6 Roll Motion

1
Roll Motion of Ships Roll Motion of Ships

Ship Ship Motions Motions
Oscillatory Oscillatory ship ship motion motion ::
3 3 translatory translatory ((surge surge, , sway sway and and heave heave))
3 3 rotational rotational ( (roll roll, , pitch pitch and and yaw yaw) )
Metin Taylan, 2010 Metin Taylan, 2010
6 6 DoF DoF Ship Ship Motions Motions
Ship Motions Ship Motions
2
Ship Motions Ship Motions
Equation of Motion Equation of Motion
Equilibrium of all forces acting on the rigid Equilibrium of all forces acting on the rigid
ship in the 3 translatory directions, x ship in the 3 translatory directions, x
11
, x , x
22
and x and x and x and x
33
Equilibrium of all moments acting on the Equilibrium of all moments acting on the
rigid ship in the 3 rotational directions, x rigid ship in the 3 rotational directions, x
44
, ,
xx
55
and x and x
66
3 2 1 i 0 F = =

3 , 2 , 1 i 0 F
i
i
= =
6 , 5 , 4 i 0 M
i
i
= =

ship reaction = external excitation ship reaction = external excitation
( )
= = + + 6 1 i d x c x b x a ( )
= = + + 6 ,..., 1 i d x c x b x a
i j ij j ij j ij
t / f f di ti i
motion y oscillator of on accelerati x
motion y oscillator of velocity x
motion ship y oscillator x


ts coefficien coupling the give ij j i
direction motion j
moment / force of direction i
=
inertia inertia force force/moment /moment depending depending on on the the
oscillatory oscillatory motion motion acceleration acceleration of of the the ship ship
x a
oscillatory oscillatory motion motion acceleration acceleration of of the the ship ship
body body
damping damping force force/moment /moment depending depending on on
the the motion motion velocity velocity
restoring restoring force force/moment /moment depending depending on on
th th ti l ti l ill t ill t ti ti
x b
cx
the the particular particular oscillatory oscillatory motion motion xx
dd external external excitation excitation force force/moment /moment due due to to
the the seaway seaway
3
Coupled roll with heave and pitch : Coupled roll with heave and pitch :
x c x b x a 4 j i Roll
x c x b x a 3 j Heave
3 43 3 43 3 43
+ + + = =
+ + + =

i=4 i=4 moment equation for roll moment equation for roll
j j direction (mode) of motion direction (mode) of motion
In order solve the above coupled equation In order solve the above coupled equation
d x c x b x a 5 j Pitch
x c x b x a 4 j i Roll
5 45 5 45 5 45
3 44 4 44 4 44
= + + =
+ + + = =

In order solve the above coupled equation In order solve the above coupled equation
(= to estimate roll angle x), we must (= to estimate roll angle x), we must
additionally solve the equation for heave additionally solve the equation for heave
(i=3) and for pitch (i=5) (i=3) and for pitch (i=5)
If we rewrite the above equation; If we rewrite the above equation;
d M x c x b x a
c 4 3 44 4 44 4 44
= + + +
MM
4c 4c
:sum of all coupling moments for i=4 from :sum of all coupling moments for i=4 from
the motion directions j other than 4. the motion directions j other than 4.
Disregarding coupling Disregarding coupling MM
4c 4c
=0 =0 (uncoupled roll (uncoupled roll
motion): motion):
d c b a = | + | + |

