Environmental Forces and Moments

Chapter 8 - Environmental Forces and
Moments
8.1 Wind Forces and Moments
8.2 Wave Forces and Moments
8.3 Ocean Current Forces and Moments
1

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
Chapter 8 - Environmental Forces and

Moments
Superposi;on of Wind and Wave Disturbances
For control systems design it is common to assume the principle of superposi;on when
considering wind and wave forces:

M!! " C!!"! " D!!"! " g!"" " g 0 # #wind " #wave " # #
w

Ocean Currents
The eect due to ocean currents is simulated by introducing the rela;ve velocity vector:
MRB !! " C RB !!"!
" MA !! r " C A !!r"!r " D!!r"!r

rigid-body terms
hydrodynamic terms
" g!"" " g o
# #"w #
hydrostatic terms
uc
vc
!r ! ! ! !c #
!c !
wc
0
0
0
2

8.1.1 Wind Forces and Moments on

Marine Craft at Rest
Generalized force using area-based wind coecients:
X wind ! qC X !! w "AFw
# !w ! " ! #w ! $ #
Ywind ! qC Y !! w "ALw
Z wind ! qC Z !! w "AFw
# wind angle of aMack

#
K wind ! qC K !! w "ALw H L w
M wind ! qC M !! w "AFw H F w #
N wind ! qC N !! w "ALw L oa
Dynamic pressure

q ! 1 ! a V 2w #
2

a = air density
AFw = frontal projected area
ALw = lateral projected area
HFw = centroid of AFw above the water line
HLw = centroid of ALw above the water line
Loa = length over all


The wind speed is usually specied in terms of Beaufort numbers
(Price and Bishop, 1974)
Beaufort number
Description of wind
Wind speed (knots)
Calm
0-1
Light air
2-3
Light breeze
4-7
Gentle breeze
8-11
Moderate breeze
Fresh breeze
17-21
Strong breeze
22-27
Moderate gale
28-33
Fresh gale
34-40
Strong gale
41-48
10
Whole gale
49-56
11
Storm
57-65
12
Hurricane
12-16
More than 65
4


Wind Coecient Approxima;on for Symmetrical Ships

For ships that are symmetrical with respect to the xz- and yz-planes, the wind
coecients for horizontal-plane mo;ons can be approximated by:

C X !! w " ! "c x cos!! w " #

#
C Y !! w " ! c y sin!! w "

C N !! w " ! c n sin!2! w " #

which are convenient formulae for computer simula;ons.

Experiments indicate that:

cx {0.50, 0.90}

cy {0.70, 0.95}

cn {0.05, 0.20}

These values should be used with care.
5


Moving Marine Craft
Generalized force in terms of rela;ve angle of aMack rw and rela;ve wind speed Vrw:
! wind ! 1 ! a V 2rw
2
u 2rw " v 2rw
C X !" rw "AFw
V rw !
C Y !" rw "ALw
! rw ! !atan2!v rw , u rw " #
C Z !" rw "AFw
C K !" rw "ALw H L w
C M !" rw "AFw H F w
C N !" rw "ALw L oa
u rw ! u ! u w #
u w ! V w cos!! w ! "" #
v rw ! v ! v rw #
v w ! V w sin!! w ! ""
The wind speed Vw and its direc;on w can be measured by a wind sensor (anemometer).

The wind coecients (look-up tables) are computed numerically or by experiments in
wind tunnels.
6

8.1.3 Wind Coefficients Based on Flow

over a Helmholtz-Kirchhoff Plate
Reference: Blendermann (1994)

