OrcaFlex Manual

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OrcaFlexManual
Version9.4a
OrcinaLtd.
Daltongate
Ulverston
Cumbria
LA127AJ
UK
Telephone: +44(0)1229584742
Fax: +44(0)1229587191
E-mail: orcina@orcina.com
WebSite: www.orcina.com
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Contents
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CONTENTS
1 INTRODUCTION 11
1.1 InstallingOrcaFlex 11
1.2 RunningOrcaFlex 13
1.3 ParallelProcessing 14
1.4 DistributedOrcaFlex 15
1.5 OrcinaLicenceMonitor 15
1.6 DemonstrationVersion 15
1.7 OrcaFlexExamples 15
1.8 ValidationandQA 16
1.9 Orcina 16
1.10 ReferencesandLinks 16
2 TUTORIAL 21
2.1 GettingStarted 21
2.2 BuildingaSimpleSystem 21
2.3 AddingaLine 21
2.4 AdjustingtheView 22
2.5 StaticAnalysis 22
2.6 DynamicAnalysis 23
2.7 MultipleViews 23
2.8 LookingatResults 24
2.9 GettingOutput 24
2.10 InputData 24
3 USERINTERFACE 25
3.1 Introduction 25
3.1.1 ProgramWindows 25
3.1.2 TheModel 25
3.1.3 ModelStates 26
3.1.4 Toolbar 27
3.1.5 StatusBar 28
3.1.6 MouseandKeyboardActions 28
3.2 OrcaFlexModelFiles 31
3.2.1 DataFiles 31
3.2.2 TextDataFiles 32
3.2.3 SimulationFiles 36
3.3 ModelBrowser 37
3.3.1 ModelBrowserViews 39
3.3.2 MoveSelectedObjectsWizard 39
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3.4 Libraries 40
3.4.1 UsingLibraries 40
3.4.2 BuildingaLibrary 43
3.5 Menus 44
3.5.1 FileMenu 44
3.5.2 EditMenu 45
3.5.3 ModelMenu 46
3.5.4 CalculationMenu 47
3.5.5 ViewMenu 48
3.5.6 ReplayMenu 49
3.5.7 GraphMenu 49
3.5.8 ResultsMenu 50
3.5.9 ToolsMenu 50
3.5.10 WorkspaceMenu 50
3.5.11 WindowMenu 51
3.5.12 HelpMenu 51
3.6 3DViews 52
3.6.1 ViewParameters 53
3.6.2 ViewControl 53
3.6.3 Navigatingin3DViews 54
3.6.4 ShadedGraphics 55
3.6.5 HowObjectsareDrawn 56
3.6.6 SelectingObjects 58
3.6.7 CreatingandDestroyingObjects 58
3.6.8 DraggingObjects 58
3.6.9 ConnectingObjects 58
3.6.10 Printing,CopyingandExportingViews 59
3.7 Replays 59
3.7.1 ReplayParameters 60
3.7.2 ReplayControl 60
3.7.3 CustomReplays 61
3.7.4 CustomReplayWizard 61
3.7.5 SuperimposeTimes 63
3.8 DataForms 63
3.8.1 DataFields 64
3.8.2 DataFormEditing 64
3.9 Results 65
3.9.1 ProducingResults 65
3.9.2 SelectingVariables 67
3.9.3 SummaryandFullResults 67
3.9.4 Statistics 68
3.9.5 LinkedStatistics 68
3.9.6 OffsetTables 69
3.9.7 LineClashingReport 69
3.9.8 TimeHistoryandXYGraphs 70
3.9.9 RangeGraphs 71
3.9.10 OffsetGraphs 72
3.9.11 SpectralResponseGraphs 72
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3.9.12 ExtremeStatisticsResults 72
3.9.13 PresentingOrcaFlexResults 75
3.10 Graphs 76
3.10.1 ModifyingGraphs 77
3.11 Spreadsheets 78
3.12 TextWindows 78
3.13 Workspaces 78
3.14 ComparingData 79
3.15 Preferences 80
3.16 PrintingandExporting 82
4 AUTOMATION 83
4.1 Introduction 83
4.2 BatchProcessing 83
4.2.1 Introduction 83
4.2.2 ScriptFiles 85
4.2.3 ScriptSyntax 85
4.2.4 ScriptCommands 85
4.2.5 Examplesofsettingdata 88
4.2.6 HandlingScriptErrors 93
4.2.7 ObtainingVariableNames 93
4.2.8 AutomatingScriptGeneration 93
4.2.9 AutomatingTextDataFileGeneration 96
4.3 Post-processing 97
4.3.1 Introduction 97
4.3.2 OrcaFlexSpreadsheet 98
4.3.3 InstructionFormat 100
4.3.4 Pre-definedcommands 101
4.3.5 Basiccommands 102
4.3.6 TimeHistoryandrelatedcommands 103
4.3.7 RangeGraphcommands 103
4.3.8 Datacommands 104
4.3.9 InstructionsWizard 105
4.3.10 DuplicateInstructions 107
5 THEORY 111
5.1 CoordinateSystems 111
5.2 DirectionConventions 112
5.3 ObjectConnections 113
5.4 InterpolationMethods 113
5.5 StaticAnalysis 115
5.5.1 LineStatics 115
5.5.2 BuoyandVesselStatics 119
5.5.3 VesselMultipleStatics 119
5.6 DynamicAnalysis 120
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5.6.1 CalculationMethod 121
5.6.2 Ramping 123
5.7 FrictionTheory 123
5.8 SpectralResponseAnalysis 126
5.9 ExtremeStatisticsTheory 127
5.10 EnvironmentTheory 129
5.10.1 BuoyancyVariationwithDepth 129
5.10.2 CurrentTheory 129
5.10.3 SeabedTheory 130
5.10.4 SeabedNon-LinearSoilModelTheory 131
5.10.5 Morison'sEquation 137
5.10.6 Waves 138
5.11 VesselTheory 145
5.11.1 VesselRotations 145
5.11.2 RAOsandPhases 146
5.11.3 RAOQualityChecks 147
5.11.4 HydrodynamicandWindDamping 149
5.11.5 Stiffness,AddedMassandDamping 151
5.11.6 ImpulseResponseandConvolution 152
5.11.7 WaveDriftLoads 153
5.12 LineTheory 155
5.12.1 Overview 155
5.12.2 StructuralModelDetails 156
5.12.3 CalculationStages 157
5.12.4 CalculationStage1TensionForces 158
5.12.5 CalculationStage2BendMoments 159
5.12.6 CalculationStage3ShearForces 161
5.12.7 CalculationStage4TorsionMoments 161
5.12.8 CalculationStage5TotalLoad 162
5.12.9 LineEndOrientation 162
5.12.10 LineLocalOrientation 163
5.12.11 TreatmentofCompression 164
5.12.12 ContentsFlowEffects 164
5.12.13 LinePressureEffects 166
5.12.14 PipeStressCalculation 167
5.12.15 PipeStressMatrix 168
5.12.16 HydrodynamicandAerodynamicLoads 169
5.12.17 DragChains 172
5.12.18 LineEndConditions 173
5.12.19 InteractionwiththeSeaSurface 173
5.12.20 InteractionwithSeabedandShapes 174
5.12.21 Clashing 175
5.13 6DBuoyTheory 177
5.13.1 Overview 177
5.13.2 LumpedBuoyAddedMass,DampingandDrag 179
5.13.3 SparBuoyandTowedFishAddedMassandDamping 180
5.13.4 SparBuoyandTowedFishDrag 182
5.13.5 ContactForces 184
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5.14 3DBuoyTheory 185
5.15 WinchTheory 186
5.16 ShapeTheory 187
6 SYSTEMMODELLING:DATAANDRESULTS 189
6.1 ModellingIntroduction 189
6.2 DatainTimeHistoryFiles 190
6.3 VariableData 192
6.3.1 ExternalFunctions 193
6.4 GeneralData 194
6.4.1 Statics 195
6.4.2 Dynamics 197
6.4.3 Integration&TimeSteps 197
6.4.4 ExplicitIntegration 198
6.4.5 ImplicitIntegration 199
6.4.6 NumericalDamping 200
6.4.7 ResponseCalculation 201
6.4.8 PropertiesReport 201
6.4.9 Drawing 201
6.4.10 Results 202
6.5 Environment 202
6.5.1 SeaData 202
6.5.2 SeaDensityData 203
6.5.3 SeabedData 204
6.5.4 WaveData 207
6.5.5 DataforRegularWaves 209
6.5.6 DataforRandomWaves 209
6.5.7 DataforJONSWAPandISSCSpectra 210
6.5.8 DataforOchi-HubbleSpectrum 211
6.5.9 DataforTorsethaugenSpectrum 212
6.5.10 DataforGaussianSwellSpectrum 212
6.5.11 DataforUserDefinedSpectrum 212
6.5.12 DataforTimeHistoryWaves 213
6.5.13 DataforUserSpecifiedComponents 214
6.5.14 DataforResponseCalculation 214
6.5.15 WavesPreview 214
6.5.16 ModellingDesignWaves 215
6.5.17 SettingupaRandomSea 217
6.5.18 CurrentData 219
6.5.19 WindData 221
6.5.20 DrawingData 222
6.5.22 Results 223
6.5.23 WaveScatterConversion 224
6.6 SolidFrictionCoefficientsData 228
6.7 Vessels 229
6.7.1 VesselData 230
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6.7.2 VesselTypes 239
6.7.3 ModellingVesselSlowDrift 263
6.7.4 VesselResponseReports 265
6.7.5 VesselResults 267
6.8 Lines 269
6.8.1 LineData 271
6.8.2 LineTypes 286
6.8.3 Attachments 296
6.8.4 RayleighDamping 300
6.8.5 LineResults 303
6.8.6 DragChainResults 314
6.8.7 FlexJointResults 315
6.8.8 LineSetupWizard 315
6.8.9 LineTypeWizard 316
6.8.10 Chain 317
6.8.11 Rope/Wire 322
6.8.12 LinewithFloats 325
6.8.13 HomogeneousPipe 329
6.8.14 HosesandUmbilicals 331
6.8.15 ModellingStressJoints 333
6.8.16 ModellingBendRestrictors 335
6.8.17 Modellingnon-linearhomogeneouspipes 337
6.8.18 LineEnds 339
6.8.19 ModellingCompressioninFlexibles 342
6.9 6DBuoys 343
6.9.1 Wings 344
6.9.2 CommonData 345
6.9.3 AppliedLoads 347
6.9.4 WingData 347
6.9.5 WingTypeData 348
6.9.6 LumpedBuoyProperties 350
6.9.7 LumpedBuoyDrawingData 351
6.9.8 SparBuoyandTowedFishProperties 352
6.9.9 SparBuoyandTowedFishAddedMassandDamping 354
6.9.10 SparBuoyandTowedFishDrag 355
6.9.11 SparBuoyandTowedFishDrawing 356
6.9.12 ShadedDrawing 356
6.9.13 Otheruses 358
6.9.16 Results 359
6.9.17 BuoyHydrodynamics 361
6.9.18 HydrodynamicPropertiesofaRectangularBox 362
6.9.19 ModellingaSurface-PiercingBuoy 364
6.10 3DBuoys 367
6.10.1 Data 368
6.10.3 Results 369
6.11 Winches 370
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6.11.1 Data 371
6.11.2 WireProperties 371
6.11.3 Control 372
6.11.4 ControlbyStage 372
6.11.5 ControlbyWholeSimulation 373
6.11.6 DriveUnit 373
6.11.8 Results 374
6.12 Links 375
6.12.1 Data 375
6.12.2 Results 377
6.13 Shapes 377
6.13.1 Data 378
6.13.2 Blocks 379
6.13.3 Cylinders 380
6.13.4 CurvedPlates 381
6.13.5 Planes 382
6.13.6 Drawing 382
6.13.7 Results 383
6.14 AllObjectsDataForm 383
7 MODALANALYSIS 387
7.1 ModalAnalysisTheory 388
8 FATIGUEANALYSIS 391
8.1 Commands 392
8.2 Data 393
8.3 LoadCasesDataforRegularAnalysis 394
8.4 LoadCasesDataforRainflowAnalysis 394
8.5 LoadCasesDataforSpectralAnalysis 395
8.6 LoadCasesDataforSHEAR7 397
8.7 ComponentsData 397
8.8 AnalysisData 398
8.9 S-NandT-NCurves 399
8.10 IntegrationParameters 400
8.11 Results 400
8.12 FatiguePoints 401
8.13 HowDamageisCalculated 401
9 VIVTOOLBOX 405
9.1 FrequencyDomainModels 405
9.1.1 VIVA 405
9.1.2 SHEAR7 410
9.2 TimeDomainModels 417
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9.2.1 WakeOscillatorModels 420
9.2.2 VortexTrackingModels 423
9.2.3 VIVDrawing 429
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Introduction,InstallingOrcaFlex
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1 INTRODUCTION
Welcome to OrcaFlex (version 9.4a), a marine dynamics program developed by Orcina for static and dynamic
analysisofawiderangeofoffshoresystems,includingalltypesofmarinerisers(rigidandflexible),globalanalysis,
moorings,installationandtowedsystems.
OrcaFlex provides fast and accurate analysis ofcatenary systems such as flexible risers and umbilical cables under
wave and current loads and externally imposed motions. OrcaFlex makes extensive use of graphics to assist
understanding. The program can be operated in batch mode for routine analysis work and there are also special
facilitiesforpost-processingyourresultsincludingfullyintegratedfatigueanalysiscapabilities.
OrcaFlex is a fully 3D non-linear time domain finite element program capable of dealing with arbitrarily large
deflectionsoftheflexiblefromtheinitialconfiguration.Alumpedmasselementisusedwhichgreatlysimplifiesthe
mathematical formulation and allows quick and efficient development of the program to include additional force
termsandconstraintsonthesysteminresponsetonewengineeringrequirements.
In addition to the time domain features, modal analysis can be performed for individual lines and RAOs can be
calculatedforanyresultsvariableusingtheSpectralResponseAnalysisfeature.
OrcaFlexisalsousedforapplicationsintheDefence,OceanographyandRenewableenergysectors.OrcaFlexisfully
3D and can handle multi-line systems, floating lines, line dynamics after release, etc. Inputs include ship motions,
regularandrandomwaves.Resultsoutputincludesanimatedreplayplusfullgraphicalandnumericalpresentation.
IfyouarenewtoOrcaFlexthenpleaseseethetutorialandexamples.
ForfurtherdetailsofOrcaFlexandourothersoftware,pleasecontactOrcinaoryourOrcinaagent.
Copyrightnotice
CopyrightOrcinaLtd.1987-2010.Allrightsreserved.
1.1 INSTALLINGORCAFLEX
HardwareRequirements
OrcaFlexcanbeinstalledandrunonanycomputerthathas:
x WindowsXP,WindowsVistaorWindows7.Both32bitand64bitversionsofWindowsaresupported.
x Ifyouareusingsmallfonts(96dpi)thescreenresolutionmustbeatleast1024768.Ifyouareusinglargefonts
(120dpi)thescreenresolutionmustbeatleast12801024.
However,OrcaFlexisapowerfulpackageandtogetthebestresultswewouldrecommend:
x Apowerfulprocessorwithfastfloatingpointandmemoryperformance.Thisisthemostimportantfactorsince
OrcaFlexisacomputation-intensiveprogramandsimulationruntimescanbelongforcomplexmodels.
x At least 2GB of memory. This is less important than processor performance but some aspects of OrcaFlex do
perform better when more memory is available, especially on multi-core systems. If you have a multi-core
systemwitha64bitversionofWindowsthenyoumaybenefitfromfittingevenmorememory.
x Amulti-coresystemtotakeadvantageofOrcaFlex'smulti-threadingcapabilities.
x As much disk space as you require to store simulation files. Simulation files vary in size, but can be 100's of
megabyteseachforcomplexmodels.
x Ascreenresolutionof12801024orgreaterwith32bitcolour.
x A DirectX 9 compatible graphics card with at least 256MB memory for the most effective use of the shaded
graphicsfacility.
x MicrosoftExcel(Excel2000,orlater)inordertousetheOrcaFlexautomationfacilities.Thisrequiresthe32bit
versionofExcel.
Note: Although OrcaFlex is a 32 bit program, the 64 bit versions of Windows run 32 bit programs very
efficiently and have certain advantages over 32 bit versions of Windows. Most notably the 64 bit
versionsofWindowsareabletomakeuseoflargeramountsofmemory.ThiscanbenefitOrcaFlex,
and indeed otherprograms. Inadditionwehavefoundthe64bitversions of Windowstobemore
effectiveatmulti-threadedcalculations.Forthesereasonswecurrentlyrecommend64bitVista/7
asthebestplatformsforrunningOrcaFlex.
Introduction,InstallingOrcaFlex
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Installation
ToinstallOrcaFlex:
x Youwillneedtoinstallfromanaccountwithadministratorprivileges.
x If installing from CD, insert the OrcaFlex CD and run the Autorun.exe program on the CD (on many machines
thisprogramwillrunautomaticallywhenyouinserttheCD).Thenclickon'InstallOrcaFlex'.
x If you have received OrcaFlex by e-mail or from the web you will have a zip file, and possibly a number of
licencefiles(.lic).Extractthefilesfromthezipfiletosometemporarylocation,andsavethelicencefilestothe
samefolder.ThenruntheextractedfileSetup.exe.
x YouwillalsoneedtoinstalltheOrcaFlexdonglesuppliedbyOrcina.Seebelowfordetails.
Forfurtherdetails,includinginformationonnetworkandsilentinstallation,clickonReadMeontheAutorunmenu
oropenthefileInstallationGuide.pdfontheCD.IfyouhaveanydifficultyinstallingOrcaFlexpleasecontactOrcina
oryourOrcinaagent.
OrcinaShellExtension
When you install OrcaFlex the Orcina Shell Extension is also installed. This integrates with Windows Explorer, and
associates the data and simulation file types (.dat and .sim) with OrcaFlex. You can then open an OrcaFlex file by
simplydouble-clickingthefilenameinExplorer. Theshellextensionalsoprovidesfilepropertiesinformation,such
as which version ofOrcaFlex wrote the file and the Comments textfor the model in the file. For details see the file
CD:\OrcShlEx\ReadMe.htmontheOrcaFlexCD.
InstallingtheDongle
OrcaFlexissuppliedwithadongle,asmallhardwaredevicethatmustbeattachedtothemachineortothenetwork
towhichthemachineisattached.
Note: The dongle is effectively your licence to run one copy (or more, if the dongle is enabled for more
copies) of OrcaFlex. It is, in essence, what you have purchased or leased, and it should be treated
withappropriatecareandsecurity.IfyouloseyourdongleyoucannotrunOrcaFlex.
Warning: Orcinacannormallyresupplydisksormanuals(achargebeingmadetocovercosts)iftheyarelost
ordamaged.Butwecanonlysupplyanew dongle inthecasewheretheold dongle isreturnedto
us.
Dongles labelled 'Hxxx' (where xxx is the dongle number) must be plugged into the machine on which OrcaFlex is
run. Dongles labelled 'Nxxx' can be used in the same way as 'Hxxx' dongles, but they can also be used over a
network, allowing the program to be shared by multiple users. In the latter case the dongle should be installed by
yournetworkadministrator;instructionscanbefoundintheDongledirectoryontheOrcaFlexCD.
TypesofDongle
Dongles are available for either parallel or USB ports, and these are functionally equivalent so far as OrcaFlex is
concerned.Ingeneral,USBdonglesarepreferred,sincetheyseemtobemorereliable.Inanycase,parallelportsare
becominglesscommononnewmachines.Bydefault,'N'donglescanholdupto10OrcaFlexlicencesforuseovera
network.Wecansupplydongleswithlargercapacitiesonrequest.
DongleTroubleshooting
We supply, with OrcaFlex, a dongle utility program called OrcaDongle. If OrcaFlex cannot find the dongle then this
program may be used to check that the dongle is working correctly and has the expected number of licences. For
detailsseetheOrcaDonglehelpfile.
TheOrcaDongleprogramisincludedontheOrcaFlexCD,andyoumaychoosetoinstallitfromtheAutorunmenuin
thesamewayasOrcaFlex.Itisalsoavailablefordownloadfromwww.orcina.com/Support/Dongle.
Also on our website, users of network dongles may find the Orcina Licence Monitor to be useful. This application
keepstrackofthenumberofOrcaFlexlicencesclaimedonanetworkatanytime.
Diagnostics
IfOrcaFlexfailstostart,withtheerrorthatitcan'tobtainalicence,thenpleasecheckthefollowing.
x If you are using a network dongle, are all the licences in use? The Orcina Licence Monitor may be of use in
determiningthis.Iftheyare,youwillneedtowaituntilalicencebecomesfreebeforeyoucanrunOrcaFlex.
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Introduction,RunningOrcaFlex
13
x Ifyouareusingalocaldongle,isitpluggedintoyour machine?Ifso,is thedongle devicedriverinstalled?You
can check this by running OrcaDongle. If the driver is not present, it may have been uninstalled by another
program: if so, you can fix this by Repairing the OrcaFlex installation (from the Windows Control Panel, select
'AddorRemovePrograms'(XP)orPrograms/ProgramsandFeatures(Vista),selecttheOrcaFlexentry,select
ChangethenRepair).Ifthisstillfails,youcaninstallthedriverbydownloadingfromour website,andrunning,
thefileHasp-Setup.msi.
x DoesthedongleyouareusinghaveanOrcaFlexlicenceonit?Again,youcancheckthiswithOrcaDongle.
x Doyouhavealicencefileforthedongleyouwishtoaccess?ThisfilewillbenamedNxxx.licorHxxx.lic(where
xxxisthedonglenumber)andwillbeintheOrcaFlexinstallationfolder.Ifnot,thenyoushouldbeabletocopy
therequiredfile(s)fromtherootleveloftheOrcaFlexCDintotheinstallationfolder.
Ifnoneofthesehelp,thenpleasecontactusatOrcinawithadescriptionoftheproblem.Ideally,pleasealsoemailto
usthediagnosticsfilenamedOrcLog.txtwhichOrcaFlexwillhavewrittenonfailingtofindalicence.Thisfilecanbe
foundinthefolder"%appdata%/Orcina/OrcaFlex":toopenthisfolder,selectStartmenu|Run...andenterthetext
betweenthequotes(includingthe'%'characters).
1.2 RUNNINGORCAFLEX
A shortcut to run OrcaFlex is set up on the Start menu when you install OrcaFlex (see Start\Programs\Orcina
Software\).
This shortcut passes no parameters to OrcaFlex so it gives the default start-up behaviour; see below. If this is not
suitable you can configure the start-up behaviourusing command-line parameters, for example by setting up your
ownshortcutswithparticularparametersettings.
DefaultStart-up
OrcaFlex has two basic modules: full OrcaFlex and statics-only OrcaFlex. A full OrcaFlex licence is needed for
dynamicanalysis.
When you run OrcaFlex it looks for an Orcina dongle from which it can claim an OrcaFlex licence (either a full
licence or a statics-only licence). By default, it first looks for a licence on a local dongle (i.e. one in local mode and
connected to the local machine) and if none is found then it looks for a licence on a network dongle (i.e. one in
network mode and accessed via a licence manager over the network). This default behaviour can be changed by
command-lineparameters.
IfOrcaFlexfindsanetworkdongleandthereisachoiceofwhichlicencestoclaimfromit,thenOrcaFlexdisplaysa
ChooseModules dialog to ask you which modules you want to claim.This helps you share the licences with other
users of that network dongle. For example if the network dongle contains both a full licence and a statics-only
licencethenyoucanchoosetousethestatics-onlylicence,ifthatisallyouneed,sothatthefulllicenceisleftfreefor
otherstousewhenyoudonotneedityourself.TheChooseModulesdialogcanbesuppressedusing command-line
parameters.
CommandLineParameters
OrcaFlexcanacceptvariousparametersonthecommandlinetomodifythewayitstartsup.Thesyntaxis:
OrcaFlex.exeFilenameOption1Option2...etc.
Filenameisoptional.IfpresentitshouldbethenameofanOrcaFlex datafile(.dator.yml)orsimulationfile(.sim)
andafterstartingupOrcaFlexwillautomaticallyopenthatfile.
Option1, Option2 etc. are optional parameters that allow you configure the start-upbehaviour. They can be any of
the following switches. For the first character of an option switch, the hyphen character '-' can be used as an
alternativetothe'/'character.
DongleSearchswitches
Bydefaulttheprogramsearchesfirstforalicenceonalocaldongleandthenforalicenceonanetworkdongle.The
followingswitchesallowyoutomodifythisdefaultbehaviour.
x /LocalDongleOnlysearchforlicencesonalocaldongle.Nosearchwillbemadefornetworkdongles.
x /NetworkDongle Only search for licences on a network dongle. Any local dongle will be ignored. This can be
usefulifyouhavealocaldonglebutwanttouseanetworkdonglethathaslicencesformoremodules.
Introduction,ParallelProcessing
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ModuleChoiceswitch
This switch is only relevant ifthe dongle found is a network dongle and there is a choice oflicences to claim from
thatdongle.Youcanspecifyyourchoiceusingthefollowingcommandlineswitch:
x /DisableDynamicsChoosethestatics-onlybasiclicence.Thisissometimesusefulwhenusinganetworkdongle
sinceitallowsyoutoleavefulllicencesfreeforotheruserswhenyouonlyneedastatics-onlylicence.
Ifyoudonotspecifyallthechoicesthentheprogramdisplaysthe ChooseModulesdialogtoaskforyourremaining
choices.Youcansuppressthisdialogusingthefollowingswitch.
x /DisableInteractiveStartup Do not display the Choose Modules dialog. The program behaves the same as ifthe
userclicksOKonthatdialogwithoutchanginganymodulechoices.
BatchCalculationswitches
These switches allow you to instruct OrcaFlex to start a batch calculation as soon as the program has loaded. The
followingswitchesareavailable:
x /Batch Start a batch calculation as soon as the program has loaded. The batch calculation will contain all the
filesspecifiedonthecommandline(youcanhavemorethanone)intheorderinwhichtheyare specified.You
canuserelativepathswhichwillberelativetotheworkingdirectory.
x /CloseAfterBatchInstructstheprogramtocloseoncethebatchiscomplete.
x /BatchAnalysisStatics,/BatchAnalysisDynamicsspecifywhattypeof analysistoperformtothespecifiedfiles.If
theseparametersaremissingthentheprogramdefaultstodynamicanalysis.
ProcessPriorityswitches
These switches determine the processing priority of OrcaFlex. The available switches are /RealtimePriority,
/HighPriority,/AboveNormalPriority,/NormalPriority,/BelowNormalPriority,/LowPriority.
ThickLinesswitch
The/ThickLinesswitchallowsyoutospecifya minimumthicknessforlinesdrawnonOrcaFlex3DViewwindows.
Forexampleusingtheswitch/ThickLines=5forcesOrcaFlextodrawalllinesatathicknessofatleast5.Ifnovalue
isspecified(i.e.theswitchis/ThickLines)thentheminimumthicknessistakentobe2.
ThisswitchhasbeenaddedtomakeOrcaFlex3DViewsclearerwhenprojectedontoalargescreen.
ThreadCountswitch
The /ThreadCount switch allows you to set the number of execution threads used by OrcaFlex for parallel
processing. For example /ThreadCount=1 forces OrcaFlex to use a single execution thread which has the effect of
disablingparallelprocessing.
1.3 PARALLELPROCESSING
Machineswithmultipleprocessorsorprocessorswithmultiplecoresarebecomingincreasinglycommon.OrcaFlex
canmakegooduseoftheadditionalprocessingcapacityaffordedbysuchmachines.Foruptodateinformationon
hardwarechoiceforOrcaFlexpleaserefertowww.orcina.com/Support/Benchmark.
OrcaFlex performs the calculations of the model's Line objects in parallel. This means that, interactively at least,
performanceisonlyimprovedformodelswithmorethanoneLineobject.However,formodelswithmorethanone
Lineperformanceissignificantlyimproved.
Both batch processing and fatigue calculations process their jobs and load cases concurrently, using all available
processorcores.
Note,however,thattheOrcaFlexspreadsheetiscurrentlyonlyabletomakeuseofasingleprocessorcore.Weplan
toaddressthislimitationinafuturerelease.
Threadcount
OrcaFlexmanagesanumberof executionthreadsto performthe parallelcalculations.The numberofthesethreads
(thethreadcount)defaultstothenumberofphysicalprocessorcoresavailableonyourmachineasreportedbythe
operatingsystem.Thisdefaultwillworkwellformostcases.ShouldyouwishtochangeityoucanusetheTools|Set
ThreadCountmenuitem.Thethreadcountcanalsobecontrolledbyacommandlineswitch.
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Introduction,DistributedOrcaFlex
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Hyperthreading
Some Intel processors offer a technology called hyperthreading. Such processors can process multiple execution
threads in parallel by making use of under-used resources on the processor. Hyperthreaded processors appear to
theoperatingsystemas2distinct,logicalprocessors.
Sadly,therealworldperformanceofsuchchipsdoesnotliveuptothemarketinghype.Atbestthistechnologycan
give improvements of around 10-20%. However, the performance of hyperthreading under OrcaFlex varies
considerably with the OrcaFlex model being analysed. In the worst cases using hyperthreading results in
performancetwiceasslowaswithout!
For this reason we recommend that you don't attempt to use hyperthreading when running OrcaFlex. By default
OrcaFlexwilluseasmanythreadsastherearetruephysicalcoresavailabletoyoursystem.
To helpunderstand this consider a dual processor, dual core machine with hyperthreading support. The operating
system will recognise 8 processors. Of these processors, 4 are true physical processor cores and the other 4 are
virtualhyperthreadedprocessors.AccordinglyOrcaFlexwilldefaulttousing4calculationthreads.
1.4 DISTRIBUTEDORCAFLEX
Distributed OrcaFlex is a suite of programs that enables a collection ofnetworked, OrcaFlex licensed computers to
run OrcaFlex jobs, transparently, using spare processor time. For more information about Distributed OrcaFlex
please refer to www.orcina.com/Support/DistributedOrcaFlex. Distributed OrcaFlex can be downloaded from this
address.
OrcaFlexcanalsomakeuseofmachineswithmultipleprocessorsusingparallelprocessingtechnology.
1.5 ORCINALICENCEMONITOR
TheOrcinaLicenceMonitor (OLM)isaservicethatmonitorsthecurrent numberofOrcaFlexlicencesclaimedona
networkinrealtime.Other programsthatusethe OrcaFlexprogramminginterface(OrcFxAPI)suchasDistributed
OrcaFlexandtheOrcaFlexspreadsheetarealsomonitored.Youcanobtaininformationoneachlicenceclaimedthat
includes:
x Networkinformation:thecomputername,networkaddressandtheusername.
x Licenceinformation:thedonglename,thedongletype(networkorlocal)andthetimethelicencewasclaimed.
x Program information: which modules are being used, the version, and the location of the program which has
claimed the licence (usually this is OrcaFlex.exe but it can be Excel.exe for the OrcaFlex spreadsheet for
example).
OLMcanbedownloadedfromwww.orcina.com/Support/OrcinaLicenceMonitor.
1.6 DEMONSTRATIONVERSION
ForanoverviewofOrcaFlex,seetheIntroductiontopicandthetutorial.
ThedemonstrationversionofOrcaFlexhassomefacilitiesdisabled youcannotcalculatestaticsorrunsimulation,
andyoucannotsavefiles,print,exportorcopytotheclipboard.Otherwisethedemonstrationversionisjustlikethe
fullversion,soitallowsyoutoseeexactlyhowtheprogramworks.
In particular the demonstration version allows you to open any prepared OrcaFlex data or simulation file. If you
open a simulation file then you can then examine the results, see replays of the motion etc. There are numerous
example files provided on the demonstration DVD. These example files are also available from
www.orcina.com/SoftwareProducts/OrcaFlex/Examples.
If you have the full version of OrcaFlex then you can use the demonstration version to show your customers your
OrcaFlex models and results for their system. To do this, give them the demonstration version and copies of your
OrcaFlex simulation files. The demonstration version can be downloaded from
www.orcina.com/SoftwareProducts/OrcaFlex/Demo.
1.7 ORCAFLEXEXAMPLES
OrcaFlexissuppliedwithaDVDcontainingacomprehensivecollectionofexamplefiles.Theseexamplescanalsobe
foundatwww.orcina.com/SoftwareProducts/OrcaFlex/Examples.
Introduction,ValidationandQA
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16
1.8 VALIDATIONANDQA
TheOrcaFlexvalidationdocumentsareavailablefromwww.orcina.com/SoftwareProducts/OrcaFlex/Validation.
1.9 ORCINA
Orcina is a creative engineering software and consultancy company staffed by mechanical engineers, naval
architects, mathematicians and software engineers with long experience in such demanding environments as the
offshore, marine and nuclear industries. As well as developing engineering software, we offer a wide range of
analysis and design services with particular strength in dynamics, hydrodynamics, fluid mechanics and
mathematicalmodelling.
ContactDetails
OrcinaLtd.
Daltongate
Ulverston
Cumbria
LA127AJ
UK
Telephone:+44(0)1229584742
Fax:+44(0)1229587191
E-mail:orcina@orcina.com
WebSite:www.orcina.com
OrcinaAgents
Wehaveagentsinmanypartsoftheworld.Fordetailspleaserefertowww.orcina.com/ContactOrcina.
1.10 REFERENCESANDLINKS
References
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PlatformsWorkingStressDesign.AmericanPetroleumInstitute.
API, 1998. API RP 2RD, Design of Risers for Floating Production Systems and Tension-Leg Platforms. American
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API, 2005. API RP2SK, Design and Analysis ofStationkeeping Systems for Floating Structures. American Petroleum
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API.ComparisonofAnalysesofMarineDrillingRisers.APIBulletin.2J.
Aubeny C, Biscontin G and Zhang J, 2006. Seafloor interaction with steel catenary risers. Offshore Technology
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AubenyC,GaudinCandRandolphM,2008.CyclicTestsofModelPipeinKaolin.OTC19494,2008.
Barltrop N D P and Adams A J, 1991. Dynamics of fixed marine structures. Butterworth Heinemann for MTD. 3rd
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BatchelorGK,1967.Anintroductiontofluiddynamics.CambridgeUniversityPress.
BlevinsRD,2005.ForcesonandStabilityofaCylinderinaWake.J.OMAE,127,39-45.
BridgeC,LaverK,ClukeyE, EvansT,2004.SteelCatenaryRiser TouchdownPoint VerticalInteractionModels. OTC
16628,2004.
CarterD JT,1982.PredictionofWaveheight and PeriodforaConstantWindVelocityUsingtheJONSWAPResults,
OceanEngineering,9,no.1,17-33.
CasarellaMJandParsonsM,1970.CableSystemsUnderHydrodynamicLoading. MarineTechnologySocietyJournal
4,No.4,27-44.
ChapmanDA,1984.TowedCableBehaviourDuringShipTurningManoeuvres.OceanEngineering.11,No.4.
Chung J and Hulbert G M, 1993. A time integration algorithm for structural dynamics with improved numerical
dissipation:Thegeneralized- methou ASMEJournalofAppliedMechanics.60,371-375.
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CMPT, 1998. Floating structures: A guide for design and analysis. Edited by Barltrop N D P. Centre for Marine and
PetroleumTechnologypublication101/98,OilfieldPublicationsLimited.
ColesS,2001.AnIntroductiontoStatisticalModellingofExtremeValues.Springer.
CumminsWE,1962.Theimpulseresponsefunctionandshipmotions.Schiffstechnik,9,101-109.
DeanRG,1965.Streamfunctionrepresentationofnon-linearoceanwaves.J.Geophys.Res.,70,4561-4572.
DirlikT,1985.ApplicationofcomputersinFatigueAnalysis.PhDThesisUniversityofWarwick.
DNV-OS-F201,DynamicRisers.
DNV-RP-C205,EnvironmentalConditionsandEnvironmentalLoads.
ESDU71016.Fluidforces,pressuresandmomentsonrectangularblocks.ESDU71016ESDUInternational,London.
ESDU80025.Meanforces,pressuresandflowfieldvelocitiesforcircularcylindricalstructures:Singlecylinderwith
two-dimensionalflow.ESDU80025ESDUInternational,London.
Falco M, Fossati F and Resta F, 1999. On the vortex induced vibration of submarine cables: Design optimization of
wrappedcablesforcontrollingvibrations.3
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InternationalSymposiumonCableDynamics,Trondheim,Norway.
FaltinsenOM,1990.Sealoadsonshipsandoffshorestructures.CambridgeUniversityPress.
FentonJD,1979.Ahigh-ordercnoidalwavetheory.J.FluidMech.94,129-161.
Fenton J D, 1985. A fifth-order Stokes theory for steady waves. J. Waterway, Port, Coastal & Ocean Eng. ASCE. 111,
216-234.
FentonJD,1990.Non-linearwavetheories.Chapterin"TheSea Volume9:OceanEngineeringScience",editedby
B.LeMeHauteandD.M.Hanes.Wiley:NewYork.3-25.
FentonJD,1995.Personalcommunicationpre-printofchapterinforthcomingbookoncnoidalwavetheory.
Gregory R W and Paidoussis M P, 1996. Unstable oscillation of tubular cantilevers conveying fluid: Part 1:Theory.
Proc.R.Soc.293SeriesA,512-527.
HartnupGC,AireyRGandFraserJM,1987.ModelBasinTestingofFlexibleMarineRisers.OMAEHouston.
HoernerSF1965.FluidDynamicDrag,PublishedbytheauthoratHoernerFluidDynamics,NJ08723,USA.
HuseE,1993.InteractioninDeep-SeaRiserArrays.OTC7237,1993.
Isherwood R M, 1987. A Revised Parameterisation of the JONSWAP Spectrum. Applied Ocean Research, 9, No. 1
(January),47-50.
Iwan W D, 1981. The vortex-induced oscillation ofnon-uniform structural systems. Journal of Sound and Vibration,
79,291-301.
IwanWDandBlevinsRD,1974.AModelforVortexInducedOscillationofStructures.JournalofAppliedMechanics,
September1974,581-586.
KotikJandMangulisV,1962.OntheKramers-Kronigrelationsforshipmotions.Int.ShipbuildingProgress,9,No.97,
361-368.
Larsen C M, 1991. Flexible Riser Analysis Comparison of Results from Computer Programs. Marine Structures,
ElsevierAppliedScience.
Longuet-Higgins M S, 1983. On the joint distribution of wave periods and amplitudes in a random wave field.
ProceedingsRoyalSocietyLondon,SeriesA,MathematicalandPhysicalSciences.389,241-258.
MaddoxSJ,1998.Fatiguestrengthofweldedstructures.WoodheadPublishingLtd,ISBN1855730138.
Morison J R, O'Brien M D, Johnson J W, and Schaaf S A, 1950. The force exerted by surface waves on piles. Petrol
TransAIME.189.
Mueller H F, 1968. Hydrodynamic forces and moments of streamlined bodies of revolution at large incidence.
Schiffstechnik.15,99-104.
Newman J N. 1974. Second-order, slowly-varying forces on vessels in irregular waves. Proc Int Symp Dynamics of
MarineVehiclesandStructuresinWaves,Ed.BishopREDandPriceWG,MechEngPublicationsLtd,London.
NewmanJN,1977.MarineHydrodynamics,MITPress.
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NDP, 1995. Regulations relating to loadbearing structures in the petroleum activities. Norwegian Petroleum
Directorate.
OchiMKandHubbleEN,1976.Six-parameterwavespectra,Proc15thCoastalEngineeringConference,301-328.
OchiMK,1973.OnPredictionofExtremeValues,J.ShipResearch,17,No.1,29-37.
OchiMK,1998.OceanWaves:TheStochasticApproach,CambridgeUniversityPress.
Oil Companies International Marine Forum, 1994. Prediction of Wind and Current Loads on VLCCs, 2nd edition,
Witherby&Co.,London.
Paidoussis M P, 1970. Dynamics oftubular cantilevers conveying fluid. J. MechanicalEngineering Science, 12, No 2,
85-103.
PaidoussisM PandDeksnisEB,1970.Articulatedmodelsofcantileversconveying fluid:Thestudyofaparadox. J.
MechanicalEngineeringScience,12,No4,288-300.
Paidoussis M P and Lathier B E, 1976. Dynamics of Timoshenko beams conveying fluid. J. Mechanical Engineering
Science,18,No4,210-220.
PalmerACandBaldryJAS,1974.Lateralbucklingofaxiallyconstrainedpipes. J.PetroleumTechnology,Nov1974,
1283-1284.
Pode L, 1951. Tables for Computing the Equilibrium Configuration of a Flexible Cable in a Uniform Stream. DTMB
Report.687.
Principles of Naval Architecture. Revised edition, edited by J P Comstock, 1967. Society of Naval Architects and
MarineEngineers,NewYork.
PuechA,1984.TheUseofAnchorsinOffshorePetroleumOperations.EditionsTechnique.
Randolph M and Quiggin P, 2009. Non-linear hysteretic seabed model for catenary pipeline contact. OMAE paper
79259,2009(www.orcina.com/Resources/Papers/OMAE2009-79259.pdf).
Rawson and Tupper, 1984. Basic Ship Theory 3rd ed, 2: Ship Dynamics and Design, 482. Longman Scientific &
Technical(Harlow).
Rienecker M M and Fenton J D, 1981. A Fourier approximation method for steady water waves. J. Fluid Mech.104,
119-137.
RoarkRJ,1965.FormulasforStressandStrain.4theditionMcGraw-Hill.
SarpkayaT,ShoaffRL,1979.InviscidModelofTwo-DimensionalVortexSheddingbyaCircularCylinder.ArticleNo.
79-0281R,AIAAJournal,17,no.11,1193-1200.
SarpkayaT,ShoaffRL,1979.Adiscrete-vortexanalysisofflowaboutstationaryandtransverselyoscillatingcircular
cylinders.Reportno.NPS-69SL79011,NavalPostgraduateSchool,Monterey,California.
RychlikI,1987.Anewdefinitionoftherainflowcyclecountingmethod.Int.J.Fatigue9,No2,119-121.
SkjelbreiaL,HendricksonJ,1961.Fifthordergravitywavetheory.Proc.7thConf.CoastalEng.184-196.
Sobey R J, Goodwin P, Thieke R J and Westberg R J, 1987. Wave theories. J. Waterway, Port, Coastal & Ocean Eng.
ASCE113,565-587.
Sparks C, 1980. Le comportement mecanique des risers influence des principaux parametres. Revue de l'Institut
FrancaisduPetrol,35,no.5,811.
Sparks C, 1983. Comportement mecanique des tuyaux influence de la traction, de la pression et du poids lineique :
Applicationauxrisers.Revuedel'InstitutFrancaisduPetrol38,no.4,481.
Standing RG, Brendling WJ, Wilson D, 1987. Recent Developments in the Analysis of Wave Drift Forces, Low-
FrequencyDampingandResponse.OTCpaper5456,1987.
Tan Z, Quiggin P, Sheldrake T, 2007. Time domain simulation of the 3D bending hysteresis behaviour of an
unbondedflexibleriser.OMAEpaper29315,2007(www.orcina.com/Resources/Papers/OMAE2007-29315.pdf).
TaylorRandValentP,1984.DesignGuideforDragEmbedmentAnchors, NavalCivilEngineeringLaboratory(USA),
TNNoN-1688.
TorsethaugenKandHaverS,2004.Simplifieddoublepeakspectralmodelforoceanwaves,PaperNo.2004-JSC-193,
ISOPE2004Touson,France.
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Thwaites,1960.IncompressibleAerodynamics,Oxford,399-401.
TimoshenkoS,1955.VibrationProblemsinEngineering,vanNostrand.
TriantafyllouMS,YueDKPandTeinDYS,1994.Dampingofmooredfloatingstructures. OTC7489,Houston,215-
224.
Tuckeretal,1984.AppliedOceanResearch,6,No2.
TuckerMJ,1991.WavesinOceanEngineering.EllisHorwoodLtd.(Chichester).
Wichers J E W, 1979. Slowly oscillating mooring forces in single point mooring systems. BOSS79 (Second
InternationalConferenceonBehaviourofOffshoreStructures).
WichersJEW,1988.ASimulationModelforaSinglePointMooredTanker.DelftUniversityThesis.
Wu M, Saint-Marcoux J-F, Blevins R D, Quiggin P P, 2008. Paper No. ISOPE-2008-MWU10. ISOPE Conference 2008,
Vancouver,Canada.(www.orcina.com/Resources/Papers/ISOPE2008-MWU-10.pdf)
YoungAD,1989.BoundaryLayers.BSPProfessionalBooks,87-91.
SuppliersoffrequencydomainVIVsoftware
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11777KatyFreeway,Suite434South
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Fax:+12815315888
Email:info@jdmarineus.com
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Tutorial,GettingStarted
21
2 TUTORIAL
2.1 GETTINGSTARTED
This short tutorial gives you a very quick run through the model building and results presentation features of
OrcaFlex.
Oncompletionofthetutorialwesuggestthatyoualsolookthroughthepre-runexamplesseeExampleFiles.
OnstartingupOrcaFlex,youarepresentedwitha3Dviewshowingjustabluelinerepresentingtheseasurfaceand
abrownlinerepresentingtheseabed.Atthetopofthescreenare menus,atoolbarandastatusbararrangedinthe
manner common to most Windows software. As usual in Windows software, nearly all actions can be done in
severalways:here,toavoidconfusion,wewillusuallyonlyrefertoonewayofdoingtheactionwewant,generally
usingthemouse.
Figure: TheOrcaFlexmainwindow
2.2 BUILDINGASIMPLESYSTEM
Tostartwith,wewillbuildasimplesystemconsistingofonelineandonevesselonly.
Usingthemouse,clickonthenewvesselbutton onthetoolbar.Thecursorchangesfromtheusualpointertoa
crosshaircursortoshowthatyouhavenowselectedanewobjectandOrcaFlexiswaitingforyoutodecidewhereto
place it. Place the cursor anywhere on the screen and click the mouse button. A "ship" shape appears on screen,
positionedattheseasurface,andthecursorrevertstothepointershape.Toselectthevessel,movethecursorclose
to the vessel and click the mouse button the message box (near the top of the 3D view) will confirm when the
vessel has been selected. Now press and hold down the mouse button and move the mouse around. The vessel
follows the mouse horizontally, but remains at the sea surface. (To alter vessel vertical position, or other details,
selectthevesselwiththemouse,thendoubleclicktoopentheVesseldatawindow.)
2.3 ADDINGALINE
Now add a line. Using the mouse, click on the new line button . The crosshair cursor reappears move the
mousetoapointjusttothe rightofthevesselandclick.Thelineappearsasacatenaryloopatthemouseposition.
Move the mouse to a point close to the lefthand end of the line, press and hold down the mouse button and move
themousearound.Theendofthelinemovesaroundfollowingthemouse,andthelineisredrawnateachposition.
Release the mouse button, move to the right hand end, click and drag. This time the right hand end of the line is
dragged around. In this way, you can put the ends of the lines roughly where you want them. (Final positioning to
exact locations has to be done by typing in the appropriate numbers select the line with the mouse and double
clicktobringupthelinedataform.)
Movethelineendsuntilthelefthandendofthelineisclosetothebowoftheship,therighthandendliesabovethe
waterandthelinehangsdownintothewater.
Tutorial,AdjustingtheView
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22
Atthispoint,thelinehasadefaultsetofpropertiesandbothendsareatfixedpositionsrelativetotheGlobalorigin.
Forthemomentwewillleavethelineproperties(length,mass,etc.)attheirdefaultvalues,butwewillconnectthe
lefthandendtotheship.Dothisasfollows:
1. Clickontheline nearthelefthandend,toselectthat endoftheline; makesureyouhaveselectedtheline,not
thevesselorthesea.Themessageboxatthelefthandendofthestatusbartellsyouwhatiscurrentlyselected.
Ifyouhaveselectedthewrongthing,tryagain.(Notethatyoudon'thavetoclickattheendofthelineinorder
toselectitanywhereinthelefthandhalfofthelinewillselectthelefthandend.Asarule,itisbettertochoose
apointwellawayfromanyotherobjectwhenselectingsomethingwiththemouse.)
2. Release the mouse and move it to the vessel, hold down the CTRL key and click. The message box will confirm
theconnectionand,toindicatetheconnection,thetriangleattheendofthelinewillnowbethesamecolouras
thevessel.
Now select the vessel again and drag it around with the mouse. The left hand end of the line now moves with the
vessel.Leavethevesselpositionedroughlyasbeforewiththelineinaslackcatenary.
2.4 ADJUSTINGTHEVIEW
The default view of the system is an elevation of the global X-Z plane you are looking horizontally along the
positive Y axis. The view direction (the direction you are looking) is shown in the Window Title bar in
azimuth/elevationform(azimuth=270;elevation=0).Youcanmoveyourviewpointup,down,rightorleft,andyou
canzoominorout,usingtheviewcontrolbuttons nearthetopleftcornerofthewindow.Clickoneach
ofthetop3buttonsinturn:thenclickagainwiththe SHIFTkeyhelddown.TheSHIFTkeyreversestheactionofthe
button.Ifyouwanttomovetheviewcentrewithoutrotating,usethescrollbarsatthebottomandrightedgesofthe
window.Byjudicioususeofthebuttonsandscrollbarsyoushouldbeabletofindanyviewyoulike.
Alternatively, you can alter the view with the mouse. Hold down the ALT key and left mouse button and drag. A
rectangle on screen shows the area which will be zoomed to fill the window when the mouse button is released.
SHIFT+ALT+leftmousebuttonzoomsouttheexistingviewshrinkstofitintherectangle.
Warning: OrcaFlex will allow you to look up at the model from underneath, effectively from under the
seabed! Because the view is isometric and all lines are visible, it is not always apparent that this
hasoccurred.Whenthishashappened,theelevationangleisshownasnegativeinthetitlebar.
Therearethreeshortcutkeyswhichareparticularlyusefulforcontrollingtheview.ForexampleCTRL+Pgivesaplan
view from above; CTRL+E gives an elevation; CTRL+Q rotates the view through 90 about the vertical axis. (CTRL+P
andCTRL+Eleavetheviewazimuthunchanged.)
Nowclickthe buttononthe3DViewtobringuptheEditViewParametersform.Thisgivesamorepreciseway
ofcontrollingtheviewandisparticularlyusefulifyouwanttoarrangeexactlythesameviewof2differentmodels
say2alternativeconfigurationsforaparticularrisersystem.Edittheviewparametersifyouwishbypositioningthe
cursorintheappropriateboxandeditingasrequired.
If you should accidentally lose the model completely from view (perhaps by zooming in too close, or moving the
viewcentretoofar)thereareanumberofwaysofretrievingit:
x PressCTRL+TorrightclickintheviewwindowandselectResettoDefaultView.
x PresstheResetbuttonontheEditViewParametersform.Thisalsoresetsbacktothedefaultview.
x Zoomoutrepeatedlyuntilthemodelreappears.
x Closethe3DViewandaddanewone(usethe Window|Add3DViewmenuitem).Thenewwindowwillhave
thedefaultviewcentreandviewsize.
2.5 STATICANALYSIS
Note: IfyouarerunningthedemonstrationversionofOrcaFlexthenthisfacilityisnotavailable.
Torunastaticanalysisofthesystem,clickonthecalculatestaticsbutton .Themessageboxreportswhichlineis
being analysed and how many iterations have occurred. When the analysis is finished (almost instantly for this
simple system) the Program State message in the centre of the Status Bar changes to read "Statics Complete", and
theStaticAnalysisbuttonchangestolightgreytoindicatethatthiscommandisnolongeravailable.Theappearance
of the line will have changed a little. When editing the model, OrcaFlex uses a quick approximation to a catenary
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Tutorial,DynamicAnalysis
23
shape for general guidance only, and this shape is replaced with the true catenary shape when static analysis has
beencarriedout.(SeeStaticAnalysisformoredetails).
We can now examine the results of the static analysis by clicking on the Results button . This opens a Results
Selectionwindow.
Youareofferedthefollowingchoices:
x Resultsinnumericalandgraphicalform,withvariousfurtherchoiceswhichdeterminewhatthetableorgraph
willcontain.
x Resultsforallobjectsoroneselectedobject.
Ignore the graph options for the moment, select Summary Results and All Objects, then click Table. A summary of
the static analysis results is then displayed in spreadsheet form. Results for different objects are presented in
different sheets. To view more static analysis results repeat this process: click on the Results button and select as
before.
2.6 DYNAMICANALYSIS
Wearenowreadytorunthesimulation.IfyouarerunningthedemonstrationversionofOrcaFlexthenyoucannot
dothis,butinsteadyoucanloaduptheresultsofapre-runsimulationseeExamples.
Click the Run Dynamic Simulation button . As the simulation progresses, the status bar reports current
simulationtimeandexpected(real)timetofinishtheanalysis,andthe3Dviewshowsthemotionsofthesystemas
thewavepassesthrough.
Click the Start Replay button . An animated replay of the simulation is shown in the 3D view window. Use the
view control keys and mouse as before to change the view. The default Replay Period is Whole Simulation. This
means that you see the simulation start from still water, the wave building and with it the motions of the system.
SimulationtimeisshownintheStatusbar,topleft.Negativetimemeansthewaveisstillbuildingupfromstillwater
tofullamplitude.Attheendofthesimulationthereplaybeginsagain.
Thereplayconsistsofaseriesof"frames"atequalintervalsoftime.Justasyoucan"zoom"inandoutinspacefora
closerview,soOrcaFlexletsyou"zoom"inandoutintime.ClickontheReplayParametersbutton ,editInterval
to0.5sandclickOK.Theanimatedreplayisnowmuchjerkierthanbeforebecausefewerframesarebeingshown.
NowclickagainonReplayParameters,setReplayPeriodtoLatestWaveandclickontheContinuousboxtodeselect.
Thereplayperiodshownisattheendofthesimulation andhasdurationofasinglewaveperiod.Attheendofthe
waveperiodthereplaypauses,thenbeginsagain.
Now click on the Replay Step button to pause the replay. Clicking repeatedly on this button steps through the
replayoneframeatatime averyusefulfacilityfor examiningaparticularpartofthemotionindetail.Clickwith
theSHIFTkeyhelddowntostepbackwards.
Youcanthenrestarttheanimationbyclickingon'StartReplay'asbefore.Toslowdownorspeedupthereplay,click
on Replay Parameters and adjust the speed. Alternatively use the shortcuts CTRL+F and SHIFT+CTRL+F to make the
replayfasterorslowerrespectively.
ToexitfromreplaymodeclickontheStopReplaybutton .
2.7 MULTIPLEVIEWS
You can add another view of the system if you wish by clicking on the View button . Click again to add a third
view,etc.Eachviewcanbemanipulatedindependentlytogive,say,simultaneousplanandelevationviews.Tomake
allviewsreplaytogether,clickonReplayControlandchecktheAllViewsbox.Toremoveanunwantedviewsimply
close its view window. To rearrange the screen and make best use of the space, click Window and choose Tile
Vertical(F4)orTileHorizontal(SHIFT+F4).Alternatively,youcanminimisewindowssothattheyappearassmall
icons on the background, or you can re-size them or move them around manually with the mouse. These are
standard Windows operations which may be useful if you want to tidy up the screen without having to close a
windowdowncompletely.
Tutorial,LookingatResults
w
24
2.8 LOOKINGATRESULTS
NowclickontheResultsbutton .ThisopensaResultsSelectionwindow.
Youareofferedthefollowingchoices:
x ResultsasTablesorGraphs,withvariousfurtherchoiceswhichdeterminewhatthetableorgraphwillcontain.
x Resultsforallobjectsoroneselectedobject.
Select Time History for any line, then select Effective Tension at End A and click the Graph button. The graph
appears in a newwindow. You can call up time histories ofa wide range ofparameters for most objects. For lines,
you can also call up Range Graphs of effective tension, curvature, bend moment and many other variables. These
show maximum, mean and minimum values of the variable plotted against position along the line. Detailed
numericalresultsareavailablebyselectingSummaryResults,FullResults,StatisticsandLinkedStatistics.
Timehistoryand rangegraphresultsarealsoavailableinnumericalform selectthevariableyouwantand press
theValuesbutton.TheresultscanbeexportedasExcelcompatible spreadsheetsforfurtherprocessingasrequired.
Further numerical results are available in tabular form by selecting Summary Results, Full Results, Statistics and
LinkedStatistics.
ResultsPost-Processing
Extrapost-processingfacilitiesareavailablethroughExcelspreadsheets.
2.9 GETTINGOUTPUT
You can get printed copies of data, results tables, system views and results graphs by means of the File|Print
menu, or by clicking Print on the pop-up menu. Output can also be transferred into a word processor or other
application,eitherusingcopy+pasteviatheclipboardorelseexport/importviaafile.
Note: PrintingandexportfacilitiesarenotavailableinthedemonstrationversionofOrcaFlex.
2.10 INPUTDATA
Takealookthroughtheinputdataforms.Startbyresettingtheprogram:clickontheResetbutton .Thisreturns
OrcaFlex to the reset state, in which you can edit the data freely. (While a simulation is active you can only edit
certainnon-criticalitems,suchasthecoloursusedfordrawing.)
NowclickontheModelBrowserbutton .ThisdisplaysthedatastructureintreeformintheModelBrowser.
Select an item and double click with the mouse to bring up the data form. Many of the data items are self
explanatory. For details of a data item, select the item with the mouse and press the F1 key. Alternatively use the
questionmarkHelpiconinthetoprightcorneroftheform.Havealookaroundalltheobjectdataformsavailableto
getanideaofthecapabilitiesofOrcaFlex.
EndofTutorial
Wehopeyouhavefoundthistutorialuseful.TofamiliariseyourselfwithOrcaFlex,trybuildingandrunningmodels
ofanumberofdifferentsystems.Themanualalsoincludesarangeofexampleswhichexpandonparticularpointsof
interestordifficulty.
Finally,pleaserememberthatweatOrcinaareoncalltohandleyourquestionsifyouarestuck.
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UserInterface,Introduction
25
3 USERINTERFACE
3.1 INTRODUCTION
3.1.1 ProgramWindows
OrcaFlexisbaseduponamainwindowthatcontainsthe Menus,aToolBar,aStatusBarandusuallyatleastone3D
view.Thewindowcaptionshowstheprogramversionandthefilenameforthecurrentmodel.
Figure: TheOrcaFlexmainwindow
Withinthismainwindow,anynumberofchildwindowscanbeplacedwhichmaybe:
3DViewWindows showing3Dpictorialviewsofthemodel
GraphWindows showingresultsingraphicalform
SpreadsheetWindows showingresultsinnumericalform
TextWindows reportingstatus
Additionaltemporarywindowsarepoppedup,suchasDataFormsforeachobjectinthemodel(allowingdatatobe
viewedandmodified)anddialoguewindows(usedtospecifydetailsforprogramactionssuchasloadingandsaving
files).Whileoneofthesetemporarywindowsispresentyoucanonlyworkinsidethatwindowyoumustdismiss
thetemporarywindowbeforeyoucanuseotherwindows,themenusortoolbar.
TheactionsthatyoucanperformatanytimedependonthecurrentModelState.
ArrangingWindows
3D View, Graph, Spreadsheet and Text Windows may be tiled so that they sit side-by-side, but they must remain
withintheboundsofthemainwindow.Theprogramrearrangesthewindowseverytimeanewwindowiscreated.
3.1.2 TheModel
OrcaFlex works by building a mathematical computer model of your system. This model consists of a number of
objectsthatrepresentthepartsofthesysteme.g.vessels,buoys,linesetc.
Each object has a name, which can be any length. Object names are not case-sensitive, so Riser, riser and RISER
wouldallrefertothesameobject.ThisbehaviouristhesameasforWindowsfilenames.
Themodelalwayshastwostandardobjects:
x Generalcontainsgeneraldata,suchastitle,unitsetc.
x Environmentrepresentsthesea,seabed,waves,currentetc.
YoucanthenusetheModelBrowserorthetoolbartoaddotherobjectstorepresentthepartsofyoursystem.There
isnolimit,otherthanthecapacityofyourcomputer,tothenumberofobjectsyoucanaddtothemodel.Atanytime,
youcansaveyourmodeltoadatafile.
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3.1.3 ModelStates
OrcaFlex builds and analyses a mathematical model of the system being analysed, the model being built up from a
seriesofinterconnectedobjects,suchasLines,VesselsandBuoys.FormoredetailsseeModellingandAnalysis.
OrcaFlex works on the model by moving through a sequence ofstates, the current state being shown on the status
bar.Thefollowingdiagramshowsthesequenceofstatesusedandtheactions,resultsetc.availableineachstate.
RESET
Calculating
Statics
Simulating
STATICS COMPLETE
SIMULATION
COMPLETE
Calculate
Static
Position
Reset
Reset
Edit or
Reset
Run
Pause
Run
SIMULATION
PAUSED
Reset
Extend
Simulation
SIMULATION
UNSTABLE
Reset
Figure: ModelStates
Thestatesusedareasfollows:
Reset
Thestatein whichOrcaFlexstarts.InResetstateyoucanfreelychangethemodeland editthedata.Noresults are
available.
CalculatingStatics
OrcaFlexiscalculatingthestaticspositionofthemodel.YoucanabortthecalculationbyCLICKINGtheResetbutton.
StaticsComplete
Thestaticscalculationiscompleteandthestaticpositionresultsareavailable.Youareallowedtomakechangesto
themodelwheninthisstatebutifyoumakeanychanges(exceptforveryminorchangeslikecoloursused)thenthe
modelwillbeautomaticallyresetandthestaticsresultswillbelost.
Simulating
Thedynamicsimulationisrunning.Theresultsofthesimulationsofarareavailableandyoucanexaminethemodel
data, but only make minor changes (e.g. colours used). You cannot store the simulation to a file while simulating
youmustpausethesimulationfirst.
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SimulationPaused
There is a simulation active, but it is paused. The results so far are available and you can examine the model data.
Youcanalsostorethepart-runsimulationtoafile.
SimulationComplete
Thesimulationiscomplete.Thesimulationresultsareavailableandyoucanstoretheresultstoasimulationfilefor
later examination. You must reset the model, by CLICKING on the Reset button, before significant changes to the
modelcanbemade.
YoucanusetheExtendDynamicSimulationfacilityifyouwishtosimulateforafurtherperiodoftime.
SimulationUnstable
The simulation has become unstable. The simulation results are available and you can store the results to a
simulation file for later examination. This allows you to try and understand why the simulation has become
unstable. You may also want to examine the results up until the point at which the simulation became unstable.
However, please treat these results with caution because the simulation eventually went unstable this indicates
thatthedynamicsimulationmaynothaveconvergedatearliersimulationtimes.
Youmustresetthemodel,byCLICKINGontheResetbutton,beforesignificantchangestothemodelcanbemade.
Typicalmodelstateflow
Toillustratehowmodelstateswork,hereisanexampleofatypicalworkingpattern:
1. InResetstate,openanewmodelfromadatafileorusethecurrentmodelasthestartingpointforanewmodel.
2. InResetstate,addorremoveobjectsandeditthemodeldataasrequiredforthenewmodel.Itisgenerallybest
to use a very simple model in the early stages of design and only add more features when the simple model is
satisfactory.
3. Run a static analysis (to get to Statics Complete state) and examine the static position results. Make any
corrections to the model that are needed this will automatically reset the model. Steps (2) and (3) are
repeatedasrequired.
4. Runasimulationandmonitortheresultsduringthesimulation(inSimulatingstate).
5. If further changes to the model are needed then Reset the model and edit the model accordingly. Steps (2) to
(5)arerepeatedasrequired.
6. Finalise the model, perhaps improving the discretisation (for example by reducing the time step sizes or
increasing the number of segments used for Lines). Run a final complete simulation (to reach
SimulationCompletestate)andgeneratereportsusingtheresults.
3.1.4 Toolbar
The toolbar holds a variety of buttons that provide quick access to the most frequently used menu items. The
selectionofbuttonsavailablevarieswiththecurrentProgramState.
Button Action EquivalentMenuItem
Open File|Open
Save File|Save
ModelBrowser Model|ModelBrowser
NewVessel Model|NewVessel
NewLine Model|NewLine
New6DBuoy Model|New6DBuoy
New3DBuoy Model|New3DBuoy
NewWinch Model|NewWinch
NewLink Model|NewLink
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Button Action EquivalentMenuItem
NewShape Model|NewShape
CalculateStatics Calculation|SingleStatics
RunSimulation Calculation|RunDynamicSimulation
PauseSimulation Calculation|PauseDynamicSimulation
Reset Calculation|Reset
StartReplay Replay|StartReplay
StopReplay Replay|StopReplay
StepReplayForwards Replay|StepReplayForwards
EditReplayParameters Replay|EditReplayParameters
AddNew3DView Window|Add3DView
ExamineResults Results|SelectResults
HelpContentsandIndex Help|OrcaFlexHelp
3.1.5 StatusBar
TheStatusBarisdividedintothreefields:
TheMessageBox
This is at the lefthand end. It shows information about the progress ofthe current action, such as the name ofthe
currentlyselectedobject,orthecurrentiterationnumberorsimulationtime.Errormessagesarealsoshownhere.
Whenastaticscalculationisdonemessagesshowingtheprogressofthecalculationareshowninthemessagebox.
To see all the messages from the statics calculation CLICK on the message box the StaticsProgressWindow will
thenbeopened.
TheProgramStateIndicator
Inthecentreandshowswhichstatetheprogramisin(seeModelStates).
TheInformationBox
Thisisontheright.Itshowsadditionalinformation,including:
x Theglobalcoordinatesofthepositionofthecursor,inthecurrentviewplane.
x Distanceswhenusingthemeasuringtapetool.
3.1.6 MouseandKeyboardActions
AswellasthestandardWindowsmouseoperationssuchasselectionanddraggingOrcaFlexusessomespecialised
actions. Clicking the right mouse button over a 3D View, Graph or Text Window displays a pop-up menu of
frequently used actions, such as Copy, Paste, Export etc. For wire frame 3D Views and Graph Windows the mouse
canbeusedforzooming.SimplyholdtheALTkeydownandusingtheleftmousebutton,dragaboxovertheregion
youwanttoview.
AllofthemenuitemscanbeselectedfromthekeyboardbypressingALTfollowedbytheunderlinedletters.
Example: Toexitfromtheprogram(menu:File|Exit)pressALT+FthenX,orALTthenFthenX
A number of frequently used menu items may also be accessed by shortcut keys, such as CTRL+R to start a replay.
See the tables below. The shortcut keys are also displayed on the OrcaFlex menus. We suggest that as you become
morefamiliarwiththeoperationofOrcaFlexthatyoumemorisesomeoftheshortcutkeysforactionsthatyouuse
frequently.
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KeysonMainWindow
Newmodel
CTRL+N
Openfile
CTRL+O
Savefile
CTRL+S
Opendata
SHIFT+CTRL+O
Savedata
SHIFT+CTRL+S
Help
F1
Print
F7
Show/hideModelBrowser
F6
SwitchbetweenModelBrowserandMainWindow
SHIFT+F6
Calculatestaticposition
F9
Rundynamicsimulation
F10
Pausedynamicsimulation
F11
Reset
F12
Openresultsselectionform
F5
Gotonextwindow
CTRL+F6
Gotopreviouswindow
SHIFT+CTRL+F6
Tilewindowsvertically
F4
Tilewindowshorizontally
SHIFT+F4
Closeselectedwindow
CTRL+F4
Closeprogram
ALT+F4
KeysonModelBrowser
Editdata
Enter
Renameobject
F2
SwitchtoMainWindow
SHIFT+F6
Locate
F3
Moveselectedobjects
CTRL+M
Hide
CTRL+H
Show
CTRL+S
Hideallobjects
SHIFT+CTRL+H
Showallobjects
SHIFT+CTRL+S
ViewbyGroups
SHIFT+CTRL+G
ViewbyTypes
SHIFT+CTRL+T
Lock/Unlockobjects
CTRL+L
Cut
CTRL+X
Copy
CTRL+C
Paste
CTRL+V
Delete
DELETE
Closebrowser
ESC
KeysonDataForms
Help
F1
Gotonextdataform
F6
Gotopreviousdataform
SHIFT+F6
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Displaybatchscriptnamesforcurrentlyselected
dataitemortable.
F7
DisplayPropertiesReport
ALT+ENTER
Showconnectionsreport
F8
Copyform
F9
Exportform
F10
Printform
CTRL+P
Opencalculator
F12
DataSelectionKeys
Gotonextdataitemortable
TAB
Gotopreviousdataitemortable
SHIFT+TAB
Gotodataitemortablelabelledwithunderlinedletter
ALT+LETTER
Movearoundwithinatable
Selectmultiplecellsintable SHIFT+
SHIFT+HOME
SHIFT+END
Gotofirstorlastcolumnintable
HOMEEND
Goupordowntableseveralrowsatatime
PGUPPGDN
DataEditingKeys
Enternewvalueforselectedcell Typenewvalue
Editcurrentvalueofselectedcell
F2
Opendrop-downlist ALT+
Movearoundwithinnewdatavaluebeingentered HOMEEND
Acceptedit
RETURN
Accepteditandgotoadjacentcellintable
Canceledit
ESC
Cutselectedcell(s)toclipboard
CTRL+X
Copyselectedcell(s)toclipboard
CTRL+C
Pastefromclipboard
CTRL+V
Fillselectionfromtop(copytopcelldown)
CTRL+D
Fillselectionfromleft(copyleftmostcelltoright)
CTRL+R
Fillselectionfrombottom(copybottomcellup)
CTRL+U
SHIFT+CTRL+D
Fillselectionfromright(copyrightmostcelltoleft)
CTRL+L
SHIFT+CTRL+R
Insertnewrowsintable
INSERT
Deleteselectedrowsfromtable
DELETE
3DViewControlKeys
Elevationview
CTRL+E
Planview
CTRL+P
Rotateviewpointup(incrementviewelevationangle) CTRL+ALT+
Rotateviewpointdown(decrementviewelevationangle) CTRL+ALT+
Rotateviewpointright(incrementviewazimuthangle) CTRL+ALT+
Rotateviewpointleft(decrementviewazimuthangle) CTRL+ALT+
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Rotateviewpoint+90
CTRL+Q
Rotateviewpoint-90
SHIFT+CTRL+Q
ZoomIn
CTRL+I
ZoomOut
SHIFT+CTRL+I
Moveviewcentrefineadjustment
Moveviewcentrecoarseadjustment CTRL+
Editviewparametersforcurrent3Dview
CTRL+W
Resettodefaultview
CTRL+T
Setasdefaultview
SHIFT+CTRL+T
Showentiremodel
CTRL+ALT+T
3DViewControlKeys(forwireframegraphicsonly)
Show/Hidelocalaxes
CTRL+Y
Show/Hidenodeaxes
CTRL+ALT+Y
Undomostrecentdrag
CTRL+Z
Lock/Unlockselectedobject
CTRL+L
Placenewobject SPACEorRETURN
Editselectedobject
CTRL+F2
Cutselectedobjecttoclipboard
CTRL+X
Copyselectedobject,orviewifnoneselected,
toclipboard
CTRL+C
Pasteobjectfromclipboard(followedbymouseclick
orRETURNtopositionthenewobject)
CTRL+V
Deleteselectedobject
DELETE
Measuringtapetool SHIFT+CTRL+drag
ReplayControlKeys
Start/Stopreplay
CTRL+R
Replayfaster
CTRL+F
Replayslower
SHIFT+CTRL+F
Stepforwardsoneframeinthereplayandpause
CTRL+A
Stepbackwardsoneframeinthereplayandpause
CTRL+B
Editreplayparameters
CTRL+D
3.2 ORCAFLEXMODELFILES
3.2.1 DataFiles
OrcaFlexmodelsaresavedtoeitherbinarydatafiles(.dat)ortextdatafiles(.yml).
AllversionsofOrcaFlexcanreadbinarydatafiles.Textdatafileswereonlyintroducedinversion9.3aandsocannot
bereadbyolderversionsoftheprogram.
Binarydatafileshavestrongversioncompatibilityfeatures.Forexample,whenOrcaFlexattemptstoopenabinary
data file written by a later version of the program it is able to report informative compatibility warnings. The
program is not able to be as helpful and informative when working with text data files across program versions.
Whilstwestrivetoachieveasmuchcompatibilityaspossiblefortextdatafilesacrossprogramversions,wecannot
achievethesamelevelofcompatibilityasthatforbinarydatafiles.
Text data files, as written by OrcaFlex, contain only data that is active in the model. For example, if implicit time
integration is selected in the model then all data relating to explicit time integration is excluded from the text data
file.Ontheotherhand,binarydatafilescontainalldatawhetherornotitisactive.Thefactthatthebinarydatafile
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contains inactive data can be very useful and so, in general, we would recommend that model building and
developmentisperformedusingthebinarydatafile.
Text data files can be created without the use of OrcaFlex simply by entering text into a text editor. In general we
would not advocate this approach to model building. For very simple systems it may be a practical approach but
more complex models are usually much easier to build and inspect using the full capabilities and visualisation
strengthsofOrcaFlex.Ontheotherhand,textdatafilescanbeveryeffectivewhenmakingminorchangestoexisting
models.Usingtextdatafilesforsuchminorvariationsofexistingmodelsmakesitmucheasiertomonitorjustwhat
hasbeenchanged,forexamplebyusingstandardtextdifferencingprograms.
Text data files are highly readable and self-documenting which makes them ideal for QA and archival purposes.
Anotherapplicationwellsuitedtotheuseoftextdatafilesisautomation.
3.2.2 TextDataFiles
Text data files are used to define and represent OrcaFlex models in a human readable and easily editable format.
TextdatafilescanbeopenedandsavedbyOrcaFlex.Averysimpleexampleisshownbelow:
General:
StageDuration:
- 10.0
- 50.0
Lines:
- Name: Line1
Length, TargetSegmentLength:
- [60.0, 5.0]
- [40.0, 2.0]
- [120.0, 10.0]
This example first defines a 10s build-up stage followed by stage 1 with 50s duration. Then a Line is created and
named "Line1". Finally the section data is specified: three sections are created with varying section lengths and
segmentlengths.Defaultvaluesareusedforalldatawhicharenotspecified.
Note: The formatting (colour, bold, italic etc.) in the examples here has been added to aid readability,
andisnotafeatureorrequirementoftextdatafilesthemselves.
YAMLfileformat
TextdatafilesuseastandardfileformatcalledYAMLandshouldbesavedwiththe.ymlfileextension.TheYAMLfile
formatwaschosenbecauseitisextremelyeasytoreadandwrite.
YAMLfilesareplaintextfilesandsocanbeeditedinanytexteditor.WehavefoundNotepad++tobeaveryeffective
editor for YAML files. Notepad++ has a tabbed interface for easy editing of multiple files and has code folding and
syntaxhighlightingfacilitiesthatworkwellwithYAMLfiles.
Note: YAMLfilesmustbesavedwiththeUTF-8characterencoding.
MoredetailsontheYAMLformatandNotepad++canbeobtainedfromthefollowingwebsites:
x http://en.wikipedia.org/wiki/YAMLYAMLpageonWikipedia.
x http://www.yaml.org/OfficialYAMLhomepage.
x http://www.yaml.org/spec/CompletetechnicalspecificationofYAML.
x http://notepad-plus.sourceforge.net/Notepad++.
Elementsofatextdatafile
Themostbasicelementofatextdatafileisthename/valuepair:
UnitsSystem: SI
The name (UnitsSystem) is written first, followed by a colon (:), then a SPACE, and then the value (SI). The names
usedintextdatafilesarethesameasusedtoidentifydataitemsinbatchscriptfiles.
NamesandvaluesinYAMLfilescancontainspacesandotherpunctuation:
General:
StaticsMethod: Whole System statics
Lines:
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- Name: 12" Riser
- Name: Umbilical, upper
- Name: "!$%^&*(){}[]=+-_#~'@:;/?.>,<\|
Thisexamplealsocontainsalist.Newitemsinalistareintroducedbyadash(-)followedbyaSPACE.Itemsinalist
canspanmorethanasingleline:
Lines:
- Name: Riser
TopEnd: End B
ContentsDensity: 0.8
- Name: Umbilical
TopEnd: End A
Outline indentation is used to delimit blocks in a YAML file. This concept, known as significant indentation, is
perhaps a little unusual as most data formats and programming languages use symbols to indicate the beginnings
andendsofblocks.Tounderstandthisbetterconsiderthefollowingexample:
General:
UnitsSystem: SI
Environment:
WaterDepth: 80
ThetwolinesimmediatelyfollowingGeneral:whichareindentedbytwospaces,formasingleblock.Thisblockis
ended by Environment: because it is not indented. A second block follows Environment: containing a single
name/valuepairwhichdefinesthewaterdepth.
Indentation must be made with SPACE characters rather than TAB characters. It does not matter how many spaces
are used so long as the indentation is consistent within each block. However, it is good practice to use the same
indentationthroughoutafile.OrcaFlexitselfusesindentationoftwospaceswhenitwritesYAMLfiles.
Listsarecommonlyusedtorepresenttablesofdata:
Lines:
- Name: Line1
LineType, Length, TargetSegmentLength:
- [Line Type1, 60, 5]
- [Line Type1, 40, 2]
- [Line Type2, 120, 10]
ThenameLineType, Length, TargetSegmentLengthindicatesthreecolumnsofdata,LineType,Length
andTargetSegmentLengthwhichareinterpretedinthatorder.Thecomma(,)characterisusedasaseparator.
NotethatyoudonothavetopresentthedatainthesameorderasitappearsinOrcaFlex.Thefollowingexampleis
equivalenttothepreviousexample:
Lines:
- Name: Line1
Length, TargetSegmentLength, LineType:
- [60, 5, Line Type1]
- [40, 2, Line Type1]
- [120, 10, Line Type2]
Youcan,ifyouwish,omitcolumns,inwhichcasedefaultvalueswillbeused:
Lines:
- Name: Line1
LineType, Length:
- [Line Type1, 60]
- [Line Type1, 40]
- [Line Type2, 120]
Somedataarecloselyrelatedtoeachotherandcannaturallybegroupedinatextdatafile:
3DBuoys:
- Name: 3D Buoy1
InitialPosition: [0, 0, 10]
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DragArea: [100, 100, 30]
Pen: [4, Solid, Yellow]
Withoutgroupingthefilewouldbesignificantlylonger:
3DBuoys:
- Name: 3D Buoy1
InitialX: 0
InitialY: 0
InitialZ: 10
DragAreaX: 100
DragAreaY: 100
DragAreaZ: 30
PenWidth: 4
PenStyle: Solid
PenColour: Yellow
Themajority ofgroupeddataareX,Y,Zcomponentsand weadopttheconventionthatthesecomponentsappearin
thatorderwhengrouped.
YAML files may contain comments which are introduced by a hash (#) character followed by a SPACE. All
subsequenttextonthesamelineiscommentandisignoredwhenOrcaFlexreadsatextdatafile.Commentsarenot
preserved by OrcaFlex and any user comments in a manually edited YAML file opened with OrcaFlex will be lost if
thefileissaved.Commentsareformattedingreeninthefollowingexample:
General:
# Statics
BuoysIncludedInStatics: Individually Specified
# Dynamics
StageDuration:
- 8
- 16
TargetLogSampleInterval: 0.1
# Integration
SimulationIntegrationMethod: Implicit
ImplicitConstantTimeStep: 0.1
Atextdatafilecanberatherlarge,particularlyifitcontainsvesselhydrodynamicdata.Codefoldingeditorscanhelp
somewhat, but even so such files can be awkward to work with. The IncludeFile identifier allows you to move
dataintoaseparatefilewhichisthenincludedinthemainfile:
# File: C:\Desktop\main.yml
VesselTypes:
- Name: FPSO
IncludeFile: FPSO.yml
Vessels:
- Name: Vessel1
VesselType: FPSO
Theincludedfilecontainsjustthedataforthevesseltype:
# File: C:\Desktop\FPSO.yml
Length: 240
RAOResponseUnits: degrees
RAOWaveUnit: amplitude
WavesReferredToBy: period (s)
# ... remainder of large file omitted ...
Aswellasmakingthemainfileshorterandmorereadable,usingthisapproachcanoffersignificantQAbenefits.
InthisexamplewehaveusedarelativepathandsotheprogramwilllookforFPSO.ymlinthesamedirectoryasthe
maintextdatafile.
AtextdatafilesavedbyOrcaFlexcontainssomeextrainformation:
%YAML 1.1
# Program: OrcaFlex 9.3a
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# File: C:\Desktop\untitled.yml
# Created: 12:35 on 21/07/2009
# User: jamie
# Machine: holly
---
General:
# Statics
BuoysIncludedInStatics: Individually Specified
# Dynamics
StageDuration:
- 8
- 16
TargetLogSampleInterval: 0.1
# Integration
SimulationIntegrationMethod: Implicit
ImplicitConstantTimeStep: 0.1
Environment:
# Seabed
SeabedType: Flat
WaterDepth: 100
SeabedModel: Linear
SeabedNormalStiffness: 100
# Current
RefCurrentSpeed: 0.4
RefCurrentDirection: 180
...
The section between the --- and ... lines is the main body of the file and is known in YAML terminology as a
document. Everything else is in fact optional and can be omitted. A YAML file can contain multiple documents,
separatedby---linesbutOrcaFlexhasnospecialtreatmentforsuchmulti-documentfilesandalldataisreadinto
asingleOrcaFlexmodel.
Thefirstline(%YAML1.1)isknownastheYAMLdirectiveandspecifieswhichversionofYAMLthefileadheresto.
TheYAMLdirectivecanbeomitted.Therestoftheheadercontainsanumberofcommentsdetailingtheversionof
OrcaFlexwhichcreatedthefile,thefilenameetc.Again,thesecommentscanbeomitted.
Orderingissues
Theorderinwhichthedataappearinatextdatafileisveryimportant.OrcaFlexprocessesthefilelinebylineinthe
orderinwhichitappearsinthefile.
Any references (e.g. Lines referring to Line Types) must be ordered so that the referenced object appears before
anyreferencestoit.SoLineTypesappearbeforeLinesinthefile.SimilarlyVesselsand3D/6DBuoysappearbefore
Lines, Links, Winches and Shapes so that any connection references (e.g. a Line connected to a Vessel) can be
orderedcorrectly.
Theotherorderingissuerelatestoinactivedata.Datawhicharenotcurrentlyavailableareknownasinactivedata.
Forexample,datarelatingtotheexplicitsolverareinactivewhentheimplicitsolverisselected.Inactivedatacannot
bespecifiedinatextdatafile.
This rule has implications for the order in which data are presented in the text data file. Consider the following
example:
General:
InnerTimeStep: 0.01
SimulationIntegrationMethod: Explicit
Since the default integration method is the implicit solver the attempt to set the explicit time step
(InnerTimeStep) will fail because it is inactive data. The solution is to set the integration method before setting
thetimestep:
General:
SimulationIntegrationMethod: Explicit
InnerTimeStep: 0.01
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This principle applies in general you should set as soon as possible all data which influences whether other data
areactive.
Automation
Text data files can easily be modified and/or generated by computer programs/scripts. This means that the text
data file format, combined with a text processing script language (e.g. Python, Perl, Ruby etc.), can form a very
effective automation tool. The OrcaFlex Spreadsheet provides a simple, yet effective, facility for automating the
productionoftextdatafiles.
Some specialist features have been included in the text data file to aid with automation tasks, as illustrated in the
followingexample:
BaseFile: base.dat
Riser:
Length[1]: 180
WhenthistextdatafileisloadedinOrcaFlextheprogramdoesthefollowing:
1. OpenstheOrcaFlexbinarydatafilenamedbase.dat,locatedinthesamedirectoryasthetextdatafile.
2. SetsthecontentsdensityfortheOrcaFlexLinecalled"Riser"to0.8.
3. Setsthelengthofthefirstsectionof"Riser"to180.
The BaseFile identifier differs from IncludeFile in that it is able to load either binary or text data files
(IncludeFileonlyworkswithtextdatafiles).Inaddition BaseFileclearsallexistingdatainthemodelbefore
loading the contents of the specified file. On the other hand, IncludeFile acts incrementally, starting from
whateverstatethemodelisinwhentheIncludeFileidentifierisencountered.
Standard text data files typically specify the entire model. The common automation task of making systematic
variations to a base case requires the ability to specify an existing object for which data modifications are to be
made.Thisisdoneusingtheobject'snameintheexampleabovetheRiser:lineperformsthisstep.
Inasimilarveinitisacommonrequirementtomodifydataforcertainitemsinalistortablewithoutspecifyingthe
entiretable.Theindexingsyntax(Length[1]intheexample)performsthistask.Notethatasfor batchscriptfilesthe
indicesarealways1-based.
Manuallyeditedtextdatafiles
Saving a text data file, then editing it is a good way to create a base file for automation, or to discover data names
and data structure for an object. However, please be aware that this is a one way process. OrcaFlex reads and
interprets a text data file line by line to build the model incrementally, discarding the lines once processed. When
saving a file OrcaFlex exports each object, including any default values. Consequently the save process is not the
inverseoftheloadprocessandanymanualmodificationstotheinputfilewillbeoverwrittenwhenthefileissaved
byOrcaFlex.
Intheshortautomationexampleabove,ifthemodelcreatedwhenthisfileisloadedissaved,thetextdatafilewould
contain data for all the objects imported by the BaseFile command, the full data for the line Riser and other
defaultdatanotspecifiedintheinputfile.
3.2.3 SimulationFiles
Results from OrcaFlex calculations (statics or dynamics) are saved to simulation files (.sim). These are binary files
containingthefollowingsections:
x Themodeldata.Thissectionisessentiallyabinarydatafile.
x The latest calculated state (positions, loads etc.) of the model. This section allows static state results to be
retrievedandalsoenablespartially-rundynamicsimulationstobecontinued.
x The log file which contains results for a dynamic simulation. This section is not present for static state
simulationfiles.
Simulationfilescanbegeneratedinanumberofdifferentways:
x Interactively from the main OrcaFlex window. After a calculation (statics or dynamics) has performed then a
simulationcanbesavedusingtheFile|SaveorFile|SaveAsmenuitems.
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x Fromthebatchprocessingform.
x FromDistributedOrcaFlex.
x FromtheOrcaFlexprogramminginterface(OrcFxAPI).
Similarly,resultscanbepost-processedfromsimulationfilesinanumberofdifferentways:
x Interactivelyfromtheresultsform.
x FromtheOrcaFlexspreadsheet.
x FromtheOrcaFlexprogramminginterface.
3.3 MODELBROWSER
At any time you can use the Model Browser to see what objects you have in your model. To display the model
browser,usethemodelbrowserbutton ortheModel|ModelBrowsermenuitemorusethekeyboardshortcuts
(F6toopenthemodelbrowser).
Figure: ModelBrowser
TheModelBrowserconsistsofalistofalltheobjectsinthemodel,arrangedintocategoriesaccordingtoobjecttype.
Severalsymbolsareusedinthelistofobjects:
Categoriescanbeopened,toshowtheircontents,orclosed,tosimplifyviewingacomplexmodel.
Objects.Usedoubleclicktovieworedittheobject'sdata.
Locked.Theseobjectscannotbedraggedbythemouseinthe3DView.
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You can navigate the list and select the object required by clicking with the mouse, or using the arrow keys and
return.Ifthelistislongerthanthewindowthenyoucaneitherenlargethewindoworusethescrollbar.
Note: More than one object can be selected in the model browser. This allows you to perform the same
action(e.g.delete,copy,hide,show,locate)onmanyobjectsatonce.Toselectmorethanoneobject
you use the standard Windows key presses CTRL+CLICK to add to a selection and SHIFT+CLICK to
extendaselection.
Hint: Ifyouhaveallobjectsinthe model browserselectedthen itcanbedifficulttode-selectthem.The
simplestwayistouseCTRL+CLICKtode-selectoneitemandthentoCLICKthatitemagaintoselect
italone.
ModelBrowserFacilities
Themodelbrowsermenus,andits pop-upmenu,providethefollowingmodelmanagementfacilities.Fordetailsof
keyboardshortcutsseeKeysonModelBrowser.
Add
Addanewobjecttothemodel.
Delete
Deletetheselectedobjectfromthemodel.
Cut/Copy
CutorCopytheselectedobjecttotheclipboard.
Paste
Pasteanobjectfromtheclipboardintothemodel.Iftheobjectisthe VariableDatathenallthevariabledatatables
arepastedin,withtablesbeingrenamedifnecessarytoavoidclashingwithexistingvariabledatanames.
Note: YoucanuseCut/CopyandPastetotransferobjectsbetweentwocopiesofOrcaFlexrunningonthe
same machine. You can also use it to transfer objects between two OrcaFlex data files (open the
sourcefileandcopytheobjecttotheclipboard,thenopenthedestinationfileandpastetheobject
backfromtheclipboard),butthe Libraryfacility(seebelow)providesaneasier wayofachieving
thesamething.
MoveSelectedObjects
OpenstheMoveSelectedObjectsWizard.
Locate
Findsandhighlightstheobjectinanyopen3Dviewwindows.Thisisusefulincomplexmodelswheremanyobjects
areonthe3Dview.ThehighlightingmethodisdeterminedbytheLocateObjectMethodpreference.
Edit
Open the object's data form. This action can also be invoked by double-clicking an item, or by selecting it and
pressingRETURN.
Rename
Renametheselectedobject.Youcanalsorenamebysingle-clickingtheselectedobject.
Lock/Unlock
Lockorunlocktheselectedobject.
Hide/HideAll/Show/ShowAll
Controlwhethertheobjectsaredrawnon3Dviews.
Reorder
Youcanusedrag+dropwiththemousetoreorderobjectsinthemodel.Thisisusefulifyouareworkingonthestatic
positionofoneparticularline youcandragituptothetopofthelistoflines,sothatitwillbe tackledfirst when
OrcaFlexdoesthestaticanalysis.
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Library
TheLibrarymenufacilitiesallowyoutoopenaseconddatafile.Youcanthen Importobjectsfromthatsecond file
intothecurrentmodel.Youcanalsoimportusingdrag+dropwiththemouse.FordetailsseeLibraries.
Notes: Theseconddatafileisreferredtoasthelibrarymodel,butinfactitcanbeanyOrcaFlexdatafile.
The library facilities therefore provide an easy way to move objects between different OrcaFlex
datafiles.
Ifthe object being imported is the variable data then all the variable data tables are transferred,
withtablesbeingrenamedifnecessarytoavoidclashingwithexistingvariabledatanames.
SwitchtoMainWindow
Thebrowser'sWindowmenuenablesyoutoswitchfocustothemainformwithoutclosingthebrowserwindow.A
correspondingcommandonthemainform'sWindowmenuswitchesfocusback.
3.3.1 ModelBrowserViews
Thereare2waysofviewingobjectsinthe modelbrowser: byTypesorbyGroups. Youcanswitchbetweenviews
byclickingonthemodelbrowserView|ViewbyGroups/Typesmenuitems,orthoughthepopupmenu.
TypesView
This is the traditional model browser view. The browser has a number of folders containing objects of the same
type.Forexampleallthelinesarecontainedinafoldercalled"Lines".Objectscanbereorderedwithinafolderbut
theycannotbemovedtoadifferentfolder.
ToselectthisviewyoushouldclicktheView|ViewbyTypesmenuitem.
GroupsView
Thisviewallowsyoutocustomisehowtheobjectsarearrangedinthemodelbrowser.Youcanaddanynumberof
browser groups to the browser. These groups are simply folders in the browser tree. Groups can contain any
numberofobjectsorothergroups.Inthiswayahierarchicalstructureforthemodelcanbecreated.
ToselectthisviewyoushouldclicktheView|ViewbyGroupsmenuitem.
To add groups you select the Edit | Add Group menu item or use the popup menu. Groups can be renamed in the
samewayasotherobjects.Objectscanbeaddedtoagroupbydraggingtheobjectsontothegroup.Anynumberof
objectscanbeaddedtoagroupinoneoperationbyfirstselectingtheobjectsandthendraggingthem.Thismultiple
selectionisperformedusingthestandardWindowskeypressesCTRL+CLICKtoaddtoaselectionandSHIFT+CLICKto
extend a selection. Groups can be dragged into other groups and so a hierarchical structure for the model can be
created.
As well as allowing you the freedom to structure your model however you like, the Groups View allows you to
perform the same action (e.g. delete, copy, hide, show, locate) on all objects in a group. The grouping structure is
alsousedwhencyclingthroughdataforms-clickingtheNextbuttontakesyoutothenextobjectinthegroupsview.
3.3.2 MoveSelectedObjectsWizard
Thiswizardallowsyoutomoveandrotateanumberofobjectsenmasse.Thewizardismostusefulwhenyouselect
multipleobjects,agrouporanumberofgroupsoreventheentiremodel.
TousethewizardyoumustfirstopentheModelBrowserandselecttheobjectswhichyouwishtomove.Thenclick
MoveSelectedObjectsonthebrowser'seditmenu(alsoavailablefromthepopupmenu).
Selectingobjects
Before using the wizard you must select (in the model browser) the objects which you wish to move. There are a
varietyofwaysinwhichyoucandothis.Welistafewofthemoreusefulmethodsbelow:
x Selectasingleobject.
x Select multiple objects. You can do this in the model browser using CTRL+CLICK to add to a selection and
SHIFT+CLICKtoextendaselection.
x Selectanobjecttypefolder.ThisworkswhenthemodelbrowserisinTypesViewmode.Forexampleselectthe
Linesfolderifyouwishtomoveallthelinesinamodel.
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x Selectagroup.ThisworkswhenthemodelbrowserisinGroupsViewmode.Thisallowsyoutomoveallobjects
inthatgroup.
x Selecttheentiremodel.ThisiseasiesttodowhenthemodelbrowserisinGroupsViewmode.Thefirstitemin
themodelbrowseristitled"Model".Selectthisitemifyouwishtomoveallobjectsinthemodel.
Thereisnolimitationtothetypeofselectionsyoucanmake.Ifyouwishtomove2groupsthenselectbothofthem
(usingCTRL+CLICK)andopenthewizard.
Note: If your selection includes an item which contains other objects (e.g. a group or an object type
folder)thenallobjectscontainedbythatitemwillbemovedbythewizard.
Points
Thewizardshowsalistofthepointsassociatedwitheachselectedobject.Forobjectslikebuoys,vesselsandshapes
asinglepointisshown.Forobjectslikelines,linksandwincheswithmultipleconnectionpointsthelistshowseach
connectionpointforthatobject.Thelistalsoshowstheglobalcoordinatesofeachpoint.
For each point you have the option of including or excluding it in the move operation. This might be useful if you
wanted to move only the End A line connection points and leave the End B connection points unchanged, for
example.
Movespecifiedby
Thereare4methodsofspecifyinghowtheobjectsaremoved.
Displacement
Forthismethodyouspecifyapositionchange(i.e.adisplacement)whichwillbeappliedtoallthepointsincludedin
themoveoperation.
PolarDisplacement
This method is similar to the Displacement method. Here you specify a direction and distance which determine a
positionchange.Thisisappliedtoallthepointsincludedinthemoveoperation.
NewPosition
Hereyougiveareferencepointanditsnewposition.Thesamedisplacementisappliedtoallotherpointsincluded
inthemove.
Rotation
Thismethodrotatestheincludedpointsinthehorizontalplane.Youspecifyanangleofrotationandacentralpoint
about which the rotation is performed. Note that the environment data (e.g. wave and current directions, seabed
directionetc.)isnotincludedintherotation.
Movingtheobjects
Onceyouhavedecidedwhichobjectstoincludeinthemoveandhowthemoveisspecifiedyouarereadytoactually
move the objects. This is done by clicking the Move button. If you change your mind and decide not to move the
objectsthensimplyclicktheClosebutton.
3.4 LIBRARIES
An OrcaFlex Library is a collection ofOrcaFlex objects (line types, lines, buoys etc.) stored in an ordinary OrcaFlex
datafile.Forexample,alibrarymaycontainallthestandardLineTypesthatyouuseregularly.Oncesuchalibrary
file has been built you can quickly build new models using the library this gives faster model building and can
makeQAproceduressafer.
To open a library file, use the File | Libraries menu or the Library menu on the Model Browser. Note that any
OrcaFlex data file can be opened as a library file, and this makes it easy to use the model browser to copy objects
fromonemodeltoanother.
3.4.1 UsingLibraries
LibrariesallowyoutoeasilyimportobjectsfromoneOrcaFlexmodeltoanother.TodothisrunOrcaFlexandopen
themodelbrowserbyclickingthemodelbrowserbutton ortheModel|ModelBrowsermenuitem,orpressing
F2.Themodelbrowsershouldlooklike:
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Nowyouopenyourfileasalibrary.Todothisclicktheopenbutton onthemodelbrowserandselectyourdata
file.Nowthemodelbrowserwilllooklike:
Wearenowgoingtocopysomeobjectsfromtherighthandpanetothelefthandpane.Todososelecttherequired
line types and click the import button . As an alternative to the import button the objects can be dragged from
therighthandpanetothelefthandpaneortheLibrary|Importmenuitemcanbeused.
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Note that you can select a number of objects and import them all in one go. You do this by using the standard
Windows key presses CTRL+CLICK to add to a selection and SHIFT+CLICK to extend a selection. If you do this the
librarywilllooklike:
Once you have imported the required objects you can close the library by selecting the Library | Close menu item
onthemodelbrowser.Nowthemodelbrowserlookslike:
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Herearesomeotherpointsaboutusinglibraryfiles:
x BecauselibraryfilesaresimplyordinaryOrcaFlexdatafiles,youcantemporarilytreatanyOrcaFlexdatafileas
alibrary.ThisallowsyoutoimportobjectsfromoneOrcaFlexdatafiletoanother.
x You can re-size the model browser by dragging its border. You can also control the relative sizes of its two
panes,bydraggingtherightborderoftheleftpane.
x Youcanview,butnotedit,thedataforalibrarymodelobject,by doubleclickingitintheModelBrowserorby
selectingitandusingthepop-upmenu.
x When an object is imported from a library, the current model may already have anobject ofthat name. Inthis
caseOrcaFlexautomaticallygivestheobjectanewnamebasedontheoldname.
3.4.2 BuildingaLibrary
A library file is simply an OrcaFlex data file you can use any OrcaFlex data file as a library. In practice it is most
convenienttoputyourcommonlyusedOrcaFlexobjectsintofilesdesignatedasOrcaFlexlibraryfiles.
Youbuildalibrary fileinthesame wayasyoubuildastandard OrcaFlexdatafile. Starting witha blankmodelyou
can add objects in the usual way and set their data. Typically, however, you would want to reuse objects that had
previouslybeencreatedandusedforaproject.
Todothisyouwouldopenthemodelbrowserandloadyourprojectdatafileasalibraryusingtheopenbutton
onthemodelbrowser.ThenyouimporttherequiredobjectsasdescribedinUsingLibraries.Thisprocedurecanbe
repeatedwithanumberofdifferentdatafilesuntilyouhavealltheobjectsyouwishtokeepinthelibrary.Thenyou
should close the model browser and save the data file by clicking the button on the main OrcaFlex form. This
datafilecannowbeusedasalibrary.
Notes: Because they are OrcaFlex models, libraries contain General and Environment data, but these
would notusuallybeused,exceptperhapsfortheGeneraldata Commentfield,whichcanactasa
titleforthelibrary.
Because the library file is just an ordinary OrcaFlex data file, it can also be opened using File |
Open.Thisallowsyoutoeditthedataoftheobjectsinthelibrary.
You can set up as many library files as you wish. For example you might have separate libraries for Line Types,
Attachment Types, Vessel Types, Variable Data Sources etc., or you may choose to use just one library for
everything.Themodelbrowser'sLibrarymenucontainsalistofthemostrecentlyusedlibraries.
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3.5 MENUS
OrcaFlexhasthefollowingmenus:
x The File menu has the file opening and saving commands, plus commands for printing or exporting data or
resultsandmanaginglibraries.
x TheEditmenuhasdataandobjecteditingfacilities.
x TheModelmenugivesaccesstothemodelbuildingfacilities.
x TheCalculationmenuprovidescommandsforstartingandstoppinganalyses,includingbatchprocessing.
x TheViewmenuprovidesviewcontrol.
x TheReplaymenuprovidesreplaycontrol.
x TheGraphmenugivesyouaccesstofacilitiesrelatedtothecurrentlyactivegraphwindow.
x TheResultsmenuleadstotheresultsfacilities.
x TheToolsmenuallowsyouadjustpreferencesandtolockorunlockobjects.
x TheWorkspacemenuallowsyoutosaveandrestorecollectionsofview,graphandspreadsheetwindows.
x TheWindowmenugivesaccesstothevariouswindowsthatareavailable,andallowsyoutoadjustthelayoutof
yourwindows.
x TheHelpmenuleadstothevarioushelpdocumentationthatisavailable.
3.5.1 FileMenu
New
Deletesallobjectsfromthemodelandresetsdatatodefaultvalues.
Open
OpenanOrcaFlexfileeitheradatafile(.dator.yml)orasimulationfile(.sim).
YoucanalsoopenanOrcaFlexfilebydragginganddroppingitontotheOrcaFlexwindow.Forexampleifyouhave
WindowsExplorerrunninginonewindowandOrcaFlexrunninginanotherthenyoucanaskOrcaFlextoopenafile
bysimplydraggingitfromExploreranddroppingitovertheOrcaFlexwindow.
IfyouopenadatafilethenOrcaFlexreadsinthedata,whereasifyouselectasimulationfilethenOrcaFlexreadsin
both the data and the simulation results. To read just the data from a simulation file, you can use the Open Data
menuitem.
Save
SaveanOrcaFlexfileeitheradatafile(.dator.yml)orasimulationfile(.sim)tothecurrentlyselectedfilename.
Ifafileofthatnamealreadyexiststhenitisoverwritten.
Ifcalculationresults(eitherstaticsordynamics)areavailablethenasimulationfilewillbesaved.Otherwiseadata
filewillbesaved.
Note: Youcannotsaveadynamicsimulationwhileitisrunningyoumustpausethesimulationfirst.
SaveAs
Thisisthesameas Savebutallowsyoutospecifythefilename tosaveto.Ifafileofthatnamealreadyexiststhen
youareaskedwhethertooverwritethefile.
When savingdata you can choose either the binary file format (.dat) or the text file format (.yml) from the Save as
typedropdownlist.
OpenData
Read the data from an existing data file or simulation file, replacing the existing model. If a simulation file is
specifiedthenOrcaFlexreadsjustthedatafromit,ignoringthesimulationresultsinthefile.
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SaveData
Save the data to the currently selected file name, using extension .dat or .yml. If a file of that name already exists
thenitisoverwritten.
SaveDataAs
Thisisthesameas SaveDatabutallowsyoutospecify thefilenametosaveto.Ifafileofthat namealready exists
thenyouareaskedwhethertooverwritethefile.
Youcanchooseeitherthebinaryfileformat(.dat)orthetextfileformat(.yml)fromtheSaveastypedropdownlist.
CompareData
ComparesthedataoftwoOrcaFlexmodels.SeeComparingDatafordetails.
Properties
Displaysthesystemfilepropertiesdialogforthecurrentfile.Thisismainlyintendedtomakeiteasiertofindthefull
pathforfileswithlongnames.
SubmittoDistributedOrcaFlex
SubmitthecurrentfileforprocessingbyDistributedOrcaFlex.Forthisoptiontobeavailable,eithertheDistributed
OrcaFlexViewerorClientmustalsobeinstalledonthemachine.
Libraries
You can create new libraries of OrcaFlex objects, or open existing libraries. You can then import objects from the
libraryintoyourexistingmodel,orexportobjectsfromyourexistingmodeltothelibrary.
Export
Display the Export form, allowing you to export Data, 3D Views, Graphs, Spreadsheets or Text Windows. See also
Copy.
SelectedPrinter
Allowsyoutochangetheselectedprinter.
PrinterSetup
CallsupthePrinterSetupdialoguewindow.ThisstandardWindowsdialogueisusedtoselectwhichprintertouse,
andallowsyoutocontrolthewaythatitisusedthedetailsvaryfromprintertoprinter,anddependontheprinter
manufacturer's device driver currently installed. Please refer to the manuals for your printer as well as the
Microsoftdocumentation.
Print
DisplaythePrintform,allowingyoutoprintData,3DViews,Graphs,SpreadsheetsorTextWindows.SeePrinting.
MostRecentFiles
Listofthemostrecentlyusedfiles.Selectinganitemonthelistcausesthefiletobeopened.
Exit
CloseOrcaFlex.
3.5.2 EditMenu
UndoDrag
Undothemostrecentdrag.Thisisusefulifyouaccidentallydraganobject.
Cut
Copiesthecurrentselectiontotheclipboardandthendeletesit.
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Copy
Ifthereisacurrentlyselectedobject(seeSelectingObjects),thenthatobjectiscopiedtotheclipboard.Youcanthen
useEdit|Pastetocreateduplicatecopiesoftheobject.Thedatafortheobjectiscopiedtotheclipboardintextform,
fromwhereitcanbepastedintoawordprocessordocument.
Note: After pasting into a word processor, you will probably need to put the text into a fixed space font
sincemuchofthedataisintables.
If there is no currently selected object then the currently selected 3Dview, text window, graph or spreadsheet is
copiedtotheclipboard.
Paste
Insertobjectfromclipboard.Thiscanbeusedtoduplicateanobjectseveraltimeswithinthemodel.Afterselecting
Paste,theobjectisinsertedatthenextmouseCLICKpositionina3Dview.
IfthecurrentwindowisaSpreadsheetthenthecontentsoftheclipboardarepastedintothespreadsheet.
Delete
If the active window is a 3D View then the currently selected object is deleted. Before the object is deleted, any
connectedobjectsaredisconnected,andanygraphsassociatedwiththeobjectareclosed.
IftheactivewindowisaSpreadsheetthentheselectedcellsarecleared.
SelectAll
SelectsallthecellsinaSpreadsheet.
CopyAllData
Copythewholemodeltotheclipboard.Themodeldataiscopiedtotheclipboardintextform,fromwhereitcanbe
pastedintoawordprocessordocument.
3.5.3 ModelMenu
ModelBrowser
TogglesthevisibilityoftheModelBrowser.
NewVessel
NewLine
New6DBuoy
New3DBuoy
NewWinch
NewLink
NewShape
Createnewobjects. Themousecursorchanges totheNewObjectsymbol .Theobjectisplacedatthepositionof
the next mouse CLICK within a 3D View. A three dimensional position is generated by finding the point where the
mouseCLICKpositionfallsonaplanenormaltotheviewdirectionandpassingthroughthe ViewCentre.Vesselsare
alwaysplacedinitiallyattheseasurface.
ShowConnectionsReport
Displaysaspreadsheetcontaininginformationaboutallobjectconnectionsinthemodel.
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TruncateObjectNames
Old versions of OrcaFlex (before 7.4b) cannot read files that contain long object names, i.e. longer than 10
characters. This menu item truncates any long object names in the model. You shoulddothis ifyou wishtosenda
filetoanotheruserwhoseversionofOrcaFlexisolderthan7.4b.
DeleteUnusedTypes
Deletesanytypes(e.g.LineTypes,ClumpTypesetc.)thatarenotinuse.Thisissometimesusefultosimplifyadata
file,ortofindoutwhichtypesareinuse.
DeleteUnusedVariableDataSources
Deletes any variable data sources that are not in use. This is sometimes useful to simplify a data file, or to find out
whichvariabledatasourcesareinuse.
UseCalculatedPositions
Thismenuitemisavailableafterasuccessfulstaticiterationorwhenthesimulationisfinishedorpaused.
If the model is in the statics complete state then clicking the menu item sets the initial positions of buoys, vessels
and free line ends to be the calculated static positions. This can be desirable when setting up a model, since the
positionsfoundarelikelytobegoodestimatesforthenextstaticscalculation.
If the model is in the simulation paused or stopped state, then clicking the menu item sets the initial positions of
buoysandfreelineendstobethelatestpositionsinthesimulation.ThisisusefulwhenOrcaFlexstaticsfailstofind
anequilibriumconfiguration.Insuchcasesyoucanusedynamicswithnowavemotiontofindthestaticequilibrium
positionandthenclickUseCalculatedPositions.
If a replay is active then clicking the menu item sets the initial positions of buoys and free line ends to be the
positionsatthelatestreplaytime.
UseSpecifiedStartingShapeforLines
ThismenuitemisanextensionofUseCalculatedPositions.Aswellassettingtheinitialpositionsofbuoys,vessels
andfreelineendsitmodifiesdataforallLinesinthefollowingway:
1. TheStep1StaticsMethodissettoUserSpecified.
2. The User Specified Starting Shape data are set to the calculated node positions. As described above these
positionsareeithertheresultsofastaticcalculationortheresultsofadynamicsimulation.
UseStaticLineEndOrientations
This menu item is only available after a successful static analysis. Clicking the menu item sets the line end
orientation data, for all line ends in the model that have zero connection stiffness, to the orientations found in the
staticanalysis.Thisisdoneasfollows.
x For any line end with zero bend connection stiffness, the end azimuth and end declination will be set to the
azimuthanddeclinationoftheendnode,asfoundbythestaticanalysis.
x Ifthelineincludestorsionandthelineendconnectiontwiststiffnessiszero,thentheendgammawillbesetto
thegammaoftheendnode,asfoundbythestaticanalysis.
Thisactioncanbeusefulifyouwanttosetthelineendorientationtothatwhichgiveszeroendmomentswhenthe
lineisinitsstaticposition.Todothisfirstsettheendconnectionstiffnessvaluestozero,thenrunthestaticanalysis
and then click the Use Static Line End Orientations menu item. You can then set the end connection stiffness to
theiractualvalues.
3.5.4 CalculationMenu
SingleStatics
Startthesinglestaticscalculation(see StaticAnalysis).Progressandanyerrormessagesthatoccurarereportedin
the Statics Progress Window, which is shown as a minimised window icon. The statics calculation can be
interruptedbyCLICKINGtheResetbutton.
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MultipleStatics
Starts the multiple offset statics calculation (see Multiple Statics). Progress and any error messages that occur are
reportedintheStaticsProgressWindow,whichisshownasaminimisedwindowicon.Thestaticscalculationcanbe
interruptedbyCLICKINGtheResetbutton.
RunDynamicSimulation
Startadynamicsimulation(seeDynamicAnalysis).Ifnecessary,OrcaFlexwillautomaticallydoastaticscalculation
first. During the simulation, the Status Bar shows the current simulation time and an estimate of the time that the
simulationwilltake,andall3DViewwindowsandGraphsareupdatedatregularintervals.
PauseDynamicSimulation
Pause the simulation. To save the results ofa part-run simulation you need to pause it first. The simulation can be
restartedbyCLICKINGtheRunbutton.
ExtendDynamicSimulation
Thisfacilityisonlyavailablewhenthecurrentsimulationiseitherpausedorcompleted.Itaddsanotherstagetothe
current simulation, without having to reset. You are asked to specify the length of the new stage. You can then
continuethesimulation,withouthavingtorestartitfromscratch.Thisisparticularlyusefulifyouhaveasimulation
thathasnotbeenrunforlongenough.
Notethatdataforthenewstage,e.g.forwinchcontrolandvesselprescribedmotion,areinitiallysettobethesame
as for the previous stage. However, the data for the new stage can be edited because the new stage has not yet
started.
Reset
Resetthemodel,discardinganyexistingresults.Themodelcanthenbeeditedoranewmodelloaded.
ViewWarnings
Displays a window allowing you to review all warnings displayed by OrcaFlex during a calculation (statics or
dynamics).
This feature is particularly useful for simulations run in batch mode or by Distributed OrcaFlex. In these
circumstanceswarningsarenotdisplayedsincetodosowouldrequireuserintervention.
LineSetupWizard
OpenstheLineSetupWizard.ThewizardisonlyavailablewhenthecurrentsimulationisinResetstate.
WaveScatterConversion
Opens the Wave Scatter Conversion form. This facility converts a scatter table of sea states to a scatter table of
regular(i.e.individual)waves.
BatchProcessing
Runabatchofanalysesautomaticallywhiletheprogramisunattended.SeeBatchProcessingfordetails.
3.5.5 ViewMenu
ChangeGraphicsMode
Togglesthegraphicsmodebetweenwireframeandshaded.
EditViewParameters
AdjusttheViewParametersfortheactive3DView.
RotateUp/Down/Left/Right
Changetheviewdirection,fortheactive3DView,bytheviewrotationincrement.
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Plan
Settheactive3DViewtoaplanview(Elevation=90).
Elevation
Settheactive3Dviewtoanelevationview(Elevation=0).
Rotate90/Rotate-90
Increase(ordecrease)theviewazimuthby90,fortheactive3Dview.
ZoomIn/ZoomOut
Clickthezoombuttontozoomin(decreaseviewsize)orSHIFT+CLICKittozoomout(increaseviewsize).
ResettoDefaultView
Settheviewparametersfortheactive3DViewtobethedefaultviewofthemodel.
SetasDefaultView
Setthedefaultviewofthemodeltobetheviewparametersoftheactive3DView.
ShowEntireModel
Settheviewparametersfortheactive3DViewsothattheentiremodelwillbedisplayed.
Axes
Thissubmenugivesyoucontrolofthe3DViewAxesPreferences.
SuperimposeTimes
Allowsmodelconfigurationsfordifferenttimesofthesimulationtobesuperimposedin3DViews.See Superimpose
Times.
CurrentPosition
DrawsthemodelatthelatesttimethisactionisusedtocanceltheSuperimposeTimesview.
3.5.6 ReplayMenu
EditReplayParameters
Adjust the Replay Parameters, such as the period of simulation to replay, the time interval between frames, the
replayspeedetc.FormoreinformationseeReplays.
Start/StopReplay
Startsorstopsthereplay.
StepReplayForwards,StepReplayBackwards
Stepthereplayforwardsorbackwardsoneframeatatime.Clickthebuttontostepforwards; CLICKwithSHIFTheld
downtostepbackwards.
ReplayFaster/Slower
Increaseordecreasethereplayframerate(replayspeed).
ExportVideo
ExportsthereplayasavideoclipinAVIfileformat.SeeReplaysformoredetails.
3.5.7 GraphMenu
UseDefaultRanges
Setsthegraphaxestotheiroriginalranges
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Values
Displaysaspreadsheetcontainingthenumericalvaluesonwhichthegraphisbased.
SpectralDensity(onlyavailablefortimehistorygraphs)
Opensanewspectraldensitygraph.
EmpiricalCumulativeDistribution(onlyavailablefortimehistorygraphs)
Opensanewempiricalcumulativedistributiongraph.
Rainflowhalf-cycleEmpiricalCumulativeDistribution(onlyavailablefortimehistorygraphs)
Opensanewrainflowhalf-cycleempiricalcumulativedistributiongraph.
Properties
Opensthegraphpropertiesform(whichcanalsobeopenedbydoubleclickingthegraph).
3.5.8 ResultsMenu
SelectResults
Display the results form which allows you to choose from the currently available selection of graphs and results
tables. Graphs such as Time Histories, XY Graphs and Range Graphs may be created before a simulation has been
run,thusallowingyoutowatchthevariablesduringasimulation.
FatigueAnalysis
OpenstheFatigueAnalysisform.
ModalAnalysis
OpenstheModalAnalysisform.
ReportVesselResponse
OpenstheVesselResponseform.
3.5.9 ToolsMenu
Lock/UnlockSelectedObject
Locking an object prevents it from being accidentally dragged or connected using the mouse on 3Dviews, for
exampleifyounudgethemouseslightlywhiletryingtoDOUBLECLICK.Lock/UnlockSelectedObjecttogglesthelock
onthecurrentlyselectedobject.Ifthelockison,itwillbeswitchedoff.Ifthelockisoff,thenitwillbeswitchedon.
Locked Objects may still have their positions edited in the data EditForms. The status ofthe object locks is shown
bysymbolsintheModelBrowser.
Lock/UnlockAllObjects
Locksorunlocksallobjectsinthemodel.
SetThreadCount
AllowsyoutochangethenumberofexecutionthreadsusedbyOrcaFlexforparallelprocessing.
Preferences
Allows you to control various program settings so that you can customise the program to the way you prefer to
work.SeePreferences.
3.5.10 WorkspaceMenu
OpenWorkspace
Opensapreviouslysavedworkspacefileandrestoresthewindowlayoutdescribedinthatworkspacefile.
SaveWorkspace
Savethecurrentwindowlayouttoaworkspacefile.
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Makedefaultforthisfile,Makedefaultforthisfolder
Makes the current window layout the default workspace for the current simulation file or for the current folder,
respectively. The default workspace for a simulation file will be restored whenever you open that file. The default
workspaceforafolderwillberestoredwheneveryouopenanysimulationfileinthatfolder.
Ifadefaultworkspaceexistsforabothafileandthefoldercontainingthefile,thenthedefaultforthefileisused.
Usefiledefault,Usefolderdefault
Appliesthedefaultworkspacetothecurrentmodel.Thisisusefulifyouhave changedthewindowlayoutandwish
torestorethedefaultworkspacelayoutwithoutre-loadingthemodel.
Removefiledefault,Removefolderdefault
Deletesthedefaultworkspace.
MostRecentFiles
Listofthemostrecentlysaved workspacesinthedirectorywhichcontainsthecurrentmodel.Selectinganitemon
thelistcausestheworkspacetobeloaded.
3.5.11 WindowMenu
Add3DView
Add another 3D View Window. Having multiple views on screen allows you to watch different parts of the system
simultaneously,ortoseedifferentviewsatthesametime(forexampleaplanandanelevation).
TileVertical,TileHorizontal
Arrangesallthewindows(3DView,graphorspreadsheet)sothattheyfillthemainwindowareaandfitsidebyside
withoutoverlapping.Theprogramautomaticallytileswindowseverytimeanewwindowiscreatedordeleted.
SwitchtoModelBrowser
Thiscommand,andthecorrespondingcommandonthemodelbrowser'sWindowmenu,enableyoutoswitchfocus
betweenthemainformandthemodelbrowserwindow.
StaticsProgress
DisplaystheStaticsProgressWindow.
WindowList
Thisisalistofallcurrentlyopenwindows.Ifawindowishiddenunderothersitcanbeselectedeasilyfromthislist.
3.5.12 HelpMenu
OrcaFlexHelp
OpenstheOrcaFlexon-linehelpsystem.
What'sNew
GivesalistofrecentimprovementsandalterationstoOrcaFlex.
Tutorial
OpensthehelpfileatthestartoftheOrcaFlextutorial.
Examples
OpensthehelpfileattheintroductiontotheOrcaFlexExamplestopics.
KeyboardShortcuts
ListsthekeyboardshortcutsusedbyOrcaFlex.
OrcinaHomePage
OpenstheOrcinahomepage(www.orcina.com).
UserInterface,3DViews
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About
Displays a window giving the program version, details about Orcina Ltd and various other miscellaneous
information.
3.6 3DVIEWS
3DViewsare windowsshowingaspatialrepresentationofthemodel.Two distincttypes of3DViewareavailable:
wire frame shows an isometric projection of the model; shaded draws the model as solid objects with lighting,
shading,perspectiveandhiddenlineremoval.
Figure: Awireframe3DView(left)alongsideashaded3DView(right)
3DViewwindowsmayberotated,zoomedandpannedtoallowanyaspectofthesystemtobeviewed.Theviewis
controlled by a number of View parameters see View Parameters and the caption of a 3D View window shows
thecurrentViewAzimuthandViewElevationvalues,whileascalebarintheviewindicatesthecurrentViewSize.
Multiple view windows may be placed side-by-side so that you can view different parts of the system
simultaneouslyorviewfromdifferentangles(forexampleaplanandelevationview).Thisallowsyoutobuildnon-
in-plane models on screen with the mouse. Further 3D View windows are added by using the Window | Add 3D
ViewmenuitemorbyCLICKINGontheAdd3DViewbuttononthetoolbar.Windowsmaybearrangedbydragging
theirborders orusing the Window|TileVertical/Horizontalmenuitems.3DViewsmaybeclosed by CLICKINGthe
crossatthetopright-handcorner.
The objects in a 3D view are "live" in the sense that you can use the mouse pointer to select objects, drag them
around in the viewand make connections between objects. See Selecting Objects, Creating and Destroying Objects,
DraggingObjects,ObjectConnections,fordetails.IfyouDOUBLECLICKonanobjectthenthedataformforthatobject
appears,sothatyoucanexamineoredititsdata.
Note: When using the shaded view objects cannot be selected, dragged etc. For this reason, the wire
frameviewismostusefulwhenbuildingyourmodel.
Afterrunningasimulation,orloadingasimulationfile,adynamic replay(animation)canbeshowninoneormore
3DViewwindows.Areplayshowsasequenceofsnapshotsofthemodeltakenatspecifiedintervalsthroughoutpart
or all ofthe simulation. Replays may be played in just one 3D Viewwindow, or in all ofthem simultaneously see
Preferences.
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Finally, 3D Views may be printed by selecting the view desired and using the print menu. Also, the picture may be
exportedtoafileorthewindowsclipboard.
MeasuringTapeTool(onlyavailableinwireframemode)
Youcanmeasuredistanceona3Dviewusingthemeasuringtapetool.Holddownthe SHIFTandCTRLkeysandthen
dragalinebetweenanytwopoints thedistancebetweenthemisdisplayedonthestatusbar.Notethatthisisthe
distanceintheplaneofthe3Dview.
3.6.1 ViewParameters
Theviewshownina 3Dviewwindowisdetermined bythefollowing parameters, whichcanbeadjustedusingthe
viewcontrolbuttonsortheEditViewParametersitemontheViewmenu.
ViewCentre
Definesthe3Dglobalcoordinatesofthepointthatisshownatthecentreofthewindow.
ViewSize
Thediameteroftheviewarea.Itequalsthedistancerepresentedbythesmallerofthe2sidesoftheviewwindow.
Thisparametermustbegreaterthanzero.
Example: Ifthewindowonscreeniswiderthanitishigh,andViewSize=100.0thenanobject100units
highwouldjustfilltheheightofthewindow.
ViewAzimuthandViewElevation
These determine the direction (from the viewcentre) from which the model is being viewed. The azimuth angle is
measuredfromtheglobalXdirectiontowardstheglobalYdirection.Theelevationangleisthenmeasuredupwards
(downwards for negative elevation angles) from there. The view shown is that seen when looking from this
directioni.e.byaviewerwhoisinthatdirectionfromtheviewcentre.
Example: View Elevation +90 means looking in plan view from above, and View Elevation = 0, View
Azimuth=270(or-90)meansastandardelevationview,lookingalongtheYaxis.
WindowSize
Youcanadjustthesizeofa3Dviewwindoweitherbydraggingthewindowborder,orbysettingitswindowsizeon
theviewparametersform.Thelatterissometimesusefulwhenexportingavieworexportingareplayvideo,sinceit
makesiteasiertoexportmultiplefilesandproducevideoswithidenticaldimensions.
GraphicsMode
Canbeeitherofthefollowingoptions:
x Wireframe:themodelisrepresentedusingawireframe,isometricprojection.
x Shaded:themodelisrepresentedassolidobjectswithlighting,shading,perspectiveandhiddenlineremoval.
DefaultView
Each model has its own default view parameters that are saved with the model data. Whenever a new 3D view is
created, it starts with this default view. You can set an existing 3D view to the default view by using the Reset to
DefaultViewcommand(ontheviewmenuorpop-upmenu).
Tosetthedefaultviewparameters,firstsetupa3DViewtothedefaultviewthatyouwantandthenusetheSetas
DefaultViewcommand(onthe viewmenuorpop-upmenu).Asanalternativeyoucanusethe calculatedbasedon
themodelextentoptionwhichresultsinadefaultviewthatissizedsothattheentiremodelwillbedisplayed.
3.6.2 ViewControl
Youcanadjusttheviewina3Dviewwindowusingtheviewcontrolbuttons:
Button MenuItem Shortcut Action
View|RotateUp CTRL+ Increaseviewelevation

