DAVID W.

TAYLOR NAVAL SHIP

RESEARCH AND DEVELOPMENT CENTER
Bethtsda, Maryland

20084

ON THE THEORY OF THREE-DIMENSIONAL FLOW

ABOUT A

SHIP

SPEED

MOVING WITH CONSTANT

IN

A REGULAR SEA
by

Francis Noblesse

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SHIP PERFORMANCE DEPARTMENT

RESEARCH AND DEVELOPMENT REPORT

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ON THE THEORY OF THREE-DIMENSIONAL FLOW

ABOUT A SHIP MOVING WITH CONSTANT
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Francis Noblesse
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aary and Identity by block number)

(Continue on rever

Ship
Ship Motions
Waves
Integral Equation
ABSTRACT

(Continue or reverse side

!'

necessary and dnmlty by block number)

The study presents a new integral identity for the velocity

potential of three-dimensional flow about a ship moving with constant
This integral identity is valid outside, inside,
speed in regular waves.
and exactly on the surface of the ship, and is equivalent to the set of
three classical identities valid strictly outside, inside, and on the
For the usual problem of ship motions in
ship's surface, respectively.
this study yields an
a regular sea, the integral identity obtained in
(Continued on reverse side)

DD

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NOV 65
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Program Element 61153N

Task Area RR0140302
Work Unit 1542-018
Program Element 61152N
Task Area ZR0230101
Work Unit 1542-018
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integro-diff erential equation for determining the velocity potential on the

ship's surface. A recurrence relation for solving the proposed new integrodifferential equation is presented

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TABLE OF CONTENTS
Page

FIGURE

iii

ABSTRACT

ADMINISTRATIVE INFORMATION

1.

INTRODUCTION

2.

THE BASIC POTENTIAL-FLOW PROBLEM

3.

THE GREEN FUNCTION

4.

FUNDAMENTAL INTEGRAL IDENTITIES

5.

INTEGRAL EQUATION AND RELATED ITERATIVE APPROXIMATIONS

20

6.

NUMERICAL EVALUATION OF ITERATIVE APPROXIMATIONS

22

12

REFERENCES

27

Figure 1 - Definition Sketch

13

ABSTRACT
The study presents a new integral identity for the velocity
potential of three-dimensional flow about a ship moving with
constant speed in regular waves.
This integral identity is
valid outside, inside, and exactly on the surface of the ship,
and is equivalent to the set of three classical identities valid
strictly outside, inside, and on the ship's surface, respectively.
For the usual problem of ship motions in a regular sea, the
integral identity obtained in this study yields an integrodifferential equation for determining the velocity potential on
the ship's surface. A recurrence relation for solving the proposed new integro-dif f erential equation is presented.

ADMINISTRATIVE INFORMATION
The research reported here was performed under the Numerical Ship Hydrodynamics

Program at the David W. Taylor Naval Ship Research and Development Center (DTNSRDC)
This program is jointly supported by the Office of Naval Research under Program

Element 61153N, Task Area RR0140302, and by the Independent Research Program at

DTNSRDC under Program Element 61152N, Task Area ZR0230101, and using Work Unit
1542-018.

1.

INTRODUCTION

Motions of a ship advancing with constant average speed in regular waves are
predicted theoretically by using approximate theories based on the slenderness of
ship forms.

These theories are the strip theory,, most useful in the short-wavelength

regime, and the complementary low-frequency slender-body theory; these complementary

slender-ship approximations have recently been united and extended in a unified

slender-ship theory valid for all frequencies.

A detailed mathematical presentation

and historical account, including extensive references to the relevant literature,

of these slender-ship theories may be found in Newman.

Agreement between strip-theory predictions and experimental measurements has

been found, in a large number of cases, to be sufficient for many practical purposes.
This, and the relative mathematical and computational simplicity of the strip theory,

have made that theory the most widely used method for predicting ship motions.
Indeed, the theory, with the improvements of the recently proposed unified slender-

ship theory, seems likely to continue to provide a very useful and practical tool
in the future, even if significant improvements in computer performance are made and

calculations based on a three-dimensional theory become more practical.

Notwithstanding its many merits, the strip theory evidently has limitation, and
in some cases there is a need for potentially more accurate calculations based on a

fully three-dimensional theory.

For instance, three-dimensional calculations would

be useful for predicting the pressure distribution on a complex bow shape, such as

one equipped with a bulb or a sonar dome.

At present, fully three-dimensional calculations represent a difficult task,

and indeed only a very limited number of numerical results have been obtained by

only a few authors:

Chang,

Guevel and Bougis,

and Inglis and Price.

more, these sets of numerical results are not entirely consistent:

4-7

Further-

while agree-

ment is good for some hydrodynamic coefficients, discrepancies are very large for
This lack of consistency suggests that the accuracy of three-

other coefficients.

dimensional calculations may be difficult to control, as is the case for the problem
of wave resistance.

Three-dimensional calculation methods are based either on numerical solution of

an integral equation for the velocity potential or on related assumed distributions
of singularities (sources or/and dipoles) on the ship surface.

*A complete listing of references is given on page 27,

Different integral

equations can thus be formulated, and these can be solved in several ways, in particular by using an iterative solution procedure or inverting a matrix of influence

coefficients.

The performance of a three-dimensional calculation method (measured in

terms of accuracy control, computing times, and complexity of implementation) must

obviously depend, to a large extent, upon the form and mathematical properties of
the integral equation and upon the solution procedure selected as the basis of the

calculation method.

