The Principles of Naval Architecture Series: Strength of Ships and Ocean Structures

251 Pages·2008·5.79 MB·English

by  Prof. Alaa Mansour

The Principles of
Naval Architecture Series
Strength of Ships and Ocean Structures
Alaa Mansour
University of California, Berkeley
Donald Liu
American Bureau of Shipping
J. Randolph Paulling, Editor
2008
Published by
The Society of Naval Architects and Marine Engineers
601 Pavonia Avenue
Jersey City, NJ
Copyright(cid:1)C 2008byTheSocietyofNavalArchitectsandMarineEngineers.
Itisunderstoodandagreedthatnothingexpressedhereinisintendedorshallbeconstruedto
giveanyperson,firm,orcorporationanyright,remedy,orclaimagainstSNAMEoranyofits
officersormembers.
LibraryofCongressCataloging-in-PublicationData
AcatalogrecordfromtheLibraryofCongresshasbeenappliedfor
ISBNNo.0-939773-66-X
PrintedintheUnitedStatesofAmerica
FirstPrinting,2008
A Word from the President
TheSocietyofNavalArchitectsandMarineEngineersisexperiencingremarkablechangesintheMaritimeIndustry
as we enter our 115th year of service. Our mission, however, has not changed over the years...“an internationally
recognized...technicalsociety...servingthemaritimeindustry,dedicatedtoadvancingtheart,scienceandpractice
of naval architecture, shipbuilding, ocean engineering, and marine engineering...encouraging the exchange and
recordingofinformation,sponsoringappliedresearch...supportingeducationandenhancingtheprofessionalstatus
andintegrityofitsmembership.”
Inthespiritofbeingfaithfultoourmission,wehavewrittenandpublishedsignificanttreatisesonthesubjectof
navalarchitecture,marineengineeringandshipbuilding.Ourmostwellknownpublicationisthe“PrinciplesofNaval
Architecture”.Firstpublishedin1939,ithasbeenrevisedandupdatedthreetimes–in1967,1988andnowin2008.
Duringthistime,remarkablechangesintheindustryhavetakenplace,especiallyintechnology,andthesechanges
have accelerated. The result has had a dramatic impact on size, speed, capacity, safety, quality and environmental
protection.
Theprofessionsofnavalarchitectureandmarineengineeringhaverealizedgreattechnicaladvances.Theyinclude
structuraldesign,hydrodynamics,resistanceandpropulsion,vibrations,materials,strengthanalysisusingfiniteel-
ementanalysis, dynamicloadingandfatigueanalysis,computer-aided shipdesign,controllability,stabilityandthe
useofsimulation,riskanalysisandvirtualreality.
However,withthisinview,nothingremainsmoreimportantthanacomprehensiveknowledgeof“firstprinciples”.
Using this knowledge, the Naval Architect is able to intelligently utilize the exceptional technology available to its
fullest extent in today’s global maritime industry. It is with this in mind that this entirely new 2008 treatise was
developed–“ThePrinciplesofNavalArchitecture:TheSeries”.Recognizingthechallengeofremainingrelevantand
current as technology changes, each major topical area will be published as a separate volume. This will facilitate
timelyrevisionsastechnologycontinuestochangeandprovideformorepracticalusebythosewhoteach,learnor
utilizethetoolsofourprofession.
Itisnoteworthythatittookadecadetopreparethismonumentalworkofninevolumesbysixteenauthorsandby
a distinguished steering committee that was brought together from several countries, universities, companies and
laboratories.Weareallespeciallyindebtedtotheeditor,ProfessorJ.Randolph(Randy)Paullingforprovidingthe
leadership,knowledge,andorganizationalabilitytomanagethisseminalwork.Hisdedicationtothisarduoustask
embodiestheveryessenceofourmission...“toservethemaritimeindustry”.
Itiswiththisintroductionthatwerecognizeandhonorallofourcolleagueswhocontributedtothiswork.
