Acta Mechanica 181, 31–42 (2006)

Acta Mechanica
DOI 10.1007/s00707-005-0277-4 Printed in Austria

Modelling and analysis of coupled nonlinear

oscillations of a floating body in two degrees
of freedom
S. K. Das and S. N. Das, Pune, India

Received March 1, 2005; revised June 27, 2005

Published online: November 7, 2005 Ó Springer-Verlag 2005

Summary. We describe a mathematical model to investigate the effect of coupled nonlinear oscillations of
a floating body in time domain under the influence of sinusoidal waves. To account for hydrodynamic
forces, a mathematical formulation for added mass moments of inertia, damping and restoring moments is
presented for roll and yaw. Using perturbation technique, we obtain order wise solutions in the normalized
domain wherein the assumption on small distortion holds. On applying Laplace transform, a zeroth-order
solution is obtained in closed form whereas for higher order solutions we resort to the Runge-Kutta
method with adaptive step size algorithm. For analyzing the model result we perform numerical experi-
ments for a vessel of mass 19190 tons under the action of a beam wave of frequency 0.74 rad/sec and 1.0 m
wave height. The validity of the numerical scheme is checked by comparing with the analytical solution for
uncoupled zeroth-order roll and then we proceed to examine the effect of coupled behavior of roll and yaw
for higher-order approximations. The inter-dependence between wave frequency (x), system frequency (b)
and damping factor (f) is obtained to reveal system stability. Model results indicate an artificial increase in
amplitude for uncoupled roll, and also emphasize the contribution of viscous damping in roll in contrast to
added mass in yaw.

1 Introduction

The nonlinear oscillations of a floating body and evaluation of associated hydrodynamic

coefficients for coupled motions are having considerable practical importance. Extensive studies
on this subject by considering nonlinear oscillations and rolling in particular have been per-
formed by Nayfeh and Mook [1], Nayfeh et al. [2] and Nayfeh and Khdeir [3] by using
perturbation analysis [4]. Salvesen et al. [5] made a comprehensive evaluation to predict the
motion of a ship in six degrees of freedom considering constant hydrodynamic coefficients.
Santos et al. [6] have reported time dependent modelling of six nonlinear coupled motions for
flooding in ships through experiment and numerical computation. Soylemez [7] has shown that
for large amplitude oscillations of a platform, hydrodynamic coefficients could be nonlinear as
well as time dependent. Recently, Das and Das [8] have studied the harmonic response of a
floating body by developing a mathematical model for coupled sway, roll and yaw motions and
also for its roll resonance [9]. In most of these investigations, hydrodynamic coefficients were
considered as constant, and were obtained on the basis of experimental results of Vugts [10],
and close-fit method of Frank and Salvesen [11].
32 S. K. Das and S. N. Das

In this paper, we consider coupled nonlinear oscillations of roll and yaw motions of a floating
body in sinusoidal seaway where added mass and damping coefficients are time dependent
inter-related entities. We adopt the procedure [5] to obtain integrated sectional added mass and
damping over the length of the body and apply the perturbation method to obtain order wise
solutions. We seek an analytical solution for the zeroth-order case by applying the Laplace
transform technique and compared it with the numerical solution, whereas for higher-order
solution we resort to numerical integration by using the Runge-Kutta method with adaptive
step size algorithm. The effects of coupling on various orders of solution in addition to the
nonlinear contribution from an added mass and damping are discussed by using an analytical
and computational framework.

2 Problem formulation

We consider the oscillations of a freely floating body under the action of an unidirectional
sinusoidal wave. Let (x; y; z) be the Cartesian coordinate system fixed with respect to the mean
position of the body with the origin O, which lies in the plane of the undisturbed free surface
(Fig. 1). The translatory displacements in x-, y- and z-directions with respect to the origin are
g
1 ; g
2 and g
3 indicating surge, sway and heave, respectively. The angular displacements of the
rotational motion about the same set of axes are g
4 ; g
5 and g
6 indicating roll, pitch and yaw,
respectively. As waves pass through any floating body, the mass moment of inertia of the
displaced volume of water may undergo changes with time [12], [13].
Following the assumptions [8], the governing equations are formulated after balancing between
the hydrodynamic and wave excitation forces for roll and yaw in the real time domain as [6], [7]



