船舶在波浪中运动的六自由度非线性耦合方程

基于刚体运动学理论，将船舶在波浪中的运动分解为平动和绕质心的转动，在分析了船舶受力情况的基础上，运用质点系相对于质心的动量矩定理和Newton第二运动定律建立了船舶的六自由度运动的非线性耦合方程，在建立方程的过程中，考虑到流体对船舶的影响，引入了附加质量和附加惯性矩，最后利用该方程推导出了常用的船舶运动数学模型。

Six-Degree-Freedom Nonlinear Equation of Ship Motion on Wave

A six degree freedom nonlinear equation which governs the ship motion on wave was deduced based on the theory of rigid body dynamics. By using the theorem of moment of momentum with respect to the mass center, the ship motion is devided into translation and rotation respect to the ship mass center, and the six degree freedom nonlinear equation can be deduced based on the exactly analysing the force acting on the ship. During the equation's deducing, the additional mass and addition inertia are introduced because of the effect of fluid force. At last, some simple equations governing the ship motion were deduced from the six degree freedom equation.