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=
2
3 1
2 1
tan
n
n
f
a a
a
e
e
Typical values of fin servo controller coefficients are given in Using Tanks, Fins & Rudders. It must
be stressed that if trial results are available then these values should be used in preference to those of
Using Tanks, Fins & Rudders.
The final problem remaining is to determine the controller coefficients. The following example is for
the Admiralty Engineering Laboratory (AEL) design. Alternate controllers can be used if the transfer
function can be determined.
The mathematical model of the performance of the fin controller. is detailed in the theory of the
lateral motion programme manual. The control is via a three term controller, defined to be
( )
( )
2
3 2 1
2
3 2 1
s b s b b
s k s k k
K K
RollAngle
FinDemand
G SP
+ +
+ +
=
This mechanism produces an overall gain of
T
. This overall phase is the sum of the ship response, fin
servo and the controller
C
, phase lags.
From Reference 4 the AEL controller transfer function in the "stabilise to vertical mode" has the
following form.
2
3
1
3
2 2
5 4 3
043 . 0 43 . 0 1
06 . 6
2376 . 0
s s
K
K
s
K
K
s K K K
RollAngle
FinDemand
+ +
|
|
.
|
\
|
+ +
=
where
K
1
is the angle switch setting
K
2
is the velocity switch setting
K
3
is the acceleration switch setting
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K
4
is the overall gain
K
5
is the speed dependent gain.
Thus with typical values for the fin controller
b
1
= 1.0 b
2
= 0.43 b3 = 0.043
allows the fin phase lag to be calculated from
)
`
=
2
1
043 . 0 1
43 . 0
tan
n
n
C
e
e
Comparing the form of equation 4 with 3 produces:
k
1
= K
1
k
2
= 6.06 K
2
k
3
= K
3
It is the values k
1
, k
2
and k
3
that are used in the lateral motions programme.
With the AEL controller K
1
, K
2
and K3 all have a finite set of settings namely from 1 to 10 in steps of
1. Other controllers may not have this characteristic. From (3) possible values of K
1
, K
2
and K
3
can be
determined by simple factorintion. In fact
k
1
= o| and k
2
= o+|
The values of o and | need determining but possible values are 0.8
T
and 0.2
T.
Thus the only
remaining coefficients that need determining is the overall gain K
SP
K
G
.
The gain of the controller at e
n
is K
C
where
( ) ( )
( )
2
2 2
2 2
2
d b
ad cb cd ab
K
C
+
+ +
=
where
n
n
n
n
b d
k c
b b b
k k a
e
e
e
e
2
2
2
3 1
2
3 1
=
=
=
=
The gain that was calculated from the forced roll is G
s
at e
n.
If the reduced roll response is defined to be
G
duction
+
=
1
1
Re
The value of G can be in the range 2 to 12.
Thus the overall response is related at, e
n
to be
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G K K G
SP G s
= Check this formula....
Thus,
C S
SP C
K G
G
K G =
Thus for the AEL controller
5 4
2376 . 0 K K K K
G SP
=
K
4
is used to scale the overall system since K
4
is also limited to the range 1 to 10.
APPENDIX D - SERVO COEFFICIENTS
Typical values of fin stabilizer controller servo coefficients are:
a
1
= 1.00
a
2
= 0.28
a
3
= 0.0781
APPENDIX E - WORKED EXAMPLE
Using the data from the Fin Servo Coefficients and Forced roll and the Using Tanks, Fins & Rudders
section, the following shows the calculation of K
1
, K
2
, K
3
for a ship which has a phase lag of
C
= 40
and a roll natural period of 0.6 rad/sec. The roll response/fin amplitude is 0.55.
Thus to use the terminology, G
S
= 0.55
=
)
`
=
81 . 9
6 . 0 * 0781 . 0 1
6 . 0 * 28 . 0
2
1
tan
F
is the servo lag.
