The Dynamics Of Marine Craft · 10.2 Stability of a towed or moored ship CHAPTER 6 DYNAMICS OF HIGH...
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List of Chapters: PREFACE CHAPTER 1 DYNAMICS OF RIGID BODIES 1. Coordinate Systems and Definitions 2. Angular Displacements and Coordinate Transformations 3. Velocity and Acceleration 4. Equations of Motion: Origin at the Center of Mass 5. Equations of Motion: Origin at an Arbitrary Point 6. A Third Coordinate System CHAPTER 2 CALM WATER BEHAVIOR OF MARINE VEHICLES AT ZERO SPEED: HYDROSTATICS 1. Gravity and Buoyancy 2. Small Perturbations 3. The Restoring Force Coefficeentnt Matrix 4. Hydrostatic Stability 5. Example: Hydrostatics of a Simple Barge CHAPTER 3 CALM WATER BEHAVIOR OF MARINE VEHICLES WITH FORWARD SPEED: MANEUVERING 1. Equations of Motion 2. Added Mass and Added Moment of Inertia 2.1 Evaluation of added mass coefficients: Hull 2.2 Shallow water effects 2.3 Evaluation of added mass coefficients: Appendages 2.4 Calculation of added mass: Example 3. ‘Steady” Forces and Moments 4. Evaluation of Steady Force and Moment Coefficients:Hul 4.1 Linear coefficients 4.2 Nonlinear coefficients 5. Contribution of Appendages 6. Shallow Water Effects 7. Resistance and Thrust 7.1 Resistance 7.2 Thrust 7.3 Propeller shaft speed 7.4 Other operating regions 7.5 Waterjets 8. Control Forces and Moments 8.1 Rudders 8.2 Propeller-Rudder-Hull interaction 8.3 Vectored thrust 8.3.1 Azimuthing thrusters 8.3.2 Waterjets 8.4 Control forces and moments 9. Wind and Current Effects 9.1 Wind 9.2 Current 10. Solution of the Equations of Motion 10.1 General case: Numerical integration 10.2 Solution of the linearized equations; stabiility 10.2.1 Horizontal-plane motions 10.2.2 Example: Controls-fixed stability for horizontal-plane motions 10.2.3 Vertical-plane motions of submersibles 10.2.4 Example: Controls-fixed directional stability for vertical-plane motions 10.2.5 Heavy torpedoes APPENDIX A PREDICTION OF WAKE FRACTION AND THRUST DEDUCTION APPENDIX B COEFFICIENTS IN KT and K, POLYNOMIALS APPENDIX C ROUTH-HURWITZ STABILITY CRITERION CHAPTER 4 WATER WAVES 1. A Simple Sinusoidal Wave 1.1 Particle velocities and trajectories; dynamic pressure 1.2 Standing waves 1.3 Group velocity and wave energy 1.4 Application: Wave shoaling 2. Forces and Moments 2.1 Some analytical solutions 2.2 Morison’s formula 3. Nonlincar Wavc Theory 3.1 Stokes theory 3.2 Limitations of Stokes theory 3.3 Wave breaking The Dynamics Of Marine Craft Maneuvering and Seakeeping
Transcript of The Dynamics Of Marine Craft · 10.2 Stability of a towed or moored ship CHAPTER 6 DYNAMICS OF HIGH...
List of Chapters:
PREFACECHAPTER 1 DYNAMICS OF RIGID BODIES1. Coordinate Systems and De� nitions 2. Angular Displacements and Coordinate Transformations3. Velocity and Acceleration4. Equations of Motion: Origin at the Center of Mass 5. Equations of Motion: Origin at an Arbitrary Point 6. A Third Coordinate System
CHAPTER 2 CALM WATER BEHAVIOR OF MARINE VEHICLES AT ZERO SPEED: HYDROSTATICS
1. Gravity and Buoyancy 2. Small Perturbations 3. The Restoring Force Coef� ceentnt Matrix 4. Hydrostatic Stability 5. Example: Hydrostatics of a Simple Barge
CHAPTER 3 CALM WATER BEHAVIOR OF MARINE VEHICLES WITH FORWARD SPEED: MANEUVERING 1. Equations of Motion2. Added Mass and Added Moment of Inertia
2.1 Evaluation of added mass coef� cients: Hull 2.2 Shallow water effects2.3 Evaluation of added mass coef� cients:
Appendages 2.4 Calculation of added mass: Example
3. ‘Steady” Forces and Moments4. Evaluation of Steady Force and Moment
Coef� cients:Hul4.1 Linear coef� cients4.2 Nonlinear coef� cients
5. Contribution of Appendages 6. Shallow Water Effects 7. Resistance and Thrust
7.1 Resistance 7.2 Thrust7.3 Propeller shaft speed7.4 Other operating regions7.5 Waterjets
8. Control Forces and Moments 8.1 Rudders8.2 Propeller-Rudder-Hull interaction 8.3 Vectored thrust
8.3.1 Azimuthing thrusters 8.3.2 Waterjets
