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The goal of this study is to investigate ship propulsion system dynamics under sea wave conditions by including the interaction of hull, propeller, and engine. A mathematical ship propulsion system model was made and the related computer code was developed. To get the results as close as possible to real conditions, measured data for physical models, including the ship’s resistance in calm and sea waves and propeller performance, were implemented in the model. For a diesel engine, performances provided by the manufacturer were used. The wave force time series, as exciting force, changed the propulsion system state from steady to transient. It activated system variables including ship’s speed, advance number, propeller and engine torque, propeller and engine rotational speeds, effective and generated powers, and net thrust. The analysis was performed for a container ship for two regular waves. Using the developed computer code, the ship’s speed and system variables, as well as the consumed fuel and the voyage distance, were calculated and compared with the calm water condition. The voyage mode was set on constant rotational engine speed implementing a P-action governor with fuel rate and engine torque limiters. The outcomes of the research explain the influence of the governor and its limiters on fuel consumption, identify the nonlinear impact of sea waves on propeller characteristics, and underline the effect of voyage mode on system response and the consumed fuel. The results also show that the conventional method for calculating speed reduction based on the added resistance is not capable of justifying the system’s dynamic behaviour.

Analysis of hull, propeller and engine interactions in regular waves by a combination of experiment and simulation