Various Levels of Extensions and Nonlinear Computations

Various levels of extensions
and nonlinear computations
 Linear (Level 1)
 Froude-Krylov Nonlinear (Level 2)
 Body Nonlinear (Level 3)
 Body Exact (Level 4)

Linear (Level 1)
ΦI Φ
Forces due to incident potential: on mean wetted surface
Forces due to perturbation potential: on mean wetted surface
(hydrostatic restoring forces here are defined by usual linear restoring force
coefficients)
Froude-Krylov Nonlinear (Level 2)
hI
Φ
ΦI
Forces due to incident potential: on wetted surface under incident wave

profile considering displaced position of hull
Forces due to perturbation potential: on mean wetted surface
(incident wave defined by nonlinear numerical steady wave theory)

Body Nonlinear (Level 3)
hI
Φ
ΦI

Forces due to perturbation potential: on wetted surface of the displaced hull

under the mean waterline
Body Exact (Level 4)
hI
ΦI

Perturbation potential: solved on the wetted surface under the incident

wave, by mapping it under the mean waterline
Exact wetted surface under incident wave needs to be determined
Basic level of panelization for the mean wetted hull

(used for the hydro. solution)
Panelization of the upper hull
Fine meshing of the lower and upper hulls

Exact wetted hull determination based on:
a) wet/dry panels
b) intersection of the wave profile with panels
 For typical ship shapes, both performs equally well
 For semi-sub type configurations with protruding cylindrical

shapes, second scheme (b) is suitable
Mapping of underwater hull for level 4 computation
 The mapped domain is used only for soln. of perturbation

potential
 The body-bc. is applied based on the incident wave normal vel.

at the point in its unmapped location
wetted hull under
incident wave profile
above hull mapped

under mean free
surface
Objective
 Level 2 methods are when Froude-Krylov non-linearity is

introduced in linear 3D potential based method
 In the level2 methods, the disturbance potential is calculated as

in the linear case.
 The incident wave forces are evaluated by integrating the

incident wave pressure on exact free surface
 Level 2 methods are very popular because these capture many of

the nonlinear effects without significant additional time
requirement.
Objective cont….
 In this paper, the level 2 approach is adopted to study the

motions and hydrodynamic forces of a Wigley hull in regular
seaway.
 Particular attention is given to the influence of amplitude in

motion and forces.
 In addition to that, the body boundary condition is modified i

to include non linear effects in disturbed potential using
stretching algorithm.
Brief Mathematical Formulations
Co-ordinate system
Brief Mathematical Formulations cont…
  
    
T X ; t  I X ; t   X ; t 
1  t 
 ( p, t )      ( q, t )G ( p, q )dS   d    (q, t )Gt ( p, q; t   )dS
o f
4  S0 (t ) 0  S0 ( )
1 
g  ( )
  ( q , t )Gt
f
( p , q; t   )V V
N n dL 

 ( p; t ) 1   Gt f ( p, q; t   )
t
G 0 ( p, q)
4  S
   ( q, t ) dS   d    (q, t ) dS
n p  n  S0 ( ) n
 0 (t ) p 0 p
1 Gt f ( p, q; t   )  
   ( q, t ) VNVn dL  
g  ( ) n p  
   
  1
P X , t     T   T   gz 
 t 2
2
  1 1 
PL         I         
 t 2 2 
  1 
P NL     I   I   I   gz 
 t 2 
Fi   P L ni dS0   P NL ni dSb
S0 Sb
Pressure integration above the mean water surface
 In the present method, Froude-Krylov and hydrostatic forces

are calculated over the time variable exact wetted surface, i.e.
up to the incident wave surface.
 However, linear wave potential does not extend over the

mean free surface thereby ignoring a significant contribution.
To overcome this limitation, three major approaches
◦ hydrostatic approach
◦ stretching corrections
◦ unmodified formula
Modified body boundary condition
 In the mathematical formulation used, the incident wave can

be defined by a fully nonlinear numerical wave.
 while the perturbation effects are linearized. The boundary

condition is imposed on mean wetted surface
 where as the F-K forces are calculated on the exact wetted

surface
Modified body boundary condition cont….
Modified body boundary condition cont….
let us assume d be the draft of the vessel and wave elevation be

η. The distance between wave elevation to draft is divided into n
segments.

