6 DOF Equations of Motion

Kinematics

= J( )
Dynamics + C( ) + D( ) + g( ) = + go + w M where

M C( ) D( ) g( ) go w

= system inertia matrix (incl. added mass) = Coriolis-centripetal matrix = damping matrix = vector of gravitational/buoyancy terms = vector of control inputs = vector used for ballast control = vector of wind, waves and currents dist.

Rigid-Body Dynamics
Newtons 2nd Law in terms of conservation of both hc linear p ~c and angular momentum ~ Eulers 1st and 2nd Axioms := f ~c p ~ c ~ ~c hc := m p ~c := m~ vc ~ ~ ib hc := Ic

For marine vessels it is desirable to derive the equations of motion for an arbitrary origin O in the bframe to take advantage of the vessels geometrical properties.

Since the hydrodynamic and kinematic forces and moments are given in the b-frame we will formulate Newtons laws in the b-frame as well.

r'
O

rg

r
CG

ro rc
inertial frame

Figure 1: Denition of the volume element dV and the coordinate origins O and CG. The b-frame coordinate system is rotating with respect to the i-frame (inertial system). Hence: For marine vessels: assume NED (n-frame) is an approximative inertial frame by neglecting the Earth ro~ en (small variatation ~ ie and the angular velocity tions in longitude/latitude) ~ ie + ~ en + ~ nb ~ nb ~ ib = vo + ~ ib ~ rg ~ vc = ~

6 DOF Rigid-Body Equations of Motion

Application of Eulers axioms (after many manipulations):
b+ b + b vb + b ( b rb )] = f b m[v o b r g o g o nb nb nb nb b I b + mrb (v b + b vb ) = mb Io b + o g o o o nb nb nb nb

Notation SNAME (1950)

b = [X, Y, Z ]T fo force decomposed in the b-frame T moment decomposed in the b -frame mb o = [K, M, N ] b = [u, v, w]T vo velocity decomposed in the b-frame angular velocity of the b-frame T b = [ p, q, r ] nb relative to the n-frame distance from O to CG T rb = [ x , y , z ] g g g g decomposed in the b-frame

Alternative representaton (using the S-matrix):

b + S( b + S( b )vb + S2( b )rb ] = f b m[v o b ) r o nb g nb o nb g b )I b +mS(rb )v b +mS(rb )S( b )vb = mb Io b + S ( o o nb nb nb g o g nb o

Denition (Inertia Matrix)

The inertia matrix Io <33 about O is dened as: Ix Ixy Ixz Io := Iyx Iy Iyz ; Izx Izy Iz

Io = IT o > 0.

where Ix, Iy and Iz are the moments of inertia about the xb, yb and zb-axes and Ixy = Iyx, Ixz = Izx and Iyz = Izy are the products of inertia dened as: Ix = V (y 2 + z 2) mdV ; R Iy = V (x2 + z 2) mdV ; R Iz = V (x2 + y 2) mdV ; R R Ixy = RV xy mdV = R V yx mdV = Iyx Ixz = RV xz mdV = R V zx mdV = Izx Iyz = V yz mdV = V zy mdV = Izy In practise it is convenient to compute the inertia matrix Ic <33 about the CG and transform this matrix to the b-frame by using the parallel axes theorem.
R

Parallel Axes Theorem

33 about an arbitrary The inertia matrix Io = IT o < origin O is:

33 is where I33 is the identity matrix, Ic = IT c < the inertia tensor about the bodys center of gravity.

Io = Ic mS2(rb g)

Example (Cylinder with radius R and height H ) dV = dxdydz = (rdrd)dz Polar coordinates x = r cos , Moment of inertia (CG)
cg = Iz

y = r sin
Z
H 2 H 2

(x2+y 2)dxdydz =

Z 2 Z R
0 0

4 3 r drd = R H 2

Transform to O : paralell axes theorem (element 3,3)

o = I cg + m(x2 + y 2) Iz z g g

Rigid-Body Dynamics: Component Form

i 2 2 m u vr + wq xg (q + r ) + yg (pq r ) + zg (pr + q ) = X h h h

i 2 2 m w uq + vp zg (p + q ) + xg (rp q ) + yg (rq + p ) = Z

i 2 2 m v wp + ur yg (r + p ) + zg (qr p ) + xg (qp + r ) = Y

+ (I z I y )qr (r + pq )I xz +(r2q 2)I yz +(pr q )I xy Ixp +m [yg (w uq + vp) zg (v wp + ur)] = K Iy q + (I xI z )rp (p + qr)I xy +(p2r2)I zx+(qp r )I yz +m [zg (u vr + wq ) xg (w uq + vp)] = M Iz r + (I y I x)pq (q + rp)I yz +(q 2p2)I xy +(rq p )I zx +m [xg (v wp + ur) yg (u vr + wq )]) = N The three rst equations represent the translational motion while the three last equations represent the rotational motion.

