HYDROSTAR FOR EXPERTS

USER MANUAL
March 2011
This document has been prepared for the users of HydroStar for version 6.1 and above and
deals with the aspects related to the computation of first and second order loads and motions
for arbitrary bodies in deep and finite depth waters, with or without forward speed.
Research Department
BUREAU VERITAS
92571 Neuilly-Sur-Seine
Tel: +33 (0)1 55 24 70 00
Fax: +33 (0)1 55 24 70 26
HydroStar For Experts BV (1991-2011) is distributed by Bureau Veritas.
First Printing, April 2006
Revised, August 2007
Revised, September 2007
Revised, April 2008
Revised, October 2008
Revised, December 2008
Revised, March 2009
Revised, May 2010
Revised, March 2011
c Bureau Veritas
Contacts:
Bureau Veritas France
Dr. Xiao-bo CHEN
e-mail: xiao-bo.chen@bureauveritas.com
Guillaume de-HAUTECLOCQUE
e-mail: guillaume.de-hauteclocque@bureauveritas.com
Bureau Veritas China
Brice Le-GALLO
e-mail: brice.le-gallo@cn.bureauveritas.com
Haixia Xu
e-mail: haixia.xu@cn.bureauveritas.com
Cong YU
e-mail: cong.yu@cn.bureauveritas.com
Bureau Veritas Korea
Yun-Suk CHUNG
e-mail: yun-suk.chung@kr.bureauveritas.com
Bureau Veritas USA
Paulo BIASOTTO
e-mail: paulo.biasotto@bureauveritas.com
Bureau Veritas Brazil
Fl´ avia REZENDE
e-mail: flavia.rezende@bureauveritas.com
Hydrostar User Manual
Release Notes
Version 6.0:
• Correction of bug in hsrdf for finite water depth and when no symmetry condition was
used (example, multi-body in finite water depth).
• Inclusion of sidewall effects in hsrdf (page 5-6).
• Construction of transfer function of relative motions between two bodies in hsrao (page
12-12).
• Construction of QTFs according to O(∆ω) approximation in hsrao (pages 10-8,12-15)
• Correction of bug in hsmec on the hydrostatic stiffness for the applications with tanks
• Modification of hsmec for the applications with tanks: the global mechanical properties
including the liquid in tanks must be given (page 6-4).
• Modification of the limit on the number of characters of the input files. The name of the
input files was limited in the previous versions to 15 characters and has been extended to
80 characters
• Modification of the limit on the number of characters of the FILENAME used in the input
file of hsrdf and hsmec . In the previous versions the limit was 3 characters. It has been
extended to 15 characters.
• Construction of input files for Ariane v7 in hsrao (page 12-17).
• Modification of hsrsn . Not only the resonance frequencies are displayed in the screen,
but also the Eigen vectors associates to each resonant mode.
• Use of ”LU decomposition” for the solution of the linear system instead of ”Gauss Elim-
ination”.
• Modification of computation progress display in hsrsn . The computation time for each
frequency as well as the remaining computation time are displayed in the screen.
Hydrostar User Manual
Version 6.10:
• More efficient compilation. Calculation about 40% faster.
• Middle-Field implementation improved in hsqtf , the control surface can now coincide
with the free surface, this leads to better convergence
• Automatic control surface generation improved (Multi-body, more parameters)
• Manual updated (phase convention error corrected and more details about the 2nd order
calculations)
• Modification in output for Ariane7 (Added mass format changed) in hsrao
• Spectral tool ”StarSpec v1.10’ included. hspec and hslps are available in HydroStar console.
For further information, refer to StarSpec user guide.
Version 6.11:
• Install (improved) : Restart not needed anymore
• HSlec (bug fixed) : Automatic free-surface generation in some multi-body cases fixed
• HSchk (bug fixed) : Visualisation of sections for bodies with very low draft
• HSmcn (bug fixed) : Recombinaison of several HStnk calculations fixed
• HSmcn (new) : Calculation of multi-body cases with internal tanks (in only one body)
• HSmcn (improved) : Beam damping model linearisation improved for better convergence
• HSmcn (bug fixed) : NOTANKS option fixed
• HSqtf (bug fixed) : Number of heading in HSqtf calculation not limited to 50 anymore
• HSrao (bug fixed) : Ariane7 output when HSdft is not run works
• HSrao (new) : Wave reference point written in Ariane7 output
• HSrao (new) : Orcaflex output
• HSpec (new) : Long-term extrem assiocated to a probability in a reference duration
• HSpec (new) : Short-term extrem assiocated to a probability in a sea-state duration
• HSpec (new) : Spline interpolation of RAOs
• HSpec (new) : Wrapped normal spreading
• HSwav (bug fixed) : Crash with some meshes, fixed
Version 6.20:
• HSpec (bug fixed) : Problem with m
2
calculation when using both speed and spreading
fixed
• HSpln (new) : New module to interpolate through HSrdf results
• HSrdf (new) : Iterative solver as an option (Keywords : ”SOLMETHOD GMRES”)
• HSbln (new) : New module to equilibrate a ship on still water
• HSdft (new) : Side wall effect option
• HSqtf (bug fixed) : Correction of vertical 2nd order loads (Affected only moments Mx
and My with Near-Field formulation.)
Hydrostar User Manual
Contents
Release Notes
Introduction 0–1
1 Getting Started 1–1
1.1 Hardware configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–1
1.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–1
1.3 HydroStar interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–2
1.4 Running tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–3
2 Overview 2–1
2.1 HydroStar structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–2
2.2 Conventions used in HydroStar . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–5
2.3 Units used in HydroStar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–8
3 Mesh Generation 3–1
3.1 Single simple geometry mesh generation . . . . . . . . . . . . . . . . . . . . . . 3–1
3.2 Bodies composed by various simple geometries . . . . . . . . . . . . . . . . . . . 3–5
3.2.1 Example of Input file for hsmsh . . . . . . . . . . . . . . . . . . . . . . . 3–10
3.2.2 Generating the mesh using hsmsh . . . . . . . . . . . . . . . . . . . . . . 3–10
3.3 Use AMG to generate Mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–11
3.4 Mesh equilibrium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–11
4 Reading the Mesh 4–1
4.1 Input file format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–1
4.2 Input file for a single body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–5
4.3 Input file for multi bodies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–7
4.4 Input file including dissipation zone . . . . . . . . . . . . . . . . . . . . . . . . . 4–9
4.5 Input file including tanks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–13
4.6 Input file of hybrid model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–16
Hydrostar User Manual
4.7 Reading the input file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–17
4.8 Getting information about the mesh . . . . . . . . . . . . . . . . . . . . . . . . . 4–19
4.9 Preliminary verificaton of the mesh . . . . . . . . . . . . . . . . . . . . . . . . . 4–20
4.10 Checking the hydrostatic properties . . . . . . . . . . . . . . . . . . . . . . . . . 4–21
4.11 Visualization of the mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–21
5 Diffraction radiation computation 5–1
5.1 Input file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–2
5.2 Elimination of irregular frequencies . . . . . . . . . . . . . . . . . . . . . . . . . 5–5
5.3 Encounter frequency approximation . . . . . . . . . . . . . . . . . . . . . . . . . 5–6
5.4 Sidewall Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–6
5.5 Diffraction and radiation computation . . . . . . . . . . . . . . . . . . . . . . . 5–7
5.6 Radiation/Diffraction interpolation : HSpln module . . . . . . . . . . . . . . . . 5–7
5.7 Radiation computation inside tanks . . . . . . . . . . . . . . . . . . . . . . . . . 5–8
6 Motion Computation 6–1
6.1 Input data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–1
6.2 Input file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–1
6.2.1 Centre of Gravity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–4
6.2.2 Gyration Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–4
6.2.3 Inertia Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–5
6.2.4 Stiffness Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–6
6.2.5 Damping Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–7
6.3 Computing the vessel’s motions . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–10
7 Global wave efforts computation 7–1
7.1 Global wave loads for ships . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–1
7.2 Global wave loads for non slender bodies . . . . . . . . . . . . . . . . . . . . . . 7–4
8 Waves visualization 8–1
9 Pressure and wave elevation computation 9–1
10 Second order computation 10–1
10.1 Mean drift loads in uni-directional waves . . . . . . . . . . . . . . . . . . . . . . 10–2
10.1.1 Input file for hsdft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10–2
10.1.2 Checking and visualizing the control surface . . . . . . . . . . . . . . . . 10–4
10.1.3 Running hsdft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10–5
10.2 Mean drift loads in bi-directional waves . . . . . . . . . . . . . . . . . . . . . . . 10–5
10.2.1 Input file for hsmdf . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10–5
10.2.2 Running hsmdf . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10–6
10.3 Full QTF computation in uni- and bi-directional waves . . . . . . . . . . . . . . 10–6
10.3.1 Input file for hsamg and hsqtf . . . . . . . . . . . . . . . . . . . . . . . . 10–6
10.3.2 Running HydroStar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10–7
10.3.3 O(∆ω) Approximation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10–8
11 FEM model interface 11–1
11.1 Input files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11–1
11.1.1 FEM model input file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11–1
11.1.2 Input file with the pressure transfer information . . . . . . . . . . . . . . 11–4
11.2 Running hsfem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11–6
11.2.1 Reading the pressures by NASTRAN . . . . . . . . . . . . . . . . . . . . 11–6
12 Construction of the transfer functions 12–9
12.1 Input File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12–9
12.2 Running hsrao . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12–18
A Examples A–1
A.1 Example 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A–1
A.2 Example 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A–15
B Index of commands B–1
C VISU4D interface C–1
D References D–1
0–8 Hydrostar User Manual
Introduction
HydroStar is the hydrodynamic software developed in Bureau Veritas since 1991, that provides
a complete solution of first order problem of wave diffraction and radiation and also the QTF
of second order low-frequency wave loads for floating body with or without forward speed in
deep water and in finite water depth.
For the versions 4.0 and above, the QTF (Quadratic Transfer Function) of second-order wave
loading can be computed by using three different formulations: the new middle-field formula-
tion plus the classical near-field formulation consisting of direct pressure integration and the
far-field formulation derived from the theorem of momentum conservation. In version 5.0 the
near-field and middle-field formulations have been extended to the case of cross waves not only
for the calculation of mean drift loads but also for the QTF of low-frequency loads. Addition-
ally, the control surface needed when middle-field is used can be now automatically generated
by the program.
The following advanced fonctionalities are present in HydroStar :
• Fairly perfect fluid formulation: In the classical potential theory there’s no limit
in predicting resonant wave kinematics while the resonant motion is in reality largely
damped by different mechanisms. In order to avoid unrealistic resonant wave motion, we
have added a fictitious force to the momentum equation in the same way as Gu´evel (1982)
to represent the energy dissipation of various sources without modifying the inviscid and
irrotational properties. As a result a dissipation term is present in the classical boundary
condition over the free surface. The formulation of the so-called ”fairly-perfect fluid”
is a sound-basis applicable for a number of analysis. One example of application is the
prediction of wave kinematics in the gap between two vessels in side-by-side configuration.
• Green function and influence coefficients: The integral equation of the first-order
boundary value problem is derived by making use of the Green theorem. The Green
function involved in the wave diffraction and radiation problem is then formulated as the
fundamental solution expressed by the Fourier-Hankel integral. The finite depth Green
function is decomposed into the deepwater Green function and two regular functions rep-
resenting the effect of the seabed. The regular functions are then evaluated accurately and
approximated by Chebychev polynomials of three variables. Furthermore, the involved
special functions and the deepwater Green function are also approximated by Chebychev
0–1
0–2 Hydrostar User Manual
polynomials of one and two variables, respectively. It is shown that polynomial approxi-
mations are extremely efficient in computation of the Green function. Furthermore, the
originality and interesting features of the formulation of the Green function in water of fi-
nite depth given in Chen (1993) lead us to develop our efficient algorithms of its numerical
computation.
• Removal of irregular frequencies: In the Boundary Integral Equation (BIE) we
make use of the Green function which satisfies the governing equation in the fluid domain.
Thus, the real physical problem exterior to the body surface and the fictitious interior
problem are solved at the same time. If the Green function is chosen in such way that the
interior problem has no unique solution at some eigen-frequencies, the exterior solution
will be also affected and important numerical errors will arise around these frequencies.
The method adopted to remove those irregular frequencies is the extension of the BIE
to a fictitious free surface in the interior of the body, taking advantage of the fact that
we can modify the boundary value problem in the interior domain in such way that it
has a unique solution. If we discretize the interior surface in an appropriate way, we may
eliminate all the irregular frequencies or at least shift them sufficiently far away. The
interior surface mesh is automatically generated by HydroStar .
• Seakeeping-sloshing coupled analysis: In HydroStar we consider the seakeeping and
the sloshing problems separately. For the sloshing problem, only the linear case is con-
sidered. An interior boundary value problem is formulated associated to the six degrees
of motions of the tank. The results obtained for both, the exterior and interior problems
are combined at the computation of the motion equation. As no damping is obtained in
the potential theory for the closed problem of the tank, we have modified the boundary
condition at the tanks walls, in order to include a dissipation parameter with the aim of
simulating the energy disspation caused by viscous effects. This dissipation parameter
gives an artificial damping which should be calibrated against model tests results.
• Formulations for second-order loads computations: The user of HydroStar is able
to choose between different formulations for the computation of second-order loads. In
addition to the classical near-field and far-field formulation, the middle-field formulation
has been implemented. This formulation written on the control surface at some distance
from the body, has the same virtue as the far-field formulation to have rapid numerical
convergence for horizontal drift loads. Furthermore, in the case of multiple bodies, the
control surface can be one surrounding an individual body and the wave loads applied on
the surrounded body are then obtained, while the far-field formulation provides only the
sum of wave loads applied on all bodies and cannot give access to the wave loads on one
individual body. An important application of the developed method is the multi-body
interaction.
• Low-frequency loads in cross waves:
In the common practice, only the long-crested seas are used for the design of floating
systems. At the most, a directional spreading is considered for the first-order motions.
At the first-order, the effects of directionality may be obtained by a simple sum of the
effects of the uni-directional waves independently. However, for the second-order loads,
Contents 0–3
the interaction between two waves coming from different directions may lead to additional
loading term that could represent an important part of the total second-order load acting
on the system. In HydroStar , the near-field and the middle-field formulations have been
extended to the case of cross waves. Not only the mean drift loads, but also the full QTF
of low-frequency loads can be computed.
In order to simplify the understanding of this user manual, the first two chapters provide pre-
liminary information on the installation and conventions used in the software, followed by the
chapters which are organized in the order of the execution of HydroStar in its common appli-
cations.
0–4 Hydrostar User Manual
Chapter 1
Getting Started
This chapter provides instructions for the installation of HydroStar and for making test runs in
order to check if the installation was well done.
1.1 Hardware configuration
The following minimum hardware configuration is necessary to run HydroStar :
• PENTIUM 500MHz as a minimum;
• 100MB free on the Hard Disk ;
• 256MB RAM as a minimum;
• Windows 95, 98, 2000, NT , XP, Vista , 7
• Graphic Card allowing OPENGL emulation.
1.2 Installation
In order to install HydroStar , the user must follow the steps below:
• log on with Administrator privileges (required for Windows XP);
• Run the Setup.exe program (the setup of HydroStar can be now downloaded on the
website www.veristar.com).
• the user also needs a license file that is provided by Bureau Veritas.
If there’s any problem in installing HydroStar please contact the following support people
at Bureau Veritas:
1–1
1–2 Hydrostar User Manual
Xiao-Bo Chen e-mail: xiao-bo.chen@bureauveritas.com tel: +33 (0)1 55 24 74 74
Guillaume de-Hauteclocque e-mail: guillaume.de-hauteclocque@bureauveritas.com tel: +33
(0)1 55 24 74 71
1.3 HydroStar interface
After having installed HydroStar , a short cut of the program will be created in the user’s com-
puter work area. Double click the icon and the following HydroStar ”DOS-like” window will be
opened.
===========
****
HydroStar For Experts V6.20
****
===========
---------------------------------------(c)BV/DR 1991-2011
A new generation of hydrodynamic software
for offshore and naval applications
Hstar>>
To find out the working directory, type ”pwd” and to change directory, just type cd ”path”:
Hstar>>pwd
C:/BVeritas/Hydrostar
Hstar>>cd c:/hydro/study
Additionally to this manual, HydroStar also provides an on-line manual. To access a list of
commands just type ”man”, and to access the description of one specific command just type
”man” followed by the name of the command.
===========
****
HydroStar For Experts V6.20
****
===========
---------------------------------------(c)BV/DR 1991-2011
A new generation of hydrodynamic software
for offshore and naval applications
Hstar>>man
Chapter 1. Getting Started 1–3
1.4 Running tests
Some test examples can be found in the folder ”/examples” and can be used to check whether
the program was correctly installed. The test examples also provide to the users the possibility
of using and modifying the input files for tutorial purposes.
To run the test examples the user may follow the instructions provided in the following chapters
of this manual.
1–4 Hydrostar User Manual
Chapter 2
Overview
HydroStar is a powerful 3D diffraction/radiation potential theory 3-D panel software for wave-
body interactions taking into account multi-body interaction, effects of forward speed and
dynamic effects of liquid motions in tanks. Evaluation of 1st and 2nd order wave loads, mo-
tions, accelerations, relative motions, wave elevation is dedicated to all structure systems in
deep and finite depth waters with or without speed.
HydroStar is conceived to enhance technical excellence and productivity. It brings together
numerous advantages and functionalities to meet high level requirements:
• Rapid results as it uses efficient advanced algorithms
• Elimination of irregular frequencies
• Mixed panel - beam model
• Multi-body interaction
• Wave tank effect and wave attenuation in harbor
• Inputs for air gap analysis, green water & slamming estimation
• Linear and non-linear wave loads
• Multi-directional second order loads
• Dynamic effects of liquid motion in tanks
• Account for resonant effects of moonpool
• Automatic Transfer of Hydrodynamic pressure loads to FEM;
• Fully interfaced with VeriStar Offshore mooring and structural software
2–1
2–2 Hydrostar User Manual
2.1 HydroStar structure
HydroStar is structured into the following main modules:
• hslec : reading the mesh;
Input: body’s geometry (coordinates, panel connectivity and condition of symmetry);
Output: hydrostatic properties of the body (Volume, center of buoyancy, wetted surface,
waterplane area and inertia, etc.);
• hsrdf : radiation and diffraction computation;
Input: wave conditions (wave frequencies and headings, water depth);
Output: elementary solutions including added-mass, radiation damping and wave excita-
tion loads;
• hstnk : radiation computation inside a tank;
Input: same as for hsrdf
Output: added mass for each tank included in the calculation.
• hsmec : motions computation;
Input: mechanic properties (mass distribution, additional stiffness and additional damp-
ing matrices);
Output: motions of floating bodies;
• hsdft : second-order drift computation in uni-directional waves;
Input: choice of formulation type (far-field, near-field or far field);
Output: second order drift loads in uni-directional waves;
• hsmdf : second-order drift computation in bi-directional waves;
Input: choice of formulation type (near-field or middle field);
Output: second order drift loads in bi-directional waves;
• hsamg : pre-processing for second-order low-frequency computation in uni- and bi-directional
waves;
Input: choice of formulation type (near-field or middle field); difference-frequencies and
wave frequencies for the computation.
Output: input files for hsqtf ;
• hsqtf : second-order low-frequency computation in uni- and bi-directional waves;
Input: choice of formulation type (near-field or middle field); difference-frequencies and
wave frequencies for the computation.
Output: second order low-frequency loads in uni- and bi-directional waves;
Chapter 2. Overview 2–3
• hsprs : pressure computation;
Input: Coordinates of points to compute the pressure;
Output: Pressure at the given points;
• hswld : computation of global wave loads;
Input: mass distribution along the ship (sections where the efforts are required);
Output: efforts per defined station;
• hsrao : construction of the transfer functions;
Input: choice of which transfer function the user want to construct and the name of the
file to store the results;
Output: transfer functions of motions, velocities, accelerations and second order loads;
• hswav: wave visualization;
Input: free surface mesh and wave components to visualize;
Output: input data files of VSHIP for simulation of vessel’s motions and waves;
• hsfem: transfer of hydrodynamic pressure loads to FEM;
Input: whole ship finite element model and wave conditions (heading and frequency);
Output: real and imaginary parts of hydrodynamic pressure loads.
• hspec: Spectral analysis of short and long term;
Input: wave data, etc;
Output: spectral results.
Some secondary modules are available in addition to the ones listed above. Those modules
are used or for pre-processing purpose or for checking any result at intermediate stage of the
calculation.
• hsmsh : mesh generator for simple geometries;
Input: main dimensions of the body (barge, sphere, etc);
Output: input file for hslec ;
• hschk : verification of the mesh;
Input: output of hslec ;
Output: check of mesh (inconsistency, normal orientation, etc);
• hvisu : visualization of the mesh;
Input: output of hschk ;
Output: view of the mesh;
2–4 Hydrostar User Manual
• hsinf : information about the mesh or information about mechanical computation;
Input: output of hslec or output of hsmec ;
Output: information about the mesh (like mean length of panels, etc) or information
about mechanical computation (like frequencies, headings, etc);
• hstat: hydrostatic properties verification and/or inertia matrices computation through a
weight distribution;
Input: Weight distribution (only needed for the calculation inertia matrices at given
sections);
Output: hydrostatic properties or/and input data for hsmec and hswld
• hsrsn : resonance periods / frequencies computation;
Input: output of hsmec ;
Output: resonance periods / frequencies
• hsplt: plotting of the RAOs;
Input: output files from hsrao ;
Output: graphic view of the RAOs
Chapter 2. Overview 2–5
The figure 2.1 represents a scheme of HydroStar including all of its modules.
Figure 2.1: General scheme
2.2 Conventions used in HydroStar
The following coordinate system is used by HydroStar :
• Axis Ox is positive in the forward direction;
• Axis Oy is positive to port side;
• Axis Oz is positive upwards.
The origin of the reference system used by HydroStar is at the free surface level. However, at
any input file, the user is able to define the z-coordinates with respect to any other point (e.g.
keel of the vessel). Let’s call this additional reference system as ”user reference system”.
The ”user reference system” is only used for the input data. It needs to be parallel and with
its origin at the same vertical line as HydroStar reference system. If the origin of the vertical
axis is not at the free surface, the user needs to input the keyword (ZFSURFACE) followed by
the z-coordinate of the free surface given in the ”user reference system”. For example, the user
2–6 Hydrostar User Manual
may define the z-coordinates of the mesh with respect to keel in the input for hslec if in the
same input file he defines ZFSURFACE equal to the draft. By default, the ZFSURFACE is equal
to 0 corresponding to HydroStar reference system.
NOTE: The keyword ZFSURFACE should be used in every input file where the origin of the
”user reference system” is not at the free surface. The results are always given in HydroStar
reference system (z=0 at the free surface).
The vessels translations surge, sway and heave are the motions in Ox, Oy and Oz respec-
tively. The vessel’s rotations roll, pitch and yaw are defined as follows:
• Roll is the rotation around the axis parallel to Ox through the reference point;
• Pitch is the rotation around the axis parallel to Oy through the reference point;
• Yaw is the rotation around the axis parallel to Oz through the reference point.
Regular incoming waves are described by their amplitude (a), frequency (ω) in rad/s and head-
ing (β). The wave heading is defined by the angle between the propagation direction and the
positive direction of the axis Ox.
x
y
0

