//SYS21///INTEGRA/BST/VOL2/REVISES 31-7-2001/BSTA01.3D ± 1 ± [1±22/22] 31.7.2001 5:52PM Basic Ship Theory //SYS21///INTEGRA/BST/VOL2/REVISES 31-7-2001/BSTA01.3D ± 2 ± [1±22/22] 31.7.2001 5:52PM //SYS21///INTEGRA/BST/VOL2/REVISES 31-7-2001/BSTA01.3D ± 3 ± [1±22/22] 31.7.2001 5:52PM Basic Ship Theory K.J. Rawson MSc, DEng, FEng, RCNC, FRINA, WhSch E.C. Tupper BSc, CEng, RCNC, FRINA, WhSch Fifth edition Volume 2 Chapters 10 to 16 Ship Dynamics and Design OXFOR D AUCKLAND BOST ON JOHANNESBURG MELBOURNE NEW DELHI //SYS21///INTEGRA/BST/VOL2/REVISES 31-7-2001/BSTA01.3D ± 4 ± [1±22/22] 31.7.2001 5:52PM Butterworth-Heinemann Linacre House, Jordan Hill, Oxford OX2 8DP 225 Wildwood Avenue, Woburn, MA 01801-2041 A division of Reed Educational and Professional Publishing Ltd A member of the Reed Elsevier plc group First published by Longman Group Limited 1968 Second edition 1976 (in two volumes) Third edition 1983 Fourth edition 1994 Fifth edition 2001 # K.J. Rawson and E.C. Tupper 2001 All rights reserved. No part of this publication may be reproduced in any material form (including photocopying or storing in any medium by electronic means and whether or not transiently or incidentally to some other use of this publication) without the written permission of the copyright holder except in accordance with the provisions of the Copyright, Designs and Patents Act 1988 or under the terms of a licence issued by the Copyright Licensing Agency Ltd, 90 Tottenham Court Road, London, England W1P 0LP. Applications for the copyright holder's written permission to reproduce any part of this publication should be addressed to the publishers British Library Cataloguing in Publication Data Rawson, K. J. (Kenneth John), 1926± Basic ship theory. ± 5th ed. Vol. 2, ch. 10±16: Ship dynamics and design K. J. Rawson, E. C. Tupper 1. Naval architecture 2. Shipbuilding I. Title II. Tupper, E. C. (Eric Charles), 1928± 623.8 H 1 Library of Congress Cataloguing in Publication Data A catalogue copy of this book is available from the Library of Congress ISBN 0 7506 5397 3 For information on all Butterworth-Heinemann publications visit our website at www.bh.com Typeset in India by Integra Software Services Pvt Ltd, Pondicherry, India 605005; www.integra-india.com //SYS21///INTEGRA/BST/VOL2/REVISES 31-7-2001/BSTA01.3D ± 5 ± [1±22/22] 31.7.2001 5:52PM Contents Volume 1 Foreword to the ®fth edition Acknowledgements Introduction Symbols and nomenclature 1 Art or science? 2 Some tools 3 Flotation and trim 4 Stability 5 Hazards and protection 6 The ship girder 7 Structural design and analysis 8 Launching and docking 9 The ship environment and human factors Bibliography Answers to problems Index Volume 2 Foreword to the ®fth edition xi Acknowledgements xiii Introduction xiv References and the Internet xvii Symbols and nomenclature xviii General xviii Geometry of ship xix Propeller geometry xix Resistance and propulsion xix Seakeeping xx Manoeuvrability xxi Strength xxi Notes xxii v //SYS21///INTEGRA/BST/VOL2/REVISES 31-7-2001/BSTA01.3D ± 6 ± [1±22/22] 31.7.2001 5:52PM 10 Powering of ships: general principles 381 Fluid dynamics 382 Components of resistance and propulsion 384 Eective power 385 Types of resistance 386 Wave-making resistance 387 Frictional resistance 390 Viscous pressure resistance 393 Air resistance 393 Appendage resistance 394 Residuary resistance 394 The propulsion