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AQWA Training Course

Dr Shuangxing Du
ANSYS Inc.
© 2010 ANSYS, Inc. All rights reserved.

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ANSYS, Inc. Proprietary

Topic
The topics covered in the training course are as follows:
• description of program capabilities
• theoretical background
• modelling techniques
• analysis procedure
• data requirements and preparation
• description of output and interpretation of results
• worked examples
© 2010 ANSYS, Inc. All rights reserved.

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ANSYS, Inc. Proprietary

AQWA Programs
• Structure and Capabilities of AQWA Programs
– AQWA LINE
• 3-D diffraction & radiation analysis program for wave force and
hydrodynamic property calculations; hydrostatic analysis

– AQWA LIBRIUM
• Structure equilibrium position and force balance calculations; eigen
mode and dynamic stability analysis

– AQWA FER
• Spectral analysis of structure motion (wave frequency or/and drift
frequency) and mooring tension in irregular waves
© 2010 ANSYS, Inc. All rights reserved.

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ANSYS, Inc. Proprietary

AQWA Programs – AQWA NAUT • Time domain program for wave frequency structure motion and mooring tension analyses in large waves – AQWA DRIFT • Time domain program for drift frequency and wave frequency structure motion and mooring tension analysis in irregular waves – AQWA Graphical Supervisor (AGS) • AQWA pre and post processor. on-line analysis – AQWA WAVE • Interface program to transfer wave loads from AQWA LINE to a FE model for structural analysis © 2010 ANSYS. 4 ANSYS. Inc. Inc. Proprietary . All rights reserved.

5 ANSYS. All rights reserved.General Relations between Programs AGS ANSYS LINE LIBRIUM FER WAVE NAUT DRIFT ASAS (FE model) EXCEL © 2010 ANSYS. Inc. Inc. Proprietary .

Inc.Typical AQWA Models Moored Tanker Semi Sub © 2010 ANSYS. Proprietary . All rights reserved. 6 ANSYS. Inc.

Inc. Inc.Typical AQWA Models Spar Transportation FPSO © 2010 ANSYS. All rights reserved. Proprietary . 7 Ship in channel ANSYS.

JACK-UP © 2010 ANSYS. Inc. All rights reserved. Proprietary . Inc. 8 ANSYS.

FPSO+TLP CONCEPT © 2010 ANSYS. Inc. 9 ANSYS. Proprietary . All rights reserved. Inc.

Inc. 10 ANSYS. Inc. Proprietary .MANY SHIPS © 2010 ANSYS. All rights reserved.

11 ANSYS. Inc.SEMI-SUB © 2010 ANSYS. Inc. Proprietary . All rights reserved.

Inc. 12 ANSYS.LIFTING © 2010 ANSYS. All rights reserved. Proprietary . Inc.

Inc. All rights reserved. 13 ANSYS.GREEN OCEAN ENERGY © 2010 ANSYS. Inc. Proprietary .

ANSYS-to-AQWA Interface

© 2010 ANSYS, Inc. All rights reserved.

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AGS mesh generation

© 2010 ANSYS, Inc. All rights reserved.

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AGS Post-processing

Force & Response Curves

Shear Force & Bending Moment

© 2010 ANSYS, Inc. All rights reserved.

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All rights reserved. Inc. Inc. Proprietary .AGS Post-processing Wave surface contour Pressure contour Diffracted wave surface © 2010 ANSYS. 17 ANSYS.

Display and edit AQWA models visually Cable Dynamics . AGS and AQWA-WAVE AQWA Manuals and examples ● AGS demonstration Open . All rights reserved.Open/close.● Installation AQWA. Inc. Proprietary . Inc. 18 ANSYS.Perform an AQWA analysis on the presently loaded model Graphs .Create and edit AQWA models Run .Access to the online help system © 2010 ANSYS.Display and manipulate AQWA results graphically Plots .Define and analyze problems involving cable dynamics Help . and save AQWA models Edit .

Inc. Proprietary . East and West © 2010 ANSYS.AQWA Global Coordinate System AQWA Global Coordinate System is referred to as the Fixed Reference Axes (FRA): z y • • • • the origin lies in the still water W. Inc. 0 plane the positive z axis is vertically upwards a right handed system it is not related to the directions North. South. 19 x ANSYS.L. All rights reserved.

translational Roll. Heave . Sway. 20 ANSYS. Pitch. All rights reserved.p = ρZ 0 Hydrostatic z y Rigid body motions: Port side Stern Surge. Proprietary . Yaw . Inc. Inc.rotational Bow x Starboard side Archimedes’s principle Buoyancy of an immersed body = weight of the fluid displaced G Hydrostatic pressure p = ρZ 0 Z0 B G: centre of gravity B: centre of buoyancy Buoyancy is the resultant of all hydrostatic force over wetted surface © 2010 ANSYS.

wind and current directions are defined in AQWA as the directions which they are travelling towards. wind) positive angle X axis © 2010 ANSYS. – Directions in AQWA are input and output in degrees. 21 ANSYS. – The direction is defined as the angle between the wave (or current. Inc.Directions in AQWA – The wave. Inc. All rights reserved. wind) and the positive x axis measured anticlockwise. Y Wave direction (or current. Proprietary .

All rights reserved. Inc. 22 ANSYS. © 2010 ANSYS.Phase Angle – In AQWA. the phase angle (Φ in degrees) of a parameter defines the time difference (dt) from the time when the wave crest is at the CoG of the structure to the time when the parameter reaches its peak value. Proprietary . where T is the wave period). (dt= Φ*T/360. – A positive phase angle indicates that the parameter lags behind the wave. Inc.

DRIFT. Inc. k: wave number) Used in AQWA LINE. FER. LIBRIUM.5 k A² cos2(-ωt + kx) Used in AQWA NAUT by default © 2010 ANSYS. Inc. NAUT (optional) 2) Stokes 2nd Order Waves a = A cos (-ωt + kx) + 0. 23 ANSYS.Waves in AQWA Wave Types: 1) Airy Waves (linear wave) a = A cos (-ωt + kx) (ω: frequency in radians/sec. Proprietary . All rights reserved.

Waves in AQWA Wave Forms: 1) Regular Waves Used in AQWA LINE. DRIFT. All rights reserved. Inc. Proprietary . FER. NAUT ● Imported time history of wave elevation used in AQWA DRIFT © 2010 ANSYS. Inc. 24 ANSYS. NAUT (by default) 2) Irregular Waves ● Defined by a wave spectrum and used in AQWA LIBRIUM.

Waves in AQWA Wave spectrum types accepted in AQWA are: a. d. P-M spectrum JONSWAP spectrum User defined spectrum Gaussian spectrum for Cross Swell Irregular waves can be in the form of: a. b. Long crested waves. Inc. 25 ANSYS. All rights reserved. Inc. OR b. ie a spread sea (only for AQWA LIBRIUM and FER) © 2010 ANSYS. c. Proprietary . Short crested waves.

Uniform current b. API wind spectrum d. Profiled current velocity © 2010 ANSYS. Ochi and Shin wind spectrum c. Proprietary .Wind and current in AQWA Wind types accepted in AQWA are: a. All rights reserved. Inc. User-defined wind spectrum Current types accepted in AQWA are: a. 26 ANSYS. NPD wind spectrum e. Uniform wind b. Inc.

All rights reserved. Inc. 27 ANSYS.Wave Forces on Structures • For Diffracting Structures (modelled with plate elements) - Incident wave force (Froude-Krylov force): from the pressure in the undisturbed waves. - Drift force (net force due to high order effect) © 2010 ANSYS. - Radiation force: due to structure’s oscillation which generates waves. Inc. Proprietary . - Diffraction force: due to stationary structure disturbing the incident waves.

x′ 28 K. Proprietary . Inc. All rights reserved. Inc.hydrodynamic forces on structures (1) on Diffraction elements Fluid force Hydrodynamic Hydrostatic Radiation force due to structure motion Wave exciting force Ambient pressure (incident wave or Froude-Krylov force) Effect of structure on waves (Diffraction) F(ω) © 2010 ANSYS.x″ C(ω).x ANSYS. In-phase (Added Mass) Out-of-phase (Radiation damping) Ma(ω).

Inc. © 2010 ANSYS. eg TUBEs. 29 ANSYS. Inc. All rights reserved.hydrodynamic forces on structures (2) on Morison elements • For Morison Structures (modelled with Morison elements. Proprietary . DISCs) - Morison force (including drag) calculated using Morison equation.

All rights reserved. Proprietary . Ω is the volume of the element (per unit length) D is the element diameter. Inc. Inc. the hydrodynamic force on unit length of the element can be calculated using Morison equation: 1 F = ρ Ωa w + ρ C a Ωa w − ρ C a ΩX + ρ C d DV V 2 Ca and Cd are the added mass and drag coefficients of the element. tube elements. 30 Drag force ANSYS.g.Morison Force Equation for Morison force calculation For slender cylindrical elements (D/λ<0.2). Radiation force Froude-Krylov force Wave inertia force © 2010 ANSYS. e. V is the relative velocity.

subject to the boundary conditions: no flow through the hull no flow through the sea-bed a free surface condition Surface mesh © 2010 ANSYS. 31 ANSYS.AQWA LINE . Proprietary . Inc. Inc.Introduction – AQWA-LINE is a 3D diffraction and radiation analysis program – Frequency domain – Structures are described by a number of panels – Source distribution approach (boundary integration method) A source is place at the centre of each panel and then the program solves for the source strengths. All rights reserved.

Inc. 32 ANSYS. Inc.AQWA LINE .Features – Removal of irregular frequencies by auto-generated lid – Multi-body hydrodynamic interactions (lid to suppress standing waves) – Forward speed – This enables the pressure and velocity to be found at any point Second order forces – Mean drift forces: ● Far field momentum theory ● Near field pressure-motion integration method – Full QTF matrix (difference & sum frequency components) AQWA-LINE provides hydrodynamic coefficients for use in other programs in the AQWA suite © 2010 ANSYS. All rights reserved. Proprietary .

( n4 . n3 ) = n. All rights reserved. Inc. m2 . n3 . n2 . 33 ANSYS.− n2 ) © 2010 ANSYS. Inc. m3 ) = −n ⋅ ∇[∇(−Ux + φs )] / U = 0. m5 . irrotational and incompressible – small wave elevation Governing equation for the velocity potential ∇ 2φ = 0 (V = ∇φ ) Body boundary condition (Timman-Newman relations) ∂φ j (r ) ∂n = −iωe n j + Um j ( n1. Proprietary .Theory in AQWA LINE Assumptions – Ideal fluid. (m4 . n5 . n6 ) = r × n (m1. m6 ) = −n ⋅ ∇[r × ∇(−Ux + φs )] / U = (0.

Proprietary .Theory in AQWA LINE ● Linearized free surface condition ∂φ ωe2 − φ =0 ∂z g ● Sea bed boundary condition ∇φ = 0 when z → −∞ for deep water ∂φ = 0 at z = −d ( sea bed ) for shallow water ∂z ● Radiation condition A physical condition to avoid mathematical ambiguity which could result in structure induced waves travelling in the wrong direction © 2010 ANSYS. 34 ANSYS. Inc. Inc. All rights reserved.

35 ANSYS. Inc. xj: the structure motion for unit wave amplitude ● Forward speed effect: Encounter frequency ωe = ω (1 − ωU g cosθ ) θ: angle between incident wave and forward speed © 2010 ANSYS.Theory in AQWA LINE Numerical method ● Linear superposition of 1st order potential components φ = [φ I + φd + 6 ∑ j =1 x jφ j ] e −iωet . Inc. d for diffracted wave. j =1.6 for radiated wave in 6 degrees of freedom.2. Proprietary . All rights reserved.…. I for incident wave.

All rights reserved. Inc. Proprietary . 36 ANSYS.Theory in AQWA LINE ● Incident wave potential for finite water depth d ϕ I e −i ω t − igζ cosh[k ( z + d )]eik ( x cosθ + y sin θ +α ) e −iω t = ω cosh(kd ) in which k is the wave number defined by: ω 2 = gk tanh(kd ) ● Solution for diffracted and radiated wave potentials using pulsating source distribution 1 ϕ ( x. ξ . y . y. Inc. ζ ) ds 4π sb © 2010 ANSYS.η . z. z ) = ∫∫ σ G ( x.

