Offshore
Hydromechanics
Module 1
Dr. ir. Pepijn de Jong
1. Intro, Hydrostatics and Stability
Introduction
OE4630d1 Offshore Hydromechanics Module 1
• [Link]. Pepijn de Jong
Assistant Prof. at Ship Hydromechanics & Structures, 3mE
• Book: Offshore Hydromechanics by Journée and Massie
• At Marysa Dunant (secretary), or download at [Link]
2
Introduction
OE4630d1 Offshore Hydromechanics Module 1
• Communication via Blackboard
• Exam (date&place may be subject of change!)
• Formula sheet comes with exam, however...
• Closed book
• Don't forget to subscribe!
3
Introduction
Overview
Tutorial Lecture Online Assignments
Week date time location topic date time location topic deadline topic
8:45- Intro, Hydrostatics,
2 11-Sep 3mE-CZ B
10:30 Stability
8:45- DW-Room Hydrostatics,
3 18-Sep
10:30 2 Stability
8:45- TN- Hydrostatics, 8:45- Hydrostatics,
4 23-Sep 25-Sep 3mE-CZ B Potential Flows 27-Sep
10:30 TZ4.25 Stability 10:30 Stability
8:45-
5 02-Oct 3mE-CZ B Potential Flows
10:30
8:45- TN- 8:45-
6 07-Oct Potential Flows 09-Oct 3mE-CZ B Real Flows 11-Oct Potential Flows
10:30 TZ4.25 10:30
8:45- TN- 8:45-
7 14-Oct Real Flows 16-Oct 3mE-CZ B Real Flows, Waves 18-Oct Real Flows
10:30 TZ4.25 10:30
8:45-
8 23-Oct 3mE-CZ B Waves 25-Oct Waves
10:30
9:00- TN-
Exam 30-Oct Exam
12:00 TZ4.25
4
Introduction
Assignments
• Online on Blackboard
• Automatic
• Feedback included
• 4 series with deadlines:
• Hydrostatics & Stability
• Potential Flow
• Real Flows
• Waves
• First series and details follow later this week
• Regular exercises and old exams on Blackboard
5
Introduction
Topics of Module 1
• Problems of interest Chapter 1
• Hydrostatics Chapter 2
• Floating stability Chapter 2
• Constant potential flows Chapter 3
• Constant real flows Chapter 4
• Waves Chapter 5
6
Contents
Lecture 1
• Introduction Module 1 done
• Problems of interest (Chapter 1) next up
• Hydrostatics (Chapter 2)
• Floating stability (Chapter 2)
7
Learning Objectives
Chapter 1
• Describe the field of application for hydromechanics in the
offshore industry
• Know the definition of ship motions
8
Chapter 1
Coordinate system and ship motions
heave
yaw
sway
pitch
O,G
surge
roll
9
Contents
Lecture 1
• Introduction Module 1 done
• Problems of interest (Chapter 1) done
• Hydrostatics (Chapter 2) next up
• Floating stability (Chapter 2)
10
Learning Objectives
Chapter 2
• To carry out and analyse hydrostatic and floating stability
computations at a superior knowledge level, including the effect
of shifting loads and fluids in partially filled tanks
11
Hydrostatics
Naming Conventions Ship Dimensions
L Length
B Beam/width
𝑇
D Depth
T Draft
𝐷 𝐿
12
Hydrostatics
Hydrostatic pressure
𝑝0 𝑑𝑥𝑑𝑦
𝑑𝑥 𝑑𝑦
𝑝0 𝑑𝑥𝑑𝑦 + ρ𝑔𝑧𝑑𝑥𝑑𝑦 = 𝑝𝑑𝑥𝑑𝑦
𝑊 = ρ𝑔𝑧𝑑𝑥𝑑𝑦 𝑧
𝑝 = 𝑝0 + ρ𝑔𝑧
𝑝𝑑𝑥𝑑𝑦
13
Hydrostatics
Hydrostatic pressure
𝑧
𝑝 = ρ𝑔𝑧
14
Hydrostatics
Hydrostatic pressure
Which one has the largest pressure on its bottom?
