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Aqwa Programs Tutorial-2
Aqwa Programs Tutorial-2
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This report contains a simple example in which potential tools of the AQWA FER program are utilized. The
RAOs of coupled systems are reported and also the dynamic modes of vibration are studied within the
module AQWA LIBRIUM/FER.
Created: 17-09-2010
Signature legend:
WGU
Wilson Guachamin
Naval Architect
EXAMPLE 2
Rev.1
Page 2 of 17
TABLE OF CONTENTS
INTRODUCTION ............................................................................................................ 4
1.1
General....................................................................................................................... 4
1.2
Objective .................................................................................................................... 4
1.3
Scope ......................................................................................................................... 4
2
2.1
2.2
Description of the models ....................................................................................... 5
2.2.1
Main particulars of the HLV in pre-lift condition ........................................................ 5
2.2.2
Main particulars of the topside modules ................................................................... 6
2.2.3
Main particulars of the rigging .................................................................................. 6
2.3
2.4
Approach ................................................................................................................... 6
ANALYSIS ..................................................................................................................... 8
3.1
3.2
3.3
Combining the structures ......................................................................................... 9
3.3.1
Data file preparation in AQWA LIBRIUM................................................................ 10
3.3.2
Data file preparation in AQWA FER ....................................................................... 13
4
RESULTS ..................................................................................................................... 14
4.1
General..................................................................................................................... 14
4.2
4.3
4.4
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INTRODUCTION
1.1
General
The AQWA FER program is a module that can be employed to analyze the response of free floating
and coupled bodies. Typical examples of coupled systems are: a vessel with catenary mooring lines, a
HLV lifting or lowering a topside module from or onto a floating structure, multiple vessels moored by
means of fenders and elastic lines, etc. In previous examples, it is considered that the response of the
system is linear with the wave excitation since no nonlinear parameters are included. However,
nonlinear systems could also be analyzed in the frequency domain if the nonlinear parameters are
properly linearized (i.e. drag forces); a typical example could be the lowering of subsea structures.
The frequency domain analysis of coupled systems in AQWA FER has many advantages and
therefore is preferred whenever possible:
-
Most of the times it is not necessary to spend time carrying out complete time domain simulations of
linear systems. In fact, the problem of all coupled systems in which the lifted object is above the
mean water line should be solved in the frequency domain.
1.2
Objective
The main objective of this report is to explain some important features when using the AQWA FER
program to solve problems in the frequency domain.
1.3
Scope
This tutorial is limited to the frequency domain analysis of coupled systems. If it were necessary some
aspects of the other program modules will be briefly explained.
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2.1
General
This section contains the considerations and required information to complete the modeling and
analysis of the coupled system and its procedure.
2.2
2.2.1
Water depth
Length between perpendiculars
Breadth
Depth
Mean draught
Displacement
Longitudinal center of gravity
Center of gravity above keel
Transverse metacentric height
Mass moment of inertia about x
Mass moment of inertia about y
Mass moment of inertia about z
Linearized roll viscous damping
Natural period for roll
Notation
Units
Value
d
LPP
B
D
Tmean
LCG
KG
GMT
Ixx
Iyy
Izz
(1)
B
T
[m]
[m]
[m]
[m]
[m]
[Ton]
[m]
[m]
[m]
2
[kgm ]
2
[kgm ]
2
[kgm ]
[KNms/rad]
[s]
1000
171.6
47
18.2
11.926
63232
72.825
13.90
11.35
2.3553E10
1.3173E11
1.4247E11
5.0103E8
12.4
[1]
Figure 2.2.1.1: Diffracting model of the HLV Stanislav Yudin (Side View)
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2.2.2
Description
Overall length along the X axis
Width along the Y axis
Depth
Weight on air
Mass moment of inertia about x
Mass moment of inertia about y
Mass moment of inertia about z
Notation
L
B
H
Wair
Ixx
Iyy
Izz
Units
[m]
[m]
[m]
[KN]
2
[kgm ]
2
[kgm ]
2
[kgm ]
Value
50
40
18
40000
1.3724E09
1.1124E09
1.3724E09
2.2.3
Notation
Units
Value
L
C
[m]
[KN/m]
36.1
4.7E5
L
C
[m]
[KN/m]
26.2
5.9E4
[Ton]
210
Cables
Length of cables
Stiffness
Slings
Length of slings
Stiffness
Hooks
mass
2.3
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
JONSWAP
Peak period
Tp[s]
3.5
4.5
5.5
6.5
7.5
8.5
9.5
10.5
11.5
12.5
13.5
14.5
15.5
16.5
17.5
Peak
enhancement
factor
[-]
2.4
2.4
2.4
2.4
2.4
2.4
2.4
2.4
2.4
2.4
2.4
2.4
2.4
2.4
2.4
Significant wave
height
Wave direction
Hs[m]
2.0
2.0
2.0
2.0
2.0
2.0
2.0
2.0
2.0
2.0
2.0
2.0
2.0
2.0
2.0
[]
180
180
180
180
180
180
180
180
180
180
180
180
180
180
180
2.4
Approach
The following procedure in the present example:
First, a diffraction analysis of the HLV in AQWA LINE, the main goal is to obtain the
hydrodynamic parameters (damping, added mass coefficients) and free floating RAOs. (Note:
The modeling of the vessel could be done using the *LIN file available at SHL.