ξ .η . frequency domain): G ( x.05 * g / d © 2010 ANSYS. Proprietary . All rights reserved. y. z. 37 d: water depth ANSYS.Theory in AQWA LINE ● Green’s function (finite depth water. Inc. ζ ) = 1 1 + ' R R ( µ + ν )e − µd cosh µ (ζ + d ) cosh µ ( z + d ) J 0 ( µ r )d µ + 2 pv ∫ 0 µ sinh( µd ) −ν cosh( µd ) ∞ (k 2 −ν 2) cosh k ( z + d ) cosh k (ζ + d ) J 0 (kr ) + 2π i 2 2 (k −ν )d + ν ● Database method used for efficient and accurate evaluation Minimum input frequency (rad/s): 0. Inc.

Theory in AQWA LINE The source strength at each panel on the structure surface is assumed constant. z ) 1 1 ds = − σ ( x. © 2010 ANSYS. ξ . z. y. Proprietary . All rights reserved. z ) + σ ∫∫ 4π sb ∂n 2 ∂n ● For the diffraction potential. y .η . calculated by solving the body boundary condition: ∂G ( x. ● For the radiation potentials. ζ ) ∂ϕ ( x. y. the induced normal velocities (in 6 degrees of freedom) should be the same as those due to structure motion. Inc. the induced normal velocity at the structure surface should negate that due to incident potential. Inc. 38 ANSYS.

K 24 = − ρ g ∫∫Sb n2 w4 dS + mg © 2010 ANSYS. Inc. Inc. 39 ANSYS. All rights reserved. Froude-Krylov and diffraction force F j (ωe ) = − ∫∫S n j (iωe + U ∂ )(φI + φd ) dS b ∂x ∂ ► Added mass and damping ωe2 M a ij (ωe ) + iωeCij (ωe ) = ∫∫Sb ni (iωe + U )φ j dS ∂x ► ► Restoring (hydrodynamic stiffness) K ij = − ρ g ∫∫Sb ni w j dS Special cases K15 = − ρ g ∫∫Sb n1w5 dS − mg .Theory in AQWA LINE Pressure and 1st order wave force calculation Hydrodynamic pressure on each panel can be calculated from the linearized Bernoulli equation: p (1) = − ρ gw − ρ φt 1st order wave forces are obtained by integrating the pressure over the mean wetted body surface. Proprietary .

. components N N F ( 2) (t ) = ∑ ∑ { cij sin[(ωi − ω j )t ] + d ij cos[(ωi − ω j )t ] i =1 j =1 + eij sin[(ωi + ω j )t ] + f ij cos[(ωi + ω j )t ]} mean 2nd order force components ( ωi = ω j ) N ( 2) F = ∑ d ii i =1 © 2010 ANSYS.. Z ) = X + ε X + ε X + . If the 1st order motion/potential/force in the form of N Different freq.. Y .Theory in AQWA LINE Second order forces Perturbation approach (ε: small number related to wave amplitude) 1 p = − ρ φt − ρ (∇φ ⋅ ∇φ ) + ρgZ = p ( 0) + ε p (1) + ε 2 p ( 2) + . Proprietary . 40 ANSYS. 2   (0)  (1)  2 ( 2) X = ( X .. Inc. components F ( t ) = ∑ (ai sin ωi t + bi cos ωi t ) (1) i =1 then the 2nd order force in Sum freq. All rights reserved. Inc.

Horizontal force/moment only . . All rights reserved.Theory in AQWA LINE ● 2nd order mean drift force calculation ► Far field solution (momentum conservation method): ( 2) Fstrc =− d dt ∫∫∫ ρV Ω = − ρ ∫∫∫ Ω dΩ − ∫∫ pn d S SR ∂V dΩ − ρ ∫∫VVn dS − ∫∫ pn d S ∂t S S R R SR: vertical cylindrical boundary surrounding the structure in the flow field with a large radius R. Inc. Inc.More accurate . 41 ANSYS. Ω: fluid volume surrounded by SR and the structure surface.Single structure only (or multi-bodies without hydrodynamic interaction) © 2010 ANSYS. Proprietary .

. X g ∂t Sb WL: mean water line along the structure surface. Proprietary . ∂ϕ + ∫∫ ρ ( X .∇ )n dS + M s . Inc.Multi-body hydrodynamic interaction © 2010 ANSYS.Theory in AQWA LINE ► Near field solution (pressure/motion integration method): ( 2) Fstrc = − ∫ 0. Sb : mean structure wetted surface .5 ρ gζ r2 n dl + ∫∫ 0.R. All rights reserved. 42 ANSYS.Force/moment in 6 degrees of freedom for each structure .5 ρ ∇ϕ n dS 2 WL Sb . Inc.

Inc.Theory in AQWA LINE ► Full Quadratic Transfer Function (QTF) ● Components at both difference and sum frequencies ● Each with in-phase and out-of. Inc. Proprietary .phase parts { [ j )] + Pij+ cos[− (ωi + ω j )t + (ε i + ε j )]} { [ j )]+ Qij+ sin[− (ωi + ω j )t + (ε i + ε j )]} F ( 2 ) (t ) = ∑ ∑ Pij− cos − (ωi − ω j )t + (ε i − ε N N i =1 j =1 + ∑ ∑ Qij− sin − (ωi − ω j )t + (ε i − ε N N i =1 j =1 ω1 ω2 … ωj …. 43 ANSYS. All rights reserved. 2-D plot of QTF(real) ωn ω1 Diagonal: Mean drift force/unit wave of ω2 ω2 Pij − (ωi . ω j ) / ζ iζ j ► AGS -> File ->open Graph -> Function/processing -> Data processing -> Wave forces -> Full-coupled QTFs -> 2-D plot ► CQTF card in Options on Deck 0 ωi ωn © 2010 ANSYS.

dS + ∫∫ ρ ∂t Sb 2nd order potential similar to above © 2010 ANSYS.Theory in AQWA LINE Pij( ± ) = − ∫ 1 4 ρ gζ i . Xg j Momentum ∂φ ( 2)  . ∇ϕ j n dS Bernoulli Sb + ∫∫ 1 2 ρ ( X i .∇ Sb ∂ϕ j ∂t )n dS Acceleration .n. Inc.Ri . All rights reserved.ζ j cos(ε i ± ε j )n dl Waterlineintegral WL + ∫∫ 1 4 ρ ∇ϕ i . 44 ANSYS.. Qij(± ) + M s . Proprietary . Inc.

Inc. © 2010 ANSYS. All rights reserved.Theory in AQWA LINE ● Equation of motion in AQWA LINE The response X (RAO) of a structure in waves is calculated by solving the equation of motion in the frequency domain for unit wave amplitude: [ −ω 2 ( M s + M a (ω )) − iωC (ω ) + K ] X (ω ) = F (ω ) where Ms is structure mass Ma is added mass (frequency dependent) C is damping (frequency dependent) K is hydrostatic stiffness F is wave force (incident and diffracting forces). Inc. 45 ANSYS. Proprietary .

x′ + K. Hydrostatic = In-phase (Added Mass) Ma(ω). Inc.Fluid forces on structures Fluid force Hydrodynamic Radiation force due to structure motion Wave exciting force Ambient pressure (incident wave or Froude-Krylov force) Effect of structure on waves (Diffraction) F(ω) © 2010 ANSYS.x ANSYS.x″ 46 Out-of-phase (Radiation damping) + C(ω). Inc. Proprietary . All rights reserved.

PIPE59 for tube.Modelling (1) ■ using ANSYS ● Install ANSYS-AQWA interface (1) copy anstoaqwa. (3) check normal direction (blue: outside. (4) Click ‘AQWA’ to output AQWA data file.ans. 47 ANSYS. Inc. ANSTOAQWA ● run ANSYS Notes: (1) define geometry of wet and dry surface separately. Z-axis upwards. © 2010 ANSYS. (2) SHELL63 for surface mesh. pink: inside). (5) COG and mass need to be modified. insert *ABBR. Proprietary .mac to C:\Program Files\Ansys Inc\v110\ANSYS\APDL (2) open C:\Program Files\Ansys Inc\v110\ANSYS\APDL\start110. All rights reserved. AQWA. Inc.

(2) all x-coordinates should be the same on each station.LIN file (see AGS-Help for details): (1) each station starts from lowest point at centre plane. ● run AGS (1) double click AGS icon on screen. Inc. (3) Plot Lines (in Lines Plan Mesh Generation window) to show offset curves. (2) Plots → Select → Lines Plan → File (in Lines Plan Mesh Generation window) → open to find the *. COG. condense points at high surface change.DAT (in Lines Plan Mesh Generation window) to save the generated file. Proprietary . mesh size:6) Notes: PMAS values in Deck 4 may need to be modified (data\lines\altank. (5) File → Save *.LIN file) ● Notes on AL****. Inc. 48 ANSYS. All rights reserved. (4) input stations (max.lin file to be opened. mesh size (in Lines Plan Mesh Generation window) . 100) from stern to bow. ■ Create model (Approx. 50 points on each station. only two stations are needed to define a parallel midbody section. Dimensions: 200x40x15.lin) © 2010 ANSYS. (3) max.Modelling (2) ■ Using AGS (with AL****. then Generate Mesh. (4) input two drafts.

dat) Example: © 2010 ANSYS. .AQWA File Names Every AQWA file name has three parts: (1) file prefix (two characters) .dat (input data). abtank1.a name to identify the run (3) file extension (three characters) to identify the type of file (eg. Proprietary .lis (output list file) 49 ANSYS.a code to identify the program al LINE ab LIBRIUM af FER ad DRIFT an NAUT aw WAVE (2) run identifier (up to six characters) . altank1. Inc. Inc. All rights reserved.

All rights reserved. Inc.L. ZCGE(deck7) 0 COG ZLWL(deck2) a X x User Defined System Right handed.AQWA Global/User defined Systems AQWA Global Coordinate System (FRA): • • • the origin lies in the still water plane the positive z axis is vertically upwards Right handed Z z W. Inc. oxy plane shifts vertically from OXY of FRA © 2010 ANSYS. 50 ANSYS. Proprietary .

Inc. 51 ANSYS. All rights reserved. Inc. Proprietary .Run Stages 1-2 ■ Run stages 1 – 2 ● ● ● ● Use the model generated by AGS Be aware of warning messages Check al**. mass. stiffness) Check geometry through AGS © 2010 ANSYS.lis file (displacement.

Numbering. Showing diff panels. Proprietary .Check geometry through AGS Zooming. Command: omit element -> Plot (to omit all the elements) select element 1 to 10 ->Plot (to display el#1-10 only) © 2010 ANSYS. All rights reserved. Rotating. Inc. Shade. 52 ANSYS. Inc.

Inc.dat input data file (LBDNF) . Inc.mor mooring description file with FILE in Deck 14 (BDNF) © 2010 ANSYS. All rights reserved.msd input mass distribution for BM/SF (AGS) .sfm input mass distribution for splitting forces (AGS) .wht a wave height time history with IWHT in Deck 13 (D) . no card needed (DN) .wvt a wind velocity time history.xft an external force time history acting on a structure no card needed (DN) . Proprietary .lin input file for AGS mesh generator . ASCII INPUT FILES . ● The names of the files differ only in the file extension. 53 ANSYS.AQWA File Types ● Each AQWA run involves several files.

LBDNF) output position file (binary. L) See AQWA-Ref 1. with LDOP in Deck 0.res .vac velocities at centroids (binary. LBDNF) output listing file (ASCII. L) potential file (binary.lis . LBDNF) hydrodynamics file (binary. Inc.uss . DN) output graphic file (binary.plt . Inc. L) . L) equilibrium position file (binary.eqp . LBDNF) pressures at centroids (binary. Proprietary .3 for details © 2010 ANSYS. with LDOP in Deck 0. L) OUTPUT FILES . All rights reserved.mes .hyd .pot restart file (binary. 54 ANSYS.pos . B) source strength file (binary.pac output message file (ASCII.AQWA File Types INPUT/OUTPUT FILES (between stages) .

