Aqwa Training SXD 9

AQWA Training Course
Dr Shuangxing Du
ANSYS Inc.
2010 ANSYS, Inc. All rights reserved.
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
LIBRIUM
FER
WAVE
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
10
SEMI-SUB
11
LIFTING
12
GREEN OCEAN ENERGY
13
ANSYS-to-AQWA Interface
14
AGS mesh generation
15
AGS Post-processing
Force & Response Curves
Shear Force & Bending Moment
16
AGS Post-processing
Wave surface contour
Pressure contour
Diffracted wave surface

17
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
18
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.
0
plane
the positive z axis is vertically
upwards
a right handed system
it is not related to the directions North, South, East and West
19
p = Z 0
Hydrostatic
z
Rigid body motions:
Port side
Stern
Surge, Sway, Heave - translational

Roll, Pitch, Yaw
- rotational
Bow
x
Starboard side
Archimedess principle
Buoyancy of an immersed body = weight of the fluid displaced
G
Hydrostatic pressure
p = Z 0
Z0
G: centre of gravity
B: centre of buoyancy
Buoyancy is the resultant of all hydrostatic force over wetted surface
20
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 anticlockwise.
Directions in AQWA are input and output in degrees.
Wave direction (or current, wind)
positive angle
X axis
21
Phase Angle
In AQWA, the phase angle ( 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= *T/360, where T is the wave
period).
A positive phase angle indicates that the parameter

lags behind the wave.
22
Waves in AQWA
Wave Types:
1)
Airy Waves (linear wave)

a = A cos (-t + kx)
(: frequency in radians/sec; k: wave number)
Used in AQWA LINE, LIBRIUM, FER, DRIFT, NAUT
(optional)
2)
Stokes 2nd Order Waves

a = A cos (-t + kx) + 0.5 k A cos2(-t + kx)
Used in AQWA NAUT by default
23
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
24
Waves in AQWA
Wave spectrum types accepted in AQWA are:
a.
b.
c.
d.
P-M spectrum
JONSWAP spectrum
User defined spectrum
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)
25
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
26
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 structures oscillation which

generates waves.
Drift force (net force due to high order effect)
27
hydrodynamic forces on structures

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

to structure motion
Wave exciting force
Ambient pressure
(incident wave or
Froude-Krylov force)
Effect of structure
on waves
(Diffraction)
F()
In-phase
(Added Mass)
Out-of-phase
(Radiation
damping)
Ma().x
C().x
28
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.
29
Morison Force
Equation for Morison force calculation
For slender cylindrical elements (D/<0.2), e.g. tube
elements, the hydrodynamic force on unit length of the
element can be calculated using Morison equation:
1
F = a w + C a a w C a X + C d DV V
2
Ca and Cd are the added mass and drag coefficients of the element;
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
30
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
31
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
32
Theory in AQWA LINE

Assumptions
Ideal fluid, irrotational and incompressible
small wave elevation
Governing equation for the velocity potential
2 = 0
(V = )
Body boundary condition (Timman-Newman relations)
j (r )
n
= ie n j + Um j
( n1, n2 , n3 ) = n,
( n4 , n5 , n6 ) = r n
(m1, m2 , m3 ) = n [(Ux + s )] / U = 0,
(m4 , m5 , m6 ) = n [r (Ux + s )] / U = (0, n3 , n2 )
33
Theory in AQWA LINE
Linearized free surface condition
e2
=0
z g
Sea bed boundary condition
= 0 when z for deep water
= 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
34
Theory in AQWA LINE
Numerical method
Linear superposition of 1st order potential components
= [ I + d +
j =1
x j j ] e iet ,
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
e = (1
U
g
cos )
: angle between incident wave and forward speed
35
Theory in AQWA LINE
Incident wave potential for finite water depth d
I e i t
ig cosh[k ( z + d )]eik ( x cos + y sin + ) e i t

=
cosh(kd )
in which k is the wave number defined by:

2 = gk tanh(kd )
Solution for diffracted and radiated wave potentials

using pulsating source distribution
1
( x, y , z ) =
G ( x, y, z; , , ) ds
4 sb
36
Theory in AQWA LINE

Greens function (finite depth water, frequency domain):
G ( x, y, z; , , )
=
1 1
+ '
R R
( + )e d
cosh ( + d ) cosh ( z + d ) J 0 ( r )d
+ 2 pv
0 sinh( d ) cosh( d )
(k 2 2)
cosh k ( z + d ) cosh k ( + d ) J 0 (kr )
+ 2 i 2 2
(k )d +
Database method used for efficient and accurate evaluation
Minimum input frequency (rad/s): 0.05 * g / d
37
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:
G ( x, y, z; , , )
( x, y, z )
1
1
ds
= ( x, y , z ) +
4 sb
n
2
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.
38
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) = gw t
1st order wave forces are obtained by integrating
the pressure over the mean wetted body surface.
Froude-Krylov and diffraction force F j (e ) = S n j (ie + U )(I + d ) dS
b
x
Added mass and damping

e2 M a ij (e ) + ieCij (e ) = Sb ni (ie + U ) j dS
x
Restoring (hydrodynamic stiffness)
K ij = g Sb ni w j dS
Special cases
K15 = g Sb n1w5 dS mg , K 24 = g Sb n2 w4 dS + mg
39
Theory in AQWA LINE

