Manual 2 PDF

AQWA Training Course
Dr Shuangxing Du
ANSYS Inc.
© 2010 ANSYS, Inc. All rights reserved. 1 ANSYS, Inc. Proprietary

Topic
The topics covered in the training course are as follows:
• description of program capabilities

• theoretical background
• modelling techniques
• analysis procedure
• data requirements and preparation
• description of output and interpretation of results
• worked examples

AQWA Programs
• Structure and Capabilities of AQWA Programs

– AQWA LINE
• 3-D diffraction & radiation analysis program for wave force and
hydrodynamic property calculations; hydrostatic analysis
– AQWA LIBRIUM
• Structure equilibrium position and force balance calculations; eigen
mode and dynamic stability analysis
– AQWA FER
• Spectral analysis of structure motion (wave frequency or/and drift
frequency) and mooring tension in irregular waves
AQWA Programs
– AQWA NAUT
• Time domain program for wave frequency structure motion and
mooring tension analyses in large waves
– AQWA DRIFT
• Time domain program for drift frequency and wave frequency
structure motion and mooring tension analysis in irregular
waves
– AQWA Graphical Supervisor (AGS)

• AQWA pre and post processor; on-line analysis
– AQWA WAVE
• Interface program to transfer wave loads from AQWA LINE to a
FE model for structural analysis

General Relations between Programs
AGS ANSYS
LINE WAVE
LIBRIUM FER NAUT DRIFT ASAS

(FE model)
EXCEL
Typical AQWA Models
Moored Tanker
Semi Sub

Typical AQWA Models
Spar
Transportation
FPSO Ship in channel

JACK-UP

FPSO+TLP CONCEPT

MANY SHIPS

SEMI-SUB

LIFTING

GREEN OCEAN ENERGY

ANSYS-to-AQWA Interface

AGS mesh generation

AGS Post-processing
Force & Response Curves
Shear Force & Bending Moment

AGS Post-processing
Wave surface contour
Pressure contour
Diffracted wave surface

● Installation
AQWA, AGS and AQWA-WAVE
AQWA Manuals and examples
● AGS demonstration
Open - Open/close, and save AQWA models

Edit - Create and edit AQWA models
Run - Perform an AQWA analysis on the presently loaded model
Graphs - Display and manipulate AQWA results graphically
Plots - Display and edit AQWA models visually
Cable Dynamics - Define and analyze problems involving cable dynamics
Help - Access to the online help system

AQWA Global Coordinate System
AQWA Global Coordinate System is referred to as

the Fixed Reference Axes (FRA): z
• the origin lies in the still water W.L.

plane 0 x
• the positive z axis is vertically
upwards
• a right handed system
• it is not related to the directions North, South, East and West

p = ρZ 0
Hydrostatic
z
y
Rigid body motions:
Surge, Sway, Heave - translational Stern Port side Bow
Starboard side x
Roll, Pitch, Yaw - rotational
Archimedes’s principle
Buoyancy of an immersed body = weight of the fluid displaced
Hydrostatic pressure G
p = ρZ 0
Z0 B
G: centre of gravity
B: centre of buoyancy
Buoyancy is the resultant of all hydrostatic force over wetted surface
Directions in AQWA
– The wave, wind and current directions are defined in AQWA

as the directions which they are travelling towards.
– The direction is defined as the angle between the wave (or

current, wind) and the positive x axis measured anti-
clockwise.
– Directions in AQWA are input and output in degrees.
Y Wave direction (or current, wind)
positive angle
X axis

Phase Angle
– In AQWA, the phase angle (Φ in degrees) of a

parameter defines the time difference (dt) from the
time when the wave crest is at the CoG of the
structure to the time when the parameter reaches its
peak value. (dt= Φ*T/360, where T is the wave
period).
– A positive phase angle indicates that the parameter

lags behind the wave.

Waves in AQWA
Wave Types:
1) Airy Waves (linear wave)

a = A cos (-ωt + kx)
(ω: frequency in radians/sec; k: wave number)
Used in AQWA LINE, LIBRIUM, FER, DRIFT, NAUT

(optional)
2) Stokes 2nd Order Waves

a = A cos (-ωt + kx) + 0.5 k A² cos2(-ωt + kx)
Used in AQWA NAUT by default

Waves in AQWA
Wave Forms:
1) Regular Waves
Used in AQWA LINE, NAUT (by default)
2) Irregular Waves
● Defined by a wave spectrum and used in AQWA
LIBRIUM, FER, DRIFT, NAUT
● Imported time history of wave elevation
used in AQWA DRIFT

Waves in AQWA
Wave spectrum types accepted in AQWA are:
a. P-M spectrum
b. JONSWAP spectrum
c. User defined spectrum
d. Gaussian spectrum for Cross Swell
Irregular waves can be in the form of:

a. Long crested waves; OR
b. Short crested waves, ie a spread sea (only for AQWA
LIBRIUM and FER)

Wind and current in AQWA
Wind types accepted in AQWA are:
a. Uniform wind
b. Ochi and Shin wind spectrum
c. API wind spectrum
d. NPD wind spectrum
e. User-defined wind spectrum
Current types accepted in AQWA are:
a. Uniform current
b. Profiled current velocity

Wave Forces on Structures
• For Diffracting Structures (modelled with plate elements)
- Incident wave force (Froude-Krylov force): from the

pressure in the undisturbed waves.
- Diffraction force: due to stationary structure

disturbing the incident waves.
- Radiation force: due to structure’s oscillation which

generates waves.
- Drift force (net force due to high order effect)

hydrodynamic forces on structures
(1) on Diffraction elements
Fluid force
Hydrodynamic
Hydrostatic
Radiation force due

Wave exciting force
to structure motion
Ambient pressure Effect of structure In-phase Out-of-phase

(incident wave or on waves (Added Mass) (Radiation
Froude-Krylov force) (Diffraction) damping)
F(ω) Ma(ω).x″ C(ω).x′ K.x

hydrodynamic forces on structures
(2) on Morison elements
• For Morison Structures (modelled with Morison

elements, eg TUBEs, DISCs)
- Morison force (including drag) calculated

using Morison equation.

Morison Force
Equation for Morison force calculation
For slender cylindrical elements (D/λ<0.2), e.g. tube

elements, the hydrodynamic force on unit length of the
element can be calculated using Morison equation:
1
F = ρ Ωa w + ρ C a Ωa w − ρ C a ΩX + ρ C d DV V
2
Ca and Cd are the added mass and drag coefficients of the element;
Ω is the volume of the element (per unit length)
D is the element diameter,
V is the relative velocity.
Radiation force
Froude-Krylov force
Wave inertia force Drag force

AQWA LINE - Introduction
– AQWA-LINE is a 3D diffraction and radiation analysis program
– Frequency domain
– Structures are described by a number of panels
– Source distribution approach (boundary integration method)

A source is place at the centre of each panel and then the program solves for
the source strengths, subject to the boundary conditions:
no flow through the hull
no flow through the sea-bed
a free surface condition
Surface mesh
AQWA LINE - Features
– Removal of irregular frequencies by auto-generated lid

– Multi-body hydrodynamic interactions (lid to suppress standing waves)
– Forward speed
– This enables the pressure and velocity to be found at any point
Second order forces

– Mean drift forces:
● Far field momentum theory
● Near field pressure-motion integration method
– Full QTF matrix (difference & sum frequency components)
AQWA-LINE provides hydrodynamic coefficients for use in other programs in the

AQWA suite

Theory in AQWA LINE
Assumptions
– Ideal fluid, irrotational and incompressible
– small wave elevation
Governing equation for the velocity potential
∇ 2φ = 0 (V = ∇φ )
Body boundary condition (Timman-Newman relations)
∂φ j (r ) ( n1, n2 , n3 ) = n,
= −iωe n j + Um j
∂n ( n4 , n5 , n6 ) = r × n
(m1, m2 , m3 ) = −n ⋅ ∇[∇(−Ux + φs )] / U = 0,
(m4 , m5 , m6 ) = −n ⋅ ∇[r × ∇(−Ux + φs )] / U = (0, n3 ,− n2 )

Theory in AQWA LINE
● Linearized free surface condition
∂φ ωe2
− φ =0
∂z g
● Sea bed boundary condition
∇φ = 0 when z → −∞ for deep water

∂φ
= 0 at z = −d ( sea bed ) for shallow water
∂z
● Radiation condition
A physical condition to avoid mathematical ambiguity which could
result in structure induced waves travelling in the wrong direction

Theory in AQWA LINE
Numerical method
● Linear superposition of 1st order potential components
x jφ j ] e −iωet ,
6
φ = [φ I + φd + ∑
j =1
I for incident wave, d for diffracted wave,
j =1,2,…,6 for radiated wave in 6 degrees of freedom,
xj: the structure motion for unit wave amplitude
● Forward speed effect: Encounter frequency

ωU
ωe = ω (1 − cosθ )
g
θ: angle between incident wave and forward speed

Theory in AQWA LINE
● Incident wave potential for finite water depth d
− igζ cosh[k ( z + d )]eik ( x cosθ + y sin θ +α ) e −iω t

ϕ I e −i ω t =
ω cosh(kd )
in which k is the wave number defined by:
ω 2 = gk tanh(kd )
● Solution for diffracted and radiated wave potentials
using pulsating source distribution
1
ϕ ( x, y , z ) = ∫∫ σ G ( x, y, z; ξ ,η , ζ ) ds
4π sb

Theory in AQWA LINE
● Green’s function (finite depth water, frequency domain):
G ( x, y, z;ξ ,η , ζ )
1 1
= + '
R R
∞ ( µ + ν )e − µd
+ 2 pv ∫ cosh µ (ζ + d ) cosh µ ( z + d ) J 0 ( µ r )d µ
0 µ sinh( µd ) −ν cosh( µd )
(k 2 −ν 2)
+ 2π i 2 2 cosh k ( z + d ) cosh k (ζ + d ) J 0 (kr )
(k −ν )d + ν
● Database method used for efficient and accurate evaluation
Minimum input frequency (rad/s): 0.05 * g / d d: water depth

Theory in AQWA LINE
The source strength at each panel on the structure surface

is assumed constant,
calculated by solving the body boundary condition:
∂ϕ ( x, y, z ) 1 1 ∂G ( x, y, z; ξ ,η , ζ )
= − σ ( x, y , z ) + ∫∫ σ ds
∂n 2 4π sb ∂n
● For the diffraction potential, the induced normal velocity

at the structure surface should negate that due to incident potential;
● For the radiation potentials, the induced normal velocities (in 6 degrees
of freedom) should be the same as those due to structure motion.

