3.

ship roll

Ship Roll
stability

pendulum stability: buoyancy force acts above centre of gravity

examples: buoys, submarines, some sailing yachts

buoyancy
force B

b
weight W

h
For surface ships, the centre of gravity lies above
the centre of buoyancy.

metacentric height h(⌘)

generally: 2% b < h(0) < 5% b

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stability for h(⌘) > 0 .

WGD EGEM07 Fluid-Structure Interaction 28

3. ship roll

metacentric height b

righting arm: y

l(⌘) = xB (⌘) cos ⌘ + (yB (⌘)

<latexit sha1_base64="85DSfJfUQ8BoSKF0Zy2SZLp4MS8=">AAACWnicbZDNSsNAEMe38autX/Xj5mWxCBW1JF7UgyB68ahgVWhK2GwmdXGzCbsTsYQ+ik/jVR/Ag+/ipq1g1YGF//xmhtn5h5kUBl33o+LMzM7NL1Rr9cWl5ZXVxtr6rUlzzaHDU5nq+5AZkEJBBwVKuM80sCSUcBc+XpT1uyfQRqTqBgcZ9BLWVyIWnKFFQeNItnxAtuvvn/r7z8H5d+bz1JRyrzX4hgdR0N/1jVBlFjSabtsdBf0rvIlokklcBWuVJT9KeZ6AQi6ZMV3PzbBXMI2CSxjW/dxAxvgj60PXSsUSML1idOGQ7lgS0TjV9imkI/pzomCJMYMktJ0Jwwfzu1bC/2rdHOPjXiFUliMoPl4U55JiSku7aCQ0cJQDKxjXwv6V8gemGUdr6tQWyEws+lN3FBZpZtmOP9pAIcq9wzbCc9365/1266/oHLZP2u612zw7mRhZJVtkm7SIR47IGbkkV6RDOHkhr+SNvFc+nRmn5iyOW53KZGaDTIWz+QUPIbNX</latexit>
dg ) sin ⌘
h(⌘) MC
l(⌘)
metacentric height: h(⌘) =
sin ⌘ dg
<latexit sha1_base64="XX5GnG3XDZ4YIoWEhrnZJCb2GmY=">AAACS3icbZDNSsNAEMc39avWr6pHL4tFqFBK0ov2IAhePFawVmhK2Wwn7eJmE3YnYgl9BZ/Gqz6Cd9/Dk3hwm/ZgqwML//nNDLPzDxIpDLruh1NYWV1b3yhulra2d3b3yvsHdyZONYc2j2Ws7wNmQAoFbRQo4T7RwKJAQid4uJrWO4+gjYjVLY4T6EVsqEQoOEOL+uXqqOoDslO/duHX/FAznskZmWQWGKGmiV+b9MsVt+7mQf8Kby4qZB6t/r6z7Q9inkagkEtmTNdzE+xlTKPgEiYlPzWQMP7AhtC1UrEITC/LT5rQE0sGNIy1fQppTn9PZCwyZhwFtjNiODLLtSn8r9ZNMTzvZUIlKYLis0VhKinGdOoPHQgNHOXYCsa1sH+lfMSsL2hdXNgCiQnFcOGOzCLNLDvx8w0UBqnXqCM8lax/3rJbf0W7UW/W3Ru3ctmcG1kkR+SYVIlHzsgluSYt0iacPJMX8krenHfn0/lyvmetBWc+c0gWorD2A+04sXI=</latexit>
CG
We note that h(⌘) = h(⌘, dg = 0) dg . ⌘
ds <latexit sha1_base64="NhfT6il+242Kggcm58K7hQOIzVA=">AAACJnicbVDLSgNBEJyNrxijJnr0MhgCnsJuENRbwIvHCK4JJEuYne1Nhsw+mOkVw5Jv8Kqf4Nd4EvHmpzh5HExiQ0NR1U11l59KodG2v63C1vbO7l5xv3RQPjw6rlRPHnWSKQ4uT2Siuj7TIEUMLgqU0E0VsMiX0PHHtzO98wRKiyR+wEkKXsSGsQgFZ2gotw/ISoNKzW7Y86KbwFmCGllWe1C1yv0g4VkEMXLJtO45dopezhQKLmFa6mcaUsbHbAg9A2MWgfby+bVTWjdMQMNEmY6Rztm/GzmLtJ5EvpmMGI70ujYj/9N6GYbXXi7iNEOI+cIozCTFhM5ep4FQwFFODGBcCXMr5SOmGEcT0IoLpDoUw5U/ckMpZrh6f+5AIcicZgPheZafs57WJnCbjZuGfW/XWpfLIIvkjJyTC+KQK9Iid6RNXMKJIC/klbxZ79aH9Wl9LUYL1nLnlKyU9fMLfpykWg==</latexit>

