the at origin the with chosen is system ordinate Lin and formulation, finite-amplitude a presented
-
co- a problem hydrodynamics linearized the For
Problem Linearized The
cases. both
in used is function Green time-domain The given.
are problem body-exact or finite-amplitude called
-
so- the and problem linearized fully the namely
problems, two of formulations the section, this In
FORMULATION PROBLEM
-
so- Time-domain 1960. Laitone, and Wehausen
methods. Green-function-based
the to alternative an are domain, frequency the in
1990, Sclavounos, and Nakos by presented as such
methods, based Rankine-source bodies. merged
sub- for solution numerical a presented 1989, rant,
Fer- frequency-domain, the in problems amplitude
finite- For problem. this for solutions sented
pre- have others several and 1992, Ohkusu, and
Iwashita 1982, Bougis, and Guevel 1981, Price,
and Inglis 1977, Chang, speed. forward erate
mod- with ships for problem seakeeping domain
frequency- three-dimensional the solve to tempts
at- several been have their function, Green quired
re- the computing of complexity the Despite
1992.
LeGuen, and Coudray e.g., function, Green speed
-
zero- the of advantages the retaining while effects,
speed forward the of some capture which tions
approxima- to devoted been has work Subsequent
speed. forward small for approximations counter
en- of frequency so-called the using speed forward
of case the to extended first were solutions speed
-
zero- These applications. industrial for suitable
state, developed highly a reached have methods
these on based codes computer and accepted
widely become have speed forward zero at lutions
-
so- Three-dimensional theories. strip dimensional
-
two- the with beginning frequency-domain the
in occurred has development similar A
here. presented being
are others still and 1993, al., et Bingham 1992,
King, and Magee by presented been has function
Green time-domain the using work recent More
1990. Ferrant, by treated also was rest from ated
acceler- body, submerged a of problem The body.
floating a for time-domain the in motion of tions
equa- finite-amplitude the solved 1990 Yue, and
CARENES DES D'ESSAIS BASSIN Magee, Allan
Method Time-Domain a Using Applications Seakeeping
015.781838 F 015-786873 TsL
Deift CD 2028 2, Mekeiweg
voor Laboratodum
Sthom
UNIVERSITEIT TECHNISCHE
also 1991 Magee, and 1990 Magee, and Beck face.
sur- moving the on applied is condition ary bound
body- the but linear, remains condition surface
free the which in problem, finite-amplitude called
so- the to solution a presented 1989 Ferrant,
1988. Korsmeyer, and
1988, al., et King 1987, King, by followed 1986
Liapis, and 1985 Beck, and Liapis with appear to
began solutions Three-dimensional cylinder. tical
ver- axisymmetric the for 1985 Newman, and ies,
bod- two-dimensional for 1982 Yeung, and 1979
Omatsu, and Adachi by presented were lutions
in developed is method present the in employed
function Green The 1948. Brard, by elaborated
first was surface, free linearized a beneath trarily
arbi- moving source a of that function, Green
time-domain the for solution fundamental The
INTRODUCTION
manner. straight-forward a in corporated
in- be also can autopilot an to due that as such
forces, external Nonlinear formulation. amplitude
finite- so-called the in account into taken be
can geometry unsteady of effects the domain,
time the in motion of equations the resolving
By speed. forward with ship a for problem ing
seakeep- linearized the being important most the
treated, be can importance of problems several
method, solution described above the With
experiments. with and methods
calculation other with comparisons for Transform
Fourier Fast by domain frequency the into formed
trans- are results the and stepping time by solved
is equation This time. of instant each at surface
body the on potential unknown the for equation
integral an obtain to domain fluid the to plied
ap- is identity second Green's
condition. tration
pene- no the satisfy to surface hull the over only
distributed be to need singularities Thus, ditions.
con- initial appropriate the and condition, diation
ra- condition, surface free linearized the satisfies
function Green The motion. arbitrary in source
impulsive an for function Green the of aid the
with solved is depth infinite of fluid compressible
in- ideal a in ship a for problem seakeeping The
ABSTRACT
 2
= k
k=4,..6 -(ñV)(ixW) (8) - = t,
=
7) (:--
(tr)+H(tr)G i\ (i r) Q, G(P,
k=1,..3 _(.V)
k=4,..6 Fxi = by given is problem transient the
k=1,..3 ñ = for function Green The U So U S1 = S where
S.
k mode in velocity applied = (k
(7)
k mode in displacement applied = (k =fJds(-_c) JJf(G_Gz)
where, equation. integral an obtain to domain
.
ôn fluid the to applied is identity second Green's
(10) Vçbi
87 (6) k=1,..7 ast--cc O =
so an
..6 1, =k flkCk+mk(k = ôck
8çt'k
conditions initial the satisfy
are k,
also ..7 1, = k potentials unsteady The
So on applied be to conditions boundary The
(5) k=1,..7 asrco V---0
- uo origin the near originates disturbance the Because
(Qr =0
Jr gJ - (4) --(--U0--) = i7(x,y,t)
LT
¿dQ [dr ia
so J-cc by given is surface free the of elevation The
- L - z=0
dsqí(Q,r drf f 3z 3xj Ot
(3) =0 +g- lLoJ
(9) - - a2 (a
1'\5 (r dsQ L0 condition surface free earized
so
- 4
lin- the apply we surface, free mean the On
(Q,t dsQ
( (P,t)+f
be to (k=7) potential diffraction the and yaw
found is P fluid the in point a at potential the for pitch, roll, heave, sway, surge, respectively,
to, due potentials radiation six the = çbk
equation integral resulting The 1986). Liapis, (cf. wave incident the = çj
plane O = z and surface hull mean the of section
potential flow
steady the = o + (Icr
inter- the by defined F0 curve the around integrals
line to reduced be can Sj over those and vanish, with,
over (7) in integrals the that shown be can it k=1
function, Green the of properties the Using (2) 'k(z,y,Z,t) ±
0. order
of kind first the of function Bessel the is Jo and t) z, y, h(x, + z) y, o(z, + fJ0x = t) z, y,
ifi>0 i - follows as components
ift<0 fo several into separated is potential total The
function step unit = H(t)
(1) 1T=° VTV'T,
= 6(t)f(t)
fdt then velocity, fluid total the is VT
function delta = (t) If tT. potential velocity total the for problem the