8.4 Control forces and moments9. Wind and Current Effects
9.1 Wind 9.2 Current
10. Solution of the Equations of Motion10.1 General case: Numerical integration10.2 Solution of the linearized equations; stabiility
10.2.1 Horizontal-plane motions10.2.2 Example: Controls-� xed stability for
horizontal-plane motions10.2.3 Vertical-plane motions of submersibles 10.2.4 Example: Controls-� xed directional
stability for vertical-plane motions10.2.5 Heavy torpedoes
APPENDIX A PREDICTION OF WAKE FRACTION AND THRUST
DEDUCTION APPENDIX B COEFFICIENTS IN KT and K,
POLYNOMIALS APPENDIX C ROUTH-HURWITZ STABILITY
CRITERION
CHAPTER 4 WATER WAVES1. A Simple Sinusoidal Wave
1.1 Particle velocities and trajectories; dynamic pressure
1.2 Standing waves1.3 Group velocity and wave energy1.4 Application: Wave shoaling
2. Forces and Moments2.1 Some analytical solutions2.2 Morison’s formula
3. Nonlincar Wavc Theory3.1 Stokes theory3.2 Limitations of Stokes theory3.3 Wave breaking
The Dynamics OfMarine CraftManeuvering and Seakeeping
The Dynamics Of Marine Craft
4. Spectral Representation of Ocean Waves 4.1 Determination of wave spectra
4.1.1 Wave spectra from measurements4.1.2 Semi-empirical formulations of wave
spectra4.1.3 Statistics of wave heights
4.2 Representation in the time domain5. Long-Term Wave Statistics
5.1 Maximum waveheight from occurrence data5.2 Maximum signi� cant waveheight from
extreme value distributions5.2.1 Weibull distribution 5.2.2 Gumbel distribution5.2.3 Example
CHAPTER 5 WAVE-INDUCED FORCES ON MARINE CRAFT
1. Wave-Induced Motions: Linear Theory 1.1 Hydrodynamic forces: Superposition1.2 Equations of motion; simple 1-DOF case
2. Radiation Forces: Added Mass and Damping 2.1 General computational procedure, zero speed2.2 Two-dimensional methods2.3 Frequency dependence2.4 Added mass and damping forces 2.5 Radiation forces in the time domain2.6 Effects of forwar speed on radiation forcess
2.6.1 General case2.6.2 Slender bodies
2.7 Transformation to “standard” body axes2.8 Radiation forces: Available data
3. Wave Exciting Forces3.1 Radiation forces: Available data3.2 Frequency dependence3.3 The Haskind relations3.4 Exciting forces in the time domain3.5 Effects of forward speed on wave exciting
forces3.5.1 Encounter frequency and encounter
spectra3.5.2 Froude-Krylov force with forward speed3.5.3 Diffraction force with forward speed
3.6 Transformation to “standard” body axes4. Viscous Roll Damping
4.1 Experimental determination4.1.1 General single degree-of-freedom
response4.2 Prediction of roll damping4.3 Equivalent linear roll damping
5. Some Examples5.1 Heaving and pitching in head seas5.2 Rolling in beam seas
6. Roll Stabilization Devices6.1 Passive devices 6.2 Active devices
7. Motions in Irregular Waves, Frequency Domain7.1 Encounter spectra 7.2 Statistics of maxima 7.3 Caveats
8. Derived Responses8.1 Motions at a point8.2 Relative motions8.3 Slamming8.4 Shear force and bending moment8.5 Motion sickness incidence and motion i
nduced interruptions8.5.1 Motion sickness and fatigue-reduced
pro� ciency 8.5.2 Motion induced interruptions
8.6 Operability criteria9. Some Nonlinear Effects
9.1 Evaluation of second order force: Pressure integration
9.2 Evaluation of second order force: Momentum conservation
9.3 Newman’s approximation9.4 Effects of forward spe d: Wave drift damping
and added resistance 9.4.1 Wave-drift damping 9.4.2 Added resistance
10. Mooring Systems10.1 Static catenary line
10.1.1 A simple example10.2 Stability of a towed or moored ship
CHAPTER 6 DYNAMICS OF HIGH SPEED CRAFT1. Maneuverability
1.1 Transverse/directional stability, general1.2 Transverse/directional stability, planing boats
1.2.1 Dynamic roll moment1.2.2 Dynamic stability; effect of appendages
1.3 Heave/pitch stability1.4 Turning performance
2. Seakeeping2.1 Impact accelerations2.2 Application: Habitability 2.3 Bottom pressure
3. Concluding RemarksREFERENCESINDEX
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