Theory in AQWA LINE
Pressure and 1st order wave force calculation

Hydrodynamic pressure on each panel can be calculated
from the linearized Bernoulli equation:
p (1) = − ρ gw − ρ φt
1st order wave forces are obtained by integrating

the pressure over the mean wetted body surface.
► Froude-Krylov and diffraction force F j (ωe ) = − ∫∫S n j (iωe + U ∂ )(φI + φd ) dS
b
∂x
► Added mass and damping ∂
ωe2 M a ij (ωe ) + iωeCij (ωe ) = ∫∫Sb ni (iωe + U )φ j dS
∂x
► Restoring (hydrodynamic stiffness) K ij = − ρ g ∫∫Sb ni w j dS
Special cases
K15 = − ρ g ∫∫Sb n1w5 dS − mg , K 24 = − ρ g ∫∫Sb n2 w4 dS + mg

Theory in AQWA LINE
Second order forces
Perturbation approach (ε: small number related to wave amplitude)
1
p = − ρ φt − ρ (∇φ ⋅ ∇φ ) + ρgZ = p ( 0) + ε p (1) + ε 2 p ( 2) + ...
 2  (0)  (1) 
X = ( X , Y , Z ) = X + ε X + ε X + ...
2 ( 2)
If the 1st order motion/potential/force in the form of

N Different freq. components
F ( t ) = ∑ (ai sin ωi t + bi cos ωi t )
(1)
i =1
then the 2nd order force in Sum freq. components

N N
F ( 2) (t ) = ∑ ∑ { cij sin[(ωi − ω j )t ] + d ij cos[(ωi − ω j )t ]
i =1 j =1
+ eij sin[(ωi + ω j )t ] + f ij cos[(ωi + ω j )t ]}

mean 2nd order force components ( ωi = ω j )
N
F = ∑ d ii
( 2)
i =1
Theory in AQWA LINE
● 2nd order mean drift force calculation

► Far field solution (momentum conservation method):
d
=− ∫∫∫ ρV dΩ − ∫∫ pn d S
( 2)
Fstrc
dt Ω SR
∂V
= − ρ ∫∫∫ dΩ − ρ ∫∫VVn dS − ∫∫ pn d S
Ω ∂t S R S R
SR: vertical cylindrical boundary surrounding the structure

in the flow field with a large radius R,
Ω: fluid volume surrounded by SR and the structure surface.
- More accurate
- Horizontal force/moment only
- Single structure only (or multi-bodies without hydrodynamic interaction)

Theory in AQWA LINE
► Near field solution

(pressure/motion integration method):
= − ∫ 0.5 ρ gζ r2 n dl + ∫∫ 0.5 ρ ∇ϕ n dS
( 2) 2
Fstrc
WL Sb
∂ϕ ..
+ ∫∫ ρ ( X .∇ )n dS + M s .R. X g
Sb ∂t
WL: mean water line along the structure surface;

Sb : mean structure wetted surface
- Force/moment in 6 degrees of freedom for each structure

- Multi-body hydrodynamic interaction

Theory in AQWA LINE
► Full Quadratic Transfer Function (QTF)

● Components at both difference and sum frequencies
● Each with in-phase and out-of- phase parts
{ [
F ( 2 ) (t ) = ∑ ∑ Pij− cos − (ωi − ω j )t + (ε i − ε
N N
j )] + Pij+ cos[− (ωi + ω j )t + (ε i + ε j )]}
i =1 j =1
{ [
+ ∑ ∑ Qij− sin − (ωi − ω j )t + (ε i − ε
N N
j )]+ Qij+ sin[− (ωi + ω j )t + (ε i + ε j )]}
i =1 j =1
ω1 ω2 … ωj …. ωn 2-D plot of QTF(real)

ω1
Diagonal: Mean drift force/unit wave of ω2
ω2
Pij − (ωi , ω j ) / ζ iζ j
► AGS -> File ->open
Graph -> Function/processing
-> Data processing -> Wave forces
-> Full-coupled QTFs -> 2-D plot
ωi ► CQTF card in Options on Deck 0
ωn
Theory in AQWA LINE
Pij( ± ) = − ∫ 1 4 ρ gζ i .ζ j cos(ε i ± ε j )n dl Waterlineintegral

WL
+ ∫∫ 1 4 ρ ∇ϕ i . ∇ϕ j n dS Bernoulli
Sb
∂ϕ j
+ ∫∫ 2 ρ ( X i .∇
1 )n dS Acceleration
Sb ∂t
..
+ M s .Ri . Xg j Momentum
∂φ ( 2) 
+ ∫∫ ρ .n.dS 2nd order potential
Sb ∂t
Qij(± ) similar to above

Theory in AQWA LINE
● Equation of motion in AQWA LINE
The response X (RAO) of a structure in waves is calculated

by solving the equation of motion
in the frequency domain for unit wave amplitude:
[ −ω 2 ( M s + M a (ω )) − iωC (ω ) + K ] X (ω ) = F (ω )
where Ms is structure mass

Ma is added mass (frequency dependent)
C is damping (frequency dependent)
K is hydrostatic stiffness
F is wave force (incident and diffracting forces).

Fluid forces on structures
Fluid force
Hydrodynamic
Hydrostatic
Radiation force due

Wave exciting force
to structure motion
Ambient pressure Effect of structure In-phase Out-of-phase

(incident wave or on waves (Added Mass) (Radiation
Froude-Krylov force) (Diffraction) damping)
F(ω) Ma(ω).x″ + C(ω).x′ + K.x

=

Modelling (1)
■ using ANSYS
● Install ANSYS-AQWA interface
(1) copy anstoaqwa.mac to C:\Program Files\Ansys Inc\v110\ANSYS\APDL
(2) open C:\Program Files\Ansys Inc\v110\ANSYS\APDL\start110.ans,
insert *ABBR, AQWA, ANSTOAQWA
● run ANSYS
Notes:
(1) define geometry of wet
and dry surface separately;
Z-axis upwards;
(2) SHELL63 for surface mesh,
PIPE59 for tube;
(3) check normal direction
(blue: outside; pink: inside);
(4) Click ‘AQWA’ to output
AQWA data file;
(5) COG and mass need to be
modified.

Modelling (2)
■ Using AGS (with AL****.LIN file)
● Notes on AL****.LIN file (see AGS-Help for details):

(1) each station starts from lowest point at centre plane;
(2) all x-coordinates should be the same on each station;
(3) max. 50 points on each station, condense points at high surface change;
(4) input stations (max. 100) from stern to bow,
only two stations are needed to define a parallel midbody section.
● run AGS
(1) double click AGS icon on screen;
(2) Plots → Select → Lines Plan → File (in Lines Plan Mesh Generation window)
→ open to find the *.lin file to be opened;
(3) Plot Lines (in Lines Plan Mesh Generation window) to show offset curves;
(4) input two drafts; COG, mesh size (in Lines Plan Mesh Generation window) ,
then Generate Mesh;
(5) File → Save *.DAT (in Lines Plan Mesh Generation window)
to save the generated file.
■ Create model (Approx. Dimensions: 200x40x15, mesh size:6)

Notes: PMAS values in Deck 4 may need to be modified (data\lines\altank.lin)

AQWA File Names
Every AQWA file name has three parts:
(1) file prefix (two characters) - a code to identify the program

al LINE
ab LIBRIUM
af FER
ad DRIFT
an NAUT
aw WAVE
(2) run identifier (up to six characters) - a name to identify the run
(3) file extension (three characters)

to identify the type of file (eg, .dat)
Example: altank1.dat (input data), abtank1.lis (output list file)

AQWA Global/User defined Systems
AQWA Global Coordinate System (FRA):

• the origin lies in the still water plane
• the positive z axis is vertically upwards
• Right handed
Z
z
W.L. ZCGE(deck7)
0
COG
X
ZLWL(deck2)
a x
User Defined System
Right handed,
oxy plane shifts vertically from OXY of FRA

Run Stages 1-2
■ Run stages 1 – 2
● Use the model generated by AGS

● Be aware of warning messages
● Check al**.lis file (displacement, mass, stiffness)
● Check geometry through AGS

Check geometry through AGS
Zooming, Rotating, Shade, Showing diff panels, Numbering;

Command: omit element -> Plot (to omit all the elements)
select element 1 to 10 ->Plot (to display el#1-10 only)

AQWA File Types
● Each AQWA run involves several files.

● The names of the files differ only in the file extension.
ASCII INPUT FILES

.dat input data file (LBDNF)
.lin input file for AGS mesh generator
.msd input mass distribution for BM/SF (AGS)
.sfm input mass distribution for splitting forces (AGS)
.wht a wave height time history with IWHT in Deck 13 (D)
.wvt a wind velocity time history, no card needed (DN)
.xft an external force time history acting on a structure
no card needed (DN)
.mor mooring description file with FILE in Deck 14 (BDNF)

AQWA File Types
INPUT/OUTPUT FILES (between stages)

.res restart file (binary, LBDNF)
.hyd hydrodynamics file (binary, L)
.eqp equilibrium position file (binary, B)
.uss source strength file (binary, with LDOP in Deck 0, L)
.pot potential file (binary, with LDOP in Deck 0, L)
OUTPUT FILES
.mes output message file (ASCII, LBDNF)
.lis output listing file (ASCII, LBDNF)
.pos output position file (binary, DN)
.plt output graphic file (binary, LBDNF)
.pac pressures at centroids (binary, L)
.vac velocities at centroids (binary, L)
See AQWA-Ref 1.3 for details

Input Data (.dat) File
● ASCII text file containing all the input data necessary for
the Stages of Analysis about to be executed.
● in fixed format and must be entered using a text editor.
● an editor that indicates the column & line no. of

the current cursor position is highly recommended.
Note: A graphical user interface, which allows interactive data input in a user-friendly
environment, is currently under development.