45°
90°
135°
180°
225°
270°
315°
AF
Midship FP
Figure 2.2: Wave headings
A regular wave is defined by its analytical expression:
η(X, Y, t) = a cos{ωt −k[(X −X
cal
) cos β + (Y −Y
cal
) sin β]} (2.1)
Chapter 2. Overview 2–7
with k the wavenumber determined by the dispersion equation:
k tanh(kH) =
ω
2
g
(2.2)
where, H is the water depth and g is the acceleration due to gravity.
If the wave reference point is taken equal to the calculation point, X = X
cal
and Y = Y
cal
, the
incident wave elevation is given by (see also fig 2.3):
η(X
cal
, Y
cal
, t) = a cos(ωt) (2.3)
t
elevation
Figure 2.3:
Any other physical value of responses like vessel’s motions is written in the way:
U(t) = ucos(ωt +φ) (2.4)
with the amplitude u and the phase φ. The ratio between the response amplitude and wave
amplitude is called RAO:
RAO = u/a (2.5)
φ is often called as phase lead as it represents an advance comparing to waves. φ is the value
ouput by HSRAO when specifying the keyword PHASE
NOTE 1 : Internally the phase convention is based on the incident potential (φ
i
= −
ag
ω
e
i(kx−ωt)
)
so the incident wave height at the reference point is η
0
= a cos(ωt +
π
2
). The real and imaginary
2–8 Hydrostar User Manual
part that can be output by HSRAO with keywords COS and SIN are linked to this conven-
tion. This imply that phase Φ
0
= arg(RAO
cplx
) is related to the wave η
0
= a cos(ωt +
π
2
), other
physical values being given by U
0
(t) = ucos(ωt −φ
0
)
NOTE 2: Attention should be made to the definition of the wave reference point (REFWAVE)
and to the calculation point, also called reference point (REFPOINT). The first one defines the
point where the wave is zero ascendent at the instant zero. The other is the reference point
located on the body for the calculations. By default those points are taken equal to the centre of
buoyancy for the radiation and diffraction computations (hsrdf ) and equal to centre of gravity
for the motions computations (hsmec ). Obviously all the results obtained in hsrdf in the centre
of buoyancy are transferred to the centre of gravity, consistently, for the computations in hsmec .
2.3 Units used in HydroStar
The following units are used in HydroStar :
Length (L) m
Surface (S) m
2
Volume (V ) m
3
Mass (M) Kg
Inertia (I) Kg.m
2
Mass density (r) Kg/m
3
Time (t) s
Gravity (g) m/s
2
Wave frequency (ω) rad/s (circular frequency)
Wave period (T) s
Wave amplitude (A) m
Wave heading (β) deg
Translations (T) m Surge, sway and heave
Translations RAO (T) m/m
Rotations (R) deg Roll, pitch and yaw
Rotations RAO (R) deg/m
Forces (F) N(= Kg · m/s
2
)
Moments (M) N · m
Pressure (P) m in waterhead
Speed m/s
Chapter 3
Mesh Generation
HydroStar provides two automatic mesh generators for simple geometries. The first one is ded-
icated to single simple geometries, such like cylinders, barges, spheres, ect. The second one is
dedicated to bodies composed by several simple geometries.
In addition, the module AMG (Automatic Mesh Generation) provides the possibility of au-
tomatic generation of ship meshes by just inputting the stations coordinates and some infor-
mation about the aft and forward parts of the vessel. This module can be used independently
from HydroStar .
3.1 Single simple geometry mesh generation
This module allows the user to generate the following geometries:
• Cylinder
• Semi-sphere
• Elliptical cylinder
• box
The following commands shall be input in HydroStar window for the generation of each
type of geometry mentioned above:
• Cylinder:
i) Type ”hsmsh -cs[symmetry code]”
where:
3–1
3–2 Hydrostar User Manual
symmetry code
=0 if no symmetry
=1 if symmetric around x axis
=2 if symmetric around x and y axi
ii) HydroStar will then require the following values in order to define the mesh:
R = radius of the cylinder;
H = height of the cylinder;
ntheta = number of panels along the circumference;
nH = number of panels in the cylinder height;
nR = number of panels in radial direction in the bottom of the cylinder.
Figure 3.1: Example of cylinder mesh
iii) HydroStar generates a file named ”cyls[symmetry code].dat” with the appropriate for-
mat already described here above.
Hstar>>cyl>>hsmsh -cs2
R,H,ntheta(0->PI/2),nH,nR(fond)=: 15 40 20 20 15
Output mesh file name : cyls2.dat
• Semi-sphere:
i) Type ”hsmsh -ds[symmetry code]”
where:
symmetry code
=0 if no symmetry
=1 if symmetric around x axis
=2 if symmetric around x and y axi
Chapter 3. Mesh Generation 3–3
ii) HydroStar will then require the following values in order to define the mesh:
R = radius of the cylinder;
ntheta = number of panels along the circumference around z axis;
nphi = number of panels along the circumference around x / y axis
Figure 3.2: Example of sphere mesh
iii) HydroStar generates a file named ”dsphs[symmetry code].dat” with the appropriate for-
mat already described here above.
Hstar>>dsphe>>hsmsh -ds2
R,ntheta(0->PI/2),nphi = : 10 20 20
Output mesh file name : dsphs2.dat
• Elliptical Cylinder:
i) Type ”hsmsh -es2”
ii) HydroStar will then require the following values in order to define the mesh:
a = length of the elliptical cylinder;
b = breadth of the elliptical cylinder;
H = height of the elliptical cylinder;
ntheta = number of panels along the circumference
nH = number of panels in height;
nR = number of panels in radial direction in the bottom of the cylinder.
iii) HydroStar generates a file named ”cyls2.dat” with the appropriate format already de-
scribed here above.
Hstar>>ellyp>>hsmsh -es2
a,b,H,ntheta(0->PI/2),nH,nR(fond) = : 20 10 10 20 10 10
Outputmesh file name : cyls2.dat
• Box:
3–4 Hydrostar User Manual
Figure 3.3: Example of elliptical cylinder mesh
i) Type ”hsmsh -bte”
ii) HydroStar will then require the following values in order to define the mesh:
L = length of the box;
B = breadth of the box;
T = height of the box;
nL = number of panels in length;
nB = number of panels in breadth;
nT = number of panels in height.
Figure 3.4: Example of box mesh
iii) HydroStar generates a file named ”boite.don” with the appropriate format already de-
scribed here above.
Hstar>>boite>>hsmsh -bte
L,B,T= : 20 10 5
nL,nB,nT= : 20 10 5
Output mesh file name : boite.don
Chapter 3. Mesh Generation 3–5
3.2 Bodies composed by various simple geometries
The user can use several simple geometries to compose a single body. In this case, an input file
shall be generated with the following keywords:
TYPE 1
SYMMETRY isym (=1 for symmetry XZ
= 2 for symmetry XZ and symmetry YZ)
ZFSURFACE zfs (z coordinate of the free surface, default = 0)
NODE id nd x y z (id number of the node, x, y and z coordinates)
OBS: This module only generates the mesh up to the free surface level.
The user may define rules for the discretization of the mesh. This option allows to refine
the mesh close to the free surface and/or close to the keel.
RULE id rl cos(A1) cos(A2) (Rule for the refinement of the mesh)
where:
cos(A1) is the cosine of the first refinement angle
cos(A2) is the cosine of the second refinement angle
The principle for refinement are explained in figure 3.5.
For example, if the user defines ”RULE 1 0.0 0.0”, which corresponds to A1=90 and A2=90,
the mesh will be uniform. If the user defines ”RULE 1 0.90 0.0” the mesh will be more refined
at the left side.
After defining nodes and rules for the refinement of the mesh, the user can define elements
or geometries to be meshed. Different elements can be used and composed together into a
single mesh:
3–6 Hydrostar User Manual
Figure 3.5: Refinement of the mesh
• PATCH: A patch is a flat panel described by four nodes A B C D. In case of triangles, one
node should be repeated in the definition of the panel. The normal is oriented following
the right-hand rule.
A patch is defined as below:
PATCH id element NODE id nd(A) id nd(B) id nd(C) id nd(D) AB NB nb el(AB) AB RULE
id rl(AB) BC NB nb el(BC) BC RULE id rl(BC)
where:
nb el(AB) & nb el(BC) correspond to the number of elements along the side from node
A to node B and the number of elements along the side from node B and C, respectively.
id rl(AB) & id rl(BC) correspond to the refinement rule applied to the sides AB and
Chapter 3. Mesh Generation 3–7
BC, respectively.
Figure 3.6: Patch Definition
As an example, a barge can be decomposed in several ”PATCHS” like in figure 3.7 below:
Figure 3.7: Barge
• CIRSEG: This type of element is used to represent a segment of circle as in the figure
3.8, where C is the node at the centre of the circle, R is the radius of the circle. A and B
are the two nodes that compose the segment. A segment of circle is defined as below:
3–8 Hydrostar User Manual
CIRSEG CTR id nd(C) RAD R ANG ang1 ang2 NODE id nd(A) id nd(B) C NB nb el(AB)
C RULE id rl(AB) H NB nb el(R) H RULE id rl(R)
where:
ang1 & ang2 are the first and last angle for the definition of the segment, respectively.
In the figure 3.8 the first angle is 0 deg and the last angle is 90 deg.
nb el(AB) & nb el(R) correspond to the number of elements in the segment from node
A to node B and the number of elements in the direction of the radius of the circle (R),
respectively.
id rl(AB) & id rl(R) correspond to the identification number of refinement rule applied
in the direction of the segment AB and in the direction of the radius R respectively.
Figure 3.8: CIRSEG Definition
Chapter 3. Mesh Generation 3–9
• CIRCYL: It’s used to generate vertical cylinders or segments of cylinders like in figure
3.9. The following keywords are used to define a cylinder or a part of it:
CIRCYL CTR id nd(A) id nd(B) RAD radius(A) radius(B) ANG ang1 ang2 C NB nb el(arc)
C RULE id rl(arc) H NB nb el(height) H RULE id rl(height)
where:
radius(A) & radius(B) are the radius of the cylinder at the horizontal plane passing
by node A, and the radius of the cylinder at the horizontal plane passing by node B,
respectively. In this way the radius of the cylinder may vary along its height.
ang1 & ang2 are the first and last angle for that define the cylinder in degrees. For
example, a cylinder with ang1= 0.0 and ang2= 360.0 means a complete cylinder.
nb el(arc) & nb el(height) correspond to the number of elements along the arc of the
cylinder and along the height of it, respectively.
id rl(arc) & id rl(height) correspond to the identification of the refinement rule along
the arc of the cylinder and along the height of it, respectively.
Figure 3.9: CIRCYL Definition
3–10 Hydrostar User Manual
3.2.1 Example of Input file for hsmsh
The figure 3.10 gives an example of input for the module hsmsh where several simple geometries
are used to composed a mesh.
TYPE 1 #For the type of mesh definition as described above
SYMMETRY 2 #Number of symmetries
ZFSURFACE 42.0 #Position of free surface
#Nodes for the definition of the mesh (up to free surface only)
NODE 1 0.000 0.000 0.000
NODE 2 0.000 0.000 4.000
NODE 3 0.000 0.000 42.000
NODE 4 26.625 0.000 0.000
NODE 5 18.830 18.830 0.000
NODE 6 0.000 26.625 0.000
#Refinement Rules
RULE 0 0.00 0.00 #Uniform mesh
RULE 10 -0.95 0.00
RULE 99 -0.95 0.95
#Elements of the mesh
PATCH 1 NODE 1 6 5 4 AB NB 8 AB RULE 0 BC NB 8 BC RULE 0
CIRSEG CTR 1 RAD 46.625 ANG 0.0 45.000 NODE 4 5 C NB 8 C RULE 0 H NB 10 H RULE 10 INVERSE
CIRSEG CTR 1 RAD 46.625 ANG 45.0 90.000 NODE 5 6 C NB 8 C RULE 0 H NB 10 H RULE 10 INVERSE
CIRCYL CTR 1 2 RAD 46.625 46.625 ANG 0.0 90.0 C NB 16 C RULE 0 H NB 3 H RULE 99
CIRCYL CTR 2 2 RAD 43.500 46.625 ANG 0.0 90.0 C NB 16 C RULE 0 H NB 3 H RULE 99 INVERSE
CIRCYL CTR 2 3 RAD 43.500 43.500 ANG 0.0 90.0 C NB 16 C RULE 0 H NB 20 H RULE 99
ENDFILE
Figure 3.10: Input file for hsmsh
NOTE: When the keyword INVERSE is used at the end of the command lines used to gen-
erate the elements of the mesh, it means that the orientation of the normal vector is inversed.
3.2.2 Generating the mesh using hsmsh
After constructing the input file as explained in the above items, the user is ready to construct
the mesh by using the following commands in HydroStar window:
Hstar>>hsmsh inputfile
Immediately after running hsmsh the user may visualize the mesh generated by typing:
Hstar>>hvisu
The figure 3.11 represents the mesh generated using the example file in figure 3.10.
Chapter 3. Mesh Generation 3–11
Figure 3.11: Example of mesh generated using hsmsh
The input file for hslec named ”proj.hst” is generated in the working directory.
3.3 Use AMG to generate Mesh
AMG (Automatic Mesh Generation) is delivered in the HydroStar package. To generate mesh
using AMG, use the command ”hsmsh -ship”. For additional information about AMG, please
refer to the AMG user manual.
Hstar>>hsmsh -ship input
3.4 Mesh equilibrium
The displacement of the mesh input in HydroStar must correspond to the mass later described.
Althought it is better to generate a mesh directly at the equilibrate draft and trim, the tool
hsbln can be used to get a balanced mesh from mesh input up to the deck.
INPUT MESH Input mesh (up to the deck)
OUTPUT MESH test.hst Output balanced mesh
COGPOINT BODY 1 134.126 0.0 4.971 Position of the center of gravity in the Input mesh reference system
MASS BODY 1 118992250.0 id of the body , Mass of the body
Be carefull : In the new mesh reference the position of the center of gravity
will be changed !
Compared to a mesh directly generated at the equilibrate draft, the panel near the free
surface can not be as regular and refined.
Hstar>>hsbln input.bln
3–12 Hydrostar User Manual
Chapter 4
Reading the Mesh
The input of the mesh is performed by HydroStar using the module hslec (see fig 4.1).
Project
hschk
hslec
Figure 4.1: hslec
To run this module, the user is supposed to have already prepared the mesh. For prepara-
tion of the mesh, refer to Chapter 3.
The hull geometry shall be represented by flat quadrilaterals or flat triangulars with the normal
vector oriented towards the fluid (see fig 4.2).
4.1 Input file format
The format of the definition of the nodes coordinates in the input file is as follows:
4–1
4–2 Hydrostar User Manual
n
1
n
1
n
2
n
2
n
3
n
3
n
4
−→
n −→
n
Figure 4.2: Flat quadrilaterals and flat triangulars
.
COORDINATES
[no node], x no, y no, z no
ENDCOORDINATES
where:
no node sequential number of the node;
x no x coordinate of the number no;
y no y coordinate of the number no;
z no z coordinate of the number no.
The format of the definition of the panel connectivity in the input file is as follows:
PANEL TYPE itype
[no panel], n1 panel, n2 panel, n3 panel, n4 panel
ENDPANEL
where:
Chapter 4. Reading the Mesh 4–3
itype
=0 where no panel is not given
=1 where no panel is given
no panel = sequential number of the panel
n1 panel = node number of the first corner
n2 panel = node number of the second corner
n3 panel = node number of the third corner
n4 panel = node number of the forth corner
The following key words shall be used in the input file for hslec module:
COORDINATES start line of node definition
ENDCOORDINATES end line of node definition
PANEL start line of panel definition
ENDPANEL end line of panel definition
ENDFILE to end the input file.
4–4 Hydrostar User Manual
The following keywords may be input as optional commands:
PROJECT project title (default= project)
USER user’s name (default= anonym)
REFLENGTH reference length (default= 1.0m)
GRAVITY gravity acceleration constant (default= 9.81m/s2)
RHO fluid mass density (default= 1025kg/m3)
NBNODES number of nodes
(default= no of lines on
the nodes definition)
NBPANEL number of panels
(default= no of lines on
the panels definition)
NBBODY number of bodies (default= 1)
NFHULL number of panels of the body’s hul l (default= NBPANEL)
SYMMETRY number of symmetry (default=0)
NUMPANEL
start number and end number (default= 1 to
of panels NBPANEL)
NUMFHULL
start number and end number
of the hull panels
NUMFPONT
start number and end number
of the panels above the hul l
NFSWATER
number, start number and end
number over the interior waterplane
NFREESURFACE
number, start number and end
number of panels over the free surface
ZFSURFACE coordinate of the freesurface in the user
reference system (see item 2.2)
(default= 0)
COEFZ0
ratio of the panel size of the waterplane
mesh and of the hull mesh
(default=1.5)
ZONEDAMPING xmin xmax dltx ymin ymax dlty epslon dissipation zone
Chapter 4. Reading the Mesh 4–5
The figure (see fig 4.3) contains an example of the input file for hslec .
PROJECT LNG CARRIER - Full Loaded case T=12.350m
USERS BV
NBBODY 1
SYMMETRY BODY 1 1
RHO 1025.0
GRAVITY 9.81
COORDINATES TYPE 0
1 0.10005E+02 0.00000E+00 -0.10821E+02
2 0.10005E+02 0.11428E+01 -0.92114E+01
.. .. .. ..
ENDCOORDINATES
PANEL TYPE 0
1 2 17 16
2 3 18 17
.. .. .. ..
ENDPANEL
ENDFILE
Figure 4.3: Input file for hslec
In the following sections of this chapter, some specific fonctionalities on the input of the mesh
are described in more details.
4.2 Input file for a single body
The input file for a single body may contain only the part of the body below the waterline or the
complete ship mesh containing the parts below and above waterline and even superstructure.
The upper parts of the mesh are used for visualization purpose only.
In case the mesh generated contains also the part of the vessel above the waterline, the mesh
should be divided into two parts: the submerged part actually used in the calculations and the
upper part only used for visualization. It means that during the construction of the mesh all
panels and nodes composing the submerged part should be grouped together in one block of
data (nodes and coordinates). In addition, there should be no panels cutted by the free surface.
When defining coordinates and nodes of the mesh, the user needs to specify which panels
compose the submerged part and which panels compose the upper part by given the first and
last panel number of each part.
4–6 Hydrostar User Manual
For that, the following keywords should be used:
NUMFHULL nb body, ni hull, nf hul l
number of the body, start number and
end number of hull panels
NUMFPONT nb body, ni pont, nf pont
number of the body, start number and
end number of panels above waterline
The file displayed in figure 4.4 exemplifies the input file for hslec considering also the part
of the body above waterline.
PROJECT: SHIP
USER: BV
NBBODY 1
SYMMETRY BODY 1 1
NUMFHULL 1 1 2105
NUMFPONT 1 2106 3758
COORDINATES TYPE 0
1 0.000000 0.000000 0.000000
2 8.140500 0.000000 -11.444000
.. .. .. ..
.. .. .. ..
3918 5.490700 0.000000 -10.874000
3919 5.577100 0.000000 -6.665400
ENDCOORDINATES
PANEL TYPE 0
2 3 37 36
3 4 38 37
.. .. .. ..
.. .. .. ..
3433 3434 3908 3907
3434 3435 3909 3908
ENDPANEL
ENDFILE
Figure 4.4: Example considering the part of the body above waterline
In the file above, the part of the hull below waterline is defined by the panels from 1 to
2105 identified by the keyword NUMFHULL, while the part of the hull above the waterline is
defined by the panels from 2106 to 3758 that can be identified by the keyword NUMFPONT.
In this case all the coordinates of nodes and panels are defined together, although the user
can clearly observe that the data can divided in two blocks. Another possibility is to repeat
the keywords COORDINATES & ENDCOORDINATES and PANELS & ENDPANELS to define as
many blocks of data as wanted.
Chapter 4. Reading the Mesh 4–7
4.3 Input file for multi bodies
Any number of bodies can be modelled in HydroStar . The user has to define the number of
bodies and the first and last identification numbers of the panels associated to each body. The
coordinates and panels of each body can be defined separately, however in the same file.
The symmetry property is not used in the case of multi-body mesh. The whole hull should be
modelled.
It’s important to remark that the identification numbers of the nodes shall be unique. It
means that, in principal, there should be only one node with a certain identification number.
However, in case of multi-body it’s normally the case that the meshes are prepared separately
and the nodes number may be repeated for the two meshes. In order to solve this problem,
the keyword NODE0 is used after the keywords COORDINATES and PANELS to shift the nodes
numbers by the value defined after NODE0 and to guarantee that there’s no other node with
the same number.
Another useful possibility is to translate (in x- and y- direction) and rotate the mesh (in the
horizontal plane) by using the keywords TRANS and ROTA after the keyword COORDINATES.
The reference systems are centered on the reference point of each body, but the axis remain
parallel to the global mesh reference system.
The file displayed in figure 4.5 gives an example of input file for hslec .
4–8 Hydrostar User Manual
Mesh by AMG from input file :
NBBODY 2
NUMPANEL 1 1 728
NUMPANEL 2 2537 4942
NUMFPONT 1 729 2536
NUMFPONT 2 4943 7304
COORDINATES TYPE 0
1 0.83862E+01 0.00000E+00 -0.43537E+01
2 0.83862E+01 0.64438E+00 -0.37057E+01
.. .. .. ..
.. .. .. ..
6889 0.23743E+03 0.00000E+00 0.18145E+02
6890 0.23743E+03 0.00000E+00 0.18145E+02
ENDCOORDINATES
PANEL TYPE 0
1 2 21 20
2 3 22 21
.. .. .. ..
.. .. .. ..
6851 6808 6807 6850
6852 6809 6808 6851
ENDPANEL
COORDINATES TYPE 0 TRANS 0.0 -50.0 ROTA 0.2 NODE0 10000
1 0.66550E+01 0.00000E+00 -0.15991E+02
2 0.57373E+01 0.00000E+00 -0.13585E+02
.. .. .. ..
.. .. .. ..
15565 0.27322E+03 0.00000E+00 0.59000E+01
15566 0.27322E+03 0.00000E+00 0.59000E+01
ENDCOORDINATES
PANEL TYPE 0 NODE0 10000
1 2 23 22
2 3 24 23
.. .. .. ..
.. .. .. ..
15502 15435 15434 15501
15503 15436 15435 15502
ENDPANEL
ENDFILE
Figure 4.5: Example of input file for multi bodies