Input Data (. ● an editor that indicates the column & line no. Proprietary . ● in fixed format and must be entered using a text editor.dat) File ● ASCII text file containing all the input data necessary for the Stages of Analysis about to be executed. Inc. of the current cursor position is highly recommended. Note: A graphical user interface. 55 ANSYS. is currently under development. All rights reserved. Inc. © 2010 ANSYS. which allows interactive data input in a user-friendly environment.

56 Deck 0: overall administration parameters Analysis Stages Deck 1: Node coordinates * 999 for PMAS node Deck 2: Element definitions Note: Symmetry card (1) Save pre-processing time (2) Save CPU time (3) Enlarge capability (4) But only for QPPL/TPPL ANSYS.000 . . .500 -45. . All rights reserved. .000 -45.000 0. .000 0. 02QPPL 0 (1)( 1)( 101)( 103)( 3) .000 -10.000 0. Inc. Inc. END02PMAS 0 (1)( 999)( 1)( 1) 02 FINI © 2010 ANSYS.000 0. .000 01 2 22.000 0. Proprietary . . .AQWA-LINE Example Data File JOB MESH LINE TITLE MESH FROM LINES PLANS/SCALING OPTIONS REST END RESTART 1 2 *Deck 1 Coordinates -------------01 COOR 01 1 45. . END01 999 0.000 . . 01 511 146.620 *Deck 2 Element Definitions ------------02 ELM1 02SYMX 02SYMY 02QPPL DIFF 0 (1)( 1)( 2)( 12)( 11) .

57 ANSYS.6253E11 0.00 90.41888 0.000000 3.000000 3.000000 0. Inc. see App.0 Deck 5: Defines the UNITS 05DENS 1025.0 for the analysis.6200 Deck 6: Analysis position *-----------------------------------------------------------------------------08 NONE * 1 2 3 4 5 6 *234567890123456789012345678901234567890123456789012345678901234567890 © 2010 ANSYS. All rights reserved.806 * Deck 6 Wave Frequencies and Directions ---------------------------------------06 FDR1 06FREQ 1 6 0. Inc.32100E8 * Deck 4 Geometric Properties --------------------------------------------------04 GEOM END04PMAS 1 3.52360 0.10472 0. ascending order * Deck 7 Analysis Position -----------------------------------------------------07 WFS1 END07ZCGE -10.00 45. Proprietary .25133 0.5991E11 * Deck 5 Global Data -----------------------------------------------------------05 GLOB 05DPTH 250.4199E11 0.15708 0.AQWA-LINE Example Data File (cont) *Deck 3 Material Properties ----------------------------------------------------03 MATE END03 1 3.00 In degrees.59840 END06DIRN 1 3 0. A END05ACCG 9.

Proprietary . All rights reserved. Inc. Inc.): ● ● ● -180 to +180 degrees for a non-symmetric structure.Directions in AQWA Directions must be input in ascending sequence (41 max. y v θ x © 2010 ANSYS. 58 ANSYS. 0 to 180 degrees for a structure symmetric about x axis (SYMX). 0 to 90 degrees for a structure symmetric about both x and y axes (SYMX and SYMY).

Inc.000 0.000 Column 21 02 ELM1 02QPPL DIFF 0(1)( 06FREQ 6 1 1)( 0.000 2)( 0.AQWA Data file format JOB MESH LINE TITLE MESH FROM LINES PLANS/SCALING OPTIONS REST END RESTART 1 2 4col 4col5 col5 col 10 cols 10 cols 10 cols 01 COOR 01 1 END01 999 45.000 0. Inc.41888 0.10472 -45.52360 Note: Most input data should be typed into the required columns !!! See AQWA-Reference Chapter 4 for details © 2010 ANSYS. All rights reserved.000 -10.620 12)( 0. 59 ANSYS. Proprietary .15708 11) 0.25133 0.

Proprietary . Inc. © 2010 ANSYS. Inc.lis) File ● ● ASCII text file containing most output data (in text form) from the Stages of Analysis which have just been executed. 60 ANSYS. It can be examined using a text editor.Listing (. All rights reserved.

● contains database associated with all the Stages of analysis which have so far been executed. Inc.Restart (. Inc. Examples: If Stages 1 to 4 have been executed. Proprietary .res) File This is a binary file. ● written by all the AQWA programs. 61 ANSYS. All rights reserved. it will contain: (1) model definition (2) hydrodynamic database (3) main analysis parameters © 2010 ANSYS.

HYD (after AQWA-LINE Stage 3) restart file(RES) hydrodynamics file(HYD) model definition Used for hydrodynamic database hydrodynamic database further run AGS regenerate . Comparison of AL**.Hydrodynamic (. FILE in Deck 6 ) © 2010 ANSYS. ● contains the hydrodynamic database from the AQWA-LINE run. Proprietary . Inc.hyd) File This is a binary file ● created by AQWA-LINE after the diffraction / radiation analysis (Stage 3). Inc. All rights reserved. 62 ANSYS.RES and AL**.HYD file (RDDB) further run manipulate (ALDB in Deck 0.

Inc. 63 ANSYS. Inc. A****.pos and . Proprietary . etc of a system of structures for every time step. velocities.eqp file: ● created by AQWA LIBRIUM ● stores the equilibrium positions of a system of structures. AB***. All rights reserved.pos file: ● created during a time domain analysis by DN ● stores the positions.Position Files (.eqp) Both are binary files. © 2010 ANSYS. ● can be read in by FDN as start position (with an option RDEP in Deck 0).

Proprietary .AGS Plot File (. 64 ANSYS. All rights reserved. Inc.plt) This is a binary file ● created during a calculation stage (Stage 3 or 5) ● contains either: – time history of forces and motions (DN) – positions and forces during iteration towards equilibrium (B) – forces and responses as a function of frequency (LF) ● for AGS use © 2010 ANSYS. Inc.

Decks 6 to 8 Stage 3 Diffraction/Radiation Analysis* (L) Stage 4 Main Analysis Parameters Decks 9 to 20 (BDNF) Stage 5 Main Analysis* (BFDN) * Calculation Stages only © 2010 ANSYS.AQWA Restart Stages Stages: Categorize analysis procedures ● Can be run individually/in combination ● Data transfer through stages Stage 1 Model Definition. Inc. All rights reserved. 65 ANSYS. Proprietary . Inc. Decks 1 to 5 Stage 2 Hydrodynamic Database.

Inc. Inc. Proprietary . ρ(water): UNITS Deck Header (compulsory) © 2010 ANSYS.Stage 1 Decks: Categorize input data Deck 1 COOR Node Coordinates Structure Number Deck 2 ELM* Element Definitions Deck 3 MATE Material Properties Deck 4 GEOM Geometric Properties Deck 5 GLOB Global Constants Depth. All rights reserved. 66 ANSYS. G.

Deck 7 WFS* Hydrodynamic Properties (wave freq. range) Hydrostatic Properties (stiffness and buoyancy) Analysis Position (ZCGE. All rights reserved. Proprietary . Inc. can be replace by ZLWL in Deck2) Deck 8 DRC* Drift Force Coefficients * Structure Number Note: The hydrodynamic properties input in Stage 2 are used to modify or replace those calculated by AQWA-LINE (Stage 3) © 2010 ANSYS.Stage 2 Deck 6 FDR* Regular Wave Definitions (1) frequencies and directions (2) copy. 67 ANSYS. edit the existing hydrodynamic database. merge. Inc.

Stage 3 This is the main AQWA-LINE analysis and is a calculation stage only. Inc. All rights reserved. Proprietary . 68 ANSYS. Inc. Note: The hydrodynamic properties input in Stage 2 are used to modify or replace those calculated by AQWA-LINE (Stage 3) © 2010 ANSYS.

Stage 4
Deck 9

DRM*

Drift Motion Parameters (drift freq.)
(drag, added mass/damping)

Deck 10 HLD*

Hull Drag Coefficients
(1) current/wind drag coefficients
(2) external force by user_force.dll (with option FDLL)

Deck 11 ENVR

Environmental Parameters (wind and current)

Deck 12 CONS

Constraints (deactivate/constraint)

Deck 13 SPEC

Spectral Parameters
(wave, wind spectrum / time history)
Regular Wave Parameters (N)

WAVE
Deck 14 MOOR

Mooring Line Definitions
(mooring, fender, pulley, winch)

* Structure Number
© 2010 ANSYS, Inc. All rights reserved.

69

ANSYS, Inc. Proprietary

Stage 4 (cont)
Deck 15

STRT

Starting Conditions (BFDN)

Deck 16

TINT
LMTS

Time Integration Parameters (D,N)
Iteration Parameters (B)

Deck 17

HYDC

Additional Hydrodynamic Parameters for Tubes
(scaling & slamming factors , N)

Deck 18

PROP

Printing Options (for additional information)

Deck 19/20 NONE

© 2010 ANSYS, Inc. All rights reserved.

Reserved for future use

70

ANSYS, Inc. Proprietary

Stage 5
This is the main solution stage and is a calculation stage only.

Deck 21

© 2010 ANSYS, Inc. All rights reserved.

ENLD

Element and nodal loads
(on TUBEs, Stage 6, DN)

71

ANSYS, Inc. Proprietary

Proprietary . 72 ANSYS. Notes: (1) DIFF is needed for diffracting QPPL and TPPL elements. Inc. Inc. All rights reserved. © 2010 ANSYS.AQWA Element Types Elements are defined in AQWA Deck 2: QPPL : TPPL : TUBE : STUB : PMAS: PBOY: FPNT : DISC : Quadrilateral panel (diffracting or non-diffracting) Triangular panel (diffracting or non-diffracting) Tube element (circular cross section) Slender tube element (non-circular cross section allowed) Point mass and inertia Point buoyancy Field point (for wave surface calculation) Circular disc with no thickness. (2) ILID/VLID for defining external diffracting elements.

. 20 NONE © 2010 ANSYS.00E-6 END03 2 4025.000 010003 10.00 0. Inc.05 04CONT 0.0 05DENS 1025.00 04 GEOM 04TUBE 1 1. Proprietary .000 -3.806 .20 04CONT 1..Definition of other elements JOB MESH NAUT TITLE TUBES AND DISCS OPTIONS REST END RESTART 1 5 01 COOR 010001 10.000 0.14 1.00 73 6000.1)(1)(1) 02DISC (1)(3)(2)(3) 02DISC (1)(1)(2)(3) END02PMAS (1)(999)(2)(2) 03 MATE 03 1 1.000 010002 10.00 END04PMAS 2 6000.00 0.0 4000.00 0.000 -0.. Program name 2.0 0.00 05 GLOB 05DPTH 500.00 04DISC 3 1.1)(2. Inc.500 Define TUBE element See APP H Define DISC elements 0.0 0. .000 02 ELM1 02TUBE (2)(1.0 END05ACCG 9.00 0.00 0.. All rights reserved.75 1.0 0.000 END01 999 0.00 ANSYS.

12000 total solution time Normals point out modelling convention No gaps force balance Facets cannot cut surface solution requirement Dimensions < KR good practice © 2010 ANSYS. Inc. of elements ≤ 8000 diff. Inc.Warnings in AQWA-LINE General warnings requirements reason No. Proprietary . All rights reserved. 74 ANSYS.

Warnings in AQWA-LINE Stage #1 checks (Geometric properties) Area ratio of adjacent elements < 3 Aspect ratio > ⅓. Inc.3. for TPPL) rf = Element centres at least one facet radius apart area .2 – warning < 0.C 2 longest side area π Shape factor (parameter for the regularity of panel) < 0.02 – fatal error Note: See AQWA-Course Appendix 3 for detail © 2010 ANSYS. 75 ANSYS. Proprietary . c=2. for QPPL. All rights reserved. Inc. AR = (c=1.

Inc.5.Warnings in AQWA-LINE Stage #2 checks (hydrodynamic) Longest side < 1/7 wavelength Fatal error if more than 5% fail Distance above sea bed must be > 0.rf (use non-diffraction elements otherwise) Warning if nodes not connected to another element (for pressure contour.05 * g / d © 2010 ANSYS. All rights reserved. Proprietary . NPPP in Deck 0 overrides warning) Minimum wave frequency (rad/s) > 0. Inc. 76 ANSYS.