+SHIFT
View|RotateDown CTRL+ Decreaseviewelevation
View|RotateRight CTRL+ Increaseviewazimuth

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+SHIFT
View|RotateLeft CTRL+ Decreaseviewazimuth
View|ZoomIn
CTRL+I
Zoomin
+SHIFT
View|ZoomOut
SHIFT+CTRL+I
Zoomout
View|ChangeGraphicsMode
CTRL+G
Changesgraphicsmode
View|EditViewParameters
CTRL+W
EditViewParameters
Youcanalsousethemousewheelbuttontochangeview.Turnthewheeltoscrollthe3Dviewupanddown.Turnit
withtheCTRLkeyhelddowntozoominoroutonthelocationatwhichthemouseiscurrentlypointing.
FormoreprecisecontrolyoucansettheviewparametersexplicitlyusingtheViewParametersform.
Finally,3DviewscanalsobecontrolledusingtheViewmenuandvariousshortcutkeysseeMouseandKeyboard
ActionsandNavigatingin3DViews.
3.6.3 Navigatingin3DViews
Moving
Movingin3DViewscanbeachievedbyavarietyofmeans:
x Dragthe3DViewwiththeSHIFTkeyhelddown.Wecallthisdirectmanipulationoftheviewcentrepanning.
x Usethescrollbarsonthe3DView.
x Usethecursorkeys.UsethesecursorkeyswiththeCTRLkeyhelddowntoeffectlargershifts.
x MoveupanddownwiththePGUPandPGDNkeys.
x EdittheViewCentreintheViewParametersform.
Rotating
Rotatingin3DViewscanbeachievedbyavarietyofmeans:
x Dragthe3DViewwiththeCTRLkeyhelddown.Forshadedviewsonlyyoucanrotateabouttheviewerposition
(as opposed to rotating about the view centre) by holding down the ALT key (as well as the CTRL key) whilst
dragging.
x Usetherotatebuttons .PressingthesewiththeSHIFTkeyheldreversestherotation.
x UsetheRotateUp,RotateDown,RotateLeftorRotateRightmenuitemsortheirshortcutkeysCTRL+ALT+
. For shaded views only you can rotate about the viewer position by holding the ALT key down whilst
selectingthesemenuitemsorshortcuts.
x UsethePlan,Elevation,Rotate90orRotate-90menuitemsortheirshortcutkeysCTRL+P,CTRL+E,CTRL+Qand
SHIFT+CTRL+Q.
x EdittheViewAzimuthandViewElevationintheviewparametersform.
Zooming
Youcanzoomintoandoutof3DViewsbyusingthezoombutton ,thezoommenuitemsandtheshortcutkeys
CTRL+IandSHIFT+CTRL+I.Inaddition,youcanzoominoroutusingthemouse wheelbuttonwiththeCTRLkeyheld
down.
Thefollowingmethodsofzoomingareonlyavailableinwireframe3DViews.
Alsoyoucanzoominonaparticularregionofinterestina3Dviewbydefiningarectanglearounditonscreenusing
the mouse. To do this, hold the ALT key down, place the mouse in one corner of the desired rectangle and press
downtheleftmousebuttonwhiledraggingthemousetotheoppositecorner.Whenyourelease,theregionselected
willbeexpandedtofillthewindow.
To zoom out, repeat the operation holding down the SHIFT and ALT keys the region shown in the window will
shrinktofitintotherectangledrawn.
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You can also zoom in and out by a fixed amount, keeping the same view centre, by using ALT+CLICK and
ALT+SHIFT+CLICK.
3.6.4 ShadedGraphics
The shaded graphics mode renders the model as solid objects with lighting, shading, perspective and hidden line
removal.
Figure: Shadedgraphics
UsingtheShadedGraphicsmode
To a large extent there is no extra work required to build a model for the shaded graphics mode. You are able to
build a model or take an existing model designed using the wire frame mode and simply change to the shaded
graphics mode to see a high quality shaded rendering of your model. There are a number of things you can do to
improveyourexperiencewiththeshadedgraphicsmodeasdescribedbelow.
Translucency
The Sea SurfaceandSeabedaredrawnastexturedsurfaces.Ifthereare objects on theotherside ofthesesurfaces
thentheycanbeobscured.Thesesurfacesaredrawnwithauser-specifiedamountoftranslucencywhichallowsyou
tocompensateforthis.
Importing3Dmodels
Objects like Lines are straightforward to draw. OrcaFlex uses the Line Type contact diameter to determine the
thicknessofeachsegmentoftheLine.
ObjectslikeVesselspresentmoredifficulties.OrcaFlexbydefaultwilldrawasolid,filled-inshapebasedonthewire
frame data you have specified. While this can be sufficient you may prefer something less simplistic. Alternatively
you may import a more detailed 3D model, e.g. the turret moored FPSO above. You can import 3D models for 6D
Buoys,WingsandShapesaswellasforVessels.
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Wehaveprovidedaverybasicselectionofgenericmodelswhichyouarefreetouse.TherearemodelsofanFPSO,a
turret moored FPSO, an installation vessel, a semisub and a subsea template. For information on generating and
importing3Dmodelsspecifictoyourprojectpleaserefertowww.orcina.com/Support/ShadedGraphics.
ViewerPosition
Because the shaded graphics mode uses perspective it requires the concept of the viewer position as well as the
viewercentre.Theisometricwireframeviewhasnosuchrequirement.OrcaFlexdefinestheviewerpositiontobein
alineintheviewdirection(definedbytheviewazimuthandviewelevation)atadistanceofviewsize*1.5fromthe
viewcentre.Itispossibletorotatetheviewaroundboththeviewcentreandaroundtheviewerposition.
Videoexport
JustasforwireframeviewsOrcaFlexcan exportvideofilesofareplaysinshadedviews.Whenproducingvideosit
is very important to use compression, otherwise the video file size becomes unreasonably large. The software that
performsthiscompressioniscalledacodec.
For wire frame replays OrcaFlex uses a built-in codec called run-length encoding. This codec is not suitable for
shaded replays and in fact there is no suitable built-in codec in Windows. We would recommend using an MPEG-4
codecofwhichmanyareavailable.InourexperiencethefreelyavailableXVIDcodecperformsverywell.TheXVID
codeccanbedownloadedfromwww.orcina.com/Support/ShadedGraphics.
ShouldyouwishtouseadifferentcodecyoucanselectthisfromthePreferencesform.
HardwareRequirements
TheshadedgraphicsmodedoesrequirethepresenceofaDirectX9compatiblegraphicscard.Inourexperiencethe
mostimportantfactortoconsiderwhenchoosingacardtoworkwithshadedgraphicsistheamountofmemory.We
wouldrecommendusingacardwith256MBormore.
It is also important to make sure that your computer's graphics settings specify a colour mode of 16 bits (65536
colours)orbetter.
Notes: Ifyour machine's graphics capabilities are insufficient then the shaded graphics mode mayfailto
function properly or indeed failto function at all. For example, low quality, blockyimages usually
indicateagraphicscardwithinsufficientmemory.Thisproblemcanalsomanifestitselfbyfailure
todrawtheskywhichappearsplainwhite.
Forbestresultsyoushouldcentreyourmodelclosetotheglobalorigin.The MoveSelectedObjects
facilitycanhelpyoudothis.
3.6.5 HowObjectsareDrawn
EachobjectinthemodelisdrawnasaseriesoflinesusingthePenColour,LineWidthandStyle(solid,dashedetc.)
defined in the drawing data for that object. You can change the pen colours etc. used at any time by editing the
drawingdataforthatobject.Tochangethepencolour,selectandCLICKthecolourbuttononthedataformandthen
CLICKonthenewcolourwanted.
Youcanalsoexclude(orinclude)individualobjectsfromthe3Dview,byopeningthe modelbrowser,selectingthe
objectandthenusingtheHide(orShow)commandonthebrowser'sEditorpop-upmenu.
Notes: In Windows, a line width of zero does not mean "don't draw" it means draw with the minimum
linewidth.Tosuppressdrawingeithersetthelinestyletonull(theblankstyleatthebottomofthe
dropdownlist)orelsehidetheobject.
On some machines the display driver cannot draw the dashed or dotted pen styles and instead
drawsnothing.Soonsuchmachinesonlythesolidandblankpenstyleswork.
WireFrameDrawing
Forwireframeviewsthevariousobjectsaredrawnasfollows:
x Thevariouscoordinatesystemscanbedrawnassmalltripletsoflinesshowingtheiroriginandtheorientation
oftheiraxes.Thewave,currentandwinddirectionscanbedrawnasarrowsinthetoprighthandcornerof3D
views.Youcancontrolbothwhatisdrawn(see3DViewDrawingPreferences)andthedrawingdataused.
x TheSeabedisdrawnasagridusingtheseabedpen.
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x TheSeaSurfaceisdrawnasagridorasasingleline.Thisiscontrolledbytheuser'schoiceofSurfaceTypeas
specified onthe drawing pageontheEnvironmentdataform.Ifthe SurfaceTypeis setto SingleLine thenone
lineisdrawn,alignedinthewavedirection.IftheSurfaceTypeissettoGridthenagridoflinesisdrawn.This
lineorgridisdrawnusingtheseasurfacepen.
x Shapes are drawn either as wire frames (Blocks, Cylinders and Curved Plates) or as a grid(Planes). As well as
controllingthepencolour,widthandstyle,forshapesyoucanalsocontrolthenumberoflinesusedtodrawthe
shape.
x VesselsaredrawnasawireframeofedgesandverticesdefinedbytheuserontheVesselandVesselTypesdata
forms.
x 3DBuoysaredrawnasasingleverticallineoflengthequaltotheheightofthebuoy.
x 6D Buoys are drawn as a wire frame of edges and vertices. For Lumped Buoys, the vertices and edges are
defined by the user on the buoy data form. For Spar Buoys and Towed Fish the vertices and edges are
automatically generated by OrcaFlex to represent the stack of cylinders that make up the buoy. As an option
SparBuoysandTowedFishcanbedrawnasastackofcircularcylindersthisisthedefaultsetting.
x Wingsaredrawnasrectanglesineitherthe6DBuoypenortheWingTypepenasdeterminedintheWingType
data.
x Linesaredrawnasaseriesofstraightlines,oneforeachsegment,joiningpointsdrawnateachnode.Separate
pensareusedforthesegmentsandnodes,soyoucan,forexample,increasethepenwidthusedforthenodesto
makethemmorevisible.Thereisalso,ontheLineDataform,achoiceofwhichpentousetodrawthesegments.
x Clumpsaredrawnasathinverticalbar.
x DragChainsaredrawnusingthecolourandlinestylespecifiedontheattachmenttypesform.Thehangingpart
ofthechainisdrawnasaline,oflengthequaltothehanginglengthandattheanglecalculatedusingtheabove
theory.Thesupportedpartofthechain(ifanyissupported)isseparatelydrawnasablobattheseabed,directly
beneaththenode.Thedragchaindrawingthereforedirectlyreflectsthewayinwhichthechainismodelled.
x FlexJointsaredrawnasacircularblobusingthecolourandlinestylespecifiedontheattachmenttypesform.
x LinksandWinchesaredrawnasastraightlinesegmentsjoiningtheconnectionpoints.
Lines, Links and Winches and Shapes are special slave objects that can be connected to other master objects see
Connecting Objects. To allow these connections to be made, each slave object has a joint at each end that you can
connecttoamasterobjectorelseleaveFree.WhentheprogramisinResetorStaticsCompletestatethesejointsare
drawnasfollows:
The joint at End A ofa line or end 1 ofa Link or Winch is drawn as a small triangle. The other joints are drawn as
smallsquares.ThisdistinguisheswhichendofaLine,LinkorWinchiswhich.
If the joint is connected to a master object, then it is drawn in the colour of the master object to which it is
connected.IfthejointisFree,thenitisdrawninthecolouroftheLine,LinkorWinchtowhichitbelongs.
ShadedDrawing
Forshadedviewsthevariousobjectsaredrawnasfollows:
x Viewaxes and global axes are drawn as small triplets of lines showing their origin and the orientation oftheir
axes.The wave,currentandwind directionscan bedrawnasarrowsinthe toprighthandcornerof3Dviews.
Youcancontrolbothwhatisdrawn(see3DViewDrawingPreferences)andthedrawingdataused.
x The Sea Surface and Seabed are drawn as textured surfaces using their respective pen colours. Both surfaces
canbedrawnwithuser-specifiedlevelsoftranslucency.
x Shapes are drawn as solid objects and Planes allow for user-specified levels of translucency. Alternatively
Shapescanberepresentedbyanimported3Dmodel.
x Vessels are drawn as a solid, filled-in shape based on the wire frame data. Alternatively Vessels can be
representedbyanimported3Dmodel.
x 3DBuoysandClumpsaredrawnasanellipsoidwiththespecifiedvolumeandheight.
x Lumped 6D Buoys are drawn as a solid, filled-in shape based on the wire frame data. Spar Buoys and Towed
Fish are drawn as solid objects using the specified cylinder geometry. Alternatively 6D Buoys can be
representedbyanimported3Dmodel.
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x Wings are drawn as plates using their specified span and chord. Alternatively they can be represented by an
imported3Dmodel.
x Lines are drawn as a series of cylinders, one for each segment using the contact diameter as specified on the
LineTypeform.Thereisalso,ontheLineDataform,achoiceofwhichpentousetodrawthesegments.
x DragChainsaredrawnasachainwithbardiameterderivedfromthedragchain'seffectivediameter.
x FlexJointsaredrawnascylinderswithradius2Randlength4RwhereRistheradiusofthenodetowhichthe
flexjointisattached.
x Links and Winches are drawn as a series of cylinders joining the connection points. The diameter of the
cylinderscanbespecifiedontheobject'sdataform.
3.6.6 SelectingObjects
AsingleCLICKonornearanobjectina3DViewselectsitreadyforfurtheroperations.Thecurrentlyselectedobject
isindicatedintheStatusbar.Allobjectshaveahotzonearoundthem.Ifseveralobjectshaveoverlappinghotzones
atthemouseposition,theywillbeselectedinturnatsubsequentCLICKS.
To deselect the object (without selecting another object) CLICK on the 3D view away from all objects. CLICK on an
objecttoopenitsdataform.
3.6.7 CreatingandDestroyingObjects
WhenthemodelisinResetorStaticsCompletestatethenyoucancreateanddestroyobjectsusingthemouse.
Tocreateanewobject,CLICKontheappropriatenewobjectbuttononthetoolbarorselecttheModel|NewObject
menuitem.The mousecursorchangestoshowthis.A newobjectofthattypeiscreatedat thepositionofthe next
CLICKona3DView.
Youcanalsocreateanewobjectbycopyinganexistingone.Todothisselecttheobjectandpress CTRL+Ctotakea
copy of it. You can now press CTRL+V (more than once if you want more than one copy) again the mouse cursor
changesandthecopyobjectispastedatthepositionofthenextmouseCLICKina3Dview.Thismethodofcreatinga
new object is particularly useful if you want an almost identical object you can create a copy of it and then just
changethedatathatyouwanttodiffer.
Todestroyanobject,simplyselectitandthenpresstheDELETEkey.Youwillbeaskedtoconfirmtheaction.
3.6.8 DraggingObjects
An unlocked object may be dragged to relocate it by pressing the mouse button down and holding it down while
moving the mouse. When the mouse button is released, then the object will be positioned at the newlocation. The
currentcoordinatesoftheobjectareshownintheStatusBarduringthedragoperation.
Note: Objectsmustbedraggedacertainminimumdistance(asspecifiedinthe Preferencesform)before
thedragoperationisstarted.Thispreventsaccidentalmovementofobjectswhen DOUBLECLICKING
etc.
Objects may be locked to prevent unintended drag operations moving them (see Locking an object). Their
coordinatesmaystillbeeditedontheirdataform.
Note: Slaveobjectsthatareconnectedaremovedrelativetotheirmaster'slocalorigin.Otherobjectsare
movedintheglobalcoordinateframe.
DraggingisonlyavailableinResetorStaticsCompletestates,andwhentheobjectisnotlocked.
3.6.9 ConnectingObjects
Unlockedslaveobjects(e.g.Lines,Links,etc.)canbeconnectedtomasterobjectsusingthemouseina 3DView(see
ObjectConnections).Firstselecttheend oftheslavethatyouwanttoconnect byCLICKINGonornearits endjoint.
Then hold down the CTRL key while CLICKING on the master object the two will then be connected together. This
operationisonlypermittedformaster-slaveobjectpairs,forexampleconnectingalinetoavessel.Theconnectionis
indicated in the Status Bar and the joint connected is drawn in the colour of the master object to show the
connection.
ToFreeajointi.e.todisconnectitselectitandthenCTRL+CLICKontheseasurface.
ToconnectajointtoaFixedPoint,selectitandthenCTRL+CLICKontheglobalaxes.
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To connect an object to an Anchor (a fixed point with a coordinate relative to the seabed), select it and then
CTRL+CLICK on the seabed grid.If the object is close to the seabed then the program snaps it onto the seabed. This
allows an object to be placed exactly on the seabed. If you require an anchor coordinate close to, but not on the
seabed,connectittotheseabedatadistanceandthendragitneareroreditthecoordinateintheDataForm.
3.6.10 Printing,CopyingandExportingViews
3DViewsmaybeprinted,copiedtothewindowsclipboard,orexportedtoawindowsgraphicsmetafile,sothatthe
picturesmaybeusedinotherapplicationssuchaswordprocessorsandgraphicspackages.
Firstselecttheviewandadjusttheviewpointasdesired.Thentocopytotheclipboardpress CTRL+C,orselectCopy
fromthepop-upmenu.Thepop-upmenualsohascommandstoprintorexportthe3Dview.Ifneeded,youcanfirst
adjusttheprintersetupusingthePrinterSetupcommandonthepop-upmenuorontheFilemenu.
If you are printing the view on a black and white printer (or are transferring the view into a document which you
intendtoprintonablackandwhiteprinter)thenitisoftenbesttofirstsetOrcaFlextooutputinmonochrome(use
theTools|Preferences|Outputmenuitem).Thisavoidslightcoloursappearingasfaintshadesofgrey.
After a 3D view has been transferred to another application you should be careful not to change its aspect ratio,
sincethiswillproduceunequalscalingintheverticalandhorizontaldirectionsandinvalidatethescalebar.InWord
you can maintain aspect ratio by dragging the corners of the picture, whereas if you drag the centres of the sides
thentheaspectratioischanged.
3.7 REPLAYS
AReplayisasequenceof3Dviewsshownoneafteranothertogiveananimation.Areplayisthereforelikeashort
lengthoffilm,witheachframeofthefilmbeingasnapshotofamodelasitwasatagiventime.
There are various controls and parameters that allow you to control a replay. You can also view a series of
snapshotsallsuperimposedontoasingleviewseeSuperimposeTimes.
Therearetwotypesofreplay:
x Active Simulation Replays show the model as it was at regularly spaced times during the currently active
simulation. This type of replay is therefore only available when a simulation is active and can only cover the
periodthathasalreadybeensimulated.Ifyouhavea timehistorygraphwindowopenwhenthe replayis run,
thenthereplaytimeisindicatedonthegraph.
x Custom Replays are replays where you have complete control over frames which make up the replay. This
means that, for example, you are not restricted to regularly spaced times; you can have frames from different
simulationfilesinthesamereplay;youcanincludeframesshowingthestaticconfigurationofamodel;youare
abletovarytheviewsize,viewanglesandviewcentretoachievepanning,rotatingandzoomingeffects.Custom
replays were originally introduced to help visualise series of static snapshots, for example during a lowering
operation. However, the facility is very powerful and you are certainly not restricted to this application. See
CustomReplaysfordetails.
ExportVideo
Replays can be exported as a video clipin AVI file format, using the Export Video button on the replay parameters
form.AnAVIfileisgeneratedcontainingthereplayusingthemostrecentlyselected3Dviewwindowandusingthe
sameperiod,frameintervalandspeedasthereplay.
When you export a video clip you will be asked to select a file name for the video using the standard Save File
window. At the bottom ofthis window is a checkboxtitled Include frame details invideo. Ifthis is selected then
each frame in the video has details of that frame (e.g. simulation time) written in the top left hand corner of the
frame.ThereisalsoabuttonwhichprovidesalinktotheVideopreferences.
AVIisastandardvideoformat,sothefilecanthenbeimportedintootherapplications,forexampletobeshownina
presentation. The compression method (the codec) used for the generating the video file can be set on the
Preferencesform.
Note: AVIfilescanbeverylargeifthewindowsizeislargeortherearealotofframesinthereplay.Also,
resizing video clips (after pasting into your presentation) will introduce aliasing (digitisation
errors),soitisoftenbesttosetthe3DViewwindowsizetotherequiredsizebeforeyouexportthe
video.
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3.7.1 ReplayParameters
The replay can be controlled by the following parameters that can be set in the Replay Parameters form,
accessedusingtheReplayParametersbutton.
ReplayPeriod
Thepartofthesimulationthatthereplaycovers.Youcanselecttoreplaythewholesimulation,justonesimulation
stage(anasterisk*denotesanincompletestage),thelatestwaveperiodorelseauserspecifiedperiod.Ifyouselect
User Specified then you can enter your own Start and End Times for the replay period. These can be set to '~'
whichisinterpretedassimulationstarttimeandsimulationfinishtimerespectively.
Interval
The simulation time step size between frames of the replay. The value '~' is interpreted as the actual sample
interval,i.e.thesmallestpossibleinterval.
Usingshorterintervalsmeansthatyouseeasmootheranimation(thoughtheextradrawingrequiredmayslowthe
animation).
Example: For a simulation with stages of 8 seconds each, selecting stage 2 and a replay time step of 0.5 seconds
causesthereplaytoshow16frames,correspondingtot=8.0,8.5,9.0...15.5.
TargetSpeed
Determines how fast the replay is played. It is specified as a percentage of real time, so 100% means at real time,
200%meanstwiceasfastetc.Asaspecialcase,thefastestallowabletargetspeed(10000%atthemoment)istaken
tomean"asfastaspossible".
Note: Thespecifiedtargetspeedisnotalwaysachievablebecausethecomputermaynotbeabletodraw
each frame quickly enough. When this happens, the replay will be played as fast as possible.
Replaysmaybeslowifyouspecifythicklines(linewidth>1)forobjectsinthemodel,sincethiscan
increasethedrawingtime.
Continuous
Continuous means replaying like an endless film loop, automatically cycling back to the first frame after the last
frame has been shown; this is suitable for replays of whole cycles of regular cyclic motion. Non-continuous means
that there will be a pause at the end of the replay, before it starts again at the beginning; this is more suitable for
non-cyclicmotion.
AllViews
If this is selected, then the replay is shown in all 3D Views simultaneously, allowing motion to be viewed from
severaldifferentviewpoints.Otherwisethereplayisplayedinthecurrentlyselectedviewwindowonly.
ShowTrails
Ifthisisselected,then wheneachframeofthe replayisdrawnthepreviousframe isfirstoverdrawningrey this
resultsingrey'trails'showingthepathofeachobject.
3.7.2 ReplayControl
The replay can be controlled from the Replay menu, by using toolbar buttons or with shortcut keys. In addition,
somereplaysettingscanonlybemodifiedontheReplayParametersform.
Thetoolbarhasasectiondedicatedtoreplaycontrol:
Figure: Replaytoolbarcontrols
Thereplaycontrolbuttons,menuitemsarelistedinthetablebelow:
Replay|StartReplay
CTRL+R
Startreplay
Replay|StopReplay
CTRL+R
Stopreplay
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Replay|StepReplayForwards
CTRL+A
Steptonextframeandpause
+SHIFT
Replay|StepReplayBackwards
CTRL+B
Steptopreviousframeandpause
Replay|ReplayFaster
CTRL+F
Speedupreplay
Replay|ReplaySlower
SHIFT+CTRL+F
Slowdownreplay
Replay|ReplayParameters
CTRL+D
Editreplayparameters
ReplaySliderControl
Thefinalpartofthereplaytoolbaristhereplayslider.Thisallowsdirectcontrolofthereplay
time.Drag thesliderto thelefttomovetoanearlierpartofthe replayandtotherighttomovetoalaterpart.For
fine grained adjustment of replay time you can use the Replay | Step Replay Forwards and Replay | Step Replay
Backwardsactionsoralternativelytheirshortcuts, CTRL+AandCTRL+B.Thereplaytime isdisplayedonandcan be
controlledfromTimeHistorygraphs.
3.7.3 CustomReplays
CustomreplaysallowyoutopiecetogetherarbitraryframesfromdifferentOrcaFlexfiles.Eachframeofthereplay
canbeeitherthestaticconfiguration,orasnapshotofaspecifiedtimeinadynamicsimulationfile.
Using frames of static configurations you can string together a series of static snapshots giving, for example, an
animation of an installation procedure. Using frames from dynamic simulation files allows you to create replays
where the frames are from one or more simulations, and, if you wish, vary the time intervals between frames.
Frames of both static and dynamic configurations can be included in the same custom replay. In addition you are
abletovarytheviewsize,viewanglesandviewcentretoachievepanning,rotatingandzoomingeffects.
To use the custom replay feature you must first set the Replay Type data item on the Replay Parameters form to
CustomReplay.Nextyoumustbuildthecustomreplaywhichismosteasilydoneusingthe CustomReplayWizard,
whichcanbeopenedbyclickingtheCustomReplayWizardbutton.
ReplaySpecification
ThisisthefilecontainingthecustomreplayspecificationthatisthefilethatissavedbytheCustomReplayWizard.
CustomReplayParameters
Customreplaysalsomakeuseofsomeoftheparametersneededforstandardsimulationreplays.Theseparameters
areTargetSpeed,Continuous,AllViewsandShowTrails.
3.7.4 CustomReplayWizard
TheCustomReplayWizardallowsyoutodefineaseriesofreplaysections.Eachreplaysectioncanshoweither:
1. Aseriesofregularlyspacedsnapshotsfromasimulationfile.
2. Thestaticconfigurationofamodelspecifiedbyeitheradatafileorasimulationfile.
Differentfilescanbeusedfordifferentreplaysections.
CustomReplayFiles
WhenyouhavebuiltyourcustomreplayyoumustsaveitusingtheFilemenuorsavebuttononthetoolbar.Custom
replayfilescanbeopenedinasimilarway.
Werecommendthatyousaveyourcustomreplayfilebeforeyoustartsettingupthereplaysections.Thisisbecause
onceyouhavesavedthecustomreplayfileyouwillbeabletouserelativepathsfortheOrcaFlexfilenames.
CustomReplayData
Customreplayspecifiesviewparameters(size,position,anglesandgraphicsmode)
If this data item is not checked then the replay will use the view parameters of whichever 3D View window it
appears in. In this mode of operation you will be able manually to pan, rotate and zoom the 3D View using the
normalbuttonsandshortcuts.
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If this data item is checked then you will be required to specify the viewparameters (viewsize, viewcentre, view
azimuth, view elevation and graphics mode) for each replay section. This allows you to include panning, rotating
andzoomingeffectsinyourreplay.
Whilelearninghowcustomreplaysworkwerecommendthatyoudonotcheckthisdataitem.
Usesmoothedpanning,rotatingandzoomingeffects
This item is only available if the "Custom replay specifies view parameters" option is enabled. If you are panning,
rotatingandzoomingduringreplaysectionsthenthetransitionfromonesectiontoanothersometimesappearsto
bedisjointed.Ifthisoptionischeckedthenthetransitionbetweensectionsissmoothed.
Frameintervalinrealtime
OrcaFlexneedstoknowhowfasttoplaythereplay.Thisdataitemspecifiestheinterval,inrealtime,betweeneach
replay frame, assuming a target replay speed of 100%. If the target replay speed is, say 200%, then the interval
betweenframeswillbehalfthisvalue,andsoon.
ReplaySections
Youcanspecifyanynumberofreplaysections.Foreachreplaysectionyoumustalsospecifythefollowing:
ReplaySectionName
Thisisadescriptive nameforthe replaysection. When thereplayisrunningOrcaFlexdisplaysadescriptionofthe
currentframeinthemessageboxonthestatusbarthisincludesthereplaysectionname.Thisdescriptioncanalso
beincludedinexportedvideos.
OrcaFlexFileName
Themodeltobeusedforthissectioneitheradatafile(.dator.yml)orasimulationfile(.sim).
Dynamics
This setting determines whether the replay section defines snapshots from a dynamic simulation or a static
configuration.Ifthefileisadatafilethenthereplaysectionwillshowthestaticconfigurationandsothisdataitem
cannotbeedited.
The custom replay displays static configurations for a data file by loading the file and then performing the static
calculation. This can be time consuming static state simulation files can be used instead to avoid the overhead of
performingstaticseachtimethereplayisshown.
SimulationTimeFrom,SimulationTimeTo
This specifies the period of the dynamic simulation covered by the replay section. These are OrcaFlex simulation
timesforthespecifiedsimulationfileofthisreplaysection.
Ifthereplaysectionisastaticsnapshotthenthesedataitemsarenoteditable.
NumberofFrames
Thisisthetotalnumberofframesinthereplaysection.Ifyourcustomreplayisaseriesofstaticsnapshotsthenyou
wouldusuallysetthisvalueto1.
IncludedinReplay
Thisallowsyoutoexcludecertainsectionsfromthereplay.Thismaybeusefulwhiledevelopingthecustomreplay
becauseitallowsyoutoconcentrateonparticularreplaysections.
PowerPointslidenumber
Custom replays can be used to control PowerPoint slideshows. To make use of this you need to be showing a
PowerPoint slideshow while the custom replay is running. At the start of each replay section OrcaFlex will change
thePowerPointslidetotheslidenumberspecifiedhere.
Ifyoudonotwishtousethisfeatureyoushouldleavethisdataitematitsdefaultvalueof'~'.
ViewParameterdata
Thefollowingdataitemsareonlyavailablewhenthespecifiesviewparametersoptionischecked.
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FromViewParameters,ToViewParameters
Theviewsize,viewcentre,viewazimuthandviewelevationforthefirstandlastframesofthereplaysection.These
viewparametersarevariedbetweenthesevaluesfortheotherframesinthereplaysection.
Hint: ThesevaluescanbecopiedfromOrcaFlex'sViewParametersformusingtheclipboard.
GraphicsMode
SpecifieseithertheWireframeorShadedgraphicsmodeforthereplaysection.
3.7.5 SuperimposeTimes
Allows model configurations for different times of the simulation to be superimposed in 3D Views. Use
View|CurrentPositiontoreturntothenormalview.
Thedataitemsare:
ListofTimes
Thesimulationtimeswhichwillbesuperimposed.
AllViews
If this box is checked then the superimposed view is drawn in all 3D View windows. If not then it is drawn in the
selected3DView.
3.8 DATAFORMS
Eachobjectinthemodelhasdataitemsthatdefineitsproperties.Thedataareexaminedand editedintheobject's
DataForm,whichcanbeaccessedbyvariousmethods:
x usetheModelBrowser
x DOUBLECLICKtheobjectina3Dview
x RIGHTCLICKtheobjectina3Dviewandusethepop-upmenu.
Ifasimulationisactivethenmostdataitemscannotbechangedsincetheyaffectthecalculation,butyoucanchange
thingsliketheobject'scolour.
ControlButtons
Ok
Acceptsthedatachangesmadeandthenclosestheform.
Cancel
Cancelsthedatachangesmadeandthenclosestheform.
Next
Accepts the data changes made and then displays the next form in sequence. Holding the SHIFT key down while
CLICKING the Next button accepts the changes and then displays the previous data form in sequence. You can also
usethekeyboardshortcuts]]F6fornextandSHIFT+F6forprevious.
Pop-upMenu
Thepop-upmenuonadataformprovidesvariousfacilities,including:
x Thedataformcanbeprinted,copiedtotheclipboardorexportedtoafile.Thedataforthewholemodelmaybe
printedusingtheFile|Printmenuitem.
x AccesstothenextandpreviousdataformandtotheVariableDataform.
x Thebatchscriptnamesforthecurrently-selectedblockofdataitems.
x Data forms for 3D Buoys, 6D Buoys, Vessels and Lines provide a Connections Report. This is a spreadsheet
listinginformationaboutotherobjectsconnectedtoit.Notethatthesameinformation,butforallobjectsinthe
model,canbedisplayedusingtheModel|ShowConnectionsReportmenuitem.
UserInterface,DataForms
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x On data forms of some model objects, a report of the properties of that object. The report displays properties
likeweightinair,displacement,weightinwateretc.Thesereportsarecurrentlyavailablefor GeneralData,3D
Buoys,6DBuoys,Vessels,Lines,LineTypesandClumpTypes.
Calculator
AsimplecalculatorisavailablefromanyOrcaFlexdataform.Itcanbeopenedfromthepopupmenuoralternatively
by pressing F12. Numbers can be transferred to and from it with standard Windows copy (CTRL+C) and paste
(CTRL+V). The calculator can also be closed by pressing F12 if you do this then the value in the calculator is
transferredtotheactiveeditcell.
3.8.1 DataFields
DataitemsoneachDataFormaredisplayedinFields,generallywithrelatedfieldsorganisedintoGroupsorTables.
You can select a field with the mouse, or use the keyboard to navigate around the form. TAB moves from group to
group,andthearrowkeysmoveacrossthefieldsinagroup.
Thefollowingtypesoffieldsareused:
Text
Ageneralstringoftext,usedforexamplefortitlesandcomments.
Name
Each object is given a name, which you can edit.Object names must be unique you cannot have two objects with
the same name. Certain names are reserved for special purposes: Fixed, Anchored and Free (see Connecting
Objects).
Numeric
Numberscanbeenteredinanumberofformatssuchas3,3.0,0.3,.3or3.0e6or3.0E6.Itispossibletoentermore
digitsthanthoseshowninthefield,but bewarethatit willnotbepossible toseethemagain withouteditingagain
andusingthearrowkeystoexaminetherestoffield.
Forsomenumericdataitemsthevalue'~'ispermitted.Forexamplethisissometimesusedtomean'defaultvalue'.
Detailsaregiveninthedescriptionsoftherelevantdataitems.
SpinButtons
These are small buttons with up and down arrows, used for incrementing and decrementing the associated field
(such as the number of entries in a table). Using the mouse, CLICK on the upper or lower parts of the button to
incrementordecrementtheassociatedcounter.
Multi-choiceButtons
Theseareusedwhenanumberofoptionsareavailable.Activatethebuttontostepontothenextavailableoption.
CheckBoxes
Theseshowatick,meaningselected,orareblank,meaningnotselected.CLICKorpressRETURNtochange.
ColourSelection
Theseshowasablockofcolour.DOUBLECLICKorpressRETURNtoopentheColourSelectiondialoguewindow.The
desiredcolourmaynowbeselected.
ListBoxes
Theseshowthecurrentselection,suchasthenameofanotherobjectthatthisobjectisconnectedto. DOUBLECLICK
orpressRETURNtoshowaListBox,andthenselectanotheritemandRETURNtoacceptthenewchoice.
3.8.2 DataFormEditing
TheTAB,SHIFT+TAB,HOME,ENDandARROWkeysandthemousecanbeusedtonavigatearoundtheEditForm.
Editingmodeisenteredby DOUBLECLICKINGacellwiththemouse,orbystartingtotypealphanumericcharacters,
which are entered into the field as they are typed. The characters that have been typed can be edited by using the
arrowkeystomovearound(nowwithinthefield)andtheBACKSPACEandDELETEkeys.
Editingmodeisended,and thenewvaluetakeseffect,whenyoupress RETURNorselectanotherfieldorbuttonon
theform.Toendeditingmodebutrejecttheedit(andsokeeptheoldvalue)pressESC.
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Many numeric fields have limits on the range of values that can be entered, for example an object's mass must
alwaysbegreaterthanzero.Warningsaregivenifinvalidvaluesaretyped.
Input can also be from the Windows clipboard. CTRL+C copies the selected field or block of fields to the clipboard
whilst CTRL+V pastes from the clipboard into the selected field. In this way data can be easily transferred to and
fromSpreadsheets,WordProcessors,etc.
MouseActions
CLICK
SelectField
CLICK+DRAG,
SHIFT+CLICK
Selectablockoffields
DOUBLECLICK
StartEditModeinthisfield(pleasealsoseeDataFields)
SECONDARY
BUTTONCLICK
Contextsensitivepop-upmenuforcopying,exportingandprintingtheformand,forsome
modelobjects,viewingadditionalproperties
GroupMovement
TAB
NextGroup
SHIFT+TAB
PreviousGroup
ALT+...
Movetothegroupwiththisletterunderlinedinitsheading
FieldMovement
Gotoadjacentroworcolumn
HOME
Gotoleftmostcolumn
END
Gotorightmostcolumn
PAGEUP
Gototoprow
PAGEDOWN
Gotobottomrow
TableEditing
INSERT,DELETE Insertordeleterows
StartEditing
0..9,A..Z
Edit(replace)
DuringEditing
,HOME,END Movewithinfield
EndEditing
ESC
Canceledit
Accepteditandmovetoprevious/nextrow
RETURN
Acceptedit
Copy/Paste
CTRL+C
Copyselectedfield/blocktoclipboard
CTRL+V
Pastefromclipboardintoselectedfield
CTRL+D
Fillselectionfromtop(copytopcelldown)
CTRL+R
Fillselectionfromleft(copyleftmostcelltoright)
CTRL+U
SHIFT+CTRL+D
Fillselectionfrombottom(copybottomcellup)
CTRL+L
SHIFT+CTRL+R
Fillselectionfromright(copyrightmostcelltoleft)
3.9 RESULTS
3.9.1 ProducingResults
You can access results by either CLICKING on the Results button on the toolbar or by using the Select Results
menuitem;theSelectResultsformthenappears.
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There is a Keep Open switch on the form's context menu, which allows you to choose whether the form
automaticallycloseswhenyouselectaresult,oralternativelystaysopen(andontop)untilyouexplicitlycloseit.
Graphs and Tables can be sent straight to the printer by CLICKING the Print button. If the values of a graph are
requiredintextformthenCLICKtheValuesbuttonthisgivethevaluesinaSpreadsheetwindow,whichcanhandle
multiplevariablesifdesired.
TheSelectResultsformallowsyoutoselecttheresultsyouwantbyspecifying:
ResultType
Thisoptionallowsyoutoselectwhichofthevarioustypesofresultsoutputyourequire.Resultsareavailableastext
tables (summary results, full results, offset tables, statistics, linked statistics, extreme statistics or line clashing
reports)orasgraphs(timehistories,rangegraphs,XYgraphs,offsetgraphsorspectralresponsegraphs).Thetypes
ofresultsavailabledependonthecurrentmodelstate.
Object
The object for which you want results (selected in the same way as in the Model Browser) and for some objects
whichpointintheobject.
x FortheEnvironmentyoumustspecifytheglobalX,Y,Zcoordinatesofthepointforwhichyouwantresults.
x For6DBuoysthathavewingsattached,resultsforthebuoyandforeachwingareavailableseparately.
x For6DBuoysandVesselstheposition,velocityandaccelerationresultsarereportedatauserspecifiedpointon
theobject.Thispointisspecifiedinobjectlocalcoordinates.
x ForlinesyoumustspecifythearclengthalongthelineseeLineResults.
Period
For time histories, XY graphs and range graphs you must specify the period of the simulation to be included. This
canbeoneofthestagesofthesimulation,theWholeSimulation,SpecifiedPeriodorLatestWave(onlyavailable
ifthewaveisregular).TheSpecifiedPeriodvaluescanbesetto'~'whichisinterpretedassimulationstarttimeand
simulationfinishtimerespectively.
For Range Graphs the period can also be Static State or Instantaneous Value. The Static State period is only
available after a statics calculation and the graph shows a curve of the values in the static configuration. The
Instantaneous Value period is available when a simulation has been run. It shows a curve of the values at the
instantaneous simulation time. This is normally the latest simulated time. However, if a replay is active then the
graph shows a curve of values at the active replay time. This allows you to see, for an entire line, how a results
variableevolvesoverasimulation.
Variable
Thedesiredvariable(s).
DefinitionsoftheresultsvariablescanbeobtainedbyselectingthemintheVariablelistboxandthenpressingF1.
Loggingforresults
Thesummaryandfullresultsaretakendirectlyfromthecurrentstateofthemodel.Alltheotherresultsarederived
from the simulation log file which OrcaFlex creates automatically when a simulation is run. As the simulation
progresses,OrcaFlexsamplesthevariablesforeachobjectatregularintervalsandstoresthesampledvaluesinthe
logfile.Alltimehistories,statisticsandrangegraphsarederivedfromthesimulationlogfile.
YoucancontrolthetimeresolutionoftheresultsbysettingtheTargetSampleIntervaldataitemonthegeneraldata
form. This must be done before the simulation is started. Decreasing the sample interval will improve the time
resolutionoftheresults(andincreasethenumberofsamplestaken).However,becausemoresamplesaretakenthis
willalsoincreasethesizeofthesimulationfilethatiscreated.
SpikeLogging
A special algorithm is used for logging results that tend to vary rapidly to ensure that any spikes that may occur
betweensamplesarerecorded.Werefertothisalgorithmasspikelogging.
LineResults
OrcaFlexspikelogsEffectiveTension,Torque,ClashForce,ClashEnergy,SolidContactForce,EndForceresultsand
Vortex Force results. Inaddition other results which are derived from these quantities are effectively spike logged
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byassociation.Suchvariablesinclude WallTension,Normalised Tension,DirectTensileStrain,ZZStrain,WorstZZ
Strain,DirectTensileStress,vonMisesStress,MaxvonMisesStressandZZStress.
LinkandWinchResults
OrcaFlexspikelogsTensionandVelocity.
SolidResults
OrcaFlexspikelogscontactforcemagnitude.
GeneralResults
OrcaFlexspikelogsImplicitsolveriterationcountandImplicitsolvertimestep.
Inadequatesegmentationwarning
Ifanylineshave,duringthesimulation,goneintogreatercompressionthantheirsegmentEulerloadthenawarning
note is added to the Results form. Such lines are marked with the symbol in the Model Browser. Usually this
meansthatfinersegmentationisneededinsomesectionsoftheselinesinordertomodelcompressionadequately.
Offsetwarning
IfanyofthemultiplestaticscalculationshavefailedthenawarningnoteisaddedtotheResultsform.
3.9.2 SelectingVariables
Eachobjecthasassociatedwithit:
x Acurrentlyselectedvariablethatwillbeusedforgraphs.
x Asetofstatisticsvariablesthatwillbeincludedinstatisticsreports.
Forthecurrentlyselectedobject,thecurrentlyselectedvariablesareshowninalistontheresultsselectionform.
IfStatisticsresultsareselected,thenthelistshowsthesetofvariablesthatwillbeincludedinthestatisticsreport
andyoucanaddorremovevariablesbyCLICKINGontheminthelist.
If a Time History is selected, the list shows the (single) currently selected variable and you can select a different
variablebyCLICKINGonitinthelist.
Youcanalsomulti-selectvariables,using:
CLICK
selectonevariable
DRAG
selectarangeofvariables
SHIFT+CLICK
selectarangeofvariables
CTRL+CLICK
add/removeonevariable
CTRL+DRAG
add/removerangeofvariables
If more than one variable is selected, then the Values button will give a single Spreadsheet Window with a time
history column for each selected variable, and the Graph button will give a separate Graph Window for each
variable.
Newcolumnscanbeappendedtoexistingtimehistoryspreadsheetwindows,asfollows:
x Selectthespreadsheetwindowtowhichyouwanttoappend,byclickingonit.
x ThenopentheSelectResultsformandselectthevariablesthatyouwanttoappend.
x ThenholdtheCTRLbuttondownandclicktheValuesbutton.
x Providedthattheselectedspreadsheetwindowisatimehistoryvaluestableandthatthetimeperiodsforboth
sets ofhistories match, then the newtime histories will be appended to the active window. This allows you to
haveasinglewindowcontainingresultsfromdifferentobjects.
3.9.3 SummaryandFullResults
These spreadsheet windows give the current state of an object or of the whole model. For example, in
StaticsCompletestatethefullresultstablesshowthepositionsofobjectsintheirstaticposition.Ifasimulationis
active,thentheyshowthepositionsofobjectsatthelatesttimecalculated.
Toobtainoneoftheseresultstables:
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x SelectSummaryResultsorFullResultsontheResultsform.
x Selecttheobjectrequired.
x ClicktheTablebutton.
The summary results are simply an abbreviated form of the full results, in which the results for lines only include
theendnodes,notalloftheintermediatenodes.
When the model is in StaticsComplete state the summary and full results include estimates ofthe shortest natural
periods of objects or of the whole model. These can be used to determine suitable simulation time steps. The
simulation inner time step should normally be no more than 1/10th of the shortest natural period of the model
thisisgivenatthetopofthesummaryresultsorfullresultsreportfor AllObjects.Inadditionthefullresultstable
foralinecontainsdetailedreportsoftheshortestnaturalperiods.
3.9.4 Statistics
TheStatisticsreportprovides,foreachstatisticsvariable:
x Theminimumandmaximumvaluesandthesimulationtimeswhentheyoccurred.
x Themeanandstandarddeviation(i.e.therootmeansquareaboutthemean).
These statistics are reported for each of a number of periods of the simulation. If Statistics by Wave Period is
selectedthentheseperiodsaresuccessivewaveperiods;otherwisetheyarethestagesofthesimulation.
ToobtainaStatisticsreport:
x SelectStatistics.
x Selecttheobjectandthevariablesofinterest(seeSelectingVariables).
x CLICKtheTablebutton.
Thereportispresentedinaspreadsheet.
Note: Becarefulwheninterpretingstatisticsof LineClearanceandSeabedClearance,sincetheseresults
are already minima the shortest distance to any other line and to any point on the seabed. For
example, the maximum of Line Contact Clearance will be the maximum value that the smallest
clearancetookduringtheperiod.
3.9.5 LinkedStatistics
The Linked Statistics table relates a group of variables for a given object. For a specified group of variables and a
specified period of simulation, OrcaFlex finds the minimum and maximum of each variable and reports these
extremevalues,thetimestheyoccurredandthevaluesthatalltheothervariablestookatthosetimes.
Thereportalsoincludes:
mean,
standarddeviation,
Tz meanup-crossingperiod,estimatedastheaveragetimebetweensuccessiveup-ciossings of the mean value
Tc meancrestperiod,estimatedastheaveragetimebetweensuccessivelocalmaxima,
m0 zerothspectralmoment estimateu as
2
,
m2 secondspectralmoment,estimatedasm0/Tz
2
,
m4 fourthspectralmomentestimatedasm2/Tc
2
,
spectralbandwidthparameter,estimatedas(1-Tc
2
/Tz
2
)
,
ToobtainaLinkedStatisticsreport:
x SelectLinkedStatistics.
x Selecttherequiredobjectandperiod.
x Selectthevariablesofinterest(seeSelectingVariables).
x CLICKtheOKbutton.
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Note: Becarefulwheninterpretingstatisticsof LineClearanceandSeabedClearance,sincetheseresults
are already minima the shortest distance to any other line and to any point on the seabed. For
example, the maximum of Line Contact Clearance will be the maximum value that the smallest
clearancetookduringtheperiod.
3.9.6 OffsetTables
These Text Windows are available only after multiple statics calculations and only for vessels. For a given offset
directionthey reportthetotalloadonthevesselandshowhowitvaries withoffsetdistance.The worsttensionin
anysegmentofanylineconnectedtothevesselisalsoreportedforeachoffset.
ToobtainanOffsetTable:
x SelectOffsetTableontheResultsform.
x Selecttheoffsetvessel.
x Selecttheoffsetdirectionrequired.
3.9.7 LineClashingReport
TheLineClashingReportproducesadetailedtabularreportaboutthelineclashingeventsduringasimulation.
ToobtainaLineClashingReport:
x SelectLineClashingReportontheResultsform.
x Selectaline.
x Selecttheperiodrequired.
ContentsoftheLineClashingReport
Thereportlistsasummarytablefollowedbyadetailedtableasdescribedbelow.
Summarytable
Thesummarytablelistsallclasheventsforsegmentsontheselectedline.A clasheventisdeemedtostartwhena
segmentfromtheselectedlinefirstcomesintocontactwithanotherlinesegment.Weshallrefertotheselectedline
asL1andtotheparticularsegmentonthislineasS1.TheclasheventendswhenS1isnolongerincontactwithany
otherlinesegments.
Note: DuringthecourseofaclasheventthesegmentS1maybeincontactwithanumberofdifferentline
segments from other lines, e.g. if the clash is a sliding contact. This is counted as a single clash
eventfromtheperspectiveofS1.
Foreachclasheventthefollowingresultsarereported:
Eventnumber
Anumberofclasheventsmayoccurduringthesimulation.Eacheventisgivenanumbertoidentifyit.Thisisuseful
whenrelatingthesummaryresultsofaclasheventtothedetailedresults.
Segmentnumberandsegmentarclength
ThisidentifiesthesegmentS1ontheselectedline.
StartTime,EndTimeandDuration
Thesimulationtimeofthestartandendoftheclasheventtogetherwithitsduration.
TotalImpulse
Thetotalimpulseoftheclashevent.
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PeakClashForce
A scalar value reporting the greatest value ofclash force achieved during the clash event. The clash force vector is
monitoredduringeachclasheventandthegreatestmagnitudeofthisvectorisreported.
PeakClashEnergy
Ascalarvaluereportingthegreatestvalueofclashenergyachievedduringtheclashevent.
MaxPenetration
At each time step we calculate the depth of penetration between the outer surfaces of segment S1 and all other
segments.LetS2beasegmentonanotherline.
Lettheradiiofthetwosegmentsber1andr2(asdefinedbythelinetypecontactdiameter).OrcaFlexcalculatesthe
shortestseparationdistance,d,betweenthecentrelinesofthetwosegments.Thepenetrationofthesetwosegments
is defined to be (r1 + r2) d. The value reported as MaxPenetration is the maximum value ofpenetration between
segmentS1andanyothersegmentoverthedurationoftheclashevent.
Detailedtable
The detailed table reports information about each individual contact between segment S1 and another segment. If
duringthecourseofaclasheventsegmentS1isincontactwithanumberofsegmentsonotherlinesthenthestart
time,endtimeanddurationofeachofthoseindividualcontactsisreported.
Contactvelocity
The detailed table also includes the contact velocity for each individual contact. This is defined to be the normal
relativevelocityofthetwocontactpointsattheinstantintimewhentheclasheventstarted.
3.9.8 TimeHistoryandXYGraphs
Time History graphs are of a single variable against time. XY graphs are of one time dependent variable against
another.
Theperiodofsimulationcoveredbythegraphischosenfromalist.
ToobtainaTimeHistoryorXYGraph:
1. SelectTimeHistoryorXYGraphontheResultsform.
2. Selecttheobjectrequired.
3. Selectthevariablerequired(seeSelectingVariables).Morethanonevariablecanbeselectedfortimehistories.
ForXYgraphsthesteps2and3needtobedoneforbothaxes.Dothisby CLICKINGononeoftheoptionslabelledX-
axisorY-axis,whicharelocatedatthebottomoftheresultsform,andthenrepeatingsteps2and3.
x CLICKtheGraphbutton.
Time history and XY graphs are displayed in Graph Windows and they are "live" i.e. they are regularly updated
duringthesimulation.Youcanthereforesetuponeor moregraph windowsatthe startofasimulationandwatch
thegraphsdevelopasthesimulationprogresses.Ifyouresetthesimulationthenthecurveswillberemovedbutthe
graphs will remain, so you can adjust the model and re-run the simulation and the graphs will then be redrawn.
Graphsareautomaticallydeletediftheobjectthattheyrefertoisremoved,forexamplebyloadinganewmodel.
RangeJumpSuppression
FortimehistoriesofanglesOrcaFlexchoosestheangle'srangesothatthetimehistoryiscontinuous.
Forexampleconsidervesselheading,whichisnormallyreportedintherange-180to+180.Ifthevessel'sheading
passesthrough180thenwithoutrangejumpsuppressionthetimehistorywouldbe:
..,179,180,-179,..
i.e.witha360jump.ToavoidthisjumpOrcaFlexaddsorsubtractsmultiplesof360togivethebestcontinuation
ofthepreviousvalue.Sointhisexampleitadds360tothe-179valueandhencereports:
..,179,180,181,..
Thisadditionisvalidsince181and-179areofcourseidenticalheadings.
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Notethatthismeansthatangletimehistoryresultscangooutsidetherange-360to+360.
SpectralDensity
Fromanytimehistorygraphyoucanusethepop-upmenutoobtainthespectraldensitygraphforthattimehistory.
The curve shown on the graph is the one-sided power spectral density (PSD) per unit time of the sampled time
history,obtainedusingtheFourierTransform.
Notes: Using the Fourier Transform to estimate the PSD inevitably introduces 'noise' or 'leakage' to the
spectrum. To reduce the leakage the time history is partitioned into a number of overlapping
periods.ThePSDsarecalculatedforeachperiodandthenaveragedtogivethereportedPSDwhich
hastheeffectofsmoothingtheresultingPSD.
Thissmoothingtechniqueisonlyappliedifthereismorethan200sofdatainthetimehistory.
EmpiricalCumulativeDistribution
Fromanytimehistorygraphyoucanusethepop-upmenutoobtaintheempiricalcumulativedistributiongraphfor
that time history. This graph shows what proportion of the samples in the time history are less than or equal to a
givenvalue.
These graphs are sometimes referred to as Exceedence Plots since they can sometimes be used to estimate the
probabilitythatthevariablewillexceedagivenvalue.
Warning: The samples in a time history are not independent. They have what is called 'serial correlation',
whichoftenaffectstheaccuracyofstatisticalresultsbasedonthem.
Rainflowhalf-cycleEmpiricalCumulativeDistribution
From any time history graph you can use the pop-up menu to obtain the rainflow half-cycle empirical cumulative
distributiongraphforthattimehistory.Thecurveonthisgraphisproducedinthefollowingway:
1. The time history is analysed using the rainflow cycle-counting algorithm. For details of this algorithm see the
paperbyRychlik.
2. Therainflowalgorithmproducesalistofhalf-cyclesassociatedwiththetimehistory.Theempiricalcumulative
distributionofthesehalf-cyclesisthenplotted.
3.9.9 RangeGraphs
Range graphs are only available for a selection of variables and they are only available for Lines. They show the
values the variable took, during a specified part of the simulation, as a function of arc length along the Line. In
particular:
x Rangegraphsshowtheminimum,meanandmaximumvaluesthatthevariabletookduringthespecifiedpartof
thesimulationwiththeexceptionthattheLineClearancerangegraphsonlyshowtheminimumvalue.
x Effective tension range graphs have extra curves showing the segment Euler load and the Allowable Tension
value(asspecifiedontheLineTypesdataform).
x Bend Moment range graphs have an extra curve showing the maximum permitted bend moment
(EI/MinimumBendRadiusspecifiedontheLineTypesdataform).
x Curvature range graphs have an extra curve showing the maximum permitted curvature (the reciprocal of the
MinimumBendRadiusspecifiedontheLineTypesdataform).
x StressrangegraphsshowtheAllowableStress(asspecifiedontheLineTypesdataform).
x A Standard Deviation curve can also be added to a range graph to do this edit the graph's properties (by
doubleclickingonthegraph)andsettheStandardDeviationcurve'svisibleproperty(bydefaultthecurvesare
not visible). Two curves are then drawn, at Meanx wheie x is a usei chosen value anu is the stanuaiu
deviation.Thestandarddeviationiscalculatedfromallthesamplesthatlieinthesimulationperiodchosenfor
thegraph.
Warning: Becarefulnottoassumethat95%ofthedatalieintheintervalMean Tbis common quiJeline
isbasedontheassumptionthatthedataaresampledfromaNormal(i.e.Gaussian)distribution.
ToobtainaRangeGraph:
x SelectRangeGraphontheResultsform.
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x Selectthearclengthsrequired.Thiscanbetheentireline,aselectedarclengthrange,oraselectedlinesection.
x Selectthevariablerequired(seeSelectingVariables).
Range graphs are displayed in Graph Windows and they are "live" i.e. they are regularly updated during the
simulation.Youcanthereforesetupone or moregraph windowsatthestart ofasimulationand watchthe graphs
developasthesimulationprogresses.Ifyouresetthesimulationthenthecurveswillberemovedbutthegraphswill
remain, so you can adjust the model and re-run the simulation and the graphs will then be redrawn. Graphs are
automaticallydeletediftheobjectthattheyrefertoisremoved,forexamplebyloadinganewmodel.
RangeJumpSuppression
JustasitdoesforTimeHistoryandXYGraphs,OrcaFlexappliesrangejumpsuppressionforrangegraphsofangles.
3.9.10 OffsetGraphs
Thesegraphsareavailableonlyaftera multiplestaticscalculationhasbeendoneandonlyfortheoffsetvessel.The
followingvariablesareplottedagainstoffsetdistance:
RestoringForce
The magnitude of the horizontal component of the total force applied to the vessel by the attached Lines or other
objects.Notethatthisforceisnotnecessarilyintheoffsetdirection.
VerticalForce
TheverticallydownwardscomponentofthetotalforceappliedtothevesselbytheattachedLinesorotherobjects.
YawMoment
Themoment,aboutthevertical,appliedtothevesselbytheattachedLinesorotherobjects.
WorstTension
ThelargesttensioninanysegmentofanyLineconnectedtothevessel.
ToobtainanOffsetGraph:
x SelectOffsetGraphontheResultsform.
x Selecttheoffsetvessel.
x Selecttheoffsetdirectionrequired.
x Selectthevariablerequired.
3.9.11 SpectralResponseGraphs
These graphs are available only if you have run a response calculation wave. The graph is only available once the
simulationhasbeencompleted.
ThegraphplotsthecalculatedRAOfortheselectedvariableontheYaxisandwavefrequencyontheXaxis.
ToobtainaSpectralResponseGraph:
x SelectSpectralResponseGraphontheResultsform.
x Selectthevariablerequired(seeSelectingVariables).Morethanonevariablecanbeselected.
3.9.12 ExtremeStatisticsResults
Thereisoftenarequirementtopredicttheextremeresponsesofasystem,forexampletodeterminethelikelihood
of a load exceeding a critical value that may lead to failure. Such values are needed when using standards such as
DNV-OS-F201andAPIRP2SK.
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OrcaFlex can estimate extreme values for any given result variable by analysing the simulated time history of the
variableusingextremevaluestatisticalmethods.You may,forinstance,performa mooringanalysisinan irregular
sea-stateandthenestimatethemaximummooringlinetensionfora3-hourstorm.
Thestatisticaltheoryforthisestimationiswell-establishedandisdescribedinthetheorysection.Theprocedureis
essentiallythis:
x Youselectthestatisticaldistributiontobeusedtomodelthedistributionofextremes.SeeDatabelow.
x OrcaFlexestimatesthedistributionmodelparametersthatbestfitthesimulationtimehistoryofthevariable.
x OrcaFlexusesthefitteddistributiontoestimateandreporttherequiredextremestatistic(e.g.returnlevel),for
aspecifiedperiodofexposure.SeeResultsbelow.
x OrcaFlexprovidesdiagnosticgraphsthatyoushouldusetojudgethereliabilityoftheresults.
TheExtremeStatisticsResultsformisdesignedtoleadyouthroughthisprocess.
When you open the Extreme Statistics Results form, for a selected results variable, you will come first to the Data
page,whereyouwillselectthedistribution.Movingthentoeitheroftheotherpages(ResultsorDiagnosticGraphs)
will cause OrcaFlex to carry out the estimation part of the procedure. The Diagnostic Graphs assist in testing the
model.TheResultspagereportstheestimatedstatistics,e.g.thereturnvalueforthespecifiedperiod,theestimation
uncertaintyinherentinthatvalueetc.
Data
For convenience, the time history result graph is reproduced on the Data page. The data required for the fitting of
themodelareenteredonthispage,andareasfollows.
Distributions
These fall into two groups, according to the statistical method with which they are applied. For details see the
ExtremeStatisticsTheorysection.
x Rayleighdistribution.ThismethodassumesthatthevariableisastationaryGaussianprocess.Thisisperhapsa
reasonableassumptionforwaves,particularlyindeepwater,andforresponseswhichareapproximatelylinear
with respect to wave height. However, for many other variables ofinterest, the Gaussian assumption is invalid
andleadstopoorestimatesofextremevalues.
x WeibullandGeneralised Pareto(GPD)distributions.Thesedistributionsare bothfittedusingthe maximum
likelihood method. Historically, the Weibull distribution has often been used for marine systems, but the
Generalised Pareto is preferred by the extreme statistics community because of its sound mathematical
foundations.
Extremestoanalyse
Specifieswhethermaxima(uppertail)orminima(lowertail)aretobeanalysed.
ThresholdandDeclusterPeriod
ThesedataareonlyrequiredwhenusingtheWeibullandGPDdistributions,whicharefittedtoextremesofthetime
historyandthoseextremesareselectedusingthepeaks-over-thresholdmethodwith(optional)declustering.
The threshold controls the peaks-over-threshold method. This allows you to control the extent to which the
analysisisbasedononlytheextremevaluesinthedata(thetailofthedistribution).
Thedeclusterperiodcontrolsthedeclustering.Thishelpsavoidorreduceanystatisticaldependencebetweenthe
extremedatavaluesusedintheanalysis.Itcanbesettooneofthefollowing:
x Zero, in which case no declustering will be done, and all values above the specified threshold will be included.
Thisisgenerallynotrecommendedsincethevaluesareunlikelytobeindependent.
x Apositivevalue.InthiscaseOrcaFlexwillbreakthesequenceoftimehistoryvaluesintoclustersofsuccessive
valuesthatstayabovethethreshold.Itwillthen declusterbymergingsuccessiveclustersthatareseparatedby
periods (during which the variable is less than the threshold) that last no longer than the specified decluster
period.Themostextremevalueofeachoftheresultingmergedclusterswillthenbeincludedintheanalysis.
x '~'. This special value may be used to tell OrcaFlex to take the clusters to be the groups of values between
successive up-crossings ofthe mean value (or down-crossings ifanalysing lower tail). The most extreme value
ofeachsuchclusterwillthenbeincludedintheanalysis,butignoringanythatdonotexceedthethreshold.
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Thethresholdisdrawnonthetimehistorygraph,tohelpvisualiseitsvaluerelativetotheextremesofthedata.The
numberofdatapointsthatwillbeincludedintheanalysis(afterthethresholdanddeclusteringhavebeendone)is
alsodisplayed.Thishelpswithsettingthethresholdanddeclusterperiod.
The best value for the threshold is one that strikes a balance between a not-extreme-enough value (which will
increasethenumberofdatapointsfittedbutmaygivebiasedfittingbyallowinglessextremevaluestoinfluencethe
fitting too much), and a too-extreme value (which will fit to only the more relevant extreme data points, but may
giveverywideconfidenceintervalsiftherearetoofewsuchextremesinthedata).
Results
Thefollowingdataitems,foundontheResultspage,donotaffectthefittingofthestatisticalmodel.Rather,theyare
appliedtothefittedmodeltoobtainthereportedresults.
Rayleigh
Stormdurationisthereturnperiodforwhichthereturnlevelisreported.Thelengthofthesimulation,relativeto
thisduration,willdeterminetheaccuracyoftheestimateforthereturnlevel.
Risk factor is the probability of exceeding (or falling below, for lower tail) the estimated extreme value. For
example, you may ask for the 3-hour extreme value that is exceeded with a probability of 0.01 (i.e. a risk factor of
1%).
WeibullandGPD
StormdurationisdefinedasfortheRayleighdistribution.
The maximum likelihood fitting procedure used for these distributions allows the estimation of a confidence
intervalforthereturnlevel,foraspecifiedconfidencelevel.OrcaFlexreportsthisestimatedconfidenceintervalin
additiontotheestimatedreturnlevel.
The reported returnlevelisdefinedto bethelevelwhoseexpectednumberofexceedencesinthespecifiedstorm
durationisone.Thefittedvaluesofthemodelparametersandcorrespondingstandarderrorsarealsoreported.
Note: For some values ofstorm duration (usually small values) it might not bepossible to calculate the
return level. This is indicated by the value 'N/A' (meaning 'not available'). Similarly, for some
combinations of storm duration and confidence level, the calculation may fail to determine the
confidencelimits,andagainthesearethendenotedby'N/A'.
DiagnosticGraphs
Thediagnosticgraphswillhelpyoutoassessthegoodness-of-fitofthemodel,andhowappropriateornotthefitted
distributionis.Theyshouldbeinterpretedtogether,notinisolation,asfollows.
x The Quantile Plot displays quantiles of the empirical data plotted against model quantiles. If the model is a
good fit, then the points should lie close to the superimposed 45 diagonal line, and any significant departure
from this (especially a systematic one, for example an obvious trend away from the diagonal) indicates poor
model fit. The vertical lines, drawn through each point, are pointwise 95% tolerance intervals and may be
used as a guide to deciding whether any departure from the diagonal is significant. If all the vertical lines
intersectthediagonalline,thenthemodelledvaluesareprobablysufficientlyclosetotheempiricalvaluenotto
beofconcern.If,however,anumberoftheverticallinesfailtoreachthediagonal,thenthatmayraiseconcerns
aboutthevalidityofthefittedmodel.
x The Return Level Plot shows return level against return period (i.e. storm duration), with the latter on a
logarithmicscaletohighlighttheeffectofextrapolation.Thecentrallineonthegraphisthereturnlevelforthe
fittedmodel,andthepairofouterlinesthecorrespondingpointwise95%confidencelimits.Thepointsarethe
empirical return levels, based upon the data, and should lie between the confidence limits ifthe model fits the
data well. As with the quantile plot, a significant number of points contravening these limits indicates poor
modelfit.Again,OrcaFlexmaysometimesbeunabletodeterminetheconfidencelimitsforsomereturnperiods
thismayresultingapsintheconfidencelimitlines,orevenintheirnotappearingatall.
Anexampleofdiagnosticsgraphsindicatingagoodmodelfitisshownbelow:
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Figure: Diagnosticsgraphsforagoodmodelfit
Ifeitherofthesegraphsindicatesapoormodelfit,thenyoushouldreconsidertheentriesonthedatapage:
x Distribution. The distribution may be inappropriate the data may simply not conform to the selected
distribution.
x Threshold. The threshold may be too low, hence including too many points which are not in the tail of the
distribution;ortoohigh, resultingin toofewdatapointsfortheanalysisandconsequentlargevariationinthe
results.
x Decluster period. This may be too long (so too few data points), or too short (so successive data points might
notbeindependent).
3.9.13 PresentingOrcaFlexResults
OrcaFlex users often wish to show their OrcaFlex results in a slide presentation prepared using a presentation
programsuchasMicrosoftPowerPoint.Herearesometipsonhowthiscanbedone.
Graphs
GraphscanbetransferredfromOrcaFlextopresentationprogramsbysimplecopy+paste.
Note: In PowerPoint, instead of using Paste, it is better to use Paste Special (from the Edit menu) and
thenselecttheEnhancedMetafile.Thisgivesbetterresolution.
Replays
Replays can be transferred by exporting to an AVI file and then importing that video clipfile into the presentation
program.
AnXVIDencodedAVIfile(andpossiblyothercodecs)added toMicrosoftPowerPointslidesasaMovie Object may
not play correctly (displaying a blank screen on replay, or the video only appearing in full screen mode). To avoid
theseproblems,anXVIDAVIfileneedstobeinsertedasaVideoClipObject.Thiscanbedoneintwoways:
1. DragandDroptheAVIfileontothePowerPointslide,or
2. From the PowerPoint menu, choose Insert | Object. Select 'Create from file' and Browse to your file (do not
selectthe'Link'option).
To set options such as auto repeat, right-click on the image in the slide, then select Video Clip Object | Open, this
displaysthevideoplayerwindowandmenus.
UserInterface,Graphs
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The Video Clip Object links to the AVI file (it is not embedded within PowerPoint) so the file location needs to be
accessible when running the presentation. The computer running the presentation must also have the XVID codec
installed.
Note: Resizing video clips (after pasting into your presentation) will introduce aliasing (re-digitisation
errors)soitisbesttosettheOrcaFlex3DViewwindowtotherequiredsize beforeyouexportthe
video.
VideoClipsofOrcaFlexinUse
YourpresentationcanevenshowvideoclipsofOrcaFlexinuse,illustratinghowtheprogramisused.However,itis
rather harder to generate the required video files. We recommend using software called Camtasia
(www.techsmith.com)torecordvideoclipsshowingOrcaFlexinuse.
3.10 GRAPHS
When you request results in graphical form, they are presented in Graph Windows. You can open several
simultaneous graph windows, showing different results, and tile them on the screen together with 3D Views and
textresultswindows.Toadjustagraph'sproperties(rangeofaxes,colours,etc.)seeModifyingGraphs.
Graphshaveapop-upmenuthatprovidesthefollowingfacilities.
x UseDefaultRanges.
x Copycopiesthegraphtotheclipboard,fromwhereyoucanpasteitintootherapplications.
x Values.
x SpectralDensity.
x EmpiricalCumulativeDistribution.
x Rainflowhalf-cycleEmpiricalCumulativeDistribution.
x Exportenablesyoutoexportthegraphtoametafileorbitmapfile.
x PrintfacilitiesandtheMonochromeOutputpreference.
x Properties.
Graphsofsimulationresultsareupdatedautomaticallyasthesimulationprogresses.Also,theyarekeptevenifyou
reset the simulation, so once you have set up a set of interesting graphs you can edit the model and re-run the
simulationtoseetheeffectofchangingthemodel.
You can also set up results graphs when in reset state, prior to running a simulation the graph will be empty
initially and will grow as the simulation progresses. Note that we do not recommend this for graphs of line
clearance,however,sinceupdatingthemcansignificantlyslowdownthesimulation.
Theworkspacefeatureprovidesaverypowerfulwayofmanagingcollectionsofrelatedgraphs.
WhenareplayisinprogressthereplaytimeisindicatedonbothTimeHistoryandXYgraphs.
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Figure: Replay time indicator on a Time History Graph (vertical line at Time=16s) and on an XY
Graph(greycrossinbottomrightofthegraph).
ThereplaytimeindicatoronaTimeHistorygraphcanbedirectlymanipulatedusingthemouse.Withthe CTRLkey
pressedyousimplyclickonaTimeHistorygraphandtheindicatormovestowhereyouhaveclicked.Anyopen3D
Viewsareupdatedtoshowthenewreplaytime.Similarly,withtheCTRLkeypressedyoucanclickandthendragthe
indicator. This direct manipulation of the replay time indicator is designed to help understand and visualise how
yourmodelisbehavingatkeymomentsofthesimulation.
PrintingGraphs
Toprintagraph,usetheFile|Printmenuitem.Whenprintingtoamonochromeprinteryouwillgetthebestresults
bysettingtheMonochromeOutputpreferencethisissetbydefaultwhentheprogramisfirstinstalled.
CopyandPastewithgraphs
You can also copy a graph to the clipboard simply select the graph window by CLICKING on it and then using the
Edit|Copy menu item. From the clipboard you can then paste it into another application, for instance into a word
processordocument.GraphscanalsobeexportedasWindowsmetafiles,usethe File|Exportmenuitem.Metafiles
canbeimportedintomanyWindowsprograms,suchaswordprocessors,spreadsheets,graphicspackagesetc.
Note: Whencopyingagraphtotheclipboard,thesizeofthegraphwindowyoucopyfromhasaneffect
onhowthetextlabelfontsappearwhenthegraphispastedintoanotherapplication.Forexample,
if you are copying a graph to a Word Processor and want the graph to be full page size, then the
graphwindowshouldbemadelargeonscreen(e.g.maximised).Ifyouwantanumberofgraphson
one page of a document then the graph should be smaller on screen try tiling or cascading the
windows(seetheWindowmenu).Byexperimentingwithvariousdifferentlysizedgraphsitshould
bepossibletoarrangeforthefontstoappearasyouwish.
3.10.1 ModifyingGraphs
YoucanzoomintoagraphbyholdingdowntheALTkeyanddraggingaboxaroundtheareathatyouwantthegraph
todisplay.Whenyoureleasethemousebuttontheregionselectedwillbeexpandedtofillthegraph.Ifyouwantto
reversethisprocessthenrightclickthemouseandchooseUseDefaultRangesfromthepop-upmenu.
Youcanalsochangetheappearanceofagraphbydoubleclickingonthegraphorbyselecting Propertiesfromthe
graph'spop-upmenu.Aformisthenshownwhichallowsyoutochangevariousaspectsofthegraph,asfollows:
UserInterface,Spreadsheets
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Axes
Youcansettherange,thetickspacingandthenumberofsmallticks.The UseDefaultTickSpacingbuttonsetsthe
tickspacingandthenumberofsmalltickstosensibledefaultvaluesbasedontherange.Thisisusefulifyouwantto
settherangetoaspecificvalueandwantthetickspacingtobesetautomatically.
Labels
Youcanalterthetextandfontsoftheaxisandticklabels.
Curves
Youcancontrolthelinepropertiesandvisibilityforeachcurveonthegraph.
Legend
The legend is a key showing which curve is which. It only appears on graphs that have multiple curves, e.g. range
graphs. You can control whether the legend is shown and if so where and using what font. Note that the legend
includesallthecurves,evenifsomeofthemmaynotbevisibleatthetime.
Intercepts
Interceptsarelines,liketheaxes,thatgorightacrossthegraph.InfacttheXandY axesthemselvesareconsidered
tobeintercepts.Youcanaddmoreintercepts,forexampletomarkthingslikestagestarttimes,andyoucancontrol
theirpositionandstyle.
SaveAsDefault
Changestoagraph'spropertiesnormallyonlyapplytothatgraph.Butforgeneralsettings(fontsetc.)youcanalso
clicktheSaveAsDefaultbutton.OrcaFlexthenremembersthecurrentsettingsforusewithfuturegraphs.
3.11 SPREADSHEETS
Some numerical results (e.g. obtained with the Values button on the Results form) appear in an Excel compatible
spreadsheet. The spreadsheet is read-only. If you wish to modify or extend it you must first save it as described
below.
Printing,CopyingandExportingSpreadsheets
Toprintthespreadsheetrightclickandselect Print,butrememberthatOrcaFlextimehistoriesarenormallyquite
long and will therefore produce many pages. If necessary, you can first adjust the printer setupusing File |Printer
Setup.
Youcanalsoeasilytransfertheresultstootherapplicationsbyeither:
x CopyandpasteviatheWindowsclipboard.SelecttheblocktobetransferredandpressCTRL+C.
x Savingtofile.ChooseExportfromthepopupmenutosaveasExcelformat(.xls),commaseparatedvalues(.csv)
orastabdelimitedtext(.txt).
3.12 TEXTWINDOWS
Simpletextwindowsareused forsome reports see below. To printatextwindow,usethe File|Print menu.You
canalsocopytexttotheclipboardsimplyselectaregionoftextandthenusethe Edit|Copymenuitem(orpress
CTRL+C). From the clipboard you can then paste it into another application, for instance into a word processor
document.Alternatively,youcanexportthetexttoafilebyusingthe File|Exportmenuitem.Theresultingtextfile
canthenbeimportedintoyourwordprocessor.
StaticsProgressWindow
DuringaStaticsCalculation,theprogressofthecalculationisshowninthemessageboxonthestatusbar.However
themessagesarealsosenttoatextwindowthatisnormallyminimised.Thiswindowmaybeviewedbyclickingon
the message box during statics, or by selecting the Window | Statics Progress menu item if you wish to watch the
processmoreclosely.Likeothertextwindowsitmaybeprinted,copiedorexported,asdescribedabove.
3.13 WORKSPACES
Itiscommontohavemanywindows(3DView,graphorspreadsheet)openwithinOrcaFlex.Theworkspacefacility
isdesignedtohelpmanagethesewindows.
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Workspacefiles
Acollectionofview,graphorspreadsheetwindowscanbesavedusingtheWorkspace|SaveWorkspacemenuitem.
This creates a text file with the .wrk file extension containing a specification of the current window layout. The
workspacecanberestored atanytimewiththe Workspace|OpenWorkspacemenuitem.Thiscangivesignificant
timesavingsifyouwishtolookatanumberofdifferentresultswindowsforalargenumberofOrcaFlexmodels.
Notethatthecontentsofthewindowsarenotsavedtotheworkspacefile,justalogicaldescriptionofthewindow.
For example, suppose you saved a workspace containing a graph of Effective Tension of a Line called Riser. If you
thenloadedadifferentsimulationfileandopenthatworkspacethenyouwouldseetheEffectiveTensionoftheLine
calledRiserinthenewsimulationfileandnotthesimulationfiledopenwhentheworkspacewassaved.Thismeans
thatyoucanlookatthesamecollectionofresultsforanynumberofsimulationfiles.
Workspacefilesarenotlimitedtosimulationfilesstaticresultsandmultiplestaticsresultscanalsobesaved.
Defaultworkspaces
Asanalternativetoloadingaworkspacebyusingthe Workspacemenuitemsyoucanassociatedefaultworkspaces
witheitherindividualsimulationfilesorwithentiredirectories.
x Ifyoudefineadefaultworkspaceforasimulationfilethentheworkspaceisrestoredwheneveryouopenthat
samesimulationfile.
x If you define a default workspace for a directory then the workspace is restored whenever you open any
simulationfileinthatdirectory.
Gettingthemostoutofworkspaces
WerecommendthatyousaveyourworkspacefilesinthesamedirectoryastheOrcaFlexfiles.Ifyoudosothenthe
workspacefilewillappearintheMostRecentFileslistontheWorkspacemenu.
Workspace files can be very useful ifyou are sending simulation files to another person. By including a workspace
filewiththeresultsofinterestyoucanbesurethattheywillviewthecorrectinformation.Thiscanbe particularly
valuable when sending files to someone who is not an experienced OrcaFlex user. This can even be useful when
sending files to Orcina for software support because they contain a precise specification of the results you are
interestedin.
3.14 COMPARINGDATA
TheCompareDatamenuitemopenstheCompareDataform,whichallowsyoutofinddifferencesbetweenthedata
intwoOrcaFlexfiles.
The comparison is done using a user-provided compare program, so when you first use this facility you need to
configureOrcaFlextotellitwhichcompareprogramthatyouwanttouse;seeConfigurationbelow.
Youcanthencomparefilesasfollows:
x OntheFilespage,specifythetwofilesthatyouwishtocompare.Thesecanbedataorsimulationfiles.
x ClicktheComparebutton.
x OrcaFlexthensavesthedatafromthetwofilestotemporarytextfilesandthenrunstheuser-specifiedcompare
programtocomparethosetextfiles.
As an alternative to comparing two data files on disk you can optionally choose to compare the currently loaded
modelwithasinglefileondisk.
Configuration
OntheConfigurationpageyouneedtotellOrcaFlexthetextfilecompareprogramthatyouwanttouse,andhowto
useit.Thecompareprogrammustbeaprogramthatcancomparetextfilespassedtoitthroughthecommandline.
Varioussuchprogramsareavailableontheweb;examplesareWinDiff,CompareIt!andAraxisMerge.
CompareProgram
Thisisthecompareprogram'sexecutable file name.Youcan specifyeitherthefull path,or justthefilenameifthe
executablefileresidesinadirectorywhichisonyoursystempath.
A basic compare program called WinDiff is freely available (you can find it by searching the Internet) and is quite
sufficientforthispurpose.
UserInterface,Preferences
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CommandLineParameters
This defines the command line parameters that are passed to the compare program. OrcaFlex replaces the special
strings%1and%2withthefilenamesofthetemporarytextfiles.Formostcompareprogramsthedefaultsettingof
"%1%2"willbesufficient.Otherwiseyouwillneedtoconsultthedocumentationofyourcompareprogram.
3.15 PREFERENCES
OrcaFlexhasanumberofsettingsthatcanbecustomisedtosuitthewaythatyouwork.Themajorityofsettingscan
beadjustedinthePreferencesform,whichisaccessedbyusingtheTools|Preferencesmenuitem.
3DViewPreferences
MinimumDragDistance
Object positions are not updated until the mouse has been dragged at least this distance (in pixels). This prevents
accidental changes to object positions. To make a small movement, drag away and then back again, or edit the
coordinatedirectlyintheobject'sEditForm.
ViewRotationIncrement
EachCLICKonaRotateViewbuttonincrementsordecrementsViewAzimuthorElevationbythisamount.
RefreshRate
During a simulation calculation all 3D View and Graph windows are updated at this rate. Selecting a faster rate
allows you to see the behaviour of the simulation more clearly at the expense of performance. Set a slow Refresh
Ratetogivethenumericalcalculationmoreprocessortime.
BackgroundColour
Thissetsthebackgroundcolourofall3DViewwindows.
LocateObjectMethod
Can be either Flash object or Hide other objects. It determines what method the Locate action in the model
browseruses.
x WhentheFlashobjectpreferenceissetthentheLocateactionrepeatedlydrawsandhidestheobjectonthe3D
View,likeablinkingcursor.
x WhentheHideotherobjectspreferenceissetthentheLocateactiontemporarilyhidesallotherobjects.
NormallythedefaultsettingofFlash objectissufficienttolocateobjects.However, ifthemodelyouaresearching
forisobscuredbyotherobjectsthenthismethodmaynothelpyoutolocatetheobject.Inthiscaseyoushoulduse
theHideotherobjectspreference.
3DViewAxesPreferences
ViewAxes
Theviewaxesshowthesamedirectionsasthe globalaxes,butaredrawninthetoprighthandcornerof3Dviews,
ratherthanattheglobalorigin.CanalsobesetfromtheViewmenu.
ScaleBar
Determineswhetherascalebarisdrawnin3Dviews.CanalsobesetfromtheViewmenu.
Note: The Scale Bar is not drawn for shaded graphics views because it would be meaningless due to
perspective.
GlobalAxes
Determines whether the global axes are drawn, at the model's global origin (0,0,0). Can also be set from the View
menu.
EnvironmentAxes
Determines whether the wave, current and wind directions are drawn in the 3D view. When multiple wave trains
are present the first wave train is taken to be the dominant one and is drawn using sea surface pen, whereas the
otherwavetrains'directionsaredrawninthesecondarywavedirectionpen.CanalsobesetfromtheViewmenu.
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LocalAxes
Determines whether the local axes for vessels, buoys and line ends are shown. Drawing the local axes on the 3D
viewhelpsyouchecktheorientationsoftheseobjects.ThispreferencecanalsobesetfromtheViewmenu.
Note: LocalAxesarenotdrawnforshadedgraphicsviews.
NodeAxes
Determineswhetheraxesforlinenodesareshown.ThispreferencecanalsobesetfromtheViewmenu.
OutofBalanceForces
If selected, then in the static analysis (not during the simulation) there are extra lines drawn on the 3D view,
representingtheoutofbalanceforceactingoneachvesselandbuoy.Thispreferenceissometimesusefulforstatic
analysis,sinceit enablesyoutoseehowfarabuoyorvesselisfrombeinginequilibrium.Thispreferencecan also
besetfromtheViewmenu.
The force is drawn as a line, starting at the force's effective point of application, and whose length represents the
sizeoftheforce. Thescalingispiecewiselinearand basedonthe ViewSizeofthe3Dview.LinesuptoViewSize/2
long mean forces up to 10 force units and lines from ViewSize/2 to ViewSize mean forces from 10 to 1000 force
units.
Note: OutofBalanceForcesarenotdrawnforshadedgraphicsviews.
VideoPreferences
Thevideopreferencesallowyoutocontrolthecompressionalgorithmusedfor exportedvideo.Thesoftwarewhich
performs this compression is called a codec. Because the different graphics modes produce very different images
theyrequiredifferenttypesofcodec.
ShadedGraphicsCodec
The run-length encoding which works well for wire frame graphics is not suitable for shaded replays and in fact
there is no suitable built-in codec in Windows. We would recommend using an MPEG-4 codec of which many are
available. In our experience the freely available (licensed under the GPL) XVID codec performs very well. The
ShadedGraphicstopichasmoreinformationabouttheXVIDcodec.
AnotherreasonablechoiceistheWindowsMediaVideo9codec,whichisidentifiedbythecode WMV3.Thiscodec
produces lower quality videos than XVID for the same video file size, but does have the advantage that the videos
shouldwork onalmostallWindowsmachineswithoutthe needforcodecinstallation.Detailsonhowtodownload
thiscodeccanbefoundat:www.orcina.com/Support/ShadedGraphics.
Youcanchoosetouseothercodecsthatareinstalledonyourmachine.Shouldyoudosothenyoumustalsospecify
thefollowinginformation:
x Codec 4 character code: Codecs are identified by unique codes, 4 characters long. Good alternatives to XVID
andWMV3includeDIVX,the3ivxcodec(charactercode3IV2).
x Padding: MPEG-4 codecs commonly require round number frame sizes (width and height in pixels). For
example XVID requires frame sizes to be multiples of 8. When OrcaFlex exports the video it ensures that the
frame sizes are a multiple of this number. If you are unsure of what number to use for your codec then we
recommendtrying8whichusuallyworks.
x Colour depth: Some MPEG-4 codecs require a specific colour depth. Again, if you are unsure of what value to
usethenwerecommendtrying32bitor16bitcolourdepth.
WireFrameGraphicsCodec
Run-lengthencodingisthedefaultsettingandisusuallythebestchoice.Thiscodecoffersgoodcompressionrates
forOrcaFlexwireframevideo.TheAVIfilesproducedusingthiscodeccanbeplayedonmostWindowsPCs.
If you choose Uncompressed then each frame of the video is stored as an uncompressed bitmap. This means that
theAVIfileproducedcanbeextremelylarge.
OutputPreferences
PrinterMargins
ThesesettheLeftandTopmarginsusedonprintouts.
UserInterface,PrintingandExporting
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MonochromeOutput
If this is checked then external output (copying to the clipboard, exporting metafiles and printing) is in black and
white.Thisisusefulwithblackandwhiteprinters,sinceotherwisepalecoloursmaybedrawninverylightgreyand
maybehardtosee.
MiscellaneousPreferences
ShowSplashScreen
DetermineswhetherOrcaFlexdisplaysitssplashscreenwhentheprogramstarts.
BatchAutoSave
If this is enabled then simulations run in batch mode are automatically stored to simulation files at the specified
regular Auto Save Interval. This is useful if your computer is prone to failure (for example because of overnight
power failures) since the part-run simulation file can be loaded and continued, rather than having to re-run the
wholesimulationfromscratch.TheAutoSaveIntervalshouldbeneithertooshort,sincethentheprogramwillthen
wastealotoftimerepeatedlystoringawaytheresults,nortoolong,sincethenalotofsimulationworkwillbelostif
afailureoccurs.
3.16 PRINTINGANDEXPORTING
The Print / Export form is accessed using either the File | Print or the File | Export menu item and allows you to
chooseoneormoreofthefollowingitemstobeprintedorsavedtofile:
x The model data. Vessel Types often have very large amounts of data, much of which may not apply to the
current model, so OrcaFlex offers you the option of printing all the vessel type data or only the data that is in
use.
x Any3DViews,Graphs,SpreadsheetsandTextWindowscurrentlyondisplay.
Note: Graphsareprintedaslargeaspossiblewhilstmaintainingaspectratio.
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4 AUTOMATION
4.1 INTRODUCTION
OrcaFlexprovidesseveralimportantfacilitiesforautomatingandpost-processingwork:
x OrcaFlex is supplied with a special Excel spreadsheet which enables you to automate the extraction of
simulationresultsintoyourownspreadsheet.YoucanthenusethenormalExcelcalculationfacilitiestodoyour
owncustomisedpost-processingandgraphing.
x The Batch Processing facility enables you to run a set of simulations in unattended mode, for example as an
overnightjob.Thesimulationscaneitherbeofpre-prepareddatafiles,orelsecanbespecifiedbyabatchscript
file that specifies the simulation as variations on a base data file. The OrcaFlex Spreadsheet mentioned above
alsohasfacilitiesforautomatingtheproductionofbatchscriptfilesandtextdatafiles.
x OrcaFlex includes a well-documented programming interface called OrcFxAPI (short for OrcaFlex Application
Program Interface). See the OrxFxAPI help file for details. OrcFxAPI is a Windows dynamic link library (DLL)
that is installed when you install OrcaFlex, and which provides facilities for setting data, calculating static
positions and extracting results from those calculations or from pre-run simulation files. For example you can
writeprogramstoautomatepost-processingorthatuseOrcaFlexasa'staticscalculationengine'.Oneimportant
example application of this is for real-time monitoring of pipes, moorings etc. For further information or to
discusspossibleapplicationsofOrcFxAPI,pleasecontactOrcina.
4.2 BATCHPROCESSING
4.2.1 Introduction
Simulations, script files, post processing spreadsheets and fatigue analyses can all be run in unattended mode, by
using the Calculation |Batch Processing menu item. This command opens a form that allows you to set up a list of
jobsthataretoberun.Thelistcanincludeanynumberandmixtureofthefollowingtypesofjob:
1. Staticanalysisofpre-preparedOrcaFlexdatafiles(.dator.yml).OrcaFlexopensthedatafile,performsthestatic
analysis and then saves the results in a simulation file with the same name as the data file, but with a .sim
extension.
2. Dynamic analysis of pre-prepared OrcaFlex data files (.dat or .yml). OrcaFlex opens the data file, performs the
staticanalysis,runsthedynamicsimulationandthensavesthe resultsina simulationfilewith thesamename
asthedatafile,butwitha.simextension.
3. Partially-run OrcaFlex simulation files (.sim). OrcaFlex opens the simulation file, finishes the dynamic
simulationandthensavesthecompletedsimulation,overwritingtheoriginalfile.
4. A batch script file (.txt). This is a textfile which contains OrcaFlex script commands. OrcaFlex opens the script
file and obeys the commands in turn. The most common use of script files is to perform a series ofsystematic
variationsonabasedatafile.
5. Afatigueanalysisfile(.ftg).OrcaFlexperformsthefatigueanalysisandsavestheresultstoanExcelcompatible
spreadsheetofthesamenamebutextension.xls.
6. AnOrcaFlexSpreadsheet(.xlsor.xlsx).OrcaFlexwillprocessallInstructionssheetsintheExcelworkbook.Note
that ifthe spreadsheet's "Contains Dependencies" options is checked (or the spreadsheet is pre OrcaFlex v9.4)
then the workbook will be processes as a single job using a single thieau If it isnt checkeu then each
instructions sheet will be broken down into multiple load cases which are individually added to the batch and
maybeprocessedsimultaneously.
Note: IfyouwishtouseExcelforanyreasonwhileOrcaFlexisprocessingspreadsheetswithinabatchit
isimportantthatyouopenExcelfirst,thenopenthefileyouwishtoworkon.Thereasonforthisis
that when you double click an Excel file, Windows will try to use the copy of Excel OrcaFlex has
claimed,resultinginunpredictablefailures.
When adding data files (.dat or .yml) you need to specify whether static or dynamic analysis is to be performed.
ThischoiceismadefromtheAddFilesfiledialoguewindow,orfromthepopupmenu.
OrcaFlexcanauto-savepartialcompleteddynamicsimulationstofileatregularintervalsduringthebatchjob.This
is useful if your computer is prone to failure (for example because of overnight power failures) since the part-run
simulationfilecanbeloadedandcontinued,ratherthanhavingtore-runthewholesimulationfromscratch.
Automation,BatchProcessing
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Multi-threading
The batch processing functionality can make use of multiple processor cores. So, for example, if you have a quad-
coremachinethen4simulationfilescanberunconcurrently.
SincesomebatchtaskscandependontheoutputofothertasksOrcaFlexprocessestasksinavery particularorder,
asfollows:
x The batch script files are all processed first. Because it is common to write scripts that output data files it is
importanttocompleteallbatchscriptsbeforeprocessingthedatafiles.
x Anydataorsimulationfilesareprocessednext.
x Fatiguefilesareprocessednext.Theseusesimulationfilesasinputandsoshouldnotbestarteduntilalldataor
simulationfileshavebeenprocessed.
x FinallyanyOrcaFlexspreadsheetfilesorloadcasesareprocessed.Thesealsocannotbe starteduntilalldataor
simulationfileshavebeenprocessed.
The commands in batch script files are processed sequentially. Consequently any simulations that are processed
with Run commands cannot be performed in parallel. Because of this it is advisable to use the SaveData command
rather than the Run command when creating batch scripts. Such a script would create a number of OrcaFlex data
fileswhichyoucouldthenprocessinthebatchformusingallavailableprocessorcores.
BatchFormUserInterface
Close
Dismissesthebatchform.
AddFiles
Addsjobstothelist.Thestandardfiledialoguewindowisdisplayed,whereyouselectoneormorefilestobeadded
tothelist.
Files can also be added by drag and drop. That is if you are browsing your file system then you can highlight files
anddragthemontothejobslist.
RemoveFiles
Removesanyfileshighlightedinthejobslist.
CheckFiles
OrcaFlexopenseachfileinthejobslist,checksthattheycontainvalidOrcaFlexdataorscriptcommandsandreports
anyerrors.WhencheckingOrcaFlexspreadsheetorfatiguefilesitsimplyconfirmsthefileexists.
RunBatch
Processesthelistofjobs.Ifajobfailsthenitisabandonedbutotherjobsarestillattempted.Anyerrorsarereported
oncealljobshavebeenprocessed.
PauseBatch
Pauses the currently running batch jobs. This can be useful if you temporarily want another process on your
machinetohavetheprocessorresourcethatOrcaFlexisusing.
StopBatch
Terminateprocessingofbatchjobs.
Warnings
DisplaysawindowallowingyoutoreviewallwarningsgeneratedbyOrcaFlexduringacalculation.Thesewarnings
are suppressed when you are operating in batch mode and this button allows you to review them once the
simulationhascompleted.
CloseprogramwhenBatchcompletes
If checked then OrcaFlex will close once the processing of jobs completes. This feature is intended principally for
userswithnetworkedlicences.ItallowsyoutoreleaseyourclaimonanOrcaFlexlicenceassoonasthebatchofjobs
iscomplete.
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4.2.2 ScriptFiles
OrcaFlex provides special facilities for running a series of variations on a base data file, using a script file. This
containsasequenceofcommandstoreadadatafile,makemodificationstoit,andrunthemodifiedfile,storingthe
results for later processing. The file can also include comments. The syntax for the instructions is described in the
nexttopic.
Script files can be written using any text editor. Alternatively, there are facilities in the OrcaFlex spreadsheet for
automaticallygeneratingscriptfilesforregularsetsofcases.
4.2.3 ScriptSyntax
An OrcaFlex batch script is made up of commands, which are obeyed sequentially, and comments, which are
ignored.Acommentisalinethatiseitherblankoronwhichthefirstnon-blankcharactersare"//".Acommandcan
be:
1. A directive followed by one or more arguments, optionally separated by white space (one or more spaces or
tabs).Forexample:load c:\temp\test.datwhereloadisthedirectiveandc:\temp\test.datisthe
argument.
2. An assignment ofthe form VariableName=value, again with optional white space separators. For example:
Length = 55.0.
Notethat:
x Directives,variablenames,andmodelobjectnamesareallcaseindependent.
x If your script includes a relative file name then it is taken to be relative to the directory from which the script
wasloaded.
x Filenames,arguments,variablesorvaluescontainingspacesornon-alphanumericcharactersmustbeenclosed
in single or double quotes and they must not contain the same quote character as is used to enclose them. For
example'6"pipe'and"200'riser"arevalid,butthefollowingarenotvalid:
6inchpipecontainsspaces,soneedstobeenclosedinquotes;
6"pipecontainsadoublequote,soneedstobeenclosedinsinglequotes;
'6' pipe'containsasinglequote,soneedstobeenclosedindoublequotesinsteadofsingle.
4.2.4 ScriptCommands
The following batch script commands are currently available. You need to put quotes round file names or other
parametersthatincludespacesornon-alphanumericcharacters.
Load<FileName>
OpenstheOrcaFlexfilenamed<FileName>.Thefilecanbeeitheradatafileorasimulationfile.
LoadData<FileName>
OpensthedatafromtheOrcaFlexdatafilenamed<FileName>.
RunStatics<FileName>
Perform statics for the current model and save the resulting simulation to <FileName>. After the file is saved the
modelisreset.
RunDynamics<FileName>
Run dynamics for the current model and save the resulting simulation to <FileName>. After the file is saved the
modelisreset.
Run<FileName>
IdenticaltoRunDynamics.
Save<FileName>
Savethecurrentmodelto<FileName>.
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Ifcalculationresults(eitherstaticsordynamics)areavailablethena simulationfilewillbesaved.Otherwiseadata
filewillbesaved.Whensavingdata,ifthefileextensionis.ymlthenatextdatafilewillbesaved;otherwiseabinary
datafilewillbesaved.
SaveData<FileName>
Savethedatafromthecurrentmodelto<FileName>.
Ifthefileextensionis.ymlthenatextdatafilewillbesaved;otherwiseabinarydatafilewillbesaved.
Note: In the Load/LoadData, Save/SaveData and RunStatics/RunDynamics/Run commands, if
<FileName>isa relativepaththenitistakento berelativetothe directoryfromwhichthescript
filewasloaded.
ExtendSimulation<StageDuration>
Adds a new stage of length <StageDuration>. This command is equivalent to the Calculation | Extend Dynamic
Simulationmenuitem.YouwouldnormallyfollowthiscommandwithaRuncommand.
Reset
Resetsthecurrentmodel.ThiscommandisequivalenttotheCalculation|Resetmenuitem.
NewModel
Deletesallobjectsfromthecurrentmodelandresetsdatatodefaultvalues.ThiscommandisequivalenttotheFile|
Newmenuitem.
Create<ObjectType>[<ObjectName>]
Createsanewobjectoftype<ObjectType>.The newobjectisautomaticallyselectedwhichmeansthatsubsequent
assignmentcommandsapplytothisnewobject.
The <ObjectType> parameter can be "Line Type", "Vessel Type", "Line", "Winch" etc. Select Edit | Add from the
ModelBrowsermenutoseealistofpossiblevaluesforthisparameter.
Alternatively variable data sources can be created by setting the <ObjectType> parameter to "Bending Stiffness",
"Drag Coefficient" etc. This list of possible variable data source object types can be found in the Data Source Type
treeonthevariabledataform.
Iftheoptional<ObjectName>parameterisincludedthenthenewobjectwillbegiventhatname.
Delete<ObjectName>
Deletestheobjectcalled<ObjectName>.
Select[<ObjectType>]<ObjectName>
Specifythemodelobjecttowhichsubsequentassignmentcommandswillapply.
The <ObjectType> parameter is optional, and by default is 'object', meaning select the named model object.
<ObjectName> must then be either the name of an object that exists in the current model or one of the reserved
names'General'(fortheGeneraldataform)or'Environment'(fortheEnvironmentdataform).
SomeexamplesoftheselectandassignmentcommandsaregiveninExamplesofsettingdata.
Other<ObjectType>valuesonlyneedtobespecifiedinthefollowingspecialcases.
IftheEnvironmenthasbeenselectedandthereismorethanone wavetrain,thenbeforeyoucanspecifyanywave
train data you must give another select command to select the wave train. This second select command has the
form:
Select WaveTrain <WaveTrainName>
So,forexample:
Select Environment
Select WaveTrain Primary
WaveDirection = 30.0
Similarly,iftheEnvironmenthasbeenselectedandthereismorethanone current dataset,thenyoumustselect
oneofthembeforespecifyinganycurrentdata.Forexample:
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Select Environment
Select Current Current2
RefCurrentDirection = 270.0
NotethatthisisnotthesameassettingtheActiveCurrent.Infact,youshouldavoidsettingupmultiplecurrentdata
inbatchscriptsifpossible:thisisbestdoneinteractivelyontheEnvironmentform.
Ifavesseltypehasbeenselectedandithasmorethanone draught,thenbeforespecifyinganydraught-dependent
datayoumustgiveanotherselectcommandthatselectsthedraught.Thissecondselectcommandhastheform:
Select Draught <DraughtName>
BeforespecifyingdataforRAOsyouneedtospecifythetypeofRAOsthiscanbeeitherDisplacement,WaveLoad
orQTF.Thisisdonewithacommandoftheform:
Select RAOs <RAO type>
Similarly, before specifying vessel type data for a given wave direction you must give another select command to
selectthatdirection.Thistakestheform:
Select Direction <Direction>
So,forexample:
Select "Vessel Type1"
Select Draught Transit
Select RAOs Displacement
RAOOriginX = 10
RAOOriginY = 0
RAOOriginZ = 2
Select Direction 45
RAOSurgeAmplitude[2] = 0.1
Select Direction 90
RAOSurgeAmplitude[2] = 0.16
Note: Indentationwithspacesortabsisoptional,butmakesscriptsmorereadable.
Assignment
Assignmentcommandstaketheform
VariableName = Value
TheVariableNameonthelefthandsidemustbeoneoftherecognised variablenamesandthenamedvariablemust
exist in the currently selected model object. The Value on the right hand side must be in the appropriate form for
thatvariable(i.e.numericortext)anditmustbegiveninthesameunitsasusedinthecurrentmodel.
Forexample:
Select Vessel1
Length = 110
Draught = "Operating draught"
IfVariableNameisthenameofavariablethatappearsinacheckboxinOrcaFlexthentheValueshouldbeTrueor
False.Forexample:
Select Environment
CurrentRamp = True
If VariableName is the name of a variable that appears in a table in OrcaFlex, then its row number must be given.
Therownumberisgivenasanindexenclosedbyeithersquareorroundbrackets(don'tmixthemonthesameline),
andisalways1-based,i.e.[1]isthefirstrowofthetable.Notethatthissometimes requirescare,sinceinOrcaFlex
thetablemightnotbe1-based.Forexample,whensettingtheprescribedmotionforavessel,thecommand
PrescribedMotionVelocity[2] = 4.8
setsthevelocityinthe2ndrowofthetable,butinthiscasethefirstrowofthetableisstage0(thebuild-upstage)
sothiscommand(slightlyconfusingly)setsthevelocityforstage1.
MoreexamplesoftheselectandassignmentcommandsaregiveninExamplesofsettingdata.
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InvokeWizard
Setsthedataforthe selectedobjectusing eithertheLineTypeWizardorthePlasticityWizard. Theselectedobject
mustbeeitheralinetypeorabendstiffnessvariabledatasource.TheinputdatafortheWizardshouldfirstbeset
usingdataassignmentcommands.
AnexampleofhowtousethiscommandisgiveninExamplesofsettingdata.
WaveSearch<FileName>
Exportsthewavesearchspreadsheettothespecifiedfile.ThefilecanbeanExcelspreadsheet(.xls),atabdelimited
file (.txt) or a comma separated file (.csv). The decision is taken based on the file extension that you specify. The
inputdataforthewavesearchshouldfirstbesetusingdataassignmentcommands.
DisplacementRAOsReport<FileName>[<VesselName>]
SpectralResponseReport<FileName>[<VesselName>]
Exportsthevesselresponsereportspreadsheetstothespecifiedfileforthespecifiedvessel.ThefilecanbeanExcel
spreadsheet(.xls),atabdelimitedfile(.txt)oracommaseparatedfile(.csv).Thedecisionistakenbasedonthefile
extensionthatyouspecify.Ifnovesselisspecified,andthereisonlyonevesselinthemodel,thenthatvesselwillbe
used.Theinputdatafortheresponsereportsshouldfirstbesetusingdataassignmentcommands.
SHEAR7DataFile<LineName><FileName>
Exportsto<FileName>aSHEAR7datafileforthelinenamed<LineName>.
SHEAR7MdsFile<LineName><FileName>[<FirstMode><LastMode>]
Exportsto<FileName>aSHEAR7Mdsfileforthelinenamed<LineName>.
The <FirstMode> and <LastMode> parameters are optional. If they are specified then mode numbers in the range
<FirstMode>to<LastMode>inclusiveareexported.Iftheseparametersareomittedthenallmodesareexported.
Only the Transverse and Mostly Transverse modes are included in the exported file. If you have specified first and
lastmodestoexportthenthese mode numbersreferto thetransverseand mostlytransverse modes. The program
takesthefollowingsteps:
1. Calculateallmodes.
2. Sortthemodesintoorderofdecreasingperiod/increasingfrequency.
3. RemoveallmodeswhicharenotTransverseorMostlyTransverse.
4. Exportthemodesintherange<FirstMode>to<LastMode>inclusive.
SHEAR7OutFile<LineName><FileName>
Exports to <FileName> the SHEAR7 .out file for the line named <LineName>. This command is only available ifthe
directSHEAR7interfaceisinuse.
SHEAR7PltFile<LineName><FileName>
Exports to <FileName> the SHEAR7 .plt file for the line named <LineName>. This command is only available if the
directSHEAR7interfaceisinuse.
4.2.5 Examplesofsettingdata
The Select command is probably the most difficult script command to use. To help understand how it works we
presentsomeexamplesofitsusebelow:
Simpleexamples
Formanyobjectsthescriptcommandsforsettingdatataketheform:
1. SelecttheobjectusingthecommandSelect<ObjectName>.
2. SetthedatausingoneormorecommandsoftheformVariableName=Value.
The object name is most easily found on the Model Browser. The variable name is found by opening the relevant
dataform,selectingtherequireddataitemandpressingF7.
Someexamplesofthisprocedurefollow:
Select Link1
UnstretchedLength = 50
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Select "3D Buoy1"
Mass = 4
Volume = 8
Height = 7.5

