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This report contains a simple example in which potential tools of the AQWA FER program are utilized. The
RAO’s of coupled systems are reported and also the dynamic modes of vibration are studied within the
module AQWA LIBRIUM/FER.
Created: 17-09-2010
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EXAMPLE 2
TABLE OF CONTENTS
1 INTRODUCTION ............................................................................................................ 4
1.1 General....................................................................................................................... 4
1.2 Objective .................................................................................................................... 4
1.3 Scope ......................................................................................................................... 4
3 ANALYSIS ..................................................................................................................... 8
3.1 Hydrodynamic parameters ....................................................................................... 8
3.2 Free floating RAO’s ................................................................................................... 9
3.3 Combining the structures ......................................................................................... 9
3.3.1 Data file preparation in AQWA LIBRIUM................................................................ 10
3.3.2 Data file preparation in AQWA FER ....................................................................... 13
4 RESULTS ..................................................................................................................... 14
4.1 General..................................................................................................................... 14
4.2 Coupled RAO’s ........................................................................................................ 14
4.3 Dynamic stability modes ........................................................................................ 15
4.4 Significant motions ................................................................................................. 15
1 INTRODUCTION
1.1 General
The AQWA FER program is a module that can be employed to analyze the response of free floating
and coupled bodies. Typical examples of coupled systems are: a vessel with catenary mooring lines, a
HLV lifting or lowering a topside module from or onto a floating structure, multiple vessels moored by
means of fenders and elastic lines, etc. In previous examples, it is considered that the response of the
system is linear with the wave excitation since no nonlinear parameters are included. However,
nonlinear systems could also be analyzed in the frequency domain if the nonlinear parameters are
properly linearized (i.e. drag forces); a typical example could be the lowering of subsea structures.
The frequency domain analysis of coupled systems in AQWA FER has many advantages and
therefore is preferred whenever possible:
“Most of the times it is not necessary to spend time carrying out complete time domain simulations of
linear systems”. In fact, the problem of all coupled systems in which the lifted object is above the
mean water line should be solved in the frequency domain.
1.2 Objective
The main objective of this report is to explain some important features when using the AQWA FER
program to solve problems in the frequency domain.
1.3 Scope
This tutorial is limited to the frequency domain analysis of coupled systems. If it were necessary some
aspects of the other program modules will be briefly explained.
2.1 General
This section contains the considerations and required information to complete the modeling and
analysis of the coupled system and its procedure.
The model that is selected for this analysis corresponds to the HLV “Oleg Strashnov” installing topside
modules onto an offshore platform. Only the models of the HLV, the main hook, rigging arrangement
and topside modules are included in the analysis.
Figure 2.2.1.1: Diffracting model of the HLV “Stanislav Yudin” (Side View)
2.4 Approach
First, a diffraction analysis of the HLV in AQWA LINE, the main goal is to obtain the
hydrodynamic parameters (damping, added mass coefficients) and free floating RAO’s. (Note:
The modeling of the vessel could be done using the *LIN file available at SHL.
Second, the HLV is joined to the topside modules by means of linear cables and the
equilibrium position is found; for this purpose the AQWA LIBRIUM module is used.
Third, the frequency domain analysis is carried out in AQWA FER. In this part of the exercise,
some RAO’s of the coupled structures are compared with the free floating ones.
Fourth, results from comparisons of RAO’s and significant responses are reported.
Finally discussion of results from this exercise when necessary.
3 ANALYSIS
The hydrodynamic parameters such as added mass and radiation damping of the structures are
automatically calculated from the diffraction analysis carried out in AQWA LINE and the hydrodynamic
data base is stored in the *.hyd file. To verify previously calculated results before going on with the
analyses, the following results for the VSS template could be cross checked.
It is understood that the user is able to model the structures and carry out the diffraction analysis
according to specifications given in section 2 of this report. Anyway, some modeling issues of the
structures are included in this tutorial.
All hydrodynamic coefficients are stored in the*.hyd files and will be automatically used when called for
in the frequency domain analyses.
Figure 3.2.1: Roll free floating RAO for the HLV Oleg Strashnov, α=90°
Notice that the natural frequency for roll is indeed 0.51rad/sec (12.3sec) and the maximum response
is about 11.5°/m.
If the results from the diffraction analysis match the ones in figures 3.1.1, 3.1.2 and 3.2.1 then the
structures could now be coupled together as shown below.
Because new points have to be defined within the structures, it is recommended to restart the model
from stage 1 and use the diffraction analysis results only to call fro the hydrodynamic coefficients.
The nodes of each panel are defined in this section (it is automatically generated if the lines plan utility
is used) but it could be necessary to add the NOD5 card to allow more than 9999 nodes.
Extra nodes for mooring line connection and relative motion analysis are required to be defined
The structures could be modeled with aid of any program (The main hook is just a single point STRC2
and STRC3 is the topside). The format is similar to the one of the HLV.
Note: The topsides are modeled using the internal modeling utilities of the program. Reference is
made to the AQWA reference manual.
>>Define extra nodes for the connection of the slings in the topsides
The meshing of the HLV would be done automatically by the program but the one of the topsides
could be input manually. Remember that the normal of the panels must be pointing outwards with a
counter clockwise numbering.
The HLV panelling format should look like the one shown below.
>>The hydrodynamic parameters could be copied from a previous AQWA LINE *.hyd file
>>The initial position of the structures before iteration towards the equilibrium position may be
specified as follows
>>Decks 13 and 14 are the same as the one of the AQWA LIBRIUM file
>>Specify points from which significant (absolute/ relative) motions are required
The RAO’s of the specified points (or any other defined in the model) could be plotted through the
graphical supervisor and is shown in the following section.
4 RESULTS
4.1 General
In this chapter, some important comparison between free floating and coupled bodies RAO’s are
presented. Different RAO peaks due to different coupled modes of motion are also identified
graphically. Then, results of significant motions are also analyzed.
Since it is going to be compared with the free floating condition, the correspondent pitch RAO for head
waves should also be plotted:
Figure 4.2.1: Pitch RAO for free floating and including coupling effects
In previous picture, new peaks are observed and some existing ones are slightly different; it could
easily be explained looking at the different modes of motion.
>>In the new window that pops out: File>>Open>>*.RES (AQWA FER file)
>>In the same new window menu select: Display>>Dynamic Stability modes
Here is displayed all information about all modes of motion. If you click on the PLOT tab as shown in
the previous picture, an animation of the structure in that mode of vibration is displayed. For instance
the mode # 6 has a natural frequency of 0.385rad/sec and corresponds to the anti-phase motion of the
topsides when the HLV is pitching and it is in agreement with the peak shown in figure 4.2.1.
Other modes and fully coupled RAO’s could be displayed in the same manner.
A table containing all equilibrium positions for all defined wave spectra and mooring configurations are
displayed in a table (see figure 4.3.2). Note that this information is used in AQWA FER when reading
the *.RES file from the previous AQWA LIBRIUM run. Similarly and in the same menu some useful
options could be found.
Figure 4.2.2: Significant motions of the COG of the HLV “Oleg Strashnov” for various sea states
Similar tables are available in the *.lis file and can be used to easily plot the significant responses for
several Hs/Tp combinations from a scatter diagram and quickly give figures about workability analyses
of coupled systems.
REFERENCES