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Abstract: This paper demysties how ocean currents together with wind and wave
loads inuence the marine craft equations of motion. In the literature there exists
great confusion of the use of absolute and relative velocity terms when modeling
rigid-body and hydrodynamic forces. The article is useful for engineers who want
to simulate and predict the motions of marine craft exposed to wind, wave and
ocean currents as well as control engineers evaluating the performance of marine
craft control systems. The results are also very useful for testing and tuning of
integral action time constants for compensation of ocean current and 2nd-order
wave-induced drift forces.
Keywords: Marine systems, wind, waves, ocean currents, equations of motion
INTRODUCTION
J( ) =
06
06
T
The subscripts RB and A are used for the rigidbody and added mass terms, respectively. The
rigid-body system inertia matrix MRB satises:
_ RB = 06
M
MRB = M>
RB > 0;
MRB =
mS(rbg )
mI3 3
mS(rbg )
Ib
where
S( ) =
S> ( ) = 4
3
2
5;
=4
1
2
3
3
5
(3)
is the cross-product operator dened such that
a := S( )a.
M11 M12
M21 M22
>0
(4)
C( ) =
03
S(M11
+ M12
S(M11
S(M21
with
2)
+ M12
1 + M22
1
2)
2)
:= [p; q; r]> .
(5)
C>
RB ( );
8 2 R6
(6)
mS(
1)
03 3
mS(S(
b
2 )rg )
CRB ( ) =
mS( 2 )S(rbg )
S(Ib 2 )
(8)
6
6
6
g( ) = 6
6
6
4
(W B) sin ( )
(W B) cos ( ) sin ( )
(W B) cos ( ) cos ( )
(y g W y b B) cos ( ) cos ( )
(z g W z b B) sin ( )
(xg W xb B) cos ( ) sin ( )
3
+ (z g W
+ (xg W
(y g W
7
7
z b B) cos ( ) sin ( ) 7
7 (10)
xb B) cos ( ) cos ( ) 5
y b B) sin ( )
urw = u
vrw = v
0 .8
0 .6
0 .8
0 .4
0 .4
- 0.2
0 .2
- 0.4
- 0.6
CX
0
30
60
90
120
150
180
30
60
90
120
150
180
0.15
0 .8
CN
0 .1
0 .6
CK
0.05
0 .4
0
0 .2
- 0.0 5
- 0.1
30
60
90
120
150
180
(15)
(16)
CY
0 .6
0 .2
uw
vw
30
60
90
120
150
180
+
(11)
where wind 2 R6 and wave 2 R6 represent the
generalized forces due to wind and waves.
wind
wave
i)
fdofg
i)
~wave2 (! k ;
gA2k
ej\~w a v e 1 (!k ;
fdofg
i)
fdofg
i)
ej\~w a v e 2 (!k ;
The output from the hydrodynamic code is usually an ASCII le containing RAOs in table format. Let us denote the imaginary and real parts
of the force RAOs by; Imwave1 fdofg(k; i) and
Rewave1 fdofg(k; i). The amplitudes and phases for
dierent frequencies ! k and wave directions i for
the rst-order wave-induced forces can be computed according to the formulae:
fdofg
Fwave1 (! k ;
i)
i)
fdofg
~wave1 (! k ;
gAk
fdofg
\Fwave1 (! k ;
i)
i) =
Fwave2 (! k ;
2. SUPERPOSITION OF WIND AND
WAVE-INDUCED FORCES
fdofg
fdofg
Fwave1 (! k ;
1=2
(17)
Fwave2 (! k ;
fdofg
\Fwave2 (! k ;
i)
i)
= Rewave2 fdofg(k; i)
(19)
=0
(20)
exp( B!
(21)
N
X
)+
fdofg
g Fwave2 (! k ; )
k=1
k)
(24)
where
! e (U; ! k ; ) = ! k
= [uc ; vc ; wc ; 0; 0; 0]>
| {z }
! 2k
U cos( )
g
(27)
vcb
vcn = Rnb (
fdofg
\Fwave1 (! k ;
(26)
fdofg
(23)
=
r
6
g Fwave1 (! k ; )
Ak cos ! e (U; ! k ; )t +
fdofg
wave2
k=1
N
X
b
nb )vc
(28)
>
where
are the Euler angles
nb = [ ; ; ]
between BODY and NED, and Rnb ( nb ) 2 SO(3)
is the corresponding rotation matrix.
(25)
_ nb (
R
nb )
= Rnb (
b
nb )S(! b=n )
(30)
(31)
+ MA _r + CA ( r )
|
{z
+ D(
r) r
where
r
wind
vb vbc
! bb=n
wave
(32)
(33)
MRB _ r +CRB (
r) r
(34)
PROOF. Since the Coriolis and centripetal matrix represented by (8) is independent of linear velocity 1 = [u; v; w]> , it follows that CRB ( r ) =
CRB ( ). The property:
(36)
In many textbooks and papers, for instance Blendermann (1994), wind and current coe cients are
dened relative to the bow using a counter clockwise rotation c (see Figure 3). The current forces
on a marine craft at rest can be expressed in terms
of the area-based current coe cients CX ; CY and
CN as:
1
AF c CX ( c )Vc2
(39)
Xcurrent =
2
1
Ycurrent =
ALc CY ( c )Vc2
(40)
2
1
Ncurrent =
ALc Loa CN ( c )Vc2
(41)
2
where Vc is the speed of the ocean current. The
frontal and lateral projected currents areas are
denoted AF c and ALc ; respectively while Loa is
the length over all and is the density of water.
MRB _ c + CRB (
r) c
=0
(35)
"
mI3 3
mS(rbg )
mS(rbg )
Ib
mS(! bb=n )
mS(rbg )S(! bb=n )
=0
M _ r +C(
r)
r +D(
r +g( ) =
r)
vcn
0
_ = J( )
(37)
wind +
wave +
(38)
where M = MRB + MA and C( r ) = CRB ( r ) +
CA ( r ). Notice that only r and not
is used
in (38) if compared to (32). The model (37)(38)
includes the bias v_ cn = 0 at the kinematic level
while (32) models drift due to ocean currents at
the kinetic level using r =
c.
M _ + C( ) + D( ) + g( ) =
current + wind +
where
current
wave
The current coe cients can also be used at forward speed U > 0 and related to the surge resistance, cross-ow drag and the Munk moment
used in maneuvering theory by using the concept
of relative velocity (see Chapter 7.3, Fossen 2011).
V_ c +
_c +
_ +
c
1 Vc
= w1
(42)
2 c
= w2
(43)
3 c
= w3
(44)
Vc (t)
Vmax
(45)
3
Vc
4 0 5
c
0
3
Vc cos( c ) cos( c )
5
= 4 Vc sin( c )
Vc sin( c ) cos( c )
(46)
= 0 and
uc = Vc cos(
(50)
vc = Vc sin(
(51)
= 0. Consequently,
p
Vc = u2c + vc2
for
(52)