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Proceedings of OMAE03
22nd International Conference on Offshore Mechanics and Arctic Engineering
June 8–13, 2003, Cancun, Mexico
OMAE2003-37022
FIRST- AND SECOND-ORDER WAVE FORCES The corresponding expressions for the first- and second-
We consider the first- and second-order interaction of order moments are given by, see Ogilvie [10] (1983) or Liu et
plane bichromatic incident waves with three-dimensional al [6] (1992).
bodies. For analysis, Cartesian coordinates with the xy-pane in
the quiescent free surface and z positive upward are used. ∂Φ (1)
Assuming the ideal fluid and weak non-linearities, we express M (1) = − ρ ∫∫ (x × n)[ + g ( Ψ3(1) + yΩ 1(1) − xΩ (21) )]dS
the total velocity potential Φ as a sum of first- and second-order
SB ∂t
(5a)
potentials:
∂Φ ( 2 )
Φ = ε Φ (1) + ε 2 Φ ( 2 ) (1) M ( 2 ) = − ρ ∫∫ (x × n)[ + g (Ψ3( 2 ) + yΩ 1( 2 ) − xΩ (22 ) )]dS
SB ∂t
At each order, the velocity potentials are decomposed into ρg 1
incident, diffraction and radiation potentials: +
2 ∫WL
(ζ r(1) ) 2 (x × N)dl − ρ ∫∫ (x × n)( ∇Φ (1) ⋅ ∇Φ (1) +
S B 2
∂
Φ (i ) = Φ (Ii ) + Φ (Di ) + Φ (Ri ) , i = 1,2 (2) (Ψ + Ω × x) ⋅ ∇Φ )dS + Ψ × F + Ω (1) × M (1)
(1) (1) (1) (1) (1)
∂t
In the presence of bichromatic incident waves with frequencies 1 2
− ρg (Ω 1(1) Ω 3(1) J 12 + Ω (21) Ω 3(1) J 22 + Ω (21) Ω 3(1) z b ∀ + (Ω 1(1)
ω1 and ω2, we can write the velocity potential Φ and force F in 2
the form: 2 2
+ 2Ω (21) + Ω 3(1) ) y b ∀)i + ρg (Ω (21) Ω 3(1) J 12 + Ω 1(1) Ω 3(1) J 11 +
Φ (1) ( x ) − iω t 1 2 2 2
Φ ( x, t ) 2
j
2 2 Ω 1(1) Ω 3(1) z b ∀ + Ω 1(1) Ω (21) y b ∀ + ( 2Ω 1(1) + Ω (21) + Ω 3(1) ) x b ∀) j
= ε ∑ Re j (1) e
2
+ε ∑ ∑ 2
F (t ) fj
j =1 j =1 k =1
(5b)
Φ ( d ) ( x ) − i (ω − ω )t Φ ( s ) ( x ) − i (ω + ω )t
jk jk where ∀ is the displacement of the body, and xb, yb and zb are
( d ) e ( s ) e
j k j k
Re + the coordinates of the center of buoyancy. In addition, (i,j,k)
f jk
f jk are unit vectors of x, y and z axes, and J ik = ∫∫ xi x k dS
WP
The superscriptions of (d) and (s) denotes the second-order The Eqs. (4b) and (5b) also provide the added mass, wave
difference- and sum-frequency components. The first- and damping and hydrodynamic coefficients for the second-order
second-order wave forces are given respectively by motions at sum- and difference-frequency, and the procedure is
identical to that of the first-order radiation problem except for
∂Φ (1) the shift of relevant frequency. The time mean components of
F (1) = − ρ ∫∫ ndS − ρgAw (Ψ3(1) + y f Ω 1(1) − x f Ω (21) )k (4a) the Eqs. (3), (4b) and (5b) were extensively studied by Liu et al
SB ∂t [7] (1992). In this paper, particular attention is paid on the
second-order difference-frequency forces and moments.