device 395 The screw propeller 395 Special types of propeller 398 Alternative means of propulsion 401 Momentum theory applied to the screw propeller 403 The blade element approach 404 Cavitation 407 Singing 408 Interaction between the ship and propeller 408 Hull eciency 410 Overall propulsive eciency 410 Ship±model correlation 412 Model testing 413 Resistance tests 413 Resistance test facilities and techniques 414 Model determination of hull eciency elements 415 Propeller tests in open water 417 Cavitation tunnel tests 417 Depressurized towing tank 418 Circulating water channels 418 Ship trials 419 Speed trials 419 Cavitation viewing trials 420 Service trials 421 Experiments at full scale 421 Summary 423 Problems 423 11 Powering of ships: application 427 Presentation of data 427 Resistance data 427 Propeller data 432 Power estimation 434 Resistance prediction 434 Appendage resistance 436 vi Contents //SYS21///INTEGRA/BST/VOL2/REVISES 31-7-2001/BSTA01.3D ± 7 ± [1±22/22] 31.7.2001 5:52PM 1978 ITTC performance prediction method 438 Eect of small changes of dimensions 440 Variation of skin frictional resistance with time out of dock 442 Resistance in shallow water 443 Calculation of wind resistance 445 Propeller design 449 Choice of propeller dimensions 449 Propeller design diagram 453 Cavitation 460 In¯uence of form on resistance 460 Reducing wave-making resistance 462 Boundary layer control 463 Compatibility of machinery and propeller 463 Strength of propellers 463 Eect of speed on endurance 464 Computational ¯uid dynamics 466 Summary 468 Problems 468 12 Seakeeping 473 Seakeeping qualities 473 Ship motions 475 Undamped motion in still water 476 Damped motion in still water 478 Approximate period of roll 479 Motion in regular waves 480 Presentation of motion data 484 Motion in irregular seas 486 Motion in oblique seas 492 Surge, sway and yaw 492 Limiting seakeeping criteria 495 Speed and power in waves 495 Slamming 497 Wetness 500 Propeller emergence 501 Degradation of human performance 502 Overall seakeeping performance 503 Acquiring data for seakeeping assessments 506 Selection of wave data 507 Obtaining response amplitude operators 510 Non-linear eects 517 Frequency domain and time domain simulations 518 Improving seakeeping performance 520 In¯uence of form on seakeeping 521 Ship stabilization 522 Contents vii //SYS21///INTEGRA/BST/VOL2/REVISES 31-7-2001/BSTA01.3D ± 8 ± [1±22/22] 31.7.2001 5:52PM Experiments and trials 531 Test facilities 531 Conduct of ship trials 532 Stabilizer trials 534 Problems 534 13 Manoeuvrability 539 General concepts 539 Directional stability or dynamic stability of course 540 Stability and control of surface ships 542 The action of a rudder in turning a ship 546 Limitations of theory 547 Assessment of manoeuvrability 547 The turning circle 547 Turning ability 550 The zig-zag manoeuvre 551 The spiral manoeuvre 552 The pull-out manoeuvre 553 Standards for manoeuvring and directional stability 554 Rudder forces and torques 555 Rudder force 555 Centre of pressure position 558 Calculation of force and torque on non-rectangular rudder 560 Experiments and trials 564 Model experiments concerned with turning and manoeuvring 564 Model experiments concerned with directional stability 565 Ship trials 567 Rudder types and systems 568 Types of rudder 568 Bow rudders and lateral thrust units 570 Special rudders