CB x
example: rectangular hull
Z +b/2
1 b2 tan ⌘
xB (⌘) = x (ds + x tan ⌘) dx = l(⌘)
<latexit sha1_base64="dAwbIEih9SKRMJJ0oLsfObZ6BVI=">AAAClHicbVFda9swFJW9rR9Zt6Xtwx724i4UMupmtl/WPhTKymBPo4NlLUSpkeXrVNSWPel6OAj/zrIfM6iSetC0uyB0OPccXekoqXKhMQj+OO6z5y/W1jc2ey+3Xr1+09/e+anLWnEY8zIv1WXCNORCwhgF5nBZKWBFksNFcnO26F/8BqVFKX/gvIJpwWZSZIIztFTc/9XEn4cUkH2g/gn1aaYYN2Fr0lhTP2mpkBibw+Rj1F6Zg8VG9+heQ/2hFRw0FJnszLRIysakbfPgnOQq+qdoTRhR35rauD8IRsGyvKcg7MCAdHUebztbNC15XYBEnjOtJ2FQ4dQwhYLn0PZoraFi/IbNYGKhZAXoqVlm03r7lkm9rFR2SfSW7EOHYYXW8yKxyoLhtX7cW5D/601qzI6mRsiqRpD8flBW5x6W3iJoLxUKOOZzCxhXwt7V49fMxoL2O1amQKUzMVt5h7GUYpbbp8sJHqR1GI0Qmp7NL3yc1lMwjkbHo+B7MDg97oLcIO/IezIkIflETslXck7GhJNb8tdZc9bdt+6Je+Z+uZe6TufZJSvlfrsDbeDIKw==</latexit>
ds b b/2 12 ds
Z +b/2
1 2 (b tan ⌘)2 ds
yB (⌘) = (x tan ⌘) d2s dx =
2 ds b b/2 24 ds 2

b2 ds
We obtain h(0) = dg .
12 ds 2

WGD EGEM07 Fluid-Structure Interaction 29

3. ship roll

dg = 0
b = ↵ ds Unstable regions are marked in grey.

0.25 0.4

The corner is
l(⌘) 0.2
getting wet! 0.3 h(⌘)
0.15

0.1
0.2

0.05
0.1

0
0.05

0.1 0.1

0.15
0.2
0.2

0.25 0.3
100 80 60 40 20 0 20 40 60 80 100 100 80 60 40 20 0 20 40 60 80 100

⌘ ⌘

↵ = 2.25 ↵=3
↵=1
↵ = 0.02

WGD EGEM07 Fluid-Structure Interaction 30

3. ship roll

roll frequency

equation of roll motion for small ⌘ : (Ip + Ap ) ⌘¨ + ⇢ g Vd h ⌘ = 0

| {z }
moment generated by
volume of water displaced by the hull Vd buoyancy with respect
to centre of gravity CG
polar mass moment of inertia of the ship for roll Ip

polar mass moment of inertia of added mass of water entrained by the hull Ap ⇡ 30% Ip

Use ⌘ = A sin ! t in the equation of motion to obtain

(Ip + Ap ) A ! 2 + ⇢ g Vd h A sin ! t = 0
s
⇢ g Vd h
and thus, for the roll frequency, ! = .
Ip + Ap
p
gh
With Ip + Ap ⇡ ⇢ Vd (0.45 b)2 , we get !⇡ .
0.45 b
Thus, the larger the ship, the smaller is the roll eigenfrequency.
The larger the metacentric height, the higher is the roll eigenfrequency.

