Ocean Engineering 32 (2005) 309330 www.elsevier.

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Nonlinear parametric rolling in regular wavesa general procedure for the analytical approximation of the GZ curve and its use in time domain simulations
Gabriele Bulian
Department of Naval Architecture, Ocean and Environmental Engineering (DINMA), University of Trieste, Via A. Valerio 10, 34127 Trieste, Italy Received 5 January 2004; accepted 18 August 2004

Abstract A general procedure for the analytical approximation of the restoring arm in regular longitudinal waves is presented. The aim of the approximation is to obtain an analytical and accurate means for substituting the look-up table method in time domain simulations of realistic nonlinear parametric roll. The model is based on a 1.5-DOF system: the roll motion is modelled dynamically using a single degree of freedom, whereas the additional half DOF indicates that the coupling with heave and pitch is taken into account by means of hydrostatic calculations without considering dynamic effects. An analysis of the accuracy of the analytical approach is carried out taking into consideration different aspects of the problem (time histories, domains of attraction, chaotic behaviour, etc.). All the simulations are performed using data obtained from a real ship hull of a RoRo-Pax. q 2004 Elsevier Ltd. All rights reserved.
Keywords: Parametric roll; GZ curve; Time domain

1. Introduction In the past years, due to the occurrence of some casualties (France et al., 2002, 2003), a greater attention has been devoted to problem of parametric roll. In order to have

E-mail address: gbulian@units.it. 0029-8018/$ - see front matter q 2004 Elsevier Ltd. All rights reserved. doi:10.1016/j.oceaneng.2004.08.008

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a description of the ship behaviour under such a type of excitation, a good model is needed. When we say good we mean that the model must be able to: determine the conditions (ship speed, wave height) for which the stability of the upright position is lost; estimate the roll amplitude when the parametric excitation is above the stability threshold. When an analytical model is proposed, there must be a balancing between simplicity and agreement with physical and/or numerical experimental results. The simplicity is needed especially when, as in the case of this work, a subsequent analytical approach to the problem is the target of the study, and the agreement with experiments is a natural requested feature of every model. In order to propose what was already referred (Bulian et al., 2003a,b) as a not-toomuch-simplied model, we must be aware of the main causes leading to parametric excitation (both in regular and irregular sea), that is: heave motion pitch motion hull geometry variation The effect of nonhydrostatic pressure (often referred as Smith effect) can usually be neglected for regular waves longer than about a half of the ship length. Moreover, in the case of shorter waves for which the Smith effect should be taken into account, the associated parametric excitation is very small and such a small waves can be neglected almost at all. These considerations would lead to a 3-DOF nonlinear model, and this should be the typical case when fully nonlinear simulations of ship motions are carried out in longitudinal regular sea (assuming surge, sway and yaw to be restrained). The use of a 3-DOF analytical approach has been tried by Neves (2002) and Nabergoj in Tondl et al. (2000). In the former case the order of nonlinearities taken into account could predict the instability regions taking into account coupling between motions, but, unfortunately, roll amplitude above threshold cannot be predicted due to the lack in nonlinear terms involved in the model. In the latter case the analysed model, although approximately applicable to a purely metacentric ship, contains a large number of parameters (related to geometrical and hydrodynamic aspects of the problem) whose exact and simple determination is doubtful. A highly nonlinear analytical 3-DOF system, although suitable for fast timedomain numerical simulations, can hardly be tackled by means of analytical technique, because of the cumbersome calculations involved. An alternative simplied approach is possible in order to reduce the number of degrees of freedom from 3 to 1.5: the quasi-static plus Froude-Krylov assumption (Bulian, 2002; Bulian et al., 2003a,b; Francescutto, 2000, 2001, 2002; Francescutto and Bulian, 2002, 2003; Francescutto et al., 2001). On the basis of these two assumptions, the effects of waves, both direct (modication of hull geometry) and indirect (sinkage and trim) can be evaluated. Using standard hydrostatic calculation algorithms a look-up table for

