J Mar Sci Teciinol (2015) 20:357-372
DOI 10.1007/S00773-014-0288-8
ORIGINAL A R T I C L E
Second-order low-frequency drift motions of a floating body
calculated by different approximation methods
Joao Pessoa • Nuno Fonseca
Received: 2 December 2013Mccepted: 21 September 2014/Published online: 10 October 2014
© JASNAOE 2014
Abstract The paper presents an experimental and
numerical investigation of the low-frequency modons of a
simple geometry floater subjected to bichromatic waves
and to long crested irregular seas. The body is axis-sym-
metric about the vertical axis and it is restrained from
drifting away by a linear mooring system. The investiga-
tion is carried out for three water depths representing deep
water, intermediate water depth and shallow water. The
objective is to assess the water depth influence on the
second-order low-frequency motions. A second objective is
to assess the results of different approximations for the
second-order difference frequency wave exciting forces on
the second-order motions. The quadratic transfer functions
are calculated with a boundary element method using
several levels of approximation for the second-order for-
ces: (a) the most complete approximation solves the
boundaiy value problem completely up to the second order,
(b) the first-order approximation neglects the free suiface
forcing in the 2nd order boundary value problem solution,
(c) Newman's approximation is of zeroth-order with
respect to the difference frequency, (d) a fourth method
combines Newman's approximation with a contribution
from the second-order incident wave potential, (e) the fifth
method is applied to the heave forces only and it combines
Newman's approximation coixected by an additional set
down. This study shows that the contribution from the
second-order velocity potential must be considered for
shallow water calculations to achieve accurate results. For
small difference frequencies, second-order scattering
J. Pessoa • N. Fonseca (El)
Centre for Marine Technology and Engineering, University of
Lisbon, Instituto Superior Técnico, Av. Rovisco Pais,
1049-001 Lisbon, Portugal
e-mail: nunofonseca@ist.ud.pt
I H i CrossMark
potential effects are small; therefore, in this case, a good
practical approximation consists on considering the sec-
ond-order potential is contributed by the incident waves
only.
Keywords Second-order difference frequency forces •
Slow drift motions • Bichromatic waves • Irregular waves •
Experimental data
1 Introduction
The frequency domain second-order wave exciting forces
are usually decomposed into three different terms. One
component is called the steady drift force, which is basi-
cally a mean value that is frequency dependent, but time
independent. The other components are a consequence of
the interactions between pairs of harmonics composing the
sea state. They are called the sum frequency and difference
frequency components and oscillate in time with a fre-
quency resulting from the summation or subtraction of the
harmonics composing the pair.
In the case of the difference frequency second-order
forces, they result on the slowly varying wave drift exci-
tation in irregular seas, which are important for floating
moored structures. Usually, the natural period of the fioater
plus mooring is large compared to the wave period.
However, the slowly varying drift forces have longer
periods, and therefore they may excite the floater and
mooring system at their natural frequency. This will induce
large horizontal motions of the fioater and tensions on the
mooring lines.
Slowly varying drift motions calculation requires the
solution of the boundary value problem. The problem
needs to be formulated up to second order, meaning that
^ Springer

