OE 403

Dynamics of Floating bodies and Marine

Vehicles

Day 8 Lecture
Date 10 Aug 2007

Dr. R.Panneer Selvam

Dept of Ocean Engineering
Wave forces on structures
† Small Body
† Large Body

† Depends on the characteristic dimension

of the structure to the wavelength
† D/L < 0.2 ; small body
† D/L > 0.2 ; large body
 Wave forces on offshore
structures
† Three different ways
† Morison Equation
† Froude-Krylov theory
† Diffraction theory
 Wave forces on offshore
structures - Morison equation
† Force = Inertia force + Drag force
† Involves an inertia and drag coefficient
† Coefficients are determined from experiments
† Morison equation is applicable when drag
forces are significant
† Morison equation is applied when the
structure is small compared to wavelength
† Morison equation Æ D/L < 0.2
 Wave forces on offshore
structures - Froude Krylov theory
† When drag forces small and inertia forces
predominates, but the structure is still relatively
small Æ Apply Froude – Krylov theory
† Closed form solution can be obtained for certain
objects
† Uses the incident wave pressure on the surface
of structure to arrive at the force
 Wave forces on offshore
structures -Diffraction theory
† When the size of the structure is comparable to the
wavelength the presence of structure alters the
incoming wave field. (NO FLOW SEPARATION)
† Diffraction of waves from the surface of the structure
to be taken into account for calculating wave forces
† Closed form solution can be obtained for certain
objects
† Generally involves numerical technique to solve
Laplace equation and its associated boundary
condition
 Where these methods are
applicable
Dimensional Analysis

f = ψ (t , T , D, L, u 0 , ρ ,ν ) 8 parameters

f t u 0T u 0 D πD Buckingham Pi theorem
=ψ ( , , , ) 5 nondimensional parameters
ρu 0 D
2
T D ν L

Keulegan – Carpenter no. (KC)

Reynolds no. (Re)

Diffraction Parameter
 Where these methods are
applicable

πD
KC large
⇔ small
L

KC large => Morison

πD/L large => Diffraction
KC number and Diffraction
parameter
† KC number (ratio of particle diameter to
structure diameter) is measure of the drag force
effect
† Diffraction parameter (ratio of structure
diameter to wave length) determines the
importance of diffraction effect
† KC number is large, Diffraction parameter is
small and vice versa
† Large diffraction effects Æ small drag effect
† Large drag effect Æ diffraction is negligible
Floating structure dynamics

† The motions of a large floating structure are

obtained using linear potential flow theory
† Computes the Froude-Krylov force and
diffraction forces on the structure at its
equilibrium position
† Radiation force due to structure motion at its
equilibrium position
† The last component yields the added mass and
damping coefficient
Hydrodynamic forces on a
vessel
Floating structure dynamics
Scattered Wave

Incident Wave

Structure

Radiated Wave
Floating structure dynamics
† Radiation forces can be obtained from potential
theory. These forces have 2 components.

† The first component is due to the change in

momentum of the fluid, and are proportional to
the vessel accelerations. Because of these the
coefficients are called added mass.
† The second component are damping forces due
to the energy carried away by the waves
generated because of the motion of the
vessel—potential damping.
Floating structure dynamics

† Viscous forces that depend on the

velocity.
† These forces appear due to non
conservative phenomena by which
kinetic energy of the hull is transferred to
the fluid: flow separation, vortex
shedding and skin friction
Floating structure dynamics

† Wave excitation forces result from the

variation of pressure on the hull surface.
† Restoring forces result from the change
in displacement (buoyancy).
† The only degrees of freedom that have
restoring are heave, roll and pitch.
Added mass and Damping
Coefficients
† The motion of the structure in the fluid
will generate a reaction force on the
structure, which comes from the
resistance of the fluid against this
motion.
† Such resistance is virtually absent in the
air so that the added mass and damping
of a structure moving in air is negligible.
† This is why these coefficients are called
hydrodynamic coefficient
 Added mass and Damping
Coefficients
† Let us consider the motion of the rectangular box
in the longitudinal direction.
† Assume that the box is undergoing a simple
harmonic motion with a unit velocity amplitude

F11
Added mass and Damping
Coefficients
F11

† the resistance from the fluid on the box

will introduce a pressure field on the
submerged surface.
† Due to symmetry the net force from this
pressure distribution will be in the
longitudinal x direction.
† This force in general will be out of phase
with the imposed structure velocity.
 Added mass and Damping
Coefficients
F11 = a1 &x& + b1 x&

