Naval Architecture & Ocean Engineering

Ship Stability

2009 Fall Prof. Kyu-Yeul Lee Department of Naval Architecture and Ocean Engineering, Seoul National University

Reference Kyu-Yeul Lee, , Seoul National University, 2003.9

2009 Fall, Ship Stability 2009 Fall, Ship Stability

Seoul National Univ.

@
Seoul National Univ.

SDAL

Advanced Ship Design Automation Lab. http://asdal.snu.ac.kr

@SDAL

Advanced Ship Design Automation Lab. http://asdal.snu.ac.kr

- Contents Part.1-I Fundamentals of Ship Stability Ch.1 Overview of Ship Stability Ch.2 Physics for Ship Stability Ch.3 Hydrostatic Pressure, Force and Moment on a Floating Body Ch.4 Concept of Righting Moment Ch.5 Hydrostatic Values Part.1-II Righting Moment Ch.6 Transverse Righting Moment Ch.7 Longitudinal Righting Moment Ch.8 Heeling Moment caused by Fluid in Tanks Part.1-III Stability Criteria Ch.9 Intact Stability Ch.10 Damage Stability Part.1-IV Pressure Integration Technique Ch.11 Calculation of Static Equilibrium Position Ch.12 Governing Equation of Force and Moment with Immersion, Heel and Trim Ch.13 Partial Derivatives of Force and Moments with Immersion, Heel and Trim

2009 Fall, Ship Stability

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Naval Architecture & Ocean Engineering

- Ship Stability -

Part.1-I Fundamentals of Ship Stability

2009 Fall Prof. Kyu-Yeul Lee Department of Naval Architecture and Ocean Engineering, Seoul National University
Seoul National Univ.

2009 Fall, Ship Stability 2009 Fall, Ship Stability

@
Seoul National Univ.

SDAL

Advanced Ship Design Automation Lab. http://asdal.snu.ac.kr

@SDAL

Advanced Ship Design Automation Lab. http://asdal.snu.ac.kr

Naval Architecture & Ocean Engineering

- Ship Stability Ch.1 Overview of Ship Stability

2009 Fall Prof. Kyu-Yeul Lee Department of Naval Architecture and Ocean Engineering, Seoul National University
Seoul National Univ.

2009 Fall, Ship Stability 2009 Fall, Ship Stability

@
Seoul National Univ.

SDAL

Advanced Ship Design Automation Lab. http://asdal.snu.ac.kr

@SDAL

Advanced Ship Design Automation Lab. http://asdal.snu.ac.kr

Change of Position of Ship 1. Immersion

Change of Position of Ship 1. Immersion Immersion due to external force
F

z
y o

F
z

F
z

G O B0

G O x d B1
Base Line

Base Line

C L C L
2009 Fall, Ship Stability - Overview of Ship Stability

G : Center of gravity B : Center of buoyancy F : Force d : Immersion

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Change of Position of Ship 2. Heel

Change of Position of Ship 2. Heel Heel due to external moment
y

G O B0
C L
2009 Fall, Ship Stability

G O B0
C L

B1

Base Line

- Overview of Ship Stability

Seoul National Univ.

@SDAL

G : Center of gravity B : Center of buoyancy F : Force : Heel Angle

6 /12

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Change of Position of Ship 3. Trim

Change of Position of Ship 3. Trim Trim due to external moment
z o x
z x y o

G O y
Base Line

G
x

O y B0 B1

B0
G : Center of gravity B : Center of buoyancy F : Force : Trim Angle

2009 Fall, Ship Stability

- Overview of Ship Stability

Seoul National Univ.

@SDAL

Advanced Ship Design Automation Lab. http://asdal.snu.ac.kr

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Introduction to Ship Stability : Transverse Righting Moment of Ship (1)

z FG z
e
z k
(+) j

Righting Moment : Moment to return the ship to the upright floating position (Moment of statical stability)

G
x,x' O,O'

y y B1

B0
Base Line

FB
C L

O'x'y'z' : Body fixed frame Oxyz : Waterplane fixed frame

2009 Fall, Ship Stability - Overview of Ship Stability
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Advanced Ship Design Automation Lab. http://asdal.snu.ac.kr

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Introduction to Ship Stability : Transverse Righting Moment of Ship (2)

z z FG
yG

z k

(+) j

Righting Moment : Moment to return the ship to the upright floating position (Moment of statical stability) Transverse Righting moment
1

Z y

restoring = ( yG + yB ) FB = i GZ FB i
Righting arm

x,x' O,O'

yB1

B1 N

Righting Arm (GZ) From direct calculation From geometrical figure with assumption that M does not change within small angle of heel (about 10)
We should know yG, yB1 in waterplane fixed frame

GZ = yG + yB1

FB
restoring

GZ = GM sin
GM is related to below equation by geometrical figure

O'x'y'z' : Body fixed frame Oxyz : Waterplane fixed frame

2009 Fall, Ship Stability - Overview of Ship Stability

GM =KB + BM KG
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Introduction to Ship Stability : Stability Criteria IMO Regulations for Intact Stability
Righting Arm (GZ(m))

