Chapter 18 Structural Analysis and Hydroelasticity of Ships

CHAPTER 18

THE DYNAMIC RESPONSE AT HORIZONTAL-TORSIONAL

COUPLED SHIP OSCILLATIONS AND VIBRATIONS

18.1 The hypothesis. Open transversal section

1) The ship has open transversal section. The twisting centre R and the weight centre G are
different RG = (x ) , so that the motion in horizontal plane is coupled with torsion.
2) According the Timoshenko beam theory, at the bending in the horizontal plane, it is taken
into account of the inertial term at bending rotation and of the shearing deformations.
3) The ship is considered in the case of the restraint torsion.
4) The fluid action it is applied over the dry ship hull with excitation hydrodynamic forces
that are function of the ship girder elastic response, in the hypothesis of hydroelasticity
theory.
5) It is considered the excitation from external linear wave, model Airy.
6) The ship dynamic response is decomposed according the modal analyse method, on
r=0,1,2 rigid modes (oscillations) and r=3,n elastic modes (vibrations).
7) It is considered valid the hypothesis of vertical sides in the floating plane domain (linear
analysis). The hydrodynamic coefficients are calculated at encountering ship-wave
circular frequency e and the draught at the still water floating conditions, being constant
in time.
8) The hydrodynamic forces calculation is based on the strip theory.

18.2 The motion differential equations

a) The motion in the horizontal plane

It is considered a segment dx from the ship girder, where there are written the
dynamic equilibrium conditions in the horizontal plane (fig.18.1).

Fig.18.1 The dynamic equilibrium in horizontal plane

There are made the following notations:
m(x ) = the ship mass /per unit length
J(x ) = the mass inertial moment at bending rotation / per unit length

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

v(x , t ) = the horizontal displacement (total) of the weight centre (G)

v M (x , t ) =the horizontal displacement from bending
TH (x , t ) =the shear force in the horizontal plane
M H (x , t ) =the bending moment in horizontal plane
Y(x , t ) =the hydrodynamic load force/ per unit length

From the forces equilibrium in the horizontal plane it results:

2v TH 2v
(18.1) TH + m(x ) 2 dx Y(x , t )dx TH dTH = 0 = m(x ) 2 (x , t ) Y(x , t )
t x t
From the moments equilibrium in the horizontal plane it results:
2 v (dx ) (dx )
2 2
2vM
( )
M H + TH dx + m x 2 J (
dx Y x , t ) dM H M H = 0
(18.2) t 2 xt 2 2
M H 3vM
= TH J
x xt 2

b) The torsional motion

Fig.18.2 The dynamic equilibrium at torsion

There are made the following notations:

(x ) =the position of the weight centre G, taking as reference the keel point K
(x ) =the torsion centre position R, taking as reference the keel point K
(x ) = (x ) + (x ) = RG
M T , TH the efforts torsor reduced in R1
M T + dM T , TH + dTH the efforts torsor reduced in R2
(x , t ) =the torsion angle
J c (x ) =the mass inertial moment at torsion / per unit length, taking as reference the weight
centre
K (x , t ) =the hydrodynamic load moment at torsion/ per unit length.

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

From the moments equilibrium, taking as reference on R2, it results:

2
M T Jc (x ) 2 dx + K (x , t )dx dTH ( + d) TH d + M T + dM T = 0
t
(18.3)
M T 2 2v d
= J c (x ) 2 + m(x ) 2 (x ) + TH (x ) (x )Y(x , t ) K (x, t )
x t t dx

c) The relations between the deformations and displacements

Fig.18.3 The relations between deformation and displacements

The horizontal displacement of the weight centre G2 is:

(18.4) dv = dv M + dv T + (d + d)
where: dv R = d + d the horizontal displacement of the weight centre from torsion
dv M = the horizontal displacement of the weight centre from bending
dv T = the horizontal displacement of the weight centre from shearing
There are made the notations:
dw = dv M + dv T = the horizontal displacement of the weight centre only from translation
v
= T = the shear rotation angle
x
v M
= = the bending rotation angle
x
v v M v T d v d
(18.5) = + + + = + + +
x x x dx x x dx x

d) The relations between the sectional efforts and deformations

The bending in the horizontal plane
2vM
(18.6) M H (x , t ) = EI z (x )
x 2
3vM
[ ]
+ (x ) 2 = k 1 (x ) (x , t ) + (x )& (x , t )
x t

where: k 1 (x ) = EI z (x ) is the bending rigidity in horizontal plane
(x ) = the structural damping coefficient at bending

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

The shearing in horizontal plane

GA fy (x ) v T 2 vT
(18.7) TH (x , t ) = + ( x ) = k 2 (x )[ (x , t ) + (x )& (x , t )]
(x ) x xt
GA fy (x )
where: k 2 (x ) = is the shearing rigidity in horizontal plane
(x )
(x ) = the structural damping coefficient at shearing

The restraint torsion

Obs. There are taken into account the transverse girders, based on the equivalent deck
method used at the torsional rigidity calculation ( I T I TBech ).
M T (x, t ) = M Tst + M Ti + M Ta

M Tst = GI T = the free torsion moment
x
2
M TB = EI 2 = bimoment
x

M TB 2
M Ti = = EI 2 = the restraint torsion bending moment
x x
2
M Ta = (x )GI T (x ) = the structural damping moment
xt
k 3 (x ) = GI T (x ) = GI TBech (x ) = the torsional rigidity at free torsion
k 3 (x ) = EI (x ) = the sectorial rigidity at restraint torsion
(x ) = the structural damping at torsion

2 2
M T (x , t ) = GI T (x ) + (x ) EI (x ) 2
x xt x

(18.8) M T (x , t ) = k 3 (x )[(x , t ) + (x )& (x , t )] [k 3 (x )(x , t )]

The boundary conditions

In the case of the ship free ends girder, there are imposed the following boundary
conditions:
TH x =0,L = 0 {k 2 (x )[ (x, t ) + (x )& (x, t )]} x =0,L = 0
MH x =0 ,L
=0 {k (x )[(x, t ) + (x )& (x, t )]}
1 x =0 ,L
=0

M TB ~
(18.9) = = 0 M TB x =0,L = 0 {k 3(x, t )} x =0,L = 0
I x =0 ,L
~
M S
= Ti~ = 0 M Ti x =0,L = 0 {k 3 (x , t )} =0
I t x = 0 ,L x =0 ,L

MT x =0 ,L
=0 {k 3 (x )[(x, t ) + (x )& (x, t )]} x =0,L = 0

From relations (18.1)-(18.9), it results the coupled horizontal-torsional motion

equations system:

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

m(x )&v&(x, t ) [k 2 (x )( (x , t ) + (x )& (x , t ))] = Y(x, t )
[ ( )]
(18.10.a) J (x )&&(x , t ) k 1 (x ) (x , t ) + (x )& (x , t ) [k 2 (x )( (x , t ) + (x )& (x , t ))] = 0
J C (x ) &&(x, t ) + (x )m(x )&v&(x , t ) + (x )[k 2 (x )( (x, t ) + (x )& (x, t ))]

[k 3 (x )((x, t )) + (x )& (x, t )] + [k 3 (x )(x, t )] = K (x , t ) + (x )Y(x , t )
v
= + + ( + )
x
In order to simplify the calculation relations (18.10.a), there is considered the
following supplementary hypothesis:
(x ) (x ) 0 (x ) ct
where the relations (18.10.a) become:

m(x )&v&(x, t ) [k 2 (x )( (x , t ) + (x )& (x , t ))] = Y(x, t )
[ ( )]
(18.10.b) J (x )&&(x , t ) k 1 (x ) (x , t ) + (x )& (x , t ) [k 2 (x )( (x , t ) + (x )& (x , t ))] = 0
&&(x, t ) + (x )m(x )&v&(x , t ) [k 3 (x )((x, t )) + (x )& (x, t )] +
J C (x )

+ [k 3 (x )(x , t )] = K (x, t ) + (x )Y(x, t )
v(x , t ) = (x , t ) + (x , t ) + (x )(x , t )
In order to simplify the equations, there is replaced in (18.10) the displacement of the
weight centre v(x,t) as variable with the displacement of the torsion centre as variable w(x,t):
(18.11) w (x , t ) = v M (x , t ) + v T (x , t ) v(x , t ) w (x , t ) + (x )(x , t )
J C + 2 (x )m(x ) = JR (x )
From relations (18.10), (18.11) it results:
m(x )w && (x, t ) + (x )m(x )&&(x, t ) [k 2 (x )( (x , t ) + (x )& (x, t ))] = Y(x , t )
[ ( )]
(18.12) J (x )&&(x , t ) k 1 (x ) (x , t ) + (x )& (x , t ) [k 2 (x )( (x , t ) + (x )& (x , t ))] = 0
J R (x ) &&(x, t ) + (x )m(x )w && (x, t ) [k 3 (x )((x, t ) + (x )& (x, t ))] +

+ [k 3 (x )(x, t )] = K (x , t ) + (x )Y(x, t )
w (x , t ) = (x , t ) + (x , t )
where the unknowns are:
w (x , t ) = the displacement of the torsion centre R
(x , t ) = the bending rotation angle in horizontal plane
(x , t ) = the shearing rotation angle
(x , t ) = the torsion angle

18.3 The orthogonally relations of the eigen vibration modes

At free horizontal-torsional vibrations there are the following hypothesis:

the hydrodynamic load is zero K (x , t ) = 0 ; Y(x , t ) = 0
the structural damping is zero (x ) = 0 ; (x ) = 0 ; (x ) = 0
The motion differential equations system (18.12) at free vibration becomes:
m(x )w && (x, t ) + (x )m(x ) &&(x, t ) [k 2 (x ) (x, t )] = 0

(18.13) J (x )&&(x , t ) [k 1 (x )(x, t )] [k 2 (x ) (x, t )] = 0

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J R (x )
&&(x , t ) + (x )m(x )w && (x , t ) [k 3 (x )(x , t )] + [k 3 (x )(x , t )] = 0
w (x , t ) = (x , t ) + (x , t )
In the case of ( x ) 0 the horizontal and torsional modes are coupled, and for the
eigen mode r the dynamic response has the following form:
(18.14) w r (x , t ) = w r (x )sin r t ; r (x , t ) = r (x )sin r t
r (x , t ) = r (x )sin r t ; r (x , t ) = r (x )sin r t
From relations (18.13),(18.14) at mode r it results:

2r m(x )w r (x ) 2r (x )m(x ) r (x ) [k 2 (x ) r (x )] = 0 w s (x )

(18.15) 2r J (x ) r (x ) [k 1 (x )r (x )] [k 2 (x ) r (x )] = 0 s (x )

2r J R (x ) r (x ) 2r (x )m(x )w r (x ) [k 3 (x )r (x )] + [k 3 (x )r(x )] = 0 s (x )
Integrating the first relation from (18.15) on the ship length x [0, L] and taking into
account of the boundary conditions (18.9) it results:
L L L
(18.16.a) 2r m(x )w r (x )w s (x )dx + 2r (x )m(x ) r (x )w s (x )dx k 2 (x ) r (x )w s (x )dx = 0
0 0 0

and analogue on mode s:

L L L
(18.16.b) s2 m(x )w r (x )w s (x )dx + s2 (x )m(x )s (x )w r (x )dx k 2 (x ) s (x )w r (x )dx = 0
0 0 0

Through the difference of the two relations (18.16) it results:

L L
( 2
r )
s2 m(x )w r (x )w s (x )dx + 2r (x )m(x ) r (x )w s (x )dx
0 0
(18.17) L L
s2 (x )m(x )s (x )w r (x )dx k 2 (x )( r (x )w s (x ) s (x )w r (x ))dx = 0
0 0

Integrating the second relation from (18.15) on the ship length x [0, L] and taking
into account the boundary conditions (18.9) it results:
L L L
(18.18.a) J (x ) r (x ) s (x )dx k 1 (x )r (x )s (x )dx + k 2 (x ) r (x ) s (x )dx = 0
2
r
0 0 0

and analogue on the mode s:

L L L
(18.18.b) J (x ) r (x )s (x )dx k 1 (x )r (x )s (x )dx + k 2 (x ) s (x ) r (x )dx = 0
2
s
0 0 0

Through the difference of the two relations (18.18) it results:

L L
( 2
r
2
s )
(18.19) J(x ) r (x )s (x )dx + k 2 (x )( r (x )s (x ) s (x ) r (x ))dx = 0
0 0

Integrating the third relation from (18.15) on the ship length x [0, L] and taking into
account the boundary conditions (18.9) it results:
L L
J" (x ) (x ) (x )dx + (x )m(x )w (x ) (x )dx
2 2
r R r s r r s
0 0
(18.20.a) L L
k 3 (x )r (x )s (x )dx k 3 (x )r(x )s(x )dx = 0
0 0
and analogue for mode s:

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

L L
J" (x ) (x ) (x )dx + (x )m(x )w (x ) (x )dx
2 2
s R r s s s r
0 0
(18.20.b) L L
k 3 (x )r (x )s (x )dx k 3 (x )r(x )s(x )dx = 0
0 0
Through the difference of the two relations (18.20) it results:
L L
( 2
r )
s2 J"R (x ) r (x )s (x )dx + 2r (x )m(x )w r (x )s (x )dx
0 0
(18.21) L
s2 (x )m(x )w s (x ) r (x )dx = 0
0
From relations (18.17),(18.19),(18.21) added it results:
L

(18.22.a)
( 2
r 2
s ) [m(x )w (x )w (x ) + J(x ) (x ) (x ) + J (x ) (x ) (x ) +
r s r s R r s
0

+ (x )m(x )( r (x )w s (x ) + w r (x )s (x ))]dx = 0
From relations (18.16.a),(18.18.a),(18.20.a) added it results:
L
2r [m(x )w r (x )w s (x ) + J (x ) r (x )s (x ) + J R (x ) r (x )s (x ) +
0
L
(18.22.b) + (x )m(x )( r (x )w s (x ) + w r (x )s (x ))]dx k 1 (x )r (x )s (x )dx
0
L L L
k 2 (x ) r (x ) s (x )dx k 3 (x )r (x )s (x )dx k 3 (x )r(x )s(x )dx = 0
0 0 0
From relations (18.22) it results the orthogonally relations of the coupled horizontal-
torsional eigen modes:
L

(18.23.a) [m(x )w (x )w (x ) + J (x ) (x ) (x ) + J (x ) (x ) (x ) +
0
r s r s R r s

+ (x )m(x )( r (x )w s (x ) + w r (x ) s (x ))]dx = a rs rs
L

(18.23.b) [k (x ) (x ) (x ) +k (x ) (x ) (x ) + k (x ) (x ) (x ) +
0
1 r s 2 r s 3 r s

+ k 3 (x )r(x )s(x )]dx = 2r a rs rs = c rs rs

1 r=s
where the Kronecker operator is: rs =
0 rs
On the oscillation-vibration horizontal-torsional coupled modes there are the following relations:
a) the rigid body oscillation modes r=0,1,2
r=0 w 0 (x ) = 1 ; 0 (x ) = 0 ; 0 (x ) = 0 ; 0 (x ) = 0 translation
x
(18.24.a) r = 1 w 1 (x ) = 1 ; 1 (x ) = 0 ; 1 (x ) = 0 ; 1 (x ) = 0 rotation-translation
xG
r=2 w 2 (x ) = 0 (v 2 (x ) = (x )) ; 2 (x ) = 0 ; 2 (x ) = 0 ; 2 (x ) = 1
b) the elastic vibration modes r=3,
(18.24.b) r ; w r (x ) ; r (x ) ; r (x ) ; r (x ) ; r = 3,
obtained with the finite differences method for solving the motion differential equations at
free vibrations coupled horizontal-torsional.

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18.4 The motion equations system in principal modal coordinates

According the modal analysis method, the dynamic response coupled horizontal-
torsional has the following form:

w (x , t ) = w r (x , t ) = w r (x )p r (t )
r =0 n =0

(x , t ) = r (x , t ) = r (x )p r (t )
r =0 n =0
(18.25)
(x , t ) = r (x , t ) = r (x )p r (t )
r =0 n =0

(x , t ) = r (x , t ) = r (x )p r (t )
r =0 n =0
From relations (18.12),(18.25) in principal modal coordinates it results:

m(x )w (x )&p& (t ) + (x )m(x ) (x )&p& (t )

r =0
r r
r =0
r r

(18.26)

[k 2 (x )( r (x )p r (t ) + (x ) r (x )p& r (t ))] = Y(x, t ) w s (x )
r =0

J
r =0
( x ) r ( x )p
&& r ( t ) [k1 (x )(r (x )p r (t ) + (x )r (x )p& r (t ))]
r =0

[k 2 (x )( r (x )p r (t ) + (x ) r (x )p& r (t ))] = 0 s (x )
r =0

J (x ) (x )&p& (t ) + (x )m(x )w (x )&p& (t ) [k (x )( (x )p (t ) + (x ) (x )p& (t ))] +

r =0
R r r
r =0
r r
r =0
3 r r r r

+ [k 3 (x )r(x )p r (t )] = K (x, t ) + (x )Y(x, t ) s (x )
r =0

Integrating on the ship length the relations (18.26), through parts method, and taking
into account the boundary conditions ship girder with free ends (18.9), it results:
L
[m(x )w r (x )w s (x ) + (x )m(x )r (x )w s (x )]dx &p& r (t ) +

r =0 0


(18.27)
L
L
L
+ (x )k 2 (x ) r (x )w s (x )dx p r (t ) + k 2 (x ) r (x )w s (x )dx p r (t ) = Y(x, t )w s (x )dx
&
r =0 0 r =0 0 0

L
L

J (x ) r (x ) s (x )dx &p& r (t ) + [(x )k 1 (x )r (x )s (x ) (x )k 2 (x ) r (x ) s (x )]dx p& r (t ) +

r =0 0 r =0 0
L

+ [k 1 (x )r (x )s (x ) k 2 (x ) r (x ) s (x )]dx p r (t ) = 0
r =0 0
L
L

[ J
R
( x ) r ( x ) s ( x ) + (x )m (x )w r (x ) s ( x )]dx
p
&& r (t ) +
[k 3 ( x ) ( x )r ( x )
s ( x )]dx p& r (t ) +

r =0 0 r = 0 0
L
L L
+ [k 3 (x )r (x )s (x ) + k 3 (x )r(x )s(x )]dx p r (t ) = K (x , t )s (x )dx + (x )Y(x , t )s (x )dx
r =0 0 0 0

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

There are added the three relations from (18.27) and results the following expression:
L

[m(x )w r (x )w s (x ) + J(x )r (x )s (x ) + JR (x )r (x )s (x ) +

r =0 0

+ (x )m(x )(w r (x )s (x ) + w s (x )r (x ))]dx)&p& r (t ) +

L

(18.28) + [(x )k 2 (x ) r (x ) s (x ) + (x )k1 (x )r (x )s (x ) + (x )k 3 (x )r (x )s (x )]dx p& r (t ) +
r =0 0
L
+ [k1 (x )r (x )s (x ) + k 2 (x ) r (x ) s (x ) + k 3 (x )r (x )s (x ) + k 3 (x )r(x )s(x )]dx p r (t ) =
r =0 0
L L
= K(x, t )s (x )dx + Y(x, t )(w s (x ) + (x )s (x ))dx
0 0
There are made the following notations:
(18.29)
L
rs = (x )k 2 (x ) r (x ) s (x )dx the generalized structural shearing damping coefficient
0
L
rs = (x )k 1 (x )r (x )s (x )dx the generalized structural bending damping coefficient
0
L
rs = (x )k 3 (x )r (x )s (x )dx the generalized structural torsion-damping coefficient
0

b rs = rs + rs + rs the total generalized structural damping coefficient

and the generalized hydrodynamic forces at mode s:
L
K s (t ) = K (x , t ) s (x )dx
0
L L
(18.30) Ys (t ) = Y(x , t )v s (x )dx = Y(x , t )(w s (x ) + (x ) s (x ))dx
0 0

Fps (t ) = K s (t ) + Ys (t )
From relations (18.28),(18.29),(18.30) and orthogonally conditions (18.23), it results
the motion differential equations system in principal modal coordinates at oscillations/
vibrations horizontal-torsional coupled of the ship hull:

(18.31) a ss &p&s (t ) + b rs p& s (t ) + c ss p s (t ) = K s (t ) + Ys (t ) = Fps (t ) s = 0,1,2,...,
r =0
Considering only the first n modes into the modal decomposition of the dynamic
response r, s = 0, n (n 7 ) , relation (18.31) has the following matrix form:
(18.32) [a ]{&p&(t )} + [b]{p& (t )} + [c]{p(t )} = {K (t )} + {Y(t )} = {Fp (t )}
where there are noted:
[a ] = diag{a ss }s=0,n the inertial structural matrix, diagonal
[b] = {b rs }r ,s=0,n the structural damping matrix
[c] = diag{css }s=0,n the structural rigidity matrix, diagonal
{p(t )} the column vector of the principal modal coordinates
{K (t )} + {Y(t )} = {Fp (t )} the column vector of the excitation forces

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18.5 The hydrodynamic excitation at the horizontal-torsional motion

According the linear wave theory, model Airy, the wave Smith corrected, has the
following expressions for the wave potential and the wave elongation:
a g
* (x, y, t ) = w e kT sin[k (x cos + y sin ) e t ]
(18.33.a)
v (x, y, t ) = a w e kT cos[k (x cos + y sin ) e t ]
*

and in complex form:

ia g
* (x, y, t ) = w e kT e i (kx cos + ky sin e t )
(18.33.b)
v (x, y, t ) = a w e kT e i (kx cos + ky sin e t )
*

18.5.1 The relative motion ship-wave at oscillations / vibration in horizontal plane

Fig.18.4 The transversal ship section

In fig.18.4 there is noted o the oscillation centre disposed in the still water floating
plane, v(x , t ) the horizontal-transversal displacement of the weight centre G, w (x , t ) the
horizontal-transversal displacement of the torsion centre R, (x , t ) the torsion angle,
v(x , t ) w (x , t ) + (x )(x , t ) .
The displacement of ship section in point o in horizontal-transversal sense is:
(18.34) v o (x , t ) = w (x, t ) + z R (x )(x, t )
with the section speed in point o Dv o (x, t ) Dt .
In horizontal-transversal sense (oy) the presence of the fluid is due to the horizontal
orbital speed:
* (x , y, t ) a w gk sin kT
(
(18.35.a) v y x , y, t = ) = e cos[k (x cos + y sin ) e t ]
y
and averaged on the ship breadth becomes:
b(x ) 2
1
(18.35.b) v y (x, t ) = v y (x, y, t )dy = a w sin (x )e kT cos(kx cos e t )
b(x ) b (x ) 2
where (x ) = sin (0,5 kb(x )sin ) (0,5 kb(x )sin ) is the correction factor for the wave
parameters change on the ship breadth, the short waves influence.

