Planning Procedure of Naval Architecture and Ocean Engineering

Ship Stability

September 2013

Myung-Il Roh

Department of Naval Architecture and Ocean Engineering

Seoul National University

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Ship Stability

þ Ch. 1 Introduction to Ship Stability

þ Ch. 2 Review of Fluid Mechanics
þ Ch. 3 Transverse Stability
þ Ch. 4 Initial Transverse Stability
þ Ch. 5 Free Surface Effect
þ Ch. 6 Inclining Test
þ Ch. 7 Longitudinal Stability
þ Ch. 8 Curves of Stability and Stability Criteria
þ Ch. 9 Numerical Integration Method in Naval Architecture
þ Ch. 10 Hydrostatic Values
þ Ch. 11 Introduction to Damage Stability
þ Ch. 12 Deterministic Damage Stability
þ Ch. 13 Probabilistic Damage Stability (Subdivision and Damage
Stability, SDS)

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 How does a ship float? (1/3)

þ The force that enables a ship to float Æ “Buoyant Force”

n It is directed upward.
n It has a magnitude equal to the weight of the fluid which is displaced
by the ship.

Ship

Ship
Water tank
Water

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 How does a ship float? (2/3)
þ Archimedes’ Principle
n The magnitude of the buoyant force acting on a floating body in the
fluid is equal to the weight of the fluid which is displaced by the
floating body.
n The direction of the buoyant force is opposite to the gravitational
force.
Buoyant force of a floating body
= the weight of the fluid which is displaced by the floating body (“Displacement”)
Æ Archimedes’ Principle
þ Equilibrium State (“Floating Condition”)
n Buoyant force of the floating body W D = -W = -rgV
= Weight of the floating body
G
\Displacement = Weight
G: Center of gravity
B: Center of buoyancy B
W: Weight, D: Displacement
r: Density of fluid
V: Submerged volume of the floating body
(Displacement volume, Ñ) D
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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 How does a ship float? (3/3)

þ Displacement(D) = Buoyant Force = Weight(W)

D = L × B × T × CB × r T: Draft
CB: Block coefficient
r: Density of sea water
= W = LWT + DWT LWT: Lightweight
DWT: Deadweight

þ Weight = Ship weight (Lightweight) + Cargo weight(Deadweight)

Ship

Ship
Water

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 What is “Stability”? FG

G
B
Capsizing
℄ B1

FB
FG FG
Inclining
W L W1 L1
(Heeling)
G
G

B B B1
Restoring

FB
℄ ℄ FB
Stability = Stable + Ability

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Ch. 1 Introduction to Ship Stability

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 What is a “Hull form”?

þ Hull form
n Outer shape of the hull that is streamlined in order to satisfy requirements of a
ship owner such as a deadweight, ship speed, and so on
n Like a skin of human
þ Hull form design
n Design task that designs the hull form

Hull form of the VLCC(Very Large Crude oil Carrier)

Wireframe model Surface model

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 What is a “Compartment”?

þ Compartment
n Space to load cargos in the ship
n It is divided by a bulkhead which is a diaphragm or peritoneum of human.
þ Compartment design (General arrangement design)
n Compartment modeling + Ship calculation
þ Compartment modeling
n Design task that divides the interior parts of a hull form into a number of
compartments
þ Ship calculation (Naval architecture calculation)
n Design task that evaluates whether the ship satisfies the required cargo
capacity by a ship owner and, at the same time, the international regulations
related to stability, such as MARPOL and SOLAS, or not

Compartment of the VLCC 9

Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 What is a “Hull structure”?

þ Hull structure
n Frame of a ship comprising of a number of hull structural parts such as plates,
stiffeners, brackets, and so on
n Like a skeleton of human
þ Hull structural design
n Design task that determines the specifications of the hull structural parts such
as the size, material, and so on

Hull structure of the VLCC

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Principal Characteristics (1/2)

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Definitions for the Length of a Ship

Structures above
main deck
Main deck

(Main) Hull

Wetted line Molded line

Length overall(LOA)

Length on waterline(LWL)

Stem tstem
Design waterline

Length between perpendiculars(LBP)

AP FP

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Principal Characteristics (2/2)

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Definitions for the Breadth and Depth of a Ship
1/2 Molded breadth(B,mld)
Deck plating

Camber
Deck beam

Freeboard

Scantling waterline
Molded depth(D,mld)

Scantling draft
Centerline

Baseline Dead rise

L
C
Keel
Sheer after Sheer forward

Depth

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Static Equilibrium

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Center plane
Before defining the coordinate system of a ship, we first introduce three planes,
which are all standing perpendicular to each other.

Generally, a ship is symmetrical about starboard and port.

The first plane is the vertical longitudinal plane of symmetry, or center plane.

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Base plane

The second plane is the horizontal plane, containing the bottom of the ship,
which is called base plane.

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Midship section plane

The third plane is the vertical transverse plane through the midship, which is
called midship section plane.

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Centerline in
(a) Elevation view, (b) Plan view, and (c) Section view
Centerline:
Intersection curve between
center plane and hull form

Centerline
Elevation view

Plan view
(a) ℄
(c)
Section view
℄
℄: Centerline
(b)

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Baseline in
(a) Elevation view, (b) Plan view, and (c) Section view
Baseline:
Intersection curve between
base plane and hull form

Elevation view

Plan view (a) BL ℄ BL

(c)
Section view

Baseline
(b)

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 System of coordinates
zb
zn
yb
O
n-frame: Inertial frame xn yn zn or x y z
E yn xb Point E: Origin of the inertial frame(n-frame)
b-frame: Body fixed frame xb yb zb or x’ y’ z’
Point O: Origin of the body fixed frame(b-frame)
xn
1) Body fixed coordinate system
The right handed coordinate system with the axis called xb(or x’), yb(or y’), and zb(or z’) is fixed
to the object. This coordinate system is called body fixed coordinate system or body fixed
reference frame(b-frame).

2) Space fixed coordinate system

The right handed coordinate system with the axis called xn(or x), yn(or y) and zn(or z) is fixed to
the space. This coordinate system is called space fixed coordinate system or space fixed
reference frame or inertial frame(n-frame).

In general, a change in the position and orientation of the object is described with respect to
the inertial frame. Moreover Newton’s 2nd law is only valid for the inertial frame.
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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 System of coordinates for a ship

Body fixed coordinate system(b-frame): Body fixed frame xb yb zb or x’ y’ z’

Space fixed coordinate system(n-frame): Inertial frame xn yn zn or x y z

Stem, Bow
zb zn
zb SLWL
yb xb yn
xn
yb BL

AP LBP xb FP

AP: aft perpendicular : midship

FP: fore perpendicular
LBP: length between perpendiculars.
Stern BL: baseline
(a) SLWL: summer load waterline (b)

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 K: keel
Center of buoyancy (B) LCB :
VCB :
longitudinal center of buoyancy LCG : longitudinal center of gravity
vertical center of buoyancy VCG : vertical center of gravity
and Center of mass (G) TCB : transverse center of buoyancy TCG : transverse center of gravity

z z
Elevation view Section view
y x x y

G LCG VCG B G
B LCB VCB
K
Plan view y Lz
C

TCG
B G z x G
TCB
LCB LCG
B
K
L
C

※ In the case that the shape of a ship is asymmetrical

with respect to the centerline.
Center of buoyancy (B)
It is the point at which all the vertically upward forces of support (buoyant force) can be considered to act.
It is equal to the center of volume of the submerged volume of the ship. Also, It is equal to the first moment
of the submerged volume of the ship about particular axis divided by the total buoyant force (displacement).
Center of mass or Center of gravity (G)
It is the point at which all the vertically downward forces of weight of the ship(gravitational force) can be
considered to act.
It is equal to the first moment of the weight of the ship about particular axis divided by the total weight of
the ship.
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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Static
Equilibrium (1/3)
Static Equilibrium

① Newton’s 2nd law

FG
ma = åF
= - FG
G

m: mass of ship G: Center of mass

a: acceleration of ship FG : Gravitational force of ship

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Static Equilibrium (2/3)
Static Equilibrium

① Newton’s 2nd law

FG
ma = åF
= - FG + FB
G for the ship to be in static equilibrium
0 = åF , (Q a = 0)
\ FG = FB
B

FB

B: Center of buoyancy at upright

position(center of volume of
the submerged volume of the
ship)
FB : Buoyant force acting on ship

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Static Equilibrium (3/3)
Static Equilibrium

① Newton’s 2nd law

FG
ma = åF
= - FG + FB
G for the ship to be in static equilibrium
0 = åF , (Q a = 0)

Static Equilibrium \ FG = FB
B
② Euler equation
I w& = åt
FB for the ship to be in static equilibrium
0 = åt , (Q w& = 0)

When the buoyant force(FB) lies on the same

t : Moment
I : Mass moment of interia
line of action as the gravitational force(FG),
w : Angular velocity total summation of the moment becomes 0.

