486 M a r i t i m ee n g i n e e r i nrge f e r e n cbeo o k

power augment in waves will be able to maintain

tighter schedules or will have a lower fuel bill. In
extreme cases.the seakeepingqualities of a ship may
determine its abiliry to make a given voyage at all,
Good seakeeping is clearly desirable, but the
difficulty lies in determining how far other design
featuresmust, or should, be compromised to improve
seakeeping.This will depend upon each particular
design, but it is essentialthat the designer has some
means of judging the expected performance and the
effect on the ship's overall effectiveness. Theory,
model experiment and ship trial all have a part to
p l a y .B e c a u s eo f t h e r a n d o mn a r u r eo l l h e s e ai u r f a c c Translatbn Axis Desr:ription Positive
in which the ship operates,considerableuse is made 0r rot0tion SENSC

of the principles of statistical analysis.

f'ranslation Along -r Surge Forwards
Having improved the physical response Along_r, Sway To starboard
characteristics of a ship in waves the overall
Along z Heave Downwards
effectiveness of a design may be further enhance<J
Rotation About -r Roll Starboard
by judicious siting of critical activities and by fitting
side down
control devices such as anti-roll stabilizers.
About 1 Pitch Bow up
As with so many other aspects of ship design a Aboutz Yaw Bow to
rigorous treatment of seakeeping is very complex starboard
and a number of simplifying assumptionsare usually
made. For instance, the ship is usually regarded F i g u r e7 . 1 S h i pm o t i o n s .
as responding to the waves as a rigid body when
assessing motions and w€tness although its true
nature as an elastic body must be taken into account
in a study ofstructure, Bishop and Price (1979). In opposed by a force or moment provided the shrn .-
the same way it is instructive, although not correct, stable in that mode. The magnitude of the opposiiio:
to study initially the response of a ship to regular increases with increasing displacement from rhr
long-crestedwaves ignoring the interactionsbetween equilibrium position, the variation being linear t,:
motions, for example when the ship is heaving the small disturbances.
disturbing forces will generate a pitching motion. This is the characteristic of a simDle snn:.:
This very simple approach is now dealt with before s y s t e m .T h u s . i r i s r o b e e x p e c t e dr h a t t h e . q , . , a , , . ,
c o n s i d e r i n gc o u p l e dm o r i o n s . g o v e r n i n gt h e m o t i o n o f a s h i p i n s t i l l w a t e r ,u l r : ,
is subject to a disturbance in the roll, pitch or he.r._
modes, will be similar to that governing the mor:, -
of a mass on a spring. This is indeed the case.l:..1
7.2 Ship motions for the undamped case the ship is said to move \\ --
simple harmonic motion.
7.2.1Degrees
of freedom Disturbances in the yaw, surge and sway mrrc:.
A floating body has six degrees of freedom. In will not lead to such an oscillatory motion and rh.-,.
order to completely define the ship motion it is motions, when the ship is in a seaway,exhibit a dillirr, ,
necessaryto consider movements in all these modes characterto roll, pitch and heave.Theseare considc.::,
as illustrated in Figure 7.1. The motions are defined separatelyand it is the oscillatory motions which ,,:,
as movements of the centre of gravity of the shrp dealt with in the next few sections. lt is convenier:: ,
and rotations about a set of orthogonal axes through consider the motion which would follow a disturba:
the centre of gravity, G. These are space axes in still water, both without and with damping. b..:' ,.
moving with the mean forward speed of the ship but proceeding to the more realistic case of motionr ,
otherwisefixed in space. waves.
It will be noted that roll and pitch are the dvnamic
equivalentsof heel and trim. Translationsalone the
,r- and y-axis and rotation about the z-axis leid to
no residual force or moment, provided displacement 7,2.2 Und,amped motion in still water
remalns constant,as the ship is in neutral equilibrium. It is assumedthat the ship is floating fieely in still u .,:_-
For the other translation and rotations, movement is when it is suddenly disturbed. The motion follor,, , _

