Stochastic Predictions of Parametric Roll Motions of Ships
description
Transcript of Stochastic Predictions of Parametric Roll Motions of Ships
CeSOS, Trondheim , March 2006
Stochastic Predictions of Parametric Roll Motions of Ships
J. Juncher JensenDepartment of Mechanical Engineering, Technical
University of Denmark, Denmark
CeSOS, Trondheim , March 2006
Parametric Roll
CeSOS, Trondheim , March 2006
Container Ship in Head Sea
Length L
BreadthB
Draft D Block coeff. Cb
β1 β2 β3 GMsw Radius of gyr. rx
Speed V
284 m 32.2 m 10.5 m 0.61 0.012 0.40 0.42 0.89 m 0.4B 6 m/s
h=0.05L, Lw=L
0
1
2
3
0 10 20 30 40 50Roll (deg)
GZ
(m
)
AP L/4 L/2 3L/4
3
31 2 2
( )2 0
x
g w GZ
r
CeSOS, Trondheim , March 2006
Parametric Roll in Regular Waves
-20
-15
-10
-5
0
5
10
15
20
0 100 200 300 400 500 600
time (s)
roll
(d
eg
)
h=3.7m h=3.65m
CeSOS, Trondheim , March 2006
Linear Stochastic Waves
1
( , ) ( , ) ( , )n
i i i ii
H x t u c x t u c x t
2
( , ) cos( )
( , ) sin( )
( )
i i i i
i i i i
i i i
c x t t k x
c x t t k x
S d
CeSOS, Trondheim , March 2006
Equivalent Wave for GZ
H(X,t): Stochastic wave profileh(t): Equivalent wave height used in calculation of GZxc(t): Wave crest position
0 0
2 2
2 2 2 2( ) , , cos ; ( ) , , sin
, cos
2 ( )arccos if ( ) 0
2 ( )( )
2 ( )arccos if ( ) 0
2 ( )
( ) ( ) ( )
e eL L
e e e e
e
c
ee
x xa t H X x t t dx b t H X x t t dx
L L L L
X x t x Vt
L a tb t
h tx t
L a tL b t
h t
h t a t b t
CeSOS, Trondheim , March 2006
FORM Analysis
The design point D (*) and the associated value of βHL determine accurately the probability that the response exceed the prescribed value. They can be calculated by standard reliability programs.
,i iu u
3
31 2 2
( )2 0
x
g w GZ
r
0 0
0
( )
Linear response:
standard deviation
HL
HL
P t
1 1 2 2 0 0 1 2 21( , , , , ..., , ) ( , , , , ..., , ) 0n n nnG u u u u u u t u u u u u u
CeSOS, Trondheim , March 2006
Conditional Most Probable Roll Motion
• Roll period in waves must be in the range of twice the wave encounter peak period. • Simulation time t0 longer than the hydrodynamic memory.• Results to the right:
Design point wave elevation Roll response for this wave
for Hs=6m, 12m and prescribed roll angle of 17 deg. (0.3 rad.)• A minimum wave height (3.7m) is needed to trigger parametric roll.
-20
-15
-10
-5
0
5
10
15
20
0 100 200 300 400 500 600
time (s)
roll
h=3.7m h=3.65m
-20
-15
-10
-5
0
5
10
15
20
0 50 100 150 200 250 300
time (s)
Ro
ll (
de
g)
Hs=6m Hs=12m
-3
-2
-1
0
1
2
3
0 50 100 150 200 250 300
time (s)
Wa
ve
ele
va
tio
n (
m)
at
am
ids
hip
s
. Hs=6m Hs=12m
CeSOS, Trondheim , March 2006
Conditional ResponsesConditional mean response = Most probable response
0 50 100 150 200 250 300
CeSOS, Trondheim , March 2006
Reliability Index βHL
Linear response: βHL = constant*Roll/Hs
0
2
4
6
8
10
12
10 20 30 40 50roll (deg)
Bet
a
Hs=12m
Hs=6m
MC(12m)
(Hs=6m)/2
CeSOS, Trondheim , March 2006
Variation with V,Tz and Heave
0
2
4
6
8
10
12
20 30 40 50roll (deg)
Bet
a
V=6m/s
V=3m/s
V=9m/s
0
2
4
6
8
10
12
20 30 40 50roll (deg)
Bet
a
Tz=11.7s
Tz=13s
Tz=11s
0
2
4
6
8
10
12
20 30 40 50roll (deg)
Bet
a
Hs=12m
No Heave
CeSOS, Trondheim , March 2006
Mean Outcrossing Rates
The mean outcrossing rate is given by
21
2 2 220
1
1( )
2
HLn
i i iiHL
e u u
0 01 / 0F
/0 0{max } 1 ( )eT T
TP F
CeSOS, Trondheim , March 2006
Probability of Exceedance
0
0.25
0.5
0.75
1
10 20 30 40roll (deg)
P{M
ax
(ro
ll)>
Pre
sc
rib
ed
|15
min
ute
s}
.
Hs=6m Hs=12m
Given ship, speed, heading and zero-crossing wave period
CeSOS, Trondheim , March 2006
Decision Support Systems
{max 15 deg 15 minutes} 0.5 P
CeSOS, Trondheim , March 2006
Conclusions
• The First Order Reliability Method (FORM) provides a fast and accurate tool to predict parametric roll in stationary seaways:• The design point and reliability index follows from FORM• The mean outcrossing rates and probability of
exceedance of a given roll angle within a given period is given analytically in terms of the design point and the reliability index.
• It requires a realistic time-domain formulation of roll.
• The procedure is well suited for generation of a operational polar diagram in an on-board decision support system.