Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Hydromechanics
Part 2
Ir. Peter Naaijen
Book:
Offshore Hydromechanics, by J.M.J. Journee & W.W.Massie
Useful weblinks:
http://www.shipmotions.nl
Blackboard
[1]
[2]
Groups of 7 students
Written exam
Lecture notes:
Disclaimer: Not everything you (should) learn is in the lecture notes (lees: niet alles
How to determine response in irregular waves from RAOs and wave spectrum without forward speed
3D linear Potential Theory
How to determine hydrodynamic reaction coefficients and wave forces from Velocity Potential
Ch. 8
How to determine response in irregular waves from RAOs and wave spectrum with forward speed
Make down time analysis using wave spectra, scatter diagram and RAOs
Structural aspects:
Calculate internal forces and bending moments due to waves
Nonlinear behavior:
Ch.6
Introduction
Introduction
Offshore
floating
[4]
[3]
Introduction
Introduction
Reasons to study waves and ship behavior in waves:
the dynamic loads on the floating structure, its cargo or its equipment:
the dynamic loads on the floating structure, its cargo or its equipment:
Inertia forces on sea fastening due to accelerations:
[5]
10
Introduction
Introduction
[7]
[5]
[5]
[6]
11
12
Introduction
Introduction
[9]
[10]
OTEC
[8]
[2]
13
Introduction
14
Introduction
[11]
[12]
Mega Floaters
15
16
Introduction
Reasons to study waves and ship behavior in
waves:
3.5
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5
5
4.5
0
0
0
0
0
0
0
0
0
0
0
0
4
40
350
394
5.5
0
0
0
0
0
0
0
0
1
7
31
148
681
2699
3314
6.5
0
0
0
0
1
4
12
41
138
471
1586
5017
13441
23284
8131
6881
7.5
2
3
7
17
41
109
295
818
2273
6187
15757
34720
56847
47839
5858
8.5
30
33
72
160
363
845
1996
4723
10967
24075
47072
74007
77259
34532
1598
9.5
154
145
289
585
1200
2485
5157
10537
20620
36940
56347
64809
45013
11554
216
10.5
362
293
539
996
1852
3443
6323
11242
18718
27702
33539
28964
13962
2208
18
11.5
466
322
548
931
1579
2648
4333
6755
9665
11969
11710
7804
2725
282
1
61738
12.5
370
219
345
543
843
1283
1882
2594
3222
3387
2731
1444
381
27
0
13.5
202
101
149
217
310
432
572
703
767
694
471
202
41
2
0
Total
1586
1116
1949
3449
6189
11249
20570
37413
66371
111432
169244
217115
210354
122467
19491
19271
4863 999995
[5]
[13]
17
18
[5]
[5]
19
20
Regular waves
regular wave propagating in direction :
(t, x)
Regular waves
cos
t kx cos
ky sin
2 /
2 /T
21
cos
22
Co-ordinate systems
Regular waves
(t, x)
t kx cos
ky sin
y0
Wave direction = x0
23
X0
24
Ships body bound axes system (xb,yb,zb) follows all ship motions
Definition of translations
NE
EN
1 x
Schrikken
Surge
2 y
Verzetten
Sway
Dompen
Heave
xb
Z: heave
zb
x
25
26
Z: yaw
Y: pitch
5 y
Stampen
Pitch
Gieren
Yaw
X: roll
6
27
28
Mass-Spring system:
Amplitude
mz bz cz
Fa cos
Motion equation
m
z t
za cos
Phase angle
Surge(schrikken) : x
xa cos
Sway(verzetten) :
y a cos
Heave(dompen) :
za cos
Roll (rollen) :
phi
Pitch(stampen) :
theta
Yaw( gieren) :
psi
cos
a
cos
cos
t
t
t
29
30
Surge(schrikken) : x
xa cos
RAOSurge
:
Sway(verzetten) :
Heave(dompen) :
Roll (rollen) :
y a cos
phi
RAOSway :
z acos
t
a
ya
za
RAOHeave :
cos
RAORoll :
Pitch(stampen) :
theta
cos
Yaw( gieren) :
psi
cos
RAOPitch :
RAOYaw :
31
Wave frequency
Wave direction
32
3 Heave(dompen) : z = za cos ( e t + z
4 Roll(rollen) :
5 Pitch(stampen) :
6 Yaw( gieren) :
Displacement
Velocity
Acceleration
= a cos (et + )
= e asin ( te + ) = e acos ( te + + / 2 )
= 2 cos ( t + ) = 2 cos ( t + + )
e
phi = a cos ( e t +
theta = a cos ( e t +
Frequency of input (regular wave) and output (motion) is ALWAYS THE SAME !!
RAOs and phase angles depend on wave frequency and wave direction
RAOs and phase angles must be calculated by dedicated software or measured by experiments
33
A. 0
B.
