Hydrostatic and Stability

of

Floating Structures
IN A NUTSHELL
Compendium
Relevant to Questions in Exam
Robert Bronsart

Version
2.2

Date
November 2013

Comment
minor corrections

Author: Robert Bronsart

Universitt Rostock
Albert-Einstein-Strae 2
18059 Rostock
Germany
email: [email protected]
URL: www.schiffbauforschung.de

Acknowledgements

This document in form of a compendium is identical to chapter 14 of the corresponding text

book on Hydrostatic and Stability of Floating Structures. Many of the discussions are based
on Heinrich Sdings work, which was first published in 1975 as Report No. 11: Schwimmfhigkeit und Stabilitt von Schiffen of the Lehrstuhl und Institut fr Entwerfen von Schiffen
und Schiffstheorie at the University of Hannover.
Eva Binkowski, Lutz Kleinsorge, and Jonas Wagner helped to improve this document by proofreading and giving many suggestions to make the compendium clearer and more useful.
For an extended derivation and discussion of all equations including numerous practical examples, exercises, questionnaires and for a list of symbols please refer to the text book.
Request for Comments

Please help us to improve future editions by reporting any errors, inaccuracies, misleading
or confusing statements and typos. Please let us also know what can be done to make this
compendium more useful to you and your colleagues. We take your comments seriously and
will try to incorporate reasonable suggestions into future versions.

c 2013 Robert Bronsart, Rostock

Copyright
All rights reserved: no part of this publication may be reproduced, stored in any retrieval system, or transmitted in any form by any means, electronic, mechanical, photocopying, recording,
or otherwise without the prior written permission of the author.
Picture credits: flickr-Sweeny (Cover) under the Creative Common license

This document was typeset using LATEX on November 2, 2013.

1 Archimedes Law
For a freely floating object, the following equation representing the Archimedes Law holds:
G = g = = B

[N]

(1)

The gravity G is equal to the buoyancy B! The mass displacement = G/g becomes (with
the displaced volume of the object):
=

[t]

(2)

For the object to be in a state of equilibrium, the moments due to the gravitational force of the
objects mass and the buoyancy must be balanced:

moments about axis = MG + MB = 0 = G G + B B

moments about axis = MG + MB = 0 = G G + B B

G = B

[m]

G = B

[m]

The two coordinate axes and define a plane parallel to the fluid surface. The origin can be
placed anywhere in space and must not necessarily lie e.g. in the water plane or at a specific
point of the object.
For properties specified by an index: the index indicates the direction of the lever, not the
reference axis! Examples: Ry is the resulting moment about the x-axis, Mw is the moment of
the water plane area about the -axis, Ixs is the moment of inertia of the water plane area about
the y-axis which passes through the centroid of the water plane LCF.

Hydrostatic and Stability of Floating Structures

Small Changes in Floating Position: Buoyancy and Gravity

The three relevant degrees of freedom (DOF) in hydrostatic and stability calculations are:

Figure 1: Ship changes in floating position: 3 DOF

For an equilibrium floating condition the force (R ) and moments (R and R ) due to small
changes in any combination of the three DOF (T, , ) can be calculated as:

Aw
Mw
Mw
T
R
I
I

R =
(3)
G

Mw G ( + G )
I
I

R
G ( + G )
Mw
G

Small changes only apply if: {sin, tan}{, } {, }; cos{, } 1 and matrix elements (hull form parameter!) can be assumed constant over T, , !
For symmetrically shaped ships (Mw = I = 0) and a coordinate system identical to the
principle coordinate axes of the water plane (origin at LCF (xw = 0); x-axis in centre line;
y-axis to port side; z-axis upwards) the three equations in (3) simplify to:
Rz = Aw T
[N]
Ixs
+ z zG )
R x = G (

Iys
Ry = G (
+ z zG )

(4)

[ Nm]

(5)

[ Nm]

(6)