It thus may be useful to consider various alternative integral

equations and solution procedures.

The object of this study is to present a new integro-dif ferential equation and
a related recurrence relation for determining the velocity potential.

The results

given in this study generalize those obtained previously for the particular problems
of wave radiation and diffraction at zero forward speed,

ship wave resistance,

10

and potential flow about a body in an unbounded fluid.

The integro-dif ferential equation, defined by Equations (5.1)- (5. 4), is an equation for the velocity potential

bution of sources or dipoles.

<^,

rather than for the density of a related distri-

This equation involves both a waterline integral

(i.e., a line integral around the intersection curve between the mean hull surface

and the mean sea plane), as in the problem of ship wave resistance,

and a water-

plane integral (i.e., an integral of the Green function over the portion of the mean
sea plane inside the mean hull surface), as in the problem of radiation and diffrac-

tion at zero forward speed.

The highly singular dipole terms (()(x)8G(^,x)/8n and

(!)(x)8G(^,x)/8x in the hull and waterline integrals, respectively,

integro-dif ferential equation defined by Equations (4.10c),

the forms

[(()(x)-(j)(t)

]9G(t,x)/9n and

[(})(x)-(f)(t)

in the classical

(4,8), and (4.9),

take

9G(|,x)/8x, respectively, in the

modified integro-dif ferential equation obtained in this study.

These modified dipole

terms are nonsingular, i.e., remain finite, as the integration point x approaches
any field point

where the hull is smooth (i.e., has a tangent plane).

A recurrence relation is proposed for solving the integro-dif ferential Equation

(5.1) iteratively.

This recurrence relation is defined by Equation (5.7), where the

initial (zeroth) approximation is taken as the nonhomogeneous term i>(Q in the

integro-dif ferential Equation (5.1).

In the particular case of potential flow about

an ellipsoid (with arbitrary beam-to-length and draft-to-length ratios) in translatory motion, along any direction, in an unbounded fluid, the first approximation.

given by Equation (5.6), actually is exact, as is proved in Reference 11; this first

approximation was also shown to provide a good approximation to the exact potential
for arbitrary translatory motions in an unbounded fluid of a cylinder in the shape
of an ogive with arbitrary thickness ratio.

The plan of the study is as follows.

The basic potential-flow problem of the

three-dimensional theory of flow about a ship moving with constant speed in regular
waves is briefly formulated in Section

2;

a more detailed formulation of the problem

may be found elsewhere, for instance in Reference

The basic equations satisfied

1.

by the Green function associated with the free-surface boundary condition (2.5) are

given in Section

Specifically, the Green function,

3.

and b) or (3.4a and b)

G,

satisfies Equations (3.3a

depending upon whether the singularity is fully submerged

(5<0) or exactly at the mean sea surface (C=0),

for a fully submerged source are well known.

respectively.

Equations (3.3a and b)

However, Equations (3.4a and b)

cor-

responding to a flux across the mean sea surface, are proper in the limiting case

when the singularity is exactly at the mean sea surface.

Equations (3,3a and b) and

(3.4a and b) generalize the corresponding equations obtained previously for the par-

ticular cases of ship wave resistance

zero forward speed.

13

12

and of wave radiation and diffraction at

Equations (3.3a and b) and (3.4a and b) are used in Section

for obtaining basic integral identities satisfied by the velocity potential.

three classical identities (4.10a,

the ship surface, respectively

Section

is identity (4.13).

The

valid

strictly outside, inside, and on

obtained first.

However, the main new result of

b,

are

and c)

This identity is valid outside, inside, and exactly on

the hull surface, and indeed is equivalent to the set of the three usual identities
(4.10a, b, and c)

The integral identity (4.13) yields an integro-dif f erential

equation for determining the velocity potential on the surface of a ship moving at
constant speed in regular waves.

This equation is examined in Section 5.

Finally,

an approach to the numerical evaluation of the iterative approximations defined in

Section

is presented in Section 6.

2,

THE BASIC POTENTIAL- FLOW PROBLEM

The basic potential-flow problem of the linearized theory of ship motions in a

regular sea is briefly formulated in this section.

infinite depth and horizontal extent.
pressible, with density p.
assumed.

The sea is assumed to be of

Water is regarded as homogeneous and incom-

Viscosity effects are ignored, and irrotational flow is

Surface tension, wavebreaking, spray formation at the ship bow, and non-

linearities in the sea-surface boundary condition are neglected.

A moving system of

coordinates (X,Y,Z) in steady translation with the mean forward velocity U of the
Specifically, the mean (undisturbed) sea surface and the center-

ship is defined.

plane of the ship in its mean position are taken as the planes
respectively; the

Z =

and Y =

0,

axis is directed vertically upwards, and the X axis is directed

toward the ship bow.

In the above-defined translating system of coordinates, the linearized sea-

surface boundary condition takes the form

[g32+(U8^-8^)^]$^ = (U8^-9^)pVp - gQ' on

where g is the acceleration of gravity, T is the time, $'

potential, ?"

(2.1)

$'(X,T) is the velocity

P'(X,Y,T) and Q' = Q'(X,Y,T) correspond to distributions of pressure

and flux, respectively, at the sea surface (we have Q'

tions, and P' E

Z =

for all practical applica-

except for surface-effect ships), and the notation 9^, 9^, 9^ is

meant for the differential operators 9/3Z, 9/9X, 9/9T, respectively.

