Home

ShipMo3D Version 3.0 User Manual for Computing Ship Motions in

1. 12 5 1 2 Three Parameter JONSWAP Spectrum 12 DRDC Atlantic TM 2011 308 V 5 1 3 Ochi and Hubble Six Parameter Spectrum 13 5 1 4 Bretschneider and JONSWAP Spectrum with Cosine Squared Spreading Function 13 5 1 5 Ten Parameter Directional Spectrum 13 6 Motions of Freely Maneuvering Ship in a Seaway SM3DFreeMo 15 7 Ship Seakeeping in a Regular Seaway SM3DSeakeepRegular 16 8 Ship Seakeeping in a Random Seaway with Principal Direction Given Relative to the Ship SM3DSeakeepRandom 17 9 Ship Seakeeping in a Fixed Seaway with Ship Heading Given Relative to Earth Fixed Axes SM3DSeakeepSeaway 2 2 2 18 10 Ship Seakeeping in a Fixed Seaway Using Previously Computed Ship Motion RAOs SM3DSeakeepSeawayFromRaos 19 11 Time Series of Ship Motions from Response Amplitude Operators SM3DTimeSeriesFromRaos 2 2 2 2 2 2 20 12 Inputs for Rudder and Azimuthing Propeller Autopilots 21 13 Inputs for Frequency Domain Ship Motion Predictions in Random Seas 22 13 1 Wave Spectta iaa 32 aa a hu sl s S Daran Don 22 13 2 Motion Induced Interruptions 22 13 3 Slamming Pressures and Forces a 7 ee 8 3 Dr 22 14 000601081046 issue a e Do a e lo e do Ud e e de 28 Refere
2. componentPhase waveHeadingDeg waveFreq waveAmp phaseDeg 1 character string 4 floats componentPhase Record tag waveHeadingDeg Wave direction from degrees 0 for waves from north and 90 for waves from east waveFreq Incident wave frequency rad s waveAmp Incident wave amplitude m phaseDeg Phase of incident wave crest at zf 0 y 0 deg Record 14b End of Seaway from Input Components with Input Phases This record is required if seawayOption is set to componentPhase in Record 7 end componentPhaseSeaway 1 character string with 2 words Record 15 Plot Output Option This record is optional plotOutOption plotOutOption 2 character strings plotOutOption Record tag plotOutOption Option for making plots NoPlot No plots are produced Screen Plots are only plotted on the screen default ScreenFile Plots are both plotted on the screen and to a file File Plots are only written to a file DRDC Atlantic TM 2011 308 57 Record 16 Beginning of Seaway Plot Data This record is optional begin plots 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 16a to 16j giving plot parameters Record 16k must follow at the end of plot parameter data Record 16a Seaway Plot Image File Name This record is required if a plot is being specified imageFileName
3. propellerRpmColumn Column of propeller RPM acceleration graph default Hide aziPropellerDeflectColumn Column of azimuthing propeller deflection acceleration graph default Hide aziPropellerRpmColumn Column of azimuthing propeller RPM acceleration graph default Hide Record 32f End of Acceleration Time Series Plot Data end accelerationPlots 1 character string with 2 words Record 33 Beginning of Appendage Time Series Plot Data This record is optional begin appendagePlots 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 33a to 33f giving plot parameters Record 331 must follow at the end of plot parameter data 108 DRDC Atlantic TM 2011 308 Record 33a Appendage Plot Image File Name This record is required if a plot is being specified imageFileName imageFileName 2 character strings imageFileName Record tag imageFileName Name of output plot file Record 33b Appendage Plot Image Format This record is optional if a plot is being specified imageFormat imageFormat 2 character strings imageFormat Record tag imageFormat Plot image format Available formats are png default and jpg Record 33c Appendage Plot Image Size This record is optional if a plot is being specified imageSize widthmm heightmm 1 character string 2 floats ImageSize Record tag
4. waveDirsFromDeg 1 character string array of floats waveDirsFrom Record tag waveDirsFromDeg Wave directions for integration of ship motion spectrum Wave directions are given using a convention of 0 for waves from north 90 for waves from east Record 6 Wave Energy Spectral Densities for Specified Wave Fre quencies nWaveFreq Records must be given where nWaveFreq is the number of wave frequencies specified by Record 4a or 4b energy Densities waveFreq energyDensitiesDirDeg 1 character string 1 nWaveDir floats energy Densities Record tag waveFreq Wave frequency for energy densities within Record This value must be consistent with wave frequencies specified by Record 4a or 4b energyDensitiesDirDeg Energy densities m2 rad s deg for frequency waveFreq and wave directions specified in Record 5a or 5b 64 DRDC Atlantic TM 2011 308 Record 7 End Record end inputDirSpectrum 1 character string with 2 words DRDC Atlantic TM 2011 308 65 A 3 Sample Input Directional Spectrum File for SM3DBuildSeaway3 begin inputDirSpectrum label Bretschenider spectrum Hs 5 0 m Tp 12 4 s heading 180 deg spreading 90 deg hsTchar 5 0 12 4 waveFreqRange 0 2 2 0 0 05 waveDirFromRange 90 0 270 0 5 0 energyDensities 0 200 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000
5. 1 character string with 2 words Record 13a Wave Phase Seed Number This record can be optionally used if seawayOption in Record 7 is set to componentRandom If this record is omitted then a default will be used compPhaseSeed seed 1 character string 1 integer compPhaseSeed Record tag phaseSeed Integer seed number default 1001 DRDC Atlantic TM 2011 308 55 Record 13b Wave Component Properties This record can be repeated to describe a seaway consisting of multiple wave components componentRandom waveHeadingDeg waveFreq waveAmp 1 character string 3 floats componentRandom Record tag waveHeadingDeg Wave direction from degrees 0 for waves from north and 90 for waves from east waveFreq Incident wave frequency rad s waveAmp Incident wave amplitude m Record 13c End of Seaway from Input Components Randomly Generated Phases This record is required if seawayOption is set to ComponentRandom in Record 7 end componentRandomSeaway 1 character string with 2 words Record 14 Beginning of Seaway from Input Components Including Phases Records 14 to 14b are required if seawayOption is set to ComponentPhase in Record 7 begin componentPhaseSeaway 1 character string with 2 words 56 DRDC Atlantic TM 2011 308 Record 14a Wave Component Properties This record can be repeated to describe a seaway consisting of multiple wave components
6. 3400 00421 soaem Bap 06 sees pe q Zep 081 wors Zep 000 OST UOTJ98ITP POS 00 0 ISqunu epnol4 8900 00006 S W 00 OT peeds 8046 TeTNSey UT SUOTIDSTISA Teppny 286 000 0 VOT 1000 977 Z00 O 0661 00 0 YTT E00 0 0601 000 0 6 9 S 000 098 000 0 TLE 000 0 951 1000 641 06000 LET 6000 87 000 0 6059 0961 6 000 0 Ove 1000 SET 1000 977 00 0 voz 1000 666 000 0 67819 006 7 29 000 0 TTE 1000 GET 1000 9668 00 0 LEG 2000 voz 1000 96 V 0S8 T OLT 000 0 0 100 0 6061 Z00 0 9 So0 0 096 T00 0 9246 T00 0 LVL 008 T 27 000 0 08 Zz00 0 96 TO0 0 88 00 0 9 1000 096 1000 9609 0921 8241 0000 LOT 700 0 GG lt c00 0O 911 5100 08 700 0 96 00 0 6066 0021 196 0000 96 6000 29 00 O 201 900 0 ve 700 0 26 1000 CT Y 0s9 T ve TOO 0 eve T00 0 64 S00 0 l 700 0 96 00 0 EZZ T00 0 676 009 7 lee 1000 168 1000 COT 700 0 61 00 0 YST c00 0 0 6000 96826 ogg tT 968 T00 0 SET T00 0 VI 700 O 09 00 0 TS 00 0 80 00 0 LUGE 00S T 151 DRDC Atlantic TM 2011 308 8900 00006 S W 00801 38p 0 097 s u 00807 E77 60 oee 06 SET 051 8571 esc GCE STE 90 686 291 981 SCT 96 67 vr ZSE SEE CTE LLG 996 TVG VES 600 777 TGS 61 p dg UOTJI9ITP POS SATIETOY p ds drus SUTdueg TTOY 100 0 2000 700 0 c00 0 700 0 900 0 900 0 c00 0 0T0 0O 8100 6100 2000 9T0 0 9 20 0 9E0 0 6300 0500 7900 780 0 T60
7. DRDC Atlantic TM 2011 308 89 Record 150 Initial Ship Velocity for Six Degrees of Freedom The input file must include one of Records 15a 15b or 150 velsFixedOMDeg velsFixed0MDeg 1 character string 6 floats velsFixed0MDeg velsFixed0M Deg Record tag Initial ship velocity in earth fixed coordinates x of ship CG m s north y of ship CG m s west Heave velocity 73 of ship CG m s up Roll velocity n4 deg s port up Pitch velocity 75 deg s bow down Ship heading velocity x deg s clockwise viewed from above Record 16 Initial Rudder Deflections This record is optional rudderDeflects0Deg rudderDeflectsODeg 1 character string nRudder floats rudderDeflectsODeg Record tag rudderDeflectsODeg Initial rudder deflections deg counter clockwise viewed from inside hull If this record is not given then defaults of 0 are used If this record is given then the number of values should correspond with the number of rudders in the ship file specified by Record 4 Record 17 Initial Rudder Velocities This record is optional rudderVels0Deg rudderVelsODeg 1 character string nRudder floats rudderVels0Deg rudder VelsODeg 90 Record tag Initial rudder velocities deg s counter clockwise viewed from inside hull If this record is not given then defaults of 0 deg s are used If this record is given then the num
8. Goda Y 1979 A Review of Statistical Interpretation of Wave Data Report 18 1 Port and Harbour Research Institute Ochi M K and Hubble E N 1976 Six Parameter Wave Spectra In 15 th Coastal Engineering Conference Vol 1 pp 301 328 Honolulu Hogben N and Cobb F C 1986 Parametric Modelling of Directional Wave Spectra In Offshore Technology Conference Paper OTC 5212 Houston Graham R 1990 Motion Induced Interruptions as Ship Operability Criteria Naval Engineers Journal 102 2 65 71 Graham R Baitis A E and Meyers W G 1992 On the Development of Seakeeping Criteria Naval Engineers Journal 104 2 259 275 DRDC Atlantic TM 2011 308 26 Ochi M K and Motter L E 1971 A Method to Estimate Slamming Characteristics for Ship Design Marine Technology 8 2 219 232 27 Stavovy A B and Chuang S L 1976 Analytical Determination of Slamming Pressures for High Speed Vehicles in Waves Journal of Ship Research 20 4 190 198 DRDC Atlantic TM 2011 308 Symbols and Abbreviations A P Fmar G v H h hs i ksj k ko MII M v P Pmax RAO RMS Se Wr Sur CQ r v 32 normalization factor for ten parameter spectral component 2 maximum slamming force directional wave spectral spreading function significant wave height height above deck of the person or object centre of gravity significant wave height for spectral component 2 autopilot derivative
9. Record 19 Wave Spectrum Option spectrumOption spectrumOption 2 character strings spectrumOption Record tag spectrumOption Wave spectrum option Options are Bretschneider Bretschneider spectrum JONSWAP JONSWAP spectrum OchiHubble Six parameter Ochi and Hubble spectrum InputSpectrum Input spectral densities Record 20a Parameters for Bretschneider Spectrum This record is required if spectrumOption is set to Bretschneider in Record 19 BretParam hs tp 1 character string 2 floats BretParam Record tag hs Significant wave height H m tp Peak wave period T s 174 DRDC Atlantic TM 2011 308 Record 20b Parameters for JONSWAP Spectrum This record is required if spectrumOption is set to JONSWAP in Record 19 JONSWAPParam waveHeadingDeg hs tp peakEnhance 1 character string 3 floats JONSWAPParam Record tag hs Significant wave height H m tp Peak wave period T s peakEnhance Peak enhancement factor y This factor can be set to 3 3 to match a 2 parameter JONSWAP spectrum Record 20c Parameters for Ochi and Hubble Six Parameter Spectrum This record is required if spectrumOption is set to OchiHubble in Record 19 OchiHubbleParam hs1 freqPeak1 spectralShapel hs2 freqPeak2 spectralShape2 1 character string 6 floats OchiHubbleParam Record tag 1181 Significant wave height h _ of wave system 1 m freqPeak1 Peak wave
10. aziPropellerDeflectColumn aziPropellerDeflectVelColumn aziPropellerDeflectAccColumn 4 character strings aziPropellerDeflectColumns Record tag Values for each of the following can be one of Left Right Hide aziPropellerDeflectColumn Column of rudder deflection graph default Left aziPropellerDeflectVelColumn Column of rudder deflection velocity graph default Left aziPropellerDeflectAccColumn Column of rudder deflection velocity graph default Hide Record 33g Column Options for Azimuthing Propeller RPMs This record is optional if a plot is being specified aziPropellerRpmColumns aziPropellerRpmColumn aziPropellerRpmVelColumn aziPropellerRpmAccColumn 4 character strings aziPropellerRpmColumns Record tag Values for each of the following can be one of Left Right Hide aziPropellerRpmColumn Column of azimuthing propeller RPM graph default Left aziPropellerRpmVelColumn Column of azimuthing propeller RPM rate of change graph default Hide aziPropellerRpmAccColumn Column of azimuthing propeller RPM acceleration graph default Hide DRDC Atlantic TM 2011 308 111 Record 33h Column Options for U tube Tank Displacements This record is optional if a plot is being specified uTubeTankColumns uTubeTankDispColumn uTubeTankVelColumn uTubeTankAccColumn 4 character strings uTubeTankColumns Record tag Values for each of the following can be one of Left Rig
11. waveHeadingMeanDeg2 Principle wave direction from degrees of wave system 2 0 for waves from north and 90 for waves from east dirSpreadExp2 Directional spreading exponent of wave system 2 Record 12g2 Endeco Wave Spectrum File Name This record is required if dirSpectrumOption in Record 12g is set to EndecoWaveBuoy EndecoSpectrumFileName EndecoSpectrumFileName 2 character strings EndecoSpectrumFileName Record tag EndecoSpectrumFileName Name of ASCII file with wave spectrum from Endeco 956 or 1156 wave buoy The file name will typically have the extension std 54 DRDC Atlantic TM 2011 308 Record 12h Input Directional Wave Spectrum File Name This record is required if dirSpectrumOption in Record 12g is set to InputDir inputDirSpectrumFileName inputDirSpectrumFileName 2 character strings inputDirSpectrumFileName Record tag input DirSpectrumFileName Input directional wave spectrum file name The format of the directional wave spectrum file is given in Annex A 2 Record 12i End of Multi directional Seaway from Input Spectrum This record is required if seawayOption in Record 7 is set to DirSpectrum end dirSpectrumSeaway 1 character string with 2 words Record 13 Beginning of Seaway from Input Components Randomly Generated Phases Records 13 to 13c are required if seawayOption is set to componentRandom in Record 7 begin componentRandomSeaway
12. 16 17 u 18 19 20 21 22 23 24 25 30 McTaggart K A 2010 ShipMo3D Version 2 0 User Manual for Frequency Domain Analysis of Ship Seakeeping in a Seaway DRDC Atlantic TM 2010 132 Defence Research and Development Canada Atlantic Nam Bo Woo Kim Yonghwan Kim Dae Woong and Kim Yong Soo 2009 Experimental and Numerical Studies on Ship Motion Responses Coupled with Sloshing in Waves Journal of Ship Research 53 2 68 82 Lloyd A R J M 1998 Seakeeping Ship Behaviour in Rough Weather Revised ed Gosport England A R J M Lloyd publisher Malenica S Zalar M and Chen X B 2003 Dynamic Coupling of Seakeeping and Sloshing In Thirteeth International Offshore and Polar Engineering Conference Honolulu Hawaii Newman J N 1989 Wave Effects on Vessels with Internal Tanks In Twentieth International Workshop on Water Waves and Floating Bodies pp 201 204 Oystese Norway Colwell J L 1994 Motion Sickness Habituation in the Naval Environment DREA TM 94 211 Defence Research Establishment Atlantic McTaggart K A 2000 SHIPOP2 An Updated Program for Computing Ship Operability in Waves and Wind DREA TM 2000 138 Defence Research Establishment Atlantic 1978 ITTC Seakeeping Committee Report In 15th International Towing Tank Conference Vol 1 pp 55 114 The Hague Chakrabarti S K 1987 Hydrodynamics of Offshore Structures Springer Verlag
13. integration Time integrationTime 1 character string 1 float integrationTime Record tag integrationTime Integration time for rudder autopilot s Note If this record is not included after Record 7a then the original value for the given ship rudder autopilot is used Record 7g End of Rudder Autopilot Settings This record is required if Record 7 has been included end rudderAutopilotSettings 2 character strings end rudderAutopilotSettings Record tag DRDC Atlantic TM 2011 308 81 Record 8 Beginning of Azimuthing Propeller Deflection Controller Settings begin aziPropellerDeflectControllerSettings 2 character strings Records 8 to 8g are optional begin aziPropellerDeflectControllerSettings Note Record tag Records 8 to 8g are optional and can be used to supersede autopilot settings for a ship defined by SM3DBuildShip3 given in the file of Record 4 Within Records 8 to 8g Records 8a to 8f can be repeated an arbitrary number of times to set azimuthing propeller controller parameters as required Record 8a Azimuthing Propeller Key for Controller Settings This record must follow Record 8 if controller settings are being given as input keyAziPropeller keyAziPropeller 1 character string 1 integer keyAziPropeller Record tag key AziPropeller Key of azimuthing propeller for which controller settings are being specif
14. relWaveElevSteadyOption 2 character strings relWaveElevSteady Option relWaveElevSteady Option Record tag Option for including the influence of the steady wave field due to ship forward speed when evaluating distance from the waterline in calm water NoSteady Wave The steady wave due to ship forward speed is not included default This option must be used if no steady wave data are provided in Records 22 to 23d SinkageTrimOnly The ship sinkage and trim due to ship forward speed are included when evaluated vertical position relative to the calm waterline Sinkage and trim values specified in input Records 22 to 22b Steady WaveElev The steady wave elevation is evaluated based on steady wave profile specified in Records 23 to 23d Sinkage and trim from Records 22 to 22b are included Record 24e Option for Motion Induced Interruptions This record is required if a seakeeping position is being specified miiOption miiOption 2 character strings miiOption Record tag miiOption Option for motion induced interruption computations Mii Motion induced interruption computations are performed NoMii No motion induced interruption computations are performed 180 DRDC Atlantic TM 2011 308 Record 2461 Parameters for Motion Induced Interruptions This record is required if miiOption is set to mii in Record 246 miiParam tipCoLat tipCoLong durationMii 1 ch
15. where z is the principal wave direction and 6 is the spreading angle in degrees A spreading angle of 90 degrees is often used for seakeeping computations The spreading function given in Equation 14 has units of deg when the terms v 7 and 6 are given in units of degrees Although Equations 14 and 15 are defined using directions v and Y based in fixed earth axes they can also be easily defined in terms of relative sea direction Ps 5 1 5 Ten Parameter Directional Spectrum Directional seas can be most apparent when sea and swell components are similar in magnitude and are approaching from different directions The ten parameter spec trum developed by Hogben and Cobb 23 is a directional extension of the Ochi and DRDC Atlantic TM 2011 308 13 Hubble six parameter spectrum with each of the swell and sea components being multiplied by its own directional spreading function as follows T U U 180 2 Mi v A P cost for i 1 2 16 where P and 7 are the directional spreading parameter and mean direction from for component i The normalization factor A P is expressed as 20800 T2 P 1 180 T 2P 1 A P 1 2 17 where 2P 1 is the Gamma function with argument 2P 1 The above equations are based on parameters v and V being in units of degrees and each spreading function M v having units of degrees 14 DRDC Atlantic TM 2011 308 6 Motions of Freely Maneuvering Ship i
16. 0 0 3712916 7 0 0 0 0 0 0 0 0 0 0 0 0 3712916 7 0 0 0 0 0 0 0 0 0 0 0 0 85545601 3 0 0 0 0 0 0 0 0 0 0 0 0 3341625051 0 0 0 0 0 0 0 0 0 0 0 0 3341625051 1 Roll radius of gyration 4 800 m Pitch radius of gyration 30 000 m Yaw radius of gyration 30 000 m 148 DRDC Atlantic TM 2011 308 Roll Metacentric Height Properities Roll metacentric height from hull hydrostatics 1 430 m Correction due to sloshing tanks 0 000 m Input correction to roll metacentric height 0 000 m Corrected metacentric height 1 430 m Roll Properties at Zero Forward Speed Roll added mass 19548240 530169 kgx mx x 2 Nondimensional roll added mass A44 144 0 229 Natural roll frequency 0 704 rad s Natural roll period 8 928 s SHIP AUTOPILOT SETTINGS Rudder Autopilots for Ship Autopilot for ship with nominally steady speed and heading Key Rudder Label Rudder Maximum deflection 35 000 deg Maximum velocity 3 000 deg s Maximum acceleration Not set deg s2 Response frequency 3 000 rad s Response damping 0 850 rad s fraction of critical Maximum time step 0 100 s Autopilot gains Displacement gains have units of deg m and deg deg Velocity gains have units of deg m s and deg deg s Yaw gains given relative to earth fixed axes yaw is clockwise Surge Sway Heave Roll Pitch Yaw Displacement gains 0 000 0 000 0 000 0 000 0 000 4 000 Velocity gains 0 000 0 000 0 000 0 000 0 000 8 000 SEAKEEP
17. 2 character strings 130 DRDC Atlantic TM 2011 308 Record 10 Output Options outOptions outRudderRaoOption outAziPropRaoOption outUTubeTankRaoOption outRollDampOption 5 character strings outOptions outRudderRaoOption outAziPropRaoOption outUTubeTankRaoOption outRollDampOption DRDC Atlantic TM 2011 308 Record tag Option for writing rudder motions values RudderRao Rudder motions are written to output NoRudderRao Rudder motions are not written to output Option for writing azimuthing propeller deflections AziPropRao Azimuthing propeller deflections are written to output NoAziPropRao Azimuthing propeller deflections are not written to output Option for writing U tube tank fluid displacements UTubeTankRao U tube tank fluid displacements are written to output NoUTubeTankRao U tube tank fluid displacements are not written to output Option for writing roll damping values RollDamp Roll damping coefficients are written to output NoRollDamp Roll damping coefficients are not written to output 131 Record 11 Output Response Amplitude Operator File Name for Post Processing outMoDefRaoPprOption outMoDefRaoPprOption 2 character strings outMoDefRaoPprOption Record tag out MoDefRaoPprOption Option for output of data file with motion and appendage deflections response amplitude operators for post processing MotDefRaoPpr Motion and a
18. 7 091 0011 0901 0001 096 0 0060 0g8 0 155 DRDC Atlantic TM 2011 308 This page intentionally left blank 156 DRDC Atlantic TM 2011 308 Annex D Files for Motions in a Random Seaway with SM3DSeakeepRandom3 D 1 Format of Input File for SM3DSeakeepRandom3 Record 1 Beginning Record begin SM3DSeakeepRandom3 1 character string with 2 words Record 2 Run Label label label 2 character strings label Record tag label Label for run This can include spaces Record 3 Beginning of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input begin note 1 character string with 2 words Record 3a Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input noteText character string noteText Text of note Multiple lines can be entered Record 3b End of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input end note 1 character string with 2 words DRDC Atlantic TM 2011 308 157 Record 4 Input Ship Database File Name shipDBFileName shipDBFileName 2 character strings shipDBFileName Record tag shipDBFileName Name of input ship database file in NET binary serialization format This file must have been created using program SM3DBuildShip3 Record 5 Length Data lengthData lpp station
19. Option for plotting modes LongLat Longitudinal and lateral and modes will be shown with longitudinal modes in the left column and lateral modes in the right column default Long Longitudinal modes will be shown in a single column Lat Lateral modes will be shown in a single column Record 27g Column Options for Longitudinal Modes This record is optional if a plot is being specified longColumns surgeColumn heaveColumn pitchColumn 3 character strings longColumns surgeColumn heaveColumn pitchColumn Note 190 Record tag Values for each of the following can be one of Left Right Hide Column of surge graph Column of heave graph Column of pitch graph The values in this record will override values set based on longLatOption in Record 21f DRDC Atlantic TM 2011 308 Record 27h Column Options for Lateral Modes This record is optional if a plot is being specified latColumns swayColumn rollColumn yawColumn deflectColumn 5 character strings latColumns Record tag Values for each of the following can be one of Left Right Hide swayColumn Column of sway graph rollColumn Column of roll graph yawColumn Column of yaw graph deflectColumn Column of graph with rudder and or azimuthing propeller deflection angle RAOs Note The values in this record will override values set based on longLatOption in Record 27f Record 27i End of Ship Motion RAO Plo
20. heightmm Plot height mm Default 100 mm 106 DRDC Atlantic TM 2011 308 Record 320 Column Options for Motion Accelerations This record is optional if an acceleration plot is being specified motionColumns longAccColumn latAccColumn xfColumn yfColumn heaveColumn rollColumn pitchColumn headingColumn 9 character strings motionColumns longAccColumn latAccColumn xfColumn yfColumn heaveColumn rollColumn pitchColumn headingColumn Record tag Values for each of the following can be one of Left Right Hide Column of longitudinal acceleration graph default Left Column of lateral acceleration graph default Left Column of 27 acceleration graph default Hide Column of y acceleration graph default Hide Column of heave acceleration graph default Left Column of roll acceleration graph default Left Column of pitch acceleration graph default Left Column of heading acceleration graph default Left DRDC Atlantic TM 2011 308 107 Record 326 Column Options for Rudder and Propeller Accelerations This record is optional if an acceleration plot is being specified rudderPropColumns rudderDeflectColumn propellerRpmColumn aziPropellerDeflectColumn aziPropellerRpmColumn 5 character strings rudderPropColumns Record tag Values for each of the following can be one of Left Right Hide rudderDeflectColumn Column of rudder deflection acceleration graph default Hide
21. slamWetEmergeOption slamWetEmergeOption 2 character strings slamWetEmergeOption Record tag slamWetEmergeOption Option for slamming deck wetness or emergence computations NoSlamWetEmerge No slamming deck wetness or emergence computations are performed SlamPressureCoWidth Slamming calculations are performed using an input slamming form factor and effective pressure width specified in Record 2482 SlamWedge Slamming calculations are performed using wedge dimensions given in Record 24g3 SlamOffsets Slamming calculations are performed using offsets given in Records 2484 24g5 and 2480 WetnessEmerge Incidence of wetness or emergence calculations are performed depending on whether the position is above or below the waterline Record 24g1 Duration and Exceedence Probability for Slamming Wetness or Emergence Statistics This record is required if slamWetEmergeOption in Record 21f is set to SlamPressureCoWidth SlamWedge SlamOffsets or WetnessEmerge durationPExceed durationHours pExceed 1 character string 2 floats durationPExceed Record tag durationHours Duration for slamming wetness or emergence statistics hours pExceed Exceedence probability for slamming wetness or emergence statistics 182 DRDC Atlantic TM 2011 308 Record 24g2 Slamming Pressure Coefficient and Effective Pressure Width This record is required if slamWetEmergeOption in Record
22. widthmm Plot width mm Default 150 mm heightmm Plot height mm Default 100 mm DRDC Atlantic TM 2011 308 109 Record 330 Column Options for Rudder Deflections This record is optional if a plot is being specified rudderDeflectColumns rudderDeflectColumn rudderDeflect VelColumn rudderDeflectAccColumn 4 character strings rudderColumns rudderDeflectColumn rudderDeflect VelColumn rudderDeflect AccColumn Record tag Values for each of the following can be one of Left Right Hide Column of rudder deflection graph default Left Column of rudder deflection velocity graph default Left Column of rudder deflection velocity graph default Hide Record 33e Column Options for Propeller RPMs This record is optional if a plot is being specified propellerRpmColumns propellerRpmColumn propellerRpmVelColumn propellerRpmAccColumn 4 character strings propellerRpmColumns propellerRpmColumn propellerRpm VelColumn propellerRpmAccColumn 110 Record tag Values for each of the following can be one of Left Right Hide Column of propeller RPM graph default Left Column of propeller RPM rate of change graph default Hide Column of propeller RPM acceleration graph default Hide DRDC Atlantic TM 2011 308 Record 33 Column Options for Azimuthing Propeller Deflections This record is optional if a plot is being specified aziPropellerDeflectColumns
23. 0 667 0 700 0 990 0 000 6 VI 0 2990 270 0 80 0 008 8 961 0 L09 0 6300 9600 009 8 63 0 979 0 T70 0 90T 0 00 8 613 0 c09 0 cs0 0 ETTO 003 8E OTE 0 955 0 90 0 9110 000 8 168 0 087 0 GL0 0 9110 008 46 LITE 0 glE O T80 0 CTTO 009 Ze 380 0 erc 0 1800 soT 0 007 LE 993 0 1600 2600 960 0 003 LE 66T 0 ELO 0 G60 0 780 0 000 Ze EOT 0 ses 0 960 0 TL0 O 008 9 2T0 0 36 0 760 0 990 0 009 9 ost o ves O 680 0 6 0 0 007 9 612 0 879 0 T80 0 TZO O 003 9 68 0 Tel 0 38900 8000 000 9 697 0 084 0 2300 STO 0 008 S 1190 061 0 0 0 GEO 0 009 SE 019 0 T9L 0 06100 200 0 007 GE 16970 969 0 010 0 090 0 003 SE LLE O 869 0 GEO O0 690 0 000 SE 896 0 CLV O G0 0 710 0 008 TE 6TT 0 LTE 0 690 0 910 0 009 pE GZ0 0 897 0 80 0 610 0 007 ve 6ST 0 00 0 060 0 g90 0 003 VE 291 DRDC Atlantic TM 2011 308 TEV O LUG E 88 T 6970 vas 2291 2910 25811 29240 700 0 010 0 600 0 Sep mex Zep 42470 Sep TTOY DRDC Atlantic TM 2011 308 292 DOCUMENT CONTROL DATA Security classification of title abstract and indexing annotation must be entered when document is classified 1 ORIGINATOR the name and address of the 2 SECURITY CLASSIFICATION organization preparing the document overall security classification of the Defence R amp D Canada Atlantic
24. 0 100 s Acceleration attentuation 0 010 applied when displacement or velocity limits exceeded Autopilot gains Displacement gains have units of deg m and deg deg Velocity gains have units of deg m s and deg deg s Yaw gains given relative to earth fixed axes yaw is clockwise xf yf Heave Roll Pitch Yaw Displacement gains 0 000 0 000 0 000 0 000 0 000 4 000 Velocity gains 0 000 0 000 0 000 0 000 0 000 8 000 Integration gains 0 000 0 000 0 000 0 000 0 000 0 000 Integration time 0 000 s DRDC Atlantic TM 2011 308 117 INITIALIZING FreeShipInSeawayTD OBJECT CPU time for initialization of FreeShipInSeawayTD 6 158 s SIMULATING SHIP MOTIONS Executing command at time 0 000 s SetRpm All 166 5 Executing command at time 0 000 s SetRudderCourse All 0 Executing command at time 0 000 s Simulated time 100 000 s CPU time 0 318 s Ratio CPU simulated time 0 003 COMPUTED SHIP MOTIONS Time series summary Beginning and end times for statistics s 20 200 100 000 Displacements xf and yf in earth fixed axes Mode Mean Dev Max Min tz s xf m 611 201 233 547 1015 486 206 201 0 000 yf m 0 000 0 000 0 000 0 000 6 164 heave m 0 002 0 581 1 511 1 626 6 050 roll deg 0 000 0 000 0 000 0 000 7 280 pitch deg 0 023 1 174 3 274 3 254 5 240 heading to deg 0 000 0 000 0 000 0 000 5 569 Rudder deflections deg Rudder 0 000 0 000 0 000 0 000 5 554 Propeller RPM PortPropeller 1
25. 016175 024105 016175 002820 002169 012444 018545 012444 002169 001667 009562 014250 009562 001667 001286 007374 010990 007374 001286 000998 005723 008529 005723 000998 000780 004475 67 0 005002 0 005478 0 005889 0 006223 0 006468 0 006619 0 006669 0 006619 0 006468 0 006223 0 005889 0 005478 0 005002 0 004475 0 003914 0 003335 0 002756 0 002194 0 001667 0 001191 0 000780 0 000447 0 000201 0 000051 0 000000 energyDensities 1 000 0 000000 0 000040 0 000159 0 000352 0 000615 0 000939 0 001315 0 001730 0 002173 0 002629 0 003086 0 003528 0 003944 0 004319 0 004643 0 004906 0 005100 0 005219 0 005258 0 005219 0 005100 0 004906 0 004643 0 004319 0 003944 0 003528 0 003086 0 002629 0 002173 0 001730 0 001315 0 000939 0 000615 0 000352 0 000159 0 000040 0 000000 energyDensities 1 050 0 000000 0 000032 0 000126 0 000280 0 000489 0 000747 0 001045 0 001375 0 001727 0 002090 0 002453 0 002805 0 003136 0 003434 0 003692 0 003901 0 004055 0 004149 0 004181 0 004149 0 004055 0 003901 0 003692 0 003434 0 003136 0 002805 0 002453 0 002090 0 001727 0 001375 0 001045 0 000747 0 000489 0 000280 0 000126 0 000032 0 000000 energyDensities 1 100 0 000000 0 000025 0 000101 0 000225 0 000392 0 000599 0 000838 0 001103 0 001385 0 001676 0 001967 0 002249 0 002514 0 002753 0 002959 0 003127 0 003250 0 003326 0 003352 0 003326 0 003250 0 003127 0 002959 0 002753 0 002514 0 00
26. 062 0 T0 O0 0106 91240 0 027 1180 T0 O0 9 TZ 978 0 0901 998 0 T0 O0 0 EZ OTO T 0 06 906 0 ETO O 6156 58111 092 c96 0 t0 O 1196 9SE T 0 09 TO T 1O 0 2196 STS T 057 020 eTO 0 6196 29911 0 0 811 ETO O 9196 24211 0 91 ST T ETO O 2196 ZIELT 0 0 u 3 8 w 866 dstq 200 ZL dstq Sutpe TEUTPNITZUOT xxx dtg oSpt1g 16006 uot sy 47800 U0TITSOJ Zurtdesyesg Je SUOTION SWU SSOUNITS UOTJOU TOF SUTIL SSOUNITS UOTIOW sIeJewWeIeg uorye edo Jo out 0210 qgueTOTZZooo 3urddr3 Teurpn3t3uo7 quetrotjjeos 3urddr3 Te sge suor3dn1193UT p 5onpur uorqou TOF sTeyewereg 00009 096 0 u S E88 008 2 000 9 000 CT 000 09L 7 000 esptig SUTTIOIeM 99 dtys euTTeseq po drys uo qIM Z qIM Z 91M Z 91M X 11898 TeqeT 271 DRDC Atlantic TM 2011 308 6680 09 40 601 0 TT O LL O GZ8 0 966 0 961 0 lt 062 O O ON LO O O CO 5 cO O 6080 c6L 0 18240 9640 se8 0 2680 696 0 88011 lt H lt yyy s Y lt lt F o0o0oo000000000000 0O SIIN 76901 780 0 910 0 8200 6200 64200 8800 38600 60T 0 O O O O O O O O NN ha o Sua kusi SO O cO O E LO O 0 0 es 6T0 0 70 6 880 0 0 077 00 e s TZ0 0 70 06 980 0 0 S6T 00 es 66010 70 8 8 780 0 0 087 00 cs z0o 0 70 98 80 0 O Sot 00 cs 65600 0 9 8 1800 0091 0 0 cs 65600 0 98 1800 O Set 00 cs 720 0 0 98 T80 0 0061 00 cs 72
27. 1 character string 3 floats xfRange Record tag xfMin Minimum x coordinate of surface mesh xfMax Maximum zf coordinate of surface mesh xfInc Increment of zf coordinate of surface mesh Record 16h Y Plot Range This record is required if a plot is being specified yfRange yfMin yfMay yfInc 1 character string 3 floats yfRange Record tag yfMin Minimum y coordinate of surface mesh yfMay Maximum y coordinate of surface mesh yfInc Increment of y coordinate of surface mesh Record 16i Time of plot This record is optional if a plot is being specified time time 1 character string 1 floats time Record tag time Time at which sea surface is plotted default 0 0 Record 16j Mesh Line Thickness This record is optional if a plot is being specified lineThickness lineThickness 1 character string 1 float lineThickness Record tag lineThickness Line thickness of mesh default 1 0 Record 16k End of Plot Data end plots 1 character string with 2 words DRDC Atlantic TM 2011 308 61 Record 17 End of Seaway end SM3DBuildSeaway3 1 character string with 2 words 62 DRDC Atlantic TM 2011 308 A 2 Format of Input Directional Spectrum File for SM3DBuildSeaway3 Record 1 Beginning Record begin inputDirSpectrum 1 character string with 2 words Record 2 Run Label label label 2 character strings label Record tag
28. 18691 119 1 67991 029 16511 erst oTo T 981 0 60570 6010 TGS O 629 0 708 0 0 T 06 T 80 T eve T OTe T 6Tc T 1197 TO9 T 6651 966 1 1760 1090 8060 8vT 0 ee5 0 668 0 OEZ T 609 T GL T 998 T 176 T 906 T 608 T 779 T 6LE T T80 T 6521 0 T8E 0 110 0 6680 T89 0 616 0 OTST G8e T 9651 989 6091 8171 TLC TI 110 T 1980 909 0 790 0 LOT O 85710 8910 666 0 053 0 012 0 0870 6120 992 0 85610 6030 2910 stT o 90 0 900 0 90 0 OTT O 79T 0 VIS O GGG 0 18 O0 80 0 8Te 0 9Te 0 DOE O 287 O 053 0 OTZ 0 e9T 0 CTTO 650 0 g00 0 2500 960 0 0510 TSZ O 787 0 60 0 90680 0660 80660 9060 912 0 96860 8910 1610 04200 900 0 690 0 CCT O T8T 0 gez 0 912 0 OTE 0 Tee 0 eve 0 Tre 0 63 0 90 0 1G 0 EES 0 18T 0 T 0 G80 0 0 0 2100 90 0 8010 26810 991 0 9910 008 97 009 93 007 93 003 93 000 93 008 SZ 009 83 00596 00696 000 83 008 3 009 3 00 0 002 77 000 77 00886 009 g 00566 00686 00086 008 33 009 33 0051 33 003 33 000 33 008 TZ 009 TZ 0051 TZ 003 TZ 000 TZ 008 03 009 03 00 0 003 03 000 03 008 6T 289 DRDC Atlantic TM 2011 308 6T0 0 90 0 180 0 YOT O TET O CET O ser 0 6ET 0 9ET 0 GT O ott O 060 0 690
29. 81210 0 4 86L 0 92010 9101 16811 06800 8 9T LOST ETO O 6126 9861 0 00 88310 29 78 0 T80 0 0 07 SSE T 16010 S 9T Toc T ETO O 9 172 89611 0 987 243 DRDC Atlantic TM 2011 308 ET 1590 867 9 OT 5200 0 STE vst 1590 0 06 SOT 3 00 0 00 6 127 zs 0 vez 0 OT T80 0 0 987 TLZ 6v 0 v 8z g 6 060 0 0 012 9 Ze 97 0 988 0 6 0010 0 997 6 LlE 850 288 98 TITO 0 077 905 150 zer 18 2010 0 977 v 9v 6e 0 6 97 6 1 86810 0016 9 65 2680 6 6 9 2510 0 S6T 8 19 ge o ARAS 9 2 6510 0 081 S es 580 889 Wi 9910 0 S9T 9 S 580 859 eZ 6910 0 0ST 0 599 860 899 EL 1910 0 SET 0 599 veo ZS el 0910 0 021 e vs 580 959 el 8ST 0 0 SOT oes geo e es vil 8910 0 06 0 19 9 0 v TS GL 2510 0 92 885 8680 885 Leh 8810 0 09 8 bP 050 p Sr 0 8 8610 o s S o 250 Cle e g 8110 0 0 vce sv 0 e 9 8 8 9010 0 ST 9 67 850 808 8 6 3600 0 0 CA 8466 A 8 3 3ep shepgz 0 3 ISN ISK XEN ISW Xen ZL 226 SWU Zurpeey x k OUT 46 SSOUMITS xxx kkk SSOUMITS XEW x x 40190 TEITIION xxx drus 0 47800 Sutdeeyeeg 16006 wot ytsog UOT4TSOg Zurdesyess Je ou ptour SSSUNITS UOTION 20 00 TS To 0 20 cs or 0T 0 O STE 8 0 0 0 1 9 TOO 80 OT 9010 0 0 8 0 0 0 G s TrO O 80 OT SOL O O STE 30 00 cs TrO O 80 OT 90T 0 000 380 00 eS 61010 30 OTt 50110 0 98 30 00 ens To 0 80 601 67010 0 017 DRDC Atlantic TM 2011 308 244 0000 000000 0 09240 9 9 T6L O 0 0 E 000 0 000000 0 80240 0 4 V8L 0
30. Unidirectional Bretschneider Spectrum Seaway Param eters This record is required if uniSpectrumOption in Record 14b is set to Bretschneider BretParam hs tp 1 character string 2 floats BretParam Record tag hs Significant wave height H m tp Peak wave period T s Record 14c2 Unidirectional JONSWAP Spectrum Seaway Parame ters This record is required if uniSpectrumOption in Record 14b is set to JONSWAP JONSWAPParam hs tp peakEnhance 1 character string 3 floats JONSWAPParam Record tag hs Significant wave height H m tp Peak wave period T s peakEnhance Peak enhancement factor y This factor can be set to 3 3 to match a 2 parameter JONSWAP spectrum 220 DRDC Atlantic TM 2011 308 Record 1403 Unidirectional Ochi Hubble Spectrum Parameters This record is required if uniSpectrumOption in Record 14b is set to OchiHubble OchiHubbleParam hs1 freqPeak1 spectralShapel hs2 freqPeak2 spectralShape2 1 character string 6 floats OchiHubbleParam Record tag hs1 Significant wave height h _ of wave system 1 m freqPeak1 Peak wave frequency w _1 of wave system 1 rad s spectralShapel Spectral shape factor A of wave system 1 hs2 Significant wave height h gt of wave system 2 m freqPeak2 Peak wave frequency w _2 of wave system 2 rad s spectralShape2 Spectral shape factor Aa of wave system 2 Record 14c4 Unidirectional Input Spectrum
31. defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a typical ship with a downward oriented rudder this value is typically lt 0 0 If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used DRDC Atlantic TM 2011 308 Record 76 Rudder Integral Gains This record can optionally be entered if an autopilot key has been specified using Record 7a intGains surgelntGain swayIntGain heavelntGain rolllntGain pitchIntGain yawIntGain 1 character string 6 floats intGains surgelntGain swayIntGain heavelntGain rolllntGain pitchIntGain yawIntGain Note Record 7f Record tag Surge integral gain deg m s This value should be 0 0 Sway integral gain deg m s This value should be 0 0 Heave integral gain deg m s This value is typically 0 0 Roll integral gain deg deg s This value is typically 0 0 unless rudder stabilization is desired Pitch integral gain deg deg s This value is typically 0 0 Yaw integral gain deg deg s For a typical ship with a downward oriented rudder this value is typically lt 0 0 If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used Rudder Autopilot Integration Time This record can optionally be entered if an autopilot key has been specified using Record 7a
32. deg m This value should be 0 0 heaveGain Heave gain deg m This value is typically 0 0 rollGain Roll gain deg deg This value is typically 0 0 unless rudder roll stabilization is desired pitchGain Pitch gain deg deg This value is typically 0 0 yawGain Yaw gain deg deg Note that input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a typical ship with a downward oriented rudder this value is typically lt 0 0 Note If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used DRDC Atlantic TM 2011 308 79 Record 70 Rudder Velocity Gains This record can optionally be entered if an autopilot key has been specified using Record 7a velGains surgeVelGain swayVelGain heaveVelGain rollVelGain pitchVelGain yawVelGain 1 character string 6 floats velGains surgeVelGain sway VelGain heave VelGain rollVelGain pitch VelGain yaw VelGain Note 80 Record tag Surge velocity gain deg m s This value should be 0 0 Sway velocity gain deg m s This value should be 0 0 Heave velocity gain deg m s This value is typically 0 0 Roll velocity gain deg deg s This value is typically 0 0 unless rudder stabilization is desired Pitch velocity gain deg deg s This value is typically 0 0 Yaw velocity gain deg deg s Note that input yaw gain is
33. ge 0161 e 969 T Le 68511 SOE T 96 OST T 06 S O TI VT 17601 6 9101 eseyg duy dstp z e1 700 0 700 0O 700 0 700 0 700 0 700 0O 700 0O v00 0 700 0O 291 est 981 PZT 211 PTT OTT 67T 901 690 760 161 261 coc 9 965 ger 666 O OGOOGO OGO O CTT 7660 101 96 06 296 966 ger 0 0 0 eseyg duy dstp 187 9891 ZZT O 68611 008 0 661 9010 696 1 0 0 606 60 0 9717 0020 006 8E0 0 veo Tt 0g99 0 98 970 0 276 0 009 0 VL 9010 s38 0 099 0 24 0660 1210 009 0 78 6180 5890 0950 18 94680 9vS 0 0050 06 1850 19570 0980 66 167 0 06860 0080 6 68590 20680 0960 76 809 0 9860 00730 eseyg dwy S pez 8 064 dstp 3uo7 be y Suq be y onen 800477006 sonen Aq p zrTeuorsu urp uou sau u oeTdsrp TIY u 000 ZT 782 u 0008 000 uorqeqs uotytsod Sutdeeyees Teqe7 860 0 0ST UOTID9ITP ees SATIETOY s u 00801 peeds drus SOACM IEINZEY UT SUOTITSOJ Sutdeeyees Je SUOTION 0000 0000 0000 0000 0000 0000 0000 0000 0000 tzo 0 T00 O 600 0 T0 0O ct0 O 1800 9600 0500 67800 T70 0 990 0 cL0 0 210 0 210 0O g60 0 OTTO 9010 06010 1000 g00 0 L00 0 700 0 900 0 g00 0 2000 0100 8100 6 9 S 607 S v8T S 96 7 LVL 9609 632 Tv LEV 676 000 056 T7 006 T 098 0081 0924 002 0991 009 DRDC Atlantic TM 2011 308 154 VCE 186 LES 96T LST LTT 82 cv
34. imageFileName 2 character strings imageFileName Record tag imageFileName Name of output plot file Record 16b Seaway Plot Image Format This record is optional if a plot is being specified imageFormat imageFormat 2 character strings imageFormat Record tag imageFormat Plot image format Available formats are png default and jpg Record 16c Seaway Plot Image Size This record is optional if a plot is being specified imageSize widthmm heightmm 1 character string 2 floats imageSize Record tag widthmm Plot width mm Default 150 mm heightmm Plot height mm Default 100 mm 58 DRDC Atlantic TM 2011 308 Record 160 Seaway Plot Camera Settings This record is required if a plot is being specified camera camPosHorAngleDeg camPosVert AngleDeg camViewAngleDeg 1 character string 3 floats camera Record tag camPosHorAngleDeg Horizontal position deg of camera relative to seaway 0 for front 90 for left camPosHorAngleDeg Vertical position deg of camera relative to seaway 0 for horizontal 90 for above camViewAngleDeg Camera view angle deg Record 16e Seaway Plot Lighting Settings This record is optional if a plot is being specified lighting ambientLightIntensity directLightIntensity directLightHorAngleDeg directLight VertAngleDeg 1 character string 3 floats lighting Record tag ambientLightIntensity Ambient lig
