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**Computation of ﬂow-induced motion of ﬂoating bodies
**

´ a, J. Hennig b, M. Peric ´ a, Y. Xing-Kaeding I. Hadz ˇ ic

a b

c,*

CD-adapco Group, Du ¨ rrenhofstraße 4, D-90402 Nu ¨ rnberg, Germany Institute of Naval Architecture and Ocean Engineering, Department of Transportation and Applied Mechanics, Berlin University of Technology, D-10587 Berlin, Germany c Fluid Dynamics and Ship Theory Section, Technical University of Hamburg-Harburg, La ¨ mmersieth 90, D-22305 Hamburg, Germany Received 1 March 2003; received in revised form 1 January 2005; accepted 1 February 2005 Available online 14 April 2005

Abstract A computational procedure for the prediction of motion of rigid bodies ﬂoating in viscous ﬂuids and subjected to currents and waves is presented. The procedure is based on a coupled iterative solution of equations of motion of a rigid body with up to six degrees of freedom and the Reynolds-averaged Navier–Stokes equations describing the two- or three-dimensional ﬂuid ﬂow. The ﬂuid ﬂow is predicted using a commercial CFD package which can use moving grids made of arbitrary polyhedral cells and allows sliding interfaces between ﬁxed and moving grid blocks. The computation of body motion is coupled to the CFD code via user-coding interfaces. The method is used to compute the 2D motion of ﬂoating bodies subjected to large waves and the results are compared to available experimental data, showing favorable agreement. Ó 2005 Elsevier Inc. All rights reserved.

Keywords: Viscous ﬂow; Floating body; Free surface deformation

*

Corresponding author. Fax: +49 40 42804 5589. ´ ), yan.xing@tu-harburg.de (Y. Xing-Kaeding). E-mail addresses: milovan.peric@de.cd-adapco.com (M. Peric

0307-904X/$ - see front matter Ó 2005 Elsevier Inc. All rights reserved. doi:10.1016/j.apm.2005.02.014

For several practically important cases like ship motions in large-amplitude waves. Introduction Computational ﬂuid dynamics has been mainly used in shipbuilding to predict ﬂows around bodies moving with a prescribed velocity and vertical position. ship motions and associated loads on a ship hull have so far been mostly predicted using methods based on the potential theory (see Ref. [5]). [1] for a review of some of the most widely used methods. turbulence.). ﬂow separation and wave-breaking phenomena. special application areas and specialized methods for a particular purpose are presented. / Applied Mathematical Modelling 29 (2005) 1196–1210 I. In the present study the ﬂuid ﬂow is predicted using the commercial CFD code Comet [8]. [7]). or ship capsizing. . with the forces acting on the body not inﬂuencing its motion. Ship hydrodynamics computations based on solving the Reynolds-averaged Navier–Stokes equations (RANSE) were initiated in the 1980s. i.e. For moderate body motions. Hadz ˇ ic 1197 1. It is relevant for many applications in ship and ocean engineering (sea-keeping. however. However. slamming. The need for a numerical tool that can predict the motions and loads in large waves. the prediction of ﬂow-induced body motion is a challenging task and requires a coupled solution of both ﬂuid ﬂow and body motion. SIMPLE algorithm [9] is used to couple the pressure ﬁeld to the velocity ﬁeld.´ et al. Another class of methods uses the so-called ‘‘immersed boundary approach’’ (see Ref. maneuvering etc. the motion of a ﬂoating body is a direct consequence of the ﬂow-induced forces acting on it. It is based on the ﬁnite volume method and can accommodate any type of grid. HRIC (high-resolution interface capturing) scheme [10] is used to simulate the free-surface eﬀects and to achieve the sharpness of the interface between water and air while allowing wave breaking. A combination of methods solving RANSE in the near-body region and assuming potential ﬂow elsewhere have been developed to overcome some of the problems of methods based on the potential theory while keeping the computing cost lower than when full RANSE are used in the whole domain (see Ref.3]. Refs. see e. In most cases. while at the same time these forces are a function of the body movement itself. where the grid is attached to the moving body (see Ref. [2. and since then a number of research groups have developed methods for solving viscous ﬂow problems. This paper reports some results obtained in a research project aimed at developing and validating a computational technique for the coupled analysis of viscous ﬂow and ﬂow-induced body motion in large irregular waves. The methods that compute turbulent ﬂow and allow arbitrary free-surface deformation and body motion are less numerous. [6]) or ‘‘cut-cell approach’’ (see Ref. is thus obvious. However. taking into account viscous eﬀects. Therefore. which makes the computation of turbulent shear stress at walls of slender bodies—where shear forces may be dominant—diﬃcult. thus being applicable to complex geometry problems. large errors can be introduced by the potential theory assumptions. solvers based on full RANSE with free-surface modeling using the volume-of-ﬂuid approach have been used. [4]). as can be concluded from topics of presentations at the annual international workshops on Water Waves and Floating Bodies (20th to be held in 2005) and the Numerical Towing Tank Symposium (8th to be held in 2005). ship response under impact wave loads (slamming). this is an area of active research. In these methods the numerical grid is not ﬁtted to the body surface.g. In the last few years. methods for solving RANSE together with the free-surface deformation have been presented and shown great potential in ship design and other practical applications.).

