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1. General [LOCMOT] The following quantities can be calculated locally on a structure by aNySIM:

1. General

[LOCMOT]

1. General [LOCMOT] The following quantities can be calculated locally on a structure by aNySIM: -

The following quantities can be calculated locally on a structure by aNySIM:

- Motions.

- Velocities.

- Accelerations.

2. Local position

The location is defined in the local system of coordinates of the structure. Let’s call P the point of interest attached to the structure. The user should define the position of P as reference position in the input to have access to output signals at this location. Let’s consider the case of a semi-sub with two cranes at the stern on each side. Let’s assume that the user is interested in the motion at the crane at portside.

the user is interested in the motion at the crane at portside. Ship-fixed coordinates of the

Ship-fixed coordinates of the point of interest

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3. Pure rotations [LOCMOT] The motions (velocities, accelerations) are integrated at the centre of gravity

3. Pure rotations

[LOCMOT]

3. Pure rotations [LOCMOT] The motions (velocities, accelerations) are integrated at the centre of gravity G

The motions (velocities, accelerations) are integrated at the centre of gravity G in aNySIM. The following convention is used for the definition of the rotation angles.

is used for the definition of the rotation angles. Ф is used for the roll angle.

Ф is used for the roll angle. Θ is used for the pitch angle. Ψ is used for the yaw angle.

Rotation convention

Let’s consider a semi-sub with no heel, no trim in its initial orientation. We called {SFt0} the system of axes of the semi-sub as defined by its ship-fixed axes at t= 0s. This system of axes is fixed. At time t, the system of axes attached to the semi-sub is called {SFct} for ‘ship-fixed at current time’. {SFct} is moving with the semi-sub.

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[LOCMOT] If the semi-sub has been purely rotated (no translation), then the point G has

[LOCMOT]

[LOCMOT] If the semi-sub has been purely rotated (no translation), then the point G has not

If the semi-sub has been purely rotated (no translation), then the point G has not moved

whereas the point P has moved. The new position of P is determined by the total rotation of

the vector GP.

By convention, we pass from {SFt0} to {SFct} through three elementary rotations in the following order:

- The rotation around the axis Gz, yaw.

- The rotation around the axis Gy, pitch.

- The rotation around the axis Gx, roll.

A rotation matrix can be defined for each rotation.

For yaw:

R

ψ

=

cos

0

ψ

sin

ψ

sin

cos

ψ

ψ

0

0

0

1

For pitch:

R

θ

=

cos

0

sin

For roll:

R

φ

=

1

0

0

θ

θ

0

1

0

0

cos

φ

sin

φ

sin

0

θ

cos

θ

0

sin

cos

φ

φ

A vector V is transformed from {SFt0} to {SFct} by:

V

SFct

=

[

R

φ

R

θ

R

ψ

]

V

SFt 0

In the other way, a vector V is transformed from {SFct} to {SFt0} by:

V

SFt 0

=

[

R

φ

R

θ

R

ψ

]

1

V

SFct

Which can be written in the following form:

V

SFt 0

Or:

=

[

R

φ

R

θ

R

ψ

]

T

V

SFct

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[LOCMOT] V SFt 0 = [ R ψ T ⋅ R θ T T ⋅

[LOCMOT]

[LOCMOT] V SFt 0 = [ R ψ T ⋅ R θ T T ⋅ R

V SFt 0

=

[

R

ψ

T

R

θ

T

T

R

φ

]

V

SFct

The new position of P at time t in {SFt0} is calculated by:

GP

t

=

[

R

ψ

T T

R

θ

R

φ

T

]

GP

SF

The motions at P induced by the total rotation is defined as:

P

t

= 0

P

t

=

x

P

y

z

P

P

The motions in {SFt0} can be written in the following way:

P t

=

0 P

t

=

GP

t

GP

t = 0

=


[

R

ψ

T

R

θ

T

R

φ

T

]

1

0

  0

0

1

0

0  

 

  

1

0


GP

SF

The motion at P in {SFt0} can be formulated as:

x

P

y

z

P

P

=

[

R

ψ

T

R

θ

T

R

φ

T

]

1

0

0

0

1

0

0  

0

1

  

GP

SF

4. Pure translation

If the semi-sub has been submitted to a translation only (no rotation) then the motion at P is identical to the motion at G.

x

P

y

z

P

P

=

x

G

y

z

G

G

Where:

- x G is the surge at CoG

- y G

- z G is the heave at CoG

is the sway at CoG

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[LOCMOT] 5. Translation + rotation The new position of P in {SFt0} results from the

[LOCMOT]

[LOCMOT] 5. Translation + rotation The new position of P in {SFt0} results from the translation

5. Translation + rotation

The new position of P in {SFt0} results from the translation of the structure plus its rotation(s) around the point G.

G

0 P

t

=

x

G

y

z

G

G

+

[

R

ψ

T

R

θ

T

R

φ

T

]

GP

SF

The position of P in the earth-fixed global system of coordinates with origin O is given by:

OP

EF

=

{

OG

0

}

EF

+

{

G P

0

t

}

EF

We pass from the earth-fixed global system of axes {EF} to {SFto} by a yaw rotation of the initial heading Ψ 0 .

R

ψ

0

=

cos

ψ

0

ψ

0

sin

0

sin

ψ

0

cos

ψ

0

0

0

0

1

Finally the coordinates of P in the global referential {EF} are given by:

OP

EF

=

{ OG

0

}

EF

+

[

R

ψ

0

]

G

0

P

t

6. Local motion

The motion of P is defined by the difference between the current position P and its initial position.

  dX

dZ

dY

EF

=

P P

0

EF

=

{

OP

t

}

EF

{

OP

0

}

EF

This motion vector can be projected in 3 different system of axes:

0)

The earth-fixed {EF} (global) SOA.

1)

The {SFt0}, global SOA of which the direction of the (xx’) axis is given by the heading

2)

of the structure at t= 0s. The {SFct}, local (or relative) SOA which is moving with the structure.

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[LOCMOT] The norm of the motion vector gives the radius of the sphere that includes

[LOCMOT]

[LOCMOT] The norm of the motion vector gives the radius of the sphere that includes all

The norm of the motion vector gives the radius of the sphere that includes all motions of the point P.

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