∂Φ ( 2 )
F ( 2 ) = − ρ ∫∫ ndS − ρgAw (Ψ3( 2) + y f Ω 1( 2 ) − x f Ω (22) )k Since the contributions from the second-order velocity
SB ∂t
potential Φ
( 2)
ρg 1 to the total difference-frequency wave forces
+
2 ∫ WL
(ζ r(1) ) 2 Ndl − ρ ∫∫ ( ∇Φ (1) ⋅ ∇Φ (1) + (Ψ (1) + Ω (1) × x) ⋅
S B 2 and moments are less important than the other components
represented by the quadratic products of the first-order
∂ quantities, see for example [11], the quadratic transfer functions
∇Φ (1) )ndS + Ω (1) × F (1) − ρgAW ( y f Ω (21) Ω 3(1) + x f Ω 1(1) Ω 3(1) )k
∂t of the second-order difference-frequency wave excitations will
be approximated by excluding the second-order velocity
(4b) potential Φ
( 2)
.
where ρ is the fluid density, Aw the water plane area, SB the
mean body surface, WL the waterline, (xf, yf) the center of HIGHER-ORDER BOUNDARY ELEMENT METHOD
floatation of Aw, x the position vector, n=(n1,n2,n3) the unit In this section, we briefly describe the higher-order
normal vector, and k the unit vector in the z-axis, N=n/(1- boundary element method (HOBEM). For simplicity, we use
n32)1/2. The first-order relative wave height is defined as
the notation φ here to represent either φD(i) or φR(i). Only the
ζr(1)=ζ(1)-Ψ(1)-yΩ1(1)+xΩ2(1). Ψ(i)=(Ψ1(i),Ψ2(i),Ψ3(i)) and first-order wave-frequency problem will be discussed here.
where p and q represent field and source point vectors, where Nj is the j-th shape function and Γe the surface of each
respectively, and c(p) is a normalized solid angle at point p on element. The full descriptions about the HOBEM can be found
the boundary surface SB. Employing higher-order isoparametric in Liu, et al [4-8].
elements, the body surface, velocity potential and its normal
derivatives can be expressed by the higher-order shape
functions on each element: SECOND-ORDER ROLL MOTIONS OF SHIPS
The first-order wave-frequency, second-order mean and
s
difference-frequency roll moments on the vessel are evaluated
[ x, y, z ] = ∑ N j (ξ ,η )[ x j , y j , z j ] (7 )
j =1
by the above advanced hydrodynamic theory and HOBEM. The
equation of the ship roll motion of a linearized system exposed
to random seas can be written as:
s
∂φ ( q ) s
∂φ
φ (q ) = ∑ N j (ξ , η )φ j , = ∑ N j (ξ , η )( ) j (8)
j =1 ∂n q j =1 ∂n M && + C Ω
Ω & + K Ω = M (1) (t ) + M ( 2) (t ) (15)
44 1 44 1 44 1 x x
S ( 2) ( µ ) = 8∫0∞ S (ω ) S (ω + µ ) M ( 2) (ω ) M ( 2) (ω + µ )dω
m w w x x
and NOD is the total number of nodes on the body surface SB. x
In Eqs. (11) and (12), δkr denotes Kronecker delta and (18)
r=NENN(j,e) is a connective matrix, which represents the
correspondence between the local and global nodes. (1) ( 2)
where Sw is wave spectral density; M x and M x are the
first-order wave-frequency linear and second-order difference-
frequency quadratic roll moment transfer functions. Thus, we
Theory
0.9 Test 144 4.5
Wave Spectrum
0.8 128 SMx:
2.E+08 4.0
0.6 96
RAO (deg/m)
((tons*m)^2*sec)
2.E+08 3.0
|X4|/(F4/K4)
0.5 80
2.5
0.4 64
1.E+08 2.0
SMx
0.3 48
1.5
0.2 32
5.E+07 1.0
0.1 16
0 0 0.5
0.000 0.200 0.400 0.600 0.800 1.000 1.200
Frequance (Rad/s) 0.E+00 0.0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
DWT Tanker
8.000 160
Theory - LF
Theory - WF
7.000 Test
Wave Spectrum
140
Figure 4 Roll Moment Spectra Density on 170,000 DWT
6.000 120 Tanker in beam seas
Wave Spectrum (m^2-s)
5.000 100
Sr (deg^2-s/rad)
4.000 80
3.000 60
2.000 40
1.000 20
0.000 0
0 0.2 0.4 0.6 0.8 1 1.2
Frequance (Rad/s)
630000 0.9
Roll RAO
490000 0.7
420000 0.6
((tons*m)^2*sec)
350000 0.5
280000 0.4
SMx
210000 0.3
140000 0.2
70000 0.1
0 0.0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
Difference Frequency µ