and manoeuvring devices 570 Dynamic positioning 574 Automatic control systems 574 Ship handling 575 Turning at slow speed or when stopped 575 Interaction between ships when close aboard 576 Broaching 578 Stability and control of submarines 578 Experiments and trials 582 Design assessment 583 Modifying dynamic stability characteristics 583 Eciency of control surfaces 585 Eect of design parameters on manoeuvring 585 Problems 586 viii Contents //SYS21///INTEGRA/BST/VOL2/REVISES 31-7-2001/BSTA01.3D ± 9 ± [1±22/22] 31.7.2001 5:52PM 14 Major ship design features 590 Machinery 590 Air independent propulsion (AIP) 595 Electrical generation 597 Systems 598 Electrical distribution system 598 Piping systems 599 Air conditioning and ventilation 605 Fuel systems 612 Marine pollution 614 Cathodic protection 615 Equipment 618 Cargo handling 618 Replenishment of provisions 619 Life saving appliances 620 Creating a ®ghting ship 621 General 621 Weapons and ®ghting capabilities 621 Integration of ship, sensors and weapons 623 Accommodation 623 Measurement 626 Problems 630 15 Ship design 633 Objectives 634 Economics 635 Cost eectiveness 637 Boundaries 639 Economic, ethical and social boundaries 639 Geographical, organizational and industrial boundaries 640 Time and system boundaries 640 Creativity 641 Iteration in design 642 Design phases 644 Prime parameters 645 Parametric studies 649 Feasibility studies 652 Full design 654 Computer-aided design (CAD) 659 Design for the life intended 661 Design for use 661 Design for production 663 Design for availability 663 Design for support 667 Design for modernization 667 Contents ix //SYS21///INTEGRA/BST/VOL2/REVISES 31-7-2001/BSTA01.3D ± 10 ± [1±22/22] 31.7.2001 5:52PM The safety case 668 Conclusion 669 16 Particular ship types 671 Passenger ships 671 Ferries and RoRo ships 673 Aircraft carriers 675 Bulk cargo carriers 678 Submarines 681 Commercial submarines 686 Container ships 687 Frigates and destroyers 688 High speed small craft 691 Monohulls 692 Multi-hulled vessels 692 Surface eect vehicles 694 Hydrofoil craft 698 In¯atables 700 Comparison of types 701 Oshore engineering 701 Tugs 704 Fishing vessels 706 Yachts 708 AnnexÐThe Froude `constant' notation (1888) 711 Bibliography 720 Answers to problems 723 Index 725 x Contents [...]... 0: 025 4 m 1609:344 m 1853:18 m Area 1 in2 1 ft2 1 yd2 1 mile2 645:16  10À6 m2 0:0 929 03 m2 0:836 127 m2 2: 58999  106 m2 Volume 1 in3 1 ft3 1 UK gal 16:3871  10À6 m3 0: 028 3168 m3 0:0045460 92 m3 ˆ 4:5460 92 litres Velocity 1 ft/s 1 mile/hr 1 knot (UK) 1 knot (International) 0:3048 m=s 0:44704 m=s; 1:60934 km=hr 0:51477 m=s; 1:85318 km=hr 0:51444 m=s; 1:8 52 km=hr Standard acceleration, g 32: 174 ft=s2 9:80665... 9:80665 m=s2 3 Preferred SI value 9:807 m=s2 Mass density salt water 64 lb=ft 35 ft3 =ton 1: 025 2 tonne=m 0:9754 m3 =tonne 1: 025 tonne=m3 0:975 m3 =tonne Mass density fresh water 62: 2 lb=ft3 36 ft3 =ton 0:9964 tonne=m3 1:0033 m3 =tonne 1:0 tonne=m3 1:0 m3=tonne Young's modulus, E (Steel) 13;500 tonf=in2 2: 0855  107 N=cm2 20 9 GN=m2 or GPa 101,353 N=m2 10:1353 N=cm2 105 N=m2 or Pa or 1:0 bar 1: 025 Aw tonnef=m... International Maritime Organisation and the International Towing Tank Conferences xiii //SYS21///INTEGRA/BST/VOL2/REVISES 31-7 -20 01/BSTA01.3D ± 14 ± [1 22 /22 ] 31.7 .20 01 5:52PM Introduction Volume 1 of Basic Ship Theory has presented fundamental