02AQWA Example C A Tanker and Bouy

2006 ANSYS, Inc. All rights reserved.
1 ANSYS, Inc. Proprietary

Example AQWA analysis
A tanker and bouy
AQWA-Line+ AQWA-Drift

Zhenglin Cao


Who is this course for?
Aimed at
This document summarizes how AQWA can be
used to simulate the slow drift motion of a
tanker moored to a buoy.
To run the analysis execute altakbuy.dat
followed by adtakbuy.dat.

The study considered a generic vessel of length
230m, maximum beam 41m, draft 15m and
displacement 124,256 tonnes.

The vessel was tied to a buoy with an elastic
catenary line with the following properties:
One hundred seconds from the start of the simulation
the line was set to break.
Length Mass/Unit Length* EA**
150.0 150 6E8

The buoy was moored to the seabed with 4
similar lines:
Length Mass/Unit Length* EA**
60 150 7.5E6
100 120 7.5E6
70 170 7.5E6
* Mass of line less the mass of the displaced water
** E (Youngs modulus) times A (cross sectional area)
N.B. definitions start from the anchor point.

Model Generation
The ship model was automatically generated by the
AQWA Graphical supervisor from a lines-plan file,
which describes the profile of the vessel at several
locations along its length.
The buoy mesh was generated manually.

AQWA-LINE
AQWA-LINE calculates the linear response of a floating body
or bodies in regular waves. The program may be used
separately or in association with other programs within the
AQWA Suite. The principal analysis technique used within
AQWA-LINE is Radiation/Diffraction theory. This type of
analysis is usually used on bodies whose characteristic
dimensions cause scattering of the incident regular waves.
The calculation provides the first and second order wave
loadings on a floating or fixed body.

AQWA-DRIFT
AQWA-DRIFT simulates the motion of floating structures
arbitrarily connected by articulations or mooring lines under
the action of wind, wave and/or current forces. The program
has the following two modes of operation:
1. Slow drift mode, in which the structure is subjected to only
the second order wave forces, steady wind and current;
2. Wave frequency mode, as in this example in which both
slow drift and wave frequency forces are included along with
steady wind and current.
The program requires a full hydrostatic and hydrodynamic
description of each structure. This can either be input as data
or transferred directly from the output results of an AQWA-
LINE analysis.

Wind and Wave Conditions
A Pierson-Moskowitz spectrum with significant wave
height of 4m was used.
A wind of 25m/s and a current of 1m/s were specified
at 15 degrees to the vessel. Typical wind and current
force coefficients for a vessel of this type were set, to
represent the forces acting on the ship.

Results
These graphs show the tension in the line connecting the vessel and
buoy and the horizontal movement of the vessel during the course of
the simulation. The breaking of the line can clearly be seen at 100
seconds.

Annotated AQWA-LINE File
JOB MESH LINE
The JOB card specifies the type of analysis to be run.
In this case the AQWA-LINE program will be used. A
four character user-defined case identifier, in this
case MESH is also input.
TITLE A SHIP AND A BUOY
The title of the run is specified, this will appear on the
graphical and text file output.

OPTIONS REST GOON LDOP END
Various options may be set, in this case the following
are used:
REST Needed if a RESTART card is input, see
below.
GOON Allows analysis to GO ON despite certain
model rule violations.
LDOP Performs Load output, which is necessary if
stress analysis is to be performed.
END Indicates the end of the options list.
N.B. many more options are available, see reference
manual.

RESTART 1 3
The RESTART card describes the stages to be run.
In AQWA-LINE analyses such as this, only stages 1
to 3 are normally executed, stages 1 to 3 are:
Stage 1 - Geometric Definition and Static
Environment
Stage 2 - Input of the Diffraction/Radiation Analysis
Parameters
Stage 3 - The Diffraction/Radiation Analysis

Deck 1
01 COOR
This deck describes the coordinates of the node points.
013001 6 1 1.0000 0.0000 0.0000 1.0 0.0
0.0
This line creates six nodes, the data on this line is as follows:
01 in columns 5 and 6 is an optional identifier.
3001 The number of the first node to be created.
6 Six nodes will be generated.
1 each node number will be incremented by 1. I.E. nodes
3001, 3002, 3003 etc are created.
1.0000 0.0000 0.0000 The coordinates of the first node.
1.0 0.0 0.0 The coordinate increments for subsequent nodes.
~ Data omitted ~

R 6 100 0.0000 0.000 0.000 0.0
0.0 15.0
The R at the start of this line indicates that nodes
will be generated with an angular offset. All nodes
generated thus far will be copied six times with a
node number offset of 100. Nodes will be translated
about 0, 0, 0 with an offset of 15 degrees about the Z
axis each time. (These nodes are used in the
creation of the buoy)
~ Remainder of buoy nodes omitted ~