Authors:
Dr.JohnS.Letcher HullGeometry
Dr.ColinS.Moore IntactStability
RobertD.Tagg SubdivisionandDamagedStability
ProfessorAlaaMansourandDr.DonaldLiu StrengthofShipsandOceanStructures
Dr.LarsLarsonandDr.HoyteRaven Resistance
ProfessorsJustinE.KerwinandJacquesB.Hadler Propulsion
ProfessorWilliamS.Vorus VibrationandNoise
Prof.RobertS.Beck,Dr.JohnDalzell(Deceased),Prof.OddFaltinsenand MotionsinWaves
Dr.ArthurM.Reed
ProfessorW.C.WebsterandDr.RodBarr Controllability
ControlCommitteeMembersare:
ProfessorBruceJohnson,RobertG.Keane,Jr.,JustinH.McCarthy,DavidM.Maurer,Dr.WilliamB.Morgan,Profes-
sorJ.NicholasNewmanandDr.OwenH.Oakley,Jr.
Iwouldalsoliketorecognizethesupportstaffandmemberswhohelpedbringthisprojecttofruition,especially
SusanEvansGrove,PublicationsDirector,PhilKimball,ExecutiveDirectorandDr.RogerCompton,PastPresident.
Inthenewworld’sglobalmaritimeindustry,wemustmaintainleadershipinourprofessionifwearetocontinue
tobetruetoourmission.The“PrinciplesofNavalArchitecture:TheSeries”,isanotherexampleofthemanyways
ourSocietyismeetingthatchallenge.
ADMIRALROBERTE.KRAMEK,
President
Foreword
Since it was first published 70 years ago, Principles of Naval Architecture (PNA) has served as a seminal text on
navalarchitectureforbothpracticingprofessionalsandstudentsofnavalarchitecture.Thisisachallengingtask–
toexplainthefundamentalsintermsunderstandabletotheundergraduatestudentwhileprovidingsufficientrigor
to satisfy the needs of the experienced engineer – but the initial publication and the ensuing revisions have stood
the test of time. We believe that this third revision of PNA will carry on the tradition, and continue to serve as an
invaluablereferencetothemarinecommunity.
In the Foreword to the second revision of PNA, the Chairman of its Control Committee, John Nachtsheim,
lamented the state of the maritime industry, noting that there were “...too many ships chasing too little cargo,”
and with the decline in shipping came a “...corresponding decrease in technological growth.” John ended on a
somewhat optimistic note: “Let’s hope the current valley of worldwide maritime inactivity won’t last for too long.
Let’s hope for better times, further technological growth, and the need once more, not too far away, for the next
revisionofPrinciplesofNavalArchitecture.”
Fortunately,bettertimesbegansoonafterthesecondrevisionofPNAwasreleasedin1988.Spurredbytheexpand-
ing global economy and a trend toward specialization of production amongst nations around the world, seaborne
trade has tripled in the last twenty years. Perhaps more than ever before, the economic and societal well being of
nations worldwide is dependent upon efficient, safe, and environmentally friendly deep sea shipping. Continuous
improvement in the efficiency of transportation has been achieved over the last several decades, facilitating this
growthintheglobaleconomybyenablinglowercostmovementofgoods.Theseimprovementsextendovertheen-
tiresupplytrain,withwaterbornetransportationprovidingthecriticallinkbetweendistantnations.Theshipdesign
andshipbuildingcommunitieshaveplayedkeyroles,assomeofthemostimportantadvancementshavebeeninthe
designandconstructionofships.
With the explosive growth in trade has come an unprecedented demand for tonnage extending over the full
spectrum of ship types, including containerships, tankers, bulk carriers, and passenger vessels. Seeking increased
throughput and efficiency, ship sizes and capacities have increased dramatically. Ships currently on order include
16,000TEUcontainerships,260,000m3LNGcarriers,and5,400passengercruiseliners,dwarfingthepriorgeneration
ofdesigns.
The drive toward more efficient ship designs has led to increased sophistication in both the designs themselves
andinthetechniquesandtoolsrequiredtodevelopthedesigns.ConceptsintroducedinRevision2ofPNAsuchas
finite element analysis, computational fluid dynamics, and probabilistic techniques for evaluating a ship’s stability
and structural reliability are now integral to the overall design process. The classification societies have released
thecommonstructuralrulesfortankersandbulkcarriers,whichrelyheavilyonfirstprinciplesengineering,useof
finite element analysis for strength and fatigue assessments, and more sophisticated approaches to analysis such
asareusedforultimatestrengthassessmentforthehullgirder.TheInternationalMaritimeOrganizationnowrelies
onprobabilisticapproachesforevaluatingintactanddamagestabilityandoiloutflow.Regulationsareincreasingly
performance-based,allowingapplicationofcreativesolutionsandstate-of-the-arttools.Riskassessmenttechniques
havebecomeessentialtoolsofthepracticingnavalarchitect.