In the example file in figure 4.5, the command TRANS is used to translate the nodes
coordinates of the second body by 0.0m in the longitudinal direction and by −50.0m in the
transverse direction. The keyword ROTA is used to rotate the mesh by a angle of 0.2deg in the
horizontal plane. Thus, the nodes coordinates given in the input file are modified as follows:
x no = x no cos(θ) −y no sin(θ) +trans x
y no = y no sin(θ) +y no cos(θ) +trans y
Also, it should be noticed that the nodes numbers given for the two bodies are repeated.
In this case, the keyword NODE0 has been used to shift the nodes numbers of the second
body by a value of 10000 which has been considered sufficiently big to avoid having two
nodes with the same number. In fact the nodes numbers of the second body will be equal
to no node=no node+no NODE0
Chapter 4. Reading the Mesh 4–9
The mesh described in figure 4.6 can be obtained.
Figure 4.6: Two bodies’ meshes
4.4 Input file including dissipation zone
In a confined zone, such like moonpool or gap between two ships in side-by-side configura-
tion, the hydrodynamic interaction may create violent wave kinematics at certain frequencies.
Within the framework of the potential theory there’s no limit in predicting resonant wave
elevation while in reality the resonant motion is largely damped by different mechanisms of
dissipation. In HydroStar , it’s possible to include a dissipation term in the fluid in order to
simulate the effects of viscous damping. This dissipation parameter is artificial and should be
calibrated against measurements. In addition, the use of this term requires the meshing of the
free surface at the region where wave kinematics are most important.
The mesh of the damping zone is made by HydroStar. It can have rectangular or circular
shape. The following keywords should by included in the input file for hslec :
4–10 Hydrostar User Manual
ZONEDAMPING xmin xmax dltx ymin ymax dlty epslon
where:
xmin is the minimum x-coordinate of the rectangular damping zone
xmax is the maximum x-coordinate of the rectangular damping zone
dltx is the length of the panels of the damping zone mesh
ymin is the minimum y-coordinate of the rectangular damping zone
ymax is the maximum y-coordinate of the rectangular damping zone
dlty is the width of the panels of the damping zone mesh
epsilon is the dissipation parameter
Chapter 4. Reading the Mesh 4–11
Figure 4.7: Rectangular dissipation zone
And the circular damping zone:
ZONEDAMPING rmin rmax dltr θmin θmax dltθ epslon CTR xctr yctr
where:
rmin is the minimum radius value of the circular damping zone
rmax is the maximum radius value of the circular damping zone
dltr is the length of the panels of the damping zone mesh in the radial direction
θmin is the minimum angle in degrees of the circular zone damping
θmax is the maximum angle in degrees of the circular zone damping
dltθ is the delta angle of for the panels definition of the circular damping zone mesh
4–12 Hydrostar User Manual
epsilon is the dissipation parameter
CTR xctr yctr Coordinates of the centre of the circular zone
The file displayed in figure 4.8 gives an example of input file for hslec including a circular
damping zone. The user may include several damping zones by repeating the command line
ZONEDAMPING.
PROJECT MONOCOLUMN
ZONEDAMPING 0.0 34.5 3.45 0.0 90.0 7.50 0.10 CTR 0.0 0.0
SYMMETRY BODY 1 2
NUMPANEL 1 1 468
ZFSURFACE 38.0
COORDINATES TYPE 0
1 47.50000 0.00000 0.00000
2 47.09363 6.19999 0.00000
.. .. .. ..
.. .. .. ..
1727 5.22105 39.65779 50.00000
1728 0.00000 40.00000 50.00000
ENDCOORDINATES
PANEL TYPE 0
1 2 21 20
2 3 22 21
.. .. .. ..
.. .. .. ..
1723 1724 1726 1725
1725 1726 1728 1727
ENDPANEL
ENDFILE
Figure 4.8: Example of input file including zone damping
Chapter 4. Reading the Mesh 4–13
4.5 Input file including tanks
In case the user wants to solve the coupled sloshing-seakeeping problem, the tanks walls up to
the filling level need to be meshed and included into the input file of hslec .
In addition to the keywords used to described in the above sections, the following keywords
should be included to the input file for hslec with the aim of defining the mesh of the tank(s):
NBTANK nb tanks Number of tanks meshed
SYMMTANK id tk sym define the symmetry of a defined tank
id tk : identification number of the tank
sym = 0 (no symmetry)
sym = 1 (symmetry around XZ plan)
NUMTANK id tk first panel last panel z fsf where:
id tk: identification number of the tank
first panel: number of the first panel that de-
fines the tank mesh
last panel: number of the last panel that de-
fines the tank mesh
z fsf: z-coordinate of the tank free surface
with respect to the local system
REFPTANK id tk x ref y ref z ref rho where:
id tk: identification number of the tank
x ref , y ref , z ref: coordinates of the origin
of the tank mesh with respect to the origin
of the hull mesh
rho: density of liquid in the tank in kg/m
3
The coordinates and panels of the tanks are defined in the same way as for the hull mesh.
The normal vectors of the panels used to describe the tanks are defined towards the fluid inside
the tank. The tanks meshes may be defined with respect to any point. By default the origin of
the tank mesh reference system is assumed to be at the free surface of the tank, otherwise the
value z fsf should be provided in order to define the position of the free surface with respect
to the origin chosen to describe the tank mesh. The REFPTANK defines the coordinates of the
origin of the tank mesh in the hull mesh reference system.
For the definition of the panels of the tanks another value can be defined at the end of the
command line as below:
4–14 Hydrostar User Manual
.
PANEL TYPE itype NODE0 node0
[id panel] node1 node2 node3 node4 epsilon where:
id panel: defined when itype=1
node1 node2 node3 node4 : identification
numbers of the four nodes that compose the
panels.
epsilon: dissipation parameter associated to
the panel (typically around 0.01)
ENDPANEL
It should be mentioned that for the radiation problem inside the tanks, no damping is obtained.
However, in reality the energy is dissipated by viscous effects. The dissipation parameter ep-
silon is used to simulate the effects of the viscousity within the assumptions of the potential
theory. It’s in fact an artificial damping and the epsilon parameter needs to be calibrated
against model tests. In addition, in this method, all the dissipation is assumed to occur at the
tanks walls.
The figure 4.9 presents an example of input file for hslec including two tanks. In this example
the origin of the tanks reference systems is located in the aft bulkhead and at the bottom of
each tank. In this way the value z fsf defines the z-coordinate of the free surface of the tank
with respect to its bottom. Also in this example the REFPTANK coordinates are in fact the
coordinates of a point located at the centreline of the tank, at the aft bulkhead and at the
bottom of the tank expressed in the global system.
Chapter 4. Reading the Mesh 4–15
PROJECT TANKS
USER BV
SYMMETRY BODY 1 1
NUMPANEL 1 1 1210
NBTANK 1
SYMMTANK 1 2
NUMTANK 1 1211 2366 1.42
REFPTANK 1 168.0 0.0 0.0 1025.0
COORDINATES TYPE 0
1 0.00000E+00 0.00000E+00 0.00000E+00
2 0.81405E+01 0.00000E+00 -0.11444E+02
...
...
3918 0.54907E+01 0.00000E+00 -0.10874E+02
3919 0.55771E+01 0.00000E+00 -0.66654E+01
ENDCOORDINATES
PANEL TYPE 0
2 3 37 36
3 4 38 37
...
...
3433 3434 3908 3907
3434 3435 3909 3908
ENDPANEL
COORDINATES TYPE 0 NODE0 10000
1 0.00000 0.00000 0.00000
2 0.00000 0.98577 0.00000
...
...
233 10.91600 9.97858 1.33572
234 10.91600 10.51600 1.87200
ENDCOORDINATES
PANEL TYPE 0 NODE0 10000
1 2 11 10 0.01000
2 3 12 11 0.01000
...
...
232 233 229 228 0.01000
233 234 230 229 0.01000
ENDPANEL
ENDFILE
Figure 4.9: Example of input file including tanks
4–16 Hydrostar User Manual
4.6 Input file of hybrid model
Hybrid model is the one composed by panels and beams mixed in the same model. HydroStar
uses the potential theory for the panels and Morison formulation for the beams.
To model the beams, the user shall define its coordinates, properties and number of segments
through the following commands:
PROPBEAM
no prop, beam type, properties
ENDPROPBEAM
where:
no prop is the number of the beams group that owns the same properties
beam type defines the shape of the beam and the commands RECT or CIRC
shall be used
If beam type = RECT
then properties shall be defined by: width, Cmz, Cdz, height, Cmy,Cdy, water density.
If beam type = CIRC
then properties shall be defined by: diameter, Cm, Cd, water density.
BEAM TYPE itype
[no beam], n1 beam, n2 beam, no prop, no seg
ENDBEAM
where:
Chapter 4. Reading the Mesh 4–17
itype
= 0 where no beam is not given
= 1 where no beam is given
no prop = is the number of the beams group that owns the same properties
no seg = is the number of segments in which the beam shall be
The user may make use of fictitious beams to model elements that are already modelled through
panels. Fictitious beams are the ones without mass (Cm = 0) but with damping coefficient
different than zero (Cd > 0). This way the additional drag efforts will be added in the damping
matrix, without changing the inertia matrix.
The input file in fig 4.10) exemplifies the hybrid model input file exemplifies for hslec. The
example corresponds to a semi-submersible, in which the pontoons and columns are modelled
by fictitious beams with Cm = 0.
The mesh obtained is displayed in figure 4.11.
4.7 Reading the input file
Considering that the mesh file (e.g. shiplec.don) is stored in one work directory, e.g. ”c:/hydro/study”,
the user has to execute the following steps in order to perform the reading of the mesh input
file:
• Go to the work directory where the file is stored (see item 1.3 for information);
Before reading the mesh, the user needs to create a project. the project name chosen is
used to name all the binary files generated by HydroStar and used as input files for the
various modules as well as the control files that give intermediate results of the calcula-
tions.
• To create a new project for which the results are stored (if the project is not created, the
default name used by HydroStar is ”PRO”):
Hstar>>proj ship
Hstar>ship>
If other projects already exist in the working directory, the user may list all the ex-
isting projects by typing:
4–18 Hydrostar User Manual
PROJECT SEMI-SUB
USER BV
SYMMETRY BODY1 1
PROPBEAM
1 RECT 14.0 0.0 1.2 6.1 0.0 0.7 1025.0
2 CIRC 9.4 0.0 0.8 1025
3 CIRC 2.0 1.0 0.8 1025
4 CIRC 1.8 1.0 0.8 1025
5 CIRC 1.6 1.0 0.8 1025
ENDPROPBEAM
BEAM TYPE 1
1 5007 5001 5 5
2 5010 5004 5 5
.. .. .. .. ..
.. .. .. .. ..
20 5039 5040 2 15
ENDBEAM
COORDINATES TYPE 0
# Node for beam definition
5001 33.50000 14.28100 0.00000
5002 33.50000 -14.28100 0.00000
.. .. .. ..
.. .. .. ..
5040 -33.50000 -27.50000 -15.50000
# Nodes for panel definitons
1 3.95000E+01 3.42500E+01 -2.14000E+01
2 3.95000E+01 3.45000E+01 -2.09500E+01
.. .. .. ..
.. .. .. ..
441 0.00000E+00 3.22000E+01 -1.55000E+00
ENDCOORDINATES
PANEL TYPE 1
1 4 36 48 47
2 36 174 175 48
.. .. .. .. ..
.. .. .. .. ..
414 439 441 368 377
ENDPANEL
ENDFILE
Figure 4.10: Example of input file for hybrid model
Hstar>>lsproj
• To read the input file using ”hslec name file” command:
Hstar>ship>hslec shiplec.don
• It will appear, in HydroStar window, the values used as input data, the reference point of
incident wave and the positions of the reference point and the centre of buoyancy.
Chapter 4. Reading the Mesh 4–19
Figure 4.11: Hybrid model of a Semi
4.8 Getting information about the mesh
After reading the mesh, the user may get some information about it by typing:
Hstar>proj>hsinf -g
The following information are displayed at the screen:
• Xmin, Xmax and Length of the mesh;
• Ymin, Ymax and Breadth of the mesh;
• Zmin, Zmax and Depth of the mesh;
• Number of symmetries;
• Number of panels;
• Body surface;
• Average panel surface;
• Average panel length;
4–20 Hydrostar User Manual
• Body’s volume;
• Centre of buoyancy
4.9 Preliminary verificaton of the mesh
After the execution of the above steps, the user has to perform a preliminary check of the mesh
by simply typing the command ”hschk ” (see fig 4.12):
Hstar>proj>hschk
The following verifications will be performed:
• Consistency of the normal vector orientation;
• Panels with null area;
• Panels over the free surface;
• Panels at free surface;
• Overlapped panels;
• Holes (neighbor-absences);
hschk
hsrdf
hslec
Figure 4.12: hschk
A report is printed on the screen giving the number of panels presenting any inconsistency.
Chapter 4. Reading the Mesh 4–21
4.10 Checking the hydrostatic properties
The computation of the hydrostatic properties is very useful to check the correspondence of the
model with the real vessel characteristics. To run this computation and display the results on
the screen the user has only to type the command ”hstat ”:
Hstar>proj>hstat
hschk
hsrdf
hstat
Figure 4.13: hstat
The following properties are then calculated:
• Hull Volume;
• Wetted Hull Surface;
• Waterplane Area;
• Waterplane Inertia;
• Distances between the centre of buoyance and the metacentre (BM).
4.11 Visualization of the mesh
The visualization of the mesh is performed by VISU4D by just typing the command “hvisu” in
HydroStar window (see fig 4.15):
Hstar>proj>hvisu
Another window will be opened for VISU4D with the mesh read by HydroStar (see fig 4.16).
4–22 Hydrostar User Manual
Figure 4.14:
hschk
hsrdf
hvisu
Figure 4.15: hvisu
In order to visualize the upper part of the mesh and the water-plane mesh given in input
file, the user has to type the command:
Hstar>proj>hvisu -t
And then obtain a picture of the complete mesh (see fig 4.18).
In case tanks are included in the input file for hslec, the user may visualize the hull mesh
(figure 4.17) together with the tanks by typing:
Chapter 4. Reading the Mesh 4–23
Figure 4.16:
Hstar>proj>hvisu -T
NOTE: The command hvisu -T with T in capital letter (for the visualization of tanks) should
not be confused with the command hvisu -t (for the visualization of upper part of hull and mesh
for elimination of irregular frequencies).
4–24 Hydrostar User Manual
Figure 4.17:
There’s also the possibility of visualizing only a part of the mesh by typing:
Hstar>proj>hvisu -c
Then, the point where the user wants to cut the mesh will be required:
Type xcut, ycut or zcut and Value
Through VISU4D, the user is able to change the visualization mode, the point of view, to
zoom in and out and rotate the mesh in a very user-friendly interface.
Please refer to appendix C in order to get more details about the use of VISU4D.
Chapter 4. Reading the Mesh 4–25
Figure 4.18:
4–26 Hydrostar User Manual
Chapter 5
Diffraction radiation computation
The radiation solutions are the potential flow around the vessel when the vessel moves in the
otherwise quiescent fluid. The added-mass is defined by the load on the vessel due to its unit
acceleration while the radiation damping is the ratio between the load and vessel’s velocity.
The matrices of added-mass and radiation damping are of 6 x 6 dimensions for a single body
and 6N x 6N dimensions for multi-body, where N is the number of bodies.
The diffraction solutions are the potential flow around the vessel remaining immobile in in-
coming waves. The wave excitation loads are obtained by integrating the dynamic pressure on
the fixed vessel in incoming waves.
The module hsrdf of HydroStar solves the problem of diffraction and radiation around fixed
and floating bodies and it’s based on the following:
• First and second order potential theory of free surface flow;
• Integral equations / boundary element method;
• Efficient evaluation of associated Green functions;
• Elimination of irregular frequencies;
• Independency of the mechanic properties of the system.
The module hsrdf can be run after the module hslec.
In case of seakeeping-sloshing coupled analysis, in addition to the module hsrdf for the
exterior problem, the module hstnk is used after hsrdf to solve the radiation problem inside the
tanks.
5–1
5–2 Hydrostar User Manual
5.1 Input file
The following data have to be provided to perform radiation and diffraction computation:
• Extension of the file that will store the results;
• Wave frequencies (rad/s);
• Wave headings (deg);
• Water depth (m) or infinity water depth.
The following data may be inputted as optional parameters:
• Reference length;
• Acceleration due to gravity;
• Water mass density.
Chapter 5. Diffraction radiation computation 5–3
The following keywords shall be used in the input file for hsrdf execution:
FILENAME file name extension of the file to identify the
run
FREQUENCY TYPE itype start line to give wave frequencies
frequency lines
ENDFREQUENCY end line to give wave frequencies
If itype = 0,
frequency lines = no freq, freq1 one frequency per line with iden-
tification
number
If itype = 1,
frequency lines = freq1, freq2, freq3... several frequencies at the same
line
without identification number
If itype = 2,
frequency lines =
WMIN min freq minimum frequency
WMAX max freq maximum frequency
WSTP step freq Step of wave frequency
HEADING TYPE itype start line to give wave headings
heading lines
ENDHEADING end line to give wave headings
If itype = 0,
heading lines = no head, head1 one heading per line with identi-
fication number
If itype = 1,
heading lines = head1, head2,head3... several headings at the same line
without identification number
If itype = 2,
heading lines =
HMIN min freq minimum heading
HMAX max freq maximum heading
HSTP step freq step of wave headings
ENDFILE to end the hsrdf file
5–4 Hydrostar User Manual
The following keywords are optional:
NBFREQUENCY no freq total number of wave frequencies
NBHEADING no head total number of wave headings
WATERDEPTH value depth water depth value or infinite (default = inf)
or inf
REFPOINT BODY x ref, y ref, z ref reference point of the body (COB;0)
REFWAVE x wave, y wave reference point for incoming waves (COB;0)
ELIMIRREG YES or NO option of eliminating irregular frequencies
(default=YES)
SPEED start line to give speed
1 speed speed of the body (only one speed per project)
ENDSPEED end line for the definition of speed
SIDEWALL WIDTH w DEPTH d width of the channel and depth of the channel
for computations including sidewall effects
The picture displayed in figure 5.1 presents an example of input file for hsrdf module:
FILENAME w26
NBFREQUENCY 15
NBHEADING 5
NBSPEED 1
FREQUENCY TYPE 2
WMIN 0.05
WMAX 1.45
WSTP 0.10
ENDFREQUENCY
HEADINGS TYPE 1
180.0 225.0 270.0 315.0 360.0
ENDHEADINGS
SPEEDS TYPE 0
1 0.0
ENDSPEEDS
WATERDEPTH infinity
REFPOINT BODY 1 137.020 0.0 0.0
REFWAVE 137.020 0.0
ENDFILE
Figure 5.1: Input file for hsrdf
Chapter 5. Diffraction radiation computation 5–5
5.2 Elimination of irregular frequencies
The lowest irregular frequency for a parallelepiped is:
ω
irr
=
_
gk/ tanh kT with k = π
_
1/B
2
+ 1/L
2
(5.1)
where (L,B,T) are length, width and draft of the box.
For a ship, the lowest irregular frequency is close to that estimated by above formula using
ship’s length, width and draught.
For a body of arbitrary geometry, the lowest irregular frequency is larger than that for a
box which can surround the body.
The irregular frequencies are eliminated in HydroStar by generating a mesh on the vessel’s
water-plane (that not necessarily covers all the water-plane area), and modifying the original
integral equation by extending the singularity support to the internal water-plane.
The user has the possibility of changing the ratio between the panel size of the mesh and
the panel size of the water-plane by inputting a value for COEFZ0 in the hull mesh input file
in order to get better accuracy of results for high frequency values, if desired (see fig 5.2).
Figure 5.2: Water-plane mesh
5–6 Hydrostar User Manual
5.3 Encounter frequency approximation
In order to take into accound the forward speed, the so-called ”encounter-frequency” approx-
imation is implemented in HydroStar (module hsrdf) based on the use of the Green function
associated to the encounter frequency.
The encounter frequency is defined as:
ω
enc
= ω [1 −cosβ (ωV/g)] (5.2)
with wave frequency ω, headingβ and speed V .
In the following sea (|β| < π/2), ω can be close to zero. To avoid the singularity, special
treatments are provided in hsmec (keyword ZEROENCFREQ). The boundary condition on ship
hull is linearized over uniform flow.
5.4 Sidewall Effects
In the version 6.0 of HydroStar, the user has the possibility of accounting for sidewall effects.
This feature can be applied to verify the effects of the walls of a channel or of a wave tank on
the behaviour of body. It’s known, for example, that some results from model tests performed
at wave tanks exhibit some scattering comparing to the expected results in open sea condition.
This can be explained by the reflections at the sidewalls of the tank. It’s then worthwhile to
perform numerical computations in order to obtain verify the adequacy of the wave tank for a
specified test or to limit the test duration in order to reduce the effects of wave reflections.
In the source panel method we use the Tank Green Function (TGF) which satisfies the lin-
earized free surface conditions as well as the conditions at the tank bottom and walls. In fact
the TGF may be written as a formal sum of Green Functions in open sea representing the
infinity images of the singularity with respect to the side walls.
G(M, M