35. moDefRaoDBFileName moDefRaoDBFileName 2 character strings moDefRaoDBFileName Record tag moDefRaoDBFileName Name of file with ship motion and appendage deflection response amplitude operators This file is typically built using application SM3DSeakeepRegular3 or SM3DSeakeepRandom3 Record 6a Ship Speed Range in m s One of Records 6a to 6f must be given speedRange speedMin speedMax speedInc 1 character string 3 floats speedRange speedMin speedMax speedInc 248 Record tag Minimum ship speed m s Maximum ship speed m s Increment for ship speed m s DRDC Atlantic TM 2011 308 Record 6b Ship Speeds in m s One of Records 6a to 6f must be given speeds speeds 1 character string array of floats speeds Record tag speeds Array of ship speeds m s Record 6c Ship Speed Range in Knots One of Records 6a to 6f must be given speedKnotsRange speedKnotsMin speedKnotsMax speedKnotsInc 1 character string 3 floats speedKnotsRange Record tag speedKnotsMin Minimum ship speed knots speedKnotsMax Maximum ship speed knots speedKnotsInc Increment for ship speed knots Record 6d Ship Speeds in Knots One of Records 6a to 6f must be given speedsKnots speedsKnots 1 character string array of floats speedsKnots Record tag speedsKnots Array of ship speeds knots Record 6e Froude Number Range One o
36. pitch VelGain yaw VelGain Note DRDC Atlantic TM 2011 308 Record tag Surge velocity gain deg m s This value should be 0 0 Sway velocity gain deg m s This value should be 0 0 Heave velocity gain deg m s This value is typically 0 0 Roll velocity gain deg deg s This value is typically 0 0 unless stabilization is desired Pitch velocity gain deg deg s This value is typically 0 0 Yaw velocity gain deg deg s For a ship with using a downward oriented azimuthing propeller for course keeping this value is typically lt 0 0 If this record is not included after Record 8a then the original values for the given azimuthing propeller controller are used 85 Record 86 Azimuthing Propeller Deflection Controller Integral Gains This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 8a deflectIntGains surgelntGain swayIntGain heavelntGain rollIntGain pitchIntGain yawIntGain 1 character string 6 floats deflectIntGains Record tag surgelntGain Surge integral gain deg m s This value should be 0 0 swayIntGain Sway integral gain deg m s This value should be 0 0 heavelntGain Heave integral gain deg m s This value is typically 0 0 rollIntGain Roll integral gain deg deg s This value is typically 0 0 unless rudder stabilization is desired pitchIntGain Pitch integral gain deg deg s This valu
37. souq 00006 S W 00 0T peeds drus emeos e UT 59 dIUS 46 SUOTION DRDC Atlantic TM 2011 308 240 u 092 E 000 uoryTsod Sutdeeyees e vt 9 vt vt vt Ss vt c vt 8 81 c et S et 6 11 c TT oo oo Jr Ti A 02 O 00 OQ LO o NAA O Gy Oy Gy YN O to O SY MN 8 N E 99 drus 91m x uorqeqs 76069 dtyg uo 0 0 4800 Je Zutdsesyeag oO N o Oo 0 N N On DN LO OO O GN GN 00 4 Y LO LO M O O O O O o 01 7 0561 OT G6 E s8 98 90 87 v 95 7 g87 6T S 259 929 26 S Sep UoTIOET FOG z ppnu Surpe q drys T4 ppnu 6800 4 241 DRDC Atlantic TM 2011 308 888 0 1101 66811 8961 9861 66761 6491 91691 1691 ctl T 60L T c89 T cEe9 T 899 T cov Tt 1981 9661 9601 v96 0 s t T A un Y LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO WMO O 002 LO 0 NH O O O O O O nn O N E 6680 6960 evo T 8TT T 98T T 2561 166 1 vee Tt 9ge T PIE 1 9961 cee T voz 1 erc T ALT T 2011 620 T 296 0 g88 0 u dstq 060 0 00T 0 TTT O 0010 8810 0610 6610 9910 6ST 0 1910 09T 0 891 0 8910 VT O 8810 8610 8110 9010 g60 0 3 99Y un O 00 00 00 NT E r N NN 0908000 nmomonr LO h 00 02 00 00 LO OA LQ O LO N L6E T ZS T 809 T OLS T vZ9 T 9L9 T OTL T SPL T VOLT OLL T 6SL T 981 1 TO I L99 T Z09 T 96
38. velocity gain for mode j autopilot integral gain for mode j autopilot proportional displacement gain for mode j motion induced interruption spreading function for ten parameter spectrum component i spreading parameter for ten parameter spectrum component i maximum slamming pressure response amplitude operator root mean square point wave spectral density directional wave spectral density half stance width for computing MIIs peak wave period sectional draft zero crossing period average wave period relative vertical velocity horizontal plane coordinates in earth fixed axes JONSWAP spectrum normalization term sea direction relative to ship Gamma function with argument X spectral peak enhancement parameter rudder deflection angle rudder nondimensional damping response constant displacement in translating earth axes for mode 7 displacement in earth fixed axes for mode 7 command displacement in earth fixed axes for mode 7 DRDC Atlantic TM 2011 308 wn E gt Q NI rudder max gt gt spreading angle for cosine squared spectral spreading JONSWAP spectrum exponent spectral shape parameter for spectral component i static coefficient of friction wave direction from in earth fixed axes mean wave direction from in earth fixed axes mean wave direction from for spectral component i water density standard deviation also RMS or JONSWAP spectrum parameter rudder autopilot integrat
39. 0 820 0 800 0 g70 0 T80 0 VITO 8510 9910 08T 0 8910 06T 0 98T 0 8LT O 8910 0510 2010 g90 0 9T0 0 6 0 0 660 0 COT O GG O 987 0 see 0 1480 809 0 95680 2800 766 0 eEc9 0 076 0 GGG T 800 T 709 T 789 T 989 T ETO T F9V T TVG T 876 0 965 0 967 0 6770 799 0 T60 T ver l 998 7 8916 0886 cos e 1083 06 3 6610 S6 1 05661 08 0 L0G 0 OCT 0 VO T 669 T L1E 0 698 0 oet 0 987 0 vrs 0 TT9 O 789 0 TGL O 6L 0 261 0 6341 0 089 0 E99 0 807 0 GTS O TO O 0860 25690 1080 90601 9061 PEET 80571 06511 cov T 632 1 cto T VO T 89 0 91S 0 0860 S 0 0 T9 0 989 0 G66 0 116 T 1910 9160 897 0 6219 0 719 0 LEL O G9L 0 291 0 7120 26890 87350 0680 8770 s70 0 TVI O GEE O 9T9 0 989 0 8 0 TG6 0 0 T TLO T 650 T 66 0 18 0 002 0 617 0 616 0 0210 0 glE O T89 0 04260 OST 06651 869 829 60 0 060 0 T80 0 890 0 cs0 0 S 0 0 8T0 0 TOO 0 9100 0 0 2500 690 0 890 0 T20 0 020 0 790 0 7s0 0 8 0 0 610 0 E00 0 LT0 0 90 0 820 0 00T 0 02T 0 VET O DVT O 8vT 0 LUT 0 6 T 0 961 0 LOT O G80 0 0690 0 9T0 0 80600 90 0 8 0 0 TZO O c00 0 3T0 0 9 0 0O S0 0 290 O 910 0 T80 0 080 0 6200 1900 850
40. 0 860 TLTOY 779 0 769 0 0520 6340 9520 969 0 719 0 T03 0 8960 2060 05600 LET 0 887 0 GEV 0 19S 0 199 0 0 9LL 0 61 0 T8L 0 L0L 0 769 0 779 0 079 0 907 0 GvE O SET 0 m oneo v00 0 GZ0 0 144000 90 0 080 0 160 0 TIT O SzT 0 9 eT 0 9vT 0 esT 0 9sT 0 ysT 0 85710 2610 1610 1010 210 0 1900 ZO 0 600 0 070 0 010 0 660 0 SzT 0 977 0 0691 0 u feng 1900 6600 63T 0 16910 9241 0 06T 0 0030 S0z 0 0Z 0 261 0 s8T 0 69T 0 8vT 0 vZT O 160 0 1900 Se0 0 200 0 TEO 0 90 0 60 0 161 O 9561 0 991 0 38T 0 e6T 0 86T 0 u 231NS 0069 0009 008 7 00915 00515 0065 000 008 009 007 002 000 008 009 00516 006 000 008 009 0051 006 000 0080 0090 0050 0060 0000 8 2 4400 oq MOQ MBA unop noq UI TA dn opts 4400 Toy dn 4e H 4400 keng PIBMIOJ ed ng sexy 411849 SurqeTsuerL ur 99 drus ge squowsserdstq DRDC Atlantic TM 2011 308 286 0000 ce0 0 390 0 660 0 0ET 0 991 0 OLT O LT O 997 0 STI 0 ETT 0 T20 0 Z0 0 670 0 6400 GT O 06910 06T 0 6070 6Tc 0 0660 cto 0 67610 9910 GT O 06800 6800 770 0 990 0 880 0 60T 0 TOT O GST O GT O Oct 0 STT O 90 0 LTE 0 999 0 984 0 996 0 E60 T COT T TAT T EZT T GC0 T G88 0 STL 0O 9069 0
41. 0 977 cTto o 0 09 00 690 0 0 T 6T g00 0 057 00 690 00 0 86 900 0 0 08 0 0 69 0 0 0 196 800 0 0 9T 0 0 69 0 0 0 L SG 600 0 0 0 Ch 8466 Ch s 8 866 84660960 34 191 ISN XEN ISW Xen ZL 299e SWU UO0TID9ITP xxx OUT Je SSOUNITS kkk kkk SSOUMITS XEN xxx 40130 TeoTII9A xxx POS Too ooo Too uorqrsod Sutdeeyeeg TeqeT uorqrsoq 0 47800 Butdeeyees Je SIUSPTIUT SSSUADTS UOTION 0 67 920 0 0 0 0 Z 0000 0 087 0 67 920 0 0 0 8 v 600 0 0 997 0 09 920 0 00 TS 6TO 0 0091 205 DRDC Atlantic TM 2011 308 1000 1000 1000 0000 0000 0000 0000 0000 0000 0000 000 0 000 0 T00000 T00000 T00000 000000 000000 000000 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 O OGOOGO 180 7 190 7 670 668 T g79 T TET T 6LE 0 TS O 9960 1910 0610 18660 N 0 00010 SY yv yY lt F CN 9 P OO 00 LO P O LO LO N 02571 99571 69571 96681 TEST 6T8 0 80680 6890 99240 9690 2190 699 0 0 087 0 597 0 057 0 SET 0 057 0 907 0 06 O SL 0 09 097 0 0 0 91 DRDC Atlantic TM 2011 308 206 Annex E Files for Motions in an Earth Fixed Seaway with SM3DSeakeepSeaway3 E 1 Format of Input File for SM3DSeakeepSeaway3 Record 1 Beginning Record begin SM3DSeakeepSeaway3 1 character string with 2 words Record 2 Run Label label label 2 character strings label Record tag l
42. 000370 000718 000608 000185 000019 000315 000610 000517 000157 000016 000269 000522 000442 000134 000014 000231 000448 000379 000115 000012 000199 000386 000327 000100 000010 000172 000334 000283 000086 000009 000150 ooo0o0 ooooo ooooo ooooo ooooo O OOG O ooooo oo0oooo oo 000070 000610 001031 000779 000186 000059 000513 000868 000656 000156 000050 000434 000734 000555 000132 000042 000369 000624 000472 000112 000036 000316 000534 000403 000096 000031 000271 000458 000346 000082 000027 000234 000395 000299 000071 000023 000202 000342 000259 000062 000020 000176 ooooo ooooo ooooo ooooo lt 2 oO ooooo ooooo oo0oooo oo 000122 000697 001039 000697 000122 000102 000587 000874 000587 000102 000087 000496 000740 000496 000087 000074 000422 000629 000422 000074 000063 000361 000538 000361 000063 000054 000310 000462 000310 000054 000047 000267 000398 000267 000047 000040 000231 000345 000231 000040 000035 000201 69 0 000225 0 000246 0 000265 0 000280 0 000291 0 000298 0 000300 0 000298 0 000291 0 000280 0 000265 0 000246 0 000225 0 000201 0 000176 0 000150 0 000124 0 000099 0 000075 0 000054 0 000035 0 000020 0 000009 0 000
43. 021632 0 022135 0 022305 0 022135 0 021632 0 020811 0 019696 0 018321 0 016729 0 014967 0 013089 0 011152 0 009216 0 007338 0 005576 0 003984 0 002609 0 001494 0 000673 0 000169 0 000000 energyDensities 0 450 0 000000 0 000315 0 001251 0 002779 0 004852 0 007409 0 010370 0 013647 0 017139 0 020741 0 024342 0 027834 0 031111 0 034072 0 036629 0 038703 0 040230 0 041166 0 041481 0 041166 0 040230 0 038703 0 036629 0 034072 0 031111 0 027834 0 024342 0 020741 0 017139 0 013647 0 010370 0 007409 0 004852 0 002779 0 001251 0 000315 0 000000 energyDensities 0 500 0 000000 0 000371 0 001474 0 003275 0 005719 0 008732 0 012222 0 016083 0 020199 0 024444 0 028688 0 032804 0 036666 0 040156 0 043169 0 045613 0 047413 0 048516 0 048887 0 048516 0 047413 0 045613 0 043169 0 040156 0 036666 0 032804 0 028688 0 024444 0 020199 0 016083 0 012222 0 008732 0 005719 66 DRDC Atlantic TM 2011 308 0 003275 energyDensities 0 008234 0 034578 0 045754 0 027055 0 003088 energyDensities 0 006945 0 029162 0 038587 0 022817 0 002605 energyDensities 0 005540 0 023263 0 030781 0 018201 0 002078 energyDensities 0 004305 0 018079 0 023922 0 014145 0 001615 energyDensities 0 003312 0 013909 0 018404 0 010883 0 001242 energyDensities 0 002545 0 010688 0 014142 0 008362 0 000955 energyDensities 0 001963 0 008242 0 010906 0 006449 0 000736 energyDensities 0 001523 0 006397 0 008464 0 005005 0 000571 energyDensiti
44. 10 tEnd dt 1 character string 3 floats timeParameters Record tag 10 Time at start of time series s tEnd Time at end of time series s dt Time increment s Record 13 End Record end SM3DTimeSeriesFromRaos3 1 character string with 2 words 282 DRDC Atlantic TM 2011 308 G 2 Sample Input File for SM3DTimeSeriesFromRaos3 begin SM3DTimeSeriesFromRaos3 label Generic frigate shipDimensions 120 20 61 7501556572279 4 2 0 6 moDefRaoDBFileName genFrigSeakeepRandomMoDefRaoDB bin fixedSeawayFileName bretSeaStatebSeaway xml motionAxesOutputOption TransEarth outTimeSeries Disp NoVel Acc speedKnots 20 heading 30 shipPosition0 0 0 timeParameters 0 40 0 2 end SM3DTimeSeriesFromRaos3 DRDC Atlantic TM 2011 308 283 G 3 Sample Output File for SM3DTimeSeriesFromRaos3 Accelerations Removed Program SM3DTimeSeriesFromRaos3 ShipMo3D 3 0 Version 3 0 release 5 October 2011 Time November 10 11 2 05 19 PM Run label Generic frigate ECHO OF USER INPUT Ship Dimensions Length between perpendiculars 120 000 m Station number of aft perpendicular 20 000 Distance from fore perpendicular to LCG 61 750 Draft of baseline at midships 4 200 m Trim of baseline by stern 0 000 m Height of CG above baseline 6 000 m File name with ship motion RAOs genFrigSeakeepRandomMoDefRaoDB bin Label Generic frigate Created November 10 11 9 07 44 AM Version ShipMo3D 3 0 Version 3 0 release 5 Octobe
45. 187 812 9610 0 09 TTD 050 L Y 0 8 9610 097 16 060 sor v s 9TT O 0 08 g TE 9520 9896 6 8 9010 O ST 1 8 8570 6 67 v 6 v60 0 00 Ch 8466 Ch 8 8 Sep skepgz 0 14 ISW ISK XEN ISW Xen ZL 99e SWU Zurpeoy xxx OUT Je SSOUNITS xxx kkk SSOUYOTS XEN xxx UOT OW TEITIION xxx dtys eSptig 16061 uorqrsoq 0 47800 Zurdesyesg Je SIUSPTIUT SSSUADTS UOTION v0 0 0 cs ETO O 70 1 01 760 0 0958 s 0 00 G S TrO O s 0 601 5600 0 0 S O 0 0 G 0100 g 0 601 960 0 0 STE s 0 00 es 0100 s 0 601 9600 000 s 0 00 v s TTO O 9 0 C OT S60 0 0 987 t O 0 0 FS t0 O 70 001 760 0 0 017 70 0 0 eS TO O 70 6 6 c60 0 0996 ro 0 0 eS 9100 v0 9 6 T60 0 0 00 vio 00 es 8To 0 v0 76 060 0 0 977 273 DRDC Atlantic TM 2011 308 000 0 000000 0 LL O 89 S88 0 0 383 0000 000000 0 4180 v9 c68 0 0 017 0000 000000 0 966 0 1 9 696 0 0 997 000 0 000000 0 9611 89 68601 0 077 000 0 000000 0 PSZT SS 9011 0 977 000 0 000000 0 6281 VG 9211 0 077 000 0 000000 0 82571 erg GEST 0 S6T 000 0 000000 0 598 Z S S9G T 0 087 0000 000000 0 269 FS Gert 0 997 000 0 000000 0 119 T O S 95861 0091 0000 000000 0 669 T O S 69681 0 SET 000 0 000000 0 969 T O S vre T 0 071 000 0 000000 0 699 T o s 1681 0901 000 0 000000 0 0z9 T O S 98 T 0 06 000 0 000000 0 2569 O S 67861 092 0000 000000 0 67971 TS GLUT 0 09 000 0 000000 0 vre T C S 6011 O S 000 0 000000 0 1060 G 26011 0 0 0000 000000 0 T60 T
46. 4eT suoT3dn1199UT p 5mpur uorqou 107 s ejewereg u 008 sutTi ogen 91M Z u 0009 Do drys 91m 2 u 000 ZT urT s eq 91M Z u 000 7 u 0S EF 99 dtys 91m x 000 uorqeqs uotytsod Surd yxe s Teqe7 dtyg uo wotytsog ye Zurdooeyeos oO MOO 00 o ht O 00 O F LO LO LO LO LO LO 00 i am N N o Q io 00 0 io C cC N 0 Oo O O O O H O O O O CQ L LO LO LO 03 mM 0081 0991 0091 0981 0 027 0 907 0 06 0 92 0 09 097 0 0 O ST 203 DRDC Atlantic TM 2011 308 T O T O 09 920 0 00 9 Ze0 0 0981 T O 00 67 720 0 0 0 079 1900 0 071 0 0 0 97 IOO eo c9 620 0 0901 07 00 evt 10010 0 TL 1610 0 06 Tg 00 08 200 0 Tg 9 6 S8T 0 0 92 ST 0 0 LET Z00 0 ST LET TET O 0 09 00 00 661 Z00 0 00 661 60200 057 00 00 70T Z00 0 00 133 6 0 0 00 00 00 08 00 0 00 21010 0 91 00 00 8 4 00 0 00 296 0000 00 5 3 8 8 ZL SWU ZL SWU SIIN SIIN 1IOJBUTISO 62408 SIIN IOJRUTISO 9910J 76301 Teurpn313u07 doo kkkkk O9 TEIOIET U0TID9ITP TOS 02410 queToTyyeoo Sutddty Teutpnar3uo7 0980 querotjjeos 3urddr3 Te sge s 0 09 uorye np SUTMOTTOJ TOF 9981 se 604 78 SIIN uotytsod Zutdssyesg 16006 UOTITSOI suor3dn1193U pesnpul uotTJIoy pue sexy Teo 04 SATIBTOY S9SDIOH 280 C 77 0251 9910 89 90601 00010 9 4 000 0 0100 9 9 1200 0 087 290 C 95 9971 9910 819 EST 2000 8 9 4900 070 0 29 06200 0 S9T 6106 Sr 6951
47. Column of propeller RPM graph default Hide aziPropellerDeflectColumn Column of azimuthing propeller deflection graph default Hide aziPropellerRpmColumn Column of azimuthing propeller RPM graph default Hide Record 30f End of Displacement Time Series Plot Data end displacementPlots 1 character string with 2 words Record 31 Beginning of Velocity Time Series Plot Data This record is optional begin velocityPlots 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 31a to 316 giving plot parameters Record 31f must follow at the end of plot parameter data Record 31a Velocity Plot Image File Name This record is required if a velocity plot is being specified imageFileName imageFileName 2 character strings imageFileName Record tag imageFileName Name of output plot file 102 DRDC Atlantic TM 2011 308 Record 31b Velocity Plot Image Format This record is optional if a velocity plot is being specified imageFormat imageFormat 2 character strings imageFormat Record tag imageFormat Plot image format Available formats are png default and jpg Record 31c Velocity Plot Image Size This record is optional if a velocity plot is being specified imageSize widthmm heightmm 1 character string 2 floats imageSize Record tag widthmm Plot width mm Default 150 m
48. NoSlamWetEmerge No slamming deck wetness or emergence computations are performed SlamPressureCoWidth Slamming calculations are performed using an input slamming form factor and effective pressure width specified in Record 2112 SlamWedge Slamming calculations are performed using wedge dimensions given in Record 2113 SlamOffsets Slamming calculations are performed using offsets given in Records 2114 2115 and 2116 WetnessEmerge Incidence of wetness or emergence calculations are performed depending on whether the position is above or below the waterline 231 Record 211 Duration and Exceedence Probability for Slamming Wetness or Emergence Statistics This record is required if slamWetEmergeOption in Record 21f is set to SlamPressureCoWidth SlamWedge SlamOffsets or WetnessEmerge durationPExceed durationHours pExceed 1 character string 2 floats durationPExceed Record tag durationHours Duration for slamming wetness or emergence statistics hours pExceed Exceedence probability for slamming wetness or emergence statistics Record 21f2 Slamming Pressure Coefficient and Effective Pressure Width This record is required if slamWetEmergeOption in Record 21f is set to SlamPressureCoWidth slamPressureCoWidth slamPressureCo slamForceWidth 1 character string 2 floats slamPressureCoWidth Record tag slamPressureCo Slamming pressure coefficient sla
49. O ETTO 8610 AKAR 06880 9250 c09 0 0940 v88 0 LE0 T 000 096 T 0061 0981 0081 0921 00211 099 0091 099 009 09571 00511 0961 0061 037 T 007 T 0osT T 007 T 050 T 000 T 0S6 0 006 0 0g8 0 008 0 09240 0020 0g9 0 009 0 DRDC Atlantic TM 2011 308 152 1910 09T 0 0910 6910 6ST 0 L amp T O 291 0 ST O ST O 89T 0 6ST 0 T9T 0 S91 0 1210 6410 6810 661 0 0160 816 0 GG 0 80660 6000 LEG 0 80660 6160 9160 TG O cto 0 8860 peppy 700 0 700 0 900 0 200 0O S00 0 8000 9000 8100 2100 00600 8T0 0 6100 6100 00 0 2600 0900 8500 gg0 0 2s0 0 8500 VO 0 TO O 9 0 0 6Z0 0 57600 00600 9100 0100 SNOOSTA esepueddy 890 0 700 0O 000 0 620 0 960 0 9100 gel e 099 8500 7000 0000 0800 960 0 STO 0 LUGE 009 8g0 0 700 0 000 0 0800 860 0 6 600 E9E E 0951 890 0 700 0 0000 1800 0010 8000 este 00571 890 0 700 0O 000 0 670 0 9600 000 800 0981 890 0 700 0O 000 0 ge0 O 0010 9100 26086 00681 8500 700 0O 000 0 8e0 0 9010 1800 TL9 3 0sz T 8500 v00 0 0000 0500 9110 690 0 OTS 0061 8g0 0 700 0 0000 8500 8610 860 0 8986 0911 890 0 700 0O 000 0 95600 86010 1610 1066 0011 890 0 700 0O 000 0 670 0 6010 ETTO 90 S 090 8500 700 0O 000 0 TS0 0 Ss3T 0 T80 0 OT6 T 000 T 8500 700 0O 000 0 90 0 LCTO 980 0 TLL T 096 0 8g0 0 700 0 000 0 Ss0 0 TT O 8610 189 T 006 0 890 0 700 0O 000 0 7g0 0 6910 9980 209 0880 85
50. Sample Input File for SM3DSeakeepRandom3 196 D 3 Sample Output File for SM3DSeakeepRandom3 Motions Only Given for One Ship Speed 197 Files for Motions in an Earth Fixed Seaway with SM3DSeakeepSeaway3 saw sn le a e 207 E 1 Format of Input File for SM3DSeakeepSeaway3 207 E 2 Sample Input File for SM3DSeakeepSeaway3 234 E 3 Sample Output File for SM3DSeakeepSeaway3 Motions Only Given for One Ship Speed Directional Seaway Spectral Densities Removed y pibe a AE el 235 DRDC Atlantic TM 2011 308 vii Annex F Files for Motions in an Earth Fixed Seaway with SM3DSeakeepSeawayFromRaos3 2 ee 247 F 1 Format of Input File for SM3DSeakeepSeawayFromRaos3 247 F 2 Sample Input File for SM3DSeakeepSeawayFromRaos3 266 F 3 Sample Output File for SM3DSeakeepSeawayFromRaos3 267 Annex G Files for Producing Time Series of Ship Motions based on Response Amplitude Operators Sw Se Se AR A 277 G 1 Format of Input File for SM3DTimeSeriesFromRaos3 277 G 2 Sample Input File for SM3DTimeSeriesFromRaos3 283 G 3 Sample Output File for SM3DTimeSeriesFromRaos3 Accelerations Removed o 284 Document Control Data Lana da Da ae Dat 293 viii DRDC Atlantic TM 2011 308 List of tables Table 1 Command Line Options for ShipMo3D Applications 6 Table 2 SM3
51. Ship Summary of hydrostatic properties Number of panels on port side 613 Total number of panels A 1226 198 DRDC Atlantic TM 2011 308 Length between perpendiculars Draft of baseline at midships Trim of baseline by stern Beam based on maximum y value Volume Water density Mass Distance from FP to X origin m Origin located at LCG Station of X origin Center of buoyancy wrt waterline Wetted surface area Waterplane area X value of center of floatation Integral of waterplane area X 2 Integral of waterplane area Y 2 KG height of CG above baseline Height of CG above waterline Metacentric height from hydrostatics Inertial Properties 120 Ar 0 14 3622 1025 000 200 000 111 358 000 BBB SB m3 kg m3 3712916 723463 kg Inertia matrix units of kg kg m and 3712916 ooooo 0 0 0 0 0 sT 0 3712916 0 0 0 0 Roll radius of gyration Pitch radius of gyration Yaw radius of gyration oOOON Oo 0 0 3712916 0 0 0 4 800 30 000 30 000 Roll Metacentric Height Properities oOONO oO B B 61 10 1 1753 1344 Dx 1234204 17543 6 1 1 kg m2 8554560 Roll metacentric height from hull hydrostatics Correction due to sloshing tanks Input correction to roll metacentric height Corrected metacentric height Roll Properties at Zero Forward Speed Roll added mass Nondimensional roll added mass A44 144 Natural
52. a 2 parameter JONSWAP spectrum Record 10f End of Bidirectional Seaway from Input Spectrum This record is required if seawayOption in Record 7 is set to BiSpectrum end biSpectrumSeaway 1 character string with 2 words Record 11 Beginning of Seaway from Spectrum with Cosine squared Spreading Records 11 to 111 are required if seawayOption is set to cosSpectrum in Record 7 begin cosSpectrumSeaway 1 character string with 2 words 46 DRDC Atlantic TM 2011 308 Record 11a Wave Frequency Range One of Records 118 or 11b is required if seawayOption in Record 7 is set to cosSpectrum waveFreqRange waveFreqMin waveFreqMax waveFreqInc randomIncOption waveFreqSeed 1 character string 3 floats 1 character string 1 integer waveFreqRange Record tag waveFreqMin Minimum wave frequency rad s waveFreqMax Maximum wave frequency rad s waveFreqInc Wave frequency increment rad s randomIncOption Option for random wave frequency increment Randomlnce Intermediate wave frequencies i e those other than the minimum and maximum are adjusted by randomly generated increments rounded to 6 decimal places This option is useful for avoiding periodic repetition of simulated seaways UniformInc The wave frequency increment between components is always waveFreqInc waveFreqSeed Integer seed number for adjusting wave frequencies if randomIncOption is set to randomInc Record 11
53. a positive azimuthing propeller deflection turns the ship to starboard 94 DRDC Atlantic TM 2011 308 Record 248 Turn to Absolute Heading Maneuver Command This record is optional TurnAbsHeading finalHeadingDeg tElapsedMax optional 1 character string 1 or 2 floats TurnAbsHeading Record tag finalHeadingDeg Ship heading x 068 0 for north at which the program considers the command completed To ensure completion of a turn a SetRudder command should normally be made before a TurnAbsHeading command tElapsedMax Time limit s for attempting to reach heading FinalHeadingDeg If this input is not included then a default value of 3600 s is used Record 24h Turn Change in Heading Maneuver Command This record is optional TurnDeltaHeading deltaHeadingDeg tElapsedMax optional 1 character string 1 or 2 floats TurnDeltaHeading Record tag deltaHeadingDeg Change from initial heading at which the program considers the turn maneuver completed To ensure completion of a turn a SetRudder or SetAziPropllerDeflect command should normally be made before a TurnDeltaHeading command tElapsedMax Time limit s for attempting to reach change in heading deltaHeadingDeg If this input is not included then a default value of 3600 s is used DRDC Atlantic TM 2011 308 95 Record 241 Straight Distance Maneuver Command This record is optional StraightDistance distance tElapsedMax option
54. as offsets then ShipMo3D uses Ochi and Motter s method to compute slamming form coefficients Figure 8 illustrates input offsets for computing the slamming form factor Experimental results indicate that slamming pressures can be highly sensitive to ship section geometry size of area of pressure measurement and structural properties of impact area thus predicted slamming pressures and forces should be considered to be only approximate values Published values indicate that slamming form factors can lie within an extremely large range of between less than 1 and greater than 300 however the actual slamming coefficient for a ship section in a seaway will rarely exceed 30 Slamming coefficients computed using input offsets near the keel and Ochi and Motter s method are likely smaller in magnitude and more realistic than values computed for a wedge based on Stavovy and Chuang Figure 9 shows slamming coefficients predicted by ShipMo3D for wedge sections based on Stavovy and Chuang s method and Ochi and Motter s method For wedge sections with large deadrise angles greater than 50 degrees Ochi s method fails to provide results because of numerical problems DRDC Atlantic TM 2011 308 25 Upper limit of slamming pressure slamForceHeight deadRiseDeg y Figure 7 Input Wedge Geometry for Computing Slamming Form Factor Zbl yOffsetsSlam i zBlOffsetsSlam i Upper limit of slamming pressure z
55. based on Bretschneider wave spectrum with cosine squared spreading function CosJONSWAP Random seaway based on JONSWAP wave spectrum with cosine squared spreading function Record 11i1 Cosine squared Spreading Bretschneider Spectrum Sea way Parameters This record is required if cosSpectrumOption in Record 11i is set to CosBretschneider BretParam hs tp 1 character string 2 floats BretParam Record tag hs Significant wave height m tp Peak wave period s Record 1112 Cosine squared Spreading JONSWAP Spectrum Seaway Parameters This record is required if cosSpectrumOption in Record 11i is set to CosJONSWAP JONSWAPParam hs tp peakEnhance 1 character string 3 floats JONSWAPParam Record tag hs Significant wave height m tp Peak wave period s peakEnhance Peak enhancement factor This factor can be set to 3 3 to match a 2 parameter JONSWAP spectrum 50 DRDC Atlantic TM 2011 308 Record 111 End of Seaway with from Spectrum with Cosine squared Spreading This record is required if seawayOption in Record 7 is set to cosSpectrum end cosSpectrumSeaway 1 character string with 2 words Record 12 Beginning of Directional Seaway from Input Spectrum Records 12 to 12i are required if seawayOption is set to dirSpectrum in Record 7 begin dirSpectrumSeaway 1 character string with 2 words Record 12a Wave Frequency Range One of Records 1
56. being T 10 above the keel where T is the sectional draft The sectional slamming force per unit length is computed using an effective slamming pressure width as follows Emax Pmax X slamForceWidth 20 where slamForceWidth is given as an input parameter or computed based on sectional geometry Upper limit of slamming pressure x 0 1T k Eff width slamForceWidth EABBBERS Pressured distribution Figure 6 Assumed Slamming Pressure Distribution for Sectional Force Computation The user can provide input values for the slamming pressure coefficient and effec tive force width Alternatively ShipMo3D can compute the pressure coefficient and effective width based on the lower sectional geometry provided by the user If the geometry is input as a wedge as shown in Figure 7 then ShipMo3D uses a fit to exper imental data given by Stavovy and Chuang for computing the form factor Stavovy and Chuang s method has been slightly modified to impose a form factor limit of 100 24 DRDC Atlantic TM 2011 308 which affects sections with deadrise angles smaller than 6 degrees Using the assumed pressure distribution of Figure 6 the effective pressure width for a wedge is slamForceHeight lamForceWidth 21 N tan deadRiseDeg ep where slamForceHeight is the height above the keel at which the slamming pressure goes to zero and deadRiseDeg is the deadrise angle If the user inputs the geometry near the keel
57. can be repeated an arbitrary number of times to set azimuthing propeller controller parameters as required DRDC Atlantic TM 2011 308 127 Record 9a Azimuthing Propeller Key for Controller Settings This record must follow Record 9 if controller settings are being given as input keyAziPropeller keyAziPropeller 1 character string 1 integer keyAziPropeller Record tag key AziPropeller Key of azimuthing propeller for which controller settings are being specified If this key to set to All then the input controller settings are applied to all azimuthing propellers Record 9b Azimuthing Propeller Deflection Controller Parameters This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 9a deflectControlParam deflectMaxDeg deflect VelMaxDeg deflect AccMaxDeg deflectFreqResponse deflectDampResponse deflectDtMax 1 character string 6 floats deflectControlParam deflectMaxDeg deflect VelMaxDeg deflect AccMaxDeg deflectFreqResponse deflect DampResponse deflect DtMax Note 128 Record tag Maximum deflection angle deg This value is typically set to 35 Maximum deflection velocity deg s If this value is set to 0 0 then the maximum velocity is unlimited Maximum deflection acceleration deg s If this value is set to 0 0 then the maximum acceleration is unlimited Undamped response frequency o
58. dans le domaine fr quentiel pour un navire a vitesse quasi constante dans des vagues r guli res et tenant le cap L application SM3DSeakeepRegular pr voit des mouvements dans des vagues r gulieres Les applications SM3DSeakeepRandom SM3DseakeepSeaway et SM3DSeakeepSeawayFromRaos font des pr visions du mouvement dans des vagues al atoires L application SM3DTimeSeriesFromRaos produit des s ries temporelles du mouvement de navires pour un navire a vitesse quasi constante et tenant le cap a partir d op rateur d amplitude de r ponses de mouvements pr vues DRDC Atlantic TM 2011 308 i This page intentionally left blank DRDC Atlantic TM 2011 308 Executive summary ShipMo3D Version 3 0 User Manual for Computing Ship Motions in the Time and Frequency Domains Kevin McTaggart DRDC Atlantic TM 2011 308 Defence R amp D Canada Atlantic December 2011 Introduction Ship motions influence the performance and safety of naval personnel and systems Consequently ship motion predictions are often used to support ship design and operation Time domain analysis is required to model motions if a ship is freely maneuvering or in a heavy seaway Frequency domain predictions are compu tationally efficient and suitable for ships travelling with steady speed and heading in moderate seaways Principal Results ShipMo3D is an object oriented library with associated user ap plications for predicting ship motions in calm water and in
59. frequency w _ of wave system 1 rad s spectralShapel Spectral shape factor A of wave system 1 hs2 Significant wave height hs of wave system 2 m freqPeak2 Peak wave frequency w _2 of wave system 2 rad s spectralShape2 Spectral shape factor Aa of wave system 2 Record 20d1 Input Spectrum Wave Frequencies This record is required if spectrumOption in Record 19 is set to InputSpectrum input WaveFreqs input WaveFregs 1 character string array of floats input WaveFreqs Record tag input WaveFreqs Wave frequencies wy for input energy densities rad s DRDC Atlantic TM 2011 308 175 Record 2002 Input Spectrum Energy Densities This record is required if spectrumOption in Record 19 is set to InputSpectrum inputEnergyDensities inputEnergyDensities 1 character string array of floats inputEnergyDensities Record tag inputEnergy Densities Wave spectrum energy densities S wr corresponding to wave frequencies of Record 20d1 Record 21 Directional Spreading Angle spreadAngleDeg spreadAngleDeg 1 character string 1 float spreadAngleDeg Record tag spread AngleDeg Directional spreading angle 0 degrees If short crested seas are being modelled non zero spreading angle then the sea directions specified by Record 16a or 16b must go from 0 to 180 degrees with a maximum increment of 30 degrees between adjacent sea directions Record 22 Beginning of Steady Forwar
60. in Annex A 2 Record 16d End of Directional Wave Spectrum This record is required if spectrumOption is set to DirSpectrum in Record 13 end dirSpectrum 1 character string with 2 words Record 17a Range of Incident Wave Frequencies for Integration of Ship Motion Spectrum One of Records 17a or 17b must be given waveFreqRange waveFreqMin waveFreqMax waveFreqInc 1 character string 3 floats waveFreqRange Record tag waveFreqMin Minimum incident wave frequency rad s waveFreqMax Maximum incident wave frequency rad s waveFreqInc Increment for incident wave frequency rad s DRDC Atlantic TM 2011 308 225 Record 17b Incident Wave Frequencies for Integration of Ship Motion Spectrum One of Records 17a or 17b must be given waveFreqs waveFregs 1 character string array of floats waveFreqs Record tag waveFreqs Array of increasing incident wave frequencies rad s Record 18a Wave Direction Range for Integration of Ship Motion Spectrum If spectrumOption in Record 13 is set to CosSpectrum or DirSpectrum then one of Records 18a or 18b must be given waveDirFromRange waveDirFromDegMin waveDirFromDegMax waveDirFromDeglnc 1 character string 3 floats waveDirFromRange Record tag waveDirFromDegMin Minimum wave direction 068 waveDirFromDegMax Maximum wave direction deg waveDirFromDegInc Wave direction increment deg Note Wave direct
61. label Label for spectrum This can include spaces Record 3 Significant Wave Height and Characteristic Wave Period hsTchar hs tChar 1 character string 2 floats hsTchar Record tag hs Significant wave height m tChar Characteristic wave period s Record 4a Range of Wave Frequencies One of Records 4a or 4b must be given waveFreqRange waveFreqMin waveFreqMax waveFreqInc 1 character string 3 floats waveFreqRange Record tag waveFreqMin Minimum wave frequency rad s waveFreqMax Maximum wave frequency rad s waveFreqInc Increment for wave frequency rad s Record 4b Wave Frequencies One of Records 4b or 4b must be given waveFreqs waveFregs 1 character string array of floats waveFreqs Record tag waveFreqs Array of increasing incident wave frequencies rad s DRDC Atlantic TM 2011 308 63 Record 5a Wave Direction Range One of Records 5a or 5b must be given waveDirFromRange waveDirFromDegMin waveDirFromDegMax waveDirFromDegInc 1 character string 3 floats waveDirFromRange Record tag waveDirFromDegMin Minimum wave direction 068 waveDirFromDegMax Maximum wave direction deg waveDirFromDegInc Wave direction increment deg Note Wave directions are given using a convention of 0 for waves from north 90 for waves from east Record 5b Wave Directions One of Records 5a or 5b must be given waveDirsFrom
62. mm Default 100 mm DRDC Atlantic TM 2011 308 99 Record 290 Trajectory Plot Drawing of Ship This record is optional if a trajectory plot is being specified shipDrawing shipSpacingND lengthBeamRatio 1 character string 2 floats shipDrawing Record tag shipSpacingND Non dimensional spacing of drawings of ship on plot default 5 0 lengthBeamRatio Length to beam ratio of drawn ship default 8 0 Note If this record is omitted for a plot then the default values are used Record 29e End of Trajectory Plot Data end trajectoryPlot 1 character string with 2 words Record 30 Beginning of Displacement Time Series Plot Data This record is optional begin displacementPlots 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 30a to 30e giving plot parameters Record 30f must follow at the end of plot parameter data Record 30a Displacement Plot Image File Name This record is required if a displacement plot is being specified imageFileName imageFileName 2 character strings imageFileName Record tag imageFileName Name of output plot file Record 30b Displacement Plot Image Format This record is optional if a displacement plot is being specified imageFormat imageFormat 2 character strings imageFormat Record tag imageFormat Plot image format Available formats a
63. not included after Record 9a then the original values for the given azimuthing propeller controller are used DRDC Atlantic TM 2011 308 129 Record 90 Azimuthing Propeller Deflection Controller Velocity Gains This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 9a deflectVelGains surgeVelGain swayVelGain heaveVelGain rollVelGain pitchVelGain yawVelGain 1 character string 6 floats deflectVelGains surgeVelGain sway VelGain heave VelGain rollVelGain pitch VelGain yaw VelGain Note Record tag Surge velocity gain deg m s This value should be 0 0 Sway velocity gain deg m s This value should be 0 0 Heave velocity gain deg m s This value is typically 0 0 Roll velocity gain deg deg s This value is typically 0 0 unless stabilization is desired Pitch velocity gain deg deg s This value is typically 0 0 Yaw velocity gain deg deg s Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a ship using a downward oriented azimuthing propeller for course keeping this value is typically lt 0 0 If this record is not included after Record 9a then the original values for the given azimuthing propeller controller are used Record 9e End of Azimuthing Propeller Controller Settings end aziPropellerDeflectControllerSettings
64. position data Record 24a Seakeeping Position Label This record is required if a seakeeping position is being specified labelPos labelPos 2 character strings labelPos Record tag labelPos Label for seakeeping position This can include spaces 178 DRDC Atlantic TM 2011 308 Record 24b Seakeeping Position Location This record is required if a seakeeping position is being specified locationPos stationPos yPos zBlPos 1 character string 3 floats locationPos Record tag stationPos Station for seakeeping position Station 0 is at the fore perpendicular yPos Lateral coordinate port relative to ship centreline m zBlPos Vertical coordinate up relative to ship baseline m Record 24c Option Radiation and Diffraction when Evaluating Rela tive Vertical Motion This record is optional if a seakeeping position is being specified relMoRadDifOption relMoRadDifOption 2 character strings relMoRadDifOption Record tag relMoRadDifOption Option for including radiation and diffraction in relative vertical motion NoRadDif Wave radiation and diffraction are not considered when evaluating relative wave motion default DRDC Atlantic TM 2011 308 179 Record 240 Option for Including the Steady Wave Due to Ship For ward Speed when Evaluating Wetness or Emergence Events This record is optional if a seakeeping position is being specified relWaveElevSteadyOption
65. s z3 p 06 44400 Zurpesy dtys 107 s z3 p Q sexe P9XTJ Y9189 UT ST 04 3urpesy drus 0080 1equnu epnorg 89009 00000 S W 00607 peeds drus emeos e UT 59 dIUS 46 SUOTION DRDC Atlantic TM 2011 308 270 SG TI 62611 82571 999 6891 119 1 669 T 969 T 699 T 029 T 25691 67957 bre I TEST T60 T T96 0 s t TeA O ANS OSO OLS 00 Stal T LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO N E 901 I SLIT 986 986 2068 968 298 pre I TZe T 986 ETT ZLTT zor T 120 T 96 0 3880 w 0870 0610 06810 0510 VT O 8910 LST O 69T 0 85T 0 9ST 0 1910 YVI IO 96810 9610 9110 9010 760 0 8 220 O O 00 00 0 m L O AN 05 o 00 00 B lt N Equ 6SS T ST9 T 999 SoL T SEL T ESL T LSL T LVL T VOLT 069 T 969 2069 YEST 925 615 048 I uw 0870 TEITIION SATICTOY kkk TEITIIOA 8000 67800 7800 9000 9 0 0O 9 0 0O 9 0 0O 9 0 0 9 0 0 9000 6800 67800 6000 6800 1800 1800 8 290 T OTI vet CT O T Ss TT T TT 0 TT T TF 911 160 8 61 Ss et vt 6 vT g ST 0 91 s ZL Te1o9e 8462 08z 0 s 810 1 1O 0 0196 56517 0 877 c96 0 tT0 O 8196 59611 0 077 606 0 T0 O 6156 T780 T 0961 1980 T0 0 966 S06 0 0081 8180 T0 0 6 07 892 0 O S9T 881 0 1O 0 S 61 99 0 0 0S1 6110 tT0 O T 6T 979 0 0961
66. shipKG Height of centre of gravity above baseline m correctionGM Correction to metacentric height m Note The values in this record must agree with the values used for the ship database file specified in Record 4 Values are considered to be in agreement when they are within a tolerance of 0 001 kg m for density and 0 001 m for draft trim height of CG and metacentric height The output file from SM3DBuildShip3 gives the values of the above parameters Record 7 Beginning of Rudder Autopilot Settings begin rudderAutopilotSettings 2 character strings Records 7 to 7g are optional begin rudderAutopilotSettings Record tag Note Records 7 to 7g are optional and can be used to supersede autopilot settings for a ship defined by SM3DBuildShip3 given in the file of Record 4 Within Records 7 to 7g Records 7a to 7f can be repeated an arbitrary number of times to set rudder autopilot parameters as required DRDC Atlantic TM 2011 308 77 Record 7a Rudder Key for Autopilot Settings keyRudder keyRudder 2 character strings This Record must follow Record 7 if autopilot settings are being given as input keyRudder Record tag keyRudder Key of rudder for which autopilot settings are being specified If the rudder key is set to All then the input autopilot settings are applied to all rudders Record 7b Rudder Autopilot Control Parameters This record can optionally be en
67. spectra Refer ence 4 describes modelling of seaways in detail Wave spectra available in SM3DBuild Seaway are provided here for reference For point wave spectra i e non directional spectra ShipMo3D uses units of m rad s for spectral density For directional DRDC Atlantic TM 2011 308 11 wave spectra ShipMo3D uses units of m rad s deg for directional spectral den sity 5 1 1 Bretschneider Spectrum The Bretschneider spectrum is the most commonly used model of point wave spectra in the open ocean Based on the 15th International Towing Tank Conference ITTC 19 the formulation for the Bretschneider spectrum is Sur wr 486 0 H 1948 2 5 4 5 4 4 T wr T wy where wy is wave frequency and H is significant wave height The above spectrum is defined in terms of peak wave period Tp For a Bretschneider spectrum the following relations exist with the average and zero crossing wave periods T 0 7737 6 T 0 710 T 7 5 1 2 Three Parameter JONSWAP Spectrum The JONSWAP spectrum models relatively high peaked point spectra typically en countered in fetch limited regions 19 The JONSWAP spectrum is obtained by multiplying the Bretschneider spectrum by a peak enhancement factor accounting for fetch limited conditions giving the following 20 2 5 ws S lwr o H exp en y 8 i Ww wi ww ee Br 9 p 0 07 forwr lt wp 10 0 09 forwr gt wp where wp is the peak wav
68. speed AziPropeller swayForceDeflectSlopeDeg heaveForceDeflectSlopeDeg 1 character string 3 floats aziPropellerForceSlopes Record tag speedAziPropeller Ship speed m s corresponding to force slopes swayForceDeflectSlopeDeg Sway force deflection slope OF 2 06 N deg for azimuthing propeller For a typical downward pointing azimuthing propeller dihedral angle of 90 this value will be negative heaveForceDeflectSlopeDeg Heave force deflection slope 0F3 06 N deg for azimuthing propeller For a typical downward pointing azimuthing propeller dihedral angle of 90 this value will be approximately 0 0 Note The above required input terms are given in the output from SM3DBuildShip3 Record 8c End of Azimuthing Propeller Force Slopes This record is required if the ship has azimuthing propellers end aziPropellerForceSlopes 2 character strings Record 9 Beginning of Azimuthing Propeller Deflection Controller Settings Records 9 to 96 are optional begin aziPropellerDeflectControllerSettings 2 character strings Note Records 9 to 96 are optional and can be used to supersede autopilot settings for a ship defined by SM3DBuildShip3 given in the file of Record 4 Within Records 9 to 96 Records 9a to 90 can be repeated an arbitrary number of times to set azimuthing propeller controller parameters as required DRDC Atlantic TM 2011 308 213 Record 9a Azimuthing Propeller K
