7

19thWEGEMT School
Numerical Simulationof Hydrodynarnics:
Shipsand OffshoreStructures

OffihoreStructures

SeakeepingcodesAQUADYN and AQUAPLUS

DoctorDELHOMMEAUGrard
deNantes
EcoleCentrale

C ent r al e
N antes
1993
NANTES20-24SePtember

t\
7

THE SEAKEEPINGCODESAQUADYN AND AQUAPLUS

C. DELHOMMEAU
L.M.F.-D.H.N.
U.R.A.l2U du C.N.R.S'
EcoleCentraledcNantes

I- INIBQDTICT()Nj
Thislcctucrtescribesbrieflythetheoreticalbasisof thetwocompuercodesAQUADYNfor
,p"a ani-QepLUSfor seakceping-wirh rheapproximation of
l'nT#"dri;;;. ii,iJ'CwB t"vie theinnerproblem
"""k"";il;a;;i;;;a will alsobe described
-*"il; p;bl; i ,h" pt'bi;"iof boaes' noamg o' inuoersed'in a flrridof infinite
:;A;;;;; iubmitted to sinusoidal wavesTo
or constantfinitedepth,,"rrno, *t*oJ-fo*ard sped and
i,.iiiJi iilf""iin mathematical tes, we use'the theory of pe ectlluid, withoutviscosity'
takeintoaccouirr rhradiation atinfiniry.
condirion
iliiffi;1,;iril,iii"l "u"*iiiio condirions'thenrhisproblem
FirsLwe settheexactnonun"arp-o,"-, *ilh e exactfreesurfaces
up to the second order' We have to solve rhe
is linearizedndll quantrtres in rhcmechanical equatiosat the
ir"ai"i"',iiili" ."ur"m at rhcfllst"t" ""*fopiJ
ordei anio-apfly rheresuhs
'b'odie
s in waves withoul forward sieed'.then the
smeoider.Wc will first solvetheproblemof problem of tie sarDe kind asthe one'
iit"i'"iiif r,]nioi nuia in rai*i, t l'ich is-a Prcvious
;;;;iil;;;i"d" bv the problcm with forward sPeed and irs app-to-\imauons'
we willdescribc tr'"co.put"tiiii QUDYN. 2 1,-yE-,alq-leqA-Pll^s:-s:::l1l
ptu"ti"ni ti.ii"i *iti uc givn,with discussion of the mainpanicularitres ot lhesecoqes:
of iriegular freouencies'needof
recommendcd numberot p"n"tt, tTu'i na iemoval methods for drift
of cilculation
exDerimenhldampingat tne resonan-ioti^' iJtptiton
ansecondorderforces.
r --TIIEOBEIICAL-BASIST
2,1
2.1.1H],oothesis:
hypothesisallowingus to descdbemathematically thebehaviourof a lluid
Thefundamental
is thecondnuity hypotheiis. Otherhypotheses are:
to qeformarion velocities(Newtonisn fluid )'
-Hl: srainsarepropomonar aroslowlyvarying
-H2:Thefluidis homoe"noor *iirorropl. lame'sviicositycoefficients
'""----rif of densiryandtempelatue'arezero'Thedensityis constnt'.
funciions
t irt coeificiens ..
iiil "itosiry
*-.t forces are gravity Thefluidis initiallyatrcst'
forces'
-iiii errectandsuppose that
"i'rv
-iiji wn",i'r,Jili freesurface,we neglectrhcsurfacerensron
oressurc is constantaboveftee" surface'
- HvDothesis H1 andH2 leadto theNavier-Sokes equations With H3' we obtai[ thoperfect
fluid eoirtions for anirrotationalflow.

principlegivesr
ftiEii6'.Eprescntation mode,thcmassconservation
-> o
d i v( p9+?t=0..
 In perfectfluid, we have :

With H4 hypothesis,wc havc a potcntial O such8s :

V = glad O
Continuity equationis then :
'O = 0
pdncipleof dynamics
Thefundamental by theNavier-Slokes
is expressd equations
:
' I ---> X, + I, ----' .t lo
i 9136p = F-1 + -J-----J grad(div \D + -i V
PPP
where,in tre Euler'srepresentation is givenbyHelmboltz's
mode,theacceleration fomula:
-, -__, V2
v=e ra d(-)+(R otV )^V
_ * Ti
With H3, wc havcEuler's equation:
I --->
- S a adP = F -T
H4 gives :
F = sradU
with U=-42, thc z axis being directedupward.
lntegrario-n
of this equatio- givesLagiange'sequation,giving pressuresat any point of the
fluid.
nV2ao
! - + s z + :+--:-=F (t)

2.1.3Boundarvconditions:

- BodYcondition :
on a huid proof body C, thc normal relatiye velocity is zero,The normal velociry of the fluid
is thenequalto thenormalvelocityofa point takenon lhebody:
V. nla = V r . n 1 "
andwiththepotential:
a@
..- -l^ = V ".nl ^
.'nv
- Freesurfaceconditions:
'2
Equationof freesurfacrig ; = (x,y, t)
Thedynamicconditionof frcsurfaceis givenftornLagrangc'sequation:
P. .v2 a..
gz = r\t) - - (T + |
Tl, =1",y,,y
o'
- Foblcms, we take pa=o.
For all foUowing
The kinematiccondition is obtainedftom continuity hypothesis:
do o
. - = 0 = i + V .cra d D
ot dt
Whichgivcs,combinedwiih Lagrang'sfomula :
azo a av2 1 ->
---> o
* E q - +: . = F( t)
+ -=V . sradv' l str.Y.u
..
-Al -.tz dt z -
 " Radiationcondition at infinitY :
To Drovide for e unicity of the mathmatical solution' it is often ncccssarylo haYe-a
suppfeureiurv cnation expressingthe behaviourof the fluid-at inftnity, Onemethodto obtain this
iiiri"" ii-a'"J i" n"ylcisli and w:asusedby It Lamb. This is thc nearly Perfcctfluid-hypothesis,
*(, *e aa to the eco-nd memberof Euier'sequationa di-ssipativ-e lerm, expressingthatlhe-
behaviourof the fluid at infinity follows the piysical reality,wtuchwrll be canceueoat tne enqoI
the calculadons.The lalr are transformed as indicatedbelow :
Euler's eouation:
. I ---i
- $ e op v)
P
Lagrange'sequation:
vz <D
lim (: " + gz + -6- + 5; + 2 e' o ) = F(t)
C->O- o '
kinematic anddynamic ftee surfaceco[ditions :
azo ao av2 l:: --lv2 .ao .-.,r.. = F(t)
timr_**t";j + c +f +i v. r.edi+zE'7- + e'v') l=,,",r.,,
I
= lhr-*' ?
, 9$ 2 ' o + F (t)l
in movingaxis:
- Absolutevalesexpresscd
Prcviousboundarvconditionscanbo wdttein a movingframeparallelto theabsoluteftame
andmovingwith theveiocityV6.ln is case'wehave:
a
= | .^r, - vg. gradI novinguir
' u,, n.,. i -u
Othcr dcrivativcsin respectwith spacovaliablesarc the samcirr the two &xes'

2.1.4Similitudclaws :

The similitude of perfect fluid submitted to gravity forces with a free surface makes it
necessaryto spcct thc lieech-Froudcnumber;

1,/gr-

If wo considcrtwo fluidsof densitypl andp2, with tergthsLland L2' with gaty fields
gland 92,similitudeofvelocitiesgive :
vt r2
. .
speed, = -:
JE'i, J E z Lz
andfot massandtime :
Ml M,
mass:
rr "l
^
T"
Pz Li
1 lL.
.l L2
timc :
rl V l Cz
 andfor othcrqanti*TI
X2
t
displaccment q= 6

t ';=?,
accelcntion
Fl F2
fotcc :
,,;4= ;,t 8,
All calculationsmadefor I given fluid will bc available for a fluid in similitud-e.If density
nd gravity arc the same,theseLowsgive rhc variation of quantitieswith geometricscale'
2.2 l'ouations of mechsnicraoDliedlo the Dmblemsitho|It forwrd speed:
2.2.1 Systmof cooldinatcs:

z-

O- tt-

ct

o : Orieinof thefxed axis.

o' : Oriinof axismovingwith thc bodyandparallelto thefixed axis.
^ Thecightof frce surfce8tres!ir theseaxisis zF.
a' : Vanishingviscosityof nearlyperfecrfluid.
: Littlc parameter
of thedcvelopmcnt ill series.

2.2.2 Equationsof rhc pmblern :

The cquationsof the wholc problemin pcrfect fluid arc :

f=0
Iaol =
I tl" "t'n'"
l+l =o
I oz lz=-h
'I <D-r Or at inf inity

.$. jv +ev2l,=q1,,y,,1=F(t)
1,,-"-* S*rf ""v2+ze|f
u-r-*-]rf *f, *reo-tt,);,-,,,,,,,,
[e=
 If we developthe problemin perturbationseriesof the litde pamrneter, we have :
p = go(l) ..626(z) a o(s2)= ot + o2 + o(s2)

V = ga4o = sf(l) +gz(2)..o1sz; = Vl + V2 + o1e2)

whereo(e2) aretermsof order greaterthan e2

2.2.3 Hydrodlrnamicoroblemsat first and secondorder :

. Developing the--ircidentwave. the body condition and the fte surfacecondition at seond
o(ler, we navetnc lollowrng equatlons_

For the incident wave :

c o. hm ^/ r + h\
Fr = :'v -. "'c os Imo ( x c ops+ y s inp ) - o r l
'r , -t'-
c) ch moh
s7i1!; 62 = gm6th mgh , and

-R . = ---3 mn
u -a2 gch 2 mn (z+h
-;--u - " /) sin2[m g( xcosp+ysinP) - or l
'' 8(l) shr m6h ch m6h
ma'g 1
r(I) = 12 = --
4 sh moh.ch moh

For the hydrodynamicproblemat fust andsecondolder :