b is the body force. The latter is the so-called turbulent or eddy viscosity. turbulence quantities like kinetic energy or dissipation rate. ð2Þ dt V S S V Z Z Z Z d q/ dV þ q/ðv À vb Þ Á n dS ¼ Cr/ Á n dS þ qb/ dV : ð3Þ dt V S S V In these equations. mesh deformation. and scalar quantities (e. numerical solution method. Details on turbulence models can be found in Refs. the latter technique is used. The starting point are the conservation equations for Peric mass. and sliding mesh interfaces. When the grid is moving. and the results of test applications. The following sections describe the governing equations. I is the unit tensor. Here we describe it only brieﬂy. boundary conditions. V is the control volume (CV) bounded by a closed surface S. In this study. ð1Þ dt V S Z Z Z Z d qv dV þ qvðv À vb Þ Á n dS ¼ ðT À pIÞ Á n dS þ qb dV . which is computed as a local function of k and . / Applied Mathematical Modelling 29 (2005) 1196–1210 I. or chemical species) in their integral form Z Z d q dV þ qðv À vb Þ Á n dS ¼ 0.g. A fully-implicit predictor–corrector procedure has been employed. taking advantage of the iterative nature of the ﬂuid-ﬂow solver. t is time.1. the so-called space conservation law (SCL) has to be satisﬁed. Hadz ˇ ic The body motion is predicted by solving iteratively the equations of its motion while coupling them to Comet via the user-coding interfaces. The aim is to allow arbitrary motion of multiple bodies. Mathematical model 2. p is the pressure. with the option of extension by using overlapping meshes. C is the diﬀusion coeﬃcient and b/ the volumetric source of the conserved scalar quantity /. ð4Þ with l being the dynamic viscosity of the ﬂuid. which leads to replacing l in the above equation by a sum of l and lt.13]. Governing equations of ﬂuid motion The ﬁnite volume method for incompressible viscous ﬂows is described in detail in Ferziger and ´ [11].1198 ´ et al. or with reference to the inertial coordinate system. vb is the velocity of the CV surface. v is the ﬂuid velocity vector. [12. momentum. 2. which is expressed by the following relation between the rate of change of CV-volume and its surface velocity: . The simulation of body motion can be conducted in two ways: within a body-ﬁxed coordinate system. q is the ﬂuid density. n is the unit vector normal to S and directed outwards. Turbulence eﬀects are modeled using a turbulence model of eddy-viscosity type (k–). and T is the viscous part of the stress tensor deﬁned (for Newtonian ﬂuids considered here) as T ¼ l rv þ ðrvÞT . The adaptation of a body-ﬁtted mesh to body motion is accomplished using a combination of mesh motion.

