2 - FREQUENCY DOMAIN SOLUTION

Objective of the Chapter

Solve the linear radiation and diffraction problems using a strip theory
Summary of the Chapter
The unsteady flow will be assumed harmonic
- For the radiation problem this means that the forced motions (as well
as all related responses) are harmonic in time
- For the diffraction problem this means that the incident waves (as
well as all related responses) are harmonic in time
The radiation and diffraction forces will be represented in terms of
coefficients of: added mass, damping, and exciting forces
All these coefficients are calculated by the strip theory of Salvesen, Tuck and
Faltinsen (1970).

NUNO FONSECA - IST

FREQUENCY DOMAIN SOLUTION

Strip Theory
The hull is divided into a finite number of 2D strips along its length (and
represented in an approximate manner)
The 3D hydrodynamic problem is reduced to a set of 2D hydrodynamic
problems
The hydrodynamic coefficients associated with each strip are given by
the solution of the 2D boundary value problem for the cross sections
defining the hull strips
It is assumed that the flow around each strip does not affect the flow on
adjacent strips
The 3D hydrodynamic effects are related to the forward speed only and
result from the angle of attack of the flow at infinite with the hull (in pitch and
yaw)

FREQUENCY DOMAIN SOLUTION

Hull represented by a finite number of strips

FREQUENCY DOMAIN SOLUTION

2.1 - Radiation Forces

2D Boundary Value Problem

The radiation forces that result from the forced motion of a slender ship with
forward speed were derived in chapter 1:

R ~
~ ds
n RUm
t

F =
R

S0

(1.65)

The velocity potential was decomposed into independent components as:

~
= I + D + R

=
R

6
j =1

(1.48)

Rj , j = 1,...,6

(1.49)

The radiation components may be represented by:

=
R

6
j =1

aj jR

(2.1)

a
where: j is the real amplitude of the oscillatory motion in the j mode

jR is the radiation potential associated with an oscillatory motion of unit

amplitude in the j mode

NUNO FONSECA - IST

FREQUENCY DOMAIN SOLUTION

The linear boundary value problem that is necessary to solve in order to

determine the total velocity potential is given in slide 47.
Since the velocity potential was decomposed, the b.v.p. is decomposed as well
and in the case of the radiation problem it becomes:
Linear radiation boundary value problem:
Laplace equation
Linear free surface b. c.

xxR + yyR + zzR = 0

U
t
x

(2.2)

R + g zR = 0 on z = 0 (2.3)

Linear body b.c. (radiation)

jR
= in j + Um j on
n

Bottom boundary condition

R 0 para z -

(2.5)

2 R
R
i
=0
r
g

(2.6)

Radiation condition at infinite

S0

(2.4)

FREQUENCY DOMAIN SOLUTION

Two strip theory assumptions will be used:

(A) The beam is much smaller than the length, therefore the longitudinal
component of the unit vector normal to the hull surface may be
neglected
(B) The frequency of oscillation is high, therefore the free surface
boundary condition may be assumed 2D

FREQUENCY DOMAIN SOLUTION

The high frequency of oscillation requires that the wave length is small
compared to the ship length.
From the practical point of view this is not a restriction for heave and
pitch since at the low frequency range the hydrodynamic forces are
dominated by the hydrostatic and Froude Krilov components
For the horizontal motions the high frequency assumption may
introduce inaccuracies in the numerical predictions
For following waves the zero speed of encounter frequency is also a
problem

FREQUENCY DOMAIN SOLUTION

As a summary, the conditions that the speed independent radiation potentials

must satisfy are:
Laplace equation

yyR + zzR = 0

(2.16)

R
+ g j = 0
z

z=0

(2.15)

Linear body b.c. (radiation)

Rj
= iN j , j = 2,3,4
N

C0

(2.12)

Bottom boundary condition

R 0 on z -

Linear free surface b. c.