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

The relative speed of ship section and the wave particles orbital motion, projected on
horizontal is:
Dv(x , t ) Dv o (x, t )
(18.36) = v y (x , t )
Dt Dt
The relative acceleration ship-orbital motion of the wave particles, projected on
horizontal, has the expression:
___
D 2 v(x, t ) D 2 v o (x, t ) Dv y (x, t )
(18.37) =
Dt 2 Dt 2 Dt
where the average orbital acceleration has the expression:
Dv y (x, y, t )
(18.38) = a w gk (sin )e kT sin (kx cos + ky sin e t )
Dt
___
Dv y (x, t ) 1
b(x ) 2
Dv y (x, y, t )
= = a w 2 (sin )(x )e kT sin (kx cos e t )
Dt b (x ) b ( x ) 2 Dt
The relations (18.35.b), (18.38) have the following complex forms:
v y (x , t ) = a w (sin )(x )e kT e i (kx cos e t )
___
(18.39)
Dv y (x , t )
= ia w 2 (sin )(x )e kT e i (kx cos e t )
Dt

18.5.2 The relative motion ship-wave at torsion oscillations/vibrations

The wave slope on oy direction has the expression:

*v (x , y, t )
(18.40.a) y (x , y, t ) = = a w k (sin )e kT sin[kx cos + ky sin e t ]
y
and averaged on the ship breadth:
b(x ) 2
1
(18.40.b) y (x, t ) = y (x , y, t )dy = a w k (sin )(x )e kT sin (kx cos e t )
b(x ) b (x ) 2
The wave slope time derivates have the following expressions:
D y
(18.41.a) = a w k(sin )e kT cos(kx cos + ky sin e t )
Dt
_____
D y (x, t ) 1
b(x ) 2
D y
= dy = a w k(sin )(x )e kT cos(kx cos e t )
Dt b(x ) b (x ) 2 Dt
D 2 y
(18.41.b) = a w k2 (sin )e kT sin (kx cos + ky sin e t )
Dt 2
_____
D 2 y (x , t ) 1
b(x ) 2
D 2 y
= dy = a w k2 (sin )(x )e kT sin (kx cos e t )
Dt 2 b(x ) b (x ) 2 Dt 2

The relative angle of trim ship-wave averaged has the expression:

(18.42) (x, t ) = (x, t ) y (x, t )
____ ____

D D D y D 2 D 2 D y
2

with time derivates: = ; = .

Dt Dt Dt Dt 2 Dt 2 Dt 2
In complex form, relations (18.40.b), (18.41) become:

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

y (x , t ) = ia w k (sin )(x )e kT e i (kx cos e t )

____
D y (x, t )
(18.43) = a w k(sin )(x )e kT e i (kx cos e t )
Dt
____
D y (x , t )
2

2
= ia w k2 (sin )(x )e kT e i (kx cos e t )
Dt

18.5.3 The hydrodynamic excitation forces and moments

The hydrodynamic action over the transversal section of the ship hull can be divided
into the dynamic component (D) and the hydrostatic component Froude-Krilov (FK).
Using as reference the oscillation point o, for the hydrodynamic transversal force
per unit length Yo (x, t ) and the hydrodynamic torsion moment per unit length K o (x, t ) , there
are the following relations:
Yo (x, t ) = YD (x, t ) + YFK (x , t )
(18.44)
K o (x , t ) = K D (x, t ) + K FK (x, t )
At motion equations of the horizontal-torsional coupled, there have been considered
that the hydrodynamic components are acting in the mass centre G of section x.
Reducing the torsor (18.44) at point G for the transversal section x, it results:
Y(x , t ) = Yo (x, t ) = YD (x , t ) + YFK (x, t )
(18.45) K (x, t ) = K o (x , t ) + z G Yo (x, t ) = K D (x , t ) + z G YD (x, t ) + K FKG (x , t )
K FKG (x, t ) = K FK (x, t ) + z G YFK (x, t )

18.5.3.1 The hydrodynamic components

For the calculation of the hydrodynamic components there is used the strip theory in
two variants that are different from the formulation of the hydrodynamic damping component.

a) The simplified hydrodynamic theory

The horizontal and torsional hydrodynamic load, based on the momentum theorem
and the hydrodynamic kinetic moment theorem, it results:
D D v (x , t ) D D (x , t )
YD (x, t ) = m 22 (x ) + m ( x )
Dt Dt Dt
24
Dt
(18.46.a)

N 22 (x )
Dv
(x, t ) + N 24 (x ) D(x, t ) = YD1 (x, t ) + YD 2 (x, t )
Dt Dt
D Dv(x , t ) D D (x , t )
K D (x , t ) = m 42 (x ) + m (x )
Dt Dt Dt
44
Dt
(18.46.b)

N 42 (x )
Dv
(x, t ) + N 44 (x ) D(x, t ) = K D1 (x, t ) + K D 2 (x, t )
Dt Dt
where YD1 (x , t ); K D1 (x , t ) are the inertial components of the hydrodynamic masses,
YD 2 (x , t ); K D 2 (x , t ) are the hydrodynamic damping components.

Taking into account the relative motions ship-waves (18.36),(18.37),(18.42), the

relations (18.46) become:

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

YD (x , t ) = H D (x , t ) + FD (x , t )
D 2 v o (x , t ) Dv (x, t )
H D (x, t ) = m 22 (x ) 2
+ [N 22 (x ) u s m22 (x )] o +
Dt Dt
(18.47.a)
D 2 (x, t ) D(x, t )
+ m 24 (x ) 2
+ [N 24 (x ) u s m24 (x )]
Dt Dt
___
Dv y (x, t )
FD (x, t ) = m 22 (x ) + [N 22 (x ) u s m22 (x )]v y (x, t ) +
Dt
_____ ____
D y (x , t )
2
D y (x , t )
+ m 24 (x ) + [N 24 (x ) u s m24 (x )]
Dt 2 Dt
K D (x , t ) = N D (x , t ) + M D (x , t )
D 2 v o (x , t ) Dv (x, t )
N D (x , t ) = m 42 (x ) 2
+ [N 42 (x ) u s m42 (x )] o +
Dt Dt
(18.47.b)
D 2 (x, t ) D(x , t )
+ m 44 (x ) 2
+ [N 44 (x ) u s m44 (x )]
Dt Dt
___
Dv y (x, t )
M D (x, t ) = m 42 (x ) + [N 42 (x ) u s m42 (x )]v y (x, t ) +
Dt
_____ ____
D 2 y (x , t ) D y (x, t )
+ m 44 (x ) + [N 44 (x ) u s m44 (x )]
Dt 2 Dt
where H D , N D are the ship hull oscillations/vibrations components;
FD , M D are the wave excitation components.

b) The exact hydrodynamic theory

The horizontal and torsional component, based on the potential flow 2D around the
ship transversal sections, has the expressions:
D i D v (x , t ) D i D (x , t )
YD (x, t ) = m 22 (x ) + N 22 (x ) m 24 ( x ) + N 24 (x )
Dt e Dt Dt e Dt
D D v (x , t ) D D (x , t )
YD (x , t ) = m 22 (x ) + m ( x )
Dt Dt Dt
24
Dt
(18.48.a)
D
i D v (x , t ) D D (x , t )
N 22 (x ) + N 24 (x ) = YD1 (x , t ) + YD 2 (x , t )
e
Dt Dt Dt Dt
D i Dv(x, t ) D i D (x , t )
K D (x, t ) = m 42 (x ) + N 42 (x ) m 44 ( x ) + N 44 (x )
Dt e Dt Dt e Dt
D D v (x , t ) D D (x , t )
K D (x , t ) = m 42 (x ) + m 44 (x )
Dt Dt Dt Dt
(18.48.b)
i D D v (x , t ) D D (x , t )
N 42 (x ) + N 44 (x ) = K D1 (x , t ) + K D 2 (x , t )
e Dt Dt Dt Dt
Taking into account the relative ship-wave motions (18.36),(18.37),(18.42), the
relations (18.48) become:
YD (x , t ) = H D (x , t ) + FD (x , t ) ; K D (x , t ) = N D (x , t ) + M D (x , t )

391
Chapter 18 Structural Analysis and Hydroelasticity of Ships

i D 2 v o (x , t ) i Dv o (x, t )
H D (x, t ) = m 22 (x ) + N 22 (x ) u s m22 (x ) + N22 (x ) +
e Dt
2
e Dt
(18.49.a)
i D 2 (x, t ) i D(x, t )
+ m 24 (x ) + N 24 (x ) u s m24 (x ) + N24 (x )
e Dt
2
e Dt
___
i Dv y (x , t ) i
FD (x , t ) = m 22 (x ) + N 22 (x ) u s m22 (x ) + N22 (x ) v y (x , t ) +
e Dt e
_____ ____
D y (x , t ) D y (x , t )
2
i i
+ m 24 (x ) + N 24 (x ) u s m24 (x ) + N24 (x )
e Dt 2
e Dt
i D 2 v o (x , t ) i Dv o (x, t )
N D (x, t ) = m 42 (x ) + N 42 (x ) u s m42 (x ) + N42 (x ) +
e Dt
2
e Dt
(18.49.b)
i D 2 (x, t ) i D(x, t )
+ m 44 (x ) + N 44 (x ) u s m44 (x ) + N44 (x )
e Dt
2
e Dt
___
i Dv y (x , t ) i
M D (x , t ) = m 42 (x ) + N 42 (x ) u s m42 (x ) + N42 (x ) v y (x , t ) +
e Dt e
_____ ____
D y (x , t ) D y (x , t )
2
i i
+ m 44 (x ) + N 44 (x ) u s m44 (x ) + N44 (x )
e Dt 2
e Dt
18.5.3.2 The hydrostatic Froude-Krilov component

Fig.18.5 The hydrostatic component

a) The hydrostatic horizontal component

The horizontal restoring component is due to the transversal trim of the ship with
small angle from the wave with slope y , and from fig.18.5, the horizontal force is oriented
in the opposite sense of axis oy due to the grow of the pressure in the side where the water
level is higher, resulting the following expression:
(18.50.a) YFK (x, t ) = FFK (x, t ) = gA T (x ) y (x , t )
and H FK (x , t ) = 0 due to the vertical sides hypothesis.