Vectorial Representation
Fossen (1991):

+ CRB ( ) = RB MRB

= [u, v, w, p, q, r]T generalized vector of velocity decomposed in the b-frame RB = [X, Y, Z, K, M, N ]T generalized vector of external forces and moments.

System Inertia Matix

Constant and positive denite i.e.:

MRB = MT RB > 0;
where
"

RB = 0 M
#

MRB =

mI33 mS(rb g) mS(rb Io g)

m 0 0 0 mz g my g 0 m 0 mz g 0 mxg 0 0 m my g mxg 0 Ix I xy I xz 0 mz g my g mz g 0 mxg I yx Iy I yz my g mxg 0 I zx I zy Iz

I33 =identity matrix Io = IT o > 0 is the inertia tensor with respect to O

b T S(rb g ) =skew symmetric matrix for rg = [xg , yg , zg ]

Coriolis-Centripetal Matrix
A skew-symmetrical Representation:
6 CRB ( ) = CT RB ( ) < can be found by the following theorem:

Theorem (Coriolis-Centripetal Matrix from System Inertia Matrix)

Let M be an 6 6 system inertia matrix dened as:
" #

M = MT =
Hence:
"

M11 M12 M21 M22

>0
#

C( ) =

where 1 = [u, v, w]T and 2= [p, q, r]T . Proof: Sagatun and Fossen (1991)

033 S(M11 1 + M12 2) S(M11 1 + M12 2) S(M21 1 + M22 2)

Application of this Theorem with M = MRB yields:

033 CRB ( ) = mS( 1) mS(S( 2)rb g)

Component form (Fossen 1991)

mS( 1) mS(S( 2)rb g) mS(S( 1)rb g ) S(Io 2)

CRB ( ) =
0 0 0 0 0 0 m(y q + z r) m(y g p + w) m(z g p v) g g m(x q w) m(z g r + xg p) m(z g q + u) g m(xg r + v ) m(y g r u) m(xg p + y g q )

m(xg q w) m(xg r + v ) m(y g q + z g r) m(y g p + w) m(z g r + xg p) m(y g r u) m(z g p v ) m(z g q + u) m(xg p + y g q ) 0 I yz q I xz p + I z r Iyz r + I xy p I y q 0 I xz r I xy q + I xp Iyz q + I xz p I z r 0 I yz r I xy p + I y q Ixz r + I xy q I xp

Alternative skew-symmetric representations (Fossen and Fjellstad 1995):

033 CRB ( ) = mS( 1) + mS(rb g )S( 2)

mS( 1) mS( 2)S(rb g) S(Io 2)

CRB ( ) = CRB ( ) =

" "

mS( 2) mS(S( 2)rb g) b mS(S( 2)rb g ) mS(S( 1)rg ) S(Io 2)

mS( 2) mS( 2)S(rb g) mS(rb S(Io 2) g )S( 2)

Notice that all these 4 representations implies that the vectors:

fc = CRB ( )
are equal while the matrices CRB ( ) are dierent T even thought CRB ( ) = C RB ( ).

The Matlab Script M2C

function C = m2c(M,nu) % C = M2C(M,nu) computes the 6x6 C-matrix from % the 6x6 system inertia matrix M and nu % % 8th June 2000 - Thor I. Fossen nu1 = nu(1:3); nu2 = nu(4:6); M11 M12 M21 M22 = = = = M(1:3,1:3); M(1:3,4:6); M12; M(4:6,4:6);

dt_dnu1 = M11*nu1 + M12*nu2; dt_dnu2 = M21*nu1 + M22*nu2; C = [ zeros(3,3) -Smtrx(dt_dnu1) -Smtrx(dt_dnu1) -Smtrx(dt_dnu2) ];

Hydrodynamic Forces and Moments

In hydrodynamics it is common to assume that the hydrodynamic forces and moments can be linearly superposed (Faltinsen 1990). Radiation-Induced Forces Forces on the body when the body is forced to oscillate with the wave excitation frequency and there are no incident waves. (1) Added mass due to the inertia of the surrounding uid. (2) Radiation-induced potential damping due to the energy carried away by generated surface waves. (3) Restoring forces (weight and buoyancy).

Radiation-Induced Forces

R = M {z CA( ) | A }
added mass

potential damping

D ( ) | P {z }

g( ) + go

| {z } restoring forces

In addition to potential damping we have to include other damping eects like:

D = | DS{z ( ) DW ( ) DM ( ) } | {z } | {z }
skin friction wave drift damping

damping due to vortex shedding

Total hydrodynamic damping matrix D( ) as:

D( ) := DP ( ) + DS ( ) + DW ( ) + DM ( )

Hydrodynamic forces and moments ( H = R + D ) CA( ) D( ) g( ) + go H = MA

Environmental Disturbances
The resulting environmental force and moment vector is denoted as w. This vector inludes: Wind + Waves + Currents

Resulting Model
This implies that the rigid-body dynamics is: + CRB ( ) = RB MRB RB = H + w + where is the propulsion forces and moments. + C( ) + D( ) + g( ) = go + w + M where

M = MRB + MA;

C( ) = CRB ( ) + CA( )

Hydrodynamic Added Mass

The concept of added mass is usually misunderstood to be a nite amount of water connected to the vehicle such that the vehicle and the uid represents a new system with mass larger than the original system. This is not true since the vehicle motion will force the whole uid to oscillate with dierent uid particle amplitudes in phase with the forced harmonic motion of the vehicle. However, the amplitudes will decay far away from the body and may therefore be negligible.

Lagranges Equation
Kinetic T and potential V energy L d L = JT ( ) , dt where = [x, y, z, , , ]T .
!

L=T V

Kirchho s Equations (Kirchho 1869)

T Kinetic energy T = 1 2 M

T d T + S( 2) = 1 dt 1 1 ! T T d T + S( 2) + S( 1) = 2 dt 2 2 1 where 1 = [u, v, w]T , 2 = [p, q, r]T , 1 = [X, Y, Z ]T and 2 = [K, M, N ]T . Notice that Kirchho s equations do not include the gravitational forces, that is potential energy.

Fluid Kinetic Energy

Fluid kinetic energy TA (Lamb 1932) 1 TA = T MA 2 MA is the 6 6 added mass system inertia matrix :

MA =

The notation of (SNAME 1950) is used in this expression; e.g. the hydrodynamic added mass force Y along the y -axis due to an acceleration u in the x-direction is written as: Y Y = Yu u where Y := u u

A11 A12 A21 A22 Xu Xv Yv Yu Zu Zv = K u Kv Mu Mv Nu Nv

"

Xw Yw Zw Kw Mw Nw

Xp Yp Zp Kp Mp Np

Xq Yq Zq Kq Mq Nq

Xr Yr Zr Kr Mr Nr

Kirchhofs equations
XA =
2 Xu + Xw + uq ) + Xq q + Zw u (w wq + Zq q 2 +Xv + Xp + Xr Yv v p r vr Yp rp Yr r Xv ur Yw wr +Yw vq + Zp pq (Yq Zr )qr Xv + Yw + Yq u w q 2 2 + Yp + Yr + Xv +Yv v p r vr Yw vp + Xr r + (Xp Zr )rp Zp p Xw (up wr ) + Xu ur Zw wp Zq pq + Xq qr

YA

ZA

KA

2 +Yw + Zp + Zr + Yv v p r vp + Yr rp + Yp p +Xv up + Yw wp Xv vq (Xp Yq )pq Xr qr

2 Xw wq ) + Zw + Zq q Xu (u w uq Xq q

2 2 Xp + Zp + Kq Xv u w q wu + Xr uq Yw w (Yq Zr )wq + Mr q 2 2 +Yp + Kp + Kr + Yw v p r v (Yq Zr )vr + Zp vp Mr r Kq rp +Xw uv (Yv Zw )vw (Yr + Zq )wr Yp wp Xq ur +(Yr + Zq )vq + Kr pq (Mq Nr )qr 2 2 + Kq p + Mr + Yp +Yq v r vr Yr vp Kr (p r ) + (Kp Nr )rp Yw uv + Xv vw (Xr + Zp )(up wr ) + (Xp Zr )(wp + ur ) Mr pq + Kq qr

MA

2 2 Xq (u + wq ) + Zq (w uq ) + Mq Xw q (u w ) (Zw Xu )wu

NA

2 2 Xr + Zr + Mr + Xv u w q u + Yw wu (Xp Yq )uq Zp wq Kq q 2 2 +Yr + Kr + Nr Xv v p r v Xr vr (Xp Yq )vp + Mr rp + Kq p (Xu Yv )uv Xw vw + (Xq + Yp )up + Yr ur + Zq wp (Xq + Yp )vq (Kp Mq )pq Kr qr

Imlay (1961) arranged the equations in four lines with longitudinal components on the 1st line and lateral components on the 2nd line. The 3rd line consists of mixed terms involving u or w as one factor. If one or both of these velocities are large enough to be treated as a constant the third line may be treated as an additional term to the lateral equation of motion. The 4th line contains mixed terms that usually can be neglected as 2nd-order terms.

