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x3
𝑛�⃗
x1 SB Incident
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h
Green function
) ln ( x1 − ξ1 ) 2 + ( x3 − ξ3 ) 2 + ln ( x1 − ξ1 ) 2 + (2h + x3 + ξ3 ) 2 − 2ln h
G ( x1, x3 ; ξ1, ξ3 =
∞ (K + τ )e −τ h cosh τ (ξ3 + h)cosh τ ( x3 + h)cosτ x1 − ξ1 e −τ h
∫
− 2 P.V .
0
τ (τ sinh τ h − K cosh τ h)
+
τ
dτ
(1)
K = ω 2 / g , k0 sinh k0 h − K cosh k0 h =
0 : dispersion relation
g = acceleration of gravity
ω = angular frequency
○ In series representation ( x3 = 0) :
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L = structure length
K + k n tan k n h =
0, k n =
ikn
π n − θn
kn = : roots of dispersion equation
h
ω 2h / g
θ n = tan −1
π n − θ n
○ For x on S B ( x3 = 0) :
∂G ( x , ξ ) ∂φ (ξ )
2πφ ( x ) −=
2πφI ( x )
∫ φ (ξ )
S B ∂n
− G( x,ξ )
∂n
dS B (4)
Using the body boundary condition and free surface boundary condition
∂φ
= iωu3 ,
∂n
(5)
2
∂G ∂G ω
= = G,
∂n ∂x3 g
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ω2
2πφ ( x ) − 2πφI=
(x)
∫ φ (ξ )
S B g
− iωu3 G ( x , ξ ) dS B .
(6)
∂Φ P
+ 0,
+ gx3 = (7)
∂t ρw
= , U 3 u3eiω=
x3 U 3= t ωt
, Φ φ ei= , P peiωt ,
(8)
i ig iω
2π
ωρ
w ω ρ
SB w∫
p ( x ) + u3 ( x ) − 2πφI ( x ) = p (ξ )G ( x , ξ )dS B
g
. (10)
Since x = ( x1, 0, 0) T and ξ = (ξ1, 0, 0) T . Equation (10) can be rewritten
i ig iω
2π
ωρ
w ω S B
∫
p ( x1 ) + u3 ( x1 ) − 2πφI ( x1 ) = p (ξ1 )G ( x1, ξ1 )dS B .
ρ wg
(11)
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Variational formulation
−
∫ V
ω 2 ρ su3 ( x )δ u3 ( x ) dV +
∫ V
σ ( x )δε ( x ) dV =
∫
p ( x )δ u3 ( x ) dS B
SB
(12)
ε ( x ) = strain
∂ 2u3 ( x1 ) ∂ 2δ u3 ( x1 )
−
∫ V
ω 2 ρ su3 ( x1 )δ u3 ( x1 ) dV +
∫ V
Ex32
∂x12 ∂x12
dV =
∫
p ( x1 )δ u3 ( x1 ) dS B .
SB
(14)
i gi
∫ SB
2π
ωρ w
p ( x1 )δ p ( x1 )dS B +
∫ SB
2π
ω
u3 ( x1 )δ p ( x1 )dS B −
∫ SB
2πφI ( x1 )δ p ( x1 )dS B
(15)
iω
=
∫ SB ρw g ∫ SB
p (ξ1 )G ( x1, ξ1 )δ p ( x1 )dS B dS B
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Discretization
Unknown DOF : p = pressure, u = displacement
3
θ(1) θ(2)
r = −1 r =1 r = −1 r =1
< 2-node Euler-Bernoulli beam element > < 2-node fluid element >
1 1 1 1
where hw(1) = (1 − r ) 2 (2 + r ) , hθ (1) = (1 − r ) 2 (1 + r ) , hw(2) = (1 + r ) 2 (2 − r ) , hθ (2) = (1 + r ) 2 (1 − r )
4 8 4 8
H e = h(1)
h(2)
(17)
1 1
where h(1) =−(1 r ), h(2) =+(1 r )
2 2
○ Interpolation scheme :
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T
e e e
=x1 H= x1 , x1 x1(1) x1(2)
(18)
T
e e e
=ξ1 H=ξ 1 , ξ1 ξ1(1) ξ1(2)
Note that ξ1(i ) are identical to x1(i ) . The unknown DOF can be defined
N
T
∑ H p ,
e
p
p H=
= e p e p (1) p (2) ,
=
e =1
(19)
N
T
∑
e e
u3 H=
= u
u 3 H ue u 3 u 3
,= w(1) θ (1) w(2) θ (2) .
e =1
We can discretize equation (14) and (15) using equations (16) ~ (19).