The controller lag
S
is
=
)
`
=
68 . 14
6 . 0 * 043 . 0 1
6 . 0 * 28 . 0
2
1
tan
C
The total phase lag is
Initial guesses for
o
and
|
are 0.8
T
and 0.2
T.
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( )
04109 .
8 . 0 tan
6 . 0
= =
T
o
( )
425 . 2
2 . 0 tan
6 . 0
= =
T
|
Therefore,
0 . 1
8359 . 2
9964 . 0
3
2
1
=
= + =
= =
k
k
k
| o
o|
Therefore,
0 . 1
468 . 0
06 . 6
9964 . 0
3
2
2
1
=
= =
=
K
k
K
K
The nearest coefficients that are in this ratio are
2
1
2
3
2
1
=
=
=
K
K
K
Thus using these values
2
06 . 6
2
3
2
1
=
=
=
K
K
K
with
043 . 0
43 . 0
1
3
2
1
=
=
=
b
b
b
Therefore
( )
258 . 0
636 . 3
985 . 0
28 . 1
2
3 1
=
=
=
= =
d
c
b
k k a
n
e
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( ) ( )
( )
2
2 2
2 2
2
d b
ad cb cd ab
K
C
+
+ +
=
8305 . 2 =
C
K
854 . 3
55 . 0 * 8305 . 2
= =
G
K K
G SP
with G=6 (say)
44 . 32
* 2376 . 0
854 . 3
5
4
= =
K
K if K
5
=0.5
The maximum of K
4
is 10. This dividing K
4
by 4 will give K
4
value of 8.
Thus multiply K
1
, K
2
and K
3
by 4
8
4
8
3
2
1
=
=
=
K
K
K
and
0 . 8
24 . 24
0 . 8
3
2
1
=
=
=
k
k
k
APPENDIX F - AUTOPILOT COEFFICIENTS
Use of the autopilot is essential in order to suppress spurious very large lateral plane motions at or
near zero encounter frequency, commonly experienced in quartering and following seas, even if the
ship under analyisis is not fitted with one (the ship will have a helmsman who will steer the ship in a
similar way to an autopilot).
If the autopilot settings for the particular ship under analysis are known then these values should be
used. The method for tuning autopilots requires the rudder demand to yaw response of the ship
tabulated over a range of frequencies.
For Known AutoPilot Settings
The transfer function of the autopilot is in the form
(
+
+
+
=
s T s T
Ls T
RK
or HeadingErr
nd RudderDema
2 1
1
1
1
1
where
s is the Laplace transform
R is a constant (approximately 1.0)
K is the rudder gain quantity
L is the phase advance lift
T1 is the pphase advance time constant
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T2 is the weather helm integrator constant
This representation is allied to the actual form of the autopilots used in HM Ships.
Autopilot Angle Gain K1 = RK
Autopilot Velocity Gain K2 = RK(T1+T2)
Autopilot Acceleration Gain K3 = RK T1 T2 L
Autopilot Demand Gain B1 = 0
AutoPilot Demand Velocity Gain B2 = T2
Autopilot Demand Acceleration Gain B3 = T1 T2
Values for a number of different HM Ships are as follows:
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APPENDIX G - REFERENCES
1) A.R.J.M. Lloyd, Seakeeping, Ship Behaviour in Rough Weather, Ellis Horwood Limited,
ISBN 0-7458-0230-3
2) W.G. Price and R.E.D. Bishop, Probabilistic Theory of Ship Dynamics, Chapman and Hall,
IBN 0-412-12430-0
3) K.J. Rawson and E.C. Tupper, Basic Ship Theory, Vols. 1 and 2, Longman Higher
Education; ISBN: 0582219221
4) AEL Roll Stabiliser: Determination of Controller Function in Terms of K Values. AEL
Internal memo. No. MACO 327, June 1976.
5) The Selection of Roll Stabiliser Controller Coefficients, W.B. Marshfield. AMTE(H) Report
80006.
