Dr Shuangxing Du
ANSYS Inc.
2010 ANSYS, Inc. All rights reserved.
Topic
The topics covered in the training course are as follows:
description of program capabilities
theoretical background
modelling techniques
analysis procedure
data requirements and preparation
description of output and interpretation of results
worked examples
2010 ANSYS, Inc. All rights reserved.
AQWA Programs
Structure and Capabilities of AQWA Programs
AQWA LINE
3-D diffraction & radiation analysis program for wave force and
hydrodynamic property calculations; hydrostatic analysis
AQWA LIBRIUM
Structure equilibrium position and force balance calculations; eigen
mode and dynamic stability analysis
AQWA FER
Spectral analysis of structure motion (wave frequency or/and drift
frequency) and mooring tension in irregular waves
2010 ANSYS, Inc. All rights reserved.
AQWA Programs
AQWA NAUT
Time domain program for wave frequency structure motion and
mooring tension analyses in large waves
AQWA DRIFT
Time domain program for drift frequency and wave frequency
structure motion and mooring tension analysis in irregular
waves
AQWA WAVE
Interface program to transfer wave loads from AQWA LINE to a
FE model for structural analysis
2010 ANSYS, Inc. All rights reserved.
AGS
ANSYS
LINE
LIBRIUM
FER
WAVE
NAUT
DRIFT
ASAS
(FE model)
EXCEL
2010 ANSYS, Inc. All rights reserved.
Moored Tanker
Semi Sub
FPSO
2010 ANSYS, Inc. All rights reserved.
Ship in channel
ANSYS, Inc. Proprietary
JACK-UP
FPSO+TLP CONCEPT
MANY SHIPS
10
SEMI-SUB
11
LIFTING
12
13
ANSYS-to-AQWA Interface
14
15
AGS Post-processing
16
AGS Post-processing
Pressure contour
17
Installation
AQWA, AGS and AQWA-WAVE
AQWA Manuals and examples
AGS demonstration
18
19
p = Z 0
Hydrostatic
z
Port side
Stern
Bow
x
Starboard side
Archimedess principle
Buoyancy of an immersed body = weight of the fluid displaced
G
Hydrostatic pressure
p = Z 0
Z0
G: centre of gravity
B: centre of buoyancy
Buoyancy is the resultant of all hydrostatic force over wetted surface
2010 ANSYS, Inc. All rights reserved.
20
Directions in AQWA
positive angle
X axis
21
Phase Angle
22
Waves in AQWA
Wave Types:
1)
2)
23
Waves in AQWA
Wave Forms:
1)
Regular Waves
Used in AQWA LINE, NAUT (by default)
2)
Irregular Waves
Defined by a wave spectrum and used in AQWA
LIBRIUM, FER, DRIFT, NAUT
Imported time history of wave elevation
used in AQWA DRIFT
24
Waves in AQWA
Wave spectrum types accepted in AQWA are:
a.
b.
c.
d.
P-M spectrum
JONSWAP spectrum
User defined spectrum
Gaussian spectrum for Cross Swell
25
26
27
Fluid force
Hydrodynamic
Hydrostatic
Ambient pressure
(incident wave or
Froude-Krylov force)
Effect of structure
on waves
(Diffraction)
F()
In-phase
(Added Mass)
Out-of-phase
(Radiation
damping)
Ma().x
C().x
28
K.x
29
Morison Force
Equation for Morison force calculation
For slender cylindrical elements (D/<0.2), e.g. tube
elements, the hydrodynamic force on unit length of the
element can be calculated using Morison equation:
1
F = a w + C a a w C a X + C d DV V
2
Ca and Cd are the added mass and drag coefficients of the element;
is the volume of the element (per unit length)
D is the element diameter,
V is the relative velocity.
Radiation force
Froude-Krylov force
Wave inertia force
2010 ANSYS, Inc. All rights reserved.
30
Drag force
ANSYS, Inc. Proprietary
Surface mesh
2010 ANSYS, Inc. All rights reserved.
31
32
2 = 0
(V = )
j (r )
n
= ie n j + Um j
( n1, n2 , n3 ) = n,
( n4 , n5 , n6 ) = r n
(m1, m2 , m3 ) = n [(Ux + s )] / U = 0,
(m4 , m5 , m6 ) = n [r (Ux + s )] / U = (0, n3 , n2 )
33
e2
=0
z g
Radiation condition
A physical condition to avoid mathematical ambiguity which could
result in structure induced waves travelling in the wrong direction
34
Numerical method
= [ I + d +
j =1
x j j ] e iet ,
e = (1
U
g
cos )
35
I e i t
36
G ( x, y, z; , , )
=
1 1
+ '
R R
( + )e d
cosh ( + d ) cosh ( z + d ) J 0 ( r )d
+ 2 pv
0 sinh( d ) cosh( d )
(k 2 2)
cosh k ( z + d ) cosh k ( + d ) J 0 (kr )
+ 2 i 2 2
(k )d +
Database method used for efficient and accurate evaluation
37
d: water depth
G ( x, y, z; , , )
( x, y, z )
1
1
ds
= ( x, y , z ) +
4 sb
n
2
n
For the radiation potentials, the induced normal velocities (in 6 degrees
of freedom) should be the same as those due to structure motion.