Second order forces
Perturbation approach (: small number related to wave amplitude)
1
p = t ( ) + gZ = p ( 0) + p (1) + 2 p ( 2) + ...
2
(0)
(1)
2 ( 2)
X = ( X , Y , Z ) = X + X + X + ...
If the 1st order motion/potential/force in the form of
N
Different freq. components
F ( t ) = (ai sin i t + bi cos i t )

(1)
i =1
then the 2nd order force in
Sum freq. components
N N
F ( 2) (t ) = { cij sin[(i j )t ] + d ij cos[(i j )t ]

i =1 j =1
+ eij sin[(i + j )t ] + f ij cos[(i + j )t ]}

mean 2nd order force components ( i = j )
N
( 2)
F = d ii
i =1
40
Theory in AQWA LINE
2nd order mean drift force calculation

Far field solution (momentum conservation method):
( 2)
Fstrc
=
d
dt
d pn d S
SR
V
d VVn dS pn d S
t
S
S
R
SR: vertical cylindrical boundary surrounding the structure

in the flow field with a large radius R,
: fluid volume surrounded by SR and the structure surface.
- More accurate
- Horizontal force/moment only
- Single structure only (or multi-bodies without hydrodynamic interaction)
41
Theory in AQWA LINE
Near field solution

(pressure/motion integration method):
( 2)
Fstrc
= 0.5 g r2 n dl + 0.5 n dS
2
WL
Sb
..
+ ( X . )n dS + M s .R. X g
t
Sb
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
42
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
)] + Pij+ cos[ (i + j )t + ( i + j )]}
)]+ Qij+ sin[ (i + j )t + ( i + j )]}
F ( 2 ) (t ) = Pij cos (i j )t + ( i
N N
i =1 j =1
+ Qij sin (i j )t + ( i
N N
i =1 j =1
1 2
2-D plot of QTF(real)
Diagonal: Mean drift force/unit wave of 2
Pij (i , j ) / i j
AGS -> File ->open
Graph -> Function/processing

-> Data processing -> Wave forces
-> Full-coupled QTFs -> 2-D plot
CQTF card in Options on Deck 0
i
n
43
Theory in AQWA LINE

Pij( ) = 1 4 g i . j cos( i j )n dl
Waterlineintegral
WL
+ 1 4 i . j n dS
Bernoulli
Sb
2 ( X i .
Sb
j
t
)n dS
Acceleration
..
Qij( )
+ M s .Ri . Xg j
Momentum
( 2)
.n.dS
+
t
Sb
2nd order potential
similar to above
44
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:
[ 2 ( M s + M a ( )) iC ( ) + K ] X ( ) = F ( )
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).
45
Fluid forces on structures

Fluid force
Hydrodynamic
Radiation force due

to structure motion
Wave exciting force
Ambient pressure
(incident wave or
Froude-Krylov force)
Effect of structure
on waves
(Diffraction)
F()
Hydrostatic
In-phase
(Added Mass)
Ma().x
46
Out-of-phase
(Radiation
damping)
C().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.
47
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)
48
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)
49
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)
COG
ZLWL(deck2)
X
x
User Defined System

Right handed,
oxy plane shifts vertically from OXY of FRA
50
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
51
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)
52
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)
53
AQWA File Types

INPUT/OUTPUT FILES (between stages)
.res
.hyd
.eqp
.uss
.pot
restart file (binary, LBDNF)

hydrodynamics file (binary, L)
equilibrium position file (binary, B)
source strength file (binary, with LDOP in Deck 0, L)
potential file (binary, with LDOP in Deck 0, L)
OUTPUT FILES
.mes
.lis
.pos
.plt
.pac
output message file (ASCII, LBDNF)

output listing file (ASCII, LBDNF)
output position file (binary, DN)
output graphic file (binary, LBDNF)
pressures at centroids (binary, L)
.vac
velocities at centroids (binary, L)
See AQWA-Ref 1.3 for details

54
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.
55
AQWA-LINE Example Data File

JOB MESH LINE
TITLE
MESH FROM LINES PLANS/SCALING
OPTIONS REST END
RESTART
1 2
*Deck 1 Coordinates -------------01
COOR
01
1
45.000
-45.000
0.000
01
2
22.500
-45.000
0.000
. . .
01 511
146.000
0.000
0.000
. . .
END01 999
0.000
0.000
-10.620
*Deck 2 Element Definitions ------------02
ELM1
02SYMX
02SYMY
02QPPL DIFF
0 (1)(
1)(
2)(
12)(
11)
. . . .
02QPPL
0 (1)(
1)( 101)( 103)(
3)
. . . .
END02PMAS
0 (1)( 999)(
1)(
1)
02
FINI
56
Deck 0: overall
administration parameters
Analysis Stages
Deck 1: Node coordinates

* 999 for PMAS node
Deck 2: Element definitions
Note: Symmetry card

(1)
Save pre-processing time
(2)
Save CPU time
(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
57
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
x
58
AQWA Data file format

