Mathematical Modeling of the Ships’ Six-Degree-of-Freedom Motions

Özet

A ship between waves is exposed to the effects of waves, currents, winds, etc., and dynamic forces resulting from the motions of the ship. For this reason, it is necessary to establish motion equations to examine the motion of vessels under environmental influences and to make dynamic analyzes. The purpose of this paper is to compile the equations used in the mathematical modeling of the ship motion with reference to work on nonlinear ship motions with six degrees of freedom and ship-acting forces. The components of the equations consist of inertial forces and moments, restoring forces and moments, and damping forces and moments. The equations compiled in this study can be used to obtain the mathematical model of the vessels by adapting them to various ship sizes and types.