69. string 1 float Record tag Minimum wave encounter frequency for ship motion predictions If the combination of ship speed heading and wave frequency gives an encounter frequency less than this value then the wave frequency is shifted This variable is used to avoid large amplitude motions at very low encounter frequencies A value of approximately 0 3 9 L is recommended DRDC Atlantic TM 2011 308 Record 11a Ship Speed Range in m s One of Records 118 to 11f must be given speedRange speedMin speedMax speedInc 1 character string 3 floats speedRange Record tag speedMin Minimum ship speed m s speedMax Maximum ship speed m s speedInc Increment for ship speed m s Record 11b Ship Speeds in m s One of Records 118 to 11f must be given speeds speeds 1 character string array of floats speeds Record tag speeds Array of ship speeds m s Record 11c Ship Speed Range in Knots One of Records 118 to 11f must be given speedKnotsRange speedKnotsMin speedKnotsMax speedKnotsInc 1 character string 3 floats speedKnotsRange Record tag speedKnotsMin Minimum ship speed knots speedKnotsMax Maximum ship speed knots speedKnotsInc Increment for ship speed knots Record 11d Ship Speeds in Knots One of Records 118 to 11f must be given speedsKnots speedsKnots 1 character string array of floats speedsKnots Record tag speeds
70. systems Figure 1 shows a ship in an earth fixed coordinate system The location of the ship centre of gravity in the horizontal plane is given by x y The direction v of incident waves is given using a from convention with 0 representing waves from north and 90 representing waves from east Ship heading x is given using a to convention with 0 representing the ship heading north and 90 representing the ship heading east A translating earth coordinate system shown in Figure 2 is used for representing ship motions in heave roll and pitch and also for frequency domain applications Heave ns is the vertical displacement upward of the ship centre of gravity relative to its position when the ship is in calm water thus the mean heave is typically near zero Ship pitch n of a freely maneuvering ship is given relative to its position at heading x and ship roll 4 is given relative to the instantaneous heading angle x and pitch angle n of the moving ship Wave diffraction computations using SM3DRadDif and seakeeping computations us ing SM3DSeakeepRegular and SM3DSeakeepRandom are based on relative sea direc tion as shown in Figure 3 180 for head seas 90 for seas from port Relative sea direction is related to ship heading and wave heading by Bs v 180 x 4 For deflections of rudders ShipMo3D uses a convention of positive deflection when counter clockwise as viewed from inside the hull Conseque
71. values of the above parameters 122 DRDC Atlantic TM 2011 308 Record 6 Ship Loading Condition loadCondition waterDensity draftBlMid trimBlStern shipKG correctionGM 1 character string 5 floats loadCondition Record tag waterDensity Water density p kg m draftBlMid Draft of baseline at midships m trimBlStern Trim of baseline by stern m shipKG Height of centre of gravity above baseline m correctionGM Correction to metacentric height m Note The values in this record must agree with the values used for the ship database file specified in Record 4 Values are considered to be in agreement when they are within a tolerance of 0 001 kg m for density and 0 001 m for draft trim height of CG and metacentric height The output file from SM3DBuildShip3 gives the values of the above parameters Record 7 Beginning of Rudder Autopilot Settings Records 7 to 7e are optional begin rudderAutopilotSettings 2 character strings Note Records 7 to 7e are optional and can be used to supersede autopilot settings for a ship defined by SM3DBuildShip3 given in the file of Record 4 Within Records 7 to 7e Records 7a to 7d can be repeated an arbitrary number of times to set rudder autopilot parameters as required Record 7a Rudder Key for Autopilot Settings keyRudder keyRudder 2 character strings This Record must follow Record 7 if autopilot settings are being given a
72. wave profile data data begin steadyWaveProfile 1 character string with 2 words Record 15a Stations for Steady Wave Elevation Data This record is required if steady wave elevation data are being given stationsSteadyWaveProfile stationsSteadyWaveProfile 1 character string nStationSteadyWaveProfile floats stationsSteadyWaveProfile Record tag stationsSteady WaveProfile Ship stations for steady wave elevation data Record 15b Speeds in m s for Steady Wave Elevation Data This record is required if steady wave elevation data are being given speedsSteadyWaveProfile speedsSteadyWaveProfile 1 character string nSpeedSteady WaveProfile floats speedsSteady WaveProfile Record tag speedsSteady WaveProfile Ship speeds for steady wave elevation data m s DRDC Atlantic TM 2011 308 259 Record 150 Steady Wave Elevation Profile Data This record must be given for each station with steady wave elevation data stationSteadyWaveElevs stationSteadyWave waveElevsSteady 1 character string 1 nSpeedSteadyWaveProfile floats stationSteady WaveElevs Record tag stationSteady Wave Station number for input wave elevations This value must be consistent with values given in Record 158 waveElevsSteady Wave elevations m at stationSteady Wave for ship speeds specified in Record 15b Record 15d End of Steady Wave Profile Data This record is required if Record 15 and subse
73. 0 050 0 S70 0 T70 0 8 0 O 9 0 0 S 0 0 0 0 tE 0 0 130 0 66T 0 906 0 9060 0060 1610 2410 1910 0610 AY TOT O 080 0 650 0 6 0 0 0z0 0 c00 0 9T0 0 0 0 050 0 990 0 080 0 T60 0 TOT O LOT O ott O ETT O Str O 80T 0 TOT O 60 0 80 0 020 0 GSO 0 6 0 0 GO O 700 0 sTo 0 009 6T 00561 002 6T 000 6T 008 8T 009 8T 00581 00681 00081 008 LT 009 LT 007 LT 00d LT 000 LT 008 9T 009 9T oor 9T 003 9T 000 9T 008 ST 009 ST oor ST 002 ST 000 ST 008 UT 009 VT 00515 00657 00051 00861 00981 00518 00681 000 T 008 ST 009 ZT DRDC Atlantic TM 2011 308 288 9LE O0 76 0 T6 0 998 0 TSE O 6357 0 981 0 TOT 0 T0 0 9100 8910 VG 0 8160 82460 7770 1970 69570 09570 76560 e82 0 8680 6960 1910 960 0 800 0 080 0 797 0 CVG O OTE O G9E O0 E07 0 9cv 0 TEV 0 6T7 0 96 0 8678 0 611 7 929 7 96 S 021 8 VG E veT e G86 S 199 S CTS S 799 T 8E0 T 09 0 8880 CO T 699 1 VG G 80626 6L0 e67 yace TO E cdo TG9 S LOT S 06g T 676 0 0830 LLE O 186 0 029 T 0696 1 012 7 TOV S 11T9 7 9E Z GCS g STS I S69 1 v08 T ves T T8L T 8v9 T evo T 08T T 118 0 099 0 GTS O 8610 69570 08240 vLo T ete T ota Tt
74. 0 020 0 200 0 LE0 0 020 0 OT O VET O c9T 0 veT 0 003 0 803 0 103 0 86T 0 6 1 0 CST O 8TT 0 40 0 TEO 0 3T0 0 6900 6TT 0 191 0 1160 000 PE 008 009 oor EE 00666 00066 008 ZE 009 Ze 007 Ze 003 68 000 Ze 008 TE 009 TE 00516 003 TE 000 TE 008 0 009 0 00 0 003 0 000 0 008 63 009 63 007 63 003 6 000 63 008 83 009 83 00 83 003 83 000 83 008 23 009 23 0051 Lz 003 Lz 000 23 DRDC Atlantic TM 2011 308 290 299 9 008 9 078 9 8 ZL 60600 020 0 020 0 TZO 0 930 0 S 0 0 870 0 g90 0 780 0 EOT 0 061 0 O T 0 Ger O VST O VOT O 910 0 6 0 0 7000 1900 8600 0510 6210 8610 8610 68T 0 L9T O 9610 660 0 690 0 670 0 166 T 8Te 0 eve 0 UTN 2590 vrs 0 66 0 666 0 10 0 016 0 137 0 669 0 116 0 180 T 70G T VSS T 6686 1 DOT T GEO T GS8 0 689 0 918 0 01 0 TLT O Tev 0 1990 19 0 VO I 081 695 7 806 8961 8061 890 T 119 T gzL 0 600 0 u xe H 087 0 TEL O 900 0 u feng 08 0 0610 S00 0 u 3zns Xe aq ueoy sexe yy eo Zuryelsue1g UT 99 drys ge squswsserdstp JO SITISTIBIS 61600 0600 990 0 970 0 000 OV 82 0 99T 0 Svo 0 770 0 008 6 0510 67660 VEO 0 000 0 009 6 8900 96080 660 0 770 0 007 6 920 0 CCV O 600 0 970 0 003 6 260
75. 0 0 0 9 8 18900 0901 00 cs ezo 0 e 0 118 6800 0 06 00 ZG 6000 70 68 780 0 0 92 0 0 cs 1000 70 1 6 980 0 0 09 00 cs 0000 70 6 880 0 057 00 1 9 8100 70 S 6 060 0 00 00 TS 9TO 0 vO 26 1600 0 91 00 TS TO O 70 66 60 0 00 5 3 8 8 ZL SWU ZL SWU SIIN AOJeUTISO 62408 SIIN IOJRUTISO 9910J kk kk Teurpn313u07 doo took O9 TEIOIET Zurpesy dtys OLT O queTotjzjeos Sutddry Teurpn913uo7 0SZ 0 querotjjeos 3urddr3 TeI 4eT g 0 09 UOTIRBINP SUTMOTTOJ 10 9981 se 0 60478 SIIN eSptig 10067 UOTITSOS suor3dn1193U pesnpul uotTJIoy pue sexy 7620 04 SATIBTOY S9SDIOH TEL 0E0 0 591 9811 eTO 0 6 9 6E6 T O STE 60681 06010 9 9T POST eTO 0 0126 92611 0066 60681 60600 2191 01611 eTO 0 0126 58611 O STE 2181 60600 9191 50611 eTO 0 0126 T96 T 000 2581 08010 591 9811 eTO 0 0 172 806 T 0 987 0668 06800 0191 8sT T eTO 0 6 9 26811 0 017 05651 18010 S ST 06111 ETO O 2196 61211 0 987 00g T 06800 6151 ZLO T 1010 5196 LEST 0 077 DRDC Atlantic TM 2011 308 272 0 96 09 0 ec 96 38800 0 017 9 TE 1v 0 LTE 0 6 860 0 0 997 0 18 vr o 6 LE 9 83 60T 0 0 00 2115 T O v GV c 8 0610 0 977 197 6 0 Cc 97 6 08610 0 077 8 87 LE O e 67 22 0510 0961 TS 960 9 19 SL VI O 0 081 6 759 9680 CES vil 8910 0 997 0 79 6780 e v el 9T 0 0 OST Ss vs v 0 L 0S el 6sT 0 O SET v YS ve 0 9 759 ell 85T 0 0 027 L S ve 0 0 759 VL 9910 0901 yv GS 980 Z 68 VL 1910 0 06 709 9 0 8 0S 92 75610 0 92 9 17 8680
76. 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 energyDensities 0 250 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 energyDensities 0 300 0 000000 0 000001 0 000003 0 000006 0 000010 0 000016 0 000022 0 000030 0 000037 0 000045 0 000053 0 000060 0 000067 0 000074 0 000079 0 000084 0 000087 0 000089 0 000090 0 000089 0 000087 0 000084 0 000079 0 000074 0 000067 0 000060 0 000053 0 000045 0 000037 0 000030 0 000022 0 000016 0 000010 0 000006 0 000003 0 000001 0 000000 energyDensities 0 350 0 000000 0 000034 0 000135 0 000300 0 000524 0 000801 0 001120 0 001475 0 001852 0 002241 0 002630 0 003007 0 003361 0 003681 0 003958 0 004182 0 004347 0 004448 0 004482 0 004448 0 004347 0 004182 0 003958 0 003681 0 003361 0 003007 0 002630 0 002241 0 001852 0 001475 0 001120 0 000801 0 000524 0 000300 0 000135 0 000034 0 000000 energyDensities 0 400 0 000000 0 000169 0 000673 0 001494 0 002609 0 003984 0 005576 0 007338 0 009216 0 011152 0 013089 0 014967 0 016729 0 018321 0 019696 0 020811 0
77. 0 000877 0 000747 0 000617 0 000492 0 000374 0 000267 0 000175 0 000100 0 000045 0 000011 0 000000 energyDensities 1 350 0 000000 0 000009 0 000037 0 000083 0 000145 0 000222 0 000311 0 000409 0 000513 0 000621 0 000729 0 000834 0 000932 0 001020 0 001097 0 001159 0 001205 0 001233 0 001242 0 001233 0 001205 0 001159 0 001097 0 001020 0 000932 0 000834 0 000729 0 000621 0 000513 0 000409 0 000311 0 000222 0 000145 68 DRDC Atlantic TM 2011 308 0 000083 energyDensities 0 000186 0 000779 0 001031 0 000610 0 000070 energyDensities 0 000156 0 000656 0 000868 0 000513 0 000059 energyDensities 0 000132 0 000555 0 000734 0 000434 0 000050 energyDensities 0 000112 0 000472 0 000624 0 000369 0 000042 energyDensities 0 000096 0 000403 0 000534 0 000316 0 000036 energyDensities 0 000082 0 000346 0 000458 0 000271 0 000031 energyDensities 0 000071 0 000299 0 000395 0 000234 0 000027 energyDensities 0 000062 0 000259 0 000342 0 000202 0 000023 energyDensities 0 000054 O lt oo0ooo oo0ooo oo0ooo oo0oooO oo0oooO oo0oooO 2 lt lt 000037 1 400 000260 000854 001008 000520 000031 1 450 000219 000718 000848 000437 000026 1 500 000185 000608 000718 000370 000022 1 550 000157 000517 000610 000315 000019 1 600 000134 000442 000522 000269 000016 1 650 000115 000379 000448 000231 000014 1 700 000100 00
78. 0 992 90 S 0 9TE L T v OT S6 0 1 61 ST s 8 TT 66 0 0 117 68 0 99 0 S 000 T 061 6 6 86 0 161 20 S 9111 00 7 9T 88 0 996 86 T 0 987 T TT 66 101 061 867 011 101 9T 980 9S 68 T 0 013 T Crt 9 8 so T 6 TT 8 7 G OT 0 T 8 St 78 0 096 821 0 987 T 90 T 0 8 OTT TT 027 0 0T SO T 1 91 c8 0 996 1791 0 077 1 66 0 9 vI T S TT 997 9 6 L0 T TI 82 0 8156 6v T 0 977 1 26 0 eZ 677 ett 2815 e 6 6011 LET 920 s ez 1811 0 077 1 380 Tl est T IT OZC 0 6 TTT 081 620 VCS ET TI 0 967 T 62 0 6 9 93 T 607 tO p 88 GT T 97T 690 g oz S6 0 0 087 T E20 89 60 T OT T6 18 VT T 6 11 990 187 TI8 0 0 997 T 89 0 29 06811 907 38 9 8 vI T 917 79 0 1 6210 0 0S1 1 99 0 19 T I 901 22 98 VII 911 5790 FIT 02 0 0 SET T 290 Z 9 06811 907 9LE 9 8 vI T S TT 6790 Tl 82 0 0 077 T 720 Z 9 606 1 OT T8 8 ett 8 TT S9 0 86T T6 0 0 907 T 920 89 96 1 60T S6 6 8 ott l 90 GTS LOT 0 06 T 8 0 0 GST Tr IT TEP 1 6 OTT 6 3T 0 0 672 SCT 0 92 1 06 0 GL 8111 ett Loy 6 80 T 981 L 0 056 60511 0 09 T 26 0 DL VII 9111 9515 16 90 T e tl 9210 677 6S T 095 T vo t 8 60 T TT 297 T OT vO T 09T 62 0 Ss sz 8211 0 0 T 077 88 vO T 6 TT 817 90T 601 99T 380 6 97 S8 T 0 9T 1 SITI 6 8 00 T O Ct 767 1111 101 G 9T 98 0 696 961 0 0 Sep s 060 s 000 s w 8 G 8 0 866 MBA UDI TA TTOY oneo feng 931NS Sutpeey dryg spotieg BUTSSOID O197 pue syususseTdsta SWU 49668 Surpe q dtys 107
79. 00 700 0O 000 0 7g0 0 2410 3890 6881 0080 890 0 700 0 0000 0900 0210 8130 6961 0920 8500 7000 0000 17600 6910 860 T 9561 0020 8g0 0 700 0 000 0 2800 06910 2051 VEO T 0g9 0 890 0 700 0 000 0 0800 05610 8081 1360 0090 8500 700 0O 000 0 7200 0810 EES GZ8 0 0gg 0 8g0 0 700 0O 000 0 8T0 0 6010 6TZ 16 0 009 0 8500 700 0O 000 0 7100 CTTO PETE 7890 09570 8g0 0 v00 0 0000 6100 8010 9186 90S 0 00510 8g0 0 v00 0 0000 1100 2600 99241 1950 0980 890 0 17000 0000 0100 60 0 6061 6880 0080 890 0 700 0O 000 0 0T0 0O 680 0 0861 2080 0960 890 0 700 0 0000 0100 g80 0 999 G 96060 0060 JTT 76406061 SNODSTA uorqerpeu esepueddy TTnH TTH TTH 6301 860 s pea s peX squeuoduos 3urduep TToy due Troy 0641 oug be y oaem S peZ UN 000 091096451 Zurdwep 1104 TeOT4TIO peeds piemioj ye Zurdwep Tor 762741742 Aq pezrTeuorsusurp uou Surduep Toy 3400 00421 soaem Sep 06 sees pesy Zep 081 4041 Zep 000 OST UOTJ98ITP POS 00680 Zequnu spnolI 153 DRDC Atlantic TM 2011 308 9910 9910 2910 9910 0910 09T 0 891 0 7910 1910 9EE E6E eve 619 0696 967 698 660 919 8 TTS 0 06 Ges 16 ETE l 757 61 SO 0 ve 910 ET 778 vl 770 G G G I I oooo 0 eseyg dwy dstp 2194 Tey 8000 06000 1000 1000 06000 06000 06000 7000 9000 890 0 890 0 890 0 890 0 890 0 890 0 890 0 890 0 890 0 VE 90511 T 996 ST 28916 Go 033 ce 00
80. 0000 end inputDirSpectrum 70 DRDC Atlantic TM 2011 308 A 4 Sample Input File for SM3DBuildSeaway3 begin SM3DBuildSeaway3 label Hs 3 25 m Tp 9 7 s Bretschneider spectrum seawayFileName bretSeaState5Seaway xml waterDensity 1025 sampleParams 3600 0 1 seawayOption UniSpectrum begin uniSpectrumSeaway waveFreqRange 0 2 2 0 05 randomInc 2001 phaseSeed 1001 deleteRelThreshEnergy 1E 06 waveHeading 0 uniSpectrumOption Bretschneider BretParam 3 25 9 7 end uniSpectrumSeaway end SM3DBuildSeaway3 DRDC Atlantic TM 2011 308 71 A 5 Sample Output File for SM3DBuildSeaway3 Program SM3DBuildSeaway ShipMo3D 3 0 Version 3 0 release 5 October 2011 Time November 09 11 8 20 46 AM Run label Hs 3 25 m Tp 9 7 s Bretschneider spectrum ECHO OF USER INPUT Wave heading convention is 0 deg for waves from north 90 deg from east Phase convention is lead of crest at origin xf 0 yf 0 Output seaway file name bretSeaState5Seaway xml Water density 1025 000 kg m3 Parameters for sampling of seaway statistics input Duration 3600 000 s Interval 0 100 s Seaway type UniSpectrum Seaway from uni directional wave spectrum Minimum wave frequency 0 200 rad s Maximum wave frequency 2 000 rad s Wave frequency increment 0 050 rad s Option for random adjustment of wave frequency increment RandomInc Seed number for random adjustment of wave freq increment 2001 Wave component phase seed numbers 1001 in
81. 000183 009960 022490 021285 007930 000000 000141 007662 017303 016376 006101 000000 000108 005888 013296 012583 004688 000000 000083 004541 010254 009704 003616 000000 000065 003524 007957 007531 002806 000000 000051 002756 D O O O G O OGOGO OD lt OoooooO lt 2 O OoOO OGOOGO O O O 5 o 001390 023052 044714 037870 011526 001172 019441 037710 031938 009721 000935 015508 030082 025477 007754 000727 012052 023378 019800 006026 000559 009273 017986 015233 004636 000430 007125 013821 011705 003563 000331 005495 010659 009027 002747 000257 004264 008272 007006 002132 000201 003335 oo0oooo O O O O O ooooo ODO O O O oooooOo O OO Q ooooo ooooo oo 003088 027055 045754 034578 008234 002605 022817 038587 029162 006945 002078 018201 030781 023263 005540 001615 014145 023922 018079 004305 001242 010883 018404 013909 003312 000955 008362 014142 010688 002545 000736 006449 010906 008242 001963 000571 005005 008464 006397 001523 000447 003914 Oo0oo0ooo ooooo ooooo ooooo oooooOo ooooo ooooo ooooo oo 005393 030936 046104 030936 005393 004548 026090 038882 026090 004548 003628 020813 031017 020813 003628 002820
82. 002 0 000000 energyDensities 1 850 0 000000 0 000002 0 000008 0 000018 0 000031 0 000047 0 000065 0 000086 0 000108 0 000131 0 000154 0 000176 0 000196 0 000215 0 000231 0 000244 0 000254 0 000260 0 000262 0 000260 0 000254 0 000244 0 000231 0 000215 0 000196 0 000176 0 000154 0 000131 0 000108 0 000086 0 000065 0 000047 0 000031 0 000018 0 000008 0 000002 0 000000 energyDensities 1 900 0 000000 0 000002 0 000007 0 000015 0 000027 0 000041 0 000057 0 000075 0 000095 0 000115 0 000134 0 000154 0 000172 0 000188 0 000202 0 000214 0 000222 0 000227 0 000229 0 000227 0 000222 0 000214 0 000202 0 000188 0 000172 0 000154 0 000134 0 000115 0 000095 0 000075 0 000057 0 000041 0 000027 0 000015 0 000007 0 000002 0 000000 energyDensities 1 950 0 000000 0 000002 0 000006 0 000013 0 000024 0 000036 0 000050 0 000066 0 000083 0 000101 0 000118 0 000135 0 000151 0 000165 0 000178 0 000188 0 000195 0 000200 0 000201 0 000200 0 000195 0 000188 0 000178 0 000165 0 000151 0 000135 0 000118 0 000101 0 000083 0 000066 0 000050 0 000036 0 000024 0 000013 0 000006 0 000002 0 000000 energyDensities 2 000 0 000000 0 000001 0 000005 0 000012 0 000021 0 000032 0 000044 0 000058 0 000073 0 000089 0 000104 0 000119 0 000133 0 000146 0 000157 0 000166 0 000172 0 000176 0 000178 0 000176 0 000172 0 000166 0 000157 0 000146 0 000133 0 000119 0 000104 0 000089 0 000073 0 000058 0 000044 0 000032 0 000021 0 000012 0 000005 0 000001 0 00
83. 008 8 009 8 00578 0068 000 8 008 2 009 2 00512 006 2 000 2 008 9 009 9 00579 0069 000 9 008 S 009 S 00579 287 DRDC Atlantic TM 2011 308 763 0 TGS O evT 0 E90 0 210 0 2600 09T 0 IT2 0 096 0 86060 8080 90680 196 0 996 0 8160 67910 TTITO 890 0 200 0 TO O 80 0 CTT O 67T 0 0 T 0 TT O 760 0 390 0 veo 0 v00 0 cdo 0 70 0 290 0O 8900 650 0 970 0 920 0 706 T 009 T Sv0 T 929 0 8TT 0 6630 9990 7860 8TT T 861 TZT T vro T 078 0 9890 0160 2800 ET 0 TCV 0 TLG O G79 0 ge9 0 6 9 0 0LE O 67T 0 TOTO 9960 9690 008 0 68960 06601 890 1001 918 0 v69 0 8970 PTZ O 820 T 9980 668 0 VITO 689 0 607 0 097 0 S0 0 VES O 997 0 700 0 989 0 TIZ O T99 0 388 0 69 0 6750 89 0 8790 6 9 0 829 0 899 0 74290 617 0 T90 088 0 Tes 0 612 0 6170 c8T 0 0080 860 0 s8T 0 0 0 2800 600 0 g00 0 120 0 990 0 80600 260 0 T00 O 260 0 S 0 0 020 0 820 0 110 0 VOT O 090 0 LOT 0 6ST O 0 0 94260 9066 0 68 0 TEZ O 2650 216 0 99 0 ST O 2L19 0 CET O ges 0 E90 0 05510 0600 6080 CTTO 2610 6070 770 0 9080 2410 9030 966 0 96060 2860 06860 9160 8610 2910 26810 9010 14200 8 0 0 200 0 0Z0 0 vro 0 E90 0 810 0 830 0 60 0 60 0 680 0 780 0 210 0 010 0 E90 0 950
84. 0327 000386 000199 000012 1 750 000086 000283 000334 000172 000010 1 800 000075 DRDC Atlantic TM 2011 308 o0o0DO0O0O0O0O0O0000000000000000000000000000000000000000000n0 000009 000000 000342 000918 000970 000429 000008 000000 000288 000772 000816 000361 000007 000000 000243 000653 000690 000306 000006 000000 000207 000556 000587 000260 000005 000000 000177 000475 000502 000222 000004 000000 000152 000408 000431 000191 000004 000000 000131 000352 000372 000165 000003 000000 000113 000305 000322 000142 000003 000000 000099 oOOoOOooooooOoO0O0O0O0O0O0OO0OO0O0O0O0O0O0O0O0OO0OO0O0O0O0O0O0OO0OO0O0O0O0O0O0O0O00O00O00C00000 E 000000 000008 000429 000970 000918 000342 000000 000007 000361 000816 000772 000288 000000 000006 000306 000690 000653 000243 000000 000005 000260 000587 000556 000207 000000 000004 000222 000502 000475 000177 000000 000004 000191 000431 000408 000152 000000 000003 000165 000372 000352 000131 000000 000003 000142 000322 000305 000113 000000 000002 000124 oOO0O0o0 O OGO Q O lt lt lt O DL O OGOOGO O OOO Cy OGOGO lt OG O G O o 000031 000520 001008 000854 000260 000026 000437 000848 000718 000219 000022
85. 0910 819 24611 9100 8 9 1910 0100 6 S 42400 0091 06811 915 96811 79100 6 S 81811 9200 0 62610 0100 29 80 0 O Set Sv9 T 215 TECT 0910 6 S 66611 0500 112 65510 0100 9 9 280 0 0061 TeT T Sr 61810 08110 619 08191 9500 8122 25910 8000 0 4 20 0O 0 SOT 64610 819 86610 0200 6 4 6660 0900 2142 08 0 10010 7 9 800 0 0 06 2190 78 689 0 9900 96 86T T 0800 26 S9 0 100 0 8 0T TOZ O 0 92 9SE 0 8 ET 9840 0100 9 7T 8090 8100 7T 8160 8000 Z ST 1950 0 09 T8T 0 2 0G 9690 9000 T 6T 02510 eTO 0 6116 82611 6000 O 55017 057 0610 906 24190 9000 086 26510 20010 6 0 26511 01010 5126 S09 T 00 Tez O 691 6990 8000 196 9TS 0 E00 0 T 6 9 6 0 6000 9Y EE 89616 0 91 19610 LT 66910 6000 21 937 9590 0000 169 000 0 6000 8 8 G8L 00 DRDC Atlantic TM 2011 308 204 0000 000000 0 1960 T 8690 0 0 anoy 2u Zed s u s uw 8660 qey 29M d 764 SWU ZL dstp SWU SSOUJOM 0 34004 62 94464 SATIBTOY uorT39s1Tp POS u 008 SUTTISYeM UTED 04 AT43eT r uorqeA Tq uotytsod Zurdssyeag TeqeT UO0TITSOJ 704000206 enem zed A 3tTtqeqoid se ueat3 st Aat tqeqoid sseuzjom SOUTTIONEM SAOQY UOTITSOJ IOF suorqeTnoTeo ssougom G tS 8 0 S vs 89 9910 0 087 779 ve o L VS 89 991 0 0 991 9 99 6810 8 99 8 9 0910 0091 9 99 0 2 99 6 9 67910 0961 9 99 0 6 99 6 9 0910 0 077 9 8 Z 0 0 67 G 9 Gero 0901 8 3 TS 0 G GS 62 000 0 06 c et 950 67T 9 6 950 0 032 00 3890 0
86. 0991 19 9 0 19 09 0 6 9 110 el GT O 0 OST 9 96 0 29 90 TL 6T 0 t 0 8110 0 SET 1 9 8061 e 9 910 GL ce o 9 2 VT O 0 077 T s 86 T 9 9 280 GL 8570 82 TT O 0 907 6 8 077 LL T8 0 88 190 8 9 TO O 0 06 16 77 6 2101 TL O 607 TS O OL 930 0 92 8 ET Bl 2 091 950 ST 170 T ST 8510 0 09 e 6T LOD 6161 880 8576 6 0 866 901 0 97 8806 LOS Ges 460 9 GE EST el 8911 0 0 99T 86 0 18T Z O g e 380 Vee 0 3 0 9T 8 9 00 0 G 9 600 6 19 00 0 988 78 7 0 0 8 860 u 8 w 8 Sep TTOY oneo feng 931NS UO0TID9ITP POS spotieg BUTSSOID O197 pue syususseTdsta SWU 47400 WOIJ sees 107 s z3 p 06 sees peey TOF s 3 p OT poods drys oq arqeT r ST 07 UOTID9ITP POS 0080 1equnu epnorg 89009 00000 S W 00607 peeds drys emeos pa3s919 3u07 u 0046 potized onem yeod u 0968 JUSTOY SARA queorjru3trs un13098ds 19pT9uqos191g LeMeCOG wopuey UT 99 drus 46 SUOTION DRDC Atlantic TM 2011 308 202 su s WM 8 8 Ten 21 dstq 290 ZL dstq xx TEITIION SATIETOY kkk TEITIION 8 8 8 8 w 290 ZL dstq 22 21 dstq 64096 DEUTPNITZUOT xxx uotytsod Surd yxe s Bop UO0TID9ITP TeqeT 0 94 800 0 37800 Butdeeyeeg 4e SUCTION SWU skep 09280 SSOUNITS 0 9404 TOF oUt SSOUNITS 0 400 sIoJewereg s 00009 uorqez do Fo aut 0210 qu rorjj o5 3urddr3 Teutpnytsuoy 097 0 3u rorjz oo Zurddry Te1
87. 2249 0 001967 0 001676 0 001385 0 001103 0 000838 0 000599 0 000392 0 000225 0 000101 0 000025 0 000000 energyDensities 1 150 0 000000 0 000021 0 000082 0 000181 0 000317 0 000484 0 000677 0 000891 0 001119 0 001354 0 001589 0 001817 0 002031 0 002225 0 002391 0 002527 0 002627 0 002688 0 002708 0 002688 0 002627 0 002527 0 002391 0 002225 0 002031 0 001817 0 001589 0 001354 0 001119 0 000891 0 000677 0 000484 0 000317 0 000181 0 000082 0 000021 0 000000 energyDensities 1 200 0 000000 0 000017 0 000067 0 000148 0 000258 0 000394 0 000551 0 000726 0 000911 0 001103 0 001294 0 001480 0 001654 0 001811 0 001947 0 002058 0 002139 0 002189 0 002205 0 002189 0 002139 0 002058 0 001947 0 001811 0 001654 0 001480 0 001294 0 001103 0 000911 0 000726 0 000551 0 000394 0 000258 0 000148 0 000067 0 000017 0 000000 energyDensities 1 250 0 000000 0 000014 0 000055 0 000121 0 000212 0 000323 0 000452 0 000595 0 000747 0 000904 0 001062 0 001214 0 001357 0 001486 0 001597 0 001688 0 001754 0 001795 0 001809 0 001795 0 001754 0 001688 0 001597 0 001486 0 001357 0 001214 0 001062 0 000904 0 000747 0 000595 0 000452 0 000323 0 000212 0 000121 0 000055 0 000014 0 000000 energyDensities 1 300 0 000000 0 000011 0 000045 0 000100 0 000175 0 000267 0 000374 0 000492 0 000617 0 000747 0 000877 0 001003 0 001121 0 001227 0 001319 0 001394 0 001449 0 001483 0 001494 0 001483 0 001449 0 001394 0 001319 0 001227 0 001121 0 001003
88. 24g is set to SlamPressureCoWidth slamPressureCoWidth slamPressureCo slamForceWidth 1 character string 2 floats slamPressureCoWidth Record tag slamPressureCo Slamming pressure coefficient slamForceWidth Effective slamming force width m Record 2483 Wedge Geometry for Slamming Calculations This record is required if slamWetEmergeOption in Record 24g is set to Slam Wedge slam Wedge deadRiseDeg slamForceHeight 1 character string 2 floats slam Wedge Record tag deadRiseDeg Hull deadrise angle at keel degrees This value must be greater than 0 degrees For deadrise angles less than 5 degrees this approach can be inaccurate and is recommended that either the slamForm or slamOffsets option be used instead for slamWetEmergeOption in Record 24g slamForceHeight Height above the baseline at which slamming pressure goes to zero typically taken as 0 17 where 7 is the sectional draft of the keel Record 24g4 Elevation Above Baseline for Zero Slamming Pressure This record is required if slamWetEmergeOption in Record 24g is set to Slam Offsets zBlZeroSlamPres zBlZeroSlamPres 1 character string 1 floats 7BlZeroSlamPres Record tag zBlZeroSlamPres Elevation above baseline at which slamming pressure goes to zero m This value is typically assumed to be at a height of 0 17 above the baseline where T is sectional draft DRDC Atlantic TM 2011 308 183 Reco
89. 2a or 12b is required if seawayOption in Record 7 is set to dirSpectrum waveFreqRange waveFreqMin waveFreqMax waveFreqInc randomIncOption waveFreqSeed 1 character string 3 floats 1 character string 1 integer waveFreqRange Record tag waveFreqMin Minimum wave frequency rad s waveFreqMax Maximum wave frequency rad s waveFreqInc Wave frequency increment rad s randomIncOption Option for random wave frequency increment RandomInc Intermediate wave frequencies i e those other than the minimum and maximum are adjusted by randomly generated increments rounded to 6 decimal places This option is useful for avoiding periodic repetition of simulated seaways UniformInc The wave frequency increment between components is always waveFreqInc waveFreqSeed Integer seed number for adjusting wave frequencies if randomIncOption is set to randomInc DRDC Atlantic TM 2011 308 51 Record 12b Wave Frequencies One of Records 12a or 12b is required if seawayOption in Record 7 is set to dirSpectrum waveFreqs waveFregs 1 character string array of floats waveFreqs Record tag waveFreqs Array of increasing wave frequencies rad s Record 12c Wave Heading Range One of Records 12c or 12d is required if seawayOption in Record 7 is set to dirSpectrum waveHeadingRange waveHeadingMinDeg waveHeadingMaxDeg waveHeadingIncDeg 1 character string 3 floats waveHead
90. 3 Record 1 Beginning Record begin SM3DSeakeepSeawayFromRaos3 1 character string with 2 words Record 2 Run Label label label 2 character strings label Record tag label Label for run This can include spaces Record 3 Beginning of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input begin note 1 character string with 2 words Record 3a Note noteText character string Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input noteText Text of note Multiple lines can be entered Record 3b End of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input end note 1 character string with 2 words DRDC Atlantic TM 2011 308 247 Record 4 Ship Dimensions shipDimensions lpp stationAP distanceFPCG draftBIMid trimBlStern shipKG 1 character string 6 floats shipDimensions Record tag lpp stationAP distanceFPCG draftBlMid trimBlStern shipKG Ship length between perpendiculars Station number for aft perpendicular typically 20 0 Distance from fore perpendicular to longitudinal centre of gravity LCG m Draft of baseline at midships m Trim of baseline by stern m Height of centre of gravity above baseline m Record 5 Name of File with Motion Response Amplitude Operations
91. 308 161 Record 70 Rudder Velocity Gains This record can optionally be entered if an autopilot key has been specified using Record 7a velGains surgeVelGain swayVelGain heaveVelGain rollVelGain pitchVelGain yawVelGain 1 character string 6 floats velGains Record tag surgeVelGain Surge velocity gain deg m s This value should be 0 0 swayVelGain Sway velocity gain deg m s This value should be 0 0 heaveVelGain Heave velocity gain deg m s This value is typically 0 0 rollVelGain Roll velocity gain deg deg s This value is typically 0 0 unless rudder stabilization is desired pitchVelGain Pitch velocity gain deg deg s This value is typically 0 0 yawVelGain Yaw velocity gain deg deg s Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a typical ship with a downward oriented rudder this value is typically lt 0 0 Note If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used Record 7e End of Rudder Autopilot Settings end rudderAutopilotSettings 2 character strings Record 8 Beginning of Azimuthing Propeller Force Slopes Records 8 to 8c are required if the ship has azimuthing propellers begin aziPropellerForceSlopes 2 character strings Record 8a Key of Azimuthing Propeller for Force Slopes Records 8a
92. 32 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 147 Seakeeping Positions Label Seakeeping position Station 3 000 Lateral offset y 3 2 000 m port Vertical offset 201 12 000 m up relative to baseline Option for including radiation and diffraction for relative motion NoRadDif input Plot output option NoPlots SHIP LOADING CONDITION Load Condition Properties for Trimmed Ship Summary of hydrostatic properties Number of panels on port side 613 Total number of panels 1226 Length between perpendiculars 120 000 m Draft of baseline at midships 4 200 m Trim of baseline by stern 0 000 m Beam based on maximum y value 14 111 m Volume 3622 358 m3 Water density 1025 000 kg m3 Mass 3712916 723463 kg Distance from FP to X origin m 61 750 m Origin located at LCG Station of X origin 10 292 Center of buoyancy wrt waterline 1 614 m Wetted surface area 1753 438 m2 Waterplane area 1344 310 m2 X value of center of floatation 5 022 m Integral of waterplane area X 2 1234204 219 m4 Integral of waterplane area Y 2 17543 814 m4 KG height of CG above baseline 6 000 m Height of CG above waterline 1 800 m Metacentric height from hydrostatics 1 430 m Inertial Properties Inertia matrix units of kg kg m and kg m2 3712916 7 0 0 0 0 0 0 0 0 0 0
93. 66 500 0 000 166 500 166 500 0 000 StarboardPropeller 166 500 0 000 166 500 166 500 0 000 Velocities uf and vf in earth fixed axes Mode Mean Dev Max Min tz s uf m s2 10 141 0 106 10 445 9 880 7 040 v m s2 0 000 0 000 0 000 0 000 5 569 heave m s2 0 015 0 615 1 766 1 557 5 200 roll deg s 0 000 0 000 0 000 0 000 7 018 pitch deg s 0 026 1 292 3 146 3 720 5 214 heading to deg s 0 000 0 000 0 000 0 000 5 569 Rudder velocities deg s Rudder 0 000 0 000 0 000 0 000 5 554 118 DRDC Atlantic TM 2011 308 Ship speed along instantaneous heading Speed m s 10 141 0 106 10 445 Accelerations xf and yf acceleration in earth fixed axes Mode Mean Dev Max acc xf deg s2 0 002 0 100 0 245 acc yf deg s2 0 000 0 000 0 000 heave deg s2 0 005 0 684 1 898 roll deg s2 0 000 0 000 0 000 pitch deg s2 0 018 1 480 4 037 heading to deg s2 0 000 0 000 0 000 DRDC Atlantic TM 2011 308 880 Min 251 000 841 000 131 000 tz rom 040 s 569 494 229 050 840 093 119 This page intentionally left blank 120 DRDC Atlantic TM 2011 308 Annex C Files for Motions in a Regular Seaway with SM3DSeakeepRegular3 C 1 Format of Input File for SM3DSeakeepRegular3 Record 1 Beginning Record begin SM3DSeakeepRegular3 1 character string with 2 words Record 2 Run Label label label 2 character strings label Record tag label Label for run This can incl
94. 7 60 motionSicknessOption MotionSickness tDayMotionSickness 0 25 slamWetEmergeO0ption WetnessEmerge durationPExceed 1 0 01 end seakeepPositions end SM3DSeakeepSeaway3 234 DRDC Atlantic TM 2011 308 E 3 Sample Output File for SM3DSeakeepSeaway3 Motions Only Given for One Ship Speed Directional Seaway Spectral Densities Removed Program SM3DSeakeepSeaway3 ShipMo3D 3 0 Version 3 0 release 5 October 2011 Time November 10 11 9 08 02 AM Run label Generic frigate ECHO OF USER INPUT Input ship for motion database file name genFrigShipForMotionDB bin Label Generic frigate Created November 09 11 8 19 55 AM Version ShipMo3D 3 0 Version 3 0 release 5 October 2011 Class ShipMo3D ShipForMotionDB Ship Length Data Length between perpendiculars 120 000 m Station of aft perpendicular 20 000 Ship Loading Condition Water density 1025 000 kg m3 Draft of baseline at midships 4 200 m Trim of baseline by stern 0 000 m Height of CG above baseline KG 6 000 m Correction to metacentric height GM 0 000 m Minimum wave encounter frequency for predicting ship motions Speed range Minimum gt 10 000 knots Maximum 30 000 knots Increment 10 000 knots Sea direction range Minimum 0 000 deg Maximum 345 000 deg Increment 15 000 deg Seaway Spectrum type Directional spectrum type Ten parameter spectrum parameters Wave system 1 2 Significant wave height 5 3 000 m 4 000 m Peak
95. 791 esv T 6051 18 T u 0870 TEITIION SATIBTOY kk xxx TEITIION 1800 6800 0 0 6800 6800 98000 9 0 0 9800 2800 2800 2800 9 0 0 9 0 0 980 0 6800 6800 8000 6800 6800 8 99Y 6 91 9 91 T ST c vt ser 87T 60 9 11 T TF O TT c TT 9 TT c ct 6 cT 9 eT e vt T ST 9 ST c 9T 8 ZL Te To eT 84662 08z 0 s 8101 ELT Tt 9611 6901 900 8560 668 0 8v8 0 v18 0 3080 9130 vre 0 188 0 0v6 0 300 1 090 T 0611 SOT tT VIC T u dstq 00009 0ZT 0 096 0 ero ero ero eto eto ero ero ero ero eto ero ero ero ero eto ero ero VIO 5710 8 22 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 9896 Ss sc 1 vc 9 SS TG 9 6T 7 671 06 8 16 Cc Ec 977 c sc T 97 e 98 6 69 8 ZL TS8 T T9L T 809 1 02711 82261 17011 1060 99240 99 0 gg9 0 0020 098 0 1601 GOST TLE T 9579 119 T VITIS TI S68 1 u dstq 0 017 0 993 0 077 0 977 0 077 0 S6T 0 081 0 S91 0 0S1 09861 0 027 0 907 0 06 co mm m 00 Sep Zutpeey ooooo non O LO TEUTPNITZU0T xxx drys uorytsod Sutdeeyees 76061 0 3 800 0 47800 Sutdeeyees Je SUOTION SWU SSOUYOTS 0 94004 TOF owt SS9UAITS UOTIOU srI q uerxIeq uo tye sdo Jo out qustortjFeoa Sutddty eutpnat3uo7 quetotjjeos 3urddr3 Te sg
96. 9 907 000 T SCT 6 66 0 6 TT 459 TIT OO T 1 T6 0 192 20 0 987 T Got T6 GOT 811 1579 607 TO T 0 117 660 9G 6611 0 017 T Ltt 9 8 LO T TT 06 S 70T O I 9T 68 0 696 681 0 953 T OTT 0 8 TTT 9111 TT s 66 SOT ST 80 996 99 T 0 077 T O I QL 911 TL 267 96 20 T7 67T 8 0 TSc ZST 0 977 1 96 0 el 027 CG TT 8 7 616 60 T 1 51 6 0 GET CET 0 077 T 680 Tl SCF OIL 297 0 6 TTT vet 920 966 STT 0 967 T z8 0 69 87T 807 E77 388 ETT 8 ct El 0 702 G6 0 0 087 T 920 389 0 7 L OT 97 28 TT c ct 890 887 T8 0 0 997 T 7120 29 CE T 907 817 98 TT TT 99 0 ELE 320 0 057 1 89 0 219 ZET 9 0T 60 7 98 SI I 9 TT 99 0 CLT TL O 0 SeT T 690 119 GET G OT 60 7 98 TT TT S9 0 6891 8 40 0 077 1 720 219 0611 8 0T OT 28 ett Ol 19 0 006 76 0 0901 T 62 0 89 87T 607 185 88 CTT 97T 69 0 9 Tc 60 T 0 06 T 98 0 69 CTI OTT 777 06 011 Ger O Tess LOT 0 92 1 Tv60 TL OCT CG TT 99 F 6 80 T 6 e T 9 0 TVG VV I 0 09 T GO I VL STF IT 187 26 90 T 2151 080 TSc 89T 0 97 1 60 T LL OTF G TT 0 S TOT vO T 9891 78 0 G SG 9211 0 0 T STI 68 901 TT 919 G OT 8011 1 91 280 1 96 687 0 91 T 061 8 8 TO T 8 TT ves OIL 101 8 9T 06 0 9G LET 0 0 Bop s 000 s 000 s m 6 m g m Sep MDA 23470 TTOY oneo feng 931NS Sutpeey dryg spotieg BUTSSOID O197 pue syususseTdstaqa SWU 49668 Surpe q dtys 107 s z3 p 06 44400 Zurpesy dtys 107 s z3 p Q sexe P9XTJ Y9189 UT ST 04 3urpesy drus 0080 oqumu epnozy
97. 99 896 0 0 ST 000 0 000000 0 T96 0 8 9 3880 0 0 anoy 206 Zed s u s u Sep 9784 19 d Tea SWU ZL dsrp swa DRDC Atlantic TM 2011 308 UOTI0U TEITIISA SATJEeTSY Sutpeey drug u 008 suUTT IsIen uTea oq SATJeTSI UOT YeAETY k SSOUJOM eSptig T qeT UOTITSOJ Zequnooue enem zed A3tTtqeqoid se ueatS st Aat tqeqorid ssougeM SUTTISIeM OAOGY UOTITSOI TOF SUOTIBTNITED SsougoM TS O S vc 0 01 780 0 0 STE 690 06 g 07 910 0 0 0 990 g 81 Z OT 6200 0 STE 790 1 61 9 01 L0 0 0 00 cS oO 777 Tor 610 0 0 987 274 000000 0 000000 0 0000000 000000 0 85680 09240 06020 1120 oO OON N O Oo 6080 06640 18240 3640 0 Ste 0 08 0 9TE 0 00 275 DRDC Atlantic TM 2011 308 This page intentionally left blank 276 DRDC Atlantic TM 2011 308 Annex G Files for Producing Time Series of Ship Motions based on Response Amplitude Operators G 1 Format of Input File for SM3DTimeSeriesFromRaos3 Record 1 Beginning Record begin SM3DTimeSeriesFromRaos3 1 character string with 2 words Record 2 Run Label label label 2 character strings label Record tag label Label for run This can include spaces Record 3 Beginning of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input begin note 1 character string with 2 words Record 3a Note Input Records 3 to 3b c
98. AP 1 character string 2 floats lengthData Record tag lpp Ship length between perpendiculars m stationAP Station number of the aft perpendicular This value is typically 20 0 Note The values in this record must agree with the values used for the ship database file specified in Record 4 Values are considered to be in agreement when they are within a tolerance of 0 001 m for length and 0 001 for the station of the aft perpendicular The output file from SM3DBuildShip3 gives the values of the above parameters 158 DRDC Atlantic TM 2011 308 Record 6 Ship Loading Condition loadCondition waterDensity draftBlMid trimBlStern shipKG correctionGM 1 character string 5 floats loadCondition Record tag waterDensity Water density kg m draftBlMid Draft of baseline at midships m trimBlStern Trim of baseline by stern m shipKG Height of centre of gravity above baseline m correctionGM Correction to metacentric height m Note The values in this record must agree with the values used for the ship database file specified in Record 4 Values are considered to be in agreement when they are within a tolerance of 0 001 kg m for density and 0 001 m for draft trim height of CG and metacentric height The output file from SM3DBuildShip3 gives the values of the above parameters Record 7 Beginning of Rudder Autopilot Settings Records 7 to 7e are optional begin rudderAutopilotSettin
99. Angle This record is required if spectrumOption in Record 13 is set to CosSpectrum spreadAngle spreadAngleDeg 1 character string 1 float spreadAngle Record tag spreadAngleDeg Directional spreading angle deg Record 15c Cosine Squared Wave Spectrum Option This record is required if spectrumOption in Record 13 is set to CosSpectrum cosSpectrumOption cosSpectrumOption 2 character strings cosSpectrumOption Record tag cosSpectrumOption Type of wave spectrum with cosine squared directional spreading CosBretschneider Bretschneider wave spectrum with cosine squared directional spreading CosJONSWAP JONSWAP wave spectrum with cosine squared directional spreading 222 DRDC Atlantic TM 2011 308 Record 1501 Cosine squared Bretschneider Spectrum Parameters This record is required if cosSpectrumOption in Record 150 is set to CosBretschneider BretParam hs tp 1 character string 2 floats BretParam Record tag hs Significant wave height H m tp Peak wave period T s Record 15c2 Cosine squared JONSWAP Spectrum Seaway Parame ters This record is required if cosSpectrumOption in Record 150 is set to CosJONSWAP JONSWAPParam hs tp peakEnhance 1 character string 3 floats JONSWAPParam Record tag hs Significant wave height H m tp Peak wave period T s peakEnhance Peak enhancement parameter y This factor can be set to 3 3 to match
100. Atlantic TM 2011 308 ix This page intentionally left blank DRDC Atlantic TM 2011 308 1 Introduction ShipMo3D is an object oriented library with associated applications for predicting ship motions This report describes applications for predicting ship motions in the time and frequency domains A companion report 1 is the user manual for creating ship models required for computing ship motions For each ShipMo3D application user input is read from an ASCII input file Each application produces an ASCII output file and many applications also produce graphical output The ShipMo3D graphical user interface GUI ShipMo3D30 exe can be used to interactively prepare input data launch applications and view output results Several reports describe the theory behind ShipMo3D and also give verification and validation of ShipMo3D results References 2 and 3 describe the prediction of hull hy drodynamic forces The modelling of seaways is described in Reference 4 Reference 5 covers appendage and viscous forces which are important for predicting lateral plane motions The extension of ShipMo3D to freely maneuvering ships is described in Reference 6 with refinements to maneuvering forces given in Reference 7 ShipMo3D Version 3 0 introduces modelling of U tube tanks 8 and sloshing in tanks with free surfaces 9 Reference 10 gives validation results for Version 3 0 of ShipMo3D Section 2 of this report describes features that are new for V
101. BlZeroSlamPres Baseline Y Figure 8 Input Sectional Offsets Near Keel for Computing Slamming Form Factor 26 DRDC Atlantic TM 2011 308 100 Q A Computation method 2 80 F Input offsets Ochi and Motter E n Input deadrise angle Stavovy and Chuang Ss 60 Yn L 2 AGE Q 8 L 2 2 20 i o l 06 60 Deadrise Angle deadRiseDeg deg Figure 9 Slamming Pressure Coefficients for Wedge Sections DRDC Atlantic TM 2011 308 27 14 Conclusions ShipMo3D Version 3 0 includes applications for predicting ship motions in the time and frequency domains A separate user manual 1 describes development of ship models for input into ship motion predictions 28 DRDC Atlantic TM 2011 308 References 1 10 11 McTaggart K A 2011 ShipMo3D Version 3 0 User Manual for Creating Ship Models DRDC Atlantic TM 2011 307 Defence Research and Development Canada Atlantic McTaggart K A 2002 Three Dimensional Ship Hydrodynamic Coefficients Using the Zero Forward Speed Green Function DRDC Atlantic TM 2002 059 Defence Research and Development Canada Atlantic McTaggart K A 2003 Hydrodynamic Forces and Motions in the Time Domain for an Unappended Ship Hull DRDC Atlantic TM 2003 104 Defence Research and Development Canada Atlantic McTaggart K A 2003 Modelling and Simulation of Seaways in Deep Water for Simulation o
102. DBuildSesw y Summary 2 2 2 24 38 2 2r 22 5 11 Table 3 SM3DFreeMo Summary ce 2 2 2 Fra ae DEN Ge 8 15 Table 4 SM3DSeakeepRegular Summary 22 2 nn 16 Table 5 SM3DSeakeepRandom Summary 17 Table 6 SM3DSeakeepSeaway Summary 2 18 Table 7 SM3DSeakeepSeawayFromRaos Summary 2 2 2222 2 2200 19 Table 8 SM3DTimeSeriesFromRaos Summary 2 2 20 Table 9 Representative Tipping and Sliding Coefficients 23 Table 10 MII Risk Levels e te 2 sho 2 De 23 List of figures Figure 1 Earth Fixed Coordinate System 9 Figure 2 Translating Earth Coordinate System 9 Figure 3 Sea Direction Relative to Ship 10 Figure 4 Long crested Seaway with Bretschneider Spectrum Sea State 5 11 Figure 5 Model for Person Standing on Deck 2 2 23 Figure 6 Assumed Slamming Pressure Distribution for Sectional Force 2701001 418619 de a e ep ot aN a ee aR The Se N 24 Figure 7 Input Wedge Geometry for Computing Slamming Form Factor 26 Figure 8 Input Sectional Offsets Near Keel for Computing Slamming Form Factor pava A pS ee ds hale be 26 Figure 9 Slamming Pressure Coefficients for Wedge Sections 27 DRDC
103. DifOption Option for including radiation and diffraction in relative vertical motion NoRadDif Wave radiation and diffraction are not considered when evaluating relative wave motion default DRDC Atlantic TM 2011 308 261 Record 160 Option for Including the Steady Wave Due to Ship For ward Speed when Evaluating Wetness or Emergence Events This record is optional if a seakeeping position is being specified relWaveElevSteadyOption relWaveElevSteadyOption 2 character strings relWaveElevSteady Option relWaveElevSteady Option Record tag Option for including the influence of the steady wave field due to ship forward speed when evaluating distance from the waterline in calm water NoSteady Wave The steady wave due to ship forward speed is not included default This option must be used if no steady wave data are provided in Records 14 to 15d SinkageTrimOnly The ship sinkage and trim due to ship forward speed are included when evaluated vertical position relative to the calm waterline Sinkage and trim values specified in input Records 14 to 14b Steady WaveElev The steady wave elevation is evaluated based on steady wave profile specified in Records 15 to 15d Sinkage and trim from Records 14 to 14b are included Record 16e Option for Motion Induced Interruptions This record is required if a seakeeping position is being specified miiOption miiOption 2 character st
104. GSE O PZT O 890 0 8560 06660 60950 8690 g79 0 TZ9 0 8190 TL9 0O gg9 0 9 9 0 619 0 6190 1090 06790 c99 0 8290 1990 719 0 909 0 8960 0860 21571 0 009 0 VLL O 76 0 660 T 890 T VEO T TE6 O c08 0 99 0 S67 0 eee 0 ELT 0 8T0 0 9610 9960 2 0 0850 919 0 899 0 80620 8940 86240 662 0 78420 85620 69 0 9069 0 1990 8250 9680 81810 7720 871 0 770 0 8680 89570 7730 955 0 19S 0 66890 68570 91570 10680 ara 2600 TEO 0 TST O t92 0 198 0 T oO 167 0 929 0 179 0 9 g 0 PTS O0 11v 0 86521 0 618 O ote 0 TSZ 0 06T 0 67T 0 390 0 7000 620 0 06910 06960 8780 95260 6890 030 0 cro 0 c00 0 38000 8100 0800 06700 990 0 690 0 2800 T60 0 4600 38600 3600 38800 9 00 1900 06700 AAR 000 0 eco 0 970 0 190 0 830 0 goT 0 OST 0 O T 0 g9ET 0 SET 0 6061 0 ITT O TOT O 680 0 T90 0 0r0 0 810 0 8000 050 0 g90 0 810 0 680 0 960 0 TOTO 06010 1010 860 0 T60 0O 80 0 L0 0O 690 0 70 0 Gc0 0O 900 0 STO O 9 0 0 850 0 810 0 160 0 911 0 OET 0 CVT O CST 0 LST 0 1ST 0 TST O set 0 OST 0 960 0 890 0 9 0 0 L0O0 0 8000 OOF ZT 00661 00061 008 TT 009 TT OOv TT 003 TT 000 TT 008 0T 009 OT oor OT 00 OT 000 OT 008 6 009 6 00526 0066 000 6
105. ING POSITION TRIM CONDITIONS Label Seakeeping position Station 3 000 x wrt ship CG 43 750 m y 2 000 m z wrt baseline 12 000 m 2 wrt ship CG 6 000 m 2 wrt waterline 7 800 m DRDC Atlantic TM 2011 308 149 996 000 0 0241 1000 97T 6000 TET 8000 86 6000 6v 00 0 Ot 700 0 666 900 0 SZE 100 0 86T 600 0 09 TT0 O SEZ 6T0 0 9816 0 0 0 606 9700 TOZ 0900 961 06800 161 06010 291 60610 981 9910 83T 1610 961 702 0 861 6410 291 8T 0 DLT 6610 991 Z O 091 68980 oseyg dwy nej LOT 0000 6061 1000 yl Zz00 0 99 00 0 84 Z00 0 8896 Z00 0 996 T0 0 elZ 5600 8 LEO O 867 8 0 0 TZE 020 0 TET 6900 891 0060 ZST 8 0 006 8890 916 799 0 977 9940 gez 8 8 0 SVS 06 0 096 SS6 0 296 086 0 196 2560 996 706 0 197 68 0 89 Z18 0 697 8280 eseyg duy 42370 291 9000 ST 00 0 206 5000 OTE 1000 e9 0951 081 800 0 90 6000 661 v00 0 061 1000 este 0051 TZT 9000 191 8000 GET Z00 0 161 700 0 800 098 EZT 5000 891 00 0 98 S00 0 061 S00 0 188 G 0068 TS 800 0 191 6100 99 00 0 911 700 0 TL9 Z 096 Ov 6T0 0 est 5100 8 800 0 64 100 0 018 7 006 Le 26000 89 200 0 9000 TOE 9000 ese z 0911 8 5800 2426 8600 9Te 800 0 867 0T0 0 1066 0011 97 1800 61 690 0 086 1100 2606 60100 90 S 0901 99 e zo 0 96 80T 0 196 9100 887 6100 0161 000 CET 5600 06 5910 LES ETO O 896 ZT0 0 122 0960 T 5900 ee 660 0 961 ETO O 556 LT0 0 189 T 006 0 S8T TOT
106. Knots Array of ship speeds knots DRDC Atlantic TM 2011 308 217 Record 116 Froude Number Range One of Records 118 to 11f must be given FroudeRange froudeMin froudeMax froudelnc 1 character string 3 floats FroudeRange Record tag froudeMin Minimum Froude number froudeMax Maximum Froude number froudelne Froude number increment Record 11f Ship Froude Numbers One of Records 118 to 11f must be given Froudes froudes 1 character string array of floats Froudes Record tag froudes Array of ship Froude numbers Record 12a Range of Ship Headings One of Records 12a or 12b must be given shipHeadingRange shipHeadingDegMin shipHeadingDegMax shipHeadingDegInc 1 character string 3 floats shipHeadingRange Record tag shipHeadingDegMin Minimum ship heading to deg shipHeadingDegMax Maximum ship heading to deg shipHeadingDegInc Increment for ship heading to deg Note The ship heading convention is 0 for the ship heading north 90 for the ship heading east 218 DRDC Atlantic TM 2011 308 Record 12b Ship Headings One of Records 12a or 12b must be given shipHeadingsDeg shipHeadingsDeg 1 character string array of floats shipHeadingsDeg Record tag shipHeadingsDeg Array of ship headings deg The ship heading convention is 0 for the ship heading north 90 for the ship heading east Record 13 Seaway Option sp
107. O STE 000 0 000000 0 8TL 0 04 86L 0 0 00 000 0 000000 0 88240 19 65680 0 383 0000 000000 0 8880 79 6680 0 017 0000 000000 0 TTO T 09 696 0 0 553 000 0 000000 0 661 89 68501 0 075 000 0 000000 0 896 1 99 SET 0 977 000 0 000000 0 98 T 79 98T T 0 077 000 0 000000 0 66571 eS 25611 0 S6T 0000 000000 0 619 T GG 4601 0 087 000 0 000000 0 91691 TS TEE T 0 597 000 0 000000 0 1691 09 9981 0 097 000 0 000000 0 STALT 09 79681 0 9ET 000 0 000000 0 60L T O S 9961 0061 0000 000000 0 689 T O S Zee T 0901 0000 000000 0 6891 O S 67601 0 06 000 0 000000 0 8557 OS Erst 0 91 000 0 000000 0 09571 TG CUIT 0 09 0000 000000 0 1961 C S LOTT 0957 0000 000000 0 966 T es 60011 0 0 0000 000000 0 S60 T SS 2196 0 0 ST 0000 000000 0 v96 0 389 3880 00 anoy 206 Zed s u s u 860 qey 19M d 764 SWU ZL dstp SWU K SSOUJOM UOTLOW TROTIADA ATJET Y Zutpeey drys u OOS SUTTISICM UTED 07 SATJeTET uorqeA Tq uotytsod Sutdeeyeeg 16061 UO0TITSOJ Zequnooue enem ted 3tTrtqeqo1d se uent3 st 9 0 00740 sseugem SOUTTIONEM SAOQY UOTITSOJ IOF SUOTIRTNITED ssougom 245 8 9 6 0 6 p I 980 0 810 0 DRDC Atlantic TM 2011 308 0000 000000 0 978 0 9 1880 O STE DRDC Atlantic TM 2011 308 246 Annex F Files for Motions in an Earth Fixed Seaway with SM3DSeakeepSeawayFromRaos3 F 1 Format of Input File for SM3DSeakeepSeawayFromRaos
108. O 24606 99T 0 EET 6600 996 6T0 0 2091 098 0 E6T Z9T O 2068 6690 VIT 60500 see ezo 0 CSET 008 0 861 1220 67 4880 801 9200 ez S0 0 06961 09240 106 9080 SVE 86 0 26 1110 ev 00T 0 95611 0040 606 T6 0 996 8z0 T v6 0ST 0 ys 6sT 0 veo T 0S9 0 916 Z0S 0 T 60601 16 56610 9 0660 176 0 009 0 EEZ 999 0 Lt0 T 06 6860 69 982 0 g7z3 0 0SS 0 996 t68 0 y 066 0 68 982 0 GL T9 0 161 0 00S 0 TZE 88 0 e 6960 76 EZE O 78 0 v 0 ves 0 0950 Te 60590 646 0 6 6 0 98 9950 9vs 0 007 0 99 88r 0 09 8860 16 9980 06 8650 1950 0980 86 9 9 0 0 066 0 68 0JE 0 76 079 0 688 0 0080 ETT 0990 0 90011 88 96 0 86 L19 0 2080 0960 6061 0120 O 10011 ve 66510 v6 TE9 0 9860 0060 oseyg duy oseyg dwy oseyg dwy oseyg duy s pel s peX TTOY oneoy feng ed ng bo y Suq 6641 onen ey 00078 saem Aq peztTeuotsueutp uou me pue yoatd ITOY epnattdue saem Aq p zrTeuorsu urp uou 04604 pue ens od ng 34200 0021 sonen Bop 06 sees pesy Sep 081 wo zF Zep 000 091 U0OT298ITP ees 0080 zoqumu 60004 8300 00006 S u 00801 peeds xx x SOACM re nsey UT SUOTION DRDC Atlantic TM 2011 308 150 816 GOTT 055 0 066 OTE T 009 0 LEC VEST 09570 EZZ SVO TI 0050 916 9001 0960 661 966 0 0060 2891 15711 0960 691 6991 0060 Sep eseyg duy zeppny seseyd pue suorq5 T p Ieppny 60421 saem ISppny ISppny Teqe7 Loy sTeqeT pue s y Isppny ex 60079 onen Aq p zrTeuorsu urp uou suUoTI99TFep Teppny
109. PUT Input ship database file name genFrigShipForMotionDB bin Label Generic frigate Created November 09 11 8 19 55 AM Version ShipMo3D 3 0 Version 3 0 release 5 October 2011 Class ShipMo3D ShipForMotionDB Ship Length Data Length between perpendiculars 120 000 m Station of aft perpendicular 20 000 Ship Loading Condition Water density 1025 000 kg m3 Draft of baseline at midships 4 200 m Trim of baseline by stern 0 000 m Height of CG above baseline KG 6 000 m Correction to metacentric height GM 0 000 m Output motion time series file name genFrigTimeSeries bin Seaway calm option Seaway Seaway file name bretSeaState5Seaway xml Label Hs 3 25 m Tp 9 7 s Bretschneider spectrum Created November 09 11 8 21 26 AM Version ShipMo3D 3 0 Version 3 0 release 5 October 2011 Class ShipMo3D DeepSeaway FixedMultiSeaway Time parameters 114 DRDC Atlantic TM 2011 308 Time step 0 200 s Initial time 0 000 s End of wave ramp function 20 000 s Beginning of statistics sampling 20 000 s Dption for nonlinear buoyancy and incident wave forces Linear Initial ship position xf 0 000 m north yf 0 000 m west Heave 0 000 m up relative to calm water position Roll 0 000 deg port up Pitch 0 000 deg bow down Heading 0 000 deg 0 north 90 east Initial ship speed 20 000 knots Initial ship velocity components xf velocity 10 300 m s north yf vel
110. ShipMo3D Version 3 0 User Manual for Computing Ship Motions in the Time and Frequency Domains Kevin McTaggart Defence R amp D Canada Atlantic Technical Memorandum DRDC Atlantic TM 2011 308 December 2011 Principal Author Kevin McTaggart Approved by Neil Pegg Head Warship Performance Approved for release by Calvin Hyatt Chair Document Review Panel Her Majesty the Queen in Right of Canada as represented by the Minister of National Defence 2011 Sa Majest la Reine en droit du Canada telle que repr sent e par le ministre de la D fense nationale 2011 Abstract ShipMo3D is an object oriented library with associated user applications for pre dieting ship motions with Version 3 introducing modelling of sloshing tanks and U tube tanks This report serves as a user manual for ship motion predictions in the time and frequency domains using ShipMo3D Version 3 A companion report serves as a user manual for building ship models that are used as input for ship motion predictions Time domain simulations can model a freely maneuvering ship in calm water or in waves SM3DBuildSeaway builds seaway models representing regular or random seaways including long and short crested seaways SM3DFreeMo simulates a freely maneuvering ship in calm water or in a modelled seaway Sev eral ShipMo3D applications predict ship motions in the frequency domain for a ship with quasi steady speed and heading SM3DSeakeepRegu
111. Spectral shape factor A of wave system 1 hs2 Significant wave height h 2 of wave system 2 m freqPeak2 Peak wave frequency w _2 of wave system 2 rad s spectralShape2 Spectral shape factor A of wave system 2 Record 9f4 Unidirectional Input Spectrum Wave Frequencies This record is required if uniSpectrumOption in Record 9f is set to Input input WaveFreqs input WaveFregs 1 character string array of floats input WaveFreqs Record tag input WaveFreqs Wave frequencies wy for input energy densities rad s Record 9f5 Unidirectional Input Spectrum Energy Densities This record is required if uniSpectrumOption in Record 9f is set to Input inputEnergy Densities inputEnergyDensities 1 character string array of floats inputEnergyDensities Record tag inputEnergy Densities Wave spectrum energy densities Sw wr m rad s corresponding to wave frequencies of Record 9f4 Record 98 End of Unidirectional Seaway from Input Spectrum This record is required if seawayOption in Record 7 is set to UniSpectrum end uniSpectrumSeaway 1 character string with 2 words 42 DRDC Atlantic TM 2011 308 Record 10 Beginning of Bidirectional Seaway from Input Spectrum Records 10 to 10f are required if seawayOption is set to BiSpectrum in Record 7 begin biSpectrumSeaway 1 character string with 2 words Record 10a Wave Frequency Range One of Records 10a or 10b is re
112. TEE 86 996 VES 707 921 951 STT 6 02 ES 0 85 see 666 0 00 T 66 0 266 0 ETO T 9660 696 0 986 0 1660 866 0 900 7 00 T 900 6101 1601 eTo T eco T 690 T 95711 906 T 2911 CCT T erst 1921 OLS SSE T9 861 DLT LSZ 986 ELS SUT 60T LEE 767 08 8086 777 66T 811 18 08 068 8 09 EEE 6066 800 0 00 0 0T0 O 800 0 7T0 0 T20 0 0600 7T0 0 7T0 0 2000 900 0 00 0 g00 0 6T0 0 6000 67100 9600 280 0 1910 6060 0060 VI O 0560 9940 8 VS vse PZE EEZ 291 021 777 STE ETE CTE SOE 121 67T CCT SOT 99 CSE SOE 887 617 79 877 TEZ 00 0 g00 0 g00 0 c00 0 700 0 900 0 800 0 00 0 600 0 ct0 0O 67100 900 0 g00 0 ct0 0 6T0 0 67100 0100 7100 0 0 870 0 90 0 990 0 290 0 090 0 DOT 991 GES 066 EEE T9 v8 92 13 0 660 EEE 011 26 66 901 9246 TLZ 617 98 76 160 691 891 06000 1000 06000 06000 8000 700 0 600 0 700 0 c00 0 c00 0 2000 100 0 2000 g00 0 900 0 700 0 06000 9100 2000 96800 8000 8100 1300 06800 g 60479 uoryegnduoyg 6 9 9 60579 67819 e96 7 LVL 969 632 T LET 676 SEl VS E9E E ESTE 800 26086 14296 0196 ese TOZ c 8906 0161 122 26891 2091 000 096 006 7 058 7 008 7 092 0021 059 7 009 7 059 T 009 T 095 00511 09681 00811 096 005
113. UM Ten parameter directional wave spectrum Significant wave height 5 000 m Wave system 1 2 268 DRDC Atlantic TM 2011 308 Significant wave height Peak wave frequency Spectral shape parameter Mean wave direction from Directional spreading exponent Significant wave height based on directional wave spectrum area Wave frequency rad s 0 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 000 050 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 000 N F 18 Be z RP RP PP PPP RP PRP z z z xz O O 2 000000000060 200 O O O O O O O O O O O O O O O O O O O O O O O O F F FF N Q Q Q Q N F O O DRDC Atlantic TM 2011 308 Spectral density m2 rad s 000 036 013 889 643 556 323 020 622 184 766 404 107 871 686 543 432 346 279 227 185 153 126 105 088 074 063 054 046 039 034 029 026 022 020 017 015 0 600 rad s 4 000 m 0 400 rad s 1 000 deg 160 000 1 000 4 989 m 269 LO CGN OO No O GQ E f lt 00 onm LO B O O O un Y O cO LQ LO s lt h C CG CGN GN CGN 0 X LO LO O O CO OO O O drus uo wotytsog Je Surd yxe s T 611 9 6 16 0 1 61 609 9 TT 66 0 9 9T 480 G 9S T0 S 0968 T 161 E07 960 1 61 60 S 6 TT 66 0 6 9T 880 9 97 GO0 S 0066 T Gat 907 T6 0 GCE T S 061 86 0 0 117 68
114. Wave Frequencies This record is required if uniSpectrumOption in Record 14b is set to Input input WaveFreqs input WaveFregs 1 character string array of floats input WaveFreqs Record tag input WaveFreqs Wave frequencies wy for input energy densities rad s Record 14c5 Unidirectional Input Spectrum Energy Densities This record is required if uniSpectrumOption in Record 14b is set to Input inputEnergyDensities inputEnergyDensities 1 character string array of floats inputEnergyDensities Record tag input Energy Densities Wave spectrum energy densities S w corresponding to wave frequencies of Record 1404 Record 14d End of Unidirectional Wave Spectrum This record is required if spectrumOption is set to UniSpectrum in Record 13 end uniSpectrum 1 character string with 2 words DRDC Atlantic TM 2011 308 221 Record 15 Beginning of Cosine squared Spreading Wave Spectrum Records 15 to 15d are required if spectrumOption is set to CosSpectrum in Record 13 begin cosSpectrum 1 character string with 2 words Record 15a Mean Wave Heading This record is required if seawayOption in Record 13 is set to CosSpectrum waveHeadingMean waveHeadingMeanDeg 1 character string 1 float waveHeadingMean Record tag waveHeadingMeanDeg Mean wave direction v from degrees 0 for waves from north and 90 for waves from east Record 15b Wave Spreading
115. a Seakeeping Position Label This record is required if a seakeeping position is being specified labelPos labelPos 2 character strings labelPos Record tag labelPos Label for seakeeping position This can include spaces 136 DRDC Atlantic TM 2011 308 Record 18b Seakeeping Position Location This record is required if a seakeeping position is being specified locationPos stationPos yPos zBlPos 1 character string 3 floats locationPos Record tag stationPos Station for seakeeping position Station 0 is at the fore perpendicular yPos Lateral coordinate port relative to ship centreline m zBlPos Vertical coordinate up relative to ship baseline m Record 18c Option for Including Radiation and Diffraction in Relative Vertical Motion This record is optional if a seakeeping position is being specified relMoRadDifOption relMoRadDifOption 2 character strings relMoRadDifOption Record tag relMoRadDifOption Option for including radiation and diffraction in relative vertical motion NoRadDif Wave radiation and diffraction are not considered when evaluating relative wave motion default Record 18d End of Seakeeping Position Data This record is required if Record 18 is present end seakeepPositions 1 character string with 2 words Record 19 Beginning of Wave Kinematics Position Data This record is optional begin waveKinPositions 1 characte
116. a 2 parameter JONSWAP spectrum Record 15d End of Cosine squared Spreading Wave Spectrum This record is required if spectrumOption is set to CosSpectrum in Record 13 end cosSpectrum 1 character string with 2 words Record 16 Beginning of Directional Wave Spectrum Records 16 to 16d are required if spectrumOption is set to DirSpectrum in Record 13 begin dirSpectrum 1 character string with 2 words DRDC Atlantic TM 2011 308 223 Record 16a Directional Wave Spectrum Option This record is required if spectrumOption in Record 13 is set to DirSpectrum dirSpectrumOption dirSpectrumOption 2 character strings dirSpectrumOption dirSpectrumOption Record tag Type of unidirectional wave spectrum TenParameter Ten parameter spectrum from Hogben and Cobb 23 EndecoWaveBuoy Directional spectrum from Endeco wave buoy InputDir Input directional spectrum Record 16a1 Ten Parameter Spectrum Parameters This record is required if dirSpectrumOption in Record 16a is set to TenParameter tenParamParam hs1 freqPeak1 spectralShapel waveHeadingMeanDegl dirSpreadExpl hs2 freqPeak2 spectralShape2 waveHeadingMeanDeg2 dirSpreadExp2 1 character string 10 floats tenParamParam 1161 freqPeak1 spectralShapel waveHeadingMeanDegl dirSpreadExp1 hs2 freqPeak2 spectralShape2 wave Heading MeanDeg2 dirSpreadExp2 224 Record tag Significant w
117. abel Label for run This can include spaces Record 3 Beginning of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input begin note 1 character string with 2 words Record 3a Note noteText character string Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input noteText Text of note Multiple lines can be entered Record 3b End of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input end note 1 character string with 2 words DRDC Atlantic TM 2011 308 207 Record 4 Input Ship Database File Name shipDBFileName shipDBFileName 2 character strings shipDBFileName Record tag shipDBFileName Name of input ship database file ShipForMotionDB object in NET binary serialization format This file must have been created using program SM3DBuildShip3 Record 5 Length Data lengthData lpp stationAP 1 character string 2 floats lengthData Record tag 102 Ship length between perpendiculars m station AP Station number of the aft perpendicular This value is typically 20 0 Note The values in this record must agree with the values used for the ship database file specified in Record 4 Values are considered to be in agreement when they are within a tolerance of 0 001 m for length and 0 001 for the station of the aft per
118. akeepRandom3 ShipMo3D 3 0 Version 3 0 release 5 October 2011 Time November 10 11 9 07 39 AM Run label Generic frigate ECHO OF USER INPUT Input ship for motion database file name genFrigShipForMotionDB bin Label Generic frigate Created November 09 11 8 19 55 AM Version ShipMo3D 3 0 Version 3 0 release 5 October 2011 Class ShipMo3D ShipForMotionDB Ship Length Data Length between perpendiculars 120 000 m Station of aft perpendicular 20 000 Ship Loading Condition Water density 1025 000 kg m3 Draft of baseline at midships 4 200 m Trim of baseline by stern 0 000 m Height of CG above baseline KG 6 000 m Correction to metacentric height GM 0 000 m Options for Output of Response Amplitude Operators in Long crested Seas Output motion RAO option NoMotionRao Output rudder deflection NoRudderRao Output azimuthing propeller deflection NoAziPropRao Output U tube tank fluid angle NoUTubeTankRao Output roll damping option NoRollDamp Output seakeeping position option NoPositionRao Output wave kinematics option NoWaveKinRao Output motion and deflection RAO post processing file option MoDefRaoPpr File name with motion 8408 for post processing genFrigSeakeepRandomMoDefRaoDB bin Output RMS motion post processing file option MoDefRandomPpr File name with RMS motions for post processing genFrigSeakeepRandomMoDefRandomDB bin Minimum wave encounter frequency for predicting s
119. akeepRegular3 ShipMo3D 3 0 Version 3 0 release 5 October 2011 Time November 10 11 9 07 15 AM Run label Generic frigate ECHO OF USER INPUT Input ship for motion database file name genFrigShipForMotionDB bin Label Generic frigate Created November 09 11 8 19 55 AM Version ShipMo3D 3 0 Version 3 0 release 5 October 2011 Class ShipMo3D ShipForMotionDB Ship Length Data Length between perpendiculars 120 000 m Station of aft perpendicular 20 000 Ship Loading Condition Water density 1025 000 kg m3 Draft of baseline at midships 4 200 m Trim of baseline by stern 0 000 m Height of CG above baseline KG 6 000 m Correction to metacentric height GM 0 000 m Output rudder motion option RudderRao Output azimuthing propeller deflection option NoAziPropRao Output U tube tank fluid displacement option NoUTubeTankRao Output roll damping option RollDamp Output motion and deflection RAO post processing file option MoDefRaoPpr File name with 8408 for post processing genFrigSeakeepRegularMoDefRaoDB bin Minimum wave encounter frequency for predicting ship motions 0 100 rad s Speed range Minimum 0 000 knots Maximum 30 000 knots Increment 10 000 knots Sea direction range Minimum 3 0 000 deg Maximum 180 000 deg 146 DRDC Atlantic TM 2011 308 Increment Incident wave frequency range 0 200 rad s Minimum Maximum Increment Input wave amplitude option Wave st
120. al 1 character string 1 or 2 floats StraightDistance Record tag distance Straight line distance m between start and end points at which the program considers the maneuver completed tElapsedMax Time limit s for attempting to traverse distance straightDistance If this input is not included then a default value of 3600 s is used Record 24j Elapsed Time Maneuver Command This record is optional ElapsedTime tElapsedMax 1 character string 1 float ElapsedTime Record tag tElapsedMax Elapsed time at which the program considers the maneuver completed Record 24k End of Maneuvers This record is required after all maneuvers described using Records 24a to 24j end maneuvers 1 character string with 2 words Record 25 Time Intervals for Output Time Series and Console out Timelntervals dtOutTimeSeries dtOutConsole 1 character string 1 float out Timelntervals Record tag dtOutTimeSeries Time interval for output time series written to file s If this value is set to lt dtMax from Record 12 then output values will be at an interval of dtMax dtOutConsole Time interval for written simulation progress to console If this value is set to lt dtMax from Record 12 then output values will be at an interval of dtMax 96 DRDC Atlantic TM 2011 308 Record 26 Output Ship Motion Time Interval and Options out TimeSeries outDispOption outVelOption outAccOptio
121. an optionally be used together to give a descriptive note regarding input noteText character string noteText Text of note Multiple lines can be entered Record 3b End of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input end note 1 character string with 2 words DRDC Atlantic TM 2011 308 277 Record 4 Ship Dimensions shipDimensions lpp stationAP distanceFPCG draftBIMid trimBlStern shipKG 1 character string 6 floats shipDimensions Record tag lpp Ship length between perpendiculars stationAP Station number for aft perpendicular typically 20 0 distanceF PCG Distance from fore perpendicular to longitudinal centre of gravity LCG m draftBlMid Draft of baseline at midships m trimBlStern Trim of baseline by stern m shipKG Height of centre of gravity above baseline m Record 5 Name of File with Motion Response Amplitude Operations moDefRaoDBFileName moDefRaoDBFileName 2 character strings moDefRaoDBFileName Record tag moDefRaoDBFileName Name of file with ship motion and appendage deflection response amplitude operators This file is typically built using application SM3DSeakeepRegular3 or SM3DSeakeepRandom3 Record 6 Fixed Seaway XML File Name fixedSeawayFileName fixedSeawayFileName 2 character strings fixedSeawayFileName Record tag fixedSeawayFileName Name of XML file with seaw
122. ant wave height 5 000 m Wave system 1 2 Significant wave height 3 000 m 4 000 m Peak wave frequency 0 600 rad s 0 400 rad s Spectral shape parameter 1 000 deg 1 000 deg Mean wave direction from 110 000 160 000 Directional spreading exponent 1 000 1 000 Significant wave height based on directional wave spectrum area 4 984 m Wave frequency Spectral density rad s m2 rad s 0 200 0 000 0 250 0 036 0 300 1 013 0 350 2 888 0 400 3 641 0 450 3 553 0 500 3 318 238 DRDC Atlantic TM 2011 308 550 600 650 700 750 800 850 900 950 000 050 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 000 NRERPRRRRRRRPRRRRRRRRRRRRROOOOOOOO O o0o0o00O0O0O0O0O0O0O0000000000000000rrRRrNNOo DRDC Atlantic TM 2011 308 013 616 177 760 399 103 868 684 541 431 345 278 226 185 152 126 105 088 074 063 053 046 039 034 029 026 022 020 017 015 239 L CGN OO 02 lt OMN OO NO NO CO O O ON un O cO LQ LO sh sh C CN CGN CN 0 LO LO OOO OO CO CO Teqe7 Loy sTeqeT pue sfey 1eppny spotted BUTSSOID 0197 pue SUOTID9TISU SWU Teppny T vet 96 860 677 TVS G TT 0011 621 360 98 90 S 0 STE T LOT 1 01 96 0 6 TT S S 8 TT 66 0 S T 76 0 996 80 S 0066 T 861 70T 96 0 6 TT 9 9 6 TT 66 0 9 117 5S6 0 6 97 07 O STE T LOT 0T 96 0 6 TT 99 S 8 TT 66 0 9 1T 560 9
123. aracter strings 3 floats miiParam Record tag tipCoLat Lateral tipping coefficient A value of 0 25 is typically used for humans facing forward tipCoLong Longitudinal tipping coefficient A value of 0 17 is typically used for humans facing forward durationMii Duration for computing incidence of motion induced interruptions s A value of 60 s is typically used Note For sliding calculations the user should set tipCoLat and tipCoLong equal to the static coefficient of friction Record 24f Option for Motion Sickness Incidence This record is required if a seakeeping position is being specified motionSicknessOption motionSicknessOption 2 character strings motionSicknessOption Record tag motionSicknessOption Option for motion sickness computations MotionSickness Motion sickness computations are performed NoMotionSickness No motion sickness computations are performed Record 24f1 Exposure Time for Motion Sickness Incidence This record is required if MotionSicknessOption is set to MotionSickness in Record 24f tDayMotionSickness tDayMotionSickness 1 character strings 1 float tDayMotionSickness Record tag tDayMotionSickness Exposure time at which motion sickness incidence is computed days DRDC Atlantic TM 2011 308 181 Record 24g Option for Slamming Deck Wetness or Emergence Com putations This record is required if a seakeeping position is being specified
124. ase deg 198 70 81 154 158 156 70 297 127 88 80 227 220 197 208 258 307 183 14 59 175 312 331 209 39 323 147 333 169 354 45 197 353 Wave elevation time series statistics 0 001 m Mean Standard deviation Minimum Maximum Zero crossing period DRDC Atlantic TM 2011 308 0 807 m 3 010 m m 2 632 7 364 8 511 582 966 988 412 321 378 481 382 010 077 367 058 868 976 965 803 284 054 807 607 743 384 497 033 277 848 980 016 246 382 827 320 648 Significant wave height based on RMS wave elevation 3 234 m Computation time 0 8 74 DRDC Atlantic TM 2011 308 Annex B Files for Simulating Motions of Freely Maneuvering Ship with SM3DFreeMo3 B 1 Format of Input File for Simulating Motion of a Freely Maneuvering Ship with SM3DFreeMo3 Record 1 Beginning Record begin SM3DFreeMo3 1 character string with 2 words Record 2 Run Label label label 2 character strings label Record tag label Label for run This can include spaces Record 3 Beginning of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input begin note 1 character string with 2 words Record 3a Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input noteText character string noteT
125. ave height h of wave system 1 m Peak wave frequency w _ of wave system 1 rad s Spectral shape factor 41 of wave system 1 Principle wave direction 7 from degrees of wave system 1 0 for waves from north and 90 for waves from east Directional spreading exponent P of wave system 1 Significant wave height h 2 of wave system 2 m Peak wave frequency w _2 of wave system 2 rad s Spectral shape factor gt of wave system 2 Principle wave direction Ya from degrees of wave system 2 0 for waves from north and 90 for waves from east Directional spreading exponent P of wave system 2 DRDC Atlantic TM 2011 308 Record 16b Endeco Wave Buoy Spectrum File Name This record is required if spectrumOption in Record 13 is set to EndecoWaveBuoy EndecoSpectrumFileName EndecoSpectrumFileName 2 character strings EndecoSpectrumFileName Record tag EndecoSpectrumFileName File name of directional wave spectrum file produced by Endeco 956 or 1156 wave buoy The file name will typically have the extension std Record 16c Input Directional Wave Spectrum File Name This record is required if spectrumOption in Record 13 is set to inputDir inputDirSpectrumFileName inputDirSpectrumFileName 2 character strings inputDirSpectrumFileName Record tag input DirSpectrumFileName Input directional wave spectrum file name The format of the directional wave spectrum file is given
126. ay in earth fixed axes This file is typically built using application SM3DBuildSeaway3 278 DRDC Atlantic TM 2011 308 Record 6a Motion Axes Output Option motion AxesOutputOption motionAxesOutputOption 2 character strings motionAxesOutputOption Record tag motionAxesOutputOption TransEarth Output values are given in translating earth axes For seakeeping positions values are given relative to their position when the ship is moving at speed in calm water EarthFixed Output values are given in earth fixed axes Record 7 Output Ship Motion Time Interval and Options outTimeSeries outDispOption out VelOption outAccOption 4 character strings outTimeSeries Record tag outDispOption Option for giving output ship displacements Disp Output displacements are given NoDisp No output displacements are given out VelOption Option for giving output ship velocities Vel Output velocities are given NoVel No output velocities are given outAccOption Option for giving output ship accelerations Acc Output accelerations are given NoAcc No output accelerations are given Record 8 Beginning of Seakeeping Position Data This record is optional begin seakeepPositions 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 8a to 8c giving seakeeping position parameters Record 8d must follow at
127. azimuthing propeller deflections This parameter doesn t affect frequency domain computations with SM3DSeakeepSeaway If this record is not included after Record 9a then the original values for the given azimuthing propeller controller are used DRDC Atlantic TM 2011 308 Record 9c Azimuthing Propeller Deflection Controller Displacement Gains This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 9a deflectDispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain 1 character string 6 floats deflect DispGains surgeGain sway Gain heaveGain rollGain pitchGain yawGain Note Record tag Surge gain deg m This value should be 0 0 Sway gain deg m This value should be 0 0 Heave gain deg m This value is typically 0 0 Roll gain deg deg This value is typically 0 0 unless roll stabilization is desired Pitch gain deg deg This value is typically 0 0 Yaw gain deg deg Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a ship using a downward oriented azimuthing propeller for course keeping this value is typically lt 0 0 If this record is not included after Record 9a then the original values for the given azimuthing propeller controller are used DRDC Atlantic TM 2011 308 215 Record 90 Azimuthing Propeller Defle
128. b Wave Frequencies One of Records 118 or 11b is required if seawayOption in Record 7 is set to cosSpectrum waveFreqs waveFregs 1 character string array of floats waveFreqs Record tag waveFreqs Array of increasing wave frequencies rad s DRDC Atlantic TM 2011 308 47 Record 110 Wave Heading Range One of Records 11c or 11d is required if seawayOption in Record 7 is set to cosSpectrum waveHeadingRange waveHeadingMinDeg waveHeadingMaxDeg waveHeadingIncDeg 1 character string 3 floats waveHeadingRange Record tag waveHeadingMinDeg Minimum wave heading 068 waveHeadingMaxDeg Maximum wave heading deg waveHeadingIncDeg Wave heading increment deg Record 11d Wave Headings One of Records 11c or 11d is required if seawayOption in Record 7 is set to cosSpectrum waveHeadings waveHeadings 1 character string array of floats waveHeadings Record tag waveHeadingsDeg Array of increasing wave headings deg Record 116 Wave Phase Seed Number This records can be optionally used if seawayOption in Record 7 is set to cosSpectrum If this record is omitted then a default will be used phaseSeed phaseSeed 1 character string 1 integer phaseSeed Record tag phaseSeed Integer seed number default 1001 48 DRDC Atlantic TM 2011 308 Record 11f Relative Wave Energy Threshold This record can be optionally used if seawayOption in Rec
129. ber of values should correspond with the number of rudders in the ship file specified by Record 4 DRDC Atlantic TM 2011 308 Record 18 Initial Propeller RPMs This record is optional rpmsPropellers0 rpmsPropellersO 1 character string nPropeller floats rpmsPropellers0 Record tag rpmsPropellers0 Initial propeller RPM values If this record is not given then defaults of 0 RPM are used If this record is given then the number of values should correspond with the number of propellers in the ship file specified by Record 4 Record 19 Initial Azimuthing Propeller Deflections This record is optional aziPropellerDeflects0 Deg aziPropellerDeflects0Deg 1 character string nAziPropeller floats aziPropellerDeflectsODeg Record tag aziPropellerDeflectsODeg Initial azimuthing propeller deflections deg counter clockwise viewed from inside hull If this record is not given then defaults of 0 are used If this record is given then the number of values should correspond with the number of azimuthing propellers in the ship file specified by Record 4 Record 20 Initial Azimuthing Propeller Deflection Velocities This record is optional aziPropellerDeflect VelsODeg aziPropellerDeflect VelsODeg 1 character string nAziPropeller floats aziPropellerDeflect VelsODeg Record tag aziPropellerDeflect VelsODeg Initial azimuthing propeller velocities deg s counter clockwise vi
130. ction Controller Velocity Gains This record can optionally be entered if an azimuthing propeller controller key has been specified u deflectVelGains 8 sing Record 9a urgeVelGain swayVelGain heaveVelGain rollVelGain pitchVelGain yawVelGain 1 character string 6 floats deflectVelGains surgeVelGain sway VelGain heave VelGain rollVelGain pitch VelGain yaw VelGain Note Record 9e End Record tag Surge velocity gain deg m s This value should be 0 0 Sway velocity gain deg m s This value should be 0 0 Heave velocity gain deg m s This value is typically 0 0 Roll velocity gain deg deg s This value is typically 0 0 unless stabilization is desired Pitch velocity gain deg deg s This value is typically 0 0 Yaw velocity gain deg deg s Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a ship using a downward oriented azimuthing propeller for course keeping this value is typically lt 0 0 If this record is not included after Record 9a then the original values for the given azimuthing propeller controller are used of Azimuthing Propeller Controller Settings end aziPropellerDeflectControllerSettings 2 character strings Record 10 Minimum Wave Encounter Frequency enFreqMinMotion enFreqMinMotion enFreqMinMotion 216 enFreqMinMotion 1 character
131. d 20 Beginning of Steady Forward Speed Wave Elevation Data Records 20 to 20d can optionally be used to give ship steady wave profile data data begin steadyWaveProfile 1 character string with 2 words Record 20a Stations for Steady Wave Elevation Data This record is required if steady wave elevation data are being given stationsSteadyWaveProfile stationsSteadyWaveProfile 1 character string nStationSteadyWaveProfile floats stationsSteadyWaveProfile Record tag stationsSteady WaveProfile Ship stations for steady wave elevation data Record 20b Speeds in m s for Steady Wave Elevation Data This record is required if steady wave elevation data are being given speedsSteadyWaveProfile speedsSteadyWaveProfile 1 character string nSpeedSteady WaveProfile floats speedsSteady WaveProfile Record tag speedsSteady WaveProfile Ship speeds for steady wave elevation data m s DRDC Atlantic TM 2011 308 227 Record 200 Steady Wave Elevation Profile Data This record must be given for each station with steady wave elevation data stationSteadyWaveElevs stationSteadyWave waveElevsSteady 1 character string 1 nSpeedSteadyWaveProfile floats stationSteady WaveElevs Record tag stationSteady Wave Station number for input wave elevations This value must be consistent with values given in Record 20a waveElevsSteady Wave elevations m at stationSteady Wave for ship spe
132. d Speed Sinkage and Trim Data Records 22 to 22b can optionally be used to give ship sinkage and trim data begin steadySinkageTrim 1 character string with 2 words Record 22a Sinkage and Trim for Ship Speed This record is repeated once for every ship speed with sinkage and trim data with increasing ship speeds speedSinkage Trim speedSinkage Trim heaveSteady pitchSteadyDeg 1 character string 3 floats speedSinkage Trim Record tag speedSinkage Trim Speed for which sinkage and trim values are given m s heaveSteady Heave at steady speed m up pitchSteadyDeg Pitch at steady speed deg bow down 176 DRDC Atlantic TM 2011 308 Record 22b End of Steady Sinkage and Trim Data This record is required if Records 22 and 22a are included end steadySinkageTrim 1 character string with 2 words Record 23 Beginning of Steady Forward Speed Wave Elevation Data Records 23 to 23d can optionally be used to give ship steady wave profile data data begin steadyWaveProfile 1 character string with 2 words Record 23a Stations for Steady Wave Elevation Data This record is required if steady wave elevation data are being given stationsSteadyWaveProfile stationsSteadyWaveProfile 1 character string nStationSteady WaveProfile floats stationsSteadyWaveProfile Record tag stationsSteadyWaveProfile Ship stations for steady wave elevation data Record 23b S
133. dVelsODeg Record tag uTubeTankFluidVelsODeg Initial fluid angle velocities deg s fluid moving toward port side If this record is not given then defaults of 0 deg s are used If this record is given then the number of values should correspond with the number of U tube tanks in the ship file specified by Record 4 92 DRDC Atlantic TM 2011 308 Record 24 Beginning of Maneuvers This record can be followed by Records 24a to 24j repeated in arbitrary order begin maneuvers 1 character string with 2 words Record 24a Propeller RPM Command This record is optional SetRpm keyPropeller rpmCommand 2 character strings 1 float SetRpm Record tag keyPropeller Key for propeller A value All sets all propellers rpmCommand Command propeller RPM RPM Record 24b Course Command for Rudder This record is optional SetRudderCourse keyRudder shipHeadingToCommandDeg 2 character strings 1 float SetRudderCourse Record tag keyRudder Key for rudder A value All sets all rudders shipHeadingToCommandDeg Ship heading x deg to which autopilot is set Record 24c Rudder Deflection Command This record is optional SetRudderDeflect keyRudder deflectCommandDeg 2 character strings 1 float SetRudderDeflect Record tag keyRudder Key for rudder A value All sets all rudders deflectCommandDeg Command rudder deflection angle deg counter clockwis
134. document including special warning terms if applicable UNCLASSIFIED 3 TITLE The complete document title as indicated on the title page Its classification should be indicated by the appropriate abbreviation S C R or U in parentheses after the title ShipMo3D Version 3 0 User Manual for Computing Ship Motions in the Time and Frequency Domains 4 AUTHORS Last name first name middle initial If military show rank e g Doe Maj John E McTaggart Kevin A 5 DATE OF PUBLICATION month and year of 6a NO OF PAGES 6b NO OF REFS publication of document total including total cited in docu Annexes ment December 2011 ala a7 306 7 DESCRIPTIVE NOTES The category of the document e g technical report technical note or memorandum If appropriate enter the type of report e g interim progress summary annual or final Technical Memorandum 8 SPONSORING ACTIVITY the name of the department project office or laboratory sponsoring the research and development Include address Defence R amp D Canada Atlantic PO Box 1012 Dartmouth NS Canada B2Y 327 9a PROJECT OR GRANT NO If appropriate the 9b CONTRACT NO if appropriate the applicable research and development project or grant applicable number under which the number under which the document was written document was written 11ge01 10a ORIGINATOR S DOCUMENT NUMBER the 10b OTHER DOCUMENT NOs Any official d
135. e suoT2dn1199UT p onpur uorqou TOF S19I9UeIeg u u u u 008 2 000 9 000 ST 000 SutTT sgen JIM Z po dys 91m 2 urT seq JIM Z DRDC Atlantic TM 2011 308 242 20 00 es sTto o 0 0 0T TOTO 0 957 0 00 es 9T0 0 2 0 8 6 0010 0 077 2 0 0 0 es 8T0 0 20 96 8600 0 977 10 00 GS 020 0 0 v 6 9600 0 077 20 00 6 9 10600 9 0 66 760 0 0 S6T 90 00 Z S 0000 9 0 0 6 3600 0081 90 00 Greg 7700 90 6 8 0600 0 S9T 9 0 0 0 Z S 17600 9 0 88 680 0 0 OST 9 0 0 0 cs 900 0 9 0 18 880 0 O SET 9 0 00 GS 900 0 g o 2 8 880 0 0 OST g o 00 cs 7Z0 0 S 0 8 8 800 0901 90 00 GS v30 0 90 0 6 060 0 0 06 90 00 TS eco 0 90 T 6 1600 0 92 9 0 0 0 TS 1000 9 0 e 6 760 0 0 09 9 0 00 T S 0600 9 0 96 g60 0O 097 20 00 TS 8T0 0 0 26 860 0 0 0 20 00 Tg 9T0 0 0 6 6 0010 0 91 80 00 T S 9100 8 0 001 8010 00 s 3 8 3 ZL SWU ZL SWU SIIN SIIN TOJRUTIS9 2I04J SIIN TOJRUTISO 9IIOAI 16301 Krk TEUTPNITZUOT kkkkk eK TRLAOIBT Krk Sutpeey drys 0210 quetotzgzeoo Sutddty Teurpn3ar3uo 0980 quetotjjeos 3urddr3 Teasge g 0 09 UOTIRINP SUTMOTTOJ 103 9981 se u AT3 SIIN uotytsod Surd ye s 16067 0 4 8002 suotJdn sJul p oSnpuI uor3qoW pue sexy 1620 oq SATIBTOY seoTOJ 9780 6 9 18680 980 0 6 6 15681 16010 VOT 65611 ETO O le T86 T 0 STE 094 0 99 T6L O 81400 VOT DIET 1600 8 9T 99z3 T ETO O 6126 T00 S 0 0 38040 0 4 78410 7200 9 0T TTE T 06800 8 9T 693 T 81010 9 172 6207 0 STE
136. e Damping of rudder autopilot as a fraction of critical damping This value is typically between 0 5 and 1 0 dtMax Maximum time increment for time stepping of rudder motions This parameter doesn t affect frequency domain computations with SM3DSeakeepRandom3 Note If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used 160 DRDC Atlantic TM 2011 308 Record 70 Rudder Autopilot Displacement 33108 This record can optionally be entered if an autopilot key has been specified using Record 7a dispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain 1 character string 6 floats dispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain Note Record tag Surge gain deg m This value should be 0 0 Sway gain deg m This value should be 0 0 Heave gain deg m This value is typically 0 0 Roll gain deg deg This value is typically 0 0 unless rudder roll stabilization is desired Pitch gain deg deg This value is typically 0 0 Yaw gain deg deg Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a typical ship with a downward oriented rudder this value is typically lt 0 0 If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used DRDC Atlantic TM 2011
137. e Spectrum Option This record is required if seawayOption in Record 7 is set to DirSpectrum dirSpectrumOption dirSpectrumOption 2 character strings dirSpectrumOption Record tag dirSpectrumOption Multidirectional wave spectrum option TenParameter Random seaway based on ten parameter wave spectrum EndecoWaveBuoy Random seaway based on directional spectrum from Endeco 956 or 1156 wave buoy InputDir Input directional spectrum The format of the spectrum is given in Annex A 2 DRDC Atlantic TM 2011 308 53 Record 1281 Multidirectional Ten Parameter Spectrum Seaway Pa rameters This record is required if dirSpectrumOption in Record 12g is set to TenParameter tenParamParam hs1 freqPeak1 spectralShapel waveHeadingMeanDegl dirSpreadExpl hs2 freqPeak2 spectralShape2 waveHeadingMeanDeg2 dirSpreadExp2 1 character string 10 floats tenParamParam Record tag 1181 Significant wave height of wave system 1 m freqPeak1 Peak wave frequency of wave system 1 rad s spectralShapel Spectral shape factor of wave system 1 rad s waveHeadingMeanDegl Principle wave direction from degrees of wave system 1 0 for waves from north and 90 for waves from east dirSpreadExp1 Directional spreading exponent of wave system 1 hs2 Significant wave height of wave system 2 m freqPeak2 Peak wave frequency of wave system 2 rad s spectralShape2 Spectral shape factor of wave system 2 rad s