Radiation condition at infinite

R
j

2 R
R
i
=0
r
g

(2.5)

(2.6)

This is the 2D boundary value problem of an arbitrary cross section oscillating

on the free surface with harmonic motions of unit amplitude

R represents the 2D radiation potential for harmonic motions of unit amplitude

FREQUENCY DOMAIN SOLUTION

FkjR2 D (t ) = akj j (t ) bkj j (t )

Radiation force in phase with the acceleration of the motion
It is equivalent to an inertial force for the translational motions an to a
moment of inertia to the rotational motions
The physical meaning of the added mass is an equivalent mass that
accelerates together with the rigid body
Radiation force in phase with the velocity of the motion
Represents an inviscid damping force that is proportional to the damping
coefficient
It is related to the generation and radiation of free surface waves due to
the harmonic rigid body motions

where the constants a kj and bkj , named respectively as added masses and
damping coefficients, are given by:

akj =

Re i Rj N k ds , k,j=2 ,3,4

(2.21a)

bkj = Im i Rj N k ds , k,j=2 ,3,4

c0

(2.21b)

FREQUENCY DOMAIN SOLUTION

Summary Radiation Forces (by strip theory)

Assuming the ship is slender, the frequency is high, speed is small

z, 3

FkjR2 D = jA
R2 D
k

4
j =2

y, 2

akj ibkj ,

jA ( 2 akj ibkj )

k,j=2,3,4

FREQUENCY DOMAIN SOLUTION

Forced Heave motion of a cross section

z, 3

y
Heave
harmonic
motion

Complex amplitude of heave

radiation force
Heave radiation force in the
time domain

F3R2 D = 3A

a33 ib33

} {

F32 D (t ) = Re F3R2 D eit = a33 3 (t ) + b33 3 (t )

FREQUENCY DOMAIN SOLUTION

Forced sway motion of a cross section

z

y, 2

Sway harmonic
motion

Complex amplitude of sway

radiation force
Sway radiation force in the
time domain

F2R2 D = 2A

a22 ib22 + 4A

a24 ib24

F22 D (t ) = Re F2R2 D eit = Re F22R2 D eit + F24R2 D eit =

} {

a22 2 (t ) + b22 2 (t ) a24 4 (t ) + b24 4 (t )

FREQUENCY DOMAIN SOLUTION

Forced roll motion of a cross section

z

Complex amplitude of roll

radiation force

F4R2 D = 4A

Roll radiation force in the

time domain

F42 D (t ) = Re F4R2 D eit = Re F44R2 D eit + F42R2 D eit =

a44 ib44 + 2A

a42 ib42

{
} {
}
{a (t ) + b (t )} {a (t ) + b (t )}
44 4

44 4

42 2

42 2

FREQUENCY DOMAIN SOLUTION

Ship radiation forces heave/pitch coupled motions

The complex amplitude of the radiation forces due to heave and pitch are (see
eq. 2.38):

FkR =

jA f kjR =

j = 3, 5

jA (

j = 3, 5

Akj iBkj

Or using their time domain description:

}{

}{

Heave radiation force

F3R (t ) = A33 3 (t ) + B33 3 (t ) A35 5 (t ) + B35 5 (t )

Pitch radiation moment

F5R (t ) = A53 3 (t ) + B53 3 (t ) A55 5 (t ) + B55 5 (t )

where:

A33 = a 33 dx

A35 = xa33 dx
A53 = xa33 dx +
A55 = x a33 dx +
2

U2

B33 = b33 dx

B33

B35 = xb33 dx + U A33

B33

B53 = xb33 dx U A33

A33

B55 = x b33dx +
2

U2

B33

Integrations
are along the
ship length

FREQUENCY DOMAIN SOLUTION

Ship radiation forces Sway/Roll/Yaw coupled motions

The complex amplitude of the radiation forces due to heave and pitch are (see
eq. 2.38):

FkR =

jA f kjR =

j = 2, 4, 6

jA (

j = 2, 4, 6

Akj iBkj

Or using their time domain description:

Sway radiation force

{
}{
{A (t ) + B (t )}

{
}{
{A (t ) + B (t )}

{
}{
{A (t ) + B (t )}

F2R (t ) = A22 2 (t ) + B22 2 (t ) A24 4 (t ) + B24 4 (t )

26 6

Roll radiation moment

F4R (t ) = A42 2 (t ) + B42 2 (t ) A44 4 (t ) + B44 4 (t )

46 6

Yaw radiation force

26 6

46 6

F6R (t ) = A62 2 (t ) + B62 2 (t ) A64 4 (t ) + B64 4 (t )

66 6

66 6

Where the hydrodynamic coefficients are:

FREQUENCY DOMAIN SOLUTION

Where the hydrodynamic coefficients for Sway/Roll/Yaw are:

A22 = a22 dx
A24 = A42 = a24 dx

A26 = xa22 dx +

B22

A44 = a44 dx

A46 = xa24 dx +
A62 = xa22 dx
A64 = xa24 dx
A66 = x a22 dx +
2

U2

B22 = b22 dx
B24 = B42 = b24 dx
B26 = xb22 dx U A22

B44 = b44 dx

B24

B46 = xb24 dx U A24

B22

B62 = xb22 dx + U A22

B24

B64 = xb24 dx + U A24

A22

B66 = x b22 dx +
2

U2

B22

FREQUENCY DOMAIN SOLUTION

2.2 - Exciting Forces

Hydrodynamic forces acting on the ship advancing with constant forward speed
through a field of incident harmonic waves. The ship is restrained at its mean
position (no oscillatory motions).

F =
E

S0

( I + D ) ~
~ ds
n ( I + D )Um
t

(1.64)

Incident and diffraction potentials are harmonic and equation (1.64) can be
separated into two parts resulting:
Froude-Krilov force
Related to the incident wave
field pressure

Related to the perturbation

on the incident wave field
due to the ship presence

(ink Umk ) I ds ,

FKI =

k=1,...,6

S0

(2.40)

Diffraction force

(ink Umk ) D ds ,

FkD =
S0

k=1,...,6

(2.41)

NUNO FONSECA - IST

FREQUENCY DOMAIN SOLUTION

Froude-Krilov Forces
According to the theory of linear waves, the potential of a progressive incident
wave with an arbitrary direction with respect to the forward speed reference
system is:

( x, y , z , t ) =
I

ig a

(e

ik 0 ( x cos + y sin )

)(e )(e )
k0 z

it

(2.42)

where:

a is the wave amplitude

2
k 0 = 0 / g is the wave number

0 is the wave frequency

is the ship heading relative to the waves (zero for head waves)
The relation between wave frequency and encounter frequency is

0 = k 0U cos

(2.43)

FREQUENCY DOMAIN SOLUTION

Convention for the heading angle

x
O

FREQUENCY DOMAIN SOLUTION

The incident potential can also be represented by:

I ( x, y , z , t ) = a I ( y, z )e ik 0 x cos e it

I ( y, z ) =

ig

e k0 z e ik0 y sin

(2.44)
(2.45)

where ( y , z ) is the complex amplitude of the potential of a unit amplitude

wave acting on the hull cross sections.
I

Using the former expressions, together with the strip theory geometric
simplification, ds ddx , and the 2D unit normal vectors (2.11):
(2.46)

F1I = 0
Ship
Froude-Krilov
forces

FkI = a e ik0 x cos f kI dx , k=2,3,4

L

F5I = a e ik0 x cos xf 3I dx

L

F6I = a e ik0 x cos xf 2I dx

L

(2.47)

(2.48)
(2.49)

FREQUENCY DOMAIN SOLUTION

f kI represents the 2D Froude-Krilov force due to unit amplitude waves:

{ ( y, z )N }d

f 2I = i 0

C0

f 3I = i 0

{ ( y, z )N }d
I

C0

f 4I = i 0

{ ( y, z )N }d
I

C0

(2.50)