† Generally the component in phase with

the structure acceleration is much larger
than the one in phase with the structure
velocity.
Added mass and Damping
Coefficients
1.0
F11
Added Mass Force
Damping Force
Amplitude

0.0

-1.0
0 90 180 270 360
Angle, deg.
Added mass and Damping
Coefficients
† The coefficient of the acceleration term
is the added mass, since it adds to the
structure inertia term.
† The coefficient of the velocity term is
termed the hydrodynamic damping since
it acts like the structure damping term.
† Note that these two terms are absent for
a body moving in air
 Added mass and Damping
Coefficients
† Now consider a structure that is not symmetric,
e.g., a barge
† Motion in the surge direction produces a force in
the surge direction F11, but due to unsymmetry
in the pressure distribution it produces a force in
the heave direction as well F31

F11
F31
Motions of Ship

† Translatory Displacements and Angular

Displacements (Rotations)
† Displacements -- Surge, Sway and Yaw
† Rotations --- Roll, Yaw and Pitch
† Anticlockwise +ve
Ship – Equation of motion

† 6 DOF system -- Coupled Equations of

motion

† Surge, Heave and Pitch – Longitudinal

Motions or Vertical Plane Motions

† Sway, Roll and Yaw – Transverse

Motions or Horizontal Plane Motions
 Horizontal plane motions
Sway, Roll and Yaw

Vertical plane motions

Surge, Heave, Pitch
Ship – Equation of motion

† Usually for most cases of ship

† The Longitudinal Motions are(1,3,5)
DECOUPLED from Transverse Motions (2,4,6)
† i.e. the Vertical Plane motions are
DECOUPLED from the Horizontal plane
motions
† You should know which terms in the matrix are
zero by this condition
† Coefficients with subscripts 12, 14, 16 are zero
etc.
Ship – Equation of motion

† Imposing certain conditions we still reduce the 3

DOF system to 2 DOF system too!
† For long and slender ships, it has been found
surge has minor effect and can be neglected
† i.e. we say Surge is decoupled from the other
two longitudinal motions (Heave and Pitch) and
problem reduced to 2 DOF coupled system -
Coupled Heave and Pitch
† or we may have Coupling of any other 2 DOF
Sign Convention : Translatory and Angular Displacements

Oh…I see

† All are positive

A SIMPLIFIED HEAD SEA
CASE
† Surge is neglected means – Forward speed U is constant
† A ship traveling in steady forward speed does not induce
accelerations dU/dt =0;
† Consider only Head sea case ie μ=180 deg
† μ is the angle between the velocity vector of ship and
wave
† Both wave excitation forces and resultant oscillatory
motions are LINEAR and HARMONIC
† Forces and motions acting at FREQUENCY OF
ENCOUNTER ωU 2
ω =ω+
† Cos μ = Cos 180 deg = -1 e
g
† Warning P41 Eqn 90 PNA in the given edition is
WRONG ω2g
ωe = ω +
U
A SIMPLIFIED HEAD SEA
CASE
† EOM are based on Newtons second law
† Translatory modes
Forces acting on a body = Mass × Acceleration
† Rotational mode
Moments acting on a body = Moment of inertia ×
Angular Acceleration
† With origin located at CG and at Waterline for
the simple case, the EOM for heave and pitch
are
† Heave
Δ × η&&3 = F3 Force as a function of time F(t)
Pitch
I 55 × η&&5 = F5 Moment as a function of time

where Δ is the mass (displacement)

I 55 is the mass moment of inertia about the y- axis
FORCES and MOMENTS

† For the simplified case the total force

and moment consists of
† Fluid forces Æ Hydrostatic force and
Hydrodynamic Force
† Heave gravitational force is balanced by
the static buoyancy force in calm water.
FORCES and MOMENTS

† In Linear Theory , Forces and Moments

acting on a LARGE BODY is divided into
† Forces due to waves acting on a
restrained ship – Forces that excite the
motions ( Excitation forces and
moment)
† Forces acting due to motion of the ship
in an assumed calm sea – Radiation
Forces
FORCES and MOMENTS

Exciting forces Radiation forces

F3 (t ) = FEX 3 (t ) + FH 3 (t )
F5 (t ) = FEX 5 (t ) + FH 5 (t )
Excitation Forces / Moments

† For sinusoidal waves these are

expressed as
FEX 3 (t ) = FEX 3 cos(ω e t + ε 3 )
Phase angle
between the
Amplitude of excitation and the
Heave Force waves

FEX 5 (t ) = FEX 5 cos(ω e t + ε 5 )

