ME403

Introduction to Naval Architecture

& Ocean Engineering
Dynamics of Ship Motion
2017-03-28

https://sites.google.com/site/2017me403/home

Soonhung Han, shhan@kaist.ac.kr

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Book Contents
Let’s get under way
General arrangements
Working areas and accommodations
Design procedures
Hull forms
Statics stability
Dynamic stability
Resistance and powering
Propulsion devices
Choosing propulsion machinery
Wind power
Hull strength requirements
Materials of construction
Structural arrangements
Miscellaneous design matters 3
Contents
Dynamics of Ship Motion
Ship Motions
Roll Stability
Pitch Stability
Yaw Stability
Feedback Control

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Introductory Concepts
Kinematics, Kinetics and Dynamics
 Kinematics: Mathematical description of
motion without considering the cause of
motion
 Kinetics: Relation between the motion
and what causes the motion (i.e., external
forces and moments)
 Dynamics: Kinematics + Kinetics

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6-DOF Motion of a Ship

surge
 Translational
 Surge
roll
 Sway
 Heave
 Rotational
sway  Roll
pitch
 Pitch
yaw
 Yaw
heave

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Dynamics of a Rigid Body
Rigid body is an idealization of a solid body
in which deformation can be neglected.
The distance between any two points in the
body remains constant in any motion.
The velocity may vary with the position in the
body, but the angular velocity is the same in
any point in the body at a given time.

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Geometry of Mass
The motion of a rigid
body or a system of
particles is influenced
by
 Forces
 Moments
 Geometry of the
system’s mass

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Center of Mass
For a discrete system

For a continuous system

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Inertia Matrix
Also called “inertia tensor”
Defined about a set of reference axes

Matrix Form:

Moments of Inertia Products of Inertia

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Fundamental Laws of Motion

Translational EOM :
Rotational EOM :

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Standard Symbols
Physical quantities in the body-fixed frame

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6-DOF Equations of Motion
Simplified EoM w.r.t. the mass center and
the principal axes
Surge :
Sway : F
Heave :
Roll :
Pitch : M
Yaw :

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External Forces and Moments
Decomposition of forces and moments

 Hydrodynamic forces and moments

 Hydrostatic forces and moments
 Control/steering forces and moments
 Environmental disturbances

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Hydrodynamic Forces & Moments
Fluid-Induced Inertial Forces & Moments
 Added Mass: When a body is accelerated in a
fluid, pressure-induced forces and moments
which are proportional to the acceleration are
acting on the body. The coefficient of
proportionality is called the added mass or
virtual mass.
Added mass in an ideal fluid
 e.g., 2D circular section

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Hydrodynamic Forces & Moments
Damping Forces & Moments
 Forces and moments which are in phase with
the linear/angular velocity of the body.
Hydrodynamic Drag: Resistance
 Wave-making drag
 Skin friction drag
 Form drag

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Finding Hydrodynamic Derivatives

Captive model tests

 Static tests
 Dynamic tests (wave)
Free running model tests
Sea trials

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Control Forces & Moments
Marine control devices
 Thrusters
 Open propeller
 Ducted thruster
 Tunnel thruster
 Bow thruster
 Water jet
 Control surfaces
 Rudder
 Elevator
 Fin
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Bow thruster
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Environmental Forces & Moments

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Nature of Ship Motions
Rolling and pitching (and
heaving) motions are pendulum-
like in nature due to the gravity- Rolling
induced restoring forces.
Yawing (and surging/swaying)
motions also share some basic
motion characteristics but not Pitching

quite the same as rolling and

pitching.

Yawing

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Oscillatory Motions
Natural Frequency of a Pendulum

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Serious Situations

Resonance may occur when Head Sea

repeating perturbing forces

come along at a frequency
that coincide the ship’s
natural period of motion.
In resonance conditions, Beam Sea
rolling may build up even
by small waves until the
ship capsizes.
Following Sea

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Discussions

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Roll Motions
Causes
 Wave forces in beam seas, wind forces, cargo
shifting, rudder hard-over, etc.
Disagreeable aspects
 Possibility of capsize, motion-induced inertial
forces, seasickness
Cures
 Modest values of the metacentric height (GM)
 Devices for roll stabilization

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Roll Stabilization
Bilge keels
Stabilizer fins
Anti-rolling tanks
Rudder-roll stabilization

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Bilge Keels
Approximately perpendicular to the hull near the
turn of the bilge; typically 25%~50% of Lpp.
Increase added mass and damping.

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Fin Stabilizers

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Anti-Rolling Tanks
Different types of U-tube tanks

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Rudder-Roll Stabilization

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Roll Stabilization: Comparison
Advantages Disadvantage

Bilge keel • Simple and inexpensive • Increases hull resistance

• Ineffective at low speed

Stabilizer fin • Highly effective
• Expensive

• Requires large space and

Anti-rolling tank • Effective in all speed range
weight

• Ineffective at low speed

Rudder-roll • Requires relatively small
• Requires a highly capable
stabilization space
steering system

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Some Other Ideas
Spinning gyroscope Bessemer’s Saloon

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Dynamic Stability in Roll
Equation of roll motion

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Pitch Motions
Causes
 Mostly wave forces, ice-breaking motions for
icebreakers
Disagreeable aspects
 Taking seawater on deck, structural damage due
to slamming, propeller racing, motion-induced
inertial forces
Cures
 Speed/course changes, appropriate load
distribution, horizontal fins

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Dynamic Stability in Pitch
Equation of pitch motion

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Yaw Motions
Causes
 Wave forces, vessel towing
Disagreeable aspects
 Course deviation, broaching
Cures
 Trim by the stern
 Rudder steering
 Anti-yaw skegs

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Yaw Stability
Straight line stability

Directional stability

Position stability

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Stability vs. Maneuverability
Stability
 The ability of returning to an equilibrium state after an
external disturbance.
Maneuverability
 The capability of moving a vehicle out of its equilibrium
state to a desired state.
Tradeoff between stability and maneuverability
 A stable vehicle tends to stay in equilibrium and is difficult
to maneuver. The more maneuverable a vehicle is, the
easier it departs from equilibrium and the less likely it
returns to the equilibrium state.

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Vehicle Control System
Process Noise

Guidance u Vehicle x
+ Controller
Law Dynamics
-

^
x z
Estimator Sensors

Measurement Noise

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Guidance, Navigation and Control

(Vehicle) guidance
 To compute the desired path or trajectory from
the vehicle’s current location to a designated tar
get location.
(Vehicle) navigation
 To determine the vehicle’s motion variables inclu
ding its position and attitude at a given time.
(Vehicle) control
 To determine the necessary forces and moments
to satisfy given control objectives (often tracking
a guidance trajectory).
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What is control?
Control is the process of making a system variable
adhere to a particular value, called the reference value.
Open-loop control
 The system does not measure the output and there
is no compensation of that output to make it
conform to the desired output.
Closed-loop control
 The system uses feedback, which is the process of
measuring a control variable and returning the
output to influence the value of the variable.
from Feedback Control of Dynamic Systems by FPE

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Open-Loop vs. Closed-Loop
Open-loop control
Output
Controller Process
Reference
Input

Closed-loop control
Output
Controller Process
Reference
Input

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Course Keeping Autopilot
Nomoto’s 1st order model

Feedback control

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Dynamic Positioning (DP)

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