AQWA-LINE Example Data File
JOB MESH LINE
TITLE MESH FROM LINES PLANS/SCALING Deck 0: overall
OPTIONS REST END administration parameters
RESTART 1 2
Analysis Stages
*Deck 1 Coordinates --------------
01 COOR
01 1 45.000 -45.000 0.000
01 2 22.500 -45.000 0.000 Deck 1: Node coordinates
. . .
01 511 146.000 0.000 0.000 * 999 for PMAS node
. . .
END01 999 0.000 0.000 -10.620
*Deck 2 Element Definitions -------------
Deck 2: Element definitions
02 ELM1
02SYMX
02SYMY
02QPPL DIFF 0 (1)( 1)( 2)( 12)( 11)
. . . .
02QPPL 0 (1)( 1)( 101)( 103)( 3) Note: Symmetry card
. . . . (1) Save pre-processing time
END02PMAS 0 (1)( 999)( 1)( 1)
(2) Save CPU time
02 FINI
(3) Enlarge capability
(4) But only for QPPL/TPPL

AQWA-LINE Example Data File (cont)
*Deck 3 Material Properties -----------------------------------------------------

03 MATE
END03 1 3.32100E8
* Deck 4 Geometric Properties ---------------------------------------------------
04 GEOM
END04PMAS 1 3.6253E11 0.000000 0.000000 3.4199E11 0.000000 3.5991E11
* Deck 5 Global Data ------------------------------------------------------------
05 GLOB
05DPTH 250.0 Deck 5: Defines the UNITS
05DENS 1025.0 for the analysis, see App. A
END05ACCG 9.806
* Deck 6 Wave Frequencies and Directions ----------------------------------------
06 FDR1
06FREQ 1 6 0.10472 0.15708 0.25133 0.41888 0.52360 0.59840
END06DIRN 1 3 0.00 45.00 90.00 In degrees, ascending order
* Deck 7 Analysis Position ------------------------------------------------------
07 WFS1
END07ZCGE -10.6200 Deck 6: Analysis position
*------------------------------------------------------------------------------
08 NONE
* 1 2 3 4 5 6
*234567890123456789012345678901234567890123456789012345678901234567890

Directions in AQWA
Directions must be input in ascending sequence (41 max.):
● -180 to +180 degrees for a non-symmetric structure;

● 0 to 180 degrees for a structure symmetric about x axis (SYMX);
● 0 to 90 degrees for a structure symmetric about
both x and y axes (SYMX and SYMY).
y
v
θ
x
AQWA Data file format
JOB MESH LINE

TITLE MESH FROM LINES PLANS/SCALING
OPTIONS REST END
RESTART 1 2
4col 4col5 col5 col 10 cols 10 cols 10 cols
01 COOR
01 1 45.000 -45.000 0.000
END01 999 0.000 0.000 -10.620
Column 21
02 ELM1
02QPPL DIFF 0(1)( 1)( 2)( 12)( 11)
06FREQ 1 6 0.10472 0.15708 0.25133 0.41888 0.52360
Note: Most input data should be typed into the required columns !!!
See AQWA-Reference Chapter 4 for details

Listing (.lis) File
● ASCII text file containing most output data (in text form)
from the Stages of Analysis which have just been executed.
● It can be examined using a text editor.

Restart (.res) File
This is a binary file,

● written by all the AQWA programs,
● contains database associated with all the Stages of
analysis which have so far been executed.
Examples:
If Stages 1 to 4 have been executed, it will contain:
(1) model definition
(2) hydrodynamic database
(3) main analysis parameters

Hydrodynamic (.hyd) File
This is a binary file

● created by AQWA-LINE after the diffraction / radiation analysis (Stage 3).
● contains the hydrodynamic database from the AQWA-LINE run.
Comparison of AL**.RES and AL**.HYD (after AQWA-LINE Stage 3)
restart file(RES) hydrodynamics file(HYD)

model definition
hydrodynamic database hydrodynamic database
further run further run

Used for AGS manipulate (ALDB in Deck 0,
regenerate .HYD file (RDDB) FILE in Deck 6 )

Position Files (.pos and .eqp)
Both are binary files.
AB***.eqp file:
● created by AQWA LIBRIUM
● stores the equilibrium positions of a system of structures.
● can be read in by FDN as start position
(with an option RDEP in Deck 0).
A****.pos file:
● created during a time domain analysis by DN
● stores the positions, velocities, etc of a system of structures
for every time step.

AGS Plot File (.plt)
This is a binary file
● created during a calculation stage (Stage 3 or 5)
● contains either:
– time history of forces and motions (DN)
– positions and forces during iteration
towards equilibrium (B)
– forces and responses as a function of
frequency (LF)
● for AGS use

AQWA Restart Stages
Stages: Categorize analysis procedures
● Can be run individually/in combination

● Data transfer through stages
Stage 1 Model Definition, Decks 1 to 5
Stage 2 Hydrodynamic Database, Decks 6 to 8
Stage 3 Diffraction/Radiation Analysis* (L)
Stage 4 Main Analysis Parameters Decks 9 to 20 (BDNF)
Stage 5 Main Analysis* (BFDN)
* Calculation Stages only

Stage 1
Decks: Categorize input data
Deck 1 COOR Node Coordinates

Structure Number
Deck 2 ELM* Element Definitions
Deck 3 MATE Material Properties
Deck 4 GEOM Geometric Properties
Deck 5 GLOB Global Constants Depth, G, ρ(water): UNITS
Deck Header (compulsory)

Stage 2
Deck 6 FDR* Regular Wave Definitions

(1) frequencies and directions
(2) copy, merge, edit the existing hydrodynamic database.
Deck 7 WFS* Hydrodynamic Properties (wave freq. range)

Hydrostatic Properties (stiffness and buoyancy)
Analysis Position (ZCGE, can be replace by ZLWL in Deck2)
Deck 8 DRC* Drift Force Coefficients

* Structure Number
Note: The hydrodynamic properties input in Stage 2 are used to

modify or replace those calculated by AQWA-LINE (Stage 3)

Stage 3
This is the main AQWA-LINE analysis and is a calculation

stage only.
Note: The hydrodynamic properties input in Stage 2

are used to modify or replace those calculated
by AQWA-LINE (Stage 3)

Stage 4
Deck 9 DRM* Drift Motion Parameters (drift freq.)

(drag, added mass/damping)
Deck 10 HLD* Hull Drag Coefficients

(1) current/wind drag coefficients
(2) external force by user_force.dll (with option FDLL)
Deck 11 ENVR Environmental Parameters (wind and current)
Deck 12 CONS Constraints (deactivate/constraint)
Deck 13 SPEC Spectral Parameters

(wave, wind spectrum / time history)
WAVE Regular Wave Parameters (N)
Deck 14 MOOR Mooring Line Definitions

(mooring, fender, pulley, winch)
* Structure Number
Stage 4 (cont)
Deck 15 STRT Starting Conditions (BFDN)
Deck 16 TINT Time Integration Parameters (D,N)

LMTS Iteration Parameters (B)
Deck 17 HYDC Additional Hydrodynamic Parameters for Tubes

(scaling & slamming factors , N)
Deck 18 PROP Printing Options (for additional information)
Deck 19/20 NONE Reserved for future use

Stage 5
This is the main solution stage and is a calculation stage only.
Deck 21 ENLD Element and nodal loads

(on TUBEs, Stage 6, DN)

AQWA Element Types
Elements are defined in AQWA Deck 2:
QPPL : Quadrilateral panel (diffracting or non-diffracting)

TPPL : Triangular panel (diffracting or non-diffracting)
TUBE : Tube element (circular cross section)
STUB : Slender tube element (non-circular cross section allowed)
PMAS: Point mass and inertia
PBOY: Point buoyancy
FPNT : Field point (for wave surface calculation)
DISC : Circular disc with no thickness.
Notes:
(1) DIFF is needed for diffracting QPPL and TPPL elements;
(2) ILID/VLID for defining external diffracting elements;

Definition of other elements
JOB MESH NAUT Program name

TITLE TUBES AND DISCS
OPTIONS REST END
RESTART 1 5
01 COOR
010001 10.0 0.000 2.000
010002 10.0 0.000 0.000
010003 10.0 0.000 -3.000
END01 999 0.00 0.000 -0.500
02 ELM1
02TUBE (2)(1,1)(2,1)(1)(1) Define TUBE element
02DISC (1)(3)(2)(3)
02DISC (1)(1)(2)(3) See APP H
END02PMAS (1)(999)(2)(2)
03 MATE
03 1 1.00E-6
END03 2 4025.00
04 GEOM
04TUBE 1 1.00 0.05 0.00 Define DISC elements
04CONT 0.75 1.00
04DISC 3 1.20
04CONT 1.14 1.00
END04PMAS 2 6000.00 0.00 0.00 6000.00 0.0 4000.00
05 GLOB
05DPTH 500.0
05DENS 1025.0
END05ACCG 9.806
... ...
20 NONE

Warnings in AQWA-LINE
General warnings
requirements reason
No. of elements ≤ 8000 diff. solution time

12000 total
Normals point out modelling convention
No gaps force balance
Facets cannot cut surface solution requirement
Dimensions < KR good practice

Stage #1 checks (Geometric properties)

Area ratio of adjacent elements < 3
Aspect ratio > ⅓, area

(c=1, for QPPL; c=2.3, for TPPL) AR = 2
.C
longest side
area
Element centres at least one rf =
facet radius apart π
Shape factor (parameter for the regularity of panel)

< 0.2 – warning
< 0.02 – fatal error
Note: See AQWA-Course Appendix 3 for detail

Stage #2 checks (hydrodynamic)

Longest side < 1/7 wavelength
Fatal error if more than 5% fail
Distance above sea bed must be > 0.5.rf

(use non-diffraction elements otherwise)
Warning if nodes not connected to another element

(for pressure contour, NPPP in Deck 0 overrides warning)
Minimum wave frequency (rad/s) > 0.05 * g / d

AQWA-LINE run
Run stages 1 - 3
● use generated model (altank1.dat  altank2.dat)
● add LDOP, GOON option, check mass and inertia moments
● discuss .dat file
● discuss .lis file
● AGS to show results and functions

Useful Options in AQWA-LINE (1)
Following option cards can be used in Deck 0:
DATA check input data (equivalent to Stages 1-2, LBDFN)

GOON ignore non-fatal modelling rule violations (L)
REST define restart stages (LBDFN)
LDOP LOad OutPut - outputs .POT and .USS files needed for
pressure calculations (e.g pressure plots, SF/BM) (L)
PRCE PRint Card Echo for Decks 1 – 5 (LBDFN)
PPEL Print Properties for each Element (LBDFN)

Useful Options in AQWA-LINE (2)
NPPP No Pressure Post-Processing - prevents nodal

connectivity warnings (L)
CRNM Re-calculate RAOs (LF)
NRNM Calculate nodal RAOs(L)
NQTF Use near-field solution for drift force coefficients (L)
CQTF Calculate QTF matrix (L)

AQWA-LINE Post Processing
Wave surface contour plots
Note:
● LDOP card in al*.dat file
● run AGS
(1) double-click AGS icon on screen;
(2) File → Open to input al*.res file;
(3) Plots to show the model;
(4) Wave Contours to show or calculate wave contour if not existing;
(5) choose required waves (dir. freq. in Wave Surface Contours window);
(6) tick Cycle to animate;
(7) point Cursor to a specified location to show the numerical value at that point.
Air Gap
Note:
● run AGS
(4) Wave Contours to show or calculate wave contour if not existing;
(5) choose required waves (dir. freq. amp. in Wave Surface Contours window);
(6) RAO Motion → Ref. Height(Z) above SWL → Include RAO motion;
(7) tick Cycle to animate;
(8) point Cursor to a specified location to show the numerical value at that point.