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the restoring arm can be created and used in a time-domain simulation (Bulian, 2002; Bulian et al., 2003a,b). It is supposed (and the experimental results seem to support this assumption) that the quasi-static approximation can lead to a good model able to reproduce the main features of the phenomenon (loss of stability, bifurcations, etc.) both qualitatively and quantitatively. The 1.5-DOF approach allows a quite straightforward use of analytical approximate techniques when the model is represented in a fully analytical form. Looking at the existing literature, different authors spent efforts on different aspects of the problem of parametric roll: effect of coupling between motions both on predicted response curves and stability boundaries (Francescutto, 2002; Neves, 2002; Oh et al., 2002; Umeda et al., 2003) evaluation of linear part of parametric excitation (Bulian, 2002; Dunwoody, 1989; Francescutto, 2002; Francescutto and Bulian, 2002; Neves, 2002; Paulling, 1961) effect of damping and restoring nonlinearities (Bulian et al., 2003a,b; Francescutto, 2000, 2001; Francescutto et al., 2001; Spyrou, 2000a; Matusiak, 2003) experimental evaluation of response curves (Francescutto, 2000, 2001, 2002; Francescutto and Bulian, 2003; Francescutto et al., 2001; Neves et al., 2002; Oh et al., 2002) numerical prediction of parametric roll amplitude using general purpose nonlinear time domain ship motion simulation tools (Falzarano, 1994; France et al., 2003; Levadou and Gaillarde, 2003) dependence of parametric excitation on wave height (Bulian, 2002; Francescutto, 2002; Francescutto and Bulian, 2003; Palmquist, 1994; Umeda et al., 2003) Although many features of the phenomenon are already known, past work has usually been devoted to the analysis of a particular ship or group of ships, or, on the other hand, to the analysis of generic, but too simplied models for the nonlinear restoring term that are  uctuation. not able to take into account the real global GZ The aim of this paper is to show that, on the basis of the quasi-static assumption, a  curve (that will completely general form for an analytical approximation of the GZ become a surface taking into account the wave crest position as a second variable together with the heeling angle), applicable to all ships and based on hydrostatic calculations, can be proposed. The use of an analytical expression for the restoring arm in waves leads to a large reduction of computational effort when time-domain simulations are carried out. A further, and, in the authors opinion, much more important step made possible by this approximation is to obtain an approximate analytical expression for the parametric roll response curve in the region of the rst parametric resonance (probably the most dangerous) (Bulian, 2004). The proposed procedure is based on a quite straightforward  surface in regular waves. Hua and combined polynomial plus Fourier tting of the GZ Rutgersson (1994) used a different approach in order to use the Fourier series in the  uctuation. modelling of the GZ A natural question could arise at this stage: Why should we have recourse to an approximate analytical technique when a direct exact numerical approach can be used instead?. Apart from the gain in computational time, we must bear in mind that one of

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the main features of nonlinear systems is the possibility to exhibit multiple solutions for the same set of values of the characteristic parameters (tuning ratio, damping, wave height, etc.). Each solution is associated to a domain of attraction, i.e. a particular region in the plane of initial conditions leading to a particular steady state solution among the all possible solutions. A numerical simulation usually starts from one particular initial condition that lies in a particular domain of attraction: thus, a particular steady state solution (associated to the attraction basin) is achieved at the stationary stage (if capsize does not occur). Without changing the initial condition we are not able to estimate whether or not other steady state solutions coexists, and even after having tried a large number of initial condition, we cannot say if, perhaps, another steady state solution exists but we have lost it because we did not start from any of the initial conditions in the corresponding attractor. Moreover it is very time consuming (and thus, sometimes, almost impracticable) to have a global picture of the response curve and of bifurcations involved in the phenomenon using numerical simulations. An analytical approach is usually able to give such a global picture in a very fast and quite accurate way, making us aware of the possibility of multiple solutions. Although a numerical approach could be needed to have a very accurate estimation of the amplitude of the solution (even if the accuracy of approximate solutions is often surprisingly good), an initial approximate analytical solution to the problem can give us the right way. It is important to bear in mind that, often, in the numerical analysis of nonlinear systems: We nd what we are searching for!.

2. Mathematical background In the following the mathematical bases used for the approximation of the restoring arm in time domain will be given. First of all an approach based on the wave crest position along the ship will be used, and then it will be quite easy to transpose the results in time domain. 2.1. Analytical description of GZ dependence on wave crest position The 1.5-DOF roll motion equation can be written as (Bulian, 2002; Bulian et al., 2003a,b):  f; xc GZ C df; f _ C u2 f Z0 0  GM being _ the damping function df; f f the roll angle u0 the natural frequency in still water  the still water metacentric height GM  f; xc the restoring lever in waves GZ xc the wave crest position in a reference system xed on the ship with x-axis from stern to bow and origin supposed located, for example, at the after perpendicular. (1)