The load func;ons are parameterized in terms
of four primary wind load parameters:
cos!! w "
A
C X !! w " ! !CD l L w
AF w
CD lAF
C Y !! w " ! CD t
1!
"
2
1!
CD l
CD t
sin!! w "
1!
"
2
1!
CD l
CD t
C K !! w " ! #C Y !! w "
C N !! w " ! s L ! 0.18 ! w ! $
L oa
2
CD l ! CD l AF !! w "
AF w
AL w
sin2 !2! w "
sin !2! w "
Type of vessel
CD t CD l AF !0"
CD l AF !!"
"
1. Car carrier
0.95 0.55
0.60
0.80 1.2
2. Cargo vessel, loaded
0.85 0.65
0.55
0.40 1.7
3. Cargo vessel, container on deck 0.85 0.55
0.50
0.40 1.4
4. Container ship, loaded
0.90 0.55
0.55
0.40 1.4
0.85 0.60
0.65
0.65 1.1
6. Diving support vessel
0.90 0.60
0.80
0.55 1.7
7. Drilling vessel
1.00 0.701.00 0.751.10 0.10 1.7
#5. Destroyer
#8. Ferry
0.90 0.45
0.50
0.80 1.1
0.95 0.70
0.70
0.40 1.1
0.70 0.60
0.65
0.50 1.1
0.90 0.55
0.80
0.55 1.2
0.90 0.40
0.40
0.80 1.2
13. Research vessel
0.85 0.55
0.65
0.60 1.4
14. Speed boat
0.90 0.55
0.60
0.60 1.1
15. Tanker, loaded
0.70 0.90
0.55
0.40 3.1
16. Tanker, in ballast
0.70 0.75
0.55
0.40 2.2
17. Tender
0.85 0.55
0.55
0.65 1.1
9. Fishing vessel
#10. Liquified natural gas tanker

C Y !! w "
11. Offshore supply vessel
#12. Passenger liner
Matlab MSS toolbox

>> [w_wind,CX,CY,CK,CN] = blendermann94(gamma_r,V_r,AFw,ALw,sH,sL,Loa,vessel_no)
7

8.1.3 Wind Coefficients Based on Flow

over a Helmholtz-Kirchhoff Plate
Research vessel with Afw = 160.7 m, Alw = 434.8 m, sL = 1.48 m, sH = 5.10 m, Loa = 55.0 m,
Lpp = 48.0 m and B =12.5 m
Wind Coefficients
0.8
0.6
0.8
0.4
CY
0.6
0.2
0
0.4
-0.2
0.2
-0.4
-0.6
CX
0
30
60
Angle of wind
90
120
150
gw (deg) relative bow
180
30
60
Angle of wind
90
120
150
180
0.15
0.8
CN
0.1
0.6
CK
0.05
0.4
0
0.2
-0.05
-0.1
0
0
30
60
Angle of wind
90
120
150
180
30
60
Angle of wind
90
120
150
180
CX is generated using CDl,AF(0) and CDl,AF() corresponding to head and tail winds.
8

8.1.4 8.1.7 Wind Coefficients

8.1.4 Wind Coecients for Merchant Ships (Isherwood, 1972)
Isherwood (1972) has derived a set of wind coecients by using mul;ple regression
techniques to t experimental data of merchant ships. The wind coecients are
parameterized in terms of eight parameters.

8.1.5 Wind Resistance of Very Large Crude Carriers (OCIMF, 1977)
Wind loads on very large crude carriers (VLCCs) in the range 150 000 to 500 000 dwt
can be computed by applying the results of (OCIMF 1977).

8.1.6 Wind Resistance of Large Tankers and Medium Sized Ships
For wind resistance on large tankers in the 100 000 to 500 000 dwt class the reader is
advised to consult Van Berlekom et al. (1974).

Medium sized ships of the order 600 to 50 000 dwt is discussed by Wagner (1967).

8.1.7 Wind Resistance of Moored Ships and Floa;ng Structures
Wind loads on moored ships are discussed by De Kat and Wichers (1991) while an
excellent reference for huge pontoon type oa;ng structures is Kitamura et al. (1997).