Pressure Contours
Note:
● run AGS
(4) Select (in Model Visualization window) → Pressure Contours;
(5) choose required waves (dir. freq. in Pressure Contours window) → Time=t to animate;
(6) Select (in Model Visualization window) →Sequence
(7) Start Sequence (in Define Sequence window) → Stop Sequence → Record Every
● save sequence files if required
(8) Hardcopy → Output .bmp on playback → Rewind << → Play > → BMP FILE DUMP (yes)
(9) Using a software to convert .BMP file into .gif file which may be replayed by internet
explorer or .avi file which can be insert into Powerpoint

Diffracted Wave Surface
Note:
● run AGS
(4) Select (in Model Visualization window) → Pressure Contours;
(5) choose required waves (dir. freq. in Pressure Contours window) → Time=t to animate;
(6) View Angle (in Pressure Contours window) →Choose view angle (in Contour View Angle window)
(7) Option (in Pressure Contours window) →Wave Amplitude & Diffracted Wave Surface
(in Hull Contours / Diffracted Wave Option window);
(8) Select (in Model Visualization window) →Sequence
(9) Start Sequence (in Define Sequence window) → Stop Sequence → Record Every

AQWA Database Manipulation
Reason: without re-running the full AQWA-LINE analysis,
● add in additional nodes, elements, damping etc;

● combine several databases into one.
Example 1: modify nodes & elements of single structure

(1) copy existing data file ALTANK2.DAT to ALTANK3.DAT;
(2) add new nodes, (non-diffracting) elements
(3) delete all wave frequency and direction cards in Deck 6,
change this deck into:
06 FDR1
06FILE ALTANK2.HYD
06CSTR 1 Structure number in
END06CPDB ALTANK2
(4) run AQWA-LINE for ALTANK3.DAT (which takes a few seconds).

(cont.1)
Example 2: modify damping of single structure
(1) copy existing data file ALTANK3.DAT to ALTANK4.DAT;

(2) delete all wave frequency and direction cards in Deck 6,
change this deck into:
Structure number in AL2
06 FDR1
06FILE ALTANK2.HYD
06CSTR 1 Structure number in AL1
END06CPDB
(3) add new damping coefficients New card to add damping
(CRNM option needed for RAO recalculation);
Columns 51-60 for roll
07 WFS1 damping
07ZCGE 0.0000
END07FIDD 1.000E09
(4) run AQWA-LINE for ALTANK4.DAT (which takes a few seconds).

→ Compare the RAOs in ALTANK3 and ALTANK4 using AGS (merging curves)

(cont.2)
Multiple structure database combination
(1) merging without hydrodynamic interaction

● run each model (AL**1.dat and AL**2) individually;
● include all structure definitions in the new AL**3.DAT file
● add corresponding file name in DECK 6 FILE card in
AL**3.DAT for each structure
(2) modify nodes etc for hydrodynamic interaction model

Similar to Example 2, but in Deck 6 only the first structure needs to be
input for each interaction group.
NOTE: When CQTF is used, manipulation can been done in version 12.0 thereafter

AQWA-LIBRIUM introduction
Equilibrium position, Static and Dynamic stability
- Complex ship/ offshore structure system;

- Various mooring, fender, pulley, winch, constraints
configuration;
- Equilibrium estimation under wave, wind and current
combination;
- Database approach for static catenary mooring line;
- Finite element approach for dynamic cable (drag force);
- Iteration approach for determining equilibrium position;
- Calculate the eigenvalues of linearised stiffness matrix
to obtain static stability;
- Eigenvalues of the impedance matrix to give dynamic
stability.
- Series of wave spectrums and mooring configurations

Theory in AQWA LIBRIUM
● Equation for determining static equilibrium position:
X j +1 = X j + K −1( X j ) F ( X j )
K is the stiffness matrix of the system,
F is the force matrix.
The program iterates until ∆X=|Xj+1-Xj| is less than a defined tolerance
● Static stability
K X − λX = 0
Eigenvalue λ (<0, unstable; =0, neutral; >0, stable)
● Dynamic stability
M −1C M −1K   X   X 
    + λ   = 0,
 I 0   X  X 
(from MX + CX + KX = 0, X = eλt , λ = f + ig )
Eigenvalue (f<0, stable; f>0 and g=0, unstable; f>0 and g≠0, fishtailing)

Analysis Procedure
A common method of analysis

(1) run Stages 1 to 3 in AQWA-LINE
(2) run Stages 4 to 5 in another program, say, AQWA-LIBRIUM.
Example:
Step 1: AQWA-LINE run Step 2: AQWA-LIBRIUM run

(Restart 1 to 3) (Restart 4 to 5)
Input Files Output Files Input Files Output Files
altest.dat altest.lis abtest.dat abtest.lis
altest.res altest.res abtest.res
altest.hyd abtest.eqp
altest.plt
Input in RESTART card
starting from Column 21

Analysis Procedure (cont)
Stage 4 in AQWA-LIBRIUM
– model definition restart file
– hydrodynamic database restart file
– main analysis parameters input data file
Note:
● Decks 1 to 8 data is read from the restart file
● Decks 9 to 20 are required in the input data file
(Decks 1 to 8 must be omitted if restart from Stage 4).
Stage 5 in AQWA-LIBRIUM (Main analysis, no extra input)

AQWA-LIBRIUM (Example 1)
JOB TEST LIBR JOB card

TITLE FALTINSEN BOX - MODEL 1
OPTIONS REST END
RESTART 4 5 ALBOXM Read database
09 NONE
10 NONE Deck 9: drift motion parameters;
11 NONE Deck 10: wind and current drag; Deck 12: constraints;
12 NONE
Deck 11: environment; Deck 13: spectrum
13 SPEC
13SPDN 315.0
END13PSMZ 0.300 2.000 4.000 8.000
14 MOOR
14LINE 1 501 0 511 1.4715E6 100.0
14LINE 1 502 0 512 1.4715E6 100.0 Deck 14: Mooring system
14LINE 1 503 0 513 1.4715E6 100.0 NB new nodes needed
END14LINE 1 504 0 514 1.4715E6 100.0
15 STRT
END15POS1 1 1 0.0 0.0 1.5 0.0 0.0
16 NONE
17 NONE
18 NONE Deck 15: Initial position of COG in global frame
19 NONE
20 NONE

Drag in AQWA (deck 10)
(1) Current and Wind Force Coefficients
DIRN Dir1 DirN Θ1 …. ΘN (optional) Direction sequence no.

If DIRN is not present in Deck 10,
SYMX (optional)
the directions are those defined
CUFX Dir1 DirN C1 …. CN on the DIRN cards in Deck 6
WIFX Dir1 DirN C1 …. CN
etc
Dir: direction number – directions default to LINE wave directions;

C1: Drag Force Coefficients
For relative current velocity V in direction ϕ

force in X direction = CUFXϕ.V2
force in Y direction = CUFYϕ.V2
yaw moment = CURZϕ.V2

Drag in AQWA (deck 10)
(cont 1)
(2) Morison Drag Coefficients (for ship hull)
MDIN Nrow Ncol C1 …. C6
Nrow: Row number in drag matrix

Ncol: Column number in drag matrix
C1 – C6: Drag Force Coefficients
 C11 C12 C13 C14 C15 C16   x. x 

 
C
 21 C22 C23 C24 C25 C26   y . y 
C C32 C33 C34 C35 C36   z. z 
DragForce =  31 . 
C41 C42 C43 C44 C45 C46  ϕ . ϕ 
C51 C52 C53 C54 C55 C56   ϑ.θ 
  
C61 C62 C63 C64 C65 C66  ψ .ψ 

Useful options in AQWA LIBRIUM
STAT STATic stability only

In JOB card Deck 0
DYNA DYNAmic stability only
PBIS Print Both Iteration Steps (prints full results at each step)
PRAF Print all freedoms (in spite of DACF cards on DECK12)
In OPTIONS card Deck 0

AQWA-LIBRIUM Example 2 (ABTANK4)
JOB TANK LIBR JOB card
TITLE SINGLE TANKER WITH MOORING

OPTIONS REST PBIS END Read database
RESTART 4 5 ALTANK4
Direction sequence no.
09 NONE If DIRN is not present in Deck 10, the directions
10 HLD1 are those defined on the DIRN cards in Deck 6
10SYMX
10DIRN 1 5 0.0 20.00 40.00 60.0 80.00
10DIRN 6 10 100.00 120.00 140.00 160.0 180.00
10WIFX 1 5 1.460E3 1.692E3 1.685E3 1.175E3 3.745E2
10WIFX 6 10 -3.427E2 -9.839E2 -1.520E3 -1.692E3 -1.794E3
10CUFX 1 5 0.505E5 0.572E5 0.532E5 0.344E5 0.172E5
. . .
END10CURZ 6 10 0.808E7 0.220E8 0.191E8 0.103E8 0.00000

11 NONE
12 NONE
13 SPEC
13SPDN 315.0
13CURR 1.00 315.0
13WIND 25.00 315.0
END13PSMZ 0.3000 2.0000 4.000 8.000
Deck 11:envirn.; Deck 12:constraints; Deck13: spectrum

14 MOOR Deck 14: Mooring system

14LINE 1 5001 0 6001 1.50E6 142.0
14LINE 1 5002 0 6002 1.50E6 142.0
14LINE 1 5003 0 6003 1.50E6 142.0
14LINE 1 5004 0 6004 1.50E6 142.0
END14 Deck 15: Initial position
15 STRT
15POS1 100.00 0.000 0.000 0.000 0.000 0.000
END
16 LMTS
Deck 16: Iterative parameters
END16MXNI 200
17 NONE
18 NONE
19 NONE
20 NONE

AGS online calculation
Mini-Librium
Note:
run AGS
(4) Move Structure (in Model Visualization window) if needed;
(5) MINI-LIBRIUM (in Model Visualization window);
(6) Iterations (in MINI-LIBRIUM window to choose the iteration step number);
(7) Equilibrate (till converged)

AGS online calculation
Static stability
Note:
run AGS
(1) Double-click AGS icon on screen;
(4) Run -> AQWA-LIBRIUM
(5) Display (in AQWA-LIBRIUM Run Monitor window) -> Static Stability Modes;
(6) Click Mode# (in Static Stability Displacement Modes window to animate the mode).