JOB MESH LINE
TITLE
OPTIONS REST END
RESTART
1 2
4col 4col5 col5 col 10 cols
10 cols
10 cols
01
COOR
01
1
END01 999
45.000
0.000
Column 21
02
ELM1
02QPPL DIFF
0(1)(
06FREQ
1)(
0.10472
-45.000
0.000
2)(
0.000
-10.620
12)(
0.15708
11)
0.25133
0.41888
0.52360
Note: Most input data should be typed into the required columns !!!
See AQWA-Reference Chapter 4 for details
59
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.
60
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
61
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
Used for
hydrodynamic database
further run
AGS
regenerate .HYD file (RDDB)
further run
manipulate (ALDB in Deck 0,
FILE in Deck 6 )
62
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.
63
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
64
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
65
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, (water): UNITS
Deck Header (compulsory)
66
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)
67
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)
68
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)
Regular Wave Parameters (N)
WAVE
Deck 14 MOOR
Mooring Line Definitions

(mooring, fender, pulley, winch)
* Structure Number
69
Stage 4 (cont)
Deck 15
STRT
Starting Conditions (BFDN)
Deck 16
TINT
LMTS
Time Integration Parameters (D,N)

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
70
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)
71
AQWA Element Types

Elements are defined in AQWA Deck 2:
QPPL :
TPPL :
TUBE :
STUB :
PMAS:
PBOY:
FPNT :
DISC :
Quadrilateral panel (diffracting or non-diffracting)

Triangular panel (diffracting or non-diffracting)
Tube element (circular cross section)
Slender tube element (non-circular cross section allowed)
Point mass and inertia
Point buoyancy
Field point (for wave surface calculation)
Circular disc with no thickness.
Notes:
(1) DIFF is needed for diffracting QPPL and TPPL elements;
(2) ILID/VLID for defining external diffracting elements;
72
Definition of other elements

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

See APP H
Define DISC elements
0.00
0.00
73
6000.00
0.0
4000.00
Warnings in AQWA-LINE
General warnings
requirements
reason
No. of elements 8000 diff.

12000 total
solution time
Normals point out
modelling convention
No gaps
force balance
Facets cannot cut surface
solution requirement
Dimensions < KR
good practice
74
Stage #1 checks (Geometric properties)
Area ratio of adjacent elements < 3
Aspect ratio > ,
AR =
(c=1, for QPPL; c=2.3, for TPPL)
rf =
Element centres at least one

facet radius apart
area
.C
2
longest side
area
Shape factor (parameter for the regularity of panel)

< 0.2 warning
< 0.02 fatal error
Note: See AQWA-Course Appendix 3 for detail
75
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
76
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
77
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)
78
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)
79
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.
80

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.
81

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
82

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
83
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
Structure number in
06CSTR
1
ALTANK2
END06CPDB
(4) run AQWA-LINE for ALTANK3.DAT (which takes a few seconds).
84

(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
Structure number in AL1
06CSTR 1
END06CPDB
(3) add new damping coefficients
(CRNM option needed for RAO recalculation);
07
WFS1
07ZCGE
END07FIDD
New card to add damping

Columns 51-60 for roll
damping
0.0000
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)
85

(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
86
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
87
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 X = 0
Eigenvalue (<0, unstable; =0, neutral; >0, stable)
Dynamic stability
M 1C M 1K X
X
+ = 0,
0 X
I
X
(from MX + CX + KX = 0, X = et , = f + ig )
Eigenvalue (f<0, stable; f>0 and g=0, unstable; f>0 and g0, fishtailing)
88
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
(Restart 1 to 3)
Step 2: AQWA-LIBRIUM run

(Restart 4 to 5)
Input Files
Output Files
Input Files
altest.dat
altest.lis
altest.res
altest.hyd
altest.plt
abtest.dat
altest.res
Output Files
abtest.lis
abtest.res
abtest.eqp
Input in RESTART card
starting from Column 21
89
Analysis Procedure (cont)

Stage 4 in AQWA-LIBRIUM
model definition
main analysis parameters
restart file
restart file
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)
90
AQWA-LIBRIUM
JOB TEST LIBR
TITLE
OPTIONS REST END
RESTART
4 5
09
NONE
10
NONE
11
NONE
12
NONE
13
SPEC
13SPDN
END13PSMZ
14
MOOR
14LINE
1
14LINE
1
14LINE
1
END14LINE
1
15
STRT
END15POS1
1
16
NONE
17
NONE
18
NONE
19
NONE
20
NONE
(Example 1)
JOB card
FALTINSEN BOX - MODEL 1
Read database
ALBOXM
Deck 9: drift motion parameters;

Deck 10: wind and current drag; Deck 12: constraints;
Deck 11: environment;
Deck 13: spectrum
315.0
0.300
501
502
503
504
1
0
0
0
0
2.000
4.000
511
512
513
514
1.4715E6
1.4715E6
1.4715E6
1.4715E6
100.0
100.0
100.0
100.0
0.0
0.0
1.5
8.000
Deck 14: Mooring system

NB new nodes needed
0.0
0.0
Deck 15: Initial position of COG in global frame
91
Drag in AQWA (deck 10)

(1) Current and Wind Force Coefficients
DIRN
SYMX
CUFX
WIFX
etc
Dir1
DirN
1 . N
Dir1
Dir1
DirN
DirN
C1 . CN
C1 . CN
(optional)
(optional)
Direction sequence no.