77 ANSYS. GOON option.dat file discuss . Proprietary .dat  altank2. All rights reserved.AQWA-LINE run Run stages 1 .3 ● ● ● ● ● use generated model (altank1. Inc.dat) add LDOP. check mass and inertia moments discuss .lis file AGS to show results and functions © 2010 ANSYS. Inc.

Useful Options in AQWA-LINE (1) Following option cards can be used in Deck 0: DATA check input data (equivalent to Stages 1-2.outputs .POT and . LBDFN) GOON ignore non-fatal modelling rule violations (L) REST define restart stages (LBDFN) LDOP LOad OutPut . Proprietary . All rights reserved. Inc. 78 ANSYS.g pressure plots. SF/BM) (L) PRCE PRint Card Echo for Decks 1 – 5 (LBDFN) PPEL Print Properties for each Element (LBDFN) © 2010 ANSYS. Inc.USS files needed for pressure calculations (e.

Useful Options in AQWA-LINE (2) NPPP No Pressure Post-Processing . Inc.prevents nodal connectivity warnings (L) CRNM Re-calculate RAOs (LF) NRNM Calculate nodal RAOs(L) NQTF Use near-field solution for drift force coefficients (L) CQTF Calculate QTF matrix (L) © 2010 ANSYS. Proprietary . Inc. 79 ANSYS. All rights reserved.

(4) Wave Contours to show or calculate wave contour if not existing. (5) choose required waves (dir. © 2010 ANSYS.AQWA-LINE Post Processing Wave surface contour plots Note: ● LDOP card in al*. freq. (3) Plots to show the model. (6) tick Cycle to animate. 80 ANSYS. Proprietary . (7) point Cursor to a specified location to show the numerical value at that point. (2) File → Open to input al*.dat file ● run AGS (1) double-click AGS icon on screen.res file. Inc. All rights reserved. Inc. in Wave Surface Contours window).

res file. freq. (6) RAO Motion → Ref. (5) choose required waves (dir. Height(Z) above SWL → Include RAO motion. © 2010 ANSYS. (3) Plots to show the model. (8) point Cursor to a specified location to show the numerical value at that point. in Wave Surface Contours window). Proprietary . Inc. (4) Wave Contours to show or calculate wave contour if not existing. (7) tick Cycle to animate. amp.dat file ● run AGS (1) double-click AGS icon on screen. All rights reserved.AQWA-LINE Post Processing Air Gap Note: ● LDOP card in al*. (2) File → Open to input al*. 81 ANSYS. Inc.

(3) Plots to show the model.gif file which may be replayed by internet explorer or . Proprietary . (5) choose required waves (dir. Inc. (6) Select (in Model Visualization window) →Sequence (7) Start Sequence (in Define Sequence window) → Stop Sequence → Record Every ● save sequence files if required (8) Hardcopy → Output .res file.AQWA-LINE Post Processing Pressure Contours Note: ● run AGS (1) double-click AGS icon on screen. All rights reserved. Inc.avi file which can be insert into Powerpoint © 2010 ANSYS.bmp on playback → Rewind << → Play > → BMP FILE DUMP (yes) (9) Using a software to convert . 82 ANSYS. freq. (4) Select (in Model Visualization window) → Pressure Contours. (2) File → Open to input al*. in Pressure Contours window) → Time=t to animate.BMP file into .

(8) Select (in Model Visualization window) →Sequence (9) Start Sequence (in Define Sequence window) → Stop Sequence → Record Every © 2010 ANSYS. (2) File → Open to input al*. (6) View Angle (in Pressure Contours window) →Choose view angle (in Contour View Angle window) (7) Option (in Pressure Contours window) →Wave Amplitude & Diffracted Wave Surface (in Hull Contours / Diffracted Wave Option window). Inc.dat file ● run AGS (1) double-click AGS icon on screen. (3) Plots to show the model.res file. All rights reserved. in Pressure Contours window) → Time=t to animate. Inc. (4) Select (in Model Visualization window) → Pressure Contours. freq. Proprietary . (5) choose required waves (dir. 83 ANSYS.AQWA-LINE Post Processing Diffracted Wave Surface Note: ● LDOP card in al*.

AQWA Database Manipulation Reason: without re-running the full AQWA-LINE analysis.DAT. change this deck into: 06 FDR1 06FILE ALTANK2. ● combine several databases into one. Proprietary . damping etc. Example 1: modify nodes & elements of single structure (1) copy existing data file ALTANK2. (non-diffracting) elements (3) delete all wave frequency and direction cards in Deck 6.HYD Structure number in 06CSTR 1 ALTANK2 END06CPDB (4) run AQWA-LINE for ALTANK3.DAT (which takes a few seconds). ● add in additional nodes. © 2010 ANSYS. Inc.DAT to ALTANK3. 84 ANSYS. Inc. (2) add new nodes. elements. All rights reserved.

All rights reserved.AQWA Database Manipulation (cont. → Compare the RAOs in ALTANK3 and ALTANK4 using AGS (merging curves) © 2010 ANSYS. 07 WFS1 07ZCGE END07FIDD New card to add damping Columns 51-60 for roll damping 0.DAT to ALTANK4. Inc.DAT.1) Example 2: modify damping of single structure (1) copy existing data file ALTANK3. (2) delete all wave frequency and direction cards in Deck 6.000E09 (4) run AQWA-LINE for ALTANK4.DAT (which takes a few seconds).0000 1. change this deck into: Structure number in AL2 06 FDR1 06FILE ALTANK2. Inc.HYD Structure number in AL1 06CSTR 1 END06CPDB (3) add new damping coefficients (CRNM option needed for RAO recalculation). Proprietary . 85 ANSYS.

0 thereafter © 2010 ANSYS.DAT file add corresponding file name in DECK 6 FILE card in AL**3. All rights reserved. Proprietary . but in Deck 6 only the first structure needs to be input for each interaction group. include all structure definitions in the new AL**3. 86 ANSYS.DAT for each structure (2) modify nodes etc for hydrodynamic interaction model Similar to Example 2.2) Multiple structure database combination (1) ● ● ● merging without hydrodynamic interaction run each model (AL**1.AQWA Database Manipulation (cont. Inc. manipulation can been done in version 12. NOTE: When CQTF is used.dat and AL**2) individually. Inc.

All rights reserved. .Calculate the eigenvalues of linearised stiffness matrix to obtain static stability. .Series of wave spectrums and mooring configurations © 2010 ANSYS. Proprietary .Complex ship/ offshore structure system.Various mooring. Inc. 87 ANSYS.Finite element approach for dynamic cable (drag force).Eigenvalues of the impedance matrix to give dynamic stability.Equilibrium estimation under wave. winch.Database approach for static catenary mooring line.Iteration approach for determining equilibrium position. wind and current combination. . . Static and Dynamic stability . . fender. Inc.AQWA-LIBRIUM introduction Equilibrium position. . . constraints configuration. . pulley.

f>0 and g=0. >0. Inc. The program iterates until ∆X=|Xj+1-Xj| is less than a defined tolerance ● Static stability K X − λX = 0 Eigenvalue λ (<0. All rights reserved. X = eλt . Inc. F is the force matrix. unstable. λ = f + ig ) Eigenvalue (f<0. fishtailing) © 2010 ANSYS. 0   X   I X  (from MX + CX + KX = 0. unstable. =0. Proprietary . f>0 and g≠0. neutral. stable. 88 ANSYS.Theory in AQWA LIBRIUM ● Equation for determining static equilibrium position: X j +1 = X j + K −1( X j ) F ( X j ) K is the stiffness matrix of the system. stable) ● Dynamic stability M −1C M −1K   X   X      + λ   = 0.

res abtest.res Output Files abtest.plt abtest.lis abtest.eqp Input in RESTART card starting from Column 21 © 2010 ANSYS. All rights reserved.hyd altest. Inc.res altest.Analysis Procedure A common method of analysis (1) run Stages 1 to 3 in AQWA-LINE (2) run Stages 4 to 5 in another program.dat altest. Proprietary .dat altest. say. Inc.lis altest. Example: Step 1: AQWA-LINE run (Restart 1 to 3) Step 2: AQWA-LIBRIUM run (Restart 4 to 5) Input Files Output Files Input Files altest. 89 ANSYS. AQWA-LIBRIUM.

Proprietary . Stage 5 in AQWA-LIBRIUM (Main analysis. Inc. Inc. no extra input) © 2010 ANSYS.Analysis Procedure (cont) Stage 4 in AQWA-LIBRIUM – model definition – hydrodynamic database – main analysis parameters restart file restart file input data file Note: ● Decks 1 to 8 data is read from the restart file ● Decks 9 to 20 are required in the input data file (Decks 1 to 8 must be omitted if restart from Stage 4). All rights reserved. 90 ANSYS.

0 100. Deck 12: constraints.AQWA-LIBRIUM JOB TEST LIBR TITLE OPTIONS REST END RESTART 4 5 09 NONE 10 NONE 11 NONE 12 NONE 13 SPEC 13SPDN END13PSMZ 14 MOOR 14LINE 1 14LINE 1 14LINE 1 END14LINE 1 15 STRT END15POS1 1 16 NONE 17 NONE 18 NONE 19 NONE 20 NONE © 2010 ANSYS. Deck 13: spectrum 315.0 0. Proprietary .5 8.4715E6 100. All rights reserved.0 Deck 15: Initial position of COG in global frame 91 ANSYS. Inc.000 Deck 14: Mooring system NB new nodes needed 0.0 100.0 0.0 0.000 511 512 513 514 1. Deck 11: environment.0 0.4715E6 1.0 100.300 501 502 503 504 1 0 0 0 0 2.MODEL 1 Read database ALBOXM Deck 9: drift motion parameters.4715E6 1.0 1.000 4.4715E6 1. Inc. (Example 1) JOB card FALTINSEN BOX . Deck 10: wind and current drag.

V2 yaw moment = CURZϕ.Drag in AQWA (deck 10) (1) Current and Wind Force Coefficients DIRN SYMX CUFX WIFX etc Dir1 DirN Θ1 …. Proprietary .V2 © 2010 ANSYS. If DIRN is not present in Deck 10. ΘN Dir1 Dir1 DirN DirN C1 …. the directions are those defined on the DIRN cards in Deck 6 Dir: direction number – directions default to LINE wave directions. Inc.V2 force in Y direction = CUFYϕ. All rights reserved. 92 ANSYS. CN C1 …. Inc. CN (optional) (optional) Direction sequence no. C1: Drag Force Coefficients For relative current velocity V in direction ϕ force in X direction = CUFXϕ.

All rights reserved.ψ  ANSYS. Inc. C46  ϕ . y  C36   z. C6 Nrow: Row number in drag matrix Ncol: Column number in drag matrix C1 – C6: Drag Force Coefficients  C11 C12 C  21 C22 C C32 DragForce =  31 C41 C42 C51 C52  C61 C62 © 2010 ANSYS. Inc.Drag in AQWA (deck 10) (cont 1) (2) Morison Drag Coefficients (for ship hull) MDIN Nrow Ncol C1 …. Proprietary . x    C26   y .θ    C66  ψ . z   . ϕ  C56   ϑ. C13 C14 C15 C23 C24 C25 C33 C43 C53 C63 C34 C44 C54 C64 C35 C45 C55 C65 93 C16   x.

All rights reserved. 94 ANSYS. Inc. Proprietary . Inc.Useful options in AQWA LIBRIUM STAT STATic stability only In JOB card Deck 0 DYNA DYNAmic stability only PBIS Print Both Iteration Steps (prints full results at each step) PRAF Print all freedoms (in spite of DACF cards on DECK12) In OPTIONS card Deck 0 © 2010 ANSYS.