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APPENDIX H - FILE TYPES AND FORMATS
INI Files
The ASCII INI file stores all user information and preferences such as line settings, font settings,
previously used files, digitizer setup and window setup.
The format of the file can vary depending on many parameters and is therefore too extensive to
describe in the context of this manual and should never be edited manually.
LFH Files
LFH files are an ASCII format file specified by the Wolfson Unit for Marine Technology and Industrial
Aerodynamics. The format is used to describe a set of orthogonal sections that describe the surface of a
ship or yacht.
Only one half of the ship is defined in the LFH file format with the sections defined from most aft to
most forward and the X and Y values of the sections are defined from bottom to top.
The format is described with the following example:
Example Yacht Title of Ship or Yacht
21 Number of Sections in the File
-5.000000 Longitudinal or X Position of 1st Section
5 Number of Points on 1st Section
0.008000 0.000000 1st Point of 1st Section (Z,Y separated by space(s) or tab)
0.008802 0.106723 2nd Point of 1st Section (Z,Y separated by space(s) or tab)
0.011716 0.203514 ........
0.015711 0.271432
0.015711 0.000000
-4.500000 Longitudinal or X Position of 2nd Section
24 Number of Points on 2nd Section
-0.039002 0.000000 1st Point of 2nd Section (Z,Y separated by space(s) or tab)
-0.032259 0.113125 2nd Point of 2nd Section (Z,Y separated by space(s) or tab)
-0.023557 0.216692 ........
-0.012308 0.311496
0.002052 0.398296
0.006741 0.421438
0.020062 0.477814
0.042235 0.550735
0.069052 0.617706
0.100956 0.679338
0.138336 0.736216
0.181526 0.788911
0.220151 0.828182
0.262015 0.864823
0.306349 0.898429
0.352359 0.928595
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0.399230 0.954907
0.446122 0.976945
0.457779 0.981749
0.492176 0.994285
0.536517 1.006499
0.578278 1.013166
0.616626 1.013877
0.616626 0.000000
Longitudinal or X Position of 3rd Section
Number of Points on 3rd Section
1st Point of 3rd Section (Z,Y separated by space(s) or tab)
2nd Point of 3rd Section (Z,Y separated by space(s) or tab)
........ Continue with definition until all 21 Sections have been defined.
HLH/HLD Files
HLH/HLD files are binary section definition files for use with the Wolfson Unit Hydrostatics
package.
Experimental Rao Data Files (*.Dat)
Number of Frequencies
I=1 to Number of Frequencies
Encounter frequency[I] (rad/s), if Heave Heave RAO[I], if Pitch Pitch RAO[I], if Roll
Roll RAO[I]
SMR Files
SMR Files are used for loading and saving all the current set of calculated results for importing into the
Plot Window for comparing data.
Plot Window Data Files (*.Dat)
Plot window data files are ASCII text files of the data displayed in the same format as the plot window
page text. Each set of data is saved as an individual file with headers and the data in columnar format.
If for example the filename is set to test.dat the individual data files will be test_1.dat, test_2.data,
test_3.dat..........etc.
VER Files
Vertical Motions File
Motion Calculation Designation
LONGTIT
LONGDAT
IZZ
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IA, IB, IC, ID1, IE, IF, IG, IH, II, IJ, IL, IM, INN,IP, N
BPL, GAMMA, GRAV, DISP
BEAM[I], SECOE[I], DRAFT[I], ZBAR {I=1 to 21 Consecutive Lines}
RADGYR*BPL, CGL {if IB=0}
DWEIGH[I], ZBAR,ZBAR,ZBAR {or if B<>0}
MIN, MAX, INC
FR1, FR2, DFR
NSP
ICY
VV[I] {I=1 to NSP Same Line}
WANGI, WANGA, DWANG
NSEA
HSW[I] {I=1 to NSEA Same Line}
TSW[I] {I=1 to NSEA Same Line}
NPOS
IR
WB
NP
Vertical Motions File Nomenclature
Motion Calculation
Designation
Description
LONGTIT ShipTitle
LONGTIT Date
IZZ, IA, IC = 1
IG = -1
IE Motion Calculation: IE=0 if vertical, IE=1 if vertical and lateral
INN = 3
IF Wave Spreading, Even Power of Cosine
ID1 Wave Spectrum Type: 2=Pierson-Moskowitz, 3=I.T.T.C. 2-Parameter,
4=J.O.N.S.W.A.P.