a transport equation for void fraction of the liquid phase c has been introduced: Z Z d c dV þ cðv À vb Þ Á n dS ¼ 0: ð6Þ dt V S The grid extends to both liquid and gas phase. The eﬀects of surface tension at the interface between two ﬂuids are treated through a body force as a function of the volume fraction c. and mC represents moments of forces acting on the body with respect to its center of mass. xC is the angular velocity vector of the body.e. (2) Z Z ð11Þ f ¼ ð T À p I Þ Á n dS þ qb dV : S V .´ et al.2. / Applied Mathematical Modelling 29 (2005) 1196–1210 I. called global coordinate system. The surface tension force is only of importance on the small scale. which is achieved by introducing the continuum surface force (CSF) model [14]. ð8Þ F st ¼ jrcj V where r is the surface tension coeﬃcient and j is the curvature of the interface. In addition to the conservation equations for mass and momentum. vC is the velocity vector of the center of mass of the body. The CSF model uses the smoothed ﬁeld of c to deﬁne a unit vector normal to the interface. 2. j ¼ Àr Á . m represents the mass of the body. Hadz ˇ ic 1199 d dt Z V dV À Z S vb Á n dS ¼ 0: ð5Þ The interface-capturing method and the high-resolution interface capturing scheme [10] have been used to simulate the free-surface eﬀects. i. dt ð9Þ dðMC Á xC Þ ¼ mC : ð10Þ dt In the above equations. when the curvature is substantial and well resolved by the numerical grid. f is the resultant vector of forces acting on the body. MC is the tensor of the moments of inertia of the body. both ﬂuids are treated as a single eﬀective ﬂuid whose properties vary in space according to the volume fraction of each phase. Therefore. Governing equations of body motion The body motion is analyzed in a space-ﬁxed Cartesian coordinate system. The surface tension force can then be expressed as: Z rc rjrc dV . The equations of motion of a rigid body in this coordinate system are given as follows: dðmvC Þ ¼ f. l ¼ ll c þ lg ð1 À cÞ. where subscripts ‘‘l’’ and ‘‘g’’ denote the two ﬂuids (liquid and gas). Eq. ð7Þ q ¼ ql c þ qg ð1 À cÞ. cf. the void fraction c is set equal to 1 for CVs ﬁlled by liquid and to 0 for CVs ﬁlled by gas. The resultant force f is obtained by integrating the pressure and shear stress over the body surface.

Numerical methods 3. In order to evaluate the function at the center of the integration domain. Eqs. while in time either linear or quadratic shape functions are used. so only the moments of pressure and shear forces acting on the body surface need to be integrated: Z ð12Þ mC ¼ ðr À rC Þ Â ðT À pIÞ Á n dS . leading to one algebraic equation per CV in which variables from immediate neighbors also feature. akin to the discretization of the ﬂow domain. therefore. a deferred-correction approach is used: low-order approximations. When the body rotates. its moments of inertia with respect to the global coordinate system are also changing. as will be described below. (1)–(3) are applied to each CV and then discretized.e. one needs to introduce further approximations: interpolation and diﬀerentiation. in the center of each control volume lies the computational point at which the known quantities are speciﬁed and the unknown variables are to be computed. 3. The integration in time is fully implicit (either implicit Euler. volume. it has to be subdivided into a ﬁnite number of control volumes.1200 ´ et al. or time interval over which the integration takes place. Hadz ˇ ic The only body force considered here is the gravity.1. i. Flow calculation The solution domain is subdivided into a ﬁnite number of non-overlapping control volumes (CVs) by an unstructured grid. or three-time-level scheme. In order to keep the computational molecule limited to cell-center node and centers of nearest neighbor cells. S where r represents the position vector of a point on the body surface expressed in global coordinates while rC is the position vector of the center of mass of the body. An alternative approach is to compute moments of inertia for a body-ﬁxed (local) coordinate system once and use coordinate transformation to obtain moments at times when the local coordinate system does not coincide with the global one. they have to be updated each time the body position changes. which is of second order). / Applied Mathematical Modelling 29 (2005) 1196–1210 I. In space. The following expression for computing components of the moment of inertia tensor is used: Z q½ðr À rC Þ Á ðr À rC ÞI À ðr À rC Þðr À rC Þ dV : ð13Þ MC ¼ V In order to compute the moments of inertia of an arbitrary body. linear interpolation is used. where g is the gravity acceleration vector. these are obtained from linear shape functions with the help of least-squares method or Gauss-theorem. Body forces do not contribute to the moment around the center of mass. which is a ﬁrst-order method. All integrals are approximated using the midpoint rule. Both approaches have been tested here and they gave the same results within the level of discretization errors. which use only . The spatial integration is of second order. the function to be integrated is evaluated at the center of the integration domain and multiplied by the area. so the second integral on the right-hand side of the above equation reduces to mg. The diﬀusive ﬂuxes require that the derivatives in the direction normal to CV faces be computed at each cell-face center.