FREQUENCY DOMAIN SOLUTION

Diffraction Forces
Related to the perturbation on the incident wave field due to the ship presence

(ink Umk ) D ds ,

FkD =

k=1,...,6

S0

(2.41)

Combining (2.41) with the body boundary condition (2.8) results:

FkD =
S0

U U

0k
k D ds ,
n
i

k=1,...,6

(2.51)

There are two alternatives to calculate the diffraction forces:

(a) Solve directly the diffraction boundary value problem to obtain the
diffraction potential and calculated the forces
(b) Use the Haskind-Newman relations to represent the diffraction forces in
terms of radiation potentials (applies Green theorem)
Basically reduces computation
time to half

FREQUENCY DOMAIN SOLUTION

Green Theorem
If and are two solutions of the Laplace equation within a volume of fluid
bounded by a closed surface ST , these potentials are related in the following
way;

ST

=0
n
n

(2.52)

where n is the normal outward vector to the surface

To apply the Green Theorem one combines (2.52) with:

= 0k

U U
k
i

(2.53)

= D
and also with the body boundary condition for the diffraction problem:

D
I
=
n
n

(1.52)

FREQUENCY DOMAIN SOLUTION

Applying the theorem to the volume of fluid bounded by S T = S 0 + S F + S

results in the diffraction force represented in terms of radiation potential and
incident wave potential:
D
k

U U I
k
ds ,
i
n
0
k

S0

(2.54)

k=1,...,6

z
x

SF

S0

SF

=0

FREQUENCY DOMAIN SOLUTION

Finally to obtain the forces on the ship in terms of 2D quantities one follows a
procedure similar to the one adopted for the radiations forces:
(1) Equations (2.9) are used to represent the speed dependent potentials, Uk , in
terms of speed independent potentials, 0k

(2) The geometric simplification, ds dxd , is used to reduce the surface integrals
(3) The 3D unit normal vector is substituted by the 2D unit normal vector
This way the diffraction forces become:

(2.55)

F1D = 0

FkD = a e ik0 x cos f kD dx ,

k=2,3,4

(2.56)

e ik0 x cos xf 3D +

F5D = a
L

e ik0 x cos xf 2D +

F6D = a
L

U D
f3
i

U D
f2
i

(2.57)

dx
dx

(2.58)
D

where f k

FREQUENCY DOMAIN SOLUTION

where sectional diffraction forces for unit amplitude incident waves are:

{(iN

f kD = 0

N 2 sin )e ik0 y sin e k0 z kR ds ,

k=2,3,4

C0

(2.59)

where

kR is the 2D radiation potential for forced harmonic motions of unit

amplitude in the k mode.

N2 and N3 are the components of the 2D unit vector normal to the cross
sections

FREQUENCY DOMAIN SOLUTION

2.3 Restoring Forces

Restoring forces result from combining hydrostatic forces with the ship weight
The hydrostatic forces are:

(zn~ )ds

F H = g

(1.66)

or along each of the directions of the coordinate system:

( znk )ds ,

FkH = g

k=1,...,6

(2.60)

Assuming small angular displacements such that higher order terms in the Euler
angles can be neglected, the z coordinate of a point on the hull wetted surface is:

z = z + 3 + y 4 x 5

(2.61)

z is on the forward speed reference system and ( x , y , z ) are the coordinates of

the same point on the ship fixed reference system.
Substituting (2.61) into (2.60) and assuming several simplifications results in the
linear hydrostatic forces
NUNO FONSECA - IST

FREQUENCY DOMAIN SOLUTION

The simplifications are:

The hydrostatic pressure is calculated up to the still water surface (z = 0)
The angular motions are of small amplitude
Ship sides are vertical around the waterline
For ships with lateral symmetry the nonzero hydrostatic forces are:

F3H = g 0 gAwl 3 + g

(2.62)

xds 5
Awl

F4H = g 0 y B0 g 0 z B0 z G +

y 2 ds 4

(2.63)

Awl

F5H = g 0 x B0 + g
Awl

were:

(x

B0

zG

is the height of the centre of gravity

is the static immersed volume

xds 3 g 0 z B0 z G +

x 2 ds 5
Awl

, yB0 , z B0 is the centre of immersed volume coordinates (centre of buoyancy)

Awl is the static waterplane area

(2.64)

FREQUENCY DOMAIN SOLUTION

Combining these forces with the force and moments due to the ship weight
results in the restoring forces:

F1B = F2B = F6B = 0

(2.65)

heave restoring force

F3B = C 33 3 C 35 5

(2.66)

roll restoring moment

F4B = C 44 4

(2.67)

F5B = C 53 3 C 55 5

(2.68)

pitch restoring moment

or in a more compact format the restoring force in the k direction is:

{F }= [C ]{ },
B
k

kj

k,j = 3,4,5

where C kj are the restoring coefficients:

C 35 = C 53 = g

xds

C 33 = gAwl

Awl

C 55 = gV0 GM L

(2.69a-d)

C 44 = gV0 GM T

and GM T , GM L represent the transversal and longitudinal metacentric

heights

FREQUENCY DOMAIN SOLUTION

2.4 Equations of Motion

The equations of motion results from the equilibrium between external forces
(hydrodynamic) and the inertial forces associated to the ship mass.
The inertial force is given by the rate of change of the linear moment:

FM =

B ( + r )dV

(2.70)

VB

The inertial moment is given by the rate of change of the angular moment:

MM =

B r ( + r )dV

(2.71)

VB

where
the specific mass of the body is

the velocity of an element of mass in the forward speed reference system is

the velocity of translation (oscillatory) is

v = + r

the angular velocity (oscillatory) in the body fixed reference system is

the position vector in the body fixed reference system is r
integrations are over the volume of the whole ship V B

NUNO FONSECA - IST

FREQUENCY DOMAIN SOLUTION

Assuming small angular motions the inertial forces and moments become:

{F } = [M ]{ }, k,j = 1,...,6
where [M ] is the mass matrix and { } is the accelerations vector.
M
k

kj

kj

(2.72)

If the ship is symmetric with respect to the longitudinal plane and the centre of
gravity is located at (0 ,0 ,z G ) then the mass matrix is:

[M ]
kj

m
0
0
=
0
mz G
0

0
m
0
mz G
0
0

0
0
0 mz G
m
0
I 44
0
0
0

mz G
0
0
0

0
0
0
I 46

I 55
0

0
I 66

0
I 64

Where m is the ship mass and the moment of inertia coefficients are:

B ( y 2 + z 2 )dv

I 44 =
VB

VB

B (x 2 + z 2 )dv

I 55 =
VB

B ( x z )dv

I 46 = I 64 =

B (x 2 + y 2 )dv

I 66 =
VB

FREQUENCY DOMAIN SOLUTION

The equations of motions are:

radiation forces + exciting forces + restoring forces = inertial forces
For each direction of the coordinate system, meaning for each mode of motion:

FkR + FkE + FkB = FkM

where:
radiation forces

, k = 2,...,6

{F }= [A ]{ } [B ]{ },
R
k

kj

kj

k,j = 2,...,6

{F }= {F }+ {F }

restoring forces

{F }= [C ]{ },

k,j = 3,4,5

inertial forces

{F }= [M ]{ },

k,j = 2,...,6

exciting forces

E
k

B
k

M
k

I
k

D
k

kj

kj

(2.73)

k,j=2,...,6

(2.74a-d)

FREQUENCY DOMAIN SOLUTION

Combining (2.73) and (2.74) results in the equations of motion in terms of

displacements, velocities and accelerations:
6
j =1

{(M

kj

+ Akj ) j + Bkj j + Ckj j = FkE , k=2,...,6

(2.75)

Second order, linear and homogeneous differential equations

Within the linear approach and for ships with lateral symmetry the 5 coupled
modes of motions reduce to two sets of motions, decoupled between them:
heave / pitch
sway / roll / yaw

