Seakeeping

• Ship is so far assumed to be in calm water to determine,

- stability of ship
- EHP calculation through Froude expansion
• Ship usually, however, encounters waves in the sea.
• Ship will respond due to wave action.
output
Input
Response
Excitation
Motions
Wave Structural load
Wind
Ocean Waves
• What is a Wave?
– Waves result from the movement of E through a medium
• = progressive waves
– e.g. oceanic, seismic, sound waves

Challenge Qs
– What do Progressive Ocean waves arise from?
• A disturbing Force
– Force that Transmits E to the water column or surface via Wind or Earthquake

– What are Waves from Episodic Events (e.g. Winds, Earthquakes) called?
Free Waves - travel without any further influ. of Disturbing force

–What are Waves from Continual Events (e.g. tides) called?

Forced Waves - under continual influence of disturbing force

(e.g. gravity from Moon or Sun)
NOTE: Restoring Forces - Drain the Wave of it’s E
• Development of Wave Theory

– Sir Isaac Newton (1642-1727)

• First mathematical descriptions of waves, 1687 Principia.
• Proposed motion of water particles in a wave was circular

– Franz Gerstner (1756-1832)

• Develops 1st primitive wave theory
– Particles traveling at the crest of wave move up/forward
– Particles traveling at the trough of wave move down/backward
– Motions traced a circle
» Height @ surface = Height of Wave
• Development of Wave Theory
– Ernst Weber (1795-1878) - Anatomy Professor
– Wilhelm Weber (1804-1891) - Physicist
• Built first WAVE Tank
– Confirmed Gerstener’s circular Motions.
 Waves

Wave Creation and Energy

Energy transfer to sea Wave Creation

High speed ship Large wave

1
Wave energy, E= f(wave height²) E = gH 2
8

- Doubling in wave height → quadrupling of Wave Energy

- Cw at hull speed rapidly increases due to higher wave
creation.
 Waves

Wave Energy Sources

• Wind : most common wave system energy source

• Geological events : seismic action
• Currents : interaction of ocean currents can create
very large wave system.
 Waves

Wind Generated Wave Systems

The size of these wave system is dependent on

the following factors.
• Wind Strength :
- The faster the wind speed, the larger energy is
transfer to the sea.
- Large waves are generated by strong winds.
• Wind Duration :
- The longer wind blow, the greater the time the sea
has to become fully developed at that wind speed.
 Waves

Wind Generated Wave Systems

• Water Depth :
- Wave heights are affected by water depth.
- Waves traveling to beach will turn into breaking
wave by a depth effect.
• Fetch
- Fetch is the area of water that is being influenced
by the wind.
- The larger the fetch, the more efficient the energy
transfer between wind and sea.
 Waves
Wave Creation Sequence

Ripples and Growing

(W. energy>Dissipation Energy)
Ripple
(high freq.)
Fully Developed Wave
(W. energy=Dissipation Energy)
Energy Dissipation
due to viscous friction
Reducing
(W. energy<Dissipation Energy)

Swell (low frequency long wave)

Waves

Ripples

Growing Seas

Fully Developed Seas

Reducing

Swells
 Waves

Definitions

• Ripple : high frequency, short wave

• Fully developed wave : stable wave with maximized wave
height and energy (does not change as the wind continues
to blow)
• Swell : low frequency, long wave, high frequency waves
dissipated
• Wave Generation by Winds
– From Atm. Winds to sea surface. . . .
– Some wind E causes surface currents
• Most Wind E → waves

WIND
WIND

WIND WIND
• Wave Generation by Winds
– Challenge Qs
• What factors of wind determine the severity of the waves?
– Speed of Wind
– Length of Time in Blows (duration)
– Distance over which it travels aka?
» Fetch

»Fetch
• From Calm to Fully Developed Sea
– IT all starts with the Wind → swells

Coming to a Shore
Near YOU!!!!

– What are Swells?

