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- 1. Introduction
- 2. The Ansys Product Improvement Program
- 3. Running Aqwa using RSM
- 3.1. Run Configurations
- 3.1.1. Configuring Individual Systems to Solve
- 3.1.2. Configuring Parametric Studies
- 3.2. Limitations and Unsupported Features
- 4. Aqwa Workflow and Systems
- 4.1. Hydrodynamic Diffraction Workflows
- 4.2. Hydrodynamic Diffraction System
- 4.3. Hydrodynamic Response System
- 5. Aqwa Approach
- 5.1. Create a Hydrodynamic Analysis System
- 5.2. Attach Geometry
- 5.2.1. General Modeling Requirements
- 5.2.2. Configuring the Geometry
- 5.2.2.1. Stability/Time Response Specific Options
- 5.2.2.2. Composite Cable Seabed Definition
- 5.2.2.2.1. For a Cable not Using Cable Dynamics
- 5.2.2.2.2. For a Cable Using Cable Dynamics
- 5.2.3. Add Fixed Points
- 5.3. Mesh
- 5.3.1. Global Mesh Options
- 5.3.1.1. Mesh Parameters
- 5.3.1.2. Waterline Node Generation
- 5.3.2. Local Mesh Sizing Controls
- 5.4. Add Project Information and Options
- 5.5. Define Parts Behavior
- 5.5.1. Surface Body
- 5.5.2. Line Body
- 5.5.3. Point Mass
- 5.5.4. Distributed Mass
- 5.5.4.1. Importing from a .MSD File
- 5.5.4.2. Importing from a .SFM File
- 5.5.4.3. Inputting Data Manually
- 5.5.4.4. Representation in the Graphical Window
- 5.5.5. Point Buoyancy
- 5.5.6. Disc
- 5.5.7. Internal Tank
- 5.5.7.1. Fluid Level Definition Mode
- 5.5.7.2. Internal Tank Properties
- 5.5.8. Moonpool
- 5.5.8.1. Geometry
- 5.5.9. Additional Hydrodynamic Stiffness
- 5.5.10. Additional Added Mass (Frequency Independent)
- 5.5.11. Additional Damping (Frequency Independent)
- 5.5.12. Nonlinear Roll Damping
- 5.5.13. Current Force Coefficients
- 5.5.14. Wind Force Coefficients
- 5.5.15. Morison Hull Drag Coefficients
- 5.5.16. Yaw-Rate Drag
- 5.5.17. Structure Connection Points
- 5.5.18. External Lid
- 5.5.19. Part Transform
- 5.5.19.1. Reference Point Definition
- 5.5.19.2. Transform Definition
- 5.5.19.3. Application of a Part Transform
- 5.5.19.3.1. Part
- 5.5.19.3.2. Surface Body
- 5.5.19.3.3. Line Body
- 5.5.19.3.4. Point Mass
- 5.5.19.3.5. Distributed Mass
- 5.5.19.3.6. Point Buoyancy
- 5.5.19.3.7. Disc
- 5.5.19.3.8. Internal Tank
- 5.5.19.3.9. Moonpool
- 5.5.19.3.10. Additional Hydrodynamic Stiffness, Added Mass and Damping, and Morison Hull Drag
Coefficients
- 5.5.19.3.11. Nonlinear Roll Damping and Yaw-Rate Drag
- 5.5.19.3.12. Current and Wind Force Coefficients
- 5.5.19.3.13. Connection Points
- 5.5.19.3.14. Connection Point Groups
- 5.5.19.3.15. Connections, Hydrodynamic Diffraction, and Hydrodynamic Response Features
- 5.6. Attachment Point Groups
- 5.6.1. Origin Definition
- 5.6.2. Group Definition
- 5.6.3. Group Rotation
- 5.6.4. Hydrodynamic Response Nodal Motions Output
- 5.7. Line Body Data
- 5.7.1. Beam Section
- 5.8. Define Connections
- 5.8.1. Cables
- 5.8.1.1. Linear Elastic
- 5.8.1.2. Nonlinear Polynomial
- 5.8.1.3. Nonlinear Steel Wire