Thecyclicalnatureofshipbuildingiswellestablishedandallofuswhohaveweatheredtheupsanddownsofthe
marineindustryrecognizethecurrentboomwillnotlastforever.However,therearereasonstobelievethattheneed
fortechnologicaladvancementinthemaritimeindustrieswillremainstronginthecomingyears.Forexample,naval
architectsandmarineengineerswillcontinuetofocusonimprovingtheefficiencyofmarinetransportationsystems,
spurredbyrisingfueloilpricesandpublicexpectationsforreducinggreenhousegasemissions.Asaconsequence
ofclimatechange,themeltingArcticicecapwillcreatenewopportunitiesforexplorationandproductionofoiland
othernaturalresources,andmayleadtonewglobaltradingpatterns.
SNAMEhasbeenchallengedtoprovidetechnicalupdatestoitstextsonatimelybasis,inpartduetoourreliance
on volunteerism and in part due to the rapidly changing environment of the maritime industry. This revision of
PNA emphasizes engineering fundamentals and first principles, recognizing that the methods and approaches for
applyingthesefundamentalsaresubjecttoconstantchange.UndertheleadershipofPresidentBobKramek,SNAME
is reviewing all its publications and related processes. As the next SNAME President, one of my goals is to begin
strategizingonthenextrevisionofPNAjustasthisthirdrevisioncomesoffthepresses.Commentsandideasyou
mayhaveonhowSNAMEcanimproveitspublicationsareencouragedandverymuchappreciated.
FOREWORD
PNAwouldnotbepossiblewithoutthecontributionsofSNAMEmembersandothermarineprofessionalsworld-
wide, who have advanced the science and the art of naval architecture and then shared their experiences through
technical papers and presentations. For these many contributions we are indebted to all of you. We are especially
indebted to its editor, Dr. J. Randolph Paulling, the Control Committee, the authors, and the reviewers who have
givensogenerouslyoftheirtimeandexpertise.
R.KEITHMICHEL
President-elect
vi
Acknowledgments
The authors wish to acknowledge their indebtedness to the author of Chapter 4, “Strength of Ships”, in the pre-
ceding edition of Principles of Naval Architecture from which they have freely extracted text and figures. They
alsoacknowledgetheadviceandassistanceoftheControlCommittee,membersofwhichprovidedreviewsofearly
versionsofthemanuscript.
The present volume, Strength of Ships and Ocean Structures, could not have been completed without the as-
sistance of a number of associates, colleagues and former students who read and critiqued portions or all of the
manuscript,helpedwithillustrations,trackeddownreferencesandprovidedothervitalservices.Theauthorswish
especiallytoacknowledgethecontributionsofthefollowingindividuals:
Dr.JianweiBai,UniversityofCalifornia,Berkeley
Dr.HsaoH.Chen(Ret),AmericanBureauofShipping
Mr.RobertCurry(Ret),AmericanBureauofShipping
ProfessorJorgenJ.Jensen,TechnicalUniversityofDenmark
Mr.GregoryPappianou,UniversityofCalifornia,Berkeley
ProfessorPrebenT.Pedersen,TechnicalUniversityofDenmark
Mr.MartinPetricic,UniversityofCalifornia,Berkeley
Dr.YungS.Shin,AmericanBureauofShipping
Dr.GeWang,AmericanBureauofShipping
Mr.OmarElZayat,UniversityofCalifornia,Berkeley
Finally, the Editor extends his thanks to the authors for their time and monumental efforts in writing the vol-
ume, to the Control Committee, and to the individuals listed above as well as others whose advice and assistance
was essential to the successful completion of the task. He is especially grateful to Susan Evans Grove, SNAME’s
Publications Director, for her patience, ready advice and close attention to detail without all of which this work
couldnothavebeenaccomplished.