For the solution domain as a whole. if the grid moves due to the prescribed motion of the boundary (like at wave-maker). (3) Assemble and solve by an iterative solver the linearized algebraic equations for the velocity components in turn.15]. solve the equations of motion for the ﬂoating body (velocity and displacement) using the predictor–corrector method described below. (7) Integrate the pressure and shear forces over the body surface. in particular with respect to accounting for grid motion and space-conservation law. the solution of the linearized system of algebraic equations (15) is sought by iterative methods from the conjugategradient family (inner iterations). are used to construct the coeﬃcient matrix.). The algebraic equation obtained at the end in each CV has the following form: nj X aP j /P j ¼ bP 0 . The segregated algorithm is adopted to achieve the solution of the non-linear and coupled equation system. determine the location of CV vertices at time tn + Dt. In order to calculate the pressure ﬁeld and to couple it to the velocity ﬁeld. More details on individual steps in the discretization procedure. turbulent kinetic energy. Turbulence is taken into account by solving two additional transport equations for turbulent kinetic energy k and its dissipation rate e and adding an eddy viscosity (computed with help of these two quantities) to the molecular viscosity. and pressure. a matrix equation results. and the diﬀerence between the desired approximation and the low-order one is computed explicitly from the values obtained in the previous iteration and added to the source term on the right-hand side of the equation. (8) Calculate the current estimate of volumes dVj swept by each CV face over the last time step. Hadz ˇ ic 1201 nearest neighbors. / Applied Mathematical Modelling 29 (2005) 1196–1210 I. N being the number of control volumes and the number of non-zero elements at any row being equal to nj. (4) Assemble and solve the algebraic equations for the pressure correction and correct mass ﬂuxes. Due to the non-linearity of the underlying equations. A/ ¼ b . ð15Þ where A is a square. employing the currently available other dependent variables. . pressure-correction.´ et al. which are for the sake of computational eﬃciency treated explicitly using deferred correction approach. ð14Þ aP 0 /P 0 þ j¼1 where nj is the number of internal cell faces surrounding cell P0 and the right-hand side b contains source terms and contributions from boundary faces (convective and diﬀusive ﬂuxes). (5) Assemble and solve the algebraic equations for volume fraction c and use the calculated values to update the properties of the eﬀective ﬂuid. The coupled computation of ﬂow and body motion consists of the following steps: (1) Provide the initial values for the dependent variables (at the time t0). This completes one outer iteration. N · N sparse coeﬃcient matrix. the number of neighbor cells. can be found in Refs. etc. (2) Advance the time by Dt and. The Eq. such as density and viscosity etc. (6) Assemble and solve the algebraic equations for turbulent kinetic energy k and its dissipation rate e and obtain turbulent diﬀusion coeﬃcients. (14) is obtained for each variable (velocity components. and adapt the grid to the new position of the body. [10. a pressure-correction method of SIMPLE-type for collocated grids is used [9]. velocity components.

For the prediction of body motion. . 3. the ﬂow is inﬂuenced by body motion and both problems have to be considered simultaneously. (10) Return to step 2 and repeat until the prescribed number of time steps is completed.1202 ´ et al.n ¼ vC. (17) reads: vm Dt f nÀ1 þ f m 1 À a mÀ1 C.n a 2 When outer iterations converge. Eq.n ¼ rC. The time can then be advanced by Dt and the coupled iteration on ﬂuid ﬂow and body motion started again.2. (17) and (18) are computed using values from the previous outer iteration where the new solution is required. these equations are solved to produce an estimate of the new body location. In the case of body motion. Usually. the diﬀerence between mth and (m À 1)th iteration becomes negligible. an order of 10 outer iterations per time step is needed to reach a converged solution. one can compute an estimate of the new body center position: rm C. After each outer iteration within one time step. the diﬀerence between two consecutive estimates becomes smaller and smaller and the process can be stopped when an appropriate limit is reached.nÀ1 þ Dt f nÀ1 þ f m n : m 2 ð17Þ The superscript m denotes here the mth outer iteration at the new time level. For example. (9) can be written in the following form: dv C f ¼ : m dt ð16Þ This equation is integrated in time using trapezoid rule so that an estimate of the solution at time tn is computed as vm C.nÀ1 þ vm C. the under-relaxation corresponds to incorporating an added-mass term in the equation of motion. Under-relaxation has been used for both ﬂuid ﬂow and body motion. the right-hand sides of Eqs. however. If the iterations are converging. / Applied Mathematical Modelling 29 (2005) 1196–1210 I. which is especially important when light bodies are subjected to high acceleration. For a body of constant mass.n þ vC. (10).nÀ1 þ þ ð19Þ m a C. the under-relaxed form of Eq. Hadz ˇ ic (9) Return to Step 3 and repeat until the sum of the absolute residuals for all equations has fallen by a prescribed number of orders of magnitude. a predictor–corrector method which can be easily coupled with the iterative procedure for ﬂow prediction (SIMPLE-algorithm) has been used here. Once a new estimate of the velocity at the new time level is obtained. Computation of body motion The forces and moments acting on a ﬂoating body are obtained from the ﬂow as described before.n n v : ¼ vC.nÀ1 Dt: 2 ð18Þ The same procedure is applied to integrate Eq. this number reduces when the time step is reduced and vice versa.