00 160. . Proprietary .572E5 0.520E3 -1.745E2 -1.220E8 0.175E3 10WIFX 6 10 -3.00 3.0 10WIFX 1 5 1.00 120.344E5 . 95 80. .00 180. the directions are those defined on the DIRN cards in Deck 6 09 NONE 10 HLD1 10SYMX 10DIRN 1 5 0.692E3 10CUFX 1 5 0. All rights reserved.460E3 1. Inc. If DIRN is not present in Deck 10.808E7 0.427E2 -9.00000 ANSYS.505E5 0. END10CURZ 6 10 0.692E3 1.00 40.839E2 -1.532E5 0.0 10DIRN 6 10 100.685E3 1.AQWA-LIBRIUM Example 2 (ABTANK4) JOB TANK LIBR JOB card TITLE SINGLE TANKER WITH MOORING OPTIONS REST PBIS END RESTART 4 5 ALTANK4 Read database Direction sequence no. Inc.794E3 0.0 20.103E8 © 2010 ANSYS.00 140.172E5 0.191E8 0.00 60.

000 8.AQWA-LIBRIUM Example 2 (ABTANK4) 11 NONE 12 NONE 13 SPEC 13SPDN 13CURR 13WIND END13PSMZ 315.0 0. All rights reserved.0 1.000 Deck 11:envirn. Inc. Proprietary .0 25. Inc.. 96 ANSYS. Deck 12:constraints.3000 2.00 315.0000 4. Deck13: spectrum © 2010 ANSYS.00 315.

50E6 1. Inc.000 0.50E6 1.AQWA-LIBRIUM Example 2 (ABTANK4) 14 MOOR 14LINE 1 5001 14LINE 1 5002 14LINE 1 5003 14LINE 1 5004 END14 15 STRT 15POS1 END 16 LMTS END16MXNI 200 17 NONE 18 NONE 19 NONE 20 NONE © 2010 ANSYS.000 0. Deck 14: Mooring system 0 6001 0 6002 0 6003 0 6004 1.0 142.000 0. All rights reserved.000 0.50E6 1.00 0.0 Deck 15: Initial position 100.50E6 142.000 Deck 16: Iterative parameters 97 ANSYS. Proprietary .0 142. Inc.0 142.

Inc. Inc. 98 ANSYS. (7) Equilibrate (till converged) © 2010 ANSYS. (2) File → Open to input al*.AGS online calculation Mini-Librium Note: run AGS (1) double-click AGS icon on screen. (5) MINI-LIBRIUM (in Model Visualization window).res file. (6) Iterations (in MINI-LIBRIUM window to choose the iteration step number). Proprietary . (3) Plots to show the model. (4) Move Structure (in Model Visualization window) if needed. All rights reserved.

AGS online calculation Static stability Note: run AGS (1) Double-click AGS icon on screen. (3) Plots to show the model. 99 ANSYS. (6) Click Mode# (in Static Stability Displacement Modes window to animate the mode). All rights reserved.res file. Proprietary . © 2010 ANSYS. Inc. (4) Run -> AQWA-LIBRIUM (5) Display (in AQWA-LIBRIUM Run Monitor window) -> Static Stability Modes. Inc. (2) File → Open to input al*.

Fp: winch paying out friction factor. Nd1. Ts.Mooring Lines in AQWA (deck 14) Mooring lines can be defined in (BDNF) Commonly used mooring types: (1) LINE: Linear elastic line (weightless) 14LINE Ns1 Nd1 Ns2 Nd2 K L (Ns1.. K5: stiffness. Fw and Fp are only needed when the POLY line is used as a winch) © 2010 ANSYS. Proprietary . K: stiffness. Inc. L: unstretched length) (2) POLY: Polynomial elastic line (weightless) 14POLY 14NLIN K1 Ns1 K2 Nd1 K3 Ns2 K4 K5 Nd2 (Ts) L (Fw) (Fp) (K1. Fw: winch winding in friction factor. . Ns2: structure numbers. 10 ANSYS.. Nd2: node numbers. All rights reserved. Inc. Ts: winch tension.

A1. Inc. EA1. -. Proprietary . M1.L2.Z range (measured from the anchor) for the attachment node.3.A3 -.L3 -.1) (3) COMP/ECAT: Composite elastic catenary (with weight) 14COMP 14ECAT 14ECAT 14ECAT 14NLIN Nz Ns1 Nx Nd1 Ne Ns2 Zmin M1 M2 M3 Zmax A1 A2 A3 Slope EA1 EA2 EA3 Tmax1 Tmax2 Tmax3 L1 L2 L3 Nd2 Start from anchor point Nz. L1. © 2010 ANSYS. -.EA2. Tmax1-3 -. All rights reserved.Young’s modulus x area. Zmax Slope -. positive for slope going up from anchor towards attachment point).EA3-. Inc. -.Nd -.number of database points within z and x ranges.M2.length of ECAT 1.number of ECAT in this COMP line.2.mass per unit length for ECAT 1.equivalent cross section area.M3 -.maximum tension.2.A2.structure number and node number (Ns1: fairlead structure). 10 ANSYS.3.sea bed slope (in degrees. Ns.Mooring Lines in AQWA (deck 14) (cont. Nx Ne Zmin.

All rights reserved.Moorings database XRMIN XRMAX ZRMAX ZRMIN Max. Inc. Proprietary . Inc. 10 ANSYS. tension point Slack point © 2010 ANSYS.

000 0.000 0. .000 .000 -45.500 -45.000 0. -300 Nodes 015004 -1500.AQWA-LIBRIUM Example 3 JOB MESH LIBR TITLE MESH FROM LINES PLANS/SCALING OPTIONS REST PBIS LSTF END Stages RESTART 1 5 01 COOR 015001 1700.000 01 2 22.000 01 511 146. . -300 01 1 45. . 0. END01 999 0.000 -10.000 . 10 JOB card 1-5. .000 -45.000 0. . if Deck 1-8 include for anchor points ANSYS. END02PMAS 0 (1)( 999)( 1)( 1) 02 FINI © 2010 ANSYS. All rights reserved. 0. 01 501 45.620 02 ELM1 02SYMX 02SYMY 02QPPL DIFF 0 (1)( 1)( 2)( 12)( 11) 02QPPL DIFF 0 (1)( 11)( 12)( 22)( 21) 02QPPL DIFF 0 (1)( 21)( 22)( 32)( 31) 02QPPL 0 (1)( 1)( 5)( 105)( 101) . Inc.000 0. 1500. Proprietary . .000 0. -300 015002 200. -300 015003 200. Inc.000 01 3 0. -1500.000 0.000 0. .

0373E5 END09 10 HLD1 10WIFX 1 5 1.0000 END07FIDD 08 NONE 09 DRM1 09FIDD 1.692E3 5.475E2 10WIRZ 6 9 1.407E5 1. Proprietary .0 05DENS 1025.093E3 -1. Inc.HYD 06CSTR 1 END06CPDB 07 WFS1 07ZCGE -2. 0.000E09 1.) 03 MATE END03 1 3.559E5 1.167E4 ANSYS. All rights reserved.000000 0.000000 0.520E3 3.000000 3.293E3 10WIRZ 1 5 2.4199E11 0.618E3 -1.000000 0.0E09 2.685E3 -1.32100E8 04 GEOM END04PMAS 1 3.0 -1.103E3 -1. Inc.5991E11 Read database from AQWA-LINE 1.6253E11 05 GLOB 05DPTH 250.000000 3.623E3 4.803E3 5.0 END05ACCG 9.000E09 6.AQWA-LIBRIUM Example 3 (cont.689E5 1.167E5 © 2010 ANSYS.842E5 1.839E2 1.0E10 1.5702E6 1.175E3 -1.692E3 -9.000E0 10WIFY 6 9 6.0E07 4.745E2 10 5.0 3.427E2 10WIFY 1 5 0.460E3 10WIFX 6 9 -3.068E5 0.806 06 FDR1 06FILE ALBOXM.168E3 0.

542E6 -0.0 5001 5002 5003 5004 213.000 0.808E7 315.3000 30 3201 3201 3201 3201 3 0 0 0 0 0.00 0.0 1.500E6 7.0000E8 9.0 315.550E6 0.191E8 0.000E0 0.118E8 Composite catenary (start from anchor section) 315.572E5 -0.00 10.00 0.0000E8 6.532E5 -0. Inc.500E6 500. Inc.0000 4.486E6 0.00 300. 150.478E6 -0.000 8.0 700.) 10CUFX 1 10CUFX 6 10CUFY 1 10CUFY 6 10CURZ 1 END10CURZ 6 11 NONE 12 NONE 13 SPEC 13SPDN 13CURR 13WIND END13PSMZ 14 MOOR 14COMP 20 14ECAT 14ECAT 14ECAT 14NLIN 1 14NLIN 1 14NLIN 1 END14NLIN 1 15 STRT END15POS1 5 9 5 9 5 9 0.239E8 0.500E6 7.0 2.000 -213.0000E8 7.000E0 0.382E6 -0.00 6.505E5 -0. All rights reserved.0 500.172E5 0. 10 ANSYS.160E5 0.451E5 0.394E6 0. anchor point second © 2010 ANSYS.AQWA-LIBRIUM Example 3 (cont.00 170.000 144.207E6 0.344E5 -0.0 -0.000 280.466E5 0.000 -2.0 0.00 0. Proprietary .0 Fairlead first. 0.220E8 0.295E5 0.00 0.118E8 0.213E8 0.00 120.

AQWA-LIBRIUM Example 3 (cont.5 1. 250 1.) 16 LMTS 16MXNI 16MMVE 1 END16MERR 1 17 NONE 18 NONE 19 NONE 20 NONE © 2010 ANSYS. Inc. Proprietary .5 Iteration controls 10 ANSYS.5 0.5 0.5 1.5 0.5 1.5 0. All rights reserved. Inc.5 0.5 0.5 1.5 1.

0 Catenary hydrodynamic coefficient Similar to NLIN © 2010 ANSYS.010 6.00 120.00 1.010 9.0000E8 7. Proprietary .75 0. 0.Mooring Lines in AQWA (deck 14) (cont.10 0.0 500.500E6 0.00 0.0000E8 7.010 6.500E6 0.500E6 1. Inc.00 1. All rights reserved.0000E8 7.15 400.00 170.2) AQWA Cable Dynamics (only applicable to COMP/ECAT): (abtank6) 14 MOOR 14COMP 20 30 14ECAT 14ECAH 14ECAT 14ECAT 14ECAH 14NLID 1 5001 14NLID 1 5002 14NLID 1 5003 END14NLID 1 5004 3 490. Inc.00 0 6001 0 6002 0 6003 0 6004 510. 10 ANSYS. 150.0 700.

Nodes defining attachment point and contact plane on 1st structure -.tangential friction coefficient -.Mooring Lines in AQWA (deck 14) (cont.Structure to which fender is nominally attached -.Structure which fender contacts -. 2 = floating fender -. All rights reserved.normal damping coefficient -. 10 ANSYS.1 = fixed fender.non-linear stiffness coefficients -. Proprietary .3) Fenders 14POLY 14FEND 14FLIN Type in which K1 – K5 Size Kf Kc Type Ns1 Nd1. Nd2 Ns2 Nd3. Inc.uncompressed size of fender (normal direction) -. Nd4 K1 Size Ns1 Nd1 K2 Nd2 Ns2 K3 Kf Nd3 K4 K5 Kc Nd4 -.Nodes defining attachment point and contact plane on 2nd structure Note: Be aware of valid range of force – extension/compression relationship T = K1∆X + K 2 (∆X ) 2 + K 3 (∆X )3 + K 4 (∆X ) 4 + K 5 (∆X )5 © 2010 ANSYS. Inc.

MOR. © 2010 ANSYS.NLIN. With weight (COMP/ECAT.Mooring Lines in AQWA (deck 14) (cont.4) Other cards in deck 14 (refer to AQWA Reference Manual for more details) BUOY/CLMP A buoy or clump weight TELM: Tether element. Proprietary . 10 ANSYS. All rights reserved. LINE/PULY: Linear elastic pulley line. LE2D: User defined tension/extension data base. SWIR: Steel wire with non-linear stiffness.NLID) Without weight (LINE. Inc. FEND/FLIN) DWT0/LNDW A line winding in or out on a winch LBRK: Line breaking. (for installed or towed stiff tethers) WNCH: Constant tension winch line FORC: A constant force in a constant direction. FILE: Read in mooring definition from an external file *.NLIN. Inc.