1 115.000 0.000 0.000
Nodes for the vessel are generated individually.
END01 999 4.266 0.000 0.000
All the nodes specified so far are used in the creation
of diffracting elements, however node 999 is used to
locate a Point Mass Element for the ship which will
account for its mass and inertia properties. (END
must be included on the last card in each deck)

Deck 2
This deck describes the element topology with
reference to the node points defined in Deck 1. N.B.
Data in brackets is free-format.
02 ELM1
ELM1 indicates the start of element data for structure
1, in this case the ship.
02SYMX
If a structure is symmetrical about the X and/or Y
axes it is only necessary to define half (or when
doubly symmetric, a quarter) of the model. SYMX
and SYMY cards indicate if this is the case. The
mesh will then be reflected accordingly.

02QPPL DIFF (43)( 1,7)( 2,7)( 9,7)( 8,7)
The data input on this line is as follows:
QPPL Indicates that quadrilateral pressure plate
elements are to be generated.
DIFF The elements are to be used in the diffraction
calculation.
(43) Fort three elements will be created.
( 1,7)( 2,7)( 9,7)( 8,7) - Nodes 1, 2, 9 and 7 will be
used for the first element, subsequently each number
will be incremented by 7, i.e. the second element will
use nodes 8, 9, 16 and 15.
~ Remainder of ship elements omitted ~

02FPNT DIFF (1)(6001)
FPNT - This element gives the pressure head
amplitude at a specified point in the external fluid
domain. When the element is at the water surface
this corresponds to the amplitude of the water
surface elevation. In this example a field point is
created at node 6001.
END02PMAS (1)(999)(1)(1)
A single point mass is defined at node 999, with
material and geometric groups 1, see below. This
represents the mass and inertia properties of the
ship.

02 ELM2
Element generation for structure 2, the buoy.
02SYMX
02SYMY
If a structure is symmetrical about the X and/or Y
axes it is only necessary to define half (or when
doubly symmetric, a quarter) of the model. SYMX
and SYMY cards indicate if this is the case. The
mesh will then be reflected accordingly.

02QPPL DIFF 1090 (6) (3009,100)
(3008,100) (3108,100) (3109,100)
See above for description of card data.
~ Remainder of buoy elements omitted ~
END02PMAS (1)(3999)(2)(2)
A single point mass is defined at node 3999, with
material and geometric groups 2, see below. This
represents the mass and inertia properties of the
buoy.
02 FINI

Deck 3
03 MATE
Deck 3 is used to input material properties for the
material group(s) referenced in deck 2.
03 2 3.4379E5
In this case material property 2, the mass of the buoy
is 3.4379E5
END03 1 1.242E8
and the mass of the vessel is 1.242E8

Deck 4
04 GEOM
Deck 4 is used to input geometric properties for the
geometry group(s) referenced in deck 2.
04PMAS 2 100.0E5 0.0 0.0
100.0E5 0.0 100.0E5
END04PMAS 1 957.0E7 0.0 0.0
19050.0E7 0.0 19050.0E7
In this case the mass moments of inertia Ixx, IXY,
IXZ, IYY, IYZ, IZZ are given for geometry groups 1
and 2.

Deck 5
GLOB
This deck is used to input global environmental
parameters. The units system for the analysis is
determined by the values entered here.
05DPTH 500.0
DPTH is the water depth
05DENS 1025.0
DENS is the water density
END05ACCG 9.806
ACCG is the acceleration due to gravity.

Deck 6
06 FDR1
Deck 6 is used to input the wave frequencies and directions
which are to be analysed. FDR1 refers to structure 1.
06PERD 1 6 20.0 17.0 14.0 12.0 10.0 8.0
06PERD 7 7 6.0
The frequencies listed above will be analysed. In this case
frequencies are given in terms of Period, however they may also
be expressed as Radians/second or in terms of Hertz using
alternative card headers. After the PERD card, the first 2
numbers on each line identify the frequencies which will follow.
Currently the maximum number of frequencies which may be
considered is 50.
The wave directions to be analysed follow. Currently the
maximum number of directions is 41.

06DIRN 1 5 0.0 20.00 40.00 60.0 80.00
END06DIRN 6 10 100.00 120.00 140.00 160.0
180.00
04 FDR2
FDR2 refers to structure 2.
06PERD 1 6 20.0 17.0 14.00 12.00 10.00 8.00
06PERD 7 10 6.0 5.0 4.00 3.00
END06DIRN 1 6 0.0 20.00 40.00 60.0 80.00 90.00
Its frequencies and directions are given as above.