38
p (1) = gw t
1st order wave forces are obtained by integrating
the pressure over the mean wetted body surface.
Froude-Krylov and diffraction force F j (e ) = S n j (ie + U )(I + d ) dS
b
x
K ij = g Sb ni w j dS
Special cases
K15 = g Sb n1w5 dS mg , K 24 = g Sb n2 w4 dS + mg
2010 ANSYS, Inc. All rights reserved.
39
(0)
(1)
2 ( 2)
X = ( X , Y , Z ) = X + X + X + ...
If the 1st order motion/potential/force in the form of
N
i =1
N N
40
d
dt
d pn d S
SR
V
d VVn dS pn d S
t
S
S
R
- More accurate
- Horizontal force/moment only
- Single structure only (or multi-bodies without hydrodynamic interaction)
41
WL
Sb
..
+ ( X . )n dS + M s .R. X g
t
Sb
42
F ( 2 ) (t ) = Pij cos (i j )t + ( i
N N
i =1 j =1
+ Qij sin (i j )t + ( i
N N
i =1 j =1
1 2
Pij (i , j ) / i j
AGS -> File ->open
i
n
2010 ANSYS, Inc. All rights reserved.
43
Waterlineintegral
WL
+ 1 4 i . j n dS
Bernoulli
Sb
2 ( X i .
Sb
j
t
)n dS
Acceleration
..
Qij( )
+ M s .Ri . Xg j
Momentum
( 2)
.n.dS
+
t
Sb
similar to above
44
[ 2 ( M s + M a ( )) iC ( ) + K ] X ( ) = F ( )
where Ms is structure mass
Ma is added mass (frequency dependent)
C is damping (frequency dependent)
K is hydrostatic stiffness
F is wave force (incident and diffracting forces).
45
Hydrodynamic
Ambient pressure
(incident wave or
Froude-Krylov force)
Effect of structure
on waves
(Diffraction)
F()
Hydrostatic
In-phase
(Added Mass)
Ma().x
46
Out-of-phase
(Radiation
damping)
C().x
K.x
Modelling (1)
using ANSYS
Install ANSYS-AQWA interface
(1) copy anstoaqwa.mac to C:\Program Files\Ansys Inc\v110\ANSYS\APDL
(2) open C:\Program Files\Ansys Inc\v110\ANSYS\APDL\start110.ans,
insert *ABBR, AQWA, ANSTOAQWA
run ANSYS
Notes:
(1) define geometry of wet
and dry surface separately;
Z-axis upwards;
(2) SHELL63 for surface mesh,
PIPE59 for tube;
(3) check normal direction
(blue: outside; pink: inside);
(4) Click AQWA to output
AQWA data file;
(5) COG and mass need to be
modified.
47
Modelling (2)
Using AGS (with AL****.LIN file)
Notes on AL****.LIN file (see AGS-Help for details):
(1) each station starts from lowest point at centre plane;
(2) all x-coordinates should be the same on each station;
(3) max. 50 points on each station, condense points at high surface change;
(4) input stations (max. 100) from stern to bow,
only two stations are needed to define a parallel midbody section.
run AGS
(1) double click AGS icon on screen;
(2) Plots Select Lines Plan File (in Lines Plan Mesh Generation window)
open to find the *.lin file to be opened;
(3) Plot Lines (in Lines Plan Mesh Generation window) to show offset curves;
(4) input two drafts; COG, mesh size (in Lines Plan Mesh Generation window) ,
then Generate Mesh;
(5) File Save *.DAT (in Lines Plan Mesh Generation window)
to save the generated file.
Create model (Approx. Dimensions: 200x40x15, mesh size:6)
Notes: PMAS values in Deck 4 may need to be modified (data\lines\altank.lin)
48
49
Z
z
W.L.
ZCGE(deck7)
COG
ZLWL(deck2)
X
x
50
51
52
53
OUTPUT FILES
.mes
.lis
.pos
.plt
.pac
.vac
54
ASCII text file containing all the input data necessary for
the Stages of Analysis about to be executed.
Note:
55
56
Deck 0: overall
administration parameters
Analysis Stages
(2)
(3)
Enlarge capability
(4)
57
Directions in AQWA
Directions must be input in ascending sequence (41 max.):
y
v
x
2010 ANSYS, Inc. All rights reserved.
58
45.000
0.000
Column 21
02
ELM1
02QPPL DIFF
0(1)(
06FREQ
1)(
0.10472
-45.000
0.000
2)(
0.000
-10.620
12)(
0.15708
11)
0.25133
0.41888
0.52360
Note: Most input data should be typed into the required columns !!!
See AQWA-Reference Chapter 4 for details
2010 ANSYS, Inc. All rights reserved.
59
ASCII text file containing most output data (in text form)
from the Stages of Analysis which have just been executed.
It can be examined using a text editor.