Making use of naval architectural notations the two latter equations can be rewritten as:
R x = G ( BM L + KB KG ) = G GM L
Ry = G ( BM + KB KG ) = G GM

[ Nm]
[ Nm]

(7)
(8)

Trim

A positive trim t is given if the local draught at the bow is larger than at the stern. The resulting
moment about the transverse principal axis (through LCF!) can be written as:

t
LA

R x = G GM L = G GM L

t
LA

(9)

University of Rostock

Stability Criteria

With t set to 1, the moment to alter trim one metre becomes (with BM L KG KB):
ET =

GM L

Ixs
Ixs
=
(KB + BM L KG )
BM L =

=
LA
LA
LA
LA
LA

[t]

(10)

4 Stability Criteria
Three equations (1 3) and three inequalities (4 6) have to be fulfilled for every floating
position in a stable equilibrium state:

( 1)
( 2)
( 3)

G = g

( 4)

Aw > 0
Is
+ G > 0

( 5)
( 6)

B B = G G y B = G
B B = G G y B = G

Is
+ G

(
Is

Is 2
)

+ G

>0

For symmetrically shaped ships (Is = 0) the two inequalities (5) and (6) can be rewritten in
naval architectural notation:

( 5)
( 6)

y GM L = KB + BM L KG > 0
y GM = KB + BM KG > 0

(11)
(12)

GM and GM L are defined through the ship hull form, the light ship weight distribution
I
I
and in ship operation through the actual loading condition (KB, KG, BM = s , BM L = s ):
{GM, GM L } = f (hull form, loading condition, vertical centroid light ship weight). In presence of fluid free surfaces in partially filled tanks (T , IFys ) GM has to be corrected (GMR ):
GMcorr =

y GMR = KB +

IFys

IT

T
S

IFys

KG

(13)

The link between the two approaches small 0 and any: The slope of the righting
arm curve at the upright floating position ( = 0) is equal to GM, see also Equation 21.

!
( GZ ) 
= GM > 0


=0

(14)

Stability criteria for a floating position under an upsetting moment (Mk ) expressed by the upsetting arm k = Mk /B: note the fundamental difference between intersections S ( stable)

Ship Design

Hydrostatic and Stability of Floating Structures

(a) Equilibrium angel of heel:

stat

(b) Dynamic stability criterion

Figure 2: Stability criteria righting arm curve

and C ( unstable) shown in Figure 2 (a), yielding the stability criteria:


!
( GZ ) 
k 
>
 = stat
 = stat

(15)

Dynamic stability criteria (energy balance very simplified method): comparison of areas between upsetting (k) and uprighting (GZ) arm curves, neglecting any damping effects, see Figure 2 (b):
Z stat
=0

(k GZ ) d =

Z dyn
stat

( GZ k) d

A1 = A2

(16)

The upper boundary for the integration dyn (at which again = 0 roll motion reversal
point) must lie within the range of stability and has to be less than the angle of downflooding
( f ) preventing progressive flooding, see also Figure 7. Damping (energy dissipation) due to
generated waves, friction and vortexes (e.g. by bilge keels) results in A2 is smaller than A1 .

Inclining Test

The results of an inclining test are: 1) the actual KG in light ship condition and 2) the maximum
deadweight (considering maximum draught and freeboard).
Ry = G GM = G (KB + BM KG )

(see equations 3 6 8)

= (KB + BM KG )

1
1

KG = KB + BM
}
(= g)
{z
|
| {z }
to be calculated

actual value for !

Ry

|{z}

(17)

from measurements

The accuracy of the KG value is essential for stability calculations (GM and righting arm GZ),
the maximum deadweight verification is essential for the contract fulfilment.