IB, IH, II, IJ, IL, IM, IP = 0
N Number of Stations
BPL Length on Waterline in units
GAMMA if units are metric =1.025 else 0.02857
GRAV Gravity: if metric units then GRAV=9.806, if imperial units GRAV=32.174
DISP Displacement in units (Tonnes or Tons)
BEAM[I] Beam at station I in units where I=1 to 21
SECOE[I] Sectional Area Coefficient at station I where I=1 to 21
DRAFT[I] Draft at station I in units where I=1 to 21
ZBAR = 0
RADGYR Pitch radius of Gyration/LBP
CGL Longitudinal Centre of Gravity about midships in units where positive is
forwards.
DWEIGH[I] = 0.0
MIN = 11
MAX = 11
INC = 1
WA = 1.00
FR1 = 0.05
FR2 = 2.55
DFR = (FR2-FR1)/50 = 0.05
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NSP = Number of Speeds
ICY = 0
VV[I] Speeds in knots where I=1 to NSP
WANGI Initial wave angle in degrees
WANGA Final wave angle in degrees
DWANG Angle Increment in degrees
NSEA Number of sea spectra
HSW[I] Significant wave height in units where I=1 to NSEA
TSW[I] Mean wave period in seconds where I=1 to NSEA
NPOS = 0
IR = 0
WB = -1.00
LAT Files
Lateral Motions File
Motion Calculation Designation
LONGDAT
IZZ
IR
IFIN, ALG, CONV
DISP, CGL, TSKEG, ROLLMX, DUM2, DUM3, DUM4
ID1, IF, ID, IE
EL, HCG, GMIN, RNF, RRG, YRG
NSP
WANGI, WANGA, DWANG
DRAFT[I] {I=1 to 8 Same Line}
DRAFT[I] {I=9 to 16 Same Line}
DRAFT[I] {I=17 to 21 Same Line}
VV[I] {I=1 to NSP Same Line}
NFR, FR1, FR2
IFT
NSEA, NPOS
HSW[I], TSW[I] {I=1 to NSEA Same Line}
NST
XA[I], EDDY[I] {I=1 to NST Consecutive Lines}
YA[I,J] {J=1 to 8 Same Line}
ZA[I,J] {J=1 to 8 Same Line}
NBKP
NFBK[I], NSBK[I] {I=1 to NFBK Consecutive Lines}
YBK[I], ZBK[I], BBK[I], ELBK[I] {I=1 to Spans Consecutive Lines}
XSK, BSK, ELSK
NFP, FCK1, FCK2, FCK3, FCB1, FCB2, FCB3, FSA1, FSA2,
FSA3
{IF IFT=1}
BETNOM, FLINC
NSH, NOA
X[I], Y[I], Z[I], B[I], CR[I], CT[I], CLA[I], GAM[I] {I=1 to Fin Pairs + A-Bracket Pairs +
Rudders Consecutive Lines}
RCK1Y, RCK2Y, RCK3Y, RCB1Y, RCB2Y, RCB3Y, RSA1,
RSA2, RSA3,
RCK1R, RCK2R, RCK3R, RCB1R, RCB2R, RCB3R
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BETNOM, FLINC
TANK1, TANK7, TANK8, DUMT, TANK[I] {I=1 to 3 Same Line} {IF IFT=2}
TANK[I] {I=4 to 10 Same Line} {IF IFT=2}
IE
INDC
IFILE, ICY
NEXT
Lateral Motions File Nomenclature
Motion Calculation
Designation
Description
LONGTIT ShipTitle
LONGTIT Date
IZZ = 0
IR = 0
IFIN IFIN=1 if forced roll, IFIN=0 if no forced roll
ALG 10.0
CONV Conversion Factor: CONV=-0.3048 if in metres, CONV=1 if in feet
DISP Displacement in units Tonnes if metric or Tons if imperial
CGL Longitudinal Centre of Gravity about midships in units where positive is
forwards.