) =

n=−∞
G
0
(M, M

n
) (5.3)
where G
0
(M, M

n
) is the open sea Green Function representing the potential at M due to the
n
th
image of the source at M

n
.
However, the convergence of the direct computation of the infinite series is very slow. A
more efficient method consists to decompose the finite water depth TGF into two parts: a
finite series of the open sea Green Functions and an asymptotic part which may be regarded as
the remaining terms of the infinite series and expressed by two single integrals whose kernels
Chapter 5. Diffraction radiation computation 5–7
decrease exponentially with the integral variable.
G =
2N+1

n=−2N−1
G
0
n
+

n=N+1
G
0
2n
+G
0
2n+1
+G
0
−2n
+G
0
−2n−1
(5.4)
The main advantage of the above decomposition is the rapid convergence of the asymptotic
part.
5.5 Diffraction and radiation computation
After the preparation of the input file, the user is ready to start the computation by just typing
“hsrdf name file” in HydroStar window:
Hstar>proj>hsrdf projrdf.don
The user has the possibility of running several times hsrdf in order to compute the wave diffrac-
tion and radiation for additional frequencies that may be necessary just changing the extension
of results file in the input file and the definition of the wave frequencies. For example, from
looking at the RAO files, the user may notice some complementary frequencies, e.g. on the
resonance region, to perform a new run. Different runs of hsrdf can be combined at the input
file for hsmec.
5.6 Radiation/Diffraction interpolation : HSpln module
As the Radiation/diffraction is the most time consuming part of the calculations, the frequency
step is not always as fine as desired. Instead of interpolating RAOs that sometimes present
sharp resonance, it is better to interpolate the radiation/diffraction results which are much
smoother.
The following keywords shall be used in the input file for hspln execution:
FILENAME file name extension used in HSrdf calculations
FREQUENCY TYPE itype Wave frequencies. Same as for HSrdf
frequency lines
ENDFREQUENCY
INTERPOLTYPE LINEAR Linear interpolation
NATURAL Natural cubic spline (continuous second order derivates)
OVERHAUSER Overhauser cubici spline (Also named ”Catmul-Rom”)
HERMITE ”Hermite” cubic spline interpolation
FILENAME OUT extension o f the output file
ENDFILE to end the hspln file
5–8 Hydrostar User Manual
Several interpolation are available, the Overhauser spline is recommended. However, for
particular case where the hydrodynamic coefficients present sharp peaks, ”Hermite” interpola-
tion can be more robust. (The required derivatives are evaluated so that the resulting Hermit
spline does not overshoot the original data.)
5.7 Radiation computation inside tanks
When the tanks are included in the input file of hslec, the radiation problem inside the tanks
can be solved. In HydroStar, the exterior problem (for the body) and the interior problem
(for the tank) are solved separately using two different modules. For the exterior problem, the
module hsrdf is used, and for the problem inside the tank the module hstnk is used. The same
input file described in item 5.1 is used for both modules.
After running hsrdf, the user needs to run hstnk by typing:
Hstar>proj>hstnk projrdf.don
The results obtained from hsrdf and hstnk will be combined when the motion computation
will be done.
Chapter 6
Motion Computation
The Newton’s Second law was applied to describe the motions of floating bodies and the
following motion equation was derived and it:
([M] + [M
A
])
¨
U + [B]
˙
U + [K]U = F (6.1)
where:
· [M] is the inertia matrix of the body;
· [M
A
] is the additional mass matrix coming from radiation problem solution;
· [B] is the damping matrix coming from the radiation problem solution and additional
damping defined by the user;
· [K] is the stiffness matrix coming from the hydrostatic properties of the body or additional
stiffness due to mooring system or liquid in tanks;
· [U] is the motion vector of the body;
· [F] is the excitation load of incident wave coming from the Froude-Krylov and diffraction
problem solution.
6.1 Input data
In order to solve the equation above described, the user shall define the position of the centre
of gravity, the inertia matrix, additional stiffness matrix and the additional damping matrix.
6.2 Input file
The following keywords shall be used in the input file for hsmec execution:
6–1
6–2 Hydrostar User Manual
.
FILENAME file name extension of file used
in hsrdf computations
MASS BODY no body, mass mass of the body
GYRADIUS BODY no body, R
44
, R
55
, R
66
, R
45
, R
46
, R
56
gyration radius of the
body
COGPOINT BODY no body, (X
G
, Y
G
, Z
G
) centre of gravity of the
body in the mesh ref-
erence
or
INERTIAL MATRIX TYPE itype BODY no body start line of inertial
matrix definition
Inertia lines
ENDINERTIAL MATRIX end line of inertial ma-
trix definition
_
If itype = 0: the full inertia matrix shall be given
If itype = 1: only the non zero values shall be given j, k, M
jk
ENDFILE end of the input file
The following keywords are optional:
REFPOINT BODY no body, x
ref
, y
ref
, z
ref
reference point of computations
(default=COG)
RHO ρ fluid density
(default=1025kg/m3)
GRAVITY g gravity acceleration
(default=9.81m/s2)
REFWAVE x
wav
, y
wav
reference point of incoming waves
(default=0;0)
REFLENGTH ref length reference length
(default=1.0)
ZFSURFACE zfs coordinate of the freesurface in the
user reference system (see item 2.2)
ZEROENCFRQ no zero encf number of zero-encounter frequencies
_
¸
_
¸
_
if no zero encf =0: No treatment
if no zero encf =1: treatment in the range −0.1 < ω < 0.1
if no zero encf =2: treatment in the range −0.2 < ω < 0.2
Chapter 6. Motion Computation 6–3
LINVISCOUSDAMPING no body, %B
44crit
linear roll viscous damping,
in percentage of
critical damping
DAMPING MATRIX TYPE itype BODY no body start line of linear damping
matrix definition
Damping lines
ENDDAMPING MATRIX end line of linear damping
matrix definition
_
¸
_
¸
_
If itype = 0: the full damping matrix shall be given
If itype = 1: only the non zero values shall be given j, k, B
jk
If itype = 2: only the non zero values shall be given j, k, %B
jk
QDAMPING MATRIX TYPE itype BODY no body start line of quadratic
damping matrix definition
Quadratic damping lines
ENDQDAMPING MATRIX end line of quadratic damp-
ing matrix definition
_
If itype = 0: the full quadratic damping matrix shall be given
If itype = 1: only the non zero values shall be given j, k, B
Q
jk
STIFFNESS MATRIX TYPE itype BODY no bodyi no bodyj start line of stiffness matrix
definition
Stiffness lines
ENDSTIFFNESS MATRIX end line of stiffness matrix
definition
_
If itype = 0: the full stiffness matrix shall be given
If itype = 1: only the non zero values shall be given j, k, K
jk
NOTANKS not to include tanks (in case
tanks hstnk has been run)
6–4 Hydrostar User Manual
WAVEAMPLITUDE value wave amp wave amplitude only for the calculation of the
quadratic damping purpose (default =1.0)
ITMAX max iter maximum number of iterations for the
quadratic damping linearization (default =
1000)
CONVERGENCE ERR convergence criteria (default = 0.001)
The picture 6.1 presents an example of input file for hsmec module:
FILENAME w26
MASS BODY 1 1.13253E+08
COGPOINT BODY 1 137.081 0.000 3.136
GYRADIUS BODY 1 13.462 67.602 68.776 0.000 4.632 0.000
REFLENGTH 1.00
RHO 1025.0
REFWAVE 0.000 0.000
LINVISCOUSDAMPING 1 5.0 %
ENDFILE
Figure 6.1: Input file for hsmec
In case of single body the keyword BODY may be omitted. However, in case of multi-body it’s
necessary to include it. If it’s not included all the values given are atributed to BODY 1 by
default. Special attention should be paid to the stiffness matrices in case of multi-body, where
the numbers of the two bodies have to be given after the keyword BODY.
IMPORTANT: In case of seakeeping-sloshing coupled analysis, differently from the previous
versions where the mechanical properties are given in the input file should excluding the liquid
in tanks, in version 6.0 the user must give the mechanical properties (mass, centre of gravity
and gyration radii) including the liquid inside the tanks.
6.2.1 Centre of Gravity
The longitudinal, transversal and vertical positions of the centre of gravity with respect to the
origin of the reference system must be given.
6.2.2 Gyration Radius
The gyration radius in HydroStar should be always defined with respect to the centre of gravity
of each body.
Chapter 6. Motion Computation 6–5
6.2.3 Inertia Matrix
The 6 x 6 inertia matrix can be given by the user. In this case, the shape of the matrix may
be arbitrary and its values shall be defined with respect to the reference point (if not given, by
default it’s taken at the centre of gravity).
In case the user defines the mass of the body, gyration radius, centre of gravity and refer-
ence point, the inertia matrix calculated by HydroStar has the following shape:
[M] =
_
¸
¸
¸
¸
¸
¸
¸
¸
_
M 0 0 0 M.Z
GC
−M.Y
GC
0 M 0 −M.Z
GC
0 M.X
GC
0 0 M M.Y
GC
−M.X
GC
0
0 −M.Z
GC
M.Y
GC
I
44
I
45
I
46
M.Z
GC
0 −M.X
GC
I
54
I
55
I
56
−M.Y
GC
M.X
GC
0 I
64
I
65
I
66
_
¸
¸
¸
¸
¸
¸
¸
¸
_
where:
· M is the mass of the body;
· X
GC
= X
G
−X
Cal
;
· Y
GC
= Y
G
−Y
Cal
;
· Z
GC
= Z
G
−Z
Cal
;
with:
+ X
G
, Y
G
and Z
G
being the position of the centre of gravity in the mesh reference;
+ X
Cal
, Y
Cal
and Z
Cal
being the position of the calculation point.
· I
44
=
_
M
_
(y −Y
Cal
)
2
+ (z −Z
Cal
)
2
_
dm = M
_
R
2
44
+Z
2
GC
+Y
2
GC
_
· I
55
=
_
M
_
(z −Z
Cal
)
2
+ (x −X
Cal
)
2
_
dm = M
_
R
2
55
+Z
2
GC
+X
2
GC
_
· I
66
=
_
M
_
(x −X
Cal
)
2
+ (y −Y
Cal
)
2
_
dm = M
_
R
2
66
+X
2
GC
+Y
2
GC
_
· I
45
= I
54
= −
_
M
(x −X
Cal
) (y −Y
Cal
) dm = M
_
R
2
54
+X
GC
×Y
GC
_
· I
46
= I
64
= −
_
M
(x −X
Cal
) (z −Z
Cal
) dm = M
_
R
2
64
+X
GC
×Z
GC
_
· I
56
= I
65
= −
_
M
(y −Y
Cal
) (z −Z
Cal
) dm = M
_
R
2
56
+Y
GC
×Z
GC
_
6–6 Hydrostar User Manual
The user can input the full Inertia matrix or choose to input the following data:
· The mass of the body: M;
· The position of the centre of gravity: (X
G
, Y
G
, Z
G
);
· The gyration radius: R
44
, R
55
, R
66
, R
45
, R
46
, R
56
where:
+ R
ii
=
_
I
ii
M
with respect to the COG
+ R
ij
= sign(I
ij
)
_
|I
ij
|
M
with respect to the COG
6.2.4 Stiffness Matrix
The hydrostatic stiffness is computed by HydroStar. Nevertheless, an additionnal stiffness ma-
trix may be added by the user, for example to take into account for mooring systems. The user
has the possibility of inputting the complete stiffness matrix, or only the non-zero terms.
In the case of a single body the matrix has the dimension 6x6. However in case of multi-
body the full stiffness matrix has the size 6Nx6N, where N is the number of bodies. In order
to simplify the input of data, the matrix in case of multi-body is divided in NxN sub-matrices
in the following way:
K BODY 1 1 K BODY 1 2 ... K BODY 1 N
K BODY 2 1 K BODY 2 2 ... K BODY 2 N
... ... ... ...
K BODY N 1 K BODY N 2 ... K BODY N N
In the above matrix, the sub-matrices [K BODY i i] with (i= 1, .., N), represent the stiffness of
the bodyi due to the motions of the body i itself. The sub-matrices [K BODY i j] represent the
stiffness of the body i due to the motions of the body j. And finally the sub-matrices [K BODY
j i] represent the stiffness of the body j due to the motions of the body i.
In summary, when specifying the stiffness matrix in case of multi-body, the user needs to
define two bodies numbers after the keyword BODY. In the case of single body this keyword
can be omitted as by default HydroStar assumes BODY 1.
As an example, in case there are two bodies connected to each other the user may define
four stiffness matrices as below:
Chapter 6. Motion Computation 6–7
STIFFNESS MATRIX TYPE 1 BODY 1 1
1 1 1.0E+04
2 2 1.0E+06
6 6 1.0E+10
ENDSTIFFNESS MATRIX
STIFFNESS MATRIX TYPE 1 BODY 1 2
1 1 -1.0E+04
2 2 -1.0E+06
6 6 -1.0E+10
ENDSTIFFNESS MATRIX
STIFFNESS MATRIX TYPE 1 BODY 2 1
1 1 -1.0E+04
2 2 -1.0E+06
6 6 -1.0E+10
ENDSTIFFNESS MATRIX
STIFFNESS MATRIX TYPE 1 BODY 2 2
1 1 1.0E+04
2 2 1.0E+06
6 6 1.0E+10
ENDSTIFFNESS MATRIX
6.2.5 Damping Matrix
The damping due to radiation is computed by HydroStar in the hsrdf module. However, in
addition to the radiation damping, there are other sources of damping acting on the floating
bodies such as the fluid viscosity and the mooring and risers systems damping. The effects
of viscosity on the hull and on the appendages on roll damping are generally higher than the
radiation damping, a special paragraph below explain the different ways to take these effects
into account. The additional damping can be inputted by the four following ways:
· Linear damping in absolute values:
The damping matrix is up-dated adding the damping values inputted.
· Quadratic damping in absolute values:
The quadratic damping is so called because it varies with the square of the response
amplitude. Knowing that the response amplitude depends on the quantity of damping,
it can be deduced that the value of the quadratic damping is computed by iterative
procedure. The quadratic damping is also very dependent on the wave amplitude and its
effect is more important at the resonance region.
HydroStar then linearize the quadratic damping according to : B
L
=
8