- 5.8.1.4. Nonlinear Catenary
- 5.8.2. Tethers/Risers
- 5.8.3. Connection Data
- 5.8.3.1. Catenary Section
- 5.8.3.2. Catenary Joint
- 5.8.3.3. Tether/Riser Section
- 5.8.4. Connection Stiffness Matrix
- 5.8.5. Fenders
- 5.8.5.1. Examples of Use of Fenders
- 5.8.6. Joints
- 5.8.6.1. Initial Positioning of Jointed Structures
- 5.8.6.2. Moving Structures
- 5.8.6.3. Closed Loops
- 5.8.6.4. Removing a Joint
- 5.9. Establish Analysis Settings
- 5.9.1. Specifying External Pre- or Post-Solve Operations
- 5.9.2. Hydrodynamic Diffraction Settings
- 5.9.2.1. Common Analysis Options
- 5.9.2.2. QTF Options
- 5.9.2.3. Output File Options
- 5.9.3. Hydrodynamic Response Settings
- 5.9.3.1. Stability Analysis
- 5.9.3.1.1. Common Analysis Options
- 5.9.3.1.2. Output File Options
- 5.9.3.2. Time Response Analysis
- 5.9.3.2.1. Time Response Pressure Output
- 5.9.3.2.2. Common Analysis Options
- 5.9.3.2.3. QTF Options
- 5.9.3.2.4. Output File Options
- 5.9.3.2.5. Output Aqwa FMU Package
- 5.9.3.3. Frequency Statistical Analysis
- 5.9.3.3.1. Common Analysis Options
- 5.9.3.3.2. QTF Options
- 5.9.3.3.3. Output File Options
- 5.10. Applying Ocean Environment and Forces
- 5.10.1. Structure Selection
- 5.10.2. Wave Directions
- 5.10.3. Wave Frequencies
- 5.10.3.1. Encounter Frequencies for a Single Wave Direction
- 5.10.3.2. Encounter Frequencies for Multiple Wave Directions
- 5.10.4. Starting Position
- 5.10.5. Structure Force
- 5.10.6. Regular Wave
- 5.10.7. Irregular Wave
- 5.10.7.1. JONSWAP (Hs or Alpha)
- 5.10.7.2. Pierson-Moskowitz
- 5.10.7.3. Ochi-Hubble
- 5.10.7.4. Bretschneider
- 5.10.7.5. TMA Spectrum
- 5.10.7.6. Gaussian
- 5.10.7.7. User Defined Spectrum
- 5.10.7.7.1. With Wave Spreading: None (Long-Crested Waves)
- 5.10.7.7.2. With Wave Spreading: Nth-Powered Cosine (Short-Crested Waves)
- 5.10.7.7.3. With Wave Spreading: Manual Definition (Carpet Spectrum)
- 5.10.7.8. User Time History
- 5.10.8. Irregular Wave Group
- 5.10.9. Current
- 5.10.9.1. Constant Velocity
- 5.10.9.2. Varies with Depth, Dimensional
- 5.10.9.3. Varies with Depth, Non-Dimensional
- 5.10.9.4. Formulated
- 5.10.9.5. Graphical Representation
- 5.10.10. Wind
- 5.10.10.1. Time Dependent Velocity
- 5.10.11. Cable Winch
- 5.10.11.1. Winch that Maintains Constant Tension
- 5.10.11.2. Winch that Changes Cable Length
- 5.10.12. Connection Failure
- 5.10.12.1. Cable Failure
- 5.10.12.2. Fender Failure
- 5.10.13. Point Force
- 5.10.14. Deactivated Freedoms
- 5.11. Solution
- 5.11.1. Hydrostatic Results
- 5.11.2. Hydrodynamic Graphical Results
- 5.11.2.1. Diffraction
- 5.11.2.1.1. Diffraction, Froude-Krylov, Diffraction + Froude-Krylov, Linearized Morison Drag, and
Total Exciting Force Including Morison Drag
- 5.11.2.1.2. Response Amplitude Operators (RAOs) and RAOs with Linearized Morison Drag
- 5.11.2.1.3. Radiation Damping & Added Mass
- 5.11.2.1.4. Steady Drift
- 5.11.2.1.5. Sum QTF and Difference QTF
- 5.11.2.1.6.