^o'
o l=0
I = nol.o
5if,l.o "el
o'I
, l,=_n-
Or - Orr at inf inity
r*.,-0, a2o, ^ . a@,*sil,=o
.. ao,I =Eo1l,-o
=o
*2ef
, r aor l
g dr lz=o

^o2=
aorl 0 = r-i = |
YE2'nolco
+ vEr.nlbo - - roPt.c.ucvet.
nolao
5* l"o an;lao
@oI
dz l4=_h
<D2+ 12 at infinity
=-291546r.r,uu$1,=o
E.o2l,-o **lPl,=o *u,"",-o*e'(erctor)2l,_o
1.or " a ao'* v? ^or)1,_o
, =--LJ;+lt .l
2 ; i -
 Thc lotal potentialat sccondordcrbcing:

o=or+or+o(et)
2.2.4Descriotionof thc motionof a bodv:
To descdbcth motion of a body, we divide the rootioni o two palts, translalionsand
rotations.
Vc.ctornanslation: i = o
Vectorrotation:0 = oii amundQ
Wo cantprscnttlrcrotationof anyvectorby:
-- s i no: -.l -c os 0- 0 n ( 0 a )
-. )=- a::::g^
R ( 5+f
of snypointof thebodyin respectto its locationatrestarc :
Thedisplacements

=
Poa(o)
PoE= tr +Rr(oFo)
= 1+61a oFq
t2 +62a oFs+]61r. (61r' oFs)
= iz +Rz(oFo)=
PoFz

f6ces:
2.2.5Prcssurs.
st differentqders areobtainedfrom Lagrange'sequation:
Plssules
po = 1g(z- zs)

p,=-pg'oFuT2-p$

- eS-ot A."* 9-|o(n,l or)2+&

,, = -pgvs12.i7
rt1oa2g
&-- 4 sbmoh.ch moh

Thepositiontakenby thebodydudngits motionaregivcnon thefigrebelou':

z
 With the following hypothesisoo the order of magnitudeof ths itegls, the forcas exened
by the fluid ol the body canbo wdtten :
lJ=o<el,lJ=o0l
sr co
ffg = fro for theforces
ig = OFoa io for themomcntsaroundO' movingwith thebody
Fgo=- JJnong
ds
CO
= 6r Fgo
F*1 - jJrrngds- lJp6nrds
^ c6 sl

Frz= 6zn Fro+ - lJrzngds* JJp1n,ds

r.(61n Fgs)+61a 691- 61I Fg6)
]6r
2.2.6Externalforces:
Extemalforcescan be dividedinto hydrostatcforcesand-hydrodynamic forces'
Fot
forces.
buoyancy a floating -The
body at
ftyarostaiiiforcesarethe rcsultantof gravity iorcesand
oquilibdumwe haYe:
Mg=pgVs,Xsa= X6O, Ysr =Y6a
CObeingthegravitycentreandC0 thehull centre,detinedby :
os=xi* * v1,* r1, oo=*.JoPodv,o0=#.JoFo
,",
d-
Yo vo vo
matrix
restoring
Thc hydrostatic is definedby :
00 0 0 0 0
00 0 0 0 0
0 0 S33 S34 S35 0
s=0 0 S43 S44 S45 0
0 0 S53 S5a S55 0
00 0 0 0 0
with :
s,"=pglJas
agsr"
sF.

s!4= psljY ds=s.!

s.,=-pglJx
as+,,
(zc,-ze")
s* =pglJv'as+pg\
' sF.

s* = -pg[[)ff as*,.
SF.

(zq-Lo,,
s,,=pgJJx'as+pgv.
SPr
The hydrcstaticforces at a point O' moving with the body, arc giYenby :
fhro = u
+ S350y1l.L
Ftu1=-[S33t",+S3ag*,
e 2 +A2 . 0 " ,.0 ", 0 *,.0 r ,
,, ,
4o2=6s,., - ff
fu , - ts33(tr2 +--r!3) . +s35
(112
zs)+s34 - (rv2- -:)---:L)l'
\

{ r , e ( o)=
I6.,(0 ) =-lSlrtzl + S440r,+ Sa50y1l'ix
{S53t", +S540tr+S550rrJ.i
a2 +A ? 0....0-. 0' A
ths2(o) = -[s43(tz,- lllalJt rr;..-5+tt,, +a + s a5{rr,- J\4)li*
,I3)
a2 0.._.0-- 0",.9". =
-e2 +J}lL)+Sss(tr, - --1t-a)1.iy + 0l Mhsr(o)
-tssft,, -$zF)+s54(tx2 ^
Thetransportation at a pointO fixedbeirg doocby :
l6, (o) = r's2 (O ) + iv 'r F1,",

And thehycLodynamic forcesat a point O' movi[g with thebody,by :

= -199 : wavehcight;zl = Po4'Llr-o : verticdasPlacernent arfreesurfacc
,
-. g dt lz=o
ig = fro for theforces
ig = OFoI io for themomen$aroundO' movingwith thebody
=5
4,ao
l?ft-
= ffprnsds= PlJ?ns ds
Fhdr
- - co co "'
as-f lo{(r
orl2-&)'ne
jo<ra as
-zr)2;e
Eaz=6r^,ar
+pJJIS+ron.e'aaS+
co "'
Thetra.nsportationat a pointO frxedbeingdoneby :
6 6 r( O )=Ir'02(0)+tl
^4dl
2.2.7 Inertial forces :

The inertial forcs,developedat first ordergive :

fur - Mtt +MOta OGo
= MooaEr+ Jt61(oF6)2
r'a,
.M
- oFe(oe.6,11a'

t66= J1x2
ya= Jtrz+z\am;trr= !122+x21am; +v2)d*
MMM
= I6s= - IYz dm
I45= Is4= -JxY dm',146=Iu=- Ixzdm; 156
MMM

fM 0 ol fI44 I45 146l I o MzGo -ttool

l;=l-vz6o 0
F = lo u o l;T= lr" 1 55156 Mx6oI
I o o ul lI* t65 tu6l LMvoo -M*oo o I
f h , , I l F l l E ,l - - ft, l
TIL6J=*16,j
Lu",l=L-r
2.3 Sohlfionofthe hvdrodvrlmicprohlemat first order :
of thegohlem :
2.3.1Decomgosition

For the ploblem of N bodiesoscillating indeperdontlyin waYes,we haveat first order :

<D =0
9 9 ^l= v ' , . 0t;"i=
, 1, 2, . ..,N
dn bi
aol =u
=-
ctzlz=_h
O -r OI at inf inity
..
rirr-+o*
a2o+2dl*r,=o
. ".ao . -aol =t.|,-o=o
f,
, l aol
t=-e al"=o
agchT0(zt h) cos[mg(xcos
p + ysinp)- or'l
o,- = -
o cnmon
srd; 192= gmgthmgh
with tho unknownvelocities obtainedftom unknown amPliludesof motions :
6
Vei= Vei + Vei' sino:t= !Vt1e
"ot.t q=l

and:
3 r6 -+
Vpi=-arsinotlL.ql q+ :,Al (o-3r.oPs)l
q=l q=4
3++6
+ocosor[LAI q+ >Al Gn-3a OPq)l
q=l q=4
u,ith :

A$ = A$ cosot + Ag sinot
*l o=t..3utr ttr" unitvectorof thcaxisx,y andz.
Ciniiaering a penurUation polenrial,thisproblemcanbe dividedinto N+l problems:
= <D*coso:t+ " sinrrn
=(Dr+ ( D p
N
op= o + o n i
is : .
onediftactii proltem,for whichthebodycondition
ry-l =.-Pr]
dn lE
;i=r,2...,N
dn lXi

and 2N radiation problcms,for which the body condition are :

9nil = ot)1,. i = 1,2...,N
1Vr,.*sr,r+ Vsi'sin
-' t2 ;
n l:i
a g n i l= o;j,,i
dn |ri
which areknown after having solvedody N elementaryndiation problems:
).q-, I
::-l = VtrEicosorlri ;lveEil= I

a.3o.l=o,jn,
dn t_.
,4

notation:
2.3.2Comolex
For quantitiesvaryingsinsoiday v/ith tine, wecausethecomplexnotation:
- or = Re i -i.r' i
A = A" cos(l)t+A-- sin - At'*' ; A = A +iA

, -7 1 -= r -f, -l
< A.B>=l R c ( A B ) =:R e( B A ) = : Re (A B +B A )
where< A.lB>is theaveiage valuein timeoftheploductA.B.
 2.3.3Solutionof theproblemby boundaryelementmethod:

To solve theseoroblems,we use e boundaryelementmethod,with Creen's function

allowinsto lakcinto acounttheboundaryconditionson body,botlomandfreesuface.
Tereare two main differencesbetweenall thc difftaction-radiationprograrns:
a) The first differenceis in the lype of singularitydisnibution used. Io the prcglem
AQUADYN, we usea mixed distributionof source,s and nomal dipoles,wherethe socesare
tnwn frorr'ttrebodv condirionandthe normaldipolesareunknown.The solutionof the problem
ii trreoontial.Theebciries outsideof the bodis,which are not known by the body condiiion
needi moutationof influenccocfficientsof Yelocityfor normaldiPoles,I processknown as
beine of oor accuracv( derivativeoperator) In the AQUAPLUS Progmm,we use only a
solutionof-theproblemis the velocityand the potentialis calculated
irri'turi,in of sources."I'he
from e sourcesby ilfluencecoefficientswith a goodaccuracy( i egation operator).
b) The secnddiffcrenceis in rhe way to computeGreen'sfuncrion.and the discretized
influenccocfficientsintc$atedon a panel.ln thegenemlcase'we can"!Tile:
C=Cr + C u
c ,' = t l ( -MM'l
] - ) d s ( M ' ; ) ; M ' 1 ( x,y' ,/1 )
'i

t
c2= ft jg(q)delds(M)
s_I
2
E= A lz+ e / + i ' l ; O = ( x - x ' ) co s0 + ( y- y' ) sin 0
Due to the cylinddcl sFnnotry of tho Greeo'sfunction, we analso write :
frn