TSKEG Average skeg thickness in units
ROLLMX = 1.0
DUM2, DUM3, DUM4 = 0.0
ID1 Function of Wave Spectrum Type: 1=Pierson-Moskowitz, 2=J.O.N.S.W.A.P.,
3=I.T.T.C. 2-Parameter
IF Wave spreading, Even power of cosine (i.e. 0,2,4,6,8,10 etc.)
ID Wave Spectrum Type: 1=Pierson-Moskowitz, 3=I.T.T.C. 2-Parameter,
2=J.O.N.S.W.A.P.
IE Motion Calculation: IE=0 if vertical, IE=1 if vertical and lateral
EL Length on Waterline in units
HCG Vertical centre of gravity below waterline in units at midships (negative is
downwards)
GMIN Transverse Metacentric Height (GMT)
RNF Roll natural frequency (rads/sec)
RRG Roll radius of gyration/Beam
YRG Yaw radius of gyration/LBP
NSP Number of speeds
WANGI Initial wave angle in degrees
WANGA Final wave angle in degrees
DWANG Angle Increment in degrees
DRAFT[I] Draft in units at station I where I=1 to 21 from forward to aft
VV[I] Speeds in knots where I=1 to NSP
NFR = 51
FR1 = 0.05
FR2 = 2.55
IFT Stabilising Flag: 0 if no fins or tanks, 1 include fins, 2 include tanks
NSEA Number of sea spectra
NPOS = 0
HSW[I] Significant wave height in units where I=1 to NSEA
TSW[I] Mean wave period in seconds where I=1 to NSEA
NST Number of stations (i.e. 20)
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XA[I] X position of station in stations where I=2 to 21 and therefore XSS[I]=I
IEDDY[I] Eddy flag at station I where I=2 to 21.It is calculated with the following
values:
where Ac[I]=sectional area coefficient at station I and B/D[I]=Breadth to
Depth Ratio at station I
if Ac[I]>.9 then IEDDY[I]=3
if Ac[I]<0.7 and I<12 then IEDDY[I]=1
if B/D[I]<6 and Ac[I]<0.7 and I>11 then IEDDY[I]=2
all other cases IEDDY[I]=0
YA[I,J] Y offset of waterline at station I and at point J where I=2 to 21 and J=1 to 8
ZA[I,J] Waterline at station I and at point J where I=2 to 21 and J=1 to 8
NBKP Number of bilge keels
NFBK[I] First station the bilge keel crosses where I=1 to NBKP
NSBK[I] Number of station the bilge keel crosses in total including first and last station
where I=1 to NBKP
YBK[I] Y waterline offset of bilge keel position (this must be coincident with a station
point) where I=1 to NSBK[I]
ZBK[I] Waterline of bilge keel position (this must be coincident with a station point)
where I=1 to NSBK[I]
BBK[I] Breadth of bilge keel where I=1 to NSBK[I]
ELBK[I] Length of bilge keel over station where I=1 to NSBK[I]
XSK Skeg X position in stations
BSK Depth of skeg in units
ELSK Length in units
NFP Number of Fin Pairs
FCK1, FCK2, FCK3 Fin Roll Angle Gain, Velocity Gain and Acceleration Gain respectively
FCB1, FCB2. FCB3 Fin Demand Roll Angle Gain, Velocity Gain and Acceleration Gain
respectively
FSA1, FSA2, FSA3 Fin Servo Roll Angle Gain,. Velocity Gain and Acceleration Gain respectively
BETNOM Nominal Fin Angle
FLINC Fin fractional lift (0=Unflapped)
NSH Number of propeller shafts
NOA Number of A-brackets per shaft
X[I] X position of fin, bracket or rudder in stations where I=1 to NFP to
NOA*NSH to Rudder (i.e. no.of fin pairs + no. of A-brackets + a rudder)
Y[I] Y waterline offset of fin, bracket or rudder in units where I as above.