If DIRN is not present in Deck 10,
the directions are those defined
on the DIRN cards in Deck 6
Dir: direction number directions default to LINE wave directions;

C1: Drag Force Coefficients
For relative current velocity V in direction
force in X direction = CUFX.V2
force in Y direction = CUFY.V2
yaw moment
= CURZ.V2
92
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
C
21 C22
C
C32
DragForce = 31
C41 C42
C51 C52
C61 C62
C13
C14
C15
C23
C24
C25
C33
C43
C53
C63
C34
C44
C54
C64
C35
C45
C55
C65
93
C16 x. x
C26 y . y
C36 z. z
.
C46 .
C56 .
C66 .
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
94
AQWA-LIBRIUM Example 2 (ABTANK4)

JOB TANK LIBR
JOB card
TITLE
SINGLE TANKER WITH MOORING
OPTIONS REST PBIS END

RESTART 4
ALTANK4
Read database
Direction sequence no.
If DIRN is not present in Deck 10, the directions
are those defined on the DIRN cards in Deck 6
09
NONE
10
HLD1
10SYMX
10DIRN
1 5
0.0
20.00
40.00
60.0
10DIRN
6 10
100.00
120.00 140.00
160.0
10WIFX
1 5 1.460E3 1.692E3 1.685E3 1.175E3
10WIFX
6 10 -3.427E2 -9.839E2 -1.520E3 -1.692E3
10CUFX
1 5 0.505E5 0.572E5 0.532E5 0.344E5
. . .
END10CURZ
6 10 0.808E7 0.220E8 0.191E8 0.103E8
95
80.00
180.00
3.745E2
-1.794E3
0.172E5
0.00000

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

96

14
MOOR
14LINE
1 5001
14LINE
1 5002
14LINE
1 5003
14LINE
1 5004
END14
15
STRT
15POS1
END
16
LMTS
END16MXNI
200
17 NONE
18 NONE
19 NONE
20 NONE
Deck 14: Mooring system

0 6001
0 6002
0 6003
0 6004
1.50E6
1.50E6
1.50E6
1.50E6
142.0
142.0
142.0
142.0
Deck 15: Initial position
100.00
0.000
0.000
0.000
0.000
0.000
Deck 16: Iterative parameters
97
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)
98
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).
99
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
(Ns1, Ns2: structure numbers; Nd1, Nd2: node numbers;

K: stiffness;
L: unstretched length)
(2) POLY: Polynomial elastic line (weightless)
14POLY
14NLIN
K1
Ns1
K2
Nd1
K3
Ns2
K4 K5
Nd2 (Ts)
(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)
10

(cont.1)
(3) COMP/ECAT: Composite elastic catenary (with weight)
14COMP
14ECAT
14ECAT
14ECAT
14NLIN
Nz
Ns1
Nx
Nd1
Ne
Ns2
Zmin
M1
M2
M3
Zmax
A1
A2
A3
Slope
EA1
EA2
EA3
Tmax1
Tmax2
Tmax3
L1
L2
L3
Nd2
Start from anchor point
Nz, Nx
Ne
Zmin, Zmax
Slope
-- number of database points within z and x ranges.

-- number of ECAT in this COMP line.
-- Z range (measured from the anchor) for the attachment node.
-- 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-- Youngs 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).
10
Moorings database
XRMIN
XRMAX
ZRMAX
ZRMIN
Max. tension point
Slack point
10
AQWA-LIBRIUM Example 3
JOB MESH LIBR
TITLE
OPTIONS REST PBIS LSTF END
Stages
RESTART
1 5
01
COOR
015001
1700.
0.
-300
015002
200.
-1500.
-300
015003
200.
1500.
-300
Nodes
015004
-1500.
0.
-300
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
10
JOB card
1-5, if Deck 1-8 include
for anchor points
AQWA-LIBRIUM Example 3 (cont.)

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

10CUFX
1
10CUFX
6
10CUFY
1
10CUFY
6
10CURZ
1
END10CURZ
6
11
NONE
12
NONE
13
SPEC
13SPDN
13CURR
13WIND
END13PSMZ
14
MOOR
14COMP
20
14ECAT
14ECAT
14ECAT
14NLIN
1
14NLIN
1
14NLIN
1
END14NLIN
1
15
STRT
END15POS1
5
9
5
9
5
9
0.505E5
-0.160E5
0.000E0
0.550E6
0.000E0
0.808E7
315.0
1.00
10.00
0.3000
30
3201
3201
3201
3201
0
0
0
0
0.572E5
-0.295E5
0.207E6
0.478E6
-0.118E8
0.220E8
0.532E5
-0.451E5
0.394E6
0.382E6
-0.213E8
0.191E8
0.344E5
-0.466E5
0.486E6
0.0
-0.239E8
0.0
0.172E5
0.542E6
-0.118E8
Composite catenary
(start from anchor section)
315.0
315.0
2.0000
4.000
8.000
280.
150.00
120.00
170.00
300.
0.00
0.00
0.00
6.0000E8
9.0000E8
6.0000E8
7.500E6
7.500E6
7.500E6
500.0
500.0
700.0
5001
5002
5003
5004
213.000
-213.000
-2.00
0.000
0.000
144.0
Fairlead first, anchor point second