The present study is concerned with flows simple- harmonic in time, with radiant
frequency to where OJ is the frequency of encounter. However, such free-surface flows

are not completely (or uniquely) determined unless an appropriate "radiation condiA
for instance.
tion" is imposed, as is well known and is discussed by Stoker,

.15

and
convenient alternative approach, employed previously in Lighthill
"'^
defining a
in
consists
condition"
"radiation
a
such
to the use of
Noblesse,"""^'

time-harmonic flow as the limit, as the small positive auxiliary parameter o

vanishes, of a flow defined by a velocity potential of the form

$'(X,T) = Re<l'(X)exp[(a-ioj)T]

(2.2)

where Re represents the real part of the function on the right side.

The eventual

sea-surface distribution of pressure P'(X,Y,T) and flux Q'(X,Y,T) similarly are

assumed to be of the form

P'(X,Y,T) = Re P(X,Y)exp[(a-ia))T]

(2.2a)

Q'(X,Y,T) = Re Q(X,Y)exp [ (a-ia))T]

(2.2b)

In this alternative approach, one is then faced with an initial-value problem, with

the obvious initial conditions $' =

(2.2) and (2.2a and b)

and B^'/BT =

for T =

Use of Equations

~.

in Equation (2.1) then yields the sea-surface boundary

condition

[g9,-(a3-iU8 +ia)^]<l' = i(a)-iU8 +ia)P/p - gQ on Z =

for the "spatial component"

(2.3)

of the actual potential $'(X,T).

<I>(X)

Nondimensional variables are defined in terms of

1/co

as reference time,

the

ship length L as reference length, and the acceleration of gravity g as reference

1/2
1/2
L, and
potential (gL)
acceleration, from which the reference velocity (gL)
,

pressure pgL can be formed.

t = a)T,

are then defined.

The nondimensional variables

J = X/L,

4)

= $/(gL)^^^L,

p = P/pgL,

q =

Q/igL)^^^

(2.4)

In terms of these nondimensional variables, the sea-surface

boundary condition (2.3) can be shown to take the form

[S

where

-(f-iF9 +ie)^](j) = i(f-iF8 +ie)p - q on

is the frequency parameter,

growth parameter defined as

F is the Froude number,

and

(2.5)

is the time-

f =

ca(L/g)^/^

(2.6a)

F = U/(gL)^/^

(2.6b)

e = a(L/g)-'-/^

(2.6c)

The basic potential-flow problem of the linearized theory of ship motions in a

regular sea may now be stated.

As is well known, the problem consists in solving

the Laplace equation

V^(|)

in d

(2.7)

subject to the boundary conditions specified below.

The solution domain d in Equa-

tion (2.7) is the domain exterior to the ship hull and bounded upwards by the mean
sea surface a.

On the mean sea surface a, the boundary condition (2.5) must be

satisfied:

[8

where we generally have

-(f-iF9 +ie)^](}) = i(f-iF8 +i)p - q on a

p =

The potential

= q.

(j)(x)

vanishes as

(2.8)

|x|

|-*-

>

at least

as fast as l/||x||; that is, we have

(j)

= 0(1/1 |x|

|)

as

|x|

|-^

>

(2.9)

Finally, on the mean position of the ship hull surface h the potential must satisfy
the usual Neumann condition

9(j)/3n

where

9(})/3n

= V<})'n

is the derivative of

given on h

<t>

(2.10)

in the direction of the unit normal vector

n to h, taken to be pointing inside the fluid.

The precise form taken by the

expression for

8(j)/8n

found in Newman,

on h in the usual "radiation" and "diffraction" problems may be

for instance.

A classical technique for solving a potential-flow problem such as that defined

by Equations (2.7) through (2.10), in the general case of an arbitrary ship form,

consists in formulating an integral equation for the potential based on the use of
a Green function satisfying all the equations of the problem except the "hull boun-

dary condition," which is to be satisfied by means of the integral equation.

required Green function is defined in the following section.

The

3.

THE GREEN FUNCTION

The Green function, G(^,x), associated with the sea-surface boundary condition
(2.5)

satisfies the equations

V^ G = 6(?-x)6(n-y)6(?-z) in C <

[8

where

-(f-iF8^+ie)^]G =

on

(3.1a)

(3.1b)

is the usual Dirac "delta function," and V^ represents the differential

^

operator (9^,3

->-

->

Physically, the Green function G(C,x) is the "spatial compo-

,9^^).

-^

--

nent" of the velocity potential ReG(C,x)exp (e/f-i)t] of the flow created at the
[

field point c,iK,T],^^0) by a moving source of pulsating strength Re exp [(e/f-i)t]

located at point x(x,y,z<0).

In the limiting case, z =

0,

the source at point x

evidently is no longer fully submerged, so that this physical interpretation of the

Green function becomes ambiguous.

A complementary physical interpretation for this

limiting case is that the pulsating flow created at point x(x,y,z=0) stems from a
flux across the plane

of the mean sea surface.

