added mass for heaving [7].HEAVING 43 In Ref. 89 the damping coefficient per unit length, ,, is given by Damen For’ where «, is the frequency of the radiated waves (in this case the encountering frequency), and. * Amplitude of the radiated waves _ * Amplitude of the heaving motion Example 4.2 he damping force, as considered in our simplified equation of motion, is linearly proportional to the Calculate the damping coeffi velocity of oscillation, dz/dt. This can be justified, values used in Example 4.1 since the damping due to friction and eddymaking is Quite small in comparison with that due to wave- Solution: making. ‘The data are presented in Table 4.2. TABLE 42 Staton Oy BT 2 a ar Simpsons Product Number yn Matiplier ® ® ® ° © ® ® ® e 0.000 0.000 0000 ‘000 1 5 0332 0983 sto 0325 5866 ‘4 » 0932 0993 0570 0335 5866 2 5 0932 092 0660 0335 7.869 4 = 0.000 0.000 coo 0000 000 1 | suM 66.670 ee Table 42 Santer Description Colunn Number Description | Station Number With the values from columns 9.9 and @ etenxs, ® a Pda drat Ratio, 5,7, ® Sectional Damping Coefficient b, = pg?dV/ea? ‘Sesional Area Cocfiient, , ® ‘Simpson's Multiplier | _-Aspltode Ratio for Two-Dimensional Body in ® Product = OO ‘Feconng Motion, 4, found by entering Fig. 464 M4 ; manoe 14] | | a8 14] ‘<9 1 09 os os ou oa o oa| dl ee My : M4 bres 3 1 f fe2t} Lis 1 19 12 | a8! —T te 08) ad ag od oa [12] oa] - oe 18] dl | Foi a 1 4 1 : panto a6 14 sal a 1.9} ET 0 | 1.6 08 12 os /- oa pos a - ++] bos p E7 Figure 46 Amplitude ratios 2 for two-dimensional floating bodies in heaving motion [89]. Here f, is sectional area coefcient, 8, is breadth of each section, and T is draft.The damping coefficient for heaving is b= fos =4xsx SUM = 4x 48 x 66.67 b = 106.67 Ib-sec/ft It should be noted that damping is very important in the evaluation of amplitude of motion near synchronism, whereas it has less effect on the ampli- tude of motion at frequencies that are further away from synchronism. However, the damping has a greater effect on the phase lag of motions at frequen- ones. There are three different methods of obtaining damping by model tests [242]: 1. Free cscillations in calm water. 2. Forced oscillations in calm water. 3. Forced oscillations in regular waves. Method 1 is not very accurate, since there is a large amount of damping in heaving motion and aan extinction curve cannot be determined accurately. By using method 2 all the factors determining the damping force can be determined accurately. This isespecially the case with the exciting forces generated by an oscillator. Although method 3 represents a more realistic situation, it is difficult to determine HEAVING 45 the exciting force accurately and therefore this method can deliver results only for a more qualitative study. In any event the values of the damping co- efficient can be different in the three experimental procedures, since the physical conditions in these procedures are different. Determination of the damping coefficient by method 2 follows. Experimental Determination of Damping. The ampli- tude of the exciting force (here the driving force) F. ‘can be kept constant for a wide range of frequencies both above and below the natural frequency of heaving, and a diagram may be obtained experi- mentally as shown in Fig. 4.7. In reality only a part of this diagram is obtained by the test, and the scale of the ordinates is not important. The maximum. value of the magnification factor y, is measured and put equal to 1/2x. A line is drawn parallel to the base having an ordinate value of 2/2 = 0.707 times the maximum ordinate or equal to /2/4x. The horizontal line crosses the dynamic response curve at two values of A, namely, A, and A,. Now from (48) i = (LAY? + 4K2A? -( = 8x? 2 Solving for A, we obtain Ad = 1—2x? 2 /T + 07 sob 05 a, =070 Figure 47 Vaya 1135 15 20 — Plot of magnification factor versus turning factor.46 UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS and 125 — 0.700 o2t Aga 1 = 2x? + 2e JT $F 3 3 Thus “The experimentally obtained damping force co- 54a z