ω x B
Q
(where ω
is the frequence and x the motion amplitude).
6–8 Hydrostar User Manual
· Linear damping in percentage of the critical damping:
The absolute value of damping is calculated from the critical damping value and the
damping matrix is up-dated adding these values.
· Linear and quadratic damping with Ikeada, Tanaka, Himeno (ITH) formulation for roll
motion:
The absolute values of damping are calculated from the geometry of the hull and of the
appendages and the damping matrix is up-dated adding these values.
Roll Damping
As it is written above, the appendages are generally not modellized in HydroStar mesh. More-
over, the fluid model used in HydroStar is the perfect flow model without viscosity. But viscosity
and appendages increase the damping for roll motion in such an extent that it can’t be neglicted.
We suggest to use one of the following approximations to have a more realistic roll damping:
· Linear damping in percentage of the critical damping is mostly used because it is certainly
the easiest way for ships and the one that need the less computation. We suggest these
approximation for ships:
+ Tanker, Bulk Carriers: 4% - 8% of critical damping;
+ LNG Carriers: 5% - 8% of critical damping;
+ Containership 3% - 5% of critical damping.
· Quadratic damping in absolute value for barges. Molin suggests:
+ B
Q
=
1
2
ρ C
D
B
4
L
where:
- ρ is the fluid density;
- B is the ship width;
- L is the ship length;
- C
D
is a coefficient from 0.04 to 0.1.
· ITH formulation should be used when the user have any geometrical informations about
the appendages. The ITH formulation is a semi-empirical formula. It separates the several
sources of roll damping according to :
B
T
= B
F
+B
E
+B
L
+B
W
+B
BKN
+B
BKH
+B
BKW
+B
SK
Chapter 6. Motion Computation 6–9
where:
+ B
F
is the frictional dampings caused by the skin friction stress on the hull in roll
motions;
+ B
E
is the eddy making damping caused by the flow separation on the bottom of the
ship hull near the stem and stern and near the bilge circle at the midship portion;
+ B
L
is the lift damping corresponding to the linear part of the lifting effects on the
hull in roll motion when the ship has forward speed;
+ B
W
is the wave radiation damping, which is generated by the motions of the ship.
This parcel of damping is linear and is computed in the module hsrdf in HydroStar
4;
+ B
BKN
is the normal force on the bilge keels;
+ B
BKH
is the component representing the pressure changes on the hull due to the
presence of the bilge keels;
+ B
BKW
is the wave making damping caused by the bilge keels;
+ B
SK
is the normal force on skeg.
The input data required for the use of this formulation are the dimensions of the bilge keel and
skeg (if any) according to the figure 6.2.
x
y
z
xbk1
xbk2
span
SKEG
BILGE
KEEL
height
length
Figure 6.2:
One should always compare its inputs with model tests, if one has some available. They
are still the most reliable method for the evaluation of the damping for roll motion.
A new module has been implemented in HydroStar which performs the estimation of the roll
6–10 Hydrostar User Manual
damping by using the ITH formulation. This module is called hsdmp and the results obtained
are the critical damping as it’s a reference value, the estimated linear and quadratic damping
to be used as input for hsmec.
The input file has the same format as the one for hsmec with the addition of the following
keywords:
ITHDAMPING start line of ITH formulation for roll damping
bk, span, xbk1, xbk2 bilge keels dimensions (if any) according to the figure above
sk, length, height skeg dimensions (if any) according to the figure above
ENDITHDAMPING end line of ITH formulation for roll damping
The module hsdmp is used before hsmec and to run it the user only needs to type:
Hstar>proj>hsdmp inputfile
After obtaining the estimation for linear and quadratic damping, the user needs to modify
the input file for hsmec in order to include those values.
6.3 Computing the vessel’s motions
After preparing the input file with the mechanical properties of the vessel, the user is able to
start the computation of the motions just typing hsmec name file in HydroStar window:
Hstar>proj>hsmec inputfile
Chapter 7
Global wave efforts computation
The global wave efforts are computed by HydroStar by using the hswld module. To compute
these efforts, the user has to know, a priori, the longitudinal mass distribution of the loading
condition in case of a ship, and the inertia matrix of in two sections (longitudinal or transversal)
in case of any other body.
7.1 Global wave loads for ships
As the length of a ship is normally the predominant dimension comparing to the beam and
depth dimensions, we assume that she behaviours like a beam. This way, the longitudinal mass
distribution for a determined loading condition is required. In addition, the user has to define
the sections where the efforts shall be computed.
The following key words shall be used in the input file with the mass distribution:
ZFSURFACE z-coordinate of the waterline in the reference
system used to define mass distribution
DISMASS TYPE 0 to start the input of mass distribution
nb, Description, Mass, x
1
, x
2
, x
G
, y
r
, z
G
ENDDISMASS to end the input of mass distribution
7–1
7–2 Hydrostar User Manual
where:
type nb = 0 to input the half value of mass (in tons)
= 1 to input the entire value of mass (in kg)
nb sequential number of the mass item
Mass mass item value
x
1
position of the begin of the mass item
x
2
position of the end of the mass item
x
G
longitudinal position of gravity centre of the mass item
y
r
gyration radius of the mass item around longitudinal axis in the centreline
of the vessel and with z-coordinate equal to the vertical centre of gravity
of the mass item
z
G
vertical position of gravity centre of the mass item
SECTION TYPE type nb to start the input of sections to compute the loads
[nb sec] x
s
, y
s
, z
s
to end the definition of sections
ENDSECTION
ENDFILE to end the input file
where:
type nb = 0 if the sequential number of the sections is given
xs, ys, zs = position of the section
Note: On each segment, the linear density is considered constant, centered on Xg.
Figure 7.1: y
r
definition
The file which exemplifies the mass distribution file is displayed in figure 7.2.
With the above file hstat generates the input file for hswld which consists on the inertia matrix
Chapter 7. Global wave efforts computation 7–3
ZFSURFACE 27.47 m
DISMASS TYPE 0
1 Hull fore part 1152.55 146.00 158.22 151.05 18.02 17.56
2 Hull middle part 16341.00 -91.80 146.00 27.10 18.02 17.56
.. .. .. .. .. .. .. ..
.. .. .. .. .. .. .. ..
102 TCBB8 5389.87 -101.38 -71.88 -86.63 18.02 16.44
103 Sloptk 4214.00 -108.88 -101.38 -105.13 18.02 16.44
ENDDISMASS
SECTION TYPE 0
1 -165.15 0 0
2 -165 0 0
.. .. .. ..
.. .. .. ..
34 155 0 0
35 165 0 0
ENDSECTION
ENDFILE
Figure 7.2: Example of input file for Mass distribution
for each defined section.
Hstar>proj>hstat projmassdis.don
HydroStar will perform the calculation of hydrostatic properties and compare with the results
previously gotten previously from the mesh. It’s up to the user decide to keep the old results
or to substitute them by the ones calculated through the mass distribution.
Then, the file proj wld.don will be created in the user’s work directory.
The user is able to check the file generated by typing ”hschk proj wld.don”:
Hstar>proj>hschk projwld.don
Then the mesh can be visualized:
Hstar>proj>hvisu
An example of visualization is given in figure 7.3.
The loads can be computed using hswld module by typing ”hswld proj wld.don”.
Hstar>proj>hswld projwld.don
7–4 Hydrostar User Manual
Figure 7.3:
7.2 Global wave loads for non slender bodies
For non slender bodies, HydroStar does not automatically generate the input file for hswld. This
way, the user shall previously generate the input file.
The following key words shall be used in the input file for hswld:
MASS BODY nb body, mass body number of the body, mass of
body
COGPOINT BODY nb body, x
G
, y
G
, z
G
number of the body, centre
of gravity
GYRADIUS BODY nb body, r
xx
, r
yy
, r
zz
, r
xy
, r
xz
, r
yz
number of the body, gyra-
tion radius
To compute the efforts on the longitudinal sections:
Chapter 7. Global wave efforts computation 7–5
YSECTION No no section start input longitudinal sec-
tion data
REFPOINT x
REF
, y
REF
, z
REF
reference point of the sec-
tion
COGFROMSB x
G
, y
G
, z
G
gravity centre of the section
VIS44PC visc damp viscous damping coefficient
for roll
INERTMATRIX inertia matrix to start the input of inertia
matrix
ENDSECTION to end the input of section
data
To compute the efforts on the transversal sections:
7–6 Hydrostar User Manual
.
SECTION No no section start input transversal sec-
tion data
REFPOINT x
REF
, y
REF
, z
REF
reference point of the sec-
tion
COGFROMAP x
G
, y
G
, z
G
gravity centre of the section
VIS44PC visc damp viscous damping coefficient
for roll
INERTMATRIX inertia matrix to start the input of inertia
matrix
ENDSECTION to end the input of section
data
ENDFILE to end the input file
NOTE: The inertia matrix should be defined in accordance with the matrix defined in item
6.2, where the calculation point is located in the section and the centre of gravity is the centre
of gravity of the loading condition.
The picture, displayed in figure 7.4, gives an example of the input file for hswld.
To compute the loads using hswld module by typing hswld proj wld.don”.
Chapter 7. Global wave efforts computation 7–7
# Project : Semi-Sub
# User : BV
#
MASS BODY 1 2.2643E+07
COGPOINT BODY1 0.0 0.0 -4.63
GYRADIUS BODY1 28.81 28.75 33.46 0.00 0.00 0.00
YSECTION No 1
REFPOINT 0.0000 0.0000 -4.63
COGFROMSB 0.22947 -21.000 -4.63
VIS44PC 0.00000E+00
INERTMATRIX
0.11647E+08 0.00000E+00 0.00000E+00 0.00000E+00 -0.53926E+08 -0.24499E+09
0.00000E+00 0.11647E+08 0.00000E+00 0.53926E+08 0.00000E+00 0.26726E+07
0.00000E+00 0.00000E+00 0.11647E+08 0.24499E+09 -0.26726E+07 0.00000E+00
0.00000E+00 0.53926E+08 0.24499E+09 0.47231E+10 -0.23747E+09 0.58046E+09
-0.53926E+08 0.00000E+00 -0.26726E+07 -0.23747E+09 0.10017E+11 0.15830E+10
-0.24499E+09 0.26726E+07 0.00000E+00 0.58046E+09 0.15830E+10 0.74257E+10
ENDSECTION
YSECTION No 2
REFPOINT 0.0000 0.0000 -4.63
COGFROMSB 0.0000 0.0000 -4.63
VIS44PC 0.00000E+00
INERTMATRIX
0.22643E+08 0.00000E+00 0.00000E+00 0.00000E+00 -0.10484E+09 0.00000E+00
0.00000E+00 0.22643E+08 0.00000E+00 0.10484E+09 0.00000E+00 0.00000E+00
0.00000E+00 0.00000E+00 0.22643E+08 0.00000E+00 0.00000E+00 0.00000E+00
0.00000E+00 0.10484E+09 0.00000E+00 0.18787E+11 -0.11268E+09 0.52149E+09
-0.10484E+09 0.00000E+00 0.00000E+00 -0.11268E+09 0.18711E+11 -0.29881E+09
0.00000E+00 0.00000E+00 0.00000E+00 0.52149E+09 -0.29881E+09 0.25348E+11
ENDSECTION
ENDFILE
Figure 7.4: Example of input file for hswld
7–8 Hydrostar User Manual
Chapter 8
Waves visualization
The module hswav of HydroStar generates the files for the visualization of waves by the program
BV-VSHIP, that can be included as optional software in HydroStar package.
hswav is used to construct the files containing:
• Vessel’s motions;
• Pressures on the hull;
• Waves on the free surface around the ship.
The constructed files are used by BV-VSHIPto show:
• Animations of vessel’s motions;
• Animation of pressures on the hull;
• Animation of waves on the free surface around the ship;
• Multi-bodies : ships/offshore platforms;
• Regular waves;
• Irregular waves of a given wave spectrum.
The following key words shall be used in the input file for hswav:
VSHIP FILE fileroot fileroot is used to the root part of output files
8–1
8–2 Hydrostar User Manual
To generate the mesh on the free surface:
XMIN xmin Minimum x-coordinate of the rectangular area
XMAX xmax Maximum x-coordinate of the rectangular area
DLTX dltx Step value in the x-direction
YMIN ymin Minimum y-coordinate of the rectangular area
YMIN ymax Maximum y-coordinate of the rectangular area
DLTY dlty Step value in the y-direction
or
RMIN rmin Minimum R-coordinate of the circular area
RMAX rmax Maximum R-coordinate of the circular area
DLTR dltr Step value in the R-direction
TMIN tmin Minimum theta-coordinate of the circular area
TMAX tmin Maximum theta-coordinate of the circular area
DLTT dltt Step value in the theta-direction
ENDFILE
Having the mesh already generated on the free surface, the user can obtain the different com-
ponents of wave diffraction and radiation using the following keywords:
NOTE: the command WAVEDECOMPOSITION should also be included in the input file for
hsmec.
WAVEDECOMPOSITION To generate files containing different components of wave
diffraction and radiation such as:
Total Total components
Diffraction Diffraction waves for each heading
Surge Radiation component in Surge unit motion
Sway Radiation component in Sway unit motion
Heave Radiation component in Heave unit motion
Roll Radiation component in Roll (0.1rad motion)
Pitch Radiation component in Pitch (0.1 rad motion)
Yaw Radiation component in Yaw (0.1 rad motion)
Chapter 8. Waves visualization 8–3
The total wave with different combination factors can be visualized using the following key-
words:
COEFINCM coef-incm coefficient multiplying the incoming wave component
COEFDIFF coef-diff coefficient multiplying the diffraction component
COEFRAD1 coef-rad1 coefficient multiplying the surge radiation component
COEFRAD2 coef-rad2 coefficient multiplying the sway radiation component
COEFRAD3 coef-rad3 coefficient multiplying the heave radiation component
COEFRAD4 coef-rad4 coefficient multiplying the roll radiation component
COEFRAD5 coef-rad5 coefficient multiplying the pitch radiation component
COEFRAD6 coef-rad6 coefficient multiplying the yaw radiation component
or
AMPLINCM amp-incm amplitude of the incoming wave component
AMPLDIFF amp-diff amplitude of the diffraction component
AMPLRAD1 amp-rad1 amplitude of the surge radiation component
AMPLRAD2 amp-rad2 amplitude of the sway radiation component
AMPLRAD3 amp-rad3 amplitude of the heave radiation component
AMPLRAD4 amp-rad4 amplitude of the roll radiation component
AMPLRAD5 amp-rad5 amplitude of the pitch radiation component
AMPLRAD6 amp-rad6 amplitude of the yaw radiation component
The input file displayed in figure 8.1 gives an example for hswav.
The hswav can only be performed after the calculation of the motions by hsmec.
Hstar>proj>hswav projwav.don
HydroStar will generate a folder named “.../wav” in the work directory, in which the follow-
ing output files are stored:
8–4 Hydrostar User Manual
VSHIP FILE toto
XMIN -200.0
XMAX 500.0
DLTX 10.0
YMIN -100.0
YMAX 100.0
DLTY 5.0
COEFINCM 0.0
COEFDIFF 1.0
COEFRAD1 0.0
COEFRAD2 0.0
COEFRAD3 0.0
COEFRAD4 0.0
COEFRAD5 0.0
COEFRAD6 0.0
Figure 8.1: Example of input file for hswav
Fileroot.bvh file (ASCII) Vship project file
Fileroot.vsh file (ASCII) containing Vship hull mesh
Fileroot.vws file (ASCII) containing Vship mesh on the free surface
Fileroot Total.vwr file (Binary) containing Vship wave RAOs
Fileroot Total.vsm file (Binary) containing Vship motion RAOs
Fileroot Total.vsp file (Binary) containing Vship pressure RAOs
If the option “wave components” is used, the set of binary files is:
Fileroot Diffraction diffractions
Fileroot Surge surge radiation
Fileroot Sway sway radiation
Fileroot Heave heave radiation
Fileroot Roll roll radiation
Fileroot Pitch pitch radiation
Fileroot Yaw yaw radiation
The file Fileroot.bvh shall be openned using BV-VSHIPin order to obtain the requested vi-
sualization.
The picture displayed in figure 8.2, contains an example of the file Fileroot.bvh.
For further details about BV-VSHIP, please refer to the Vship Visualizer User’s Guide.
Chapter 8. Waves visualization 8–5
BVVShipProject {
components [ Total ]
waveRAOFileName ”d:/temp/larbihst/wav/toto Total.vwr”
waveSurfaceFileName ”d:/temp/larbihst/wav/toto.vws”
waterDepth 500.00000
waveOrigin 136.97000 0.00000
showSeaBottom FALSE
speeds [ 0.00000 ]
headings [ 180.00000
...
270.00000
]
frequencies [0.30000
0.40000
...
0.80000
]
children [
DEF Body 1 BVVShipHullForm {
localCoordSystemOffset 0.00000 0.00000 0.00000
heading 0.00000
centerOfRotation 136.97000 0.00000 3.00000
motionRAOFileName ”d:/temp/larbihst/wav/toto Body 1 Total.vsm”
pressureRAOFileName ”d:/temp/larbihst/wav/toto Body 1 Total.vsp”
hullSurfaceFileName ”d:/temp/larbihst/wav/toto Body 1.vsh”
}
] }
Figure 8.2: Example of the Fileroot.bvh file
8–6 Hydrostar User Manual
Chapter 9
Pressure and wave elevation
computation
The pressure (relative wave elevation) and the wave elevation are calculated using the module
hsprs after the calculation of the motions.
The user shall define the points to calculate the pressure/wave elevation by making use of
the following keywords in the input data:
ZFSURFACE free surface coordinate as defined in item 2.2 (default = 0)
WAVEDECOMPOSITION to obtain the different components of wave diffraction
and radiation
POINTS to start the input of the points coordinates
nb, x
p
, y
p
, z
p
number of the point, coordinates of the point
ENDPTS to end the input of the points coordinates
COEFINC coefficient applied to the incident wave from 0.0 to 1.0
COEFRDF coefficient applied to the wave diffraction and radiation
from 0.0 to 1.0
COEFHDS coefficient applied to the vessel’s motions (if =0.0, only
the absolute wave elevation is computed)
The figure 9.1 contains an example of input file for hsprs.
In order to run hsprs, the user can enter the command:
9–1
9–2 Hydrostar User Manual
ZFSURFACE 11.000 m
POINTS
1 -200.00 0.00 11.0
2 -190.00 0.00 11.0
3 -180.00 0.00 11.0
4 -170.00 0.00 11.0
ENDPTS
COEFINC 1.0
COEFRDF 1.0
COEFHDS 0.0
ENDFILE
Figure 9.1: Example of input file for hsprs
Hstar>proj>hsprs projprs.don
The user is able to check the file generated by typing “hschk projprs.don”:
Hstar>proj>hschk projprs.don
Then the points at which the pressure will be calculated can be visualized together with the
mesh:
Hstar>proj>hvisu -p
Chapter 10
Second order computation
The low-frequency loads can be described as being the quadratic function of the bichromatic
incident and diffraction/radiation wave fields. The QTF (Quadratic Transfer Function) of low-
frequency loads needs the solution of the second order problem except for the diagonal terms
equal to the mean drift loads which can be directly obtained from the first order results.
The complete low-frequency loads are composed of two parts: one depending on the quadratic
products of the first-order wave fields, and the second depending on the second order potentials
which can be represented by two Haskind integrals on the body surface, in addition to the
second order Froude-Krylov forces. Thus, we may write the jth component of the QTF as:
F