In the limit

z =

0,

the Green

function G(C,x) must then satisfy the equations

V^G =

[9

(3.2a)

in C <

-(f-iF9 +ie)^]G = -6(?-x)6(n-y) on

as may be seen from the sea-surface boundary condition (2.5).

b),

(3.2b)

C =

Equations (3.2a and

justified above on physical grounds, can be justified mathematically in the man-

ner shown in Noblesse

12 13
'

for the particular problems of wave radiation and diffrac-

tion at zero mean forward speed (F=0) and of steady flow about a ship advancing at

constant speed in calm water (f=0)

The Green function G(E,,x) actually is a function of the four variables C-x,
ri-y,

4-+

C+z, and
_ y^

<;-!->-

(^-z)
z.

and thus is invariant under the substitutions ^

-<->

- x,

By performing these changes of variables in Equations (3.1a and b)

and (3.2a and b)

it then may be seen that the Green function G(C,x) also satisfies

the following equations

V^G = 6(x-?)6(y-n)5(2-C) in

z <

(3.3a)

for
[8

-(f+iF8 +ie)^]G =

V G =

on z =

<

(3.3b)

in z <

(3.4a)

for
[8

-(f+iF9 +i)^]G = -6(x-C)6(y-n) on

where V is the differential operator

z =

(3.4b)

Equations (3.3a and b) and (3.4a

,9 ).
^
z
y
and b) will be used in the next section for obtaining integral identities satisfied
(9

,9

by the velocity potential.

A well known expression for the Green function, in terms of a double integral,
can be obtained by using a double Fourier transformation of Equations (3.1a and b)

with respect to the horizontal coordinates

E,

and

r\.

This Fourier representation of

the Green function is given by

-y

-^

2-1/2
"-'^

4uG(C,x) = -[(x-0^+(y-n)^+(z-C)^]

OO

_l

-^

+ [(x-?)^+(y-n) +(z+C)

-1/2
'

2
]

CO

exp[(z+s)(y^vy/^i{(x-Oy+(y-n)v}]

(y'+v2)l/2 _ (f-Fy+ie)2

The "Cartesian Fourier integral representation" (3.5) can also be expressed in

the form of a "polar Fourier representation" by performing the change of variables
y =

A.

cos9 and v = X sin6, which express the Cartesian Fourier variable y and v in

terms of the polar variables A and

0.

tions were first obtained by Haskind

Stretenski,

19

Eggers,

20

Havelock,

21

These equivalent double-integral representaand later by Hanaoka,

and Brard,
and Wehausen,

10

22

and are therefore well known.

More recently, one-fold integral representations (involving the exponential

integral in the integrand) have been obtained and used by Inglis and Price

Guevel and Bougis,

and

These single- integral representations are modifications of

the double- integral Fourier representation in terms of the polar coordinates (X,e),

Single- integral representations associated with the Cartesian Fourier representation

(3.5),

in the manner shown in Reference 12 for the particular problem of ship wave

resistance (f=0, F^O), have not been obtained to the author's knowledge.

However,

such single- integral representations are considerably more complex than the corresponding integral representations for the ship wave resistance problem and the series

representations obtained in Reference 13 for the particular case of wave radiation

and diffraction at zero forward speed (F=0,

f?^0)

For the practical purpose of

numerically evaluating the velocity potential defined by a surface (or line) distribution of singularities (sources or dipoles) with known strength, it may actually be

preferable to use a double- integral Fourier representation, such as that given by

Equation (3.5), together with an interchange in the order of integration between the
Fourier variables (y,v) and the space variables (x,y,z), as is shown in Section

11

6.

4.

FUNDAMENTAL INTEGRAL IDENTITIES

In this section, basic integral identities for the velocity potential are

obtained by applying a classical Green identity to the potential

previously defined Green function G

((j)V^G-GV^(f))dv =

G(?,x).

(})(x)

J
h

(G3(l)/9n-({)9G/9n)da

(cj)9G/9n-G9cj)/9n)da

the ship surface h, as is shown in Figure

z =

h,

the mean sea plane

1;

between the intersection curves

,

9())/9n = V(})'n

and 9G/9n

h or h^, as is shown in Figure 1.

and c oo of the plane

^

z =

with the

On the surfaces h and hOQ

VG*n where n is the unit outward normal vector to

Finally, dv and da represent the differential

elements of volume and area at the integration point x of the domain d

faces h or h

surrounding

furthermore, a' is the portion of the

ship^ surface h and the exterior surface hoo' respectively.

r
J

we have

(4.1)

h00

and some arbitrary, but sufficiently large, exterior surface h

0,

and the

((j)9G/9z-G8())/9z)dxdy

where d^ is the finite domain bounded by the ship hull surface

plane

I"

z =

(p

The Green identity is

and the sur-

respectively, and dxdy is the differential element of area of the

mean sea surface o^

Let the integrand

())9G/9z

be expressed in the form

2iF(f+ie)9(G(l))/9x + F

(p[d

- G9(j)/9z of the sea-surface integral in Equation

-(f+iF9 +ie)^]G - G[9 -(f-iF9 +ie)

(G9(J)/9x-(f)9G/9x)/9x.

12

]())

(4.1)

Furthermore, we may use the relation

Figure

=
j

Definition Sketch

[2i(f+ie)9(G(f))/Sx+F9(G9(J)/9x-(})8G/9x)/3x]dxdy

where the curves

1 -

[2i(f+ie)G({)+F(G9(})/9x-(})9G/9x)]dy

[2i(f+ie)G({)+F(G9())/9x-())9G/9x) ]dy

(4.2)

and c^ are oriented clockwise and counterclockwise, respectively,

as is shown in Figure

1.