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

b) The hydrostatic restoring moment

From fig.18.5 in the hypothesis of small trim angles, the restoring moment, with
reference on weight centre G, for transversal section x, has the expression:
_____
K FKG (x , t ) = gA T (x )(x , t ) MG
_____ _____ _____
b 3 (x )
MG = MB BG = (z B (x ) z G (x ))
12A T (x )
b 3 (x )
K FKG (x , t ) = g (z B (x ) z G (x ))A T (x ) (x , t )
(18.50.b) 12
K FKG (x , t ) = N FKG (x , t ) + M FKG (x , t )
b 3 (x ) _____
N FKG (x , t ) = g (z B (x ) z G (x ))A T (x ) (x , t ) = gA T (x ) MG (x , t )
12
b (x )
3
_____
M FKG (x , t ) = g (z B (x ) z G (x ))A T (x ) y (x , t ) = gA T (x ) MG y (x , t )
12

18.5.4 The generalized hydrodynamic forces

18.5.4.1 The simplified hydrodynamic theory

I) Then hydrodynamic load due to the ship hull oscillations/vibrations

a) Horizontal load

From relations (18.47.a),(18.50.a), the horizontal load has the expression:

D 2 v o (x, t ) Dv (x , t )
H(x , t ) = H D (x , t ) + H FK (x, t ) = m 22 (x ) 2
+ [N 22 (x ) u s m22 (x )] o +
Dt Dt
(18.51.a)
D 2 (x , t ) D(x , t )
+ m 24 (x ) 2
+ [N 24 (x ) u s m24 (x )] +0
Dt Dt
having the hydrostatic component zero.
From relation (18.34), it results the following expressions for derivates:
v 0 (x , t ) = w (x, t ) + z R (x )(x, t )
Dv 0 (x, t ) Dw (x, t ) D(x, t )
(18.52.a) = + z R (x ) u s zR (x )(x, t )
Dt Dt Dt
D 2 v 0 (x, t ) D 2 w (x, t ) D 2 (x, t ) D(x, t )
2
= 2
+ z R ( x ) 2
2u s zR (x ) + u s2 zR (x )(x, t )
Dt Dt Dt Dt
Based on relations (18.52.a), the horizontal load (18.51.a) becomes: (18.51.b)
D w (x , t )
2
Dw (x , t ) D (x, t )
2
H(x , t ) = m 22 (x ) 2
+ [N 22 (x ) u s m22 (x )] + [m 24 (x ) + z R (x )m 22 (x )] +
Dt Dt Dt 2
D(x , t )
+ [N 24 (x ) u s m24 (x ) 2u s zR (x )m 22 (x ) + z R (x )(N 22 (x ) u s m22 (x ))] +
Dt
[ ]
+ m 22 (x )u s2 zR (x ) u s zR (x )(N 22 (x ) u s m22 (x )) (x, t )

Using the modal decomposition of the dynamic response, it results the following
relations:

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

w (x, t ) = w r (x , t ) w r (x , t ) = w r (x )p r (t )
r =0

Dw r (x, t )
(18.52.b) = w r (x )p& r (t ) u s w r (x )p r (t )
Dt
D 2 w r (x, t )
2
= w r (x )&p& r (t ) 2u s w r (x )p& r (t ) + u s2 w r(x )p r (t )
Dt

(x, t ) = r (x , t ) r (x, t ) = r (x )p r (t )
r =0

D r (x, t )
(18.52.c) = r (x )p& r (t ) u s r (x )p r (t )
Dt
D 2 r (x , t )
2
= r (x )&p& r (t ) 2u s r (x )p& r (t ) + u s2 r (x )p r (t )
Dt
and we make the following notations:
D2w Dw D 2 D
H(x , t ) = H1 2
+ H 2 + H 3 2
+ H4 + H 5
Dt Dt Dt Dt
(18.52.d) H1 (x ) = m 22 (x ) H 2 (x ) = N 22 (x ) u s m22 (x ) H 3 (x ) = m 24 (x ) + z R (x )m 22 (x )
H 4 (x ) = N 24 (x ) u s m24 (x ) 2u s zR (x )m 22 (x ) + z R (x )(N 22 (x ) u s m22 (x ))
H 5 (x ) = m 22 (x )u s2 zR (x ) u s zR (x )(N 22 (x ) u s m22 (x ))
The generalized horizontal hydrodynamic force at oscillations / vibrations of the ship
hull, from relation (18.50), has the expression:
L
(18.53.a) H rs (t ) = H r (x , t )[w s (x , t ) + (x )s (x )]dx
0

where using relations (18.51),(18.52) it results:

(18.53.b) H s (t ) = H rs (t ) H rs (t ) = &p& r (t )A Hrs + p& r (t )B Hrs + p r (t )C Hrs
r =0
with hydrodynamic coefficients having the following expressions:
L L
A Hrs = H1 (x )w r (x )v s (x )dx + H 3 (x ) r (x )v s (x )dx
0 0
L L
B Hrs = 2u s H1 (x )w r (x )v s (x )dx + H 2 (x )w r (x )v s (x )dx
0 0
(18.53.c) L L
2u s H 3 (x )r (x )v s (x )dx + H 4 (x ) r (x )v s (x )dx
0 0
L L
C Hrs = u s2 H1 (x )w r(x )v s (x )dx u s H 2 (x )w r (x )v s (x )dx +
0 0
L L
+ u s2 H 3 (x )r(x )v s (x )dx u s H 4 (x )r (x )v s (x )dx
0 0

b) The torsional load

From relations (18.47.b),(18.50.b) the torsional load has the expression:

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

(18.54.a)
N(x, t ) = N D (x, t ) + z G (x )H D (x, t ) + N FKG (x, t ) =
D 2 v o (x , t ) Dv o (x, t ) D 2 (x, t )
= m 42 (x ) + [N 42 (x ) u s m 42 ( x )] + m 44 (x ) +
Dt 2 Dt Dt 2
D(x, t ) D 2 v o (x , t ) Dv (x , t )
+ [N 44 (x ) u s m44 (x )] + z G (x )m 22 (x ) 2
+ z G (x )[N 22 (x ) u s m22 (x )] o +
Dt Dt Dt
D 2 (x , t ) D(x, t )
+ z G (x )m 24 (x ) 2
+ z G (x )[N 24 (x ) u s m24 (x )] +
Dt Dt
b 3 (x )
+ g (z B (x ) z G (x ))A T (x ) (x, t )
12
Using relations (18.52) from (18.54.a) it results:
D2 w Dw D2 D
N(x, t ) = N1 2 + N 2 + N3 2 + N 4 + N5
Dt Dt Dt Dt
N1 (x ) = m42 (x ) + z G (x )m22 (x )
N 2 (x ) = N 42 (x ) u s m42 (x ) + z G (x )[N 22 (x ) u s m22 (x )]
N3 (x ) = m44 (x ) + z G (x )m24 (x ) + z R (x )[m42 (x ) + z G (x )m22 (x )]
(18.54.b)
N 4 (x ) = N 44 (x ) u s m44 (x ) + z G (x )[N 24 (x ) u s m24 (x )]
2u s zR (x )[m42 (x ) + z G (x )m22 (x )] + z R (x )[N 42 (x ) u s m42 (x ) + z G (x )(N 22 (x ) u s m22 (x ))]
b 3 (x )
N5 (x ) = g (z B (x ) z G (x ))AT (x ) + u s2 zR (x )[m42 (x ) + z G (x )m22 (x )]
12
u s zR (x )[N 42 (x ) u s m42 (x )] + z G (x )[N 22 (x ) u s m22 (x )]
The generalized hydrodynamic moment from relation (18.30) has the expression:
L
(18.55.a) N rs (t ) = N r (x , t )s (x )dx
0

where using relations (18.54) it results:

(18.55.b) N s (t ) = N rs (t ) N rs (t ) = &p& r (t )A Nrs + p& r (t )B Nrs + p r (t )C Nrs
r =0
with hydrodynamic coefficients having the expressions:
L L
A Nrs = N1 (x )w r (x )s (x )dx + N 3 (x ) r (x )s (x )dx
0 0
L L
B Nrs = 2u s N1 (x )w r (x )s (x )dx + N 2 (x )w r (x )s (x )dx
0 0
(18.55.c) L L
2u s N 3 (x )r (x )s (x )dx + N 4 (x ) r (x )s (x )dx
0 0
L L
C Nrs = u N (x )w (x ) (x )dx u N (x )w (x ) (x )dx +
2
s 1 r s s 2 r s
0 0
L L L
+ u s2 N 3 (x )r(x )s (x )dx u s N 4 (x )r (x )s (x )dx + N 5 (x ) r (x )s (x )dx
0 0 0
From relations (18.53),(18.55) for the generalized hydrodynamic force at mode s
from oscillations / vibrations of the ship hull, it results the following expression:

395
Chapter 18 Structural Analysis and Hydroelasticity of Ships

L
Fps (t ) = H s (t ) N s (t ) = [H(x, t )(w s (x ) + (x )s (x )) + N(x, t )s (x )]dx
0

(18.56.a) Fps (t ) = [&p& r (t )A rs + p& r (t )B rs + p r (t )C rs ]
r =0

A rs = A Hrs + A Nrs B rs = B Hrs + B Nrs C rs = C Hrs + C Nrs

and for the finite number n of terms in the modal decomposition, it results:
{ }
(18.56.b) Fp (t ) = [A ]{&p&(t )} [B]{p& (t )} [C]{p(t )}
Obs. The coefficients from relation (18.56) can be named as hydrodynamic inertial,
damping and restoring, only based on the analogy with the structural coefficients, because in
practice there is only a mathematic background for their expressions, based on the terms
grouping after the principal modal coordinates p r (t ); p& r (t ); &p& r (t ) (the resulting matrixes are not
symmetric and also not positive defined).