IE(E)do
J(odo=
frfr
-, -t
with::
( = Z+i R c os0 | z =A (z +E t ) ' , R= A ( x- x) 2+ ( y- y' ) 2
The termsC1 8le calculated amlyticallyby classical HessandSmithformulas(1966)or
similarapproximations (P.Guvel:1975)U4l.
Foi ihe termsC2,thereis a choice:
- vy'ecanfirst comDute numericallv the simpleinle$al, andtlrenanalyticallythedouble
int"*u n s-.'irriii't'riii"i ror tt fustvers:ionof quADYN (1976)[19j
-"4"
- We canfirst computethe simpleintegralin O andthencqmputenumericallythe double
integralon S.In Dractice, dueto lhc slwvariationof theintegration termon lhe panel,e double
intelral on S ca-obe approximaled by only one point formula, which makesthrsmethodvery
cfficicnt.Thercis alsotwowaysof computing thesimpleinte$alin 0 :
a)-wecanapproximate theintegrat by severalanalyticalformulas, eachavailable in a domain
ofuatiitin ofn 'a Z, asproposed F. Nobless
b,-y (1982) and J N. Newman.(I985)[l7l'.
-- '- int'oa file of fou! elementary
t- *"can obtain! smeres-ults by usinga interpolarion
fon"tii,t i ti" i* uatiabiesR anaZ , olyonedhe and loaded_at eachexecutionof the
"reted
iii"i fZli. rir r* ir *i1uUt" borhfor infinirandfiniro warer deprh. The sizeof e ftle is
riih-'sii KBv* andthis mctnoais usedin tho codesAQUADYN-2 1 and AQUAPLUS'
iisilith-t *-*fiiiniciptation rne .esulLing computation timc areof lhe same orderaswith
atviicalformulas,
*'*' butthedtvelopment effonis lessfor thesecond meod .
;;;;i;H vJu"s or it runctionsareobminedby thesnti iinor image(1/R-1/R1
for T=0) andtheminor image(lA+1/R1: "'cteen doublemodelfor T=infinit4'
 2.3.4Discretizationof integral eouations:

_ written on the control point of,eachpanel of a body, the inregralequationsof tho

-Wh"l
boundaryelementmetiod aretransformed in linearsyslems,we have:
For the mixed distribution , N being the total numberof panelson the bodies:

u: N- - N t.t'
Lp;D;i=
"
L Tdn
i-l - i- r
M
And for the sourcedistribution :

*.on,=*1^,
The potential of sourcesarc obtainedby :

ol =-lo , S , ,
h',ri ili' "
ard the influence coefficientsare obtainedbyi
s,'=-1ffs(M',u)ds(M')
- 4rT
- r -
Dii=- , J- -J- ll S ( M ; . M ) d s ()M Dii= 0 .5
' 4r t d n l M

S being tlle Green'sfunction of the problerr|

diationproblemOii:
For theelementary

q .i q= 1,2,3
=o l:wio l=
( q -3n OFs) .nq= 4,5,6

For thediffractionproblemdp:
-l
a @e l O r
o nl
-|=_. dn
r
All coefficients of the linear systemsarg complex, They can be written in real form by
separatingthe contribution of terms in sinus and terms in cosines,but the rcal systemwill have
twice asmay unknownsas the complex one.The comptationtimes of a real systemof order 2M
is in 8MJ andthoscof a complexsystemof ordcrM is 4MJ. The complexnqtationis not only a
wdtng facility, it also savescomputationtime.
 :
2.3.5Irregularfrcouencies
alo Fdholm'sintegralequationsof the secondkind.These
TheDreviousintesnl equations
-uniq-ue
solution,cxceptfor cenaindiscretoftequencis \rhenthe
ave generaiiy-
equationa an
soiudon problem
assoiate
ofthein-ner is not to
identical zero.

l^o=0
jEqz=o= 0
l.ol>=o generalprincipleto suPPress
This canoccuronly whenthe body is not fully-immersed.-The
tt itrisuia. f.cqucnci;s is to w te o; the ftee surface a supplementary condirion which makes
"r"
ii.io.ifif"i U" ia"itca.l ro zero inside e body. This can be mdc by \trdting.ar the potential(.or
its iormal derivative in z ) is zero at certain points of,the fier surface..ln pnctrce, thesetrequencles
are eenemllvratherhieh nd arc not alwayi in the domainof calculalionfor waveprcblems'We
canipproxiirate e pe-riod ofthc lowestirregularfrequencyby e formula I
- -rH lL' .. .--t
th(-- 1l:; + l)
Irh(il;r+r) i
L TB'
r = u c.l--!i*-.- : ),,l,-l1/;,\ I
lts. ll: . tl
I
ll - r i. _ 1 r
I -rI.-+r
L l 8 B ", /
whereL,B arc the length ana breadthat waterlineandH is the draft'
For I=20 m and8=6 m, we haveT=2.6 s andfor Land B=90 m andH=40 m' T=8 857 s' -
i" p."ti"q iti innun"" of iregular frequencies is idenlifiedin a narrow.strip.of
v oi in pcriod,dependingo=fthe mesf,( decreasingwith refinedmesh-) This rcgion
"oo.iirn'.if " sciurce
iiilgti-iit"' f"t for mixeddisributionfor thrce dimensional
disuilurion-rhan cases.

2.3.6Radiationproblems:
The elementarv radiationproblemis tie problemof a body with a forcedsinusoidalmorion,
i" i"iti;ui-;; ;tei. rne rtces on the 6ody and on tie othe! bodies are obrainedfrom
Laerange's equation:
- Fr e ?notionq of body i, wc have:
- ^6 -- -C
p = pozlAf oni
q=r
Forcep on tho body j is given bY:

S =- I t*yfr-r'1ef*cosrot+ef*' sinro91
+Biqt-o(Al*siot - Al.'cos6)01)

--u = -pjt
uPq slPos
'- dn

ufl=+.Jlofr-$
=vPl*asPs
rniPt
'JrJ(!
 Properties:
;Bf =Bff; nlf >=o;uflo=r
Mff=MIP
ft aiae6naloi the manix of dampingcoefficicntmustbe positivc,and thc matriccs
-oi*ut"iuio"t,. Thisgivesa goodesiimtion
,u-rn"liiul-ui of thenumerical enordueto discretization'
-"- 1" *" alsofrid ttrar'ihediagonalof rheaddedmassmatrixis positive,exceptat
for spccialgcometrics ( catamamn or moonpool) '
------ frequencies
ccnain
damping coefficientsarelhelcsultantof dynamicpressures.snd
if,i i"r.i oi uaOe mass-and
ur" noiin"r"i-t. m addedmassanddmp1ng coeflicientsarefirnctionof th-eperiodof the-motion
andof waterdepth.Ar highfrequencies (T=infinile,acousc in incomplessible war)andat low
d;";i; Glo) oe aping'coefficientsarezero.The esymptotic values the addedmass
of
t" 6tuine-dby th anti mirror image l/R-11 ) andtheminor image( UR+1/RI:
(
doublemodel) in Greenisfunclions'For a grcupof N bodies'the-add-ed
"*"rn"ii"G massand damPing
,* two rcalmatrices (6Nx6N)or onecomplex matrixofthesamedimension.
"."niiii"i-i"*
2.3.7Diffractionoroblem:
Excitationforcescomefrom diffiactionpotentialandincidentpotential:
O"' = oo+ <DI
Forceq on thebodyi is givenbY:
-q - - s:
Fcxi= ipoJI(oD+oI)-nds
2)
Or by Haskind s fomula :

^ ^:{ dotras
1,'=-io,ttrr
''*'l' -' *Bi-1,
an "' n'--
r=!rv!zl.r.'.vDN
The part of xcitarionforces due to the incident wave are often calledFroude-Krylov forces. ,
The Lxcitationforcescan be calculatcdby directpressureinteglationof the dilfracuonand
incident Dolcnrialsor after having solved te radiaiion problem,-without having solved.a
i"-"fii"fiu*'_'i6Ut.rn, by the Hasind'sformula.Whenwe usethis fomula, we don't know lhe
;i;;;;" ilt bdis, which forbid to rach secondorder forces'This formula is only used
;;;etaih;;.tirt;f thenumerica.l solutionby pressureintegrati.on unfonunately'the agrcemcnt
with pressure integration is too goodlor ls companson lo D userl'

2.3-8Eouationsof motions:

The unknownsare the motions of thc bodies.If $'e make the sum of all forces exelted on the
Mies. we have:
F\{ = &s +h +Fex+FL
'l'a*il*tiitt foes,F6sthehydrostatic e radiationforces'Fsx
restoringf-orce,.Fp
*," "'ine forces)
(tt c ,um or ria"-Krylov forcesanddiffraction. andFL extemal
"..ii"-O#ir"L,
linearforceswhichmaybeduetothesriffness andthedamping system'
of a mooring
7

The line conespondingto the motion q of body i is wdtten :

6 _ P q -q 6 =P q -q N 6 - Pq - P 6 - Pq,q -q
- o-" > M A i + : , S A i - o ' >" tM Aj+ t F r Ai = F e xi
D=l: D=1: i=lp=l:: D=l-,

The lirear systemfor N bodiesis :

5r* {,,-.2 rfir* r rI {-1^-.2 *t At I lF""t

rr*r-co2urr.r 5r+rr^"-ro2tfiN+MNN)lL;Nl
Lt*,
The caseof intemal forces can be solved by sepamtingthe body into severalbodiestied by
intemal forces, with connectionequationsgiving the unknown forces (for example,the beamof
catamaran).