Splitting Forces (RAO)
- 5.11.2.1.7. Bending Moment and Shear Force
- 5.11.2.2. Time Response
- 5.11.2.2.1. Wave Surface Elevation
- 5.11.2.2.2. Structure Position
- 5.11.2.2.3. Structure Velocity
- 5.11.2.2.4. Structure Acceleration
- 5.11.2.2.5. Structure Forces
- 5.11.2.2.6. Fender Forces
- 5.11.2.2.7. Fender Motions
- 5.11.2.2.8. Joint Forces
- 5.11.2.2.9. Cable Forces
- 5.11.2.2.10. Tether/Riser Motions
- 5.11.2.2.11. Tether/Riser Tensions
- 5.11.2.2.12. Tether/Riser Shear Force/Bending Moment
- 5.11.2.2.13. Tether/Riser Stresses
- 5.11.2.2.14. Time Step Error
- 5.11.2.3. Frequency Domain
- 5.11.2.3.1. Wave Spectra
- 5.11.2.3.2. Structure Response
- 5.11.2.3.3. Connection Response
- 5.11.2.4. Stability Response
- 5.11.2.4.1. Structure Position
- 5.11.2.4.2. Structure Forces
- 5.11.2.4.3. Fender Forces
- 5.11.2.4.4. Fender Motions
- 5.11.2.4.5. Joint Forces
- 5.11.2.4.6. Cable Forces
- 5.11.2.4.7. Tether/Riser Tensions
- 5.11.2.4.8. Tether/Riser Shear Force/Bending Moment
- 5.11.2.4.9. Iteration Step Error
- 5.11.3. Frequency Domain Tabular Results
- 5.11.4. Pressures and Motions Results
- 5.11.5. Internal Tank Pressures Results
- 5.11.6. Animation Results
- 5.11.6.1. Animation Controls
- 5.11.6.2. Animation Settings
- 5.11.7. Dynamic Natural Modes
- 5.11.8. Time Domain Statistical Results
- 5.11.9. Time Domain Pressures Results
- 5.12. Aqwa Model Data Import
- 6. Aqwa Workbench Interface
- 6.1. The Aqwa Editor User Interface
- 6.2. Editing Objects
- 6.2.1. Copy and Paste
- 6.2.2. Duplicate
- 6.2.3. Propagate
- 6.2.4. Break Link
- 6.2.5. Delete
- 6.3. Displayed Positions and Features
- 6.4. Setting Aqwa Application Options
- 6.4.1. Setting Aqwa Parallel Processing Options
- 7. Aqwa Common Features
- 7.1. Generating Reports
- 7.2. Parameters
- 7.3. Comments, Images, and Figures
- 7.3.2. Images
- 7.3.3. Figures
- 8. Hydrodynamic Add-ons
- 8.1. The Hydrodynamic Pressure Add-on
- 8.1.1. Introduction
- 8.1.2. Loading the Hydrodynamic Pressure Add-on
- 8.1.3. Setting up your Workflow in Workbench
- 8.1.4. Importing Hydrodynamic Diffraction Pressures and Loads to Mechanical
- 8.1.4.1. Configuring the Hydrodynamic Pressure Object
- 8.1.4.1.1. Scope: Surfaces
- 8.1.4.1.2. Scope: Line Bodies
- 8.1.4.1.3. Load Configuration
- 8.1.4.1.4. Mapping Configuration
- 8.1.4.1.5. Axis Transformation
- 8.1.4.1.6. Output: Imported Pressures, Loads, and Structure Acceleration at
Center of Gravity
- 8.1.4.1.7. Advanced Options
- 8.1.4.2. Generating Hydrodynamic Pressures and Inertial Loads
- 8.1.5. Importing Time Domain Hydrodynamic Response Pressures and Loads to Mechanical
- 8.1.5.1. Configuring the Hydrodynamic Pressure Object
- 8.1.5.1.1. Scope: Surfaces
- 8.1.5.1.2. Scope: Line Bodies
- 8.1.5.1.3. Load Configuration
- 8.1.5.1.4. Mapping Configuration
- 8.1.5.1.5. Axis Transformation
- 8.1.5.1.6. Output: Imported Pressures, Imported Internal Tank Pressures, and Structure Acceleration
at Center of Gravity
- 8.1.5.1.7. Advanced Options
- 8.1.5.2. Generating Hydrodynamic Pressures and Inertial Loads
- 8.1.6. Internal Tank Pressure from a Hydrodynamic Diffraction Analysis