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 What is “Stability”? FG

G
B
Capsizing
℄ B1

FB
FG FG
Inclining
W L W1 L1
(Heeling)
G
G

B B B1
Restoring

FB
℄ ℄ FB
Stability = Stable + Ability

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Stability of a floating object
l You have a torque on this object Static Equilibrium
relative to any point that you choose. It
does not matter where you pick a point. ① Newton’s 2nd law
ma = åF
l The torque will only be zero when the
buoyant force and the gravitational = - FG + FB
force are on one line. Then the torque for the ship to be in static equilibrium
becomes zero. 0 = åF , (Q a = 0)

Rotate \ FG = FB

② Euler equation
I w& = åt
for the ship to be in static equilibrium
0 = åt , (Q w& = 0)

When the buoyant force(FB) lies on the same

line of action as the gravitational force(FG),
total summation of the moment becomes 0.

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Stability of a ship
l You have a torque on this object Static Equilibrium
relative to any point that you choose. It
does not matter where you pick a point. ① Newton’s 2nd law
ma = åF
l The torque will only be zero when the
buoyant force and the gravitational = - FG + FB
force are on one line. Then the torque for the ship to be in static equilibrium
becomes zero. 0 = åF , (Q a = 0)

Rotate \ FG = FB

FG FG ② Euler equation

G I w& = åt
G
for the ship to be in static equilibrium
B
B 0 = åt , (Q w& = 0)

When the buoyant force(FB) lies on the same

FB FB line of action as the gravitational force(FG),
(a) (b) total summation of the moment becomes 0.
Static Equilibrium
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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Interaction of weight and buoyancy of
a floating body (1/2)
Restoring
Torque Moment
(Heeling tr
Moment)
te FG FG
W L W1 L1
G
G

B B B1

FB ℄ FB
℄
(a) (b)
Euler equation: I w& = åt Æ w& ¹ 0

Interaction of weight and buoyancy resulting in intermediate state

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Interaction of weight and buoyancy of
a floating body (2/2)

Static Equilibrium
Heeling
Moment
te
FG FG
W L W1 L1
G
G

B B B1

FB ℄
℄ FB
(a) (b)
Euler equation: I w& = åt Æ w& = 0

Interaction of weight and buoyancy resulting in static equilibrium

state
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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Stability of a floating body (1/2)

Restoring Moment
Inclined

B
FB B FG
FG FB G
G

(a) (b)

Floating body in stable state

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Stability of a floating body (2/2)

Overturning Moment
Inclined

G
FG FG
G

B
FB B

FB

(a) (b)

Floating body in unstable state

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Transverse, longitudinal, and yaw moment
Question) If the force F is applied on the point of rectangle object, what is the moment?

z Fz
k P F
y z
i j
Fy
x
Fx
rP ( xP , yP , z P )
O
y

M = rP ´ F x

éi j k ù Transverse moment Longitudinal moment Yaw moment

ê ú
= ê xP yP z P ú = i ( yP × Fz - z P × Fy ) + j(- xP × Fz + z P × Fx ) + k ( xP × Fy - yP × Fx )
ê Fx Fy Fz úû Mx My Mz
ë
The x-component of the moment, i.e., the bracket term of unit vector i,
indicates the transverse moment, which is the moment caused by the force F
acting on the point P about x axis. Whereas the y-component, the term of unit
vector j, indicates the longitudinal moment about y axis, and the z-component,
the last term k, represents the yaw moment about z axis. 34
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Equations for Static Equilibrium (1/3)
Suppose there is a floating ship. The force equilibrium states that the sum of total forces is
zero.

åF = F G,z + FB , z = 0
, where
FG.z and FB.z are the z component of the gravitational force vector and the buoyant force vector,
respectively, and all other components of the vectors are zero.

Also the moment equilibrium must be satisfied, this means, the resultant moment should
be also zero.

åτ = M G + MB = 0
where MG is the moment due to the gravitational force and MB is the moment due to the buoyant
force.

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Equations for Static Equilibrium (2/3)

åτ = M G + MB = 0
where MG is the moment due to the gravitational force and MB is the moment due to the buoyant
force.

From the calculation of a moment we know that MG and MB can be written as follows:
M G = rG ´ FG
é i j k ù
ê ú
= ê xG yG zG ú
ê FG , x FG , y FG , z ú
ë û
= i ( yG × FG , z - zG × FG , y ) + j(- xG × FG , z + zG × FG , x ) + k ( xG × FG , y - yG × FG , x )
M B = rB ´ FB
é i j k ù
ê ú
= ê xB yB zB ú
ê FB , x FB , y FB , z ú
ë û
= i ( yB × FB , z - z B × FB , y ) + j(- xB × FB , z + z B × FB , x ) + k ( xB × FB , y - yB × FB , x )

M G = i ( yG × FG , z - zG × FG , y ) + j(- xG × FG , z ) and M B = i ( yB × FB , z - z B × FB , y ) + j(- xB × FB , z )

M G = i ( yG × FG , z ) + j(- xG × FG , z ) and M B = i ( yB × FB , z ) + j(- xB × FB , z )

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Equations for Static Equilibrium (3/3)

åτ = M G + MB = 0
where MG is the moment due to the gravitational force and MB is the moment due to the buoyant
force.

M G = i ( yG × FG , z ) + j(- xG × FG , z ) and M B = i ( yB × FB , z ) + j(- xB × FB , z )

åτ = M G + M B = i ( yG × FG , z + yB × FB , z ) + j(- xG × FG , z - xB × FB , z ) = 0

yG × FG , z + yB × FB , z = 0 and - xG × FG , z - xB × FB , z = 0

Substituting FG , z = - FB , z (force equilibrium)

yG - yB = 0 xG - xB = 0
\ yG = yB \ xG = xB

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Restoring Moment and Restoring Arm

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Restoring moment acting on an inclined ship

Restoring
Heeling Moment
Moment tr
te FG
FG
G Z
G
W L W1 L1

B B B1

FB FB

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Restoring Arm (GZ, Righting Arm)
• The value of the restoring moment
Heeling Restoring
Moment
is found by multiplying the
Moment
te tr buoyant force of the ship
(displacement),  , by the
FG perpendicular distance from G to
G Z the line of action of  .
• It is customary to label as Z
the point of intersection of the line
B B1
of action of  and the parallel line
to the waterline through G to it.
• This distance GZ is known as the
FB ‘restoring arm’ or ‘righting arm’.
• Transverse Restoring Moment
t restoring = FB × GZ
G: Center of mass K: Keel
B: Center of buoyancy at upright position
B1: Changed center of buoyancy
FG: Weight of ship FB: Buoyant force acting on ship
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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 • Restoring Moment

Metacenter (M) t restoring = FB × GZ

M
Definition of M (Metacenter)
te • The intersection point of the vertical
FG line through the center of buoyancy
at previous position (B) with the
G Z vertical line through the center of
buoyancy at new position (B1) after
inclination
• The term meta was selected as a prefix for center
because its Greek meaning implies movement. The
B B1 metacenter therefore is a moving center.

• GM Æ Metacentric height

• From the figure, GZ can be obtained

FB with assumption that M does not
change within a small angle of
tr inclination (about 7° to 10°), as below.
Z: The intersection point of the line of buoyant force through
B1 with the transverse line through G

GZ » GM × sin f

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Restoring moment at large angle of inclination (1/3)
M
GZ » GM × sin f
te For a small angle of inclination
FG
(about 7° to 10°)

G //
Z
• The use of metacentric height(GM)
//
as the restoring arm is not valid for
a ship at a large angle of inclination.
B B1

To determine the restoring

FB arm ”GZ”, it is necessary to know
the positions of the center of
G: Center of mass of a ship
FG: Gravitational force of a ship
tr mass(G) and the new position of the
B: Center of buoyancy in the previous state (before inclination) center of buoyancy(B1).
FB: Buoyant force acting on a ship
B1: New position of center of buoyancy after the ship has been inclined
Z : The intersection point of a vertical line through the new position of
the center of buoyancy(B1) with the transversely parallel line to a
waterline through the center of mass(G)

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Restoring moment at large angle of inclination (2/3)
M: The intersection point of the vertical line through the center
of buoyancy at previous position (Bi-1) with the vertical line
through the center of buoyancy at present position (Bi) after
inclination

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Restoring moment at large angle of inclination (3/3)
M: The intersection point of the vertical line through the center
of buoyancy at previous position (Bi-1) with the vertical line
through the center of buoyancy at present position (Bi) after
inclination

GZ ¹ GM 35 × sin f35
C35
C30

f=35°

G Z

FB ,35
FB ,30

L35
L30
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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Stability of a ship according to
relative position between “G”, “B”, and “M” at small angle of inclination

• Righting(Restoring) Moment : Moment to return the ship to the upright floating position
• Stable / Neutral / Unstable Condition : Relative height of G with respect to M is
one measure of stability.

