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Introduction
Seakeepingisapartofthemarinedynamics,whichdealwith
p g
p
y
,

rigidbodydynamics.
Originally,itwaslimitedtomainlyshipsbutwiththe
introductionofoffshorefloaters,itsapplicationbecamemore
robustandtherehavebeenatremendousimprovementin
computationaltechniques.
Seakeepingismainlydealtwiththeeffectsofenvironment
mainlywind,wavesandcurrentonashiporonoffshorefloaters
i l i d
d
t hi ff h fl t
likeSemis,TLPs,FPSOs,etc.
Whiletraditionally2
Whiletraditionally2Dmethod(StripTheory)isappliedtoa
movingship,3
movingship,3Dmethod(Radiation
Dmethod(RadiationDiffraction)isappliedto
offshoremooredfloaterswithzerospeedofadvance.
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Overview
1. Introduction
2. Environment and Wave Kinematics
3. Regular Waves
1. Wave Excitation Forces & Moments in Regular
Waves
2. Ship Motion in Regular Waves
4 Irregular Waves
4.
1. Wave Excitation Forces & Moments in Irregular
Waves
2. Ship Motion in Irregular Waves
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Seakeeping (1)
Surge x
Sway y
Sway
Heave z
Roll
Pitch
Yaw

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Seakeeping (2)
Surge x
Sway y
Sway
Heave z
Roll
Pitch
Yaw

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Seakeeping (3)
Understanding behaviour of a floating structure

like a ship,
ship a semisemi-submersible or a FPSO.
FPSO
Safety (protection) for crews and Passengers.
Safety (against damage/loss) for ships cargoes.
Stability and course keeping with desired speed.
Dynamics of structural loads in terms of fatigue
and reliability
reliability.
Climate change and protection of environment.

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Translational (1)
Surge:
Translational motion in the longitudinal plane of

the ship taken as positive towards the bow.

bow.
Rolling along the longitudinal X-axis.
Longitudinal bodily motion.
motion.
There is a desire for a vessel to maintain a

constant speed
speed, this would require that the vessel
have stability along the surge axis.
axis.
Governing stability Stability in motion ahead &
astern
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Translational (2)
Sway
Sway::
Translational motion in the transverse plane of

the ship taken as positive towards starboard.

Bodily transfer of the ship in a lateral direction

due to orbital motion of the water in a wave.

wave.
Lateral
Lateral,, side to side, bodily motion.
motion.
It is important to minimize a vessels
vessel s sideways or
lateral motion.
motion. This requires a high degree of
stability in sway.
sway.
Governing stability Lateral motion stability
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Translational (3)
Heave
Heave::
Translational motion in the vertical plane of the

ship taken as positive downwards.

downwards.
The yawing along the vertical ZZ-axis
axis..
The vertical bodily motion of the vessel.
vessel.
To keep the vessel on the surface at a relatively

constant mean draft,

draft, stability in heave is
necessary..
necessary
Governing stability Positional motion stability

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Rotational (1)
Roll:
Rotational motion about the longitudinal
g
plane
plane,
p
, taken

as positive anticlockwise looking from ahead

ahead..
Motion about the vessels longitudinal axis
axis..
One of the most undesirable characteristic of ships.

Setting up stresses in the structure, causing

discomfort to both passengers and crew
crew..
Generates risk of cargo shifting and increasing the
cost of operation
operation..
Rolling is sometimes a direct cause of speed reduction
but more often a change in course, which in turn, may
result in speed reduction.
It is a concern to keep the vessel from capsizing,
stability in rolling motion must be sufficient.
sufficient.
Governing stability Transverse stability.

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Rotational (2)
Pitch
Pitch::
Rotational motion about the transverse plane,
plane,

taken as positive anticlockwise looking from

starboard..
starboard
Swaying along the lateral Y
Y--axis
axis..
Motion about the vessels transverse axis.
axis.
To have a constant trim (trim being the difference

of the forward and after drafts), stability in the

motion of pitch must be acquired.
acquired.
Governing stability Longitudinal stability

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Rotational (3)
Yaw
Yaw::
Rotational motion about the vertical p
plane, taken as
plane,

positive anticlockwise looking from below

below..
Motion about the vessels vertical axis.
axis.
Rotation of a ship about a vertical axis approximately

through its centre of gravity

gravity..
This is undesirable because its correction requires the

use of a rudder with increase in resistance to

propulsion and because it produces yawyaw-heel.
heel.
It is desirable for a vessel to be able to stay on course
and not swing wildly from it. This can be construed to
mean that the vessel is stable in yaw motion or
heading..
heading
Governing stability Directional stability
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Linear Motions (1)

Commonly referred to as the horizontal plane
plane--

Motions.
Surge
Sway
Yaw

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Linear Motions (2)

In general, the horizontal
horizontal--plane
plane--motions
are investigated under the subject heading of
Manoeuvring, Mooring and Dynamic Positioning.
Generally considers the motion induced rudder

propeller and thruster.

Commonly uses TimeTime-Domain analysis.
A comprehensive model will include all sixsixdegrees--of
degrees
of--freedom
freedom..

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Oscillatory Motions (1)

Commonly referred to as the vertical
verticalvertical-plane

motion.
Roll
Pitch
Heave

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Oscillatory Motions (2)

In general, the verticalvertical-plane
plane--motions are

investigated under the subject heading of

Seakeeping.
Generally considers the force/moment and motion

induced by Wave, Wind and Current action.

Commonly uses Frequency
Frequency--Domain analysis.
A comprehensive model will include all sixsixdegrees--of
degrees
of--freedom
freedom..

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References&Bibliography
1.
2.
3.
4.
5.
6.
7.
8.
9.

Bhattacharya,R.,DynamicsofMarineVehicles,JohnWiley&Sons,1978.
P f i G i
Prof.ir.Gerritsma,J.,BewingenenSturen1:Golven,ReportNo.473K,Ship
J B i
S
G l
R
N
K Shi
hydromechanicsLaboratory,DelftUniversityofTechnology,Netherlands
Ir.Journee,J.J.J.andMassie,W.W.,OffshoreHydromechanics,FirstEdition,
DelftUniversityofTechnology,2001.
Chakrabarti,S.K.,HydrodynamicsofOffshoreStructures,Computational
MechanicsPublications,1987.
Hooft,J.P.,AdvancedDynamicsofMarineStructures,OceanEngineering:A
WileyIntersciencePublication,JohnWiley&Sons,Inc.,1982.
Sarpkaya,T.andIsaacson,M.,MechanicsofWaveForcesonOffshore
Structures VanNostrandReinholdCompanyInc 1981
Structures,VanNostrandReinholdCompanyInc.,1981.
Faltinsen,O.M.andLoken,E.A.,SeaLoadsonOffshoreStructures,
UniversityPress,Cambridge,1978.
Dev,A.K.,ViscousEffectsinDriftForcesonSemisubmersibles,PhDThesis,
DelftUniversityofTechnology,Delft,Netherlands,1996.
VariousWebSitesinInternet

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