with the plane y = 0 coinciding with undisturbed free surface and with y-axis positive upwards. the ﬂuid velocity components can be speciﬁed as follows [16]: ui ¼ gAk coshðk ðy þ hÞÞ cosðkx À xtÞ. Suppose a Cartesian coordinate system (x. v) at inlet are in this case: ui ¼ xAeky cosðkx À xtÞ. 4. the two-dimensional description is given by [16]: gðx. The outer boundary of the solution domain is in all cases a rectangle: bottom boundary is a no-slip wall. but the method is implemented in a 3D code and all six degrees of freedom can be considered. and the left-hand side represents either an inlet with prescribed velocities or a moving no-slip wall if the wave-maker is simulated by a moving wall. Solution domain. ð21Þ ð20Þ where the positive x-axis has been chosen to coincide with the direction of wave propagation. k is the wave number. / Applied Mathematical Modelling 29 (2005) 1196–1210 I. and grid systems The solution domain includes both water and air. vi ¼ xAeky sinðkx À xtÞ: For shallow-water waves. be derived from wave theory [16]. tÞ: For regular plane progressive waves. boundary conditions. If a wave-maker is used to generate waves. The velocity components (u. z. The elevation of any point in the free surface can be described by the function y ¼ gðx. this approach provides the most realistic match between experimental . t is time. x coshðkhÞ ð23Þ vi ¼ gAk sinhðk ðy þ hÞÞ sinðkx À xtÞ: x sinhðkhÞ ð22Þ For non-linear waves with large amplitude. for some wave types. which means that the inlet boundary does not necessarily coincide with the origin x = 0. right-hand boundary is either a no-slip wall or the hydrostatic pressure is speciﬁed there. The inlet velocities can. tÞ ¼ A cosðkx À xt þ Þ. one can prescribe the motion of the wall according to the experimental set-up. the above approach has been found appropriate and easy to implement. A is the wave amplitude. z) is adapted. here only 2D-cases will be studied. the ﬂuid velocity may be derived from measurements or by adapting other proﬁles to reproduce the waves of speciﬁed crest–trough height. It is of the same order as the method used to compute the ﬂuid ﬂow and ﬁts well within the overall iteration scheme. top boundary is either a slip wall or the atmospheric pressure is prescribed there. Hadz ˇ ic 1203 Other methods for integrating the equations of body motion are possible.´ et al. x is the radian frequency and is an arbitrary phase angle which can be set equal to zero by a suitable choice of the origin x = 0. y.

. This approach oﬀers the greatest ﬂexibility. In this case the outer boundary of the solution domain is not aﬀected by the body motion. and deforming the grid between the two regions. fast and fully automatic grid generation method. In this case the grid is subdivided into several blocks. The rest of the solution domain is covered by a ﬁxed grid (parts of it may move if the outer boundaries move. Finally.). / Applied Mathematical Modelling 29 (2005) 1196–1210 I. There are ﬁve possibilities for moving-grid strategies: (1) Moving the entire grid with the body without deformation. The surrounding block translates with the body without deformation. the grid in the adapted region may deform too much and attain unacceptable properties (skewness. since the free-surface location there changes with the grid motion. and one can also consider several bodies moving relative to each other. one can keep the solution domain boundary ﬁxed and instead of its motion prescribe an inlet (or outlet) velocity of the ﬂuid. Hadz ˇ ic and numerical boundary conditions and is especially necessary if irregular waves are generated. (4) Using moving grid blocks and sliding interfaces. (3) Moving a part of the grid around the body with it. e. (2) Moving a part of the grid around the body with it.1204 ´ et al. non-orthogonality etc. This approach preserves the grid quality. keeping distant parts ﬁxed. since it is not possible to visually monitor the grid quality after each time step and (ii) a special interpolation of old solutions to the new grid locations. This simpliﬁes the problem as the grid remains ﬁxed.g. but it requires (i) a reliable. The body can then move without restriction. outlet boundary etc. while keeping its topology the same. but does not rotate. This approach has been used in Ref. In this case a body-ﬁtted grid is used in the neighborhood of the body and is moving with it without deformation. where boundary conditions of a moving no-slip wall are applied. (4) Using overlapping grids. at a wave-maker wall) and the two grids overlap in the vicinity of the body. but cannot be used for large-amplitude motions of wave makers.). the block boundary must be either cylindrical (one rotational degree of freedom) or spherical (three rotational degrees of freedom). but the coupling of grids in the overlapping region and especially maintaining the conservativeness is a non-trivial issue when arbitrary unstructured grids are used. inlet boundary. which makes the implementation of boundary conditions easier (e. outer grid blocks expand or contract linearly to adapt to the position of inner block boundaries (which are usually planes aligned with the global coordinate system).g. which may introduce additional errors in the solution. to account for rotation. In the case of a small-amplitude motion of the wave-maker wall. and re-gridding the region between the two grid blocks. at wave-maker. In this case special care is needed to specify the boundary conditions at outer boundaries. [5]. This approach is applicable to arbitrary body motions. therefore application to three-dimensional cases is challenging. However. see below. Body surface is the inner solution domain boundary. The block around the body moves with it without deformation. The grid has to move with the body in its vicinity in order to remain adapted to the body surface. so this approach is only applicable to moderate body motions. This strategy is only applicable when a single body in an inﬁnite domain is considered. keeping the distant part ﬁxed. but the grid generation requires much eﬀort.