d c b a = | + | + |
inertia term
damping term
restoring term
exciting term
Coefficients of the equation : Coefficients of the equation :
aa inertia coefficient inertia coefficient
bb damping coefficient damping coefficient
cc restoring coefficient restoring coefficient
dd external roll excitation (wind, waves etc.) external roll excitation (wind, waves etc.)
Mass moment of inertia Mass moment of inertia
Inertia coefficient Inertia coefficient aa is defined as : is defined as :
T
2
T
' i ' I a A = =
+ =
T T T
' ' I I ' I
I I
TT
Total mass moment of inertia of the rolling ship Total mass moment of inertia of the rolling ship
II
TT
mass moment of inertia of the ship mass moment of inertia of the ship
I I
TT
added mass moment of inertia added mass moment of inertia
displacement mass displacement mass
T
T
i I a A
V = A
pp
water density water density
i i
TT
roll radius of gyration roll radius of gyration
4
Radius of Gyration Radius of Gyration
i i
TT
is the radius of a solid ring, which replaces is the radius of a solid ring, which replaces
the total mass of the ship as shown in the the total mass of the ship as shown in the
figure figure figure. figure.
This radius is enlarged by the inertia effect of This radius is enlarged by the inertia effect of
the surrounding water with respect to roll the surrounding water with respect to roll
acceleration, the so acceleration, the so--called hydrodynamic mass called hydrodynamic mass
moment or added mass moment moment or added mass moment I I
TT
Radius Radius of of Gyration Gyration
Linear Restoring Moment Linear Restoring Moment
For large heel, the static restoring moment is: For large heel, the static restoring moment is:
GZ g M
st
A =
Linear Restoring Moment Linear Restoring Moment
For most ships at small heel up to about 5 For most ships at small heel up to about 5
degrees the gradient degrees the gradient GM GM
is constant is constant
dGZ
The parameter The parameter cc in the roll equation, is the in the roll equation, is the
spring constant spring constant ( (restoring coefficient restoring coefficient) : ) :
) 0 (
d
dGZ
GM
0
= |
|
=
. deg 5 for GM GZ
0
s | | = | ~ | =
0 0
GM sin GM GZ
spring constant spring constant ((restoring coefficient restoring coefficient) : ) :
0 B 0
0 st
GM F GM g
GM g M
c = A =
|
| A
=
|
=
5
Stiff Stiff Ship Ship vs. Tender vs. Tender ship ship
When the initial stability is large ( When the initial stability is large (GM GM
00
is is
large) the ship is called large) the ship is called stiff stiff i e she is not i e she is not large) the ship is called large) the ship is called stiff stiff i.e she is not i.e she is not
sensitive to small heeling moments. sensitive to small heeling moments.
For small initial metacentric height, the For small initial metacentric height, the
ship is ship is tender tender i e the ship is sensitive to i e the ship is sensitive to
ship is ship is tender tender i.e. the ship is sensitive to i.e. the ship is sensitive to
small heeling moments small heeling moments
Stiff Stiff Ship Ship vs. Tender vs. Tender ship ship
Roll Roll Motion Motion
Spring Spring--Mass Mass Damper Damper System System and and Roll Roll
6
Natural Roll Period Natural Roll Period
Circular roll frequency : Circular roll frequency :
2
0
GM g GM g c
=
A
= = e
It is practical to refer to the natural roll period : It is practical to refer to the natural roll period :
2
T
2
T
0
' i ' i a A
e
T
1
f and f 2 = t = e
0 0
0
2
f
1
T
e
t
= =
The natural roll period, The natural roll period, TT
0 0
can be estimated with the can be estimated with the
ship at free roll in still water condition using a stopwatch ship at free roll in still water condition using a stopwatch
IMO requires the average of about 5 cycles be taken IMO requires the average of about 5 cycles be taken
T 0 0
Roll Damping Roll Damping
The oscillating free rolling motion eventually dies The oscillating free rolling motion eventually dies
out. Free roll transfers the roll energy to the out. Free roll transfers the roll energy to the
surrounding water by potential and friction surrounding water by potential and friction surrounding water by potential and friction surrounding water by potential and friction
forces. The decay of the roll is due to damping forces. The decay of the roll is due to damping
0 c b a = | + | + |

With the initial condition (at t=0) With the initial condition (at t=0) = =
0 0
and and
dd/dt =0, the differential equation becomes : /dt =0, the differential equation becomes :
Wh Wh
0
a
c
a
b
= | + | + |