Mooring Lines in AQWA (deck 14)
Mooring lines can be defined in (BDNF)
Commonly used mooring types:

(1) LINE: Linear elastic line (weightless)
14LINE Ns1 Nd1 Ns2 Nd2 K L
(Ns1, Ns2: structure numbers; Nd1, Nd2: node numbers;

K: stiffness; L: unstretched length)
(2) POLY: Polynomial elastic line (weightless)
14POLY K1 K2 K3 K4 K5
14NLIN Ns1 Nd1 Ns2 Nd2 (Ts) L (Fw) (Fp)
(K1, .., K5: stiffness;

Ts: winch tension; Fw: winch winding in friction factor;
Fp: winch paying out friction factor;
Ts, Fw and Fp are only needed when the POLY line is used as a winch)
(cont.1)
(3) COMP/ECAT: Composite elastic catenary (with weight)
14COMP Nz Nx Ne Zmin Zmax Slope

14ECAT M1 A1 EA1 Tmax1 L1
14NLIN Ns1 Nd1 Ns2 Nd2
Start from anchor point

Nz, Nx -- number of database points within z and x ranges.
Ne-- number of ECAT in this COMP line.
Zmin, Zmax -- Z range (measured from the anchor) for the attachment node.
Slope-- sea bed slope (in degrees; positive for slope going up from anchor towards
attachment point).
M1,M2,M3 -- mass per unit length for ECAT 1,2,3.
A1,A2,A3 -- equivalent cross section area.
EA1,EA2,EA3-- Young’s modulus x area.
Tmax1-3 -- maximum tension.
L1,L2,L3 -- length of ECAT 1,2,3.
Ns,Nd -- structure number and node number (Ns1: fairlead structure).

Moorings database
XRMIN XRMAX
ZRMAX
ZRMIN
Max. tension point
Slack point

AQWA-LIBRIUM Example 3
JOB MESH LIBR JOB card

OPTIONS REST PBIS LSTF END
RESTART 1 5 Stages 1-5, if Deck 1-8 include
01 COOR
015001 1700. 0. -300
015002 200. -1500. -300
015003 200. 1500. -300
015004 -1500. 0. -300 Nodes for anchor points
01 1 45.000 -45.000 0.000
01 2 22.500 -45.000 0.000
01 3 0.000 -45.000 0.000
. . .
01 501 45.000 0.000 0.000
01 511 146.000 0.000 0.000
. . .
END01 999 0.000 0.000 -10.620
02 ELM1
02SYMX
02SYMY
02QPPL DIFF 0 (1)( 1)( 2)( 12)( 11)
02QPPL DIFF 0 (1)( 11)( 12)( 22)( 21)
02QPPL DIFF 0 (1)( 21)( 22)( 32)( 31)
02QPPL 0 (1)( 1)( 5)( 105)( 101)
. . . .
END02PMAS 0 (1)( 999)( 1)( 1)
02 FINI

AQWA-LIBRIUM Example 3 (cont.)
03 MATE
END03 1 3.32100E8 0.000000 0.000000
04 GEOM
END04PMAS 1 3.6253E11 0.000000 0.000000 3.4199E11 0.000000 3.5991E11
05 GLOB
05DPTH 250.0
05DENS 1025.0
END05ACCG 9.806
06 FDR1
Read database from AQWA-LINE
06FILE ALBOXM.HYD
06CSTR 1
END06CPDB
07 WFS1
07ZCGE -2.0000
END07FIDD 1.000E09
08 NONE
09 DRM1
09FIDD 1.0373E5 1.5702E6 1.0E07 4.0E09 2.0E10 5.000E09
END09
10 HLD1
10WIFX 1 5 1.460E3 1.692E3 1.685E3 1.175E3 3.745E2
10WIFX 6 9 -3.427E2 -9.839E2 -1.520E3 -1.692E3
10WIFY 1 5 0.000E0 1.803E3 3.623E3 5.168E3 6.093E3
10WIFY 6 9 6.293E3 5.618E3 4.103E3 0.0
10WIRZ 1 5 2.475E2 -1.407E5 -1.689E5 -1.068E5 -1.167E4
10WIRZ 6 9 1.167E5 1.842E5 1.559E5 0.0

10CUFX 1 5 0.505E5 0.572E5 0.532E5 0.344E5 0.172E5

10CUFX 6 9 -0.160E5 -0.295E5 -0.451E5 -0.466E5
10CUFY 1 5 0.000E0 0.207E6 0.394E6 0.486E6 0.542E6
10CUFY 6 9 0.550E6 0.478E6 0.382E6 0.0
10CURZ 1 5 0.000E0 -0.118E8 -0.213E8 -0.239E8 -0.118E8
END10CURZ 6 9 0.808E7 0.220E8 0.191E8 0.0
11 NONE
12 NONE
13 SPEC Composite catenary
13SPDN 315.0 (start from anchor section)
13CURR 1.00 315.0
13WIND 10.00 315.0
END13PSMZ 0.3000 2.0000 4.000 8.000
14 MOOR
14COMP 20 30 3 280. 300.
14ECAT 150.00 0.00 6.0000E8 7.500E6 500.0
14ECAT 120.00 0.00 9.0000E8 7.500E6 500.0
14ECAT 170.00 0.00 6.0000E8 7.500E6 700.0
14NLIN 1 3201 0 5001
14NLIN 1 3201 0 5002
14NLIN 1 3201 0 5003
END14NLIN 1 3201 0 5004
15 STRT
END15POS1 213.000 -213.000 -2.00 0.000 0.000 144.0
Fairlead first, anchor point second

16 LMTS
16MXNI 250
16MMVE 1 1.5 1.5 1.5 1.5 1.5 1.5
END16MERR 1 0.5 0.5 0.5 0.5 0.5 0.5
17 NONE
18 NONE
19 NONE
Iteration controls
20 NONE

(cont.2)
AQWA Cable Dynamics (only applicable to COMP/ECAT): (abtank6)
14 MOOR
14COMP 20 30 3 490. 510.
14ECAT 150.00 0.010 6.0000E8 7.500E6 400.0
14ECAH 1.00 0.75 0.10
14ECAT 120.00 0.010 9.0000E8 7.500E6 500.0
14ECAT 170.00 0.010 6.0000E8 7.500E6 700.0
14ECAH 1.00 1.00 0.15
14NLID 1 5001 0 6001
Catenary hydrodynamic coefficient
14NLID 1 5002 0 6002
14NLID 1 5003 0 6003
END14NLID 1 5004 0 6004
Similar to NLIN

(cont.3)
Fenders
14POLY K1 K2 K3 K4 K5
14FEND Size Kf Kc
14FLIN Type Ns1 Nd1 Nd2 Ns2 Nd3 Nd4
in which
K1 – K5 -- non-linear stiffness coefficients
Size -- uncompressed size of fender (normal direction)
Kf -- tangential friction coefficient
Kc -- normal damping coefficient
Type -- 1 = fixed fender, 2 = floating fender
Ns1 -- Structure to which fender is nominally attached
Nd1, Nd2 -- Nodes defining attachment point and contact plane on 1st structure
Ns2 -- Structure which fender contacts
Nd3, Nd4 -- Nodes defining attachment point and contact plane on 2nd structure
Note: Be aware of valid range of force – extension/compression relationship
T = K1∆X + K 2 (∆X ) 2 + K 3 (∆X )3 + K 4 (∆X ) 4 + K 5 (∆X )5

(cont.4)
Other cards in deck 14 (refer to AQWA Reference Manual for more details)
BUOY/CLMP A buoy or clump weight With weight

(COMP/ECAT,NLIN,NLID)
TELM: Tether element. (for installed or towed stiff tethers)
WNCH: Constant tension winch line
FORC: A constant force in a constant direction.
LINE/PULY: Linear elastic pulley line. Without weight

(LINE,NLIN, FEND/FLIN)
LE2D: User defined tension/extension data base.
SWIR: Steel wire with non-linear stiffness.
DWT0/LNDW A line winding in or out on a winch
LBRK: Line breaking.
FILE: Read in mooring definition from an external file *.MOR.

AQWA Printing Options (deck 18)
● by default, part of results output to limit file size

● additional data can be output by Deck 18 commands
ALLM: Output the velocity, acceleration and position of a user specified node
defined in the NODE card.
NODE: Output the motion of a user specified node

or the relative motion between two user specified nodes.
PREV: Write into *.LIS file every N time steps to reduce the size
PRNT: Print a force not in the output by default (See AQWA-ref 4.18.6)
PTEN: Output mooring tension, anchor uplift, laid length etc for mooring line.
ZRON: Output the z position of a node relative to the incident wave surface.
PMST: Output mooring sectional tensions for cable dynamic case

AQWA FER - introduction
Principally for calculating the significant response

of amplitues in irregular waves.
Frequency domain program
Linearised stiffness matrix / damping to obtain the transfer function

and response spectrum
Simple, inexpensive approach to make systematic parameter study
Series of wave spectrums and mooring configurations

Theory in AQWA FER
Response spectrum in irregular waves
S xi xi (ω ) = ∑ [mod( H ij (ω ) F j (ω ))]2 S (ω )
j
Sxixi(ω): response spectrum in i-th degree of freedom,

Hij (ω) : receptance matrix defined as:
H ij (ω ) = [ −ω 2 ( M s + M a (ω )) − iωC (ω ) + K ]−1
Fj(ω): frequency dependent force

(in j-th degree of freedom) on the structure
S(ω): the wave spectrum

Linearisation in FER
► Stiffness: stiffness (hydrostatic, mooring etc.) at the initial position,