Z[I] Z waterline of fin, bracket or rudder in units where I as above.
B[I] Span of fin, bracket or rudder in units where I as above
CR[I] Root chord of fin, bracket or rudder in units where I as above
CT[I] Tip chord of fin, bracket or rudder in units where I as above
CLA[I] Lift curve slope of fin, bracket or rudder in CL/rad where I as above
GAM[I] Dihedral angle of fin, bracket or rudder in degrees where I as above
RCK1Y, RCK2Y,
RCK3Y
Rudder Auto Pilot Angle Gain, Velocity Gain and Acceleration Gain
respectively
RCB1Y, RCB2Y,
RCB3Y
Rudder Auto Pilot Demand Angle Gain, Velocity Gain and Acceleration Gain
respectively
RSA1, RSA2, RSA3 Rudder Servo Angle Gain, Velocity Gain, and Acceleration Gain respectively
RCK1R, RCK2R,
RCK3R
Rudder Roll Stabiliser Angle Gain, Velocity Gain and Acceleration Gain
respectively
RCB1R, RCB2R,
RCB3R
Rudder Roll Demand Angle Gain, Velocity Gain and Acceleration Gain
respectively
TANK1 Length in stations
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TANK7 Z position in units
TANK8 Tank LCG in stations
TANK[I] where I=1 to 10 and I= 1=Length, 2=Duct Width, 3=Vertical Width, 4=Fluid
Depth, 5=Wall Angle, 6=Duct Height, 7=VCG-Z, 8=LCG-Ship LCG,
9=Specific Gravity, 10=Area Ratio all in units.
INDC INDC=0 for vertical motions only, INDC=1 for vertical and lateral motions
IFILE = -1
ICY = 0
NEXT = -1
Input Files
VERLAT.INP
Filename
Source Drive
Destination Drive
TOTAL.INP
Filename
Source Drive
Destination Drive
Results Type (0=Vertical and Lateral, 1=Vertical, 2= Lateral)
UseCalibration Data (-1=Yes, 0=No)
Number of Motion Points
I=1 to Number of Motion Points
X[I], Y[I], Z[I]
Number of Calibration Points (Only if Use Calibration Data is 1)
I=1 to Number of Calibration Data (Only if Use Calibration Data is 1)
Encounter Frequency[I], Heave RAO Multiplier[I], Pitch RAO Multiplier[I], Roll RAO
Multiplier[I]
Accept Locations ? (0= Yes)
Wave Spectral Index (0=No Change)
Accept Wave Spectra ? (0=Yes)
SUBJ.INP
Filename
Source Drive
Destination Drive
Use of TOTAL data results (0=Yes)
Wave Spectra Index (0=No Change)
Accept spectra (0=Yes)
Voyage length (in hours)
TIMES.INP
Filename
Source Drive
Target Drive
Random No. Seed, Simulation Time(mins), Ignore Quiescent Periods < (secs), No. of Time
Ranges,
Range Increment(mins), No. of Mutual Thresholds
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Accept Parameters (0=Yes)
I=1 to Number of Mutual Thresholds
Variable Type[I], Motion Type[I], Upper Threshold[I], Lower Threshold[I]
Accept Limits (0=Yes)
SPEED.INP
Filename
Source Drive
Destination Drive
Use Vertical and Lateral as Appropriate (0=Yes)
Wave Spectra Index (0=No Change)
Accept Spectra (0=Yes)
Number of Limiting Locations (Max=10)
I=1 to Number of Locations
X[I]
Freeboard[I]
Acceleration Limit[I}
Accept Locations (0=Yes)
Number of Probability Combinations (Max=10)
I=1 to Number of Probabilities