gi  þ ½Bij ðtÞ½g_
i  þ ½Cij ½g
i  ¼ ½Fj
ðtÞ; i ¼ 4; 6; j ¼ 4; 6;
½Mij  þ ½Aij ðtÞ ½€ ð1Þ
where ½Mij  is the mass matrix, and ½Aij ðtÞ; ½Bij ðtÞ and ½Cij  are the coefficient matrices for
added-mass, damping and restoring terms, respectively. The matrix ½g
i  and ½Fj
ðtÞ, i ¼ 4; 6 are
two unknown angular motions and external forces, respectively.
These coefficient matrices can be defined as
" # " # " #
I4 I46 A44 ðtÞ A46 ðtÞ B44 ðtÞ B46 ðtÞ
½Mij  ¼ ; ½Aij ðtÞ ¼ ; ½Bij ðtÞ ¼ ;
I64 I6 A64 ðtÞ A66 ðtÞ B64 ðtÞ B66 ðtÞ

Heave (h*3)
Z

Yaw (h*6)

Sway (h2*)

O Pitch (h5*)
O

Roll (h4*)
Fig. 1. Sign convention for motion res-
X Surge (h*1)
ponse
Coupled nonlinear oscillations of a floating body 33

" # " # " # " # " #

C44 0   g€
4 g_
4 g
4 F4
ðtÞ
½Cij  ¼ and g€
i ¼ ; ½g_
i  ¼ ; ½g
i  ¼ ; ½Fi
ðtÞ ¼ ; ð2Þ
0 0 g€
6 g_
6 g
6 F6
ðtÞ

where ½g_
i  and ½€

g
i  indicate time derivatives.
The above analysis makes use of the variation in hydrodynamic coefficients to investigate the
effect of coupled motion in two degrees of freedom (roll and yaw) in a normalized domain [14].
Substituting (2) in (1), and normalizing the governing equations with respect to constant virtual
roll added mass (a0 ¼ I4 þ A044 ) and constant reference angle (g0 ), we obtain
a1 ðtÞ€
g4 þ a2 ðtÞg_ 4 þ a3 g4 þ b1 ðtÞ€
g6 þ b2 ðtÞg_ 6 ¼ F4 ðtÞ; ð3Þ

a4 ðtÞ€
g4 þ a5 ðtÞg_ 4 þ b3 ðtÞ€
g6 þ b4 ðtÞg_ 6 ¼ F6 ðtÞ; ð4Þ
where
½I4 þ A44 ðtÞ B44 ðtÞ C44 ½I64 þ A64 ðtÞ
a1 ðtÞ ¼ ; a2 ðtÞ ¼ ; a3 ¼ ; a4 ðtÞ ¼ ;
a0 a0 a0 a0
B64 ðtÞ ½I46 þ A46 ðtÞ B46 ðtÞ ½I6 þ A66 ðtÞ
a5 ðtÞ ¼ ; b1 ðtÞ ¼ ; b2 ðtÞ ¼ ; b3 ðtÞ ¼ ; ð5Þ
a0 a0 a0 a0
B66 ðtÞ F4
ðtÞ F6
ðtÞ g
4 ðtÞ g
6 ðtÞ
b4 ðtÞ ¼ ; F4 ðtÞ ¼ ; F6 ðtÞ ¼ ; g4 ðtÞ ¼ ; g6 ðtÞ ¼ :
a0 a0 g0 a0 g0 g0 g0
The coefficients fða1 ðtÞ; a4 ðtÞÞ; ða2 ðtÞ; a5 ðtÞÞg and fðb1 ðtÞ; b3 ðtÞÞ; ðb2 ðtÞ; b4 ðtÞÞg represent the
time dependent virtual mass and damping moments for roll and yaw, respectively, and a3 is the
restoring coefficient. F4 ðtÞ and F6 ðtÞ are the forcing functions for roll and yaw. Ajk ðtÞ and
Bjk ðtÞ; ðj ¼ 4; 6; k ¼ 4; 6Þ are the added mass and damping cross-coupling coefficients for the
k-th mode coupled to the j-th mode of motion, C44 is the only hydrostatic restoring coefficient
in roll, Ij is the moment of inertia in the j-th mode, and Ijk is the product of inertia.