11 ANSYS. NODE: Output the motion of a user specified node or the relative motion between two user specified nodes. ZRON: Output the z position of a node relative to the incident wave surface. PMST: Output mooring sectional tensions for cable dynamic case © 2010 ANSYS.AQWA Printing Options (deck 18) ● ● by default. laid length etc for mooring line. PREV: Write into *.18. All rights reserved. Inc.6) PTEN: Output mooring tension. anchor uplift. acceleration and position of a user specified node defined in the NODE card. Proprietary . Inc.LIS file every N time steps to reduce the size PRNT: Print a force not in the output by default (See AQWA-ref 4. part of results output to limit file size additional data can be output by Deck 18 commands ALLM: Output the velocity.

Inc. 11 ANSYS. Inc.introduction Principally for calculating the significant response of amplitues in irregular waves. Frequency domain program Linearised stiffness matrix / damping to obtain the transfer function and response spectrum Simple. Proprietary . All rights reserved. inexpensive approach to make systematic parameter study Series of wave spectrums and mooring configurations © 2010 ANSYS.AQWA FER .

All rights reserved.Theory in AQWA FER Response spectrum in irregular waves S xi xi (ω ) = ∑ [mod( H ij (ω ) F j (ω ))]2 S (ω ) j Sxixi(ω): response spectrum in i-th degree of freedom. Proprietary . Hij (ω) : receptance matrix defined as: H ij (ω ) = [ −ω 2 ( M s + M a (ω )) − iωC (ω ) + K ]−1 Fj(ω): S(ω): frequency dependent force (in j-th degree of freedom) on the structure the wave spectrum © 2010 ANSYS. Inc. 11 ANSYS. Inc.

V wind drag is linearised. velocity.m. 1st order hydrodynamic damping any other input damping (fender.) at the initial position.s. Inc. Inc. All rights reserved. mooring etc. (= the static equilibrium position with RDEP option) ► Damping: cable drag is linearised using the r.Linearisation in FER ► Stiffness: stiffness (hydrostatic. constraints) ► Forces: 1st and 2nd order wave forces © 2010 ANSYS. when NLID used FD = (CD. Proprietary . 11 ANSYS. |Vrms|) .

All rights reserved.Useful options in AQWA FER JOB options (JOB card) DRFT DRiFT frequency only WFRQ Wave FReQuency only ANALYSIS options RDEP FQTF (OPTIONS card) ReaD Equilibrium Position Full diff freq. 11 ANSYS. Inc. QTF to be used Printing options PRRI GLAM (OPTIONS card) Printing RAOS at spectrum integration points Output significant motions in GLOBAL axis © 2010 ANSYS. Inc. Proprietary .

80E6 1. .103E8 0.118E8 -0.0000 4.000E0 -0.5702E7 1.808E7 0.745E2 .175E3 3.0E12 1.213E8 -0.000 8.692E3 1.0373E6 1. 11 ANSYS. .0 END13PSMZ 0.685E3 1. Proprietary .000 © 2010 ANSYS. independent 13CURR 1. 10CURZ 1 5 0.0E13 1. All rights reserved.00 315.0 added mass/damping 13WIND 25.00E10 END09 10 HLD1 10WIFX 1 5 1.0E10 1.0 Optional freq.80E5 1.191E8 0. Inc.0E15 1.220E8 0.118E8 END10CURZ 6 10 0.0E13 1.239E8 -0.3000 2. Inc.AQWA-FER Example 1 For AQWA-FER run JOB TANK FER TITLE SINGLE TANKER WITH CABLE DYNAMIC Read equilibrium position OPTIONS REST RDEP END RESTART 4 5 ABTANK6 from ABTANK6 database 09 DRM1 *2345678901234567890123456789012345678901234567890123456789012345678901234567890 09FIDA 1.00000 11 NONE 12 NONE 13 SPEC 13SPDN 315.0E15 2.460E3 1.2564E11 09FIDD 1.00 315.

000 0.00 510. Inc.500E6 0.00 0.0 700.000 7. Inc.010 6.0000E8 6. 0.000 0. 150.0 500.) 14 MOOR 14COMP 20 14ECAT 14ECAH 14ECAT 14ECAT 14NLID 1 14NLID 1 14NLID 1 END14NLID 1 15 NONE * 15 STRT * 15POS1 *END 16 NONE 17 NONE 18 NONE 19 NONE 20 NONE © 2010 ANSYS.10 7. All rights reserved.00 120.010 0.33 9. 30 5001 5002 5003 5004 3 0 0 0 0 490.AQWA-FER Example (cont.010 0.000 Not needed due to RDEP 11 ANSYS.500E6 400.00 170.000 0.0000E8 0.0 6001 6002 6003 6004 100.500E6 7. Proprietary .0000E8 1.00 1.

AQWA NAUT & DRIFT . Inc. Inc. 11 ANSYS.introduction ■ AQWA-NAUT and DRIFT are time-domain simulation programs ■ For a series of time-steps they: calculate the total force on the structure calculate the acceleration find the new position of the structure repeat ■ A two stage predictor/corrector integration scheme is used © 2010 ANSYS. All rights reserved. Proprietary .

Proprietary . including ● incident wave force ● diffraction force ● mooring force ● drift force ● drag force ● constraint force. 11 ANSYS. etc ● radiation force Convolution integration form: t [M s + M a (∞)] X (t ) + KX (t ) + ∫ h(t − τ ) X (τ )dτ = F1 (t ) 0 © 2010 ANSYS.Theory in AQWA NAUT and DRIFT Equation of motion in time domain . M s X (t ) = F (t ) F(t): the total force on the structure. Inc.. All rights reserved. Inc.

Inc. All rights reserved. ω 11 ANSYS. ai = 2 S (ωi )∆ωi i =1 S(ω) Wavelet: equal areas .200). t ) = ∑ ai cos(ki x cosθ + ki y sin θ − ωit + ε i ). Proprietary . Inc. ● the wavelets are added together with random phase angles N ζ ( x. y.Simulation of Irregular Waves Wave spectrum treatment: ● split into N sections of equal area ● define N wavelets with frequency at the centroid of the section (max. © 2010 ANSYS.

Proprietary . Instantaneous wetted surface 12 ANSYS. Inc. Inc. All rights reserved. NAUT AQWA-DRIFT AQWA-NAUT Irregular waves only Regular or Irregular waves Linear hydrostatic stiffness Non-linear hydrostatics / Froude-Krylov force 2nd order drift coefficients 2nd order incident wave Omits drift forces (but some 2nd order effects) Mean wetted surface © 2010 ANSYS.Comparison of DRIFT v.

AQWA-DRIFT

Example 1

Job card for DRIFT run
JOB TANK DRIF WFRQ
TITLE
SINGLE TANKER WITH CABLE DYNAMIC
Drift & wave freq. motions
OPTIONS REST PBIS CONV RDEP END
RESTART
4
5
ABTANK6
09
DRM1
*2345678901234567890123456789012345678901234567890123456789012345678901234567890
09FIDA
1.0373E6 1.5702E7
1.0E12
1.0E15
1.0E15 2.2564E11
09FIDD
1.80E5
1.80E6
1.0E10
1.0E13
1.0E13
1.00E10
END09
10
HLD1
10WIFX
1
5
1.460E3
1.692E3
1.685E3
1.175E3
3.745E2
. . .
END10CURZ
6
11
NONE
12
NONE
13
SPEC
13SPDN
13CURR
13WIND
END13PSMZ

© 2010 ANSYS, Inc. All rights reserved.

10

0.808E7

315.0
1.00
25.00
0.3000

0.220E8

0.191E8

0.103E8

0.00000

Convolution method
for radiation force
315.0
315.0
2.0000

4.000

12

8.000

Print at both integration
stages.

ANSYS, Inc. Proprietary

AQWA-DRIFT Example (cont.)
14
MOOR
14COMP
20
30
14ECAT
14ECAH
14ECAT
14ECAT
14NLID
1
14NLID
1
14NLID
1
END14NLID
1
15
NONE
16
TINT
END16TIME
2000
17
NONE
18
PROP
END18PREV
5
19
NONE
20
NONE

3

5001
5002
5003
5004

490.
150.00
1.00
120.00
170.00
0 6001
0 6002
0 6003
0 6004

510.
0.010

6.0000E8

0.010
0.010

9.0000E8
6.0000E8

0.5

7.500E6
1.33
7.500E6
7.500E6

400.0
0.10
500.0
700.0

Define no. and value of time steps

Define printing options

© 2010 ANSYS, Inc. All rights reserved.

12

ANSYS, Inc. Proprietary

Useful options in AQWA DRIFT
WFRQ

Include Wave FReQency (default is Drift frequency only)

CONV

Use CONVolution

PBIS
RDEP
FQTF

Print Both Integration Steps
ReaD Equilibrium Position
Use diff freq. full QTF matrix (CQTF should be in LINE)

© 2010 ANSYS, Inc. All rights reserved.

12

ANSYS, Inc. Proprietary

. -300 01 101 0.000000 3.807 © 2010 ANSYS.0 05DENS 1024. .000 10. 12 ANSYS.025 0. . Inc.000 0. Proprietary .AQWA-NAUT Example 1 JOB MESH NAUT Job card for NAUT run TITLE MESH FROM LINES PLANS/SCALING OPTIONS REST PBIS END Default regular wave RESTART 1 5 analysis 01 COOR 015001 1700. Inc. All rights reserved. END01 999 88.4 END05ACCG 9. 04 GEOM END04PMAS 1 1. . .001 0.7659E11 0.000000 3.6812E10 0. END02PMAS 0 (1)( 999)( 1)( 1) 02 FINI 03 MATE END03 1 84062048.000 02 ELM1 02SYMX 02QPPL DIFF 1 (1)( 202)( 201)( 101)( 102) . .000 .7659E11 05 GLOB 05DPTH 1000. 0.000000 0.

AQWA-NAUT 06 FDR1 06FILE 06CSTR 1 END06CPDB 07 WFS1 07ZCGE END07FIDD 08 NONE 09 DRM1 09FIDD END09 10 HLD1 10WIFX 1 .0E09 2.5702E6 1.000E09 Regular wave parameters 12 ANSYS.0E10 5 1.0 12.0E07 4.986E08 1. Inc.0000 9. .191E8 0. Proprietary .0 135. Inc.HYD -2.460E3 1. . .175E3 3.220E8 0. END10CURZ 6 11 NONE 12 NONE 13 WAVE 13WAMP 13WVDN END13PERD © 2010 ANSYS. Example 1 (cont.0373E5 1.0 12.685E3 1.) Copy AQWA-LINE database AL******.692E3 1.808E7 0. All rights reserved.745E2 9 0.00 5.

0 700.000 144.000 -2.00 170.00 0. 30 3201 3201 3201 3201 3 0 0 0 0 280.500E6 7.AQWA-NAUT 14 MOOR 14COMP 20 14ECAT 14ECAT 14ECAT 14NLIN 1 14NLIN 1 14NLIN 1 END14NLIN 1 15 STRT END15POS1 16 TINT END16TIME 17 NONE 18 NONE 19 NONE 20 NONE © 2010 ANSYS.00 (cont.0 5001 5002 5003 5004 213.0 12 ANSYS.0000E8 9.0 1. 0. All rights reserved.00 6.00 0. Inc.500E6 500.) 300. 150.0000E8 7.0000E8 6.000 0.00 0. Proprietary .0 500.000 2000 Example 1 -213.500E6 7. Inc.00 120.

.0 315.000 0. Proprietary .0 2.3000 2000 SINGLE TANKER WITH CABLE DYNAMIC Irregular wave analysis CONV mandatory 315. Inc.0000 4.5 12 ANSYS. . 16 TINT END16TIME 17 NONE 18 PROP END18PREV 5 19 NONE 20 NONE © 2010 ANSYS. All rights reserved.00 0. .000 8.AQWA-NAUT Example 2 Job card for NAUT run JOB TANK NAUT IRRE TITLE OPTIONS REST PBIS CONV RDEP END RESTART 4 5 ABTANK6 09 DRM1 . Inc.00 25. 13 SPEC 13SPDN 13CURR 13WIND END13PSMZ .0 1. 315. .

Proprietary . Inc. All rights reserved.Useful options in AQWA NAUT IRRE IRREgular wave analysis (CONV mandatory) CONV Use CONVolution LSTF Linear STiFness. Uses hydrostatic stiffness from LINE without modification. 12 ANSYS. Inc. RDEP ReaD Equilibrium Position © 2010 ANSYS.