University of Rostock

Cross Curves of Stability

6 Cross Curves of Stability

R = B B G G = G (B G ) = G (KN G )

(18)

B (often called KN) is the transverse location of the centroid of displaced volume measured
in a coordinate system parallel to the fluid surface with an origin at the intersection of the centre
line CL and the base line BL at (K), see Figure 3. The function of KN for a constant angle of heel
but a varying displaced volume is called Cross Curve of Stability.
Very much simplified calculation based on Wall Side Formula. Factor ( 0.6 . . . 1) expresses
the effect of a hull form not being wall sided:
1
KN = (KM + tan2 BM) sin
| 2 {z
}

(19)

form effect

Figure 3: Vessel with larger angle of heel: location of G , B = KN and distance GZ

7 Righting Arm Curve

Two moments due to gravity and buoyancy yield the righting arm: the distance measured
parallel to the water plane between the two vectors of the gravity and buoyancy, see Figure 3.
GZ = B G = KN G
The transverse location of the centroid of mass (G ):
G = yG cos + zG sin = yG cos + KG sin

y
R = G GZ = G (KN G ) = G (KN KG sin ) G yG cos
{z
} |
{z
}
|
GZ

Ship Design

y G 6 =0

Hydrostatic and Stability of Floating Structures

Figure 4: Righting arm curve over a full range of

With a symmetrical mass distribution ( yG = 0) the righting arm GZ ( ) is, see Figure 3:
GZ = KN KG sin

(20)

The righting arm curve shows the righting arm for a specific ship ( hull form) under a
specified loading condition ( KG, hull form and floating position KN) over the heeling
angle . The slope of the righting arm curve at the upright floating position ( = 0) is equal to
GM. Without upsetting moments, stable floating positions are defined by (, , ):


!
!
( GZ ) 
( GZ ) 
>0
(21)
= GM > 0 yields more general
 =0
GZ=0
The second intercept defines the vessels range of stability. The third intercept is at
= 180 only if the ship is symmetrical to the centre plane with respect to its watertight shape
(superstructures!) and the mass distribution. The two curve segments R0 between and
and between and are identical. The floating position and are identical, like and .
At , and the adjacent curve segments are point reflected at these intercepts.
Righting arm curve as function of hull form (A, B) in waves (head or following sea condition):

Figure 5: Heeling and righting arm curves of two hull forms in longitudinal waves
The righting arm curve becomes a function of time: fluctuating between two pronounced conditions: wave trough and crest condition, both refer to the wave height at midships ( L pp /2).

University of Rostock

Heeling Moments

8 Heeling Moments
Main reasons for heeling moments are: transverse shift of loads, crowding of people, partially
filled tanks (see additional GM reduction!), wind, waves (most important but not considered
here), turning, towing and anchoring.

9 IMO Intact Stability Code

All criteria have to be checked for well defined loading conditions. In the calculations for the
evaluation of the general intact stability criteria (1a 4 in Figure 6) the GZ-curve is referring
to calm water conditions: no waves are considered.

Figure 6: IMO IS Code: General intact stability criteria for all ships
The ability of a vessel to withstand the combined effects of beam wind and rolling is to be
demonstrated: the weather criterion which however also refers to the calm water GZ-curve,
see Figure 7. The underlying assumption: the ship rolls from angle 0 to 1 to 2 : A2 A1 .

Figure 7: IMO IS Code: Severe wind and rolling criterion: weather criterion

Ship Design

Hydrostatic and Stability of Floating Structures

10

Hull Form Properties

In the following, the index S refers to properties calculated based on mould line data, properties without an index include the approximated shell plating.