work on ship shape, static behaviour, hazards and protection and upon ship strength It has also described in detail the environment in which marine vehicles have... acceleration, g 32: 174 ft=s2 9:80665 m=s2 Mass 1 lb 1 ton 0:4535 923 7 kg 1016:05 kg ˆ 1:01605 tonnes Mass density 1 lb=in3 1 lb=ft3 27 :6799  103 kg=m3 16:0185 kg=m3 Force 1 pdl 1 lbf 0:13 825 5 N 4:44 822 N Pressure 1 lbf=in2 6894:76 N=m2 ; 0:0689476 bars Stress 1 tonf=in2 15:4443  106 N=m2 15:4443 MPa or N=mm2 Energy 1 ft pdl 1 ft lbf 1 cal 1 Btu 0:0 421 401 J 1:355 82 J 4:1868 J 1055:06 J Power 1 hp 745.700... velocity square metre cubic metre kilogramme per cubic metre metre per second radian per second m2 m3 kg=m3 m=s rad=s xiv //SYS21///INTEGRA/BST/VOL2/REVISES 31-7 -20 01/BSTA01.3D ± 15 ± [1 22 /22 ] 31.7 .20 01 5:52PM Introduction xv m=s2 rad=s2 N=m2 N=m N s=m2 m2=s W=(m  K) Acceleration Angular acceleration Pressure, Stress Surface tension Dynamic viscosity Kinematic viscosity Thermal conductivity metre... xH ˆ x=1 L2 V 2 , LH ˆ L=1 L3 V 2 2 2 2 (c) A lower case subscript is used to denote the denominator of a partial derivative, e.g Yu ˆ @Y=@u • (d ) For derivatives with respect to time the dot notation is used, e.g x ˆ dx=dt //SYS21///INTEGRA/BST/VOL2/REVISES 31-7 -20 01/BSTC10.3D ± 381 ± [381± 426 /46] 30.7 .20 01 3:46PM 10 Powering of ships: general principles The power required to drive a ship through... 25 1 m=min  35:6 kN  1 min ˆ 149 kW 60 s 2 A 6000 tonnef destroyer develops a total power of 44.74 MW at 30 knots Assuming that the e€ective power is 50 per cent of this total power, calculate the resistance of its naked hull EXAMPLE //SYS21///INTEGRA/BST/VOL2/REVISES 31-7 -20 01/BSTC10.3D ± 386 ± [381± 426 /46] 30.7 .20 01 3:46PM 386 Basic ship theory Solution: PE ˆ 1  44:74 ˆ 22 :37 MW 2   30  18 52. .. forward with the speed of the pressure point (Fig 10 .2) Fig 10 .2 Wave system associated with moving pressure point //SYS21///INTEGRA/BST/VOL2/REVISES 31-7 -20 01/BSTC10.3D ± 388 ± [381± 426 /46] 30.7 .20 01 3:46PM 388 Basic ship theory Fig 10.3 Ship wave pattern The wave system associated with a ship is more complicated To a ®rst approximation, however, the ship can be considered as composed of a moving pressure... cannot be used directly for assessing her maximum power Clearly, this method is not valid when a new ship form is introduced such as the SWATH (Small Waterplane Twin Hull) ship or the trimaran 381 //SYS21///INTEGRA/BST/VOL2/REVISES 31-7 -20 01/BSTC10.3D ± 3 82 ± [381± 426 /46] 30.7 .20 01 3:46PM 3 82 Basic ship theory Theory has been used as an aid to more practical methods and continues to develop Computational... follows: R is termed the resistance coecient V 2 L2 VD VL or is termed the Reynolds' number (the ratio = is called the   kinematic viscosity and is represented by v) p V V or p is termed the Froude number (gD) (gL) //SYS21///INTEGRA/BST/VOL2/REVISES 31-7 -20 01/BSTC10.3D ± 384 ± [381± 426 /46] 30.7 .20 01 3:46PM 384 Basic ship theory V a  gL2 pI À pv V 2 9 is termed the Mach number > These two quantities . buoyancy C B block coecient C M midship section coecient C P longitudinal prismatic coecient C VP vertical prismatic coecient C WP coecient of ®neness. coe. C T speci c total resistance coe. C W speci c wave-making resistance coe. D drag force F n Froude number I idle resistance J advance number of propeller K Q torque