2.3.9Drift forces:

For a distribution of singularitieskinematically equivalentto bodiesosillating in waves,we

define the Kochin function by :
- -rl
H1o;= ---J-i11o+ p$l ycnm6{z +h;g-imo(xcoso+ysine)as(lil.)
4 l I shmo h ; dnlM
with for a mixed distribution :

- 6-q r ,
6 = l \ r g i .n -p ; i = 1 .2 ,....N
q=l dn

N6 -q -_
p= l+ l I tni.Al
i=lq=1
aadfor a sourcedisribution :
N 6 _q _
o=oD+>! oni.ef
i=1q=1
By applicationof the momentumequation,we obtain the Maruo-Newmanformulas, which
give two horizontal resultantdrift forces and the vertical rcsultantdrift momntexertedon all the
bodies:
to' s
l rr,"Hrpr- znp---{o!lsh rf-'fl
. p*>=-2nupr,:(tl' e) l'"( r in o ) d 0
tir,
y s mP h l( m o h ) ' - ( k o h ) ' - k o h l

7
.o-

andfor the mometltat a fixed point O (mooling) :

.. rL.L\2 Lft,:
< Mz(O)>= -2ap(')Re G) - 2rip-------$!Il-5- J Hte).Hfe)Oe
h[(moh)'- (koh)"+ koh]
Fora pointO' movingwith thebodies(dynamic positioning),
wehave:
< M2(o ) >=<M, (9) > - < lx. &v{y- ty. q,rx >
 Ir catrbc demonstratedthat, without cxtemal forces,the drift forces in the wave directiol aIE
oositive :
2n -
m^(k.'h)2 - p)ld0>=0
. $ t= 2np-----l#Eqf:r-:=- J tH(e)l't1-co(0
The secondmethodis the useof directpressurc inte,gration,at order'If mustb
orderpotcitial-second
is zero,andthe constant
noti""A if,aii icondorder,the averagevaluef second
ilf ;;;;;;;*tin riis infinitedepthand alsoin finite depthfor a freelvfloating
"em"ln of ve*geforces
Jn i no, i* oOV artilicially maintainedat a constantheight). Theexprcssion
t""oi'd on
order thebodynumber i is thengivenby :
"nJ"ni."nit
li'' l=-f
'-
L-r
llf:'l
I I LUil
LMvil
e?'+e?,, - o"i.o,,
. +s3s o"i.o,. -
=<
Fa",i 6i FMi- [s:3(- 3f zp) + (+
s34 ^ (-
^ ti) \.,
+p o)2-&l.nsds-ff Jt!- z)z.n,os>
'i lftpoF.e,aa
" - P+lp(ed
2
dt -
'ri

(o)=<6sr.Murto')- ts4(-4"p;
66., i+fof )+sos
+saa r-g*rli"
a2 0 0' i
-a 2 S5a(+r , -.,.:'
'i '0 zi,.q- - 1- 0xi 11i-
.''
-tss:(-:")+ , 2
o)2-&l.isds-f lte-zl2'n,as'
jp(cred
alJrrrF.g'aaf;*
( = -jfJ"- atfreesurface
*"t" height; z = PsF.!1,-o: verticaldisplacement
'
ig = io for the forces
is = Oo,\ io for the momentsatoundO' moving with the body
arid the transponationto a fixed Point O is given by :
< 6.n (o) >=< f,46* (o' ) > + < t; .r [\ri >
For a';nixeddistributin,thc difficulty laysin the poor accuracyof velocitycalculations for
normaldipoles.To avoid this problem,lve can solveonesupplementary lntegralequanon wlrn a
sourcedistribution,once the motionsare known, with onc second member e-qual
to.lne nolmal
o"rrrrrt.tin vclociiv of thc bodics.Thc only benefitwould be in rhe caseoI the calculatronot
;;il;;;;;"ir wrong,whichis nofe case.The solutionis thenthe samcaswith source
f,rld;r. i";; ;asei, tle citcutation of secondorder forces with pressureintegration requilcs
the solutionof at lastoneintcgralequarionwith sources'
2.5 solution of the inner Droblemofoscillationsin a tnk:

2.5.1The innerProblem:

lVe considera tank with forced motions,as shownon the figure below I
 The governingequationsof the inner andoutcr problemsarc [23] :
Innerproblem: Outer problem:
O= 0 = 0
ol = -"t nlso aol = .-. _,
anlao Tl.o "e'nlst
a2o aol =-*o-* aol =u .. a2o ao
^, aol = 0
;A*sa,l"=n s;;t=o lim-, . ^_ ------+ 2E=r + g-l
dt- dr oz lz_o
VE= VE cos (ot
ard:
3*
-Vs.i = -o)sintot[lAl q.n+ ,.oo
!,a1-{an-3 ).nI
q=1
In complexnotation:

-Vr.n= i<,r1
lefeo.n+ tAl(q_3
q=l ^oFg).nl
For this goblem, the condition at infinity doesnot exist, so the responsehas no phaseshift
with excitation.For an excitation in sin ot, the responsewill be in sin ot. and the elementaryinner
problemsof ladiation are i
Inner problem:

^ao"
O qI=0
n lco q-3r. OPo q= 4,5,6

6
@= -io lcD^A"
q=l

2.5.2Solutjon
by Rankinesiner-rlarities
mcthd:

The elementaryproblem can bg solvedby a Rankigsirgularity method,with a mixed

distribution of sourcesand nomal dipoles, with M panels on the frce surface and a total of N
panelson the ftee surfaceandon the body. We have :
o=-;p=o
dn

=-*l ; ob,-=-ks@= -k6fll,-

"b" qn bo
And thg discretizdintegnl equationsa :
NN
I u, Di = - I c , S i : u ; u n k no wn s
j=l j=t
 with :
sj e C 0
lD;i =Dl
= D;i - kosij sl e S L

lii = ii sj C 0
l S;r=0 sj S L

su=-f11O!'0'rv
I
=-ftfr;!'",^',
J'', --
=-o.s'r
lDr
l o , = ".i r q = r , 2 ,3
l o j = ( e q -3 ^u fo ).n j q-- 4,5,6
In the caseof heavemotion,we havean analydcalsolutionof the problem,which is very
useful to veify the accuracyof the numericalsoltion.
03=z+-
(0

2.5.3Resonance
frequencies
:

lvith this method,we ca haveall resonancefrequenciesin one calculation.The matrix Si1is

(NxM), the matrixDii is Q.{xN),resonance
fiequenciesarethesolutionof:
Det(Sij- koDij) = 0 or De(SijDtl - =0
k:I)
The eigenvaluesare n :
. I e
= - = - : t + ! n
ft- ^ /r.
= 1 l ;= . ; l n = Itrl i -
^n K0 o n - ^n I g
Theseresonancefrequnciesare differcnt from tie hrgularfrequenciesof the outer prcblem.

2.5.4Kelvin singularities
:

The problem can also be solved by a Kelvin singularity method,with Green's function. The
inner problemGreen'sfunctionis the rcal part of the outerprcblemGreen'sfunctionin infinite
water depth. The integal equationsare written on the body only ( not on the free surface). The
difference is that we have now an inner problem, so the discontinuity on the diagonal coefficient
must be equal to -0,5 insteadof 0,5 for the outer problem.The solution by Kelvin singularitiescan
be usedwith soulceor mixed distribution,In the casgof sourcadistdbutior,the acurayof the
solution is poor. To obtain good results, we use the Galerkine method.The integml equation are
written in one confol point but the whole integral equationis integratedon thg influerced panel.
lvith this method,it an bc demonstlatedthat the solution is the same for all singuladty
distributions.This is donerumerically by numericalGaussianintegmtionon the influencedpanel.
Numericaltestsshow that 4 points are sufficientto haveagreementbetweenthe Kelvin source
methodand all othermethodsfor a given meshof the body.
 2.5.5Forcesexenedon the tank :

The externalforces Rg cxerted on the mnk can be divided into tYto parls : a part is of typc
addedmassM0 anda pan oirype hydrostaticcocfficient K0 :
^6 ^ 6
Rr= o'LAq Mh+>Aq Kh
q=l q=r
ao-
gq= pljoq ? ds= -p lJpnoo
as
l"Is=eJlosd C0
00 0 0 0 0
00 0 o 0 0
00 css:
CS34 CS35 0
Kgq=
00 cSl: CSaa CS45 0
0 0 CS53 CS54 CS55 0
0 00 0
= Jtds
cs33
SL
cs3a=csa 3=JJyd s
SL
Cs 35 = C S 5 3 = x- ldJs
SL
csa = lJ y2as
SL
= -lJ xyds
csa5= Cs5a
SL
cs55= JJx2oS
SL
The hvdiistatic terms are of another sign than in the outer problem and thero is no term
-U"twi"o
tfr" of the cenne of gravity and the centreof the hull.
Thesetenis areof gcat imponarco i the
"oo"".rii*if,iiiiJt"nce "t"uatio-a
problcm of capsizing'

2.5.6 Couplingwith the outc! Foblem :

When there is a body with a tat* inside it, the coupling of the two problemsis madeby the
mechanicalequation:
j,1-',1M** ** r.a$nl
* <Sa =il-
-r$nlto
. orseveraltanks,all theinnerforcestermshaveto be added.
 2.6 The pmhlem with forward speed:

2.6.1 The problemin movins frame:

We considerfirst a fixed frame (09,X,Y,2) and secondframe which is a mean frame

(O,x,y,z), parallel to the tust and moving with the ship velocity C ( X=x+Ct ) , without osillarions,
asshownon the figure below :

r&
T

In the moving lrame the potentialof incident waveis :

, a sch m (z+h )
Ol = -:e jj:-:::!2j:----- cos-l m0(xcosp + y sin )- oetl
0J Cn m^n

611 62 = gm6th m6h , and<o"= <r;- 60 o* p

(Deis the encounterfiequency.