358
the boundary conditions must include all quadratic and
second-order terms and the second-order velocity potential
must be calculated. The complete formulation for the
second-order wave exciting forces and motions has been
thoroughly presented by, for example, Ogilvie [ l j . The
problem solution is not trivial and the main difficulty is
related to the integration of the quadratic forcing function
in the free suiface boundary condition. Kim and Yue [2]
have suggested a procedure in which the free suiface
around the floating body is divided into two annular
regions. The integration in the inner region (close to the
body) is peiformed numerically and in the outer region it is
based in Fourier-Bessel series.
The numerical solution complexity has motivated the
research of simplifications to allow the slow drift force
calculafion. The most widely used in the offshore industry
is probably the weU-known Newman's approximation,
which was introduced before the complete calculation had
ever been done. It was presented by Newman [3] and uses
the steady drift force transfer function to calculate the
whole quadratic transfer function. Later, Pinkster and Hu-
ijsmans [4] proposed an approximation to be used in
shallow waters which neglected the second-order interac-
tion between the linear incident, diffracted and radiated
waves, but took into account the loads associated to the
setdown phenomenon. Recendy Stansberg and Kristiansen
[5] have used a similar approximated method for shallow
waters which considers a linear excitation from the set-
down low-frequency wave, showing that in shafiow waters
the second-order loads are highly correlated with this
excitation component. Another approximation proposed by
Chen [6] neglects the free surface integral calculation,
maintaining all remaining second-order terms of the
boundary value problem. These yield approximate results
have been shown to work well in deep waters. In shallow
waters, it has been suggested that they may not work as
well and particularly Newman's approximation has been
shown to provide faulty results [6, 14].
Some Scientists have studied this problem experimen-
tally. Hsu and Blenkarn studied the slow drift loads in a
moored vessel in 1970 [7], and in 1990, Krafft and Kim
tested a rectangular barge in bichromadc waves. They
analyzed the data using the VolteiTa model approach. More
recendy, in 2004, motivated by the LNG transfer problem,
Naciri et al. [8] measured the slow drift motions of a tanker
model in shallow waters, subjected to an irregular sea state.
The Volterra model is usually the procedure used for
analyzing the slow drift motions in irregular sea states.
This method has some limitations, though, and special care
should be taken when preparing the experiments to make
sure the slow drift motions are not on the wave spectrum's
more energetic frequency range, as suggested by Pinkster
[9]. A way for better measuring the slow drift motions is to
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J Mar Sci Teclinol (2015) 20:357-372
use bichromatic wave trains, and measure the difference
frequency component of the motions. This was first done
by Pinkster in 1980 [9] for a semisubmersible and later by
Krafft and K i m [10] on a rectangular barge. In 2011,
Fonseca et al. [11] presented extensive experimental results
on the slow drift force acting on a restrained cylinder
subjected to incident bichromatic waves in shallow, inter-
mediate and deep waters. Pessoa et al. [12] presented
partial results for the slow drift motions on the same
geometry and waves. Results for the steady drift force in
the presence of cuiTcnt in the same geometry are presented
by Mazarakos and Mavrakos [13].
The present study fofiows from the authors' previous
works [12, 14] where the slowly varying drift forces and
motions on a vertical cylinder were investigated both
numerically and experimentally for three different water
depths representing shallow, intermediate and deep waters.
In [14], the authors presented a study on the second-order
slow drift forces on the body restrained from moving and
considering three different water depths. Three different
levels of approximation to the quadratic transfer function
were tested: the Newman's approximation [3], the
approximation proposed by Chen [6], and the exact cal-
culation as formulated by Ogilvie [1] and solved by K i m
and Yue [2]. Two additional methods combine Newman's
approximation with the second-order incident wave
potential effects by assuming that the difference frequency
wave length is much larger than the fioater dimensions. It
was concluded that Newman's approximation is a vafid
method for calculating the surge second-order force in deep
and intermediate waters, but not for shallow waters. Nor is
it valid for the heave second-order force, unless in deep'
waters. Chen's approximation proved to be a good
approximation in any of the tested cases, although it tends
to predict higher energetic second-order low-frequency
force spectra on the higher frequency range than the exact
second-order calculation.
In the present study, the investigation presented in [14]
is generalized for the second-order slowly varying wave-
induced motions. Even though this paper is focusing on the
second-order low-frequency motions, it should be per-
ceived as a foUow-up from [14] .The same approximation
methods are applied to calculate the slowly varying drift
forces, however, now accounting for the unrestrained body
motions. The slow drift motion results are compared with
experimental data in bichromatic waves and irregular sea
states. The purpose is to understand how the depth effects
infiuence the quality of the approximations to the second-
order forces when the body is free to fioat and how this
affects the second-order motions. It is shown that while the
Hooft based method was good for calculating the second-
order loads in a fixed body, it tends to underestimate the
motions when the body is free to oscillate. Likewise,
J Mai- Sci Teclinol (2015) 20:357-372
Newman's approximation proved to underestimate ttie low-
ti-equency motions even in deep waters. Ttiis liappens due
to ttie tiigtily resonant beliavior of the floating body. This
means that the mentioned simplified methods are not
appropnate for calculating slow drift second-order loads
and motions of fioating structures that exhibit strong res-
onant motions, such as, for example, wave energy
converters.
2 Theory
The theory for the numerical calculation of linear and
second-order wave exciting forces and motions on floating
bodies has been thoroughly presented and discussed by
several authors and is widely available in the literature. The
reader may look into the work of Ogilvie [1], Kim and Yue
[2], Pinkster [9] or Lee [15] for details on second-order
theory.
In this paper, only a brief explanation of the theory used
in the calculations of the second-order motions in iiTcgular
seas will be presented to explain the different levels of
approximation for the second-order forces.
2.1 Second-order force approximations
Five approximations are used in the present work to cal-
cuiate the second-order difference frequency wave exciting
forces [represented in the frequency domain by the force
quadratic transfer functions (QTFs)].
2.1.1 Complete second-order solution
In the complete second-order solution, the potential flow
boundary value problem is expanded into power series, the
expansions truncated above second order and the first- and
second-order terms grouped separately resulting in the first-
order and the second-order problems. The related second-
order hydrodynamic forces include all of the second-order
contributions. This methodology is explained in Lee [15].
2.1.2 No free surface forcing solution
The second approximation is similar to the complete
solution. The difference lies in how the free surface
boundary condition is evaluated. The boundary value
problem of the complete solution includes a boundary
condition in the free surface given by:
3 V ^
on z = 0 (1)
6z
where Qf is the quadratic free suiface forcing function, t is
the time in seconds, g is the gravitational acceleration, z is
359
the vertical coordinate pointing upwards of an orthogonal
coordinate system placed on the average free suiface
position. The superscript (2) refers to second-order
quantities.
Equation (1) combines the kinematic and the dynamic
boundary conditions. This second-order boundary condi-
tions must consider second-order terms of both Bernoufii's
equation and velocity terms of the free surface elevation i/
expanded about its mean position. The resulting quadratic
forcing function is:
QF
dt dz\ di dz dt
(2)
In this approximated method proposed by Chen [6], the
second-order boundary value problem is formulated with-
out considering the free surface forcing in Eq. 1.
2.1.3 Newman's approximation
This approximation consists of using the zero difference
frequency force components, which represent the steady
drift loads in monochromatic waves, to calculate thè whole
force QTF. It was proposed by Newman [3] and it is based
on the assumption that the force QTF surface is smooth and
there is little variation of magnitude around the steady drift
diagonal.
The force QTF off diagonal term Tjy^ corresponding to a
pair of interacting frequencies cOj and co^. is represented in
terms of the steady drift force coefficients corresponding to
the frequencies j and k, respectively, Tjj and Tj^:
(3)
Since the steady drift terms do not depend on the sec-