j

j
, ω
k
) = F
21
+F
20
+F
2H
+ (F
2F
) (10.1)
Further more, the QTF F

j

j
, ω
k
) is assumed to be regular function of (ω
j
, ω
k
) and a Taylor
expansion with respect ∆ = (ω
j
−ω
k
) to can be developed:
F

j

j
, ω
k
) = F
0

j
) +F
1

j
)∆ω +F
2

j
)(∆ω)
2
/2 +... (10.2)
As the free surface Haskind integral is of order O[(∆ω)
2
] or higher, an approximation of the
low-frequency QTF is proposed.
The approximation proposed by Newman (1974), which consists of using only the drift loads
is qualified by zeroth-order approximation. The approximation considering all terms except of
the free surface integral is of order O(∆ω), one order higher than Newman’s approximation.
There are two classical formulations to solve the second order low frequency loads problem.
The near field formulation needs the evaluation of first-order wave field around the hull and
along the waterline, as well as the first-order motions. Another formulation based on the
10–1
10–2 Hydrostar User Manual
momentum theorem for the horizontal drift forces has been developed by Maruo (1960) and
extended to the moment around the vertical axis by Newman (1967). This formulation in-
volving first-order wave field in the far field is often called far-field formulation and preferable
in practice thanks to its better convergence and stability. However, the far field formulation
can not provide the vertical drift loads which can be important in shal low water case, and the
low-frequency loads (QTF) which are critically important in shal low water.
The recent work (Chen, 2004) unblocks this situation by developing a new formulation for
the calculation of the second order low frequency loads. Starting with the most general near
field formulation, and then obtaining a near field formulation by making use of two variants
of Stokes theorems, the analysis in a finite volume limited by the hull and a control surface
surrounding the body yields new middle-field formulation. This formulation combines the ad-
vantages of both near field and far field formulation, providing good numerical precision and
possibility of accessing to all components of drift loads and low frequency loads (QTF) as the
near field formulation.
HydroStar provides the possibility of computing the second order wave loads by making use
of any of the three formulation that were briefly described above and also to consider the
O[(∆ω)] for the integral over the free surface. In the versions 5.0 and above of HydroStar the
formulations for the computation of second order wave loads in unidirectional waves have been
extended to the case of multi-directional waves (cross waves). Both the classical near-field
formulation and the new middle-field formulation can be used used.
10.1 Mean drift loads in uni-directional waves
The mean drift loads are the second-order loads that are only function of quadratic product of
the first-order wave field and responses.
For the computation of the mean drift loads in uni-directional waves, we use the module hsdft.
The user can choose between three formulations: near field, far field and middle-field. When
the middle-field formulation is chosen, the user needs to define a control surface mesh.
NOTE: Although the middle field formulation is general, only the horizontal load components
can be calculated using the module hsdft, for HydroStar versions up to 6.10.
10.1.1 Input file for hsdft
The input file for hsdft is only necessary to select the formulation to be used and to provide the
necessary data to generate the control surface in case the middle field formulation is selected.
By default HydroStar performs the computation by using the near-field and far-field formula-
tions without any input file.
Chapter 10. Second order computation 10–3
The following information shall be provided in the input file:
• Choice of formulation;
• Control surface definition (only when middle field is chosen).
The following keywords shall be used:
NFORMULE Yes/No By default = Yes
FFORMULE Yes/No By default = Yes
MFORMULE Yes/No By default = No
If MFORMULE = Yes, the control surface shall be provided:
The control surface mesh to be used for hsdft is to be opened at the free surface (open box).
In order to define a box the following keywords should be used:
NBBOITE nb Nb of control surfaces = Nb
of bodies
XCSURFACE ib, xmin, xmax, dltx No control surface and
min/max/step of
x-coordinates
YCSURFACE ib, ymin, ymax, dlty No control surface and
min/max/step of
y-coordinates
ZCSURFACE ib, zmin, zmax, dltz No control surface and
min/max/step of
z-coordinates. zmax needs
to be equal to 0.0 (free sur-
face)
OPTFOND Yes/No including the bottom of
control surface
(by default=Y)
NOTE: The automatic control surface mesh generated by HydroStar is not to be used for
hsdft.
10–4 Hydrostar User Manual
The figure 10.1 exemplifies the input file above described.
NFORMULE YES
FFORMULE YES
MFORMULE YES
NBBOITE 1
XCSURFACE 1 -5.0 5.0 0.1
YCSURFACE 1 -1.0 1.0 0.1
ZCSURFACE 1 -2.0 0.0 0.1
ENDFILE
Figure 10.1: Example of input file for hsdft
10.1.2 Checking and visualizing the control surface
The user is able to check the mesh of the control surface before running hsdft by just typing
“hschk” followed by the name of the input file for drift loads:
Hstar>proj>hschk projdft.don
After checking the control surface mesh, the user is able to visualize it just typing “hvisu -
b:
Hstar>proj>hvisu -b
Then, VISU4D window will be opened and both the hull mesh and the control surface mesh
can be visualized (see fig 10.2).
Figure 10.2:
Chapter 10. Second order computation 10–5
10.1.3 Running hsdft
After running “hsmec”, the user is able to start the second order mean drift computation with
or without the input file.
• Without the input file: Just type “hsdft” in HydroStar window:
Hstar>proj>hsdft
• With input file: Type “hsdft” followed by the input file name:
Hstar>proj>hsdft projdft.don
10.2 Mean drift loads in bi-directional waves
The mean drift loads computation in bi-drectional waves is made by the module hsmdf. The
user may choose between two formulations: the near field and the middle field. Differently from
the module hsdft, the module hsmdf only allows the computation for one formulation per time.
10.2.1 Input file for hsmdf
The input file for hsmdf module is the same as used for hsdft. Only the keyword
MULTIDIRECTIONELLE should be added to the file described in item 9.1.1 as in fig-
ure 10.3:
NFORMULE No
FFORMULE No
MFORMULE YES
NBBOITE 1
XCSURFACE 1 -5.0 5.0 0.1
YCSURFACE 1 -1.0 1.0 0.1
ZCSURFACE 1 -2.0 0.0 0.1
MULTIDIRECTIONELLE
ENDFILE
Figure 10.3: Example of input file for hsmdf
NOTE: As explained above, only one formulation can be used per time. In case several
formulations are chosen, the last one given in the input file will be used.
10–6 Hydrostar User Manual
10.2.2 Running hsmdf
After running “hsmec”, the user is able to launch the mean drift computation in cross waves
Type “hsmdf” followed by the input file name:
Hstar>proj>hsdft projmdf.don
10.3 Full QTF computation in uni- and bi-directional
waves
The full QTF (Quadratic Transfer Function) calculation requires the solution of the second-
order potential. Two modules are used to perform the calculation: one is hsamg which is a
pre-processor for the other hsqtf.
10.3.1 Input file for hsamg and hsqtf
The same input file may be used for both modules hsamg and hsqtf.
The following information should be given in the input file for full QTF computation:
• Choice of formulation (near-field or middle field). Only one formulation can be chosen;
• Difference-frequencies for the calculation (∆ω);
• Wave frequencies;
• Control surface definition in case middle-field is chosen.
NOTE: It’s important to note that the diffraction-radiation computations (hsrdf should be
performed not only for the wave frequencies but also for the difference-frequencies
The control surface mesh for the modules hsamg and hsqtf is different than the one used for
hsdft as it is to be closed at the free surface between the control surface envelope mesh and the
hull mesh. An adequate control surface mesh is automatically generated by HydroStar.
Chapter 10. Second order computation 10–7
The following keywords shall be used:
TYPEFORMULE NEAR-FIELD or MIDDLE-FIELD
DIFFREQUENCE ∆ω
min
∆ω
max
∆ω
step
WAVFREQUENCE ω
min
ω
max
ω
step
NBBOITE nb
CSFILE AUTO BODY ib z
min
, z
max
, dz, optional parameters
MULTIDIRECTIONELLE (in case of bi-directional waves)
*The optional parameters mentioned above refer to:
zbias , xratio , yratio , nbtop
where:
zbias is the parameter for the discretization of the control surface
mesh the vertical direction. By default zbias = 1.0
xratio is the scaling factor in the x-direction.
By default xratio = 1.0
yratio is the scaling factor in the y-direction.
By default yratio = 1.0
nbtop is the number of panels at the free surface.
By default nbtop = 5
NOTE: In case middle-field formulation is chosen, we recommend that z
max
(maximum z-
coordinate of the control surface) is set to 0.0 (free surface level) in the input file, in order to
obtain better convergence.
The figure 10.4 exemplifies the input file for the QTF computation.
10.3.2 Running HydroStar
After running “hsmec”, the user is able to launch the low-frequency loads computation
First type hsamg followed by the input file name:
Hstar>proj>hsamg projqtf.don
10–8 Hydrostar User Manual
DIFFREQUENCE 0.000 0.20 0.025
WAVFREQUENCE 0.10 2.50 0.025
TYPEFORMULE MIDDLE-FIELD
NBBOITE 1
CSFILE AUTO BODY 1 -20.0 0.0 1.0 0.5 1.0 1.0 5
MULTIDIRECTIONELLE
ENDFILE
Figure 10.4: Example of input file for hsamg and hsqtf
Then type hsqtf followed by the same input file:
Hstar>proj>hsqtf projqtf.don
10.3.3 O(∆ω) Approximation
Since the application of low-frequency QTF concerns generally the computation of excitation
loading to a moored system whose resonant frequencies are often less than 0.05 rad/s while wave
frequencies ω are generally larger than 0.30 rad/s, the dynamic behavior of mooring systems is
sensitive only to the low-frequency QTF at small values of (ω
1
−ω
2
).
By assuming ∆ω 1, the quadratic transfer function (QTF) is developed as an expansion :
F(ω
1
, ω
2
) = F
0
(ω, ω) + ∆ω F
1
(ω, ω) +O[(∆ω)
2
] (10.3)
with the zeroth-order term contributed by the quadratic products of first-order wave fields and
the O(∆ω) term contributed by both, the quadratic products of first-order wave fields and the
second-order potential.
The usual approximation proposed by Newman (1974) largely used in practice is based on
the use of F
0
so that it is O(1) approximation.
This approximation is proven to be very efficient for mooring systems with resonance up to
0.06rad/s, and at any water depth. It presents a very good alternative to the use of the fullQTF
in cases where Newman approximation can not be applied (e.g., shallow water). For further
information can be found in ref. [10].
When the user chooses to use this formulation, only one offdiagonal term of the QTF (smallest
∆ω) needs to be computed in hsamg / hsqtf.
The transfer functions of F
0
and F
1
can be constructed by HydroStar for uni-directional waves.
Please refer to item 12.1 of this User Manual.
Chapter 11
FEM model interface
After the hydrodynamics calculations, HydroStar can generate the wave pressures to be consid-
ered in the structural analysis using the module hsfem. The wave pressures are transferred to
the FEM model in order to obtain the RAOs of stresses for the structure at any point of interest.
11.1 Input files
In order to run “hsfem” module, two input files, containing the FEM model and the wave pres-
sure transfer information, must be generated.
11.1.1 FEM model input file
HydroStar has an interface with the software NASTRAN and the examples of input files pre-
sented below are directly obtained from that software.
There are five different ways to transfer the pressures from HydroStar to the FE model:
1. Calculation of the pressure at the centre of the element (LOADTYPE 2):
This option is the most used one. By using this option the user has to provide in the
input file all the elements connectivity and the coordinates of each node of the FE mesh.
HydroStar will make the interpolation in order to find the centroid of each element.
The figure 11.1 shows an example of input file.
2. Calculation of the pressure at any node of the structure (LOADTYPE 1):
11–1
11–2 Hydrostar User Manual
$Element
CQUAD4 1 1 2 1 10 11
CQUAD4 2 1 3 2 11 12
CQUAD4 3 1 4 3 12 13
...
CQUAD4 2511 1 2514 1285 1284 2513
CQUAD4 2512 1 2298 1057 1285 2514
$ Nb elements: 2512
$ Nb nodes : 2514
GRID 1 0 5.00E+01 0.00E+00 -5.00E+00
GRID 2 0 5.00E+01 1.25E+00 -5.00E+00
GRID 3 0 5.00E+01 2.50E+00 -5.00E+00
...
GRID 2513 0 -2.63E+00 -7.50E+00 5.00E+00
GRID 2514 0 -2.63E+00 -8.75E+00 5.00E+00
ENDDATA
Figure 11.1: Example of input file for LOADTYPE 2
By using this option the user has to provide only the coordinates of the nodes where he
wants the pressure to be computed.
The figure 11.2 shows an example of input file.
$ Nb nodes : 2512
GRID 1 0 48.7 0.625 -5
GRID 2 0 48.7 1.875 -5
GRID 3 0 48.7 3.125 -5
...
GRID 2511 0 -1.315 -8.125 5
GRID 2512 0 -1.315 -9.375 5
ENDDATA
Figure 11.2: Example of input file for LOADTYPE 1
3. Calculation of the pressure at the nodes of the elements (LOADTYPE 4):
The input file for this option is exactly the same as for the option 1. However, instead of
the pressure for the centroid of the element, the pressure at each node of an element will
be calculated.
4. Calculation of the pressure at the centre of the element (LOADTYPE 3):
By using this option the user has to input the centroid of the elements by GRID. The
input file follows the same format as for the the option 2.
5. Pressure at the centre of the elements from hydro mesh (LOADTYPE 0):
As the pressure is calculated at the centroid of the elements from the hydro mesh, the
user does not need to define any input file containing the FE mesh. Only the information
Chapter 11. FEM model interface 11–3
for the pressure transfer should be provided.
- Getting the ship surface mesh from the whole ship FE model in PATRAN
After the building of the FE model, the user has to include all the nodes and elements
located at the surface of the ship into a same group.
Then, transfer the ship surface group to a “*.bdf” file in PATRAN by using the following
functions:
Analyze/Entire Model/Analysis Deck.
Give the name of ship surface mesh.
Click Translation Parameters; change Bulk Data Format to “small”
(see fig 11.3).
Figure 11.3:
11–4 Hydrostar User Manual
Then click “apply” to generate the “*.bdf” file.
Open the “*.bdf” file, add one card “FORMAT FIXED 8” at the beginning of this file, like
in the example displayed in figure 11.4.
FORMAT FIXED 8
$ NASTRAN input file created by the MSC MSC.Nastran input file
$ translator (MSC.Patran 13.0.057) on july 11,2006 at 17:19:14
$ Direct Text Input for Nastran System Cell Section
$ Direct Text Input for File Management Section
$ Linear Static Analysis, Database
SOL 101
$ Direct Text Input for Executive Control
CEND
SEALL = ALL
SUPER = ALL
ECHO = NONE
$ Direct Text Input for Global Case Control Data
SUBCASE 1
$ Subcase name : Default
SUBTITLE = Default
DISPLACEMENT (SORT1,REAL)=ALL
SPCFORCES(SORT1,REAL)=ALL
STRESS(SORT1,REAL,VONMISES,BILIN)=ALL
BEGIN BULK
PARAM POST -1
PARAM AUTOSPC YES
PARAM PRTMAXIM YES
Figure 11.4: Example of bdf file
11.1.2 Input file with the pressure transfer information
This input file contains the information for the wave pressure transfer. The following data have
to be provided:
• Name of the input file containing the surface mesh of the FEM model;
• Option for calculation of the pressure as described above;
• Output loadcase information, such as wave amplitude, frequency, heading and speed.
The following keywords are used:
ZFSURFACE free surface level
NASFILE filename name of the file containing the FE mesh
LOADTYPE itype type of pressure transfer
Chapter 11. FEM model interface 11–5
where:
itype = 0 pressure at the centre of the element from hydro mesh
itype = 1 pressure at any node of the structure
itype = 2 pressure at centre of element (the centre of the
element is calculated by HydroStar
itype = 3 pressure at centre of element (the element centroid is
given by GRID)
itype = 4 pressures at nodes of the elements
NASTRAN iload number of the loadcase for the FE model
(iload=1,2,...,n)
AMPL wave amplitude (usually 1.0m)
FREQ wave frequency
HEAD wave heading
SPED speed of the vessel
OPCOS output file for real part of the pressures
OPSIN output file for imaginary part of the pressures
ENDNAS iload
The figure 11.5 shows an example for the input file described before.
# Maillage BARGE
ZFSURFACE 0.0
NASFILE stru.bdf (not necessary for LOADTYPE 0)
LOADTYPE 1
NASTRAN 1
AMPL 1.00 m
FREQ 0.4 rad/s
HEAD 90.0 deg
SPED 0.0 Kn
OPCOS 90.COS 1
OPSIN 90.SIN 2
ENDNAS 1
NASTRAN 2
AMPL 1.00 m
FREQ 0.4 rad/s
HEAD 180.0 deg
SPED 0.0 Kn
OPCOS 180.COS 3
OPSIN 180.SIN 4
ENDNAS 2
Figure 11.5: Example of input file containing pressure transfer information
11–6 Hydrostar User Manual
11.2 Running hsfem
After defining the two input files as described above, the user is already able to perform the
pressure calculations for the structural analysis by just typing the command:
Hstar>proj>hsfem filename
where the filename is the name of the file containing the information for the pressure transfer
defined according to the instructions in item 11.1.2.
After running, a new folder named \fem will be generated. The output files correspond-
ing to each loadcase (frequency and heading) will be saved inside that folder.
11.2.1 Reading the pressures by NASTRAN
In order to read the pressures for every load case, the user may create one file named “alload-
cases.bdf” and then combine all the wave pressure files into this one.
Open NASTRAN and import the file containing all the wave pressures according to the in-
structions below:
File / Import / Model / MSC.Nastran Input
Select wave pressure file “allloadcases.bdf”
(see fig 11.6).
Chapter 11. FEM model interface 11–7
Figure 11.6:
11–8 Hydrostar User Manual
Chapter 12
Construction of the transfer functions
After performing the calculations, the user is able to construct the following transfer functions
by using the command “hsrao”:
• Motion, velocity and acceleration RAOs;
• Reading the added mass and damping matrices;
• Reading the wave diffraction loads;
• Wave kinematics at a point around ship;
• Drift loads;
• QTFs.
12.1 Input File
The following commands may be used in the input file for hsrao:
Radiation Coefficients (obtained after running hsmec)
CM keywords Added-mass coefficients at the reference point
CA keywords Radiation damping coefficients at the reference point
The keywords mentioned above refer to:
BODY no body Give the identify number of body (default=1)
FILE file name Give the output file name
BETA β Heading value (in case of forward speed)
TERM n1, n2... Terms of matrix (ex: 11 for surge, 22 for sway, etc)
12–9
12–10 Hydrostar User Manual
NOTE: In case of foward speed the added mass and damping coefficients depend on the
heading. In those cases, the user needs to define the heading to output the results (keyword
BETA). Otherwise the first heading used in the calculations will be taken by default.
Radiation Coefficients in tanks (obtained after running hsmec with tanks)
CMTANK keywords Added-mass coefficients in tank
CATANK keywords Radiation damping coefficients in tank
The keywords mentioned above refer to:
TANK no tank Give the identify number of the tank (default=1)
FILE file name Give the output file name
BETA β Heading value (in case of forward speed)
TERM n1, n2... Terms of matrix (ex: 11 for surge, 22 for sway, etc)
First order excitation loads (obtained after running hsmec)
FXF1ST keywords FK and diffraction loads Fx at the reference point
FYF1ST keywords FK and diffraction loads Fy at the reference point
FZF1ST keywords FK and diffraction loads Fz at the reference point
MXF1ST keywords FK and diffraction loads Mx at the reference point
MYF1ST keywords FK and diffraction loads My at the reference point
MZF1ST keywords FK and diffraction loads Mz at the reference point
The keywords mentioned above refer to:
BODY no body Give the identify number of body (default=1)
FILE file name Give the output file name
AMP Amplitude (by default)
PHASE Phase
COS Component cos (real part)
SIN Component sin (imaginary part)
Chapter 12. Construction of the transfer functions 12–11
RAOs at the Reference Point (obtained after running hsmec)
GSURGE keywords Surge RAO
GSWAY keywords Sway RAO
GHEAVE keywords Heave RAO
GROLL keywords Roll RAO
GPITCH keywords Pitch RAO
GYAW keywords Yaw RAO
VSURGE keywords Surge velocity RAO
VSWAY keywords Sway velocity RAO
VHEAVE keywords Heave velocity RAO
VROLL keywords Roll velocity RAO
VPITCH keywords Pitch velocity RAO
VYAW keywords Yaw velocity RAO
ASURGE keywords Surge acceleration RAO
ASWAY keywords Sway acceleration RAO
AHEAVE keywords Heave acceleration RAO
AROLL keywords Roll acceleration RAO
APITCH keywords Pitch acceleration RAO
AYAW keywords Yaw acceleration RAO
The keywords mentioned above refer to:
BODY no body Give the identify number of body (default=1)
FILE file name Give the output file name
AMP Amplitude (by default)
PHASE Phase
COS Component cos (real part)
SIN Component sin (imaginary part)
12–12 Hydrostar User Manual
RAOs at any point of the body (after running hsmec)
MSURGE keywords Motion RAO in X direction at a given point
MSWAY keywords Motion RAO in Y direction at a given point
MHEAVE keywords Motion RAO in Z direction at a given point
ACCX keywords Acceleration RAO in X direction at a given point
including -g*pitch
ACCY keywords Acceleration RAO in Y direction at a given point
including +g*roll
ACCZ keywords Acceleration RAO in Z direction at a given point
= AHEAVE
The keywords mentioned above refer to:
BODY no body Give the identify number of body (default=1)
FILE file name Give the output file name
AT x, y, z Give the coordinates of point (default = reference point)
AMP Amplitude (by default)
PHASE Phase
COS Component cos (real part)
SIN Component sin (imaginary part)
Relative motions between two vessels (after running hsmec)
RELMX BODY 1 AT x
1
, y
1
, z
1
BODY 2 AT x
2
, y
2
, z
2
keywords longitudinal relative
motions of two vessels
RELMY BODY 1 AT x
1
, y
1
, z
1
BODY 2 AT x
2
, y
2
, z
2
keywords transverse relative
motions of two vessels
RELMZ BODY 1 AT x
1
, y
1
, z
1
BODY 2 AT x
2
, y
2
, z
2
keywords vertical relative
motions of two vessels
The keywords mentioned above refer to:
FILE file name Gives the output file name
AMP Amplitude (by default)
PHASE Phase
COS Component cos (real part)
SIN Component sin (imaginary part)
Pressure and relative wave elevation (after running hsprs)
Chapter 12. Construction of the transfer functions 12–13
PRESSURE keywords Dynamic pressure at a given point or a frequency
RWE keywords Relative wave elevation at a given point or a frequency
RWEVX keywords Relative velocity Vx at a given point or a frequency
RWEVY keywords Relative velocity Vy at a given point or a frequency
RWEVZ keywords Relative velocity Vz at a given point or a frequency
The keywords mentioned above refer to:
BODY no body Gives the identify number of body (default=1)
FILE file name Gives the output file name
POINT no point identify number of points
FREQ freq value frequency value (to obtain rwe along the ship’s length)
AMP Amplitude (by default)
PHASE Phase
COS Component cos (real part)
SIN Component sin (imaginary part)
Wave loads (after running hswld)
SECTFX keywords Wave loads Fx at a given section or a wave frequency
SECTFY keywords Wave loads Fy at a given section or a wave frequency
SECTFZ keywords Wave loads Fz at a given section or a wave frequency
SECTMX keywords Wave loads Mx at a given section or a wave frequency
SECTMY keywords Wave loads My at a given section or a wave frequency
SECTMZ keywords Wave loads Mz at a given section or a wave frequency
The keywords mentioned above refer to:
BODY no body Gives the identify number of body (default=1)
FILE file name Gives the output file name
SECT no section identification number of section
FREQ freq value frequency value (to obtain loads along the ship’s length)
AMP Amplitude (by default)
PHASE Phase
COS Component cos (real part)
SIN Component sin (imaginary part)
12–14 Hydrostar User Manual
Mean drift loads in uni and bi-directional waves (after running hsdft or hsmdf)
DRIFTFX keywords Wave drift load Fx at the reference point
DRIFTFY keywords Wave drift load Fy at the reference point
DRIFTFZ keywords Wave drift load Fz at the reference point
DRIFTMX keywords Wave drift load Mx at the reference point
DRIFTMY keywords Wave drift load My at the reference point
DRIFTMZ keywords Wave drift load Mz at the reference point
The keywords mentioned above refer to:
BODY no body Give the identify number of body (default=1)
FILE file name Give the output file name
BETA β
1
Main incident direction between the two waves
(for bi-directional waves only)
PRE Drift loads by using pressure integrations
(Near Field)
MOM Drift loads by using the momentum formulation
(Far Field)
CSF Drift loads by using the control-surface
(Middle Field)
AMP Amplitude
PHASE Phase
COS Component cos (real part)
SIN Component sin (imaginary part)
Chapter 12. Construction of the transfer functions 12–15
QTF in uni-directional waves (after running hsqtf)
QTFFX keywords Low-frequency load Fx at the reference point
QTFFY keywords Low-frequency load Fy at the reference point
QTFFZ keywords Low-frequency load Fz at the reference point
QTFMX keywords Low-frequency load Mx at the reference point
QTFMY keywords Low-frequency load My at the reference point
QTFMZ keywords Low-frequency load Mz at the reference point
QTFFX1 keywords F1 term of Fx load of O(∆ω) approximation
QTFFY1 keywords F1 term of Fy load of O(∆ω)approximation
QTFFZ1 keywords F1 term of Fz load of O(∆ω) approximation
QTFMX1 keywords F1 term of Mx load of O(∆ω) approximation
QTFMY1 keywords F1 term of My load of O(∆ω) approximation
QTFMZ1 keywords F1 term of Mz load of O(∆ω) approximation
The keywords mentioned above refer to:
BODY no body Give the identify number of body (default=1)
FILE file name Give the output file name
BETA β Gives the QTF for all difference-frequencies and
for a certain incidence
DIFF ∆ω Gives the QTF for all incidences and
for a certain difference-frequency
PRE Drift loads by using pressure integrations
(Near Field)
CSF Drift loads by using the control-surface
(Middle Field)
AMP Amplitude
PHASE Phase
COS Component cos (real part)
SIN Component sin (imaginary part)
12–16 Hydrostar User Manual
QTF in bi-directional waves (after running hsqtf)
MQTFFX keywords Low-frequency load Fx at the reference point
MQTFFY keywords Low-frequency load Fy at the reference point
MQTFFZ keywords Low-frequency load Fz at the reference point
MQTFMX keywords Low-frequency load Mx at the reference point