2.6.2 T?relinearizedproblem :

In the movirg frame,the linearizedproblemof seakeephgwith forward speedcan be wlirten

as follows, if we neglectthe coupling termswith the Foblem of waveresistance,supposedto be of
geater order[6] t71t8l t13l :
A = 0
a
n 'o " 'o

a2 a lo a .42
+2 e '-+g --2 C -:-- 2C' - +C' lFo=E0l0= 0
dt-" dt dz clldx dx d{ "

Q- >Qt at*

The body condition is at first order coupled with the forward speed, supposed to be of order
0.
=Or.ol..=1c.i"+(t +6,roF6)
+c(ix 6)1.n0
#[. ^
i and 6 are the translationsandrotations at fint order.
 This coupling gives a modification of addedmassand damping tems, due to the mdiation
potential which is now :
- 6- -S - -2 - -3
oR = -ioe tAq oR - cA6 oR+ cA5 oR
q=r
The addedmassanddampingwhich were at zerospeed:
-pq
M = MPq + -:- BPq
o)e

ll -- ^ ll ^.. o' -
ME = -o
'l l
ll ol on dS.BPq= -ooll o: -+
dn
ds
u " -: ull ^
"co "co
become
[6] [7] U3l :
- p 5 -p 5 i . -p 3 -p 6 - p6 i - p2
M, = lvt -pl:tr4 ;M =M -::lyt
oe oe
Diffraction forces are not nodified, we have only to take into account that pressuresare
exprssedin the moving frarDe:
a a
D = -O( r-c --r )
t x
So we havenow :
- Pq i. adg
M = -p JJ(ol- --:-;:)op ds
L0

.. o .i p = 1.2,3
w l n O -P=.:
( o _ 3n OP p ).n p =4.5.6
For the difflaction problem:

ii, .- <Do Or,^ ,"

F P = - p .JJI-i o e (OD *<D r)-C( _ a /vo ur
^
dx dx
-.0
L
And for themotjonequarion:
6---p
lnr = r",.
i1-ofrffoo + rra*l + Spq

After calculationsof the amplitudeof motionsat encounterfrcquencyoe, secondorderforces

aie obtainedby pressureintegrationat secondorder in the moving frame [14]. In the fixed fiame,
we have :

|| , - - > . - - > - - - > d - > onl

F h d r=<F h sr+0 ^F h d ,*p l l t; ( gndaf + PoPgr adilnsds- l ( C- z) ' ne ds >
|'
"co 'ao
Fhs2 being the hydnostaticforces at secondorder, F661thehydrodynamicforce at fi$t oider, C0
the hull andlg the waterlineat rest.
The only supplementaryapproximationis to negletthe secondorderderivativesof the space
vadablesin factor of C coming fiom the derivationof the gadient in the moving ftame.
 2.6.3The ap$oximationsof the linearizedprcblem:

The exactlinearizcdftce sudacocondition is giYenby :

rirn--or -zc"'ff =o
+c'?Sl,=o
S.rS-t"ff
S+2e
(1)
(2)

surri(3]nanootzt [10]is givenby (1)'Thcftustapproximation

rrr-"aa riniarl"e-a-no-e
consisrs in neslecring thetermin C2 in thisequation U3l (3) to eglect
[8] [9] (2) andths secotrd
all rhe termsin C 8ndC2, which give the ftoe surfacaconditionwithout forwald sPeedat thc
cncounterfrquencyos. This approximation is theoneusedin theslendershiPrheoryI4l . - ----
if,"'l codeuiing theseapproximations
'nos arccalledrespectively D.
"o'rnpottioi (c'tut l96i)(2), AQUAPLUS (Delhommeau -IIIAILOIS-
I988X3)' All
G.""it isliii.
iriii,ii"riii-"..J disritjudons,thc free surfacecondilion being by..a
sa_tisfied Grcen's
il;;;. i; th;;"r;;i biNlpI-ous, ttrisfunctionis singularfor a valueor thc nondimensional
pammeter t = rr6C/g=V4. For ARGoS,thereis no singuladtyfor 1 = 1/4'but thecreen,sfunction
lutctron is
Urcen's futction
is diversent fc,t N> ll2. In thesetwo cascs,the Grcen's compureooy numerical
ls computedby numcrrs
i","*ntiT" wi 10 to 50 integration points, dependingof the period The aPploxim-ation
Apiiis il; * ,ingufurityird is coinpuredby'numerilalinrerplarionasin the caseof zero
forward speed.

2.6.4 Thc Grcell's functions in inflnite water dePth:

In inlinite watel depth, the expressionsof th Green,sfunction for the three approximations
arc given by:
c = Re e-iot
DYNAPLOUS:

- =-fr l=--Ll+ ; M (x',/,2);Mru',1,-/)

4 r 'MM MM1' ''

4 realpoles+ singuladtyat t = 1
ARGOS:

=-*,#-#J+ ;M(x,r',2'
);rvrr(x',Y,-"'
)
* +io)
ck(z+z
o=-!-
' 4tc' :nf -- ztccosO+ c,:j+ 2ie(kccose+ oe)- gk
|
2 realpoles+ divergen""fo, t > I
 AQUAPLUS:

- =-1r-1=--l-t+ ;' M(x,y,z);M;(x',y',-/)

4['MM' MMr-
- _+n
o= " f d0-[--:----k
-t(z+z+i@ ) dk
' 4 s '!" c ;+2i e(oe-g k
from 0 + slmmetryof rcvolution
1realpoleindependert
OF THE COMPUTERCODES:
trI . DESCRIPTION
Afier this b,riefpresentation of themainequations usedin e line theoryofseakeePing, we
will nowdescdbcth computer codes allowing us to solvees9 Problems.Ine descnDe{l cooes
will beAQUADYN2.1, UVEandAQUAPLUS.All thesecodcscanuseonesymmetry plane,
whichis arbitrarilysetasxoz, soonlyhalfof thebody8t yx) or < o-has!o-bemeshed'I nc panels
u boa'v.ust bcan-anged lo thatthenomal E!a panelis dictedou$ide.Therearetwo
"oniritriine
ir"'iii*tiUi"* ,t mestr f a tiay. fne f'st is historicallirheHessandSmi type.ln lhis_case,
wo'enterthc nu'-ber "of thepoint, th number of theopposite pointontie panelandthecoordinates
ii.rti?ilx.,2i. rri" panels'and'rlre outsidc normal ie buili bv I,l+l,MiD;M(l)-l. lf rhereis no
,loiG pitrt-on ttt"'panel, M(I)=0.Themeshis described by iowsandis-gene-rally ro build
eas-I
i,ii"f,ip tri U-"t complicied for complex platform.
hulls,likc a_semi--submersible We.prefer
to use-tho natulal"""jtype of data, \4'herewo enter thc number ot the pornt 8nd hls coorolnates
iiX,i,Zl utt"t'tiavingentredall the points,the number.ofthe points (Ml'M2'M3'M4)
niinit "no p"n"i nnde 6utsidcnormal.Thismcthodis moresimpleastic previous one,buthas
iJ ueunii" 6v gtupttical output,bcause eachpanelcanhavea wrongnormal,whichis notthecase
whene bodyis described bYrows.
Exampleof thc two kd of datais givenbelow:

4o >

p r ii . li c b " A l , L s J nm e l r T

Hoss cr"'d 9n"ll.h oaLe: N".l,to I J-r^ r @

,- 4
^. ,l -1. o. o.
A\1 -4. o. o.
2o o. z o. o. -4.

o , -t. o . 3 0. -^. o.
36
,l 4, o, o.
4o o . o. -4 .
o o, o . o,
5o 4. o. o.
4 4
GO o , o,
o o. o. o . 3 2
0 .o
 3.1AQUADYN2.r :
AQUADYN 2.1 is I seriesof principalprograms'cornmunicatingby seluentialfiles All the
names i a endedbyhv F.
F- Complex
Comolexlinar systemsare
svsteins solvedin CMAF PREF,VERF. The namesof
"i" ""a"l below :
theprograms
ths nrocmmsandtheir funcrionaredescribed
tbLeir

A q U A D YN 2 . {

1 ' , p u l- o F J . lo F"'
LcF, Hesr *"J 9'..illr hyPe- -esh
0 e c F I O r. { i$ " ry } y p s

G ra y h ic a l o,,t 9,t- o\*f a

"f

Hy ot.osfa.l'ic r eslor i13 ce Ficir hfe

fn|'u...' r"t tfi cien\r. o\tptv'rro

oF T, H . Hcy bc reYlo'ct4 bY coA
'T'
f". o , T' .D o.*A H' 4

Ch c " 3 u o c q lc o la ' lio ' P o i" f a ' 1 o. r i 5

, . c li o -f ; o ' a p ro b l: -s

DifC' ^cl- ;o. Pr oblur n I

x9Y| .o!da- Xrylo' t"r.'r
?REF' ?r e.sr erinlr
e q' ^t;or ^
Htsf I t{..ki"ot's"v;"t^
Ar *gtib,ac^ of r ""f i""5

Dr iFr for cet:

DLlt : na...- Nc{ ,- "" t.- ,|"s
V,rf fr.ti! r. Inlc5tolr.'.r.
'
V"l"cif y Fi"lJ ih f l.i' {

Vel"cii7 Fie.l on Fr ecs,r tFa 'q

C- r ' oflr icclo "lp,F o vel' clr 7' ht5

 3.2CIwE :
Likc AOUADYN 2.1,CUVE is a seriesofPdncipalprograms, communicating by sequential
files. All the-names arc cnded by I. This program can be usedto obtain only the resonance
freouenciesof tlnks. For the coupledproblem,thc resultsof eachcalculationis kept in direct
accssfilc. Thc rcsultsof all tanksiatculationsendouterProblemarogathqedat thc beginningof
thc programallowingus io computemotions.The namesof programsandthek functionare given
DgIOW :

cvv

fne,t o .1" 1"' *cs\

LeLt. Hets c.' r ci S- iLb t79 e
DcI , otcr in*r / r YPc-

Gr "phic- \ o,!7uf o\*f"

"F

L. 1,r .n.. .oqf icir r ls r r.r

R"rorr CY. lu e-\'\

ci es
^n"e-

xle'rcl or.er o tlpe c{cd ncre

c hcrlc o F [" G]roD o t iU< lo'^ t(

R.s-lis o t flieF inhe' Pr\'l'r!