FG
• Stable Condition ( G < M ) • Neutral Condition ( G = M ) • Unstable Condition ( G > M )
FG Z
G
FG M G, Z, M M

G Z

B B1 B B1 FG B B1
FG
FG M G M
K K K G
G Z M
FB B
FB B
FB B

FB FB FB
G: Center of mass K : Keel
B: Center of buoyancy at upright position B1: Changed center of buoyancy
FG : Weight of ship FB : Buoyant force acting on ship
Z : The intersection of the line of buoyant force through B1 with the transverse line through G
M : The intersection of the line of buoyant force through B1 with the centerline of the ship

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Importance of transverse stability
FG FGFG FG FG F
G
G G

te te

B
B2 B B1
B1

FB0 F FF
B1 FB BF
0BB
12
2

The ship is inclined further from it. The ship is inclined further from it.
The ship is in static equilibrium state. Because of the limit of the breadth, “B” can not
move further. the ship will capsize.
As the ship is inclined, the position of the center of buoyancy “B” is changed.
Also the position of the center of mass “G” relative to inertial frame is changed.

One of the most important factors of stability is the breadth.

So, we usually consider that transverse stability is more important than longitudinal
stability. - Overview of Ship Stability 46
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Summary of static stability of a ship (1/3)

te l When an object on the deck moves to

the right side of a ship, the total center of
mass of the ship moves to the point G1, off
the centerline.
l Because the buoyant force and the
FG1 FG1 gravitational force are not on one line, the
G G1 forces induces a moment to incline the
ship.
* We have a moment on this object
relative to any point that we choose.
B It does not matter where we pick a
point.
FB

G: Center of mass of a ship

G1: New position of center of mass after the object on the deck moves
to the right side
FG: Gravitational force of a ship
B: Center of buoyancy at initial position
FB: Buoyant force acting on a ship
B1: New position of center of buoyancy after the ship has been inclined
Z: The intersection of a line of buoyant force(FB) through the new position
of the center of buoyancy (B1) with the transversely parallel line to the
waterline through the center of mass of a ship(G) 47
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Summary of static stability of a ship (2/3)

te

FG F
FGG11
GG G1G
1

BB B1

l The total moment will only be zero

FB FF when the buoyant force and the
BB
gravitational force are on one line. If the
moment becomes zero, the ship is in static
tr equilibrium state.
G: Center of mass of a ship
G1: New position of center of mass after the object on the deck moves
to the right side
FG: Gravitational force of a ship
B: Center of buoyancy at initial position
FB: Buoyant force acting on a ship
B1: New position of center of buoyancy after the ship has been inclined
Z: The intersection of a line of buoyant force(FB) through the new position
of the center of buoyancy (B1) with the transversely parallel line to the
waterline through the center of mass of a ship(G) 48
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Summary of static stability of a ship (3/3)
l When the object on the deck returns to the
te initial position in the centerline, the center of
mass of the ship returns to the initial point G.
l Then, because the buoyant force and the
gravitational force are not on one line, the
forces induces a restoring moment to
FG return the ship to the initial position.
G Z
G1 ※ Naval architects refer to the restoring
moment as “righting moment”.
l The moment arm of the buoyant force
B B1 and gravitational force about G is
expressed by GZ, where Z is defined as the
intersection point of the line of buoyant
force(FB) through the new position of the
FB center of buoyancy(B1) with the
transversely parallel line to the waterline
through the center of mass of the ship(G)
tr
G: Center of mass of a ship
G1: New position of center of mass after the object on the deck moves • Transverse Righting Moment
to the right side
FG: Gravitational force of a ship
B: Center of buoyancy at initial position
t righting = FB × GZ
FB: Buoyant force acting on a ship
B1: New position of center of buoyancy after the ship has been inclined l By the restoring moment, the ship
Z: The intersection of a line of buoyant force(FB) through the new position
of the center of buoyancy (B1) with the transversely parallel line to the returns to the initial position.
waterline through the center of mass of a ship(G) 49
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Evaluation of Stability
: Merchant Ship Stability Criteria – IMO Regulations for Intact Stability
(IMO Res.A-749(18) ch.3.1)
þ IMO recommendation on intact stability for passenger and cargo ships.

Righting Arm D = const. Area A: Area under the righting arm curve
(GZ) (D: displacement)
between the heel angle of 0° and 30°
Area B: Area under the righting arm curve
between the heel angle of 30° and min(40°, ff )
※ ff : Heel angle at which openings in the hull
GM fm: Heel angle of maximum righting arm

57.3°
※ After receiving approval of
A B calculation of IMO regulation
Angle of heel from Owner and Classification
(f [°])
0 10 20 30 40 50 60 70 80 Society, ship construction can
fm ff proceed.
IMO Regulations for Intact Stability
(a) Area A ≥ 0.055 m-rad
(b) Area A + B ≥ 0.09 m-rad The work and energy
(c) Area B ≥ 0.030 m-rad considerations (dynamic stability)
(d) GZ ≥ 0.20 m at an angle of heel equal to or greater than 30°
(e) GZmax should occur at an angle of heel preferably exceeding
30° but not less than 25°. Static considerations
(f) The initial metacentric height GMo should not be less than 0.15 m.

50
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Rotational Transformation of
a Position Vector to a Body in Fluid

51
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Orientation of a ship with respect to the different reference
frame

z z¢
z
FG
W
z¢ FG y

G
G f
 y O, O¢
y¢
O W
 L
f
B1
L
B1 y¢


FB
(a) (b)
Space(Water plane) fixed reference frame Body fixed reference frame
Body fixed coordinate system(b-frame): Body fixed reference frame x’ y’ z’
Space fixed coordinate system(n-frame): Inertial reference frame x y z

52
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Reference)
- Water Plane Fixed Reference Frame vs. Body Fixed Reference Frame
How can we calculate ship’s center of buoyancy(B1)?

We can calculate the center of buoyancy with respect to the water plane fixed
reference frame (inertial reference frame).
Alternatively, we can calculate the center of buoyancy with respect to the body fixed
reference frame (non-inertial reference frame).
Method 1. Calculate center of buoyancy B1 directly Method 2. Calculate center of buoyancy B1 with
with respect to the water plane reference fixed frame. respect to the body fixed reference frame, then
transform B1 to the water plane fixed reference frame.
z zn
k (+) z z'
yn
j
t
G G y
x,x’ y f
O,O’ f O,O’ z ¢B1 / O¢ y'
z B1 / O
B B B1
yB¢ 1 / O '
yB1 / O B1
K
O : Origin of the water plane fixed reference frame O : Origin of the water plane fixed reference frame
O’ : Origin of the body fixed reference frame O’ : Origin of the body fixed reference frame

Water plane fixed reference frame Body fixed reference frame 53

Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Reference) n
Question : How to calculate center of the buoyancy(B1) with respect toé water
yP / O ùplane
é cos
fixed sin f ù é b yP / O ù
f frame?
= ên ú ê - sin f ê ú
üComparison between Method 1 and Method 2 (1/2) z
ë P /O û ë cos f úû ë b z P / O û
Method 1. Calculate center of buoyancy B1 directly Method 2. Calculate center of buoyancy B1 with
with respect to the water plane fixed reference frame. zn respect to the body fixed reference frame, then
k (+) transform B1 to the water plane fixed reference frame.
z j
yn
t z z'

G G y
x,x’ y f
O,O’ f O,O’ z ¢B1 / O¢ y'
z B1 / O
B B yB¢ 1 / O ' B1
yB1 / O B1
K
O : Origin of the water plane fixed frame (n-frame) O : Origin of the water plane fixed frame (n-frame)
O’ : Origin of the body fixed reference frame (b-frame) O’ : Origin of the body fixed reference frame (b-frame)

ü A, M z , M y with respect to the water plane ü A, M A, z ' , M A, y ' with respect to the body fixed
fixed frame frame
dA = dydz A = ò dA dA ' = dy ' dz ' M A, z ' = ò y ' dA M A, y ' = ò z ' dA

M A, z = ò ydA M A, y = ò zdA ü Center of buoyancy with respect to the body

fixed frame æ M A, z ' M A, y ' ö
ü Center of buoyancy with respect to the ( yB¢ 1 / O ' , z B¢ 1 / O ' ) = ç , ÷
è A A ø
water plane fixed frame
æM M ö ü Rotational transformation
( yB1 / O , z B1 / O ) = ç A, z , A, y ÷
è A A ø é yB1 / O ù é cos f sin f ù é yB¢ 1 / O ' ù
ê ú= ê ê ú
cos f úû êë z B¢ 1 / O ' úû
M A, z : The moment of sectional area M A, y : The moment of sectional area
under
Planning the of
Procedure water
Navalplane aboutand
Architecture z-axis under
Ocean Engineering, Fallthe water
2013, plane
Myung-Il Rohabout y-axis êë z B1 / O úû ë - sin f 54
 Reference) n
Question : How to calculate center of the buoyancy(B1) with respect toé water
yP / O ùplane
é cos
fixed sin f ù é b yP / O ù
f frame?
= ên ú ê - sin f ê ú
üComparison between Method 1 and Method 2 (2/2) z
ë P /O û ë cos f úû ë b z P / O û
Method 1. Calculate center of buoyancy B1 directly Method 2. Calculate center of buoyancy B1 with
with respect to the water plane fixed reference frame. zn respect to the body fixed reference frame, then
k (+) transform B1 to the water plane fixed reference frame.
z j
yn
t z z'