• Long wavelength - surface waves (group)
– traveled long distances
– (more stable then wind waves)
• From Calm to Fully Developed Sea
What is Wave Steepness ~ S ?
• S = H/ λ Challenge Q
• What happens when steepness exceeds 1/7 or (0.142) ?
– e.g. wavelength = 7m, wave height ≥ 1m
the formation of White caps

Discovered aboard FLIP

0.16
 Waves

+ zo z

t (sec)
1
− zo
T

Sinusoidal Wave- A wave pattern in the typical sine pattern

Period, T- Distance to complete one complete wave (sine) cycle, defined as 2p
radians (Here the period is 2/3 second, .667sec)
- Remember that p = 180o, so 2p is 360o, or one complete cycle
 Waves

+ zo z

t (sec)
1
− zo
p
2p
3p
Frequency, w - The number of radians completed in 1 second (here the wave
completes 9.43 radians in 1 second, or 3p… = to 1.5 times around the circle)

w = 2p w is given in RADIANS/sec
T
 Waves

These two formulas for frequency are also referred to as the

Natural Frequency, or the frequency that a system will assume
if not disturbed:

wn = 2p wn = k
T m

Where k = spring constant (force/ length compressed/ stretched)

 Waves

+ Zo
z
Z

t (sec)
1
- Zo
T
Displacement, Z - The distance traveled at a given time, t
- Zo reflects the starting position
- Z will be cyclical…it will not be ever-increasing

Z = Zo Cos(wnt)
…This will give you the height of the wave or the length of the
elongation / compression in a spring at a given time
• Wave Theory
– What are Shallow water waves?
• Waves traveling in H2O whose depth is less than one-twentieth (1/20) of the
wavelength of the wave
– What are deep water waves?
• Waves whose propagation is NOT affected by the seafloor
– What are intermediate water waves?
• Surface waves in b/w the deep and shallow water approximations

or Velocity (V)

h/λ > 1/2 1/20 > h/ λ

• Wave Particle Motions
– For Deep-water waves
• Diameter of wave orbital
– Based on Height

• Challenge Question?
– What happens to the diameter of
» wave orbitals with depth?

– They shrink (diminish)

» disappear
• Wave Particle Motions
– For Shallow-water waves
• Diameter of wave orbital hits bottom
– Becomes ovular b/c of:
» friction/ drag effects etc.
» e.g. notice Kelp moving
Back/ fourth
 Waves
Superposition Theorem
The configuration of sea is
complicated due to interaction of
different wave systems.
(Irregular wave)

The complicated wave system

is made up of many sinusoidal
wave components superimposed
upon each other.

Fourier Spectral Analysis

 Waves

Wave Superposition
• Analyzing Natural Waves
• Wave Interference
– Challenge Questions
• What is produced when Crests/ troughs of Waves are offset?
– Destructive interference
» Cancel each other out

• What is produced when two wave Crests overlap exactly?

– Constructive interference
» Doubling of wave height!
• Wave Interference
– Summary
• Wave E Spectrum
– Knowing H and frequency of Waves → wave E spectrum
• @ given location / set of conditions exist?

Wave E spectrums
 Waves
Total Energy = gmo
Wave Spectrum

mo =  S ( w)dw : Area under thecurve
0
Significant waveheight = 4.0 mo

Frequency
Significant wave height :
- Average of the 1/3 highest waves
- It is typically estimated by observers of wave systems
for average wave height.
 Waves
Wave Data
Number Significant Wave Sustained Wind Percentage Modal Wave Period (s)
Height (ft) Speed (Kts) Probability of

Range Most
Probable

Range Mean Range Mean

0-1 0-0.3 0.2 0-6 3 0 - -

2 0.3-1.5 1.0 7-10 8.5 7.2 3.3-12.8 7.5
3 1.5-4 2.9 11-16 13.5 22.4 5.0-14.8 7.5
4 4-8 6.2 17-21 19 28.7 6.1-15.2 8.8
5 8-13 10.7 22-27 24.5 15.5 8.3-15.5 9.7
6 13-20 16.4 28-47 37.5 18.7 9.8-16.2 12.4
7 20-30 24.6 48-55 51.5 6.1 11.8-18.5 15.0
8 30-45 37.7 56-63 59.5 1.2 14.2-18.6 16.4
>8 >45 >45 >63 >63 <0.05 15.7-23.7 20.0