Deck 7
07 WFS1
Deck 7 contains wave frequency dependent parameters and if
necessary stiffness matrices. However in this case it is only
used for ZCGE cards.
END07ZCGE 0.0
This card defines the analysis position for the
radiation/diffraction analysis. It locates the point mass defined
above (the centre of gravity) with respect to the still water line in
the vertical direction.
07 WFS2
The ZCGE card for structure 2 is given.
END07ZCGE 0.0

Deck 8
08 NONE
This deck is used to manually input drift force
coefficients which otherwise are calculated by
AQWA-LINE for use by other programmes in the
AQWA suite. This feature is not utilized in this
example.

Annotated AQWA-DRIFT File
JOB TANK DRIF WFRQ
The JOB card specifies the type of analysis to be run.
In this case the AQWA-DRIFT program will be used.
A four character user-defined case identifier, in this
case TANK is also input. WFRQ indicates that both
wave and drift frequency motions will be considered.
TITLE TANKER + BUOY
The title of the run is specified, this will appear on the
graphical and text file output.

OPTIONS REST END
Various options may be set, in this case the following
are used:
REST Needed if a RESTART card is input, see
below.
END Indicates the end of the options list.
N.B. many more options are available, see reference
manual

RESTART 4 5 ALTAKBUY
The RESTART card describes the stages to be run.
Stage 1 - Geometric Definition and Static
Environment
Stage 2 - Input of the Diffraction/Radiation Analysis
Parameters
Stage 3 - The Diffraction/Radiation Analysis (carried
out in AQWA-LINE and results referenced here)
Stage 4 Input of the analysis environment
Stage 5 Motion analysis
N.B. Stages 1 to 3 (decks 1 to 8) were already run in
the corresponding AQWA-LINE analysis,
ALTAKBUY, which is referenced here.

Deck 9
09 DRM1
This deck is used to input the added mass and damping at drift
frequency and the non-linear drag forces due to the yaw motion
of the structure at drift frequency. DRM1 indicates structure 1.
09FIDA 1.0373E6 1.5702E7 1.0E12 1.0E15 1.0E15
2.2564E11
FIDA - Frequency independent additional diagonal added mass.
Values are given for each degree of freedom and are added to
the added mass already calculated by the programme, at all
frequencies.
09FIDD 1.80E5 1.80E6 1.0E10 1.0E13 1.0E13
1.00E10
FIDD - Frequency independent additional diagonal damping.
Values are given for each degree of freedom and are added to
the damping already calculated by the programme, at all
frequencies.

END09YRDP 4 305 2500.0
YRDP Yaw rate drag parameter. As the vessel yaws there is
additional transverse drag. This is accounted for by the YRDP
card. The first 2 numbers are node numbers which define the
length of the vessel at the centre-line at the water surface. The
third number is the yaw rate drag coefficient, which is defined as
the force per unit length per unit velocity squared where the
velocity is that of a side-on current (i.e. a current at right angles
to the direction along which its 'length' is defined). A function of
this force, together with the local current velocity is integrated
along the 'length' of the structure to give the total drag force.
DRM2
DRM2 indicates structure 2.
END FIDD 10E5 10E5 10E5 10E7 10E7
10E7

Deck 10
10 HLD1
Deck 10 is used to input hull drag coefficients and thruster forces. The
header HLD1 indicates that values for structure 1 will follow.
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
10WIFY 1 5 0.000E0 1.803E3 3.623E3 5.168E3 6.093E3
10WIFY 6 10 6.293E3 5.618E3 4.103E3 1.873E3 8.374E-14
The WIFX and WIFY cards are used to specify the wind force
coefficients in the X and Y directions of the fixed reference axis. The
first two numbers specify the range of directions, as given in deck 6 of
the AQWA-LINE run, at which coefficients will be given. The remaining
numbers are the coefficients, which are multiplied by the wind velocity
squared to give the force.

10WIRZ 1 5 2.475E2 -1.407E5 -1.689E5 -1.068E5 -1.167E4
10WIRZ 6 10 1.167E5 1.842E5 1.559E5 8.647E4 -2.475E2
WIRZ represents the moment about the Z axis.
10CUFX 1 5 0.505E5 0.572E5 0.532E5 0.344E5 0.172E5
10CUFX 6 10 -0.160E5 -0.295E5 -0.451E5 -0.466E5 -0.551E5
10CUFY 1 5 0.000E0 0.207E6 0.394E6 0.486E6 0.542E6
10CUFY 6 10 0.550E6 0.478E6 0.382E6 0.195E6 0.000E0
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
CUFX and CUFY refer to current forces in the X and Y directions whilst
CURZ indicates the moment about the Z axis.
10 FINI

Deck 11
11 NONE
Deck 11 is used to input steady uniform current and
wind velocity. In this example wind is specified in
deck 13.
Deck 12
12 NONE
This deck is used to impose constraints on the
movement of structures in the form of articulations
and freedom deactivation.