10

16
LMTS
16MXNI
16MMVE
1
END16MERR
1
17
NONE
18
NONE
19
NONE
20
NONE
250
1.5
0.5
1.5
0.5
1.5
0.5
1.5
0.5
1.5
0.5
1.5
0.5
Iteration controls
10

(cont.2)
AQWA Cable Dynamics (only applicable to COMP/ECAT): (abtank6)
14
MOOR
14COMP
20 30
14ECAT
14ECAH
14ECAT
14ECAT
14ECAH
14NLID
1 5001
14NLID
1 5002
14NLID
1 5003
END14NLID
1 5004
490.
150.00
1.00
120.00
170.00
1.00
0 6001
0 6002
0 6003
0 6004
510.
0.010 6.0000E8 7.500E6
0.75
0.10
0.010 9.0000E8 7.500E6
0.010 6.0000E8 7.500E6
1.00
0.15
400.0
500.0
700.0
Catenary hydrodynamic coefficient
Similar to NLIN
10

(cont.3)
Fenders
14POLY
14FEND
14FLIN Type
in which
K1 K5
Size
Kf
Kc
Type
Ns1
Nd1, Nd2
Ns2
Nd3, Nd4
K1
Size
Ns1 Nd1
K2
Nd2
Ns2
K3
Kf
Nd3
K4
K5
Kc
Nd4
-- non-linear stiffness coefficients

-- uncompressed size of fender (normal direction)
-- tangential friction coefficient
-- normal damping coefficient
-- 1 = fixed fender, 2 = floating fender
-- Structure to which fender is nominally attached
-- Nodes defining attachment point and contact plane on 1st structure
-- Structure which fender contacts
-- Nodes defining attachment point and contact plane on 2nd structure
Note: Be aware of valid range of force extension/compression relationship
T = K1X + K 2 (X ) 2 + K 3 (X )3 + K 4 (X ) 4 + K 5 (X )5
10

(cont.4)
Other cards in deck 14 (refer to AQWA Reference Manual for more details)
BUOY/CLMP A buoy or clump weight
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.
LE2D:
User defined tension/extension data base.
SWIR:
Steel wire with non-linear stiffness.
With weight
(COMP/ECAT,NLIN,NLID)
Without weight
(LINE,NLIN, FEND/FLIN)
DWT0/LNDW A line winding in or out on a winch

LBRK:
Line breaking.
FILE:
Read in mooring definition from an external file *.MOR.
10
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
11
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
11
Theory in AQWA FER
Response spectrum in irregular waves
S xi xi ( ) = [mod( H ij ( ) F j ( ))]2 S ( )
j
Sxixi(): response spectrum in i-th degree of freedom,

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

(in j-th degree of freedom) on the structure
the wave spectrum
11
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
11
Useful options in AQWA FER
JOB options (JOB card)

DRFT
DRiFT frequency only
WFRQ Wave FReQuency only
ANALYSIS options
RDEP
FQTF
(OPTIONS card)
ReaD Equilibrium Position
Full diff freq. QTF to be used
Printing options
PRRI
GLAM
(OPTIONS card)
Printing RAOS at spectrum integration points
Output significant motions in GLOBAL axis
11
AQWA-FER
Example 1
For AQWA-FER run
JOB TANK FER

TITLE
SINGLE TANKER WITH CABLE DYNAMIC
Read equilibrium position
OPTIONS REST RDEP END
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
added mass/damping
13WIND
25.00
315.0
END13PSMZ
0.3000
2.0000
4.000
8.000
11
AQWA-FER Example (cont.)

14
MOOR
14COMP
20
14ECAT
14ECAH
14ECAT
14ECAT
14NLID
1
14NLID
1
14NLID
1
END14NLID
1
15
NONE
*
15
STRT
*
15POS1
*END
16
NONE
17
NONE
18
NONE
19
NONE
20
NONE
30
5001
5002
5003
5004
0
0
0
0
490.
150.00
1.00
120.00
170.00
510.
0.010
0.010
0.010
6.0000E8
1.33
9.0000E8
6.0000E8
0.000
0.000
0.000
7.500E6
0.10
7.500E6
7.500E6
400.0
500.0
700.0
6001
6002
6003
6004
100.00
0.000
0.000
Not needed due to RDEP
11
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
11
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:
[M s + M a ()] X (t ) + KX (t ) + h(t ) X ( )d = F1 (t )
0
11
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
( x, y, t ) = ai cos(ki x cos + ki y sin it + i ), ai = 2 S (i )i

i =1
S()
Wavelet: equal areas
.
11
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
12
AQWA-DRIFT
Example 1
Job card for DRIFT run

JOB TANK DRIF WFRQ
TITLE
Drift & wave freq. motions
OPTIONS REST PBIS CONV RDEP END
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
11
NONE
12
NONE
13
SPEC
13SPDN
13CURR
13WIND
END13PSMZ
10
0.808E7
315.0
1.00
25.00
0.3000
0.220E8
0.191E8
0.103E8
0.00000
Convolution method
for radiation force
315.0
315.0
2.0000
4.000
12
8.000
Print at both integration

stages.
AQWA-DRIFT Example (cont.)

