Time-domain numerical and segmented ship model experimental analyses of hydroelastic responses of a large container ship in oblique regular waves

Real sea conditions are characterized by multidirectional sea waves. However, the prediction of hull load responses in oblique waves is a difficult problem due to numeral divergence. This paper focuses on the investigation of numerical and experimental methods of load responses of ultra-large vessels in oblique regular waves. A three dimensional nonlinear hydroelastic method is proposed. In order to numerically solve the divergence problem of time-domain motion equations in oblique waves, a proportional, integral and derivative (PID) autopilot model is applied. A tank model measurement methodology is used to conduct experiments for hydroelastic responses of a large container ship in oblique regular waves. To implement the tests, a segmented ship model and oblique wave testing system are designed and assembled. Then a series of tests corresponding to various wave headings are carried out to investigate the vibrational characteristics of the model. Finally, time-domain numerical simulations of the ship are carried out. The numerical analysis results by the presented method show good agreement with experimental results.     

An irregular wave generating approach based on naoe-FOAM-SJTU solver

In this paper, a wave generating approach for long-crest irregular waves in a numerical tank by our in-house solver naoe-FOAM-SJTU is presented. The naoe-FOAM-SJTU solver is developed using an open source tool kit, OpenFOAM. Reynolds-averaged Navier-Stokes (RANS) equations are chosen as governing equations and the volume of fluid (VOF) is employed to capture the two phases interface. Incoming wave group is generated by imposing the boundary conditions of the tank inlet. A spectrum based correction procedure is developed to make the measured spectrum approaching to the target spectrum. This procedure can automatically adjust the wave generation signal based on the measured wave elevation by wave height probe in numerical wave tank. After 3 to 4 iterations, the measured spectrum agrees well with the target one. In order to validate this method, several wave spectra are chosen and validated in the numerical wave tank, with comparison between the final measured and target spectra. In order to investigate a practical situation, a modified Wigley hull is placed in the wave tank with incoming irregular waves. The wave-induced heave and pitch motions are treated by Fourier analysis to obtain motion responses, showing good agreements with the measurements.     

An Irregular Wave Generating Approach Based on naoe-FOAM-SJTU Solver

In this paper, a wave generating approach for long-crest irregular waves in a numerical tank by our in-house solver naoe-FOAM-SJTU is presented. The naoe-FOAM-SJTU solver is developed using an open source tool kit, OpenFOAM. Reynolds-averaged Navier?Stokes (RANS) equations are chosen as governing equations and the volume of fluid (VOF) is employed to capture the two phases interface. Incoming wave group is generated by imposing the boundary conditions of the tank inlet. A spectrum based correction procedure is developed to make the measured spectrum approaching to the target spectrum. This procedure can automatically adjust the wave generation signal based on the measured wave elevation by wave height probe in numerical wave tank. After 3 to 4 iterations, the measured spectrum agrees well with the target one. In order to validate this method, several wave spectra are chosen and validated in the numerical wave tank, with comparison between the final measured and target spectra. In order to investigate a practical situation, a modified Wigley hull is placed in the wave tank with incoming irregular waves. The wave-induced heave and pitch motions are treated by Fourier analysis to obtain motion responses, showing good agreements with the measurements.     

畸形波传播速度实验和数值模拟研究

畸形波的传播速度是其最重要的特征参数之一。研究畸形波的传播速度有助于深入和全面了解畸形波的生成机理及其演化过程,另外还可以用于畸形波的预报。针对现有关于畸形波传播速度计算方法(高阶Stokes波理论近似估算,Hilbert变换和两固定点的距离除以畸形波的波峰经过两点所用时间)的不准确性和局限性,使用32个测点描述畸形波波峰沿波浪水槽的运动轨迹,再用回归分析法估算波峰运动轨迹与时间的相关关系,从而计算出畸形波的传播速度。基于288组物理模拟畸形波和364组数值模拟畸形波传播速度的计算结果,使用回归分析方法得出了畸形波传播速度的半经验半理论计算公式,同时还分析了畸形波传播速度的强非线性特征。     

Numerical simulation of non-linear regular and focused waves in an infinite water-depth

Inviscid three-dimensional free surface wave motions are simulated using a novel quadratic higher order boundary element model (HOBEM) based on potential theory for irrotational, incompressible fluid flow in an infinite water-depth. The free surface boundary conditions are fully non-linear. Based on the use of images, a channel Green function is developed and applied to the present model so that two lateral surfaces of an infinite-depth wave tank can be excluded from the calculation domain. In order to generate incident waves and dissipate outgoing waves, a non-reflective wave generator, composed of a series of vertically aligned point sources in the computational domain, is used in conjunction with upstream and downstream damping layers. Numerical experiments are carried out, with linear and fully non-linear, regular and focused waves. It can be seen from the results that the present approach is effective in generating a specified wave profile in an infinite water-depth without reflection at the open boundaries, and fully non-linear numerical simulations compare well with theoretical solutions. The present numerical technique is aimed at efficient modelling of the non-linear wave interactions with ocean structures in deep water.     