= R formulate can we and governs, equation Laplace
= r, the that so assumed, is fluid incompressible ideal
An domain. fluid the of out defined is normal
r
unit The S.infinity at surface control a and S0,
= Q surface body three-dimensional mean the S1, face
sur- free mean the by bounded is domain fluid The
z(t)) y(t), (x(t),
= P
0. = Uo setting by recovered be can speed ward
r))e()Jo(R) - sin((t r)=2fdJgk t, Q, Ò(P, for- zero of case The U0. ship the of speed steady
the with translating is origin The upward. cally
where, verti- z-axis the with 0, z wa1.surface calm
C' cJ
 :3
= k
forjk bk b non-impulsive. term the of origin the
= k hence displacement, function step a and velocity,
forj=k O b
6function a yields a of limit the Taking
-
relations the satisfy bk damping of function. Gaussian the of width the governs a ter
coefficients the that showed 1993, Bingham, parame- spreading The zero. to close is ((0) of
value the that so chosen constant a is to Here,
F7} + '{F10 = K7(t) + Ko(t)
I\7} + F{Ko = Fj7(w) + Fo(w) = (14) t0)) - erf((t + (1 = ((t)
= (t)
forces, a(to)2 e
7) = (j diffraction and 0) = (j Froude-Krylov
of sum the as defined forces, exciting the For function error an is displacement responding
cor- the and Gaussian a of form the takes locity
bk)} - (B1k -
+ Pjk) J'{iw(Ak = I<jk(t) ve- input The method. non-impulsive the using
(18) bJk+Fc{JKk} = Bk(w) improved be to shown was 1979,) Ohmatsu, and
Adachi (see frequencies irregular so-called the at
{FKjk} + Pjk = Ak(w) solution the of behavior the addition, In problem.
the solve to used discretization temporal and tial
forces, spa- finite the within resolved be cannot frequency
radiation For transform. Fourier by related are high very of waves since and problem, keeping
forces exciting and radiation of functions sponse sea- the for interest little of is frequencies high
re- impulse the and coefficients force exciting and very at response the since signal, the of content
damping mass, added frequency-domain The frequency high the limit to order in input, locity
ve- non-impulsive a of choice the proposed 1987,
function memory or impulse-response the is Kjk King, frequencies. all at amplitudes equal tains
con- input This time. in velocity 6function a
force restoring hydrodynamic the is Cjk
of that is choice obvious most The here. sidered
damping frequency-independent the is bk con- is (10) in conditions boundary of choice The
mass added frequency-independent the is Pjk Functions Response
Impulse- and Inputs Non-Impulsive
where,
co so
(17) (13) dSPn = Fjk
_JdrKjk(t_r)k(r) J
Cjk(k(t) - bjkk(t) - /1k(k(t) = F(t) from
found are k mode the in condition boundary plied
as written be may waves radiated to due body ap- an to due j mode the in body the on forces The
the on forces the that shows 1962, Cummins,
1988. al, et. =
(12) p(---+WVç)
-
King, see inputs, nonimpulsive using calculations
from derived are functions impulse-response the
how of details the For problem. diffraction the in equation Bernoulli linearized the
used also are inputs Non-impulsive frequencies. from found is pressure hydrodynamic The
high- the of damping exponential the shows which = z onO
32x
O +g-- U6
(16) .*.0,
eeZì = 2
tent S0 on ôn
con- frequency the gives Gaussian, a also is which (11) U0n1 =
function, input the of transform Fourier The =
O
(15) = 1'f(w) = f(t) problem
JJ(w)e1 Neumann-Kelvin classic the to solution the is o
f(t)e = f(w)=f(t)
J_t Uoi+Vo = W
as pair transform Fourier the Define flow steady the to due velocity the is W and
 4
func- Green time-domain same the employ can we (23)
Thus, points. observation and source the of sition I,
-
po- the of regardless same, the is function Green - Fjk
8k pIfds
the of form the that note We linear. remains tion
written be may force the Thus,
condi- surface free the but surface, body neous
(22)
instanta- the on applied is condition boundary r'
body- the which in problem, finite-amplitude ri(Ïxii).' d1
so-called the formulate to us leads This fJdS[mj+nj(W.V)]
required. be not may solution nonlinear fully the gradients the take to need the avoiding
whereas, cases, these in applicable be not may ries while body the on force the calculate to employed
theo- Second-order waterline. the near flare large be can 1969, Tuck, and Ogilvie in derived theorem
with structure a or waves, moderate in neuvering The potential. unsteady the of gradient the quires
ma- ship a surface, free the to close but beneath, re- (12) in pressure the of calculation The
operating submarine, a of example, for case, the _U0T1O). U0n3, (0,0,0,0, = ifi
be would Such slope. mild of waves only tains have we approximation, this With rn-terms. the
con- surface free the on disturbance the that but obtain to potential steady-flow the of derivatives
time, over dramatically changes portion mersed second required the compute to having of ficulty
im- the of form the that such is motion body's dif- the avoiding thus, order, higher of be to tial
the that arise may it cases, certain In surface. poten- perturbatin the assuming î, U0 = W as
body the of position mean the about expanded approximated been often has flow steady The
been has condition body-boundary the because U0. velocity
small be must motion the of amplitude the flow, stream free the about condition surface free the
steady the about assumptions the to addition In of linearization the justify to order in so be must
This small. is o potential disturbance steady the
Problem Finite-Amplitude The that such are speed forward and geometry body
the that made is assumption implicit the problem,
below. discussed be boundary-value linearized this developing In
will and here retained been has which approach
the is This difference. finite by derivatives face Terms Interaction the of Discussion
sur- required the obtain to one allows panel, each
over linearly least at varies potential the which in
(21)
panels, order higher using of possiblity the nally, _[PJfds.Vk)nj]
Fi- obtained. be can velocities the distribution,
from found are cients
this From distribution. potential same the give coeffI- force restoring hydrodynarnic The
will that strengths source the for equation tegral - ( is problems these for function Green The
in- the pose to (10), equation to solution the given