9


A marine control system can be simulated under inuence of wave-induced forces by
separa;ng the 1st-order and 2nd-order eects:

1st-order wave-induced forces (wave-frequency mo6on)
Zero-mean oscillatory mo;ons

2nd-order wave-induced forces (wave dri9 forces)
!wave ! !wave1 " !wave2 #
Nonzero slowly varying component

Wave forces are observed as a mean slowly varying component referred to as Low-
Frequency (LF) mo;ons and an oscillatory component called Wave-Frequency (WF)
mo;ons which must be compensated for by the feedback control system:

The mean component (LF) can be removed
by using integral ac;on
The oscillatory component (WF) is usually

removed by using a cascaded notch and
low-pass lter (wave ltering)

10


Wave Response Models:

1. Force RAOs
2. Mo6on RAOs
3. Linear state-space models (WF models)

The rst two methods require that the RAO tables are
computed using a hydrodynamic program (depends on vessel geometry)

The last method is frequently used due to simplicity but it is only intended for tes;ng of
robustness and performance of control systems, that is closed-loop analysis.

RAO = Response Amplitude Operator
11


1. Force RAOs

sea state

Force
Wave

RAO

spectrum

2. Mo6on RAOs

sea state

Wave

spectrum

Generalized force

generalized

force

generalized

position

Marine
craft

Motion
RAO

generalized

position

Marine
craft

12


3. Linear State-Space Models (WF models)
White noise

Linear wave spectrum

approximation

Generalized force

Tunable

gain K

Marine

craft

WF

position

generalized

position

13


Sea
Wave
1. Force RAOs
state
amplitude
Wave

spectrum

Ak
Hs ,Tz

S()

2. Mo6on RAOs
Sea
Wave
state
amplitude

Wave

spectrum
Ak
Hs ,Tz

S()

3. Linear state-space models (WF models)
1st-order
Force RAO
2nd-order
Force RAO
1st-order waveinduced force
wave1
Generalized
force
2nd-order
wave drift force
1st-order waveinduced positions

Motion RAO
Generalized
posi;on
Generalized
posi;on
14

8.2.1 Sea State Descriptions

For marine crai the sea can be characterized by the following wave spectrum parameters:
The signicant wave height Hs
(the mean wave height of the one third highest waves, also denoted as H1/3)
One of the following wave periods:
- The average wave period, T

- Average zero-crossing wave period, Tz
- Peak period, Tp (this is equivalent to the modal period, T)
15

8.2.2 Wave Spectra

The process of wave genera;on due to wind
starts with small wavelets appearing on the
water surface. This increases the drag force,
which in turn allows short waves to grow.
These short waves con;nue to grow un;l
they nally break and their energy is
dissipated.

A developing sea, or storm, starts with high
frequencies crea;ng a spectrum with a peak
at a rela;ve high frequency.

A storm which has lasted for a long ;me is
said to create a fully developed sea.

Aier the wind has stopped, a low -frequency
decaying sea or swell is formed. These long
waves form a wave spectrum with a low
peak frequency.
S()
Swell
and tidal
waves
Developing
sea
If the swell from one storm interacts with the

waves from another storm, a wave spectrum
with two-peak frequencies may be observed.

In addi;on, ;dal waves will generate a peak
at a low frequency. Hence, the resul;ng wave
spectrum might be quite complicated in cases
where the weather changes rapidly
16

8.2.2 Wave Spectra

Neumann Spectrum (1952)
One-parameter spectrum:

S!!" ! C! !6 exp!!2g 2 ! !2 V !2 " #
lim S!!" ! " g 2 ! "5 #

!!1
Bretschneider Spectrum (1959)

Two-parameter spectrum:

S!!" ! 1. 25
! 40 H 2s !5
! exp !1. 25!! 0 /!" 4
4
Pierson-Moskowitz Spectrum (1963)

Two-parameter spectrum:

S!!" ! A!
!5

exp!!B!
A ! 8. 1 ! 10 !3 g 2 ! constant #
!4 " #
4
g
B ! 0. 74
#
! 3. 11
V 19.4
H 2s
Modied Pierson-Moskowitz (MPM) Spectrum (1964)