(= the static equilibrium position with RDEP option)
► Damping:
cable drag is linearised using the r.m.s. velocity, when NLID used
FD = (CD. |Vrms|) .V
wind drag is linearised,
1st order hydrodynamic damping
any other input damping (fender, constraints)
► Forces:
1st and 2nd order wave forces

Useful options in AQWA FER
JOB options (JOB card)

DRFT DRiFT frequency only
WFRQ Wave FReQuency only
ANALYSIS options (OPTIONS card)

RDEP ReaD Equilibrium Position
FQTF Full diff freq. QTF to be used
Printing options (OPTIONS card)

PRRI Printing RAOS at spectrum integration points
GLAM Output significant motions in GLOBAL axis

AQWA-FER Example 1
For AQWA-FER run

JOB TANK FER
TITLE SINGLE TANKER WITH CABLE DYNAMIC
OPTIONS REST RDEP END Read equilibrium position
RESTART 4 5 ABTANK6 from ABTANK6 database
09 DRM1
*2345678901234567890123456789012345678901234567890123456789012345678901234567890
09FIDA 1.0373E6 1.5702E7 1.0E12 1.0E15 1.0E15 2.2564E11
09FIDD 1.80E5 1.80E6 1.0E10 1.0E13 1.0E13 1.00E10
END09
10 HLD1
10WIFX 1 5 1.460E3 1.692E3 1.685E3 1.175E3 3.745E2
. . .
10CURZ 1 5 0.000E0 -0.118E8 -0.213E8 -0.239E8 -0.118E8
END10CURZ 6 10 0.808E7 0.220E8 0.191E8 0.103E8 0.00000
11 NONE
12 NONE
13 SPEC
13SPDN 315.0 Optional freq. independent
13CURR 1.00 315.0
13WIND 25.00 315.0
added mass/damping
END13PSMZ 0.3000 2.0000 4.000 8.000

AQWA-FER Example (cont.)
14 MOOR
14COMP 20 30 3 490. 510.
14ECAT 150.00 0.010 6.0000E8 7.500E6 400.0
14ECAH 1.00 1.33 0.10
14ECAT 120.00 0.010 9.0000E8 7.500E6 500.0
14ECAT 170.00 0.010 6.0000E8 7.500E6 700.0
14NLID 1 5001 0 6001
14NLID 1 5002 0 6002
14NLID 1 5003 0 6003
END14NLID 1 5004 0 6004
15 NONE
* 15 STRT
* 15POS1 100.00 0.000 0.000 0.000 0.000 0.000
*END
16 NONE
17 NONE
18 NONE
19 NONE Not needed due to RDEP
20 NONE

AQWA NAUT & DRIFT - introduction
■ AQWA-NAUT and DRIFT are time-domain simulation

programs
■ For a series of time-steps they:

calculate the total force on the structure
calculate the acceleration
find the new position of the structure
repeat
■ A two stage predictor/corrector integration scheme is used

Theory in AQWA NAUT and DRIFT
Equation of motion in time domain

..
M s X (t ) = F (t )
F(t): the total force on the structure, including
● incident wave force ● diffraction force
● mooring force ● drift force
● drag force ● constraint force, etc
● radiation force
Convolution integration form:
t
[M s + M a (∞)] X (t ) + KX (t ) + ∫ h(t − τ ) X (τ )dτ = F1 (t )
0

Simulation of Irregular Waves
Wave spectrum treatment:
● split into N sections of equal area

● define N wavelets with frequency at the centroid of the section
(max.200).
● the wavelets are added together with random phase angles
N
ζ ( x, y, t ) = ∑ ai cos(ki x cosθ + ki y sin θ − ωit + ε i ), ai = 2 S (ωi )∆ωi
i =1
S(ω)
Wavelet: equal areas
. ω

Comparison of DRIFT v. NAUT
AQWA-DRIFT AQWA-NAUT
Irregular waves only Regular or Irregular waves

Linear hydrostatic stiffness Non-linear hydrostatics /
Froude-Krylov force
2nd order drift coefficients 2nd order incident wave
Omits drift forces
(but some 2nd order effects)
Mean wetted surface Instantaneous wetted surface

AQWA-DRIFT Example 1
Job card for DRIFT run

JOB TANK DRIF WFRQ
OPTIONS REST PBIS CONV RDEP END
Drift & wave freq. motions
RESTART 4 5 ABTANK6
09 DRM1
*2345678901234567890123456789012345678901234567890123456789012345678901234567890
09FIDA 1.0373E6 1.5702E7 1.0E12 1.0E15 1.0E15 2.2564E11
09FIDD 1.80E5 1.80E6 1.0E10 1.0E13 1.0E13 1.00E10
END09
10 HLD1
10WIFX 1 5 1.460E3 1.692E3 1.685E3 1.175E3 3.745E2
. . .
END10CURZ 6 10 0.808E7 0.220E8 0.191E8 0.103E8 0.00000

11 NONE
12 NONE
13 SPEC Convolution method
13SPDN 315.0 for radiation force
13CURR 1.00 315.0
13WIND 25.00 315.0
END13PSMZ 0.3000 2.0000 4.000 8.000 Print at both integration
stages.

AQWA-DRIFT Example (cont.)
14 MOOR
14COMP 20 30 3 490. 510.
14ECAT 150.00 0.010 6.0000E8 7.500E6 400.0
14ECAH 1.00 1.33 0.10
14ECAT 120.00 0.010 9.0000E8 7.500E6 500.0
14ECAT 170.00 0.010 6.0000E8 7.500E6 700.0
14NLID 1 5001 0 6001
14NLID 1 5002 0 6002
14NLID 1 5003 0 6003
END14NLID 1 5004 0 6004
15 NONE
16 TINT
END16TIME 2000 0.5
17 NONE Define no. and value of time steps
18 PROP
END18PREV 5
19 NONE
20 NONE
Define printing options

Useful options in AQWA DRIFT
WFRQ Include Wave FReQency (default is Drift frequency only)
CONV Use CONVolution
PBIS Print Both Integration Steps
FQTF Use diff freq. full QTF matrix (CQTF should be in LINE)

AQWA-NAUT Example 1
JOB MESH NAUT Job card for NAUT run

OPTIONS REST PBIS END
RESTART 1 5 Default regular wave
01 COOR analysis
015001 1700. 0. -300
01 101 0.001 0.000 0.000
. . . .
END01 999 88.025 0.000 10.000
02 ELM1
02SYMX
02QPPL DIFF 1 (1)( 202)( 201)( 101)( 102)
. . . .
END02PMAS 0 (1)( 999)( 1)( 1)
02 FINI
03 MATE
END03 1 84062048.
04 GEOM
END04PMAS 1 1.6812E10 0.000000 0.000000 3.7659E11 0.000000 3.7659E11
05 GLOB
05DPTH 1000.0
05DENS 1024.4
END05ACCG 9.807

AQWA-NAUT Example 1 (cont.)
06 FDR1
06FILE AL******.HYD Copy AQWA-LINE database
06CSTR 1
END06CPDB
07 WFS1
07ZCGE -2.0000
END07FIDD 9.986E08
08 NONE
09 DRM1
09FIDD 1.0373E5 1.5702E6 1.0E07 4.0E09 2.0E10 5.000E09
END09
10 HLD1
10WIFX 1 5 1.460E3 1.692E3 1.685E3 1.175E3 3.745E2
. . . .
END10CURZ 6 9 0.808E7 0.220E8 0.191E8 0.0
11 NONE
12 NONE
13 WAVE
13WAMP 12.0
13WVDN 135.0
Regular wave parameters
END13PERD 12.00

AQWA-NAUT Example 1 (cont.)
14 MOOR
14COMP 20 30 3 280. 300.
14ECAT 150.00 0.00 6.0000E8 7.500E6 500.0
14ECAT 120.00 0.00 9.0000E8 7.500E6 500.0
14ECAT 170.00 0.00 6.0000E8 7.500E6 700.0
14NLIN 1 3201 0 5001
14NLIN 1 3201 0 5002
14NLIN 1 3201 0 5003
END14NLIN 1 3201 0 5004
15 STRT
END15POS1 213.000 -213.000 -2.00 0.000 0.000 144.0
16 TINT
END16TIME 2000 1.0
17 NONE
18 NONE
19 NONE
20 NONE

AQWA-NAUT Example 2
Job card for NAUT run

JOB TANK NAUT IRRE
OPTIONS REST PBIS CONV RDEP END
RESTART 4 5 ABTANK6
09 DRM1 Irregular wave analysis
. . .
13 SPEC
13SPDN 315.0 CONV mandatory
13CURR 1.00 315.0
13WIND 25.00 315.0
END13PSMZ 0.3000 2.0000 4.000 8.000
. . .
16 TINT
END16TIME 2000 0.5
17 NONE
18 PROP
END18PREV 5
19 NONE
20 NONE

Useful options in AQWA NAUT
IRRE IRREgular wave analysis (CONV mandatory)
CONV Use CONVolution
LSTF Linear STiFness. Uses hydrostatic stiffness

from LINE without modification.

Multiple structures (1)
without hydrodynamic interaction
Wave,
wind,
current
directions

Multiple Structures (1)
without hydrodynamic interaction
Node definition:
● One set of nodes can be used.

ELM1 and ELM2 use different node numbers
to define the elements.
This can be inconvenient.

E.g. if two models are created from .lin files in the AGS,
both will have node number starting at 101.
● STRC card in Deck 1

allows the same node numbers to be used for different models.