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 f; xc . The aim of this paragraph is to propose an analytical description for GZ  When the quasi-static assumption is used, the restoring lever GZ can be evaluated for each position xc of the wave crest along the ship. The wave is assumed to be frozen and the restoring moment can be evaluated for different heeling angles using either a x-trim or a free-trim approach. Being the displacement constant due to the quasi-static assumption for the heave motion, the value of the restoring arm can be determined by means of a standard hydrostatic software. The wave is supposed to have a length lw and the sea is supposed to be exactly longitudinal (head or following sea conditions). Under these assumptions the following spatial periodicity condition is thus valid:  f; xc Z GZ  f; xc C nlW with n Z 0;G1;G2; . GZ (2)

 f; xc can thus be limited to the interval xc2[0,lw]. For each wave The evaluation of GZ  f; xc is approximated by means of a least square polynomial tting with crest position, GZ degree Np:  f; xc z GZ
Np X jZ0

Aj xc fj

(3)

The spatial periodicity condition (2) leads to the following periodicity condition for the tting polynomial coefcients: Aj xc Z Aj xc C nlW with n Z 0;G1;G2; . (4)

Because of the condition (4) each coefcient Aj(xc) can be expressed as a Fourier series in the variable xc with main period equal to lw, that is: Aj x c Z Aj 0 C
Nh X nZ1 s Ac jn coskn xc C Ajn sinkn xc being kn Z nkW Z n

2p lW

(5)

Nh is the maximum number of harmonic components that can be estimated from Aj(xc) and it  f; xc is depends, following the Nyquist theorem, on the number of positions at which GZ evaluated. The Fourier series coefcients are related to Aj(xc) by means of the well known following formulas: 1 lW 2 lW c Aj 0 Z A x dx Ajn Z A x coskn xc dxc lW 0 j c c lW 0 j c (6) lW 2 s Ajn Z A x sinkn xc dxc lW 0 j c  f; xc is obtained: Combining expressions (3) and (5), the following approximation for GZ ( ) Np Nh X X c s  f; xc z Aj0 C Ajn coskn xc C Ajn sinkn xc fj (7) GZ
jZ0 nZ1

This latter expression can be seen as a physically sound surface response approximation of  f; xc can be split into a mean constant part  for the two variables f and xc. Moreover GZ GZ

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(with respect to xc) and a zero-mean uctuation, that is:  fi C dGZ  f; xc being hGZ  fi Z  f; xc z hGZ GZ ( ) Np Nh X X c s  f; xc Z dGZ Ajn coskn xc C Ajn sinkn xc fj
jZ0 nZ1 Np X jZ0

Aj0 fj (8)

 in waves does not coincide, in general, and It is important noting that the mean value of GZ especially for large wave amplitudes, with the still water righting arm. From the previous expression the metacentric height, can be estimated as a function of wave position along ship:  Nh X  f; xc  v GZ  s  xc Z (9) GM Ac fZ0 z A10 C 1n coskn xc C A1n sinkn xc  vf nZ1 Eq. (7) can be inserted into the generic equation (1) in order to obtain the following fully analytical differential equation for the nonlinear parametric roll: ( ) Np Nh X X u2 0 c s _ f C df; f C  Aj0 C Ajn coskn xc t C Ajn sinkn xc t fj Z 0 GM jZ0 nZ1 (10) In the last equation the dependence of wave crest position on time has been reported in an implicit form. This dependence will become explicit after some assumptions reported in the next paragraph. 2.2. From crest position domain to time domain In the previous paragraph the roll motion equation has been written keeping an implicit expression for the function xc(t). In the following this expression will be made explicit, but some simplications will be necessary. A ship sailing in a longitudinal regular seaway is subjected to a surge motion caused by the longitudinal forces acting on the hull. When the real surge is considered, the expression for xc(t) depends on the solution of the differential equation governing the surge motion. The inuence of surge time history on the parametric excitation of the roll motion has been analysed by Spyrou (2000b) substituting the differentiation variable from time to relative wave position (that is related to xc by means of an additive constant). From this substitution and some assumptions on the form of the surge damping, a differential equation for the coupled surge-roll motion without explicit dependence on time has been derived and analysed both analytically and numerically.  approximation (7) and Eq. (10) can be implemented, with some minor changes, in the The GZ model proposed by Spyrou in order to describe a more realistic restoring on waves. In the following analysis the surge velocity is supposed to be negligible and thus the ship speed is assumed as a constant. This approximation can be considered acceptable when we are dealing with small waves or when the ship speed is kept approximately constant by means of an external action (as, for example, in the case of the experiments reported in Bulian et al., 2003a,b; Francescutto, 2000, 2001, 2002; Francescutto and Bulian, 2002, 2003; Francescutto et al., 2001). In the case of following waves, when broaching region is considered, the surge

