OE 4030 Dynamics of Floating systems and Maneuvering of Marine Vehicles ROTATIONAL MOTION- PITCH MOTION Consider a rigid body

having an accelerated rotational motion. Now consider a particle with a mass m, located at a distance r, perpendicular to the axis of the body. The acceleration of this particle has two d d 2 components (i) Along the direction of instantaneous velocity, r - is the angular velocity = = 2 dt dt d (ii) towards the axis -- r 2 ; = dt The first of these will yield a moment about the axis of rotation; Summing of all particles and moments yields , I , moment of inertia of the body about the axis of rotation i.e. I=

i i

wr
g

i i

(1)

Now let us define a quantity k as follows, to relate I and body mass. Weight; (2) I = Mk 2 = k 2 g where k is radius of gyration of the body about a particular axis. From (1) and (2) , we get wi ri 2 2 ; Radius of gyration for Rolling, Pitching and Yawing motions are different k = Radius of gyration for Rolling 2 2 I xx = Mk xx = dMri = dM ( y i2 + xi2 )

1 wi ( y i2 + z i2 ) + I i ; The second term is the MI of the i-th element about its own CG, which can be g neglected when the ship is subdivided into sufficiently small weights. I xx = Hence I xx = 2 1 k xx = wi ( y i2 + z i2 ) ; From which k xx = g g

w (y
i

2 i

+ z i2 )

Similarly we have radius of gyration for pitching and yawing Pitching Fig 4.14 I yy =
k yy =

2 1 k yy = wi ( xi2 + z i2 ) g g

w (x
i

2 i

+ z i2 )

Yawing Fig 4.15 I zz 2 1 = k zz = wi ( xi2 + y i2 ) ; k zz = g g

w (x
i

2 i

+ y i2 )

Problem 1 A homogenously loaded barge = 6000 kN is considered to have 12 uniform divisions, each weighing 500 kN. Find the radius of gyration for rolling, pitching and yawing. Assume that the weights of each of the block are centered at the CG of each division, i.e. MI of its own CG can be neglected. Dimension of the barge 27.43m(L)6.1 m(B) 3.05 m(D) See Table 1 For more accurate results one should consider more number of blocks. Usually k xx approach 0.2887B and k yy and k zz

both approach 0.2887 L We can also attempt to get radius of gyration using the following: Illustrated for Pitching radius of gyration I = mn 2 d ;
2 k yy =

m 2 d I = n ; mn = mass per unit length M M See Table 2 Fig. 4.16 Barge of 12 uniform divisions Following four moments act in pitching and rolling motions Inertial moment, Damping moment, Restoring moment and Exciting moment.

&& + b & + c = M cos( t ) Pitching Equation of motion (EOM) a 0 e Where a is the virtual mass moment of inertia (moment of inertia + added moment of inertia) b is the damping moment coefficient and c is the restoring moment coefficient. Determination of coefficients for pitching motion: 2 (i) a is the virtual mass moment of inertia I yy + I yy = k yy + I yy ; I yy the Added mass moment of g inertia, kyy Radius of gyration for pitching Alternative definition for virtual mass moment of inertia a = virtual mass x (radius of gyration)2 ' 2 2 = k yy = (M+ M) k yy g Roughly Iyy for the ship can be obtained from sectional area curve as follows
I yy
L/2

L / 2

A( x) x

dx

A( x) is the sectional area;

For ship usually k yy = 0.24 to 0.26 times length of the ship. Added mass moment of inertia can be obtained by STRIP THEORY. Ship is considered to have different sections (i) Obtain added mass for each section, a n (ii) (iii) Obtain added moment of inertia is obtained using I yy = section from LCG of ship.
L/2

L/2

_ L/2

a x dx , x is the distance of each

2 n

Similarly one can obtain damping coefficient for pitching using b pitching =

damping force coefficient for each strip along the ships length, and is the distance of the individual strip from the LCG position of the ship.
2