60
61
hydrodynamics file(HYD)
model definition
Used for
hydrodynamic database
hydrodynamic database
further run
AGS
regenerate .HYD file (RDDB)
further run
manipulate (ALDB in Deck 0,
FILE in Deck 6 )
62
63
contains either:
time history of forces and motions (DN)
positions and forces during iteration
towards equilibrium (B)
forces and responses as a function of
frequency (LF)
64
Stage 1
Model Definition,
Decks 1 to 5
Stage 2
Hydrodynamic Database,
Decks 6 to 8
Stage 3
Stage 4
Stage 5
65
Stage 1
Decks: Categorize input data
Deck 1
COOR
Node Coordinates
Structure Number
Deck 2
ELM*
Element Definitions
Deck 3
MATE
Material Properties
Deck 4
GEOM
Geometric Properties
Deck 5
GLOB
Global Constants
66
Stage 2
Deck 6
FDR*
Deck 7
WFS*
Deck 8
DRC*
* Structure Number
Note:
67
Stage 3
This is the main AQWA-LINE analysis and is a calculation
stage only.
Note:
68
Stage 4
Deck 9
DRM*
Deck 10 HLD*
Deck 11 ENVR
Deck 12 CONS
Constraints (deactivate/constraint)
Deck 13 SPEC
Spectral Parameters
(wave, wind spectrum / time history)
Regular Wave Parameters (N)
WAVE
Deck 14 MOOR
* Structure Number
2010 ANSYS, Inc. All rights reserved.
69
Stage 4 (cont)
Deck 15
STRT
Deck 16
TINT
LMTS
Deck 17
HYDC
Deck 18
PROP
70
Stage 5
This is the main solution stage and is a calculation stage only.
Deck 21
ENLD
71
Notes:
(1) DIFF is needed for diffracting QPPL and TPPL elements;
(2) ILID/VLID for defining external diffracting elements;
2010 ANSYS, Inc. All rights reserved.
72
Program name
2.000
0.000
-3.000
-0.500
0.00
0.00
73
6000.00
0.0
4000.00
Warnings in AQWA-LINE
General warnings
requirements
reason
solution time
modelling convention
No gaps
force balance
solution requirement
Dimensions < KR
good practice
74
Warnings in AQWA-LINE
Stage #1 checks (Geometric properties)
Area ratio of adjacent elements < 3
Aspect ratio > ,
AR =
rf =
area
.C
2
longest side
area
75
Warnings in AQWA-LINE
Stage #2 checks (hydrodynamic)
Longest side < 1/7 wavelength
Fatal error if more than 5% fail
Distance above sea bed must be > 0.5.rf
(use non-diffraction elements otherwise)
76
AQWA-LINE run
Run stages 1 - 3
77
GOON
REST
LDOP
PRCE
PPEL
78
79
Note:
LDOP card in al*.dat file
run AGS
(1) double-click AGS icon on screen;
(2) File Open to input al*.res file;
(3) Plots to show the model;
(4) Wave Contours to show or calculate wave contour if not existing;
(5) choose required waves (dir. freq. in Wave Surface Contours window);
(6) tick Cycle to animate;
(7) point Cursor to a specified location to show the numerical value at that point.
2010 ANSYS, Inc. All rights reserved.
80
Note:
LDOP card in al*.dat file
run AGS
(1) double-click AGS icon on screen;
(2) File Open to input al*.res file;
(3) Plots to show the model;
(4) Wave Contours to show or calculate wave contour if not existing;
(5) choose required waves (dir. freq. amp. in Wave Surface Contours window);
(6) RAO Motion Ref. Height(Z) above SWL Include RAO motion;
(7) tick Cycle to animate;
(8) point Cursor to a specified location to show the numerical value at that point.
81
Note:
run AGS
(1) double-click AGS icon on screen;
(2) File Open to input al*.res file;
(3) Plots to show the model;
(4) Select (in Model Visualization window) Pressure Contours;
(5) choose required waves (dir. freq. in Pressure Contours window) Time=t to animate;
(6) Select (in Model Visualization window) Sequence
(7) Start Sequence (in Define Sequence window) Stop Sequence Record Every
save sequence files if required
(8) Hardcopy Output .bmp on playback Rewind << Play > BMP FILE DUMP (yes)
(9) Using a software to convert .BMP file into .gif file which may be replayed by internet
explorer or .avi file which can be insert into Powerpoint
2010 ANSYS, Inc. All rights reserved.
82
Note:
LDOP card in al*.dat file
run AGS
(1) double-click AGS icon on screen;
(2) File Open to input al*.res file;
(3) Plots to show the model;
(4) Select (in Model Visualization window) Pressure Contours;
(5) choose required waves (dir. freq. in Pressure Contours window) Time=t to animate;
(6) View Angle (in Pressure Contours window) Choose view angle (in Contour View Angle window)
(7) Option (in Pressure Contours window) Wave Amplitude & Diffracted Wave Surface
(in Hull Contours / Diffracted Wave Option window);
(8) Select (in Model Visualization window) Sequence
(9) Start Sequence (in Define Sequence window) Stop Sequence Record Every
2010 ANSYS, Inc. All rights reserved.
83
84
0.0000
1.000E09
85
NOTE: When CQTF is used, manipulation can been done in version 12.0 thereafter
86
AQWA-LIBRIUM introduction
Equilibrium position, Static and Dynamic stability
- Complex ship/ offshore structure system;
- Various mooring, fender, pulley, winch, constraints
configuration;
- Equilibrium estimation under wave, wind and current
combination;
- Database approach for static catenary mooring line;
- Finite element approach for dynamic cable (drag force);
- Iteration approach for determining equilibrium position;
- Calculate the eigenvalues of linearised stiffness matrix
to obtain static stability;
- Eigenvalues of the impedance matrix to give dynamic
stability.
