Rolling of Multibody System with Floating Base of Ro-Ro Ship and Slipping Vehicles
Zhang Yinlong,Shen Qing,Chen Xujun
(Engineering Institute of Engineer Corps, PLA University of Science and Technology, Nanjing, 210007,China)

Abstract: The simultaneous interferences of wave and slip of inside vehicles int ensify rolling of ro-ro ship, which is one of the important reasons for ship overturn. The ro-ro ship and slipping vehicles are regarded as a multibody system with a floating base, where the rolling angle of the ship and the transverse displacement of the vehicles on desk are taken as two degrees of freedom. Cosidered the influence of the nonlinear restoration moment and damping moment, and ado pted dynamic method of multibodies system with a floating base, the dynamic equations of the system are established. The numerical calculation for a channel ferry is carried out to find out the nonlinear rolling response of the ship and dis placement response of the slipping vehicles under the simultaneous disturbances. It is concluded that the nonlinear rolling angle of the ro-ro ship increases remarkably as the nonlinear characteristics are taken into account. Keywords: ro-ro ship, slipping vehicles, floating base, multibodies system, mon linear rolling, dynamics.