MQTFMY keywords Low-frequency load My at the reference point
MQTFMZ keywords Low-frequency load Mz at the reference point
The keywords mentioned above refer to:
BODY no body Give the identify number of body (default=1)
FILE file name Give the output file name
BETA β
1
Gives the dominant incidence for the QTF construction
DIFF ∆ω Gives the difference-frequence for the QTF construction
PRE Drift loads by using pressure integrations (Near Field)
CSF Drift loads by using the control-surface (Middle Field)
AMP Amplitude
PHASE Phase
COS Component cos (real part)
SIN Component sin (imaginary part)
NOTE: For the QTF construction in uni-directional waves only one of the keywords BETA or
DIFF should be given while for the QTF in bi-directional waves both values should be provided
Ariane v6.3 files
ARIANERAO keywords To generate RAO.DAT file for ARIANE applications
ARIANEQTF keywords To generate QTF.DAT file for ARIANE applications
using far field formulation only.
ARIANEADM keywords To generate Added Mass.DAT file for ARIANE
The keywords mentioned above refer to:
BODY no body Give the identify number of body (default=1)
FILE file name Give the output file name
Chapter 12. Construction of the transfer functions 12–17
Ariane v7 files
ARIANE7N keywords To generate input file for Newman approximation
(only diagonal terms of QTF)
ARIANE7C keywords To generate input file for full QTF computation
ARIANE7A keywords To generate input file for O(∆ω) computation
(terms F0 and F1)
The keywords mentioned above refer to:
BODY no body Give the identify number of body (default=1)
FILE file name Give the output file name
12–18 Hydrostar User Manual
General keywords
OMEGAMIN value Minimum value of wave frequency for RAOs output
OMEGAMAX value Maximum value of wave frequency for RAOs output
ENDFILE To finish the input file
The figure 12.1 exemplifies the input file for hsrao.
GSURGE FILE surgeA.rao AMP
GSWAY BODY 1 FILE sway.rao
GHEAVE BODY 1 FILE heave.rao
GROLL BODY 1 FILE rollS.rao
GPITCH BODY 1 FILE pitch.rao
GYAW BODY 1 FILE yaw.rao
DRIFTFX FILE DriftFx.rao PRE
DRIFTFY FILE DriftFy.rao PRE
DRIFTFZ FILE DriftFz.rao PRE
DRIFTMX FILE DriftMx.rao PRE
DRIFTMY FILE DriftMy.rao PRE
DRIFTMZ FILE DriftMz.rao PRE
DRIFTFX FILE DriftFxFF.rao MOM
DRIFTFY FILE DriftFyFF.rao MOM
DRIFTMZ FILE DriftMzFF.rao MOM
DRIFTFX FILE DriftFxMF.rao CSF
DRIFTFY FILE DriftFyMF.rao CSF
DRIFTMZ FILE DriftMzMF.rao CSF
CM FILE AddedMass.rao TERM
11,12,13,14,15,16,21,22,23,24,25,26,31,32,33,34,35,36,41,42,43,44,45,
46,51,52,53,54,55,56,61,62,63,64,65,66
FXF1ST FILE fxf1st.rao
FYF1ST FILE fyf1st.rao
FZF1ST FILE fzf1st.rao
MXF1ST FILE mxf1st.rao
MYF1ST FILE myf1st.rao
MZF1ST FILE mzf1st.rao
FX FILE Fx cos0.rao COS COEF 1.0D-6
CM BODY 11 FILE adms123.rao TERM 11 22 33COEF 1.0D-6
Figure 12.1: Example of input file for hsrao
12.2 Running hsrao
To run hsrao, the user has only to type “hsrao” followed by the name of input file:
Hstar>proj>hsrao projrao.don
HydroStar will create a folder named “rao” in the working directory with the output files re-
quired by the user.
Chapter 12. Construction of the transfer functions 12–19
The output files have the following format (see fig 12.2):
• Each line for one wave frequency (or wave period);
• Each column for RAO value at different wave heading;
• Informative lines starting with # including;
• Project name, user name, constants used in computations;
• Number of wave headings and forward speed;
• Co-ordinates of the reference point or computation point;
• The output file can be used by most plotting software.
# Project : LNG CARRIER - Full Loaded case T=12.350m
# User : Rina & Anne
# File : rao1\Mys54.rao
#
# Constants used in computations
# Reference length : 1.0000
# Water density (rho) : 1025.0000
# Gravity acceleration : 9.8100
# Waterdepth : Inf.
# Ref.pt incident wave : ( 0.0000 0.0000)
#
# Section No 54 at X sect : 134.810
# AMPLITUDE ∗ Coef. : 1.00000E+00
# 7 headings from : 180.00 to 360.00
# Forward speed : 10.8000 m/s
#
# w/beta= 180.000 210.00 240.00 270.00
#——————————————————-
0.100 3.0564E+06 2.1228E+06 2.2245E+05 8.5358E+05
0.150 1.6955E+07 1.2474E+07 3.3255E+06 1.7112E+06
0.200 5.0887E+07 3.8292E+07 1.2110E+07 2.5152E+06
... ... ... ... ...
1.500 7.6762E+07 6.5612E+07 7.2303E+07 6.2483E+07
#——————————————————-
#ENDFILE
Figure 12.2: Example of output file for hsrao
At the end of RAO files’ generation by hsrao, a file named “project name.gnu” is created. This
file contains the macros to make curves of RAOs by using the software - gnuplot*, that is
provided in the same package as HydroStar.
To plot the curves of RAOs, just type “hsplt” or hsplt project name.gnu:
Hstar>proj>hsplt
–20 Hydrostar User Manual
or
Hstar>proj>hsplt rao/project name.gnu
Then, a series of graphics including the same number of RAOs curves as that of wave headings
in the motion computation will be obtained.
NOTE: The automatic display of the graphics may not work if the user does not define a
project name in the beginning of the job.
* c gnuplot dated 1986-1993, 1998, 1999 is attributed to Thomas Wil liam, Kolin Kel ley and
many others.
Appendix A
Examples
A.1 Example 1
Considering a floating cylinder with the following geometric properties:
• Radius (R) = 12.5 m
• Height (H)= 3*R = 37.5m
• Water Depth = 5*H = 187.5m
Provide the first order and the second order loads on the body:
1st Step: Go to the work directory
Hstar>>cd c:/hydro/study
Hstar>>pwd
c:/hydro/study
2nd Step: Create a job
Hstar>>proj cylinder
Hstar>cylinder>
3rd Step: For easy geometry, as a cylinder
it’s possible to generate the mesh using HydroStar (see item 4.2):
Hstar>cylinder>hsmsh -cs2
R,H,ntheta(0->PI/2),nH,nR(fond)=: 12.5 37.5 20 30 10
A–1
A–2 Hydrostar User Manual
Output mesh file name : cyls2.dat
To open the file, type “ed file name”:
Hstar>cylinder>ed cyls2.dat
Then, a notepad window will be opened with the mesh generated (see fig A.1):
Figure A.1:
4rd Step: Read the mesh
Appendix A. Examples A–3
Hstar>cylinder>hslec cyls2.dat
===========∗ ∗ ∗∗Hydrostar For Experts V6.00∗ ∗ ∗∗===========
----------------------------------------(c)BV/DR 1991-2009
HSlec - Reading geometrical data
PROJECT: Cylinder radius x height 12.5 x 37.5
USER: Bureau Veritas
Nb of bodies to be analysed 1
Nb of symmetry of hull geometry 2
Nb of panels on hull 790
Nb segments along waterline 20
Nb panels on the waterplanes 41
Nb panels over the free surface 0
Nb hull panels over the waterline 0
Reference length 1.000000
Gravity acceleration 9.810000
Reference point of incident wave ( 0.000000, 0.000000)
Body 1: reference point x= 0.000000 center of buoyancy x= 0.000000
y= 0.000000 y= 0.000000
z= 0.000000 z=-18.750000
CPU time of operation was 0.62 seconds
5th Step: Check the mesh
Hstar>cylinder>hschk
===========∗ ∗ ∗∗Hydrostar For Experts V6.00∗ ∗ ∗∗===========
----------------------------------------(c)BV/DR 1991-2009
HSchk - Checking the input data
CPU time of operation was 0.43 seconds
6th Step: Visualize the mesh
Hstar>cylinder>hvisu
===========∗ ∗ ∗∗Hydrostar For Experts V6.00∗ ∗ ∗∗===========
----------------------------------------(c)BV/DR 1991-2009
Hvisu - Mesh illustrations and
Animations of ship motion and ship waves.
ahsuni:
3364 points renumerotes => 3201 points
ahsuni:voir points en double
CPU time of operation was 0.27 seconds
A–4 Hydrostar User Manual
The window of VISU4D will be opened with the visualization of the mesh (see fig A.2):
Figure A.2:
Appendix A. Examples A–5
7th Step: Compute diffraction and radiation
An input file is necessary to perform the diffraction and radiation computation (see fig A.3).
Figure A.3:
Then, the user is able to start the calculation (see fig A.4).
A–6 Hydrostar User Manual
Figure A.4:
Appendix A. Examples A–7
8th Step: Compute the body’s motion
For this module another input file is necessary containing the mechanical properties of the
body. As the goal of the analysis described in the beginning of this item 9 is to calculate the
first and second order loads on the body, the properties of mass and inertia considered in the
example input file (see fig A.5) are big enough in order to fix the body.
Figure A.5:
Then, the user is able to compute the body’s motions (see fig A.6):
A–8 Hydrostar User Manual
Figure A.6:
Appendix A. Examples A–9
9th Step: Compute the second order loads
The computation of the second order loads is only possible after the computation of the
body’s motions; an input file is only necessary in case the user wants to make use of middle
field formulation. In this case, an input file shall be provided (see fig A.7).
Figure A.7:
In case that a control surface is inputted for the computation by middle field, the user has
the possibility of checking (see fig A.8) and visualising (see fig A.9) the mesh before starting
the calculation.
A–10 Hydrostar User Manual
Figure A.8:
Then a VISU4D window will appear with both the body and the control surface meshes
(see fig A.9).
The second order computation is then performed (see fig A.10).
Appendix A. Examples A–11
Figure A.9:
NOTE: The user may choose between checking the control surface mesh before or after the
second order computation.
A–12 Hydrostar User Manual
Figure A.10:
10th Step: Constructing the transfer functions
The user has to define, in an input file, which transfer functions he wants to construct. In
this specific example, the first order and second order loads were required. This way, the input
file displayed in figure A.11 was elaborated
With the input file, the computation can start (see fig A.12).
Appendix A. Examples A–13
Figure A.11:
Figure A.12:
A–14 Hydrostar User Manual
HydroStar generates a folder named “\rao” to store the requested files.
HydroStar is also able to plot the RAOs:
Hstar>cylinder>hsplt
or
Hstar>cylinder>hsplt cylinder.gnu
The gnuplot window will appear with a series of graphic containing all the requested RAOs
(see fig A.13).
Figure A.13:
The example presented in figure A.13 has semi-analytical solution available in the litera-
ture, in case the user wants to compare with the numerical results obtained.
Appendix A. Examples A–15
A.2 Example 2
Considering a ship in deep water depth, the following transfer functions and coefficients are
required:
1. Amplitude of ship’s motions (surge, sway, heave, roll, pitch and yaw);
2. Added Mass and Radiation Damping Coefficients;
3. First Order Loads;
4. Second Order Loads Fx, Fy and Mz using near field and middle field formulations.
1st Step: Go to the work directory
Hstar>>cd c:/hydro/study
Hstar>>pwd
c:/hydro/study
2nd Step: Create a job
Hstar>>proj ship
Hstar>ship>
3rd Step: Reading the mesh
For complex geometries like a ship, the user has to generate the mesh using a mesh gener-
ator and then create a file in the format requested by HydroStar (see fig A.14)
A–16 Hydrostar User Manual
Figure A.14:
Hstar>ship>hslec ship.hst
===========
****
Hydrostar For Experts V6.00
****
===========
----------------------------------------(c)BV/DR 1991-2009
HSlec - Reading geometrical data
PROJECT: Ship
USER: Bureau Veritas
Nb of bodies to be analysed 1
Nb of symmetry of hull geometry 1
Nb of panels on hull 2105
Nb segments along waterline 118
Nb panels on the waterplanes 413
Nb panels over the free surface 0
Nb hull panels over the waterline 1653
Reference length 1.000000
Gravity acceleration 9.810000
Reference point of incident wave ( 123.154982, 0.000000)
Body 1: reference point x=123.154982 center of buoyancy x=123.154982
y= 0.000000 y= 0.000000
z= -5.562518 z= -5.562518
CPU time of operation was 1.86 seconds
Appendix A. Examples A–17
4th Step: Check the mesh
Hstar>ship>hschk
===========
****
Hydrostar For Experts V6.00
****
===========
----------------------------------------(c)BV/DR 1991-2009
HSchk - Checking the input data
CPU time of operation was 1.10 seconds
5th Step: Visualize the mesh
Hstar>ship>hvisu
===========
****
Hydrostar For Experts V6.00
****
===========
----------------------------------------(c)BV/DR 1991-2009
Hvisu - Mesh illustrations and
Animations of ship motion and ship waves.
ahsuni:
4492 points renumerotes => 4347 points
ahsuni:voir points en double
CPU time of operation was 0.31 seconds
The window of VISU4D will be opened with the visualization of the mesh:
Figure A.15:
A–18 Hydrostar User Manual
6th Step: Compute diffraction and radiation
The input data displayed in figure A.16 was prepared.
Figure A.16:
Computing the diffraction radiation (see fig A.17).
Appendix A. Examples A–19
Figure A.17:
7th Step: Compute the body’s motion
The input file displayed in figure A.18 was elaborated.
Then the computation can start (see fig A.19).
A–20 Hydrostar User Manual
Figure A.18:
Figure A.19:
Appendix A. Examples A–21
8th Step: Compute the second order loads
The input file displayed in figure A.20 was elaborated, as the middle field computation was
requested.
Figure A.20:
Computing the second order loads (see fig A.21).
Figure A.21:
A–22 Hydrostar User Manual
9th Step: Checking and visualising the control surface
As explained in the previous example, the control surface can be checked (see fig A.22) and
visualized (see fig A.23) before or after the second order computation.
Figure A.22:
Appendix A. Examples A–23
Figure A.23:
10th Step: Constructing the transfer functions
The following input file was elaborated according to the requirements in the description in
figure A.24.
A–24 Hydrostar User Manual
Figure A.24:
Then, the computation can start (see fig A.25).
Appendix A. Examples A–25
Figure A.25:
11th Step: Plotting the results
(see fig A.26).
Hstar>ship>hsplt
A–26 Hydrostar User Manual
Figure A.26:
Appendix B
Index of commands
This appendix provides an index of commands that are used in HydroStar.
• hslec
COORDINATES start line of node definition
ENDCOORDINATES end line of node definition
PANEL start line of panel definition
ENDPANEL end line of panel definition
PROJECT project title (default= project)
USER user’s name (default= anonym)
REFLENGTH reference length (default= 1.0m)
GRAVITY gravity acceleration constant (default= 9.81m/s2)
RHO fluid mass density (default= 1025kg/m3)
NBNODES number of nodes (default= no of lines on the
nodes definition)
NBPANEL number of panels (default= no of lines on the
panels definition)
NBBODY number of bodies (default= 1)
NFHULL number of panels above (default= NBPANEL)
the body’s hul l
SYMMETRY number of symmetry (default=0)
NUMPANEL start number and end (default= 1 to NBPANEL)
number of panels
NFSWATER number, start number (default= 0; 0; 0)
and end number over
the interior waterplane
B–1
B–2 Hydrostar User Manual
NBTANKS no tnks number of tanks included in the model
SYMMTANK id tk first panel last panel symmetry condition of the tank mesh
NUMTANK id tk first panel last panel first and last panel of the tank mesh
REFPTANK id tk x ref y ref z ref rho reference point of the tank in the
global reference system
NFREESURFACE number, start number and (default= 0; 0; 0)
end number of panels over
the free surface
ZFSURFACE coordinate of the freesurface (default= 0)
COEFZo ratio of the panel size of the (default=1.5)
mesh and the the size of the
water plane planel.
• hsrdf
FREQUENCY TYPE itype start line to give wave frequencies
frequency lines
ENDFREQUENCY end line to give wave frequencies
If itype = 0,
frequency lines = no freq, freq1 one frequency per line with identification
number
If itype = 1,
frequency lines = freq1, freq2, freq3... several frequencies at the same line without
identification number
If itype = 2,
frequency lines =
WMIN min freq minimum frequency
WMAX max freq maximum frequency
WSTP step freq Step of wave frequency
Appendix B. Index of commands B–3
HEADING TYPE itype start line to give wave headings
heading lines
ENDHEADING end line to give wave headings
If itype = 0,
heading lines = no head, head1 one heading per line with identification
number
If itype = 1,
heading lines = head1, head2,head3... several headings at the same line without
identification number
If itype = 2,
heading lines =
HMIN min freq minimum heading
HMAX max freq maximum heading
HSTP step freq step of wave headings
NBFREQUENCY no freq total number of wave frequencies
NBHEADING no head total number of wave headings
WATERDEPTH value depth water depth value or infinite (default = inf)
or inf
REFPOINT BODY no body x ref, y ref, z ref reference point of the body (default=CoB)
REFWAVE x wave, y wave reference point for incoming waves
(default=CoB)
ELIMIRREG YES or NO option of eliminating irregular frequencies
(default=YES)
• hsmec
FILENAME file name extension of file used in hsrdf computations
MASS BODY no body, mass mass of the body
GYRADIUS BODY no body, R
44
, R
55
, R
66
, R
45
, R
46
, R
56
gyration radius of the body
COGPOINT BODY no body, (X
G
, Y
G
, Z
G
) centre of gravity of the
body in the mesh reference
INERTIAL MATRIX TYPE itype start line of inertial matrix definition
Inertia lines
ENDINERTIAL MATRIX end line of inertial matrix definition
_
If itype = 0: the full inertia matrix shall be given
If itype = 1: only the non zero values shall be given j, k, M
jk
B–4 Hydrostar User Manual
ENDFILE end of the input file
The following key words are optional:
REFPOINT no body, x
ref
, y
ref
, z
ref
reference point of computations
(default=COB)
RHO ρ fluid density
(default=1025kg/m3)
GRAVITY g gravity acceleration
(default=9.81m/s2)
REFWAVE x
wav
, y
wav
reference point of incoming waves
(default=0;0)
REFLENGTH ref length reference length
(default=1.0)
ZEROENCFRQ no zero encf number of zero-encounter frequencies
_
¸
_
¸
_
if no zero encf =0: No treatment
if no zero encf =1: treatment in the range −0.1 < ω < 0.1
if no zero encf =2: treatment in the range −0.2 < ω < 0.2
LINVISCOUSDAMPING no body, %B
44
linear roll viscous damping, in percentage of
critical damping
ITHDAMPING start line of ITH formulation for roll damping
bk, span, xbk1, xbk2 bilge keels dimensions (if any) according to the figure above
sk, length, height skeg dimensions (if any) according to the figure above
ENDITHDAMPING end line of ITH formulation for roll damping
DAMPING MATRIX TYPE itype start line of linear damping matrix definition
Damping lines
ENDDAMPING MATRIX end line of linear damping matrix definition
_
¸
_
¸
_
If itype = 0: the full damping matrix shall be given
If itype = 1: only the non zero values shall be given j, k, B
jk
If itype = 2: only the non zero values shall be given j, k, %B
jk
QDAMPING MATRIX TYPE itype start line of quadratic damping matrix definition
Quadratic damping lines
ENDQDAMPING MATRIX end line of quadraticdamping matrix definition
_
If itype = 0: the full quadratic damping matrix shall be given
If itype = 1: only the non zero values shall be given j, k, B
Q
jk
Appendix B. Index of commands B–5
STIFFNESS MATRIX TYPE itype start line of stiffness matrix definition
Stiffness lines
ENDSTIFFNESS MATRIX end line of stiffness matrix definition
_
If itype = 0: the full stiffness matrix shall be given
If itype = 1: only the non zero values shall be given j, k, K
jk
WAVEAMPLITUDE value wave amp wave amplitude only for the calculation
of the quadratic damping purpose
(default =1.0)
ITMAX max iter maximum number of iterations for the
quadratic damping computation
(default = 1000)
CONVERGENCE ERR convergence criteria (default = 0.001)
• hswav
XMIN xmin Minimum x-coordinate of the rectangular area
XMAX xmax Maximum x-coordinate of the rectangular area
DLTX dltx Step value in the x-direction
YMIN ymin Minimum y-coordinate of the rectangular area
YMIN ymax Maximum y-coordinate of the rectangular area
DLTY dlty Step value in the y-direction
RMIN rmin Minimum R-coordinate of the circular area
RMAX rmax Maximum R-coordinate of the circular area
DLTR dltr Step value in the R-direction
TMIN tmin Minimum theta-coordinate of the circular area
TMAX tmin Maximum theta-coordinate of the circular area
DLTT dltt Step value in the theta-direction
B–6 Hydrostar User Manual
WAVEDECOMPOSITION To generate files containing different components of wave
diffraction and radiation such as:
Total Total components
Diffraction Diffraction waves for each heading
Surge Radiation component in Surge unit motion
Sway Radiation component in Sway unit motion
Heave Radiation component in Heave unit motion
Rol l Radiation component in Roll (0.1rad motion)
Pitch Radiation component in Pitch (0.1 rad motion)
Yaw Radiation component in Yaw (0.1 rad motion)
COEFINCM coef-incm coefficient multiplying the incoming wave component
COEFDIFF coef-diff coefficient multiplying the diffraction component
COEFRAD1 coef-rad1 coefficient multiplying the surge radiation component
COEFRAD2 coef-rad2 coefficient multiplying the sway radiation component
COEFRAD3 coef-rad3 coefficient multiplying the heave radiation component
COEFRAD4 coef-rad4 coefficient multiplying the roll radiation component
COEFRAD5 coef-rad5 coefficient multiplying the pitch radiation component
COEFRAD6 coef-rad6 coefficient multiplying the yaw radiation component
AMPLINCM amp-incm amplitude of the incoming wave component
AMPLDIFF amp-diff amplitude of the diffraction component
AMPLRAD1 amp-rad1 amplitude of the surge radiation component
AMPLRAD2 amp-rad2 amplitude of the sway radiation component
AMPLRAD3 amp-rad3 amplitude of the heave radiation component
AMPLRAD4 amp-rad4 amplitude of the roll radiation component
AMPLRAD5 amp-rad5 amplitude of the pitch radiation component
AMPLRAD6 amp-rad6 amplitude of the yaw radiation component
• hsprs
ZFSURFACE free surface coordinate (default = 0)
WAVEDECOMPOSITION to obtain the different components of wave diffraction
and radiation
POINTS to start the input of the points coordinates
nb, x
p
, y
p
, z
p
number of the point, coordinates of the point
ENDPTS to end the input of the points coordinates
COEFINC coefficient applied to the incident wave from 0.0 to 1.0
COEFRDF coefficient applied to the wave diffraction and radiation
from 0.0 to 1.0
Appendix B. Index of commands B–7
COEFHDS coefficient applied to the vessel’s motions (if =0.0, only
the absolute wave elevation is computed)
• hsdft
NFORMULE Yes/No By default = Yes
FFORMULE Yes/No By default = Yes
MFORMULE Yes/No By default = Yes
If MFORMULE = Yes, the control surface shall be provided:
one way to give the control surface defining a box:
NBBOITE nb Nb of control surfaces = Nb of bodies
XCSUR ib, xmin, xmax, dltx No control surface and min/max/step of
x-coordinates
YCSURF ib, ymin, ymax, dlty No control surface and min/max/step of
y-coordinates
ZCSURF ib, zmin, zmax, dltz No control surface and min/max/step of
z-coordinates
OPTFOND Yes/No including the bottom of control surface
(by default=Y)
or define the control surface of arbitrary geometry through an external file
with the same format as the hull mesh file:
CSFILE ib, filename Mesh file of ib-th control surface
• hsrao
B–8 Hydrostar User Manual
GSURGE key −words Surge RAO at the reference point
GSWAY key −words Sway RAO at the reference point
GHEAVE key −words Heave RAO at the reference point
GROLL key −words Roll RAO at the reference point
GPITCH key −words Pitch RAO at the reference point
GYAW key −words Yaw RAO at the reference
MSURGE key −words Motion RAO at a given point in X direction
MSWAY key −words Motion RAO at a given point in Y direction
MHEAVE key −words Motion RAO at a given point in Z direction
VSURGE key −words Velocity RAO at a given point in X direction
VSWAY key −words Velocity RAO at a given point in Y direction
VHEAVE key −words Velocity RAO at a given point in Z direction
ASURGE key −words Acceleration RAO at a given point in X direction
ASWAY key −words Acceleration RAO at a given point in Y direction
AHEAVE key −words Acceleration RAO at a given point in Z direction
ACCX key −words Acceleration RAO at a given point in X direction including
-g*pitch
ACCY key −words Acceleration RAO at a given point in Y direction including
+g*roll
ACCZ key −words Acceleration RAO at a given point in Z direction = AHEAVE
FXF1ST key −words FK and diffraction loads Fx at the reference point
FYF1ST key −words FK and diffraction loads Fy at the reference point
FZF1ST key −words FK and diffraction loads Fz at the reference point
MXF1ST key −words FK and diffraction loads Mx at the reference point
MYF1ST key −words FK and diffraction loads My at the reference point
MZF1ST key −words FK and diffraction loads Mz at the reference point
CM key −words Added-mass coefficients at the reference point
CA key −words Radiation damping coefficients at the reference point
DRIFTFX key −words Wave drift load Fx at the reference point
DRIFTFY key −words Wave drift load Fy at the reference point
DRIFTFZ key −words Wave drift load Fz at the reference point
DRIFTMX key −words Wave drift load Mx at the reference point
DRIFTMY key −words Wave drift load My at the reference point
DRIFTMZ key −words Wave drift load Mz at the reference point
ARIANERAO key −words To generate RAO.DAT file for ARIANE applications
ARIANEQTF key −words To generate QTF.DAT file for ARIANE applications using
far field formulation only.
ARIANEADM key −words To generate Added Mass.DAT file for ARIANE applications
Appendix B. Index of commands B–9
RELMX BODY 1 AT x
1
, y
1
, z
1
BODY 2 AT x
2
, y
2
, z
2
keywords longitudinal relative
motions of two vessels
RELMY BODY 1 AT x
1
, y
1
, z
1
BODY 2 AT x
2
, y
2
, z
2
keywords transverse relative
motions of two vessels
RELMZ BODY 1 AT x
1
, y
1
, z
1
BODY 2 AT x
2
, y
2
, z
2
keywords vertical relative
motions of two vessels
B–10 Hydrostar User Manual
ARIANE7N key −words Ariane7 file for Newman approximation
ARIANE7C key −words Ariane7 file including full QTF
SECTFX key −words Wave loads Fx at a given section or a wave frequency
SECTFY key −words Wave loads Fy at a given section or a wave frequency
SECTFZ key −words Wave loads Fz at a given section or a wave frequency
SECTMX key −words Wave loads Mx at a given section or a wave frequency
SECTMY key −words Wave loads My at a given section or a wave frequency
SECTMZ key −words Wave loads Mz at a given section or a wave frequency
PRESSURE key −words Dynamic pressure at a given point or a wave frequency
RELMX key −words Relative motion in X at a point of multi-bodies
RELMY key −words Relative motion in Y at a point of multi-bodies
RELMZ key −words Relative motion in Z at a point of multi-bodies
CONNFZ key −words Vertical connection force at the connection point of multi-
bodies
RWE key −words Relative wave elevation at a given point or frequency
RWEVX key −words Relative velocity Vx at a given point or frequency
RWEVY key −words Relative velocity Vy at a given point or frequency
RWEVZ key −words Relative velocity Vz at a given point or frequency
BODY no body Give the identify number of body
FILE file name Give the file name of RAOs
AT x, y, z Give the coordinates of point
FREQ no freq Give the identify number of wave frequency
SECT no sect Give the identify number of ship section
POINT no point Given the identify number of points
COEF value
c
oef Coefficient multiplying RAOs
TERM n1, n2... Terms of added-mass or damping matrix
TITLE “title