AQWA-LINE (AL2TANK1)
JOB MESH LINE

TITLE TWO TANKER WITHOUT HYDRODYNAMIC INTERACTION
OPTIONS REST LDOP NQTF GOON END
RESTART 1 3
01 COOR
01STRC 1
01 1 0.000 0.000 5.000
. . . . .
Node definition for structure 1
01 999 110.552 0.000 15.000
* ATTACHMENT POINTS ON STRUCURE 1 FOR MOORING LINE BETWEEN ST#1-2
015501 0.000 0.000 15.000
015502 230.000 0.000 27.000
01STRC 2
01 1 0.000 0.000 5.000
. . . .
. . . .
01 999 110.552 0.000 15.000 Node definition for structure 2
* ATTACHMENT POINT ON STRUCURE 2 FOR MOORING LINE BETWEEN ST#1-2
015501 0.000 0.000 15.000
015502 230.000 0.000 27.000
END01

AQWA-LINE (cont.)
02 ELM1
Element definition of ST#1
02SYMX
02QPPL DIFF 1 (1)( 101)( 1)( 6)( 102)
. . . . .
Material no. of ST#1
END02PMAS 0 (1)( 999)( 1)( 1)
02 ELM2
02SYMX
02QPPL DIFF 1 (1)( 101)( 1)( 6)( 102) Geometry no. of ST#1
. . . . . .
END02PMAS 0 (1)( 999)( 2)( 2)

02 FINI
03 MATE
Material and geometry
03 1 1.23009E8 0.000000 0.000000 definition of ST#1
END03 2 1.23009E8 0.000000 0.000000
04 GEOM
04PMAS 1 957.0E7 0.0 0.0 19050.0E7 0.0 19050.0E7
END04PMAS 2 957.0E7 0.0 0.0 19050.0E7 0.0 19050.0E7

AQWA-LINE (cont.)
05 GLOB
05DPTH 500.0
05DENS 1024.4
END05ACCG 9.807
06 FDR1
06FILE ALTANK4.HYD
06CSTR 1
END06CPDB
06 FDR2
06FILE ALTANK4.HYD
06CSTR 1
END06CPDB
07 WFS1
07ZCGE 0.0000
END07FIDD 1.000E9
07 WFS2
07ZCGE 0.0000
END07FIDD 1.000E9
08 NONE

AQWA-LIBRIUM : Multiple structures
(AB2TANK1)
JOB TANK LIBR

TITLE TWO-TANKER WITHOUT HYDRO. INTER.
OPTIONS REST PBIS END
RESTART 4 5 AL2TANK1
09 DRM1
09FIDA 1.0373E6 1.5702E7 1.0E12 1.0E15 1.0E15 2.2564E11
09FIDD 1.80E5 1.80E6 1.0E10 1.0E13 1.0E13 1.00E10
END09
09 FINI
10 HLD1 FINI if no data for STR 2
10WIFX 1 5 1.460E3 1.692E3 1.685E3 1.175E3 3.745E2
. . . . .
END10CURZ 6 10 0.808E7 0.220E8 0.191E8 0.103E8 0.00000
10 HLD2
10WIFX 1 5 1.460E3 1.692E3 1.685E3 1.175E3 3.745E2
. . . . .
END10CURZ 6 10 0.808E7 0.220E8 0.191E8 0.103E8 0.00000

AQWA-LIBRIUM (cont.)
. . . .
14 MOOR
14COMP 20 30 3 490. 510.
14ECAT 150.00 0.010 6.0000E8 7.500E6 400.0
14ECAH 1.00 1.33 0.10
14ECAT 120.00 0.010 9.0000E8 7.500E6 500.0
14ECAT 170.00 0.010 6.0000E8 7.500E6 700.0
14NLIN 1 5001 0 6001
14NLIN 1 5002 0 6002 Mooring line between str#1-2
14NLIN 1 5003 0 6003
14NLIN 1 5004 0 6004
14LINE 1 5501 2 5501 1.50E7 100.0
END14LINE 1 5502 2 5502 1.50E7 100.0 Initial position of COGs
15 STRT
15POS1 100.00 0.000 0.000 0.000 0.000 0.000
15POS2 -215.00 -000.00 0.000 0.000 0.000 0.00
END
16 LMTS
16MERR 0.05 0.05 0.05 0.1 0.1 0.2
16MMVE 2.00 2.00 0.5 1.0 1.0 2.0
END16MXNI 1200
17 NONE
18 NONE
19 NONE
20 NONE
Iterative control

Use of FINI card
Lots of occasions to use FINI card
● Deck 2 (compulsory)
● Multiple structures, not all of them defined in deck 6,7,8,9,10
 End of deck
● Multiple configurations of mooring lines (B/F),
insert FINI to separate two definitions of mooring systems
● Multiple user defined wave spectrums (B/F),
insert FINI to separate each set of UDEF cards
 Between two sections

AQWA-NAUT: Multiple structures
(AN2TANK1)
Read equilibrium position

JOB TANK NAUT IRRE
TITLE TWO-TANKER WITHOUT HYDRO. INTER.
OPTIONS REST CONV RDEP END
RESTART 4 5 AB2TANK1
09 DRM1
09FIDA 1.0373E6 1.5702E7 1.0E12 1.0E15 1.0E15 2.2564E11
09FIDD 1.80E5 1.80E6 1.0E10 1.0E13 1.0E13 1.00E10
END09
09 DRM2
09FIDA 1.0373E6 1.5702E7 1.0E12 1.0E15 1.0E15 2.2564E11
09FIDD 1.80E5 1.80E6 1.0E10 1.0E13 1.0E13 1.00E10
END09
10 HLD1
10WIFX 1 5 1.460E3 1.692E3 1.685E3 1.175E3 3.745E2
. . . .
END10CURZ 6 10 0.808E7 0.220E8 0.191E8 0.103E8 0.00000
10 HLD2
10WIFX 1 5 1.460E3 1.692E3 1.685E3 1.175E3 3.745E2
. . . .
END10CURZ 6 10 0.808E7 0.220E8 0.191E8 0.103E8 0.00000

AQWA-NAUT (cont.)
. . . .
13 SPEC
13SPDN 315.0
13CURR 1.00 315.0
13WIND 25.00 315.0
END13PSMZ 0.3000 2.0000 4.000 8.000
14 MOOR
. . . . .
END14LINE 1 5501 2 5501 1.50E7 100.0

* 15 STRT
* 15POS1 100.00 0.000 0.000 0.000 0.000 0.000
* END15POS2 -215.00 -000.00 0.000 0.000 0.000 0.00
15 NONE
16 TINT
END16TIME 2000 0.5
. . . . .
20 NONE
Due to RDEP
Time step control

with hydrodynamic interaction
■ calculate hydrodynamic coefficients which take

full account of hydrodynamic interaction.
■ up to 20 interacting structures can be included.

AQWA-LINE (AL2TANK2)
JOB MESH LINE

TITLE TWO TANKER WITH HYDRODYNAMIC INTERACTION
OPTIONS REST LDOP NQTF GOON END
RESTART 1 3
01 COOR
01STRC 1
*234567890123456789012345678901234567890123456789012345678901234567890
01 1 0.000 0.000 5.000
. . . . .
01 999 110.552 0.000 15.000

015501 0.000 0.000 15.000
015502 230.000 0.000 27.000
01STRC 2
01 1 0.000 0.000 5.000
. . . .
01 999 110.552 0.000 15.000

015501 0.000 0.000 15.000
015502 230.000 0.000 27.000
END01
Deck 0-1 similar to AL2TANK1.DAT

AQWA-LINE (cont.)
02 ELM1
02SYMX
02QPPL DIFF 1 (1)( 101)( 1)( 6)( 102)
. . . . .
02TPPL 45 (1)( 4606)( 4506)( 4507)
02RMXS
Remove geometric symmetry
02PMAS 0 (1)( 999)( 2)( 2)
02PMAS 0 (1)( 5001)( 3)( 3)
02PMAS 0 (1)( 5002)( 3)( 3)
02PMAS 0 (1)( 5003)( 3)( 3) Elements for attachment points.
02PMAS 0 (1)( 5004)( 3)( 3)
02PMAS 0 (1)( 5501)( 3)( 3)
Needed when MSTR card used.
02PMAS 0 (1)( 5502)( 3)( 3)
END02MSTR (999) (212.3182, -221.0850,5.5864)
02 ELM2 Move structure
02HYDI 1
. . . . . . . .
END02MSTR (999) (247.5926,-314.7867, 5.6123)
Hydrodynamic interaction
02 FINI
03 MATE
03 1 1.23009E8 0.000000 0.000000
03 2 1.23009E8 0.000000 0.000000
END03 3 1.00000E0 0.000000 0.000000 Fictitious material and geometric
04 GEOM properties for attachment points
04PMAS 1 957.0E7 0.0 0.0 19050.0E7 0.0 19050.0E7
04PMAS 2 957.0E7 0.0 0.0 19050.0E7 0.0 19050.0E7
END04PMAS 3 1.0E0 0.0 0.0 0.0 0.0 0.0

AQWA-LINE (cont.)
. . . .
06 FDR1
06FREQ 1 6 0.10000 0.20000 0.30000 0.40000 0.50000 0.60000
06FREQ 7 11 0.70000 0.80000 0.90000 1.00000 1.10000
06DIRN 1 5 -180.00 -160.00 -140.00 -120.0 -100.00
06DIRN 6 10 -80.00 -60.00 -40.00 -20.0 0.00
06DIRN 11 15 20.00 40.00 60.00 80.0 100.00 No symmetry,
END06DIRN 16 19 120.00 140.00 160.00 180.0 -180 to +180
06 FDR2
06FREQ 1 6 0.10000 0.20000 0.30000 0.40000 0.50000 0.60000
06FREQ 7 11 0.70000 0.80000 0.90000 1.00000 1.10000
06DIRN 1 5 -180.00 -160.00 -140.00 -120.0 -100.00
06DIRN 6 10 -80.00 -60.00 -40.00 -20.0 0.00
06DIRN 11 15 20.00 40.00 60.00 80.0 100.00
END06DIRN 16 19 120.00 140.00 160.00 180.0
07 WFS1
07ZCGE 0.0000
END07FIDD 1.000E9
07 WFS2
07ZCGE 0.0000
END07FIDD 1.000E9
08 NONE
Note: wave frequencies and
directions MUST be same
for hydro. interacting
structures

with hydrodynamic interaction
The PFIX method (Deck 2)
• Combine a floating and a fixed model into ONE structure
• Put fixed part into a specified group
• Use the PFIX card in Deck 2 to “ground” the fixed model

Symmetry
SYMX means that AQWA can assume that the analysis is

symmetric ABOUT THE FRA X-AXIS. This allows time-
saving shortcuts to be used in the solution.
RMXS removes symmetry, creating a full model (even though the

model may still be a symmetric structure). It only applies to
T/QPPL elements, not to other elements or nodes.
MSTR moves the structure to a new definition position.