15
Hydrostatics
Hydrostatic paradox
16
Hydrostatics
Hydrostatic paradox
17
Hydrostatics
Hydrostatic paradox
18
Hydrostatics
Archimedes Law and Buoyancy
• The weight of an floating body is equal to the weight of the fluid
it displaces
• Displacement of a floating body:
The amount of fluid the body displaces often expressed in terms
of mass or volume:
g
• Weight of displacement [N]
• g Gravity accel. [m/s2] 9.81
• Density [kg/m3] 1025
• Volume of displacement [m3]
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Hydrostatics
Archimedes Law 'proof' 𝑧
• Replace volume by solid body: 𝑦
𝑑𝑥 𝑑𝑦
Horizontal forces cancel
𝑝 = ρ𝑔𝑧 → 𝐹 = ρ𝑔𝑧𝑑𝑥𝑑𝑦 → 𝐹 = ρ𝑔𝛻
20
Hydrostatics
Archimedes Law and Buoyancy
• The weight of an floating body is equal to the weight of the fluid
it displaces
• Displacement of a floating body:
The amount of fluid the body displaces often expressed in terms
of mass or volume:
g
• Weight of displacement [N]
• g Gravity accel. [m/s2] 9.81
• Density [kg/m3] 1025
• Volume of displacement [m3]
21
Hydrostatics
Archimedes Law and Buoyancy
• Two ways of looking at buoyancy:
1. As distributed force Δ = ρ𝑔𝛻
2. The result of external (hydrostatic) pressure on the interfaces
• Illustration: drill string suspended in a well with mud
22
Hydrostatics
Example: drill string in mud
Steel drilling pipe
ρ𝑠
Sea bed
Drill hole
filled with
drilling
mud
𝐿
ρ𝑚
Drilling mud
23
Hydrostatics
2 Consider buoyancy result of pressures
24
Hydrostatics
1 Consider distributed buoyant force
𝐿 𝑧
𝑇𝑒 = ρ𝑠 𝑔𝐴 𝐿 − 𝑧 − ρ𝑚 𝑔𝐴 𝐿 − 𝑧
Steel drilling pipe ρ𝑠
𝑇𝑒 = ρ𝑠 − ρ𝑚 𝑔𝐴 𝐿 − 𝑧
Drilling mud ρ𝑚
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Hydrostatics
1 Consider distributed buoyant force
𝐹𝑜𝑟𝑐𝑒
0 ∧ 𝑝𝑟𝑒𝑠𝑠𝑢𝑟𝑒
𝑧
𝑇𝑒𝑚𝑢𝑑
𝐿
𝑧
𝑇𝑒𝑎𝑖𝑟
𝑇𝑒𝑚𝑢𝑑 = ρ𝑠 − ρ𝑚 𝑔𝐴 𝐿 − 𝑧
Do you agree with this situation?? 𝑇𝑒𝑎𝑖𝑟 = ρ𝑠 𝑔𝐴 𝐿 − 𝑧
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Hydrostatics
2 Consider buoyancy result of pressures
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Hydrostatics
2 Consider buoyancy result of pressures
𝑧
𝐿
𝑇 = ρ𝑠 𝑔𝐴 𝐿 − 𝑧 − ρ𝑚 𝑔𝐴𝐿
𝐹 = ρ𝑚 𝑔𝐴𝐿
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𝑇𝑟𝑒𝑎𝑙𝑚𝑢𝑑 = ρ𝑠 𝑔𝐴 𝐿 − 𝑧 − ρ𝑚 𝑔𝐴𝐿
Hydrostatics 𝑇𝑒𝑚𝑢𝑑 = ρ𝑠 − ρ𝑚 𝑔𝐴 𝐿 − 𝑧
Comparison 𝑇𝑒𝑎𝑖𝑟 = ρ𝑠 𝑔𝐴 𝐿 − 𝑧
𝐹𝑜𝑟𝑐𝑒
0 ∧ 𝑝𝑟𝑒𝑠𝑠𝑢𝑟𝑒
𝑇𝑟𝑒𝑎𝑙𝑚𝑢𝑑
𝑇𝑒𝑚𝑢𝑑
𝐿
𝑧
𝑇𝑒𝑎𝑖𝑟
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Contents
Lecture 1
• Introduction Module 1 done
• Problems of interest (Chapter 1) done
• Hydrostatics (Chapter 2) done
• Floating stability (Chapter 2) next up
30
Floating stability
Definition
• All properties that floating structures exhibit when perturbed
from their equilibrium state
• A ‘stable’ ship quickly restores its equilibrium when perturbation
is removed
• Often we wish for:
• A stable working platform, i.e. a platform that does not move too
much in waves
• Is this the same property?
• Do we always desire maximum stability?
31
Floating stability
Example
[1]
32
Floating stability
Example
[2]
33
Floating stability
Example
[3]
34
Floating stability
Equilibrium states
unstable indifferent stable
negative neutral positive
35
Floating stability
Equilibrium for floating structures
vertical horizontal rotational
36
Floating stability
Center of buoyancy and center of gravity
B point about which first moment of submerged volume = 0
G point about which first moment of mass or weight = 0
37
Floating stability
First moment of area/volume/mass/...
𝑦 𝑑𝑢
𝑢
𝑥1 𝑥2
𝑑𝑥
𝑥
38
Floating stability
First moment of area/volume/mass/...