Where; Where;
a
c
and
a
b
2
2
0
= e = o
The solution of free rolling motion : The solution of free rolling motion :
0 2
2
0
= | e + | o + |

For small damping, the frequency For small damping, the frequency
of of
the free roll can be approximated by the the free roll can be approximated by the
( ) t cos t exp
0 0
e o | = |
natural frequency natural frequency
0 0
from; from;
1 D as ) D 1 (
2
0
2 2
0
2
<< e ~ e = e
|
7
From the solution; From the solution;
( ) t exp o =
|
|
The ratio of 2 successive roll amplitudes The ratio of 2 successive roll amplitudes
n n
and and
n+1 n+1
at a distance of the natural period T at a distance of the natural period T
0 0
is : is :
( ) p
0
|
( ) ( )
n n 0 n
T exp T t | = o | = = |
( ) ( )
1 n 1 n 0 1 n
T exp T t
+ + +
| = o | = = |
( )
( )
( ) ) T exp( ) T T ( exp
T exp
T exp
0 n 1 n
n 0
1 n 0
n
1 n
o = o =
o |
o |
=
|
|
+
+ +
) T exp(
0
1 n
n
o =
|
|
+
The dimension of The dimension of is s is s
--11
. In order to define . In order to define
a dimensionless damping parameter; a dimensionless damping parameter;
|
|
.
|
\
|
|
|
= o
+1 n
n
0
ln
T
1
(
=
e
o
=

1
s
s
D
1
1
0
The dimensionless damping, The dimensionless damping,
c a 2 / b D =
To estimate the damping paramater D, To estimate the damping paramater D,
|
|
.
|
\
|
|
|
t
=
t
o
=
e
o
=
+1 n
n 0
0
ln
2
1
2
T
D
successive roll amplitudes at one side are successive roll amplitudes at one side are
to be measured and put into the equation. to be measured and put into the equation.
For most ship For most ship D D 0.10 0.10
Rolling Period Test Rolling Period Test
Rolling coefficient : Rolling coefficient :
B 5 0
' i
C
T
r
=
After necessary manipulations; After necessary manipulations;
B 5 . 0
r
GM
B C
GM g
B 5 . 0 C 2
GM g
' i 2 2
T
r r T
0
0
t
=
t
=
e
t
=
g g
0
GM
B C
T
r
0
=
8
The practical importance of the above The practical importance of the above
relationship lies in estimating the relationship lies in estimating the
matacentric height GM by conducting the matacentric height GM by conducting the matacentric height GM by conducting the matacentric height GM by conducting the
rolling period test. rolling period test.
2
0
r
T
B C
GM
|
|
.
|
\
|
=
Weiss formula, 1953 Weiss formula, 1953
0 . \
The rolling period test should be The rolling period test should be
conducted with the ship in harbour in conducted with the ship in harbour in
smooth water with the minimum smooth water with the minimum smooth water with the minimum smooth water with the minimum
interference from the wind and tide. interference from the wind and tide.
The ship can be made to roll by rhytmically The ship can be made to roll by rhytmically
lifting up and putting down a weight or lifting up and putting down a weight or
people running athwartships ( people running athwartships (sallying sallying
experiment experiment))
experiment experiment))
The initial roll amplitude for the measured The initial roll amplitude for the measured
roll decay should not exceed 5 roll decay should not exceed 5
00
IMO allows estimating the stability by IMO allows estimating the stability by
means of rolling period tests for small means of rolling period tests for small
ships of up to 70 m in length ships of up to 70 m in length ships of up to 70 m. in length ships of up to 70 m. in length
IMO Resolution A.749(18) was adopted on IMO Resolution A.749(18) was adopted on
4 November 1993. 4 November 1993.
However, the rolling period test must be However, the rolling period test must be
seen as a very simplified method when no seen as a very simplified method when no
seen as a very simplified method, when no seen as a very simplified method, when no
other stability information is available. other stability information is available.
9
The Weiss formula gives GM as a function of; The Weiss formula gives GM as a function of;
Natural roll period, T Natural roll period, T
00
Beam of the vessel, B Beam of the vessel, B
Rolling coefficient, C Rolling coefficient, C
rr
For Coasters of normal size, the observed C For Coasters of normal size, the observed C
rr
values are; values are;
Empty ship or carrying ballast Empty ship or carrying ballast 0.88 0.88
Ship fully loaded with liquids in tanks Ship fully loaded with liquids in tanks 0.88 0.88
Comprising 20% of total load Comprising 20% of total load 0.78 0.78
Comprising of 5% of total load Comprising of 5% of total load 0 73 0 73
Comprising of 5% of total load Comprising of 5% of total load 0.73 0.73
IMO Resolution A.749(18) (1993) and IMO IMO Resolution A.749(18) (1993) and IMO
Circular 707 (1995) present an approximate Circular 707 (1995) present an approximate
formula from statistics: formula from statistics: formula from statistics: formula from statistics:
|
.
|
\
|