- Series of wave spectrums and mooring configurations
2010 ANSYS, Inc. All rights reserved.
87
Static stability
K X X = 0
Eigenvalue (<0, unstable; =0, neutral; >0, stable)
Dynamic stability
M 1C M 1K X
X
+ = 0,
0 X
I
X
(from MX + CX + KX = 0, X = et , = f + ig )
Eigenvalue (f<0, stable; f>0 and g=0, unstable; f>0 and g0, fishtailing)
2010 ANSYS, Inc. All rights reserved.
88
Analysis Procedure
A common method of analysis
(1) run Stages 1 to 3 in AQWA-LINE
(2) run Stages 4 to 5 in another program, say, AQWA-LIBRIUM.
Example:
Step 1: AQWA-LINE run
(Restart 1 to 3)
Input Files
Output Files
Input Files
altest.dat
altest.lis
altest.res
altest.hyd
altest.plt
abtest.dat
altest.res
Output Files
abtest.lis
abtest.res
abtest.eqp
Input in RESTART card
starting from Column 21
89
restart file
restart file
input data file
Note:
Decks 1 to 8 data is read from the restart file
Decks 9 to 20 are required in the input data file
(Decks 1 to 8 must be omitted if restart from Stage 4).
90
AQWA-LIBRIUM
JOB TEST LIBR
TITLE
OPTIONS REST END
RESTART
4 5
09
NONE
10
NONE
11
NONE
12
NONE
13
SPEC
13SPDN
END13PSMZ
14
MOOR
14LINE
1
14LINE
1
14LINE
1
END14LINE
1
15
STRT
END15POS1
1
16
NONE
17
NONE
18
NONE
19
NONE
20
NONE
(Example 1)
JOB card
Read database
ALBOXM
0
0
0
0
2.000
4.000
511
512
513
514
1.4715E6
1.4715E6
1.4715E6
1.4715E6
100.0
100.0
100.0
100.0
0.0
0.0
1.5
8.000
0.0
91
Dir1
DirN
1 . N
Dir1
Dir1
DirN
DirN
C1 . CN
C1 . CN
(optional)
(optional)
92
Nrow
Ncol
C1 . C6
Nrow:
Row number in drag matrix
Ncol:
Column number in drag matrix
C1 C6: Drag Force Coefficients
C11 C12
C
21 C22
C
C32
DragForce = 31
C41 C42
C51 C52
C61 C62
2010 ANSYS, Inc. All rights reserved.
C13
C14
C15
C23
C24
C25
C33
C43
C53
C63
C34
C44
C54
C64
C35
C45
C55
C65
93
C16 x. x
C26 y . y
C36 z. z
.
C46 .
C56 .
C66 .
ANSYS, Inc. Proprietary
STAT
DYNA
PBIS
PRAF
94
JOB card
TITLE
ALTANK4
Read database
Direction sequence no.
If DIRN is not present in Deck 10, the directions
are those defined on the DIRN cards in Deck 6
09
NONE
10
HLD1
10SYMX
10DIRN
1 5
0.0
20.00
40.00
60.0
10DIRN
6 10
100.00
120.00 140.00
160.0
10WIFX
1 5 1.460E3 1.692E3 1.685E3 1.175E3
10WIFX
6 10 -3.427E2 -9.839E2 -1.520E3 -1.692E3
10CUFX
1 5 0.505E5 0.572E5 0.532E5 0.344E5
. . .
END10CURZ
6 10 0.808E7 0.220E8 0.191E8 0.103E8
95
80.00
180.00
3.745E2
-1.794E3
0.172E5
0.00000
315.0
1.00 315.0
25.00 315.0
0.3000 2.0000
4.000
8.000
96
1.50E6
1.50E6
1.50E6
1.50E6
142.0
142.0
142.0
142.0
Deck 15: Initial position
100.00
0.000
0.000
0.000
0.000
0.000
97
Note:
run AGS
(1) double-click AGS icon on screen;
(2) File Open to input al*.res file;
(3) Plots to show the model;
(4) Move Structure (in Model Visualization window) if needed;
(5) MINI-LIBRIUM (in Model Visualization window);
(6) Iterations (in MINI-LIBRIUM window to choose the iteration step number);
(7) Equilibrate (till converged)
98
Note:
run AGS
(1) Double-click AGS icon on screen;
(2) File Open to input al*.res file;
(3) Plots to show the model;
(4) Run -> AQWA-LIBRIUM
(5) Display (in AQWA-LIBRIUM Run Monitor window) -> Static Stability Modes;
(6) Click Mode# (in Static Stability Displacement Modes window to animate the mode).
