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AQWA

AQWA
Fixed Reference Axes :

X
Y
Z
NOTE: 15000 8000

AQWA
AQWA
x
AQWA

AQWA


-180 180
x symx 0 180
x y symx symy 0 90

AQWA phase angle



AQWA ( in degrees) (dt= *T/360,
T ).


AIRY a = A cos (-t + kx) (: radians/sec; k: )AQWA
LINE, LIBRIUM, FER, DRIFT, NAUT

STOKES a = A cos (-t + kx) + 0.5 k A cos2(-t + kx)

AQWA NAUT
AQWA

P-M spectrum
JONSWAP spectrum
User defined spectrum
Gaussian spectrum for Cross Swell
NOTE::
a.Long crested waves ;
b. Short crested waves , ie a spread sea (only for AQWA LIBRIUM
and FER)
AQWA
Uniform wind
Ochi and Shin wind spectrum
API wind spectrum
NPD wind spectrum
User-defined wind spectrum
AQWA
Uniform current
Profiled current velocity

20

20,,

P-M (JONSWAP)
AQWA

Morison

plate element
Incident wave force (Froude-Krylov force):
Diffraction force:

Radiation force:
Drift force Drift force
tube element
F=


NOTE: Morison 0.2

D/L<0.2)

..

F X (1 Ca ) 0.5 Cd V V D
Ca cd D

( 2)
Fstrc

d
dt

2
momentum conservation method
V d p 1
dS

SR

V
d VVn dS pn d S
SR: S vertical cylindrical boundary surrounding the structure in the flow
t
SR
R

field with a large radius R,


: SR fluid
Horizontal force/moment only /


2 pressure/motion integration method
( 2)
Fstrc
0.5 g r2 n dl 0.5 n dS
2

WL

S0

( X .
S0

..

) n dS M s .R. X g
t

WL: S0 :
6
X j 1 X j K 1 ( X j ) F ( X j )
K F
X=|Xj+1-Xj|
..
M s X (t ) F (t )
F(t):


N
N 200

N

z ( x , t ) a i cos k i x i t i
i 1

AQWA-LINE
AQWA-LINE
AQWA AQWA-LINE
/
3D
2nd order 3D
3D /
AQWA AQWA-LINE
AQWA-LINE
AQWA-LINE

AQWA-LINE
AQWA-LINE
AQWA-LINE

AQWA-LINE

AQWA-LINE AQWA

AQWA-LINE
AQWA .hyd&.res

AQWA-LINE

RAO
/
Source distribution approach (boundary
integration method); ;

Mean drift forces :1


2
AQWA LINE
DATA (LBDFN)
GOON (L)
REST (LBDFN)
LDOP - .POT .USS

, SF/BM) (L)
PRCE Decks 1 5 (LBDFN)
PPEL (LBDFN)
NPPP
ALDB Aqwa-Line - reads in AQWA-LINE
TAKE CARE

database

NQTF
CQTF QTF
PFIX

Partially FIXed

AQWA-LINE
AQWA-LINE 3D
a source:
1
2
3

AQWA LINE 3D
small wave elevation

2 0

(V )

( Vs ).n 0

D( z )
0
Dt

i.e.

( z )
.( z ) 0
t

0
t
z

p 1
. g const
t
2

g 0
t

0
z
g

0 when z for deep water

0 at z d ( sea bed ) for shallow water


z

e it [( I d ) j .x j ] e i t
j 1

I d , j=1,2,,6 6 x
.
d
ig cosh[k ( z d )]e ik ( x cos y sin ) e i t
I e i t
cosh(kd )
k :

2 gk tanh(kd )
pulsating source distribution
1
( x, y , z )
G ( x, y , z; , , ) ds
4
s
source strength; S ; (x,y,z)
; (, , ) S ;G Laplace
. G :

G ( x, y , z; , , )
2 i

1 1
( )e d
' 2 pv
cosh ( d ) cosh ( z d ) J 0 ( r ) d
R R
sinh( d ) cosh( d )
0

( k 2 2 )
cosh k ( z d ) cosh k ( d ) J 0 ( kr )
( k 2 2 ) d

2 / g k tanh(kd )

( x )2 ( y )2

( x )2 ( y )2 ( z )2

R'

( x ) 2 ( y ) 2 ( z 2d ) 2

pv principal value; J0 Bessel


source strength
:

( x, y , z )
1
1
( x, y , z )
n
2
4

G ( x, y , z; , , )
ds
n

.