G G y
x,x’ y f
O,O’ f O,O’ z B1 / O '
z ¢B1 / O¢ y'
z B1 / O
B B yB¢ 1 / O ' B1
yB1 / O B1 yB1 / O '
K
O : Origin of the water plane fixed frame (n-frame) O : Origin of the water plane fixed frame (n-frame)
O’ : Origin of the body fixed reference frame (b-frame) O’ : Origin of the body fixed reference frame (b-frame)

ü A, M z , M y with respect to the water plane ü A, M A, z ' , M A, y ' with respect to the body fixed
fixed frame frame
dA ' = dy ' dz ' M A, z ' = ò y ' dA M A, y ' = ò z ' dA
dA = dydz A = ò dA
ü Center of buoyancy with respect to the body
M A, z = ò ydA M A, y = ò zdA fixed frame æ M A, z ' M A, y ' ö
( yB¢ 1 / O ' , z B¢ 1 / O ' ) = ç , ÷
ü Center of buoyancy with respect to the Same è A A ø
water plane fixed frame
æM M ö ü Rotational transformation Convenient
( yB1 / O , z B1 / O ) = ç A, z , A, y ÷ é yB1 / O ù é cos f sin f ù é yB¢ 1 / O ' ù
è A A ø ê ú= ê ê ú
êë z B1 / O úû ë - sin f cos f úû êë z B¢ 1 / O ' úû 55
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Reference)
Orientation of a ship with respect to the different reference frame
Inclination of a ship can be represented either with respect to the water plane fixed
frame(“inertial reference frame”) or the body fixed reference frame.
Are these two phenomena with respect to the different reference frames the same?
Rotation of a ship with respect to the water plane Rotation of a ship with respect to the body fixed
fixed reference frame reference frame
te z' z te z' z
FG
FG
y'
Z G Z G
f y y'
f
B1 B1
y
B B
FB
FB
tr
Same!!
tr

Submerged volume and emerged volume do not change with respect to the frame, that means
volume is invariant with respect to the reference frame. Also is the pressure acting on the ship
invariant with respect to the reference frame.
In addition, the magnitude of the moment arm “GZ” also does not change. However, the position
vectors of the center of mass “G” and the center of buoyancy “B1” are variant with respect to the water
plane fixed reference frame. 56
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Representation of a Point “P” on the object with respect to
the body fixed frame (decomposed in the body fixed frame)
z, z¢ ( yP¢ , z ¢P ) The position vector of the point P
decomposed in the body fixed frame
Invariant with respect to the body fixed frame

yP¢
P
z ¢P

O, O¢
y, y¢

O¢x¢y¢z ¢ : The body fixed frame

Oxyz : The inertial frame
57
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Rotate the object with an angle of ϕ and then represent the
point “P” on the object with respect to the inertial frame.
z ( yP¢ , z ¢P ) The position vector of the point P
decomposed in the body fixed frame
z¢ Invariant with respect to the body fixed frame

( yP , z P ) The position vector of the point P

decomposed in the initial frame
yP
Variant with respect to the inertial frame

y¢
yP¢ z ¢P P
zP

O, O¢ f
y

O¢x¢y¢z ¢ : The body fixed frame

Oxyz : The inertial frame
58
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Coordinate Transformation of a Position Vector
z ( yP¢ , z ¢P ) The position vector of the point P
decomposed in the body fixed frame
z¢ Invariant with respect to the body fixed frame

z ¢P sin f ( yP , z P ) The position vector of the point P

decomposed in the initial frame
yP P Variant with respect to the inertial frame

y¢
yP¢ z ¢P
yP = yP¢ cos f - z ¢P sin f
zP

yP¢
O, O¢ f
y
yP¢ cos f

O¢x¢y¢z ¢ : The body fixed frame

Oxyz : The inertial frame
59
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Coordinate Transformation of a Position Vector
z ( yP¢ , z ¢P ) The position vector of the point P
decomposed in the body fixed frame
z¢ Invariant with respect to the body fixed frame

( yP , z P ) The position vector of the point P

decomposed in the initial frame
yP P Variant with respect to the inertial frame

z ¢P cosyf
¢
yP¢ z ¢P
yP = yP¢ cos f - z ¢P sin f
zP
z P = yP¢ sin f + z P¢ cos f
yP¢ yP¢ sin f
O, O¢ f
y

O¢x¢y¢z ¢ : The body fixed frame

Oxyz : The inertial frame
60
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Coordinate Transformation of a Position Vector
z ( yP¢ , z ¢P ) The position vector of the point P
decomposed in the body fixed frame
z¢ Invariant with respect to the body fixed frame

( yP , z P ) The position vector of the point P

decomposed in the initial frame
yP P Variant with respect to the inertial frame

y¢
yP¢ z ¢P
yP = yP¢ cos f - z ¢P sin f
zP
z P = yP¢ sin f + z P¢ cos f

O, O¢ f
y Matrix Form

é yP ù écos f - sin f ù é yP¢ ù

ê z ú = ê sin f cos f ú ê z ¢ ú
ë Pû ë ûë Pû
n n b
O¢x¢y¢z ¢ : The body fixed frame r = R
P b P r
Oxyz : The inertial frame
It cannot be too strongly emphasized that
the rotational transformation and the coordinate transformation are important.
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
61
 Representation of a Point “P” on the object with respect to
the body fixed frame (decomposed in the body fixed frame)
é yP ù écos f - sin f ù é yP¢ ù z, z¢
ê z ú = ê sin f ( yP¢ , z ¢P ) The position vector of the point P
ë Pû ë cos f úû êë z P¢ úû decomposed in the body fixed frame
Invariant with respect to the body fixed frame

yP¢
P
z ¢P

O, O¢
y, y¢

O¢x¢y¢z ¢ : The body fixed frame

Oxyz : The inertial frame
62
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Coordinate Transformation of a Position Vector
é yP ù écos f - sin f ù é yP¢ ù z
ê z ú = ê sin f ( yP¢ , z ¢P ) The position vector of the point P
ë Pû ë cos f úû êë z P¢ úû decomposed in the body fixed frame
z¢ Invariant with respect to the body fixed frame

( yP , z P ) The position vector of the point P

decomposed in the initial frame
Variant with respect to the inertial frame

P
é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
yP¢ ê z ú = ê sin -f úê ¢ ú
ë Pû ë ( ) cos ( -f ) û ë zP û
yP
O, O¢ zP
-f y
z ¢P

y¢
O¢x¢y¢z ¢ : The body fixed frame
Oxyz : The inertial frame
63
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Change of the total center of mass caused by moving a
load of weight “w” with distance “d” from “g” to “g1”
“Change of z, z¢ ( yG¢ 1 , zG¢ 1 )
the center of mass” The position vector of the changed total center
of mass G1 decomposed in the body fixed frame

g d g1
yG¢ = d yG¢
w
d yG¢ = d
W
yG¢ 1 G1
G , where w is the weight of the
= d yG¢ moving load
zG¢ zG¢ 1
W is total weight of the
object.
y, y¢

64
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Rotate the object with an angle of “-ϕ” and then represent
the total center of mass with respect to the inertial frame
w ( yG¢ 1 , zG¢ 1 )
yG¢ = d z
W The position vector of the changed total center of
mass G1 decomposed in the body fixed frame
z¢
Invariant with respect to the body fixed frame

( yG1 , zG1 )
The position vector of the changed total center
of mass G1 decomposed in the initial frame
Variant with respect to the inertial frame

G G1
yG¢ 1
yG1 é yG1 ù écos ( -f ) - sin ( -f ) ù é yG¢ 1 ù
zG1 ê ú=ê úê ¢ ú
z
êë G1 úû ë sin ( -f ) cos ( -f ) û êë zG1 úû
-f zG¢ 1 y
é cos (f ) sin (f ) ù é yG¢ 1 ù
=ê úê ¢ ú
ë - sin ( f ) cos ( f ) û êë zG1 úû

yG1 = yG¢ 1 cos f + zG¢ 1 sin f

y¢
zG1 = - yG¢ 1 sin f + zG¢ 1 cos f

65
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Change of the center of buoyancy caused by changing
the shape of immersed volume
“Change of z The position vector of the point B1
( yB¢ 1 , z B¢ 1 )
the center of buoyancy” decomposed in the body fixed frame
Invariant with respect to the body fixed frame
z¢
( yB1 , z B1 ) The position vector of the point B1
decomposed in the initial frame
Variant with respect to the inertial frame
é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û

O, O¢
-f y
z B1
yB¢ 1
z ¢B1
B yB1 B1
d z ¢B y¢
d yB¢

66
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 (1) Calculate the initial centroid “B” of the rectangle for z’<0 with respect to the body fixed frame.
(2) Then calculate new centroid “B1” caused by moving a partial triangular area with respect to the
body fixed frame.

z, z¢ The position vector of the point B1

( yB¢ 1 , z B¢ 1 )
decomposed in the body fixed frame
Invariant with respect to the body fixed frame
B is centroid of “ abcd”
B1 is centroid of “ ebcf”

O, O¢
a z ¢B1 d y, y¢
yB¢ 1 B1
d z ¢B
B
e d yB¢
b c
O¢x¢y¢z ¢ : The body fixed frame
Oxyz : The inertial frame 67
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 (3) Rotate the new centroid “B1” with an angle of “-f”(clockwise direction).
(4) Then calculate the position vector of the point “B1” with respect to the inertial frame.