Inc. Proprietary . All rights reserved.Multiple structures (1) without hydrodynamic interaction Wave. current directions © 2010 ANSYS. 12 ANSYS. Inc. wind.

All rights reserved. This can be inconvenient. E. Inc. Inc. Proprietary .g. 13 ANSYS. © 2010 ANSYS.lin files in the AGS. ● STRC card in Deck 1 allows the same node numbers to be used for different models. ELM1 and ELM2 use different node numbers to define the elements.Multiple Structures (1) without hydrodynamic interaction Node definition: ● One set of nodes can be used. if two models are created from . both will have node number starting at 101.

13 for structure 2 ANSYS.000 5.000 15.000 0.000 0. .000 27.000 * ATTACHMENT POINTS ON STRUCURE 1 FOR MOORING LINE BETWEEN ST#1-2 015501 0. .552 0. .000 0.AQWA-LINE (AL2TANK1) JOB MESH LINE TITLE TWO TANKER WITHOUT HYDRODYNAMIC INTERACTION OPTIONS REST LDOP NQTF GOON END RESTART 1 3 01 COOR 01STRC 1 01 1 0. .000 27.000 0.000 END01 © 2010 ANSYS.000 15.000 . Inc. All rights reserved. . .000 15.000 0. Node definition for structure 1 01 999 110.000 . . .000 5.000 015502 230.000 * ATTACHMENT POINT ON STRUCURE 2 FOR MOORING LINE BETWEEN ST#1-2 015501 0. . .000 0.000 01STRC 2 01 1 0.000 015502 230. . Proprietary . Inc. Node definition 01 999 110.000 15.552 0.

0E7 0. END02PMAS 02 ELM2 02SYMX 02QPPL DIFF .23009E8 2 1.23009E8 1 2 957.0E7 999)( 2)( 0.AQWA-LINE 02 ELM1 02SYMX 02QPPL DIFF . .0 102) Geometry no. . . . of ST#1 2) 0. (cont.) Element definition of ST#1 1 (1)( 101)( 1)( 6)( 102) Material no. .0 19050.0 19050. . Inc. Proprietary .000000 0.0E7 13 Material and geometry definition of ST#1 0. of ST#1 0 (1)( 999)( 1)( 1) 1 (1)( 101)( 1)( 6)( 0 (1)( 1 1.0E7 ANSYS. .0 0. END02PMAS 02 FINI 03 MATE 03 END03 04 GEOM 04PMAS END04PMAS © 2010 ANSYS.0 19050.0E7 957. Inc.000000 0.000000 0.0E7 0. .0 19050. . All rights reserved.000000 0.

4 END05ACCG 9.AQWA-LINE (cont. Inc. Inc. All rights reserved. 1. Proprietary .HYD 06CSTR 1 END06CPDB 07 WFS1 07ZCGE 0.) 05 GLOB 05DPTH 500.000E9 13 ANSYS.0000 END07FIDD 07 WFS2 07ZCGE 0.0000 END07FIDD 08 NONE © 2010 ANSYS.HYD 06CSTR 1 END06CPDB 06 FDR2 06FILE ALTANK4.807 06 FDR1 06FILE ALTANK4.000E9 1.0 05DENS 1024.

175E3 3.0373E6 1.80E6 1.460E3 1.103E8 0.AQWA-LIBRIUM : Multiple structures (AB2TANK1) JOB TANK LIBR TITLE TWO-TANKER WITHOUT HYDRO.220E8 0. .685E3 1.685E3 1.808E7 0.00000 © 2010 ANSYS.00E10 END09 09 FINI FINI if no data for STR 2 10 HLD1 10WIFX 1 5 1.0E15 1. . Inc. 13 ANSYS.745E2 .0E13 1.175E3 3.0E13 1.0E12 1.5702E7 1. . .220E8 0.692E3 1. OPTIONS REST PBIS END RESTART 4 5 AL2TANK1 09 DRM1 09FIDA 1. .80E5 1.745E2 .460E3 1. All rights reserved. . Proprietary .2564E11 09FIDD 1. END10CURZ 6 10 0.191E8 0. END10CURZ 6 10 0.191E8 0.808E7 0.00000 10 HLD2 10WIFX 1 5 1.0E10 1. INTER.103E8 0. Inc. .692E3 1. .0E15 2.

AQWA-LIBRIUM (cont.)
. . . .
14
MOOR
14COMP
20
30
14ECAT
14ECAH
14ECAT
14ECAT
14NLIN
1 5001
14NLIN
1 5002
14NLIN
1 5003
14NLIN
1 5004
14LINE
1 5501
END14LINE
1 5502
15
STRT
15POS1
15POS2
END
16
LMTS
16MERR
16MMVE
END16MXNI
1200
17
NONE
18
NONE
19
NONE
20
NONE

3

0
0
0
0
2
2

490.
150.00
1.00
120.00
170.00

510.
0.010
0.010
0.010

6001
6002
6003
6004
5501
5502

1.50E7
1.50E7

100.0
100.0

100.00
-215.00

0.000
-000.00

0.000
0.000

0.05
2.00

0.05
0.5

0.05
2.00

6.0000E8
1.33
9.0000E8
6.0000E8

7.500E6
0.10
7.500E6
7.500E6

400.0
500.0
700.0

Mooring line between str#1-2

Initial position of COGs
0.000
0.000

0.1
1.0

0.000
0.000

0.1
1.0

0.000
0.00

0.2
2.0

Iterative control

© 2010 ANSYS, Inc. All rights reserved.

13

ANSYS, Inc. Proprietary

Use of FINI card
Lots of occasions to use FINI card

Deck 2 (compulsory)

Multiple structures, not all of them defined in deck 6,7,8,9,10
 End of deck

Multiple configurations of mooring lines (B/F),
insert FINI to separate two definitions of mooring systems

Multiple user defined wave spectrums (B/F),
insert FINI to separate each set of UDEF cards
 Between two sections

© 2010 ANSYS, Inc. All rights reserved.

13

ANSYS, Inc. Proprietary

AQWA-NAUT: Multiple structures
(AN2TANK1)

Read equilibrium position
JOB TANK NAUT IRRE
TITLE
TWO-TANKER WITHOUT HYDRO. INTER.
OPTIONS REST CONV RDEP END
RESTART
4
5
AB2TANK1
09
DRM1
09FIDA
1.0373E6 1.5702E7
1.0E12
09FIDD
1.80E5
1.80E6
1.0E10
END09
09
DRM2
09FIDA
1.0373E6 1.5702E7
1.0E12
09FIDD
1.80E5
1.80E6
1.0E10
END09
10
HLD1
10WIFX
1
5
1.460E3
1.692E3
1.685E3
. . . .
END10CURZ
6
10
0.808E7
0.220E8
0.191E8
10
HLD2
10WIFX
1
5
1.460E3
1.692E3
1.685E3
. . . .
END10CURZ
6
10
0.808E7
0.220E8
0.191E8

© 2010 ANSYS, Inc. All rights reserved.

13

1.0E15
1.0E13

1.0E15 2.2564E11
1.0E13
1.00E10

1.0E15
1.0E13

1.0E15 2.2564E11
1.0E13
1.00E10

1.175E3

3.745E2

0.103E8

0.00000

1.175E3

3.745E2

0.103E8

0.00000

ANSYS, Inc. Proprietary

000 0.00 0. . Inc.3000 315.000 -000.00 0. 13 SPEC 13SPDN 13CURR 13WIND END13PSMZ 14 MOOR .5 Due to RDEP NONE Time step control © 2010 ANSYS.00 0.00 -215.0 1.000 0.000 0.000 0.000 2 5501 1.0 2.) .000 0. . . All rights reserved. Inc.AQWA-NAUT (cont.0000 4. END14LINE 1 5501 * 15 STRT * 15POS1 * END15POS2 15 NONE 16 TINT END16TIME 2000 .000 8. .50E7 100.0 100. Proprietary .00 25. .00 0. .000 0. . . . 20 315.0 315. . .000 0. 13 ANSYS.

All rights reserved. Proprietary . Inc. Inc. ■ up to 20 interacting structures can be included. © 2010 ANSYS.Multiple structures (2) with hydrodynamic interaction ■ calculate hydrodynamic coefficients which take full account of hydrodynamic interaction. 13 ANSYS.

DAT © 2010 ANSYS.000 .000 0.000 0.000 0. Inc. 01 999 110.552 0.000 15.000 * ATTACHMENT POINT ON STRUCURE 1 FOR MOORING LINE BETWEEN ST#1-2 015501 0.000 5.000 0. . Inc. . Proprietary .000 END01 Deck 0-1 similar to AL2TANK1. . .000 0.000 27.AQWA-LINE (AL2TANK2) JOB MESH LINE TITLE TWO TANKER WITH HYDRODYNAMIC INTERACTION OPTIONS REST LDOP NQTF GOON END RESTART 1 3 01 COOR 01STRC 1 *234567890123456789012345678901234567890123456789012345678901234567890 01 1 0.000 015502 230.000 * ATTACHMENT POINT ON STRUCURE 1 FOR MOORING LINE BETWEEN ST#1-2 015501 0.000 5. All rights reserved.000 . .000 015502 230. 14 ANSYS.000 15. 01 999 110. .000 01STRC 2 01 1 0.000 15. .000 15.000 27.552 0.000 0.

00000E0 0. All rights reserved.0 19050.0 19050.0850.000000 Fictitious material and geometric 04 GEOM properties for attachment points 04PMAS 1 957.0E7 0.0 0.0 19050.0 0. .0 © 2010 ANSYS. . .0 0. 02TPPL 45 (1)( 4606)( 4506)( 4507) Remove geometric symmetry 02RMXS 02PMAS 0 (1)( 999)( 2)( 2) 02PMAS 0 (1)( 5001)( 3)( 3) 02PMAS 0 (1)( 5002)( 3)( 3) 02PMAS 0 (1)( 5003)( 3)( 3) Elements for attachment points.AQWA-LINE (cont. .000000 0.0E7 END04PMAS 3 1. . .5864) 02 ELM2 Move structure 02HYDI 1 .0 0.000000 END03 3 1.0E7 04PMAS 2 957.23009E8 0.000000 0.3182. . 02PMAS 0 (1)( 5501)( 3)( 3) 02PMAS 0 (1)( 5502)( 3)( 3) END02MSTR (999) (212. Proprietary .0 0. 5.5926.5.7867. -221.0 19050.0E7 0.6123) 02 FINI 03 MATE 03 1 1. . 02PMAS 0 (1)( 5004)( 3)( 3) Needed when MSTR card used.-314.000000 0.0E7 0. Hydrodynamic interaction END02MSTR (999) (247. 14 ANSYS.000000 03 2 1. .) 02 ELM1 02SYMX 02QPPL DIFF 1 (1)( 101)( 1)( 6)( 102) .0E7 0.23009E8 0. Inc. .0E0 0. .0 0. Inc.

-180 to +180 0.70000 -180.90000 -140.00 20.80000 -160.90000 -140.10000 -100.0 80.00 140.60000 6 11 5 10 15 19 0.60000 No symmetry.0 -20.40000 1.00 0.00 -40. .0 0.00 120. All rights reserved.00 0.80000 -160.00 40.00 60.0 0. Inc. 06 FDR1 06FREQ 1 06FREQ 7 06DIRN 1 06DIRN 6 06DIRN 11 END06DIRN 16 06 FDR2 06FREQ 1 06FREQ 7 06DIRN 1 06DIRN 6 06DIRN 11 END06DIRN 16 07 WFS1 07ZCGE END07FIDD 07 WFS2 07ZCGE END07FIDD 08 NONE 6 11 5 10 15 19 0.00 0.40000 1.0000 1.30000 0.0 -20.70000 -180. Proprietary .50000 1. 14 ANSYS.00 0.000E9 Note: wave frequencies and directions MUST be same for hydro.00 160.00 -60.00 0.0 180.00 100.00 20.00 0.00 140.0 180. . Inc.10000 -100.) . interacting structures © 2010 ANSYS.00 -80.0000 1.30000 0. .10000 0.20000 0.AQWA-LINE (cont.00 100.50000 1.0 80.00 160.00 0.00 -40.20000 0.00 0.00 -80.00 0.00000 -120.00 120.000E9 0.00 40.00 60.00 0.00000 -120.00 -60.10000 0.