|
.
|
\
|
+ =
100
L
043 . 0
T
B
023 . 0 373 . 0 C 5 . 0
2
B
GM T
C
0
r
=
Different Modes of Roll Excitation Different Modes of Roll Excitation
Roll excitation for a for a ship in a seaway: Roll excitation for a for a ship in a seaway:
1. 1. Time varying Time varying external excitation external excitation in the right in the right--
hand side of the equation hand side of the equation
2. 2. Time varying Time varying parametric excitation parametric excitation in the in the
left left--hand side of the equation hand side of the equation
10
Different Modes of Roll Excitation Different Modes of Roll Excitation
A ship in beam seas can experience large roll A ship in beam seas can experience large roll
with large inertia forces acting on the cargo. with large inertia forces acting on the cargo.
Following and stern quartering seas at the same Following and stern quartering seas at the same
bili b d i h bili b d i h stability can be more dangerous with respect to stability can be more dangerous with respect to
capsizing and loss of the ship. capsizing and loss of the ship.
An excitation due to time variation of ship An excitation due to time variation of ship
reaction is called parametric. At parametric reaction is called parametric. At parametric
resonance, the ship is in danger of capsizing. resonance, the ship is in danger of capsizing.
This is mostly seen in certain condition in This is mostly seen in certain condition in
longit dinal and stern q artering seas longit dinal and stern q artering seas
longitudinal and stern quartering seas. longitudinal and stern quartering seas.
Both external and parametric excitations exist Both external and parametric excitations exist
simultaneously in quartering seas. simultaneously in quartering seas.
Ship Rolling in Beam Seas Ship Rolling in Beam Seas
There are only external excitation in beam seas There are only external excitation in beam seas
written on the rigth written on the rigth--hand side of the equation. hand side of the equation.
dynamic reaction + static reaction = external excitation dynamic reaction + static reaction = external excitation
For small amplitudes, For small amplitudes,
Roll motion equation is a linear second order Roll motion equation is a linear second order
differential equation. differential equation.
Ship Rolling in Beam Seas Ship Rolling in Beam Seas
F
B
: bouyancy force
The amplitude of beam sea excitation;
A A B A A
GM g GM F c d 0 A = 0 = 0 =
) t sin( d d
A
e =
) t sin( GM g d
A
e 0 A =
At the wave trough :
Wave Slope vs. Distance from Crest Wave Slope vs. Distance from Crest
The wave slope is the first derivative of the wave ordinate with
respect to the distance x from the wave crest in the travelling
respect to the distance x from the wave crest in the travelling
direction of the wave.
) cos( 5 . 0 ) ( kx H x
w
= ,
kx sin k H 5 . 0
x
) x (
w
=
c
, c
= 0
Wave ordinate :
Wave slope :
11
Wave Slope Wave Slope
Wave slope amplitude : Wave slope amplitude :
) (
2 5 . 0
5 . 0 rad
L
H
L
H
k H
w w
w A
t
t
0 =
= =
The exciting moment in beam seas: The exciting moment in beam seas:
I hi i h ll i i I hi i h ll i i
L L
w w
) t sin(
L
H
GM g d
w
w
e t A =
Insert this into the roll motion equation: Insert this into the roll motion equation:
A
A
3
V
0
|
=
Transfer function
Amplitude of roll
Amplitude of wave slope
Solution of the Equation Solution of the Equation
The solution is the equation is given by the The solution is the equation is given by the