It only applies to elements and associated nodes, not to all
nodes listed under the STRC card.
It actually moves the nodes and elements in the FRA.
It is not the same as the POS card in Deck 15.
SYMY and RMYS have the same effect relative to the Y-axis

LIDS
● ILID to remove irregular frequencies inside structures

can be automatically generated
● VLID to reduce standing waves between structures
has to be defined by user

LIDS (cont)
02 ELM1
02ILID AUTO (LID_SIZE=2.0,START_NODE=5000) ILID elements can be generated
02VLID 777 (DAMP=0.01,GAP=8.0) automatically
02SYMX VLID elements must be defined in .dat
02QPPL DIFF 1 (1)( 101)( 1)( 6)( 102)
. . . . .
file
02PMAS 0 (1)( 999)( 2)( 2)
02MSTR (999) (212.3182, -221.0850,5.5864)
02QPPL DIFF 777 (1)( 4606)( 4506)( 4507)(4508)
02QPPL DIFF 777 (1)( 4607)( 4508)( 4509)(4510)
. . . . .
END
02 ELM2
02HYDI 1
. . . . . . . .
END02MSTR (999) (247.5926,-314.7867, 5.6123)
02 FINI

Constraints in AQWA (deck 12)
1) Omission of Motion in User Specified Degrees of Freedom (D.O.F)
DACF Ns Ndof
(Ns: structure number; Ndof : D.O.F. number), (PRAF may need)
2) Mechanical Articulations between Structures

Relative translational motion is not allowed, but relative rotational
motion is possible.
DCON Nt Ns1 Nd1 (Nd3) Ns2 Nd2 (Nd4)

Nd4
Nt: number of D.O.F. being locked by this constraint.
Nt=0: Ball and Socket, rotation in 3 D.O.F.
Nt=1: Universal joint, rotation in 2 D.O.F. Ns1 Ns2
Nt=2: Hinge, rotation in 1 D.O.F.
Nt=3: Rigid connection, no rotation. Nd3
Nd1, Nd2
Constraints in AQWA (example)
Stinger model
constraints

Constraints in AQWA
(example)
JOB MESH LIBR
TITLE NORWAY SHIP + FLEXIBLE STINGER
OPTIONS REST GOON NPPP END
RESTART 1 5
01 COOR
STRC 1
1 115.000 0.000 0.000
....
* Nodes for third part of stringer

STRC 3
016001 0.000 -2.000 0.000
....
END016025 12.000 0.000 4.000

02 ELM1
02SYMX
02QPPL DIFF (43)( 1,7)( 2,7)( 9,7)( 8,7)
....
END02TUBE (1)( 6020)( 6017)(2)(2)

....
02 ELM3
02TUBE (1)( 6001)( 6002)(2)(2)
....
END02TUBE (1)( 6020)( 6017)(2)(2)

02 FINI

Constraints in AQWA
(cont.)
03 MATE
03 1 1.242E8
END03 2 7850.0
04 GEOM
04PMAS 1 957.0E7 0.0 0.0 19050.0E7 0.0 19050.0E7
04TUBE 2 0.500 0.050
END04TUBE 3 1.000 0.050
....
12 CONS
12DCON 2 1 6023 6020 2 6021 6004 Define a constraint
END12DCON 2 2 6023 6020 3 6021 6004
from St#1 to St#2
13 NONE
14 MOOR
14LINE 1 5201 2 6025 5.0E05 25.0
END14LINE 2 6024 3 6022 5.0E05 0.0
....
20NONE
Constraint type:
2 - hinged

Definition of Tethers
Tethers in a TLP Model
Two types: Towed and Installed;

Bending & lateral motion only;
Material defined in Deck 3 as flexible tube with Young’s modulus;
Small inline deformation defined by TSPV/TSPA cards.

Definition of Tethers (cont.)
JOB TETH NAUT

TITLE TETHERS
OPTIONS REST END
RESTART 4 5
09 NONE
Material no.; see I.8.1.3
. . . . . .
13 WAVE Vessel, Node#1
13PERD 9.0 Geometry no.
13WVDN 0.0
Node#303
END13WAMP 8.0
14 MOOR
14TELM 300 301 2 2
14TELM 301 302 2 2
14TELM 302 303 2 2
14TSPV 0.0 5730.0 5730.0
14TSPA 0.0 5730.0 5730.0
14TETH 1 1 0 401
END14TETH 1 2 0 402
15 STRT
. . . . . . Node#300
Define tether elements; Define tether lines
Start from tail/anchor;
Sea bed, Node#401
Min.2; max. 14/24

Definition of Tethers (cont.)
In which:
TELM 300 301 2 2 - defines a tether element which consists

of two nodes (numbers 300 and 301), and the element has a material
property number 2 and geometry property number 2. The material
properties are the material density and the Young’s modulus of the
material, and the geometry properties are the same as those for TUBE
elements, i.e. diameter, wall thickness, Cd and Ca values. Note that
tether elements are defined in deck 14, not in deck 2.
TSPV – specifies the rotational stiffness at tether attachment

position to the vessel (moment/radians)
TSPA – specifies the rotational stiffness at tether anchor position
(moment/radians)
TETH - specifies the structure numbers and node numbers to which this
tether is connected. Each TETH card defines a complete tether whose
elements are defined by the TELM cards.

Running AQWA
1. Drag/drop data file on to desktop icon
2. From command prompt:

Type ‘aqwa57d filename.dat’
3. Using an AQWA command file (see App.2)
4. DOS batch file

Linearity
Hydro- Diff / Froude- Drift Mooring

Drag
Statics Radiation Krylov Force Force
LINE LIN LIN LIN 2nd order - -
LIBRIUM
NON LIN LIN 2nd order NON Linearised
eqm
LIBRIUM
LIN LIN LIN 2nd order LIN Linearised
stability
FER LIN LIN LIN 2nd order LIN Linearised
DRIFT LIN LIN LIN 2nd order NON NON
NAUT NON LIN NON - NON NON

AQL – AQWA Interface for Excel
● Direct access to AQWA database using Excel function calls

● Recovery RAOs ● Recovery time history results
• Installation:
(1) AQL32.DLL in
c:\Program Files\Microsoft Office\
Office11
(2) AQL32.XLA in
c:\Program Files\Microsoft Office\
Office11\Library
AQL function&value
(3) Set up location in
Excel\Tools\Add-ins\Browse
& Excel\Edit\Links

Introduction of AQWA-Workbench
ANSYS Workbench Environment is a working platform that offers

● an efficient and intuitive user interface,
● superior CAD integration
● automatic meshing
● access to model parameters and to the functionality available within the
ANSYS Mechanical products.
High quality automatic meshing tool
Change/enhance design by Design-modeller
Geometry/design parameters retrieved from CAD
Advanced Post-processing

AQWA-WB
● Workbench implementation for the AQWA suite

● At R12 this covers
– Import of geometry from DesignModeler

– Point mass and disc element definition
– Interactive data modification and editing
– Native meshing
– Diffraction/Radiation analysis
– Graph plotting
– Wave surface and pressure contour plots

The AQWA Simulation Process
CAD DesignModeler Hydrodynamic Diffraction

AQWA-WB
Meshing – Analysing – Post processing

Project arrangement in AQWA-WB
● Tree view
● Define parameters via sub-windows

Model visualization and
hydrostatic results

Messages and graphical plotting
window

AQWAWB
What it does NOT provide

(R12, hydrodynamic diffraction)
- Development of mooring and environmental data
Only main functions of AQWA-Diffraction are covered
What it will provide

(R13, hydrodynamic time response)
- Mooring and environmental data
- Time domain analysis
Detailed AQWA-WB training material see

WB-HD_AQWA Training Course_Jun2010.pptx
Trouble shooting (1)
If you have problems with an AQWA analysis:-
1. Check the .mes AND .lis files for messages.
2. Run Stages 1 and 2 only if necessary.
3. Check the hydrostatic information output at the end of Stage 2:

● are mass and buoyancy equal?
● is LCG above LCB?
● are resultant forces all zero (or very small)?
● is VCG in the correct position?
4. View model in AGS

● are there any gaps?
● are inside and outside surfaces defined correctly?

Trouble shooting (2)
If the model seems to be correct:

1. Check the starting position defined in Deck 15.
2. Check the individual forces in the .lis file. Do they all have the expected
magnitude and sign?
3. If a time domain analysis diverges, run to the timestep before it fails. This
may show the development of the problem.
4. If using convolution in DRIFT or NAUT check added mass, damping and

C.I.F. using convolution pages in AGS.
5. Run a decay test to check damping. Apply an initial displacement, with no

waves. The response can be used to calculate % critical damping in the
AGS [Cc=sqrt(MK)]
6. Fix the model with an articulation. This gives output of the applied forces
on the vessel which can provide a clue to the problem.

Support
If you need to contact the support team:
1. Quote error messages EXACTLY or better, cut and

paste them into an e-mail.
2. There may be several reasons for a problem and

you will often be asked to send your data. If so,
send ALL .dat files, AQWA-LINE backing files if
the run takes a long time.
3. If we can reproduce a problem then we can fix it. If

we cannot reproduce it, then it is very difficult to
help.

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AQWA Training Course

© 2010 ANSYS, Inc. All rights reserved. 1 ANSYS, Inc. Proprietary

The topics covered in the training course are as follows:

• description of program capabilities

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• Structure and Capabilities of AQWA Programs

– AQWA Graphical Supervisor (AGS)

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LIBRIUM FER NAUT DRIFT ASAS

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FPSO Ship in channel

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© 2010 ANSYS, Inc. All rights reserved. 14 ANSYS, Inc. Proprietary

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Force & Response Curves

Shear Force & Bending Moment

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Wave surface contour

Diffracted wave surface

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Open - Open/close, and save AQWA models

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AQWA Global Coordinate System is referred to as

• the origin lies in the still water W.L.

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– The wave, wind and current directions are defined in AQWA

– The direction is defined as the angle between the wave (or

– Directions in AQWA are input and output in degrees.

Y Wave direction (or current, wind)

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– In AQWA, the phase angle (Φ in degrees) of a

– A positive phase angle indicates that the parameter

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1) Airy Waves (linear wave)

Used in AQWA LINE, LIBRIUM, FER, DRIFT, NAUT

2) Stokes 2nd Order Waves

Used in AQWA NAUT by default

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Wave spectrum types accepted in AQWA are:

Irregular waves can be in the form of:

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Wind types accepted in AQWA are:

Current types accepted in AQWA are:

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• For Diffracting Structures (modelled with plate elements)

- Incident wave force (Froude-Krylov force): from the

- Diffraction force: due to stationary structure

- Radiation force: due to structure’s oscillation which

- Drift force (net force due to high order effect)

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Radiation force due

Ambient pressure Effect of structure In-phase Out-of-phase

F(ω) Ma(ω).x″ C(ω).x′ K.x

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• For Morison Structures (modelled with Morison

- Morison force (including drag) calculated

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Equation for Morison force calculation