Area  
d
   I  dz 
Considering that wave particle kinematics has an exponential

decay with depth
 Ce dz  Area
kz
d
Obtaining exact wetted surface
z  a cos  kx cos   ky sin   t 
x  x  Ut , y  y
In order to find out the intersections, several cases may arise

depending on the number of its vertices above the free surface.
For this paper, 5 such situations are taken into account
Obtaining exact wetted surface cont….
 Two algorithm can be adopted
◦ Determining the point on free surface for a panel

using binary search
◦ Considering free surface as a NURBS surface and

directly using surface splitting technique.
Determining the point on free surface for a panel
using binary search
 It is a minor work to find out which vertices of the panel are
situated above the free surface and which lay below it.
 The panel vertices above the free surface are marked with a
positive signature and the vertices below it are marked with a
negative signature.
 Any point on the straight line through two points can be written
as
Pt (r )  Pt1t  r  Pt2t  Pt1t 
 Then, the binary process is continued till both the points

converges to the same point
Pressure integration above the mean water surface
It is a well-known fact that, in the linear theory, an inconsistency

occurs while calculating the pressure at the wave trough. But it
occurs only at the free surface. However, more important is to get
the total force which can be obtained by integrating the pressure
gradient over the wetted surface, where this inconsistency does not
affect it significantly. Moreover, by using the above method,
chances of under estimating the F-K forces is minimum, which may
not be true if we use the so called stretching algorithm.
Results….
In the present study, Wigley hull is taken for the analysis
y
  1  X   1  Z   1  0.2 X   Z  1  Z 4   1  X 
4
Where
2b / Lbp  0.1
T / Lbp  0.0625
Generating exact wetted surface under incident wave
Intersection with mean free surface under trim and heave
Intersection with free surface under trim and heave

Results for zero speed case
Case a : forward speed case
Case b : Zero speed case
FFT analysis
Time signal for Pitch
Influence of modified body boundary conditions
Influence of modified body boundary conditions in diffraction force
Pressure plot with two different wave amplitude ( in m) ,
Summary
 In the present work, a time domain panel code is extended to deal

with large amplitude motions by incorporating non-linear
representations of the hydrostatic and Froude-Krylov forces.
 The formulation is based on earth fixed co-ordinate system using
transient free surface Green’s function.
 The wetted surface is re-defined at each time step and a suitable
algorithm is developed to predict the free surface and to remesh the
wetted surface.
 The hydrostatic and Froude-Krylov forces are then calculated on
exact wetted surface.
 Rigorous numerical results are obtained and are validated with
published results.
 The study shows that the non linear effects are important in case of
large amplitude wave and effects are very clearly visible.
Thank You

Various Levels of Extensions and Nonlinear Computations

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Various levels of extensions

and nonlinear computations

 Froude-Krylov Nonlinear (Level 2)

 Body Nonlinear (Level 3)

 Body Exact (Level 4)

Forces due to incident potential: on mean wetted surface

Forces due to perturbation potential: on mean wetted surface

Forces due to incident potential: on wetted surface under incident wave

Forces due to perturbation potential: on mean wetted surface

(incident wave defined by nonlinear numerical steady wave theory)

Forces due to incident potential: on wetted surface under incident wave

Forces due to perturbation potential: on wetted surface of the displaced hull

Forces due to incident potential: on wetted surface under incident wave

Perturbation potential: solved on the wetted surface under the incident

Basic level of panelization for the mean wetted hull

Fine meshing of the lower and upper hulls

b) intersection of the wave profile with panels

 For typical ship shapes, both performs equally well

 For semi-sub type configurations with protruding cylindrical

 The mapped domain is used only for soln. of perturbation

 The body-bc. is applied based on the incident wave normal vel.

above hull mapped

 Level 2 methods are when Froude-Krylov non-linearity is

 In the level2 methods, the disturbance potential is calculated as

 The incident wave forces are evaluated by integrating the

 Level 2 methods are very popular because these capture many of

 In this paper, the level 2 approach is adopted to study the

 Particular attention is given to the influence of amplitude in

 In addition to that, the body boundary condition is modified i

 In the present method, Froude-Krylov and hydrostatic forces

 However, linear wave potential does not extend over the

 In the mathematical formulation used, the incident wave can

 while the perturbation effects are linearized. The boundary

 where as the F-K forces are calculated on the exact wetted

let us assume d be the draft of the vessel and wave elevation be

Considering that wave particle kinematics has an exponential

z  a cos  kx cos   ky sin   t 

In order to find out the intersections, several cases may arise

 Two algorithm can be adopted

◦ Determining the point on free surface for a panel

◦ Considering free surface as a NURBS surface and

 Then, the binary process is continued till both the points

It is a well-known fact that, in the linear theory, an inconsistency

In the present study, Wigley hull is taken for the analysis

Intersection with free surface under trim and heave

 In the present work, a time domain panel code is extended to deal

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