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( M jk + A jk ) S k + B jk Sk +C jk S k =F j eit
k=1
(Equation 1)
Where :
k
: mode of motion takes 1,2,3,4,5 and 6 for the surge, sway,
heave, roll, pitch and yaw, respectively
j
: mode of excitation and takes the values similar to k for the
corresponding modes
Mjk
: mass matrix containing the mass, mass moment of inertia and
products of inertia of the body
Ajk
: added mass matrix containing added mass and added moment of
inertia per unit acceleration, which are frequency dependent
Bjk
Cjk
S
Fj
( e t)
(M + A 33) z
B 33 z
C33 z
( e t )
Fo cos
1.1.1.2.
(Equation 2)
Rolling Motions
( e t)
( M + A 44 ) + B44 + C44 =M o cos
Where:
Mo
(Equation 3)
( M+ A 44 )
: Inertial Moment (N m)
B 44
: Damping Moment (N m)
C 44
: Restoring Moment (N m)
( e t )
M o cos
: Exciting Moment (N m)
1.1.1.3.
Pitching Motions
Pitching motions happens in the mode 5. The displacement in the motion
can be written as . So that the equation of motion can be simplified into
(Bhattacharyya, 1978):
( e t)
( M + A 55 ) +B 55 +C
55 =M o cos
Where:
Mo
e
(Equation 4)
( M + A 55 ) : Inertial Moment (N m)
B 55
: Damping Moment (N m)
C55
: Restoring Moment (N m)
( e t )
M o cos
: Exciting Moment (N m)
MODELLING
BUOY SIZING
The shape of the buoy is cylindrical. Modelling of the buoy is done on Maxsurf Hull
Modeller software. The size of the buoy is taken to be:
Buoy Size
Radius, R
2.00
Height, H
1.50
Draught, T
0.75
m
m
m
MASS DISTRIBUTION
The mass of cylinder is assumed to be distributed uniformly in its volume. The
draught of the floating structures is also assumed to be half of the height. So
that the weight (displacement) can be shown as:
= water
Where:
= Displacement (kg)
= R T
water
9.42
9424.
78
m3
kg
The other parameter for mass distribution is its moment of inertia. The formula
for uniformly distributed cylinder is:
1
I x= M R 2
4
1
I y = M R2
4
1
I z= M R 2
2
Where:
9424.7
8
9424.7
8
18849.
56
kg m2
kg m2
kg m2
Center of Gravity
Since the mass is distributed uniformly the center of gravity can be taken:
VCG
TCG
LCG
0.75
0.00
0.00
m
m
m
(SEBAIKNYA ADA GAMBAR AXIS NYA MAS, JADI TERJAWAB 0.75 M ITU TERHADAP
MANA, TP BELUM TAK BUAT MAS)
Radii of Gyration
The parameter of moment inertia in Maxsurf Motion is filled using radii of
gyration. While the radii of gyration is defined:
R x=
R y=
Iy
M
R z=
Iz
M
Ix
M
Where:
1.00
1.00
1.41
m
m
m
The analysis of motion is done in Maxsurf Motion. The model is stripped (divided)
into:
Using strip theory in Maxsurf Motion the response amplitude operator is:
HEAVE MOTION
1.5
1
RAO (m/m)
.5
.
0,000 0,002 0,004 0,006 0,008 0,010 0,012 0,014
(rad/s)
0 Deg
30 Deg
60 Deg
90 Deg
45 Deg
ROLL MOTION
8
6
RAO (deg/m)
4
2
.
0,000 0,002 0,004 0,006 0,008 0,010 0,012 0,014
(rad/s)
0 Deg
30 Deg
60 Deg
90 Deg
45 Deg
PITCH MOTION
4
3
RAO (deg/m)
2
1
.
0,000 0,002 0,004 0,006 0,008 0,010 0,012 0,014
(rad/s)
0 Deg
30 Deg
60 Deg
90 Deg
45 Deg
Heave
(m)
0.063
Response
Roll
Pitch
(deg)
(deg)
0.000
0.232
0.079
0.478
0.277
0.059
0.677
0.266
0.038
0.829
0.244
0.028
0.957
0.198
Note:
Analisa kali ini baru ngeluarin heave roll pitch aja mas, soalnya ini masih
pake strip bukan pake panel mas (softwarenya) kalua pake panel nanti
bisa ngeluarin 6 gerak semuanya mas tp agak lama ngerunningnya. Kalau
memang butuh bisa aku runningin mas, tapi kalau butuh heave aja bisa
pake ini mas.
Asumsi bendanya beban merata ya mas hehehe, kalua ada penjelasan
lebih lengkap mengenai distribusi bebannya bisa nanti tak coba hitung
mas moment inersianya yang baru.
Kalau dimensinya sudah fix nanti bisa diganti-ganti lagi kok mas, santaii
Refrensi yang biasa dipake mas, di lab hidro bukunya udah tak print mas:
References
Bhattacharyya, R., 1978. Dynamics of Marine Vehicles. New York: John Wiley &
Sons.
Djatmiko, E. B., 2012. Perilaku dan Operabilitas Bangunan Laut di Atas
Gelombang Acak. Surabaya: ITS Press.
Journee, J. & Massie, W., 2001. Offshore Hydromechanics. 1st ed. Delft : TU Delft.