 HYDRODYNAMIC
RADIATION FORCES
† In Linear Theory the hydrodynamic radiation forces
due to the coupled motions of the vessel in otherwise
calm water are directly proportional to the
displacements, velocities and acceleration of the
UNKNOWN body motions.
† For sinusoidal motions the radiation forces and
moment are
FH 3 = −[ A33 (ω )η&&3 + B33 (ω )η&3 + C 33η 3 + A35 (ω )η&&5 + B35 (ω )η&5 + C 35η 5 ]

FH 5 = −[ A53 (ω)η&&3 + B53 (ω)η&3 + C53η3 + A55 (ω)η&&5 + B55 (ω)η&5 + C55η5 ]
 HYDRODYNAMIC
RADIATION FORCES
FH 3 = −[ A33 (ω )η&&3 + B33 (ω )η&3 + C 33η 3 + A35 (ω )η&&5 + B35 (ω )η&5 + C 35η 5 ]

FH 5 = −[ A53 (ω)η&&3 + B53 (ω)η&3 + C53η3 + A55 (ω)η&&5 + B55 (ω)η&5 + C55η5 ]

A jk (ω ) -- Coefficients as a function of frequency –

†
Added Mass/ Added moment of inertia
coefficients
† Coefficients as a function of frequency –
B jk (ω )
Damping coefficients
† Note our C coefficient does not depend on
Frequency
 UNDERSTANDING THE DOUBLE
SUBSCRIPT NOTATION
A jk , B jk , C jk

† Subscripts are same – A33 B33 A33 B33

Uncoupled coefficient in the heave (3) or pitch
(5) mode
† Subscripts are different – Ajk Bjk (A35 B35 A53
B53 ) k-mode is coupled into the j-mode
A35η&&5 † represents the force in the heave mode due to
pitch acceleration
FH 3 = −[ A33 (ω )η&&3 + B33 (ω )η&3 + C 33η 3 + A35 (ω )η&&5 + B35 (ω )η&5 + C 35η 5 ]
 FINAL EQUATIONS

† By combining the equations discussed

before we obtain the final equations
† Heave:

Δ × η&&3 = F3 (1)
F3 (t ) = FEX 3 (t ) + FH 3 (t ) (2)
FEX 3 (t ) = FEX 3 cos(ω e t + ε 3 ) (3)
FH 3 = −[ A33 (ω )η&&3 + B33 (ω )η&3 + C 33η 3 + A35 (ω )η&&5 + B35 (ω )η&5 + C 35η 5 ] (4)
Note: C does not depend on ω
 FINAL EQUATIONS

† Using (2), (3) and (4) in (1) and moving

the RADIATION forces to the LHS since
they are functions of motions which are
UNKNOWN one arrives at

(Δ + A33 )η&&3 + B33η&3 + C33η 3 + A35η&&5 + B35η&5 + C35η 5 = FEX 3 cos(ω e t + ε 3 )

 Final equations

† Similarly for Pitch

( I 55 + A55 )η&&5 + B55η&5 + C55η 5 + A53η&&3 + B53η&3 + C53η 3 = FEX 5 cos(ω e t + ε 5 )

 MATRIX FORM

⎡Δ + A33 A35 ⎤ ⎧η&&3 ⎫ ⎡ B33 B35 ⎤ ⎧η&3 ⎫ ⎡C 33 C 35 ⎤ ⎧η 3 ⎫ ⎧ FEX 3 cos(ω e t + ε 3 ) ⎫

⎢ A ⎥ ⎨ ⎬+⎢ ⎥ ⎨ ⎬+ ⎢ ⎥ ⎨ ⎬=⎨ ⎬
⎣ 53 I 55 A55 ⎦ ⎩η&&5 ⎭ ⎣ B53
+ B55 ⎦ ⎩η&5 ⎭ ⎣C 53 C 55 ⎦ ⎩η 5 ⎭ ⎩ FEX 5 cos(ω e t + ε 5 )⎭

† Ajk Æ Added mass in phase with accelerations

† Bjk Æ Hydrodynamic damping in phase with velocity
† Cjk Æ Restoring forces and moments (Net hydrostatic
buoyancy effect on ship)
† Unknown motions can be solved using Cramer’s
Rule
 MATRIX FORM

⎡Δ + A33 A35 ⎤ ⎧η&&3 ⎫ ⎡ B33 B35 ⎤ ⎧η&3 ⎫ ⎡C 33 C 35 ⎤ ⎧η 3 ⎫ ⎧ FEX 3 cos(ω e t + ε 3 ) ⎫