FREQUENCY DOMAIN SOLUTION

Expanding (2.75) we have:

heave / pitch

(2.76a)

[M + A33 ( )] 3 + B33 ( ) 3 + C 33 3 + A35 ( ) 5 + B35 ( ) 5 + C 35 5 = F3E (t )

A53 ( ) 3 + B53 ( ) 3 + C 53 3 + [I 55 + A55 ( )] 5 + B55 ( ) 5 + C 55 5 = F5E (t )
sway / roll / yaw

(2.76b)

[M + A22 ( )] 2 + B22 ( ) 2 + [A24 ( ) MzG ] 4 + B24 4

+ A26 ( ) 6 + B26 ( ) 6 = F2E (t )
[A24 ( ) MzG ] 2 + B42 ( ) 2 + [A24 ( ) + I 44 ] 4 + B44 4 + C44 4
+ [A46 ( ) I 46 ] 6 + B46 ( ) 6 = F4E (t )
A62 2 + B62 ( ) 2 + [ A64 ( ) I 64 ] 4 + B64 4
+ [A66 ( ) + I 66 ] 6 + B66 ( ) 6 = F6E (t )

FREQUENCY DOMAIN SOLUTION

The solution of second order linear differential equations are harmonic:

j (t ) = Re{ jA e it } = ja cos(t j )

where

(2.77)

jA is the complex amplitude of the harmonic motion

aj is the real amplitude
j is the phase angle that represents the delay of the response
The solution of the differential equations (2.75) is obtained by substituting the
unknown complex amplitudes in (2.75) and solving the resulting algebraic eqs:
6
j =1

{ (M
2

kj

+ Akj ) jA + iBkj jA + Ckj jA }eit = FkE eit , k=2,...,6

The mass, added mass and damping coefficients matrixes are:

(2.78)

[M ]
kj

m
0
0
=
0
mz G

0
m
0
mz G

[A ]
kj

0
0

0
0
0 mz G
m
0
I 44
0
0
0

mz G
0
0
0

0
0
0
I 46

I 55
0

0
I 66

0
I 64

0
0
(and Bkj ) = 00

0
A22
0
A42

0
0
A33
0

0
A24
0
A44

0
0
A35
0

0
A26
0
A46

0
0

0
A62

A53
0

0
A64

A55
0

0
A66

0 0

0 0

0 0

0
C44

0
C35

0
C55

[ ]

[C ] =
kj

0
0 0 C33
0
0 0 C53
0 0

0
0

FREQUENCY DOMAIN SOLUTION

FREQUENCY DOMAIN SOLUTION

What remains to be studied is the solution of the 2D boundary value problem of

an arbitrary cross section oscillating on the free surface with harmonic motions
of unit amplitude

Laplace equation
Linear free surface b. c.

yyR + zzR = 0
2 Rj + g

R
j =0
z

Linear body b.c. (radiation)

Rj
= iN j , j = 2,3,4
N

Bottom boundary condition

R 0 on z -

Radiation condition at infinite

2 R
R
i
=0
r
g

(2.16)

z=0

(2.15)

C0

(2.12)
(2.5)

(2.6)

2.5 Derived Responses

FREQUENCY DOMAIN SOLUTION

The absolute ship motions in the forward speed reference system are:

j (t ) = Re{ jA e it } = ja cos(t j )

(2.77)

where

jA

is the complex amplitude of the harmonic motion

aj

is the real amplitude

is the phase angle that represents the delay of the response

Assuming small angular motions the linear lateral and vertical motions, at a point
on the ship located at (x,y,z), are respectively given by:

L (t , x ) = Re{[ 2A + x 6A z 4A ]e it }

(2.78)

V (t , x ) = Re{[ 3A x 5A y 4A ]e it }

(2.79)

NUNO FONSECA - IST

FREQUENCY DOMAIN SOLUTION

The lateral and vertical accelerations are:

L (t , X) = Re{ 2 [ 2A + x 6A z 4A ]e it }

(2.80)