The Green identity (4.1) can then be expressed in the form

13

(t)V^Gdv -

(|)[8^-(f+iF3^+ie)^]Gdxdy

(t)dxdy

(G8())/8n-(})3G/8n)da
I

+ F

[2i(f+i)G(|)+F(G9())/9x-(})3G/3x)]dy + I^

(4.3)

where the term I^ is given by the integrals

We have G

+ F

((f)3G/3n-G8(j)/8n)da

0(l/r) and

(j)

= 0(l/r)

[2i(f+ie)G(t)+F(G3(j)/3x-(|)3G/3x) ]dy

as r E (^^

2_^^2^1/2 ^

^
'

^^ ^^^^ ^^^ ^^^^ ^ oo

vanishes as the large surrounding surface h^ is made ever larger.

then be ignored if the finite domain

d''

The term I

can

and the finite region o^ of the mean sea

plane are replaced by the unbounded mean flow domain d and the unbounded mean sea
surfspp n outside the mean hull surface h and its intersection curve
z

= 0,

with the plane

respectively.

By expressing the potential

cj)

side of Equation (4.3) in the form

in the integrands of the two integrals on the left

<p

<^^

('p-'t'^)

where

(j)

4)(x)

as was defined

->

previously, and

(J)^

represents the potential at the field point

^,

i.e.,

(f)^

->

(})(C),

we may obtain

(j)V^Gdv -

(})[3^-(f+iF3^+ie)^]Gdxdy =

I*

14

C(j)^

+ C'

(4.4)

where C and C' are defined as

C =

V^Gdv -

(())-())

j^)V^Gdv - r

It may be seen from Equations

- ^(K)

as X

->

->

5,

[8^-(f+iF9^+ie)^] Gdxdy

((f)-(l)^)[9^-(f+iF9^+ie)^]Gdxdy

(3.3) and (3.4) that we have

if ^ - ^^ =

({"(x)

that is if the potential is continuous everywhere in the solu-

tion domain d and on its boundary a + h +

(4.4), with C' =

(4.5)

c,

as is assumed here.

Use of Equation

in Equation (4.3) then yields

0,

C(})^

GV^(l)dv -

G[9^-(f-iF9^+i)^] ({)dxdy

(G9(j)/9n-ct)9G/9n)da
j

+ F

(4.6)

[2i(f+ie)Gcl)+F(G9(j)/9x-(t)9G/9x)]dy

Let t(t ,t ,0) represent the unit vector tangent to the curve c oriented in the
X y
1.
On the mean waterline c, we have

clockwise direction, as is shown in Figure

dv =

d, where dl is the differential element of arc length of c.

Furthermore, we

have

9<})/9x

= V({)*i,

where

(1,0,0) is the unit positive vector along the x axis.

then yields 94)/9x = [n9(t)/9n+t9(l)/9+(nxt)9<t)/9d] -i = n^9(l)/9n +

where (n .n .n
surface

x'

y'

h,

9())/9,

are the components of the unit outward normal vector n to the hull

is the derivative of

(J)

in the direction of the tangent vector

->-

c,

and

9(l)/9d

This

t^d<^/d!i - n^t^9(})/9d,

is the derivative of

(})

to

->-

in the direction of the unit vector n x t, which

is tangent to h and pointing downwards.

15

Equation (4.6) can then be expressed in the form

C(j)(|)

where

C is

given by Equation (4.5),

^(t) =

(4.7)

is the potential defined as

ijj(f)

GV^({)dv -

- Lit-A)

ij;(t)

G[3^-(f-iF9^+i)^](f)dxdy

+ F^

G8(J)/3nda

and

L(C;cj))

is the linear transform of

L(t;(j))

Gn

8(})/8nd

(4.8)

(j)

defined as

(f)8G/anda -

2i(f+ie)F

G4)t

+ F^

[(l)3G/8x-G(t
I

(4.9)

9(t)/8-n t 9(})/9d)]t d2,

z y
y

Use of Equations (3.3a and b) and (3.4a and b) in expression (4.5) for C then shows
-*-

that we have C = 1 if the field point ^ is strictly outside the hull surface h, in d
_

or on a, whereas we have C =

-)

if ^ is strictly inside the ship surface h.

It can

also be seen from Equations (3.3) and (3.4) that we have C = 1/2 if the point

exactly on the hull surface h or on its intersection c with

least for points
47tC

where the hull h +

(or 2ttC) at a point ^ of h (or c)

is smooth; more generally,

is equal to the angle at

->

viewed from the point

C-

We thus have

16

the plane z = 0, at
the value of

which

(or a)

is

is

ind +

*(?)

= i)(0 -

>

UK-A) for

<

d.

ind. +
1

(4.10a)

-h-c

exactly on h +

<t>(K)/2

where

a-h-c

and a. represent the domain and the portion of the plane

(4,10b)

>

(4.10c)

z =

0,

respec-

tively, strictly inside the ship surface h, as is shown in Figure 1.

The value of the constant C on the left side of Equation (4.7) is discontinuous
across the ship hull surface

h;

C being equal to 1 outside h and to

explicitly indicated in Equations (4.10a,

b,

and c)

inside, as is

This discontinuity in the value

of C evidently is accompanied by a corresponding discontinuity on the right side of

Equation (4.7).

Specifically, the latter discontinuity stems from the dipole-

distribution integrals

j,

ct)3G/8nda and J

(fi8G/8xt

d in the potential

An identity valid for any point ^

defined by Equation (4.9).

exactly on the ship surface h

can

the value of C in Equation (4.7).

L(^;()))

outside,

inside, or

be obtained by eliminating the discontinuity in

This can be done by adding the term C

(j)^

on both

sides of Equation (4,7), with C. given by

C.

V^Gdv -

[3^-(f+iF8^+ie)^]Gdxdy

a.

d.