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motion must be taken into account, but, usually, the rst parametric resonance occurs far from the broaching/pure loss of stability region, and thus the constant speed approximation seems to be acceptable in this work. Moreover this approximation leads to a very simple passage from wave crest position domain to time domain in longitudinal regular sea. The wave crest position, in an earth xed coordinate system can be written as xc Z xc0 C cw t being x an horizontal axis pointing in the direction of wave propagation xc the wave crest position xc0 the wave crest position at time tZ0 cw the wave celerity, that can be evaluated from the dispersion relation. (11)

From Fig. 1 the following relation between xed and moving reference systems holds for yZ0: x Z x C VS t cosc (12)

under the assumption that, at time tZ0, the origins of the two system coincide. Combination of Eqs. (11) and (12) leads to the following expression for the wave crest position at the ship centre plane in the moving reference system: xc0 C cw t Z xc C VS t cosc (13)

Fig. 1. Reference systems used in order to obtain an explicit expression for the wave crest position in time domain.

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In the case of nonbeam sea (cs{908; 2708}), when tZ0, the initial crest position in the moving reference system can be obtained as xc 0 Z xc0 cosc (14)

Finally, the wave crest position is expressed as a function of time as:   cW x c Z x c0 C K VS t cosc The denition of encounter frequency is ue Z uW K kW VS cosc Combining expressions (15) and (16), and recalling that cWZuW/kW, we obtain x c Z x c0 C 1 ue u K kW VS cosct Z xc0 C t kW cosc W kW cosc x c0 lW

(15)

(16)

(17)

and the combination of Eqs. (5) and (17) allows to write kn xc Z n 2p ue t ue t Z n j c0 C n x Cn lW c0 cosc cosc being j c0 Z 2 p (18)

Substitution of (18) in (5) leads to the following time domain expression for the Fourier expansion of the tting polynomial coefcients:     Nh X ue t ue t s A j t Z Aj 0 C Ac cos n j C n sin n j C n C A (19) c0 c0 jn jn cosc cosc nZ1 Let now
c s Qj t Z Aj t; Qj0 Z Aj0 ; Qc jn Z Ajn cosnjc0 C Ajn sinnjc0 c s Qs jn Z KAjn sinnjc0 C Ajn cosnjc0

(20)

 surface becomes the time domain expression for the GZ (    ) Np Nh X X ue t ue t c s  GZ f; t z Q j0 C Qjn cos n C Qjn sin n fj cos c cos c jZ0 nZ1

(21)

As in the case of the analysis based on wave crest position, the mean part and the zeromean uctuation can be separated:  f; t z hGZ  fi C dGZ  f; t being GZ  fi Z hGZ
Np X jZ0

Qj0 fj (
Nh X

 f; t Z dGZ

X
jZ0

Np

   ) ue t ue t c s Qjn cos n C Qjn sin n fj cos c cos c nZ1

(22)

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The nal roll motion equation, completely recast in time domain, becomes: (   Np Np Nh 2 X 2 X X u u ue t 0 0 j c _ f C df; f C  Qj0 f C  Qjn cos n cosc GM jZ0 GM jZ0 nZ1 )   ue t C Qs sin n fj Z 0 jn cosc

(23)

Given the ship hull geometry, the wave height and, if needed, the position of the centre of :: gravity, coefcients A jn can be obtained from the analysis of hydrostatic calculations using :: the formulae reported in (6). Chosen the initial crest position xc0, the coefcients Q jn can be evaluated. Finally, given the ship speed, the wavelength, and the encounter angle (08 for following sea and 1808 for head sea) the Eq. (23) can be integrated in time domain in order to simulate the nonlinear parametrically excited roll motion in regular longitudinal waves. 2.3. The case of a symmetric ship symmetrically loaded A symmetric ship with symmetric load will exhibit an anti-symmetric (with respect to the heeling angle) restoring moment both on still water and in longitudinal waves.  can thus take into consideration only odd terms, The polynomial approximation of GZ that is:  f; xc z A1 xc f C A3 xc f3 C A5 xc f5 C . GZ (24)  f; t z Q1 tf C Q3 tf3 C Q5 tf5 C . GZ

