A Fully Nonlinear, Dynamically Consistent Numerical Model for Ship Maneuvering in a Seaway

<table>Irregular incident wave spectrum with the peak frequency <svg height="16.7875" id="M196" style="vertical-align:-4.74141pt" version="1.1" viewbox="0 0 71.300003 16.7875" width="71.300003" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,16.7875)">
<g transform="translate(72,-58.57)">
<text transform="matrix(1,0,0,-1,-71.95,63.35)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜔</tspan>
</text>
<text transform="matrix(1,0,0,-1,-63.44,60.22)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑝</tspan>
</text>
<text transform="matrix(1,0,0,-1,-55.18,63.35)">
<tspan style="font-size: 12.50px; " x="0" y="0">=</tspan>
<tspan style="font-size: 12.50px; " x="12.027886" y="0">0</tspan>
<tspan style="font-size: 12.50px; " x="18.279387" y="0">.</tspan>
<tspan style="font-size: 12.50px; " x="21.405136" y="0">5</tspan>
<tspan style="font-size: 12.50px; " x="27.656635" y="0">8</tspan>
<tspan style="font-size: 12.50px; " x="33.908134" y="0">6</tspan>
</text>
</g>
</g>
</svg> and the significant wave height, <svg height="11.0375" id="M197" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 61.737499 11.0375" width="61.737499" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,11.0375)">
<g transform="translate(72,-63.17)">
<text transform="matrix(1,0,0,-1,-71.95,63.4)">
<tspan style="font-size: 12.50px; " x="0" y="0">S</tspan>
<tspan style="font-size: 12.50px; " x="6.7016082" y="0">W</tspan>
<tspan style="font-size: 12.50px; " x="18.50444" y="0">H</tspan>
<tspan style="font-size: 12.50px; " x="30.994938" y="0">=</tspan>
<tspan style="font-size: 12.50px; " x="43.035324" y="0">6</tspan>
</text>
</g>
</g>
</svg> m.</table>

Modelling and Simulation in Engineering

fig6

Figure 6

Figure 6: A Fully Nonlinear, Dynamically Consistent Numerical Model for Ship Maneuvering in a Seaway 