Deck 13
13 SPEC
Deck 13 is used to specify the wave spectrum
13SPDN 5.0
The SPDN card is used to input the wave spectral direction.
13CURR 1.00 15.0
A wind speed of 1.0m/s is specified acting at 15.0 degrees.
13WIND 25.00 15.0
A wind speed of 25.0m/s is specified acting at 15 degrees.
END13PSMZ 0.3000 2.0000 4.000 8.000
The data input on this line is as follows:
PSMZ Indicates a Pierson-Moskowitz wave spectrum is used
0.30 2.00 Start and finish frequencies for the spectrum
4.0 significant wave height.
8.00 zero crossing period

Deck 14
14 MOOR
This deck is used to input the definition of mooring lines. In this case
four identical elastic catenary lines are used between the buoy and the
seabed, their properties are defined below:
14COMP 20 30 3 40.0 55.0
The data on this card is as follows:
COMP This card indicates a composite mooring line consisting of one
or more elastic catenarys.
20 30 - The lines are represented within AQWA in the form of a 2-D
load extension database, these values are the numbers of Z and X
coordinates to be used in creating the database.
3 The number of lines making up the cable (the number of ECAT
cards that follow)
40.0 55.0 the expected maximum and minimum Z distances
between anchor and fairlead. I.e. vertical distance between the two
ends of the line minus and plus the expected range of motion of the
vessel.

14ECAT 150.00 0.00 6.0000E8 7.500E6 60.0
14ECAT 120.00 0.00 9.0000E8 7.500E6 100.0
14ECAT 170.00 0.00 6.0000E8 7.500E6 70.0
The ECAT cards define the properties of each section of the composite
mooring line. The input data for the first section is as follows:
150 Mass per unit length,
0.0 Cross-sectional area, in this example this is set to 0.0, since the
mass per unit length given previously is the dry mass minus the mass
of displaced water, i.e the buoyancy has already been factored in.
6.0000E8 EA, where E is the Youngs modulus and A, the cross-
sectional area.
7.5E6 - The maximum tension at the attachment point, used in setting
up the load/extension database.
60.0 Length of this section of the mooring line.
N.B the definition of ECATs starts at the anchor point.

14NLIN 2 1511 0 2511
14NLIN 2 1512 0 2512
14NLIN 2 1513 0 2513
14NLIN 2 1514 0 2514
Having defined the properties of the mooring line, NLIN cards
specify start and end nodes. I.e. line 1 is from node 1511 on
structure 2 to node 2511. A structure number of zero indicates a
fixed node.
COMP 1 0.0 25.0
ECAT 150.0 0.0 6.0000E8 7.500E6 150.0
14NLIN 1 802 2 3000
The line between the buoy and the vessel is setup in a similar
way.
END14LBRK 5 100
At 100 seconds line 5, which connects the vessel and buoy
breaks.

Deck 15
15 STRT
Deck 15 is used to modify the starting positions (and
velocities) of the structures where necessary.
15POS1 220.00 0.00 0.00 0.00
0.00 0.00
END15POS2 0.00 0.00 0.00 0.00
0.00 0.00
POS1 and POS2 indicate the starting positions of the
centres of gravity for structures 1 and 2 respectively
in the fixed reference axis.

Deck 16
16 TINT
This deck is used in the time domain programmes, AQWA-
NAUT and AQWA-DRIFT, to input the parameters relating to the
numerical integration.
END16TIME 2001 0.1
In this case 2001 time steps of 0.1 seconds will be run.
Deck 17
17 NONE
This deck is used to input parameters relating to non-diffracting
elements and is not used in this analysis.

Deck 18
18PROP
Deck 18 is used to request additional printing of results to the
listing and graphics files.
18PTEN 1
18PTEN 2
The PTEN cards indicate that tensions in all cables attached to
the given structure are to be printed to the .lis file.
18NODE 1 2650
18NODE 1 999 2 3999
NODE The positions, velocities and accelerations of nodes
2650 and 999 of structure 1 will be output to the listing file. The
values for node 2650 will be with respect to the FRA, whereas
those for node 999 will be with respect to node 3999 of structure
2.

18ZRON
ZRON - Instructs the programme to print relative to the water
surface, the Z coordinate of all nodes subsequently referenced
by NODE cards.
18NODE 2 3999
See above.
END18PREV 101
Indicates how often positions and forces are to be printed to the
listing file. I.e. every 101st timestep.

Decks 19 & 20
19 NONE
20 NONE
These decks are unused.

02AQWA Example C A Tanker and Bouy

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2006 ANSYS, Inc. All rights reserved.

1 ANSYS, Inc. Proprietary

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