3 Method of solution

As the virtual mass moment of inertia and the damping coefficients are assumed to vary with
time, we approximate these coefficients by using series expansions where the non-linearity is
weak but the assumption of small distortion still holds. Accordingly, the coefficients of double
derivative terms appearing in Eqs. (3) and (4) are expressed in generalized vector form as
X
1
fvðtÞg ¼ ei fvi g; ð6Þ
i¼0

where

fvðtÞg ¼ fa1 ; b1 ; a4 ; b3 gT ; fvi g ¼ fa1i ; b1i ; a4i ; b3i gT ; i ¼ 0; 1; 2; 3; . . . ð7Þ

and vi ¼ vi ðtÞ when i 6¼ 0. The superscript T indicates the transpose of the row vector. The
series expansion (6) is performed with respect to the small dimensionless oscillation parameter
eð 1Þ. Similarly, the coefficients of first-order derivative terms (damping coefficients) of
Eqs. (3) and (4) are approximated by considering a linear and quadratic angle of dependence
[14], [15],
_ þ jgk ðtÞjw1 ðtÞ þ g2k ðtÞw2 ðtÞ þ jg_ k ðtÞjw3 ðtÞg
wðtÞ ¼ w0 þ efvðtÞ

þ e2 fvðtÞ
_ þ jgk ðtÞjw4 ðtÞ þ g2k ðtÞw5 ðtÞ þ jg_ k ðtÞjw6 ðtÞg þ . . . ; ð8Þ
34 S. K. Das and S. N. Das

where

w ¼ fwðtÞg ¼ fa2 ; b2 ; a5 ; b4 gT ; fwi g ¼ fa2i ; b2i ; a5i ; b4i gT ; i ¼ 0; 1; 2 . . . n ð9Þ

and wi ¼ wi ðtÞ when i 6¼ 0, are the generalized damping coefficients and their components
written in vector form. The motion variables appearing in the damping coefficient represen-
tation (8) assume the following form:
gk ¼ fgk g ¼ fg4 ; g6 ; g4 ; g6 g: ð10Þ
The detail expressions for the damping coefficients are given in Eqs. (A.1) and (A.2). However,
we restrict our analysis up to second-order terms due to the fact that the infinite series given by
Eq. (8) is convergent with respect to the oscillation parameter e. We define the roll restoring
coefficient (a3 ) appearing in Eq. (3) as
a3 ¼ a30 ¼ C44 =a0 ; ð11Þ
where C44 ¼ qgrG M and r is the displaced volume of the following body, G M is the meta-
centric height and q is the mass density of water. For simplicity, we assume that the restoring
coefficient a3 is constant representing only a zeroth-order term. The external forcing functions,
Fi ðtÞ; i ¼ 4; 6, can be approximated as
Fi ðtÞ ¼ Fi0 ðtÞ þ eFi1 ðtÞ þ e2 Fi2 ðtÞ þ . . . ; ð12Þ
where the zeroth-order term corresponding to (12) is expressed as
Fi0 ðtÞ ¼ F i sinðxt þ hÞ; i ¼ 4; 6: ð13Þ
F 4 and F 6 are the amplitudes of the roll and yaw exciting moments, respectively, h is the phase
angle, and x ¼ x
=x0 represents the normalized encountering wave frequency. The amplitudes
of roll and yaw exciting moments for zero forward speed of the body can be expressed in the
following form [5]:
Z
F 4 ¼ aq ðf4 þ h4 Þdn;
Z
F 6 ¼ aq nðf2 þ h2 Þdn; ð14Þ