3. Numerical implementation  surface has been implemented as a The proposed analytical approximation of the GZ w group of functions in MatLab (The MathWorks, 1999) environment.  f; xc is evaluated, for 21 positions of the wave crest along the ship, by As a rst step GZ means of a hydrostatic calculation software. The rst position corresponds to a wave crest at after perpendicular (xcZ0), whereas the last position corresponds to the same wave crest at xcZlW. A set of heeling angles is analysed, usually from 0 to 808 with a step of 2.58. A surface matrix can thus be created: the generic i-th column of this matrix contains the curve  f; xc;i , being xc,i the i-th crest position. GZ The second step of the procedure is the polynomial approximation of each column of the matrix, that is the evaluation of the polynomial coefcients for each crest position.  curve is resampled by means of cubic spline interpolation before performing The GZ the tting in order to have the restoring lever with a step of 18. The least square procedure assumes the symmetrical ship simplication as reported in (24) and the polynomial degree Np (odd) is asked to the user. The linear coefcient A1(xc,i) (that is the metacentric height) is not obtained in the least square procedure but is estimated from

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Fig. 2. Scheme of the steps used for the implementation of the mixed polynomial-Fourier (PolyFour) approximation of restoring arm in waves.

 curve near fZ0 in order to allow a direct the numerical derivative of the GZ comparison with analytical (linear and nonlinear) approaches for the estimation of the  uctuation in waves (Dunwoody, 1989; Hua et al., 1999; Palmquist, 1994). A new GM characteristic matrix is thus created in order to substitute the previous one. At this stage the i-th column is substituted with a column containing the coefcients Aj(xc,i). The next step is the Fourier approximation of each coefcient Aj(xc,i) using (5) and (6). Each row of the matrix containing the polynomial coefcient as a function of the wave crest position is analysed using a DFT algorithm (the FFT function in MatLabw). Being 21 the wave crest positions in the usual calculation, and being xc,0Z0 and xc,21ZlW the maximum number of Fourier coefcients that can be estimated is 11: the mean value, 9 harmonics with full information and the harmonic associated to the Nyquist frequency that does not contain any information on the sinusoidal component of the signal at this frequency, but only gives the amplitude of the co-sinusoidal component. :: At the end of this step the coefcients A jn are estimated. :: From the knowledge of the initial wave crest position in time domain, the Q jn coefcients can be calculated using (20) and all the parameters needed for the time domain simulation of roll motion by means of Eq. (23) are available. A graphical summary of the methodology is reported in Fig. 2.

4. Comparisons between analytical method and look-up table approach  In order to assess the accuracy of the proposed analytical approximation of the GZ surface, different aspects of the problem must be analysed. First of all the proposed method must be able to:  in waves give a good approximation of the GZ give a good approximation of the steady state roll response curve when compared with that obtained using the look-up table These rst two requests are essential, but they reect only two aspects of the problem. The rst request concerns a static aspect, the second a global, steady state property of

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the system under analysis. In addition to these rst two features, in a time domain approach the analytical proposed method must be able to: reproduce with good accuracy the time history of roll motion obtained with the fully numerical approach Although the model (1) is not expected to give, in general, a very good description of the real transient behaviour of the ship, the results obtained using the analytical model are requested to be as close as possible to those obtained, with the same parameters, by the lookup table method, even in the transient stage of the roll response. Another aspect that must be taken into consideration, but is sometimes underestimated and usually receives less attention, is the shape of the domains of attraction. When a linear system is of concern, the steady state behaviour is independent from the initial conditions, thus the system, when t/CN, has no memory of the initial stage of the motion. On the contrary, when a nonlinear system is under analysis (as in this case) the possibility of different steady state solutions arises. Starting from two different initial conditions, two different steady state responses can be achieved. The plane (this is essentially a 1-DOF system) of the initial conditions (roll angle and roll velocity) can thus be subdivided in the so called domains of attraction, that are regions of the plane containing initial conditions leading to the same steady state behaviour. In view of these considerations, the approximate approach is requested to: reproduce, as accurately as possible, the domains of attraction shown by the original system All the aforementioned aspects will be briey analysed in the following in order to check the potentialities and the shortcomings of the proposed method. All the following comparisons are carried out using data available for a ship whose main details are reported in Table 1 and that has been extensively studied in the past regarding the problem of head sea parametric roll (Bulian, 2002; Bulian et al., 2003a,b; Francescutto, 2000, 2001, 2002; Francescutto and Bulian, 2002, 2003; Francescutto et al., 2001).
Table 1 Body plan and data of RoRo pax TR2

