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ship dynamics
Kul-24.3200 Introduction of Marine Hydrodynamics
Additional reading
LN3 Ship dynamics FIN, Chapter 1 (Noppa: Additional reading)
LN 3 Ship dynamics ENG part 1, Sections 3.1-3.8 (Noppa: Additional
reading)
Exercise 7: task 1
Select tunnel thrusters to ship bow. You need to give the power of
the thruster and the its diameter
Design criterion: Keeping the position of the ship fixed in a certain
wind condition. You need to balance the wind force (side force)*
using the force that is obtained form the tunnel thrusters and from
the stern area.
General
Equations of motion
On forces and moment
Defining the stability derivatives
Stability index
Effect of the keel
Rudder action
Standard tests of manoeuvring
General
Equations of motion
On forces and moment
Defining the stability derivatives
Stability index
Effect of the keel
Rudder action
Standard tests of manoeuvring
Example: Even if the ship has poor straight line stability with the fixed rudder, it
can has good straight line stability thanks to the action of the mate / autopilot.
General
Equations of motion
On forces and moment
Defining the stability derivatives
Stability index
Effect of the keel
Rudder action
Standard tests of manoeuvring
Kiihtyily
Still water condition is applied
typically Mutkailu
Motion components
Sway
Surge
Yaw
General
Equations of motion
On forces and moment
Defining the stability derivatives
Stability index
Effect of the keel
Rudder action
Standard tests of manoeuvring
Lateral force Y
points towards the negative y-axis.
acts in the so-called neutral point, whose
location is xN.
Yaw moment
Approximations
For Y and N
For forces and moment caused by angular velocity r, angular
acceleration and rudder angle .
Equations of motions
Stability
derivatives
u1: original velocity in x-direction
Eqs. are made linear. Valid when are small.
General
Equations of motion
On forces and moment
Defining the stability derivatives
Stability index
Effect of the keel
Rudder action
Standard tests of manoeuvring
Ways of defining
Planar Motion Mechanism (PMM)
in model tests
Other options:
computational fluid dynamics (CFD)
radio controlled free running models
full-scale experiments
Derivatives Y and N
Similar as above. Rudder angle is changed while the drift angle =0.
Derivatives Y and N are the slopes of curves and
Derivatives and
Can be defined when the model has only transversal motion (sway) and
not yaw.
Derivatives , , and
Can be defined when the model has only yaw motion (no sway)
X, Y and N are measured, when the derivatives can be defined.
Added mass: . Added moment of inertia: .
The order of magnitude can be estimated as
General
Equations of motion
On forces and moment
Defining the stability derivatives
Stability index
Effect of the keel
Rudder action
Standard tests of manoeuvring
Rearranging 1
0 1
= =
0
( )
Introduction of Marine Hydrodynamics 32
Stability index
1
=
( )
The stability index is the determinant of the matrix. For straight line stability it has
to be greater then zero
( 1 )
>0
( )( )
Inertia plus added inertia and mass plus added mass are positive for definition.
The stability criterion reduce to:
( 1 ) > 0
Criterion for the straight line stability is that the stability index is positive
Note V=u1
MS
General
Equations of motion
On forces and moment
Defining the stability derivatives
Effect of the keel
Rudder action
Standard tests of manoeuvring
increases
reduces
Critical point move
forward, XN moves
sternward: improved
stability
General
Equations of motion
On forces and moment
Defining the stability derivatives
Effect of the keel
Rudder action
Standard tests of manoeuvring
General
Equations of motion
On forces and moment
Defining the stability derivatives
Effect of the keel
Rudder action
Standard tests of manoeuvring
Pictures
http://en.wikipedia.org/wiki/Ship_motions