transfer function V transfer function V
33
which is the dynamic which is the dynamic
amplification factor; amplification factor; amplification factor; amplification factor;
The dimensionless wave frequency with The dimensionless wave frequency with
respect to the natural roll frequency is the respect to the natural roll frequency is the
2 2 2 2
3
4 ) 1 (
1
) (
q q
q
+
=
D
V
respect to the natural roll frequency is the respect to the natural roll frequency is the
tuning factor tuning factor ;;
0 w
0
T
T
e
e
= = q
The The dimensionless damping D dimensionless damping D ::
n
ln
2
1
a c 2
b
D
|
|
t
= =
e
o
=
Rewite transfer function; Rewite transfer function;
Th l i ll i i b Th l i ll i i b
1 n 0
2 a c 2
+
| t e
2 2 2 2
0
2
0
3
4 ) (
) (
e o e e
e
e
+
= V
The resulting roll motion in beam seas: The resulting roll motion in beam seas:
) t sin( V
3 3 A
+ e 0 = |
The The phase angle phase angle
33
between the exciting moment d between the exciting moment d
and the roll: and the roll: and the roll: and the roll:
|
|
.
|
\
|
q
q
=
1
D 2
arctan
2 3
12
Resonance Resonance
Less sensitive to wave excitation
Very sensitive to wave excitation
Transfer Function of Roll in Beam Seas Transfer Function of Roll in Beam Seas
Important Results from the Solution Important Results from the Solution
1. 1. The static heel The static heel = 0 results from = 0 results from
constant excitation independent of time: constant excitation independent of time:
A t t 3
1 ) 0 ( V 0 = | = = e
2. 2. With the exciting wave frequency, With the exciting wave frequency, , ,
increasing there is a steady increase of increasing there is a steady increase of
the roll response: the roll response:
A stat 3
1 ) 0 ( V 0 | e
T T 1 > e < e < q
The dynamic response is always greater The dynamic response is always greater
than the static heel than the static heel VV
33
> 1 > 1
0 w 0
T T 1 > e < e < q
3. 3. There is dominant amplification in the There is dominant amplification in the
region around region around =1 (resonance). =1 (resonance).
Th f f th k i Th f f th k i The frequency of the peak response is : The frequency of the peak response is :
The resonant roll amplitude at the peak is: The resonant roll amplitude at the peak is:
0
2 2
0 r
2 e < o e = e
A A
0
r
D 2
1
2
0 = 0
o
e
= |
13
4. 4. In the frequency range above resonance, we observe In the frequency range above resonance, we observe
a rapid decrease of the roll response a rapid decrease of the roll response
T T 1 < e > e > q
The larger natural period T The larger natural period T
00
of the ship corresponds to of the ship corresponds to
a small GM, and we have a tender ship. a small GM, and we have a tender ship.
5. 5. At very large wave frequency At very large wave frequency , the dynamic roll , the dynamic roll
response is less than the static heel angle, it response is less than the static heel angle, it
0 w 0
T T 1 < e > e > q
p g , p g ,
approaches zero approaches zero VV
33
00. Therefore, at little or very . Therefore, at little or very
small GM, when small GM, when TT
00
>> T >> T
ww
, the ship experiences little of , the ship experiences little of
almost no roll amplification in purely beam seas almost no roll amplification in purely beam seas
Roll in Beam Seas at Large Amplitudes Roll in Beam Seas at Large Amplitudes
We subdivide the roll amplitudes into regions: We subdivide the roll amplitudes into regions:
Small roll Small roll
AA
5 5
00
GM GM
= GM = const = GM = const Small roll, Small roll,