is, that distribution, source equivalent an use to is - = k
possibility Another theorem. the to resort to need (2k ffdS
not do we and directly available are gradients the
case this In 1986. Liapis, in given is distribution (20) = k Pj
source a using problem linearized the for lation PffdSlkfli
as,
formu- The equation. integral the solve to used
be can formulation source a Alternatively, S0 on an
=
calculations. 32k
structural for useful be can which pressures, cal S0 on
Io-. the not and body, the on force total the only = an
k
gives theorem the addition, In flow. steady the for a1
stream free the only using such, as theorem, the (19) as 0 Vt'1k,2k
apply to incorrect appears it Thus, integral. face O
= 1k,2kIonz=0
sur- the in remains surpress, to hoped we which
O
gradient the contains which and retained, one the
as magnitude same the of term extra an satisfied,
not is hypothesis the If hull. the penetrate not problems value boundary simplified
does flow steady the that requires theorem this of the to solutions the from found are bk and jij
hypotheses the of One 1991.) Magee, (See der. terms The speed. forward with bodies for zero
or- higher of be to appear terms line-integral The general in not are terms off-diagonal the Hence
 5
uses method The panels. over derivatives normal -
(30) .vd+gz]
their and 1/r' and 1/r integrate to used is 1986,
Rehbach, and Cantaloube of method The = P
employed. _P[(+.V+Vd.Vd
being panels flat the for truncation of order tent written
consis- a gives which dipoles varying linearly and be may equation Bernoulli nonlinear The body.
sources strength constant of consists singularities the on point a following by numerically by culated
of distribution corresponding The multiplication. cal- easily most is body the on point a at pressure
matrix simple by replaced is decomposition LUD The A. Appendix 1986, Liapis, by given form a to
of step back-substitution usual the so 1986, aI., et reduces (30) equation plane, horizontal the in ver
Press decomposition, value singular by solved is maneu- unsteady an executing body a For sition.
This results. equations of system over-determined po- body mean the using system coordinate lating
an nodes, than panels more are there Since troids. trans- steadily the in speed forward constant for
cen- the at but corners, panel the at not location (10) equation to equivalent is (30) equation that
col- by performed is equation integral the of side note Also system. coordinate fixed the in changes
hand right the of evaluation numerical The waterplane the of location or shape the whenever
forces. alized values nonzero have integrals line the problem,
gener- the determine to body the over integrated finite-amplitude the for However, 0. = U0 case
turn in is which pressure the determine to (30) or the in contribute not do integrals line the problem
(12) equation Bernoulli the in used are velocities linearized fully the in that noted be should It
and potential the calculated, Once rest. from ping F. on point a of plane O = z the in locity
step- time by proceeds solution The body. the on ve- normal two-dimensional the is VN and plane,
points at potential the of values unknown the for O
= z the and body the of intersection neous
solved is equation integral the and applied is tion instanta- the by defined curve the is F(t) where
condi- boundary given the integrals, singular the
ör 8r r(r) - g
from contributions the account into Taking r) VN(Q, -
a=1
r)] [d(Q fdrfd1Q
Ca - 8s n Sb(T) 00
(33) da daba, - -
3 3d 3d
dsQ[d(Qr fdrf
panel each over constant are potential the of 8m r r Sb(t)
t)
- =
derivatives tangential The geometry. triangle the (Q, r
1\3 fi Jds
from determined constants are c and b, a, where
r-r 8m
d(Q,t ds 4
(32) Na(s,t)aa+bas+cat ( f + (P,t)
by given are functions shape the and corners, 1991)
Magee, (see is Sb(t), surface, body stantaneous
triangle the of index the is a panel, the on situated
in- the over formulated is fluid the in potential
coordinates cartesian local the are t and s where
the for solved be to equation integral The
body. the on point a of velocity local the is
(31) 7 and wave incident the represents ç5r Here,
(28) - -t as O
- 0,
triangle each over (27) k=1,..7 ascx Vç-0
linearly vary to assumed is potential The panels.
triangular of number a into discretized is body on 3m 8n
(26) Sb(t) n-- -. -:
the of surface The (30). or (10) equations integral ad1
the solve to used is It 1992. King, and Magee in z=U
described further is SIMSEA code computer The (25) =0
a, o2
CODE HYDRODYNAMICS (24) Lç=O tT=Vç,
are satisfied be to conditions the
body. so rest from starts motion The defined. is tential
the on point a following potential the of derivative po- perturbation single, a and chosen, is system
substantial the represents V + ( term the
V) coordinate globally-fixed a problem this For
and body, the on point a of velocity the is V Here, problems. finite-amplitude of case the in tion
(38)
n
Wn
z i
as defined is potential wave incident The
x, sin E S,
x, cos E c
C4C S4C5
S4C6 - C4S5S5 C4C6 + 548555
46 + C4SC C.i.S6 - S4S5C6
and respectively, z-axis then and V-axis, axis ate
intermedi- the x"-axis, the about transformations
of sequence a by obtained is T matrix the where
X3 I z
(37)
x1+Uot
} z,,
1990): King, (see by given is system global
the in point a to system body-fixed the in point a
of transformation the then ...x6), (z1, vector ment
displace- generalized the by given is body the of
position the If frame. this in constant remains
matrix inertia the because calculations dynamic
for useful is system prime double The respond.
cor- systems moving and fixed the linearized, are
movements body the If defined. is body the with
moves which and gravity, of center the at origin
its with e», O' system axis an problem, namics
dy- finite-amplitude the resolve to order In
unreasonably.
cost calculation the augmenting without theory,
linear to respect with improved be should lation
simu- overall the predicted, correctly be an they
If ship. a on acting force total the to butions
contri- largest the give together taken forces two
former the Generally, theory. linearized the on
based calculated are waves diffracted and diated
ra- to due forces the time same the at while forces,