V (t , X) = Re{ 2 [ 3A x 5A y 4A ]eit }

(2.81)

The vertical relative motion between a point on the hull surface at (x,y,z) and
the free surface elevation (t ) is:

R (t , X ) = V (t , X ) (t , X )

(2.82)

where the free surface elevation is given by the sum of the incident wave
elevation with the contributions from the radiated and diffracted waves:

(t , X ) = +
I

6
j =2

+
R
j

6
k =2

kD

(2.83)

Usually it is assumed that the free surface elevation is dominated by the incident
wave elevation, thus the other terms can be neglected (this assumption is not
always valid).

FREQUENCY DOMAIN SOLUTION

The free surface elevation was linearised around the steady free surface elevation
(eq. 1.33). Assuming that the steady flow is V0 = = ( U ,0,0) then substituting it
into equation (1.33) results on the free surface elevation linearised around z = 0 :

~
1
~
,
( x, y , t ) =
U
x
g t

em z=0

(2.84)

Since the potential was decomposed into independent parts, the free surface
elevation due to the incident potential is:

I
1 I
U
,
( x, y , t ) =
g t
x
I

em z=0

(2.85)

And substituting the incident potential (2.42) into the former equation gives:

I (x, y, t ) = Re{ a e ik

( x cos + y sin ) it

I ( x, y, t ) = a cos(t + k0 x cos + k0 y sin )

(2.86)

The same can be done for the radiation and diffraction free surface elevations

2.7 Final Comments

FREQUENCY DOMAIN SOLUTION

This chapter presents a frequency domain solution for the problem of the
motions and structural loads induced on ships advancing in harmonic waves.
The solution is based on a Strip Theory approach, which means linear 3D
flow is reduced to a 2D flow around the cross sections
The forward speed effects are introduced in a very simplistic manner, and
account only to the angle of attack of the hull with the flow at infinite
The simplifications are:
The hull is (very) slender, the vector normal to the hull surface is 2D
The frequency of oscillation is high
The incident waves and the motions are of small amplitude
The hull has vertical sides around the still waterline

FREQUENCY DOMAIN SOLUTION

Vertical Responses
In practical terms the high frequency hypothesis is not a problem because at
low frequencies the external forces are dominated by Froude-Krilov and
restoring forces
In quartering and following waves, at zero frequency of encounter, there may
be problems with unrealistic high responses
In general strip theory results of the vertical motions are good for conventional
ships
Regarding the roll motion, the viscous damping is important and a good
estimate of this coefficient is essential
Prediction of the vertical bending moment and shear forces are satisfactory
for large block coefficient ships (like tankers)
For small block coefficient ships (like containerships) the method is not able
to represent the asymmetry of the vertical bending moment

FREQUENCY DOMAIN SOLUTION

Horizontal Responses
In general one may say that strip theory predictions are not as good as for
the vertical responses
Since there are no restoring forces, a good estimate of the radiation and
diffraction forces (even at low frequencies) is important

FREQUENCY OF ENCOUNTER FOR A SHIP WITH FORWARD SPEED

Progressive harmonic wave:

wavelength

T0

wave period

V0

wave speed of propagation

wave frequency

V0

Deep water waves:

= V0T0
T0 =

V0

(1)
(2)

k0 =

02
g

2g

2
0

(3)

(5)

V0 =

(4)

Ship advancing with constant forward speed, V, in head regular waves:

V0

The period of encounter between the ship and the waves is:

Te =

(V0 + V )

(6)

Or combining (6) with (3) to (5):

Te =

2g

02 (g / 0 + V )

(7)

Since:

2
e =
Te

(8)

One finally obtains the relation between the wave frequency

and the encounter frequency:

e = 0 +

02
g

(9)

For arbitrary angles between the ship bow and the waves the
relations can be generalized to:

e = 0 +

02
g

V cos

(10)

Convention for the heading angle

x
O

e = 0 +

02
g

V cos