I do not understand the difference between the “Global” and “Vessel” stiffness matrix variants in Catsim. Could you explain the differences?
The stiffness matrix documents the *changes* in forces and moments experienced by a moored structure as each of its six degrees of freedom are varied independently and incrementally about some starting point in its six-dimensional configuration space. In the “Global” variant, the incremental virtual translations and rotations required to define this matrix take place in the “Global” earth-fixed coordinate system, whose x-axis points to global North and whose x-y plane parallels the waterplane. The force and moment variations resulting from these incremental variations are also reported in this global system. Thus, a rotation about the global x-axis will generally not have any relationship to the vessel roll degree of freedom, but will depend on the instantaneous vessel orientation. The “Global” matrix formulation is useful in implementing an earth-bound equation-of-motion model. In the “Vessel” variant, incremental motions take place in a vessel-bound coordinate system with the x-y pla
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