14
MOOR
14COMP
20
30
14ECAT
14ECAH
14ECAT
14ECAT
14NLID
1
14NLID
1
14NLID
1
END14NLID
1
15
NONE
16
TINT
END16TIME
2000
17
NONE
18
PROP
END18PREV
5
19
NONE
20
NONE
5001
5002
5003
5004
490.
150.00
1.00
120.00
170.00
0 6001
0 6002
0 6003
0 6004
510.
0.010
6.0000E8
0.010
0.010
9.0000E8
6.0000E8
0.5
7.500E6
1.33
7.500E6
7.500E6
400.0
0.10
500.0
700.0
Define no. and value of time steps
Define printing options
12
Useful options in AQWA DRIFT

WFRQ
Include Wave FReQency (default is Drift frequency only)
CONV
Use CONVolution
PBIS
RDEP
FQTF
Print Both Integration Steps

Use diff freq. full QTF matrix (CQTF should be in LINE)
12
AQWA-NAUT
Example 1
JOB MESH NAUT

Job card for NAUT run
TITLE
Default regular wave
RESTART
1 5
analysis
01
COOR
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
12
AQWA-NAUT
06
FDR1
06FILE
06CSTR 1
END06CPDB
07
WFS1
07ZCGE
END07FIDD
08
NONE
09
DRM1
09FIDD
END09
10
HLD1
10WIFX
1
. . . .
END10CURZ
6
11
NONE
12
NONE
13
WAVE
13WAMP
13WVDN
END13PERD
Example 1
(cont.)
Copy AQWA-LINE database
AL******.HYD
-2.0000
9.986E08
1.0373E5
1.5702E6
1.0E07
4.0E09
2.0E10
1.460E3
1.692E3
1.685E3
1.175E3
3.745E2
0.808E7
0.220E8
0.191E8
0.0
12.0
135.0
12.00
5.000E09
Regular wave parameters
12
AQWA-NAUT
14
MOOR
14COMP
20
14ECAT
14ECAT
14ECAT
14NLIN
1
14NLIN
1
14NLIN
1
END14NLIN
1
15
STRT
END15POS1
16
TINT
END16TIME
17
NONE
18
NONE
19
NONE
20
NONE
30
3201
3201
3201
3201
0
0
0
0
280.
150.00
120.00
170.00
(cont.)
300.
0.00
0.00
0.00
6.0000E8
9.0000E8
6.0000E8
7.500E6
7.500E6
7.500E6
500.0
500.0
700.0
5001
5002
5003
5004
213.000
2000
Example 1
-213.000
-2.00
0.000
0.000
144.0
1.0
12
AQWA-NAUT
Example 2
Job card for NAUT run

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

CONV mandatory
315.0
315.0
2.0000
4.000
8.000
0.5
12
Useful options in AQWA NAUT
IRRE
IRREgular wave analysis (CONV mandatory)
CONV Use CONVolution

LSTF
Linear STiFness. Uses hydrostatic stiffness

from LINE without modification.
RDEP
12
Multiple structures (1)

without hydrodynamic interaction
Wave,
wind,
current
directions
12
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.
13
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
. . . .
. . . .
Node definition
01 999
110.552
0.000
15.000
* 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
13
for structure 2
AQWA-LINE
02
ELM1
02SYMX
02QPPL DIFF
. . . . .
END02PMAS
02
ELM2
02SYMX
02QPPL DIFF
. . . . . .
END02PMAS
02
FINI
03
MATE
03
END03
04
GEOM
04PMAS
END04PMAS
(cont.)
Element definition of ST#1

1 (1)(
101)(
1)(
6)(
102)
Material no. of ST#1

0 (1)(
999)(
1)(
1)
1 (1)(
101)(
1)(
6)(
0 (1)(
1 1.23009E8
2 1.23009E8
1
2
957.0E7
957.0E7
999)(
2)(
0.000000
0.000000
0.0
0.0
102)
Geometry no. of ST#1
2)
0.000000
0.000000
0.0 19050.0E7
0.0 19050.0E7
13
Material and geometry

definition of ST#1
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
07
WFS2
07ZCGE
0.0000
END07FIDD
08
NONE
1.000E9
1.000E9
13
AQWA-LIBRIUM : Multiple structures