/ Applied Mathematical Modelling 29 (2005) 1196–1210 I. In this paper. For large angles of rotation. the grid is adapted and smoothed around the body. Fig. Hadz ˇ ic 1205 Fig. 1. Coarse grid around a ﬂoating body at two time instants. The combination of rotating. if the body moves over large distance or rotates by more than 30°. Only cells far away from body change their shape through contraction or expansion. which shows the grid around a ﬂoating body at two time instants. the connectivity has to be updated after each time step. 2. Since the neighborhood relations at this sliding interface change with time. highly deformed cells are usually at some distance away from it. The body is embedded in a grid block whose outer surface is cylindrical. when the body rotates. Coarse grid around a ﬂoating body with a sliding cylindrical interface. the extension of the present approach in this direction is under way and results from it will be reported in the near future. showing grid distortion in the adapted region. like motion of several bodies relative to each other. translating.´ et al. the sliding interface had to be used to avoid excessive grid deformation. the second and the fourth moving-grid strategies have been used. near-body blocks only translate or rotate. the grid slides along this cylindrical interface while the grid points from the outside grid blocks remain ﬁxed at the cylinder surface. For large translation movements. so the grid remains the same all the time. 2. expansion or compression of some grid blocks is possible. 1. An example of the second moving-grid strategy is shown in Fig. while special attention has to be paid to grid quality. However. overlapping grids would have to be used. For small body movements. These strategies are applicable to a variety of problems. . The advantage of this approach is that the grid retains good quality near the body. and expanding/contracting grid blocks as an example of the fourth moving-grid strategy is shown in Fig. some CVs may be so deformed that the numerical method would no longer converge. For some problems.