where a is the amplitude of the incident wave with h ¼ 0; q is the density of water, fi and hi
represent the sectional Froude-Kriloff force and sectional diffraction force, respectively. The
integration has been performed over the length of the vessel.
We employ the perturbation technique to the motion variables based on the assumptions that
the nonlinear terms in the equations of motion are small so that its solution is equal to the
solution of the linear equation plus a series of smaller perturbations, representing small dis-
turbances [1], [13], leading to
gk ðtÞ ¼ gk0 ðtÞ þ egk1 ðtÞ þ e2 gk2 ðtÞ þ . . . : ð15Þ
Substituting Eq. (16) into Eqs. (3) and (4), and separating into powers of e and after algebraic
manipulations, we obtain the order wise equations for roll and yaw as
Roll equations
a10 f€ g6i ðtÞg þ b20 fg_ 6i ðtÞg ¼ fF4i ðtÞg; i ¼ 0; 1; 2;
g4i ðtÞg þ a20 fg_ 4i ðtÞg þ a30 fg4i ðtÞg þ b10 f€ ð16Þ

Yaw equations
a40 f€ g6i ðtÞg þ b40 fg_ 6i ðtÞg ¼ fF6i ðtÞg;
g4i ðtÞg þ a50 fg_ 4i ðtÞg þ b30 f€ i ¼ 0; 1; 2; ð17Þ
Coupled nonlinear oscillations of a floating body 35

where fg4i g ¼ fg40 ; g41 ; g42 gT ; fg6i g ¼ fg60 ; g61 ; g62 gT ; fF4i ðtÞg ¼ fF40 ðtÞ; F41 ðtÞ; F42 ðtÞgT and
fF6i ðtÞg ¼ fF60 ðtÞ; F61 ðtÞ; F62 ðtÞgT for i ¼ 0; 1; 2. The detailed expressions for the first-order
and second-order forcing functions F4i ðtÞ and F6i ðtÞ are given in Eq. (A.3). It is apparent that the
determination of such quantities in the present order requires the knowledge of the hydrody-
namic coefficients of previous orders. For uncoupled motion, Eqs. (3) and (4) are reduced to a
simplified form by setting cross coupling coefficients equal to zero.

4 Analytical approach

To obtain the motion characteristics corresponding to zeroth-order coupled equations, we

apply Laplace transform to the zeroth-order equations (for i ¼ 0) of (16) and (17), yielding
ai f40 ðsÞ þ bi f60 ðsÞ ¼ ci ; i ¼ 1; 2; ð18Þ
where ai , bi and ci are the coefficients in the transformed domain, and f40 ðsÞ and f60 ðsÞ are the
angular displacements in the frequency domain for roll and yaw motions. It may be noted that
Eq. (18) contains two unknowns, which are solved in the frequency domain after performing
tedious mathematical derivations involving the evaluation of determinants, characteristic
equation, and partial fractions of f40 ðsÞ and f60 ðsÞ. However, the damping factor and the
undamped natural frequency of the system could be derived from the characteristic equation to
evaluate stability. While representing f40 ðsÞ and f60 ðsÞ in partial fraction form to employ
inverse Laplace transform, the unknown coefficients appearing in these expressions are eval-
uated by applying Gauss elimination procedure. The detailed mathematical derivations are
omitted here for brevity, however, they can be obtained from the investigation of S. K. Das and
S. N. Das [9]. Finally, the expressions obtained in the frequency domain can be transformed
back to the time domain, yielding
"
1 1 k1 t pffiffiffiffiffiffiffiffiffiffiffiffiffiffi c13  c12 1b 1bt  pffiffiffiffiffiffiffiffiffiffiffiffiffiffi 
g40 ðtÞ ¼ c1 e þ c12 e1bt cosðb 1  12 tÞ þ p ffiffiffiffiffiffiffiffiffiffiffiffiffi e sin b 1  12 t
d3 b 1  12

c1
þ c14 cosð2pxtÞ þ 5 sinð2pxtÞ ; ð19Þ
2px
"
1 2 pffiffiffiffiffiffiffiffiffiffiffiffiffiffi c2  c23 1b 1bt  pffiffiffiffiffiffiffiffiffiffiffiffiffiffi
g60 ðtÞ ¼ c1 þ c22 ek1 t þ c23 e1bt cosðb 1  12 tÞ þ 4pffiffiffiffiffiffiffiffiffiffiffiffiffie sin b 1  12 t
d3 b 1  12

c2
þ c25 cosð2pxtÞ þ 6 sinð2pxtÞ : ð20Þ
2px
Due to the complexity of the forcing functions F4i ðtÞ and F6i ðtÞ involved in the higher order
Equations (16)–(17), the foregoing analytical treatment could not be resorted, instead, we seek
a numerical solution.

