Mathematical Modelling of The Mean Wave Drift Force in Current-PhD - Huijsmans

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TRdiss
2767
Mathematical Modelling of the Mean Wave

Drift Force in Current
A Numerical and Experimental study
Rene H. M. Huijsmans
Printed by:
Grafisch Bedrijf Ponsen & Looijen BY, Wageningen, Netherlands
Mathematical Modelling of the Mean Wave

Drift Force in Current
A Numerical and Experimental study
Proefschrift
ter verkrijging van de graad van doctor
aan de Technische Universiteit Delft,
op gezag van de Rector Magnificus Prof. Jr. K.F. Wakker,
in het openbaar te verdedigen ten overstaan van een commissie,
door het College van Dekanen aangewezen,
op maandag 17 juni 1996 te 10.30 uur
door
Rene Herman Maria HUIJSMANS

wiskundig ingenieur
geboren te Breda
Dit proefsehrift is goedgekeurd door de promotor:

Prof. Dr. Ir. A.J. Hermans
Samenstelling promotiecommissie:
Rector Magnifieus,
voorzitter
Prof.dr.ir, A.J.Hermans, TU DELFT,promotor
Prof.dr.ir.J.A.Pinkster,
fae WbMt
Prof.dr.ir.J.H.Vugts,
fae Ct
Prof.ir.M. van Holst,
fae WbMt
Prof.dr.B.Molin,
Ecole Superieur Marseille,Fr
Prof G.E.Hearn,
U-New Castle, Groot Britannie
Prof.dr.ir. G.Kuiper,
fae WbMt
ISBN-nummer: 90-75757-02-6
Copyright R.H.M. Huijsmans, MARIN, 1996. All rights reserved.
Aan Gretha, Jeroen, Inge

en Ouders
Contents
1 Abstract
2 Introduction
3 Mathematical formulation
3.1 Problem formulation . . . . . . . . . . . . . . . . ..
3.1.1 Linearization of the free surface condition ..
3.1.2 Linearization of the body boundary condition
3.2 The potential function . . . . . . . . . . . .
3.3 The boundary condition on the free surface.
3.4 The body boundary conditions.
3.5 The steady potential . . .
11
11
14
15
16
19
20
21
4 Expansion of the potential

4.1 The integral equation. . . . . . . . . . . . . .
4.2 The amplitude distributions of the potentials .
25
25
30
5 The
5.1
5.2
5.3
33
33
37
38
38
39
40
40
41
44
5.4
Green's function
The expansion of the Green's function
The zero order Green's function"po ..
The first-order Green's function v, ..
5.3.1 A transformation in the complex plane
5.3.2 An expression of derivatives of "po . . .
5.3.3 The agreement of both expressions ..
The uniform expansion of the Green's function.
5.4.1 Large distance R
5.4.2 The far field . .
1
OONTENTS
11
5.5
6 The
6.1
6.2
6.3
Suppression of irregular frequencies .

5.5.1 The Lid method: theory . . .
5.5.2 Implementation of lid method
5.5.3 Discussion lid method
47
47
51
65
forces on the body

Added mass and damping . . . . . .
The exciting forces and the motions .
The mean wave drift forces. . . . . .
67
67
71
79
7 Model test experiments

7.1 Wave drift force measurements.
7.1.1 Passive mooring. . . . .
7.1.2 Active mooring . . . . .
7.2 Extinction tests in regular waves
7.3 Model test conditions . . . . . . .
85
85
85
87
89
93
8 Validation
8.1 200 kDWT Tanker 100% Loaded
8.1.1 First order responses . . . . . . . . .
8.1.2 Wave drift forces in current TlOO % .
8.1.3 Wave drift damping TlOO %
8.2 200 kDWT tanker 40% loaded . . . . . . .
8.2.1 First order Responses. . . . . . . .
8.2.2 Wave drift forces in current T40 %
8.2.3 Wave drift damping T40 %
8.3 200 kDWT tanker 70% loaded . . . . . . .
8.3.1 Wave drift damping T70 % . . . .
8.4 Time domain results 200 kDWT tanker 40% loaded
99
99
100
106
107
108
110
116
118
119
120
121
9 An engineering view of wave drift damping
123
10 Discussion
127
11 Conclusions
129
Bibliography
131
CONTENTS
A Derivation of integral equation
B Integral equation irregular frequencies

B.1 Integration of free surface panel
111
139
143
. 145
C Integration rankine source
149
D The fsc for the radiation potential
153
E The mj-terms
157
F The computations of '1/;1
159
159
161
163
F.1 A transformation in the complex plane

F.2 An expression of derivatives of '1/;0
F.3 The derivatives of the '1/;1
G The far field expansion
G.1 The residue of 'I/; .....

G.2 The method of stationary phase
G.3 Asymptotic behaviour of ~o . .
167
167
168
171
H Error estimates from experiments
175
177
Dynamic positioning at model scale

1.1 Global set-up . . . . . . . . .
1.2 Components in a DP system
1.3 The control loop
.
1.3.1 Mathematical model of the ship
1.3.2 The extended Kalman filter
1.3.3 The controller
.
Curriculum Vitae
177
178
179
179
180
182
187
IV
CONTENTS
List of Figures
2.1 A typical mooring layout of turret-moored tanker
2.2 Undisturbed stationary flow
2.3 Disturbed stationary flow
3.1
3.2
System of co-ordinates. . .
The coordinate system and the six modes of ship motion. . . . . . . . . .
3.3 Steady wave system. . . .
4.1 Coordinates at waterline. .

4.2 Stationary potential in free surface around a 200 kDWT
tanker in cross-flow conditions. .
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10
5.11
5.12
Contours of integration. . . . .
Wave pattern of oscillating translating source T < 1/4.
Contours of integration.
"po, R is variable, the source in (0,0, -1), w = 1.4. . ..
"pI, R is variable, the source in (0,0, -1), w = 1.4.. "
Large distance e-; R is variable, the source in (0,0, -1),
w = 1.4. . . . . . . . . . . . . . . . . . . . . . . . . ..
"p and "p( = LV"p), R is variable, the source in (0,0, -1),
w = 1.4. . . . . . . . . . . . . . . . . . . . . . . . . ..
"p and FF"p, R is variable, the source in (0,0, -1), w =
1.4. . . . . .
Ship...........
Ship section. . . . . . .
Panel distribution box
Surge added mass no lid.
v
7
8
9
17
18
22
26
31
35
35
37
38
41
43
44
46
47
47
51
53
LIST OF FIGURES
VI
5.13
5.14
5.15
5.16
5.17
5.18
5.19
5.20
5.21
5.22
5.23
5.24
5.25
5.26
5.27
5.28
5.29
5.30
5.31
5.32
5.33
5.34
5.35
5.36
5.37
5.38
5.39
5.40
5.41
5.42
5.43
5.44
5.45
5.46
5.47
5.48
Surge damping no lid. . . . . .

Surge-pitch added mass no lid. .
Surge-pitch damping no lid.
Heave added mass no lid. . . .
Heave damping no lid. . . . .
Roll-sway added mass no lid. .
Roll-sway damping no lid.
Roll added mass no lid. .
Roll damping no lid. ..
Yaw added mass no lid. .
Yaw damping no lid. . .
Surge added mass with lid. .
Surge damping with lid. ..
Surge-pitch added mass with lid.
Surge-pitch damping with lid.
Heave added mass with lid. ..
Heave damping with lid. . . . .
Roll-sway added mass with lid.
Roll-sway damping with lid.
Roll added mass with lid.
Roll damping with lid. . .
Yaw added mass with lid.
Yaw damping with lid. . .
Surge added mass effect free surface panels.
Surge damping effect free surface panels. . .
Surge-pitch added mass effect free surface panels.
Surge-pitch damping effect free surface panels.
Heave added mass effect free surface panels. . .
Heave damping effect free surface panels. . . . .
Roll-sway added mass effect free surface panels.
Roll-sway damping effect free surface panels.
Roll added mass effect free surface panels.
Roll damping effect free surface panels. . .
Yaw added mass effect free surface panels.
Yaw damping effect free surface panels. . .
Surge added mass comparison original-lid.
53
53
53
54
54
54
54
55
55
55
55
56
56
56
56
57
57
57
57
58
58
58
58
59
59
59
59
60
60
60
60
61
61
61
61
62
LIST OF FIGURES
VII
5.49
5.50
5.51
5.52
5.53
5.54
5.55
5.56
5.57
5.58
5.59
Surge damping comparison original-lid. . . . . .

Surge-pitch added mass comparison original-lid.
Surge-pitch damping comparison original-lid.
Heave added mass comparison original-lid. . .
Heave damping comparison original-lid.
Roll-sway added mass comparison original-lid.
Roll-sway damping comparison original-lid.
Roll added mass comparison original-lid.
Roll damping comparison original-lid.. .
Yaw added mass comparison original-lid.
Yaw damping comparison original-lid.
62
63
63
63
63
64
64
64
64
65
65
6.1
6.2
6.3
Panel description Sphere . . . . . . . .

Panel description free surface around Sphere
Surge-heave added mass coefficients of a half-immersed
sphere of radius a and Fr = 0.04. . . . . . . . . . . ..
Surge-heave added mass coefficients of a half-immersed
sphere of radius a and Fr = 0.04. (No free surface
contribution)
Surge-surge contribution to the added mass and the
damping coefficients of a half-immersed sphere of radius
a and Fr = 0.04. . . . . . . . . . . . . . . . . . . ..
Added mass coupling coefficients Fn=O.O and Fn-0.05.
Damping coupling coefficients Fn=O.O and Fn-0.05
The surge exciting forces, without speed, computed by
Nossen, the Haskind relation and pressure integration.
The heave exciting forces, without speed, computed by
The surge exciting forces. .
The heave exciting forces.
The surge motion . . . . .
The heave motion. . . . .
Drift force on sphere for Fn=O.O and Fn=0.04. .
The drift forces on a restrained sphere. . . . . .
The drift forces on a free sphere, without the stationary
potential in the body boundary conditions. . . . . . ..
70
70
6.4
6.5
6.6
6.7
6.8
6.9
6.10
6.11
6.12
6.13
6.14
6.15
6.16
71
71
72
72
73
75
75
76
77
77
78
80
83
83
LIST OF FIGURES
YIll
6.17 The drift forces on a free sphere, with the stationary

potential in the body boundary conditions.
6.18 The wave drift damping on a free sphere. . . . . . . ..
84
84
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
Set-up of wave drift force measurement passive mooring 86

87
Spring characteristics mooring system. ..
88
Dynamic positioning set-up top-view . . .
88
Dynamic positioning set-up cross-section .
Set-up extinction test. . . . . . . . . . . .
90
Decay curve surge in regular waves unfiltered.
91
Decay curve surge in regular waves filtered. .
91
Logarithmic decrement.. . . . . . . .
92
8.1
8.2
8.3
Body plan of the 200 kDWT tanker.

Panel description of 200 kDWT tanker fully loaded.
Panel description of free surface 200 kDWT tanker fully
loaded. . . . . . . . . . . . . . . . . . . . . . . .
Surge response in 180 degree waves, no current.
Heave response in 180 degree waves, no current.
Pitch response in 180 degree waves, no current.
Surge response in 180 degree waves, 1.5 mls current.
Heave response in 180 degree waves, 1.5 tsi] current.
Pitch response in 180 degree waves,1.5 su] current..
Surge response in 135 degree waves, 1.5 mls current.
Sway response in 135 degree waves, 1.5 ta] s current. .
Heave response in 135 degree waves, 1.5 mls current.
Yaw response in 135 degree waves, 1.5 mls current.
Surge response in 135 degree waves, 135 degree current
at 1.5 m/s.. . . . . . . . . . . . . . . . . . . . . . . . .
Sway response in 135 degree waves, 135 degree current
at 1.5m/s. . . . . . . . . . . . . . . . . . . . . . . . . .
Heave response in 135 degree waves, 135 degree current
at 1.5 tu] s.. . . . . . . . . . . . . . . . . . . . . . . . .
Yaw response in 135 degree waves, 135 degree current
at 1.5 m/s
Wave drift force surge in 180 degree waves, 180 degree
current at 0.0 m/s. .
8.4
8.5
8.6
8.7
8.8
8.9
8.10
8.11
8.12
8.13
8.14
8.15
8.16
8.17
8.18
99
101
101
102
102
102
103
103
103
104
104
104
104
105
105
105
105
106
LIST OF FIGURES
8.19 Wave drift force surge in 180 degree waves, 180 degree
current at 1.5 ta]. . . . . . . . . . . . . . . . . . . . .
current at 1.5 tu] s. . . . . . . . . . . . . . . . . . . . .
8.21 Wave drift force sway in 135 degree waves, 180 degree
current at 1.5 txi]. .
current at 1.5 ta]. .
current at 1.5 tii]. . . . . . . . . . . . . . . . . . .
8.24 Wave drift damping surge in 180 degree waves.. . ..
8.25 Panel description of 200 kDWT tanker 40% loaded..
8.26 Surge response in 180 degree waves, 1.2 mls current.
8.27 Heave response in 180 degree waves, 1.2 mls current.
8.28 Pitch response in 180 degree waves, 1.2 mls current.
8.29 Surge response in 150 degree waves, no current.
8.30 Sway response in 150 degree waves, no current.
8.31 Heave response in 150 degree waves, no current.
8.32 Roll response in 150 degree waves, no current. .
8.33 Pitch response in 150 degree waves, no current.
8.34 Yaw response in 150 degree waves, no current. .
8.35 Surge response in 150 degree waves, 1.2 mls current.
8.36 Sway response in 150 degree waves, 1.2 tu] current. .
8.37 Heave response in 150 degree waves, 1.2 mls current.
8.38 Roll response in 150 degree waves, 1.2 in] s current..
8.39 Pitch Response in 150 degree waves, 1.2 tn] current.
8.40 Yaw response in 150 degree waves, 1.2 tn] current..
8.41 Surge response in 150 degree waves, 150 degree current
at 1.2 tii]
8.42 Sway response in 150 degree waves, 150 degree current
at 1.2 m/s
8.43 Heave response in 150 degree waves, 150 degree current
at 1.2 m/s
8.44 Roll response in 150 degree waves, 150 degree current
at 1.2 tu]
IX
106
106
106
107
107
108
109
110
110
111
111
111
112
112
112
112
113
113
113
113
114
114
114
114
115
115
LIST OF FIGURES
8.45 Pitch response in 150 degree waves, 150 degree current

at 1.2m/s
8.46 Yaw response in 150 degree waves, 150 degree current
at 1.2 m/s.. . . . . . . . . . . . . . . . . . . . . . . . .
current at 1.2 ta], . . . . . . . . . . . . . . . . . . . .
current at 0.0 tu], .
current at 0.0 ta], .
current at 1.2 tu] s. . . . . . . . . . . . . . . . . . . . .
current at 1.2 tu]. . . . . . . . . . . . . . . . . . . . .
current at 1.2 ta]. .
current at 1.2 tn]. . . . . . . . . . . . . . . . . . .
8.54 Wave drift damping in surge in 180 degree waves. . . .
8.55 Panel description of 200 kDWT tanker 70% loaded. . .
8.56 Wave drift damping in surge in 180 degree waves, 180
degree current at 1.2 m/s. .
8.57 Wave drift force surge in 150 degree waves; Fn=0.02
150 degree current, Fn=0.02.
8.58 Wave drift force sway in 150 degree waves; 150 degree
current, Fn=0.02.
9.1
9.2
115
115
116
116
116
117
117
117
117
118
119
121
122
122
Approximation wave drift damping surge using Aranha's

expression for a floating sphere. . . . . . . . . . . . . . 126
Approximation wave drift damping surge using Aranha's
expression for a 200 kDWT in head waves and current. 126
10.1 Estimates of wave drift force using extinction tests.
128
A.l Computational domain integral equation..
140
....
146
B.1 Integration over free surface panel.
LIST OF FIGURES
Xl
C.1 Integration over a Panel j.

C.2 Projection onto Panel j.
150
150
F.1 Contours of integration .
160
XlI
LIST OF FIGURES
List of Tables
5.1
Location irregular frequencies for a square box.
7.1
Model test conditions for current speed 0.0 m/s T100%

in 180 deg. waves.
Model test conditions for current speed 1.5 ui] TlOO%
in 180 deg, waves and 180 deg, current direction. . "
Model test conditions for current speed 1.5 ta] TlOO%
in 135 deg. waves and 180 deg, current direction. . ..
Model test conditions for current speed 1.5 m/s TlOO%
in 135 deg, waves and 135 deg. current direction. . ..
Model test conditions for current speed 1.2 tu] s TlOO%
Model test conditions for current speed 1.2 m/s T40%
Model test conditions for current speed 1.2 m/s T40 %
in 150 deg. waves.
Model test conditions T40 I
Model test conditions T40% for current speed 0.0 m/s
in 150 deg. waves.
Extinction test conditions for current speed 0.0 m/s
T40% in 180 deg. waves.
Extinction test conditions for current speed 0.0 m/s
T70% in 180 deg. waves.
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7.10
7.11
8.1
8.2
8.3
....
Particulars of the 200 k DWT tanker fully loaded.

Particulars of the 200 k DWT Tanker 40% loaded
Particulars of the 200 kDWT tanker 70% Loaded.
52
93
94
94
95
95
96
96
97
97
98
98
100
109
120
Chapter 1
Abstract
In this study results are reported on the modelling of the wave drift
forces on a vessel in regular deep water waves with forward speed.
In chapters 3 and 5 the mathematical background of the boundary
integral method for the computation of the first order and second
order wave drift forces on floating bodies at low forward speeds is
presented. By means of the Green's theorem a source distribution is
derived. The Green's function (source function) and source strength
are evaluated asymptotically for small values of the forward velocity.
Also, the forward speed Green's function is linearized with respect to
forward speed. The first two terms of the source strength over the
mean wetted surface of the body is then computed from two sets of
integral equations. The kernel of these sets of integral equations has
the same form as the integral equation for the zero speed problem. In
addition to the zero speed problem, a free surface integral enters the
right hand side of the integral equation for the source strengths. In the
development of the linearized forward speed Green's function with respect to forward speed, corrections on the asymptotic approximation
are also given in order to arrive at a proper uniform expansion with
respect to forward speed. Since the encounter frequencies are usually
higher at forward speed than at zero speed for head on and bow quartering waves, the effect of 'irregular frequencies' is also described. A
robust lid method is put forward to solve the effects of this 'irregular
frequency' problem. The mean wave drift forces are found by a far
3
CHAPTER 1. ABSTRAOT
field analysis. The results of the wave drift forces on a floating sphere
in regular waves compare favourably to the results of the study of Zhao
and Faltinsen [82]. To validate the approach for the determination of
the wave drift forces, model test experiments were performed on a 200
kDWT tanker in fully loaded as well as balast condition. From the
comparison with the results of model tests it is concluded that the
linearized forward speed description works well for head current cases
and the tested wave directions. Less good agreement is found when
the current is coming from a bow quartering direction.
Chapter 2
Introduction
In the exploration and production of oil and gas in offshore locations
more and more use is made of moored floating vessels. The introduction of the first floating vessels as production platforms was motivated,
among other reasons, by an absence of a pipeline infrastructure in the
vinicity of the oil wells. Nowadays, however, the increasing capital
costs of a fixed platform for deep water oil production and the need
for environmentally safe removal of the platform once production has
stopped provide further incentive for the development of moored floating production systems. As the mooring system has to withstand the
forces of wind, waves and current, a lot of emphasis has been placed in
the last twenty years on reliable assesment of the motions caused by
environmental conditions. Given that the mooring system is likely to
encounter severe environmental conditions in its service lifetime, the
real need is for the assesment of the motions of the floating vessel in
such conditions, which requires state-of-the-art numerical techniques.
The full non-linear treatment of the flow around the vessel in these
severe wave conditions, including eg viscous effects, is still very far
from practical application. Therefore there is still a need for a linear
approach tothe fluid-body interaction, in which the essential details
of the fluid-body flow is maintained. The applicability of such linear
approaches should however be validated against model test experiments, in which the environmental conditions can be controlled and
monitored more reliably than in real life. In the assesment of the loads
5
CHAPTER 2. INTRODUCTION
on the mooring system of the vessel essential work has been accomplished in the past by van Oortmerssen [69], who calculated to first
order the reaction of the vessel due to motions and waves using a linearized frequency domain potential flow theory. He showed that it is
possible to compute in time domain, based on frequency domain results, the non-linear forces of the mooring system acting on the vessel.
The hydrodynamic reactions of the vessel were described by means of
convolution of the motion velocity with retardation functions. One of
the properties of a catenary moored floating vessel is that the natural
period of the mooring system is very high (from 50 seconds up to several minutes). Using a linear model of the fluid-body interaction one
does not arrive at the correct excitation at the natural period. Several
authors [54, 14, 48] have pointed out in the past that the weak nonlinear fluid-body interaction is responsible for the excitation at the
natural period of the system. A pioneering effort was performed by
Pinkster [54] in which he carefully derived a pressure integration technique to arrive at the second order wave excitation (meaning quadratic
with respect to the incident wave height) in regular waves. He also
derived approximate expressions for the second order wave excitation
in bi-chromatic waves. The correctness of Pinkster's approximative
approach for the low frequency excitation was demonstrated by Benschop et al, [5J and Yue [38]. As a consequence of the motions of the
vessel in the vinicity of the natural period of the system, not only the
wave excitation is of importance, but also the damping of the complete
mooring-vessel system. In the case of a first order process we see that
the amplitude of the surge motion of the moored vessel at the natural
frequency is given by :
where 1. is the natural frequency of the mooring system in surge (a::),

Bxx(l.) is the damping of the mooring-vessel system at the natural frequency and F:;(I.) is the wave exciting force at the natural frequency
1.. Since by nature the moored vessel itself has very low damping in
the surge direction (minimum resistance) all other possible sources of
damping will influence the surge motion of the vessel as well.
internal turret
external turret
Figure 2.1: A typical mooring layout of turret-moored tanker
An inventory of contributions to the damping has been given by Wichers [75]. He demonstrated, by means of carefully performed model test
experiments, that the resonant low frequency motions were influenced
by wave drift damping, which is caused by the presence of high frequency first order waves and first order motions. In earlier work Remery and Hermans [58] had already indicated that not only a correct
description of the wave drift forces at resonance was necessary, but
also an accurate description of the damping. This gave an indication
of a complex interaction between first and second order motions. One
of the findings in the work of Wichers et al. [75, 32, 77, 79] was that
one could relate this low frequency damping, also called wave drift
damping, to the resistance increase of a vessel sailing in waves. Another important damping effect was reported by Huse [33]. He showed
that high frequency oscillations at the top of a catenary also lead to
contributations to the low frequency damping on the moored vessel.
Experimental verification of this effect has been reported by Huse [33]
and Wichers et al. [76]. This effect shows that one cannot simply
decouple the low frequency motions from the high frequency chain
dynamics (see Huijsmans et al. [32]).
In order to include the full non-linear coupling between the free
surface flow and the motions of the vessel one has to follow the free
CHAPTER 2. INTRODUCTION
surface and the body boundary at each time step. First attempts at
modelling the flow following a complete non-linear description of the
free surface flow have been performed amongst others by Romate [60]
and extended to large body motion by van Daalen [70] and Broeze [9].
Possible weak non-linear extensions from linearized potential flow descriptions of the three-dimensional motions of a vessel in waves were
discussed by Beck [4].
Experience in the use of such non-linear
-----
~----..-
- Ux -
Figure 2.2: Undisturbed stationary flow

approaches as reported by Beck [4] has demonstrated that the computational effort required effort is still very large. In addition, problems
were reported by Romate [59], Broeze, and Van Daalen [9, 70] with
respect to the correct modelling of the evolution of the boundaries
at intersection points. In this area a lot of progress is still required
to bring such non-linear flow models within reach of engineering practice. Approximate forward speed linearized potential flow models have
been put forward to model the wave drift force at low forward speed
[29], [23],[55],[82]. Forward speed diffraction effects have been modelled using boundary element methods using the Green's function for a
translation oscillating source. The first effective results were reported
amongst others by Chang [10] , Bougis [6], Inglis [34]. The main drawbacks of their approach were that the Green's function was (and still
is) very cumbersome to compute and stationary potential flow effects
-Ux + <l's
l~Figure 2.3: Disturbed stationary flow
were not accounted for. The linearization of the flow was taken around
the undisturbed incoming stationary flow -U:c instead of around the
disturbed stationary flow -U:c + <Ps , as visualized in figures 2.2 and
2.3.
First attempts at using a low forward speed formulation were given
by Huijsmans and Hermans [30] and Grekas [16]. In order to model the
wave drift forces in regular waves Huijsmans [27] used a pressure distribution integration technique, including disturbed stationary flow field
effects. This technique had been developed earlier by Pinkster [54]
for zero speed wave drift forces. One of the problems associated with
the pressure distribution integration technique that was encountered,
especially for the forward speed pressure distribution integration, was
the correct treatment of the derivatives of the water velocities over the
body boundary. Using a constant source panel description for the water velocities on the body boundary requires a numerical differentation
of the water velocity over the body boundary. This may lead to inconsistent results. Therefore an alternative formulation of the wave drift
forces was derived [23], [29]. This alternative formulation was based
on conservation of impulse and energy considerations as derived by
Maruo [41] and Newman [44]. One of the advantages of this formulation of the wave drift forces was the absence of the derivatives with
10
OHAPTER 2. INTRODUOTION
respect to the water velocities. The formulation for low forward speed
was also independently derived by Nossen [52] and Grue et al. [17].
Grue [20] also gave an expression of the mean yaw moment in regular waves. One drawback of using the alternative formulation of the
wave drift forces is that it is then not possible to model the wave drift
forces in bi-chromatic waves. If such results are needed, especially
for shallow water applications, one has to refer back to the pressure
integration techniques. Using time domain type of methods for the
linearized potential flow problem Prins [56] gave an accurate account
of how wave drift forces could be calculated using a pressure distribution technique including low forward speed effects. Sierevogel et al,
[64] extended this linearized time domain approach to higher forward
speeds. One disadvantage of the time domain algorithm is that it
creates a large computational burden, both on memory as well as on
CPU. One way of overcoming this problem is to solve the ship motion
problem in the frequency domain. In linearized theory the time domain solution and the frequency domain solution are equivalent (see
Cummins [12] and Ogilvie [53]). We shall therefore reformulate the
ship motion problem into the frequency domain.
This study is confined to the low forward speed in regular water waves
in deep water.
Chapter 3
Mathematical formulation
In order to calculate the hydrodynamic forces on the vessel, we develop an expression for the pressures on the vessel. Assuming that the
flow is irrotational and no viscous effects are present, we are able to
describe the ship motion problem in a potential flow formulation. In
this chapter the velocity potential is written as the summation of a
steady and a non-steady part. Also, the integral equation and the free
surface condition for the potential are derived.
The formulation of the ship motion problem is presented in the first
section. In the second section the velocity potential is presented and
the non-steady part of the velocity potential is described. The third
section deals with the boundary condition on the free surface, the
fourth section presents the body boundary conditions. The last section
gives the general equations for the steady potential and also explains
how the derivatives of the steady potential are obtained.
3.1
Problem formulation
The object of this study will be a floating vessel, sailing in deep water
in the presence of waves and current. We assume that the forward
speed effects can be modelled analogously to the effects of current.
This means that towing the vessel in waves or applying current and
waves onto the vessel can be interchanged with an appropriate notion
of the wave frequencies involved.
11
12
CHAPTER 3. MATHEMATICAL FORMULATION
We shall use a coordinate system fixed to the vessel, such that

the undisturbed free surface coincides with the z=Q plane. The vertical z--axis is positive in upward direction. We distinguish between
frequencies in the earth-fixed coordinate system denoted as Wo and
frequencies of encounter w in a ship-fixed system. One of the main
purposes of this study is to model and compute the hydrodynamic
interaction of the vessel with waves and current.
In earlier work of ship motion studies of eg Bougis et al. [6] and Inglis
[34], the basic linearization of the flow was around the ambient flow
U, not taking into account the effect of the change of the stationary
:flow field due to the presence of the body. Basically this means that
geometrical restrictions limit the applicability of such a linearization
scheme. However, for ship type vessels with relatively large length
over beam ratios ( larger than 3) sailing at zero drift angles, this approach became a widely used approximation. So-called strip theory
type of ship motion theories have been developed based on these assumptions. In the wave resistance type of ship problem as formulated
by Dawson [13] and discussed byeg Raven (57] and Jensen (35], the
double body :flow became the linearization point of the formulation of
the wave making potential. In cross :flow conditions, which are very
frequently encountered by offshore moored vessels, the linearization
around the double body :flow is required. For :floating bodies with
sharp corners at the stern or bow of the ship, the basic flow around
which the linearization is taken may also include viscous effects. The
way the vorticity is generated at these sharp edges must be taken into
account.
In the present approach no viscous effects are included, which
means that no vorticity will be present in the :fluid, nor will it be
generated due to boundaries in the :fluid.
From Newton's law we derive the motions of the vessel.
dMV -F
dt
--t
Where F t is the force acting on the vessel due to the incoming waves
and the motions of the vessel. The force F t is determined through the
3.1. PROBLEM FORMULATION
13
integration of the pressure on the wetted part of the vessel S.
Neglecting all viscous effects in the fluid-vessel interaction the pressure distribution can then be calculated using Bernoulli's equation.
We assume the fluid to be irrotational, therefore we can introduce a
velocity potential iJ?, describing the local velocity in the fluid by V'iJ?
After integration of the Euler equations the Bernoulli equation reads:
P
= Po -
1 IV'iJ? 12 - pgz +-U

1 2
piJ?t - -p
In order to calculate the forces on the body we need an expression for

the potential iJ? The potential iJ? satisfies the continuity equation in
the fluid leading to Laplace's equation.
..!liJ? = 0
The vessel is moving in a fluid bounded by the free surface and the
sea floor. The free surface is an unknown quantity at first. At the
free surface the kinematic and dynamic conditions are satisfied, which
state that once a fluid particle is in the free surface it will not leave
the free surface and the pressure at the free surface stays constant.
The conditions at the free surface now read:
2
iJ? t + 12 1V'iJ?1 + 9 (lU
2
(t + V'iJ? . V'( - iJ? z
0 } At the free surface z

=0
-
= ((~, t)
(3.1)
The boundary conditions at the wetted part ( S ) of the vessel states
that no flux of water is entering the vessel.
(V' . n)iJ? = 0 at S
(3.2)
where the velocity U is taken with respect to the coordinate system

fixed to the vessel in the average position. Since we confine ourselves
to the ship moving in deep water we shall not impose a sea bottom
boundary condition. The problem defined so far, is still very unattackable, due to the non-linearities involved. In case of zero forward speed
14
attempts have been made to include non-linear effects such as presented by Broeze [9] and Van Daalen [70] for three-dimensional wave
problems and two-dimensional ship motion problems. (For a review
see Beck [4].) Inclusion of forward speed effects in the mathematical
modelling of the three- dimensional ship motions is still a major task.
We shall therefore linearize the boundary conditions around small amplitude ship motions and small amplitude incoming waves. Prins [56]
recently presented a time domain solution procedure for the linear
three-dimensional ship motion problem with forward speed. He used
rankine sources distributed over the free surface and the mean wetted
part of the floating vessel to describe the evolution of the free surface
and the vessel motions with time.
Artificial boundary conditions at infinity are required to close the computational domain. Sierevogel [63] derived time independent artificial
radiation conditions. One disadvantage of the time domain algorithm
is that it creates a large computational burden, both on memory as
well as on CPU. One way of overcoming this problem is to solve the
ship motion problem in the frequency domain. In linearized theory the
time domain solution and the frequency domain solution are equivalent
(see Cummins [12] and Ogilvie [53]). We shall therefore reformulate
the ship motion problem into the frequency domain.
3.1.1
Linearization of the free surface condition
Combining the kinematic and dynamic boundary conditions (3.1) at

the free surface gives:
The non-linearities are eminent in this equation, ie the potential ~ is

defined at the unknown surface z = , and is non-linear in V ~ itself.
In order to linearize the boundary condition from the free surface to
the plane z = 0, we use Taylor series expansions of the potential and
its derivatives.
15
3.1. PROBLEM FORMULATION

Using
~(z,y,(, t) = ~(z,y,O, t) +\ (~: t o + ~(' (~:~ t o + ... (3.4)

For ( we write:
I' = - 1(<.I.>t
."
Equation (3.3) becomes at z
+ -1 V<.I.> . V<.I.> )
2
(3.5)
2g
= 0:
<.I.>tt+ g<.l.>z+ (V<.I.> V<.I. t
. (<.I.>tt+ g<.l.>z)z +
1 2
+-u
~9 (<.I.>t + !V<.I.>.
V<.I.> - !U2 )
2
2
+V<.I.> v(V<.I.> ~ V<.I. =0 + CJ((3)
(3.6)
For the purpose of linearization we decouple the potential <.I.> into a

steady and a non-steady part.
(3.7)
The free surface condition now reads, after retaining only the terms
linear in and quadratic in :
1-
tt + 2(V Vt) +"2V V(V V) + gz

-
+V V(V V) - "2(V. V -
1-
u )(zz + gttz) +
-zz(V . V + t) = 0 at z=O
3.1.2
(3.8)
Linearization of the body boundary condition
The body boundary condition can be linearized as follows:

Assuming small oscillatory motions of the vessel we apply the body
boundary conditions to the mean wetted surface of the vessel ( S ).
For the steady potential :
(V . '!!) = 0 on the body S
16
and for the non-steady part ~ :
a denotes the displacement of the vessel at some point ( ~ ) on S. In

the remainder we denote the mean wetted surface still as S or it will
be clearly stated in the context.
In terms of translation and rotation with respect to the center of
gravity a is defined as :
where X and n are the translatory and rotational motions of the vessel
in the center of gravity. These equations were first derived by Timman
and Newman in 1962 [68].
3.2
The potential function
In this section the velocity potential is described and the time dependent part is split into a diffracted and a radiated part.
The following restrictions apply for the flow around the vessel:
The fluid is an ideal fluid, there is no viscosity.
The fluid is incompressible and homogeneous.
The fluid has an irrotational motion.
There is a gravity force field g.
The depth h is supposed to be infinite.
The fluid velocity ~ is expressed by the gradient of a velocity potential
~.
~(~, t) = \7~(~, t)
for x E the fluid domain and the boundary (3.9)
17
3.2. THE POTENTIAL FUNCTION
The fluid is incompressible and homogeneous which states V . 1! = O.

Now the potential function q. satisfies Laplace's equation in the fluid
domain.
V2q.(~, t) = 0 for x E fluid domain
(3.10)
The total velocity potential function will be split into a steady and a
non-steady part.
q.(.~, tj U) =
u + 8(~j U) + ~(~, tj U)
(3.11)
In this equation U is the incoming ambient flow field, obtained by

considering a coordinated system fixed to a ship moving under a drift
angle Q c with :l: defined as:
:l: = :v cos Q c
+ Y sin Q c
y
Waves
Figure 3.1: System of co-ordinates.

Here 8(~j U) is the steady disturbance defined as 8(~j U) = UX
The time dependent part of the potential ~ consist of an incoming
and diffracted potential ~D and radiated wave potential ~R time harmonic with frequency w, where w is the frequency in the coordinate
system fixed to the ship, also called frequency of encounter.
It is convenient to separate R into contributions from all the 6 modes
18
u
x
Figure 3.2: The coordinate system and the six modes of ship motion.
of motion: surge, sway, heave, roll, pitch, yaw denoted as either
ej, j=1,6 or as x,y,z,<p,O,,,p .

The radiation potential due to the motions of the body may be
written as :
6
R(~' t; U) = e-
iwt
L ejcPJC~; U)
(3.12)
j=1
where ej is the motion in the jth mode and cPj is the corresponding
potential.
The wave potential D will be split into a diffracted wave potential cP7
and an incident plane wave potential cPo due to the incoming waves.
We will assume the incident waves are harmonic in time.
D(~,t; U) = e -iwt (cPo(~) + cP7(~; U))
with
cPo(~)
gea eko[z+ixcos/Hivsin,13]
Wo
(3.13)
(3.14)
where ea is the amplitude of the wave height of the incoming wave in

direction {3. The frequency and wave number, Wo respectively ko =
2
~ =
are in the ship-fixed coordinate system. The relation between
the earth-fixed and ship-fixed frequency Wo and w is as follows: The
2;,
3.3. THE BOUNDARY CONDITION ON THE FREE SURFACE19

frequency in the earth-fixed coordinate system is:
W = Wo
3.3
+ koU cos({3 -
(3.15)
ac)
The boundary condition on the free

surface
The vertical elevation of any point on the free surface may be defined
by a function z = ((:v, y, t). Newman[47, chapter 6] shows that the
effects of the free surface must be expressed in terms of appropriate
boundary conditions on this surface. In this section the free surface
condition is derived in the frequency domain.
The free surface condition for the non-steady part of the velocity potential can be computed by using equation (3.11) in (3.8). In appendix
D the derivation is presented, applied for head current.
The free surface condition now becomes formulated in the frequency
domain:
where D(X, ) is a linear differential operator acting on

in the appendix (D).
as defined
We assume (~, tj U) to be oscillatory (see section 3.2).
(~, tj U) = D + R = (4)0 + 4>7 + i: 4>i(i) eJ=l
iwt
4>(~j U)e-
iwt
(3.17)
From the appendix (D) we have the following expression for D(X, ),
neglecting non-linear terms and U2 terms:
(3.18)
We apply the Green's theorem to a problem in D, inside S and to the
problem in De outside S, where S is the ship's hull. The potential
20
function inside S obeys condition (3.16) with D = 0, while far away

from the body the free surface condition reads:
(3.19)
The derivation of the Green's function will be treated in the next
chapter. In chapter 4 equations (3.16) and (3.19) will be used to derive
a source and vortex distribution. The Green's function will satisfy
the homogeneous adjoint far field free surface condition as defined in
equation (3.16).
The body boundary conditions for the diffraction problem have to be
treated carefully, since the incoming wave potential 4>0 does not satisfy
the free surface condition (3.8), while the incoming plus diffracted
wave potential does satisfy the free surface condition (3.8 ). Denoting
the linear homogeneous far field free surface operator as L, we then
write:
(3.20)
d' cor-
which then results in the following free surface condition for

rected for the incoming wave potential, with ,
= o.
(o)
(3.21)
3.4
The body boundary conditions
In this section the body boundary conditions are further defined. The
body boundary conditions for the unknown radiation and diffraction
potential are (Newman[49]):
84>j(~j U) = { -iwnj + Umj j
8n
-an
8<f>o
= 1, ... ,6
(3.22)
j = 7
where
the Cartesian components of the normal vector g
j = 1,2,3
the components of the vector ~ x n
n; = {
= 4,5,6
3.5. THE STEADY POTENTIAL
21
and
mj
-(n V)(V(X + (x cos a c + ysin a c )) )
-en .V)(x x vex + (x cos a
j = 4,5,6
= {
.hX
WIt
+ y sin a c )) )
= 1,2,3
= ~u :
The normal derivatives of each radiation potential consist of a part

that represents the normal velocity at the mean position of the body
and a part that shows the change in the local steady field due to the
motion of the body.
The derivation of these body boundary conditions follows from the
work of Timman and Newman [68].
In appendix E the mj-terms are written in terms of the derivatives of
the steady potential and the normal vector. The mj-terms also consist
of second derivatives of the steady potential.
The computation of these second derivatives is a difficult problem as
many authors (see Zhao and Faltinsen [82]) have outlined. To take the
second derivative of a potential function defined as constant over a flat
panel is inconsistent. One way to avoid numerical difficulties in establishing the second derivatives is to use eg higher order panel methods
or just an approximative scheme, which calculates the flow in points
at a certain distance from the vessel, and then perform the differentiation numerically and extrapolate the results to the body surface. In
2-D Zhao and Faltinsen [82] have shown that this approach will give
correct results. Wu [81] adapted the integral equation for the steady
velocity, which he showed led to a higher accuracy of the derivative of
the steady velocity.
3.5
The steady potential
This section gives the conditions of the steady potential, as used by

Hess and Smith[25).
The steady part of the velocity potential is given by U(x cos a c +
y sin a c ) + U X, where U (x cos a c + y sin a c ) is the ambient uniform
22
OHAPTER 3. MATHEMATIOAL FORMULATION
Figure 3.3: Steady wave system

current and U X is the steady disturbance due to the body. Therefore
by definition:
(fJ = U (X + z cos a c + y sin a c )
The steady potential fulfills the body boundary condition.
8~~~) = _ (nl cos a c + n2 sin a c )
on S
(3.23)
In the Hess and Smith[25] approach a source distribution is used. X(~)

may be written as:
(3.24)
If the Froude number Fr =
~ ~ 1, with I being the charaeteris-
v 91
tic dimension of the body, the free surface condition for the steady
potential is the classical double body flow condition, approximated
by:
= 0 at z = 0
(3.25)
8z
In stationary flow problem (ship wave resistance type problem) a
steady wave system from the vessel emerges significantly unless the
8(x)
3.5. THE STEADY POTENTIAL
23
Fn is very small. As an example of such a wave system the wave

pattern around a vessel is depicted in figure 3.3. Now we can write:
-{I.
From this expression it is evident that we only need

with r = I~
two independent updates of the source strength with respect to the
current direction. The source strength for any other current direction
can then be readily determined. Denoting the source strength for
O:c = 0 as lT~ and O:c = 90 as lTi, it follows that:
IT
8()
8
O:c = IT0 cos O:c
.
+ ITI8sin
O:c
To compute the body boundary condition we need an expression

for the derivatives of the steady potential. The first derivatives of the
steady potential or the velocities can be determined without any difficulty from the expression of the potential as a source distribution. In
order to determine the second order derivatives of the steady potential, use is made of a numerical differentiation scheme
The advantage of using a source distribution over a Morino formulation originates from the fact that the steady velocity is determined
with the same accuracy as the source strength. Here the numerical
differentiation is taken of the steady velocity. In the work of Prins
[56] for the solution of the ship motion problem in time domain, use is
made of a numerical scheme to determine the double derivative of the
steady potential. He reports that this must be done with great care.
24
CHAPTER 3. MATHEMATIOAL FORMULATION
Chapter 4
Expansion of the potential
In this chapter the expansion of the potential is derived, using the
integral formulation (the free surface condition, equation (3.16)) and
the Green function of chapter 5.
The first section treats the way Hermans and Huijsmans[24] derived
the potential using a source distribution. The last section deals with
the amplitude of the potential for the far field.
4.1
The integral equation
First the source strength is computed by using the free surface conditions. An expansion of source strength is then derived. With the
source strength we are able to compute an expansion of the potential.
Combining the formulation inside and outside the ship, equations
(3.16) and (3.19), we obtain a description of the potential function
defined outside S by means of the source and vortex distribution. The
formulation is an extension of the one found in Brard [8].
f)
/' r
2iwU r
ls ,({) f)n G(~,{)dSe + ls O"({)G(~,{)dSe - -9-1WL ,({)G(~,{)d"l+
/ 'r
+~2 fw [1'({) :e G(." o- {Qn,({) + QT1'T({)} G(." o1d'1+
25
26
CHAPTER 4. EXPANSION OF THE POTENTIAL
U21
+anO"(e)G(~,e)d."+ -2iwufi G(~,e)D(x,)dSe = 41l"(~)
9 WL
9
FS
where at = cos(O:v,t), aT = cos(O:v, T) , an = cos(O:V,1!) and where n
is the normal and t the tangent to the waterline, and T = t x n the
bi-normal. Here G(~, {) is the Green's function satisfying the homogeneous free surface boundary condition.
i!=O
Figure 4.1: Coordinates at waterline.

It is clear that with the choice ,(f) = 0 the integral along the waterline gives no contribution up to order U. The source distribution
we obtain this way is not a proper distribution, because it expresses
the function in a source distribution along the free surface with a
strength proportional to derivatives of the same function . In order
to include the effect of the operator D on the integral equation, an
iterative approach should be adopted. Based on updates of the potential and the velocity V in the free surface an iterative procedure
could be formulated, but this approach has not been followed here.
However, the formulation is linear in U and the integrand tends to
zero rapidly for increasing distance R.
So finally we arrive at the formulation:
f
O"({)G(~,
{)dSe + ~2 fWL anO"({)G(~,{)d." +
2iwUfi
+
- FS G(~,e)D(X,)dSe
=
9
-
41l"(~)
(4.2)
(4.1)
4.1. THE INTEGRAL EQUATION
27
Using the body boundary conditions, which are worked out in equation
(3.22), at the mean position of the hull
8~~~) = v. '!! = V(~)
at
~ES
(4.3)
and taking a~., of equation (4.2) and taking the limit of :v E De to
XES.
(4.4)
D(X, <jJ) is the linear differential operator acting on <jJ as defined in

appendix (A). The quadratic terms in X are neglected. So D(X, <jJ) is
- \lX\l<jJ - ~<jJ(Xxx + Xyy)
The normal derivative -aa
means the normal derivative with ren.,
sped to ~ = (:v, y, z).
The formulation obtained thus far does not give any new view on
the integral equation with forward speed, except that the free surface term has been added. Apart from the steady potential influence
equation (4.4) is equivalent to the formulations used by Inglis [34] or
Bougis [6]. The Green's function as it appears in equation (4.4) is
still the translating oscillating source as formulated by Wehausen and
Laitone [74] and subsequently used for the ship motion problem by
Inglis, Bougis and others. One of the main drawbacks of the use of
this Green's function formulation is the rather cumbersome way it is
computed. To date little progress has been made in trying to compute this Green function as efficiently as, for example; in the zero
speed Green's function demonstrated by Newman [46] or Telste and
Noblesse [66]. Therefore, we shall impose an additional restriction on
the use ofthis Green's function: it will only be applied for low speeds
or more correctly for low Brard numbers (r = wgu ~ 1/4).
It is interesting to note that in classical forward speed formulation,
in which the steady potential is neglected, a contribution over the
28
waterline is seen. Careful analysis by Nossen [52] did show that this
term is cancelled once the steady potential is taken into account.
We consider small values of U, such that T = ~w < ~. The source
strength and potential function will be expanded as follows:
o"j({,U)
;(~, U)
O"jO(-e) + TO"j1 (e)

-
+ O(T
jo(~) + Tj1(~) + O(T2 )
2
(4.5)
(4.6)
And for the Green's function we write:
G(~,{) = Go(~,{) + T"p1(~'{)
+ ~o(~,{)
(4.7)
where Go(~, {) is the zero speed Green's function.
1
r
Go(~, {) = -
+ "po(~, {)
-
We now can write equation (4.4), at ~ E S, for j = 1, ... ,7:
(4.8)
and
(4.9)
where Go(~,{) = : +"po(~,{), with"po is the zero speed pulsating wave
sources, and l-j(~j U) = l-jo(~) +Tl-j1(~) +O(T2 ) as in equation (3.22).
-iwnj
{
-~~
j = 1, ... ,6
j = 7
{ ~ij;s a~z GoD(X, o)dSe
(4.10)
j
= 1, ... ,6
j=7
(4.11)
The subscripts jO and j1 mean respectively the zero- and first-order

expansion in the jth mode of motion.
4.1. THE INTEGRAL EQUATION
29
In solving the integral equations (4.8) and (4.9) we encounter the

problem of the irregular frequency phenomena. The existence of these
irregular frequencies for the water wave problem dates back to the
publications of John [37, 36] in 1950.
Since the ship motion problem is formulated at forward speed, this
gives rise to encounter frequencies higher than the frequencies normally used in the ship motion problem at zero speed for head and
bow quartering waves. As will be made clear later on, the effect of
" irregular frequencies" will influence the numerical solution of the
problem. These so-called irregular frequencies tend to enter the ship
motion problem at higher frequencies (this however actually also depends on the geometry of the vessel). Therefore attention will be paid
to reduce the effect of the irregular frequencies on the ship motion
problem.
For V7 we see that cPo depends of wand wo, which in turn depends
on the speed of the vessel. Since cPo does not satisfy the free surface
condition (3.8) we correct the cP7 in order to let cP7 + cPo satisfy the
free surface condition (3.8). From the analysis in chapter 3 we see
that the last term in (4.11) gives the necessary correction. We have to
take care that w does not become too small, because then the factor Jlw
becomes too large. When we use an asymptotic expansion, the terms
of the expansion have to be of the same order. So a small w makes the
first order term become much larger than the zero order term. In that
case we are trying to make an asymptotic expansion for both small
T as well as small w. A similar approach, but for small w, has been
given by Van de Stoep [71].
The potential function equation (4.6) now becomes:
JIs O"jo({)Go(~, {)dSe
cPjo(~)
4~
cPjl(~)
4~JIs O"jo({Nh(~,{)dSe + 4~JIs O"jl({)Go(~,{)dSe
(4.12)
+21[" JrF S Go(~,e)D(X,cPjo)dSe

i
J'
(4.13)
So when we compute O"jO and O"jl with the equations (4.8) and (4.9),
30
we can evaluate
jO
and
j1
from the equations (4.12) and (4.13).
From the body boundary condition can be seen that the second derivative of the steady potential must be computed. Section 3.5 describes
how we arrive at a numerical value of these quantities.
The integral equations for the source strength 0'0 and 0'1 are solved
using a conventional panel method. We approximate the mean wetted surface of the body by quadrilateral panels for which we assume
constant source strength over the panel. The integration of the rankine source part of the Green's function was discussed by Fang [15].
Because of some misprints in his original publication, the integration
over a panel of 1fr and
(lfr) is reiterated in the appendix C. The
frequency dependent part of the Green's function is integrated using
Euler. The algebraic equations that follow after the discretization of
the integral equations can be solved either using classical LU decomposition or by using an iterative solver. The latter is more useful if one
requires large number of panels. The iterative scheme used is based
on a method published by Sonneveld [65]. His method pivots around
the use of conjugated gradient type of methods for non-self adjoint
operators. For a review of these type of methods one is referred to the
work of Van de Vorst [73, 72].
In the right hand side of the integral equation (4.9) for O'}, an
integration has to be made over the entire free surface around the
body. The extent of this integration over the free surface is, however,
limited due to the fact that the steady potential disturbance behaves
like a dipole, the integrand decays like R-4 with R being the polar
distance to the vessel. An example of the extent of the influence of
the stationary potential over the free surface is given in figure 4.2.
:n
4.2
The amplitude distributions of the

potentials
In this section the far field potential is described. We define Hj as the

amplitude of this potential. We need this amplitude to compute the
first and second order wave forces in chapter 6. The sum of the Hi's
4.2. THE AMPLITUDE DISTRIBUTIONS OF THE POTENTIALS31
Free surface Velocity in 150 deg current
Figure 4.2: Stationary potential in free surface around a 200 kDWT

tanker in cross-flow conditions.
is used to compute the drift forces.
Far away from the body, we have a radiation condition stating that
<Pi must behave as outgoing waves:
,/.,J'
'I'
1_HJ(()-)e k 1 (6) [z+iRV 1-472 sin 2 0]

~V
flR
.-
for j = 1, ... , 7
(4.14)
The far field approximations for the Green's functions are given in
equation (5.30).
32
with the amplitude
e,
h( 8) =
rs;k (8)e
V---;;:
k 1 (0) [c+ie( - cos 0-2Tsin2 O)+il'/(- SinO+2T cos osin 0)]+i-I
where
k1 (8) = K(l
+ 2r cos 8) + O( r 2 )
(4.15)
The function H results from the asymptotic expansion of the far field
potentials in equation (4.2).
471"4>j(~) = +/
LO"({)G(~,
{)dS e +
+2irJ' f G(~, e)D(X, 4>jo)dSe

}FS
So the amplitude H of the potentials becomes
+4~ / L
H j (8) =
O"j({)h(e, 8)dSe +
+~: / ks h(e,8)D(X, 4>io)dSe
(4.16)
with h(e,8) as in equation (5.31).

The amplitude of potential H is the result of the following equation:
471"4>j = J' f [4> o"p -"p o4>j] dS +
ls
on
on
(4.17)
+2ir/ks[4>jD(x,4>j)]dS
So the amplitude H of the potentials becomes, with Tuck's theorem:
H(6)
J
= +~J'r
471" ) S
-tn
271"
H7 (8)
[4>JoOh
on -
}FS
(h-~V(X+Z)Vh)no]dS+
7,K
J
[4> jD(X,h)]dS
(4.18)
= +4~JL4>D~~dS+ ~:JLs4>DD(x,h)dS
(4.19)
We need the sum of the H/s to compute the drift forces. We define:
6
H(8) = H7 + iw L H(j)(j
j=l
(4.20)
Chapter 5
The Green's function
To solve the integral equation (equation (4.4) ), we have to compute
the Green's function. Once the expression for the Green's function is
found we then can compute the source and the potential distributions.
The first section of this chapter! gives the asymptotic expansion of the
Green's function. In the second section the zero order Green's function 'l/Jo is treated. The third section gives two ways to compute the
first order Green function 'l/Jl: a transformation in the complex plane
and an expression based on the derivatives of the zero order Green's
function. The fourth section deals with the non-uniformity of the firstorder Green function. In the last section we derived the derivatives
of the first-order Green's function. We need these derivatives for the
potential expansions in the next chapter.
5.1
The expansion of the Green's function
In this section we present an asymptotic expansion of the Green's

function. The Green's function has to satisfy the conditions on the
velocity potential ~(:z:,y,z,t) = G(~,{;U)exp(-iwt):
IThe subscripts 0 and 1 in this chapter are the terms of the asymptotic expansion and not the modes of motion as in the preceeding chapter.
33
34
CHAPTER 5. THE GREEN'S FUNCTION
= 0, z < 0, (X,y,Z) =I- (e,"1,() (Laplace's equation)

2. <.L>tt + 2U<.L>xt + U 2<.L>xx + g<.L>z(x,y,O,t) = at mean water level
3. <.L>(x,y,z,t) = co~wt + ~(x,y,z,t),
1. V 2<.L>
-t/J harmonic everywhere in z
4. lim z--+_ oo V<.L>
=0
5. limR--+oo V<.L> =
R2 = (x -e)2
<
for all x, y, t (no flux on the sea-floor)

for all t,
+ (y-"1)2
6. <.L>(x,y, 0, 0) = <.L>t(x,y, 0, 0) =
In accordance with Wehausen [74] we introduce:

1
G(~,eiU) = - - - +'ljJ(~,e;U)
r
rl
-
(5.1)
where r = I~ - {I and rl = I~ - e'l

e' is the image of with respect to the free surface. This means with
{ = (e,"1,(), r~ =
e)2 + (y - ",)2 + (z + ()2.
ex -
The Green's function follows from the oscillatory translating source

function presented in Wehausen and Laitone[74]. In the case T < ~,
where T =
the function .,p(~, {; U) is written as follows:
w;r,
'ljJ(~, ei U) =
-
2g
7r
f!j dO f dk F(0, k) + 2g t' dO f dk F(0, k) (5.2)

11
7r 1!j
12
10
where
k . ek[z+e+i(x-e) cosO] cos[k(y - ",) sin 0]
F(O, k) =
gk - w + kU cos 0
(5.3)
The contours L 1 and L 2 are given as in figure 5.1.

These contours are chosen in such a way that when R ~ 00 then
'ljJ ~ and the 'radiation' conditions are satisfied. The radiated waves
are outgoing and the Kelvin pattern is behind the ship.
In other ship motion theories like the ones developed by Nakos and
5.1. THE EXPANSION OF THE GREEN'S FUNCTION
k1
\J
k3
\J
k2
G
k4
35
.. ot
.. ot2
Figure 5.1: Contours of integration.
't < 4-
Figure 5.2: Wave pattern of oscillating translating source
< 1/4.
Sclavounos [42], it is assumed that the ship does not produce waves in
front of the vessel ( T 2: 1/4) . This condition is required due to the
upwind difference scheme they used to dampen out upstream waves.
Therefore these methods are less suited for slow speed ship motion
theories ( T :::; 1/4). We only take T < ~j with that speed and wave
frequency the vessel will not overtake the radiated waves. T, Brard's
number, is a non-dimensional parameter defined as w~.
OHAPTER 5. THE GREEN'S FUNCTION
36
The values k, are the poles of F((},k). So: gki - (w + kiU cos (})2 = O.
We have to pay attention to the value of cos (} in both the integrals in
equation (5.2): in the first integral 0 ~ (} ~ j, so cos (} is negative and
in the other integral cos (} is positive.
The values of k; behave as follows:
1 - VI - 4r cos (}
------w
2r cos (}
1 + Vl- 4rcos(}
----'-----w
J9k 2 , -~
2r cos ()
For small values of r these poles behave as follows:
Jgk b Jgk3
../gk1 , ~
r::r
J9!i;., -v gn;4
rv
+ O(r)}
+ 0(1)
fN
rv
as r -+
(5.4)
(5.5)
TCOS(}
A careful analysis of the asymptotic behaviour of "p(~, {; U) for small

values of r leads to a regular and an irregular part.
_
U2 _
"p(~,e; U) = .,po(~,e)
-
+ r.,p1(~,e)
+ ... + .,po(~,O
+ -.,p1(~,e)
+ .. '5.6)
9
-
In Hermans and Huijsmans [24] (see appendix F) it is shown that

due to the highly oscillatory behaviour the influence of "fio may be
neglected in our first order correction for small values of r .
The behaviour of k 1 and k3 gives rise to a regular perturbation series
with respect to r . In contrast, k 2 and k4 originates a highly oscillating
contribution which gives rise to a non-uniform expansion. However,
the position of the last two poles moves to infinity, therefore it can be
treated separately. If r -+ 0, the contours L 1 and L 2 become the same
(figure 5.3). With K = ~2 it follows:
r k _ Jo(kR)dk
r
"p1(~' {) = 4i cos (}' JL (k _ K)2 J1(kR)dk
.,po(~, {)
= 2JL
kek(z+c)
(5.7)
k2e k(z+c)
where
(}'
= arctan ~=e
' or in an other way
R cos (}'
= :l: -
(5.8)
e.
5.2. THE ZERO ORDER GREEN'S FUNOTION "po
k=K
37
----..k
Figure 5.3: Contours of integration.
5.2
The zero order Green's function "po
In this section the zero-order Green's function of the asymptotic ex. . .

pansion IS given.
The equation (5.7) for"po can be split into the residue and the principal
value integral.
7ri { 2ke
k(z+c)
Jo(kR) }k=K.
27rineK.(z+C)Jo(nR)
,r k k(z+C) Jo(kR)dk =
+ 2 . PVj L ~ _
l. kek(z+c)
k
Jo(kR)dk
+ 2 PV
(5.9)
The zero-order Green's function, without the Rankine singularity ~ is

computed in the algorithm FINGREEN, derived by Newman [45].
So in FINGREEN (;1 + "po) is computed. Figure 5.4 shows the behaviour of the amplitude of 1..
+ "po, the real and imaginary part (in
T1
the figure respectively "po, Re"po and Im"po).
38
5.3
The first-order Green's function "p1
In this section two methods to compute 'l/Jl are given. The first subsection gives an equivalent expression for 'l/Jl by a transformation in
the complex field. In the second subsection 'l/Jl is transformed into an
expression which only contains derivatives of'l/Jo. The plot in the third
subsection shows the agreement of both expressions.
2.4
I 'flo I
- - - - - Im'l'o
... - - ... - . Re'l' 0
2.0
1.6
'flo
1.2
\~
0.8 \~
:\
:\
0.4
:\
"..
'''''-.',-"
'....... .."... ';"""'.,(...

'.,
""
~- ..
J " ' ' ' ' '
............
_ , / ... .-.
_....-:. _;--'.:....
0+---~-~-~------':"~--1
10
15
20
25
30
kR
Figure 5.4: 'l/Jo, R is variable, the source in (0,0, -1), w = 1.4.
5.3.1
A transformation in the complex plane
An equivalent expression for 'l/Jl is given by a transformation in the

complex field (Abramowitz [1]).
Using J1(kR)
= ~ [HIl)(kR) + HI2)(kR)]
equation (5.8) becomes:
5.3. THE FIRST-ORDER GREEN'S FUNCTION .,pI
39
In appendix F.1 it is shown that we can rewrite .,pI, with ~e as the

real part and S'm as the imaginary part. These parts can be written
as follows:
S'm{.,pI} = -471" cos ()'e lt(z+() K[(1 + K( z +()) Yi (KR) + KRYO( KR)] 8
, (00 v KI (kR)
- ; cos ()'Jo (K 2 - k 2 ) 2 [2Kkcosk(z+()+
+ (K 2 - k 2)sink(z+()]dk
5.3.2
(5.12)
An expression of derivatives of 'l/Jo
In this subsection we transform the expression for.,pI in equation (5.8)

into an expression which only contains derivatives of .,po. From the
adapted version of the algorithm FINGREEN, we compute the zero order Green function, without the Rankine singularity ~, and its derivatives. Once the expression for .,pI is recast into expressions of .,po and
derivatives of .,po, we adapted the original FINGREEN algorithm to
incorporate the values of .,pl' The extra computational burden is very
minimal with respect to the CPU time. However, storage of this .,pI
function will require extra memory capacity.
The computer time will be slightly increased, because the time for
the calculation of the forward speed influence is negligible compared
with the zero speed computations.
The expression for .,po according to equation (5.7) can be rewritten
as:
+ 2K
1'1
.,po(~, e) = -
/,
ek(z+()
Jo(kR)dk,
(5.13)
The Green's function now becomes:
(5.14)
where
(5.15)
40
rk_
and where
.,p~(~, {)
= 2K1
ek(z+()
K
JO( kR)dk
(5.16)
Appendix F.2 presents the following expressions for respectively the

real ~e and imaginary ~m part of .,pl(~'{)'
~m{ .,pIF -2 cos 0' { [1 + K( Z

where
.r
.,p~*(~,{) = 2 PV
+ 0] 8.,p**
8~
(5.18)
k(z+()
JLek _
5.3.3
8.,p** }
- KR 8;
Jo(kR)dk
(5.19)
The agreement of both expressions
The plot in this section, figure 5.5 shows the agreement of the expressions derived in section 5.3.1 and 5.3.2. In the plot the expressions for
.,pI in section 5.3.1 (a transformation in the complex plane) are given
as Re.,pl (1) and Im.,pI(1). Results derived from the derivatives of .,po)
are denoted as Re.,pl(2) and Im.,pI(2).
As appears from figure 5.5, the two expressions of the potential
.,pI are completely equivalent.
The algorithm which describes the computation of .,pI based on an
expression of .,po was first reported by Huijsmans and Hermans [30].
The same approach was also used by others (Nossen [51] , Grue and
Palm [18]) to compute their slow speed Green's function.
5.4
The uniform expansion of the Green's

function
The plot in figure 5.5 makes it clear that

haviour for large R. This means that .,p
.,pI has a non-uniform be= .,po + T.,pl also behaves
5.4. THE UNIFORM EXPANSION OF THE GREEN'S FUNCTION41
'\
I
I
------
I
I
I
I
I
I
,,
I
I
I
\
I
'1'1
0
,
I
I
I
I
I
I
I
-2
r
I
I
,,
I
I
I
I
-4
"
\
I
I
I
I
I
I
I
I
I
I
I
I
I
,,
I
I
I
I
I
I
I
I
I
I
I
I
I
I
I
I
I
I
,,
\
\
-6
0
10
15
\1
30
kR
Figure 5.5: 'l/;b R is variable, the source in (0,0, -1), w = 1.4.

non-uniform. In this section we try to write 'I/; as an uniform asymptotic expansion.
In the first subsection a large horizontal distance R, between ~ and {
will be dealt with. The size of the vessel becomes large with respect
to r , r R = O(L).
If the size of the ship is order L with respect to r R, it is not sufficient
to use the Green's function (equation (5.1)), with 'I/; = 'l/;0+r'l/;1' Using
equation (5.2) for 'I/; gives a non-uniform expression for large R. This
is treated in the second subsection.
5.4.1
Large distance R
We look at equations (5.11) and (5.12) to find the origin of the nonuniformity. First we write:
We then define '1/;1 as '1/;1 corrected for the non-uniform part. Finally
we give an expression for '1/;0 that is defined accordingly.
OHAPTER 5. THE GREEN'S FUNOTION
42
The first-order Green's function can be written as

= ~e{.,pl} + i . S'm{.,pl}' This gives:
.,pI
.,pl(~'{)
-411"cosO'elt(z+C) [~H}I)(~R)
+ ~2(z + ()HP)(K,R)
K,2 RH~I)(K,R)] 8i
, roo k 2K1(kR)
--:; cos 0 1 (K,2 _ k 2)2 {2K,k cos k(z+()
0
2
+ (_k + K,2) sin k(z+O} dk
(5.20)
According to Hermans and Huijsmans [29], it turns out that the integral behaves like O(R-~), hence it leads to an uniform expansion
with respect to T. The integral is 0(1) as T -+ 0, VR E [0,00).
We have to consider the term between the brackets [...] in equation
(5.20). Using the asymptotic expansions of the Bessel functions:
HJI) (K,R)
vK,R
~ exp [+i(K,R -11"/4)]
HP)(",R)
vK,R
~ exp [+i(K,R -
311"/4)]
By inspection we see that the first term between the brackets of (5.20)
does not show a non-uniform behaviour. The second term of (5.20)
does give rise to non-uniform behaviour for large values of z +(. However, we restrict ourselves to finite values of z +(. Our main concern
is the third term of (5.20).
- 411" cos O'e K(z+C)K,2 RHJI) (K,R)
For large values of R we can use the asymptotic expansion of
- 411" cos 0'elt(z+C) K,2 R .
V2
1I"~R
ei(KR-V
(5.21)
Hd
).
(5.22)
Because of the term VR, this part of .,pI causes the non-uniform behaviour. If we define .,pI as .,pI minus the non-uniform part, we have
an uniform expression for .,pl'
.,pl(~' -e) = .,pl(~' -0 + 411" cos O'elt(z+C) K,2 R V1I"K,2R ei(ItR-i)
(5.23)

6
5
4
1------
'1'1
LV'1
'1'1
3
2
,"
I
"
--- ---- ------------------
O-l---~-~-~-~-----1
10
15
20
25
30
kR
Figure 5.6: Large distance

w = 1.4.
wj , R is variable, the source in (0,0,-1),
In figure 5.6 the amplitudes of .,pI and .,pI are plotted. This expression
for .,pI seems to be the solution for the non-uniformity, but .,p ~ .,po +
T.,pI + O(T2) has to stay the same. So we have to define .,po as .,po plus
T times the non-uniform part of equation (5.21) .
.,po(~, -e) = .,po(~, -e) -
47l"T cos f)' elt(z+() /'i,2 R V 2R ei(ItR- 1)

7l"K
(5.24)
Now .,p = .,po + T.,pI + 0(T 2) =.,p. But now.,po has a non-uniform
behaviour.
When we use the Taylor series approximation:
(5.25)
Equation (5.24) can be rewritten as:
.,poC~,{) = .,po(~,{)+2i7l"elt(z+')/'i,V7l"~Rei(ItR-1L[e2iTItRCOS8' -1]+0(T 2)

(5.26)
44
The amplitude "po has a uniform behaviour for large R. The plot
in figure 5.7 gives the amplitude of "p using "po + T"p1 and using
"po + T"p1(= LV"p).
2.4 , - - - - - - - - - - - - - - - - ,
'I'
2.0
LV'I'
1.6
'
1.2
0.8
\
0.4
I
\
'
\
\
~I
', r >
,~
....
,~
O-l----~---~--~---I
10
15
20
25
30
kR
Figure 5.7: "p and "p(= LV"p), R is variable, the source in (0,0, -1),
w = 1.4.
This method leads to a uniform expansion of"p. But it has a drawback in the sense that "po now becomes dependent of T. SO we have
to compute the Green's function for every speed, which reduces the
applicability of this expansion to a large extent. Another approach
will be followed in the next section.
5.4.2
The far field
To compute the far field expression of"p, Huijsmans and Sierevogel [31]
first computed the wave residue of equation (5.2) and then applied the
method of stationary phase. As noted at the end of section 5.1 k2 and
k4 can be neglected, so L 1 and L 2 become the same, with one pole k 1

The contours of integration are like those in appendix F.1.
'lj;(;J1, {; U)
= ~ fo dO
1r
{residue in k
+10
= k1 of F(0,k) +10
00
[
]dik
00
[
]di(-k)}
(5.27)
As is derived in appendix G.l, with the notation :I: = Rcos 8 and y =

Rsin 8 (R is the distance from the origin) it follows that:
(5.28)
We now apply the method of stationary phase to the integrals with
respect to e. The method of stationary phase reads (see eg Timman,
Hermans and Hsiao [67]):
(5.29)
where f'(c)
= 0, if a:::; c:::; b. The sign of ~i
agrees with the sign of
f"(C).
From the appendix G.2 it follows that equation (5.28) now becomes
for all 8:
(5.30)
where the amplitude
(5.31)
and where
K(1 + 2r cos 0) + O(r 2 )

(- cos B- 2r sin 2 8)
(- sin 8 + 2r cos fJ sin fJ)
(5.32)
46
2.4 x'f-
---,
- - -* -2~O
I
I
I
I
I
1.6
~
I
I
'I'
1.2
I
I
0.8
~\
" '\,'
I
\ I
\)<
,X .... """
x" ~ \
"
"x
'>l.
)(
0.4
O~-~-_-~~-'--~"'--'__'--L.--l
10
15
20
25
30
kR
Figure 5.8: "p and FF"p, R is variable, the source in (0,0, -1), w
= 1.4.
In figure 5.8 the amplitudes of"p and the far field approximation of
"p( = FF"p) are given.

It is clear that the far field expression for "p is an uniform expression. But we have the same problem as in subsection 5.4.1: we have
to compute the Green's function for every speed, because we cannot
expand "p like "po + r"pI'
The following solution is adopted: we only use the asymptotic expansion at a finite distance from the source point. When IKRI > 1 the
second order Green's function has a non-uniform behaviour, but the
far field Green function can be described by the zero order Green's
function "po. So when IKRI > 1 we can set "pI equal to 0.
Once the expressions for "pI are found, the derivatives of "pI with respect to Rand Z can then determined. The complete expressions are
given in appendix F.
5.5. SUPPRESSION OF IRREGULAR FREQUENCIES
5.5
47
Suppression of irregular frequencies
5.5.1
The Lid method: theory
In this section the exact lid method is presented to solve the derived
integral equations (4.4) for ship motion problems. The mere existence
of irregular frequencies in water wave problems originates from the
work of John back in 1950 ([36, 37]).
Air
Air
Free
Free_~--~
Surface
Surface
Water
F: Free Surface Lid

S: Ship hull
C: Water Line Contour
So: Domain Outside Hull
Figure 5.9: Ship.
Water
ISi : Domain inside hull

Figure 5.10: Ship section.
In order to avoid or reduce the effect of irregular frequencies several

methods have been proposed in the past. A complete reformulation of
the mathematical problem free of irregular frequencies was proposed
by Werner and Brakhage [7], and discussed by Kirkup [39]. The reformulation of the integral equation to the ship motion problem was
proposed by Sc1avounos and Lee [62]. One of the drawbacks of their
methods was that their formulation of the diffraction problem could
not be recast into a source sink type of method without the derivation
of the source distribution over the mean wetted surface. A more practical method was introduced by Wood [80] for the two-dimensional
ship motion problem. He used an internal lid to close off the inner
flow in the body, thereby restricting the non-uniqueness of the sources.
The correctness of his approach was later justified by Ohmatsu et al.
[2]. The idea behind this method is to close the hull of the floating
object by means of a flat horizontal lid. It can be shown that this
provides a unique solution once the potential flow inside the body is
fixed with a lid in the free surface with suitable, but freely chosen,
48
boundary conditions. Ohmatsu [2] has shown that the application of

a lid also leads to unique solutions for two-dimensional problems.
The method is based on a modification of the boundary integral
equation that is derived from Green's second identity. In section 5.5.1
a derivation is made for the potential and for the velocities. In figures
(5.5.1),{5.5.1) the situation is visualized. In the figure on the righthand-side the rigid lid F on the free surface is introduced, which is
essential to the modified boundary integral equation.
Formulation for the potential

Starting from Green's second identity
~ E
De
~ES
~ E
Di
(5.33)
In this equation the cPo refers to the potential in the outer domain
De (cf. figures (5.5.1),(5.5.1)). The normal n on the hull surface S
is directed into De. The Green's function is written as G, as before.
Finally D, denotes the inner domain. Now suppose the surface S is
closed by a rigid lid on the free surface and call this lid F. Then we
can write for the potential in the inner domain cPi,
f1
suF
(cPi{{)
8G8~' {) - 8:~{) G(~, {)) dS{ = { -27rcPi(~~~ : ~ ~e

e
-47rcPi{~); ~ E
D,
(5.34)
From this it follows after subtracting the latter equation from the
former that for cPo{~) in De
5.5. SUPPRESSION OF IRREGULAR FREQUENOIES

Now take
49
cPo = cPi on S and define a source density Us on S as

(5.36)
Using equation (5.36), we can write

47l"cPoC~)
(8
cPi(e)
= Jfs us({)G(~, {)dS{ + j'JfF 8n;
- VcPi({) )
G(~, {)dS{
(5.37)
in which v denotes the wave number, where use has been made of
the fact that for the normal derivative of the Green's function on the
horizontal surface F
8G(~1 {)
8ne
= 8G(~, {) =
8z({)
G( t)
(5.38)
v~, ~
We have thus derived an expression for cPo in the outer domain.

One can in a completely analogous way write for cPi'
which is valid for points p in the inner domain.

We are then able to derive an alternative formulation for the interior potential cPi' using the following arguments.
From the expression for the interior potential cPi we let the fieldpoint
~ approach the free surface F.
From equation (5.46) we get, by imposing an artificial boundary con4>i - 0 on the free surface F:
dition -aa
n.,
:5 47l"4>i(~) :51Is us({)G(~,

=
{)dS{ -
:51L
4>i({) 8~:; e) dS{

(5.40)
Or
(5.41)
50
by using the free surface condition 8~~~) = vG(~, {) for { E F. This

represents a proper integral equation for cPi. Together with the representation for the source distribution on the body S, it forms a complete
set for the solution of the source distribution on S.
We have:
/Is U8({)G(~, {)dS~ - v / LcPi({)G(~, {)dS~ ~
E F
(5.42)
-27r0"8
+ f'r
Js
O"s(e) 8G(~, e) is, - v

- 8nx
-
f'Jr (h(e) 8G(~,

e)es,
8n
F
(5.43)
If we represent the unknowns on the free surface in terms of sources
we obtain the following two sets of integral equations.
When we subsequently take UF to be the source density on F
according to
O"F({) =
8:~:)
then it finally follows for points
cPo(~) = 4~
~ E
Vi({)
(5.44)
De
Is O"s({)G(~,{)dS~ +/ LO"F({)G(~,{)dS~]
[/
(5.45)
and using the definition of the source densities as and O"F (eqs. (5.36)
and (5.44)), it follows that
cPi(~) = 4~ [/Is O"s({)G(~, {)dS~ + / O"F({)G(~, {)dS{]
(5.46)
again for ~ E Di.

We now move the points of observation p in the formulation for the
potential from their respective positions in the outer and inner domain
to the boundary, be it S or F. Then we take the derivative in the
direction of the observation point's normal. This yields the normal
velocity in the point of observation,
2
47r 8cPo(~)
8
= - 7rO"s
nx
/Is O"s({) 8~~~ {) dS{
+ /
LO"F({) 8~':~ {) dS{
(5.47)

for
~ E
51
S as well as
(5.48)
for
E F.
In fact we can show that these sets of integral equations (5.48, 5.48)
and (5.42, 5.43) are identical. For a more formal derivation see appendix B.
5.5.2
Implementation of lid method
Figure 5.11: Panel distribution box
The effect of panel number (without free surface panels)

To assess the convergence of the added mass and damping matrices
as a function of the number of panels, computations for two different
panel numbers are performed. The case of a rectangular box of dimensions (L x B x T) = (90 x 90 x 40 m) is investigated at zero-speed.
52
The location of the irregular frequencies associated to the square box

geometry is formulated as follows:
W;rr
with
"'(2
= "'(9 coth "'(T
7rn) + (7rm)
L
(Ii
2
(5.49)
for n,m=l,....
The first seven irregular frequencies for the square box under consideration are :
The box geometry is described by a set of 108 and 300 rectangular
Wirr
1
1
2
3
3
4
3
1
2
2
1
2
1
3
0.709
0.877
0.985
1.041
1.111
1.188
1.205
Table 5.1: Location irregular frequencies for a square box.
panels as shown above in figure 5.11.

All computations have been done using a frequency resolution of
0.01 rad/s from 0.65 to 1.30 rad/s. In every figure a plot is printed
showing the results for the added mass on the left side, and the corresponding damping coefficient on the right side. In the figures 5.12
to 5.59 a caption is displayed with two numbers, the left number indicates the number of panels on the body, the right number represents
the number of panels on the free surface.
Surge Dampingfor Box (90x90x40m)

Note:611=622
Surge Added Mass for Box (90x90x40 m)

Note:A11=A22
100
r--------------,
53
120 . . . - - - - - - - - - - - - - ,
100
80
1/1
"t:l
.g 60
80
<:
..... 111
..... 111
..... 1/1
..... 1/1
!DB
s:
~ 40
I-
20
60
40
20
0'--........- - - 1 . -................- - - ' ' - - ' - - - ' - - - - - '

0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
OL..-....L..---L_.l.-..............J--::................---I
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4

Encounter Frequency (rad/s)
Figure 5.12: Surge added mass no

lid.
Figure 5.13: Surge damping no

lid.
Or----------...,
100
r-------------,
-200
1/1
1/1
"t:l
0 I-----j"""'"-;-+----...f-----l
"t:l
It):ij
..... 1/1
<:
It) III
:;;( g-400
!DB
s:
s:
I-
I-
-100
-600
-800 '---I---I._.1---L.......J_................---1
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.14: Surge-pitch added

mass no lid.
-200 L..-....L..---L_.l.--L.......J_................---1
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.15: Surge-pitch damping

no lid.
54
5r------------,
300 . - - - - - - - - - - - - - - ,
250
..,t-----------
200
<11
<II
"C
~ -5
C')
C')e::
~~150
o
C')<II
IDS
~-10
s:
I- 100
-15
50
-20 L...-.........- - L _......................_ .......--L---'

0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
OL...-.........- - L _......................_..I-.--L---'
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Encounter Frequency (radis)
Figure 5.16: Heave added mass

no lid.
Figure 5.17: Heave damping no

lid.
600 . - - - - - - - - - - - - - - .
,,
"
- 108/0 1
--- 300/01
1
200
r-----------...,
\,
<II
100
"C
(\Ie::
vlJl
IDS
~
OI---"'-L~lIt_--~-_1
108 0
/ 1
-300/0
1
OL...-.........- - L _......................'--..I-.--L---'
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.18:
mass no lid.
Roll-sway added
-100 L...-.........- - L _.............- - - L _.......- ' -.......

0.6 0,7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.19: Roll-sway damping

no lid.
250 . - - - - - - - - - - - - - - ,
100 . - - - - - - - - - - - - - - ,
80
ell
..... 1:
---
55
200
---------
60
-e .2
=:ii 40
- 108/0
--- 300/0
1
20
50
OL.--..L-.....L.--L_L.-.......-L---"--'
OL.--..L--L----l._.&..-...I---L---lL.--l
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Encounter Frequency (radls)
Figure 5.20: Roll added mass no

lid.
Figure 5.21: Roll damping no lid.
200 . - - - - - - - - - - - - - .
100 . - - - - - - - - - - - - - - .
80
150
ell
ell
C05
co= 100
COl:
60
co.2
:E
!Xl
50
:ii 40
20
OL..-.............L.--L_L.-..L--L---L--J
OL..-..L-.....L.--L_.L..-.......-L----l.---l
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.22: Yaw added mass no

lid.
Figure 5.23: Yaw damping no lid.
56
The effect of panel number (with free surface panels)

Now the computations of the last section are repeated with the addition of a lid of surface panels. The panel distribution of the free surface
lid is made symmetrical with respect to the bottom. This means, for
example, that in the case of 108 panels, 36 surface panels are added,
i.e. 6 panels per box section.
120
100
100
80
~
,
~ 60
... c
... 1\1
~ 40
-"
I-
""
rI)
"0
C
... 1\1
,,"
... Ul
60
COs
.c
I-
II
1-108136
--- 300/100
20
80
40
20
O~..L-......I----,"-l-......L.........I---.L--I
O~....L.......L---..L-J.-~~--J--J
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.24: Surge added mass

with lid.
o,-------------,
-200
r-------------,
.,..----
~0r_--_r__r----____4
"0
ID
100
50
- 108136 1
--- 300/100
1
Ul
Figure 5.25: Surge damping with

lid.
IDC
"'lll
CO::J
... lll
::J
~
-400
~-50
-- ~
" . - - - - --
-600 '"-................---l_J.-~-..L.--J--J
-100
-150 l-....L-......I----'"_l-......L.......L----..1----l
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4

mass with lid.

with lid.
HeaveDamping for Box (90x90x40 m)
HeaveAddedMassfor Box (90x90x40 m)
Note: B33
Note:A33
5r--------------,
500
~
Ul
"C
57
\' '-
{l -5
~l6
(')1:
(,)lJl
::I
o
mgj
o
~-10
1-108/361
-- - 300/100
-500
-15

with lid.
r-----------......,
,
~
---
Ul
"C
400
Nl6
......
...... ..,--
Figure 5.29: Heave damping with

lid.
200
r--------------,
::Io
"ItUl
I
I
-20 L..-....L......L_J.-....L..----l_..L-.....L----I
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
-1000
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
600
- 108/36
\ - - - 300/100
100
Ul
"C
~l6
mgj
o
200
- 108/36 1
--- 300/100
1
oL-..L.........L---JL...-..L.........L---JL...-..L-......
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.30: Roll-sway added

mass with lid.
Ol--------:!'-:-~"":::---~---I
---100 L..-....L......L_J.-....L..----l_...............----'
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4

with lid.
58
100
80
UI
~~
r-----------,
250
-------------
r----------,
200
60
~ 40
20
50
O'---'--.......- --I._"---....&---L.......- - - J
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
0'---'--...............-'---'---.&..---1.---1
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
EncounterFrequency (radls)
Figure 5.32:
with lid.
-108/36
- - - 300/100
Figure 5.33: Roll damping with

lid.
Roll added mass
100 , . . - - - - - - - - - - - ,
200 , . . - - - - - - - - - - - - ,
80
150
UI
coc
co .S!
60
10=
~ 40
50
20
0"----'--.......---1.-"---........-.&..---1.---1
0'---'--.......---1.-"---........-.&..---1.----1
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.34:
with lid.
Yaw added mass
Figure 5.35: Yaw damping with

lid.
59
The effect of free surface panel number

The computations are repeated with the number of surface panels
reduced. This is to assess the number of surface panels needed to
eliminate the influence of irregular frequencies. Two numbers of surface panels that have been chosen are 60 and 20 for the case of 300
regular panels.
80
100 . - - - - - - - - - - - - ,
80
o
-g 60
.... l'II
.... 0
al~
t=
20
300/20
--- 300/60
40
20
OL.-....L--L_.L-.--....L--L_.L-.--....L........J
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
OL.-...L--L.---"_.L-.--....L.........L.---L----l
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.37: Surge damping effect

free surface panels.
Figure 5.36: Surge added mass effect free surface panels.
100
0.----------.,
-
300120
\ --- 300/60
I
I
50
.g
-200
til
"'C
IOl'II
.... 0
~
o
alS
IO C
.... l'II
i!=
.c
I----r--i------j
-50
1---400
-100
.600 L....L...-L_I.---'--.-L.....J.........I--.....J
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4

mass effect free surface panels.
-150 l-...L--L.---"_.L--....L.........L.---L--'
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4

effect free surface panels.
60
10
400
300
II)
"tJ
e::
Mill
~ ~200
.&:
r----------,
c-::-
I-
-20
100
-30 "----'-...... --L_.L..-...............- - ' - - - '

0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
OL-..I----L_"----'-........- --''--''''--....
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4

Figure 5.41: Heave damping effect free surface panels.
200...----------...,
600 . . . - - - - - - - - - - . . . . ,
{l
400
II)
"tJ
Ni
Ne::
..,.1ll01----""""I:"'"""---t---1~_l
~gj
m~
200
-100
0"----'-........---"----'-........---''--''''--.......
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
EncounterFrequency(rad/s)

mass effect free surface panels.
-200 "----'-........---''--''''--.................- ...........

0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
EncounterFrequency (rad/s)

100
r------------,
80
III
"01'1:
"OI'.Q
61
250 , . . - - - - - - - - - - - - .
200
60
c(=
~ 40
20
50
OL....-.........-L---1_.L..-...J---L.--l1.-...J
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
0'--....L--L---1_.L..-...J---L.---I1.-...J
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.44: Roll added mass effect free surface panels.
Figure 5.45: Roll damping effect

100
200 , . . - - - - - - - - - - - - - ,
r--------------,
80
150
III
III
C05
co= 100
col:
co.Q
60
m=~ 40
c(:E
50
20
OL.--...L--L---1_.L.-...J-......L..---1---1
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
OL....-.........-L---I._.L.-...L--L---1---1
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4
Figure 5.46: Yaw added mass effect free surface panels.
Figure 5.47: Yaw damping effect

62
Comparison of exact lid method and original method

The results of the exact lid method will be compared with the ones of
the original method. The case of 300 regular panels and 100 free surface panels is used. The frequency range is extended to cover the range
frorm zero to 0.65 radfs as well. This makes it possible to compare the
resulits with the work of Faltinsen et al. [14], in which low-frequency
results for exactly the same box are given in plotted form. As an example in the figure for the heave added mass some experimental values
are plotted (cf. fig. 6 of ref. [14]).
120
400
100
300
'" 80
'"
"'C
"'C
C
~m 60
.... 11I
:;(g200
s:
alS
s:
I-
l-
40
100
20
0.2 0.4 0.6
0.8 1.0 1.2 1.4
Encounter Frequency (raclls)
Figure 5.48: Surge added mass

comparison original-lid.
a L-........I'.---'-_.L...-.....r-----'-_'---.....
a 0.2 0.4 0.6 0.8 1.0 1.2 1.4
Figure 5.49: Surge damping comparison original-lid.
o r----------...,
100
63
r----------...,
50
-200
<II
<II
"C
LOlij
::;c ~-400
LOlli
r-----r--ffi'-----;
ms
.c::
I-
~ -50
-600
-100
-150 L::::L::::;::~----l_..L-.-....L...-..J
o 0.2 0.4 0.6 0.8 1.0 1.2 1.4
-800 L..-......L._.L.-......L.._.L.-......L.._I..-....l
o 0.2 0.4 0.6 0.8 1.0 1.2 1.4

mass comparison original-lid.
400

r----------...,
30 . - - - - - - - - - - - - - - ,
20
300
Ul
"C
til
"C
C')Ul
cog
f=.
s:
I-
100
10
C")lij
l:
C")lll
~ ~200
30010
--- 300/100
0 j-L-----;p------t
-10
Experiment
OL-......L._.L.-......L._.L.-......L._.L.-....J
o 0.2 0.4 0.6 0.8 1.0 1.2 1.4

-20 L-......L._.L.-......L._.L.-......L._.L.-.......
o 0.2 0.4 0.6 0.8 1.0 1.2 1.4
Figure 5.53: Heave damping comparison original-lid.
64
800 . - - - - - - - - - - - - . . . . . ,
100
600
.,
~ 50
"C
.-----;:::======:;,
150
~!i
lD:::J
,g
I-
~~400
o
~
200
0 I-.......,..--+---+!\------I
-50
OL...-.....L.......J"--'----L_....L---L----'
-100 L-.....L._.L..--L._.L..--L._L...-....l
o 0.2 0.4 0.6 0.8 1.0 1.2 1.4
o 0.2 0.4 0.6 0.8 1.0 1.2 1.4
EncounterFrequency(radls)

mass comparison original-lid.

250
100 . . . - - - - - - - - - - . . . ,
80 ~---------., 60
200
10
~~
~~
r-----------...,
150
:i 100
::iE 40
300/0 I
300/100
1
-
20
OL..-.....L._.L..-.....L._.L..---I.._.L..-.....J
0.2 0.4 0.6 0.8 1.0 1.2 1.4
EncounterFrequency(rad/s)
Figure 5.56: Roll added mass

50
OL.-.....L.......J_....L----L_..I..---L---l
0.2 0.4 0.6 0.8 1.0 1.2 1.4
Figure 5.57: Roll damping comparison original-lid.

200
r------------,
100
65
r-----------,
80
150
III
CDC::
CD.S!
60
al::
~ 40
50
20
o L...-....L..--'-_.L..-....L..--'-_.L..-...J
0.2 0.4 0.6 0.8 1.0 1.2 1.4
Figure 5.58: Yaw added mass

5.5.3
0.2 0.4 0.6
0.8 1.0 1.2 1.4
EncounterFrequency(radls)
Figure 5.59: Yaw damping comparison original-lid.
Discussion lid method
One method to reduce the effect of the influence of irregular frequencies is to enlarge the number of panels. One may expect that in the
limiting case of the number of panels approaching infinity that the
irregular frequencies occur at very distinct frequencies. One can then
easily remove these particular frequencies from the solution and work
further with the remainder. From figures 5.12 to 5.23 we see that the
effect of increasing the number of panels only marginally reduces the
spreading of the irregular frequency effect. Introducing the lid method
gives a sharp reduction of the irregular frequency influence as is apparant in the figures 5.24 to 5.35. However, we also see anomalous
effects at other frequencies then the irregular frequencies, see for example figures 5.28 and 5.29 for the heave added mass and damping at
the frequencies 0.72 and 1.25 rad/s. It must also be noted that in the
discretized case, leakage effects may occur, hampering the effectiveness
of the lid method. As can be seen from figures 5.36 to 5.47, leakage
can effectively be reduced by increasing the number of lid panels.
Another requirement of the lid method is that at other frequencies
unrelated to the irregular frequencies, results may not be altered just
66
by using a lid in the free surface. From figures 5.48 to 5.59 we see
that there is little influence of the application of the lid method at
frequencies below the lowest irregular frequency.
Chapter 6
The forces on the body
Once the velocity potential is known, we are able to compute the
hydrodynamic forces using pressure integration.
In the first section we derive the added mass and the damping by
computing the reaction forces. The second section gives the wave
forces, computed by direct pressure integration and by the Haskind
relation. Also, the motions due to these forces are computed. In
the third section we compute the mean drift forces. The forces and
motions are computed for a half-immersed sphere and compared with
the results of Nossen [52] and Zhao and Faltinsen [82].
6.1
Added mass and damping
In this section we derive the reaction forces, F; i = 1, ... ,6, using

pressure integration. With these reaction forces we are able to compute the added mass and the damping.
Once the potentials cPo(~) and cPl (s) are known, the pressure is determined from Bernoulli's equation.
p(~, t) = -pgz - p<I>t(~, t)
2PV<I>(~, t) . V<I>(~, t)
+ Po + C(t)
(6.1)
The pressure is then expanded using the same expansion scheme as is

used for the sources and velocity potentials. Using the expressions for
67
68
<)
CHAPTER 6. THE FORCES ON THE BODY
and linearizing with respect to ~ we have:
p(~,t) = -pgz - P~t

The linearized pressure
+ pU~x -
pU(VX' V~)
(6.2)
can be written as:
(6.3)
with
PO(~' t)
_p 8~o~:, t)
(6.4)
_/~~:,t) + ~ [8~~=,t) _ VX(i11)' V~(~,t)]

(6.5)
The static pressure part comes from the pgz term. Integration of the
pressure over the mean wetted surface results in the hydrodynamic
reaction forces in the usual coordinate system fixed to the ship.
(6.6)
Fki is the reaction force in the kth mode due to a unit oscillation in the
jth mode. Substitution of the pressure expansion and using equations
(6.4) and (6.5) gives:
F kiO
Fkil
Is <Pio . nkdS
-ipw/ Is <Pil . nkdS
-: /Is (8<P~~~) - V X(~) . V <PiO(~)) . nkdS
-ipw/
(6.7)
with
(6.8)
lSubscripts 0 and 1 denote the zero speed and the first order speed correction
69
6.1. ADDED MASS AND DAMPING
The force coefficient is the result of accelerating the body in an ideal

fluid. This force is simply proportional to the acceleration of the body,
in a manner analogous to Newton's equation F = mao
For the unit motion in the j-mode, one is now able to write the added
mass and the damping coefficients (Ogilvie[53]).
-w 2 akjO
-iwbkjO
-w 2 akjl
-iwbkj1
~e{FkjO}
S'm{Fkj o }
(6.9)
(6.10)
~e{Fkjl}
(6.11)
S'm{Fkj1}
(6.12)
Nossen[52] showed that the reaction forces fulfill the TimmanNewman relations.
(6.13)
Nossen[52] extended these relations to the case when the double-body
flow around the body is included in the free surface condition.
In figure 6.1 the panelization of the half-immersed sphere is presented. The number of panels on the sphere amounts to 792 and 412
on the free surface (see figure 6.2 ).
The added mass and damping coefficients were calculated for a
half-immersed sphere with forward speed (Fn=0.04). In figure 6.3
the surge-heave and heave-surge added mass coupling coefficients are
presented. Also, computations were done neglecting the influence of
the free surface integrals (see figure 6.4).
Now we can also derive
k = 1, ....6
(6.14)
This relation applies even when the free surface integral and the stationary potential are not computed. (see figure 6.5).
of a half-immersed sphere From the above observation it will be
clear that the diagonal terms in the added mass and damping matrix
will not be greatly influenced by low forward speed effects.
The hydrodynamic coefficients that influence the equation of motion
70
Figure 6.1: Panel description Sphere
Figure 6.2: Panel description free surface around Sphere
to a large extent near the natural periods of the heave and pitch motions are the heave-pitch and pitch-heave added mass and damping
coupling coefficients. In 1985 Huijsmans and Hermans [30] showed
that these heave-pitch and pitch-heave coupling coefficients for a serie
60 vessel corresponded reasonably well with other low forward speed
theories like Grekas [16].
6.2. THE EXCITING FORGES AND THE MOTIONS
71
0.05
0.04
aij
pa3
0.03
0.02
a31 (-U)
0.01
a13 (U)
0.00
0.2
0.6
1.0
1.4
Figure 6.3: Surge-heave added mass coefficients of a half-immersed

sphere of radius a and Fr = 0.04.
*10-3
45 ,.-----------::::=------,
30
15
a31
a13
a31
a13
(-u)
(u)
(-u) Nossen
(u) Nossen
-15 L----I'!i'---~-~-~-~
0.2
0.4
0.6
0.8
1.0
1.2
ka
Figure 6.4: Surge-heave added mass coefficients of a half-immersed

sphere of radius a and Fr = 0.04. (No free surface contribution)
6.2
The exciting forces and the motions
In this section we compute the exciting forces by direct pressure integration (Hermans and Huijsmans[24]) and by the Haskind relation
(Nossen et al.[52]). At the end we compute the motions due to these
72
1.4
1.2
1.0
0.8
b, /pa3(g/a) '/2
0.6
0.4
0.2
0.0
L.---"':'~_
_~ _ ~_ _~---.J
0.4
0.0
1.2
0.8
1.6
koa
Figure 6.5: Surge-surge contribution to the added mass and the damping coefficients of a half-immersed sphere of radius a and Fr = 0.04.
1.6 E8
,--------=----------,
1.2 E8
Added mass
0.8 E8
0.4 E8 -
).
A53 - - - A35
~I
'-t::'
... present study

Ii. Grekas
____
Fn = 0.0
0.0 L.-_~_~_ _~_~_--.J

0.8
1.0
0.0
0.2
0.6
0.4
0)
in rad/s
Figure 6.6: Added mass coupling coefficients Fn=O.O and Fn-0.05

forces.
The exciting forces will be the forces due to the incident and the
diffracted waves.
6.2. THE EXCITING FORCES AND THE MOTIONS
73
15 E8 , . . . . . - - - - - - - - - - - - - - ,
653 ._-- 635
... present study
'"
____
Grekas
Fn=O.O
10 E8
Damping
5 E8
0.0 L -_ _~_ _~ _ ~ _ - - J
1.0
0.75
0.25
0.0
Figure 6.7: Damping coupling coefficients Fn=O.O and Fn-O.05

The pressure due to the incident waves will be computed by integrating the incident wave potential <Po (equation (3.14)).
In Hermans and Huijsmans[24] a way to compute first order wave
forces is described. The method is based on a direct pressure integration of the first order pressure.
As shown in the preceeding section the diffracted wave force leads to:
!Is <P70 . nkdS
Fk70
-ipw
Fon
-ipw/
J. [<p71 - : (1J<P;;;i11) - V
X(i11) V.p,.(i11, t))] . nodS

(6.16)
Section 4.1 shows that it is impossible to expand V7(~; w) in terms of

the speed parameter T. SO U70 and <P70 depend on the speed U.
Nossen et al.[52] used Tuck's theorem to compute the first order wave
forces
x,
Is [-iw (<Po + <P7) + U (V(x + z)V(<po + <P7))] . nkdS =
p!
{)<p(-T)
p!1(<Po + <P7)[- iwnk - Umk]dS
p!1(<PO + <P7) ;n dB
74
CHAPTER 6. THE FORGES ON THE BODY
(6.17)
with k = 1, ... ,6 and </J(-T) the reverse-flow potential, satisfying the
reverse flow boundary conditions on the body boundary.
Applying the Green's theorem and the free surface conditions we can
write:
-pit [<Po of) -<Pl-<J:] dS+2irp!c- Ml-<)dy
x, -
(6.18)
Using the far field approximations of </J(-T) (equation (4.14)) with the
reverse-flow, so r becomes -r, and the incident waves potential (equation (3.14)), it follows that:
. (a 10 211' [k J-zpgWo 0
T)v'l
- 4r 2 sin 2 8 - kocos(8 ko + kl-
(3)
+ 2r cos 0]
...fR. H(-T)(8). ei(kocos(9-,B)+k~-T\h-4T2sin29)Rd8
(6.19)
kl-
T
) and H(-T) as in the equations (5.32) respectively (4.16)
with
with the reverse-How.
Using the method of stationary phase, the exciting forces can be computed in the following way:
Xk
pg(a {2;k1l'" (1 - r cos(3) . H~-T)({3 + 11'" + 2r sin(3) . e-if

Wo
VI;;
(6.20)
In the case in which the exciting forces are written as a function of w
we have:
x, = P~(a
fi(1-
2r cos (3) . H~-T)({3 + 11'" + 2r sin(3) . e-if
(6.21)
The advantage of the last expression for the exciting forces is that we
do not need an expression for (1'7'

1.8
75
,---------=--------,
1.6
1.4
Pressure
Haskind
Nossen
0.8
0.6
0.4 L-_~_ _~_ _~_~---'

0.0
0.4
1.6
0.8
1.2
ka
Figure 6.8: The surge exciting forces, without speed, computed by

\\
\
2.4
\
\
\
\
\
Pressure
Haskind
Nossen
2.0
\
\
\
,,
,
"
'c
~
0.8
0.4
L-_~
0.0
_ _~_ _~_~---,
0.4
0.8
1.2
1.6
ka
Figure 6.9: The heave exciting forces, without speed, computed by

The following plots show the agreement between the forces computed
by pressure integration and by the Haskind relations. We use a halfimmersed sphere of radius a in head waves.
The following plots show the effect of speed on the first order
wave forces of a half-immersed sphere of radius a in head waves. In
76
these examples the speed is U = 0.4 ms- 1 , so the Froude number

Fr =
= 0.04 for U and Er = 0.08 for 2U.
Computing the stationary potential in the body boundary conditions
gives wrong values for small w (see section 4.1 for a detailed discussion).
The results agree with Nossen's [52] results.
via
2.2 , - - - - - - - - - - - - - - - ,
2.0
1.8
1.6
1.0
I
0.8
0.6
0.4 LJ1lL~_~=======~
1.6
0.0
0.4
0.8
1.2
koa
Figure 6.10: The surge exciting forces.
The motion due to the first-order wave forces will be computed
- w2(m + a(w))X(w) - iwb(w)X(w) + cX(w) = Xw(w)
(6.22)
2The correct equations of motion in time domain were presented by Ogilvie in

1963 [53] :
2.6
-zu
u
-u
0
2.2
77
1.8
X3 /pga 2
1.4
1.0
0.6
0.2
0.0
0.4
0.8
1.2
1.6
1.6
2.4
koa
Figure 6.11: The heave exciting forces.

where m is the mass of the body, a(w)) the added mass of the body,
b(w) the damping of the body and X w the wave exciting force.
The following plots show the effect of speed on the motions of a halfimmersed sphere of radius a in head waves.
1.1
--+----ts--
1.0
--0-- -u
0.9
--0-- 0
o (pressure)
0.8
X1
-2u
u
0.7
0.6
0.5
0.4
0.3
0.2
0.0
0.4
0.8
1.2
1.6
1.6
koa
Figure 6.12: The surge motion
2.4
78
2.2 , - - - - - - - - - - - - - - - ,
1.8
1.0
--+-0.6
-2u
u
--0-- -u
\
--0-- 0
~
(pressure)
---6,--
0.2
0.0
0.4
0.8
'.\
1.2
1.6
1.6
2.4
koa
Figure 6.13: The heave motion
6.3. THE MEAN WAVE DRIFT FORGES
6.3
79
The mean wave drift forces
In this section we compute the mean drift forces. Hermans and Huijsmans[24)
use the pressure distribution integration as derived by Pinkster[54] for
the non-zero speed case. Taking the mean:
In Huijsmans [27] this expression has been used to incorporate forward

speed effects into the pressure distribution integration in the frequency
domain. If one takes a perturbation expansion for a small parameter
,eg the wave height or motion amplitudes, we expand:
+ FP) + 2 FP) + O(3)

P+ p(l) + 2 p(2) + O( 3)
n + n(l) + 2 n(2) + O(3)
F;
Ft
p
n
(6.23)
with n.(t) = n(l) x n.. The index (1) in the expansions reflects that the
quantities are first order with respect to and indexes (2) and (3) are
defined analogously. After proper integration of the pressure over the
mean wetted surface S we get the expression :
Pi
fWL ICrl
n.dl- P
fbIvc/P)1
fb X(l)(Vp(l) . n.)dS -
n.dS
2n (1) X M~
(6.24)
with Vp(1) as :
leading to:
F =
+Pi
fWL ICrl 2n.dl- P f b IV 4J(1)!2n.dS
+piw b x(l)(V4J(1)n.)dS - piw

_w 2n (1) X M~
f b:rP)(V(V4J(l). v(f. n.)dS

(6.25)
80
OHAPTER 6. THE FORCES ON THE BODY

60
r -----A-
Fn = 0.00
p --e--- Fn = 0.04
~\\
40
Fx
S=
20
0.25
0.5
0.75
1.0
Frequency in rad s-t
Figure 6.14: Drift force on sphere for Fn=O.O and Fn=0.04.
As can be observed from this equation the effect of forward speed

introduces double derivatives of the oscillating source potential </J(l).
Huijsmans [27] experienced difficulties in determining the double derivative of the oscillating source potential. In figure 6.14 the mean drift
forces for a floating sphere is calculated using both the pressure integration technique and the far field analysis. As can be seen, the
resulting drift forces at forward speed using a pressure integration
technique give questionable results for frequencies above .55 rad/sec,
because the calculated mean drift force at forward speed is lower than
the zero speed mean wave drift force.
Recently Prins [56] used this pressure integration technique in his time
domain algorithm.
He used a carefully devised numerical differentiation scheme to obtain the double derivatives of the oscillating source potential. These
numerical difficulties have led to an investigation of an alternative formulation of the mean wave drift forces. One of the advantages of using
a pressure distribution integration method (see Pinkster [54] ) is that
one is also able to develop an expression for the slowly varying drift
forces in bi-chromatic waves.
However at this moment we are mainly interested in the constant component of the wave drift forces. From Hermans [23] a method that leads
6.3. THE MEAN WAVE DRIFT FORCES
81
to results that are possibly more accurate numerically, is recapitulated.

From the rate of change of the linear and angular momentum within
the fluid domain bounded by the free surface, the wetted part of the
vessel and a control surface at infinity, we can formulate an expression
of the mean work done by the vessel in regular waves.
(6.26)
Taking into account the free surface condition, the fixed control surface
Soo (giving Un = 0 on Soo ) and the vanishing pressure at the free
surface we have:
which leads to:
This results in the mean drift force F given by
F = -/
Loo (PI! +
pVV ,!!!.)dS
(6.28)
where the line above means time-average.

Grue and Palm[18] derived independently the same expression for the
drift forces as Hermans[22]. They used not only the Bernoulli equation, but also included the conservation of mass.
F x consists of two parts. The first one FJ!), behaves like R-i, while
the second term FJ2), the wave drift force, behaves like R:",
FP)
A~ . ~e{ H*(f3*)e1} cosf3 + 0(7"2)
FP)
-~K
(6.29)
IH(0)1 2 [cos 0 - 27" sin 2 0] dO + 0(7"2) (6.30)
82
We also have two terms for F II'

F(l)
II
F(2)
II
- Af#. fle{ Ir(p')e it} sinp + O( T')
(6.31)
__eK,
r: IH(8)1 2[sin8 + 2rsin8cos8] d8 + O(r2X6.32)
4 10
with
pw2
--C
2wo a
A
H*
{3* -
the complex conjugate of H

{3 - 2r sin{3
(6.33)
The following plots show the effect of speed on the drift forces of a
half-immersed sphere of radius a in head waves. In these examples the
speed is U = OAms- l , so the Froude number Fr =
= 0.04 for U
and Fr = 0.08 for 2U.
Nossen[52] gives the drift forces on the restrained sphere. The effect of
the stationary potential on these forces can be neglected. The results
from figure 6.15 coincide with the results of Zhao and Faltinsen [82].
Ja
We also give the drift forces on a free floating sphere for zero speed;
by definition these results are equivalent to the results of Pinkster
[54]. The effect of the stationary potential is small, but can not be
neglected, so both figures are plotted.
The wave drift damping will be computed with the derivative of
the forces to the speed. Figure 6.18 is an outline of the damping,
derived from the preceeding figure. The line u is derived from the
difference between the zero and u lines of the preceeding figure. So
-u is between 0 and -u.
To arrive at a proper wave drift damping coefficient, one should
take a smaller step in the froude number, which will reduce the inaccuary from the numerical differentiation.
6.3. THE MEAN WAVE DRIFT FORGES
83
-2u
u
-u
0
1.6
2.0
-10
-20
-30
Fx/pg~a28
-40
-SO
-60
0.0
0.4
0.8
1.2
2.4
k o8
Figure 6.15: The drift forces on a restrained sphere.
0.0
-2u
u
-0.2
-u
-0.4
Fx/pg~a28
-0.6
-0.8
-1.0
0.0
0.4
0.8
1.6
1.2
2.0
2.4
k o8
Figure 6.16: The drift forces on a free sphere, without the stationary
potential in the body boundary conditions.
84
o
o
-0.2
-2u
u
-u
-0.4
Fx/pgsa2 a
-0.6
-0.8
-1.0
0.4
0.8
1.2
1.6
2.0
2.4
koa
Figure 6.17: The drift forces on a free sphere, with the stationary
poten.tial in the body boundary conditions.
1.2
r------:"'"------,
_ _ _ -u
_.
u
1.0
0.8
B
0.6
0.4
0.2
0.4
0.8
1.6
Figure 6.18: The wave drift damping on a free sphere.
Chapter 7
Model test experiments
To validate the results of the computational model of the wave drift
forces at forward speed, tests have been performed at model scale 1 to
82.5. In this chapter the procedure is described for the execution of the
model tests. Tests were performed on a model of a 200 kDWT tanker
in the wave and current basin of MARIN at a water depth of 82.5 m,
The loading conditions of the tanker consisted of fully loaded (TlOO
%), 70 % and 40 % ballast conditions. The tests comprised regular
wave tests with and without the presence of current and extinction
tests in regular waves without current. The extinction tests in regular waves provide a way to directly quantify the wave drift damping
coefficients.
7.1
7.1.1
Wave drift force measurements

Passive mooring
To determine the wave drift forces on a model in regular waves, one

has to device a measuring system which does not interact with the
first order motions. The measuring system should be such that it
determines the force that is necessary to keep the vessel at the mean
position. In theory this means that if the mooring system does not
alter the first order motions, then the mean second order forces give a
mean displacement of the vessel in regular waves. A frequently used
85
86
CHAPTER 7. MODEL TEST EXPERIMENTS
E
327.53 m
785m
.......
FX2 FY2
CG
FX1 FY1
.......
./
785m
.-
Figure 7.1: Set-up of wave drift force measurement passive mooring

method to establish the mean wave drift force in regular waves is to
construct a passive mooring arrangement. Such a mooring system
consists of a number of soft linear springs (see figure 7.1). The mean
displacement is measured through an optical tracking system, which
is not attached to the vessel. The measured mean force in this soft
spring system can then be computed from the mean displacement in
the soft spring system and the linear spring coefficient of the mooring
system, or from the force measured in the soft spring system.
The model of the 200 kDWT tanker is placed in this soft mooring
spring system. Once the model is undergoing regular wave action, this
system applies a force which contains an constant part which equals
the wave drift force and an oscillating part which accounts for the
first order motions. The oscillating part of the mooring forces may
alter the first order motions in case the chosen stiffness of the mooring
system is too high. This in turn may also change the wave drift forces,
since they also depend on the motion characteristics of the vessel.
The spring constants of the mooring system are chosen such that
the natural period of the mooring system is well outside (below) the
frequency range of the wave frequency dependent motions. The stiffness of the spring system is chosen such that the natural period is
6 times lower than the lowest wave frequency to be tested. Hence
7.1. WAVE DRIFT FORGE MEASUREMENTS
87
no real influence on the first order motions and consequently on the

wave drift forces is to be expected from the chosen soft mooring system. Following the observation made by Pinkster [54], the measuring
RAO mooring
Wave spectrum
regular wave
Figure 7.2: Spring characteristics mooring system.

devices can be either ship-fixed or earth-fixed as long as the angular
motions are not too large. In the current set-up a ship-fixed force
transducer was chosen.
The current is generated in N-S direction; changing the heading of
the model also changes the heading of the current with respect to the
ship. (see figure 7.1) The waves can be generated with an arbitrary
angle to the model.
7.1.2
Active mooring
One of the disadvantages of the passive mooring set-up is that it is

difficult to control the heading of the vessel, once the vessel responds
to the actions of the waves and the current. One has to correct the
mean heading angle to the desired heading angle manually. An elegant
way to overcome these difficulties is to use a dynamic mooring system
or dynamic positioning system. Such a dynamic positioning system
relies on algorithms to maintain a certain predefined position in the
horizontal space. The dynamic positioning system must than be capa-
~------------------
88
- _..
--
OHAPTER 7. MODEL TEST EXPERIMENTS
ble of enforcing actions on the model to prevent the ship from drifting
off its desired predefined position. A synopsis of such a dynamic positioning algorithm is presented in the appendix(I). The set-up for such
As
a dynamic positioning system is then presented in figure 7.3.
.---
I
I
I
-- -------
I
I
I
---~~~
Weights
~ Winches
Figure 7.3: Dynamic positioning set-up top-view
Weights
C8J
Winches
Figure 7.4: Dynamic positioning set-up cross-section

can be seen in figure 7.3 the dynamic positioning system consisted of
three constant tension winches, counter-balanced by weights attached
7.2. EXTINCTION TESTS IN REGULAR WAVES
89
to wires fixed to the force transducer on the vessel. Two winches were
attached to the vessel in beamwise direction and one winch was orientated along the longitudinal axis of the vessel. The position of the
vessel in the horizontal plane was then controlled through a dynamic
positioning algorithm, which calculated the necessary forces and moments. An allocation algorithm then distributed the forces and moments over the active winches. Through a weighing procedure one is
able to emphasize a particular position of the vessel. In this case we
chose to let the controller maintain the heading of the vessel as much
as possible, while allowing for a certain deviation of the longitudinal
and transversal displacement. Both active and passive mooring systems were used for the determination of the wave drift forces in regular
waves and current.
7.2
Extinction tests in regular waves
From the extinction tests in regular waves the wave drift damping coefficients can be directly established. (This hypothesis was established
and verified by Wichers [78, 75]). To ensure that extra mechanical
damping effects from the mooring device would not influence the results of the extinction tests, a slight change was made to the set-up
(see figure 7.5 ).
In this set-up no roller bearings were present, which reduced the
effect of mechanical friction in the test set-up. To estimate the additional damping in waves, extinction tests in calm water were also
performed. From the equation of motion for the surge displacement
we writel:
(m + all):i: + bi; + ce = Ft
where all is the added mass for surge, b is the damping of the vessel
and c is the linear spring coefficient in the soft mooring system. For
a calm water extinction test no excitation Ft is present. In regular
waves Ft represents the total wave acting forces on the vessel. Neglecting all higher than third order effects, the wave force in regular
IThis is not a proper equation of motion.
equations of motion see Ogilvie 1963 ([53]).
For a concise treatment of the
90
Soltspring
Figure 7.5: Set-up extinction test.

waves consists of a constant part, ie the mean wave drift force, a wave
frequency part, describing the first order wave forces, and a double
wave frequency part. In the further analysis we shall disregard the
latter component. In regular wave extinction tests the total damping
consists of a still water damping contribution as well as a wave drift
damping contribution, B wd :
or
Ft
= F- BwdZ L
in which Z L denotes the low frequency part of the surge response. After
the decay of the low frequency surge motion one measures the mean
wave drift force at zero forward speed. To determine the damping from
the decay tests accurately, a sufficient number of oscillation cycles is
required. Also, a large initial displacement was chosen in order to
establish the amplitudes in the decay time traces more accurately,
whilst still maintaining linearity of the surge response of course. From
the decay tests we collect the time trace of the surge displacement,
(figure 7.6).
The surge displacement contains contributions from
7.2. EXTINOTION TESTS IN REGULAR WAVES
91
50
x surge
Figure 7.6: Decay curve surge in regular waves unfiltered.
50
x surge
Figure 7.7: Decay curve surge in regular waves filtered.

the high frequency wave excitation as well as a contribution from the
low frequency response of the mooring system. This surge time trace
is filtered such that only the low frequency response of the soft spring
system is retained (see figure 7.7). The filtered surge response is then
analysed to determine the damping of the vessel. The procedure is as
follows:
From the analysis of a one degree of freedom extinction test we write
92
(see Hooft([26])):
6 = InzN -lnzN+l
N
(7.1)
where ZN is the amplitude of the Nth oscillation. From this logarithmic decrement, 6, the non-dimensional damping ~ can then readily
be derived:
6 = 21rB = 21r~
2y'Cm
The total damping represented by 6 consists of a still water contribution and a wave drift damping contribution:
As ORe plots the graphs for the In Z N-In Z N -1 against the total number
of oscillations, we obtain the logarithmic decrement from the slope
of the curve as presented in figure 7.8. In the determination of the
o
50
Crest values
Trough values
20
E
.
10
z
x
5
2
1'----'------''---....:......<-_----'-_ _---L:_ _--.J
o
10
20
30
N (number of oscillations)
Figure 7.8: Logarithmic decrement.

wave drift damping from the difference of the total damping and the
still water damping we observe that measurement inaccuracies can be
quite large if the wave drift damping component is small. A short
error estimate can be found in appendix H , which presents the error
estimates of the experimental results.
7.3. MODEL TEST CONDITIONS
93
Averaging for the total number of amplitudes present in the low

frequency surge time trace will give the estimate of the damping on
the vessel. A similar analysis will also give quadratic components of
the damping.
7.3
Model test conditions
The model tests were carried out for three wave directions (180, 150
and 135 degrees) and three current directions (180, 150 and 135 degrees). The wave directions were 180 degrees, 150 degrees and 135
degrees; the current directions were 180 degrees, 150 degrees, and
some at 135 degrees. The tests were done for a range of wave frequencies and various current speeds, ie 0 mls and 1.2 mls and 1.5 ta].
The test conditions are specified in the following tables.
Loaded Tanker TlOO%
Wave frequency
w
0.439
0.519
0.561
0.598
0.650
0.714
0.750
Wave amplitude in m.
(a
2.42
2.45
2.37
1.99
3.88
2.02
3.10
Table 7.1: Model test conditions for current speed 0.0

180 deg. waves.
mls TlOO% in
Extinction tests in regular waves were also performed. They consisted of regular head wave extinction tests.
Ballasted Tanker T40% .
94
CHAPTER 7. MODEL TE ST EXPERIMENTS
Encounter frequency
w
0.3
0.4
0.5
0.55
0.6
0.65
0.7
0.75
0.8
Wave amplitu de in m.
(a
3.77
2.98
4.15
4.14
4.02
4.13
3.79
3.16
2.49
Table 7.2: Model test conditions for current spee d 1.5 m/s TlOO% in
180 deg. waves and 180 deg. current direction.
Encounter frequency
w
0.3
0.4
0.5
0.55
0.6
0.65
0.7
0.75
0.8
Wave amplitu de in m.
(a
4.00
3.66
1.84
4.08
2.39
2.12
2.05
1.72
1.79
Table 7.3: Model test conditions for current speed 1.5 m/s TlOO% in
Encounter frequency
w
0.3
0.4
0.5
0.55
0.6
0.65
0.7
0.75
0.8
95
(a
3.77
2.98
4.15
4.14
4.02
4.13
3.79
3.16
2.49
Table 7.4: Model test conditions for current speed 1.5 m/s TlOO% in
135 deg, waves and 135 deg. current direction.
Encounter frequency
w
0.459
0.551
0.593
0.641
0.757
Wave amplitude in m,
(a
2.43
2.56
1.70
1.83
1.50
Table 7.5: Model test conditions for current speed 1.2 mj s TlOO% in
96
Encounter frequency
w
0.459
0.499
0.528
0.561
0.593
0.628
0.683
0.739
(a
2.43
2.36
2.51
2.37
1.70
1.76
1.74
1.29
Table 7.6: Model test conditions for current speed 1.2 ta] T40% in
180deg. waves and 180 deg. current direction.
Encounter frequency
w
0.459
0.499
0.528
0.561
0.593
0.628
0.683
0.739
(a
2.41
2.30
2.66
2.33
1.97
2.01
1.70
1.64
Table 7.7: Model test conditions for current speed 1.2 m/s T40 % in
150 deg. waves.
Encounter frequency
w
0.459
0.499
0.528
0.561
0.593
0.628
0.683
0.739
97
Wave amplitude in m,
Ca
2.43
2.36
2.51
2.37
1.70
1.76
1.74
1.29
Table 7.8: Model test conditions T40/
Encounter frequency
w
0.44
0.52
0.56
0.60
0.71
wave amplitude in m.
Ca
2.42
2.45
2.37
1.99
2.02
Table 7.9: Model test conditions T40% for current speed 0.0 m/s in
150 deg. waves.
98
Wave frequency
wave amplitude in m.
(a
0.44
0.52
0.56
0.6
0.65
0.71
0.76
0.82
0.87
2.62
2.92
2.53
3.01
3.23
3.29
2.54
2.93
2.66
Table 7.10: Extinction test conditions for current speed 0.0 m/s T40%
in 180 deg. waves.
Wave frequency
(a
0.44
0.52
0.56
0.6
0.65
0.71
0.76
0.82
0.87
2.62
2.92
2.53
3.01
3.23
3.29
2.54
2.93
2.66
Table 7.11: Extinction test conditions for current speed 0.0 m/s T70%
in 180 deg. waves.
Chapter 8
Validation
8.1
200 kDWT Tanker 100% Loaded
This section presents all the results obtained from the computations
as well as measurements for a 100% loaded tanker in regular waves.
In figure 8.1 the small body plan and general arrangement of the 200
kDWT tanker is given. All the particulars of the vessel are displayed
Figure 8.1: Body plan of the 200 kDWT tanker.
99
100
CHAPTER 8. VALIDATION
in table 8.1
For the computations we use a panel description as
Symbol
Designation
Length between perpendiculars
Lpp
B
Breadth
D
Depth
T
Draft
ADisplacement weight
KG
Centre of gravity above keel
Centre of buoyancy forw. of section 10 FB
GM
Metacentric height
KML
Long. metacentric height
KMT
Trans. metacentric height
Xf
Centre of Floatation w.r.t. LCG
Kxx
Trans. radius of gyration
Kyy
Long. radius of gyration
Cb
Block coeffi.cient
Tq,
Natural pitch period
Unit
m
m
m
m
t
m
m
m
m
m
m
m
m
Magnitude
310.
47.17
29.70
18.90
240,869
13.32
6.60
5.78
417.
19.1
-7.05
14.77
77.47
0.85
10.8
Table 8.1: Particulars of the 200 k DWT tanker fully loaded.

displayed in figure 8.3.
From a sensitivity analysis we ascertained
that when the number of panels was larger than 746 the resulting
mean drift forces did not change by more than 2%. The number of
free surface panels used to discretize the free surface amounted to 480.
8.1.1
First order responses
In the figures 8.4 to 8.9 the calculated and measured motion responses
are displayed for the head on wave and current condition. Calculated
and measured motion responses in bow quartering waves in both head
on and bow quartering current condition are presented in figures 8.10
to 8.17. The wave drift forces and wave drift damping coefficients are
compared in the figures 8.18 through 8.24.
8.1. 200 KDWT TANKER 100% LOADED
101
Figure 8.2: Panel description of 200 kDWT tanker fully loaded.
Figure 8.3: Panel description of free surface 200 kDWT tanker fully
loaded.
102
Head wave condition, no current:
Heave response in 180 deg wave dir

100 % Loaded Tanker
0.4 - , - - - - - - - - : - - - - - - - - - - ,
Surge response in 180 deg wave dir

100 % Loaded Tanker
0.4 - , - - - - - - - - - - - - - - - ,
Fn = 0.0 Calc.
e
0.3
Fn = 0.0 Meas.
0.3
.:J.
.:J.
.... 0.2
~ 0.2
0.1
0.1
Fn = 0.0 Calc.
e
Fn
=0.0 Meas.
O.J---+---+----+-~J==::==l
0.8
0.6
o
0.2
0.4
0+---+-----1f----l---+---i
0.8
0.6
0.4
0.2
o
rooin rad/sec
roo in rad/sec
Figure 8.4: Surge response in 180 Figure 8.5: Heave response in 180
degree waves, no current.
Pitch response in 180 deg wave dir

100 % Loaded Tanker
0.6 - , - - - - - - - - - - - - - - ,
- F n = 0.0 Calc.
0.5
Fn = 0.0 Meas.
0.4
J,
.... 0.3
a>
0.2
0.1
O-J.-...---+---+---t-o----cr+=~
0.2
0.4
0.6
0.8
roo in rad/sec
Figure 8.6: Pitch response in 180

103
Head wave condition, 1.5 tu] s current speed:

100 % Loaded Tanker

100 % Loaded Tanker
0.7 -,-----------.,---------------,
e
-Fn
0.6
0.7 - r - - - - - - - - - - - - - - - - ,
=0.02 Calc.
Fn = 0.02 Meas.
0.6
0.5
0.5
.,'J. 0.4
.,'J. 0.4
~ 0.3
r-1
.....
Fn = 0.027 Calc.
Fn = 0.027 Meas.
.....
0.3
0.2
0.2
0.1
0.1
O+----+---+-=--f---+---'-----j
0.2
0.6
0.4
O+----+----1f-----r-::~~==---I
0.8
0.2
0.4
0.6
0.8
000 in rad/sec
000 in radlsec
Figure 8.7: Surge response in 180

degree waves, 1.5 m/s current.
Figure 8.8: Heave response in 180

Pilch response in 180 deg wave dir

100 % Loaded Tanker
0.6 - , - - - - - - - - - - - - - - - ,
-
0.5
..
0.4
"'m
0.3
Fn = 0.027 Calc.
e
Fn = 0.027 Meas.
u.J'
CI)
0.2
0.1
O+----+---+-----.--,f-----t==-----j
0.2
0.4
0.6
0.8
000 in radlsec

degree waves,1.5 m/s current.
104
Bow wave condition, 1.5 ta] current speed:

Sway response in 135deg wave dir
100 % LoadedTanker
180 deg current
0.7 - , - - - - - - - - - - - - - - - - - ,

100 % LoadedTanker
180 deg current
0.7.,-------------,
Fn = 0.027 Calc.
0.6
Fn = 0.027 Meas.
0.5
.:J.
Fn = 0.027 Meas.
0.5
.:J.
0.4
Fn = 0.027 Calc.
0.6
0.4
~ 0.3
~ 0.3
0.2
0.2
0.1
0.1
O+----+---+----=-+-----=~==____J
0-l---+--+------2:!...F---!:!..:::.....+==-!
0.2
0.4
0.6
0.8
0.4
0.2
0.6
0.8
000 in radlsec
000 in rad/sec
Figure 8.10: Surge response in 135 Figure 8.11: Sway response in 135
degree waves, 1.5 ta] current.
degree waves, 1.5 mls current.
Yaw response in 135 deg wave dir
100 % LoadedTanker
180 deg current
0.5..,---------------,

100 % LoadedTanker
180 deg current
0.8 - , - - - - - - - - - - - - - - - - - ,
0.4
0.6
.:J. 0.3
'" 0.5
-'"
>J..J'
..... 0.4
N
0.2
Fn = 0.027 Calc.
0.1
Fn = 0.027 Meas.
O+----+---+---+------!:""'I==~
Fn = 0.027 Meas.
;;T 0.2
0.3
0.1
Fn = 0.027 Calc.
0.7
0.2
0.4
0.6
000 in radlsec
0.8
o+----t---f---+~-+-
0.2
0.4
0.6
0.8
000 in rad/sec
Figure 8.12: Heave response in Figure 8.13: Yaw response in 135

135 degree waves, 1.5 mls current. degree waves, 1.5 mls current.
105
Bow wave condition, bow current at 1.5 m/s:

100 % LoadedTanker
135 deg current
Sway response in 135 deg wave dir

100 % LoadedTanker
135 deg current
0.8 - , - - - - - - - - - - - - - e
Fn = 0.027 Calc.
0.7
0.6 - , - - - - - - - - - - - - - - - - ,
e
Fn = 0.027 Calc.
0.5
e Fn =0.027 Meas.
~
X
Fn = 0.027 Meas.
0.5
III
,:J.
0.6
0.4
uP
"m
0.3
>-
0.2
0.4
0.3
0.2
0.1
0.1
O-!----j---+-----I:j----t-------,
0.8
0.6
0.2
0.4
o
O-!----j---+-----'f----"''''''F=----l
o
0.6
0.2
0.4
0.8
())o in radlsec
())o in rad/sec
degree waves, 135 degree current degree waves, 135 degree current
at 1.5 m/s.
at 1.5m/s.
Yaw response in 135 deg wave dir

100 % LoadedTanker
135 deg current
0.5 , - - - - - - - - - - - - - - ,

100 % LoadedTanker
135 deg current
0.8
,-----.:,---------~
0.7
0.4
0.6
III
0.5
,:J. 0.3
.....
uP
"m
0.4
0.2
0.1
~ 0.2
Fn = 0.027 Calc.
=0.027 Calc.
Fn = 0.027 Meas.
III
0.3
Fn
e
0.1
Fn = 0.027 Meas.
O+---j---f-----t----O"""'f:=",----l
0.2
o
0.4
0.6
0.8
())o in rad/sec
0+----+----+---1---"--+--.1
o
0.2
0.4
0.6
0.8
())o in rad/sec
Figure 8.16: Heave response in Figure 8.17: Yaw response in 135

135 degree waves, 135 degree cur- degree waves, 135 degree current
rent at 1.5 tn].
at 1.5 tii].
106
Wave drift forces in current TIOO %
8.1.2
15
15
10
10
Fn=O.O
.. Measurements
Fn=O.O
Pinkster (11)
Fn=0.027
.. Measurements
OL-----'-----,'-::----'
0.5
1.0
co in rad/s
0.5
1.0
COo in rad/s
Figure 8.18: Wave drift force Figure 8.19: Wave drift force
surge in 180 degree waves, 180 de- surge in 180 degree waves, 180 degree current at 1.5 m/ s.
gree current at 0.0 m/ s,
Bow wave condition, head current:
MeanSurgeforce in 135/180 wave/current
100 % Loaded Tanker
MeanSwayforcein 135/180 wave/current

100 % Loaded Tanker
O~----o-----------,
-5
140
a a
-10
100
~-15
'"'"
.....
>JJ'
I al: -20
t;z..
-25
-
-30
-35
120
40
20
0.4
=0.027 Calc.
=0.027 Meas.
60
Fn = 0.027 Calc.
0.2
Fn
80
Fn = 0.027 Meas.
+---+--+---+--+-----1
Fn
0.6
roo in rad/sec
0.8
0
0
0.2
0.4
0.6
0.8
0>0 in rad/sec
Figure 8.20: Wave drift force Figure 8.21: Wave drift force sway
surge in 135 degree waves, 180 de- in 135 degree waves, 180 degree
current at 1.5 m/ s.
gree current at 1.5 ta],
107

Bow wave condition, bow current:
Mean surge force 135/135wave/current
100 % LoadedTanker
Mean sway force 135/135wave/current

100 % LoadedTanker
125 - , - - - - - - - - - - _ - - - - ,
Fn=0.027 Calc.
0-.----------.------------,
e
-5
100
n Fn= 0.027 Meas.
-10
":J, -15
"'11l
I~ -20
I:?-
u.J'
-25
-30
-35
Fn= 0.027
e
50
25
Calc.
Fn = 0.027 Meas.
+--__+_-~f---_I_-_+-____1
75
0.2
0.4
0.6
0>0 in rad/sec
0.8
O+----+-----l~-_+_-__+_-_1
0.2
0.4
0.6
0.8
0>0 in rad/sec
gree current at 1.5 tsi].
current at 1.5 m/s.
8.1.3
Wave drift damping TIOO %
From the extinction tests in waves and the still water damping extinction curves we are able to determine the wave drift damping coefficients. The calculated wave drift damping coefficients are obtained by
taking the speed derivative of the wave drift force. The forward speed
taken for the calculations amounts to a Froude number of 0.01. The
results of the measurements are taken from the work of Wichers [75].
108
5 ,---------------,
t.
computation
towing tests
1\
extinction tests
o
x
21;. = 4.0 m
2~a=6.0 m
8 1 / ~a2 in tfsm-3
>4.
\
~
O\}
I
O:.------"--_-=-'::-_
_. L - _ - ; - '
0.5
1.0
roo in rad/sec
Figure 8.24: Wave drift damping

surge in 180 degree waves.
8.2
200 kDWT tanker 40% loaded
This section presents all the results obtained from the computations as
well as measurements for a 40 % loaded tanker in regular waves. For
the computations we used a panel description as displayed in figure
8.25. The particulars for the 40 % loaded 200 kDWT tanker are
displayed in table 8.2.
109
Figure 8.25: Panel description of 200 kDWT tanker 40% loaded.

Symbol
Designation
L pp
B
Breadth
D
Depth
T
Draft
.6Displacement weight
KG
GM
Metacentric height
KML
KMT
Trans. metacentric height
Xf
Kxx
Kyy
Cb
Block coefficient
T
Unit
m
m
m
m
t
m
m
m
m
m
m
m
m
Magnitude
310.
47.17
29.70
7.56
88,956
13.32
10.46
13.94
810.
27.26
-1.51
15.30
82.15
0.85
10.8
Table 8.2: Particulars of the 200 k DWT Tanker 40% loaded
OHAPTER 8. VALIDATION
110
From a sensitivity analysis we ascertained that when the number

of panels was larger than 724 the resulting mean drift forces did not
change by more than 2% . The number of free surface panels used to
discretize the free surface amounted to 480.
8.2.1
First order Responses
In the figures 8.26 to 8.28 the calculated and measured motion responses are displayed for the head on wave and current condition.
Calculated and measured motion responses in bow quartering waves
in both head on and bow quartering current condition are presented
in figures 8.29 to 8.46. The wave drift forces and wave drift damping
coefficients are compared in the figures 8.47 through 8.54.
Head wave condition, 1.2 tix] s current speed:
Heave Response in 180 deg wave dir
40 % BallastTanker
Surge Response in 180 deg wave dir

40 % BalastTanker
0.8.,---------------,
-
0.7
Fn
a
0.6
0.8
=0.02 Calc.
~------------,
0.7
Fn = 0.02 Meas.
Fn = 0.02 Calc.
a Fn = 0.02 Meas.
0.6
.. 0.5
.. 0.5
>JJ'
>JJ'
~ 0.4
~
N
0.3
0.4
0.3
0.2
0.2
0.1
0.1
o +--I---t~~~=t===-__1
0.6
0.8
0.2
0.4
o
(00
in radlsec
0..J---+---+--t----+-~---1
0.2
0.4
(00
0.6
0.8
in rad/sec
Figure 8.26: Surge response in 180 Figure 8.27: Heave response in

180 degree waves, 1.2 mls current.
B.2. 200 KDWT TANKER 40% LOADED
111
Pitch Response in 180 deg wave dir

40 % BallastTanker
0.8,----------------,
Fn = 0.02 Calc.
0.7
0.6
Fn = 0.02 Meas.
'" 0.5
u..1'
0.4
Q)
0.3
0.2
0.1
0+----+---+---/----+----1
o
0.2
0.4
0.6
0.8
COo in radlsec

Bow wave condition, no current:
40 % BallastTanker
0.7,----------------,
0.5
.:J.
0.6
Fn = 0.0 Calc.
0.6
Sway Response in 150 deg wave dir

40 % BallastTanker
---,
- -
-Fn
0.5
Fn = 0.0 Meas.
0.4
0.4
Fn
=0.0 Calc.
=0.0 Meas.
.:J.
--~ 0.3
>-
0.3
0.2
0.2
0.1
0.1
o -l--+---+---~4_..l!::=+====1
o
0.2
0.8
0.4
0.6
0.2
0.4
COo in rad/sec
(00
0.6
0.8
in rad/sec
112
HeaveResponse in 150 deg wave dir
40 % Ballasted Tanker
0.8 , - - - - - - - - - - - - - - - ,
3,.---------------,
- F n = 0.0 Calc.
0.7
Fn = 0.0 Calc.
c
Fn = 0.0 Meas.
0.5
.:J.
..., 1.5
..., 0.4
N
2.5
Fn = 0.0 Meas.
0.6
.:J.
Roll Response in 150 deg wave dir

40 % BallastTanker
9-
0.3
0.2
0.5
0.1
c
0+---+---+---1__---+---'1
0.6
0.8
0.4
0.2
o
000 in
O+---+---+--~I------==~----=:,~
rad/sec
Figure 8.31: Heave response

150 degree waves, no current.
0.6
Fn
Yaw Response in 150 deg wavedir

40 % BallastTanker
0.25 , . - - - - - - - - - - - - - - - - ,
-
=0.0 Meas.
.:J. 0.5
0.8
Figure 8.32: Roll response in 150

In
- F n = 0.0 Calc.
0.7
0.6
0.4
000 in rad/sec
PitchResponse in 150 deg wave dir

40 % BallastTanker
0.8,.---------------,
Fn = 0.0 Calc.
0.2
.:J. 0.15
..
-..
..., 0.4
a:>
0.2
~ 0.1
0.3
0.2
0.05
0.1
0+---+--+------1f----+------1
0.6
0.4
0.8
0.2
o
000
in rad/sec
0+---+--+---+!!..-~+--~---1
0.2
0.4
000
0.6
0.8
in rad/sec
Figure 8.33: Pitch response in 150 Figure 8.34: Yaw response in 150
113
Bow wave condition, 1.2 m/s current speed:

40 % Ballast Tanker
Sway Response in 150 deg wave dir

40 % Ballast Tanker
0.7 , - - - - - - - - - - - - - - - - - - ,
Fn = 0.02 Meas.
0.5
0.4 , - - - - - - - - - - - - - - - - ,
Fn = 0.02 Calc.
0.6
0.3
.,j, 0.4
Fn = 0.02 Calc.
e Fn = 0.02 Meas.
.,j,
--~ 0.3
-m
>-
0.2
0.2
0.1
0.1
o +----t-----+--.-.'::~.=...:::::::;:==-___.j
0.8
0.2
0.4
0.6
o
o +---+-----+-~~~=::::~=_______.j
o
0.2
0.4
0.6
0.8
000 in radlsec
000 in rad/sec
degree waves, 1.2 tix] current.
Heave Response in 150 deg wave dir

40 % Ballast Tanker
Roll Response in 150 deg wave dir

40 % Ballast Tanker
0.8 -,-------.----------------,
2,----------------,
Fn = 0.02 Calc.
0.7
1.6
'" 0.5
.,j, 1.2
>V'
-m
N
Fn = 0.02 Calc.
Fn = 0.02 Meas.
0.6
Fn
=0.02 Meas.
--'" 0.8
0.4
9-
0.3
0.2
0.4
0.1
O-l---+---+------1f----+-------1
0.2
0.4
0.6
000 in rad/sec
0.8
O+----t---+---t------'=:....t---"''---i
0.2
0.4
0.6
0.8
000 in radlsec
Figure 8.37: Heave response in Figure 8.38: Roll response in 150

150 degree waves, 1.2 m/s current. degree waves, 1.2 m/s current
114
Pitch Responsein 150 deg wave dir
40 % Ballast Tanker
Yaw Responsein 150 deg wave dir

40 % Ballast Tanker
0.8,-----------------,
e
0.6
oJ
0.3
Fn = 0.02 Calc.
0.7
Fn
Fn = 0.02 Calc.
=0.02 Meas.
0.2
Fn
=0.02 Meas.
0.5
uP
oJ
uP
..... 0.4
a>
0.3
-.. 0.1
0.2
0.1
0-1----+---+---1----+----1
0.2
0.4
0.6
-0.1
0.8
-1----+---+---1----+----1
0.2
COo in rad/sec
0.4
0.6
0.8
<00 in rad/sec
Figure 8.39: Pitch Response in Figure 8.40: Yaw response in 150

150 degree waves, 1.2 mls current. degree waves, 1.2 mls current.
Surge Responsein 150 deg wave dir

40 % Ballast Tanker 150 deg current
0.7 , - - - - - - - - - - - - - - - ,
-
0.6
Fn
e
Sway Responsein 150 deg wave dir

=0.02 Calc.
0.4
0.3
0.5
.:J.
-..
0.4
oJ
uP
-..
~ 0.3
Fn = 0.02 Calc.
Fn = 0.02 Meas.
Fn = 0.02 Meas.
0.2
~ 0.1
0.2
0
0.1
o -l-------1f----+--.J~-===+===-__1
0.2
o
0.4
0.6
0.8
<00 in rad/sec
-0.1
0
0.2
0.4
0.6
0.8
COo in rad/sec
at 1.2 tsi].
at 1.2 m/s.

Heave Responsein 150 deg wave dir
0.8 - , - - - - . . . . . - - - - - - - - - - - ,
.. 0.5
N
Fn = 0.02 Calc.
1.6
Fn = 0.02 Meas.
.,"j. 1.2
UJ'
--m
2-,---------------,
Fn = 0.02 Meas.
0.6
Roll Responsein 150 deg wave dir

Fn = 0.02 Calc.
0.7
115
..
0.4
-.
0.3
9- 0.8
0.2
0.4
0.1
O-+---t---j---f----+----='-----1
0.2
o
0.4
0.6
0.8
0)0
0+---t---t---f------===-r-----"''---1
0.2
in rad/sec
0.4
0)0
0.6
0.8
in rad/sec
Figure 8.43: Heave response in Figure 8.44: Roll response in 150

150 degree waves, 150 degree cur- degree waves, 150 degree current
at 1.2 tii],
rent at 1.2 m/ s,
Yaw Responsein 150 deg wave dir

Pitch Responsein 150 deg wave dir

40 % BallastTanker 150 deg current
0.8 - , - - - - - - - - - - - - - - - ,
0.2 - , - - - - - - = - - - - - - - - - - - - ,
0.7
0.6
.. 0.5
UJ'
UJ'
--m
a:>
--m
0.4
0.3
0.2
0.1
0.15
0.05
Fn = 0.02 Calc.
Fn = 0.02 Meas.
e
O+----+---+---+----+-------i
o
0.2
0.4
0.6
0.8
0)0
0.1
in rad/sec
Fn = 0.02 Calc.
Fn = 0.02 Meas.
0-+----+---+---+--0---+--'-----1
o
0.8
0.2
0.4
0.6
0)0
in rad/sec
Figure 8.45: Pitch response in 150 Figure 8.46: Yaw response in 150
at 1.2m/s.
at 1.2 m/s.
116
Wave drift forces in current T40 %
8.2.2
Head wave condition, head current:

MeanSurgeDrift Forcein 180deg wavedir
on 40 % Loaded Tanker
0-.------......,.-----------,
[] Fn = 0.02 Meas.
-4
'" m
Fn 0.02 Calc.
-2
-6
>lJ'
-8
ILl:: -10
-12
-14
-16
+---+--+----1--=--+----1
0.2
0.4
0.6
0.8
COo in rad/sec
Figure 8.47: Wave drift force

surge in 180 degree waves, 180 degree current at 1.2 m/ s.
Bow wave condition, head current:
MeanSwayDrift Foree 150 wavedeg
wavedir 40 % Loaded Tanker
60 - , - - - - - - - - - - - - - - - ,
MeanSurgeDriftForce 150 wavedeg

wavedir 40 % Loaded Tanker
2
Fn = 0.0 Calc.
=
=
Fn 0.0 Calc.
[] Fn 0.0 Meas.
40
-2
"'m -4
>lJ'
ILl::
50
e Fn = 0.0 Meas.
-6
30
Jat
20
10
-8
-10
-12
0
0.2
0.4
0.6
COo in rad/sec
0.8
-10 -l---+---t---+--+------j
0.4
0.8
o
0.2
0.6
COo in rad/sec
current at 0.0 tsi].
gree current at 0.0 tu] s.
117
Head wave condition, bow current:

Mean Sway Force 150/180 wave/current
40 % Loaded Tanker
Mean Surge Force 150/180 wave/current

40 % Loaded Tanker
o-.--------.;;:-------~
'"
.:J.
-.
IX
-.-------------~
90
-2
80
-4
70
60
Fn
=0.02 Calc.
e Fn = 0.02 Meas.
"'m
>J..1'
-6
-8
50
-. 40
lat 30
u, -10
-12
-14
20
10
Fn = 0.02 Calc.
Fn = 0.02 Meas.
-16 +---+---+---1---+----;
0.8
0.6
0.2
0.4
o
-10
+----j---+---+---+-----j
0.2
0.8
COo in rad/sec
in rad/sec
(00
0.6
0.4
gree current at 1.2 m/s.
current at 1.2 m/ s.
Mean Surge Drift Force in 150 deg wave dir and
150 deg current dir
Mean Sway Drift Force in 150 deg wave dir and

150 deg current dir
o-,-----~o;:__------~
-2
-4
'" m -6
'!:!'
IX
"'m
>J..1'
-8
Fn = 0.02 Meas.
30
-. 20
u, -10
lat
-12
10
Fn = 0.02 Calc.
-14
-16
Fn = 0.02 Calc.
40
Fn = 0.02 Meas.
+---+--+-----1r-----"--+-----I
0.2
0.4
(00
0.6
in rad/sec
0.8
-10
0
0.2
0.4
(00
0.6
0.8
in rad/sec
gree current at 1.2 ta].
current at 1.2 m/s.
GHAPTER 8. VALIDATION
118
8.2.3
Wave drift damping T40 %
taken for the calculations amounts to a Froude number of 0.01.
Wave drift dampingin surge
on a 40 % LoadedTanker
4.,-------
------,
0+---+-......:;1----+----+--1
0.2
0.4
0.6
0.8
<00 in rad/sec

in surge in 180 degree waves.
8.3
119
200 kDWT tanker 70% loaded
This section presents all the results obtained from the computations
as well as extinction measurements for a 70% loaded tanker in regular
waves. For the computations we used a panel description as displayed
in figure 8.55. The particulars of the 70% loaded 200 kDWT tanker
Figure 8.55: Panel description of 200 kDWT tanker 70% loaded.
are displayed in table 8.3.

From a sensitivity analysis we ascertained that when the number
of panels was larger than 744 the resulting mean drift forces did not
change by more than 2%. The number of free surface panels used
to discretize the free surface amounted to 496. For the 70 % loaded
condition only the wave drift damping results obtained from extinction
tests were compared with the calculated coefficients. The comparison
is presented in figure 8.56.
120
Symbol
Designation
Lpp
B
Breadth
D
Depth
T
Draft
~
Displacement weight
KG
GM
Metacentric height
KML
KMT
Trans. Metacentric height
Xf
Kxx
Kyy
Cb
Block coefficient
Tcf>
Unit
m
m
m
m
t
m
m
m
m
m
m
m
m
Magnitude
310.
47.17
29.70
13,23
159,698
11.55
9.04
8.66
511.
20.21
-3.72
15.02
77.52
0.85
10.8
Table 8.3: Particulars of the 200 kDWT tanker 70% Loaded.
8.3.1
Wave drift damping T70 %
taken for the calculations amounts to a Froude number of 0.01.
8.4. TIME DOMAIN RESULTS 200 KDWT TANKER 40% LOADED121

Wave drift damping in surge
on a 70 % Loaded Tanker
8-.-----------------,
6
0
0
,......--~-
DO
-Calculated
n Measured
0+--f---t----.,r----t-----j---1
o 0.2 0.4 0.6 0.8
1.2
COo in radlsec

in surge in 180 degree waves, 180
degree current at 1.2 m/ s.
8.4
Time domain results 200 kDWT tanker

40% loaded
This section presents the results obtained from the computations in the
time domain using the algorithm of Prins [56] as well as the frequency
domain approach for a 40% loaded tanker in regular waves. For the
computations in the time domain we used the same discretization as
the panelization for the frequency domain approach. The time domain
algorithm is capable of treating shallow water effects. Therefore, the
conditions as simulated in the model basin were input to the time
domain program (82.5 m of water depth). In the frequency domain
algorithm we assumed infinite water depth. For the longer wave length
we expected some influence on the measured wave drift force due to
shallow water effects. As can be observed from figures 8.57 and 8.58,
the influence of the water depth is limited.
122
OHAPTER 8. VALIDATION
Mean Surge wave drift force in 150 deg.

wave dir 40 % Ballast Tanker
Mean Sway drift force in 150 deg.

wave dir. 40 % Ballast Tanker
50
0
-
"'>JJ'.
-4
Freq. Domain
Fn = 0.0
40
Time Domain
Fn = 0.0
30
"'>JJ'..
lat
I~
Freq. Domain
Fn =0.0
Time Domain
Fn = 0.0
20
10
-8
0
-12
+-_-+__-+- _ _f---..:e.-f----i
o
0.2
0.4
0)0
0.6
in rad/sec
0.8
-10
0
0.2
0.4
0)0
0.6
0.8
in rad/sec
Figure
Figure 8.58: Wave drift force sway
8.57: Wave drift force surge in 150
in 150 degree waves; 150 degree
degree waves; Fn=0.02 150 degree
current, Fn=0.02.
current, Fn=0.02.
Chapter 9
An engineering view of
wave drift damping
In the early work of Sclavounos [61] a formulation was derived for
the wave drift damping coefficient for restrained cylinders in regular
waves. Based on this expression Clark et al. [11] came up with an
heuristical formulation of the wave drift damping as follows 1 :
B( Wo ) --
w5 0FS + 4-woFo
---
9 owo
(9.1)
Clark showed that this expression gave, up to six significant digits,

the same results as reported by Sclavounos [61].
The rationale behind the wave drift damping coefficient formulation as
presented in equation 9.1 comes from the observation that the gradient
of the wave drift force coefficient with frequency reflect the increase
or decrease of the encounter frequency with forward speed. One also
observes from this formulation that in the high frequency range the
wave drift damping coefficient becomes constant. The constant value
of the wave drift damping coefficient at high frequency leads to a
linear dependent wave drift force with forward speed. This is in correspondance with the observations made by Hermans and Faltinsen.
Aranha [3] derived an expression for the wave drift damping for 2-D
lSuperscript 0 signifies the zero speed results, whereas superscript u signifies
results for forward speed.
123
124QHAPTER 9. AN ENGINEERING VIEW OF WAVE DRIFT DAMPING
cases, which he claimed to be exact for 2-D. In an unpublished note

Aranha 2 presented a formulation of the wave drift damping coefficients based on a careful consideration of the behaviour of outgoing
waves with or without the presence of current. In a completely different way Malenica [40] presented also a formulation of the drift force at
forward speed. The wave drift damping coefficient derived from this
expression is identical to the one derived by Aranha. The formulation
of the wave drift force by Aranha now reads:
(9.2)
From which the wave drift damping follows:
_ w5 8F~ 4woFo
B( Wo ) - - - - + - d
9 8wo
9
(9.3)
Extending this formulation to other wave incidents, Clark proposed

the following formulation:
8F~
a
-- + -4WOFO}
d
cOSfJ
B(Wo ) -- {W5
w
9 8 o
9
2wo
8F~ . a
---SlllfJ
9 8{3
(9.4)
This result was extended by Malenica [40] to finite water depth, which
resulted in :
B(wo) = -Wo [{ (8F~

-9
8wo
0)
o}
1BaFd Wo + -F
2
1 8Fi.
cos{3 - - Slll{3]
d
a 8wo
a
a 8{3
(9.5)
where a is the phase velocity for a given wave frequency given by :
K.oH
a=-+---2 sinh2K.
oH
Infinite depth gives a value of 1/2 for a.

A transformation of the wave drift damping to other current directions can be derived based on the expressions of the wave drift
2Private communication presented through Petrobras.
125
damping in the direction of the waves and the refracted part denoted
as Bf3 and B r , and written as:
Bf3
Br
w~ 8Fi
+ 4wo F O
8wo
8Fi wo
(9.6)
(9.7)
---
8{3 9
Neglecting the moment contribution to the wave drift damping, we

obtain the following expression for the wave drift damping in arbitrary
current directions:
cos {3Bf3 + sin{3Bf3
sin{3Br - cos{3Br
(9.8)
(9.9)
This then results in expressions for the wave drift force at forward
speed:
v: +
x
B(x)U cos a C
poY + B(Y)U sin a
(9.10)
(9.11)
In order to judge the applicability of such approximation procedures, we have applied them to the case of a floating hemisphere in
waves and a 200 kDWT tanker in head waves.
As can be observed from the results of the floating sphere, the approximative method is very close to the calculated results as presented
in chapter 6 and the results of Zhao and Faltinsen [82]. For the 200
kDWT tanker the approximation in head waves for the surge force is
quite reasonable. In an unpublished note Hermans [21] showed that
the formulation of Aranha [3] is nearly exact in the two-dimensional
case. However once three-dimensional effects and the influence of the
stationary potential become more important, one can no longer justify
the use of Aranha's formulation.
1260HAPTER 9. AN ENGINEERING VIEW OF WAVE DRIFT DAMPING
10 . - - - - - - - - - - - - - - - - ,
30 , - - - - - - - - - - - - - - - - - ,
. ..
20
-
Aranha
camp
"' .. 0
-------
Fx/S a
I~
-10
10
u '" 0, calc
Est, Aranha
o
-20
0.3
U..1'
-20
u=o
0.35
0.4
(00
0.45
0.5
0.55
in racllsec
Figure 9.1: Approximation wave

drift
damping surge using
Aranha's expression for a floating
sphere.
0.6
-30 L-_...L-_-'-_----L_----.l._--'
0.2
0.4
0.6
0.8
1.0
1.2
roo in rad/sec
Figure 9.2: Approximation wave
drift
damping surge using Aranha's expression for a 200 kDWT in head
waves and current.
Chapter 10
Discussion
As other studies have already shown ([54, 69]), accurate knowledge
of the body motion for the estimation of wave drift forces is quite
important. In this study, as well as in the previous cases, the Froude
number is low. Therefore, the main effect of the Froude number on the
ship motions at forward speed is concentrated on the shift from wave
frequencies to encounter frequencies. In an earlier study this was also
observed by Huijsmans et al. [28] for ship motions in shallow water at
forward speed. From the computations and measurements of the ship
motions for both the 100% and 40% loaded tanker we get a similar
agreement as was found in studies on ship motions at zero Froude
number [54, 69]. However, even small changes in forward speed may
lead to a considerable increase in wave drift forces, as can e.g, be found
in the figures 8.18 and 8.19.. Accuracy in measuring the increase of the
drift force in current is hampered by the fact that in the analysis, the
constant current force has to be substracted from the total measured
mean force. The same holds true for the estimation of the wave drift
damping coefficient through extinction tests in regular waves. One of
the main driving forces behind this study was to get reliable estimates
of the wave drift damping coefficients. The hypothesis behind the
wave drift damping concept is that this wave drift damping coefficient
can also be obtained from the increase of the drift force due to the
presence of forward speed. So far no rigorous theoretical proof has
been given to substantiate the hypothesis. In the study of Wichers
127
CHAPTER 10. DISCUSSION
128
[75] on a fully loaded tanker he showed some experimental verification

that the wave drift damping values obtained from extinction tests in
regular waves and the values from added resistance model tests are in
quite good agreement. Further backing of the hypothesis is given in
figure 10.1, where the results of extinction tests and added resistance
tests are plotted together. The comparison demonstrates that the
Comparison wave drift Damping Coefficient
and mean drift force
40 % Loaded Tanker Fn = 0.02
o,------------~
-5
10
-.
-Estimated
from wave
n
drift damping c
c Measured
c
forces
D
-15 -l----t-----If----+---+------.j
o
0.2
0.6
0.4
0.8
COo in rad/sec
Figure 10.1: Estimates of wave drift force using extinction tests.

agreement is indeed quite good.
Chapter 11
Conclusions
From the observations of the analysis in this study we may conclude
the following:
It is possible to formulate a mathematical model of the wave drift
forces in current using linearized potential How formulations.
Expansion of the integral equations with respect to forward speed is

possible.
Non-uniformities arising in the expansion of the Green function with
respect to forward speed can be effectively eliminated.
The forward speed expansion of the Green function can be completely
recast into a zero speed Green function formulation. This gives a very
large computational advantage over the direct solution of the translating oscillating source potential.
Although the algorithm for solving the integral equations requires a
large amount of computer memory, the computational efficiency of the
algorithm for solving the integral equations is eminent.
From the measurements of the wave drift damping obtained from extinction tests in regular waves and added resistance tests, it becomes
evident that the increase in damping due to the low frequency motions
of the vessel can be regarded in a quasi-static manner.
129
130
CHAPTER 11. CONCLUSIONS
The expansion scheme with respect to forward speed does not allow
for very low encounter frequencies. This limits the applicability of the
algorithm to beam and head wave conditions.
If one does not have an algorithm for the computation of the influence
of forward speed on the wave drift forces, one may caustiously as an
engineering approach the formulations like those given by Aranha [3]
and Malenica [40].
The lid method for three-dimensional floating bodies is efficacious, and

it does not require a considerable increase in computational efforts.
The focus of further research can be to:

Derive asymptotic expressions for the forward speed Green function,
applicable to shallow water conditions;
Investigate numerically the wave drift damping concept using time
domain approaches, like those formulated by Prins [56] .
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Dover
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Appendix A
Derivation of integral
equation
This appendix contains the derivation of the integral equation for the
floating vessel in waves at forward speed. The derivation is based on
a similar analysis as derived by Brard [8] for the steady flow potential
problem.
Following Green's theorem for the potential outside the vessel
(in De ) and the potential i inside the vessel (in DiP :
;: }
(~) = Jfs+SFS [({)Gne(~, {) - G(~, {)ne ({)] d~e for x E { ~;

~
(A.1)
We define the free surface integral part of (A.1) for point in De as:
I Fs =
since
!hFS [({)Gne(~'{) - G(~,{)ne({)] d~e
:n = - ;, it follows that:
lWe define {
= (e, 1], C) and ~ = (z, y, z).

139
APPENDIX A. DERIVATION OF INTEGRAL EQUATION
140
Figure A.1: Computational domain integral equation.

The function ifJ satisfies the free surface condition and G satisfies the
adjoint far field free surface condition:
_w 2 ifJ + gifJ, - 2iwUifJe - 2iwUD(U, Xi ifJ) + U2 ifJee = 0

and
-w 2G + gG, + 2iwUGe + U2Gee = 0
Substitution in A.1leads to the following contribution of the free surface integral to the integral equation. The part containing the double
derivatives leads to expressions as already derived by Brard in 1972.
I Fs =
2Uiw
9
j'r
}SFS
aac [({)G(~,{)] d}1e + 2Uiw j'r [DG(~,{)] d}1e +

9
f"
}SFS
+ ~21hFS ~ [({)Ge(~,{) - ifJe({)G(~,{)] d}1e
(A.2)
Applying the divergence theorem to the term (({)G(~,{)) and
[4>({)Ge(~,{) - e({)G(~, {)] we have:
I Fs
2~iW
[Ih
FS
G(~,{)Dd}1e + IWL G(~,{)ifJ({)d17]
+ ~21wL [4>({)Ge(~,{) - 4>e({)G(~,{)] d17
(A.3)
141
For the potential inside the vessel
(Pi
we write:
(A.4)
==
We remark that (Pi satifies the free surface condition with D

O.
Combining A.l and AA and defining ,(e) = i(e) - (e) and u(e) =
in(e) - n(e) we have:
-
47l"(.~) - -
Is ,({)Gne(.~, {)d~e + Is u({)G(~, {)d~e
-2Uiw
9
l.
G(~,e)Dd~e
-
+ -2Uiw
9
WL
,(e)G(~,e)dTJ
-
+ ~2 fWL [r({)Ge(~,{) - ,e({)G(~,{)] dTJ for x
~.5)
or :
(A.B)
where at = cos(Ox, t), or = cos(Ox,T) , an = cos(Ox, nJ
where n is the normal and t the tangent to the waterline and T
the bi-normal.
=t xn
142
APPENDIX A. DERNATION OF INTEGRAL EQUATION
Choosing i({) = 0 on S and the free surface:
(A.7)
Appendix B
Integral equation irregular
frequencies
Reiterating the formulation of the integral equations described by
source distributions:
{) ss
Bn;
{
f'isf us(e)- 8G(~,
'f UF(e) 8G(~, e) as
+ fiF - 8n
x
for
~ E
S as well as
for
~ E
F.
The latter equation is already equivalent to equation (5.46)

We have by definition:
143
(E.1)
144APPENDIX B. INTEGRAL EQUATION IRREGULAR FREQUENOIES!
using -aa
4>i
n",
411'"v4>iC~)
= 0 on F
= -v
we reformulate B.1 into:
ll. 4>i({) aG(:z:,e)

a;;'x
1F
dS{ +
ll.lO's({) aG(:z:,e)
a;;'x
dS{~ E
o.
(B.3)
In this equation we need an expression of the z-derivative of the Green
function at the free surface. In order to arrive at the correct derivatives
of the Green function at z = 0 we make the following reasoning, see
also Noblesse section 9 [50] :
the Green function G(~, {) can be written as:
G(~, e) = -1/1'+1/1'1 +vh+(X, Z')

in which X = vJ(:z: - ep
= -1/1'-1/1'1 +vh-(X, Z')
+ (y -11)2, Z' =
(BA)
v(z +() and Z = v(z - ()
From B.4 it then follows:
Gz
vG = (-1/1' - l/1't}z + h; - v (-1/1' + 1/1't} - vh+
(B.5)
SInce
(-1/1' -l/1'I)z =
(-1/1' + 1/1'1) = 0 for z =0,( < 0
We see by inspection that the functions h+ and h- are only dependent

on Z'. Therefore b; - vh+ == 0 throughout the whole fluid domain for
z O. Which leaves:
<
Gz
vG = (-1/1' - l/1't}z -
(-1/1' + 1/1't) for z
~ 0, (
<0
Suppose we write for the Green function:

G = -1/1' + v-J-
(B.6)
It then follows for the z-derivative of G:
This equation is valid throughout the fluid domain. For the integration of the kernel as displayed in ( B.2) we need the derivative with
e.i.
INTEGRATION OF FREE SURFACE PANEL
145
respect to the field point z; Applying this equation with respect to

the free surface (( = 0) we find:
Gz
2 _
2z
= v"p
+ 3"
-
v r*
(B.7)
r*
in which r * = viR2 + Z2 and R is the horizontal distance.

If we take the limit of equation (B.3) for ~ --+ F and the observation
that Gz = vG + 2z/r~ for ~ E F.
The integral
e) dS
j'iFf (J'F(e)- 8G(~,
8n
e
x
has to be interpreted in the sense of principle value. Therefore we

have:
41rv4>i(~) = _v2
Jh. 4>i({)G(~, {)dS~ + v JL(J's({)G(~, {)dSfl)
EF
(B.8)
From the last equation we see that the integral equation (5.48) is
identical to the integral equation (5.42).
The remaining terms can be integrated analytically over a panel as
well; the function "p- also has a logarithmic singularity of the following type In(vrt - Z'). This remaining logarithmic singularity in the
frequency dependent part of the Green function can be integrated on
the free surface as will be shown in the next section. The ~
term in
r.
the integration will lead to a contribution of 21rvRf for a circular panel
of radius R], In the interior domain D, or in the interior free surface
F we are free to chose a proper boundary condition for the interior
potential 4>i. Since we have reformulated the potential problem into a
4>i.
source distribution, we have to chose a boundary condition for -aa
n",
In the remainder we have set -aa4>i
= O.
n",
B.l
Integration of free surface panel
The singular integral used in computing the contribution from the free
surface panels is presented in this section. The interesting case occurs
when the self-induction of free surface panels has to be determined.
I46A.PPENDIX B. INTEGRAL EQUATION IRREGULAR FREQUENOIES

1
Then the function 'f/r(X, Z) of equation (B.6) becomes logarithmically

singular.
We have to integrate this contribution over a panel under the assumptions that
--+----+----/----.. z =0
Figure B.I: Integration over free surface panel.

the panel is positioned on the free surface;
the panel is quadrilateral (for the sake of simplicity);
the field point is located in the center of the panel.
From the analysis as given by Noblesse [50] or Newman [46] we see
that the Green function at small values of Z' behaves as :
?/J-(X, Z') ~ e Zlog(V1'l - Z')
-t +t
Consider a panel stretching from

to
in one direction and from
-iJ to +iJ in the other direction.
Take the field point to be at (e,11) = (0,0) and note that in our
case In(V1'l - Z') is reduced to -In(v) -In( Je + 11 2 ) . Now compute
+ii
+e
- / / (In(v) + In Je 2 + 11 2 ) ded11
-11-e
(B.9)
B.I. INTEGRATION OF FREE SURFACE PANEL
147
After some algebra this yields the expression
- 4l7} In(v) +212 aretan(7}!l) +27}2 aretan(l/7}) +2l7} In(l2 +7}2) - 6{rJ
(B.10)
148APPENDIX B. INTEGRAL EQUATION IRREGULAR FREQUENCIES
Appendix C
Integration rankine source
This appendix contains the computation of the integration of the singular part of
the Green function. The formulae are basically derived by Fang ( [15]), but are
reiterated here because of the several misprints in his original publication.
The integration of the rankine part of the Green function is taken

over a quadrilateral. The derivation for triangular panels is basically
analogous to the following derivation. Define I:
where !:fJ..Sj is split up into: P is the field point and P' is the projection
of P onto the panel j (ABCD). We distinguish the contributions from
the four triangles AQB,BQC,CQD,DQA. which leads to :
r
JASj
dSQ
I~p
_{QI -
dSQ
JQAB
+r
dSQ
JQBC
+r
JQCD
dSQ
T
+r
dSQ
JQDA
Integration over the triangle QAB now gives [15],[43] :

hAB
d~Q
dlog
(~~ :~: ~ ~)
+ Ihl [arctan
+
arctan
(01. p~
Ihl
( d'
p~ + ..\2)
d
2Pl..\
p2 _ p2 +
2 2p~..\
- signed) . (J
149
..\2)
] (C.1)
150
APPENDIX C. INTEGRATION RANKINE SOURCE
Figure C.1: Integration over a Panel j.
,,
"
,
/
/
....-""-
....-
....- ....-""-
~""-p'
/ \
\
/
/
/
/
I
\
\
\
\
\
\
\
Figure C.2: Projection onto Panel j.

where d,PI,P2,>.,h,() are defined by:
PI
and
= IAPI ,P2 = IBPI,>' = IABI

nxAB
= AP '!h d = AP . 11ab,11ab = I; x AHI
With () is the angle enclosed between AQ and QB . Summing all the
151
four contributions will result for the angle
(J:
P' inside ABCD

P' on one of the sides of ABCD
P' outside ABCD
Care should be taken once the arguments of the arctangent functions
become very small.
For the sake of completeness, we give the expression for the normal
derivative of the Green function.
sign(h) [arctan
arctan
log
Ihl p2_ 2+ A2)

( d' 1 2=:A
Ihl p2_p2+A2)
( d' 2 2P:A
(PIPI ++ P2P2 +- A)
A
- sign( d) . (Ji
(C.2)
152
APPENDIX C. INTEGRATION RANKINE SOURCE
Appendix D
The fsc for the radiation
potential
This appendix contents the computation of the free surface condition
for the non-steady part of the velocity potential.
The boundary condition is (equation (3.6)) at z = 0:
<P tt+ g<P z+ (V<p .V<p)t-- (<pt + V<P V<p).

9
(<ptt+g<Pzt+V<PV (
V<P . V<P )
2
=0+0((2)
(D.l)
In this condition we have to fill in the total velocity potential, which

is split into a steady and a non-steady part (equation (3.11)).
<p(~, t) = (~; U) + ~(~, t; U)
satisfies the free surface condition, so gz

V (V4>;V4 = o.
(D.2)
+ (V . V)t + V .
For clearness, equation (D.l) will be split into four parts. The parts
will be added together at the end of this appendix.
We will assume for the time being that the ship travels in head on
direction, which means that we represent the steady potential as:
153
l54APPENDIX D. THE FSC FOR THE RADIATION POTENTIAL

We also assume that quadratic or higher order terms in are neglegible. The first and second term of equation (D.l) become by using
equation (D.2):
q)tt + gq)z
= tt + gz
(D.3)
The third term of equation (D.I) becomes:
(Vq). Vq)t = 2 (V. Vt)
-2Uxt+ (2VX ,V)t
(DA)
Thefourth term becomes, with V2 = 0:
-~t (ttz + gzz + gzz) z

=
t (xx + yy)
(D.5)
The last term gives:
V q) . V q)
= V . V + V . V + 2V . V
(D.6)
Taking V of equation (D.6):
V(V.V~
V (Vq);Vq))
UV(VX' V) - UVx
(D.7)
For the further computations we need to rewrite the derivatives of

(VX V).
.
(V X . V) x = Xxxx + Xxxx + XYXy + XyXY
(D.S)
+ Xyyy + XYXX + XxXY

Xxzx + XlJZY
(D.9)
(VX V ) y = Xyyy
(V X . V) z =
(D.IO)
Multiplying equation (D.7) and V cP will lead to terms that are quadratic
in X and . Neglecting most of the quadratic terms and U squared
terms will lead to the final free surface condition:
-
2-
cPtt + gcPz - 2UcPxt + 2UV X . V cPt + U cPxx +

t (Xxx + Xyy) = 0
(D.ll)
155
In short:
~tt
+ g~z -
2U~xt + U2~xx + D(U; x, ) = 0

with D(U; x, ) = +2UV X ' V ~t + ~t (Xxx + Xyy) (D.12)
156APPENDIX D. THE rsc FOR THE RADIATION POTENTIAL
Appendix E
In this appendix the mj-terms of the body boundary conditions are

worked out in terms of the normal vector and the steady potential.
The mj-terms of the body boundary conditions are written as (equation (3.23)):
t he components of m = -(n. V) (V(x + i:))
mj
={
the components of m'
where i: = x cos a c
written as:
+ y sin a c
= -(n. V)(x X VeX + i:))

The first terms for j
= 1,2,3
= 4,5,6
(E.l)
= 1,2,3
can be
(E.2)
The second terms for j = 4,5,6 can be written as:
m'
157
158
APPENDIX E. THE M J - TERMS

YXz - ZXy
)
+
ZXX + Z
(
:Z:Xy - YXx - Y
-:Z:Xz
'*
nl(YXzx - ZXyz) + n2(Xz + YXzy - ZXyy) + n3(YXzz - Xy - ZXyz)

)
nl( -Xz - :Z:Xxz + ZXxx) + n2( -:Z:Xzy + ZXXY) + n3( -:Z:Xzz + Xx + ZXxz)
(
nl(XY + :Z:Xyx - YXxx) + n2(:Z:XYy - Xx - YXXy) + n3(:Z:Xyz - YXxz)
(E.3)
where X = ~ and
vector n.
ni
are the Cartesian components of the normal
Appendix F
The computations of 'l/Jl
In this appendix the computations of the expressions for "pI, used in sections 5.3.1
and 5.3.2, are given.
F.1
A transformation in the complex plane
We have (equation (5.10)):
The Hankel functions H~l) and H~2) have the asymptotic expansion
respectively ei kR and e- i kR , when IkRI ---t 00. So the contour L
becomes in the complex plane just like the one shown in figure F.1.
If the poles in z = Zo are second order singularities of f( z), the residue
has to be written as:
(Residue at z = zo) = lim dd [(z z-+zo z
ZO)2
f(z)]
(F.2)
If R ---t 00 integration of the arcs goes to zero, because with k = Re iO,

H~I)(RReiO) behaves like JReiRRei9.
Hi
For the integration of the contour of l ) we have to add the contour

at the imaginary axis, by using k = ik, and the residue in k = K. The
159
160
APPENDIX F. THE COMPUTATIONS OF"pI

iR
-iR
Figure F.1: Contours of integration

first part of the equation for "pI is:
For integration of the contour at the imaginary axis for H?) we have
to use k = -ik. The second part of the equation for "pI is:
- 2i cos Of
OO
_Pe-ik(z+c) 2
(.
)2 Hi ) ( -ikR)( -i) dk
-'k - /'i,
(FA)
Adding equations (F.3) and (FA), and using
the expression for "pI becomes:
"pI = -47r cos Of ~ [k2ek(z+C) (J I (kR) + iYj (kR))] k=x 2.

-2 cos Of
-k ~KI(kR) {(-ik-/'i,)2 eik(z+c) _ (ik-/'i,)2 e-ik(z+C)}dk
10
(/'i,2-k 2 )2
(F.5)
roo
F.2. AN EXPRESSION OF DERIVATIVES
ore;
161
We have to work out tk[" .]. The derivative of the Bessel and Weber
function can be compute with the help of the recurrence relations:
8JI
8k
= RJo _
J I and 8Yi
k
8k
= RYO _ Yi
k
We also have to work out the term between the delimiters.

{ ...}
{l-k 2 + K,2
+ 2iK,k] - [_k 2 + K,2 - 2iK,kl} cos k(z +() +

+ {[_k 2 + K2 + 2iKk] + [_k 2 + K2 - 2iKk]}isink(z +() =
2 [2iKk cos k(z +() + i( _k 2 + K,2) sin k(z +()]
(F.6)
The equation for .,pI can be split into a real ~e and an imaginary
part. These equations can be written as follows:
S:m{'l/JI}
-47rcosO'elt(z+()K[(1 + K(Z
8
- ; cos 0'Jo
+ ()Yi(KR) + KRYO(KR)]-
k KI(kR) [
(K 2 _ k 2)2 2Kk cos k(z+()
+ (_k 2+
+K2) sin k(z+()]dk

(F.8)
F.2
An expression of derivatives of 'l/Jo
For the further computations we only use the principal value of the
integral in equation (5.16). In order to derive a relation between equation (5.16) and equation (5.8) we introduce the non-dimensional parameters.
k
K=-j X=KRj Z=-K(Z+()

K
Using these non-dimensional parameters, the expressions for 'l/J o and

can be written as:
.,pI
'l/J~(~,{) =
2K JL
-ZK
-1 Jo(XK)dK
(F.9)
162
APPENDIX F. THE OOMPUTATIONS OF'l/Jl
r
K e- ZK
4i cos O'KJL (K _1)2J1(XK)dK
2
'l/Jl(~'{) =
(F.1D)
To compute the derivatives of'l/Jij we need the derivatives of the Bessel

functions as given in Abramowitz [1].
8Jo(XK) = -KJ (XK)' 8J1(XK) = X~ (XK) _ J 1(X K )

8X
1,
8K
0
K
(F.ll)
The derivatives of 'l/Jij become:
8'l/Jij
8X
i
ir
2K
8'l/Jij
2K
8Z
2K
JL
_ _ 2K
K -ZK
-Ke
J1(XK)dK
-1
(F.12)
K -ZK
Jo(XK)dK =
-1
e- ZK
K -1 [-KdJ1(XK) - J1(XK)dK]
-Ke
r e-ZK[ZK(K -1) + K]J1(XK)dK
X JL
(K -1)2
(F.13)
!!Ii
The last step of

is reached by partial integration.
The principal value of the expression for 'l/Jl (~, {) can now be computed
as:
Because the principal value of'l/Jo is real, the principal value of 'l/Jl (~, {)
is purely imaginary. The real part of 'l/Jl (~, {) is equal to the residue
of the integral, as computed in section 5.3.1.
So in this section we have the following expressions for respectively
the real ~e and imaginary ~m part of 'l/Jl(~'{):
~e{ 'l/Jl}
-471" cos 0'elt(z+c) K[(1 + K( Z +
+KRJo(KR)]
-2 cos 0' { [K(Z
(n J (KR)+
1
(F.15)
8'l/J*
8'l/J* }
+() + 1] K8~
+ KR -K;Z
(F.16)
ek(z+c)
2KPV JL k _ K Jo( kR)dk
(F.17)
163
F.3. THE DERIVATIVES OF THE 1/;1
F.3
The derivatives of the "pI
We derive the derivatives of the first-order Green function, using the

expression of section 5.3.2. These derivatives are used in the expansion of the source strength and potential.
First we write a~r in another way.
81/;0* = -2 + K'f'O
ftJ.**
-8z
Tl
(F.18)
We also use the equation (F.ll) as given in Abramowitz [1]. After

some algebra we get:
~e {8~1}
471" sinO'elt(z+C)K [(1 + K(Z
+ e)) J1(KR)+
+KRJO(KR)]
~m{8~1}
~e { ~~}
2 sinO' {[I
(F.19)
+ K(Z +()] 8:~*
-471" cos 0'e't(z+C) K 2
- KR
8:;*}(F.20)
(F.21)
(F.22)
-471" cos 0'elt (z+C)K2 [(2 + K(Z
+ en J1(KR) + KRJO(KR)]
(F.23)
-2 cos 0' { [2 + K(Z
81/;**
O_ + e)] K_
8R
2R
T~
81/;** }
- K2 R_O_
8z
(F.24)
164
APPENDIX F. THE COMPUTATIONS OF "pI
To compute the expansion of the potential we need to compute the

normal derivative ~.
(F.25)
where 11 = (nt,n2,n3)' We can write the derivatives:
(F.26)
(F.27)
The term lrl in the derivatives of .,pI is only singular at the free surface.
In chapter 4 follows that in the free surface integral we do not use the
derivatives of "pI, so this will not cause a problem.
The terms cos Of and sin Of are respectively
and 1lif. To check
the singularity of these terms, we have to work out the preceeding
equations.
Using the derivatives of equation (5.8) and the the limiting forms for
small arguments of the Bessel functions (Abramowitz[l, chapter 9]):
7t
z-+O
(F.28)
It follows easily that the real part of eatl and ~ approach zero for
small R. The real part of the derivative to z does not become zero,
but we can write:
(F.29)
165
F.3. THE DERIVATIVES OF THE '1/;1

To compute the imaginary parts we use equation (F.18) and
(F.30)
which gives after some algebra:
-21\'; { (1 + (1 + I\';(z +
(n cos 0') 'I/;~* + R cos 0'0'1/;**

o~ +
2
. 20')0'l/;~*
l + l\'; (z + ( )( cos20' - SIn
-- +
+ ------'-~
1\';2R
oR
()cosO' - z+(2
+2 1 + I\';(zI\'+
- cos O'}
;r l
1\';2r~
(F.31)
Newman[46] gives the integral 'I/;~* as an ascending series expansion.

U sing this series and its derivatives the singular behaviours of 'Ij;~* and
its derivatives are:
'Ij;~*
o'l/;~*
-21n(l\';(rl + Iz + (In
2R
oR
(F.32)
1 o'l/;~*
R
---
ou
Using these equations it follows:
(F.33)
Using the same method, it follows that the imaginary part of the
and l becomes zero for R -4' O.
8t
8/:
166
APPENDIX F. THE OOMPUTATIONS OF "pI
Appendix G
The far field expansion
In this appendix the far field expansion of the Green function is computed. In the first section the residue is computed and in the second
section the method of stationary phase is applied.
G.1
The residue of 'ljJ
For the residue in k = k 1 of F(9,k) (equation (5.3)) the denominator

of F(O,k) has to be zero. Equation (5.4) gives:
k1(O) =
K,'
1- 27 cosO - ""1- 47COSO
(G.1)
272 cos2 ()
The residue in k
= k1 of F (0, k)
becomes:
{residue in k = k 1 of F(O,k)} =
= 27ri {
k - k1
gk - (w
+ kU cos 0)2
kek[z+(+i(x-e) COS 8] cos[k(y -1/) sin O]}
k=k1
(G.2)
Using the rule of l'Hospital:
{residue in k = k 1 of F(O,k)} =
= 27ri
1
9 - 2U cos O(w
+ k1U cos 0)
k 1ekdz+(+i(x-e) COS 8] cos[k1(y - 1/) sin 0] =
167
168
APPENDIX G. THE FAR FIELD EXPANSION
The expression for
.,p becomes:
.,p(~, {j U)
2i
kl ekdz+Cl
'lt"
dO
1-2cosO(w+k1UcosO)
[eikd(x-e)cOS8+(Y-l1)sinol
+ eikd(x-e) cosO-(Y-l1) sinOl]

(GA)
With the notation z = il cos 8 and Y

from the origin) it follows that:
= it sin 8 (il
is the distance
with
g(O)
-1
+ 2T cos 0 + 2J1 -
4T cos 0
1- 2T cos 0 - J1- 4TCOSO( c

0 R- (0 0-))
cosO
- '"'
sin + cos -
- - - - - - - - , - - - - - - - -10
2T2 cos2 0
12(0)
1 - 2T cos 0 - yr71---4-:-T-c-o-s-"0
2
2T cos
20
--
-e cos 0 +'" sin 0 + R cos( 0 + 0))
The potential has to behave like eiK.R, so cos( 0 - 8) in

in 12 have to be positive.
G.2
/1
and cos( 0 +8)
The method of stationary phase
We have to compute the derivatives of

respect to and n,
/1
and
12,
with large
il
with
IHO) = 1 - 2T cos 2- J - 4T cos 0 . -ilsin(O - 6) +

T cos 21 0
20
(0 -)
sinO( -1 + 3T cos 0 + y~1---4"""'T-c-o-s-=0 - T cos OJ1 - 4T cos 0) +
Rcos - 0
2
T cos'' OJ1 - 4T cos 0
G.2. THE METHOD OF STATIONARY PHASE
' ((J)
f2
1 - 2r cos (J 2
VI2(J-
4r cos (J
COS
+ sin (J(-1 + 3r cos (J + V'-"""I---4;-r-co-s----;;(J r
R-' ((J
sin
169
+ (J-) +
cos (JVl - 4r cos (J) R cos( (J
+ 8)
cos'' (JVl - 4r cos (J
To get the zero (Jl of f{ ((J) we have to compute:
Vl- 4rcos(Jl)sin((Jl - 8)
+ VI - cos
cos VI cos
cos(Jn/ 1 - 4rcos(Jl(l- 2rcos(Jl2 sin (Jl( -1
+ 3r cos (Jl
4r
(Jl - r
(Jl
4r
(Jd COS((JI -
this means:
. ((J
- SIn
1-
(J-)
2' (J- -1 + 3r cos (Jl + VI - 4r cos (Jl - r cos (Jl VI - 4r cos (Jl
SIn .------~-;;-;:---r.=====;:====;~----r cos2 (Jl (1 - VI - 4r cos (Jl)
With VI - 4r cos (J ::::::: 1 - 2r cos (J - 2r 2 cos 2 (J - 4r 3 cos" (J

follows that for the stationary phase angle (Jl:
+ O(r 4 ) it
(G.6)
So, because cos( (Jl - 8) has to be positive,
It also follows that to the first-order in r the stationary phase angle

is: 1
2)
(Jl = 8 - 2rsin8 + 0(r
(G.8)
With 0
< (Jl :s; 7r it follows that 0 < 8 :s; 7r.
In the same way the zero (J2 of fH (J):

sin( (J2
1 Nossen[52]
derived (h =
1r
+ 8) =
2r sin 8
+ O(r 2)
+ 8+ 2T sin 8+ CJ( T 2 ) , but
(G.9)
then cos(/h -
8) < O.
170
and
(G.lO)
and
82 =
With 0 ~ 82
-0 + 2r sin 0 + O(r 2 )
(G.ll)
< 71" it follows that -71" < 0 < O.
To use the method of stationary phase (equation (5.29)) we need the

approximations of k1(8t), g(81 ) , sin 81, cos 81 and f{'(81 ) .
sin 81
cos 81
sin 0- 2r cos 0sin 0
k1(81 )
K(l
g(01)
f~'( ( 1 )
cos 0 + 2r sin 2 0
+ 2r cos ( 1 ) = K(l + 2r cos 0)

K(l + 4r cos (1)e kd 8d[z+Cl = K(1 + 4r cos O)ekt(O)[z+Cl
-R(1 + 4r cos 0)
The approximations, when we use O2 are, because 01

when cos O2 is used. The only difference is:
sin O2 =
= -0 2 , the same
- sin 0 + 2r cos 0sin 0
In the method of stationary phase we need h(01) and h(02)' Then

we have respectively -11 sin 01 and +11 sin 92 , So with sin 01 = - sin O2 ,
both parts of the integral become the same.
With the method of stationary phase, equation (5.28) now becomes
for all 0:
?/J(~,e;U) ~
with the amplitude

h(e,9)
~h<e,O)/t(9)[Z+iRJ1-4T2sin29]
YR -
(G.l2)
rs;k1(O)ekdO) [C+ie(y-;;
cos 0-2T sin 2 6)+ifj( - sin 6+2T cos9sin6)]+if
171
G.3. ASYMPTOTIC BEHAVIOUR OF-;o
(G.13)
where
(G.14)
G.3
Asymptotic behaviour of "po
In this section we describe the behaviour of {Jo on the source strength

and the potential. First it will be shown that the integral
is asymptotically small. We rewrite the function "po as follows:
"po
Imx(~,
-Im2v
xi)
r:
-7r/2
exp [v sec2 O(z
+, + iW)] sec2 OdO (G.15)
The Green function "p(~, {j U) is rewritten as:
where
r/ exp [v( z +()sec
-4v 10
0)] . sin [v( x - e) sec 0] .
. cos [v(y - 1]) sin 0 sec2 0] sec2 OdO
(G .17)
with W = (x - e) sin 0 - (y -1]) cos 0 and v = ih . For a thin ship

= aay holds and the source distribution
approximation we assume -aa
n",
(A.I ) can be written as a distribution along the projection
the (x,z) plane. We then obtain:
aaX = 2v2i
Y
r': sec
L7r/2
0 sin 0 exp [v sec2 O(z +,
S of S on
+ iW)] dO
172
where now w = (z - e) cos 8 . We therefore consider the integral:
Ii, y) = 2v2 i
r. [I' t.
-1r/2
is
e,oexp [v sec 8( z +()].

2
uo(
. exp [iv sec 8(z - e)]ded(] sec" 8 sin 8d8
(G.18)
in the limit where v = ih ---+ 00 First we consider the integral along

S . Integration by parts results in the major contribution because no
stationary points are located on S or its boundary. We obtain:
fIs uo(e, ()
. 2- 1 3 8
~v
sec
exp [v(( sec2 8 - i", sin8)]de d( =
[uo(e+,0)exp(-ie+vsec8 - U)(e-,O)
. exp( -ie-v sec e)]
+ O( ~)
v3
(G.19)
where (e, 0) are the endpoints of the ship at the waterline.

The integral I(x,z) in (A.4) consists of two parts I(z, z) with
as v ---+ 00
The main contribution is generated by the endpoints. This is well
known for low Froude number expansions. Further asymptotic expansion leads to :
J(z.z) = =f 2uo(e+,0)
v
2z
2e+ i(z -
. exp [v(z sec
cos e
+ i( z - e)cos e
e)sec e)]
+ O( :2)
=
O(~)
2
v
(G.20)
If we proceed with the partial integration, each following term will

The next term with "fil (.~, e) in eqn
produce zero even if z ---+
G.16 gives no contribution to Ul(e) just as well.
To study the influence of "fio(~, {) on the potential we study the
integral:
G.3. ASYMPTOTIO BEHA VIO UR OF ;jJo
J( z)
Is tTo({)X(~, {)dS
-2v L~~2
173
[/tTo(e, oexp l- sec O(z + (+ iW)] ded(] sec20dO

2
(G.21)
whre W = (z - e) cos O(y - 1/) sin 0 . The integral along can be
evaluated by means of partial integration. Making use of (A.5) we
obtain:
For arbitrary values of x a further asymptotic expansion of J(~) is

possible by means of the method of stationary phase. A Kelvin pattern
is generated at bow and the stern. The main terms behave like
Which means that a contribution at higher order than the linear term
has been obtained in the wave height. For the calculation of the
pressure at the ship a similar analysis shows that higher order terms
are obtained as well. Hence these terms may be neglected if one is
interested in linear correction terms.
174
Appendix H
Error estimates from
experiments
Wefocus our intention to the derivation of error estimates for the 40
% loaded tanker condition. Addressing the accuracy of the measurements of the wave drift forces in current or the accuracy of the wave
drift damping coefficients from extinction tests we arrive at the following observations.
Force measurement:
-#0
F meas = F Current
rz:
+ -#0
F
w
Here
is the total measured mean force in a time trace and
F Current is the total stationary current force.
Determining the increase of the mean force in waves due to the effect
of current:
-#0
-#0
F w = F meas
F Current
From observations of the accuracy of the measurement equipment in

practice we have the following global error estimates (scaled to prototype). For a wave frequency of 0.58 rad/sec, a wave amplitude of 1.76
m and a current speed of 1.2 tsi].
F current
-#0
F meas
-16kN 4kN
-410kN
10kN
175
176 APPENDIX H. ERROR ESTIMATES FROM EXPERIMENTS

Assuming the zero speed wave drift force ( F:o = -222kN) at this
frequency and wave height to be exact, we then arrive at the following
error estimate of the wave drift damping:
-#0
F:
--0
where AF is defined as F w or B wd = 60kNs/ m 3 5kNs/ m 3

Extinction tests:
In the direct estimation of the wave drift damping coefficient we make
use of extinction tests in regular waves. In the assesment of the accuracies of the damping coefficient we assume that the spring system in
the tests is linear and we used an approximation of the added mass of
the tanker in surge direction of 10% of its own mass. From the extiction tests the damping coefficients were obtained with the following
accuracy. We use as an example the results for the test in .65 rad/sec
waves with a wave amplitude of 3.1 m.
The wave drift damping coefficient is then obtained from:
where 8sw is the damping in still water and 8m eas is the total measured
damping in regular waves.
8m eas
= .259 0.008
8sw = .117 0.008

This leads to the approximate error in the wave drift damping coefficient of 0.142 0.016, which is approximately 15% . For smaller measured values of the total damping, the relative error estimate increases
considerably. Apart from these stochastical errors also systematic errors may occur. For example the heading control may not be perfect
for bow quartering waves and current.
Appendix I
Dynamic positioning at
model scale
1.1
Global set-up
At MARIN a system was developed which incorporates all possibilities

of simulation into one system. For that purpose a universally applicable simulator/simulation program RUNSIM was developed. With this
program it is possible to run an arbitrary mathematical model or a
physical model in the model basin in conjunction with an automatic
or manual control system.
The processes represent the considered problem. In the present case
only the following processes are used.
FYSMOD
AUTCON
GRAPHICS
TERMINAL
FYSMOD represents the physical model and includes the AD (analog
- digital) and DA (digital - analog) conversions.
AUTCON embodies the control process.
TERMINAL is used to change parameters on-line and to start the
process.
177
178APPENDIX 1. DYNAMIC POSITIONING AT MODEL SCALE

GRAPHICS serves to visualize the most important parameters during
the tests on a number of monitors.
1.2
Components in a DP system
A dynamic positioning system is an input-output system with a feedback control loop. An automatic DP system in its general terms
contains hardware components and software control algorithms. The
hardware components are:
position reference system
computer
interface equipment
power system
positioning equipment such as thrusters or winches
The operation and use of the above equipment is controlled by the
software, having the following components:
Input
Control loop
Output
position reference system measurement

thruster control parameters (pitch, RPM, azimuth, etc.)
'feed forward' signals
mathematical model of ship response to external forces (X,Y)
Kalman filter algorithm
feedback controller (PID)
thrust allocation algorithm
status monitoring/warning system
thruster control commands
graphic display
data log
1.3.
179
THE OONTROL LOOP
1.3
The control loop
The principal features of the control loop are those algorithms which
are needed for position correction measures on the basis of the measured reference. Other software parts, related to monitoring and status
logging, are basically needed for tuning the system and for performance evaluation. These will not be discussed here.
1.3.1
Mathematical model of the ship
The motions of a ship can be described by a set of differential equations. For DPeontrol, only the mean and low frequency (drift) motions
in the horizontal plane are considered. The excitation of the motions
is caused by second order wave effects, wind and current, while the
motions themselves induce fluid reaction forces. The mathematical
model of the behaviour of a tanker under the influence of wind, wave
drift forces and current is given by Wichers [75] . Incorporation of
thruster action or action by the winches leads to the following equations of motion:
MiC- L F
LF
+ D(xLF)x
-
= -HD
X(2)
+ ~X(2)
.
I-EXT,I
(1.1)
in which:
x L F = x L F , yLF, 'lj;LF, the low frequency motions: surge, sway
and yaw
x~b =
second order hydrodynamic reaction forces
x~lT,i
= other low frequency varying exciting forces (wind,

thrusters, wave drift and current forces)
= mass
matrix
D = LF damping matrix due to coupling

Note that in the low frequency time domain, the first order (linear)
damping may be neglected.
180APPENDIX 1. DYNAMIO POSITIONING AT MODEL SOALE
Hence, the motions in a viscous fluid can be described by differential equations for the state:
(M + a22):i:fF :i:~F
+ X~~~r,l + X1~T,1
-(M + all):i:fF :i:~F + X~:~r,2 + xJJ1T,2
(2) + X(2)
(I2)
+Xcurr,6
EXT,6
in which aij are the hydrodynamic added masses at low frequency,
and X H D has been written in terms of added mass and X curr.
The low-frequency mathematical model of the ship motions in the
horizontal plane is used in the Kalman filter. Basically, filtering the
position reference measurements is necessary because the measurements contain noise and wave frequency modulations upon the low
frequency drift motions. Note that if positioning is good, the low frequency drift motions may be relatively small. Normal (causal) filter
techniques suffer from phase lag, which has a detrimental effect on the
positioning.
1.3.2
The extended Kalman filter
In the Kalman filter, the mathematical model of ship motions is used

to make a prediction of the ship position on the next time step. The
prediction is compared with the forthcoming measurement, and the
weighted result is used in the controller to steer the thrusters. Discrepancies between the measurement and the prediction are used to
update the parameters in the mathematical model and improve the
next prediction. Since the prediction and update steps can be carried
out in one sample cycle of eg 1 second prototype time, the phase lag
problem is quite significantly reduced. But, this is not the only advantage of using a Kalman filter. Another feature of improvement is
the possibility to adapt to the quality of the position measurement.
Since the mathematical model of the ship motions is non-linear, an
extended Kalman filter is used (EKF). In an EKF the non-linear parts
are linearized, using eg a Taylor series expansion, and the coefficients
thereof are included in the parameter update step of the process.
The LF linearized state space model for the EKF is:
1.3.
THE CONTROL LOOP
~k+l
1!..k -
181
Ak~k
C~k
+ I', + FWk
(1.3)
+ Vk
in which the first line describes the prediction of the LF position

and heading and their derivatives ~ on time step k-l-1 from the status
on time step k and the external forces r k The second line represents
the position measurements at time step k. In both equations the noise
in the process is incorporated: W k is the noise due to inaccuracy in the
mathematical model and V k represents the noise in the measurement.
Both noise functions are assumed to have a Gaussian distribution with
zero mean. The matrices F and C represent the transfer of Wand V
to the dimensions of the vectors ~ and 1!.. respectively.
The solution of the EKF equations takes place in a one-step transition scheme with:
State predictor ~k+llk = Ak~k
State corrector
+rk
~k+l = ~k+llk + Kk+l (Yk+1 - C~k+1Ik)
Covariance predictor Pk+Ilk = AkPkAf + FkQkF[

Kalman filter gain K k+I = Pk+llkCT (C Pk+llkCT + Rk+l) - l
Covariance corrector Pk+I = Pk+l1k - Kk+IC Pk+Ilk
in which it is assumed that the matrix C is constant. The matrices
Q and R represent the covariance of the two noise signals W k and Vi.
It is assumed that there is no noise interaction.
In the recursive scheme the following particulars are present:
If the mathematical model of the process is incomplete or disturbed, the value of the covariance of Wk will be large, which
leads to an increase of the Kalman gain K k In that case the
state estimates rely more on the measurements.
If the measurements of the position from the reference system
are disturbed, the covariance of Vk is large. This tends to decrease the gain matrix and the estimates will rely more on the
mathematical prediction.
182APPENDIX 1. DYNAMIO POSITIONING AT MODEL SOALE
1.3.i3
The controller
Various options are available for the controller. In this section one
will be presented, the PID controller. The PID controller is basically
an algorithm which multiplies the position error and drift speed with
a spring restoring ('P') and a damping factor ('D'). An integration
routine ('1') may be applied to compensate for an offset in the mean
value. The position estimate of the EKF, and its derivative (the drift
speed estimate) is input to the PID controller as follows:
Fi = PiZi + Diz i + Ii! Zi.dt
(1.4)
in which Fi represents the total required force vector on the ship

that has to be generated by the thrusters. The subscripts i stand for
the three modes of motion in the horizontal plane x, y and 't/J The
coefficients of the PID controller have to be selected and optimised
for a good positioning performance. A significant change of sea state
or loading condition are the most important reasons to update the
settings. Therefore, the need to adapt the PID control coefficients is
a drawback of this approach.
In the linearized state space model for the EKF, the external
forcesf'j, are replaced by:
(1.5)
in which the input vector Uk represents the required thruster forces
and wtet the low frequency exciting forces on the ship.
A PID controller is used and selection of controller settings is carried out in a series of test runs in representative environmental conditions, prior to the actual testing.
The output of the controller is the required forces and moment
on the ship. The thrust allocation algorithm, in which the thruster
layout and thrust degradation effects are defined, takes care that these
required total forces and moment are properly distributed over the
avail-able thrusters. In the current lay-out of the measuring system
the thrusters are modelled using constant tension winches.
Samenvatting
In deze studie worden resultaten gepresenteerd van het onderzoek van
de gemiddelde golfdriftkrachten op een schip in stroom en golven. In
de hoofdstukken 3 en 5 zijn de wiskundige uitgangspunten van de
randintegraal methode weergegeven voor de berekening van de eerste
en tweede orde golfkrachten op vrij drijvende objeeten met lage snelheid. Onder gebruikmaking van de stelling van Green is een bronsterkte formulering afgeleid. De Greens funktie voor een oscillerende
en translerende bron funktie en de bronbelegging zijn gelinearizeerd
met betrekking tot de voorwaartse snelheid. De eerste twee termen uit de asymptotische benadering voorde bronsterkten worden
bepaald door middel van twee integraal vergelijkingen, die dezelfde
kernel bezitten. In vergelijking tot het snelheid nul diffraktie probleem
speelt nu het vrije oppervlak een rol in de randvoorwaarden van de
integraal vergelijking voor de bronsterkten. Aanpassingen zijn gedaan
van de gelinearizeerde Greens funktie om tot een goede asymptotische
benadering te komen van de Greens funktie voor het verre veld. In het
geval van diffraktie van golven op een schip met voorwaartse snelheid
speelt de ontmoetingsfrequentie een grote rol. Deze ontmoetingsfrequenties zijn hoger dan bij snelheid nul voor voorinkomende of schuin
voorinkomende golfkondities. Echter bij deze hogere frequenties geeft
de randintegraal methode aanleiding tot onnauwkeurige resultaten bij
specifieke frequenties, ook wel 'irregular frequencies' genoemd. Om
dit probleem aan te pakken is een 'lid methode' ontwikkeld. De resulaten van de 'lid methode' laten zien dat deze effectief is voor het
onderdrukken van de 'irregular frequencies'.
De methode van berekening van de gemiddelde driftkrachten is gebaseerd
op een methode van behoud van impulse. De resultaten van de driftkracht
berekening op een drijvende bol kwamen goed overeen met de resultaten uit de study van Zhao en faltinsen [82]. Ter validatie van de
ontwikkelde methode voor de berekening van de driftkrachten zijn
ook model proeven uitgevoerd op een 200 kDWT tanker in zowel volbeladen als ook in ballast konditie. Uit de resultaten van de model
proeven kan men konkluderen dat de gelinearizeerde voorwaartse snelheids aanpak goed werkt voor de stroom recht van voren en de geteste
183
schuin voorinkomende golfrichtingen. Een minder goede overeenkomst

is gekonstateerd voor die situaties met de stroom onder een hoek van
inval met de tanker.
184
Acknowledgement
First of all I would like to give my thanks to my promotor Prof. Dr.
Jr. A. J. Hermans who offered continuously his support and advice
during the progress of the work.
Further I want to thank the board of directors of the Maritime Research Institute Netherlands, who supported the work by providing
time and funds for me to perform the work.
Special thanks are in order to the many members of the staff of
MARIN for helping with the experiments, numerical calculations and
numerous discussions on the topic of this thesis.
I also gratefully acknowledge the support of the sponsoring companies
of the Cooperative Research on Ships group and their permission to
use some of the interesting results from the 'irregular frequency' problem study.
Also a warm word of thanks is in order for the people how helped with
the last finishing touches of the thesis, especially G. Radstaat and C.
Visser for their effort for making the final touches on the figures.
Lastly and most importantly I wish to thank my wife Gretha and my
son Jeroen and daughter Inge for putting up with my nearly forever
during absent mindedness.
185
186
Curriculum Vitae
The author was born on December 211951 in Breda, the Netherlands.After graduation in 1969 of the HBS-B in Arnhem he started his study of mathematics at
the Twente University of Technology. He finshed his study in Januari 1976 on
a topic related to multivariate control problems. Since then he joined the staff
of the Maritime Research Institute of the Netherlands as project manager in the
shallow water basin. He has been working in the R&D department and the
Offshore Research division of MARlN as a senoir project manager.
187

Mathematical Modelling of The Mean Wave Drift Force in Current-PhD - Huijsmans

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Stellingen

Mathematical Modelling of the Mean Wave

Mathematical Modelling of the Mean Wave

Rene Herman Maria HUIJSMANS

Dit proefsehrift is goedgekeurd door de promotor:

Aan Gretha, Jeroen, Inge

4 Expansion of the potential

Suppression of irregular frequencies .

forces on the body

7 Model test experiments

9 An engineering view of wave drift damping

B Integral equation irregular frequencies

C Integration rankine source

D The fsc for the radiation potential

F The computations of '1/;1

F.1 A transformation in the complex plane

G.1 The residue of 'I/; .....

H Error estimates from experiments

Dynamic positioning at model scale

4.1 Coordinates at waterline. .

Surge damping no lid. . . . . .

Surge damping comparison original-lid. . . . . .

Panel description Sphere . . . . . . . .

6.17 The drift forces on a free sphere, with the stationary

Set-up of wave drift force measurement passive mooring 86

Body plan of the 200 kDWT tanker.

8.45 Pitch response in 150 degree waves, 150 degree current

Approximation wave drift damping surge using Aranha's

10.1 Estimates of wave drift force using extinction tests.

A.l Computational domain integral equation..

B.1 Integration over free surface panel.

C.1 Integration over a Panel j.

F.1 Contours of integration .

Location irregular frequencies for a square box.

Model test conditions for current speed 0.0 m/s T100%

Particulars of the 200 k DWT tanker fully loaded.

where 1. is the natural frequency of the mooring system in surge (a::),

Figure 2.1: A typical mooring layout of turret-moored tanker

Figure 2.2: Undisturbed stationary flow

l~Figure 2.3: Disturbed stationary flow

CHAPTER 3. MATHEMATICAL FORMULATION

We shall use a coordinate system fixed to the vessel, such that

3.1. PROBLEM FORMULATION

integration of the pressure on the wetted part of the vessel S.

1 IV'iJ? 12 - pgz +-U

In order to calculate the forces on the body we need an expression for

0 } At the free surface z

where the velocity U is taken with respect to the coordinate system

CHAPTER 3. MATHEMATICAL FORMULATION

Linearization of the free surface condition

Combining the kinematic and dynamic boundary conditions (3.1) at

The non-linearities are eminent in this equation, ie the potential ~ is

3.1. PROBLEM FORMULATION

~(z,y,(, t) = ~(z,y,O, t) +\ (~: t o + ~(' (~:~ t o + ... (3.4)

Equation (3.3) becomes at z

<.I.>tt+ g<.l.>z+ (V<.I.> V<.I. t

+V<.I.> v(V<.I.> ~ V<.I. =0 + CJ((3)

For the purpose of linearization we decouple the potential <.I.> into a

tt + 2(V Vt) +"2V V(V V) + gz

Linearization of the body boundary condition

The body boundary condition can be linearized as follows:

CHAPTER 3. MATHEMATICAL FORMULATION

and for the non-steady part ~ :