Bernoulli
:

p
t

1Far field solution ():

1
( 2)
Fstrc

d
dt

Vd p

dS

SR

V
d VVn dS p n d S
t
SR
SR

SR R SR
The mean force is the time average of the above expression and the first order term
becomes zero. The pressure includes the non-linear term in the Bernoulli equation and
therefore will not disappear.
2 ():
( 2)
Fstrc
0.5 g r2 n dl 0.5 n dS
2

WL

( X .
S0

S0

..

) n dS M s .R. X g
t

WL ; r relative wave surface elevation; S0


..
;X ; MS ;R ; .
Xg
QTF
Components at both difference and sum frequenciesEach with real and imaginary parts

F ( 2 ) (t ) Pij cos i j t i j Pij cos i j t i j


N

i 1 j 1

Qij sin i j t i j Qij sin i j t i j


N

i 1 j 1

Pij( ) 1 4 g i . j cos( i j )n dl

Waterline integral

WL

1 4 i . j n dS

Bernoulli

S0

1 2 ( X i .
S0

j
t

..

M s .Ri . Xg j

S0

.n.dS
t

) n dS

Acceleration
Momentum

( 2)

2nd order potential

X :

[ 2 ( M s M a ( )) iC ( ) K ] X ( ) F ( )
Ms , Ma , C , K , F
.
Hydrostatic Forces and Moments

Hydrostatic Stiffness Matrix

A xyz xgb, ygb zgb


K46 and K56 0
/

Fundamental Calculations assuming zero forward speed

Corrections for forward speed

THE SECOND ORDER WAVE EXCITING FORCES

the polar velocities

M(s) M(a) = C K(s) F


X = RAO

RAO

AQWA-Librium
AQWALIBRIUM

/
AQWA, FER, DRIFT, NAUT
()),

AQWA-LIBRIUM

AQWALIBRIUM

AQWA-LIBRIUM





/
pulleywinch


Database approach for static catenary mooring line;
AQWA


static stability)

AQWA LIBRIUM
STAT static stability
DYNA dynamic stability
LSTF AQWA-LINE
PBIS ( step )

REST - RESTART Option This option is used when the program is being
restarted at any stage greater than the first (see Section 5.2). A restart card must
follow the options list when the restart option is used. This card indicates the
stage at which the program is to continue and the stage at which the program is to
stop (see AQWA Reference Manual). DATA - DATA Option This option is used
to check the data input to the program, and is equivalent to performing the first
two stages of the program analysis (see Sections 6.1 and 6.2). If the data is
correct, then the program would be restarted at Stage 3 of the AQWA-LIBRIUM
analysis by using the RESTART option.

PRST - PRINT GLOBAL STIFFNESS MATRIX This option causes the


global stiffness matrix, which is computed in the equilibrium analysis (Stage 5),
to be output. PPEL - PRINT PROPERTIES of Each Element on Each
Structure This option allows the user to output complete details of each element
used in the body modelling. All important details of the body elements are output
together with the resultant properties of the bodies. It should only be used when
running AQWA-LIBRIUM as an independent program.

ALDB - READ AQWA-LINE DATABASE Read the hydrodynamics database


from the hydrodynamics (.HYD) file created by a previous AQWA-LINE run.
This option is used:
(i)

if the user wishes to modify the hydrodynamic data calculated in a


previous AQWA-LINE run, without having to re-run the AQWA-LINE
radiation/ diffraction analysis.

(ii)

(ii) if the user is setting up an analysis with several structures, and wishes
to pick up the hydrodynamic data for one or more structures, calculated
in a previous AQWA-LINE run

RDDB - READ DATABASE Read the hydrodynamics database from the


restart (.RES) file created by a previous AQWA-LINE run. This option is
used if the user wishes to modify the hydrodynamic data calculated in a
previous AQWA-LINE run, without having to re-run the AQWA-LINE
radiation/ diffraction analysis. Note: Normally, this would be done using the
option ALDB (see above). The RDDB option is only needed if the
hydrodynamics file from the previous AQWA-LINE run has been
accidentally deleted. Note that, as the model definition has to be read from
the restart file before the hydrodynamics can be read, there is no possibility
to change the model definition, when using this option (use ALDB instead).
PRDL - PRINT DATA LIST FROM RESTART FILE This option causes the
program to read the data contained within the restart backing file and
output it to the user. Typically all body modelling information is output,
together with environmental wave loading details.
LSTF - LINEAR STIFFNESS This option is used to instruct the program to
use the linear stiffness matrix calculated by AQWA-LINE, instead of

calculating the hydrostatics by integrating over the wetted surface.


