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1. General

[LOCMOT]

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.

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 G in aNySIM. The following convention is used for the definition of the rotation angles.

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 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

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 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 all motions of the point P.

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