From the system inertia matrix MA we can compute the added mass Coriolis-centripetal matrix as:
"
6 CA( ) = CT ( ) < A

CA( ) =

033 S(A11 1 + A12 2) S(A11 1 + A12 2) S(A21 1 + A22 2

"

where Aij (i, j = 1, 2) are dened in:

MA =
Component form:
CA( ) =
a1 a2 a3 b1 b2 b3 = = = = = =

A11 A12 A21 A22

Xu u + Xv v + Xw w + Xp p + Xq q + Xr r Xv u + Yv v + Yw w + Yp p + Yq q + Yr r Xw u + Yw v + Zw w + Zp p + Zq q + Zr r Xp u + Yp v + Zp w + Kp p + Kq q + Kr r Xq u + Yq v + Zq w + Kq p + Mq q + Mr r Xr u + Yr v + Zr w + Kr p + Mr q + Nr r

0 0 0 0 a3 a2 0 0 0 a3 0 a1 0 0 0 a2 a1 0 0 b3 b2 0 a3 a2 a3 0 a1 b3 0 b1 a2 a1 0 b2 b1 0

Property (MA)
For a rigid-body at rest (U 0) under the assumption of an ideal uid, no incident waves, no sea currents and zero frequency:

MA = MT A>0
Remark 1: In a real uid the 36 elements of MA may all be distinct but still MA > 0. Experience has shown that the numerical values of the added mass derivatives in a real uid are usually in good agreement with those obtained from ideal theory (Wendel 1956). Remark 2: It should be noted that for surface ships moving with a speed U 0 in waves, Salvesen et al. (1970) have shown by applying strip theory that MA(U ) 6= MT A(U ). However, for underwater vehicles (ROVs) and foilborne catamarans operating outside the wave-aected zone, symmetry and frequency independence have been shown to be reasonable assumptions. This is also a good approximation for positioned ships (U 0).

Example: Ships
For surface ships like tankers, cargo ships, cruise-liners etc. it is common to decouple the surge mode from the steering dynamics due to xz -plane symmetry. Similarly, the heave, pitch and roll modes are neglected under the assumption that these motion variables are small. High speed MA(U )6= MT A(U ):

1 0 0 Y v Y +N v )r v 2 ( | r {z } Yr u 0 0 Xu u v 1 (Y +N ) r X u r v + 0 Yv } u {z v 2| r Yr

X Xu Y = 0 N 0

0 0 u Y Yv v r Nv r Nr

Low speed (station-keeping) MA = MT = Nv A Yr

Example: Underwater Vehicles

An underwater vehicle moving in 6 DOF (at high speed) will be highly nonlinear and coupled. However, in many ROV applications the vehicle will only be allowed to move at low speed. If the vehicle also has three planes of symmetry, this suggests that we can neglect the contribution from the o-diagonal elements in the matrix MA.

MA = diag{Xu , Yv , Zw , Kp , Mq , Nr }
0 0 0 0 Z w Yv w v 0 X u u Xu 0 u N r Mq r q 0 K p p Kp 0 p

0 0 0 Zw w 0 0 0 Y v v CA( ) = Yv 0 0 Z w w v 0 X u Nr Zw w u r Y v Xu 0 M q v u q

The diagonal structure is highly attractive since odiagonal elements are dicult to determine from experiments as well as theory. In practice, the diagonal approximation is found to be quite good for many applications.

Hydrodynamic Damping
Potential Damping: forces on the body when the body is forced to oscillate with the wave excitation frequency and there are no incident waves will result in added mass, damping and restoring forces and moments. The radiation-induced damping term is usually referred to as potential damping. However, the contribution from the potential damping terms compared to other dissipative terms like viscous damping terms is usually negligible.

Skin Friction: Linear skin friction due to laminar boundary layer theory is important when considering the low-frequency motion of the vessel. In addition to linear skin friction there will be a high-frequency contribution due to turbulent boundary layer theory. This is usually referred to as a quadratic or nonlinear skin friction.

Wave Drift Damping: Wave drift damping can be interpreted as added resistance for surface vessels advancing in waves (2nd-order wave theory).