ond-order potential, the problem is significantly simplified.
2.1.4 Hooft's approximadon
The fourth approximated method consists of adding a
contribution from the difference frequency second-order
incident wave potential to Newman's approximation.
The contribution to the second-order force due to the
incident wave potential is calculated with approximated
methods suggested by Hooft [16] to calculate linear forces
on bodies with small dimensions relative to the incident
wave length. Under this assumption, scattering effects can
be simplified. In Hooft's work, the methods were used to
calculate linear forces. Here, the method is applied to
calculate the exciting force contribution due to the differ-
ence frequency second-order incident wave potential.
Neglecting the remaining second-order velocity potential
components requires assuming that the body diameter is
<^ Sprin ger
360
small compared to the second-order incident wavelength
(L,;: =1%! {kj - kl), where kj and kt are, respecdvely, the
wave numbers for the jth and the kth harmonic components).
Following Liu et al. [17], the second-order difference
frequency surge force can be divided into real and imaginary
parts:
Tljk (oJ;, OJk) = P\ (Wj, COk) + iQl («;, COk)
In the present method. Pi (CÜ,-, ojk) is given by New-
man's approximation, and it accounts only for the contri-
butions related to quadratic interaction of linear quantities;
therefore, it does not consider contributions from the sec-
ond-order potential. Q\ [ojj, ojk) is the contribution from the
second-order incident wave potential to the total second-
order force. Since the body is assumed to be small com-
pared to the incident second-order wavelength, the scat-
tered potential will be accounted for by an added mass
coefficient, and thus the wave-body second-order boundary
value problem does not need to be solved. A solution for
the second-order incident bichromatic wave potential is
given by (see for example Lee [15]):
_^ (£_
-(cuj - WkY+g{kj - kl) tanh[{kj - kt)h]
cosh[{kj-kk){z + h)] .
'{kj-kt)x-
cosh[(/9 — kk)h
where ,Y is the longitudinal coordinate of the position vector
X, h is the water depth and:
1 / to- or.
sinh^ {kjh) sm]l {kkh)J
-AjAkCOjcOk{o^j - « 0 (,,„h(,^,,)',„h(^,/0
According to Hooft [16], the surge force can be related
to the horizontal acceleration of the fluid. The same
approach is used here, however, applying the second-order
incident potential (as done by Liu et al. [17]):
ö i = ë ^ ( l + C>Ve,
dxdt
i{ojj - ojk) {kj - kk){l + C„)pV^,„ei
where is the surge added mass coefficient for infinite
period, V is the immersed volume of the body, Ci is a unit
vector with the positive x-axis direction and (p^, is evalu-
ated at the body center of buoyancy.
In the heave force case, the additional contribution due
to the incident difference frequency 'second-order wave
potential is real, and so Eq. (4) does not apply. In this case
the additional second-order incident wave potential
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J Mar Sci Technol (2015) 20:357-372
contribution shall be referred to as P^ ; therefore, the dif-
ference frequency heave force is represented by:
Tyk {0)j, OJk) = P3 (cJy, OJk) + {cOj, COk) (8)
Pj,{ojj,o3k) is given by Newman's approximation and, as
for Pi{oyj,oJk), it considers only contributions from the
quadratic interaction of linear quantities. The second-order
(4)
incident potential related heave force is calculated in the
present work by integrating the second-order incident wave
pressure (^>„.) at the base of the cylinder (5o).The cylinder
bilge is disregarded for this calculation. The base is
assumed to be a fiat disk with the cylinder diameter. Since
the assumption is, again, that the wave length is much
larger than the body dimensions, this is referred in the text
also as Hooft's approximation. The incident difference
frequency second-order pressure is given by:
(9)
The force is thus given by:
P^ = J j P.v-ndS = -i{o3j - o:>k)p j j (p;,dS{-^3) (10)
and assuming that the body is small relative to
{coj-cOk)t] 2n/{kj-kk):
(5) . {ojj-cOk)pnD-
= {{(Oj — c/ji.)p(Pj.. J J dSei = i
(11)
where D is the cylinder diameter, 63 is a unit vector with
the positive z-axis direction and (p~ is evaluated at the
cylinder base.
The off diagonal vertical force QTF terms calculated by
Newman's approximation are assutned to have real parts only
(6) (usual assumption). Regarding the second-order incident
wave potential, it induces a setdown on the free surface, which
appears as a mean water level decrease associated to groups of
large amplitude waves and a mean water level increase for
groups of small amplitude waves. When the related pressures
are integrated over the body wetted surface, the associated
vertical forces are in phase with the setdown. Newman's
approximation vertical forces and Hooft's contribution for the
(7) vertical forces are both considered real and direcdy sum up.
2.7.5 Newman's approximation witli setdown correction
This approximation applies only to the vertical difference
frequency second-order forces. It consists on applying
Newman's approximation to the vertical steady drift forces
in monochromatic waves accounting for additional bi-
chromatic waves setdown effects.
 J Mar Sci Teclinol (2015) 20:357-372
It was pointed out by Eatoclc Taylor in 1989 [18] that
there is a discontinuity in the verrical second-order loads
caused by an inconsistency in the calculation of the wave
setdown in monochromatic and bichromatic waves in finite
water depths. It is sfill not clear i f the discontinuity is in
fact inconsistent. Nevertheless in 2006 Chen [19] sug-
gested that the problem could overcome with a correction
to the setdown already present in second-order regular
Stokes waves. The new contribution is derived from the
second-order incident bichromatic wave potential as the
difference frequency tends to zero and the result matched
to the classical form of second-order Stokes wave eleva-
tion. The result is:
kjAf 4Sj + 1 - tmh^ (kjh)
(12)
4Sjkjh - tanhikjh)
where Aj and kj are, respectively, the wave amplitude and
wave number, h is the water depth and Sj is given by:
smh{2kjh)
(13)
2kjh + smh{2kjh)
A related steady vertical second-order force component
can be derived, which is simply given by the wave setdown
multiplied by the body water plane area 5'^vp:
R^iojj) = pgS,.„Cj (14)
The vertical mean drift force in monochromatic waves
accounting for bichromatic wave setdown effects is thus
given by:
Tsjiiooj) = P3 ( « ; ) -I- pgS,,pCj [15)
The quadratic transfer function is then calculated
applying Newman's approximation (Eq. 3).
3 Experimental model
An experimental program was performed to test the
validity of the described methods in restricted water depths.
The studied geometry is a cylinder with a rounded bilge. It
was designed this way so that viscous non-linear effects
such as vortex shedding would be minimized in the
experiments. An advantage of the simple cylindrical shape
is that it can be easily reproduced numerically or analyti-
cally by any researcher or scientist. The resulting experi-
mental data can thus be used as validation tool for a large
variety of theoretical models.
Figure 1 shows the profile of the axis-symmetrical body.
The main dimensions of the body are presented in Table 1.
The tests were canied out at Danish Hydraulics Insti-
tute, namely at the shallow water basin for the water depths
of 40 and 55 cm, and at the offshore basin for the water
361
Fig. 1 Curve whose 360° revolution originates the wetted surface
Table 1 Main dimensions of Radius (m) R 0.325
the axis-symmetrical body
Bilge radius (in) r 0.100
Draught (m) T 0.200
Volume (m^) V 0.062
depth of 300 cm. The origin of the orthogonal coordinate
system used in the experiments and the numerical calcu-
lations is located in the center of the model at the calm free
suiface level. X is positive in the direction contrary to the
propagation of the waves and Z is positive upwards.
The body was placed in the middle of the wave tank, so
that wall effects could be miniinized. In addition to that,
only long crested waves were produced, with a direction of
propagation which is parallel to the side walls, so no
reflection occurred on the side walls. At the other end of
the wave tank, dissipation beaches were placed so that only
a very small part of the energy was reflected back into the
domain once the model reached a steady state of motion.
The wave paddles are equipped with a reflection absorption
system that prevents any energy that could come back to
the wave maker to be reflected back into the domain.
The model was kept in place with a very soft mooring
system. Four lines were attached to each quadrant of the
model in such way that they would not touch the water, and
with an inclination angle such that the mooring forces
would pass approximately through the model's center of
gravity. This way the mooring systems effect on the
dynamics of the model was minimized.
Center Of gravity tests and decay tests were carried out
to assess the physical properties of the model, as well as to
get an estimation of the real damping for the relevant
modes of motion. Due to the restricted depth effects, they
differ from one water depth to the other. The physical and
hydrodynamic properties of the moored body system are
presented in Table 2.
The damping factors in surge and pitch were obtained
from analysis of decay tests. The initial displacements were
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 362 J Mar Sci Teclinol (2015) 20:357-372