= const
( :displacement)

(IMO Res.A-749(18) chapt.3.1)

A 0 10 20 30

40

50

60

70

80

Angle of heel ()
Area A : Heel Angle from 0~ 30 Area B : Heel Angle from 30~ min(40, f )

IMO Regulations for Intact Stability f : An angle of heel at which (a) Area A 0.055 m-rad openings in the hull (b) Area A + B 0.09 m-rad m : Angle of maximum righting arm (c) Area B 0.030 m-rad After receiving approval of (d) GZ 0.20 m at an angle of heel equal to or greater than 30 (e) GZmax should occur at an angle of heel equal to or greater than 25. calculation of IMO regulation from (f) The initial metacentric height GMo should not be less than 0.15 m. Owner and Classification Society, - Overview of Ship Stability 2009 Fall, Ship Stability ship construction can proceed. Seoul 10 SDAL National Advanced Ship Design Automation Lab. /12
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Overview of Ship Stability

Fundamental of Ship Stability Force & Moment on a Floating Body
Newtons Law Euler Equation 2nd

FB: Buoyancy force : Angle of Heel, : Angle of Trim (xG,yG,zG) : Center of gravity in waterplane fixed frame (xB,yB,zB) : Center of buoyancy in waterplane fixed frame

Hydrostatic Values
Properties which is related to hull form of the ship
y'G , y'B in body fixed frame

Rotational Transformation!
yG , yB in waterplane fixed frame

Righting Moment Transverse Righting Moment : F GZ

B

GZ Calculation
<Method > <Method >

Longitudinal Righting Moment : F GZ

B

GZ = ( yG + yB )

GZ = GM sin

, GM =KB + BM KG

GZ L = ( xG + xB ) GZ = GM sin , GM = KB + BM L KG L L L
z z FG

Pressure Integration Technique

Calculation Method to find GZ with respect to IMO regulation

Stability Criteria Intact Stability

- IMO Requirement (GZ) - Grain Stability - Floodable Length

yG

Z y

Damage Stability
- MARPOL regulation
B K

O
yB1

B1 N

C L

FB
restoring

2009 Fall, Ship Stability

- Overview of Ship Stability

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@SDAL

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-Pressure and Force acting on Fluid Particle -6 D.O.F Equations of Ship Motions : Relations among Undergraduate Lectures
Ship Hydrodynamics, Dynamics
(2nd-year undergraduate)

r : displacement of particle with respect to time dr d 2r V = = ,a dt dt 2

Assumption

1) 2) 3)

FF.K: Froude- krylov force FD: Diffraction force FR: Radiation force RTT : Reynold Transport Theorem SWBM : Still Water Bending Moment VWBM : Vertical Wave Bendidng Moment

Newtonian fluid* Stokes Assumption** invicid fluid Irrotational flow Incompressible flow

Equations of motions Lagrangian & of Fluid Particles Eulerian Description

y

Shear stress Navier-Stokes equation Euler equation

Curl & Rotation

m
T

Newtons 2nd Law

r = m F = (Body force + Surface force)

Cauchy equation

Mass r = [1 , 2 , 3 , 4 , 5 , 6 ] Laplace : surge , : roll Conservation Enigneering Math. Equation Microscopic/ : sway , : pitch nd-year undergraduate) Law (2 Macroscopic Derivation(RTT )
1
4

(V = )

Bernoulli equation

=0

3 : heave , 6 : yaw

1)

1 2 + P + + g z = 0 t 2
Calculation of Fluid Force
Ocean environment Information system
(3rd -year undergraduate)
2 1 = 0 2

6 D.O.F equations of motions

Behavior of ship and its control

Velocity potential

Coordinate system (Waterplane Fixed & Body-fixed frame) Newtons 2nd Law

(3rd -year undergraduate) Dynamics (2nd -year undergraduate)

= I (Incident wave potential) + D (Diffraction potential) + R (Radiation potential)

Linearization

= F = ( Body Force) + ( Surface Force) Mr

, Fgravity (r ) + FFluid (r, r r) = Fgravity + FBuoyancy (r ) + FF .K (r ) + FD (r ) ) + FR , Mass (r, r) Planning procedure of+ FR , Damping (r , r naval architecture and ocean engineering Non-linear terms Non-linear equation (2nd-year undergraduate) Difficulty of getting analytic solution
2009 Fall, Ship Stability 2009 Fall, Ship Stability

P = gz t

, FFluid (r, r r) =

= PndS
SB

, FBuoyancy (r ) + FF . K (r ) + FD (r ) + FR (r, r r)

Fundamental of maritime S B: wetted Ship Structural ( Design system surface) Structural statics (3rd -year undergraduate) (2nd -year undergraduate)

m( x)a z , f Gravity

Numerical Method

z design Computer aided ship

(3rd-year undergraduate)

x1

z direction x by heave& pitch motion) B.M . f F . K . , f D , a33 a z , S .F .

(az : Acceleration of

Shear force(S.F.) & bending moment(B.M.) Shear force(S.F.) Integral

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b33v z , f StaticSeoul

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