hydrostatic and Froude-Krylov the calculating in
account into taken be can rotations, for angles ler
Eu- the including movements, finite-amplitude of
effects the which in 1974, Paulling, and Oakley of
that to similar is taken approach original The
forces. required the lating
calcu- subroutines of addition the by simulation
the in included be also can forces nonlinear nal
exter- Other RATANA. rebaptised been has code
new The improved. were predictions subsequent
the and panels of distribution three-dimensional
a for exchanged was method strip The seas. head
in motions pitch for precision lacked efficient, and
simple while which, method strip a on based was
calculation previous the since forces, drostatic
hy- and Froude-Krylov the of calculation the for
1(,t)= needed was modification a Such needed. as dated
up- and modified be can modules force the and
ensured, thus is Modularity body). the on erted
ex- forces the calculate (which subroutines and
1986, al., et Press, Stoer, et Bulirsch of method
the using motion of equations the integrate (which
S6 C5 = routines driver of consists code The developed.
[T]
C5C6
been has 1990,) King, (see code simulation ral
E tempo- a problem, this address to order In
manner. straight-forward a in solution transient
by given is
the in included be can translations and tations
ro- finite-amplitude to due coefficients drostatic
hy- and hydrodynamic the in changes example,
for or, eddy-damping, and viscous fins, stabiliser
moving of action the as such forces external ear
y nonlin- contrast, By complementary. are hence
X and transform, Fourier by related are solutions
{
frequency-domain and time the problems, linear
strictly For analysis. frequency-domain ditional
tra- over advantages several presents time-domain
the in motion of equations the of resolution The
SIMULATIONS MOTION
centroids. panel tween
be- rule Gauss one-point a by approximated are
panels the over terms wave the of integrals The
elongated. are which panels triangular for ficient
ef- be to appear and used, be also can 1986 man,
New- of formulas analytical The points. field and
segment source of separation small and large for
points integration of numbers different with rule
quadrature Gauss standard a using computed are
integrals line The here. case the never is which
cont6ur, the on is P point field the unless gular
sin- not are integrands the of choice propriate
i
ap- an Given small. too becomes F r where
i. -
situation the avoid to preferable is it and panel
the of plane the in is F when = have should
i
one but arbitrary, general in is of sign The
i
(36) e±7
where,
-
.jln(r_i.rdQ xV) (j r) (i.
r(ri.) Ic 8nr)
[/i(ixr.dîQ (1 8 fssQ
r(ri. J r r
(34) +1 - /dsç,
r(.r(ix.d4 FxdÎQ i f
by given are integrals required The edges. panel
the around integrals line into panels flat over
integrals surface the convert to theorem Stokes
i
7
t
degrees. in given are forces exciting of phases The
A. amplitude wave the and 121.9nz), = (L ship
the of length nominal the L gravity, of eration
accel- the g, density, the p, by nondimensional
made are coefficients the follows, what In
duction.
intro- the in cited references other in and bodies,
submerged for 1990 Magee, and Beck in treated
been has problem hydrodynamics amplitude
finite- The hydrostatics. and Froude-Krylov of
effects finite-amplitude the on and code, namics
hydrody- linearized the on is here emphasis The
RESULTS NUMERICAL
forces. wave incident
the calculate to needed re-gridding the in plished
accom- been already has much course, in still is
work this While predictions. motion the on forces
diffraction and radiation the of effects amplitude
finite- the determine to order in subroutine a
as RATANA into code hydrodynamics amplitude
large- the integrate to is goal eventual The
efficient. and accurate proven has method
This steps. time intermediate the over linearly
interpolated then are which forces, external the
of values future the predict to used is 1986, al.,
et Press, method, all-poles or entropy, maximum
the values, these From advance. in step time one
predicted are position and velocity the of values
future the time, calculation the reduce to order
In calls. function of number reqired the imize
min- to important is it forces, these calculating
on spent is time CPU the of part major the Since
solution. the of course the in only determined are
and przorz, a unknown, are velocity and position
the method, predictor-corrector a Using velocity.
body the on depend which integrals convolution
includes force wave radiated the while body the of
position the on depend system equation the of side
hand right the in forces hydrostatic and Krylov
Froude- the that Note 1990. King, in given is
solved be to system equation differential The
investigation.
further for point a remains position stantaneous
in- the using calculated is force Froude-Krylov
the while surface, body mean the on force tion
diffrac- the calculating of ramifications The forces,
exciting generalized of vector the is PDn where
n
(43) 7]nFDn(Wn,ßn)e
as position) body ing
chang- of effects the ignoring (again, manner ilar
sim- a in calculated are forces diffraction The
1986. Greenhow, to due velopment
de- asymptotic an of result the is (42) Equation
known. is mass added
the which for number wave highest the is i
(42)
d I
4/7J f1jkAjk(k)+
Ak() r' 1 1
(41) coswt bk) - dw(Bk(J) Kk(t)
2r°°
formulae: the with DIODORE as such code
hydrodynamics frequency-domain a of results the
of transform Fourier by or code time-domain a
of results the using obtained be can terms quired
re- The (17). equation Cummins, of form the in
written be may force wave radiated the entation,
ori- body changing the of effect the Ignoring
user. the to open left is option the surface, free
mean the above known not is pressure the of form
precise the Since surface. this to up integrate to
and ij, = z surface free linearized the at starting
z coordinate the measure to ship, the to respect
with long are which waves for useful, found been
has it addition, In 0. = P1 surface the to up grate
inte- to proposed King 0. = z plane the to up
performed be should integrations the that dicates
in- theory Linearized surface. free mean the above
pressure the about exists controversy Much
panels. flat over analytically integrated