Second-order theory for coupling 2D numerical and physical wave tanks: Derivation,evaluation and experimental validation

A full second-order theory for coupling numerical and physical wave tanks is presented. The ad hoc unified wave generation approach developed by Zhang et al. [Zhang, H., Schäffer, H.A., Jakobsen, K.P., 2007. Deterministic combination of numerical and physical coastal wave models. Coast. Eng. 54, 171–186] is extended to include the second-order dispersive correction. The new formulation is presented in a unified form that includes both progressive and evanescent modes and covers wavemaker configurations of the piston- and flap-type. The second order paddle stroke correction allows for improved nonlinear wave generation in the physical wave tank based on target numerical solutions. The performance and efficiency of the new model is first evaluated theoretically based on second order Stokes waves. Due to the complexity of the problem, the proposed method has been truncated at 2D and the treatment of regular waves, and the re-reflection control on the wave paddle is also not included. In order to validate the solution methodology further, a series of nonlinear, periodic waves based on stream function theory are generated in a physical wave tank using a piston-type wavemaker. These experiments show that the new second-order coupling theory provides an improvement in the quality of nonlinear wave generation when compared to existing techniques.     

Numerical simulation of sloshing waves in a 3D tank based on a finite element method

The sloshing waves in a three dimensional (3D) tank are analysed using a finite element method based on the fully non-linear wave potential theory. When the tank is undergoing two dimensional (2D) motion, the calculated results are found to be in very good agreement with other published data. Extensive calculation has been made for the tank in 3D motion. As in 2D motion, in addition to normal standing waves, travelling waves and bores are also observed. It is found that high pressures occur in various circumstances, which could have important implications for many engineering designs.     

Irregular wave kinematics from a kinematic boundary condition fit (KBCF)

Calculation of the kinematics of random waves above the mean water line presents great difficulties. The kinematic boundary condition fit (KBCF) method approximates the solution through the numerical calculation of a potential function which fits the kinematic boundary condition on a specified surface. Comparisons with a high order regular wave show that the method converges to the true solution when the surface is accurately specified. Tests of the method for irregular waves were made with measurements from a laser-Doppler current meter in the Delft wave tank. These tests showed good agreement between theory and measurement when the surface evolution was calculated correct to second order. Stretched linear theory was also compared to the measurements. The stretched velocities were reasonably good when the phases of the component wavelets were measured but somewhat low when the phases were selected from a uniform distribution.     

PROPAGATION AND TRANSFORMATION OF NON-LINEAR WAVES ON UNIFORMLY SLOPING BEACHES Ⅰ. A SOLUTION FOR NON-LINEAR PROGRESSING WAVES

Two-dimensional non-linear hydrodynamical equations are solved by using perturbation method and treating slopping beaches as bottom boundary conditions so that a kind of solution for nonlinear progressing waves is obtained. The first order of approximation is the same potential function as used by Biesel, and the second order is calculated numerically. Based on the solution, wave characteristics before breaking, especially the wave set-down, are discussed. It turns out that for the whole course of waves propagating from deep to shallow waters the theory proposed in this paper has a wider valid range of application than others.     

Complete two-dimensional analysis of sea-wave-induced fully non-linear sloshing fluid in a rigid floating tank