Use of the divergence theorem

V^Gdv =

3G/3zdxdy +

17

8G/3nda

(4.11)

yields

C^ =

(f+iF3^+ie)^Gdxdy +

9G/9nda

Furthermore, by using the relation

[2i(f+ie)3G/3x-F9^G/9x^]dxdy = -

("

[2i(f+ie)G-F9G/9x] t d

we may obtain the following alternative expression for C.:

C^ = (f+ie)^

Gdxdy - 2i(f+ie)F

a.

Gt d

+ F^ r 9G/9xt di
dl +
I

9G/9nda

(4.12)

By adding the term

C.(})^

on the left and right sides of Equation (4.7), with

C.

given by Equation (4.11) on the left side and Equation (4.12) on the right side, we

may obtain

->-)

->-

[l-w(5)](})(C) = i>(D

where w(5) is the

'

- L^(C;4))

(4.13)

waterplane integral" defined as

w(t) = (f+ie)^

18

G(t,$)dxdy

(4.14)

and

L'(C;(J))

is the linear transform of

L^d;*)

defined as

<t)

((})-(f)^)8G/8nda -

2i(f+ie)F

+ F^

in which we have

(})

(j)(x)

J*^
(

and

[((})-(()

(j)^

Equation (4.13), the relation C +

)8G/9x-G(t

8(j)/9-n t

3(})/9d)]t d

SI

was used.

(4.15)

as was defined previously.

(})(^)

C.

xzy

dZ

G((})-cf)^)t

In obtaining

This relation can be obtained by

using Equations (3.3a and b) and (3.4a and b) in Equations (4.5) and (4.11), which

yield

+ C^ =

V^Gdv -

[9^-(f+iF3^+ie)^]Gdxdy

z<0

z=0

Identity (4.13) is valid for any point

ship surface h.

whether outside, inside, or exactly on the

E,,

This identity thus is essentially equivalent to the set of the three

classical identities (4.10a,

b,

and c), which are exclusively valid for

outside,

inside, and on the hull surface h, respectively.

Identities (4.10a,

b,

and c) and (4.13) correspond to the case of an open hull

surface piercing the sea surface.

For a closed, fully submerged surface h, the

waterplane integral w(^) defined by Equation (4.14) and the integrals around the

mean waterline

c in

Equation (4.8) for the potential

and (4.15) for the potentials

L(5;(j))

and L

(^;(J))

ip(C)

and in Equations (4.9)

are evidently not present.

other important particular cases of identities (4.10a,

b,

Two

and c) and (4.13) are

obtained in the limiting cases when the Froude number F vanishes, corresponding to

wave radiation and diffraction by

the frequency parameter

a body

with zero mean forward speed,

and when

vanishes, corresponding to steady flow about a ship

advancing in calm water.

19

5.

INTEGRAL EQUATION AND RELATED ITERATIVE APPROXIMATIONS

Identities (4.10a,

and c) and (4.13) hold for any function

b,

the domain d and on its boundary o + h + c.

If the function

(p

(f)

continuous in

is taken as the veloc-

ity potential of flow about a ship advancing at constant mean speed in a regular sea,

then the normal derivative

of

3<t)/8n

(()

is given on the hull surface h, and

(j)

satisfies

the Laplace Equation (2.7) in the mean flow domain d and the sea-surface boundary
= q, at the mean sea surface a.

condition (2.8), with p =

Identities (4.10c) and

(4.13) then yield integro-dif f erential equations for determining the potential

the ship surface.

<j)

on

Specifically, Equation (4.13) becomes

[l-w(t)](j)(|) = i>it)

- L'(|;(t))

(5.1)

->

where the waterplane integral w(5) is given by

w(t) = (f+ie)^

G(|,x)dxdy

(5.2)

a.

the potential

'Jj(C)

takes the form

i>(t)

G3ct)/8nda

+ F^

Gn^^

(5.3)

3(j)/3nd2.

and the potential L'(C;4>) is given by

L'(C;<J5)
:-A)

((l)-(l)^)8G/9nda ((l)-(l).)8G/9nda

2i(f+ie)F

f"

dJl

G(<j)-(j)^)t

+ F^

f[((j)-(t)^)8G/3x-G(t d(p/dl-n t 3(])/9d)]t d

z y
X
y

20

(5.4)

The potential

iJj(C)

tial L

on the other hand, is evidently not known.

(^;(f)),

is known since

is given on the ship surface h.

9(})/8n

The poten-

An approximate solution of the integro-dif f erential Equation (5.1) may be

obtained by seeking a solution of Equation (5.1) of the form

->-

(t)(^)

= k(t)ijj(t), where

-^

the function k(C) - 't>(.0/^(.0 is assumed to be slowly varying.

Specifically, by

adding the term k(OL^(?;ip) to both sides of Equation (5.1) and multiplying the

resulting equation by

ii(^)

we may obtain

tt)(t){[l-w(|)]4;(|)+L^(t;iP)} =

If the potential
<)>(S)L

(C;'!')

(p

ilj^it)

(J)(t)L'(|;i|j)

- i>(X)l^' (t'A)

(5.5)

were actually proportional to the potential ^, the term

^KOl

(C;<)>)

would vanish, and the modified integro-dif f erential Equa-

tion (5.5) would yield the solution

*(!) = 4^M)/{[l-w(t)]t|;(|) + L^it-A)}

(5.6)

More generally, the above expression for the potential can be regarded as the
-.

...,

_.