II) The hydrodynamic load from the wave excitation model Airy
a) The horizontal load
From relations (18.37.a),(18.40.a) the horizontal load has the expression:
____
Dv y (x, t )
F(x, t ) = FD (x, t ) + FFK (x , t ) = m 22 (x ) + [N 22 (x ) u s m22 (x )]v y (x, t ) +
Dt 2
(18.57.a) ______ _____
D 2 y (x, t ) D y (x , t )
+ m 24 (x ) + [N 24 (x ) u s m24 (x )] gA T (x ) y (x, t )
Dt 2 Dt
From relations in complex form (18.39),(18.43) and (18.57.a), the generalized relation
(18.30) at mode s has the expression:
L
(18.57.b) Fs (t ) = F(x , t )[w s (x ) + (x )s (x )]dx = Fs e ie t
0

where:
L
{ ( )
Fs = a w (sin ) m 22 (x ) i2 + [N 22 (x ) u s m22 (x )] + m 24 (x ) ik2 + ( )
(18.57.c) 0

+ k[N 24 (x ) u s m24 (x )] gA T (x )(ik )}(x )e kT e ikx cos [w s (x ) + (x )s (x )]dx

b) The torsional load

From relation (18.37.b),(18.40.b) the torsional load has the expression: (18.58.a)
M (x, t ) = M D (x, t ) + z G (x )FD (x, t ) + M FKG (x , t ) =
_____ ______
Dv y (x, t ) D 2 y (x , t )
= m 42 (x ) + [N 42 (x ) u s m42 (x )]v y (x, t ) + m 44 (x ) +
Dt 2 Dt 2
_____ _____
D y (x, t ) Dv y (x , t )
+ [N 44 (x ) u s m44 (x )] + z G (x )m 22 (x ) + z G (x )[N 22 (x ) u s m22 (x )]v y (x, t ) +
Dt Dt 2
______ _____
D 2 y (x , t ) D y (x, t )
+ z G (x )m 24 (x ) + z G (x )[N 24 (x ) u s m24 (x )] +
Dt 2 Dt
b 3 (x )
+ g (z B (x ) z G (x ))A T (x ) y (x, t )
12

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

From relation in complex form (18.39),(18.43) and (18.58.a), the generalized moment
(18.30) at mode s has the expression:
L
(18.58.b) M s (t ) = M (x , t )s (x )dx = M s e ie t
0

where: (18.58.c)
L
{ ( )
M s = a w (sin ) [m 42 (x ) + z G (x )m 22 (x )] i2 + [N 42 (x ) u s m42 (x ) + z G (x )(N 22 (x ) u s m22 (x ))]
0

( )
+ [m 44 (x ) + z G (x )m 24 (x )] ik2 + [N 44 (x ) u s m44 (x ) + z G (x )(N 24 (x ) u s m24 (x ))](k) +
b 3 (x )
+ (ik )g (z B (x ) z G (z ))A T (x ) (x )e kT eikx cos s (x )dx
12
From relations (18.57),(18.58), the wave hydrodynamic generalized force is:
L L
~
Fps (t ) = F(x, t )(w s (x ) + (x )s (x ))dx + M(x, t )s (x )dx =
(18.59) 0 0

= Fs (t ) + M s (t ) = (Fs + M s )e ie t
= Qs e ie t
{ } ~
Fp (t ) = {Q}e ie t
From relations (18.56.b),(18.59), the generalized hydrodynamic force vector from
oscillations / vibrations of ship and wave has the expression:
(18.60) {Fp (t )} = {Q}e ie t ([A ]{&p&(t )} + [B]{p& (t )} + [C]{p(t )})
where the dynamic response has the form: {p(t )} = {p}e ie t .

18.5.4.2 The exact hydrodynamic

I) The hydrodynamic load due to the oscillations / vibrations of ship hull

a) The horizontal loads

From relations (18.49.a),(18.50.a), the horizontal load has the expression:

D 2 v o (x , t ) Dv (x , t )
H(x , t ) = H D (x , t ) + H FK (x , t ) = m 22 (x ) 2
u s m22 (x ) o +
Dt Dt
D 2 (x , t ) D(x , t ) i D 2 v o (x , t ) Dv (x , t )
(18.61.a) + m 24 (x ) u s m
24 ( x ) + N
22 ( x ) u s N22 (x ) o +
Dt 2
Dt e Dt 2
Dt
D 2 (x , t ) D(x , t )
+ N 24 (x ) 2
u s N24 (x ) +0
Dt Dt
having the hydrostatic component zero.
Based on relations (18.52), the horizontal load (18.61.a) becomes: (18.61.b)
D w (x , t )
2
Dw (x, t ) D (x , t )
2
H(x , t ) = m 22 (x ) 2
u s m22 (x ) + [m 24 (x ) + z R (x )m 22 (x )] +
Dt Dt Dt 2
D(x , t )
+ [ u s m24 (x ) 2u s zR (x )m 22 (x ) z R (x )u s m22 (x )] +
Dt
[ ]
+ m 22 (x )u s2 zR (x ) + u s2 zR (x )m22 (x ) (x, t ) +
i D w (x , t )
2
Dw (x, t ) D 2 (x , t )
+ N 22 (x ) u s N 22 (x )
+ [N 24 (x ) + z R (x )N 22 (x )] +
e Dt 2 Dt Dt 2

397
Chapter 18 Structural Analysis and Hydroelasticity of Ships

D
+ [ u s N24 (x ) 2u s zR (x )N 22 (x ) z R (x )u s N22 (x )] +
Dt
[ ]
+ u s2 zR (x )N 22 (x ) + u s2 zR (x )N22 (x ) (x, t ) }
Using the modal decomposition of the dynamic response, it results: (18.62)
w r (x , t ) = w r (x )p r (t ) r (x , t ) = r (x )p r (t )
p r (t ) = p r e ie t p& r (t ) = ie p r (t ) &p& r (t ) = e2 p r (t )
i Dw r u
= w r (x )p r (t ) + s2 w r (x )p& r (t )
e Dt e
i D2w r w (x )
2
= w r (x ) u s2 r 2 p& r (t ) 2u s w r (x )p r (t )
e Dt e
i
( r ) = r (2x ) p& r (t ) i D r

u
= r (x )p r (t ) + s2 r (x )p& r (t )
e e e Dt e
i D 2r (x )
= r (x ) u s2 r 2 p& r (t ) 2u s r (x )p r (t )
2
e Dt e
From relations (18.61.b),(18.62), analogue (18.52.d), it results the expression:
D2 w Dw D 2 D
H(x , t ) = H1 (x ) 2 + H 2 (x ) + H 3 (x ) 2 + H 4 (x ) + H 5 (x ) +
Dt Dt Dt Dt
(18.61.c)
i D2w Dw D 2 D
+ H
6 ( x ) + H 7 (x ) + H 8 (x ) + H 9 (x ) + H10 (x )
e Dt 2
Dt Dt 2
Dt
The generalized hydrodynamic horizontal force at oscillations /vibrations of the ship
hull, from relation (18.30), has the expression:
L
(18.63.a) H rs (t ) = H r (x , t )[w s (x , t ) + (x )s (x )]dx
0

where using the relations (18.61) it results:

(18.63.b) H s (t ) = H rs (t ) H rs (t ) = &p& r (t )A Hrs + p& r (t )B Hrs + p r (t )C Hrs
r =0
with hydrodynamic coefficients having the expressions: (18.63.c)
L L
A Hrs = H1 (x )w r (x )v s (x )dx + H 3 (x ) r (x )v s (x )dx
0 0
L L
B Hrs = 2u s H1 (x )w r (x )v s (x )dx + H 2 (x )w r (x )v s (x )dx
0 0
L L
2u s H 3 (x )r (x )v s (x )dx + H 4 (x ) r (x )v s (x )dx +
0 0
L
u 2
u
L
+ H 6 (x ) w r (x ) r(x ) v s (x )dx + s2 H 7 (x )w r (x )v s (x )dx +
s

0 2
e e 0
L
u s2 us
L
+ H 8 (x ) r (x ) 2 r(x ) v s (x )dx + 2 H 9 (x )r (x )v s (x )dx +
0 e e 0
L
1
2 H10 (x ) r (x )v s (x )dx
e 0

398
Chapter 18 Structural Analysis and Hydroelasticity of Ships

L L
C Hrs = u s2 H 1 (x )w r (x )v s (x )dx u s H 2 (x )w r (x )v s (x )dx +
0 0
L L
+ u s2 H 3 (x )r (x )v s (x )dx u s H 4 (x )r (x )v s (x )dx +
0 0
L L
+ H 5 (x ) r (x )v s (x )dx 2 u s H 6 (x )w r (x )v s (x )dx +
0 0
L L
+ H 7 (x )w r (x )v s (x )dx 2 u s H 8 (x )r (x )v s (x )dx +
0 0
L
+ H 9 (x ) r (x )v s (x )dx
0

b) The torsional load

From relations (18.49.b),(18.50.b), the torsional load has the expression: (18.64.a)
N(x , t ) = N D (x , t ) + z G (x )H D (x , t ) + N FKG (x , t ) =
D 2 v o (x , t ) Dv o (x , t ) D 2 (x , t ) D(x , t )
= m 42 (x ) 2
u s m
24 ( x ) + m 44 ( x ) 2
u s m44 (x ) +
Dt Dt Dt Dt
i D 2 v o (x , t ) Dv o (x , t ) D 2 (x , t ) D(x , t )
+ N 42 (x ) u s N
42 ( x ) + N 44 (x ) u s N
44 ( x ) +
e Dt 2 Dt Dt 2 Dt
D 2 v o (x , t ) Dv o (x , t ) D 2 (x , t ) D(x , t )
+ z G (x )m 22 (x ) 2
u s m
22 (x ) + m 24 ( x ) 2
u s m24 (x ) +
Dt Dt Dt Dt
i D 2 v o (x , t ) Dv o (x , t ) D 2 (x , t ) D(x , t )
+ N
22 (x ) u s N
22 ( x ) + N 24 (x ) u s N24 (x ) +
e Dt 2
Dt Dt 2
Dt
b 3 (x )
+ g (z B (x ) z G (x ))A T (x ) (x , t )
12
From relations (18.52), from (18.64.a), it results: (18.64.b)
D2 w Dw
N(x, t ) = [m42 (x ) + z G (x )m22 (x )] 2 u s [m42 (x ) + z G (x )m22 (x )] +
Dt Dt
D 2
+ [m44 (x ) + z G (x )m24 (x ) + z R (x )(m42 (x ) + z G (x )m22 (x ))] 2
Dt
D
u s [m44 (x ) + m24 (x )z G (x ) 2zR (x )(m42 (x ) + z G (x )m22 (x )) z R (x )(m42 (x ) + z G (x )m22 (x ))] +
Dt
b 3 (x )
+ g (z B (x ) z G (x ))AT (x ) + u s2 zR (x )(m42 (x ) + zG (x )m22 (x )) +
12

]
+ u s2zR (x )(m42 (x ) + z G (x )m22 (x )) (x, t ) +
i
[N
42
e
( x ) + z G (x )N 22 (x )] D2 w
Dt 2

Dw D 2
u s [N42 (x ) + z G (x )N22 (x )] + [N 44 (x ) + z G (x )N 24 (x ) + z R (x )(N 42 (x ) + z G (x )N 22 (x ))] 2
Dt Dt
D
u s [N44 (x ) + N24 (x )z G (x ) + 2zR (x )(N 42 (x ) + z G (x )N 22 (x )) + z R (x )(N42 (x ) + z G (x )N22 (x ))] +
Dt
[ ]
+ u s2 z R (x )(N 42 (x ) + z G (x )N 22 (x )) + u s2 z R (x )(N 42 (x ) + z G (x )N 22 (x )) (x, t )