⎢ A ⎥ ⎨ ⎬+⎢ ⎥ ⎨ ⎬+ ⎢ ⎥ ⎨ ⎬=⎨ ⎬
⎣ 53 I 55 A55 ⎦ ⎩η&&5 ⎭ ⎣ B53
+ B55 ⎦ ⎩η&5 ⎭ ⎣C 53 C 55 ⎦ ⎩η 5 ⎭ ⎩ FEX 5 cos(ω e t + ε 5 )⎭

† These are similar to 2-DOF coupled m-c-k system subjected to

external excitations.
† One important difference is : THE COEFFICIENTS AND
EXCITATION ARE ALL FUNCTIONS OF FREQUENCY
† For a given frequency these coeff are constant and are similar
to 2-dof m-c-k system and the system has a solution.
† For another frequency the values of the coefficients vary
TIME DOMAIN SOLUTION:

† Crude Way or Approximate Way:

† Consider one frequency at a time and obtain
solution;
† Correct Way:
† Use complicated CONVOLUTION integrals ( I
will teach this later, Please somebody remind
me)
† To overcome the difficulty of using
CONVOLUTION integrals one solves the
equations in the FREQUENCY DOMAIN.
 SOLUTION IN FREQUENCY
DOMAIN
(Δ + A33 )η&&3 + B33η&3 + C33η 3 + A35η&&5 + B35η&5 + C35η 5 = FEX 3 cos(ω e t + ε 3 )

( I 55 + A55 )η&&5 + B55η&5 + C55η 5 + A53η&&3 + B53η&3 + C53η 3 = FEX 5 cos(ω e t + ε 5 )

† We are looking for the solution of the response

† In linear theory, the harmonic response will be
proportional to the amplitude of the exciting forces
with the same frequency but with a phase shift.
 SOLUTION IN FREQUENCY
DOMAIN
η j (t ) = η j cos(ωet + σ j ) = η j e iω t
e

j =3,5 ( REAL PART TO BE TAKEN)

η& j (t ) = i ωeη j eiω t

e

iω e t
η j (t ) = −i ωe η j
&& 2
e
 SOLUTION IN FREQUENCY
DOMAIN
η j Æ complex response amplitude = η jR + i η jI = Real part and Imaginary part

η j = η 2
jR +η 2
jI

⎛ η jI ⎞
σ = tan −1 ⎜ ⎟
j
⎜η ⎟
⎝ jR ⎠
 SOLUTION IN FREQUENCY
DOMAIN

FEX 3 (t ) = FEX 3 cos(ω e t + ε 3 ) = FEX 3 e iωet

FEX 5 (t ) = FEX 5 cos(ω e t + ε 5 ) = FEX 5 e iωet

 SOLUTION IN FREQUENCY
DOMAIN
† Substituting in the EOM results in

(−ω e2 (Δ + A33 ) + iωB33 + C 33 )η 3 + ( −ω e2 A35 + iωB35 + C 35 )η 5 = FEX 3

( −ω e2 ( I 55 + A55 ) + iωB55 + C 55 )η 5 + (−ω e2 A53 + iωB53 + C 53 )η 3 = FEX 5

The unknown motions can now be solved

 Coupled heave-pitch

⎡Δ + A33 A35 ⎤ ⎧η&&3 ⎫ ⎡ B33 B35 ⎤ ⎧η&3 ⎫ ⎡C 33 C 35 ⎤ ⎧η 3 ⎫ ⎧ FEX 3 cos(ω e t + ε 3 ) ⎫

⎢ A ⎨ ⎬+ ⎨ ⎬+ ⎨ ⎬=⎨ ⎬
⎣ 53 I 55 + A55 ⎥⎦ ⎩η&&5 ⎭ ⎢⎣ B53 B55 ⎥⎦ ⎩η&5 ⎭ ⎢⎣C 53 C 55 ⎥⎦ ⎩η 5 ⎭ ⎩ FEX 5 cos(ω e t + ε 5 )⎭

† Cross coupling terms are with subscripts 35 or 53

† For fore and aft symmetric ship at ZERO FORWARD
SPEED the cross coupling is zero
† Many typical ships are fore and aft symmetric and cross
coupling term must be included to predict the motions in
HEAD SEAS at FORWARD SPEED. (Ship is traveling)
Coupled heave-pitch

† The terms on the RHS represent Forces

and moments on a restrained ship (i.e.
ship is fixed – does not oscillate ..but
encounter waves at a forward speed of
Uo)
† These forces are calculated using
HYDRODYNAMIC THEORY
Exciting Forces/Moments

