In a time domain analysis, the wave directional angles and
in Equation 5–20 should be
treated as the relative directions between the wave propagating direction
and the vessel orientation at each time step. Therefore the frequency
domain database of
covering all the possible relative
directions should be created prior to any time domain analysis. The
values of
at
any actual vessel position at a time step could be then estimated
by the means of database interpolation. However even with this database
interpolation treatment, the quadruple summation form given in Equation 5–20 is still prohibitively difficult to
apply for the numerical time domain simulation procedure due to the
large processing and memory requirements.
For the unidirectional wave case, Newman's approximation [28] is frequently used in practice. This takes the off-diagonal difference frequency QTF value to be an average of the corresponding diagonal values:
(5–24) |
The out of phase item is excluded in this
approximation for the difference frequency second order force calculation
as
.
Newman's approximation is normally accepted for the hydrodynamic analysis of moored offshore structures in moderate and deep water depth in long crested waves.
In Aqwa, Newman's approximation is extended to the multiple directional wave case for the difference frequency QTF element evaluation:
(5–25) |
In the above equation, the out of phase item is also defined, because
are not necessarily zero. However it is easily observed
that this extended approximation will be exactly the same as the original
one shown in Equation 5–24 when long crested
waves are concerned (
). With the simplified expressions of the
difference frequency QTF elements in Equation 5–25, the symmetric properties shown in Equation 5–19 still remain true with respect to a pair of waves with difference
frequencies and wave directions:
(5–26) |
Denoting and
and substituting Equation 5–25 into Equation 5–20 for the difference frequency
second order force and moment only, we have
(5–27) |
Comparing the equation above to Equation 5–20 it is observed that the summation against the frequencies of the m-th directional waves has been uncoupled
from summations against the frequencies of the n-th (n = 1, Nd
) directional waves,
which converts the quadruple summations into triple summations and
hence greatly increases the numerical calculation efficiency. In
addition, instead of using the four dimensional elements of for obtaining the
difference frequency drift force, the directional coupling mean QTF
matrices of
are required when
employing Equation 5–27, which significantly
reduces the memory buffer and hard disk requirements.