BiographyofAlaaMansour
CoAuthor“StrengthofShipsandOceanStructures”
Dr. Alaa Mansour is a Professor of Engineering in the Department of Mechanical Engineering of the University of
CaliforniaatBerkeley.HewastheChairmanoftheNavalArchitectureandOffshoreEngineeringDepartmentatthe
UniversityofCalifornia,from1985to1989,andChairedtheExecutiveCommitteeoftheOceanEngineeringGraduate
Program at Berkeley from 2002 to 2005. He received his Bachelor of Science degree in Mechanical Engineering
fromtheUniversityofCairoandhasM.S.andPh.D.degreesinNavalArchitectureandOffshoreEngineeringfrom
the University of California, Berkeley. Between 1968 and 1975 he was Assistant then Associate Professor in the
Department of Ocean Engineering at the Massachusetts Institute of Technology. He is a registered Professional
EngineerintheCommonwealthofMassachusetts.
Dr. Mansour has been the North and South American Chief Editor of the Journal of Marine Structures since its
inceptionandaneditoroftheJournalofMarineScienceandTechnology.In2000–2003heservedasChairmanofthe
InternationalShipandOffshoreStructuresCongressandhasauthoredorco-authoredover100publications.
In2001,theTechnicalUniversityofDenmarkconferreduponDr.Mansouritshighesthonor,theHonoraryDoc-
torateDegree,“DoctorTechnicesHonorisCausa”,inrecognitionofhis“significantcontributionstodevelopmentof
designcriteriaforshipsandoffshorestructures.”HeistherecipientoftheDavidsonMedalpresentedbytheSoci-
etyofNavalArchitectsandMarineEngineersfor“OutstandingScientificAccomplishmentinShipResearch”,andis
currentlyaFellowoftheSociety.
BiographyofDonaldLiu
CoAuthor“StrengthofShipsandOceanStructures”
Dr.DonaldLiuretiredin2004fromtheAmericanBureauofShippingasExecutiveVicePresidentandChiefTechnol-
ogyOfficeraftera37-yearcareeratABS.HeisagraduateoftheU.S.MerchantMarineAcademy,theMassachusetts
InstituteofTechnologywhereheobtainedbothBSandMSdegreesinNavalArchitectureandMarineEngineering,
and the University of Arizona where he received his Ph.D. in Mechanical Engineering. He has authored or coau-
thoredmorethanfortypapers,reportsandbookchaptersdealingwithFiniteElementanalysis,structuraldynamics,
ultimatestrength,hullloading,structuralstability,structuraloptimizationandprobabilisticaspectsofshiploading
andstrength.
Dr.Liuhasbeenanactiveparticipantinkeynationalandinternationalorganizationsthatareconcernedwithship
structures research, development and design. He served as the ABS representative on the interagency Ship Struc-
tures Committee, and as a member of the Standing Committees of the International Ship and Offshore Structures
congress(ISSC)andtheconferenceonPracticalDesignofShipsandMobileUnits(PRADS)
In 1994 Dr. Liu received the Sea Trade “Safety at Sea” award in recognition of his role in developing the ABS
SafeHull system. He is the recipient of the Rear Admiral Halert C. Shepheard Award in 1998 from the Chamber
of Shipping of America in recognition of his achievements in promoting merchant marine safety, and in 2002 was
awardedtheUnitedStatesCoastGuard(USCG)MeritoriousPublicServiceAwardinrecognitionofhiscontributions
to marine safety. In 2004 he was awarded the Society of Naval Architects and Marine Engineers David W. Taylor
Medal for notable achievement in naval architecture and in 2006 he received the Gibbs Brothers Medal, awarded
by the National Academy of Sciences for outstanding contributions in the field of naval architecture and marine
engineering.Dr.LiuisaFellowoftheSocietyofNavalArchitectsandMarineEngineers.