399
Chapter 18 Structural Analysis and Hydroelasticity of Ships

From relations (18.64.b),(18.62), analogue (18.54), it results the expression:

D2 w Dw D2 D
N(x, t ) = N1 (x ) 2 + N 2 (x ) + N 3 (x ) 2 + N 4 (x ) + N 5 (x ) +
Dt Dt Dt Dt
(18.64.c)
i D2 w Dw D2 D
+ N 6 (x ) 2 + N 7 (x ) + N 8 (x ) 2 + N 9 (x ) + N10 (x )
e Dt Dt Dt Dt
The generalized hydrodynamic moment, from relation (18.30), has the expression:
L
(18.65.a) N rs (t ) = N r (x , t )s (x )dx
0

where using the relations (18.64.c), it results:

(18.65.b) N s (t ) = N rs (t ) N rs (t ) = &p& r (t )A Nrs + p& r (t )B Nrs + p r (t )C Nrs
r =0
with hydrodynamic terms having the expressions: (18.65.c)
L L
A Nrs = N1 (x )w r (x )s (x )dx + N 3 (x ) r (x )s (x )dx
0 0
L L
B Nrs = 2u s N1 (x )w r (x )s (x )dx + N 2 (x )w r (x )s (x )dx
0 0
L L
2u s N 3 (x )r (x )s (x )dx + N 4 (x ) r (x )s (x )dx +
0 0
L
u 2
u
L
+ N 6 (x ) w r (x ) r(x )s (x )dx + s2 N 7 (x )w r (x )s (x )dx +
s

0
2
e e 0
L
u s2 us L
+ N 8 (x ) r (x ) 2 r(x )s (x )dx + 2 N 9 (x )r (x )s (x )dx +
0 e e 0
L
1
N10 (x ) r (x )s (x )dx
e2 0

L L
C Nrs = u N (x )w (x ) (x )dx u N (x )w (x ) (x )dx +
2
s 1 r s s 2 r s
0 0
L L
+ u s2 N 3 (x )r(x )s (x )dx u s N 4 (x )r (x )s (x )dx +
0 0
L L
+ N 5 (x ) r (x )s (x )dx 2u s N 6 (x )w r (x )s (x )dx +
0 0
L L
+ N 7 (x )w r (x )s (x )dx 2u s N 8 (x )r (x )s (x )dx +
0 0
L
+ N 9 (x ) r (x )s (x )dx
0
From relations (18.63),(18.65), for generalized hydrodynamic force at mode s from
oscillations / vibrations of the ship hull, it results the following expression:

Fps (t ) = H s (t ) N s (t ) = [&p& r (t )A rs + p& r (t )B rs + p r (t )C rs ]
(18.66.a) r =0

A rs = A Hrs + A Nrs B rs = B Hrs + B Nrs C rs = C Hrs + C Nrs

400
Chapter 18 Structural Analysis and Hydroelasticity of Ships

and for the finite number n of the terms in the modal decomposition, it results:
{ }
(18.66.b) Fp (t ) = ([A ]{&p&(t )} + [B]{p& (t )} + [C]{p(t )})

II) The hydrodynamic load from wave excitation model Airy

a) The horizontal load

From relations (18.49.a),(18.50.a), the horizontal load has the expression:
____
i Dv y (x , t )
F(x, t ) = FD (x, t ) + FFK (x , t ) = m 22 (x ) + N 22 (x )
e Dt
2

______
D (x , t )
2
i i
(18.67.a) u s m22 (x ) + N22 (x ) v y (x, t ) + m 24 (x ) + N 24 (x )
y

e e Dt 2
_____
i D y (x , t )
u s m24 (x ) + N24 (x ) gA T (x ) y (x, t )
e Dt
From relations in complex form (18.39),(18.43) and (18.67.a), the generalized force
(18.30) at mode s has the expression:
L
(18.67.b) Fs (t ) = F(x , t )[w s (x ) + (x )s (x )]dx = Fs e ie t
0
L

Fs = a w (sin ) m 22 (x ) +
i
e
( )
N 22 (x ) i2 u s m22 (x ) +
i
e
N22 (x ) +
0

(18.67.c) + m 24 (x ) +
i
e
( )
N 24 (x ) ik2 u s m24 (x ) +
i
e
N24 (x ) k gA T (x )(ik )

(x )e kT e ikx cos [w s (x ) + (x )s (x )]dx

b) The torsional load

From relations (18.49.b),(18.50.b), the torsional load has the expression: (18.68.a)
M (x, t ) = M D (x, t ) + z G (x )FD (x , t ) + M FKG (x, t ) =
_____
i Dv y (x, t ) i
= m 42 (x ) + N 42 (x ) u s m42 (x ) + N42 (x ) v y (x, t ) +
e Dt
2
e
______ _____
D y (x, t ) D y (x, t )
2
i i
+ m 44 (x ) + N 44 (x ) u s m
44 ( x ) + N
44 ( x ) +
e Dt 2 e Dt
_____
i Dv y (x , t ) i
+ z G (x )m 22 (x ) + N 22 (x ) z G (x )u s m22 (x ) + N22 (x ) v y (x, t ) +
e Dt
2
e
______ _____
D y (x , t ) D y (x , t )
2
i i
+ z G (x )m 24 (x ) + N 24 (x ) z G ( x ) m
24 ( x ) + N
24 (x ) +
e Dt 2 e Dt
b 3 (x )
+ g (z B (x ) z G (x ))A T (x ) y (x , t )
12

401
Chapter 18 Structural Analysis and Hydroelasticity of Ships

From relations in complex form (18.39),(18.43) and (18.68.a), generalized moment

(18.30) at mode s has the expression:
L
(18.68.b) M s (t ) = M (x , t )s (x )dx = M s e ie t
0

where: (18.68.c)
L

M s = a w (sin ) m 42 (x ) +
i
e
i
( )
N 42 (x ) + z G (x )m 22 (x ) + z G (x ) N 22 (x ) i2
e
0
i i
u s m42 (x ) + N42 (x ) + z G (x ) m44 (x ) + N44 (x ) +
e e

+ m 44 (x ) +
i
e
i
( )
N 44 (x ) + z G (x )m 24 (x ) + z G (x )N 24 (x ) ik2
e

i i
u s m44 (x ) + N44 (x ) + z G (x ) m24 (x ) + N24 (x )(k) +
e e
b 3 (x )
+ (ik )g (z B (x ) z G (z ))A T (x ) (x )e kT e ikx cos s (x )dx
12
From relations (18.67),(18.68), the wave generalized hydrodynamic force is:
L L
~
Fps (t ) = F(x, t )(w s (x ) + (x )s (x ))dx + M(x, t )s (x )dx =
(18.69) 0 0

= Fs (t ) + M s (t ) = (Fs + M s )e ie t
= Qs e ie t
{ } ~
Fp (t ) = {Q}e ie t
From relations (18.66.b),(18.69), the hydrodynamic generalized force vector, from
oscillations /vibrations of ship hull, has the expression:
(18.70) {Fp (t )} = {Q}e ie t ([A ]{&p&(t )} + [B]{p& (t )} + [C]{p(t )})

18.6 The dynamic response at oscillations /vibrations horizontal-torsional coupled.

The transfer functions

From relation (18.32), the differential equations system at coupled horizontal-torsional

motions has the expression:
(18.71) [a ]{&p&(t )} + [b]{p& (t )} + [c]{p(t )} = {Fp (t )}
From relations (18.60),(18.70), in both versions of the hydrodynamic theory used for
the excitation generalized forces calculation, there results the expression:
(18.72) {Fp (t )} = {Q}e ie t ([A ]{&p&(t )} + [B]{p& (t )} + [C]{p(t )})
From relations (18.71),(18.72), the final form of the motion equations system at the
coupled horizontal-torsional oscillations /vibrations, having as unknowns the principal modal
coordinates, is:
)
[] )
[] [])
(18.73) A {&p&(t )} + B {p& (t )} + C {p(t )} = {Q}e ie t
)
[]
where: A = [a ] + [A ]
)
[]
B = [b] + [B]
)
[]
C = [c] + [C]
The dynamic response, in principal modal coordinates, has the same form as the free
term from equation (18.73), having the expression:
(18.74) {p(t )} = {p}e ie t {p& (t )} = ie {p(t )} {&p&(t )} = e2 {p(t )}

402
Chapter 18 Structural Analysis and Hydroelasticity of Ships

From relations (18.73),(18.74), for the dynamic response it results a complex algebraic
system with expression:
[([ ]
) )
[ ]) )
(18.75.a) C e2 A ie B {p} = {Q} [ ]]
where: {p} = {p1 } + i{p 2 } {Q} = {Q1} + i{Q 2 }
and has the real form:
([ ]
)
C e2 A
)
[ ]) [])
e B {p1 } {Q1 }
= [D]{X} = {F}
(18.75.b)
e B
)
[ ] ([ ] [ ])
) )
C e2 A {p 2 } {Q 2 }
that can be solved using a numerical procedure type Gauss.
The real solution in principal modal coordinates is:
(18.75.c) {p(t )} = {p1 }cos e t + {p 2 }sin e t
Based on relation (18.75.c) and (18.6),(18.7),(18.8),(18.52) there is obtained the
dynamic response in displacements / deformations and sectional efforts. Analogue to the
dynamic response in vertical plane, there can be defined the transfer functions:
H va (x , e ) = v a (x, e ) a w =1 H w a (x, e ) = w a (x, e ) a w =1
H a (x, e ) = a (x , e ) a w =1 H a (x, e ) = a (x, e ) a w =1
(18.76)
H a (x, e ) = a (x, e ) a w =1 H M Ta (x, e ) = M Ta (x , e ) a w =1
H M Ha (x, e ) = M Ha (x, e ) a w =1 H THa (x, e ) = THa (x, e ) a w =1
Obs. If the wave frequency f e = e 2 is close to the first eigen frequency f3 then it
occurs the resonance ship structure wave with the springing phenomena at the horizontal-
torsional coupled motions.

