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Considering any ship as a beam model, this project compared different mode shapes and the
vibratory displacement using different methods developed in a FORTRAN and excel program.
These values were then compared against the well-known Finite Element Analysis program
Maestro.
General Characteristics of the Vessel
General Characteristics of the Vessel
Length(L)
Breadth(B)
173
32.2
m
m
T(Draft)
Cms
12.1
0.99
238.4
m4
Structural Characteristics
Modulus of Elasticity
200
Gpa
0.001
4
5
2
+
+ = (, )
4
4
4
where,
4
2
4
The beam bending and the structural damping terms come from Voigt Kelvin model for
viscoelasticity. Important to note that the Voigt Kelvin method represents damping with a
spring and dashpot configured parallel to each other. The beam considered for this analytical
solution is the Euler beam which ignores the rotational inertia and shear stiffness. In the Euler
beam the cross section is perpendicular to the axis of bending. In a Timoshenko beam rotation
is taken into account between the cross section and the bending line. The rotation comes from
a shear deformation, which is not included in an Euler beam. The excitation force (, ) can be
represented in Fourier series as = () = cos().
Using the boundary conditions on the Eulers beam the equation of motion of the beam
becomes,
=0
=0
=0
=0
(1 + )
(2 ) = ( 3 )
3
@ x=0
@ x=L
Where
2
= ( ) 2 2 ( ) ( )
3
=
, characteristics flexural frequency
= ,
= 2 ,
When a concentrated force, such as the thrust or vertically applied force on a propeller acts on
the ship, we can deduce the resonating frequency by using the beam deflection equation,
() =
+( )
sin( ) + sinh( )
sin( ) + sinh( )
cos( ) cosh( )
2
2
=1 1 (
)
+
(2
(
) ]
[
()cos( )
W(x1)
W(x2)
W(x3)
W(x4)
W(x5)
W(x6)
W(xf)
4.56459E-10
-4.5918E-10
6.97462E-10
-9.85293E-10
1.30954E-10
-4.45419E-11
-2.0414E-10
0.05
3.50452E-10
-2.7923E-10
3.16238E-10
-3.04065E-10
2.03258E-11
-6.70738E-13
1.03051E-10
0.1
2.45196E-10
-1.0457E-10
-3.65003E-11
2.80262E-10
-6.32891E-11
2.7064E-11
3.48165E-10
0.15
1.42417E-10
5.37791E-11 -3.08215E-10
6.13644E-10
-8.51336E-11
2.29096E-11
4.39401E-10
0.2
4.46121E-11
1.82235E-10 -4.48475E-10
5.99263E-10
-3.99521E-11 -5.29989E-12
3.32383E-10
0.25
2.73668E-10
3.63334E-11
-2.92325E-11
7.0837E-11
0.3
-1.95211E-10
8.84443E-11
-2.55313E-11
-2.28821E-10
0.35
-5.79494E-10
7.90876E-11
2.44977E-12
-4.30382E-10
0.4
-2.37468E-10 2.22089E-10
2.29419E-10
-6.94768E-10
1.45075E-11
2.80548E-11
-4.38165E-10
0.45
-2.67342E-10
1.2108E-10
4.24295E-10
-4.84946E-10
-6.01448E-11
2.68553E-11
-2.40203E-10
0.5
-2.77444E-10 5.34133E-13
4.96015E-10
-4.76873E-11
-9.25752E-11
5.54744E-15
7.8848E-11
0.55
-2.67345E-10
-1.2009E-10
4.23155E-10
4.12056E-10
-6.00575E-11 -2.68495E-11
3.60871E-10
0.6
-2.37473E-10
-2.2132E-10
2.27472E-10
6.78784E-10
1.46208E-11
-2.80599E-11
4.34029E-10
0.65
-1.89083E-10
-2.8645E-10
-3.2438E-11
6.28175E-10
7.91474E-11
-2.46083E-12
1.96893E-10
0.7
-1.24163E-10
-3.0389E-10
-2.78144E-10
2.86127E-10
8.84084E-11
2.55248E-11
-3.06141E-10
0.75
-4.5284E-11
-2.6868E-10
-4.33966E-10
-1.82351E-10
3.62262E-11
2.92367E-11
-8.64813E-10
0.8
4.46023E-11
-1.8281E-10
-4.48303E-10
-5.48633E-10
-4.0057E-11
5.31098E-12
-1.16989E-09
0.85
1.42408E-10
-5.4512E-11
-3.071E-10
-6.23771E-10
-8.51664E-11 -2.29021E-11
-9.51044E-10
0.9
2.45189E-10
1.03863E-10 -3.49498E-11
-3.3885E-10
-6.3236E-11
-2.70664E-11
-1.1505E-10
0.95
3.50448E-10
2.78764E-10
3.17457E-10
2.39743E-10
2.04061E-11
6.62776E-13
1.20748E-09
4.56459E-10
4.59178E-10
6.97455E-10
9.76038E-10
1.30954E-10
4.45419E-11
2.76463E-09
Displacement W(x)
2.5E-09
2E-09
1.5E-09
1E-09
5E-10
0
-5E-10 0
0.2
0.4
0.6
0.8
-1E-09
-1.5E-09
Mode 1
Mode 2
Mode 3
Mode 4
ModeLocation
5
Mode 6
Superimposed Mode
1.2
1
0
2 ] [ ] = [0]
2 2
2
2 = 2.366
10 0
100 50
] = [
]
0 20
50 100
Using the following values in the FORTRAN CODE, the resulting values were:
(see appendix for complete FORTRAN routine)
m1,1
m2,2
10
k1,1
k1,2
k2,1
K2,2
100
-50
-50
100
20
omega1 1.780449
omega2 3.439477
The omega values were same when used the equation for 1 and 2
Different Inertia and Mass distribution over the length of the Beam
No exciting force
Discarded the damping terms
The mass includes added mass and physical mass.