Area:
𝑑𝐴 = 𝑦𝑑𝑥
𝑥2
𝐴= 𝑦 𝑑𝑥
𝑦 𝑑𝑢 𝑥1
𝑢
𝑥1 𝑥2
𝑑𝑥
𝑥
39
Floating stability
First moment of area/volume/mass/...
Static moment:
𝑑𝑠𝑥 = 𝑢𝑑𝑢𝑑𝑥
𝑦
𝑑𝑆𝑥 = 𝑢 𝑑𝑢𝑑𝑥 = 1 2 𝑦 2 𝑑𝑥
𝑦 𝑑𝑢 𝑜
𝑥2
𝑢
𝑆𝑥 = 1 2 𝑦 2 𝑑𝑥
𝑥1 𝑥2 𝑥1
𝑑𝑥
𝑥
40
Floating stability
First moment of area/volume/mass/...
Static moment:
𝑑𝑆𝑦 = 𝑥𝑦𝑑𝑥
𝑥2
𝑆𝑦 = 𝑥 𝑦𝑑𝑥
𝑦 𝑑𝑢 𝑥1
𝑢
𝑥1 𝑥2
𝑑𝑥
𝑥
41
Floating stability
First moment of area/volume/mass/...
Center of area
𝑆𝑥
𝑦𝐴 =
𝐴
𝑑𝑢 𝑆𝑦
𝑦 𝑥𝐴 =
𝐴
𝑢
𝑥1 𝑥2
𝑑𝑥
𝑥
42
Floating stability
Center of buoyancy and center of gravity
𝐷 𝐵
𝑇
𝐾𝐵 =?
𝐾𝐺 =?
𝐾
43
Floating stability
Center of buoyancy and center of gravity
Length:
𝐵𝑑𝑒𝑐𝑘 𝐻𝑑𝑒𝑐𝑘
𝐿
𝐵𝑙𝑒𝑔 𝐻𝑙𝑒𝑔
𝐷 𝐵
𝑇
𝐵𝑓𝑙𝑜𝑎𝑡
𝐻𝑓𝑙𝑜𝑎𝑡 𝐾𝐵 =?
𝐾 𝐾𝐺 =?
44
Floating stability
Stability moment
φ
45
Floating stability
Stability moment
φ
Emerged wedge 𝐺
Immersed wedge
46
Floating stab.
Stability moment
φ
𝐵 𝐵φ
′
𝐵φ
47
Floating stab. 𝑀, 𝑁φ Metacenter
𝐵 𝐵φ
ρ𝑔𝛻
𝐾
48
Floating stab. 𝑀, 𝑁φ Metacenter
Stability moment
φ
𝐺 𝑍φ
𝐵 𝐵φ
ρ𝑔𝛻
𝐾
49
Floating stab. 𝑀, 𝑁φ
Stability moment
φ
𝑀𝑠 = 𝐺𝑍φ ρ𝑔𝛻
𝑊 𝐺𝑍φ = 𝐺𝑁φ sinφ
𝐺 𝑍φ
𝐵 𝐵φ
ρ𝑔𝛻
𝐾
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Floating stab. 𝑀, 𝑁φ
Stability moment
φ
𝑀𝑠 = 𝐺𝑍φ ρ𝑔𝛻
𝑊 𝐺𝑍φ = 𝐺𝑁φ sinφ
𝐺 𝑍φ
𝐵 𝐵φ
We need to find:
ρ𝑔𝛻 𝐺𝑀, 𝐺𝑁φ
𝐾
Metacenter
height
51
Floating stab. 𝑀, 𝑁φ
Metacenter height
𝐺 𝑍φ
𝐵 𝐵φ
GM = KB + BM - KG
52
Floating stability
Metacenter height
• KB en KG straightforward GM = KB + BM - KG
• BM more complicated:
• Determined by shift of B sideways and up
• Three 'methods':
• Initial stability: wall sided ship and sideways shift of B
• Scribanti: wall sided ship and B shifts sideways and up
• 'Real ship': determine GZ curve for actual shape
53
Floating stability
Shift of mass or volume center
𝑦 Total mass: 𝑚
𝑝
𝐺𝑝0
𝐺0
𝐺𝑚−𝑝
𝑥
54
Floating stability
Shift of mass or volume center
𝑝
𝑑 𝐺𝑝1
𝑝
𝑝⋅𝑑
𝐺𝑝0 𝐺0 𝐺1 =
𝑚
𝑏
𝐺1 𝑑 ∥ 𝐺0 𝐺1
𝐺0
𝑎
𝐺𝑚−𝑝
𝑥
55
Floating stab. 𝑁φ
𝑀
BM, BN ′ 𝐵φ
𝑀𝑁φ = 𝐵φ
φ
𝐵𝐵φ′
𝐵𝑀 =
tanφ
𝑧𝑒 𝐺
𝑧𝑖
𝐵 𝐵φ 𝑧′𝑖
′
𝐵φ
56
Floating stab. 𝑁φ
𝑀 Working out on blackboard...