Select Line1
IncludeTorsion = Yes
Note: The name "3D Buoy" needs to be enclosed in quotes because it contains a space. If the name
containsadoublequoteandspacesthenitshouldbeenclosedwithsinglequotes.
Dataintablesandindices
Some data in OrcaFlex appears in tables. For example consider the Structure page of the Line Data form which
specifies how a Line is made up of a number of sections. Each section is specified by its Line Type, length etc. The
followingexamplesetsthenumberofsectionsofthelinetobe2andthensetsdataforbothsectionsinturn.
Select Line1
NumberOfSections = 2

LineType[1] = Riser
Length[1] = 75
TargetSegmentLength[1] = 4

LineType[2] = Rope
Length[2] = 200
TargetSegmentLength[2] = 20
Notethatweuseblanklinestolayoutthescript.Thisisnotessentialbutmakesreadingthescripteasier.
Data which appears in tables is always set using the indexed notation used above. Having stated this rule, we
immediatelybreakitinthesectionbelow!
LineType,ClumpTypeandFlexJointTypedata
Thesedataaresetbyfirstselectingthetypebynameandthenassigningthedataasillustratedbelow:
Select "Line Type1"
OuterDiameter = 0.28
InnerDiameter = 0.21
OntheLineTypesDataformthereisanoptiontoviewthedataforallLineTypesatonceortoviewitbyindividual
LineType.WhenthedataisbeingviewedforallLineTypesatoncethedataappearsintableswithonerowperLine
Type.However,thedatamustbesetbyfirstselectingthetypebynameandthenassigningthedata.You cannotset
LineTypeusingindexnotation.
SimilarrulesapplytoClumpTypedataandtoFlexJointTypedata.
DragChainTypeandWingTypedata
Thesedataarealsosetbyfirstselectingthetypebynameandthenassigningthedata.Forexample:
Select "Drag Chain Type1"
Length = 12

Select "Wing Type1"
NumberOfAngles = 12
Angle[2] = -80
Lift[2] = 0.2
Drag[2] = 0.15
Moment[2] = 0.5
DatafoundontheGeneralDataform
DatafoundontheGeneralDataformcanbesetasfollows:
Select General
InnerTimeStep = 0.01
OuterTimeStep = 0.1
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DatafoundontheEnvironmentDataform
DatafoundontheEnvironmentDataformcanbesetasfollows:
Select Environment
SeaBedStiffness = 3000
SeaBedDamping = 80
FordataspecifictoaparticularwavetrainyoumustfirstselecttheEnvironmentandthenselecttheparticularwave
train.ThismakesuseofthealternativesyntaxforSelectwhichisSelect<ObjectType><ObjectName>.Forawave
train you replace <ObjectType> with WaveTrain and replace <ObjectName> with the name of the wave train as
definedontheEnvironmentDataform.Forexample:
Select Environment
Select WaveTrain "Swell from SW"
WaveTrainDirection = 135
WaveTrainType = "Dean Stream"
WaveTrainHeight = 2.5
WaveTrainPeriod = 18
Select WaveTrain "Local Wind Sea""
WaveTrainDirection = 40
WaveTrainType = JONSWAP
WaveTrainHs = 5.7
WaveTrainPeriod = 9
DataforCurrentdatasets
MultipleCurrentdatasetscanbedefined.AgainthisrequiresthealternativesyntaxforSelectasshownbelow:
Select Environment
MultipleCurrentDataCanBeDefined = Yes
NumberOfCurrentDataSets = 2
CurrentName[1] = "120deg"
CurrentName[2] = "150deg"
Select Current "120deg"
RefCurrentDirection = 120
Select Current "150deg"
RefCurrentDirection = 150
ActiveCurrent = "150deg"
VesselTypeData
SomeVesselTypedataissetinastraightforwardmannerasfollows:
Length = 120
PenWidth = 3
Symmetry = "XZ plane"
Note: Becausethesymmetryvalue(XZplane)containsaspaceitmustbeenclosedinquotes.
However, the majority of Vessel Type data requires that you also specify which draught the data applies to. For
example:
Select Draught "Transit Draught"
CurrentCoeffSurgeArea = 1200
CurrentCoeffSwayArea = 1100
CurrentCoeffYawAreaMoment = 120E3
To set data for displacement RAOs, wave load RAOs and wave driftQTFs you must also specify which type of RAO
thedataappliesto.Forexample:
Select Draught "Survival Draught"

RAOOriginX = 10
RAOOriginY = 0
RAOOriginZ = 2

Select RAOs WaveLoad
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RAOOriginX = 0
RAOOriginY = 0
RAOOriginZ = 0

Select RAOs QTF
RAOOriginX = -3
RAOOriginY = 0
RAOOriginZ = 4
Note that the variable names are the same but different data is set depending on which type of RAOs has been
selected.
In addition, when setting RAO table data (for displacement RAOs, wave load RAOs and wave drift QTFs) you must
specifywhichdirectionthedataappliesto.Forexample:
Select Draught "Survival Draught"
Select Direction 22.5
RAOYawAmplitude[2] = 0.13
Select Direction 45
RAOYawAmplitude[2] = 0.18
However, it is worth pointing out that situations where you would wish to specify RAOtable data in a batch script
are rare. It is much more likely that you would import this data into OrcaFlex from some external source and then
saveitaspartofthebasecasedatafile.
VariableDatasources
Data for Variable Data sources can be set from the batch script, although once again we feel it is unlikely that you
wouldneedtodothisoften.Theprocedureforsettingvariabledatasourcesisillustratedbelow:
Select Stiffness1
NumberOfRows = 3

IndependentValue[1] = 0
DependentValue[1] = 0

IndependentValue[2] = 0.2

IndependentValue[3] = 0.4
NotethatIndependentValueandDependentValuearethevariablenamesfortheXandYcolumnsofthevariable
data source. That is if you are setting data for a bending stiffness data source then IndependentValue denotes
curvatureandDependentValuedenotesbendmoment.
LineTypeWizard
The Line Type Wizard can be used from batch script. First of all you must select the Line Type and set its Wizard
data.OncethisiscompletetheWizardisinvokedusingtheInvokeWizardcommandasillustratedbelow:
Select "Line Type1"
WizardCalculation = "Homogeneous Pipe"
PipeMaterial = Steel
PipeOuterDiameter = 0.082
PipeWallThickness = 0.005
InvokeWizard

Select "Line Type2"
WizardCalculation = "Line with Floats"
FloatBaseLineType = "Line Type3"
FloatDiameter = 0.80
FloatLength = 1.2
FloatPitch = 5.5
InvokeWizard
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PlasticityWizard
The Plasticity Wizard can be used from batch script. First of all you must select the Bend Stiffness variable data
source and set its Wizard data. Once this is complete the Wizard is invoked using the InvokeWizard command as
illustratedbelow:
Select Stiffness1
StressOD = 0.30
StressID = 0.27
Type = "Ramberg-Osgood curve"
E = 230.0e6
RefStress = 385.0e3
InvokeWizard
PolarCoordinatesdataontheAllObjectsform
TheAllObjectsdataformallowsendconnectiondatatobespecifiedaspolarcoordinatesandthispolarcoordinates
dataisonlyaccessiblefromthisform.
ThedataappearsinatablecontainingallLine,WinchandLinkconnections.However,thedatastillbelongstoeach
individualobjectandtheappearanceofatableofdataispurelypresentational.Thismeansthattosetthedatayou
mustfirstselecttheindividualLine,LinkorWinchandthensetthedata,asillustratedbelow:
Select Line1
PolarR[1] = 20.0
PolarTheta[1] = 45.0
PolarR[2] = 340.0
Select Line2
PolarR[1] = 20.0
PolarR[2] = 340.0