18.7 The dynamic response at oscillations and vibrations horizontal-torsional

at ships with close transversal section

18.7.1 The motion equations

In the case of ships with close transversal section, the torsion centre R and the weight
centre G have the same position (notations from chapter 18.1) (x ) = RG = 0 , so that the
differential equations at horizontal and torsional motions (dry ship hull) become decoupled
v(x , t ) = w (x , t ) (it remains only the hydrodynamic coupling):

m(x )&v&(x , t ) [k 2 (x )( (x , t ) + (x )& (x , t ))] = Y(x , t )

[ ( )]
(18.77.a) J (x )&&(x , t ) k 1 (x ) (x , t ) + (x )& (x , t ) [k 2 (x )( (x , t ) + (x )& (x , t ))] = 0
v(x , t ) = (x , t ) + (x , t )
(18.77.b) J R (x ) &&(x , t ) [k 3 (x )((x , t ) + (x )& (x , t ))] + [k 3 (x )(x , t )] = K (x , t )

18.7.1.1 The motion in horizontal plane

At free vibrations (x ) = (x ) = 0 ; Y(x , t ) = 0 the equations (18.77.a) become:

m(x )&v&(x, t ) [k 2 (x ) (x, t )] = 0

(18.78.a) J (x )&&(x , t ) [k 1 (x )(x, t )] [k 2 (x ) (x, t )] = 0
v(x , t ) = (x, t ) + (x, t )
and the dynamic response has the following form:

403
Chapter 18 Structural Analysis and Hydroelasticity of Ships

v r (x , t ) = v r (x )sin r t r (x , t ) = r (x )sin r t r (x , t ) = r (x )sin r t

so it results:

2r m(x )v r (x ) + [k 2 (x ) r (x )] = 0 v s (x )
(18.78.b)

2r J (x ) r (x ) + [k 1 (x )r (x )] + [k 2 (x ) r (x )] = 0 s (x )
Integrating on the ship length the relations (18.50.b) it results:
L L
m(x )v (x )v (x )dx k (x ) (x )v (x )dx = 0
2
r r s 2 r s
0 0
(18.79.a) L L
s2 m(x )v r (x )v s (x )dx k 2 (x ) s (x )vr (x )dx = 0
0 0
L L
( 2
r 2
s ) m(x )v (x )v (x )dx k (x )[ (x )v (x ) (x )v (x )]dx = 0
r s 2 r s s r
0 0
L L L
2r J (x ) r (x )s (x )dx k 1 (x )r (x )s (x )dx + k 2 (x ) r (x ) s (x )dx = 0
0 0 0
(18.79.b) L L L
s2 J (x ) r (x )s (x )dx k 1 (x )r (x )s (x )dx + k 2 (x ) s (x ) r (x )dx = 0
0 0 0
L L
( 2
r )
s2 J(x ) r (x )s (x )dx k 2 (x )[ r (x )s (x ) + s (x ) r (x )]dx = 0
0 0

From relations (18.79) it results the two orthogonally relations of the eigen horizontal modes:
L

[m(x )v (x )v (x ) + J(x ) (x ) (x )]dx = a

0
r s r s rs rs
1 r=s
(18.80) rs =
L
0 rs
[k (x ) (x ) (x ) + k (x ) (x ) (x )]dx = a rs = c rs rs
2
1 r s 2 r s r rs
0
The eigen form has the following expressions:
at rigid modes: v o (x ) = 1 ; v1 (x ) = 1 x x G
at elastic modes: r , v r (x ), r (x ), r (x ) r = 2,
At forced horizontal oscillations/vibrations, using the modal analysis,the dynamic response is:

v(x , t ) = v r (x , t ) = v r (x )p r (t )
r =0 r =0

(18.81) (x , t ) = r (x , t ) = r (x )p r (t )
r =0 r =0

(x , t ) = r (x , t ) = r (x )p r (t )
r =0 r =0
From relations (18.77.a),(18.81), it results: (18.82)


m(x )v (x )&p& (t ) [k (x )( (x )p (t ) + (x ) (x )p& (t ))] = Y(x, t )
r =0
r r
r =0
2 r r r r v s (x )


J(x ) (x )&p& (t ) [k (x )( (x )p (t ) + (x ) (x )p& (t ))]
r =0
r r
r =0
1 r r r r

[k 2 (x )( r (x )p r (t ) + (x ) r (x )p& r (t ))] = 0 s (x )
r =0

404
Chapter 18 Structural Analysis and Hydroelasticity of Ships

We integrate the relations (18.82) on the ship length, there are added, taking into
account the orthogonally conditions and the free ends ship girder conditions, obtaining the
differential equations system at motion in horizontal plane, with principal modal coordinates:

a ss &p&s (t ) + b rs p& r (t ) + css p s (t ) = Ys (t ) s = 0,
(18.83) r =0

[a ]{&p&} + b {p& } + [c ]{p} = {Y(t )}[]

where there are noted the structural damping coefficients and generalized excitation force:
L L
rs = (x )k 2 (x ) r (x ) s (x )dx rs = (x )k 1 (x )r (x )s (x )dx b rs = rs + rs
0 0
(18.84) L
Ys (t ) = Y(x, t )v s (x )dx
0

18.7.1.2 Torsion motion

At free vibrations (x ) = 0 ; K (x , t ) = 0 equation (18.77.b) becomes:

&&(x, t ) [k 3 (x )(x , t )] + [k 3 (x )(x , t )] = 0
J (x )
(18.85.a) R
i (x, t ) = i (x )sin i t
and it results:

(18.85.b) i2 J R (x )i (x ) [k 3 (x )i (x )] + [k w 3 (x )i(x )] = 0 j (x )
and integrating on the ship length it results:
L L L
i2 J R (x )i (x ) j (x )dx k 3 (x )i (x )j (x )dx k 3 (x )i(x )j(x )dx = 0
0 0 0
(18.85.c) L L L
2j J R (x )i (x ) j (x )dx k 3 (x )i (x )j (x )dx k 3 (x )i(x )j(x )dx = 0
0 0 0
Subtracting the two relations from (18.85.c), results the two orthogonally relations of
the torsion eigen modes:
L

J (x ) (x ) (x )dx = a
~
R i j ij ij
0 1 i= j
(18.86) ij =
L
0 i j
[k (x ) (x ) (x ) + k (x )(x )(x )]dx = a
~ 2
= ~cij ij
3 i j w3 i j i ij ij
0
The eigen forms have the expressions:
the rigid mode: o (x ) = 1
the elastic modes: i , i (x ) i = 1,
At forced torsion oscillations / vibration, using the modal analysis, the dynamic response is:

(18.87) (x , t ) = i (x, t ) = i (x )q i (t )
i =0 i =0
From relations (18.77.b),(18.87) it results:

J (x ) (x )&q& (t ) [k (x )( (x )q (t ) + (x ) (x )q& (t ))] +

i =0
R i i
i =0
3 i i i i

(18.88)

+ [k w 3 (x )i(x )q i (t )] = K (x, t ) j (x )
i =0

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

We integrate relation (18.88) on ship length, taking into account of the orthogonally
conditions and the free ends ship girder conditions, obtaining the differential equations system
at torsion, with principal modal coordinates:

~
a jjq j (t ) + bijq& j (t ) + ~c jjq j (t ) = K j (t )
~ && j = 0,
(18.89) r =0

[~
~
[]
a ]{&q&} + b {q& } + [~c ]{q} = {K (t )}
where there are noted supplementary structural damping coefficients and generalized
excitation moment:
L L
~
(18.90) bij = (x )k 3 (x )i (x )j (x )dx K j (t ) = K (x , t ) j (x )dx
0 0

18.7.2 The generalized hydrodynamic forces

From the hydrodynamic point of view, the horizontal and torsional motions remain coupled,
where for the calculation of the hydrodynamic loads there is used only the simplified version:
Y(x , t ) = YD (x, t ) + YFK (x, t )
(18.91)
K (x, t ) = K D (x , t ) + z G (x )YD (x, t ) + K FKG (x , t )
Y(x , t ) = H(x , t ) + F(x , t )
K (x , t ) = N(x , t ) + M (x , t )

18.7.2.1 The generalized excitation force on horizontal direction

a) Due to the ship hull motion
D2 vo Dv
H(x , t ) = H D (x, t ) = m 22 (x ) 2
+ [N 22 (x ) u s m22 (x )] o +
Dt Dt
(18.92.a)
D
2
D
+ m 24 (x ) 2 + [N 24 (x ) u s m24 (x )]
Dt Dt
Using the modal analysis method, it results the following expressions:
v o (x , t ) = v(x , t ) + z G (x )(x, t )
Dv o (x, t ) Dv(x, t ) D(x, t )
(18.93.a) = + z G (x ) u s zG (x )(x, t )
Dt Dt Dt
D2 v0 D 2 v (x , t ) D 2 (x, t ) D
2
( )
x, t = 2
(
+ zG x ) 2
2u s zG (x ) + u s2 zG (x )(x, t )
Dt Dt Dt Dt
v(x, t ) = v r (x, t ) = v r (x )p r (t )
r r

Dv r (x, t )
(18.93.b) = v r (x )p& r (t ) u s vr (x )p r (t )
Dt
D 2 v r (x , t )
2
= v r (x )&p& r (t ) 2u s vr (x )p& r (t ) + u s2 vr(x )p r (t )
Dt
(x, t ) = i (x, t ) = i (x )q i (t )
i i

Di (x, t )
(18.93.c) = i (x )q& i (t ) u s i (x )q i (t )
Dt
D 2 i (x , t )
= i (x )&q& i (t ) 2u s i (x )q& i (t ) + u s2 i(x )q i (t )
Dt 2

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

From relations (18.92.a),(18.93) it results: (18.92.b)

D v(x, t )
2
Dv(x, t ) D (x, t )
2
H(x , t ) = m 22 (x ) 2
+ [N 22 (x ) u s m22 (x )] + [m 24 (x ) + z G (x )m 22 (x )] +
Dt Dt Dt 2
D(x, t )
+ [N 24 (x ) u s m24 (x ) 2u s zG (x )m 22 (x ) + z G (x )(N 22 (x ) u s m22 (x ))] +
Dt
[ ]
+ m 22 (x )u s2 zG (x ) u s zG (x )(N 22 (x ) u s m22 (x )) (x, t )
which using a new notation can be rewritten:
D2v Dv D 2 D
(18.92.c) H(x , t ) = H1 (x ) 2 + H 2 (x ) + H 3 (x ) 2 + H 4 (x ) + H 5 (x )
Dt Dt Dt Dt
From relations (18.92), the generalized force is:
[ ] [ ]

(18.94.a) H s (t ) = &p& r (t )A (rsH ) + p& r (t )B(rsH ) + p r (t )C (rsH ) + &q&i (t )A is(H ) + q& i (t )Bis(H ) + q i (t )Cis(H )
r =0 i =0
and matrix:
([ ] [ ] [ ] ) ([ ] [ ]
{H(t )} = A (H ) {&p&(t )} + B(H ) {p& (t )} + C(H ) {p(t )} + A (H ) {&q&(t )} + B (H ) {q& (t )} + C (H ) {q(t )}[ ] )
where: (18.94.b)
L
A (rsH ) = H1 (x )v r (x )v s (x )dx
0
L
B (rsH ) = [ 2u s H1 (x )vr (x ) + H 2 (x )v r (x )]v s (x )dx
0

[ ]
L
C (rsH ) = u s2 H1 (x )vr(x ) u s H 2 (x )vr (x ) v s (x )dx
0
L
A is = H 3 (x )i (x )v s (x )dx
(H )