AA
5 5 GM GM
= GM = const. = GM = const.
Large roll, Large roll,
AA
> 5 > 5
00
GM GM
increasing from increasing from

GM GM
00
to GM to GM
max max
Large roll Large roll GM GM
decreasing from decreasing from

GM GM
max max
to GM to GM
=0 =0
max max
Extreme roll Extreme roll GM GM
<0, <0,
i.e. above GZ i.e. above GZ
max max
For larger roll amplitudes, more For larger roll amplitudes, more
mathematical effort is needed in order to mathematical effort is needed in order to
solve the equation of roll motion solve the equation of roll motion solve the equation of roll motion. solve the equation of roll motion.
For extreme roll including capsize, For extreme roll including capsize,
numerical time domain simulations with numerical time domain simulations with
step by step integration of the roll motion step by step integration of the roll motion
equation have been developed with good equation have been developed with good
results. results.
At large roll in beam seas: At large roll in beam seas:
) cos( t d c b a e | | | = + +

The restoring term is approximated by a The restoring term is approximated by a
cubic function : cubic function :
3
3 1
| | | c c c + =
This solution gives the calculated This solution gives the calculated
nonlinear transfer function for 2 different nonlinear transfer function for 2 different
GZ curves. GZ curves.
The nonlinear solution shows also a The nonlinear solution shows also a
resonance peak as in the linear case but resonance peak as in the linear case but
resonance peak as in the linear case, but resonance peak as in the linear case, but
now it is bent to one side ( now it is bent to one side (jump jump
phenomenon phenomenon). ).
14
a. a. CC
22
> 0 GZ over > 0 GZ over- -linear linear : curve bends to : curve bends to
larger larger (right) (right)
b. b. CC
22
< 0 GZ under < 0 GZ under- -linear linear : curve bends to : curve bends to
smaller smaller (left) (left)
Over-linear roll response Under-linear roll response
GZ Variations in Longitudinal Waves GZ Variations in Longitudinal Waves
A ship in longitudinal waves experiences a A ship in longitudinal waves experiences a
completely different shape of the completely different shape of the
underwater volume as compared with the underwater volume as compared with the underwater volume as compared with the underwater volume as compared with the
ship in still water and in beam seas. ship in still water and in beam seas.
The righting moment of the vessel varies The righting moment of the vessel varies
in time with the passing wave. in time with the passing wave.
This results in a dynamic excitation of roll This results in a dynamic excitation of roll
This results in a dynamic excitation of roll This results in a dynamic excitation of roll
motion motion
GZ Variations in Longitudinal Waves GZ Variations in Longitudinal Waves
After-body midship Fore-body
Ship in longitudinal wave at different positions relative to the crest
Wave length = L
WL
Draft : full load draft
Heel angle = 30
0
15
Comparison of GZ Curves Comparison of GZ Curves
Comparison of GZ Curves Comparison of GZ Curves
The change of GZ results from the change The change of GZ results from the change
in the location of the center of bouyancy B in the location of the center of bouyancy B
of the heeled ship hull in the longitudinal of the heeled ship hull in the longitudinal of the heeled ship hull in the longitudinal of the heeled ship hull in the longitudinal
wave. wave.
Weight force, W and the center of gravity, Weight force, W and the center of gravity,
G remain constant G remain constant