..J,

first approximation in the sequence of iterative approximations

<p

(n)

associated

with the recurrence relation

<,,(n+l)(|)

^(X)&\t)/ill-^(t)]&\t)

and the initial (zeroth) approximation

(?)

(})

+ h^it-A'-''^)}

= i)(K)

for n >

(5.7)

An approach to the numerical

evaluation of these iterative approximations is presented in the following section.

21

NUMERICAL EVALUATION OF ITERATIVE APPROXIMATIONS

6.

Equation (3.5) for the Green function may be written in the form

00

4uG(?,x) =

-d/r-l/rO

(1/tt)
'tt)

00

where r,

00

oo

dv

dyE(y,v;OE(y,v;x)/D(y,v)

(6.1)

E(y,V;x), E(y,V;0, and D(y,v) are defined as

r =

[(x-02+(y-n)^+(z-C)2]^/2

r' =

The potential

i['(^)

(6.1a)

[(x-C)^+(y-n)^+(z+C)^]^''^

(6.1b)

E(y,v;x) = exp[z(y^+v^)"'-'^+i(xy+yv)]

(6.1c)

E(y,v;t) = exp[(;(y^+v^)-'-/^-i(Cy+nv)]

(6. Id)

D(y,v) = (y^+v^)-'-/^-(f-Fy+ie)^

(6.1e)

defined by Equation (5.3) can then be expressed in the

form

^(t) =

where the potentials

S
ip

and

R
ip

/(t) + /(t)

(6.2)

correspond to the singular terms 1/r - 1/r^ and the

regular term defined by the double integral, respectively, in Equation (6.1) for
the Green function.

Specifically, the potential

integral

22

4^

is given by the hull-surface

/(t)

and the potential

= -(l/4u)

(l/r-l/r')3*/3nda

(6.2a)

may be expressed in the form

ip

/(t)

f-\

= -(l/47r^)

dv

dME(y,v;OA(y,v)/D(y,v)

(6.2b)

where A(y,v) is defined as

E(y,v;x)8<j)/9nda + F
F^

A(y,v) =

E(y,V;x)n

9())/3nd

(6.2c)

The waterplane integral w(C) defined by Equation (5.2) takes the form

00

w(t) = - -^^i|^

oo

dv
J

The potential

L'(C;'jj)

dy
j

^D(^y;f^

exp[i(xy+yv)]dxdy

(6.3)

defined by Equation (5.4) can then be expressed in the

form

L'(t;.|j)

where the potentials

L'[

= L^(t;i^) +

and L^ are defined as

23

Cd;^^)

(6.4)

= -(1/4TT)

Lg(|;il;)

(/+/)-(4+'^^ ]9 (l/r-l/rO/9nda

(6.4a)

^00

00

L^(t;'l^)

= -(1/4tt^)

dv

dyE(y,v;|)A'(y,v)/D(y.v)

(6.4b)

00

oo

with A^(y,v) given by

^'(y,v) =

[(^^W)-('l^^+4^^]^E(y,v;x)/^nd
j

- 2i(f+ie)F

j
I

+ F^

J
I

(/-ijj^)E(y,v;x)t

{(/h

{(ijJ^-t|jJ)3E/3x-[t

The first iterative approximation

tions (6,2),

(1)

d^^/dl-n

3 (ij;^+i|;^)/9d]E}t

t
z

(6.4c)

->-

(5)

(j)

dil

can then be determined by using Equa-

(6.3), and (6.4) in Equation (5.6).

The potential

L^(tA

),

1,

defined by Equation (5.7), for the second and subsequent iterative approximations
<t>

(n>_l),

can be expressed in a form almost identical to that given above by

Equations (6.4) and (6.4a,

and c) for the potential

b,

L'(5;iJj).

The basic computational task common to Equations (6.2b and c)

(6,4b and c) consists in evaluating a double Fourier integral, 1(C)

(6.3), and
say, of

the form

1(C)

dv
=1
.j\,!
I

dyexp[ay^+v^)^^^-i(?y+iiv)]N(y,v)/D(y,v)

24

(6.5)

where D(vi,v) is given by Equation (6.1e), and N(u,v) is defined by a surface or a

line integral of the type

=
N(y,v)
i.v) .

exp[z(y^+v^)"'-''^+i(xU+yV)]A(x)da,dxdy,d

(6.5a)

h,a ,c
.

If a small positive number is used for the parameter e,

the function D(y,v) has no

real root, and the integral (6.5) can be evaluated without difficulty in principle.

25

REFERENCES
1.

Newman, J.N., "The Theory of Ship Motions," Advances in Applied Mechanics,

Vol. 18, pp. 221-283 (1978).

2.

Chang, M.S., "Computations of Three-Dim ens ional Ship Motions with Forward

Speed," Proc. Second Intl. Conf

on Numerical Ship Hydrodynamics, Berkeley, pp. 124-

135 (1977).
3.

Guevel, P. and J. Bougis, "Ship Motions with Forward Speed in Infinite

Depth," International Shipbuilding Progress, Vol. 29, No. 332, pp. 103-117 (1982).
4.

Inglis, R.B. and W.G. Price, "The Hydrodynamic Coefficients of an Ellipsoid

Moving in a Free Surface," Journal of Hydronautics, Vol. 14, No.

4,

pp. 105-110

(1980).
5.

Inglis, R.B. and W.G. Price, "The Influence of Speed Dependent Boundary

Conditions in Three-Dimens ional Ship Motion Problems," International Shipbuilding

Progress, Vol. 28, No. 318, pp. 22-29 (1981).
6.

