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Website: www.shipmotions.nl
Abstract
Software package DREDMO of the Delft Hydraulics predicts the behaviour of seagoing
cutter dredges in near-shore conditions, which behaviour can be important with respect to the
construction of the dredge and the assessment of downtime. The motion behaviour of the
seagoing dredge has been described by non-linear Cummins Equations, which have to be
solved in the time domain.
The required input data on hydromechanic coefficients, retardation functions and frequency
domain wave load series can be derived with a newly developed pre-processing program
SEWAY-D. This program, based on the frequency domain ship motions program SEAWAY,
creates the hydromechanic input data file for DREDMO with a minimum risk on human input
errors and makes DREDMO much more accessible for less-specialist users.
This report describes the underlying hydromechanic theory of the new SEAWAY-D and
DREDMO releases. Also, comparisons with frequency domain results have been given.
Introduction
Equations of Motion
M
j =1
i, j
&x& j = Fi
for i = 1, 2, 6
in which:
M i, j
Figure 1
&x& j
Fi
x j ( , t ) = x aj ( ) cos(t )
x& j ( , t ) = x aj ( ) sin (t )
&x& j ( , t ) = 2 x aj ( ) cos (t )
3. O ( x , y , z ) or O( x1 , x 2 , x 3 ) moving
with the ships speed, with O above or
below the average position of the
ships centre of gravity, x or x1
parallel to still water surface, y or x 2
parallel to still water surface and z or
x3 in the upward direction. The
angular motions of the body about the
body axes are denoted by: , and
or x 4 , x5 and x 6 .
{M
&x& j } =
i, j
j =1
{ a
6
i,j
( ) &x& j ( , t ) bi , j ( ) x& j ( , t )
j =1
j =1
+ ai , j ( ) ) &x& j ( , t )
=
&
i , j ( ) x j ( , t ) + c i , j x j ( , t )
i,j
= Fwa i ( ) cos t + wi ( )
for i = 1, 2, 6
mi , j ( )
'
n i, j ( )
'
Fwi ( )
'
FK wi ( )
'
*
&&wi ( )
*
& wi ( )
yw
xb
OG
BG
At
the
following
sections,
the
hydromechanic coefficients and the wave
loads for zero forward speed are given as
they can be derived from the twodimensional values, defined in a coordinate system with the origin O in the
waterline.
k xx
k yy
k zz
'
sectional hydrodynamic
mass coefficient
sectional hydrodynamic
damping coefficient
sectional wave exciting
force or moment
sectional Froude-Krylov
force or moment
equivalent orbital
acceleration
equivalent orbital velocity
sectional half breadth of
waterline
longitudinal distance of
cross-section to centre of
gravity, positive forwards
vertical distance of
waterline to centre of
gravity, positive upwards
vertical distance of centre
of buoyancy to centre of
gravity, positive upwards
volume of displacement
radius of gyration in air for
roll
radius of gyration in air for
pitch
radius of gyration in air for
yaw
density of water
acceleration of gravity
M 1,1 = M =
M 2 ,2 = M =
M 3, 3 = M =
b1, 5 = BG b1,1
M 4 , 4 = I xx = k xx 2
M 5, 5 = I yy = k yy
2
M 6, 6 = I zz = k zz
The remaining solid mass coefficients are
zero.
2
b3, 5 = n 3, 3 xb dx b
'
a1,1 = m1,1' dx b
a1,5 = BG a1,1
+ OG b2 , 4
b6, 6 = n 2, 2 ' xb 2 dx b
b j, i = bi, j
The
remaining
potential
coefficients are zero.
damping
+ OG a 2, 4
c 3, 3 = 2 g y w dxb
'
c 3, 5 = 2 g y w x b dx b
'
c 4, 4 = g GM
c 5,5 = g GM L
a j, i = ai , j
The remaining potential mass coefficients
are zero.
c j, i = c i, j
The remaining spring coefficients are zero.
'
'
*
'
*
'
with : Fw2 = m2, 2 &&w 2 + n2, 2 & w2 + FK 2
'
'
'
with : Fw4 ' = m4, 2 ' &&w 2 * + n4, 2 ' & w2 * + FK 4 '
+ Fw2 OG
'
4.1
In here,
potential.