Second, the HLV is joined to the topside modules by means of linear cables and the
equilibrium position is found; for this purpose the AQWA LIBRIUM module is used.
Rev.1
Page 6 of 17
Third, the frequency domain analysis is carried out in AQWA FER. In this part of the exercise,
some RAOs of the coupled structures are compared with the free floating ones.
Fourth, results from comparisons of RAOs and significant responses are reported.
Finally discussion of results from this exercise when necessary.
Rev.1
Page 7 of 17
ANALYSIS
3.1
Hydrodynamic parameters
The hydrodynamic parameters such as added mass and radiation damping of the structures are
automatically calculated from the diffraction analysis carried out in AQWA LINE and the hydrodynamic
data base is stored in the *.hyd file. To verify previously calculated results before going on with the
analyses, the following results for the VSS template could be cross checked.
It is understood that the user is able to model the structures and carry out the diffraction analysis
according to specifications given in section 2 of this report. Anyway, some modeling issues of the
structures are included in this tutorial.
>>Open AGS (AQWA Graphical Supervisor)
>>Graphs>>File>>Open>>*.PLT
>>Radiation damping heave>>heave>>confirm selection>>OK
All hydrodynamic coefficients are stored in the*.hyd files and will be automatically used when called for
in the frequency domain analyses.
Rev.1
Page 8 of 17
3.2
Figure 3.2.1: Roll free floating RAO for the HLV Oleg Strashnov, =90
Notice that the natural frequency for roll is indeed 0.51rad/sec (12.3sec) and the maximum response
is about 11.5/m.
If the results from the diffraction analysis match the ones in figures 3.1.1, 3.1.2 and 3.2.1 then the
structures could now be coupled together as shown below.
3.3
Rev.1
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3.3.1
Rev.1
Page 10 of 17
>>Define extra nodes for the connection of the slings in the topsides
Rev.1
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>>The hydrodynamic parameters could be copied from a previous AQWA LINE *.hyd file
Rev.1
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>>The initial position of the structures before iteration towards the equilibrium position may be
specified as follows
3.3.2
>>Decks 13 and 14 are the same as the one of the AQWA LIBRIUM file
>>Specify points from which significant (absolute/ relative) motions are required
The RAOs of the specified points (or any other defined in the model) could be plotted through the
graphical supervisor and is shown in the following section.
>>Run the AQWA FER *.DAT file
Rev.1
Page 13 of 17
RESULTS
4.1
General
In this chapter, some important comparison between free floating and coupled bodies RAOs are
presented. Different RAO peaks due to different coupled modes of motion are also identified
graphically. Then, results of significant motions are also analyzed.
4.2
Coupled RAOs
Because of the coupled body interactions, some new peaks will be observed in the RAOs. For the
same degree of freedom the phase and anti-phase motions of other connected bodies may
substantially change the response of the structures.
>>Open AGS (AQWA Graphical Supervisor)
>>Graphs>>File>>Open>>Drift *.PLT file (of the present AQWA FER run)
>>Select structure1 (at the mid left hand side of the window)
>>Response amplitude operators (Depending on what is needed, you could also plot the response
spectrum, transfer function and force spectral density)
>>Mooring configuration #1 - Spectrum #1 (by default)
>>About y axis (to plot the pitch RAO for 180 as defined in the *.DAT file)
>>Confirm selection
Since it is going to be compared with the free floating condition, the correspondent pitch RAO for head
waves should also be plotted:
>>Graphs>>File>>Open>>Drift *.PLT file (of the previous AQWA LINE run)
>>Free floating raos
>>pitch(y)
>>Dir # (180)
>>Confirm selection
>>OK
>>Select both plots by clicking on them
>>Merge
Figure 4.2.1: Pitch RAO for free floating and including coupling effects
In previous picture, new peaks are observed and some existing ones are slightly different; it could
easily be explained looking at the different modes of motion.
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4.3
>>In the new window that pops out: File>>Open>>*.RES (AQWA FER file)
>>In the same new window menu select: Display>>Dynamic Stability modes
4.4
Significant motions
Unfortunately the significant motions for previously defined sea states could not be plotted trough the
AGS and therefore the output has to be copied from the *.LIS file created when executing the AQWA
FER data file.
>>Open *.LIS file
>>By the end of the document find the significant motions and forces for the defined wave spectra
Rev.1
Page 15 of 17
Figure 4.2.2: Significant motions of the COG of the HLV Oleg Strashnov for various sea states
Similar tables are available in the *.lis file and can be used to easily plot the significant responses for
several Hs/Tp combinations from a scatter diagram and quickly give figures about workability analyses
of coupled systems.
Rev.1
Page 16 of 17
REFERENCES
1. Load condition 3. 4000 MT @ 41.89m 180. Shipshape output. Doc. GPGS.pdf.
2. WGU. Spectral density sensitivity to NSPL and SEED values in the AQWA time domain
simulations
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