C. 1
D. 42
0%
34
y = ya cos (e t + y
35
0%
0%
0%
36
A. 0 deg
B. 180 deg
C. 90 deg
D. I have no clue
A. 0 deg
B. 180 deg
C. 90 deg
D. I have no clue
93%
0%
0%
37
0%
0%
0%
38
0%
A. rad/m
B. 1 rad/m
C. 0 rad/m
D. k rad/m
E. I have no clue
A. rad/m
B. 1 rad/m
C. 0 rad/m
D. k rad/m
E. I have no clue
43%
21%
48%
24%
19%
10%
2%
0%
0%
39
40
10
A. 0 deg
B. 180 deg
C. -90 deg
D. 90 deg
E. I have no clue again
A. 0 deg
B. 180 deg
C. -90 deg
D. 90 deg
E. I have no clue again
42%
18%
20%
16%
63%
18% 16%
4%
3%
Z: yaw
Y: pitch
Y: pitch
X: roll
X: roll
41
Local Motions
Only variations!!
Linearized!!
42
0%
Z: yaw
xP ( t ) x ( t ) 0
( t ) ( t ) xbP
=
y
+
y
t
t
t
0
( t ) ybP
P ( ) ( ) ( )
z ( t ) z ( t ) ( t ) ( t )
0 zbP
P
6 DOF Ship motions
For a frequency =0.6 the RAOs and phase angles of the ship motions are:
SURGE
xP ( t ) = x ( t ) ybP ( t ) + zbP ( t )
1.014E-03
yP ( t ) = y ( t ) + xbP ( t ) zbP ( t )
SWAY
degr
3.421E+02
HEAVE
5.992E-01
degr
2.811E+02
9.991E-01
ROLL
degr
3.580E+02
PITCH
YAW
deg/m
degr
deg/m
degr
2.590E+00
1.002E+02
2.424E-03
1.922E+02
deg/m
2.102E-04
degr
5.686E+01
Calculate the RAO and phase angle of the transverse horizontal motion (y-direction)
z P ( t ) = z ( t ) xbP ( t ) + ybP ( t )
43
44
11
1 Surge(schrikken) : x = xa cos ( et + x )
i x
it
= Re x a e
i t + x
= Re xa e
, RAO, phase
= Re ( xa eit )
RAO
Floating
Structure
phase
46
45
Mass-Spring system:
Mass-Spring system:
mz + bz + cz = Fa cos ( t )
Transient solution
z ( t ) = At e t sin
F = Fa cos ( t )
F = Fa cos ( t )
b
=
2 mc
1 2 0 t + t
Damping ratio
m
Steady state solution:
z ( t ) = za cos (t + )
( b )
2
( m ) + c
= a tan
za =
47
Fa
(( ( m) + c ) + (b ) )
48
12
m2 y + b2 y + c2 y = Fa 2 cos (t )
[14]
m3 z + b3 z + c3 z = Fa 3 cos (t )
Alat
Awl
x
A. c2=Awl g
B. c2=Alat g
C. c2=0
m for roll ?
0%
49
0%
0%
50
Roll restoring
Non linear stability issue
c4 = g GM
What is the point the ship rotates around statically speaking ? (Ch 2)
51
5252
13
Stability moment
m4 + b4 + c4 = Fa 4 cos ( t )
M s = g GZ = g GM sin g GM
53
F = m z
External force
Mass-spring system
Ship in waves
F(t)
Fw
c z
b z
a z
54
restoring force
c*z
Archimedes: bouyancy
Damping force
b*dz/dt
Hydrodynamic damping
Inertia force
M*d 2z/dt 2
Mass +
(m + a) z + b z + c z = Fw
Depend on
frequency !
Hydrodynamic Mass
OE4630 2012-2013, Offshore Hydromechanics, Part 2
Marine Engineering, Ship Hydromechanics Section
55
56
14
(m + a) z + b z + c z = Fw
Hydromechanic
reaction forces
Hydromechanic
reaction forces
motions
motions
Waves
Waves
motions
motions
Wave forces
Wave forces
57
58
59
60
15
Potential Theory
u
t
v
t
+ u
+ u
u
x
v
x
+ v
+ v
u
y
v
y
+ w
+ w
u
z
v
z
62
Navier-Stokes vergelijkingen:
61
u v u u w
+ V + 2 + + + +
x y x y z z x
x x
p v u
v w v
+ + + V + 2 + +
y z y z
y x x y y
w
w
w
w
w
p u w w v
= + + + + + V + 2
+ u + v + w
z
t
x
y
z
z x z x y y z z
(not relaxed.)
Continuity: what comes in,
must go out
63
64
16
u v w
+
+
=0
x y z
65
Summary
u=
66
,v =
,w =
x
y
z
u v w
+
+
=0
x y z
2 2 2
+
+
=0
x 2 y 2 z 2
67
68
17
2.