GZ Changes in Longitudinal Wave GZ Changes in Longitudinal Wave
Wave Crest Situation Wave Crest Situation
The freeboard amidships reduces considerably. The freeboard amidships reduces considerably.
It may even become negative. It may even become negative.
D t l k f b b th d k id t D t l k f b b th d k id t Due to lack of buoyancy above the deck side at Due to lack of buoyancy above the deck side at
large heel, the center of buoyancy in heeled large heel, the center of buoyancy in heeled
condition B condition B
shifts towards the center of gravity shifts towards the center of gravity
G. G.
This shift of B reduces GZ This shift of B reduces GZ
Freeboards at sections 1 and 3 increase but Freeboards at sections 1 and 3 increase but
cannot counteract the GZ reduction amidships cannot counteract the GZ reduction amidships
Thus overall reduction in GZ results Thus overall reduction in GZ results
16
Wave Trough Situation Wave Trough Situation
The wave trough amidships results an The wave trough amidships results an
i f th i hti l GZ i f th i hti l GZ increase of the righting lever GZ. increase of the righting lever GZ.
The effective freeboard of the midship The effective freeboard of the midship
section 2 is considerably increased section 2 is considerably increased
The overall GZ reduction in the crest is The overall GZ reduction in the crest is
larger than the gain in the trough larger than the gain in the trough
larger than the gain in the trough. larger than the gain in the trough.
Influence of Wave Length on GZ in a Wave Crest Influence of Wave Length on GZ in a Wave Crest
GZ reduction between still
water and wave crest
Wave Height Wave Height
Formula derived from wave statistics in the North Formula derived from wave statistics in the North
Atlantic: Atlantic:
1 H
) meter in L (
L 05 . 0 10
1
L
H
w
w w
w
+
=
Effect of Speed on GZ Curves Effect of Speed on GZ Curves
Blume and Hattendorf (1982) compared the Blume and Hattendorf (1982) compared the
hydrostatic results with measurements on hydrostatic results with measurements on
models of container ships in following seas. models of container ships in following seas.
For Froude Numbers between 0 For Froude Numbers between 0 0.28 there 0.28 there
was almost no difference in GZ. was almost no difference in GZ.
At F At F
nn
= 0.36 the reduction in the wave crest = 0.36 the reduction in the wave crest
was about half the value of the hydrostatic was about half the value of the hydrostatic
calculation calculation
At F At F
nn
= 0.36 the increase in the wave trough = 0.36 the increase in the wave trough
was about 10% less than the hydrostatic was about 10% less than the hydrostatic
result. result.
17
Effect of Speed on GZ Curves Effect of Speed on GZ Curves
C Factor C Factor
Blume and Hattendorff (1982, 1984) developed Blume and Hattendorff (1982, 1984) developed
a so a so--called C called C--Factor for usual merchant hull Factor for usual merchant hull
forms which allows including the GZ reduction forms which allows including the GZ reduction forms, which allows including the GZ reduction forms, which allows including the GZ reduction
in waves by a formula based on capsizing in waves by a formula based on capsizing
model experiments. model experiments.
IMO implemented the C IMO implemented the C- -factor for container factor for container
ships and fast ships with a small C ships and fast ships with a small C
BB
(0.554 (0.554- -
p p p p
B B
((
0.675) into IMO stability criteria (IMO, 1993) 0.675) into IMO stability criteria (IMO, 1993)
C Factor C Factor
BP
2
w
B
2
L
100
c
c
KG
T
B
' D T
C
|
|
.
|
\
|