Title of RAO figure using Gnuplot
AMP Amplitude of RAO
COS Component cos of RAO
SIN Component SIN of RAO
PHASE Phase of RAO
PRE Drift loads by using pressure integrations
MOM Drift loads by using the momentum formulation
inFREQUENCY RAO given in order of increasing wave frequency
inPERIOD RAO given in order of increasing wave period
inWAVENUMBER RAO given in order of increasing wavenumber ∗ REFL
inWAVELENGTH RAO given in order of increasing wavelength/REFL
OMEGAMIN value Minimum value of wave frequencies
OMEGAMAX value Maximum value of wave frequencies
Appendix C
VISU4D interface
VISU4D was developed by Bureau Veritas and provide the visualization of HydroStar meshing
by typing hvisu on HydroStar window.
The following options are available in VISU4D:
• Changing the mode of visualisation
White panels mode provide the visualisation of the panels in white colour (see fig C.1);
Figure C.1: White panels mode
C–1
C–2 Hydrostar User Manual
Wireframe mode provides the visualisation of only the borders of the panels (see fig C.2);
Figure C.2: Wireframe mode
Appendix C. VISU4D interface C–3
Normals mode provides the visualisation of the normal orientation by means of two dif-
ferent colours (see fig C.3);
Figure C.3: Normals mode
C–4 Hydrostar User Manual
Standard view mode provides the visualisation of the mesh through a standard render
mode (see fig C.4).
Figure C.4: Standard view
When using the commands “hvisu -t” for visualising the upper part of the body and/or
also the panels over the water-plane (see fig C.5), or “hvisu -b” for visualising the con-
trol surface (see fig C.6), the new mode of visualisation “´ecustomized view” is activated.
Through this mode the user can visualise the mesh of the hull like in normals mode and
the upper part or the control surface like in wireframe mode (see fig C.5).
Appendix C. VISU4D interface C–5
Figure C.5: Ecustomized view with “hvisu -t”
Figure C.6: Ecustomized view with “hvisu -b”
C–6 Hydrostar User Manual
• Selecting the point of view
There are two ways of changing the point of view with VISU4D: using the “point of view
window” (see fig C.7) and selecting the desired angles of visualisation.
Figure C.7: Point of view window
Or by using the arrows in the keyboard: the right / left arrows change the phi angle, and
the up / down arrows change the theta angles.
Appendix C. VISU4D interface C–7
Also, it’s possible to select directly the planes of visualization, like in the example dis-
played in figure C.8.
Figure C.8: Planes selection
C–8 Hydrostar User Manual
• Making a zoom:
To zoom it’s necessary to select the region of the mesh to zoom by drawing a window
using the left button of the mouse (see fig C.9).
Figure C.9: Zoom by drawing a window
The user is also able to unzoom and reproduce the zoom, by clicking on menubar buttons:

to unzoom;

to reproduce the zoom.
Appendix D
References
D–1
D–2 Hydrostar User Manual
Bibliography
[1] Chen X.B. (2004) Hydrodynamics in offshore and naval applications - Part I Keynote
lecture of 6th Intl. Conf. HydroDynamics, Perth (Australia)
[2] Gu´ evel P. (1982) Le probl`eme de diffraction-radiation - Premi`ere partie : Th´eor`emes
fondamentaux, ENSM, Univ. Nantes.
[3] Chen X.B. (1988) Etude des r´eponses du second ordre d’une structure soumise `a une
houle al´eatoire, Ph.D. Thesis, Univ. Nantes, ENSM.
[4] Chen X.B. (1993) Evaluation de la fonction de Green du probl`eme de diffraction/radiation
en profondeur d’eau finie
[5] Molin B. (2002) Hydrodynamique des structures offshore Editions Technip.
[6] Malenica
ˇ
S. & Chen X.B. (1998) On the irregular frequencies appearing in wave
diffraction-radiation solutions, Intl J. Offshore Polar Engg, 8 2, 110-14.
[7] Shaheen H. , Duan W.Y. and Chen X.B. Hydrodynamic interaction for large multiple
submerged bodies in shallow water ISOPE Pacoms-2006, Dalian (China), September 2006
[8] Chen X.B. (1994) Approximation on the quadratic transfer function of low-frequency
loads, Proc. 7th Intl Conf. Behaviour Off. Structures, BOSS’94, 2, 289-302.
[9] Chen X.B. Middle-field formulation for the computation of wave-drift loads. Journal of
Engineering Mathematics, October 2006
[10] Chen X.B. & Rezende F. (2008) Computations of low-frequency wave loading
IWWWFB 2008, April 2008, Jeju Island - Korea
[11] Chen X.B. & Duan W.Y. Formulation of low-frequency QTF by O(∆ω) approximation
22nd International Workshop on Water Waves and Floating Bodies, April 2007. Plitvice
(Croatia)
[12] Chen X.B., Molin B. & Petitjean F. (1995) Numerical evaluation of the springing
loads on tension leg platforms, Marine Structures, 8, 501-24.
[13] Malenica
ˇ
S., Zalar M. & Chen X.B. (2003) Dynamic coupling of seakeeping and
sloshing, Proc. ISOPE’2003, Honolulu.
[14] Malenica
ˇ
S., Zalar M., Orozco J.M., Le Gallo B. & Chen X.B. (2004) Lin-
ear and non-linear effects of sloshing on ship motions, Oral presentation at OMAE’2004,
Vancouver.
D–3
D–4 Hydrostar User Manual
[15] de-Hauteclocque G., Rezende F., Chen X.B. (2008) Diffraction and radiation with
the effect of bathymetric variations ICHD 2008, October 2008, Nantes-France
[16] Chen X.B. (1994) On the side wall efects upon bodies of arbitrary geometry in wave
tanks Applied Ocean Research 16 - pp.337-345