2p
Modal Wave Frequency : ww =
T
 8.3 Simple Harmonic Motion

Condition of Simple Harmonic Motion

+a
 
-a
a
A naturally occurring motion in which a force causing displacement is countered by
an equal force in the opposite direction.
- It must exhibit a LINEAR RESTORING Force
- Linear relation :
The magnitude of force or moment must be linearly proportional
to the magnitude of displacement
- Restoring :
The restoring force or moment must oppose the direction of
displacement.
 Simple Harmonic Motion
k z = −a z=0 z = +a

Tension f = −kz

Compression
f = +kz

- If spring is compressed or placed in tension, force that will try to

return the mass to its original location Restoring Force
- The magnitude of the (restoring) force is proportional to the
magnitude of displacement  Linear Force
 Simple Harmonic Motion

Mathematical Expression of Harmonic Motion

z=0 z = + zo
k
f = −kz
m

Newtons'2nd law Solution

f = ma z = zo cos( nt )
-kz = ma
m : Mass of block
ma + kz = 0
k : Spring constant
d 2z
m 2 + kz = 0 zo : Initial displacement
dt  n : Naturalfrequency
 Simple Harmonic Motion

Mathematical Expression of Harmonic Motion

- Equation
z = zo cos( nt )
- Curve Plot
+ zo z T

t
− zo
- Natural frequency
2p k 1 k
 n = , or  n =  Period, T =
T m 2p m
 Simple Harmonic Motion

Spring-Mass-Damper System

damper
k spring mass
c
m C : damping
coefficient

- Equation of motion (Free Oscillation) & Solution

d 2z dz
m 2 + b + kz = 0, z = e−(b / 2m)t zo cos( nt )
dt dt
The motion of the system is affected by the magnitude of damping.
 Under damped, Critically damped, Over damped
If left undisturbed, these systems will continue to oscillate, slowly dissipating
energy in sound, heat, and friction
- This is called free oscillation or an UNDAMPED system
 Simple Harmonic Motion

Spring-Mass-Damper System

z Over damped zoe−(b / 2a)t No-Damping

zo

t
Under damped

Critically damped
- Under Damped : small damping, several oscillations
- Critically Damped : important level of damping, overshoot once
- Over damped : large damping, no oscillation
 Simple Harmonic Motion

Spring-Mass-Damper System

Ship motion (Pitch, Roll or Heave)

Roll

Radiated wave

Friction
Eddy

Motion source : exiting force or waves

Damping source : radiated wave, eddy and viscous force
 Simple Harmonic Motion
Forcing Function and Resonance

Unless energy is continually added, the system will eventually

come to rest

An EXTERNAL FORCING FUNCTION acting on the system

- Depending on the force’s application, it can hinder oscillation
- It can also AMPLIFY oscillation

When the forcing function is applied at the same frequency as the

oscillating system, a condition of RESONANCE exists
 Simple Harmonic Motion

External Force, Motion, Resonance

k spring mass External force

m F cos( t )
 : external force freq.

- Equation of motion (Forced Oscillation) & Solution

d 2z
m 2 + kz = F cos( t )
dt F
z = , when   n
F 1 k
z= 2
cos( t ) z = 0, when   n
k  
1 −   z = , when =  n :
n  (resonance)
 Simple Harmonic Motion
Forcing Function & Resonance
Condition 1- The frequency of the forcing function is much smaller
than the system
Displacement, Z = F/k

Condition 2- The frequency of the forcing function is much greater

than the system
Z=0

THIS IS RESONANCE!
Condition 3- The frequency of the forcing function equals the system
Z = infinity
 Simple Harmonic Motion

External Force, Motion, Resonance with damper

F cos( t )
k
m b b : damping
coefficient

Equation of forced motion

d 2z dz
m 2 + b + kz = F cos( t )
dt dt
Amplitude of force motion
F 1
z=
k  2 2 2 2
    
1 −     + 4 b 1     
   n    2m     
 n  n
 
 Simple Harmonic Motion

External Force, Motion, Resonance with damper

Very low damped :Resonance

n Heavily damped
Lightly damped

Frequency
 8.4 Ship Response
Ship Response Modeling
• Spring-mass-damping F cos( t )
k b
m

modeling
• Heave of ship
F cos( w t ) :
m exiting force due to wave

damping Additional Buoyancy Force

kz = gAw z
 Ship Response
Encounter Frequency

- Motion created by exciting force in the spring-mass-damper

system is dependant on the magnitude of exciting force (F) and
frequency (w).
F 1
z=
k  2 2 2 2
1 −     + 4 b 1    
   n    2m     
 n  n
 