is a normalised velocity
Cummins Equations
(t ) = {V j, n j +
6
j =1
+ j (t n k , t n k + t ) V j, k t
k =1
In here:
n
tn
t n k
V j, n
V j, k
period (t n , t n + t )
j th velocity component during
period (t n k , t n k + t )
= x
for: t > t 0 + t
Fi =
t
for i = 1, 2, 6
6
(t ) =
t
6
= x& j (t ) j + j ( t ) x& j ( ) d
j =1
velocity com-
{(M
6
p =
t
j =1
i, j
(t ) x& j ( ) d + C i , j x j (t )} = X i (t )
in which:
&x& j (t ) translational or rotational
acceleration in direction at time t
x& j (t ) translational or rotational velocity
in direction j at time t
x j (t ) translational or rotational
displacement in direction at time t
M i, j solid mass or inertia coefficient
6
= &x& j (t ) j ni dS +
j =1
S
for i = 1, 2, 6
+ Ai , j ) &x& j (t ) +
Fi = p ni dS
i, j
j ( t )
x& j ( ) d
dS
i
Ai, j
Bi, j
retardation function
Ci , j
spring coefficient
When defining:
Ai, j = j ni dS
Bi, j (t ) =
S
j (t )
t
ni dS
{(M
6
j =1
i, j
+ Ai , j ) &x& j (t ) +
+ B i , j ( ) x& j (t ) d + C i , j x j (t )} = X i (t )
0
for i = 1, 2, 6
4.2
+ {Ci, j } cos(t )
Hydromechanic Coefficients
= X i (t )
for i = 1, 2, ... 6
In the classic frequency domain
description these equations of motion are
presented by:
2 {M i, j + ai , j ( )} cos(t )
{bi, j ( )} sin (t )
+ {c i, j } cos(t )
= X i (t )
for i = 1, 2, ... 6
In here:
a i, j ( )
frequency depending
hydrodynamic mass
coefficient
frequency depending
hydrodynamic damping
coefficient
restoring spring term
coefficient
bi, j ( )
c i, j
x j = 1 cos (t )
a i, j ( ) = Ai, j
Bi, j ( ) sin (t ) d
0
+ C i, j cos (t )
1
Bi, j ( ) sin ( ) d
0
= X i (t )
for i = 1, 2, ... 6
ci , j = Ci, j
10
2
Bi, j ( ) = bi, j ( ) cos( ) d
0
2
Bi, j ( ) = bi, j ( ) cos( ) d
0
Ai, j
1
= ai, j ( ) + Bi, j ( ) sin ( ) d
0
Bi, j ( ) =
For the uncoupled damping coefficients so when i = j - this truncation error can
be estimated easily.
The relation between the damping
coefficient bi, j ( ) and the amplitude ratio
of the radiated waves and the oscillatory
motion i ,i ( ) is given by:
Ai, j = ai, j ( = )
4.3
Addition of Non-Linearities
g2
bi,i ( ) =
i, i 2 ( )
3
bi,i ( ) =
i ,i
3
C4, 4 = 0
X 4 = g GN ( ) sin
4.4
2
bi , j ( ) cos ( ) d
i, i 2 cos( ) sin ( )
Bi, i ( ) =
( )
( 1)n ( )2n
2n (2n )!
n =1
+ + ln ( ) +
11
Bi, j ( ) =
2
N
b
n [cos ( n ) cos ( n1 )]
n =1
Bi, j ( ) =
2
b N sin N
in which:
n = n n1 =
bn = bn bn1
2
b ( ) cos ( ) d
0 i, j
Bi, j ( = 0) =
N = .
2
b ( ) d
0 i, j
i, j
( ) d = 0
i, j
( ) x& j ( t ) d
12
i , j
i, j
( ) sin ( ) d =
i, j = 2
n =1
N
B
n [sin ( n ) sin ( (n 1) )]
n =1
1
+
Bi , j ( = 0) Bi , j ( = N ) cos( N )
Bi, j ( 0)
with: 0.010
{(M
6
j =1
i, j
+ Ai , j ) &x& j (t ) +
in which:
Bn = Bi , j (n) Bi, j ( n 1)
i , j
Bi, j ( ) x& j (t ) d + C i, j x j (t )} = X i (t )
0
for i = 1, 2, 6
The numerical integration can be carried
out with the trapezoid rule or with
Simpsons rule. Because of a relatively
small time step is required to solve the
equations of motion numerically, generally
the trapezoid rule is sufficient accurate.