5 Numerical computation

In order to perform a numerical computation, a vessel of length 150 m, beam 20.06 m, draught
9.88 m and mass 19,190 tons is considered for which the beam-draught ratio is nearly equal to
two. A regular sinusoidal wave of period 8.5 s, frequency 0.74 rad/s with 1.0 m height acts
36 S. K. Das and S. N. Das

Table 1. Sectional coefficients of the floating body

Wave Sectional coefficients

Frequency Period Sway Roll Sway-roll Sway Roll Sway-roll Sway Roll
rad/s s added added added damping damping damping exciting exciting
mass mass mass force moment

0.74 8.5 0.65 0.055 0.13 1.0 0.02 0.16 1.5 1.2

perpendicularly to the hull of the vessel. The sectional coefficients for added mass, damping,
Froude-Krylov force and diffraction force are obtained on the basis of an experimental study
conducted by Vugts [10] and a theoretical investigation by Salvesen et al. [5] for a vessel with
identical beam draft ratio (Table 1). We consider the numerical value of the virtual added mass
(a0 ¼ I4 þ A044 ), restoring coefficient (a3 ) and reference wave frequency (x0 ) as 1.776  107
(kg m2 ), 42.40173 (m) and 0.628 (rad /sec), respectively. We reduce the governing equations (16)
and (17) to a set of twelve generalized first order equations and prescribe the initial conditions
for g4 ðtÞ; g6 ðtÞ; g_ 4 ðtÞ, and g_ 6 ðtÞ according to the starting instant of time t ¼ t0 . The above system
of equations is well posed and solved using a step-by-step integration procedure based on the
adaptive Runge-Kutta method [16] with a step-size adjustment algorithm to achieve the desired
accuracy. This scheme controls the growth of rounding errors efficiently and is stable with
respect to the nonlinear terms involved in the wave excitation forces. We develop a composite
model ‘‘SHIPMOT-NRY’’ to implement analytical and numerical approaches systematically to
account for various components involved in the computation of roll and yaw motions.

6 System stability and damping analysis

To analyze the coupled system for a particular wave frequency (x), the system frequency (b)
and damping factor (f) are evaluated from the characteristic equation and are given in Table 2.
The numerical values of f are of primary importance, and their role on system stability can be
summarized as follows:
1  1 ) the motion will be a non-oscillatory divergence;
1 < 1 < 0 ) the motion will be a divergent oscillation;
0 < 1 < 1 ) the motion will be oscillatory and dies out;
1  1 ) the motion will die out without oscillation;
1 ¼ 0 ) the motion will be oscillatory:
If bd is the damped pnatural
ffiffiffiffiffiffiffiffiffiffiffiffiffifrequency, its relation to the un-damped natural frequency can be
expressed as bd ¼ b 1  12 , where 1 is a proper fraction. S. K. Das and S. N. Das [9] have
shown that roll resonance becomes important when the wave frequency (x) and system fre-
quency (b) are nearly equal while the damping factor (1) approaches zero. To get insight into
the nonlinear behavior of roll and yaw damping, we analyze the first-order term of Eq. (8)
which essentially consists of four parts: (i) damping due to the change in time dependent virtual
added mass fvðtÞg,
_ (ii) damping due to linear roll angle fjgk ðtÞjw1 ðtÞg, (iii) damping due to


quadratic roll angle g2k ðtÞw2 ðtÞ , and (iv) damping due to viscous effect fjg_ k ðtÞjw3 ðtÞg. The
contributions of these terms are assessed to obtain the damping behavior for roll and yaw
response.
Coupled nonlinear oscillations of a floating body 37