Table 2 Physical characteristics of the model Table 3 Characteristics of the tested bichromatic waves

Aimed Achieved Wave index T l Cs) T2 (s) A l (cm) A2 (cm)

Mass jn (kg) 62.00 64.14 Bichromatic waves—dw = 0,5 (rad/s)

Longitudinal center of gravity XG (m) 0.000 0.006 1 0.72 0.68 1,1 1.0
Veitical center of gravity Zo (111) -0.030 -0.031 2 0,93 0,87 1,7 1.5
Transverse radee of gyration Ky (m) 0.200 0.209 3 1.15 1,06 2.3 2.0
Mooring stiffness Kn (N/m) 22.834 4 1,55 1,38 3.4 3.0
Mooring stiffness K33 (N/m) 6.194 5 1,65 1.46 3.7 3.2
Mooring stiffness K55 (Nm/ 8.008 6 1,77 1,55 4,0 3.4
rad) 7 2,02 1,74 4.8 4,0
40 cm water depth 8 2,23 1,90 4.8 4,4
Surge damping factor X 0.195 9 2.40 2,01 4.8 4,7
Heave damping factor X 0.115 Bichromatic waves—dw = 1,5 (rad/s)
Pitch damping factor X 0.009 1 0,76 0,65 1,2 0,9
Surge damped natural Td 12.57 14.25 2 1,01 0,81 1,9 1,4
period
3 1,27 0,97 2,6 1,8
Heave natural period T„ (s) 1.15 1.17
4 1,55 1,13 3,4 2.3
Pitch natural period T, (s) 1.55 1.55
5 1,83 1,27 4,2 2.7
55 cm water depth
6 2,00 1,36 4.7 2.9
Surge dainping factor X 0.179
7 2,31 1,49 4.8 3.3
Heave damping factor X 0.099
8 2,46 1,55 4,8 3.4
Pitch damping factor X 0.007
9 2,72 1,65 4.8 3.7
Surge damped natural (s) 12.57 14.25
period Td Bichromatic waves—dw = 4 (rad/s)

Heave natural period 1 1,11 0,65 2.2 0,9

(s) 1.15 1.15
T„ 2 1,35 0.73 2.9 1,1
Pitch natural period 1.55 1,54
Tn
300 cin water depth 3 1.55 0,78 3,4 1,3
4 1,70 0,82 3.9 1,4
Surge damping factor • x 0.224
Heave damping factor 5 1,90 0,86 4,4 1.5
X 0.072
Pitch damping factor x 0.008
Surge damped natural Td (s) 12.57 14.50
period
the 300 cm water depth. The duration of the irregular sea
state runs was 15 min.
Heave natural period T„ (s) 1.15 1.14
Three sets of bichromatic waves with difference fre-
Pitch natural period Tn (s) 1.55 1.54
quency of 0.5, 1.5 and 4 rad/s were also tested. These tests
were performed in both deep waters and in shallow waters.
The duration of the bichromatic wave runs was 5 min. The
chosen such that the decay test amplitudes would represent wave characterisfics are presented in Table 3.
typical motion amplitudes during the free motion tests. The In the bichromatic wave tests, the data are analyzed with
forced motion amplitudes varied over a wide range and in a least squares regression-based method which allowed
fact the experimental damping coefficients are not linear separating the linear and second-order response compo-
over these ranges. The method consisted on selecring the nents. This method is described in detail in [11]. A quali-
(linear) damping coefficients that best fit the decay tests tative discussion on the uncertainties and error of the
over the following ranges: between 140 and 20 cm in surge experimental data was presented in [12].
and between 10 and 4° in pitch.
The model was subjected to a long crested irregular sea
state, following a JONSWAP target spectrum with 1.55 s 4 Slow drift motions in bichromatic waves
peak period (7^) and peak enhancement factor of 1. The
significant wave height (Hs) was chosen so that the model The slowly varying drift motion results of the cylinder in
would not touch the basin bottom while heaving and bichromatic waves were presented by Pessoa et al. [12]. In
pitching. According to this, a significant wave height of 3.6 that paper the authors compare the experimental data with
and 9.4 cm was chosen, respectively, for the 55 cm and for numerical calculations obtained with the complete second-

Spr mger
 J Mar Sci Teclinol (2015) 20:357-372 363

surge QTF for A(o=0.5rad/s and h=300om surge QTF for Aco=1.5rad/s and h=300cm surge QTF for Ara=4.0rad/s and h=300om