Probability of Slamming
Probability of Wetness or Emergence
Probability of Acceleration
Accept Probabilities (0=Yes)
Use Data Generated by Total (0=Yes)
Output Files
SPECT.DAT FORMAT FOR SPECTRUM RESULTS
Number of Frequencies, Spectra index, Number of Spectra
I=1 to Number of Frequencies
Wave Frequency (rad/s), J=1 to Number of Spectra: Spectral Ordinate[J]
VERT1.DAT FORMAT FOR VERTICAL MOTION RESULTS
Number of Speeds, Number of Wave Angles, Number of Frequencies,
I=1 to Number of Speeds
J=1 to Number of Wave Angles
Speed[I], Wave Angle[J]
K=1 to Number of Frequencies
One line: Wave frequency (rad/s), Encounter frequency (rad/s), Wavelength/Ship
length, Heave RAO, Heave phase angle (deg), Pitch RAO, Pitch phase
angle (deg), Pitch Angle (deg)
VERT2.DAT FORMAT FOR VERTICAL MOTION RESULTS
Number of Speeds, Number of Wave Angles, Spectra Index, Number of Spectra,
I=1 to Number of Spectra: Input Significant Wave Heights[I]
If Spectra Index=3 or 4,I=1 to Number of Spectra: Input Mean Wave Periods[I]
I=1 to Number of Spectra: Calculated Significant Wave Heights[I]
I=1 to Number of Spectra: Calculated Mean Wave Periods[I]
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FOR MARINE TECHNOLOGY AND INDUSTRIAL AERODYNAMICS
65
I=1 to Number of Speeds
J=1 to Number of Wave Angles
Speed[I], Wave Angle[J]
K=1 to Number of Spectra
One line: Heave displacement (m), Pitch displacement (deg)
One line: Heave velocity (m/s), Pitch velocity (deg/s)
One line: Heave acceleration (m/s
2
), Pitch acceleration (deg/s
2
)
LAT1.DAT FORMAT FOR LATERAL MOTION RESULTS
Forced Roll Flag, Number of Speeds, Number of Wave Angles, Number of Frequencies, Fins or
Tanks
I=1 to Number of Speeds
J=1 to Number of Wave Angles
Speed, Wave Angle
K=1 to Number of Frequencies
One line: Wave frequency(rad/s), Encounter frequency(rad/s), Wavelength/Ship
length, Sway RAO, Sway phase angle(deg), Roll RAO, Roll phase
angle(deg), Yaw RAO, Yaw phase angle (deg), Rudder RAO, Rudder
phase angle (deg), Fins RAO, Fins phase angle (deg)
or Tank RAO, Tank phase
angle (deg)
LAT2.DAT FORMAT FOR LATERAL MOTION RESULTS
One line: Number of Speeds, Number of Wave Angles, Spectra Index, Number of Spectra,
Fins
I=1 to Number of Spectra: Input Significant Wave Heights[I]
If Spectra Index=2 or 3,I=1 to Number of Spectra: Input Mean Wave Periods[I]
I=1 to Number of Spectra: Calculated Significant Wave Heights[I]
I=1 to Number of Spectra: Calculated Mean Wave Periods[I]
I=1 to Number of Speeds
J=1 to Number of Wave Angles
Speed[I], Wave Angle[J]
K=1 to Number of Spectra
One line: Sway displacement (m), Sway velocity (m/s), Sway acceleration (m/s
2
),
One line: Roll displacement (deg), Roll velocity (deg/s), Roll acceleration (deg/s
2
)
One line: Yaw displacement (deg), Yaw velocity (deg/s), Yaw acceleration (deg/s
2
)
One line: Rudder displacement (deg), Rudder velocity (deg/s), Rudder acceleration