Select Winch1
PolarR[3] = 0.0
PolarR[4] = 10.0
Forlinesandlinksan index of1 meansEndAandan indexof2meansEndB.For winchestheindexidentifiesthe
winchconnectionpoint.
Colourdata
Drawingcolourdataitemscanbesetthroughbatchscriptinavarietyofways.Thesimplestistousethepre-defined
coloursasfollows:
Select "Line Type1"
PenColour = Red
Select "Line Type2"
PenColour = Green
Thefulllistofpre-definedcoloursis:Black,Maroon,Green,Olive,Navy,Purple,Teal,Gray,Silver,Red,Lime,Yellow,
Blue,Fuchsia,Aqua,MoneyGreen,SkyBlue,Cream,MedGrayandWhite.
IfyouwantmorecontroloverthecolourthenyoucanspecifyanRGBvalueasaninteger.Thefollowing examplehas
thesameeffectasthepreviousone:
Select "Line Type1"
PenColour = 255
Select "Line Type2"
PenColour = 65280
UsingdecimalvaluesforRGBvalueisimpractical.Insteadaneattrickistospecifythecolourasahexadecimalvalue
byprefixingitwitha$signasfollows:
Select "Line Type1"
PenColour = $0000FF
Select "Line Type2"
PenColour = $00FF00
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Select "Line Type3"
PenColour = $FF0000
This sets the colours to red, green and blue respectively. Each pair of hex digits controls the amount of red, green
andblue.Sowhiteis$FFFFFFandblackis$000000.Avalueof$C0C0C0givesalightgreyand$808080producesa
darkergrey.
4.2.6 HandlingScriptErrors
Aswithothercomputerprograms,OrcaFlexbatchscriptfilescaneasilycontainerrors.Itisthereforewisetocheck
yourscriptfileforerrors beforerunningitasabatchjob.Tocheckforerrorsinyourscripts,usethe"CheckFiles"
button on the OrcaFlex batch form. This will read and obey all the commands in the script files except those that
perform calculations or write files. It will then report any errors it finds, including the line number on which the
error occurs. You can then correct the problem before running the script. Example3.txt is an example containing
variouserrors,sotoseehowerrorsarereportedusethe"CheckFiles"buttonwiththisexample.
Warning: Ifyoumisspellavariablenameinanassignmentstatementthen"CheckFiles"willreportanerror.
But if you incorrectly specify a variable name which is nevertheless valid then OrcaFlex cannot
detecttheerror.Soyouneedtobeverycarefulthatyouusethecorrectvariablenamesforthedata
itemsthatyouwanttochange.
4.2.7 ObtainingVariableNames
EachOrcaFlexdataitemhasitsown namethatisused tospecifyit inascript file. Thenamesofthedataitems are
basedonthecorrespondinglabelsusedonthedataform.Tofindoutthenameofadataitem,opentheappropriate
data form, select the data item, and then open (e.g. by right click) the pop-up menu and select the Batch Script
Names command (or press F7). This displays the variable name of the selected data item and you can select and
copy+pastethenamedirectlyintoyourbatchscript.
Ifthedataitemisinatable(orgroup)ofdataitemsthentheBatch ScriptNamesformdisplaysthenamesofallthe
dataitemsinthetable.Thedifferentcolumnsinthetableeachhavetheirownnames;youthenneedtoaddanindex
tospecifywhichrowyouwant.Theexceptionstothisarethe'Connections'datacontrolsforLinesandLinks,which
consistoftworows,oneforEndAandoneforEndB.Forthese,theBatchScriptNamesformliststhenamesforEnd
Aonly:thoseforEndBmaybeobtainedbysimplyreplacing'EndA'with'EndB'inthename.
Finally, note that Batch Script Names are not available for an empty table e.g. if you want the names for the
attachmentstableonthelinedataform,buttherearecurrentlynoattachments.Inthiscaseyoumustaddarowto
thetablebeforeyoucanusetheBatchScriptNamesform.
4.2.8 AutomatingScriptGeneration
TheOrcaFlexSpreadsheethasfacilitiesforautomatingthegenerationofascriptfileforaregularsetofcases.Touse
this facility select the Pre-processing worksheet, then select the Script Table cell and then click the Create Batch
ScriptscommandwhichcanbefoundontheOrcaFlexmenuinExcel.
ThebatchscriptfilenameisspecifiedinthecellnexttotheScriptTablecell.Itisrelativetothedirectorycontaining
this spreadsheet, so if you don't specify the folder name then it will be created in the folder containing this
spreadsheet.
BelowtheScriptTablecellisatabledefiningthescript,consistingof3sections:
x First is one or more title rows (shown with a green background in the example below). Only the first table
columnisusedintheserows,andthecontentsofthosecellsaresimplycopiedtothescript.Theothercolumns
are ignored. The title rows can therefore contain any comments or other script commands that you want to
appearatthestartofthescript.Thetitlerowsendatthefirstrowwithablankcellinthetable'sfirstcolumn.
x Next is a series of header rows for the cases (shown with a blue background in the example below). The last
headerrowisdeemedtobethenextrowwithacommentcommand(i.e.startingwith"//")inthefirstcolumn.
x Finallythereareaseriesofrows,onerowforeachcase.Thecellsinthissectionareprocessedfromlefttoright
on each row, and then down to the next row, and each cell generates script commands as follows. If the cell is
empty then no script commands are generated. But if the cell is not empty then all the (non-empty) script
commandsintheheaderrowsinthatcolumnarewrittentothescript,withthecell'svalueappendedtothelast
headerrowcommand.Thisallowsdifferentcolumnstosetdatavaluesforthevariouscases,andablankvalue
leavesthedataitemasitwasinthepreviouscase.Thecases(andthewholetable)endatthenextrowthathas
ablankcellinthetable'sfirstcolumn.
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x Notethatyoucanaddextracolumnstothetableorindeedremovecolumnsfromthetable.
x Thetablecanbearrangewithrowsandcolumnstransposed.TodothisyoumustusethekeywordScriptTable
Row.AnexampleofthisalternativeapproachcanbefoundinthedefaultOrcaFlexspreadsheettemplate.
Anexampleisshownbelow:
Figure: Exampletableforautomaticbatchscriptgeneration
The script generated by this table loads a base case from a file called "Base Case.dat". Because no path is specified
thenthisfileislocatedinthesamedirectoryasthespreadsheet.Fourcasesareproducedbasedonthisdatafilewith
currentvaluesof0.5and0.8andlinelengthsof100and120.
Note: The cell containing the base case data file name has the file name surrounded by quotes. This is
because the file name contains a space. However, the quotes are not needed for the file names in
thelastcolumnbecausetheydonotcontainspaces.
The script is generated as follows. First select the cell containing the text Script Table. Then drop down the
OrcaFlex menu contained in the main Excel menu and click Create Batch Scripts. When you do this you are
presentedwiththefollowingwindow:
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Figure: Automaticallygeneratedbatchscript
The script file has not been saved yet. You should check that the automatically generated script is as intended.
Shouldyouwishto,youcanmodifythescriptfilenameatthispoint.
IfthereisaproblemwiththescriptyoucanclicktheClosebuttonandcorrectthescripttable.
Savebutton
Savesthescriptfile.
SaveandRunbutton
Savesthescriptfileandthenprocessesit.
If the script has any Run commands then OrcaFlex is loaded and the script is processed by the standard OrcaFlex
batchform.OtherwisethescriptisprocessedfromwithinExcelprogressisreportedontheExcelstatusbar.
Save,RunandSubmitbutton
Saves the script file and then processes it within Excel. Each data file saved by the script is then submitted to
DistributedOrcaFlexwhichrunsandsavesthesimulationfile.
Note: The Save, Run and Submit button is only available if Distributed OrcaFlex is installed on your
machine.Inaddition,itcannotbeusedifthescriptcontainsanyRuncommands.
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Multipletables
Youcanhavemultiplescripttableswithinaworkbook.Tocreateallthebatchscriptsinoneoperationselectallthe
scripttablesandthenclickCreateBatchScriptsintheOrcaFlexmenu.
4.2.9 AutomatingTextDataFileGeneration
TheOrcaFlexSpreadsheethasfacilitiesforautomatingthegenerationof textdatafilesforaregularsetofcases.To
use this facility select the Pre-processing worksheet, then select the Text Data Files cell and then click the Create
TextDataFilescommandwhichcanbefoundontheOrcaFlexmenuinExcel.
The basic idea is very similar to the facility for automating generation of batch script files. An example table is
shownbelow:
Figure: Exampletableforautomatictextdatafilegeneration
The cell containing "Text Data Files", highlighted in yellow, is known as the anchor cell. The text data files are
generatedbasedonthetemplatefilespecifiedtheincellimmediatelytotherightoftheanchorcell.Inthisexample
thetemplatefilemightlooklikethis:
BaseFile: Base Case.dat
Environment:
WaveDirection: %direction
WaveHeight: %height
Line1:
Length[1]: %length
The row immediately below the anchor cell, highlighted in blue, contains variable names. You are free to choose
thesenamesasyouplease.Wehaveadoptedaconventionthatthevariablenamesbeginwithapercentagesign(%).
Although you do not need to follow this convention, doing so will have the benefit of making the variable names
standout.
Therowsbeneaththevariablenamesrowareknownasthevaluerows.Eachrowdefinesasingletextdatafile.The
text data file is generated by starting from the template file and then replacing each variable name, in turn, by the
value specified in the table. The %filename variable name is compulsory, that is it must be included as one of the
variablenames.Itspecifiesthenameofthegeneratedtextdatafile. Relativepathscanbeusedforthetemplatefile
nameandtheoutputfilenames.
The extent of the table is determined by the presence of empty cells. So the variable names row ends at the first
emptycell.Likewisethevaluerowsendatthefirstemptycellinthecolumnbeneaththeanchorcell.
The example above produces 8 text data files as its output, named Case01.yml, Case02.yml, etc. This first of these
lookslikethis:
BaseFile: Base Case.dat
Environment:
WaveDirection: 0
WaveHeight: 8
Line1:
Length[1]: 100
Choosingvariablenames
Itisclearlyimportantthatyouchooseuniquevariablenames.However,thereisafurthersubtlety whichcanarise
whenonevariablenameisasub-stringofanother.Forexample,considerthevariablenames%x1and%x10.When
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97
occurrencesof%x1inthetemplatefilearereplacedbytheiractualvalues,thefirst3charactersofanyoccurrences
of%x10willalsobedetected.
Such ambiguities seldom arise, but if you are affected then you can extend the naming convention to include a
trailing%sign.Intheexamplegivenabove,thevariablenamesbecome%x1%and%x10%andclearlytheproblem
doesnotarise.
Multipletables
Youcanhavemultipletableswithinaworkbook.Toprocessallthetablesinoneoperation,selectallthetablesand
thenclicktheCreateTextDataFilescommand.
Benefitsoverscripttables
Thetextdatafileapproachtoloadcasefilegenerationdescribedaboveisverysimilartotheapproachusing batch
script files. The choice of which to use is largely one of personal preference. If you are already familiar with batch
scriptandnotyetfamiliarwithtextdatafilesthenitmayproveeasiertocontinueusingbatchscript.
There is one significant advantage ofusing textdata files which is that it avoids duplication ofthe OrcaFlex model
data. Consider the following typical sequence of actions when using batch script where we assume that the basic
modelandscriptsarealreadyinplace:
1. Modifythesinglebasemodel,representedbyanOrcaFlexdatafile.
2. Runthebatchscript(orscripts)thatgeneratealltheloadcasedatafiles.
3. Runthesimulationsforallloadcasedatafiles.
Iftextdatafilesareused,asdescribedabove,thenstep2isnotrequired.Thisisbecausetheloadcasetextdatafiles
containareferencetothebasemodelratherthancontainingacopyasisthecasewhenusingbatchscript.
This is a relatively minor advantage but it does reduce the likelihood of mistakenly forgetting to carry out step 2
when using batch script files. In addition, more complex analyses can lead to your load cases being defined by
multiplescriptfileswhichhavetobeexecutedinaparticularorder.Usingthetextdatafileapproachmeansthatthis
complexityisdealtwithjustoncewhensettingupthetextdatafiles,asopposedtoeverytimeamodificationtothe
basemodelismade.
4.3 POST-PROCESSING
4.3.1 Introduction
OrcaFlex users often use spreadsheets to post-process their OrcaFlex results. This can be done manually by
transferringtheresultsfromOrcaFlexintothespreadsheetusingcopy+paste.However,thisislaboriousanderror
proneifalotofresultsneedtransferring,sowehavedevelopedspecialfacilitiestoautomatetheprocess.
This automation is done using an Excel spreadsheet that has facilities for automatic extraction of specified results
from one or more OrcaFlex files into nominated cells in the spreadsheet. You can then use the normal spreadsheet
facilitiestocalculateotherpost-processedresultsfromthoseOrcaFlexresults.
Note: TheOrcaFlexspreadsheetworkswithExcel2000orlaterandrequiresOrcaFlextobeinstalledon
themachine.
CreatingOrcaFlexSpreadsheets
You can create OrcaFlex spreadsheets from Excel templates that are supplied with OrcaFlex. You should base your
own OrcaFlex spreadsheets on this template, which is installed in the OrcaFlex installation directory when you
install OrcaFlex on your machine. To create your own OrcaFlex spreadsheet, open the Windows Start menu, select
Programs|OrcinaSoftwareandthenselectNewOrcaFlexSpreadsheet.Thisshortcutcreatesanewspreadsheet
basedonthetemplate.
Note: Different versions of Excel require different versions of the OrcaFlex Spreadsheet. When installing
OrcaFlex you are asked which version of Excel you are using. Both spreadsheet templates are
installedandasingleStartMenushortcuttotheappropriateoneiscreated.
Before you try to use the new spreadsheet you need to save it to a file; it can be given any valid file name. It is
usually most convenient to save it to the directory containing the OrcaFlex files from which you want to extract
results. You can then specify the names of those files in the spreadsheet using relative paths. Using relative paths
makesiteasiertorenamethedirectoryormovethespreadsheetandOrcaFlexfilestosomeotherdirectory.
SystemModelling:DataandResults,Vessels
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vertex 3
vertex 5
edge joining
3 to 5
pitch
z (heave)
y (sway)
x (surge)
V
yaw
roll
Figure: VesselModel
Each vessel has a Vessel Type that determines its RAO and drawing data. To illustrate this, consider a model of a
pipebeingtowedbytwoidenticaltugs.Thisismodelledbycreatingavesseltypecalled'Tug'andthencreatingtwo
vessels, each of type 'Tug'. The drawing data (defining the tug outline) are data of the Tug vessel type, since they
applytobothtugs.Similarly,theRAOsaredataofthevesseltype,sinceagaintheyarethesameforbothtugs.Onthe
other hand the two tugs differ in their positions and prescribed motion, so these are properties of the individual
vesselobjects.
Note: Thevesselalsohasextra drawingdata thisistoallow youtoset up vessel-specific drawing.For
exampletheleadtugmayhaveaspecialtow-pointfittingthatyouwanttodraw.Whenthevessel
is drawn, OrcaFlex first draws the vessel type wire frame and then draws the vessel wire frame.
These two wire frames can have different colours, so you can highlight application-specific
drawing.
Thevesselisdefinedrelativetoaright-handedsystemoflocalvesselaxesVxyz,where:
x Visthevesseloriginforthisvesseltype.Thisischosenbytheuserwhenthevesseltypeissetup.Howevernote
that if you specify that the vessel type has symmetry then the vessel origin must be placed on the plane of
symmetryoratthecentreofcircularsymmetry;seeVesselTypes:Conventionsfordetails.
x Vx,VyandVzmustbethedirectionsofsurge,swayandheave,respectively,forthisvesseltype.Notethatthese
directionsmustthereforebethedirectionstowhichtheRAOsapply.
Pointsonthevessel,forexamplewherecablesorrisersareconnected,arethendefinedrelativetothesevesselaxes.
These points then move with those axes as the vessel moves and rotates relative to the global axes, and OrcaFlex
calculatesthesemotionsautomatically.
Thevesselisdrawn,in3Dviewsofthemodel,asa"wireframe"ofuser-specifiedverticesand edges.Thisallowsa
simplevisualcheckthatamplitudes,phasesetc.areconsistentwiththeappliedwave.Thevesselwireframecanalso
beusedtodoavisualcheckforinterferencebetweenlinesandvesselstructure.Aswithallpointsonthevessel,the
verticesaredefinedrelativetothevesselaxesVxyz.
6.7.1 VesselData
Name
UsedtorefertotheVessel.
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Type
SpecifiestheVesselType.TheVesselTypesbuttonallowsyoutoviewandedittheVesselTypeData.
Draught
SpecifieswhichsetofRAOstousefromthespecifiedvesseltype.SeeDraughts.
Length
Specifiesthelengthofthisvessel.Thedefaultvalue'~'meansthatthisvesselisthesamelengthasthevesseltype.If
you specify a length that differs from the vessel type length, then OrcaFlex will scale all the vessel type's data to
allow for the scaling factor VesselLength/VesselTypeLength. This is useful if you have data for a 70m ship, for
example,butwanttousea50mshipthatisotherwiseverysimilar.
ThescalingisdoneusingFroudescaling(seeRawsonandTupper).Froudescalingscalesallitemsofdatabyafactor
that depends on the units of that data. If R = ratio of vessel length to vessel type length, then the scaling factor
appliedisasfollows:
x AlllengthsarescaledbyR.
x Allmasses(andaddedmasses)arescaledbyR
3
.
x AlltimesarescaledbyR
0.5
.
Data items with other units are scaled by writing the units in terms of the fundamental units of mass, length and
time, and then applying the above factors. For example force data has units equivalent to Mass*Length/Time
2
, so
forcedataisscaledby(R
3
).(R)/((R
0.5
)
2
)=R
3
.DimensionlessitemssuchastranslationalRAOs(surge,sway,heave),
QTFsandphaseanglesareunchangedbythescalingprocess,butnotethatFroudescalingdoesapplyto theperiods
(orfrequencies)specifiedforRAOandQTFdata.NotealsothatrotationalRAOs(roll,pitch,yaw)areoftengivenin
dimensionalterms(degreespermetre)andthesealsoscale.
Thesescalingrulesarethesameasthoseusedinderivingfullscaleshipperformancefromphysicalmodeltests,and
arecorrectifthevesselisaperfectscaledreplicaofthevesseltypeinallrespects.
Warnings: Ifthe vessel does not scale uniformly in all dimensions, then this type ofscaling introduces errors
andshouldnotnormallybeused.Instead,accuratedataspecifictothisvesselshouldbeobtained.
However,forshipsinheadandsternseastheRAOscalingerrorsmaybeacceptable,sincetheRAOs
forthesewavedirections depend mainlyonvessellength. ForothercasestheRAOscaling islikely
to bepoor, so OrcaFlex issues a warning ifscaling is used and the wave direction is not close to a
headorsternsea.
InitialPositionandOrientation
Thesespecifythevessel'sstaticposition relativetothe globalaxes.The InitialPosition definesthe positionofthe
vesseloriginV.TheInitialOrientationdefinestheorientationofthevesselaxesVxyzasthreerotations, Heading,
Trim and Heel. The static orientation ofVxyz is that which results from starting with Vxyz aligned with the global
axesandapplyingtheHeadingrotationaboutVz,thentheTrimrotationaboutVyandfinallytheHeelrotationabout
Vx.
If the vessel is not included in the static analysis then this Initial Position is taken to be the static position of the
vessel. If the vessel is included in the static analysis, then this Initial Position is used as an initial estimate of the
vessel position and the statics calculation will move the vessel from this position iteratively until an equilibrium
positionisfound.
Note: ThevesselZcoordinatecan only bechangedbyeditingonthevesseldataform.Dragging intheZ
directionwiththemouseisprevented.
Warning: Ifyouhaveincludedanyharmonicmotiononthevessel(see HarmonicMotion)thenthephasesof
the harmonic motions will normally depend on the vessel Initial Position, so if you change the
InitialPositionyoumayneedtochangetheharmonicmotionphasesaccordingly.
CalculationData
Thefollowingsettings(ontheCalculationpageonthevesseldataform)controlhowthevessel'sstaticpositionand
dynamicmotionaredetermined.
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IncludedinStaticAnalysis
You can control whether the OrcaFlex static analysis calculates the static equilibrium position of the vessel, or
simplyplacesthevesselintheuser-specifiedinitialposition.
OrcaFlex first places the vessel at the initial position and orientation specified by the user. If Included in Static
Analysis is set to None then OrcaFlex leaves the vessel in this user-specified position. This is not necessarily an
equilibriumposition.
IfIncludedinStaticAnalysisissetto3DOFthenOrcaFlexstartsfromtheuser-specifiedpositionandadjuststhe
vessel'sX,YandHeadinguntilanequilibriumpositionisreached.Notethatonlythese3freedegreesoffreedomof
thevessel(X,YandHeading)areincludedinthecalculation.Theotherthreedegreesoffreedom(Z,HeelandTrim)
areassumedtobeconstrainedandsoareleftatthevaluesspecifiedbytheuser.ThismeansthattheZcomponentof
resultantforcemaybenon-zerointheequilibriumposition.LikewisetheresultantHeelandTrimmomentsmaybe
non-zerointheequilibriumposition.
If Included inStatic Analysis is set to 6 DOF then OrcaFlex starts from the user-specified position and adjusts all
sixdegreesoffreedomuntilan equilibriumpositionis reached.Inthiscase,allofthe X, Y,ZforcesandHeel, Trim,
Headingmomentswillbezeroattheequilibriumposition.
The loads on the vessel to be taken into account in calculating the equilibrium position are determined by the
Included Effects, with the provisos that, in statics, first order wave load RAOs will have no effect and second order
wavedriftloadwillonlyhaveaneffectthroughthemeanwavedriftcomponent.
Note: If multiple statics are being performed on the vessel then no equilibrium calculation is performed
on the vessel and its placement is determined by the multiple statics data. Other vessels in the
modelareincludedinthestaticanalysisasspecifiedbytheirowndata.
DynamicAnalysis
Themotionofavesselduringthedynamicanalysiscanbespecifiedinavarietyofways.OrcaFlexallowsthevessel
motiontobemadeupoftwoparts,calledthePrimarymotionandtheSuperimposedmotion.Broadly,thePrimary
motionisaimedatmodellingthesteadyorlowfrequencymotionofthevessel,whereastheSuperimposedmotionis
aimedatmodellingthehigherfrequencymotion,suchasthatgeneratedbywaves.
Asanexample,considerashipbeingdrivenunderpoweralongaspecifiedcourse.Intheabsenceofwavesitmoves
steadily along its course and this would be modelled by the Primary motion. But when waves are present the
primary motion is augmented by wave-generated motion that would often be modelled in OrcaFlex as
Superimposed motion specified by RAOs. OrcaFlex superimposes this latter motion on the primary motion to give
thetotalcombinedmotionofthevessel.
YoucanspecifythePrimaryandSuperimposedmotionsinanumberofways,asfollows.See examplesbelowofhow
theseoptionscanbeused.
PrimaryMotion
The Primary motion determines what OrcaFlex refers to as the primary position of the vessel. It can be one of the
followingoptions.
x None. In this option there is no primary motion and the primary position of the vessel remains fixed at the
positiondeterminedbythestaticanalysis.
x Prescribed.Thisoptionallowsyoutodrivethevesselaroundtheseasurface,forexampletomodelthevessel
moving station during the simulation. The vessel's speed and course is specified using the data on the
PrescribedMotionpageonthevesseldataform.
x Calculated(3DOF).InthisoptionOrcaFlexcalculatesthevesselprimarymotioninonly3degreesoffreedom
(surge, sway, yaw) based on the included loads plus loads from any lines or other objects that are attached to
the vessel. There is no primary motion in the other 3 degrees of freedom (heave, roll, pitch). The added mass
anddampingmatricesofthevesseltypemustbespecified,plusthedataforalltheincludedloads.
x Calculated (6 DOF). Inthis option OrcaFlex calculates the vessel motion in all 6 degrees offreedom, based on
the included loads, plus loads from any lines or other objects that are attached to the vessel. The added mass,
damping, stiffness and equilibrium position of the vessel type must be specified, plus the data for all the
includedloads.
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x Time History. In this option the user specifies the primary motion in a time history file that defines, as a
function of time, the vessel Primary X, Primary Y, Primary Z, Primary Rotation 1, Primary Rotation 2 and
PrimaryRotation3.Seethevessel'sTimeHistorydata.
SuperimposedMotion
TheSuperimposedmotionisappliedasanoffsetfromthepositiongivenbythe primarymotion.Itcanbeoneofthe
followingoptions.
x None.Inthisoptionthereisnooffsetandthevesselpositionisequaltotheprimarypositionatalltimes.
x DisplacementRAOs+Harmonic.Inthisoptionthevessel'spositionoscillatesharmonicallyabouttheprimary
position.Theharmonicallyvaryingoffsetcomesfromtwosources.Firstly,ifwavesarepresentandyouspecify
non-zero displacement RAOs for the vessel type, then the offset will include the wave-generated harmonic
motions specified by those RAOs. Secondly, the vessel's superimposed offset also includes any harmonic
motionsthatyouspecifyontheHarmonicMotionspageonthevesseldataform.
x Time History. In this option the user specifies the offset in a time history file that defines the vessel Surge,
Sway,Heave,Roll,PitchandYawasafunctionoftime.Seethevessel'sTimeHistorydata.
TypicalExamplesofPrimaryandSuperimposedMotion
Here are some typical examples of how primary and superimposed motion can be combined to achieve various
things.
x PrimarymotionsettoNoneandsuperimposedmotionsettoRAOs+Harmoniccanbeusedtomodelasimple
steady(e.g.moored)vesselwhosemotionisduetothe1storderwaveeffectsonly.
x PrescribedorTimeHistoryprimarymotioncanbeusedtomodelavesselbeingdrivenoverapredetermined
course,andthesuperimposedmotionsettoRAOs+Harmonictomodelthe1storderwaveinducedmotion.
x Calculated (3 DOF) primary motion can be used to model the low frequency slow drift of a vessel in the
horizontalplane(dueto2ndorderwaveloads,windandcurrentdrag,etc.),withthe superimposedmotionset
toRAOs+Harmonictomodelthesuperimposed1storderwaveinducedmotion.
x Calculated(6DOF)primarymotioncanbeusedtomodelthewholemotionofavessel,optionallyincluding1st
and 2nd order wave loads, current and wind drag loads, applied loads, and always including loads from any
attachedlinesorotherobjects.InthiscasethesuperimposedmotionwouldnormallybeNone,sinceallmotion
has already been accounted for in the primary motion, and the displacement RAO data would therefore not be
used.
x Time History primary motion (or Time History superimposed motion but not usually both) can be used to
completelyspecifythemotionofavessel.
IncludedEffects
Youcanchoosewhichvesselloadsareincludedandwhichareignoredbytickingthecorrespondingcheckboxes.Ifa
boxischeckedthenthatloadwillbecalculatedandappliedtothevessel,anditsvaluewillbeavailableasaresult.If
aboxisnotchecked,thenthatloadwillnotbecalculatedanditwillbetakenaszero.
Note: Loadswhichareincludedwillonlyaffectthevesselstaticequilibriumpositionif IncludedinStatic
AnalysisissettootherthanNone,andwillonlyaffectthevesselmotioniftheprimarymotionisset
tooneoftheCalculatedoptions.
PrescribedMotion
Theprescribedmotiondataonlyappliesifthevessel's PrimaryMotionissettoPrescribed.Itenablesyoutodrive
thevesselaroundtheseasurfacealongapredeterminedpath,byspecifyinghowthevessel's primarypositionand
headingchangeduringthesimulation.
Thevesselisdrivenbyspecifying,foreachstageofthesimulation,thevelocity(speedanddirection)oftheprimary
positionandtherateofchangeoftheheading.
Warning: The Prescribed Motion facility can cause discontinuities of velocity at stage boundaries and these
may cause transients in the system. OrcaFlex issues warnings at the start of the simulation if the
dataspecifiesadiscontinuousvelocity.
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SpeedofMotion
ForeachsimulationstagethespeedofthemotioncanbespecifiedaseitheraConstantSpeedoraSpeedChange.
IfConstantSpeedisselectedthenthatspeedappliesthroughoutthestage.
If Speed Change is selected then the speed is incremented linearly by the specified amount during the stage. For
example,anincrementof1m/sduringastageoflength10secondscausesanaccelerationof0.1m/s
2
tobeapplied
throughout the stage, so that if the vessel starts at rest then at the start of the next stage the vessel is travelling at
1m/s.
Note: Negativespeedscanbespecified.
DirectionofMotion
ForeachsimulationstagethedirectionofthemotioncanbespecifiedaseitherrelativetotheGlobalXdirectionor
relativetotheVesselheading.
Thedirectionvalueisinterpretedasan azimuth.So,avalueof90relativetotheGlobalXdirectionwouldresultin
themotionbeingintheglobalYdirection.Likewise,ifthevessel'sheadingwas130andthedirectionofmotionwas
50relativetotheVesselheadingthenthemotionwouldbeanazimuthof130+50=180relativetoglobal,that
isintheglobal-Xdirection.
Note: Thedirectionofmotionisnotrestrictedtobeinthesamedirectionasthevesselheading.
RateofTurn
In addition to varying the velocity of the mean position, you can specify a Rate of Turn for each stage. This is the
anglechangepersecondtobeappliedtothevessel'sheadingthroughoutthestage.
IftheDirectionofMotionisspecifiedrelativetotheVesselheadingandtheRateofTurnisnon-zero,thenthevessel
velocitydirectionvariesduringthestage.Inaddition,ifthedirectionis0relativetoVesselheadingthenthevessel
velocity,whilstvarying,isalwaysintheVesselheadingdirection.
IfthedirectionisspecifiedrelativetotheGlobalXdirectionthenthevesselvelocitydirectionisnotaffectedbythe
RateofTurn.
HarmonicMotion
TheHarmonicMotionpage(onthevesseldataform)onlyappliesifthevessel'ssuperimposedmotionissettoRAOs
+Harmonic.Itallowsyoutospecifyanumberofharmonicmotionsofthevessel.
Theharmonicmotionsareinadditiontoanywave-generatedmotionspecifiedbytheRAOdata,soifyouonlywant
thewave-generatedmotionthenyoushouldsetthenumberofharmonicmotionstozero.
Eachharmonicmotionisasingle-periodsinusoidalmotionofthevessel,specifiedbygiving:
x thePeriodoftheharmonicmotion;thisappliestoall6degreesoffreedom,
x theAmplitudeandPhaseofthemotionforeachofthe6degreesoffreedomofthevessel.Ifyouaremodelling
slowdrift,thennotethatslowdriftnormallyonlyappliestosurge,swayandyaw,inwhichcasetheamplitudes
forheave,rollandpitchshouldbesettozero.
Note: Theharmonicmotionamplitudes(unliketheRAOresponsesofthevessel)arenotspecifiedrelative
to a wave amplitude they are specified directly in length units (for surge, sway and heave) or
degrees(forroll,pitchandyaw).
Similarly,thephasesarenotspecifiedrelativetothephaseofawave theyarethephaselagsfromtheglobaltime
origin T=0 until the maximum harmonic motion occurs. More precisely, the phase that should be specified for the
harmonicmotionisgivenby
360((Tmax/P)mod1)
where Pis the period ofthe harmonic motion and Tmax is the global time at which you want the maximum of the
motiontooccur.
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Warning: Harmonicmotionscanbeusedtomodelpre-calculated vesselslow drift.Ifyou dothis,thenifyou
move the vessel's Initial Position in the wave direction, or if you change the data for the waves
(other than changing the simulation time origin), then you willnormallyalso then have to adjust
the phases of the slow drift. This is because such changes affect the global time at which a
particularpartofthewavetrainwillreachthevesselandhencewillalsoaffecttheglobaltimeat
whichmaximumslowdriftmotionisachieved.
TimeHistory
The Time History pages (on the vessel data form) only apply if the vessel's primary or superimposed motion, or
both,aresettoTimeHistory.Itallowsyoutospecifythemotionbygivingatimehistoryfile.Todothis:
x OntheCalculationpagesettheprimarymotionorsuperimposedmotiondataitem(orboth)toTimeHistory.
x Createatab-delimitedtextfilecontainingthetimehistorymotionyouwant,asdescribedbelow.
x OntheappropriateTimeHistorypage,setupthetimehistorydataasdescribedinDatainTimeHistoryFiles.
ContentsofTimeHistoryFile
Thetimehistoryfilemustcontainatimecolumnandcolumnsforall6degreesoffreedomofthevessel.Forprimary
timehistorymotionthesearePrimaryX,PrimaryY,PrimaryZ,PrimaryRotation1,PrimaryRotation2andPrimary
Rotation3,measuredrelativetotheglobalaxes.
For superimposed time history motion the degrees offreedomthat must be specified are Surge, Sway, Heave, Roll,
PitchandYaw.Theyaremeasuredrelativetotheprimarypositionofthevessel,asspecifiedbythevessel's primary
motion.
Fordetailsofhowrotationsareapplied,seeorderofapplicationofrotations.
Thetimevaluesinavesseltimehistoryfileneednotbeequallyspaced.Theunitsusedforallthecolumns mustbe
thesameasthoseusedintheOrcaFlexmodel,sothetimevaluesmustbeinsecondsandanglesindegrees.
ForfurtherdetailsofthefileformatseeTimeHistoryFiles.
Notes: Ifthere is any wave-generated motion present in a vessel's time historymotion then the OrcaFlex
wave data needs to match the wave that generated that motion. Ifyou have suitable data for the
waveelevationthenyoucanusethattospecifythewavebytimehistory.Thiscanbedoneeitherin
aseparatetimehistoryfileforthewaveorelseinanextracolumninthevessel'stimehistoryfile.
The position and velocity specified by a time history file for the start of the simulation (i.e. for
SimulationTime = -BuildUpDuration) will not, in general, match the static state from which
OrcaFlexstartsthesimulation.TohandlethisOrcaFlexuses ramping duringthebuild-upstageto
smooththetransitionfromthestaticstatetothepositionandmotionspecifiedinthetimehistory
file.
AppliedLoads
Youcanoptionallyincludeappliedloadsonavessel.
You can apply to the vessel external Global Loads that do not rotate if the vessel rotates. These are specified by
giving the components of Applied Force and Applied Moment relative to global axes. These components can be
constant, vary with simulation time or be given by an external function. If the vessel rotates then the loads do not
rotatewithit.
In addition, you can specify external Local Loads that do rotate with the vessel. These are specified by giving the
componentsofAppliedForceandAppliedMomentrelativetovesselaxes.Againthesecomponentscanbeconstant,
varywithsimulationtime orbegivenbyan externalfunction.Ifthevesselrotatesthentheloads do rotatewithit.
Thesearesuitableformodellingthrusters,forexample.
InbothcasesthePointofApplicationoftheloadisspecifiedbygivingitsx,y,zcoordinatesrelativetovesselaxes.
Note: Applied loads will only affect vessel static position if the corresponding degree of freedom is
includedinthestaticanalysis,andwillonlyaffectthemotionifthePrimaryMotionissettooneof
thecalculatedoptionswhichincludesthedegreeoffreedom.
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MultipleStatics
The offsets for multiple statics calculations are specified here. Offsets are from the vessel's initial position and are
specifiedbygivingarangeofazimuthandoffsetvalues.Forexample:
TheAzimuthstabledetermineswhichdirectionsaretobeanalysed.TheOffsetstablespecifieshowfarinthegiven
direction thevesselisto be placed.With theabove data,theoffsetsanalysed bythe multiplestaticscalculationare
asillustratedbythedotsinthediagrambelow:
0m 20m 40m 60m 80m 100m
180 deg
135 deg
90 deg
45 deg
0 deg
Vessel Initial
Position
X
Y
Figure: ExampleOffsets
AdiagramshowingtheselectedoffsetsisdrawnontheVesselOffsetsdataform,tohelpvisualisewhichoffsetswill
beanalysed.
Drawing
Vessels are drawn as wire frames defined in the data as a set of Vertices and Edges. The Vertices are defined by
givingtheircoordinatesrelativetothevesselaxesVxyz.TheEdgesarelinesdrawnbetweentwovertices.
For shaded graphics views, by default, the vessel is drawn using a solid, filled-in shape based on the vertices and
edges. As an alternative you can use the vertices and edges to define a frame like structure. If the edge diameter is
'~'thenthatedgewillbeusedtobuildafilledinshape,otherwisethatedgeisdrawnasacylinderwiththespecified
diameter.Notethatyoucanuseamixtureofedgediameters(somedefined,somesetto'~')tocombinebothfilled
inandframeworkshapes.
You can define wire frame drawing data in two places for the vessel and also for its vessel type. The vessel is
drawnbyfirstdrawingawireframebasedonthevertices,edgesandpenspecifiedforitsvesseltype(seethevessel
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types data form). Then a further vessel-specific wire frame may be drawn, using any vertices, edges and pen that
youspecifyonthevessel'sdataform.
Thisallowsyoutospecifyawireframedrawingofthebasicvesseltype,andthenoptionallyaddtoit(possiblyina
differentcolour)awireframedrawingofsome equipmentthatisspecifictothat vessel.Ifthe vessellengthdiffers
fromthevesseltypelength,thenthevesseltypewireframeisscaledaccordingly.Notethateither,orboth,ofthese
wireframescanbeempty(i.e.noedges)ifdesired.
The drawing data do not affect the mathematical model in any way they are purely for drawing 3D views. The
verticesand edgesfollowthemotionsofthevessel,and thusmaybeusedtoimproveunderstandingofthemotion
ofthe model. They can also be used to represent a spar or other equipment attached to the vessel, so that you can
then look for clashing with other parts of the system. For example during a simulation replay you can adjust the
viewpointtolookexactlyalongtheedgeofinterest,andcheckvisuallyifotherpartsofthemodelpassthroughit.
ShadedDrawing
Bydefault,forshaded3DViews,vesselsaredrawnusingthewireframedata.
The wire frame drawing data comprises vertices and edges, but OrcaFlex needs a solid surface for the shaded
graphics representation. OrcaFlex uses the following procedure to generate this surface from the wire frame
verticesandedges.
Firstanyedgeswithspecifieddiameters(i.e.diametersnotequalto'~')aredrawnascylinders.Thisallowsyouto
use such edges to visualise parts of the structure that are not solid, e.g. crane boom latticework. These edges are
nowhandledandareexcludedfromtheremainderoftheprocedure.
The remaining edges are used to partition the vertices into sets ofconnected vertices. Two vertices are deemed to
beconnectedifthereexistsapathofedgesbetweenthetwovertices.
Finally,foreachsetofconnectedvertices,thesmallestconvexhullenclosingthesetisdrawn.
This algorithm does not always generate the shaded drawings that you might expect. Consider the following two
wireframevessels.Whendrawninwireframemodetheylookthesame,butinshadedmodetheydiffer.
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Figure: WireFrameandShadedDrawing
Forthegreenvesselthesuperstructureandthehullshareverticesandsoallverticesareconnected.Thisresultsina
single convex hull for all vertices being drawn. In the red vessel, the superstructure and hull do not share vertices
and so there are two distinct sets of connected vertices. This results in two separate convex hulls and a better
representation.
Alternativelytheobjectcanberepresentedbyan imported3DmodelbyspecifyingtheShadedDrawingFile.This
mustbeaDirectXformatfile,usuallywiththe.xfileextension.Ifyouusearelativepaththenthepathwillbetaken
asrelativetothefoldercontainingtheOrcaFlexfile.
The Browse button allows you to specify the Shaded Drawing File quickly and also provides quick access to the
OrcinasampledrawingsviatheNavigatetoOrcinasampledrawingsbutton.
TheUseCullingoptionisnormallyselectedsinceitcanprovideausefulperformancebenefit.However,inorderto
workitrequiresthatthetrianglesdefinedinthe.xfilehavetheiroutwardfacingdirectionsdefinedcorrectly.Inthe
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unusual situation where the outward facing directions are not defined correctly then the .x file will not display
correctly.IfthishappensthentypicallysectionsofthemodelwillbemissingwhendrawnbyOrcaFlex.Disablingthe
UseCullingoptionresolvesthisproblem.
DrawSizeisprovidedtoallowyoutoscalethedrawing.Alldirectionsarescaledequallytoarrangethatthelongest
side in the drawing is drawn to the specified Draw Size. This longest side is calculated by first fitting the smallest
possible cuboid around the vertices of the shaded drawing (these are defined in the .x file). This cuboid is aligned
withtheshadeddrawing'slocalaxes.Thenthelengthofthelongestsideofthiscuboidisfound.
Specifyavalueof'~'todisplaythedrawingusingtheabsolutecoordinatesasspecifiedinthe.xfile.
Note: If you use a value of '~' for Draw Size then OrcaFlex uses the coordinates in the .x file directly. If
these coordinates use a different length units system from your OrcaFlex model then you should
specify the units used in the .x file by including an auxiliary file called AdditionalInformation.txt.
ExamplesofthiscanbefoundinthesampleshadeddrawingsprovidedbyOrcina.
Shaded Drawing Origin is provided because the shaded drawing and the vessel may have different origins. The
Shaded Drawing Origin defines the origin of the shaded drawing with respect to the vessel's local axis system.
Similarly Shaded Drawing Orientation allows you to reorient the shaded drawing to match the vessel's axis
system.
ExternalFunctions
Parameters
This data item specifies the External Function Parameters, a free form multi-line text field which is passed to any
externalfunctionusedbytheEnvironment.
PropertiesReport
TheVesselpropertiesreportisavailablefromthepopup-menuonthedataform.Itreportsthefollowing:
Length
Thelengthofthevessel.
Wavedirectionrelativetovessel
Therelativewavedirection.Ifthereismorethanonewavetrainthenthedirectionofthefirstwavetrainisused.
Staticsforceaccuracy,Staticsmomentaccuracy
Theseareonlyreportedifthevesselisincludedinstatics.
The static analysis searches for an equilibrium position for the vessel that is a position for which the resultant
force and moment on the vessel is zero. We refer to the resultant force and moment as the out of balance load.
Because computers have limited numerical precision the static analysis cannot always find a configuration where
theoutofbalanceloadisexactlyzero.OrcaFlexacceptsapositionasastaticequilibriumpositionifthelargestoutof
balanceloadcomponentislessthanthestaticsaccuracy.
TheStaticsforceaccuracyequalsTolerance*vesseltypicalforceandtheStaticsmomentaccuracyequalsTolerance
* vessel typical moment. The vessel typical force and moment are based on the forces and moments applied by
connectedobjects.
Reducing the Tolerance value will give a more accurate static equilibrium position, but will take more iterations.
OrcaFlex may not be able to achieve the Tolerance specified if it is too small, since the computer has limited
numericalprecision.
Note: The statics accuracies change during the static analysis because the forces and moments applied
by connected objects vary with the position of the vessel. The statics accuracies reported in Reset
state may be quite different from those used for the final equilibrium position and should be
treatedasroughapproximationstothetruestaticsaccuracies.
6.7.2 VesselTypes
Eachvesselhasavesseltypethatdeterminesalotofitsdataandwhichisdefinedonthevesseltypesform.Youcan
defineanumberofdifferentvesseltypesandeachtypeisgivena name,whichisthenusedonthevesseldataform
tospecifythetypeofthatparticularvessel.
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Two different vessels can have the same type. To illustrate this, consider a model of a pipe being towed by two
identical tugs. This is modelled by creating a vessel type called 'Tug' and then creating two vessels, each of type
'Tug'.TheRAOs,forexample,are dataofthe'Tug'vesseltype,sincetheyapplyto bothtugs.Ontheotherhand the
twotugsdifferintheirpositionsandanyprescribedmotion,sothesearepropertiesoftheindividualvesselobjects.
You don't have to use all, or even any, of the vessel types you define. For example you can set up a data file that
definesanumberofvesseltypes buthas novessels.Suchafilecanthenactasa libraryofvesseltypesthatcan be
importedintootherOrcaFlexdatafiles.
VesselTypeData
ForeachVesselTypeyoucanenterdataforseveraldifferentdraughts,eachdraughthavingauser-specifiedName.
Each vessel in the model must specify (on its vessel data form) which draught to use. It is not possible to use
differentdraughtsatdifferenttimesduringthesamesimulation.
Someofthevesseltypedataapplytoalldraughts,butalotofthedataisdraught-dependentandsoseparatedatais
definedforeachdefineddraught.Theprincipalcategoriesofvesseltypedataare:
x Geometryanddrawingdatawhichapplytoalldraughts.
x ConventionsdefinethemeaningofanyRAOandwavedriftQTFdata.Theconventionsapplytoalldraughts.
x RAO data. Separate RAOs are specified for each different draught. There is a Check RAOs facility that provides
RAOgraphsthathelpdetecterrors.
x WaveDriftdata.Separatevaluesarespecifiedforeachdifferentdraught.
x HydrodynamicandWindDampingdata.Separatevaluesarespecifiedforeachdifferentdraught.
x InertiaandDampingdata.Separatevaluesarespecifiedforeachdifferentdraught.
DefaultVesselTypeData
When you create a newvessel type, it is given initial default data that corresponds to a tanker. You should replace
thiswithaccuratedataforthevesselyouaremodelling.
If yourvessel is similar to the default data tanker then you might find the default data useful ifyou have no better
data available. However note that the default vessel tanker has a significant heave resonance in beam seas at 7s
period.
Thedefaultdatawasobtainedasfollows.
x The default structure data, displacement RAOs, wave load RAOs, wave drift QTFs, stiffness, added mass and
damping dataallcomefromanNMIWavediffractionanalysisofa103mlongtankerin400m waterdepth.The
tanker used in this analysis had the following properties: Breadth 15.95m, Draught 6.66m, Transverse GM
1.84m,LongitudinalGM=114m,BlockCoefficient0.804.Thediffractionanalysisused8%extradampinginroll
aboutCG.
x The default hydrodynamic and wind drag coefficients are based on graphs given in the standard OCIMF book.
NotethattheOCIMFbookgivesdifferentcoefficientsfordifferentvesseltypesanddraughts.Thedefaultvessel
type data are approximate averaged deepwater coefficients, and they have been rounded to only 1 or 2
significantfigures.
x The hydrodynamic and wind drag areas and area moments are set for the above 103m tanker. The wind drag
areasarebasedonanassumedaverageupperworksheightof12mforsurgeand9mforsway.
x Theoriginforthesedefaultdataisonthecentrelineatmidshipsandatthemeanwaterlevel.
OrcaFlex automatically Froude scales vessel type data to the vessel length you specify. So this default data might
sometimesstillbeusefulifyourvesselisadifferentlengthtothetankerdescribedabove,butisotherwisesimilar.
Structure
VesselTypeLength
The length to which the vessel type RAO and drawing data apply. This may be left unspecified ('~'). If a value is
specified,thenitmaybeusedtoscalethevesseltypedatatothelengthofthevessel.SeeVesselLengthfordetails.
TheremainingdataontheStructurepage(onthevesseltypeform)areonlyusedifthevesselPrimaryMotionisset
toCalculated(3DOF)orCalculated(6DOF).Notethatthesedataaredraught-specific.
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MassandMomentsofInertia
Thevesseltype'smassanditsmomentsofinertiaaboutaxesthroughtheCGinthevesselx,yandzdirections.This
shouldincludethestructuralandcontentsmassandinertia,butnottheaddedmass.
Centreofgravity(CG)
Thecoordinatesofthevesseltype'scentreofmass,relativetovesselaxes.
Conventions
Theconventionspage(onthevesseltypesdataform)containssettingsthatdefinethemeaningoftheRAO,QTF,and
(inthecaseofthedirection conventions) stiffness,addedmassanddamping data.Thisenablesyoutoenterthese
datadirectlyfrommanyotherprogramswithouthavingtoconvertthevaluesbetweendifferentsetsofconventions.
InsteadyoucantellOrcaFlextheconventionsthatapplytothosedataandOrcaFlexwillthenautomaticallyallowfor
thoseconventionswhenitusesthedata.
Warning: In general, the conventions apply to all RAO and QTF data. You cannot mix data with differing
conventionsinthesamemodel(butseerotationalRAOsbelow).
AlthoughRAOsaresimple enoughinprinciple,anumberofcomplications makethemnotoriouslyerror-proneand
difficulttocheckinpractice.Themainissuesare:
x Differentcoordinatesystems.
x DifferentdefinitionsofphaseangleandrotationalRAOs.
x Useofvesselsymmetry,e.g.toobtainmotionsinseasfromtheportsidegivendataforseasfromthestarboard
side.
OrcaFlexprovideseasywaysofhandlingtheseproblemareas.
The use of differing coordinate systems and conventions by different suppliers of data is the main source of
confusion. It is vital that you know the conventions that apply to the RAOtables that you are using. Unfortunately,
not all RAO tables fully document the conventions used: see RAO data checklist for help finding out what
conventionsapplytoyourdataandseeCheckingRAOstocheckthattheconventionsaresetcorrectly.
TranslationalRAOConventions
TranslationaldisplacementRAOsarealwaysnon-dimensional(e.g.metres/metreorfeet/foot).
TranslationalloadRAOsarealwaysgivenasforceperunitwaveamplitude(e.g.kN/m).
RotationalRAOConventions
Roll,pitchandyawdisplacementRAOsmaybespecifiedusingoneofthefollowingthreepossibleconventions:
x As rotation angles per unit wave amplitude. The values are dimensional, e.g. in degrees/metre, radians/foot
etc.
x As rotation angles per unit maximum wave slope. Maximum wave slope is the true maximum slope of the
wave suiface which is BL iauians BL uegiees foi wave height B anu wave length L The values aie
non-dimensional, which can be thought of as either degrees/degree or radians/radian which, of course, are
equivalent.
x As rotation angles per unit wave steepness. Wave steepness is a commonly used angular measure of a wave,
defined by steepness = H/L radians (= (18BL uegiees The values aie again non-dimensional, i.e. either
degrees/degreeor(equivalently)radians/radian, butofcoursetheRAOsarenumericallylarger(byafactorof
than those using the maximum wave slope convention
In each case, the angles of rotation may be given in either degrees or radians; the convention on the data form
shouldbespecifiedaccordingly.Forthetwonon-dimensionalcases,theunits(degreesorradians)ofthemaxwave
slope or wave steepness must be the same as those for the angles of rotation. Note that, so long as the units are
consistent in this way, the actual numerical values for these non-dimensional RAOs are the same regardless of
whethertheunitselectedisdegreesorradians.
RotationalloadRAOsmustbegivenasmomentperunitwaveamplitude(e.g.kNm/m),and rotationalQTFs(i.e.the
yaw QTF) are non-dimensional. Therefore, the degrees/radians switch and the unit amplitude / steepness /
maximumslopeswitchdonotapplytoloadRAOs.Thisistheexceptiontotheaboverulethattheconventionsapply
toallRAOsandQTFs.
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Warning: If rotational displacement RAOs are given relative to wave slope or steepness, then OrcaFlex
(internally)convertsthemtoberelativetowaveamplitudeusingthe deepwaterwavelength,not
thewavelengthforthewaterdepthspecifiedinthemodel.
Wavesarereferredtoby
The RAO and QTF data can be specified by period in seconds, by angular frequency in radians/second or by
frequencyinHertz.
RAOPhases
TheRAOPhaseconventionisspecifiedby3dataitems:
1. Phasesareeitherleadsorlags.
2. Phasesarespecifiedeitherindegreesorradians.
3. The phase defines the time at which the maximum positive value of the motion occurs. This is relative to the
timeatwhichthewavecrest,trough,zeroup-crossingorzerodown-crossingpassesthephaseorigin.Wave
DriftQTFsarenotaffectedbythisconvention,sincetheyareenteredwithoutanyphaseinformation.
Directions
You must specify the directions that correspond to positive motion or load in the RAO and QTF data, and in the
stiffness, damping and added mass matrices. The most common convention is as given by the default OrcaFlex
vesseltype:aright-handedsystemwithZupwardsandclockwiserotationsbeingpositive.
Symmetry
You can specify symmetry of the vessel type. OrcaFlex will then use the user-specified RAO/QTF tables for wave
directions on one side of the symmetry plane to derive tables for the reflected directions on the other side of the
plane.
TheSymmetrycanbesetto:
x None:Thevesseltypehasnosymmetry.Thedirectionsspecifiedmustcoverallthewavedirectionsusedinthe
simulation.
x XZplane(orYZplane):ThisspecifiesthattheXZ(orYZ)planethroughtheRAOoriginisaplaneofsymmetry.
ForeachdirectiongivenOrcaFlexusessymmetrytoderivetablesforthereflecteddirectionontheothersideof
theplane.
x XZ&YZplanes:ThisspecifiesthatboththeXZandYZplanesthroughtheRAOoriginareplanesofsymmetry.
For each direction given OrcaFlex uses symmetry to derive tables for the reflected directions in the other 3
quadrants.
x Circular:ThisspecifiesthatthevesselhascircularsymmetryabouttheRAOorigin.RAO/QTFtablescanonlybe
givenforonewavedirection,andOrcaFlexusessymmetrytoderivetablesforallotherdirections.
Warning: IfyouspecifysomeplanesofsymmetrythentheRAOoriginmustbeonalltheplanesofsymmetry.
OrifyouspecifycircularsymmetrythentheRAOoriginmustbeatthecentreofsymmetry.
RAOs
OrcaFlex uses two different types of RAO (response amplitude operator): Displacement RAOs and Wave Load
RAOs.
DisplacementRAOsarespecifiedonthe RAOspageon thevesseltypedataform.Theydefinethe1storder motion
of the vessel in response to waves of given period and amplitude. They are only used if the vessel superimposed
motionissettoRAOs+Harmonic.Inthedynamicanalysisthevesselmovesharmonically,inall6degreesoffreedom,
about its primary position. These harmonic motions are specified by giving the RAOamplitudes and phases, for all
six degrees of freedom, usually for a range of wave periods and directions. For further information see RAOs and
Phases.
WaveloadRAOsarespecifiedontheLoadRAOspageonthevesseltypedataform.Theydefinethe1storderwave
force and moment on the vessel due to waves of given period and amplitude. They are only used if the 1st order
wave loads are included for the vessel and they only affect the motion ifthe vessel primary motion is set to one of
thecalculatedoptions.
The2typesofRAOsarespecifiedinverysimilarways,usingthefollowingdata.
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RAOOrigin
TheRAOoriginisthepointonthevesselwhosemotionisdefinedbytheRAOs.TheRAOoriginisspecifiedbygiving
itscoordinateswithrespecttotheOrcaFlexvesselaxes(notthedirectionsspecifiedontheConventionspage).Itis
commonly,butdoesnotneedtobe,atthecentreofgravity.DifferentdraughtscanusedifferentRAOorigins.
RAOPhaseOrigin
TheRAOphaseoriginisthepointonthevesselthattheRAOphasevaluesarerelativeto.Itisspecifiedbygivingits
xandy-coordinateswithrespecttotheOrcaFlexvesselaxes(notthedirectionsspecifiedontheConventionspage).
The phase values given in the RAOs must be relative to the time that the wave crest or trough (depending on the
RAOphaseconventionsspecified)passesthespecifiedRAOphaseorigin.
OftenthephaseoriginisthesameastheRAOorigin,i.e.thephasesarerelativetothetimethecrestortroughpasses
the point whose motion the RAOs define. In this case the phase origin can be set to '~', meaning 'same as RAO
origin'. But note that some programs (one example being Moses) generate RAOs where the phase origin is not
necessarilythesameastheRAOorigin.
RAOData
RAO data can be specified for a number of different wave directions relative to the vessel, using the OrcaFlex
direction convention. This relative wave direction is the direction in which the wave is progressing, measured
positive from the vessel x-direction towards the vessel y-direction, and on the RAOs page of the vessel type data
formeachRAOtableislabelledwithitsassociateddirection.
TochangethevalueofthewavedirectionforoneoftheRAOtables,selectthetabforthattableandedittheSelected
Direction.Toinsertanewwavedirectionafteranexistingdirection,selecttheexistingdirection'spageandclickthe
InsertDirectionbutton.Similarly,theDeleteDirectionbuttondeletesthecurrentlyselecteddirection.
Foreachdirection,theRAOtablecoversarangeofwaveperiodsorfrequencies,asspecifiedintheconventionsdata.
Theperiods/frequenciesneednotbeenteredinordertheywillbesortedbeforeuse.
In the case of a circular symmetric vessel, RAOs are specified for only one wave direction OrcaFlex will derive
RAOsforallotherdirections.
RAOInterpolation/Extrapolation
Ondirection
You must provide RAO tables that include or span the wave direction(s) involved in the simulation. If RAOs are
required for a wave direction for which an RAO table has not been supplied, then OrcaFlex will use linear
interpolationtoobtainanRAOtableforthatdirection.
Warning: Interpolationislikelytobepooriftheintervalinvolvedislarge.Wethereforerecommendthatthe
RAOdirectionsdefinedcoverallthewavedirectionsthatwillbeusedandinstepsof30orless.
Onperiod
Forregularwaveanalysis,RAOdataisonlyneededfortheappropriatewaveperiod,orforwaveperiodseitherside
ofthatperiod.Forrandomseasimulations,RAOdatashouldbespecifiedforawideenoughrangeofwaveperiodsto
coverthespectrum.TheViewWaveComponentsbutton(ontheWavespageoftheenvironmentdataform)reports
thewavefrequenciesthatOrcaFlexwillusetorepresentthespectrum.
Note: Ifthe vessel length differs from the vessel type length then the RAO periods specified on the vessel
typeformareFroudescaled,anditistheseFroudescaledperiodsthatmustcovertheactualwave
period(s).
Linear interpolation is used if RAOs are required for a period that is between the periods given in the table. We
strongly recommend that your RAO tables provide data for periods that include or span all the wave periods that
willbeinvolvedinthesimulation.
For periods shorter than the smallest value in the table, OrcaFlex will assume a zero amplitude response at zero
period and apply linear interpolation between that and the shortest period value. If you specify an RAO for zero
periodwhichhasnon-zeroresponse,OrcaFlexwillover-ridethiswithazeroresponse,sinceanon-zeroresponseat
zero period is physically implausible. In both of these cases, OrcaFlex will issue a warning. To avoid this warning,
simplyspecifyazero-amplituderesponseatzeroperiodinyourRAOtables.
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For periods longer than the largest value in the table, OrcaFlex will use linear extrapolation, based on the two
longestperiodsintheRAOtable.Thismaygiveunexpectedresults,especiallyiftheextrapolationrequiredisovera
large period range, so again OrcaFlex will issue a warning. To avoid this warning, you may specify the limiting
infiniteperiodRAO,whichforafree-floatingvesselcanbederivedfromtheknowledgethatthevesselmustfollow
thesurfaceinasufficientlylongwave.SeeRAOQualityChecksfordetails.
Complex-valuedInterpolationandExtrapolation
NotethatRAOinterpolationandextrapolationisdoneusingthecomplexvaluerepresentationoftheRAOs,inwhich
theRAOwithamplitudeAandphaselagPisrepresentedbythecomplexnumber:
C(A,P)=A[cos(P)+isin(P)].
For example, given RAOs (A1,P1) for direction D1 and (A2,P2) for direction D2, the interpolated RAO for the
intermediatedirectionD=(D1+D2)/2is(A,P),where:
C(A,P)=[C(A1,P1)+C(A2,P2)]/2
Thisgivesbetterresultsthaninterpolatingtheamplitudeandphaseseparately.
OrcaFlex first interpolates on direction, to obtain an RAO table appropriate to the wave direction. It then
interpolates(orextrapolates)thattabletoobtaintheRAOfortheappropriatewaveperiod.Bothofthesestagesare
doneusingcomplexvaluedinterpolationorextrapolation.
Obtainingthedata
Alloftheabovedatacangenerallybeobtainedfromtheresultsofadiffractionprogram.OrcaFlexcanimportthese
datafromtheoutputfilesofsomespecificprograms(AQWAandWAMIT)andfromgenerictextfileswithOrcaFlex-
specificmarkersadded.Therearetwodifferentwaystodothisimport.
The easiest and most reliable way is to import all the hydrodynamic data using the Import Hydrodynamic Data
buttonontheVessel Types dataform.Alternatively,youmayusethe ImportRAOsbutton toimportonlythe RAO
data.
WaveDriftLoads
TheWaveDriftpageonthevesseltypeformcontainstheQuadraticTransferFunctions(QTFs)thatOrcaFlexusesto
calculateawavedriftload(sometimescalledtheslowdriftload).
Note: The wave drift load is only calculated for a vessel if the Wave Drift Load (2nd Order) option is
checked in the list of vessel Included Effects, and will only affect the vessel motion if the vessel
primarymotionissettooneoftheCalculatedoptions.SeeModellingVesselSlowDriftfordetails.
SeeWaveDriftLoadTheoryfordetailsofhowOrcaFlexcalculatesthewavedriftloads.
QTFOrigin
TheQTForiginisthepointonthevesseltowhichtheQTFsapply.Thewavedriftloadsarecalculatedbasedonthe
waveconditionsatthispointandtheyareappliedatthispoint.TheQTForiginisspecifiedrelativetotheOrcaFlex
vesselaxes(notthedirectionsspecifiedontheConventionspage);differentdraughtscanusedifferentorigins.The
z-coordinateofthisoriginisnotspecified,sincetheloadsarecalculatedandappliedonlyforthe'horizontal'(surge,
swayandyaw)degreesoffreedom.
WaveDriftQTFs
QTFs, like wave load RAOs, are specified in dimensional form and with respect to waves of unit amplitude.
Translational QTFs have units of force per unit length squared, and rotational QTFs moment per unit length
squared.
No phases are required because only the diagonal terms of the full QTF matrix are entered in OrcaFlex, and these
diagonaltermsnecessarilyhavezerophase.OrcaFlexusesNewman'sapproximationtoobtaintheoff-diagonalQTFs
fromthediagonalQTFsspecified.SeeWaveDriftLoadTheoryfordetails.
ThewayQTFdataareenteredinOrcaFlexismuchthesameasthatforRAOdata.Inparticular:
x For each draught, QTF tables are specified for each of a number of wave directions, specified using the Orcina
direction convention. To insert a new table use the Insert Direction button and to delete a table select that
table'spageandthenclickthe Delete Directionbutton.Tochangethedirectionassociatedwithatable,select
thattable'spageandthenedittheSelectedDirectionvalue.
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x ThedirectionconventionsapplytotheQTFs.
x If the vessel type has some symmetry (see the conventions page) then OrcaFlex automatically generates QTF
tables for all the reflected directions implied by that symmetry. You must provide QTF tables for enough
directionsforOrcaFlextohavedata(eitheruser-specifiedorgeneratedbasedonsymmetry)fordirections that
coverthewavedirectionsthevesselwillexperience.
x Each QTF table consists of data for a range of wave periods or frequencies (depending on the convention
specified).Youshouldprovidedataforperiodsthat(afterallowingforFroudescalingifthevessellengthdiffers
fromthevesseltypelength)coverthewaveperiodsthevesselwillexperience.
Warning: Thesettingsontheconventionspageapplytoalldraughtsandtheyapplytoboththevesseltype's
RAOs and to its wave drift QTFs. If your RAO and QTF data use different conventions you will
therefore need to take account of this, for example by specifying the different convention systems
foreachinthefilesfromwhichtheyareimported.
Obtainingthedata
data directly from the output files of some specific programs (AQWA and WAMIT) and from many other formats
withOrcaFlex-specificmarkersadded.Therearetwodifferentwaystodothisimport.
button on the Vessel Types data form. Alternatively, you may use the Import QTFs button to import only the QTF
data.
Stiffness,AddedMassandDamping
ReferenceOrigin
Theoriginto whichthestiffness,addedmassand dampingmatricesallrefer,specifiedascoordinateswith respect
totheOrcaFlexvesselaxes.
EquilibriumPosition
TheZabovemeanwaterlevelandtheheelandtrim(relativetoglobalaxes)ofthereferenceoriginwhenthevessel
is in hydrostatic equilibrium for this draught. Note that Z above mean water level (rather than Z relative to global
axes) is specified, so that the vessel type data is independent of mean water level or choice of position of global
origin.
AddedMass,DampingandHydrostaticStiffness
All these matrices must be specified with respect to axes through the given Reference Origin in the conventions
directions,i.e.withrespecttothedirectionsspecifiedontheconventionspageofthevesseltypesform.
Fordetailsoftheunits,andthetheoryused,seeVesselTheory:Stiffness,AddedMassandDamping.
HydrostaticStiffness
Thehydrostaticstiffnessmatrixisonlyspecifiedforheave,rollandpitchdirections.ItisappliedinStaticsonlyifthe
vessel's Static Analysis includes 6 DOF, and in dynamics only ifthe vessel's Primary Motion is set to "Calculated (6
DOF)".
AddedMassandDamping
The added mass and damping matrices are specified in all 6 degrees of freedom. They are always applied to the
vessel,butwillonlyinfluencethemotionofthevesselifthePrimaryMotionissettooneofthecalculatedmodes.
AddedMassandDampingMethod
If you choose Constant for the Added Mass and Damping method, then single-valued added mass and damping
matriceswillbeused.
If you choose Frequency Dependent, then you may specify a number of added mass and damping matrices, each
pair corresponding to a particular given frequency or period. Whether you specify period or frequency values is
determinedbytheWavesarereferredtobysettingontheVesselTypeConventionspage.
IfyouusetheConstant(i.e.frequencyindependent)method,thenyoushouldspecifyvaluesthatareappropriateto
thefrequencyofvesselmotionyouexpect.Tocalculateslowdriftmotionofthevesselitisnormallyappropriateto
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enter low frequency values. Otherwise values corresponding to the dominant wave frequency are perhaps more
appropriate.Clearly,ifthevesselexperiencesawiderangeoffrequencies,thefrequency-dependentmethodismore
appropriateandwouldbeexpectedtogivebetterresults.
IfyouusetheFrequencyDependentmethodthenyouneedtospecifyboththeaddedmassanddampingmatrices,
and for a range offrequencies. Also. the added mass and damping data should be consistent in the sense that they
obeytheKramers-KronigrelationsseeConsistentAddedMassandDampingfordetails.
CutoffTime
When you use frequency-dependent added mass and damping, OrcaFlex applies the frequency-dependent data in
the time domain by calculating and applying the vessel's Impulse Response Functions (IRF). See Vessel Theory:
ImpulseResponseandConvolutionfordetails.
Realistic IRFs decay to zero with increasing time lag. So to improve the calculation speed OrcaFlex truncates the
ImpulseResponseFunctionatthetimelagspecifiedbytheCutoffTime.TheIRFisassumedtobezerofortimelags
greaterthantheCutoffTime.
Larger Cutoff Time values might give more accurate results but require more calculation. In order to choose the
CutoffTime,youmayfinditusefultousetheReportVesselResponsewindowtoviewthegraphsofthecomponents
oftheIRF.Fromthegraphsyoucoulddecidethetimelagatwhichthefunctionhasdecayedsufficientlyclosetozero
astohavelittleornoeffectonthecalculation.
Note1: Frequency-dependentaddedmassanddampingcanbequitetime-consumingtocompute.Forthis
reason, it is not calculated for vessels which do not have calculated primary motion: in this case,
theaddedmassanddampingloadissimplysetuniformlytozero.
Note2: The damping matrix given by a diffraction program models wave radiation damping. However
there is another, often more important, source of damping, namely wave drift damping. See
Damping Effects on Vessel Slow Drift. Wave drift damping can be modelled in OrcaFlex by
adjustingthediagonalentriesinthedampingmatrix.
Obtainingthedata
datafromtheoutputfilesofsomespecificprograms(AQWAandWAMIT)andfromgenerictextfileswithOrcaFlex-
specificmarkersadded.Therearetwodifferentwaystodothisimport.
button on the Vessel Types data form. Alternatively, you may use the Import Matrices button to import the
frequency-dependentaddedmassanddampingmatrices.
HydrodynamicandWindDamping
Hydrodynamicandwinddampingloadsonavesselareloadsduetotherelativevelocityofthefluidpastthevessel.
TheycanbemodelledusingthedataontheHydrodynamicDampingandWindDampingpagesonthevesseltype
data form. If the length of the vessel differs from that of the vessel type then the vessel type data will be scaled
accordingly.
These loads are an important source of damping when modelling vessel slow drift. For a discussion of the various
dampingsourcesseeDampingEffectsonVesselSlowDrift.
The velocity used to calculate the drag loads is the relative velocity of the fluid past the vessel. This includes any
current or wind velocity and the vessel velocity due to any primary motion. The drag forces and moments due to
translational motion are modelled using the standard OCIMF method. The drag forces and moments due to any
vessel rate of yaw are modelled using yaw rate drag load factors. For details of how the loads are calculated, see
VesselTheory:DragLoads.
Warning: The current and wind loads are based on theory for surface vessels and are not suitable for
submergedvessels.
LoadOrigin
The coordinates (relative to vessel axes) of the point on the vessel at which the hydrodynamic or wind drag loads
arecalculatedandatwhichtheywillbeapplied.Thisneednotbeatthevesselorigin.Itisnormallybesttoplacethe
loadoriginatthecentreofthevessel.
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The velocity used in the hydrodynamic drag load calculation is the current velocity at the load origin, minus any
velocityoftheloadoriginduetoprimarymotionofthevessel.Notethatiftheloadoriginisabovethewatersurface
thenthecurrentvelocityusedisthatatthewatersurface.
The velocity used in the wind load calculation is the wind velocity (as specified on the Wind page on the
environment data form), minus any velocity ofthe wind load origin due to primary motion ofthe vessel. Note that
thewindvelocityspecifiedshouldbethatat10mabovemeanwaterlevel,sincethatistheheightusedbythe OCIMF
vesselwindloadmodel(seeWindSpeedformoredetails).
LoadSymmetry
Specifies what symmetry the vessel type has below (for hydrodynamic damping) or above (for wind damping) the
water line, about the load origin. For XZ and YZ symmetry, OrcaFlex will use the symmetry to derive load
coefficients for extra directions generated by reflection in the specified vessel axes planes. For circular symmetry,
you must specify coefficients for one direction only and OrcaFlex will use symmetry to derive coefficients for all
otherdirections.
Note: The symmetry for hydrodynamic drag, wind drag and RAOs (see RAO Symmetry) need not be the
same,thoughofcoursethesymmetryforhydrodynamic dragwould normallybethesameasthat
forRAOs.
AreasandAreaMoment
Thesurgeandswayareasandyawareamomentthatwillbeusedtocalculatethecurrentorwindloads.Fordetails
seeVesselTheory:DragLoads.
Coefficients
Load coefficients are specified for the vessel surge, sway and yaw directions. They depend on the direction of the
currentorwind,relativetothevessel(direction0meaningfromastern,90meaningfromstarboard,etc.).
OrcaFlex uses any symmetry specified to derive coefficients for other directions and then uses linear interpolation
toderivecoefficientsforintermediatedirections.
Note: When the symmetry is XZ and YZ the yaw moments must be zero, so OrcaFlex forces zero yaw
coefficientsinthiscase.
TheViewCoefficientsbuttonallowsyoutoviewthecoefficientsthatwillbeused theblobsonthegraphshowthe
coefficients you have specified plus any that OrcaFlex has derived using reflection, and the curve shows the
interpolated coefficients that will be used for intermediate directions. You should specify sufficient directions to
definetheshapeofthecurveandtocovertherangeofdirectionsthatthevesselwillexperience.
YawRateDragFactors(hydrodynamicdampingonly)
The yaw rate drag factors determine the yaw drag moment, and any surge and sway drag forces, that result if the
vesselhasanon-zerorateofyaw.
For a slender ship, and ifthe load origin has been placed at the centre ofthe vessel, then the surge and sway drag
factors can usually be taken to be zero, and then yaw drag factor can be estimated based on the vessel length and
draught.SeeDragLoadsduetoYawRatefordetails.
RollDamping(hydrodynamicdampingonly)
Thesecoefficientsallowyoutoincludearolldampingmomentthatisproportionaltotherollcomponentofangular
velocity.Bothlinearandquadratictermscanbemodelled.SeeRollDampingfordetails.
Drawing
DrawingData
Each vessel of this type is drawn as a wire frame, based on vertices and representing the vessel type, plus a wire
framerepresentingvessel-specificfeatures.SeeDrawing.
Edgediameter(usedonlyforshadeddrawing)
For shaded graphics views, by default, the vessel is drawn using a solid, filled-in shape based on the vertices and
edges.
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Asanalternativeyoucanusetheverticesandedgestodefineaframelikestructure.Iftheedgediameteris'~'then
that edge will be used to build a filled in shape, otherwise that edge is drawn as a cylinder with the specified
diameter.Notethatyoucanuseamixtureofedgediameters(somedefined,somesetto'~')tocombinebothfilled
inandframeworkshapes.
Figure: Wireframeswithdifferentedgediameter.Avalueof'~'isusedforthewireframeontheleft
andavalueof1misusedforthewireframeontheright.
ShadedDrawing
Bydefault,forshaded3DViews,vesselsaredrawnusingthewireframedata.
verticesandedges.
Firstanyedgeswithspecifieddiameters(i.e.diametersnotequalto'~')aredrawnascylinders.Thisallows youto
The remaining edges are used to partition the vertices into sets of connected vertices. Two vertices are deemed to
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representation.
mustbeaDirectXformatfile,usuallywiththe.xfileextension.Ifyouusearelativepaththenthepathwillbetaken
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Shaded Drawing Origin is provided because the shaded drawing and the vessel type may have different origins.
The Shaded Drawing Origin defines the origin of the shaded drawing with respect to the vessel type's local axis
system. Similarly Shaded Drawing Orientation allows you to reorient the shaded drawing to match the vessel
type'saxissystem.
Vessellengthscaling
If the vessel length and the vessel type length are different then the shaded drawing is scaled accordingly. This
scalingisappliedinadditiontothescalingoftheshadeddrawingspecifiedbytheDrawSize.
ImportingHydrodynamicData
TheImportHydrodynamicDatabuttononthevesseltypesformenablestheimportofdata,intheformofresults
from common ship response calculation packages, into OrcaFlex. Presently, OrcaFlex can import data which has
been output by AQWA and WAMIT. OrcaFlex can also import data from Moses, Hydrostar/ARIANE and Wadam
outputfiles,aftertheadditionofsomemarkuptext.Theformofthismarkupalsoallowsforimportfromanygeneric
textfile.
ImportingdatafromAQWAandWAMIT
OrcaFlexattemptstoimportasmuchdataaspossiblefromthefiletotheappropriatedataitemsofthevesseltype.
These data are: displacement RAOs, load RAOs, QTFs, added mass and damping, and hydrostatic stiffness. The
imported data is converted to match the vessel type conventions and scaled to match the units of the OrcaFlex
model.
Mass,inertiaandhydrostaticequilibriumpositionarenotalwaysoutputbythesepackages,butwillbeimportedby
OrcaFlexiftheyareavailable.Theremainingvesseltypedataarenottypicallycalculatedbysuchprograms,sowill
needtobeobtainedfromanothersource.Any OrcaFlexdataforwhichtherearenotanycorrespondingdatainthe
importedfilewillnotbechanged.
Iftheimportfailsforanyreason,OrcaFlexwillreportanerrorandreinstatethevesseltypedatatothatwhichwas
presentbeforetheimportbegan.Ifthedatainthefileareambiguous,OrcaFlexwillpromptyouforclarification.At
the end of the import process, OrcaFlex will warn you of anything noteworthy for example, if no QTFs were
presentinthefile,orifadampingmatrixwasnon-symmetric.
ImportingdatafromAQWA
AQWA results are output in a text file with a .lis extension. The data are in dimensional form. OrcaFlex reads data
intothepresentlyselecteddraught.
Units
OrcaFlexfirstattemptstodeterminetheunitsinuseinthefile,fromthevaluesofg(accelerationduetogravity)and
watei uensity anu the knowleuge that the unit of time is the seconu If this is successful then 0icaFlex will scale
the data (if necessary) from the units in use in the file to the units of the OrcaFlex model. If the units cannot be
determined,oriftheyareamixtureofSIandUS,OrcaFlexwillbeunabletoconvertthedatainthisway:inthiscase,
therawdatawillbeimportedfromthefileunscaledandawarningwillbeissued.
Referenceorigins
All of the AQWA data have their reference origin at the vessel centre of gravity. So OrcaFlex sets the RAO origins,
QTF origin, and reference origin for stiffness, added mass & damping to the value ofthe centre of gravity given on
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the vessel types Structure page. You will need to ensure that this value is appropriate before importing the AQWA
data.RAOphaseorigins,likewise,areatthevesselcentreofgravity,soaresetappropriatelybyOrcaFlex.
Addedmassanddamping
AQWAoutputsthewhole6x6matricesforaddedmassanddamping,butOrcaFlexusesonlytheupperrighttriangle
of each. You will receive a warning if any of these matrices, in the imported file, are significantly non-symmetric,
sinceOrcaFlexisunabletohandlethis.
Note: Frequency-independent added mass and damping are not imported. If you have such data, you
may wish to pre-process your AQWA file to add them to each frequency-dependent item before
importingintoOrcaFlex.
RAOs
Displacement RAOs are imported in a straightforward way. Load RAOs are imported including the Froude-Krylov
contribution. Since AQWA and OrcaFlex use the same conventions for vessel headings, RAO directions are read in
directlyandrequirenoadjustment.
QTFs
WavedriftQTFsinallsixdegreesoffreedomareimported.AswithRAOs,noadjustmentisnecessaryfordirections.
Stiffnessandequilibriumposition
The heave, roll and pitch components of the hydrostatic stiffness matrix are imported. Again, only the upper right
triangleisused,andawarningisissuediftheAQWAdataarenon-symmetric.TheZ-componentoftheequilibrium
positionisimported.SinceAQWAdoesnotgivetheheelandtrimvaluesattheequilibriumposition,thesevaluesare
settozero:ifnecessary,youshouldeditthesevaluesyourself.
Note: AQWAmayoutputthestiffnessmatrixtwice,underthehydrostaticandhydrodynamicheadings.If
so,andifthetwomatricesarenotthesame,awarningwillbegivenandthe'hydrostatic'formwill
beimported.
Massandinertia
Mass and moments of inertia are imported, the latter from the diagonal elements of the inertia matrix output by
AQWA.
ImportingdatafromWAMIT
WAMIT results are output in a text file with an .out extension. The data are almost all non-dimensional, the main
exceptions to this being g, acceleration due to gravity, and L, WAMIT's length scale which is used to non-
dimensionalisethedata.OrcaFlexreadsdataintothepresentlyselecteddraught.
PleasenotethatOrcaFlexisunabletoimportWAMITdatarepresentingmulti-bodyproblems.
Units
Thelengthunitinuseinthefilewillbedetermined,ifpossible,fromthevalueofgandtheknowledgethattheunit
oftime is the second. If this is successful, then OrcaFlex will convert the data from non-dimensional to the units of
the OrcaFlex model, using WAMIT's length scale (converted to the length unit of the OrcaFlex model) and the
current OrcaFlex values of g (acceleration due to gravity anu nominal water density), using the scaling factors
definedintheWAMITusermanual.Ifthelengthunitcannotbedeterminedthentherawdatawillbeimportedfrom
thefileunscaledandawarningwillbeissued.
Referenceorigins
AlloftheWAMITdatahavetheirreferenceoriginatWAMIT'svesselorigin.OrcaFlexdeterminesthepositionofthis
origin, with respect to OrcaFlex's vessel origin, from the difference in the centre of gravity as given in the two
coordinate systems, and sets the RAO origins, QTF origin, and added mass & damping origin to have this value. (If
youchoosetheOrcaFlexvesselorigintobethesameastheWAMITvesselorigin,thenthecoordinatesofthecentre
ofgravitywillcoincideandthereferenceoriginswillallbezero).
In WAMIT, the phase origin is at the global origin, so the OrcaFlex RAO phase origins are represented by the
coordinates of the WAMIT global origin relative to the OrcaFlex vessel origin. We determine this by (i) expressing
the WAMITglobal origin relative to the WAMIT vessel origin (i.e. in "body-fixed axes"), using the values ofXBODY,
YBODY,ZBODYandPHIBODYintheWAMIToutputfile,and(ii)translatingthisvaluetoberelativetotheOrcaFlex
vesselorigin,usingthedifferencebetweenthecentresofgravityinthetwosystems.
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You will therefore need to ensure that the centre of gravity is set appropriately in OrcaFlex before importing the
WAMITdata.
Note: In some cases, WAMIT does not output the horizontal position of the centre of gravity. If so, then
OrcaFlexwillwarnyouofthis,andyouwillneedtosetthesereferenceoriginsyourself.
Addedmassanddamping
WAMIToutputsaddedmassanddampingasalistof(i,j)components.OrcaFleximports thesevalues,butusesonly
theupperrighttriangleofeachmatrix.Youwillreceive awarningifanyofthesematrices,intheimportedfile,are
significantlynon-symmetric,sinceOrcaFlexisunabletohandlethis.Componentsforwhichan(i,j)valueisnotgiven
are assumed to be zero. The non-dimensional WAMIT values for added mass (a) and damping (b) are scaled to
dimensional(A,Brespectively)valuesaccordingtotheformulae
Aij L
k
aij
Bij L
k
bij
where
k=3fori,j=1,2,3;
k=4fori=1,2,3,j=4,5,6ori=4,5,6,j=1,2,3;
k=5fori,j=4,5,6and
is the fiequency in iaus
RAOs
Displacement RAOs are imported in a straightforward way. They are re-dimensionalised by multiplying by the
factorL
k
,k=0fori=1,2,3;k=1fori=4,5,6.WAMITmaycalculateloadRAOsinoneoftwoways,andeitherorboth
methods (labelled "Haskind" and "Diffraction") may be present in the file. If both are given, OrcaFlex will prompt
you to choose one method and will import the data for that method only. The re-dimensionalising factor for load
RA0s is g L
k
,k=2fori=1,2,3;k=3fori=4,5,6. The RAOdirectionsin OrcaFlexarerelativeto the vessel,and are
determined by subtracting the value ofPHIBODY in the WAMIT input file (the vessel heading at rest) from each of
thevaluesofwaveheading,whicharegiveninWAMITwithrespecttoglobalaxes.
QTFs
Wave drift QTFs are re-uimensionaliseu with the factoi g L
k
, k = 1 for i=1,2,3; k = 2 for i=4,5,6. Directions are
adjustedinthesamewayasforRAOs.
WAMIT may calculate QTFs in a number of different ways: Momentum Conservation, Pressure Integration, and
ControlSurface.OrcaFlexispresentlyunabletoimportdataresultingfromtheMomentumConservationcalculation,
sothismethodisdisregarded.AswithloadRAOs,ifdatafrommorethanone oftheremainingmethodsispresent,
thenyouwillbepromptedtochoosejustoneofthem.
Notes: WAMIT outputs QTFs for pairs of wave headings. OrcaFlex allows only unidirectional QTFs, so
importsonlythedataforwhichthetwoheadingscoincide.
Stiffnessandequilibriumposition
The heave, roll and pitch components of the hydrostatic stiffness matrix are imported. The equilibrium position is
notspecifiedbyWAMIT,soyoushouldeditthisvalueyourself.
Massandinertia
MassandmomentsofinertiaarenotimportedfromWAMITfiles.Youshouldenterthesedatayourself.
Importingdatafromgenerictextfiles
The Import Hydrodynamic Data button can also be to import data from a generic text file containing special
markuptoidentifyanddescribethedata.Thefollowingdataareimported:
x DisplacementRAOs.
x LoadRAOs.
x WaveDriftQTFs.
x Frequencydependentaddedmassanddampingmatrices.
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Thismodeofimportisequivalenttoimportingeachoftheabovecategoriesofdataindividuallybyusingtheimport
buttonsasfollows:
x ImportRAOsontheDisplacementRAOspage.
x ImportRAOsontheLoadRAOspage.
x ImportQTFsontheWaveDriftpage.
x ImportMatricesontheStiffness,AddedMass,Dampingpage.
Iftheimportfailsforanyreason,OrcaFlexwillreportanerrorandreinstatethevesseltypedatatothatwhichwas
presentbeforetheimportbegan.Attheendoftheimportprocess,OrcaFlexwillwarnyouofanythingnoteworthy
forexample,ifnoQTFswerepresentinthefile,orifadampingmatrixwasnon-symmetric.
ImportingRAOs
RAOsmaybeimportedusingtheImportRAOsbuttononthevesseltypesform.DatamaybeimportedfromAQWA
or WAMIT output files and, with the addition of some markup text, from Moses, Hydrostar/ARIANE and Wadam
outputfiles.Theformofthismarkupalsoallowsforimportfromothertextfiles.
ImportRAOsfromspecificprogramoutput
OrcaFlex can import RAOs directly from AQWA and WAMIT output files, as described under Importing
HydrodynamicData.AllexistingRAOdatafortheselecteddraughtwillbeoverwritten.
ImportRAOsfrommarked-uptextfiles
Youcanusegeneric textfilestoimportRAOdatafrom,for example,aship responsecalculationprogram or model
testresults.
When you import RAOs from a textfile, any RAOdata previously present in OrcaFlex for the draughts given in the
text file will be deleted. Other data for these draughts, e.g. wind and hydrodynamic damping data, will not be
affected. So for each draught you import, all the RAOs for that draught must be in a single file. You can therefore
eitherputalltheRAOsinasinglefile,orelsehaveseparatefilesforseparatedraughts.
RAO data in a text file can be imported providing that the data appears in tabular form and markers are first
insertedintothefiletoidentifythedatatoOrcaFlex.
AtextRAOfilemustcontaintheRAOdatainthefollowingform.Itisusuallyeasytocreateasuitablefilebyadding a
fewlinestoyouroriginalresponsedatafileseetheexamplesbelowforspecificprogramoutput.
x TheRAOdatamustappearinthefile in oneormoretables,eachtable beingforonedraughtanddirection. To
enable OrcaFlex to find the tables, each table must be preceded by a line containing the string OrcaFlex
Displacement RAO Start. The table must be immediately followed by a line containing the string OrcaFlex
DisplacementRAOEnd.Theremustnotbeanyblanklinesbetweenthesetwomarkerlines.ForloadRAOsthese
stringsshouldbeOrcaFlexLoadRAOStartandOrcaFlexLoadRAOEnd.
Note: OrcaFlex does not distinguish between text files containing displacement RAOs and those
containingwaveloadRAOs.Youmusttakecaretoimportthemintothecorrectlocation.
x Immediately following the line containing the OrcaFlex RAO Start string there must be two lines (in either
order)specifyingthedraughtanddirectionthatappliestothattable.Thelinespecifyingthedraughtmustbeof
the form Draught DraughtName, where DraughtName is the name of the draught. Ifthe name contains spaces,
thenDraughtNamemustbeenclosedinquotes.ThelinespecifyingthedirectionmustbeoftheformDirectionn,
where n is a number specifying the direction the wave is progressing, in degrees, measured positive from
forwardtowardstheportside.Sodirection0means wavescomingfromasternanddirection 90meanswaves
comingfromthestarboardside.
x Following these two lines, the first line of the table must be a set ofheaders defining the subsequent columns.
This headers line consists of a number of character strings, separated by spaces. The strings indicate the
contents of the columns see Header Strings for Text RAO Tables. Columns with unrecognised header strings
areignored.
x If you want OrcaFlex to ignore a column, for example because it contains irrelevant or superfluous data, then
insert an unrecognised header string, (e.g. "N/A" or "~"). In particular, if the table contains both wave period
andfrequencyyoumustindicatethatoneoftheseisto beignored,since OrcaFlexwillnotaccepttwocolumns
specifyingthesameinformation.
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x The remaining lines in the table must contain numbers, one for each header in the headers line, separated by
tabsand/orspaces.Pleasenotethatitistheorderofthecolumnsthatmatters,nottheiractualpositionacross
the page. Hence, although it is natural to align the headers above the columns of numbers, this is not in fact
necessary.
x Theconventionsandunitsusedinthetextfilecanbespecified seebelow.Doingsoallowstheimporteddata
tobeconvertedtomatchthevesseltypeconventionsandscaledtomatchtheunitsoftheOrcaFlexmodel.
x TheRAOandphaseoriginsarenotreadinandshouldbesetontheVesselTypeform.
Specifyingconventionsandunits
Youcanaddmarkuptothefiletospecifytheconventionsandunitsofthedatacontainedinthefile.Forexample,a
typicalmarkupblockforconventionsisasfollows:
*** OrcaFlex Conventions Start ***
RAOResponseUnits = degrees
RAOWaveUnit = amplitude
RAOPhaseConvention = lags
RAOPhaseUnitsConvention = degrees
RAOPhaseRelativeToConvention = crest
SurgePositive = forward
SwayPositive = port
HeavePositive = up
RollPositiveStarboard = down
PitchPositiveBow = down
YawPositiveBow = port
*** OrcaFlex Conventions End ***
The block begins with a line containing the string OrcaFlex Conventions Start and ends with a line containing
OrcaFlex Conventions End. The lines in between specify the conventions using the standard OrcaFlex batch script
namesandvalues.
The above list contains all possible conventions settings that can be included in the block. Note that the waves are
referredtobyconventionisnotallowedbecausetheWP,WFHorWFRheaderstringidentifiestheperiod/frequency
convention. In addition the symmetry convention should not be specified in this block instead you should simply
setittotheappropiatevalueintheOrcaFlexmodel.
IfsomeconventionsareomittedthenOrcaFlexusesthecorrespondingvaluefromtheOrcaFlexmodelconventions.
Iftheblockisomittedaltogetherthenawarningisissuedandnoconventionsconversionisperformed.
Theunitsofthedatacontainedinthefilearespecifiedinasimilarway:
*** OrcaFlex Units Start ***
LengthUnits = m
ForceUnits = kN
*** OrcaFlex Units End ***
The above list contains all possible units settings that can be included in the block. For displacement RAOs the
lengthunitistheonlyonewhichisusedandconsequentlytheforceunitscanbeomitted.ForloadRAOsbothlength
andforceunitsshouldbespecified.
IfsomeunitssettingsareomittedthenOrcaFlexusesthecorrespondingvaluefromtheOrcaFlexmodel.Iftheblock
isomittedaltogetherthenawarningisissuedandnounitsscalingisperformed.
Mosesoutput
See this example for Moses displacement RAOs, and this one for Moses wave load RAOs. Remember that RAO and
phase origins are not imported from text files you should take particular care with Moses output to set these
correctly,sinceRAOoriginmaydifferfromphaseorigininthiscase.
Note: Mosesreportsencounterperiodorfrequency,toaccountfortheeffectofthespeedofthevesselon
the apparent wave period or frequency. OrcaFlex requires the data at actual wave period or
frequency,soifpossibleyourvesselinyourMosesmodelshouldnothaveanyforwardspeed.
Hydrostar/ARIANEoutput
Hydrostar has an option to output results in a format suitable for import directly into ARIANE, and this format is
also suitable for import, with the mark-up described above, into OrcaFlex. This format is usually indicated by the
phrase 'pour ARIANE' at the head of the file. This example demonstrates the necessary mark-up and the setting of
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conventionsandunitsfordisplacementRAOs.Hydrostarrequiresthatthe'horizontal'componentsoftheRAOsare
listedfirst,thenthe'vertical'components:youmusttakeparticularcareheretoorderthecolumnheaderscorrectly.
Note: As with Moses, Hydrostar takes account of the effect of the speed of the vessel in determining the
addedmassanddamping,andreportsresultsatencounterperiodorfrequency.Yourvesselinyour
Hydrostarmodelshouldnothaveanyforwardspeed.
Otheroutput
OrcaFlexcanimportdataproducedbyotherprograms(or,moregenerally,textdataobtainedbyanyothermeans)
so long as it is in the format illustrated by the examples above, ie a series of tables of data, one for each direction,
arranged with rows representing wave period or frequency and columns for surge/sway/heave/roll/pitch/yaw
dimensionalRAOvalues.
HeaderStringsforTextRAOTables
WhenimportingRAOsfromatextfile,thefollowingstringscanbeusedintheheaderline.
Headerstring Columncontains
WP Waveperiodinseconds
WFH WavefrequencyinHertz
WFR Angularwavefrequencyinradians/second
XA Surgeamplitude
XP Surgephase
YA Swayamplitude
YP Swayphase
ZA Heaveamplitude
ZP Heavephase
RXA Rollamplitude
RXP Rollphase
RYA Pitchamplitude
RYP Pitchphase
RZA Yawamplitude
RZP Yawphase
In these header strings X, Y and Z represent the vessel axes, A denotes amplitude, P denotes phase and R rotation
aboutthegivenaxis.
RAODataChecklist
Toderivevesselpointmotions,youneedtoobtaindatagivingboth RAOsandphasesforthevesselfortherelevant
waveperiod.Youalsoneedtoknowwhat conventionsapplytoyourdata;thesemaybedocumentedwiththedata,
butsometimesyoumayhavetodeducewhattheyare.Youshouldhaveanswerstoallthefollowingquestions:
Towhatpointonthevesseldothedataapply?
This is the RAO origin and is often the vessel centre of gravity, but you need to be sure. If it is not specified check
withyourdatasupplier.
Towhatpointonthevesselarethephasesrelative?
ThisistheRAOphaseoriginandisusually,butnotalways,thesameastheRAOorigin.
AretheresponsesindimensionalorRAOform?
RAOform(i.e.forunitwaveamplitude)isthemostcommon;datagivingdimensionalformwouldhavetoalsogive
theassociatedwaveamplitudes/heights.OrcaFlexwillonlyacceptRAOform.
Inwhatformaretherotationalroll,pitchandyawRAOs?
Units such as degrees/metre or radians/metre (displacement RAOs), or kN.m/m (wave load RAOs), almost always
meantherotationalmotionsarerelativetowavesofunitamplitude.
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Very rarely, rotational RAO amplitudes are given per unit wave height (i.e. double amplitude) check your data
source.InthiscaseyouwillhavetomultiplytheRAOsby2manually,beforeentrytoOrcaFlex.
Unitssuchasdegrees/degree,radians/radian,ornounits(displacementRAOs),orkN.m/radian(waveloadRAOs),
implyrotationalRAOsrelativetowavesofunitsteepnessormaximumslope.
Forlongwaveperiodsindeepwater,therotationaldisplacementRAOsinthewaveplane(e.g.pitchinheadorstern
seas)shouldtendto1forRAOsrelativetounitmaximumslope,ortopiforRAOsrelativetounitsteepness.
Arethephasesindegreesorradians?
Unlessyouonlyhaveasmallamountofdata,thisshouldbeobviousfromtherangeofphasevalues.
Whatdirectionsarepositiveforsurge,sway,heave,roll,pitchandyaw?
Oftentheyaresurgepositiveforward,swaypositivetoport,heavepositiveup,butsomeauthorsuseheavepositive
downwards. Roll, pitch and yaw are usually positive when clockwise about the positive surge, sway and heave
directions.
Mostdatasourcesuse right-handedaxes, but notall.OrcaFlexallowscomplete generalityinits datainput,butyou
mustfindouthowyourdataaredefined.
Towhatphasetimeoriginarethephasesrelative?
OrcaFlexallowsyoutospecifythatthephasestoberelativetothetimethewave crest,trough,zeroup-crossingor
zerodown-crossingpassesthephaseorigin.ThepassageofthecrestpasttheRAOoriginisthemostcommonphase
timeorigin,butyouneedtocheckandtellOrcaFlexseenoteonphaseleads/lagsbelow.
Arethephasesleadsorlags?
Phase conventions are sometimes documented by giving the formula used to represent the harmonic motion.
Commonlyusedonesare:
x Acost -P)orA.cos(P-t imply that phase P is a lag
x cost P implies that phase P is a leau
Usingsinratherthancosintheaboveformulaehasnoeffectonwhetherthephasesareleadsorlags.
CheckingRAOs
The Check RAOs button on the vessel types form allows a visual check on the RAO data for either displacement
RAOsorwaveloadRAOs.Foragivendraughtand wavedirection,itdisplaysgraphs(oneforeachvesseldegreeof
freedom)showinghowtheRAOandphasevarywithwaveperiod.
Thereare3typesofgraphavailable:
x ComplexValues
x Amplitude
x Phase
AmplitudeandPhaseGraphs
ThesegraphsprovideastraightforwardgraphicalrepresentationoftheRAOdataasinputontheVesselTypesdata
form. The amplitude or phase is plotted on the Y axis of the graph. For the X axis you have the choice of plotting
period,frequencyinrad/sorfrequencyinHz.
ComplexValueGraphs
The graphs initially show the RAOs for the currently selected draught and direction. You can switch to other
draughts and directions, either by using the navigation buttons at the bottom ofthe form to stepthrough the data,
elseorbyselectingfromthedrop-downlists.Youcanchangethescaleofthegraphs(doubleclickonthegraphand
changetherangesoftheaxes).Thisisusefulifthecurvedoesnotinitiallyfitonthegraph.
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0
0
R
I
Figure: T
ThegraphsdepictstheRAOdataspecifiedbytheuserforthespecifiedRAOorigin.Thegraphhastwoparts:
x A curve showing the RAO data specified by the user as a series of points joined in order of increasing period.
Thecurvestartsfromthe'short'wave response,which shouldhavezeroorverysmallamplitude,sothecurve
shouldstartfromneartheorigin.Movingalongthecurveawayfromtheorigincorrespondstothewaveperiod
increasingfromzero.Forsurge,swayandheave,theotherendofthecurveisthe'long'waveRAOdataspecified
for period'Infinity'.For roll,pitchandyaw,theRAOdatafor period'Infinity'cannot(for technicalreasons) be
includedinthecurve,soinsteadtheotherendofthecurveistheRAOdataforthelargestfiniteperiodspecified.
x A solid circle representing the expected long wave response limit for a freely floating vessel. See RAO Quality
ChecksfordetailsoftheexpectedlongwaveRAOs.
Warning: The expected long wave response limits calculated by OrcaFlex only apply to free-floating vessels.
Also, the yaw response limit only applies to slender vessels (i.e. vessels that are long in the x-
directionandnarrowinthey-direction).
The purpose of the graph is helpyou check your RAO data the curve should normally be reasonably smooth and
tendtowardstheexpectedlimitshownbythesolidcircle.SeeHowtoCheckRAODatafordetails.
Thegraphrepresents RA0s as points in polai cooiuinates R wheie
x Risthenon-dimensionalamplitude.Forsurge,swayandheaveRisthevesselmotionamplitudedividedbythe
waveamplitude.Andforroll,pitchandyaw,Ristherotationalresponse normalisedwithrespecttomaximum
waveslopei.e.itisvesselrotationamplitudedividedbythemaximumwaveslope.
x is the phase lag, from the time the wave crest passes the user-specified phase origin until the maximum
positivemotionoccurs.
Note: PositiveheremeansasintheOrcaFlexconventions(notnecessarilythesameasthevesseltypeRAO
conventions).Sopositivesurgeisforward,positiveswayistoport,positiveheaveisup,positiveroll
isstarboarddown,positivepitchisbowdownandpositiveyawisbowtoport.
This polar coordinates way of representing RAOs is better than drawing separate graphs of amplitude and phase,
since it presents all the information on a single graph and also the resulting curves are smooth, whereas phase
graphsfrequentlyshowphasejumps.
HowtoCheckRAOs
For each draught and wave direction, you should check that the curves on the Complex Value RAO graphs are
reasonably smooth and approach the circle, which is the expected long-wave limit for a free-floating vessel. Note
that:
x ThecurvemaynotapproachtheexpectedlongwavelimitiftheRAOdatadoesnotincludevaluesforanylong
waves. Wave periods over 20 seconds for ships, or 30 seconds for semisubmersibles, are considered to be
sufficientlylongforthispurpose.
x The curve might also not approach the circle if the vessel is not free-floating. For example the heave
displacementRAOamplitudeofatensionlegplatformwillnotapproachtheusuallongwavelimitof1.
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x The circle on the yaw graph only applies to slender vessels (i.e. long in the x-direction and narrow in the y-
direction).
x SmoothgraphscanonlybeexpectedifthedataincludesRAOsforreasonablycloselyspacedperiods.
Asexamples,considerthefollowingthreeexamplegraphs:
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1.5 1 0.5 0 -0.5 -1 -1.5
1.5
1
0.5
0
-0.5
-1
-1.5
1.5 1 0.5 0 -0.5 -1 -1.5
1.5
1
0.5
0
-0.5
-1
-1.5
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1.5 1 0.5 0 -0.5 -1 -1.5
1.5
1
0.5
0
-0.5
-1
-1.5
Thefirstgraphshowsatypical,well-behavedsetofdisplacementRAOdatathecurveissmoothandthelong-wave
limitagreeswiththeexpectedvaluemarkedbythecircle.
For a freely floating vessel, the second graph is clearly in error, since the curve does not lead to the expected long
wave limit. The RAO data for long waves (represented by the end of the curve) has the correct amplitude, but its
phasediffersby180fromtheexpectedlong-wavevalue(representedbythecircle).Therearetwolikelycausesit
maybethatthephaselead/lagconventiondatahasbeenset wrongly(thiswouldgiveaphaseanglesign error)or
else that the convention data for the direction of positive motion has been set wrongly (this would give a phase
errorof180).
Thecurveonthethirdgraphapproachestheexpectedlongwavelimit,butthensuddenlygoestozero.Thissuggests
thattheRAOdataforperiod'Infinity'hasnotbeensetcorrectlyandiszero.
CommonProblems
ItisnotunusualtobegivenRAOdataforavesselbutnotbegivenalltheconventionsthatapplytothedata.Below
are some common problems and their symptoms. But beware that several common problems have very similar
symptoms, so it is not possible to be sure what the problem is unless you are sure about most of the data's
conventions and only unsure about one. It is therefore important to get as much information as possible from the
originalRAOdatasupplier.
x Thequotedwavedirectionmightbemeasuredclockwise(viewedfromabove)fromthex-direction,ratherthan
anticlockwise (which is the OrcaFlex convention). The effect would be a 180 shift in the sway, roll and yaw
phases.
x The quoted wave direction may be the direction the wave is coming from, rather than the direction it is
progressingtowards(whichistheOrcaFlexconvention).Theeffectwouldbetonegateallthephasevalues.
x Thephasesmaybeleadsinsteadoflags(OrcaFlexwillaccepteitherseeRAOPhaseConventions).Theeffectof
anerrorherewouldbetonegateallthephasevalues.
ImportingQTFs
Wave drift QTF data may be imported using the Import QTFs button on the vessel types form. Data may be
imported directly from AQWA or WAMIT output files, from NMIWAVE output files, and, with the addition of some
markuptext,fromMosesandHydrostar/ARIANEoutputfiles.Theformofthismarkupalsoallowsforimportfrom
othertextfiles.
ImportQTFsfromspecificprogramoutput
OrcaFlex can import QTFs directly from AQWA and WAMIT output files, as described under Importing
HydrodynamicData.AllexistingQTFdatafortheselecteddraughtwillbeoverwritten.
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NMIWAVEfiles
NMIWAVEtextoutputfilesmaybeimportedwiththeadditionofasinglelinecontainingthestring NMIWAVEWave
Driftatthestartofthefile,asinthisexample
NMIWAVE uses the ITTC conventions, which are surge +ve forward, sway +ve to starboard, heave +ve down, roll
+vestarboarddown,pitch+vebowup,yaw+vebowtostarboard.AswithAQWAandWAMIT,OrcaFlexrecognizes
the type of file and 'knows' what these conventions are, so you do not need to specify them explicitly in the file
beforeimport.Theimporteddataisconvertedfromtheseconventionstomatchthevesseltypeconventions.
The wave heading convention used by NMIWAVE is that wave heading is measured +ve clockwise when viewed
from above, and zero wave heading means a stern wave. This is the opposite sense to OrcaFlex, and is handled
automaticallyonimportbychangingthesignofthewaveheadingswhenanNMIWAVEfileisimported.
Also, note that NMIWAVE QTFs are non-dimensional: OrcaFlex will re-dimensionalise them on import, in the same
wayasforWAMIT.
ImportQTFsfrommarked-uptextfiles
QTF data can be imported from generic text files using a similar format to that for RAOs. Only the direction
conventionsarerequiredinthiscase:
SwayPositive = port
HeavePositive = up
Since QTFs contain no phase information, the conventions relating to phase have no relevance; and all QTFs are
assumed to be given relative to waves of unit amplitude, so the RAOWaveUnit convention is implicitly set to be
"amplitude".
Theunitsofthedatacontainedinthefilearespecifiedinthesameway:
*** OrcaFlex Units Start ***
LengthUnits = m
ForceUnits = kN
*** OrcaFlex Units End ***
TheQTFformatdiffersfromthatforRAOsasfollows:
x The identifier line is OrcaFlex QTF Start rather than OrcaFlex Displacement RAO Start or OrcaFlex Load RAO
Start.
x Thecolumnheadersaresurge,sway,heave,roll,pitchandyawinsteadofX,Y,Z,RX,RYandRZrespectively.
x Phasedataarenotspecified.
Otherwise,theformatfollowsthatforimportingRAOs.TheQTForiginisnotreadinandshouldbesetontheVessel
Typeform.
Mosesoutput
QTFsinallsixdegreesoffreedomareincludedinthisexampleofMosesoutput.
AsisthecasewithRAOs,Hydrostar'soutputformat'pourARIANE'issuitable,withthemark-updescribedabove,for
import into OrcaFlex. This example demonstrates the necessary mark-up and the setting of conventions and units
forhorizontal-planeQTFs(surge,swayandyaw).OrcaFlexwillsetthedataforthedegreesoffreedomwhicharenot
imported (so heave, roll and pitch in this case) to zero. Data in this form are common for vessels with large water
planeareas,suchasbarges,tankers,etc.
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Otheroutput
OrcaFlexcanimportdataproducedbyotherprograms(or,moregenerally,textdataobtainedbyanyothermeans)
so long as it is in the format illustrated by the examples above, ie a series of tables of data, one for each direction,
arranged with rows representing wave period or frequency and columns for surge/sway/heave/roll/pitch/yaw
dimensionalQTFamplitudes.AsintheHydrostar/ARIANEexampleabove,anymissingcolumnswillhavetheirdata
settozero.
ImportingAddedMassandDampingData
Added mass and damping matrices may be imported using the Import Matrices button on the vessel types form.
DatamaybeimporteddirectlyfromAQWAorWAMIToutputfiles,andwiththeadditionofsomemarkuptextfrom
Moses, Hydrostar/ARIANE and Wadam output files. The form ofthis markup also allows for import of reasonably-
formatted6x6addedmassanddampingmatricesfromanygenerictextfile.
Directimportfromspecificprogramoutput
OrcaFlex can import data directly from AQWA and WAMIT output files, as described under Importing
Hydrodynamic Data. Note, however, that in this case the reference origin is not imported. All existing added mass
anddampingdatafortheselecteddraughtwillbeoverwritten.
Importfrommarked-uptextfiles
Withtheadditionofsometagsindicatingthestartandendofthedata,andothersdefiningwhichvesselproperties
should receive the imported data, data may be imported from the plain ASCII text files which are written by a
numberofanalysisprogramsinadditiontoAQWAandWAMIT.Theformofthesetagsisgivenbelowforeachsuch
program. Common to each is a line of the form "Draught [DraughtName]" specifying the vessel type draught into
whichthedataaretobeimported.IfDraughtNamealreadyexists,theexistingaddedmassanddampingdatawillbe
overwritten; if not, then it will be created and all the other data will be set to those of the OrcaFlex default vessel
type.
Theconventionsusedinthetextfilecanbespecifiedinexactlythesamewayasfor RAOandQTFimport.Doingso
allows the imported data to be converted to match the vessel type conventions. Note that, as for QTFs, only the
direction conventions apply to the added mass and damping data and so only these conventions need to be
specified.Soatypicalconventionsblockmightlooklikethis:
SwayPositive = port
HeavePositive = up
You can also specify scaling factors to allow for the different ways in which various programs scale their output.
OrcaFlexrequiresunscaled,fully-dimensionalvaluesforaddedmassanddampingmatrices,sosomedatamayneed
to be un-scaled or re-dimensionalised. You may also use these scaling factors to allow for differences in units
systemsunlikeRAOs,OrcaFlexdoesnotreadunitsdefinitionsandconvertthemautomaticallyforaddedmassand
dampingmatrices.Thesescalingfactorsaredescribedinthesectionsbelow.
Mosesoutput
AddedmassanddampingmaybeoutputintwoformsbyMoses:
(i)Diagonalelementsonly
ThestandardMosesoutput filemaycontaintablesofthediagonalelements(surge-surge,sway-sway,yaw-yawetc
termsonly)oftheaddedmassanddampingmatrices,listedagainstperiodorfrequency.OrcaFlexwillimportthese
values, setting the off-diagonal elements to zero. These data are identified to OrcaFlex by the addition of a line
containing the phrase "OrcaFlex Added Mass Table Start" (analogously for Damping), followed by a draught
specifier and a line containing one of the strings "WP", "WFR" or "WFH" to indicate that the data are given in the
Moses file by period, frequency in radians/sec, or frequency in Hz respectively. These lines must immediately
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precede the table of data, after any column headings, and each table must be terminated by a corresponding
"OrcaFlexAddedMassTableEnd"(orDamping)line.Theuseofthismarkupisillustratedinthistruncatedexample
(ii)Fullmatrices
Moses will also optionally output the full 6x6 matrices to a PPO file: in general, if you have this file you should
import the data from here in preference to the diagonal values only. In this case, the required tags are "OrcaFlex
Added Mass Matrix Start" (again, analogously for Damping), followed by a draught specifier and one of "WP x",
"WFR x" or "WFH x", where x is the value of the period or frequency, at the beginning of each matrix, and the
correspondingEndtagimmediatelyaftereachmatrix.Thissampledemonstratestheuseofthesetags.
In both cases, Moses presents added mass and damping values which are scaled by mass. Since OrcaFlex requires
non-normalized data, the import process must account for this scaling factor. To do so, note that towards the
beginningofeachofthetwoexamplesaboveisasectionoftheform
OrcaFlexScalingFactorStart1381.8OrcaFlexScalingFactorEnd
Thenumber1381.8hereisthemassofthevessel,asspecifiedinthestandardoutputfile.OrcaFlexwillscaleallthe
importeddatabythisvalue.
Full 6x6 added mass and damping matrices are output, without any normalising or scaling factors. Other than the
lack of scaling factors, the tags required by OrcaFlex are the same as those for Moses 6x6 matrices: you will need
StartandEndtagssurroundingeachmatrixanda"Draught"line,anda"WPx","WFRx"or"WFHx"line,wherexis
thevalueoftheperiodorfrequency,atthebeginningofeachmatrix.NotethatOrcaFlexwillallow,asnecessary,for
therowandcolumnheadings1,2,...,6iftheyarepresent.Ashortexampleofmarked-upHydrostaroutputisgiven.
You should be aware that Hydrostar results may be given in either Hydrostar's own axis conventions or those of
ARIANE, and that the two differ. The latter is usually indicated by the phrase 'pour ARIANE' in the file: the
conventionsintheexampleherearethoseforARIANE.
WADAMoutput
WADAMalsooutputsfull6x6addedmassanddampingmatrices,butthesearenon-dimensional.Thetagsrequired
for each matrix are as for Hydrostar/ARIANE as above; in addition, the non-dimensionalising factors must be
specifiedinthefile.Sincethedataarefullynon-dimensional,thescalingisrathermorecomplexthanMoses'scaling
by mass alone: the factors differ between the added mass and damping matrices, and each matrix requires a
different factor for each constituent 3x3 sub-matrix (since their units differ). Full details ofthe calculation ofthese
factorsaregivenintheWADAMoutputfileitself(searchforthestring'non-dimensional');seethiseditedexample,
whichshowstherelevanttextandthecorrespondingmarkuptextrequiredbyOrcaFlex.
Note: The conventions are not specified in this example, as we (Orcina) do not have any information on
them.Ifyouareabletoletusknowwhattheyare,andhelpusimprovethisexample,thenpleasedo
getintouchwithus.
Outputfromotherprograms
OrcaFlexshouldbeabletoimportadded massanddampingdatafromotherprograms,notlistedabove,solongas
theyarepresentedintextfilesas6x6matrices.Asintheaboveexamples,youwillneedto:addtheappropriatetext
stringsinthefiletodelimitthedata,nominatethedraughtintowhichthedataaretobeimported,andindicatethe
waveperiodorfrequencyforeachmatrix.Ifthematricesarenon-dimensional,eitherpartiallyorfully,youwillneed
to enter the scaling factors into the file. Note that these factors may be entered multiple times and will be updated
eachtimethismaybeusefulif,say,theydependonfrequency.
6.7.3 ModellingVesselSlowDrift
When a vessel is exposed to waves it experiences wave loads that can be split into first order and second order
terms. The first order terms generate motion at wave frequency and this is modelled in OrcaFlex using RAOs to
specifyeitherthedisplacementortheload.Thesecondordertermsaremuchsmallerbuttheyincludeloadswitha
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much lower frequency. These low frequency terms are called the wave drift loads and they can cause significant
slowdriftmotionsofthevesseliftheirfrequenciesareclosetoanaturalfrequencyofthevessel.
One common situation where the wave drift loads can matter is with a moored vessel. The vessel's natural
frequenciesinsurge,swayandyawaretypicallyquitelowandsothelowfrequencywavedriftloadscangenerate
quitesignificantslowdriftexcursions.
If you have already calculated the vessel slow drift motion then that motion can be applied in OrcaFlex using
harmonicmotionoratimehistoryfile.ButOrcaFlexcancalculateandapplytheslowdriftmotionforyou.Todothis
youneedtodothefollowing:
x Specify QTF data on the wave drift page of the vessel type form (the wave drift loads are calculated based on
thisdata).Also,ensurethatWaveDriftLoad(2ndOrder)isinthevessel'sIncludedEffects.ThistellsOrcaFlex
to apply the mean wave drift load to the vessel during the static analysis, and then in the dynamic analysis to
applythetimevaryingwavedriftload.
x Optionally,specifyappropriatedataforhydrodynamicandwinddampingandanyappliedload,etc.,andinclude
these loads in the vessel's Included Effects. OrcaFlex will automatically include loads from added mass and
dampingandloadsfromanylinesorotherobjectsthatareconnectedtothevessel.
x OntheStructurepageonthevesseltypeform,specifythevesselcentreofgravity,mass,momentsofinertiadata
for the appropriate draught. And on the Stiffness, Added Mass and Damping page, specify the added mass and
damping matrices and the reference origin to which they apply. The stiffness and hydrostatic equilibrium
positiondataarenotrequiredfor3DOFanalyses,sincetheyonlyapplyintheheave,rollandpitchdirections.
x On the vessel form, include 3 degrees of freedom in the static analysis. The OrcaFlex static analysis will then
calculate the equilibrium position allowing for the mean wave drift load. And set the primary motion to
Calculated (3DOF). The OrcaFlex simulation will then calculate the vessel surge, sway and yaw motion that
results.
x Set the vessel's superimposed motion according to whether and how you want to model first order wave
frequencymotion.
InthedynamicsimulationOrcaFlexwillthencalculatealltheloadsonthevesselandtheresultingslowsurge,sway
andyawmotion.
DampingEffectsonVesselSlowDrift
Draganddampingloadshaveanimportanteffectonvesselslowdriftmotions.Thefollowingdiscussiondocuments
thevariousdampingeffectsandhowtheyaremodelledinOrcaFlex.SeeCMPT(1998)section3.12.
x Hydrodynamicdragandskinfrictiononthevesselhull.ThisismodelledinOrcaFlexusingacombinationof
the OCIMFapproach,ayawdragmomentproportionalto(yawrate)
2
and rolldampingterms(bothlinearand