For predic;on of responses of marine crai and oshore
structures in open sea, the Interna;onal Ship and Oshore
Structures Congress and the Interna;onal Towing Tank
Conference (ITTC), have recommended the use of a
modied version of the PM-spectrum where

H s ! 2. 06
V 219.4 #
2
g
A!
4! 3 H 2s
,
T 4z
3
B ! 16!4
Tz
T z ! 0. 710T 0 ! 0. 921T 1 #
17

8.2.2 Wave Spectra

Significant
wave
25
height
Hs (m)
1 2
10
11
Beaufort
12 number
20
H s ! 2. 06
V 219.4 #
2
gH = 2.06 V2/g2
15
Sea state 9
10
Sea state 8
Sea state 7
5
Sea state 6
Sea state 5
Wind
speed V
Sea state 4
Sea state 3
0 2 4
12
17
22
28
34
41
49
57
knots
65
m/s
0
10
20
30
18

8.2.2 Wave Spectra

S(w ) (rad/s)
JONSWAP Spectrum
JONSWAP spectrum
100
In 1968 and 1969 an extensive

80
measurement program was carried
60
out in the North Sea, between the
40
island Sylt in Germany and Iceland.
20
The measurement program is known
0
0.1
as the Joint North Sea Wave Project
S(w ) (rad/s)
(JONSWAP) and the results from
100
these inves;ga;ons have been
adopted as an ITTC standard in 1984. 80
60

0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
w (rad/s)
0.8
0.9
1
w (rad/s)
Modified Pierson-Moskowitz (PM) spectrum

Hs
40
Y ! exp !
!!
0. 191!T 1 ! 1
2"
20
0. 07
for
" ! 5. 24/T 1
0. 09
for
" " 5. 24/T 1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
w = 0.4
o
S!!" ! 155
H 2s !5
! exp !944
! !4 " Y #
4
4
T1
T1
19

8.2.2 Wave Spectra

Torsethaugen Spectrum
2
s o
S( w )/(H T )
The Torsethaugen spectrum (1996) is

an empirical, two-peaked spectrum
developed by Norsk Hydro.

Includes the eect of swell (low-
frequency peak) and newly developed
waves (high-frequency peak).

The spectrum is developed using
curve mng of experimental data
from the North Sea.

0.14
0.12
H = 3-10 m
s
T = 10 s
0.1
0.08
H
0.06
0.04
0.02
0
0.5
1.5
2.5
3
w (rad/s)
w = 0.63 rad/s
0
0.2
0.15
H = 3-10 m
s
T =4s
H
0.1
0.05
0.5
1.5
2.5
3
w (rad/s)
w = 1.57 rad/s
o
Torsethaugen spectrum: upper plot shows only one peak

at = 0.63 rad/s represen;ng swell and developing sea
while the lower plot shows low-frequency swell and newly
developing sea with peak frequency = 1.57 rad/s.
20

8.2.2 Wave Spectra

S( w )/(H 2 T )
s 0
Wave spectra ploMed for

same wave height and
peak frequency.

Wave demo op;on in the
MSS toolbox script:
0.04
Modified Pierson-Moskowitz
JONSWAP for g = 3.3
JONSWAP for g = 2.0
Torsethaugen
0.035
0.03
0.025
0.02
>> gncdemo
0.015
Computa;on and plomng

of wave spectra:
>> S = wavespec()
0.01
0.005
0.2
0.4
0.6
0.8
1.2
1.4
1.6
w (rad/s)
21

1.8
8.2.3 Wave Amplitude Response Model

The rela;onship between the wave spectrum S(k) and the wave amplitude Ak for a
wave component k is (Fal;nsen 1990)

1 A2 ! S!! ""! #
k

2 k

where is a constant dierence between the frequencies. This rela;onship can be
used to compute wave-induced responses in the ;me domain.