- Motion of ship to its excitation in waves is the same as one of
the spring-mass-damper system.
- Frequency of exciting force is dependent on wave frequency,
ship speed, and ship’s heading.
 Ship Response
Encounter Frequency
Wave
direction V
 = 90
V
V  = 45
 = 180  =0

 e = encounterfreqency
 w2 V cos   w = wave freqency
e = w − V = ship speed (ft/s)
g
 = ship's heading angle relative to
thewavedirection
 Ship Response

• Encounter Frequency Conditions

- Head sea : A ship heading directly into the waves will meet the
successive waves much more quickly and the waves will appear
to be a much shorter period.
- Following sea : A ship moving in a following sea, the waves will
appear to have a longer period.
- Beam sea : If wave approaches a moving ship from the broadside
there will be no difference between wave period and apparent
period experienced by the ship
 Ship Response
Rigid Body Motion of a Ship

6 degrees of freedom pitch heave

surge roll

sway
yaw

• Translational motion : surge, sway, heave

• Rotational motion : roll, pitch, yaw
• Simple harmonic motion : Heave, Pitch and Roll
 Ship Response
Heave Motion

Generation of restoring force in heave

 = FB FB >   > FB
Zero Resultant Force Resultant
Force
•G
DWL
•G
z
z •G DWL
•B •B
•B
Resultant
Force
C
L CL CL
 Ship Response
Heave Motion

Restoring force in heave

• The restoring force in heave is proportional to the additional
immersed distance.
• The magnitude of the restoring force can be obtained using
TPI of the ship.
lbs2 ft 1ft 1LT 1
TPI =  ( 4 ) g ( 2 )  Awl ( ft ) 1in 
2

ft s 12in 2240lb in
• Restoring force
k z = TPI  z (inch) TPI  Awl
k = TPI
 Ship Response
Heave Motion

• Heave Natural frequency

k
n = : Natural frequency of spring-mass system
m

m=
g
TPI TPI Awl TPI
 heave =    heave 
/ g   
2p 
Theave = 
 heave Awl
 Ship Response
Roll Motion d 2z
m 2 + kz = 0
dt
Generation of restoring moment in roll
Creation of Internal Righting Moment d 2
I xx 2 + k = 0
dt

 S
 S

•G G• Z

¸ •B B•
FB
¸
FB
 Ship Response
Roll Motion
Equation of spring mass
• Natural Roll frequency 2
d z
n =
k m 2 + kz = 0
m dt
GMT Equation of ship roll motion
 roll  d 2
I xx I xx 2 + k = 0
dt
• Roll Period
B = beam of ship ( ft )
2p CB
Troll = = C = constant (0.35 − 0.55 s / ft1/ 2 )
 roll G MT (0.44 is good if unknown)
GMT = transverse metacentric height(ft)
 Ship Response
Roll Motion

GMT 2p CB
 roll  Troll = =
I xx  roll GMT

Roll motions are slowly damped out because small wave

systems are generated due to roll, but
Heave motions experience large damping effect.
 Ship Response
Roll Motion
Stiff GZ curve; large GM

Tender GZ curve; small GM

Angle of heel (degree)

Large GM ; stiff ship  very stable (good stability)

 small period ; bad sea keeping quality

small GM ; tender ship  less stable

 large period ; good sea keeping quality
 Ship Response
Pitch Motion S
G
Spring Constant(k ) = MT1'' B
FB
Mass (m)  I yy
S
G
GM L
wpitch = B
I yy FB
<Generation of pitch restoring moment>
I yy
Tpitch  ''
( I yy  MT1''
for a ship)
MT1
Pitch moment  ; Tpitch  ; pitch accel.  BL3
barge : I yy =
(Long and slender ship has small Iyy) 12
Pitch motions are quickly damped out since large waves
are generated due to pitching.
 Ship Response

Resonance of Simple Harmonic Motion

Heave Pitch Roll

 heave  pitch  roll

e e e
• Resonance : Encounter freq.  Natural freq.
• Heave & Pitch are well damped due to large wave generation.
• Roll amplitude are very susceptible to encounter freq.
And roll motions are not damped well due to small damping.
• Resonance is more likely to occur with roll than pitch & heave.
• Thus anti-rolling devices are necessary.
 Ship Response

Non-Oscillatory Dynamic Response

• Caused by relative motion of ship and sea.