2010 ANSYS, Inc. All rights reserved.
99
Ns1
Nd1
Ns2
Nd2
K1
Ns1
K2
Nd1
K3
Ns2
K4 K5
Nd2 (Ts)
(Fw)
(Fp)
10
Nz
Ns1
Nx
Nd1
Ne
Ns2
Zmin
M1
M2
M3
Zmax
A1
A2
A3
Slope
EA1
EA2
EA3
Tmax1
Tmax2
Tmax3
L1
L2
L3
Nd2
Nz, Nx
Ne
Zmin, Zmax
Slope
10
Moorings database
XRMIN
XRMAX
ZRMAX
ZRMIN
Slack point
10
AQWA-LIBRIUM Example 3
JOB MESH LIBR
TITLE
MESH FROM LINES PLANS/SCALING
OPTIONS REST PBIS LSTF END
Stages
RESTART
1 5
01
COOR
015001
1700.
0.
-300
015002
200.
-1500.
-300
015003
200.
1500.
-300
Nodes
015004
-1500.
0.
-300
01
1
45.000
-45.000
0.000
01
2
22.500
-45.000
0.000
01
3
0.000
-45.000
0.000
. . .
01 501
45.000
0.000
0.000
01 511
146.000
0.000
0.000
. . .
END01 999
0.000
0.000
-10.620
02
ELM1
02SYMX
02SYMY
02QPPL DIFF
0 (1)(
1)(
2)(
12)(
11)
02QPPL DIFF
0 (1)(
11)(
12)(
22)(
21)
02QPPL DIFF
0 (1)(
21)(
22)(
32)(
31)
02QPPL
0 (1)(
1)(
5)( 105)( 101)
. . . .
END02PMAS
0 (1)( 999)(
1)(
1)
02
FINI
10
JOB card
1-5, if Deck 1-8 include
0.000000
0.000000
0.000000
0.000000 3.4199E11
0.000000 3.5991E11
1.000E09
1.5702E6
1.0E07
4.0E09
2.0E10
1.692E3
-9.839E2
1.803E3
5.618E3
-1.407E5
1.842E5
1.685E3
-1.520E3
3.623E3
4.103E3
-1.689E5
1.559E5
1.175E3
-1.692E3
5.168E3
0.0
-1.068E5
0.0
3.745E2
10
5.000E09
6.093E3
-1.167E4
5
9
5
9
5
9
0.505E5
-0.160E5
0.000E0
0.550E6
0.000E0
0.808E7
315.0
1.00
10.00
0.3000
30
3201
3201
3201
3201
0
0
0
0
0.572E5
-0.295E5
0.207E6
0.478E6
-0.118E8
0.220E8
0.532E5
-0.451E5
0.394E6
0.382E6
-0.213E8
0.191E8
0.344E5
-0.466E5
0.486E6
0.0
-0.239E8
0.0
0.172E5
0.542E6
-0.118E8
Composite catenary
(start from anchor section)
315.0
315.0
2.0000
4.000
8.000
280.
150.00
120.00
170.00
300.
0.00
0.00
0.00
6.0000E8
9.0000E8
6.0000E8
7.500E6
7.500E6
7.500E6
500.0
500.0
700.0
5001
5002
5003
5004
213.000
-213.000
-2.00
0.000
0.000
144.0
10
250
1.5
0.5
1.5
0.5
1.5
0.5
1.5
0.5
1.5
0.5
1.5
0.5
Iteration controls
10
490.
150.00
1.00
120.00
170.00
1.00
0 6001
0 6002
0 6003
0 6004
510.
0.010 6.0000E8 7.500E6
0.75
0.10
0.010 9.0000E8 7.500E6
0.010 6.0000E8 7.500E6
1.00
0.15
400.0
500.0
700.0
Similar to NLIN
10
Fenders
14POLY
14FEND
14FLIN Type
in which
K1 K5
Size
Kf
Kc
Type
Ns1
Nd1, Nd2
Ns2
Nd3, Nd4
K1
Size
Ns1 Nd1
K2
Nd2
Ns2
K3
Kf
Nd3
K4
K5
Kc
Nd4
T = K1X + K 2 (X ) 2 + K 3 (X )3 + K 4 (X ) 4 + K 5 (X )5
2010 ANSYS, Inc. All rights reserved.
10
WNCH:
FORC:
LINE/PULY:
LE2D:
SWIR:
With weight
(COMP/ECAT,NLIN,NLID)
Without weight
(LINE,NLIN, FEND/FLIN)
Line breaking.
FILE:
10
NODE:
PREV:
Write into *.LIS file every N time steps to reduce the size
PRNT:
PTEN:
Output mooring tension, anchor uplift, laid length etc for mooring line.