Ship (beam) is considered as Euler beam, ignoring rotational inertia and shear
stiffness (not a Timoshenko beam).
f. The method also ignored the high fluctuating inertia resulting from the bulkheads
inside the hull.
.
2
.
.
. ]
Then the Fortran reads the Inertia values for each beam element. E, modulus of elasticity for
the beam has been recorded earlier as E=204GPa and the length was considered as the length
of the given vessel.
In order to assemble the stiffness matrix, the program has a segment where it computes the
stiffnesses based on the E, I and the L values and then places them in a matrix form.
Having the mass and the stiffness matrix, the program then computes the dynamic matrix or
the eigen vectors which represents the mode shapes. For a beam the vibration model signifies
an equation of the form,
[ + ] = 0
where M and K are mass and stiffness matrices, is the eigenvalue related to the natural
frequency by = 2 . [1]
2 [][] + [][] = [0]
[][] + [][] = [0]
[][] = [][]
therefore the final accomplishment of the program is to compute the mode shape by utilizing
the following:
[]1 [][] = []
3. 20 beam FEA program with bending stiffness and Shear Stiffness (FORTRAN code)
In addition to the bending stiffness, the program was made to compute the mode shapes and
displacement taking shear stiffness into considerations. The shear stiffness is used when the
program was made to compute the shear deflection of the beam. Assumptions remain same,
and the beam is still a Eulers beam since it does not take torsional moments into account and
therefore cannot be a Timoshenko beam.
1
12
For shear stiffness the matrix was multiplied by 1+ where = 2 , and the matrix was
manipulated by :
2,2 =
(4 + )
2,4 =
(2 )
4,2 =
(2 )
4,4 =
(4 + )
1st Flexural
Mode
Analytical Method
Fortran-1 (using only beam stiffness)
Fortran-2(using beam and shear stiffness)
Maestro
% difference
Analytical Method
Fortran-1
Fortran-2
Maestro
Analytical
Method
0.00
0.38
0.34
0.98
4.342
6.952
6.536
2.190
Fortran-1
Fortran-2
Maestro
0.60
0.00
0.06
2.17
0.51
0.06
0.00
1.98
0.50
0.68
0.66
0.00
-------------------------------------------------------------------------------------------------------------------------------
2nd Flexural
Mode
Analytical Method
Fortran-1 (using only beam stiffness)
Fortran-2(using beam and shear stiffness)
Maestro
% difference
Analytical Method
Fortran-1
Fortran-2
Maestro
Analytical
Method
0.00
0.33
0.41
0.88
Fortran-1
0.48
0.00
0.12
1.79
11.979
17.762
20.242
6.3634
FortranMaestro
2
0.69
0.47
0.14
0.64
0.00
0.69
2.18
0.00
------------------------------------------------------------------------------------------------------------------------------
Analytical Method
Fortran-1 (using only beam stiffness)
Fortran-2(using beam and shear stiffness)
Maestro
% difference
Analytical Method
Fortran-1
Fortran-2
Maestro
Analytical
Method
0.00
0.35
0.33
1.55
Fortran-1
0.26
0.00
0.50
0.88
23.525
31.9567
35.024
9.23207
FortranMaestro
2
0.49
0.61
1.02
0.47
0.00
0.74
2.79
0.00
Displacement W(x)
2E-09
1E-09
0
-1E-09
0.2
0.4
-2E-09
0.6
0.8
1.2
30
40
50
30
40
50
Location X
Fortran -1
Displacement
Mode Shape 1
1.20E+00
1.00E+00
8.00E-01
6.00E-01
4.00E-01
2.00E-01
0.00E+00
-2.00E-01 0
-4.00E-01
-6.00E-01
10
20
Location
Fortran-2
Mode shape 1
Displacement
2.00E+00
1.00E+00
0.00E+00
-1.00E+00
10
20
-2.00E+00
-3.00E+00
Location
Maestro:
Displacement W(x)
2E-09
1E-09
0
0
0.2
0.4
0.6
0.8
1.2
40
50
-1E-09
-2E-09
Location X
Fortran -1
Mode Shape 2
1.50E+00
Displacement
1.00E+00
5.00E-01
0.00E+00
-5.00E-01 0
10
20
30
-1.00E+00
-1.50E+00
Location
Fortran-2
Mode Shape 2
1.50E+00
Displacement
1.00E+00
5.00E-01
0.00E+00
-5.00E-01 0
10
20
30
40
50
-1.00E+00
-1.50E+00
Location
Maestro
Displacement W(x)
1E-09
5E-10
-1E-24
-5E-10 0
0.2
0.4
0.6
-1E-09
-1.5E-09
-2E-09
Location X
0.8
1.2
Fortran-1
Mode Shape 3
Displacement
5.00E+00
0.00E+00
0
10
20
30
40
50
30
40
50
-5.00E+00
-1.00E+01
Location
Fortran-2
Mode Shape 3
Displacement
1.50E+00
1.00E+00
5.00E-01
0.00E+00
0
-5.00E-01
Maestro
10
20
Location