† Force / Moment only due to the incident wave

on the body -- FROUDE KRYLOV FORCES
and MOMENTS
† Found by integrating the pressure over the
body surface that would exist in the incident
wave system if the body were not present
† Force/Moment due to the diffracted waves –
presence of body modifies the incoming wave
---DIFFRACTION FORCES and MOMENTS
Exciting Forces/Moments

† Sometimes the FROUDE-KRYLOV forces and

moments are used to approximate total exciting
forces. THIS IS A GOOD APPROXIMATION
when Lw is >> vessel length
† (wave length much greater than vessel length)
† For short wave lengths this approximation fails
as Diffraction forces becomes significant.
† For short waves the Diffraction force may
become approximately one half of the total
exciting force.
How to determine the coefficients
in the EOM of motion for a ship?
† Solution is by applying STRIP THEORY.
† SHIP is divided into transverse strips and
segments
† The added mass and damping for each strip is
calculated using 2-Dimensional hydrodynamic
theory or by 2-dimensional experiments
(Standard graphs for typical ship sections are
available)
† The sectional values are then appropriately
combined to yield values for Ajk, Bjk, Cjk and Fj
STRIP THEORY
Coefficients – Coupled pitch
heave- Head sea
 STRIP THEORY - Features,
Assumptions
† The vessel is a slender body – i.e. its beam and draft
< < length
† (d/l is much small = max lateral dimension /length)
L/B > 7
† Length is much greater than the beam or the draught
† Beam is much less than the wave length
† Strip theory valid only for low to moderate sea states.
Ship speed is relatively slow and predictions
deteriorate at higher Froude Numbers Fr > 3.0
STRIP THEORY

† Changes in cross section vary gradually along

the length
† The hull is rigid, i.e. no flexure of the hull
arises
† The speed is moderate so that there is no
appreciable planning lift
† The motions are small
† The ship hull sections are wall-sided - Each
strip is constant section and sides of the ship
are vertical above and below the still
waterline.
STRIP THEORY

† Hull is continuous and symmetric about

the fore and aft axis;(Strip theory not
valid for multihulls)
† The water depth is much greater than
the wavelength, so that deep water
approximations can be applied
† The presence of hull has no effect on
the waves (Froude-Kriloff hypothesis)
† For zero forward speed and high frequencies
the we can see that the fluid velocities are
greater in the transverse direction than in the
longitudinal direction. Therefore the flow can
be considered two dimensional in that strip
† To obtain the total effect on the ship, the effects
of all individual strips are integrated along the
length.
 STRIP THEORY

† STRIP THEORY approximation for the

heave added mass is
A33 = ∫ a33 ( x)dx
L

a33 (x) Æ is the 2-dimensional added mass

L Æ Integration along the ship length.
STRIP THEORY

† The essence of strip theory is to reduce

a 3-D hydrodynamic problem to a series
of 2-D problems which are easier to
solve
† For low frequencies and high forward
speed the strip theory approximation is
no longer straight forward
† Different initial assumptions lead to
different formulations
SIMPSON’S RULE

† In numerical analysis, Simpson's rule is a

method for numerical integration, the
numerical approximation of definite
integrals
SIMPSON’S RULE

† Consider the function f(x) only

† P(x) is just a polynomial approximation for
f(x)
SIMPSON’S RULE
SIMPSON’S RULE

† Suppose that the interval [a,b] is split up

in n subintervals, with n an even number.
 Assignment Due - 14/Aug/07

† SUBMIT YOUR ASSIGNMENT ON

TUESDAY (Hard copy or soft copy)
† NO LATE SUBMISSIONS
† PLEASE DO A FORCED VIBRATION
PROBLEM IN MATLAB
† EACH ASSIGNMENT CARRIES MARKS
Reading Assignment

† Chapter 1, 2, 3, Dynamics of Marine vehicles

SCAN THROUGH,Rameshwar Bhattacharyya
† Chapter 4 --- Bhattacharyya, Starting on Mon
† Chapter 8 in Vol III Lewis (Principles of Naval
Architechture) -- We already covered important
2-dof coupled theory in this class
† 6 dof theory – will be dealt later (Lewis)
† Kindly understand what is in Lewis Chapter 8,
which gives a good description of the theory of
the EOM governing ship motions
THANK YOU
FOR LISTENING

PLEASE DO STUDY IN THE

WEEK END , CHAPTER 8,
LEWIS