Long-Crested Irregular Sea
The wave eleva;on of a long-crested irregular sea in the origin of {s} under the
assump;on of zero speed can be wriMen as the sum of N harmonic components

N
N

! ! ! Ak cos!" k " # k " ! ! 2S!" k "#" cos!" k " # k " #

k!1
k!1

where k is the random phase angle of wave component number k. Since this
expression repeats itself aier a ;me 2/ a large number of wave components N are
needed. However, a prac;cal way to avoid this is to choose k randomly in the interval
! k ! !! , ! k " !!
2
2
22


Short-Crested Irregular Sea
The most likely situa;on encountered at sea is short crested or confused waves. This is
observed as irregulari;es along the wave crest at right angles to the direc;on of the wind.

Short-crested irregular sea can be modeled by a 2-D wave spectrum

S!!, "" ! S!!"f!"" #

where = 0 corresponds to the main wave propaga;on direc;on while a nonzero -value
will spread the energy at dierent direc;ons.
2
"
f!!" !
! "/2 " ! " "/2
0; elsewhere
N
!!
cos 2 !!",
Spreading func;on
!!
2S!" k , # i """"# cos!" k # $ k " # Wave eleva;on
k!1 i!1
23


Extension to Forward Speed using the Frequency of Encounter
For a ship moving with forward speed U, the peak frequency of the spectrum will be
modied according to:
!2
! e !U, ! 0 , "" ! ! 0 ! g0 U cos!""
e is the frequency of encounter

is the angle between heading and wave direction

Wave Eleva;on using Frequency of Encounter

N
!!
24

!!
k!1 i!1
" 2k
2S!" k , # i """"# cos!" k " g U cos!# i "
# $k " #
" e !U," k ,# i "
8.2.4 Wave Force Response Amplitude

Operators
Normalized Force RAOs
The 1st- and 2nd-order wave forces for varying wave direc;ons i and wave frequencies k

!dof"
!dof"
#" !dof"
wave1 #! k , " i $
j!#" wave1 #! k ," i $
F
#!
,
"
$
!
e
#
wave1 k i
$gAk

complex variables
!dof"
!dof"
"
#
#!
,
"
$
i
k
wave2
F !dof"
e j!#" wave2 #!k ,"i $ #
wave2 #! k , " i $ !
2
$gAk

Processing Re-Im parts of the RAOs (ASCII le generated by hydrodynamic code)

2
2
F !dof"
wave1 #! k ," i $ ! Im wave1 !dof"#k,i$ " Re wave1 !dof"#k,i$
!F !dof"
wave1 #! k ," i $ ! atan#Im wave1 !dof"#k,i$,Re wave1 !dof"#k,i$$ #
F !dof"
wave2 #! k ," i $ ! Re wave2 !dof"#k,i$ #
!F !dof"
wave2 #! k ," i $
!0
(wave drii)
25


Operators
No Spreading Func;on

! !dof"
wave1
! "g F !dof"
wave1 ## k , $$
Ak cos # e #U, # k , $$t " "F !dof"

wave1 ## k , $$ " % k
k!1
N
! !dof"
wave2
! "g F !dof"
wave2 ## k , $$
A2k cos## e #U, # k , $$t " % k $
(wave drii)
k!1
With Spreading Func;on

! !dof"
wave1
!dof"
## k , $ i $
! ! "g F wave1
k!1 i!1
N
! !dof"
wave2
Ak cos # e #U, # k , $ i $t " "F !dof"

wave1 ## k , $ i $ " % k
!dof"
## k , $ i $
! ! "g F wave2
A2k cos## e #U, # k , $ i $t " % k $
(wave drii)
k!1 i!1
Sea
state
Hs ,Tz
Wave
spectrum
Wave
amplitude
Ak
1st-order
Force RAO
S()
2nd-order
Force RAO
1st-order waveinduced force
2nd-order
wave drift force
wave1
1 A2 ! S!! ""! #
k
2 k
26