The hydrodynamic
follows from:
mass
i, j
bi, j ( ) =
Ai, j
i, j
i, j
( ) cos( ) d =
n [cos ( n ) cos( (n 1) )]
n =1
1
+ Bi, j ( = N ) sin ( N )
coefficient
Equations of Motion
Ai, j = ai, j ( = )
1
= ai, j ( ) +
( ) sin ( ) d
z& 0 = z&
&0 = &
& = &
With:
& 0 = &
i, j = N
13
(
(
(
&& (I
)
)
)
I xx
yy
Roll motion:
I xx && (I yy I zz ) & & +
ext
Pitch motion:
I yy && ( I zz I xx ) & & +
Yaw motion:
I zz && (I zz I xx ) & & +
A6, 2 &y& + B6, 2 y& + C6, 2 y +
A && + B & + C +
6, 4
Surge motion:
(M + A1,1 ) x&& + A1,5 &&
=
Sway motion:
M &y& + M x& & z& & +
A2, 2 &y& + B2, 2 y& + C 2, 2 y +
A && + B & + C +
2, 4
2, 4
X w + X ext
B1,1 x& B1, 5 &
2, 4
Sway motion:
(M + A2,2 ) y&& + A2,4 && + A2,6 &&
Heave motion:
M &z& + M x& & + y& & +
A3,1 &x& + B3,1 x& + C3,1 x +
6, 4
Surge motion:
M &x& + M y& & + z& & +
A1,1 &x& + B1,1 x& + C1,1 x +
6, 4
B2 , 2
Yw + Yext
y& B & B
2, 4
2, 6
14
&
Heave motion:
(M + A3,3 ) &z& + A3,5 &&
=
Z w + Z ext
B3, 3 z& C3,3 z B3, 5 & C3, 5
Viscous Damping
b2, 2v
Roll motion:
(I xx + A4,4 ) && + A4,2 &y& + A4,6 &&
( 2)
y& y& and b6, 6v & &
with:
=
K w + K ext
B4, 2 y& B4, 4 & B4, 6 & C4, 4
+ (I I ) & &
yy
(2 )
1
L d CD
2
1
b6, 6v ( 2) = L3 d C D
6
C D 1.50
b2, 2v ( 2) =
zz
Pitch motion:
(I yy + A5,5 ) && + A5,1 x&& + A5,3 &z&
Roll
The total non-linear roll damping term in
the equation of motion for roll can be
expressed as:
=
M w + M ext
(b
4, 4
+ b4 , 4 a
(1 )
) & + b
( 2)
4, 4a
& &
with:
b4 , 4
Yaw motion:
(I zz + A6,6 ) && + A6,2 &y& + A6,4 &&
B6 , 2
=
N w + N ext
y& B & B
&
6, 4
6 , 6
+ (I xx I yy ) & &
b4, 4a
(1 )
b4, 4a
( 2)
15
b4, 4a
(1)
( 2)
& & dt = b4, 4a & & & dt
in which 2 =
is the quotient
I xx + a 4, 4
between damping and moment of inertia
c 4, 4
and 0 2 =
is the not-damped
I xx + a 4, 4
(1)
8
( 2)
a b4 , 4 a
3
6.1
xx
2
&& + 2 0 & + 0 = 0
= ln
( t + T )
0 T T = 2
in which:
potential mass coefficient
b4 , 4
b4 , 4 a
c 4, 4
a 4, 4
(I
b4 , 4 + b4 , 4 a
(t )
1
ln
(
t
+
T
)
= b4, 4 + b4, 4a
16
0
2 c 4, 4
The non-potential part of the total rolldamping coefficient follows from the
average value of by:
b4, 4a =
2 c 4, 4
0
b4, 4
= 1 + 2 a
a
as function of a ,
a
a (i ) + a (i + 1)
2
B
1 0.0013
d
2 0.50
a = a (i ) a (i + 1)
2 + a
a
1
=
ln
2
2 a
2 c 4, 4 &
2 c 4, 4 &
= ( 1 + 2 a )
0
0
2 c 4, 4
0
b4, 4
17
b4 , 4 a
= 2
( 2)
2 c 4, 4 a
0
&
b4, 4a
( 2)
6.2
= 2
2 c 4, 4
0
a & & dt
(2 )
= 2
3 2 c 4, 4
2
8
0
(b
4, 4
+ b44a
(1)
) & + b
( 2)
44a
(b
& & =
+ b44a
(1)
) & + b
( 2)
44 a
& &
2 c 4, 4 &
3 2 c4, 4 & &
= 1
+2
0
8
02
So far, pure roll motions with one degree
of freedom are considered in the equations
of motion. Coupling effects between the
roll motion and the other motions are not
taken into account. This can be done in an
iterative way.