,-d--d
 Seakeeping 487

the removal of the disturbing force or moment is now with the ship, see Section1.2.11.2.Added mass
srudiedfor the threeoscillatorymotions. values vary with frequencybut this variation can
often be ignoredto a first order.Typicallythe effect
increasesk- by about 5%
7.2.2.1 Rolling Hence
Let r.r be the inclination of the ship to the vertical
-, I (7.4)
at any instant. The moment, acting on a stable ship. Y -

will bc in a sensesuch as to decreaseo. For small

(GM)'
valuesof o,
Thus the greater is GM, i.e. the more stable the ship,
moment: -AGMo the shorter the period and the rnore rapid the motion.
'stiff'
A ship with a short period is said to be
compare the stiff spring and one with a long period
-J,pt - is said to be
'tender'.
Most people find a long period
t t roll less unpleasantthan a short period rol1.
I
I Pitching
This is analogous to ro11and the motion is governed
bv the equation

t!.l'oY,l, : o (7.5)
dtz A'i I )
,

Figure7.2 Rolling, andthe periodof the motionis

2rk.^,
T o : - - - - " , f o r v e r y s m a l l a n g l e s o f p i t c(h7.. 6 )
Applying Newton's laws of motion (gGMr.)'
moment : (moment of inertia about 0x)
(angularacceleration)
7.2.2.2Heaving
l e.
Let z be the downwarddisplacement of the ship at
\ d2t any instant.The force acting on the ship tends to
- \ G M o - - A i ,'.'' t-r t \
* O,' rcducez andhasa magnitude F, givenby

- tu-
f _
- ( 7. 1 )
u
d2,r I cHal
: + l e _ l n : l l (7.2)
ot' ri. J
l -
where u is the reciprocal weight density of the water.
) I
Hence, the heaving motion is governed by the
F equation
l This is the differential equation denoting simple
l harmonic motion with period I,, where A d2z
t _ _Awz
g dt2 Ll
tl
(7.3)
t or
b
It
It will be noted that the period of roll is independent dlz-gl$,__n
- t - a - v (78)
of o and that this will hold as long as the dtt uL.
approximation GZ : GMo applies, i.e. typically up
to + l0 degrees.Such rolling is termed isochronous. from which
In practice k., must be increased to allow for
what are usually termed 'added mass'effects due to r ^ ,i
l/'-\
tt motion induced in the water aithough this does not peiloo:zrl
^ |
, I
|
(7.e)
ti mean that a specific body of water actually moves l8ru l
 488 M a r i t i m ee n g i n e e r i nrge f e r e n cbeo o k

A may be effectively increased by a significant When the damping is not proportionalto thc angular 7.
amount (perhapsdoubled)by the 'addedmass'effect. vclocity the differcntialcquationis no longercapable
ofready solution. 7.
In
S\
7.2.4 Approximate period of roll
c1
Of the various ship motions the roll period is likely l.t'.
to vary most from design to design and. because of a:
the much greaterarnplitudespossible,it is often thc r;
rnost significant. Various approxirnatefbrmulac havc T:
bcen suggestedfor calculating the period of rol!.
u s i n gE q u a t i o n( 7 . 3 ) i n c l u d i n g : tr:

I:
K h,
I - / 7 (7.t21
(gGM)' TJ

Figure7.3 Heaving. Suggested values of K fbr merchant ships and

w a r s h i p sa r e g i v c n b 1 t h e r e s p c c t ier e x p r e s s i o n s : T

7.2.3 Damped motion in still water

Now consider what happens when thc motion is Mert:hunt ships
damped. It is adequate to illustrate thc effect of
d a m p i n go n l h e r o l l i n g m o r i o n . t K \ 2 |
Only the simplest case of damping is considered
F c B c . , ,t r. l o c , .-(ct B )
l;l
herc namely, that in which the damping moment
varies linearly with the angular velocity. It opposes l ! - r r r l * ! :B] t ( 7 . 1)3
the motion since encrgy is always absorbed. lr )
Allowing for the entrained water thc equation for
rolling in still water becomes whcre
I
C" - upper deck area coeff : ldeck area)
LB
-ki,(l + n,,)o i Boi AGMo - 0 (7.10)
I H - effectivedepthof ship : D I l/I,n,.
I - projected lateralareaoferectionsanddcck
where Z n n: L.B.P
I: meanmouldeddraught
Ar? F-
i d,,, : augmentof rolling inertia constant: 0.125 for passcnger and cargo
8 of ship due to entrained water ship,
B - damping constant. - 0 . 1 3 3f o r o i l t a n k c r s ,
: 0 . 1 7 7f o r w h a l e r s .
This can be likened to the standard differential
equatlon
Warships
n L 2k-,,,- t(,' 0
(x\t I
where l;l F C B C -, , l . l 0 c . ( t - ( B )
\ D I
. -* 9 G M -
*'i
l';,{l* o,.,.)
and
ln' - zzol+
lil (7.14)