ZRON:
PMST:
11
11
S xi xi ( ) = [mod( H ij ( ) F j ( ))]2 S ( )
j
H ij ( ) = [ 2 ( M s + M a ( )) iC ( ) + K ]1
Fj():
S():
11
Linearisation in FER
Stiffness: stiffness (hydrostatic, mooring etc.) at the initial position,
(= the static equilibrium position with RDEP option)
Damping:
cable drag is linearised using the r.m.s. velocity, when NLID used
FD = (CD. |Vrms|) .V
wind drag is linearised,
1st order hydrodynamic damping
any other input damping (fender, constraints)
Forces:
1st and 2nd order wave forces
11
ANALYSIS options
RDEP
FQTF
(OPTIONS card)
ReaD Equilibrium Position
Full diff freq. QTF to be used
Printing options
PRRI
GLAM
(OPTIONS card)
Printing RAOS at spectrum integration points
Output significant motions in GLOBAL axis
11
AQWA-FER
Example 1
For AQWA-FER run
11
30
5001
5002
5003
5004
0
0
0
0
490.
150.00
1.00
120.00
170.00
510.
0.010
0.010
0.010
6.0000E8
1.33
9.0000E8
6.0000E8
0.000
0.000
0.000
7.500E6
0.10
7.500E6
7.500E6
400.0
500.0
700.0
6001
6002
6003
6004
100.00
0.000
0.000
11
11
M s X (t ) = F (t )
diffraction force
mooring force
drift force
drag force
radiation force
Convolution integration form:
[M s + M a ()] X (t ) + KX (t ) + h(t ) X ( )d = F1 (t )
0
11
S()
Wavelet: equal areas
.
2010 ANSYS, Inc. All rights reserved.
11
AQWA-DRIFT
AQWA-NAUT
Non-linear hydrostatics /
Froude-Krylov force
12
AQWA-DRIFT
Example 1
10
0.808E7
315.0
1.00
25.00
0.3000
0.220E8
0.191E8
0.103E8
0.00000
Convolution method
for radiation force
315.0
315.0
2.0000
4.000
12
8.000
5001
5002
5003
5004
490.
150.00
1.00
120.00
170.00
0 6001
0 6002
0 6003
0 6004
510.
0.010
6.0000E8
0.010
0.010
9.0000E8
6.0000E8
0.5
7.500E6
1.33
7.500E6
7.500E6
400.0
0.10
500.0
700.0
12
CONV
Use CONVolution
PBIS
RDEP
FQTF
12
AQWA-NAUT
Example 1
12
AQWA-NAUT
06
FDR1
06FILE
06CSTR 1
END06CPDB
07
WFS1
07ZCGE
END07FIDD
08
NONE
09
DRM1
09FIDD
END09
10
HLD1
10WIFX
1
. . . .
END10CURZ
6
11
NONE
12
NONE
13
WAVE
13WAMP
13WVDN
END13PERD
Example 1
(cont.)
AL******.HYD
-2.0000
9.986E08
1.0373E5
1.5702E6
1.0E07
4.0E09
2.0E10
1.460E3
1.692E3
1.685E3
1.175E3
3.745E2
0.808E7
0.220E8
0.191E8
0.0
12.0
135.0
12.00
5.000E09
12
AQWA-NAUT
14
MOOR
14COMP
20
14ECAT
14ECAT
14ECAT
14NLIN
1
14NLIN
1
14NLIN
1
END14NLIN
1
15
STRT
END15POS1
16
TINT
END16TIME
17
NONE
18
NONE
19
NONE
20
NONE
30
3201
3201
3201
3201
0
0
0
0
280.
150.00
120.00
170.00
(cont.)
300.
0.00
0.00
0.00
6.0000E8
9.0000E8
6.0000E8
7.500E6
7.500E6
7.500E6
500.0
500.0
700.0
5001
5002
5003
5004
213.000
2000
Example 1
-213.000
-2.00
0.000
0.000
144.0
1.0
12
AQWA-NAUT
Example 2
315.0
1.00
25.00
0.3000
2000
4.000
8.000
0.5
12
IRRE
RDEP
12
Wave,
wind,
current
directions
12
Multiple Structures
(1)
Node definition:
13
AQWA-LINE
(AL2TANK1)
01 999
110.552
0.000
15.000
* ATTACHMENT POINTS ON STRUCURE 1 FOR MOORING LINE BETWEEN ST#1-2
015501
0.000
0.000
15.000
015502
230.000
0.000
27.000
01STRC
2
01
1
0.000
0.000
5.000
. . . .
. . . .
Node definition
01 999
110.552
0.000
15.000
* ATTACHMENT POINT ON STRUCURE 2 FOR MOORING LINE BETWEEN ST#1-2
015501
0.000
0.000
15.000
015502
230.000
0.000
27.000
END01
13
for structure 2
AQWA-LINE
02
ELM1
02SYMX
02QPPL DIFF
. . . . .
END02PMAS
02
ELM2
02SYMX
02QPPL DIFF
. . . . . .
END02PMAS
02
FINI
03
MATE
03
END03
04
GEOM
04PMAS
END04PMAS
(cont.)
101)(
1)(
6)(
102)
999)(
1)(
1)
1 (1)(
101)(
1)(
6)(
0 (1)(
1 1.23009E8
2 1.23009E8
1
2
957.0E7
957.0E7
999)(
2)(
0.000000
0.000000
0.0
0.0
102)
2)
0.000000
0.000000
0.0 19050.0E7
0.0 19050.0E7
13
AQWA-LINE (cont.)
