CAMS - M6 - FD - Seakeeping Models-1
CAMS - M6 - FD - Seakeeping Models-1
CAMS - M6 - FD - Seakeeping Models-1
Frequency Domain
(Module 6)
Dr Tristan Perez Prof. Thor I Fossen
Centre for Complex Dynamic Department of Engineering
Systems and Control (CDSC) Cybernetics
Linear means that the loads and the motion are proportional to the
wave amplitudes.
Loads
waves Linear Linear eq Motion
Loads of motion
Nonlinear
Loads
The hydrodynamic problem of obtaining loads and motion for sinusoidal waves
can be separated into two sub-problems:
Excitation problem: The ship is restrained from moving and kept in its mean
position, and the excitation loads are obtained as a result of changes in
pressure due to the incoming waves.
Radiation problem: The ship is forced to oscillate in calm water in each DOF
with a frequency equal to the wave excitation frequency.
Φ rad = ∑ j =1 Φ j
6
∇ 2Φ rad = 0
⎧ ⎛ ∂Φ rad ⎞ 1-surge
⎪⎪ − ∫∫Sw ⎜⎝ ∂t ⎟⎠ (n )i ds i = 1,2,3. 2-sway
3-heave
τ rad ,i =⎨
⎛ ∂Φ rad ⎞ 4-roll
⎪−
∫∫ ⎜ ⎟ (r × n )i −3 ds i = 4,5,6. 5-pitch
⎪⎩ Sw
⎝ ∂t ⎠ 6-yaw
ξi = ξ cos(ω t )
Aij (ω ) = Aji (ω )
Bij (ω ) = B ji (ω )
τ exc
Force RAO Force to Motion
RAO
Motion RAO
G( jω ) := [ −ω 2 [M RB + A (ω )] + jω B(ω ) + G]−1
F( jω ) = [F1 ( jω ), F2 ( jω )K, F6 ( jω )]
T
Sττ ,i (ω ) = Fi ( jω ) Sζζ (ω )
2
Sξξ ,i (ω ) = H i ( jω ) Sζζ (ω )
2
2
τ nmi = 2 Fi ( jω ,U , χ ) Sζζ ( jωn* , χ m* ) Δω Δχ
*
n
*
m
⎛ * (ωn* )2U ⎞
ϕ nmi = arg Fi ( jω ,U , χ )
* *
ωe,n ⎜
= ωn − * ⎟
cos χ m
n m
⎜ g ⎟
⎝ ⎠
∂φ ρ
p + ρgz + ρ + ∇φ ⋅ ∇φ = C
dt 2
Then,
T jkic (ω j , ωk ) T jkis (ω j , ωk )
N N
Fi SV = ∑∑ ζ jζ k [T jkic cos([ω j − ωk ] t + [ε j − ε k ])
j =1 k =1
• A(w), [A(∞)]
• Hull geometry
• B(w), [B(∞)]
• Loading condition
• 1st order force FRF
• Environment (frequencies)
• 2nd order force FRF
• Calculation settings
• Motion FRF
• Additional damping and spring to
represent PD controller, mooring, or
linear viscous damping.