z The position vector of the point B1

( yB¢ 1 , z B¢ 1 )
decomposed in the body fixed frame
Invariant with respect to the body fixed frame
z¢
( yB1 , z B1 ) The position vector of the point B1
decomposed in the initial frame
Variant with respect to the inertial frame

é yB1 ù écos ( -f ) - sin ( -f ) ù é yB¢ 1 ù

ê ú=ê úê ¢ ú
z
êë B1 úû ë sin ( -f ) cos ( -f ) û êë z B1 úû
-f y
z B1 é cos (f ) sin (f ) ù é yB¢ 1 ù
B1 =ê úê ¢ ú
yB¢ 1 ë - sin ( f ) cos ( f ) û êë z B1 úû
z ¢B1
B yB1 yB1 = yB¢ 1 cos f + z B¢ 1 sin f
y¢
z B1 = - yB¢ 1 sin f + z B¢ 1 cos f

68
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
Stability of a ship ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Stable Condition (1/3)
① Apply an external heeling moment to
z , z¢ the ship.
② Then release the external
z¢ moment.
③ Test whether it returns to its initial
equilibrium position.
Heeling
moment h t

G
FG
O, O¢
-f y, y¢

FB
B
B1
y¢

69
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 i j k i ( yG × FG , z - zG × FG , y ) é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
Stability of a ship r ´F = x yG zG = + j(- xG × FG , z + zG × FG , x ) ê z ú = ê sin -f úê ú
G G G ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Stable Condition (2/3) F G,x FG , y FG , z + k ( xG × FG , y - yG × FG , x )

z Resultant moment about

x-axis through point O ( τ e ) :
z¢
τ e = rG ´FG +rB1 ´FB
Heeling = i ( yG × FG , z - zG × FG , y )
moment h t
+ j(- xG × FG , z + zG × FG , x )
+ k ( xG × FG , y - yG × FG , x )
G é FG , x ù é 0 ù
ê ú ê
+ i ( yB1 × FB , z - z B1 × FB , y )
ú
rG FG = ê FG , y ú = ê 0 ú + j(- xB1 × FB , z + z B1 × FB , x )
O, O¢ êë FG , z úû êë -W úû +k ( xB1 × FB , y - yB1 × FB , x )
-f y
= i ( yG × FG , z - zG × FG , y )
é FB , x ù é 0 ù
rB1 ê ú + i ( yB1 × FB , z - z B1 × FB , y )
FB = ê FB , y ú = êê 0 úú
B B1 êë FB, z úû êë D úû = i ( yG × ( -W ) + yB1 × D)
y¢ If W = D
= i ( yG × ( - D ) + yB1 × D)
= i × D( yB1 - yG )
70
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
Stability of a ship ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Stable Condition (3/3)
z , z¢ Resultant moment about
x-axis through point O ( τ e ) :
z¢
τ e = rG ´FG +rB1 ´FB
= i × D( yB1 - yG )
= i × D × GZ
• Transverse Righting Moment
G t r = D × GZ
yG r Z
G FG
O, O¢ The moment arm induced by the
buoyant force and gravitational
-f y, y¢ force is expressed by GZ, where Z
yB1 is the intersection point of the
line of buoyant force(D) through
rB1 the new position of the center of
FB buoyancy(B1) with a transversely
B B1
parallel line to a waterline through
the center of the ship’s mass(G).
y¢
Restoring tr Stable!!
moment
71
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
Stability of a ship ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Neutral Condition (1/3)
z , z¢ Suppose G is higher than that of
the stable condition.
z¢
G
FG Heeling
moment h t

O, O¢
-f y, y¢

FB
B
B1
y¢

72
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 i j k i ( yG × FG , z - zG × FG , y ) é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
Stability of a ship r ´F = x yG zG = + j(- xG × FG , z + zG × FG , x ) ê z ú = ê sin -f úê ú
G G G ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Neutral Condition (2/3) F G,x FG , y FG , z + k ( xG × FG , y - yG × FG , x )

z Resultant moment about

x-axis through point O ( τ e ) :
z¢
τ e = rG ´FG +rB1 ´FB
G é FG , x ù é
Heeling 0 ù
ê ú ê ú = i ( yG × FG , z - zG × FG , y )
FG ê=moment
F =h t 0
G, y ú ê ú + j(- xG × FG , z + zG × FG , x )
êë FG , z úû êë -W úû
+ k ( xG × FG , y - yG × FG , x )
+ i ( yB1 × FB , z - z B1 × FB , y )
rG + j(- xB1 × FB , z + z B1 × FB , x )
O, O¢ +k ( xB1 × FB , y - yB1 × FB , x )
-f y
= i ( yG × FG , z - zG × FG , y )
é FB , x ù é 0 ù
rB1 ê ú ê ú + i ( yB1 × FB , z - z B1 × FB , y )
F
FB ê B , y ú = ê 0 ú
=
B B1 êë FB, z úû êë D úû = i ( yG × ( -W ) + yB1 × D)
y¢ If W = D
= i ( yG × ( - D ) + yB1 × D)
= i × D( yB1 - yG )
73
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
Stability of a ship ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Neutral Condition (3/3)
z
If G and B1 are on one line,
z¢ calculate resultant moment about
e
x-axis through point O ( τ ) :
G
τ e = rG ´FG +rB1 ´FB
FG
= i × D( yB1 - yG )

0
rG
O, O¢ yG
-f yB y
1

rB1 Neutral!!
FB
B B1
y¢

74
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
Stability of a ship ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Unstable Condition (1/3)
Suppose G is higher than that of the
G z , z¢ neutral condition.
FG z¢

Heeling
moment h t

O, O¢
-f y, y¢

FB
B B
B1
y¢

75
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 i j k i ( yG × FG , z - zG × FG , y ) é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
Stability of a ship r ´F = x yG zG = + j(- xG × FG , z + zG × FG , x ) ê z ú = ê sin -f úê ú
G G G ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Unstable Condition (2/3) F G,x FG , y FG , z + k ( xG × FG , y - yG × FG , x )

z Resultant moment about

G x-axis through point O ( τ e ) :
z¢
FG τ e = rG ´FG +rB1 ´FB
éF ù é 0 ù
HeelingG , x = i ( yG × FG , z - zG × FG , y )
ê ú ê 0 ú
= FG , y h
moment
ê t =
ú ê ú + j(- xG × FG , z + zG × FG , x )
êë FG , z úû êë -W úû
rG + k ( xG × FG , y - yG × FG , x )
+ i ( yB1 × FB , z - z B1 × FB , y )
+ j(- xB1 × FB , z + z B1 × FB , x )
O, O¢ +k ( xB1 × FB , y - yB1 × FB , x )
-f y
= i ( yG × FG , z - zG × FG , y )
é FB , x ù é 0 ù
rB1 ê ú + i ( yB1 × FB , z - z B1 × FB , y )
FB = ê FB , y ú = êê 0 úú
B B1 êë FB, z úû êë D úû = i ( yG × ( -W ) + yB1 × D)
y¢ If W = D
= i ( yG × ( - D ) + yB1 × D)
= i × D( yB1 - yG )
76
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 é yP ù écos ( -f ) - sin ( -f ) ù é yP¢ ù
Stability of a ship ê z ú = ê sin -f úê ú
ë P û ë ( ) cos ( -f ) û ë z ¢P û
- Unstable Condition (3/3)
z If G is so high that G locates on
G the right side of B1, calculate
z¢ resultant moment about x-axis
FG e
through point O ( τ ) :

τ e= rG ´FG +rB1 ´FB

= i × D( yB1 - yG )
yB1 - yG < 0

O, O¢ yG
-f yB
1
y Unstable!!

B B1
FB y¢

77
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Example of Equilibrium Position and Orientation of a Box-shaped Ship
Question 1) The center of mass is moved to 0.3 [m] in the direction of the starboard side.

A box-shaped ship of 10 meter length, 5 meter breadth and 3 meter height

weights 205 [kN].
The center of mass is moved 0.3 [m] to the left side of the center of the deck.
When the ship is in static equilibrium state, determine the angle of heel(f) of
the ship.
Given : Length(L):10m, Breadth(B):5m, Depth(D):3m, Weight(W): 205kN,
Location of the Center of Gravity: 0.3m to the left side of the center of the deck
Find : Angle of Heel(ϕ)
Assumption)
(1) Gravitational acceleration = 10 [m/s2], Density of sea water = 1.025 [ton/m3](Mg/m3)
(2) When the ship will be in the static equilibrium finally, the deck will not be immersed and the
bottom will not emerge.

FG = -205 kN

0.3m

5m
3
m
0.4m
Baseline

10m :Location of the center of

gravity of the ship
AP
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
FP 78
 Solution) FG = -205 kN

(1) Static Equilibrium 0.3m

5m
3m
0.4m Baseline

When the ship is floating in sea water, the requirement 10m

A FP
for ship to be in static equilibrium state is derived from : Location of the center of mass of the ship
P

Newton’s 2nd law and Euler equation as follows.