Figure 8: Coordinate system to calculate hull form properties

A X ; A M [m2 ] y Area of hull cross section at any x = const; midship hull cross section
AX (T ) = 2

Z T
0

yS ( T ) dz


A M ( T ) = A X ( T ) x= L

p p /2

CX ; C M [-] y Section coefficient at A X ( T )max ; midship section coefficient

CX ( T ) =

A X ( T )max
B( T ) T

CM (T ) =

A M (T )
B( T ) T

Aw [m2 ] y Water plane area at any z = T = const

AWS ( T ) = 2

yS ( x, T ) dx

AW ( T ) 1.004 AWS ( T )

CWP [-] y Water plane area coefficient at any z = T = const

CWP ( T ) =

AWS ( T )
Lwl ( T ) B( T )

LCF, XW [m] y Longitudinal centre of floatation

R
2 l x yS ( x, T ) dx
LCFS ( T ) = XWS ( T ) =
AWS

LCF ( T ) LCFS ( T )

[m3 ] y Displaced volume

S ( T ) = 2

Z Z T
l

yS ( x, z) dzdx =

AS ( x, T ) dx =

Z T
0

AWS (z) dz

CW L 1.005 SCW L

University of Rostock

Hull Form Properties

CB [-] y Block coefficient

CB ( T ) =

S ( T )
L pp B( T )) T

CP [-] y Prismatic coefficient

CP ( T ) =

c (T )
S ( T )
= B
A X ( T )max L pp
cX (T )

[t] y Displacement
( T ) = sea ( T )

( T ) 1.025 ( T )

( T ) 1.03 S ( T )

LCB [m] y Longitudinal centre of buoyancy

LCBS ( T ) =

x AS ( x, T ) dx
=
S ( T )

RT
0

xW (z) AWS (z) dz

S ( T )

LCB LCBS ( T )

KB [m] y Vertical centre of the displaced volume

KBS ( T ) =

RT
0

z AWS (z) dz
S ( T )

KB( T ) 0.998 KBS ( T )

KM [m] y Metacentre

R 3
2
y ( x, T ) dx
IyS ( T )
KMS ( T ) = BM ( T ) + KBS ( T ) =
+ KBS ( T ) = 3 l
+ KBS ( T )
S ( T )
S ( T )


IyS ( T )
Iy ( T )
2 ACW L
KM ( T )
+ KB( T )
1+
+ KB( T ) 1.012 S
( T )
CW L
( T )
KM L [m] y Longitudinal Metacentre
KM LS ( T ) = BM L ( T ) + KBS ( T ) =

2 (T ) A (T )
I x ( T ) xW
WS
S

S ( T )

2 (T ) A (T )
x2 y( x, T ) dx xW
WS
S

KM L ( T ) 1.004

S ( T )

+ KBS ( T )

Ix S ( T )
+ KB( T )
( T )

ET [t]y Moment to alter trim one unit

ETS ( T ) =

Ship Design

Ix S ( T )
LA

ET ( T ) 1.004 ETS ( T )

+ KBS ( T )

10

Hydrostatic and Stability of Floating Structures

List of Symbols and Acronyms

For SI-units holds:

Dimension symbol

Unit symbol

L
M
T

m
kg
s

A
ACW L
CW L
F
S

L3
L3
L3
L3
L3
L3

M/( L2 T 2 ) specific weight (unit weight) ( = g)

GM

R x
Ry
Rz
T

M
L

ML/T 2
ML2 /T 2
ML2 /T 2
L

displacement ( = )
change of metacentric height
small rotation about or x-axis resulting in heel
small rotation about or y-axis resulting in trim
small change of moment about principle transverse axis
small change of moment about principle longitudinal axis
small change of force in vertical direction
small translation in vertical direction: change of draft

B
G

L
L
L

coordinate value in direction of -axis, here for ships upwards

centroid of buoyancy in direction of -axis
centroid of gravity in direction of -axis