and time-step-independent solutions. the free-surface shape. a number of simple test cases involving translation or rotation only and small-amplitude waves has been analyzed ﬁrst. The body was a rectangular hexahedron 10 cm wide. / Applied Mathematical Modelling 29 (2005) 1196–1210 I. which shows the wave-maker position. The vertical boundary on the left-hand side simulated a ﬂapping wave-maker by moving the wall according to experiment. Here the results of two-dimensional simulations with three degrees of freedom are presented and in one case compared with experimental data. The numerical towing tank was 40 cm deep and with 2 m of air above water. The fact that the numerical solution over-predicts the wave amplitude suggests that the amplitudes of the actual motion of the computer-controlled wave-maker in the experiment were slightly smaller than those provided by the control software and used as input in the numerical simulation since the numerical method normally under-predicts amplitudes. Hadz ˇ ic 5.1206 ´ et al. The experimental data has been deduced from digital images with the assumed time spacing of 1/60 s. while time steps between images appear to be larger than assumed. which had been found in a grid-reﬁnement study to provide solutions with discretization errors of the order of 1%. 4. The agreement can be considered as satisfactory. saving 60 single frames per second with a resolution of 640 · 480 pixel. 3 shows the comparison of computed and measured water elevation approximately half-way between the body and the wave-maker. 5 cm high and 29 cm long. This leads to a phase shift . whose motion was computercontrolled to produce a wave packet with a high-amplitude concentrated wave at the original location of the body. [17]. For the sake of numerical eﬃciency. The computational grid contains 5891 CVs and the total computational time is about 3 h on a PC. see Ref. 5. and the body position at three time instants. the motion of body center and its rotation have been reconstructed. By systematically varying the grid spacing and time-step size. The time step has been kept small to make temporal discretization errors smaller than spatial discretization errors. with density relative to water being 0. Examples of application In order to verify the procedure and estimate the numerical accuracy. The comparison of measured and computed body motion under the wave-packet load is shown in Fig. We studied in detail the motion of a ﬂoating body subjected to regular and irregular wave packets. From these images and the assumed time span between two frames of 1/60 s. The results were compared with experimental data obtained in a small towing tank of Berlin University of Technology. the uncertainty is around 5% in vertical motion and 9% for rotational motion.68. The eﬀective numerical towing tank has been set 3 m long with another 5 m of coarse grid acting as a numerical beach to prevent wave-reﬂection. No-slip conditions have been employed at the body surfaces and tank walls. The motion of the ﬂoating body and the traveling wave can be observed in Fig. The free-ﬂoating body motion was recorded by a digital camera. Fig. The body was located at x = 2.11 m away from the wave-maker. Due to grid moving. 10–15 iterations are needed for each time step while normally less than 10 iterations are required if the grid is stationary. obtained on the grid with 5891 CVs. while the grid was coarse in distant regions. Only the results of one test case are presented here. it has been veriﬁed that the iterative procedure is converging within each time step and that the results are converging towards grid. local cell-wise grid reﬁnement in the vicinity of the free surface and around the body has been used. especially in the air whose motion is of no relevance here.

3. Fig. and rotation (right). between the predicted body motion by simulation and by experiment. The agreement between simulation and experiment is satisfactory for both degrees of freedom. 4. / Applied Mathematical Modelling 29 (2005) 1196–1210 I. Free-surface shape and the position of the wave-maker and the ﬂoating body at three time instants.16 m away from wave-maker. Hadz ˇ ic 1207 Fig. 3.16 m as shown in Fig. Fig. taken into account the . which does not exist in the prediction of the water elevation at x = 1. 5.´ et al. Comparisons of computed and measured body motion: vertical displacement (left). Comparison of computed and measured water elevation 1.

Free-surface shape and body position as observed in the experiment (left) and the corresponding situation from simulation (right) at t = 7.2 s.1208 ´ et al. The angular motion is even more severe: maximum rotations of about À25° and +20° have been observed in both experiment and simulation. Fig. Free-surface shape and body position in the simulation of a free-fall drop of an open container into water (from left to right. 6. 7. / Applied Mathematical Modelling 29 (2005) 1196–1210 I. Fig. Note that the body is 5 cm high and the amplitude of its vertical motion is 4 cm on either side of the neutral position. Hadz ˇ ic uncertainty in reconstruction of body motion from digital images. top to bottom). .

Faster computers and parallel processing will make simulations of 3D ﬂows around ﬂoating bodies like ships accessible to industrial users. Hadz ˇ ic 1209 A close-up of the free-surface shape and body position for one time instant is shown in Fig. Another type of studies with coupled simulation of ﬂow and body motion involves free fall of bodies through air and/or into water. M. Conclusion Motions of ﬂoating bodies have been predicted by a coupled approach solving the Reynoldsaveraged Navier–Stokes equations and body dynamics equations simultaneously. The motion of the container is governed by forces caused by the ﬂuid motion both inside and outside. 2000. showing good agreement with experiments. Practical Ship Hydrodynamics. 1999. In Fig. creating a crater in the liquid and causing sloshing of liquid inside the container. 4. In addition. A CFD application to wave-induced ﬂoating-bodies. Nantes/France. Oxford. Kinoshita. . 6 for both experiment and simulation. some liquid from outside falls into the container. for tanker ships and other ﬂoating vessels. in order to avoid the problems associated with grid adaptation to body motion. Kagemoto. Numerical simulations have also been performed for bodies with forward speed and for other wave conﬁgurations in both two and three dimensions and will be reported in the future. Conf. They show a partially-ﬁlled open container falling in an inclined position onto the free surface. The ﬁnite volume method used in the ﬂow solver employs moving-grids to account for the instant position of the body motion. 6. on Numerical Ship Hydrodynamics.g. / Applied Mathematical Modelling 29 (2005) 1196–1210 I. Xing-Kaeding from the Federal Ministry for Education and Research (BMBF) of the FR Germany within the ROLL-S research project. Future extensions of the method will include introduction of overlapping grids. simulation of motion of a 2D vessel subjected to ﬂuid ﬂow both inside and outside it has been presented. demonstrating the potential for using the method in very complex problems. Acknowledgement We gratefully acknowledge ﬁnancial support received by I. References [1] V. 7 a sequence of plots from one such simulation is presented. the methodology has been formulated and implemented for 6 DOF and 3D ﬂow problems. [2] T. [18]. with body motion and grid adaptation representing only a minor fraction of computing time. Although all test computations presented here dealt with 2D problems. This is just a demonstration of the possible application of the method to such problems which are relevant e. Butterworth-Heinemann. H. Hadzic and Y. Bertram. The method proved to be capable of reproducing the behaviour of a 2D ﬂoating body subjected to wave packages. The main cost in the simulations comes from ﬂuid ﬂow prediction.´ et al. some results of such simulations are presented in Ref. Fujino. Also. Seventh Int.1-(1-20).