(1-1) Newton’s 2nd Law: Force Equilibrium

The resultant force should be zero to be in static equilibrium.

n
å F = n FG , z + n FB , z = 0
, where
nF
G.z : zn-coordinate of the gravitational force
nF
B.z : zn-coordinate of the buoyant force

(1-2) Euler Equation: Moment Equilibrium

The resultant moment should be zero to be in static equilibrium.

n
å τ = n MG + n M B = 0
, where
nM : the moment due to the gravitational force
G
nM : the moment due to the buoyant force.
B

79
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Solution) FG = -205 kN

(1) Static Equilibrium 0.3m

5m
3m
0.4m Baseline

10m

The first step is to satisfy the Newton- :

AP FP
Location of the center of mass of the ship

Euler equation which requires that the

sum of total forces and moments acting z z'
on the ship is zero. FG
As described earlier, in order to satisfy a
stable equilibrium, the buoyant force and yG G
gravitational force should act on the
same vertical line, therefore, the moment x,x' O,E
arm of the buoyant force and ф˚ y
gravitational force must be same.
B y'
yB
K
yG = yB
FB

80
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Solution) FG = -205 kN

(1) Static Equilibrium 0.3m

5m
3m
0.4m

yG = yB AP
10m
Baseline

FP
: Location of the center of mass of the ship

z z'
é yG ù é cos f sin f ù é yG¢ ù é yB ù é cos f sin f ù é yB¢ ù FG
ê z ú = ê - sin f cos f ú ê z ¢ ú ê z ú = ê - sin f cos f ú ê z ¢ ú
ë Gû ë ûë Gû ë Bû ë ûë Bû
yG G
By representing yG and yB with yG¢ , zG¢ , yB¢ , and z ¢B ,
we can get x,x' O,E
ф˚ y
yG¢ × cos f + zG¢ × sin f = yB¢ × cos f + z B¢ × sin f yB B1 y'
K
FB
In this equation, we suppose that y'G
and z'G are already given, and y'B and z'B
can be geometrically calculated.

Body fixed coordinate system(b-frame): Body fixed frame x’ y’ z’

Space fixed coordinate system(n-frame): Inertial frame x y z

81
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 yG = yB
Solution)
(2-1) Changed center of buoyancy, B1, with respect to the body fixed frame

z z'
The centroid of A with respect to the FG
body fixed frame:
yG G
æ M A, z ¢ M A, y ¢ ö
( C_A C_A ) ç A , A ÷
y ¢ , z ¢ = x,x' O,E
ф˚
è A A ø y

, where B1 y'
yB
AA : the area of A A K
MA,z’ : 1st moment of area of A about z’ axis
FB
MA,y’ : 1st moment of area of A about y’ axis.

To obtain the centroid of A, the followings are required.

- The area of A
- 1st moment of area of A about z’ axis
- 1st moment of area of A about y’ axis

82
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 yG = yB
Solution)
(2-2) Center of buoyancy and center of gravity with respect to the body fixed frame

The centroid of A with respect

1) Center of buoyancy, B1, with respect to the body to the body fixed frame:
fixed frame æ M A, z ¢ M A, y ¢ ö
( C_A C_A ) ç A , A ÷
y ¢ , z ¢ =
To calculate the centroid of A using the geometrical è A A ø

relations, we use the areas, A1, A2, and A3.

2a

R
2b
S0 A2
A3
ф˚
R0
= + -
t A A1 A2 A3
S A
A1
Q
P

To describe the values of A1, A2, and A3 using the geometrical parameters (a, t,
and f), y’ and z’ coordinate of the points P, Q, R, R0, S, S0 with respect to
the body fixed frame is used, which are given as follows.
P ( yP¢ , z ¢P ) = ( - a, - t ) , Q ( yQ¢ , zQ¢ ) = ( a, - t )
R ( yR¢ , z ¢R ) = (a, a × tan f ), R0 ( yR¢ 0 , z ¢R0 ) = (a, 0)
S ( yS¢ , zS¢ ) = (- a, - a × tan f ), S0 ( yS¢ 0 , zS¢ 0 ) = (- a, 0)

83
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Calculation of area, centroid, and moment of area
2a

R
2b
S0 A2
A3
ф˚
R0
= + -
t A A1 A2 A3
S A
A1
Q
P 1
Area: a × a × tan f
2
z¢ 2 1
a × tan f Centroid: ( yC¢ , zC¢ ) = a, a tan f
C ( yC¢ , zC¢ ) 3 3
A2 1/ 3 × a × tan f
y¢ Moment of area about z’ axis:
a
2 / 3× a 1 2 1 3
¢
Area ´ yC = a × a × tan f ´ a = a tan f
2 3 3
Moment of area about y’ axis:
1 1 1
Area ´ zC¢ = a × a × tan f ´ a × tan f = a 3 tan 2 f
2 3 6 84
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 yG = yB
Solution)
(2-3) Center of buoyancy and center of gravity with respect to the body fixed frame

1) Center of buoyancy, B1, with respect to the body The centroid of A with respect
fixed frame to the body fixed frame:
æ M A, z ¢ M A, y ¢ ö
= + - ( C_A C_A ) ç A , A ÷
y ¢ , z ¢ =
è A A ø
A A1 A2 A3 2a

The table blow summarizes the results of the area, centroid with
respect to the body fixed frame and 1st moment of area with 2b
R

respect to the body fixed frame of A1, A2, A3, and A. S0

ф˚ A2
A3 R0
Area Centroid Moment of area Moment of area
t
S A
( AA ) ( yC¢ , zC¢ ) about z'-axis about y'-axis A1
( yC¢ × A) ( zC¢ × A) Q
P
A1 2a × t æ tö 0 -a × t 2
ç 0, - ÷
è 2ø
2
A2 1 æ 2a a × tan f ö a 3 × tan f a 3 × ( tan f )
× a × a × tan f ç , ÷
2 è 3 3 ø 3 6
3 2
A3 1 æ 2a a × tan f ö a × tan f a 3 × ( tan f )
× a × a × tan f ç- ,- ÷ - -
2 è 3 3 ø 3 6
3 2
A 2a × t - 2a × tan f
-a × t +2 a 3 × ( tan f )
(=A1+A2-A3) 3 3

The center of buoyancy, B1, with respect to the body fixed frame is
2
æ M A, z¢ M A, y ' ö æ a 2 × tan f t a 2 × ( tan f ) ö
( yB¢ , z¢B ) = ç , ÷ = çç ,- + ÷
÷
è AA AA ø 3 t 2 6 t
è ø
85
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 yG = yB
Solution)
(2-3) Center of buoyancy and center of gravity with respect to the body fixed frame
æ a 2 × tan f t a 2 × ( tan f )2 ö
2) Center of gravity, G, with respect to the body ( yB¢ , z¢B ) = çç
3t
,- +
2 6t
÷
÷
è ø
fixed frame
FG
z’
The center of gravity, G, with respect to z
2a
the body fixed frame is given by G
geometrical relations as shown in the
d
figure, which is 2b

( y 'G , z 'G ) = ( d , 2b - t ) xn, xb O,E ф˚

y’
t
B B1

K
FB

86
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Solution) FG
(3) Comparison between the figure describing the ship inclined zn zb
and the figure describing the water plane inclined 2a
G
Let us calculate the center of buoyancy, B1, and 2b d
the center of gravity, G, using the Fig. (b). yn
l The center of buoyancy, B1, and the center of gravity, G, xn,xb O,E ф˚
yb
with respect to the body fixed frame t
B B1
æ a 2 × tan f t a 2 × ( tan f )2 ö
( yB¢ , z¢B ) = çç ,- + ÷
÷
K
FB
3t 2 6t
è ø

( y 'G , z 'G ) = ( d , 2b - t ) (b)

Next, we use the condition that the moment arm of the

buoyant force and gravitational force must be same and
substitute the coordinates of the center of gravity and
buoyancy with respect to the body fixed frame into the
following equation.

yG¢ × cos f + zG¢ × sin f = yB¢ × cos f + z B¢ × sin f

87
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Solution)
(3) Comparison between the figure describing the ship inclined
and the figure describing the water plane inclined

yG¢ × cos f + zG¢ × sin f = yB¢ × cos f + z B¢ × sin f

æ a 2 × tan f t a 2 × ( tan f )2 ö
( yB¢ , z¢B ) = çç ,- + ÷
÷
3t 2 6t
è ø
( y 'G , z 'G ) = ( d , 2b - t )

d × cos f + (2b - t ) × sin f =

{ 2
-3t 2 + 2a 2 + a 2 × ( tan f ) × sin f }
6t
Substituting a=2.5m, b=1.5m, t=0.4m, d=0.3m into this equation
and rearranging
æ 15.025 15.625
( tan f ) ö÷
2
2.6 × sin f + 0.3 × cos f = sin f ç +
è 3 6 ø
tan f = 0.123 [rad] \f = 7.047 [deg]

88
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Example of Equilibrium Position of a Box-shaped Ship
Question 2) The center of mass is moved to 2 [m] in the direction of the forward perpendicular.