=
TT mean draft (m) mean draft (m)
BB moulded breadth of the ship (m) moulded breadth of the ship (m)
KG KG height of the center of gravity (m) height of the center of gravity (m)
not to be taken less than T not to be taken less than T
not to be taken less than T not to be taken less than T
CC
BB
block coefficient block coefficient
CC
ww
waterplane coefficient waterplane coefficient
C Factor C Factor
D D effective freeboard accounts for the effective freeboard accounts for the
volume of the hatches above deck amidships volume of the hatches above deck amidships
(from plus and minus L/4 of the main section). (from plus and minus L/4 of the main section).
Ship length is to be Ship length is to be 100 m. 100 m.
KG is to be larger than draft T. KG is to be larger than draft T.
The smaller the C The smaller the C--factor , the larger are the factor , the larger are the
th GZ l i d th GZ l i d
the GZ values required. the GZ values required.
IMO asks for hydrostatic values in the form of IMO asks for hydrostatic values in the form of
a required constant divided by C a required constant divided by C
18
Intact stability Criteria Based on Intact stability Criteria Based on
C Factor C Factor
GZ Curve Required by IMO Based GZ Curve Required by IMO Based
on C Factor on C Factor
Encounter Encounter Period Period of of Ship Ship and and
Waves Waves
The The encounter period, T encounter period, T
EE
is the time elapsed is the time elapsed
from wave crest to the next wave crest passing from wave crest to the next wave crest passing from wave crest to the next wave crest passing from wave crest to the next wave crest passing
the ship the ship
= _
Encounter Encounter Period Period of of Ship Ship and and Waves Waves
19
Encounter Period of Ship and Encounter Period of Ship and
Waves Waves
_ = cos V c V
rel
_
= =
cos V c
L
V
L
T
w
rel
w
E
w w
w
w
f L
T
L
c = =
w
w
T
2
g
c
t
=
Encounter Period of Ship and Encounter Period of Ship and
Waves Waves
2
w w
T
2
g
L =
_
t
=
cos V
2
T
T
T
2
w
E
2t
_ cos V
g
T
w
t
=
2
gL
c
w
_
t
=
cos V L
2
g
L
T
w
w
E
The encounter frequency: The encounter frequency:
) Hz (
T
1
f
E
E
=
) s / rad ( f 2
E E
t = e
Encounter Frequency
Wave
direction
V
V
V
180 =
0 =
90 =
45 =
V
g
V
w
w e
=
= =
cos
2
=
direction wave the
to relative angle heading s ship'
(m/s) speed ship V
frequency wave
frequency encounter
=
=
=
=
=
=
w
e
Encounter Frequency
Example
ship speed = 20 knots, heading angle = 120 degree
wave direction : from north to south, wave period=12 seconds
Encountering frequency ?
Wave frequency : s rad
s T
w
/ 52 . 0
12
2 2
= = =
t t
=
Encountering angle :
o
60 120 180 = =
120
N
V=20kts
60 =
Encountering freq. :
s rad
g
V
w
w e
/ 38 . 0 14 . 0 52 . 0
81 . 9
60 cos )(10.29) 52 . 0 (
52 . 0
cos
2
2
= =
=
=
=
= =
) / 29 . 10 20 ( s m knots V = =
S
20
Ship Heading Ship Heading
0 0 degrees degrees following seas following seas
45 45 degrees degrees stern quartering seas stern quartering seas 45 45 degrees degrees stern quartering seas stern quartering seas
90 90 degrees degrees starboard beam seas starboard beam seas
180 180 degrees degrees head seas head seas
Metin Taylan, 2010 Metin Taylan, 2010 Metin Taylan, 2010 Metin Taylan, 2010
Passive Anti-Rolling Device
Roll Roll Motion Motion Reduction Reduction
Bilge Keel
V i ti lli d i - 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
in the tank
Bilge keel
in the tank.
- Relative change of G of fluid will dampen the roll.
Throttling
U-type tube
21
Bilge Bilge Keel Keel Length Length
Bilge Bilge Keel Keel Construction Construction
For large ships
Active Anti-Rolling Device
Roll Motion Reduction Roll Motion Reduction
Fin Stabilizer Stab e
- Very common active anti-rolling device
- Located at the bilge keel.
- Controls the roll by creating lifting force .
Roll moment
Lift
Anti-roll moment
Fin Stabilizer
22
Ship Operation
Roll Motion Reduction Roll Motion Reduction
Encountering frequency
heave
e
g
V
w
w e
=
= =
cos
2
=
Ship response can be reduced by altering the
heave
roll
e
pitch
e
Ship response can be reduced by altering the
- ship speed
- heading angle or
- both

6 Roll Motion

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1

Roll Motion of Ships Roll Motion of Ships

Metin Taylan, 2010 Metin Taylan, 2010

Equation of Motion Equation of Motion

Metin Taylan, 2010 Metin Taylan, 2010

= GM = const = GM = const Small roll, Small roll,

increasing from increasing from

decreasing from decreasing from

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