2.

019 Design of Ocean Systems

Lecture 8

Seakeeping (IV)

March 4, 2011

 General Response of A Floating Body in Regular Ambient Waves

3 (t) = <{3 eit }
z 6 (t) = <{6 eit }

Incident wave:
I = a cos(t kx) y 2 (t) = <{2 eit }

5 (t) = <{5 eit }

tt + gz = 0 x (t) = t /g

1 (t) = <{1 eit }

~n 4 (t) = <{4 eit }

6
X
Equation of motion: [(Mj` + Aj` )` + Bj` ` + Cj` ` ] = FEj eit (j = 1, . . . , 6) (1)
`=1

6
X
[ 2 (Mj` + Aj` ) + iBj` + Cj` ]j = FEj (j = 1, . . . , 6)
`=1
Mj` : 6 6 elements of the egeneralized mass matrix
Aj` , Bj` : 6 6 elements of added mass and wave damping matrices
Cj` : 6 6 elements of hydrostatic restoring matrix
FEj : 6 elements of the wave excitation vector
j ()
Transfer function or Response Amplitude Operator (RAO): Hj () = a (j = 1, . . . , 6)
 Numerical Method for Potential-Flow Problems

Uniform free stream:

= Ux
u = U, v = 0, w = 0
2D point source:
m

ur
=
2
ln x2 + z 2
=
2
ln r

ur = 2r
2D point source plus point sink:

p
m

=
2
ln
(x + s) + z
2
ln
(x s)2 + z 2

2 2

source
sink
2D doublet or dipole: source + sink, as s 0 while keeping 2ms = .

m
(p
(x + s)2 + z2
) z
= lim ln p
s0 2 (x s)2 + z 2
m 2xs x
= lim =
s0 2 x2 + z 2 2 x2 + z 2

2D Stream plus dipole:

x
= Ux + 2 x2 +z 2

p
a= 2U
Three-dimensional point source:
Q
(~x, ~) =
4R
Q 1 O
= p
4 (x )2 + (y )2 + (z )2

Three-dimensional source distribution:

Distribute sources of strength M (~, t)dS, varying with space and pulsating in
time t and proportional to surface area dS:

d = 1
M ~, t)G(~x, ~)dS
(
4

G(~x, ~): Greens function

sources are distributed
over the surface of the body
Green function
in unbounded fluid: G(~x, ~) = 1
R = 1
(x)2 +(y )2 +(z)2

Free-surface Green function

(in finite depth H) satisfying linearized
free-surface boundary condition:

1 1
G(~x, ~) = + 0
R R
Z
( + )eH
= +2 cosh ( + H) cosh (z + H)J0 (r)d
0 sinh H cosh H

k2 2
+2i 2 cosh k(z + H) cosh k( + H)J0 (kr)
(k 2 )H +

2
= g = k tanh kH
p p
R= (x )2 + (y )2 + (z )2 , R0 = (x )2 + (y )2 + (z + 2H + )2
 Source Method
Distribution sources on the body surface with unknown strengths:
M (~, t) = Re{M (~)eit }

Diraction problem: MD (~)

R
D (~x) = 1
4
S
MD (~)G(~x, ~)dS

Radiation problem: Mj (~)

R
j (~x) = 1
4
S
Mj (~)G(~x, ~)dS

The source strength is found by requiring the velocity satisfies the boundary
condition on the body surface S

Diffraction problem: R
Boundary
1

D (~x) +
MD (~) G(~x, ~)dS
=
I

2
M 1

S n n

condition

at ~x = ~xB : Radiation problem:

R

1

x)
2
Mj (~ +
4
1

SMj (~) n G(~x, ~)dS

= (i)nj

 To solve the integral equation for unknown source strengths, we apply the so-called
panel method: Subdividing the body surface into N elements with the assumption of
an uniform distribution of source strength over each element. This will leads to N
equations and N unknown source strengths:

PN I (~
xm )
MD (~xm ) +
M (~
x ) =
n=1 mn D n n

m = 1, 2, , N
R
mn =
G(~
x m , ~n )dS

Sn n

Once unknown source strengths on the body are found, the diffraction and radiation
potentials can be evaluated:

PN R
D (~x) = MD (~
x n ) 1
G(~
x , ~n )dS

n=1 4 Sn
 Numerical solution of the linear system of N equations:

[A]{M } = {b}

Gauss elimination O(N 3 ) computational eort

Iteration solver O(N 2 ) computational eort

Convergence with error 1/N as N

For better convergence

of the solution, Free surface
discretization must be
fine where geometry
changes sharply or Flow decay
near free surface. Exponentially
With depth
from free
surface
Figures removed due to copyright restrictions.
Please see Fig. 3 and Fig. 5 from Newman, J.,
and P. Sclavounos. "The Computation
of Wave Loads on Large Offshore Structures."
Figures removed due to copyright restrictions. Please see Fig. 3
and Fig. 5 from Newman, J.,and P. Sclavounos. "The Computation
of Wave Loads on Large Offshore Structures."
MIT OpenCourseWare
http://ocw.mit.edu

2.019 Design of Ocean Systems

Spring 2011

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