t
12.,
uX
rr ) Bil
2c",oAi3,(l
+ rr,,) where
Bu : max. breadth under water;
which in turn definesthe effectiveperiod 1., of the
C" : exposed deck area coeff.;
motionas
H,-D+A,l Lpp
r ',1 D : depth from top ofkeel to upper deck;
l l | _ o ff l ' 1,, : sum of the projected lateral areas of
To-'^ ( 1- t r 2 ) - j - 1-L
''I
I I
( t-frr1:
s0 oGM I forecastle,under bridge and gun;
F-:constant ranging from 0.172 for small
( 7 .rr) warshipsLo0.117 for largewarships. Fis
 Seakeeping 489
7.2.5 Motion in regular waves
that the ship is acted on by a resultant force normal
7.2.5.1 Assumptions to an 'effective wave surface' which takes into
account all the sub-surfaces interacting with the
In Chapter 1, it is explained that the irregular wave
ship. Froude used this idea and further as-sumedthat
systems met at sea can be regarded as made up of
the 'effective wave slope' was that of the sub_surface
a large number of regular components. a stript
pa:s]ng through the centre ofbuoyancy ofthe
motion record rvill exhibit a similar irregularrry ship.
With this assumption it can be shown t'hat,
and it can be regarded as the summation of tire shio
approxrmately,the equation of motion for undamoed
responsesto all the individual wave componenti.
r o l l i n g m o t i o n i n b c a r ns c a sb e c o m c s
Theoretically, this super-position procedure is valid
only for those sea states for which the linear theorv
of motions is applicable, i.e. for moderate sea stateJ. (7.t5)
It has been demonstrated by several authorirres,
howeveq that provided the basic data is derived from where o' : osin;/; o : maximum slope of the
relatively mild regular components, the technique surface wave, LL': frequency ofthe surface wave.
can be applied, with sufflcient accuracy for most If o6 and *16are the amplitude and frequency of
engineeringpurposes,to more extreme conditions. unresistedrolling in still water, the solution to this
Thus, the basic element in ship motions is the equation takes the form
responseof the ship to a regular train of waves. For
mathematical convenience, the wave is assumed to
have a sinusoidal profile. The characteristicsof such o : - - os.i n ( o , +
o ,t J ) + j 3 , r i n r , (7.t6)
a systemare dealt with in Chapter l. @'0- .l'

In the simple approach.it is necessaryto assume The first term is the free oscillationin still water
that the pressuredistribution within the wave svstem andthe secondis a forcedoscillationin the periodof
is unaffected by the presenceof the ship. This is one the wavetrain.
of the assumptionsmade by William Froude in his The amplitudeof the forcedoscillationis
ship rolling and is commonly known as
:!udy.of
'Froude's
Hypothesis'. u&,o'
w
, 02 _@ . 2

7.2.5.2 Rolling in a beam sea When the period of the wave system is less
.
than..the natural period of the ship (*,> *p),
The equation for rolling in still water is modified the
amplitude is negative which means that the
by. introducing a forcing function on the right_hand ship
rolls into the.wave lFigure 1.4(a)).When the period
sloe ot the equation. This could be obtained by o.I tne wave ls greater than the natural period of the
calculating the iydrodynamic pressure acting on ship, the amplitude is positive and the ship rolls
each element of the hull and integrating ovei the wrth the wave (Figure j.4(b)). For very long wavcs,
complete wetted surface. r.e. ., very small, the amplitude tends to o and the
The resultant force acting on a particle in the ship remains approximately normal to the wave
surface of a wave must be no.aui to the wave surface. When the frequencies of the wave and
surface. Provided the wave length is long compared shrp
are close the amplitude of the forced oscillation
with the beam of the ship, it is reasonabli to asiume becomesvery large.

(b)

Figure 7.4 Rolling in a beam sea.