- 8.1.6.1. Configuring the Internal Tank Pressure Object
- 8.1.6.1.1. Scope: Internal Tanks
- 8.1.6.1.2. Internal Tank Details
- 8.1.6.1.3. Displayed Pressures
- 8.1.6.1.4. Imported Internal Tank Pressures
- 8.1.6.2. Generating Internal Tank Pressures
- 8.1.7. Internal Tank Pressure from a Time Domain Hydrodynamic Response Analysis
- 8.1.7.1. Configuring the Internal Tank Pressure Object
- 8.1.7.1.1. Scope: Internal Tanks
- 8.1.7.1.2. Internal Tank Details
- 8.1.7.1.3. Displayed Pressures
- 8.1.7.1.4. Imported Internal Tank Pressures
- 8.1.7.2. Generating Internal Tank Pressures
- 8.1.8. Moonpool Pressure from a Hydrodynamic Diffraction Analysis
- 8.1.8.1. Configuring the Moonpool Pressure Object
- 8.1.8.1.1. Scope: Moonpool
- 8.1.8.1.2. Moonpool Details
- 8.1.8.1.3. Displayed Pressures
- 8.1.8.1.4. Imported Moonpool Pressures
- 8.1.8.2. Generating Moonpool Pressures
- 8.1.9. Cable Forces from a Time Domain Hydrodynamic Response Analysis
- 8.1.9.1. Configuring the Cable Force Object
- 8.1.9.1.1. Scope: Cable Attachment
- 8.1.9.1.2. Cable Details
- 8.1.9.1.3. Displayed Forces
- 8.1.9.1.4. Imported Cable Force
- 8.1.9.2. Generating Cable Forces
- 8.1.10. Tether Forces/Moments from a Time Domain Hydrodynamic Response Analysis
- 8.1.10.1. Configuring the Tether Force Object
- 8.1.10.1.1. Scope: Tether Attachment
- 8.1.10.1.2. Tether Details
- 8.1.10.1.3. Displayed Forces
- 8.1.10.1.4. Imported Tether Force/Moment
- 8.1.10.2. Generating Tether Forces/Moments
- 8.1.11. Joint Forces/Moments from a Time Domain Hydrodynamic Response Analysis
- 8.1.11.1. Configuring the Joint Force Object
- 8.1.11.1.1. Scope: Joint Attachment
- 8.1.11.1.2. Joint Details
- 8.1.11.1.3. Displayed Forces
- 8.1.11.1.4. Imported Joint Force/Moment
- 8.1.11.2. Generating Joint Forces/Moments
- 8.1.12. Ocean Current
- 8.1.13. Theory
- 8.1.13.1. Hydrodynamic and Hydrostatic Pressures on Surfaces
- 8.1.13.2. Inertia and Viscous Drag Forces on Line Bodies
- 8.1.14. Limitations
- 8.2. The Offshore Add-on
- 8.2.1. Introduction
- 8.2.2. Loading the Offshore Add-on
- 8.2.3. Defining an Ocean Environment Object
- 8.2.3.1. Definition Properties
- 8.2.3.2. General Properties
- 8.2.3.3. Structural Coefficients
- 8.2.3.4. Soil-Pile Interaction
- 8.2.3.5. Wave Options
- 8.2.3.6. Pressure Mapping
- 8.2.4. Ocean Current
- 8.2.5. User Defined Spectrum
- 8.2.6. Harmonic Wave Load
- 8.2.7. Geometry-Based Variation
- 8.2.8. Component-Based Variation
- 8.2.9. Pipe-in-Pipe
- 8.2.10. Added Mass
- 8.3. The Aqwa Co-simulation Add-on
- 8.3.1. Introduction
- 8.3.2. Loading the Aqwa Co-simulation Add-on
- 8.3.3. Aqwa Co-simulation Toolbar
- 8.3.3.1. Update/Import Aqwa File
- 8.3.3.2. Mapping Aqwa Data
- 8.3.3.3. Clear
- 8.3.3.4. Co-simulation Wizard
- 8.3.4. Aqwa Co-simulation Setup Wizard
- 8.3.4.1. AeroDyn Connection
- 8.3.4.2. Aqwa Modeling Data
- 8.3.4.3. Run Co-simulation
- 8.3.4.3.1. Information Setup
- 8.3.4.3.2. Result Saving Directory Setup
- 8.3.4.3.3. Running the Co-simulation Analysis
- 8.3.5. Additional Notes
- 8.3.6. Bibliography
- 9. Aqwa Appendix
- 9.1. Information for Existing Aqwa Users
- Index