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 surface approximation 4.1. GZ  obtained from the look-up table and In Fig. 3 a comparison between exact GZ  approximate GZ is shown for a wave having length equal to the length between perpendiculars and a wave height of about 1.32 m (steepness 1/100). Two conditions are shown, that are usually referred, regarding stability for single hull ships, as the nominal best and worst respectively (actual minimum and maximum for the metacentric height are in general associated with a bit different wave crest positions): wave trough amidship wave crest amidship Fitting is performed up to 508 with a 9th order polynomial. As can be seen from the gure, and as one would expect, the approximation is very accurate in the range f2[0,50]8, whereas, outside this interval, the analytical surface cannot be used at all. This is the major (and probably the only big one) shortcoming of the method (its effect will be discussed when dealing with time histories and domain of attraction too).  curve, a tting interval from 08 up to, In order to have a good description of the whole GZ at least, 708 is needed. Moreover, enlarging the tting interval, the degree of the tting  shape in such polynomial should be increased too in order to accurately approximate the GZ a large domain. In Fig. 4 the same case is shown, but the tting is carried out for f2[0,70]8 with a 19th order polynomial.

 curve and analytical approximation in the cases of trough and crest Fig. 3. Comparison between exact GZ amidship. Polynomial degree: 9. Maximum heeling angle: 508.

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 curve and analytical approximation in the cases of trough and crest Fig. 4. Comparison between exact GZ amidship. Polynomial degree: 19. Maximum heeling angle: 708.

 surface can be As expected, the approximation is more accurate, and the analytical GZ used for time domain simulation even at large heeling angles. 4.2. Roll response curve One of the main targets of a parametric roll simulation is the prediction of the roll response curve. This curve represents the steady state motion amplitude as a function, for example, of the Froude number. In Fig. 5 a comparison is shown between the roll response curve obtained by means of the exact method and those estimated using the proposed  surface with different parameters (polynomial degree and approximation of the GZ maximum tting angle). The wave used in the simulation has the following characteristics: ( lW Z LBP Z 132:22 m HW Z lW =50 The damping function has been modelled with a linear plus cubic in roll velocity form, that is _ Z d f _ Z 2nu0 f _ C df _3 df; f (25)

The values of the parameters have been reported in the gure (damping parameters have been estimated from previous decay experiments (Francescutto, 2002; Francescutto and Bulian, 2003)).

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Fig. 5. Comparison between the roll response curve obtained using the look-up table and those obtained by means of analytical approach with different tting parameters. Experimental roll response curve is reported as well.

Three different roll response curves have been obtained using the analytical approximation  surface. Two of them show an almost perfect agreement with the exact roll of the GZ response curve, whereas in one case (9th order polynomial with maximum tting angle of 808) a very large deviation from the exact behaviour can be seen. This is due to the combined effect of the rather low degree of the polynomial and the large heeling angles interval used in the tting procedure, as briey explained in the previous paragraph. Due to these two causes, the approximation of the restoring arm is not satisfactory, as can be seen from Fig. 6. From the analysis of the examples reported in Fig. 5, two major (not surprising) conclusions, can be drawn: an higher order polynomial approximation is not needed when the interval of heeling angles used in the tting procedure is kept sufciently small (this consideration plays an important role when the problem is tackled by means of a fully analytical approach);  curve shape must be taken into account (at least up to the steady state the whole exact GZ rolling amplitude) in order to give an accurate representation of the phenomenon;  uctuation is the only parameter (being the linear damping supposed the entity of the GM to be known) governing the extension of the region of instability of the upright condition; Finally, if the tting parameters are chosen bearing in mind these two points, the analytical approach is able to substitute the look-up table method for predicting the roll response curve. Regarding the computational time, the complete calculation (whose bottleneck is the Runge-Kutta xed step time integration) takes about 4 min with the exact method, and about 40 s with the polynomial approximation: a reduction factor of about 6 has been achieved, without any appreciable loss of accuracy.

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Fig. 6. Bad tting of the restoring lever due to the combined effect of a low polynomial degree and a large maximum tting angle.