Operators
The mo;on RAOs are processed in the MSS Hydro toolbox by using:

wamit2vessel
% read and process WAMIT data
veres2vessel
% read and process ShipX (Veres) data

The data is represented in the workspace as Matlab structures

vessel.forceRAO.w(k)
% frequencies
vessel.forceRAO.amp{dof}(k,i,speed_no)
% amplitudes
vessel.forceRAO.phase{dof}(k,i,speed_no) % phases

where speed_no = 1 represents U = 0. For the mean drii forces only surge, sway and yaw
are considered (dof {1,2,3} where the 3rd component corresponds to yaw)

vessel.driifrc.w(k)

% frequencies
vessel.driifrc.amp{dof}(k,i,speed_no)
% amplitudes

It is possible to plot the force RAOs using:

plotTF
plotWD
27

8.2.5 Motion Response Amplitude

Operators
Wave-Frequency Mo;on (1st-order Mo;ons)

M
N

!dof"
! ! ! ! !dof"
#" k , # i $ Ak cos " e #U, " k , # i $t " "! !dof"
#" k , # i $ " $ k
#
w
w
! w
k!1 i!1

!dof"
!dof"
where
|!
w1
#"
k , # i $|
and
!!
w1
#"
k , #
i $ are the mo;on RAO amplitude and phase
for frequency k and wave direc;on i

Total Mo;on

y ! ! " !w #
Sea
state
Hs ,Tz
(wave drii must be added manually in the equa;ons of mo;on)
Wave
spectrum
Wave
amplitude
1st-order waveinduced positions

Motion RAO
Ak
1 A2 ! S!! ""! #
k
2 k
S()
28

8.2.5 Motion Response Amplitude

Operators
Wave-Frequency Mo;ons
The 1st-order wave-induced forces, wave1, are zero-mean oscillatory wave forces.
In a linear system we have:

harmonic mo;ons

!MRB ! A"!#$!" ! B"!#!# ! C! " $wave1 #
! ! !" cos!!t" ! !" Re#ej!t " #

! ! 2 !MRB ! A"!#$!" ! j!B"!#!" ! C!" " #wave1 #

The 1st-order wave response can be evaluated as:

!" ! Hv !j!"#wave1 #
Hv !j!" ! #!! 2 #MRB " A!!"$ " j!B!!" " C$ !1 #

where the transfer func;on is a LP lter represen;ng the vessel dynamics.

Moreover, the 1st-order wave response can be computed by LP ltering the generalized
forces wave1. The linear responses are usually represented by RAOs.

No;ce that the mo;on RAOs depend on the vessel matrices MRB,A(),B() and C while
force RAOs are only dependent on the wave excita;ons.
29

8.2.6 State-Space Models for Wave

Responses

!" ! J!!"#
M"# # C!#"# # D!#"# # g!!" # g 0 ! $ wind # $ wave2 # $ #

y ! ! # !w
tunable gain
Approxima;on 1 (WF Posi;on)
! w ! KHs!s"w!s" #
Approxima;on 2 (Wave Spectrum)

A linear wave response approxima;on for Hs(s) is usually preferred by ship control
systems engineers. Easy to use and easy to test control systems.

No hydrodynamic SW is needed for the price of a tunable gain K which must be
tuned manually to match the response w
30


Responses
Linear Wave Spectrum Approxima;on (Balchen 1976)

K
s PM-spectrum
w
h!s"
!
#

2
S!!" ! A! !5 exp!!B! !4 " #
s " 2!" 0 s " " 20

State-Space Model
x! w1
x! w2
yw !
"
0 1
x w1
!! 20 !2"! 0
x w1
x w2
x w2
0
Kw
w #
x! w ! A w xw " e w w #
y w !c !w xw
31