A time-independent finite-difference method and a fifth-order Runge–Kutta–Felhberg scheme were used to analyze the dynamic responses of sea-wave-induced fully non-linear sloshing fluid in a floating tank. The interaction effect between the fully non-linear sloshing fluid and the floating tank associated with coupled surge, heave and pitch motions of the tank are analyzed for the first time in the present pilot study. For the analysis of fluid motion in the tank, the coordinate system is moving (translating and rotating) with tank motion. The time-dependent water surface of the sloshing fluid is transformed to a horizontal plane and the flow field is mapped on to a rectangular region. The Euler equations as well as the fully non-linear kinematic free surface condition were used in the analysis of the sloshing fluid. The strip theory for linearized harmonic sea-wave loading was adopted to evaluate the regular encounter wave force. In addition, the dynamic coefficients used in the dynamic equations of tank motion were also derived based on strip theory and a harmonic motion of the tank. The characteristics of free and forced tank motions with and without the sloshing effect are studied. By the damping effect, the response of free oscillation will damp out and that of forced oscillation will approach a steady state. Without sea-wave action, the contribution of the sloshing load would enlarge the angular response of tank motion as well as the rise of free surface and the sloshing effect will delay the damping effect on angular displacement. On the contrary, under sea-wave action, the sloshing effect will decrease the dynamic response of tank motion and rise of free surface. The interaction, sloshing and coupling effects are found to be significant and should be considered in the analysis and design of floating tanks.     

Directional spectrum methods for deterministic waves

This work discusses developments related to the generation and measurement of directional wave spectra in multi-directional wave tank using deterministic waves. The details of the generation method, based on the single summation method described by Jefferys (1987), are given and the capacity of the Edinburgh curved wave tank to generate such waves is assessed. The Maximum Likelihood Method (MLM) and one of its derivative, The Modified Maximum Likelihood Method (MMLM) (Isobe and Kondo, 1985), are adapted to the characteristics of deterministic waves. The methods are assessed both with simulated waves and real wave elevations from the Edinburgh curved tank. Both methods show very satisfactory results with very stable angular spreading estimates and good tracking of mean directions of propagation across frequencies. The adapted MLM compares favourably with the industry standard, the Bayesian Directional Method, while only taking a fraction of the time needed to the BDM to produce its spectral estimates.     

Numerical analysis of the transformation of tsunami waves in the south crimea shelf area

The paper analyses the transformation of tsunami-type solitary waves, propagating from the abyssal part of the Black Sea towards its shelf zone. The study is performed by solving numerically unidimensional non-linear equations for non-dispersive long waves, using the finite-difference slope and shelf, with the full wave reflection prescribed at a 10 m depth contour. The non-linearity of the process is shown to throughly impact the reflection of waves by the shore and the shape of the reflected wave. Tsunami wave heights have been seen to increase by several times in the Black sea shelf area. Translated by Vladimir A. Puchkin.     

Numerical modelling of wave-structure interaction by a three-dimensional nonlinear boundary element method: A step towards the numerical wave tank

A three-dimensional numerical model for determination of the interaction between non-linear water waves and a structure is developed. The model is based on a boundary integral equation method for the spatial solution of a potential theory problem, combined with a time-stepping method based on the fully non-linear free surface conditions for temporal updating of moments on a structure in the fluid domain. Comparison with experimental results shows good agreement. The present model is considered to be one of the steps towards a three-dimensional numerical model in which the wave-structure interaction in a wave tank can be simulated.     

PSME model of parametric excitation of two-layer liquid in a tank

Internal waves driven by external excitation constitute important phenomena that are often encountered in environmental fluid mechanics. In this study, a pseudospectral σ-transformation model is used to simulate parametric excitation of stratified liquid in a two-layer rectangular tank. The σ-transformation maps the physical domain including the liquid free surface, the interface between the liquid layers, and the bed, onto a pair of fixed rectangular computational domains corresponding to the two layers. The governing equation and boundary conditions are discretised using Chebyshev collocation formulae. The numerical model is verified for two analytical sloshing problems: horizontal excitation of constant density liquid in a rectangular tank, and vertical excitation of stratified liquid in a rectangular tank. A detailed analysis is provided of liquid motions in a shallow water tank due to excitations in the horizontal and the vertical directions. Also, the effect of pycnocline on the wave motions and patterns is studied. It is found that wave regimes and patterns are considerably influenced by the pycnocline, especially when the excitation frequency is large. The present study demonstrates that a pseudospectral σ-transformation is capable to model non-linear sloshing waves in a two-layer rectangular tank.     