R"s" lls oF oole. problem

M"r io.: l"' ( "vll( d Pr .lol' m

 3.3AQUAPLUS:
AOUAPLUSis alsoa seriesof principalprograms' butcommuricating by directaccessfiles'
All thenamesareendedby K. In thiscode,thecalculation afmade-by (
senes c&lculauon wrmme
;;;il;tt"tt"; biri th diff"tenr periods ) . only one complex linear-systemis solved in
iK];l"d;;i 'f *a"", at" in CSK foi C=0). Tht le_suhsof eachseriesre kept
iir-"i,1",r'"-tiriitt i o.pte-eotuty "nt"i"dcalculatiotrswith AQUAPI.USo.r1a1i$q{exploitation
; ;;;il;A ele'l or catcolation of slowdrift motionsbv codeBICK ) Thc namesof
prograsandtheirfunctionarc given below :
Aa uAPLt''5

T"p"f oF ol*!- Folr ' ' sh

6' "pr r ca.l o,;tgvf o F^La

! t y . \ . . r! a i' ; . r. s lo v i' n 5 o c f i' it " L s

C :o)
o r h T, F(c +o) tyenai'X
I r lu c " c e . . . F i. ie ' ! s
o 1 / { , F . t l / b c } ' f l6 ' . ' r r' Y < o r '
Fot 1= o , T-- co * q H --,'

R..o\i^i;"" 616{ dif F...1;," p'"bleor

A r , r plir ! , " { (o f t . o L io u s
. * a a r if t f.'.es

V c t " " it 7 i" \ a iv , I l" i" l

Y e l. . il/ f i. l" l o . F , ' c s ' " ' ' f"e

6 ' ^ p r , r * l o , r f p . f. v . l c \ r ' / i FS

1nler f^.e w' ,\- h ALA

!n t.Y t..L !.,its\. 0i cK

T * [ . r P olo L r" "

 IV - NUMERICALRESULTSAND APPLICATIONS:
Since1978,thosccodeshavebeenwidelyusedfor manypurposes tl9l t20l [21].t231t241
andfor sevcralinternatiooaltcsts126l(Z7l lt'l [29]. So we will Present hereonly significant
examplesof thebehaviourof thecodes.All thefiguresare gatheredat theend of tbep8graph.

of meshreffnement:
4,1BargeD.N.V-.Influence
codesin 1977.Thcbodyis
of computer
Thefirsttestis theD.N.V.barceusedforcomparison
of 40 m. The inenia are:
-tJ;.sles batgeof90 m length,90 m of bredthwilh a draft
-' parallelipipedic
a
Pt tg*m2, t55J3.33649811 kgxm2' 166=3.5113 Ell kgxm2.Thecalculation
Dointis at sravitycenrElocatedst 2=-10.62m.
' The icsulti arepresentcdon the figuresI to 12 for differcntmesh.The tablebelowshowthe
meshandthc number-of panelsper wavelenglhat differentperiods

Priod (s) 6 l0 il 20 30

t,2 3,4 13,8

6,9 t ), o 27,'1 43,3 62,1

10,4 41,6 tr) 91,6

5 r 3 ,8 86,6 12 4,8

6,2 r7,3 39 r08 l)

The coef6cientsfor addedmassanddampingoefftcien$ are:

B'' M'
MU
. ^= p u . cM."
cM,, = M'r' , cAtt= p o tt' u A3 =
-- pL'

The Dointsat I s and40 s areobtainedby the asymptoticformulationsfor T=0 andT:' lt

can Ue,""In-t|,ii'rinimum of 54 panelsis nededtd odtaina beginningof convelgence-of the
results.The behaviourfor CA33 is not sarisfyingat T=9 s for ceneinmesh lhe rnlluence ot mesn
on excitinsforccsarelessimponanrthanfor tho addedmassandespeciallydamPincoefficients,
Ue"iui" tf,? aiifo"rion problein is in a greatpafl due to Froude-Krylov forces, which are the same
a;; Ji;;;h. i;"Jnairce of pitch mo-tion,ihe influenceof-pitch motionon the other morionsis
iinifu. fft" atift iotces by thc two formulationsare in good agreementfor T> 10 s'
 4.2frresularfreouenciesi
o n fisu re 13.w c c ans eethebe h a v io u r o f c A 3 3 b e M e e n S . T s a n d l0 s . T hi sb e h vi o u l i s
,n.oi"Jol i**ui. ficquencv, whichis theorcticallylocatedat 8 857s On figure.l4'.weseclhe
"i
;.ifii;;il;iihir-ftcrL; fteqiencyv/itha mixed distriburion andwi a soucedistdbution. For
;li;i.|il'irrifitid,'thJ etiminatio'nis doneby wriring rtrecgndirion of zero. potenrial inside rhe
iiirfi"" itr" ror.A rf waterlinepanelsat a disrancc of half^height of e_Panel The linear system
iif,l'"'ii,i W square^merhod usingunilarytransformation ofHouseholder type..For the
;;;;;'l:i;il,i&;;h" "t"asiit iutra"" ttasbeerimeshe with 4 panels and the condidon written on
thesg paels is that tho nolmal delivativg is zerc.

4'3Trssle$:
Thc Iisures15,16and1?showrhemeshof thee Eawlersandthenumericalresultsfor hcave
are-io good
wirtr niats in wavetank.It canbe seenthat the calculations
"rd "irc;;;;;A
ii.irit-iiiiiip"ti*ns. on figures16 and 17, w see behaviour
thc-tvpical in heaveof
;";trifiii';;;";i";2 to 3 s.Them-esh haslo berefinedfor at
calculations periods'
these

4,3Snhere:

The next testis fo! a floatinghemisphere of radiusR=l m, with a regularmeshof N0 on a

halfoarallelandNuron a halfmeridian, thetotalnumberof panelsbcing2N6Ny,Thelablebelow
sho*sthecomparislon of numerical rcsultsfor a period
resultsfo! differcntmeshwith e analytical
of 1.59s.

Forces de drlve
(second ordr)

Uar. Nel", Press. Pres5. P re s s .

.{ v F t f'

N^ N,l, N .-; =t
;
tllm_ N/rr- Nxm/nr-
u, .107 6. l4El 6 , 2 t J -.l ,l l E l 2, t4E|
l2 l2 280 0.lll
t2 lo 192 0 , 3 1 o 0,411 6,lSEl 6,2AE) -4 ,07E3 2,46!l I
t0 l0 200 0,112 0,41t 6. l2El 6,IBEJ -,1. uuuj
10 6 1 2 0 0 3 l o o ,423 6, loE3 6 , 2 2 8 3 -4 , 0 3 8 3 J,J9gI

a I B 128 0, 111 0 , 4 lB 6 , 2 8 E 3 6 , t 0 E 3 -4 ,0483

B 5 96 0, 112 o,421 6 ,2'lE3 6 , 1 3 E 3 -4 , 0 0 E 1
(, 6 0,434 6,2rn3 -t , 9 2 [ : ] I ,(l 9t:r
l 6 4 48 0. 311 0.460 6 ,2083 5 , 9 6 E 1 -3 , B 4 E 3
5 3 30 0.314 0,508 6 , l6 E l 5 , 8 3 E 3 -3 , 6 4 8 1
4 2 0.lll 0,660 6,2t3 5 , 6 lE l

valeurs thorlqtre" --@

In this table,wecanseethattheMaruo-Newman formulationis morcstblethanthepressure

int"graii; un;hi theiesutisarein gooaa$omentwith theanalyticalresults
 4.5Eotrlogtri
The next exampleconcemsthe meshof a deeplyimmened body, without ftee surfaceeffect'
Thir i; il;;;;;-i pontooniot u ten.ionleg platformcalculatedby C' Berhault'The figure l8
;fiil;;id;ff;;;-tti"-ttt"ii on eachsidefigure l9-shows
tttit pontoon'riirh l, 3 and-5-panels
;i;;;*ir: wi-"oo a"ao.t that a'minimum number of 3-panels on each side is neededfor
convergenceof tennsin 1/R.
4.6 Cvlinder in ffnite denth :

Thenextcaseisthecylinderinfinitedepth.Themeshis6panelsin.velticaldirecdonandS
,"""k-;; ;ir;;;iii;zonrJt part on ttrecytiner.For rhiscase,we havetheoreticalresultsby lhe
ormula:

F=F* cOSOt+F** sin )t

Mo vocraoll-vrc'uolt
.F"2h
cF,=-=-- ----- D P - R
n
' 4pgRha N4 I Jo(Mo) - J, (Mo;1 1r+ | v60vt61

2h dr I\.{o
Jo<vo+)-Jr(t,Io+)
cF, =- =-E
' 4pgRha r"t3

R binstheradius,h thcdep,mothmoh=to,t<0=t'l2lg,tvloqnoh'K=koh'
i-"-"1i." ,rtii"ti rindg"ts"i fun"rionsf ordero and2 andY0 andY2 aree second
nna i.letJuicrionsof ordero and2. Thercsulrsof AQUADYNandAQUADYN 2.1compard
;iil ;"-;1y,';;;;li arJpiesend on thefigue 20 is good'
very. at wave
except
.The.agreement
more panels'lhe will be
agreement
numbers'greater rhan4, \\;hercthemeshis rio rough Wiih
better.
platform and tensionleg Dltform:
4,7 Semi-submersihle
I'SS'C
The resultspresentedon figures 21 a\d 22 ua exracted from the IT'TC and
comparisons
[27] [28].
4.8T.P.S..secondorder calcrlations:

Here.wecomparetheMaruo-Newmanformularion[14|toepIessurc.integlation.-Thehul
Bergen
it iP:!'iiiT;ifr-oJ pt ao"tionShip) proposd of
s testt thelvorkshoP
" oi r[ttuttdt"litnrt'
nrJiiirtiir-iiiJ"rtla =
= 4l m'ari ls m'
= 230m,breadth
iisis)i29f rneshdifferi'ng
tor seneia! the
onlyaround edgeat thebonomof rhe
ComDutations havebeenmaoe
hull asindicatedon figu23.Transfafunctionfor drift forces,adimensioned by p-gl with L =.41
il;;;il ;t ihtwo formulations hasbeenprojected on theincidentwavedirection'which
;;;l''i;;;ele forcehasto bepositiveFormore
with thcaxisoi e hull'i.t'eresulting
shifted
havbeen
iiliuiriy,ir,3,iir;,;r';i;;:ir"*man formularion veriicauyof0.2.
 The roslts obtained vrith differcnt mesh with Maruo-Ncwman formulation are in good
asrecmentuD ro 0.55 d/s. For 0.3 rd/s < <o< 0.5 rd/s, differencebetwecnthe two formulations
dcrease whnwc refile the mesharoundtheedgeandis negligibleif lhereis no sha* sngle.Fo!
rhe iorcescalculatedby presseintegrationare stongly negtive.lnfluenceof the
-""t .iit
ioif, -"it, J is imponanron rhil anomalywhich occurswhenthereis sharpanglenear the
i*.r?" "or""t
rtriio-uli hasatreadvueenstuiedby o. Faltinsen[151.The agreemenlbetween
i|r" t*o ioraututi inr is a critedonof the qualiryof thc results.The samephenomenon occursfor
tho calculation of secondorder slow drift forces.
notherpossibilitvof discrcpaocyis the sizeof thc panels.Calculationshavebeen
madeon a soheroidfuilv immeised( lengtir= 230 m, brcad= 4l m, radius= I 5 m, immersionof
-donc( 396and292
iiii *is = Zm l. f*o'mesh havetirn lanels-) for.whichwe havemor' rhan
iip"nif, p.t *.ju. t"ngthfor pulsarions lowerthan0.67-and6.95
respectively td/s.\ryeseelhatfor
tf,iitrav iiitt."t rttati cornch thc differcice beween the two mesh is lower than0.05for more
iii"o-fZu"G p". wve hngth. It can be roticedthat for a floating half spheroid, agreement
-the is still bener.
berween
- two-formulations
*i 12panclspcrwavelengthis sufficient fol calculations atsecond orderbutsomc
-"ihmcsharoutidshariangles
carcon rhe nearthefresurface haveto betaken'

4.9-DJ.Itrt i!trrJrobleroi
The tank is a D.N.V. tatk (90t90*40) fillcd with watel. The tank has bocn meshedwith 4
pan"ts intii renicaf direction an 8 pancls in the horizontal direction, as on the frec surfacs.The
;;i;i;*t 6". Thc table undershowtbe resonance frequencies of all the motionsof the
i,|,. 11',"iij":ttrt iAO in 6eave1 SOI s ) is not I resonanceperiod but the consequenceof the
is
disqetization.

R E S 0ti i tcPEou
3 i L E ( s ) n o u v | lE t r ( sDE
, I
FIL0N t'tENl heAv CAVALt'l NI TAf,lAC SoR6,,Pr rcrt

FERIDE 564. 97 ? S PERI ADE I 11.309 S

PERIODE 7.500 s FERI ODE !
. PERI ODE I ,04 s
3, 72 S PERI gDE ! 3 , 4 89 S
FERI ODE 4. ?-QSS PERI ODE 5. 117 s
4. 73S S PRI gDE 't
FEFIODE :.0 0 s FERIODE:
8= PERI ODE ! 4.589 S
FEfi I A'E PEFI ODE I 3.730 S
;REOVENC!S FgSSNANCiSFUfr LE(S) IlDUV:I'INI{5) OE

LCET EIiEAF!:E,I]ULI5 5 \tfY, ( rL

3E ! TDE I . 0 5 s P E RI S DE :
?E I J9= ! iE f iI 3 D: I 7, :5 5
ig FiI JtE ! 5.0:;5 E f t IO DE I 0. 001 s
FERi T!: ! i,::: s
5 . . i7 : S
3. 51S S
4,273 S F E F I DE : 3,27 5
F E RI I Di ! +,t33
3.7J1 5 f iI D ! , r. 9 3 : S
 4.10BargeD.N.V-.inflrrenceofadimensionalparametert :

Thc rcsultsobtainedwith the bargeD.N.V. (90*90*40)in frcnt waveat a Froudenumberof

O.fS areciri; on ng"res24 and25 Th hull is meshedwith 54 pnelson e describedpart-ofthe
truli. fte- reiutrsof-Aifferentapproximations of free surfaceconditionfor hydrodynamicforces,
motionsand addedrcsistanccarc sholvn.Tho PaRrmeter I decreaseswhet tho Potiod incleases.The
critical valuc of r= 1/4 is approximatelyat o peliod of 14 second.with-the versio of tho codes
used,the computingtime foa the periodsis 2 h 30 min for DYNAPLOUS' 15 min for ARGOS
and I min for AQUAPLUS, At little r, we seothet the thrce aPproximationsre very close,except
for surgemotion-at20 secondwhete there is coupling with a resonanceof pitch motion. The code
DYNAPLOUS hasa singularbehaviournear the clitical value of 1 At gleat valuesof ! the Iesults
diverge.
4.u A-lrcticsllre.&dni0-i
Thosecondcalculationwith forwaldspeedis for-cargo-h^ull of typeSeries60 Cor-lputatios
t,aueOeen-uiUiU.CpLUSat periods- between 8 and20 second in ftont wavesfor Froude
nuti oto.zs:o'.zz;.u, with blokscoefficients of0.60;0.70;0.80Forfrcntwavcs,thewave
periodfor rhecriticatvalueof t in thefixed axisis givenby :
Tc = 4rI C /({2 -1)s= 3,09C
whreT is tht wave-period in thc fixed axisadC theforwardsPeedFor a hull of lengthL
=1 9 3 .5 m ,thi 's formul agi v es :T c = 3 7 . 8 s f o r C= 1 2 . 2 1 r n ls ' T c = 2 9 ' 6 s p o u r C = 9 5 8 m /s' a n d
Tc = 22.0s forC = 7.'|2nij/s.
For all periods.we havcf > 1/4.Rcsultsarocompared wfuhthoseof tho striPtheorygiveni'r
dorred lincon thetlueefirstcurvesof figurc26 l4l.
-'"--Th;-OAPaUiJ reiuttsareclostothosf thestriptheory.In all cases, thelocationof tie
o"uf olaaiiiirt-ce is co[ecrlycvaluated, but its amplitude is over-ovaluated. Theresultsare
i,t"ii.i-t i"t t"t ai,dlot" speed. Unfonunately, experimental results areobrained
wi "oiflici"nts
parameters varyingsirultaneously, which preventsall inlerprelauon'
' '" these
'ili;i. tio
itufit for heaveand pirch'motionsshowihat lhe Peakof added
resistancd ";ier"nrur
ii loctedat a resonance of themotions. A simplifiedrheoryol addedteslstance grvesa
iriii-"" oroponlonal to thesquare of amplitude ofmotionsof heave andPitch,multiPlied tleir
by
uoine1"r"iJnr t1l. These'morions arwidelyoverevalualed by calculslions lf weknowlhe
iiiii'ii."ia rhemaximum, we candeuce a lineardamping coefficient allowingusto
iiipe"iii]e "ii"r'"f
_ptituaeof morions at resonance. computing the_added resisrance wirh rhesemorions
'd;; be seen on thelast curve of figure 26'
"d ;F.nt withexperiments asir can
cylinders:
4.12rnfluenceof dampingon Beukelman
To confirmthis fact, ]ve comPutethe addedresistance.of- a-prismatichull (rectanglar
cvtindii)oi tenerh2.5 m, readrh 0.25m anddrafr 0.25 m. This hull hasbe_encomputed by W.
eutiinianwi*irne snipiheory 'biinandresultscompared withexperiments Ill] For a Froucle number
;r ':i;;;;^6"-, ve martebv,qQupt-usanaoYN.cPLous.Agreement is goodln
thiscas;,if w; takcI lineardemping allowing
coefticient usrogivc a.good amplltudeol motlonsat
i"rbnani". rhere is a goodugni"nitni*'u" resisiance.or ot-ercalculations at a Froude
-.^"ililh-sa-ia-ping coefficient,egreemenJ is not.sogood.,which can mean that
|i,ii,io.I
;;;;i;;i,;a*;*iv linear,For psmatic hull of-Eiangular sedion, motionsand consequently
i?iitiu'i.i areiorrcctlv comiutedwithoutaddinglineardampingResuhsaregivenon
"Jd
nsuresl/ anq26,
 t.
ta

!t t!tt !: !t: ! t1 !. ! rrt rrr! ! l. ll

(o@@@i
i

(.ll

a
D

f,
fr!tt-.t!t .! ! | ! ! l ! |
llrtl,!lllllliN

ia

I i I I I I I i't I t'i r t ll! Nilt t li

 i. i l
9t

rrE

I
I

I
';

ttttttlNliliNNNllt, I I

i:
(s@@@
?

tttra / !tt!1t11l t
r'

@
@
@
x
@
@

Figure13

'ic
4
o Dlstrlbutlon 1xt6
f Dlstrlbutlon 0ll<. + t -O
r Dlsrlbutl.on da aorlrceg
: ;i;tili;; . ".'i!."
-! "o

f:

Figure14
AqUAPLUS
:" I
I
I

Figure15

AqUAPLUS

!
)

! !

Figure16
AqUAPLUS

sI
I

Figure17
 nlssE Et PttotlElaxt
^JourEE

6!.0

!
5.0

1 0 .0 1 2 ,o 14.o 16.0 18, o

r(r)
-6"-
AIIORTISSEIiEITEI PI!OXXEIIEIT
+

o2. o

| 1 0 .0 t2 .0 1 4 .0
r(r)
DIIFBACTIOI ET PIIOIIEUEII

i
( b::.r.

Figurel8

t2,0 la.0

Figure19
 PIEU CYUNDRIQUE
R - 0 . 5 M : H= lM
48 T'ACETTES SURLI UOITISp.loo411.)ogr lr qellii

o- -1
;

ll
-5 .
(J u
-8

PIIU
PIEU CYLINDRIQUE
R = 0 . 5 M ; H- 1 M
SUR LA MOITIElr/tO
4B TACE'TTES Hrr
1 .0

r\ ^ E
0.5

0 ,0 0.0 Y

-0.5

- l .o

-1 . 5 b .