138. e frequency and y is an input spectral peak parameter Goda 21 derived the following approximate expression for the normalization term a 0 0624 11 0 230 0 0336 y 0 185 1 9 7 11 The JONSWAP spectrum is often presented as a two parameter spectrum with the spectral peak parameter y having a default value of 3 3 12 DRDC Atlantic TM 2011 308 5 1 3 Ochi and Hubble Six Parameter Spectrum The Ochi and Hubble 6 parameter point spectrum 22 models collinear swell and sea components as follows 8 at J gt s 2 2 1 Sur wr 4 ds FOS wer 12 where A hs and w _ are the spectral shape parameter significant wave height and peak frequency for component i The term T A is the Gamma function with argument A If only one of the two components is considered and the shape parameter equals one then the six parameter spectrum is equivalent to the Bretschneider spectrum 5 1 4 Bretschneider and JONSWAP Spectrum with Cosine Squared Spreading Function A directional wave spectrum can be most easily modelled by multiplying a point spectrum by a directional spreading function as follows Survon v Su wr GO 13 where G v is a directional spreading function ShipMo3D can apply a cosine squared spreading function to a Bretschneider or JONSWAP spectrum The form of the spreading function is as follows G v 5 cos i 4 3 for v T lt 0 14 G u 0 for v v gt 0 15
139. e given speeds speeds 1 character string array of floats speeds Record tag speeds Array of ship speeds m s Record 14c Ship Speed Range in Knots One of Records 14a to 14f must be given speedKnotsRange speedKnotsMin speedKnotsMax speedKnotsInc 1 character string 3 floats speedKnotsRange Record tag speedKnotsMin Minimum ship speed knots speedKnotsMax Maximum ship speed knots speedKnotsInc Increment for ship speed knots Record 14d Ship Speeds in Knots One of Records 14a to 14f must be given speedsKnots speedsKnots 1 character string array of floats speedsKnots Record tag speedsKnots Array of ship speeds knots DRDC Atlantic TM 2011 308 133 Record 146 Froude Number Range One of Records 14a to 14f must be given FroudeRange froudeMin froudeMax froudelnc 1 character string 3 floats FroudeRange Record tag froudeMin Minimum Froude number froudeMax Maximum Froude number froudelne Froude number increment Record 14f Ship Froude Numbers One of Records 14a to 14f must be given Froudes froudes 1 character string array of floats Froudes Record tag froudes Array of ship Froude numbers Record 15a Range of Sea Directions Relative to the Ship One of Records 15a or 15b must be given seaDirDegRange seaDirDegMin seaDirDegMax seaDirDeglnc 1 character string 3 floats seaDirDe
140. e is typically 0 0 yawIntGain Yaw integral gain deg deg s For a ship with using a downward oriented azimuthing propeller for course keeping this value is typically lt 0 0 Note If this record is not included after Record 8a then the original values for the given azimuthing propeller controller are used Record 8f Azimuthing Propeller Deflection Controller Integration Time This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 8a deflectIntegrationTime deflectIntegrationTime 1 character string 1 float deflectIntegrationTime Record tag deflectIntegration Time Integration time for deflection controller s Note If this record is not included after Record 8a then the original values for the given azimuthing propeller controller are used Record 88 End of Azimuthing Propeller Controller Settings This record is required if Record 8 has been included end aziPropellerDeflectControllerSettings 2 character strings 86 DRDC Atlantic TM 2011 308 Record 9 Output Motion Time Series File Name timeSeriesFileName timeSeriesFileName 2 character strings timeSeriesFileName Record tag timeSeriesFileName Name of output ship motion time series in NET binary serialization format Record 10 Seaway Calm Option seawayCalmOption seawayCalmOption 2 character strings seawayCalmOption Record tag seawayCalmO
141. e series are given Record 28 Plot Option plotOutOption plotOutOption 2 character strings plotOutOption Record tag plotOutOption Option for making plots of trajectories and time series NoPlots No plots are produced ScreenFile Plots are both plotted on the screen and to a file Screen Plots are only plotted on the screen File Plots are only written to a file 98 DRDC Atlantic TM 2011 308 Record 29 Beginning of Trajectory Plot Data This record is optional begin trajectoryPlot 1 character string with 2 words Note If this record is entered then it must be followed by Records 29a to 29e giving plot parameters Record 29a Trajectory Plot Image File Name This record is required if a trajectory plot is being specified imageFileName imageFileName 2 character strings imageFileName Record tag imageFileName Name of output plot file Record 29b Trajectory Plot Image Format This record is optional if a trajectory plot is being specified imageFormat imageFormat 2 character strings imageFormat Record tag imageFormat Plot image format Available formats are png default and jpg Record 29c Trajectory Plot Image Size This record is optional if a trajectory plot is being specified imageSize widthmm heightmm 1 character string 2 floats imageSize Record tag widthmm Plot width mm Default 150 mm heightmm Plot height
142. e system 1 Principle wave direction 7 from degrees of wave system 1 0 for waves from north and 90 for waves from east Directional spreading exponent P of wave system 1 Significant wave height h 2 of wave system 2 m Peak wave frequency w _2 of wave system 2 rad s Spectral shape factor gt of wave system 2 Principle wave direction Ya from degrees of wave system 2 0 for waves from north and 90 for waves from east Directional spreading exponent P of wave system 2 DRDC Atlantic TM 2011 308 Record 11b Endeco Wave Buoy Spectrum File Name This record is required if spectrumOption in Record 8 is set to EndecoWaveBuoy EndecoSpectrumFileName EndecoSpectrumFileName 2 character strings EndecoSpectrumFileName Record tag EndecoSpectrumFileName File name of directional wave spectrum file produced by Endeco 956 or 1156 wave buoy The file name will typically have the extension std Record 11c Input Directional Wave Spectrum File Name This record is required if spectrumOption in Record 8 is set to inputDir inputDirSpectrumFileName inputDirSpectrumFileName 2 character strings inputDirSpectrumFileName Record tag input DirSpectrumFileName Input directional wave spectrum file name The format of the directional wave spectrum file is given in Annex A 2 Record 11d End of Directional Wave Spectrum This record is required if spectrumOption is set to DirSpect
143. e viewed from inside the hull For a ship with a conventional rudder pointing downward a positive rudder deflection turns the ship to starboard DRDC Atlantic TM 2011 308 93 Record 240 Azimuthing Propeller RPM Command This record is optional SetAziPropellerRpm keyAziPropeller rpmCommand 2 character strings 1 float Set AziPropellerRpm Record tag key AziPropeller Key for azimuthing propeller A value All sets all azimuthing propellers rpmCommand Command RPM for azimuthing propeller RPM Record 24e Course Command for Azimuthing Propeller This record is optional Set AziPropellerCourse keyAziPropeller shipHeadingToCommandDeg 2 character strings 1 float Set AziPropellerCourse Record tag key AziPropeller Key for azimuthing propeller A value All sets all azimuthing propellers shipHeadingToCommandDeg Ship heading x deg to which azimuthing propeller autopilot is set Record 24f Azimuthing Propeller Deflection Command This record is optional Set AziPropllerDeflect keyAziPropeller deflectCommandDeg 2 character strings 1 float SetAziPropllerDeflect Record tag key AziPropeller Key for azimuthing propeller A value All sets all azimuthing propellers deflectCommandDeg Command azimuthing propeller deflection angle deg counter clockwise viewed from inside the hull For a ship with a conventional azimuthing propeller pointing downward
144. ecord tag y OffsetsSlam Horizontal offsets for points going from keel to at least zBlZeroSlamPres Record 21f4 above the baseline m Record 21f6 Z Offsets for Performing Slamming Calculations This record is required if slamWetEmergeOption in Record 21f is set to Slam Offsets zBlOffsetsSlam zBlOffsetsSlam 1 character string array of floats 7BlOffsetsSlam Record tag zBlOffsetsSlam Vertical offsets for points going from keel to at least zBlZeroSlamPres Record 21f4 above the baseline m Record 21g End of Seakeeping Position Data This record is required if Record 21 is present end seakeepPositions 1 character string with 2 words Record 22 End Record end SM3DSeakeepSeaway3 1 character string with 2 words DRDC Atlantic TM 2011 308 233 E 2 Sample Input File for SM3DSeakeepSeaway3 begin SM3DSeakeepSeaway3 label Generic frigate shipDBFileName genFrigShipForMotionDB bin lengthData 120 000 20 000 loadCondition 1025 000 4 200 0 000 6 000 0 0000 enFreqMinMotion 0 1 speedKnotsRange 10 30 10 shipHeadingRange 0 345 15 spectrumOption DirSpectrum begin dirSpectrum dirSpectrumOption TenParameter tenParamParam 3 0 6 1 110 140 4 1 160 1 end dirSpectrum waveFreqRange 0 2 2 0 05 waveDirFromRange 0 360 10 begin seakeepPositions labelPos Seakeeping position locationPos 3 2 12 relMoRadDifOption NoRadDif relWaveElevSteadyOption NoSteadyWave miiOption Mii miiParam 0 25 0 1
145. ectrumOption spectrumOption 2 character strings spectrumOption Record tag spectrumOption Type of seaway UniSpectrum Unidirectional seaway based on input spectrum CosSpectrum Directional spectrum describe by a point wave spectrum and cosine squared spreading function DirSpectrum Directional seaway with specified directional properties Record 14 Beginning of Unidirectional Wave Spectrum Records 14 to 14d are required if spectrumOption is set to UniSpectrum in Record 13 begin uniSpectrum 1 character string with 2 words Record 14a Wave Heading This record is required if seawayOption in Record 13 is set to UniSpectrum waveHeading waveHeadingFromDeg 1 character string 1 float waveHeading Record tag waveHeadingFromDeg Wave direction v from degrees 0 for waves from north and 90 for waves from east DRDC Atlantic TM 2011 308 219 Record 14b Unidirectional Wave Spectrum Option This record is required if spectrumOption in Record 13 is set to UniSpectrum uniSpectrumOption uniSpectrumOption 2 character strings uniSpectrumOption Record tag uniSpectrumOption Type of unidirectional wave spectrum Bretschneider Unidirectional Bretschneider wave spectrum JONSWAP Unidirectional JONSWAP wave spectrum OchiHubble Unidirectional Ochi and Hubble six parameter wave spectrum Input Unidirectional user input wave spectrum Record 14c1
146. ed number default 1001 Record 10d Relative Wave Energy Threshold This record can be optionally used if seawayOption in Record 7 is set to BiSpectrum If this record is omitted then a default value will be used deleteRelThreshEnergy deleteRelThreshEnergy 1 character string 1 float deleteRelThreshEnergy Record tag deleteRelThreshEnergy Threshold for fraction of wave energy of a modelled seaway component default 10 If the relative energy of a seaway component is below the threshold then the component is removed This variable is used to avoid simulating wave spectral components with negligible wave energy Record 10e Bidirectional Wave Spectrum Option This record is required if seawayOption in Record 7 is set to BiSpectrum biSpectrumOption biSpectrumOption 2 character strings biSpectrumOption Record tag biSpectrumOption Bidirectional wave spectrum option BiBretschneider Random seaway based on Bretschneider wave spectrum BiJONSWAP Random seaway based on JONSWAP wave spectrum 44 DRDC Atlantic TM 2011 308 Record 1061 Bidirectional Bretschneider Spectrum Seaway Parame ters This record is required if biSpectrumOption in Record 106 is set to Bretschneider biBretParam waveHeadingDeg1 hs1 tpl waveHeadingDeg2 hs2 tp2 1 character string 6 floats biBretParam Record tag waveHeadingDegl Principle wave direction of first wave system from degree
147. eds specified in Record 20b Record 20d End of Steady Wave Profile Data This record is required if Record 20 and subsequent records have been entered end steady WaveProfile 1 character string with 2 words Record 21 Beginning of Seakeeping Position Data This record is optional begin seakeepPositions 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 21a to 21f6 giving seakeeping position parameters Record 21g must follow at the end of all seakeeping position data Record 21a Seakeeping Position Label This record is required if a seakeeping position is being specified labelPos labelPos 2 character strings labelPos Record tag labelPos Label for seakeeping position This can include spaces 228 DRDC Atlantic TM 2011 308 Record 21b Seakeeping Position Location This record is required if a seakeeping position is being specified locationPos stationPos yPos zBlPos 1 character string 3 floats locationPos Record tag stationPos Station for seakeeping position Station 0 is at the fore perpendicular yPos Lateral coordinate port relative to ship centreline m zBlPos Vertical coordinate up relative to ship baseline m Record 21c Option for Radiation and Diffraction when Evaluating Relative Vertical Motion This record is optional if a seakeeping position is b
148. eepness for all frequencies Incident wave conditions Frequency rad s 0 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 000 050 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 000 N F P x X X X X X PR PR PR X ix i i O O O O O O O O O O O O O O oO DRDC Atlantic TM 2011 308 200 2 000 rad s 0 050 rad s Amplitude 15 000 deg m a o0o00D0DO0O0O0O0O00O00000000000000000rrrrnnNoawoaycdaOo xO 403 858 846 030 851 043 465 037 711 458 257 095 963 853 761 683 616 559 509 466 428 394 365 338 314 293 274 256 241 226 213 201 190 180 171 162 154 Steepness o0o0DVDOO0O0O0O00O00O0O0000000000000000000000000o00o ConstantSteepness 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 020000 oo UDVOOOO0O0O0O0O0O0O0O0O0O0O0O0000000000000000000000 0 020 Slope 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 062832 0628
149. eg 1 character string 1 float spreadAngle Record tag spreadAngleDeg Directional spreading angle deg Record 10c Cosine Squared Wave Spectrum Option This record is required if spectrumOption in Record 8 is set to CosSpectrum cosSpectrumOption cosSpectrumOption 2 character strings cosSpectrumOption Record tag cosSpectrumOption Type of wave spectrum with cosine squared directional spreading CosBretschneider Bretschneider wave spectrum with cosine squared directional spreading CosJONSWAP JONSWAP wave spectrum with cosine squared directional spreading 254 DRDC Atlantic TM 2011 308 Record 1001 Cosine squared Bretschneider Spectrum Parameters This record is required if cosSpectrumOption in Record 10c is set to CosBretschneider BretParam hs tp 1 character string 2 floats BretParam Record tag hs Significant wave height H m tp Peak wave period T s Record 10c2 Cosine squared JONSWAP Spectrum Seaway Parame ters This record is required if cosSpectrumOption in Record 10c is set to CosJONSWAP JONSWAPParam hs tp peakEnhance 1 character string 3 floats JONSWAPParam Record tag hs Significant wave height H m tp Peak wave period T s peakEnhance Peak enhancement parameter y This factor can be set to 3 3 to match a 2 parameter JONSWAP spectrum Record 10d End of Cosine squared Spreading Wave Spectrum This record is required i
150. eg deg Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a ship using a downward oriented azimuthing propeller for course keeping this value is typically lt 0 0 If this record is not included after Record 9a then the original values for the given azimuthing propeller controller are used DRDC Atlantic TM 2011 308 165 Record 90 Azimuthing Propeller Deflection Controller Velocity Gains This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 9a deflectVelGains surgeVelGain swayVelGain heaveVelGain rollVelGain pitchVelGain yawVelGain 1 character string 6 floats deflectVelGains surgeVelGain sway VelGain heave VelGain rollVelGain pitch VelGain yaw VelGain Note Record tag Surge velocity gain deg m s This value should be 0 0 Sway velocity gain deg m s This value should be 0 0 Heave velocity gain deg m s This value is typically 0 0 Roll velocity gain deg deg s This value is typically 0 0 unless stabilization is desired Pitch velocity gain deg deg s This value is typically 0 0 Yaw velocity gain deg deg s Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a ship using a downward oriented azimuthing propeller for course keeping this val
151. eing specified relMoRadDifOption relMoRadDifOption 2 character strings relMoRadDifOption Record tag relMoRadDifOption Option for including radiation and diffraction in relative vertical motion NoRadDif Wave radiation and diffraction are not considered when evaluating relative wave motion default DRDC Atlantic TM 2011 308 229 Record 210 Option for Including the Steady Wave Due to Ship For ward Speed when Evaluating Wetness or Emergence Events This record is optional if a seakeeping position is being specified relWaveElevSteadyOption relWaveElevSteadyOption 2 character strings relWaveElevSteady Option relWaveElevSteady Option Record tag Option for including the influence of the steady wave field due to ship forward speed when evaluating distance from the waterline in calm water NoSteady Wave The steady wave due to ship forward speed is not included default This option must be used if no steady wave data are provided in Records 19 to 20d SinkageTrimOnly The ship sinkage and trim due to ship forward speed are included when evaluated vertical position relative to the calm waterline Sinkage and trim values specified in input Records 19 to 19b Steady WaveElev The steady wave elevation is evaluated based on steady wave profile specified in Records 20 to 20d Sinkage and trim from Records 19 to 19b are included Record 21e Option for Motion Induced In
152. ent 0 050 rad s Incident wave direction range from for integration of ship motion spectra Minimum 0 000 deg Maximum 360 000 deg Increment 5 000 deg Seakeeping Positions Label Bridge Station 3 000 Lateral offset y I 2 000 m port Vertical offset zB1 12 000 m up relative to baseline Option for including radiation and diffraction for relative motion NoRadDif input Option for including steady wave due to ship forward speed NoSteadyWave input Dption for motion induced interruption computations Mii Parameters for motion induced interruptions Lateral tipping coefficient 0 250 Longitudinal tipping coefficient 0 170 Duration for MII incidence 60 0 s Option for motion sickness computations MotionSickness Parameters for motion sickness Exposure time 0 250 days Option for slamming wetness or emergence computations WetnessEmerge Parameters for slamming wetness or emergence statistics Duration 1 000 hours Exceedence probability 0 010000 SEAKEEPING POSITION TRIM CONDITIONS Label Bridge Station 3 000 x wrt ship CG 43 750 m y 2 000 m 2 wrt baseline 12 000 m 2 wrt ship CG 6 000 m z wrt waterline 7 800 m Parameters for motion induced interruptions Lateral tipping coefficient 0 250 Longitudinal tipping coefficient 0 170 Time of operation 60 000 s Parameters motion sickness Time for motion sickness 0 250 days DIRECTIONAL WAVE SPECTR
153. epRegular SM3DSeakeepRandom or SM3DSeakeepSeaway can be used for generating time series of ship motions with SM3DTimeSeriesFromRaos Alternatively time series of ship motion can be gener ated directly using SM3DFreeMo ShipMo3D applications use 4 main types of files User input data are read from input files with names ending with inp Application output data for review by the user are written to output files with names ending with out Transfer of data between applications is done mostly using files in NET binary format with names ending with bin Transfer of seaway data between applications is done using files in NET XML format with names ending with xml The usage of XML format for seaway data facilitates usage of seaway data by external applications such as visualizers Each ShipMo3D application has default file names for input and output Prefixes can be added to default file names by typing p PREFIX as a command line option where PREFIX is the specified file name prefix e g the ship name Alternatively full input and output file names can be specifed on the command line Input file names can be specified by typing i INFILE as a command line option where INFILE is the specified input file name Similarly output file names can be specified by typing o OUTFILE as a command line option where OUTFILE is the specified output file name The command line option h shows any command li
154. ersion 3 of ShipMo3D Section 3 gives an overview of predicting motions using ShipMo3D Section 4 de scribes coordinate systems used for motions and ship geometry Section 5 describes the application SM3DBuildSeaway for building a model of a seaway Time domain motions in a seaway or in calm water can be computed using SM3DFreeMo de scribed in Section 6 Sections 7 8 9 and 10 describe the applications SM3D SeakeepRegular SM3DSeakeepRandom SM3DSeakeepSeaway and SM3DSeakeep SeawayFromRaos which are used to predict motions in the frequency domain for various types of sea conditions The post processing program SM3DTimeSeriesFrom Raos is described in Section 11 Section 12 describes inputs for the rudder autopilot and Section 13 describes various inputs for seakeeping predictions in random seas Final conclusions are given in Section 14 Annexes at the end of the report give input file descriptions and sample input and output files for the ShipMo3D applications Detailed input formats and sampled files are given in Annexes A to G For brevity some portions of sample output files have been removed from this document however full sample output files are available for the software DRDC Atlantic TM 2011 308 1 2 New Features for ShipMo3D Version 3 ShipMo3D Version 3 supercedes Version 2 11 12 Version 3 includes several major enhancements and also has many minor code improvements 2 1 High Frequency Approximation for Evaluating Reta
155. es 0 001191 ooooo oo0ooo O O O O O oo0ooo C OO lt Oo oo0ooo 22 oOO0o0 001474 0 550 011526 037870 044714 023052 001390 0 600 009721 031938 037710 019441 001172 0 650 007754 025477 030082 015508 000935 0 700 006026 019800 023378 012052 000727 0 750 004636 015233 017986 009273 000559 0 800 003563 011705 013821 007125 000430 0 850 002747 009027 010659 005495 000331 0 900 002132 007006 008272 004264 000257 0 950 001667 DRDC Atlantic TM 2011 308 oOOoOOoooooo a 22 222 gt 22 o S Q V C o 222 2 22 lt 32 OM Qi a OOO e gt 000371 000000 015168 040711 043016 019049 000350 000000 012792 034334 036278 016065 000295 000000 010204 027389 028939 012815 000236 000000 007930 021285 022490 009960 000183 000000 006101 016376 017303 007662 000141 000000 004688 012583 013296 005888 000108 000000 003616 009704 010254 004541 000083 000000 002806 007531 007957 003524 000065 000000 002194 o e e C a E a E a E w S gt Sy o E a C a E o E a E C a O E a E e E Gy C E a O a E a E a E OO o e OO OO OO 3 OO a E OOO OOO a E o E 000000 000350 019049 043016 040711 015168 000000 000295 016065 036278 034334 012792 000000 000236 012815 028939 027389 010204 000000
156. ewed from inside hull If this record is not given then defaults of 0 deg s are used If this record is given then the number of values should correspond with the number of azimuthing propellers in the ship file specified by Record 4 DRDC Atlantic TM 2011 308 91 Record 21 Initial Azimuthing Propeller RPMs This record is optional aziPropellerRpms0 aziPropellerRpms0 1 character string nAziPropeller floats aziPropellerRpms0 Record tag aziPropellerRpms0 Initial azimuthing propeller RPM values If this record is not given then defaults of 0 RPM are used If this record is given then the number of values should correspond with the number of azimuthing propellers in the ship file specified by Record 4 Record 22 Initial U tube Tank Fluid Displacements This record is optional uTubeTankFluidDisps0Deg uTubeTankFluidDisps0Deg 1 character string nUTubeTank floats uTubeTankFluidDisps0Deg Record tag uTubeTankFluidDisps0Deg Initial U tube tank fluid displacement angles deg fluid higher on port side If this record is not given then defaults of 0 are used If this record is given then the number of values should correspond with the number of U tube tanks in the ship file specified by Record 4 Record 23 Initial U tube Tank Fluid Velocities This record is optional uTubeTankFluidVels0Deg uTubeTankFluidVels0Deg 1 character string nUTubeTank floats uTubeTankFlui
157. ext Text of note Multiple lines can be entered Record 3b End of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input end note 1 character string with 2 words DRDC Atlantic TM 2011 308 75 Record 4 Input Ship Database File Name shipDBFileName 2 character strings shipDBFileName Record tag shipDBFileName Name of input ship database file in NET binary serialization format This file must have been created using program SM3DBuildShip3 Record 5 Length Data lengthData lpp stationAP 1 character string 2 floats lengthData Record tag lpp Ship length between perpendiculars m stationAP Station number of the aft perpendicular This value is typically 20 0 Note The values in this record must agree with the values used for the ship database file specified in Record 4 Values are considered to be in agreement when they are within a tolerance of 0 001 m for length and 0 001 for the station of the aft perpendicular The output file from SM3DBuildShip3 gives the values of the above parameters 76 DRDC Atlantic TM 2011 308 Record 6 Ship Loading Condition loadCondition waterDensity draftBlMid trimBlStern shipKG correctionGM 1 character string 5 floats loadCondition Record tag waterDensity Water density kg m draftBlMid Draft of baseline at midships m trimBlStern Trim of baseline by stern m
158. ey for Controller Settings This record must follow Record 9 if controller settings are being given as input keyAziPropeller keyAziPropeller 1 character string 1 integer keyAziPropeller Record tag key AziPropeller Key of azimuthing propeller for which controller settings are being specified If this key to set to All then the input controller settings are applied to all azimuthing propellers Record 9b Azimuthing Propeller Deflection Controller Parameters This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 9a deflectControlParam deflectMaxDeg deflect VelMaxDeg deflect AccMaxDeg deflectFreqResponse deflectDampResponse dtMax 1 character string 6 floats deflectControlParam deflectMaxDeg deflect VelMaxDeg deflect AccMaxDeg deflectFreqResponse deflect DampResponse deflect DtMax Note 214 Record tag Maximum deflection angle deg This value is typically set to 35 Maximum deflection velocity deg s If this value is set to 0 0 then the maximum velocity is unlimited Maximum deflection acceleration deg s If this value is set to 0 0 then the maximum acceleration is unlimited Undamped response frequency of deflection controller Damping of deflection controller as a fraction of critical damping This value is typically between 0 5 and 1 0 Maximum time increment for time stepping of
159. f Records 6a to 6f must be given FroudeRange froudeMin froudeMax froudelnc 1 character string 3 floats FroudeRange Record tag froudeMin Minimum Froude number froudeMax Maximum Froude number froudelnc Froude number increment DRDC Atlantic TM 2011 308 249 Record 6f Ship Froude Numbers One of Records 6a to 6f must be given Froudes froudes 1 character string array of floats Froudes Record tag froudes Array of ship Froude numbers Record 7a Range of Ship Headings One of Records 7a or 7b must be given shipHeadingRange shipHeadingDegMin shipHeadingDegMax shipHeadingDegInc 1 character string 3 floats shipHeadingRange Record tag shipHeadingDegMin Minimum ship heading to deg shipHeadingDegMax Maximum ship heading to 068 shipHeadingDegInc Increment for ship heading to deg Note The ship heading convention is 0 for the ship heading north 90 for the ship heading east Record 7b Ship Headings One of Records 7a or 7b must be given shipHeadingsDeg shipHeadingsDeg 1 character string array of floats shipHeadingsDeg Record tag shipHeadingsDeg Array of ship headings deg The ship heading convention is 0 for the ship heading north 90 for the ship heading east 250 DRDC Atlantic TM 2011 308 Record 8 Seaway Option spectrumOption spectrumOption 2 character strings spectrumOption Record tag
160. f Ship Motions DRDC Atlantic TM 2003 190 Defence Research and Development Canada Atlantic McTaggart K A 2004 Appendage and Viscous Forces for Ship Motions in Waves DRDC Atlantic TM 2004 227 Defence Research and Development Canada Atlantic McTaggart K A 2005 Simulation of Hydrodynamic Forces and Motions for a Freely Maneuvering Ship in a Seaway DRDC Atlantic TM 2005 071 Defence Research and Development Canada Atlantic McTaggart K A 2008 Improved Maneuvering Forces and Autopilot Modelling for the ShipMo3D Ship Motion Library DRDC Atlantic TM 2008 162 Defence Research and Development Canada Atlantic McTaggart K A 2011 Modelling of U tube Tanks for ShipMo3D Ship Motion Predictions DRDC Atlantic ECR 2011 300 Defence Research and Development Canada Atlantic McTaggart K A 2011 Modelling of Sloshing in Free Surface Tanks for ShipMo3D Ship Motion Predictions DRDC Atlantic ECR 2011 084 Defence Research and Development Canada Atlantic McTaggart K A 2011 Validation of ShipMo3D Version 3 0 User Applications for Simulation of Ship Motions DRDC Atlantic TM 2011 306 Defence Research and Development Canada Atlantic McTaggart K A 2010 ShipMo3D Version 2 0 User Manual for Simulating Motions of a Freely Maneuvering Ship in a Seaway DRDC Atlantic TM 2010 131 Defence Research and Development Canada Atlantic DRDC Atlantic TM 2011 308 29 12 13 14 15
161. f deflection controller Damping of deflection controller as a fraction of critical damping This value is typically between 0 5 and 1 0 Maximum time increment for time stepping of azimuthing propeller deflections This parameter doesn t affect frequency domain computations with SM3DSeakeepRegular If this record is not included after Record 9a then the original values for the given azimuthing propeller controller are used DRDC Atlantic TM 2011 308 Record 9c Azimuthing Propeller Deflection Controller Displacement Gains This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 9a deflectDispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain 1 character string 6 floats deflect DispGains surgeGain sway Gain heaveGain rollGain pitchGain yawGain Note Record tag Surge gain deg m This value should be 0 0 Sway gain deg m This value should be 0 0 Heave gain deg m This value is typically 0 0 Roll gain deg deg This value is typically 0 0 unless roll stabilization is desired Pitch gain deg deg This value is typically 0 0 Yaw gain deg deg Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a ship using a downward oriented azimuthing propeller for course keeping this value is typically lt 0 0 If this record is
162. f spectrumOption is set to CosSpectrum in Record 8 end cosSpectrum 1 character string with 2 words Record 11 Beginning of Directional Wave Spectrum Records 11 to 11d are required if spectrumOption is set to DirSpectrum in Record 8 begin dirSpectrum 1 character string with 2 words DRDC Atlantic TM 2011 308 255 Record 11a Directional Wave Spectrum Option This record is required if spectrumOption in Record 8 is set to DirSpectrum dirSpectrumOption dirSpectrumOption 2 character strings dirSpectrumOption dirSpectrumOption Record tag Type of unidirectional wave spectrum TenParameter Ten parameter spectrum from Hogben and Cobb 23 EndecoWaveBuoy Directional spectrum from Endeco wave buoy InputDir Input directional spectrum Record 1131 Ten Parameter Spectrum Parameters This record is required if dirSpectrumOption in Record 11a is set to TenParameter tenParamParam hs1 freqPeak1 spectralShapel waveHeadingMeanDegl dirSpreadExpl hs2 freqPeak2 spectralShape2 waveHeadingMeanDeg2 dirSpreadExp2 1 character string 10 floats tenParamParam 1161 freqPeak1 spectralShapel waveHeadingMeanDegl dirSpreadExp1 hs2 freqPeak2 spectralShape2 wave Heading MeanDeg2 dirSpreadExp2 256 Record tag Significant wave height h of wave system 1 m Peak wave frequency w _ of wave system 1 rad s Spectral shape factor 41 of wav
163. g 1 float seaDirDeg Record tag seaDirDeg Sea direction deg relative to ship for plotted RAOs This sea direction must correspond to a sea direction specified for computations in Record 15a or 15b 142 DRDC Atlantic TM 2011 308 Record 21f Option for Longitudinal and or Lateral Modes This record is optional if a plot is being specified longLatOption longLatOption 2 character strings longLatOption Record tag longLatOption Option for plotting modes LongLat Longitudinal and lateral and modes will be shown with longitudinal modes in the left column and lateral modes in the right column default Long Longitudinal modes will be shown in a single column Lat Lateral modes will be shown in a single column Record 21g Column Options for Longitudinal Modes This record is optional if a plot is being specified longColumns surgeColumn heaveColumn pitchColumn 3 character strings longColumns Record tag Values for each of the following can be one of Left Right Hide surgeColumn Column of surge graph heaveColumn Column of heave graph pitchColumn Column of pitch graph Note The values in this record will override values set based on longLatOption in Record 21f DRDC Atlantic TM 2011 308 143 Record 21h Column Options for Lateral Modes This record is optional if a plot is being specified latColumns swayColumn rollColumn yawColumn deflectColumn 5 character st
164. gLatOption longLatOption longLatOption longLatOption 2 character strings Record tag Option for plotting modes LongLat Longitudinal and lateral and modes will be shown with longitudinal modes in the left column and lateral modes in the right column default Long Longitudinal modes will be shown in a single column Lat Lateral modes will be shown in a single column Record 28g Column Options for Longitudinal Modes This record is optional if a plot is being specified longColumns surgeColumn heaveColumn pitchColumn 3 character strings longColumns surgeColumn heaveColumn pitchColumn Note 194 Record tag Values for each of the following can be one of Left Right Hide Column of surge graph Column of heave graph Column of pitch graph The values in this record will override values set based on longLatOption in Record 28f DRDC Atlantic TM 2011 308 Record 2811 Column Options for Lateral Modes This record is optional if a plot is being specified latColumns swayColumn rollColumn yawColumn deflectColumn 5 character strings latColumns Record tag Values for each of the following can be one of Left Right Hide swayColumn Column of sway graph rollColumn Column of roll graph yawColumn Column of yaw graph deflectColumn Column of graph with rudder and or azimuthing propeller deflection angles Note The values in this record will ove
165. gRange Record tag seaDirDegMin Minimum sea direction relative to ship deg seaDirDegMax Maximum sea direction relative to ship deg seaDirDegInc Increment sea direction relative to ship deg Record 15b Sea Directions Relative to the Ship One of Records 15a or 15b must be given seaDirsDeg seaDirsDeg 1 character string array of floats seaDirsDeg Record tag seaDirsDeg Array of sea directions relative to the ship deg 134 DRDC Atlantic TM 2011 308 Record 16a Range of Incident Wave Frequencies One of Records 16a or 16b must be given waveFreqRange waveFreqMin waveFreqMax waveFreqInc 1 character string 3 floats waveFreqRange Record tag waveFreqMin Minimum incident wave frequency rad s waveFreqMax Maximum incident wave frequency rad s waveFreqInc Increment for incident wave frequency rad s Record 16b Incident Wave Frequencies One of Records 16a or 16b must be given waveFreqs waveFregs 1 character string array of floats waveFreqs Record tag waveFreqs Array of increasing incident wave frequencies rad s Record 17 Input Wave Amplitude Option waveAmpOption waveAmpOption 2 character strings waveAmpOption Record tag waveAmpOption Option for input wave amplitudes as a function of wave frequency ConstantAmplitude All waves have the same amplitude a ConstantSteepness All waves have the same steepness H A Va
166. gin aziPropellerDeflectControllerSettings 2 character strings Note Records 9 to 96 are optional and can be used to supersede autopilot settings for a ship defined by SM3DBuildShip3 given in the file of Record 4 Within Records 9 to 96 Records 9a to 90 can be repeated an arbitrary number of times to set azimuthing propeller controller parameters as required DRDC Atlantic TM 2011 308 163 Record 9a Azimuthing Propeller Key for Controller Settings This record must follow Record 9 if controller settings are being given as input keyAziPropeller keyAziPropeller 1 character string 1 integer keyAziPropeller Record tag key AziPropeller Key of azimuthing propeller for which controller settings are being specified If this key to set to All then the input controller settings are applied to all azimuthing propellers Record 9b Azimuthing Propeller Deflection Controller Parameters This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 9a deflectControlParam deflectMaxDeg deflect VelMaxDeg deflect AccMaxDeg deflectFreqResponse deflectDampResponse deflectDtMax 1 character string 6 floats deflectControlParam deflectMaxDeg deflect VelMaxDeg deflect AccMaxDeg deflectFreqResponse deflect DampResponse deflect DtMax Note 164 Record tag Maximum deflection angle deg This value is typically se
167. gle is determined by input autopilot gains and ship motions in earth fixed axes 6 00068 gt E nf nly ky j l rudder Tmax nf T nb dr z 18 where ks is the proportional gain for mode 7 nt is the motion displacement in earth fixed axes for mode 7 no is the command motion displacement for mode 7 k is the integral gain for mode j rzudder eee is the integration duration t is the current time T is the time delay for integration ks is the derivative gain for mode 7 and UN is the motion velocity in earth fixed axes for mode j For frequency domain computations the integral gains hy are assumed to be zero For all ShipMo3D user applications user input autopilot gains are based on earth fixed coordinates thus input yaw gains are based on yaw being positive clockwise when viewed from above For modelling of a conventional downward rudder using ShipMo3D the input yaw displacement gain and yaw velocity gain will typically have values equal to or less than zero Note that input surge and sway gains should be set to zero DRDC Atlantic TM 2011 308 21 13 Inputs for Frequency Domain Ship Motion Predictions in Random Seas This section gives background information that is useful when running the applica tions SM3DSeakeepRandom SM3DSeakeepSeaway and SM3DSeakeepSeawayFrom Raos for predicting motions in random seas 13 1 Wave Spectra Section 5 of this report which describes input for SMB3DB
168. gs 2 character strings Note Records 7 to 7e are optional and can be used to supersede autopilot settings for a ship defined by SM3DBuildShip3 given in the file of Record 4 Within Records 7 to 7e Records 7a to 7d can be repeated an arbitrary number of times to set rudder autopilot parameters as required Record 7a Rudder Key for Autopilot Settings This Record must follow Record 7 if autopilot settings are being given as input keyRudder keyRudder 2 character strings keyRudder Record tag key Rudder Key of rudder for which autopilot settings are being specified If the rudder key is set to All then the input autopilot settings are applied to all rudders DRDC Atlantic TM 2011 308 159 Record 7b Rudder Autopilot Control Parameters This record can optionally be entered if an autopilot key has been specified using Record 7a controlParam deflectMaxDeg velMaxDeg accMaxDeg freqResponse dampResponse dtMax 1 character string 6 floats controlParam Record tag deflectMaxDeg Maximum rudder deflection angle deg This value is typically set to 35 velMaxDeg Maximum rudder deflection velocity deg s If this value is set to 0 0 then the maximum velocity is unlimited accMaxDeg Maximum rudder acceleration deg s If this value is set to 0 0 then the maximum acceleration is unlimited freqResponse Undamped response frequency of rudder autopilot dampRespons
169. he baseline m Record 16f6 Z Offsets for Performing Slamming Calculations This record is required if slamWetEmergeOption in Record 16f is set to Slam Offsets zBlOffsetsSlam zBlOffsetsSlam 1 character string array of floats 7BlOffsetsSlam Record tag zBlOffsetsSlam Vertical offsets for points going from keel to at least zBlZeroSlamPres Record 16f4 above the baseline m Record 16g End of Seakeeping Position Data This record is required if Record 16 is present end seakeepPositions 1 character string with 2 words Record 17 End Record end SM3DSeakeepSeawayFromRaos3 1 character string with 2 words DRDC Atlantic TM 2011 308 265 F 2 Sample Input File for SM3DSeakeepSeawayFromRaos3 begin SM3DSeakeepSeawayFromRaos3 label Generic frigate shipDimensions 120 20 61 7501556572279 4 2 0 6 moDefRaoDBFileName genFrigSeakeepRandomMoDefRaoDB bin speedKnotsRange 0 30 10 shipHeadingRange 0 345 15 spectrumOption DirSpectrum begin dirSpectrum dirSpectrumOption TenParameter tenParamParam 3 0 6 1 110 1 4 0 4 1 160 1 end dirSpectrum waveFregRange 0 2 2 0 05 waveDirFromRange 0 360 5 begin seakeepPositions labelPos Bridge locationPos 3 2 12 relMoRadDifOption NoRadDif relWaveElevSteadyOption NoSteadyWave miiOption Mii miiParam 0 25 0 17 60 motionSicknessOption MotionSickness tDayMotionSickness 0 25 slamWetEmergeO0ption WetnessEmerge durationPExceed 1 0 01 end seakeepPositions e
170. hip motions 0 100 rad s Speed range Minimum 0 000 knots DRDC Atlantic TM 2011 308 197 Maximum 30 000 knots Increment 10 000 knots Sea direction range Minimum 0 000 deg Maximum 180 000 deg Increment 15 000 deg Incident wave frequency range Minimum 0 200 rad s Maximum 2 000 rad s Increment 0 050 rad s Seaway Spectrum option Bretschneider spectrum parameters Significant wave height 3 250 m Peak wave period 9 700 s Wave spreading angle 0 0 deg Seakeeping Positions Label Seakeeping position Station 3 000 Lateral offset y 2 000 m port Vertical offset 201 12 000 m up relative to baseline Option for including radiation and diffraction for relative motion NoRadDif input Option for including steady wave due to ship forward speed NoSteadyWave input Option for motion induced interruption computations Mii Parameters for motion induced interruptions Lateral tipping coefficient 0 250 Longitudinal tipping coefficient 0 170 Duration for MII incidence 60 0 8 Option for motion sickness computations MotionSickness Parameters for motion sickness Exposure time 0 250 days Option for slamming wetness or emergence computations WetnessEmerge Parameters for slamming wetness or emergence statistics Duration 1 000 hours Exceedence probability 0 010000 Output plot option NoPlots SHIP LOADING CONDITION Load Condition Properties for Trimmed
171. hip speed m s speedMax Maximum ship speed m s speedInc Increment for ship speed m s Record 15b Ship Speeds in m s One of Records 15a to 15f must be given speeds speeds 1 character string array of floats speeds Record tag speeds Array of ship speeds m s Record 15c Ship Speed Range in Knots One of Records 15a to 15f must be given speedKnotsRange speedKnotsMin speedKnotsMax speedKnotsInc 1 character string 3 floats speedKnotsRange Record tag speedKnotsMin Minimum ship speed knots speedKnotsMax Maximum ship speed knots speedKnotsInc Increment for ship speed knots Record 15d Ship Speeds in Knots One of Records 15a to 15f must be given speedsKnots speedsKnots 1 character string array of floats speedsKnots Record tag speedsKnots Array of ship speeds knots DRDC Atlantic TM 2011 308 171 Record 156 Froude Number Range One of Records 15a to 15f must be given FroudeRange froudeMin froudeMax froudelnc 1 character string 3 floats FroudeRange Record tag froudeMin Minimum Froude number froudeMax Maximum Froude number froudelne Froude number increment Record 15f Ship Froude Numbers One of Records 15a to 15f must be given Froudes froudes 1 character string array of floats Froudes Record tag froudes Array of ship Froude numbers Record 16a Range of Sea Directions Relative t