Investigation of motions of catamarans in regular waves—II

By extending the linear frequency domain theory, a quasi-non-linear time-domain technique has been developed to investigate the large amplitude motions of catamarans in regular waves. The non-linearity of hydrodynamic forces included in this practical method comes from variations of a ship's submerged portion. These forces are obtained from a database generated by the linear frequency domain method at each time step. The coupled equations, heave and pitch, are solved in the time domain by using the Runge-Kutta method with proper initial values. In order to investigate the non-linear effects of large amplitude motions of the V-1 catamaran in the head-sea condition, numerical results obtained from the linear and non-linear strip methods have been compared with those obtained from a series of experiments carried out in the towing tank of the Hydrodynamics Laboratory at the University of Glasgow. Based on the comparative studies, the numerical results obtained from the time-domain program can provide better predictions for the large amplitude motions of catamarans than the linear frequency domain method. It is concluded that the non-linear effects are significant when the model speeds and wave amplitudes increase. The peak values of large amplitude motions around the resonance frequencies, as obtained from the non-linear time-domain predictions as well as from measurements, are smaller than those obtained from the linear theory.     

Decomposing damped incident and reflected waves using correlation and quasi-linearization methods

Water waves propagating over a layer of soft mud or submerged aquatic vegetation can drastically attenuate over distances comparable to several wave lengths. The attenuation in the case of mud has been found previously to be reasonably described by an exponential decay. Waves reflect from beaches and any structures that they impact. The reflected waves affect wave heights measured in the field or laboratory wave basins.Decomposition of small amplitude waves into incident and reflected waves is a linear problem. However, the presence of the exponential damping introduces nonlinearity to the decomposition problem and requires an iterative process for solving the problem. Despite considerable experimental research on attenuation of waves over mud, none of the existing methods for decomposition of incident and reflected waves have accounted for this case.Here, the Newton Algorithm was used to account for the effect of wave decay over mud by quasi-linearizing the nonlinear equations. Also, a second method using a new error function and a commercial nonlinear solver was proposed in both time and frequency domain. The performance of both methods has been verified using artificial as well as laboratory data.     

Induced-current effects on microwave backscatter

Microwave measurements have been made with a coherent radar in a wind-wave tank to determine the effect of induced current on backscatter. Perturbations were introduced into the wave structure by inducing a current in the water that flowed either with or against the wind. The effect of current on radar cross section was slight; the effect on the Doppler was much more pronounced. It was found that the wave components responsible for radar backscatter are predominantly free waves (that is, waves which travel at the dispersion velocity) rather than waves which are parasitic (or locked) to the dominant waves.     

Interactions between nonlinear water waves and non-wall-sided 3D structures

Interactions between water waves and non-wall-sided cylinders are analyzed based on velocity potential theory with fully nonlinear boundary conditions on the free surface and the body surface. The finite element method (FEM) is adopted together with a 3D mesh generated through an extension of a 2D Delaunay grid on a horizontal plane along the depth. The linear matrix equation for the velocity potential is constructed by imposing the governing equation and boundary conditions through the Galerkin method and is solved through an iterative method. By imposing the gradient of the potential equal to the velocity, the Galerkin method is used again to obtain the velocity field in the fluid domain. Simulations are made for bottom mounted and truncated cylinders with flare in a numerical tank. Periodic waves and wave groups are generated by a piston type wave maker mounted on one end of the tank. Results are obtained for forces, wave profiles and wave runups. Further simulations are made for a cylinder with flare subjected to forced motion in otherwise still open water. Results are provided for surge and heave motion in different amplitudes, and for a body moving in a circular path in the horizontal plane. Comparisons are made in several cases with the results obtained from the second order solution in the time domain.     

两层流体中内波作用下Spar平台运动响应

研究两层流体中Spar平台在内波作用下的运动响应问题。在线性势流理论框架,提出在内波作用下Spar平台运动响应及分段式悬链线系泊张力特性的计算方法。数值分析两层流体内界面位置、入射内波的波长以及系泊索初始预张力对Spar平台运动响应及其系泊索张力特性的影响规律,结果表明内波对Spar平台纵摇运动响应的影响是小的,但对Spar平台纵荡与垂荡运动响应及其系泊索张力的影响是不可忽视的。因此,在Spar平台的设计中,考虑内波的影响是重要的。     

Spectral analysis of Stokes waves

The spectral properties of Stokes waves are shown in this paper by theoretical and numerical methods. This is done by expressing wave profiles and velocities of water particles as nonlinear combinations of the first order component of wave profiles. Under the assumption of the first order wave profiles being zero mean Gaussian processes, the relationship between autocorrelation functions of wave profiles and velocities of water particles and the first order component of wave profiles is established using the nonlinear spectral analysis. The spectral densities of nonlinear random waves, the velocities and accelerations of water particles are then obtained. Numerical computations are carried out to analyze the effect of fundamental parameters of waves. The results indicate that wave height is the most sensible parameter to the root mean squares related and wave depth is the least sensible one of all.