-e.0

Figure20
 4e
HX
b
5 r\r
Pf.t
:Y
I
I

9 trv,,h 3 d-

s
HJ

A
Q"-
N

9. { i:

1-a
. r-\
a+,
c.l
ul

tJX
o : =_

F. ;
F g| :
t- =

X.:: ; : )
g
)l d
l t\l' td
hY ;iI\ == :
iEIfO'I
 Gc fr (.9Z,iX

lrl

(,ca)'x r,?zfx

,sr'_-1
F-
n
ap
c,l
d
I
tI - - -
I
o T<
./l il ct
:<
v,
-t-
d
r g

-uoo.s u,00.
lros.19
 (1o oHE")/Hr (Tcosu)/Et

F= r
FE
o B
3z
:3 I ?-
-3
R
e
'i
i
;

(1,c.ou,/tu
I

,i

t!
@ .
I
,.
E
a:t
)
g
t
z 1+
It '|rff
''F
;n
I
(L
F E

.- IEF
-J :! iis
(1.c.orrs)/sJ
 (IE) rIY3 s) oeYc
I', :

}J a
I
IJ
.F
4t

9,1 ;( sr
rr N

h
( rs) nvc

fr

(I'S) IIXJ fl s) 0I{9

i, a

ts
p !2

.F N .F
?6 R^|l
a6
N6

' 9.1
oa! p
v

!
(T8)Irm (rs) ssxc
 ,J
.a !J

^gN
t' -

E
z*,t/zt : s^la3q .r

Y,/x qq s'loqott

,)

Y/Z SC S',l0(otl
 'tY Egu

:
9-

B
E
3
",8
: :-
6

h
lRl
n/l.l) fY slu
(z++ .(z-,l/N)rv ssa

(Z..x,/N) rY 6su

6
lr

:E
;

(z-xl$ 'rv 3s
 .1/2.1..a$oa,2..1/a

,r3 ;

.'r/2...g.!a,za.v/a

(r,/,T)rss.(^.oHu),/s

2'z

<E B

< {

p .i.

3
 ,'1/b.,s.Dou.z..\ /E .1/ z-.s.toe.z.|'l /.

Fts

?
i ;{
:
6 4

E
F 6

.'r/z.a.s,Doa.z..Y/
f/z
 v--CONCLUSIQNi
mesh:
5.1Recommended

The behaviour of alt odes is similar. Fot all tho computationsat fsl order, the mesh
refinementmust be grcatcrthan 6 Panclspcr wavc lengrhin all dircctions(x,y,z)' This is not alw-ays
iufii"ii"i, csp""iat for bodicsivirtr sh'arPcomers.It is neessary to kec-pin mind that befole
sotvinethi dfracrin-ladiarion problemw haveto solvethepotenlialproblemin infinite fluid. If
we haie no conversence on the solutionof this problem,we cannothoPeto havean acceptable
soluiionwitn the bo-dvin waves.To oblaina reasnable accuracyin inlinite fluid, we musthaveat
ieast4 panelson caclisideof a body ( parricularlyin the thicknessof 8 plate) anda refinement&t
each lod variation of the shape.For iimple bodies with a lengrh of the sameorder as the wave
Ienerh.a numbrof panelsbetwecn100ana 200 on the dscribedpan is generallysufficienl'
For thd secondorder problem, drift forces, addedresistanceor slow drift forces, wc
must have a morerefinedmesh.I; this case12 Panelsper wave lengtharc the miimum.Th
tatuo-Niw:oan fonoulation is lcss sensitiveto the numbel of-panelsthanPressureinte-gmtion,but
wJ-uti atwair ty to obtain the agreementbetweeothe two fdmuladons n be sureof the quality
of the solution.

5.2 Comnutationtime and memorv :

All calculationsare madc ill simplc precision' The tircr'-ill-begiv-enfor -a-computervAx
szoOi 6 i\ai;i. rhe computerVAX 942-0or workstationsUND( tvpe H! 9000-720or silicon
iupti", ur" i ti-"" fasteiapproximately. The computationtime can be dividedinlo two parts:
one oart.e influencecoefficients,varyinglike Nz and c otherpan, thc resolutionof complex
linear svstem.varvinglike N3. It must be notedthat to obtain'a reliablccomputingtime for all
slapes,tt ttrc tiner sistems,rcal or complex,are solvedby the dirct Gaussmethod'

For a meshof 100panelsooc the describdpart of the body (200 panelson the whole body),
thc calculationtime on VAX 8700aro for one peliod:

- AQUADYN 2.1 : .
I-{ini}- /inih
g r ror th'; iii ( onlv for thefirst calculation,thistermis storedon disk)'
6 s for thc termsdeDending of thc period.
4 s for theradiationproblem ( 2 cmplexsystems l00xl03)
problem
4 s for thediffractioir ( I complex system l00xl0l )
6 i for motions anddrift forcesicalcuiationi+l complex system l00xl01)
FinitedeDth:
4 s for thetenls i; 1/R( only for thc fust calculation,thistermis storedon disk)'
36 s for thetermsdeDending of theperiod.
4 s for theradiationroblem ( 2 complexsystems l00xl03)
problem( I complexsystem
4 s for thediffractioir 100xl0l)
e i ioi rionsa.rrdariftforcesicalcuiationi+l complex syslem100x101 )
. AQUAPLUS:
Infinitedepth:
Z s ttrei.msinilt ( onlv for thefirst calculation,thistermis stoledon disk)'
ior
5 s for thc tcrmsdepending of theperiod.
i i ir tne raOatiotiand diTfractioriproblem( 2 complexsystemsl00xl04 )
2 s for motions andddft forces ( calculations)
Finito depth:
4 s tor t-tem:slir t/n ( only for thefirst calculation,thistelm is storedon disk)'
20 s for thetermsdepeding of theperiod.
-problem
+i foiitr" taaiutonnd difiraction ( 2 complexsystems100x104)
2 s for motions8nd ddft forces ( calculations)
To obtail a Eansferfunctionwith goodaccuracy,10to 20 periodsareneeded'
 For morethan200 panols,the main ompulingdmeis in the rcqolqlonof-linear-systems. It
can be seen that AQUAPLUS is asymptotically 1.5 iimes fasteran AQUADYN 2.1. If therears
scveral wave incidenceat zero forward speed,the ratio can be greatcr,becausealculationsfor all
incidencearemadein the samclinear systemin AQUAPLUSinsleadof solviges many systems
asthe numberof incidencesin AQUADYN 2.1.For memory,lhe old versionAQUADYN was50
slower than AQUADYN 2.1 for ilfluence coefficient calculations.The uent scakeepincodeis
now AQUAPLS and all the devcloprnentsare made on this codo. The CUYE code sdlves only
real linear systemsof thc samesize asin AQUAPLUS ( a little gratrasthe free surfacehasto be
meshed), tecompuring timc are then approximately2 aimesfaster than the tims for solving the
radiarionDroblemin AQUADYN 2.i.
Thd standardparmetelsof the current version of AQUAPLUS are 1000 panelson the
describedpart, locat on a maximumof I bodicswith indcpenden!motionswith a maximumof 24
waye inciAence.For theseparametcrs,the size of celEal memory neededfor computation is less
tban 15 MBytcs ( this is the size used by PREK) with 150 MBytcs of storagc of mponry and
Dermanentfiles on disk for a seriesof calculations.All thesesizesarEproportional to Nz. To day'
ihe greatestcasccomputedwas 2300 panelson the half of the body. Foi one period, it takes
apprximately 45 miniteson VAX 9420.

5.3 Conclusionsand nerspectives:

To dav. thc behaviourof linear seakeepingcodesis well known for zero forward speed.
Thesecodej are able to predictthe first ordei quantitieswith an accuracyof the order of l0 %'
which is eenerallv$ufficinr.Theygive theamplitudeof molionsoulsidelhercsonane frequencies
andlocaonof tlie resonance freduncies. The first improvement of codes
rhese would be to find a
melhodofresolutionofcomplcx iincar systems with sveralsecond membelsfastnd reliable. To-
day. all e methodsied, iike bi-conjugate gmdient with or without precqnditionning,are not
sarisfactorv. If ev aresometimes fastei,
ii is not the caseu'ith all shapes.Moreover,these merhods
are iteratiie mcth6ds,which scemsnot suitablofor greatumberof sccondmcmbers.The other
imorovement is to tako into Eccoult ill thesecods the viscous damping at resonanceto get an
estimationof the resDonse.This carr be done by xperimentalmeansin wave tanks or by
comDutarion codcssofvingNavier-Stokes e4uations.For the calculationof secondorderforces'
lhef is still somc probleir for bodieswith lharp anglesnear the free surface'ln this case,lhe
asreementbotweenMaruo-Newmanfomulation nd pressureintegration is not always good. The
Maruo-Newman formulationgivesbette!resultssincee forEeshavctheir theoredcalsign,bul all
ouantitiesarc not known whei using thcsefomulas. Researchhasto be madeto insule thc validity
df calculationsbv pressureintegratlon.With forwardspeed,the problemis not enrirelysolvedto
dav.The approxi'mtion of thc linearfrcc surfaceconditionusedir AQUAPLUSgivesgoodvalues
of'added iesistancewhen the motionsare exect.The knowledgeof viscousdampingis again
needed.The exactlinearftee surfacecondilionis very difficult to usc al realislicspeeds,due to
stronelv oscillaringcharaclerof rhe inlegralion term in calculationof influcnce coefficienls.
ettraii tte nanunsouce methodwould5e an interestirgalrcmadveto e Kelvin sourcemethod
in thii case,if the problemresultirg from e numericlabsorptionof the radiatedwavesis
conectlysolved.Reacarch on theproblemwith forwardspeedmuslbe carriedon.

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I2gl studyof computerprogams,Nolsk IIydrc ResearchCentlc'

Workshopon comparatiYe
Bergen,Norway,30 Novembet1989-lDecember1989.