( x, y, z, t ) =
a g kz
e sin(kx cos + ky sin t )
( x, y, z, t ) =
a g cosh(k (h + z))
cosh(kh)
3.
( x, y, z, t ) =
a g kz
e sin(kx cos + ky sin t )
2 = kg tanh(kh)
69
Pressure
g cosh(k (h + z))
( x, y, z, t ) = a
sin(kx cos + ky sin t )
cosh(kh)
1 2
p
+ (u + w2 ) + + gz = 0
t 2
1
p =
(u 2 + w2 ) gz
t 2
1st order fluctuating
pressure
70
71
Hydrostatic pressure
(Archimedes)
72
18
Wave Force
Potential Theory
Determination Fw
Froude Krilov
Diffraction
Spar
Barge
F = ( p n ) dS
zb
M = p ( r n ) dS
S
xb
r = ( xb,P , 0, yb,P )
dS
[15]
n = (0, 0, 1)
73
Flow superposition
(m + a) z + b z + c z = F
1.
0 =
ag
2.
(m + a) z + b z + c z = Fw
= FFK + FD
1.
g
0 = a e kz sin (t kx cos ky sin + )
74
75
2.
Diffraction force
76
19
77
78
Wave Forces
Wave force acting on
vertical wall
(m + a) z + b z + c z = FW = FFK + FD
0 =
a g kz
e sin ( kx t )
7=
a g kz
e sin ( kx + t )
a g kz
e sin ( t ) cos ( kx )
0 + 7 = 2
79
80
20
F = p ndz
g
g
0 = a e kz sin ( kx t ) , 7 = a e kz sin ( kx + t )
= = (
p =
+ 7 )
NO incoming waves:
Vessel moves with given frequency
n = (1,0, 0)
=
t
t
a g kz
e sin ( t ) cos ( kx )
2
=
t
kz
2 a g e cos ( kx ) cos ( t )
0
n = ( 1, 0, 0 )
x=0
ag
k
Fx =
cos ( t ) 0
81
82
Hydrodynamic coefficients
Determination of a and b:
(m + a) z + b z + c z = + FFK + FD = FW
Hydromechanic force
depends on motion
Wave Force
independent of
motion
83
84
21
Equation of motion
Measure required
force, Foscillation
(m + a) z + b z + c z = Fosc illation
(m + a) z + b z + c z = + FFK + FD = FW
Subtract known
reaction forces from
measured Foscillation
Hydrodynamic coefficients:
a=added mass coefficient= force on ship per 1 m/s2
acceleration
a * acceleration = hydrodynamic inertia force
( ( m + a ) + c ) z
2
Equation of motion
Equation of motion
(m + a) z + b z + c z = + FFK + FD = FW
(m + a) z + b z + c z = F
z = za cos (t + z ,
z = z
cos (t +
a
z ,
a, b computer / experiment
z = za sin (t + z ,
86
85
Now solve the equation for the unknown motion amplitude za and phase angle z,
87
88
22
RAO
Equation of motion
(m + a) z + b z + c z = FW
(m + a) z + b z + c z = FW
Now solve the equation for the unknown motion amplitude za and phase angle z, for 1 frequency
System is linear
If wave amplitude doubles wave force doubles motion doubles
(m + a)
z
Substitue solution
za
+b
+ c
cos ( t + z ,
FW
89
90
2.0
0
1.5
without diffraction
with diffraction
without diffraction
with diffraction
1.0
-90
0.5
-180
0
0
Frequency (rad/s)
Frequency (rad/s)
91
92
23
Bonus Assignment
Schedule ?
Bonus Question 1, 2, 3
Deadline, 28 november 13.45 (beginning of lecture)
Deliver hard copy, properly stapled / binded, with names and
student numbers
93
94
24
Sources images
[1] Towage of SSDR Transocean Amirante, source: Transocean
[2] Tower Mooring, source: unknown
[3] Rogue waves, source: unknown
[4] Bluewater Rig No. 1, source: Friede & Goldman, LTD/GNU General Public License
[5] Source: unknown
[6] Rig Neptune, source: Seafarer Media
[7] Pieter Schelte vessel, source: Excalibur
[8] FPSO design basis, source: Statoil
[9] Floating wind turbines, source: Principle Power Inc.
[10] Ocean Thermal Energy Conversion (OTEC), source: Institute of Ocean Energy/Saga
University
[11] ABB generator, source: ABB
[12] A Pelamis installed at the Agucadoura Wave Park off Portugal, source: S.Portland/Wikipedia
[13] Schematic of Curlew Field, United Kingdom, source: offshore-technology.com
[14] Ocean Quest Brave Sea, source: Zamakona Yards
[15] Medusa, A Floating SPAR Production Platform, source: Murphy USA