Table 2. System parameters

Wave Wave System Damping

frequency frequency frequency factor
(rad/s) (x
) (normalized) (x) (b) (1)

0.74 1.18 1.21 0.006

7 Results and discussion

To illustrate coupled roll and yaw motions, Eqs. (19) and (20) were evaluated numerically. As
the governing equations for roll contain a hydrostatic restoring force, it manifests a harmonic
property. The various terms of Eqs. (19) and (20) can be grouped into three parts: (i) constant
term, indicating positional shift in yaw, (ii) oscillatory term, indicating harmonic behavior, and
(iii) decay term. The terms having a factor eki1 t and e1bt indicate damping and as t ! 1, the
effect of damping ceases to zero.
We focus our analysis on two main objectives: (i) comparison of roll motion for uncoupled
and coupled cases considering zeroth-order solution, and (ii) evaluation of higher-order

Analytical Numerical
6.00E-01
4.00E-01
Roll motion (rad)

2.00E-01
0.00E+00
0 50 100 150
–2.00E-01
–4.00E-01
–6.00E-01
Time (s)

Fig. 2. Comparison of analytical and numerical approaches for zeroth-order roll motion: uncoupled case

Uncoupled Coupled
6.00E-01

4.00E-01
Roll motion (rad)

2.00E-01

0.00E+00
0 50 100 150
–2.00E-01

–4.00E-01

–6.00E-01
Time (s)

Fig. 3. Comparison of zeroth-order roll motion solved analytically: uncoupled against coupled motion
38 S. K. Das and S. N. Das

Uncoupled Coupled
8.00E-06
Roll motion (rad) 6.00E-06
4.00E-06
2.00E-06
0.00E+00
–2.00E-06 0 50 100 150
–4.00E-06
–6.00E-06
–8.00E-06
Time (s)

Fig. 4. Comparison of first-order roll motion: uncoupled against coupled motion obtained through
numerical solution

Uncoupled Coupled
2.00E-07

1.00E-07
Roll motion (rad)

0.00E+00
–10 10 30 50 70 90 110 130 150
–1.00E-07

–2.00E-07

–3.00E-07

–4.00E-07
Time (s)

Fig. 5. Comparison of second order roll motions: uncoupled against coupled motion obtained through
numerical solution

Uncoupled Coupled
4.00E-02
3.00E-02
Yaw motion (rad)

2.00E-02
1.00E-02
0.00E+00
–1.00E-02 0 50 100 150
–2.00E-02
–3.00E-02
–4.00E-02
Time (s)

Fig. 6. Comparison of zeroth-order yaw motions solved analytically: uncoupled against coupled
motion

solutions through numerical computations and their contributions, and (iii) damping sensitivity.
Figure 2 shows the close agreement between the analytical solution and numerical solution for
zeroth-order uncoupled roll motion, indicating the necessary validation of the numerical
Coupled nonlinear oscillations of a floating body 39

3.00E-07
2.50E-07
2.00E-07
NLRDA (total)

1.50E-07
1.00E-07
5.00E-08
0.00E+00
–5.00E-08
0 25 50 75 100 125 150

–1.00E-07
Time (s)

Fig. 7. Contribution of first-order roll damping (added mass + linear yaw + quadratic yaw + viscous)

8.00E-08
6.00E-08
NLYDA (total)

4.00E-08
2.00E-08
0.00E+00
0 25 50 75 100 125 150
–2.00E-08
–4.00E-08
–6.00E-08
Time (s)

Fig. 8. Contribution of first-order yaw damping (added mass + linear yaw + quadratic yaw + viscous)

Uncoupled Coupled
1.00E-07
Yaw motion (rad)

5.00E-08

0.00E+00
0 50 100 150
–5.00E-08
–1.00E-07
Time (s)