, ,

B
G
w

L
L
L
L

coordinate system related to the fluid surface,

, define plane parallel to fluid surface, orthogonal to fluid surface
coordinate value in direction of -axis, here for ships to portside
centroid of buoyancy in direction of -axis
centroid of gravity in direction of -axis
centroid of water plane in direction of -axis

expresses the effect of a hull form not being wall sided

B
G
w

L
L
L
L

coordinate value in direction of -axis, here for ships in longitudinal direction

centroid of buoyancy in direction of -axis
centroid of gravity in direction of -axis
centroid of water plane in direction of -axis

air
F
S
T
W

M/L3
M/L3
M/L3
M/L3
M/L3
M/L3

density of fluid, not further specified

density of air ( 1.25 kg/m3 )
density of fresh water, in naval architectural calculations taken as 1000 kg/m3
density of sea water, in naval architectural calculations taken as 1025 kg/m3
density of fluid in tank, not further specified
density of water, not further specified

dyn
list
stat
statmax
f

1/T

angle of rotation about x-axis (-axis) heel

dynamic heeling angle
angle of list
static heeling angle
maximum static heeling angle
angle of downflooding
roll velocity

displaced volume
displaced volume of shell plating
displaced volume of shell plating at design draft
displaced volume at design draft
displaced volume in fresh water
displaced volume on moulded lines; displaced volume in sea water

University of Rostock

List of Symbols and Acronyms

1/T 2

roll acceleration

angle of rotation about y-axis (-axis) trim

6-DOF
A
AM
AW
AWS
AX ,
B
B
B

six degrees of freedom: 3 translations and 3 rotations

L2
L2
L2
L2
L2
ML/T 2
L

BL

BM
BM L
CL

L
L

area
area of immersed hull cross section at midship position
water plane including approximated shell plating
water plane on mould lines
area of immersed hull cross section at position x
buoyancy force
ship moulded breadth
symbol for centroid of buoyancy
base line
vertical distance of M from B, (transverse) metacentric radius
vertical distance of M from B, longitudinal metacentric radius
centre line
water line at design draft
block coefficient
(midship) section area coefficient
prismatic coefficient
water plane coefficient

CWL
cB
c X (c M )
cP
cW P

D
DOF

ship moulded depth

degree of freedom to translate or rotate an object

E30
E40
E3040
ET

L rad
L rad
L rad
M

area under righting arm curve in range of 0 30

area under righting arm curve in range of 0 40
area under righting arm curve in range of 30 40
moment to alter trim by one meter

G
G
GM

ML/T 2

GMR
GM0
GM L

L
L
L

GZ
GZcorr
GZcw
GZcrest
GZmax
GZtrough
g

L
L
L
L
L
L
L/T 2

gravity
symbol for centroid of mass distribution
vertical distance between G and M, (transverse) metacentric height
(GM = KB + BM KG = KM KG = GZ/( = 0))
reduced metacentric height: including free surface correction
initial metacentric height
vertical distance between G and M L , longitudinal metacentric height
(GM L = KB + BM L KG = KM L KG)
righting arm ( Z)
GM correction due to partially filled tanks
righting arm curve in clam water
righting arm curve for wave crest at midships
maximum righting arm
righting arm curve for wave trough at midships
gravitational acceleration constant (9.81m/s2)

I
I S
I
I S
I
IS
IFys
Ix
Ix S
Ixy

L4
L4
L4
L4
L4
L4
L4
L4
L4
L4

water plane moment of inertia about -axis

water plane moment of inertia about the principle -axis
water plane moment of inertia about -axis
water plane moment of inertia about the principle -axis
water plane product moment of area, in - coordinate-system
water plane product moment of area, about principle - co-system
moment of inertia of free fluid surface in transverse direction
water plane moment of inertia about y-axis
water plane moment of inertia about the principle y-axis
product moment of water plane,