be can (39) expression the that note We lations.
trans- and rotations finite-amplitude the cluding
in- surface body (finite-amplitude) instantaneous
or (linear) mean the over either performed be
can integration This surface. hull immersed the
over pressures respective the integrate we forces,
hydrostatic and Froude-Krylov the obtain To
z=U
Ot g
(40) = 7/i
Odi 1
is surface free the of elevation the and
pgz
(39) - p---- = PI
oc1'
by given is
pressure hydrostatic the with combined pressure
Froude-Krylov The seas. multi-directional sider
con- to possible is it and components individual
n the of sum a as considered are seas Irregular
number wave the is w/g =
seas) head indicates ir = (ß x-axis the
to respect with propogation of direction its is ß,
component wave the of amplitude the is r
 8
equa- integral an solving require not does force
Froude-Fírylov the since concern major a not is
this but panels, of number increasing with rapidly
more converge to appear again SIMSEA of results
The methods. two the between agreement overall
good show which forces, exciting total the of son
compari- a show to interest less of thus is It ods.
meth- frequency-domain and time- both in tical
iden- are which forces Froude-Krylov the by nated
domi- are seas head in forces exciting The
different. are 1) figure of results speed zero the
to equivalent are (which terms, B53 and A53 the
while frequencies, low and high for results domain
time- the to close appear coefficients B35 and
A35 the 4, figure In character. different a quite
show coefficients damping and mass added pitch
the while peak, distinctive the lack but mass,
added heave the for results time-domain the with
generally agree DIODORE of results The
value.
mean non-zero a about anti-symmetric are cients
coeffi- coupling cross the that appears It results.
quadrilaterals than triangles of number different
a but body, the over distributed nodes of number
same the has calculations two the in employed
discretization The converged. better are results
the that fact the to due and terms, interaction the
of treatment the to due be may which cillations,
os- fewer show SIMSEA of results the general, In
1/4. = Uow/g = r number Brard to corresponds
which frequency the at peak a is There same. the
is curves the of character general the SIMSEA,
and TIMEDV of results the comparing In
here. formulation show-speed
this use to decided was it Thus, high. relatively
is cost CPU the and method, slow-speed the as
fashion same the in employed be to enough able
reli- yet not is method the Unfortunately, hulls.
Wigley modified for 1992 al., et LeGuen, in sented
pre- comparisons for used was formulation ter
lat- This speed. forward with function Green
the uses which approach, frequency-domain pled
cou- fully the and approximations encounter of
frequency classical the between somewhere lies
theory The 1992. LeGuen, and Coudray see tails,
de- For employed. is function Green domain
frequency- speed zero the but pitch) in (notably
speed, forward the to due terms interaction the
of some include to speed forward slow of tion
assump- the with modified are surface body the
on applied conditions boundary The panels. eral
quadrilat- flat over singularities strength constant
with formulation potential a uses DIODORE
potential. the for functions shape the entiating
differ- by calculated is potential the of derivative
the and singularities source strength constant and
dipoles varying linearly with panels triangular flat
uses SIMSEA above, decribed As terms. action
inter- to due forces the calculate to used is rem
-
theo- Ogilvie-Tuck The used. are panels lateral
quadri- fiat and singularities strength Constant
1991. Magee, in described code time-domain the
is TIMEDV codes. computer different three from
shown are calculations of sets three Here, 0.275.
= Fn at ship same the for shown are efficients
co- force radiation the 4, and 3 figures In
waves. short such in movement significant no is
there since problems any cause not do frequencies
irregular the concerned, are predictions motion
as far as so 7.5), = (L/B ship slender relatively
this for frequency, irregular first the above small
relatively are seas head in forces exciting The
pronounced. less are frequencies irregular of fects
ef- the calculations, time-domain the in present
also While range. frequency higher the in results
the disturbs frequencies irregular of presence the
because 5.5 about of frequency non-dimensional of
value a to up only shown are calculations domain
frequency- The shown. discretisations two the
between seen be can difference little and rapidly,
converge method time-domain the with obtained
coefficients The discretization. of level this at
present still are differences numerical slight but
identical, be should results frequency-domain and
time- The coefficient. cross-coupling B53 and B35
the for worse slightly but coefficients, pitch-pitch
and heave-heave the for good is results domain
frequency- and time- between agreement The
coefficients. hydrodynamic dividual
in- the on available is data no so measured, were
motions Only codes. computer seakeeping of tion
valida- the being objective one Newfoundland
University, John's St. at and LeGuen J.F. by
Carènes de d'Essais Bassin the at performed ing
be- are experiments because chosen was ship This
2. figure in given are number wave the of functions
as seas head for pitch and heave surge, in efficients
co- force exciting the of phase and magnitude The
comparison. for shown also are DIODORE code
the with obtained calculations domain Frequency
body. half the on triangles 490 and 792 of tions
distribu- two for shown are figures) the in SEA
SIM- (labeled calculations, time-domain the of
transform Fourier The speed. forward zero at
form hull 0.60) = (CB 60 Series a for frequency
nondimensional the of functions as terms pling
cou- cross and damping and mass added pitch and
heave nondimensionah the shows 1 Figure
We. frequency encounter the and
w2/g, k
_
number wave the w, noted is frequency wave The
 9
re- slightly to effects finite-amplitude of tendancv
The codes. seakeeping most of typical is which
function, transfer pitch the of over-prediction the
for except good, be to appears agreement the all,
Over- case. auto-propulsed the for available is