RNDD - Reynolds No Drag/C for Morison Elements (switched by SC1/
CARD) This option causes drag coefficients to be set to zero, i.e. switches off
the Morison drag calculations on tube elements. Together with the SC1/ card
in Deck 17 this option causes drag coefficients to be calculated using the
Wieselburger curve for Reynold's number dependent drag coefficients.
PBIS - Print Force Components at Each Iteration Step This option causes
the program to output the component forces acting on each structure (e.g.
gravity, hydrostatic, current, and mooring forces) for each iteration.
PRCE - Print Card Echo For Decks 1 to 5 This option causes the program to
echo the input received by the program in reading Decks 1 to 5. This is the
body modelling data and the static environment (see Section 6.1).
END -This is used to indicate the end of the option list.

Stage 4 in AQWA-LIBRIUM
AQWA-LINE1-3 stages


restart file
restart file
input data file

Note:
Decks 1 to 8 AQWA-LINE
Decks 9 to 20 input
(.res AB** deck1-8 .hyd deck1-8
AB**).
Stage 5 in AQWA-LIBRIUM ( input )
Input for AQWA-LIBRIUM with Results from Source other than AQWA-LINE,

AQWA LIBRIUM
Librium
line
Fasin(kx-wt)F
F2=asin(asin(kx-w1t)sin(asin(kx-w2t+ww) w1 w2 F2
w1w2 w1 w2

asin(kx-wt)

.
X :

X j 1 X j K 1 ( X j )F ( X j )
K F . X

AQWA-FER
AQWAFER:
transfer function

AQWA-FER RAOs


AQWA-DRIFT

AQWAFER
AQWA-FER AQWA-LINE
AQWAFER AQWA-LIBRIUM

AQWA-FER effective stiffness


constraint effects
AQWAFER

AQWA-FER
r.m.s .
FD = (CD. |Vrms|) .V
AQWA FER
DRFT
WFRQ
RDEP LIB

GLAMGLobal Axis Motions


CRAO RAOS
AQWA FER
(taking wave frequency response as an example)
S xi xi ( ) [mod( H ij ( ) F j ( ))]2 S ( )
j

Sxjxi() i ,Hij () is the receptance matrix


defined as:
H ij ( ) [ 2 ( M s M a ( )) iC ( ) K ]1
Fj() is the frequency dependent force ( j ) on the structure and S() is the
wave spectrum

AQWA-NAUT
AQWA-NAUT
AQWA-NAUT AQWA-LINE

AQWA-NAUT F-K

STOKES

elbow joints

AQWA-NAUT

AQWA-TETHER ,AQWA-SOLAR
AQWA-NAUT


Froude-Krylov
STOKES
()
AQWA NAUT
IRRE

()

CONV
LSTF

AQWA-LINE

RDEP

AQWA-DRIFT
AQWADRIFT

AQWA-NAUT
AQWA-DRIFT
AQWA-DRIFG AQWA-LINE


snatch phenomena AQWATETHER ,AQWA-SOLAR
AQWA-DIRFT

Froude-Krylov

()
AQWA-DIRFT
AQWA-DIRT
AQWA-DRIFT




Repeat
a two stage predictor/corrector integration scheme used
AQWA DRIFT
WFRQ ()
CONV
MRAO

RAOs

TRAO RAOs. RAOs RAOs


PBIS

RDEP
FQTF QTF
IRRE IRREgular (CONV mandatory)
CONV Use CONVolution
LSTF LINE Linear STiFness. Uses
hydrostatic stiffness from LINE without modification.
RDEP ReaD Equilibrium Position
AQWA NAUT & DRIFT
AQWA-NAUT DRIFT
:




..

M s X (t ) F (t )

F(t) : incident wave force diffraction force


radiation force mooring force drift force drag force
.
DRIFT NAUT

AQWA-DRIFT

AQWA-NAUT

Froude-Krylov

()

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