Theory Stability Module

1 Introduction
In aNySim there are four methods for the calculation of restoring moments for roll and pitch and restoring forces for heave: 1. Linear hydrostatics, using GMT and GML for small and large roll and pitch angles, and the waterline area at the mean draft for all heave excursions. 2. GZ-curves for roll and pitch and heave, heave-roll and heave-pitch curves given by the user. 3. GZ-curves for rol and pitch and heave, heave-roll and heave-pitch curves calculated with a Patran model. 4. A method which estimates the shift of the buoyancy point. The applied method may be different for each vessel.

2 Linear hydrostatics
When there is no Stability section present for a body aNySim applies linear hydrostatics for the calculation of restoring roll and pitch moments and restoring forces for heave: Fz = Z * C33 + * C35 Mx = * C44 My = Z * C53 + * C55 with: Z [kN] [kNm] [kNm] [m] [rad] [rad] [kN/m] [kN] [kN] [kNm] [kNm]

C33 C35 C53 C44 C55

= heave roll = pitch = * g * Awl = * g *Awl * (XF XG) = C35 = * g * * GMT = * g * * GML

The waterline area Awl, longitudinal flotation position XF and the metacentric heights w.r.t. the keel KMT and KML are scaled from the values in the Hyd-file with the scaling factor:

where: Awl XF KMT KML

displacement from ini-file displacement from hyd-file = = = = * Awl * XF * KMT * KML

[m3] [m3]

The metacentric heights GMT and GML are then found with: GMT = KMT ZG GML = KML ZG [m] [m]

The CoG coordinates XG and ZG are read from the ini-file.

3 User defined GZ-curves

The user can use his own curves of heave restoring force versus heave, transverse stability arm GZT versus roll and longitudinal stability arm GZL versus pitch. As an option, it is also possible to apply user defined curves for the coupling stiffnesses heave roll and heave pitch. During a simulation the stiffness coefficients C33, C34, and C35 and the stability arms GZT and GZL are found by linear interpolation in the user defined curves. The restoring forces follow then from: Fz = Z * C33 + * C34 + * C35 Mx = Z * C34 + * g * * GZT My = Z * C35 + * g * * GZL [kN] [kNm] [kNm]

4 Calculated GZ-curves
The GZ- and the heave restoring curves can also be calculated with a Patran model of the vessel. This model should include the hull up to the main deck, the main deck itself and all superstructures which add to the buoyancy of the vessel. Care must be taken that the normals of all panels point outwards. The GZ-curves are calculated up to heel cq trim angles where the GZ becomes negative. In the calculations the displacement is kept constant for all angles.

The heave restoring curve is calculated from zero draft up to the highest panel of the Patran model.

5 Estimation method
In case GZ-curves are not given by the user nor calculated with a Patran model a method is used in which the shift of the buoyancy point due to roll and/or pitch is estimated.

Z Bnew

B K

From the Hyd-file: KML KMT CoF Awl [m] [m] [m] [m2] longitudinal metacentric height w.r.t. the keel transverse metacentric height w.r.t. the keel floatation point waterline w.r.t. buoyancy point waterline area

From the aNySim ini-file: KG COB0 M V0 [m] [m] [ton] [m3] vertical position CoG w.r.t. the keel initial centre of buoyancy vessel mass vessel displacement

From the aNySim simulation data: z [m] vessel heave motion

[deg] [deg] GMT = KMT - KG GML = KML - KG BML = KML KB BMT = KMT KB KB = CoB0_z

vessel roll motion vessel pitch motion

Calculation of new ship-fixed buoyancy point B (in horizontal system of axes): SFT0 XBnew= CoB0x *(Vo/(Vo-z*Awl)) +BML* tan YBnew= CoB0y *(Vo/(Vo-z*Awl)) -BMT* tan ZBnew= CoB0z*Vo - (To-z/2)*Awl*z (Vo-Awl*z) Now the earth-fixed gravity force can be applied at the CoG: Fzw = gM [kN] gravity force at CoG - COFx*(z*Awl)/(V0-z*Awl ) - COFy*(z*Awl)/ (V0-z*Awl )

At the buoyancy point the upward, earth-fixed buoyancy force can be applied: FB = g(V0-Awl*z) [kN] buoyancy force at CoB

The hydrostatic spring matrix (with coefficients C33, C34, and C35) is set to zero.