— complete
— nofsf
— Hooft
Newman
o expenments

Fig. 2 Numerical and experimental surge motion QTF in bichromatic waves with a difference frequency of 0.5 rad/s (left), 1.5 rad/s {center) and
4 rad/s {right), in water depths of 300 cra {top), 55 cm {center) and 40 cm (bottom)

order solution. The agreement between the numerical and
experimental results was better for the smaller difference of
frequencies, but satisfactory overall. The depth effect was
identified both numerically and experimentally.
In this section, the experimental results will be compared
with motions resulting from the five second-order force
approximations described in Sect. 2.1. The second-order
motion amplitudes are normalized by the incident wave
amplitudes Aj and A^, and the cylinder diameter D such that:
where n is equal to 1 for surge and heave and equal to 2 for
pitch. The results are plotted as function of the non-
dimensional water depth (Ii/Xj), normalized by the wave
length of the harmonic with the lowest frequency. This new
scale permits an interesting depth effects analysis.
Figure 2 shows the surge non-dimensional slowly
varying motion amplitudes in bichromatic waves as a
function of h/lj, with a difference of frequencies of 0.5, 1.5
and 4 rad/s, and the three tested water depths. Equivalent
results for the heave and pitch low-frequency motions are
shown, respectively, in Figs. 3 and 4. The plots include

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364 J Mar Sci Teclinol (2015) 20:357-372

heave QTF for Aai=0.5rad/s and h=300om heave QTF for Act)=1.5rad/s and h=300cm heave QTF for Ao)=4.0rad/s and h=300cm
4i

heave QTF for AcD=0.5rad/s and h=40cm heave QTF for A(a=1.5rad/s and h=40cm heave QTF for Aco=4,Orad/s and h=40cm

0.2 0.4 0.6 0.8 0.2 0.4 0.6 0.8

h/X. h/A.
I

— complete
— nofsf
Hooft
' • • Newman+Setdown
Newman
" experiments

Fig. 3 Numerical aud experimental heave motion QTF in bichromatic waves with a difference frequency of 0.5 rad/s (left), 1.5 rad/s (center)
and 4 rad/s (right), in water depths of 300 cm (top), 55 cm (center) and 40 cm (bottom)

both the experimental results and the numerical calcula-
tions according to the different approximation methods.
In the case of bichromatic waves, the period of the slow
drift motions is the one related to the difference of frequencies,
and it is constant in the plots. This means that 0.5, 1.5 and
4.0 rad/s differences of frequency bichromatic waves oscil-
late, respectively, in the periods of 12.57,4.19 and 1.57 s. This
way, the 0.5 rad/s bichromatic waves induce forces oscillating
close to the surge natural period and the difference frequency
of 4.0 rad/s is close to the pitch nattiral period.
The resulting resonant behavior of the second-order
responses is clear in the plots of Figs. 2 and 4. In fact, the
surge non-dimensional amplitudes for Am — 0.5 rad/s are
around 100, which means a bichromatic wave composed by
two harmonic waves of amplitude 1 induce a second-order
motion of amplitude 100. The very large dynamic ampti-
fication is observed for both the experimental and numer-
ical results. The same type of behavior can be observed for
the pitch second-order motions in the 4.0 rad/s case. The
large dynamic amplifications occur, in spite of the second-

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 J Mar Sci Teclinol (2015) 20:357-372 365

pitch QTFfor Ato=0.5rad/s and h=300oin pitch QTF for A(o=1.5rad/s and h=300cm pilch QTF for A[0=4,0rad/s and h=300cm
100,-1

complete
— nofsf
— Hooft
Newman
expenments

Fig. 4 Numerical and experimental pitch motion QTF in bichromatic waves with a difference frequency of 0.5 rad/s (left), 1.5 rad/s (center) and
4 rad/s (right), in water depths of 300 cm (top), 55 cm (center) and 40 cm (bottom)

ordei- wave exciting forces small magnitudes, because
resonant conditions and very light damping occur
simultaneously.
The effects of first-order motions on the second-order
motions are clearly visible in the surge and pitch graphs.
This is because the second-order forces depend on qua-
dratic interactions between first-order morions. For exam-
ple, the slow drift surge at the smaller frequency difference
(Acu = 0.5 rad/s) shows three peaks. Two of the peaks are
related to the pitch natural period, one when the first
incident harmonic has the natural pitch period and the other
when the same occurs for the second incident wave
harmonic. The third peak is associated to the heave natural
period. The pitch slow drift motion of Fig. 4 also shows
dynamic amplifications associated to the first-order reso-
nant motions.
The second-order heave motion is very small, however,
it is interesting to see that it was identified in the experi-
ments and that it increases significantly for shallow water
compared to deep water. The depth effect is very clear in
all results since the second-order motions are always larger
as the water depth decreases. A dramatic increase of the
second-order motions is also observed when the water
depth ratio is smaller than around 0.1-0.2.