Damping Due to Vortex Shedding: In a viscous uid, frictional forces are present due to vortex shedding (Morisons equation): 1 f (U ) = CD (Rn) A|U |U 2 where U is the speed of the vessel, A is the projected cross-sectional area under water, CD (Rn) is the drag-coecient based on the representative area and is the water density. The drag coecient CD (Rn) depends on the Reynolds number: UD Rn = where D is the characteristic length of the body and is the kinematic viscosity coecient.

6 DOF quadratic drag:

=

Dn( )

| |T Dn1 | |T Dn2 | |T Dn3 | |T Dn4 | |T Dn5 | |T Dn6

Total hydrodynamic damping:

k/D = 900 E-5 1 0.8
Cd

k/D = 450 E-5

0.6 0.4 0.2

5

k/D = 110 E-5

10

10 Rn

10

Figure 1: (Faltinsen 1990).

D( ) = D + Dn( )
where D is linear damping and Dn( ) is nonlinear damping.

Property (D( ))
For a rigid-body moving through an ideal uid the hydrodynamic damping matrix will be real, non-symmetrical and strictly positive:

D( ) > 0 <6.

Example: Damping Model for DP

For low speed ships with xz -symmetry we can decouple the surge mode from the steering modes (sway and yaw). Hence, the linearized damping forces and moments (neglecting heave, roll and pitch) can be written: Xu 0 0 D = Yv Yr 0 0 Nv Nr For low speed applications it can also be assumed that Nv = Yr .

Example: Ad Hoc Damping Model for High Speed

For maneuvers at high speed nonlinear damping Dn( ) must be include:

D( ) = D+Dn( ) A rst attempt could be to use a damping model motivated by Morrisons equation, that is: Dn( ) = diag{X|u|u |u| , Y|v|v |v | , N|r|r |r|}
It should be noted that it is important to include both linear and quadratic damping since only quadratic damping in the model will yields an oscillatory behavior at low speed. Linear damping exponential convergence to zero. For marine vessels, however, linear damping will be present due to linear skin friction Only linear damping stability problems at high speed e.g. due to Coriolis terms.

Example: Nonlinear Maneuvering Model

Norrbins (1970) nonlinear model (assuming that surge is decoupled)
Dn( ) =

For larger ships |r| r is small. This suggests (Blanke 1981):

Dn( ) =

X|u|u |u| 0 0 Y|v|v |v | Y|r|v |r| 0 N|v|v |v | N|r|v |r| 0 Y|v|r |v | Y|r|r |r| N|v|r |v | N|r|r |r|

X|u|u |u| 0 0 0 Y|v|v |v | Y|v|r |v | 0 N|v|v |v | N|v|r |v |

Example: Underwater Vehicles

In general, the damping of an underwater vehicle moving in 6 DOF at high speed will be highly nonlinear and coupled. A rough approximation could be to assume that the vehicle is performing a non-coupled motion

D = diag{Xu, Yv , Zw , Kp, Mq , Nr } Dn( ) = diag{X|u|u|u|, Y|vv||v |, Z|w|w |w|, K|p|p|p|, M|q|q |q |, N|r|r |r|}
As for ships quadratic damping can be neglected during station-keeping.

Restoring Forces and Moments

In the hydrodynamic terminology, the gravitational and buoyant forces are called restoring forces. The restoring forces are equivalent to the spring forces kx in a mass-damper-spring system: mx + dx + kx =

We will be distinguished between:

underwater vehicles (submerged bodies) surface vessels (ships, semi-submersibles and highspeed craft)

fbn
CB CG

fgn

Figure 2: Gravitational and buoyancy forces attacking in the CG and the CB.
b act through the center of The gravitational force fg T gravity (CG ), rb g = [xg , yg , zg ] b act through the center of buoyThe buoyant force fb T ancy (CB ), rb b = [xb, yb, zb] .

m = mass of the vessel including water in free oating spaces = volume of uid displaced by the vehicle g = acceleration of gravity (positive downwards) = water density

where W = mg is the weight and B = g is the buoyancy.

n= 0 fg

0 W

n = 0 fb

The weight and buoyancy force can be transformed to the body-xed coordinates by:
b = Rn()1f n, fg g b b = Rn()1f n fb b b

where Rn b () is the Euler angle coordinate transformation matrix. Consequently:

g( ) =
=

" "

rb g rb g

# b b fg + fb b + rb f b fg b b # n 1 b b Rb () (fg + fb ) 1f b + rb Rn()1f n Rn ( ) g b b b b

Expanding this expression yields:

g( ) =

(W B ) s (W B ) cs (W B ) cc (yg W ybB ) cc + (zg W zbB ) cs (zg W zbB ) s + (xg W xbB ) cc (xg W xbB ) cos s (yg W ybB ) s

n Replace Rn b () with Rb (q) Quaternion representation of g( )

A neutrally buoyant underwater vehicle will satisfy: W =B It is convenient to design underwater vehicles with B > W (positive buoyancy) such that the vehicle will surface automatically in the case of an emergency situation for instance power failure. If the vehicle is designed such that B W to much control energy is needed to keep the vehicle at constant depth trade-o between positive buoyancy and controllability.

