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Lecture 7
Seakeeping (III)
z
y
B
x
D
L
Image by MIT OpenCourseWare.
A regular plane progressive incident wave in deep water travels along the x-direction:
Long-wave assumption: wave motion is a flow slowly varying in space and time.
The wave diffraction effect is approximated by the added mass effect.
R L/2 kD/2 2D kL
FD3 (t) = L/2
fD3 (x, t)dx = 2gae A 33 sin 2 cos t
A2D
33
2
= Ca 2 (B/2) , Ca 1.0
100
Heave force/wave amplitude
Added mass
Fraude-Krylov
Total
50
-50
0 1 2 3 4
Ship length/wavelength
R L/2 2D 2D
Added mass coefficient: A33 = L/2
A 33 (x)dx = LA 33
Restoring Force
Equation of Motion
(M + A33 )3 + Bv 3 + gBL3 (t) = FE3 (t)
If Bv =0, 3 (t) = 3 cos(t)
3 = gBLa
2 (M +A33 )+gBL =a
3 (t) = a cos t = (x = 0, t)
Barge responds to move like a fluid particle in the limit of very long wave.
Natural Frequency
n2 (M + A33 ) + gBL = 0
1/2 1/2 1/2
gBL gB g
n = M +A33 = BD+A2D
= D+Ca (/8)B
33
2
Natural period: Tn = n Tn increases with D and B.
Draft: D=12 m
Width: B=40 m
FE3
RAO
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Pitch Motion and Wave Loads on a Barge
Z L/2
Wave Excitation: FE5 (t) = xfE3 dx
L/2
h iZ L/2
kD kD/2
= gBae gkae A2D
33 [x cos(t kx)]dx
L/2
R L/2
Added mass and wave damping: A55 = L/2
x2 A2D
33 dx , B55 = 0 as 0
R
Hydrostatic restoring moment: FS5 = C55 5 (t) = [g(ZB BG ) + g Awp
x2 ds]5 (t)
R L/2
Moment of inertia: I55 = DB L/2
x2 dx
From the equation of motion for pitch, we can get pitch motion: 5 (t) = 5 sin t
5
a = .....
Sample Results for Pitch Motion
Draft: D=12 m
6000
Width: B=40 m
Added mass
FE5
MN/m
2000
-7000
0 1 2 3 4
Ship length/wavelength
0.9
Pitch angle/wave amplitude
0.6
Degrees/m
0.3
RAO
0
0 1 2 3 4
Ship length/wavelength
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