0
L
Brs(H ) = [ 2u s H 3 (x )i (x ) + H 4 (x )i (x )]v s (x )dx
0

[ ]
L
Crs(H ) = u s2 H 3 (x )i(x ) u s H 4 (x )i (x ) + H 5 (x )i (x ) v s (x )dx
0

b) Due to the wave

____
Dv y
F(x, t ) = FD (x, t ) + FFK (x, t ) = m 22 (x ) + [N 22 (x ) u s m22 (x )]v y +
Dt 2
(18.95.a) ______ ______
D 2
D y
+ [N 24 (x ) u s m24 (x )]
+ m 24 (x ) gA T (x ) y
y
2
Dt Dt
and using the notations from chapter 18.3, it results for the generalized force the expression:
L
(18.95.b) Fs (t ) = F(x , t )v s (x )dx = Fs e ie t {F(t )} = {F}e i t e

where:
L
{ ( )
Fs = a w (sin ) m 22 (x ) i2 + [N 22 (x ) u s m22 (x )] + m 24 (x ) ik2 + ( )
(18.95.c) 0

+ k[N 24 (x ) u s m24 (x )] gA T (x )(ik )}(x )e kT e ikx cos v s (x )dx

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

From relations (18.94), (18.95), on horizontal direction the hydrodynamic generalized

excitation force is:

(18.96)
([ ] [ ] [ ]
{Y(t )} = {F}e iet A (H ) {&p&(t )} + B(H ) {p& (t )} + C(H ) {p(t )} )
([ ] [ ] [ ]
A (H ) {&q&(t )} + B (H ) {q& (t )} + C (H ) {q(t )} )
18.7.2.2 The generalized excitation moment at torsion

a) Due to the ship hull motion

(18.97.a) N(x, t ) = N D (x, t ) + z G (x )H D (x, t ) + N FKG (x, t )
D2vo Dv o D2 D
N(x , t ) = m 42 (x ) 2
+ [ N 42 ( x ) u s m 42 ( x ) ] + m 44 ( x ) 2
+ [N 44 (x ) u s m44 (x )] +
Dt Dt Dt Dt
D2vo Dv o D2 D
+ z G (x )m 22 (x ) 2
+ [N 22 ( x ) u s m
22 ( x )] + m 24 ( x ) 2
+ [N 24 (x ) u s m24 (x )] +
Dt Dt Dt Dt
b 3 (x )
+ g (z B (x ) z G (x ))A T (x )
12
Using the notations from (18.93), relation (18.97.a) becomes: (18.97.b)
2
D v Dv
N(x , t ) = [m 42 (x ) + z G (x )m 22 (x )] 2 + [N 42 (x ) u s m42 (x ) + z G (x )(N 22 (x ) u s m22 (x ))] +
Dt Dt
D2
+ [m 44 (x ) + z G (x )m 24 (x ) + z G (x )(m 42 (x ) + z G (x )m 22 (x ))] 2 + [N 44 (x ) u s m44 (x ) +
Dt
+ z G (x )(N 24 (x ) u s m 24 (x )) 2u s z G (x )(m 42 (x ) + z G (x )m 22 (x )) + z G (x )(N 42 (x ) u s m42 (x )) +

b 3 (x )
+ z (x )(N 22 (x ) u s m22 (x ))
2
G ] D
Dt
+ [g (z B (x ) z G (x ))A T (x ) +
12
+ u s2 zG (x )(m 42 (x ) + z G (x )m 22 (x )) u s zG (x )(N 42 (x ) u s m42 (x ) + z G (x )(N 22 (x ) u s m22 (x ))) ]
which into a new notation can be rewritten:
D2v Dv D 2 D
(18.97.c) N(x, t ) = N1 (x ) 2 + N 2 (x ) + N 3 (x ) 2 + N 4 (x ) + N 5 (x )
Dt Dt Dt Dt
From relations (18.90),(18.97), the generalized force is:
[ ] [ ]

(18.98.a) N j (t ) = &p& r (t )A (rjN ) + p& r (t )B(rjN ) + p r (t )C (rjN ) + &q&i (t )A ij( N ) + q& i (t )Bij( N ) + q i (t )Cij( N )
r =0 i =0
and matrix:
([ ] [ ] [ ] ) ([ ] [ ]
{N(t )} = A (N ) {&p&(t )} + B(N ) {p& (t )} + C(N ) {p(t )} + A ( N ) {&q&(t )} + B (N ) {q& (t )} + C ( N ) {q(t )}[ ] )
where: (18.98.b)
L
A (rjH ) = N1 (x )v r (x ) j (x )dx
0
L
B (rjH ) = [ 2u s N1 (x )vr (x ) + N 2 (x )v r (x )] j (x )dx
0

[ ]
L
C (rjH ) = u s2 N1 (x )vr(x ) u s N 2 (x )vr (x ) j (x )dx
0
L
A ij = N 3 (x )i (x ) j (x )dx
(H )

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Chapter 18 Structural Analysis and Hydroelasticity of Ships

L
Bij = [ 2u s N 3 (x )i (x ) + N 4 (x )i (x )] j (x )dx
(H )

[ ]
L
Cij(H ) = u s2 N 3 (x )i(x ) u s N 4 (x )i (x ) + N 5 (x )i (x ) j (x )dx
0

b) Due to wave
(18.99.a) M(x, t ) = M D (x, t ) + z G (x )FD (x , t ) + M FKG (x, t )
____ _____ _____
Dv y D 2 y D y
M (x , t ) = m 42 (x ) + [N 42 (x ) u s m42 (x )]v y + m 44 (x ) + [N 44 (x ) u s m44 (x )] +
Dt Dt 2 Dt
____ _____ _____
Dv D 2
y D y
+ z G (x )m 22 (x ) + [N 22 (x ) u s m22 (x )]v y + m 24 (x ) + [N 24 (x ) u s m24 (x )]
y
+
Dt Dt 2 Dt

b (x )
3

+ g (z B (x ) z G (x ))A T (x ) y
12
and using the notations from chapter 18.3, it results for the generalized moment the expression:
L
(18.99.b) M j (t ) = M (x , t ) j (x )dx = M je ie t {M(t )} = {M}e i t e

where: (18.99.c)
L
M s = a w (sin ) {(m 42 (x ) + z G (x )m 22 (x ))( i2 ) + [N 42 (x ) u s m42 (x ) + z G (x )(N 22 (x ) u s mss (x ))]
0

+ (m 44 (x ) + z G (x )m 24 (x ))( ik2 ) + k[N 44 (x ) u s m44 (x ) + z G (x )(N 24 (x ) u s m24 (x ))] +

b 3 (x )
+ g (z B (x ) z G (x ))A T (x )(ik )(x )e kT eikx cos j (x )dx
12
From relations (18.98), (18.99), the generalized excitation hydrodynamic moment at
torsion is:

(18.100)
[ ] [ ] [ ]
{K (t )} = {M}e ie t ( A (N ) {&p&(t )} + B(N ) {p& (t )} + C(N ) {p(t )})
[ ] [ ] [ ]
( A ( N ) {&q&(t )} + B ( N ) {q& (t )} + C ( N ) {q (t )})

18.7.3 The solution of the motion equations

From relations (18.83),(18.89),(18.96),(18.100), it results the following differential

equations system at horizontal-torsional motions:
(18.101.a)
[] [ ] [ ] [ ]
[a ]{&p&} + b {p& } + [c ]{p} = {Y(t )} = {F}e iet ( A (H ) {&p&(t )} + B(H ) {p& (t )} + C(H ) {p(t )})
([A ( ) ]{&q&(t )} + [B ( ) ]{q& (t )} + [C ( ) ]{q (t )})
H H H

[~a ]{&q&} + [~b ]{q& } + [~c ]{q} = {K(t )} = {M}e ([A ( ) ]{&p&(t )} + [B( ) ]{p& (t )} + [C( ) ]{p(t )})
ie t N N N

([A ( ) ]{&q&(t )} + [B ( ) ]{q& (t )} + [C ( ) ]{q(t )})

N N N

and it results: (18.101.b)

[ ]
) )
[ ] )
[ ] )
[ ] )
[ ] )
[ ]
A1 {&p&(t )} + B1 {p& (t )} + C1 {p(t )} + D1 {&q&(t )} + E1 {q& (t )} + F1 {q(t )} = {F}e ie t
[ ]
) )
[ ] )
[ ] )
[ ] )
[ ] )
[ ]
A 2 {&q&(t )} + B 2 {q& (t )} + C 2 {q(t )} + D 2 {&p&(t )} + E 2 {p& (t )} + F 2 {p(t )} = {M}e ie t

409
Chapter 18 Structural Analysis and Hydroelasticity of Ships

and are noted the matrixes:

[ ]
)
[ ] [ ] [] [ ] [ ]
A1 = [a ] + A (H )
)
B1 = b + B(H )
)
[ ]
C1 = [c ] + C (H )
[ ] [ ] [ ] [ ] [ ] [ ]
)
D1 = A (H )
)
E1 = B ( H )
)
F1 = C (H )
(18.101.c)
[ ]
)
[ ] [ ] [] [ ] [ ]
A 2 = [~
a ] + A (N )
) ~
B2 = b + B (N )
)
[ ]
C 2 = [~c ] + C ( N )
[ ] [ ] [ ] [ ] [ ] [ ]
)
D 2 = A (N )
)
E 2 = B( N )
)
F2 = C(N )
The dynamic response has the form of the free terms from the equation system
(18.101):
(18.102) {p(t )} = {p}e ie t {q(t )} = {q}e iet
From relations (18.101),(18.102), it results the complex linear system:
[D1 (e )]{p} + [D 2 (e )]{q} = {F}
(18.103)
[D3 (e )]{p} + [D 4 (e )]{q} = {M}
{p} {F} [D ] [D 2 ]
{X} = {Q} = [D(e )] = 1 [D(e )]{X} = {Q}
{q} {M} [D 3 ] [D 4 ]
which can be solved by transforming into a linear algebraic system.
Based on the principal modal coordinates obtained from the system solution (18.103),
it is calculated the dynamic response and the transfer functions on displacement, deformations
and sectional efforts horizontal-torsion.
Obs. If for a certain ship, the hydrodynamic coupling terms can be considered not
significant:
[ ] [
)
]
D1 = A (H ) 0 [ ] [ ]
)
[ ] [ ]
E1 = B ( H ) 0
)
F1 = C (H ) 0
(18.104)
[ ] [
)
]
D 2 = A (N ) 0 [ ] [ ]
)
E 2 = B( N ) 0[ ] [ ] )
F2 = C(N ) 0
then the motions in horizontal plane and torsion are decoupled, so that the motion equations
from (18.101.b) become:
[ ]
)
[ ] )
[ ] )
(18.105.a) A1 {&p&(t )}+ B1 {p& (t )}+ C1 {p(t )} = {F}e ie t
[ ]
)
[ ] )
[ ] )
(18.105.b) A 2 {&q&(t )} + B 2 {q& (t )} + C 2 {q(t )} = {M}e ie t
and it is obtained the independent dynamic response at oscillations / vibrations in horizontal
plane and torsion.

410