quadratic). See the Hydrodynamic Damping data on the vessel type data form. For details of the theory see
VesselTheory:HydrodynamicandWindDamping.NotethatOrcaFlexdoesnotyethavethedependencyofyaw
dragonswayvelocityproposedbyWichers,1979.
x Winddragonthevesselhull.Thisistheaerodynamicdragduetowindandanyvesselvelocity.Itismodelled
inOrcaFlexbasedontheOCIMFapproach.Seethe WindDampingdataonthevesseltypedataform.Fordetails
ofthetheoryseeVesselTheory:HydrodynamicandWindDamping.
x Hydrodynamic drag on the risers/moorings. This is modelled in OrcaFlex by the drag force part of the
Morisonforceonthelinesthatmodeltherisers/moorings.
x Wave radiationdamping. Thisisnotusuallyverysignificantatlowfrequencies,becausetheasymptoticlimit
ofthewavefrequencydampingiszero.ItcanbemodelledinOrcaFlexusingtheconstantdampingmatrixonthe
vesseltypeform.
x Wave drift damping. This arises because the wave driftloads vary with vessel velocity. It can be modelled in
OrcaFlexbyincludingitintheconstant dampingmatrixonthevesseltypedataform.SeeCMPT(1998)page3-
78andFaltinsen(1990)page161.
x Material damping in the risers/moorings. This is the structural damping in the material of the risers and
mooring lines. This can be modelled in OrcaFlex by the line target damping value. However Triantafyllou et al
(1994)concludedthatitseffectisnegligible.
x Seabed soil friction on the risers/moorings. This arises from the frictional force acting on the part of a
mooring/riser that is lifting off and touching down on the seabed. It is modelled in OrcaFlex by the friction
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between the seabed and the line used to model the mooring/riser. However Triantafyllou et al (1994)
concludedthatitseffectisnegligible.
6.7.4 VesselResponseReports
ThevesselresponsewindowcanbeopenedusingtheResultsMenuorusingtheReportVesselResponsebuttonon
thevesseldataform.Itofferstwopages:DisplacementResponse,andImpulseResponse,AddedMassandDamping.
Generation of vessel response reports can be automated through the batch script, or from the OrcaFlex
programminginterface.
Note: ThereportedRAOsarefirstorderRAOscalculatedusingsmall-angletheorytotransformtheRAOs
from the vessel RAO origin to the points specified on the Vessel Response form. Theses results are
accurate for small-angle rotational motion, but if the vessel undergoes large-angle rotational
motion it will exhibit a non-linear higher-order response that can onlybe approximated byRAOs.
Moreaccurateresultscanbeobtainedinthiscasebyrunningasimulation,whichuseslargeangle
theory, and this can oftenbe done very quickly byremoving from the model all other objects that
donotaffectthemotionofthevessel.
DisplacementResponse
The Displacement Response page gives access to two spreadsheet reports, one giving displacement RAOs and one
giving spectral values, of the vessel's response to waves, based on its vessel type's displacement RAOs. It can be
accessedfromtheResultsmenuorfromtheVesseldataform.
DirectionsandOutputPoints
Youspecifyoneormore vessel-relative wave directions,andone or morepointson thevessel,forwhichtheRAOs
andspectralresponsewillbereported.
Ifyouspecifyadirectionof'~'thenthedirectionofthewaverelativetothevesselisused.Ifthereismorethanone
wavetrainthenthedirectionofthefirstwavetrainisused.
Theoutputpointsarespecifiedbygivingtheircoordinatesrelativetovesselaxes.
ReportRAOs
The RAO report gives a separate worksheet for each specified direction, containing the RAOs for each of the
specifiedoutputpoints,derivedfromthedisplacementRAOsofitsvesseltype.
ThereportedRAOsallowforthefollowingeffects:
x TheyallowforthepositionoftheoutputpointrelativetotheRAOorigintowhichthevesseltypeRAOsapply.
x TheygivetheRAOsforthespecifiedwavedirection,relativetothevessel.Ifthisisnotoneofthedirectionsfor
whichRAOsarespecified,thentheRAOsarederivedbyinterpolationondirection.
x TheyallowforFroudescalingifthereisadifferencebetweenthevesseltypelengthandthevessellength.This
affectstheperiodsatwhichtheRAOsarereported.
RAOsaregivenfortheposition,velocityandaccelerationoftheoutputpoints,forall6degreesoffreedomandfor Z
AboveWave.
The RAO report covers the wave periods specified on the vessel type data form, plus (if appropriate) the regular
waveperiodspecifiedontheenvironmentdataform.
PhaseOrigin
YoucanchoosethePhaseOrigintouseforreportingphases,theoptionsbeing:
x RAO Phase Origin. The phases will then be reported relative to the time that the wave (crest or trough, as
specifiedinthevesseltypeRAOconventions)passestheRAOphaseoriginspecifiedonthevesseltypeform.
x EachPoint.Thephaseswillthen be reported relativetothetimethewave(crestortrough,asspecifiedinthe
vesseltypeRAOconventions)passesthatparticularoutputpoint.
ThetranslationalRAOsdependonthepositionoftheoutputpoint.TherotationalRAOamplitudesdonotdependon
the position of the output point, since the roll, pitch and yaw of a vessel are the same everywhere on it. The
rotational RAO phases depend on the position of the output point only if you specify the Phase Origin to be Each
Point.
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Conventions
YoucanchoosefortheRAOstobereportedeitherusingthesameRAOconventionsasspecifiedforthisvessel'stype
orusingOrcinastandardconventions.
ZAboveWave
Z Above Wave reports the heave of the vessel relative to the water surface. This can be useful when evaluating
whetheranobjectatsomepointonthevesselwillcontactthewatersurfaceandifsowithwhatrelativevelocity.
Warning: ZAboveWavedoesnottakeaccountofwavesurfacedisturbanceduetothepresenceofthevessel.
ReportSpectralResponse
The spectral response report contains a separate worksheet for each specified direction and each random wave
trainspecifiedontheEnvironmentdataform.Theworksheetcontainstablesofspectralvaluesforposition,velocity
and acceleration, for all 6 degrees of freedom and for Z Above Wave. Separate tables are given for each of the
specifiedoutputpoints.
Notes: Thespectralresponsereportisnotavailableifnorandomwavetrainsarespecified.
It is also not available if (for any of the specified directions and for any degree of freedom) the
vessel has a non-zero RAO amplitude for the zero wave period limit. This is because some of the
spectralintegralsdonotconvergeinsuchcases.SuchRAOdataisnotrealistic,sincenovesselcan
respondtoinfinitelyhighfrequencywaves.
Thefollowingspectralvaluesarereported.
x Thesignificantamplitude.
x ThemostprobablemaximumamplitudeforaperiodofthespecifiedStormDuration.
x Theaverageperiodoftheresponse.Thisisthemeanperiodbetweenzeroup-crossings.
Note: The significant and maximum values are reported as single amplitudes, i.e. the motion is +/- the
valuereported.
Warnings: Wave directional spreading spectra are not taken into account. The calculation assumes that all
thespectralenergyisinthespecifieddirectionforeachwavetrain.
The standard formulae used to calculate the spectral values (see below) are based on the further
assumptions that the spectrum is narrow-banded and Gaussian, and that the extremes are
Rayleighdistributed.Theyarealsobasedpurelyonsmallamplitudelineartheory.
Thestormdurationshould beshort-term, ieoftheorder ofhoursratherthan days or years,since
thesea-state,asrepresentedby(Hs,Tz),isassumedtoremainconstantoverthisduration.
Thesespectralvaluesarecalculatedasfollows:
Thespectrumofthewavetrainiscombined withthevesselresponsespecified byitsRAOs,toobtaintheresponse
spectrum for each degree of freedom. The zeroth and second spectral moments, m0 and m2, of the response
spectrumarethencalculated.Thespectralvaluesarethengivenby:
SignificantAmplitude=As=2m0
AveragePeriod=Tave=(m0/m2)
MaxAmplitude=As(ln(D*60*60/Tave))
where As is the significant amplitude, D is the specified Duration (in hours) and Tave is the average period (in
seconds).See,forexample,Faltinsen,pages24-27,orOchi,pages151-152.
Notes: For Z Above Wave, no spectral values can be reported for acceleration and only the significant
amplitudecanbereportedforvelocity.ThisisbecausetheRAOofZAboveWavedoesnotdecayto
zero as wave period goes to zero, so some of the integrals for the spectral moments do not
converge. For velocity of Z Above Wave you could perhaps estimate the expected maximum
amplitude by assuming that the ratio of maximum amplitude to significant amplitude is roughly
thesameforvelocityasforposition.
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All these reports are based on the vessel type displacement RAOs. Any wave load RAO data are
ignored.
ImpulseResponse,AddedMassandDamping
The Impulse Response, Added Mass and Damping page has only one button: Show Graphs. This button is enabled
only if the Vessel Type and Draught used by the vessel have Added Mass and Damping Method set to Frequency-
Dependent.Clickingthebuttonwillopenaformshowing:
x AgraphoftheImpulseResponseFunction(IRF)forthevessel.
x Graphsoftheoriginalfrequency-dependentaddedmassordampingdata.
ThescaleofthetimelagaxisfortheIRFisdeterminedbythecutofftimechosen.Thisgraphmaybeusefulinjudging
whatvalueshouldbeselectedforthiscutofftime:ashortercutofftimewillallowforfastercalculation,buttooshort
maymeansignificantIRFvaluesarediscardedandaccuracylostasaresult.
The graph of Added Mass against frequency has superimposed on it a horizontal intercept representing the
calculatedvalueofthe"infinite-frequency"addedmass.Solongasthedataaregiventosufficientlyhighfrequency,
thisisanindicatoroftheconsistencyoftheaddedmassanddampingdata.
NotethatthevaluesofaddedmassanddampingshownmayhavebeenFroudescaledaccordingtoVessellength.
6.7.5 VesselResults
FordetailsonhowtoselectresultsvariablesseeSelectingVariables.
MotionResults
The vessel motion is split into two components, the primary and superimposed motions. Both the total overall
motionandthesetwocomponentsareavailableastimehistoryresults.
X,Y,Z,Rotation1,Rotation2,Rotation3andSeaSurfaceClearance
The position, orientation and sea surface clearance of the vessel, relative to global axes, due to the combination of
theprimaryandsuperimposedmotion.
X,YandZaretheglobalcoordinatesofauserspecifiedpointPonthevessel.ThepointPisspecifiedinvessel local
coordinates.IfP=(0,0,0)thentheglobalX,YandZcoordinatesofthevesseloriginarereported.
Sea Surface Clearance is the vertical clearance of point P from the instantaneous sea surface. A positive value
indicatesthepointPisabovetheseasurface.
Rotation 1, 2 and 3 define the final orientation relative to global axes. The 3 rotations (called Euler angles) are 3
successiverotationsthattaketheglobalaxesdirectionstothefinalaxesdirections.Rotation2isintherange -90to
+90.RangejumpsuppressionisappliedtotheRotation1andRotation3angles(sovaluesoutsidetherange -360
to+360mightbereported).
Velocity,GX-Velocity,GY-Velocity,GZ-Velocity
The magnitude and components of the velocity of the vessel, relative to global axes, due to the combination of the
primaryandsuperimposedmotion.TheseresultsarereportedatauserspecifiedpointPonthevessel.ThepointP
isspecifiedinvessellocalcoordinates.
AngularVelocity,x-AngularVelocity,y-AngularVelocity,z-AngularVelocity
Themagnitudeandcomponentsoftheangularvelocityofthevessel,relativetovesselaxes,duetothecombination
oftheprimaryandsuperimposedmotion.
Acceleration,GX-Acceleration,GY-Acceleration,GZ-Acceleration
The magnitude and components ofthe acceleration ofthe vessel, relative to global axes, due to the combination of
the primary and superimposed motion. These results are reported at a user specified point P on the vessel. The
pointPisspecifiedinvessellocalcoordinates.
Acceleration(incl.g),x-Acceleration(incl.g),y-Acceleration(incl.g),z-Acceleration(incl.g)
The magnitude and components (with respect to vessel axes) of the vector a - g where a is the acceleration of the
vesselandgistheaccelerationduetogravity,avectorpointingverticallydownwards.Theseresultsarereportedat
auserspecifiedpointPonthevessel.ThepointPisspecifiedinvessellocalcoordinates.
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Theseresultscanbeusedtocompareagainstaccelerometerreadings.
AngularAcceleration,x-AngularAcceleration,y-AngularAcceleration,z-AngularAcceleration
The magnitude and components of the angular acceleration of the vessel, relative to vessel axes, due to the
combinationoftheprimaryandsuperimposedmotion.
PrimaryX,PrimaryY,PrimaryZ,PrimaryRotation1,PrimaryRotation2andPrimaryRotation3
The primary position of the vessel, as produced by any primary motion, relative to global axes. So Primary X,
Primary Y and Primary Z are the global X,Y,Z coordinates of the primary position ofthe vessel origin, and Primary
Rotation 1, Primary Rotation 2 and Primary Rotation 3 are the primary orientation of the vessel, again relative to
globalaxes.
Primary Rotation 2 is in the range -90 to +90. Range jump suppression is applied to Primary Rotation 1 and
PrimaryRotation3(sovaluesoutsidetherange-360to+360mightbereported).
Surge,Sway,Heave,Roll,PitchandYaw
The offset of the vessel, due to any superimposed motion, relative to the primary position of the vessel. They are
usually, therefore, the wave-generated part of the motion, so Surge, Sway and Heave are the offsets from the
primary position to the final position and are measured in the primary vessel axes directions. And Roll, Pitch and
Yawarethewave-generatedrotationsandarerelativetotheprimaryvesselaxesdirections.
Pitchisin the range -90to +90.RangejumpsuppressionisappliedtotheRollandYawangles(sovaluesoutside
therange-360to+360mightbereported).
SeaSurfaceZ
TheglobalZcoordinateoftheseasurfacedirectlyabovetheinstantaneousvesselprimaryposition.
ForceandMomentResults
Foreachloadonthevessel,solongasitisnotexplicitlyexcludedfromthelistofthatvessel's IncludedEffects,time
history results are available for the magnitude of the force and moment, and for each component of the force or
moment. All these results are reported in vessel axes directions, with moments taken about the vessel origin. If a
loadisexcludedthenitwillnotbecalculatedandwillnotappearinthelistofavailableresults.
TotalLoad
The magnitude and components (in vessel axes directions) ofthe sum ofthe constituent loads on the vessel which
areincludedinthecalculation.
ConnectionsLoad
The sum ofthe loads from all attached lines, links, winches, shapes, etc. Availableonlyifatleast onesuch objectis
attached to the vessel. For convenience, the components of Connection Force and Moment are also available in
Global axes directions (GX,GY,GZ). Details of the loads exerted by each individual object are available as results
tables,andcanalsobefoundundertheresultsforeachobjectitself.
AppliedLoad
Thesumofallthelocalandglobalappliedloads.AvailableonlyifAppliedLoadsisinthelistofthevessel'sincluded
effects.
HydrodynamicDampingLoad
Thehydrodynamicdampingforceandmomentonthevessel.AvailableonlyifHydrodynamicDampingischecked
inincludedeffects.
WindDampingLoad
Thewinddampingforceandmomentonthevessel.Availableonlyif WindDampingischeckedinincludedeffects
andIncludeWindLoadsonVesselsischeckedontheWinddatapageoftheEnvironmentdataform.
WaveDriftLoad
The wave drift force and moment exerted on the vessel. These results are available only if Wave Drift Load (2nd
order)isincluded.
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AddedMass&DampingLoad
Theforceandmomentonthevesselduetoaddedmassanddamping.
HydrostaticStiffnessLoad
TheHydrostaticstiffnessforceandmomentonthevessel.
WaveLoadRAOForceandMoment
Theforceandmomentonthevesselduetothe waveloadRAOs.AvailableifWave Load(1stOrder)ischeckedin
includedeffects.
Note: FirstorderwaveRAOloadandsecondorderwavedriftloadresults,thoughreported withrespect
to vessel axes, are applied with respect to primary heading axes. In most cases there will be little
difference between the two frames of reference, but large values of Primary Rotations 1&2 may
haveasignificanteffectontheseresults.
MultipleStaticResults
Formultiplestaticscalculationstheresultsvariablesavailableareasfollows.Theloadsreportedarethetotalloads,
includingthosefromcurrent,wind,appliedloadsandattachedlinesandotherobjects.
RestoringForce
The magnitude of the horizontal component of the total force applied to the vessel. Note that this force is not
necessarilyintheoffsetdirection.
VerticalForce
Theverticallydownwardscomponentofthetotalforceappliedtothevessel.
GZ-Moment
Thetotalmoment,aboutthevertical,appliedtothevessel.
WorstTension
ThelargesttensioninanysegmentofanyLineconnectedtotheVessel.
6.8 LINES
Linesareflexiblelinearelementsusedtomodelcables,hoses,chainsorothersimilaritems.Linesarerepresentedin
OrcaFlex using a lumped mass model. That is, the line is modelled as a series of lumps of mass joined together by
masslesssprings,ratherlikebeadsonanecklace.Thelumpsofmassarecalled nodesandthespringsjoiningthem
are called segments. Each segment represents a short piece of the line, whose properties (mass, buoyancy, drag
etc.) have been lumped, for modelling purposes, at the nodes at its ends. See the figure below, which shows an
examplelinespanningfromaVesseltoaBuoy.
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End positions and no-moment directions are defined
relative to the objects to which the ends are connected
and move with those objects.
x
y
z
V
x
y
z
B
End B
End A
Clump
section 1
(3 segments)
section 3
(9 segments)
section 2
(7 segments)
Figure: LineModel
ThepropertiesofaLinearespecifiedbydividingitupintoanumberofconsecutive sectionsthatarechosenbythe
user.Foreachsectionyoumustdefineitslength,theLineTypeofwhichitismadeandthenumberofsegmentsinto
which it should be divided for modelling purposes. A Line Type is simply a set of properties (for example the
diameter, mass per unit length and bend stiffness) given a name so that they can be called by that name. The Line
Typesaredefinedseparately,ontheLineTypesdataform.Thisallowsthesamesetoflinepropertiestobeusedfor
anumberofdifferentsectionsoftheline,orfordifferentlines.Thereisalsoa LineTypeWizardtoolthathelpsyou
setupLineTypesrepresentingcommonstructureslikechains,ropes,etc.
In addition, a number of attachments may be specified, to represent items that are connected to the Line. For
example,attachmentsmaybeusedtomodelclumpweights,dragchainsorbuoyancybagsattachedtotheline.Two
typesofattachmentareavailableclumps(buoyancyorheavy)anddragchains.
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EachattachmentattachedtotheLineisspecifiedbygivingtheAttachmentTypeandthearclength,measuredfrom
End A, at which it should be attached. The attachment is then attached to the nearest node to that arc length.
AttachmentTypesaresimilartoLineTypes theyaresimplynamedsetsofattachmentproperties.Theproperties
themselves are then given separately, on the Attachment Types data form. This allows the same set of attachment
propertiestobeusedforanumberofdifferentattachments.
The two ends of a Line are referred to as End A and End B and each end can be Free, Fixed, Anchored or else
connected to a Vessel or Buoy. The two ends ofa line are treated in essentially the same way, but some aspects of
thelinearedependentonwhichendiswhich.InparticularthenumberingofpartsofaLineisalwaysdonestarting
atEndA.
6.8.1 LineData
Foreverylineinthesystemthereisadataformdefiningitsstructureandinterconnection.Itisonthesedataforms
thatthesystemisbuiltupbyconnectinglinesbetweentheobjectsthathavebeendefined.
Name
UsedtorefertotheLine.
IncludeTorsion
Torsional effects can be included or ignored, for each line in the model. If torsion is included then the line type
torsionalpropertiesmustbespecified.SeeTorsionalStiffness.
Toseethelineorientationvisuallyonthe3Dviews,selectDrawNodeAxesontheViewmenu.OrcaFlexthendraws
thenodeaxesNxyzateachnode,andtheseaxesallowyoutoseehowthelineisbehavingtorsionally.
Notes: Thenodeaxesaredrawnusingthenodepen,specifiedonthelinedataform.
If torsion is included for a line, you must specify the torsional orientation at each end of the line.
ThisisdonebysettingtheGammaangleoftheendconnectionsonthelinedataform.TheGamma
angle determines the torsional position of the line end for details see Line End Orientation. To
checkvisuallythatyouhavetheorientationyouexpect,selectDrawNodeAxesontheViewmenu.
If torsion is included for a line, the static analysis should also include the effects of torsion
otherwise the simulation will start from a position that is not in torsional equilibrium and an
unstablesimulationmayresult.Werecommendthatthe FullStaticsoptionisselectedbecausethis
istheonlystaticsoptioninOrcaFlexthatincludestheeffectsoftorsion.
TopEnd
This data item is used to give OrcaFlex information about the sense of the Line. Various calculations performed by
theprogramneedtoknowwhichendoftheline(EndAorEndB)isatthetop,andwhichendisatthebottom.You
specifywhichendisatthetop,andtheprogramassumesthattheotherendisatthebottom.
Supposeyouhavealinewiththetopendconnectedtoavessel,andthebottomendanchoredtotheseabed.Ifyou
wishtomeasurearclengthfromthevesselthenyoushouldconnectEndAtothevessel,makeEndBanchoredand
setTopEndtoEndA.Ontheotherhand,ifyouwishtomeasurearclengthfromtheseabedthenyoushouldconnect
EndBtothevessel,makeEndAanchoredandsetTopEndtoEndB.
ThesettingoftheTopandBottomEndsisusedbytheprogramasfollows:
x TheLayAzimuthdatadefinesalaydirectionstartingfromtheBottomEndandmovingtowardstheTopEnd.
x The Touchdown results point is determined by starting at the Top End and then moving towards the Bottom
Enduntilthefirstnodeincontactwiththeseabedisfound.
x The Contents Pressure Reference Z level can be set to '~' (indeed this is the default value) which OrcaFlex
interpretsastheZleveloftheTopEndintheresetstate.
x The Line Setup Wizard uses the bottom end when calculating anchor positions and also for the layback
calculation.
If the Line is not in contact with the seabed then this data is somewhat arbitrary. You are free to make whatever
choicesuitsyourmodel,butrememberthatthecontentspressurewillbereferencedfromtheTopEnd.Iftheentire
Line is in contact with the seabed then again you are free to make whatever choice of Top and Bottom Ends suits
yourmodel.
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Connections
Thelineendconnectiondataspecifieswhetherthelineendsareconnectedtootherobjects,theposition,angleand
stiffnessoftheconnection,andwhethertheendisreleasedduringthesimulation.
You can view and edit an individual line's connection data on the line's data form. Or you can view and edit the
connectiondataforallthelinestogetherontheAllObjectsDataForm.
ConnecttoObject
ThelinespansfromEndAtoEndBandeachendmaybeconnectedtoanotherobjectinthemodel,suchasabuoyor
vessel,orelseFixed,AnchoredorleftFree.
ObjectRelativePosition
Definesthepositionofthecentreofthenodeatthelineend.
x If the end is connected to another object this defines the coordinates of the connection point relative to that
otherobject'slocalaxes.
x IftheendisFixedthisdefinesthecoordinatesofthatpointrelativetoglobalaxes.
x If the end is Anchored this defines the X and Y coordinates of the anchor relative to global axes, plus the Z-
coordinaterelativetotheseabedlevelatthat(X,Y)position.
x IftheendisFreethenthisdefinesthecoordinatesoftheestimatedequilibriumpositionofthelineend,relative
toglobalaxes.
Heightaboveseabed
Thisdataitemisonlyavailablefor Anchoredconnectionsandspecifiestheverticalheightabovetheseabed ofthe
pipe underside. This value is coupled to the Object Relative z coordinate changing either one results in the other
beingchangedtomatch.
To understand how this data item should be used consider, for simplicity, a line end anchored to a flat horizontal
seabed.TheObjectRelativezcoordinatespecifiesthepositionofthecentreline.Ifitissetto0thentheendnodewill
penetratetheseabedbyadistanceofD,whereDisthecontactdiameter.
The net result of this is that the end node is 'buried' in the seabed and receives a large seabed reaction force.
Becauseitisanchoredthisforcecannotdisplacetheendnode,buttheadjacentnodeisfreetomoveanditwilltryto
takeupapositionsittingontopoftheseabed.Thisinturnwillleadtounrealisticvaluesofcurvature,bendmoment
etc.attheend.
If,however,yousetHeightaboveseabedto0thentheendnodecentrelinewillhaveazcoordinateofD,relativeto
theseabed.Thenodesitsjustincontactwiththeseabedandtheaboveproblemsareremoved.
If the seabed is not horizontal then the mathematics is slightly more complicated as it has to take into account the
slopeoftheseabed.However,therecommendationofsettingHeightaboveseabedto0remainsvalid.
EndOrientation
Whenalineisconnectedtoanobject,itisconnectedintoanendfittingthatisrigidlyattachedtothatobjectandyou
specifytheorientationofthisconnectionbygivingitsAzimuth,DeclinationandGammaangles.
These angles define the end fitting orientation relative to the object, so for objects that rotate (e.g. vessels and 6D
buoys) the fitting rotates with the object. For Fixed or Anchored ends the end orientation is defined relative to
globalaxes.ForFreeendstheendorientationisnotused.
Azimuth, Declination and Gamma define the end fitting orientation by specifying the directions of the axes (Ex, Ey,
Ez)ofitsframeofreference,whereEistheendfittingoriginthepointtowhichthelineendisconnected.SeeLine
EndOrientation.
The direction ofEz is defined by specifying its Azimuth and Declination angles. Ez is the end fitting axial direction;
whentheendsegmentisalignedwithEzthennobendingmomentisappliedbythejoint,soEzissometimescalled
theno-momentdirection.NotethatEzmustbespecifiedusingtheEndAtoEndBconvention,i.e.Ezisintotheline
atEndA,butoutofthelineatEndB.
ExandEyareperpendiculartoEzandtheyaredefinedbyspecifyingtheGammaangle,whichisarotationaboutEz.
The Ex and Ey directions are used for reporting results (e.g. the 2 components of shear force). And if the line has
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torsion included and the joint twisting stiffness is non-zero, then Ex and Ey also define the line end orientation at
whichnotorsionalmomentisappliedbythejoint.
The connection at a line end is modelled as a ball-joint with this orientation being the preferred "no-moment"
orientation, i.e. the orientation of the line end that gives rise to no moment from any rotational stiffness of the
connection.
If all ofthe end connection stiffness values are zero, e.g. to model a ball joint that is completely free to rotate, then
the end orientation angles have no effect on the line behaviour. The angles then only serve to define the local x, y
and z-directions that are used to define results (e.g. shear and bend moment components, stress components, etc.)
thatdependonthelocalaxesdirections.
BendingandTwistingStiffness
The connection at a line end is modelled as a joint with the specified rotational stiffness. The restoring moments
appliedbythejointdependonthedeflectionangle,whichisthe differencebetweentheendfittingorientationand
the orientation of the line. The end orientation is therefore the orientation of the line that corresponds to zero
momentbeingappliedbythejoint.
Theconnectionstiffnessistheslopeofthecurveofrestoringmomentagainstdeflectionangle.
Thebendingandtwistingconnectionstiffnessescanbesetto:
x Zero:freetorotatewithnoresistance.
x Non-zero,finite:canrotatebutwithresistance.
x Infinity:arigidconnection.
x Variable:non-linear(forbendingconnectionstiffnessonly).
ThexbendingandybendingvaluesspecifytheconnectionbendingbehaviourforrotationabouttheendExandEy
directions, respectively. For an isotropic ball joint the two values must be equal; this can conveniently be specified
bysettingthey-bendingvalueto'~',meaning'sameasx-value'.Anon-isotropicballjointcanbemodelledbygiving
differentxandybendingvalues;inthiscasethelinemustincludetorsion.
Thexbendingandybendingbehaviourcaneitherbelinearornon-linear,asfollows:
x For a simple linear behaviour, specify the bending stiffness to be the constant slope of the curve of restoring
momentagainstdeflectionangle.
x For a non-linear behaviour, use variable data to specify a table of restoring moment against deflection angle.
OrcaFlex uses linear interpolation for angles between those specified in the table, and linear extrapolation for
anglesbeyondthosespecifiedinthetable.Therestoringbendmomentmustbezeroatzeroangle.
The Twisting Stiffness value is only relevant if torsion is included for the line. It specifies the rotational stiffness
about the end Ez direction. For the twisting stiffness this variation is always modelled as linear so the twisting
stiffnessyouspecifyshouldbetheslopeofthelinearangle-momentcurve.
Aflexjointcanbemodelledbysettingthestiffnessvaluestobenon-zeroandfinite.
Warning: Avoid specifying large connection stiffness values (except the special value Infinity) since they
requireveryshortsimulationtimesteps.
ReleaseatStartofStage
If desired each line end can be disconnected at the start of a given stage of the simulation. If no release is wanted
thensetthisitemto"~",meaning"notapplicable".
Structure
Each line can be made up of up a number of sections with different properties, the sections being defined in
sequencefromEndAtoEndB.
LineType
Thisdeterminesthepropertiesofthesection.
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SectionLength
Theunstretchedlengthofthesection.Thisistheunstressedlength(i.e.zerowalltension)atatmosphericpressure
inside and out. Length changes due to external and internal pressure, and allowing for the Poisson ratio effect, are
calculatedandallowedforbyOrcaFlex.
Ifthelinetypeisprofiledthenthesectionlengthisdeterminedbytheprofiledataandsocannotbeeditedhere.
ExpansionFactor
The expansion factor allows you to model time-varying changes in unstretched length, for example due to thermal
expansionorcontraction.
Avalueof'~'meansthatnoexpansionfactorisappliedthisisequivalenttoavalueof1.Otherpositivevaluescan
beused,inwhichcasetheunstretchedlengthremainsconstantthroughoutthesimulation.
Alternatively the expansion factor can be a variable data source which specifies a table ofexpansion factor against
simulationtime.Itspecifiesamultiplicativefactorwhichisappliedtotheunstretchedlengthwhencalculatingaxial
strainwhichinturnisusedtocalculateeffectivetension(seeLineTheory:CalculationStages).
Note: Expansionfactorisonly usedinthecalculationofstrain.Ithasnoeffectonmass,buoyancy,drag,
addedmassetc.
TargetSegmentLength,NumberofSegments
Thesedataitemsdeterminethesegmentationofthesection.
IfTargetSegmentLengthissetto~thenthenumberofsegmentsinthesectionissetbyNumberofSegments.
Otherwise,thesegmentationischosenbasedonTargetSegmentLength.TheNumberofSegmentsisnoteditable
andreportstheactualnumberofsegmentsusedwhichisgivenbytheformula:
NumberofSegments=Round(SectionLength/TargetSegmentLength)
whereRoundisthefunctionthatroundsafloatingpointvaluetothenearestinteger.
Note: It is usually preferable to determine segmentation by specifying Target Segment Length. This
allowsyoutoaltersectionlengthswithoutalteringsegmentlength.
ClashCheck
Clash modelling is included when this data item is set to Yes. If it is set to No then the section will be ignored for
clashingpurposes.
Notes: Lineclashingisnotmodelledduringstatics.
Clash checking is quite time-consuming, so you should only set this item to Yes for those sections
forwhichyouneedclashmodellingtobeincluded.SeeLineClashing.
CumulativeLength,CumulativeSegments
Thesecolumnsreportthecumulativelengthandcumulativenumberofsegmentscountedfromthefirstsection.The
valuesareforreportingpurposesonlyandcannotbeedited.
ProfileGraph
Theprofilegraphplots theinnerandouterradiiofthelineastheyvarywitharclength.Thisisespeciallyusefulto
checkthatstressjointandbendstiffenerdatahasbeencorrectlyinput.
Pre-bend
Pre-bendisonlyavailablewhentorsionismodelled.Pre-bendisprovidedformodellinglineswhicharenotstraight
whenunstressed,e.g.spoolpieces.
The pre-bend is defined for each section by specifying the pre-bent curvature (in radians per unit length) of the
section.Thepre-bentcurvatureisthecurvatureofthepipeinitsunstressedstate.Forlineswhicharestraightwhen
unstressedthenpre-bendshouldbespecifiedtobezerowhichisthedefaultsetting.
Pre-bend can be specified in both the line local x and y directions. However, to simplify data preparation and
interpretation of results we recommend that you arrange the line's local axes such that the pre-bend is entirely in
eitherthelocalxorlocalydirection.
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Note: Whenpre-bendismodelledcurvatureandbendradiusresultsarereportedrelativetothepre-bent
curvature.
Warning: Pre-bendbreakstheassumptionsofthestressresultsandfatigueanalysis.
Attachments
Anumberofattachmentsmaybeaddedtoeachline.Eachattachmentcaneitherbeofaspecified AttachmentType
orelsebeacloneofaspecified6Dbuoy.
AttachmentType
CanbeaClumpType,aDragChainType,aFlexJointType,aStiffenerTypeoranexisting6DBuoy.
If you specify a 6D buoy as the attachment type then the attachment is a clone of that 6D buoy and changing the
propertiesofthe6Dbuoyalsochangesthepropertiesoftheattachment.The6Dbuoyfromwhichtheattachmentis
clonedcannotbedeleted,withoutfirstdeletingalltheattachmentsthatareclonesofit.
6D buoy attachments are useful when you want a number of identical 6D buoys attached to a line. To attach 20
identical buoys to a line, for example, first create the first buoy separately from the line and then connect it to the
linebysettingitsconnectiondataitemonthebuoydataform.Thisfirstbuoyactsasthemasterfromwhichallthe
other attachment buoys are cloned. Then, on the line data form, specify 19 attachments and set their attachment
typetobethefirst6Dbuoy.
Note: 6DBuoyattachmentscanonlybeusedwhentheLineincludestorsion.
Position
Thex,yandzcoordinatesspecifythepositionoftheattachmentrelativetotheline.
Thezcoordinatespecifiesthearclengthatwhichtheattachmentisconnectedandthisarclengthmaybemeasured
relativetoeitherEndAorEndBasspecifiedbytheuser.
x ForClumps,DragChains,FlexJointsandStiffenersthexandycoordinatesmustbezeroandthezcoordinateis
thearclength.Theseattachmentsareconnectedatthenodenearesttothisarclength.
x ForStiffenersthezcoordinatespecifiesthearclengthofthestiffenerconnectionpoint.
Note: If the attachment is a clump then it is also offset vertically from the node by the offset distance
specified in the clump type data. Beware that the sign convention for this offset varies depending
on whether the clump is net buoyant (positive offset is upwards) or heavy (positive offset is
downwards).
x For6DBuoyattachmentsthezcoordinatespecifiesthearclengthatwhichthebuoyshouldbeconnectedtothe
line.Thebuoywillbeconnectedtothenearestnodetothatarclength.Thebuoywillbeconnectedwithanoffset
(relativetothatnode'saxes)thatisgivenby(x,y,0).See6DBuoyInitialPositionformoredetails.
Orientation
For 6D Buoy attachments only. Rotation 1, Rotation 2 and Rotation 3 determine the Initial Attitude ofthe attached
buoy.
Name
For6DBuoyand DragChainattachmentsonly.Thisisthename oftheattachedobjectandisusedtoselect results
forthatobject.
Contents
ContentsMethod
Threemethodsofmodellingcontentsareavailable,asoutlinedbelow:
x Ifuniformisselectedthentheentirelineisassumedtobefilledwithcontentsofauniformdensity.
x Thefree-floodingoptionresultsinthelinebeingfilledwithseawater,uptotheinstantaneouswatersurface.
x Theslugflowmethodallowsforspatialandtemporalvariationofcontents.Thecontentsflowvelocitycanalso
varywithtime.
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Includeaxialcontentsinertia
This data item allows the component of inertia due to contents in the line's axial direction to be omitted from the
analysis. Typically the axial contents inertia would be excluded from an analysis of a line with free-flooding
contents,forexampleadrillingriserinemergencydisconnectmode.
ContentsPressureandReferenceZlevel
The contents pressure specifies the internal pressure in the line at a specified fixed reference Z level (specified
relative to global axes). The internal pressure at this Z level is assumed to remain constant throughout the
simulation.Theinternalpressureatotherlevelsiscalculatedallowingforthestaticpressureheadduetodifferences
inZlevel.Forslugflow,thestaticpressureheadiscalculatedusingthemeancontentsdensityintheline.
The reference Z level can be set to '~' and this is taken to mean the Z level of the Top End of the line in the reset
state.
SeeLinePressureEffectsfordetailsofcontentspressuremodelling.
Uniformcontentsdata
ContentsDensity
Each section of the line is assumed to be full of contents of this density and the mass of the section is increased
accordingly.
All pressures in OrcaFlex are gauge pressures, not absolute pressures. That is, they are relative to atmospheric
pressureandsocanbeaslowas-1atmosphere(-101.3kPa).
FlowRate
The rate of flow of mass through the line. If it is non-zero then it is used to calculate the centrifugal and Coriolis
forces due to flow of fluid in the line. Positive values mean flow from End A towards End B and vice versa. To
convertbetweenmassflowrate,volumeflowrateandflowvelocityusethefollowingsimpleformulae:
volume flow iate Nass flow iate
Flowvelocity=Volumeflowrate/A
wheie is the contents uensity anu A is the inteinal cioss-sectionalarea.
Slugflowdata
Theslugflowdataallowsyoutospecifyvariationofcontentsdensityalongthearclengthoftheline.This patternof
contents can also progress along the line over time. The program accounts for the resulting variations of mass,
weightandcentrifugalandCoriolisforces
Flowvelocity
Thevelocityatwhichthecontentspatternflowsalongtheline.Thisvaluecanbeconstant,orcan varyassimulation
timevaries.PositivevaluesmeanflowfromEndAtowardsEndBandviceversa.
Avalueofzerocanbeusedtospecifyspatialcontentsvariationwithnotemporalvariation.Avariableflowvelocity
canbeusedtomodel,forexample,theflowofcontentsoutofadrillingriserinemergencydisconnectmode.
Note: Thereisnoneedtorampflowvelocityatthebeginningofdynamics infactitisbettertoinclude
the fluid flow in the static calculation because this removes undesirable transients during the
dynamic analysis. Therefore, if you wish to model a constant flow rate, you should set the flow
velocitytobethisconstantvalue.
Densitybetweenslugs
Thecontentsdensityforsectionsofthelinethatfallinbetweenslugs.
Slugflowcontentspattern
Thespatialvariationofcontentsdensity,i.e.thecontentspattern,isspecifiedinatable.Eachrowofthetableallows
youtodefineanumberorgroupofidenticalslugsspecifiedbytheirdensityandlengthtogetherwiththedistance
betweenslugs.
In addition you specify a reference point, an arc length which can be relative to either end of the line, and the
simulationtimeatwhichthefirstsluginthegroupreachesthatreferencepoint.Iftheflowvelocityiszerothenthe
previous definition is meaningless. In this case we adopt the convention that the group of slugs covers arc lengths
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(measured from End A) greater than the reference point. For example, if the flow velocity is zero and you have a
singleslugwithlengthLandreferencepointatEndAthentheslugwillstretchbetweenarclengths0andL.
Simple repeating patterns of slugs can easily be modelled using a single row in the table. For irregular patterns of
slugyoucanmodeleachslugasasinglerowinthetable.Range graphs of contents densitycan beusedtoconfirm
thatyourdatacorrespondstoyourdesiredpatternofslugs.
Statics
Thelinestaticcalculationisperformedin2stepsasdescribedinStaticsofLines.
IncludedinStatics
This switch allows you to exclude certain lines from the statics calculation. This is mainly useful when building a
modelandaparticularlineisnotconverging.Inthissituationyoucould excludeallotherlinesfromstatics(thisis
easiest from the All Objects Data Form). This would allow you to experiment with different statics convergence
parametersfortheproblematiclinewithouthavingtowaitforalltheotherlinestoconverge eachtimeyoutrieda
newsetofconvergenceparameters.
Note: Results are not available for such lines and dynamics is disabled if you have any lines which are
excluded from statics. Lines which are excluded from statics have no influence on other objects in
themodel.
Step1StaticsMethod
ThiscanbeeitherCatenary,Spline,Quick,PrescribedorUserSpecified.
ThenormalsettingisCatenary,inwhichcasethestaticanalysisfindstheequilibriumcatenarypositionoftheline,
allowing for weight, buoyancy, drag, but not allowing for bend stiffness or interaction with shapes. See Catenary
Statics.
The Catenary solution has some limitations and some systems, such as those with slack or neutrally buoyant lines,
canbetroublesome.ForsuchlinesyoucaninsteadspecifySpline,inwhichcasethelineisinsteadsettoa3Dspline
curvebasedonsplinecontrolpointsspecifiedbytheuser.SeeSplineDataandSplineStatics.
TheQuickmethodleavesthelineintheroughcatenaryshapeusedintheResetstate.SeeQuickStatics.
Forpull-inanalysisthePrescribedoptionhasbeenprovided.Heretheuserspecifiesthestartingpositionoftheline
asasequenceofstraightlineorcurvedsectionsontheseabed.SeePrescribedStartingShape.
TheUserSpecifiedoptionallowsyoutospecifythepositionforeachnodeontheline.Nocalculationisperformed,
thenodesaremerelyplacedatthespecifiedpositions.SeeUserSpecifiedStartingShapeandUserSpecifiedStatics.
Step2StaticsMethod(FullStatics)
ThiscanbeeitherNoneorFullStatics.
IfNoneisselectedthenthepositionobtainedbytheStep1StaticsMethodisused.
TheFullStaticscalculationfindsafullequilibriumpositionforthemodel.UnliketheStep1Catenarymethod,bend
stiffnessandinteractionwithshapesareincluded.Fullstaticsneedsastartingshapefortheline,anditusestheStep
1StaticsMethodtoobtainthis;itthenfindstheequilibriumpositionfromthere.YoushouldthereforesettheStep1
StaticsMethodtogiveareasonablestartingshape.SeeFullStatics.
FormoredetailsoftheStaticsCalculationseeStaticsAnalysis.
Warning: If you do not use Full Statics, then the starting position will not (in general) be an equilibrium
position.
Note: Itisonlypossibletoinclude buoysinthestaticanalysis(see BuoyDegreesofFreedomIncluded in
StaticAnalysis)ifeithertheCatenarymethodorFullStaticsisusedforalllinesinthemodel.
IncludeFriction
FrictioncanbeincludedinthestaticanalysisonlyiftheStep1StaticsMethodisCatenaryorifFullStaticsisusedfor
theStep2StaticsMethod.
Withseabedfrictionpresentthereisnot,ingeneral,auniquestaticpositionfortheline,sincethepositionitadopts
depends on how it was originally laidand its history since then. In order to define a unique solution, we therefore
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needtomakesomeassumptionsabouthowthelinewasoriginallylaidandfrictionisthenassumedtoacttowards
thisposition.
IftheStep1StaticsMethodisPrescribed,thenthis'originallylaid'positionisassumedtobethepositiondefinedby
the Prescribed track. Otherwise, the 'originally laid' position is defined by specifying the Lay Azimuth and As Laid
Tensionvalues.
LayAzimuth
This data is only used when seabed friction is included in the static analysis and the Step 1 Statics Method is not
Prescribed.Itthendefinesthepositioninwhichthelineisassumedtohavebeenoriginallylaid,andfrictionisthen
assumedtoacttowardsthisposition.WhenStaticsMethodisnotPrescribed,itisassumedthat:
1. The line was originally laid, with the specified As Laid Tension, starting with the Bottom End at its specified
position(oratthepointontheseabeddirectlybelow,iftheBottomEndisnotontheseabed).
2. The line was then laid in the Lay Azimuth direction, leading away from the Bottom End position and with the
specifiedAsLaidTension.
3. Thelinewaslaidfollowingtheprofileoftheseabed.
4. TheTopEndwasthenmovedslowlyfromthatoriginalpositiontoitsspecifiedposition.
Tohelpsetthisdataitem,thereisabuttonontheformmarkedSet.ThisbuttonsetstheLayAzimuthvaluetobethe
directionfromtheBottomEndtowardstheTopEnd,basedontheircurrentpositions.
Notes: WhilsttheprogramwillacceptanyLayAzimuth,wewouldexpectthestaticsconvergenceroutine
to have increasing difficulty in finding a solution as the angle between the Lay Azimuth direction
and the vertical plane through the line ends increases. For example, if we have a line top at X=0,
Y=0,andanchoratX=100,Y=0,wewouldexpecttroubleforaLayDirectionof90.
TheLineSetupWizardalsousestheLayAzimuthdirection.
AsLaidTension
Thisdataspecifiestheeffectivetensionwithwhichtheline wasoriginallylaid.OrcaFlexusesthistodetermine the
as-laid node positions, which are used as the friction target positions towards which friction acts in the static
analysis.Thisdataisthereforeonlyusediffrictionisincludedinstatics.
IftheStep1StaticsMethod issettoPrescribedstarting shape,thenthestaticsfrictiontargetpositionsarelaidout
alongtheprescribedshapewithastraindeterminedbytheaxialstiffnessandthisAsLaidEffectiveTensionvalue.
IftheStep1StaticsMethodisnotPrescribed,thenthisdataisusedasdescribedintheLayAzimuthsectionabove.
CatenaryConvergence
If the Catenary statics method is chosen, then an iterative catenary calculation is used to determine the static
positionoftheline.Thiscalculationiscontrolledbyanumberofconvergenceparameterswhichcannormallybeleft
attheirdefaultvalues.Howeversometimesthecalculationcanfailtoconverge.Ifthishappens,firstcheckyourdata
forerrorsandcheckforthefollowingcommoncausesofconvergencefailure:
x Doesthesolutionhaveaslacksegment?Thiscanhappeninlinesthattouchdownontheseabedalmostatright
angles or in lines that hang in a very narrow U shape. The catenary calculation cannot handle lines with slack
segmentstryincreasingthenumberofsegmentsintherelevantsectionoftheline.
x Forlinesthattouchdownontheseabed,istheLayAzimuthvaluespecifiedcorrectly?Itistheazimuthdirection
leadingawayfromEndBanditiseasytogetitwrongby180.
x Isthelinebuoyant,eitherdeliberatelyorbymistake.Thecatenarycalculationhasproblemswithfloatinglines
youmayneedtousetheSplinestaticsmethodinstead.
x Does the line have a surface-piercing buoyant clump attached? If the clump is short then the catenary
calculationismoredifficult.
Ifthecalculationstillfailstoconverge,thenitissometimespossibletoobtainconvergencebychangingoneormore
oftheconvergenceparameters,asoutlinedbelow.
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MaxIterations
The maximum number of iterations that OrcaFlex will make before treating the calculation as having failed to
converge.Increasingthisvaluecansometimeshelp.
Tolerance
The non-dimensional accuracy to which the calculation is done, before the calculation is treated as having
converged.Increasingthetoleranceincreasesthechancesofconvergencebutreducestheaccuracy.
MinDamping
The minimum damping factor to be used in the calculation. Convergence can sometimes be achieved by increasing
thisparametertoavaluegreaterthan1tryvaluesintherange1.1to2.0.Theminimumdampingshouldnotbeset
tolessthan1.
Mag.ofStd.Error,Mag.ofStd.Change
Theseparameterscontrolthemaximumsizeofthechange,intheestimatedsolution,thisisallowedinasinglestep.
Reducingthesevaluescansometimeshelp,butthecalculationwillthenusuallyrequiremoreiterations.
Theremainingparametersshouldnotnormallybechanged.ForfurtherinformationcontactOrcina.
FullStaticsConvergence
The numerical method used to solve for the static position is an iterative process in which the program tries to
converge on the solution in a series of steps. This process is controlled by a number of convergence parameters,
foundontheLinedataform.
ConvergenceControlMethod
EitherLineSearchorMag.ofStd.Error/Change.Werecommendusingthedefaultvalue,LineSearch,butifthis
failsthenthealternativeMag.ofStd.Error/Changemaysucceed.
MaxIterations
The calculation is abandoned if convergence has not been achieved after this number of steps. For some difficult
casessimplyincreasingthislimitmaybeenough.
Tolerance
This controls the accuracy of the solution. The program accepts the line position as a static equilibrium position if
thelargestoutofbalanceforcecomponentonanynodeislessthanTolerance*totalweightinair.
When torsion is included the static equilibrium position must also satisfy the condition that the largest out of
balance moment component on any node is less than Tolerance * total weight in air * ODmax where ODmax is the
maximumdiameter,contactdiameter,stressdiameterornormaldragdiameterovertheentireline.
numericalprecision.
Delta
This is a perturbation size, used to calculate the Jacobian matrix for the problem. Delta should always be less than
thetolerancespecified.
Note: Thisparameterisonlyusedwhentorsionisincluded.
MinDamping,MaxDamping
Forsomecasesitisnecessarytocontroltheconvergenceprocessbydampingdown(i.e.reducing)thesteptakenat
each stage. The program includes an automatic damping system that chooses a suitable damping factor for each
iteration,buttheusercansettheminimumdampingandmaximumdampingfactorsthatareused.
Normallythedefaultvalueswillsufficebutfordifficultcasesthedefaultvaluescanbealtered.Forcasesthatappear
to make the convergence unstable (e.g. giving very bad line positions on the screen) try increasing the Min
Damping factor to a value greater than 1, say values in the range 1 to 10. You can also try increasing the Max
Dampingfactor,saytovaluesintherange10to100.
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Note: Convergencewillbeslower withlargerdampingvaluessoyoushouldusethesmallestvaluesthat
resultinstaticsconverging.
Mag.ofStd.Error,Mag.ofStd.Change
TheseparametersareonlyavailablewhentheMagofStd.Error/Changeconvergencecontrolmethodisselected.
For some cases it may be necessary to reduce one or both of these values from their defaults. Doing so is likely to
slowdowntheconvergence,butitmaybenecessaryinordertoachieveconvergence!
SplineStartingShape
ThefollowingdataisonlyusediftheSplinestaticsmethodisspecified.
Order
Thissetsthesmoothnessofthesplineshape;generallyorder3isreasonable.Ifahigherorderischosen,asmoother
curveresults.Theordercannotexceedthenumberofsplinepoints.
ControlPoints
ThelineshapeisspecifiedbyanumberofControlPoints.Thefirstandlastcontrolpointsareautomaticallyplaced
at the line ends A and B respectively and OrcaFlex generates a smooth curve between the first and last control
points and passing near to the intermediate control points. These intermediate control points may be adjusted to
'pull'thecurveintothedesiredshape.
The firstandlastcontrolpointscorrespondtoline endsAandBrespectively.Thelineisstretched tothespecified
AsLaidTensionandlaidoutfollowingthesplinecurvestartingatEndAandworkingtowardsEndB.
ForalinewithaFreeendthelineislaidoutalongthecurveuntilEndBisreached.Ifthelengtharoundthecurveis
notequaltothestretchedlinelengththentheendwilleitherfallshortoftheendEstimatedPositionorliebeyondit
(alongthecontinuationofthecurvealongits'final'direction).
ForalinewithaFixedend,Anchororattachedtosomeobjectthecurveisautomaticallyexpandedorcontractedto
allowtheendtolieatthespecifiedendposition.Anerrorisreportedifthisprocessfails.
PrescribedStartingShape
ThisdataisonlyusedifthePrescribedmethodisusedforStep1statics.ItcanbefoundinthePrescribedStarting
Shapepageonthelinedataformandcanbeeditedinseveralways:
x By editing the Length and Turn values ofa track section on the line data form. OrcaFlex then creates an arc of
the specified Length and Turn, and the X and Y coordinates of the end of this section, and all subsequent
sections,areautomaticallyadjustedtomatch.
x ByeditingtheXandYcoordinatesoftheendsofatracksectiononthelinedataform.OrcaFlexthencreatesthe
(unique)circulararc(orstraightline)thatisasmoothcontinuationoftheprevioussectionandpassesthrough
the new (X,Y) point. The Length and Turn values for this section, and the X and Y coordinates for subsequent
sections,arethenautomaticallyadjustedtomatch.
x Bydraggingtheendpointsofthetracksectionsona3Dviewusingthemouse.Thetrackandthetracksection
end points are drawn on the 3D views. Dragging a track section end point is equivalent to editing its X and Y
values,asdescribedabove.
Theindividualdataitems(seeFigure:PlanViewofExampleTrack)areasfollows:
EndAAzimuth
Theinitialdirectionofthetrack.
TrackSections
Thenumberofsectionsusedtodefinethetrack.
SectionLength
Thelengthofthecirculararc(orstraightlineifSectionTurn=0).
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SectionTurn
Theamountbywhichthetrackazimuthincreasesoverthissection.Apositivevaluedenotesaturntotheleft,when
viewed from above, and a negative value denotes a turn to the right. A value of zero can be entered to specify a
straighttracksection.
SectionRadius
The iauius of cuivatuie of the ciiculai aic The iauius equals LT wheie L is the section length anu T is the
absolute value of section turn, in degrees. For straight sections (i.e. if Section Turn = 0) the radius is reported as
Infinity.
Notes: Thisisareportedvalue,notaneditabledataitem,andishencealwaysshowningrey.
Withaprofiledorslopingseabedtheactualtrackontheseabedwillhaveaslightlydifferentradius
ofcurvatureseeLayingouttheLine.
SectionXandY
The global X and Y coordinates of the end of this track section. You can either edit these X and Y coordinates
explicitly,onthelinedataform,orelsebydraggingtheendpointona3Dview.IfyoueditXorYthenOrcaFlexfitsa
circular arc (starting at the previous section's end point) through the new end point and the Section Length and
SectionTurnareautomaticallyupdatedtomatchthisnewarc.
SectionZ
The global Z coordinate ofthe section end point on the seabed. This is a reported value, not an editable data item,
andishencealwaysshowningrey.
SectionArcLength
Thetotalarclengthtotheendofthesection.Thisisareportedvalue,notaneditabledataitem,andishencealways
showningrey.
SectionAzimuth
The azimuth direction at the end of the section. This is a reported value, not an editable data item, and is hence
alwaysshowningrey.
TrackPen
This controls how the track is drawn. You can switch between the options of drawing the track in the chosen pen
andnotdrawingitatall.
LayingouttheLine
Thetrackdatadefinesasequenceofstraightlinesandcirculararcsinthehorizontalplane,whicharethenprojected
verticallyontotheseabedtodefinethetrackitself.Theprogramthenlaysthelineoutalongthetrack,allowingfor
anyAsLaidTensionspecifiedbytheuseronthelinedataform.
Because the line is modelled as a series of straight segments, when the line is laid out along a curved track it will
repeatedly'cutcorners'andsothelengthoflinelaidalongagivencurvedtracksectionwillbeslightlyshorterthan
thelengthofthatsection.Thesizeofthisdiscrepancyreducesasmoresegmentsareused.
If End A is above the seabed then the height above the seabed varies linearly between End A and the first track
sectionpoint,reachingtheseabedattheendofthefirst tracksection.Ifthe endofthelasttracksectionisreached
beforeallthelinehasbeenlaidout,thentherestofthelineislaidoutinastraightlineinthedirectionoftheendof
thetrack.
Slopingandprofiledseabeds
Thetrackontheseabedisobtainedbyprojectingthespecifiedcirculararcsorstraightsectionsverticallydownonto
the seabed. With a horizontal seabed this vertical projection has no effect on the shape of the track. But with a
sloping seabed the vertical projection does not preserve distances and this causes some effects that users should
note:
x The section lengths and arc lengths that appear in the prescribed starting shape data table are lengths in the
horizontal plane, i.e. before projection down onto the seabed. With a sloping seabed the true section and arc
lengthsontheseabedwilldiffer,thedifferencedependingontheslopeoftheseabed.Theactualarclengthscan
beobtainedbyrunningthestaticanalysisandlookingattheFullResultstablefortheline.
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x The section radius reported in the prescribed starting shape data table is that of the circular arc in the
horizontal plane, i.e. before projection down onto the seabed. When the circular arc is projected down onto a
sloping seabed the resulting track sectionisslightly ellipticalratherthancircular,soagain theactualradiusof
curvaturewilldiffer.Theactualradiiofcurvaturecanbeobtainedbyrunningthestaticanalysisandlookingat
theFullResultstablefortheline.
UserSpecifiedStartingShape
StartingShape
TheUserSpecifiedStartingShapestaticsmethodplaceseachnodeatthepositionspecifiedinthistable.Iftorsionis
modelledthennodeorientationscanalsobespecified.
DragandWake
DragFormulation
Anumberofauthorshaveproposedformulaetomodelhowthedragforceonalinevarieswiththeincidenceangle.
OrcaFlex offers the choice of the Standard, Pode or Eames formulations. All of these use drag coefficients that are
specifiedontheLineTypesdataform.
FordetailsoftheformulationsseetheLineTheorysection.
LineWakeInterference
Toincludewakeinterferencemodellingyoumustfirstdefineoneormore wakeinterferencemodels.SeetheWake
ModelsbuttonontheLinedataform.
You must then specify which line sections to include in wake modelling, by either being included as a wake
generator (an 'upstream' section) or as a section that reacts to wake (a 'downstream' section), or both (a
downstream section that reacts to wake generated further upstream, but also generates its own wake that further
downstream sections might react to). For details see the Line Wake Interference Data on the Drag & Wake page of
theLineDataForm.
Note: Wakemodellingisonlyincludedinthestaticanalysisifthe StaticsMethodissettoWholeSystem
Statics. It is not included if the Separate Buoy and Line Statics method is specified. This is
becausewakeeffectsrequirethatthestaticpositionsofthelinesinvolvedarecalculatedtogether,
notseparately.
HowWakeEffectsAreModelled
The wakemodelsaresteadystatemodelsofwake effects.AlsoOrcaFlexdoes not modelthe effectthat waketakes
timetoconvectdownstream.OrcaFlexthereforeonlyattemptstomodelthesteadywakeeffects.
Wakeisgeneratedwhenthereisfluidvelocityrelativetotheupstreamcylinder,sobothfluidmotionandupstream
cylindermotioncancontributetothe wake.ThereforethevelocityOrcaFlexusesastheinputtothewakemodelis
thesteadyrelativevelocityVsgivenby
Vs = [undisturbed current velocity vector at upstream cylinder centre] - [any steady starting velocity
specifiedforthemodel]
The wake effects therefore do not include any effects of wave motion, or of any changes in upstream cylinder
velocityduringasimulation.
Note: OrcaFlex does not model combined wake effects. If a given 'downstream' node is in the modelled
wake of more than one 'upstream' node, then OrcaFlex chooses to apply the wake effects of the
upstream node that gives the strongest wake effect at that downstream position when the wake
effectsfromotherupstreamnodes(whichgiveweakerwakeeffectsatthatpoint)areignored.Soif
youaremodellingriserarrays,forexample,thenthewakeeffectsatanygivenpointaremodelled
as if they came from the upstream wake-generating node that gives largest wake effect in
isolation,i.e.withtheotherupstreamnodeswereabsent.
The strength of a given node's wake decays with distance downstream and also with distance in the transverse
direction,asspecifiedbythewakemodel.ButinadditionOrcaFlexalsomakesthewakestrengthdecayintheaxial
direction of the upstream line, so that the strongest wake selected comes from the upstream node that is axially
closesttothedownstreamnode.MoredetailsaregiveninthepaperbyWuetal.
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LineWakeInterferenceData
Wake modelling requires significant computation, so to avoid slowing simulations unnecessarily OrcaFlex enables
you to only include wake modelling for sections of line where you think wake effects might be significant. This is
doneontheDrag&Wakepageofthelinedataform,byspecifyingwhichlinesectionsgeneratemodelledwake(the
'upstream'sections)andwhichlinesectionsreacttomodelledwake(the'downstream'sections).
The fluid forces applied to sections that react to modelled wake will include the strongest wake effect from the
sections that generate modelled wake. The following two data items specify which sections generate and/or react
towake:
WakeGenerated
This can be set to one of the defined wake models, in which case OrcaFlex will model wake generated by that line
sectionactingasan'upstream'line.Oritcanbesetto None,inwhichcaseOrcaFlexwillnotmodelwakegenerated
bythatlinesection.
Threetypesofwakemodelareavailable.
x TheHusemodelisananalyticwakemodelthatmodelsthevelocityreductionandhencedragreductiononthe
downstreamobject,butdoesnotmodelthewakelifteffect.
x The Blevins model is an analytic model that models the both the drag reduction and the wake lift force that
tendstodrawthedownstreamobjectintothecentreofthewake.
x TheUserSpecifiedmodelallowsyoutomodelboththedragreductionandwakelifteffectusingyourowndata,
byspecifyingthe dragand wakeliftcoefficientsasafunction ofthepositionofthedownstreamobject relative
tothewakeoftheupstreamobject.
SeetheWakeModelssectionfordetails.
ReactstoWake
If Reacts to Wake is turned on then each node in the section will act as a 'downstream' cylinder in the wake
modelling. Those nodes will then be subject to the strongest wake effects (i.e. strongest at that downstream
position) from any upstream node that generate modelled wake. Sections with Reacts to Wake turned off will
ignoreanymodelledwakegeneratedbyupstreamsections.
So to summarise, the wake modelling will include the strongest wake effects on downstream sections that have
ReactstoWaketurnedon,duetomodelledwakefromupstreamnodeswithWakeGeneratedsettoawakemodel.
Note: Alinesectionisallowedtobebotha'downstream'section,i.e.ReactstoWakeisturnedon,andat
the same time also act as an 'upstream' section, i.e. generate modelled wake that further
downstreamlinesectionscanreactto.Howeverthewakeeffectsofsuchasectionwillbebasedon
the undisturbed steadyrelative flow velocity, so the wake effects of this wake-generating section
will not take into account any velocity reduction due to it in turn being in the wake of another
wake-generatingsectionfurtherupstream.
WakeModels
TheWakeModelDataformenablesyoutodefineoneormoremodelsofwakeinterference.Thewakeinterference
model specified determines how the flow velocity, wake drag reduction and wake lift force on a downstream
cylinder varies as a function of the (x,y) position of the downstream cylinder centre relative to the wake frame of
referenceoftheupstreamcylinder.
Youcandefinemorethanonewakemodel,forexampleifyouwanttousedifferentwakemodelstomodelthewake
generationbydifferentlines.Awakemodelthatisn'tusedbyanylineinthemodelwillbeignored,soyoucandefine
wakemodelsandthendecidelaterwhich(ifany)tousetomodelwakegeneration.
Wakeframeofreference
Thewakemodellingisdonerelativetoawakeframeofreferencethatisbasedonthe steadyrelativefluidvelocity
vectorVsattheupstreamcylinder,andisgivenby:
x Thewakeframeoriginisattheupstreamcylindercentre.
x Thewakeframex-axisisinthedirectionofthesteadyrelativefluidvelocityvectorVs.
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x Thewakeframez-directionisthedirectionobtainedbyprojectingtheupstreamcylinderaxialdirectionnormal
toVs.ItisthereforethedirectionnormaltoVsandintheplaneformedbytheVsandthecylinderaxialdirection.
The+vewakez-directionistowardsendBoftheupstreamline.
x The wake frame y-axis is the direction that completes the orthogonal right-hand triad of wake axes x,y,z. It is
thereforenormaltotheplaneformedbyVsandthecylinderaxialdirection.
The wakemodeltheory belowusesthefollowingkeyvariables.Uppercasesubscript'D'denotes'drag',lower case
subscripts'u'and'd'denote'upstream'and'downstream',andsubscript'0'denotes'undisturbed',i.e.ignoringany
wakeeffects.
Vd(x,y) is the disturbed fluid velocity vector at downstream position (x,y) relative to the upstream cylinder
wake,allowingforwakeeffects.
Vd0(x,y)istheundisturbedfluidvelocityvectoratposition(x,y).
Vu0istheundisturbedfluidvelocityattheupstreamcylindercentre.
Du, Dd and CDu0, CDd0 are the normal drag diameter and undisturbed drag coefficient of the upstream and
downstream cylinders, respectively, as specified on the line type data form. Note that the wake modelling
doesnotallowforanynon-isotropicaspectsofthedrag coefficients.Ifdifferentdragcoefficientshavebeen
specifiedforthelinex-andy-directionsthenthewakemodellingusesthemeanofthetwovalues.
WakeModelData
Each wake model is given a user-specified Name. And each model can be one ofthree types: Huse model, Blevins
modelorUser-Specifiedmodel,asdescribedbelow.
HuseModel
This is an analytic model proposed by Huse (1993). It models the wake velocity reduction, and hence drag
reduction,butdoesnotgiveanywakeliftforce.
IntheHusemodelthewakefluidflowvelocityVd(x,y)atagivenposition(x,y)inthewakeisgivenby:
Vd(x,y)=Vd0(x,y)-k2Vu0[CduDu/xs]
exp[-k3(y/b)
2
]
where
xs=x+4Du/Cdu
b=k1[CduDuxs]
andtheothertermsaredefinedabove.
k1, k2 and k3 are user-editable non-dimensional model parameters. They should normally be left as the default
values,sincethese givethe originalHusemodel.(Notethattheparameterk3is mis-printedin Huse, 1993as0.639
andwascorrectedinalaterpaperto0.693.)Changingthesemodelparametersfromtheirdefaultvalueswillgivea
variantoftheHusemodel.
Blevinsmodel
TheBlevinsmodelisananalyticmodelthatmodelsvelocityanddragreduction,andalsomodelsthewakeliftforce
that tends to draw the downstream object into the centre of the wake. See the Appendix of Blevins OMAE 2005
paperforthetheoryofthemodel.
Themodelhas3non-dimensionalmodelparametersa1,a2,a3thatareuser-editable.Theyshouldnormallybeleftas
thedefaultvalues,sincethesearethevaluesgivenbyBlevins.Changingthesemodelparametersfromtheirdefault
valueswillgiveavariantoftheBlevinsmodel.
UserSpecifiedmodel
Thisoptionallowsyoutodefineamodel(ofboth wakedrag reductionandwakelifteffect) byspecifyingdrag and
lift coefficient factors as a function of the position of the downstream object relative to the wake of the upstream
object.
The wake effects are specified by giving a table of wake drag and lift coefficient factors for the downstream
cylinder,asafunctionofthedownstreamcylinderpositionrelativetotheupstreamcylinderwake,asfollows.See
abovefornotation.
x The Position columns of the table define, in non-dimensional form, a number of downstream cylinder centre
positions relative to the upstream cylinder wake frame of reference. This is done by specifying non-
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dimensionaliseddistancesL/Du(downstream)andT/Du(transverse)fromtheupstreamcylindercentretothe
downstreamcylindercentre,whereDuisthenormaldragdiameteroftheupstreamcylinder.
x The Coefficient Factor columns of the table define the wake effects at the given (L/Du, T/Du) positions, by
specifying drag and lift coefficient factors. Note that these data are scaling factors, not the drag and lift
coefficientsthemselves.Thedragfactorsarenon-negativescalingfactorsthatareappliedtothereferencedrag
coefficientCDd0thatisspecifiedonthe linetype dataform.Theliftcoefficientfactorsaresignedscalingfactors
thatareappliedtotheReferenceWakeLiftCoefficientCLd0,whichisspecifiedonthewakemodelsdataform.
A+veliftcoefficientfactormeansaliftforceinthe+vewakeframey-direction,sotheliftcoefficientfactorata
givenT/Dupositionwillnormallyhavetheoppositesigntothe T/Duvalue,sincewakelifteffectsarenormally
towardsthecentrelineofthewake.
Wakedrageffectsarenormallysymmetric,andwakelifteffectsanti-symmetric,eithersideofthewakecentreline.
Sotoavoidtheneedtospecifyinthetableboth+veand -vevaluesofT/DuyoucantellOrcaFlextoReflectData.In
thiscaseyoumustonlyspecifytablerowsforonehalfofthewakeplane,i.e.eitherforT/Du>=0only,orforT/Du<=
0 only. For a wake frame position (x,y) that is on the other side of the wake centre line OrcaFlex will then
automatically use the drag and lift coefficient factors defined for the symmetric position (x,-y), but with the lift
coefficientfactornegated.
OrcaFlex uses linear triangular interpolation to obtain the drag and lift coefficient factors to use for wake frame
positionsbetweenthosespecifiedinthetable.
Results
LogResults
ThisoptionischeckedbydefaultandthismeansthatsimulationresultsatallpointsontheLineareavailable.Ifthis
optionisuncheckedthennosimulationresultsareavailableforthisLine.
OrcaFlexstoressimulationresultsinan efficientway,onlyloggingaminimalsetof variablestothesimulationfile.
Other results variables which have not been logged are then derived when the results are requested. Usually this
meansthatsimulationfilesareareasonablesizeandwerecommendthatthisvalueischecked.
Should you need to reduce the size of simulation files then this option can be unchecked for those lines for which
youdonotneedresults.
Arclengthaxis,Arclengthaxisinverted,Valueaxisinverted
Thesedataitemsallowyoucustomisethewayrangegraphsaredisplayed.TheArclengthaxissettingallowsyouto
control whether the arc length axis is horizontal or vertical. The latter option would typically be used for vertical
risers.
NormallytheaxesonanOrcaFlexgraphdisplayincreasingvaluestotheright(forahorizontalaxis)orupwards(for
a vertical axis). The axis inverted options allow you to reverse the axes. Again this would typically be used for
verticalriserstoarrangethatupanddownonthearclengthaxisofthegraphmatchedupanddowninthephysical
systembeingmodelled.
Since changes to these settings are usually motivated by the physical layout of the line in question, each line in an
OrcaFlexmodelhasitsowncopiesofthesesettings.
Thesedataitemscanalsobesetontheresultsform.
Drawing
Nodes
You can define the colour, line style and thickness ofthe pens used for drawing the nodes and sections of the line.
SeeHowObjectsAreDrawn.Youcanalsochoosetodrawnodesascirculardiscswithdiameterequaltothe contact
diameter.
Segments
Thereisachoiceforwhich penisusedtodrawthesegments.Youmayeitherspecifythepenexplicitlyonthe Line
Data form, in which case it will be used for all segments of that line. This allows you to use different pens to
distinguishbetweendifferentlines.Alternatively,youcanchoosetohavethesegmentsdrawnusingtheappropriate
Line Type Pen defined on the Line Types form. This allows you to use different pens to distinguish sections of
differentlinetypes.
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Nodeaxes
Nodeaxisdirections(x,y,z)canbegivenindividualcolours.Thishelpsdistinguishbetweenxandydirectionsthus
makingcomponentresultseasiertointerpret.Thenodeaxesdirectionsaredrawnoptionallyandcanbecontrolled
bytheDrawNodeAxespreferenceorbypressingCTRL+ALT+Y.
Contact
Youcandefineacontactpenwhichisusedwhendrawingnodesandsegmentswhichareincontactwiththeseabed,
elasticsolidsandotherlines.Shouldyouwishyoucanchoosetodisablethecontactdrawing.
PrescribedStaticsMethod(Track)
For Lines with Prescribed Statics Method you can control how the track is drawn. You can switch between the
optionsofdrawingthetrackinthechosenpenandnotdrawingitatall.
SplineStartingShape
FortheSplineStartingShapeyoucanswitchbetweentheoptionsofdrawingtheunscaledsplineinthechosenpen
andnotdrawingitatall.
VIVDrawing
TheVIVDrawingpageisvisiblewhenatimedomainVIVmodelisused.FordetailsseetheVIVDrawingtopic.
PropertiesReport
TheLinepropertiesreportisavailablefromthepopup-menuonthedataform.Itreportsthefollowing:
Totallength
Thesumofallthesectionlengths.
Totalweightinair
Theforceduetogravityoftheentireline.Thecontentsareincludedbuttheweightofanyattachmentsisexcluded.
Totaldisplacement
The weight of water displaced by the entire line's volume. The displacement of any attachments is excluded. The
reportedvalueusesthewaterdensityattheseasurface.
Totalweightinwater
EqualsTotallineweightinair-Totallinedisplacement.
FullStaticsforceaccuracy,FullStaticsmomentaccuracy
Full Statics force accuracy is only reported if the line uses the Full Statics method. Full Statics moment accuracy is
onlyreportedifthelineusestheFullStaticsmethodandtorsionisincluded.
The Full Statics method finds an equilibrium configuration that is a set of node positions for which the resultant
force and moment on each node is zero. We refer to the resultant force and moment as the out of balance load.
Because computers have limited numerical precision the static analysis cannot always find a configuration where
theoutofbalanceloadisexactlyzero.OrcaFlexacceptsapositionasastaticequilibriumpositionifthelargestoutof
balanceloadcomponentislessthanthestaticsaccuracy.
The Full Statics force accuracy equals Tolerance * line typical force and the Full Statics moment accuracy equals
Tolerance * line typical moment. The line typical force is defined to be the total weight in air. The line typical
momentisdefinedtobetotalweightinair*totallength.
numericalprecision.
6.8.2 LineTypes
Data
TheLineTypesformdefinesthepropertiesofanumberofnamedlinetypes,whichcanthenbeusedtospecifythe
structureoftheLinesusedinthemodel.
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ThelinetypesformmustincludeallthelinetypesreferredtoonalloftheLinesforms,butitcanalsoincludeother
line types that are not currently in use in the model. This allows you to build up a library of standard line types
whichcanthenbeeasilyusedwhenbuildingLines.
There isnotenough roomonthescreentoshowallthe propertiesofallthelinetypes,soOrcaFlexoffersdifferent
viewmodes:
x Individualmodeshowsonelinetypeatatime,butshowsyouallitsproperties.
x Allmodeshowsallthelinetypes,butdifferenttypesofpropertiesareshownindifferenttables.
x CodeChecksmodeshowsdatausedforpost-processingcodechecks.
x External Function Parameters mode shows the data used by any external functions referenced by the Line
Type.
The Line Type Wizard is available to help set up line type data to represent commonly used structures such as
chains,ropesetc.
LineTypeName
UsedtorefertotheLineType.
Category
Canbeeither:
x HomogeneousPipe:Thisoptionisappropriateforapipeconstructedfromasinglehomogeneousmaterial,for
exampleametalriser,orwhenmodellingstressjointsandbendstiffeners.Thepipe'sstructuralpropertiesare
definedbyspecifyingYoung'smodulus,materialdensityandpipediameters.When modelling stressjointsand
bendstiffenerstheouterdiametercanbespecifiedasvaryingwitharclength.
x General: This option is used in all other situations. The axial, bending and torsional stiffnesses are directly
input instead of being calculated from E. Similarly the mass is specified as mass per unit length as opposed to
being calculated from a material density. This approach allows analysis of flexible risers, umbilicals, hoses,
mooringchains,ropes,wires,bundles,seismicarrays,powercables,netsetc.
Geometry&MassData
OuterandInnerDiameter
Usedtodefinebuoyancyandmassofcontentsperunitlengthrespectively.
Thesedatacanalsobeusedforotherpurposesasfollows:
x If the Stress Diameters are set to '~' then these diameters are used for wall tension and stress results
calculations.
x IftheContactDiameterissetto'~'thentheouterdiameterisusedforcontactcalculations.
x IftheDrag/LiftDiametersaresetto'~'thentheouterdiameterisusedfordragcalculations.
Profiledlinetypes(homogeneouspipeonly)
Forhomogeneouspipestheouterdiametercanvarywitharclength.TodothisyoufirstspecifytheprofileinaLine
TypeOuterDiametervariabledatasourcewhichisthenreferencedbytheouterdiameterdataofthelinetype.
Thisfeatureisusedwhenmodellingstressjointsandbendstiffeners.Arclengthisdefinedrelativetothestartofthe
linesectionwhichusesthislinetypeandincreasesfromEndAtowardsEndB.
CGOffset
Thexandycoordinatesofthecentreofgravity(CG)relativetothecentreline.Thesedataitemsareonlyusedwhen
torsionisbeingmodelled.Notethatifthelinehas contentsthenthecontentsCGisassumedtobeatthecentreline
andisnotaffectedbythisCGOffset.
BulkModulus
Specifiesthecompressibilityofthelinetype.Ifthelinetypeisnotsignificantlycompressible,thentheBulkModulus
canbesettoInfinity,whichmeansincompressible.SeeBuoyancyVariation.
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MaterialDensity(homogeneouspipeonly)
Thedensityofthematerial.
MassperUnitLength
The mass of the line or pipe structure, excluding contents, per unit length. For homogeneous pipes the material
densityisusedtocalculatethestructuralmassandthereforethemassperunitlengthdataitemcannotbeedited.
Coatings&LiningsData
CoatingsandLiningsareavailableforhomogeneouspipeonly.
Theyaretypicallyusedwithsteelpipestomodeltheadditionalmassanddisplacementofconcretecoatings,plastic
linings etc. They contribute mass, weight and displacement and also modify the pipe's inner and outer diameters.
However, they contribute no additional structural strength and are assumed not to be load bearing. Stress results
arecalculatedbasedonstressdiametersequaltotheunderlyingpipediameters.
ThicknessandMaterialDensity
Thethicknessspecifiesthephysicaldimensionofthecoatingorlining.Foracoatingthebuoyancydiameter,contact
diameteranddragdiametersareallincreasedbytwicethecoatingthickness.Similarlythepipe'sinnerdiameteris
reducedbytwicetheliningthicknesswhichhastheeffectofreducingthecontentsmassandweight.
Thematerialdensityisused,togetherwiththethickness,tocalculatetheadditionalmassandweightofthecoating
orlining.
Multiplelayers
The data on the Line Type data form only allow single coating or lining layers to be specified. It is, however, also
possible to specify multiple layers of coatings or linings. To do this you define Coatings or Linings variable data
sourceswhicharethenreferencedbythethicknessdataontheLineTypedataform.
These data sources specify a list of layers defined by thickness and material density. The layers are listed in the
orderofapplication.Inotherwordsthefirstlayerisimmediatelyadjacenttothepipe,thesecondlayerisnexttothe
firstlayer,andsoon.
LimitsData
LimitCompression
The program has two modes for handling slack segments, i.e. when the distance between two adjacent nodes
becomeslessthantheoriginalunstretchedsegmentlength:
x Nomeansthatthesegmentistreatedasastrutwhichcansupportunlimitedcompression.Thisisthepreferred
modelexceptwherebendstiffnessisinsignificant.
x YesmeansthatthesegmentistreatedasanelasticEulerstrutthecompressionislimitedtothesegmentEuler
load.Thisisabettermodelforcaseswherethebendstiffnessisinsignificant,suchasforchainsandsoftropes.
The segment Eulei loau is given by
2
EI/L0
2
where EI is the bending stiffness ofthe pipe and L0 is the unstretched
lengthofthesegment.Inallcases,wheneverasegmenthasbeencompressedtoorbeyondthesegmentEulerload,
thenawarningofthisisgivenontheresultsformandinthestatisticstable.
Foritemssuchas mooringchain,the bendingstiffnessiszero,andthesegmentEulerloadisalsozero.Inthiscase
"Limit Compression" should be set to "Yes" this correctly models a chain or very flexible rope, which cannot
supportanycompression.ThesegmentEulerloadwarningisthensimplyawarningthatthelinehasgoneslack.
For a line with non-zero bend stiffness the Euler load warning is effectively a warning that the segments at that
pointaretoolongtoaccuratelymodelthebendingthatisoccurring.Effectively,bendingisoccurringatascalethat
is less than the segment length, so shorter segments are needed to model it accurately. Using shorter segments in
thatareawillgivealargersegmentEulerload,andtoobtainanaccuratesolutionyoushould,ideally,usesufficiently
short segments that the resulting segment Euler load is not reached. See Line Compression and Modelling
CompressioninFlexiblesfordetails.
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AllowableTension
The maximum permitted tension for this type of line. This value is used to draw a limit curve on Tension Range
GraphsandtocalculatetheNormalisedTension.Itdoesnotlimitthetensionachievedintheline.Ifnolimitcurveis
wantedthenyoumayinput"~".
MinimumBendRadii(MBR)
You can specify the minimum permitted radii of curvature for bending about the x and y-directions. These values
are optional they are only used to draw"allowable" curves on range graphs and in the calculation of Normalised
Curvatureresults.Theydonotlimitthebendradiusoftheline.Ifyoudonotwantthesecurvesthensetthex-radius
to"~"(meaning"notapplicable")andthey-valueto"~"(meaning"sameasx-value").
Often the radii for the x and y-directions are equal and this can be specified by setting the y-radius to "~" which
means"sameasx-radius".
Thespecifiedvaluesareusedtodraw"allowablecurvature"curvesonthexandy-Curvaturerangegraphs,andalso
(ifthexandy-minimumradiiareequal)ontheCurvaturerangegraph.Inaddition,theyareused(togetherwiththe
specified bendstiffness)to derive"allowable bend moment"curves whicharedrawnonthexandy-BendMoment
range graphs, and also (ifthe x and y-valuesare equal) ontheBendMomentrange graph. TheMBRisalsousedto
calculateNormalisedCurvature.
Notes: MBR can be specified as a variable data item defined as a table relating MBR to tension either
wall tension or effective tension can be used. A typical example of this would be a steel core
umbilical.AvariableMBRisusedsolelyinthecalculationofNormalisedCurvature.
The "allowable" curve may not be visible on the range graph, since it may be outside the range
coveredbythegraph.Toseethe"allowable"curveinthiscaseyouwillneedtomodifythegraphto
increasetherangeofvaluescovered.
StructureData
Young'sModulus(homogeneouspipeonly)
TheYoung'smodulusofthematerialwhichcanbeconstantorvariable.
x Aconstantvalueresultsinlinearmaterialproperties.
x A variable data item specifies a non-linear stress-strain relationship which results in a bending stiffness with
non-linearelasticbehaviour.Notehoweverthattheaxialandtorsionalstiffnessesarestillassumedtobelinear.
ForhomogeneouspipestheYoung'smodulusdeterminestheaxial,bendingandtorsionalstiffnesses.Thesestiffness
dataitemsarereportedonthedataform,althoughtheycannotbeedited.
BendStiffness
The bend stiffness is the slope of the bend moment-curvature curve. You can specify separate values for bending
about the x and y-directions, but often these are equal. This can be achieved by setting the y-bend stiffness to '~'
whichmeans'sameasx-bendstiffness'.
The bend stiffness specified may be zero, for example for chains. It can also be very large values, for example for
steel pipes, butthiswilloftenresultinshort naturalperiodsinthemodelandhencerequireshortsimulationtime
steps.SeeInnerandOuterTimeSteps.
Youcanspecifythebendstiffnesstobelinear,elasticnon-linear,hystereticnon-linearorexternallycalculated,
asfollows.SeeCalculatingBendMomentsforfurtherdetailsofthebendingmodelused.
LinearBendStiffness
For normal simple linear behaviour, specify the bend stiffness to be the constant slope of the bend moment-
curvature relationship. This slope is the equivalent EI value for the line, where E is Young's modulus and I is the
moment of area of the cross-section. The bend stiffness equals the bend moment required to bend the line to a
curvatureof1radianperunitlength.
Non-LinearBendStiffness
For non-linear behaviour, use variable data to specify a table of bend moment magnitude against curvature
magnitude. OrcaFlex uses linear interpolation for curvatures between those specified in the table, and linear
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extrapolationforcurvaturesbeyondthosespecifiedinthetable.Thebendmomentmustbezeroatzerocurvature.
ForhomogeneouspipesthePlasticityWizardmaybeusefultohelpsetupthetable.
Withnon-linearbendstiffnessyoumustalsospecifywhetherthehystereticbendingmodelshouldbeused.
x Non-hysteretic means that the non-linear stiffness is elastic. No hysteresis effects are included and the bend
momentmagnitudeissimplythespecifiedfunctionofthecurrentcurvaturemagnitude.
x Hystereticmeansthebendmomentincludeshysteresiseffects,sothatthebendmomentdependsonthehistory
ofcurvatureappliedaswellasonthecurrentcurvature.Alsonotethatifthehystereticmodelisusedthenthe
linemustincludetorsioneffects.
Warning: You must check that the hysteretic model is suitable for the line type being modelled. It is not
suitable for modelling rate-dependent effects. It is intended for modelling hysteresis due to
persisting effects such as yield of material or slippage of one part of a composite line structure
relativetoanotherpart.
If you use the hysteretic bending model then the simulation speed may be significantly slowed if there are a large
number of points specified in the table of bend moment against curvature. You might be able to speed up the
simulation,withoutsignificantlyaffectingaccuracy,byremovingsuperfluouspointsinareaswherethecurveisvery
closetolinear.
Inadditionhystereticbendstiffnessusuallyrequiresshortertimestepsthannon-hystereticmodelling,whenusing
implicitintegration.
Note: Ifyouareusingnon-linearbendstiffness,thenthemid-segmentcurvatureresultsreporteddepend
on whether the bend stiffness is specified to be hysteretic or not. If the bend stiffness is not
hystereticthenthemid-segmentcurvaturereportedisthecurvaturethatcorrespondstothemid-
segmentbendmoment(whichisthemeanofthebendmomentsateitherendofthesegment).Ifthe
bendstiffnessishystereticthenthemid-segmentcurvaturecannotbederivedinthisway(because
ofpossiblehysteresiseffects)sothemid-segmentcurvaturereportedisthemeanofthecurvatures
at the ends of the segment. This difference may be significant if the bend stiffness is significantly
non-linearovertherangeofcurvaturesinvolved.
Forfurtherdetailsseenon-linearbendstiffnesstheory.
TheExternalresultsdataisstillunderdevelopmentandisnotavailableforgeneraluse.
ExternallyCalculatedBendMoment
Thisoptionallowsthebendmomenttobecalculatedbyanexternalfunction.Ifthisoptionisusedthenthelinemust
include torsion effects. The external function can be written by the user or other software writers. For details see
theOrcaFlexprogramminginterface(OrcFxAPI)andtheOrcFxAPIdocumentation.
Warning: Non-linearbehaviourbreakstheassumptionsofthestressresultsandfatigueanalysisinOrcaFlex.
Youshouldthereforenotusethesefacilitieswhentherearesignificantnon-lineareffects.
AxialStiffness
The axial stiffness is the slope of the curve relating wall tension to strain. The data specifies the behaviour in the
unpressured state, i.e. atmospheric pressure inside and out. Pressure effects, including the Poisson ratio effect, are
thenallowedforbyOrcaFlex.
Youcaneitherspecifylinearornon-linearbehaviour,asfollows:
x Forasimplelinearbehaviour,specifytheaxialstiffnesstobetheconstantslopeofthelinerelatingwalltension
tostrain.ThisslopeistheequivalentEAvaluefortheline,whereEisYoung'smodulusandAisthecrosssection
area.Itequalstheforcerequiredtodoublethelengthofanygivenpieceofline,assumingperfectlylinearelastic
behaviour.(Inpractice,ofcourse,lineswouldyieldbeforesuchatensionwasreached.)
x Foranon-linearbehaviour,usevariabledatatospecifyatableofwalltensionagainstaxialstrain.OrcaFlexuses
linearinterpolationforstrainsbetweenthosespecifiedinthetable,andlinearextrapolationforstrainsbeyond
thosespecifiedinthetable.Thewalltensionisallowedtobenon-zeroatzerostrain.
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Note: Axial strain is defined to equal (L - L0) / L0, where L and L0 are the stretched and unstretched
length of a given piece of pipe. Here 'unstretched' means the length when unpressured and
unstressed. When a pipe is pressured its tension at this 'unstretched' length is often not zero
because of strains due to pressure effects. For a homogeneous pipe this can be modelled by
specifyingthePoissonratio.Foranon-homogeneouspipe(e.g.aflexible)thePoissonratiomaynot
beabletocapturethepressureeffects.
Warning: Non-linearbehaviourbreakstheassumptionsofthestressresultsandfatigueanalysis.
SeeCalculatingTensionForcesfordetailsofthetensionmodelused.
Note: If you use explicit integration for dynamic simulation then the axial stiffness specified here will
haveamajoreffectonhowlongthedynamicsimulation willtake.Thisisbecauseverylargeaxial
stiffnessvaluesleadtoverysmallnaturalperiodsforthenodes,andthisinturnrequiresverysmall
simulationtimestepswhenusingexplicitintegration.SeeInnerandOuterTimeSteps.
Fortunately, the value of axial stiffness used is often not very important, providing it is large
enoughthattheaxialstrainsproducedaresmall.Theexceptiontothisiswheresnatchloadsoccur,
since the axialstiffness directly affects the peak tension that results. It is therefore normally quite
acceptabletospecifya muchsmalleraxialstiffnessvalue thanappliestotherealline, soenabling
much faster simulations. We recommend that artificially low axial stiffness values are specified,
particularlyforearlyinvestigativesimulations.Theeffectofthiscaneasilybeinvestigatedlaterby
re-runningaselectionofimportantsimulationswiththeactualaxialstiffnessvalue.
PoissonRatio
ThisspecifiesthePoissonratioofthematerialthatmakesupthewallofthelinetype.Itisusedtomodelanylength
changesduetotheradialandcircumferentialstressescausedbycontentspressureandexternalpressure.
APoissonratioofzeromeansnosuchlengthchanges.FormetalssuchassteelortitaniumthePoissonratioisabout
0.3andforpolyethyleneabout0.4.MostmaterialshavePoissonratiobetween0.0and0.5.
Note: The Poisson ratio effect is calculated assuming that the line type is a pipe made from a
homogeneous material. It is not really applicable to complex structures such as flexibles, whose
length changes due to pressure are more complex. However for such cases an effective Poisson
ratiocouldbespecifiedasanapproximation.
TorsionalStiffness
Thetorsionalstiffnessisusedonlyiftorsionisincludedonthelinedataform.
The torsional stiffness specifies the relationship between twist and torsional moment (torque). You can specify
linearornon-linearbehaviour,asfollows:
x For a simple linear behaviour,specify the torsional stiffness to be the constant slope of the torsional moment-
twistperunitlengthrelationship.ThisslopeistheequivalentGJvaluefortheline,whereGistheshearmodulus
andJisthepolarmomentofinertia.Itequalsthetorquewhicharisesifthelineisgivenatwistof1radianper
unitlength.
x Foranon-linearbehaviour,usevariabledatatospecifyatableoftorqueagainsttwistperunitlength.OrcaFlex
useslinearinterpolationforcurvaturesbetweenthosespecifiedinthetable,andlinearextrapolationforvalues
outsidethosespecifiedinthetable.Thetorquemustbezeroatzerotwist.
SeeCalculatingTorsionMomentsfordetailsonhowthisdataisused.
Note: When defining non-linear torsional stiffness you should specify values for both positive and
negativetwistperunitlength.Thisallowsyou,forexample,tohavedifferentstiffnessesforpositive
and negative twisting. If the behaviour is mirrored for positive and negative twist then you must
specifythefullrelationshipOrcaFlexdoesnotautomaticallyreflectthedataforyou.
Warning: Non-linearbehaviourbreakstheassumptionsofthestressresultsandfatigueanalysis.
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Drag,Lift&AddedMassData
DragCoefficients
The drag coefficients for the normal (x and y) directions and axial (z) direction are specified on the line type data
form.Forthexandydirectionsthedragcoefficientscanbeoneofthefollowingoptions:
x Afixedconstantvalue.
x AvaluethatvarieswithReynoldsnumber.
x AvaluethatvarieswithHeightaboveSeabed.
x AvaluethatvarieswithbothReynoldsnumberandHeightaboveSeabed.
Oftenthecoefficientsforthexandy-directionsareequalandthiscanbespecifiedbysettingthey-coefficientto"~",
whichmeans"sameasx-coefficient".OrcaFlexalsooffersachoice(onthelinedataform)ofdifferentformulations
forhowthedragforcecomponentsvarywiththeincidenceangle.
Ifwakeinterferenceeffectsarebeingmodelledforagivenline,thenthesenormaldragcoefficientsonthelinetype
data form specify the undisturbed drag coefficient. And the drag force will be calculated using a drag coefficient
thatismodifiedfromthisvalueaccordingtothewakemodelused.
ForfurtherdetailsseetheLineTheorysection.
Typicaldragcoefficientvalues
Forcircularcylinders,thedragcoefficientfor normalflowdependson Reynolds numberReandsurfacefinish. For
valuesofRebetween2E4and3E5thedragcoefficienttakesthevalue1.2andisindependentofsurfaceroughness.
Values below this range are unlikely to occur in practice. For Reynolds numbers greater than 3E5, the drag
coefficientisstronglydependentonbothReandsurfaceroughness.
Forverysmoothcylindersthedragcoefficientfallsrapidlyto0.28ataReofabout6E5beforerecoveringtoavalue
of0.5forRevaluesabove2E6.Forroughcylinderstheeffectislessmarked,butremainssignificant.
In view of this behaviour, the use of variable data for normal drag coefficients is strongly recommended. OrcaFlex
will then use the value of drag appropriate to the instantaneous local value of Reynolds number throughout the
simulation.
The functional form of the dependence is well documented in the open literature and also in proprietary data
sources,suchasESDU80025.
Note that some of these sources take account of the effect of the amount of turbulence in the incoming flow by
defininganeffectiveReynoldsnumber.Consequently,careisneededtoensurethatthedataarepresentedinaform
thatisconsistentwiththedefinitionofReynoldsnumberusedbyOrcaFlex.
ResultsforReynoldsnumberanddragcoefficientareavailableastimehistoryresults.
The above values apply where vortex-induced vibration (VIV) is expected to be negligible. If significant VIV is
anticipated, then drag coefficients may be increased significantly. If this is the case, a more detailed VIV analysis
shouldbecarriedout.
Axial drag results from skin friction only. In subcritical flow (Re < 3.8E5), the drag coefficient for axial flow, Ct, is
0.008 for a smooth cylinder and 0.011 for a rough cylinder, based on ESDU data. At higher Re, ESDU suggest that
skinfrictionmaybeneglected,i.e.Ct=0.Inpractice,axialdragisoftennegligibleandCt=0isoftenacceptable.
LiftCoefficient
Theliftcoefficientisusedtospecifyaliftforcewhichactsinthedirectionnormaltothelineaxisandintheplaneof
thataxisandtheseabednormal.Itcanbeoneofthefollowingoptions:
x Afixedconstantvalue.
x AvaluethatvarieswithReynoldsnumber.
x AvaluethatvarieswithHeightaboveseabed.
x AvaluethatvarieswithbothReynoldsnumberandHeightaboveseabed.
ForfurtherdetailsseetheLineTheorysection.
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Drag/LiftDiameters
Theseareusedwhencalculatingdragareaandliftarea.Avalueof'~'resultsintheouterdiameterbeingused.
Note: OrcaFlexcalculatesthenormaldrag/liftareatobeDnl onJ tbe oxiol Jroq oreo to be BaLwhere
Dnisthenormaldrag/liftdiameter,DaistheaxialdragdiameterandListheelementlength.Note
that different programs handle these calculations in different ways. For example it is common for
programs to use a single drag / lift area for both normal and axial flow and in addition some
proqroms Jo not incluJe tbe foctor of in tbe oxiol Jroq oreo Becouse of tbese Jifferences you
mustbecarefulwhencomparingortransferringdatabetweendifferentprograms.
AddedMassCoefficients
TheaddedmasscoefficientsCafornormal(xandy-directions)andaxial(z-direction)flow.Oftenthecoefficientsfor
thexandy-directionsareequalandthiscanbespecifiedbysettingthey-coefficientto"~"whichmeans"sameasx-
coefficient".
Foreachflowdirection,theinertiacoefficient,Cm,isautomaticallysettoequal1+Ca.SeeAddedMassfordetails.
ContactData
ContactDiameter
Contact between lines and the seabed, elastic solids or other lines accounts for the diameter ofthe line. This value
specifiesthediametertobeused.Ifavalueof'~'isspecifiedthenthelineouterdiameterisused.
This value is also used in the calculation of Line Contact Clearance results and as the drawing diameter for shaded
graphicsviews.
ContactStiffnessandDamping
Thestiffnessanddampingvaluesusedbytheclashingalgorithm.SeeLineClashing.
Dampingisalwayszerowhenusingtheimplicitintegrationscheme.
StressData
StressOuterandInnerDiameter
The stress diameters are the inside and outside diameters of the load-bearing cylinder. They are used in the wall
tensionandstressresultscalculations,whicharebasedontheassumption thatthe loadsinthelinearetaken bya
simple homogeneous cylinder. For simple cases, the stress diameters can be set to '~', in which case they will be
takentobethesameasthe pipediameters.Formorecomplexcases, forexample wherethepipeoutside diameter
allows for added buoyancy modules that are not load bearing, the stress diameters can be set separately. See Line
ResultsForces.
AllowableStress
The maximum allowable stress for this type of line. This value is only used to draw a limit curve on Stress Range
Graphs; it does not limit the stress achieved in the line. If no limit curve is wanted then you may input the tilde
character"~"(meaningnotapplicable)insteadofanumber.
StressLoadingFactors
These are used to specify what proportion of the loads (tension, bend moment, shear and torque) are to be used
when calculating wall tension and stress results. The effective tension, bend moment, shear force and torque are
multiplied by the appropriate stress loading factor when they are used to calculate the wall tension and stress
results.
Formanycases,e.g.whenmodellingasimplehomogeneouspipethatcarriesalltheloads,theseloadfactorsshould
besetto1,thedefaultvalue.
Insomecases,valueslessthan1 maybesuitable.Forexample,consideracase wherethelinemodelsacomposite
structurethatconsistsofamaincarrierpipeandanexternalpiggybackpipe.Youmight estimatethatthemainpipe
takesallofthetensileandtorsionalloads,butonlycarries70%ofthebendingloads,theother30%beingtakenby
the piggyback pipe. Then to obtain stress estimates for the main pipe you could set the Stress Outer and Inner
Diametersto'~'andsetthebendingandshearstressloadingfactorsto0.7.
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Note: The Allowable Stress and Stress Loading Factors onlyaffect the wall tension results, stress results
and fatigue analyses. These results are derived after the simulation has run, and because of this
OrcaFlexallowsthesedataitemstobemodifiedafterasimulationhasbeenrun.
FrictionData
SeabedFrictionCoefficients
OrcaFlex applies Coulomb friction between the line and the seabeu The fiiction foice applieu nevei exceeus R
wheie R is the seabeu ieaction foice anu is the fiiction coefficient
Lines lying on the seabed often move axially more readily than they move laterally. To enable this effect to be
modelled, you can specify uiffeient fiiction coefficients foi motion noimal ie lateial anu axial to the line Foi
inteimeuiate uiiections of motion 0icaFlex inteipolates between these two values to obtain the fiiction coefficient
touse.Iftheaxialfrictioncoefficientis set to then the noimal fiiction coefficient is useu foi foi all uiiections of
motion.Thisprovidesaconvenientwayofusingthesamefrictioncoefficientforalldirectionsofmotion.
SeeFrictionTheoryforfurtherdetailsofthefrictionmodelused.
Note: The friction coefficient for contact with elastic solids is specified on the Solid Friction Coefficients
dataform.
Typicalvalues
Publisheddataaresparse.SomeinformationisgiveninPuech(1984)andTaylorandValent(1984).Bothreferences
distinguish between sliding friction and starting friction: starting friction is greater to represent the "breakout"
force.OrcaFlexdoesnotdrawthisdistinction.Inmostcases,theslidingfrictioncoefficientshouldbeused;thiswill
usuallybeconservative.Bothreferencesarewritteninthecontextofthecontributionofchainsandcablestoanchor
holdingpower,soweassumethefrictionvaluesgivenareaxial.Transversevalueswillbegreater,perhapsby50%
to100%.
ThevaluesgivenbelowarerecommendationsfromTaylorandValent.
Linetype SeabedType StartingFriction
Coefficient
SlidingFriction
Coefficient
Chain Sand 0.98 0.74
Mudwithsand 0.92 0.69
Mud/clay 0.90 0.56
Wirerope Sand 0.98 0.25
Mudwithsand 0.69 0.23
Mud/clay 0.45 0.18
StructuralDampingData
RayleighDampingCoefficients
A named Rayleigh Damping Coefficient data set. This data item can be set to "(no damping)", in which case no
RayleighdampingwillbeappliedforthisLineType.
Thisdataisonlyavailablewhenusingtheimplicitintegrationscheme.
CodeChecksData
ThecodecheckdatacanbefoundbysettingtheLineTypeviewmodetoCodeCheck.
APIRP2RD
DatausedfortheAPIRP2RDstresscalculation.
DesigncasefactorCf
SeeAPIRP2RD,section4.4,table2andsection5.2.3.1.
Thisvalueisapropertyoftheentiremodel.TomodifyitusingbatchscriptyoumustfirstselecttheGeneralobject.
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Minimumwallthickness
The minimum wall thickness, denoted tmin in API RP2RD, section 5.2.4.4. A value of '~' results in the nominal wall
thickness,(OD-ID)/2,beingused.
SMYS
Thematerialminimumyieldstrength(SMYS),denoteu yinAPIRP2RD,section5.2.3.1.
DrawingData
Pen
Definesthecolour,linestyleandthicknessofthe penusedfordrawingthislinetype. See HowObjectsAre Drawn.
For each line there is a choice, on the Line Data form, of whether to draw the sections of the line using these Line
Typespens,orwhethertodefineaspecificpentouseforallthesectionsoftheline.
ExternalFunctions
Parameters
externalfunctionusedbytheLineType.
PlasticityWizard
OrcaFlexallowsyoutospecifynon-linearbendstiffnessforLineTypes.Thedataisgivenasatableofbendmoment
against curvature. If you are modelling a uniform, homogeneous pipe you can use the Plasticity Wizard to create
thistable.
Onceyouhaveenteredtheappropriatedataasdescribedbelow,clicktheCalculatebuttonandthecurvature/bend
moment relationship is generated. The Bend Stiffness variable data source that is created is initialised to be
hysteretic.
ThePlasticityWizardisopenedbyclickingthe"PlasticityWizard"buttonontheVariableDataform.
Note: Before you can open the Plasticity Wizard you must have created and selected a Bend Stiffness
variabledatasource.
PlasticityWizardData
ThePlasticityWizardrequiresthefollowingdata:
StressDiameters
Theinsideandoutsidediametersoftheload-bearingcylinder.
DirectTensileStrain
The Plasticity Wizard calculates bend moment curvature relationship by integrating the stress profile across the
pipe cross-section. This calculation requires a direct tensile strain to be specified this data item serves that
purpose.
Stress-Strainrelationship
The relationship between stress and strain can be specified by either Ramberg-Osgood curve or Stress-Strain
table.
MaterialE,RP y),K,n(Ramberg-Osgoodcurveonly)
These uata uefine the ielationship between stiess anu stiain in teims of a Rambeig-Osgoodcurveasfollows:
E Ky)
n
.
The iefeience stiess paiametei is usually taken to be the yielu stiess which is why it is uenoteu yhere.Notethat
thereisanalternativeparameterisation oftheRamberg-Osgood equation.Itisstraightforwardtoconvert between
the two forms of the equation but please take care to ensure that the data you input correspond to the
parameterisationusedbyOrcaFlex.
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Stress,Strain(Stress-Straintableonly)
This table directly specifies the relationship between stress and strain. The table is interpolated linearly and for
valuesofstrainoutsidethetablelinearextrapolationwillbeused.
Maximumcurvatureforderiveddatasource
TheBendStiffnessvariabledatasourceisdefinedforcurvaturevaluesbetween0andCmax max/RowhereRoisthe
radiustotheouterfibre.TheouterfibrestraincorrespondingtoCmaxis uenoteu maxandisdefinedasfollows:
x For a Ramberg-0sgoou cuive max = max{0.05, y So the value useu foi max will be 5 times the strain
correspondingtothereferencestressor5%,whicheverislarger.
x ForaStress-Stiain table maxissimplythelargestvalueofstrainspecifiedinthetable.
PropertiesReport
TheLineTypepropertiesreportisavailablefromthepopup-menuonthedataform.Itreportsthefollowing:
Weightinair
Theforceduetogravityactingonthelinetype'smass.
Displacement
The weight of water displaced by the line type's volume. The reported value uses the water density at the sea
surface.
Weightinwater
EqualsWeightinair-Displacement.
Diam/WtRatio
EqualsOuterDiameter/Weightinwater.
Note: For Line Types that have a non-zero bore you must specify the contents density to be used in the
calculationoftheaboveproperties,sincethiswillaffectthepropertiesthatinvolveweight.
Usedin,ContentsDensity
Thenamesandcontentsdensitiesofeachlinethatusesthatlinetype.
6.8.3 Attachments
AttachmentTypes
TheAttachmentTypesformdefinesthepropertiesofanumberofnamedattachmenttypes. Attachmentswiththese
properties can then be connected to lines. Attachment Types can be either Clump Types, Drag Chain Types, Flex
JointTypesorStiffenerTypes.
TheattachmenttypesformmustincludealltheattachmenttypesreferredtoonalloftheLinesdataforms,butitcan
alsoincludeotherattachmenttypesthatarenotcurrentlyinuseinthemodel.Thisallowsyoutobuildupa library
ofstandardattachmenttypesthatcanthenbeeasilyusedwhenbuildingLines.
Clumps
AclumpisaconcentratedattachmentthatisconnectedtoanodeonaLine.Itcanbebuoyantorheavyandisasmall
body that experiences forces (weight, buoyancy, drag etc.) exactly as for a 3D Buoy. But instead of being free to
move it is constrained to move with the node and the forces acting on it are transferred to that node. A clump
thereforeaddstothemass,buoyancyandhydrodynamicforceofthenodetowhichitisattached.
Clumpsonlyhave3degreesoffreedomX,YandZwhicharedeterminedbythepositionofthenodetowhichthey
are attached. Clumps can be aligned with the global axes directions or alternatively they can be aligned with the
nodetowhichtheyareattached.
Each clump is assigned a height and an offset from the node which are used to determine the Z coordinate of the
clumpforthepurposesofevaluatingbuoyancyandhydrodynamicforces:nomomentisappliedtothenodeby the
clump.Wheretheclumppiercesthewatersurface,buoyancyandhydrodynamicforcesareappliedinproportionto
theimmersedlengthoftheclump.
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Eachclumpisofanamedclumptype,fromwhichitinheritsallitsproperties.Theclumptypesarespecifiedonthe
AttachmentTypesformandhavethefollowingdata.
ClumpTypeName
UsedtorefertotheClumpType.
Mass
Massorweightinair.
Volume
Usedtocalculatebuoyancyandaddedmassforeachclumpofthistypeonaline.Clumpsmaybeeithernetbuoyant
orheavyasdesired.
Height
Usedfordrawingtheclumpandalsotodeterminehowmuchoftheclumpisbelowthewatersurface.
Iftheclumpisalignedwithglobalaxesthenitiscentredatthe Offsetpositionabovethenode,andextendsforhalf
itsHeightaboveandbelowthispoint.
IftheclumpisalignedwithLineaxesthenitiscentredatthenode,andextendsforhalfits Heighteithersideofthis
pointinthenode'saxialdirection.
Offset
Aclumpmaybeoffsetverticallyfromtheline,forexampletorepresentalinesupportedbelowthesurfacebyfloats.
The connection is not modelled fully: the clump is always treated as being at the specified offset vertically above
(offsetpositive)orbelow(offsetnegative)thenodetowhichitisattached.
IftheclumpisalignedwithLineaxesthentheclumpoffsetisforcedtobezero.
Alignwith
DetermineswhethertheclumpisalignedwithGlobalAxesorLineAxes.
Thissettingdeterminestheclump'slocaldirections.Ifitisalignedwithglobalaxesthentheclump'slocaldirections
arethesameastheglobalaxissystem.IfitisalignedwithLineaxesthenitslocaldirectionsarethesameasthenode
towhichitisconnected.
Drag
Dragforcesarecalculatedinclumplocaldirectionsforeachclumponaline.
dragforce=PW..WaterDensity.(velocity)
2
.Cd.DragArea
where
CdisDragCoefficientasspecifiedhere,
DragAreaisspecifiedhere,
velocityisthevelocityofthefluidrelativetotheclumpintheappropriatedirection.
Addedmassinclumplocaldirectionsisgivenby
Addedmass=PW.Ca.WaterDensity.Volume
where
CaistheAddedMassCoefficientasspecifiedhere.
Pen
Definesthecolour,linestyleandthicknessofthepenusedfordrawingthisclumptype.SeeHowObjectsAreDrawn.
ClumpTypePropertiesReport
TheClumpTypespropertiesreportisavailablefromthepopup-menuonthedataform.Itreportsthefollowing:
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Weightinair
Theforceduetogravityactingontheclump'smass.
Displacement
Theweightofwaterdisplacedbytheclump'svolume.Thereportedvalueusesthewaterdensityattheseasurface.
Weightinwater
DragChains
Drag chains are attachments to a line that model straight chains that hang down from the line. They apply weight,
buoyancy and drag forces to the node to which they are attached, but not any added mass effects. For details see
DragChainTheory.
Drag chains include two facilities that can be important in modelling towed systems. Firstly, the chain's drag
coefficients can vary with the incidence angle of the relative flow; this enables modelling the effect that as the
relativeflowincreasesthechainhangsatagreaterangletotheverticalandsofluiddraggeneratesmorelift,which
isappliedtotheline.Secondly,dragchainsinteractwiththeseabed(inasimplemanner);ifthenodecomescloser
totheseabedthanthechainlength,thentheseabedprovidesasupportingreactionforceandafrictionforce,bothof
whichareappliedtothenode.
Each drag chain is of a named drag chain type, from which it inherits all its properties. The drag chain types are
specifiedontheAttachmentTypesformandhavethefollowingdata.
Name
UsedtorefertotheDragChainType.
Length
Lengthofthedragchain.
EffectiveDiameter
Effectivediameterofthe dragchain.Thisisthediameter ofthecylinderthathasthesamedisplaced massperunit
length.
Mass
Massperunitlength.Massisassumedtobeuniformlydistributedalongthelengthofthedragchain.
FrictionCoefficient
Coefficientoffrictionforcontactwiththeseabed.Thiscoefficientisusedforalldirectionsoffriction.Thevaluecan
besetto'~',inwhichcasethedragchainwillinsteadusethe axialfrictioncoefficientofthenodetowhichthedrag
chainisattached.
Drawing
Definesthecolour,linestyleandthicknessofthepenusedfordrawingdragchainsofthistype.See HowObjectsAre
Drawn.
DragCoefficients
The fluid drag forces on the chain are specified by giving a table of the normal and axial drag coefficients, as a
function of the inciuence angle between the ielative velocity vectoi anu the uiag chain So =0 means flow
axially along the uiag chain anu =90meansflownormaltothedragchain.
Coefficients are specified for a range of incidence angles between 0 and 90 and linear interpolation is used to
obtaincoefficientsforintermediateangles.TheGraphbuttonshowstheresultingcoefficientvariation.Symmetryis
usedtoobtaincoefficientsforanglesoutsidetherange0to90.
Note: To be reolistic tbe normol Jroq force sboulJ increose monotonicolly os tbe inciJence onqle
increases from 0 to 90. This turns out to require that the gradient of the normal drag coefficient
curve CJn sboulJ be qreoter tbon -CJn ton for oll 0rcoIlex worns if tbe Jroq
coefficientdatadoesnotsatisfythis.
SeeDragChainTheoryforfurtherdetails.
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DragChainTypePropertiesReport
TheDragChainTypespropertiesreportisavailablefromthepopup-menuonthedataform.Itreportsthefollowing:
Length,Diameter
Thedataasspecifiedonthedataform.
TotalMass
ThetotalmassofthedragchaingivenbyLengthMassperunitLength.
Totalweightinair
EqualsTotalMassg.
Totaldisplacement
The weight of the volume of fluiu uisplaceu by the uiag chain The volume is given by Length B
2
/4whereDisthe
effectivediameterasspecifiedonthedataform.
Totalwetweight
EqualsTotalweightinair-Totaldisplacement.
FlexJoints
Flex joints are attachments to a line that add additional bending stiffness to a particular node (specified by the
attachment's z-position). This additional local stiffness acts in series with the stiffness of the underlying line type
bendstiffness.If,forexample,yousetthestiffnessfortheflexjointtozero,thenyoueffectivelymakethatnodepin-
jointed.
Each flex joint has properties determined by a named Flex Joint Type. The Flex Joint Types are specified on the
AttachmentTypesformandhavethefollowingdata:
Name
UsedtorefertotheFlexJointType.
BendStiffness
Specifies the bend stiffness of the Flex Joint Type. You can specify separate values for bending about the x and y-
directions.Ay-bendstiffnessvalueof'~'isinterpretedas'sameasx-bendstiffness'.
Similarlytolineendconnectionstiffnessthebendstiffnessisspecifiedintermsofmomentperdegreeofdeflection.
Drawing
Definesthecolour,linestyleandthicknessofthepenusedfordrawingflexjointsofthistype.See HowObjectsAre
Drawn.
Stiffeners
Stiffeners are attachments to a line intended for use modelling bend stiffeners. Each stiffener has properties
determined by a named Stiffener Type. The Stiffener Types are specified on the Attachment Types form and have
thefollowingdata:
Name
UsedtorefertotheStiffenerType.
LineType
Determinesthephysicalpropertiesofthestiffener.Usuallythiswillbeaprofiledhomogeneouspipe.
Because the stiffener properties are included in addition to the protected line properties this line type should just
specifythepropertiesofthestiffener.
Length
Definesthelengthofthestiffener.Ifthelinetypeisprofiledthenthelengthisdeterminedbytheprofiledataandso
cannotbeeditedhere.
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ConnectionArcLength,Relativeto
Definesthepointonthestiffenerwhichcorrespondstotheprotectedlineattachmentposition.Thiscorrespondence
isillustratedinthefollowingtablewhichassumesastiffenerlengthof10:
Protectedline
attachment
arclength
Stiffener
connection
arclength
Protectedline
protectedarclength
range
0 0 0-10
5 0 5-15
10 5 5-15
50 10 40-50
ForabendstiffeneratEndAofalinetheconnectionarclengthwouldsetto0relativetoEndA.Similarlyforabend
stiffeneratEndBofalinetheconnectionarclengthwouldsetto0relativetoEndB.
Axialload/inertiatransfer
Specifieshowtheaxialloadsandaxialinertiaaretransferredfromthestiffenertotheprotectedline.
Ifatconnectionpointisspecifiedthentheaxialloadsandaxialinertiafortheentirestiffenerlinearetransferredto
the protected line at the connection point. This option is suitable when you wish to neglect the axial effects of
frictionduetocontactbetweenprotectedlineandstiffener.
Ifoverfulllengthisspecifiedthentheaxialloadsandaxialinertiaaretransferredandsharedacrossthefulllength
ofthe stiffener. If the contact friction means that the protected line effectively carries the axial loadsand inertia of
thestiffenerthenthisoptionshouldbeused.
Forastiffenerwhichisconnectedtotheprotectedlinebymeansofafulllengthfrictiongrip,e.g.aCumberlandGrip,
thenyoushouldusetheoverthefulllengthoptionforaxialload/inertiatransfer.
MoretechnicaldetailsofhowthisdataitemisusedaregiveninModellingBendStiffeners.
6.8.4 RayleighDamping
Rayleigh damping is used to model structural damping for Lines and is only available when using the implicit
integrationscheme.
ClassicalRayleighdamping
ClassicalRayleighdampingusesasystemdampingmatrixCdefinedas:
C N K
where
is the mass piopoitionalRayleighdampingcoefficient.
is the stiffness piopoitional Rayleigh uamping coefficient
Misthesystemstructuralmassmatrix.
Kisthesystemstructuralstiffnessmatrix.
Withthisformulationthedampingratioisthesameforaxial,bendingandtorsionalresponse.
Classical Rayleigh damping results in different damping ratios for different response frequencies according to the
followingequation:

where
is the uamping iatio a value of coiiesponus to ciitical uamping
is the iesponse fiequency in iaus
It can be seen from this that the mass proportional term gives damping ratio inversely proportional to response
frequencyandthestiffnessproportionaltermgivesdampingratiolinearlyproportionaltoresponsefrequency.
SeparatedRayleighdamping
InadditiontoclassicalRayleighdampingOrcaFlexoffersaseparatedRayleighdampingmodelwhereCisdefinedas:
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C N aKa bKb tKt
where
aisthestiffnessproportionalRayleighdampingcoefficientforaxialdeformation.
bisthestiffnessproportionalRayleighdampingcoefficientforbendingdeformation.
tisthestiffnessproportionalRayleighdampingcoefficientfortorsionaldeformation.
Kaisthesystemstructuralstiffnessmatrixcorrespondingtoaxialdeformation.
Kbisthesystemstructuralstiffnessmatrixcorrespondingtobendingdeformation.
Ktisthesystemstructuralstiffnessmatrixcorrespondingtotorsionaldeformation.
NotethatK=Ka+Kb+Kt.
Theseparatedmodelallowsfordifferentdampingratioinaxial,bendingandtorsionalresponse.
Data
Each Line Type has structural damping properties determined by a named Rayleigh Damping Coefficient data set.
MultipleRayleighDampingCoefficientdatasetscanbedefined,eachwiththefollowingdata.
Rayleighdampingmode
OrcaFlexoffersfourdistinctmethodsforspecifyingtheRayleighdampingcoefficients:
x Stiffnessproportional.
x Massandstiffnessproportional.
x Coefficients(classical).
x Coefficients(separated).
StiffnessproportionalandMassandstiffnessproportionalmethods
Thesemethodsallowyoutospecifystructuraldampingintermsof%critical dampingratio.Inadditionyouneed
to specify responseperiods at which the damping ratio will be achieved. For Stiffness proportional damping only
oneresponseperiodcanbespecified.
If Response Period 1 is set to '~' then OrcaFlex will choose response periods automatically based on the wave
period, or peak period Tp for a random wave. This method is generally recommended and is particularly useful if
youarerunningabatchofcaseswithvaryingwaveconditions.
0icaFlex uses the classical Rayleigh uamping mouel anu iepoits the mass anu stiffness piopoitional coefficients
anu
Coefficients(classical)andCoefficients(separated)methods
Forthesemethodsyouspecifythedampingcoefficientsdirectly.
Dampingratiograph
The damping ratio graph plots the damping ratio that will be achieved for a range of response frequencies. The
graph'sx-axiscanbeeitherperiodoffrequency.
Guidance
Variationofdampingratio
Rayleigh damping is viscous damping that is proportional to a linear combination of mass and stiffness. The
uamping matiix C is given by C N K wheie N K aie the mass anu stiffness matiices iespectively anu aie
constantsofproportionality.
Rayleigh damping does afford certain mathematical conveniences and is widely used to model internal structural
damping. One of the less attractive features of Rayleigh damping is that the achieved damping ratio varies as
response frequency varies. The stiffness proportional term contributes damping that is linearly proportional to
responsefrequencyandthemassproportionaltermcontributesdampingthatisinverselyproportionaltoresponse
frequency. Mathematically, these frequency depenuencies can be seen in the foimula foi uamping iatio f
f wheie f is the iesponse fiequency
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The plot below illustrates how the separate mass and stiffness damping terms contribute to the overall damping
ratio:
0%
1%
2%
3%
4%
5%
6%
0 1 2 3 4 5
Response angular frequency (rad/s)
(=0.025, =0.023)
D
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g

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Mass and Stiffness Mass term Stiffness term
Figure: VariationOfDampingRatioWithFrequency
Artificialover-dampingofsystemresponse
Consider a system which has two primary responses: one at the wave frequency and the other at a much lower
frequency,forexampleduetovesseldrift.ClearlyRayleighdampingconstantsmustbechosencarefullytoavoidthe
massproportionaltermresultinginover-dampingofthelowfrequencyresponse.
It is common practice to do this by using the stiffness proportional term only. For example the DNV dynamic riser
code DNV-OS-F201 (Appendix A, K103) makes the following recommendation: "It should also be observed that the
mass proportional damping would give damping due to rigid body motions. The mass proportional damping is
therefore normally neglected for compliant structures undergoing large rigid body motions." In other words the
recommendationforsuchsystemsistousestiffnessproportionaldamping(theredcurveabove).
Thisisagoodargument.However,ananalogousargumentcanalsobemadeaboutanyhighfrequencyresponse.If
only stiffness proportional damping is used then any high frequency response will be over-damped. It is quite
common for systems to have responses at frequencies higher than the wave frequency. Since high frequency
responsesareoftendamagingtoasystemitisimportantto modelthemaccurately.Stiffnessproportionaldamping
isveryeffectiveatartificiallyremovinghighfrequencyresponsesfromananalysisandthisisadangerthatmustbe
avoided.
Avoidingover-dampingofsystemresponse
WerecommendthefollowingprocedureforapplyingRayleighdamping:
1. Identifyanumberofcriticalloadcases.
2. RunthesecaseswithoutRayleighdamping.
3. Identifytheminimumandmaximumfrequenciespresentinthesystemresponse,fminandfmax.
4. ApplymassandstiffnessproportionalRayleighdampingwithresponseperiodssetto1/fminand1/fmax.
This technique will apply the specified damping ratio at responses with frequency fmin and fmax. For frequencies
between fmin and fmax the damping ratio will be less than the specified damping ratio which ensures that artificial
over-dampingisavoided.
Note: Sincethisapproachleadstoadampingratiolessthanthespecifieddampingratiofor frequencies
between fmin and fmax it could be argued that the response will be under-damped. Generally this
conservativeunder-dampingisfarlesssignificantthanthenon-conservativeover-dampingthatwe
aretryingtoavoid.
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If your system response is concentrated at the wave frequency for all critical design cases then it is safe to apply
stiffnessproportionaldamping.
Discussion
The above procedure will help you avoid non-conservative over-damping of high or low frequency responses in
yoursystem.However,itisquitelaboriousandtime-consuming.Canweadoptasimplerapproach?
For a great many ofthe systems that are analysed by OrcaFlex it turns out that structural damping has little or no
effectonsystemperformance.Forsubsealinesthestructuraldamping isusuallynegligibleincomparisonwith the
dampingduetohydrodynamicdrag.ForthisreasonRayleighdampingcanusuallybeignoredforanalysisofsubsea
lines.ForsystemswhichshowsignificantlydifferentresponseswhenRayleighdampingisappliedyoushouldcheck
thatthisisnotduetotheover-dampingissuesdescribedabove.
Forin-airlines(e.g.jumperhoses)thesituationisdifferent.Theselineshavenohydrodynamicdampingandsothe
structural damping can be significant. For such lines it is very easy for resonant responses to be excited and if no
dampingismodelledthentheseresponsesdonotdecay.InthissituationRayleighdampingcanbeveryuseful.Itis,
ofcourse,importanttoapplyitcarefullyasdescribedabove.
One common phenomenon that is sometimes modelled with Rayleigh damping is the damping due to internal
frictionbetweenlayersofapressurised,unbondedflexibleriser.Thiseffectisstronglyamplitudedependentandis
poorly represented by Rayleigh damping. The problem is that the damping ratio depends on the amplitude of
response. This makes the damping ratio very difficult to set and it will differ for different load cases. Instead we
recommendthatyouuseahystereticbendstiffnesswhichgivesamoreaccuratemodeloftheriser.
6.8.5 LineResults
This section describes the line results that are available for the static and dynamic analyses. These results are
availableusingtheResultsSelectionform.
Resultsfromthemodalanalysisandfatigueanalysisaredescribed elsewhere seetheModalAnalysisandFatigue
Analysissections.
SelectingwhichCategoriesofLineResultsareShown
ForLinestherearealargenumberofresultsvariablesavailableonthe Resultsform.SoOrcaFlexgroupstheresults
variablesintothefollowingcategories:
x Positions.
x Motions.
x Angles.
x Forces.
x Moments.
x Contact.
x PipeStress/Strain.
x EndLoads.
To ease results selection the Show boxes on the results form allow you to choose which of these categories of
variablesareshownintheVariablelist.Togetthefulllistofavailablevariablessimplyselectallthecategories.But
normally there are several categories of variable that you do not currently need, in which case de-selecting them
reducesthedisplayedlistofvariablestoamoremanageableset.
SpecifyingthePositionontheLine
For line results you need to specify the position on the line at which you want results. This is done by setting the
entriesinarowinthe Positiontable ontheresultsform.Youarethenofferedthe Variablesthatareavailablefor
thepointspecifiedbythecurrently-selectedrow.
Each row in the table specifies one point on the line. There are multiple rows in the table, so you can set up rows
specifyinganumberofdifferentpointsofinterestandtheneasilyswitchbetweenthembychoosingwhichrowyou
select.Inarowthatyoudon'twanttouseyoucansettheNodeorArcLengthcolumnto'~',meaning'unspecified'.
Threerowsinthetablearededicatedtospecialarclengthsontheline:
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x ThefirstandlastrowsinthePositiontablearededicatedtotheline'sendpointsAandB.
x ThenexttolastrowinthetableisdedicatedtotheTouchdownpoint.Thisisdefinedtobethefirstnodeonthe
seabed(startingfromtheTopEnd).Iftheresultsvariableselectedisasegmentvariable(i.e.isonlyavailableat
mid-segmentpoints)thenthevaluereportedforthetouchdownpointisthemid-segmentvaluedinthesegment
thatprecedestheTouchdownnode.Whentherearenonodesontheseabedthentheresultsvariableisreported
asN/A(meaning'notavailable')andthegraphshowsnovalue.
ArcLengthandNodeColumns
TheArcLengthcolumnspecifieshowfaralongthelinethepointis,measuredfromzeroatEndA.Forinformation,
if you set the Arc Length column then the adjacent Node cell is set to the number of the nearest node to that arc
length.
The Node columncan also be used as an alternative way ofsetting the arc length. You can set the Node columnto
the number of a node on the line. The adjacent Arc Length cell will then be set to the arc length to that node. The
nodenumbermustbeintherange1(thenodeatEndA)toN+1(thenodeatEndB),whereNisthetotalnumberof
segmentsintheline.
Note: The actual arc length for which line results are reported may not be exactly the specified arc
length.OrcaFlexreportsresultsforthe'nearestappropriate'resultpoint.SeeResultPointsbelow.
RandThetaColumns
Forsomevariables(e.g.stresscomponents)youmustalsospecifythepositionofthepointwithinthecrosssection
through the specified arc length. Whenever one of these variables is selected in the Variables list, two extra
columns become visible in the Position table. These extra columns specify the polar coordinates (R,Theta) of the
point withinthecrosssection;seethediagraminthe PipeStressCalculationsection.TheRcolumncanonlybeset
toeitherInnerorOuter,meaningtheradiicorrespondingtotheStressIDorStressODrespectively.Resultsarenot
availableforpointsbetweenthesetworadii.
ClearanceResults
Clearanceresultscanbereportedeitherasclearancesfromthislinetoallotherlinesorfromthislinetoaspecified
other line. You choose which of the options is used from the drop-down list labelled "Clearances are reported as
clearancesfrom".
ResultPoints
OrcaFlexusesadiscretisedmodelandsoresultsareonlyavailableatnodes,mid-segmentpointsandlineends;we
call these points 'result points'. The available result points depend on which variable you request, they are
documentedinthedescriptionofthevariable.
When you ask for a variable at a specified arc length OrcaFlex gives the value for the 'nearest appropriate' result
point.Thephrase'nearestappropriate'heremeansthatOrcaFlexconsiderstheavailableresultpointsthatareinthe
samesectionasthearclengthyouspecifiedandthenchoosestheonethatisnearesttothearclengthyouspecified.
IfyouspecifyanarclengththatisexactlyattheboundaryoftwosectionsthenOrcaFlexusesthesectionthatstarts
atthatarclength.
OrcaFlexalwayslabelsresultswiththeactualarclengthtotheresultpointtowhichtheyapply,soyoucancheckto
ensurethatyouaregettingresultsattheresultpointyouwant.
Positions
X,YandZ
Availableatnodes.Theglobalcoordinatesoftheselectednode.
Layback
Availableatnodes.Thehorizontalcomponentofdistancebetweentheselectednodeandthetouchdownpoint.
Laybackisnotdefined(N/A)ifthereisnotouchdownpoint,thatisiftherearenonodesontheseabed.Likewise,if
theselectednodeisafterthetouchdownpoint,thenLaybackisnotdefined.
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ProportionWet
Availableatnodes.Theproportionofthepartofthelinethatthenoderepresents,thatissubmergedinthesea.The
valueisintherange0to1,avalueof0meaningnosubmersionand1meaningiscompletelysubmerged.Fordetails
seeLineInteractionwiththeSeaSurface.
SeaSurfaceZ
Available at nodes. The global Z coordinate of the sea surface directly above the instantaneous position of the
selectednode.
Depth
Availableatnodes.Thedepthofthenodebeneaththeseasurface(=SurfaceZ-NodeZ).
SeaSurfaceClearance
Availableatnodes.Theverticalclearancefromnodecentretotheinstantaneousseasurface.Negativevaluesmean
thatthenodeissubmerged.
ArcLength
Availableatnodes.ThearclengthfromEndAtotheselectedpoint.Thisisnormallyonlyusefulforthe touchdown
point, since for other points it is constant. For the touchdown point it gives the arc length from End A to the first
nodeontheseabed,orzeroifthereisnotouchdown.
ExpansionFactor
Availableatmid-segments.Theexpansionfactoroftheselectedsegment.
TransverseVIVOffset
Availableatnodes.Thisisthenode'soffsetfromthenon-VIVnodeposition,inthetransverseVIVdirection.
EstimatedTransverseA/D
Available only at nodes that use one of the time domain VIV models from the VIV Toolbox. The amplitude of the
oscillationinthetransverseVIVdirectiondividedbythenode'sVIVdiameter.
Motions
Velocity,GX-Velocity,GY-Velocity,GZ-Velocity,
Availableatnodes.Themagnitudeandcomponents(withrespecttoglobalaxes)ofthevelocityandaccelerationof
thenode.
Warning: Thevelocityresultsarederivedbynumericallydifferentiatingtheloggedpositionsofthenodewith
respect to time, using the central difference scheme. The acceleration results are derived by a
further such numerical differentiation. Because of this the accuracy of the results (especially the
accelerations) will depend on the log sample interval. If the log sample interval is large then the
results will not show higher frequency components of velocity and acceleration. If the log sample
intervalissmallthentheresultsmaybeinaccurateduetolossofprecisionduetosubtraction.
Available at nodes. The magnitude and components (with respect to node axes) of the vector a - g where a is the
accelerationofthenodeandgistheaccelerationduetogravity,avectorpointingverticallydownwards.
RelativeVelocity,NormalRelativeVelocity,AxialRelativeVelocity
Available at nodes. Relative Velocity is the velocity of the fluid relative to the node, i.e.Vfluid-Vnode. The results
reported are the magnitude of the relative velocity and its normal and axial components (relative to the line). For
theaxialcomponent,apositivevaluemeansthatthefluidismoving(relativetotheline)towardsEndB.
The fluid velocity used is the velocity of the principal fluid affecting the node. The principal fluid is defined as
follows:
1. Ifproportiondry>0.5andtheIncludewindloadsonLinesoptionisenabledintheEnvironmentdatathenthe
principalfluidistheair.
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2. Otherwisetheprincipalfluidisthesea.
Note: For a node that is above the water surface OrcaFlex reports a relative velocity based on the fluid
velocityatthesurfacepointverticallybelowthenode.
Warning: Therelativevelocityresultsarederivedusingthenodevelocityresults,soseetheaccuracywarning
givenabove.
StrouhalFrequency
Available at nodes. The Strouhal Frequency is defined to be St.V/D where St=0.2, V is the normal component of
relativevelocityandDisthenormaldragdiameter.
ReynoldsNumber
Available at nodes. The Reynolds number is a measure of the flow regime. OrcaFlex offers a number of different
optionsforthecalculationofReynoldsnumber,specifiedontheEnvironmentdataform.
x-DragCoefficient,y-DragCoefficient,z-DragCoefficient,LiftCoefficient
Availableatnodes.Thesearethedragandliftcoefficientsusedinthecalculation.
For constant coefficients then these results report the values given in the user's data, except for a node at the
junctionbetweentwosectionswithdifferentcoefficients,whereaneffectiveaveragevalueisused.
Iftheline'sdragorliftcoefficientsvarywithReynoldsnumberorHeightaboveSeabedthen theseresultsreportthe
computedvaluethatwasused.
IfthelineusesawakeoscillatorVIVmodelwithinlinedragamplificationthentheamplificationfactorisincludedin
theseresults.Theinlinedragamplificationfactorisalsoavailableasaseparateresult.
WakeVelocityReductionFactor,WakeCd,WakeCl
Availableatnodesonly,forlineswhichincludesectionsthatreacttowakeeffects.
WakeVelocityReductionFactoristhefactorappliedtothevelocityatthenodeasaresultofupstreamwakeeffects.
WakeCdandWakeClarethedragandliftcoefficientsrespectively,usedtocalculatethehydrodynamicforcesatthe
nodeasaresultofanyupstreamwakeeffects.
Note: WakeClispositivewhentheliftforceisappliedintheydirectionoftheupstreamwake's frameof
reference and negative when the lift force is applied in the -y direction of the upstream wake's
frameofreference.
Angles
Azimuth,DeclinationandGamma
Availableatmid-segmentpointsandlineends.Theseanglesreportthelocalorientationofthelinerelativetoglobal
axes.ThegammaangleisdefinedasforlineendsseeLineEndOrientation.
Declinationisintherange0to180.RangejumpsuppressionisappliedtoAzimuthandGamma(sovaluesoutside
therange-360to+360mightbereported).
Ez-Angle,Exy-Angle,Ezx-Angle,Ezy-Angle
Available at mid-segment points and line ends. The direction angles of the mid-segment point, relative to the end
axesofthenearestlineend.SeeEndDirectionResults.
Ez-Angle is in the range 0 to 180. Range jump suppression is applied to Exy-Angle, Ezx-Angle and Ezy-Angle (so
valuesoutsidetherange-360to+360mightbereported).
Twist
Availableatmid-segmentpoints.Thetwistperunitlengthexperiencedbythesegment.
FluidIncidenceAngle
Availableatnodes.Theanglebetweentherelativevelocitydirectionandthelineaxialdirection.Avalueintherange
0to90.
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No-MomentAzimuth,No-MomentDeclination
Availableatlineends.Theazimuthanddeclinationangles,relativetoglobalaxes,oftheno-momentdirectionatthe
end, allowing for any motion of the object to which the line is attached. These results are only available if the end
orientationanglesaredefined.
No-Moment Declination is in the range 0 to 180. Range jump suppression is applied to No-Moment Azimuth (so
EndForceAzimuth,EndForceDeclination
Availableatlineends.Theazimuthanddeclinationoftheendforcevector,relativetoglobalaxes.
EndForceDeclinationisintherange0to180.RangejumpsuppressionisappliedtoEndForceAzimuth(sovalues
outsidetherange-360to+360mightbereported).
EndForceEz-Angle,EndForceExy-Angle,EndForceEzx-Angle,EndForceEzy-Angle
Availableatlineends.Thedirectionanglesoftheendforcevector,withrespecttotheframeofreferenceoftheline
end.SeeEndDirectionResults.Theseresultsareonlyavailableiftheendorientationanglesaredefined.
EndForceEz-Angleisintherange0to180.Rangejumpsuppressionisappliedtotheother3endforceangles(so
VIVStagnationPoint,VIVNegSeparationPoint,VIVPosSeparationPoint
Available only at nodes that use one of the vortex tracking VIV models from the VIV Toolbox. The values reported
aretheangularpositionsofthestagnationandseparationpoints.
Forces
EffectiveTensionandWallTension
Available at mid-segment points and line ends. The structural force along the line axis. Positive values denote
tensionandnegativevaluesdenotecompression.
The reported wall tension is the total wall tension, Tw, scaled by the tensile stress loading factor. By default this
loadingfactorequals1.
Fordetailsofthedifferencebetweentheeffectivetension,Te,andthewalltension,Tw,seetheLinePressureEffects
section.Inparticularseethewarninginthatsectionifthelinetypestressdiametersdifferfromtheouterandinner
diameters.
NormalisedTension
Defined to be Effective Tension divided by Allowable Tension. Available at mid-segment points and line ends; not
availableiftheAllowableTensionissetto'~'.
ContentsDensity
Availableatnodes.Thisresultismostusefulwhenthefree-floodingorslugflowcontentsmethodsareinuse.
ShearForce,x-ShearForce,y-ShearForce,ShearForcecomponent,In-planeShearForce,Out-of-planeShearForce
Available at mid-segment points and line ends. The magnitude of structural force normal to the line axis, its
components in the local x and y-directions, its component in the user specified local direction theta and its
componentsinthein-planeandout-of-planedirections.
The in-plane direction is normal to both the line's axis (at the specified arc length) and the vertical direction. The
out-of-planedirectionisnormaltoboththeline'saxisandthein-planedirection.
Iftheline'saxisisverticalthenthesedirectionsareill-definedandthereforenovaluescanbereported.
VortexForceMagnitude,
InlineVortexForce,TransverseVortexForce,
GX-VortexForce,GY-VortexForce,GZ-VortexForce
AvailableonlyatnodesthatuseoneofthetimedomainVIVmodelsfromtheVIVToolbox.Themagnitudeofthelift
and drag force per unit length of line, and its components in the VIV directions and global axes directions. For
details,seethedocumentationoftherelevanttimedomainVIVmodel.
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InlineDragAmplificationFactor
Available only at nodes that use one of the wake oscillator VIV models from the VIV Toolbox. The instantaneous
valueoftheInlineDragAmplificationFactor.
Moments
Bend Moment, x-Bend Moment, y-Bend Moment, Bend Moment component, In-plane Bend Moment, Out-of-plane Bend
Moment
Availableatmid-segmentpointsandlineends.Themagnitudeofbendmoment,itscomponentsinthelocalxandy-
directions, its component in the user specified local direction theta and its components in the in-plane and out-of-
planedirections.
The in-plane direction is normal to both the line's axis (at the specified arc length) and the vertical direction. The
out-of-planedirectionisnormaltoboththeline'saxisandthein-planedirection.
Iftheline'saxisisverticalthenthesedirectionsareill-definedandthereforenovaluescanbereported.
Curvature,x-Curvature,y-Curvature,Curvaturecomponent,In-planeCurvature,Out-of-planeCurvature
Available at mid-segment points and line ends. The magnitude of curvature, its components in the local x and y-
directions, its component in the user specified local direction theta, the in-plane and out-ofplane-components and
itscomponentsinthein-planeandout-of-planedirections,asdefinedabove.
Whenpre-bendismodelledcurvatureresultsarereportedrelativetothepre-bentcurvature.
Note: Whenusingnon-linearbendstiffness,thereportedmid-segmentcurvaturedependsonwhetherthe
bend stiffness is specified to be hysteretic or not. For details see the note in the Non-linear Bend
Stiffnesssection.
Warning: Curvatureresultsareaccurateonlyifthesegmentlengthissufficientlyshort.Theaccuracycanbe
estimatedbyperformingasensitivitystudyonsegmentlengthintheareaofinterest.
NormalisedCurvature
Availableatmid-segmentpointsandlineends.DefinedtobeCurvaturedividedbyAllowableCurvature.
If minimum bend radius (MBR) is specified as varying with wall tension then this variation is taken into account
whencalculatingNormalisedCurvature.
BendRadius,x-BendRadius,y-BendRadius,BendRadiuscomponent,In-planeBendRadius,Out-of-planeBendRadius
Available at mid-segment points and line ends. The magnitude ofbend radius, its components in the local x and y-
directions, its component in the user specified local direction theta and its components in the in-plane and out-of-
planedirections,asdefinedabove.
Whenpre-bendismodelledtheseresultsarereportedrelativetothepre-bentcurvature.
Notes: Bendradiusisdefinedtobe1/curvature.Ifthecurvatureis0thenavalueof'Infinity'isreported.
Whenusingnon-linearbendstiffness,thereportedmid-segmentcurvaturedependsonwhetherthe
bend stiffness is specified to be hysteretic or not. For details see the note in the Non-linear Bend
Stiffnesssection.
Warning: Bend radius results are accurate only ifthe segment length is sufficiently short. The accuracy can
beestimatedbyperformingasensitivitystudyonsegmentlengthintheareaofinterest.
Torque
Available at mid-segment points and line ends only, and available only for lines with torsion included. The
componentofstructuralmomentalongthelineaxis.
Contact
Note: AswellastheresultsvariablesdocumentedbelowOrcaFlexalsoprovidesaLineClashingReport.
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LineCentrelineClearance,LineContactClearance
Availableatmid-segmentpointsandlineends.Thelineclearancevariablesreportshortestdistancesbetweenlines.
Thesedistancescanbeeithertheshortestdistancebetweencentrelines(LineCentrelineClearance)ortheshortest
distance between outer edges (Line Contact Clearance). The results selection form lets you choose to report
clearanceseither:
x fromthislinetoallotherlinesor
x fromthislinetoaspecifiedotherline.
Inthetextbelowwerefertotheotherlinesusedintheclearancecalculationsastheclearancelines,betheyallother
linesorasinglespecifiedotherline.
LineCentrelineClearancereportsthecentrelineclearancefromthislinetotheclearancelines.Moreprecisely,the
clearancereportedforasegmentistheshortestdistancefromthecentrelineofthesegmenttothecentrelineofany
segment on the clearance lines. Note that the clearance reported therefore does not allow for the radii ofthe lines
involved.Whenclearanceisreportedforalineenditreportstheshortestdistancefromthecentrelineofthepoint
attheendnodetothecentrelineofanysegmentontheclearancelines.
Line Contact Clearance is similar but it reports the clearance between line outer edges allowing for their contact
diameters.
Note: Line Contact Clearance can report negative values. This means that the segments in question are
penetrating each other. If clashing is being modelled for both segments then a clash force will
resultfromthispenetration.
The line clearance variables are useful for checking for clashing between lines. They are available in both range
graphandtimehistoryform.Therangegraph,foragivenperiodofthesimulation,enablesyoutosee whereonthe
lineclashingmaybeaproblem.Youcanthenexaminethetimehistoryoflineclearanceforthatpointontheline,to
seewhenclosestapproachoccurs.Youcanthenusethereplaytoexaminewhichotherlineiscomingclosest.
It is sometimes worth choosing carefully which line to check for clearance. An example is checking for clashing
betweenasinglemooringlineandoneormoreofanumberofcloselyspacedflowlines.Letusassumethatyouare
reporting clearances from all other lines. The clearance graphs for the flowlines will include clearance to the other
flowlines,betweenwhichclashingmaynotbeaconcern.Themooringlineclearanceisprobablymoreuseful,since
itonlyincludesclearancetotheflowlines.
Line clearance only checks against other lines, not against edges of vessels, buoys, etc. However you can check
clearance against part of a vessel, for example, by attaching a dummy single-segment line to the vessel, spanning
acrosstheareaofinterest.Thelineclearancegraphsforthatdummylinewillthenshowhowcloseotherlinescome
tothatareaofthevessel.
Notes: Formid-segmentpointsthesegmentusedistheonecontainingtheselectedarclength.
Lineclearanceresultsareonlyavailableifthereareatleast2linesinthemodel.
Warning: Forcomplex models,buildingandupdatingclearancegraphscanbeslow.Having"live"clearance
graphsopenwhileasimulationisrunningcansignificantlyslowdownthesimulation.
SeabedClearance
Available at nodes. The clearance is the shortest distance between the node and any point on the seabed, allowing
forthecontactdiameter.Thevaluereportedisforthenodethatisnearestthespecifiedarclength.Anegativevalue
indicatesthatthenodeisincontactwiththeseabed.
Thisresultisnotavailablefor3Dseabedsbecauseitisdifficulttocalculate.InsteadyoushoulduseVerticalSeabed
Clearance.
VerticalSeabedClearance
Availableatnodes.Theclearanceistheverticaldistancebetweenthenodeandtheseabed,allowingforthe contact
diameter.Thevaluereportedisforthenodethatisnearestthespecifiedarclength.Anegativevalueindicatesthat
thenodeisincontactwiththeseabed.
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LineClashForce
Availableatmid-segmentpoints.Themagnitudeoftheclashforcebetweenthissegmentandotherlines.Pleasenote
thatthisvariableisonlyavailableifclashcheckinghasbeenincludedforthelinesconcerned.See LineClashingfor
details.
LineClashForceisgivenforthesegmentcontainingtheselectedarclengthandresultsareavailableintheform of
time histories and range graphs. If multiple clashes occur simultaneously on the same segment then the value
reportedisthemagnitudeofthevectorsumoftheclashforcesinvolved.
LineClashImpulse
Availableatmid-segmentpoints.TheintegralofLineClashForcewithrespecttotime.
LineClashEnergy
Availableatmid-segmentpoints.Clashenergyiscalculatedbyintegratingthemagnitudeofclashforcewithrespect
todepthofpenetration.
Suppose that this segment is denoted by S1 and segment S2 is another segment which S1 is in contact with. The
clashenergyforthespring/damperrepresentingcontactbetweenthese2segmentsiscalculatedbyintegratingthe
magnitude of clash force with respect to depth of penetration. This then is the potential energy in the
spring/damper.
If multiple clashes occur simultaneously on the same segment then the value reported is the sum of all individual
clashenergiesbetweenthissegmentandothersegments.
SolidContactForce
Availableatnodes.Themagnitudeoftheforceperunitlengthduetocontactwithelasticsolids.
SeabedNormalPenetration/D
Availableatnodes.Thecomponentofseabedpenetrationnormaltotheseabed,dividedbythecontactdiameter.
SeabedNormalResistance,SeabedNormalResistance/D
Availableatnodes.SeabedNormalResistanceisthecomponentofseabedresistancenormaltotheseabed,where
seabed resistance means the seabed reaction force per unit length of line. Seabed Normal Resistance/D is the
SeabedNormalResistancedividedbythecontactdiameter.
Theforcesduetobothseabedstiffnessandseabeddampingareincluded.
Warning: The damping force depends upon node velocity. This is derived by numerically differentiating the
logged positions of the node with respect to time, using the central difference scheme. Because of
thistheaccuracyoftheresultswilldependonthelogsampleinterval.SeeMotionsresultsformore
details.
PipeStress/Strain
Stress and strain results are available at mid-segment points and at line ends. For terminology see Pipe Stress
Calculation.
Thestresscalculationsmakethefollowingassumptions:
x At each point along the line all the loads are taken by a single simple cylinder of the specified Stress OD and
StressIDandmadeofahomogeneousmaterial.
x Thestressesincludedarethoseduetotension,bending,shearandhoopstress.
x The loads (tension, bend moment, shear and torque) which are used in stress calculations are scaled by the
stressloadingfactorsbeforebeingused.
x Internalpressureinthelinegenerateswalltensioninthelineasitwoulddoinasealedcylinder.
x Shear stress is assumed to be uniformly distributed across the cross section. Although this is not strictly the
case,theshearstressisnormallynegligiblesothissimplifyingassumptionisreasonable.
x ThehoopstressduetostaticinternalandexternalpressureatthecurrentZ-levelisincluded,andiscalculated
using the standard Lam equation for thick walled cylinders. However the effect of dynamic variations in
pressure,forexamplefromthepassageofthewave,arenotincluded.
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Limitationsofstresscalculations
Theassumptionsdescribedabovemeanthatthestresscalculationsareonlyvalidforpipessuchassteelortitanium
risers,notforcompositeflexiblerisers,ropeschains,etc.
If the pipe has non-linear stiffness then the program cannot, in general, accurately calculate pipe stresses. The
programusesthesameformulaeforstresscalculationasitdoesforlinearstiffness.Forexamplethebendingstress
is calculated as Mr/Ixy. An exception to this is made for a homogeneous pipe with non-linear stress-strain. In this
situationstressresultscanbecalculatedaccuratelybyusingthestress-straindata.
IfthelinetypestressdiametersdifferfromtheouterandinnerdiametersthenseethewarningintheLinePressure
Effectssection.
Theprogramdoesnot,andindeedcannot,allowforthecomplexstressconcentrationsthatcanoccur atjointsorat
thetopandbottomofariser.
DirectTensileStrain
Available at mid-segment points and line ends. This is the component of axial strain due to wall tension (which
includestheeffectsofinternalandexternalpressure).
MaxBendingStrain
Available at mid-segment points and line ends. This is the axial strain due to bending at the outer fibre on the
outsideofthebend.
WorstZZStrain
Availableatmid-segmentpointsandlineends.ThisequalswhicheverofDirectTensileStrainMaxBendingStrain
hasthelargerabsolutevalue.
ZZStrain
Available at mid-segment points. This equals Direct Tensile Strain + Bending Strain. ZZ Strain varies across the
cross-sectionandsoitsvalueisreportedataspecified(R)position.
InternalandExternalPressure
Available at mid-segment points and line ends. The internal and external static pressures, Pi and Po. See Line
PressureEffectsfordetails.
PressuresinOrcaFlexaregaugepressures,notabsolutepressures.Thatis,theyarerelativetoatmosphericpressure
andsocanbeaslowasminus1atmosphere(-101.325kPa).
NetExternalPressure
Availableatmid-segmentpointsandlineends.DefinedasPi-Po.
DirectTensileStress
Availableatmid-segmentpointsandlineends.Thisistheaxialstressduetowalltension(whichincludestheeffects
ofinternalandexternalpressure).Itisconstantacrossthecross-sectionandequalsTw/A.Apositivevalueindicates
tension;anegativevalueindicatescompression.
MaxBendingStress
Availableatmid-segmentpointsandline ends. Thisis themaximumvaluethatthe BendingStress takesanywhere
inthesection.Itisgivenby
MaxBendingStress=(C2.M.ODstress/2)/Ixy
andthismaximumoccursattheextremefibreontheoutsideofthebend.
Forahomogeneouspipewithnon-linearstress-strain
Nax Benuing Stiess zz)-Biiect Tensile Stiess zz)-Tw/A
wheie is the specifieu stress-strainrelationshipanu zzistheaxialstrainattheextremefibreontheoutsideof
thebenddata.
WorstHoopStress
Available at mid-segment points and line ends. The Hoop Stress is due to internal and external pressure. It varies
acrossthesectionandcanbepositive(tension)ornegative(compression),andbytheWorstHoopStresswemean
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the hoop stress of greatest magnitude. It is obtained by finding the point in the cross-section where the unsigned
magnitudeoftheHoopStressislargest;thismustbeeitherattheinsideoroutsidefibreofthestressarea.TheHoop
StressatthispointiscalledtheWorstHoopStress.
Maxxy-ShearStress
Available at mid-segment points anu line enus The value RZ
2
CZ
2
)
is called the xy-Shear Stress. This varies

acrossthecross-section,andOrcaFlexreportsthemaximumvaluethatoccursanywhereinthecross-section.Thisis
theMaxxy-ShearStressanditisgivenby
Maxxy-ShearStress=(C40Bstress/2)/Iz+C3.S/A
vonMisesStress,MaxvonMisesStress
Availableatmid-segment points anu line enus The von Nises stiess vm,isastressmeasurethatisoftenusedasa
yieldcriterion.It isacombinationofallthecomponentsofthestressmatrixandintermsofprincipalstresses itis
givenby:
vm 1-2)
2
2-3)
2
3-1)
2
}/2]
wheie 1 2anu 3aretheprincipalstresses,i.e.theeigenvaluesofthe3by3stressmatrix.