Example: Neutrually Buoyant Underwater Vehicle

Let the distance between the center of gravity CG and the center of buoyancy CB be dened by the vector:

BG = [BGx, BGy , BGz ]T = [xg xb, yg yb, zg zb]T

For neutrally buoyant vehicles W = B. Hence:
0 0 g( ) = BG W cos cos + BG W cos sin y z BGz W sin + BGxW cos cos BGxW cos sin BGy W sin

An even simpler representation is obtained for vehicles where the CG and CB are located vertically on the z axis, that is xb = xg and yg = yb. This yields:

g( ) =

0, 0, 0, BGz W cossin, BGz W sin, 0

iT

10 8 linear + quadratic damping

6 4 2

linear damping: 0.5 u

0 -2

quadratic damping: 0.05 |u|u

-4 -6 station-keeping |u| < 2 m/s

-8 -10 -10

-8

-6

-4

-2

0 u (m/s)

10

Figure 3: Linear and quadratic damping and their regimes (low and high speed).

Surface Vessels
Let Awp denote the water plane area and: GMT GML = transverse metacentric height (m) = longitudinal metacentic height (m)

Gravity and Buoyancy For a oating vessel in rest Let z denote the displacement in heave Z = mg g ( + (z )) = g (z ) =
Z z
0

mg = g

Awp(z )dz

Assume that Awp(z ) Awp(0) =constant Spring with stiness Zz = gAwp(0) and position z. Z = gAwp(0) z

The restoring force decomposed in the b frame

b = Rn()1 f n fr r b

0 1 = Rn ( ) 0 b Rz g 0 Awp(z )dz Z sin z = g cos sin Awp(z )dz 0 cos cos

Moment arms in roll and pitch GM L sin rb = sin GM T r 0 W = B = g . 0 sin b = Rn()1 fr = g 0 cos sin b g cos cos

Force pair in the z -direction with magnitude

The restoring moments:

b fb mb = r r r r

GM T sin cos cos = g GM L sin cos cos (GM L cos + GM T ) sin sin

The restoring forces and moments are nally written:

g( ) :=
g( ) =

"

b fr mb r

Rz g A (z )dz sin R z 0 wp g R 0 Awp(z )dz cos sin z A (z )dz cos cos g 0 wp g GMT sin cos cos g GML sin cos cos g (GML cos + GMT ) sin sin

Linear (Small Angle) Theory For surface vessels a linear approximation is

g( ) G
which can be derived by assuming that , and z are small. This implies that
Z z
0

Awp(z )dz Awp(0)z cos 1 cos 1

Assuming

g( )

sin sin

gAwp(0) z gAwp(0) z gAwp(0) z g GM T g GM L g (GM L+GM T )

gAwp(0)z g GM T g GM L

0 0

G = diag{0, 0, gAwp(0), g GM T , g GM L}

Linearized model:

M + N + G = + go + w
This model is based on the assumption that we have yz -symmetry. In the nonsymmetrical case we can dene:
T =G =

0 0 0 0 0 0

0 0 0 0 0 0 0 0 0 Z 0 Zz 0 0 0 K 0 Mz 0 M 0 0 0 0

0 0 0 0 0 0

where

>0

Zz = gAwp(0) Z = g Mz = Z Z Z K = g (zb zg ) + g M = g (zb zg ) + g

Z Z
Awp

xdA y 2dA := g GMT x2dA := g GML

A Z Z wp Awp

Computation of Metacenter Height for Surface Vessels

MT and ML K GMT and GML From gure:

transverse/longitudinal metacenters keel line. metacenter heights

GMT = BMT BG,

T BMT = I ,

GML = BML BG
L BML = I

Transverse and longitudinal radius of curvature:

Moments of area about the water planes: IL =

Z Z
Awp

x2dA,

IT =

Z Z

Awp

y 2dA

Rectangular water plane area Awp = BL where B and L are the beam and length of the hull respectively: IL < 1 3 B L, 12 IT < 1 3 L B 12