(AB2TANK1)
JOB TANK LIBR

TITLE
TWO-TANKER WITHOUT HYDRO. INTER.
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
FINI if no data for STR 2
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
13
AQWA-LIBRIUM (cont.)
. . . .
14
MOOR
14COMP
20
30
14ECAT
14ECAH
14ECAT
14ECAT
14NLIN
1 5001
14NLIN
1 5002
14NLIN
1 5003
14NLIN
1 5004
14LINE
1 5501
END14LINE
1 5502
15
STRT
15POS1
15POS2
END
16
LMTS
16MERR
16MMVE
END16MXNI
1200
17
NONE
18
NONE
19
NONE
20
NONE
0
0
0
0
2
2
490.
150.00
1.00
120.00
170.00
510.
0.010
0.010
0.010
6001
6002
6003
6004
5501
5502
1.50E7
1.50E7
100.0
100.0
100.00
-215.00
0.000
-000.00
0.000
0.000
0.05
2.00
0.05
0.5
0.05
2.00
6.0000E8
1.33
9.0000E8
6.0000E8
7.500E6
0.10
7.500E6
7.500E6
400.0
500.0
700.0
Mooring line between str#1-2
Initial position of COGs

0.000
0.000
0.1
1.0
0.000
0.000
0.1
1.0
0.000
0.00
0.2
2.0
Iterative control
13
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
13
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
09FIDD
1.80E5
1.80E6
1.0E10
END09
09
DRM2
09FIDA
1.0373E6 1.5702E7
1.0E12
09FIDD
1.80E5
1.80E6
1.0E10
END09
10
HLD1
10WIFX
1
5
1.460E3
1.692E3
1.685E3
. . . .
END10CURZ
6
10
0.808E7
0.220E8
0.191E8
10
HLD2
10WIFX
1
5
1.460E3
1.692E3
1.685E3
. . . .
END10CURZ
6
10
0.808E7
0.220E8
0.191E8
13
1.0E15
1.0E13
1.0E15 2.2564E11
1.0E13
1.00E10
1.0E15
1.0E13
1.0E15 2.2564E11
1.0E13
1.00E10
1.175E3
3.745E2
0.103E8
0.00000
1.175E3
3.745E2
0.103E8
0.00000
AQWA-NAUT
(cont.)
. . . .
13
SPEC
13SPDN
13CURR
13WIND
END13PSMZ
14
MOOR
. . . . .
END14LINE
1 5501
*
15
STRT
*
15POS1
* END15POS2
15
NONE
16
TINT
END16TIME
2000
. . . . .
20
315.0
1.00
25.00
0.3000
315.0
315.0
2.0000
4.000
2 5501
1.50E7
100.0
100.00
-215.00
0.000
-000.00
0.000
0.000
8.000
0.000
0.000
0.000
0.000
0.000
0.00
0.5
Due to RDEP
NONE
Time step control
13

with hydrodynamic interaction
calculate hydrodynamic coefficients which take
full account of hydrodynamic interaction.
up to 20 interacting structures can be included.
13
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

14
AQWA-LINE (cont.)
02
ELM1
02SYMX
02QPPL DIFF
1 (1)( 101)(
1)(
6)( 102)
. . . . .
02TPPL
45 (1)( 4606)( 4506)( 4507)
Remove geometric symmetry
02RMXS
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)
Needed when MSTR card used.
02PMAS
0 (1)( 5501)(
3)(
3)
02PMAS
0 (1)( 5502)(
3)(
3)
END02MSTR
(999) (212.3182, -221.0850,5.5864)
02
ELM2
Move structure
02HYDI
1
. . . . . . . .
Hydrodynamic interaction
END02MSTR
(999) (247.5926,-314.7867, 5.6123)
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
14
AQWA-LINE (cont.)
. . . .
06
FDR1
06FREQ
1
06FREQ
7
06DIRN
1
06DIRN
6
06DIRN
11
END06DIRN
16
06
FDR2
06FREQ
1
06FREQ
7
06DIRN
1
06DIRN
6
06DIRN
11
END06DIRN
16
07
WFS1
07ZCGE
END07FIDD
07
WFS2
07ZCGE
END07FIDD
08
NONE
6
11
5
10
15
19
0.10000
0.70000
-180.00
-80.00
20.00
120.00
0.20000
0.80000
-160.00
-60.00
40.00
140.00
0.30000
0.90000
-140.00
-40.00
60.00
160.00
0.40000
1.00000
-120.0
-20.0
80.0
180.0
0.50000
1.10000
-100.00
0.00
100.00
0.60000
6
11
5
10
15
19
0.10000
0.70000
-180.00
-80.00
20.00
120.00
0.20000
0.80000
-160.00
-60.00
40.00
140.00
0.30000
0.90000
-140.00
-40.00
60.00
160.00
0.40000
1.00000
-120.0
-20.0
80.0
180.0
0.50000
1.10000
-100.00
0.00
100.00
0.60000
No symmetry,
-180 to +180
0.0000
1.000E9
0.0000
1.000E9
Note: wave frequencies and

directions MUST be same
for hydro. interacting
structures
14

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
14
Symmetry
SYMX means that AQWA can assume that the analysis is