A box-shaped ship of 10 meter length, 5 meter breadth and 3

meter height weights 205 [kN].
The center of mass is moved to 2 [m] in the direction of the forward
perpendicular. When the ship is in static equilibrium state, determine
the equilibrium position and orientation of the ship.
Assumption)
(1) Gravitational acceleration = 10 [m/s2], Density of sea water = 1.025 [ton/m3](Mg/m3)
(2) When the ship will be in the static equilibrium finally, the deck will not be immersed
and the bottom will emerge.

FG = -205 kN
Starboard

2m
Port
5m
3
m
0.4m
Baseline

10m
:Location of the center of
AP FP mass of the ship 89
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Question 2) The center of mass is moved to 2 [m] in the direction of the forward perpendicular.
Solution)

FG = -205 kN
Starboard

2m
Port
5m zn Force Equilibrium
3m
0.4m
Baseline

AP
10m

FP
: Locationof the center of
mass of the ship
åF = F G + FB = 0

FG = -250
FG = -205 kN
FB = - r × g × V
zb æ1 ö
= 1.025 ×10 × ç × a × b × 5 ÷
è2 ø
= 25.625 × a × b
xb

a
åF = F G + FB
= -250 + 25.625 × a × b
b
a yn , yb =0
xn
FB O \a ×b = 8

90
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Question 2) The center of mass is moved to 2 [m] in the direction of the forward perpendicular.
Solution)

FG z
z z¢
z¢
x¢

x x¢
O, E
y, y¢
q
b
Side view a y, y¢
x
(Profile view)
FB O, E

Instead of rotating the ship, we can consider the

waterline rotated with an angle of  while keeping the
ship constant.
z
FG z¢

x¢ q FB O, E
y, y¢
a

x
91
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Question 2) The center of mass is moved to 2 [m] in the direction of the forward perpendicular.
Solution)

FG = -205 kN

Moment Equilibrium
Starboard

2m
Port
5m zn
3m
0.4m

10m
Baseline åM = M G + MB = 0
: Locationof the center of

The centers of buoyancy B and gravity G

AP FP mass of the ship

FG should be in the same vertical line.

xG = xB
zb
xG = 3cos a - 3sin a
n
xG
xb 3cos a -3sin a

a
n
xB b
a yn , yb
xn
FB O

92
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Question 2) The center of mass is moved to 2 [m] in the direction of the forward perpendicular.
Solution) z n

FG

zb

xb
n

3cos a
xG
-3sin a
Moment Equilibrium

xn
a

a
n
xB
yn , yb
b åM = M G + MB = 0
FB O

The centers of buoyancy B and gravity G

zn zb should be in the same vertical line.
n
xG = n xB
n
xG = 3cos a - 3sin a
n a b
xB = cos a - sin a
3 3

a n
xB a b
3cos a - 3sin a = cos a - sin a
a/3 3 3
b/3 b
a
a 3
cos a
b
- sin a
3

FB O
93
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Question 2) The center of mass is moved to 2 [m] in the direction of the forward perpendicular.
Solution)

a b
3cos a - 3sin a = cos a - sin a
3 3 dividing the both side of equation by cos a
a b
3 - 3 tan a = a - tan a
3 3
b
b a b b tan a =
3-3 = - × a
a 3 3 a
multiplying 3a to the both side of equation
9a - 9b = a 2 - b 2

9 ( a - b ) = ( a + b )( a - b )

From the force equilibrium if a = b a=b=2 2 Unstable

a ×b = 8
if a ¹ b a =8 Stable
From the moment equilibrium
9 ( a - b ) = ( a + b )( a - b ) b =1

94
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Question 2) The center of mass is moved to 2 [m] in the direction of the forward perpendicular.
Solution)

Why is the ship unstable, when a=b=2 2? Horizontal displacement of center of mass
zn
d xG
3 2 sin Da
3 2 Da
FG 3 2 » 4.242Da
xb

zb
3 2
a
FB
a=2 2 yn , yb b=2 2
xn
O

d xB Ñ wedge
Da = 1 = d xB =
Ñ wedge
d xb
d xb Ñtotal Ñtotal
1
Ñ wedge = 2 × 2 × × tan(Dq ) = 2 tan(Dq )
2 2 tan(Dq ) 4
Ñtotal =
2 2 ×2 2 2
= 4, d xb = 2( ) =
4
d xB =
4
×
3 d xB » 0.66Dq
2 Myung-Il Roh 3 3 95
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013,
 Question 2) The center of mass is moved to 2 [m] in the direction of the forward perpendicular.
Solution)

Why is the ship unstable, when a=b=2 2? Horizontal displacement of center of mass
zn
d xG
3 2 sin Da
3 2 Da
3 2 » 4.242Da
xb FG

zb

a=2 2 yn , yb b=2 2
FB
xn
O

d xB Ñ wedge
Da = 1 = d xB =
Ñ wedge
d xb
d xb Ñtotal Ñtotal
Unstable 1
Ñ wedge = 2 × 2 × × tan(Dq ) = 2 tan(Dq )
2 2 tan(Dq ) 4
Ñtotal =
2 2 ×2 2 2
= 4, d xb = 2( ) =
4
d xB =
4
×
3 d xB » 0.66Dq
2 Myung-Il Roh 3 3 96
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013,
 More Examples for Ship Stability

97
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 • Given : KB, KG, IT, Heeling moment Mh
Example) Heel Angle caused by Movement • Find : An angle of heel φ
• GZ of wall sided ship

of Passengers in Ferry (1/2) æ 1 ö

GZ = ç GM + BM tan 2 f ÷ sin f
è 2 ø

Question) Emergency circumstance happens in Ferry with displacement (mass) 102.5 ton.
Heeling moment of 8 ton·m occurs due to passengers moving to the right of the ship.
What will be an angle of heel?
Assume that wall sided ship with KB=0.6m, KG=2.4m, IT=200m4.
Solution) If it is in static equilibrium at an angle of heel f

Righting moment in wall sided ship(Mr) = Heeling moment (Mh)

æ 1 ö
D ç GM + BM tan 2 f ÷ sin f = 8ton × m
è 2 ø
① Calculation of BM
D = 102.5 ton ® Ñ = D /1.025 = 100 m3
I 200
BM = T = = 2m
Ñ 100
② Calculation of GM
GM = KB + BM - KG
= 0.6 + 2 - 2.4 = 0.2 m
8
( 0.2 + tan f ) sin f = 102.5
2
Non linear equation
about f ?
예제5.2

98
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 • Given : KB, KG, IT, Heeling moment Mh
Example) Heel Angle caused by Movement • Find : An angle of heel φ
• GZ of wall sided ship

of Passengers in Ferry (2/2) æ 1 ö

GZ = ç GM + BM tan 2 f ÷ sin f
è 2 ø

Question) Emergency circumstance happens in Ferry with displacement (mass) 102.5 ton.
Heeling moment of 8 ton·m occurs due to passengers moving to the right of the ship.
What will be an angle of heel?
Assume that wall sided ship with KB=0.6m, KG=2.4m, IT=200m4.
Solution) If it is in static equilibrium at an angle of heel f

Righting moment in wall sided ship(Mr) = Heeling moment (Mh)

æ 1 ö
D ç GM + BM tan 2 f ÷ sin f = 8ton × m
è 2 ø
( 0.2 + tan f ) sin f = 0.078
2
Righting
Because of nonlinear equation, solve arm

it by numerical method.
0.0858
Result of calculation is about f=16.0˚.
LHS RHS
0.0778
φ
(Righting arm) (Heeling arm) Heeling
0.0703 arm
15˚ 0.0703 0.0780

16˚ 0.0778 0.0780

17˚ 0.0858 0.0780 15o 17o

In static
equilibrium
99
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Example) Heel Angle caused by Movement of Cargo

Question) A cargo carrier of 10,000 ton displacement is floating. KB=4.0m,

BM=2.5m, KG=5.0m. Cargo in hold of cargo carrier is shifted in vertical
direction through a 10 meter, and shifted in transverse direction through a 20
meters. Find an angle of heel.
• Given : displacement (D), KB, BM, KG, weight of cargo(w) and moving distance
• Find : angle of heel φ z

y
t
d=20.0 m

G 200 ton
h=10.0 m
5.0m 4.0m B
Base
Line

L
C
예제5.3

100
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Example) Change of Center caused by Movement of Cargo

Question) As below cases partial weight w of the ship is shifted. What is the
shift distance of center of mass of the ship?

Case 1) Vertical shift of the partial weight Case 2) Horizontal shift of the partial weight

h
G1 G G1

G
Base Base
Line Line

L
C L
C

예제5.5

101
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Example) Calculation of Deadweight of Barge

Question)
A barge is 40m length, 10m breadth,
5m depth, and is floating at 1 m draft.
The vertical center of mass of the ship
20m
is located in 2 m from the baseline. 40m C
A cargo is supposed to be loaded in
5m
center of the deck. Find the maximum
loadable weight that keeps the
5m
stability of ship. Base
Line

L
C

Problem to calculated position of the ship when

external force are applied.