172. ht Hide uTubeTankDispColumn Column of U tube tank fluid displacement graph default Left uTubeTankVelColumn Column of U tube tank fluid velocity graph default Left uTubeTankAccColumn Column of U tube tank acceleration velocity graph default Hide Record 33i End of Appendage Time Series Plot Data end appendagePlots 1 character string with 2 words Record 34 End of Ship Motion Simulation Ship Data end SM3DFreeMo3 1 character string with 2 words 112 DRDC Atlantic TM 2011 308 B 2 Sample Input File for SM3DFreeMo3 begin SM3DFreeMo3 label Generic frigate shipDBFileName genFrigShipForMotionDB bin lengthData 120 000 20 000 loadCondition 1025 000 4 200 0 000 6 000 0 0000 timeSeriesFileName genFrigTimeSeries bin seawayCalmOption Seaway seawayFileName bretSeaState5sSeaway xml timeParameters 0 2 0 20 20 hullForceNonLinearOption Linear dispsFixed0MDeg 0 0 0 0 0 0 speedOKnots 20 rpmsPropellersO 166 5 166 5 begin maneuvers SetRpm All 166 5 SetRudderCourse All 0 ElapsedTime 100 end maneuvers outTimelntervals 0 4 10 outTimeSeries Disp Vel Acc outAppendage Rudder Prop NoAziProp NoUTubeTank plotOutOption noPlots end SM3DFreeMo3 DRDC Atlantic TM 2011 308 113 B 3 Sample Output File for SM3DFreeMo3 Time Series Data Removed Program SM3DFreeMo3 ShipMo3D 3 0 Version 3 0 release 5 October 2011 Time November 09 11 8 21 25 AM Run label Generic frigate ECHO OF USER IN
173. ht intensity default 0 5 directLightIntensity Direct light intensity default 1 0 directLightHorAngleDeg Horizontal position deg of direct light source relative to seaway 0 for front 90 for left default 0 directLightVertAngleDeg Vertical position deg of direct light source to seaway 0 for horizontal 90 for above default 45 DRDC Atlantic TM 2011 308 59 Record 16f Seaway Plot Options This record is required if a plot is being specified plotOptions colourTable smoothShadeOption showMeshOption 4 character strings plotOptions Record tag colour Table Colour table BlueGreenRedScale Elevation colours ranging from blue to red PartialGreyScale Elevation colours ranging from grey to white GreyScale Elevation colours ranging from black to white BlueTurquoiseScale Elevation colours ranging from blue to turquoise BlueWhiteScale Elevation colours ranging from blue to white WhiteScale Solid white smoothShadeOption Option for shading of seaway panels Solid Each panel has a solid colour based on the centroid location Smooth Each panel can have colour variation within the panel showMeshOption Option for plotting the mesh ShowMesh The seaway surface mesh is plotted HideMesh No surface mesh is plotted 60 DRDC Atlantic TM 2011 308 Record 16g X Plot Range This record is required if a plot is being specified xfRange xfMin xfMax xfInc
174. ied If this key to set to All then the input controller settings are applied to all azimuthing propeller 82 DRDC Atlantic TM 2011 308 Record 8b Azimuthing Propeller Deflection Response Parameters This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 8a deflectControlParam deflectMaxDeg deflect VelMaxDeg deflectAccMaxDeg deflectFreqResponse deflectDampResponse dtMax 1 character string 6 floats deflectControlParam deflectMaxDeg deflectVelMaxDeg deflectAccMaxDeg deflectFreqResponse deflect DampResponse deflect DtMax Note DRDC Atlantic TM 2011 308 Record tag Maximum deflection angle deg This value is typically set to 35 Maximum deflection velocity deg s If this value is set to 0 0 then the maximum velocity is unlimited Maximum deflection acceleration deg s If this value is set to 0 0 then the maximum acceleration is unlimited Undamped response frequency of deflection controller Damping of deflection controller as a fraction of critical damping This value is typically between 0 5 and 1 0 Maximum time increment for time stepping of azimuthing propeller deflections If this value is set to 0 0 then no limit is applied and time stepping is done using the same time increment as for ship motions If this record is not included after Record 8a then the original values for the given azimuth
175. ified station YZWIWaveKin stationWaveKin yWaveKin zWlWaveKin 1 character string 3 floats station YZWIWaveKin Record tag stationWaveKin Station for wave kinematic position Station 0 is at the fore perpendicular yWaveKin Lateral coordinate port relative to ship centreline m zW1Wavekin Vertical coordinate up relative to the calm waterline m Record 19b3 Wave Kinematics Position X Coordinate and Elevation Relative to Calm Waterline One of Record 19b1 19b2 or 19b3 is required if a wave kinematics position is being specified xYZWlWaveKin xWaveKin yWaveKin zW WaveKin 1 character string 3 floats xYZWlWaveKin Record tag xWaveKin x coordinate forward relative to ship CG for wave kinematic position m yWaveKin Lateral coordinate port relative to ship centreline m zWlWaveKin Vertical coordinate up relative to the calm waterline DRDC Atlantic TM 2011 308 139 Record 19c Option for Including Radiation and Diffraction in Wave Kinematics This record is optional if a wave kinematics position is being specified waveKinRadDifOption waveKinRadDifOption 2 character strings waveKinRadDifOption Record tag waveKinRadDifOption Option for including radiation and diffraction in wave kinematics NoRadDif Wave radiation and diffraction are not considered when evaluating wave kinematics default Record 19d End of Wave Kinematics Po
176. ing propeller controller are used 83 Record 80 Azimuthing Propeller Deflection Controller Displacement Gains This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 8a deflectDispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain 1 character string 6 floats deflectDispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain Note 84 Record tag Surge gain deg m This value should be 0 0 Sway gain deg m This value should be 0 0 Heave gain deg m This value is typically 0 0 Roll gain deg deg This value is typically 0 0 unless roll stabilization is desired Pitch gain deg deg This value is typically 0 0 Yaw gain deg deg For a ship with using a downward oriented azimuthing propeller for course keeping this value is typically lt 0 0 If this record is not included after Record 8a then the original values for the given azimuthing propeller controller are used DRDC Atlantic TM 2011 308 Record 80 Azimuthing Propeller Deflection Controller Velocity Gains This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 8a deflectVelGains surgeVelGain swayVelGain heaveVelGain rollVelGain pitchVelGain yawVelGain 1 character string 6 floats deflectVelGains surgeVelGain sway VelGain heave VelGain rollVelGain
177. ingRange Record tag waveHeadingMinDeg Minimum wave heading deg waveHeadingMaxDeg Maximum wave heading deg waveHeadingIncDeg Wave heading increment deg Record 12d Wave Headings One of Records 12c or 12d is required if seawayOption in Record 7 is set to DirSpectrum waveHeadings waveHeadings 1 character string array of floats waveHeadings Record tag waveHeadingsDeg Array of increasing wave headings deg Record 12e Wave Phase Seed Number This records can be optionally used if seawayOption in Record 7 is set to DirSpectrum If this record is omitted then a default will be used phaseSeed phaseSeed 1 character string 1 integer phaseSeed Record tag phaseSeed Integer seed number default 1001 52 DRDC Atlantic TM 2011 308 Record 12f Relative Wave Energy Threshold This record can be optionally used if seawayOption in Record 7 is set to DirSpectrum If this record is omitted then a default value will be used deleteRelThreshEnergy deleteRelThreshEnergy 1 character string 1 float deleteRelThreshEnergy Record tag deleteRelThreshEnergy Threshold for fraction of wave energy of a modelled seaway component default 10 If the relative energy of a seaway component is below the threshold then the component is removed This variable is used to avoid simulating wave spectral components with negligible wave energy Record 12g Multidirectional Wav
178. ion duration ship heading to in earth fixed axes incident wave frequency peak wave frequency peak wave frequency for spectral component i rudder response natural frequency DRDC Atlantic TM 2011 308 33 34 This page intentionally left blank DRDC Atlantic TM 2011 308 Annex A Files for Building a Seaway with SM3DBuildSeaway3 A 1 Format of Input Seaway File for SM3DBuildSeaway3 Record 1 Beginning Record begin SM3DBuildSeaway3 1 character string with 2 words Record 2 Run Label label label 2 character strings label Record tag label Label for run This can include spaces Record 3 Beginning of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input begin note 1 character string with 2 words Record 3a Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input noteText character string noteText Text of note Multiple lines can be entered Record 3b End of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input end note 1 character string with 2 words DRDC Atlantic TM 2011 308 35 Record 4 Output Seaway File Name seawayFileName seawayFileName 2 character strings seawayFileName Record tag seawayFileName Name of output seaway file in NET XML serialization format Reco
179. ions are given using a convention of 0 for waves from north 90 for waves from east Record 18b Wave Directions Integration of Ship Motion Spectrum If spectrumOption in Record 13 is set to CosSpectrum or DirSpectrum then one of Records 18a or 18b must be given waveDirsFrom waveDirsFromDeg 1 character string array of floats waveDirsFrom Record tag waveDirsFromDeg Wave directions for integration of ship motion spectrum Wave directions are given using a convention of 0 for waves from north 90 for waves from east Record 19 Beginning of Steady Forward Speed Sinkage and Trim Data Records 19 to 19b can optionally be used to give ship sinkage and trim data begin steadySinkageTrim 1 character string with 2 words 226 DRDC Atlantic TM 2011 308 Record 19a Sinkage and Trim for Ship Speed This record is repeated once for every ship speed with sinkage and trim data with increasing ship speeds speedSinkageTrim speedSinkageTrim heaveSteady pitchSteadyDeg 1 character string 3 floats speedSinkageTrim Record tag speedSinkageTrim Speed for which sinkage and trim values are given m s heaveSteady Heave at steady speed m up pitchSteadyDeg Pitch at steady speed deg bow down Record 19b End of Steady Sinkage and Trim Data This record is required if Records 19 and 19a are included end steadySinkageTrim 1 character string with 2 words Recor
180. keepRandom SM3DTimeSeriesFromRaos Computes ship motions in the time domain based on response amplitude operators RAOs generated by SM3DSeakeepRegular SM3DSeakeepRandom or SM3DSeakeepSeaway SM3DSeakeepRegular gives motion predictions for a ship in regular sinusoidal waves and is most likely to be used for validating ship motion predictions with experi ments in regular waves SM3DSeakeepRandom gives motion predictions for a ship in random waves with a principal sea direction Within SM3DSeakeepRandom a seaway spectrum is represented by a point wave spectrum and an optional spread ing angle applied to a cosine squared spreading function Input output and com putations with SM3DSeakeepRandom consider the principal sea direction relative to the ship heading 180 degrees for head seas 90 degrees for seas from port SM3DSeakeepRandom is most likely to be used for general seakeeping and oper ability analysis SM3DSeakeepSeaway gives motion predictions for a ship in a seaway described by a wave spectrum with a fixed orientation such as a multi directional wave spectrum that has been measured using a wave buoy or wave radar system In put output and computations with SM3DSeakeepSeaway consider ship heading 0 degrees for the ship heading north SM3DSeakeepSeaway is most likely to be used for comparing predictions with full scale trials and for real time operator guidance sys tems SM3DSeakeepSeawayFromRaos gives output similar to SM3DSeakee
181. l added mass 19548240 530169 kgx mx x 2 Nondimensional roll added mass A44 144 0 229 Natural roll frequency 0 704 rad s Natural roll period 8 928 s SHIP AUTOPILOT SETTINGS Rudder Autopilots for Ship Autopilot for ship with nominally steady speed and heading Key Rudder Label Rudder Maximum deflection 35 000 deg Maximum velocity 3 000 deg s DRDC Atlantic TM 2011 308 lt 2 gt gt O PRROOOOO 237 Maximum acceleration Not set deg s2 Response frequency 3 000 rad s Response damping 0 850 rad s fraction of critical Maximum time step 0 100 s Autopilot gains Displacement gains have units of deg m and deg deg Velocity gains have units of deg m s and deg deg s Yaw gains given relative to earth fixed axes yaw is clockwise Surge Sway Heave Roll Pitch Yaw Displacement gains 0 000 0 000 0 000 0 000 0 000 4 000 Velocity gains 0 000 0 000 0 000 0 000 0 000 8 000 SEAKEEPING POSITION TRIM CONDITIONS Label Seakeeping position Station 3 000 x wrt ship CG 43 750 y 2 000 z wrt baseline 12 000 2 wrt ship CG 6 000 z wrt waterline 7 800 m Parameters for motion induced interruptions Lateral tipping coefficient 0 250 Longitudinal tipping coefficient 0 170 Time of operation 60 000 s Parameters motion sickness Time for motion sickness 0 250 days BBB SB DIRECTIONAL WAVE SPECTRUM Ten parameter directional wave spectrum Signific
182. lGain Heave velocity gain deg m s This value is typically 0 0 rollVelGain Roll velocity gain deg deg s This value is typically 0 0 unless rudder stabilization is desired pitchVelGain Pitch velocity gain deg deg s This value is typically 0 0 yawVelGain Yaw velocity gain deg deg s Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a typical ship with a downward oriented rudder this value is typically lt 0 0 Note If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used Record 7e End of Rudder Autopilot Settings end rudderAutopilotSettings 2 character strings Record 8 Beginning of Azimuthing Propeller Force Slopes Records 8 to 8c are required if the ship has azimuthing propellers begin aziPropellerForceSlopes 2 character strings Record 8a Key of Azimuthing Propeller for Force Slopes Records 8a to 8b are required for each azimuthing propeller keyAziPropeller key AziPropeller 2 character strings keyAziPropeller Record tag key AziPropeller Key of azimuthing propeller 212 DRDC Atlantic TM 2011 308 Record 8b Ship Speed and Azimuthing Propeller Force Slopes This record can be repeated an arbitrary number of times after Record 8a Note that ship speeds must be in ascending order aziPropellerForceSlopes
183. labelWaveKin labelWaveKin 2 character strings labelWaveKin Record tag labelWaveKin Label for wave kinematic position This can include spaces Record 25151 Wave Kinematics Position Station and Elevation Rela tive to Baseline One of Record 25b1 25b2 or 25b3 is required if a wave kinematics position is being specified station YZBlWaveKin stationWaveKin yWaveKin zBlWaveKin 1 character string 3 floats stationYZBlWaveKin Record tag station WaveKin Station for wave kinematic position Station 0 is at the fore perpendicular yWaveKin Lateral coordinate port relative to ship centreline m zBlWaveKin Vertical coordinate up relative to ship baseline m If this position is above the calm waterline for the trimmed ship then it is moved to the calm waterline DRDC Atlantic TM 2011 308 185 Record 25162 Wave Kinematics Position Station and Elevation Rela tive to Calm Waterline One of Record 25b1 25b2 or 25b3 is required if a wave kinematics position is being specified station YZWIWaveKin stationWaveKin yWaveKin zWlWaveKin 1 character string 3 floats station YZWIWaveKin Record tag stationWaveKin Station for wave kinematic position Station 0 is at the fore perpendicular yWaveKin Lateral coordinate port relative to ship centreline m zW1Wavekin Vertical coordinate up relative to the calm waterline m Record 25b3 Wave Kinema
184. lar predicts motions in regular waves The applications SM3DSeakeepRandom SM3DSeakeepSeaway and SM3DSeakeepSeawayFromRaos predict motions in random waves SM3DTimeSeries FromRaos produces ship motion time series for a ship with quasi steady speed and heading based on previously predicted motion response amplitude operators Resume ShipMo3D est une bibliotheque objet avec applications utilisateur connexes pour la prevision des mouvements de navires dans le domaine temporel et le domaine fr quentiel La version 3 comprend la mod lisation de citernes a ballottement et de citernes tube en U Le present rapport sert de manuel de l utilisateur pour la prevision du mouvement de navires dans le domaine temporel et dans le domaine frequentiel l aide de la version 3 de ShipMo3D Un rapport d accompagnement sert de manuel de Putilisateur pour la construction de modeles de navires qui sont utilis s pour entrer des donn es sur la pr vision du mouvement Les simulations du domaine temporel permettent de modeliser un navire en manceuvre libre et en eau calme ou dans les vagues SM3DBuildSeaway construit des modeles de voie maritime a trajet r gulier ou al atoire y compris des voies pour le transport maritime a courte ou longue distance L application SM3DFreeMo simule un navire manceuvrant libre ment en eau calme ou dans une voie maritime mod lis e Plusieurs applications du logiciel ShipMo3D font des pr visions des mouvements de navires
185. lection response amplitude operators in NET binary format 168 DRDC Atlantic TM 2011 308 Record 12 Option for Output Post Processing File with Motions and Deflections in Random Seas outMoDefRandomPprOption outMoDefRandomPprOption 2 character strings outMoDefRandomPprOption Record tag outMoDefRandomPprOption Option for output of data file with RMS and zero crossing periods for ship motions and appendage deflections This file is a MotionDeflectRmsTzRandomDB object in NET binary serialization format MoDefRandomPpr RMS and zero crossing period values for ship motions and appendage deflections are written to a file in NET binary format NoMoDefRandomPpr RMS ship motions and appendage deflections are not written to a file in NET binary format Record 12a Output Motion in Random Seas File Name This record should only be given if outMoDefRandomPprOption in Record 12 is set to MoDefRandomPpr moDefRandomPprFileName moDefRandomPprFileName 2 character strings moDefRandomPprFileName Record tag moDefRandomPprFileName Name of output file for RMS values and zero crossing periods in NET binary format DRDC Atlantic TM 2011 308 169 Record 13 Option for Output Post Processing File of Response Am plitude Operators SHIPMO7 Format This record is optional outSHIPMO7PprOption outSHIPMO7PprOption 2 character strings outSHIPMO7PprOption Record tag outSHIPMO7PprOpti
186. lly 0 0 rollVelGain Roll velocity gain deg deg s This value is typically 0 0 unless rudder stabilization is desired pitchVelGain Pitch velocity gain deg deg s This value is typically 0 0 yawVelGain Yaw velocity gain deg deg s Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a typical ship with a downward oriented rudder this value is typically lt 0 0 Note If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used Record 7e End of Rudder Autopilot Settings end rudderAutopilotSettings 2 character strings Record 8 Beginning of Azimuthing Propeller Force Slopes Records 8 to 8c are required if the ship has azimuthing propellers begin aziPropellerForceSlopes 2 character strings Record 8a Key of Azimuthing Propeller for Force Slopes Records 8a to 8b are required for each azimuthing propeller keyAziPropeller key AziPropeller 2 character strings key AziPropeller Record tag key AziPropeller Key of azimuthing propeller 126 DRDC Atlantic TM 2011 308 Record 8b Ship Speed and Azimuthing Propeller Force Slopes This record can be repeated an arbitrary number of times after Record 8a Note that ship speeds must be in ascending order aziPropellerForceSlopes speed AziPropeller deflectForceSlopeDeg normalForceSl
187. m heightmm Plot height mm Default 100 mm DRDC Atlantic TM 2011 308 103 Record 310 Column Options for Motion Velocities This record is optional if a velocity plot is being specified motionColumns speedColumn latVelColumn xfColumn yfColumn heaveColumn rollColumn pitchColumn headingColumn 9 character strings motionColumns Record tag Values for each of the following can be one of Left Right Hide speedColumn Column of speed graph default Left lat VelColumn Column of lateral velocity graph default Left xfColumn Column of 27 velocity graph default Hide yfColumn Column of y velocity graph default Hide heaveColumn Column of heave velocity graph default Left rollColumn Column of roll velocity graph default Left pitchColumn Column of pitch velocity graph default Left headingColumn Column of heading velocity graph default Left 104 DRDC Atlantic TM 2011 308 Record 316 Column Options for Rudder and Propeller Velocities This record is optional if a plot is being specified rudderPropColumns rudderDeflectColumn propellerRpmColumn aziPropellerDeflectColumn aziPropellerRpmColumn 5 character strings rudderPropColumns Record tag Values for each of the following can be one of Left Right Hide rudderDeflectColumn Column of rudder deflection velocity graph default Hide propellerRpmColumn Column of propeller RPM rate of change graph default Hide aziP
188. mForceWidth Effective slamming force width m Record 21f3 Wedge Geometry for Slamming Calculations This record is required if slamWetEmergeOption in Record 21f is set to Slam Wedge slamWedge deadRiseDeg slamForceHeight 1 character string 2 floats slam Wedge Record tag deadRiseDeg Hull deadrise angle at keel degrees This value must be greater than 0 degrees For deadrise angles less than 5 degrees this approach can be inaccurate and is recommended that either the slamForm or slamOffsets option be used instead for slamWetEmergeOption in Record 21f slamForceHeight Height above the keel at which slamming pressure goes to zero typically taken as 0 1T where Ty is the sectional draft 232 DRDC Atlantic TM 2011 308 Record 214 Elevation Above Baseline for Zero Slamming Pressure This record is required if slamWetEmergeOption in Record 21f is set to Slam Offsets zBlZeroSlamPres zBlZeroSlamPres 1 character string 1 float 7BlZeroSlamPres Record tag zBlZeroSlamPres Elevation above baseline at which slamming pressure goes to zero m This value is typically assumed to be at a height of 0 17 above the baseline where T is sectional draft Record 21f5 Y Offsets for Performing Slamming Calculations This record is required if slamWetEmergeOption in Record 21f is set to Slam Offsets vOffsetsSlam yOffsetsSlam 1 character string array of floats yOffsetsSlam R
189. mputes ship motions in the frequency domain for a ship in random waves with a principal sea direction i e long crested waves or waves with a cosine squared spreading function A few seconds seakeepRandom3 inp seakeepRandom3 out Annex D A ship model file created by SM3DBuildShip 1 9 Ship Seakeeping in a Fixed Seaway with Ship Heading Given Relative to Earth Fixed Axes SM3DSeakeepSeaway Table 6 gives a summary of application SM3DSeakeepSeaway Table 6 SM3DSeakeepSeaway Summary Purpose Computes ship motions in the frequency domain for a ship in an earth fixed seaway with ship heading given relative to earth fixed axes Run time Ranging from a few seconds to several minutes Default input file seakeepSeaway3 inp Default output file seakeepSeaway3 out Input format and sample files Annex E Other required input A ship model file created by SM3DBuildShip 1 18 DRDC Atlantic TM 2011 308 10 Ship Seakeeping in a Fixed Seaway Using Previously Computed Ship Motion RAOs SM3DSeakeepSeawayFromRaos Table 7 gives a summary of application SM3DSeakeepSeawayFromRaos Table 7 SM3DSeakeepSeawayFromRaos Summary Purpose Run time Default input file Default output file Input format and sample files Other required input DRDC Atlantic TM 2011 308 Computes ship motions in the frequency domain for a ship in an earth fixed seaway with ship heading given relative to earth fixed axes Previously com
190. n 4 character strings outTimeSeries Record tag outDispOption Option for giving output ship displacements Disp Output displacements are given NoDisp No output displacements are given out VelOption Option for giving output ship velocities Vel Output velocities are given NoVel No output velocities are given outAccOption Option for giving output ship accelerations Acc Output accelerations are given NoAcc No output accelerations are given DRDC Atlantic TM 2011 308 97 Record 27 Output Time Series Options for Rudders Propellers Az imuthing Propellers and U Tube Tanks outAppendage outRudderOption outPropOption outAziPropOption outUTubeTankOption 5 character strings out Appendage outRudderProp outPropOption outAziPropOption outUTubeTankOption Record tag Option for giving output rudder motions Rudder Output rudder times series are given NoRudder No rudder time series are given Option for giving output propeller RPMs Prop Output propeller RPM times series are given NoProp No propeller RPM time series are given Option for giving output azimuthing propeller deflections RPMs AziProp Output azimuthing propeller deflection and RPM times series are given NoAziProp No azimuthing propeller time series are given Option for giving output U tube tank fluid motions UTubeTank Output U tube tank times series are given NoUTubeTank No U tube tank tim
191. n a Seaway SM3DFreeMo Table 3 gives a summary of application SM3DFreeMo for simulating motions in the time domain of a freely maneuvering ship Table 3 SM3DFreeMo Summary Purpose Run time Default input file Default output file Input format and sample files Other required input DRDC Atlantic TM 2011 308 Simulates motions in the time domain of a freely maneuvering ship Typically faster than real time freeMo3 inp freeMo3 out Annex B A ship model file created by SM3DBuildShip 1 A seaway model file created by SM3DBuildSeaway if the ship is in waves 7 Ship Seakeeping in a Regular Seaway SM3DSeakeepRegular Table 4 gives a summary of application SM3DSeakeepRegular Table 4 SM3DSeakeepRegular Summary Purpose Computes ship motions in the frequency domain for a ship in regular waves Run time A few seconds Default input file seakeepRegular3 inp Default output file seakeepRegular3 out Input format and sample files Annex C Other required input A ship model file created by SM3DBuildShip 1 16 DRDC Atlantic TM 2011 308 8 Ship Seakeeping in a Random Seaway with Principal Direction Given Relative to the Ship SM3DSeakeepRandom Table 5 gives a summary of application SM3DSeakeepRandom Table 5 SM3DSeakeepRandom Summary Purpose Run time Default input file Default output file Input format and sample files Other required input DRDC Atlantic TM 2011 308 Co
192. n sickness Time for motion sickness 0 250 days WAVE SPECTRUM Bretschneider spectrum Significant wave height 3 250 m Peak wave period 9 700 m Long crested seaway Significant wave height based on point wave spectrum area 3 228 m Wave frequency Spectral density rad s m2 rad s 0 200 0 000 0 250 0 000 200 DRDC Atlantic TM 2011 308 300 350 400 450 500 550 600 650 700 750 800 850 900 950 000 050 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 000 N P 8 18 18 RP RPP RP PPP RP z z z z RPP OO OC C 0090000090000 O O O O O O O O oo O O O O O O O O O O O O O O F FE FF Pr FF FF O O O O O DRDC Atlantic TM 2011 308 000 000 010 147 549 040 365 457 380 219 034 857 702 572 465 379 310 254 210 174 145 121 102 086 073 062 053 046 040 035 030 026 023 020 018 201 nn O 00 O OO LO LO OM LO N s CN 00 lt H 00 Oy gt Gy Oy oO Ko YONA H s Mei BRO WDANMNNAN O O on 144100000000 C O Fe s Fe lt E lt t t y O F O O OoN a0 oO oo VY 4 O w i S O O SO O Pe se s s ise TS 00 0 00 8 Sep ZL uorq2 Tg q WUOTJ9SITP V S ISppny ISppny ISppny Teqe7 Loy sTeqeT pue s y 1sppny SPOTI9J BUTSSOID 0197 pue SUOTID9TISU SWH Teppny C S 00 0 0 9 6790 89 000 TL TT O 0 087 19 68 0 0 9 99 0 6 9 90 0 CL T O
193. nces y reci O A muq u er ie ken ie 29 Symbols and Abbreviations 32 Annex A Files for Building a Seaway with SM3DBuildSeaway3 35 A 1 Format of Input Seaway File for SM3DBuildSeaway3 35 A 2 Format of Input Directional Spectrum File for SM3DBuildSeaway3 ia gas ee a 63 vi DRDC Atlantic TM 2011 308 Annex B Annex C Annex D Annex E A 3 Sample Input Directional Spectrum File for SM3DBulldSesw aya 2 Zur san bar aa ta 66 A 4 Sample Input File for SM3DBuildSeaway3 71 A 5 Sample Output File for SM3DBuildSeaway3 72 Files for Simulating Motions of Freely Maneuvering Ship with SM3DFreeMo3 ere ee ea an aS D aloe A 75 B 1 Format of Input File for Simulating Motion of a Freely Maneuvering Ship with SM3DFreeMo3 75 B 2 Sample Input File for SM3DFreeMo3 113 B 3 Sample Output File for SM3DFreeMo3 Time Series Data Hemoved pps e a Ss Soke sd Me 4 114 Files for Motions in a Regular Seaway with SM3DSeakeepRegular3 121 C 1 Format of Input File for SM3DSeakeepRegular3 121 C 2 Sample Input File for SM3DSeakeepRegular3 145 C 3 Sample Output File for SM3DSeakeepRegular3 Motions Given for Only One Speed and Heading Combination 146 Files for Motions in a Random Seaway with SM3DSeakeepRandom3 157 D 1 Format of Input File for SM3DSeakeepRandom3 157 D 2
194. nd SM3DSeakeepSeawayFromRaos3 266 DRDC Atlantic TM 2011 308 F 3 Sample Output File for SM3DSeakeepSeawayFromRaos3 Program SM3DSeakeepSeawayFromRaos3 ShipMo3D 3 0 Version 3 0 release 5 October 2011 Time November 10 11 1 58 37 PM Run label Generic frigate ECHO OF USER INPUT Ship Dimensions Length between perpendiculars 120 000 m Station number of aft perpendicular 20 000 Distance from fore perpendicular to LCG 61 750 Draft of baseline at midships 4 200 m Trim of baseline by stern 0 000 m Height of CG above baseline 6 000 m File name with ship motion RAOs genFrigSeakeepRandomMoDefRaoDB bin Label Generic frigate Created November 10 11 9 07 44 AM Version ShipMo3D 3 0 Version 3 0 release 5 October 2011 Class ShipMo3D FreqDomain MotionDeflectRaoDB Speed range Minimum 0 000 knots Maximum 30 000 knots Increment 10 000 knots Sea direction range Minimum I 0 000 deg Maximum 345 000 deg Increment 15 000 deg Seaway Spectrum type Directional spectrum type Ten parameter spectrum parameters Wave system 1 2 Significant wave height 3 000 m 4 000 m Peak wave frequency 0 600 rad s 0 400 rad s Spectral shape factor 1 000 1 000 Mean wave direction from 110 000 deg 160 000 deg Directional spread exponent 1 000 1 000 Incident wave frequency range for integration of ship motion spectra Minimum 0 200 rad s Maximum 2 000 rad s DRDC Atlantic TM 2011 308 267 Increm
195. ne arguments associated with a ShipMo3D application The command line option e specifies that exceptions that occur during program execution should be fully written to the console Table 1 summarizes command line options Table 1 Command Line Options for ShipMo3D Applications p PREFIX Input and output file names have prefix PREFIX i INFILE Input file name is INFILE 0 OUTFILE Output file name is OUTFILE h Help is written to output console e Execution exceptions are written to console 6 DRDC Atlantic TM 2011 308 ShipMo3D user input files are in ASCII format Each input line typically begins with a tag denoting the contents of the input line Comments can be inserted into a file using the character to denote a comment line or the beginning of a comment after other input on a line An exclamation mark denotes that an input line is continued on the next line Here is some sample input demonstrating the usage of the comment and continuation characters Sample input from a SM3DSeakeepRegular input file seaDirsDeg 0 0 15 0 30 0 45 0 60 0 75 0 90 0 105 0 120 0 135 0 150 0 165 0 180 0 The ShipMo3D graphical user interface GUI application ShipMo3D30 exe can be used for running all ShipMo3D applications The GUI program assists with input data preparation and interactive viewing of results DRDC Atlantic TM 2011 308 7 4 Coordinate Systems ShipMo3D uses both earth fixed and translating earth coordinate
196. ng computations If neither record is given then seakeeping computations are performed for sea directions specified by either Record 16a or Record 16b Record 17b Sea Directions Relative to the Ship for Seakeeping Com putations in Random Seas One of Records 17a or 17b can optionally be given seaDirsDegSeakeep seaDirsDegSeakeep 1 character string array of floats seaDirsDegSeakeep Record tag seaDirsDegSeakeep Array of sea directions relative to the ship for seakeeping computations deg Note Either Record 17a or 17b can optionally be given as input to specify sea directions for seakeeping computations If neither record is given then seakeeping computations are performed for sea directions specified by either Record 16a or Record 16b DRDC Atlantic TM 2011 308 173 Record 18a Range of Incident Wave Frequencies One of Records 18a or 18b must be given waveFreqRange waveFreqMin waveFreqMax waveFreqInc 1 character string 3 floats waveFreqRange Record tag waveFreqMin Minimum incident wave frequency rad s waveFreqMax Maximum incident wave frequency rad s waveFreqInc Increment for incident wave frequency rad s Record 18b Incident Wave Frequencies One of Records 18a or 18b must be given waveFreqs waveFregs 1 character string array of floats waveFreqs Record tag waveFreqs Array of increasing incident wave frequencies rad s
197. ng the document They should be selected so that no security classification is required Identifiers such as equipment model designation trade name military project code name geographic location may also be included If possible keywords should be selected from a published thesaurus e g Thesaurus of Engineering and Scientific Terms TEST and that thesaurus identified If it not possible to select indexing terms which are Unclassified the classification of each should be indicated as with the title frequency domain maneuvering seakeeping ship motions time domain waves 294 DRDC Atlantic TM 2011 308
198. ntly positive deflection of a typical ship rudder pointing downward will cause a ship to turn starboard 8 DRDC Atlantic TM 2011 308 Ship Sea Figure 1 Earth Fixed Coordinate System Figure 2 Translating Earth Coordinate System DRDC Atlantic TM 2011 308 10 Sea Ship gt Figure 3 Sea Direction Relative to Ship DRDC Atlantic TM 2011 308 5 Building of Seaway Model SM3DBuildSeaway Table 2 gives a summary of application SM3DBuildSeaway which creates a regular or random seaway in earth fixed coordinates Figure 4 shows a sample view of a long crested random seaway produced by SM3DBuildSeaway Table 2 SM3DBuildSeaway Summary Purpose Creates a regular or random seaway in fixed earth coordinates Run time Several seconds Default input file buildSeaway3 inp Default output file buildSeaway3 out Input format and sample files Annex A Figure 4 Long crested Seaway with Bretschneider Spectrum Sea State 5 SM3DBuildSeaway represents random seaways using superposition of a number of sinusoidal wave components Both unidirectional and multidirectional random sea ways can be produced For a random seaway the range of wave frequencies should be sufficient to encompass almost all energy within the wave spectrum For ocean wave spectra a frequency range of 0 2 2 0 rad s is recommended 5 1 Wave Spectra for Random Seaways SM3DBuildSeaway can produce random seaways based on input wave
199. o the Ship for Com puting Motion RAOs One of Records 16a or 16b must be given seaDirDegRange seaDirDegMin seaDirDegMax seaDirDegInc 1 character string 3 floats seaDirDegRange Record tag seaDirDegMin Minimum sea direction relative to ship deg seaDirDegMax Maximum sea direction relative to ship deg seaDirDegInc Increment sea direction relative to ship deg Record 16b Sea Directions Relative to the Ship for Computing Mo tion RAOs One of Records 16a or 16b must be given seaDirsDeg seaDirsDeg 1 character string array of floats seaDirsDeg Record tag seaDirsDeg Array of sea directions relative to the ship deg 172 DRDC Atlantic TM 2011 308 Record 17a Range of Sea Directions Relative to the Ship for Seakeep ing Computations in Random Seas One of Records 17a or 17b can optionally be given seaDir DegRangeSeakeep seaDirDegSeakeepMin seaDirDegSeakeepMax seaDirDegSeakeepInc 1 character string 3 floats seaDir DegRangeSeakeep seaDir DegSeakeep Min seaDirDegSeakeepMax seaDirDegSeakeepInc Note Record tag Minimum sea direction relative to ship deg for seakeeping computations deg Maximum sea direction relative to ship for seakeeping computations deg Increment sea direction relative to ship for seakeeping computations deg Either Record 17a or 17b can optionally be given as input to specify sea directions for seakeepi
200. o3D implementation de scribed in Reference 8 Dimensions for U tube tanks are given as input to SM3D BuildShip 2 DRDC Atlantic TM 2011 308 2 3 Modelling of Sloshing in Tanks with Free Surfaces ShipMo3D can now model sloshing in tanks with free surfaces Examples of such tanks are cargo tanks and flume tanks for roll stabilization SM3DPanelSloshTank builds a panelled representation of a sloshing tank SM3DRadSloshTank computes sloshing hydrodynamic forces in the frequency domain based on the approaches of Malenica et al 15 and Newman 16 with the ShipMo3D implementation described in Reference 9 Output sloshing tank data from SM3DRadSloshTank can be used as input to SM3DBuildShip when building ship models 2 4 Application SM3DSeakeepSeawayFromRaos for Predicting Motions in a Seaway Using Input Response Amplitude Operators The new application SM3DSeakeepSeawayFromRaos can predict motions in the fre quency domain for a ship travelling in a seaway defined in earth fixed axes SM3D SeakeepSeawayFromRaos reads pre computed motion response amplitude operators RAOs which can be computed by SM3DSeakeepRandom SM3DSeakeepSeaway FromRaos runs faster than SM3DSeakeepSeaway and is suitable for applications such as real time operator guidance 2 5 Prediction of Motion Sickness Incidence in the Frequency Domain When predicting ship motions in the frequency domain the applications SM3D SeakeepRandom SM3DSeakeepSeaway and SM3DSeakee
201. ocity 0 000 m s west Heave velocity 0 000 m s up relative to calm water position Roll velocity 0 000 deg s port up Pitch velocity 0 000 deg s bow down Heading velocity 0 000 deg s 0 north 90 east Initial rudder deflections deg default 0 000 Initial rudder velocities deg s default 0 000 Initial propeller RPMs input 166 500 166 500 Beginning of maneuvering commands SetRpm All 166 5 SetRudderCourse All 0 ElapsedTime 100 End of maneuvering commands Output options for time series Output file time interval 0 400 8 Time interval for console message 10 000 s Options for writing time series to files Displacements Disp Velocities Vel DRDC Atlantic TM 2011 308 115 Accelerations Acc Rudder deflections Rudder Propeller RPM Prop Azimuth propeller deflections amp amp RPM NoAziProp Output plot options Plot output option NoPlots SHIP LOADING CONDITION Load Condition Properties for Trimmed Ship Summary of hydrostatic properties Number of panels on port side 613 Total number of panels 1226 Length between perpendiculars 120 000 m Draft of baseline at midships 4 200 m Trim of baseline by stern 0 000 m Beam based on maximum y value 14 111 m Volume 3622 358 m3 Water density 1025 000 kg m3 Mass 3712916 723463 kg Distance from FP to X origin m 61 750 m Origin located at LCG Station of X origin 10 292 Center of buoyancy wrt wate
202. ocument number by which the document is other numbers which may be assigned this identified by the originating activity This number must document either by the originator or by be unique the sponsor DRDC Atlantic TM 2011 308 11 DOCUMENT AVAILABILITY any limitations on further dissemination of the document other than those imposed by security classification X Unlimited distribution Defence departments and defence contractors further distribution only as approved Defence departments and Canadian defence contractors further distribution only as approved Government departments and agencies further distribution only as approved Defence departments further distribution only as approved Other please specify 12 DOCUMENT ANNOUNCEMENT any limitation to the bibliographic announcement of this document This will normally correspond to the Document Availability 11 However where further distribution beyond the audience specified in 11 is possible a wider announcement audience may be selected DRDC Atlantic TM 2011 308 293 13 ABSTRACT a brief and factual summary of the document It may also appear elsewhere in the body of the document itself It is highly desirable that the abstract of classified documents be unclassified Each paragraph of the abstract shall begin with an indication of the security classification of the information in the paragraph unless the document itself is unclassified represented a
203. od lisant des systemes de plates formes navales a l aide de l architecture de haut niveau iv DRDC Atlantic TM 2011 308 Table of contents o a u a ee ee ee SS i RESUME sti A a A asin ee o le A Zehen i Exec tive summary s menr ee ae oe BE ee EEE Se 2 111 SOMO lt ee nd dd RS A ee rd ts h tss iv Table sfeontents 2 2 0722 O E A A re v Listrottables lt a ee SSL a eran Er reed ix LIS Ole UCSC Moe ih eA Re ix Lino ducto sis s a a a u a 1 2 New Features for ShipMo3D Version 3 aoaaa 2 aa a 2 21 High Frequency Approximation for Evaluating Retardation Functions 2 22 Modelling of U tube Tanks for Roll Stabilization 2 23 Modelling of Sloshing in Tanks with Free Surfaces 3 2 4 Application SM3DSeakeepSeawayFromRaos for Predicting Motions in a Seaway Using Input Response Amplitude Operators 3 25 Prediction of Motion Sickness Incidence in the Frequency Domain 3 2 6 Output of Motion Response Amplitude Operators for Operability Analysis Using SHIPOBO sr NH AA AAA 3 3 Overview of Using ShipMo3D for Computing Ship Motions 4 4 Coordinate Systems a 2 8 a 8 5 Building of Seaway Model SM3DBuildSeaway 11 5 1 Wave Spectra for Random Seaways 2 2 11 5 1 1 Bretschneider Spectrum o
204. on Option for output of data file with motion response amplitude operators in SHIPMO7 ASCII post processing format This file can be used for operability analysis using SHIPOP2 18 SHIPMO7Ppr Ship motion RAOs are written in SHIPMO7 ASCII post processing format NoSHIPMO7Ppr Ship motion RAOs are not written in SHIPMO7 ASCII post processing format Record 13a Output Motion in Random Seas File Name This record should only be given if outSHIPMO7PprOption in Record 13 is set to SHIPMO7Ppr SHIPMO7PprFileName SHIPMO7PprFileName 2 character strings SHIPMO7PprFileName Record tag SHIPMO7PprFileName Name of output file for in SHIPMO7 ASCII post processing format Record 14 Minimum Wave Encounter Frequency enFreqMinMotion enFreqMinMotion 1 character string 1 float enFreqMinMotion Record tag enFreqMinMotion Minimum wave encounter frequency for ship motion predictions If the combination of ship speed heading and wave frequency gives an encounter frequency less than this value then the wave frequency is shifted This variable is used to avoid large amplitude motions at very low encounter frequencies A value of approximately 0 31 g L is recommended 170 DRDC Atlantic TM 2011 308 Record 15a Ship Speed Range in m s One of Records 15a to 15f must be given speedRange speedMin speedMax speedInc 1 character string 3 floats speedRange Record tag speedMin Minimum s