(deg/s
2
)
One line: Fins displacement (deg), Fins velocity (deg/s), Fins acceleration (deg/s
2
)
or Tank displacement (deg), Tank velocity (deg/s), Tank acceleration
(deg/s
2
)
TOTAL1.DAT FORMAT FOR TOTAL MOTION RESULTS
One line: Number of Speeds, Number of Wave Angles, Spectra index, Number of Spectra,
Number of Positions, Number of Calibration Points, Wave Spreading Power,
Which Motions (0=Vert+Lat,
1=Vert,
2=Lat)
I=1 to Number of Spectra: Input Significant Wave Heights[I]
If Spectra Index=2 or 3,I=1 to Number of Spectra: Input Mean Wave Periods[I]
WOLFSON UNIT
FOR MARINE TECHNOLOGY AND INDUSTRIAL AERODYNAMICS
66
I=1 to Number of Spectra: Calculated Significant Wave Heights[I]
I=1 to Number of Spectra: Calculated Mean Wave Periods[I]
I=1 to Number of Positions
X[I], Y[I], Z[I]
I=1 to Number of Calibration Points
Encounter Frequency[I], Heave RAO Multiplier[I], Pitch RAO Multiplier[I], Roll RAO
Multiplier[I]
I=1 to Number of Speeds
J=1 to Number of Wave Angles
Speed[I], Wave Angle[J]
K=1 to Number of Spectra
One line: RMS Pitch , RMS Roll
K=1 to Number of Positions
L=1 to Number of Spectra
One line: Vertical Absolute (Displacement, Velocity, Acceleration), Vertical
Relative (Displacement, Velocity, Acceleration), Lateral Absolute
(Displacement, Velocity, Acceleration), Deck Acceleration
TOTAL2.DAT FORMAT FOR SPREAD TOTAL MOTION RESULTS
This file only exists if Wave Spreading in TOTAL.DAT is non-zero
One line: Number of Speeds, Number of Wave Spreading Angles, Number of Spectra,
Number of Positions
I=1 to Number of Speeds
J=1 to Number of Wave Spreading Wave Angles
Speed[I], Wave Angle[J]
K=1 to Number of Spectra
One line: RMS Pitch, RMS Roll
K=1 to Number of Positions
L=1 to Number of Spectra
One line: Vertical Absolute (Displacement, Velocity, Acceleration), Vertical
Relative (Displacement, Velocity, Acceleration), Lateral Absolute
(Displacement, Velocity, Acceleration), Deck Acceleration
SUBJ.DAT FORMAT FOR SUBJECTIVE MOTION RESULTS
One line: Number of Speeds, Number of Wave Angles, Spectral Index, Number of Spectra,
Number of Positions, Voyage Duration(hrs)
I=1 to Number of Spectra: Input Significant Wave Heights[I]
If Spectra Index=2 or 3,I=1 to Number of Spectra: Input Mean Wave Periods[I]
I=1 to Number of Spectra: Calculated Significant Wave Heights[I]
I=1 to Number of Spectra: Calculated Mean Wave Periods[I]
I=1 to Number of Positions
X[I], Y[I], Z[I]
I=1 to Number of Speeds
J=1 to Number of Wave Angles
Speed[I], Wave Angle[J]
K=1 to Number of Spectra
L=1 to Number of positions
One line: RMS Acceleration (m/s
2
), RMS Acceleration (g), Period (s), SMP,
BSI (%)
WOLFSON UNIT
FOR MARINE TECHNOLOGY AND INDUSTRIAL AERODYNAMICS
67
Error Files
VERTICAL
SHORT0.ERR
SHORT1.ERR
SHORT2.ERR
LATERAL
LAT.ERR
TOTAL
TOTAL.ERR
SUBJECTIVE
SUBJ.ERR
TIME SERIES
TIMES.ERR
SUSTAINED SPEED
SPEED.ERR