Fig. 9. Comparison of first-order yaw motions: uncoupled against coupled motion obtained through
numerical solution

scheme. We also access the effect of coupled motion for zeroth order where the closed form
solution reveals higher roll amplitudes with phase lag for the uncoupled case (Fig. 3). The
reduction in the degree of freedom from two to one enhances phase lag and exhibits artificial
increase in amplitude due to the imbalance caused in the absence of yaw. The transient behavior
of first- and second-order roll motions (Figs. 4 and 5) is primarily due to the nonlinear forcing
functions. Figure 6 shows significant oscillations in yaw angle for zeroth-order coupled motion
in contrast to the uncoupled one when solved analytically. This shows that the primary inter-
action between yaw and roll cannot be ignored. The combined contribution of the first-order
40 S. K. Das and S. N. Das

Uncoupled Coupled

0.00E+00

–1.00E-08 0 50 100 150

Yaw motion (rad)

–2.00E-08

–3.00E-08

– 4.00E-08

–5.00E-08
–6.00E-08
Time (s)

Fig. 10. Comparison of second-order yaw motions: uncoupled against coupled motion through
numerical solution

nonlinear roll damping term considering the effect of added mass, linear roll, quadratic roll and
viscous roll obtained from Eq. (8) is shown in Fig. 7 assigning the variable name NLDRA. The
similar contribution from the first-order nonlinear yaw damping amplitude (NLYDA) is shown
in Fig. 8. The first-order yaw motion manifests oscillations (Fig. 9) similar to the corresponding
roll motion (Fig. 4) whereas the second order solution for the coupled case shows only negative
oscillations, which smoothen out with increased magnitude as time increases (Fig. 10).

8 Conclusion

The coupled roll and yaw response of a floating body with time varying added mass and damping
coefficients were analyzed using a combination of analytical and numerical techniques. This
study is important for ascertaining the vessel’s safety requirements in the early stages of design.
Using a theoretical and computational framework, we are able to estimate system stability,
damping and their inter-relationship for any given wave frequency. While obtaining these
characteristic parameters, the natural frequency of the system can also be estimated. This
modeling procedure provides an important guideline to determine the behavior of roll and yaw
characteristics for zero forward speed. To incorporate speed dependent features, the additional
hydrodynamic coefficient terms are required to be evaluated by adding aftermost sectional
information of the vessel. The restoring moment which has been approximated as linear, can be
represented by a polynomial of roll angle to investigate motion and stability of the vessel. In the
absence of detailed experiments this modeling technique is useful for ship-wave interaction
studies and also to examine the sensitivity of various parameters.

Appendix

The detailed expressions for a1i ; b1i ; a4i and b3i appearing in Eq. (7):
a1i ðtÞ ¼ r cosðxtÞ; i ¼ 1; 2; . . . ; b1i ðtÞ ¼ r cosðxtÞ; i ¼ 1; 2; . . . ; r ¼ 1=a0 ;
ðA:1Þ
a4i ðtÞ ¼ r cosðxtÞ; i ¼ 1; 2; . . . ; b3i ðtÞ ¼ r cosðxtÞ; i ¼ 1; 2; . . . :
Coupled nonlinear oscillations of a floating body 41

The detailed expressions for a2i ; b2i ; a5i and b4i appearing in Eq. (9):
a2i ðtÞ ¼ re1bt ; i ¼ 1; 2; . . . ; b2i ðtÞ ¼ re1bt ; i ¼ 1; 2; . . . ; r ¼ 1=a0 ;
ðA:2Þ
a5i ðtÞ ¼ re1bt ; i ¼ 1; 2; . . . ; b4i ðtÞ ¼ re1bt ; i ¼ 1; 2; . . . :
Expressions for F4i ðtÞ and F6i ðtÞ, i ¼ 1; 2 appearing in Eqs. (16) and (17):
F40 ðtÞ ¼ F4 ðtÞ; F60 ðtÞ ¼ F6 ðtÞ;

 
F41 ðtÞ ¼  a11 ðtÞ€
g40 ðtÞ þ a21 ðtÞjg40 ðtÞj þ a22 ðtÞg240 ðtÞ þ a23 ðtÞjg_ 40 ðtÞj g_ 40 ðtÞ

 
g60 ðtÞ þ b21 ðtÞjg60 ðtÞj þ b22 ðtÞg260 ðtÞ þ b23 ðtÞjg_ 60 ðtÞj g_ 60 ðtÞ ;
 b11 ðtÞ€