205. opeDeg 1 character string 3 floats aziPropellerForceSlopes Record tag speedAziPropeller Ship speed m s corresponding to force slopes deflect ForceSlopeDeg Deflection force slope F 0 N deg for azimuthing propeller where F is the force perpendicular to the longitudinal axis of the ship and 0 is the deflection angle of the propeller This term is typically greater than zero and includes contributions from both the propeller thrust and the force normal to the propeller axis when the propeller has a deflection angle normalForceSlopeDeg Normal force slope OF da N deg for azimuthing propeller where FN is the force normal to the propeller and is the flow angle of attack This term is typically greater than zero and somewhat less than the previous term deflectForceSlopeDeg 9 00 Note The above required input terms are given in the output from SM3DBuildShip3 Record 8c End of Azimuthing Propeller Force Slopes This record is required if the ship has azimuthing propellers end aziPropellerForceSlopes 2 character strings Record 9 Beginning of Azimuthing Propeller Deflection Controller Settings Records 9 to 9e are optional begin aziPropellerDeflectControllerSettings 2 character strings Note Records 9 to 9e are optional and can be used to supersede autopilot settings for a ship defined by SM3DBuildShip3 given in the file of Record 4 Within Records 9 to 9e Records 9a to 9d
206. or predicting motions in the time or frequency domains The following programs are used for predicting motions in the time domain SM3DBuildSeaway Builds a model of a regular or pseudo random seaway SM3DFreeShip Computes motions of a freely maneuvering ship in calm water or a seaway The following applications can be used for frequency domain analysis SM3DSeakeepRegular Computes frequency domain motions of a ship in a regular seaway waves of constant heading frequency and amplitude SM3DSeakeepRandom Computes frequency domain motions of a ship in a ran dom seaway with sea direction considered relative to ship direction A random seaway is considered to have a principal direction and waves must be unidirec tional or defined by a spreading function relative to the principal wave direction SM3DSeakeepSeaway Computes frequency domain motions of a ship in a ran dom seaway with the seaway described in earth fixed axes and ship heading 4 DRDC Atlantic TM 2011 308 given by absolute direction relative to the ship heading north A random sea way in earth fixed axes can be unidirectional or can have arbitrary directional spreading SM3DSeakeepSeawayFromRaos Computes frequency domain motions of a ship in a random seaway using previously computed RAOs with the seaway de scribed in earth fixed axes and ship heading given by absolute direction rel ative to the ship heading north Input RAOs are typically computed by SM3DSea
207. ord 7 is set to cosSpectrum If this record is omitted then a default value will be used deleteRelThreshEnergy deleteRelThreshEnergy 1 character string 1 real deleteRelThreshEnergy Record tag deleteRelThreshEnergy Threshold for fraction of wave energy of a modelled seaway component default 10 If the relative energy of a seaway component is below the threshold then the component is removed This variable is used to avoid simulating wave spectral components with negligible wave energy Record 11g Mean Wave Heading This record is required if seawayOption in Record 7 is set to CosSpectrum waveHeadingMean waveHeadingMeanDeg 1 character string 1 real waveHeadingMean Record tag waveHeadingMeanDeg Mean wave direction v from degrees 0 for waves from north and 90 for waves from east Record 11h Wave Spreading Angle This record is required if seawayOption in Record 7 is set to CosSpectrum spreadAngle spreadAngleDeg 1 character string 1 float spreadAngle Record tag spreadAngleDeg Directional spreading angle deg DRDC Atlantic TM 2011 308 49 Record 111 Cosine squared Spreading Wave Spectrum Option This record is required if seawayOption in Record 7 is set to cosSpectrum cosSpectrumOption cosSpectrumOption 2 character strings cosSpectrumOption Record tag cosSpectrumOption Cosine squared wave spectrum option CosBretschneider Random seaway
208. ord tag speed Ship speed m s for plotted motions This speed must correspond to a speed specified for computations in one of Records 15a to 151 192 DRDC Atlantic TM 2011 308 Record 2802 Motion in Random Seas Speed in Knots One of Records 28d1 28d2 or 28d3 is required for each plot being specified speedKnots speedKnots 1 character string 1 float speedKnots Record tag speedKnots Ship speed knots for plotted motions This speed must correspond to a speed specified for computations in one of Records 15a to 151 Record 28d3 Motion in Random Seas Froude Number One of Records 28d1 28d2 or 28d3 is required for each plot being specified Froude Froude 1 character string 1 float Froude Record tag Froude Ship forward speed Froude number for plotted motions This speed must correspond to a speed specified for computations in one of Records 15a to 15f Record 28e Motion in Random Seas RMS or Zero Crossing Period Option This record is optional if a plot is being specified rmsTzOption rmsTzOption 2 character strings rmsTzOption Record tag rms TzOption Option for of RMS motions or zero crossing periods Rms RMS motions will be plotted default Tz Zero crossing periods will be plotted DRDC Atlantic TM 2011 308 193 Record 28f Option for Longitudinal and or Lateral Modes This record is optional if a plot is being specified lon
209. orrespond to a speed specified for computations in one of Records 15a to 15f 188 DRDC Atlantic TM 2011 308 Record 2702 Motion RAO Plot Speed in Knots One of Records 27d1 27d2 or 27d3 is required for each plot being specified speedKnots speedKnots 1 character string 1 float speedKnots Record tag speedKnots Ship speed knots for plotted RAOs This speed must correspond to a speed specified for computations in one of Records 15a to 151 Record 27d3 Motion RAO Plot Froude Number One of Records 2701 2702 or 2703 is required for each plot being specified Froude Froude 1 character string 1 float Froude Record tag Froude Ship forward speed Froude number for plotted RAOs This speed should correspond to a speed specified for computations in one of Records 15a to 15f Record 276 Motion RAO Plot Sea Direction This record is required for each plot being specified seaDirDeg seaDirDeg 1 character string 1 float seaDirDeg Record tag seaDirDeg Sea direction deg relative to ship for plotted RAOs This sea direction must correspond to a sea direction specified for computations Record 16a or 16b DRDC Atlantic TM 2011 308 189 Record 27f Option for Longitudinal and or Lateral Modes This record is optional if a plot is being specified longLatOption longLatOption longLatOption longLatOption 2 character strings Record tag
210. ostatic properties Number of panels on port side 613 Total number of panels 1226 Length between perpendiculars 120 000 m Draft of baseline at midships 4 200 m Trim of baseline by stern 0 000 m Beam based on maximum y value 14 111 m Volume 3622 358 m3 Water density 1025 000 kg m3 Mass 3712916 723463 kg Distance from FP to X origin m 61 750 m 236 DRDC Atlantic TM 2011 308 Origin located at LCG Station of X origin 10 292 Center of buoyancy wrt waterline E 1 614 m Wetted surface area 1753 438 m2 Waterplane area 1344 310 m2 X value of center of floatation 5 022 m Integral of waterplane area X 2 1234204 219 m4 Integral of waterplane area Y 2 17543 814 m4 KG height of CG above baseline i 6 000 m Height of CG above waterline 1 800 m Metacentric height from hydrostatics 1 430 m Inertial Properties Inertia matrix units of kg kg m and kg m2 3712916 7 0 0 0 0 0 0 0 0 0 0 3712916 7 0 0 0 0 0 0 0 0 0 0 3712916 7 0 0 0 0 0 0 0 0 0 0 85545601 3 0 0 0 0 0 0 0 0 0 0 3341625051 0 0 0 0 0 0 0 0 0 0 3341625051 Roll radius of gyration 4 800 m Pitch radius of gyration 30 000 m Yaw radius of gyration 30 000 m Roll Metacentric Height Properities 28011 metacentric height from hull hydrostatics 1 430 m Correction due to sloshing tanks 0 000 m Input correction to roll metacentric height i 0 000 m Corrected metacentric height 1 430 m Roll Properties at Zero Forward Speed Rol
211. pSeaway but has faster execution because it uses pre computed RAOs Frequency domain motion predictions are essentially linear however the nonlinear in fluence of roll motion amplitude on roll damping is modelled ShipMo3D roll damping computations are described in detail in Reference 5 For SM3DSeakeepRegular roll amplitude and associated roll damping are evaluated iteratively for each combination of ship speed heading wave frequency and wave amplitude For SM3DSeakeep Random RMS roll motion and associated roll damping are evaluated iteratively in long crested seas for each combination of wave spectrum ship speed and heading The following relationship is used for determining effective roll amplitude and asso ciated roll damping in random seas ml 1 25 0 m 3 DRDC Atlantic TM 2011 308 5 where n4 is the roll amplitude used for roll damping computations and o n is the RMS roll motion For SM3DSeakeepSeaway RMS roll motion and associated roll damping are evaluated iteratively with the specified wave spectrum for each combination of ship speed and absolute ship heading Unlike SM3DSeakeepRandom SM3DSeakeepSeaway considers the influence of short crested waves when determining roll response amplitude operators RAOs however roll RAOs from SM3DSeakeep Seaway can only be considered valid for the specific combination of earth fixed wave spectrum ship speed and absolute ship heading Predicted ship motion RAOs from SM3DSeake
212. pSeawayFromRaos can now predict motion sickness incidence Colwell 17 describes the approaches used for evaluating motion sickness incidence 2 6 Output of Motion Response Amplitude Operators for Operability Analysis Using SHIPOP2 The frequency domain application SM3DSeakeepRandom can now write motion re sponse amplitude operators in SHIPMO7 ASCII post processing format which can be used as input for operability analysis using SHIPOP2 18 DRDC Atlantic TM 2011 308 3 3 Overview of Using ShipMo3D for Computing Ship Motions When computing ship motions in waves the first step is to build a model of a ship that can be used by ship motion programs The ShipMo3D manual for building ship models 1 gives details regarding the following applications SM3DPanelHull Develops a model of the hull surface represented using trian gular and quadrilateral panels Also computes hydrostatic properties for the submerged portion of the hull SM3DRadDif Computes hydrodynamic added mass and radiation damping Also computes forces due to incident and diffracted waves SM3DPanelSloshTank Develops a model of the the surface of a sloshing tank represented using triangular and quadrilateral panels SM3DRadSlosh Tank Computes sloshing tank hydrodynamic added mass and ra diation damping SM3DBuildShip Builds a model of the ship including all components relevant to predicting ship motions Once a ship model has been created it can be used f
213. peeds in m s for Steady Wave Elevation Data This record is required if steady wave elevation data are being given speedsSteadyWaveProfile speedsSteadyWaveProfile 1 character string nSpeedSteady WaveProfile floats speedsSteady WaveProfile Record tag speedsSteady WaveProfile Ship speeds for steady wave elevation data m s DRDC Atlantic TM 2011 308 177 Record 230 Steady Wave Elevation Profile Data This record must be given for each station with steady wave elevation data stationSteadyWaveElevs stationSteadyWave waveElevsSteady 1 character string 1 nSpeedSteadyWaveProfile floats stationSteady WaveElevs Record tag stationSteady Wave Station number for input wave elevations This value must be consistent with values given in Record 23a waveElevsSteady Wave elevations m at stationSteady Wave for ship speeds specified in Record 23b Record 23d End of Steady Wave stationSteadyWaveProfile Data This record is required if Record 23 and subsequent records have been entered end steady WaveProfile 1 character string with 2 words Record 24 Beginning of Seakeeping Position Data This record is optional begin seakeepPositions 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 24a to 24806 giving seakeeping position parameters Record 24h must follow at the end of all seakeeping
214. pendicular The output file from SM3DBuildShip3 gives the values of the above parameters 208 DRDC Atlantic TM 2011 308 Record 6 Ship Loading Condition JoadCondition waterDensity draftBlMid trimBlStern shipKG correctionGM 1 character string 5 floats loadCondition Record tag waterDensity Water density kg m draftBlMid Draft of baseline at midships m trimBlStern Trim of baseline by stern m shipKG Height of centre of gravity above baseline m correctionGM Correction to metacentric height m Note The values in this record must agree with the values used for the ship database file specified in Record 4 Values are considered to be in agreement when they are within a tolerance of 0 001 kg m for density and 0 001 m for draft trim height of CG and metacentric height The output file from SM3DBuildShip3 gives the values of the above parameters Record 7 Beginning of Rudder Autopilot Settings Records 7 to 7e are optional begin rudderAutopilotSettings 2 character strings Note Records 7 to 7e are optional and can be used to supersede autopilot settings for a ship defined by SM3DBuildShip3 given in the file of 4 Within Records 7 to 7e Records 7a to 7d can be repeated an arbitrary number of times to set rudder autopilot parameters as required Record 7a Rudder Key for Autopilot Settings This Record must follow Record 7 if autopilot settings are being given a
215. pilot Displacement 33108 This record can optionally be entered if an autopilot key has been specified using Record 7a dispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain 1 character string 6 floats dispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain Note Record tag Surge gain deg m This value should be 0 0 Sway gain deg m This value should be 0 0 Heave gain deg m This value is typically 0 0 Roll gain deg deg This value is typically 0 0 unless rudder roll stabilization is desired Pitch gain deg deg This value is typically 0 0 Yaw gain deg deg Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a typical ship with a downward oriented rudder this value is typically lt 0 0 If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used DRDC Atlantic TM 2011 308 211 Record 70 Rudder Velocity Gains This record can optionally be entered if an autopilot key has been specified using Record 7a velGains surgeVelGain swayVelGain heaveVelGain rollVelGain pitchVelGain yawVelGain 1 character string 6 floats velGains Record tag surgeVelGain Surge velocity gain deg m s This value should be 0 0 swayVelGain Sway velocity gain deg m s This value should be 0 0 heaveVe
216. ppendage deflection RAOs are written to a file in NET binary format NoMoDefRaoPpr Motion and appendage deflection RAOs are not written to a file in NET binary format Record 12 Output Response Amplitude Operator File Name This record should only be given if outMoDefRaoPprOption in Record 11 is set to MoDefRaoPpr moDefRaoPprFileName moDefRaoPprFileName 2 character strings moDefRaoPprFileName Record tag moDefRaoPprFileName Name of output file for response amplitude operators in NET binary format Record 13 Minimum Wave Encounter Frequency enFreqMinMotion enFreqMinMotion 1 character string 1 float enFreqMinMotion Record tag enFreqMinMotion Minimum wave encounter frequency for ship motion predictions If the combination of ship speed heading and wave frequency gives an encounter frequency less than this value then the wave frequency is shifted This variable is used to avoid large amplitude motions at very low encounter frequencies A value of approximately 0 31 g L is recommended 132 DRDC Atlantic TM 2011 308 Record 14a Ship Speed Range in m s One of Records 14a to 14f must be given speedRange speedMin speedMax speedInc 1 character string 3 floats speedRange Record tag speedMin Minimum ship speed m s speedMax Maximum ship speed m s speedInc Increment for ship speed m s Record 14b Ship Speeds in m s One of Records 14a to 14f must b
217. produced from Reference 24 gives risk levels associated with motion induced interruptions MIIs 13 3 Slamming Pressures and Forces Slamming calculations within ShipMo3D are based largely on the work of Ochi and Motter 26 and Stavovy and Chuang 27 The maximum slam pressure at the keel 22 DRDC Atlantic TM 2011 308 Figure 5 Model for Person Standing on Deck Table 9 Representative Tipping and Sliding Coefficients as e Tipping in the forward direction Tipping in the sideways direction Sliding person standing on dry deck Sliding chair on interior floor Sliding helicopter for various deck conditions Table 10 MII Risk Levels Risk Level MIIs per Minute 1 a AeA W N DRDC Atlantic TM 2011 308 possible probable serious severe extreme 0 1 0 5 1 5 3 0 5 0 23 is related to a sectional slamming pressure coefficient as follows Dien 5 p V2 x slamPressureCo 19 where p is water density V is the relative impact velocity upon impact and slam PressureCo is the slamming pressure coefficient which can be given as an input parameter or computed based on input geometry For calculating the slamming force per unit length ShipMo3D uses the assumption from Reference 26 that the sectional slamming pressure goes from a maximum value at the keel to zero at a specified ele vation above the keel as illustrated in Figure 6 The elevation of zero slam pressure is typically taken as
218. ption Option for seaway or calm water Seaway The simulation includes a seaway with waves Calm The simulation is in calm water Record 11 Input Seaway File Name This record should only be given if seawayOption in Record 10 is set to Seaway seawayFileName seawayFileName 2 character strings seawayFileName Record tag seawayFileName Name of input seaway file in NET XML serialization format This file must have been created using program SM3DBuildSeaway3 DRDC Atlantic TM 2011 308 87 Record 12 Time Parameters timeParameters dtMax 10 tEndRampWave tBeginStats 1 character string 4 floats timeParameters Record tag dtMax Time step for motion computations s A suitable time step value depends mainly on the size of the ship and to a lesser extent on the encountered conditions A value of 0 2 8 has been shown to give reliable results for a naval frigate 10 Start time of simulation tEndRampWave End time for reducing wave excitation forces s If tEndRampWave is greater than t0 then a ramp function increasing from 0 0 at 10 to 1 0 at tEndRampWave will be applied to wave excitation forces This feature can be used to reduce transients at the beginning of a simulation tBeginStats Beginning time for sampling motion statistics s Record 13 Nonlinear Option for Buoyancy and Incident Froude Krylov Wave Forces hullForceNonLinearOption hullForceNonLinearOption 2 charac
219. put User input threshold for relative energy 1E 06 Wave heading 0 000 deg from Unidirectional spectrum option Bretschneider Parameters for unidirectional Bretschneider spectrum Significant wave height 3 250 m Peak wave period 9 700 s Plot output option File PROPERTIES OF MULTI COMPONENT SEAWAY Multi component seaway in earth fixed axes Significant wave height assuming random phases 3 234 m 72 DRDC Atlantic TM 2011 308 Wave component properties Heading Frequency deg rad s 0 000 0 349345 0 000 0 418409 0 000 0 437714 0 000 0 517538 0 000 0 554448 0 000 0 604834 0 000 0 662306 0 000 0 697024 0 000 0 734546 0 000 0 807591 0 000 0 851395 0 000 0 889681 0 000 0 930918 0 000 0 994664 0 000 1 042700 0 000 1 085678 0 000 1 143028 0 000 1 188408 0 000 1 265374 0 000 1 316318 0 000 1 338522 0 000 1 405762 0 000 1 464295 0 000 1 488291 0 000 1 559574 0 000 1 597439 0 000 1 658453 0 000 1 718254 0 000 1 747604 0 000 1 807912 0 000 1 859051 0 000 1 901196 0 000 1 941211 0 000 2 000000 Amplitude O O O O O O O O O O O O O OO O O O O O O O O O O O QO O O O O O O O O m 002402 055160 0944 06 291281 306792 386297 365597 316578 375214 342888 264564 241294 254865 230586 188533 181435 163821 163712 144852 099871 106165 112056 082318 085054 081297 072998 073645 058012 055811 057250 048903 043427 045237 032415 Ph
220. puted ship motion response amplitude operators are used giving fast execution A few seconds seakeepSeaway FromRaos3 inp seakeepSeaway FromRaos3 out Annex F A database of ship RAOs created by SM3DSeakeepRegular SM3DSeakeepRandom or SM3DSeakeepSeaway 11 Time Series of Ship Motions from Response Amplitude Operators SM3DTimeSeriesFromRaos Table 8 gives a summary of application SM3DTimeSeriesFromRaos Table 8 SM3DTimeSeriesFromRaos Summary Purpose Computes ship motions in the time domain for a ship with quasi steady speed and heading Run time A few seconds Default input file timeSeriesFromRaos3 inp Default output file timeSeriesFromRaos3 out Input format and sample files Annex G Other required input A database of ship RAOs created by SM3DSeakeepRegular SM3DSeakeepRandom or SM3DSeakeepSeaway A seaway model created by SM3DBuildSeaway 20 DRDC Atlantic TM 2011 308 12 Inputs for Rudder and Azimuthing Propeller Autopilots For the motion prediction applications SM3DFreeMo SM3DSeakeepRegular SM3D SeakeepRandom and SM3DSeakeepSeaway the user can specify input autopilot set tings If autopilot settings are not given as input for these applications then default settings are used from the ship model produced by SM3DBuildShip 1 For time domain simulation ShipMo3D models a proportional integral derivative PID autopilot If the rudder is operating in autopilot mode then the rudder com mand an
221. qs input WaveFregs 1 character string array of floats input WaveFreqs Record tag input WaveFreqs Wave frequencies wy for input energy densities rad s Record 9c5 Unidirectional Input Spectrum Energy Densities This record is required if uniSpectrumOption in Record 9b is set to Input inputEnergy Densities inputEnergyDensities 1 character string array of floats inputEnergyDensities Record tag input Energy Densities Wave spectrum energy densities Su wr corresponding to wave frequencies of Record 904 Record 9d End of Unidirectional Wave Spectrum This record is required if spectrumOption is set to UniSpectrum in Record 8 end uniSpectrum 1 character string with 2 words DRDC Atlantic TM 2011 308 253 Record 10 Beginning of Cosine squared Spreading Wave Spectrum Records 10 to 10d are required if spectrumOption is set to CosSpectrum in Record 8 begin cosSpectrum 1 character string with 2 words Record 10a Mean Wave Heading This record is required if seawayOption in Record 8 is set to CosSpectrum waveHeadingMean waveHeadingMeanDeg 1 character string 1 float waveHeadingMean Record tag waveHeadingMeanDeg Mean wave direction v from degrees 0 for waves from north and 90 for waves from east Record 10b Wave Spreading Angle This record is required if spectrumOption in Record 8 is set to CosSpectrum spreadAngle spreadAngleD
222. quent records have been entered end steady WaveProfile 1 character string with 2 words Record 16 Beginning of Seakeeping Position Data This record is optional begin seakeepPositions 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 16a to 16f6 giving seakeeping position parameters Record 168 must follow at the end of all seakeeping position data Record 16a Seakeeping Position Label This record is required if a seakeeping position is being specified labelPos labelPos 2 character strings labelPos Record tag labelPos Label for seakeeping position This can include spaces 260 DRDC Atlantic TM 2011 308 Record 16b Seakeeping Position Location This record is required if a seakeeping position is being specified locationPos stationPos yPos zBlPos 1 character string 3 floats locationPos Record tag stationPos Station for seakeeping position Station 0 is at the fore perpendicular yPos Lateral coordinate port relative to ship centreline m zBlPos Vertical coordinate up relative to ship baseline m Record 16c Option for Radiation and Diffraction when Evaluating Relative Vertical Motion This record is optional if a seakeeping position is being specified relMoRadDifOption relMoRadDifOption 2 character strings relMoRadDifOption Record tag relMoRad
223. quired if seawayOption in Record 7 is set to BiSpectrum waveFreqRange waveFreqMin waveFreqMax waveFreqInc randomIncOption waveFreqSeed 1 character string 3 floats 1 character string 1 integer waveFreqRange Record tag waveFreqMin Minimum wave frequency rad s waveFreqMax Maximum wave frequency rad s waveFreqInc Wave frequency increment rad s randomIncOption Option for random wave frequency increment RandomInc Intermediate wave frequencies i e those other than the minimum and maximum are randomly adjusted with rounding to 6 decimal places This option is useful for avoiding periodic repetition of simulated seaways UniformInc The wave frequency increment between components is always waveFreqInc waveFreqSeed Integer seed number for adjusting wave frequencies if randomIncOption is set to randomInc Record 10b Wave Frequencies One of Records 10a or 10b is required if seawayOption in Record 7 is set to BiSpectrum waveFreqs waveFregs 1 character string array of floats waveFreqs Record tag waveFreqs Array of increasing wave frequencies rad s DRDC Atlantic TM 2011 308 43 Record 100 Wave Phase Seed Number This records can be optionally used if seawayOption in Record 7 is set to BiSpectrum If this record is omitted then a default will be used phaseSeed phaseSeed 1 character string 1 integer phaseSeed Record tag phaseSeed Integer se
224. r 2011 Class ShipMo3D FreqDomain MotionDeflectRaoDB File name with seaway in earth fixed axes bretSeaStatebSeaway xml Label Hs 3 25 m Tp 9 7 s Bretschneider spectrum Created November 10 11 2 05 19 PM Version ShipMo3D 3 0 Version 3 0 release 5 October 2011 Class ShipMo3D DeepSeaway FixedMultiSeaway Motion axes output option TransEarth Options for writing ship motion time series to output file Displacements Disp Velocities NoVel Accelerations Acc Ship speed 20 000 knots Ship heading to 30 000 Initial Ship Position in Earth fixed Axes xf0 0 000 m 710 0 000 m Time Parameters 284 DRDC Atlantic TM 2011 308 Start time 0 000 s End time gt 40 000 s Time increment 0 200 s DRDC Atlantic TM 2011 308 285 0611 0 OTT O TFT O 911 0 611 0 VET O 961 0 961 0 061 0 801 0 T60 0 990 0 S 0 0 0000 6800 0800 0610 6910 8610 TZZ 0 1560 0960 85760 VETO 0160 8210 0510 8660 MDA 1060 68 0 0 08 O 009 0 TO6 0 18T T ev T 9T9 T 6TL T 671 T e79 T vor T 703 T 088 0 STG 0 9z7T 0 696 0 969 0 v88 0 0011 Lec T 2601 9896 6161 6011 l6 0 0080 860 02370 280 0 70S 0 SSE O SED 0 80S 0 679 0 181 0 608 0 798 0 68 0 Z06 0 688 0 98 0 T640 69 0 999 0 91 0 voT 0 g90 0 T6Z 0 2650 99 0 9110 1880 9080 991 0 799
225. r string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 19a to 19c giving wave kinematics position parameters Record 19d must follow at the end of wave kinematics position data DRDC Atlantic TM 2011 308 137 Record 19a Wave Kinematics Position Label This record is required if a wave kinematic position is being specified labelWaveKin labelWaveKin 2 character strings labelWaveKin Record tag labelWaveKin Label for wave kinematic position This can include spaces Record 19151 Wave Kinematics Position Station and Elevation Rela tive to Baseline One of Record 19b1 19b2 or 19b3 is required if a wave kinematics position is being specified station YZBlWaveKin stationWaveKin yWaveKin zBlWaveKin 1 character string 3 floats stationYZBlWaveKin Record tag station WaveKin Station for wave kinematic position Station 0 is at the fore perpendicular yWaveKin Lateral coordinate port relative to ship centreline m zBlWaveKin Vertical coordinate up relative to ship baseline m If this position is above the calm waterline for the trimmed ship then it is moved to the calm waterline 138 DRDC Atlantic TM 2011 308 Record 19152 Wave Kinematics Position Station and Elevation Rela tive to Calm Waterline One of Record 19b1 19b2 or 19b3 is required if a wave kinematics position is being spec
226. r string with 2 words Record 8a Regular Seaway Parameters This record is required if seawayOption in Record 7 is set to Regular regularParam waveHeadingDeg waveFreq waveAmp phaseDeg 1 character string 4 floats regularParam Record tag waveHeadingDeg Wave direction from degrees 0 for waves from north and 90 for waves from east waveFreq Incident wave frequency rad s waveAmp Incident wave amplitude m phaseDeg Phase of wave crest at xf 0 0 y 0 0 degrees DRDC Atlantic TM 2011 308 37 Record 8b Regular Seaway Nonlinear Option This record can optionally be used if seawayOption in Record 7 is set to Regular If this record is not used then Stokes second order theory is used regNonlinearOption regNonlinearOption 2 character strings regNonlinearOption Record tag regNonlinearOption Option for modelling wave nonlinearities StokesSecond Waves are modelled using Stokes second order theory default Wheeler Waves are modelled using Wheeler stretching Linear Waves are modelled using linear theory Record 8c End of Regular Seaway This record is required if seawayOption in Record 7 is set to Regular end regularSeaway 1 character string with 2 words Record 9 Beginning of Unidirectional Seaway from Input Spectrum Records 9 to 9g are required if seawayOption is set to UniSpectrum in Record 7 begin uniSpectrumSeaway 1 charac
227. ration of Ship Motion Spectrum If spectrumOption in Record 8 is set to CosSpectrum or DirSpectrum then one of Records 13a or 13b must be given waveDirsFrom waveDirsFromDeg 1 character string array of floats waveDirsFrom Record tag waveDirsFromDeg Wave directions for integration of ship motion spectrum Wave directions are given using a convention of 0 for waves from north 90 for waves from east Record 14 Beginning of Steady Forward Speed Sinkage and Trim Data Records 14 to 14b can optionally be used to give ship sinkage and trim data begin steadySinkageTrim 1 character string with 2 words 258 DRDC Atlantic TM 2011 308 Record 14a Sinkage and Trim for Ship Speed This record is repeated once for every ship speed with sinkage and trim data with increasing ship speeds speedSinkageTrim speedSinkageTrim heaveSteady pitchSteadyDeg 1 character string 3 floats speedSinkageTrim Record tag speedSinkageTrim Speed for which sinkage and trim values are given m s heaveSteady Heave at steady speed m up pitchSteadyDeg Pitch at steady speed deg bow down Record 14b End of Steady Sinkage and Trim Data This record is required if Records 14 and 14a are included end steadySinkageTrim 1 character string with 2 words Record 15 Beginning of Steady Forward Speed Wave Elevation Data Records 15 to 150 can optionally be used to give ship steady
228. rd 2485 Y Offsets for Performing Slamming Calculations This record is required if slamWetEmergeOption in Record 248 is set to SlamOffsets vOffsetsSlam yOffsetsSlam 1 character string array of floats yOffsetsSlam Record tag y OffsetsSlam Horizontal offsets for points going from keel to at least zBlZeroSlamPres Record 24g4 above the baseline m Record 24g6 Z Offsets for Performing Slamming Calculations This record is required if slamWetEmergeOption in Record 24g is set to Slam Offsets zBlOffsetsSlam zBlOffsetsSlam 1 character string array of floats 7BlOffsetsSlam Record tag zBlOffsetsSlam Vertical offsets for points going from keel to at least zBlZeroSlamPres Record 24g4 above the baseline m Record 24h End of Seakeeping Position Data This record is required if Record 24 is present end seakeepPositions 1 character string with 2 words Record 25 Beginning of Wave Kinematics Position Data This record is optional begin waveKinPositions 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 25a to 25c giving wave kinematics position parameters Record 25d must follow at the end of wave kinematics position data 184 DRDC Atlantic TM 2011 308 Record 25a Wave Kinematics Position Label This record is required if a wave kinematic position is being specified
229. rd 5 Water Density waterDensity waterDensity 1 character string 1 float waterDensity Record tag waterDensity Water density kg m Record 6 Time Series Sampling Parameters This record is optional If this record is omitted then default values are used sampleParams tDuration tInterval 1 character string 2 floats sampleParams Record tag tDuration Duration of seaway for sample statistics default 3600 0 s tInterval Time interval for sample statistics default 0 1 s 36 DRDC Atlantic TM 2011 308 Record 7 Seaway Option seawayOption seawayOption 2 character strings seawayOption Record tag seaway Option Seaway option Regular Regular waves UniSpectrum Unidirectional seaway based on input spectrum BiSpectrum Bidirectional seaway based on 2 unidirectional input spectra CosSpectrum Directional seaway based on a point spectrum and a cosine squared directional spreading function DirSpectrum Directional seaway based on input spectrum ComponentRandom Seaway consisting of multiple input wave components most commonly used to represent a random seaway Wave component phases are randomly generated ComponentPhase Seaway consisting of multiple input wave components including wave component phases Record 8 Beginning of Regular Seaway Records 8 to 8c are required if seawayOption is set to Regular in Record 7 begin regularSeaway 1 characte
230. rdation Functions When computing wave radiation damping forces in the time domain retardation functions are used 3 The retardation functions are computed from wave radiation damping coefficients evaluated in the frequency domain ShipMo3D Version 3 uses the following high frequency approximation for damping coefficients when computing retardation functions within SM3DBuildShip Bi we Bilw exp 2w w 2 for we gt we 1 where Bj is frequency domain damping for motion modes 1 and j we is wave en counter frequency and wi is the highest encounter frequency for damping coefficients used for computing retardation functions The above approximation helps to elimi nate oscillatory behaviour of retardation functions at the maximum frequency w The following high frequency approximation from Nam et al 13 was originally con sidered for implementation in ShipMo3D YN 2 Bali Bylwt E tora gt ut 2 Equation 1 provides faster decay of damping coefficients at higher frequencies and appears to give better modelling of actual behaviour Note that Equations 1 and 2 give similar behaviour of the variation of damping coefficients with encounter frequency when encounter frequency we is approximately equal to the maximum fre quency we 2 2 Modelling of U tube Tanks for Roll Stabilization ShipMo3D can now model U tube tanks for roll stabilization Hydrodynamic forces are evaluated using the method of Lloyd 14 with ShipM
231. re png default and jpg 100 DRDC Atlantic TM 2011 308 Record 300 Displacement Plot Image Size This record is optional if a displacement plot is being specified imageSize widthmm heightmm 1 character string 2 floats imageSize Record tag widthmm Plot width mm Default 150 mm heightmm Plot height mm Default 100 mm Record 30d Column Options for Motion Displacements This record is optional if a plot is being specified motionColumns xfColumn yfColumn heaveColumn rollColumn pitchColumn headingColumn 7 character strings motionColumns Record tag Values for each of the following can be one of Left Right Hide xfColumn Column of 27 graph default Left yfColumn Column of y graph default Left heaveColumn Column of heave graph default Left rollColumn Column of roll graph default Left pitchColumn Column of pitch graph default Left headingColumn Column of heading graph default Left DRDC Atlantic TM 2011 308 101 Record 306 Column Options for Rudder and Propeller Displacements This record is optional if a plot is being specified rudderPropColumns rudderDeflectColumn propellerRpmColumn aziPropellerDeflectColumn aziPropellerRpmColumn 5 character strings rudderPropColumns Record tag Values for each of the following can be one of Left Right Hide rudderDeflectColumn Column of rudder deflection graph default Hide propellerRpmColumn
232. riableAmplitude Wave amplitude a varies with frequency Record 17a Wave Amplitude This Record must be given if waveAmpOption is set to ConstantAmplitude in Record 17 waveAmp waveAmp 1 character string 1 float waveAmp Record tag waveAmp Wave amplitude at all wave frequencies m DRDC Atlantic TM 2011 308 135 Record 17b Wave Steepness This Record must be given if waveAmpOption is set to ConstantSteepness in Record 17 waveSteepness waveSteepness 1 character string 1 float waveSteepness Record tag waveSteepness Wave steepness H A at all wave frequencies The wave slope ka is related to the wave steepness as follows ka mn H A C 1 Record 17c Wave Amplitudes This record must be given if waveAmpOption is set to VariableAmplitude in Record 17 waveAmps waveAmps 1 character string array of floats waveAmps Record tag waveAmps Wave amplitudes for wave frequencies The number of wave amplitudes must correspond to the number of wave frequencies given by Record 16a or Record 16b Record 18 Beginning of Seakeeping Position Data This record is optional begin seakeepPositions 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 18a to 18c giving seakeeping position parameters Record 18d must follow at the end of seakeeping position data Record 18
233. rings latColumns Record tag Values for each of the following can be one of Left Right Hide swayColumn Column of sway graph rollColumn Column of roll graph yawColumn Column of yaw graph deflectColumn Column of graph with rudder and or azimuthing propeller deflection angle RAOs Note The values in this record will override values set based on longLatOption in Record 21f Record 21i End of Ship Motion RAO Plot Data end motionRaoPlots 1 character string with 2 words Record 22 End Record end SM3DSeakeepRegular3 1 character string with 2 words 144 DRDC Atlantic TM 2011 308 C 2 Sample Input File for SM3DSeakeepRegular3 begin SM3DSeakeepRegular3 label Generic frigate shipDBFileName genFrigShipForMotionDB bin lengthData 120 000 20 000 loadCondition 1025 000 4 200 0 000 6 000 0 0000 outOptions RudderRao NoAziPropRao NoUTubeTankRao RollDamp outMoDefRaoPprOption MoDefRaoPpr moDefRaoPprFileName genFrigSeakeepRegularMoDefRaoDB bin enFreqMinMotion 0 1 speedKnotsRange 0 30 10 seaDirDegRange 0 180 15 waveFreqRange 0 2 2 0 05 waveAmpOption ConstantSteepness wavesteepness 0 02 begin seakeepPositions labelPos Seakeeping position locationPos 3 2 12 relMoRadDifOption NoRadDif end seakeepPositions plotOutOption NoPlots end SM3DSeakeepRegular3 DRDC Atlantic TM 2011 308 145 C 3 Sample Output File for SM3DSeakeepRegular3 Motions Given for Only One Speed and Heading Combination Program SM3DSe
234. rings miiOption Record tag miiOption Option for motion induced interruption computations Mii Motion induced interruption computations are performed NoMii No motion induced interruption computations are performed 262 DRDC Atlantic TM 2011 308 Record 1661 Parameters for Motion Induced Interruptions This record is required if miiOption is set to mii in Record 16e miiParam tipCoLat tipCoLong durationMii 1 character strings 3 floats miiParam Record tag tipCoLat Lateral tipping coefficient A value of 0 25 is typically used for humans facing forward tipCoLong Longitudinal tipping coefficient A value of 0 17 is typically used for humans facing forward durationMii Duration for computing incidence of motion induced interruptions s A value of 60 s is typically used Note For sliding calculations the user should set tipCoLat and tipCoLong equal to the static coefficient of friction Record 16f Option for Slamming Deck Wetness or Emergence Com putations This record is required if a seakeeping position is being specified slamWetEmergeOption slamWetEmergeOption 2 character strings slamWetEmergeOption slamWetEmergeOption DRDC Atlantic TM 2011 308 Record tag Option for slamming deck wetness or emergence computations NoSlamWetEmerge No slamming deck wetness or emergence computations are performed SlamPressureCoWidth Slamming calcula
235. rline 1 614 m Wetted surface area 1753 438 m2 Waterplane area 1344 310 m2 X value of center of floatation 5 022 m Integral of waterplane area X 2 1234204 219 m4 Integral of waterplane area Y 2 17543 814 m4 KG height of CG above baseline 6 000 m Height of CG above waterline 1 800 m Metacentric height from hydrostatics 1 430 m Inertial Properties Inertia matrix units of kg kg m and kg m2 3712917 0 0 0 0 0 0 3712917 0 0 0 0 0 0 3712917 0 0 0 0 0 0 85545601 0 0 0 0 0 O 3341625051 0 0 0 0 0 0 3341625051 116 DRDC Atlantic TM 2011 308 Roll radius of gyration 4 800 m Pitch radius of gyration 30 000 m Yaw radius of gyration 30 000 m Roll Metacentric Height Properities Roll metacentric height from hull hydrostatics 1 430 m Correction due to sloshing tanks 0 000 m Imput correction to roll metacentric height 0 000 m Corrected metacentric height 1 430 m Roll Properties at Zero Forward Speed Roll added mass 19662081 124976 kgx mx x 2 Nondimensional roll added mass A44 144 0 230 Natural roll frequency 0 703 rad s Natural roll period 8 933 s SHIP AUTOPILOT SETTINGS Rudder autopilots for ShipAutopilot for freely maneuvering ship Key Rudder Label Rudder Maximum deflection a 35 000 deg Maximum velocity 3 000 deg s Maximum acceleration Not set deg s2 Response frequency 3 000 rad s Response damping 0 850 rad s fraction of critical Maximum time step
236. roll frequency Natural roll period SHIP AUTOPILOT SETTINGS DRDC Atlantic TM 2011 308 750 292 614 438 310 022 219 814 000 800 430 2 O O O O O O m m2 m2 m4 m4 O OOO O O O 3341625051 0 0 3341625051 1 430 m 0 000 m 0 000 m 1 430 m 19548240 530169 kg m 2 0 2 29 0 704 rad s 8 928 s OOOO 0 PRROOOOO 199 Rudder Autopilots for Ship Autopilot for ship with nominally steady speed and heading Key Rudder Label Rudder Maximum deflection 35 000 deg Maximum velocity 3 000 deg s Maximum acceleration Not set deg s2 Response frequency 3 000 rad s Response damping 0 850 rad s fraction of critical Maximum time step 0 100 s Autopilot gains Displacement gains have units of deg m and deg deg Velocity gains have units of deg m s and deg deg s Yaw gains given relative to earth fixed axes yaw is clockwise Surge Sway Heave Roll Pitch Yaw Displacement gains 0 000 0 000 0 000 0 000 0 000 4 000 Velocity gains 0 000 0 000 0 000 0 000 0 000 8 000 SEAKEEPING POSITION TRIM CONDITIONS Label Seakeeping position Station 3 000 x wrt ship CG 43 750 y 2 000 z wrt baseline 12 000 2 2 B E EB E wrt ship CG 6 000 wrt waterline 7 800 m Parameters for motion induced interruptions Lateral tipping coefficient 0 250 Longitudinal tipping coefficient 0 170 Time of operation 60 000 s Parameters motio
237. ropellerDeflectColumn Column of azimuthing propeller deflection velocity graph default Hide aziPropellerRpmColumn Column of azimuthing propeller RPM rate of change graph default Hide Record 31f End of Velocity Time Series Plot Data end velocityPlots 1 character string with 2 words Record 32 Beginning of Acceleration Time Series Plot Data This record is optional begin accelerationPlots 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 32a to 32e giving plot parameters Record 32f must follow at the end of plot parameter data DRDC Atlantic TM 2011 308 105 Record 32a Acceleration Plot Image File Name This record is required if an acceleration plot is being specified imageFileName imageFileName 2 character strings imageFileName Record tag imageFileName Name of output plot file Record 32b Acceleration Plot Image Format This record is optional if an acceleration plot is being specified imageFormat imageFormat 2 character strings imageFormat Record tag imageFormat Plot image format Available formats are png default and jpg Record 32c Acceleration Plot Image Size This record is optional if an acceleration plot is being specified imageSize widthmm heightmm 1 character string 2 floats imageSize Record tag widthmm Plot width mm Default 150 mm