ThevonMisesStressvariesacrossthecross-section,soitsvalueisreportedataspecified(R)position.
TheMaxvonMisesStressisanestimateofthemaximumvalueofthevonMisesStressoverthecross-section.The
wayitiscalculateddependsonwhetherthelineincludestorsionornot,asfollows.
x Iftorsionisnotincluded,thenOrcaFlexassumesthatthetorqueiszero.Inthiscasethemaximumvalueofthe
vonMisesstressmustoccurintheplaneofbending.OrcaFlexalsoassumesthatthemaximumoccursateither
the inner or outer fibre. (This is a commonly-used assumption that is almost always valid,since ifthe internal
pressurestresscontributionisdominantthenthemaximumwillbeattheinnerfibre,whereasifbendingstress
isdominantthenit willoccurattheouter fibre.)OrcaFlexthereforecalculatesthevonMisesstressat4points
(R=IDstress/2andODstress/2,intheplaneofbending)andreportsthelargestvalue.
x If torsion is included, then the maximum value of the von Mises stress can, in general, occur anywhere in the
pipe wall. So OrcaFlex calculates the von Mises stress at a grid of points across the pipe wall and reports the
largestvaluefound.Currently the giiu compiises -values(i.e.every10aroundthepipecircumference)at
eachof5R-valuesacrossthepipewall.
APIRP2RDStress,APIRP2RDUtilisation
Availableatmid-segmentpointsandlineends.
APIRP2RDStress API,isavon-Misestypestressdefinedinsection5.2ofAPIRP2RDas:
API max pr-p)
2
p-pz)
2
pz-pr)
2
}/2]
where
pr=-(Po.ODstress+Pi.IDstress)/(ODstress+IDstress)
p=(Pi-Po)ODstress/2tmin-Pi
pz=Tw/AM(ODstress-t)/2Ixy
tministheminimumwallthickness
tisthenominalwallthickness,(ODstress-IDstress)/2
The max in the foimula foi APIaccountsforthefact that the sign in the foimula foi pzmakes pzdouble-valued.
APIRP2RDUtilisation,UAPI,isreportedasapercentageandisdefinedtobe:
UAPI API/(CfCay)
where
Cfisthedesigncasefactor
Cais2/3
yisthematerialminimumyieldstrength(SMYS)
ThestrengthcheckforAPIRP2RDcodeisthereforeequivalenttotheinequalityUAPI
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313
RRStress,CCStress,ZZStress,RCStress,RZStress,CZStress
Available at mid-segment points and line ends. These are the individual stress components at a point in the cross-
section.Thepointisspecifiedbyitspolarcoordinates(R)withinthecrosssection.SeePipeStressCalculationand
PipeStressMatrixfordetails.
EndLoads
Thelineendloadresultsarebasedontheendforceandendmomentvectorsattheline end.Thereare3groupsof
endloadresults:
x Standard results like Effective Tension, Bend Moment, etc. are available at line ends as well as at mid-segment
points.ForexampletoobtaintheendtensionatEndAyoucanaskfortheEffectiveTension(orWallTension)at
EndA.
x Magnitudeandothercomponentsoftheendforceandendmomentvectors.
x BendRestrictorLoad,whichisaspecialendloadresultusefulforbendrestrictordesign.
SignConvention
When considering the sign of end load components the question arises as to whether the load reported is that
appliedbythelinetoitsconnectionorviceversa.TheOrcaFlexconventionisthattheloadreportedatanypointis
that applied by the B side of that point to the A side. So at End A we report the end load applied by the line to its
connection(e.g.avessel),butatEndBwereporttheendloadappliedtothelinebyitsconnection.Thisisinkeeping
withtheOrcaFlexconventionforspecifyingtheno-momentdirection.
TreatmentofLinksandWinchesattachedtotheendnode
Normally,theendforceandendmomentarethetotalloadactingbetweentheendnodeandtheobjecttowhichitis
connected.Thisincludesforcesfromanylinksorwinchesattachedtotheendnode.
However if the line end is free, or has been released, then it is not connected to any object. In this case the end
momentiszeroandtheendforceistakentobethetotalforceactingbetweenthelineendandanylinksorwinches
attachedtotheendnode.Iftherearenoattachedlinksorwinches,ortheyhavebeenreleased,thentheendforceis
zero.
StandardResults
EffectiveTension,WallTension,
ShearForce,x-ShearForce,y-ShearForce,
BendMoment,x-BendMoment,y-BendMoment,
Curvature,x-Curvature,y-Curvature
Theseresultsvariablesareavailableatthelineendnodes,aswellasatmid-segmentpoints.Whetheryouaregiven
endvaluesormid-segmentvaluesdependsonthepointatwhichyouaskfortheresults.Ifyouaskfortheseresults
atEndAorEndB,oratanarclengththatisclosertoalineendthantothenearestmid-segmentarclength,thenthe
valuesatthelineendwillbegiven.Otherwisethevaluesforthenearestmid-segmentpointwillbegiven.
Formid-segmentvaluesseeLineResults:Forces,LineResults:MomentsandLineResults:PipeStresses.
Atalineendtheyreportthecomponentsoftheendloadsinthelocalnodedirectionsoftheendnode,asfollows:
x Effectivetensionisthecomponentoftheendforcevectorintheendnodeaxialdirection(=Nzdirection).
x Walltensionisderivedfromtheeffectivetensionatthelineend,usingthepressureeffectsformula.
x Shearisthecomponentoftheendforcevectornormaltotheendnodeaxialdirection.
x x-Shearandy-SheararethecomponentsoftheendforcevectorintheendnodeNxandNydirections.
x Torqueisthecomponentoftheendmomentvectorintheendnodeaxialdirection.
x Bendmomentisthecomponentoftheendmomentvectornormaltotheendnodeaxialdirection.
x x-BendMomentandy-BendMomentarethecomponentsintheendnodeNxandNydirections.
x Stressresultsarebasedontheendloadcomponentsintheendnodeaxesdirections.
DifferencesbetweenEndLoadsandEndSegmentLoads
Theendvaluesoftheseresultsdifferfromthecorrespondingvaluesfortheendsegmentfortworeasons.
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314
Firstly,theyincludetheloads(weight,buoyancy,dragetc.)onthelasthalfsegmentadjacenttotheend.
Secondly, they are components in the local node directions (Nx,Ny,Nz) at the end node, whereas the end segment
valuesarecomponentswithrespecttothesegmentdirections(Sx,Sy,Sz).Theendnodeisoftennotalignedwiththe
endsegmentbecauseendconnectionstiffnessturnsittowardstheendorientationdirection.Forexample:
x Iftheendconnectionstiffnessiszero,orifthelineendisfreeorhasbeenreleased,thentheendnodedirections
arealignedwiththeendsegmentdirections.Theendnodevaluesthendifferfromtheendsegmentvaluesonly
bytheloadsontheendhalfsegment.
x IftheendconnectionstiffnessisInfinity(andtheendisnotfreeorreleased)thentheendnodedirectionsstay
alignedwiththelineendaxesEx,Ey,Ez.Theendnodevaluesarethenusuallyindifferentdirectionstotheend
segmentvalues.
x For intermediate values of end connection stiffness, the end node directions will be somewhere between the
two.Theywilltendtobenearertotheendfittingdirectionsiftheendconnectionstiffnessesarestrongerthan
thelinebendstiffnessandtorsionalstiffness,butnearertotheendsegmentdirectionsifitisweaker.
EndLoadMagnitudeandComponents
EndForce,EndMoment,
EndGX-Force,EndGY-ForceandEndGZ-Force,EndGX-Moment,EndGY-Moment,EndGZ-Moment,
EndLx-Force,EndLy-ForceandEndLz-Force,EndLx-Moment,EndLy-Moment,EndLz-Moment,
EndEx-Force,EndEy-ForceandEndEz-Force,EndEx-Moment,EndEy-Moment,EndEz-Moment
Theseresultsreportthemagnitudeoftheendforceandendmomentvectors,andtheircomponentsinthefollowing
directions:
x ThedirectionsoftheglobalaxesGX,GY,GZ.
x ThedirectionsofthelocalaxesLx,Ly,Lzoftheobjecttowhichthelineendisconnected.Forexampleiftheline
endisconnectedtoavessel,theLx,Ly,Lzarethedirectionsofthevesselaxes.
x ThedirectionsofthelineendaxesEx,Ey,Ez.SeeLineEndOrientation.
Foralinewithastiffenerattachedresultsarereportedseparatelyfortheprotectedlineanditsstiffener.However,it
issometimesnecessary(e.g.whendesigningendfittings)toreportcombinedendloadsincludingtheloadfromboth
theprotectedlineanditsstiffener.
Endloadresultsareavailablefortheprotectedlinewhichincludethestiffenerendload,inadditiontotheprotected
line end load. These results are all prefixed with "Total", e.g. Total End Load, Total End Moment, Total End GZ-
Forceetc.
BendRestrictorLoad
This is defined as Bend Restrictor Load = End Force*(1 - cos(End Force Ez-Angle)). Another commonly used name
forthisvariableis"pseudo-curvature".
6.8.6 DragChainResults
ForDragChainsthefollowingresultsvariablesareavailable.
AzimuthandDeclination
Theazimuthanddeclinationofthedragchain,relativetoglobalaxes.
SupportedLengthandHangingLength
The supported length is the length deemed to be supported by the seabed. The hanging length is the length of the
rest of the drag chain. The supported length plus the hanging length equals the total length of the drag chain. See
DragChainSeabedInteractionfordetailsonhowthesevaluesarecalculated.
DragForce
Themagnitudeofthedragforceactingonthedragchain.Thisincludesboththeaxialandnormalcomponentsofthe
dragforce.
AxialDragForce,NormalDragForce
Thecomponentsofdragforceaxialandnormaltothedragchain.
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315
HorizontalDragForce,VerticalDragForce
The horizontal and vertical components of the drag force. For the vertical drag force a positive value indicates an
upwardsforce.
SeeDragChainTheoryfordetailsonhowthedragforceiscalculated.
6.8.7 FlexJointResults
ForFlexJointsthefollowingresultsvariablesareavailable.
BendMoment,x-BendMoment,y-BendMoment
ThemagnitudeofbendingmomentattheFlexJointanditscomponentsinthelocalxandy-directions.
6.8.8 LineSetupWizard
Intended principally for mooring analyses, this wizard adjusts line configuration to achieve specified tension,
declination or layback. The wizard is available when the current simulation is in Reset state and is opened by
clickingtheCalculation|LineSetupWizardmenuitem.
Figure: TheLineSetupWizard
CalculationMode
TheWizardhastwomodesofoperation:CalculateLineLengthsorCalculateAnchorPositions.
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316
TheCalculateLineLengthsoptionoperatesbyvaryingthelengthofthespecifiedsectionofeachincludedlineuntil
the target top value is achieved. Because the section length is altered by the Calculate Line Lengths option we
recommendthatyouspecifythesegmentationusingTargetSegmentLengthratherthanNumberofSegments.Thus
ifthewizardlengthensthelinethentheprogramwillautomaticallyaddmoresegmentstomeettheTargetSegment
Length.
The Calculate Anchor Positions option operates by varying the position of the Bottom End of each included line
until the target value is achieved. The Bottom End position is constrained to be on a line in the Lay Azimuth
directionsoyoumustsetthesedataitemsbeforeusingthewizard.
Note: Thesecalculationsuseanumericalmethodwhichisnot100%robust.Werecommendthatyouset
upyourmodelsothatyourtoptension/topdeclinationvaluesarequiteclosetoyourexacttarget
valuesbeforeusingthewizard.Ifyoudothisthewizardismorelikelytobeabletofindasolution.
TargetValues
Tousethewizardyoumustfirstspecifythetargettensionsordeclinations.ThewizardpresentsalistofallLinesin
themodel.
The Include this Line option determines which Lines are included in the calculation which allows you to exclude
certainLines.Forexample, youmaybemodellingboth mooringsandflowlinesinthesameOrcaFlexfile.Typically
youwouldonlyincludethemooringsinthiscalculation.
TheTargetVariableoptionallowsyoutoswitchbetweenthefollowingoptions:
x EndATensionorEndBTension.
x EndAHorizontalEndForceorEndBHorizontalEndForce.
x EndADeclinationorEndBDeclination.
x Layback, defined to be the horizontal component of distance between the Top End of the line and the
touchdownpoint.
x No Target, which means that the line will be included in the static calculation but that its data is not to be
modified.Thisisparticularlyusefulifyouareanalysingbuoyedsystemswheretheupperandlowercatenaries
aremodelledwithdifferentLines.
FinallyyouspecifyTension,HorizontalEndForce,DeclinationorLaybackvalues,asapplicable,inthe TargetValue
field.
Linesectiontobemodified
SpecifieswhichsectiononthelineistohaveitslengthmodifiedwhenusingtheCalculateLineLengthsmode.
ConvergenceParameters
TheWizardperformsaniterativecalculationandtheseparameterscanbeusedtohelpconvergence.
The calculation is abandoned if convergence has not been achieved after the number of steps specified by Max
Iterations.Forsomedifficultcasessimplyincreasingthislimitmaybeenough.
The non-dimensional Tolerance parameter determines when the calculation is deemed to have converged. The
calculationhasconvergedoncethefollowingconditionsaresatisfied:
x CalculatedValue<ToleranceTypicalForcefortensionandendforcetargets.TypicalForceforalineisdefined
astobethetotaldryweightoftheline.
x CalculatedValue<Tolerancefordeclinationtargets.
x CalculatedValue<ToleranceTargetValueforalaybacktarget.
The Min Dampingand MaxDampingparameterscansometimesbeusedtohelpdifficultproblemsconverge.Try
increasing the Min Damping factor, say values in the range 1.5 to 10. You can also try increasing the Max Damping
factor,saytovaluesintherange10to100.
6.8.9 LineTypeWizard
TheLineTypeWizardisatoolthathelpsyousetupaLineTypethatrepresentsoneofthefollowingcommonlyused
structures:
x Chain.
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317
x Rope/Wire.
x LinewithFloats.
x HomogeneousPipe.
x Hose.
x Umbilical.
What the Wizard does is ask you for the basic data of the structure e.g. the bar diameter for a chain and then
calculate for you as much of the line type data as it reasonably can for representing that structure. The Wizard
leavesyoutosetotherdatae.g.frictioncoefficientswherethereisnoformulaonwhichtobasethedata.
Warning: The values generated by the Wizard are offered in good faith, but due to variations in properties
betweenproductstheycannotbeguaranteed.Pleaseusesuppliers'datawherethisisavailable.
HowTheLineTypeWizardWorks
The Wizard works on the currently selected line type on the line types form, so you should first create, name and
select the Line Type that you want to set up. You can then open the Wizard using the Wizard button on the Line
Typesform.
ThefirsttimeyouusetheWizardonagivenlinetypeyoumustbein resetstate,sinceyouwillbesettingdata.You
then tell the Wizard the category of structure that you want to model (chain, rope etc.) and the data for that
structure (e.g. chain bar diameter). This information is called the Wizard data, and from it the Wizard derives line
typedatatocorrespondtothatWizarddata.Ifnecessaryyoucanthenmanuallyadjustthederivedlinetypedata.
OnceyouhaveusedtheWizardtosetupdataforagivenlinetype,thentheWizardrememberstheWizarddatayou
gave it. If you re-open the Wizard when in reset state then you can edit the Wizard data and the Wizard will
calculatecorrespondingnewderivedlinetypedata.Anymanualadjustmentswillneedtobedoneagain.
Youcanalsore-opentheWizardwheninotherstates(e.g.instaticstateorwhenasimulationisactive)butonlyin
ordertoviewtheWizarddata.YoucannoteditWizarddataorre-derivelinetypedataexceptinresetstate.
Note: RememberthatthecurrentlinetypedatamightnotcorrespondtothecurrentWizarddata,since
youmighthavemanuallyeditedthelinetypedataafteritwasderivedbytheWizard.
UsingtheLineTypeWizard
The Wizard has three stages, with Next and Back buttons so that you can move between stages to set up the data
youwant.
Stage1displaysthenameoftheselectedLineTypeandasksyoutospecifythespecialcategorythatyouwant.You
canthenclickNexttoproceedtothesecondstage.
Stage2presents3framesofinformation.Thetopleftframeasksyouforthebasicdataofthespecialcategoryyou
have selected. The bottom left frame displays the resulting derived Line Type data you should check that the
valuesarereasonable.
TherighthandframedisplaysotherpropertiesoftheresultingLineType,whichareoftenusefulasacheck.Insome
cases these depend on contents density, in which case you can specify the contents density to be used for the
calculation of properties. If there are any errors then a message will be displayed. When everything is correct you
canclickNexttoproceedtothelaststage.
Stage3displaysalloftheLineTypedata.BoldtextisdatathathasbeenderivedforyoubytheWizard,basedonthe
speciallinetype datayouspecified.Non-boldtextisdatathathasnotbeensetbythe Wizard this datawill beas
youlastsetit.Youcanadjustanyofthedataatthisstage,overridingthevaluesderivedbythe Wizardifyou wish.
YoucanalsostillgobacktopreviousstagesoftheWizardiffurthermodificationsarerequired.Wheneverythingis
correctyoucanclicktheFinishbutton,inwhichcasethenewdatawillbewritten,overwritingthepreviousdatafor
that line type. Alternatively, you can Cancel to leave the line type unchanged, but then any newly entered special
categorydatawillalsobelost.
6.8.10 Chain
AchaincanbemodelledinOrcaFlexbyusingaLineTypewithitsvariouspropertiessettosuitablevalues.Thisnote
derivesthevaluestouseforanchorchainofnominal(i.e.bar)diameterD,asshownintheFigure:ChainGeometry.
Thepropertiesofanequivalentlinetypearegivenbelow.
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Studless Studlink
OD 1.80D 1.89D
ID 0 0
Contactdiameter 3.35D 3.6D
Mass/Length 19.9D
2
21.9D
2
te/mforDinm
Axialstiffness 0.854x10
8
D
2
1.01x10
8
D
2
kNforDinm
Bendstiffness 0 0
LimitCompression yes yes
Normaldragcoefficient 1.0 1.0
Normaldragdiameter 2.10D 2.26D
Axialdragcoefficient 0.4 0.4
Axialdragdiameter B B
Normaladdedmasscoefficient 1.0 1.0
Axialaddedmasscoefficient 0.08 0.07
Stressdiameters '~' '~'
Allowablestress '~' '~'
Frictioncoefficient typically0.4-0.8dependingontheseabed
Reference
PuechA,1984.
Geometry
3.35D (studless)
3.6D (studlink)
6D
3.35D (studless)
3.6D (studlink)
D = Nominal Diameter
A
EDGE
A
FACE
Figure: ChainGeometry
Data
Chainsarewidelyusedinavarietyofoffshoreapplications,mostobviouslyinmooring.The LineTypeWizardhelps
derivealinetypetorepresentachainbasedonthefollowinginputdata.
BarDiameter
Thediameterofthemetalbarthatformsthelinks.
LinkType
Canbeeitherstudlinkorstudless.
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MechanicalProperties
CatalogueData
When modelling mooring chain the Line Type Wizard aims to derive data for a line type whose characteristics are
equivalenttothatofachain.
Warning: The values generated bythe Wizard are approximate onlyand are intended as first estimates for
preliminary use. They are offered in good faith, but due to variations in properties between
productstheycannotbeguaranteed.Pleaseusesuppliers'datawherethisisavailable.
In deriving these some of the available catalogue data will prove useful and we outline here the relevant aspects.
TheMooringChainfigureshowsthegeometryofapairofchainlinks.Thevaluesaregivenintermsofthenominal
bardiameterofthechain(D),assumedtobeinmetres,andaregivenforbothastudlesschainand,wheredifferent,
for a studlink chain. The geometry given in the figure is based on catalogue data available from the chain
manufacturerScanaRamnas(1990&1995),asisthefollowingexpressionformasspermetre:
Masspermetre(M)=19.9D
2
te/m(studless)or21.9D
2
te/m(studlink).
ThecataloguealsogivesthefollowingvaluefortheYoung'sModulusofthechainthathasbeendeducedfromstress-
strainrelationshipsinwhichthecross-sectionalareaoftwobarsistakentobetheloadbearingarea:
E=5.44x10
7
kN/m
2
(studless)or6.40x10
7
kN/m
2
(studlink).
MinimumBreakingLoads
Forinformation,thepropertieswindowdisplaysminimumbreakingloadsthatdependonthenominaldiameterand
chain grade. They are derived using the following relationship, which was obtained from the manufacturer's
catalogue:
MinBreakingLoad=c.D
2
.(44-80D)kN
wherecisagrade-dependentconstant,giveninthecataloguedataasGrade2:1.37e4,Grade3:1.96e4,ORQ:2.11e4,
R4-2.74e4.
Studless and Studlink chains with the same nominal diameters are stated to withstand the same break- and proof-
loads.
DerivedData
Itwillbeusefultoknowthecentrelinelengthofbarneededtomakeasinglelink.Wecanobtainthisbynotingthat,
foralongchain,thereisonechainlinkevery4Dlengthofchain.Hence,thenumberoflinkspermetreofchainisN=
1/(4D),andthusforasinglelink:
Massperlink=M/N=79.6D
3
te(studless)or876D
3
te(studlink).
Assuming that the chain is maue fiom steel anu using sasdensityofsteel(=7.8te/m
3
),thisthenleadsto:
Volumeperlink N N s=10.2D
3
m
3
(studless)or11.2D
3
m
3
(studlink).
But,byconsideringthegeometryofalink,wealsohave
volume L B
2
/4,
whereLiscentrelinelengthofbarneededtomakeasinglelink(includingthestudinthecaseofthestudlinkchain).
Hence:
L volume B
2
/4)=13.0Dm(studless)or14.3Dm(studlink).
Outer,InnerandContactDiameter
TheLineTypeWizardsetsupdiametersforachainasfollows:
OuterDiameter
The effective outer diameter of the equivalent line is obtained using a similar argument to that deployed in
obtainingtheoveralllengthofbarperlink.Firstly,notethatthevolumepermetrecanbeexpressedasboth:
volume pei metie Ns
andalsoas
volume pei metie 0B
2
/4
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320
where OD is the equivalent diameter for a line with constant volume along its length. Equating these expressions
leadsto:
0utei Biametei Ns)]
=1.80Dm(studless)or1.89Dm(studlink).
InnerDiameter
Chainsdonothaveanycontents,sotheInnerDiameterissettozero.
ContactDiameter
The contact diameter is set to the chain link envelope diameter. That is Contact Diameter = 3.35D m (studless) or
3.6Dm(studlink).
AxialandBendingStiffness
TheLineTypeWizardsetsupAxialandBendingStiffnessandLimitCompressionforachainasfollows:
AxialStiffness
As detailed in Mechanical Properties of Mooring Chains we have values for the Young's Modulus for both studlink
andstudlesschainsfromcataloguedata.TakingAtobethecombinedcross-sectionalareaoftwobars,thatis:
A B
2
/4)m
2
leadsto:
EA=0.854x10
8
D
2
kN(studless)or1.01x10
8
D
2
kN(studlink).
BendingStiffness
For both studlink and studless chains the bending stiffness is set to zero as the chains are assumed to bend when
subjectedtoverysmallmoments.
LimitCompression
Inconjunctionwithazerovalueforbendstiffness,LimitCompressionissetto'yes'.
AxialAddedMassCoefficient
TheLineTypeWizardsetsupAxialAddedMassCoefficientforachainasfollows.
As for axial drag, the parts attracting added mass in axial flow are the projecting lobes only see the figure. Each
pairoflobesaresimplyalinkwiththemiddlesection(andstudifpresent)removed,andcanbeviewedroughlyas
anellipsoidsplitdownthecentrewiththefollowingdimensions:
length6D,widthDandheight2.35D(studless)or2.60D(studlink).
JNNewman(1977)(page147,Fig4.8)givesaddedmasscoefficientsforspheroids.Weapproximatetheellipsoidas
a spheroid with a lenbgth of 6D (the link length) and a mean width of (D+2.35D)/2 = 1.675D for studless), or
(D+2.60D)/2=1.80Dforstudlink.Thisgivesanaspectratio(width/length)ofabout0.3inbothcases.
ForthisaspectratioandaxialflowNewmangivesanaddedmasscoefficient of0.1. Thisisforusewithareference
volumeequaltothespheroidvolume,whichinthiscaseisthevolumeofthelobesonly.ButOrcaFlexusesthetotal
displaced volume as the reference volume, so a suitable scaling ofNewman's coefficient is needed to allow for this
differenceinreferencevolume.
Forastudlesslinkthenon-lobelengthofbaris2D(themiddlesection)outofatotalof13D,sothelobesrepresent
11D/13D=84.6%ofthetotallinkvolume.Forastudlinkchainthenon-lobelengthofbaris2D+1.6D(thestud)our
of a total of 14.3D, so the lobes represent 10.7D/14.3D = 74.8% of the total link volume. So we scale Newman's
addedmasscoefficient0.1bythesefactorsandroundtogiveOrcaFlexaxialaddedmasscoefficientsof
Caa=0.08(studless)or0.07(studlink).
AxialDrag
TheLineTypeWizardsetsuptheaxialdragcoefficientandaxialdragdiameterforachainasfollows.
Generally,axialdragisverylowforsmoothpipes,beingduetoskinfrictiononly.However,forachainthereissome
projected area present even in axial flow and we consider the drag force due to this effect. We ignore the effect of
skinfrictioninthederivationoutlinedbelow.
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321
As in the calculation for normal flow we consider two adjacent links and calculate their projected area. The
projectedarea,normaltotheflow,foraxialflowconsistsofthefour"lobes"only,sincethecentralpartiseffectively
shieldedfromtheflowseethefigure.
Hoerner(1965),page5-8,Fig14c,givesCda=0.32forahemisphericalrivetheadprojectingfromaplane.Thelobes
herearesimilarmoreelongatedintheflowdirection(implyingalowerCda)butonalesssmoothbody(implyinga
higherCda).Hence,weassume:
Cda=0.40.
Thereferencedragareathatcorrespondstothisistheaxialprojectedareaofthelobes.Eachlobeis(3.35D -D)/2=
1.175D long for studless, or (3.6D - D)/2 = 1.30D long for studlink, consisting of a semicircle of diameter Don the
end of a rectangle of width D and length 1.175D - 0.5D = 0.675D(studless), or 1.3D - 0.5D = 0.8D(studlink). And
eachpairoflinksgives4lobes,sothetotalaxialprojectedareapermetreofchain(=1/8Dpairsoflinks)isgivenby:
B
2
/8+0.675D
2
)/(8D)=0.54Dforstudless
B
2
/8+0.8D
2
)/(8D)=0.60Dforstudlink.
Bowevei foi axial uiag 0icaFlex uses a iefeience uiag aiea equal to Ba,whereDaistheaxialdragdiameter.Sothe
axialdragdiameterforOrcaFlexis:
Da B stuuless
Da B stuulink
NormalDrag
TheLineTypeWizardsetsuptheNormalDragCoefficientforachainasfollows:
We first calculate the drag force on a chain in normal flow, for which we require a value for its projected area
(normaltotheflow).Tocalculatethiswemustconsiderthechainasacollectionofpairsofadjacentlinks,oneface
on to the flow, with projected area AFACE, and one edge on, with projected area AEDGE see Figure. The overall
projectedareapermetrewillbeamultipleofthesumofthesetwoareas.
AFACE=LD-2D
2
=11.0D
2
m
2
(studless)or12.3D
2
m
2
(studlink)
and
AEDGE B B B
2
/4)/2=5.79D
2
m
2
.
Thereare1/(4D)linkspermetreandhence1/(8D)suchpairsoflinkspermetre.Hence,thetotalprojectedareaper
metre(normaltotheflow)isgivenbythefollowingexpression:
ANORMAL=(AFACE+AEDGE)(1/(8D))=2.10Dm(studless)or2.26Dm(studlink).
So,wearenowabletocalculatethedragforcepermetrelengthofchainas:
Dragfoice v
2
CdnANORMAL
for a given drag coefficient Cdn wheie is the uensity of seawatei anu v is the flow velocity Foi iiiegulai shapeu
bluffbodiessuchaschainlinks,ofeithertype,asuitablevalueforCdnis1.0.
ThedragforcepermetrelengthascalculatedbyOrcaFlexisgivenby:
Biag foice v
2
CdnDn
whereDnisthenormaldragdiameter.Equatingthetwoequationsfordragforceleadsto:
Dn=ANORMAL=2.10Dm(studless)or2.26Dm(studlink).
NormalAddedMassCoefficient
TheLineTypeWizardsetsuptheNormalAddedMassCoefficientforachainasfollows:
Whenalineisacceleratedinwaterit requiresan impulsein excessofthatneededforthesameacceleration in air.
This is due to the extra force required to displace the water in the vicinity of the submerged part of the line. An
addedmasstermisusedtoreflectthisanditisfoundtobeproportionaltothevolumeofdisplacedfluid:
Auueu mass Ca vol
where
is uensity of watei
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322
Volisthedisplacedvolume.
The parts of a line displacing the fluid are said to be attracting added mass. For asymmetrical bodies the parts
attracting added mass will differ in different directions. Hence, we consider the effect due to fluid flow exerting a
forcein,first,thenormalandthentheaxialdirections.
Foracircularcylinderinflownormaltoitsaxis:
Can=1.0.
The situation for a chain is more complicated as, for flow normal to a link, parts of the link are shielded from the
flow but there is also some entrapped water within each edge-on link. An accurate calculation is very problematic
andisunlikelytogiveavalueforthenormaladdedmasscoefficientfardistantfrom1.0.Henceweassume:
Can=1.0.
StressDiametersandAllowableStress
These are set to '~' because the entire structure is load bearing. Please note, however, that stress results are not
meaningfulforachain.
6.8.11 Rope/Wire
D = Nominal rope diameter
Wire with Fibre core Wire with Wire core Fibre rope
D
Figure: Rope/WireGeometry
Ropesandwireshavemanyapplicationsintheoffshoreindustryincludingtowing,mooringandwinching.The Line
Type Wizard can be used to derive Line Type data to represent five different types: Nylon (8-strand Multiplait);
Polyester(8-strandMultiplait);Polyethylene(8-strandMultiplait);6x19WireRopewithFibreCore;and6x19Wire
RopewithWireCore.
Most of the calculations of the derived line properties are based on data from a catalogue published by Marlow
Ropes Ltd (1995). All quantities are expressed as a function of the rope's nominal diameter D. Note that this
documentation uses the SI units system, so D is in metres in this documentation, but the program automatically
adjuststheformulaetomatchtheunitsspecifiedbytheuser.
Data
The Line Type Wizard can be used to create line types representing a variety of ropes and wires. The input data
requiredconsistsofthefollowing:
Rope/WireNominalDiameter
Theoveralldiameteroftheropeorwire.Themajorityofthederivedlinetypedataarefunctionsofthisdiameter.
Warning: The line type outer diameter derived by the wizard is less than this nominal diameter, in order to
give the correct buoyancy. You need to allow for this when setting the line type drag and added
masscoefficients,sincethecoefficientscorrespondtothederivedlinetypeouterdiameter,notthe
nominaldiameter.
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323
Construction
Canbeoneof:
x Nylon(8-strandMultiplait).
x Polyester(8-strandMultiplait).
x Polyethylene(8-strandMultiplait).
x 6x19WirewithFibreCore(8-strandMultiplait).
x 6x19WirewithWireCore(8-strandMultiplait).
Theconstructionaffectsboththemassperunitlengthofthelinetypeandthestrengthofthelinetype.
Massperunitlength
TheLineTypeWizardsetsupMassforaRope/Wireasfollows:
The quantity Mass per unit length is available from catalogue data for ropes. The nominal rope diameter and
nominal mass are available for a variety of rope constructions. A simple statistical analysis of the available data
leadstothefollowingexpressions:
MassPerMetre=0.6476D
2
te/m(forNylonropes).
2
te/m(forPolyesterropes).
2
te/m(forPolypropyleneropes).
2
te/m(forWireropeswithfibrecore).
2
te/m(forWireropeswithwirecore).
OuterandInnerDiameters
TheLineTypeWizardsetsupouterandinnerdiametersforaRope/Wireasfollows.
Theinnerdiameterissettozeroforallropeconstructiontypes.Thelinetypeouterdiameter,OD,issetasfollows:
OD=0.85D(forNylonropes).
OD=0.86D(forPolyesterropes).
OD=0.80D(forPolypropyleneropes).
OD=0.82D(forWireropeswithfibrecore).
OD=0.80D(forWireropeswithwirecore).
whereDisthespecifiedropediameter.
Theseouterdiametersareeffectivediametersthatgivethelinetypeadisplacedvolumeperunitlengththatequals
theestimateddisplacedvolumeperunitlength oftherope/wire.Thelinetypethenhastheappropriate buoyancy.
Notethatthiseffectivediameterislessthanthespecifiedropediameter,becausetherearegapsbetweenthefibres
andsonotallofthespecifiednominaldiametercontributestobuoyancy.
The above formulae for the line type OD were derived by equating the line type displaced volume per unit length,
0B
2
to the uisplaceu volume pei metie N wheie N is the iopewiie massperunitlengthanu is the aveiage
densityofthematerial.
The following aveiage mateiial uensities in tem
3
) were assumed: Nylon 1.14; Polyester 1.38; Polypropylene
0.91;Wirewithfibrecore6.87;WirewithWirecore7.85.TheaveragematerialdensityfortheWirewithfibrecore
wasestimatedbyassumingaratioof6:1betweenthewireandfibrevolume,withthefibretakentohavethesame
densityas(fresh)water.
TheLineTypeWizardsetsupAxialandBendingStiffnessandLimitCompressionforaRope/Wireasfollows
AxialStiffness
Theexpressionsforaxialstiffnessarecalculatedindifferentwaysforthetwogroupsoffibreropesandwireropes.
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324
For Fibre Ropes we use the catalogue data. Load/extension characteristics depend on previous load history,
whethertheropeiswetordry,andtherateofapplicationoftheload.Toreflectthelikelyworkingenvironmentof
theropeweusedataassociatedwithropesthathavebeentestedunderthefollowingconditions:
x the rope has been pre-worked loaded to 50% of breaking load and then rested for 24 hours (this causes the
ropetobeddownsothatitselasticbehaviourismoreconsistentandrepeatable)
x subjectedtoslowlyvaryingloads(forloadsvaryingatwavefrequency,stiffnessshouldbeabouttwicethevalue
shown)
x a wet rope pre-soaked in water (this is most significant for Nylon ropes which suffer a loss in performance
whenwet)
x we use figures for the average performance when the mean extension is 10% (by taking the tangent of the
stress-straincurveat10%).
Incorporating all of the factors indicated above we can produce values of axial stiffness for a range of rope
diameters. Once again using simple statistical techniques we obtain the following expression for axial stiffness of
fibreropes:
AxialStiffness=1.18x10
5
D
2
kN(forNylonropes).
6
D
2
kN(forPolyesterropes).
6
D
2
kN(forPolypropyleneropes).
AxialstiffnessforWireRopesiscalculateddirectly,ratherthanestimatedfromempiricalrelationships.Weassume
avalueforYoung'sModulus,forthe6x19strandgroup,of:
E=1.03x10
8
kN/m
2
(forWireropeswithfibrecore).
E=1.13x10
8
kN/m
2
(forWireropeswithwirecore).
andworkonanassumedmetallicareaof:
A B
2
/4)m
2
(forbothwireropes).
Both ofthese quantities have been obtained from the HER Group Marine Equipment & Wire Rope Handbook. Note
thatforwireropeswithawirecoretheadditionalaxialstiffnessisaccountedforintheenhancedYoung'smodulus.
Thisleadsto:
7
D
2
kN(forWireropeswithfibrecore).
7
D
2
kN(forWireropeswithwirecore).
BendingStiffness
ForallropeconstructiontypesthebendingstiffnessofferedbytheWizardiszero.Forsystemswherebendstiffness
isasignificantfactoryoushouldoverridethisvaluewiththetruevalueobtainedfromtheropesupplier.
LimitCompression
InconjunctionwithazerovalueforbendstiffnessLimitCompressionissettoyes.
These are set to '~' because the entire structure is load bearing. Please note, however, that stress results are not
meaningfulforcomplexstructuressuchasropesorwires.
MinimumBreakingLoads
The properties window in the line type wizard displays approximate minimum breaking load (MBL) values for
ropesandwires.ThesemaybeusefulforsettingtheAllowableTensiondataitemforthelinetype.
The MBL values displayed are calculated using the following functional formulae, where D is rope/wire nominal
diameterinmetres:
Nylonropes(dry) 163950.D
2
kN
Nylonropes(wet) 139357.D
2
kN
Polyesterropes 170466.D
2
kN
Polypropyleneropes 105990.D
2
kN
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325
Wireropeswithfibrecore 584175.D
2
kN
Wireropeswithwirecore 633358.D
2
kN
Theseformulaewerederivedfrommanufacturer'scataloguedata,whichconsistofminimum(dry)strengthagainst
nominal diameter for each of the five rope/wire constructions. The formulae were derived using least squares
fitting, and they were found to give a good fit to the manufacturer's data, except that they tend to underestimate
MBLforsmalldiameternon-wireropes.
Note: Nylon ropes lose some strength when wet; the formula given for wet nylon ropes is based on the
manufacturer'sstatementthattheycanloseupto15%oftheir(dry)strengthwhenwet.
6.8.12 LinewithFloats
You can model floats or buoyancy modules attached to a line by using buoyant Clumps attached at the relevant
points.Howeverwhenanumberoffloatsaresupportingalengthoflineitisofteneasiertomodelthebuoyancyasif
it were smeared, i.e. spread out evenly, along that part of the line. This allows the length and segmentation of the
buoyedsectiontobevariedeasilywithouthavingtoaddandremoveindividualfloats.
Tousethissmearedpropertiesapproachyouneedtodothefollowing:
x Createanewlinetype.
x Setthenewlinetype'spropertiestobeequivalenttothoseoftheoriginalpipe+floats.Thisisdonebyspreading
eachfloat'sbuoyancy,drag,etc.uniformlyoverthelengthofpipefromSf/2beforethefloatcentretoSf/2after
thefloatcentre,whereSfisthefloatpitch,i.e.thespacingbetweenfloatcentres(seediagrambelow).Theresult
isauniformcircularsectionlinewhichwillexperiencethesameforcesperunitlengthastheoriginallineplus
floats.Thelinetypewizardwillautomaticallysetupthisequivalentlinetypeforyou.
x Setupalinesectiontomodelthelengthoflinesupportedbythefloats.Thesection'slinetypeshouldbesetto
theequivalentlinetypeanditslengthshouldbeNxSf,whereNisthenumberoffloatsandSfisthefloatpitch.
Note that this length is a little more than the length between the start of the first float and the end of the last
one, since each float is effectively being smeared equally both ways from its centre; see the diagram below,
whichshowthesituationwhenN=3.
We describe below how the Line Type Wizard derives the properties of the equivalent line type. Note that this
approachisalsosuitableformodellingaregularlyweightedsectionofline.
Warning: The values generated by the Wizard are based on current best practice, but more specific project
datashouldbeusedwherethisisavailable.
Dp
Df
Sf Sf Sf
Floats
Figure: GeometryofLineandFloats
Wefirstdefinethenotationtorepresenttheunderlyinglineontowhichthefloatsaretobeattached,whichwerefer
toastheBaseLineType.Wethenspecifythequantitiesrequiredtorepresentthefloats.
The followingpropertiesarealldeemedto beunaffectedby theaddition offloatstothebaselineandsoaresetto
havethesamevaluesasthoseofthebaseline.
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326
x AxialandBendingStiffness
x LimitCompression
x AllowableTension
x MinimumBendRadius
x TorsionalStiffness
Data
Adding floats to a line to produce extra buoyancy is a common requirement. The Line Type Wizard helps you to
quicklyderivesuchalinetypebyspecifyingboththeexistingunderlyingbaselinetype,ontowhichthefloatswillbe
added,andvariouspropertiesofthefloats:
BaseLineType
Thelinetypeonwhichthefloatsaremounted.
FloatDiameter
Theoutsidediameterofeachfloat.Itmustbegreaterthantheoutsidediameteroftheunderlyingbaselinetype.
FloatLength
Theaxiallengthofeachfloat.
FloatPitch
Theaveragedistancebetweenthecentresofsuccessivefloats.
FloatMaterialDensity
Thedensityofthematerialformingthefloats,excludingadditionalitemssuchasfixingmaterial.
FloatHardwareMass
Thisaccountsfortheextramassduetotheadditionofthefloatsabovethatdueto thematerialdensityandcovers
suchitemsastheclamping/fixingmechanisms.
FloatNormalDragCoefficient
Thedragcoefficientassociatedwiththefloatforflownormaltotheline.
FloatAxialSkinDragCoefficient
Thedragcoefficientassociatedwiththefloats,duetothefloats'skinfriction,forflowalongtheaxisoftheline.
FloatAxialFormDragCoefficient
Thedragcoefficientassociatedwiththefloat,duetotheprojectedannulusareaoftheendofthefloat,forflowalong
theaxisoftheline.
FloatNormalAddedMassCoefficient
Theaddedmasscoefficientforflownormaltotheline.
FloatAxialAddedMassCoefficient
Theaddedmasscoefficientforflowalongtheaxisoftheline.
TheLineTypedatathatarederived,andtheassociatedunderlyingexpressions,aredetailedinModellingLineswith
Floats.
PropertiesofBaseLineType
Formodellinglineswithfloatsthelinewithoutfloatsisreferredtoasthebaselinetypeandthefollowingnotationis
used.Thelinewithoutfloatsisassumedtobeofcircularcross-sectionandhavethefollowingcharacteristics:
x ODpouterdiameter.
x IDpinnerdiameter.
x Mpmassperunitlength.
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327
x Dnpnormaldragdiameter.
x Dapaxialdragdiameter.
x Cdnpdragcoefficientinnormalflow.
x Cdapdragcoefficientinaxialflow.
x CanpAddedmasscoefficientinNormalflow(commonlytakenas1.0forcircularsection).
x CaapAddedMasscoefficientinAxialflow(commonlytakenaszero).
PropertiesoftheFloats
For modelling lines with floats the following notation is used for the floats. The floats are assumed to be short
cylindersfittedco-axiallyonthelineatconstantspacing:
Lf length
Df diameter
f floatdensity
Sf floatpitch
mfh floathardwaremass(e.g.fixingclamps,bolts,etc.)
Cdnf dragcoefficient,normalflow
Cdaf1 dragcoefficient,axialflowduetoform
Cdaf2 dragcoefficient,axialflowduetoskinfriction
Canf addedmasscoefficientsinnormalflow
Caaf addedmasscoefficientinaxialflow
Withtheaboveinformationwecancalculatethevolumeoccupiedbyanindividualfloatas:
Vf Bf
2
-ODp
2
)Lf
whichleadstothemassofthefloatbeingcalculatedasfollows:
Mf=Vff+mfh.
Outer,InnerandContactDiameter
TheLineTypeWizardsetsupdiametersforaLinewithFloatsasfollows:
OuterDiameter
TheOuterDiameter(OD)oftheequivalentlineiscalculatedbyequatingtwoequivalentexpressionsforthevolume
perunitlengthoftheline:
vol pei unit length 0D
2
(equivalentline)
vol pei unit length v 0Bp
2
+Vf/Sf(linewithfloats)
Thisleadsto:
0utei Biametei 0B v
InnerDiameter
TheInnerDiameterisunaffectedbytheadditionoffloatsandsoissettobethesameasthatofthebaseline.
ContactDiameter
TheContactDiameterisset toequalthe floatdiameterDf.Thisallowsfloatclearancetobe reportedusingthe Line
ContactClearanceresult.
MassperUnitLength
Theline typemassperunit lengthiscalculatedbyallowingforthefactthat thereis onefloatfor everySflength of
thesectionandhence(1/Sf)floatsperunitlength,giving:
Massperunitlength=Mp+Mf/Sf
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328
NormalDragCoefficient
TheLineTypeWizardsetsuptheNormalDragCoefficientforaLinewithFloatsasfollows:
Thedragforceperunitlengthoftheequivalentlinewhenflowisnormaltotheline'saxiscanbeexpressedas:
DragForcen v
2
CdnDnp
in which the reference drag area per unit length, normal to the flow, is given by the normal drag diameter of the
baseline,Dnp anu wheie is the uensity of seawatei anu v is the flow velocity
Wecanalsoexpressthedragforceperunitlengthexperiencedbytheequivalentlineasthesumofthedragforces
experiencedbythefloatsandthedragforcesexperiencedbythepartofthelinenothiddenbythefloats:
DragForcen=DragForcen-FLOATS+DragForcen-EXPLINE
v
2
[Cdnf.DragArean-FLOATS+Cdnp.DragArean-EXPLINE]
inwhichthereferencedragareaforthefloatsinnormalflowisgivenby:
DragArean-FLOATS=DfLf/Sf
andthereferencedragareafortheexposedlineinnormalflowisgivenby:
DragArean-EXPLINE=Dnp(Sf-Lf)/Sf.
Equatingthetwoexpressionsfordragforceleadsto:
Cdn=[Cdnf.DragArean-FLOATS+Cdnp.DragArean-EXPLINE]/Dnp.
In case the base line type uses drag which varies with Reynold's number, a variable data table is created which
specifiesthedragvariationwithReynold'snumberfortheequivalentline.Theformulaaboveisthenappliedtothe
dragcoefficientsineachrowofthetable.
AxialDragCoefficient
TheLineTypeWizardsetsuptheAxialDragCoefficientforaLinewithFloatsasfollows.
To derive the drag coefficient when flow is axial to the line we adopt a similar approach to that used above for
normalflow.
Whenconsideringtheequivalentline,withtheadditionalbuoyancysmearedalongit'soutersurface,thedragforce
perunitlength,whenflowisaxialtotheline,isduesolelytoskinfrictionandcanbeexpressedas:
DragForcea v
2
CdaBap)
inwhichthereferencedragareaperunitlengthisthecircumferenceofthebaseline(calculatedusingtheaxialdrag
diameterDap)andwhereristhedensityofseawaterandvistheflowvelocity.
As in the case for flow normal to the line, we can also express the drag force per unit length experienced by the
equivalentlineasthesumofthedragforcesexperiencedbythefloatsandthedragforcesexperiencedbythepartof
thelinenothiddenbythefloats.However,thedragforcesexperiencedbythefloatsareslightlymorecomplicatedin
axialflowasthere willbea dragforceduetothe exposedannulusonthe endof eachfloatanda drag forcedueto
skinfriction.
DragForcea=DragForcea-FLOATS+DragForcea-EXPLINE
v
2
[Cdaf1.DragArea1a-FLOATS+Cdaf2.DragArea2a-FLOATS+Cdap.DragAreaa-EXPLINE]
inwhichthereferencedragarea,duetotheannulus,forthefloatsinaxialflowisgivenby:
DragArea1a-FLOATS Bf
2
-ODp
2
)/Sf
thereferencedragarea,duetotheskin,forthefloatsinaxialflowisgivenby:
DragArea2a-FLOATS BfLf/Sf
andthereferencedragarea,duetotheskin,fortheexposedlineinaxialflowisgivenby:
DragAreaa-EXPLINE Bap(Sf-Lf)/Sf.
Equatingthesetwoexpressionsleadsto:
Cda=[Cdaf1.DragArea1a-FLOATS+Cdaf2.DragArea2a-FLOATS+Cdap.DragAreaa-EXPLINE Bap).
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329
TheLineTypeWizardsetsupNormalandAxialAddedMassCoefficientsforaLinewithFloatsasfollows:
NormalAddedMassCoefficient
Addedmasscoefficientsarecalculatedinasimilarwaytothedragforcecoefficients.Forflownormaltotheaxisof
thelinetheaddedmassperunitlengthisgivenby:
AddedMassn 0B
2
Can
in which the iefeience volume is the volume of the equivalent line anu wheie is the uensity of seawatei
Wecanalsoexpresstheaddedmasstermoftheequivalentlineasthesumoftheaddedmassesduetothefloatsand
duetotheunderlyingline:
AddedMassn CanfAMVolFLOATS+CanpAMVolEXPLINE)
inwhichthereferencevolumeperunitlengthforthefloats(andtheportionoflinetheycover)isgivenby:
AMVolFLOATS Bf
2
Lf/Sf
andthereferencevolumeperunitlengthfortheexposedpartofthelineisgivenby:
AMVolEXPLINE 0Bp
2
(Sf-Lf)/Sf
Equatingtheexpressionsforaddedmassleadsto:
Can=(CanfAMVolFLOATS+CanpAMVolEXPLINE 0B
2
).
AxialAddedMassCoefficient
Theaddedmasscoefficientsfollowinasimilarwaytoabove.Thereferencevolumesfortheequivalentlineandfor
the floats and exposed part of the underlying base line are taken to be the same in axial flow as in normal flow.
Hence,wecantaketheaboveexpressionfortheaddedmasscoefficientinnormalflowandreplacethecoefficients
fornormalflowwiththoseforaxialflow:
Caa=(CaafAMVolFLOATS+CaapAMVolEXPLINE 0B
2
).
Thestressdiameterandallowablestressaresettobethevaluesusedbythebaseline,sinceitisthebaselinewhich
isloadbearing.
6.8.13 HomogeneousPipe
N 1
O
2
Figure: HomogeneousPipe
The Line Type Wizard for Homogeneous Pipe creates data for a General Category Line Type with properties
appropriatetoapipeconstructedfromasinglehomogeneousmaterial,forexampleametalriser.
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330
Note: Ifyouaremodellingahomogeneouspipethenitisnormallybettertodosousinga Homogeneous
PipeCategoryLineType.Thisallowsyoutospecifymaterialdensity,Young'smodulusetc.directly.
Thederivedpropertiesarebasedonthefollowinginputdata:
materialdensity
E Young'sModulus
PoissonRatio
OD OuterDiameter
ID InnerDiameter=OD-2twheretisthewallthickness
Thepropertiesofthederivedequivalentlinetypearegivenbelow.
MassperUnitLength
Nass pei unit length 0B
2
-ID
2
wheie is the materialdensityspecified.
Thelinetypeouterandinnerdiametersaresettothepipediametersspecifiedbytheuser.
AxialStiffness
Thelinetypeaxialstiffnessisgivenby:
AxialStiffness=EA
whereEistheYoung'sModulusandAisthecrosssectionalarea,hence:
Axial Stiffness E 0B
2
-ID
2
).
BendingStiffness
Thelinetypebendingstiffnessisgivenby:
BendingStiffness=EI
whereIisthesecondmomentofarea,aboutanaxisintheplaneofthecross-sectionthroughthecentroid(e.g.NN'),
andleadsto:
Benuing Stiffness E 0B
4
-ID
4
).
LimitCompression
Asthebendingstiffnessissignificantthisissetto'no'.
TorsionalStiffness
Thelinetypetorsionalstiffnessissetasfollows.Thetorqueexperiencedbyapipeoflengthlwhentwistedthrough
an angle is given by
Toique ul}
whereJisthesecondmomentofareaabouttheaxialaxisOO'(oftencalledthepolarmomentofinertia)andGisthe
ShearModulus(sometimescalledthemodulusofrigidity).ForhomogeneouspipesJ=2I.ThequantityGisrelatedto
the Youngs Nouulus E anu Poisson Ratio of the mateiial thiough the following ielationship
u E
TheTorsionalStiffness,representingtheTorqueresistingatwistof1radian,perunitlength,isthereforegivenby:
Toisional Stiffness u} E 0B
4
-ID
4
).
StressOuterandInnerDiameters
Thelinetypestressdiametersaresetto'~',sincetheyarethesameasthepipediameters.
StressLoadingFactors
Thesearesettoone,thedefaultvalue,asasimplehomogeneouspipecarriesalltheloads.
Data
TheLineTypeWizardhelpsbuildalinetypetorepresentahomogeneouspipe,basedonthefollowingdata:
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331
Material
The Wizard provides 3 standard materials for a homogeneous pipe: Steel; Titanium and High Density
Polyethylene. For these standard materials OrcaFlex automatically sets Material Density, Young's Modulus and
PoissonRatio.
Thereisalsoanoption to enter UserSpecifiedasthe Material.Inthiscaseyou mustsetMaterialDensity,Young's
ModulusandPoissonRatio.
MaterialDensity
Thisisthedensityofthematerialusedintheconstructionofthepipe.
OuterDiameter,WallThickness
Thesedataspecifythegeometryofthepipecross-section.
Young'sModulus
Theratioofthetensilestresstothetensilestrain.
PoissonRatio
The amount of lateral strain experienced by a material subjected to tensile strain as a negative proportion of the
tensilestrain.
The Line Type data that are derived, and the associated underlying expressions, are detailed in Modelling
HomogeneousPipes.
6.8.14 HosesandUmbilicals
TheLineTypeWizardestimatestypicalpropertiesforhosesandumbilicalsbasedonprojectdata.
Therearethreecategoriesofhoseavailable:
x High pressure which covers high pressure flexible risers and flowlines of unbonded construction with inside
diametersintherange2to15inches(50to380mm).
x Low pressure which covers low pressure floating hoses of bonded rubber construction with inside diameter
from2to20inches(50to500mm).
x Fold-flatwhichcoverslow pressure,fold-flathoseswithsteelreinforcement;insidediameteraround6inches
(150mm).
Theumbilicalpropertiesassumeconstructionwithsteelwirearmourandthermoplastichosesandoutsidediameter
upto250mm.
The properties derived by the Wizard are obtained from empirically estimated relationships with the diameter of
the hose/cable. They have been estimated from a limited amount of data covering only the range of diameters
indicatedabove.Forsimplicity,onlythoserelationshipsoftheform:
Y=aX
b
,
wherebisaninteger,wereconsidered.
InthedetailsbelowthediameterisassumedtobeinmetresandtheSIunitssystemisappliedthroughout.
Theamountofdataavailableforlowpressurehosesandfold-flathosesisverysmall.
Thereisquiteabitmoredataforhighpressurehosesandumbilicalsbutitisfoundtohavequitealargespread.To
demonstratethisspread,theratiooftheobservedvaluetothefittedvalue,expressedasapercentage,iscalculated
andthelargestandsmallestoftheseisgiven.
The OrcaFlex stress analysis is not applicable to complex structures such as hoses and umbilicals. Any available
stressorwalltensionresultsshouldthereforebeignored.
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DataforUmbilicals
The Line Type Wizard can help build a line type to represent umbilical. Umbilical cables have many applications
including the carrying of electrical communication wires and hydraulic connectors to submersibles. The Line Type
dataquantitiesthatthe wizardderiveshavebeen estimatedfromalimitedamount ofprojectdata.Thesingleitem
ofinputdatais:
UmbilicalDiameter
Theouterdiameteroftheumbilical.Eachderivedlinetypepropertyisafunctionofthisdiameter.
DataforHoses
TheLineTypeWizardhelpsyoubuildalinetypetorepresentahose,basedonthefollowingdata.Alimitedamount
ofavailable project data has been collated and used to derive purely empirical relationships between the diameter
oftypesofhoseandcertainlinetypedataquantities.Theinputdataconsistsof:
HoseInnerDiameter
Eachderivedlinetypepropertyisafunctionofthehoseinnerdiameter.
HoseType
TheHoseTypecanbeoneofhighpressure,lowpressureorfold-flat.Thesecategoriesroughlycovertheavailable
projectdata.
TheLineTypeWizardsetsupOuterandInnerDiametersforhosesandumbilicalsasfollows:
Hoses
Theinnerdiameter(ID)isspecifiedbytheuserandtheouterdiameter(OD)isafunctionoftheinnerdiameter:
OD=1.40IDm(forHighPressure)[90%150%],
OD=1.28IDm(forLowPressure),
OD=1.34IDm(forFold-Flat).
Umbilicals
Theinnerdiameter(ID)issettozeroandtheouterdiameter(OD)isspecifiedbytheuser.
Massperunitlength
TheLineTypeWizardsetsupmassforhosesandumbilicalsasfollows:
Hoses
Foreachtypeofhosethemasspermetrehasbeenestimatedasafunctionofinnerdiametergiving:
Masspermetre=0.7523IDte/m(forHighPressure)[55%145%],
Masspermetre=0.3642IDte/m(forLowPressure),
Masspermetre=0.1844IDte/m(forFold-Flat).
Umbilicals
Fortheumbilicalsthemasspermetrehasbeenestimatedasafunctionofouterdiametergiving:
Masspermetre=1.8OD
2
te/m(forUmbilical)[35%170%].
The Line Type Wizard sets up Axial and Bending Stiffness and Limit Compression for hoses and umbilicals as
follows:
AxialStiffness
Foreachtypeofhosetheaxialstiffnesshasbeenestimatedasafunctionofinnerdiametergiving:
6
IDkN(forHighPressure)[40%160%],
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4
IDkN(forLowPressure),
3
IDkN(forFold-Flat).
Fortheumbilicalstheaxialstiffnesshasbeenestimatedasafunctionofouterdiametergiving:
6
ODkN(forUmbilical)[15%415%].
BendingStiffness
Foreachtypeofhosethebendingstiffnesshasbeenestimatedasafunctionofinnerdiametergiving:
BendingStiffness=3x10
4
ID
4
kN.m
2
(forHighPressure)[45%300%],
2
ID
3
kN.m
2
(forLowPressure),
3
ID
3
kN.m
2
(forFold-Flat).
Fortheumbilicalsthebendingstiffnesshasbeenestimatedasafunctionofouterdiametergiving:
3
OD
3
kN.m
2
(forUmbilical)[55%240%].
LimitCompression
Asthebendingstiffnessissignificantthisissetto'no'.
6.8.15 ModellingStressJoints
A tapered stress joint is a riser joint with a tapered cross-section. Stress joints are used to spread loads over a
criticalsectionoftheriser.Stressjointsaretypicallyfabricatedfromsteelortitanium.
Stress joints are modelled in OrcaFlex using profiled line types. To model a stress joints you need to take the
followingsteps:
1. Create a line type with the homogeneous pipe category and set the inner diameter, material data (Young's
modulus,Poissonratio,materialdensity),hydrodynamicpropertiesetc.
2. CreateaLineTypeOuterDiametervariabledatasourcewhichdefinesthestressjointprofile.
3. Setthelinetypeouterdiametertorefertothevariabledatasourceoftheprofile.
4. SettheLineTypedataitemonthestructurepageofthelinedataformtorefertotheprofiledlinetypecreated
above.
Segmentation
OrcaFlexlinesegmentsarestraight,thatisthediameterisconstantoverthelengthofthesegment.Eachsegmentin
aprofilelinesectionhasadiameterdefinedbyevaluatingtheprofiledataatthemid-pointofthesegments.
Because ofthis you typically need to use quite short segments to model the taper accurately. However, note that a
stress joint is usually placed in a region of concentrated stress. Such regions also require short segments for
accurate modelling and so the use of straight segments to model the profile does not in practice turn out to be a
significantlimitation.
Inordertodeterminesegmentlengthwerecommendthatyouperformsensitivitystudiesonsegmentlength.
Arclengthconvention
Profile arc length is defined relative to the start of the line section and increases from End A towards End B. To
illustratethisconsiderastressjointdefinedbythefollowingprofile:
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Figure: Stressjointprofile
Astressjointspecifiedthiswaywouldcommonlybeusedinthefirstsectionofaline.If,however,yourstressjointis
located adjacent to End B of the line, then the End A to End B convention means that the stress joint would be
incorrectlyconfigured.Thisiseasytocheckwiththeprofilegraphavailableonthelinedataform:
Figure: StressjointprofileatEndB,incorrectlymodelled
Theproblemisthatthetaperisnowinthewrongdirection.ThethickerendofthetapershouldbeadjacenttoEndB
oftheline.Inordertofixthiswesimplyneedtoreversetheprofiledata.ThisisverysimpletodousingtheReverse
buttononthevariabledataform.Theresultlookslikethis:
Figure: StressjointprofileatEndB,corrected
Thelineprofilegraphwhenusingthereversedprofilenowshowsthatthedataisnowappliedasintended:
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Figure: StressjointprofileatEndB,correctlymodelled
6.8.16 ModellingBendRestrictors
Webeginbyintroducingsometerminology.Abendrestrictorisanydevicethatcontrols,restrictsorlimitsbending
on a line. A bend limiter is a bend restrictor that has no effect until a certain curvature is reached, and then
curvature is prevented from going above that value. A bend stiffener is a bend restrictor that provides increased
bendstiffnessinordertodistributemorewidelythebending.
ModellingBendLimiters
Non-linear bend stiffness can be used to model a bend limiter. The approach is to specify a relationship between
curvatureandbendmomentthathas:
x Lowstiffnessforcurvaturevalueslowerthanthelock-outcurvature.
x Highstiffnessforcurvaturevaluesgreaterthanthelock-outcurvature.
Typically the low stiffness value will be close to zero and the high stiffness value will be one or two orders of
magnitude greater than the stiffness of the protected line. Try to avoid using too large a value since doing so can
resultinnumericalinstability.Itmayalsohelptosmooththetransitionfromlowtohighstiffness.
Themostcommonmodellingapproachforbendlimitersusesasingleequivalentlinetypeobjecttorepresentboth
the protected line and the limiter. The bend stiffness for this equivalent line type must account for both the
protectedlineandthelimiter.Youmaychoosealsotoaccountformass,displacementandhydrodynamicproperties
butoftenthesepropertiesareoflesserimportance.
An alternative to the equivalent line approach is to model the limiter as a separate object using the bend stiffener
attachment(see below).Themain differencefromanelastomericstiffener isthatageneralcategory linetype with
non-linearbendstiffnessmustbeusedfortheattachmentlinetype.Themainadvantage ofthisapproachisthatit
becomes easier to check that the data is specified correctly because you can keep the data for the protected line
separatefromthedataforthelimiter.
ModellingBendStiffeners
Bend stiffeners are modelled in OrcaFlex using two separate lines to represent the stiffener and the line which it
protects,whichwerefertoastheprotectedline.Theregionoftheprotectedlinewhichiscoveredbythestiffener
iscalledtheprotectedregion.
The two line approach enables reporting of separate results for the protected line and stiffener. In particular this
makesfatigueanalysisoftheprotectedlinequitesimplesincethereportedloadsandstressesfortheprotectedline
donotincludethecontributionsofthestiffener.
Theprotectedlinecanhavelinear,non-linearelasticorhystereticbendingproperties.Thestiffenerismodelledasa
profiledhomogeneouspipe.Thestiffenercanhavelinearornon-linearelasticmaterialproperties.
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Data
Althoughthestiffenerismodelledasaseparatelineyoudonotneedtocreatethislinemanually OrcaFlexcreates
itautomaticallyasanattachment.Theprocedureforsettingupabendstiffenerisasfollows:
1. CreateaLineTypewhichdefinesthematerial,structuralandhydrodynamicpropertiesofthestiffener.Usually
thiswillbeaprofiledhomogeneouspipe.
2. CreateaStiffenerTypewhichusesthisLineType.
3. CreatealineattachmentbasedonthisStiffenerType.
4. SetthelineattachmentpositionandtheStiffenerTypeconnectionarclengthsothatthestiffenerisattachedat
thedesiredlocationontheprotectedline.
If you have multiple protected lines which all use identical bend stiffeners then you can create a single Stiffener
Typewhichcanbere-usedoneachprotectedline.
ThestiffenerprofileusestheconventionthatprofilearclengthincreasesfromEndAtowardsEndBofthestiffener.
IfyouhaveabendstiffenerconnectedatEndBofalinethenyouwillneedtodefinetheprofilesothatthearclength
0 refers to the tip of the stiffener. The Modelling Stress Joints topic illustrates this issue in some more detail.
Although the discussion there centres on stress joints many of the points covered are equally applicable to bend
stiffeners.
WestronglyrecommendthatyouusetheProfileGraphavailablefromtheLineDataformtocheckthatthestiffener
isconnectedatthecorrectlocationonthelinewiththeprofiledefinedasyouintended.
Segmentation
The stiffener line that OrcaFlex creates is modelled with constant segment length that is every segment in the
stiffener has the same length. The segment length is determined by the segment length ofthe protected line in the
protectedregion.
The stiffener modelling (see below) requires that each node on the stiffener line is associated with a node on the
protectedline.Eachstiffenernodeiseffectivelyclampedtoitsassociatedprotectednode.
Theseconstraintshavethefollowingimplicationsforthesegmentationoftheprotectedline:
1. Theprotectedregionmusthaveconstantsegmentlength.
2. Thestiffenerlengthmustbeanexactmultipleofthesegmentlength.
Onesimplewaytosatisfytheserequirementsistomodeltheprotectedregionasasingle sectionwithlengthequal
tothestiffenerlength.
Note that it is not essential for the protected region to be a single section. The protected region could comprise
multiplesectionseachusingdifferentlinetypes,solongasyousatisfythetworulesabove.
DrawingandResults
Thestiffenerlineisdrawnusingthedrawingdataoftheprotectedlinetowhichitisattached.Notethatthestiffener
isnotdrawnwhentheprogramisinresetstate;itisonlydrawnafterthestaticordynamicanalysishasstarted.
ResultsareavailableforthestiffenerlineexactlyastheyareforanyotherOrcaFlexline.
OrcaFlex reports results separately for protected line and stiffener line and this does need some explanation. For
example, consider bend moment at a particular location in the protected line and at the corresponding location in
the stiffener line. Suppose that the bending stiffnesses are EIp and EIs for protected line and stiffener respectively
(weareassuminglinearbendstiffnessforsimplicity).Thebendmomentcarriedbytheprotectedlineandstiffener
ensembleisgiven byBMtotal =C(EIp+EIs) whereCisthecurvatureatthislocation.Fortheprotectedline OrcaFlex
reportsthelocalprotectedlinebendmomentBMp=C.EIpandlikewiseforthestiffenerlineOrcaFlexreportsBMs=
C.EIs.ItisstraightforwardtoseethatBMtotal=BMp+BMs.
The total load is also split into separate protected line and stiffener loads for effective tension, wall tension, shear
force,torqueandstressresults.However,themethodfordoingthisvariesforaxialcomponentsasexplainedinthe
nextsection.
Modellingdetails
AsmentionedabovethestiffenerismodelledasaseparateOrcaFlexlinewhichiscreatedautomaticallybyOrcaFlex
asanattachment.Thestiffenerlineinheritsanumberofpropertiesfromitsprotectedline,namely:
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x IncludeTorsion.
x Segmentlength.
x Staticsfrictiondata.
x Dragformulationandwakeinterferencedata.
x VIVdata.
x Drawingdata.
x Resultsdata.
The stiffener line does not have any free degrees of freedom. Instead each node on the stiffener is clamped to and
moves and rotates with its associated node on the protected line. The stiffener line calculates its loads and inertia
andthentransfersthemtotheprotectedline.Howthis transferis performed isgovernedbythe Axialload/inertia
transferdataoftheStiffenerType.
All components of load and inertia normal to the stiffener are transferred directly from each stiffener node to its
associatedprotectednode.This,ofcourse,enablesthestiffenertoperformitsjobofspreadingthebendloadsover
theprotectedregion.
Iftheaxialload/inertiatransferisspecifiedtooccuratthe connectionpointthencomponentsofaxialload/inertia
are transferred to the protected node at the connection point. Typically this connection point is at the end of the
protected line and the axial loads and inertia are thus transferred to the protected line's end connection. This
modellingoptioneffectivelyneglectsanyaxialfrictionduetocontactbetweenstiffenerandprotectedline.
If the axial load/inertia transfer is specified to occur over the stiffener's full length then components of axial
load/inertiaare transferreddirectlyfromeachstiffenernodetoitsassociatedprotectednode.Thiscorrespondsto
theassumptionthattheaxialcontactfrictionissufficientthatthereisnoaxialslipping.Theaxialloadwillbeshared
between protected line and stiffener as determined by their relative axial stiffnesses, just as the bend moment is
shared.
BendStiffenerdesignusingOrcaFlex
Themodellingapproachdescribedaboveapplieswhere abendstiffenerhasalreadybeendesigned,andoneofthe
objectives ofthe analysis isto confirm that the stiffener provides the required protection. However, in many cases
the stiffener design does not yet exist and the analysis is needed in order to define design loads. If this is the case,
thenrunapreliminaryanalysiswithnobendstiffenerincluded.Thelineshouldbemodelledwith apinnedend(i.e.
zerobendingstiffnessatthelineendconnection).
The load information required for bend stiffener design then consists of paired values of tension and angle at the
pinned end.Thesecan beextractedintheformofan X-YgraphshowingEffective TensionagainstEzAngle for the
firstsegment.Inpractice,itisoftensufficienttoconsiderjustthreepointsonthisgraph,correspondingtomaximum
tension, maximum angle and maximum bend restrictor load: these can be extracted as linked statistics. Recall that
EzAngleisanabsolutemagnitudeandthereforealwaystakesapositivevalue.Ifasignedvalueisrequired(e.g.to
defineout-to-outloadcyclesforfatigueanalysis),thenusetheEzxorEzyangleasappropriate.
Itisusuallynecessarytocombineresultsfromseveralanalysisrunsinordertofullydefinethebendstiffenerdesign
loading.ThisismostconvenientlydonebyexportingtheEffectiveTensionvsEzAngleresultsasatableofvaluesfor
eachanalysiscase,combiningintoasingleExcelspreadsheetandusingtheplottingfacilitiesinExceltogeneratea
single plot with all results superimposed. A simplified set of load cases representing the overall loading envelope
canthenbeselectedforuseinstiffenerdesign.TheexporttoExcelcanbedonemanuallyorautomatedthroughthe
Resultsspreadsheet.
BendStiffenerdesignusingOrcaBend
The task of bend stiffener design is usually left to the manufacturer, since the actual stiffener shape selected is
governed in part by the manufacturing process, availability oftooling, etc., as well as by the load cases. The Orcina
programOrcaBendhasbeendevelopedtoassistthisprocess.ThereisademonstrationversionofOrcaBendonthe
OrcaFlexCDseeCD:\Demo_CD\ReadMefordetails.ForfurtherinformationcontactOrcina.
6.8.17 Modellingnon-linearhomogeneouspipes
Anon-linearstress-strainrelationshipismostcommonlyusedtomodeleither:
x non-linearbehaviourofelastomericbendstiffeners,or
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x plasticdeformationofsteelpipesduringinstallation.
OrcaFlexcanalsomodelnon-linearbendstiffnessforGeneralCategoryLineTypes.Howeverthereareanumberof
advantagesofusingthehomogeneouspipeapproachifitisapplicable:
x The data are entered directly and there is no need to use the Line Type Wizard for Homogeneous Pipe or the
PlasticityWizardwhichmakesdatacheckingsimpler.
x Theeffectsofadiameterprofileandanon-linearmaterial(e.g.bendstiffener)arehandledautomaticallybythe
program.
x Theeffectsofdirecttensilestrainvariationareagainhandledautomaticallybytheprogram(seebelow).
x Stressresultsarederivedusingthestress-strainrelationship.
Ontheotherhandifyouwishtomodelhystereticbendingbehaviourthenyoumustusethe GeneralCategoryLine
Typesapproach.
Data
Stress-Strain Relationship variable data sources are used to define non-linear elastic material properties for
homogeneouspipes.
Stress-Strainrelationship
The relationship between stress and strain can be specified by either Ramberg-Osgood curve or Stress-Strain
table.
P y),K,n(Ramberg-Osgoodcurveonly)
These uata uefine the ielationship between stiess anu stiain in teims of a Rambeig-Osgoodcurveasfollows:
E Ky)
n
.
The referencestressparameterisusuallytaken to be the yielu stiess which is why it is uenoteu yhere.Notethat
thereisanalternativeparameterisation oftheRamberg-Osgood equation.Itisstraightforwardtoconvert between
the two forms of the equation but please take care to ensure that the data you input correspond to the
parameterisationusedbyOrcaFlex.
Stress,Strain(Stress-Straintableonly)
This table directly specifies the relationship between stress and strain. The table is interpolated linearly and for
valuesofstrainoutsidethetablelinearextrapolationwillbeused.
Modelbuilding
OrcaFlex uses the stress-strain relationship to generate a table of bend moment against curvature using the same
algorithm as the Plasticity Wizard. Each segment in the OrcaFlex model uses a distinct bend moment / curvature
tablewhichisclearlynecessaryifthelinetypehasadiameterprofile.
Theuseofdistinctbendmoment/curvaturetablesalsoallowsOrcaFlextoaccountforthevariationofdirecttensile
strainwithinaline.Thebendmoment/curvaturerelationshipdependsupon:
x Thestress-strainrelationship(asdescribedabove).
x Theinnerandouterdiameter(asspecifiedintheLineTypedata).
x Thedirecttensilestrain.
The direct tensile strain can have a significant effect on the non-linear bending behaviour if it is large. To see why
thisissoconsiderasteelpipeundertensionsuchthatthedirecttensilestrainequalstheyieldstrain.Whenthepipe
is in this state then any small amount of curvature will yield the pipe outer fibres. On the other hand consider an
unstressed steel pipe, where the direct tensile strain is zero. In this state the pipe can withstand significant
curvaturebeforetheouterfibresyield.
In principle the bend moment / curvature relationship could be recalculated at each time step of an OrcaFlex
calculation. However this would incur a significant performance cost. Instead we make the assumption that the
effectofdynamicvariationofdirecttensilestrainonthebendmoment/curvaturerelationshipissmall.
This allows us to use a constant value of direct tensile strain for the purpose of deriving the bend moment /
curvature relationship. Note that each segment in the model has a distinct bend moment / curvature relationship
basedonadistinctvalueof directtensilestrain.By"constant"we meanthatwedo notupdatethe bend moment/
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curvature relationship during the dynamic simulation. Note also that this discussion of direct tensile strain only
pertains to the generation of bend moment / curvature relationships. The program does, of course, account for
dynamicvariationofdirecttensilestrainwhencalculatingwalltension,effectivetensionetc.
Theprogramchoosesthevalueofdirecttensilestrainbyfirstperformingastaticcalculationundertheassumption
thatdirecttensilestrainis0.Non-linearbendmoment/curvaturerelationshipsarecreatedforeachsegmentunder
this assumption. The direct tensile strain values from this initial static solution are then used to update the non-
linear bend moment / curvature relationships. Finally the static calculation is repeated to obtain a solution which
accountsfortheeffectsofdirecttensilestrain.
Stressresults
The non-linear stress-strain relationship is also used to calculate certain stress results from strain values. Non-
linear stress-strain leads to a non-linear elastic bend stiffness, but the axial and torsional stiffnesses are still
assumed to be linear. This means that the only stress results affected are those that depend on bending: Max
BendingStress,vonMisesStress,MaxvonMisesStressandZZStress.
6.8.18 LineEnds
Lines in OrcaFlex run from End A to End B. Travelling from A to B, the orientation of any segment in the line is
defined in terms of Azimuth and Declination angles, relative to global axes. Azimuth is measured in the X-Y plane,
DeclinationismeasureddownwardsfromtheZaxis.SeeNo-MomentDirection.
No-momentDirection
Associated with each end is a stiffness, and a no-moment direction which is described in terms of azimuth and
declination. This too uses the End A to End B convention, so if we hang up a catenary of line, and then freeze the
ends,theno-momentdirectionsareasshownbelow:
x
z
y
Declination
Angle
Azimuth
Angle
No moment direction
( Az = 0, Dec = 160 )
No moment direction
( Az = 0, Dec = 45 )
End A
End B
Figure: Directions
If the line end is attached to a body which can move (a Vessel or Buoy), then the no-moment direction is defined
relativetothebodyaxesandthereforemoveswiththebody.Otherwise,itisdefinedinglobalaxes.
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EndStiffness
Thestiffnessassociatedwiththeendcanbeusedtorepresentanitemsuchasaflexjoint,whosestiffnessisinunits
ofmomentperunitangle,e.g.kN.m/degree.Morecommonly,thelineendiseitherfreetorotateorfullyrestrained.
Inthefirstcase,the endstiffnessissettozero; inthesecondcase,the endstiffnessissettoInfinity.Notethatitis
never necessary (or correct) to 'convert' the line stiffness into an end stiffness: the program includes the line
stiffnessforyouautomatically.
Free-to-rotateorFully-restrainedEnds
Inmanypracticalcases,thelineendsareneithercompletelyfreenorfullyrestrained.Nevertheless,werecommend
that you should usually choose one of these conditions. When should you use one rather than the other? The
followingnotesofferabriefguide:
1. ManysystemsmodelledusingOrcaFlexconsistofrelativelylongflexiblelineswherebendstiffnessplaysonlya
minor role in determining the overall forces on and movements of the system. In such systems, line ends may
safelybemodelledasfree-to-rotate.
2. An exception to this rule is systems which include one or more 6D buoys. The rotational motions of the buoy
may then be influenced by moment transfer from the ends of lines attached to it, particularly where buoy
rotationalinertiasaresmall.Insuchcases,theendconnectionstothebuoyshouldbefullyrestrained.
3. Afurtherexceptionissystemswheretheflexiblelinesarerelativelyshortandstiff,e.g.alargediameterunder-
buoyhoseinshallowwater.Bendstiffness,includingendmoments,mayhaveasignificantinfluenceonoverall
systembehaviourinsuchcases,andtheendconnectionsshouldbefullyrestrained.
4. Wherefullyrestrainedendsareused,itisnecessarytopaymoreattentiontothemodellingofthelinecloseto
the end. In particular make allowance for the additional stiffness of a bend stiffener, if one is fitted and use
shortersegmentsnearthelineendssoastorepresentthemomentswithsufficientaccuracy.
5. Roll-on/roll-off contact (e.g. stern rollers, pipelay stingers, mid-water arches for riser systems). A pinned
connection at the average contact point is often sufficient. For a more exact representation, use one or more
solidstorepresentthesupportingsurface, butrememberthattheremust besufficient nodesattheline endto
interactwiththesolid.
EndForceandEndForceEz-Angle
The figure below shows the end connection of a flexible line fitted with a bend stiffener. The line applies a load
(tension) T as shown. If the local loads (weight, drag, etc.) on the end part of the line, including the bend stiffener,
are small by comparison with T, then the reaction force F is equal and opposite to T, and the bend moment at the
endfittingisM=T.h.
OrcaFlexreportstheEndForce,F,andtheEndForceEz-Angle as shown The No moment uiiection is uefineu in
theinputdata.WhenthereactionforceFactsinthenomomentdirection,thenthereactionmomentMiszero.
Itisclearfromthisthat
1. End Force and End Force Ez-Angle are the same whether the end condition is defined as free-to-rotate, fully
restrained,orsomeintermediatecondition;
2. The bend moment at the end fitting, M, is a function of the lever arm, h, which depends not only on the end
conditionbutalsoonthebendstiffnessdistributionintheline/bendstiffener.
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No moment direction
h
T
F
M
T
Figure: EndconnectionofaflexiblelinefittedwithaBendStiffener
DesignLoadsforEndFittings
Fordesignofendfittings,includingbendrestrictors,theprincipalparametersprovided by OrcaFlexareEndForce
and End Force Ez-Angle. The moment at the end can then be determined by a local (static) analysis which can be
developedtoincorporateasmuchdetailasrequired.
Thisapproachisusuallysufficient,exceptwhereEndForceisverysmall.ThisoccurswhenthelinetensionTcomes
closetozero.Thedirectionoftheendforceisthennolongerdominatedbythelinetension,andotherloads (shear,
local drag and inertia loads etc.) which are usually negligible become important. In these conditions, the reported
EndForceEz-Angleismisleadingandamoreappropriateestimateshouldbemadefromthesystemgeometry.This
canbedoneusingtheEz-Angleresultsvariable.Ez-Angleforanysegmentgivestheangleofthatsegmentrelativeto
the No Moment Direction at the adjacent line end, including allowance for the motion ofline end where the line is
attached to a vessel or buoy. Ez-Angle for a point near the end of the bend restrictor is a reasonable alternative
whereEndForceEz-Angleisnotsuitable.
Results
When examining results at line ends note that if a stiff pipe goes into compression, line tension becomes negative
butEndForceremainspositive,andEndForceEz-Anglemayapproach180.
CurvatureiscalculatedinOrcaFlexbydividingtheanglechangeatanynodebythesumofthehalf-segmentlengths
on each side of the node: bend moment is curvature multiplied by bend stiffness. At the end, OrcaFlex takes the
angle change between the end segment of the line and the no-moment direction, and reports the corresponding
curvature and bend moment based on the half length of the end segment. Where bend stiffness at the line end is
zero(pinnedendorazerostiffnessline),curvatureandbendmomentarereportedaszero.
DesignDataforBendRestrictors
Weclassifybendrestrictorsinto3types:
x Bellmouths:curvedsurfaceswhichsupporttheflexibleandmaintainacceptablecurvature.
x BendLimiters:articulateddeviceswhichrotatefreelytoaspecifiedcurvature,thenstop.
x BendStiffeners:elastomericdeviceswhichprovideataperedadditionalbendstiffness.
Differentdesigninformationisrequiredforeachtype:
Bellmouth
The principal design requirement is that bellmouth angle should be greater than the maximum value ofEnd Force
Ez-Angle. For cases where the bellmouth is not radially symmetrical, OrcaFlex reports components of End Force
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AngleinthelocalXZandYZplanes.EndForceEzx-Angleisthecomponentinthelocalxzplane;EndForceEzy-Angle
isthecomponentinthelocalyzplane.
BendLimiter
Therearetwodesignrequirements:
1. Thelimiterlengthmustbenotlessthana*RwhereaisEndForceEz-AngleandRisthelimiterlockingradius.
2. ThelimitermustbecapableofwithstandingthemaximumbendmomentMgivenbyM=R*F*(1-cos(a))where
F, a are simultaneous values of End Force and End Force Ez-Angle. OrcaFlex reports Bend Restrictor Load P =
F*(1-cos(a))asanaidtobendlimiterdesign.Pissometimescalled"pseudo-curvature".
BendStiffener
Thedesignprocessforastiffenerismorecomplexthanforabellmouthorabendlimiter,andthecriticaldesignload
cases are not always self-evident. An X-Y graph of F against a (End Force against End Force-Ez Angle) provides a
completedefinitionoftheloadingforoneanalysiscase,witheach(F,a)pairdefiningaloadcase.Thebendstiffener
should be designed to prevent infringement of the permitted curvature for any (F,a) pair. In practice, it is often
sufficient to consider just the three (F,a) pairs corresponding to maximum values of End Force F, End Force Ez-
AngleaandBendRestrictorLoadP.
Oncethestiffenerdesignisknownthestiffenercanbemodelledusingabendstiffenerattachment.
6.8.19 ModellingCompressioninFlexibles
When a flexible line experiences compression, it responds by deflecting transversely: the magnitude of the
deflectioniscontrolledbybendstiffness.Understaticconditions,thebehaviourofaninitiallystraightsectionofline
underpureaxialloadingisdescribedbyclassicEulerbucklingtheory.Thisdefinesthemaximumcompressiveload
the"Eulerload"whichaparticularlengthoflinecanwithstandbeforetransversedeflectionoccurs.TheEulerload
is a function of the length of the straight section, the bend stiffness and the end conditions. For a simple stick of
length L, bend stiffness EI, with pin joints at each end, the Eulerloau is
2
EI/L
2
. The Eulerload is derived from a
stability analysis: it tells us the value of axial load at which transverse deflection will occur but nothing about the
post-bucklingbehaviour.
Under dynamic loading conditions, the transverse deflection is resisted by a combination of inertia and bending.
OrcaFlex is fully capable of modelling this behaviour provided the discretisation of the model is sufficient, i.e.
provided the segments are short enough to model the deflected shape properly. Another way of saying the same
thingisthatthecompressiveloadinanysegmentofthelineshouldneverexceedtheEulerloadforthesegment.
Why are these two statements equivalent? Imagine the real line replaced by a series of rigid sticks connected by
rotational springs at the joints this is essentially how OrcaFlex models the line. Under compression, the line
deflects:thesticksremainstraightandthejointsrotate.Providedthewavelengthofthedeflectionislongerthanthe
length of the individual sticks then the rigid stick model can approximate it: shorter sticks give a better
approximation.
If the compressive load reaches the Eulerload for an individual stick, then the real line which the stick represents
willstarttodeformatashorterwavelength,anddeflectionswithinthesticklengthbecomesignificant.Clearly,this
stickmodelisnolongeradequate.Byreplacingeachlongstickbyseveralshortones, wecanmaketheEulerloadfor
each stick greater than the applied compressive load. Each stick will then remain straight, but we now have more
stickswithwhichtomodelthedeflectedshape.
This gives us a convenient way of checking the adequacy of our model: provided the compressive load in each
segmentalwaysremainslessthantheEulerloadforthatsegment,thenwecanhaveconfidencethatthebehaviour
of the line in compression is adequately modelled. OrcaFlex makes this comparison automatically for all segments
andreportsanyinfringementsintheStatisticstables.ThesegmentEulerloadisalsoplottedintensionrangegraphs
(asanegativevaluecompressionisnegative)sothatinfringementsareclearlyvisible.
If the segment Eulerload is infringed during a simulation, then we have to decide what to do about it. If
infringement occurs only during the build-up period, perhaps as a result ofa starting transient, then we can safely
ignoreit.Ifitoccursduringthemainpartofthesimulation,thenweshouldexaminethetimehistoriesoftensionin
theaffectedareas.Whereinfringementsaresevereandrepeatedoroflongdurationtheanalysisshouldberepeated
with shorter segments in the affected area. However it may be acceptable to disregard occasional minor
infringementsofshortdurationonthefollowinggrounds:
x Transversedeflectioncausedbycompressiontakessometimetooccurbecauseofinertia.
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343
x ThesegmentEulerloadusedinOrcaFlexasabasisforcomparisonisthelowestofthevariousalternatives,and
assumespinnedjointswithnobendstiffnessateachendofthesegment.Thisisaconservativeassumption.
x Whetherornottodisregardaninfringementisadecisionwhichcanonlybetakenbytheanalystinthecontext
ofthetaskinhand.
LimitCompressionSwitch
Foreachlinetype,thedataincludesaLimitCompressionswitch.
The usual setting is "No". This means that each segment of this line type is treated as a strut capable of taking
whatevercompressiveloadsariseinthecourseofthesimulation.
Forsomespecialcases,suchaschainsandsoftropeswithlittlebendstiffness,thisisnotthemostusefulmodeland
OrcaFlex offers an alternative. Lines of this sort cannot take compression at all, so the "Limit Compression" switch
canbesetto"Yes".OrcaFlexthendoesnotallowcompressiveloadinggreaterthanthesegmentEulerload(whichis
zeroifthebendstiffnessiszero).
Note: Ineithercase,ifthesegmentEulerloadisreachedthenaWarningisgivenontheresultformand
inthestatisticstable.
6.9 6DBUOYS
6DBuoysareobjectshavingallsixdegreesoffreedom 3translational(X,YandZ)and3rotational(Rotation1,2
and 3). The forces acting on a buoy are mass, buoyancy, added mass and damping and drag in the three principal
buoy directions. Corresponding moments are applied for the rotational degrees of freedom. Buoys can be surface-
piercing, and have a notional height; this allows the hydrostatic and hydrodynamic forces to be proportioned
dependingonthedepthofimmersion.
6D Buoys can have wings attached to them. A wing is a rectangular surface, attached to the buoy at a specified
position and orientation, which experiences lift and drag forces, and a moment, due to the relative flow of the sea
pastthewing.
Linesattachedtoa6DBuoycanthusexperiencebothmomenteffectsandtranslationsasthebuoyrotatesunderthe
influenceofhydrodynamicsandappliedloads.Linescanbeattachedtoanoffsetpositiononabuoythisallowsthe
directstudyoflineclashing,includingtheseparationintroducedbyspacedattachmentpoints.
Threetypesof6DBuoyareavailable,thedifferencesbeingthewayinwhichthegeometryofthebuoyisdefined.
LumpedBuoys
Thefirsttype,LumpedBuoys,arespecifiedwithoutreferencetoaspecificgeometry.Thisnecessarilyrestrictsthe
accuracywithwhichinteractionswiththewatersurfacearemodelled.Wherealumpedbuoypiercesthesurfaceitis
treated for buoyancy purposes as a simple vertical stick element with a length equal to the specified height of the
buoy (thus buoyancy changes linearly with vertical position without regard to orientation). This model does not
providetherotationalstiffnessthatwouldbeexperiencedbymostsurfacepiercingbuoys.
Interactionswiththeseabedandwithshapesarealsomodelledinafairlysimplemanner,andfrictioneffectsarenot
included.Arbitraryhydrodynamicandphysicalpropertiesaremodelledbyderivingequivalentterms.
SparBuoys
The second type, called Spar Buoys, are intended for modelling axi-symmetric buoys whose axis is normally
vertical,particularlywheresurfacepiercingeffectsareimportant(suchasforaCALMbuoy).
SparBuoysare modelledas aseriesofco-axialcylindersmountedendto endalongthelocalz-axis(seeSparBuoy
and Towed Fish Properties). This allows you to provide some information about the buoy geometry, by specifying
the number of cylinders and their lengths and diameters. A conical or spherical shape can be approximated as a
seriesofshortcylindersofgraduallyincreasingordiminishingdiameter.
Spar Buoys model surface-piercing effects in a much more sophisticated way than Lumped buoys. Effects such as
heave stiffness and righting moments in pitch and roll are determined by calculating the intersection of the water
surface with each of the cylinders making up the buoy, allowing for the instantaneous position and attitude of the
buoy in the wave. However note that OrcaFlex does not calculate radiation damping (a linear damping term
resultingfromthecreationofsurfacewavesasthebuoyoscillates)orimpactloads(slamming).
Becausetheyaremodelledasastackofconcentriccylinders,SparBuoysareoftennotsuitableforfullysubmerged
objectswithmorecomplexgeometry.
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AswithLumpedBuoys,themodellingofseabedinteractionissimplisticandfrictioneffectsarenotincluded.
Hydrodynamic loads on Spar Buoys are calculated using Morison's equation. Added mass and drag forces are
appliedonlytothosepartsofthebuoywhichareinthewateratthetimeforwhichtheforceiscalculated.Forpartly
immersed cylinders, added mass and drag are proportioned according to the fraction of the cylinder which is
immersed. The use of Morison's equation implies that the buoy diameter is small compared to the wavelength
(usuallythecaseforCALMbuoysandthelike)butmeansthatsomeloadtermsarenotrepresented.
TowedFish
The third type, called Towed Fish, are intended for modelling bodies, such as towed fish, whose principal axis is
normally horizontal. Towed Fish buoys are identical to Spar Buoys except that the stack of cylinders representing
thebuoyislaidoutalongthex-axisofthebuoy,ratherthanalongthez-axis.
6.9.1 Wings
6D buoys can have a number of wings attached; these are useful for representing lift surfaces, diverters etc. Each
winghasitsowndataandresultsavailable.
A wing is a rectangular surface, attached to the buoy at a specified position and orientation, which experiences lift
force,dragforceanddragmoment,duetotherelativeflowoffluidpastthewing.Thesedragloadsdependon user-
specifiedcoefficientsthatdependontheincidenceangleoftherelativefluidflow.
Thefluidreferredtoherecanbethesea,theair,orboth,asfollows.
x Whenever the wing is completely below the instantaneous water surface, then the lift and drag loads are
calculatedusingtheseadensity,velocityandincidenceangle.
x Whenever the wing is completely above the water surface, and if you have selected to include wind loads on
wings(ontheWindpageontheEnvironmentdataform),theninsteadairliftanddragloadsarecalculatedand
applied,usingthesameformulaeandcoefficients,butusingtheairdensity,velocityandincidenceangle.
x Whenthewingispartiallysubmerged,OrcaFlexcalculateswhatproportionofthewingrectangle areaisbelow
the instantaneous water surface, i.e. its 'proportion wet' PW. OrcaFlex then calculates the water lift and drag
loadsasifthewingwasfullysubmerged,butthenscalesthembyPWbeforetheyareapplied.Inaddition,ifyou
haveselectedto include windloadsonwings,then OrcaFlexalsocalculatestheairliftanddragloads(asifthe
wingwasnotsubmerged)andscalesthemby1-PW,i.e.the'proportiondry',beforetheyareapplied.Whenthis
happens, therefore, both water and air lift and drag loads are applied, each appropriately scaled. The wing lift,
dragandmoment resultsthenreportthewaterloadswheneverthe wingismorethanhalfsubmergedandthe
airloadswheneveritislessthanhalfsubmerged.
Wings do not have any mass, added mass or buoyancy associated with them. Therefore any mass, added mass or
buoyancyduetowingsshouldbeaddedintothepropertiesspecifiedforthebuoyitself.
Thedragforceonawingistheforceappliedinthedirectionofrelativeflow.Theliftforceistheforceat90tothat
direction.Themomentrepresentsthemoment(aboutthewingcentre)thatarisesduetothefactthatthecentreof
pressure may not be at the wing centre. These loads are applied at the wing centre and are specified by giving lift,
uiag anu moment coefficients as a function of the inciuence angle between the ielative velocity vectoi flow
velocityrelativetowing)andthewingplane.
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Wy
Wx
Span
Chord
Wz Principal
Wing Axis
Flow Velocity V
(relative to wing)
D
+ve lift
-ve lift
W
Leading
edge
Figure: WingModel
Eachwinghasitsownsetoflocalwingaxes,withoriginWatthewingcentreandaxesWx,WyandWz.
x Wy is normal to the wing surface and points towards the positive side of the wing, i.e. the side towards which
positiveliftforcesact.
x WxandWzareintheplaneofthewing.ThewingisthereforearectangleintheWxzplane,centredonW.
x Wz is the principal axis of the wing. It is the axis about which the wing can easily be pitched, by adjusting the
winggammaangle.
x Wxisintheplaneofthewing,normaltotheaxisWz,sothat(Wx,Wy,Wz)formaright-handtriad.
x We normally choose Wz and Wx so that Wx is towards the leading edge of the wing. With this arrangement,
increasingthewinggammaanglemovestheleadingedgeinthedirectionofpositivelift.
Werefertothewing'slengthintheWzdirectionasitsspananditswidthintheWxdirectionasitschord.
If the wing is not completely submerged, then the forces and moments applied by OrcaFlex are scaled down
according to the proportion of the wing area that is below the surface. However, note that the true effects of
breakingsurface,forinstanceplaningandslamming,aremuchmorecomplexthanthisandarenotmodelled.
6.9.2 CommonData
All types of 6D Buoy use a local buoy axes coordinate system. The origin ofthe buoy axes can any point chosen by
the user, but the buoy axes directions should be in the directions of the principle axes of structural inertia of the
buoyseeMassMomentsofInertiabelow.
Name
Usedtorefertothe6DBuoy.
Type
Three types of buoy are available: Lumped Buoys, Spar Buoys and Towed Fish. The following data items are
commontoalltypes.
Connection
A 6D Buoy can either be Free, Fixed or connected to a Vessel, 6D Buoy or a Line (provided that line includes
torsion).
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x If the buoy is Free then it is free to move in response to wave loads, attached lines etc. In this case the buoy's
InitialPositionandAttitudearespecifiedrelativetoglobalaxes.
x IfthebuoyisFixedthenitcannotmove.ItsInitialPositionandAttitudearespecifiedrelativetoglobalaxes.
x IfthebuoyisconnectedtoaVessel,6DBuoyoraLine,thenitisrigidlyconnectedtothatobjectandsomoves
androtateswithit.Allresultingforcesandmomentsonthebuoyaretransmittedtotheobject.Inthiscasethe
buoy'sInitialPositionandAttitudearespecifiedrelativetotheobjecttowhichitisconnected.
InitialPositionandAttitude
Specifiestheinitialpositionofthebuoyoriginandthebuoyinitialorientation.
If the buoy is Free or Fixed then its initial position is specified by giving the X, Y and Z coordinates of the buoy
originB,relativetothe globalaxes.Anditsinitialorientationisspecified bygiving 3anglesRotation1,Rotation2,
Rotation3,whicharesuccessiverotationsthatdefinetheorientationofthebuoyaxesBxyz,relativetoglobalaxes,
as follows. First align the buoy with global axes, so that Bxyz are in the same directions as GXYZ. Then apply
Rotation1aboutBx(=GX),followedbyRotation2aboutthenewBydirection,andfinallyRotation3aboutthenew
(andfinal)Bzdirection.
If a Free buoy is not included in the static analysis then this initial position is taken to be the static position of the
buoy.Ifthebuoyisincludedinthestaticanalysis,thenthisinitialpositionisusedasaninitialestimateofthebuoy
position and the static analysis will move and rotate the buoy from this position until an equilibrium position is
found.SeeDegreesofFreedomIncludedinStaticAnalysis.
IfthebuoyisconnectedtoaLine,thentheInitialPositionandAttitudespecifywhereonthelineitisconnected,and
withwhatorientation,asfollows:
x TheInitialPositionz-coordinatespecifiesthearclengthatwhichthebuoyshouldbeconnectedtotheline.The
buoywillbeconnectedtothenearestnodetothatarclength.Thisarclengthmaybemeasuredrelativetoeither
EndAorEndBasspecifiedbytheuser.
x Thebuoywillbeconnectedtothatnode,butwithanoffsetrelativetothatnode'saxesthatisgivenby(x,y,0).
x ThebuoyorientationrelativetothenodeaxesisspecifiedbytheInitialAttitudeangles.
DegreesofFreedomIncludedinStaticAnalysis
Determineswhichdegreesoffreedomarecalculatedbythestaticanalysis.ThisdataitemonlyappliestoFreebuoys
anditcanbesettooneof:
x None: the buoy position and orientation are not calculated by the static analysis they are simply set to the
initialpositionandorientationspecifiedonthebuoydataform.
x X,Y,Z: the buoy position is calculated by the static analysis, but its orientation is simply set to the initial
orientationsetonthebuoydataform.
x All:thebuoypositionandorientationarecalculatedbythestaticanalysis.
Normally this data item should be set to All so that the static analysis calculates the true equilibrium position and
orientation of the buoy. However it is sometimes useful to fix the buoy position or orientation, for example if the
staticanalysisisunabletofindtheequilibriumpositionororientation.
Mass
Massorweightinair.
MassMomentsofInertia
Thesolidmomentsofinertiaofthebuoy,aboutthelocalx,yandzbuoyaxesdirectionsthroughitscentreofmass.
Note: These moments of inertia are the diagonal terms in the structural inertia matrix about the
specified centre of mass. The off-diagonal terms are taken to be zero, so the buoy axes should be
chosen to be in the principle directions of inertia about the centre of mass (or at least beclose to
thosedirections).
CentreofMass
The centre of mass of the buoy, relative to the buoy origin. The weight force, mass and moments of inertia are
appliedatthispoint.
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BulkModulus
Specifiesthecompressibilityofthebuoy.Ifthebuoyisnotsignificantlycompressible,thentheBulkModuluscanbe
settoInfinity,whichmeans'incompressible'.SeeBuoyancyVariationfordetails.
SeabedFrictionCoefficient
0icaFlex applies Coulomb fiiction between the buoy anu the seabeu The fiiction foice applieu nevei exceeus R
dataform.
TotalContactArea
Used to determine contact forces when the buoy comes in to contact with the seabed and with elastic solids. If a
value of'~' is specified then OrcaFlex calculates a default value for total contact area based on the buoy geometry.
SeeContactForcesfordetails.
Specifyingavalueofzeroallowsyoutodisablecontactforthebuoy.
6.9.3 AppliedLoads
YoucanapplytothebuoyexternalGlobalLoadsthatdonotrotateifthebuoyrotates.Thesearespecifiedbygiving
the components of Applied Force and Applied Moment relative to global axes. These components can be constant,
varywithsimulationtimeorbegivenbyanexternalfunction.Ifthebuoyrotatesthentheloadsdonotrotatewithit.
In addition, you can specify external Local Loads that do rotate with the buoy. These are specified by giving the
components ofAppliedForceandAppliedMoment relative to buoyaxes.Againthesecomponentscanbeconstant,
vary with simulation time or be given by an external function. If the buoy rotates then the loads do rotate with it.
Thesearesuitableformodellingthrusters,forexample.
InbothcasesthePointofApplicationoftheloadisspecifiedbygivingitsx,y,zcoordinatesrelativetobuoyaxes.
6.9.4 WingData
6Dbuoyscanhaveanumberofwingsattached,eachhavingitsowndataandtype.
Name
Usedtorefertothewing.
Span
Thelengthofthewing,inthelocalWzdirection.
Chord
Thewidthofthewing,inthelocalWxdirection.
CentreofWing
Thepositionofthewingorigin,relativetobuoyaxes.Thewingisdrawnisdrawnasasimplerectanglecentredon
thisorigin,therectangle'sdimensionsbeingthespecifiedChordandSpan.
Notethatthisoriginisthepointatwhichtherelativevelocityiscalculatedandatwhichtheresulting wingliftand
dragforcesareapplied.Itshouldthereforenormallybeat thecentreofpressure,whichmaynotbeatthecentreof
area(eventhoughOrcaFlexdrawsthewingasbeingcentredatthispoint).
Orientation
Theorientationofthewing isspecified bygiving3angles azimuth,declinationand gammarelativetothe buoy
axes.Theanglescanbefixed,orcanvarywithsimulationtime,orcanvaryandbegivenbyanexternalfunction.
Theanglesdefinetheorientationofthelocalwingaxesrelativetothebuoyaxesasfollows:
x Start withthe wingaxes WxyzalignedwiththebuoyaxesBxyzandthenrotate WxyzaboutBz bytheazimuth
angle.ThisleavesWzalignedwithBzbutWxnowpointsinthedirectiontowardswhichthedeclinationistobe
made.
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x Now rotate by the declination angle about the new direction of Wy. This declines Wz down into its final
direction,i.e.Wznowpointsalongthedirectionwhoseazimuthanddeclinationanglesareasspecified.
x FinallyrotatebythegammaangleaboutthisfinalWzdirection.Thisisarotationabouttheprincipalwingaxis,
soitallowsyoutoadjustthepitchofthewing.
For each of these rotations, positive angles mean clockwise rotation and negative angles mean anti-clockwise
rotation,whenlookedatalongtheaxisofrotation.
Whensettingtheseorientationangles,itiseasiesttofirstsettheazimuthanddeclinationvaluestogivethedesired
Wz-direction.Thisisthedirectionoftheaxisaboutwhichthewingpitchisset.Thensetgammatogivethecorrect
pitch of the wing. This process is best done with the Draw Local Axes option set on (see the View menu or the
Tools|Preferencesmenu)sincethewingaxesarethenvisibleonthe3Dviewandyoucan checkthattheresulting
orientationiscorrect.
WingType
Determines the properties of the wing. You can define a number of wing types click the "Wing Types" button to
accessthewingtypesdataform.
6.9.5 WingTypeData
6Dbuoyscanhaveanumberofwingsattached,eachhavingitsowndataandtype.
Name
Usedtorefertothewingtype.
WingTypeProperties
Thepropertiesofeachwingtypearespecifiedbygivingatableoflift,dragandmomentcoefficientsasafunctionof
theincidenceangleoftheflowrelativetothewing.
A'Graph'buttonisprovided,whichdisplaysagraphofthe3coefficientssothatyoucanvisuallycheckyourdata.
IncidenceAngle
The inciuence angle is the angle that the ielative flow vectoi makes to the wing suiface This equals minus the
anglebetweenWyandtherelativeflowvector.
The incidence angle is always in the range -90 to +90, where positive values mean that the flow is towards the
positive side of the wing (i.e. hitting the negative side) and negative values mean that the flow is towards the
negativesideofthewing(i.e.hittingthepositiveside).
Theincidenceanglesinthetablemustbegiveninstrictlyincreasingorderandthetablemustcoverthefullrangeof
incidence angles, so the first and last angle in the table are set to -90 and +90 and cannot be changed. Linear
interpolationisusedtoobtaincoefficientsoverthecontinuousrangeofangles.
Note: The wing lift, drag and moment are assumed to depend only on the incidence angle, not on the
angle of attack in the wing plane. OrcaFlex will therefore use the same lift, drag and moment
coefficientsforflow(withthesameincidenceangle)ontothefront,thesideorthebackofthewing,
even though your data may only apply over a limited range of in-plane attack angles. You can
checkthattheangleofattackinthewingplanestayswithintherangeofyourdatabyexamining
theBetaangleresultvariable.
Lift,DragandMomentCoefficients
These define the hydrodynamic and aerodynamic loads applied to the wing. Aerodynamic loads are only applied if
theIncludewindloadson6DBuoyWingsoptionisenabledintheEnvironmentdata.
The lift coefficient Cl uefines the lift foice applieu to the wing as a function of inciuence angle The lift
coefficientscanbepositiveornegativeandtheliftforceisgivenby:
LiftForce=P.ClAv
2
where
Pistheproportionwetorproportiondryasappropriate.
is the fluiu uensity
Aistheareaofwingthatisinsidethefluidand
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Vistherelativeflowvelocityatthewingcentre.
Theliftforceisappliedatthewingcentre,alongthelinethatisat90totherelativeflowvectorandintheplaneof
that vectoi anu Wy Foi this line is ill-definedandtheliftcoefficientmustbezero.Positiveliftcoefficients
meanliftpushingthewingtowardsitspositiveside(the+veWyside).
ThedragforceisdefinedbythedragcoefficientCd using the foimula
DragForce=P.CdAv
2
Thedragcoefficientcannotbenegative,sothedragforceisalwaysintherelativeflowdirection.
The moment coefficient Cm uefines a moment that is applieu to the wing This moment represents the fact that
the position of the centie of piessuie may uepenu on the inciuence angle
Themomentcoefficientscanbepositiveornegativeandthemomentisgivenby:
Moment=P.CmAv
2
.Chord
Thismomentisappliedabouttheline that is in the wing plane anu is at to the ielative flow vectoi Foi
thislineisill-definedandthemomentcoefficientmustbezero.Positivemomentcoefficientsmeanthatthemoment
istryingtoturnthewingtobringWytopointalongtherelativeflowdirection.Negativemomentcoefficientsmean
themomenttriestoturnthewingtheoppositeway.
Pen
ThiscontrolswhichpenisusedtodrawaWingwhichusesthisWingType.IfitissettoUseBuoy'spenthenthe6D
Buoypenwillbeused.IfitissettoUsethispenthenthespecifiedpenisused.
ShadedDrawing
Bydefault,forshaded3DViews,wingsaredrawnasplateswiththespecifiedspanandchord.
mustbeaDirectXformatfile,usuallywiththe.xfileextension.Ifyouusea relativepaththenthepathwillbetaken
Shaded Drawing Origin is provided because the shaded drawing and the wing may have different origins. The
Shaded Drawing Origin defines the origin of the shaded drawing with respect to the wing's local axis system.
SimilarlyShadedDrawingOrientationallowsyoutoreorienttheshadeddrawingtomatchthewing'saxissystem.
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6.9.6 LumpedBuoyProperties
pitch
roll
z (heave)
y (sway)
x (surge)
B
(B=buoy origin)
yaw
Vertices
Figure: LumpedBuoy
A Lumped Buoy is specified relative to its own local frame of reference Bxyz. The Centre of Mass is specified
relativetoBxyz.
The foices anu moments aie calculateu as follows is watei uensity g isaccelerationduetogravity).Eachdegree
offreedomiscalculatedindependently.
Geometry
Volumeisthetotalvolume ofthe buoy, with itscentre atthe Centre ofVolume,definedrelativetothelocalbuoy
axesBxyz.
Heightisthebuoyverticaldimension,assumedequallyspacedaboutthecentreofvolume.Heightisassumedtobe
independentofbuoyrotation.
TheHeightisusedfortwomainpurposes:
x Tocalculatethecontactareausedtocalculateforcesofcontactwithshapesandtheseabed.
x To calculate the ProportionWet, which is used to scale the hydrostatic and hydrodynamic forces and to
determinethecentreofwettedvolume,whichisthepointatwhichtheyareapplied.
Damping
Hydrodynamic damping forces and moments may be applied to the buoy. These are loads that are directly
proportional to the relative velocity, or angular velocity, of the sea past the buoy. For each of the local buoy axes
directions, you specify the magnitude of the Unit Force that is applied when the relative velocity is
1lengthunit/second.OrcaFlexthenscalesthesemagnitudesaccordingtotheactualrelativevelocityandappliesthe
resulting force or moment. Similarly you can specify a Unit Moment that is applied when the relative angular
velocityis1radian/second.
Drag
Hydrodynamic drag forces and moments may be applied to the buoy. These are loads that are proportional to the
squareoftherelativevelocity,orangularvelocity,oftheseapastthebuoy.
The drag force properties are specified by giving, for each of the local buoy axes directions, the Drag Area that is
subjecttodragloadinginthatdirectionandthecorrespondingDragCoefficient.
Drag moment properties are specified in a similar way, except that instead of specifying a drag area you must
specifyaMomentofArea.
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Note: DragAreaMomentisthe3rdabsolutemomentofdragareaabouttheaxis.SeparateCdvaluesare
givenforforceandmomentcalculations.
FluidInertia
Fluid inertia properties are those that are proportional to the acceleration of the sea and the buoy. These
accelerationshavetwomaineffects.Firstly,theyresultinforcesandmomentsbeingappliedtothebuoytheseare
referred to as the fluid acceleration loads. Secondly, the buoy experiences an increase in inertia this is known as
theaddedmass.
FulldetailsofthecalculationarepresentedintheLumpedBuoyAddedMass,DampingandDragtopic.
ThefluidinertiapropertiescanbespecifiedeitherbyprovidingtheDiagonalvaluesorFullmatrices.
FluidInertiaspecifiedbydiagonalvalues
Thesepropertiesarespecifiedseparatelyfortranslationalandrotationalmotionsandalsoseparatelyforeachlocal
axisdirection.
The translational fluid inertia properties of the buoy are specified, for each of the local buoy axis directions, by
givingareferenceHydrodynamicMasstogetherwiththetwoinertiacoefficients,CaandCm.ThetranslationalCm
valuescanbesetto'~'tomean1+Ca.
The translational Hydrodynamic Mass values can be set to '~', meaning equal to the fully submerged displaced
mass.(=volumexwaterdensity).Thisisoftenaconvenientreferencemasstouse.
FluidInertiaspecifiedbyfullmatrices
Theaddedmassandfluidinertiapropertiesarespecifiedasfull6x6symmetricmatrices.Theaddedmassmatrixis
simply added in to the buoy's virtual mass matrix. The fluid inertia matrix is multiplied by the instantaneous fluid
accelerationvectortoproducethefluidaccelerationloads.
The units ofthe added mass and fluid inertia matrices are as follows, where M, L and Tindicate the units of mass,
lengthandtime:
x Theupper-left3x3blockofcellshasunitsM.
x Theupper-rightandlower-left3x3blockshaveunitsM.L.
x Thelower-right3x3blockofcellshasunitsM.L
2
.
6.9.7 LumpedBuoyDrawingData
VerticesandEdges
Thisdefinesa"wireframe" representationofthe buoy. The wireframe representationofthe buoy isusedtodraw
the buoy.Itisalsoused tocalculatetheinteractionofthebuoywithshapesand the seabed.See ContactForcesfor
details.
TheverticesarespecifiedbygivingtheircoordinateswithrespecttobuoyaxesBxyz,andtheedgesarespecifiedby
givingthevertexnumbersoftheverticestheyconnect.
Edgediameter(usedonlyforshadeddrawing)
Forshadedgraphicsviews,bydefault,theLumpedBuoyisdrawnusingasolid,filled-inshapebasedonthevertices
andedges.Asanalternativeyoucanusetheverticesandedgestodefineaframelikestructure.Iftheedgediameter
is '~' then that edge will be used to build a filled in shape, otherwise that edge is drawn as a cylinder with the
specifieddiameter.
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Figure: Wireframeswithdifferentedgediameter.Avalueof'~'isusedforthewireframeontheleft
andavalueof1misusedforthewireframeontheright.
6.9.8 SparBuoyandTowedFishProperties
The figure below shows the geometry of a Spar Buoy. The buoy is specified relative to its own local frame of
referenceBxyz.TheCentreofMassisspecifiedrelativetoBxyz.
ASparBuoyismodelledasaseriesofco-axialcylindersmountedendtoendalongthelocalz-axis.Thegeometryof
aTowedFishisidenticalexceptthatthebuoyaxisisalignedwiththex-axisofthebuoy.
Thecylindersarenumberedfromthetopdownwards.Sointhetablesonthebuoydataformthecylinderatthebase
ofthestack(lowestxorz)appearsatthebottomofthetable.
IfyouaremodellingaCALMorSPARbuoythenseealsoModellingaSurface-PiercingBuoy.
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Buoy Axis
Stack Base Position
Cylinder 1 Length
Cylinder 1 OD
pitch
z (heave)
y (sway)
x (surge)
B
(B=buoy origin)
yaw
roll
Figure: SparBuoy
Geometry
TheshapeofaSparBuoyorTowedFishisspecifiedbythefollowingdataontheGeometrypageonthebuoydata
form.
StackBaseCentrePosition
Thecentreofthebaseofthestack,relativetobuoyaxes.
Cylinders:OuterDiameter,InnerDiameterandLength
Thediametersofthecylinderanditslengthmeasuredalongtheaxis.
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These parameters define the buoy geometry from which buoyancy forces and moments are determined. When the
buoy piercesthewatersurface,OrcaFlexallowsforthe angleofintersectionbetweentheseasurfaceand thebuoy
axis when calculating the immersed volume and centre of immersed volume, and includes the appropriate
contributionstostaticstability.
Iftheinnerdiameterisgreaterthanzerothenthecylinderisactuallyahollowcylindricalpipe.Theinternalregion
ofthecylindercontainsseawaterifthebuoyissubmerged.Inthiscasethenthecontainedwatercontributestothe
buoy'sinertia.Theseinertialeffectsareonlyincludedindirectionsnormaltothebuoy.
Theremainingparametersdeterminethehydrodynamicloadsactingoneachcylinder.Loadsarecalculatedforeach
cylinderindividually,thensummedtoobtainthetotalloadonthebuoy.
HydrodynamicLoads
SeetheAddedMassandDampingandDragpagesonthebuoydataform.
6.9.9 SparBuoyandTowedFishAddedMassandDamping
There is a choice ofhowto model these first order effects, on the Added Mass and Damping page ofthe spar buoy
dataform.Theycaneitherbespecifiedbygivingaddedmassanddampingvaluesforeachcylinder,orelsebygiving
RAOsandmatricesforthewholebuoy.
ValuesforEachCylinder
With this option, the added mass and damping effects are calculated separately for each cylinder using Morison's
Equation.
AddedMass
Translational added mass effects are calculated using the displaced mass as the reference mass for each cylinder.
Separate added mass coefficients are given for flow normal (x and y directions) and axial (z direction) to the
cylinder.
Rotational added inertia is specified directly (so no reference inertia is involved). Separate values can be given for
rotationaboutthecylinderaxisandnormaltothataxis.
SeeSparBuoyTheory.
DampingForcesandMoments
Damping forces and moments are the hydrodynamic loads that are proportional to fluid velocity (angular velocity
for moments) relative to the cylinder. They are specified by giving the Unit Damping Force and Unit Damping
Momentforthenormalandaxialdirections.Thesespecifytheforceandmomentthatthecylinderwillexperience,in
that direction, when the relative fluid velocity (angular velocity for moments) in that direction is 1 unit. See
DampingForcesandMomentsfordetails.
RAOsandMatricesforBuoy
InthisoptionthelinearhydrodynamiceffectsarespecifiedbygivingwaveforceandmomentRAOs,andaddedmass
anddampingmatrices.Normallythisdatawouldcomefromaseparateprogram,suchasadiffractionprogram.
Note: This option is only appropriate for circularly-symmetric spar buoys whose axis undergoes only
small oscillations about vertical. It was developed primarily for CALM buoys with diameter in the
range5mto15m.Itisthereforenotavailablefortowedfish.
Warning: TheRAOsandaddedmassanddampingmatricesspecifiedmustapplytothemeanpositionofthe
buoy. They are not modified to account for any variations in buoy attitude or immersion, so this
optionisonlysuitableforbuoysthatundergosmalloscillationsabouttheirmeanposition.
RAO,AddedMassandDampingOrigin
This specifies the coordinates, with respect to buoy axes, of the point on the buoy at which the RAOs and added
massanddampingmatricesareapplied.Thismeansthat:
x TheRAOsareappliedtothewaveconditionsatthispointtogivethewaveloads,whicharethenappliedatthis
point.
x The damping matrix is multiplied by the current velocity relative to the buoy at this point to give the damping
load,whichisappliedatthispoint.
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x Theaddedmassmatrixisappliedatthispoint.
WaveForceandMomentRAOs
TheRAOsarespecifiedinatablegivingtheamplitudesandphasesofthesurgeforce,heaveforceandpitchmoment
RAOs,asafunctionofwaveangularfrequency.RAOsmustbespecifiedforbothofthelimitingcases,i.e.forlongand
shortwaves,andforatleastoneotherfrequency.
TheRAOsmustbespecifiedusingthefollowingOrcinaconventions.Theforceandmomentamplitudesmustbethe
forcesandmomentsthatareappliedatthebuoyoriginwhenaunitamplitudewaveisapplied.Thephasesmustbe
lags, in degrees, from the time the wave crest passes the buoy origin until the maximum positive force or moment
occurs.
AddedMassandDampingMatrices
In reality the added mass and damping matrices are frequency-dependent, but in OrcaFlex you can only enter the
matricesforonefrequency.Youshouldgivethevaluesfortheprincipalfrequencyofexcitationexpected.
The added mass and damping matrices are 6 x 6 symmetric matrices, so only the cells on and above the leading
diagonalareeditable.Thecellsbelowtheleadingdiagonalarenon-editableandalwaysequalthecorrespondingcell
valuesabovethediagonal.
The units of the added mass and damping matrices are as follows, where M, L and T indicate the units of mass,
lengthandtime:
x Added mass matrix. The upper-left 3x3 block of cells has units M. The upper-right and lower-left 3x3 blocks
haveunitsM.L.Thelower-right3x3blockofcellshasunitsM.L
2
.
x Damping matrix. The upper-left 3x3 block of cells has units F/(L/T). The upper-right 3x3 block has units
F/(rad/T). The lower-left 3x3 block of cells has units (F.L)/(L/T). The lower-right 3x3 block of cells has units
(F.L)/(rad/T).
Because the buoy is assumed to be axi-symmetric these matrices should both have the following axi-symmetric
form:
e
d b
d b
c
b a
b a
0 0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0 0
0 0 0 0
0 0 0 0
OrcaFlexwarnsatsimulationtimeifthematricesarenotofthisform.
6.9.10 SparBuoyandTowedFishDrag
MunkMomentCoefficient
Slender bodies in near-axial flow experience a destabilising moment called the Munk moment. This effect can be
modelledbyspecifyinganon-zeroMunkmomentcoefficient.
DragForcesandMoments
Dragloadsarethehydrodynamicloadsthatareproportionaltothesquareoffluid velocityrelativetothecylinder.
For details of the drag load formulae see Spar Buoy and Towed Fish Theory. For information when modelling a
SPARorCALMbuoyseeModellingaSurface-PiercingBuoy.
Thedragforcesarecalculatedoneachcylinderusingthe"crossflow"assumption.Thatis,therelativevelocityofthe
seapastthecylinderissplitintoitsnormalandaxialcomponentsandthesecomponentsareused,togetherwiththe
specifieddragareasandcoefficients,tocalculatethenormalandaxialcomponentsofthedragforce.
The drag forces are specified by giving separate Drag Area and Drag Coefficient values for flow in the normal
direction (local x and y directions) and in the axial direction (local z direction). The Drag Area is a reference area
thatismultipliedbytheDragCoefficientinthedragforceformula.YoucanthereforeuseanypositiveDragAreathat
suitsyourneed,butyouthenneedtogiveaDragCoefficientthatcorrespondstothatspecifiedreferencearea.
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The Drag moments are specified and calculated in a similar way to the drag forces, except that the reference drag
area is replaced by a reference Area Moment. This and the Drag Coefficient are multiplied together in the drag
momentformula,soagainyoucanuseanypositiveAreaMomentthatsuitsyourneed,providingyouthenspecifya
DragCoefficientthatcorrespondstothespecifiedAreaMoment.
Therearetwoalternativemethodsthatyoucanadoptwhenspecifyingthedragdata.Thefirstmethodistosetthe
OrcaFlexdatatogetbestpossiblematchwithrealmeasuredresultsforthebuoy(e.g. frommodeltestsorfullscale
measurements).Thisisthemostaccuratemethod,andwerecommenditforCALManddiscusbuoysseeModelling
aSurface-PiercingBuoyfordetails.BecausetheDragAreaandDragCoefficientdataaresimplymultipliedtogether,
youcancalibratethemodeltotherealresultsbyfixingoneofthesetwodataitemsandthenadjustingtheother.For
example,youcouldsettheaxialDragCoefficientto1andadjusttheaxialDragAreauntiltheheaveresponsedecay
rateintheOrcaFlexmodelbestmatchesthemodeltestresults.Or,youcouldsettheaxialDragAreatoafixedvalue
(e.g.1orsomeappropriatereferencearea)andthenadjusttheaxialDragCoefficientuntiltheheaveresponsedecay
rateinOrcaFlexbestmatchesthemodeltestresults.
The second methodis to set the drag data using theoretical values or given in the literature. It is less accurate but
can be used if you cannot get any real buoy results against which to calibrate. To use this method, set the data as
follows.
SettheDragAreastotheprojectedsurfaceareathatisexposedtodraginthatdirectionandthensettheDragForce
Coefficientsbasedonvaluesgivenintheliterature(see Barltrop&Adams,1991,Hoerner,1965andDNV-RP-C205).
Note that the drag area specified should be the total projected area exposed to drag when the buoy is fully
submerged, since OrcaFlex allows for the proportion wet in the drag force formula. For a simple cylinder of
uiametei B anu length L the total piojecteu uiag aiea is BL foi the noimal uiiection anu B
2
)/4 for the axial
direction,butifthebuoyhasattachmentsthatwillexperiencedragthentheirareasmustalsobeincluded.
Set the Drag Area Moments to the 3rd absolute moments of projected area exposed to drag in the direction
concerned;seeDragAreaMomentsfordetails.AndthensettheDragMomentCoefficientsbasedonvaluesgivenin
theliterature.
6.9.11 SparBuoyandTowedFishDrawing
TherearetwoalternativemethodsofdrawingtheSparBuoyandTowedFishcylinders:
1. Drawsquarecylinders.Ifthisoptionisselectedtheneachcylinderisdrawnasasquare-basedcuboid.OrcaFlex
automaticallygeneratestheverticesandedges.Thereare eightverticespercylinderandthesquarebasehasa
sidelengthequaltothediameteroftheactualcircularcylinder.
2. Drawcircularcylinders.Withthisoptionselectedthecircularcylindersaredrawnassuch. Youcanspecifypens
for the outside and inside of the cylinders. In addition you specify how many lines are drawn. Increasing this
numbermakesthebuoydrawingmorerealisticbutincreasesthetimetakentodrawthebuoy.
Notes: The selected drawing method only affects the way the object is drawn. It does not affect
calculationsinanyway.
Theverticesofthesquare-basedcuboidsareusedforcalculationofanycontactwiththeseabedor
shapes.Thisappliesevenifyouchooseforpresentationpurposestodrawcircularcylinders.
6.9.12 ShadedDrawing
Bydefault,forshaded3DViews,SparBuoysandTowedFisharedrawnassolidobjectsusingthespecifiedcylinder
geometry.LumpedBuoysaredrawnusingthewireframedata.
verticesandedges.
Firstanyedgeswithspecifieddiameters(i.e.diametersnotequalto'~')aredrawnascylinders.Thisallowsyouto
The remaining edges are used to partition the vertices into sets ofconnected vertices. Two vertices are deemed to
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representation.
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Shaded Drawing Origin is provided because the shaded drawing and the buoy may have different origins. The
Shaded Drawing Origin defines the origin of the shaded drawing with respect to the buoy's local axis system.
SimilarlyShadedDrawingOrientationallowsyoutoreorienttheshadeddrawingtomatchthebuoy'saxissystem.
6.9.13 Otheruses
6D Buoys are frequently used for non-standard purposes. For example they can be used to connect Lines together.
Sometimestheyareusedasframeofreferenceobjects wherethepropertiesare providedbyvariousotherobjects
(usuallysinglesegmentLines)connectedtothe6DBuoy.
Forsuchusesthe6DBuoyneedsnegligiblestructuralandhydrodynamicproperties.Becausethisissuchacommon
thing to do we have provided a facility on the 6D Buoy data form to set up appropriate properties. Clicking on the
GiveBuoynegligiblepropertiesbuttonhasthefollowingeffects:
x BuoyTypewillbesetasLumpedBuoy.
x Masswillbesettoanegligiblevalue.
x Heightwillnotbemodifiedsinceitcannotbesettozero.Becauseotherpropertiesaresettozeroitsvalueisnot
significant.
x AllotherLumpedBuoypropertiesaresettozero.
x AnyexistingWing,AppliedLoadandDrawingdataisnotmodified.
6.9.14 ExternalFunctions
Parameters
6.9.15 PropertiesReport
The6DBuoypropertiesreportisavailablefromthepopup-menuonthedataform.Itreportsthefollowing:
Weightinair
Theforceduetogravityactingonthebuoy'smass.
Displacement
Theweightofwaterdisplacedbythebuoy'svolume.Thereportedvalueusesthewaterdensityattheseasurface.
Weightinwater
Volume
Thevolumeofthebuoy.
Centreofvolume
Reportedwithrespecttothebuoyframeofreference.
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x-massradiusofgyration,y-massradiusofgyration,z-massradiusofgyration
Equals Nass Noment of Ineitia Nass
Totalcontactarea
ReportstheTotalcontactareadata.Ifavalueof'~'issetonthedataformthenthevaluereportedhereisthedefault
valuecalculatedbyOrcaFlex.
Numberofvertices
Thenumberofverticesinthewireframedrawing.Contactfor6DBuoysiscalculatedateachofthesevertices.
Contactareapervertex
EqualsTotalcontactarea/Numberofvertices.
Theseareonlyreportedifthebuoyisincludedinstatics.
Thestaticanalysissearchesforanequilibriumpositionforthebuoythatisapositionforwhichtheresultantforce
and moment on the buoy is zero. We refer to the resultant force and moment as the out of balance load. Because
computershavelimitednumericalprecision thestaticanalysiscannotalwaysfindaconfigurationwheretheoutof
balanceloadisexactlyzero.OrcaFlexacceptsapositionasastaticequilibriumpositionifthelargestoutofbalance
loadcomponentislessthanthestaticsaccuracy.
TheStaticsforceaccuracyequalsTolerance*buoytypicalforceandtheStaticsmomentaccuracyequalsTolerance*
buoytypicalmoment.Thebuoytypicalforceandmomentarebasedontheweightinair,theheightofthebuoyand
theforcesandmomentsappliedbyconnectedobjects.
numericalprecision.
Note: The statics accuracies change during the static analysis because the forces and moments applied
by connected objects vary with the position of the buoy. The statics accuracies reported in Reset
state may be quite different from those used for the final equilibrium position and should be
treatedasroughapproximationstothetruestaticsaccuracies.
6.9.16 Results
6DBuoyResults
For6DBuoystheavailablevariablesare:
X,YandZ
The position of a user specified point P on the buoy, relative to global axes. The point P is specified in buoy local
coordinates.IfP=(0,0,0)thentheglobalX,YandZcoordinatesofthebuoyoriginarereported.
Rotation1,Rotation2andRotation3
Define the orientation of the buoy relative to global axes. They are 3 successive rotations that take the global axes
directionstothebuoyaxesdirections.SeeInitialPositionandAttitudeforthedefinitionoftheseangles.
Rotation 2 is in the range -90 to +90. Range jumpsuppression is applied to Rotation 1 and Rotation 3 (so values
outsidetherange-360to+360mightbereported).
Azimuth,Declination
Theazimuthanddeclinationofthelocalzaxis.
Velocity,GX-Velocity,GY-Velocity,GZ-Velocity
The magnitude and components of the velocity of the buoy, relative to global axes. These results are reported at a
userspecifiedpointPonthebuoy.ThepointPisspecifiedinbuoylocalcoordinates.
AngularVelocity,x-AngularVelocity,y-AngularVelocity,z-AngularVelocity
Themagnitudeandcomponentsoftheangularvelocityofthebuoy,relativetobuoyaxes.
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Themagnitudeandcomponentsoftheaccelerationofthebuoy,relativetoglobalaxes.Theseresultsarereportedat
auserspecifiedpointPonthebuoy.ThepointPisspecifiedinbuoylocalcoordinates.
The magnitude and components (with respect to buoy axes) of the vector a - g where a is the acceleration of the
buoyandgistheaccelerationduetogravity,avectorpointingverticallydownwards.Theseresultsarereportedata
userspecifiedpointPonthebuoy.ThepointPisspecifiedinbuoylocalcoordinates.
AngularAcceleration,x-AngularAcceleration,y-AngularAcceleration,z-AngularAcceleration
Themagnitudeandcomponentsoftheangularaccelerationofthebuoy,relativetobuoyaxes.
SeaSurfaceZ
TheglobalZcoordinateoftheseasurfacedirectlyabovetheinstantaneouspositionofthebuoyorigin.
DryLength
Thelengthofbuoyabovethewatersurface,measuredalongthebuoyzaxis,calculatedasfollows:
x ForaLumpedBuoy,thisiscalculatedbyassumingthatthez-extentofaLumpedBuoyisHeighteithersideof
itscentreofvolume.
x For a Spar Buoy it is the sum of the dry lengths of each of its cylinders, where the dry length of an individual
cylinderiscalculatedas:
(cylinderlength)(cylindervolumeabovesurface)/(cylindertotalvolume).
Force,Moment
Lx-Force,Ly-Force,Lz-Force,Lx-Moment,Ly-Moment,Lz-Moment,
Gx-Force,Gy-Force,Gz-Force,Gx-Moment,Gy-Moment,Gz-Moment
These results are not available for buoys that are connected to other objects you can instead use the Connection
ForceandConnectionMomentresults.
Theseresultsarethetotalforceandmomentappliedtothebuoy. ForceandMomentreportthemagnitudesofthe
loads.TheLx,LyandLzresultsreportthecomponentsoftheforceandmomentinthelocalaxesdirections.TheGx,
GyandGzresultsreportthecomponentsoftheforceandmomentintheglobalaxesdirections.
ConnectionForce,ConnectionMoment
Connectionx-Force,Connectiony-Force,Connectionz-Force
Connectionx-Moment,Connectiony-Moment,Connectionz-Moment
Theseconnectionloadresultsareonlyavailableforbuoysthatareconnectedtootherobjects.Theyreportthetotal
forceandmomentappliedtothebuoybytheobjecttowhichitisconnected.
Connection Force and Connection Moment report the magnitudes of the connection loads. The other results
reportthecomponentsoftheconnectionforceandmomentinthebuoyaxesdirections.
These connection force and moment results include the inertial load on the buoy due to any acceleration of the
objecttowhichitisattached.Thismeansthattheseresultscanbeusedforseafasteningcalculations,byusinga6D
buoytomodeltheobjecttobefastenedandthenattachingittoavessel.Theconnectionforceandmomentinclude
theweightofthebuoyandtheinertialloadsduetothevesselacceleration.Notethatifthevesselmotionisspecified
by a time history then the time history interpolation method used is important since it affects the calculation of
vesselaccelerationandhenceaffectstheinertialloads.
WingResults
Ifthe6Dbuoyhaswingsattachedthenforeachwingthefollowingresultsareavailable.
WingX,WingY,WingZ
Thepositionofthewingorigin,relativetoglobalaxes.
WingAzimuth,DeclinationandGamma
Theorientationanglesofthewing,relativetothebuoy.
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Lift,Drag,Moment
Theliftforce,dragforceanddragmomentappliedtothewing.
The lift force is applied at 90 to the relative flow direction. Positive values mean a force trying to push the wing
towardsitspositiveside,negativevaluestowardsitsnegativeside.
Thedragforceisappliedintherelativeflowdirectionandisalwayspositive.
Thedragmomentisappliedaboutthelinethatisinthewingplaneandat90totherelativeflowdirection.Positive
values are moments trying to turn the wing to bring the wing y-axis Wy to point along the relative flow direction;
negativevaluesaremomentstryingtoturnthewingtheoppositeway.
Note: When the wing is less than half submerged, and you have included wind loads on wings, then the
liftforce,dragforceandmomentreportedaretheairloads.Otherwisetheyarethewaterloads.
IncidenceAngle
The angle that the ielative flow vectoi makes with the plane of the wing in the iange -90to+90.Positivevalues
meanthattheflowistowardsthepositivesideofthewing(i.e.hittingthenegativeside)andnegativevaluesmean
thattheflowistowardsthenegativesideofthewing(i.e.hittingthepositiveside).
Thevaluereportediswithrespecttotheprincipalfluidaffectingthewing.
BetaAngle
Theangleoftherelativeflowdirection,measuredinthewingplane.Morespecifically,itistheanglebetweenwing
Wxaxisandtheprojectionoftherelativeflowvectorontothewingplane,measuredpositivetowardsWz.Zerobeta
angle means that this projection is in the Wx direction, 90 means it is along Wz and -90 means it is along the
negativeWzdirection.
Thevaluereportediswithrespecttotheprincipalfluidaffectingthewing.
RangejumpsuppressionisappliedtotheBetaAngle(sovaluesoutsidetherange-360to+360mightbereported).
6.9.17 BuoyHydrodynamics
3DandLumped6Dbuoysaregeneralisedobjectsforwhichnogeometryisdefinedinthedataotherthana height:
This is used for proportioning hydrodynamic properties when the object is partially immersed, and for drawing a
3Dbuoy.
Sincethegeometryoftheobjectisundefined,itisnecessarytodefinepropertiessuchasinertias,dragareas,added
masses, etc. explicitly as data items. This can be a difficult task, especially where a 6Dbuoy is used to represent a
complexshapesuchasamidwaterarchofthesortusedtosupportaflexiblerisersystem.
We cannot give a simple step-by-stepprocedure for this task since the geometry of different objects can be widely
different. As an example, the hydrodynamic properties in 6 degrees of freedom are derived for a rectangular box.
This gives a general indication of the way in which the problem should be approached. If a 3Dbuoy is used, the
rotationalpropertiesarenotused.
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6.9.18 HydrodynamicPropertiesofaRectangularBox
O
X Y
Z
x y
z
O is the centre of the box
Figure: BoxGeometry
Dragareas
InXdirection:Ax=y.z
InYdirection:Ay=x.z
InZdirection:Az=x.y
DragCoefficientsforTranslationalMotions
These are obtained from ESDU 71016, Figure 1 which gives data for drag of isolated rectangular blocks with one
facenormaltotheflow.Thedimensionsoftheblockare
aintheflowdirection
bandcnormaltotheflowdirection(c>b).
Thefigureplotsdragcoefficient,Cxagainst(a/b)for(c/b)from1toinfinity(2Dflow).Cxisintherange0.9to2.75
forblockswithsquarecorners.
Note: ESDU 71016 uses Cd for the force in the flow direction; Cx for the force normal to the face. For
presentpurposesthetwoareidentical.
DragPropertiesforRotationalMotions
There is no standard data source. As an approximation, we assume that the drag force contribution from an
elementaryareadAisgivenby
uF v
2
.Cd.dA
whereCdisassumedtobethesameforallpointsonthesurface.
Note: This is not strictly correct. ESDU 71016 gives pressure distributions for sample blocks in uniform
flowwhichshowthatthepressureisgreatestatthecentreandleastattheedges.Howeverwedo
notallowforthishere.
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dz
Z
O
z
X
Figure: Integrationforrotationaldragproperties
ConsidertheboxrotatingaboutOX.TheareasAyandAzwillattractdragforceswhichwillresultinmomentsabout
OX.FortheareaAy,consideranelementarystripasshown:
Foi an angulai velocity about 0X the uiag foice on the stiip is
uF zzCuxuz
andthemomentofthisforceaboutOXis
uN zzCuxuzz Cuxz
3
.dz
Totalmomentisobtainedbyintegration.BecauseoftheV.|V|formofthedragforce,simpleintegrationfrom -Z/2to
+Z/2givesM=0.Wethereforeintegratefrom0toZ/2andmultiplytheanswerby2.Theresultis
M Cuxz
4
/32)
OrcaFlexcalculatesthedragmomentby
N CumAN
soweset
Cdm=Cd,AM=x.z
4
/32.
This is the drag moment contribution about OX from the Ay area. There is a similar contribution from the Az area.
SinceCdisgenerallydifferentforthe2areas,itisconvenienttocalculatethesumof(Cd.AM)forboth,setAMequal
tothisvalueandsetCdequalto1.
AddedMass
OrcaFlexrequirestheaddedmassandinertiacontributionstothemassmatrix,plusthehydrodynamicmassesand
inertiasto beused forcomputationofwaveforces.For eachdegreeoffreedom(3translations,3 rotations),3data
items are required. These are Hydrodynamic Mass in tonnes (or Inertia in tonne.m
2
); and coefficients Ca and Cm.
Added mass is then defined as Hydrodynamic Mass.Ca; and wave force is defined as (Hydrodynamic mass.Cm)
multipliedbythewaterparticleacceleration,aw.
Ontheusualassumptionsintrinsicintheuseof Morison'sEquation(thatthebodyissmallbycomparisonwiththe
wavelength the wave foice is given by AM).aw wheie is bouy uisplacement anu AN is auueu mass 0icaFlex
calculatesthewaveforceasCm.HM.awwhereHMistheHydrodynamicMassgiveninthedata.
Foi tianslational motions set BN foi all uegiees of fieeuom Then Ca=AN Cm=1+Ca. For rotational
motions set BI I the moment of ineitia of the uisplaceu mass Then Ca=AII Cm=1+CawhereAIistheadded
inertia(i.e.therotationalanalogueofaddedmass).
TranslationalMotion
DNV-RP-C205, Table 6.2, gives added mass data for a square section prism accelerating along its axis. The square
sectionisofsidea,prismlengthisb,anddataaregivenforb/a=1.0andover.Thereferencevolumeisthevolume
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of the body which is the same definition we have adopted. We can therefore use the calculated Ca without further
adjustment.
ConsidertheXdirection:Areanormaltoflow=Ax.
Foi a squaie of the same aiea a Ax
Lengthinflowdirection=x.
Bence ba xAx
HenceCacanbeobtainedfromDNV-RP-C205byinterpolation,andthenCm=1+Ca.
Ifb/a<1.0thisapproachfailsandweusethedatagivenin DNV-RP-C205forrectangularflatplates.Ify>z,aspect
ratiooftheplate=y/z.HenceCAfromDNV-RP-C205byinterpolation.Thereferencevolumeinthiscaseisthatofa
cylinderofdiameterz,lengthy.Hence:
Auueu mass CAyz
2
=AMx,say
anu then Ca ANx anu Cm Ca
Note: Ify<z,thenaspectratio=z/yandreferencevolume=CA. z y
2
.
RotationalMotion
DNV-RP-C205givesnodataforhydrodynamicinertiaofrotating bodies. Theonly datafor3Dsolidsweknowofis
for spheroids (Newman 1977). Fig 4.8 of Newman 1977 gives the added inertia for coefficient for spheroids of
varying aspect ratio referred to the moment of inertia of the displaced mass. We assume that the same coefficient
appliestothemomentofinertiaofthedisplacedmassoftherectangularblock.
RotationaboutX
I Y
2
+Z
2
)/12
Addedinertia:
UsingdataforspheroidsfromNewman1977:
Lengthinflowdirection=2a=x,soa=x/2.
Equivalent iauius noimal to flow b is given by b
2
yz so b y.z
HenceCafromNewman1977.
Forb/a<1.6
Cacanbereadfromtheupperfigurewherethevalueisreferredtothemomentofinertiaofthedisplacedmass.In
thiscasenofurtheradjustmentisrequired.
Forb/a>1.6
ThecoefficientCAisreadfromthelowergraphinwhichthereferencevolumeisthesphereofradiusb.Inthiscase:
Ca=CA.(2.b
3
)/(a.(a
2
+b
2
))
Ineithercase,Cm=1+Ca.
6.9.19 ModellingaSurface-PiercingBuoy
Surface-piercing buoys, such as CALM buoys, SPAR buoys or meteorological discus buoys, can be modelled in
OrcaFlexusingtheSparBuoyversionofa6DBuoy.Despiteitsname,theOrcaFlexSparBuoycanbeusedtomodel
anyaxi-symmetricbody.
Spar Buoys have many data items available. This enables you to model a wide range of effects, but it also makes
setting up a Spar Buoy model more complicated. To help in this task we describe, in this section, the approach we
adoptforsettingupanOrcaFlexmodelofasurface-piercingbuoy.
1.CreateasimplemodelcontainingjustaSparBuoy
Startbymodellingthefree-floatingbehaviourofthebuoy,withoutanylinesattached.Thisallowsustogetthebasic
behaviour of the buoy correct, before complications such as moorings etc. are introduced. We therefore set up an
OrcaFlexmodelcontainingjustaSparBuoyandwithnowavesorcurrent.
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Setthebuoy'sAppliedLoadtozero.Thisdataallowsyoutoapplyextraforcesandmomentstothebuoy,inaddition
tothosefromanylinesthatyouattachtoit.Youcanusethislatertomodelthewindforceontheupperpartofthe
buoy.Todothisyouwillneedtoknowtheprojectedarea(i.e.theareaexposedtowind)ofthepipeworketc.inthe
upperpartofthebuoy.
Set the buoy's Munk Moment Coefficient to zero. This data item is only used for slender bodies in near axial fully-
submergedflowonly.
Setthenumberofwingstozero.Wingsarenormallyonlyrelevantfortowedfish.
Finally,westartbysettingallthebuoy'sdragandaddedmassdatatozero.Wewillsetuptheactualvalueslater.
2.Setupthegeometrydata
TheSparBuoyhasitsownlocalbuoyaxescoordinatesystem.Youcanchoosetheoriginforthesebuoyaxes,butthe
buoy z-axis direction must be chosen to be parallel to the axis of the buoy, and the buoy x- and y-axes should be
paralleltotheothertwoprincipledirectionsofstructuralinertia.Youalsoneedtospecifythepositionofthecentre
ofgravity,relativetothelocalcoordinatesystem.Thebuoymanufacturershouldsupplythisinformation.
SettheStackBasePosition.Thisisthepositionofthecentreofthebottomofthebuoy,relativetothebuoyaxes.The
Stack Base Position therefore has z-coordinate = -h, where h is the distance axially from the bottom ofthe buoy to
thebuoyorigin.
Nowsetupanumber ofcylinders,andtheirlengthsanddiameters,inorderto modeltheshape ofthebuoy. To do
this you need the dimensions of the various parts of the buoy. The buoy manufacturer should supply this
information. Setthecylinderlengthsanddiameterssothatyougetthecorrectlengthandvolumefor eachsection.
Youcanrepresenttaperedsectionsbyaseriesofshortcylinderswithdiameterschangingprogressivelyfromoneto
thenext.
We recommend using a number of short cylinders, even where the buoy diameter is constant over a long length.
Usingmorecylindersgivesmoreaccurateresults,thoughatthecostofreducedcomputationspeed.
Youcancheckyourgeometrydataby zoominginonthebuoyina 3DViewwindow.Turn onthelocalaxessothat
youcancheckthatthebuoyoriginisinthecorrectplace.
TheBulkModulusdataitemisnotrelevanttoasurface-piercingbuoy,soitcanbeleftatthedefaultvalueofInfinity.
3.Setupthemassandinertiadata
NowsettheMassandMomentsofInertiaofthebuoy.Thebuoymanufacturershouldsupplythisinformation.
Themassequalstheweightofthebuoyinair.Themomentsofinertiaarethoseofthebuoy(inair)aboutitscentre
ofgravity,asfollows:
x Iz=themomentofinertiaaboutthebuoyaxis.
x Ix and Iy = the moments of inertia about axes perpendicular to the buoy axis, through the centre of gravity.
UsuallyitissufficienttoassumethatIx=Iy.
Ifyoucannotobtaindataforthemomentsofinertia,thentheycanbeapproximatelycalculatedfromaknowledgeof
themassesofthevariouspartsofthebuoy,andapproximatelyhowthatmassisdistributed.
4.Checkthatthebuoyfloatsatthecorrectdraught
Set the Initial Position and Initial Attitude of the buoy so that the buoy is in its expected equilibrium position. The
initial position is the position of the buoy local origin, and therefore of the CG, and you can calculate this point's
expectedequilibriumpositionfromthebuoydraught,whichshouldbeavailablefromthebuoymanufacturer.
The Initial Attitude defines the initial orientation of the buoy. Set it to (0,0,0), which orients the buoy with its axis
verticalandthebuoylocalx,yaxesalignedwiththeglobalX,Yaxes.
Set the Degrees offreedom included in statics to None and then run the simulation and look at the time history of
buoy Z. If the data has been set up correctly then the buoy should have stayed basically in its initial position and
attitude,withperhapsjustsmalloscillationsaboutthatposition.
If the buoy Z has oscillated significantly then the model's equilibrium position does not match the expected
equilibrium position. This means that something is wrong in the data and this needs tracing and correcting before
you proceed. You can estimate the model's equilibrium position by looking at the mean Z position in the time
history.
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5.Checkthatthebuoyisstable
Now check that the buoy is stable - i.e. that if it is pitched over to one side and released then it rights itself. In the
Initial Attitude data, set the Rotation 2 value to say 10 and run the simulation. If the buoy falls over then there is
somethingwrongwiththeCGpositionorthevolumedistribution,andthismustbecorrected.
Note: Thebuoyonitsownmaynotbeintendedtobestable,e.g.stabilitymayonlybeachievedwhenthe
mooringsareattached.Inthiscaseyouwillneedtomodelthemooringsinordertocheckstability.
6.SettheAddedMassdata
Thexandyaddedmasscoefficientscanbesetto1.0,whichisthestandardvalueforacylinderinflownormaltoits
axis.
Addedmassinthezdirectionshouldbeestimatedforthebuoyfromthepublishedliterature(DNVrules, Barltrop&
Adams, 1991) and distributed between the immersed cylinders (remember that hydrodynamic loads are only
appliedtotheimmersedpartsofthemodel).
Ideally, this data should then be checked by comparing the heave and pitch natural periods of the model against
valuesobtainedfrommodeltestsorfullscalemeasurements,andadjustmentsmadeasnecessary.
7.Setthedraganddampingdata
The bestapproachdepends onwhetherthebuoyisaSPARwhoselengthisgreatbycomparisonwithitsdiameter,
or a surface-following Discus shape such as an oceanographic buoy. CALM buoys are usually closer to the Discus
configuration,oftenwithadampingskirtwhichissubmergedatnormaldraft.
SparBuoys
Set the Drag Areas for each cylinder to the areas, of the part of the buoy which that cylinder represents, that are
exposed to fluid drag in the direction concerned. Note that you should specify the areas that are exposed to drag
when the buoy is fully submerged. OrcaFlex automatically calculates the proportion of the cylinder that is
submergedandscalesallthefluidloadsonthecylinderusingthat'proportionwet'asafactor.Soifacylinderisnot
submerged,orispartiallysubmerged,thenthedragloadswillbescaledaccordinglyforyou.
For a simple cylinder, of diameter D and length L, the normal drag area is D.L since that is the area of a cylinder
when vieweu noimal to its axis Anu the axial uiag aiea is B
2
)/4sincethatistheareaofthecylinderwhenviewed
alongitsaxis.However,whereacylinderisrepresentingpartofthebuoythatisnotinrealityasimplecylinder(for
example, we may represent the pipework and turntable on the deck of a SPAR buoy as an equivalent cylinder) or
where the cylinder is shielded from drag by adjacent structure, then the drag areas should be set accordingly. For
example, if the cylinder is shielded below by another cylinder of diameter d (less than D) then the axial drag area
shoulu be ieuuceu by u
2
)/4tomodelthatshielding.
Set the Drag Force Coefficient based on values given in the literature. For short simple cylinders fully immersed
there are standard values given in the literature (see Barltrop & Adams, 1991, Hoerner,1965 and DNV-RP-C205).
However, the standard book values do not include energy absorption by wave-making at the free surface. Strictly,
this is a linear term (forces directly proportional to velocity), but in OrcaFlex this must be done by adjusting the
dragcoefficientsofoneormorecylinders.
The Unit Damping Force data can be set to zero. If you later find that the buoy shows persistent small amplitude
oscillationsthenyoumaywishtosetanon-zerovaluetodampthisout.
Set the Drag Area Moments, Drag Moment Coefficients and Unit Damping Moment data. For the normal direction
thesedataitemscanusuallyallbeleftaszero,providingyouhavesubdividedthebuoyintoshortenoughcylinders
(sincethesetermsinvolveahighpowerofL,thecylinderlength).Fortheaxialdirectionthesedataitemsmodelthe
yawdrag and damping effects, so if this is important to you then set them to model the two main sources, namely
skinfrictiononthecylindersurfaceandformdragonanyprotuberancesonthebuoy.
Havingsetup thisdragand dampingdata,itis wellworthnowrunningsimulations ofheaveandpitchoscillations
andcheckingthattheirrateofdecayisreasonableandconsistentwithanyrealdatayouhaveavailable.
DiscusandCALMBuoys
These types of buoy require different treatment since they have little axial extension. Instead it is their radial
extensionthatmostaffectsthebuoy'spitchproperties.Asaresulttheaxialdiscretisationofthebuoyintocylinders
doesnotcapturetheimportanteffects.Forexamplethepitchdampingisoftenmostlyduetoradiationdamping,i.e.
surfacewavegeneration;thisisespeciallyimportantforaCALMbuoywithaskirt.
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To deal with this OrcaFlex offers the rotational drag and damping data, but there is little information in the
literature to help in setting up this data. We therefore strongly recommend that you set the data up by calibration
againstrealtestresultsfrommodelorfullscaletests.Theeasiestinformationtoworkwitharetimehistorygraphs
of the buoy heave and pitch in still water, starting from a displaced position. This will give the heave and pitch
natural periods and the rates of decay and you can adjust the buoy's drag and damping data until you get a good
matchwiththismeasuredbehaviour.
Hereistheapproachweuse:
x For the normal direction, set the Drag Area, Drag Force Coefficient and Unit Damping Force as described for
Sparbuoysabove.
x ThensettheaxialUnitDampingForcetozeroandrun asimulationthatmatchestheconditionsthatexistedin
therealheavetimehistoryresults,i.e.withthesameinitialZdisplacement.
x ThenadjusttheaxialDragAreaandDragForceCoefficientsuntiltheOrcaFlexbuoy'sZtimehistorymatchesthe
realtimehistory.Thesetwodataitemsaresimplymultipliedtogetherwhentheyareusedtocalculatethedrag
force,soyoucangiveoneofthetwodataitemsafixedpositivevalue(e.g.1)andthenadjusttheother.
x Thematchwillprobablybe poorinthelaterpartsofthetimehistory,wheretheheaveamplitudehasdecayed
to small values. This is because the square law drag term is insignificant at small amplitude and instead the
dampingforcetakesover.ThereforewenowadjusttheaxialUnitDampingForcetofurtherimprovethematch
where the amplitude is small. You may find that this disturbs the match in the large amplitude part, in which
caseyoumightneedtoreadjustthedragdata.
x For the axial direction, set the Drag Area Moment, Drag Moment Coefficient and Unit Damping Moment as
describedforSparbuoysabove.
x ThensetthenormalDragAreaMoment,DragMomentCoefficientandUnitDampingMomenttobestmatchthe
realpitchtimehistory,inasimilarwaytothatusedabovetomatchtheheavetimehistory.
6.10 3DBUOYS
OrcaFlex3DBuoysaresimplifiedpointelementswithonly3degreesoffreedom:X,YandZ.Theydonotrotate,but
remainalignedwiththeglobalaxes.Theythereforedonothaverotationalpropertiesandmomentsonthebuoyare
ignored.Theyshouldthereforebeusedonlywheretheselimitationsareunimportant.
3D Buoys are able to float part-submerged at the surface, and may also be used independently, with no lines
attached.Althoughtheyare muchlesssophisticatedthan6DBuoys,3DBuoysare easiertouseandareconvenient
formodellingbuoysatlinejunctionsetc.
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B
y
z
x
height/2
height/2
Buoy Axes
always aligned
with Global Axes
Figure: 3DBuoy
6.10.1 Data
Name
Usedtorefertothe3DBuoy.
IncludedinStaticAnalysis
Determines whether the equilibrium position of the buoy is calculated by the static analysis. See Buoy Degrees of
FreedomIncludedinStaticAnalysis.
InitialPosition
Specifiestheinitialpositionforthebuoyoriginascoordinatesrelativetotheglobalaxes.Ifthebuoyisnotincluded
inthestaticanalysisthenthisinitialpositionistakentobethestaticpositionofthebuoy.Ifthebuoyisincludedin
the static analysis, then this initial position is used as an initial estimate of the buoy position and the statics
calculationwillmovethebuoyfromthispositioniterativelyuntilanequilibriumpositionisfound.SeeBuoyDegrees
ofFreedomIncludedinStaticAnalysis.
Mass
Massorweightinair.
Volume
Usedtocalculatebuoyancyandaddedmass.
BulkModulus
Specifiesthecompressibilityofthebuoy.Ifthebuoyisnotsignificantlycompressible,thentheBulkModuluscanbe
settoInfinity,whichmeans"incompressible".SeeBuoyancyVariation.
Height
Usedtomodelfloating buoyscorrectly,where thebuoyancy,drag etc.varyaccordingtothedepthofimmersion.It
also determines the height used to draw the buoy. The Height is the vertical distance over which the fluid-related
forceschangefromzerotofullforceasthebuoypiercesthesurface.Itistakento besymmetricalaboutthebuoy's
origin.
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SeabedFrictionCoefficient
OrcaFlex applies Coulomb friction between the buoy and the seabed. The friction foice applieu nevei exceeus R
dataform.
ContactArea
Used to determine contact forces when the buoy comes in to contact with the seabed and with elastic solids. If a
valueof'~'isspecifiedthenOrcaFlexusesVolume/Height.
Specifyingavalueofzeroallowsyoutodisablecontactforthebuoy.
Drag
Drag forces are applied in each ofthe global axes directions GX, GY and GZ. For each direction you must specify a
DragCoefficientandDragArea.
AddedMass
You must specify the added mass coefficient Ca for each global axis direction. The added mass is set to be Ca
multipliedbythemassofwatercurrentlydisplaced.Theinertiacoefficient,Cm,issetautomaticallytoequal1+Ca.
6.10.2 PropertiesReport
The3DBuoypropertiesreportisavailablefromthepopup-menuonthedataform.Itreportsthefollowing:
Weightinair
Theforceduetogravityactingonthebuoy'smass.
Displacement
Theweightofwaterdisplacedbythebuoy'svolume.Thereportedvalueusesthewaterdensityattheseasurface.
Weightinwater
Theseareonlyreportedifthebuoyisincludedinstatics.
Thestaticanalysissearchesforanequilibriumpositionforthebuoythatisapositionforwhichtheresultantforce
on the buoy is zero. We refer to the resultant force as the out of balance load. Because computers have limited
numerical precision the static analysis cannot always find a configuration where the out of balance load is exactly
zero.OrcaFlexacceptsapositionasastaticequilibriumpositionifthelargestoutofbalanceloadcomponentisless
thanthestaticsaccuracy.
TheStaticsforceaccuracyequalsTolerance*buoytypicalforce.Thebuoytypicalforceisbasedontheweightinair,
thedisplacementandtheforcesappliedbyconnectedobjects.
numericalprecision.
Note: The statics accuracies change during the static analysis because the forces applied by connected
objects vary with the position of the buoy. The statics accuracies reported in Reset state may be
quite different from those used for the final equilibrium position and should be treated as rough
approximationstothetruestaticsaccuracies.
6.10.3 Results
For3DBuoystheavailablevariablesare:
SystemModelling:DataandResults,Winches
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X,YandZ
Positionsofthebuoyorigin,relativetoglobalaxes.
Velocity,XVelocity,YVelocity,ZVelocity
Acceleration,XAcceleration,YAcceleration,ZAcceleration
Themagnitudeandcomponents(withrespecttoglobalaxes)ofthevelocityandaccelerationofthebuoy.
SurfaceZ
TheglobalZcoordinateoftheseasurfacedirectlyabovetheinstantaneouspositionofthebuoyorigin.
DryLength
Lengthofbuoyabovethewatersurface,measuredalongthebuoyzaxis.Forthispurpose,thez-extentofa3Dbuoy
isassumedtobeHeight/2eithersideofitsvolumecentre.
6.11 WINCHES
Winches provide a way of modelling constant tension or constant speed winches. They connect two (or more)
points in the model by a winch wire, fed from a winch inertia (typically representing a winch drum) that is then
drivenbyawinchdrive(typicallyrepresentingthewinchhydraulicsthatdrivethedrum).
Aswellasconnectingitstwoendpoints,thewinchwiremay,optionally,passviaintermediatepoints,inwhichcase
itdoessoasifpassingoverasmallfrictionlesspulleyatthatpoint.Thewiretensioneithersideoftheintermediate
pointisthenappliedtothatpoint;ifthepointisoffsetontheobjectinvolvedthenthisalsogivesrisetoanapplied
moment.
Winch Drive Winch Inertia
Drive
Force
f
t t
t
Wire
Tension
t
Winch may pull via
intermediate objects
Winch wire
Figure: WinchModel
TwotypesofwinchareavailableinOrcaFlex:
SimpleWinches
SimpleWinchesmodelperfectconstanttensionorconstantspeedperformanceandareeasiesttouse.Itisassumed
that the winch inertia is negligible and the winch drive is perfect, so that it always exactly achieves the requested
constanttensionorconstantspeed.Becauseoftheseassumptions,nodataneedstobegivenforthewinchinertiaor
winchdrive.
DetailedWinches
Detailed Winchesincludemodellingoftheperformance ofthewinchdrivesystem itsdeadband,stiffness,inertia,
dampinganddragbutthereforerequiremoredataandarehardertosetup.
We recommend using Simple winches unless you know the characteristics of the winch drive system and believe
thatitsperformancesignificantlydiffersfromtheconstanttensionorspeedideal.Inparticular, Simplewinchesare
appropriate:
x Attheearlydesignstage,whenthetypeofwinchtobeusedhasnotyetbeendecided.
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x Ifthedutyissuchthatthewinchdrivewillgiveneartoperfectconstanttensionorconstantspeedperformance.
x Ifthewinchdrivedataarenotavailable.
WinchControl
OrcaFlex winches allow quite complex offshore operations to be modelled. The winch drive can be operated in
eitheroftwomodes:
LengthControlMode
Formodellingconstantspeedwinches.Thewinchwireispaidoutorhauledinatavelocityspecifiedinthedata.
ForceControlMode
For modelling tension controlled winches. Since such winches are usually hydraulic devices whose performance
deviates quite seriously from the target tension ideal, OrcaFlex Winches provides facilities for modelling winch
deadband, damping and drag forces (force decrements proportional to velocity and velocity
2
respectively) and
winchstiffnesseffectssuchasthosecausedbyhydraulicaccumulators.
The winch can be switched between these two modes at predetermined times during the simulation and the
constantvelocityortargettensioncanalsobevaried.
6.11.1 Data
Name
UsedtorefertotheWinch.
Type
MaybeeitherSimpleorDetailed.SeeWinches.
ConnecttoObjectandObjectRelativePosition
The(mass-less)winchwireconnectsatleasttwoobjects,oneateachendofthewinchwire.
If more than 2 are specified then the winch wire passes from the first connection point to the last via the
intermediate points specified. When intermediate connections are specified, the winch wire slides freely through
these intermediate points as if passing via small friction-less pulleys mounted there. The winch wire tension on
either side then pulls on the intermediate points, so applying forces and moments (if the points are offset) to the
objectsconcerned.
Each connection is defined by specifying the object connected and the object-relative position of the connection
point.
For connecting to a Line, the object-relative z coordinate specifies the arc length to the connection point. The z
coordinate specifies the arc length along the Line and this arc length may be measured relative to either End A or
EndBasspecifiedbytheuser.Theconnectionpointisattachedtothenearestnode.If torsionisnotmodelledthen
thex,ycoordinatesareignoredandtheconnectionpointisatthecentrelineoftheLine.If torsionismodelledthen
thex,ycoordinatesallowyoutooffsettheconnectionfromthecentreline.
ForFixedconnectionstheobject-relativecoordinatesgivenaretheglobalcoordinatesofthepoint.
For connecting to an Anchor, the object-relative x,y coordinates given are the global X,Y coordinates ofthe anchor
point,andthez-coordinateisthedistanceoftheanchorabove(positive)orbelow(negative)theseabedatthatX,Y
position.
Forconnectingtootherobjects,thecoordinatesoftheconnectionpointaregivenrelativetotheobject localframe
ofreference.
The winch wire can be released at the start of a given stage of the simulation, by setting this number to the stage
number required. Once released the winch no longer applies any forces to the objects it connects. If no release is
required,thensetthisitemto'~'.
6.11.2 WireProperties
WireStiffness
Elasticstiffnessofthewinchwire.
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WireDamping
Materialdampingvalueforthewinchwire.
Note: Themassofthewinchwireisnotmodelled.
WinchInertia(DetailedWinchesonly)
Theinertiaofthewinchdrive,whichresistschangesintherateofpayoutofhaulinofthewinchwireifthewinchis
inForceControlmode.TheWinchInertiahasnoeffectifthewinchisinLengthControlmode.
This is a linear, rather than rotational, inertia. To represent the rotational inertia of a winch drum, set the winch
inertiato
l/r
2
where
I=drumrotationalinertia,
r=radiusatwhichthewireisfed.
Notes: The winch inertia does not contribute to the mass of any objects to which the winch is attached
andsodoesnotdirectlyresistaccelerationofanyoftheconnectionpoints.(Suchaccelerationsare
resisted indirectly, of course, through the changes they cause to the winch wire path length and
hencetothewinchwiretension.)Toincludethetruetranslationalinertiaofthewinchdrive,drum
andwireitisnecessarytosuitablyincreasethemassesoftheobjectstowhichitisattached.
Setting the winch inertia to a small value to model a low inertia winch can lead to very short
natural periods for the winch system. These then require very short time steps for the simulation,
slowing the simulation. To avoid this, the winch inertia can be set to zero, rather than to a small
value; the winch system inertia is then not modelled at all, but the short naturalperiods are then
avoided.SeeWinchTheoryforfulldetailsofthealgorithmusedwhenthewinchinertiaiszero.
6.11.3 Control
ControlType
CanbeeitherByStageorWholeSimulation.
When By Stage is selected the winch is controlled on a stage by stage basis. For each stage of the simulation you
choosefrom the winchcontrol modes. Thesemodesallowyou tocontrolthe winchpayoutrate,controlthe rateof
changeoftargettensionorspecifyaconstanttargettension.
Note: The control mode remains fixed for the duration of each stage. Because there is a limit on the
numberofstagesinanOrcaFlexsimulationthiscanberestrictive.
When Whole Simulation is selected the winch is either tension controlled or length controlled for the whole
simulation.Forthetensioncontrolledmodethetargettensioncanbefixed,varywithsimulationtimeorbegivenby
an external function. Likewise for the length controlled mode the payout rate of unstretched winch wire can be
fixed,varywithsimulationtimeorbegivenbyanexternalfunction.
6.11.4 ControlbyStage
WinchControlforStatics
Forthestaticanalysis,theModeofthewinchdrivecanbesettooneofSpecifiedLengthorSpecifiedTension.
SpecifiedLength
The winch drive is locked with the unstretched length of winch wire out, L0, being set to the Value specified. The
winchwiretensiontthendependsonthestretchedlengthLofthewinchwirepath.
SpecifiedTension
Thewinchdriveoperatesinperfectconstanttensionmode,thetensiontbeingthe Valuespecified.Theunstretched
lengthoutL0isthensettocorrespondtothistension.
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WinchControlforDynamics
Duringthesimulationthewinchiscontrolledonastagebystagebasis.Foreachstagethewinchcontrolmodecan
be set to one of Specified Payout, Specified Payout Rate, Specified Tension, Specified Tension Change or
SpecifiedTensionRateofChange.
SpecifiedPayout
The Value specifies the unstretched length of winch wire to be paid out (positive) or hauled in (negative) at a
constantrateduringthisstage.Thatis,the Valuespecifiesthetotalchangeinunstretchedlengthduringthestage,
sotokeepaconstantlengthsettheValuetozero.
SpecifiedPayoutRate
TheValuespecifiestherateatwhichthewinchwireistobepaidout(positive)orhauledin(negative)duringthis
stage.
SpecifiedTension
TheValuespecifiesthetargetconstanttensionforthisstage.
ForSimplewinchesthewinchdriveisassumedtoalwaysachievethisnominaltension,sothe Valueisusedasthe
actualwinchwiretension.
For Detailed winches this nominal tension is used as the target tension for the winch drive, which then applies
drive force to the winchinertia to try to achieve this target tension. The algorithm for the winch drive force is
designed to model the characteristics of real-world winches that are nominally "constant tension". See Winch
Theory.
Note: Changesofnominaltensionareappliedinstantlyatthestartofeachstage,andthiscantherefore
applyashockloadwhich,iflargeenough,mayaffectthestabilityofthesimulation.
SpecifiedTensionChange
The Value specifies the change in target tension for this stage. That is, the Value specifies the total change in
nominaltensionduringthestage,sotokeepataconstantnominaltensionsettheValuetozero.
TheabovecommentsfortheSpecifiedTensioncontrolmethodalsoapplytothismethod.
SpecifiedTensionRateofChange
TheValuespecifiestherateofchangeintargettensionforthisstage.
TheabovecommentsfortheSpecifiedTensioncontrolmethodalsoapplytothismethod.
Note: TheSpecifiedTensionChangeandSpecifiedTensionRateofChangemodesallowyou,forexample,
tomodelaconstanttensionwinchwherethetensionisdeterminedbyanearliersimulationstage.
Byspecifyingatensionchangeof0followingapayoutstageyoucanlockthewinchatthetension
usedattheendofthepayoutoperation.
6.11.5 ControlbyWholeSimulation
StaticsMode
ThewinchcontroldataforstaticsisthesameasthedataspecifiedintheByStagecontroltype.
DynamicsMode
ThewinchiscontrolledeitherbySpecifiedTensionorbySpecifiedPayoutRate.
If Specified Tension is set then you must also specify the target tension. This value can be fixed, vary with
simulationtimeorbegivenbyanexternalfunction.
IfSpecifiedPayoutRateissetthenyoumustalsospecifythepayoutrateofunstretchedwinchwire.Thisvaluecan
befixed,varywithsimulationtimeorbegivenbyanexternalfunction.
6.11.6 DriveUnit
Note: ThedriveunitdataappliestoDetailedWinchesonly
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WinchDrive
The winch drive controls the winch wire in one of two winch control modes: Length Control mode ("Specified
Length", "Specified Payout" or "Specified Payout Rate") or Force Control mode ("Specified Tension", "Specified
TensionChange"or"SpecifiedTensionRateofChange").
x LengthControlmodeisformodellingaconstantspeedwinch. Thewinchtensionthen dependssimplyonthe
unstretchedlengthofwinchwireout,andthewireproperties(StiffnessandDamping).
x ForceControlmodeisformodellinga(nominally)constanttensionwinch.Becausesuchwinchesoftendeviate
quite seriously from the constant tension ideal, facilities are provided for modelling winch Deadband,
Damping,DragandStiffness.
Deadband
A deadband of +/- this value is applied to the winch drive force between hauling in and paying out the winch. See
WinchTheoryforfulldetails.
Stiffness
Thiscanbeusedtomodel,forexample,winchhydraulicaccumulators.Itistherateatwhichthezero-velocitywinch
force(thedriveforceappliedwhenthewinchisneitherhaulinginnorpayingout)varieswiththetotalunstretched
lengthofwinchwirepaidout.SeeWinchTheory.
DampingTermsAandB
These terms can be used to model damping in a winch's hydraulic drive system. The winch drive force is taken to
varywithhaul-in/payoutvelocityatratesAandB,respectively.SeeWinchTheory.
DragTermsCandD
Thesetermscanbeused to modeldragina winch'shydraulicdrivesystem.The winchdriveforceistakentovary
withhaul-in/payoutvelocity
2
atratesCandD,respectively.SeeWinchTheory.
6.11.7 ExternalFunctions
Parameters
6.11.8 Results
Forwinchestheavailablevariablesare:
X,YandZ
Theglobalcoordinatesofthespecifiedwinchconnectionpoint.
Tension
Thetensioninthewinchwire.
Length
Theunstretchedlengthofwinchwirepaidout.
Velocity
Therateofpayoutofwinchwire.Positivevaluemeanspayingout,negativevaluemeanshaulingin.
Theazimuthanddeclinationanglesofthedirectionofthewinchwirebetweenthefinal2connectionpoints,relative
totheglobalaxes.Thisdirectionismeasuredfromthelastconnectionpointtowardsthepreviousconnectionpoint.
Declinationisintherange0to180. RangejumpsuppressionisappliedtoAzimuth(sovaluesoutsidetherange -
360to+360mightbereported).
SeaSurfaceZ
TheglobalZcoordinateoftheseasurfacedirectlyabovetheinstantaneouspositionofthewinchmount.
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375
ConnectionForce,ConnectionGX-Force,ConnectionGY-Force,ConnectionGZ-Force
The magnitude and components relative to global axes of the connection force at the specified winch connection
point. We adopt the convention that the force reported is that applied by the winch to the object to which it is
connected.
6.12 LINKS
Linksaresimplespringorspring/damperconnectionslinkingtwopointsinthemodel,forexampleanodeonaline
toavessel,orabuoytoananchor.Theypullthetwopointstogether,orholdthemapart,withaforcethatdepends
ontheirrelativepositionsandvelocities.
Linkshavenomassorhydrodynamicloadingandsimplyapplyanequalandopposite forcetothetwopoints.They
are useful for modelling items such as wires where the mass and hydrodynamic effects are small and can be
neglected;forexamplebuoytiescansometimesbemodelledusinglinks.
TwotypesofLinkareavailable:
Tethers
Simple elastic ties that can take tension but not compression. The unstretched length and stiffness of the
tetherarespecified.Thetetherremainsslackanddoesnotapplyaforceifthedistancebetweentheendsis
lessthantheunstretchedlength.
Spring/Dampers
Combinedspringandindependentdamperunits.Thespringcantakebothcompressionandtensionandcan
have either a linear or a piecewise-linear length-force relationship. The damper velocity-force relationship
canalsobeeitherlinearorpiecewise-linear.
Spring-Damper:
Tether:
Figure: TypesofLink
6.12.1 Data
Name
UsedtorefertotheLink.
Type
maybeeither:
x Tether:asimpleelastictiehavinglinearstiffnessandnodamping.
x Spring/Damper:acombinedspringandindependentdamper,eachofwhichcanbeeitherlinearorpiecewise-
linear.
ConnecttoObjectandObjectRelativePosition
Specifiestheobjectstobelinked.
For connecting to a Line, the object-relative z coordinate specifies the arc length to the connection point. The z
coordinate specifies the arc length along the Line and this arc length may be measured relative to either End A or
EndBasspecifiedbytheuser.Theconnectionpointisattachedtothenearestnode.If torsionisnotmodelledthen
SystemModelling:DataandResults,Links
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thex,ycoordinatesareignoredandtheconnectionpointisatthecentrelineoftheLine.If torsionismodelledthen
thex,ycoordinatesallowyoutooffsettheconnectionfromthecentreline.
ForFixedconnectionstheobject-relativecoordinatesgivenaretheglobalcoordinatesofthepoint.
For connecting to an Anchor, the object-relative x,y coordinates given are the global X,Y coordinates ofthe anchor
position.
Forconnectingtootherobjects,thecoordinatesoftheconnectionpointaregivenrelativetotheobject localframe
ofreference.
The link can be released at the start ofa given stage of the simulation, by setting this number to the stage number
required. Oncereleasedalinknolongerappliesanyforcestotheobjectsitconnects.Ifnoreleaseisrequired,then
setthisitemto'~'.
UnstretchedLength
IstheunstretchedlengthoftheTetherorSpring.
Linear
Boththespringanddamperina Spring/Dampercanhaveeithersimplelinearforcecharacteristicsorelseauser-
specifiedpiecewise-linearforcetable.
Stiffness
Foratetherthetensiontdependsonitsstrainandstiffnessasfollows:
t=k.(L-L0)/L0
where
kisthespecifiedStiffness,
Listhecurrentstretchedlengthbetweenthetwoends,
L0isthespecifiedUnstretchedLength.
TethersremainslackandexertnoforceifLislessthanL0.
ForalinearspringinaSpring/Damperthetension(positive)orcompression(negative)isgivenby:
t=k.(L-L0)
where
kisthespecifiedStiffness,
Listhecurrentstretchedlengthbetweenthetwoends,
L
0
isthespecifiedUnstretchedLength.
ThelinearspringdoesnotgoslackifLislessthanL0,butinsteadgoesintocompression.
Warning: Pleasenotethatthisisnotthesameformulaasfortethers.
Damping
AlineardamperinaSpring/Damperexertsanextratensionof
t=c.(rateofincreaseofL)
where
cisthespecifiedDamping,
Listhecurrentstretchedlengthbetweenthetwoends.
Non-linearforcetables
For a non-linear spring (or damper) the force characteristic is specified as a table of tension against length (or
velocity). The table must be arranged in increasing order of length (velocity) and a negative tension indicates
compression. For a passive damper the tensions specified should therefore normally have the same sign as the
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velocities, since otherwise the damper will apply negative damping. For lengths (velocities) between, or outside,
thosespecifiedinthetabletheprogramwilluselinearinterpolation,orextrapolation,tocalculatethetension.
6.12.2 Results
Forlinksthefollowingvariablesareavailable:
Tension
Thetotaltensioninthelink.
Length
Thecurrentstretchedlengthofthelink.
Velocity
Therateofincreaseofthestretchedlength.
Theazimuthanddeclinationangles,relativetoglobalaxes,oftheEndAtoEndBdirectionofthelink.
EndAX,EndAY,EndAZ,EndBX,EndBYandEndBZ
Theglobalcoordinatesofthelink.
6.13 SHAPES
Figure: ExamplesofBlock,CylinderandCurvedplateshapes
Shapesaresimple3dimensionalgeometricobjectsthatcanbeconfiguredinavarietyofways:
1. Elasticsolidsareusedtomodelphysicalobstacles,
2. Trappedwaterareusedtomodelmoonpoolsorotherareaswherefluidmotionissuppressed.
3. Drawingshapeshavenophysicaleffectonthemodelandarejustintendedfordrawingpurposes.
You may choose between a number of different basic geometric shapes and several shapes can then be placed
togethertodefinedmorecomplexshapes.Thebasicshapesavailableareplanes,blocks,cylindersandcurvedplates.
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Elasticsolids
Anelasticsolidrepresentsaphysicalbarriertothemotionoflinesandbuoys.Itismadeofamaterialofaspecified
stiffness and resists penetration by applying a reaction force normal to the nearest surface of the elastic solid and
proportionaltothedepthofpenetrationoftheobjectintotheelasticsolid.
Note: ElasticsolidsdonotresistpenetrationbyVessels,Links,WinchesorotherShapes.
Each elastic solid has an associated stiffness, which determines the rate at which the force applied to an object
increases with the area ofcontact and depth ofpenetration into the elastic solid.The stiffness is the force per unit
areaofcontactperunitdepthofpenetration.
Contact with elastic solids can model friction. Friction coefficients are specified on the Solid Friction Coefficients
dataform.Notethatfrictionforcontactwithelasticsolidsisonlyincludedduringdynamics.
Where an object interacts with more than one elastic solid simultaneously, the force acting on it is the sum of the
individualforcesfromeachelasticsolid.
Elastic solids are intended only for modelling the overall limitation on movement that a physical barrier presents;
they are not intended to model an object's interaction withthe barrierin detail.For examplethecalculationofthe
contact area and penetration depth are very simplistic and do not allow for the detailed geometric shape of the
object. The value given for Stiffness is therefore not normally important, providing it is high enough to keep
penetrationsmall.Ontheotherhand,althoughtheactualstiffnessofrealbarriersisusuallyveryhigh,theStiffness
should not be set too high since this can introduce very short natural periods which in turn require very short
simulationtimesteps.
Linesonlyinteractwith elasticsolidsbytheirnodescomingintocontact,so elasticsolidsthataresmallerthanthe
segment length can "slip" between adjacent nodes. The segment length in a line should be therefore be small
comparedwiththedimensionsofanyelasticsolidwithwhichthelinemaymakecontact.
Trappedwater
Trappedwatercanbeused tomodelhydrodynamicshielding i.e.areassuchasmoonpools,theinsideofsparsor
behindbreakwaters,wherewaveandcurrenteffectsaresuppressed.
Inside a trapped water shape the fluid motion is calculated as if the fluid was moving with the shape. So if the
trapped water shape is fixed then no fluid motion occurs in the shape this could be used to model a breakwater.
Butiftheshapeisconnectedtoa movingvessel,for example,thenthetrappedwater isassumedto movewith the
vesselthiscouldbeusedtomodelamoonpool.
Note: Objects ignore any trapped water shapes which are connected to that particular object. If this
wasn'tdonethenifyouconnectedatrappedwatershapetoabuoyandpartofthebuoywasinthe
trappedwatershapethenafeedbackwould occur(thebuoy motion determinesthemotionofthe
shape,whichinturnwouldaffectthefluidforcesonthebuoyandhenceitsmotion).Suchfeedback
isundesirablesothebuoyignoresanytrappedwatershapesthatareconnectedtoit.
Drawingshapes
Drawing shapes have no physical effect on the model. They can be used to draw objects of interest and do not
interactwithotherobjects.
6.13.1 Data
Name
Usedtorefertotheshape.
Type
EitherElasticSolidorTrappedWater.
Shape
CanbeoneofBlock,Cylinder,CurvedPlateorPlane.
Connection
CanbeFixed,Anchoredorconnectedtoanotherobject(Vessels,3DBuoysor6DBuoys).
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Position
Each shape has position data. For blocks it is named Origin, for cylinders and curved plates it is named End
PositionandforplanesitisnamedPointonPlane.
Thispointistakenastheoriginoftheshape'slocalx,y,zaxes.
ForFixedconnectionsthisistheglobalpositionofthepoint.
For Anchored connections the object-relative x,y coordinates given are the global X,Y coordinates of the anchor
position.
Forconnectionstootherobjects,thecoordinatesoftheconnectionpointaregivenrelativetotheobject localframe
ofreference.
PensandNumberofLines
Eachsurfaceofthesolidisdrawnasawireframeusingonethespecifiedpens.Toaidvisualisation,theOutsidepen
is used ifthe surface is being viewed from the outside ofthe solid,and the Inside pen is used if it is being viewed
fromtheinside.
TheNumberofLinesdetermineshowmanylinesareusedinthewireframesalargervaluegivesamorerealistic
picture,buttakesalittlelongertodraw.
DataforElasticSolids
NormalStiffness
Thisisthe reactionforcethatthesolidappliesperunit depth ofpenetration perunitareaofcontact.Stiffnessmay
besettozero,givingasolidthatisdrawnbutwhichhasnoeffectontheotherobjectsinthesystem.
ShearStiffness
TheShearStiffnessisusedbythefrictioncalculation.Avalueof'~'resultsintheNormalStiffnessbeingused.
Damping
Thepercentageofcriticaldampingfortheelasticsolid.Dampingisalwayszerowhenusingthe implicitintegration
scheme.
SeeShapeTheoryfortechnicaldetails.
6.13.2 Blocks
Block Position B
x
y
z
y-size
x-size
z-size
ABlockshapeisarectangularcuboid,definedbygiving:
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Size
Thisdefinestheblock'sdimensionsinitslocalx,yandzdirections.Withrespecttoitslocalaxes,theblockoccupies
thevolumex=0toSize(x),y=0toSize(y),z=0toSize(z).
Orientation
Thisisdefinedbygivingthreerotationangles,Rotation1,2and3,thatdefineitsorientationrelativetotheobjectto
whichtheblockisattached,or else relativetoglobalaxesifitis notattachedtoanotherobject.Forexample, ifthe
blockisattachedtoanobjectwithlocalaxesLxyz,thenthe3rotationsdefinetheorientationoftheblockaxesBxyz
asfollows.Firstaligntheblockwiththelocalaxesoftheobjecttowhichitisattached,sothatBxyzareinthesame
directions as Lxyz. Then apply Rotation 1 about Bx (=Lx), followed by Rotation 2 about the new By direction, and
finallyRotation2aboutthenew(andfinal)Bzdirection.
6.13.3 Cylinders
r
r = Inner Radius
R = Outer Radius
R
End 1 Position
End 2 Position
Acylindershapeisathickwalledhollowpipedefinedbygiving:
x InnerandOuterDiameter.
x Length.
x AzimuthandDeclinationoftheaxis.
Theazimuthanddeclinationdefinethedirectionoftheaxisrelativetothelocalaxesoftheobjecttowhichtheendis
connected.Forobjectsthatrotate,suchasvesselsand6Dbuoys,theaxisdirectionthereforerotateswiththeobject.
ForFixedorAnchoredendsitisdefinedrelativetoglobalaxes.
Cylindersaredrawnusingcirclestorepresenttheendfacesandanumberofrectangularfacetstorepresentaround
thecurvedsurfaces.ThenumberoffacetsusedistheNumberofLinesspecified.Twogivesaverysimplewireframe
profileofthecylinder,whilstaverylargenumbergivesapseudo-opaquecylinderattheexpenseofdrawingspeed.
IftheInnerDiameteriszerothenasoliddiscisformed.
Ifthecylinderisanelasticsolidthenreactionforcesareapplied:
x Radiallyinwardsifanobjectcomesintocontactwiththeinnercurvedsurface.
x Radiallyoutwardsifanobjectcomesintocontactwiththeoutercurvedsurface.
x Normallyoutwardsifanobjectcomesintocontactwithoneoftheendfaces.
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6.13.4 CurvedPlates
Figure: Someexamplecurvedplateshapes
Curved plate shapes are particularly suited to modelling bellmouths although they are not restricted to this
application. The curved plate shape is similar to the cylinder. It differs in that the radius of the shape can vary
smoothlybetweentheends.Curvedplatescanbeeitherfilledinorhollow.
Shapeishollow
If ticked then the shape is hollow and has both inner and outer surfaces. The middle picture above is not hollow
whereastheothertwoare.
Orientation
This is defined by giving three rotation angles, Azimuth, Declination and Gamma, that define its orientation
relative to the object to which the shape is attached, or else relative to global axes if it is not attached to another
object. The Azimuth and Declination values define the direction of the principal axis. The Gamma value specifies
rotationoftheshapeaboutitsownaxisandsoisonlyrelevantwhentheIncludedAngleofRevolutionisnotequalto
360.
IncludedAngleofRevolution
Thecurvedplateisasolidofrevolution.Avalueof360givesacompleterevolutionasshowninthefirst2pictures
above. Other values can be used to model partial or cut-away curved plates for example the right-most picture
abovehasanincludedangleof90.
Thickness
Iftheshapeishollowthenthisdataitemspecifiesthe wallthickness.Thisthicknessspecifiesthethicknessnormal
totheshape'saxisorcentreline.
Note: You may need to specify an artificially large value for thickness in order to avoid objects passing
throughtheshape'swallduringthestaticcalculation.
Profile
A table specifying the variation of diameter with distance along the shape's axis or centreline. The radius is the
radialdistance(i.e.indirectionnormaltotheshapeaxis)fromtheaxistothesurface.Iftheshapeishollowthenthe
profile defines the radius to the inner surface. If the shape is not hollow then the profile defines the radius to the
outersurface.CubicBesselinterpolationisusedtogenerateasmoothprofile.
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6.13.5 Planes
Direction of
Maximum Slope
Slope
Point on Plane
Aplaneshapeisaninfinite planesurface onesideoftheplaneis outsideandthe otherisinside.Thepositionof