Ship Design

11

12

Hydrostatic and Stability of Floating Structures

IxyS
Iy
Iy S

L4
L4
L4

IL
IT
IMO
IS-Code

L4
L4

KB
KG
KM
KM L
KN ( )
k

L
L
L
L
L
L

L
LA

L
L

L pp
Loa
LW L
LCB
LCF

L
L
L
L
L

LCG
L
LLC66/88
lw{1,2}
L

product moment of water plane in principle X-Y co-system

water plane moment of inertia about x-axis
water plane moment of inertia about the principle x-axis
in x-y coordinate-system
water plane longitudinal moment of inertia
water plane transverse moment of inertia
International Maritime Organization
Intact Stability Code of the International Maritime Organization
Keel point: the intersection of centre line CLand base line BL
in a 2D section view
vertical distance of B from K: position of vertical centroid of buoyancy
vertical distance of G from K: position of vertical centroid of mass
vertical distance of M from K: (transverse) metacentre
vertical distance of M L from K: longitudinal metacentre
cross curve of stability (= B ( ))
heeling arm (Mk /B)
ship length, not further specified
distance between aft and forward draft marks,
measured in the ship longitudinal direction
ship length between perpendiculars
ship length over all
ship waterline length (= f ( T ))
longitudinal centroid of buoyancy in longitudinal direction
longitudinal centre of floatation,
centroid of water plane in longitudinal direction
longitudinal centre of gravity, centroid of mass in longitudinal direction
International Load Line Convention, IMO Safety Regulation
wind heeling lever, defined in the IS-Code weather criterion

M
M
MB{ x,y}
MB{, }
MG{ x,y}
MG{, }
Mk
ML
MP
MSTn
MT
MY
MW0
Mw{ x,y}
Mw{, }
m

L4
ML2 /T 2
ML2 /T 2
ML2 /T 2
ML2 /T 2
ML2 /T 2

ML2 /T 2
L3
ML2 /T 2
ML2 /T 2
ML2 /T 2
L3
L3
M

(transverse) metacentre (location on centre line)

vertical moment of displaced volume ( M = B )
moment of buoyancy force about y-axis, about x-axis
moment of buoyancy force area about -axis, about -axis
moment of gravity force about y-axis, about x-axis
moment of gravity force area about -axis, about -axis
upsetting, heeling moment
longitudinal metacentre (location on centre line)
heeling moment due to crowding of people
vertical moment of immersed part of a station n
heeling moment due to turning or due to towing hawser
yawing moment
heeling moment due to wind in upright position
moment of water plane about y-axis, about x-axis
moment of water plane about -axis, about -axis
mass

in a 2D section view: intersection of line through K parallel to the water surface

and the action line of the buoyancy vector

PORT, PS
R

port side
ML2 /T 2

STB, STBD
T

moment about principle longitudinal axis ()

starboard side

moulded draft

University of Rostock

List of Symbols and Acronyms

TAP
TCW L
TSCL
TFP
TCB

L
L
L
L
L

TCF

TCG

moulded draft at aft perpendicular

moulded design draft
moulded draft for calculation of scantlings, larger than TCW L
moulded draft at forward perpendicular
transverse centre of buoyancy, centroid of buoyancy in transverse direction,
equal to zero for symmetrically shaped ship hull forms floating without list
transverse centre of flotation, centroid of water plane area in
transverse direction
transverse centre of gravity, centroid of mass in transverse direction,
equal to zero for symmetrically designed ships
trim (TFP TAP )

x
xB
xG
xW

L
L
L
L

x-coordinate in (ship) longitudinal direction

centroid of buoyancy in longitudinal direction (LCB)
centroid of gravity in longitudinal direction (LCG)
centroid of water plane in longitudinal direction (LCF)

y
yB
yG
yW
yW L

L
L
L
L
L

y-coordinate in (ship) transverse direction

centroid of buoyancy in transverse direction
centroid of gravity in transverse direction
centroid of water plane in transverse direction
distance from centre plane to local breadth of water plane (= f ( x, T, t)

z
z
zB
zG
zM

L
L
L
L
L

in a 2D station view: intersection of line through G parallel to the water surface

and the action line of the buoyancy vector ( GZ)
z-coordinate in (ship) vertical direction
centroid of displaced volume in vertical direction
centroid of buoyancy in vertical direction
centroid of gravity in vertical direction
location of metacentre in vertical direction

Ship Design

13

Lehrstuhl Schiffbau