BM, BN ′ 𝐵φ
𝑀𝑁φ = 𝐵φ
𝑦
φ
𝐵𝐵φ′
𝑦 𝐵𝑀 =
tanφ
𝑦 ∙ tanφ 𝑧𝑒 𝐺
𝑧𝑖 𝑦 ∙ tanφ
𝐵 𝐵φ 𝑧′𝑖
′
𝐵φ
57
Floating stability
BM, BN 𝐼𝑡
𝐿 𝐿
2 0
1 3 𝑦 3 𝑑𝑥 12 0
1 3 𝑦 3 𝑑𝑥
′ =
𝐵𝐵φ tanφ ′ 𝐵φ =
𝐵φ tan2 φ
𝛻 2 𝛻
𝐵𝐵φ′ 𝐼𝑡 1 2
𝐼𝑡
𝐵𝑀 = = 𝑀𝑁φ = tan φ
tanφ 𝛻 2 𝛻
58
Floating stability
Metacenter height
• For small heeling angles (<5 to 10 degrees): Initial
stability
𝐼𝑡
𝐺𝑀 = 𝐾𝐵 + 𝐵𝑀 − 𝐾𝐺 = 𝐾𝐵 + − 𝐾𝐺
𝛻
• For slightly larger heeling angles (5 to 15 degrees): Scribanti
𝐼𝑡
𝐺𝑀 = 𝐾𝐵 + 𝐵𝑁φ − 𝐾𝐺 = 𝐾𝐵 + 1 + 1 2 tan2 φ − 𝐾𝐺
𝛻
• Exact?
• For large heeling angles (> 10 to 15 degrees)
• Need of more accurate description: GZ curve
59
Floating stability
Second moment of area: moment of inertia of area
𝑦
𝑑𝐼𝑥𝑥 = 𝑢2 𝑑𝑢𝑑𝑥 = 1 3 𝑦 3 𝑑𝑥
0
𝑥2
𝐼𝑥𝑥 = 1 𝑦 3 𝑑𝑥
𝑦 𝑑𝑢 3
𝑥1
𝑢
𝑥1 𝑥2
𝑑𝑥
𝑥
60
Floating stability
Moment of inertia of water plane area
𝐼𝑡 = 1 3 𝑦 3 𝑑𝑥
0
0 𝐿 𝑥
61
Floating stability
Moment of inertia of water plane area
0 𝐼𝑡 = 2 1 3 𝑦 3 𝑑𝑥 𝐿 𝑥
0
62
Floating stability
Moment of inertia of water plane area
𝑦
𝐵 2
0 𝐿 𝑥
𝐵 2
𝐿𝐵3
𝐼𝑡 =
12
63
Floating stability
Moment of inertia of water plane area
𝑦
2b
0 𝑥
2a
π 3
𝐼𝑡 = 𝑎𝑏
6
64
Floating stability
Moment of inertia of water plane area
𝑦
𝐷 = 2R
𝑅
0 𝑥
π 4 π 4
𝐼𝑡 = 𝑅 = 𝐷
4 64
65
Floating stability
Moment of inertia of waterplane area
𝑦
𝐵
𝑑
𝐿𝐵3 Steiner's
𝐼𝑡 = 2 + 2𝐿𝐵𝑑 2
12 theorem!
0 𝐿 𝑥
𝐵
−𝑑
66
Floating stability
Moment of inertia of water plane area
𝑦
𝐵
𝑑
Etcetera
0 𝐿 𝑥
𝐵
−𝑑
67
Floating stability
Questions
• How do submerged bodies remain
stable?
• How to increase stability?
• Why shape semi-submersibles?
[5]
[4]
68
Sources images
[1] Topside is skidded onto the HYSY229 launch barge, source: Dockwise Ltd.
[2] Topside, source: DTK offshore
[3] The WindFloat prototype operating 5km offshore in Portugal at a water depth of 50m, picture
credit: Principle Power
[4] Pacific Ocean, (Jun 4, 1998) The attack submarine USS Columbus (SSN 762) home ported at
Naval Station Pearl Harbor, Hawaii, conducts an emergency surface training exercise, 35 miles off
the coast of Oahu, HI., source: U.S. Navy photo by Photographer's Mate 2nd Class David C.
Duncan/Commons Wikimedia
[5] Source: A.B.S. Model (S) Pte Ltd
69