efficient obtained by the forced oscillation method AZ— Atm anf tx! in calm water is shown in Fig. 48. The results have In Fig. 4.7 we read the values of Ay and A, as 0,700 and 1.125, respectively. Therefore the non- dimensional damping coefficient x for this particular case is determined as Since the damping factor x usually has a small value in ship motion, we can neglect the value of x? and get Aj-Ap=4e Again, as both A, and A, are approximately equal to 1.0, we may write Ay +A,=2 or AZ—AZ=(A, + AMA, = Ay) = 4 or 2(A, — A.) = 4 so that eer 2 : LB | BT | Ce lw Ico 75 | 28 | o6[0.708| 0977 70 | 28 | 07/0785] 0.988 oaloart| ages ff Figure 48 Nondimensional damping coefficient for heaving motion [124].HEAVING 47 RESTORING Font The restoring force for heaving is given as the addi- tional buoyancy force that acts on a body when it is submerged to a deeper draft. If it is assumed that there is no significant change in the waterplane area during heaving (i, the ship is said to be wall- sided near the load waterline), the restoring force is given as the amount of water displaced, which is equal to specific weight times additional submerged volume. Thus cz = pgAypz where the product of Awp (the area of load water- plane) and z (the additional immersion of the ship) is equal to the excess of displacement volume. Therefore ¢, the restoring force coefficient = Awe LBC yp (4.9) Where Cy» is the waterplane area coefficient. ‘The restoring force is obtained directly from offsets ta c=p9 f 2ylx)dx (4.92) nua where yx) is the half-breadth at section x. If the restoring force coefficient is absent, as in surging, swaying, and yawing motions, the motion is nonoscillatory in the real sense, and therefore neither resonance nor the magnifications of ampli- tudes are possible in such modes of motion; however, ‘oscillatory motions do take place because of the reversal of the exciting force. Example 4.3 Find the restoring force coefficient for heaving for the model described in Example 4.1. TABLES Simpson's Multiplier Bc p98, Product te) “bony Solution - The restoring force coefficient for heaving is c=}xsxSUM = $x 48 x 16178 = 2588 Ibjft where sis the station spacing, Note: p = 1.9384 Ib-sec?/ft for fresh water at 59°F Example 4.4 Given: Ship length L Beam B Draft - Block coefficient aterplane coefficient Cy» ‘Added mass 90% of ship mass ‘Assuming that there is no damping, do the follow- ing: a. Calculate the heaving period in still water. . Derive the expression for heaving oscillation in still water if the initial displacement from the equili- rium position and the velocity of the heaving motion at the instant of time t = Oare Oand 5.52 /sec, respectively. c. Calculate the maximum force exerted on the deck ofa ship by a winch that weighs 4 tons. d. Show by diagrams how the displacement, velocity, and acceleration change with time. Solution: a. From (4.3) the natural heaving period 7, is given by aft ” é where a is the virtual mass, and c is the restoring force coefficient. Now M+a, and from (49), Thus48 UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS ' red i = g “ i Bg : —ssal fe 8.0¢}+—__________ $m ~suhso wet Gr mae canon (25>) te S00) igure 4.9 b. The general solution for undamped heaving in still water is given as r= Asin, + Boos o,t From (4.1): 1. When 2. Again, when t =0, dz/de tiating (4.1), we have 0,2=Oand B=0. 5.52 ft/sec, or, differen- de & = (Ao, cos 0, Bo, sinwt}| = Ao, at Lee Substituting the value of dz/dt for ¢=0, we get 552= Aa, or 4 «(eel 6.81 ee Displacement, velocity, and acceleration of heaving motion. Since Qn 2m ieee A=6 Hence the expression for heaving motion in still water is 6 sin 0.92¢ This is shown in Fig. 4.9b. c. The force exerted by the winch on the deck is the addition of the gravity force and the inertial force due to heaving motion, where the inertial force is & “ieHere m is the mass of the winch, and d?2/dt? is the heaving acceleration. Since the mass of the winch does not change, the maximum force of the winch on the deck takes place when the inertial force is maximum, that is, when the acceleration d2z/dt? is maximum, Differentiating (4.1) twice, we have a a ~ Ag? sin @,t ~ Bo? cos ot Ao} sin ct since B = 0 in this particular case; the heaving accele- ration is shown in Fig. 4.9. ‘We see from this equation that d22/de? is maximum when ~sinw,!