Inglis, R.B. and W.G. Price, "A Three-Dimens ional Ship Motion Theory

The

Hydrodynamic Coefficients with Forward Speed," Trans. RINA, Vol. 124, pp. 141-157
(1982).
7.

Inglis, R.B. and W.G. Price,

"A Three-Dimensional Ship Motion Theory:

Calculation of Wave Loading and Responses with Forward Speed," Trans. RINA, Vol. 124,
pp.

183-192 (1982).
8.

Proceedings of the Workshop on Ship Wave-Resistance Computations, Vols.

and 2, Edited by K.J. Bai and J.H. McCarthy Jr., David W. Taylor Naval Ship Research

and Development Center (13-14 Nov 1979).

9.

Noblesse,

F.

"Integral Identities of Potential Theory of Radiation and

Diffraction of Regular Water Waves by a Body," Journal of Engineering Mathematics

(in press)
10.

Noblesse,

F.

Research, Vol. 27, No.

11.

Noblesse,

F.

"A Slender-Ship Theory of Wave Resistance," Journal of Ship

1,

pp.

13-33 (1983).

and G. Triantaf yllou, "Explicit Approximations for Calculating

Potential Flow about a Body," Journal of Ship Research, Vol. 27, No.
(1983).

27

1,

pp.

1-12,

12.

Noblesse, F.

"Alternative Integral Representations for the Green Function

of the Theory of Ship Wave Resistance," Journal of Engineering Mathematics, Vol. 15,
pp. 241-265 (1981).
13.

Noblesse,

F.

"The Green Function in the Theory of Radiation and Diffraction

of Regular Water Waves by a Body," Journal of Engineering Mathematics, Vol. 16,

pp. 137-169 (1982).
14.

Stoker, J.J., "Water Waves," Interscience Publishers, New York, 567 p.

(1957).
15.

Lighthill, M.J., "On Waves Generated in Dispersive Systems by Travelling

Forcing Effects, with Applications to the Dynamics of Rotating Fluids," Journal

of Fluid Mechanics, Vol. 27, pp. 725-752 (1967).
16.

Haskind, M.D., "The Hydrodynamic Theory of Ship Oscillations in Rolling

and Pitching," Prikl. Mat. Mekh.

Vol.

10,

pp.

33-66 (1946); English Translation:

Tech. Res, Bull. No. 1-12, pp. 3-43, Soc. Nav. Archit. Mar. Eng., New York (1953).
17.

Brard,R.

"Introduction a I'etude theorique du tangage en marche," Bull.

Assoc. Tech. Marit. Aeronaut., Vol. 47, pp. 455-479 (1948).

18.

Hanaoka,

T.

"Theoretical Investigation Concerning Ship Motion in Regular

Waves," Proc. Symposium on the Behaviour of Ships in a Seaway, Wageningen, The

Netherlands, pp. 266-283 (1957).
19.

Stretenski, L.N., "The Motion of a Vibrator under the Surface of a Fluid,"

Trudy Moskov. Mat. Obshch.

20.

Eggers, K.

Schiff u. Hafen, Vol.

21.

Vol. 3, pp. 3-14 (1954).

"Uber das Wellenbild einer Pulsierenden Storung in Translation,"

9,

Havelock, T.H.

pp.

874-878 (1957).

"The Effect of Speed of Advance upon the Damping of Heave

and Pitch," Trans. Inst. Naval Arch., Vol. 100, pp. 131-135 (1958).
22.

Wehausen, J.V. and E.V. Laitone, "Surface Waves," Encyclopedia of Physics,

Springer-Verlag, Berlin, Vol. IX, pp. 446-778 (1960).

23.

Inglis, R.B. and W.G. Price, "Calculation of the Velocity Potential of a

Translating, Pulsating Source," Trans. Royal Institution of Naval Architects,

England (1980).

28

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Name

1563

W.E, Smith

1564
1564

J. P.

5211.1

Reports Distribution

522.1

Library

(C)

522.2

Library

(A)

10

Feldman

R.M. Curphey

31

DTNSRDC ISSUES THREE TYPES OF REPORTS

1.
DTNSRDC REPORTS, A FORMAL SERIES, CONTAIN INFORMATION OF PERMANENT TECH
NICAL VALUE. THEY CARRY A CONSECUTIVE NUMERICAL IDENTIFICATION REGARDLESS OF
THEIR CLASSIFICATION OR THE ORIGINATING DEPARTMENT.

DEPARTMENTAL REPORTS, A SEMIFORMAL SERIES, CONTAIN INFORMATION OF A PRELIM

2.
INARY, TEMPORARY, OR PROPRIETARY NATURE OR OF LIMITED INTEREST OR SIGNIFICANCE.
THEY CARRY A DEPARTMENTAL ALPHANUMERICAL IDENTIFICATION.
TECHNICAL MEMORANDA, AN INFORMAL SERIES, CONTAIN TECHNICAL DOCUMENTATION
3.
OF LIMITED USE AND INIEREST. THEY ARE PRIMARILY WORKING PAPERS INTENDED FOR IN
TERNAL USE. THEY CARRY AN IDENTIFYING NUMBER WHICH INDICATES THEIR TYPE AND THE
NUMERICAL CODE OF THE ORIGINATING DEPARTMENT. ANY DISTRIBUTION OUTSIDE DTNSRDC
MUST BE APPROVED BY THE HEAD OF THE ORIGINATING DEPARTMENT ON A CASE BY CASE
BASIS.