Nomenclature
A area,generally Msw stillwaterbendingmoment
AC acceptancecriteria M twistingmoment
T
A totalflangecross-sectionalarea M ultimatebendingmoment
f u
As sheararea Mw verticalwaveinducedbendingmoment
Aw webcross-sectionalarea N shearflow
B beam NA neutralaxis
b buoyancy NE non-encounterprobability
c cracklength p probability,ingeneral
C blockcoefficient p pressure
b
CL centerline;averticalplanethroughthe p.d.f,PDF probabilitydensityfunction
centerline p probabilityoffailure
f
Cw waterplanecoefficientofship q loadperunitlength
D depth R auto-correlationfunction
T Draft R returnperiod
D diameter,generally r radius
d distance,generally RAO ResponseAmplitudeOperator
DLA dynamicloadapproach s contourcoordinate
DLP dominantloadparameter SM sectionmodulus
DWT deadweight S (ω) wavespectrum
x
E meanvalue S (ω) crossspectrum
xy
E Young’smodulusofelasticity S (ω) responsespectrum
y
F forcegenerally T period,generally
FE finiteelement t thickness,generally
FEA finiteelementanalysis t time,generally
FEM finiteelementmethod T torsionmoment
F horizontalshearforces T torsionmomentamidships
H M
f permissiblebendingstress T modalperiod
p M
FRP fiberreinforcedplastics T twistmoment
m
Fw verticalwaveshearforce TMCP Thermo-MechanicalControlledProcess
g accelerationduetogravity V Totalverticalshearingforceacrossa
G shearmodulusofelasticity, E/2(1+υ) section
H transferfunction V velocityingeneral,speedofship
H waveheight w deflection
h head,generally w weight
HAZ heataffectedzone x distancefromoriginalongX-axis
HSC high-speedcrafts y distancefromoriginalongY-axis
HSLA highstrengthlowalloy z distancefromoriginalongZ-axis
J torsionalconstantofasection ε strainsgenerally
K loadcombinationfactor ∇ volumeofdisplacement
k springconstantperunitlength
L length,generally α Skewness
L lengthofship α shipheadingangle
L lifeinyears β safetyindex
LBP,L lengthbetweenperpendiculars β widthparameter
pp
LCF loadcombinationfactor β waveheadingangle
LCG longitudinalpositioncenterofgravity β kurtosis
M moment,generally δ non-linearityparameter
m mass,generally ε bandwidthparameter
M margin (cid:7) standardnormalcumulative
M wave-inducedhorizontalbending distributionfunction
H
moment (cid:8) St.Venanttorsionalconstant
m spectralmomentofordern γ shearstrain,generally
n
MPEL mostprobableextremeload γ safetyfactor
MPEV mostprobableextremevalue η torsioncoefficient
xii NOMENCLATURE
λ wavelength σ standarddeviation
µ covariance σ Stress,generally
µ wavespreadingangle ω angularvelocity
µ heading ω circularfrequency
ν Poisson’sratio ω warpingfunction
(cid:13) twistangle ζ waveamplitude
ρ massdensity;massperunitvolume σ ultimatetensilestrength
T
ρ effectiveness σ yieldstrength
Y
ρ correlationcoefficient χ curvature
ρ virtualaspectratio
AbbreviationsforReferences
AA AluminumAssociation ISSC InternationalShipandOffshore
ABS AmericanBureauofShipping StructuresCongress
ANSI AmericanNationalStandardsInstitute ITTC InternationalTowingTankConference
ASCE AmericanSocietyofCivilEngineers JIS JapaneseIndustrialStandard
ASNE AmericanSocietyofNavalEngineers KR KoreanRegister
ASTM AmericanSocietyforTestingand LR Lloyd’sRegister
Materials NF NormesFrancaises
BMT BritishMaritimeTechnology NK NipponKaijiKyokai
BS BritishStandard NSMBCRS NetherlandsShipModelBasin
BV BureauVeritas CooperativeResearchShips
CCS ChinaClassificationSociety NSWCCD CarderockDivisionoftheNaval
CFA CompositeFabricatorsAssociation SurfaceWarfareCenter
CSA CanadianStandardsAssociation RINA RegistroItalianoNavale
DNV DetNorskeVeritas RS RussianRegisterofShipping
DTNSRDC DavidTaylorNavalShipResearchand SAMPE SocietyforAdvancementofMaterials
DevelopmentCenter ProcessingandEngineering
GL GermanisherLloyd SNAME SocietyofNavalArchitectsandMarine
IACS InternationalAssociationof Engineers
ClassificationSocieties SOLAS SafetyofLifeatSea
IMO InternationalMaritimeOrganization SSC ShipStructureCommittee
ISO InternationalOrganizationfor UNI UnificazioneNazionaleItaliana
Standardization