A oating vessel is said to be transverse metacenter stable if: GMT GMT,min > 0 and longitudinal metacenter stable if GML GML,min > 0 For instance for large ferries carrying passengers and cars, the lateral stability requirement can be so high as GMT,min = 0.8 meter to guarantee a proper stability margin in roll. A trade-o between stability and comfort should be made since a large stability margin will result in large restoring forces which can be quite uncomfortable for passengers.

y MT GMT G mg g B K B1 GMT sin g z

Figure 1: Transverse metacentric stability. Notice that mg = g . A similar gure can be drawn to illustrate lateral metacentric stability by simply replacing MT and with ML and .

height above keel line M

BM

GM G BG B

GM=BG

KB K Floating vessel Diving Surfacing Submerged vessel

Figure 2: Metacenter M , center of gravity G and center of buoyancy B for a submerged and oating vessel. K is the keel line.

Model Transformations
The system transformation matrix is derived from:
b = vb + b rb vp o p nb b b b = vo rp nb b S(rb ) b = vo p nb T where rb p = [xp, yp, zp] is a vector from the bodyxed coordinate origin O to a an arbitrarily point P in the b-frame. The angular velocity b nb of the two bframes located in O and P with respect to the n-frame are equal.

Transformation matrix:

H(rb p) :=
" #

"

I33 ST (rb p) 033 I33

"
b vo b nb

# #

Velocity transformation:
b vp b nb

= H(rb p)

m p = H(rb p)

Force and moment transformation:

"
b fp mb p

= m

"

b fo b b rb p fo + mo

p = HT (rb p)

6 DOF Model Transformation

+ C( ) + D( ) + g( ) = M We can transform this expression to a point P in the b-frame by:

b b HT (rb + HT (rb p)MH(rp) p)C( )H(rp) p

{z } | {z } Mp Cp( ) b ) + HT (rb )g( ) = HT (rb ) + HT (rb ) D ( ) H ( r p {z p} p p | | {z } | {z p } p Dp( ) gp()

The Matlab Script HMTRX

function H = Hmtrx(r) % H = HMTRX(r) computes the 6x6 system %transformation matrix % % 8th June 2000 - Thor I. Fossen S = Smtrx(r); H = [eye(3) S zeros(3,3) eye(3) ];

Computation of the System Inertia Matrix

It is convenient to specify the rigid-body system inertia T matrixwith respect to the CG, that is rb g = [0, 0, 0] , such that:

Mcg RB =

"

7 parameters; m, Ix , Iy , Iz , Ixy , Izx and Iyz . We can transform this expression to the b-frame origin T O by specifying the vector rb g = [xg , yg , zg ] :
cg b) MRB = HT (rb ) M H ( r g g RB

mI33 033 033 Ic m 0 0 0 0 0 0 m 0 0 0 0

cg

0 0 0 0 0 0 0 0 m 0 0 0 . cg cg cg 0 Ix I xy I zx cg cg cg 0 I xy Iy I yz cg cg cg 0 I zx I yz Iz
cg cg cg cg

cg

"

mI33 mS(rb g) 2 b mS(rb g ) Ic + mS (rg )

MRB =

m 0 0 0 mz g my g 0 m 0 mz g 0 mxg 0 0 m my g mxg 0 Ix I xy I zx 0 mz g my g mz g 0 mxg I xy Iy I yz my g mxg 0 I zx I yz Iz

For bodies with xz -plane symmetry (yg = 0) and principal axes satisfying Ixy = Iyz = 0, this simplies to:
MRB =

m 0 0 0 mz g 0 0 mxg 0 m 0 mz g 0 0 m 0 mxg 0 0 Ix 0 I zx 0 mz g mz g 0 mxg 0 Iy 0 0 mxg 0 I zx 0 Iz

The Matlab Script MRBMTRX

function MRB = MRBmtrx(m,r_g,I_c) % MRB = MRBMTRX(m,r_g,I_c) computes the % 6x6 system inertia matrix MRB about an % arbitrarily point O where % r_g = [x_g y_g z_g] is the location % of the CG with respect to O and I_c is % the 3x3 inertia matrix about CG. % % 8th June 2000 - Thor I. Fossen MRB_CG = [m*eye(3) zeros(3,3) zeros(3,3) I_c ]; MRB = Hmtrx(r_g) * MRB_CG * Hmtrx(r_g);

Added Mass System Inertia Matrix

Let us dene the center of added mass (CA) as the point where the total added mass force attack (resultant of the added mass forces in the x-, y - and z -directions):

Mca A =
where

"

A11 033 033 A22

A11 = diag{Xu , Yv , Zw } A22 = full matrix depending on the principal axes

Approximation:
" #

Mcg A

diag{Xu 033 , Yv , Zw } 033 diag{Kp , Mq , Nr }

cg

For simplicity a diagonal structure of MA is assumed. This is often the best estimate you have unless you are using a hydrodynamic software program that comcg putes a full MA or Mca A matrix.