WGD EGEM07 Fluid-Structure Interaction 31

3. ship roll

roll induced by waves

wave length > 40 m > ship width

Thus, we model the sea surface as a tilting plane

with ✓(t) = ✓ˆ cos(!w t) .
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We obtain the equation of motion with a periodic excitation proportional to h : <latexit sha1_base64="AdZD5UESKCVAkSSXr0MTmnyTmQU=">AAACInicbVBNT8JAEN36iYgKevSykZB4alouyo3Ei0dIrJBAQ7bbKWzYbpvdrZE0/AKv+hP8NZ6MJxN/jEvhIOAkk7y8N5M384KUM6Ud59va2d3bPzgsHZWPKyenZ9Xa+aNKMknBowlPZD8gCjgT4GmmOfRTCSQOOPSC6d1C7z2BVCwRD3qWgh+TsWARo0QbqjsZVeuO7RSFt4G7AnW0qs6oZlWGYUKzGISmnCg1cJ1U+zmRmlEO8/IwU5ASOiVjGBgoSAzKz4tL57hhmBBHiTQtNC7Yvxs5iZWaxYGZjImeqE1tQf6nDTId3fo5E2mmQdClUZRxrBO8eBuHTALVfGYAoZKZWzGdEEmoNuGsuUCqIjZe+yM3lCSGawwLBwxh5jZtDc9lk5+7mdY28Jp2y3a6Tr3dWgVZQpfoCl0jF92gNrpHHeQhigC9oFf0Zr1bH9an9bUc3bFWOxdorayfX8f0ov8=</latexit>
<latexit

(Ip + Ap ) ⌘¨ + ⇢ g Vd h (⌘
<latexit sha1_base64="lwwEP9+mReoTHaANk5J1QfJxCGs=">AAACYnicbVBNTxsxEHWWftBA26Qc6cFqhJSKbbTLBThUgLi0Nyo1gBRHK693NmvhXVv2LCJa5efwa7jCgR/Q/1En5NBAR7L8/N4bjeelRkmHUfTYCtZevX7zdv1de2Pz/YePne6nc6drK2AotNL2MuUOlKxgiBIVXBoLvEwVXKRXp3P94hqsk7r6jVMD45JPKplLwdFTSeeo/zMxuyeJ+cpClmUaGwbIZyzc9W9baBZOWHieZCwsWNifa98YFv7y/u8sjJJOLxpEi6IvQbwEPbKss6Tb2mSZFnUJFQrFnRvFkcFxwy1KoWDWZrUDw8UVn8DIw4qX4MbNYtMZ3fFMRnNt/amQLth/OxpeOjctU+8sORbuuTYn/6eNaswPxo2sTI1QiadBea0oajqPjWbSgkA19YALK/1fqSi45QJ9uCtTwLhcTlb2aDxlued22GIChayO9wYIN22fX/w8rZdguDc4HES/ot7x4TLIdbJNvpA+ick+OSY/yBkZEkFuyR25Jw+tP8FG0A22nqxBa9mzRVYq+PwXzBe15A==</latexit>
✓) = 0

The metacentric height provides stability, but also provides a handle to the waves to rock the ship!

✓ˆ
Try ⌘ = A cos(!w t) , obtain A = .
<latexit sha1_base64="saW5FS+DCHJwu1MtS4nk3PQ0zsY=">AAACQHicbVBNSyNBFOzRXT+yrkY9ykKzIeBCCDO5qAdB2YtHhc0qpEN403mTNOmZHrrfqGHw5K/xqj9hf4U/wdOyV0/biTls4hY0FFXvUf0qzrVyFIbPwdLyh48rq2vrlU8bnze3qts7P50prMS2NNrYqxgcapVhmxRpvMotQhprvIxH3yf+5TVap0z2g8Y5dlMYZCpREshLveoXgQSicSwap6IhpHH7wqQ4gN6NaNC3XrUWNsMp+HsSzUiNzXDe2w42RN/IIsWMpAbnOlGYU7cES0pqvKuIwmEOcgQD7HiaQYquW07vuON1r/R5Yqx/GfGp+u9GCalz4zT2kynQ0C16E/F/Xqeg5LBbqiwvCDP5FpQUmpPhk1J4X1mUpMeegLTK/5XLIViQ5KubS8HcJWowd0fpJQteq4tpAsd+EbWahLcV31+02NZ70m41j5rhRVg7OZoVucb22Fe2zyJ2wE7YGTtnbSbZPXtgj+wp+BW8BL+DP2+jS8FsZ5fNIXj9C1AVrbU=</latexit>

1 (!w /!)2
✓ˆ
Hence, ⌘(t) = 2
cos(!w t)
1 (!w /!)

WGD EGEM07 Fluid-Structure Interaction 32

3. ship roll

|A|
✓ˆ ✓ˆ
⌘(t) = cos(!w t)
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1 (!w /!)2

amplitude changes sign

when !w exceeds ! !
1

0 1 !w /!

Hence, a large metacentric height entails

• high roll stability,

• a high roll eigenfrequency, therefore lower risk of rolling against the wave slope, and

• a strong response to wave motion, therefore large angular accelerations acting on crew,
passengers and on the ship structure

WGD EGEM07 Fluid-Structure Interaction 33