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 366
Regarding the comparison between experimental data
and the complete second-order solution results, one can say
that the agreement is quite reasonable. The numerical
model is able to identify all aspects detected in the
experimental namely the order of magnitude of the slow
drift amphtudes, the tendencies with h/Xj and the dynamic
ampUfications. The agreement is not as good as the one
obtained for the first-order responses (see [12]); however,
this is in great part related to the uncertainty of the second-
order experimental data itself. The experimental surge
motions conesponding to the larger h/Xj (high-frequency
incoming waves) are considerably smaller than the
numerical predictions. The error is likely related to limi-
tations of the experimental setup. During the experiments,
high-frequency waves had very small amplittides. Conse-
quently, the related mean second-order forces are also very
small. In this case, the fricfion in the pulley system (not
accounted for in the numerical model) may become
important and reduce the experimental amplitudes com-
pared to numerical predicdons.
The approximations for the second-order surge forces
induce similar surge modons in most of the non-dimen-
sional water depth range, although while the no free sur-
face forcing approximation and the complete calculation
resulting motions are virtually the same; Newman's
approximation and the Hooft based method results deviate
from the former. There is a sharp increase on the surge
motions on shallow and intermediate water depths when
(JiJXj) < 0.1-0.2, which is predicted by the higher-order
methods, but not by Newman's approximation. This
increase in the motion is corroborated by the experiments.
The former result shows that the second-order incident
wave potential cannot be neglected in restricted water
depths.
The two peaks that can be seen in the surge motion are
related to a strong increase of the second-order force when
any of the composing frequencies coincides with the pitch
natural frequency. The peaks are mostly caused by the
quadratic interaction of the linear quantities involving the
pitch motion and are thus predicted by all of the numerical
test cases. Newman's and Hooft based methods underes-
timate these peaks, as compared to the complete solution
results.
As the difference frequency increases, the second-order
potential contiibution to the slow drift force increases as
well. For this reason, larger discrepancies are observed
between the motions calculated by different approximations.
Regarding the second-order heave motion results
(Fig. 3), although the experimental data show some
spreading, clear tendencies have been identified. The sec-
ond-order amplitudes increase very much as the water
depth decreases, especiaUy for {h/Xj)<Q.2. The
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J Mar Sci Teclinol (2015) 20:357-372
agreement between the predictions and experiments is
good, except for Newman's approximation in restricted
water depths, demonstrating, again, that the second-order
incident wave potential effects cannot be neglected. The
complete and the no free surface solutions give very similar
results for the two smaller difference frequencies; however,
significant differences are observed for Am = 4.0 rad/s
showing that second-order free suiface effects become
important for larger difference frequencies.
The pitch second-order amplitudes numerical results in
Fig. 4 include also the Hooft's based method results, even
though the pitch moment is not corrected by the second-
order incident potential effects. These results are included
because pitch is coupled with sway.
There is no contiibution from the free suiface forcing to
the second-order potential moment in pitch, since both the
higher-order approximations yield the same results in any
difference frequency and water depth. The agreement
between the experiments and the predictions by the com-
plete and the no free surface approximations is quite good,
while the Newman's and Hooft's approximations tend to
overestimate the experiments by a large margin in some
frequency ranges. The sharp peaks observed in the graphs
are related to the pitch first-order resonant motions, since
these first-order motions contribute to the second-order
wave exciting pitch moments.
As general conclusions, one can say the experimental
program successfully identified the second-order difference
frequency surge, heave and pitch motions. The surge and
heave second-order amplitudes increase as the water depth
decreases, especially for smaU depth ratios {h/X.j) where a
steep increase is identified. Results from the complete
second order and the no free suiface solutions compare
quite well with the experiments. Newman's approximation
compares well with the experiments in deep water; how-
ever, it underestimates the experiments in shallow water.
The approximations which consider the second-order
incident wave potential effects are adequate to calculate the
second-order motions, except for large difference fre-
quencies where the second-order scattering potentials
cannot be neglected.
5 Slow drift motions in irregular waves
The experimental wave elevation and the surge, heave and
pitch motions were measured for JONSWAP sea states
(with Tp = 1.55 s and peak enhancement parameter y of 1).
This Section presents the analysis of results in terms of
linear auto spectra, low-frequency spectra and coherence
spectra. Two conditions were selected for presentation and
discussion: (a) water depth of 300 cm and Hs = 9.4 cm,
 J Mar Sci Teciinol (2015) 20:357-372 367

Fig. 5 Wave elevation, surge, Wave Auto spectrum H =9.4cm /?=300cm

heave and pitch experimental 10 '
and numerical linear and
second-order response auto Experimental
spectra. Water depth of 300 cm. 10"'
— linear
Sea stale with Hs = 9.4 cm, 7
Complete
7'p = 1.55 s, g = 1 and 'j
10"' No FS forcing
g = 9.806 ms"- /
Hoofl based meth.
CO ( • • Newman+Setdown
10"' ; Newman appr.
1
1
10"'
2 4 6 8
CO (rad/s)
Surge Auto Spectrum H =9.4cm /!=300cm Surge Aulo Spectrum Hg=9.4cm /7=300cm
10° ^1

CM

CO

2 4 6
(Ü (rad/s) (0 (rad/s)

Heave Auto Spectrum Hg=9.4cm /i=300cm Pilch Auto Spectrum Wg=9.4om /7=30(]cm

2 4 6 8
(rad/s)

(b) water depth of 55 cm and Hs — 3.6 cm. The spectra of
expenmental data, obtained by Fourier analysis of the
measured time records, are compared with the spectra of
predicted motions. The latter, named here as "numerical
spectra", includes the linear and low-frequency spectra.
The linear amplitude spectra S^^ are calculated by:
4'^ = •y (17)
where 5„. is the complex incident amplitude wave spec-
trum, and is the complex motion linear transfer
function.
The second-order low-frequency motion spectrum s f ' is
calculated by equating the contributions from each com-
bination of wave frequencies present in an irregular sea
state in a geometric manner. The method has been
described in Duncan and Drake [20] for the sum frequency
component of the second-order wave elevation and in
Agarwal and Manuel [21] for the complete second-order
wave model of both the wave elevation and kinematics,
including the sum and difference components. These ref-
erences present the method details. Although the method
was developed to calculate the second-order wave eleva-
tion, the same procedure can be applied to obtain the
second-order motion spectrum. In [21], the method is
applied to a complex bi-frequency wave amplitude matrix
{A} • {Ay and a wave elevation QTF; while in the present
study, it is applied to the slow drift motion complex matrix
given by {A} - {AY-[r] (where is the difference
frequency motion QTF). The result of the mentioned pro-
cedure is the complex second-order motion spectrum S^^\
In Figs. 5 and 8, Agarwal's and Manuel's procedure was
used for calculating the second-order wave elevation
numerical spectrum. It should be noted that it includes only
the incident wave component of the second-order wave