4.3. Time histories Being this approach based on a time domain analysis, the proposed analytical procedure must be able to accurately reproduce the roll time history obtained by means of the look-up table approach. In Fig. 7 a comparison is performed, as an example, for the roll time history. The simulation is carried out with the ship sailing at a Froude number of 0.044 in head sea. The wavelength is equal to the length between perpendiculars and the wave steepness is 1/200. Damping function and damping parameters are the same as reported in Fig. 5. From Fig. 7 it can be seen that the agreement is very satisfactory: the response is well reproduced regarding both the amplitude and the phase of the sinusoidal motion and not appreciable differences can be seen between the two time histories. Moreover, from a large series of numerical experiments, the possibility of chaotic behaviour has been revealed for values of the characteristic parameters close to those leading to capsize. The possibility of chaotic behaviour for nonlinear parametric rolling can be seen in the bifurcations diagrams reported by Umeda et al. (2003). Being the chaotic regime very sensitive to the value of the parameters describing the motion evolution, a direct comparison of time histories in such condition is almost useless. In order to overcome this problem, a global measure, called entropy (Baker and Gollub, 1990), has been used as an indication of the chaotic behaviour of the system. The entropy map of the measure is evaluated by means of a simple statistical processing of the Poincare map points is created and an time history under analysis. A histogram of the Poincare approximate probability mass function is estimated. Being pi the estimated probability of

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Fig. 7. Roll time histories comparison between analytical and numerical method.

a point falling inside the i-th interval and N the number of interval used, the normalised entropy measure is dened as: Q PN Kpi ln N i1 p i1 Kpi lnpi S (26) ln N ln N A uniform distribution of the points leads to a value of normalised entropy equal to 1. A harmonic steady state motion with period equal to the map period leads to an entropy measure equal to 0. The parameters used for the simulation in the following comparisons are: 8 lW =LBP Z 1 > > > > > < sW Z HW =lW Z 1=20 LBP > > Z 2:118 u2 > 0 > > g : Fn 2 0; 0:04 Moreover, the following damping function has been used: 8 _ Z 2nu0 C bf _ jf _ j C df _3 d f > > > > < n Z 0:012 > > b Z 0:400 > > : du0 Z 0:420

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Fig. 8. Comparison between the estimated entropy measures of time histories.

In Fig. 8 a comparison can be seen between the entropy estimated from the time series obtained using the look-up table method and that estimated from the time series arising from the application of the analytical approximation of the restoring lever surface. On the horizontal axis the tuning ratio is reported. Even if the values of the normalised entropy (the ratio between the actual entropy and the theoretical maximum) are not exactly the same, the global behaviour is not very different, and the agreement can be considered quite satisfactory. Had we used lower values of the tuning ratio, we would have obtained capsizes. From a series of numerical experiments, the behaviour of the entropy measure plot seems to be quite general: just before a capsize region, entropy increases and, very close to conditions associated leading to capsizes, it reaches a value close to the maximum allowable. Finally, in Fig. 9 two chaotic responses are shown: the rst has been obtained using the look-up table method, the second using the analytical method. The last graph in Fig. 9 represents a plot of the heeling angles obtained by means of analytical approach versus those obtained, at the same time instants, using the numerical method. As it can be seen from this last gure, the agreement in time domain is quite poor, but this should have been expected bearing in mind the chaotic regime in this region of the parameters. An interesting feature of both the numerical simulation reported in Fig. 9 is that the motion, even if chaotic, seems to be bounded approximately in the roll angles interval [K55,55]8. A more deepen analysis of time mapping using the tuning ratio as a variable (as in histories by means of Poincare Fig. 8), has shown the possibility of symmetry breaking, period doubling and chaos due to period doubling cascade. These phenomena can be seen even in selected parts of the time series reported in Fig. 9.

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Fig. 9. Comparison between two simulated chaotic responses.

4.4. Domains of attraction Nonlinear systems often show coexistence of multiple steady state solutions, or solutions with completely different qualitative behaviour, whose appearance depends on initial conditions. Moreover, in the case of systems having a global softening behaviour regarding the restoring term, there is the possibility of divergent solutions, that means capsize in the case of a ship or, usually, a failure of the system in the general case. The determination of the shape of the attraction domains plays, thus, an important role in the evaluation of the safety inherent to the system under analysis. When linearly damped systems subjected to nonparametric sinusoidal forcing are of concern (e.g. a linear damped springmass system), steady state exists and is independent on initial conditions, and thus the whole initial conditions plane is associated to the same steady state solution: there is only one attractor. From all the comparisons carried out in the previous paragraphs we can be quite condent that the proposed approximate analytical model will be able to reproduce well the different attraction basins shown by the exact system in the presence of multiple solutions. Anyway, in order to check this assumption, a set of parameters leading to the coexistence of two solutions with different steady state amplitudes (08 and about 268) have been chosen on the basis of the predictions given by an analytical approximate method (Bulian, 2004). For this set of parameters, domains of attractions have been estimated analysing a large group of