symmetric ABOUT THE FRA X-AXIS. This allows timesaving 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
14
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
14
LIDS (cont)
02
ELM1
02ILID AUTO
02VLID
02SYMX
02QPPL DIFF
. . . . .
02PMAS
02MSTR
02QPPL DIFF
02QPPL DIFF
. . . . .
END
02
ELM2
02HYDI
. . . . . . .
END02MSTR
02
FINI
(LID_SIZE=2.0,START_NODE=5000)
777 (DAMP=0.01,GAP=8.0)
1 (1)(
101)(
1)(
6)(
102)
ILID elements can be generated

automatically
VLID elements must be defined in .dat
file
0 (1)( 999)(
2)(
2)
(999) (212.3182, -221.0850,5.5864)
777 (1)( 4606)( 4506)( 4507)(4508)
777 (1)( 4607)( 4508)( 4509)(4510)
1
.
(999) (247.5926,-314.7867, 5.6123)
14
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.
Nt=2: Hinge, rotation in 1 D.O.F.
Nd3
Nt=3: Rigid connection, no rotation.
14
Ns1
Ns2
Nd1, Nd2
Constraints in AQWA (example)
Stinger model
constraints
14
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
....
END016025
02
ELM1
02SYMX
02QPPL DIFF
....
END02TUBE
....
02
ELM3
02TUBE
....
END02TUBE
02
FINI
12.000
0.000
0.000
4.000
(43)( 1,7)( 2,7)( 9,7)( 8,7)
(1)( 6020)( 6017)(2)(2)
(1)( 6001)( 6002)(2)(2)
(1)( 6020)( 6017)(2)(2)
14
Constraints in AQWA
(cont.)
03
MATE
03
END03
04
GEOM
04PMAS
04TUBE
END04TUBE
....
1
2
1.242E8
7850.0
1
2
3
957.0E7
0.500
1.000
12
CONS
12DCON
2
1 6023 6020
END12DCON
2
2 6023 6020
13
NONE
14
MOOR
14LINE
1 5201
2 6025
END14LINE
2 6024
3 6022
....
0.0
0.050
0.050
0.0 19050.0E7
2 6021 6004
3 6021 6004
5.0E05
5.0E05
0.0 19050.0E7
Define a constraint
from St#1 to St#2
25.0
0.0
20NONE
Constraint type:
2 - hinged
15
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 Youngs modulus;
Small inline deformation defined by TSPV/TSPA cards.
15
Definition of Tethers (cont.)

JOB TETH NAUT
TITLE
OPTIONS REST END
RESTART
4 5
09
NONE
. . . . . .
13
WAVE
13PERD
13WVDN
END13WAMP
14
MOOR
14TELM 300 301
14TELM 301 302
14TELM 302 303
14TSPV
14TSPA
14TETH
1
1
END14TETH
1
2
15
STRT
. . . . . .
Define tether elements;
TETHERS
Material no.; see I.8.1.3

Vessel, Node#1
Geometry no.
9.0
0.0
8.0
2
2
2
Node#303
2
2
2
0.0
0.0
0
0
5730.0
5730.0
5730.0
5730.0
401
402
Node#300
Define tether lines
Start from tail/anchor;

Sea bed, Node#401
Min.2; max. 14/24

15
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 Youngs 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.
15
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
15
Linearity
HydroStatics
Diff /
Radiation
FroudeKrylov
Drift
Force
Mooring
Force
Drag
LINE
LIN
LIN
LIN
2nd order
LIBRIUM
eqm
NON
LIN
LIN
2nd order
NON
Linearised
LIBRIUM
stability
LIN
LIN
LIN
2nd order
LIN
Linearised
FER
LIN
LIN
LIN
2nd order
LIN
Linearised
DRIFT
LIN
LIN
LIN
2nd order
NON
NON
NAUT
NON
LIN
NON
NON
NON
15
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
(3) Set up location in
Excel\Tools\Add-ins\Browse
& Excel\Edit\Links
AQL function&value
15
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
15
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
15
The AQWA Simulation Process
CAD
DesignModeler
15
Hydrodynamic Diffraction
AQWA-WB
Meshing Analysing Post processing
16
Project arrangement in AQWA-WB

Tree view
Define parameters via sub-windows
16
Model visualization and

hydrostatic results
16
Messages and graphical plotting

window
16
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
16
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?
16
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.
16
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.
16

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AQWA Training Course

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AQWA Graphical Supervisor (AGS)

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General Relations between Programs

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Typical AQWA Models

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ANSYS, Inc. Proprietary

Typical AQWA Models

2010 ANSYS, Inc. All rights reserved.

ANSYS, Inc. Proprietary

2010 ANSYS, Inc. All rights reserved.

ANSYS, Inc. Proprietary

2010 ANSYS, Inc. All rights reserved.

ANSYS, Inc. Proprietary

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GREEN OCEAN ENERGY

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ANSYS, Inc. Proprietary

2010 ANSYS, Inc. All rights reserved.

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AGS mesh generation

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Force & Response Curves

Shear Force & Bending Moment

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ANSYS, Inc. Proprietary

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

the origin lies in the still water

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Rigid body motions:

Surge, Sway, Heave - translational

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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.

Wave direction (or current, wind)

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

A positive phase angle indicates that the parameter

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Airy Waves (linear wave)

Stokes 2nd Order Waves

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Irregular waves can be in the form of: