1.1.

Motion Analysis of Floating Structure

1.1.1. Equation of Motion
Floating structures have 6 degrees of freedoms. Its motions are divided into two
big groups, those are translation mode and rotation mode. The 6 motions are
(Journee & Massie, 2001):
Translations Mode
1. Surging, translation movement on the X axis
2. Sway, translation movement on the Y axis
3. Heave, translation movement on the Z axis
Rotation Mode
4. Rolling, rotation on the X axis
5. Pitching, rotation on the Y axis
6. Yawing, rotation on the Z axis

Figure 1. Six degrees of freedom in floating structures (Journee & Massie,

2001)
The equation of motion of all six degrees of freedom can be written as:
6

( M jk + A jk ) S k + B jk Sk +C jk S k =F j eit
k=1

(Equation 1)

Where :
k
: mode of motion takes 1,2,3,4,5 and 6 for the surge, sway,
heave, roll, pitch and yaw, respectively
j
: mode of excitation and takes the values similar to k for the
corresponding modes
Mjk
: mass matrix containing the mass, mass moment of inertia and
products of inertia of the body
Ajk
: added mass matrix containing added mass and added moment of
inertia per unit acceleration, which are frequency dependent

Bjk

: damping matrix containing damping force and moment of inertia

per unit velocity
: restoring matrix containing restoring force and moment matrix per
unit displacement
: complex motion displacement vector per unit wave amplitude, and
: complex external force and moment vector per unit amplitude.

Cjk
S
Fj

Equation 1 can also be represented as action and reaction of forces in structures.

The left part of equation is the term of reaction forces while the right part is the
term of action forces (Djatmiko, 2012).
Among 6 motions of floating structures, there are only 3 pure oscillatory
motions (heave, roll and pitch) since these motions has restoring forces. The
others (surge, sway and yaw) do not return to its equilibrium positions unless the
exciting forces acting alternately from opposite direction (Bhattacharyya, 1978).
Variables of added mas, damping coefficient and stiffness of submerged part in
heaving, pitching and rolling motion and the solution of motion can be
calculated by dividing structures into several sections. This method is widely
known as strip theory (Bhattacharyya, 1978).
1.1.1.1.
Heaving Motions
Heaving g motions happens in the mode 3. The displacement of motion
can be written as z. So that the equation of motion can be simplified into
(Bhattacharyya, 1978):

( e t)

( M + A 33 ) z + B33 z +C 33 z=F o cos

Where:
Fo

: Amplitude of excitation force (N)

: Frequency of wave encountering (rad/sec)

(M + A 33) z

: Inertial force (N)

B 33 z

: Damping force (N)

C33 z

: Restoring force (N)

( e t )
Fo cos

1.1.1.2.

(Equation 2)

Rolling Motions

: Exciting force (N)

Rolling motions happens in the mode 4. The displacement in the motion

can be written as . So that the equation of motion can be simplified into
(Bhattacharyya, 1978):

( e t)
( M + A 44 ) + B44 + C44 =M o cos
Where:
Mo

(Equation 3)

: Amplitude of excitation Moment (N m)

: Frequency of wave encountering (rad/sec)

( M+ A 44 )

: Inertial Moment (N m)

B 44

: Damping Moment (N m)

C 44

: Restoring Moment (N m)

( e t )
M o cos

: Exciting Moment (N m)

1.1.1.3.
Pitching Motions
Pitching motions happens in the mode 5. The displacement in the motion
can be written as . So that the equation of motion can be simplified into
(Bhattacharyya, 1978):

( e t)

( M + A 55 ) +B 55 +C
55 =M o cos
Where:
Mo
e

(Equation 4)

: Amplitude of excitation Moment (N m)

: Frequency of wave encountering (rad/sec)

( M + A 55 ) : Inertial Moment (N m)
B 55

: Damping Moment (N m)

C55

: Restoring Moment (N m)

( e t )
M o cos

: Exciting Moment (N m)

MODELLING
BUOY SIZING
The shape of the buoy is cylindrical. Modelling of the buoy is done on Maxsurf Hull
Modeller software. The size of the buoy is taken to be:
Buoy Size
Radius, R
2.00
Height, H
1.50
Draught, T
0.75

m
m
m

MASS DISTRIBUTION
The mass of cylinder is assumed to be distributed uniformly in its volume. The
draught of the floating structures is also assumed to be half of the height. So
that the weight (displacement) can be shown as:

= water
Where:

= Displacement (kg)

= Volume displacement (kg)

For Cylindrical shape
2

= R T

water

= Density of water (kg/m3)

Using the formula above, the value of displacement is found to be:

Volume
Displacement,V
Displacement,

9.42
9424.
78

m3
kg

The other parameter for mass distribution is its moment of inertia. The formula
for uniformly distributed cylinder is:

1
I x= M R 2
4
1
I y = M R2
4
1
I z= M R 2
2
Where:

I x = Moment of Inertia of x axis (kg m2)

I y = Moment of Inertia of y axis (kg m2)
I z = Moment of Inertia of z axis (kg m2)
M = Mass/ Displacement of cylinder (kg)
R = Radius of cylinder (m)
Using the equation above the moment of inertia can be found:
Ixx
Iyy
Izz

9424.7
8
9424.7
8
18849.
56

kg m2
kg m2
kg m2

Center of Gravity
Since the mass is distributed uniformly the center of gravity can be taken:
VCG
TCG
LCG

0.75
0.00
0.00

m
m
m

(SEBAIKNYA ADA GAMBAR AXIS NYA MAS, JADI TERJAWAB 0.75 M ITU TERHADAP
MANA, TP BELUM TAK BUAT MAS)
Radii of Gyration
The parameter of moment inertia in Maxsurf Motion is filled using radii of
gyration. While the radii of gyration is defined:

R x=

R y=

Iy
M

R z=

Iz
M

Ix
M

Where:

I x = Moment of Inertia of x axis (kg m2)

I y = Moment of Inertia of y axis (kg m2)
I z = Moment of Inertia of z axis (kg m2)
M = Mass/ Displacement of cylinder (kg)

R x = Radi of gyration x axis (m)

R y = Radi of gyration y axis (m)
R z = Radi of gyration z axis (m)
Using the equation above the radii of gyration of model can be found:
Rxx
Ryy
Rzz

1.00
1.00
1.41

m
m
m

The analysis of motion is done in Maxsurf Motion. The model is stripped (divided)
into:

Using strip theory in Maxsurf Motion the response amplitude operator is:

HEAVE MOTION
1.5
1

RAO (m/m)

.5
.
0,000 0,002 0,004 0,006 0,008 0,010 0,012 0,014

(rad/s)
0 Deg

30 Deg

60 Deg

90 Deg

45 Deg

ROLL MOTION
8
6

RAO (deg/m)

4
2
.
0,000 0,002 0,004 0,006 0,008 0,010 0,012 0,014

(rad/s)
0 Deg

30 Deg

60 Deg

90 Deg

45 Deg

PITCH MOTION
4
3

RAO (deg/m)

2
1
.
0,000 0,002 0,004 0,006 0,008 0,010 0,012 0,014

(rad/s)
0 Deg

30 Deg

60 Deg

90 Deg

45 Deg

The analysis of response of structure can be conducted in either:

1. Regular Waves
2. Irregular Waves
For regular waves, we assumed the wave to be 1 m height and 3.817 rad/s
frequency, the response will be:
Headi
ng
(deg)
0.000
30.00
0
45.00
0
60.00
0
90.00
0

Heave
(m)
0.063

Response
Roll
Pitch
(deg)
(deg)
0.000
0.232

0.079

0.478

0.277

0.059

0.677

0.266

0.038

0.829

0.244

0.028

0.957

0.198

Note:

Analisa kali ini baru ngeluarin heave roll pitch aja mas, soalnya ini masih
pake strip bukan pake panel mas (softwarenya) kalua pake panel nanti
bisa ngeluarin 6 gerak semuanya mas tp agak lama ngerunningnya. Kalau
memang butuh bisa aku runningin mas, tapi kalau butuh heave aja bisa
pake ini mas.
Asumsi bendanya beban merata ya mas hehehe, kalua ada penjelasan
lebih lengkap mengenai distribusi bebannya bisa nanti tak coba hitung
mas moment inersianya yang baru.
Kalau dimensinya sudah fix nanti bisa diganti-ganti lagi kok mas, santaii
Refrensi yang biasa dipake mas, di lab hidro bukunya udah tak print mas:

References
Bhattacharyya, R., 1978. Dynamics of Marine Vehicles. New York: John Wiley &
Sons.
Djatmiko, E. B., 2012. Perilaku dan Operabilitas Bangunan Laut di Atas
Gelombang Acak. Surabaya: ITS Press.
Journee, J. & Massie, W., 2001. Offshore Hydromechanics. 1st ed. Delft : TU Delft.