238. rride values set based on longLatOption in Record 28f Record 28i End of Ship Motion in Random Seas Plot Data end motionRandomPlots 1 character string with 2 words Record 29 End Record end SM3DSeakeepRandom3 1 character string with 2 words DRDC Atlantic TM 2011 308 195 D 2 Sample Input File for SM3DSeakeepRandom3 begin SM3DSeakeepRandom3 label Generic frigate shipDBFileName genFrigShipForMotionDB bin lengthData 120 000 20 000 loadCondition 1025 000 4 200 0 000 6 000 0 000 outRao0Options NoMotionRao NoRudderRao NoAziPropRao NoUTubeTankRao NoRollDamp NoPositionRao NoWaveKinRao outMoDefRaoPprOption MoDefRaoPpr moDefRaoPprFileName genFrigSeakeepRandomMoDefRaoDB bin outMoDefRandomPprOption MoDefRandomPpr moDefRandomPprFileName genFrigSeakeepRandomMoDefRandomDB bin enFreqMinMotion 0 1 speedKnotsRange 0 30 10 seaDirDegRange 0 180 15 waveFreqRange 0 2 2 0 05 spectrum0ption Bretschneider BretParam 3 25 9 7 spreadAngleDeg 0 begin seakeepPositions labelPos Seakeeping position locationPos 3 2 12 relMoRadDifOption NoRadDif relWaveElevSteadyOption NoSteadyWave miiOption Mii miiParam 0 25 0 17 60 motionSicknessOption MotionSickness tDayMotionSickness 0 25 slamWetEmergeO0ption WetnessEmerge durationPExceed 1 0 01 end seakeepPositions plotOutOption NoPlots end SM3DSeakeepRandom3 196 DRDC Atlantic TM 2011 308 D 3 Sample Output File for SM3DSeakeepRandom3 Motions Only Given for One Ship Speed Program SM3DSe
239. rum in Record 8 end dirSpectrum 1 character string with 2 words Record 12a Range of Incident Wave Frequencies for Integration of Ship Motion Spectrum One of Records 12a or 12b must be given waveFreqRange waveFreqMin waveFreqMax waveFreqInc 1 character string 3 floats waveFreqRange Record tag waveFreqMin Minimum incident wave frequency rad s waveFreqMax Maximum incident wave frequency rad s waveFreqInc Increment for incident wave frequency rad s DRDC Atlantic TM 2011 308 257 Record 12b Incident Wave Frequencies for Integration of Ship Motion Spectrum One of Records 12a or 12b must be given waveFreqs waveFregs 1 character string array of floats waveFreqs Record tag waveFreqs Array of increasing incident wave frequencies rad s Record 13a Wave Direction Range for Integration of Ship Motion Spectrum If spectrumOption in Record 8 is set to CosSpectrum or DirSpectrum then one of Records 13a or 13b must be given waveDirFromRange waveDirFromDegMin waveDirFromDegMax waveDirFromDeglnc 1 character string 3 floats waveDirFromRange Record tag waveDirFromDegMin Minimum wave direction 068 waveDirFromDegMax Maximum wave direction deg waveDirFromDegInc Wave direction increment deg Note Wave directions are given using a convention of 0 for waves from north 90 for waves from east Record 13b Wave Directions Integ
240. s 0 for waves from north and 90 for waves from east hs1 Significant wave height of first wave system m tpl Peak wave period of first wave system s waveHeadingDeg2 Principle wave direction of second wave system from degrees 0 for waves from north and 90 for waves from east hs2 Significant wave height of second wave system m tp2 Peak wave period of second wave system s DRDC Atlantic TM 2011 308 45 Record 1062 Bidirectional JONSWAP Spectrum Seaway Parameters This record is required if biSpectrumOption in Record 106 is set 10 JONSWAP biJONSWAPParam waveHeadingDegl hsl tpl peakEnhancel waveHeadingDeg2 hs2 tp2 peakEnhance2 1 character string 8 floats biJONSWAPParam Record tag waveHeadingDeg1 Principle wave direction of first wave system from degrees 0 for waves from north and 90 for waves from east 1181 Significant wave height of first wave system m tpl Peak wave period of first wave system s peakEnhancel Peak enhancement factor of first wave system This factor can be set to 3 3 to match a 2 parameter JONSWAP spectrum waveHeadingDeg2 Principle wave direction of second wave system from degrees 0 for waves from north and 90 for waves from east hs2 Significant wave height of second wave system m tp2 Peak wave period of second wave system s peakEnhance2 Peak enhancement factor of second wave system This factor can be set to 3 3 to match
241. s S C R or U It is not necessary to include here abstracts in both official languages unless the text is bilingual ShipMo3D is an object oriented library with associated user applications for predicting ship motions with Version 3 introducing modelling of slosh ing tanks and U tube tanks This report serves as a user manual for ship motion predictions in the time and frequency domains using ShipMo3D Ver sion 3 A companion report serves as a user manual for building ship mod els that are used as input for ship motion predictions Time domain sim ulations can model a freely maneuvering ship in calm water or in waves SM3DBuildSeaway builds seaway models representing regular or random seaways including long and short crested seaways SM3DFreeMo simu lates a freely maneuvering ship in calm water or in a modelled seaway Sev eral ShipMo3D applications predict ship motions in the frequency domain for a ship with quasi steady speed and heading SM3DSeakeepRegular pre dicts motions in regular waves The applications SM3DSeakeepRandom SM3DSeakeepSeaway and SM3DSeakeepSeawayFromRaos predict mo tions in random waves SM3DTimeSeriesFromRaos produces ship motion time series for a ship with quasi steady speed and heading based on previ ously predicted motion response amplitude operators 14 KEYWORDS DESCRIPTORS or IDENTIFIERS technically meaningful terms or short phrases that characterize a document and could be helpful in catalogui
242. s being specified imageSize widthmm heightmm 1 character string 2 floats imageSize Record tag widthmm Plot width mm Default 150 mm heightmm Plot height mm Default 200 mm Record 21d1 Motion RAO Plot Speed in m s One of Records 21d1 21d2 or 21d3 is required for each plot being specified speed speed 1 character string 1 float speed Record tag speed Ship speed m s for plotted RAOs This speed should correspond to a speed specified for computations in one of Records 14a to 14f DRDC Atlantic TM 2011 308 141 Record 2102 Motion RAO Plot Speed in Knots One of Records 2101 2102 or 2103 is required for each plot being specified speedKnots speedKnots 1 character string 1 float speedKnots Record tag speedKnots Ship speed knots for plotted RAOs This speed must correspond to a speed specified for computations in one of Records 14a to 14f Record 21d3 Motion RAO Plot Froude Number One of Records 21d1 21d2 or 21d3 is required for each plot being specified Froude Froude 1 character string 1 float Froude Record tag Froude Ship forward speed Froude number for plotted RAOs This speed should correspond to a speed specified for computations in one of Records 14a to 14f Record 21e Motion RAO Plot Sea Direction This record is required for each plot being specified seaDirDeg seaDirDeg 1 character strin
243. s input keyRudder Record tag key Rudder Key of rudder for which autopilot settings are being specified If the rudder key is set to All then the input autopilot settings are applied to all rudders DRDC Atlantic TM 2011 308 123 Record 7b Rudder Autopilot Control Parameters This record can optionally be entered if an autopilot key has been specified using Record 7a controlParam deflectMaxDeg velMaxDeg accMaxDeg freqResponse dampResponse dtMax 1 character string 6 floats controlParam Record tag deflectMaxDeg Maximum rudder deflection angle deg This value is typically set to 35 velMaxDeg Maximum rudder deflection velocity deg s If this value is set to 0 0 then the maximum velocity is unlimited accMaxDeg Maximum rudder acceleration deg s If this value is set to 0 0 then the maximum acceleration is unlimited freqResponse Undamped response frequency of rudder autopilot dampResponse Damping of rudder autopilot as a fraction of critical damping This value is typically between 0 5 and 1 0 dtMax Maximum time increment for time stepping of rudder motions This parameter doesn t affect frequency domain computations with SM3DSeakeepRegular Note If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used 124 DRDC Atlantic TM 2011 308 Record 70 Rudder Autopilot Displacement 33108 This record can op
244. s input keyRudder keyRudder 2 character strings keyRudder Record tag key Rudder Key of rudder for which autopilot settings are being specified If the rudder key is set to All then the input autopilot settings are applied to all rudders DRDC Atlantic TM 2011 308 209 Record 7b Rudder Autopilot Control Parameters This record can optionally be entered if an autopilot key has been specified using Record 7a controlParam deflectMaxDeg velMaxDeg accMaxDeg freqResponse dampResponse dtMax 1 character string 6 floats controlParam Record tag deflectMaxDeg Maximum rudder deflection angle deg This value is typically set to 35 velMaxDeg Maximum rudder deflection velocity deg s If this value is set to 0 0 then the maximum velocity is unlimited accMaxDeg Maximum rudder acceleration deg s If this value is set to 0 0 then the maximum acceleration is unlimited freqResponse Undamped response frequency of rudder autopilot dampResponse Damping of rudder autopilot as a fraction of critical damping This value is typically between 0 5 and 1 0 dtMax Maximum time increment for time stepping of rudder motions This parameter doesn t affect frequency domain computations with SM3DSeakeepSeaway Note If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used 210 DRDC Atlantic TM 2011 308 Record 70 Rudder Auto
245. screen File Plots are only written to a file Record 27 Beginning of Ship Motion RAO Plot Data This record is optional begin motionRaoPlots 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 27a to 27h giving plot parameters Record 271 must follow at the end of plot parameter data DRDC Atlantic TM 2011 308 187 Record 27a Motion RAO Plot Image File Name This record is required if a plot is being specified imageFileName imageFileName 2 character strings imageFileName Record tag imageFileName Name of output plot file Record 27b Motion RAO Plot Image Format This record is optional if a plot is being specified imageFormat imageFormat 2 character strings imageFormat Record tag imageFormat Plot image format Available formats are png default and jpg Record 27c Motion RAO Plot Image Size This record is optional if a plot is being specified imageSize widthmm heightmm 1 character string 2 floats imageSize Record tag widthmm Plot width mm Default 150 mm heightmm Plot height mm Default 200 mm Record 27d1 Motion RAO Plot Speed in m s One of Records 2701 2702 or 2703 is required for each plot being specified speed speed 1 character string 1 float speed Record tag speed Ship speed m s for plotted RAOs This speed should c
246. sition Data This record is required if Record 19 is present end waveKinPositions 1 character string with 2 words Record 20 Plot Output Option plotOutOption plotOutOption 2 character strings plotOutOption Record tag plotOutOption Option for making plots of motion response amplitude operators NoPlots No plots are produced ScreenFile Plots are both plotted on the screen and to a file Screen Plots are only plotted on the screen File Plots are only written to a file Record 21 Beginning of Ship Motion RAO Plot Data This record is optional begin motionRaoPlots 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 21a to 21h giving plot parameters Record 211 must follow at the end of plot parameter data 140 DRDC Atlantic TM 2011 308 Record 21a Motion RAO Plot Image File Name This record is required if a plot is being specified imageFileName imageFileName 2 character strings imageFileName Record tag imageFileName Name of output plot file Record 21b Motion RAO Plot Image Format This record is optional if a plot is being specified imageFormat imageFormat 2 character strings imageFormat Record tag imageFormat Plot image format Available formats are png default and jpg Record 21c Motion RAO Plot Image Size This record is optional if a plot i
247. spectrumOption Type of seaway UniSpectrum Unidirectional seaway based on input spectrum CosSpectrum Directional spectrum describe by a point wave spectrum and cosine squared spreading function DirSpectrum Directional seaway with specified directional properties Record 9 Beginning of Unidirectional Wave Spectrum Records 9 to 9d are required if spectrumOption is set to UniSpectrum in Record 8 begin uniSpectrum 1 character string with 2 words Record 9a Wave Heading This record is required if seawayOption in Record 8 is set to UniSpectrum waveHeading waveHeadingFromDeg 1 character string 1 float waveHeading Record tag waveHeadingFromDeg Wave direction v from degrees 0 for waves from north and 90 for waves from east DRDC Atlantic TM 2011 308 251 Record 9b Unidirectional Wave Spectrum Option This record is required if spectrumOption in Record 8 is set to UniSpectrum uniSpectrumOption uniSpectrumOption 2 character strings uniSpectrumOption Record tag uniSpectrumOption Type of unidirectional wave spectrum Bretschneider Unidirectional Bretschneider wave spectrum JONSWAP Unidirectional JONSWAP wave spectrum OchiHubble Unidirectional Ochi and Hubble six parameter wave spectrum Input Unidirectional user input wave spectrum Record 901 Unidirectional Bretschneider Spectrum Seaway Parame ters This record is required if uniSpec
248. t Data end motionRaoPlots 1 character string with 2 words Record 28 Beginning of Ship Motion in Random Seas Plot Data This record is optional begin motionRandomPlots 1 character string with 2 words Note If this record is entered then it can be followed by an arbitrary number of repetitions of Records 28a to 28h giving plot parameters Record 281 must follow at the end of plot parameter data DRDC Atlantic TM 2011 308 191 Record 28a Motion in Random Seas Plot Image File Name This record is required if a plot is being specified imageFileName imageFileName 2 character strings imageFileName Record tag imageFileName Name of output plot file Record 28b Motion in Random Seas Plot Image Format This record is optional if a plot is being specified imageFormat imageFormat 2 character strings imageFormat Record tag imageFormat Plot image format Available formats are png default and jpg Record 28c Motion in Random Seas Plot Image Size This record is optional if a plot is being specified imageSize widthmm heightmm 1 character string 2 floats ImageSize Record tag widthmm Plot width mm Default 150 mm heightmm Plot height mm Default 200 mm Record 28d1 Motion in Random Seas Speed in m s One of Records 28d1 28d2 or 28d3 is required for each plot being specified speed speed 1 character string 1 float speed Rec
249. t to 35 Maximum deflection velocity deg s If this value is set to 0 0 then the maximum velocity is unlimited Maximum deflection acceleration deg s If this value is set to 0 0 then the maximum acceleration is unlimited Undamped response frequency of deflection controller Damping of deflection controller as a fraction of critical damping This value is typically between 0 5 and 1 0 Maximum time increment for time stepping of azimuthing propeller deflections This parameter doesn t affect frequency domain computations with SM3DSeakeepRandom3 If this record is not included after Record 9a then the original values for the given azimuthing propeller controller are used DRDC Atlantic TM 2011 308 Record 9c Azimuthing Propeller Deflection Controller Displacement Gains This record can optionally be entered if an azimuthing propeller controller key has been specified using Record 9a deflectDispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain 1 character string 6 floats deflect DispGains surgeGain sway Gain heaveGain rollGain pitchGain yawGain Note Record tag Surge gain deg m This value should be 0 0 Sway gain deg m This value should be 0 0 Heave gain deg m This value is typically 0 0 Roll gain deg deg This value is typically 0 0 unless roll stabilization is desired Pitch gain deg deg This value is typically 0 0 Yaw gain d
250. t written to output Option for writing roll damping values RollDamp Roll damping coefficients are written NoRollDamp Roll damping coefficients are not written Option for writing seakeeping position RAOs PositionRao Seakeeping positions RAOs are written NoPositionRao Seakeeping positions RAOs are not written Option for writing wave kinematics RAOs WaveKinRao Wave kinematics RAOs are written NoWaveKinRao Wave kinematics RAOs are not written 167 Record 11 Option for Output Post Processing File with Motion and Deflection Response Amplitude Operators outMoDefRaoPprOption outMoDefRaoPprOption 2 character strings outMoDefRaoPprOption Record tag out MoDefRaoPprOption Option for output of data file with motion and appendage deflections response amplitude operators for post processing This file is a MotionDeflectRaoDB object in NET binary serialization format MoDefRaoPpr Motion and appendage deflection RAOs are written to a file in NET binary format NoMoDefRaoRaoPpr Motion RAOs are not written to a file in NET binary format Record 11a Output Motion and Deflection Response Amplitude Op erator File Name This record should only be given if outMoDefRaoPprOption in Record 11 is set to MoDefRaoPpr moDefRaoPprFileName moDefRaoPprFileName 2 character strings moDefRaoPprFileName Record tag moDefRaoPprFileName Name of output file for motion and appendage def
251. ter string with 2 words 38 DRDC Atlantic TM 2011 308 Record 9a Wave Frequency Range One of Records 9a or 9b is required if seawayOption in Record 7 is set to UniSpectrum waveFreqRange waveFreqMin waveFreqMax waveFreqInc randomIncOption waveFreqSeed 1 character string 3 floats 1 character string 1 integer waveFreqRange Record tag waveFreqMin Minimum wave frequency rad s waveFreqMax Maximum wave frequency rad s waveFreqInc Wave frequency increment rad s randomIncOption Option for random wave frequency increment Randomlnce Intermediate wave frequencies i e those other than the minimum and maximum are adjusted by randomly generated increments rounded to 6 decimal places This option is useful for avoiding periodic repetition of simulated seaways UniformInc The wave frequency increment between components is always waveFreqInc waveFreqSeed Integer seed number for adjusting wave frequencies if randomIncOption is set to RandomInc Record 9b Wave Frequencies One of Records 9a or 9b is required if seawayOption in Record 7 is set to UniSpectrum waveFreqs waveFregs 1 character string array of floats waveFreqs Record tag waveFreqs Array of increasing wave frequencies rad s DRDC Atlantic TM 2011 308 39 Record 90 Wave Phase Seed Number This record can be optionally used if seawayOption in Record 7 is set to UniSpectrum If this record is omi
252. ter strings hullForceNonLinearOption Record tag hullForceNonLinearOption Option for using nonlinear computations of forces due to incident waves and buoyancy BuoyIncident Nonlinear computation of forces due to incident waves and buoyancy If this option is used then the ship file produced by SM3DBuildShip3 and specified in Record 4 must include a dry panelled hull Linear Linear computation of forces due to incident waves and buoyancy 88 DRDC Atlantic TM 2011 308 Record 14 Initial Ship Position dispsFixed0MDeg dispsFixed0MDeg 1 character string 6 floats dispsFixed0MDeg Record tag dispsFixed0 MDeg Initial ship position in earth fixed coordinates zf of ship CG m north yf of ship CG m west Heave 73 of ship CG relative to calm water position m up Roll 74 deg port up Pitch ns deg bow down Ship heading x deg 0 for north 90 for east Record 15a Initial Ship Speed The input file must include one of Records 15a 15b or 15c speed0 speedO 1 character string 1 float speed0 Record tag speed0 Initial ship speed along the heading given in Record 14 m s Record 15b Initial Ship Speed in Knots The input file must include one of Records 15a 15b or 15c speed0Knots speed0Knots 1 character string 1 float speed0Knots Record tag speed0Knots Initial ship speed along the heading given in Record 14 knots
253. tered if an autopilot key has been specified using Record 7a controlParam deflectMaxDeg velMaxDeg accMaxDeg freqResponse dampResponse dtMax 1 character string 6 floats controlParam Record tag deflectMaxDeg Maximum rudder deflection angle deg This value is typically set to 35 velMaxDeg Maximum rudder deflection velocity deg s If this value is set to 0 0 then the maximum velocity is unlimited accMaxDeg Maximum rudder acceleration deg s If this value is set to 0 0 then the maximum acceleration is unlimited freqResponse Undamped response frequency of rudder autopilot dampResponse Damping of rudder autopilot as a fraction of critical damping This value is typically between 0 5 and 1 0 dtMax Maximum time increment for time stepping of rudder motions If this value is set to 0 0 then no limit is applied and time stepping is done using the same time increment as for ship motions Note If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used 78 DRDC Atlantic TM 2011 308 Record 7c Rudder Autopilot Displacement Gains This record can optionally be entered if an autopilot key has been specified using Record 7a dispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain 1 character string 6 floats dispGains Record tag surgeGain Surge gain deg m This value should be 0 0 swayGain Sway gain
254. terruptions This record is required if a seakeeping position is being specified miiOption miiOption 2 character strings miiOption Record tag miiOption Option for motion induced interruption computations Mii Motion induced interruption computations are performed NoMii No motion induced interruption computations are performed 230 DRDC Atlantic TM 2011 308 Record 2161 Parameters for Motion Induced Interruptions This record is required if miiOption is set to mii in Record 216 miiParam tipCoLat tipCoLong durationMii 1 character strings 3 floats miiParam Record tag tipCoLat Lateral tipping coefficient A value of 0 25 is typically used for humans facing forward tipCoLong Longitudinal tipping coefficient A value of 0 17 is typically used for humans facing forward durationMii Duration for computing incidence of motion induced interruptions s A value of 60 s is typically used Note For sliding calculations the user should set tipCoLat and tipCoLong equal to the static coefficient of friction Record 21f Option for Slamming Deck Wetness or Emergence Com putations This record is required if a seakeeping position is being specified slamWetEmergeOption slamWetEmergeOption 2 character strings slamWetEmergeOption slamWetEmergeOption DRDC Atlantic TM 2011 308 Record tag Option for slamming deck wetness or emergence computations
255. the end of all seakeeping position data DRDC Atlantic TM 2011 308 279 Record 8a Seakeeping Position Label This record is required if a seakeeping position is being specified labelPos labelPos 2 character strings labelPos Record tag labelPos Label for seakeeping position This can include spaces Record 8b Seakeeping Position Location This record is required if a seakeeping position is being specified locationPos stationPos yPos zBlPos 1 character string 3 floats locationPos Record tag stationPos Station for seakeeping position Station 0 is at the fore perpendicular yPos Lateral coordinate port relative to ship centreline m zBlPos Vertical coordinate up relative to ship baseline m Record 8c Seakeeping Position Output Options This record is required if a seakeeping position is being specified posOutputOptions outDispPosOption outVelPosOption outAccPosOption outRelMotionPosOption 5 character strings posOutputOptions Record tag outDispPosOption Disp Displacements at position are written to output NoDisp No displacements are written to output outVelPosOption Vel Velocities at position are written to output NoVel No velocities are written to output outAccPosOption Acc Accelerations at position are written to output NoAcc No accelerations are written to output outRelMotionPosOption RelMotion Relative vertical displacements and
256. tics Position X Coordinate and Elevation Relative to Calm Waterline One of Record 25b1 25b2 or 25b3 is required if a wave kinematics position is being specified xYZWlWaveKin xWaveKin yWaveKin zW WaveKin 1 character string 3 floats xYZWlWaveKin Record tag xWaveKin x coordinate forward relative to ship CG for wave kinematic position m yWaveKin Lateral coordinate port relative to ship centreline m zWlWaveKin Vertical coordinate up relative to the calm waterline 186 DRDC Atlantic TM 2011 308 Record 250 Option for Including Radiation and Diffraction in Wave Kinematics This record is optional if a wave kinematics position is being specified waveKinRadDif waveKinRadDifOption 2 character strings waveKinRadDif Record tag waveKinRadDifOption Option for including radiation and diffraction in wave kinematics NoRadDif Wave radiation and diffraction are not considered when evaluating wave kinematics default Record 25d End of Wave Kinematics Position Data This record is required if Record 25 is present end waveKinPositions 1 character string with 2 words Record 26 Plot Output Option plotOutOption plotOutOption 2 character strings plotOutOption Record tag plotOutOption Option for making plots NoPlots No plots are produced ScreenFile Plots are both plotted on the screen and to a file Screen Plots are only plotted on the
257. tionally be entered if an autopilot key has been specified using Record 7a dispGains surgeGain swayGain heaveGain rollGain pitchGain yawGain 1 character string 6 floats dispGains Record tag surgeGain Surge gain deg m This value should be 0 0 swayGain Sway gain deg m This value should be 0 0 heaveGain Heave gain deg m This value is typically 0 0 rollGain Roll gain deg deg This value is typically 0 0 unless rudder roll stabilization is desired pitchGain Pitch gain deg deg This value is typically 0 0 yawGain Yaw gain deg deg Note that the input yaw gain is defined according to ship motions in earth fixed axes for which positive yaw motion is clockwise For a typical ship with a downward oriented rudder this value is typically lt 0 0 Note If this record is not included after Record 7a then the original values for the given ship rudder autopilot are used DRDC Atlantic TM 2011 308 125 Record 70 Rudder Velocity Gains This record can optionally be entered if an autopilot key has been specified using Record 7a velGains surgeVelGain swayVelGain heaveVelGain rollVelGain pitchVelGain yawVelGain 1 character string 6 floats velGains Record tag surgeVelGain Surge velocity gain deg m s This should be typically 0 0 swayVelGain Sway velocity gain deg m s This should be typically 0 0 heaveVelGain Heave velocity gain deg m s This value is typica
258. tions are performed using an input slamming form factor and effective pressure width specified in Record 1612 SlamWedge Slamming calculations are performed using wedge dimensions given in Record 1613 SlamOffsets Slamming calculations are performed using offsets given in Records 1614 1615 and 1616 WetnessEmerge Incidence of wetness or emergence calculations are performed depending on whether the position is above or below the waterline 263 Record 1611 Duration and Exceedence Probability for Slamming Wetness or Emergence Statistics This record is required if slamWetEmergeOption in Record 16f is set to SlamPressureCoWidth SlamWedge SlamOffsets or WetnessEmerge durationPExceed durationHours pExceed 1 character string 2 floats durationPExceed Record tag durationHours Duration for slamming wetness or emergence statistics hours pExceed Exceedence probability for slamming wetness or emergence statistics Record 16f2 Slamming Pressure Coefficient and Effective Pressure Width This record is required if slamWetEmergeOption in Record 16f is set to SlamPressureCoWidth slamPressureCoWidth slamPressureCo slamForceWidth 1 character string 2 floats slamPressureCoWidth Record tag slamPressureCo Slamming pressure coefficient slamForceWidth Effective slamming force width m Record 16f3 Wedge Geometry for Slamming Calculations This record is req
259. to 8b are required for each azimuthing propeller keyAziPropeller key AziPropeller 2 character strings keyAziPropeller Record tag key AziPropeller Key of azimuthing propeller 162 DRDC Atlantic TM 2011 308 Record 8b Ship Speed and Azimuthing Propeller Force Slopes This record can be repeated an arbitrary number of times after Record 8a Note that ship speeds must be in ascending order aziPropellerForceSlopes speed AziPropeller swayForceDeflectSlopeDeg heaveForceDeflectSlopeDeg 1 character string 3 floats aziPropellerForceSlopes Record tag speedAziPropeller Ship speed m s corresponding to force slopes swayForceDeflectSlopeDeg Sway force deflection slope OF 2 06 N deg for azimuthing propeller For a typical downward pointing azimuthing propeller dihedral angle of 90 this value will be negative heaveForceDeflectSlopeDeg Heave force deflection slope 0F3 06 N deg for azimuthing propeller For a typical downward pointing azimuthing propeller dihedral angle of 90 this value will be approximately 0 0 Note The above required input terms are given in the output from SM3DBuildShip3 Record 8c End of Azimuthing Propeller Force Slopes This record is required if the ship has azimuthing propellers end aziPropellerForceSlopes 2 character strings Record 9 Beginning of Azimuthing Propeller Deflection Controller Settings Records 9 to 96 are optional be
260. trumOption in Record 9b is set to Bretschneider BretParam hs tp 1 character string 2 floats BretParam Record tag hs Significant wave height H m tp Peak wave period T s Record 9c2 Unidirectional JONSWAP Spectrum Seaway Parameters This record is required if uniSpectrumOption in Record 9b is set to JONSWAP JONSWAPParam hs tp peakEnhance 1 character string 3 floats JONSWAPParam Record tag hs Significant wave height H m tp Peak wave period Tp s peakEnhance Peak enhancement factor y This factor can be set to 3 3 to match a 2 parameter JONSWAP spectrum 252 DRDC Atlantic TM 2011 308 Record 903 Unidirectional Ochi Hubble Spectrum Parameters This record is required if uniSpectrumOption in Record 9b is set to OchiHubble OchiHubbleParam hs1 freqPeak1 spectralShapel hs2 freqPeak2 spectralShape2 1 character string 6 floats OchiHubbleParam Record tag hs1 Significant wave height h _ of wave system 1 m freqPeak1 Peak wave frequency w _1 of wave system 1 rad s spectralShapel Spectral shape factor A of wave system 1 hs2 Significant wave height h gt of wave system 2 m freqPeak2 Peak wave frequency w _2 of wave system 2 rad s spectralShape2 Spectral shape factor Aa of wave system 2 Record 9c4 Unidirectional Input Spectrum Wave Frequencies This record is required if uniSpectrumOption in Record 9b is set to Input input WaveFre
261. tted then a default value will be used phaseSeed phaseSeed 1 character string 1 integer phaseSeed Record tag phaseSeed Integer seed number default 1001 Record 9d Relative Wave Energy Threshold This record can be optionally used if seawayOption in Record 7 is set to UniSpectrum If this record is omitted then a default value will be used deleteRelThreshEnergy deleteRelThreshEnergy 1 character string 1 real deleteRelThreshEnergy Record tag deleteRelThreshEnergy Threshold for fraction of wave energy of a modelled seaway component default 10 If the relative energy of a seaway component is below the threshold then the component is removed This variable is used to avoid simulating wave spectral components with negligible wave energy Record 9e Wave Heading This record is required if seawayOption in Record 7 is set to UniSpectrum waveHeading waveHeadingFromDeg 1 character string 1 real waveHeading Record tag waveHeadingFromDeg Wave direction v from degrees 0 for waves from north and 90 for waves from east 40 DRDC Atlantic TM 2011 308 Record 9f Unidirectional Wave Spectrum Option This record is required if seawayOption in Record 7 is set to UniSpectrum uniSpectrumOption uniSpectrumOption uniSpectrumOption uniSpectrumOption 2 character strings Record tag Unidirectional wave spectrum option Bretschneider Random sea
262. ude spaces Record 3 Beginning of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input begin note 1 character string with 2 words Record 3a Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input noteText character string noteText Text of note Multiple lines can be entered Record 3b End of Note Input Records 3 to 3b can optionally be used together to give a descriptive note regarding input end note 1 character string with 2 words DRDC Atlantic TM 2011 308 121 Record 4 Input Ship Database File Name shipDBFileName shipDBFileName 2 character strings shipDBFileName Record tag shipDBFileName Name of input ship database file in NET binary serialization format This file must have been created using program SM3DBuildShip3 Record 5 Length Data lengthData lpp stationAP 1 character string 2 floats lengthData Record tag lpp Ship length between perpendiculars m stationAP Station number of the aft perpendicular This value is typically 20 0 Note The values in this record must agree with the values used for the ship database file specified in Record 4 Values are considered to be in agreement when they are within a tolerance of 0 001 m for length and 0 001 for the station of the aft perpendicular The output file from SM3DBuildShip3 gives the
263. ue is typically lt 0 0 If this record is not included after Record 9a then the original values for the given azimuthing propeller controller are used Record 9e End of Azimuthing Propeller Controller Settings end aziPropellerDeflectControllerSettings 2 character strings 166 DRDC Atlantic TM 2011 308 Record 10 Output Options for Parameters in Regular Seas outRaoOptions outMotionRaoOption outRudderRaoOption outAziPropRaoOption outUTubeTankRaoOption outRollDampOption outPositionRaoOption outWaveKinRaoOption 8 character strings outRaoOptions outMotionRaoOption out RudderRaoOption outAziPropRaoOption outUTubeTankRaoOption outRollDampOption outPositionRaoOption out WaveKinRaoOption DRDC Atlantic TM 2011 308 Record tag Option for writing motion RAOs MotionRao Ship motion RAOs are written to output NoMotionRao Ship motion RAOs are not written Option for writing rudder deflection RAOs RudderRao Rudder deflection RAOs are written NoRudderRao Rudder deflection RAOs are not written Option for writing azimuthing propeller deflections AziPropRao Azimuthing propeller deflections are written to output NoAziPropRao Azimuthing propeller deflections are not written to output Option for writing U tube tank fluid displacements UTubeTankRao U tube tank fluid displacements are written to output NoUTubeTankRao U tube tank fluid displacements are no
264. uildSeaway provides useful information on wave spectra that can be used as input for frequency domain predictions 13 2 Motion Induced Interruptions The frequency domain applications SM3DSeakeepRandom SM3DSeakeepSeaway and SM3DSeakeepSeawayFromRaos can compute ship referenced forces and estimate the incidence of motion induced interruptions MIIs at seakeeping positions The inci dence of MIIs which can be tipping or sliding events is estimated using tipping or sliding estimator functions which include the contributions of vertical forces as well as the forces parallel to the deck Detailed treatment of MIIs is given in References 24 and 25 The incidence of tipping events for a person or object depends upon the tipping coefficient s h where s is the half stance width and h is the height above deck of the centre of gravity as shown in Figure 5 The tipping coefficient is usually dependent upon the direction of tipping To evaluate the incidence of sliding events the tipping coefficient s h can be replaced by the static coefficient of friction us Table 9 gives representative tipping and sliding coefficients from Reference 25 and unpublished data The wide range of friction coefficients suggests the incidence of sliding can vary greatly depending on sliding surface conditions Because the static coefficient of friction for a person is usually greater than the tipping coefficient a person will usually tip more easily than slide Table 10 re
265. uired if slamWetEmergeOption in Record 16f is set to Slam Wedge slam Wedge deadRiseDeg slamForceHeight 1 character string 2 floats slam Wedge Record tag deadRiseDeg Hull deadrise angle at keel degrees This value must be greater than 0 degrees For deadrise angles less than 5 degrees this approach can be inaccurate and is recommended that either the slamForm or slamOffsets option be used instead for slamWetEmergeOption in Record 16f slamForceHeight Height above the keel at which slamming pressure goes to zero typically taken as 0 1T where Ty is the sectional draft 264 DRDC Atlantic TM 2011 308 Record 164 Elevation Above Baseline for Zero Slamming Pressure This record is required if slamWetEmergeOption in Record 16f is set to Slam Offsets zBlZeroSlamPres zBlZeroSlamPres 1 character string 1 float 7BlZeroSlamPres Record tag zBlZeroSlamPres Elevation above baseline at which slamming pressure goes to zero m This value is typically assumed to be at a height of 0 17 above the baseline where T is sectional draft Record 16f5 Y Offsets for Performing Slamming Calculations This record is required if slamWetEmergeOption in Record 16f is set to Slam Offsets vOffsetsSlam yOffsetsSlam 1 character string array of floats yOffsetsSlam Record tag y OffsetsSlam Horizontal offsets for points going from keel to at least zBlZeroSlamPres Record 16f4 above t
266. velocities at position are written to output NoRelMotion No relative vertical displacements or velocities at position are written to output 280 DRDC Atlantic TM 2011 308 Record 80 End of Seakeeping Position Data This record is required if Record 8 is present end seakeepPositions 1 character string with 2 words Record 9a Ship Speed One of Records 9a 9b 96 must be given speed speed 1 character string 1 float speed Record tag speed Ship speed m s Record 9b Ship Speed in Knots One of Records 9a 9b 96 must be given speedKnots speedKnots 1 character string 1 float speedKnots Record tag speedKnots Ship speed knots Record 9c Ship Froude Number One of Records 9a 9b 96 must be given Froude Froude 1 character string 1 float Froude Record tag Froude Ship Froude number Record 10 Ship Heading heading shipHeadingToMeanDeg 1 character string 1 float heading Record tag shipHeadingToMeanDeg Mean ship heading to deg The heading is 0 for the ship heading north and 90 for the ship heading east DRDC Atlantic TM 2011 308 281 Record 11 Initial Ship Position shipPosition0 xf0 yf0 1 character string 2 floats shipPosition0 Record tag xf0 Initial zf position of ship at time 10 m yf0 Initial y position of ship at time 10 m Record 12 Time Parameters timeParameters
267. vre librement ou dans une voie maritime tres occup e Les pr visions du domaine fr quentiel sont efficaces sur le plan des calculs et conviennent aux navires qui naviguent a vitesse continue et font cap dans des voies maritimes moyennement occup es R sultats principaux ShipMo3D est une bibliotheque objet avec applications utilisateur connexes pour la pr vision des mouvements de navires en eau calme et dans les vagues Les pr visions des mouvements sont disponibles dans le domaine temporel et dans le domaine fr quentiel Pour les pr visions dans le domaine temporel le navire peut manceuvrer librement dans les eaux calmes ou dans les vagues Le pr sent document sert de manuel de l utilisateur pour calculer les mouvements de navires a laide de la version 3 Un rapport d accompagnement sert de manuel de l utilisateur pour la construction de modeles de navires qui sont requis pour entrer des donn es servant a calculer les mouvements La version du logiciel ShipMo3D introduit des capacites de mod lisation des citernes tube en U et des citernes ballottement Importance des r sultats Le logiciel ShipMo3D convient toujours pour la pr vision des mouvements de navires dans les vagues Les simulations peuvent tre utilis es pour diff rentes applications y compris l analyse technique l analyse des op rations et la formation Travaux ult rieurs pr vus La version 3 du logiciel ShipMo3D sera int gr e a des simulations m
268. wave frequency 0 600 rad s 0 400 rad s DRDC Atlantic TM 2011 308 0 100 rad s 235 Spectral shape factor 1 000 1 000 Mean wave direction from 110 000 deg 160 000 deg Directional spread exponent 1 000 1 000 Incident wave frequency range for integration of ship motion spectra Minimum 0 200 rad s Maximum 2 000 rad s Increment 0 050 rad s Incident wave direction range from for integration of ship motion spectra Minimum 0 000 deg Maximum 360 000 deg Increment 10 000 deg Seakeeping Positions Label Seakeeping position Station 3 000 Lateral offset y 2 000 m port Vertical offset 201 12 000 m up relative to baseline Option for including radiation and diffraction for relative motion NoRadDif input Option for including steady wave due to ship forward speed NoSteadyWave input Option for motion induced interruption computations Mii Parameters for motion induced interruptions Lateral tipping coefficient 0 250 Longitudinal tipping coefficient 0 170 Duration for MII incidence 60 0 s Option for motion sickness computations MotionSickness Parameters for motion sickness Exposure time 0 250 days Option for slamming wetness or emergence computations WetnessEmerge Parameters for slamming wetness or emergence statistics Duration 1 000 hours Exceedence probability 0 010000 SHIP LOADING CONDITION Load Condition Properties for Trimmed Ship Summary of hydr
269. waves Motion predictions are available in both the time domain and the frequency domain For predictions in the time domain the ship can be freely maneuvering in either calm water or in waves This report serves as a user manual for computing ship motions using Version 3 A companion report provides a user manual for creating ship models required as input for computing motions ShipMo3D Version 3 introduces capabilities for modelling U tube tanks and sloshing tanks Significance of Results ShipMo3D continues to be suitable for providing predic tions of ship motions in waves These simulations can be used for various applications including engineering analysis operations analysis and training Future Plans ShipMo3D Version 3 will be incorporated into simulations modelling naval platform systems using the High Level Architecture DRDC Atlantic TM 2011 308 iii Sommaire ShipMo3D Version 3 0 User Manual for Computing Ship Motions in the Time and Frequency Domains Kevin McTaggart DRDC Atlantic TM 2011 308 R amp D pour la d fense Canada Atlantique d cembre 2011 Introduction Les mouvements de navires ont une influence sur le rendement et la s curit du personnel et des systemes navals Par cons quent les pr visions des mou vements de navires sont souvent utilis es en appui 8 la conception et a l exploitation des navires L analyse du domaine temporel est requise pour mod liser les mouve ments si un navire manoeu
270. way based on Bretschneider wave spectrum JONSWAP Random seaway based on JONSWAP wave spectrum OchiHubble Random seaway based on Ochi and Hubble six parameter wave spectrum Input Random seaway based on user input wave spectrum Record 9f1 Unidirectional Bretschneider Spectrum Seaway Parame ters This record is required if uniSpectrumOption in Record 9f is set to Bretschneider BretParam hs tp 1 character string 2 floats BretParam Record tag hs Significant wave height m tp Peak wave period s Record 9f2 Unidirectional JONSWAP Spectrum Seaway Parameters This record is required if uniSpectrumOption in Record 9f is set to JONSWAP JONSWAPParam hs tp peakEnhance 1 character string 3 floats JONSWAPParam hs tp peakEnhance Record tag Significant wave height m Peak wave period s Peak enhancement factor This factor can be set to 3 3 to match a 2 parameter JONSWAP spectrum DRDC Atlantic TM 2011 308 41 Record 913 Unidirectional Ochi Hubble Spectrum Parameters This record is required if uniSpectrumOption in Record 9f is set to OchiHubble OchiHubbleParam waveHeadingFromDeg hs1 freqPeak1 spectralShapel hs2 freqPeak2 spectralShape2 1 character string 6 floats OchiHubbleParam Record tag hs1 Significant wave height h _ of wave system 1 m freqPeak1 Peak wave frequency w _ of wave system 1 rad s spectralShapel

ShipMo3D Version 3.0 User Manual for Computing Ship Motions in

Contents

Download Pdf Manuals

Related Search

Related Contents