=1,or #: ae Aw? = (0.92)? = 5.08 fr/sec* Since g or an acceleration of 32.2 ft/sec? gives a force of4 tons to the winch, an acceleration of 5.08 ft/sec? gives a force of (4/32.2) x 5.08 or 0,63 ton; the total force is then 4 + 0.63 or 4.63 tons. d. Figure 4.9 shows diagramatically displacement, velocity, and acceleration of heaving motion as functions of time. Example 4.5 . Show that, ifthe linear dimensions of a ship and those of its geometrically similar model are in the Tatio of 2 (the scale factor), the natural heaving period of the ship is /2 times that of the model, b. Ifa 168 ft long model of a ship (length 420 ft) hhas a heaving period of 1.362 sec, find the heaving period of the ship. Solution: ‘= The natural heaving period of the ship is cm gPgA we where C is the ratio of the virtual mass and the ship mass. Thus taan [CEB CDG 9PGLBAyp =a (ze GAyp T,=2n (4.96) HEAVING 49 (COT IC, =2n Awe where T,, is the model draft. Finally (CUT IC, Tn Jian (CUT JC g Awe = VAT; (model) since C,Cp,g, and Cyp are the same for both ship and model. b. The scale factor is 420 = 168 25 Therefore’ T, (hip) = V2 T, (model) = J25 x 1.362 = 6.81 sec To determine the exciting force for ship motions, water waves must be studied, since they are the only source of ship excitation in a seaway. Let { = ¢,c0s ot ‘The exciting force for the heaving motion is obtained by integrating the additional buoyancy due to waves along the ship. Therefore the exciting force on a section of a ship of unit length is given by pgryldx where ¢ is the ordinate of the effective wave profile; that is, the effective wave is considered to be a sub- surface wave profile, or = 6,e7* 7 costk’x — 0,1) where Kis the effective wave number, 2n/L;,. that is, cos 1, k being the normal wave number, 2%/L,,; is the direction of the ship's heading in relation to the waves; and 7, is the mean depth of the effective wave from the free surface. Note that for any arbitrary heading angle 1 the heaving exciting force is found by introducing the effective wavelength, L,, = L,/cosi4 in place of the absolute wavelength, L,. For the beam sea case (u=90° or 270°) L,,-+'20, and the exciting force amplitude Fy becomes maximum and is given as Fy =2pg%,BLCwp 20K Awe However, in the calculations of the exciting force for heaving, the ship is supposed to remain stationary as far as the vertical motion is concerned, and the ‘waves are assumed to pass along the ship gradually Hence the exciting force is the excess buoyancy50 UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS force at any instant of time F=Fycoswt (4.t1a) and Fo, the amplitude of the total exciting force, is obtained by integrating the bouyancy force of individual sections. Let us suppose that the ship is wall sided in the region of the load waterline (LWL) and that, while the wave approaches the ship, the time ¢ is recorded when the wave crest is amidships. Then the wave at any position x from the midship section is given by (4.10). Now the exciting force for heaving is calculated by assuming that the ship remains still as far as vertical motion is concerned and the waves pass slowly by the ship. The exciting force for heaving is then the additional buoyancy force at any instant and can be expressed as aa Fe f po2y(x)tde (4.11b) Substituting the expression for wave profile and expanding the cosine term, as well as assuming the ship to be symmetrical about the midship section, wwe obtain the exciting force for heaving [242] as - (og,¥v,e7* Tos k’xdx) cos wt mua However, if the surface wave profile is taken to be the effective wave profile (this assumption means a greater exciting force and the design will therefore be on the safer side), the expression for the exciting force becomes (4.110) ue F= (200. ses kx ax os oot (4.128) =n =Fycos at Note that the exciting force F is positive if it acts in the positive direction, that is, downward. Comparing (4.10) and (4.12a), we find the phase angle between the wave profile and the heaving force due to waves to be (4.12b) ‘The amplitude of the exciting force can be expressed nondimensionally as Yacos(kxcosy)dx (4.13) TB) ua Note: For the beam sea condition (ie., = 90° or 270°) the exciting force for heaving reaches the maximum value. Example 4.6 Calculation of the Amplitude of the Exciting Force for Heaving for The Ship Model Described in Example 4.1 From that example the following data are available: a 120 LOG =at Lo =L,=19.2K Bo =2592R G © =0208 p 93 Ib-sec?/tt* Find f, and Fy. Solution From the above values, the wave number is 2n _ 628 2 k= T= yap 7 OTE and the dimensionless force amplitude is ua Lom Tq] _, padenstkxcosnldx The numerical values of fy and F, are determined with the help of Table 4.4. Thus Integral = } x s x SUM =4 x 48 x 9.92 = 1587 ‘Therefore Bos 2 So jg * integral = 755 x 1587 = 0638 or Fo = p96 L Bf = 396.21. Note: If more stations than the five taken in this example are considered, more accurate result can be obtained for F The typical exciting force coefficient for heaving, fo as a function of the ratio of encountering wavelength to ship length for different values of the waterplane area coefficient is given in Fig. 4.10. The following conclusions are drawn about the heaving force [242]:HEAVING 51 | TABLE we _ ‘Simpson's Product ‘ econ COMKESOEH y CBIR COED Siete o ® © ® o ® ® ® 8 ° ° =as 96-137 0900 om 1 coo s 1296 =as 43 078s 0707 avis 4 3.664 0 1.296 -05 o 0.000 1,000 1.296 2 2592 5 196, 03. =k ates, 07 ais 4 set x ° =0s 96 iso 9000 om 1 0.000 Description Column Number Description @ Station Number ® Cos (ex cos 0) 2 Offset (hal-breadh of waterplaneh y= 8,2 ® 1 Cos(kix cos) ® Cos ® Simpson's Mupir 2 Distnce trom LCG, x ® «® ® dec co w= eet wave number 19 oe} 3530S Figure 4.10 Exciting force coefficient for heaving, f, (242). is assumed, as mentioned earlier, that the waves pass along the ship very slowly, the vertical52 UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS displacement of any section in the wave is termed static heave and is given by F = 72,0080 € The static heave amplitude is then Fo ¢ where F is the exciting force for heaving, that is, F=Frcosa,t = 2pgl fy cos(kx — ,t)dx Example 4.7 Given: 4soft 12,500 tons 1.18 rad/sec 1.99 Ib-sec?/ft? Wave amplitude ¢ = 10% and also these facts: 1. The added mass for heaving is 80% of the actual mass of the ship. 2. The coefficient for damping is given in the non- dimensional form as b,/@L/A = 1.70. 3. The amplitude of the exciting force for heaving motion is given nondimensionally as fy = Fo/p9¢4LB = 0.17 (see Fig. 4.10). Find the heaving amplitude of the ship. Solution: a sd Inertial force = as z where the virtual mass is, A L104 g g = 180 x 280. 2040 = 1,565,222 Ib-sec?/ft b. Since 1.70 x 12,500 idx 450 = 395,427 Ib-see/ft (by multiplying by 2240) = 176,53 ton-see/ft c. The restoring force coefficient is = 1,99 x 32.2 x (450 x 70 x 0.80) [from (4.9)] 1,614,766 lb/ft . The dimensionless exciting force is so that = 3,431,377Ib The tuning factor is _ [iea766 = 1.016 rad/sec and the damping factor is v _ 0.126 b =a 88 where v= 2 einige eam =0.124 ‘The heaving amplitudeExample 4.8 With the data given in Example 47 find the following a. The phase relationship between the wave motion and the heaving motion. b. The maximum heaving acceleration in a regular seaway. r . The relative motion (ie, displacement) of the ship with respect to the wave. 4. The magnitude of the maximum resultant relative motion (ic. displacement) of the ship with respect to the wave surface. Solution a. The phase angle between the wave motion and. the heaving motion is expressed as +e where ¢, is the phase angle between the wave motion and the exciting force caused by waves, and 6, is the phase angle between the exciting force and the heaving motion. Now 0 from (4.126) (=) tant 2% 024 x 1.161 = T= (161 and from (4.7b) e, =tan 39.6° “The equation of heaving motion of a ship in a HEAVING $3 train of regular waves is expressed as, 2 =2,cos(ot—2) so that £ = — 2.0,sinlo—9 Fm 7 Sin and @e a San ~ Hb costo 0) The magnitude of d®z/de? is maximum when cos (w,— «) = — 1.0; thus ' es qa zat = 4.10 x (118)? = 6.54 ft/sec? €. Let the equation of wave motion about any fixed point on the calm waterline be given as ‘ ‘The heaving motion of the same point for the steady- state condition is then 3608 (gt z=z,cos(w,t—0) where ¢ is the phase angle between the wave motion ‘and the motion of the ship. Thus the relative motion (or displacement) of the point can be expressed as sanz = 6,008 af ~ 2,cos(0x4t—8) = G,fcos ot ae cos(w,t—#)] d. The maximum relative motion of the ship is obtained when ds ae) dot) or, differentiating, we have Se Since {,#0, the expression inside the brackets is zero, that is, of,[ -sin w,t +2 sin(ogt —6)]=0 —sin ot + sin(on -#)=0 from which =sin o,t +32 (sin wg cos ¢— cos @,t sin e) = 054__ UNCOUPLED HEAVING, PITCHING, AND ROLLING MOTIONS. Now, inserting the values of z,, (,, and «, we have =sine,t +a [sin w,t x cos( — 39.6°) — cos wt x sin( —39.6°)] =0 or — 0,638 sin @,t + 0.299 cos @,t = 0 or 1 = 9638sin ot 0.299 cos w,t from which tan ot = 0.469 Thus gt = 25.11° (or 205.11°) Figure 4.11 Motion relative to free surface. and a a sis maximum when wt = 25.11° The maximum resultant relative motion is obtained by inserting this value of @,t into the equation for the relative motion, that is, 10[cos 25.11° ~ AT coseas.r +39.60°)] 7.04 ft Note also that by drawing curves for {, z, and s it is seen that at «,t = 25° and 205° the maximum rel motion of 7.04 ft is obtained. Alsonote.that in Fi the motion curve precedes the wave curve since ‘cos[a,t — (— 39.6°)], that is, the phase angle s 4 es)is positive in relation to the wave curve (see Section 22) Ship Model Correlation From the dynamical analysis (see Table 4.5) the following relations hold between the ship and the model: L=i, M=2m where Length of ship Tangtiv of modei ~ Ste factor ‘M and L are ship quantities, and m and / are model quanti Consider two ships (or one ship and one model) that are exactly similar in all respects except dimen sions; in other words, if the relation between any linear dimensions of one ship and the corresponding dimension of the other ship is 2 (ie., L, = AL,), prove that the periods for small oscillations are in the ratio of iM, or T, =4'7T,. (I, and L, are for the larger hull, and T, and L, for the smaller one.) We know from Example 45 that =a GoM, and nett ‘gM, ACCELERATED ROTATIONAL MOTION $5 since Then Note: In place of a model a geometrically similar ship can also be considered (using the appropriate scale factor) for finding the physical dimensions of ‘quantities occurring in ship dynamics. 43 ACCELERATED ROTATIONAL MOTION Ifa purely rigid body has an accelerated rotational motion, the acceleration of any particle of the body at a perpendicular distance r from the axis of rotation has two components: n of instantaneous 1. The first is ra, along the dire velocity. 2. The second is ra, directed toward the axis. Here the instantaneous angular velocity is TABLE 4.5 PHYSICAL DIMENSIONS OF QUANTITIES IN SHIP DYNAMICS Based on mass, length and time as fundamental units, anti Measure anti Measure — Formula oun Formula Mass M Yolume and fst moment of area Length i Second moment ofarca Time T Density Speed or velocity ur Mass per unit area Acceleration ur Mass moment Momentum and impulse Mur-* Moment of inertia and product of inertia Force, thrust, resistance Mur" Stcess and pressuce Encegy and work Mer-2 Stain Power Mer" Elastic modulus Moment of force of Torque Mer-* Flexural rigidity ofa beam, £1 Angular momentum or moment of momentum. MET“ Torsional rigidity ofa shaft, GJ Linea stiffness (moment per redian) Aas weer ‘Angular sifnes (moment per radian) Aagular velocity oof circular frequency, Linear flexibility or receptance (displacement Revolution,» a er unit force) Angular acceleration Tm Viscosity eee L Kinematic viscosity