• Shipping Water (deck wetness) : caused by bow submergence.
• Forefoot Emergence : opposite case of shipping water where
the bow of the ship is left unsupported.
• Slamming : impact of the bow region when bow reenters into
the sea. Causes severe structural vibration.
• Racing : stern version of forefoot emergence.
Cause the propeller to leave the water and thus cause the
whole ship power to race (severe torsion and wear in shaft).
• Added Power : The effects of all these responses is to increase
the resistance.
 8.5 Ship Response Reduction

Hull Shape

• Forward and aft sections are V-shaped

limits MT1” reducing pitch acceleration.
• Volume is distributed higher ;
limits Awl and TPI reducing heave acceleration.
• Wider water plane forward :
limits the Ixx reducing the stiffness of GZ curve thereby
reducing roll acceleration.
 Ship Response Reduction

Passive Anti-Rolling Device

• Bilge Keel
- Very common passive anti-rolling device
- Located at the bilge turn
- Reduce roll amplitude up to 35 %.

• Tank Stabilizer (Anti-rolling Tank)

- Reduce the roll motion by throttling the fluid Bilge keel
in the tank.
- Relative change of G of fluid will dampen the roll.

U-type tube Throttling

 Ship Response Reduction

Active Anti-Rolling Device

• Fin Stabilizer
- Very common active anti-rolling device
- Located at the bilge keel.
- Controls the roll by creating lifting force .

Roll moment

Lift

Anti-roll moment
Ship Response Reduction

Fin Stabilizer
 Ship Response Reduction

Ship Operation
• Encountering frequency w heave
 w V cos 
2
wroll
e = w −
g
w pitch

• Ship response can be reduced by altering the

- ship speed
- heading angle or
- both.
 Example Problem

ship speed = 20 kts, heading angle=120 degree

wave direction : from north to south, wave period=12 seconds
Encountering frequency ?

2p 2p N
Wave frequency :  w = = = 0.52 rad / s
T 12s
Encountering angle :  = 180 − 120 = 60o 120°

Encountering freq. : V=20kts

 w2 V cos   = 60
e =w −
g S
(0.522 )(33.78)cos60
= 0.52 − 1.689 ft / s
32.17 (V = 20kts = 33.78 ft / s)
1 kts
= 0.52 − 0.14 = 0.38 rad / s
 Example Problem
• You are OOD on a DD963 on independent steamin
g in the center of your box during supper. You ar
e doing 10kts on course 330ºT and the waves
are from 060ºT with a period of 9.5 sec. The Cap
tain calls up and orders you to reduce the Ship’s
motion during the meal. Your JOOD proposes
a change to course 060ºT at 12 kts. Do you agre
e and why/why not? The natural frequencies fo
r the ship follow:
wroll = 0.66 rad/s wlongbend = 0.74 rad/s
wpitch = 0.93 rad/s wtorsion = 1.13 rad/s
wheave= 0.97 rad/s
 Example Answer
• Your current condition:
ww = 2p/T = 2p/9.5 sec = .66 rad/s
Waves are traveling 060ºT + 180º = 240º
T
we = ww - (ww²Vcosµ) / g
= .66 rad/s – ((.66rad/s)² × (10 kt × 1.6
88 ft/s-kt) × cos(330º - 240º)) / (32
.17 ft/s²) = .66 rad/s = wr
• Encounter frequency is at roll resonanc
 Example Answer
• JOOD proposal:
we = ww - (ww²Vcosµ) / g
= .66 rad/s – ((.66 rad/s)² × (12 kt × 1.688 ft
/s-kt)
× cos(060º - 240º)) / (32.17 ft/s²) = .93 rad/
s = wp
• Encounter frequency is at pitch resonance wi
th seas from the bow - another bad choice.
• Try 060º at 7kts:
we = ww - (ww²Vcosµ) / g
= .66 rad/s – ((.66r ad/s)² × (7kt × 1.688 ft/s
-kt)
× cos(060º-240º)) / (32.17ft/s²) = .82 rad/s
• This avoids the resonant frequencies for the