theplaneisdefinedbyspecifyingaPointonPlanethroughwhichitpasses.
Theangleoftheplaneisspecifiedbygivingits(maximum)SlopeAngleandSlopeDirection,relativetotheobject
towhichitisconnected,asfollows.
x For a fixed or anchored shape, the Slope Angle is specified by giving the angle of elevation of the line of
maximumslope,relativetotheglobalXYplane(i.e.relativetothehorizontal).ASlopeAngleof90isthereforea
verticalplane.TheSlopeDirectionisspecifiedasthedirectionofthelineofmaximumupwardsslope,relativeto
globalaxes.ForexampleaplanehavingaSlopeAngleof30andaSlopeDirectionof90slopesupwardsinthe
positiveYdirectionat30tothehorizontal.
x Forashapeconnectedtoanotherobject,theSlopeAngleandSlopeDirectionarerelativetotheobject'slocalxy
plane. For example with a Slope Angle of 30 and a Slope Direction of 90, the plane slopes upwards in the
positiveydirectionat30totheobject'slocalxyplane.
Aplanewithzeroslopeangleisthereforeparalleltothexyplaneoftheobjecttowhichitisconnected,orparallelto
theglobalXYplane(i.e.horizontal)inthecaseofaFixedorAnchoredplane.
The'inside'ofaplaneisonthenegativezside(i.e.belowforaFixedorAnchoredplane)iftheSlopeAngleisinthe
range-90to+90,andonthepositivezside(i.e.aboveforaFixedorAnchoredplane)otherwise.
Planesaredrawnasarectangulargrid,withthespecifiedNumberofLines,usingaspacingdeterminedbytheview
size.Planesextendtoinfinityinalldirections,butonlyapartoftheinfiniteplanelocaltothe viewcentreisshown
onthe3Dview.
6.13.6 Drawing
Wireframedrawing
Representationofshapesinthewireframedrawingmodecanbeconfusing.OrcaFlexdoesnotprovidehidden-line
removal so shape objects are displayed by simple wire-frame drawings. You may exercise control over the display
byselectingthenumberoflinesdrawnforeachobject, andthesequenceinwhichtheyaredrawn.For pendetails,
seeHowObjectsAreDrawn.
WhereitisnecessarytokeepthedisplaysimpleyoushouldsetNumberofLinesto2forblocksandcylinders.Ifthe
numberoflinesissetlargeforblocksorcylinderstheyappearassolidobjects,althoughtheymaytakealongtime
todraw.
For planes you can control how they are drawn with the Grid Density data item. This is specified in terms of the
length of the scale bar on the 3D view. A density of d means that there are d lines per scale bar length, so higher
densityvaluesgiveafinergrid(buttakeslongertodraw).
Please note also that the Number of Lines only affects the drawing, and not the calculations (which are correctly
performedwithcurvedgeometry).PlanesandBlocksaredrawnfirst,andthenCylinders,butotherwisethesolidsin
themodelaredrawninthesequencethattheywerecreated.Youcansometimestakeadvantageofthis,bydefining
background shapes before foreground ones, to obtain a pseudo-hidden line effect. You are encouraged to
experiment,butsimplicityisbest.
Hint: Althoughtheprogramprovides depthcluestotheeyebydrawingrearfacesinadifferentcolour,
theeyecansometimesbefooledbythepicturetryrotatingtheviewbackandforthafewtimes.
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ShadedDrawing
Bydefault,forshaded3DViews,shapesaredrawnassolidobjectsusingthespecifiedgeometry.
Alternativelytheobjectcanberepresentedbyanimported3DmodelbyspecifyingtheShadedDrawingFile.This
Shaded Drawing Origin is provided because the shaded drawing and the shape may have different origins. The
Shaded Drawing Origin defines the origin of the shaded drawing with respect to the shape's local axis system.
Similarly Shaded Drawing Orientation allows you to reorient the shaded drawing to match the shape's axis
system.
ShadedDrawingPlaneTranslucency(onlyavailableforplanes)
ControlshowtranslucenttheplaneappearsintheShadedGraphicsmode.Avalueof0%givesasolidsurfaceandall
objectsbehindthesurfacewillnotbevisible.Avalueof100%specifiestransparencyandleadstoacompletelysee-
throughsurface.
Note: Thisdataitemisnotusedifanimported3Dmodelisusedtodrawtheshape.
6.13.7 Results
ContactForce,
ContactGX-Force,ContactGY-Force,ContactGZ-Force,
ContactLx-Force,ContactLy-ForceandContactLz-Force
The magnitude and components of the total force applied by an elastic solid to other objects in the model. The
componentsarereportedrelativetoeitherglobalaxes(GX,GY,GZ)orlocalaxes(Lx,Ly,Lz).
Thesevariablesareonlyavailableforelasticsolids.
X,Y,Z
Theglobalcoordinatesoftheshapeorigin.
Velocity,GX-Velocity,GY-Velocity,GZ-Velocity,
Themagnitudeandcomponents(withrespecttoglobalaxes)ofthevelocityandaccelerationoftheshapeorigin.
6.14 ALLOBJECTSDATAFORM
The All Objects Data Form allows you to view or edit data for all the objects in the model on a single form. This is
particularly useful for simultaneous viewing or editing of properties of multiple objects. The form can be opened
usingthemodelbrowser.
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Therearetwomodesofoperation:ConnectionsorOtherdata.
Connections
The Connections mode allows you to edit connection specific data for all Lines, Links and Winches in the model.
You can choose to filter which object types appear in the list each object type (Lines, Links or Winches) can be
includedorexcludedfromthelist.
PositionsandConnectionspages
The Positions and Connections pages allow you to view or edit all the connection data. This is the same data as on
theindividualdataformsandincludesthefollowingdataitems:
x Thepositions(asCartesiancoordinates)relativetotheframeofreferenceoftheobjecttowhichtheconnection
isattached.
x ForLinksandWinchesconnectedtoaline,thereferencelineend(eitherEndAorEndB)forthezcoordinate.
x Heightaboveseabedforanchoredlineends.
x Connectionorientationandstiffnessesforlineends.
x Releasestageforlineends.
PolarCoordinatespage
The Polar Coordinates page provides a way of viewing or setting the positions of the connections using polar
coordinates,relativetoachoiceofframesofreference. Thisfacilityisusefulforcases,forexamplemooringarrays,
whereaseriesofconnectionsneedtobelaidoutaroundacircle.
The polai cooiuinates R Z aie those of the connection position ielative to the selecteu polai coordinatesframe
of reference (see below). The Cartesian coordinates of the connection, relative to the same reference frame, are
Rcos Rsin Z
On theotherhand,theObjectRelative PositiondataaretheCartesiancoordinatesoftheconnectionrelativeto the
frameofreferenceoftheobjecttowhichitisconnected.
OrcaFlex keeps the two sets of coordinates synchronised, so if you change one then the other is automatically
updatedtomatch.IfyouchangeanyotherdatathentheCartesianObjectRelativePositioncoordinatesaretakento
bethemasterdataandsoleftunchanged,andthepolarcoordinatesareupdatedtomatch.
Youhaveaquitealotofflexibilitytochoosewhatreferenceframeyouwantforthepolarcoordinates.Thereference
frame has its origin at your chosen Reference Origin and has its axes are parallel to those of your chosen
ReferenceAxes.
Forthereferenceoriginyoucanchoosebetween:
x Theglobalorigin.
x The point on the seabed that is directly below the global origin. This is only available if a connection point is
anchored.
x Theoriginoftheframeofreferenceofanyconnectedobject.
x ThepositionoftheotherendoftheobjectavailableforLinesandLinksonly.
Andforthereferenceaxesdirectionsyoucanchoosebetween:
x Theglobalaxesdirections.
x Theaxesdirectionsoftheframeofreferenceofanyconnectedobject.
ExampleofUsingPolarCoordinates
The choices of reference frame for the polar coordinates may seem complex at first sight, but they allow various
usefulcoordinatetransformationstobedoneeasilyandaccurately.Hereisanexample.
Consider mooring a spar with an array of 4 lines, each of which has End A connected to the spar and End B
anchored.SupposeyouwanttoplacetheAendsofthelinessothattheyareevenlyspacedcircumferentiallyaround
the spar, all at radius 5m from the spar axis and all 3m below the spar origin. To do this easily, first sort into
ConnectionordersothatalltheEndAconnectionsare groupedtogether.Then,for thefirstline,setthe reference
frameoriginandaxestobethesparoriginandsparaxesandsetitspolarcoordinatestobeR=5,andZ=-3.Youcan
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now use copy/paste or fill down to set all the other A ends to the same reference origin, axes and R and Z
cooiuinates Finally you can set the cooiuinates foi the A enus to 90,180and270.
Similarly, suppose you want the End B connections to be anchored to the seabed, with the anchors again evenly
spaced circumferentially, and with each line spanning 200m horizontally. The easiest reference frame for this is
withtherefeience oiigin being Enu A anu the iefeience axes being the spai axes The cooiuinates shoulu again be
set to 0, 90, 180 and 270 and the R coordinates set to 200m. But this time, to set the vertical positions ofthe B
ends,itiseasier(especiallyiftheseabedissloping)togototheConnectionspageandset ConnectToObjecttobe
AnchoredandthengotothePositionspageandsettheObjectRelativePositionzcoordinatetozero.
Otherdata
The Other data mode presents tables of data for Vessels, Lines, 6D Buoys, 3D Buoys, Links, Winches and Shapes.
The tables are laid out with each row containing related data for a single object. The notable exception is the Line
sectionspageinwhicheachrowcontainsdataforasinglesectionofaLine.
Thistabulationallowsdataformultipleobjectstobesetinanefficientandcoordinatedway.The copy/pasteorfill
down keyboard shortcuts are particularly useful here. Another useful technique is to build a table of data in Excel
with identical layout of columns and rows. This allows you to make use of Excel's formulae and data handling
facilitiestopreparedata,andthentopasteitintoOrcaFlexinasingleoperation.
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7 MODALANALYSIS
Themodalanalysisformenablesyoutocalculateandviewtheundampednaturalmodesofthewholesystem,orof
asingleline.Toopenthisform,seetheModalAnalysiscommandontheResultsmenu.Notethattheanalysisisonly
availablewhenthestaticpositionofthemodelhasbeencalculated.
Forfulldetailsofthecalculation,andadiscussionofitslimitations,seetheModalAnalysistheorysection.
Performingmodalanalysis
Toperformamodalanalysisyouneedtospecifythefollowing:
x Whatyouwanttoanalyse:thewholesystemorasingleline.
x Whichmodesyouwanttocalculate.YoucanaskforAllmodesoraspecifiedrangeofmodes.Forlargesystems
itismuchquickertocalculateonlyasmallnumberofmodesseeModalAnalysisTheoryformoredetails.
x Whetheryouwanttocalculatethemodeshapesorjustthenaturalperiods.Ifyouexcludethemodeshapesthen
the analysis only calculates the natural periods, not the shapes of the natural modes. If you include the mode
shapesthentheanalysistakeslonger.
When you have made your selections click the Calculate button. The modal analysis will then calculate the
undamped natural periods and, if requested, the mode shapes. Each mode is normalised to have largest offset
magnitude equal to 1, i.e. the offsets vectors are scaled so that largest offset vector is a unit vector. The modes are
numberedinorderofincreasingfrequency.
ModeTable
The Table page then displays a spreadsheet giving the results in numerical form. If you do not calculate the mode
shapethenthetablereportsonlytheperiodsoftherequestednaturalmodes.Ifyoucalculatethemodeshapesthen
the table also gives the shape in the form of the displacements of each degree of freedom. Mode shapes can be
reportedwithrespecttoeitherglobalaxesdirectionsorlocalaxesdirections.
Ifmodeshapesarecalculatedthenthetableincludesthefollowinginformation:
x Offset distribution displays a measure of how inline, transverse and axial the mode is. For details see Offset
Distributionbelow.
x Mode type classifies each mode according to the offset distribution. Transverse means that the transverse
component is more than 90% of the total, Mostly transverse means that it is between 50% and 90%, and
similarlyforinline,mostlyinline,axialandmostlyaxial.Mixedmeansthatnoneofthecomponentsaremore
than50%ofthetotal.
Note: TheOffsetDistributionandModeTypeinformationisonlyavailableforsinglelineanalyseswhere
there is relative flow normal to the line. So, if the line is entirely above the water, or there is no
currentdefinedthenthisinformationwillnotbeavailable.
ModeView
Ifyourequestedthemodeshapesthenthe Viewpagedisplaysa3Dviewofthesystemshowingoneselectedmode
shape superimposed on the static position ofthe system. The current direction is also shown on the view, and you
cancontroltheviewangle,zoometc.,asonany3Dview.Youmayneedtozoomoutinordertoseethesystem,and
youmayneedtoadjusttheviewangletosuitthemodethatyouareviewing.Forexampleanoutofplanemodefora
catenaryisbestviewedbylookingalongtheplaneofthecatenary.
Youcanusethemodedrop-downlisttocontrolwhichmodeisshownontheview.Notethatwhenthatdrop-down
listhasthefocus(clickittogiveitthefocus)thenyoucanusethearrowkeystoquicklyincrementordecrementthe
modeshapenumberthatisdisplayed.
The drawing exaggeration value allows you to vary the amplitude ofthe drawn mode shape. The animate mode
shapeanddrawnodeaxesoptionsallowfurthercontrolofthemodeshapedrawing.
Ifthemodeshapeisbeinganimatedthenthereisafurtherchoicetomake,the animationperiod.Ifyouselectthe
mode period option then the animation has a cycle period equal to the mode period. However, for modes with
either very long or very short periods, this option can make visualisation of the mode shape quite difficult. The
alternativeoption,fixed,animatesthemodewitha5scycleperiod.
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Forsinglelineanalyses,the offsetdistributionandmodetypefortheselectedmodeisalsoshown,providedthat
thereisrelativeflownormaltotheline.
VIVPage
TheVIVfacilitiesrelatedtomodalanalysisarenotyetavailableforlinesthathave torsionincluded.Thesefacilities
arealsocurrentlyonlyavailableforsinglelineanalyses.
IfyourequestedthatmodeshapesbecalculatedthentheViewpagedisplaysatableofinformationrelatingtoVIV.
Eachrowofthetablereferstoasinglemodeandcontainsthefollowinginformation:
x Themodenumber.
x Themode'speriodandfrequency.
x Themode'soffsetdistributionandmodetype.
x ExporttoSHEAR7MdsfiledetermineswhetherornotthemodewillbeincludedintheexportedSHEAR7Mds
file.
The filter allows you to restrict the table to show only certain types of mode. For example, you may wish to view
only the transverse modes when considering transverse VIV. The table reports modes in order ofincreasing mode
number.
OffsetDistribution
For a given mode, let V be the mode offset vector at a given node, let Vi, Vt and Va be V's components in the local
inline, transverse and axial directions and let L be the length of line represented by that node. Then OrcaFlex
calculatestheinline,transverseandaxialcomponentsoftheoverallmodeshapeasfollows:
Modeshapeinlinecomponent=Mi Lvi
2
)
Modeshapetransversecomponent=Mt Lvt
2
)
Modeshapeaxialcomponent=Ma Lva
2
)
wherethesummationsareoverallnodesintheline.
OrcaFlexthenreportsthese3modeshapecomponentsaspercentagesoftheirsum,i.e.theoffsetdistributionvalues
reportedbyOrcaFlexareMi/M,Mt/MandMa/MwhereM=Mi+Mt+Ma.Thesevaluesareonlyusedtoprovidesome
measureofhowinline,transverseandaxialthemodeis.
Therootsumofsquaresformulationusedaboveisthemulti-dimensionalequivalentofthestandard3Dformula|V|
=(Vi
2
+Vt
2
+Va
2
)
.ThescalingbyListheresothatthevaluesareindependentofthelevelofdiscretisation.
ExportSHEAR7MdsFile
ThisbuttonexportsaSHEAR7.Mdsfile.
7.1 MODALANALYSISTHEORY
Amodalanalysiscalculatestheundampednaturalmodesofasystem.Thesemodesaregivenindecreasingorder
ofperiodandarenumberedstartingfrom1.
The analysis calculates the natural modes of the discretised model, not those of the real continuous system.
Howeverthediscretisedmodesareclosetothecontinuousonesand foramode numbertheaccuracyimprovesas
more and more elements are used to model the system. For any given level ofdiscretisation the accuracy is better
forthelowermodesandprogressivelyworsensasyougotohigherandhighermodes.Thehighestnumberedmodes
are unlikely to be realistic since they are oscillations whose wavelengths are of the same order as the segment
length.
Ifthesystemhangsinoneoftheglobalaxisplanesthenyoucanoftendistinguishwhetheramodeisin-planeorout-
of-plane bylookingatthepatternofzerosinthe table ofdisplacements.Forexampleifthesystemhangsinthe XZ
planethentheout-of-planemodeshavenon-zeroY-displacementsbutzero(orverysmall)X-andZ-displacements,
andthein-planemodeshavetheoppositepatternofzeros.
OutlineTheory
Modal analysis is a standard technique that is well-documented in the literature, but here is a brief outline. First
considerasingledegreeoffreedomsystemconsistingofamassattachedtoalinearspring.Theundampedequation
ofmotionis:
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389
Mx''(t)=-Kx(t)
wherex(t)istheoffset(attimet)frommeanposition,x''(t)istheacceleration,MisitsmassandKisthestiffnessof
thespring.Sincethisanalysisneglectsanydampingtheresultsarereferredtoastheundampedmodes.
The solution of the equation is known to be simple haimonic ie of the foim xt asint wheie a anu aie
unknownstobefoundbysolvingtheequation.Differentiatingx(t)gives:
x''(t)=-
2
asint
sowhenwesubstituteintotheequationofmotionweobtain:
-N
2
asint -Kasint
whichcanberearrangedtogive:
KN
.
ThisistheangularfrequencyoftheoscillationandsothenaturalperiodTisgivenby:
T NK
Forthissimpleharmonicoscillatorthereisjustasingleundampednaturalmode,correspondingtothesingledegree
offreedom.Foracontinuousriserthereareaninfinitenumberofdegreesoffreedom,andhenceaninfinitenumber
of undamped natural modes, but computers work with discretised models with finite numbers of degrees of
freedom.
Consider a discretised line in OrcaFlex with N degrees offreedom. Inthis situation the above equations still apply,
butthey nowhavetobeinterpreted as matiixvectoi equations wheie anu T iemain scalais a x anu x become
vectorswithNelements,andMandKbecomeNNmatrices.
Equation(1)isaneigen-problemwithNsolutions,thei
th
solution being iandai say wheie iisascalarandaiisa
vector withNelements.Thisi
th
solutioniscalledthei
th
naturalmode.Itisanoscillationofthelineinwhichallthe
uegiees of fieeuom oscillate at the same angulai fiequency i. But different degrees of freedom have different
amplitudes,givenbythecomponentsofai.Thisamplitudevariationiscalledthemode'sshape.
Eigen-solvers
Two eigen-solversareused toperformmodalanalysis.Thechoiceofwhichtouseismadebasedonthe numberof
modesextracted,n,andthenumberofdegreesoffreedom,N.
If n N anu n then an iteiative Lanczos algoiithm will be useu 0theiwise a uiiect methou baseu on
tridiagonal MATRIX diagonalisation is used. For large problems the iterative Lanczos algorithm is much faster and
requiresmuchlessmemoryandsoshouldbeusedifatallpossible.
One final subtlety concerns the precise definition of n in the above inequalities. The Lanczos algorithm works by
finding the largest (or smallest) eigenvalue first, then the next largest (or smallest) and so on. Consequently if you
askformodes5to10thenthesolverhastofindmodes1to4firstandsothenumberofmodesextracted,n,is10.
Seabedfriction
Thetheoryoutlinedaboverequiresthatthemassandstiffnessmatricesaresymmetricwhichisnotalwaysthecase
inanOrcaFlexmodel.Themostimportantexampleofthisisthe frictionmodel.Frictionisanon-conservativeeffect
andnon-conservatismequatestonon-symmetrictermsinthestiffnessmatrix.Clearlythispresentsaproblem.
The non-conservatism of the standard OrcaFlex friction model arises when a node is slipping, that is when the
deflection from its friction target position exceeds Dcrit. When performing modal analysis OrcaFlex assumes that
nodesontheseabedarerestrainedbyalinearstiffnesseffectdeterminedbythe seabed'sshearstiffness,Ksandthe
node's contact area, A. This stiffness term corresponds to the stiffness of a linear spring acting in the plane of the
seabed,connectingthenodeanditstargetposition,andwithastiffnessofKsA.
Thishastheeffectofrestrainingmovementofthenodesontheseabed,intheplaneoftheseabedwhichisdesirable
for a modal analysis of a system with seabed contact. This modification to the seabed friction model results in a
symmetric,conservativesystemandhenceenablesmodalanalysistobeperformedsuccessfully.
Stiffnesstermsduetofluidloading
As mentioned above, the modal analysis is an undamped analysis which means that damping terms (i.e. those
dependentonx')areneglected.So,forexample,theeffectsofdragloadingareneglectedinthemodalanalysis.
However, fluid loads do contribute stiffness terms because perturbations of position and orientation can result in
changes ofdirection ofthe fluid load vector. These are stiffness terms, as opposed to damping terms, because they
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390
arisefromdisplacementseventhoughthemagnitudeoftheloadsthemselvesaredependentonvelocities.OrcaFlex
does include these stiffness terms to improve convergence for whole system statics and implicit dynamics
calculations.However,thesefluidloadtermsareneglectedinthemodalanalysis.
Non-linearbendstiffness
Modalanalysisinherentlyassumeslinearityofthesystemunderconsideration.For non-linear,elasticbendstiffness
the local tangent stiffness is used. For small oscillations about the static configuration, such a system is linear and
modalanalysismaybeadequatelyaccurate.
For hysteretic bend stiffness the situation is more complex. The local tangent stiffness is, in general, ill-defined
because it can be many-values depending on whether the perturbation increases or decreases curvature. In this
situationOrcaFlexusesanaverageofthepossiblestiffnessvalues.
Yet another case to consider is externally calculated bend stiffness. The external function interface provides no
mechanism for specifying the local tangent bend stiffness. Hence OrcaFlex uses the nominal bend stiffness as
providedbytheexternalfunction.
Clearly the modal analysis will be less accurate for hysteretic and externally calculated bend stiffness than it is for
the other bend stiffness options. However, it is often the case that tension, as opposed to bend stiffness, is the
dominantcontributiontolateralstiffnessandsothelimitationsdescribedaboveareoftennotsignificant.
Vesseladdedmass
When performing a whole system modal analysis with vessel degrees of freedom included, the added mass of a
vesselisusuallyasignificantfactorintheanalysis.However,ifthevesseladdedmassanddampingdataisspecified
as frequency dependent there is no easy way for the modal analysis to account for this dependency on frequency.
Therefore,formodalanalyses,theprogramneglectsaddedmasswhenthedataisfrequencydependent.
Inordertoperformamoreaccuratemodalanalysisyoucanusetheconstantoptionforaddedmassspecification.In
this situation you provide a single added mass matrix which is included in the system wide mass matrix. Because
you can only specify a single added mass matrix you must first assess what modes are of interest and choose
appropriate added mass values. If the added mass varies significantly with mode period,over the range ofperiods
underconsideration,thenyoumayneedtoperformmultipleanalyseswithdifferentaddedmassmatrices.
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FatigueAnalysis,ModalAnalysisTheory
391
8 FATIGUEANALYSIS
The OrcaFlex fatigue analysis is a post-processor which calculates fatigue damage using a variety of methods.
Damage is then collated and summed for specified load cases and then presented, either as plots or in tabular
fashion.
Damagecanbecalculatedinavarietyofways:
x TheS-Ncurveapproachesrecoverstressusingeither homogeneouspipe stress(suitable formetalrisers) or
stress factors (suitable for umbilicals and flexibles). Damage is then calculated based on the specified S-N
curve.
x MooringlinefatiguecalculatesdamagefromeffectivetensionrangesusingT-Ncurves.
Likewise,damageissummedinavarietyofways:
x Deterministicregularwavefatigueanalysis.
x Deterministicirregularwavefatigueanalysisusingtherainflowcyclecountingmethod.
x Stochasticirregularwavefatigueanalysisusingspectralmethods.
The SHEAR7 option is rather different because damage is calculated external to OrcaFlex by SHEAR7. This option
allowsyoutocollatefatiguedamagefromanumberofSHEAR7loadcases.
ThefatigueanalysistoolisaccessedbyselectingtheFatigueAnalysiscommandfromtheOrcaFlex Resultsmenu.It
isessentiallyaself-containedsub-programwithinOrcaFlex,withitsownmenus,dataandresults.
Thestepsinvolvedinperformingafatigueanalysisare:
1. UsethenormalOrcaFlexfacilitiestosetupand runsimulationsthatmodelthevarious loadcasesthattheline
willexperience.Alternatively,foraSHEAR7analysis,createasetofSHEAR7 .pltoutputfilestorepresentyour
VIVloadcases.
2. Open the fatigue analysis tool and set up the fatigue analysis data. This fatigue analysis data is held separately
fromtheotherOrcaFlexdataandcanbesavedinaseparatefilewiththefileextension.ftg.
3. Checkthedataforerrors.
4. Calculateandcollatethedamage.
Notes: Thecalculationstageofafatigueanalysiscantakealongtime,especiallyarainflowanalysiswith
a lot of load cases. To help with this there is an Estimate Calculation Time facility and fatigue
analyses can be run in batch mode. The calculation makes use of all available processor cores to
processloadcasesconcurrently.
The fatigue calculation performance is often limited by disk access consequently it is important
thatthediskaccessspeed isasfastaspossible.Usuallythismeansthatthesimulationfilesshould
bestoredonalocaldiskofthemachineperformingthefatiguecalculation.
LoadCases
BeforethefatigueanalysiscanbeperformedyoumustfirstprepareasetofOrcaFlexsimulationfilesthatmodelthe
samesystembutunderthevariousloadconditionsthatthesystemwillexperienceinitslifetime.
The approach is to divide the range of sea states that the system will experience into a number of wave classes;
typicallythisisdonewithawavescattertable.
For both regular and rainflow analysis you typically represent each wave class with a distinct OrcaFlex simulation
file.Forregularanalysisthesimulationshouldusearegularwaverepresentativeofthewaveclassandforrainflow
analysisthesimulationshoulduseanirregularwaverepresentativeofthewaveclass.
For spectral analysis multiple wave classes with similar Hs values may be represented by a single response
calculationsimulation.Thereasonthisispossibleisthatthespectralresponseanalysisprovidesinformationabout
howthesystemrespondstoarangeofwavefrequencies.Typicallyyouwillhavearangeofsimulationswhichcover
therangeofHsvaluesinyourwavescattertable.
ForSHEAR7fatigueanalysistheloadcasesarespecifiedbyaset ofSHEAR7.pltoutputfiles. Thesearemosteasily
generated using the direct SHEAR7 interface, together with the standard OrcaFlex automation facilities the .plt
filesareautomaticallyexportedifyourunthedirectSHEAR7interfaceinbatchmode.
FatigueAnalysis,Commands
w
392
Eachloadcaseisassignedanexposurelevel.Forregularloadcasesthisisthetotalnumberofoccurrencesofwaves
within the wave class. For the other methods the exposure level is specified as the total time exposed to waves
withinthewaveclass.
Choiceoffatigueanalysismethod
AsdescribedaboveOrcaFlexcanperformthreedifferenttypesoffatigueanalysis:regular,rainfloworspectral.
Rainflow fatigue is the most accurate of the methods, but also the most time consuming and demanding of disk
storage.Thetimeandstoragerequirementscanbesomewhatalleviatedbycarefulselectionofloadcases.Theother
factorwhichcanbeadjustedisthedurationoftheirregularwaveloadcasesimulations.Inourexperienceitisoften
possibletoachieveaccuratedamagepredictionswithsimulationsof20minutesduration.
Regular wave fatigue analysis is much faster and requires much less disk storage than rainflow fatigue. The wave
scatterconversionfacilityprovidesanefficientandproductivewaytogeneratearegularwavescattertablefroma
random sea scatter table. Provided that the regular wave bin discretisation is performed well, the results from a
regularwavefatigueanalysiswillgenerallyagreewellwithanequivalentrainflowanalysis.
The spectral fatigue analysis method was originally included to provide a very quick alternative to the other
methods. Thespectralfatiguemethodin OrcaFlexismuchmore difficulttouse effectivelythantheothermethods.
This is largely due to weaknesses and limitations in the response calculation approach used to generate response
RAOs. If you do perform a spectral fatigue analysis in OrcaFlex then it is very important that you check that the
spectralresponseRAOsaresmooth.TheresponsecalculationmethodoftenresultsinverynoisyRAOswhichinturn
result in gross over-predictions of damage. It is our experience that use of the spectral fatigue method usually
resultsinpoorandinaccurateresults.
Recommendations
The advent of multi-core processors and the wave scatter conversion facility mean that regular wave fatigue
analysisisoftenjustasfastasspectralfatigueanalysis,aswellasgivingmuchmorereliableandaccurateanswers.
BecauseofthiswenolongerrecommendtheuseofspectralfatigueanalysisinOrcaFlex.
This then reduces the choice of methods to regular and rainflow. Because of the calculation time and disk storage
advantages it is clearly desirable to use regular wave fatigue. Certainly during system design these advantages are
significantbecausetheyallowforgreatercoverageandexplorationofthedesignspace.
Another effective strategy is to use regular fatigue analysis for the bulk ofthe time and switch to rainflow analysis
for a final, more detailed check. If the regular wave fatigue analysis predicts a system life significantly in excess of
thedesignlifethenthisfinaldetailedcheckcouldbeomitted.
8.1 COMMANDS
FileMenu
New
ClearspreviouslyenteredFatigueAnalysisdataandresetsdatatodefaultvalues.
Open
OpensaFatigueAnalysisfile(.ftg).Ifthefilecontainsresultsthenthesewillbeavailablewithouthavingtoperform
thetime-consumingcalculationagain.
Save
Savesthedatatothecurrentlyselectedfilename(shownintitlebarofthewindow).Ifresultshavebeencalculated
then these are also saved to the file. This allows you to view results at a later date without having to perform the
calculationagain.
SaveAs
ThisisthesameasSave,butallowsyoutospecifythefilenametosaveto.
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FatigueAnalysis,Data
393
OpenData
Ifthefilecontainsresultsandtherearealargenumberofloadcasesthenthefilecantakealongtimetoload.Ifyou
wanttoworkwithjusttheinputdatathenthiscommandloadsjusttheinputdatawhichisamuchquickerprocess.
MostRecentFilesList
Alistofthemostrecentlyusedfiles.Selectinganitemonthelistcausesthefiletobeloaded.Thesizeofthelistcan
beadjustedfromthePreferencesform.
AnalysisMenu
EstimateCalculationTime
Gives an estimate of how long it will take to do the fatigue analysis and present the results. This is useful for long
analyses,e.g.rainflowanalysesinvolvingalotofcasesorlongsimulations.
Check
The Check command performs a preliminary check of the fatigue analysis data. For example it checks that all the
specifiedloadcasesimulationfilesexistandthatthenamedlineandthespecifiedarclengthintervalsexistineach
loadcase.
The Check command is generally much quicker that the fatigue analysis itself, so we recommend that the Check
command is used before the Fatigue Analysis is run, since the check can often detect data errors that would
otherwiseonlybefoundpartwaythroughwhatmaybe quitealongfatigueanalysis.Itisparticularlyimportant to
use the Check command when a new fatigue analysis has been first set up or when significant changes have been
madetothedata.
Calculate
TheCalculatecommandstartstheFatigueAnalysis.Thefatigueanalysiscantakealongtimeiftherearemanyload
cases,oriftherearemanylogsamplesintheloadcasesimulations,orfinallyiftherearealotofsegmentsinthearc
lengthintervalsspecified.Aprogresswindowisdisplayedandyoucancanceltheanalysisifdesired.
Whenthecalculationiscompletetheresultsaredisplayedinaspreadsheetwindow.
8.2 DATA
Title
Usedtolabelalloutputofthefatigueanalysis.
Damagecalculation
Avarietyofmethodsareavailableforcalculatingdamage:
x Homogeneous pipe stress which assumes a pipe made of a straight, uniform, homogeneous, linear material.
ThedamagecalculationisbasedonZZStress.Thisoptionisappropriateformetalrisers.
x An approach based on stress factors. Here the stress is assumed to comprise a tensile contribution
(proportional to either wall tension or effective tension) and a bending contribution (proportional to
curvature).Thisapproachiscommonlyusedforumbilicalsbutcouldalsobeusedforunbondedflexibles.
x ThemooringfatigueoptioncalculatesdamagefromeffectivetensionrangesusingT-Ncurves.
x The SHEAR7 option is rather different because damage is calculated external to OrcaFlex by SHEAR7. This
optionallowsyoutocollatefatiguedamagefromanumberofSHEAR7loadcases.
x Thefinaloption,externallycalculatedstress,isnotavailableforgeneraluse.
AnalysisType
Threetypesoffatigueanalysisareavailable:
x Regular analysis must be based on a series of regular wave simulations that represent the various load cases
that will occur. For each of these load cases a single-occurrence damage value is calculated based on the last
wavecycleinthesimulation.Thisdamagevalueisthenscaledup bythespecifiednumberofcyclesexpectedto
occur during the structure's life, and this gives the total load case damage value. Finally these total load case
damagevaluesarethensummedforeachloadcasetogivetheoveralltotaldamage.
FatigueAnalysis,LoadCasesDataforRegularAnalysis
w
394
x Rainflowanalysisisnormallybasedonaseriesofrandomwavesimulations.Itusesacyclecountingtechnique
to break down each random wave case into a series of half cycles, and then sums the damage from each half
cycleaccordingtothe Palmgren-Minerlaw.Fordetailsseethe bookby Maddoxandthe paperby Rychlik.This
givesthedamagevalueforthatloadcase,whichisthenscaledtothespecifiedtotalexposure time.Finallythese
totalloadcasedamagevaluesarethensummedforeachloadcasetogivetheoveralltotaldamage.
x Spectralanalysiscalculatesdamageinthefrequencydomainusingstatisticalmethods.Themethod requiresa
power spectral density function (PSD) for a particular load variable (stress or tension). The PSD is obtained
fromaresponsecalculationsimulation.ThiscalculatesRAOsfortheloadvariablesofinterestandthesearethen
combined with the load case wave spectrum to give PSDs for load. These PSDs are then used to calculate
damage using either Dirlik's formula or the Rayleigh distribution. The damage is scaled to the specified total
exposuretimefortheloadcase.Finallythesetotalloadcasedamagevaluesarethensummedforeachloadcase
togivetheoveralltotaldamage.
Units
The units to be used for the fatigue analysis, for both the fatigue analysis data and for its results. The units are
specifiedinthesamewayaselsewhereinOrcaFlex.
Notethattheunitsspecifiedforthefatigueanalysisneednotmatchtheunitsthatwereusedinthevariousloadcase
simulationfiles.Iftheydonotmatch,thentheresultsfromthatsimulationfilewillautomaticallybeconvertedtothe
unitsspecifiedforthefatigueanalysis.Thisisuseful,sinceitallowsthefatigueanalysistobedoneusingmandMN
asthelengthandforceunits(givingstressesinMN/m
2
=MPa),forexample,evenifthesimulationloadcasesusem
and kN (which corresponds to stresses in kN/m
2
= kPa). Similarly, in US units, the fatigue analysis can use inches
(givingstressesinksi)evenifthesimulationfilesusefeetasthelengthunit.
If you change units, then all existing fatigue analysis data is automatically changed to match the new units. This is
usefulifyouwanttoenterdatainsomeothersetofunits,sinceyoucansimplychangetotheunitsofthenewdata,
thenenterthenewdata,andthenchangebacktotheoriginalunitsagain.
CycleRangeDistribution(spectralanalysisonly)
Thespectralfatiguecalculationassumesthatcyclerangesfollowastatisticaldistribution whichisspecifiedbythis
dataitem.The distribution canbe either Dirlik's formulaor theRayleighdistribution.TheRayleigh distribution
is appropriate if the variation of the response is a narrow banded random Gaussian process. Dirlik's formula is
applicable even if the variation of the response is not a narrow banded process. For this reason we recommend
usingDirlik'sformula.
8.3 LOADCASESDATAFORREGULARANALYSIS
SimulationFileName
Thenameofthesimulationfilewhichrepresentstheloadcase.Youcaneitherspecifythefullpathorarelativepath.
LineName
Thename,inthisloadcasesimulationfile,ofthelinetobeanalysed.
Note: Normally the line name will be the same in all of the load cases (though this is not necessary).
Howeverthenamedlinesinthevariousloadcasesmust,ofcourse,allrepresentthesamephysical
lineandusethesamediscretisationintheareasbeinganalysed.
NumberofCycles
Thenumberofwavecycles,ofthisparticularsetofloadconditions,thatthelinewillexperience.
8.4 LOADCASESDATAFORRAINFLOWANALYSIS
SimulationFileName
LineName
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FatigueAnalysis,LoadCasesDataforSpectralAnalysis
395
SimulationPeriod
Theperiodofthepre-runsimulationfilethatdefinestheloadcase.
ExposureTime
Thetotaltimethesystemisexposedtothisloadcase.
8.5 LOADCASESDATAFORSPECTRALANALYSIS
SimulationFileName
LineName
ExposureTime
Thetotaltimethesystemisexposedtothisloadcase.
SpectralForm,SpectralParameters
For spectral analysis the simulation file specifies a response calculation simulation file from which response RAOs
are derived. The spectral fatigue calculation then proceeds by combining these response RAOs with a wave
spectrumtoproducepowerspectraldensity(PSD)functions.
Spectral Form can be one of JONSWAP, ISSC, Ochi-Hubble or Torsethaugen. This specifies the general form of the
wavespectrum.
Theparametersforthechosenspectralformarespecifiedasfollows:
x If JONSWAP is selected then Spectral Parameters can be either Automatic, Partially Specified or Fully
Specified.Thisdeterminesexactlyhowthespectralparametersforeachloadcasearespecified.Forexample,if
Automatic is selected then you specify Hs and Tz and the other JONSWAP parameters are calculated
automaticallyandreported.FordetailsseeDataforJONSWAPandISSCSpectra.
x IfISSCisselectedthenyoumustspecifyHsandTzforeachloadcase.YoucanalsospecifyfmorTpbutsinceTz,
Tpandfmaretiedtogetherthensettinganyoneofthemchangestheothertwotomatch.FordetailsseeDatafor
JONSWAPandISSCSpectra.
x If Ochi-Hubble is selected then Spectral Parameters can be either Automatic, or Specified. Again, this
determines exactly how the spectral parameters for each load case are specified. If you select Automatic the
programcalculatestheparametersofthemostprobablespectrum,basedontheoverallsignificantwaveheight
Hs that you have specified. Ifyou select Specified you must specify all 6 parameters and OrcaFlex then derives
anddisplaysthecorrespondingoverallHsandTzvalues.FordetailsseeDataforOchi-HubbleSpectrum.
x IfTorsethaugenisselectedthenyoumustspecifyHsandTpforeachloadcase.Youcanalsospecifyfmbutsince
Tp and fm are tied together then setting either one changes the other to match. For details see Data for
TorsethaugenSpectrum.
SettinguploadcasesforSpectralAnalysis
When performing a spectral fatigue analysis you will typically have a wave scatter table describing the relative
probabilityofstormoccurrence.Thisdeterminesanumberofwaveclasses,e.g.stormsdefinedbyHs,Tzpairs.
The load cases data should be setup to match load cases with wave classes. For example, suppose that you were
workingwiththefollowing(truncated)wavescattertable:
4-5 9 3
3-4 6 18 6
FatigueAnalysis,LoadCasesDataforSpectralAnalysis
w
396
Hs 2-3 22 132 117
1-2 3 57 201 249
0-1 15 48 69 45
4-5 5-6 6-7 7-8
Tz
The values in the table represent joint probabilities in parts per thousand, so that a value of 201 represents a
probabilityof0.201.
This wave scatter table gives 16 wave classes and so the fatigue analysis data in OrcaFlex would be setup with 16
correspondingloadcaseswithappropriateHsandTzvalues.
Simulationfilesforspectralfatigueanalysisloadcases
Thesimulationfilesusedtorepresentaloadcaseforspectralfatigueanalysisshouldmodelallaspectsofthesystem
and environment other than the wave spectrum. So you must specify vessel offset, current profile and direction,
wavedirectionandsoonwhichareappropriatefortheloadcasebeinganalysed.
The wave type for the load case simulation file must be response calculation. This effectively calculates system
responses(i.e.RAOs)forarangeofwavefrequencies.ThespectralfatigueanalysisthencombinestheseRAOswith
theloadcasewavespectra(i.e.theHs,Tzpairs)toproducefatiguedamageestimatesfortheloadcase.
ChoiceofHsforresponsecalculationsimulationfiles
The Spectral Response Analysis method which is used to calculate system responses (RAOs) includes non-linear
effectssuchashydrodynamicdrag.Inorderforthesenon-lineareffectstobewellmodelledthechoiceof Hsforthe
response calculation simulation files is important. Essentially the RAOs can be considered as being dependent on
waveheight.Howsignificantthisdependenceiswillvaryfromcasetocase.Certainsystemsaredominatedbylinear
physicaleffectsandtheRAOsmaynotinfactbedependentonwaveheight.Todeterminehowsignificantthiseffect
iswewouldrecommendsensitivitystudies.
In the example above we might choose to run a response calculation simulation for each row of the wave scatter
table(assumingthatthesystemhadsignificantnon-linearities).Thiswouldgive5simulationfilesforHsranges0-1,
1-2, 2-3, 3-4 and 4-5. There are 4 wave classes corresponding to the 0-1 Hs range. The load case corresponding to
each of these wave classes would then be represented by the same simulation file. The other Hs ranges are dealt
withsimilarlyandsotheloadcasestablewouldlookasbelow:
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FatigueAnalysis,LoadCasesDataforSHEAR7
397
Figure: Exampleloadcasestable
Ifthenon-linearitiesinthesystemarenotsosignificantthenyoumaybeabletoobtainaccurateresultswithfewer
simulationfiles.Thismay bedesirable to reduce theamountoftimetakento run thesimulations.For examplethe
Hs1, Hs2 and Hs3 simulations could be combined into a single Hs2 simulation etc. Again, the accuracy of such a
simplificationshouldbetestedwithsensitivitystudies.
Responsecalculationsimulationduration
Theotherdecisiontomakeisoverthelengthoftheresponsecalculationsimulations.Youneedtosimulateforlong
enoughtogetaccurateresults.AsfortheissueofHsdiscussedabovewewouldrecommendusingsensitivitystudies
todeterminehowlongisrequired.
8.6 LOADCASESDATAFORSHEAR7
LoadCaseFileName
The name of the SHEAR7 .plt output file which represents the load case. You can either specify the full path or a
relativepath.
ExposureTime
Thetotaltimethesystemisexposedtothisloadcase.Thedamagefortheloadcaseiscalculatedbymultiplyingthe
exposuretimebythedamageratereadfromtheloadcase.pltfile.
8.7 COMPONENTSDATA
TheComponentsDatapageisonlyavailablewhendamageiscalculatedusingstressfactors.
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w
398
You define a number of components for which damage is to be calculated. Components can be used to represent
differentlayersorcomponentsinthecross-sectionofanumbilicaloraflexible.
ComponentName
Thisisusedtoidentifythecomponentintheresults.
TensionVariable
Specifieswalltensionoreffectivetensionisusedtocalculatestress.
TensionandCurvatureStressFactors
Thestressesusedtocalculatedamagearecalculatedaccordingtotheformula:
S=KtT+Kc(Cxsin -Cycos
where
Sisstress,
KtandKcarethetensionandcurvaturestressfactors,respectively,
Tiseitherwalltensionoreffectivetension,asspecifiedbythetensionvariabledata,
CxandCyarethecomponentsofcurvatureintheline'slocalxandydirections,respectively,and
is the ciicumfeiential location of the fatiguepoint.
In effect this formula defines stress to be the sum of contributions due to direct tensile strain and bending strain.
The ciicumfeiential vaiiation ie the teims which iefei to is to account foi the fact that benuing stiain vaiies
with .So,forapointintheplaneofbending,stressisgivenbyS=KtTKc|C|,whereCisthecurvaturevector(Cx,
Cy).Similarly,forapointat90totheplaneofbending,stressisgivenbyS=KtT.
The stress factors will typically be calculated from experimental data or from detailed analytic models of the
umbilicalorrisercross-section.Suppliersofsuchproductsareusuallyabletoprovidethenecessarystressfactors.
S-NCurve
SpecifieswhichS-Ncurveisusedfordamagecalculationsforthiscomponent.
8.8 ANALYSISDATA
TheAnalysisDatapagecontainsthefollowingdataitems,whichspecifythepartsofthelinetobeanalysed.
CriticalDamage
Isawarninglevel.IfthetotaldamageatanyfatiguepointexceedstheCriticalDamagethenthatdamagefigurewill
behighlightedintheresults.
NumberofThetas
Thenumberofpoints(N)aroundthepipecircumference,atwhichfatigueanalysiswillbeperformed.Therewillbe
Nfatiguepointsuniformlydistributedat360/Nintervalsaroundthepipecircumference.Alargernumberofthetas
givesamorecomprehensiveanalysis,buttakesalittlelonger.
Thisdataisnotrequired,andhencenotavailable,formooringandSHEAR7fatigue.
RadialPosition(homogeneouspipestressesonly)
Specifieswhetherthefatigueanalysisisperformedattheinnerorouterfibreofthepipe.
LineLength(SHEAR7fatigueonly)
Specifies the length of the line being consider by the SHEAR7 analysis. This data item is implemented solely to
provide some convenience to results reporting. A value of '~' results in arc lengths being reported as non-
dimensionalx/Lvalues,thenativeformforSHEAR7.Ifavalueisspecifiedforthelinelengththenthex/Lvaluesare
re-dimensionalisedusingthatspecifiedvalue.
ArcLengthIntervals
You define the parts of the line that are to be analysed by specifying a number of non-overlapping Arc Length
Intervals in the form of From and To arc length values. OrcaFlex will analyse cross-sections at each line end and
mid-segment whose aic length z is in the iange Fiom z To
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FatigueAnalysis,S-NandT-NCurves
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For simple cases you can use just one arc length interval covering the whole line. However it is often clear which
part,orparts,ofthelineareliabletofatigueproblems.Ifcalculationtimeissignificantthenyoucansavecalculation
timebyanalysingthosepartsoftheline.
Warning: Theincludedarclengthsmustbethesameineachloadcase,sothelinetobeanalysedshouldhave
thesamenumberanddistributionofsegmentsineachoftheloadcasesimulations.
SCFandThicknessCorrectionFactor(homogeneouspipestressesonly)
When stress ranges are used with the S-N curve to calculate damage, the stress ranges are scaled by the Stress
ConcentrationFactor(SCF)andtheThicknessCorrectionFactorbeforecalculatingdamage.
Ifnostresscorrectionisrequiredthenthesefactorsshouldbothbesetto1.
Notes: To use different stress correction factors for different parts of the line, you will need to specify
separatearclengthintervalsforthoseparts.
S-NCurve(homogeneouspipestressesonly)
SpecifieswhichS-Ncurveisusedfordamagecalculationsinthisarclengthinterval.
T-NCurve(mooringfatigueonly)
SpecifieswhichT-Ncurveisusedfordamagecalculationsinthisarclengthinterval.
8.9 S-NANDT-NCURVES
S-NCurves
An S-N curve defines the number of cycles to failure, N(S), when a material is repeatedly cycled through a given
stressrangeS.OrcaFlexusestheS-Ncurvetocalculatethe damageinafatigueanalysis.Ifneededyoucandefinea
numberofdifferentS-Ncurvesandusethematdifferentarclengthsalongaline.
WitheachS-Ncurveyoumustalsospecifyanassociatedstressendurancelimit,FL,whichisthestressrangebelow
whichnodamageoccurs.
TheS-Ncurveitselfcanbespecifiedeitherbyparametersorbyatable.
Whenthecurveisspecifiedbyparameterstheuserspecifiestwoparameters,Aandb,andthecurveisthengiven
byeitherofthefollowingequivalentformulae:
N=10
A
S
-b
Log10(N)=A-bLog10(S)
WhenthecurveisspecifiedbyatabletheusergivesatableofcorrespondingvaluesofSandN.ForothervaluesofS
weuseloglinearinterpolationorextrapolationtofindthevalueofN.
MeanstresseffectscanbeaccountedforusingGoodman,SoderbergorGerbermodels.
FordetailsofhowtheS-NcurveisusedtocalculatethedamageseeHowDamageisCalculated.
S-NCurveUnits
The S-N curve parameters entered must be consistent with the fatigue analysis units. S-N curve parameters are
typicallyquotedwithrespecttostressesinMPa,butyoumightbedoingthefatigueanalysisusingsomeotherstress
units.Youcanhandlethisproblemasfollows.Firstchangethefatigueanalysisunitsandsettheunitssystemtobe
'User',thelengthunitstobe'mm'andtheforceunitstobe'N'.ThiscorrespondstostressesinMPa,soyoucanthen
enterthe S-Nparametersinterms ofMPa.Finally,restoretheunitstothosethatyouwantforthe fatigueanalysis.
Theparameterswillautomaticallybeconvertedtoallowforthechangeinunits.
T-NCurves
FormooringfatiguedamageiscalculatedwithT-Ncurves.Thesedefinethenumberofcyclestofailure,N(T),whena
materialisrepeatedlycycledthroughagiveneffectivetensionrangeT.
TheT-Ncurvecanbespecifiedeitherbyparametersorbyatable.
When the curve is specified by parameters the user specifies three parameters, m, k and the reference breaking
strength(RBS).Thecurveisthengivenbythefollowingformula:
N=k(T/RBS)
-m
FatigueAnalysis,IntegrationParameters
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400
WhenthecurveisspecifiedbyatabletheusergivesatableofcorrespondingvaluesofTandN.Forothervaluesof
TweuseloglinearinterpolationorextrapolationtofindthevalueofN.
FordetailsofhowtheT-NcurveisusedtocalculatethedamageseeHowDamageisCalculated.
8.10 INTEGRATIONPARAMETERS
Integrationparametersareonlyavailablewhenthespectralfatigueanalysisoptionisselected.Normallyyoushould
not need to modify the parameters from their default values. However, if the spectral fatigue calculation has
problemswithconvergencethenitmayproveproductivetotrydifferentvaluesfortheseparameters.
We recommend that you contact Orcina for further details should you encounter problems with spectral fatigue
convergence.
8.11 RESULTS
Fatigueresultsarepresentedinaseparatewindow.Resultsareavailableineithergraphicalortabularform.
Graphicaloutput
Thegraphicaloutputproducesplotsoffatiguedamageorfatiguelifeagainstarclengthrangegraphsoffatigue.
We uenote a uamage value at aic length z anu ciicumfeiential position as Bz This coulu be oveiall total uamage
orthetotalexposuredamagevalueforanindividualloadcase.ThedamagegraphsallplotD(z)=maxBz that is
themaximumdamagevalueatagivenarclengthz.
ThelifegraphsplotthecorrespondinglifevaluesT/D(z)whereTistheexposuretime.ForindividualloadcasesTis
theexposuretimefortheloadcase.FortotallifeTisthetotalexposuretimeofalltheloadcases.
Graphsareavailablefor:
x Totaldamage/life:theoveralltotaldamage/life.
x Individualloadcasedamage/life:thetotalexposuredamage/lifefromthespecifiedloadcase.
x Worst cases: the total exposure damage value from the five most damaging load cases. By most damaging we
meantheloadcaseswiththelargestvaluesofmaxzBz the maximum uamage value ovei all z
Thegraphscanbecustomisedinanumberofways:
x The arc length axis can be either horizontal or vertical, the latter option being more appropriate for vertical
risers.
x The arc length axis can be inverted. When it is inverted increasing values run from right to left (if it is
horizontal)andtoptobottom(ifitisvertical).Againthisisparticularlyusefulforverticalriserswitharclength
valuesthatincreasefromthetopendtothebottomend.
x Fatiguedamage/lifecanoptionallybeplottedonalogarithmicscale.
x Individualarclengthintervalscanbeplotted.
Tabularoutput
The tabular output is presented in a spreadsheet that has one DamageTables sheet, plus one Load Case sheet for
eachloadcase.ThereisalsoasheetechoingtheS-Ncurvedata.
LoadCasesheets
TheLoadCasesheetscontainthederivedstressresultsforeachfatiguepointthathasbeenanalysed,togetherwith
generalinformationsuchastheenvironmentaldatathatappliedtothatloadcase.
Thereisonetableofstressresultsforeacharclengthcoveredbythespecifiedarclengthintervals.Eachsuchtable
contains a row of results for each fatigue point in that arc length cross-section. These results are the stress ranges
(foreachofthestresscomponents),themaximumstressrangeandtheresultingloadcasedamagevalues.
In addition to the detailed tables a damage summary table is presented which tabulates the load case damage at
eachfatiguepoint.
For mooring fatigue, tension results rather than stress results are reported. For SHEAR7 fatigue, since the damage
calculationhasbeenperformedbySHEAR7,onlydamagevaluesarereported.
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FatigueAnalysis,FatiguePoints
401
DamageTablesheet
The Damage Table sheet starts with an Excessive Damage table, which lists any fatigue points at which the overall
total damage has exceeded the specified critical damage value. Details ofwhere on the line the worst total damage
occurredarealsoreported.
Atablesummarisingtheoveralldamageovertotalexposureforallarclengthsispresented.
Finally,theDamageTablesheetprovidesdamagetablesforeacharclengthcross-sectionanalysed.Thesereport,for
each fatigue point in the cross-section, the total exposure damage value from each load case and the overall total
damage.
Inall ofthese tables, overall total damage values that exceed the specified critical damage value are highlighted in
red.
PrintingandExporting
TosavetheresultsyouwillneedtoexportthespreadsheetasanExcelsheet.Ifyouwanttoprinttheresultsthenfor
bestresultsyoushouldfirstexportthemandthenuseExceltodotheprinting.
Customisingresultsoutput
ThetabularresultsoutputcanbecustomisedusingtheoptionsontheResultspageofthemainfatigueform.
Outputloadcasetables
If this option is deselected then the load case sheets are omitted from the fatigue results. This can significantly
reducethetimeandmemoryrequiredtogeneratetheresultstables.
Outputdetailedloadcasetables
Ifthisoptionisdeselectedthenthedetailedtablesontheloadcasesheetsareomittedfromthefatigueresults.This
cansignificantlyreducethetimeandmemoryrequiredtogeneratetheresultstables.
Loadcasedamageunits
Loadcasedamagevaluescanbereportedasdamageperhour,damageperdayordamageperyear,asspecifiedby
thisdataitem.
8.12 FATIGUEPOINTS
Damageiscalculatedatanumberoflineendandmid-segmentcross-sectionsalongtheline,asspecifiedbydefining
ArcLengthIntervalsintheAnalysisData.Eachincludedarclengthdefinesacross-sectionthroughthepipe.
Damagecalculatedbyhomogeneouspipestresses
Eachcross-section is uesciibeu by polai cooiuinates R whereRistheradialdistancefromthecentre-line anu
ismeasuredfromtheline'slocalx-axistowardsitsy-axis.
OrcaFlexcalculatesthedamageateithertheinnerorouterfibreofthepipeandsoRiseitherODstress/2orIDstress/2.
Foi we calculate uamage at equally spaceu inteivals ueteimineu by the specifieu NumberofThetas.Forexample,if
youspecify16thetavalues,thentheywillbeequallyspacedat360/16=22.5intervals0,22.5,45etc.
Damagecalculatedbystressfactors
For stress factor fatigue the radial position is implicit in the stress factors and so is not explicitly used in the
calculation. Damage is calculated at circumferential locations determined by the specified Number of Thetas, as
describedabove.
Mooringfatiguedamage
For mooring fatigue there is no need to consider radial and circumferential variation and so there is one fatigue
pointforeacharclengthconsidered.
8.13 HOWDAMAGEISCALCULATED
ForeachloadcaseandfatiguepointOrcaFlexcalculatesdamagevaluesasfollows:
x Thetimehistoryofresponse,inthatloadcase,atthatfatiguepoint,iscalculated.For homogeneouspipestheZZ
stress variable is used. For stress factor fatigue then the stress is calculated based on the stress factors. For
mooringfatiguetheresponsevariableiseffectivetension.
FatigueAnalysis,HowDamageisCalculated
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402
x Thedamagevaluecorrespondingtotheresponsetimehistoryiscalculated seebelowfordetails.Thisvalueis
thedamagevalueatthatfatiguepointduetooneoccurrenceofthatloadcase.
x Theloadcasedamagevaluesarescaledtoallowfortheexposureassociatedwiththatloadcase.
x Theabovestepgivesthetotalexposuredamagevaluefromthatloadcaseatthisfatiguepoint.
x Finally,thesetotalexposureloadcasedamagevaluesaresummedoverallloadcasestoobtaintheoveralltotal
damagevalueatthatfatiguepoint.
DamageCalculationusingS-Ncurves
TheS-Ncurvedefinesthenumberofcyclestofailure,N(S),forstressrangeS,andalsodefinesa endurancelimit,FL,
belowwhichnodamageoccurs.OrcaFlexusesthesetocalculateadamagevaluegivenby:
D(S)=1/N(S)ifS>FL
BS if S FL
Thisdamagevaluecanbethoughtofastheproportionofthefatiguelifethatisusedupby1cycleofstressrangeS.
IftheS-NcurveisdefinedbyparametersthenforS>FLwehave:
Log10(N)=A-bLog10(S)
soD(S)canbeexpressedinthefollowingform:
D(S)=10
-A
S
b
.
Meanstresseffects
Mean stress effects are handled by modifying each stress range according to a formula dependent on the mean
stress level. Three models of mean stress effects are provided: Goodman, Soderberg and Gerber. Each method is
definedbyaformulaforSe,theequivalentstress,allowingformeanstresseffects,tobeusedinthezeromeanstress
S-Ncurve.
TheGoodmanmodelis:
Se=Sr/(1-Sm/SMTS)for0<Sm<SMTS
Se=Srfor-SMTS<Sm
whereSristhetruestressrange,SmisthemeanstressandSMTSistheultimatetensilestrengthasspecifiedintheS-
Ndata.
TheSoderbergmodelis:
Se=Sr/(1-Sm/SMYS)for0<Sm<SMYS
Se=Srfor-SMYS<Sm
whereSMYSistheyieldstrengthasspecifiedintheS-Ndata.
TheGerbermodelis:
Se=Sr/(1-[Sm/SMTS]
2
)for-SMTS<Sm<SMTS
Thedefinitionofmeanstress,Sm,dependsontheanalysismethodbeingused.Forregularanalysis,Smisdefinedto
be the mean of the min and max stress values associated with the stress range Sr. For rainflow analysis, Sm is the
mean value of the local turning points in the stress time history. For spectral fatigue, Sm is the mean of the time
historyusedtodeterminethestressRAOs.
Regularanalysis
The minimum and maximum values of stress over the last simulated wave cycle define a stress range S. The
associated single-occuiience loau case uamage value is then given by BS wheie is the piouuct of the stress
concentration factor and the thickness correction factor. If mean stress effects are included then the equivalent
stressrangeSeisused.
Rainflowanalysis
The stress time history is analysed using the rainflow cycle counting method. This gives a number ofstress ranges
forhalfcycles,saySiwhereirunsfrom1tothenumberofstressranges.Theassociatedsingle-occurrenceloadcase
damagevalueisthengiven by BSi)wherethesummationisoverallthehalfcycles.Notethatthefactorofone
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FatigueAnalysis,HowDamageisCalculated
403
halfispresentbecausetherainflowalgorithmcountshalfcyclesratherthanfull-cycles.Again,ifmeanstresseffects
areincluded,thentheequivalentstressrangeSeisused.
Spectralanalysis
For spectral analysis damage is calculated in the frequency domain using statistical methods. The calculation
requires a power spectral density function (PSD) for stress. The PSD is obtained from a response calculation
simulation. This calculates RAOs for stress which is then combined with the load case wave spectrum to give the
PSD for stress. These PSD are then used to calculate damage using either Dirlik's formula or the Rayleigh
distribution. The stress concentration factor, thickness correction factor and mean stress effects are all accounted
forinthespectraldamagecalculation.
FordetailedreferencesonhowspectralfatigueanalysiscalculatesdamagefromstressPSDspleasereferto:
x BarltropandAdams(1991)whichhasanexcellentsectiononspectralfatigueanalysis.
x Dirlik(1985)istheoriginalreferenceforDirlik'sstressrangedistributionformula.
DamageCalculationusingT-Ncurves
T-N curves are handled in a similar way. A T-N curve defines the number of cycles to failure, N(T), for effective
tension range T. There is no analog of endurance limit for T-N curves. Likewise there are no analogs of stress
concentrationfactorandthicknesscorrectionfactor.
AsforS-Ncurves,OrcaFlexdefinesdamageas:
D(T)=1/N(T)
ThesummationofdamageisthenperformedinanidenticalmannertothatperformedforS-Ncurves.
DamageCalculationforSHEAR7fatigue
SHEAR7fatigueisratherdifferentfromtheotherfatiguemethodsbecausedamageiscalculatedexternaltoOrcaFlex
by SHEAR7. OrcaFlex merely provides a means to collate, sum and plot the damage from a number of different
SHEAR7loadcasesinaconvenientmanner.
TheSHEAR7damagecalculationisbasedonthedamagerateoutputintheSHEAR7.pltfile.Thisvalueismultipled
bytheloadcaseexposuretimetoproducethedamageassociatedwiththatloadcase.
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VIVToolbox,FrequencyDomainModels
405
9 VIVTOOLBOX
The OrcaFlex VIV Toolbox provides analysis of vortex induced vibration (VIV) of lines. It offers a choice ofvarious
alternativewaysofmodellingVIV,includingbothfrequencyand timedomainapproaches,andhasbeendeveloped
inco-operationwithacademicsintheUKandUSA.TheVIVToolboxisincludedasstandardinOrcaFlex.
AseparateuserguideforthetimedomainVIVmodelsisavailable(TimeDomainVIVModels.pdf).
DifferentVIVModels
TheVIVToolboxprovidesfacilitiesforusingthefollowingdifferentVIVmodels:
x VIVA. The VIV Toolbox provides a fully integrated link to VIVA. OrcaFlex automatically prepares the VIVA data
from the OrcaFlex data, calls VIVA and presents the results. To use this you will need a copy of VIVA, release
2.0.6orlater.
x SHEAR7. The VIV Toolboxprovides facilities for exporting SHEAR7 structural data files and SHEAR7 .mds files
basedonanOrcaFlexmodel.SHEAR7canthenberunmanuallyusingthesefilesasinput,orcalleddirectlyfrom
OrcaFlex.
x Twowakeoscillatormodels,theMilanmodelandtheIwanandBlevinsmodel.
x Twovortextrackingmodels.
Of all these models, VIVA and SHEAR7 are the two main programs in current use in the industry. They are both
independent non-Orcina programs written and distributed by other companies, so to use them you need to
purchase and install them on your machine. They are both frequency domain models, so they only analyse steady
stateconditions.
The other models are included in the VIV Toolbox within OrcaFlex, so no further software is needed. They are all
time-domain models, so they can analyse non-steady-state conditions. They do not yet have a track record in the
industry.
UsingVIVModels
YouchoosewhichVIVmodeltouse(ifany)ontheVIVpageonthelinedataform.Thereareseparatechoicesforthe
static and dynamic analyses and so you do not have to use the same model for the two analyses. The time-domain
modelsareonlyapplicabletothedynamicanalysis.
9.1 FREQUENCYDOMAINMODELS
9.1.1 VIVA
VIVAisanindependentfrequencydomainprogramdeveloped byProf.MTriantafyllouatMITanddistributedbyJD
Marine(formerlyDTCEL).
OrcinaisaparticipatingmemberofaJointIndustryProjectrunbyDTCELandProf.TriantafyllouofMIT.Theproject
beganmid-year2000.Phase1wascompletedmid-year2001andasecondphaseisinprogress.
Aspartoftheproject,asoftwarelinkhasbeenwrittenbetweenOrcaFlexandVIVA.Thesoftwarelinkallowsariser
model to be built in OrcaFlex taking advantage of the existing interactive user interface. OrcaFlex then calls VIVA
whichcarriesoutafrequencydomaincalculationofVIVresponsebasedonanenergybalance.Resultsarereported
in spreadsheet form for each single excited mode of vibration. A combined multi-mode response is also reported.
Results include amplitudes of vibration and mean effective drag coefficients. The drag coefficients can be
automaticallyusedbyOrcaFlexinfurtherstaticanddynamicanalysis.
The VIVA calculation can be repeated at intervals through an OrcaFlex analysis to update the drag coefficients.
OrcaFlex runs as usual in the time domain, but makes a call periodically to VIVA which repeats the VIVcalculation
for the instantaneous riser configuration. The drag coefficient distribution is then read back into OrcaFlex which
continueswiththeanalysis.
OrcaFlexVIVAInterface
TheOrcaFlexinterfacetoVIVArequiresVIVAtobeinstalledonyourmachineandavailableintheformofadynamic
linklibrary(DLL)calledv3ddll.dll.ThisDLLfile,andtheVIVAdatabasefilesthatituses,mustbelocatedinthesame
directoryastheOrcaFlex.exeprogramfile.
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406
ThecurrentversionofOrcaFlexiscompatible,andhasbeentestedwith,theVIVADLLversion2.0.6.Laterversions
ofthe DLL can be used OrcaFlex checks for interface compatibility before calling the DLL, and reports an error if
theDLLfoundisnotcompatible.
TouseVIVAforVIVanalysisofaline,settheline'sStaticsVIVorDynamicsVIVdataitem(orboth)toVIVA.Thenset
uptheVIVAdatathatappears.
VIVAwillthenbecalledwhenyoudotheOrcaFlexstaticordynamicanalysis,andthedragcoefficientspredictedby
VIVA (for the specified Target Mode) will be used instead ofthe user-specified drag coefficients from the line type
form. These VIVA drag coefficients, and other results calculated by VIVA, are available in OrcaFlex see VIVA
Results.
VIVAinStaticAnalysis
When Statics VIV is set to VIVA, OrcaFlex calculates the static position of the line using the drag coefficients
calculatedbyVIVA.AfullycoupledstaticscalculationisperformedsinceVIVA'sanalysisdependsonthepositionof
thelineandviceversa.Thecoupledstaticanalysisisdoneasfollows:
1. FirstOrcaFlexsetstheline'sdragcoefficientstothosespecifiedontheOrcaFlexlinetypeform.
2. OrcaFlexthencalculatesthestaticpositionofthelineusingthosedragcoefficients.
3. OrcaFlex then calls VIVA to analyse VIV for that position and the line drag coefficients are updated to those
calculatedbyVIVAforthespecifiedTargetMode.
4. OrcaFlexthenrecalculatesthestaticpositionofthelineforthosenewdragcoefficients.
5. Steps3and4arethenrepeateduntilthestaticpositionhasconverged.
The iteration is deemed to have converged when none of the nodes has changed position (compared with the
previous iteration) by more than Convergence Tolerance * NodeLength, where NodeLength is the length of line
representedbythatnode.Themethodusuallyrequiresonly2or3couplingiterationstoconverge.
VIVAinDynamicAnalysis
When Dynamics VIV is set to VIVA, OrcaFlex calls VIVA at regular intervals, as specified by the Dynamics Time
Interval. After each call the drag coefficients of the line are updated to those calculated by VIVA for the specified
TargetMode.
Note that VIVA is a frequency domain program and so can only handle steady state conditions. It is therefore
unrealistic to use VIVA in dynamic analysis unless the conditions change only slowly compared to the Strouhal
period.SeealsoUseRelativeFluidVelocityandIncludeWaveinFluidVelocity.
Limitations
WhenusingtheOrcaFlexinterfacetoVIVApleasenotethefollowinglimitations:
x The VIVA analysis involves a modal analysis ofthe line. Currently this modal analysis is done by VIVA but this
haslimitationsseeVIVAmodalanalysislimitations.
x TherearedifficultiesinpassingtoVIVAdetailsofattachmentstotheline(e.g.clumps,buoys,links,winches),so
attachmentareignoredbytheVIVAanalysis.
x The VIVA DLL is not currently capable of handling multiple simultaneous use, so you should not use the VIVA
interfacefrommorethanonecopyofOrcaFlexatatimerunningonasinglemachine.
VIVAData
The VIVA data is the data that VIVA needs and which OrcaFlex cannot deduce automatically from the ordinary
OrcaFlex data. It is described below and appears on the VIV page on the line data form when you select VIVA for
StaticsVIVorDynamicsVIV.
WhenusingVIVApleasenotethefollowing:
x YoushouldsetupthelinewithEndAatthetopandEndBatthebottom.
x Allthesectionsinthelinemusthavethesamesegmentlength.ThisisarequirementofVIVA.
x If the line touches down on the seabed then OrcaFlex passes only the suspended part of the line to VIVA for
analysis. The rest of the line is not passed to VIVA. By 'suspended part' here is meant the part between End A
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407
andthefirstnodeincontactwiththeseabed.NotethatiftherearemultipletouchdownsthentheVIVAanalysis
isonlyappliedtothepartofthelineuptothefirsttouchdownpoint.
x When there is seabed contact OrcaFlex tells VIVA to treat the touchdown point as pinned. This is as in the
touchdownexampleintheVIVAdocumentation.
x You need to use enough segments in the suspended part of the line. There is a lower limit in VIVA of 100
segments, and if the line has fewer than this then VIVA reports an error and no VIV calculation is done. If the
linehas100ormoresegmentsthenVIVAcheckswhetherthereareenoughsegmentstoreasonablymodelVIV;
andifnotthenVIVAgivesawarningbutthecalculationcontinues.FordetailsseetheVIVAdocumentation.
x When modelling Vetco type risers (i.e. with auxiliary pipes attached), you need to set the OrcaFlex line end
orientationtomatchtheorientationoftheauxiliarypipes.FordetailsseeModellingVetcoRisers.
x OrcaFlex passes VIVA the fluid density and viscosity at each node. For fully submerged nodes OrcaFlex passes
theseadensityandkinematicviscosityatthatpoint.ForanodeoutofthewaterOrcaFlexpassestheairdensity
specifiedintheOrcaFlexdataandahard-codedviscosityvalueof1.5e-5m
2
/s(Source:Batchelor,page594,air
at 20C). For a partially submerged node OrcaFlex interpolates between the two, based on the node's
ProportionWet.
WholeLineProperties
TargetMode
VIVApredictswhichmodesofoscillationmightbeexcitedanditgivesseparateVIVresultsforeachpossibleexcited
mode.InadditionitgivesVIVresultsfor'multi-mode'response,i.e.responsethatisamixtureofthepossiblemodes.
YoumustspecifywhichsetofVIVACdresultstouse,basedonthetypeofresponseyouexpect,bysettingtheTarget
Modedataitem.TheTargetModecanbesettoamodenumber,meaningusethesinglemoderesultsforthatmode
number.Oritcanbesetto'~',meaningusethemulti-moderesults.
IfyousettheTargetModetoamodenumberthatVIVAdoesnotpredictwillbeexcitedthenOrcaFlexwillreporta
warningandusethelinetypeCdvalues.
DynamicsTimeInterval
Thisdataitem onlyapplies when DynamicsVIVissettoVIVA.ItspecifieshowoftenVIVAwillbecalledduringthe
OrcaFlexsimulation.
VIVA willbecalledaftereveryTseconds ofsimulation, whereTisthespecifieddynamicstimeinterval.Aftereach
call to VIVA, the drag coefficients used by the line will be updated to those calculated by VIVA for the specified
TargetMode.
ConvergenceTolerance
ThisdataitemonlyapplieswhenStaticsVIVissettoVIVA.Itspecifiesthetoleranceusedinthestaticsiteration.For
detailsseeVIVAinStaticAnalysis.
TransverseDampingRatio
ThestructuraldampingratiothatVIVAshoulduse.Itisasinglevaluethatappliestothewholeline.Fordetailssee
theVIVAdocumentation,whereitisreferredtoasZETA.
VIVAZAxisDirection
ThisdataitemspecifiesthedirectionoftheVIVAglobalZ-axis.
VIVA uses its own global, right-handed frame of reference, in which the X-axis is vertically upwards (i.e. in the
OrcaFlexglobalZ-axisdirection)andtheYandZaxesarehorizontal.
VIVArecommendsthattheVIVAZ-axisischosentobeinthedownstreamflowdirection,ifthatiswell-defined.For
constantuniformflowthereisauniqueflowdirection,soitiswell-defined.Iftheflowdirectionvariesalongtheline
thenthereisnouniqueflowdirection.InthiscaseitisprobablybesttosettheVIVAZ-axistobeintheaverageflow
direction.
Avalueof'~'isinterpretedtomeanthecurrentdirectionattheseasurface.
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408
UseRelativeFluidVelocity,IncludeWaveinFluidVelocity
VIVAneedstoknowtheflowvelocityateachpointalongtheline.Youcanchoosetoeitherusetherelativevelocity,
including the velocity of the line, or else use only the fluid velocity, ignoring any velocity of the line. You can also
choosewhethertoincludeanywavecontributiontothefluidvelocity.
Ideally the relative velocity should be used and the wave should be included, since in reality it is the total relative
velocitythatgeneratesvortices.HoweverVIVAisafrequencydomainprogramandsocanonlyhandlesteadystate
conditions,whereasOrcaFlexcanhandletime-varyingconditions.VIVAeffectivelyassumesthattheflowvelocityit
is given is constant for long enough for VIV to settle. It therefore cannot correctly analyse cases where the flow
velocityincludestime-varyingcomponentswhoseperiodsarecomparablewithorshorterthantheStrouhalperiod.
(ThesameappliestoSHEAR7,sinceittoousesafrequencydomainanalysis.)
Wethereforeprovidethesetwoswitches,toallowyoutocontrolwhetherlinemotionandwaveeffectsareincluded
in the flow velocity given to VIVA. If the line motion or wave include significant velocity components that are not
'slow' compared to the expected VIVperiod,then you might want exclude the line motion or wave. This is still not
ideal, since their effects are then ignored. The alternative is to use a time-domain model, such as a wake oscillator
modelorthevortextrackingmodels.
Section-SpecificProperties
For each section of the line, you must specify the VIVA section type and its properties. The OrcaFlex line type and
lengthofthesectionsaredisplayedforinformation,buttheyarenoteditable(toeditthemseetheStructurepageon
theOrcaFlexlinedataform).
VIVDiameter
The VIV diameter specifies the diameter used by the VIV model. Separate values can be specified for each section.
The value specified is used for all nodes in that section. For a node at the intersection of two sections the VIV
diameter of the following section is used. The VIV Diameter can be set to '~', which is taken to mean 'same as the
sectionouterdiameter'.
SectionType
TheVIVAsectiontypecanbeoneof:
x Smooth:NofurtherVIVAsectiondataisneeded.
x Strake:Youmustalsospecifytheheighttodiameterratioforthestrakes.
x Fairing:Youmustalsospecifythechordlengthandthicknessofthefairing.
x Vetco:NofurtherVIVAsectiondataisneeded,butthe lineorientationmustmatchtheorientationoftheVetco
riser.SeeModellingVetcoRisersbelow.
FordetailsofthisVIVAdataseetheVIVAdocumentation.
ModellingVetcoRisers
Vetco risers have auxiliary pipes attached and VIVA needs to know the direction of the flow, relative to the
orientationoftheauxiliarypipes.Thediagrambelowshowsasectionthroughtheline,lookingtowardsEndB.VIVA
needstoknowtheangleAlpha.
OrcaFlex calculates this angle automatically by assuming that the auxiliary pipes are oriented, relative to the
OrcaFlexlocalxandy-direction,asshowninthediagram.Youmustthereforesetupthelineendorientationdataso
that the line's local x and y-directions are oriented as shown. In other words you should set up the line end
orientationdatasothatthelinelocalx-axispointsthroughthelargerofthetwogapsbetweenauxiliarypipes.
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Alpha
Flow
Direction
x
y
VIVAResults
The VIVAresultsarepresentedinOrcaFlexasextraworksheetsinthe FullResultstables.Theworksheetsgivethe
resultsfromthelatestVIVAcall.
There is a separate worksheet for each excited mode, plus an extra worksheet for the multi-mode response. The
dragcoefficientscurrentlyinusearethosecorrespondingtothespecifiedTargetMode.
TheVIVAresultsaredescribedbrieflybelow.FordetailsseetheVIVAdocumentation.
Note: AmplitudesinVIVAresultsaresingleamplitudes,i.e.measuredfromthemeanpositiontothepeak.
SingleModeResults
Theworksheetforagivensingleexcitedmodegivesatableof'SingleMode'resultsasafunctionofarclengthalong
theline.TheseareresultspredictedbyVIVAifsingle-modeVIVresponseoccursinthatmode.Theyinclude:
MaxAmplitude
TheamplitudeofpredictedVIVmotionatthatpoint.
MaxBendMoment,MaxStress
The dynamic bend moment and stress amplitudes due to VIV.Note that they do not include the bend moment and
stressduetothemeanpositionoftheline.
DragCoefficient
Thepredicteddragcoefficient,allowingforVIV.
Multi-ModeResults
The 'Multi-Mode' worksheet gives two tables. The second table is the multi-mode equivalent of the single mode
resultstable;itgivesthesameinformation,butthistimeforthecasewheremulti-modeVIVresponseoccurs.
Thefirsttablesummarisesthebendingmodes.Ithasthefollowingcolumns:
Mode
This column shows which modes have been analysed. Those that VIVA calculates as possibly being excited are
markedwithanasterisk.
NaturalModeFrequencyWithandWithoutVIV
These columns give the natural frequencies ofthe mode, as calculated by VIVA. Those 'Without VIV' are calculated
using VIVA's own default added mass coefficients (not those specified in the OrcaFlex line type data). Whereas in
those'WithVIV'theVIVAdefaultaddedmasscoefficientshavebeenmodifiedtoallowforVIV.
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Warning: VIVA's modal analysis calculates bending modes only and does not allow for the mean curvature.
This omission is equivalent to VIVA calculating the out-of-plane modes, since there is no mean
curvature component in the out-of-plane direction. The natural frequencies in the VIVA results
thereforecorrespondtotheout-of-planebendingmodespredictedbytheOrcaFlexmodalanalysis.
These are correct modes to use for in-plane flow (since VIV will then be in the out of plane
direction),buttheyarenottherightmodestouseforout-of-planeflow,sincetheVIVwillthenbe
in-plane. The difference between the in-plane and out-of-plane bending modes depends on the
magnitudeofthecurvatureandthewavelengthofthemode.
MaxAmplitude
Thelargestoffsetofanynodeinthismode.
9.1.2 SHEAR7
SHEAR7isanindependentprogram,developedbyProf.KVandiveratMITanddistributedbySBMAtlantia.Thelink
to SHEAR7 is based around OrcaFlex's ability to export SHEAR7 data files (.dat) and SHEAR7 mode shape files
(.mds).
Note: SHEAR7mustbelicensedseparatelytoOrcaFlex.PleasecontactSBMAtlantiafordetails.
WhenexportingaSHEAR7datafiletheprogramassumesthatyouwillalsobeusingamodeshapefileproducedby
OrcaFlex.TheprocedureforlinkingSHEAR7toyourOrcaFlexmodelisasfollows:
1. BuildyourOrcaFlexmodelasnormal.SHEAR7analysesVIVforoneormoreofyourOrcaFlexLines.
2. InputtheappropriatevaluesontheSHEAR7dataform.
3. Calculatethestaticpositionofthemodel.
4. ExportaSHEAR7datafileandaSHEAR7Mdsfile.
5. ThesefilescannowbeusedasinputstoSHEAR7.
DirectSHEAR7interface
AsanalternativetoexportingfilesandrunningSHEAR7manually,asdescribedabove,OrcaFlexiscapableofcalling
SHEAR7 directly. This capability is enabled by selecting the SHEAR7 statics VIVoption on the VIV page ofthe Line
dataform.
SHEAR7executablefilelocation,SHEAR7liftfilelocation
ThedirectSHEAR7interfaceoperatesbyexecutingtheSHEAR7executablefile.InordertodothisOrcaFlexmustbe
told where to locate the executable file. This data is specified on the SHEAR7 data form and is only available when
SHEAR7isselectedforthestaticsVIVoptionontheVIVpageoftheLinedataform.
InadditionSHEAR7requiresafiletospecifyliftcoefficients,usuallycalled"common.cl".Typicallytheliftfilewillbe
the standard one supplied with SHEAR7. If the lift file location is left blank OrcaFlex attempts to use a file called
"common.cl"inthesamedirectoryastheexecutablefile.
ThesefilelocationscanbespecifiedaseitherfullpathsoraspathsrelativetothedirectorycontainingtheOrcaFlex
file.
These data are model-wide properties. A consequence of this is that if you wish to modify the values using batch
scriptthenyouneedtoselecttheGeneralobjectratherthanaLineobject.
SHEAR7couplingmethod
The SHEAR7 direct interface performs a coupled statics calculation since the SHEAR7 analysis depends on the
positionofthelineandviceversa.Thecoupledstaticanalysisisdoneasfollows:
1. FirstOrcaFlexsetstheline'sdragcoefficientstothosespecifiedontheOrcaFlexlinetypeform.
2. OrcaFlexthencalculatesthestaticpositionofthelineusingthosedragcoefficients.
3. OrcaFlexthencallsSHEAR7toanalyseVIVforthatpositionandthelinedragcoefficientsareupdated.
4. OrcaFlexthenrecalculatesthestaticpositionofthelineforthosenewdragcoefficients.
5. Steps3and4arethenrepeateduntilthestaticpositionhasconverged.
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The iteration is deemed to have converged when none of the nodes has changed position (compared with the
previous iteration) by more than Convergence Tolerance * NodeLength, where NodeLength is the length of line
representedbythatnode.Themethodusuallyrequiresonly2or3couplingiterationstoconverge.
The directSHEAR7interfaceoffersavariety ofcouplingoptions whichdifferinhowtheyhandlethe SHEAR7.mds
file.
x The full coupling option generates a new .mds file at each coupling iteration, that is every time SHEAR7 is
called.
x The partial, automatic .mds file coupling option creates an .mds file on the first coupling iteration which is
thenusedinallsubsequentcouplingiterations.
x The partial, user .mds file coupling option uses an .mds file specified on the data form for all coupling
iterations.
Thefullycoupledapproachdoeshavethedisadvantagethatgeneratingan.mdsfileateachcouplingiterationcanbe
time consuming, especially for more complex models, and so the partially coupled approach can be significantly
faster.
ThepartiallycoupledapproachesaremoreakintorunningSHEAR7manually.However,theultimatestaticsolution
willdifferbecauseitdoesincludetheeffectofdragenhancement.WhenrunningSHEAR7manuallytheonlywayto
account for drag enhancement is to manually modify drag coefficients in the OrcaFlex model which is extremely
impractical.
Firstandlastmodes
Thesedataitemsspecifywhichmodesaretobeincludedinthe.mdsfile.Thesedataarenotrequiredifyouselectthe
partial,user.mdsfilecouplingoption.
A value of'~' for the first mode is interpreted as the lowest numbered transverse mode. A value of'~' for the last
mode is interpreted as the highest numbered transverse mode. By transverse we mean that the modal analysis
classifiesthemodeaseitherTransverseorMostlyTransverse.
These data items are interpreted in exactly the same way as the FirstMode and LastMode parameters to the
SHEAR7MdsFilebatchscriptcommand.
SHEAR7.mdsfile
Thelocationofthe.mds filetobe passedtoSHEAR7.Thisdatais onlyrequiredifyouselect the partial,user.mds
filecouplingoption.
The location can be specified as either a full path or asa path relative to the directory containing the OrcaFlex file.
The .mds file must be generated separately which is normally done either form the modal analysis form or using
batchscript.
AlthoughSHEAR7requires.mdsfilestobenamed"common.mds"thatrestrictiondoesnotapplytoOrcaFlex'sdirect
interface to SHEAR7. This is a significant benefit of the direct interface to SHEAR7 because it allows you to have
multiple.mdsfilesinthesamedirectory.
Resultsoutput
WhenOrcaFlexcallsSHEAR7itcapturestheSHEAR7outputfile,.outand.plt.Theseoutputfilesareincludedinthe
FullResultstablesfortheLine.TheseoutputfilescanalsobeexportedfromtheSHEAR7dataformandbyusingthe
SHEAR7OutFileandSHEAR7PltFilebatchscriptcommands.
The.outand.pltfilesareautomaticallyexportedifyourunthestaticanalysisin batchmode.Thefilesareexported
withfilenamesbasedonthemodelfilenameandthelinename.
The enhanced drag coefficients can be obtained from a static state range graph of x-Drag Coefficient (or indeed y-
DragCoefficientwhichisidentical).
Technicaldetails
ThedirectSHEAR7interfaceoperatesbycallingtheSHEAR7executabledirectlyasfollows:
1. AtemporarydirectoryiscreatedtocontaintheSHEAR7inputandoutputfiles.
2. ASHEAR7.datfileisgeneratedinthetemporarydirectory.
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3. The SHEAR7 .mds file is created in the temporary directory and called "Common.mds". How this .mds file is
createdisdeterminedbythechosencouplingoptionasdescribedabove.
4. Thespecifiedliftfileiscopiedtothetemporarydirectoryandrenamedas"Common.cl".
5. TheSHEAR7executableisrunandtheSHEAR7.outand.pltfilesarereadbyOrcaFlex.
6. The.pltfileisparsedbyOrcaFlextofindthedragenhancementsfactorsCf.
ThisprocessdependsveryheavilyonthecurrentimplementationdetailsofSHEAR7.Wehavedevelopedandtested
theSHEAR7directinterfacewithSHEAR7versions4.4and4.5.WecannotguaranteethatotherversionsofSHEAR7
willbecompatiblewiththeSHEAR7directinterface.
OrcaFlexuseslinearinterpolationofthetheCfvaluesifthelocationsreadfromthe.pltfiledonotcorrespondtothe
node locations in the OrcaFlex model. This can occur if the discretisation of a user-supplied .mds file differs from
thatoftheOrcaFlexmodel.
SHEAR7datafile
To export a SHEAR7 data files you must first provide extra data that SHEAR7 requires but which is not needed by
OrcaFlex. This is done from the SHEAR7 data form which can be opened from the Model Browser. Note that your
modelmustincludeatleastoneLinefortheSHEAR7dataformtobeavailable.
WhenyouhaveinputallthenecessarydataontheSHEAR7dataformyoucreatetheSHEAR7datafilebyclickingon
the Export SHEAR7 Data File button. The model must be in Statics Complete state when you export the SHEAR7
datafilebutpleasenotethatdataontheSHEAR7dataformiseditablewhileinthisstate.
A more convenient way to work is to use the direct SHEAR7 interface which can automatically save the required
SHEAR7inputfiles,runSHEAR7,extractdragamplificationfactorsandperformacoupledstaticanalysis.
IncludeSHEAR7dataintextdatafile
BydefaulttheSHEAR7dataisnotincludedintextdatafilessavedbyOrcaFlex.Youcancheckthisoptiontooverride
thatdefaultandensurethatSHEAR7dataisincludedintextdatafiles.
IfyouareusingthedirectSHEAR7interfacethentheSHEAR7dataisalwaysincludedintextdatafilesirrespective
ofthissetting.
ExportingfromBatchScript
TheSHEAR7datafilecanbeexportedfromanOrcaFlexbatchscriptusingtheSHEAR7DataFilecommand.
SHEAR7data
The majorityofthe informationinaSHEAR7datafilecanbederived fromthedataforanOrcaFlexLine.However,
thereareanumberofothervalueswhichSHEAR7needsandthesearedocumentedbelow.Mostlythesevaluesare
given the same name as used by SHEAR7. For full details on how they are used please refer to the SHEAR7
documentation.
Line
SpecifiestheOrcaFlexLinetobedescribedintheSHEAR7datafile.
SHEAR7FileVersion
SHEAR7changedtheformatofitsdatafilewiththereleaseofSHEAR7version4.5.OrcaFlexcanoutputdatafilesfor
eitherversion4.3/4.4orversion4.5,asspecifiedbythisdata.
OutputsummaryLocations
Thesedataspecifythelocationsat whichasummaryoftheresponseisgiveninthe SHEAR7.outfile.Avalueof'~'
can be used for the Arc Length Range Start to mean 'End A'. Likewise, a value of '~' for Arc Length Range End
means'EndB'.
ReducedVelocityBandwidths
ForSHEAR7version4.3/4.4youspecifythesingle-modeandmulti-modereducedvelocitybandwidth.
ForSHEAR7version4.5youspecifyjustasinglevalueforreducedvelocitybandwidth.
StructuralDampingRatio
CorrespondstotheSHEAR7dataitemofthesamename.
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Primaryzoneamplitudelimit(SHEAR7version4.5only)
ModeBehaviourCutOff
CorrespondstotheSHEAR7dataitemcalled"Cutofflevel".
NumberofLiftCoefficientTables(SHEAR7version4.3/4.4only)
ThisisthenumberoftablesyouwantSHEAR7toreadfromthecommon.clfile.
CurrentProfile
The discretisation option allows you to control how the current profile is output. You can specify that the current
profile contains one entry for each node in the line. However this can give rise to numerical problems in SHEAR7,
especially for finely segmented models, and so it is preferable to discretise the current more coarsely using the
regularspacingoption.
Youalsospecifytheprobabilityofoccurrence(anumberbetween0and1)oftheflowprofileandtheflowprofileID.
Young'sModulus
Young'smodulusforthestrengthmember.SHEAR7usesthisforcomputingstressanddamagerate.
PowerRatioexponent(SHEAR7version4.5only)
S-NCurve
SpecifiestheS-NcurvetobeusedbySHEAR7foritsfatiguecalculations.Anendurancelimitcanbespecifiedthisis
calledthe"cutoffstressrange"intheSHEAR7documentation.
StressConcentrationFactors
Specifyaglobalstressconcentrationfactorforthelineandoptionallyanumberoflocalstressconcentrationfactors.
SectionData
The following data is specified on a section by section basis. That is different values can be specified for each
OrcaFlex line section. The SHEAR7 terminology for this is sectional zones. In the SHEAR7 data file that OrcaFlex
producesthereisaone-to-onecorrespondencebetweenOrcaFlexlinesectionsandSHEAR7sectionalzones.
VIVDiameter
The VIV diameter specifies the diameter used by the VIV model. Separate values can be specified for each section.
The value specified is used for all nodes in that section. For a node at the intersection of two sections the VIV
diameter of the following section is used. The VIV Diameter can be set to '~', which is taken to mean 'same as the
sectionouterdiameter'.
StrouhalType,StrouhalNumber
The Strouhal type and number defines the relationship of flow velocity and cylinder diameter to the local vortex
shedding frequency. Strouhal Type can be Rough Cylinder or User Specified. Rough Cylinder corresponds to the
SHEAR7Strouhalcode200.IfUserSpecifiedischosenthenyoumustalsospecifyaStrouhalNumber.
LiftCoefficientTable,LiftCoefficientFactor
LiftCoefficientTablespecifieswhichtableisusedfromthecommon.clfile.
LiftCoefficientFactorcorrespondstotheSHEAR7dataitemcalledLiftCoefficientReductionFactor.
ReducedVelocityDampingCoefficients
DampingCoefficientsforstillwater,lowandhighreducedvelocityarespecified.
SHEAR7structuralzones
When OrcaFlex generates the SHEAR7 data file it assumes a one-to-one mapping between OrcaFlex sections and
SHEAR7 structural zones. This has some implications for how you create your OrcaFlex model. Essentially,
anywhere on your line where you need SHEAR7 structural zone data to change you must ensure that there is an
OrcaFlexsectionboundary.
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SHEAR7structuralzonedatacomprisesthefollowing:
x Hydrodynamicandstrengthdiameters.
x Addedmasscoefficient,liftcoefficientandStrouhalnumber.
x Areamomentofinertia,massperunitlengthandtensionvariation.
x Hydrodynamicdampingcoefficients.
Since most of these properties are constant within an OrcaFlex section you will naturally introduce section
boundariesatthelocationswheretheychange.However,thereareafewexceptions.
Lift coefficient, Strouhal number and hydrodynamic damping coefficients are SHEAR7 specific data which are
specifiedinOrcaFlexontheSectionDatapageoftheSHEAR7dataform.YoumayneedtointroduceOrcaFlexsection
boundarieswhichcoincidewiththelocationswherethesepropertieschange.
Area moment of inertia and tension variation are used by SHEAR7 to calculate modal frequencies. Typically these
parameters would not be used since OrcaFlex produces a modes file which is more accurate than the internal
SHEAR7modalcalculations.
ThemassperunitlengthisalsousedbySHEAR7tocalculatemodalfrequenciesandagainthisaspectoftheSHEAR7
calculationwouldbebypassedwhenusingamodesfileproducedbyOrcaFlex.However,themassperunitlengthis
usedbySHEAR7tocomputedampingratio.ForalmostallsituationsinOrcaFlexthemassperunitlengthisconstant
alongasection.
Oneexceptiontothisisafree-floodinglinewithsectionsthatcrossthewatersurface.BecauseSHEAR7hasasingle
mass parameter for a structural zone this means that the mass is effectively smeared across the zone. A free-
flooding line has greater mass below the water surface because it is full of water. Quite often this issue is of little
significancebutifyouwishyoucanalsochangeyourOrcaFlexmodeltoarrangethatthereisasectionboundaryat
thewatersurface.Similarissuesarisewhentheslugflowcontentsmethodisspecified.
TheothermodellingchoiceinOrcaFlexthatleadstopropertiesvaryingalongthelengthofasectioniswhenprofiled
line types (e.g. stress joints) are used. Although it may be tempting to use many structural zones to represent the
variation of properties the SHEAR7 manual strongly recommends not doing so. Accordingly OrcaFlex outputs a
singlestructuralzoneforaprofiledlinetypesectionwhichhastheeffectofsmearingpropertiesandwebelievethat
thisisthecorrectapproachtotakeinthevastmajorityofcases.
SHEAR7Mdsfile
TheSHEAR7MdsfileexportfacilityisprovidedontheModalAnalysisform.Touseit:
x You will need to create a SHEAR7 data file. The simplest way to do this is to use the built-in facility to export
SHEAR7datafiles.
x Calculatethestaticpositionofthemodel.
x OntheResultsmenuselecttheModalAnalysis.
x Do the modal analysis for the line you want to analyse. You must include calculation of the mode shapes and
includeallmodesthatmighttobeneededbySHEAR7.
x SelecttheVIVpage.Foreachmode,theVIVpagereportstheextenttowhichthemodeistransverse(i.e.inthe
VIV direction), inline (i.e. in the normal drag direction), axial, or some mixture. This helps you decide which
modestoexporttoSHEAR7.SeeModeSelectionTablebelowfordetails.
x The final column of the table shows which modes are currently selected to be exported to the .Mds file.
WheneveryoucalculatethemodesOrcaFlexticksjustthe TransverseandMostlyTransversemodes,butyou
canthenchangetheselectionasrequired.
x Use the Export SHEAR7 Mds File button. A SHEAR7 .Mds file is generated for those modes that are currently
tickedforexport.Youareaskedwheretosavethefile.SeeValuesExportedfordetails.
Warning: OrcaFlexdoesnotcalculatethemodeslope;initsplaceOrcaFlexoutputszero.See ValuesExported
fordetails.
ExportingfromBatchScript
TheSHEAR7MdsfilecanbeexportedfromanOrcaFlexbatchscriptusingtheSHEAR7MdsFilecommand.
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ModeSelectionTable
VIVexcitationoccursinthetransversedirection.InSHEAR7modeshapesare1Dsinceitassumesthatallthemodes
in the .Mds file are purely in that transverse direction. The OrcaFlex modal analysis is fully 3D, so in principle you
shouldthereforeonlyexportmodesthatarepurelytransverse.
Inpracticethenaturalmodesdonotalwaysneatlydivideintothetransverse,inlineandaxialdirections,soyouwill
sometimes have to export the modes that are nearest to being transverse. OrcaFlex therefore provides the mode
selectiontabletohelpyoudecidewhichmodesshouldbeexportedtoSHEAR7.
Thetableincludesthefollowingcolumns:
x Offset Distribution displays a measure of how inline, transverse and axial the mode is. For details see Offset
Distribution.
x Mode Type classifies each mode according to the offset distribution. Transverse means that the transverse
component is more than 90% of the total, Mostly Transverse means that it is between 50% and 90%, and
similarlyforInline,MostlyInline,AxialandMostlyAxial.Mixedmeansthatnoneofthecomponentsaremore
than50%ofthetotal.
x Export to SHEAR7 Mds File determines which modes will be exported to SHEAR7. When you calculate (or
recalculate) the modes OrcaFlex ticks just the Transverse and Mostly Transverse modes, but you can then
changetheselectionasrequired.SeeDiscussionandExamples.
ValuesExported
The first line in the .Mds file contains the number of selected modes and the number of nodes in the line. Then
followsasectiongivingtheangularfrequenciesoftheselectedmodes,inradianspersecond.Finallytherefollowsa
sectionforeachselectedmode,givingtheModeOffset,ModeSlopeandModeCurvature.
Warning: OrcaFlex does not calculate the mode slope; in its place OrcaFlex outputs zero. The mode slope is
only used in SHEAR7 to correct the predicted RMS acceleration for a vertical riser, in the special
case where one is trying to model the gravitational contamination from tilt that a transversely
mounted accelerometer would measure. See the SHEAR7 documentation for details. The RMS
accelerationislistedintheSHEAR7.pltplottingfiles.
ExportedModeOffsetandModeCurvature
TheOrcaFlexmodalanalysisgivesvectorvalues,butSHEAR7requiresscalarvalues.Thesearecalculatedasfollows.
Let:
V=themodeshapevectorcalculatedbyOrcaFlexatagivennode,
ViVtandVa=V'sinline,transverseandaxialcomponentvectors,respectively,
VL=lateralcomponentvectorofV,givenbyVL=Vi+Vt(vectorsum),
m=maximumvalueof|VL|foranynode,
C=curvaturevectoratthenode,forthemeanposition(thisisavectorinthedirectionnormaltotheplane
ofcurvature),
dC/dm = linear rate of change of C per unit maximum lateral mode offset. This rate of change (a vector)
equalsthechangeincurvaturevectoratthenodecausedbyapplyingthemodeoffsetsVtoallthenodesand
thendividingbym.
ThenthescalarModeOffsetandModeCurvaturevaluesexportedbyOrcaFlextotheMdsfileare
ModeOffset=Sign(Vt).|VL|/m
ModeCurvature=Sign(inlinecomponentofdC/dm).|dC/dm|
Thereasoningbehindtheseformulaeisasfollows:
x SHEAR7 assumes that the exported mode offset is in the transverse direction. This assumption applies to the
power-in zone, since in this zone SHEAR7 assumes that the mode offset is in the direction of VIV excitation.
However SHEAR7's power-out calculation will still be valid providing the mode offset is lateral (i.e. no axial
component),sincefluiddraganddampingoccurinanylateraldirection.
x OrcaFlex should therefore ideally export the transverse component of mode offset for the power-in zone and
thelateraloffsetforthepower-outzone.HoweverOrcaFlexdoesnotknowthepower-inandpower-outzones,
VIVToolbox,TimeDomainModels
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flow
Figure: VortexTrackingPlane
Themodelhastwomainelements:
x A boundary layer theory is used to analyse the fluid very near to the disc surface, where viscosity plays a
dominant role. At each time step, the boundary layer theory gives the positions of the two separation points,
andanewvortexiscreatedateachofthesetwopoints,tomodelthevorticitybeinggeneratedthere.
x The vortex tracking itself handles the rest of the fluid, where viscosity is much less important. The created
vortices are tracked downstream by solving the inviscid Navier Stokes equations (which are approximately
validoutsidethe boundarylayer).Thismodelsthe wakedevelopment,i.e.howthevorticityflowsafterleaving
theboundarylayer.
BoundaryLayer
When the flow meets the disc it has to flow around the disc circumference and a boundary layer is formed.
Boundary layer theory is used to model this region, where viscosity plays a crucial role. Sarpkaya and Shoaff
originally used the Polhausen boundary layer method,but since then this method has been superseded by simpler
andmoreaccuratemethods.OrcaFlexusesThwaites'method(seeYoung1989)forbothmodels.
Someofthefluidflowsaroundonesideofthediscandsomearoundtheother,andthepointwheretheflowsplitsis
called the stagnation point. As the fluid flows around the disc it initially remains in contact with the disc, but it
typicallythenreachesapointoneachsidewheretheflowseparates.Thesearecalledtheseparationpoints,andat
thesepointsvorticityisshedfromthedisc.
Theboundarylayertheorygivesthepositionofeachseparationpointandthestrengthofvorticityshedthereinone
time step. A new vortex of this strength is then created at the separation point. The new vortex is placed at the
sepaiation point but at a uistance R fiom the uisc suiface In the model2 is the CreationClearancespecifiedby
the user. In model 1 oi if the Cieation Cleaiance is set to is calculateu to be the value that iesults in the
tangential velocity contribution of the new vortex just cancelling out the existing tangential velocity at the
separationpoint.
In the drawing above (and in the OrcaFlex 3D view) the stagnation point is shown as a small triangle and the
separation points as small blobs, part way around the disc circumference. The vorticity shed from the two sides of
the disc is distinguished by being drawn in separate colours, to denote the difference in the direction of rotation
clockwiseforvorticityshedfromtheuppersideandanti-clockwisefromthelowerside,asseeninthedrawing.
VortexTracking
After being shed from the boundary layer, the vorticity then flows downstream. In reality, the vorticity is shed
continuously and it is shed along the neighbouring parts of the line at the same time, so as it flows away it forms
sheets of vorticity, one on each side. In the above drawing these vortex sheets are shown as red and green lines,
since the drawing shows the intersection of the sheets with the vortex plane. The colour denotes the sign of the
vorticity.
Forcomputationpurposes themodelhastodiscretisethevorticitybeingshed,sointhevortextrackingmodelthe
vorticityisrepresentedbydiscretevortexpoints.Thevortexsheetisthereforerepresentedbyasequenceofvortex
points,eachoneofwhichrepresentsthevorticityofashortlengthofvortexsheet.
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TheCreationClearancecanalsobesetto'~',in whichcasethenewvorticesare placedusingthesamealgorithm
asinmodel1 This sets the factoi to the value that iesults in the tangential velocity contiibution of the new voitex
attheseparationpointjustcancellingouttheprevioustangentialvelocityatthatpoint.
CoalesceSame,CoalesceOpposite
Thesearenon-dimensionalthresholdsthatareonlyusedforcoalescingin model2.Theycontrolhowclosetoeach
other two vortices have to be before they are allowed to be coalesced into one combined vortex. For details, see
Coalescing.
There are separate threshold values depending on whether the two vortices have equal or opposite signs of
vorticity.Soifone ofthe twovortices isclockwiseandtheotherisanti-clockwisethentheoppositesignthreshold
willbeused,whereasiftheyarebothclockwiseorbothanti-clockwisethenthesamesignthresholdwillbeused.
Reducingthethresholdsmakesthemodelcoalescevorticeslessoften,sothemodelwillhavetokeeptrackofmore
vortices and the simulation will therefore be slower. Conversely, increasing the thresholds makes the model
coalescemorereadily,sofewervorticesneedtobetrackedandthesimulationisfaster,butlessaccurate.
Our experience so far is that the default values of 0.04 for both thresholds gives a reasonable balance between
performance and accuracy. If the mass ratio (= mass of line / mass of water displaced) is lowthen the fluid forces
are more significant, and in these cases lower coalescing thresholds may be needed so that the fluid behaviour is
moreaccuratelymodelled.
VortexDecayConstant,VortexDecayThreshold1,VortexDecayThreshold2
Thesedataitemssettherateofvortexstrengthdecayinbothvortextrackingmodels.Thedecaymodelisdescribed
below. It is as in Sarpkaya and Shoaff's report (page 79) and the default values for this data are as given in that
report. We therefore recommend that the default values be used unless you wish to experiment with other values,
forexampletocalibratethemodel.
Vorticesarecreatedattheseparationpoints,withaninitialvortexstrengthdeterminedbythetangentialvelocityat
theseparationpoint.Thestrength ofeachvortexthen decaysata ratethatdependsonhowfarthevortexisaway
fromthecentreofthedisc,intherelativeflowdirection.
Let R be the disc radius (= half the line outer diameter) and D be the distance, measured in the relative flow
directionfromthecentreofthelinetothevortex.Inmodel1,ateachvariabletimestepthevortexstrengthisscaled
by a factoi that uepenus on B as follows
x If B BecayThiesholuR then -DecayConstant)
x If B BecayThiesholuR then
x If BecayThiesholuR B BecayThiesholuR then vaiies lineaily with B fiom -DecayConstant)to1.
The effect of this is that while the vortex is less than DecayThreshold1 radii downstream then the vortex loses
DecayConstantofitsstrength(e.g.DecayConstant=0.01means1%decay)pervariabletimestep.Whilethevortexis
between DecayThreshold1 and DecayThreshold2 radii downstream its rate of decay falls linearly (as a function of
D)tozero.AndwhenthevortexismorethanDecayThreshold2radiidownstreamthenthereisnodecay.
ClearlyDecayConstantmustbeintherange0to1,andDecayThreshold1mustbelessthanDecayThreshold2.Note
that DecayThreshold1 and DecayThreshold2 can be set to Infinity. If either of them is Infinity then -
DecayConstantalways,sothevorticesalwaysloseDecayConstantoftheirstrengthpervariabletimestep.
Thesamedecaymodelisusedinmodel2 except that the factoi is aujusteu to allowforthefactthatmodel2uses
the outer time step instead of the variable time step used in model 1. The adjustment results in the same rate of
decayperunittime.
DragCoefficients
Thevortextrackingmodelincludesthedrageffectsinboththe transverseandinlinedirections,butnotintheaxial
direction. When the vortex tracking model is used, OrcaFlex therefore suppresses the components of the usual
Morison drag force in the transverse and inline directions, but includes the component in the axial direction. The
dragcoefficientsforthenormaldirectionsarethereforenotused,buttheaxialdragcoefficientisused.
Results
TheVortexForceisavailableaslineforceresultsvariables.Thisreportsthetotalliftanddragforce.Notethatthisis
the sum of the force generated by the vortex tracking model, which is in the inline and transverse directions and
alreadyincludesthedragforceinthosedirections,plusthestandardMorisondragforceintheaxialdirection.
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429
Thestagnationandseparationpointsareavailableaslineangleresultsvariables.
TransverseVIVOffsetisalsoavailableasalinepositionresultsvariable.
9.2.3 VIVDrawing
Withthetime-domainVIVmodelsyoucancontrolhowvariousaspectsofVIVaredrawnonthe 3Dview,bysetting
dataontheVIVDrawingpageonthelinedataform.
ArcLengthIntervals
YoucancontrolwhichnodeshaveVIVdetaildrawn,byspecifyingoneormore ArcLengthIntervals.Anarclength
interval specifies a contiguous length of line From one specified arc length To another. The VIV details are drawn
for all nodes whose arc lengths fall in any one of the specified intervals. For convenience '~' in the From column
meansEndAoftheline,and'~'intheTocolumnmeansEndB.
Forexample,toviewthedetailforonenodeonly,specify1arclengthintervalandsetbothits FromandTovalues
equal to the arc length ofthat node. Whereas to viewthe detail for the whole line specify 1 arc length intervaland
setbothitsFromandTovaluesequalto'~'.
WhatisDrawn
The following VIV details are drawn for all nodes whose arc lengths fall in any one of the specified arc length
intervals.
ForallthetimedomainVIVmodels,thevortexforceisdrawnasalineradiatingfromthedisccentreinthedirection
of the vortex force. The line length is scaled so that a vortex force equal to the standard Morison drag force with
Cd=1inarelativevelocityof1m/s,isrepresentedbyaline1discradiuslong(i.e.justreachingtheedgeofthedisc).
For the vortex tracking models only, and only if the maximum number of vortices logged is set greater than zero,
thenthefollowingextradetailsaredrawn.
x The node is drawn as a disc (even if you have not specified nodes drawn as discs) and the stagnation and
separationpointsaredrawnontheedgeofthedisc.
x The positive and negative vortices are drawn as circles whose areas are proportional to the vortex strengths.
TheconstantofproportionalitycanbecontrolledbysettingAreaperUnitStrength.
x Thecentre-linesofthepositiveandnegativevortexsheets,andthewakelinearedrawn.
Note: Thevorticesandsheetcentre-linesdrawnarelimitedbythespecifiedmaximumnumberofvortices
logged.
For all these items you can control the pen used for drawing. With the vortex tracking models, for example, this
allows you to suppress (by setting the pen style to null) or downplay (by choosing a suitable colour) individual
aspectsofthedetail.

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