05
GLOB
05DPTH
500.0
05DENS 1024.4
END05ACCG
9.807
06
FDR1
06FILE
ALTANK4.HYD
06CSTR
1
END06CPDB
06
FDR2
06FILE
ALTANK4.HYD
06CSTR
1
END06CPDB
07
WFS1
07ZCGE
0.0000
END07FIDD
07
WFS2
07ZCGE
0.0000
END07FIDD
08
NONE
1.000E9
1.000E9
13
13
AQWA-LIBRIUM (cont.)
. . . .
14
MOOR
14COMP
20
30
14ECAT
14ECAH
14ECAT
14ECAT
14NLIN
1 5001
14NLIN
1 5002
14NLIN
1 5003
14NLIN
1 5004
14LINE
1 5501
END14LINE
1 5502
15
STRT
15POS1
15POS2
END
16
LMTS
16MERR
16MMVE
END16MXNI
1200
17
NONE
18
NONE
19
NONE
20
NONE
0
0
0
0
2
2
490.
150.00
1.00
120.00
170.00
510.
0.010
0.010
0.010
6001
6002
6003
6004
5501
5502
1.50E7
1.50E7
100.0
100.0
100.00
-215.00
0.000
-000.00
0.000
0.000
0.05
2.00
0.05
0.5
0.05
2.00
6.0000E8
1.33
9.0000E8
6.0000E8
7.500E6
0.10
7.500E6
7.500E6
400.0
500.0
700.0
0.1
1.0
0.000
0.000
0.1
1.0
0.000
0.00
0.2
2.0
Iterative control
13
Deck 2 (compulsory)
13
13
1.0E15
1.0E13
1.0E15 2.2564E11
1.0E13
1.00E10
1.0E15
1.0E13
1.0E15 2.2564E11
1.0E13
1.00E10
1.175E3
3.745E2
0.103E8
0.00000
1.175E3
3.745E2
0.103E8
0.00000
AQWA-NAUT
(cont.)
. . . .
13
SPEC
13SPDN
13CURR
13WIND
END13PSMZ
14
MOOR
. . . . .
END14LINE
1 5501
*
15
STRT
*
15POS1
* END15POS2
15
NONE
16
TINT
END16TIME
2000
. . . . .
20
315.0
1.00
25.00
0.3000
315.0
315.0
2.0000
4.000
2 5501
1.50E7
100.0
100.00
-215.00
0.000
-000.00
0.000
0.000
8.000
0.000
0.000
0.000
0.000
0.000
0.00
0.5
Due to RDEP
NONE
13
13
AQWA-LINE
(AL2TANK2)
14
AQWA-LINE (cont.)
02
ELM1
02SYMX
02QPPL DIFF
1 (1)( 101)(
1)(
6)( 102)
. . . . .
02TPPL
45 (1)( 4606)( 4506)( 4507)
Remove geometric symmetry
02RMXS
02PMAS
0 (1)( 999)(
2)(
2)
02PMAS
0 (1)( 5001)(
3)(
3)
02PMAS
0 (1)( 5002)(
3)(
3)
02PMAS
0 (1)( 5003)(
3)(
3)
Elements for attachment points.
02PMAS
0 (1)( 5004)(
3)(
3)
Needed when MSTR card used.
02PMAS
0 (1)( 5501)(
3)(
3)
02PMAS
0 (1)( 5502)(
3)(
3)
END02MSTR
(999) (212.3182, -221.0850,5.5864)
02
ELM2
Move structure
02HYDI
1
. . . . . . . .
Hydrodynamic interaction
END02MSTR
(999) (247.5926,-314.7867, 5.6123)
02
FINI
03
MATE
03
1 1.23009E8 0.000000 0.000000
03
2 1.23009E8 0.000000 0.000000
END03
3 1.00000E0 0.000000 0.000000
Fictitious material and geometric
04
GEOM
properties for attachment points
04PMAS
1
957.0E7
0.0
0.0 19050.0E7
0.0
19050.0E7
04PMAS
2
957.0E7
0.0
0.0 19050.0E7
0.0
19050.0E7
END04PMAS
3
1.0E0
0.0
0.0
0.0
0.0
0.0
14
AQWA-LINE (cont.)
. . . .
06
FDR1
06FREQ
1
06FREQ
7
06DIRN
1
06DIRN
6
06DIRN
11
END06DIRN
16
06
FDR2
06FREQ
1
06FREQ
7
06DIRN
1
06DIRN
6
06DIRN
11
END06DIRN
16
07
WFS1
07ZCGE
END07FIDD
07
WFS2
07ZCGE
END07FIDD
08
NONE
6
11
5
10
15
19
0.10000
0.70000
-180.00
-80.00
20.00
120.00
0.20000
0.80000
-160.00
-60.00
40.00
140.00
0.30000
0.90000
-140.00
-40.00
60.00
160.00
0.40000
1.00000
-120.0
-20.0
80.0
180.0
0.50000
1.10000
-100.00
0.00
100.00
0.60000
6
11
5
10
15
19
0.10000
0.70000
-180.00
-80.00
20.00
120.00
0.20000
0.80000
-160.00
-60.00
40.00
140.00
0.30000
0.90000
-140.00
-40.00
60.00
160.00
0.40000
1.00000
-120.0
-20.0
80.0
180.0
0.50000
1.10000
-100.00
0.00
100.00
0.60000
No symmetry,
-180 to +180
0.0000
1.000E9
0.0000
1.000E9
14
14
Symmetry
14
LIDS
ILID to remove irregular frequencies inside structures
can be automatically generated
VLID to reduce standing waves between structures
has to be defined by user
14
LIDS (cont)
02
ELM1
02ILID AUTO
02VLID
02SYMX
02QPPL DIFF
. . . . .