○ Structure part :
T
1 EI 1 ∂ 2Hu ∂ 2Hu 1
ω 2ρ H
s ∫ −1
HTu H u det Jdr −
B ∫
−1 ∂r 2
∂r 2
det Jdr u 3 +
∫ −1
HTu H det Jdr p =
0 (20)
B = structure width
I = moment of inertia
○ Fluid part :
1 1 1
∫−1
HT H u det Jdr u 3 +
ρ w g −1
∫
HT H det Jdr p
(21)
ω 2 1 1 1
∫ ∫
H( r )G ( x1, ξ1 ) det Jdr det Jds p = H exp ( x1 ) det Jdr
∫
T T
− H ( s ) a
2πρ g 2 −1 −1 −1
w
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We can obtain the final matrix form using equations (20) and (21) :
S M - S K SC u 3 0
= , (22)
FC FM - FG p F
I
1
where SM = ω 2 ρ s H
∫ −1
HTu H u det Jdr ,
T
EI 1 ∂ 2Hu ∂ 2Hu
SK =
B ∫
−1 ∂r 2
∂r 2
det Jdr
,
1
∫ HTu H det Jdr ,
T
SC F=
= C
−1
1 1
FM =
ρw g ∫ −1
HT H det Jdr ,
ω2 1 1
FG =
2πρ w g 2 ∫ −1
HT ( s )
∫ −1
H( r )G ( x1, ξ1 ) det Jdr det Jds ,
1
I = a
F
∫ −1
HT exp ( x1 ) det Jdr .
Note that the matrix form in the left hand side of equation (22) is symmetric. Now we can
calculate hydrodynamic pressure and displacement. The total pressure can be divided
p = p + p + p
d s r , (23)
where p =
d diffraction pressure,
p = hydrostatic pressure,
s
p = radiation pressure.
r
Since diffraction effect happens when the waves encounter the fixed structure, we set uˆ 3 = 0 in
equation (22) and obtain the diffraction pressure
p = ( F - F )-1 F
d M G
I . (24)
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Complex response
The nodal solution û 3 consists of complex numbers and the steady state response is
= u e iωt ,
U (27)
3 3
where=
u 3 ( )
re u 3 + i im u 3 ( ),
eiωt cos ωt + i sin ωt .
=
where
=
re U ( ) re (u ) cosωt − im (u )sin ωt ,
3 3 3
im U
= 3 ( ) ( )
im u 3 cos ωt + re u 3 sin ωt . ( )
U 3
is called the complex response. It is understood that the actual steady state motion will be
given by either the real part of
U 3
or the imaginary part of
U 3
depending on ωt .
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Im
( )
im U 3
U 3
θ
( )
Re
re U 3
The magnitude and phase angle of
U 3
are
θ = tan −1
im U
( ).
3
re U ( ) 3
Note that the actual steady state motion of
U 3
will be maximum when the phase θ is zero and
it is same with the magnitude of
U 3
. Mathematically, the magnitude of
U 3
is identical to
magnitude of u 3 :
2 2
=
U 3
( )
3
( )
re u + im u
3
. (30)
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Example problem
In this section, we report an example. The structure and fluid properties are summarized in Tables 1
and 2. Using these properties, we can calculate the dimensionless parameters. The definitions and
quantities of the dimensionless parameters are summarized in Table 3.
Fig 1 shows the real, imaginary and absolute values of displacement. Fig 2 shows the hydrodynamic
pressure and each pressure component .
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Definition Quantity
h
δ= 0.11
L
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Homework #6
due date : December 6, 2011
You can download the MATLAB code for the hydroelastic analysis of floating beam problems
at the course website. However, the code does not have a completed function which calculates
the coupling matrices Sc or FcT in equation (22) as shown in Fig 1.
for i = 1 : 3
r = Gauss_p(i);
(i)*span_xbar/2;
End
(2) Calculate and plot the displacement û 3 and hydrodynamic pressure p̂ for the example
problem in the lecture note.
(3) The hydroelastic behavior of floating beam structures depends on the dimensionless stiffness
parameter β 4 . Plot the displacement û 3 for the different β 4 given in the Table 1 and discuss your
results.
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