information phase No autopilot. the using tions
calcula- the to closely more corresponds latter
The auto-propulsion. under and staff heave a with
performed: were experiments of sets Two given.
are seas head in 0.2 = Fn at 60 Series the for tions
func- transfer observed experimentally and lated
calcu- between comparisons the 9 figure In
reasonable.
physically seems also amplitude wave increasing
with function transfer decreasing of trend The
test. sufficient a not is experiments the in able
avail- amplitude single the although encouraging,
is surge) for (except model finite-amplitude the
with improved is agreement the that and values
predicted of range the within fall results imental
exper- the that fact The effects. finite-amplitude
pursue to which from base a provide to small
sufficiently are errors the but respected, exactly
not is limit This amplitude. small of limit the in
ones, linear the to tend results finite-amplitude
the expected, As exagerated. is scale vertical
the that Note response. pitch the in peak the
near frequency, single a for amplitude wave of
function a as function transfer linear the shows
8 figure effects, finite-amplitude the see To
seas. head in speed ward
for- without bodies for codes frequency-domain
of use the justifying precision, reasonable a to ues
val- observed experimentally the with agree sults
re- The motion. of equations the of integration
and forces radiation forces, exciting of culations
cal- the validating accuracy, graphical nearly with
agree do calculations frequency-domain and time-
the from obtained functions transfer pitch and
heave the However, frequencies. low at affected
is function transfer surge the so solution domain
frequency- the in directly included not be not
can- autopilot the of effects The shown. are
data experimental of points three and culations
cal- frequency-domain of results the comparison,
For 7. figure in shown are approximations, ear
lin- the using RATANA of results the of form
trans- Fourier by obtained case, zero-speed the
for functions transfer linear or RAO's The
components. third-order
the for respectively 1% and 1.5% and respectively,
pitch and heave for 12% and 7% approximately
are components order second the case, this For
solution. finite-amplitude the in present also are
harmonics Higher transient. initial the of effects
the to due surge in drift to continues and pulse
im- initial an receives ship the autopilot, the out
With- filter. and spring a of consists and 1990.
King, in described is It motions. surge quency
fre- low the control to used is autopilot An pitch.
and heave the for present also but surge, the for
remarkable particularly value, mean nonzero a is
There behavior. nonlinear show result amplitude
finite- the of features several but sinusoidal, fectly
per- is solution linear The condition. steady-state
a to down settle motions the start, sudden a
avoid to gradually augmented are forces wave
the which during transient, initial an After
24. proximately
ap- is \/(2A) is ratio height to length wave the
and response, pitch the in peak the to responds
cor- considered frequency The record. the of end
the near view expanded an is figures of set hand
right- The shown. are options finite-amplitude
and linear the using pitch and heave surge, of ries
histo- time dimensional The 6. figure in sented
pre- are seas head regular in O = Fn at 60 Serie
the for calculation typical a of results The
account. into taken angles
Euler the with surface, body instantaneous the
on determined are forces hydrostatic and Krylov
Froude- the only calculations, finite-amplitude
For approximations. finite-amplitude or linear
the with RATANA code the using time-domain
the in directly solved are motion of equations
the input, as coefficients force diffraction the
and K, Cjk, bjk, pj, coefficients the Given
frequencies. irregular of effects apparent no
show results time-domain The solution. the fects
af- adversely thus and zero to decayed yet not has
force diffraction the where range the in occurs It
shift. encounter of frequency the of because ber
num- wave the of value low relatively a at found
is frequency irregular the speed, forward with
ship this For frequency. irregular first the before
just truncated been have results domain frequency
The results. the between seen be can two, factor
a as much as differences, Large 5. figure in shown
are DIODORE and SIMSEA using 0.275 = Fn
at seas head in 60 Series the for forces diffraction
The forces. exciting the of phase the termining
de- in role important an play can magnitude, in
small while forces, diffraction the contrast, In
grid. refined a on coefficients hydrodynamic
other the calculating in incurred cost the menting
aug- without function, transfer the of convergence
overall better obtain to hence and force Krylov
Fraude- the calculate to panels of number larger
a use to economical be may It cost. putational
com- the of part major a not is hence and tian,
 lo
141-57. 124:
Architects Naval of Institution Royal the of
Transactions speed. forward with coefficients
hydrodynamic the of data experimental and
prediction theoretical between Comparison
theory- motion ship three-dimensional A
1981. Price. G. W. and B., R. Inghis,
103-17. 29: Progress, Shipbuilding national
Inter- depth. infinite in speed forward with
motions Ship 1982. Bougis J. and P. Guevel,
293-306. pp. Netherlands, Dordrecht,
Publishers, Nijhoff Martinus Mathematics,
Engineering of Journal relations. Kronig
Kramers- the of consequences asymptotic
low-frequency and High 1986. M., Greenhow,
Research. Naval of Office DC:
Washington hydrodynamics. naval on sium
sympo- eighteenth the of Proceedings tion.
radia- wave nonlinear for approach quency
fre- and time coupled A 1990. P. Ferrant,
-
do- frequency the in done typically is as forces,
Nantes. ENSM, Diss., Ph.D.
instationaire. et fréquentielle approaches des
Comparaison : immergé corps d'un plitude
am- grande de mouvements les par gravité
de d'ondes Radiation 1989. P. Ferrant,
1-9. 10 9:
Schiffstechnik motions. ship and function
response impulse The 1962. E. W. Cummins,
443-460. pp. ence,
Sci- Applied Elsevier Madrid: eds. Alaez JA.
and T.K.S. Murthy, 1992), (CADMO, tures,
Struc- Offshore and Marine of Design the of