Springer
368
elevation, so it does not include the diffracted and radiated
second-order waves.
The results are presented as a real auto-spectrum, which
is calculated by:
Sec (I
where the superscript * stands for the complex conjugate.
Five numerical low-frequency spectra are compared,
which correspond to the low-frequency motion QTFs cal-
ctdated by the five approximations described in the previ-
ous sections.
Figure 5 presents the wave, surge, heave and pitch auto
spectra in deep water (300 cm at model scale) for the se-
astate with Hs — 9.4 cm. The results are plotted in the
figure as a black solid line for the complete second-order
solution, a green dotted dash line for the no free surface
forcing approximation, a red dotted line for Newman's
approximation, red dotted lines with cross markers for the
Newman - j - Setdown approximation and blue line with
cross markers for the Hooft's based method. In addition,
the circles represent the experimental results and the large
dashed hght brown lines stand for linear predictions.
The experimental surge motion spectrum shows much
larger variance at the low-frequency range (below 2 rad/s)
than around the wave frequency range (between 3 and 6 s).
In fact, the surge motion is excited at the natural frequency
(0.5 rad/s) by the slowly varying second-order drift forces,
which, although of very small amplitude, induce large
motions because the damping is small. The results from the
surge motion induced by any of the second-order approx-
imations is in good agreement with the expenments in the
low-frequency range, clearly showing that the motion in
this range is caused by the second-order slow drift force.
This also seems to indicate that any of the approximations
can be used to predict the surge slow drift motion in deep
water. A closer look at the surge spectrum low-frequency
zoomed graph (right side graph) shows the complete sec-
ond order and no free surface results compare slightiy
better with the experiments than the other approximations.
Figure 6 presents the difference frequency exciting
force QTFs (left graphs) calculated by four approximated
methods and the conesponding surge motion QTFs (right
graphs). It is interesting to observe that while the force
QFTs by different approximations are quite different,
especially for large difference frequencies, the resulting
surge motion QTFs are qualitatively similar. In fact, the
slow drift motion QTFs are dominated by the resonant
dynamic amplifications around the surge natural frequency
(0.5 rad/s): all of the surge motion QTFs exhibit the two
peaks along the 0.5 rad/s and —0.5 rad/s diagonals. Forces
at difference frequency away for 0.5 rad/s are filtered by
the body inertia and the motion responses are negligible.
Ö Springer
J Mar Sci Teclinol (2015) 20:357-372
Regarding the heave motion spectrum in Fig. 5, the
motions are very well reproduced in the linear range (above
2 rad/s). However, for frequencies smaller than 2 rad/s, the
correlation between the measured and the numerical looks
poor. These spectral values are very small. It is very dif-
ficult to measure accurately the large linear motions and
the small second-order motions with the same measuring
equipment calibration. Since the heave motions tend to
follow the second-order wave elevation in the low-fre-
quency range, and the experimental second-order wave
elevation agrees with the theory, it is possible that the
disagreement is caused by measuring errors. Nevertheless,
the results show that the heave motions can be completely
characterized by the linear model.
The pitch motion experimental spectrum (Fig. 5) is
dominated by the linear response, since the pitch natural
frequency coincides with the sea state peak frequency. In
that frequency range, the linear forces are around two
orders of magnitude larger than the second-order ones, but
it is possible to see that the numerical motions resulting
from the second-order approximations exhibit a dynamic
amplification around the pitch natural frequency, which
was shown to be accurate in bichromatic waves. Low-fre-
quency pitch variances are very small, but still a good
agreement is observed between the experimental data and
the numerical predictions.
The analysis of the plots in Fig. 5 led to the conclusion
that the low-frequency spectral variances are related to
second-order low-frequency motions, while the variances
for frequencies between 2 and 6 rad/s are related to first-
order motions. The coherence spectrum provides a way to
evaluate this aspect. In its original form, the coherence
spectrum is calculated by means of a balance between the
cross spectrum of two data series and the product of the
auto-spectrum of each series:
Coh 1 (19)
S.-!X ' Syy
It is a measure of how well a linear transformation will
turn one series into the other. There is no similar function
to evaluate the relation of the second-order type, unless one
looks at the problem in the bi-frequency space. We can,
however, relate the numerical auto-spectrum (S^^^y of the
second-order motions with the experimental auto-spectrum
of the motions (5'^^,,p) to see i f they correlate well. It is not
a traditional coherence spectrum, but it has been used by
scientists before (e.g., Kim and Kim [22]), and it allows for
some conclusions to be drawn. This modified version of the
coherence spectrum can be calculated as:
5cc
Coh 2 = (20)
 J Mar Sci Technol (2015) 20:357-372 369

Fig. 6 Surge force [left) and Surge QTF - Exact calculation Surge QTF - Exact calculation
motion {right) quadratic transfer
function in deep water (300 cm)
calculated with the four
different methods

10

Surge QTF - No FS Forcing Surge QTF - No FS Forcing

Q 4 200
G)
Q.

100
Q

- ol 0
10 10

10 10

0) (rad/s) CO, (rad/s)

co^. (rad/s) m. (rad/s)

Surge QTF - Hooft based method Surge QTF - Hooft based method

In both of the coherence spectra versions, the closer the ''^Sure 7 presents the coherence spectra for the surge,
result is to 1, the better the correlation between the two h'^^^^. ^"'^ P^^'^'^ motions. Cohl (black dots) stands for the
time series experimental data; therefore, the two time series consist on