102
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Example) Calculation of Position of Ship
when Cargo is moved by Crane

16.0
Question) m
A Cargo carrier of 18,000 ton displacement
is afloat and has GM = 1.5m. And we want
to transfer the cargo of 200 ton weight
from bottom of the ship to land. 200
27.0
m ton
A lifting height of cargo is 27.0 m from
the original position.

After lifting the cargo, turn the cargo to Base

the right through a distance of 16.0 m Line
from the centerline. L
C
What will be the angle of heel of the ship?

Problem to calculated position of the ship when

external force are applied.

103
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Example) Calculation of Center of Buoyancy of Ship with
Constant Section
Example) A ship is inclined about x-axis through origin O with an angle of -30°.
Calculate center of buoyancy with respect to the water plane fixed frame.
• Given: Breadth(B) 20m, Depth(D) 20m, Draft(T) 10m, Angle of Heel(f) -30˚
• Find: Center of buoyancy(yB, zB)
G: Center of mass K:Keel
B: Center of buoyancy B1 : Changed center of buoyancy

Section view S z
z,z‘ 20
S z‘
R
20 20

20 R
O O
y,y‘ -30˚ y
B B
10 B1
P
y‘
K
P K Q
Q

104
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Example) Calculation of Center of Buoyancy of Ship with
Various Station Shapes
A ship with three varied section shape is given. When this ship is inclined about x
axis with an angle of -30°, calculate y and z coordinates of the center of buoyancy
(with respect to the water plane fixed frame).
• Given: Length(L) 50m, Breadth(B) 20m, Depth(D) 20m, Draft(T) 10m, Angle of Heel(f) -30˚
• Find: Center of buoyancy(y∇,c, z∇, c) after heeling
20

z,z'
O,O' y,y' 20
20 20
x,x' 10
10 10

20
20 20 20
10

20
20
10

CL 105
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Reference Slides

106
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 1) Gere, Mechanics of Materials, 6th ,Ch.12.3, 2006
Movement of Centroid First Moment of Composite Area(Qx)1)
Caused by Movement of Area (1/3) n
Qx = å Ai × xi
Qx : 1st Moment
n =1
Ai : Each Area
n
y A : Total Area
(+) A × x = å Ai × xi
y j
x
n =1
x : Coordinate of
Centroid
i
t
<1st moment of area>
Let us consider 1st moment of area about z
Area ( A- a ) axis through origin g.
Area a
j
g i G1 g1 x gG1 × Area A = gg × Area ( A- a ) + gg1 × Area a

, ( gg = 0)
gG1 × Area A = gg1 × Area a

gG1 Area a
= …①
G1 : Centroid of total area, AreaA : Total area
gg1 Area A
g : Centroid of the large circle, AreaA-a : Area of the large circle
g1 : Centroid of the small circle, Areaa : Area of the small circle

107
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 1) Gere, Mechanics of Materials, 6th ,Ch.12.3, 2006
Movement of Centroid First Moment of Composite Area(Qx)1)
Caused by Movement of Area (2/3) n
Qx = å Ai × xi
Qx : 1st Moment
n =1
Ai : Each Area
n
y A : Total Area
(+) A × x = å Ai × xi
y Area a j
x
n =1
x : Coordinate of
Centroid
i
t
g2
When the center of the small circle moves
from g1 to g2, the total moment of area
G2 about z axis through origin g is
j
g1 x gG2 × Area A = gg × Area ( A- a ) + gg 2 × Area a
g i G1
, ( gg = 0)
Area ( A- a )
gG2 × Area A = gg 2 × Area a

gG2 Area a
= …②
gg 2 Area A
G1 : Centroid of total area, AreaA : Total area
g : Centroid of the large circle, AreaA-a : Area of the large circle
g1 : Centroid of the small circle, Areaa : Area of the small circle

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Reference) Movement of Centroid
Caused by Movement of Area (3/3)
y
(+)
y Area a j
x ÐG1 gG2 = Ðg1 gg 2 … ③
i
t
g2
From ①, ②, ③,
Triangle △G1gG2 and △g1gg2 are similar.
(by SAS(Side-Angle-Side) similarity theorem)
G2 Area a
j
g i G1 g1 x G1G2 / / g1 g 2
G1G2 Area a Area a
Area ( A- a ) = G1G2 = ´ g1 g 2
g1 g 2 Area A Area A
Using the ratio of similitude

The line G1G2 is parallel to the line g1g2.

gG1 Area a gG2 Area a
= …① = …② Thus, the centroid of total area G2 moves
gg1 Area A gg 2 Area A parallel to g1g2.
G1 : Centroid of total area, AreaA : Total area
g : Centroid of the large circle, AreaA-a : Area of the large circle
g1 : Centroid of the small circle, Areaa : Area of the small circle 109
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Calculation of GZ, when the ship is inclined with angle of f
without change of center of gravity
z¢
M

f
KN = KG sin f + GZ
GZ = KN - KG sin f
Z y
G
f
x, x¢ O, O¢ y¢ In this equation, KG can be measured
by inclining test, and KN can be
B1 represented with the displacement of
B d yB¢
d z ¢B
center of buoyancy with respect to
N the body fixed frame. If we define
P the horizontal and vertical
K
displacement of the center of
, ,
buoyancy as d yB and d z B ,
B1 respectively, then KN is given as
B d yB¢
d z ¢B
N KN = KB sin f + d yB, cos f + d z B, sin f
d z ¢B sin f
K d yB¢ cos f
KB sin f 110
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Determination of heeling angle for the case of moving a
cargo only in transverse direction (1/4)

G d yG¢
G1

Load Load

111
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Determination of heeling angle for the case of moving a
cargo only in transverse direction (2/4)

z z¢
M

d yG¢ cos f f

G f G1
d yG¢ G1 y
G d yG¢
f
x, x¢ O, O¢ y¢
B1
B d yB¢
d z ¢B

N
P
K

M G = -W × ( KP + PN )
= -W × ( KG cos f + d yG¢ cos f )
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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Determination of heeling angle for the case of moving a
cargo only in transverse direction (3/4)
z z¢
M

B1 G d yG¢
G1 y

B d yB¢
d z ¢B
x, x¢ O, O¢
f
y¢
N B1
B d yB¢
d z ¢B
d z ¢B sin f
N
K d yB¢ cos f K
P
KB sin f

M B = D × ( KB cos f + d yB¢ cos f + d z ¢B sin f )

113
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Determination of heeling angle for the case of moving a
cargo only in transverse direction (4/4)
z z¢
M

d yG¢ cos f f

G f G1
d yG¢
G1 y
G d yG¢
f
x, x¢ O, O¢ y¢
B1
B d yB¢
d z ¢B

MG + M B = 0 N
P
K

-W × ( KG cos f + d yG¢ cos f ) + D × ( KB cos f + d yB¢ cos f + d z ¢B sin f ) = 0

- ( KG cos f + d yG¢ cos f ) + ( KB cos f + d yB¢ cos f + d z ¢B sin f ) = 0 QW = D

In this equation, KG and KB are given. d yG¢ , d y,B¢ and ¢B functions of f.

d zare
Thus we can solve the equation and determine f.

114
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Determination of the heeling angle due to the movement of
the center of gravity (1/4)

G1 Load
d zG¢
G d yG¢

Load

115
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Determination of the heeling angle due to the movement of
the center of gravity (2/4)
z z¢
M

f
d zG¢ sin f
d yG¢ cos f G1
G1 G d yG¢
d zG¢
f
y

d zG¢ x, x¢ E, O y¢

G d yG¢
f
B d yB¢
B1
d z ¢B

N
P
K

M G = -W × ( KP + PN )
= -W × ( KG cos f + d yG¢ cos f + d zG¢ sin f )
116
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Determination of the heeling angle due to the movement of
the center of gravity (3/4)
z z¢
M

f
G1
B1 G d yG¢
d zG¢ y
f
B d yB¢
d z ¢B
x, x¢ E, O y¢
N B1
B d yB¢
d z ¢B
d z ¢B sin f N
d yB¢ cos f P
K K
KB sin f

M B = D × ( KB cos f + d yB¢ cos f + d z ¢B sin f )

117
Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh
 Determination of the heeling angle due to the movement
z ¢
of
zM
the center of gravity (4/4) d f zG¢ sin
d yG¢ cos f
G1 f
d zG¢
G f G 1
d yG¢ d zG¢ y
G d yG¢
f
x, x¢ E, O y¢
B1 B1
B d z ¢B B d yB¢
d z ¢B
d yB¢
N N
d z ¢B sin f P
K
MG + M B = 0 K
KB sin f
d yB¢ cos f

-W × ( KG cos f + d yG¢ cos f + d zG¢ sin f ) + D × ( KB cos f + d yB¢ cos f + d z ¢B sin f ) = 0

- ( KG cos f + d yG¢ cos f + d zG¢ sin f ) + ( KB cos f + d yB¢ cos f + d z ¢B sin f ) = 0 QW = D

In this equation, KG and KB are given. d yG¢ , d zG¢ , d ,yB¢and z ¢B functions of f.

dare
Thus we can solve the equation and determine f.

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Planning Procedure of Naval Architecture and Ocean Engineering, Fall 2013, Myung-Il Roh