b4, 4a (1) = 0
4, 4
(1 )
( 2)
and b4, 4a . With these coefficients, a freerolling experiment with all degrees of
with:
18
b4 , 4 f
( 2)
b4, 4e
( 2)
b4, 4k
( 2)
OG
Bs
Ds
s
H0
a1
a3
Ms
fk
Rn
L
B
D
CB
Sf
lm
rb
hk
Lk
rk
Cp
rf
if OG < Ds s then OG = Ds s
6.2.1
density of water
kinematic viscosity of water
acceleration of gravity
circular roll frequency
roll amplitude
Reynolds number
length of the ship
breadth of the ship
average draught of the ship
block coefficient
hull surface area
Rn =
0.512 (r f a )2
rf =
(0.887 + 0.145 C B )
Sf
L
+ 2.0 OG
19
Sf ,
m2s
m s
0 .500
+ 0.014 Rn
0. 114
1
3
rf S f C f
2
6.2.2
U max
U mean
and:
a (1 + a3 )
= 2 = 0.5 arccos 1
4 a3
( 2)
rmax ( ) =
Ms
20
1
BE = D s 4
2
'
f R
1 1 b
Ds
f3
OG
2 Ds H 0 s +
Ds
2 M s
rmax +
a 2 + b2
H
r
max
Ds
OG f 1 rb
1 +
+
D
D
s
f R
+ f 2 H 0 1 b
Ds
C p
with:
1.5 1 e 55 s sin 2 ( s )
with:
H = 1 + a12 + 9 a3 2
+ 2 a1 (1 3 a3 ) cos (2 )
6 a 3 cos(4 )
a = 2 a 3 cos(5 )
+ a1 (1 a 3 ) cos(3 )
+ (6 3 a1 ) a3 2 + a1 2 3 a1 a3
+ a12 cos ( )
b = 2 a 3 sin (5 )
+ a1 (1 a 3 ) sin (3 )
+ (6 + 3 a1 ) a3 2 + a12 + 3 a1 a 3
+ a1 sin ( )
2
Rb = 2 D s
H 0 ( s 1)
4
f 3 = 1 + 4 e 1. 6510 (1 s )
5
21
b4, 4e
( 2)
= BE dxb
'
6.2.3
( 2)
C p = 1.20
The pressure coefficient on the back-face
of the bilge keel is given by:
BN = rk hk f k C D
'
C p = 22.5
with:
hk
1.20
rk f k a
hk
C D = 22.5
+ 2.40
rk a f k
f k = 1.0 + 0.3 e 160(1. 0 s )
hk
l m dh = Ds A C p + B C p
2
with:
A = (m3 + m4 ) m8 m7 2
B=
m4 3
3 (H 0 0.215 m1 )
(1 m1 )2 (2 m3 m2 )
+
6 (1 0.215 m1 )
+ m1 (m3 m5 + m4 m6 )
k
1 2
'
2
BS = rk f k C p l m dh
2
0
22
while:
m1 =
m2 =
Rb
Ds
rk = Ds
OG
Ds
m3 = 1.0 m1 m2
0.414 H 0 + 0.0651 m1 2
(0.382 H 0 + 0.0106) m1
m5 =
( H 0 0.215 m1 ) (1 0.215 m1 )
b4 , 4 k
( H 0 0.215 m1 ) (1 0.215 m1 )
( 2)
(B
'
N
+ BS dx b
'
Comparative Simulations
S0
0.25 m1
Ds
m8 = m7 + 0.414 m1
For S 0 < 0.25 Rb :
m 7 = 0 .0
S
m 8 = m 7 + 0.414 m1 1 cos 0
Rb
R
1.0 + OG 0.293 b
Ds
Ds
Lk
0.414 H 0 + 0.0651 m1 2
(0.382 + 0.0106 H 0 ) m1
m7 =
m4 = H 0 m1
m6 =
R
H 0 0.293 b
Ds
175.00 m
25.40 m
9.50 m
0.00 m
0.57
Metacentric height, GM
0.98 m
Longitudinal CoB , LCoB / L pp -1.42 %
23
Radius of inertia, k xx / L pp
0.33
Radius of inertia, k yy / L pp
0.24
Radius of inertia, k zz / L pp
0.24
0.45 m
43.75 m
24
References
[2] W. Frank
Oscillation of Cylinders in or below the
Free Surface of a Fluid, Naval Ship
Research and Development Center,
Washington, U.S.A., Report 2375, 1967.
[3] Y. Ikeda, Y. Himeno and N. Tanaka
A Prediction Method for Ship Rolling,
Department of Naval Architecture,
University of Osaka Prefecture, Japan,
Report 00405, 1978.
[4] I.T.T.C.
Proceedings of the 15th International
Towing Tank Conference, The Hague, the
Netherlands, 1978.
[5] I.T.T.C.
Proceedings of the 18th International
Towing Tank Conference, Kobe, Japan,
1987.
[6] J.M.J. Journe
SEAWAY-Delft, User Manual of Release
3.00, Delft University of Technology,
Shiphydromechanics Laboratory, Delft,
[15] F. Tasai
On the Damping Force and Added Mass of
Ships Heaving and Pitching, Research
Institute for Applied Mechanics, Kyushu
University, Japan, Vol. VII, No 26, 1959.
[16] F. Tasai
Hydrodynamic Force and Moment Produced by Swaying and Rolling Oscillation of
Cylinders on the Free Surface, Research
Institute for Applied Mechanics, Kyushu
University, Japan, Vol. IX, No 35, 1961.
26