Proprietary . Inc.Multiple structures (2) with hydrodynamic interaction The PFIX method (Deck 2) • Combine a floating and a fixed model into ONE structure • Put fixed part into a specified group • Use the PFIX card in Deck 2 to “ground” the fixed model © 2010 ANSYS. All rights reserved. Inc. 14 ANSYS.

It only applies to T/QPPL elements. MSTR moves the structure to a new definition position. It is not the same as the POS card in Deck 15. It only applies to elements and associated nodes. It actually moves the nodes and elements in the FRA. All rights reserved. not to other elements or nodes. This allows timesaving shortcuts to be used in the solution. Inc. SYMY and RMYS have the same effect relative to the Y-axis © 2010 ANSYS. Inc. not to all nodes listed under the STRC card. creating a full model (even though the model may still be a symmetric structure). RMXS removes symmetry.Symmetry SYMX means that AQWA can assume that the analysis is symmetric ABOUT THE FRA X-AXIS. 14 ANSYS. Proprietary .

Proprietary .LIDS ● ILID to remove irregular frequencies inside structures can be automatically generated ● VLID to reduce standing waves between structures has to be defined by user © 2010 ANSYS. Inc. Inc. 14 ANSYS. All rights reserved.

END02MSTR 02 FINI © 2010 ANSYS. . . All rights reserved. Proprietary .LIDS (cont) 02 ELM1 02ILID AUTO 02VLID 02SYMX 02QPPL DIFF .6123) 14 ANSYS.dat file 0 (1)( 999)( 2)( 2) (999) (212.GAP=8.5864) 777 (1)( 4606)( 4506)( 4507)(4508) 777 (1)( 4607)( 4508)( 4509)(4510) 1 . (999) (247. . 02PMAS 02MSTR 02QPPL DIFF 02QPPL DIFF . . Inc. Inc. . .0.0850.5. -221.01. .-314. . END 02 ELM2 02HYDI . .5926.START_NODE=5000) 777 (DAMP=0. .7867. (LID_SIZE=2. .0) 1 (1)( 101)( 1)( 6)( 102) ILID elements can be generated automatically VLID elements must be defined in . . .3182. 5. .

Proprietary . rotation in 2 D. rotation in 1 D.F. no rotation. being locked by this constraint. All rights reserved. © 2010 ANSYS. number).O. Nd2 ANSYS.F. Nt=1: Universal joint.O. 14 Ns1 Ns2 Nd1.F. Ndof : D.O.O.O.Constraints in AQWA (deck 12) 1) Omission of Motion in User Specified Degrees of Freedom (D. Inc.F. but relative rotational motion is possible. Nd3 Nt=3: Rigid connection. rotation in 3 D. Inc.F) DACF Ns Ndof (Ns: structure number. (PRAF may need) 2) Mechanical Articulations between Structures Relative translational motion is not allowed.F. Nt=2: Hinge. Nt=0: Ball and Socket.O. DCON Nt Ns1 Nd1 (Nd3) Ns2 Nd2 (Nd4) Nd4 Nt: number of D.

14 ANSYS. Inc. All rights reserved.Constraints in AQWA (example) 1 Stinger model constraints © 2010 ANSYS. Inc. Proprietary .

END02TUBE 02 FINI © 2010 ANSYS.000 . Inc.7)( 9...000 (43)( 1.000 0.. All rights reserved.000 0. 12...7) (1)( 6020)( 6017)(2)(2) (1)( 6001)( 6002)(2)(2) (1)( 6020)( 6017)(2)(2) 14 ANSYS..000 4. 02 ELM3 02TUBE . Inc.....000 0..7)( 2.000 -2.... * Nodes for third part of stringer STRC 3 016001 0. END016025 02 ELM1 02SYMX 02QPPL DIFF .000 .Constraints in AQWA (example) JOB MESH LIBR TITLE NORWAY SHIP + FLEXIBLE STINGER OPTIONS REST GOON NPPP END RESTART 1 5 01 COOR STRC 1 1 115.000 0..7)( 8. Proprietary . END02TUBE .

. Inc.500 1. All rights reserved..0E05 5. 1 2 1.0E7 Define a constraint from St#1 to St#2 25.000 12 CONS 12DCON 2 1 6023 6020 END12DCON 2 2 6023 6020 13 NONE 14 MOOR 14LINE 1 5201 2 6025 END14LINE 2 6024 3 6022 .0E7 0.0E05 0..) 03 MATE 03 END03 04 GEOM 04PMAS 04TUBE END04TUBE . 0...0 0..0E7 2 6021 6004 3 6021 6004 5.050 0.Constraints in AQWA (cont. Proprietary .hinged © 2010 ANSYS.0 19050. 15 ANSYS.0 19050.0 0.0 20NONE Constraint type: 2 .242E8 7850. Inc.050 0.0 1 2 3 957.

Small inline deformation defined by TSPV/TSPA cards.Definition of Tethers Tethers in a TLP Model Two types: Towed and Installed. Inc. © 2010 ANSYS. All rights reserved. Material defined in Deck 3 as flexible tube with Young’s modulus. Inc. 15 ANSYS. Proprietary . Bending & lateral motion only.

. Inc.0 5730. 15 ANSYS.0 0.2. 14/24 © 2010 ANSYS.8.) JOB TETH NAUT TITLE OPTIONS REST END RESTART 4 5 09 NONE . TETHERS Material no. . see I. All rights reserved. .3 Vessel.0 5730. .0 0 0 5730. Sea bed. 13 WAVE 13PERD 13WVDN END13WAMP 14 MOOR 14TELM 300 301 14TELM 301 302 14TELM 302 303 14TSPV 14TSPA 14TETH 1 1 END14TETH 1 2 15 STRT . Proprietary .1. . . 9.. Inc. .0 8.Definition of Tethers (cont. Define tether elements. . .0 0. . max.0 401 402 Node#300 Define tether lines Start from tail/anchor.0 2 2 2 Node#303 2 2 2 0.0 5730. Node#1 Geometry no. Node#401 Min.

diameter. wall thickness. Cd and Ca values. © 2010 ANSYS. Inc. All rights reserved. Note that tether elements are defined in deck 14. Proprietary . not in deck 2. i. Each TETH card defines a complete tether whose elements are defined by the TELM cards.e.specifies the structure numbers and node numbers to which this tether is connected. and the element has a material property number 2 and geometry property number 2.) In which: TELM 300 301 2 2 . TSPV – specifies the rotational stiffness at tether attachment position to the vessel (moment/radians) TSPA – specifies the rotational stiffness at tether anchor position (moment/radians) TETH . Inc.defines a tether element which consists of two nodes (numbers 300 and 301). The material properties are the material density and the Young’s modulus of the material.Definition of Tethers (cont. and the geometry properties are the same as those for TUBE elements. 15 ANSYS.

2) 4. Drag/drop data file on to desktop icon 2. Proprietary . Using an AQWA command file (see App. DOS batch file © 2010 ANSYS. All rights reserved. Inc. Inc. 15 ANSYS. From command prompt: Type ‘aqwa57d filename.Running AQWA 1.dat’ 3.

15 ANSYS. Inc. Inc.Linearity HydroStatics Diff / Radiation FroudeKrylov Drift Force Mooring Force Drag LINE LIN LIN LIN 2nd order - - LIBRIUM eqm NON LIN LIN 2nd order NON Linearised LIBRIUM stability LIN LIN LIN 2nd order LIN Linearised FER LIN LIN LIN 2nd order LIN Linearised DRIFT LIN LIN LIN 2nd order NON NON NAUT NON LIN NON - NON NON © 2010 ANSYS. All rights reserved. Proprietary .

XLA in c:\Program Files\Microsoft Office\ Office11\Library (3) Set up location in Excel\Tools\Add-ins\Browse & Excel\Edit\Links © 2010 ANSYS. Inc. AQL function&value 15 ANSYS.DLL in c:\Program Files\Microsoft Office\ Office11 (2) AQL32. All rights reserved.AQL – AQWA Interface for Excel Direct access to AQWA database using Excel function calls ● Recovery RAOs ● Recovery time history results • Installation: ● (1) AQL32. Proprietary . Inc.

● superior CAD integration ● automatic meshing ● access to model parameters and to the functionality available within the ANSYS Mechanical products. Inc. All rights reserved. Inc. 15 ANSYS. Proprietary .Introduction of AQWA-Workbench ANSYS Workbench Environment is a working platform that offers ● an efficient and intuitive user interface. High quality automatic meshing tool Change/enhance design by Design-modeller Geometry/design parameters retrieved from CAD Advanced Post-processing © 2010 ANSYS.

All rights reserved. Inc. 15 ANSYS. Proprietary . Inc.AQWA-WB ● Workbench implementation for the AQWA suite ● At R12 this covers – Import of geometry from DesignModeler – Point mass and disc element definition – Interactive data modification and editing – Native meshing – Diffraction/Radiation analysis – Graph plotting – Wave surface and pressure contour plots © 2010 ANSYS.

Inc. Inc. Proprietary . DesignModeler 15 Hydrodynamic Diffraction ANSYS. All rights reserved.The AQWA Simulation Process CAD © 2010 ANSYS.

AQWA-WB Meshing – Analysing – Post processing © 2010 ANSYS. 16 ANSYS. Proprietary . Inc. All rights reserved. Inc.

Inc. Inc. Proprietary .Project arrangement in AQWA-WB ● Tree view ● Define parameters via sub-windows © 2010 ANSYS. 16 ANSYS. All rights reserved.

16 ANSYS. Inc.Model visualization and hydrostatic results © 2010 ANSYS. All rights reserved. Proprietary . Inc.

Proprietary . Inc.Messages and graphical plotting window © 2010 ANSYS. Inc. All rights reserved. 16 ANSYS.

Inc. Proprietary .Mooring and environmental data .Time domain analysis Detailed AQWA-WB training material see WB-HD_AQWA Training Course_Jun2010.pptx © 2010 ANSYS.AQWAWB What it does NOT provide (R12. hydrodynamic diffraction) . hydrodynamic time response) . 16 ANSYS. All rights reserved. Inc.Development of mooring and environmental data Only main functions of AQWA-Diffraction are covered What it will provide (R13.

Trouble shooting (1) If you have problems with an AQWA analysis:1. Check the . 2. Inc. Proprietary . Inc. 16 ANSYS. 3.lis files for messages. Check the hydrostatic information output at the end of Stage 2: ● are mass and buoyancy equal? ● is LCG above LCB? ● are resultant forces all zero (or very small)? ● is VCG in the correct position? 4. Run Stages 1 and 2 only if necessary. View model in AGS ● ● are there any gaps? are inside and outside surfaces defined correctly? © 2010 ANSYS.mes AND . All rights reserved.

All rights reserved. damping and C.Trouble shooting (2) If the model seems to be correct: 1. If a time domain analysis diverges. 2. using convolution pages in AGS. Check the individual forces in the . Proprietary . Run a decay test to check damping. 16 ANSYS. run to the timestep before it fails. The response can be used to calculate % critical damping in the AGS [Cc=sqrt(MK)] 6. Inc. Do they all have the expected magnitude and sign? 3. Fix the model with an articulation. Inc. Apply an initial displacement. with no waves. 5.lis file. © 2010 ANSYS.F. Check the starting position defined in Deck 15. 4. This gives output of the applied forces on the vessel which can provide a clue to the problem.I. If using convolution in DRIFT or NAUT check added mass. This may show the development of the problem.

Inc.Support If you need to contact the support team: 1. There may be several reasons for a problem and you will often be asked to send your data. If we can reproduce a problem then we can fix it. © 2010 ANSYS. Proprietary . Inc. send ALL . AQWA-LINE backing files if the run takes a long time.dat files. 3. If so. then it is very difficult to help. 2. cut and paste them into an e-mail. 16 ANSYS. If we cannot reproduce it. All rights reserved. Quote error messages EXACTLY or better.