Proceedings software. seakeeping 3-D of tion
Valida- 1992. LeGuen, J.-F. and T., Coudray,
California.
of University CA: Berkeley, 124-35. namics,
hydrody- ship numerical on conference tional
interna- second the of Proceedings In speed.
forward with motions ship dimensional
three- of Computation 1977. M.-S. Chang,
15-22. 1: Aerospatiale, Recherche La larités.
singu- des méthode la de intégrales des cul
Cal- 1986. Rehbach. C. and B., Cantaloube,
A.T.M.A. Paris: 48. No. 1'A.T.M.A.
de Bulletin marche. en tangage du théorique
l'étude à Introduction 1948. R. Brard,
Iowa. City, Iowa, ics,
Hya'rodynam- Ship Numerical on Conference
International Sixth The motions. ship of tion
simula- The 1993. aI., et B. H. Bingham,
University. Brunel UK: Uxbridge, Waves. in
Structures and Vehicles Marine of Dynamics
on Symposium IUTAM the of Proceedings
motions. ship predicting for analysis domain
Time- 1990. R. A. Magee, and F., R. Beck,
16(2):97-119. Mathematics
Engineering of Journal problems. surface free
time-dependent the of solutions equation gral
inte- the in frequencies irregular of influence
the On 1979. Ohmatsu. S. and H., Adachi,
References
Ratana. original the to go also Thanks edged.
acknowl- gratefully is support This 93/2029J.
number contract under DGA/DRET, by partly
supported research of result the is work This
Acknowledgements
main.
the linearizing first without solution, transient the
in directly account into taken be can which fins
stabiliser moving of effects the include plications
ap- Future motions. the on geometry changing of
effects the concerning made be to conclusions low
al- will solver motion of equation the and code
hydrodynamics finite-amplitude the of coupling
The effects. nonlinear external of influence the
and forces, hydrodynamic and hydrostatic the
on motion finite-amplitude of effects the cluding
in- applications, possible of range wide a present
motion of equations time-domain The
speed. forward at shift encounter of frequency
the of because detrimental be can which quencies
fre- irregular of effects the from more suffer but
applications, industrial for developed highly more
are and speed, forward zero for well work also
codes frequency-domain Three-dimensional rem.
theo- Ogilvie-Tuck the to resort without tained
ob- be can body the on forces nonlinear and ear
lin- the that so potential the of derivatives tial
spa- the of calculation direct of advantage the
offers SIMSEA code The forms. modern more
to applied be also can method the that indicates
work previous form, hull 60 Series the to limited
was study present the Although speed. forward
non-zero and zero with ships for calculations ing
seakeep- for viable is method time-domain The
CONCLUSIONS
direction. right the
in step a be to appears function transfer the duce
 11
16:97-119. Mathematics gineering
En- of Journal cylinders. floating of motion
heaving transient The 1982. W. R. Yeung,
Springer-Verlag. York: New
and Berlin Flugge. S. by edited 9:446-778,
Physik, der Handbuch In waves. Surface
Laitone.1960. V. E. and V., J. Wehausen,
Press. sity
Univer- Cambridge UK: Cambridge, Recipes.
Numerical 1986. al., et H., W. Press,
013. No. Report
Engineering Marine and Architecture Naval
of Department Michigan, of University The
1. Part motions, ship for theory strip tional
ra- A 1969. Tuck. O. E. and F., T. Ogilvie,
Research. Naval of Office DC:
Washington, 3-128. hydrodynamics, naval on
symposium fifth the of Proceedings In tions.
mo- ship of prediction and understanding the
toward progress Recent 1964. F. T. Ogilvie,
Research. Naval of fice
Of- DC: Washington, Hydrodynamics,. Naval
on Symposium Tenth the of Proceedings seas.
astern in capsizing and motions Ship 1974.
Wood. PD. and Paulling, JR. OH., Oakley,
113-126. 20:
Mathematics, Enginnering of Journal panel.
quadrilateral a over dipoles normal and
sources of Distributions 1966. J.N., Newman,
Sciences. of Academy tional
Na- DC: Washington, 34-54. drodynamics,
hy- numerical on symposium international
fourth the of Proceedings In analysis. domain
time- using 157:17-33. Mechanics Fluid of
Journal cylinder. floating a of motion nc
axisymmet- Transient 1985. N. J. Newman,
Research. Naval of Office DC: Washington,
281-302. Hydrodynamics, Naval on posium
Sym- Eighteenth the of Proceedings method.
panel Rankine three-dimensional a by tions
mo- Ship 1990. Sclavounos, P. and D. Nakos,
France.
Val-de-Reuil, Bodies. Floating and Waves ter
Wa- on Workshop International Seventh the
of Proceedings analysis. time-domain on work
Recent 1992. King, BK. and A.R, Magee,
Michigan. of University
The Diss., Ph.D. time-domain. the in tions
mo- ship Large-amplitude 1991. R. A. Magee,
search.
Re- Naval of Office DC: Washington, ics,
hydrodynam- naval on symposium eighteenth
the of Proceedings time-domain. the in tions
mo- ship large-amplitude for solutions ical
Numer- 1990. Yue, P. K. D. and W.-M., Lin,
Sciences. of
Academy National DC: Washington, 34-54.
hydrodynamics, ship numerical on conference
international fourth the of Proceedings sis.
analy- time-domain using computations ing
Seakeep- 1985. Beck, F. R. and J. S. Liapis,
Michigan.
of University The Diss., Ph.D. motions, ship
of analysis Time-domain 1986. J. S. Liapis,
Nantes. L'Hydrodynamique, de
Journées Quatrième The mer. la à tenue de
codes differrents de mutuelle Validation 1993.
Royal, C. and Magee, R. A. J.-F., Guen, Le
Technology. of tute
Insti- Massachusetts Diss., Ph.D. problems.
radiation wave free-surface transient order
second and first The 1988. FT. Korsmeyer,
Research. Naval of Office
DC: Washington, 577-596. hydrodynamics,
naval on symposium seventeenth the of ings
Proceed- analysis. time-domain using speed
forward with calculations Seakeeping 1988.
Beck, F. R. and Magee, R. A. K., B. King,
Naples.
299-306, Vehicles, Ocean and Ships of bility
Sta- on Conference International Fourth The
simulations, motions ship amplitude large for
solver numerical fast A 1990. B.K. King,
Michigan. of University The Diss., Ph.D.
bodies. and ships on forces exciting wave
of analysis Time-domain 1987. K. B. King,
55-73. 39: Shifi'stechnik, speed. forward
at motions ship for method function Green
THe 1992. Ohkusu, M. and H. Iwasbita,
 2.5 0.12
DIODO RE
SIMSEA NP=792 0.1
2
SIMSEA NP=490 -
0.08
1,5