L / 2

n heaving

2 d where bn is the

Restoring moment coefficient In simple form this is expressed as

c = g
L/2

L / 2

2 y ( x)dx = gI y

where c is the restoring coefficient and Iy is the moment of inertia of the load water plane area. Note that Iy is not the same as I yy . Since B M L , c = gB M L = gG M L = G M L (for small angles only) ; It is easy to observe that c = G M L ; Volume units Force units (Weight); B M L Distance from buoyancy centre to metacentre; G M L Distance from CG to metacentre. Exciting moment for pitching motion is due to the unbalanced moment caused by the waves about the transverse axis of the ship. This moment can be calculated using the following
M = g
L/2

Iy

L / 2

2 yxdx ;
L/2

In this the free surface (wave at an angle) is given by = a cos(kx cos e t ) with a

as amplitude of the wave. For a symmetrical ship about the midsection the exciting moment for pitching can be written as
M = 2 g a
L / 2

y( x) x cos(kx cos t )dx

e

which can be shown equal to

L/2 M = 2 g a y ( x) x sin(kx cos )dx sin e t ; x is odd function; sin( ) is odd function; cos ( ) is even L / 2 function; Odd Odd = Even; Odd Even = Odd; Hence x cos(kx cos )dx 0

Calculate the following for the ship model we used to calculate added mass earlier (i) Added mass moment of inertia (Table 3) (ii) Damping Coefficient for pitching motion (Table 4) (iii) Restoring moment coefficient for pitching motion (Table 5) (iv) Exciting moment for the pitching motion (Table 6)

1 ft=0.3048 m Station Number

20

1 ft2= 0.0929 m2 Station Number 20

Length of model = L = 19.20 ft = 5.85 m. ; Maximum beam = 0.79 m ; Draft = 0.349 m ; Wavelength= Ship Length; Model speed=1.46 m/sec; Displacement = 12368 N; Direction of ship travel = Head sea (=180); LCG =LCB=0.146 m forward of midship; Wave amplitude =0.06m
3

xi , y i , z i location of CG of each block from the axis; Axis is at the centre of the body. See Fig. 4.16 on Page 2 Table 1 Block No 1 2 3 : : 16 wi 500 xi -9.144 yi zi xi2 y i2 z i2 y i2 + z i2 xi2 + z i2 xi2 + y i2 wi ( y i2 + z i2 ) wi ( xi2 + z i2 ) wi ( xi2 + y i2 )

- 1.524 0.762

SUM Find the radius of gyration for rolling, pitching and yawing using the SUMs

SUM

SUM

Table 2 Stn nos taken as lines passing through centre of blocks 1 and 6, 2 and 5 ,3 and 4 in plan; This is warranted to result in odd number of stations to apply Simpson rule x-axis rolling ; y-axis pitching See fig 4.16 Station No 0 1 2 mn kN/m 6000/27.43 6000/27.43 6000/27.43 SUM Iyy=1/3 station spacing SUM ; Calculate kyy=??

- Distance from
pitching axis

mn 2

Simpson multiplier

Product

Check whether the ratio of kyy to L is = 0.2887 Just repeat the exercise Table 2 only to calculate radius of gyration about xx and zz axis. Station numbers to be taken as usual (two blocks and three stations first, middle and last); Check the radius of gyration ratio with that of the corresponding side. It should be also 0.2887. 4

Table 3 Added mass moment of Inertia for pitching motion Station No an (From Assignment 2) Lever arm Distance of each section from LCG

a n 2

Simpson Multiplier

Product

0 5 10 15 20 SUM

I yy = a n 2 d = (1/3) station spacing SUM = ??????

Table 4 Damping coefficient for pitching motion Station No Lever arm bn Distance of (From each section Assignment 4) from LCG 0 5 10 15 20

bn 2

Simpson Multiplier

Product

SUM b pitching = bn heaving 2 d = (1/3) station spacing SUM = ?????? 5

Table 5 Restoring moment coefficient for pitching motion Station No Lever arm Bn C n = gBn Distance of each section Beam at different from LCG sections 0 5 10 15 20

C n 2

Simpson Multiplier

Product

SUM c = (1/3) station spacing SUM = ?????? Table 6 Exciting moment for the pitching motion Station No Lever arm B y = n , Half breadth at Distance of 2 each section water plane from LCG 0 5 10 15 20
L/2

k cos

sin(k cos )

y sin(k cos )

Simpson multiplier

Product

SUM M = 2 g a y ( x) x sin(kx cos )dx sin e t L / 2 Value of the integral alone is = = (1/3) station spacing SUM