Responses
32


Responses
Example 8.2 (Linear Models for 1st- and 2nd-order Wave-Induced Forces)
A marine control system can be tested under inuence of wave-induced forces by

separa;ng the 1st- and 2nd-order wave-induced forces. For a surface vessel in 3 DOF
(dof {1,2,6}) the wave forces and moments are:

!1"
K
w s
X
!
w1 " d 1 #
!wave ! !X wave , Ywave , N wave " !

wave
2
!1"
s 2 " 2! !1" " !1"
e s " "e

!2"
K
w s
Ywave !
w2 " d 2 #

!2"
!2" 2
2
!2"
s " 2! " e s " " e

!6"

K
w s
N wave !
w3 " d 3 #

!6"
!6" 2
2
!6"
s " 2! " e s " " e

The wave drii forces di (i=1,2,3) are modeled as slowly varying bias terms (Wiener
processes):
d! 1 " w 4 #
d! 2 " w 5 #
d! 3 " w 6
33

Here wi (i=1,2,...,6) are Gaussian white noise processes.


Current Speed and Direc;on
The current speed is denoted by Vc while its direc;on rela;ve to the moving crai is
conveniently expressed in terms of two angles: angle of aMack c, and sideslip angle c

For computer simula;ons the current velocity can be generated by using a 1st-order Gauss-
Markov Process

V! c " !V c # w #
V min ! V c !t" ! V max #

yb

xb
xflow
xstab
zb
34


Equa;ons of Mo;on including Ocean Currents

MRB !! " C RB !!"! " g!"" " g 0 " MA !!r " C A !!r"!r " D!!r"!r # #wind " #wave " # #
rigid-body and hydrosta;c terms hydrodynamic terms

The generalized ocean current velocity of an irrota;onal uid is:

!c ! !u c , v c , w c , 0, 0, 0" ! #
v bc
!r ! ! ! !c
rela;ve velocity

35


Property 8.1 (Irrotational Constant Ocean Currents)

If the Coriolis and centripetal matrix CRB(r) is parameterized independent of linear velocity
1= [u, v, w]T, for instance by using (3.57):

2 = [p, q, r]T
mS!!2 "
!mS!!2 "S!rbg "

C RB !!" !
#

mS!rbg "S!!2 "
!S!Ib !2 "

and the ocean current is irrota;onal and constant, the rigid-body kine;cs sa;ses
(Hegrens, 2010):

v b !v bc
!r !
#

b
"
MRB !! " C RB !!"! # MRB !! r " C RB !!r"!r #
b/n

Equa;ons of Rela;ve Velocity
36

Property 8.1 can be used to simply the representa;on of the equa;ons of mo;on.
Moreover,
M!!r " C!!r"!r " D!!r"!r " g!"" " g 0 # #wind " #wave " # #

M ! MRB " MA
#

C!!r " ! C RB !!r" " C A !!r " #

Lecture

Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
8.3.1 3-D Irrotational Ocean Current Model

3-D Irrota;onal Ocean Current Model
A 3-D current model is obtained by transforming the current speed Vc from FLOW axes to
NED veloci;es:

V c cos!! c " cos!" c "
Vc

v nc !
#
v nc ! R !y,! c R !z,!"c
#
V c sin!" c "
0

V c sin!! c " cos!" c "
0

Transforma;on from NED to BODY
yb
uc
vc
! R nb !! nb " ! v nc #
wc
!c ! !u c , v c , w c , 0, 0, 0" ! #
xb
xflow
xstab
zb
37


2-D Ocean Current Model
For the 2-D case, the 3-D equa;ons with c = 0 reduces to:

V c cos!! c "

v nc !
#
V c sin!! c "

0

u c ! V c cos!! c ! "" #
V c ! u 2c " v 2c #
v c ! V c sin!! c ! "" #

These expressions are used to compute current forces for ships using:

Current coecients
Cross-ow drag

For underwater vehicles the 3-D representa;on should be used.
38


Example 8.3 (Maneuvering Model)
Consider a linearized maneuvering model in state-space form:

v!
v ! vc
m 11 m 12 0
d 11 d 12 0
b1
Ywind
Ywave

"
# b 2 " " N wind " N wave
#
r
r!
m 21 m 22 0
d 21 d 22 0

0
0
0
!
!!
0
0 1
0 !1 0

v c ! V c sin!! c ! "" #
#
v! c " V! c sin!! c ! "" ! V c r cos!! c ! ""

" !#V c sin!! c ! "" # w sin!! c ! "" ! V c r cos!! c ! "" #

Augmen;ng the current speed to this equa;on gives:

m 11 "V c sin!# c ! !" # m 11 V cr cos!# c ! !" # d 11 V c sin!# c ! !" ! d 11 v ! d 12 r
v!
m 11 m 12 0 0
m 21 m 22 0 0
m 21 "V c sin!# c ! !" # m 21 V cr cos!# c ! !" # d 21 V c sin!# c ! !" ! d 21 v ! d 22 r
r!
"
0 0 1 0
!!
r
0 0 0 1
!"V c
V! c

!m 11 sin!# c ! !"
b1
Y wind
Y wave

!m 21 sin!# c ! !"
b2
N wind
N wave

#
$#
#
#
w
0
0
0
0

0
0
0
1

No;ce that the state-space model is nonlinear.
39


Environmental Forces and Moments

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Environmental Forces and Moments

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Chapter 8 - Environmental Forces and

Chapter 8 - Environmental Forces and

MRB !! " C RB !!"!

" MA !! r " C A !!r"!r " D!!r"!r

" g!"" " g o

8.1.1 Wind Forces and Moments on

# wind angle of aMack

8.1.1 Wind Forces and Moments on

Wind speed (knots)

8.1.1 Wind Forces and Moments on

8.1.2 Wind Forces and Moments on

u 2rw " v 2rw

8.1.3 Wind Coefficients Based on Flow

sin2 !2! w "

sin !2! w "

2. Cargo vessel, loaded

3. Cargo vessel, container on deck 0.85 0.55

4. Container ship, loaded

6. Diving support vessel

1.00 0.701.00 0.751.10 0.10 1.7

13. Research vessel

14. Speed boat

15. Tanker, loaded

16. Tanker, in ballast

#10. Liquified natural gas tanker

11. Offshore supply vessel

#12. Passenger liner

Matlab MSS toolbox

8.1.3 Wind Coefficients Based on Flow

8.1.4 8.1.7 Wind Coefficients

8.1.5 Wind Resistance of Very Large Crude Carriers (OCIMF, 1977)

8.1.7 Wind Resistance of Moored Ships and Floa;ng Structures

8.2 Wave Forces and Moments

The oscillatory component (WF) is usually

8.2 Wave Forces and Moments

8.2 Wave Forces and Moments

8.2 Wave Forces and Moments

Linear wave spectrum

8.2 Wave Forces and Moments

1st-order waveinduced force

1st-order waveinduced positions

8.2.1 Sea State Descriptions

The signicant wave height Hs

One of the following wave periods:

- The average wave period, T

8.2.2 Wave Spectra

If the swell from one storm interacts with the

8.2.2 Wave Spectra

S!!" ! C! !6 exp!!2g 2 ! !2 V !2 " #

lim S!!" ! " g 2 ! "5 #

Bretschneider Spectrum (1959)

Pierson-Moskowitz Spectrum (1963)

Modied Pierson-Moskowitz (MPM) Spectrum (1964)

8.2.2 Wave Spectra

8.2.2 Wave Spectra

In 1968 and 1969 an extensive

Modified Pierson-Moskowitz (PM) spectrum

" " 5. 24/T 1

8.2.2 Wave Spectra

The Torsethaugen spectrum (1996) is

Torsethaugen spectrum: upper plot shows only one peak

8.2.2 Wave Spectra