The system inertia matrix is transformed to the bframe origin O by:

cg b) MA = HT (rb ) M H ( r g g A

X u 0 0 0 0 Y v 0 0 Z w 0 zg Yv y g Zw z g Xu 0 xg Zw yg Xu xg Yv 0

yg Xu 0 z g Xu zg Yv 0 xg Yv y g Zw xg Zw 0 2 xg yg Zw xg zg Yv z 2 y g Zw K p g Yv 2 xg yg Zw z 2 yg zg Xu xg Zw M q g Xu 2 N xg zg Yv yg zg Xu y 2 xg Yv r g Xu

The Matlab Script MAMTRX

function MA = MAmtrx(MA_CG,r_g) % MA = MAMTRX(MA_CG,r_g) computes the % 6x6 system inertia matrix MA % about an arbitrarily point O where % r_g = [x_g y_g z_g] is the % location of the CG with respect to O % and MA_CG is the 6x6 inertia matrix % about CG e.g. % MA_CG = diag([-Xudot,-Yvdot,-Zwdot, % -Kpdot,-Mqdot,-Nrdot]) % % 8th June 2000 - Thor I. Fossen MA = Hmtrx(r_g) * MA_CG * Hmtrx(r_g);

Computation of the Coriolis-Centrifugal Matrix

The Coriolis-centrifugal matrix can be computed directly by using the Matlab commands: CA = m2c(MA); CRB = m2c(MRB); The resulting M- and C-matrices are: M = MRB + MA; C = m2c(M);

Computation of the Damping Matrix

The resulting hydrodynamic damping force will attack in a point which can be dened as the center of dissipative forces (CD ). In the CD the damping matrix D( ) will have a diagonal structure similar to that of added mass with respect to the CA. If the CD is unknown a rst approximation could be to assume that the damping matrix is diagonal in the CG:

D( ) = D + Dn( ) Dcg diag{Xu, Yv , Zw , Kp, Mq , Nr } Dcg n ( ) diag{X|u|u|u|, Y|vv ||v |, Z|w|w |w|, K|p|p|p|, M|q|q |q |, N|r|r |r}

Transforming these expressions to O, yields:

cg b D = HT (rb g )D H(rg ) X u 0 0 0 0 Y v 0 0 Z w = 0 zg Yv y g Zw 0 xg Zw z g Xu yg Xu xg Yv 0 0 z g Xu zg Yv 0 xg Zw y g Zw 2 z 2 xg yg Zw g Yv y g Zw K p 2 xg yg Zw z 2 g Xuxg Zw M q xg zg Yv yg zg Xu yg Xu xg Yv 0 xg zg Yv yg zg Xu 2 y 2 g Xuxg Yv N r

cg ( )H(rb ) Dn( ) = HT (rb ) D g n g X u|u| |u| 0 0 0 Y v|v| |v | 0 0 0 Z w|w| |w| = 0 zg Yv|v| |v | y g Zw|w| |w| z X 0 xg Zw|w| |w| g u|u| |u| yg Xu|u| |u| xY v|v| |v | 0

zg Yv|v| |v| y g Zw|w| |w| xg Zw 2 z 2 xg yg Z g Yv |v| |v | y g Zw|w| |w| K p|p| |p| 2 xg yg Zw|w| |w| z 2 g Xu|u| |u| xg Z xg zg Yv|v| |v | yg zg X yg Xu|u| |u| xg Yv|v| |v | 0 xg zg Yv|v| |v | yg zg Xu|u| |u| 2 y 2 g Xu|u| |u| xg Yv |v| |v | N r|r| |r |

z g X

The Matlab Script DMTRX

function D = Dmtrx(D_CG,r_g) % D = DMTRX(D_CG,r_g) computes the % 6x6 damping matrix D about an % arbitrarily point O where % r_g = [x_g y_g z_g] is the location % of the CG with respect to O and D_CG % is the 6x6 inertia matrix about CG e.g. % D_CG = diag([-Xu,-Yv,-Zw,-Kp,-Mq,-Nr]) % % 8th June 2000 - Thor I. Fossen D = Hmtrx(r_g) * D_CG * Hmtrx(r_g);