Azcueta. in: O. WIT Press. Hadz ˇ ic [3] Y. [5] R.N. 4 (1999) 108–116. Hamburg. ´ . 2000. [15] I.L. A numerical study of the turbulent ﬂow past an isolated airfoil with trailing edge separation. Marine Hydrodynamics. ´ . Hiroshima/Japan.L.M.S. Fauci. Berlin.C. J. The numerical computation of turbulent ﬂows. Markiewicz (Eds. J.B. 77 (1988) 85–108. Peskin.J. M. P. Workshop on Water Waves and Floating Bodies. Zemach. 2001. Muzaferija. C. M.H. 16th [17] Y. pp. MIT Press.S. A computational model of aquatic animal locomotion. Peric ´ . 21 (1983) 1525–1532. S. Xing. Eng. 1999. 249–299 (Chapter 7). Sato. ICCM (Institute of Computational Continuum Mechanics GmbH). L. CFD simulation of 3-dimensional motion of a ship in waves: application to an advancing ship in regular head waves. Xing-Kaeding. Peric ´ . Mech. 1998. Muzaferija. Computational Method for Fluid Dynamics. D. M.. Turbulence Modelling for CFD. [11] J.. Computation of turbulent. [16] J. Nonlinear Water Wave Interaction. J. Chow.U. . Res. Rhie. J. Springer-Verlag. Ferant. D. Technol. Fifth Numerical [4] P. 1978. Computation of free surface ﬂows using interface-tracking and interface-capturing [10] S. WIT Press. 59–100. Phys. DCW Industries. ´ . California. Hadzic Int. Udaykumar. ´ . Comput. Ph. ´ . 100 (1992) 335–354. I.B. Peric ´ . A sharp interface Cartesian grid method for simulating ﬂows with complex moving boundaries. CFD simulation of ﬂow-induced ﬂoating-body motions. Phys. Phys. Mittal. Comput. [7] H. Demirdz ˇ ic (Eds. Rampunggoon. in: G. [8] Comet user manual. La Can ˜ ada. D. Ferziger. Mar. Methods Appl. Kothe. [14] J. chapter 2. Comput. free-surface ﬂows around ships and ﬂoating bodies. Newman. pp. M. J. Mahrenholtz. 2002. G.1210 ´ et al. 3 (1974) 269–289. Miyata. Gentaz. 169–172. Touze Towing Tank Symp. [13] B. 2003. Khanna. pp. T. S. / Applied Mathematical Modelling 29 (2005) 1196–1210 I. A continuum method for modelling surface tension. M. I. W. Peric methods. 2001. 51 (2004) 56–68. third ed. in: Proc. R.). [6] L. Calculation of Complex Turbulent Flows.D thesis. Southampton. Comput. Launder. Inc. TU Hamburg-harburg. Sato. Ship Techn.). 174 (2001) 345–380. Simulation of ﬂow-induced ship motions in waves using a [18] Y.E. C. Jensen. Hadz ˇ ic RANSE method. Pornichet/France. Sci. 2000. H. Tzabiras et al. Muzaferija. [9] C. A new potential/RANSE approach for water wave diﬀraction. Southampton.. Spalding. Peric [12] D. ´ . M. Wilcox. England. AIAA J. Brackbill. A. Computation of turbulent ﬂows in complex geometries.

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