13.

42 Spring 2005
version 1.0 updated 3/29/2005 -1- 2005, aht
13.42 Design Principles for Ocean Vehicles
Prof. A.H. Techet
Spring 2005
1. Coupled Equation of Motion in Heave and Pitch

x
3
x
5



Once we have set up the simple equation of motion for a vessel in heave it is natural to extend this
discussion to the coupled heave-pitch equations of motion. Considering a ship floating on the free
surface in waves. This ship will naturally heave and pitch due to the incident waves. It is not
guaranteed that these two motions will be independent, however. Thus it becomes necessary to
consider the motions together.
The body boundary condition must be properly specified, thus we need to know both the linear and
angular velocities of the vessel:


3 5
5 3 5
( )
B
dx dx
k r j z x
x x x V
dt dt
| |
= + = ,
|
\ .
G G
(1)

It follows that the velocity normal to the vessel hull is

5 3 5 3 5
( ) ( )
x z z x z B
n n z n x n n z n x
x x x x x V
= + = +
G
(2)

where the position vector, r
G
, crossed with the unit outward normal,

n , is

4
5
6
n
n r n
n
| |
|
|
|
|
|
|
\ .
=
G
(3)
13.42 Spring 2005
version 1.0 updated 3/29/2005 -2- 2005, aht

In general the potential functions do not change significantly from our previous cases. However it
is necessary to account for the pitching motion in the radiation component of the total potential.

( ) ( ) ( ) ( )
I D R
x z t x z t x z t x z t , , = , , + , , + , , (4)







3 5
3 5
( ) ( ) ( ) ( )
i t i t i t
I D
Re a x z x z e x z e x z e
x x




`
)
( = , + , + , + , ,

(5)

where the motions in the heave (3) and pitch (5) directions are

3 3
( )
i t
x t Re e
x

`
)
= (6)

5 5
( )
i t
x t Re e
x

`
)
= . (7)

The boundary conditions for the potentials,

, and

are the same as in the pure heave case.

We must now, however, consider also the boundary conditions for the radiation potential due to
pitching motions. Following the same formula from last lecture the equation of motion and
boundary conditions at the free surface, sea floor and on the body are:

1.

2
5
0

=
2.

5
2
5
0
z
g

+ =
3.

5
0
z

= on z H =
4.

5
5 n
n

= ; on the body

In addition to the force in the vertical direction, we also need to formulate the pitching moment
(about the y-axis) acting around the center of gravity. First we can re-write the vertical force
dependent on the two motions as:


3
( )
T
z
S
F t n ds
t

(8)






( )
{ } 3 5
3 5
i t
z
I D
S
Re i e n a ds
x x

( = + + +

(9)
13.42 Spring 2005
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l l l
( )
l
( ) { }
3 3 3 33 5 35
i t i t i t
I D
Re a e e e
x x F F F F

= + + + (

(10)
l l
2 2
33 33 35 35 3 3 3 5
i t i t i t
I D
Re a e e A i B e A i B
x x F F


| | | |
` | |
\ . \ . )
= + + + (

(11)

Next, we can find
5
F , the moment on the body due to pitching and heaving motion.

2 5
( )
S
M F r n dS
t

= =

G
(12)
where

5 5
( )
T
S
F t n dS
t

(13)
l l l
( )
l
( ) { }
5 5 3 53 5 55
i t i t i t
I D
Re a e e e
x x F F F F

= + + + (

(14)
l l
2 2
53 53 55 55 5 5 3 5
i t i t i t
I D
Re a e e A i B e A i B
x x F F


| | | |
` | |
\ . \ . )
= + + + (

(15)


The hydrostatic forces in the two directions are


3 33 3 35 5 h
F C x C x = (16)

5 53 3 33 5 h
F C x C x = (17)

where the coefficients,
ij
C , are based on the vessel geometry. Taking the pitch motion about the
center of gravity (usually the c.g. is near midships), where 0
cg
x = , we can write the equations of
motions in heave and pitch:


2
3
3 3 2 h
d x
m F F
dt
= + (18)

2
5
5 5 2 h
d x
I F F
dt
= + (19)

The system of equations can now be written in matrix form assuming a harmonic input and an LTI
system:


l l
l l
3 3 33 33 33 3 35 35 35 3 3
5 5 53 55 53 55 53 55 5 5 5
I D i t
I D
m A A B B C C x
x x
F F
a e
A I A B B C C x
x x
F F

( ( ( (
( ( ( (
( ( ( (
( ( ( (

+ + ( ( (
+ + =
( ( (
+ +



(20)

13.42 Spring 2005
version 1.0 updated 3/29/2005 -4- 2005, aht
Simply expressed in matrix notation, the system of equations for the coupled pitch and heave
motions for a freely floating body can be rewritten as


| | | | | |
l
i t
M A x B x C x a F e

+ + + = (21)

where the vector motion is comprised of the linear heave motion,
3
x , and the angular pitch motion,
5
x .

3
5
i t x
x Re e
x




`


)
| |
=
|
\ .
(22)

Writing the equation in matrix form allows us to better determine the amplitude response function
(transfer function) between the forcing and the ship motions:

| | | | | | { }
l
2
a
x F
M A i B C
=
+ + +
(23)