2.

019 Design of Ocean Systems

Lecture 7

Seakeeping (III)

February 25, 2011

 Motions and Wave Loads on a Barge

z
y

B
x
D

L
Image by MIT OpenCourseWare.

A regular plane progressive incident wave in deep water travels along the x-direction:

I (x, t) = a cos(t kx)

I (x, y, z, t) = ga
ekz
sin(t kx)
To find the wave force and motion of the barge in the vertical direction using long-
wave and strip theory assumptions.
 Heave Wave Excitation on a Barge (I)
FE3 = FI3 + FD3
Using the strip theory (which is valid for B/L << 1), we have:
R L/2 R L/2 R L/2
FE3 = L/2
fE3 (x)dx, FI3 = L/2
fI3 (x)dx, FD3 = L/2
fD3 (x)dx

Froude Krylov force component:

Z B/2
fI3 (x) = PI (x)nz dy
B/2
Z B/2
= (t (x, y, z = D, t)dy
B/2

= BgaekD cos(t kx)

Z L/2
FE3 = fE3 (x)dx
L/2
Z L/2
= BgaekD cos(t kx)dx
L/2

2 kD kL
= gaB e sin cos t
k 2
In the limit 0: FE3 gaBL cos t = g(t)(BL)
 Heave Wave Excitation on a Barge (II)

Long-wave assumption: wave motion is a flow slowly varying in space and time.
The wave diffraction effect is approximated by the added mass effect.

fD3 (x, t) fD3 (x, t) = A2D

33 (x)V (x, t)

V (x, t) = Iz (x, z = D/2, t)

gak kD/2
= e sin(t kx)

V (x, t) = gakekD/2 cos(t kx)

V (t)
fD3 (x, t) = gakekD/2 A2D
33 cos(t kx)

R L/2 kD/2 2D kL
FD3 (t) = L/2
fD3 (x, t)dx = 2gae A 33 sin 2 cos t

In the limit 0: FD3 0

 Heave Wave Excitation on a Barge (III)

FE3 (t) = FI3 + FD3 = gaBe kD

gA2D
33 kae kD/2
k sin kL
2 cos t

Froude Krylov Added mass effect

A2D
33
2
= Ca 2 (B/2) , Ca 1.0

100
Heave force/wave amplitude

Added mass
Fraude-Krylov
Total
50

-50
0 1 2 3 4
Ship length/wavelength

Image by MIT OpenCourseWare.

 Radiation Force

R L/2 2D 2D
Added mass coefficient: A33 = L/2
A 33 (x)dx = LA 33

Wave damping coefficient: B33 0 with long-wave assumption

Radiation force: FR3 = A33 3 (t) = LA2D
33 3 (t)

Restoring Force

FS3 = C33 3 (t) = gBL3 (t)

Equation of Motion
(M + A33 )3 + Bv 3 + gBL3 (t) = FE3 (t)
If Bv =0, 3 (t) = 3 cos(t)

[gaBekD gA2D kae kD/2

]( k2 ) sin kL
3 () = 33
2 (M +A33 )+gBL
2
In the limit 0:

3 = gBLa
2 (M +A33 )+gBL =a

3 (t) = a cos t = (x = 0, t)
Barge responds to move like a fluid particle in the limit of very long wave.

Natural Frequency

n2 (M + A33 ) + gBL = 0
1/2 1/2 1/2
gBL gB g

n = M +A33 = BD+A2D
= D+Ca (/8)B

33

2
Natural period: Tn = n Tn increases with D and B.

For example, for D=20m, B=60m, we have Tn = 13s.

 Sample Results for Heave Motion

Draft: D=12 m
Width: B=40 m

Natural period: Tn= 11.4 s

Bv = 8% critical damping

FE3

RAO
Centre for Marine and Petroleum Technology.
All rights reserved. This content is excluded from
our Creative Commons license. For more
information, see http://ocw.mit.edu/fairuse.
 Pitch Motion and Wave Loads on a Barge
Z L/2
Wave Excitation: FE5 (t) = xfE3 dx
L/2
h iZ L/2
kD kD/2
= gBae gkae A2D
33 [x cos(t kx)]dx
L/2

R L/2
Added mass and wave damping: A55 = L/2
x2 A2D
33 dx , B55 = 0 as 0

Radiation moment: FR5 = A55 5 (t) B55 5 (t)

R
Hydrostatic restoring moment: FS5 = C55 5 (t) = [g(ZB BG ) + g Awp
x2 ds]5 (t)

R L/2
Moment of inertia: I55 = DB L/2
x2 dx

From the equation of motion for pitch, we can get pitch motion: 5 (t) = 5 sin t

5
a = .....
 Sample Results for Pitch Motion

Draft: D=12 m
6000
Width: B=40 m
Added mass
FE5

Pitch moment/wave amplitude

Fraude-Krylov

Bv = 8% critical damping 4000 Total

MN/m

2000

-7000
0 1 2 3 4
Ship length/wavelength

0.9
Pitch angle/wave amplitude

0.6

Degrees/m

0.3

RAO

0
0 1 2 3 4
Ship length/wavelength

Images by MIT OpenCourseWare.

Deck elevation at bow:

ZD = 3 (t) (L/2)5 (t) + H where H is deck height

Bottom elevation at bow:

ZB = 3 (t) (L/2)5 (t) D where D is draft

Wave elevation at bow:

Zw = (x = L/2, t) = a cos(t kL/2)

If ZD < Zw , wave overtoping occurs;

If ZB > Zw , ship bottom is out of water
MIT OpenCourseWare
http://ocw.mit.edu

2.019 Design of Ocean Systems

Spring 2011

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.