0.06

0.04

0.5
0.02

0.12

0.08 0.1

0.08
0.06

0.06
0.04
0.04

0.02
0.02

o 2 4 6 8 2 4 6 8
w IL/g w/L/g

Fig. 1. Added IflSS and d amping versus frequency for a Series 60, C11=0. 6 huh form, Fn().
 Fn0. seas, head in
form hull CBO.6 60, Series a for number wave versus coefficients force Exciting 2. Fig.
kL
25 20 15 10 5 0 25 20 15 10 5
-180
-90 0.5
o A V pg
I IF5
L5
90
180
-180
-90
pgVA
IL F3
15
90
20
180
-180
-90 0.5
A V pg
FUL
1.5
go O NP=490 SIMSEA
- NP=792 SIMSEA
DIODORE
180
2.6 02
O
2.4 DIODORE
SIMSEA NP=792
2.2 0.15
TIMEDV NP=423 O
2
pV
1.8
0,1
pVL2
1.6
1.4
0.05
12

0000
08
0.6

0.2
0.18
0.16 pVL2

0.14
0.12
0.1
O
0.08
0.06 'e
0.04
. . 000000000
0 02
0
o 2 4
WeL/g

Fig. 3. heave and pitch added mass and damping, Fn=O.275.

 08
0.8
0.6 DIODO1tE
0.6 SIMSEA NP=792 - -
0.4 TIMEDV NP=423 O
0.4
0,2
pV L
0.2
0 -' .
-
O
-0.2
DIODORE
A SIMSEA T'P=?92 - -0.2
-0 4 TIMEDV Nr=423 O
-0.4
-0 6
-0.6
-0.8
-0.8

0.8
0.8
0.6
0.6
0.4
0.4
0.2
0.2
O
O
-0.2
-0.2
-0.4 O B
-0.4
-0.6 pc7L/g/L
-0.6
-0.8
-0.8
o 2 4 6 o
weJL/g 2
w/L/g
Fig. 4. Cross-coupling a(l (led mass a ud (la unping for heave and pitch, Fn=O.27.
 Fn=O.275. seas, head in coefficients force Diffraction 5. Fig.
kL
25 20 15 10 5 0 25 20 15 10 5 O
-180 O
0.2
-9°
0.4
0.6
O
V.4 pg
I
IF.
0.8
90 i
1.2
180 1.4
-180
-go
pgVA
IL I'
90
DIODOR.E
EA SIMS
180
-180
0.2
-90
0.4
o pgV4
0.6
IL F1
0.8
90
180 1.2
 Fn=O. seas, head regular in RATANA using simulations Motion 6. Fig.
(SEC) TIME (SEC) TIME
250 240 230 250 200 150 100 50 0
-0.1 -0.15
-0.08
-0.06 -0.1
I i I
-0.04
-0.05
-0.02
0 775 0 775
0.02
0.04 0.05
0.06 II?IIIILI I'I 0.1
0.08
0.1 0.15
-2
-1.5
-1
5 -0
773 0 773
0.5
i L LI L L
1.5
1.5 2
-5 -6
-4
-3 f' f! 1ff! f! f f f!
-2
77i
O Tli
I
f 2
o
 Fn=0. frequency, single a for amplitude Fn=O. freuuency.
wave versus function Transfer 8. Fig. versus function transfer Linear 7. Fig.
À 2A/ ¡g L
4 3 1. o
0.04 0.03 0.02 0.01 o
O
0.59
0.595 0.1
0.6 0.2
0.605 0.3 A 2,r
2,rA
0.61 0.4
0.615 0.5
0.62 AI 0.6
0.625 0.7
4 ç)
0.365 'aa&
4' 0.1
0.37
0.2
0.375 0 0.3
a 0.4
0.38 A
0.5 '73
Si O
0.385 0.6
0.39 0.7
0,8
0.395 0.9
0
0.38 0.2
0.4
0.4
0.6
0.42 0.8
.4 A
Si 'Il
0.44 1.2
1.4
+ BA EXP
0.46 1.6
O LIN RATANA
DOM FREQ 1.8
0.48 2
 Fn=0.2. CB=O.6, 60, Series the for function Transfer 9. Fig.
Lfg
4 :3 9
O
-150
- 0.2
-100
/ 0.4
-50 - 0.6
2wA
O 'lis N' 0.8 rL
50 .
100 - 1.2
150 1.4
O
-150
0.2
-100
0.4
-50
0.6
O k3 .4
0.S
50
100
1.2
150 1.4
-150
0.2
-100
0.4
-50
0.6
° .4
'1'l
0.8
50
- 100 + AUTO BA EXP
1.2
O STAFF BA EXP
150 RATANA
1.4