Abstract
It is well known in the field of marine hydrodynamics that the added mass, damping and wave exciting forces are functions of frequency (Newman, 1977. Marine Hydrodynamics. MIT Press, Cambridge). Although most previous studies of nonlinear ship rolling motion have assumed that these forces do not vary with frequency, in this study the frequency dependent added mass and damping coefficients are approximated in the time domain with extended state space variables. Using numerical time simulation (integration), the extended state space model is compared to the constant coefficient model with a constant frequency forcing and the results for two constant value approximations of the added mass and damping are compared to the extended state space model with a multiple component pseudo random forcing.
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