Springer
370
Fig. 7 Surge, heave and pitch Surge Coherence Spectrum Hg=9.4cm /)=300cm
experimental and numerical 2,
linear and second-order force
coherence spectra. Water depth
of 300 cm. Sea state with
Hs = 9.4 cin, Tp = 1.55 s,
g = 1 and g = 9.806 ms""
4 6
03 (rad/s)
Pitch Coherence Spectrum Hg=9.4cm /7=300cm
4
CO (rad/s)
the experimental wave elevation and wave exciting force.
Coh2 results are calculated from the experimental force
time series and numerical time series, where different Coh2
results stand for the: complete second-order solution (black
line), no free surface forcing approximation (green dashed
line), Newman's approximation (red dotted line). Hooft
based method (blue solid line with cross markers), New-
man + setdown (red dotted line with cross markers) and
linear exciting forces (brown dashed line).
Analyzing the coherence spectra, it becomes clear that
in the surge case the second-order motion is dominant in
the frequency range below 2 rad/s. The coherence is better,
for the no free suiface forcing and the complete calculation
than for Newman's approximation in that range, indicating
better quality of these methods even at deep water. It was
shown by Pessoa and Fonseca [14] that with the body
restrained from moving, Newman's approximation pre-
dicted similar slow drift force as the other approximations
in deep waters. The present results indicate that with the
body free to move this does not happen, and the results
tend to underestimate the experiments. This is most likely
due to the highly resonant pitch motion on this particular
geometry and sea state which causes the assumption of a
fairly constant force QTF not to be valid in this case.
In the surge mode, for frequencies higher than 2 rad/s,
the motions are dominated by the linear forces, but since
these motions are quite small, the quality of measurements
is not as good. As a consequence, the coherence curves are
not exactly close to 1.
^ Springer
J Mar Sci Technol (2015) 20:357-372
Heave Coherence Spectrum /-/g=9.4cm /)=300cm
2
8 4 6
CO (rad/s)
- Cohl
Coh2 complete.
Coh2 nofsf
—«— Coh2 Hooft
- - - • Coh2 Newman+Setdown
Goh2 Newman
Coh2 linear
The pitch coherence plot also clearly shows the domi-
nance of the second-order forces in the low-frequency
range.
Finally, Fig. 8 presents the response spectra for the
55 cm water depth. Although the wave peak period as the
same as the one con-esponding to the deep water results
(Fig. 5), the significant wave height is around 2.6 time
smaller; therefore, direct comparison of results is not
possible. Anyway, the results are qualitatively similar for
the two water depths, as described in the following sen-
tences. Experimental surge spectral values are very large at
the low-frequency range, since difference frequency wave
forces excite the surge natural period. Experimental dif-
ference frequency slow drift motions are identified also for
heave and pitch, although with very small magnitudes. The
agreement between the numerical results and the experi-
mental data is good for the low-frequency range, with
slightly better agreement for the complete second-order
solution and the no free suiface solution, compared to the
other approximations.
The heave motions in the low-frequency range are in
much better agreement that in the case presented in Fig. 5.
A possible explanation for this is that it is very hard to be
able to measure accurately the large linear motions and the
small second-order motions with the same measuring
equipment. That is apparently the reason why the low-
frequency motions are not conectly predicted in the low-
frequency heave motions in Fig. 5. However, in this case
the incident waves are much less energetic than the ones
 J Mar Sci Teciinol (2015) 20:357-372 371

Fig. 8 Wave elevation, surge Wave Auto spectrum Wg=3.6cnn h=55cm

and heave experimental and 10"-
numerical linear and second-
order force auto spectra. Water
depth of 55 cin. Sea state with 10 Experimental
Hs = 3.6 cm, Tp = 1.55 s, linear
- Complete
g = 1 and g = 9.806 ms~-
- No FS forcing
-Hoofl based meth.
00 Newman+Setdown
Newman appr.

2 4 6 8
CO (ratd/s)
Surge Auto Spectrum /-/g=3,6cm /?=55cm Surge Auto Spectrum H =3.6cm /7=55cm

CO CO

2 4 6 8 0.5 1 1.5 2
CO (rad/s) CO (rad/s)
Heave Auto Spectrum H_=3.6cm /7=55cm
Pitch Auto Spectrum Wg=3.6cm /)=55cm
10 -2 ^

10"

10
"E

2 4 6 2 4 6
CO (rad/s) CO (rad/s)

tested in Fig. 5. This allows calibrating the measuring
equipment for acquiring smaller motions. In addition, the
heave motions QTFs at this water depth are much larger
due to the shallow water effects (see Fig. 3). This makes it
easier to accurately measure the second-order motions in
the set up used for the experimental data shown in Fig. 8,
than in the one used in Fig. 5.
6 Conclusions
A numerical and experimental investigation of the slowly
varying motions of a floating body subjected to bichro-
matic waves and long crested iiTegular waves is presented.
Five approximations for the second-order slowly varying
wave exciting forces were tested, namely: the complete
second-order solution, the complete solution with no free
surface forcing, Newman's approximation plus second-
order incident wave field effects (Hooft based method),
Newman's -|- wave setdown con-ection approximation, and
Newman's approximation.
Regarding the bichromatic waves conditions, the
experimental program successfully identified the second-
order difference frequency surge, heave and pitch motions.
Experimental slow drift surge motions are very much
amplified when the difference frequency is close to the
surge natural period. This behavior is well represented by
the several numerical methods. Surge slow drift motion
amplifications are also identified when the bichromatic
waves induce pitch resonant motions. In this case, New-
man's and Hooft based approximations underestimate the
surge dynamic amplifications.
The surge and heave second-order amplitudes increase
as the water depth decreases, especially for small depth
ratios (h/Xj) where a steep increase is identified. Results
from the complete second order and the no free suiface

•0 Springer
372
solutions compare well with the experiments. Newman's
approximation compares well with the experiments in deep
water; however, it underesdmates the experiments in
shallow water. The approximations which consider the
second-order incident wave potential effects are adequate
to calculate the second-order modons, except for large
difference frequencies where the second-order scattering
potentials cannot be neglected.
Regarding the irregular wave results, the experimental
surge spectral values are much larger at the low-frequency
range than at the wave frequency range, which is correctly
captured by all second-order numerical approximations,
with a very slight advantage for the cotnplete second order
and no free surface forcing solutions. It was concluded that
while the force QFTs by different approximations are quite
different, especially for large difference frequencies, the
resulting surge motion QTFs are qualitadvely similar. In
fact, the slow drift motion QTFs are dominated by the
resonant dynamic amplifications around the surge natural
frequency (0.5 rad/s) and forces at difference frequency
away for 0.5 rad/s are filtered by the body inertia and the
motion responses are negligible. Heave and pitch low-
frequency responses are very small compared to the first-
order ones. The experimental conditions tested were not
appropriate to take conclusions regarding the depth effects
on the slow drift motions in irregular waves.
Acknowledgements The work was performed in the scope of the
project "Operability and extrerne loads on offshore fioating wind
turbines", which is financed by Fundajao para a Ciência e a Tecno-
logia (FCT) under contract PTDC/EME-MFE/120593/2010. The
expeiimental work has been supported by EC 6th FP through the
grant to the budget of the Integrated Infrastructure Initiative HY¬
DRALAB III within the Transnational Access Activities, Contract no.
022441. The work of the first author has been financed by grant
SFRH/BD/64316/2009 of Fundafao para a Ciência e a Tecnologia.
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