 
F61 ðtÞ ¼  a41 ðtÞ€
g40 ðtÞ þ a51 ðtÞjg40 ðtÞj þ a52 ðtÞg240 ðtÞ þ a53 ðtÞjg_ 40 ðtÞj g_ 40 ðtÞ

 
g60 ðtÞ þ b41 ðtÞjg60 ðtÞj þ b42 ðtÞg260 ðtÞ þ b43 ðtÞjg_ 60 ðtÞj g_ 60 ðtÞ ;
 b31 ðtÞ€

F42 ðtÞ ¼ ½a12 ðtÞ€

g40 ðtÞ þ fa_ 11 ðtÞ þ a24 ðtÞjg40 ðtÞj þ a21 ðtÞjg41 ðtÞj þ 2a22 ðtÞg40 ðtÞg41 ðtÞ
 
þ a25 ðtÞg240 ðtÞ þ a26 ðtÞjg_ 40 ðtÞj þ a23 ðtÞjg_ 41 ðtÞj g_ 40 ðtÞ

 
 a11 ðtÞ€g41 ðtÞ þ a21 ðtÞjg40 ðtÞj þ a22 ðtÞg240 ðtÞ þ a23 ðtÞjg_ 40 ðtÞj g_ 41 ðtÞ

ðA:3Þ
 b12 ðtÞ€g60 ðtÞ þ b_ 11 ðtÞ þ b24 ðtÞjg60 ðtÞj þ b21 ðtÞjg61 ðtÞj þ 2b22 ðtÞg60 ðtÞg61 ðtÞ
 
þ b25 ðtÞg260 ðtÞ þ b26 ðtÞjg_ 60 ðtÞj þ b23 ðtÞjg_ 61 ðtÞj g_ 60 ðtÞ

 
 b11 ðtÞ€g61 ðtÞ þ b21 ðtÞjg60 ðtÞj þ b22 ðtÞg260 ðtÞ þ b23 ðtÞjg_ 60 ðtÞj g_ 61 ðtÞ ;

F62 ðtÞ ¼ ½a42 ðtÞ€

g40 ðtÞ þ fa_ 41 ðtÞ þ a54 ðtÞjg40 ðtÞj þ a51 ðtÞjg41 ðtÞj þ 2a52 ðtÞg40 ðtÞg41 ðtÞ
 
þ a55 ðtÞg240 ðtÞ þ a56 ðtÞjg_ 40 ðtÞj þ a53 ðtÞjg_ 41 ðtÞj g_ 40 ðtÞ

 
 a41 ðtÞ€g41 ðtÞ þ a51 ðtÞjg40 ðtÞj þ a52 ðtÞg240 ðtÞ þ a53 ðtÞjg_ 40 ðtÞj g_ 41 ðtÞ


 b32 ðtÞ€g60 ðtÞ þ b_ 31 ðtÞ þ b44 ðtÞjg60 ðtÞj þ b41 ðtÞjg61 ðtÞj þ 2b42 ðtÞg60 ðtÞg61 ðtÞ
 
þ b45 ðtÞg260 ðtÞ þ b46 ðtÞjg_ 60 ðtÞj þ b43 ðtÞjg_ 61 ðtÞj g_ 60 ðtÞ

 
 b31 ðtÞ€g61 ðtÞ þ b41 ðtÞjg60 ðtÞj þ b42 ðtÞg260 ðtÞ þ b43 ðtÞjg_ 60 ðtÞj g_ 61 ðtÞ :

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Authors’ addresses: S. K. Das, Scientific and Engineering Computing Group, Centre for Development
of Advanced Computing (C-DAC), Pune – 411 007, India (E-mail: [email protected]/samirkumar_d
@yahoo.com); S. N. Das, Mathematical Modelling Centre, Central Water and Power Research Sta-
tion, Khadakwasla (R.S.), Pune 411 024, India (E-mail: sndas_cwprs@rediffmail.com)