When ships are flooded or equipped with a heavy object, the floating structures are excessively inclined, and the immersion, heel, and trim affecting the hydrostatic restoration performance are very large. In those cases, the assumption that the position and orientation are independent of each other is not valid. Therefore, nonlinear governing equations were formulated by sequential linearization to calculate the static equilibrium position of floating structures with excessive inclination. The equations are represented using a plane area, a primary moment, and a moment of inertia of the water plane area, and the immersion, heel, and trim are fully coupled. The position and orientation of the floating structure are obtained by iterative calculation. This paper describes the derivation procedure of the equations and proves the accuracy and efficiency of the equations by comparing with a commercial S/W, which uses a numerical method for determining hydrostatic restoring coefficients.

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