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Fig. 10. Comparison between attraction basins.

time series starting from a 100!100 grid of initial conditions all in the rst quadrant of the initial conditions plane. In order to assess the inuence of the maximum tting angle on the problem of detection of domains of attraction, a rather low maximum angle has been chosen, i.e. 508. Results of the calculations are shown in Fig. 10. In the same gure all the parameters used in the simulation are reported. The white bold line in the left graph represents an empirical limit due to the maximum angle used in the tting procedure, above which the analytical surface is meaningless. In order to determine this curve the following considerations have been done: if we think that in the transient stage of the motion the oscillation occurs with a frequency equal to the natural one, the initial conditions that would lead to a sinusoidal motion with amplitude larger than fmax can be approximately obtained by the following relation: f2 C  _ f u0 2 R f2 max (27)

Being the analytical approximation meaningless above the maximum tting angle, from the Eq. (27) the boundary between meaningful and nonmeaningful results in the plane of initial conditions can be drawn, and is reported as a white bold line on the left, and as a white dashed line on the right. In the case of the look-up table method the limit is plotted only for a easier comparison with the analytical case, being all the solutions meaningful using the exact approach. As it can be seen, inside the region delimited by the white line, the agreement is excellent: the attractor associated to a 08 steady state amplitude is just a bit larger when estimated by

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means of the analytical method. For the case reported in Fig. 10 the capsize phenomenon cannot be analysed by means of the analytical approach using the tting parameters reported in the gure, but it would have been possible to analyse even this phenomenon using a larger maximum tting angle and an higher order polynomial approximation. Finally, the proposed analytical surface approximation is able to almost completely substitute the look-up table approach even regarding the problem of determination of attraction domains, bearing in mind the limitations due to the used tting parameters. In order to have an idea of the gain in computational time, it can be said that, for the time integration of the solutions and the following analysis, the look-up table method took, in the case reported in Fig. 10, about 20 h, whereas the analytical surface approximation leads to a global computational time of only 3 h.

5. Further developments  surface allows the application of the The proposed analytical approximation of the GZ averaging technique in order to give an approximate expression of the roll response curve in the rst parametric resonance region as set of roots of a polynomial whose coefcients can :: be calculated from damping parameters and Q jn coefcients (Bulian, 2004). Such a method has already been developed and implemented as a group of functions in MatLabw. Another further development of the methodology proposed in this paper regards the idea  surface tting coefcients on of giving an analytical form to the dependence of the GZ wavelength and wave height. Using the coefcients Aj as an example, a polynomial surface whose coefcients can be obtained from a least square procedure could be expressed as Aj xc ; lW ; HW Z
Nl X NH X hZ0 kZ0 K Ajhk xc lh W HW

(28)

This method would nally lead to a simple fully analytical model of the parametric roll motion in regular waves that can be tackled by analytical techniques in order to obtain simple tools for the analysis of the roll response surface in frequency domain as a function of wave parameters.

6. Concluding remarks  surface in longitudinal regular waves The problem of the analytical modelling of the GZ has been addressed. A general approach, applicable to all ships, and based on a mixed polynomial and Fourier series approximation has been used, leading, nally, to an analytical description of the righting lever in time domain. Different comparisons have been carried out between the analytical approximation and the exact model in order to assess the accuracy  of the approximate method regarding different aspects of the problem (description of GZ curve shape, roll response curve, time histories in subharmonic of second order and in chaotic regime, domains of attraction). Some little shortcomings regarding the selection of tting parameters have been discussed, showing that, a physically sound selection of these

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parameters leads to solutions practically identical to those obtained by means of the look-up table method. Finally, the method has been shown to be capable of fully substituting the look-up table approach. This leads to a considerable gain regarding computational time. Last  surface, leading to a fully analytical but not least an analytical general description of the GZ and highly nonlinear description of the 1.5-DOF parametrically excited roll motion, allows the problem of the roll response curve to be tackled by means of analytical approximate techniques giving, nally, an approximate expression of the roll response curve in frequency domain. Some ideas have been proposed for possible future developments of the method.

Acknowledgements This research has been developed with the nancial support of INSEAN under contracts Study of the Roll Motion in Longitudinal Waves and Study of the Roll Motion in Longitudinal Irregular Waves in the frame of INSEAN Research Plan 20002002.

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