02PMAS
02MSTR
02QPPL DIFF
02QPPL DIFF
. . . . .
END
02
ELM2
02HYDI
. . . . . . .
END02MSTR
02
FINI
(LID_SIZE=2.0,START_NODE=5000)
777 (DAMP=0.01,GAP=8.0)
1 (1)(
101)(
1)(
6)(
102)
0 (1)( 999)(
2)(
2)
(999) (212.3182, -221.0850,5.5864)
777 (1)( 4606)( 4506)( 4507)(4508)
777 (1)( 4607)( 4508)( 4509)(4510)
1
.
(999) (247.5926,-314.7867, 5.6123)
14
Constraints in AQWA
(deck 12)
Nt
Ns1
Nd1 (Nd3)
Ns2
Nd2 (Nd4)
Nd4
14
Ns1
Ns2
Nd1, Nd2
ANSYS, Inc. Proprietary
Stinger model
constraints
14
Constraints in AQWA
(example)
12.000
0.000
0.000
4.000
14
Constraints in AQWA
(cont.)
03
MATE
03
END03
04
GEOM
04PMAS
04TUBE
END04TUBE
....
1
2
1.242E8
7850.0
1
2
3
957.0E7
0.500
1.000
12
CONS
12DCON
2
1 6023 6020
END12DCON
2
2 6023 6020
13
NONE
14
MOOR
14LINE
1 5201
2 6025
END14LINE
2 6024
3 6022
....
0.0
0.050
0.050
0.0 19050.0E7
2 6021 6004
3 6021 6004
5.0E05
5.0E05
0.0 19050.0E7
Define a constraint
from St#1 to St#2
25.0
0.0
20NONE
Constraint type:
2 - hinged
15
Definition of Tethers
Tethers in a TLP Model
15
TETHERS
9.0
0.0
8.0
2
2
2
Node#303
2
2
2
0.0
0.0
0
0
5730.0
5730.0
5730.0
5730.0
401
402
Node#300
Define tether lines
15
15
Running AQWA
1.
2.
3.
4.
15
Linearity
HydroStatics
Diff /
Radiation
FroudeKrylov
Drift
Force
Mooring
Force
Drag
LINE
LIN
LIN
LIN
2nd order
LIBRIUM
eqm
NON
LIN
LIN
2nd order
NON
Linearised
LIBRIUM
stability
LIN
LIN
LIN
2nd order
LIN
Linearised
FER
LIN
LIN
LIN
2nd order
LIN
Linearised
DRIFT
LIN
LIN
LIN
2nd order
NON
NON
NAUT
NON
LIN
NON
NON
NON
15
AQL
(1) AQL32.DLL in
c:\Program Files\Microsoft Office\
Office11
(2) AQL32.XLA in
c:\Program Files\Microsoft Office\
Office11\Library
(3) Set up location in
Excel\Tools\Add-ins\Browse
& Excel\Edit\Links
AQL function&value
15
Introduction of AQWA-Workbench
ANSYS Workbench Environment is a working platform that offers
Advanced Post-processing
2010 ANSYS, Inc. All rights reserved.
15
AQWA-WB
15
CAD
DesignModeler
15
Hydrodynamic Diffraction
AQWA-WB
Meshing Analysing Post processing
16
16
16
16
AQWAWB
What it does NOT provide
(R12, hydrodynamic diffraction)
- Development of mooring and environmental data
Only main functions of AQWA-Diffraction are covered
What it will provide
(R13, hydrodynamic time response)
- Mooring and environmental data
- Time domain analysis
Detailed AQWA-WB training material see
WB-HD_AQWA Training Course_Jun2010.pptx
2010 ANSYS, Inc. All rights reserved.
16
16
2.
Check the individual forces in the .lis file. Do they all have the expected
magnitude and sign?
3.
If a time domain analysis diverges, run to the timestep before it fails. This
may show the development of the problem.
4.
5.
6.
Fix the model with an articulation. This gives output of the applied forces
on the vessel which can provide a clue to the problem.
16
Support
If you need to contact the support team:
1. Quote error messages EXACTLY or better, cut and
paste them into an e-mail.
2. There may be several reasons for a problem and
you will often be asked to send your data. If so,
send ALL .dat files, AQWA-LINE backing files if
the run takes a long time.
3. If we can reproduce a problem then we can fix it. If
we cannot reproduce it, then it is very difficult to
help.
2010 ANSYS, Inc. All rights reserved.
16