OrcaFlex 9.2a Manual

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OrcaFlexManual
Version9.2a
OrcinaLtd. Daltongate Ulverston Cumbria LA127AJ UK Telephone: Fax: Email: WebSite: +44(0)1229584742 +44(0)1229587191 orcina@orcina.com www.orcina.com
Contents
CONTENTS 1 INTRODUCTION
1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 InstallingOrcaFlex RunningOrcaFlex ParallelProcessing DistributedOrcaFlex OrcinaLicenceMonitor DemonstrationVersion ValidationandQA Orcina ReferencesandLinks
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11 13 14 15 15 15 15 16 16
2 TUTORIAL
2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 2.10 GettingStarted BuildingaSimpleSystem AddingaLine AdjustingtheView StaticAnalysis DynamicAnalysis MultipleViews LookingatResults GettingOutput InputData
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21 21 21 22 22 23 24 24 24 24
3 EXAMPLES
3.1 Introduction
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27
4 USERINTERFACE
4.1 Introduction
4.1.1 4.1.2 4.1.3 4.1.4 4.1.5 4.1.6 4.1.7 4.1.8 4.1.9 4.1.10 4.1.11 ProgramWindows TheModel ModelBrowser ModelBrowserViews MoveSelectedObjectsWizard Libraries ModelStates UsingModelStates Toolbar StatusBar MouseandKeyboardActions
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29 29 30 32 32 33 36 38 38 39 39
Contents
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Menus
4.2.1 4.2.2 4.2.3 4.2.4 4.2.5 4.2.6 4.2.7 4.2.8 4.2.9 4.2.10 4.2.11 4.2.12 FileMenu EditMenu ModelMenu CalculationMenu ViewMenu ReplayMenu GraphMenu ResultsMenu ToolsMenu WorkspaceMenu WindowMenu HelpMenu ViewParameters ViewControl Navigatingin3DViews ShadedGraphics HowObjectsareDrawn SelectingObjects CreatingandDestroyingObjects DraggingObjects ConnectingObjects Printing,CopyingandExportingViews ReplayParameters ReplayControl CustomReplays CustomReplayWizard SuperimposeTimes DataFields DataFormEditing ProducingResults SelectingVariables SummaryandFullResults Statistics LinkedStatistics OffsetTables LineClashingReport TimeHistoryandXYGraphs RangeGraphs OffsetGraphs SpectralResponseGraphs PresentingOrcaFlexResults ModifyingGraphs
4.2
42
43 44 45 46 48 48 49 49 49 50 50 51
4.3
3DViews
4.3.1 4.3.2 4.3.3 4.3.4 4.3.5 4.3.6 4.3.7 4.3.8 4.3.9 4.3.10
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52 53 53 54 55 57 57 57 58 58
4.4
Replays
4.4.1 4.4.2 4.4.3 4.4.4 4.4.5
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59 60 60 61 62
4.5 4.6
DataForms
4.5.1 4.5.2 4.6.1 4.6.2 4.6.3 4.6.4 4.6.5 4.6.6 4.6.7 4.6.8 4.6.9 4.6.10 4.6.11 4.6.12
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63 64
Results
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65 66 67 67 68 68 68 69 70 71 72 72
4.7
Graphs
4.7.1
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74
Contents
4.8 4.9 4.10 4.11 4.12 4.13
Spreadsheets TextWindows Workspaces ComparingData Preferences PrintingandExporting
74 75 75 75 76 78
5 AUTOMATION
5.1 5.2 Introduction Postprocessing
5.2.1 5.2.2 5.2.3 5.2.4 5.2.5 5.2.6 5.2.7 5.2.8 5.2.9 5.2.10 5.2.11 5.2.12 Introduction OrcaFlexSpreadsheet InstructionFormat Predefinedcommands Basiccommands TimeHistoryandrelatedcommands RangeGraphcommands Datacommands InstructionsWizard DuplicateInstructions TipsandTricks ErrorHandling Introduction ScriptFiles ScriptSyntax ScriptCommands Examplesofsettingdata HandlingScriptErrors ObtainingVariableNames AutomatingScriptGeneration
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79 79
79 79 81 83 83 84 85 85 86 89 92 93
5.3
BatchProcessing
5.3.1 5.3.2 5.3.3 5.3.4 5.3.5 5.3.6 5.3.7 5.3.8
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93 94 94 95 97 102 102 103
6 THEORY
6.1 6.2 6.3 6.4 6.5 CoordinateSystems DirectionConventions ObjectConnections InterpolationMethods StaticAnalysis
6.5.1 6.5.2 6.5.3 LineStatics BuoyandVesselStatics VesselMultipleStatics CalculationMethod Ramping
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105 106 107 107 109
109 113 113
6.6 6.7
DynamicAnalysis
6.6.1 6.6.2
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115 117
FrictionTheory
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SpectralResponseAnalysis EnvironmentTheory
6.9.1 6.9.2 6.9.3 6.9.4 6.9.5 6.10.1 6.10.2 6.10.3 6.10.4 6.10.5 6.10.6 6.10.7 6.11.1 6.11.2 6.11.3 6.11.4 6.11.5 6.11.6 6.11.7 6.11.8 6.11.9 6.11.10 6.11.11 6.11.12 6.11.13 6.11.14 6.11.15 6.11.16 6.11.17 6.11.18 6.11.19 6.11.20 6.11.21 6.11.22 6.12.1 6.12.2 6.12.3 6.12.4 6.12.5 BuoyancyVariationwithDepth CurrentTheory SeabedTheory Morison'sEquation Waves VesselRotations RAOsandPhases RAOQualityChecks DragLoads Stiffness,AddedMassandDamping ImpulseResponseandConvolution WaveDriftLoads Overview StructuralModelDetails CalculationStages CalculationStage1TensionForces CalculationStage2BendMoments CalculationStage3ShearForces CalculationStage4TorsionMoments CalculationStage5TotalLoad LineEndOrientation LineLocalOrientation TreatmentofCompression ContentsFlowEffects LinePressureEffects PipeStressCalculation PipeStressMatrix HydrodynamicandAerodynamicLoads DragChains LineEndConditions InteractionwiththeSeaSurface InteractionwithSeabedandShapes Clashing ModalAnalysis Overview LumpedBuoyAddedMass,DampingandDrag SparBuoyandTowedFishAddedMassandDamping SparBuoyandTowedFishDrag ContactForces
6.8 6.9
120 121
121 122 122 123 124
6.10 VesselTheory
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131 132 133 135 137 138 139
6.11 LineTheory
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141 142 143 144 145 147 147 148 148 149 150 150 152 153 154 155 158 159 159 160 160 163
6.12 6DBuoyTheory
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164 166 167 169 171
6.13 3DBuoyTheory 6.14 WinchTheory 6.15 ShapeTheory
171 172 174
Contents
7 SYSTEMMODELLINGDATAANDRESULTS
7.1 7.2 7.3 7.4 ModellingIntroduction DatainTimeHistoryFiles VariableData
7.3.1 7.4.1 7.4.2 7.4.3 7.4.4 7.4.5 7.4.6 7.4.7 7.4.8 7.4.9 7.4.10 ExternalFunctions Statics Dynamics Integration&TimeSteps ExplicitIntegration ImplicitIntegration NumericalDamping ResponseCalculation PropertiesReport Drawing Results SeaData SeaDensityData SeabedData WaveData DataforRegularWaves DataforRandomWaves DataforJONSWAPandISSCSpectra DataforOchiHubbleSpectrum DataforTorsethaugenSpectrum DataforUserDefinedSpectrum DataforTimeHistoryWaves DataforUserSpecifiedComponents DataforResponseCalculation WavesPreview SettingupaRandomSea CurrentData WindData DrawingData ExternalFunctions Results WaveScatterConversion
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177 178 180
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GeneralData
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183 184 185 186 187 188 189 189 189 189
7.5
Environment
7.5.1 7.5.2 7.5.3 7.5.4 7.5.5 7.5.6 7.5.7 7.5.8 7.5.9 7.5.10 7.5.11 7.5.12 7.5.13 7.5.14 7.5.15 7.5.16 7.5.17 7.5.18 7.5.19 7.5.20 7.5.21
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190 191 192 194 195 195 196 197 197 198 198 199 199 200 201 203 205 206 207 207 208
7.6 7.7
SolidFrictionCoefficientsData Vessels
7.7.1 7.7.2 7.7.3 7.7.4 7.7.5 VesselData VesselTypes ModellingVesselSlowDrift VesselResponseReports VesselResults LineData
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215 223 245 246 248
7.8
Lines
7.8.1
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Contents
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7.8.2 7.8.3 7.8.4 7.8.5 7.8.6 7.8.7 7.8.8 7.8.9 7.8.10 7.8.11 7.8.12 7.8.13 7.8.14 7.8.15 7.8.16 7.8.17 7.8.18 7.8.19 LineTypes Attachments RayleighDamping LineResults DragChainResults FlexJointResults ModalAnalysis LineSetupWizard LineTypeWizard Chain Rope/Wire LinewithFloats HomogeneousPipe HosesandUmbilicals ModellingStressJoints ModellingBendRestrictors LineEnds ModellingCompressioninFlexibles Wings CommonData AppliedLoads WingData WingTypeData LumpedBuoyProperties LumpedBuoyDrawingData SparBuoyandTowedFishProperties SparBuoyandTowedFishAddedMassandDamping SparBuoyandTowedFishDrag SparBuoyandTowedFishDrawing ShadedDrawing Otheruses ExternalFunctions PropertiesReport Results BuoyHydrodynamics HydrodynamicPropertiesofaRectangularBox ModellingaSurfacePiercingBuoy Data PropertiesReport Results Data WireProperties Control ControlbyStage ControlbyWholeSimulation DriveUnit 266 274 278 281 292 292 292 294 295 296 301 304 308 309 311 313 315 318
7.9
6DBuoys
7.9.1 7.9.2 7.9.3 7.9.4 7.9.5 7.9.6 7.9.7 7.9.8 7.9.9 7.9.10 7.9.11 7.9.12 7.9.13 7.9.14 7.9.15 7.9.16 7.9.17 7.9.18 7.9.19 7.10.1 7.10.2 7.10.3 7.11.1 7.11.2 7.11.3 7.11.4 7.11.5 7.11.6
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320 321 323 323 324 326 327 328 330 331 332 332 334 334 334 335 337 337 340
7.10 3DBuoys
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343 344 344
7.11 Winches
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346 346 347 347 348 348
Contents
7.11.7 7.11.8
ExternalFunctions Results Data Results Data Blocks Cylinders CurvedPlates Planes Drawing Results
349 349
7.12 Links
7.12.1 7.12.2
350
350 352
7.13 Shapes
7.13.1 7.13.2 7.13.3 7.13.4 7.13.5 7.13.6 7.13.7
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353 354 355 355 356 357 358
7.14 AllObjectsDataForm
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8 FATIGUEANALYSIS
8.1 8.2 8.3 8.4 8.5 8.6 8.7 8.8 8.9 8.10 8.11 8.12 8.13 Commands Data CommonLoadCasesData LoadCasesDataforRegularAnalysis LoadCasesDataforRainflowAnalysis LoadCasesDataforSpectralAnalysis ComponentsData AnalysisData SNCurves IntegrationParameters Results FatiguePoints HowDamageisCalculated
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361 362 363 364 364 364 366 367 367 368 368 369 370
9 VIVTOOLBOX
9.1 9.2 FrequencyDomainModels
9.1.1 9.1.2 9.2.1 9.2.2 9.2.3
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372
372 376
VIVA SHEAR7 WakeOscillatorModels VortexTrackingModels VIVDrawing
TimeDomainModels
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383 386 392
Introduction,InstallingOrcaFlex
INTRODUCTION
Welcome to OrcaFlex (version 9.2a), a marine dynamics program developed by Orcina for static and dynamic analysisofawiderangeofoffshoresystems,includingalltypesofmarinerisers(rigidandflexible),globalanalysis, moorings,installationandtowedsystems. OrcaFlexprovidesfastandaccurateanalysisofcatenarysystemssuchasflexiblerisersandumbilicalcablesunder wave and current loads and externally imposed motions. OrcaFlex makes extensive use of graphics to assist understanding. The program can be operated in batch mode for routine analysis work and there are also special facilitiesforpostprocessingyourresultsincludingfullyintegratedfatigueanalysiscapabilities. OrcaFlex is a fully 3D nonlinear time domain finite element program capable of dealing with arbitrarily large deflectionsoftheflexiblefromtheinitialconfiguration.Alumpedmasselementisusedwhichgreatlysimplifiesthe mathematical formulation and allows quick and efficient development of the program to include additional force termsandconstraintsonthesysteminresponsetonewengineeringrequirements. In addition to the time domain features, modal analysis can be performed for individual lines and RAOs can be calculatedforanyresultsvariableusingtheSpectralResponseAnalysisfeature. OrcaFlexisalsousedforapplicationsintheDefence,OceanographyandRenewableenergysectors.OrcaFlexisfully 3D and can handle multiline systems,floating lines, line dynamicsafter release, etc. Inputs include ship motions, regularandrandomwaves.Resultsoutputincludesanimatedreplayplusfullgraphicalandnumericalpresentation. IfyouarenewtoOrcaFlexthenpleaseseethetutorialandexamples. ForfurtherdetailsofOrcaFlexandourothersoftware,pleasecontactOrcinaoryourOrcinaagent.
Copyrightnotice
CopyrightOrcinaLtd.19872008.Allrightsreserved.
1.1
INSTALLINGORCAFLEX
HardwareRequirements OrcaFlexcanbeinstalledandrunonanycomputerthathas: Windows2000,XP,Vista. If you are using small fonts (96dpi) the screen resolution must be at least 1024 x 768. If you are using large fonts(120dpi)thescreenresolutionmustbeatleast1280x1024. Apowerfulprocessorwithfastfloatingpointandmemoryperformance.Thisisthemostimportantfactorsince OrcaFlexisacomputationintensiveprogramandsimulationruntimescanbelongforcomplexmodels. Atleast512MBofmemory.ThisislessimportantthanprocessorperformancebutsomeaspectsofOrcaFlexdo performbetterwhenmorememoryisavailable.Inaddition,havingplentyofmemoryallowsyoutouseother applicationsefficientlyatthesametimeasrunningOrcaFlexsimulations. As much disk space as you require to store simulation files. Simulation files vary in size, but can be 10's of megabyteseachforcomplexmodels. Ascreenresolutionof1280X1024orgreateranda16bitorgreatercolourpalette. A DirectX 9 compatible graphics card with at least 256MB memory for the most effective use of the shaded graphicsfacility. MicrosoftExcelinordertousetheOrcaFlexautomationfacilities. WindowsXPorVista.
However,OrcaFlexisaverypowerfulpackageandtogetthebestresultswewouldrecommend:
For up to date information on hardware choice for OrcaFlex please refer to our website at www.orcina.com/Support. Installation ToinstallOrcaFlex:
11
Introduction,InstallingOrcaFlex
Youwillneedtoeitherinstallfromanaccountwithadminprivilegesor(onVista)havethedetailsofsuchan account. IfinstallingfromCD,inserttheOrcaFlexCDandruntheAutorun.exeprogramontheCD(onmanymachines thisprogramwillrunautomaticallywhenyouinserttheCD).Thenclickon'InstallOrcaFlex'. If you have received OrcaFlex by email or from the web you will have a zip file, and possibly a number of licencefiles(*.lic).Extractthefilesfromthezipfiletosometemporarylocation,andsavethelicencefilestothe samefolder.ThenruntheextractedfileSetup.exe. YouwillalsoneedtoinstalltheOrcaFlexdonglesuppliedbyOrcina.Seebelowfordetails.
Forfurtherdetails,includinginformationonnetworkandsilentinstallation,clickonReadMeontheAutorunmenu oropenthefileInstallationGuide.pdfontheCD.IfyouhaveanydifficultyinstallingOrcaFlexpleasecontactOrcina oryourOrcinaagent. OrcinaShellExtension WhenyouinstallOrcaFlextheOrcinaShellExtensionisalsoinstalled.ThisintegrateswithWindowsExplorer,and associatesthe dataandsimulationfile types (.datand.sim) with OrcaFlex. You can then open an OrcaFlexfile by simplydoubleclickingthefilenameinExplorer.Theshellextensionalsoprovidesfilepropertiesinformation,such aswhichversionofOrcaFlexwrotethefileandtheCommentstextforthemodelinthefile.Fordetailsseethefile CD:\OrcShlEx\ReadMe.htmontheOrcaFlexCD. InstallingtheDongle OrcaFlexissuppliedwithadongle,asmallhardwaredevicethatmustbeattachedtothemachineortothenetwork towhichthemachineisattached. Note: Thedongleiseffectivelyyourlicencetorunonecopy(ormore,ifthedongleisenabledformore copies)ofOrcaFlex.Itis,inessence,whatyouhavepurchasedorleased,anditshouldbetreated withappropriatecareandsecurity.IfyouloseyourdongleyoucannotrunOrcaFlex. Orcinacannormallyresupplydisksormanuals(achargebeingmadetocovercosts)iftheyarelost ordamaged.Butwecanonlysupplyanewdongleinthecasewheretheolddongleisreturnedto us.
Warning:
Dongleslabelled'Hxxx'(wherexxxisthedonglenumber)mustbepluggedintothemachineonwhichOrcaFlexis run. Dongles labelled 'Nxxx' can be used in the same way as 'Hxxx' dongles, but they can also be used over a network,allowingtheprogramtobesharedbymultipleusers.Inthelattercasethedongleshouldbeinstalledby yournetworkadministrator;instructionscanbefoundintheDongledirectoryontheOrcaFlexCD.
TypesofDongle
Dongles are available for either parallel or USB ports, and these are functionally equivalent so far as OrcaFlex is concerned.Ingeneral,USBdonglesarepreferred,sincetheyseemtobemorereliable.Inanycase,parallelportsare becominglesscommononnewmachines.Bydefault,'N'donglescanholdupto10OrcaFlexlicencesforuseovera network.Wecansupplydongleswithlargercapacitiesonrequest. DongleTroubleshooting Wesupply,withOrcaFlex,adongleutilityprogramcalledOrcaDongle.IfOrcaFlexcannotfindthedonglethenthis programmaybeusedtocheckthatthedongleisworkingcorrectlyandhastheexpectednumberoflicences.For detailsseetheOrcaDonglehelpfile. TheOrcaDongleprogramisincludedontheOrcaFlexCD,andyoumaychoosetoinstallitfromtheAutorunmenuin thesamewayasOrcaFlex.Itisalsoavailablefordownloadfromourwebsiteatwww.orcina.com/Support/Dongle. Alsoonourwebsite,usersofnetworkdonglesmayfindtheOrcinaLicenceMonitortobeuseful.Thisapplication keepstrackofthenumberofOrcaFlexlicencesclaimedonanetworkatanytime.
Diagnostics
IfOrcaFlexfailstostart,withtheerrorthatitcan'tobtainalicence,thenpleasecheckthefollowing. If you are using a network dongle, are all the licences in use? The Orcina Licence Monitor may be of use in determiningthis.Iftheyare,youwillneedtowaituntilalicencebecomesfreebeforeyoucanrunOrcaFlex.
12
Introduction,RunningOrcaFlex
Ifyouareusingalocaldongle,isitpluggedintoyourmachine?Ifso,isthedongledevicedriverinstalled?You can check this by running OrcaDongle. If the driver is not present, it may have been uninstalled by another program:ifso,youcanfixthisbyRepairingtheOrcaFlexinstallation(fromtheWindowsControlPanel,select 'AddorRemovePrograms'(XP)orPrograms/ProgramsandFeatures(Vista),selecttheOrcaFlexentry,select ChangethenRepair).Ifthisstillfails,youcaninstallthedriverbydownloadingfromourwebsite,andrunning, thefileHaspSetup.msi. DoesthedongleyouareusinghaveanOrcaFlexlicenceonit?Again,youcancheckthiswithOrcaDongle. Doyouhavealicencefileforthedongleyouwishtoaccess?ThisfilewillbenamedNxxx.licorHxxx.lic(where xxxisthedonglenumber)andwillbeintheOrcaFlexinstallationfolder.Ifnot,thenyoushouldbeabletocopy therequiredfile(s)fromtherootleveloftheOrcaFlexCDintotheinstallationfolder.
Ifnoneofthesehelp,thenpleasecontactusatOrcinawithadescriptionoftheproblem.Ideally,pleasealsoemailto usthediagnosticsfilenamedOrcLog.txtwhichOrcaFlexwillhavewrittenonfailingtofindalicence.Thisfilecanbe foundinthefolder"%appdata%/Orcina/OrcaFlex":toopenthisfolder,selectStartmenu|Run...andenterthetext betweenthequotes(includingthe'%'characters).
1.2
RUNNINGORCAFLEX
A shortcut to run OrcaFlex is set up on the Start menu when you install OrcaFlex (see Start\Programs\Orcina Software\). ThisshortcutpassesnoparameterstoOrcaFlexsoitgivesthe defaultstartupbehaviour;seebelow.Ifthisisnot suitableyoucanconfigurethestartupbehaviourusingcommandlineparameters,forexamplebysettingupyour ownshortcutswithparticularparametersettings. DefaultStartup OrcaFlex has two basic modules: full OrcaFlex and staticsonly OrcaFlex. A full OrcaFlex licence is needed for dynamicanalysis. When you run OrcaFlex it looks for an Orcina dongle from which it can claim an OrcaFlex licence (either a full licenceorastaticsonlylicence).Bydefault,itfirstlooks foralicenceonalocaldongle(i.e.oneinlocalmodeand connected to the local machine) and if none is found then it looks for a licence on a network dongle (i.e. one in network mode and accessed via a licence manager over the network). This default behaviour can be changed by commandlineparameters. IfOrcaFlexfindsanetworkdongleandthereisachoiceofwhichlicencestoclaimfromit,thenOrcaFlexdisplaysa ChooseModulesdialogtoaskyouwhichmodulesyouwanttoclaim.Thishelpsyousharethelicenceswithother users of that network dongle. For example if the network dongle contains both a full licence and a staticsonly licencethenyoucanchoosetousethestaticsonlylicence,ifthatisallyouneed,sothatthefulllicenceisleftfreefor otherstousewhenyoudonotneedityourself.TheChooseModulesdialogcanbesuppressedusingcommandline parameters. CommandLineParameters OrcaFlexcanacceptvariousparametersonthecommandlinetomodifythewayitstartsup.Thesyntaxis: OrcaFlex.exeFilenameOption1Option2...etc. Filenameisoptional.IfpresentitshouldbethenameofanOrcaFlexdatafile(.dat)orsimulationfile(.sim)andafter startingupOrcaFlexwillautomaticallyopenthatfile. Option1,Option2etc.areoptionalparametersthatallowyouconfigurethestartupbehaviour.Theycanbeanyof the following switches. For the first character of an option switch, the hyphen character '' can be used as an alternativetothe'/'character.
DongleSearchswitches
Bydefaulttheprogramsearchesfirstforalicenceonalocaldongleandthenforalicenceonanetworkdongle.The followingswitchesallowyoutomodifythisdefaultbehaviour. /LocalDongleOnlysearchforlicencesonalocaldongle.Nosearchwillbemadefornetworkdongles. /NetworkDongle Only search for licences on a network dongle. Any local dongle will be ignored. This can be usefulifyouhavealocaldonglebutwanttouseanetworkdonglethathaslicencesformoremodules.
13
Introduction,ParallelProcessing
ModuleChoiceswitch
Thisswitchisonlyrelevantifthedonglefoundisanetworkdongleandthereisachoiceoflicencestoclaimfrom thatdongle.Youcanspecifyyourchoiceusingthefollowingcommandlineswitch: /DisableDynamicsChoosethestaticsonlybasiclicence.Thisissometimesusefulwhenusinganetworkdongle sinceitallowsyoutoleavefulllicencesfreeforotheruserswhenyouonlyneedastaticsonlylicence.
IfyoudonotspecifyallthechoicesthentheprogramdisplaystheChooseModulesdialogtoaskforyourremaining choices.Youcansuppressthisdialogusingthefollowingswitch. /DisableInteractiveStartupDonotdisplaytheChooseModulesdialog.Theprogrambehavesthesameasifthe userclicksOKonthatdialogwithoutchanginganymodulechoices.
BatchCalculationswitches
TheseswitchesallowyoutoinstructOrcaFlextostartabatchcalculationassoonastheprogramhasloaded.The followingswitchesareavailable: /Batch Start a batch calculation as soon as the program has loaded. The batch calculation will contain all the filesspecifiedonthecommandline(youcanhavemorethanone)intheorderinwhichtheyarespecified.You canuserelativepathswhichwillberelativetotheworkingdirectory. /CloseAfterBatchInstructstheprogramtocloseoncethebatchiscomplete.
ProcessPriorityswitches
These switches determine the processing priority of OrcaFlex. The available switches are /RealtimePriority, /HighPriority,/AboveNormalPriority,/NormalPriority,/BelowNormalPriority,/LowPriority.
ThickLinesswitch
The/ThickLinesswitchallowsyoutospecifyaminimumthicknessforlinesdrawnonOrcaFlex3DViewwindows. Forexampleusingtheswitch/ThickLines=5forcesOrcaFlextodrawalllinesatathicknessofatleast5.Ifnovalue isspecified(i.e.theswitchis/ThickLines)thentheminimumthicknessistakentobe2. ThisswitchhasbeenaddedtomakeOrcaFlex3DViewsclearerwhenprojectedontoalargescreen.

ThreadCountswitch
The /ThreadCount switch allows you to set the number of execution threads used by OrcaFlex for parallel processing.Forexample/ThreadCount=1forcesOrcaFlextouseasingleexecutionthreadwhichhastheeffectof disablingparallelprocessing.
1.3
PARALLELPROCESSING
Machineswithmultipleprocessorsorprocessorswithmultiplecoresarebecomingincreasinglycommon.OrcaFlex canmakegooduseoftheadditionalprocessingcapacityaffordedbysuchmachines.Foruptodateinformationon hardwarechoiceforOrcaFlexpleaserefertoourwebsiteatwww.orcina.com/Support/Benchmark. OrcaFlex performs the calculations of the model's Line objects in parallel. This means that, interactively at least, performanceisonlyimprovedformodelswithmorethanoneLineobjectweintendtoremovethisrestrictionina futurereleaseofthesoftware.However,formodelswithmorethanoneLineperformanceissignificantlyimproved. Both batch processing and fatigue calculations process their jobs and load cases concurrently, using all available processorcores. Note,however,thattheOrcaFlexspreadsheetiscurrentlyonlyabletomakeuseofasingleprocessorcore.Weplan toaddressthislimitationinafuturerelease.
Threadcount
OrcaFlexmanagesanumberofexecutionthreadstoperformtheparallelcalculations.Thenumberofthesethreads (thethreadcount)defaultstothenumberofphysicalprocessorcoresavailableonyourmachineasreportedbythe operatingsystem.Thisdefaultwillworkwellformostcases.ShouldyouwishtochangeityoucanusetheTools|Set ThreadCountmenuitem.Thethreadcountcanalsobecontrolledbyacommandlineswitch.
14
Introduction,DistributedOrcaFlex
Hyperthreading
Some Intel processors offer a technology called hyperthreading. Such processors can process multiple execution threadsinparallelbymakinguseofunderusedresourcesontheprocessor.Hyperthreadedprocessorsappearto theoperatingsystemas2distinct,logicalprocessors. Sadly,therealworldperformanceofsuchchipsdoesnotliveuptothemarketinghype.Atbestthistechnologycan give improvements of around 1020%. However, the performance of hyperthreading under OrcaFlex varies considerably with the OrcaFlex model being analysed. In the worst cases using hyperthreading results in performancetwiceasslowaswithout! For this reason we recommend that you don't attempt to use hyperthreading when running OrcaFlex. By default OrcaFlexwilluseasmanythreadsastherearetruephysicalcoresavailabletoyoursystem. Tohelpunderstandthisconsideradualprocessor,dualcoremachinewithhyperthreadingsupport.Theoperating system will recognise 8 processors. Of these processors, 4 are true physical processor cores and the other 4 are virtualhyperthreadedprocessors.AccordinglyOrcaFlexwilldefaulttousing4calculationthreads.
1.4
DISTRIBUTEDORCAFLEX
DistributedOrcaFlexisasuiteofprogramsthatenablesacollectionofnetworked,OrcaFlexlicensedcomputersto run OrcaFlex jobs, transparently, using spare processor time. For more information about Distributed OrcaFlex please refer to our website at www.orcina.com/Support/DistributedOrcaFlex. Distributed OrcaFlex can be downloadedfromthisaddress. OrcaFlexcanalsomakeuseofmachineswithmultipleprocessorsusingparallelprocessingtechnology.
1.5
ORCINALICENCEMONITOR
TheOrcinaLicenceMonitor(OLM)isaservicethatmonitorsthecurrentnumberofOrcaFlexlicencesclaimedona networkinrealtime.OtherprogramsthatusetheOrcaFlexprogramminginterface(OrcFxAPI)suchasDistributed OrcaFlexandtheOrcaFlexspreadsheetarealsomonitored.Youcanobtaininformationoneachlicenceclaimedthat includes: Networkinformation:thecomputername,networkaddressandtheusername. Licenceinformation:thedonglename,thedongletype(networkorlocal)andthetimethelicencewasclaimed. Program information: which modules are being used, the version, and the location of the program which has claimed the licence (usually this is OrcaFlex.exe but it can be Excel.exe for the OrcaFlex spreadsheet for example).
OLMcanbedownloadedfromourwebsiteatwww.orcina.com/Support/OrcinaLicenceMonitor.
1.6
DEMONSTRATIONVERSION
ForanoverviewofOrcaFlex,seetheIntroductiontopicandthetutorial. ThedemonstrationversionofOrcaFlexhassomefacilitiesdisabledyoucannotcalculatestaticsorrunsimulation, andyoucannotsavefiles,print,exportorcopytotheclipboard.Otherwisethedemonstrationversionisjustlikethe fullversion,soitallowsyoutoseeexactlyhowtheprogramworks. In particular the demonstration version allows you to open any prepared OrcaFlex data or simulation file. If you open a simulation file then you can then examine the results, see replays of the motion etc. There are numerous examplefilesprovidedonthedemonstrationCD. IfyouhavethefullversionofOrcaFlexthenyoucanusethedemonstrationversiontoshowyourcustomersyour OrcaFlexmodelsandresultsfortheirsystem.Todothis,give themthedemonstrationversionandcopiesofyour OrcaFlex simulation files. The demonstration version can be found on your OrcaFlex CD see CD:\Demo_CD\ReadMe.
1.7
VALIDATIONANDQA
available from our website at
The OrcaFlex validation documents are www.orcina.com/SoftwareProducts/OrcaFlex/Validation.
15
Introduction,Orcina
1.8
ORCINA
Orcina is a creative engineering software and consultancy company staffed by mechanical engineers, naval architects, mathematicians and software engineers with long experience in such demanding environments as the offshore, marine and nuclear industries. As well as developing engineering software, we offer a wide range of analysis and design services with particular strength in dynamics, hydrodynamics, fluid mechanics and mathematicalmodelling. ContactDetails OrcinaLtd. Daltongate Ulverston Cumbria LA127AJ UK Telephone:+44(0)1229584742 Fax:+44(0)1229587191 Email:orcina@orcina.com WebSite:www.orcina.com OrcinaAgents Wehaveagentsinmanypartsoftheworld.Fordetailspleaserefertoourwebsite:www.orcina.com/ContactOrcina.
1.9
References
REFERENCESANDLINKS
API,1993.APIRecommendedPractice2AWSD(RP2AWSD).AmericanPetroleumInstitute. API.ComparisonofAnalysesofMarineDrillingRisers.APIBulletin.2J. Barltrop N D P, and Adams A J, 1991. Dynamics of fixed marine structures. Butterworth Heinemann for MTD. 3rd Edition. BatchelorGK,1967.Anintroductiontofluiddynamics.CambridgeUniversityPress. BlevinsRD,2005.ForcesonandStabilityofaCylinderinaWake.J.OMAE,127,3945. CarterDJT,1982.PredictionofWaveheightandPeriodforaConstantWindVelocityUsingtheJONSWAPResults, OceanEngineering,9,no.1,1733. CasarellaMJandParsonsM,1970.CableSystemsUnderHydrodynamicLoading.MarineTechnologySocietyJournal 4,No.4,2744. ChapmanDA,1984.TowedCableBehaviourDuringShipTurningManoeuvres.OceanEngineering.11,No.4. Chung J and Hulbert G M, 1993. A time integration algorithm for structural dynamics with improved numerical dissipation:Thegeneralizedmethod.ASMEJournalofAppliedMechanics.60,371375. CMPT,1998.Floatingstructures:Aguidefordesignandanalysis.EditedbyBarltropNDP. CentreforMarineand PetroleumTechnologypublication101/98,OilfieldPublicationsLimited. CumminsWE,1962.Theimpulseresponsefunctionandshipmotions.Schiffstechnik,9,101109. DeanRG,1965.Streamfunctionrepresentationofnonlinearoceanwaves.J.Geophys.Res.,70,45614572. DirlikT,1985.ApplicationofcomputersinFatigueAnalysis.PhDThesisUniversityofWarwick. DNV,1991.EnvironmentalConditionsandEnvironmentalLoadsClassificationNotes30.5.March. ESDU71016.Fluidforces,pressuresandmomentsonrectangularblocks.ESDU71016ESDUInternational,London. ESDU80025.Meanforces,pressuresandflowfieldvelocitiesforcircularcylindricalstructures:Singlecylinderwith twodimensionalflow.ESDU80025ESDUInternational,London. FalcoM,FossatiFandRestaF,1999.Onthevortexinducedvibrationofsubmarinecables:Designoptimizationof wrappedcablesforcontrollingvibrations.3rdInternationalSymposiumonCableDynamics,Trondheim,Norway. FaltinsenOM,1990.Sealoadsonshipsandoffshorestructures.CambridgeUniversityPress.
16
Introduction,ReferencesandLinks
FentonJD,1979.Ahighordercnoidalwavetheory.J.FluidMech.94,129161. FentonJD,1985.AfifthorderStokestheoryforsteadywaves.J.Waterway,Port,Coastal&OceanEng.ASCE.111, 216234. FentonJD,1990.Nonlinearwavetheories.Chapterin"TheSeaVolume9:OceanEngineeringScience",editedby B.LeMeHauteandD.M.Hanes.Wiley:NewYork.325. FentonJD,1995.Personalcommunicationpreprintofchapterinforthcomingbookoncnoidalwavetheory. GregoryRWandPaidoussisMP,1996. Unstableoscillationoftubularcantileversconveyingfluid:Part1:Theory. Proc.R.Soc.293SeriesA,512527. HartnupGC,AireyRGandFraserJM,1987.ModelBasinTestingofFlexibleMarineRisers.OMAEHouston. HoernerSF1965.FluidDynamicDrag,PublishedbytheauthoratHoernerFluidDynamics,NJ08723,USA. HuseE,1993.InteractioninDeepSeaRiserArrays.OTC7237,1993. Isherwood R M, 1987. A Revised Parameterisation of the JONSWAP Spectrum. Applied Ocean Research, 9, No. 1 (January),4750. IwanWD,1981.Thevortexinducedoscillationofnonuniformstructuralsystems.JournalofSoundandVibration, 79,291301. IwanWDandBlevinsRD,1974.AModelforVortexInducedOscillationofStructures.JournalofAppliedMechanics, September1974,581586. KotikJandMangulisV,1962.OntheKramersKronigrelationsforshipmotions.Int.ShipbuildingProgress,9,No.97, 361368. Larsen C M, 1991. Flexible Riser Analysis Comparison of Results from Computer Programs. Marine Structures, ElsevierAppliedScience. LonguetHiggins M S, 1983. On the joint distribution of wave periods and amplitudes in a random wave field. ProceedingsRoyalSocietyLondon,SeriesA,MathematicalandPhysicalSciences.389,241258. MaddoxSJ,1998.Fatiguestrengthofweldedstructures.WoodheadPublishingLtd,ISBN1855730138. Morison J R, O'Brien M D, Johnson J W, and Schaaf S A, 1950. The force exerted by surface waves on piles. Petrol TransAIME.189. Mueller H F, 1968. Hydrodynamic forces and moments of streamlined bodies of revolution at large incidence. Schiffstechnik.15,99104. Newman J N. 1974. Secondorder, slowlyvarying forces on vessels in irregular waves. Proc Int Symp Dynamics of MarineVehiclesandStructuresinWaves,Ed.BishopREDandPriceWG,MechEngPublicationsLtd,London. NewmanJN,1977.MarineHydrodynamics,MITPress. NDP, 1995. Regulations relating to loadbearing structures in the petroleum activities. Norwegian Petroleum Directorate. OchiMKandHubbleEN,1976.Sixparameterwavespectra;Proc15thCoastalEngineeringConference,301328. Oil Companies International Marine Forum, 1994. Prediction of Wind and Current Loads on VLCCs, 2nd edition, Witherby&Co.,London. PaidoussisMP,1970.Dynamicsoftubularcantileversconveyingfluid.J.MechanicalEngineeringScience,12,No2, 85103. PaidoussisMPandDeksnisEB,1970.Articulatedmodelsofcantileversconveyingfluid:Thestudyofaparadox.J. MechanicalEngineeringScience,12,No4,288300. PaidoussisMP and Lathier B E, 1976. Dynamics of Timoshenko beamsconveying fluid. J. MechanicalEngineering Science,18,No4,210220. PalmerACandBaldryJAS,1974.Lateralbucklingofaxiallyconstrainedpipes.J.PetroleumTechnology,Nov1974, 12831284. PodeL,1951.TablesforComputingtheEquilibriumConfigurationofaFlexibleCableinaUniformStream.DTMB Report.687.
17
Principles of Naval Architecture. Revised edition, edited by J P Comstock, 1967. Society of Naval Architects and MarineEngineers,NewYork. PuechA,1984.TheUseofAnchorsinOffshorePetroleumOperations.EditionsTechnique Rawson and Tupper, 1984. Basic Ship Theory 3rd ed, 2: Ship Dynamics and Design, 482. Longman Scientific & Technical(Harlow). RieneckerMMandFentonJD,1981.AFourierapproximationmethodforsteadywaterwaves.J.FluidMech.104, 119137. RoarkRJ,1965.FormulasforStressandStrain.4theditionMcGrawHill. SarpkayaT,ShoaffRL,1979.InviscidModelofTwoDimensionalVortexSheddingbyaCircularCylinder.ArticleNo. 790281R,AIAAJournal,17,no.11,11931200. SarpkayaT,ShoaffRL,1979.Adiscretevortexanalysisofflowaboutstationaryandtransverselyoscillatingcircular cylinders.Reportno.NPS69SL79011,NavalPostgraduateSchool,Monterey,California. RychlikI,1987.Anewdefinitionoftherainflowcyclecountingmethod.Int.J.Fatigue9,No2,119121. SkjelbreiaL,HendricksonJ,1961.Fifthordergravitywavetheory.Proc.7thConf.CoastalEng.184196. Sobey R J, Goodwin P, Thieke R J and Westberg R J, 1987. Wave theories. J. Waterway, Port, Coastal & Ocean Eng. ASCE113,565587. Sparks C, 1980. Le comportement mecanique des risers influence des principaux parametres. Revue de l'Institut FrancaisduPetrol,35,no.5,811. SparksC,1983.Comportementmecaniquedestuyauxinfluencede latraction,delapressionetdupoidslineique: Applicationauxrisers.Revuedel'InstitutFrancaisduPetrol38,no.4,481. Standing RG, Brendling WJ, Wilson D, 1987. Recent Developments in the Analysis of Wave Drift Forces, Low FrequencyDampingandResponse.OTCpaper5456,1987. Tan Z, Quiggin P, Sheldrake T, 2007. Time domain simulation of the 3D bending hysteresis behaviour of an unbondedflexibleriser.OMAEpaper29315,2007(downloadfromOrcinawebsite). TaylorRandValentP,1984.DesignGuideforDragEmbedmentAnchors,NavalCivilEngineeringLaboratory(USA), TNNoN1688. TorsethaugenKandHaverS,2004.Simplifieddoublepeakspectralmodelforoceanwaves,PaperNo.2004JSC193, ISOPE2004Touson,France. Thwaites,1960.IncompressibleAerodynamics,Oxford,399401. TimoshenkoS,1955.VibrationProblemsinEngineering,vanNostrand. TriantafyllouMS,YueDKPandTeinDYS,1994.Dampingofmooredfloatingstructures.OTC7489,Houston,215 224. Tuckeretal,1984.AppliedOceanResearch,6,No2. TuckerMJ,1991.WavesinOceanEngineering.EllisHorwoodLtd.(Chichester). Wichers J E W, 1979. Slowly oscillating mooring forces in single point mooring systems. BOSS79 (Second InternationalConferenceonBehaviourofOffshoreStructures). WichersJEW,1988.ASimulationModelforaSinglePointMooredTanker.DelftUniversityThesis. WuM,SaintMarcouxJF,BlevinsRD,QuigginPP,2008.Paper No.ISOPE2008MWU10.ISOPEConference2008, Vancouver,Canada.(downloadfromOrcinawebsite) YoungAD,1989.BoundaryLayers.BSPProfessionalBooks,8791.
18
SuppliersoffrequencydomainVIVsoftware
SHEAR7
SBMAtlantia 1255EnclaveParkway,Suite1200 Houston,TX77077,USA Attention:Dr.S.Leverette Email:Steve.Leverette@sbmatlantia.com Tel:+12818994300 Fax:+12818994307

VIVA
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19
Tutorial,GettingStarted
2
2.1
TUTORIAL
GETTINGSTARTED
This short tutorial gives you a very quick run through the model building and results presentation features of OrcaFlex. OncompletionofthetutorialwesuggestthatyoualsolookthroughtheprerunexamplesseeExampleFiles. OnstartingupOrcaFlex,youarepresentedwitha3Dviewshowingjustabluelinerepresentingtheseasurfaceand abrownlinerepresentingtheseabed.Atthetopofthescreenaremenus,atoolbarandastatusbararrangedinthe manner common to most Windows software. As usual in Windows software, nearly all actions can be done in severalways:here,toavoidconfusion,wewillusuallyonlyrefertoonewayofdoingtheactionwewant,generally usingthemouse.
Figure: TheOrcaFlexmainwindow
2.2
BUILDINGASIMPLESYSTEM
Tostartwith,wewillbuildasimplesystemconsistingofonelineandonevesselonly. onthetoolbar.Thecursorchangesfromtheusualpointertoa Usingthemouse,clickonthenewvesselbutton crosshaircursortoshowthatyouhavenowselectedanewobjectandOrcaFlexiswaitingforyoutodecidewhereto place it. Place the cursor anywhere on the screen and click the mouse button. A "ship" shape appears on screen, positionedattheseasurface,andthecursorrevertstothepointershape.Toselectthevessel,movethecursorclose to the vessel and click the mouse button the message box (near the top of the 3D view) will confirm when the vessel has been selected. Now press and hold down the mouse button and move the mouse around. The vessel follows the mouse horizontally, but remains at the sea surface. (To alter vessel vertical position, or other details, selectthevesselwiththemouse,thendoubleclicktoopentheVesseldatawindow.)
2.3
ADDINGALINE
Now add a line. Using the mouse, click on the new line button . The crosshair cursor reappears move the mousetoapointjusttotherightofthevesselandclick.Thelineappearsasacatenaryloopatthemouseposition. Movethemousetoapointclosetothelefthandendoftheline,pressandholddownthemousebuttonandmove themousearound.Theendofthelinemovesaroundfollowingthemouse,andthelineisredrawnateachposition. Release the mouse button, move to the right hand end, click and drag. This time the right hand end of the line is draggedaround.Inthisway,youcanputtheendsofthelinesroughlywhereyouwantthem.(Finalpositioningto exactlocationshastobedonebytypingintheappropriatenumbersselectthelinewiththemouseanddoubleclick tobringupthelinedataform.)
21
Tutorial,AdjustingtheView
Movethelineendsuntilthelefthandendofthelineisclosetothebowoftheship,therighthandendliesabovethe waterandthelinehangsdownintothewater. Atthispoint,thelinehasadefaultsetofpropertiesandbothendsareatfixedpositionsrelativetotheGlobalorigin. Forthemomentwewillleavethelineproperties(length,mass,etc.)attheirdefaultvalues,butwewillconnectthe lefthandendtotheship.Dothisasfollows: 1. Clickonthelinenearthelefthandend,toselectthatendoftheline;makesureyouhaveselectedtheline,not thevesselorthesea.Themessageboxatthelefthandendofthestatusbartellsyouwhatiscurrentlyselected. Ifyouhaveselectedthewrongthing,tryagain.(Notethatyoudon'thavetoclickattheendofthelineinorder toselectitanywhereinthelefthandhalfofthelinewillselectthelefthandend.Asarule,itisbettertochoose apointwellawayfromanyotherobjectwhenselectingsomethingwiththemouse.) Releasethemouseandmoveittothevessel,holddownthe CTRLkeyandclick.Themessageboxwillconfirm theconnectionand,toindicatetheconnection,thetriangleattheendofthelinewillnowbethesamecolouras thevessel.
2.
Nowselectthevesselagainanddragitaroundwiththemouse. Thelefthandendofthelinenowmoveswiththe vessel.Leavethevesselpositionedroughlyasbeforewiththelineinaslackcatenary.
2.4
ADJUSTINGTHEVIEW
The default view of the system is an elevation of the global XZ plane you are looking horizontally along the positive Y axis. The view direction (the direction you are looking) is shown in the Window Title bar in azimuth/elevationform(azimuth=270;elevation=0).Youcanmoveyourviewpointup,down,rightorleft,andyou nearthetopleftcornerofthewindow.Clickon canzoominorout,usingtheviewcontrolbuttons eachofthetop3buttonsinturn:thenclickagainwiththeSHIFTkeyhelddown.TheSHIFTkeyreversestheactionof thebutton.Ifyouwanttomovetheviewcentrewithoutrotating,usethescrollbarsatthebottomandrightedgesof thewindow.Byjudicioususeofthebuttonsandscrollbarsyoushouldbeabletofindanyviewyoulike. Alternatively, you can alter the view with the mouse. Hold down the ALT key and left mouse button and drag. A rectangle on screen shows the area which will be zoomed to fill the window when the mouse button is released. SHIFT+ALT+leftmousebuttonzoomsouttheexistingviewshrinkstofitintherectangle. Warning: OrcaFlex will allow you to look up at the model from underneath, effectively from under the seabed!Becausetheviewisisometricandalllinesarevisible,itisnotalwaysapparentthatthis hasoccurred.Whenthishashappened,theelevationangleisshownasnegativeinthetitlebar.
Therearethreeshortcutkeyswhichareparticularlyusefulforcontrollingtheview.ForexampleCTRL+Pgivesaplan viewfromabove; CTRL+Egivesanelevation; CTRL+Qrotatestheviewthrough90abouttheverticalaxis.( CTRL+P andCTRL+Eleavetheviewazimuthunchanged.) buttononthe3DViewtobringuptheEditViewParametersform.Thisgivesamorepreciseway Nowclickthe ofcontrollingtheviewandisparticularlyusefulifyouwanttoarrangeexactlythesameviewof2differentmodels say2alternativeconfigurationsforaparticularrisersystem.Edittheviewparametersifyouwishbypositioningthe cursorintheappropriateboxandeditingasrequired. If you should accidentally lose the model completely from view (perhaps by zooming in too close, or moving the viewcentretoofar)thereareanumberofwaysofretrievingit: PressCTRL+TorrightclickintheviewwindowandselectResettoDefaultView. PresstheResetbuttonontheEditViewParametersform.Thisalsoresetsbacktothedefaultview. Zoomoutrepeatedlyuntilthemodelreappears. Closethe3DViewandaddanewone(usetheWindow|Add3DViewmenuitem).Thenewwindowwillhave thedefaultviewcentreandviewsize.
2.5
Note:
STATICANALYSIS
IfyouarerunningthedemonstrationversionofOrcaFlexthenthisfacilityisnotavailable.
22
Tutorial,DynamicAnalysis
Torunastaticanalysisofthesystem,clickontheStaticAnalysisbutton .Themessageboxreportswhichlineis being analysed and how many iterations have occurred. When the analysis is finished (almost instantly for this simplesystem)theProgramStatemessageinthecentreoftheStatusBarchangestoread"StaticsComplete",and theStaticAnalysisbuttonchangestolightgreytoindicatethatthiscommandisnolongeravailable.Theappearance of the line will have changed a little. When editing the model, OrcaFlex uses a quick approximation to a catenary shapeforgeneralguidanceonly,andthisshapeisreplacedwiththetruecatenaryshapewhenstaticanalysishas beencarriedout.(SeeStaticAnalysisformoredetails). WecannowexaminetheresultsofthestaticanalysisbyclickingontheResultsbutton Selectionwindow. Youareofferedthefollowingchoices: Resultsinnumericalandgraphicalform,withvariousfurtherchoiceswhichdeterminewhatthetableorgraph willcontain. Resultsforallobjectsoroneselectedobject. .ThisopensaResults
Ignorethegraphoptionsforthemoment,selectSummaryResultsandAllObjects,thenclickTable.Asummaryof the static analysis results is then displayed in spreadsheet form. Results for different objects are presented in differentsheets.Toviewmorestaticanalysisresultsrepeatthisprocess:clickontheResultsbuttonandselectas before.
2.6
DYNAMICANALYSIS
Wearenowreadytorunthesimulation.IfyouarerunningthedemonstrationversionofOrcaFlexthenyoucannot dothis,butinsteadyoucanloaduptheresultsofaprerunsimulationseeExamples. .Asthesimulationprogresses,thestatusbarreportscurrentsimulationtime ClicktheRunSimulationbutton andexpected(real)timetofinishtheanalysis,andthe3Dviewshowsthemotionsofthesystemasthewavepasses through. .Ananimatedreplayofthesimulationisshowninthe3Dviewwindow.Usethe ClicktheStartReplaybutton view control keys and mouse as before to change the view. The default Replay Period is Whole Simulation. This meansthatyouseethesimulationstartfromstillwater,thewavebuildingandwithitthemotionsofthesystem. SimulationtimeisshownintheStatusbar,topleft.Negativetimemeansthewaveisstillbuildingupfromstillwater tofullamplitude.Attheendofthesimulationthereplaybeginsagain. Thereplayconsistsofaseriesof"frames"atequalintervalsoftime.Justasyoucan"zoom"inandoutinspacefora , edit closer view, so OrcaFlex lets you "zoom" in and out in time. Click on the Replay Parameters button Intervalto0.5sandclickOK.Theanimatedreplayisnowmuchjerkierthanbeforebecausefewerframesarebeing shown. NowclickagainonReplayParameters,setReplayPeriodtoLatestWaveandclickontheContinuousboxtodeselect. Thereplayperiodshownisattheendofthesimulationandhasdurationofasinglewaveperiod.Attheendofthe waveperiodthereplaypauses,thenbeginsagain. topausethereplay.Clickingrepeatedlyonthisbuttonstepsthroughthe NowclickontheReplayStepbutton replayoneframeatatimeaveryusefulfacilityforexaminingaparticularpartofthemotionindetail.Clickwith theSHIFTkeyhelddowntostepbackwards. Youcanthenrestarttheanimationbyclickingon'StartReplay'asbefore.Toslowdownorspeedupthereplay,click onReplayParametersandadjustthespeed.Alternativelyusetheshortcuts CTRL+Fand SHIFT+CTRL+Ftomakethe replayfasterorslowerrespectively. ToexitfromreplaymodeclickontheStopReplaybutton .
23
Tutorial,MultipleViews
2.7
MULTIPLEVIEWS
Youcanaddanotherviewofthesystemifyouwishbyclicking ontheViewbutton .Clickagaintoaddathird view,etc.Eachviewcanbemanipulatedindependentlytogive,say,simultaneousplanandelevationviews.Tomake allviewsreplaytogether,clickonReplayControlandchecktheAllViewsbox.Toremoveanunwantedviewsimply close its view window. To rearrange the screen and make best use of the space, click Window and choose Tile Vertical(F4)orTileHorizontal(SHIFT+F4).Alternatively,youcanminimisewindowssothattheyappearassmall icons on the background, or you can resize them or move them around manually with the mouse. These are standard Windows operations which may be useful if you want to tidy up the screen without having to close a windowdowncompletely.
2.8
LOOKINGATRESULTS
.ThisopensaResultsSelectionwindow.
NowclickontheResultsbutton
Youareofferedthefollowingchoices: ResultsasTablesorGraphs,withvariousfurtherchoiceswhichdeterminewhatthetableorgraphwillcontain. Resultsforallobjectsoroneselectedobject.
Select Time History for any line, then select Effective Tension at End A and click the Graph button. The graph appearsinanewwindow.Youcancalluptimehistoriesofawiderangeofparametersformostobjects.Forlines, you can also call up Range Graphs of effective tension, curvature, bend moment and many other variables. These show maximum, mean and minimum values of the variable plotted against position along the line. Detailed numericalresultsareavailablebyselectingSummaryResults,FullResults,StatisticsandLinkedStatistics. Timehistoryandrangegraphresultsarealsoavailableinnumericalformselectthevariableyouwantandpress theValuesbutton.TheresultscanbeexportedasExcelcompatiblespreadsheetsforfurtherprocessingasrequired. Further numerical results are available in tabular form by selecting Summary Results, Full Results, Statistics and LinkedStatistics. Windowsdisplayingsystemviewsorgraphscanbeautomatically arrangedonscreenastheyappearbyselecting Window|Auto Arrange (this is the default setting on start up). Windows displaying tabular results are not automaticallyarrangedonopening,butareincludedinanysubsequentrearrangementofthescreen.
ResultsPostProcessing
ExtrapostprocessingfacilitiesareavailablethroughExcelspreadsheets.
2.9
GETTINGOUTPUT
You can get printed copies of data, results tables, system views and results graphs by means of the File|Print menu, or by clicking Print on the popup menu. Output can also be transferred into a word processor or other application,eitherusingcopy+pasteviatheclipboardorelseexport/importviaafile. Note: PrintingandexportfacilitiesarenotavailableinthedemonstrationversionofOrcaFlex.
2.10
INPUTDATA
Takealookthroughtheinputdataforms.Startbyresettingtheprogram:clickontheResetbutton andanswer 'Yes'tothewarningprompt.ThisreturnsOrcaFlextotheresetstate,inwhichyoucaneditthedatafreely.(Whilea simulationisactiveyoucanonlyeditcertainnoncriticalitems,suchasthecoloursusedfordrawing.) NowclickontheModelBrowserbutton .ThisdisplaysthedatastructureintreeformintheModelBrowser.
Select an item and double click with the mouse to bring up the data form. Many of the data items are self explanatory.Fordetailsofadataitem,selecttheitemwiththemouseandpressthe F1key.Alternativelyusethe questionmarkHelpiconinthetoprightcorneroftheform.Havealookaroundalltheobjectdataformsavailableto getanideaofthecapabilitiesofOrcaFlex.
24
Tutorial,InputData
EndofTutorial Wehopeyouhavefoundthistutorialuseful.TofamiliariseyourselfwithOrcaFlex,trybuildingandrunningmodels ofanumberofdifferentsystems.Themanualalsoincludesarangeofexamplesandtechnicalnoteswhichexpand onparticularpointsofinterestordifficulty. Finally,pleaserememberthatweatOrcinaareoncalltohandleyourquestionsifyouarestuck.
25
Examples,Introduction
3
3.1
EXAMPLES
INTRODUCTION
OrcaFlexcomeswithatutorialandacomprehensivecollectionofexamplefiles.Thefullsetofexamplefilesareon the OrcaFlex CD (see CD:\Demo_CD\OrcaFlex\Examples), and when OrcaFlex is installed some or all of the examples(dependingonyourinstallationoptions)arecopiedintotheOrcaFlexinstallationdirectory.Theexamples canalsobefoundonourwebsiteatwww.orcina.com/SoftwareProducts/OrcaFlex/Examples. The OrcaFlex help file describes each example case in detail. The OrcaFlex Help file can be downloaded from our websiteatwww.orcina.com/SoftwareProducts/OrcaFlex/Documentation.
27
UserInterface,Introduction
4
4.1
4.1.1
USERINTERFACE
INTRODUCTION
ProgramWindows
OrcaFlexisbaseduponamainwindowthatcontainstheMenus,aStatusBar,aToolBarandusuallyatleastone3D viewofthemodel.Thewindowcaptionshowstheprogramversionandthefilenamecurrentlyinuseforeitherdata (.dat)orsimulationfiles(.sim).
Figure: TheOrcaFlexmainwindow showing3Dpictorialviewsofthemodel showingresultsingraphicalform showingresultsinnumericalform reportingstatus
Withinthismainwindow,youcanplaceanynumberofsubordinate(orchild)windowswhichmaybe: 3DViewWindows GraphWindows SpreadsheetWindows TextWindows
Additionaltemporarywindowsarepoppedup,suchasDataFormsforeachobjectinthemodel(allowingdatatobe viewedandmodified)andDialogueBoxes(usedtospecifydetailsforprogramactionssuchasloadingandsaving files).Whileoneofthesetemporarywindowsispresentyoucanonlyworkinsidethatwindowyoumustdismiss thetemporarywindowbeforeyoucanuseotherwindows,themenusortoolbar. TheactionsthatyoucanperformatanytimedependonthecurrentModelState. ArrangingWindows 3D View, Graph, Spreadsheet and Text Windows may be tiled so that they sit sidebyside, but they must remain withintheboundsofthemainwindow.IfAutoArrangeisselectedthentheprogramrearrangesthewindowsusing thecurrentschemeeverytimeanewwindowiscreated.
4.1.2
TheModel
OrcaFlex works by building a mathematical computer model of your system. This model consists of a number of objectsthatrepresentthepartsofthesysteme.g.vessels,buoys,linesetc. Eachobjecthasaname,whichcanbeanylength.Objectnamesarenotcasesensitive,so Riser,riserandRISER wouldallrefertothesameobject.ThisbehaviouristhesameasforWindowsfilenames. Themodelalwayshastwostandardobjects: Generalcontainsgeneraldata,suchastitle,unitsetc. Environmentrepresentsthesea,seabed,waves,currentetc.
29
YoucanthenusetheModelBrowserorthetoolbartoaddotherobjectstorepresentthepartsofyoursystem.There isnolimit,otherthanthecapacityofyourcomputer,tothenumberofobjectsyoucanaddtothemodel. Atanytime,youcansaveyourmodeltoadatafileyoucanthenreopenitatalaterdatetocontinuework.
4.1.3
ModelBrowser
or the Model | Model Browser menu item or use the keyboard
At any time you can use the Model Browser to see what objects you have in your model. To display the model browser, use the model browser button shortcuts(F6toopenthemodelbrowser).
Figure: ModelBrowser
TheModelBrowserconsistsofalistofalltheobjectsinthemodel,arrangedintocategoriesaccordingtoobjecttype. Severalsymbolsareusedinthelistofobjects: Categoriescanbeopened,toshowtheircontents,orclosed,tosimplifyviewingacomplexmodel. Objects.Usedoubleclicktovieworedittheobject'sdata. Locked.Theseobjectscannotbedraggedbythemouseinthe3DView. You can navigate the list and select the object required by clicking with the mouse, or using the arrow keys and return.Ifthelistislongerthanthewindowthenyoucaneitherenlargethewindoworusethescrollbar. Note: Morethanoneobjectcanbeselectedinthemodelbrowser.Thisallowsyoutoperformthesame action(e.g.delete,copy,hide,show,locate)onmanyobjectsatonce.Toselectmorethanoneobject you use the standard Windows key presses CTRL+CLICK to add to a selection and SHIFT+CLICK to extendaselection.
30
UserInterface,Introduction Ifyouhaveallobjectsinthemodelbrowserselectedthenitcanbedifficulttodeselectthem.The simplestwayistouse CTRL+CLICKtodeselectoneitemandthento CLICKthatitemagaintoselect italone.
Hint:
ModelBrowserFacilities Themodelbrowsermenus,anditspopupmenu,providethefollowingmodelmanagementfacilities.Fordetailsof keyboardshortcutsseeKeysonModelBrowser.

Add
Addanewobjecttothemodel.
Delete
Deletetheselectedobjectfromthemodel.
Cut/Copy
CutorCopytheselectedobjecttotheclipboard.
Paste
Pasteanobjectfromtheclipboardintothemodel.IftheobjectistheVariableDatathenallthevariabledatatables arepastedin,withtablesbeingrenamedifnecessarytoavoidclashingwithexistingvariabledatanames. Note: YoucanuseCut/CopyandPastetotransferobjectsbetweentwocopiesofOrcaFlexrunningonthe same machine. You can also use it to transfer objects between two OrcaFlex data files (open the sourcefileandcopytheobjecttotheclipboard,thenopenthedestinationfileandpastetheobject backfromtheclipboard),buttheLibraryfacility(seebelow)providesaneasierwayofachieving thesamething.
MoveSelectedObjects
OpenstheMoveSelectedObjectsWizard.
Locate
Findsandhighlightstheobjectinanyopen3Dviewwindows.Thisisusefulincomplexmodelswheremanyobjects areonthe3Dview.ThehighlightingmethodisdeterminedbytheLocateObjectMethodpreference.
Edit
Open the object's data form. This action can also be invoked by doubleclicking an item, or by selecting it and pressingRETURN.
Rename
Renametheselectedobject.Youcanalsorenamebysingleclickingtheselectedobject.
Lock/Unlock
Lockorunlocktheselectedobject.
Hide/HideAll/Show/ShowAll
Controlwhethertheobjectsaredrawnon3Dviews.
Reorder
Youcanusedrag+dropwiththemousetoreorderobjectsinthemodel.Thisisusefulifyouareworkingonthestatic positionofoneparticularlineyoucandragituptothetopofthelistoflines,sothatitwillbetackledfirstwhen OrcaFlexdoesthestaticanalysis.

Library
TheLibrarymenufacilitiesallowyoutoopenaseconddatafile.YoucanthenImportobjectsfromthatsecondfile intothecurrentmodel.Youcanalsoimportusingdrag+dropwiththemouse.FordetailsseeLibraries. Notes: Theseconddatafileisreferredtoasthelibrarymodel,butinfactitcanbeanyOrcaFlexdatafile. The library facilities therefore provide an easy way to move objects between different OrcaFlex datafiles.
31
Iftheobjectbeingimportedisthevariabledatathenallthevariabledatatablesaretransferred, withtablesbeingrenamedifnecessarytoavoidclashingwithexistingvariabledatanames.
SwitchtoMainWindow
Thebrowser'sWindowmenuenablesyoutoswitchfocustothemainformwithoutclosingthebrowserwindow.A correspondingcommandonthemainform'sWindowmenuswitchesfocusback.
4.1.4
ModelBrowserViews
Thereare2waysofviewingobjectsinthemodelbrowser:byTypesorbyGroups.Youcanswitchbetweenviews byclickingonthemodelbrowserView|ViewbyGroups/Typesmenuitems,orthoughthepopupmenu.
TypesView
This is the traditional model browser view. The browser has a number of folders containing objects of the same type.Forexampleallthelinesarecontainedinafoldercalled"Lines".Objectscanbereorderedwithinafolderbut theycannotbemovedtoadifferentfolder. ToselectthisviewyoushouldclicktheView|ViewbyTypesmenuitem.
GroupsView
Thisviewallowsyoutocustomisehowtheobjectsarearrangedinthemodelbrowser.Youcanaddanynumberof browser groups to the browser. These groups are simply folders in the browser tree. Groups can contain any numberofobjectsorothergroups.Inthiswayahierarchicalstructureforthemodelcanbecreated. ToselectthisviewyoushouldclicktheView|ViewbyGroupsmenuitem. ToaddgroupsyouselecttheEdit|AddGroupmenuitemorusethepopupmenu.Groupscanberenamedinthe samewayasotherobjects.Objectscanbeaddedtoagroupbydraggingtheobjectsontothegroup.Anynumberof objectscanbeaddedtoagroupinoneoperationbyfirstselectingtheobjectsandthendraggingthem.Thismultiple selectionisperformedusingthestandardWindowskeypressesCTRL+CLICKtoaddtoaselectionandSHIFT+CLICKto extendaselection.Groupscan bedragged into othergroupsand soa hierarchical structurefor the model can be created. As well as allowing you the freedom to structure your model however you like, the Groups View allows you to performthesameaction(e.g.delete,copy,hide,show,locate)onallobjectsinagroup.Thegroupingstructureis alsousedwhencyclingthroughdataformsclickingtheNextbuttontakesyoutothenextobjectinthegroupsview.
4.1.5
MoveSelectedObjectsWizard
Thiswizardallowsyoutomoveandrotateanumberofobjectsenmasse.Thewizardismostusefulwhenyouselect multipleobjects,agrouporanumberofgroupsoreventheentiremodel. TousethewizardyoumustfirstopentheModelBrowserandselecttheobjectswhichyouwishtomove.Thenclick MoveSelectedObjectsonthebrowser'seditmenu(alsoavailablefromthepopupmenu). Selectingobjects Beforeusingthewizardyoumustselect(inthemodelbrowser) theobjectswhichyouwishtomove.Therearea varietyofwaysinwhichyoucandothis.Welistafewofthemoreusefulmethodsbelow: Selectasingleobject.

SHIFT+CLICKtoextendaselection.
Select multiple objects. You can do this in the model browser using CTRL+CLICK to add to a selection and Selectanobjecttypefolder.ThisworkswhenthemodelbrowserisinTypesViewmode.Forexampleselectthe Linesfolderifyouwishtomoveallthelinesinamodel. Selectagroup.ThisworkswhenthemodelbrowserisinGroupsViewmode.Thisallowsyoutomoveallobjects inthatgroup. Selecttheentiremodel.ThisiseasiesttodowhenthemodelbrowserisinGroupsViewmode.Thefirstitemin themodelbrowseristitled"Model".Selectthisitemifyouwishtomoveallobjectsinthemodel.
Thereisnolimitationtothetypeofselectionsyoucanmake.Ifyouwishtomove2groupsthenselectbothofthem (usingCTRL+CLICK)andopenthewizard.
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UserInterface,Introduction If your selection includes an item which contains other objects (e.g. a group or an object type folder)thenallobjectscontainedbythatitemwillbemovedbythewizard.
Note: Points
Thewizardshowsalistofthepointsassociatedwitheachselectedobject.Forobjectslikebuoys,vesselsandshapes asinglepointisshown.Forobjectslikelines,linksandwincheswithmultipleconnectionpointsthelistshowseach connectionpointforthatobject.Thelistalsoshowstheglobalcoordinatesofeachpoint. Foreachpointyouhavetheoptionofincludingorexcludingitinthemoveoperation.Thismightbeusefulifyou wanted to move only the End A line connection points and leave the End B connection points unchanged, for example. Movespecifiedby Thereare4methodsofspecifyinghowtheobjectsaremoved.
Displacement
Forthismethodyouspecifyapositionchange(i.e.adisplacement)whichwillbeappliedtoallthepointsincludedin themoveoperation.
PolarDisplacement
ThismethodissimilartotheDisplacementmethod.Hereyouspecifyadirectionanddistancewhichdeterminea positionchange.Thisisappliedtoallthepointsincludedinthemoveoperation.
NewPosition
Hereyougiveareferencepointanditsnewposition.Thesamedisplacementisappliedtoallotherpointsincluded inthemove.
Rotation
Thismethodrotatestheincludedpointsinthehorizontalplane.Youspecifyanangleofrotationandacentralpoint about which the rotation is performed. Note that the environment data (e.g. wave and current directions, seabed directionetc.)isnotincludedintherotation. Movingtheobjects Onceyouhavedecidedwhichobjectstoincludeinthemoveandhowthemoveisspecifiedyouarereadytoactually move theobjects. This is done by clicking the Move button. If youchange yourmind anddecide notto move the objectsthensimplyclicktheClosebutton.
4.1.6
Libraries
AnOrcaFlexLibraryisacollectionofOrcaFlexobjects(linetypes,lines,buoysetc.)storedinanordinaryOrcaFlex datafile.Forexample,alibrarymaycontainallthestandardLineTypesthatyouuseregularly.Oncesuchalibrary file has been built you can quickly build new models using the library this gives faster model building and can makeQAproceduressafer. To open a library file, use the File | Libraries menu or the Library menu on the Model Browser. Note that any OrcaFlexdatafilecanbeopenedasalibraryfile,andthismakesiteasytousethemodelbrowsertocopyobjects fromonemodeltoanother.
UsingLibraries
LibrariesallowyoutoeasilyimportobjectsfromoneOrcaFlexmodeltoanother.TodothisrunOrcaFlexandopen themodelbrowserbyclickingthemodelbrowserbutton F2.Themodelbrowsershouldlooklike: ortheModel|ModelBrowsermenuitem,orpressing
33
Nowyouopenyourfileasalibrary.Todothisclicktheopenbutton file.Nowthemodelbrowserwilllooklike: onthemodelbrowserandselectyourdata
Wearenowgoingtocopysomeobjectsfromtherighthandpanetothelefthandpane.Todososelecttherequired linetypesandclicktheimportbutton .Asanalternativetotheimportbuttontheobjectscanbedraggedfrom therighthandpanetothelefthandpaneortheLibrary|Importmenuitemcanbeused. Note that you can select a number of objects and import them all in one go. You do this by using the standard Windows key presses CTRL+CLICK to add to a selection and SHIFT+CLICK to extend a selection. If you do this the librarywilllooklike:
34
OnceyouhaveimportedtherequiredobjectsyoucanclosethelibrarybyselectingtheLibrary|Closemenuitem onthemodelbrowser.Nowthemodelbrowserlookslike:
Herearesomeotherpointsaboutusinglibraryfiles:
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BecauselibraryfilesaresimplyordinaryOrcaFlexdatafiles,youcantemporarilytreatanyOrcaFlexdatafileas alibrary.ThisallowsyoutoimportobjectsfromoneOrcaFlexdatafiletoanother. You can resize the model browser by dragging its border. You can also control the relative sizes of its two panes,bydraggingtherightborderoftheleftpane. Youcanview,butnotedit,thedataforalibrarymodelobject,bydoubleclickingitintheModelBrowserorby selectingitandusingthepopupmenu. Whenanobjectisimportedfromalibrary,thedestinationmodelmayalreadyhaveanobjectofthatname.In thiscaseOrcaFlexautomaticallygivestheobjectanewnamebasedontheoldname;youmaywishtoalterthis name.
Nameclasheswhenimporting
Iftheobjectbeingimportedusesatypee.g.alinetypeorvesseltypethenOrcaFlexautomaticallyimportsallthe typesthattheobjectuses.Ifthenamesofanyofthosetypes matchnamesalreadyinthedestinationmodel,then OrcaFlex needs to know which ones to use the ones already in the destination model or the ones in the source model.IfthissituationarisesthenOrcaFlexwarnsyouandgivesyouthefollowingoptions: Use Existing: The type is not transferred. Instead, the transferred object will use the type, of that name, that alreadyexistsinthedestinationmodel. Rename: This option transfers the used type, giving it a new name, and the transferred object uses the transferredtype. UseAllExisting:ThisoptionappliestheUseExistingoptiontoallremainingtypesusedbytheobject.Soforall remainingtypesusedbytheobject,thetypesalreadyinthedestinationmodelareused,whenevertheirnames matchthetypesused. Rename All: This option applies the Rename option to all remaining types used by the object. So all the remainingtypesusedbytheobjectaretransferred,usingnewnameswhereneeded,andthetransferredobject usesthetransferredtypes.
BuildingaLibrary
AlibraryfileissimplyanOrcaFlexdatafileyoucanuseanyOrcaFlexdatafileasalibrary.Inpracticeitismost convenienttoputyourcommonlyusedOrcaFlexobjectsintofilesdesignatedasOrcaFlexlibraryfiles. YoubuildalibraryfileinthesamewayasyoubuildastandardOrcaFlexdatafile.Startingwithablankmodelyou canaddobjectsintheusualwayandsettheirdata.Typically,however,youwouldwanttoreuseobjectsthathad previouslybeencreatedandusedforaproject. Todothisyouwouldopenthemodelbrowserandloadyourprojectdatafileasalibraryusingtheopenbutton onthemodelbrowser.ThenyouimporttherequiredobjectsasdescribedinUsingLibraries.Thisprocedurecanbe repeatedwithanumberofdifferentdatafilesuntilyouhavealltheobjectsyouwishtokeepinthelibrary.Thenyou shouldclosethemodelbrowserandsavethedatafilebyclickingthe datafilecannowbeusedasalibrary. Notes: buttononthemainOrcaFlexform.This
Because they are OrcaFlex models, libraries contain General and Environment data, but these wouldnotusuallybeused,exceptperhapsfortheGeneraldataCommentfield,whichcanactasa titleforthelibrary. Because the library file is just an ordinary OrcaFlex data file, it can also be opened using File | Open.Thisallowsyoutoeditthedataoftheobjectsinthelibrary.
You can set up as many library files as you wish. For example you might have separate libraries for Line Types, Attachment Types, Vessel Types, Variable Data Sources etc., or you may choose to use just one library for everything.Themodelbrowser'sLibrarymenucontainsalistofthemostrecentlyusedlibraries.
4.1.7
ModelStates
OrcaFlexbuildsandanalysesamathematicalmodelofthesystembeinganalysed,themodelbeingbuiltupfroma seriesofinterconnectedobjects,suchasLines,VesselsandBuoys.FormoredetailsseeModellingandAnalysis.
36
OrcaFlexworksonthemodelbymovingthroughasequenceofstates,thecurrentstatebeingshownonthestatus bar.Thefollowingdiagramshowsthesequenceofstatesusedandtheactions,resultsetc.availableineachstate.
RESET Calculate Static Position Calculating Statics Reset
STATICS COMPLETE Reset Run Pause SIMULATION UNSTABLE Simulating Run
Edit or Reset
SIMULATION Reset PAUSED Extend Simulation
SIMULATION COMPLETE
Reset
Figure:
ModelStates
Thestatesusedareasfollows:
Reset
ThestateinwhichOrcaFlexstarts.InResetstateyoucanfreelychangethemodelandeditthedata.Noresultsare available.
CalculatingStatics
OrcaFlexiscalculatingthestaticspositionofthemodel.YoucanabortthecalculationbyCLICKINGtheResetbutton.
StaticsComplete
Thestaticscalculationiscompleteandthestaticpositionresultsareavailable.Youareallowedtomakechangesto themodelwheninthisstatebutifyoumakeanychanges(exceptforveryminorchangeslikecoloursused)thenthe modelwillbeautomaticallyresetandthestaticsresultswillbelost.

Simulating
Thedynamicsimulationisrunning.Theresultsofthesimulationsofarareavailableandyoucanexaminethemodel data,butonlymakeminorchanges(e.g.coloursused).Youcannotstorethesimulationtoafilewhilesimulating youmustpausethesimulationfirst.

SimulationPaused
Thereisasimulationactive,butitispaused.Theresultssofarareavailableandyoucanexaminethemodeldata. Youcanalsostorethepartrunsimulationtoafile.
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SimulationComplete
Thesimulationiscomplete.Thesimulationresultsareavailableandyoucanstoretheresultstoasimulationfilefor later examination. You must reset the model, by CLICKING on the Reset button, before significant changes to the modelcanbemade. YoucanusetheExtendSimulationfacilityifyouwishtosimulateforafurtherperiodoftime.
SimulationUnstable
The simulation has become unstable. The simulation results are available and you can store the results to a simulation file for later examination. This allows you to try and understand why the simulation has become unstable. You may also want to examine the results up until the point at which the simulation became unstable. However, please treat these results with caution because the simulation eventually went unstable this indicates thatthedynamicsimulationmaynothaveconvergedatearliersimulationtimes. Youmustresetthemodel,byCLICKINGontheResetbutton,beforesignificantchangestothemodelcanbemade.
4.1.8
1. 2.
UsingModelStates
Toillustratehowmodelstateswork,hereisanexampleofatypicalworkingpattern: InResetstate,openanewmodelfromadatafileorusethecurrentmodelasthestartingpointforanewmodel. InResetstate,addorremoveobjectsandeditthemodeldataasrequiredforthenewmodel.Itisgenerallybest touseaverysimplemodelintheearlystagesofdesignandonlyaddmorefeatureswhenthesimplemodelis satisfactory. Run a static analysis (to get to StaticsComplete state) and examine the static position results. Make any correctionstothemodelthatareneededthiswillautomaticallyresetthemodel.Steps(2)and(3)arerepeated asrequired. Runasimulationandmonitortheresultsduringthesimulation(inSimulatingstate). IffurtherchangestothemodelareneededthenResetthemodelandeditthemodelaccordingly.Steps(2)to (5)arerepeatedasrequired. Finalise the model, perhaps improving the discretisation (for example by reducing the time step sizes or increasing the number of segments used for Lines). Run a final complete simulation (to reach SimulationCompletestate)andgeneratereportsusingtheresults.
3.
4. 5. 6.
4.1.9
Toolbar
The toolbar holds a variety of buttons that provide quick access to the most frequently used menu items. The selectionofbuttonsavailablevarieswiththecurrentProgramState. Button Action Open Save ModelBrowser NewVessel NewLine New6DBuoy New3DBuoy NewWinch NewLink EquivalentMenuItem File|Open File|Save Model|ModelBrowser Model|NewVessel Model|NewLine Model|New6DBuoy Model|New3DBuoy Model|NewWinch Model|NewLink
38
UserInterface,Introduction EquivalentMenuItem Model|NewShape Calculation|SingleStatics Calculation|RunSimulation Calculation|PauseSimulation Calculation|Reset Replay|StartReplay Replay|StopReplay Replay|StepReplayForwards Replay|EditReplayParameters Window|Add3DView Results|SelectResults Help|OrcaFlexHelp
Button Action NewShape CalculateStatics RunSimulation PauseSimulation Reset StartReplay StopReplay StepReplayForwards EditReplayParameters AddNew3DView ExamineResults HelpContentsandIndex
4.1.10
StatusBar
TheStatusBarisdividedintothreefields:
TheMessageBox
Thisisatthelefthandend.Itshowsinformationabouttheprogressofthecurrentaction,suchasthenameofthe currentlyselectedobject,orthecurrentiterationnumberorsimulationtime.Errormessagesarealsoshownhere. Whenastaticscalculationisdonemessagesshowingtheprogressofthecalculationareshowninthemessagebox. To see all the messages from the statics calculation CLICK on the message box the StaticsProgressWindow will thenbeopened.
TheProgramStateIndicator
Inthecentreandshowswhichstatetheprogramisin(seeModelStates).
TheInformationBox
Thisisontheright.Itshowsadditionalinformation,including: Theglobalcoordinatesofthepositionofthecursor,inthecurrentviewplane. Distanceswhenusingthemeasuringtapetool.
4.1.11
MouseandKeyboardActions
AswellasthestandardWindowsmouseoperationssuchasselectionanddraggingOrcaFlexusessomespecialised actions. Clicking the right mouse button over a 3D View, Graph or Text Window displays a popup menu of frequentlyusedactions,suchasCopy,Paste,Exportetc.Forwireframe3DViewsandGraphWindowsthemouse canbeusedforzooming.Simplyholdthe ALTkeydownandusingtheleftmousebutton,dragaboxovertheregion youwanttoview. Allofthemenuitemscanbeselectedfromthekeyboardbypressing ALTfollowedbytheunderlinedlettersthisis describedinyourMicrosoftWindowsManual. Example: Toexitfromtheprogram(menu:File|Exit)pressALT+FthenX,orALTthenFthenX
39
Anumberoffrequentlyusedmenuitemsmayalsobeaccessedby shortcutkeys,suchas CTRL+Rtostartareplay. Seethetablesbelow.TheshortcutkeysarealsodisplayedontheOrcaFlexmenus.Wesuggestthatasyoubecome morefamiliarwiththeoperationofOrcaFlexthatyoumemorisesomeoftheshortcutkeysforactionsthatyouuse frequently.

KeysonMainWindow
Newmodel Openfile Savefile Opendata Savedata Help Print Show/hideModelBrowser SwitchbetweenModelBrowserandMainWindow Calculatestaticposition Runsimulation Pausesimulation Resetsimulation Openresultsselectionform Gotonextwindow Gotopreviouswindow Tilewindowsvertically Tilewindowshorizontally Closeselectedwindow Closeprogram
KeysonModelBrowser
CTRL+N CTRL+O CTRL+S SHIFT+CTRL+O SHIFT+CTRL+S F1 F7 F6 SHIFT+F6 F9 F10 F11 F12 F5 CTRL+F6 SHIFT+CTRL+F6 F4 SHIFT+F4 CTRL+F4 ALT+F4
Editdata Renameobject SwitchtoMainWindow Locate Moveselectedobjects Hide Show Hideallobjects Showallobjects ViewbyGroups ViewbyTypes Lock/Unlockobjects Cut Copy Paste Delete Closebrowser
Enter F2 SHIFT+F6 F3 CTRL+M CTRL+H CTRL+S SHIFT+CTRL+H SHIFT+CTRL+S SHIFT+CTRL+G SHIFT+CTRL+T CTRL+L CTRL+X CTRL+C CTRL+V DELETE ESC
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KeysonDataForms
Help Gotonextdataform Gotopreviousdataform Displaybatchscriptnamesforcurrentlyselected dataitemortable. DisplayPropertiesReport Showconnectionsreport Copyform Exportform Printform Opencalculator Closeform
DataSelectionKeys
F1 F6 SHIFT+F6 F7 ALT+ENTER F8 F9 F10 CTRL+P F12 ALT+F4
Gotonextdataitemortable Gotopreviousdataitemortable Gotodataitemortablelabelledwithunderlinedletter Movearoundwithinatable Selectmultiplecellsintable Gotofirstorlastcolumnintable Goupordowntableseveralrowsatatime

DataEditingKeys
TAB SHIFT+TAB ALT+LETTER

SHIFT+ SHIFT+HOME SHIFT+END HOME,END PGUP,PGDN
Enternewvalueforselectedcell Editcurrentvalueofselectedcell Movearoundwithinnewdatavaluebeingentered Acceptedit Accepteditandgotoadjacentcellintable Canceledit Cutselectedcell(s)toclipboard Copyselectedcell(s)toclipboard Pastefromclipboard Fillselectionfromtop(copytopcelldown) Fillselectionfromleft(copyleftmostcelltoright) Fillselectionfrombottom(copybottomcellup) Fillselectionfromright(copyrightmostcelltoleft) Insertnewrowintable Deleteselectedrowoftable
3DViewControlKeys
Typenewvalue F2 ,,HOME,END RETURN , ESC

CTRL+X CTRL+C CTRL+V CTRL+D CTRL+R CTRL+U SHIFT+CTRL+D CTRL+L SHIFT+CTRL+R INSERT DELETE
Elevationview Planview
CTRL+E CTRL+P
41
UserInterface,Menus
w
CTRL+ALT+ CTRL+ALT+ CTRL+ALT+ CTRL+ALT+ CTRL+Q SHIFT+CTRL+Q CTRL+I SHIFT+CTRL+I
Rotateviewpointup(incrementviewelevationangle) Rotateviewpointdown(decrementviewelevationangle) Rotateviewpointright(incrementviewazimuthangle) Rotateviewpointleft(decrementviewazimuthangle) Rotateviewpoint+90 Rotateviewpoint90 ZoomIn ZoomOut Moveviewcentrefineadjustment Moveviewcentrecoarseadjustment Editviewparametersforcurrent3Dview Resettodefaultview Settodefaultview
3DViewControlKeys(forwireframegraphicsonly)

CTRL+ CTRL+W CTRL+T SHIFT+CTRL+T
Show/Hidelocalaxes Show/Hidenodeaxes Show/Hideoutofbalanceforces Undomostrecentdrag Lock/Unlockselectedobject Placenewobject Editselectedobject Cutselectedobjecttoclipboard Copyselectedobject,orviewifnoneselected, toclipboard Pasteobjectfromclipboard(followedbymouseclick orRETURNtopositionthenewobject) Deleteselectedobject Measuringtapetool
ReplayControlKeys
CTRL+Y CTRL+ALT+Y SHIFT+CTRL+Y CTRL+Z CTRL+L SPACEorRETURN CTRL+F2 CTRL+X CTRL+C CTRL+V DELETE SHIFT+CTRL+drag
Start/Stopreplay Replayfaster Replayslower Stepforwardsoneframeinthereplayandpause Stepbackwardsoneframeinthereplayandpause Editreplayparameters
CTRL+R CTRL+F SHIFT+CTRL+F CTRL+A CTRL+B CTRL+D
4.2

MENUS
OrcaFlexhasthefollowingmenus: The File menu has the file opening and saving commands, plus commands for printing or exporting data or resultsandmanaginglibraries. TheEditmenuhasdataandobjecteditingfacilities. TheModelmenugivesaccesstothemodelbuildingfacilities. TheCalculationmenuprovidescommandsforstartingandstoppinganalyses,includingbatchprocessing. TheViewmenuprovidesviewcontrol.
42
UserInterface,Menus
TheReplaymenuprovidesreplaycontrol. TheGraphmenugivesyouaccesstofacilitiesrelatedtothecurrentlyactivegraphwindow. TheResultsmenuleadstotheresultsfacilities. TheToolsmenuallowsyouadjustpreferencesandtolockorunlockobjects. TheWorkspacemenuallowsyoutosaveandrestorecollectionsofview,graphandspreadsheetwindows. TheWindowmenugivesaccesstothevariouswindowsthatareavailable,andallowsyoutoadjustthelayoutof yourwindows. TheHelpmenuleadstothevarioushelpdocumentationthatisavailable.
4.2.1
New
FileMenu
Deletesallobjectsfromthemodelandresetsdatatodefaultvalues.
Open
Openadataorsimulationfile. YoucanalsoopenanOrcaFlexfilebydragginganddroppingitontotheOrcaFlexwindow.Forexampleifyouhave WindowsExplorerrunninginonewindowandOrcaFlexrunninginanotherthenyoucanaskOrcaFlextoopenafile bysimplydraggingitfromExploreranddroppingitovertheOrcaFlexwindow. IfyouopenadatafilethenOrcaFlexreadsinthedata,whereasifyouselectasimulationfilethenOrcaFlexreadsin both the data and the simulation results. To read just the data from a simulation file, you can use the Open Data menuitem. IfyouloadapartiallyrunsimulationthenitcanbecompletedbyusingCalculation|RunSimulation. OrcaFlexcanreadfilesthatwerewrittenbypreviousversionsoftheprogram.Itcanevenreadfileswrittenbymore recent versions of the program. If the file requires a facility that is not available in the version reading it then a warningisgiven.
Save
Savethedata,plusthesimulationresultsifasimulationisactive,tothecurrentlyselectedfilename,usingextension .DAT(iftherearenosimulationresults)or.SIM(iftherearesimulationresults).Ifafileofthatnamealreadyexists thenitisoverwritten. Note:

SaveAs
Youcannotsavethesimulationwhileitisrunningyoumustpausethesimulationfirst.
ThisisthesameasSavebutallowsyoutospecifythefilenametosaveto.Ifafileofthatnamealreadyexiststhen youareaskedwhethertooverwritethefile.
OpenData
Readthedatafromanexistingdatafile(.DAT)orsimulationfile(.SIM),replacingtheexistingmodel.Ifasimulation fileisspecifiedthenOrcaFlexreadsjustthedatafromit,ignoringthesimulationresultsinthefile. Note:

SaveData
Toselectasimulationfileyoufirstneedtoset"FileofType"tobe"SimulationFiles(*.sim)".
Savethedataintothecurrentlyselectedfilename,usingextension.DAT.Ifafileofthatnamealreadyexiststhenitis overwritten.
SaveDataAs
ThisisthesameasSaveDatabutallowsyoutospecifythefilenametosaveto.Ifafileofthatnamealreadyexists thenyouareaskedwhethertooverwritethefile.
43
UserInterface,Menus
CompareData
Comparesthedataof2OrcaFlexmodels.SeeComparingDatafordetails.
SubmittoDistributedOrcaFlex
SubmitthecurrentfileforprocessingbyDistributedOrcaFlex.Forthisoptiontobeavailable,eithertheDistributed OrcaFlexViewerorClientmustalsobeinstalledonthemachine.
Libraries
Youcancreatenew librariesofOrcaFlexobjects,oropenexistinglibraries.Youcanthenimportobjectsfromthe libraryintoyourexistingmodel,orexportobjectsfromyourexistingmodeltothelibrary.

Export
DisplaytheExportDialoguebox,allowingyoutoexportData,3DViews,Graphs,SpreadsheetsorTextWindows.See alsoCopy.
SelectedPrinter
Allowsyoutochangetheselectedprinter.
PrinterSetup
Calls up the Printer Setup dialogue. This standard Windows dialogue is used to select which printer to use, and allows you to controlthewaythat it isused the details varyfrom printerto printer, anddepend on theprinter manufacturer's device driver currently installed. Please refer to the manuals for your printer as well as the Microsoftdocumentation.
Print
Displaythe Print Dialoguebox,allowingyoutoprintData, 3DViews, Graphs,Spreadsheets orTextWindows. See Printing.

MostRecentFiles
Listofthemostrecentlyusedfiles.Selectinganitemonthelistcausesthefiletobeloaded.
Exit
CloseOrcaFlex.
4.2.2
EditMenu
UndoDrag
Undothemostrecentdrag.Thisisusefulifyouaccidentallydraganobject.
Cut
Copiesthecurrentselectiontotheclipboardandthendeletesit.
Copy
Ifthereisacurrentlyselectedobject(seeSelectingObjects),thenthatobjectiscopiedtotheclipboard.Youcanthen useEdit|Pastetocreateduplicatecopiesoftheobject.Thedatafortheobjectiscopiedtotheclipboardintextform, fromwhereitcanbepastedintoawordprocessordocument. Note: Afterpastingintoawordprocessor,youwillprobablyneedtoputthetextintoafixedspacefont sincemuchofthedataisintables.
If there is no currently selected object then the currently selected 3Dview, text window, graph or spreadsheet is copiedtotheclipboard.
44
UserInterface,Menus
Paste
Insertobjectfromclipboard.Thiscanbeusedtoduplicateanobjectseveraltimeswithinthemodel.Afterselecting Paste,theobjectisinsertedatthenextmouseCLICKpositionina3Dview. IfthecurrentwindowisaSpreadsheetthenthecontentsoftheclipboardarepastedintothespreadsheet.

Delete
If the active window is a 3D View then the currently selected object is deleted. Before the object is deleted, any connectedobjectsaredisconnected,andanygraphsassociatedwiththeobjectareclosed. IftheactivewindowisaSpreadsheetthentheselectedcellsarecleared.
SelectAll
SelectsallthecellsinaSpreadsheet.
CopyAllData
Copythewholemodeltotheclipboard.Themodeldataiscopiedtotheclipboardintextform,fromwhereitcanbe pastedintoawordprocessordocument.
4.2.3
ModelMenu
ModelBrowser
TogglesthevisibilityoftheModelBrowser.
NewVessel NewLine New6DBuoy New3DBuoy NewWinch NewLink NewShape
Createnewobjects.ThemousecursorchangestotheNewObjectsymbol .Theobjectisplacedatthepositionof thenextmouse CLICKwithina3Dview. Athreedimensionalpositionisgeneratedbyfindingthepointwherethe mouse CLICK position falls on a plane normal to the view direction and passing through the Default View Centre. Vesselsarealwaysplacedinitiallyattheseasurface,thatiswiththeiroriginatZ=SeasurfaceZ(seeVesselData).
ShowConnectionsReport
Displaysaspreadsheetcontaininginformationaboutallobjectconnectionsinthemodel.
TruncateObjectNames
Old versions of OrcaFlex (before 7.4b) cannot read files that contain long object names, i.e. longer than 10 characters.Thismenuitemtruncatesanylongobjectnamesinthemodel.Youshoulddothisifyouwishtosenda filetoanotheruserwhoseversionofOrcaFlexisolderthan7.4b.
45
UserInterface,Menus
DeleteUnusedTypes
Deletesanytypes(e.g.LineTypes,ClumpTypesetc.)thatarenotinuse.Thisissometimesusefultosimplifyadata file,ortofindoutwhichtypesareinuse.
DeleteUnusedVariableDataSources
Deletesanyvariabledatasourcesthatarenotinuse.Thisissometimesusefultosimplifyadatafile,ortofindout whichvariabledatasourcesareinuse.
UseCalculatedPositions
Thismenuitemisavailableafterasuccessfulstaticiterationorwhenthesimulationisfinishedorpaused. Ifthemodelisinthestaticscompletestatethenclickingthemenuitemsetstheinitialpositionsofbuoys,vessels and free line ends to be the calculated static positions. This can be desirable when setting up a model, since the positionsfoundarelikelytobegoodestimatesforthenextstaticscalculation. Ifthemodelisinthesimulationpausedorstoppedstate,thenclickingthemenu itemsetstheinitialpositionsof buoysandfreelineendstobethelatestpositionsinthesimulation.ThisisusefulwhenOrcaFlexstaticsfailstofind anequilibriumconfiguration.Insuchcasesyoucanusedynamicswithnowavemotiontofindthestaticequilibrium positionandthenclickUseCalculatedPositions. If a replay is active then clicking the menu item sets the initial positions of buoys and free line ends to be the positionsatthelatestreplaytime.
UseSpecifiedStartingShapeforLines
ThismenuitemisanextensionofUseCalculatedPositions.Aswellassettingtheinitialpositionsofbuoys,vessels andfreelineendsitmodifiesdataforallLinesinthefollowingway: 1. 2. TheStep1StaticsMethodissettoUserSpecified. The User Specified Starting Shape data are set to the calculated node positions. As described above these positionsareeithertheresultsofastaticcalculationortheresultsofadynamicsimulation.
UseStaticLineEndOrientations
This menu item is only available after a successful static analysis. Clicking the menu item sets the line end orientationdata,foralllineendsinthemodelthathavezeroconnectionstiffness,totheorientationsfoundinthe staticanalysis.Thisisdoneasfollows. For any line end with zero bend connection stiffness, the end azimuth and end declination will be set to the azimuthanddeclinationoftheendnode,asfoundbythestaticanalysis. Ifthelineincludestorsionandthelineendconnectiontwiststiffnessiszero,thentheendgammawillbesetto thegammaoftheendnode,asfoundbythestaticanalysis.
Thisactioncanbeusefulifyouwanttosetthelineendorientationtothatwhichgiveszeroendmomentswhenthe lineisinitsstaticposition.Todothisfirstsettheendconnectionstiffnessvaluestozero,thenrunthestaticanalysis andthenclickthe UseStaticLineEndOrientationsmenuitem.Youcanthensettheendconnectionstiffnessto theiractualvalues.
4.2.4
CalculationMenu
SingleStatics
Startthesinglestaticscalculation(seeStaticAnalysis).Progressandanyerrormessagesthatoccurarereportedin the Statics Progress Window, which is shown as a minimised window icon. The statics calculation can be interruptedbyCLICKINGtheResetbutton.
MultipleStatics
Startsthemultipleoffsetstaticscalculation(seeMultipleStatics).Progressandanyerrormessagesthatoccurare reportedintheStaticsProgressWindow,whichisshownasaminimisedwindowicon.Thestaticscalculationcanbe interruptedbyCLICKINGtheResetbutton.
46
UserInterface,Menus
RunSimulation
Start a full dynamic simulation (see DynamicAnalysis). If necessary, OrcaFlex will automatically do a statics calculationfirst. During the simulation, the StatusBar shows the current simulation time and an estimate of the time that the simulationwilltake,andall3DViewwindowsandGraphsareupdatedatregularintervals.Theupdateintervalis setintheTools|Preferencesdialoguebox.ThesimulationcanbeinterruptedbyCLICKINGthePausebutton.
PauseSimulation
Pausethesimulation.Tosavetheresultsofapartrunsimulationyouneedtopauseitfirst.Thesimulationcanbe restartedbyCLICKINGtheRunbutton.
Reset
Resetthemodel,discardinganyexistingresults.Themodelcanthenbeeditedoranewmodelloaded.
ExtendSimulation
Thisfacilityisonlyavailablewhenthecurrentsimulationiseitherpausedorcompleted.Itaddsanotherstagetothe current simulation, without having to reset. You are asked to specify the length of the new stage. You can then continuethesimulation,withouthavingtorestartitfromscratch.Thisisparticularlyusefulifyouhaveasimulation thathasnotbeenrunforlongenough. Notethatdataforthenewstage,e.g.forwinchcontrolandvesselprescribedmotion,aresettothesameasforthe previouslaststage.Youcannoteditthedataforthenewstage. Notes: Awinchwillthereforedothesameinthenewstageasinthepreviouslaststage.Soifthewinch mode at the end of the simulation was Specified Tension, Specified Tension Rate or Specified PayoutRate,thenitwillcontinueinthatmodeandwiththesametargettension,tensionrateor payoutrate,respectively.IfthewinchmodeattheendofthesimulationwasSpecifiedPayoutthen the winch will payout the same amount in the new stage, so if the new stage is of a different durationthentheresultingpayoutratewilldiffer. Similarly, a vessel will continue to turn if it was turning at the end of the simulation. If the prescribed motion mode at the end of thesimulation was Constant Velocity then itwill continue withthatsameconstantvelocityinthenewstage.Whereasiftheprescribedmotionmodeatthe endofthesimulationwasVelocityChange,thenitwillmakethesamevelocitychangeagainover the new stage, so if the new stage is of a different duration then the resulting acceleration will differ.
ViewWarnings
Displays a window allowing you to review all warnings displayed by OrcaFlex during a calculation (statics or dynamics). This feature is particularly useful for simulations run in batch mode or by Distributed OrcaFlex. In these circumstanceswarningsarenotdisplayedsincetodosowouldrequireuserintervention.
LineSetupWizard
OpenstheLineSetupWizard.ThewizardisonlyavailablewhenthecurrentsimulationisinResetstate.
WaveScatterConversion
Opens the Wave Scatter Conversion form. This facility converts a scatter table of sea states to a scatter table of regular(i.e.individual)waves.
BatchProcessing
Run a batch of simulations automatically while the program is unattended. See BatchProcessing for details. A BatchModedialogueboxispresented,allowingyoutoselectthedatafilestobeincludedinthebatchrunandthen startthebatchrun.Theresultsareautomaticallywrittentosimulationfileswiththesamenamesasthedatafiles,
47
UserInterface,Menus
for later inspection. While running in batch mode the program does not require user input and does not request confirmationbeforeoverwritingsimulationfiles.
4.2.5
ViewMenu
ChangeGraphicsMode
Togglesthegraphicsmodebetweenwireframeandshaded.
EditViewParameters
Adjust the ViewParameters for the highlighted 3DView. You can adjust the view centre position, view size and direction.SeeViewParameters.
RotateUp/Down/Left/Right
Changetheviewdirection,forthehighlighted3DView,bytheviewrotationincrement(seePreferences).
Plan
Setthehighlighted3DViewtoaplanview(Elevation=+90).
Elevation
Setthehighlighted3Dviewtoanelevationview(Elevation=0).
Rotate90/Rotate90
Increase(ordecrease)theviewazimuthby90,forthehighlighted3Dview.
ZoomIn/ZoomOut
Clickthezoombuttontozoomin(decreaseviewsize)or SHIFT+CLICKittozoomout(increaseviewsize).Applies onlytothecurrentlyhighlighted3DView.

ResettoDefaultView
Resetthecurrentlyhighlighted3Dviewbacktothedefaultviewforthismodel.
SetasDefaultView
Setthedefaultviewforthismodeltobethecurrentlyhighlighted3Dview.
Axes
Thissubmenugivesyoucontrolofthe3DViewAxesPreferences.
SuperimposeTimes
Allowsmodelconfigurationsfordifferenttimesofthesimulationtobesuperimposedin3DViews.SeeSuperimpose Times.
CurrentPosition
DrawsthemodelatthelatesttimethisactionisusedtocanceltheSuperimposeTimesview.
4.2.6
ReplayMenu
EditReplayParameters
Adjust the Replay Parameters, such as the period of simulation to replay, the time interval between frames, the replayspeedetc.FormoreinformationseeReplays.
Start/StopReplay
Startsorstopsthereplay.
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UserInterface,Menus
StepReplayForwards,StepReplayBackwards
Stepthereplayforwardsorbackwardsoneframeatatime.Clickthebuttontostepforwards; CLICKwithSHIFTheld downtostepbackwards.

ReplayFaster/Slower
Increaseordecreasethereplayframerate(replayspeed).
ExportVideo
ExportsthereplayasavideoclipinAVIfileformat.SeeReplaysformoredetails.
4.2.7
GraphMenu
UseDefaultRanges
Setsthegraphaxestotheiroriginalranges
Values
Displaysaspreadsheetcontainingthenumericalvaluesonwhichthegraphisbased.
SpectralDensity(onlyavailablefortimehistorygraphs)
Opensanewspectraldensitygraph.
EmpiricalCumulativeDistribution(onlyavailablefortimehistorygraphs)
Opensanewempiricalcumulativedistributiongraph.
RainflowhalfcycleEmpiricalCumulativeDistribution(onlyavailablefortimehistorygraphs)
Opensanewrainflowhalfcycleempiricalcumulativedistributiongraph.
Properties
Opensthegraphpropertiesform(whichcanalsobeopenedbydoubleclickingthegraph).
4.2.8
ResultsMenu
SelectResults
DisplayResultsSelectiondialoguebox(seeResults).Thisallowsyoutochoosefromthecurrentlyavailableselection ofgraphsandresultstables.GraphssuchasTimeHistories,XYGraphsandRangeGraphsmaybecreatedbeforea simulationhasbeenrun,thusallowingyoutowatchthevariablesduringasimulation.

FatigueAnalysis
OpenstheFatigueAnalysisform.
ModalAnalysis
OpenstheModalAnalysisform.
ReportVesselResponse
OpenstheVesselResponseform.
4.2.9
ToolsMenu
Lock/UnlockSelectedObject
Locking an object prevents it from being accidentally dragged or connected using the mouse on 3Dviews, for exampleifyounudgethemouseslightlywhiletryingtoDOUBLECLICK.Lock/UnlockSelectedObjecttogglesthelock onthecurrentlyselectedobject.Ifthelockison,itwillbeswitchedoff.Ifthelockisoff,thenitwillbeswitchedon. LockedObjectsmaystillhavetheirpositionseditedinthedataEditForms.Thestatusoftheobjectlocksisshown bysymbolsintheModelBrowser.
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UserInterface,Menus
Lock/UnlockAllObjects
Locksorunlocksallobjectsinthemodel.
SetThreadCount
AllowsyoutochangethenumberofexecutionthreadsusedbyOrcaFlexforparallelprocessing.
Preferences
Allows you to control various program settings so that you can customise the program to the way you prefer to work.SeePreferences.
4.2.10
WorkspaceMenu
OpenWorkspace
Opensapreviouslysavedworkspacefileandrestoresthewindowlayoutdescribedinthatworkspacefile.
SaveWorkspace
Savethecurrentwindowlayouttoaworkspacefile.
Makedefaultforthisfile,Makedefaultforthisfolder
Makes the current window layout the default workspace for the current simulation file or for the current folder, respectively.Thedefaultworkspaceforasimulationfilewill berestoredwheneveryouopenthatfile.Thedefault workspaceforafolderwillberestoredwheneveryouopenanysimulationfileinthatfolder. Ifadefaultworkspaceexistsforabothafileandthefoldercontainingthefile,thenthedefaultforthefileisused.
Usefiledefault,Usefolderdefault
Appliesthedefaultworkspacetothecurrentmodel.Thisisusefulifyouhavechangedthewindowlayoutandwish torestorethedefaultworkspacelayoutwithoutreloadingthemodel.
Removefiledefault,Removefolderdefault
Deletesthedefaultworkspace.
MostRecentFiles
List of the most recently saved workspaces in the current directory. Selecting an item on the list causes the workspacetobeloaded.
4.2.11
WindowMenu
Add3DView
Addanother3DViewWindow.Havingmultipleviewsonscreenallowsyoutowatchdifferentpartsofthesystem simultaneously,ortoseedifferentviewsatthesametime(forexampleaplanandanelevation).
TileVertical,TileHorizontal
Arrangesallthewindows(3DView,graphorspreadsheet)sothattheyfillthemainwindowareaandfitsidebyside withoutoverlapping.
AutoArrange
Ifthisischeckedthentheprogramautomaticallytileswindowseverytimeanewwindowiscreatedordeleted.
SwitchtoModelBrowser
Thiscommand,andthecorrespondingcommandonthemodelbrowser'sWindowmenu,enableyoutoswitchfocus betweenthemainformandthemodelbrowserwindow.
StaticsProgress
DisplaystheStaticsProgressWindow.
WindowList
Thisisalistofallcurrentlyopenwindows.Ifawindowishiddenunderothersitcanbeselectedeasilyfromthislist.
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UserInterface,3DViews
4.2.12
HelpMenu
OrcaFlexHelp
OpenstheOrcaFlexonlinehelpsystem.
What'sNew
GivesalistofrecentimprovementsandalterationstoOrcaFlex.
Tutorial
OpensthehelpfileatthestartoftheOrcaFlextutorial.
Examples
OpensthehelpfileattheintroductiontotheOrcaFlexExamplestopics.
KeyboardShortcuts
ListsthekeyboardshortcutsusedbyOrcaFlex.
OrcinaHomePage
OpenstheOrcinahomepage(www.orcina.com).
About
Displays a window giving the program version, details about Orcina Ltd and various other miscellaneous information.
4.3
3DVIEWS
3DViewsarewindowsshowingaspatialrepresentationofthemodel.Twodistincttypesof3DViewareavailable: wireframe,isometricshowsanisometricprojectionofthemodel;shaded,perspectivedrawsthemodelassolid objectswithlighting,shading,perspectiveandhiddenlineremoval.
Figure: Awireframe3DView(left)alongsideashaded3DView(right)
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3DViewwindowsmayberotated,zoomedandpannedtoallowanyaspectofthesystemtobeviewed.Theviewis controlledbyanumberofViewparametersseeViewParametersandthecaptionofa3DViewwindowshowsthe currentViewAzimuthandViewElevationvalues,whileascalebarintheviewindicatesthecurrentViewSize. Multiple view windows may be placed sidebyside so that you can view different parts of the system simultaneouslyorviewfromdifferentangles(forexampleaplanandelevationview).Thisallowsyoutobuildnon inplane models on screen with the mouse. Further 3D View windows are added by using the Window|Add 3D Viewmenuitemorby CLICKINGontheAdd3DViewbuttononthetoolbar.Windowsmaybearrangedbydragging theirbordersorusingtheWindow|TileVertical/Horizontalmenuitems.3DViewsmaybeclosedby CLICKINGthe crossatthetoprighthandcorner. The objects in a 3D view are "live" in the sense that you can use the mouse pointer to select objects, drag them aroundintheviewandmakeconnectionsbetweenobjects.SeeSelectingObjects,CreatingandDestroyingObjects, DraggingObjects,ObjectConnections,fordetails.IfyouDOUBLECLICKonanobjectthenthedataformforthatobject appears,sothatyoucanexamineoredititsdata. Note: When using the shaded view objects cannot be selected, dragged etc. For this reason, the wire frameviewismostusefulwhenbuildingyourmodel.
Afterrunningasimulation,orloadingasimulationfile,adynamicreplay(animation)canbeshowninoneormore 3DViewwindows.Areplayshowsasequenceofsnapshotsofthemodeltakenatspecifiedintervalsthroughoutpart orallofthesimulation.Replaysmaybeplayedinjustone3DViewwindow,orinallofthemsimultaneouslysee Preferences. Finally,3DViewsmaybeprintedbyselectingtheviewdesired andusingtheprintmenu.Also,thepicturemaybe exportedtoafileorthewindowsclipboard.

MeasuringTapeTool(onlyavailableinwireframemode)
Youcanmeasuredistanceona3Dviewusingthemeasuringtapetool.Holddownthe SHIFTandCTRLkeysandthen dragalinebetweenanytwopointsthedistancebetweenthemisdisplayedonthestatusbar.Notethatthisisthe distanceintheplaneofthe3Dview.
4.3.1
ViewParameters
Theviewshownina3Dviewwindowisdeterminedbythefollowingparameters,whichcanbeadjustedusingthe viewcontrolbuttonsortheEditViewParametersitemontheViewmenu.
ViewCentre
Definesthe3Dglobalcoordinatesofthepointthatisshownatthecentreofthewindow.
ViewSize
Thediameteroftheviewarea.Itequalsthedistancerepresentedbythesmallerofthe2sidesoftheviewwindow. Thisparametermustbegreaterthanzero. Example: Ifthewindowonscreeniswiderthanitishigh,andViewSize=100.0thenanobject100units highwouldjustfilltheheightofthewindow.
ViewAzimuthandViewElevation
Thesedeterminethedirection(fromtheviewcentre)fromwhichthemodelisbeingviewed.Theazimuthangleis measuredfromtheglobalXdirectiontowardstheglobalYdirection.Theelevationangleisthenmeasuredupwards (downwards for negative elevation angles) from there. The view shown is that seen when looking from this directioni.e.byaviewerwhoisinthatdirectionfromtheviewcentre. Example:
WindowSize
View Elevation +90 means looking in plan view from above, and View Elevation = 0, View Azimuth=270(or90)meansastandardelevationview,lookingalongtheYaxis.
Youcanadjustthesizeofa3Dviewwindoweitherbydraggingthewindowborder,orbysettingitswindowsizeon theviewparametersform.Thelatterissometimesusefulwhenexportingavieworexportingareplayvideo,sinceit makesiteasiertoexporttwodifferentcasesandgetmatchingsizes.

GraphicsMode
CanbeeitherWireframe,isometricorShaded,perspective.
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Wire frame, isometric shows an isometric projection of the model; shaded, perspective draws the model as solid objectswithlighting,shading,perspectiveandhiddenlineremoval.
DefaultView
EachmodelhasitsownDefaultViewParametersthataresavedwiththemodeldata.Wheneveranew3Dviewis created,itstartswiththisdefaultview. Youcansetanexisting3D viewtothedefaultviewbyusingtheResetto DefaultViewcommand(ontheviewmenuorpopupmenu). Tosetthedefaultviewparameters,firstsetupa3DViewtothedefaultviewthatyouwantandthenusetheSetas DefaultViewcommand(ontheviewmenuorpopupmenu). SeealsotheResettodefaultviewautomaticallypreference.
4.3.2
Button
+SHIFT
ViewControl
MenuItem View|RotateUp View|RotateDown View|RotateRight View|RotateLeft View|ZoomIn View|ZoomOut View|ChangeGraphicsMode Shortcut
CTRL+ CTRL+ CTRL+ CTRL+ CTRL+I SHIFT+CTRL+I CTRL+G
Youcanadjusttheviewina3Dviewwindowusingtheviewcontrolbuttons: Action Increaseviewelevation Decreaseviewelevation Increaseviewazimuth Decreaseviewazimuth Zoomin Zoomout Changesgraphicsmode
+SHIFT
+SHIFT
CTRL+W EditViewParameters View|EditViewParameters Youcanalsousethemousewheelbuttontochangeview.Turnthewheeltoscrollthe3Dviewupanddown.Turnit withtheCTRLkeyhelddowntozoominoroutonthelocationatwhichthemouseiscurrentlypointing.
FormoreprecisecontrolyoucansettheviewparametersexplicitlyusingtheViewParametersform. Finally,3DviewscanalsobecontrolledusingtheViewmenuandvariousshortcutkeysseeMouseandKeyboard ActionsandNavigatingin3DViews.
4.3.3
Moving
Navigatingin3DViews
Movingin3DViewscanbeachievedbyavarietyofmeans: Dragthe3DViewwiththeSHIFTkeyhelddown.Wecallthisdirectmanipulationoftheviewcentrepanning. Usethescrollbarsonthe3DView. Usethecursorkeys .UsethesecursorkeyswiththeCTRLkeyhelddowntoeffectlargershifts. MoveupanddownwiththePGUPandPGDNkeys. EdittheViewCentreintheViewParametersform.
Rotating
Rotatingin3DViewscanbeachievedbyavarietyofmeans: Dragthe3DViewwiththe CTRLkeyhelddown.Forshadedviewsonlyyoucanrotateabouttheviewerposition (asopposedtorotatingabouttheviewcentre)byholdingdown the ALTkey(aswellasthe CTRLkey)whilst dragging.
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w
.PressingthesewiththeSHIFTkeyheldreversestherotation.
Usetherotatebuttons
UsetheRotateUp,RotateDown,RotateLeftorRotateRightmenuitemsortheirshortcutkeysCTRL+ALT+ . For shaded views only you can rotate about the viewer position by holding the ALT key down whilst selectingthesemenuitemsorshortcuts.
SHIFT+CTRL+Q.
UsethePlan,Elevation,Rotate90orRotate90menuitemsortheirshortcutkeys CTRL+P, CTRL+E, CTRL+Qand
EdittheViewAzimuthandViewElevationintheviewparametersform.
Zooming
Youcanzoomintoandoutof3DViewsbyusingthezoombutton ,thezoommenuitemsandtheshortcutkeys CTRL+Iand SHIFT+CTRL+I.Inaddition,youcanzoominoroutusingthemousewheelbuttonwiththe CTRLkeyheld down. Thefollowingmethodsofzoomingareonlyavailableinwireframe3DViews. Alsoyoucanzoominonaparticularregionofinterestina3Dviewbydefiningarectanglearounditonscreenusing the mouse. To do this, hold the ALT key down, place the mouse in one corner of the desired rectangle and press downtheleftmousebuttonwhiledraggingthemousetotheoppositecorner.Whenyourelease,theregionselected willbeexpandedtofillthewindow. To zoom out, repeat the operation holding down the SHIFT and ALT keys the region shown in the window will shrinktofitintotherectangledrawn.
ALT+SHIFT+CLICK.
You can also zoom in and out by a fixed amount, keeping the same view centre, by using ALT+CLICK and
4.3.4
ShadedGraphics
The shaded graphics mode renders the model as solid objects with lighting, shading, perspective and hidden line removal.
Figure: Shadedgraphics
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UsingtheShadedGraphicsmode Toalargeextentthereisnoextraworkrequiredtobuildamodelfortheshadedgraphicsmode.Youareableto build a model or take an existing model designed using the wire frame mode and simply change to the shaded graphicsmodetoseeahighqualityshadedrenderingofyourmodel.Thereareanumberofthingsyoucandoto improveyourexperiencewiththeshadedgraphicsmodeasdescribedbelow.
Translucency
TheSeaSurfaceandSeabedaredrawnastexturedsurfaces.Ifthereareobjectsontheothersideofthesesurfaces thentheycanbeobscured.Thesesurfacesaredrawnwithauserspecifiedamountoftranslucencywhichallowsyou tocompensateforthis.

Importing3Dmodels
Objects like Lines are straightforward to draw. OrcaFlex uses the Line Type contact diameter to determine the thicknessofeachsegmentoftheLine. ObjectslikeVesselspresentmoredifficulties.OrcaFlexbydefaultwilldrawasolid,filledinshapebasedonthewire framedatayouhavespecified.Whilethiscanbesufficientyoumayprefersomethinglesssimplistic.Alternatively youmayimportamoredetailed3Dmodel,e.g.theturretmooredFPSOabove.Youcanimport3Dmodelsfor6D Buoys,WingsandShapesaswellasforVessels. Wehaveprovidedaverybasicselectionofgenericmodelswhichyouarefreetouse.TherearemodelsofanFPSO,a turret moored FPSO, an installation vessel, a semisub and a subsea template. For information on generating and importing 3D models specific to your project please refer to our website at www.orcina.com/Support/ShadedGraphics.
ViewerPosition
Becausetheshadedgraphicsmodeusesperspectiveitrequirestheconceptoftheviewerpositionaswellasthe viewercentre.Theisometricwireframeviewhasnosuchrequirement.OrcaFlexdefinestheviewerpositiontobein alineintheviewdirection(definedbytheviewazimuthandviewelevation)atadistanceofviewsize*1.5fromthe viewcentre.Itispossibletorotatetheviewaroundboththeviewcentreandaroundtheviewerposition.

Videoexport
JustasforwireframeviewsOrcaFlexcanexportvideofilesofareplaysinshadedviews.Whenproducingvideosit isveryimportanttousecompression,otherwisethevideofilesizebecomesunreasonablylarge.Thesoftwarethat performsthiscompressioniscalledacodec. For wire frame replays OrcaFlex uses a builtin codec called runlength encoding. This codec is not suitable for shadedreplaysandinfactthereisnosuitablebuiltincodecinWindows.WewouldrecommendusinganMPEG4 codecofwhichmanyareavailable.InourexperiencethefreelyavailableXVIDcodecperformsverywell.TheXVID codeccanbedownloadedfromourwebsiteat:www.orcina.com/Support/ShadedGraphics. ShouldyouwishtouseadifferentcodecyoucanselectthisfromthePreferencesform. HardwareRequirements TheshadedgraphicsmodedoesrequirethepresenceofaDirectX9compatiblegraphicscard.Inourexperiencethe mostimportantfactortoconsiderwhenchoosingacardtoworkwithshadedgraphicsistheamountofmemory.We wouldrecommendusingacardwith256MBormore. It is also important to make sure that your computer's graphics settings specify a colour mode of 16 bits (65536 colours)orbetter. Notes: Ifyourmachine'sgraphicscapabilitiesareinsufficientthentheshadedgraphicsmodemayfailto functionproperlyorindeedfailtofunctionatall.Forexample,lowquality,blockyimagesusually indicateagraphicscardwithinsufficientmemory.Thisproblemcanalsomanifestitselfbyfailure todrawtheskywhichappearsplainwhite. Forbestresultsyoushouldcentreyourmodelclosetotheglobalorigin.TheMoveSelectedObjects facilitycanhelpyoudothis.
4.3.5
HowObjectsareDrawn
EachobjectinthemodelisdrawnasaseriesoflinesusingthePenColour,LineWidthandStyle(solid,dashedetc.) defined in the drawing data for that object. You can change the pen colours etc. used at any time by editing the
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drawingdataforthatobject.Tochangethepencolour,selectandCLICKthecolourbuttononthedataformandthen CLICKonthenewcolourwanted. Youcanalsoexclude(orinclude)individualobjectsfromthe3Dview,byopeningthemodelbrowser,selectingthe objectandthenusingtheHide(orShow)commandonthebrowser'sEditorpopupmenu. Notes: InWindows,alinewidthofzerodoesnotmean"don'tdraw"itmeansdrawwiththeminimum linewidth.Tosuppressdrawingeithersetthelinestyletonull(theblankstyleatthebottomofthe dropdownlist)orelsehidetheobject. On some machines the display driver cannot draw the dashed or dotted pen styles and instead drawsnothing.Soonsuchmachinesonlythesolidandblankpenstyleswork.
WireFrameDrawing
Forwireframeviewsthevariousobjectsaredrawnasfollows: Thevariouscoordinatesystemscanbedrawnassmalltripletsoflinesshowingtheiroriginandtheorientation oftheiraxes.Thewave,currentandwinddirectionscanbedrawnasarrowsinthetoprighthandcornerof3D views.Youcancontrolbothwhatisdrawn(see3DViewDrawingPreferences)andthedrawingdataused. TheSeabedisdrawnasagridusingtheseabedpen. TheSeaSurfaceisdrawnasagridorasasingleline.Thisiscontrolledbytheuser'schoiceofSurfaceTypeas specifiedonthedrawingpageontheEnvironmentdataform.IftheSurfaceTypeissettoSingleLinethenone lineisdrawn,alignedinthewavedirection.IftheSurfaceTypeissettoGridthenagridoflinesisdrawn.This lineorgridisdrawnusingtheseasurfacepen. Shapesaredrawneitheraswireframes(Blocks,CylindersandCurvedPlates)orasagrid(Planes).Aswellas controllingthepencolour,widthandstyle,forshapesyoucanalsocontrolthenumberoflinesusedtodrawthe shape. VesselsaredrawnasawireframeofedgesandverticesdefinedbytheuserontheVesselandVesselTypesdata forms. 3DBuoysaredrawnasasingleverticallineoflengthequaltotheheightofthebuoy. 6D Buoys are drawn as a wire frame of edges and vertices. For Lumped Buoys, the vertices and edges are defined by the user on the buoy data form. For Spar Buoys and Towed Fish the vertices and edges are automatically generated by OrcaFlex to represent the stack of cylinders that make up the buoy. As an option SparBuoysandTowedFishcanbedrawnasastackofcircularcylindersthisisthedefaultsetting. Wingsaredrawnasrectanglesineitherthe6DBuoypenortheWingTypepenasdeterminedintheWingType data. Linesaredrawnasaseriesofstraightlines,oneforeachsegment,joiningpointsdrawnateachnode.Separate pensareusedforthesegmentsandnodes,soyoucan,forexample,increasethepenwidthusedforthenodesto makethemmorevisible.Thereisalso,ontheLineDataform,achoiceofwhichpentousetodrawthesegments. Clumpsaredrawnasathinverticalbar. DragChainsaredrawnusingthecolourandlinestylespecifiedontheattachmenttypesform.Thehangingpart ofthechainisdrawnasaline,oflengthequaltothehanginglengthandattheanglecalculatedusingtheabove theory.Thesupportedpartofthechain(ifanyissupported)isseparatelydrawnasablobattheseabed,directly beneaththenode.Thedragchaindrawingthereforedirectlyreflectsthewayinwhichthechainismodelled. FlexJointsaredrawnasacircularblobusingthecolourandlinestylespecifiedontheattachmenttypesform. LinksandWinchesaredrawnasastraightlinesegmentsjoiningtheconnectionpoints.
Lines,LinksandWinchesandShapesarespecialslaveobjectsthatcanbeconnectedtoothermasterobjectssee ConnectingObjects.Toallowtheseconnectionstobemade,eachslaveobjecthasajointateachendthatyoucan connecttoamasterobjectorelseleaveFree.WhentheprogramisinResetorStaticsCompletestatethesejointsare drawnasfollows: ThejointatEndAofalineorend1ofaLinkorWinchisdrawnasasmalltriangle.Theotherjointsaredrawnas smallsquares.ThisdistinguisheswhichendofaLine,LinkorWinchiswhich. If the joint is connected to a master object, then it is drawn in the colour of the master object to which it is connected.IfthejointisFree,thenitisdrawninthecolouroftheLine,LinkorWinchtowhichitbelongs.
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ShadedDrawing
Forshadedviewsthevariousobjectsaredrawnasfollows: Viewaxesandglobalaxesaredrawnassmalltripletsoflinesshowingtheiroriginandtheorientationoftheir axes.Thewave,currentandwinddirectionscanbedrawnasarrowsinthetoprighthandcornerof3Dviews. Youcancontrolbothwhatisdrawn(see3DViewDrawingPreferences)andthedrawingdataused. The Sea Surface and Seabed are drawnastextured surfaces usingtheir respective pen colours. Bothsurfaces canbedrawnwithuserspecifiedlevelsoftranslucency. Shapes are drawn as solid objects and Planes allow for userspecified levels of translucency. Alternatively Shapescanberepresentedbyanimported3Dmodel. Vessels are drawn as a solid, filledin shape based on the wire frame data. Alternatively Vessels can be representedbyanimported3Dmodel. 3DBuoysandClumpsaredrawnasanellipsoidwiththespecifiedvolumeandheight. Lumped6DBuoysaredrawnasasolid,filledinshapebasedon thewireframedata.SparBuoysandTowed Fish are drawn as solid objects using the specified cylinder geometry. Alternatively 6D Buoys can be representedbyanimported3Dmodel. Wings are drawn as plates using their specified span and chord. Alternatively they can be represented by an imported3Dmodel. Lines are drawn asaseries ofcylinders, onefor eachsegment usingthecontactdiameter asspecifiedonthe LineTypeform.Thereisalso,ontheLineDataform,achoiceofwhichpentousetodrawthesegments. DragChainsaredrawnasachainwithbardiameterderivedfromthedragchain'seffectivediameter. FlexJointsaredrawnascylinderswithradius2Randlength4RwhereRistheradiusofthenodetowhichthe flexjointisattached. Links and Winches are drawn as a series of cylinders joining the connection points. The diameter of the cylinderscanbespecifiedontheobject'sdataform.
4.3.6
SelectingObjects
AsingleCLICKonornearanobjectina3DViewselectsitreadyforfurtheroperations.Thecurrentlyselectedobject isindicatedintheStatusbar.Allobjectshaveahotzonearoundthem.Ifseveralobjectshaveoverlappinghotzones atthemouseposition,theywillbeselectedinturnatsubsequentCLICKS. Todeselecttheobject(withoutselectinganotherobject) CLICKonthe3Dviewawayfromallobjects. CLICKonan objecttoopenitsdataform.
4.3.7
CreatingandDestroyingObjects
WhenthemodelisinResetorStaticsCompletestatethenyoucancreateanddestroyobjectsusingthemouse. Tocreateanewobject, CLICKontheappropriatenewobjectbuttononthetoolbarorselecttheModel|NewObject menuitem.Themousecursorchangestoshowthis.Anewobjectofthattypeiscreatedatthepositionofthenext CLICKona3DView. Youcanalsocreateanewobjectbycopyinganexistingone.Todothisselecttheobjectandpress CTRL+Ctotakea copyofit.Youcannowpress CTRL+V(morethanonceifyouwantmorethanonecopy)againthemousecursor changesandthecopyobjectispastedatthepositionofthenextmouseCLICKina3Dview.Thismethodofcreatinga new object is particularly useful if you wantanalmost identicalobject you cancreate a copy of itandthen just changethedatathatyouwanttodiffer. Todestroyanobject,simplyselectitandthenpresstheDELETEkey.Youwillbeaskedtoconfirmtheaction.
4.3.8
DraggingObjects
An unlocked object may be dragged to relocate it by pressingthe mouse button down and holding it down while movingthemouse.Whenthemousebuttonisreleased,thentheobjectwillbepositionedatthenewlocation.The currentcoordinatesoftheobjectareshownintheStatusBarduringthedragoperation. Note: Objects must be dragged a certain minimum distance (set in the Preferences dialogue box see Preferences) before the drag operation is started. This prevents accidental movement of objects whenDOUBLECLICKINGetc.
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UserInterface,Replays
Objects may be locked to prevent unintended drag operations moving them (see Locking an object). Their coordinatesmaystillbeeditedontheirdataform. Note: Slaveobjectsthatareconnectedaremovedrelativetotheirmaster'slocalorigin.Otherobjectsare movedintheglobalcoordinateframe.
DraggingisonlyavailableinResetorStaticsCompletestates,andwhentheobjectisnotlocked.
4.3.9
ConnectingObjects
Unlockedslaveobjects(e.g.Lines,Links,etc.)canbeconnectedtomasterobjectsusingthemouseina3DView(see ObjectConnections).Firstselecttheendoftheslavethatyouwanttoconnectby CLICKINGonornearitsendjoint. Thenholddownthe CTRLkeywhile CLICKINGonthemasterobjectthetwowillthenbeconnectedtogether.This operationisonlypermittedformasterslaveobjectpairs,forexampleconnectingalinetoavessel.Theconnectionis indicated in the Status Bar and the joint connected is drawn in the colour of the master object to show the connection. ToFreeajointi.e.todisconnectitselectitandthenCTRL+CLICKontheseasurface. ToconnectajointtoaFixedPoint,selectitandthenCTRL+CLICKontheglobalaxes. To connect an object to an Anchor (a fixed point with a coordinate relative to the seabed), select it and then
CTRL+CLICKontheseabedgrid.Iftheobjectisclosetotheseabedthentheprogramsnapsitontotheseabed.This
allows an object to be placed exactly on the seabed. If you require an anchor coordinate close to, but not on the seabed,connectittotheseabedatadistanceandthendragitneareroreditthecoordinateintheDataForm.
4.3.10
Printing,CopyingandExportingViews
3DViewsmaybeprinted,copiedtothewindowsclipboard,orexportedtoawindowsgraphicsmetafile,sothatthe picturesmaybeusedinotherapplicationssuchaswordprocessorsandgraphicspackages. Firstselecttheviewandadjusttheviewpointasdesired.Thentocopytotheclipboardpress CTRL+C,orselectCopy fromthepopupmenu.Thepopupmenualsohascommandstoprintorexportthe3Dview.Ifneeded,youcanfirst adjusttheprintersetupusingthePrinterSetupcommandonthepopupmenuorontheFilemenu. Ifyouareprintingtheviewonablackandwhiteprinter(oraretransferringtheviewintoadocumentwhichyou intendtoprintonablackandwhiteprinter)thenitisoftenbesttofirstsetOrcaFlextooutputinmonochrome(use theTools|Preferences|Outputmenuitem).Thisavoidslightcoloursappearingasfaintshadesofgrey. After a 3D view has been transferred to another application you should be careful not to change its aspect ratio, sincethiswillproduceunequalscalingintheverticalandhorizontaldirectionsandinvalidatethescalebar.InWord youcanmaintainaspectratiobydraggingthecornersofthepicture,whereasifyoudragthecentresofthesides thentheaspectratioischanged.
4.4
REPLAYS
AReplayisasequenceof3Dviewsshownoneafteranothertogiveananimation.Areplayisthereforelikeashort lengthoffilm,witheachframeofthefilmbeingasnapshotofamodelasitwasatagiventime. There are various controls and parameters that allow you to control a replay. You can also view a series of snapshotsallsuperimposedontoasingleviewseeSuperimposeTimes. Therearetwotypesofreplay: Active Simulation Replays show the model as it was at regularly spaced times during the currently active simulation. This type of replay is therefore only available when a simulation is active and can only cover the periodthathasalreadybeensimulated.Ifyouhaveatimehistorygraphwindowopenwhenthereplayisrun, thenthereplaytimeisindicatedonthegraph. Custom Replays are replays where you have complete control over frames which make up the replay. This meansthat,forexample,youarenotrestrictedtoregularlyspacedtimes;youcanhaveframesfromdifferent simulationfilesinthesamereplay;youcanincludeframesshowingthestaticconfigurationofamodel;youare abletovarytheviewsize,viewanglesandviewcentretoachievepanning,rotatingandzoomingeffects.Custom replays were originally introduced to help visualise series of static snapshots, for example during a lowering operation. However, the facility is very powerful and you are certainly not restricted to this application. See CustomReplaysfordetails.
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ExportVideo
ReplayscanbeexportedasavideoclipinAVIfileformat,usingtheExportVideobuttononthereplayparameters form.AnAVIfileisgeneratedcontainingthereplayusingthemostrecentlyselected3Dviewwindowandusingthe sameperiod,frameintervalandspeedasthereplay. When you export a video clip you will be asked to select a file name for the video using the standard Save File window.AtthebottomofthiswindowisacheckboxtitledIncludeframedetailsinvideo.Ifthisisselectedthen each frame in the video has details of that frame (e.g. simulation time) written in the top left hand corner of the frame.ThereisalsoabuttonwhichprovidesalinktotheVideopreferences. AVIisastandardvideoformat,sothefilecanthenbeimportedintootherapplications,forexampletobeshownina presentation. The compression method (the codec) used for the generating the video file can be set on the Preferencesform. Note: AVIfilescanbeverylargeifthewindowsizeislargeortherearealotofframesinthereplay.Also, resizing video clips (after pasting into your presentation) will introduce aliasing (digitisation errors),soitisoftenbesttosetthe3DViewwindowsizetotherequiredsizebeforeyouexportthe video.
4.4.1
ReplayParameters
Thereplaycanbecontrolledbythefollowingparametersthat canbesetintheReplayParametersdialogue window,accessedusingtheReplayParametersbutton.

ReplayPeriod
Thepartofthesimulationthatthereplaycovers.Youcanselecttoreplaythewholesimulation,justonesimulation stage(anasterisk*denotesanincompletestage),thelatestwaveperiodorelseauserspecifiedperiod.Ifyouselect User Specified then you can enter your own Start and End Times for the replay period. These can be set to '~' whichisinterpretedassimulationstarttimeandsimulationfinishtimerespectively.
Interval
The simulation time step size between frames of the replay. The value '~' is interpreted as the actual sample interval,i.e.thesmallestpossibleinterval. Usingshorterintervalsmeansthatyouseeasmootheranimation(thoughtheextradrawingrequiredmayslowthe animation). Example: For a simulationwith stages of 8 seconds each, selecting stage 2 and a replay time step of 0.5 seconds causesthereplaytoshow16frames,correspondingtot=8.0,8.5,9.0...15.5.
TargetSpeed
Determineshowfastthereplayisplayed.Itisspecifiedasa percentageofrealtime,so100%meansatrealtime, 200%meanstwiceasfastetc.Asaspecialcase,thefastestallowabletargetspeed(10000%atthemoment)istaken tomean"asfastaspossible". Note: Thespecifiedtargetspeedisnotalwaysachievablebecausethecomputermaynotbeabletodraw each frame quickly enough. When this happens, the replay will be played as fast as possible. Replaysmaybeslowifyouspecifythicklines(linewidth>1)forobjectsinthemodel,sincethiscan increasethedrawingtime.
Continuous
Continuous means replaying like an endless film loop, automatically cycling back to the first frame after the last framehasbeenshown;thisissuitableforreplaysofwholecyclesofregularcyclicmotion.Noncontinuousmeans thattherewillbeapauseattheendofthereplay,beforeit startsagainatthebeginning;thisismoresuitablefor noncyclicmotion.
AllViews
If this is selected, then the replay is shown in all 3D Views simultaneously, allowing motion to be viewed from severaldifferentviewpoints.Otherwisethereplayisplayedinthecurrentlyselectedviewwindowonly.
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ShowTrails
Ifthisisselected,thenwheneachframeofthereplayisdrawnthepreviousframeisfirstoverdrawningreythis resultsingrey'trails'showingthepathofeachobject.
4.4.2
ReplayControl
The replay can be controlled from the Replay menu, by using toolbar buttons or with shortcut keys. In addition, somereplaysettingscanonlybemodifiedontheReplayParametersform. Thetoolbarhasasectiondedicatedtoreplaycontrol: Figure: Button
+SHIFT
Replaytoolbarcontrols MenuItem Replay|StartReplay Replay|StopReplay Replay|StepReplayForwards Replay|StepReplayBackwards Replay|ReplayFaster Replay|ReplaySlower Replay|ReplayParameters Shortcut CTRL+R
CTRL+R CTRL+A CTRL+B CTRL+F CTRL+D
Thereplaycontrolbuttons,menuitemsarelistedinthetablebelow: Action Startreplay Stopreplay Steptonextframeandpause Steptopreviousframeandpause Speedupreplay Editreplayparameters
SHIFT+CTRL+F Slowdownreplay
ReplaySliderControl
Thefinalpartofthereplaytoolbaristhereplayslider.Thisallowsdirectcontrolofthereplaytime. Dragtheslidertothelefttomovetoanearlierpartofthereplayandtotherighttomovetoalaterpart.Forfine grained adjustment of replay time you can use the Replay | Step Replay Forwards and Replay | Step Replay Backwardsactionsoralternativelytheirshortcuts, CTRL+Aand CTRL+B.Thereplaytimeisdisplayedonandcanbe controlledfromTimeHistorygraphs.
4.4.3
CustomReplays
CustomreplaysallowyoutopiecetogetherarbitraryframesfromdifferentOrcaFlexfiles.Eachframeofthereplay can be either the static configuration for a specified data file, or a snapshot of a specified time in a dynamic simulationfile. Using frames of static configurations you can string together a series of static snapshots giving, for example, an animationofaninstallationprocedure.Usingframesfromsimulationfilesallowsyoutocreatereplayswherethe framesarefromoneormoresimulations,and,ifyouwish,varythetimeintervalsbetweenframes.Framesofboth staticanddynamicconfigurationscanbeincludedinthesamecustomreplay.Inadditionyouareabletovarythe viewsize,viewanglesandviewcentretoachievepanning,rotatingandzoomingeffects. To use the custom replayfeature youmust firstsetthe Replay Type data itemonthe Replay Parametersformto CustomReplay.NextyoumustbuildthecustomreplaywhichismosteasilydoneusingtheCustomReplayWizard, whichcanbeopenedbyclickingtheCustomReplayWizardbutton.
ReplaySpecification
ThisisthefilecontainingthecustomreplayspecificationthatisthefilethatissavedbytheCustomReplayWizard.
CustomReplayParameters
Customreplaysalsomakeuseofsomeoftheparametersneededforstandardsimulationreplays.Theseparameters areTargetSpeed,Continuous,AllViewsandShowTrails.
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4.4.4
1. 2.
CustomReplayWizard
TheCustomReplayWizardallowsyoutodefineaseriesofreplaysections.Eachreplaysectioncanshoweither: AseriesofregularlyspacedsnapshotsfromanOrcaFlexsimulationfile. ThestaticconfigurationofamodelspecifiedbyanOrcaFlexdatafile.
Differentreplaysectionsmayusedifferentsimulationordatafiles. CustomReplayFiles WhenyouhavebuiltyourcustomreplayyoumustsaveitusingtheFilemenuorsavebuttononthetoolbar.Custom replayfilescanbeopenedinasimilarway. Werecommendthatyousaveyourcustomreplayfilebeforeyoustartsettingupthereplaysections.Thisisbecause onceyouhavesavedthecustomreplayfileyouwillbeabletouserelativepathsfortheOrcaFlexfilenames. CustomReplayData

Customreplayspecifiesviewparameters(size,position,anglesandgraphicsmode)
If this data item is not checked then the replay will use the view parameters of whichever 3D View window it appears in. In this mode of operation you will be able manually to pan, rotate and zoom the 3D View using the normalbuttonsandshortcuts. Ifthisdataitemischeckedthenyouwillberequiredtospecifytheviewparameters(viewsize,viewcentre,view azimuth, view elevation and graphics mode) for each replay section. This allows you to include panning, rotating andzoomingeffectsinyourreplay. Whilelearninghowcustomreplaysworkwerecommendthatyoudonotcheckthisdataitem.
Usesmoothedpanning,rotatingandzoomingeffects
Thisitemisonlyavailableifthe"Customreplayspecifiesviewparameters"optionisenabled.Ifyouarepanning, rotatingandzoomingduringreplaysectionsthenthetransitionfromonesectiontoanothersometimesappearsto bedisjointed.Ifthisoptionischeckedthenthetransitionbetweensectionsissmoothed.

Frameintervalinrealtime
OrcaFlexneedstoknowhowfasttoplaythereplay.Thisdataitemspecifiestheinterval,inrealtime,betweeneach replay frame, assuming a target replay speed of 100%. If the target replay speed is, say 200%, then the interval betweenframeswillbehalfthisvalue,andsoon. ReplaySections Youcanspecifyanynumberofreplaysections.Foreachreplaysectionyoumustalsospecifythefollowing:
ReplaySectionName
Thisisadescriptivenameforthereplaysection.WhenthereplayisrunningOrcaFlexdisplaysadescriptionofthe currentframeinthemessageboxonthestatusbarthisincludesthereplaysectionname.Thisdescriptioncanalso beincludedinexportedvideos.

OrcaFlexFileName
If the replay section is to show snapshots from an OrcaFlex simulation then this should be the name of the simulationfile.IfthereplaysectionistoshowastaticconfigurationthisshouldbethenameofanOrcaFlexdatafile. Note: The custom replay displays static configurations by loading the OrcaFlex data file and then performing the static calculation for that model. This can be quite time consuming for certain models.Ifso,youcanspeedthestaticcalculationupbyusingtheUseCalculatedPositionsfeature whenpreparingtheOrcaFlexdatafiles.
SimulationTimeFrom,SimulationTimeTo
Thisspecifiestheperiodofthesimulationcoveredbythereplaysection.TheseareOrcaFlexsimulationtimesforthe specifiedsimulationfileofthisreplaysection. Ifthereplaysectionisastaticsnapshotthenthesedataitemsarenoteditable.
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UserInterface,DataForms
NumberofFrames
Thisisthetotalnumberofframesinthereplaysection.Ifyourcustomreplayisaseriesofstaticsnapshotsthenyou wouldusuallysetthisvalueto1.
IncludedinReplay
Thisallowsyoutoexcludecertainsectionsfromthereplay.Thismaybeusefulwhiledevelopingthecustomreplay becauseitallowsyoutoconcentrateonparticularreplaysections.
PowerPointslidenumber
Custom replays can be used to control PowerPoint slideshows. To make use of this you need to be showing a PowerPointslideshowwhilethecustomreplayisrunning.AtthestartofeachreplaysectionOrcaFlexwillchange thePowerPointslidetotheslidenumberspecifiedhere. Ifyoudonotwishtousethisfeatureyoushouldleavethisdataitematitsdefaultvalueof'~'. ViewParameterdata Thefollowingdataitemsareonlyavailablewhenthespecifiesviewparametersoptionischecked.
FromViewParameters,ToViewParameters
Theviewsize,viewcentre,viewazimuthandviewelevationforthefirstandlastframesofthereplaysection.These viewparametersarevariedbetweenthesevaluesfortheotherframesinthereplaysection. Hint:

GraphicsMode
ThesevaluescanbecopiedfromOrcaFlex'sViewParametersformusingtheclipboard.
SpecifieseithertheWireframeorShadedgraphicsmodeforthereplaysection.
4.4.5
SuperimposeTimes
Allows model configurations for different times of the simulation to be superimposed in 3D Views. Use View|CurrentPositiontoreturntothenormalview. Thedataitemsare:
ListofTimes
Thesimulationtimeswhichwillbesuperimposed.
AllViews
Ifthisboxischeckedthenthesuperimposedviewisdrawninall3DViewwindows.Ifnotthenitisdrawninthe selected3DView.
4.5
DATAFORMS
Eachobjectinthemodelhasdataitemsthatdefineitsproperties.Thedataareexaminedandeditedintheobject's DataForm,whichcanbeaccessedbyvariousmethods: usetheModelBrowser

DOUBLECLICKtheobjectina3Dview RIGHTCLICKtheobjectina3Dviewandusethepopupmenu.
Ifasimulationisactivethenmostdataitemscannotbechangedsincetheyaffectthecalculation,butyoucanchange thingsliketheobject'scolour. ControlButtons

Ok
Acceptsthedatachangesmadeandthenclosestheform.
Cancel
Cancelsthedatachangesmadeandthenclosestheform.
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Next
Accepts the data changes made and then displays the next form in sequence. Holding the SHIFT key down while CLICKINGtheNextbuttonacceptsthechangesandthendisplaysthepreviousdataforminsequence.Youcanalso usethekeyboardshortcutsF6fornextandSHIFT+F6forprevious. PopupMenu Thepopupmenuonadataformprovidesvariousfacilities,including: Thedataformcanbeprinted,copiedtotheclipboardorexportedtoafile.Thedataforthewholemodelmaybe printedusingtheFile|Printmenuitem. AccesstothenextandpreviousdataformandtotheVariableDataform. Thebatchscriptnamesforthecurrentlyselectedblockofdataitems. Data forms for 3D Buoys, 6D Buoys, Vessels and Lines provide a Connections Report. This is a spreadsheet listinginformationaboutotherobjectsconnectedtoit.Notethatthesameinformation,butforallobjectsinthe model,canbedisplayedusingtheModel|ShowConnectionsReportmenuitem. Ondataformsofsomemodelobjects,areportofthepropertiesofthatobject.Thereportdisplaysproperties likeweightinair,displacement,weightinwateretc.ThesereportsarecurrentlyavailableforGeneralData,3D Buoys,6DBuoys,Vessels,Lines,LineTypesandClumpTypes.
Calculator AsimplecalculatorisavailablefromanyOrcaFlexdataform.Itcanbeopenedfromthepopupmenuoralternatively by pressing F12. Numbers can be transferred to and from it with standard Windows copy (CTRL+C) and paste (CTRL+V). The calculator can also be closed by pressing F12 if you do this then the value in the calculator is transferredtotheactiveeditcell.
4.5.1
DataFields
DataitemsoneachDataFormaredisplayedinFields,generallywithrelatedfieldsorganisedintoGroupsorTables. Youcanselectafieldwiththemouse,orusethekeyboardtonavigatearoundtheform. TABmovesfromgroupto group,andthearrowkeysmoveacrossthefieldsinagroup. Wheredataarecomplextheformhaspagesofatabindexthatchoosebetweenanumberofdistinctsectionsofthe data. Wheretabulardataareshownonthedataform,thereisusuallyaseparatefieldthatspecifiesthenumberofentries inthetable,andifnecessaryscrollbarsareshownusethesetonavigatethroughthewholetable.Pleasenotethatif scrollbarsarepresent,thenonlypartofthedataiscurrentlybeingdisplayed. Thefollowingtypesoffieldsareused:
Text
Ageneralstringoftext,usedforexamplefortitlesandcomments.
Name
Eachobjectisgivenaname,whichyoucanedit.Objectnamesmustbeuniqueyoucannothavetwoobjectswith the same name. Certain names are reserved for special purposes: Fixed, Anchored and Free (see ConnectingObjects).
Numeric
Numberscanbeenteredinanumberofformatssuchas3,3.0,0.3,.3or3.0e6or3.0E6.Itispossibletoentermore digitsthanthoseshowninthefield,butbewarethatitwillnotbepossibletoseethemagainwithouteditingagain andusingthearrowkeystoexaminetherestoffield. Forsomenumericdataitemsthevalue'~'ispermitted.Forexamplethisissometimesusedtomean'defaultvalue'. Detailsaregiveninthedescriptionsoftherelevantdataitems.

SpinButtons
These are small buttons with up and down arrows, used for incrementing and decrementing the associated field (such as the number of entries in a table). Using the mouse, CLICK on the upper or lower parts of the button to incrementordecrementtheassociatedcounter.
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MultichoiceButtons
Theseareusedwhenanumberofoptionsareavailable.Activatethebuttontostepontothenextavailableoption.
CheckBoxes
Theseshowatick,meaningselected,orareblank,meaningnotselected.CLICKorpressRETURNtochange.
ColourSelection
These show as a block of colour. DOUBLE CLICK or press RETURN to open the ColourSelection dialogue box. The desiredcolourmaynowbeselected.
ListBoxes
Theseshowthecurrentselection,suchasthenameofanotherobjectthatthisobjectisconnectedto. DOUBLECLICK orpressRETURNtoshowaListBox,andthenselectanotheritemandRETURNtoacceptthenewchoice.
4.5.2
DataFormEditing
TheTAB,SHIFT+TAB,HOME,ENDandARROWkeysandthemousecanbeusedtonavigatearoundtheEditForm. Editingmodeisenteredby DOUBLECLICKINGacellwiththemouse,orbystartingtotypealphanumericcharacters, whichareenteredintothefieldastheyaretyped.Thecharactersthathavebeentypedcanbeeditedbyusingthe arrowkeystomovearound(nowwithinthefield)andtheBACKSPACEandDELETEkeys. Editingmodeisended,andthenewvaluetakeseffect,whenyoupress RETURNorselectanotherfieldorbuttonon theform.Toendeditingmodebutrejecttheedit(andsokeeptheoldvalue)pressESC. Many numeric fields have limits on the range of values that can be entered, for example an object's mass must alwaysbegreaterthanzero.Warningsaregivenifinvalidvaluesaretyped. InputcanalsobefromtheWindowsclipboard. CTRL+Ccopiestheselectedfieldorblockoffieldstotheclipboard whilst CTRL+V pastes from the clipboard into the selected field. In this way data can be easily transferred to and fromSpreadsheets,WordProcessors,etc. MouseActions
CLICK CLICK+DRAG, SHIFT+CLICK DOUBLECLICK SECONDARY BUTTONCLICK
SelectField Selectablockoffields StartEditModeinthisfield(pleasealsoseeDataFields) Contextsensitivepopupmenuforcopying,exportingandprintingtheformand,forsome modelobjects,viewingadditionalproperties NextGroup PreviousGroup Movetothegroupwiththisletterunderlinedinitsheading Gotoadjacentroworcolumn Gotoleftmostcolumn Gotorightmostcolumn Gototoprow Gotobottomrow Insertordeletearowofatable Edit(replace)
GroupMovement
TAB SHIFT+TAB ALT+...
FieldMovement
HOME END PAGEUP PAGEDOWN
TableEditing
INS,DEL
StartEditing
0..9,A..Z
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UserInterface,Results
MouseActions DuringEditing ,HOME,END EndEditing

ESC
Movewithinfield Canceledit Accepteditandmovetoprevious/nextrow Acceptedit Copyselectedfield/blocktoclipboard Pastefromclipboardintoselectedfield Fillselectionfromtop(copytopcelldown) Fillselectionfromleft(copyleftmostcelltoright) Fillselectionfrombottom(copybottomcellup) Fillselectionfromright(copyrightmostcelltoleft)

RETURN
Copy/Paste
CTRL+C CTRL+V CTRL+D CTRL+R CTRL+U SHIFT+CTRL+D CTRL+L SHIFT+CTRL+R
4.6
4.6.1
RESULTS
ProducingResults
onthetoolbarorbyusingtheSelectResults
Youcanaccessresultsbyeither CLICKINGontheResultsbutton menuitem;theSelectResultsformthenappears.
There is a Keep Open switch on the form's context menu, which allows you to choose whether the form automaticallycloseswhenyouselectaresult,oralternativelystaysopen(andontop)untilyouexplicitlycloseit. Graphs and Tables can be sent straight to the printer by CLICKING the Print button. If the values of a graph are requiredintextformthenCLICKtheValuesbuttonthisgivethevaluesinaSpreadsheetwindow,whichcanhandle multiplevariablesifdesired. TheSelectResultsformallowsyoutoselecttheresultsyouwantbyspecifying:
ResultType
Thisoptionallowsyoutoselectwhichofthevarioustypesofresultsoutputyourequire.Resultsareavailableastext tables(summaryresults,fullresults,offsettables,statistics,linkedstatisticsorlineclashingreports)orasgraphs (timehistories,rangegraphs,XYgraphs,offsetgraphsorspectralresponsegraphs).Thetypesofresultsavailable dependonthecurrentprogramstate.

Object
The object for which you want results (selected in the same way as in the Model Browser) and for some objects whichpointintheobject. FortheEnvironmentyoumustspecifytheglobalX,Y,Zcoordinatesofthepointforwhichyouwantresults. For6DBuoysthathavewingsattached,resultsforthebuoyandforeachwingareavailableseparately. For6DBuoysandVesselstheposition,velocityandaccelerationresultsarereportedatauserspecifiedpointon theobject.Thispointisspecifiedinobjectlocalcoordinates. ForlinesyoumustspecifythearclengthalongthelineseeLineResults.
Period
Fortimehistories,XYgraphsandrangegraphsyoumustspecifytheperiodofthesimulationtobeincluded.This canbeoneofthestagesofthesimulation,theWholeSimulation,SpecifiedPeriodorLatestWave(onlyavailable ifthewaveisregular).TheSpecifiedPeriodvaluescanbesetto'~'whichisinterpretedassimulationstarttimeand simulationfinishtimerespectively.
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For Range Graphs the period can also be Static State or Instantaneous Value. The Static State period is only available after a statics calculation and the graph shows a curve of the values in the static configuration. The Instantaneous Value period is available when a simulation has been run. It shows a curve of the values at the instantaneous simulation time. This is normally the latest simulated time. However, if a replay is active then the graph shows a curve of values at the active replay time. This allows you to see, for an entire line, how a results variableevolvesoverasimulation.
Variable
Thedesiredvariable(s). DefinitionsoftheresultsvariablescanbeobtainedbyselectingthemintheVariablelistboxandthenpressingF1. Loggingforresults Thesummaryandfullresultsaretakendirectlyfromthecurrentstateofthemodel.Alltheotherresultsarederived from the simulation log file which OrcaFlex creates automatically when a simulation is run. As the simulation progresses,OrcaFlexsamplesthevariablesforeachobjectatregularintervalsandstoresthesampledvaluesinthe logfile.Alltimehistories,statisticsandrangegraphsarederivedfromthesimulationlogfile. YoucancontrolthetimeresolutionoftheresultsbysettingtheTargetSampleIntervaldataitemonthegeneraldata form. This must be done before the simulation is started. Decreasing the sample interval will improve the time resolutionoftheresults(andincreasethenumberofsamplestaken).However,becausemoresamplesaretakenthis willalsoincreasethesizeofthesimulationfilethatiscreated. SpikeLogging A special algorithm is used for logging results that tend to vary rapidly to ensure that any spikes that may occur betweensamplesarerecorded.Werefertothisalgorithmasspikelogging.
LineResults
OrcaFlexspikelogsEffectiveTension,Torque,ClashForce,ClashEnergy,SolidContactForce,EndForceresultsand VortexForceresults.Inadditionotherresultswhicharederivedfromthesequantitiesareeffectivelyspikelogged byassociation.SuchvariablesincludeWallTension,NormalisedTension,MeanAxialStrain,MaxAxialStrain,Direct TensileStress,vonMisesStressandZZStress.

LinkandWinchResults
OrcaFlexspikelogsTensionandVelocity.
SolidResults
OrcaFlexspikelogscontactforcemagnitude.
GeneralResults
OrcaFlexspikelogsImplicitsolveriterationcountandImplicitsolvertimestep. Inadequatesegmentationwarning Ifanylineshave,duringthesimulation,goneintogreatercompressionthantheirsegmentEulerloadthenawarning note is added to the Results form. Such lines are marked with the symbol in the Model Browser. Usually this meansthatfinersegmentationisneededinsomesectionsoftheselinesinordertomodelcompressionadequately. Offsetwarning IfanyofthemultiplestaticscalculationshavefailedthenawarningnoteisaddedtotheResultsform.
4.6.2

SelectingVariables
Eachobjecthasassociatedwithit: Acurrentlyselectedvariablethatwillbeusedforgraphs. Asetofstatisticsvariablesthatwillbeincludedinstatisticsreports.
Forthecurrentlyselectedobject,thecurrentlyselectedvariablesareshowninalistontheresultsselectionform. IfStatisticsresultsareselected,thenthelistshowsthesetofvariablesthatwillbeincludedinthestatisticsreport andyoucanaddorremovevariablesbyCLICKINGontheminthelist.
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IfaTimeHistoryisselected,thelistshowsthe(single)currentlyselectedvariableandyoucanselectadifferent variablebyCLICKINGonitinthelist. Youcanalsomultiselectvariables,using:

CLICK DRAG CTRL+CLICK CTRL+DRAG
selectonevariable selectarangeofvariables add/removeonevariable add/removerangeofvariables
SHIFT+CLICK selectarangeofvariables
If more than one variable is selected, then the Values button will give a single Spreadsheet Window with a time history column for each selected variable, and the Graph button will give a separate Graph Window for each variable. Newcolumnscanbeappendedtoexistingtimehistoryspreadsheetwindows,asfollows: Selectthespreadsheetwindowtowhichyouwanttoappend,byclickingonit. ThenopentheSelectResultsformandselectthevariablesthatyouwanttoappend. ThenholdtheCTRLbuttondownandclicktheValuesbutton. Providedthattheselectedspreadsheetwindowisatimehistoryvaluestableandthatthetimeperiodsforboth setsofhistoriesmatch,thenthenewtimehistorieswillbeappendedtotheactivewindow.Thisallowsyouto haveasinglewindowcontainingresultsfromdifferentobjects.
4.6.3
SummaryandFullResults
These spreadsheet windows give the current state of an object or of the whole model. For example, in StaticsCompletestatethefullresultstablesshowthepositionsofobjectsintheirstaticposition.Ifasimulationis active,thentheyshowthepositionsofobjectsatthelatesttimecalculated. Toobtainoneoftheseresultstables: SelectSummaryResultsorFullResultsontheResultsform. Selecttheobjectrequired. ClicktheTablebutton.
Thesummaryresultsaresimplyanabbreviatedformofthefull results,inwhichtheresultsforlinesonlyinclude theendnodes,notalloftheintermediatenodes. WhenthemodelisinStaticsCompletestatethesummaryandfullresultsincludeestimatesoftheshortestnatural periods of objects or of the whole model. These can be used to determine suitable simulation time steps. The simulationinnertimestepshouldnormallybenomorethan1/10thoftheshortestnaturalperiodofthemodelthis isgivenatthetopofthesummaryresultsorfullresultsreportforAllObjects.Inadditionthefullresultstablefora linecontainsdetailedreportsoftheshortestnaturalperiods.
4.6.4

Statistics
TheStatisticsreportprovides,foreachstatisticsvariable: Theminimumandmaximumvaluesandthesimulationtimeswhentheyoccurred. Themeanandstandarddeviation(i.e.therootmeansquareaboutthemean).
These statistics are reported for each of a number of periods of the simulation. If Statistics by Wave Period is selectedthentheseperiodsaresuccessivewaveperiods;otherwisetheyarethestagesofthesimulation. ToobtainaStatisticsreport: SelectStatistics. Selecttheobjectandthevariablesofinterest(seeSelectingVariables).
CLICKtheTablebutton.
Thereportispresentedinaspreadsheet.
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Warning: Note:
The samples in a time history are not independent. They have what is called 'serial correlation', whichoftenaffectstheaccuracyofstatisticalresultsbasedonthem. BecarefulwheninterpretingstatisticsofLineClearanceandSeabedClearance,sincetheseresults arealreadyminimatheshortestdistancetoanyotherlineandtoanypointontheseabed.For example, the maximum of Line Contact Clearance will be the maximum value that the smallest clearancetookduringtheperiod.
4.6.5
LinkedStatistics
TheLinkedStatisticstablerelatesagroupofvariablesfora givenobject.Foraspecifiedgroupofvariablesanda specified period of simulation, OrcaFlex finds the minimum and maximum of each variable and reports these extremevalues,thetimestheyoccurredandthevaluesthatalltheothervariablestookatthosetimes. Thereportalsoincludesmean,standarddeviationandmeanupcrossingperiod.Themeanupcrossingperiodisthe averagetimebetweensuccessivecrossingsofthemeanvalueinanupwarddirection.
ToobtainaLinkedStatisticsreport:
SelectLinkedStatistics. Selecttherequiredobjectandperiod. Selectthevariablesofinterest(seeSelectingVariables).

CLICKtheOKbutton.
Thereportispresentedinaspreadsheet. Also,seethenotesaboutstatistics.
4.6.6
OffsetTables
These Text Windows are available only after multiple statics calculations and only for vessels. For a given offset directiontheyreportthetotalloadonthevesselandshowhowitvarieswithoffsetdistance.Theworsttensionin anysegmentofanylineconnectedtothevesselisalsoreportedforeachoffset.
ToobtainanOffsetTable:
SelectOffsetTableontheResultsform. Selecttheoffsetvessel. Selecttheoffsetdirectionrequired.

Thereportispresentedinaspreadsheet.
4.6.7
LineClashingReport
TheLineClashingReportproducesadetailedtabularreportaboutthelineclashingeventsduringasimulation.
ToobtainaLineClashingReport:
SelectLineClashingReportontheResultsform. Selectaline. Selecttheperiodrequired.

Thereportispresentedinaspreadsheet. ContentsoftheLineClashingReport Thereportlistsasummarytablefollowedbyadetailedtableasdescribedbelow. Summarytable Thesummarytablelistsallclasheventsforsegmentsontheselectedline.Aclasheventisdeemedtostartwhena segmentfromtheselectedlinefirstcomesintocontactwithanotherlinesegment.Weshallrefertotheselectedline
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asL1andtotheparticularsegmentonthislineasS1.TheclasheventendswhenS1isnolongerincontactwithany otherlinesegments. Note: DuringthecourseofaclasheventthesegmentS1maybeincontactwithanumberofdifferentline segments from other lines, e.g. if the clash is a sliding contact. This is counted as a single clash eventfromtheperspectiveofS1.
Foreachclasheventthefollowingresultsarereported:
Eventnumber
Anumberofclasheventsmayoccurduringthesimulation.Eacheventisgivenanumbertoidentifyit.Thisisuseful whenrelatingthesummaryresultsofaclasheventtothedetailedresults.
Segmentnumberandsegmentarclength
ThisidentifiesthesegmentS1ontheselectedline.
StartTime,EndTimeandDuration
Thesimulationtimeofthestartandendoftheclasheventtogetherwithitsduration.
TotalImpulse
Thetotalimpulseoftheclashevent.
PeakClashForce
Ascalarvaluereportingthegreatestvalueofclashforceachievedduringtheclashevent.Theclashforcevectoris monitoredduringeachclasheventandthegreatestmagnitudeofthisvectorisreported.
PeakClashEnergy
Ascalarvaluereportingthegreatestvalueofclashenergyachievedduringtheclashevent.
MaxPenetration
At each time step we calculate the depth of penetration between the outer surfaces of segment S1 and all other segments.LetS2beasegmentonanotherline. Lettheradiiofthetwosegmentsber1andr2(asdefinedbythelinetypecontactdiameter).OrcaFlexcalculatesthe shortestseparationdistance,d,betweenthecentrelinesofthetwosegments.Thepenetrationofthesetwosegments isdefinedtobe(r1+r2)d.ThevaluereportedasMaxPenetrationisthemaximumvalueofpenetrationbetween segmentS1andanyothersegmentoverthedurationoftheclashevent. Detailedtable ThedetailedtablereportsinformationabouteachindividualcontactbetweensegmentS1andanothersegment.If duringthecourseofaclasheventsegmentS1isincontactwithanumberofsegmentsonotherlinesthenthestart time,endtimeanddurationofeachofthoseindividualcontactsisreported.
Contactvelocity
The detailed table also includes the contact velocity for each individual contact. This is defined to be the normal relativevelocityofthetwocontactpointsattheinstantintimewhentheclasheventstarted.
4.6.8
TimeHistoryandXYGraphs
Time History graphs are of a single variable against time. XY graphs are of one time dependent variable against another. Theperiodofsimulationcoveredbythegraphischosenfromalist.
ToobtainaTimeHistoryorXYGraph:
1. 2. 3.
SelectTimeHistoryorXYGraphontheResultsform. Selecttheobjectrequired. Selectthevariablerequired(seeSelectingVariables).Morethanonevariablecanbeselectedfortimehistories.
ForXYgraphsthesteps2and3needtobedoneforbothaxes.Dothisby CLICKINGononeoftheoptionslabelledX axisorYaxis,whicharelocatedatthebottomoftheresultsform,andthenrepeatingsteps2and3.
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Selecttheperiodrequired.
CLICKtheGraphbutton.
Time history and XY graphs are displayed in Graph Windows and they are "live" i.e. they are regularly updated duringthesimulation.Youcanthereforesetuponeormoregraphwindowsatthestartofasimulationandwatch thegraphsdevelopasthesimulationprogresses.Ifyouresetthesimulationthenthecurveswillberemovedbutthe graphs will remain, so you can adjust the model and rerun the simulation and the graphs will then be redrawn. Graphsareautomaticallydeletediftheobjectthattheyrefertoisremoved,forexamplebyloadinganewmodel.
RangeJumpSuppression
FortimehistoriesofanglesOrcaFlexchoosestheangle'srangesothatthetimehistoryiscontinuous. Forexampleconsidervesselheading,whichisnormallyreportedintherange180to+180.Ifthevessel'sheading passesthrough180thenwithoutrangejumpsuppressionthetimehistorywouldbe: ..,179,180,179,.. i.e.witha360jump.ToavoidthisjumpOrcaFlexaddsorsubtractsmultiplesof360togivethebestcontinuation ofthepreviousvalue.Sointhisexampleitadds360tothe179valueandhencereports: ..,179,180,181,.. Thisadditionisvalidsince181and179areofcourseidenticalheadings. Notethatthismeansthatangletimehistoryresultscangooutsidetherange360to+360.

SpectralDensity
Fromanytimehistorygraphyoucanusethepopupmenutoobtainthespectraldensitygraphforthattimehistory. The curve shown on the graph is the onesided power spectral density (PSD) per unit time of the sampled time history,obtainedusingtheFourierTransform. Notes: Usingthe Fourier Transform to estimate the PSD inevitably introduces 'noise'or 'leakage'tothe spectrum. To reduce the leakage the time history is partitioned into a number of overlapping periods.ThePSDsarecalculatedforeachperiodandthenaveragedtogivethereportedPSDwhich hastheeffectofsmoothingtheresultingPSD. Thissmoothingtechniqueisonlyappliedifthereismorethan200sofdatainthetimehistory.
EmpiricalCumulativeDistribution
Fromanytimehistorygraphyoucanusethepopupmenutoobtaintheempiricalcumulativedistributiongraphfor thattimehistory.Thisgraphshowswhatproportionofthesamplesinthetimehistoryarelessthanorequaltoa givenvalue. These graphs are sometimes referred to as Exceedence Plots since they can sometimes be used to estimate the probabilitythatthevariablewillexceedagivenvalue. Warning: The samples in a time history are not independent. They have what is called 'serial correlation', whichoftenaffectstheaccuracyofstatisticalresultsbasedonthem.
RainflowhalfcycleEmpiricalCumulativeDistribution
Fromanytimehistorygraphyoucanusethepopupmenutoobtaintherainflowhalfcycleempiricalcumulative distributiongraphforthattimehistory.Thecurveonthisgraphisproducedinthefollowingway: 1. 2. Thetimehistoryisanalysedusingtherainflowcyclecounting algorithm.Fordetailsofthisalgorithmseethe paperbyRychlik. Therainflowalgorithmproducesalistofhalfcyclesassociatedwiththetimehistory.Theempiricalcumulative distributionofthesehalfcyclesisthenplotted.
4.6.9
RangeGraphs
Range graphs are only available for a selection of variables and they are only available for Lines. They show the values the variable took, during a specified part of the simulation, as a function of arc length along the Line. In particular:
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Rangegraphsshowtheminimum,meanandmaximumvaluesthatthevariabletookduringthespecifiedpartof thesimulationwiththeexceptionthattheLineClearancerangegraphsonlyshowtheminimumvalue. Effective tension range graphs have extra curves showing the segment Euler load and the Maximum Tension value(asspecifiedontheLineTypesdataform). Bend Moment range graphs have an extra curve showing the maximum permitted bend moment (EI/MinimumBendRadiusspecifiedontheLineTypesdataform). Curvaturerangegraphshaveanextracurveshowingthemaximumpermittedcurvature(thereciprocalofthe MinimumBendRadiusspecifiedontheLineTypesdataform). StressrangegraphsshowtheAllowableStress(asspecifiedontheLineTypesdataform). AStandardDeviationcurvecanalsobeaddedtoarangegraphtodothiseditthegraph'sproperties(bydouble clicking on the graph) and set the Standard Deviation curve's visible property (by default the curves are not visible). Two curves are then drawn, at Meanx, where x is a user chosen value and is the standard deviation.Thestandarddeviationiscalculatedfromallthesamplesthatlieinthesimulationperiodchosenfor thegraph. Warning: Becarefulnottoassumethat95%ofthedatalieintheintervalMean2.Thiscommonguideline isbasedontheassumptionthatthedataaresampledfromaNormal(i.e.Gaussian)distribution.
ToobtainaRangeGraph:
SelectRangeGraphontheResultsform. Selecttheobjectrequired. Selectthearclengthsrequired.Thiscanbetheentireline,aselectedarclengthrange,oraselectedlinesection. Selectthevariablerequired(seeSelectingVariables). Selecttheperiodrequired.

Range graphs are displayed in Graph Windows and they are "live" i.e. they are regularly updated during the simulation.Youcanthereforesetuponeormoregraphwindowsatthestartofasimulationandwatchthegraphs developasthesimulationprogresses.Ifyouresetthesimulationthenthecurveswillberemovedbutthegraphswill remain, so you can adjust the model and rerun the simulation and the graphs will then be redrawn. Graphs are automaticallydeletediftheobjectthattheyrefertoisremoved,forexamplebyloadinganewmodel.
RangeJumpSuppression
JustasitdoesforTimeHistoryandXYGraphs,OrcaFlexappliesrangejumpsuppressionforrangegraphsofangles.
4.6.10
OffsetGraphs
Thesegraphsareavailableonlyafteramultiplestaticscalculationhasbeendoneandonlyfortheoffsetvessel.The followingvariablesareplottedagainstoffsetdistance:
RestoringForce
ThemagnitudeofthehorizontalcomponentofthetotalforceappliedtothevesselbytheattachedLinesorother objects.Notethatthisforceisnotnecessarilyintheoffsetdirection.
VerticalForce
TheverticallydownwardscomponentofthetotalforceappliedtothevesselbytheattachedLinesorotherobjects.
YawMoment
Themoment,aboutthevertical,appliedtothevesselbytheattachedLinesorotherobjects.
WorstTension
ThelargesttensioninanysegmentofanyLineconnectedtothevessel.
ToobtainanOffsetGraph:
SelectOffsetGraphontheResultsform.
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Selecttheoffsetvessel. Selecttheoffsetdirectionrequired. Selectthevariablerequired.

4.6.11
SpectralResponseGraphs
Thesegraphsareavailableonlyifyouhaverunaresponsecalculationwave.Thegraphisonlyavailableoncethe simulationhasbeencompleted. ThegraphplotsthecalculatedRAOfortheselectedvariableontheYaxisandwavefrequencyontheXaxis.

ToobtainaSpectralResponseGraph:
SelectSpectralResponseGraphontheResultsform. Selecttheobjectrequired. Selectthevariablerequired(seeSelectingVariables).Morethanonevariablecanbeselected.

4.6.12
PresentingOrcaFlexResults
OrcaFlex users often wish to show their OrcaFlex results in a slide presentation prepared using a presentation programsuchasMicrosoftPowerPoint.Herearesometipsonhowthiscanbedone.
Graphs
GraphscanbetransferredfromOrcaFlextopresentationprogramsbysimplecopy+paste. Note:
Replays
In PowerPoint, instead of using Paste, it is better to use Paste Special (from the Edit menu) and thenselecttheEnhancedMetafile.Thisgivesbetterresolution.
ReplayscanbetransferredbyexportingtoanAVIfileandthenimportingthatvideoclipfileintothepresentation program. AnXVIDencodedAVIfile(andpossiblyothercodecs)addedtoMicrosoftPowerPointslidesasaMovieObjectmay notplaycorrectly(displayingablankscreenonreplay,orthevideoonlyappearinginfullscreenmode).Toavoid theseproblems,anXVIDAVIfileneedstobeinsertedasaVideoClipObject.Thiscanbedoneintwoways: 1. 2. DragandDroptheAVIfileontothePowerPointslide,or From the PowerPoint menu, choose Insert | Object. Select 'Create from file' and Browse to your file (do not selectthe'Link'option).
To setoptions suchasauto repeat, rightclick on theimage intheslide, then selectVideo Clip Object| Open, this displaysthevideoplayerwindowandmenus. TheVideoClipObjectlinkstotheAVIfile(itisnotembeddedwithinPowerPoint)sothefilelocationneedstobe accessiblewhenrunningthepresentation.ThecomputerrunningthepresentationmustalsohavetheXVIDcodec installed. Note: Resizing video clips (after pasting into your presentation) will introduce aliasing (redigitisation errors)soitisbesttosettheOrcaFlex3DViewwindowtotherequiredsizebeforeyouexportthe video.
VideoClipsofOrcaFlexinUse
YourpresentationcanevenshowvideoclipsofOrcaFlexinuse,illustratinghowtheprogramisused.However,itis rather harder to generate the required video files. We recommend using software called Camtasia (www.techsmith.com)torecordvideoclipsshowingOrcaFlexinuse.
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UserInterface,Graphs
4.7
GRAPHS
When you request results in graphical form, they are presented in Graph Windows. You can open several simultaneousgraphwindows,showingdifferentresults,andtilethemonthescreentogetherwith3Dviewsandtext resultswindows.Toadjustagraph'sproperties(rangeofaxes,colours,etc.)seeModifyingGraphs. Graphshaveapopupmenuthatprovidesthefollowingfacilities. UseDefaultRanges. Copycopiesthegraphtotheclipboard,fromwhereyoucanpasteitintootherapplications. Values. SpectralDensity. EmpiricalCumulativeDistribution. RainflowhalfcycleEmpiricalCumulativeDistribution. Exportenablesyoutoexportthegraphtoametafileorbitmapfile. PrintfacilitiesandtheMonochromeOutputpreference. Properties.
Graphsofsimulationresultsare"live"i.e.theyareupdatedautomaticallyasthesimulationprogresses.Also,they arekeptevenifyouresetthesimulation,soonceyouhavesetupasetofinterestinggraphsyoucaneditthemodel andrerunthesimulationtoseetheeffectofchangingthemodel. You can also set up results graphs when in reset state, prior to running a simulation the graph will be empty initially and will grow as the simulation progresses. Note that we do not recommend this for graphs of line clearance,however,sinceupdatingthemcansignificantlyslowdownthesimulation. Theworkspacefeatureprovidesaverypowerfulwayofmanagingcollectionsofrelatedgraphs. WhenareplayisinprogressthereplaytimeisindicatedonbothTimeHistoryandXYgraphs.
Figure: Replay time indicator on a Time History Graph (vertical line at Time=3.5s) and on an XY Graph(greycrossinbottomrightofthegraph).
ThereplaytimeindicatoronaTimeHistorygraphcanbedirectlymanipulatedusingthemouse.Withthe CTRLkey pressedyousimplyclickonaTimeHistorygraphandtheindicatormovestowhereyouhaveclicked.Anyopen3D Viewsareupdatedtoshowthenewreplaytime.Similarly,withtheCTRLkeypressedyoucanclickandthendragthe indicator. This direct manipulation of the replay time indicator is designed to help understand and visualise how yourmodelisbehavingatkeymomentsofthesimulation.
PrintingGraphs
Toprintagraph,usetheFile|Printmenuitem.Whenprintingtoamonochromeprinteryouwillgetthebestresults bysettingtheMonochromeOutputpreferencethisissetbydefaultwhentheprogramisfirstinstalled.
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UserInterface,Spreadsheets
CopyandPastewithgraphs
Youcanalsocopyagraphtotheclipboardsimplyselectthe graphwindowby CLICKINGonitandthenusingthe Edit|Copymenuitem.Fromtheclipboardyoucanthenpasteitintoanotherapplication,forinstanceintoaword processordocument.GraphscanalsobeexportedasWindowsmetafiles,usetheFile|Exportmenuitem.Metafiles canbeimportedintomanyWindowsprograms,suchaswordprocessors,spreadsheets,graphicspackagesetc. Note: Whencopyingagraphtotheclipboard,thesizeofthegraphwindowyoucopyfromhasaneffect onhowthetextlabelfontsappearwhenthegraphispastedintoanotherapplication.Forexample, ifyouarecopyingagraphtoaWordProcessorandwantthegraphtobefullpagesize,thenthe graphwindowshouldbemadelargeonscreen(e.g.maximised).Ifyouwantanumberofgraphson onepageofadocumentthenthegraphshouldbesmalleronscreentrytilingorcascadingthe windows(seetheWindowmenu).Byexperimentingwithvariousdifferentlysizedgraphsitshould bepossibletoarrangeforthefontstoappearasyouwish.
4.7.1
ModifyingGraphs
YoucanzoomintoagraphbyholdingdowntheALTkeyanddraggingaboxaroundtheareathatyouwantthegraph todisplay.Whenyoureleasethemousebuttontheregionselectedwillbeexpandedtofillthegraph.Ifyouwantto reversethisprocessthenrightclickthemouseandchooseUseDefaultRangesfromthepopupmenu. YoucanalsochangetheappearanceofagraphbydoubleclickingonthegraphorbyselectingPropertiesfromthe graph'spopupmenu.Adialogueboxthenappears,allowingyoutochangevariousaspectsofthegraph,asfollows:

Axes
Youcansettherange,thetickspacingandthenumberofsmallticks.TheUseDefaultTickSpacingbuttonsetsthe tickspacingandthenumberofsmalltickstosensibledefaultvaluesbasedontherange.Thisisusefulifyouwantto settherangetoaspecificvalueandwantthetickspacingtobesetautomatically.

Labels
Youcanalterthetextandfontsoftheaxisandticklabels.
Curves
Youcancontrolthelinepropertiesandvisibilityforeachcurveonthegraph.
Legend
Thelegendisakeyshowingwhichcurveiswhich.Itonlyappearsongraphsthathavemultiplecurves,e.g.range graphs. You can control whether the legend is shown and if so where and using what font. Note that the legend includesallthecurves,evenifsomeofthemmaynotbevisibleatthetime.
Intercepts
Interceptsarelines,liketheaxes,thatgorightacrossthegraph.InfacttheXandYaxesthemselvesareconsidered tobeintercepts.Youcanaddmoreintercepts,forexampletomarkthingslikestagestarttimes,andyoucancontrol theirpositionandstyle.

SaveAsDefault
Changestoagraph'spropertiesnormallyonlyapplytothatgraph.Butforgeneralsettings(fontsetc.)youcanalso clicktheSaveAsDefaultbutton.OrcaFlexthenremembersthecurrentsettingsforusewithfuturegraphs.
4.8
SPREADSHEETS
Some numerical results(e.g. obtained with the Values buttononthe Resultsform)appear inan Excel compatible spreadsheet. The spreadsheet is readonly. If you wish to modify or extend it you must first save it as described below.
Printing,CopyingandExportingSpreadsheets
ToprintthespreadsheetrightclickandselectPrint,butrememberthatOrcaFlextimehistoriesarenormallyquite longandwillthereforeproducemanypages.Ifnecessary,youcanfirstadjusttheprintersetupusingFile|Printer Setup. Youcanalsoeasilytransfertheresultstootherapplicationsbyeither: CopyandpasteviatheWindowsclipboard.SelecttheblocktobetransferredandpressCTRL+C.
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UserInterface,TextWindows
Savingtofile.ChooseExportfromthepopupmenutosaveasExcelformat(.xls),commaseparatedvalues(.csv) orastabdelimitedtext(.txt).
4.9
TEXTWINDOWS
Simpletextwindowsareusedforsomereportsseebelow.Toprintatextwindow,usetheFile|Printmenu.You canalsocopytexttotheclipboardsimplyselectaregionoftextandthenusetheEdit|Copymenuitem(orpress CTRL+C). From the clipboard you can then paste it into another application, for instance into a word processor document.Alternatively,youcanexportthetexttoafilebyusingtheFile|Exportmenuitem.Theresultingtextfile canthenbeimportedintoyourwordprocessor. StaticsProgressWindow DuringaStaticsCalculation,theprogressofthecalculationisshowninthemessageboxonthestatusbar.However themessagesarealsosenttoatextwindowthatisnormallyminimised.Thiswindowmaybeviewedbyclickingon themessageboxduringstatics, orbyselectingtheWindow|StaticsProgressmenuitemifyouwishtowatchthe processmoreclosely.Likeothertextwindowsitmaybeprinted,copiedorexported,asdescribedabove.
4.10
WORKSPACES
Itiscommontohavemanywindows(3DView,graphorspreadsheet)openwithinOrcaFlex.Theworkspacefacility isdesignedtohelpmanagethesewindows.
Workspacefiles
Acollectionofview,graphorspreadsheetwindowscanbesavedusingtheWorkspace|SaveWorkspacemenuitem. This creates a text file with the .wrk file extension containing a specification of the current window layout. The workspacecanberestoredatanytimewiththeWorkspace|OpenWorkspacemenuitem.Thiscangivesignificant timesavingsifyouwishtolookatanumberofdifferentresultswindowsforalargenumberofOrcaFlexmodels. Notethatthecontentsofthewindowsarenotsavedtotheworkspacefile,justalogicaldescriptionofthewindow. Forexample,supposeyousavedaworkspacecontainingagraphofEffectiveTensionofaLinecalledRiser.Ifyou thenloadedadifferentsimulationfileandopenthatworkspacethenyouwouldseetheEffectiveTensionoftheLine calledRiserinthenewsimulationfileandnotthesimulationfiledopenwhentheworkspacewassaved.Thismeans thatyoucanlookatthesamecollectionofresultsforanynumberofsimulationfiles. Workspacefilesarenotlimitedtosimulationfilesstaticresultsandmultiplestaticsresultscanalsobesaved.
Defaultworkspaces
AsanalternativetoloadingaworkspacebyusingtheWorkspacemenuitemsyoucanassociatedefaultworkspaces witheitherindividualsimulationfilesorwithentiredirectories. Ifyoudefineadefaultworkspaceforasimulationfilethentheworkspaceisrestoredwheneveryouopenthat samesimulationfile. If you define a default workspace for a directory then the workspace is restored whenever you open any simulationfileinthatdirectory.
Gettingthemostoutofworkspaces
WerecommendthatyousaveyourworkspacefilesinthesamedirectoryastheOrcaFlexfiles.Ifyoudosothenthe workspacefilewillappearintheMostRecentFileslistontheWorkspacemenu. Workspacefilescanbeveryusefulifyouaresendingsimulationfilestoanotherperson.Byincludingaworkspace filewiththeresultsofinterestyoucanbesurethattheywillviewthecorrectinformation.Thiscanbeparticularly valuable when sending files to someone who is not an experienced OrcaFlex user. This can even be useful when sending files to Orcina for software support because they contain a precise specification of the results you are interestedin.
4.11
COMPARINGDATA
TheCompareDatamenuitemopenstheCompareDataform,whichallowsyoutofinddifferencesbetweenthedata intwoOrcaFlexfiles. The comparison is done using a userprovided compare program, so when you first use this facility you need to configureOrcaFlextotellitwhichcompareprogramthatyouwanttouse;seeConfigurationbelow.
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UserInterface,Preferences
Youcanthencomparefilesasfollows: OntheFilespage,specifythetwofilesthatyouwishtocompare.Thesecanbedataorsimulationfiles. ClicktheComparebutton. OrcaFlexthensavesthedatafromthetwofilestotemporarytextfilesandthenrunstheuserspecifiedcompare programtocomparethosetextfiles.
As an alternative to comparing two data files on disk you can optionally choose to compare the currently loaded modelwithasinglefileondisk. Configuration OntheConfigurationpageyouneedtotellOrcaFlexthetextfilecompareprogramthatyouwanttouse,andhowto useit.Thecompareprogrammustbeaprogramthatcancomparetextfilespassedtoitthroughthecommandline. Varioussuchprogramsareavailableontheweb;examplesareWinDiff,CompareIt!andAraxisMerge.
CompareProgram
Thisisthecompareprogram'sexecutablefilename.Youcanspecifyeitherthefullpath,orjustthefilenameifthe executablefileresidesinadirectorywhichisonyoursystempath. AbasiccompareprogramcalledWinDiffisfreelyavailable(youcanfinditbysearchingtheInternet)andisquite sufficientforthispurpose.

CommandLineParameters
Thisdefinesthecommandlineparametersthatarepassedtothecompareprogram.OrcaFlexreplacesthespecial strings%1and%2withthefilenamesofthetemporarytextfiles.Formostcompareprogramsthedefaultsettingof "%1%2"willbesufficient.Otherwiseyouwillneedtoconsultthedocumentationofyourcompareprogram.
4.12
PREFERENCES
OrcaFlexhasanumberofsettingsthatcanbecustomisedtosuitthewaythatyouwork.Themajorityofsettingscan beadjustedinthePreferencesdialoguebox,whichisaccessedbyusingtheTools|Preferencesmenuitem. 3DViewPreferences

MinimumDragDistance
Objectpositionsarenotupdateduntilthemousehasbeendraggedatleastthisdistance(inpixels).Thisprevents accidental changes to object positions. To make a small movement, drag away and then back again, or edit the coordinatedirectlyintheobject'sEditForm.
ViewRotationIncrement
EachCLICKonaRotateViewbuttonincrementsordecrementsViewAzimuthorElevationbythisamount.
RefreshRate
During a simulation calculation all 3DView and Graph windows are updated at this rate. Selecting a faster rate allows you to see the behaviour of the simulation more clearly at the expense of performance. Set a slow RefreshRatetogivethenumericalcalculationmoreprocessortime.
BackgroundColour
Thissetsthebackgroundcolourofall3DViewwindows.
LocateObjectMethod
Can be either Flash object or Hide other objects. It determines what method the Locate action in the model browseruses. WhentheFlashobjectpreferenceissetthentheLocateactionrepeatedlydrawsandhidestheobjectonthe3D View,likeablinkingcursor. WhentheHideotherobjectspreferenceissetthentheLocateactiontemporarilyhidesallotherobjects.
NormallythedefaultsettingofFlashobjectissufficienttolocateobjects.However,ifthemodelyouaresearching forisobscuredbyotherobjectsthenthismethodmaynothelpyoutolocatetheobject.Inthiscaseyoushoulduse theHideotherobjectspreference.
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UserInterface,Preferences
Resettodefaultviewautomatically
When this is checked then OrcaFlex will automatically change the 3D View parameters to the Default View wheneveranewmodelisopened. 3DViewAxesPreferences
ViewAxes
Theviewaxesshowthesamedirectionsastheglobalaxes,butaredrawninthetoprighthandcornerof3Dviews, ratherthanattheglobalorigin.CanalsobesetfromtheViewmenu.
ScaleBar
Determineswhetherascalebarisdrawnin3Dviews.CanalsobesetfromtheViewmenu. Note:
GlobalAxes
The Scale Bar is not drawn for shaded graphics views because it would be meaningless due to perspective.
Determineswhethertheglobalaxesaredrawn,atthemodel'sglobalorigin(0,0,0).CanalsobesetfromtheView menu.
EnvironmentAxes
Determineswhetherthewave,currentandwinddirectionsaredrawninthe3Dview.Whenmultiplewavetrains arepresentthefirstwavetrainistakentobethedominantoneandisdrawnusingseasurfacepen,whereasthe otherwavetrains'directionsaredrawninthesecondarywavedirectionpen.CanalsobesetfromtheViewmenu.

LocalAxes
Determines whether the local axes for vessels, buoys and line ends are shown. Drawing the local axes on the 3D viewhelpsyouchecktheorientationsoftheseobjects.CanalsobesetfromtheViewmenuorbypressingCTRL+Y. Note:
NodeAxes
LocalAxesarenotdrawnforshadedgraphicsviews.
Determineswhetheraxesforlinenodesareshown.CanalsobesetfromtheViewmenuorbypressingCTRL+ALT+Y.
OutofBalanceForces
If selected, then in the static analysis (not during the simulation) there are extra lines drawn on the 3D view, representingtheoutofbalanceforceactingoneachvesselandbuoy.Thispreferenceissometimesusefulforstatic analysis,sinceitenablesyoutoseehowfarabuoyorvesselisfrombeinginequilibrium.Canalsobesetfromthe ViewmenuorbypressingSHIFT+CTRL+Y. Theforceisdrawnasaline,startingattheforce'seffectivepointofapplication,andwhoselengthrepresentsthe sizeoftheforce.ThescalingispiecewiselinearandbasedontheViewSizeofthe3Dview.LinesuptoViewSize/2 long mean forces up to 10 force units and lines from ViewSize/2 to ViewSize mean forces from 10 to 1000 force units. Note: OutofBalanceForcesarenotdrawnforshadedgraphicsviews.
VideoPreferences Thevideopreferencesallowyoutocontrolthecompressionalgorithmusedforexportedvideo.Thesoftwarewhich performs this compression is called a codec. Because the different graphics modes produce very different images theyrequiredifferenttypesofcodec.
WireFrameGraphicsCodec
Runlengthencodingisthedefaultsettingandisusuallythebestchoice.Thiscodecoffersgoodcompressionrates forOrcaFlexwireframevideo.TheAVIfilesproducedusingthiscodeccanbeplayedonmostWindowsPCs. IfyouchooseUncompressedtheneachframeofthevideoisstoredasanuncompressedbitmap.Thismeansthat theAVIfileproducedcanbeextremelylarge.
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UserInterface,PrintingandExporting
ShadedGraphicsCodec
The runlength encoding which works well for wire frame graphics is not suitable for shaded replays and in fact thereisnosuitablebuiltincodecinWindows.WewouldrecommendusinganMPEG4codecofwhichmanyare available. In our experience the freely available (licensed under the GPL) XVID codec performs very well. The ShadedGraphicstopichasmoreinformationabouttheXVIDcodec. Youcanchoosetouseothercodecsthatareinstalledonyourmachine.Shouldyoudosothenyoumustalsospecify thefollowinginformation: Codec4charactercode:Codecsareidentifiedbyuniquecodes,4characterslong.GoodalternativestoXVID include DIVX, the 3ivx codec (character code 3IV2) and a variety of offerings from Microsoft which are unfortunatelyratherdifficulttoobtain. Padding: MPEG4 codecs commonly require round number frame sizes (width and height in pixels). For example XVID requires frame sizes to be multiples of 8. When OrcaFlex exports the video it ensures that the frame sizes are a multiple of this number. If you are unsure of what number to use for your codec then we recommendtrying8whichusuallyworks. Colourdepth:SomeMPEG4codecsrequireaspecificcolourdepth.Again,ifyouareunsureofwhatvalueto usethenwerecommendtrying32bitor16bitcolourdepth.
OutputPreferences
PrinterMargins
ThesesettheLeftandTopmarginsusedonprintouts.
MonochromeOutput
Ifthisischeckedthenexternaloutput(copyingtotheclipboard,exportingmetafilesandprinting)isinblackand white.Thisisusefulwithblackandwhiteprinters,sinceotherwisepalecoloursmaybedrawninverylightgreyand maybehardtosee. MiscellaneousPreferences

ShowHints
DetermineswhetherOrcaFlexshowspopuphints.
ShowSplashScreen
DetermineswhetherOrcaFlexdisplaysitssplashscreenwhentheprogramstarts.
BatchAutoSave
If this is enabled then simulations run in batch mode are automatically stored to simulation files at the specified regular Auto Save Interval. This is useful if your computer is prone to failure (for example because of overnight power failures) since the partrun simulation file can be loaded and continued, rather than having to rerun the wholesimulationfromscratch.TheAutoSaveIntervalshouldbeneithertooshort,sincethentheprogramwillthen wastealotoftimerepeatedlystoringawaytheresults,nortoolong,sincethenalotofsimulationworkwillbelostif afailureoccurs.
4.13
PRINTINGANDEXPORTING
ThePrint/ExportdialogueisaccessedusingeithertheFile|PrintortheFile|Exportmenuitemandallowsyouto chooseoneormoreofthefollowingitemstobeprintedorsavedtofile: The model data. Vessel Types often have very large amounts of data, much of which may not apply to the currentmodel,soOrcaFlexoffersyoutheoptionofprintingallthevesseltypedataoronlythedatathatisin use. Any3DViews,Graphs,SpreadsheetsandTextWindowscurrentlyondisplay. Note: Graphsareprintedaslargeaspossiblewhilstmaintainingaspectratio.
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Automation,Introduction
5
5.1
AUTOMATION
INTRODUCTION
OrcaFlexprovidesseveralimportantfacilitiesforautomatingandpostprocessingwork: OrcaFlex is supplied with a special Excel spreadsheet which enables you to automate the extraction of simulationresultsintoyourownspreadsheet.YoucanthenusethenormalExcelcalculationfacilitiestodoyour owncustomisedpostprocessingandgraphing. The Batch Processing facility enables you to run a set of simulations in unattended mode, for example as an overnightjob.Thesimulationscaneitherbeofpreprepareddatafiles,orelsecanbespecifiedbyabatchscript filethatspecifiesthesimulationasvariationsonabasedatafile.TheOrcaFlexSpreadsheetmentionedabove alsohasfacilitiesforautomatingtheproductionofbatchscriptfiles. OrcaFlex includes a welldocumented programming interface called OrcFxAPI (short for OrcaFlex Application Program Interface). See the OrxFxAPIhelp file for details. OrcFxAPI is a Windows dynamic link library (DLL) that is installed when you install OrcaFlex, and which provides facilities for setting data, calculating static positionsandextractingresultsfromthosecalculationsorfromprerunsimulationfiles.Forexampleyoucan writeprogramstoautomatepostprocessingorthatuseOrcaFlexasa'staticscalculationengine'.Oneimportant example application of this is for realtime monitoring of pipes, moorings etc. For further information or to discusspossibleapplicationsofOrcFxAPI,pleasecontactOrcina.
5.2
5.2.1
POSTPROCESSING
Introduction
OrcaFlex users often use spreadsheets to postprocess their OrcaFlex results. This can be done manually by transferringtheresultsfromOrcaFlexintothespreadsheetusingcopy+paste.However,thisislaboriousanderror proneifalotofresultsneedtransferring,sowehavedevelopedspecialfacilitiestoautomatetheprocess. ThisautomationisdoneusinganExcelspreadsheetthathasfacilitiesforautomaticextractionofspecifiedresults fromoneormoreOrcaFlexfilesintonominatedcellsinthespreadsheet.Youcanthenusethenormalspreadsheet facilitiestocalculateotherpostprocessedresultsfromthoseOrcaFlexresults. Note: TheOrcaFlexspreadsheetworkswithExcel97orlaterandrequiresOrcaFlextobeinstalledonthe machine.
CreatingOrcaFlexSpreadsheets YoucancreateOrcaFlexspreadsheetsfromExceltemplatesthataresuppliedwithOrcaFlex.Youshouldbaseyour own OrcaFlex spreadsheets on this template, which is installed in the OrcaFlex installation directory when you installOrcaFlexonyourmachine.TocreateyourownOrcaFlexspreadsheet,opentheWindowsStartmenu,select Programs|OrcinaSoftwareandthenselectNewOrcaFlexSpreadsheet.Thisshortcutcreatesanewspreadsheet basedonthetemplate. Note: DifferentversionsofExcelrequiredifferentversionsoftheOrcaFlexSpreadsheet.Wheninstalling OrcaFlex you are asked which version of Excel you are using. Both spreadsheet templates are installedandasingleStartMenushortcuttotheappropriateoneiscreated.
Before you try to use the new spreadsheet you need to save it to a file; it can be given any valid file name. It is usually most convenient to save it to the directory containing the OrcaFlex files from which you want to extract results.Youcanthenspecifythenamesofthosefilesinthespreadsheetusingrelativepaths.Usingrelativepaths makesiteasiertorenamethedirectoryormovethespreadsheetandOrcaFlexfilestosomeotherdirectory. ForexampleOrcaFlexspreadsheets,seeJ02ResultsandJ03StressAnalysis.
5.2.2
OrcaFlexSpreadsheet
TheOrcaFlexSpreadsheetenablesyoutoautomatetheextractionofresultsanddatafromOrcaFlexfilesintoExcel. ForanexampleseeJ02Results.TocreateyourownseeCreatingOrcaFlexSpreadsheets. OrcaFlexspreadsheetsalsoprovidefacilitiestogeneratescriptfilesautomatically. Forresultspostprocessing,anOrcaFlexSpreadsheetcontainsanInstructionsworksheet,plusotherworksheetsto receivetheOrcaFlexresultsandforanyderivedresults.
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Automation,Postprocessing
Thespreadsheetalsoprovidestoolstohelpbuildthelistofinstructions.ThesetoolsaretheInstructionsWizardand theDuplicateInstructionsform. The Instructions worksheet consists of an instructions table and menudriven Excel macros that read and obey thoseinstructions. Warning: DonotchangethenameoftheInstructionsworksheet,sincethemacrosusethatnametofindthat worksheet.
InstructionsTable Eachrowintheinstructionstableisaseparateinstruction.Theinstructioncanbethoughtofas3separatesections: 1. 2. TheentryincolumnA(titled SheetName)specifiesthenameoftheExcelworksheetonwhichanyoutputis produced. TheentriesincolumnsBandC(titledLabelCellandLabelrespectively)specifyalabel.Thislabelisoutputon theworksheetspecifiedincolumnAandinthecellspecifiedincolumnB.Thetextofthelabelisspecifiedin columnC. Theothercolumns(DtoI)specifysomeresultsordatawhichareoutputonthesheetspecifiedincolumnAand inthecellspecifiedincolumnD.Thesecolumnscanspecifyoutputoftimehistories,rangegraphs,datavalues etc.
3.
Eitherofsections2and3areoptional.Thatisyoucanhaveaninstructionthathasablankcommandcellandso onlywritesalabel,oronethathasablanklabelcellandsoonlywritesresults. Theendofthetableisindicatedbythefirstrowthathasbothitslabelandcommandcolumnsblank,soyoucannot haveaninstructionrowthathasnolabelandnocommand.Inparticular,youcannothaveablankrowinthemiddle oftheinstructiontable.Also,themacrosassumethatthefirstinstructionisrow5oftheworksheet,sodonotinsert ordeleterowsabovethis. Themacrosignoretheformattingofthespreadsheet,soyoucanusethingslikebold,italic,backgroundcoloursetc. to make the worksheets easy to read, and you can also resize columns or rows to suit. This applies to all the worksheets,includingtheInstructionsworksheet. ProcessingtheInstructions WhenyouareworkingwiththeOrcaFlexSpreadsheetanitemtitledOrcinaisaddedtotheExcelmenu.Thismenu itemcontainsvariouscommandstoprocesstheresultsinstructions.
Figure: TheOrcinamenuwithinExcelfortheOrcaFlexSpreadsheet.
TheProcessAllInstructionsmenuitemrunsamacrothatobeysalltheinstructionsinthetable,startingatthetop ofthetableandworkingdown.TheProcessSelectedInstructionsmenuitemtellsthespreadsheettoprocessonly theinstructionsinthecurrentlyselectedcellorblockofcells,againintoptobottomorder.Ifthecurrentlyselected cell(s)arenotinthetablethenthismenuitemdoesnothing. Theexampleinstructiontableillustrateshowtheinstructionswork:
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ClicktheProcessAllInstructionsmenuitem.YoushouldseetheExample1worksheetbeingfilledinandthen a new worksheet called Example2 being created and filled in. If you look at the instructions table on the Instructionssheetthenyouwillseehowthiswasspecified. Note: If you have not installed the OrcaFlex examples, or if you have installed them to a different directory, then this operation will fail because it assumes the existence of the file C:\Program Files\Orcina\OrcaFlex\Examples\JPreandPostprocessing\J03Stress\Example1.sim.
ThefirstblockofinstructionsinthetablespecifiesthatthesimulationfileExample1.simshouldbeloadedand thenvariousresultsextractedfromitandwrittentovariouscellsinaworksheetcalledExample1. The Example1 worksheet already existed, and it was already set up with suitable column widths and cell properties(e.g.alargerfontsize,rightalignmentforsomecells).Sotheinstructionssimply"filledin"various cellsinthatsheet. Thesecondblockofinstructions inthetablespecifiesthatthesimulationfileExample2.simshouldbeloaded andthenvariousresultsextractedfromitandwrittentoaworksheetcalledExample2.Nosuchsheetexisted, soonewascreated. Because the worksheet Example2 was newly created it has default properties and so it not yet properly formatted. You can now format it (resize the columns, change cell font sizes etc.) as you wish. Next time you clicktheProcessAllInstructionsmenuitemtheworksheetwillretaintheformattingyousetup. NowgobacktotheExample1worksheetandtrysettinganewcelltocalculatea"derived"result.Forinstance youcouldcalculatethetensionrangebysettingcellH4to"=G4F4". NowdeletethecontentsofcellsG4andF4ontheExample1worksheetcellH4willbecomezero.Nowgoback totheInstructionsworksheetandinthetophalfoftheinstructiontableselecttheblockof6cellsinthecolumn headed 'Command' that contain Min or Max. Now click the Process Selected Instructions menu item this menu item obeys just the instructions in the currently selected block, so cells G4 and F4 on the Example1 worksheet will be rewritten and your derived cell H4 will be automatically updated (assuming you have re calculationswitchedoninExcel).
Youshouldnowhaveagoodideaofhowthespreadsheetworksandyoucannowmodifythespreadsheettosuit yourownpurpose.Todothis,deletetheexampleinstructionsfromthetableandsetupyourowninstructionsthe easiestwaytodothisisbyusingtheInstructionsWizard.
5.2.3
InstructionFormat
TheeasiestwaytolearnabouttheinstructionformatisbyusingtheInstructionsWizardwhichallowsyoutocreate instructionsinaninteractivemanner. IntheOrcaFlexSpreadsheet,eachinstructionconsistsofthefollowingcells.SeealsoTipsandTricks.

SheetName
Specifiesthenameoftheworksheetinwhichcellsaretobewritten.Ifaworksheetwiththisnamealreadyexists thenthespecified labelandoutputcellswillbeoverwritten,butothercellswillbeleftunchanged.Ifnosheetof thatnameexiststhenonewillbecreated.

LabelCell
Specifiesthecell,inthespecifiedworksheet,towhichthelabel(ifnotnull)willbewritten.
Label
Specifiesthelabelstringtobewrittentothe labelcell.Thiscellcanbeleftempty,inwhichcasethe labelcellis ignored.

OutputCell
Specifiesthe cell, in the specified worksheet, to which resultsor datashould be written. Some commandsspecify multiplevalue output for example a time history consists of a column of results. In this case the output cell specifiesthetopleftcelloftheblockofcellstobewritten. Note: Theoutputcell(orlabelcell)canbespecifieddirectly,e.g.B7,butcanalsobespecifiedindirectly seeTipsandTricks.
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Command
Thisshouldbeoneofthepredefinedcommandsorelseempty.Ifthecommandcellisemptythentheoutputcellis ignoredandjustthelabelisoutput.
ObjectName
ThenameoftheOrcaFlexobjectwhoseresultsordataareoutput. Note:
AdditionalData
Thisnameiscasesensitive.DifferentobjectsinOrcaFlexcanhaveidenticalnamesexceptforcase. Forexample"LINE"and"line"and"LiNe"areallregardedasdifferentobjectsinOrcaFlex.
ThiscolumnisusedwhenoutputtingresultsforcertaintypesofOrcaFlexobject. FortheEnvironmentobjectyouneedtospecifytheglobalX,Y,Zcoordinatesofthepointforwhichyouwantresults thecoordinatesmustbeseparatedbythe';'character. For Vessel objects you can specify the local x,y,z coordinates of the point for which you want results the coordinatesmustbeseparatedbythe';'characterorleaveblanktousethevesselorigin. For6DBuoyobjectsyoumustspecifytheWingNameifyouarerequestingawingresultsvariableorapointinlocal x,y,zbuoycoordinatesforotherresultsvariablesthecoordinatesmustbeseparatedbythe';'characterorleave blanktousethebuoyorigin. ForWinchobjectsyoumustspecifythewinchconnectionnumberifyouarerequestingapositionresultsvariable, i.e.X,YorZ. ForLineobjectsyoumustspecifythepositiononthelineforwhichresultsarewanted.Thereareavarietyofways inwhichthiscanbespecified: Thepositioncanbespecifiedbyarclength,e.g."Arclength25.0". Thenodenumbercanbespecified,e.g."Node4". Oneofthelineendscanbespecified,e.g."EndA","EndB"ormoreconcisely"A"or"B". Thetouchdownpositioncanbespecified,e.g."Touchdown". Forstressresultsyoumustalsospecifythepositionofthepointwithinthecrosssectionthroughthespecified arclength.YoudothisbyspecifyingR,Thetavalues,e.g."Inner","Outer","Theta270.0". Note: YoumustspecifyanarclengthtogetherwithbothRandThetaseparatedbythe';'character,e.g. "Arclength20.0;Inner;Theta270.0","EndA;Outer;Theta45.0";"Node7;Outer;Theta17.8"etc.
Clearance results can be reported either as clearances from this line to all other lines or from this line to a specified other line. You can specify this other line by adding its name after the position, e.g. "Arclength 35; Line2", "Node 4; Riser"; "End B; Hose" etc. If you do not specify another line (e.g. "Arclength 35") then clearanceswillbereportedfromthislinetoallotherlines.
Theresultsaregivenforthenearestappropriateresultpoint;seeLineResultsfordetails. FortheRangeGraphandRangeGraphSummarycommandsyoucanspecifyarangeofarclengths,e.g."20to50". Youcanalsouserangessuchas"<35"or">60"tospecifyallarclengthslessthanapointorallarclengthsgreater thanapoint. FortheDuplicateSheetinstruction,thesourceworksheetisspecifiedinthiscolumn. FortheClearinstruction,therangetobeclearedisspecifiedinthiscolumn.Ifthevalueinthiscolumnisleftempty thentheentiresheetiscleared.

SimulationPeriod
Theperiodofsimulationforwhichresultsarewanted.ThiscanbeWholeSimulation,LatestWave,StaticStateor astagenumber(0forthebuildup,1forstage1etc.). Itcanalsobeaspecifiedperiodofsimulation,givenintheform"t1tot2"wheret1andt2arenumerictimevalues thatareinthesimulationandSimulationStartTimet1t2SimulationEndTime.Forexample"20to30"or" 12.5to+35.7". Note: IfyouusetheStaticStateperiodthenasinglevaluewillbereportedthevalueofthevariableat theverybeginningofthesimulation.
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ThiscellshouldbeleftemptyforthedataoutputcommandsSelectandGetDataandwhenoutputtingstaticresults usingtheStaticResult,RangeGraphandRangeGraphSummarycommands. Note:

Variable
Thisspecifiedperiodformatcanbeusedtoextractresultsatasingletimepoint;forexamplethe period"27.4to27.4"willgivetheresultsatthenearestlogsampletotime27.4.
Thenameoftheoutputvariable. Ifthecommandisaresultscommand(e.g.TimeHistory,RangeGraph,LinkedStatistics,Minetc.)thisshouldbeset tothesamenameasisusedfortheresultsvariableinOrcaFlex.ForexampleEffectiveTension,Curvature,Surge, etc. IfthecommandisGetDatathenthisisthebatchscriptnameofthedataitem. IfthecommandisSelectthenthisisthewavetrain,draught,RAOdirectionorQTFdirectiontobeselected.
5.2.4
Load.
Predefinedcommands
IntheOrcaFlexSpreadsheet,theCommandCellcancontainoneofthefollowingcommands: OrcFxAPIversion. WorkingDirectory. Warnings. Clear,DuplicateSheet. SampleTimes. TimeHistory. Min,Max,Mean,StandardDeviation. LinkedStatistics. SpectralDensity,EmpiricalDistribution,RainflowHalfCycles,RainFlowHalfCycleCount. StaticResult. SpectralResponseGraph. RangeGraph,RangeGraphSummary,RangeGraphMin,RangeGraphMax. GetData,Select.
5.2.5
Basiccommands
Load<filename>
Thiscommandtellsthespreadsheettoopenthespecifiedfile.Subsequentresultsextractioncommandsthenapply tothatfile. Youcaneitherspecifythefullpathofthefile,forexample: Loadc:\Project100\Case1.sim orelseusearelativepath(relativetothedirectorycontainingthespreadsheet).Thelatterisoftenmoreconvenient. ForexampleifthefileCase1.simisinthesamedirectoryasthespreadsheetthenyoucanusethecommand: LoadCase1.sim andthishastheadvantagethatthereisnoneedtoalterthespreadsheetifthedirectoryisrenamedorthefilesare movedtoadifferentdirectory. IfyouspecifyadatafilethenthefileisloadedandtheOrcaFlexstaticscalculationisperformed.Subsequentresults extractiongivesresultsforthestaticconfiguration. Note: The statics calculation may take a significant length of time. Progress is reported in the Excel status bar. If the calculation time is excessively long then we recommend that you use the Use CalculatedPositionscommandwhenbuildingyourmodel.
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OrcFxAPIversion
This outputs the version of the OrcFxAPIDLL which is being used by the spreadsheet. This is not necessarily the version of the program which performed the calculations (for example if you load a simulation file which was generatedbyadifferentversionofOrcaFlex).
WorkingDirectory
Thisoutputsthedirectorywherethespreadsheetisstored.If youareusingrelativepathsthenitcanbeusefulto keeptrackofthebasepathforQApurposes.

Warnings
ThisoutputsthetextfromanywarningsreportedduringtheOrcaFlexcalculations(staticordynamic).Simulations run in batch mode or by Distributed OrcaFlex do not display such warnings since to do so would require user intervention.Thiscommandallowsyoutocheckwhetheranysuchwarningsweregenerated. ThiscommandistheequivalentoftheCalculation|ViewWarningsmenuitem.
Clear
Thiscommandclearsthecontentsofcellsinthespecifiedoutputsheet.Allcellformattingispreserved. This should be the first command following a Load command. Results extraction spreadsheets are typically run repeatedly.Thepurposeofthiscommandistoensurethatpreviouslyextractedresultsareremovedandsocannot getmixedupwiththelatestresults. IftheAdditionalDatacolumnisemptythentheentiresheetiscleared.Otherwise,iftheAdditionalDatacolumnis not empty, then its value is taken to mean a range of cells to be cleared. The range is specified using Excel's A1 referencestyle.ThefollowingtableillustratessometypicalA1stylereferences: Reference A1 A1:B5 C5:D9,G9:H16 A:A 1:1 A:C 1:5 1:1,3:3,8:8 A:A,C:C,F:F
DuplicateSheet
Meaning CellA1 CellsA1throughB5 Amultipleareaselection ColumnA Row1 ColumnsAthroughC Rows1through5 Rows1,3,and8 ColumnsA,C,andF
This command copies the entire contents of the worksheet named in the Additional Data column to the specified outputsheet.Allcharts,formulae,formattingetc.thatexistinthesourceworksheetarecopied.
5.2.6
TimeHistoryandrelatedcommands
SampleTimes
Returnsthetimevaluesthatapplytothetimehistoryresults.ThiscommandreturnsacolumnofNnumbers,where NisthenumberofOrcaFlexlogsamplesthatareinthespecifiedsimulationperiod.SoiftheoutputcellissettoG5 andthereare500logsamplesinthesimulationperiod,thenthetimevaluesforthoselogsampleswillbewrittento cellsG5..G504.

TimeHistory
Returnsthetimehistoryvaluesofthespecifiedvariable.ThiscommandreturnsacolumnofNnumbers,aswiththe SampleTimescommand.
Min,Max,Mean,StandardDeviation
Minreturnasinglenumber,equallingtheminimumvalueofthespecifiedtimehistoryvariableduringthespecified simulationperiod.SimilarlyforMax,MeanandStandardDeviation(whichcanbeabbreviatedtoStdDev).
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LinkedStatistics
The LinkedStatisticscommandoutputsthesameinformationastheLinkedStatistics commandontheOrcaFlex results form. In the variable column of the instruction you should specify a number of results variable names, separatedbycommas.Thecommandoutputsatableofstatisticsforthosevariables,occupying2N+3rowsbyN+2 columns,whereNisthenumberofvariablesspecified.
SpectralDensity,EmpiricalDistribution,RainflowHalfCycles,RainflowHalfCycleCount
These commands extract spectral density, empirical distribution and rainflow half cycles results of the specified variable.
StaticResult
Returnsthevalueofthespecifiedvariable.Thiscommandreportsthevalueinthestaticconfiguration.
SpectralResponseGraph
Returnsthespectralresponsegraphforthespecifiedvariable.Thecommandreturnstwocolumnsofnumbers.The firstcolumnisfrequencyandthesecondistheRAO.
5.2.7
RangeGraphcommands
RangeGraph,RangeGraphSummary,RangeGraphMin,RangeGraphMax
Thesecommandsoutput,forthespecifiedvariableofaline,tablescontainingrangegraphresults.Theyareavailable foranylinevariableforwhicharangegraphisavailableinOrcaFlex. The Range Graph command gives a table having 7 columns, containing arc length, minimum, maximum, mean, standarddeviation,upperlimit,andlowerlimit.Foreachpointonthelinearowisgeneratedinthetablecontaining thestatisticsofthevaluesthatoccurredatthatpointduringthespecifiedsimulationperiod. Youcanspecifythatonlyasubsetofthecolumnsaretobeoutput.Thisisdonebylistingthecolumnstobeoutputin theAdditionalDatacolumn.ThisismosteasilydoneusingtheInstructionsWizard. TheRangeGraphSummarycommandgivesatablehavingtworows,onefortheoverallminimumandoneforthe overall maximum. Each row has 4 cells; two are label cells and the other two contain the overall minimum (or maximum)valuethatoccurredatanypointonthelineduringthespecifiedsimulationperiod,andthearclengthat whichitoccurred. The Range Graph Min and Range Graph Max commands output just the overall minimum or maximum value respectively. Ifyouhaveloadedasimulationfilethenyoumustspecify,in theSimulationPeriodcolumnoftheinstruction,the period of simulation for which you want results. Otherwise, if you have loaded a data file, you should leave this columnblankandtheresultsforthestaticconfigurationarereported. IftheAdditionalDatacolumnintheinstructionisleftblankthentheresultswillapplytothewholeline. Youcanrestrictthesecommandstoonlycoverpartoftheline,byspecifyingarangeofarclengths,e.g."20to50",in the Additional Data column. The table will then only include results for points whose arc length is within the specifiedrange.Youcanalsouserangessuchas"<35"or">60"tospecifyallarclengthslessthanapointorallarc lengthsgreaterthanapoint.ThelengthunitsusedmustbethesameasthoseusedintheOrcaFlexsimulationfile. Alternatively,youcanspecifyasectionnumberintheAdditionalDatacolumntorestrictresultstothatsection.
5.2.8
Datacommands
GetData,Select
Thiscommandoutputsthevalueofadataitem.TheobjectisspecifiedintheObjectNamecolumnoftheinstruction sheetandthedataitemisspecifiedinthevariablecolumn. The data item is specified using the batch script name of the data item. If the data item appears in a table in OrcaFlex,thenitsrownumbermustbegiven.Therownumberfollowsthedataitemnameandisgivenasanindex enclosedbyeithersquareorroundbrackets(don'tmixthemonthesameline).Theindexisalways1basedi.e.[1] isthefirstrowofthetable.Forexampleifyouwantedtooutputthenumberofsegmentsinthe3rdsectionofaline thenthevariablecellwouldbe"NumberOfSegments[3]".Formoredetailsseebatchscriptassignment. Certain objects require special select commands to output certain data items. For example if you want to output wavetraindatafortheEnvironmentandthereismorethanonewavetrainthenyouneedtospecifytheparticular
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w
Wave2 WaveTrainType Wave3 WaveTrainType Draught3 CurrentCoeffSurgeArea Displacement 30 RAOSwayAmplitude[3] 60 RAOSwayAmplitude[2] QTF 45 RAOSurgeAmplitude[6]
wavetrain.Likewisecertainvesseltypedatarequiresyoutospecifyadraughtand/oranRAOtypeanddirection. Examplecommandstodothisaregivenbelow: Command ObjectName Additional Simulation Variable Data Period Environment Environment VType1 VType1 VType1 VType1 VType1 VType1 VType1
SelectWaveTrainEnvironment GetData GetData SelectDraught GetData SelectRAOs GetData GetData SelectRAOs GetData Notes: SelectWaveTrainEnvironment
SelectDirection VType1 SelectDirection VType1
SelectDirection VType1
TheSelectcommandsmustbeissuedbeforetheGetDatacommands. TheSelectcommandsareonlyneededforcertaindataitems.Forexampletheseadensitydataitem doesnotdependonwavetrainsoitwouldnotneedaSelectWaveTraincommand.
5.2.9
InstructionsWizard
TheInstructionsWizardallowsyoutocreateOrcaFlexspreadsheetinstructionsinteractively.Inmanywaysitis theequivalentoftheSelectResultsforminOrcaFlex.TheInstructionsWizardisfoundontheOrcinamenuinthe spreadsheet. InstructionsWizardTutorial ForaquickintroductiontotheInstructionsWizardwerecommendthefollowingtutorial.

PrepareasimpleOrcaFlexsimulationfileandanemptyOrcaFlexspreadsheet
Forthepurposeofthisexampleyouneedasimulationfilecontainingatleastavesselandaline.Youcoulduseone ofthestandardOrcaFlexexamplesseewww.orcina.com/SoftwareProducts/OrcaFlex/Examples. Now create an OrcaFlex spreadsheet and save it in the same directory as the simulation file. Then delete all the sampleinstructionsontheInstructionsworksheetsothatthespreadsheetlookslikethis:
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Figure: Emptyinstructionstable
AddaLoadinstructionusingtheWizard
Theinstructionswizardcreatesandinsertsinstructionsonthecurrentlyselectedrow.Sothenextstepistoselect thefirstinstructionrowbyclickingonacellinrow5.Then opentheInstructionWizardbyclickingontheOrcina menuandselecting"InstructionsWizard". IntheInstructionsWizardclickthedropdownbuttonandchangethecommandto"Load".Afilenamefieldanda browsebuttonwillnowappear.Clickthebrowsebuttonandselectthesimulationfileyousavedinthefirstpartof thistutorial.TheInstructionsWizardshouldnowlookasfollows:
Figure: LoadinstructionintheInstructionsWizard
Toaddtheinstructiontothespreadsheetclickthe"AcceptandClose"buttonandthespreadsheetshouldnowlook asfollows:
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Figure: LoadinstructionontheInstructionsSheet
TheLoadinstructiontellsthespreadsheettoopenthespecifiedfile.
AddresultsinstructionsusingtheWizard
Nowweneedtoaddsomemoreinstructionswhichspecifywhichresultstoextractfromthissimulationfile.Open theInstructionsWizardagainandchangethecommandto"TimeHistory".IntheObjectlistselectanOrcaFlexLine (ifyouareusingthe"A01CatenaryRiser.sim"examplethenselect10"CatConstantEA)andthenselectEffective TensionfromtheVariablelist. This time, toaddthe instruction clickthe "Acceptand gotoNextRow" button.You will see the instruction being addedtotheworksheetbuttheInstructionsWizardwillremainopenallowingyoutoaddyetmoreinstructions. More than one instruction can be added at once. Suppose that you want time histories of X, Y and Z for the line. SelectthesefromtheVariablelistusingCTRL+CLICKorSHIFT+CLICK.TheVariablelistnowlooksasfollows:
Figure: Multipleselectionofresultsvariables
Nowclickthe"AcceptandgotoNextRow"buttonandyouwillsee3instructionsbeingadded,oneforeachvariable. Now close the Wizard (by clicking the "Close" button) and process all the instructions. You should see 4 time historiesoutputonanewworksheetcalled"Results".
SettingPeriodandAdditionalDatafortheinstructions
The instructions added so far all specify the default simulation period of "Whole Simulation" and the default line positionof"Arclength0".
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In the Wizard you can specify a different simulation period by changing the Period drop down list. The available optionsare:"WholeSimulation","LatestWave","SpecifiedPeriod","StaticState"andeachstageofthesimulation, e.g."Stage0","Stage1".Tryselectingdifferentsimulationperiodsandaddinginstructions.Noticehowthevaluesin theSimulationPeriodcolumnreflectyourselectionsintheWizard. ForOrcaFlexLinesyoualsoneedtospecifyapointontheline,e.g.EndA,EndB,arclength50,node12etc.Allthese optionsareavailableintheWizardwhenyouarespecifyingresultsforaline. Inaddition,certainresultsrequireextrainformation. IfyouareextractingclearanceresultsforLinesthenyouneedtospecifytheclearanceline. IfyouareextractingstresscomponentresultsforLinesthenyouneedtospecifythecrosssectionalposition. IfyouareextractingWingresultsfor6DBuoysthenyouneedtospecifythewing. IfyouareextractingpositionresultsforWinchesthenyouneedtospecifythewinchconnectionpoint. IfyouareextractingresultsfortheEnvironmentthenyouneedtospecifythepositionatwhichyouwantresults reported.
Othercommands
SofarwehavejustlookedattimehistoryresultsbuttheWizardallowsyoutobuildotherinstructions.Forexample, opentheWizardagainandchangethecommandtoRangeGraph.Noticehowslightlydifferentoptionsareavailable reflectingthefactthatrangegraphsarespecifiedinaslightlydifferentwayfromtimehistories. TryalsoexperimentingwithothercommandslikeLinkedStatistics,SampleTimes,SpectralDensity,Max,Standard Deviationandsoon. Thereareevencommandsforreportingmodeldata:SelectandGetData.

Labels,sheetname,outputcell
TheonepartoftheInstructionsWizardwhichwehavenotdiscussedisthesectiontitled"Labels"asshownbelow:
Figure: LabelssectionoftheInstructionWizard
This section determines what gets written into the first 4 columns of the instructions table, namely Sheet Name, LabelCell,LabelandOutputCell. If the Overwrite option is not checked then these columns are not altered when instructions are written by the Wizard.IfthisoptionischeckedthentheWizardwilloutputvaluesineachofthese4columnsasspecifiedinthe relevantfield. Youcanchoosetouseadefaultlabel,inwhichcasethelabelwillbeassembledbasedontheparticularinstructionit isassociatedwith.Alternativelyyoucanchoosetospecifythelabelyourself. WheninstructionsareaddedtheLabelCellandOutputCellvaluesontheInstructionsWizardwillbeincremented automatically.Thisautomaticprocedurewillnotalwaysproducethevaluesyourequire.However,itgenerallygives agoodfirsteffortwhichyoucanmodifylater.
5.2.10
DuplicateInstructions
TheDuplicateInstructionsformallowsyoutoduplicatesetsofOrcaFlexspreadsheetinstructionsformultipleload cases.
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Supposeyouareanalysinganumberofdifferentloadcasesforavarietyofenvironmentalconditions.Onceyouhave built the spreadsheet instructions for a single load case you typically want to generate the same instructions for eachotherloadcase.TheDuplicateInstructionsformautomatesthisprocedure. The Duplicate Instructions form can be found on the Orcina menu in the spreadsheet. Before using it you should createasetofinstructionsforthefirstloadcaseanexampleisshownbelow:
Figure: Instructionstablewithinstructionsforasingleloadcase
YouarenowreadytousetheDuplicateInstructionsform.Whenitfirstopensitlooksasfollows:
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Figure: TheDuplicateInstructionsform
Simulationfileselection
If your loadcase files(either OrcaFlex simulationfiles or OrcaFlexdata files)are generated by an OrcaFlexbatch scriptthenyoushouldsetthisoptiontoFromScriptFileandselectthescriptfileusingtheBrowsebuttonorby typingthefilenameintothe"ScriptFileName"field.Aduplicatesetofinstructionsisgeneratedforeachfilewhich iswrittenbythescriptfile.WestronglyrecommendthatyouusethisoptionsincescriptfilesmakeQAmuchmore manageable. Alternatively,ifyourloadcasefilesaregeneratedbysomeothermeansthenyoucanchoosetheSpecifiedoption andyouwillthenbeabletospecifyeachloadcasefiledirectly.
DuplicationMethod
Usually you will want results for each load case to appear on separate sheets. To do this you set this option to DifferentSheets.Theresultssheetswillbeassignednamesbasedontheloadcasefilename.Ifyouwantyoucan alsospecifyaprefixforthesheetnamebyfillingintheSheetBaseNamefield. Sometimes,however,itisdesirableforalltheresultstoappearonasinglesheetthisisachievedwiththeSingle Sheetoption.TheduplicationprocesswillgeneratenewinstructionswiththesameSheetName. WhenyouselecttheSingleSheetoptionyoumustalsospecifyrowandcolumnoffsets.Theseoffsetsallowyouto avoidtheresultsfromeachloadcaseoverwritingotherloadcaseresults.Supposethattheresultsfromthefirstload casetookup20rowsworthofspace.Inthiscaseyouwouldprobablyspecifyarowoffsetof22(toallow2rowsof whitespacebetweenloadcaseresults)andacolumnoffsetof0.
Duplicatingtheinstructions
Once you have decided exactly how the instructions are to be duplicated you click the Duplicate button and the instructionstablewillbemodifiedtolooksomethinglikethis:
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Figure: Instructionstablewithduplicatedinstructionsformultipleloadcases
Adding/removinginstructions
Quiteoftenyouwillfindyourselfwantingtoaddmoreinstructionstotheeachloadcase.Theeasiestwaytodothis is to delete all the instructions apart from those of the first load case. In the screenshot above this would mean deletingallcellsfromrow9andbelow.Youcanthenaddmoreinstructionstothefirstloadcase.Finallyyousimply repeattheduplicationprocessoutlinedaboveandyouwillhavetheextrainstructionsforeachloadcase.
5.2.11
TipsandTricks
HerearesomeusefultipsforsettinguptheinstructionstableofanOrcaFlexSpreadsheet.
UseExcel's"="facility
Ifyouhaveseveralinstructiontablecellsthatareequaltosomeothercell,A9say,thensetthemto"=A9".Thatway when you alter A9 then the other cells will automatically alter to match. For example if you have a block of 10 instructionsthatalloutputtheirresulttosheet"LoadCase3"thensetthefirstinstruction'sWorksheetcell,cellA9 say,to"LoadCase3"andthensettheotherWorksheetcellsto"=A9".Youcannowchangethedestinationsheetfor alltheinstructionsbysimplyalteringcellA9.
UseOffsetCelltospecifyoutputcellsindirectly
You can do a similar thing with the Output Cell (and Label Cell) by using the special spreadsheet function OffsetCell(PointerCell,ColOffset,RowOffset). Supposethat,onyourinstructionsheet,theoutputcellD9containstheaddress"C12";i.e.D9pointstoC12(onthe outputsheet).ThenyoucannowuseC12asanOriginandsetupsomeotheroutputaddressrelativetoit.Todothis settheotheroutputcellto"=OffsetCell(D9,3,4)",whichmeans"thecell3columnsrightand4rowsdownfromthe cellreferencedinD9".TheoutputwillthereforebeplacedincellF16ontheoutputsheet. Theadvantageofthisisthatyoucannoweasilyredirecttheoutputofawholesetofinstructionsbysimplychanging thefirstone'soutputcell.Theotherinstructions'outputdestinationsstayfixedrelativetothefirst's.
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Automation,BatchProcessing
Here'stheformaldefinitionofOffsetCell.Ittakes3parameters: PointerCellistheaddressofacellthatcontainstheaddressofanOriginCell. ColOffsetandRowOffsetareintegersspecifyinganoffsetfromthatOriginCell.
ThefunctionreturnstheaddressofthecellthatisColOffsetcolumnsrightandRowOffsetrowsdownfromthecell thatPointerCellpointsat.
5.2.12
ErrorHandling
IntheOrcaFlexSpreadsheet,errorsininstructionsarehandledbyeitherdisplayinganerrormessagewindoworby writinganerrormessagetothespecifiedoutputcell.Sowhensettingupnewinstructions: Checkcarefullythatyouhavesetalltheinstructioncellscorrectly. ThentesttheinstructionsbyselectingthemandusingtheProcessSelectedInstructionsmenuitem. ThencheckthatthespecifiedLabelCellsandOutputCellshavebeensetcorrectly.
5.3
5.3.1
BATCHPROCESSING
Introduction
Simulations, script files and fatigue analyses can all be run in unattended mode, by using the Calculation | Batch Processingmenuitem.Thiscommandopensaformthatallowsyoutosetupalistoffilesthataretoberun. Thelistoffilescanincludeanynumberandmixtureofthefollowingtypesoffile: 1. 2. 3. Preprepared OrcaFlex data files (*.dat). OrcaFlex opens the data file, runs the static analysis followed by the simulation,andthensavestheresultsinafilewiththesamenameasthedatafile,butwitha.simextension. Partrun OrcaFlex simulation files (*.sim). OrcaFlex opens the partrun simulationfile, finishes the simulation andthensavesthecompletedsimulationresultsbacktothesamefile. Abatchscriptfile(*.txt).ThisisatextfilewhichcontainsOrcaFlexscriptcommandsthatspecifywhatOrcaFlex shoulddo.OrcaFlexopensthescriptfileandobeysthecommandsinturn.Acommonuseofscriptfilesistorun anumberofvariationsonabasedatafile. Afatigueanalysisfile(*.ftg).OrcaFlexperformsthefatigueanalysisandsavestheresultstoanExcelcompatible spreadsheetofthesamenamebutextension*.xls. AnOrcaFlexSpreadsheet(*.xls).OrcaFlexloadsthespreadsheetinExcelandprocessesalltheinstructionson theInstructionssheet.
4. 5.
YoucanalsoaskOrcaFlextostorethepartialresultstofileatregularintervalsduringthebatchjob.Thisisusefulif yourcomputerispronetofailure(forexamplebecauseofovernightpowerfailures)sincethepartrunsimulation filecanbeloadedandcontinued,ratherthanhavingtorerunthewholesimulationfromscratch.SeePreferences. Multithreading Thebatchprocessingfunctionalitycanmakeuseofmultipleprocessorcores.So,forexample,ifyouhaveaquad coremachinethen4simulationfilescanberunconcurrently. SincesomebatchtaskscandependontheoutputofothertasksOrcaFlexprocessestasksinaveryparticularorder, asfollows: The batch script files are all processed first. Because it is common to write scripts that output data files it is importanttocompleteallbatchscriptsbeforeprocessingthedatafiles. Anydataorsimulationfilesareprocessednext. Fatiguefilesareprocessednext.Theseusesimulationfilesasinputandsoshouldnotbestarteduntilalldataor simulationfileshavebeenprocessed. FinallyanyOrcaFlexspreadsheetfilesareprocessed.Thesealsocannotbestarteduntilalldataorsimulation fileshavebeenprocessed.
The commands in batch script files are processed sequentially. Consequently any simulations that are processed withRuncommandscannotbeperformedinparallel.BecauseofthisitisadvisabletousetheSaveDatacommand ratherthantheRuncommandwhen creatingbatchscripts.SuchascriptwouldcreateanumberofOrcaFlexdata fileswhichyoucouldthenprocessinthebatchformusingallavailableprocessorcores.
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BatchFormUserInterface
Close
DismissestheBatchform.
AddFile
Filesareaddedtothefilelistby CLICKINGontheAddbutton.TheOpenFiledialogueboxisdisplayed,whereyou selectoneormorefilestobeenteredintheFilesToRunlist.Filescanalsobeaddedbydraganddrop.Thatisifyou are browsingyour file system then youcan highlightfiles and drag themontothe Files To Run list onthebatch form.
RemoveFile
Thisbuttonremovesanyfileshighlightedinthefilelist.
CheckFiles
OrcaFlexopenseachfileinthebatchlistinturn,checksthattheycontainvalidOrcaFlexdataorscriptcommands andreportsanyerrors.WhencheckingOrcaFlexspreadsheetorfatiguefilesitsimplyconfirmsthefileexists.The CheckFilescommanddoesnottakelong,sowerecommendyouuseitbeforestartingyourbatchjob.

RunBatch
Startrunningthelistedfiles.Ifanyfilefailsduetoerrorsthenthatfileisabandonedandthebatchjobcontinues withthenextfile.Ifanyerrorsoccurtheyarereportedattheendofthebatchjob.
StopBatch
Terminatethebatchjob.
Warnings
DisplaysawindowallowingyoutoreviewallwarningsgeneratedbyOrcaFlexduringacalculation.Thesewarnings are suppressed when you are operating in batch mode and this button allows you to review them once the simulationhascompleted.
CloseprogramwhenBatchcompletes
IfthisischeckedthenOrcaFlexwillbeclosedoncethebatchofrunsiscomplete.Thisfeatureisintendedprincipally foruserswithnetworkedlicences.ItallowsyoutoreleaseyourclaimonanOrcaFlexlicenceassoonasthebatchof runsiscomplete.
5.3.2
ScriptFiles
OrcaFlex provides special facilities for running a series of variations on a base data file, using a script file. This containsasequenceofcommandstoreadadatafile,makemodificationstoit,andrunthemodifiedfile,storingthe resultsforlaterprocessing.Thefilecanalsoincludecomments.Thesyntaxfortheinstructionsisdescribedinthe nexttopic.ForexamplesseetheBatchScriptExamples. Script files can be written using any text editor. Alternatively, there are facilities in the OrcaFlex spreadsheet for automaticallygeneratingscriptfilesforregularsetsofcases. Torunabatchscriptfile,specifythescriptfilenameinanOrcaFlexbatchfileslist.Toaddascriptfiletothelist,click the"AddFile"buttonontheOrcaFlexbatchformandthenclickon"FilesofType"andselect*.txt,andthenselect yourscriptfile. WhenOrcaFlexprocessesthefilesincludedinthebatchlist,itchecksthetypeofeachfileinturn:OrcaFlexdataand simulationfilesareloadedandthesimulationrunandstored, textfilesarereadinandexpectedtocontainbatch script commands. You can therefore run a single batch job containing several script files, or you can even mix 'ordinary'simulationsandscriptsinthesamebatchjob.
5.3.3
ScriptSyntax
An OrcaFlex batch script is made up of commands, which are obeyed sequentially, and comments, which are ignored.Acommentisalinethatiseitherblankoronwhichthefirstnonblankcharactersare"//".Acommandcan be:
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1.
A directive followed by one or more arguments, optionally separated by white space (one or more spaces or tabs).Forexample:load c:\temp\test.datwhereloadisthedirectiveandc:\temp\test.datisthe argument. AnassignmentoftheformVariableName=value,againwithoptionalwhitespaceseparators.Forexample: Length = 55.0. Directives,variablenames,andmodelobjectnamesareallcaseindependent. Ifyourscriptincludesarelativefilenamethenitistakentoberelativetothedirectoryfromwhichthescript wasloaded. Filenames,arguments,variablesorvaluescontainingspacesornonalphanumericcharactersmustbeenclosed insingleordoublequotesandtheymustnotcontainthesamequotecharacterasisusedtoenclosethem.For example'6"pipe'and"200'riser"arevalid,butthefollowingarenotvalid: 6inchpipecontainsspaces,soneedstobeenclosedinquotes; 6"pipecontainsadoublequote,soneedstobeenclosedinsinglequotes; '6' pipe'containsasinglequote,soneedstobeenclosedindoublequotesinsteadofsingle.
2.
Notethat:
5.3.4
ScriptCommands
The following batch script commands are currently available. You need to put quotes round file names or other parametersthatincludespacesornonalphanumericcharacters. Load<FileName> OpenstheOrcaFlexfilenamed<FileName>.Thefilecanbeeitheradatafileorasimulationfile. LoadData<FileName> OpensthedatafromtheOrcaFlexfilenamed<FileName>. Run<FileName> Runthecurrentmodelandsavetheresultingsimulationto<FileName>. Save<FileName> Savethecurrentmodelto<FileName>.Ifthecurrentmodelisasimulationthenasimulationfileissaved,otherwise adatafileissaved. SaveData<FileName> Savethedatafromthecurrentmodelto<FileName>. Note: IntheLoad,LoadData,Run,SaveandSaveDatacommands,if<FileName>isarelativepaththenit istakentobeinthedirectoryfromwhichthescriptfilewasloaded.
ExtendSimulation<StageDuration> Adds a new stage of length <StageDuration>. This command is equivalent to the Calculation | Extend Simulation menuitem.YouwouldnormallyfollowthiscommandwithaRuncommand. Reset Resetsthecurrentmodel.ThiscommandisequivalenttotheCalculation|Resetmenuitem. NewModel Deletesallobjectsfromthecurrentmodelandresetsdatatodefaultvalues.ThiscommandisequivalenttotheFile| Newmenuitem. Create<ObjectType> Createsandselectsanewobjectoftype<ObjectType>. The <ObjectType> parameter can be "Line Type", "Vessel Type", "Line", "Winch" etc. Select Edit | Add from the ModelBrowsermenutoseealistofpossiblevaluesforthisparameter.
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Alternatively variable data sources can be created by setting the <ObjectType> parameter to "Bending Stiffness", "DragCoefficient"etc.ThislistofpossiblevariabledatasourceobjecttypescanbefoundintheDataSourceType treeonthevariabledataform. Delete<ObjectName> Deletestheobjectcalled<ObjectName>. Select[<ObjectType>]<ObjectName> Specifythemodelobjecttowhichsubsequentassignmentcommandswillapply.Itwillonlyremainselecteduntil thenextnonassignmentcommandisencountered. The <ObjectType> argument is optional, and by default is 'object', meaning select the named model object. <ObjectName> must then be either the name of an object that exists in the current model or one of the reserved names'General'(fortheGeneraldataform)or'Environment'(fortheEnvironmentdataform). SomeexamplesoftheselectandassignmentcommandsaregiveninExamplesofsettingdata. Other<ObjectType>valuesonlyneedtobespecifiedinthefollowingspecialcases.
Wavetrains
IftheEnvironmenthasbeenselectedandthereismorethanonewavetrain,thenbeforeyoucanspecifyanywave train data you must give another select command to select the wave train. This second select command has the form: Select WaveTrain <WaveTrainName> Soforexample: Select Environment Select WaveTrain Primary WaveDirection = 30.0
Currentdatasets
Similarly,iftheEnvironmenthasbeenselectedandthereismorethanonecurrent,thenyoumustselectoneofthem beforespecifyinganycurrentdata.Forexample: Select Environment Select Current Current2 RefCurrentDirection = 270.0 NotethatthisisnotthesameassettingtheActiveCurrent.Infact,youshouldavoidsettingupmultiplecurrentdata inbatchscriptsifpossible:thisisbestdoneinteractivelyontheEnvironmentform.
VesselTypedraughts
Ifavesseltypehasbeenselectedandithasmorethanonedraught,thenbeforespecifyinganydraughtdependent datayoumustgiveanotherselectcommandthatselectsthedraught.Thissecondselectcommandhastheform: Select Draught <DraughtName> BeforespecifyingdataforRAOsyouneedtospecifythetypeofRAOsthiscanbeeitherDisplacement,WaveLoad orQTF.Thisisdonewithacommandoftheform: Select RAOs <RAO type> Similarly, before specifying vessel typedatafor a given wave direction youmustgive anotherselect command to selectthatdirection.Thistakestheform: Select Direction <Direction> Soforexample: Select "Vessel Type1" Select Draught Transit Select RAOs Displacement RAOOriginX = 10 RAOOriginY = 0 RAOOriginZ = 2 Select Direction 45 RAOSurgeAmplitude[2] = 0.1
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Select Direction 90 RAOSurgeAmplitude[2] = 0.16 Note: Indentationwithspacesortabsisoptional,butmakesscriptsmorereadable. Assignment Assignmentcommandstaketheform VariableName = Value TheVariableNameonthelefthandsidemustbeoneoftherecognisedvariablenamesandthenamedvariablemust existinthecurrentlyselectedmodelobject.TheValueonthe righthandsidemustbeintheappropriateformfor thatvariable(i.e.numericortext)anditmustbegiveninthesameunitsasusedinthecurrentmodel. Forexample: Select Vessel1 Length = 110 Draught = "Operating draught" IfVariableNameisthenameofavariablethatappearsinacheckboxinOrcaFlexthentheValueshouldbeTrueor False.Forexample: Select Environment CurrentRamp = True IfVariableNameisthenameofavariablethatappearsinatableinOrcaFlex,thenitsrownumbermustbegiven. Therownumberisgivenasanindexenclosedbyeithersquareorroundbrackets(don'tmixthemonthesameline), andisalways1basedi.e.[1]isthefirstrowofthetable.Notethatthissometimesrequirescare,sinceinOrcaFlex thetablemightnotbe1based.Forexample,whensettingtheprescribedmotionforavessel,thecommand PrescribedMotionVelocity[2] = 4.8 setsthevelocityinthe2ndrowofthetable,butinthiscasethefirstrowofthetableisstage0(thebuildupstage) sothiscommand(slightlyconfusingly)setsthevelocityforstage1. MoreexamplesoftheselectandassignmentcommandsaregiveninExamplesofsettingdata. InvokeWizard SetsthedatafortheselectedobjectusingtheLineTypeWizard.Theselectedobjectmustbealinetype.Theinput datafortheWizardshouldfirstbesetusingdataassignmentcalls. AnexampleofhowtousethiscommandisgiveninExamplesofsettingdata. SHEAR7DataFile<LineName><FileName> Exportsto<FileName>aSHEAR7datafileforthelinenamed<LineName>. SHEAR7MdsFile<LineName><FileName>[<FirstMode><LastMode>] Exportsto<FileName>aSHEAR7Mdsfileforthelinenamed<LineName>. The<FirstMode>and<LastMode>parametersareoptional.Iftheyarespecifiedthenmodenumbersintherange <FirstMode>to<LastMode>inclusiveareexported.Iftheseparametersareomittedthenallmodesareexported. OnlytheTransverseandMostlyTransversemodesareincludedintheexportedfile.Ifyouhavespecifiedfirstand lastmodestoexportthenthesemodenumbersrefertothetransverseandmostlytransversemodes.Theprogram takesthefollowingsteps: 1. 2. 3. 4. Calculateallmodes. Sortthemodesintoorderofdecreasingperiod/increasingfrequency. RemoveallmodeswhicharenotTransverseorMostlyTransverse. Exportthemodesintherange<FirstMode>to<LastMode>inclusive.
5.3.5
Examplesofsettingdata
The Select command is probably the most difficult script command to use. To help understand how it works we presentsomeexamplesofitsusebelow:
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Simpleexamples Formanyobjectsthescriptcommandsforsettingdatataketheform: 1. 2. SelecttheobjectusingthecommandSelect<ObjectName>. SetthedatausingoneormorecommandsoftheformVariableName=Value.
TheobjectnameismosteasilyfoundontheModelBrowser.The variablenameisfoundbyopeningtherelevant dataform,selectingtherequireddataitemandpressingF7. Someexamplesofthisprocedurefollow: Select Link1 UnstretchedLength = 50 Select "3D Buoy1" Mass = 4 Volume = 8 Height = 7.5 Select Line1 IncludeTorsion = Yes Note: The name "3D Buoy" needs to be enclosed in quotes because it contains a space. If the name containsadoublequoteandspacesthenitshouldbeenclosedwithsinglequotes. Dataintablesandindices Some data in OrcaFlex appears in tables. For example consider the Structure page of the Line Data form which specifieshowaLineismadeupofanumberofsections.EachsectionisspecifiedbyitsLineType,lengthetc.The followingexamplesetsthenumberofsectionsofthelinetobe2andthensetsdataforbothsectionsinturn. Select Line1 NumberOfSections = 2 LineType[1] = Riser Length[1] = 75 TargetSegmentLength[1] = 4 LineType[2] = Rope Length[2] = 200 TargetSegmentLength[2] = 20 Notethatweuseblanklinestolayoutthescript.Thisisnotessentialbutmakesreadingthescripteasier. Data which appears in tables is always set using the indexed notation used above. Having stated this rule, we immediatelybreakitinthesectionbelow! LineType,ClumpTypeandFlexJointTypedata Thesedataaresetbyfirstselectingthetypebynameandthenassigningthedataasillustratedbelow: Select "Line Type1" OuterDiameter = 0.28 InnerDiameter = 0.21 OntheLineTypesDataformthereisanoptiontoviewthedataforallLineTypesatonceortoviewitbyindividual LineType.WhenthedataisbeingviewedforallLineTypesatoncethedataappearsintableswithonerowperLine Type.However,thedatamustbesetbyfirstselectingthetypebynameandthenassigningthedata.Youcannotset LineTypeusingindexnotation. SimilarrulesapplytoClumpTypedataandtoFlexJointTypedata. DragChainTypeandWingTypedata Thesedataarealsosetbyfirstselectingthetypebynameandthenassigningthedata.Forexample:
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Select "Drag Chain Type1" Length = 12 Select "Wing Type1" NumberOfAngles = 12 Angle[2] = -80 Lift[2] = 0.2 Drag[2] = 0.15 Moment[2] = 0.5 DatafoundontheGeneralDataform DatafoundontheGeneralDataformcanbesetasfollows: Select General InnerTimeStep = 0.01 OuterTimeStep = 0.1 DatafoundontheEnvironmentDataform DatafoundontheEnvironmentDataformcanbesetasfollows: Select Environment SeaBedStiffness = 3000 SeaBedDamping = 80 FordataspecifictoaparticularwavetrainyoumustfirstselecttheEnvironmentandthenselecttheparticularwave train.ThismakesuseofthealternativesyntaxforSelectwhichisSelect<ObjectType><ObjectName>.Forawave trainyoureplace<ObjectType>withWaveTrainandreplace<ObjectName>withthenameofthewavetrainas definedontheEnvironmentDataform.Forexample: Select Environment Select WaveTrain "Swell from SW" WaveTrainDirection = 135 WaveTrainType = "Dean Stream" WaveTrainHeight = 2.5 WaveTrainPeriod = 18 Select WaveTrain "Local Wind Sea"" WaveTrainDirection = 40 WaveTrainType = JONSWAP WaveTrainHs = 5.7 WaveTrainPeriod = 9 DataforCurrentdatasets MultipleCurrentdatasetscanbedefined.AgainthisrequiresthealternativesyntaxforSelectasshownbelow: Select Environment MultipleCurrentDataCanBeDefined = Yes NumberOfCurrentDataSets = 2 CurrentName[1] = "120deg" CurrentName[2] = "150deg" Select Current "120deg" RefCurrentDirection = 120 Select Current "150deg" RefCurrentDirection = 150 ActiveCurrent = "150deg" VesselTypeData SomeVesselTypedataissetinastraightforwardmannerasfollows: Select "Vessel Type1" Length = 120 PenWidth = 3 Symmetry = "XZ plane"
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Note:
Becausethesymmetryvalue(XZplane)containsaspaceitmustbeenclosedinquotes.
However, the majority of Vessel Type data requires that you also specify which draught the data applies to. For example: Select "Vessel Type1" Select Draught "Transit Draught" CurrentCoeffSurgeArea = 1200 CurrentCoeffSwayArea = 1100 CurrentCoeffYawAreaMoment = 120E3 TosetdatafordisplacementRAOs,waveloadRAOsandwavedriftQTFsyoumustalsospecifywhichtypeofRAO thedataappliesto.Forexample: Select "Vessel Type1" Select Draught "Survival Draught" Select RAOs RAOOriginX RAOOriginY RAOOriginZ Select RAOs RAOOriginX RAOOriginY RAOOriginZ Displacement = 10 = 0 = 2 WaveLoad = 0 = 0 = 0
Select RAOs QTF RAOOriginX = -3 RAOOriginY = 0 RAOOriginZ = 4 Note that the variable names are the same but different data is set depending on which type of RAOs has been selected. Inaddition,whensettingRAOtabledata(fordisplacementRAOs,waveloadRAOsandwavedriftQTFs)youmust specifywhichdirectionthedataappliesto.Forexample: Select "Vessel Type1" Select Draught "Survival Draught" Select RAOs Displacement Select Direction 22.5 RAOYawAmplitude[2] = 0.13 Select Direction 45 RAOYawAmplitude[2] = 0.18 However,itisworthpointingoutthatsituationswhereyouwouldwishtospecifyRAOtabledatainabatchscript arerare.ItismuchmorelikelythatyouwouldimportthisdataintoOrcaFlexfromsomeexternalsourceandthen saveitaspartofthebasecasedatafile. VariableDatasources DataforVariableDatasourcescanbesetfromthebatchscript,althoughonceagainwefeelitisunlikelythatyou wouldneedtodothisoften.Theprocedureforsettingvariabledatasourcesisillustratedbelow: Select Stiffness1 NumberOfRows = 3 IndependentValue[1] = 0 DependentValue[1] = 0 IndependentValue[2] = 0.2 DependentValue[2] = 1000
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IndependentValue[3] = 0.4 DependentValue[3] = 5000 NotethatIndependentValueandDependentValuearethevariablenamesfortheXandYcolumnsofthevariable data source. That is if you are setting data for a bending stiffness data source then IndependentValue denotes curvatureandDependentValuedenotesbendmoment. LineTypeWizard TheLineTypeWizardcanbeusedfrombatchscript.FirstofallyoumustselecttheLineTypeandsetitsWizard data.OncethisiscompletetheWizardisinvokedusingtheInvokeWizardcommandasillustratedbelow: Select "Line Type1" WizardCalculation="HomogeneousPipe" PipeMaterial = Steel PipeOuterDiameter = 0.082 PipeWallThickness = 0.005 InvokeWizard Select "Line Type2" WizardCalculation="Line with Floats" FloatBaseLineType="LineType3" FloatDiameter = 0.80 FloatLength = 1.2 FloatPitch = 5.5 InvokeWizard PolarCoordinatesdataontheAllObjectsform TheAllObjectsdataformallowsendconnectiondatatobespecifiedaspolarcoordinatesandthispolarcoordinates dataisonlyaccessiblefromthisform. ThedataappearsinatablecontainingallLine,WinchandLinkconnections.However,thedatastillbelongstoeach individualobjectandtheappearanceofatableofdataispurelypresentational.Thismeansthattosetthedatayou mustfirstselecttheindividualLine,LinkorWinchandthensetthedata,asillustratedbelow: Select Line1 PolarR[1] = 20.0 PolarTheta[1] = 45.0 PolarR[2] = 340.0 PolarTheta[2] = 45.0 Select Line2 PolarR[1] = 20.0 PolarTheta[1] = 90.0 PolarR[2] = 340.0 PolarTheta[2] = 90.0 Select Winch1 PolarR[3] = 0.0 PolarTheta[3] = 90.0 PolarR[4] = 10.0 PolarTheta[4] = 90.0 Forlinesandlinksanindexof1meansEndAandanindexof2meansEndB.Forwinchestheindexidentifiesthe winchconnectionpoint. Colourdata Drawingcolourdataitemscanbesetthroughbatchscriptinavarietyofways.Thesimplestistousethepredefined coloursasfollows: Select "Line Type1" PenColour = Red
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Select "Line Type2" PenColour = Green Thefulllistofpredefinedcoloursis:Black,Maroon,Green,Olive,Navy,Purple,Teal,Gray,Silver,Red,Lime,Yellow, Blue,Fuchsia,Aqua,MoneyGreen,SkyBlue,Cream,MedGrayandWhite. IfyouwantmorecontroloverthecolourthenyoucanspecifyanRGBvalueasaninteger.Thefollowingexamplehas thesameeffectasthepreviousone: Select "Line Type1" PenColour = 255 Select "Line Type2" PenColour = 65280 UsingdecimalvaluesforRGBvalueisimpractical.Insteadaneattrickistospecifythecolourasahexadecimalvalue byprefixingitwitha$signasfollows: Select "Line Type1" PenColour = $0000FF Select "Line Type2" PenColour = $00FF00 Select "Line Type3" PenColour = $FF0000 Thissetsthecolourstored,greenandbluerespectively.Eachpairofhexdigitscontrolstheamountofred,green andblue.Sowhiteis$FFFFFFandblackis$000000.Avalueof$C0C0C0givesalightgreyand$808080producesa darkergrey. Furtherexamples MoreexamplesofbatchscriptscanbefoundintheOrcaFlexexamplesJ01BatchScript.
5.3.6
HandlingScriptErrors
Aswithothercomputerprograms,OrcaFlexbatchscriptfilescaneasilycontainerrors.Itisthereforewisetocheck yourscriptfileforerrorsbeforerunningitasabatchjob.Tocheckforerrorsinyourscripts,usethe"CheckFiles" buttononthe OrcaFlex batch form. Thiswill readandobey all thecommands inthe scriptfiles exceptthosethat perform calculations or write files. It will then report any errors it finds, including the line number on which the error occurs. You can then correct the problem before running the script. Example3.txt is an example containing variouserrors,sotoseehowerrorsarereportedusethe"CheckFiles"buttonwiththisexample. Warning: Ifyoumisspellavariablenameinanassignmentstatementthen"CheckFiles"willreportanerror. But if you incorrectly specify a variable name which is nevertheless valid then OrcaFlex cannot detecttheerror.Soyouneedtobeverycarefulthatyouusethecorrectvariablenamesforthedata itemsthatyouwanttochange.
5.3.7
ObtainingVariableNames
EachOrcaFlexdataitemhasitsownnamethatisusedtospecifyitinascriptfile.Thenamesofthedataitemsare basedonthecorrespondinglabelsusedonthedataform.Tofindoutthenameofadataitem,opentheappropriate data form, select the data item, and then open (e.g. by right click) the popup menu and select the Batch Script Names command (or press F7). This displays the variable name of the selected data item and you can select and copy+pastethenamedirectlyintoyourbatchscript. Ifthedataitemisinatable(orgroup)ofdataitemsthentheBatchScriptNamesformdisplaysthenamesofallthe dataitemsinthetable.Thedifferentcolumnsinthetableeachhavetheirownnames;youthenneedtoaddanindex tospecifywhichrowyouwant.Theexceptionstothisarethe'Connections'datacontrolsforLinesandLinks,which consistoftworows,oneforEndAandoneforEndB.Forthese,theBatchScriptNamesformliststhenamesforEnd Aonly:thoseforEndBmaybeobtainedbysimplyreplacing'EndA'with'EndB'inthename. Finally, note that Batch Script Names are not available for an empty table e.g. if you want the names for the attachmentstableonthelinedataform,buttherearecurrentlynoattachments.Inthiscaseyoumustaddarowto thetablebeforeyoucanusetheBatchScriptNamesform.
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5.3.8
AutomatingScriptGeneration
TheOrcaFlexSpreadsheethasfacilitiesforautomatingthegenerationofascriptfileforaregularsetofcases.Touse this facility select the Script Table worksheet. On this sheet is a table of information which is used to create the scriptfile.Documentationofhowtosetupthistableisalsoincludedontheworksheet. Anexampleisshownbelow:
Figure: Exampletableforautomaticbatchscriptgeneration.
Thescriptgeneratedbythistableloadsabasecasefromafilecalled"BaseCase.dat".Becausenopathisspecified thenthisfileislocatedinthesamedirectoryasthespreadsheet.Fourcasesareproducedbasedonthisdatafilewith currentvaluesof0.5and0.8andlinelengthsof100and120. Note: The cell containing the base case data file name has the file name surrounded by quotes. This is becausethefilenamecontainsaspace.However,thequotesarenotneededforthefilenamesin thelastcolumnbecausetheydonotcontainspaces.
Thescriptisgeneratedasfollows.Firstselectthetopleftcellcontainingthetext"ScriptTable".Thendropdownthe OrcinamenucontainedinthemainExcelmenuandclick"CreateBatchScripts".Whenyoudothisyouarepresented withthefollowingwindow:
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Figure: Automaticallygeneratedbatchscript
The script file has not been saved yet. You should check that the automatically generated script is as intended. Shouldyouwishto,youcanmodifythescriptfilenameatthispoint. IfthereisaproblemwiththescriptyoucanclicktheClosebuttonandcorrectthescripttable.
Savebutton
Savesthescriptfile.
SaveandRunbutton
Savesthescriptfileandthenprocessesit. IfthescripthasanyRuncommandsthenOrcaFlexisloadedand thescriptisprocessedbythestandardOrcaFlex batchform.OtherwisethescriptisprocessedfromwithinExcelprogressisreportedontheExcelstatusbar.

Save,RunandSubmitbutton
Saves the script file and then processes it within Excel. Each data file saved by the script is then submitted to DistributedOrcaFlexwhichrunsandsavesthesimulationfile. Note: The Save, Run and Submit button is only available if Distributed OrcaFlex is installed on your machine.Inaddition,itcannotbeusedifthescriptcontainsanyRuncommands.
Multiplescripttables Youcanhavemultiplecopiesofthescripttablewithinaworkbook.Tocreateallthebatchscriptsinoneoperation selectallthescripttablesandthenclick"CreateBatchScripts"intheOrcinamenu. Howthescriptisgenerated TheScriptTableworksheetcontainsdocumentationofhowthescriptisgenerated.
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Theory,CoordinateSystems
6
6.1
THEORY
COORDINATESYSTEMS
OrcaFlexusesoneglobalcoordinatesystemGXYZ,whereGistheglobaloriginandGX,GYandGZaretheglobalaxes directions.Inaddition,thereareanumberoflocalcoordinatesystems,generallyoneforeachobjectinthemodel.In generalweuseLxyztodenotealocalcoordinatesystem.Anothercoordinatesystemthatwemakewidespreaduse ofistheLineEndorientationwhichwedenoteExyz. All the coordinatesystemsare right handed, as shown in the following figure,which showsthe globalaxes anda vesselwithitsownlocalvesselaxesVxyz.Positiverotationsareclockwisewhenlookinginthedirectionoftheaxis ofrotation.
z Sea Surface
y x
V Z
Vessel Axes
Y
Global Axes
G
Figure:
X
CoordinateSystems
The global frame of reference must be a righthanded system and its Zaxis GZ must be positive upwards, but otherwiseitischosenbytheuser.YoucanthereforechoosethepositionoftheglobaloriginGandthehorizontal directionGXaccordingtowhatsuitstheproblembeinganalysed. Thelocalcoordinatesystemsforeachtypeofobjectaredescribedinthesectionaboutthatobject,buttypicallythe originisataselectedfixedpointontheobjectandtheaxesareinspecialfixeddirections,suchasthesurge,sway andheavedirectionsforavessel.Theseabedalsohasitsownseabedoriginandlocalaxes,withrespecttowhichthe seabedshapeisdefined. Thelocalaxesaredistinguishedfromtheglobalaxesbyusinglowercase;forexamplethelocalobjectdirectionsare referred to as x, y and z. The global directions are referred to as the X, Y and Z. Whenever data or results are coordinatesystemdependent,theyarereferredtoasbeingeitherglobalrelative(andarelabelledinuppercase)or objectrelative(andarelabelledinlowercase). YoucanaskOrcaFlextodrawthelocalaxesonthe3Dview.Thisenablesyoutoseethelocalaxesandcheckthat theyareaswanted. Mostofthedataandresultsaregivenrelativetotheglobalaxes,including: Datadefiningthesea,suchasthemeanseasurfaceZlevelandthecurrentandwavedirection. Thepositionsofobjects;forexamplethepositionofthevesselisdefinedbygivingtheglobalcoordinatesofthe vesseloriginV.
Themostcommonobjectrelativeitemsare:
105
Theory,DirectionConventions
The coordinates of points that move with the object, such as the vertices of a vessel or the connection point whensomethingisconnectedtoabuoy. The directiondependent properties ofobjects, such as drag and added mass coefficients, moments of inertia, etc.
6.2
DIRECTIONCONVENTIONS
DirectionsandHeadings
DirectionsandheadingsarespecifiedinOrcaFlexbygivingtheazimuthangleofthedirection,indegrees,measured positivefromthexaxistowardstheyaxis,asshowninthefollowingfigure.
90 150 y 180 x 0 30
210 270
330 Directions relative to axes
Figure:
DirectionsandHeadings
Directionsforwaves,currentandwindarespecifiedbygivingthedirectioninwhichthewave(orcurrentorwind) isprogressing,relativetoglobalaxes.Inotherwordsforthesedirectionsthexandyaxesintheabovefigurearethe globalGXandGYaxes. VesselheadingsarespecifiedasthedirectioninwhichthevesselVxaxisispointing,relativetoglobalaxes.Soagain, forvesselheadingsthexandyaxesintheabovefigurearetheglobalGXandGYaxes. Vesselresponsestowaves,andsimilarlyforcurrentandwind,dependonthewavedirectionrelativetothevessel. For example, vessel type RAOs and QTFs are given for a specified wave direction relative to vessel axes (=WaveDirectionrelativetoglobalaxesVesselHeading).Inotherwordsforthesevesselrelativedirectionsthex axis in the above figure is in the vessel heading direction. Hence a relative wave direction of 0 means a wave comingfromasternandarelativedirectionof90meansonecomingfromstarboard. Theslopedirectionfortheseabedisspecifiedasthedirectionthatpointsupthesteepestslope,relativetoglobal axes. TheslopedirectionofaplaneshapethatisFixedorAnchoredisspecifiedrelativetoglobalaxes. Theslopedirectionofaplaneshapethatisconnectedtoanotherobjectisspecifiedrelativetothatobject'saxes.
AzimuthandDeclination
DirectionsaredefinedinOrcaFlexbygivingtwoangles,azimuthanddeclination,thatarebroadlysimilartothose usedinnavigation,gunnery,etc.Aswithpositions,directionsaresometimesdefinedrelativetotheglobalaxesand sometimesrelativetothelocalobjectaxes. FordirectionsdefinedrelativetotheobjectaxesOxyz,theazimuthanddeclinationanglesaredefinedasfollows: Azimuth is the angle from the x axis to the projection of the direction onto the xy plane. The positive x axis directionthereforehasAzimuth=0,andthepositiveyaxisdirectionhasAzimuth=90. Declination is the angle the direction makes with the z axis. Therefore Declination is 0 for the positive z direction,90foranydirectioninthexyplane,and180forthenegativezdirection.WhenDeclinationis0or 180,Azimuthisundefined(OrcaFlexreportsAzimuth=0inthesecases).
106
Theory,ObjectConnections
Directions relative to the global axes are defined in just the same way, simply replacing the local xyz directions above with the global XYZ directions. A global declination of 0 therefore means vertically upwards, 90 means horizontaland180meansverticallydownwards. Whenadirectionisbeingdefined,the"sign"ofthedirectionmustalsobedefined.Forexample"vertical"doesnot fully define a direction it must be either "vertically up" or "vertically down" before the azimuth and declination anglescanbederived.The"sign"conventionsusedinOrcaFlexfordirectionsare: ForLines,axialdirectionsarealwaysdefinedintheAtoBsense,inotherwordsfromEndAtowardsEndB. ThusaverticallinewithEndAatthetophasdeclination180. ForWinchesandLinks,axialdirectionsaredefinedinthesense'fromfirstendtowardssecondend'.Thusalink withend1directlyaboveend2hasdeclination180.
6.3
OBJECTCONNECTIONS
Lines,links,winchesandshapesarespecialobjectsthatcanbeconnectedtootherobjects.Firstconsiderconnecting a line to another object. To enable connections to be made each line has two joints, one at each end, which are drawnassmallblobsontheendsoftheline,whenthemodelisinResetstate.Todistinguishthetwoends,thejoint atEndAisdrawnasatriangleandthejointatEndBasasquare. EachoftheselineendjointscaneitherbeFreeorelsebeconnectedtoaVessel,3DBuoy,6DBuoy,theGlobalAxes ortheseabed.Linescannotbeconnectedtothemselves,tootherlines,nortoaLinkorWinch.Whenaline'sjointis Free,thatendofthelineisfreetomoveandthisisindicatedbythejointbeingdrawninthesamecolourastheline. When the joint is connected to another object, that end of the line becomes a slave and the object to which it is connectedbecomesitsmaster.Theconnectionisthenindicatedbythejointbeingdrawninthecolourofitsmaster. Links and Winches also have joints at each end (winches can also have extra intermediate joints) and these are connectedtootherobjectsinthesamewayaswithlines,butwiththefollowingexceptions. LinkandwinchjointscannotbeFreetheymustalwaysbeconnectedtosomemaster. Linkandwinchjointscanbeconnectedtonodesonaline,aswellastoVessels,3DBuoys,6DBuoys,theGlobal Axesortheseabed.Thisallows,forexample,awinchtobeattachedtotheendnodeofalinesothatwinchingin oroutcanbemodelled.
ShapeshaveasinglejointwhichcanbeconnectedtoVessels,3DBuoys,6DBuoys,theGlobalAxesortheseabed. Whenajointisconnectedtoamaster,theconnectionismadeataspecifiedmasterrelativepositionandthemaster objectthendeterminesthepositionofitsslavetheslaveisdraggedaroundbyitsmasterasthemastermoves.In responsetheslaveappliesforcesandmomentstoitsmasterforalinethesearesimplytheendforceandmoment appliedbytheline. Because neither the Global Axes nor the seabed move, a joint connected to either of them is simply fixed in one position.Thedifferencebetweenthemliesinhowtheconnectionpointisspecified.ForaconnectiontotheGlobal Axes,theX,YandZcoordinatesoftheconnectionpointarespecifiedrelativetothoseaxesandthejointiscalled Fixed. For a connection to the seabed the X and Y coordinates are specified relative to the global axes, but the Z coordinate is specified relative to the seabed Z level at that X,Y position; the joint is then referred to as being Anchored.SoforanAnchoredjoint,Z=0meansthattheconnectionisexactlyontheseabedandZ=1meansitis1 unitabovetheseabed.ByusinganchoredjointsyoucanthereforeavoidtheneedtocalculatetheseabedZlevelat thegivenX,Yposition(notsimplewithslopingseabeds).
6.4
INTERPOLATIONMETHODS
OrcaFlexusesanumberofdifferentmethodsforinterpolatingdata.Thesemethodsaredescribedbelow: Linear.Thedataisassumedtofollowastraightlinebetweeneach(X,Y)pair.Linearinterpolationissaidtobe piecewiselinear.Curvesthatarelinearlyinterpolatedarecontinuousbuttheirfirstderivativeisdiscontinuous ateachXdatapoint. Cubicspline.Cubicsplineinterpolationfitsacubicpolynomialovereachintervalinthedatathatisthefitted curve is piecewise cubic. These cubics are chosen so that both first and second derivatives are continuous at eachXdatapoint. CubicBessel(alsoknownasParabolicBlending).CubicBesselinterpolationissimilartocubicsplineinthatit isalsopiecewisecubic.Forthismethod,however,thecubicsarechosensothatthefirstderivativeateachdata
107
Theory,InterpolationMethods
point is equal to that of the unique parabola passing through that data point and the two adjacent ones. The fittedcurvehascontinuousfirstderivativebutdiscontinuoussecondderivative.
Choosinginterpolationmethod
SometimesOrcaFlexprovidesachoiceofinterpolationmethod.Ingeneralwewouldrecommendthatyouusethe defaultinterpolationmethod,butinsomecasesitmaybeappropriatetouseadifferentmethod.Todecideyouneed totakeintoaccountwhattheinterpolateddataisusedforandthedifferentpropertiesoftheinterpolationmethods. If continuity of first derivative is not required then linear interpolation is often appropriate. It has the advantage thatitisverysimple. Theother2methodsarepiecewisecubicandtheyproducesmoothcurves,buttheycansometimesproducecurves thathaveovershoots.Forexamplethefollowinggraphsshowhoweachmethodinterpolatesaparticularsetofdata. AlthoughthegreatestYvalueinthedatais8,theinterpolatedcurvesforcubicsplineandcubicBesselbothexceed thisvalue(althoughtheeffectismuchsmallerforcubicBessel).Howseriousthisovershootisdependsonthedata itcanbemuchmoreseriousthanillustratedhereorsometimestherecanbenoproblematall.
108
Theory,StaticAnalysis
If you are using either of the piecewise cubic interpolation methods then you should always check whether the interpolated curve gives an appropriate fit to the data. If it does not then you usually need to supply more data points.Themaindifferencebetweenthetwoisthatcubicsplineinterpolationhasacontinuoussecondderivative whereas cubic Bessel does not. However, in many cases this is not important, and one attractive feature of cubic Besselinterpolationisthatitislesspronetoovershootthancubicspline.
6.5

STATICANALYSIS
Therearetwoobjectivesforastaticanalysis: Todeterminetheequilibriumconfigurationofthesystemunderweight,buoyancy,hydrodynamicdrag,etc. Toprovideastartingconfigurationfordynamicsimulation.
Inmostcases,thestaticequilibriumconfigurationisthebeststartingpointfordynamicsimulationandthesetwo objectives become one. However there are occasions where this is not so and OrcaFlex provides facilities for handlingthesespecialcases.Thesefacilitiesarediscussedlater. Staticequilibriumisdeterminedinaseriesofiterativestages: 1. 2. 3. Atthestartofthecalculation,theinitialpositionsofthevesselsandbuoysaredefinedbythedata:theseinturn definetheinitialpositionsoftheendsofanylinesconnectedtothem. Theequilibriumconfigurationforeachlineisthencalculated,assumethelineendsarefixed. Theoutofbalanceloadactingoneachfreebody(node,buoy,etc.)isthencalculatedandanewpositionforthe body is estimated. The process is repeated until the out of balance load on each free body is zero (up to the specifiedtolerance).FordetailsseeStaticsofBuoysandVessels.
For the majority of systems, the static analysis process is very quick and reliable. Occasionally, usually for very complexsystemswithmultiplefreebodiesandmanyinterconnections,convergencemaybedifficulttoachieve.To helpovercomethisproblem,OrcaFlexprovidesfacilitiesfortheusertosuppresssomeofthedegreesoffreedomof thesystemandapproachthetrueequilibriumbyaseriesofeasystages.SeeStaticsofBuoysandVessels. Finally,thestaticanalysiscanalsobeturnedintoasteadystateanalysisbyspecifyingnonzerostartingvelocityon theGeneralDataform.Thisisusefulwhenmodellingtowedsystemsorothersystemsthathaveasteadyvelocity.
6.5.1
Note:
LineStatics
Thelinesareanalysedintheordertheyappearinthebytypesviewofthemodelbrowser.Soifyou arehavingaproblemwiththestaticanalysisofaparticularline,andtherearealotoflinesinthe model,thenyoucanmakeinvestigationoftheproblemeasierbydraggingthelineuptothetopof thelistinthemodelbrowser.
WhenyoudoastaticanalysisOrcaFlexdoesstaticanalysesforeachlineinthemodel.
Thestaticanalysisofagivenlinehastwosteps:
109
LineStaticsStep1
The first step calculates a configuration of the line (i.e. positions for all the nodes on the line), using the method specifiedonthelinedataform(eitherCatenary,Spline,Quick,Prescribed,orUserSpecified).
LineStaticsStep2
The second step, which is optional, is called Full Statics. If Full Statics is included, then it calculates the true equilibriumpositionoftheline.Thecalculationisiterative andhenceitneedsastartingconfigurationforthisit usestheconfigurationfoundbystep1.IfFullStaticsisnotincluded,thenthelineissimplyleftintheconfiguration foundbystep1,which(dependingonthemethodchosen)maynotbeanequilibriumposition.
Unstableequilibria
Sometimes Line Statics Step 2 finds an equilibrium configuration that is unstable. Everyday examples of unstable equilibriaincludebalancingacoinonitsedgeorbalancingapencilonitstip. Very occasionally OrcaFlex statics converges on an unstable equilibrium. An unstable equilibrium can usually be detected by the presence of large curvature spikes on a range graph. Typically a dynamic run will excite the line enough to kick it out of the unstable equilibrium. However, statics and dynamics results from such unstable equilibriaareinvalid.
Catenary
The Catenary method calculates the equilibrium position of the line, but it ignores the effects of bending and torsionalstiffnessofthelineoritsendterminations. The Catenary method also ignores contact forces between the line and any solid shapes in the model, but it does include all other effects, including weight, buoyancy, axial elasticity, current drag and seabed touchdown (see below)andfriction. Because bend stiffness (and other) effects are not included in the Catenary method, the position found is not, in general, an equilibrium position. Therefore Full Statics should normally be included unless it is known that the omitted effects are unimportant. Nevertheless, the Catenary position is often quite close to the true equilibrium position,especiallywhenbendstiffnessisnotamajorinfluence. TheCatenaryalgorithmisrobustandefficientformostrealisticcasesbutitcannothandlecaseswherethelineisin compression.Thisisbecause,whenbendingstiffnessisignored,compressionmeansthelineisslackandthereisno uniquesolution. The algorithm is an iterative process that converges on the solution. If necessary, you can control the maximum number of iterations that are attempted, as well as other aspects of the convergence process see Catenary Convergence. TheCatenarysolutionhasfacilitiesforincludingseabedtouchdown,withthefollowinglimitations: SeabedtouchdowncanonlybeincludedatEndBoftheline, notatEndA.Therefore,ifyouwanttouchdown thenyoushouldarrangeittobeatEndB. Touchdown is only included if End B is anchored exactly on, or else below, the seabed. If End B is above the seabed,evenifonlybyasmallamount,thennotouchdownwill bemodelledandthelinemayhangbelowthe seabed.Thiswillbecorrectedwhenthesimulationstarts,sincethenodesbelowtheseabedwillbepushedback up by the seabed reaction forces. Alternatively, you should use the Full statics option, which can handle this case. IfEndBisbelowtheseabed,thentheCatenaryalgorithmmodelstouchdownbyassumingthattheline'levels out' at the level of End B. This will result in part of the line being below the seabed, but again this will be correctedwhenthesimulationstarts,sincethenodesbelowtheseabedwillbepushedbackupbytheseabed reactionforces.
Spline
TheSplinemethodgivesthelineaninitialshapethatisbasedonauserdefinedsmoothBeziersplinecurve.Itis thereforenot,ingeneral,anequilibriumposition,andsowhenitisusedFullStaticsshouldbeincludedifyouwant theequilibriumpositiontobefound.
110
The Bezier curve is specified by the user giving a series of control points it is a curve that tries to follow those controlpointsandtheBeziercurveanditscontrolpoints(markedby+)canbeseenonthe3DviewwheninReset state.Thesmoothnessofthesplinecanbecontrolledusingthesplineorder. TheSplinemethodputsthelineintoapositionthat,asfaraspossible,followstheBeziercurve.HowevertheBezier curvemayhavethewronglength(dependingonhowaccuratelyyouhavesetupthecontrolpoints),sotheSpline methodscalestheBeziersplinecurveupordownuntiltheresultinglineshapehasthecorrectAsLaidTension,as specifiedonthelinedataform.
Quick
The Quick method simply leaves the line in the position that it was drawn when in Reset state. This is a crude catenary shape that (for speed reasons) ignores most effects, including buoyancy, drag, bending and torsional stiffness, and interaction with seabed and solids. In fact the position set by the Quick method only allows for the line's average weight per unit length and axial elasticity, so it is not usually an equilibrium position (though for simplecasesitmaybequiteclose).TheQuickmethodshouldusuallybeusedonlyasapreliminarytoFullStatics.
Prescribed
ThePrescribedmethodisintendedprimarilyforpullinanalyses.Itprovidesaconvenientwayofsettingthelineup intheaslaid(i.e.prepullin)startingposition,readyforatimesimulationofthepullin.Thestartingshapeofthe lineisspecifiedbydefiningatrackontheseabed(seePrescribedStartingShape).Thetrackisdefinedasasequence oftracksectionseachofwhichisacirculararcofuserspecifiedlengthandangleofturnandthelineislaidalong thistrack.SeeLayingouttheLine.
Y
Start of track
Track Section 1 Length = 150 Turn = 0
X Track section 2 Length = 100 Turn = -90
10
End A Azimuth = 10
Track section 3 Length = 100 Turn = 90
Track Section 4 Length = 150 Turn = 0
Continuation of last track section
Figure: PlanViewofExampleTrack
UserSpecified
TheUserSpecifiedStaticsmethodinvolvesnocalculation.Insteadyouspecifyapositionforeachnodeandthenode is placed there. This statics method allows you to restart calculations using line configurations that have been calculatedbyseparateOrcaFlexcalculations.Forexampleyoucouldperformaninplaceanalysisofalineusingits configurationascalculatedbyanearlierpullinanalysis. ToperformarestartthiswayyouusuallyneedtodisableFullStaticsandWholeSystemStatics.Onewaytodothisis tosetthestaticsconvergencetolerancestolargevalues,e.g.1e6. Warning: WerecommendthatUserSpecifiedStaticsisonlyusedinthiswaytoperformrestarts.FullStatics orWholeSystemStaticsusedinconjunctionwithUserSpecifiedStaticscommonlyresultsinslow andtroublesomestaticsconvergence.
111
FullStatics
TheFullStaticscalculationisalinestaticscalculationthatincludesallforcesmodelledinOrcaFlex.Inparticularit includes the effects of bend stiffness and interaction with shapes. These effects are omitted from the Catenary calculation,andthissometimesresultsinsignificantshockloadsatthestartofthesimulation,whentheeffectsof bendstiffnessandshapesareintroduced.BecausetheFullStaticscalculationincludestheseeffects,nosuchshock loadsshouldoccurwhenitisused.WethereforerecommendusingFullStaticsformostcases. TouseFullStaticssettheStep2StaticsMethodtoFullontheLinedataform.Fullstaticsneedsastartingshapefor the line, and it usesthe specified Step 1Statics Method toobtain this; it thenfindsthe equilibrium position from there. You should therefore set the Step 1 Statics Method to give a reasonable starting shape, choosing either Catenary,Prescribed,QuickorSpline. WhichStep1StaticsMethodyoushouldchoosedependsonthemodelinquestion.Ingeneralyoushouldchoosethe method that gives the best initial estimate of the line's static position. For lines with no buoyant sections and no interactionwithshapesortheseabed,theQuickmethodmaywellsuffice.Ifthereisseabedinteractionorabuoyant sectionthenCatenarymightbebetter.Forlinesthatinteractwithashape,theSplinemethodisperhapsbestsinceit enablesyoutoensurethatthelinestartsonthecorrectsideoftheshape.
Whichmethodtouse
ThesettingstouseforthelinedataitemsStep1StaticsMethodandStep2StaticsMethoddependonthetypeof systembeingmodelledandthetypeofstaticpositionwanted. Thedefaultsettings(foranewline)aretheCatenarymethodfollowedbyFullStatics.Thisisoftenagoodchoice, since the Catenary method is fast and in many case gives a good initial estimate of the equilibrium position. It thereforeoftenprovidesagoodstartingpointfortheFullStaticscalculation,whichthenrefinesthepositiontotake intoaccounttheeffectsthattheCatenaryomits,suchasbendingandtorsionalstiffnessandinteractionwithsolids. Therearesituationswhereyoumayneedtouseothersettings. Somespecificcasesaredescribedbelow,butfirst herearesomegeneralpointstobearinmind. FullStaticsshouldbeincludedifyouwantthetrueequilibriumpositiontobefound. When Full Statics is included, the first stage Statics Method is only used to give the initial starting shape for Full Statics. The choice of Statics Method isthen, in principle, not important, since the final position found will be the equilibriumposition,irrespectiveoftheinitialstartingposition.HoweveritisnormallybesttochoosetheStatics Methodthatgivesthebestinitialestimateofthedesiredequilibriumposition,sincethiswillgivethebeststarting positionforFullStaticstoworkfrom. TherearesomecaseswherethechoiceofStaticsMethodisimportant.Firstly,incaseswheretheremaybemore thanoneequilibriumposition,theFullStaticscalculationwilltendtofindtheonethatisclosesttotheinitialstarting position found by the Statics Method. Secondly, the Full Statics calculation is iterative and may have difficulty convergingiftheinitialStaticsMethodpositionfromwhichitstartsisalongwayfromthetrueequilibriumposition. Inboththesesituations,itisgenerallybesttochoosetheStaticsMethodthatgivesthebestinitialestimateofthe desiredequilibriumposition.
Catenaryconvergencefailure
TheCatenarymethodisiterativeandmayfailtoconverge.ItmaybepossibletosolvethisbyadjustingtheCatenary ConvergenceParametersonthelinedataform.Ifthisprovesdifficult,thenanalternativeistouseoneoftheother staticsmethods.TheQuickmethodmaysuffice,oralternativelytheSplinemethodmaybeneeded.ProvidingFull Staticsisincludedthenthefinalstaticpositionfoundwillbethesame.

FullStaticsConvergenceFailure
Full Statics is also an iterative calculation and may sometimes fail to converge. The convergence process is controlled by the Full Statics Convergence Parameters on the line data form so it may be possible to obtain convergencebyadjustingsomeofthoseparameters. However,theproblemmaybeduetotheinitialstartingpositionobtainedbythespecifiedstaticsmethodbeinga long way from the equilibrium position. In this case it may be necessary for the user to specify the Spline statics methodandspecifycontrolpointsthatgiveagoodstartingshapefortheFullStatics.
112
Theory,StaticAnalysis When setting up the spline control points, it is often useful to first set Full Statics to "No". This allowsyoutoexamineandrefinethesplineshape,byrunningthestaticanalysisandadjustingthe controlpointsuntilthesplineshapeisclosetothedesiredshape.YoucanthensetFullStaticsback to"Yes"inordertofindthetrueequilibriumposition.
Note:
ContactWithSolids
TheCatenaryandQuickmethodsbothignorecontactwithsolidsandsotheymaywellgiveapoorinitialpositionfor theFullStaticstoworkon.AsaresulttheFullStaticscalculationmayfailtoconverge,orelseconvergetothewrong equilibriumposition(e.g.oneinwhichthelineisonthewrongsideofthesolid).Inboththesecasesitmaybebetter fortheusertoselecttheSplinemethodandthenspecifycontrolpointsthatgiveaninitialshapethatisclosetothe desiredequilibriumposition.

PipelinePullIn
Forapipelyingontheseabedthereareusuallymanyequilibriumpositions,sinceseabedfrictionwilloftenbeable toholdthepipeintheshapeitwasoriginallylaid.Forpullinanalysisthisoriginallylaidshapeisgenerallyknown, andthePrescribedmethodcanbeusedtodefinethisshape. ItisthenoptionalwhetherFullStaticsisincludedornot.Normally,itwouldnotbeincluded.Ifitisincludedthenit willhavenoeffectifthePrescribedpositionisalreadyinequilibriumi.e.iffrictionissufficienttoholdthepipein thatposition.ButiffrictionisnotsufficientthenFullStaticswilltendtofindanearbypositionthatisinequilibrium.
6.5.2
BuoyandVesselStatics
Eachbuoyandvesselcanbeeitherincludedorexcludedfromthestaticanalysis.Thisiscontrolledbythedataitem IncludedinStaticAnalysisontheobject'sdataform. Notes: YoucanalsousetheBuoyDegreesofFreedomIncludedInStaticAnalysisdataitem,ontheGeneral dataform,toincludeorexcludeallbuoyswithasinglesetting. Also,for6DBuoys,youcanincludejustthetranslationaldegreesoffreedom(X,Y,Z)andexcludethe rotationaldegreesoffreedom.Thisissometimesusefulasanaidtoconvergence.
Ifabuoyisexcludedfromthestaticanalysis,thenwhenthestaticanalysisisdoneOrcaFlexwillsimplyplacethe buoyintheInitialPositionspecifiedonthebuoydataform.Thiswillnot,ingeneral,betheequilibriumposition.The sameappliestovessels. Ifanybuoysorvesselsareincludedinthestaticanalysis,thenthestaticanalysisfindstheequilibriumpositionof thosebuoysandvessels,usinganiterativeprocedure. Thisiterativeprocedureusuallyconvergessuccessfully,butinsomecasestherecanbedifficulties.Togivethebest chance of convergence you should specify buoy and vessel initial positions that are good estimates of the true equilibriumposition.Oftenyoucanobtaingoodestimatesbyrunningstaticanalysesofasimplifiedmodelandthen usingthebuoypositionsfoundastheinitialpositionsforthemorecomplexmodel.Thereisabuttononthegeneral dataformforthispurposeseeUseCalculatedPositions. Note: Asanaidtostaticanalysis,theoutofbalanceforcesonbuoysandvesselscanbedrawnonthe3D view.
If necessary,you canalsocontrol the buoy convergence process using the statics convergence parameters on the generaldataform.
6.5.3
VesselMultipleStatics
YoucanusetheMultipleStaticscommandontheCalculationmenutoperformaseriesofstaticanalysesforagridof differentpositionsofavessel.Thisfeatureismainlyintendedforuseinmooringanalyses. TheuserspecifiesaseriesofregularlyspacedpositionsforonevesselinthemodelandOrcaFlexthencarriesout separatestaticanalysesforeachofthesevesselpositions.Keyresults,forexampleloadoffsetcurves,arethenmade availableintheformoftablesandgraphsasafunctionoftheoffsetdistance. Thevesselpositionsarespecifiedbyaseriesofoffsetsaboutthevessel'sinitialposition(seeVesselMultipleStatics Data). Note: Iftheoffsetvesselhas"IncludedinStaticAnalysis"setto"Yes"theninMultipleStaticsthissetting willbeignored(fortheoffsetvesselonly)andthevesselwillbeplacedasspecifiedbytheoffsets. SeeVesselData.
113
Theory,DynamicAnalysis
IfthestaticcalculationfailstoconvergeforaparticularoffsetthenthisisnotedintheStaticsProgressWindowand theprogramcontinuestothenextoffset.Noresultsaregivenforoffsetswithfailedstatics. WhenthecalculationiscompletedtheprogramentersMultipleStaticsCompletestate.Resultscanonlybeviewed in this state and are lost upon Reset. Results cannot be saved. A dynamic simulation cannot be carried out after multiplestaticsyoumustResetfirst.
6.6
DYNAMICANALYSIS
Thedynamicanalysisisatimesimulationofthemotionsofthemodeloveraspecifiedperiodoftime,startingfrom thepositionderivedbythestaticanalysis. The period of simulation is defined as anumber of consecutive stages, whose durations are specified in the data. Various controlling aspects of the model can be set on a stage by stage basis, for example the way winches are controlled,thevelocitiesandratesofturnofvesselsandthereleasingoflines,linksandwinches.Thisallowsquite complexoperationalsequencestobemodelled. Before the main simulation stage(s) there is a buildup stage, during which the wave and vessel motions are smoothly ramped up from zero to their full size. Ramping of current is optional (see Current Data). This gives a gentle start to the simulation and helps reduce the transients that are generated by the change from the static positiontofulldynamicmotion.Thisbuildupstageisnumbered0anditslengthshouldnormallybesettoatleast onewaveperiod.Theremainingstages,simplynumbered1,2,3...,areintendedasthemainstagesofanalysis. TimeismeasuredinOrcaFlexinseconds.Toallowyoutotimeshiftoneaspectofthemodelrelativetotheothers, differentpartsoftheOrcaFlexmodelhavetheirownuserspecifiedtimeorigins.Seethediagrambelow. Forexample,simulationtimeismeasuredrelativetothesimulationtimeorigin,whichisspecifiedontheWavepage ontheenvironmentdataform.Thesimulationtimeoriginisattheendofthebuildupstage,sonegativesimulation time is the buildup stage and the remaining stages are in positive simulation time. The figure below shows a simulationusingabuildupof10seconds,followedbytwostagesof15secondseach. Eachwavetrainalsohasitsowntimeorigin,andsimilarlyfortimevaryingwindandanytimehistoryfilesthatyou use. All of these time origins are defined relative to the global time origin (which is not userspecified), so if necessaryyoucanusethetimeoriginstotimeshiftoneaspectofthemodelrelativetotheothers. Bydefaultallofthetimeoriginsarezero,soallofthetimeframescoincidewithglobaltime.Formostcasesthis simplesituationisallyouneed,buthereisanexamplewhereyoumightwanttoadjustatimeorigin. Youmightwanttoarrangethatawavecrest,oraparticularlylargewaveinarandomsea,arrivesatyourvessel ataparticularpointinthesimulation.IfyouusetheViewProfilefacilityandfindthatthewavearrivesatthe vesselatglobaltime2590s,thenyoucanarrangethatthisoccursatsimulationtime10s(i.e.10secondsinto stage1)byeithersettingthesimulationtimeoriginto2580orelsesettingthewavetraintimeoriginto2580. Theformershiftsthesimulationforwardstowhenthewaveoccurs,whereasthelattershiftsthewavebackto theperiodthesimulationcovers.
114
Static Starting Position Build-up -10 0 Stage 1 15 Stage 2
End of Simulation Simulation Time t 30 Wave Train Time 0 Time-history Time 0
T=0 Global Time Origin

Figure:
Global Time T Simulation Time Origin Time-history Time Origin Wave Train Time Origin
TimeandSimulationStages
6.6.1
CalculationMethod
OrcaFleximplementstwocomplementarydynamicintegrationschemes,ExplicitandImplicit,asdescribedbelow. Equationofmotion TheequationofmotionwhichOrcaFlexsolvesisasfollows: M(p,a)+C(p,v)+K(p)=F(p,v,t) where M(p,a)isthesysteminertiaload. C(p,v)isthesystemdampingload. K(p)isthesystemstiffnessload. F(p,v,t)istheexternalload. p,vandaaretheposition,velocityandaccelerationvectorsrespectively. tisthesimulationtime. Both schemes recompute the system geometry at every time step and so the simulation takes full account of all geometricnonlinearities,includingthespatialvariationofbothwaveloadsandcontactloads. Explicitintegrationscheme The explicit scheme is forward Euler with a constant time step. At the start of the time simulation, the initial positions and orientations of all objects in the model, including all nodes in all lines, are known from the static analysis. The forces and moments acting on each free body and node are then calculated. Forces and moments consideredinclude: weight buoyancy hydrodynamicandaerodynamicdrag
115
hydrodynamicaddedmasseffects,calculatedusingtheusualextendedformofMorison'sEquationwithuser definedcoefficients tensionandshear bendingandtorque seabedreactionandfriction contactforceswithotherobjects forcesappliedbylinksandwinches M(p)a=F(p,v,t)C(p,v)K(p)
Theequationofmotion(Newton'slaw)isthenformedforeachfreebodyandeachlinenode: Thisisnotthesystemwideequationofmotiondescribedabove,butalocalequationofmotionforeachfreebody andeachlinenode.Thismeansthatsolvingtheseequationsofmotionmerelyrequirestheinversionof3by3or6 by6massmatrices. Thisequationissolvedfortheaccelerationvectoratthebeginningofthetimestep,foreachfreebodyandeachline node,andthenintegratedusingforwardEulerintegration.Let usdenotetheposition,velocityandaccelerationat timesteptbypt,vtandatrespectively.Thenthevaluesattheendofthetimestep,attimet+1,aregivenby: vt+1=vt+dt.at pt+1=pt+dt.vt+1 wheredtisthetimestep. Attheendofeachtimestep,thepositionsandorientationsofallnodesandfreebodiesareagainknownandthe processisrepeated. ThetimesteprequiredforstableintegrationistypicallyveryshortandOrcaFlexgivesguidanceonanappropriate time step. Hydrodynamic and aerodynamic forces typically change little over such a short time interval, and are timeconsumingtocompute.Tosavecomputingtime,theseloads areupdatedonlyoveralongeroutertimestep. Bothtimestepsareuserdefinedandmaybesetequalforcriticalcases. OfthevariousobjectsavailableinOrcaFlex,Linesarethemostcomputationallydemanding.Formostmodelsthat includelines,thelengthoftimerequiredfordynamicanalysisisapproximatelyproportionaltothetotalnumberof nodesusedmultipliedbythetotalnumberofinnertimestepsinthewholesimulation.Ifthetimestepismaintained attherecommendedvalueandnodesaredistributeduniformlyalongthelines,thentheruntimeisapproximately proportionaltothesquareofthenumberofnodes. Finite element models may contain spurious high frequency response, a feature inherent in the finite element method.TheLineTargetDampingdatacanbeusedtodampoutthishighfrequencynoise. Implicitintegrationscheme For implicit integration OrcaFlex uses the Generalised integration scheme as described by Chung and Hulbert. Theforces,moments,damping,massetc.arecalculatedinthesamewayasfortheexplicitscheme.Thenthesystem equationofmotionissolvedattheendofthetimestep. Becausep,vandaareunknownattheendofthetimestepaniterativesolutionmethodisrequired.Consequently each implicit time step consumes significantly more computation time than an explicit time step. However, the implicitschemeistypicallystableformuchlongertimestepsthantheexplicitschemeandoftenthismeansthatthe implicitschemeisfaster.
Numericaldampingoftheintegrationscheme
Finite element models may contain spurious high frequency response, a feature inherent in the finite element method. The Generalised integration scheme has controllable numerical damping which is desirable since it remove this spurious, nonphysical high frequency response. This numerical damping also leads to much more stableconvergenceandhenceallowsforlongertimestepsandmuchfastersimulations. Any integration scheme which includes numerical damping of high frequency response must be careful to avoid damping response at lower frequencies. The Generalised integration scheme is designed to minimise the low frequencydamping.
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Theory,FrictionTheory
The numerical damping is determined by specifying the level of high frequency dissipation, . OrcaFlex uses a builtinvalueof0.4whichhasbeenchosentogivefastsimulationruntimeswithoutcompromisingaccuracy.
6.6.2
Ramping
Simulationtimeisreducedbytheuseofabuilduptimeatthebeginningofthesimulation.Duringthebuilduptime thewavedynamics,vesselmotionsandoptionallythecurrentarebuiltupsmoothlyfromzerototheirfulllevel.This gives a gentle start to the simulation which reduces transient responses and avoids the need for long simulation runs. The buildup stage should normally be set to at least one wave period. Negative time is shown during the simulationtoindicatethebuilduptime;sotimebeforetimezeroisbuilduptime,timeaftertimezeroisnormal simulationwiththefullspecifiedexcitation. WhenusingatimedomainVIVmodel,rampingisalsousedtosmooththehandoverfromthestandardMorisondrag forceappliedinstaticstotheforcegivenbytheVIVmodel. Therampingfactoriscalculatedasfollows: RampingFactor=r3(6r215r+10) whereristheproportionofthebuildupstagecompleted,givenby: r=(Time+LengthofStage0)/(LengthofStage0) Note:
1 0.9 0.8 0.7 Ramping Factor 0.6 0.5 0.4 0.3 0.2 0.1 0 0 0.1 0.2 0.3 0.4 0.5 r 0.6 0.7 0.8 0.9 1
Timeisnegativethroughoutthebuildupstage.
Figure: TheOrcaFlexrampingfunction
Thisparticularrampingfunctionhasbeenchosensothatitsfirstandsecondderivativesarezeroatthebeginning andendofthebuildupstage.
6.7
FRICTIONTHEORY
OrcaFlex provides a simple friction model that cangive an approximate representation of contact friction. This is commonlyusedtomodelseabedfriction,frictiononmidwaterarches,guidetubefrictionetc.
Seabedfriction
Inrealityseabedinteractionismuchmorecomplicatedthansimplefrictionitinvolveseffectssuchasthesoilbeing displacedbythelineasitmoves,accumulationofsoilinfrontoftheline,etc.Tomodelseabedinteractionaccurately wouldrequiremuchmoreinformationaboutthesoilstructureandwouldinvolvemodellingthesoilitselfwhichis beyondthescopeofOrcaFlex.
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OverviewoftheOrcaFlexfrictionmodel
OrcaFlex models friction for contact with the seabed or elastic solids. Hereafterwe use the term solidto refer to eithertheseabedorelasticsolids.TheobjectswhichcancontactwithsolidsareLines,3DBuoysand6DBuoys. Note: Frictionforcontactwithelasticsolidsisonlyincludedduringdynamics.
FrictionismodelledasCoulombfrictioninthesolidplane.Everyobjectwhichisincontactwithasolidkeepstrack of a friction target position (discussed below) and a friction force is applied at which acts towards this target position. ThestandardCoulombfrictionmodelstatesthatafrictionforceofRisapplied,whereisthefrictioncoefficient andRisthecontactreactionforce.However,thismodelresultsinadiscontinuousForce/Deflectionrelationship which would be impossible for a program like OrcaFlex to solve. Instead we use a modified Coulomb model as illustratedbelow:
Force R
Force +R
-Dcrit Deflection +Dcrit Deflection
Figure:
StandardCoulombandmodifiedCoulombfrictionmodels
In the modified Coulomb friction model the transition from a friction force of R to +R takes place as a linear variationoverthedeflectionrangeDcritto+Dcrit.HereDcritisgivenby: Dcrit=R/(Ks.A) where Ksistheshearstiffnessdataitem. Aisthecontactarea. Thefrictionforcecanbethoughtofasbeingrampedfrom0toamaximumvalueofRasthedeflectionincreases. HighervaluesofKsleadtotherampingtakingplaceoverashorterdistance,andviceversa.
Calculationoffrictioncoefficient
Thefrictioncoefficientisdefinedasfollows: ForcontactbetweenLinesandtheseabedthefrictioncoefficientisdefinedontheLineTypedata. Forcontactbetween3DBuoysandtheseabedthefrictioncoefficientisdefinedonthe3DBuoydata. Forcontactbetween6DBuoysandtheseabedthefrictioncoefficientisdefinedonthe6DBuoydata. ForcontactbetweenLines,3DBuoysand6DBuoysandelasticsolidsthefrictioncoefficientisdefinedonthe SolidFrictionCoefficientsdataform.
For line friction, both normal and axial coefficients can be defined. If these values are different, OrcaFlex uses a singlevalueofdefinedas:
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=magnitudeofthevectorn.Dn+a.Da where D=unitvectorintheplaneofthesolid,fromthenodetowardsthetargetposition. Dn,Da=thevectorcomponentsofDinthenode'snormalandaxialdirections.

Targetpositionsinstatics
Frictionisonlyappliedinstaticsforcontactbetweenlinesandtheseabed. IftheStep1StaticsMethodisPrescribedthenthetargetpositionsarelaidoutalongtheprescribedshape. ForallotherStep1StaticsMethodsthetargetpositionsarelaidalongtheseabedinthedirectionspecifiedbythe LayAzimuthdirection. The distance between each target position is determined by the unstretched segment length and the As Laid Tension.IfeachnodewastositatitstargetpositionthentheeffectivetensionthroughoutthelinewouldbetheAs LaidTension.
Targetpositionsindynamics
Duringdynamics,attheendofeachtimestep,eachfrictiontargetpositionisupdatedusingthefollowingrules: Atthe start ofthe dynamic simulation, for lines incontact withthe seabed, thetargetposition fromstatics is used.Otherwisethetargetpositionitsetequaltothecontactposition. Ifanobjectisnotincontactthenthetargetpositionisnotdefinedsincenofrictionisapplied. Ifanobjecthasjustcomeintocontactthenthetargetpositionissetequaltothecontactposition. IfthetargetpositionisadistancegreaterthanDcritfromthecontactpositionthenthetargetpositionisplacedat adistanceexactlyDcritfromthecontactpositiononthevectorD,asshowninthefollowingfigure.Thiscanbe thoughtofas'dragging'thetargetpositiontowardsthecontactposition. Otherwisethetargetpositionisnotmodified.
Old Target position New Target position
Vector D
Contact position
Circle of radius Dcrit
Figure:
Updatingfrictiontargetpositionsduringdynamics
Momentsinducedbyfriction(Lines)
Thefrictionforceisappliedatthepointofcontactwiththesolid. Forlinesthisisatthelineouteredgeasdefinedbythecontactdiameter.MomentsinOrcaFlexarereportedatthe centrelineandsothemomentarmeffectofapplyingthefrictionforceattheouteredgeresultsinamomentbeing appliedtothenode.TheappliedmomentisgivenbythevectorcrossproductpF,wherepisthepointofcontact relativetothenodeoriginandFistheappliedfrictionforce. This frictional moment effectcan most easily be visualised by considering a pipebeing dragged laterallyacrossa surfacewithfriction.Itisintuitivelyobviousthatthefrictionwilltrytotwistthepipe. Note: Thiseffectisonlymodellediftorsionisincludedinthemodel.
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Theory,SpectralResponseAnalysis
Momentsinducedbyfriction(3Dand6DBuoys)
Since3DBuoysdonothaverotationaldegreesoffreedom,nosuchmomentsareapplied. For6DBuoysthefrictionforceisappliedateachvertexincontactwiththesolid.Ifthevertexifoffsetfromthebuoy originthentheappropriatemoment,aboutthebuoyorigin,willbegenerated.

Sheardamping
Objectsmovinginthesolidplanemayalsoexperienceadampingforce.Letdbethedistancebetweenthecontact positionandthetargetposition.If0dDcritthenadampingforceinthesolidplaneisappliedtotheobjectwith magnitudegivenby: D=S.min(.2(M.K.A).Vs,R) where Sisascalingfactorgivenby1(d/Dcrit), ispercentageofcriticalcontactdamping/100, Misthemassoftheobject, Kisthesolidnormalstiffness, Aisthecontactarea, Vsisthecomponentofvelocityinthesolidplane.
6.8
SPECTRALRESPONSEANALYSIS
The Spectral Response Analysis capability of OrcaFlex provides a facility for determining the response characteristics for any OrcaFlex results variable. This feature produces output similar to a frequency domain packagebutthecalculationisbasedonarandomwavetimedomainsimulation.Theresultsofthissimulationare transformed into the frequency domain using a Fast Fourier Transform (FFT) and the spectral response is then derived.ThefinaloutputoftheanalysisisanRAOfortheresultsvariableofinterest.
Timedomainrandomwaveforspectralresponseanalysis
Inordertocalculatespectralresponseyoumustfirstperformarandomwavetimedomainsimulationofthesystem ofinterest.TodothisyoumustspecifyasinglewavetrainwithwavetypeofResponseCalculation.Therandom waveusedhasatruncatedwhitenoisespectrum,whichhastheenergyspreadevenlyoverauserspecifiedrangeof frequencies.

Spectralresponsecalculationdetails
The spectral response analysis starts from the time history of some results variable of interest. The time history coverstheresponsecalculationsimulationperiodasspecifiedontheGeneralDataform.Thedurationofthisperiod togetherwiththelogginginterval,t,determinethetotalnumberofsamplesavailablefortheFFT. OrcaFlex does not necessarily use all the available samples. This is because the FFT calculation is slow when presentedwithatimehistorywhosesizeisalargeprime,orisaproductoflargeprimes. SupposethatNisthetotalnumberofavailablesamples.OrcaFlexwillchooseMwiththepropertiesthatthatMN andtheFFTcanbecalculatedquicklyandefficientlyforMsamples.HavingchosenM,OrcaFlexthenselectstheM samplesfromtheoriginaltimehistorythatareclosesttotheendofthesimulation. OrcaFlexthencalculatesthepowerspectraldensity(PSD)oftheseMtimehistorysamplesusingtheFFT.ThePSDis denotedasthesequence(fi,Pi)fori=1,2,...,M/2wherePiisunderstoodtobethePSDforfrequencyfi.Thevaluesof fi are integer multiples of the FFT's fundamental frequency, f = 1/tM, given by fi = if. The maximum frequency equalsM/2.f=1/2t.ThisfrequencyisknownastheNyquistcriticalfrequency. TheRAOiscalculatedas Ri=(Pi/Si),fori=1,2,...,M/2 whereRiistheRAOatfrequencyfiandSisthespectraldensityatfrequencyfifortheresponsecalculationrandom wave. Notes: Provided that a Response Calculation wave type has been selected the Waves page of the EnvironmentdataformreportsthevalueofM.Thistakestheformofatextlabelwhichsays"The responsecalculationwilluseMdatapoints".
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Theory,EnvironmentTheory Only the frequencies which lie in the target frequency range are used for wave components. BecauseofthistheremaybefewerthanM/2wavecomponents.
Spectralresponserandomwavecomponents
ItisimportantthattherandomwavecomponentshavefrequencieswhichmatchthoseproducedbytheFFT.Thisis because of a phenomenon of the FFT known as frequency leakage which would occur if the random wave componentfrequenciesdidnotmatchtheFFTfrequencies.TheeffectofleakageistomaketheoutputoftheFFT noisy. Theresponsecalculationwavecomponentsareselectedwithfrequenciesthatarealsointegermultiplesoff.Inthis waythefrequencyleakageeffectisavoided. Notallthesefrequenciesareusedintheresponsecalculationrandomwave.Thisisbecausetherecouldpotentially besomanyfrequencies(i.e.forlargevaluesofM/2)thattherealtimerequiredtosimulateawavewiththatmany componentswouldbeprohibitive.TheusercontrolstherangeoffrequenciestobeusedwiththeTargetFrequency RangedataontheEnvironmentdataform.
Comparisonwithtraditionalfrequencydomainmethods
For frequency domain approaches to calculating system responses each nonlinearity in the system has to be handledinspecialways.However,bycalculatingtheRAOsusingafullynonlineartimedomainsimulationandthen transforming to the frequency domain using Fourier transform methods, the nonlinearities are included in the calculationautomatically. TheadvantageofthemethodusedbyOrcaFlexisthatnonlinearitiescanbehandledimplicitlywithouttheneedfor special,bespokelinearisationtechniques.
6.9
6.9.1
ENVIRONMENTTHEORY
BuoyancyVariationwithDepth
The buoyancy of an object is normally assumed to be constant and not vary significantly with position. The buoyancyisequalto.V.g,whereisthewaterdensity,Visthevolumeandgistheaccelerationduetogravity.In realitythebuoyancydoesvaryduetothefollowingeffects: IftheobjectiscompressiblethenitsvolumeVwillreducewithdepthduetotheincreasingpressure. Thewaterdensitycanvarywithposition,eitherbecauseofthecompressibilityofthewater,orelsebecauseof temperatureorsalinityvariations.Normallythedensityincreaseswithdepth,sinceotherwisethewatercolumn wouldbeunstable(thelowerdensitywaterbelowwouldriseupthroughthehigherdensitywaterabove).
ForbuoysandlinestheseeffectscanbemodelledinOrcaFlex. CompressibilityofBuoysandLines All things are compressible to some extent. The effect is usually not significant, but in some cases it can have a significanteffectontheobject'sbuoyancy.Toallowtheseeffectstobemodelled,youcanspecifythecompressibility ofa3DBuoy,6DBuoyorLineTypebygivingthefollowingdataontheobject'sdataform.
BulkModulus
Thebulkmodulus,B,specifieshowtheobject'svolumechanges withpressure.IfwedenotebyVthecompressed volumeoftheobjectthenVisgivenby: V=V0(1P/B) where V0 is the uncompressed volume at atmospheric pressure, and P is the pressure excess over atmospheric pressure. ThebulkmodulushasthesameunitsaspressureF/L2andtheaboveformulacanbethoughtofassayingthatthe volumereduceslinearlywithpressure,andataratethatwouldseetheobjectshrinktozerovolumeifthepressure everreachedB.Foranincompressibleobjectthebulkmodulusisinfinity,andthisisthedefaultvalueinOrcaFlex. TheaboveformulabreaksdownwhenP>B.InthiscaseOrcaFlexusesacompressedvolumeVofzero.However,the relationship between pressure and volume would become inaccurate well before the pressure exceeded the bulk modulus. In practise Bis normally very large, so the object normally only experiences pressures that are small comparedtoB.
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Theory,EnvironmentTheory
6.9.2
CurrentTheory
Extrapolation
In the presence of waves, the current must be extrapolated above the still water level; in OrcaFlex we adopt the conventionthatthesurfacecurrentappliestoalllevelsabovethestillwaterlevel. If a sloping seabed is specified, the boundary is inconsistent with a horizontal current. This effect is not usually importantandisuncorrectedinOrcaFlex.Thecurrentatthegreatestdepthspecifiedisappliedtoallgreaterdepths.
InterpolatedMethod
Horizontal current is specified as a full 3D profile, variable in magnitude and direction with depth. The profile shouldbespecifiedfromthestillwatersurfacetotheseabed.Linearinterpolationisusedforintermediatedepths.If thespecifiedprofiledoesnotcoverthefulldepththenitisextrapolated(seeExtrapolationabove).
PowerLawMethod
Currentdirectionisspecifiedanddoesnotvarywithdepth.Speed(S)varieswithposition(X,Y,Z)accordingtothe formula: S=Sseabed+(SsurfaceSseabed)x((ZZseabed)/(ZsurfaceZseabed))^(1/Exponent) where SsurfaceandSseabedarethecurrentspeedsatthesurfaceandseabed, Exponentisthepowerlawexponent, ZsurfaceisthewatersurfaceZlevel, ZseabedistheZleveloftheseabeddirectlybelow(X,Y). Note: IfZisbelowtheseabed(e.g.haspenetratedtheseabed)thenthecurrentspeedissettoSseabed andifZisabovethesurface(e.g.inawavecrest)thencurrentspeedissettoSsurface.
6.9.3
SeabedTheory
Theseabedismodelledasasprungsurfacewhosepropertiesarespecifiedintheseabeddata.
ObjectsAffected
Only3Dbuoysand6Dbuoys,linesanddragchainsinteractwiththeseabed;otherobjectsarenotaffectedbyit. Alineinteractswhenoneofitsnodespenetratestheseabed.Thenodethenexperiencestheseabedstiffnessforce anddampingforce,appliedatthenodecentre.ThenodemayalsoexperienceafrictionforceseeFrictionTheory. A3Dbuoyinteractswhenthebuoyoriginpenetratestheseabed.Theseabedstiffnessanddampingforcesarethen appliedatthebuoyorigin.Noseabedfrictionforceisapplied. A 6D buoy interacts when its vertices penetrates the seabed. Each penetrating vertex experiences the seabed stiffnessanddampingforces,appliedatthevertex.Noseabedfrictionforceisapplied. Dragchaininteractionwiththeseabedisslightlydifferent;seedragchainseabedinteraction.
SeabedStiffnessForce
TheseabedreactionforceisintheoutwardsnormaldirectionandhasmagnitudeR=K.A.dwhere Kistheseabedstiffness Aistheareaofcontact disthedepthofpenetrationintotheseabed. For details on how the area of contact values are calculated see 3D Buoy Theory, 6D Buoy Theory and Line InteractionwithSeabedandSolids.
SeabedDampingForce
Thenormalseabeddampingforceisonlyappliedwhentheobjectistravellingintotheseabed,notwhenitiscoming outoftheseabed.ItisintheoutwardsnormaldirectionandhasmagnitudeDgivenby: D=.2(M.K.A).VnifVn>0 D=0ifVn0
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where ispercentageofcriticalseabeddamping/100 Misthemassoftheobject Kistheseabedstiffness Aisthecontactarea Vnisthecomponentofvelocitynormaltotheseabed,positivewhentravellingintotheseabedandnegative whencomingout.
6.9.4
Morison'sEquation
OrcaFlex calculates hydrodynamic loads on lines, 3D buoys and 6D buoys using an extended form of Morison's Equation.SeeMorison,O'Brien,JohnsonandSchaaf. Morison'sequationwasoriginallyformulatedforcalculatingthewaveloadsonfixedverticalcylinders.Thereare two force components, one related to water particle acceleration (the 'inertia' force) and one related to water particle velocity (the 'drag' force). For moving objects, the same principle is applied, but the force equation is modifiedtotakeaccountofthemovementofthebody. TheextendedformofMorison'sequationusedinOrcaFlexis: Fw=(.aw+Ca..ar)+..Vr|Vr|.CD.A where Fwisthewaveforce isthemassoffluiddisplacedbythebody awisthefluidaccelerationrelativetoearth Caistheaddedmasscoefficientforthebody aristhefluidaccelerationrelativetothebody isthedensityofwater Vristhefluidvelocityrelativetothebody CDisthedragcoefficientforthebody Aisthedragarea Theterminparenthesesistheinertiaforce,theotheristhedragforce.Thedragforceisfamiliartomostengineers, buttheinertiaforcecancauseconfusion. The inertia force consists of two parts, one proportional to fluid acceleration relative to earth (the FroudeKrylov component),andoneproportionaltofluidaccelerationrelativetothebody(theaddedmasscomponent). To understand the FroudeKrylov component, imagine the body being removed and replaced with an equivalent volume of water. This water would have mass and be undergoing an acceleration aw. It must therefore be experiencingaforce.aw. Nowremovethewaterandputthebodyback:thesameforcemustnowactonthebody.Thisisequivalenttosaying that the FroudeKrylov force is the integral over the surface of the body of the pressure in the incident wave, undisturbedbythepresenceofthebody.(NotetheparallelwithArchimedes'Principle:instillwater,theintegralof thefluidpressureoverthewettedsurfacemustexactlybalancetheweightofthewaterdisplacedbythebody.) Theaddedmasscomponentisduetothedistortionofthefluidflowbythepresenceofthebody.Asimplewayto understand it is to consider a body accelerating through a stationary fluid. The force required to sustain the accelerationmaybeshowntobeproportionaltothebodyaccelerationandcanbewritten: F=(m+Ca.).a where Fisthetotalforceonthebody misthemassofthebody (Ca.)isaconstantrelatedtotheshapeofthebodyanditsdisplacement aistheaccelerationofthebody.
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Another way of looking at the problem is in terms of energy. The total energy required to accelerate a body in a stationaryfluidisthesumofthekineticenergyofthebodyitself,andthekineticenergyoftheflowfieldaboutthe body.Theseenergiescorrespondtotheterms(m.a)andCa..arespectively. TrappedWater Theterm(Ca.)hasthedimensionsofmassandhasbecomeknownastheaddedmass.Thisisanunfortunatename whichhascausedmuchconfusionovertheyears.Itshouldnotbeviewedasabodyoffluidtrappedbyandmoving with the body. Some bodies are so shaped that this does occur, but this trapped water is a completely different matter.Trappedwateroccurswhenthebodycontainsaclosedfloodedspace,orwhereaspaceissufficientlyclosely surroundedtopreventfreeflowinandout.Trappedwatershouldbetreatedaspartofthebody:themassofthe trappedwatershouldbeincludedinthebodymass,anditsvolumeshouldbeincludedinthebodyvolume. ForamorecompletedescriptionofMorison'sequationandadetailedderivationoftheaddedmasscomponentsee BarltropandAdams,1991andFaltinsen,1990.
6.9.5
Waves
WaveTheory
Eachwavetraincanbearegularwave,arandomwaveorspecifiedbyatimehistoryfile. RegularWaves OrcaFlexoffersachoiceofalongcrested,regular,linearAirywave(includingseabedinfluenceonwavelength)or nonlinear waves using Dean, Stokes' 5th or Cnoidal wave theories (see Nonlinear Wave Theories). Waves are specifiedintermsofheightandperiod,anddirectionofpropagation. RandomWaves OrcaFlexoffersfourstandardfrequencyspectra:JONSWAP,ISSC(alsoknownasBretschneiderormodifiedPierson Moskowitz),OchiHubbleandTorsethaugen. The program synthesises a wave time history from a userdetermined number of linear wave components. The wavecomponentsarechosenusinganequalenergyapproachseebelow.Thephasesassociatedwitheachwave component are pseudorandom: a random number generator is used to assign phases, but the sequence is repeatable,sothesameuserdatawillalwaysgivethesametrainofwaves.Differentwavesfromthesamespectrum canbeobtainedbyshiftingthesimulationtimeoriginrelativetothewavetimeorigin. OrcaFlexprovidesspecialfacilitiestoassistinselectinganappropriatesectionofrandomsea.Theseareavailableon theWavesPreviewpageoftheEnvironmentdataform.Thefacilitiesinclude: Aprofilegraphplottingthewaveelevationforaselectedperiodand Atablelistingallthewavesinaselectedtimeintervalwhoseheightorsteepnessislargebycomparisonwith thereferencewaveHs,Tz.
Wavecomponents
An irregular wave train is constructed by linear superposition of a number of linear wave components. OrcaFlex createsthecomponentsusinganequalareaapproachasfollows: 1. 2. 3. 4. Theoverallfrequencyrangeconsideredis[0.5f m,10.0fm].Anyspectralenergyoutsidethisrangeisignored.The natureofwavespectrameansthattheenergyoutsidetherangeisnegligible. Thisoverallfrequencyrangeisthenbrokenupintoncomponents[fi,fi+]fori=1ton.Notethatnistheuser specifiednumberofcomponents,f1=0.5fm,fn+=10.0fmandfi+=f(i+1). The frequency ranges for the components are chosen so that each component contains the same amount of spectralenergy. Thefrequency,fi,ofeachwavecomponentischosensothatthereisequalspectralenergyeithersideofitinthe componentfrequencyrange.Inotherwordsthereisequalspectralenergyintheranges[fi,fi]and[fi,fi+].
Asaresultofeachwavecomponentrepresentinganequalamountofspectralenergyallthewavecomponentshave equalamplitudes. Thewavespectrumplottedbelowillustratestheeffectoftheequalenergyapproach.Theverticallinesrepresentthe componentfrequencyranges.Notethatforsimplicitywehaveonlyused10componentsbutyouwouldtypicallyuse alotmorethanthiswhichwouldgiveamuchbetterdiscretisationofthespectrum.
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50 Spectral Density (m^2/Hz)
40
30
20
10
0 0 0.05 0.1 0.15 Frequency (Hz) 0.2 0.25 0.3
Figure: Equalenergyapproachtochoosingwavecomponents
Theequalenergyapproachhastwosignificantadvantagesoveradiscretisationusingequalfrequencyspacing: 1. 2. The component frequencies produced by the equal energy approach are not related to each other in a multiplicativeway.Thismeansthattherepeatfrequencyoftheresultingwavetrainiseffectivelyinfinite. Theequalenergyapproachresultsinafinerdiscretisationbeingusedaroundthespectralpeak.Toachievethe samelevelofdiscretisationwithanequalfrequencyspacingapproachwouldresultinagreatdealmanymore components being used. Since simulation runtimes are increased when more components are used the equal energyapproachgivesanefficientuseofwavecomponents.
Directionalspreadspectrum ThedirectionalspreadingspectrumusedbyOrcaFlexis: Sd()=K(s)cos2s(p)for/2p/2 where K(s)=(s+1)/(s+),anormalisingconstant, 2sisthespreadingexponent, isthewavedirectionand pistheprincipalwavedirection. ThetotalspectrumusedbyOrcaFlexS(f,)isthengivenbyS(f,)=Sf(f).Sd()whereSfisthefrequencyspectrum.

Discretisationofthedirectionalspectrum
The direction range /2 p /2 is discretised into the userspecified number of wave directions. OrcaFlex discretises the directional spectrum using the same equal energy strategy as described above for the frequency spectrum.
KinematicStretching
KinematicstretchingistheprocessofextendinglinearAirywavetheorytoprovidepredictionsoffluidvelocityand acceleration(kinematics)atpointsabovethemeanwaterlevel.ItonlyappliestoAirywavesandtorandomwaves (whicharemadeupofanumberofAirywaves). Linearwavetheoryinprincipleonlyappliestoverysmallwaves,soitdoesnotpredictkinematicsforpointsabove the mean water level since they are not in the fluid. The theory therefore needs to be 'stretched' to cover such points, and OrcaFlex offers a choice of three published methods: Vertical Stretching, Wheeler Stretching and ExtrapolationStretching(seebelow).
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Consider,forexample,thehorizontalparticlevelocityu.InAirywavetheorytheformulaforuatposition(x,z)at timetis: u=E(z)acos(t+kx)........................(1) wherea,,andkarethewaveamplitude,angularfrequency,phaselagandwavenumber,respectively,andzis measuredpositiveupwardsfromthemeanwaterlevel. The term E(z) is a scaling factor given by E(z) = cosh(k(d+z))/sinh(kd), where d = mean water depth. It is an exponentialdecaytermthatmodelsthefactthatthefluidvelocityreducesasthepointgoesdeeper.Howeverfor z>0(i.e.abovethemeanwaterlevel)E(z)isgreaterthan1soitamplifiesthevelocity.Thiscangiveparticlevelocity predictionsthatareunrealisticallylarge(theproblembeingworstforhighfrequencywaves).Thevariousstretching methodsdealwiththisproblembyreplacingE(z)withamorerealisticterm. NotethatallthestretchingmethodsapplynotonlytothescalingfactorE(z)inthehorizontalvelocityformula(1), but also to the scaling factors in the corresponding Airy wave theory formulae for the vertical velocity and the horizontalandverticalacceleration.
VerticalStretching
Thisisthesimplestofthe3methods.E(z)isleftunchangedforz0,butforz>0(i.e.abovethemeanwaterlevel) E(z)isreplacedbyE(0).Thishastheeffectofsettingthekinematicsabovethemeanwaterlevelstoequalthoseat themeanwaterlevel.

WheelerStretching
Thismethodstretches(orcompresses)thewatercolumnlinearlyintoaheightequivalenttothemeanwaterdepth. ThisisdonebyreplacingE(z)byE(z')where z'=d.(d+z)/(d+)d andisthezvalueattheinstantaneouswatersurface.Thisformulaforz'essentiallyshiftszlinearlytobeinthe rangedto0.

ExtrapolationStretching
ThismethodextendsE(z)topointsabovethemeanwaterlevelbyusinglinearextrapolationofthetangenttoE(z) atthemeanwaterlevel.Inotherwords,forz0equation(1)isleftunchanged,butforz>0,E(z)isreplacedbyE(0)+ z.E'(0),whereE'istherateofchangeofEwithz.
WaveSpectra
ISSCspectrum TheISSCspectrum(alsoknownasBretschneiderormodifiedPiersonMoskowitz)isdefinedas: S(f)=5/16Hs2fm4f5exp(5/4[f/fm]4) wherefisfrequency.Theothertwoparameters,thepeakfrequencyfmandthesignificantwaveheightHsaredata items. FormoredetailsseeTucker1991,page107. JONSWAPspectrum TheJONSWAPspectrumisdefinedas: S(f)=(g2/164)f5exp(5/4[f/fm]4)b where g is the gravitational constant, b = exp(1/22[f/fm 1]2), = 1 for f fm, = 2 for f > fm and the other parameters,,1and2aredataitems. Formoredetailssee: BarltropandAdams,page277. Tucker1991,page108. Isherwood1987.
OchiHubblespectrum SeetheOchiHubblepaperfordetailsofthespectralformula.
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TheOchiHubbleSpectrumallowstwopeakedspectratobesetup,enablingyoutorepresentseastatesthatinclude botharemotelygeneratedswellandalocalwindgeneratedsea.
Example of Ochi-Hubble Spectrum

6 5 S(r) [m^2] 4 3 2 1 0 0 1 2 Relative Frequency r 3 4
TheOchiHubblewavespectrumisthesumoftwoseparatecomponentspectratheexamplegraphshowsthetwo componentsandtheirsum.Thecomponentspectrumwiththelowerfrequencypeakcorrespondstotheremotely generated swell and theone with the higher frequency peak corresponds tothe local windgenerated sea.This is why the OchiHubble spectrum is often called a twopeaked spectrum; however in practice, the resulting total spectrumtypicallyhasonlyonepeak(fromtheremotelygeneratedswell)plusashoulderofenergyfromthelocal windgeneratedsea. The two component spectra are each specified by a set of three parameters Hs1, fm1, 1 for the lower frequency componentandHs2,fm2,2forthehigherfrequencycomponent.SeeDataforOchiHubbleSpectrum. InOrcaFlexyoucaneitherspecifyallthese6parametersexplicitly,oryoucansimplyspecifytheoverallsignificant waveheightHsandtellOrcaFlextoautomaticallyselectthemostprobable6parametersforthatvalueofHs.Inthe lattercase,OrcaFlexuses'mostprobable'parametersbasedonformulaegivenintheOchiHubblepaper(table2b). Torsethaugenspectrum SeetheTorsethaugenpaperfordetailsofthespectralformula. The Torsethaugen spectrum is another twopeaked spectrum, more suited to North Sea application than Ochi Hubble. Warning: ThetwopeakedOchiHubbleandTorsethaugenspectramakenoallowanceforthedirectionality oftheswellandwindcomponentsoftheseastate.Inrealitytheseparatecomponentsfrequently comefromdifferentdirections.However,anOrcaFlexwavetrainhasasingleprincipaldirection. BecauseofthisitismoreappropriatetomodelatwopeakedseastateusingtwoseparateOrcaFlex wavetrains,onefortheswellcomponentandoneforthelocalwindgeneratedcomponent.
NonlinearWaveTheories
OrcaFlexmodelstwotypesofwaves,periodicregularwavesandrandomwaves.Aregularwaveisaperiodicwave withasingleperiod.ArandomwaveinOrcaFlexisasuperpositionofanumberofregularlinearwavesofdiffering heightsandperiods.Weshallnotdiscussrandomwaveshere. For verysmall waves in deep water, Airy wavetheory (alsoknowas linear wave theory) is valid. Many waves in practicalengineeringusedonotfallintothiscategory,hencetheneedfornonlinearwavetheories.Theseinclude Stokes' 5th order theory, Dean's stream function theory and Fenton's cnoidal theory which are all available in OrcaFlex.Weshallgiveanoutlineofthesetheorieshereintheformofconciseabbreviationsoftherelevantpapers. ForanoverviewofallthetheoriesconsideredhereseeSobeyRJ,GoodwinP,ThiekeRJandWestbergRJ,1987. To fix notation we use the following conventions throughout. These conventions are different from those used in OrcaFlexbutweusethemhereinordertoagreewiththeliterature.Weassumethatthewaveislongcrestedand travelsinthexdirectionandweshallworkonlyinthe(x,z)plane.Theseabedhasz=0andthemeanwaterlevelis givenbyz=d,wheredisthewaterdepth(attheseabedorigin).Thewaveisspecifiedbywaveheight(H)andwave
127
period(T)andthewavelength(L)willbederived.Thehorizontalandverticalparticlevelocitiesaredenotedbyu and v respectively. We assume a moving frame of reference with respectto which the motion is steadyand x=0 underacrest. SeeStokes'5th,Dean'sstreamfunctiontheoryandFenton'scnoidaltheoryforabriefoverviewofeachofthenon linear wave theories available in OrcaFlex and for guidance on how to decide on which wave theory to use in practice.
DeanStreamFunctiontheory
Atypicalapproachtowavetheorymakesuseoftheideaofavelocitypotential.Thisisavectorfield(x,z)whose partialderivativesaretheparticlevelocitiesofthefluid.Thatis: /x=uand/z=v. Chappelear devised a wave theory based on findingthe best fit velocity potential tothe defining wave equations. ThiswasquitecomplicatedandDean'sideawastoapplythesameideatoastreamfunction.Astreamfunctionisa vectorfield(x,z)whichsatisfies /x=vand/z=u. Dean's original paper Dean (1965) was intended to be used to fit stream functions to waves whose profile was already known, for example a wave recorded in a wave tank. For the purpose of OrcaFlex the user provides informationonthewavetrainintheformofwaterdepth,waveheightandwaveperiodandwewishtofindawave theory which fits this data. Thus Dean's theory in its original form does not apply and we choose to follow the streamfunctiontheoryofRieneckerandFenton(1981).ThismethodisalsoknownasFourierapproximationwave theory. Theproblemistofindastreamfunctionwhich: 1. 2. 3. 4. satisfiesLaplace'sequation2/x2+2/z2=0,whichmeansthattheflowisirrotational, iszeroattheseabed,thatis(x,0)=0, isconstantatthefreesurfacez=(x),say(x,)=Qand satisfiesBernoulli'sequation[(/x)2+(/z)2]+=R,whereRisaconstant.
Intheseequationsallvariableshavebeennondimensionalisedwithrespecttowaterdepthdandgravityg. Bystandardmethods,equations(1)and(2)aresatisfiedbyastreamfunctionoftheform (x,z)=B0z+Bj[sinh(jkz)/cosh(jk)]cos(jkx) wherekisthewavenumberwhichisasyetundetermined,andthesummationisfromj=1toN.TheconstantNis saidtobetheorderofthestreamfunction.TheproblemnowistofindcoefficientsBjandkwhichsatisfyequations (3)and(4). Implementingstreamfunctiontheoryrequiresnumericalsolutionofcomplexnonlinearequations.Thenumberof theseequationsincreasesasNincreasesandthereisashortpauseintheprogramwhiletheseequationsaresolved. Formostwavesthedefaultvaluewillsuffice.However,fornearlybreakingwavesthesolutionmethodsometimes hasproblemsconverging.Ifthisisthecasethenitmightbeworthexperimentingwithdifferentvalues.
Accuracyofmethod
BecausethemethodisanumericalbestfitmethoditdoesnotsufferfromthetruncationproblemsoftheStokes'5th andcnoidaltheories.Forthesemethods,powerseriesexpansionsareobtainedandthentruncatedatanarbitrary point.Ifthetermswhicharebeingignoredarenotsmallthenthesemethodswillgiveinaccurateanswers.Intheory, Dean'smethodshouldcopewellinsimilarcircumstancesasitisfindingabestfittothegoverningequations.This meansthatstreamfunctionwavetheoryisveryrobust.Invery shallowwaterFentonbelievesthathishighorder cnoidalwavetheoryisbest,althoughwewouldrecommendstreamfunctiontheoryhere.Itispossiblethat,bytheir verynature,Stokes'5thandthecnoidaltheoriesmaygiveinaccurateresultsifappliedtothewrongwaves.Inall circumstancesthestreamfunctionmethod,ifitconverges,willgivesensibleresults.Henceitcanbeusedasacoarse checkontheapplicabilityofothertheories.Thatisifyourpreferredwavetheorygivessignificantlydifferentresults fromDean's,appliedtothesamewave,thenitisprobablywrong!
Stokes'5th
The engineering industry's standard reference on 5th order Stokes' wave theory is Skjelbreia and Hendrickson (1961). This paper presents a 5th order Stokes' theory with expansion term ak where a is the amplitude of the
128
fundamentalharmonicandk=2/Listhewavenumber.Thelengthahasnophysicalmeaningandbychoosingak as expansion parameter, convergence for very steep waves cannot be achieved. Fenton (1985) gives a 5th order Stokes'theorybasedaroundanexpansiontermkH/2anddemonstratesthatitismoreaccuratethanSkjelbreiaand Hendrickson's theory. Thus it is Fenton's theory which we recommend, although both theories have been implementedinOrcaFlex.ItisworthnotingthatthelineartheoryofAiryisa1storderStokes'theory. Assumingthattheusersupplieswavetraininformationcomprisingwaterdepth,waveheightandwaveperiodthen the wave number k must be computed before the theory can be applied. In order to do this a nonlinear implicit equationintermsofkissolvedusingNewton'smethod.Thisequationisknownasthedispersionrelationship.Once kisknown,anumberofcoefficientsarecalculatedandtheseareusedforpowerseriesexpansionsinordertofind thesurfaceprofileandwavekinematics.
Accuracyofmethod
Inherentinthemethodisatruncationofalltermsofordergreaterthan5.Thusifthetermswhicharediscardedare significant then this theory will give poor results. See Ranges of applicability for the waves for which Stokes' 5th theoryisvalid,butessentiallythisisadeepwater,steepwavetheory.
Cnoidaltheory
Thisisasteadyperiodicwater wavetheorydesignedtobeusedforlongwavesinshallowwater.TheStokes'5th ordertheoryisinvalidinsuchwaterastheexpansiontermislargeandtheabandonedtermsduetotruncationare significant.ThehighordercnoidaltheoryofFenton(1979)hasbeenregardedasthestandardreferenceformany yearsbutitgivesunsatisfactorypredictionsofwaterparticlevelocities.ThisworkhasbeensupersededbyFenton (1990and1995). Fenton's original paper gave formulae for fluid velocities based on a Fourier series expansion about the term =H/d. In his later works Fenton discovered that much better results could be obtained by expanding about a "shallowness"parameter.Wefollowthisapproach. A5thorderstreamfunctionrepresentationisusedbutinsteadoftermsinvolvingcostheJacobianellipticfunction cnisused,hencethetermcnoidal.Thefunctiontakestwoparameters,xasusual,andalsomwhichdetermineshow cuspedthefunctionis.Infactwhenm=0,cnisjustcosand theJacobianellipticfunctionscanberegardedasthe standardtrigonometricfunctions.Thesolitarywavewhichhasinfinitelengthcorrespondstom=1andlongwaves inshallowwaterhavevaluesofmcloseto1.Fentonshowsthatthecnoidaltheoryshouldonlybeappliedforlong wavesinshallowwaterandforsuchwavesmiscloseto1. Theinitialstepofthesolutionistodeterminemandanimplicitequationwithmburieddeepwithinmustbesolved. AsintheStokes'theorythisequationisthedispersionrelationship.Thesolutionisperformedusingthebisection methodsincetheequationshowssingularbehaviourform1andderivativemethodsfail. After m has been determined Fenton gives formulae to calculate surface elevation and other wave kinematics. In practice m is close to 1 and Fenton takes advantage of this to simplify the formulae. He simply sets m=1 in all formulae except where m is the argument of an elliptic or Jacobian function. This technique is known as Iwagaki approximationandprovestobeveryaccurate.
RangesofApplicability
Regular wave trains are specified in OrcaFlex by water depth, wave height and wave period. Which wave theory shouldoneuseforanygivenwavetrain?ForaninfinitesimalwaveindeepwaterthenAirywavetheoryisaccurate. Forfinitewavesanonlineartheoryshouldbeused.Inordertodecidewhichwavetheorytouseonemustcalculate theUrsellnumbergivenby U=HL2/d3 SeeNonlinearWaveTheoriesfornotationconventionsused. IfU<40thenthewavesaresaidtobeshortandStokes'5thmaybeused.ForU>40wehavelongwavesandthe cnoidalwavetheorycanbeused.Thestreamfunctiontheoryisapplicableforanywave.Theboundarynumber40 shouldnotbeconsideredahardandfastrule.InfactforUrsellnumbercloseto40boththeStokes'5ththeoryand thecnoidaltheoryhaveinaccuraciesandthestreamfunctionmethodisrecommended.Inregionswellawayfrom Ursellnumber40thentherelevantanalytictheories(Stokes'5thorcnoidal)performverywell. Ourrecommendationsare: Ursellnumber Recommendedwavetheory <<40 DeanorStokes'5th
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Ursellnumber Recommendedwavetheory ~40 >>40 Dean DeanorCnoidal
In general then, we would recommend the stream function wave theory in most cases. If another theory is being usedthenitshouldbecomparedagainstthestreamfunctiontheorytocheckitsvalidity.Thisisaveryimportant point.OrcaFlexhasnowayoftellingifatheoryhasbeenmisapplied,otherthangivingwarningsforobviousabuses itisuptotheusertomakesuretheyareusinganapplicabletheory.Bycomparingwiththestreamfunctiontheory areliablecheckcanbemadeandiftwotheoriesgivethesameanswersthenoneshouldbefilledwithconfidence!
Breakingwaves
All the regular wave theories are suspect for breaking or near breaking waves. In shallow water the height of a breakingwave,HB=0.14L,whereListhewavelength.Anexpressionwhichcoversalldepths,duetoMiche,is HB=0.88k1tanh(0.89kd) wherek=2/ListhelocalwavenumberascalculatedbyAirywavetheory.OrcaFlexreportsawarningifthewave heightexceedsthisbreakingwaveheightHB.
Particlekinematics
Animportantconsiderationforcomputingthewavekinematicsiswhethertouseapparentorrealquantities.That is, do we compute velocities and accelerations relative to a fixed point in the fluid (Eulerian) or relative to an individualwaterparticle(Lagrangian).Forvelocitiesthereisnoconfusionasthetwoconceptscoincidebutthereis anissueforaccelerations. The accelerations are used by OrcaFlex in relation to Morison's Equation in order to compute pressure gradients whichinturnresultinforcesbeingappliedtoobjects.Tucker(1991)givesanexampleofaVenturitubewithzero apparentaccelerationthroughoutthetubebutanonzeropressuregradient!ForthelineartheoryofAiry,whichis basedontheassumptionthatthewaveisverysmall,thenapparentandrealaccelerationsareeffectivelyequaland OrcaFlexcomputesapparentaccelerationsforAirywavetheory.Forthenonlineartheories,realaccelerationsare usedinallcases.
Handlingofcurrent
EachofthetheoriesimplementedallowsforauniformEuleriancurrentbutnoneisdesignedtodealwithcurrent profiles.Becausewearedealingwithnonlinearwavesitisnotpossibletoanalysethewaveassumingzerocurrent and then add in the current afterwards, as we do for Airy waves. So we have to reach some compromise. The conventionchosenisasfollows: The current profile is defined as usualand the current usedto analyse the waveis taken to be the component of currentinthewavedirectionatthemeanwaterlevel.CallthiscurrentcomponentCW.Tocalculatethefluidvelocity VatanygivenpointintimewemusttakeintoaccountthefluidvelocityVWcontaininguniformcurrentCWtogether withthecurrentCatthepointinquestion,asspecifiedbythecurrentprofile.Theformulais: V=VWCW+C. Asimilarformulaisusedduringthebuildup.Ifthewavefactoristhen V=(VWCW)+C.
SeabedSlope
InthecaseofaslopingseabedinOrcaFlex,weadoptthefollowingconventionforwavetheories.Weassumethat thewaterdepthisthatattheseabedoriginforthepurposeofderivingthewaveinformation(wavenumber,stream functionetc.)Wedefinethefluidmotionforapoint(x,y,z)wherez<0tobethefluidmotionforthepoint(x,y,0).
Physicallyimplausiblesolutions
The nonlinear wave theories implemented in OrcaFlex each have their own ranges and limitations as previously discussed. However, it is sometimes possible to obtain a solution for a particular wave train which is physically implausible.ForexampleifthestreamfunctionorStokes'5ththeoriesaremisappliedthentheymaypredictwave profiles with multiple crests. Whilst these are valid solutions to the mathematical problem, they are not realistic. Alsoitissometimespredictedbyeachtheorythatthehorizontalfluidvelocitiesunderacrestincreasewithdepth.
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Theory,VesselTheory
Thisalsoisphysicallyimplausible.OrcaFlexwarnsifsuchunrealisticsolutionsoccur.Itisthenuptotheengineerto judgethevalidityoftheresults. Ithasnotbeenpossibletoguardagainstallsuchanomalies,inparticulartheStokes'5ththeorycanpredictwave profileswithpointsofinflectionotherthanatcrestandtrough.
6.10
6.10.1
VESSELTHEORY
VesselRotations
Theorientationofavesselisspecifiedby3rotationanglesthatarecalledEulerangles.Therearevariousdifferent ways of defining Euler angles and the conventions used by OrcaFlex are documented below. In all cases positive rotationanglemeansrotatingclockwiseabouttherelevantaxisdirection. Toprovideflexibility,avesselinOrcaFlexcanbegiventwotypesofmotion,primaryandsuperimposed.Inmany cases only one of the two types is needed. The total motion of the vessel is the combination of the two. To distinguishbetweentheprimary,superimposedandtotalmotion,differentnamesareusedforthe3rotationangles, asfollows: ForprimarymotiontherotationanglesarecalledPrimaryRotation1,PrimaryRotation2andPrimaryRotation 3.Theinitialorientationofthevesselspecifiestheinitial valuesoftheprimaryrotationangles,andtheseare calledtheinitialHeel,TrimandHeading. FordisplacementRAOsandharmonicmotiontheyarecalledRoll,PitchandYaw. Thetotalmotionresultsreportthecombinationoftheprimary andsuperimposedmotion.Forthistheangles arecalledRotation1,Rotation2andRotation3.
Orderofapplicationofrotations
Foreachofthesesetsofvesselrotationangles,therotationsareappliedinthe'reverse'order.Thatis,therotation aboutthezaxisisdonefirst,followedbytherotationaboutthenewyaxis,andthenfinallytherotationaboutthe newxaxis. Hereismoredetailofhowthevesselrotationsareapplied. TherotationsstartwiththevesselaxesVx,Vy,VzalignedwiththeglobalaxesdirectionsGX,GY,GZ. Theprimarymotionrotationanglesareappliedfirst,inreverseorder.Thatis,PrimaryRotation3isappliedabout the initial Vzdirection (= global GZ direction), then Primary Rotation 2 is applied about the resulting new Vy direction,andfinallyPrimaryRotation1isappliedabouttheresultingnewVxdirection. Note: Thefirstofthese3primaryrotationsisaboutthevertical,soitsetstheheadingofthevessel.The vessel axes directions after this first rotation are called the Primary Heading Axes, and these directionsareusedlater(seebelow)fordisplacementRAOandharmonicmotionrotations.
Thesuperimposedmotionisthenapplied.Thesuperimposedmotionrotationsarecalledroll,pitchandyaw.These rotationsareappliedstartingfromthevesselorientationresultingfromtheprimarymotion. For superimposed displacement RAOs and harmonic motion the rotations are applied about the primary heading directions(seeabove)andthe'reverse'orderisused.So,firsttheyawrotationisappliedasarotationaboutthe primaryheadingzdirection(=verticallyupwardsdirection=globalGZdirection),thenthepitchrotationisapplied asarotationaboutthenewprimaryheadingyaxisdirection,andfinallytherollisappliedasarotationaboutthe newprimaryheadingxaxisdirection. For superimposed time history motion the rotations are applied about the vessel axes. Once again, the 'reverse' orderofapplicationisused. Notes: Theorderofapplicationofrotationsisnotsignificantwhenalltheanglesaresmall.Howeverfor vesselstheheadinganglerotationaboutzcanbelarge,inwhichcasetheorderofapplicationof therotationsismoresignificant. The 'reverse' order of application of rotations described above is the most commonly used conventionforvesselmotions.Ithastheadvantagethatthezrotation,whichismostlikelytobe large,isalwaysappliedaboutaverticalaxis.
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Theory,VesselTheory
OrcaFlex8.5(andearlierversions)appliedtheroll,pitchandyawforsuperimposedmotioninthe 'forward'order,i.e.rollaboutxdirection,thenpitchaboutnewydirection,thenyawaboutfinalz direction.Butthisorderhadthedisadvantagethatwhenvesselyawislargeitwasappliedabout anaxisthatcouldhavealreadybeenrolledorpitchedandsowouldnolongerbehorizontal.The changeinorderofapplicationofrotationschangesresultsforcaseswithnonzerorollorpitch.See What'sNewin8.6fordetails.
6.10.2
RAOsandPhases
DisplacementRAOs Vessel motions in waves are defined by displacement Response Amplitude Operators (RAOs). Each displacement RAO,orjustRAOforshort,consistsofapairofnumbersthatdefinethevesselresponse,foroneparticulardegreeof freedom, to one particular wave direction and period. The two numbers are an amplitude, which relates the amplitude of the vessel motion to the amplitude of the wave, and a phase, which defines the timing of the vessel motionrelativetothewave. Example: A surge RAO of 0.5 in a wave of height 4m (and hence wave amplitude 2m) means that the vesselsurgestoandfro1mto+1mfromitsstaticposition;apitchRAOof0.5permetreinthe samewavemeansthatthevesselpitchesfrom1to+1.
The vessel has 6 degreesof freedom: 3translations (surge, sway, heave) and 3 rotations(roll, pitch, yaw),so the RAOdataconsistsof6amplitudeandphasepairsforeachwaveperiodanddirection.TheRAOamplitudeandphase varyfordifferenttypesofvessel,andforagivenvesseltypetheyvarywithdraught,wavedirection,forwardspeed andwaveperiod(orfrequency).ItisimportanttoobtainaccuratevaluesfortheRAOamplitudeandphaseifthe dynamicsofthesystemaretobecorrectlymodelled. RAOscanbeobtainedeitherfrommodeltestsorfromspecialistcomputerprograms.Thedatamaybepresentedin tabularorgraphicalform:tablesofnumbersarebetterforourpurposessincetheycanbeimporteddirectlyinto OrcaFlex(seeImportRAOsfromTextFiles). There are many different conventions for defining RAOs. There have been attempts at standardisation but these havenotbeensuccessfulsothereremaindifferencesbetweenthemaincomputerprogramsandmodelbasins:some establishmentsevenusedifferentconventionsforreportingmodelandcomputeddata.Theonlysafecourseisto obtainacompletedescriptionofthesystemusedforthedataineachcase. TheOrcinaconventionistousetheamplitudeofresponse(inlengthunitsforsurge,sway,heave,indegreesforroll, pitch,yaw)perunitwaveamplitude,andtousethephaselagfromthetimethewavecrestpassestheRAOorigin until the maximum positive excursion is reached (in other words, the phase origin being at the RAO origin). Mathematically,thisisgivenby: x=R.a.cos(t) where xisthevesseldisplacement(inlengthunitsforsurge,sway,heave,indegreesforroll,pitch,yaw) a,arewaveamplitude(inlengthunits)andfrequency(inradians/second) tistime(inseconds) R,aretheRAOamplitudeandphase. However,OrcaFlexcanacceptRAOdatausingawiderangeofdifferentconventionssoyoucaninputyourRAOdata initsoriginalformandsimplytellOrcaFlexwhatconventionsapplytothatdata. InadditiontotheactualRAOdatayouthereforealsoneedtoknow: ThecoordinatesoftheRAOoriginandofthephaseorigin. Thesystemusedtodefinewavedirection.InOrcaFlex0meanswavesapproachingthevesselfromasternand 90meanswavescomingfromthestarboardside,butifadifferentconventionappliestoyourdatathenyou mustallowforthiswhenenteringthedata. The coordinate system used to define vessel motions and, in particular, which direction is positive. That is whethersurgeispositiveforwardoraft,whetherheaveispositive upordownandwhetherpitchispositive bowuporbowdown.
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Theory,VesselTheory
WhethertherotationalRAOdataareindegrees(orradians)ofrotationpermetre(orfoot)ofwaveheight,orin degrees(radians)perdegree(radian)ofwaveslopeorwavesteepness. The reference time forphase angles,and the reporting convention used (e.g. whether phasesare reportedas lagsorleads).Again,OrcaFlexallowsarangeofoptions.
AlthoughOrcaFlexallowstheRAOinputdatatouseawiderangeofsystems,allOrcaFlexresultsusearighthanded systeminwhichthepositivemovementsareasfollows: Surge Sway Roll Pitch Yaw positiveForward positivetoPort positiveStarboardDown positiveBowDown positiveBowtoPort
Heave positiveUp
WaveLoadRAOs RAOs, as described above, can also be used to represent the load (force and moment) on a vessel due to waves, ratherthantodirectlyspecifyitsmotion.Inthiscase,theamplituderepresentsthemagnitudeoftheforce(inthe surge,swayorheavedirection)ormoment(intheroll,pitchoryawdirection);themeaningofthephaseremains unchanged. Example: AsurgeforceRAOof300kN/minawaveofheight6m(andhencewaveamplitude3m)means thatavesselexperiencesasurgeforcevaryingharmonicallybetween900kNand+900kNover eachwavecycle;apitchmomentRAOof1E6kN.m/minthesamewavemeansthatthevessel experiencesamomentabouttheyaxisvaryingfrom3E6kN.mto+3E6kN.m.
WaveloadRAOsdonotcompletelydefinethevesselmotionasdodisplacementRAOs:theymerelydefinetheforce andmomentwhichawaveexertsonthevessel.OrcaFlexusestheseforcesandmoments,togetherwithanyother loadsonthevesselanddataonthevessel'smassandinertia,todeterminethevesselmotionfromitsequationof motion. The description of RAO conventions above, for displacement RAOs, carries over to wave load RAOs with just one minor difference: rotational wave load RAOs must be expressed per unit of wave height, and they will have dimensionsofmomentperunitlength.
6.10.3
RAOQualityChecks
RAOs(particularlythephases)aredifficult,abstractconceptswhichmakesthemdifficulttocheck.Itisextremely importanttocheckthem,sincethesamedifficultyappliestothepeoplewhoderivedthedatainthefirstplace.RAOs andphases,evenfromthemostrespectedsources,arenotoriouslyerrorprone! Fortunately,thereareafewnaturalpointsofreferencewhereweknowwhatmustbegoingon.Themostobvious andusefulonesareresponsesatveryshortandverylongwaveperiods. DisplacementRAOs In very short period waves, the vessel inertia suppresses response, so for all degrees of freedom the expected displacementRAOamplitudeiszero(andphaseisthenirrelevant). In very long waves (typically wave periods over 20 seconds for ships or 30 seconds for semisubmersibles) the vesselwillmovelikearaftonthewavesurface.ThetablesbelowgivetheexpecteddisplacementRAOamplitudes andphasesforafreefloatingvesselinverylongwaves.
ExpectedRAOsforavesselinverylongwaves
Surge Sway Heave
Fromahead (180) Amp. 1 0 1 Phase 90 ~ 0
Fromastern (0) Amp. 1 0 1 Phase +90 ~ 0
Fromport (270) Amp. 0 1 1 Phase ~ 90 0
Fromstarboard (270) Amp. 0 1 1 Phase ~ +90 0
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Theory,VesselTheory
w
~ +90 ~ 0 1 0 ~ 90 ~ 1 0 0 90 ~ ~ 1 0 0 +90 ~ ~
Roll Pitch Yaw Surge Sway Heave Roll Pitch Yaw
0 1 0
Towardsdirection Amplitude |cos()| |sin()| 1 |sin()| |cos()| |sin(2)| Warning: Notes: Phase +90ifcos()>0 90ifcos()<0 +90ifsin()>0 90ifsin()<0 0 +90ifsin()>0 90ifsin()<0 90ifcos()>0 +90ifcos()<0 180ifsin(2)>0 0ifsin(2)<0
TheexpectedyawRAOsgivenintheabovetableonlyapplytoslenderships. Inthesetables,thetranslationalamplitudesarenondimensionalisedagainstwaveamplitudeand therotationalamplitudesarenondimensionalisedagainstmaximumwaveslope. Thephasesgivenarelagsrelativetothewavecrestsothat+90meansthatthemaximumpositive motionoccurs90afterthewavecrestpassesthevessel.Inthesetablesweusetheconventionsof positive surge is forward, positive sway is to port, positive heave is up, positive roll is starboard down,positivepitchisbowdownandpositiveyawisbowtoport. Whentheamplitudeiszerothephasevalueisirrelevant;thisisindicatedinthetablesby'~'.
You can check RAOs in two ways. First, OrcaFlex provides RAO graphs that help spot errors, see Checking RAOs. Second,youcanrunquicksimulationswithonlythevesselinthemodelandthencheckthatthemotionsyouseeare sensible. Considerashipinwavescomingfromahead.SetupasimpleOrcaFlexmodelwiththevesselonlynothingelseset the vessel's primary motion to None, secondary motion to RAOs + Harmonic, and run a short simulation (say 10 secondsbuildupplus2waveperiods).Usealargewaveheight(20m)andlongtimestepsay0.05secondsforboth innerandoutertimesteps.Whentherunisfinished(afewsecondsonlyforsuchatrivialcase)replaythelastwave periodandwatchtoseewhetherthemotionoftheshipisrealistic.Thebestviewdirectionishorizontal,normalto thedirectionoftravelofthewaves.Withthewavescomingfromtherightonscreen,theninthewavecresttheship shouldbeatmaximumheaveupandmovingtotheleft,andviceversainthetrough.Atthepointofmaximumwave slope as the crest approaches, the ship should be atmaximum surge forwards intothe wave and maximumpitch anglewiththebowup.Ifthephaseconventionhasbeenmisunderstood(e.g.leadshavebeenreadaslags)thenthe motionisobviouslywrongandyoushouldgobackandreexaminethedata,orconfirmyourinterpretationwiththe datasource. Thisisanexcellentcheckforphases,whichareusuallythemosttroublesometogetright.Itisnotquitesogoodfor amplitudes,butitisneverthelessworthpursuing.Ifthewaveisverylongcomparedtotheship,thentheshipshould move like a small particle in the water surface. Heave amplitude should be equal to wave amplitude and pitch motionshouldkeepthedeckoftheshipparalleltothewatersurface.Surgeamplitudeshouldalsobeequaltowave amplitudeindeepwater,butwillbegreaterinshallowwaterinwhichthewaveparticleorbitsareelliptical. The check can be extended to other wave directions. Broadly speaking, we may expect the motion to be predominantly in the wave direction, with the phasing of surge and sway such that the components in the wave direction reinforce each other. Similarly, roll and pitch phasing should be such that the components of rotation aboutanaxisnormaltothewavedirectionreinforceeachother.Yawphasingforashipinseasoffthebowshould
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Theory,VesselTheory
be such that the ship yawstowards the broadside on positionas the wave crest passes:this iseasiesttosee in a nearplanview.Generallyspeaking,ifitlooksrightinlongwaves,itprobablyisright.Ifnot,thenthinkagain! WaveLoadRAOs SincewecanrelatewaveloadRAOstodisplacementRAOs,wecansimilarlydeterminethelongwavelimitforwave loadRAOs.OrcaFlexdoesthisfortheRAOgraphstofacilitatecheckingwaveloadRAOs. ThesimplemodelbuildingexercisedescribedabovealsoworkswellforwaveloadRAOS:justsetprimarymotionto Calculated(6DOF),superimposedmotiontoNone. Note: Youmayneedtorunalongersimulation,withsmallertimesteps,forcalculatedvesselmotionthan fordisplacementRAOs,toallowthemodelto'settledown'.
6.10.4
DragLoads
Dragloadsonavesselareanimportantsourceofdampingwhenmodellingvesselslowdrift.Foradiscussionofthe variousdampingsourcesseeDampingEffectsonVesselSlowDrift. The hydrodynamic and aerodynamic drag loads on a vessel are calculated using the data specified on the Hydrodynamic and Wind Drag pages on the vessel type data form. The drag loads are split into those due to translationalrelativevelocityandthoseduetoyawrate. DragLoadsduetoTranslationalRelativeVelocity The drag loads due to translational velocity of the sea and air past the vessel are calculated using the standard OCIMFmethod,whichisoutlinedbelow.ForfurtherdetailsseeOilCompaniesInternationalMarineForum,1994. TheOCIMFmethodisforcalculatingthesurge,swayandyawdragloadsonastationaryvessel.OrcaFlexextendsthe method to cover a moving vessel by replacing the current (or wind) velocity used in the OCIMF method by the relativetranslationalvelocityofthecurrent(orwind)pastthevessel. More precisely, the relative velocity used is the current (or wind) velocity, relative to the primary motion of the vessel,atthespecifiedcurrent(orwind)loadorigin.Inotherwordstherelativevelocityincludesthecurrentbut notthewaves,anditincludestheprimarymotionofthevessel,butnotthesuperimposedmotion. NotethattheOCIMFmethoddoesnotincludeanydragduetoyawangularvelocityofthevessel,sincethereisnone for a stationary vessel. OrcaFlex's extension of OCIMF does not add these yaw rate drag terms, since the OCIMF methodhasnoframeworkforthem.TheyarethereforecalculatedseparatelyinOrcaFlexseeDragLoadsdueto YawRatebelow. Notes: Warning: The OCIMF method is intended for tankers, but could be applied to other vessel types providing suitabledataisobtained. The wind load is only included if the Include wind loads on Vessels option is enabled in the Environmentdata. The current and wind loads are based on theory for surface vessels and are not suitable for submergedvessels.
ThedragloadsduetosurgeandswayrelativevelocityarecalculatedasgivenbythefollowingOCIMFformulae. SurgeForce=.Csurge..V2.Asurge SwayForce=.Csway..V2.Asway YawMoment=.Cyaw..V2.Ayaw where Asurge,AswayandAyawarethesurgeandswayareasandtheyawareamoment.Forcurrentthesecorrespondto theexposedareasbelowthewaterline,andforwindtotheexposedareasabovethewaterline. Csurge,CswayandCyawarethesurge,swayandyawcoefficientsfortheactualcurrentorwinddirectionrelative tothevessel. isthewaterdensity(forhydrodynamicdrag)orairdensity(forwinddrag). Visthemagnitudeoftherelativevelocityoftheseaorairpastthevessel.Forwindloads,Visbasedonthe windvelocityspecifiedinthedata(i.e.thewindvelocityat10mabovemeanwaterlevel).Forhydrodynamic drag,Visbasedonthecurrentvelocityrelativetothevesselattheinstantaneouspositionoftheloadorigin
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Theory,VesselTheory
(ifthisisabovethewatersurface,thenthecurrentvelocityatthesurfaceisused).InbothcasesVincludes allowanceforthetranslationalvelocityoftheloadoriginduetoanyprimarymotionofthevessel,butdoes notincludeanysuperimposedmotion. Thesurgeforce,swayforceandyawmomentactatthecurrentorwindloadorigin.Thesurgeandswayforcesactin thevesselVxandVydirections,respectively,andtheyawmomentactsaboutthevesselVzdirection. Note: TheOCIMFstandardmethodusesL2.Dfortheyawareamomentforcurrentloads,andL.Aswayfor theyawareamomentforwindloads,whereListhelengthbetweenperpendicularsandDisthe draught. For current loads (not wind loads) the OCIMF standard method uses L.D for both the surgeandswayareas.
DragLoadsduetoYawRate Avesselrotatinginyawwillgenerateadragmomentresistingtheyawrate,buttheOCIMFmethoddescribedabove doesnotincludethisdragload(sincetheOCIMFmethodisdesignedforstationaryvessels). For wind dragthese yaw rateterms are insignificantand so areomitted by OrcaFlex.But for hydrodynamic drag theyareimportant,soOrcaFlexmodelsthemusingthefollowingformulae. SurgeForce=(..||.).SurgeFactor SwayForce=(..||.).SwayFactor YawMoment=(..||.).YawFactor..................(1) where SurgeFactor, SwayFactor, YawFactor are the yaw rate drag factors (specified on the Hydrodynamic Drag pageonthevesseltypedataform). isthevesselyawrate,inradianspersecond,duetoanyprimarymotionofthevessel isthewaterdensity. Theseyawratedragloadsarethenappliedatthehydrodynamicloadorigin.
EstimatingtheYawRateDragFactors
Theaboveformulae(1)arebasedonasimplestriptheoryestimateofthedragloadsonayawingvessel,asgivenby Wichers(1979).Considerthesimplestsituationwherethevesselcentreisstationarybutthevesselisyawingatrate aboutthatcentre.LetusalsoassumethattheareaexposedtoswaydragisasimplerectangleofheightD(the draught)andlengthL(thelengthbetweenperpendiculars),andthatforsimplicitywechoosetoputtheloadorigin atthecentreofthatarea. Wenowdividethedragareaintoverticalstripsofwidthdxandconsidertheswaydragloadonthestripatdistance xforwardofthecentre.Thestrip'sareaisD.dxanditsswayvelocityduetotheyawrateis.x,sowecanestimate theswaydragloadonitby..Cd.D.dx.(.x).|.x|whereCdisthedragcoefficient,whichweassumetobethesame forallthestrips. These sway drag loads from each strip, andtheir moments about the centre, are then integrated togive the total swayforceandacontributiontoyawmoment.Whenwedothisintegraltheswayforcesfromcorrespondingstrips forwardandaftofcentrehavethesamemagnitudebutoppositedirection,sotheycancelandthetotalswaydrag forceisthereforezero.Howevertheyawmomenttermsfromforwardandaftofcentrehavethesamemagnitude andsamedirection,sotheyreinforce,givingasignificantyawdragmoment.Infacttheintegralgivesthefollowing yawmoment. YawMoment=(..2).(Cd.D.L4/32).................(2) Thesameargumentcanbeappliedtothedragforcesinthesurgedirection,withlengthLbeingreplacedbywidth W. But for a slender vessel W is much less than L, so the surge force contribution to yaw moment is generally negligible. Comparing equations (1) and (2) we see that the YawFactor corresponds to the bracketed term (Cd.D.L4/32) in equation(2).Thisisinfactacombinationofadragcoefficientandthe3rdmomentofdragareaaboutthecentre. Thisstriptheoryargumentthereforeconcludesthatforaslendership,withthehydrodynamicdragloadoriginat thecentre,thenwecanestimatetheyawratedragfactorsby: SurgeFactor=SwayFactor=0
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Theory,VesselTheory
YawFactor=(Cd.D.L4/32) where Cd is some appropriate drag coefficient. However, there are a lot of questionable assumptions in the strip theoryargument.IndeedWichers(1979)foundthatthestriptheoryresultssignificantlyunderestimatedtheactual yaw drag measured in model tests, unless the Cd value was increased to about 5, which is rather high for a drag coefficient.Soifmorespecificdataisavailable,e.g.frommodeltest,thenwerecommendsettingtheyawratedrag factorstovaluesthatbestfityourdata.
Interactionwithswayrate
Further complications arise if the vessel is swaying as well as yawing. In this case the integral in the above strip theoryargumentturnsouttogiveanextraterminvolvingv..Thisisaninteractionbetweenswayvelocityandyaw rateanditseffectistosignificantlyincreasetheyawmoment. OrcaFlex does not yet include this interaction effect. The reason for this is that it is difficult to model. Wichers (1979) included them in his strip theory model, but as described above the model's results did not match experimentalresultsparticularlywell.HereturnedtotheprobleminhisPhDthesis(Wichers,1988)anddeveloped amoreaccurateempiricalapproachbasedonmodeltestdata.Howeverthemethodhassometheoreticaldifficulties, sincetheformulaebreakdownwheniszero. Orcina is studying this, with a view to implementing a more accurate yaw rate drag model in a future release of OrcaFlex. In the meantime we recommend that you specify yaw rate drag factors that are appropriate to the conditionsprevailinginthecasebeingmodelled.SeethepapersbyWichersforfurtherinformation.
6.10.5
Stiffness,AddedMassandDamping
Thestiffnessload,andconstantfrequencyaddedmassanddampingloads,arecalculatedusingtheformulaegiven below.Thecalculationofthefrequencydependentaddedmassanddampingloadsisrathermorecomplicated:the theoryisgiveninVesselTheory:ImpulseResponseandConvolution,buttheunitsgivenbelowapplyinbothcases. Alltheseloadsareappliedatthereferenceorigin. StiffnessLoad Theheave,rollandpitchcomponentsofthehydrostaticstiffnessmatrix,K,arespecifiedontheVesselTypesform. (Thehydrostaticstiffnesscomponentsforthesurge,swayandyawdirectionsareallzero.) Thevesselequilibriumposition,E,isspecifiedbygivingitsZ,heelandtrim,relativetoglobalaxes. Thestiffnessloadiscalculatedfromthevesselprimaryposition,P,usingthefollowingmatrixequation: [Fheave,Mroll,Mpitch]T=K.[Oheave,Oroll,Opitch]T where Fheave,MrollandMpitcharetheheaveforce,rollmomentandpitchmoment,respectively. O=PEistheoffsetoftheprimarypositionfromtheequilibriumposition,atthespecifiedreferenceorigin. HeretheangularoffsetsOrollandOpitchareinradians,sotheunitsofthestiffnessmatrixare: heave heave roll/pitch F/L F/radian
roll/pitch (F.L)/L (F.L)/radian whereFandLdenotetheunitsofforceandlength,respectively. DampingLoad ThedampingloadisequaltoD.V,whereDisthespecifieddampingmatrixandVisthe(6degreeoffreedom)vector ofvesselvelocityandangularvelocityrelativetotheearthatthespecifiedreferenceorigin. Thedampingloadiscalculatedusingthefollowingmatrixequation: [Fx,Fy,Fz,Mx,My,Mz]T=D.[vx,vy,vz,x,y,z]T where Fx,Fy,Fz,Mx,MyandMzarethecomponentsoftheresultingdampingforceandmoment. vx,vy,andvzarethecomponentsofthevesselvelocityatthespecifiedreferenceorigin. x,yandzarethecomponentsofthevesselangularvelocity.
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Theory,VesselTheory
w
surge/sway/heave F/(L/T) (F.L)/(L/T) roll/pitch/yaw F/(rad/T) (F.L)/(rad/T)
Note:
Allcomponentsreferredtohereareinthedirectionsspecifiedbytheconventionsdata.Fordetails seeaddedmass,dampingandstiffnessdata.
Theangularvelocitieshereareinradiansperunittime,sotheunitsofthedampingmatrixelementsare: surge/sway/heave roll/pitch/yaw
where F, L and T denote the units of force, length and time, respectively. To see this, consider the surgesurge elementassurgeforceperunitsurgevelocity,surgeswayassurgeforceperunitswayvelocity,etc;surgerollas surgeforceperunitrollrate;rollsurgeasrollmomentperunitsurgevelocity;androllrollasrollmomentperunit rollrate.'Unitrollrate'meansarollrateof1radian/sec. AddedMassLoad The added mass load is calculated as described above for the damping load, but using the specified added mass matrixinsteadofthedampingmatrix,andusingthevesselaccelerationatthereferenceorigin,insteadofthevessel velocity. Theangularaccelerationsareexpressedinradians/T2,sotheunitsoftheaddedmassmatrixelementsare: surge/sway/heave roll/pitch/yaw Note: surge/sway/heave M M.L roll/pitch/yaw M.L M.L2
whereM,LandTdenotetheunitsofmass,lengthandtime,respectively. Ifthevessel'sPrimaryMotionissettoCalculated(3DOF)thenreducedaddedmassanddamping matricesareused,havingonlysurge,swayandyawcomponents,andthedampingandaddedmass loads are not calculated in the heave, roll and pitch directions. The stiffness matrix, having only heave,rollandpitchcomponents,isnotusedatallinthiscase.
6.10.6
ImpulseResponseandConvolution
Toimplementfrequencydependentaddedmassanddampinginthetimedomain,OrcaFlexusesamethodproposed byCummins(1962),andimplementedbyWichers(1979).ThismethodinvolvescalculatingtheImpulseResponse Function(IRF)forthevesselandthenapplyingtheIRFateachtimestepusingaconvolutionintegraltoaccountfor thepastmotionofthevessel. Atthestartofasimulation,OrcaFlexcalculatestheIRF(a6x6matrix)fromthegivenfrequencydependentdamping data{B(fi),i=1,2,3,...,m},as IRF(t)=4Integral(0toinfinity)B(f)cos(2ft)df. Tocalculatethisintegral,wemakethefollowingassumptionsabouttheformofthedamping: Itisassumedtovarylinearlybetweenthegivenfrequencies{fi},i=1,2,3,...,m. Itisassumedtodecaytozeroatzerofrequency. Itisassumedtodecayasf3beyondthehighestfrequencygiveninthedata.
Atthestartofasimulation,OrcaFlexestimatesthesocalled infinitefrequency(orfrequencyindependent)added mass matrix A. This is done by calculating an estimate Ai for each frequency fi, from the added mass data {A(fi), i=1,2,3,...,m}andIRF,as Ai=A(fi)+1/(2fi)Integral(0toTc)IRF(t)sin(2fit)dt andthentakingAtobethemeanvalueofalltheAioveri=1,2,3,...,m. Then,duringthesimulation,ateachoutertimesteptthedampingloadonthevessel,insixdegreesoffreedom,is calculatedas F(t)=Ax''(t)+Integral(0toTc)IRF(s)x'(ts)ds where x''andx'arethevesselaccelerationandvelocityrespectively,relativetotheglobaloriginandwithrespect tothevesselprimaryheading
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Theory,VesselTheory
Tcisthecutofftimespecifiedbytheuser sisatimelagintegrationvariable. Thisloadisappliedatthereferenceorigin. ConsistentAddedMassandDamping The added mass and damping data are not independent. In fact, added mass and damping are mathematically relatedthroughtheKramersKronigrelations(seeKotikandMangulis). OrcaFlex uses the damping data to determine the IRF, and then uses the IRF in conjunction with the added mass datatoestimatetheinfinitefrequencylimitoftheaddedmass. Ifthedataareconsistent,i.e.obeytheKramersKronigrelations,thenthegraphsofaddedmassagainstfrequency shouldappeartobeconverging,withincreasingfrequency,totheestimatedinfinitefrequencyaddedmassA.Ifthey appeartobeconvergingtoalimitwhichdifferssignificantlyfromtheestimatedvalueA,thenthismayindicatethat thedataarenotconsistent.Inthesecircumstances,theresultsofthecalculationmaynotbereliable.
6.10.7
WaveDriftLoads
For a detailed description of the theory see Faltinsen's book. Here we give a summary and the formulae used in OrcaFlex. Thewaveloadsonavesselcanbeexpressedasasumoffirstorder,secondorderandevenhigherorderterms.The linear first order terms are the largest. The second order terms are nonlinear effects that are much smaller, but theycanbesignificantinsomecases.Thehigherordertermsareevensmallerandareneglected. Thefirstordertermsgeneratethevessel'sfirstordermotionandthismaybemodelledinOrcaFlexbythevessel's displacementRAOsorloadRAOs.Thesecondordertermsarequadraticandtheyaremadeupofthreecomponents: Differencefrequencyterms,whichhavefrequenciesgivenbythedifferencesbetweencombinationsofdifferent wavecomponentfrequencies. A constant term, called the mean wave drift force. This term is really the limiting case of the difference frequencytermwhenthetwofrequenciesareequal. Sum frequency terms, which have frequencies given by the sums of combinations of wave component frequencies.
The constant and difference terms are collectively known as the wave drift loads; these are both included in OrcaFlex.TheconstanttermiscalledthemeanwavedriftloadandthisisappliedinOrcaFlexinboththestaticand dynamic analyses; it can cause significant mean offset. The difference frequency terms are only included in the dynamicanalysis;theycancausesignificantslowdriftmotioniftheirfrequenciesareneartoavesselsurge,swayor yawnaturalfrequency.ThesumfrequencytermsarenotincludedintheOrcaFlexcalculation,sincetheyarehigh frequencytermswhoseeffectonamassivemooredvesselisnormallynegligible. WaveDriftLoadTheory WavedriftloadsarecalculatedbasedonthenondimensionalQuadraticTransferFunctions(QTFs)specifiedinthe user'swavedriftdata. QTFsaresimilartoRAOsinsofarastheyarescalingfactorsthatareappliedtowavecomponents.Butwhereasan RAOisappliedtoasinglecomponent,aQTFisappliedtoapairofwavecomponentsand,likewaveloadRAOs,it givesawavedriftforceormoment. The full QTF is a complexvalued function Q(1, 2) of a pair of wave angular frequencies 1 and 2. There are separateQTFsforeachofthe6vesseldegreesoffreedom,soweusethefollowingnotation: Q1(1,2)=SurgeQTF, Q2(1,2)=SwayQTF, Q3(1,2)=HeaveQTF, Q4(1,2)=RollQTF, Q5(1,2)=PitchQTF, Q6(1,2)=YawQTF.
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Theory,VesselTheory
Consider a vessel exposed to a pair of wave components, of angular frequencies 1 and 2, and let the wave elevationatthevessel'sQTForiginduetothosecomponentsbe: Z1=A1cos(1t1)=RealpartofA1Exp[1t1] Z2=A2cos(2t2)=RealpartofA2Exp[2t2] Thenthewavedriftload(F1,F2,F3,M1,M2,M3)duetothedifferencetermfromthose2componentsisgivenby: Fi=Realpartof(gL)Qi(1,2)A1A2Exp[(12)t(12)] Mi=Realpartof(gL2)Qi+3(1,2)A1A2Exp[(12)t(12)] fori=1,2,3. The first bracketed term on the right hand side of each equation is a dimensionalising factor that gives a non dimensionaldefinitionofQ.Thefactorsinvolvethewaterdensity,theaccelerationduetogravityg,andthevessel typelengthL. Thetotalwavedriftloadisthenthesumoftheseloads,overallpairsoffrequencies(1,2)presentinallthewave trainsspecified.Thetermsinvolvedinthissumcanbeviewedasbeingmadeupoftwotypes: Thediagonalterms(i.e.thosewhere1and2areequal)eachgiveaconstantload.Thesumofthesetermsis themeanwavedriftload,andthisisappliedinboththestaticanddynamicanalysisinOrcaFlex. Theoffdiagonalterms(i.e.thosewhere1and2differ)eachgiveaharmonicallytimevaryingload.Thesum ofthesetermsisthedynamicwavedriftloadandthisisonly calculatedandappliedintheOrcaFlexdynamic analysis.Thesetermsarenotincludedinthestaticanalysissincetheirtimeaveragevalueiszero.
OrcaFlexusesNewman'sApproximationtoCalculatetheWaveDriftLoads TheabovetheoryusesthefullQTFmatrix,butitisnotnormallypracticalfortheusertospecifytheQTFvaluesfor allpossiblepairsoffrequencies(1,2).Becauseofthis,inOrcaFlex(asinmostprograms)theuserspecifiesinthe QTFdataonlythediagonalvaluesofthefunction,Q(,),andonlyforasetofdiscretefrequencies. OrcaFlexthenuseslinearinterpolationtoobtainthediagonalQTFvaluesforintermediatefrequencies,andaform ofNewman'sapproximationtoobtaintheoffdiagonalvalues. Newman'sapproximation(Newman1974)istotaketheoffdiagonalQTFvalueQ(1,2)tobeanaverageofthe corresponding diagonal values Q(1, 1) and Q(2, 2). There are different forms of Newman approximation, depending on the type of average used. OrcaFlex uses what is called the geomean approximation, which is documentedinthepaperbyStanding,BrendlingandWilson,andisgivenby: Q(1,2)=Sign(Q(1))Abs(Q(1)Q(2))ifSign(Q(1))=Sign(Q(2)), Q(1,2)=0otherwise. HereAbsistheabsolutevaluefunction(i.e.Abs(x)=xifx0,xifx<0),andSignisthesignfunction(i.e.Sign(Q)=+1 ifQ>0,1ifQ<0,and0ifQ=0). ThediagonalQTFvaluesmustbereal.Theyarethetermsthatgivetheconstantmeanwavedriftload.Howeverwe alsoneedtocalculatetheoscillatorypartofthewavedriftload,whicharisesfromtheoffdiagonalterms,andthe Newmanapproximationisawayofestimatingthoseoffdiagonaltermsfromthediagonalterms. The justifications for the various forms of Newman approximation are twofold. Firstly, the important difference termsarethosewithlowfrequency,whicharisefromtheneardiagonaltermsinQ.Thefarfromdiagonalvalues give much higher frequency difference terms which have little effect on a vessel of sufficiently large inertia. Secondly,ontheoreticalgrounds,thefunctionQshouldbecontinuousinboth1and2,sotheneardiagonalterm Q(1,2)shouldbewellapproximatedbythemeanofQ(1,1)andQ(2,2). Notes: OrcaFlex includes the wave drift load contributions due to the interaction of two different wave components,eveniftheycomefromtwodifferentwavetrainsthathavedifferentdirections.
140
Theory,LineTheory It is not clear how Newman's approximation should be applied to wave components in this situation. In OrcaFlex it is done as follows. Let the vessel heading be H and consider two wave components,offrequencies1and2,fromtwodifferentwavetrainswhosedirectionsareD1and D2, respectively. Then OrcaFlex will derive (from the specified QTF data, using interpolation if necessary) the diagonal QTF coefficients Q(1,1) and Q(2,2), for (relative) directions (D1H) and(D2H),respectively.OrcaFlexwillthencalculatethegeometricmeanofQ(1,1)andQ(2,2) and use it as the estimate of the offdiagonal QTF coefficient Q(1,2), which is then used to calculatethewavedriftloadduetotheinteractionofthetwocomponents.
6.11
6.11.1
LINETHEORY
Overview
OrcaFlexusesafiniteelementmodelforalineasshowninthefigurebelow.
Actual Pipe
End A
Discretised Model
Node 1
Segment 1
Segment 1
Node 2
Segment 2
Segment 2
Node 3
Segment 3 End B
Figure: OrcaFlexLinemodel
Segment 3
Thelineisdividedintoaseriesoflinesegmentswhicharethenmodelledbystraightmasslessmodelsegmentswith anodeateachend. Themodelsegmentsonlymodeltheaxialandtorsionalpropertiesoftheline.Theotherproperties(mass,weight, buoyancyetc.)arealllumpedtothenodes,asindicatedbythearrowsinthefigureabove.
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Theory,LineTheory
Nodesandsegmentsarenumbered1,2,3,...sequentiallyfromEndAofthelinetoEndB.Sosegmentnjoinsnodesn and(n+1).
Nodes
Each node is effectively a short straight rod that represents the two halfsegments either side of the node. The exception to this is end nodes, which have only one halfsegment next to them, and so represent just one half segment. Each line segment is divided into two halves and the properties (mass, weight, buoyancy, drag etc.) of each half segmentarelumpedandassignedtothenodeatthatendofthesegment. Forcesandmomentsareappliedatthenodeswiththeexceptionthatweightcanbeappliedatanoffset.Wherea segmentpiercestheseasurface,allthefluidrelatedforces(e.g.buoyancy,addedmass,drag)arecalculatedallowing forthevaryingwettedlengthuptotheinstantaneouswatersurfacelevel.
Segments
Eachmodelsegmentisastraightmasslesselementthatmodelsjusttheaxialandtorsionalpropertiesoftheline.A segment can be thought of as being made up of two coaxial telescoping rods that are connected by axial and torsionalspring+dampers. The bending properties of the line are represented by rotational spring+dampers at each end of the segment, between the segmentandthe node. The line does nothave to haveaxial symmetry, since different bend stiffness valuescanbespecifiedfortwoorthogonalplanesofbending. Thissectionhasgivenonlyanoverviewofthelinemodel.Seestructuralmodelforfulldetails.
6.11.2
StructuralModelDetails
Thefollowingfiguregivesgreaterdetailofthelinemodel,showingasinglemidlinenodeandthesegmentseither sideofit.Thefigureincludesthevariousspring+dampersthatmodelthestructuralpropertiesoftheline,andalso showsthexyzframesofreferenceandtheanglesthatareusedinthetheorybelow.
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Theory,LineTheory
Sx1 Sy1 Sz Sx1 Axial spring + damper Sy2 Sz Sx2
Torsion spring + damper
2
Nx Node Ny Nz (axial direction)
Bending springs + dampers
End B
Figure: DetailedrepresentationofOrcaFlexLinemodel
Asshowninthediagram,thereare3typesofspring+dampersinthemodel: The axial stiffness and damping of the line are modelled by the axial spring+damper at the centre of each segment,whichappliesanequalandoppositeeffectivetensionforcetothenodesateachendofthesegment. The bending properties are represented by rotational spring+dampers either side of the node, spanning betweenthenode'saxialdirectionNzandthesegment'saxialdirectionSz. If torsion is included (this is optional) then the line's torsional stiffness and damping are modelled by the torsionalspring+damperatthecentreofeachsegment,whichappliesequalandoppositetorquemomentsto thenodesateachendofthesegment.Iftorsionisnotincludedthenthistorsionalspring+damperismissingand thetwohalvesofthesegmentarethenfreetotwistrelativetoeachother.
6.11.3
1. 2. 3. 4. 5.
CalculationStages
OrcaFlexcalculatestheforcesandmomentsonamidnodein5stages: TensionForces. BendMoments. ShearForces. TorsionMoments. TotalLoad.
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Theory,LineTheory
6.11.4
CalculationStage1TensionForces
Firstly the tensions in the segments are calculated. To do this, OrcaFlex calculates the distance (and its rate of change)betweenthenodesattheendsofthesegment,andalsocalculatesthesegmentaxialdirectionSz,whichis theunitvectorinthedirectionjoiningthetwonodes.
Linearaxialstiffness
Inthecaseoflinearaxialstiffnessthetensionintheaxialspring+damperatthecentreofeachsegmentiscalculated asfollows.ItisthevectorindirectionSzwhosemagnitudeisgivenby: Te=EA.+(12)(PoAoPiAi)+EA.e(dL/dt)/L0 where Te=effectivetension EA=axialstiffnessofline,asspecifiedonthelinetypesform(=effectiveYoung'smodulusxcrosssection area) =meanaxialstrain=(LL0)/(L0) L=instantaneouslengthofsegment =expansionfactorofsegment L0=unstretchedlengthofsegment =Poissonratio Pi,Po=internalpressureandexternalpressurerespectively(seeLinePressureEffects) Ai,Ao=internalandexternalcrosssectionareasrespectively(seeLinePressureEffects) e=dampingcoefficientoftheline,inseconds(thisisdefinedbelow) dL/dt=rateofincreaseoflength. Note: The effective tension Te can be negative, indicating effective compression. For the relationship betweeneffectivetensionandpipewalltensionseeLinePressureEffects.
This effective tension force vector is then applied (with opposite signs) to the nodes at each end of the segment. Eachmidnodethereforereceivestwotensionforces,oneeachfromthesegmentsoneachsideofit.
Nonlinearaxialstiffness
Whentheaxialstiffnessisnonlinearthenthetensioncalculationisasfollows.ItisthevectorindirectionSzwhose magnitudeisgivenby: Te=VarTw()+(12)(PoAoPiAi)+EAnom.e(dL/dt)/L0 where VarTwisthefunctionrelatingstraintowalltension,asspecifiedbythevariabledatasourcedefiningaxial stiffness. EAnomisthenominalaxialstiffnesswhichisdefinedtobetheaxialstiffnessatzerostrain. Asinthelinearcasetheeffectivetensionforcevectoristhenapplied(withoppositesigns)tothenodesateachend ofthesegment.Eachmidnodethereforereceivestwoeffectivetensionforces,oneeachfromthesegmentsoneach sideofit.
Dampingcoefficiente
Thedampingcoefficienterepresentsthenumericaldampingintheline.Itiscalculatedautomaticallybasedonthe AxialTargetDampingvaluespecifiedonthegeneraldataform. e=e(critical).(TargetAxialDamping)/100 where e(critical)=(2.SegmentMass.L0/EA)isthecriticaldampingvalueforasegment andSegmentMassincludesthemassofanycontentsbutnotthemassofanyattachments. Notes: Thisnumericaldampingtermisonlyincludedwhenusingtheexplicitintegrationscheme.
144
Theory,LineTheory IftheaxialstiffnessisnonlinearthenweusethenominalaxialstiffnessEAnomintheformulafore.
6.11.5
CalculationStage2BendMoments
The bend moments are then calculated. There are bending spring+dampers at each side of the node, spanning betweenthenode'saxialdirectionNzandthesegment'saxialdirectionSz.Eachofthesespring+dampersappliesto thenodeabendmomentthatdependsontheanglebetweenthe segmentaxialdirectionSzandthenode'saxial directionNz. These axial directions are associated with the frames of reference of the node and segment. The node's frame of referenceNxyzisaCartesiansetofaxesthatisfixedto(andsorotateswith)thenode.Nzisintheaxialdirection andNxandNyarenormaltothelineaxisandcorrespondtotheendxandydirectionsthatarespecifiedbythe Gammaangleonthelinedataform(seeEndOrientation). Thesegmenthastwoframesofreference:Sx1,y1,zattheendnearestEndA,andSx2,y2,zattheotherend.These twoframeshavethesameSzdirection,whichwascalculatedinstep1above,sothebendangle2betweenNzand Szcannowbecalculated.TheeffectivecurvaturevectorCisthencalculated:itisthevectorwhosedirectionisthe binormaldirection,whichisthedirectionthatisorthogonaltoSzandNz,andwhosemagnitudeis2/(L0),where L0istheunstretchedlengthofsegment. Linear,isotropicbendingstiffness Inthecaseoflinear,isotropicbendingstiffnessthebendmoment,M2,generatedbythebendingspring+damperis calculated.Isotropicbendstiffnessmeansthatthebendstiffnessesforthexandydirectionsareequal.Thebend momentM2isthevectorinthebinormaldirectionwhosemagnitudeisgivenby: M2=EI.|C|+D.d|C|/dt where EI=bendingstiffness,asspecifiedonthelinetypesform D=(/100).Dc Dc=thebendingcriticaldampingvalueforasegment=L0.(SegmentMass.EI.L0) =targetbendingdamping,asspecifiedonthegeneraldataform. Thebendangle(1)andbendmomentvector(M1)ontheothersideofthenodearecalculatedsimilarly,sothenode experiencestwobendmoments,oneeachfromthesegmentsoneachsideofit. Linear,nonisotropicbendingstiffness Ifthebendstiffnessesforbendingaboutthexandydirectionsaredifferent,thentheaboveequationisseparated intoitscomponentsintheSx2andSy2directions,giving: componentofM2intheSx2direction=EIx.Cx+Dx.dCx/dt componentofM2intheSy2direction=EIy.Cy+Dy.dCy/dt where EIx,EIy=bendingstiffnessesofsegment,asspecifiedonthelinetypesform Cx,Cy=componentsofthecurvaturevectorCintheSx 2andSy2directions Dx=(/100).L0.(SegmentMass.EIx.L0) Dy=(/100).L0.(SegmentMass.EIy.L0). The curvature used in the calculation of bending moments is the value in the true plane of bending, taking full accountofthe3Dmotionsoftheadjacentnodes.ThebendingdampingtermDrepresentstheeffectonbendingof thestructuraldampingintheline;itslevelissetbytheTargetBendingDampingdataitemonthegeneraldataform. Thebendangle(1)andbendmomentvector(M1)ontheothersideofthenodearecalculatedsimilarly. Nonlinear,isotropicbendingstiffness(ElasticorHysteretic) InthiscasethebendmomentM2isgivenby: M2=VarBM(2/[L0])+D'.d|C|/dt where
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VarBMisthefunctionrelatingcurvaturetobendmomentasspecifiedbythetabularvariabledatasource thatdefinesthebendingstiffness.Thevariabledatasourcecanbespecifiedaseitherhystereticorelastic seebelow. D'=(/100).D'c D'c=thebendingcriticaldampingvalueforasegment=L0.(SegmentMass.EInom.L0) EInomisthenominalbendingstiffnesswhichisdefinedtobethebendingstiffnessatzerocurvature. Thebendangle(1)andbendmomentvector(M1)ontheothersideofthenodearecalculatedsimilarly. ElasticorHystereticBendingModel For nonlinear bend stiffness you can choose whether the curvaturemoment data is interpreted hysteretically or not.
Nonhysteretic
Nonhystereticmeansthatthedataisappliedusingasimpleelasticmodel.Inthiscasethebendmomentfunction Var BM in the above equation is simply the specified function of the current curvature magnitude, without any allowanceforthehistoryofcurvature.Soifthecurvatureincreasesandthendecreasesagainthenthebendmoment goesupanddownthesamenonlinearmomentcurvaturecurve.Thisisillustratedinthefollowingdiagramwhich shows the bend moment M that results when the nonhysteretic model is used and a simple sinusoidally varying curvatureCisapplied.
Figure:
Hysteretic
ElasticNonlinearBendStiffness
Thehystereticmodelincludeshysteresiseffects,i.e.effectsofthehistoryofcurvatureapplied.Thedataistakento specify the bend moment that results when the line is bent with slowly increasing curvature. But that if the curvature reduces again then the bend moment does not come back down the same curve. Instead when the curvaturereducesagainthebendmomentcomesdownthecurvethatisobtainedbyfirstundoingandreversingthe firstbitofcurvature(i.e.thefirstincrementofcurvaturethatwasapplied),thenthesecondbitofcurvature,etc.In other words the hysteretic model treats curvature as being made up of a series of curvature increments and correspondingmomentincrements,anditundoesthemonafirstinfirstoutbasis,asopposedtothelastinfirstout basisthatnonhystereticbendstiffnessuses. The effectofthis hysteretic model is that the bend moment followsa hysteresis curve, as shown in the following diagrams. The left hand diagram shows the bend moment that results from a sinusoidal curvature history; the arrowsonthecurveshowthedirectionofchangeofthecurvatureandmoment.Therighthanddiagramshowswhat happensifasmallcurvaturecycleisfollowedbyanothercurvaturecycleofgreateramplitude.
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Figure: HystereticNonlinearBendStiffness
ThehysteresismodelisdescribedindetailbyTan,QuigginandSheldrake(2007). Warning: You must check that the hysteretic model is suitable for the line type being modelled. It is not suitable for modelling ratedependent effects. It is intended for modelling hysteresis due to persisting effects such as yield of material or slippage of one part of a composite line structure relativetoanotherpart.
6.11.6
CalculationStage3ShearForces
Havingcalculatedthebendmomentsateachendofthesegment,theshearforceinthesegmentcanbecalculated. Each model segment is a straight stiff rod in which the bend moment vector varies from M1 at one end (the end nearestEndAoftheline)toM2attheotherend,wherethesebendmomentsarecalculatedasdescribedabove. Because themodel segment is stiff in bending, the bend moment varies linearly alongthe segmentand the shear forceinthesegmentistheconstantvectorequaltotherateofchangeofbendmomentalongthelength.Theshear forceisthereforegivenby: ShearForceVector=(M2M1)/L whereListheinstantaneouslengthofthesegment.NotethatM 1andM2arevectors,sothisisavectorformulathat definesboththemagnitudeanddirectionoftheshearforce. Thisshearforcevectorisapplied(withoppositesigns)tothenodesateachendofthesegment.
6.11.7
CalculationStage4TorsionMoments
Thetorsionisthencalculated(providingtorsionhasbeenincluded).Todothis,thedirectionsSx1,Sy1,Sx2andSy2 mustfirstbecalculated,sincesofaronlythesegmentaxialdirectionSzhasbeenfound. ThedirectionsSx2andSy2attheendofthesegmentaredeterminedfromtheorientationNxyzoftheadjacentnode, byrotatingNxyzuntilitszdirectionisalignedwithSz.Thisrotationisthereforethroughangle2anditisarotation aboutthebinormaldirection(i.e.thedirectionthatisorthogonaltobothNzandSz).(Notethatrotationsaboutthe binormaldirectionarebendingrotationsonlyi.e.theyinvolvenotwisting.)ThedirectionsSx1andSy1attheother endofthesegmentarederivedinthesameway,butstartingfromtheorientationofthenodeatthatotherendof thesegment. ThetwistangleinthesegmentcanthenbecalculateditistheanglebetweenthedirectionsSx1andSx2.Notethat thistwistangleisalsotheanglebetweenSy1andSy2.InotherwordstheorientationsSx1,y1,zandSx2,y2,z,atthe twoendsofthesegment,differbyjustatwistthroughangle.
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Lineartorsionalstiffness
Inthecaseoflineartorsionalstiffnessthetorquegeneratedbythetorsionspring+dampercanthenbecalculatedit isamomentvectorwhosedirectionisthesegmentaxialdirectionSzandwhosemagnitudeisgivenby: Torque=K./L0+C.(d/dt) where K=torsionalstiffness,asspecifiedonthelinetypesform =segmenttwistangle(inradians),betweendirectionsSx1andSx2 L0=unstretchedlengthofsegment d/dt=rateoftwist(inradianspersecond) C=torsionaldampingcoefficientoftheline(thisisdefinedbelow) Te=effectivetensioninthesegment Thistorquemomentvectoristhenapplied(withoppositesigns)tothenodesateachendofthesegment.
Nonlineartorsionalstiffness
If the torsional stiffness is nonlinear then the calculation of torque is as follows. It is a moment vector whose directionisthesegmentaxialdirectionSzandwhosemagnitudeisgivenby: Torque=VarTorque(/L0)+C.(d/dt) where VarTorqueisthefunctionrelatingtwistperunitlengthtotorqueasspecifiedbythevariabledatasource definingtorsionalstiffness.
DampingcoefficientC
The damping coefficient C represents the torsional effect of structural damping in the line. It is calculated automaticallybasedontheTargetTorsionalDampingvaluespecifiedonthegeneraldataformusingtheformula C=C(critical).(TargetTorsionalDamping)/100 whereC(critical)isthecriticaldampingvalueforasegment,givenby C(critical)=(2.Iz.K/L0). Here,Izistherotationalmomentofinertiaofthesegmentaboutitsaxis,allowingonlyforthestructuralmassofthe line,notthemassofanycontents(sincethecontentsareassumedtonottwistwiththepipe). Note: If the torsional stiffness is nonlinear then we use the nominal torsional stiffness Knom in the formulaforC.InthiscasewedefineKnomtobethetorsionalstiffnessatzerotwistperunitlength.
6.11.8
CalculationStage5TotalLoad
Asdescribedabove,eachmidnodeexperiencestwotensionforces,twobendmoments,twoshearforcesandtwo torque moments (one each from the segments either side of the node). These loads are then combined with the othernonstructuralloads(weight,drag,addedmassetc.)togivethetotalforceandmomentonthenode.OrcaFlex thencalculatestheresultingtranslationalandrotationalaccelerationofthenode,andthenintegratestoobtainthe node'svelocityandpositionatthenexttimestep.SeeCalculationMethod.
6.11.9
LineEndOrientation
Atlineends,weusuallyneedtodefinenotonlytheaxialdirectionoftheendfittingbutalsothetwistorientation aboutthataxialdirection.Thisisdonebyfirstspecifyingtheazimuthanddeclinationoftheaxialdirectionandthen specifyingthetwistorientationbygivingathirdanglecalledgamma.SeeEndOrientation. Together,the3anglesazimuth,declinationandgammafullydefinetherotationalorientationoftheendfitting.To definehowthisisdoneweneedtodefineaframeofreferenceExyzfortheendfitting,where: Eisattheconnectionpoint. Ezistheaxialdirectionofthefitting,usingthe"AtoB"conventioni.e.EzisintothelineatEndA,butoutofthe lineatEndB. ExandEyareperpendiculartoEz.
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The3angles,Azimuth,DeclinationandGamma,specifytheorientationofExyzrelativetothelocalaxesLxyzofthe objecttowhichtheendisconnected,asfollows.(Ifthelineendisnotconnectedtoanotherobject,thenitiseither Fixed,AnchoredorFree.InthesecasestheanglesdefineExyzrelativetotheglobalaxesGXYZ.) StartwithExyzalignedwithLxyz. ThenrotateExyzbyAzimuthdegreesaboutEz(=Lzatthispoint). NowrotatebyDeclinationdegreesabouttheresultingEydirection. FinallyrotatebyGammadegreesabouttheresulting(andfinal)Ezdirection.
In all these rotations, a positive angle means rotation clockwise about the positive direction along the axis of rotation,andanegativeanglemeansanticlockwise. Threedimensional rotations are notoriously difficult to describe and visualise. When setting the azimuth, declinationandgamma,itisbesttocheckthattheresultingExyzdirectionsarecorrectbydrawingthelocalaxeson the3Dview. Herearesomeexamplesoftheeffectofvariousvaluesof(Azimuth,Declination,Gamma)foraFixedend.Forends connectedtootherobjects,replaceGXYZbyLxyzintheseexamples. (0,0,0)setsExyztobealignedwithGXYZ. (0,30,0)setsExat30belowGX(intheGXZplane),EyalongGY,Ezat30toGZ,towardsGX. (0,180,0)setsExalongGX,EyalongGY,EzalongGZ. (90,90,0)setsExalongGZ,EyalongGX,EzalongGY. (90,90,90)setsExalongGX,EyalongGZ,EzalongGY.
EndDirectionResults IftheendorientationExyzisdefined,thenOrcaFlexoffersvariousresultsrelativetothoseaxes.ForagivenvectorV (such as the end force) these include the components of V relative to Exyz and the angles that V makes with the variousaxesofExyz(seeLineResults:Angles).Theanglesofferedareasfollows: The "EzAngle" is the angle between V and the Ezdirection (i.e. axial direction). This measures how far V is awayfromtheendfittingaxialdirection. The "EzxAngle" is the angle from Ez to the projection of V onto the Ezx plane (measured positive from Ez towardsEx).ThisistheangleVmakeswithEzwhenviewingthezxplane. The "EzyAngle" is the angle from Ez to the projection of V onto the Ezy plane (measured positive from Ez towardsEy).ThisistheangleVmakeswithEzwhenviewingthezyplane. The "ExyAngle" is the angle between the Exdirection and the projection of V onto the Exy plane (measured positivefromExtowardsEy).ThisistheangleVmakeswithExwhenviewingthexyplane.
6.11.10
LineLocalOrientation
AtanypointP,thelineorientationisdefinedbyitslocalaxesPxyz.Pzisintheaxialdirection,towardsEndB,andis reportedbytheazimuthanddeclinationangles.PxandPyarenormaltothelineaxis. Attheendsoftheline,theselocalaxesarereferredtoastheendaxesExyz,andtheirdirectionsarespecifiedbythe endorientationanglesonthelinedataform. Atotherpointsonthelinethecalculationofthelocalorientationdependsonwhethertorsionisincluded: IftorsionisincludedthenthelocalPxyzdirectionsarecalculatedusingthespecifiedtorsionalpropertiesofthe line. If torsion is not included then the local directions at P are calculated by assuming that no twisting occurs anywherealongthelinebetweenEndAandP.Inmoredetail,OrcaFlexcalculatesthelocalorientationatPby startingwiththeorientationatEndA(asspecifiedbyitsendorientationangles)andthensteppingalongthe linefromnodetonode,usingthenotwistassumptionateachsteptocalculatethenextnode'slocalorientation. Note: If End A is free or if it is released then the local orientations are calculated as if End A was connectedtoanobjectalignedwiththeglobalaxes.Accordinglyyoushouldexercisecautionwhen interpretingresultswhichdependonthelocalorientationsoftheline.
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6.11.11
TreatmentofCompression
Asegmentissaidtoexperiencecompressioniftheeffectivetensionisnegative.OrcaFlexhastwomodesforhandling this,dependingonthesettingoftheLimitCompressiondataitemonthelinetypesform.
LimitCompression:No
The segment is treated as a strut which can support unlimited elastic compression. This is the preferred model exceptwherethebendstiffnessisinsignificant.
LimitCompression:Yes
ThesegmentistreatedasanelasticEulerstrut;thecompressionislimitedtothesegmentEulerloadvalueforthe segment2EI/L02,whereEIisthebendingstiffnessofthepipeandL0issegmentunstretchedlength.Thiscorrectly modelsachainorveryflexiblerope,whichcansupportlittleornocompression.Inthecaseofachain,thebending stiffnessissettozero,andthesegmentEulerloadlimitisalsozero. The segment Euler load provides a check on the ability of the model to represent compressive loads and the deformations which result. Compression causes the line to deform laterally, the deformation being controlled by bending.Givenadequatesegmentation,OrcaFlexwillcorrectlyrepresentthisdeformation.Ifcompressionexceeds thesegmentEulerloadofanindividualsegment,thisindicatesthatthewavelengthofdeformationisshorterthan canberepresentedbythechosensegmentationandtheresultsmaybeunreliable.Themodelshouldbererunwith shorter segments in the affected area. The segment Euler load is shown on effective tension range graphs and infringementwarningsaregivenontheresultsformandinthestatisticstables. FormoredetailsseeModellingCompressioninFlexiblesand"LimitCompression"Switch.
6.11.12
ContentsFlowEffects
Introduction Contents flow effects are normally neglected when modelling pipes in OrcaFlex. However for pipes carrying high contentsdensityatrapidflowratesthefloweffectscanbesignificant.Thepublishedliteratureshowthatthereare threeextraforcesintroducedbycontentsflowacentrifugalforce,aCoriolisforceandaflowfrictionforce. OrcaFlexincludesthefacilitytospecifythecontentsmassflowrateonthelinedataform.Ifthisisnonzerothenthe resultingcentrifugalandCorioliseffectsareincluded.NotethattheflowfrictioneffectsarenotincludedinOrcaFlex. Notethatthesefloweffectsapplyonlytothedynamicsimulation,nottoanyofthestaticcalculationsperformedby the program. The mass flow rate is increased smoothly through the buildup period of the simulation, using the samealgorithmemployedfor'ramping'waveheight.Sincethedurationofthebuildupperiodisundertheuser's control,thisfeaturecanbeusedtodeterminethetransienteffectofdifferentstartuprates. Theory This section documents the theory behind the modelling of the centrifugal and Coriolis forces in OrcaFlex. This theoryistechnicalandspecifictothewaypipesaremodelledinOrcaFlex.
Notation
contentsdensity rmassflowrate ainternalcrosssectionalarea lsegmentlength ppositionofnoderelativetofixedaxes vvelocityofnoderelativetofixedaxes uunitvectorindownstreamdirectionofline angularvelocityofmovingframerelativetofixedframe dx/dtrateofchangeofanyvariablexrelativetofixedaxes x'rateofchangeofanyvariablexrelativetomovingaxes Thecontentsmassperunitlengthisasotheflowvelocityisr/(a).
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Centrifugalforceonanodeduetoflowthroughanode
Firstconsideranodewithflowarrivingfromonedirection,u insay,andleavinginanotherdirection,uout.Foramid nodeuinanduoutaresimplytheunitvectorsinthedirectionsofthesegmentsbeforeandafterthenode.Forthefirst nodeuinistheenddirectionthisistakentobethesameasuoutiftheendisfreeandotherwiseistakentobetheno momentdirection.Similartreatmentisappliedtououtatthelastnode. Similarlyletainandaoutdenotetheinternalcrosssectionalareasontheinputsideandoutputside,respectively.ain forthefirstnode,andaoutforthelastnode,aretakentobethesameastheinternalcrosssectionareaoftheend segmenti.e.weassumenochangeininternalcrosssectionalareaatthelineends. Thencontentsflowintothenodeatmassflowraterandvelocityr/(ain)uinsotherateofinputofmomentumis r2/(ain)uin. The output mass flow rate is also r but the output velocity is r/(aout)uout so the rate of output of momentumisr2/(aout)uout.Theforceonthecontentsthatisrequiredtoachievethischangeinflowdirectionmust thereforebetherateofoutputofmomentumminustherateofinputofmomentum,i.e. r2/(aout)uoutr2/(ain)uin Theresultingcentrifugalforceonthenodemustbeequalandoppositetothis,so CentrifugalForceonNode=(r2/)(uin/ainuout/aout). Wecancheckthisresultintwoways.Firstly,ithasthecorrectunits: Units=[(M/T)2]/[(M/L3).(L2)]=ML/T2=F. Secondly,itmatchesthecentrifugaltermincludedinequation10seeGregory&Paidoussis,1996.
Coriolisforceduetomovementofasegment
Nowconsiderasegmentbetweentwonodesn1andn2andconsidertwoframesofreferenceafixedglobalframe and a moving local frame whose origin moves with node n1 and whose zaxis always points in direction u = unit vectorfromn1towardsn2. Considerthecontentsofasegment.Itsvelocityrelativetothemovingaxesis p'=(r/a)u Soitsvelocityrelativetothefixedaxesis v1+dp/dt =v1+p'+p Thereforeitsaccelerationrelativetofixedaxesis d(v1+p'+p))/dt =(v1+p'+p)'+(v1+p'+p) =0+0+'p+p'+v1+p'+(p) ='p+2p'+v1+(p) andofthesetermstheonlynewone,i.e.thatisdependentontherateofflowp'ratherthanp,istheterm2p'= 2(r/a)u. When multiplied by the mass of contents in the segment, la, this gives the Coriolis force on the segment,i.e.2lr(u). Butisgivenby =u(v2v1)/l sotheCoriolisforceisgivenby 2r(u(v2v1))u =2r((u.u)(v2v1)(u.(v2v1))u) =2r((v2v1)(udirectioncomponentof(v2v1))) =2r.(componentof(v2v1))normaltou). WethenapportionthistotalCoriolisforceonthesegmentintotwoequalpartsi.e.aforceof r.(componentof(v2v1))normaltou) oneachofthetwonodesattheendsofthesegment.
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Note:
AmidnodethereforereceivestwoCoriolisforcecontributionsoneeachfromthesegmentseither sidebutanendnodeonlyreceivesonesuchcontribution.
Theaboveresulthasthecorrectunits: Units=(M/T).(L/T)=ML/T2=F. anditagreeswiththeCoriolistermincludedinequation10seeGregory&Paidoussis,1996. Otherreferences: PaidoussisMP,1970 PaidoussisMP&DeksnisEB,1970. PaidoussisMP&LathierBE,1976.
6.11.13
LinePressureEffects
OrcaFlex reports two different types of tension the effective tension (Te) and the wall tension (Tw). These two tensionsarerelatedbytheformula Tw=C1.(Te+PiAiPoAo) where Pi=internalpressure.Piiscalculatedfromthecontentspressure,allowingforthestaticpressureheaddueto theinstantaneousheightdifferencebetweenthepointandthespecifiedreferenceZlevel. Po = external (i.e. surrounding fluid) pressure. Po is assumed to be zero at and above the mean water level. Below there it is calculated allowing for the static pressure head due to the instantaneous height difference betweenthepointandthemeanwaterlevel. Ai,Ao=internalandexternalcrosssectionareasofthestressannulus,respectively,givenbyAi=.ID2/4andAo =.OD2/4,whereIDandODarethestressdiametersofthelinetype. C1=tensilestressloadingfactor.Bydefaultthisequals1. Note: Where the stress ID or OD differ from the corresponding line type diameter, OrcaFlex (except release8.6aseeWhat'sNew)usesthestressdiameters,notthelinetypediameters,tocalculateAi and Ao. This is equivalent to assuming that the annulus between the stress OD and line type OD carriesanaxialloadwhichmatchestheambientexternalpressure,andtheannulusbetweenthe stressIDandthelinetypeIDcarriesanaxialloadwhichmatchestheambientinternalpressure. Beforeusingthewalltensionandstressresultsyoushouldconfirmthatthismodelissuitablefor thecaseyouaremodelling.Webelieveitissuitableformanycasesofattachedbuoyancyandfor nonstructurallinings,butitmaynotbesuitableforbondedbuoyancyorstructurallinings.Ifitis notsuitableyoushoulddoyourownseparatecalculationofwalltensionandstresses.
Warning:
ExplanationofWallTensionFormula Tounderstandthisformulaandthedifferencebetweeneffectivetensionandwalltension,considertheforcesacting axially at the midpoint of a segment. The nodes either side represent a length of pipe plus its contents. More importantly,theforcesonthemarecalculatedasifthelengthofpiperepresentedhadendcapswhichholdinthe contentsandwhichareexposedtotheinternalandexternalpressure.Thediagrambelowillustratesthisandshows thetensionandpressureforcespresent;theequationaboveissimplytheforcebalanceequationforthisdiagram.
Te Tw PiAi PoAo
Te PiAi PoAo Tw
node n
segment mid-point
node n+1
Figure:
TensionandPressureforces
152
Theory,LineTheory Botheffectivetensionandwalltensionarerelevanttothequestionofpipebuckling.Forbuckling ofthepipeasanEulerstrut,effectivetensionisthegoverningparameterwhenitisnegativethe strutisineffectivecompression.Ontheotherhand,localbucklingofthepipewallisdeterminedby walltension.(NotethatOrcaFlexdoesnotmodellocalbuckling,whichdependscriticallyondetails ofthepipeconstructionandisthereforebeyondthescopeoftheprogram.) For cables, umbilicals and ropes, the internal pressure term PiAi does not apply. However, the externalpressuretermPoAoisstillapplicable,andtheactualtensioninthecableisthewalltension asdefinedabove. Forchains,whichareinherentlydiscontinuous,thepressuretermsdonotapplyandtheeffective tensionisthetruetensioninthechain.
Notes:
6.11.14
PipeStressCalculation
OrcaFlexprovidesstressresultsthatapplyonlytosimplepipes.Moreprecisely,thestresscalculationassumesthat the loads on the line are taken by a simple cylinder whose inside and outside diameters are given by the stress diametersspecifiedonthelinetypesform.Italsoassumesthatthecylinderismadeofauniformmaterial.Thepipe stress results are therefore only valid for things like steel or titanium pipes they do not apply to composite structureflexiblepipes.Notethatthefatigueanalysisusesthepipestresses,sotheserestrictionsalsoapplytothe fatigueanalysis. Consideracrosssectionthroughamidsegmentpoint,asshowninthefollowingdiagram.Thediagramshowsthe frame of reference used for the crosssection, which has origin O is at the pipe centreline, Oz along the pipe axis (positivetowardsEndB)andOxandOynormaltothepipeaxis(andsointheplaneofthecrosssection).
R P C r
y (Theta=90)
Theta x (Theta=0)
End A
Stress ID
Stress OD
Side View
Figure: FrameofReferenceforStressCalculation
Cross-Section
TheOrcaFlexsimulationcalculatesthefollowingloadsthatareactingatthecrosssection: Internalandexternalpressures,PiandPorespectively. Effectivetensionandresultingwalltension.Thesearebothvectorsinthezdirection,withmagnitudesTeand Twrespectively. BendMoment,whichisavectorinthexyplane,withmagnitudeMandcomponentsMxandMyintheOxandOy directions,respectively. Shearforce,whichisalsoavectorinthexyplane,withmagnitudeSandcomponentsSxandSyintheOxandOy directions,respectively. Torque,whichisavectorinthezdirectionwithmagnitude. StressODandStressID=stressdiameters,asspecifiedonthelinetypesform.
Inadditionwedefinethefollowingterminology:
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A=crosssectionalstressarea=(/4).(StressOD2StressID2) Ixy=2ndmomentofstressareaaboutOx(orOy)=(/64).(StressOD4StressID4) Iz=2ndmomentofstressareaaboutOz=2.Ixy C1,C2,C3,C4=stressloadingfactors(C1=tensile,C2=bending,C3=shear,C4=torsional),asspecifiedontheline typesform.
Thestressgeneratedbytheaboveloadsvariesacrossthecrosssection.ConsiderthepointPinthecrosssection shownasablackdotinthediagram,whichcanbeidentifiedbyitspolarcoordinates(r,).AtP,wedefinealocalset ofaxes(R,C,Z)whereRisradiallyoutwards,Cisinthecircumferentialdirection(positiveinthedirectionofTheta increasing)andZisparalleltoOz. Withrespecttotheseaxes,thestressatPisasymmetric3x3matrixofstresscomponents(seePipeStressMatrix). OrcaFlexcalculatesthismatrixandthenderivesstressresultsfromit.
6.11.15
RRStress RCStress RZStress
PipeStressMatrix
RCStress CCStress CZStress RZStress CZStress ZZStress
ThepipematrixatpointP(seePipeStressCalculation)canbewrittenas:
Thesestresscomponentsarecalculatedasfollows.ForterminologyseePipeStressCalculation. DiagonalTerms The3diagonalentriesofthestressmatrix,RRStress,CCStressandZZStress,aretheradial,circumferential(orhoop) andaxial(orlongitudinal)stresses,respectively.

RadialandHoopStresses
RRStressandCCStressareduetotheinternalandexternalpressure.TheyarecalculatedusingLame'sequationfora thickwalled cylinder whose internal and external diameters are StressID and StressOD, as specified on the line typesform.Thisgives: RRStress=RadialStress=ab/r2 CCStress=HoopStress=a+b/r2 whereaandbarethevaluesthatsatisfy ab/(StressID/2)2=Piand a+b/(StressOD/2)2=Po. Notes: StressID and StressOD are by default equal to the ID and OD specified on the line type form. However, they can be set to be different to ID and OD. In this case the above calculation is equivalenttoassumingthatthematerialinbetweenIDandStressID,andbetweenStressODand OD, is transparent to pressure. The internal pressure therefore applies right through to the StressIDandtheexternalpressureappliesrightthroughtoStressOD. IfStressIDiszero,thenOrcaFlexassumesthatexternalpressureappliesthroughoutthestructure i.e.thatRRStress=CCStress=Po.
AxialStress
ZZStressistheaxialstressandisgivenby: ZZStress=DirectTensileStress+BendingStress wheretheDirectTensileStressisthecontributionduetowalltensionandBendingStressisthecontributiondueto bendmoment.Thewalltensionisassumedtobeuniformlydistributedacrossthestressarea,soitscontributionis givenby: DirectTensileStress=Tw/A Thebendmomentcontributionvariesacrossthecrosssectionandisgivenby: BendingStress=(C2.Mx.r.sinC2.My.r.cos)/Ixy
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OffDiagonalTerms The6offdiagonaltermsaretheshearstresses,butthereare infactonly3independentterms,sincethematrixis symmetric.Theyaregivenby: RCStress=0 RZStress=(C2.Sx.cos+C2.Sy.sin)/A CZStress=C3..r/Iz+(C2.Sy.cosC2.Sx.sin)/A The contribution C3..r / Iz in the above equation is the shear stress contribution due to torque. If torsion is not includedinthemodel,thenitiszero.Theothercontributionsarebothduetotheshearforce,whichisassumedto beuniformlydistributedacrossthestressarea. Finally,fortwousefulreferencesonthissubject,seeSparks(1980)andSparks(1983).
6.11.16
Drag
HydrodynamicandAerodynamicLoads
Bothhydrodynamicandaerodynamicdragforces,usingMorison'sEquationareappliedtotheline.Thesamedrag formulationisusedforhydrodynamicandaerodynamicdragforces. Note: Aerodynamic drag is only included if the Include wind loads on Lines option is enabled in the Environmentdata.
Thedragforcesappliedtoalinearecalculatedusingthecrossflowprinciple.Thatis,thefluidvelocityrelativeto thelineVrissplitintoitscomponentsVnnormaltothelineaxis,andVzparalleltothelineaxis.Thecomponentsof dragforcenormaltothelineaxisarethenbasedonVn,anditsxandycomponentsVx,Vy.Thecomponentofdrag forceparalleltothelineaxisisbasedonVz. Thedragforceformulaeusedragcoefficients,Cdx,CdyandCdz,andthedragareasappropriatetoeachdirection.The dragcoefficientsarespecifiedonthelinetypedataform,butcanalsobemodifiedtomodelwakeinterferencefrom otherlinesupstream. Forthedirectionsnormaltothelineaxis(xandy)thedragareaistakentobetheprojectedareaDnLwhereDnisthe normalDrag/LiftdiameterandListhelengthoflinerepresentedbythenode.Fortheaxialdirectionthedragarea istakentobetheskinsurfaceareaDaLwhereDaistheaxialDrag/Liftdiameter. Thereisachoiceofthefollowingthreepossibledragformulationsforthedragforcecomponents(Fx,Fy,Fz)inthe local line directions. The formulations differ in how the drag force components vary with the incidence angle betweentheflowandthelineaxialdirection.TheformulationsarereviewedinCasarellaandParsons. Intheformulaebelow =fluiddensity P=proportionwetorproportiondry,asappropriate.
StandardFormulation
Fx=P((DnL)CdxVx|Vn|) Fy=P((DnL)CdyVy|Vn|) Fz=P((DaL)CdzVz|Vz|) ThisformulationisthemostcommonlyusedandwastheformulationusedbyversionsofOrcaFlexbeforeachoice of formulation was introduced. It has been proposed or used by various authors, including Richtmyer, Reber and Wilson.Itisappropriateforgeneralflowconditions.
PodeFormulation
Fx=sameasstandardformulaforFx,above Fy=sameasstandardformulaforFy,above Fz=+/P((DaL)Cdz|V|2) wherethesignofFz,i.e.whetheritistowardsEndAofthelineortowardsEndB,isthesameastheaxialcomponent oftherelativeflowvector. Thisformulationispreferredbysomeanalystsforsystemswithneartangentialflow.
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Warning:
The Pode formula for Fz is discontinuous at = 90, since then the axial component of the flow vectoriszeroandsothedirectionofFzisundefined.InthiscaseOrcaFlexsetsFztozero.
EamesFormulationforbarecables
Fx=P((DnL)CdxVx|Vn|+(DaL)CdzVx(|V||Vn|)) Fy=P((DnL)CdyVy|Vn|+(DaL)CdzVy(|V||Vn|)) Fz=P((DaL)CdzVz|V|)

DragForceVariationwithIncidenceAngle
Theaboveformulaeforthedragforcecomponentscanberewritteninaformthathighlightshowthedragforce varieswithincidenceangle. Consider the case where the line is axially symmetric, i.e. Cd x = Cdy = Cdn say, and let be the incidence angle betweentheflowvectorVandthelineaxis.ThenVz=VcosandVn=Vsin.Also,let: R=P((DL)Cdn|V|2) =Cdz/Cdn=(dragforceinaxialflow)/(dragforceinnormalflowofsamevelocity) Fn=thenormalcomponentofthedragforce. Thentheformulationscanbeexpressedasfollows. Standard: |Fn|=Rsin2 Pode: Eames: |Fn|=Rsin2 |Fn|=R{(1)sin2+sin} |Fz|=R.cos2 |Fz|=R |Fz|=Rcos
DragcoefficientvariationwithReynoldsnumberandHeightaboveseabed
The normal dragcoefficients Cdx and Cdy can be specified to varywith Reynolds number. The variable data table specifiesthedragcoefficientasafunctionofReynoldsnumber,Cd(Re). Reynoldsnumbercanbecalculatedinanumberofdifferentways,asspecifiedbytheReynoldsnumbercalculation data. You should set the Reynolds number calculation data to match the data source used for your variable drag coefficientdata. AlternativelythenormaldragcoefficientscanbespecifiedtovarywithHeightaboveSeabed,h.Wedefinehtobe the vertical height above the seabed of the underside of the node, allowing for contact diameter. The actual drag coefficientusedbytheOrcaFlexcalculationisgivenby: Cd=Cd2+(1)Cd1 where Cd1istheDragCoefficientontheSeabed, Cd2istheDragCoefficientawayfromtheSeabed, istheDragVariationFactor. Thesedataarealldefinedonthevariabledataform. The drag variation factor is a function of the normalised height above the seabed, h/Dn. For nodes lying on the seabedCdshouldequalCd1.Inthiscaseh/d=0andso(0)shouldequal0.Similarly,fornodeswellawayfromthe seabedweexpectCdtobeequaltoCd2andsoshouldequal1forlargevaluesofh/Dn. ThedragcoefficientsCd1andCd2canbespecifiedasvaryingwithReynoldsnumberwhichallowsspecificationofa dragforcewhichvarieswithbothReynoldsnumberandHeightaboveseabed. Lift Thehydrodynamicliftforceisdefinedtobe: FLIFT=P|unuz|((DnL)Cl|Vt|2)ul where unistheunitvectorintheseabedoutwardnormaldirection. uzistheunitvectorinthenodezdirection.
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utistheflowdirectionforliftpurposes=(unuz)/|unuz|.Thisisthetransversedirectionthatisnormalto thelineaxisandintheseabedplane. ulistheliftforcedirection=uzut.Thisisthedirectionnormaltothelineaxisandintheplaneofthataxis andtheseabednormal. Clistheliftcoefficient. VtiscomponentofVrinthetransversedirectionut. Theliftforcemagnitudehasbeenscaledby|unuz|.Thisscalingfactorisequaltocoswhereistheangleofthe lineaxistotheseabedplane.Thepurposeistoscaledowntheliftforceasthelineaxisbecomesmoreinclinedtothe seabedplane.Ifthelineaxisisparalleltotheseabedplanethisfactoris1andsoithasnoeffect.Butasthelineaxis inclinestotheseabedplanethefactorreduces,untilwhen=90thefactoriszeroandsonoliftforceisapplied. AnotherwayofthinkingaboutthisfactoristhatitgeneralizesthestandardliftforceformulaFLIFT=(DnLCl|Vt|2)ul tocaseswherethelineaxisisinclinedtotheseabed.Theeffectoffactorisequivalenttoassumingthatthestandard liftforceformulagivestheliftforceperunitprojectedlength,insteadofperunitarclength.Byprojectedlengthwe meanthelengthoftheprojectionofthenodeontotheseabedplane.
LiftcoefficientvariationwithReynoldsnumberandHeightaboveseabed
TheliftcoefficientcanbespecifiedtovarywithReynoldsnumberinanidenticalmannertodragcoefficients. Reynoldsnumbercanbecalculatedinanumberofdifferentways,asspecifiedbytheReynoldsnumbercalculation data. You should set the Reynolds number calculation data to match the data source used for your variable lift coefficientdata. Alternatively the lift coefficient can be specified to vary with Height above Seabed. In this case the actual lift coefficientusedbytheOrcaFlexcalculationisgivenby: Cl=Cl1 where Cl1istheSeabedLiftCoefficient, istheLiftCoefficientDecayFactor. Thesedataarealldefinedonthevariabledataform. Theliftcoefficientdecayfactorisafunctionofthenormalisedheightabovetheseabed,h/Dn.Fornodeslyingon theseabedClshouldequalCl1.Inthiscaseh/d=0andso(0)shouldequal1.Fornodeswellawayfromtheseabed thelifteffectdiesawayandweexpectCltobeequalto0.Soshouldequal0forlargevaluesofh/D. The lift coefficient Cl1 can be specified as varying with Reynolds number which allows specification of a lift force whichvarieswithbothReynoldsnumberandHeightaboveseabed. AddedMass The added mass effects on a line are calculated separately for the local x, y and zdirections. For each of these directions,thelineissubjecttotwoaddedmasseffects: Itseffectivemassisincreasedby Ca.(DisplacedMass) whereDisplacedMassisthemassofthefluiddisplaced(takingintoaccounttheproportionwet)andCaistheadded masscoefficientspecifiedforthatdirection.Asaresult,if thelineacceleratesthenitexperiencesanextrainertial force(duetoaddedmass)givenby Ca.(DisplacedMass).AL whereAListhecomponent(inthatdirection)oftheaccelerationoftheline(relativetotheearth). Ifthefluidisacceleratingthenthelineexperiencesafluidaccelerationforcegivenby (1+Ca).(DisplacedMass).AF whereAFisthecomponent(inthatdirection)oftheaccelerationofthefluid(relativetotheearth). Thefluidaccelerationforceissometimeswrittenas: Cm.(DisplacedMass).AF
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whereCm=1+Ca.Itcanalsobesplitintotwoterms: (DisplacedMass).AF+Ca.(DisplacedMass).AF wherethefirsttermiscalledtheFroudeKrylovforceandthesecondtermiscalledtheaddedmassforce.

FluidFlow
IfthemassflowrateoftheLineisnonzerothenthecentrifugalandCorioliseffectsduetothisflowareincluded.
6.11.17
DragChains
Adragchainisanattachmenttoalinethatappliesaforcetothenodetowhichitisattached.Theforceconsistsof thetensioninthedragchainandsoisinthedirectioninwhichthechainishanging.Thisdirectionisdeterminedby therelativevelocityofthewaterpastthechainthefastertheflowthenthegreatertheangleofthedragchainto thevertical.Thisisnowdescribedinmoredetail.
A Connection to Line
Vn V Va
=-90
Drag Chain
Wn W
Wa
180-
Figure:
DragChain
Considerthedragchainshownintheabovediagram. Let D=dragchaineffectivediameter L=dragchainlength =dragchaindeclinationfromvertical V=horizontalrelativevelocity=(horizontalfluidvelocityatA)(horizontalnodevelocityatA). ThentheincidenceanglebetweenthehorizontalrelativevelocityvectorVandthedragchainis=90andthe normalandaxialdragforcesaregivenby: Fn=normaldragforce=0.5..L.D.Cdn().Vn.|Vn| Fa=axialdragforce=0.5...L.D.Cda().Va.|Va| where Vn=normalcomponentofrelativevelocity=|V|sin Va=axialcomponentofrelativevelocity=|V|cos =waterdensity Cdn(),Cda()=normalandaxialdragcoefficientsforthisincidenceangle. Theinertiaofthedragchainisassumedtobesmallenoughto beneglected,soweassumethatthedragchainis alwaysinequilibriumundertheactionof3forces: Thechain'swetweight,W.
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Thefluiddragonthechain. Thetensionbeingappliedbythelineatthetopofthechain.
Because the tensile force being applied by the line is axial to the chain, the components of wet weight and drag normaltothechainmustbalance.Inotherwords,thedirectioninwhichthedragchainhangsisthatinwhichthe chain is in force balance in the direction normal to the chain. The remaining net force on the chain in the axial direction,Fa,isthenappliedtotheline. OrcaFlexthereforehangsthechaininthesameverticalplaneastherelativevelocityvectorVandatangletothe vertical.OrcaFlexcalculatestheanglebyiteratinguntilthesumofthenormalcomponentsofdragforceandwet weightiszero. DragChainSeabedInteraction Dragchains,inOrcaFlex,interactwiththeseabedinafairlysimplisticwaythatisdesignedtoachievethefollowing twoprimaryeffectsofseabedinteraction: Firstly,thatasthechainislowereddownontotheseabed,thewetweightofthechainissteadilyreducedasthe chainbecomessupportedbytheseabed. Secondly,thatifthechainisdraggedacrosstheseabedthenanopposingfrictionforceRisgenerated,where isthefrictioncoefficientandRistheseabedreaction. Atanygiventime,OrcaFlexfirstcalculateshowmuchofthedragchainwouldbesupportedbytheseabed.It assumesthatthechainhangsverticallystraightdownfromtheline.Thedragchainisthenconsideredasbeing madeupoftwopartsthesupportedpartandtheremaininghangingpart. Thehangingpartofthechainisthenanalysedasdescribedabove. Thesupportedpartofthechainismodelledasifitislyingontheseabeddirectlybeneaththenodetowhichthe chainisattached.Asthenodemoveslaterally,thesupportedchainalsomoveslaterally(butbelowthenode) andsogeneratesafrictionforcethatisthenappliedtothenode.
Theseabedinteractionmodelusedisasfollows:
Note that the division of the drag chain into a hanging length and a supported length is done before the hanging lengthisanalysed,andsoisdonewiththechainvertical.Thismeansthatifcurrentdragcausesthechaintohangat anangletotheverticalthenthesupportedlengthwillgenerallyhavebeenoverestimatedandthehanginglength correspondinglyunderestimated.Thisisaninaccuracythatcannoteasilybeavoidedatthemoment.
6.11.18
LineEndConditions
ExceptforFreeEnds,theconnectionatthelineendismodelledasanisotropic'balljoint'witharotationalstiffness andapreferred'nomoment'direction.Arotationalstiffnessofzerosimulatesafreelyrotatingend,andavalueof Infinitysimulatesaclampedend. Theinclusionofendstiffnessallowstheprogramtocalculatethecurvatureandbendingmomentatthetermination. Ifthecurvatureislarge,thecalculatedvalueisaccurateonlyifsufficientlyshortsegmentshavebeenusedtomodel thelinenearitsend. OrcaFlex reports a value for End Force and End EzAngle. These are the magnitude of the end force, and the magnitudeoftheanglebetweentheendforcevectorandthenomomentdirection.Vesselmotionisautomatically accountedfor.Theendforceandanglevaluesprovidethebasisforthedesignofendfittingssuchasbendstiffeners. SeeModellingLineEnds.
6.11.19
InteractionwiththeSeaSurface
OrcaFlex Lines are subdivided into segments, and the various forces are attributed to nodes at each end. For a partiallysubmergedsegment,thehydrostaticandhydrodynamicforcesareproportioneddependingonhowmuch ofthesegmentissubmergedtheProportionWet(PW).ProportionWetisavailableasalineresultvariable.We alsodefineProportionDry(PD)asPD=1PW. Forasegmentwhoseaxisisnormaltothesurface,theProportionWetcouldbecalculatedfromtheintersectionof thesegmentcentrelineaxiswiththefreesurface.However,thissimpleapproachbreaksdownwhenthesegmentis tangenttothesurface. Forthisreason,OrcaFlexusesasimplebuteffectivemodificationofthisconcept.Insteadofusingthecentrelineaxis, weusethediagonallinejoiningthehighestpointonthesegmentcircumference,atthe'dry'end,withthelowest
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w
A B
pointatthe'wet'end;seethediagonallineinthefigurebelow.Asthesegmentpassesthroughthetangentposition, thediagonallineswitchescornersbuttheproportionwetvariescontinuously.Theintersectionofthediagonalline withthesurfacecontinuestogivetheappropriateProportionWetresult,andthehydrostaticanddynamicforces areattributedtotheappropriatenode.
Proportion Wet = B / (A+B)
Figure: ProportionWetforasurfacepiercingsegment
This surfacepiercing model enables OrcaFlex to model systems such as floating hoses, containment booms and wavesuppressionsystems.Howeverpleasenotethefollowingpointswhenmodellingsuchsystems: A consequence ofthis model is that a hose floats in still waterasawallsided body; in other wordsOrcaFlex doesnottakeaccountofthevariationinwaterplaneareawithdraftthatarisesfromthecircularcrosssection. Forcasesofpracticaldynamics,thissimplificationisofminorimportance,butitdoesmeanthatifyoucheckthe immersiondepthofahoseinstillwateryoumayfindtheanswerslightlywrongifthehoseisverybuoyant,or justawash. Whenmodellingfloatinghoses,itisimportanttohaveenoughsegmentstomodelthelocalcurvature.Ifyour hose is flexible, and the waves are short, then you will need at least ten and preferably twenty segments per wave to model the curvature properly. However a stiff hose tends to bridge the wave troughs, and fewer segmentsarerequired. The programuses constant drag andadded mass coefficients for the floating hose, and the user has to select appropriatevaluesbasedontheaverageimmersiondepth.Unfortunatelytheliteratureisoflimitedhelpifyou knowofanygooddatasource,wewouldbeverypleasedtohearofit.
6.11.20
InteractionwithSeabedandShapes
NodesarealsosubjectedtoreactionforcesfromtheseabedandanyShapeswithwhichtheycomeintocontact.The contactoccursattheouteredgeoftheline,asspecifiedbythecontactdiameter.Thereactionforceisgivenby: Reaction=KAd where KistheStiffnessoftheseabedorshape, disthedepthofpenetration,allowingforthecontactdiameter, Aisthecontactarea,whichistakentobecontactdiametermultipliedbythelengthoflinerepresentedby thenode. Inaddition,nodesexperienceadampingforce.FordetailsseeSeabedTheoryandShapesTheory. Finally,frictionforcescanalsobeincluded.
6.11.21
Clashing
OrcaFlexincludesthecapabilitytomodelclashingbetweenlines.Toincludeclashmodellingbetweentwolines,you mustsetClashCheckto"Yes"andsettheContactStiffnesstoanonzerovalue,forbothlines.Youcanalsospecify theContactDampingvalue. The facility to suppress clash modelling (by setting Clash Check to "No") has been included because the clashing algorithm is time consuming. It is therefore best to suppress clash modelling on all sections that will never clash withotherlines,orifyouarenotinterestedintheeffectsofclashing.
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Theory,LineTheory
OrcaFlex assumes constant spring stiffness and damping values, and neglects friction. The force algorithm is described below. It pushes lines apart again if they try to pass through another, and it permits lines to separate againaftercontact.Multiplecontactpointsalongthelinelengthareallowedfor,butclashesofonepartofalinewith anotherpartofthesamelinearenotmodelledatpresent. Clashingbehaviourcanbedifficulttounderstandanditisnotalwaysobviouswhattheresultsmeanandhowthey shouldbeusedinpractice.Thisisadevelopingareaandwewouldappreciatefeedbackfromusers.Thefollowing notesexpandonthewaythecalculationsarecarriedoutbythesoftwareandgiveoursuggestionsoninterpretation. Note: Lineclashingisnotmodelledduringstatics.
CalculatingtheClashForce OrcaFlex checks for clashing between each line segment and every segment in every other line in the OrcaFlex model(providingcheckcheckingisenabledandthecontactstiffnessisnonzero,forbothsegmentsinvolved).Note thatOrcaFlexdoesnotcheckforclashingbetweentwosegmentsofthesameline,soitdoesnotmodelclashcontact ofalinewithitself. TheclashcheckbetweensegmentS1(onlineL1)andsegmentS2(onadifferentlineL2)isdoneasfollows.Letthe radiiofthetwosegmentsber1andr2(asdefinedbythelinetypecontactdiameter).FirstOrcaFlexcalculatesthe shortestseparationdistance,d,betweenthecentrelinesofthetwosegments.Ifd(r1+r2)thenthelinesarenotin contactandnocontactforceisapplied. Ifd<(r1+r2)thenthelinesareincontact.InthiscaseOrcaFlexappliesequalandoppositeclashcontactforcesto the2segmentstopushthemapart,asfollows.Letp1andp2bethetwopointsofclosestproximityi.e.p1isonthe centrelineofsegmentS1andp2isonthecentrelineofsegmentS2,andthesearethetwopointsthatareminimum distancedapart.Also,letubetheunitvectorinthedirectionfromp1towardsp2.Thenthemagnitudeoftheclash contactforceappliedisgivenby: F=(StiffnessTerm)+(DampingTerm) wherethetwotermsontherightaredocumentedbelow.AforceofthismagnitudeFisappliedtosegmentS1,atp1, indirectionu.AndtheequalandoppositeforceisappliedtosegmentS2,atp2,indirection+u. Thestiffnesstermisgivenby: StiffnessTerm=k.(d[r1+r2]) where k = 1/(1/k1+1/k2) is the combined contact stiffness of the segments. Here k1 and k2 are the contact stiffnessesofthetwosegments,asspecifiedintheLineTypesdata. Thedampingtermisbasedontherateofpenetration,v,whichistheudirectioncomponentofp1'svelocityrelative to p2. If v0 then the two segments are moving apart and then no damping force is applied. If v>0 then the penetrationisincreasingandthedampingtermisthengivenby: DampingTerm=cv wherecisthecombinedcontactdampingvalueofthetwosegments,whichisgivenby: c=0ifc1=0orc2=0 c=1/(1/c1+1/c2)otherwise. Herec1andc2arethecontactdampingvaluesofthetwosegments,asspecifiedintheLineTypesdata. HowtheClashForceisAppliedandReported Ingeneral,clashingwilltakeplacebetweenonesegmentofonelineandonesegmentofanother(theprobabilityofa clash occurring exactly at a node is very small unless you take special measures to make it happen). OrcaFlex determinestheforceasjustdescribed,andreportstheforceasasegmentvariablei.e.whenyouaskfortheclash forceataparticulararclengthalongtheline,theforcereportedistheclashforceforthesegmentwhichcontainsthe specifiedpoint. IfmultipleclashesoccursimultaneouslyonthesamesegmentthentheLineClashForcereportedisthemagnitude ofthevectorsumoftheclashforcesinvolved. IntheOrcaFlexmodel,allforcesactatthenodes,sotheclashforcehastobedividedbetweenthetwonodesatthe endsofthesegmentinwhichtheforceacts.Theforceisdividedinsuchawaythatthemomentsofthetwoforces aboutthecontactpointareequalandopposite.
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InterpretingtheResults Contactbetweenlinescanbeaviolentimpactathighrelativevelocity,oragentledriftofonelineagainstanother,or anythinginbetween.Weneedtoviewtheresultsindifferentwaysfordifferentsortsofcontact.Thefollowingnotes givesomegeneralguidancebasedonourexperience,butindifficultcasesitisessentialthatusersdeveloptheirown understandingoftheunderlyingphysics,andconfirmitbysensitivityanalysis. OrcaFlexprovidesthreemeasuresoftheseverityofaclashevent: 1. 2. 3. Clashforce. Clashimpulse(integralofcontactforcetimestimeameasureofmomentumtransfer). Clashenergy(calculatedbyintegratingthemagnitudeofclashforcewithrespecttodepthofpenetration). TimeHistoriesofClashforceandClashimpulse. RangeGraphsofClashforce. The Line Clashing Report contains Clash force, Clash impulse and Clash energy, together with a host of other detailsaboutclashevents.
Thereare3typesofOrcaFlexresultswhichcanbeusedforanalysingclashing:
LowSpeedContact
Whereonelinedriftsquiteslowlyagainstanotherasaresultofweightordragforces,thenthecontactisessentially quasistatic.Theclashforceatthepointofcontactisthebestmeasureofwhatishappening,andwillbeinsensitive tosegmentationandcontactstiffness.

HighSpeedImpact
Thecaseofviolentimpactathighspeedismuchmorecomplicated.Contactforcesarresttherelativemovementof thelinesoveraveryshorttimeinterval.Momentumistransferredfromthefastermovingtotheslowermovingline. Kineticenergyatthemomentofimpactisconvertedpartlytolocalstrainenergyatthepointofcontact,andpartly toaxialandbendingstrainenergyelsewhereinthelines. Ifthediscretisationofthelinesissufficientlyfine,thecontactstiffnessvalueiscorrect,andcontactdampingissmall, then OrcaFlex models the impact correctly, and all the reported results (force, impulse, energy) are correct. In practice,however,contactstiffnessisrarelyknownwithanyprecision,anditmaynotbepracticabletodiscretise thelinesufficientlytorepresentthedeformationoftheline axially,orparticularlyinbending,followingaviolent impact. (Deformation of the colliding cross sections is represented by the contact stiffness.) Under these circumstances, we need a measure of clash severity which is both meaningful for engineering purposes, and insensitivetodiscretisationandcontactstiffness.Ofthethreemeasuresavailable: Maximumclashforcereduceswithreducingcontactstiffnessandisusuallytheleastreliablemeasure. Impulseisgenerallyinsensitivetochangesincontactstiffness,thoughthismaybemaskedwherethechangein stiffnesscausesachangeinthecharacteroftheimpact.(Forexample,ahighcontactstiffnessmaygiverisetoa singleimpactfollowedbyalargerebound.Reducingstiffnesscanreducethereboundtosuchanextentthatthe single impact is replaced by a double impact.) Impulse is also fairly insensitive to changes in segmentation. Unfortunately,however,impulseisnotaconvenientmeasureforengineeringpurposes. Energyisthemostconvenientpracticalmeasureofpotentialdamage.Thismaybesensitivetocontactstiffness, wherethereisafairlyequaldistributionofstrainenergybetweencontactandotherelasticdeformationsofthe system, but if contact strain energy is the dominant component, then sensitivity is reduced. Contact strain energy is also sensitive to discretisation: longer segments give higher values of contact strain energy. This means that the reported strain energy for a coarsely segmented model is generally conservative. In practical cases, it may be possible to reduce segment length sufficiently to show that contact strain energy is below damaginglevels,withoutneedingtogototheveryfinediscretisationwhichmightberequiredforanaccurate value.
Damping
LineardampingisincludedintheOrcaFlexcontactmodel,andcontributestothereportedclashforce,impulseand energyresults.
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6.11.22
ModalAnalysis
Themodelanalysiscalculatesthe undampednaturalmodesofasingleline.Eachfreenodeintheline(i.e.nodes thataremidnodesorfreeendnodes)has3degreesoffreedom(foralinewithtorsionnotincluded).AlinewithN free nodes therefore has 3N degrees of freedom, and as a result the discretised model of the line has 3N natural modes.Thesemodesaregivenindecreasingorderofperiodandarenumberedstartingfrom1. Notethattheanalysiscalculatesthenaturalmodesofthediscretisedmodel,notthoseof therealcontinuousline. However the discretised modes are close to the continuous ones and for any given mode number the accuracy improvesasmoreandmoreelementsareusedtomodeltheline.Foranygivenlevelofdiscretisationtheaccuracyis betterforthelowermodesandprogressivelyworsensasyougotohigherandhighermodes.Thehighestnumbered modes are unlikely to be realistic since they are oscillations whose wavelengths are of the same order as the segmentlength. Typicallythereare3typesofnaturalmodelateralinplane,lateraloutofplane,andaxial.Thefirsttwomodesare oftenthesimpleoutofplaneandinplane'fundamentals'i.e.themodeswherethewholelineswingstoandfro together and the graph of displacement against arc length consists of just 1 half cycle. Then follow the higher harmonics,bothinplaneandoutofplane,withprogressivelymoreandmorehalfcyclesofdisplacementalongthe line length. The axial modes usually have much higher frequencies andsothey are usually found among the high numbermodes. Ifthelinehangsinoneoftheglobalaxisplanesthenyoucanoftendistinguishwhetheramodeisinplaneoroutof planebylookingatthepatternofzerosinthetableofdisplacements.ForexampleifthelinehangsintheXZplane thentheoutofplanemodeshavenonzeroYdisplacementsbutzero(orverysmall)XandZdisplacements,and theinplanemodeshavetheoppositepatternofzeros.
NonSymmetricEffects
Seabedfrictionisanonconservativeforcethatintroducesnonsymmetrictermsintothelinestiffnessmatrix.The OrcaFlexmodalanalysiscanonlyhandleasymmetricstiffnessmatrix.TodealwiththisproblemOrcaFlexdoesthe modalanalysisusingthesymmetricpartofthematrix,givenby(K+KT)/2.Thisisanapproximationthatneglects thenonsymmetriceffectsoffriction,soOrcaFlexwarnsyouifthisapproximationisbeingdone.

OutlineTheory
Modal analysis is a standard technique that is welldocumented in the literature, but here is a brief outline. First considerasingledegreeoffreedomsystemconsistingofamassattachedtoalinearspring.Theequationofmotion is: Mx''(t)=Kx(t) wherex(t)istheoffset(attimet)frommeanposition,x''(t)istheacceleration,MisitsmassandKisthestiffnessof thespring.Notethatthisanalysisneglectsdampingandsotheresultsarereferredtoastheundampedmodes.The effectofdampingisusuallysmall. The solution of the equation is known to be simple harmonic, i.e. of the form x(t) = a.sin(t), where a and are unknownstobefoundbysolvingtheequation.Differentiatingx(t)gives: x''(t)=2.a.sin(t) sowhenwesubstituteintotheequationofmotionweobtain: M.2.a.sin(t)=K.a.sin(t)(1) whichcanberearrangedtogive: =(K/M). ThisistheangularfrequencyoftheoscillationandsothenaturalperiodTisgivenby: T=2..(M/K) Forthissimpleharmonicoscillatorthereisjustasingleundampednaturalmode,correspondingtothesingledegree offreedom.Foracontinuousriserthereareaninfinitenumberofdegreesoffreedom,andhenceaninfinitenumber ofundampednaturalmodes,butcomputermodelsinevitablyhavetousediscretisedmodelswithafinitenumberof degreesoffreedom.InOrcaFlexalinehas3Ndegreesoffreedom,whereNisthenumberofnodesthatarefreeto move,sothediscretisedmodelhas3Nundampednaturalmodes.
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Theory,6DBuoyTheory
Inthissituationtheaboveequationsstillapply,buttheynowhavetobeinterpretedasmatrix/vectorequations. andTremainscalars,buta,xandx''becomevectorswith3Nelements,andMandKbecomematriceswith3Nrows and3Ncolumns. Equation(1)thenturnsouttohave3Nsolutions,theithsolutionbeingiandai,say,whereiisascalarandaiisa vectorwith3Ncomponents.Thisithsolutioniscalledtheithnaturalmode.Itisanoscillationofthelineinwhichall thedegreesoffreedomoscillateatthesameangularfrequency i.Butdifferentdegreesoffreedomhavedifferent amplitudes,givenbythecomponentsofai,andthisamplitudevariationiscalledthemode'sshape.
6.12
6.12.1
6DBUOYTHEORY
Overview
Thisandsubsequenttopicsgivetheformulaeusedfortheforcesandmomentsappliedtoa6Dbuoy.Notethatfora spar buoythere is also more detaileddocumentationavailable askOrcinafor the article 'SparBuoy Equation of Motion'. The buoy is treated as a rigid body with 6 degrees of freedom, 3 translational and 3 rotational. The equation of motionhasthefollowingcontributions. Weight TheweightforceofMass.gisappliedatthecentreofmass. Buoyancy
Lumpedbuoys
Thebuoyancyforceonalumpedbuoyisgivenby: BuoyancyForce=.g.WettedVolume where: istheseadensity. WettedVolumeisgivenbyPW.VolumewhereVolumeisasspecifiedonthebuoydataform. PWisthe'proportionwet'forthelumpedbuoy.Thisistakentobe1whenthecentreofvolumeisHeight/2or morebelowthewatersurface,0whenthecentreofvolumeisHeight/2ormoreabovethewatersurface,and varieslinearlywithimmersionbetweenthesetwolimits. Height.(1PW)/2 belowthespecifiedcentreofvolume. Warning: ForLumpedBuoysthereisnocontributiontorollandpitchstiffnessfromfreesurfaceeffectswhen the buoy pierces the surface, since OrcaFlex has no information regarding the actual body geometry.StaticstabilityofafloatingLumpedBuoyisthereforenotcorrectlyrepresented.
Thisbuoyancyforceisappliedverticallyupwardsatthecentreofwettedvolume,whichistakentobe
SparbuoysandTowedFish
Forsparbuoysandtowedfish,separatebuoyancyforcesarecalculatedandappliedtoeachcylinder.Thebuoyancy forceonanindividualcylinderisgivenby: BuoyancyForce=.g.WettedVolume whereWettedVolumeisthevolumeofthatpartofthecylinderthatisbelowthewatersurface.Thisforceisapplied verticallyupwardsatthecentroidofthatwettedvolume. Note: If added mass and damping of a stacked buoy is specified by Values for Each Cylinder then the instantaneous water surface is used for this buoyancy calculation. But if the added mass and dampingisspecifiedbyRAOsandMatricesforBuoythenthe(horizontal)meanwatersurfaceis used;thisexcludeswavebuoyancyeffects,whichareassumedtobeincludedintheRAOs.
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HydrodynamicLoads In general, the hydrodynamic loads are calculated using Morison's equation with additional components as discussed below. The exception to this is if the added mass and damping effects on a spar buoy are specified by givingwaveloadRAOsandaddedmassanddampingmatrices. Foralumpedbuoythehydrodynamicloadsonthebuoyarecalculatedandappliedatthebuoycentreofvolume. These loads are scaled by the buoy Proportion Wet and applied at the buoy centre of volume. For details see LumpedBuoyTheory:AddedMass,DampingandDrag. For a spar buoy or towed fish the calculation of hydrodynamic loads depends on the form of added mass and dampingchosen. IftheaddedmassanddampingarespecifiedbyValuesforeach cylinder,thenallthehydrodynamicloadsare calculated and applied separately on each cylinder. The hydrodynamic load on a cylinder is applied at the centroidofwettedvolumeofthecylinderandisscaledbytheProportionWetofthecylinder.Thewatersurface isassumedtobethetangentplanetotheinstantaneouswavesurfacedirectlyabovethecentreofthecylinder; thisthereforeallowsforthebuoyancyvariationduetothewave. If the added mass and damping are specified by RAOs and matrices, then the wave loads, added mass and dampingarecalculatedforthewholebuoy,usingthespecifiedRAOsandmatrices,andtheyareappliedatthe specified RAO, Added Mass and Damping Origin. The buoyancy and drag loads are calculated and applied for eachcylinder,asdescribedabove,exceptthatinthiscasethebuoyancyloadiscalculatedusingthe(horizontal) mean water surface instead of the instantaneous wave surface. The effect of this is to exclude the wave contributiontobuoyancyload,whichisassumedtobeincludedinthespecifiedwaveloadRAOs.
FordetailsseeSparBuoyandTowedFishTheory:AddedMassandDampingandSparBuoyandTowedFishTheory: Drag.
HydrodynamicDamping(linear)
You can apply additional damping forces and moments that are directly proportional to the fluid velocity and angularvelocityrelativetothebuoy.SeeLumpedBuoyDampingandSparBuoyandTowedFish:AddedMassand Damping. The main use of these terms is to represent wave radiation damping for surface buoys. Values may be obtained theoreticallyfroma3Ddiffractionmodelofthebodyor,morecommonly,fromempiricalresultssuchasarolldecay test.
HydrodynamicMoments
Rotation of the body relative to the fluid generates hydrodynamic moments which are analogous to the hydrodynamicforcesgivenbyMorison'sequation.OrcaFlexincludesfacilitiesforcalculatingthesemoments. For Lumped Buoys, rotational hydrodynamic properties are included for damping, drag and added inertia components.ForSparBuoys,dragmomentdataonlyareincluded. Inallcases,thefluidmomentsarecalculatedbyreferencetothelocalangularvelocityandaccelerationofthefluid, defined as the angular velocity and acceleration of the local water isobar. The resulting moments are correct for rotationalmotionsofthebodyitself,andgiveagoodrepresentationofmomentsduetowaveswherethemoments derivefromverticalfacingareas,e.g.discusbuoys.However,theformulationgivesapoorrepresentationofwave induced moments which derive from horizontallyfacing areas. The difficulty arises because there is no unique definitionoffluidangularvelocityandangularaccelerationatapoint. Ifyouareinanydoubtastothecorrectnessofthemodel,thenwerecommendsettingthemomenttermstozero. Hydrodynamic moments will then be omitted completely for a Lumped Buoy. For a Spar Buoy represented by severalcylindricalsections,momentswillbegeneratedautomaticallyasaresultofthedistributionofhydrodynamic forcesalongthebuoyaxis.
EstimationofHydrodynamicProperties
SeetechnicalnoteBuoyHydrodynamics.
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6.12.2
LumpedBuoyAddedMass,DampingandDrag
AddedMassandInertia
Specifiedbydiagonalvalues
Thebuoyinertiafortranslationalmotionisincreased,foreachlocalaxisdirection,by: AddedMass=PW.Ca.HydroMass whereHydroMassandCaarethereferencehydrodynamicmassandaddedmasscoefficientfortranslationsinthat direction. Thebuoyinertiaforrotationalmotionisincreased,foreachlocalaxisdirection,by: AddedInertia=PW.Ca.HydroInertia whereHydroInertiaandCaarethereferencehydrodynamicinertiaandaddedmasscoefficientforrotationsabout thatdirection.

Specifiedbyfullmatrices
Thebuoyinertia,consideredwithrespecttolocalaxes,isincreasedby: AddedMass=PW.AM whereAMisthefull6x6addedmassmatrix. FluidInertiaLoads

Specifiedbydiagonalvalues
Thefluidinertiaforceappliedineachlocalaxisdirectionisgivenby: Force=PW.Cm.HydroMass.A whereHydroMassandCmarethereferencehydrodynamicmassandCmcoefficientforthatdirection,andAisthe component,inthatdirection,ofthelocalwaterparticleaccelerationrelativetotheearth. Thefluidinertiamomentappliedabouteachlocalaxisdirectionisgivenby: Moment=PW.Cm.HydroInertia.B whereHydroInertiaandCmarethereferenceinertiaandCmcoefficientforrotationaboutthatdirection,andBis thecomponent,inthatdirection,oftherotationalaccelerationofthelocalwaterisobarrelativetotheearth.

Specifiedbyfullmatrices
Thefluidinertialoadapplied,consideredwithrespecttolocalaxes,isgivenbythematrixequation: Load=PW.IM.af where Loadisthevector[fx,fy,fz,mx,my,mz]Twherefx,fy,fz,mx,myandmzarethecomponentsofforceand momentwithrespecttolocalaxes, IMisthefull6x6fluidinertiamatrix, afisthevectoroffluidaccelerationcomponents[Ax,Ay,Az,Bx,By,Bz]T, Ax,AyandAzarethecomponentsofthelocalwaterparticleaccelerationrelativetotheearthwithrespectto localaxes, Bx,ByandBzarethecomponentsoftherotationalaccelerationofthelocalwaterisobarrelativetotheearth withrespecttolocalaxes. Damping Thedampingforceappliedineachlocalaxisdirectionisgivenby: Force=PW.UnitDampingForce.Vr whereUnitDampingForceistheUnitForceforthatdirectionandVristhecomponent,inthatdirection,ofthewater velocityrelativetothebuoy. Similarly,thedampingmomentappliedabouteachlocalaxisdirectionisgivenby:
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Moment=PW.UnitDampingMoment.Wr whereUnitDampingMomentistheUnitMomentforrotationaboutthatdirectionandWristhecomponentinthat direction,oftheangularvelocityofthelocalwaterisobarrelativetothebuoy. Drag Thedragforceappliedineachlocalaxisdirectionisgivenby: Force=PW...Cd.A.Vr.|Vr| whereAandCdaretheDragAreaandDragCoefficientforthatdirectionandVristhecomponent,inthatdirection, ofthewatervelocityrelativetothebuoy. Thedragmomentappliedabouteachlocalaxisdirectionisgivenby: Moment=PW...Cd.AM.Wr.|Wr| whereAMandCdaretheMomentofAreaanddragcoefficientforrotationaboutthataxisandWristhecomponent, inthatdirection,oftheangularvelocityofthelocalwaterisobarrelativetothebuoy.
6.12.3
SparBuoyandTowedFishAddedMassandDamping
Thefirstorderhydrodynamicloadscanbemodelledinachoiceoftwoways:eitherbyvaluesforeachcylinderorby waveforceRAOsandmatricesforthewholebuoy. LoadsspecifiedbyValuesforEachCylinder

AddedMass
Thecomponents,relativetobuoyaxes,oftheaddedmassforceandmomentappliedtoacylinderaregivenby: xForce=PW.(DM.Ax+Can.DM.Arx) yForce=PW.(DM.Ay+Can.DM.Ary) zForce=PW.(DM.Az+Caa.DM.Arz) xMoment=PW.(DIn.Wx+AIn.Wrx) yMoment=PW.(DIn.Wy+AIn.Wry) zMoment=PW.(DIa.Wz+AIa.Wrz) where PWistheproportionwetforthiscylinder DMisthedisplacedmassofthecylinderwhenitisfullysubmerged DInandDIaarethenormalandaxialmomentsofinertiaofthe displacedmassofthecylinder,whenfully submerged CanandCaaarethenormalandaxialaddedmasscoefficients AInandAIaarethenormalandaxialaddedmomentsofinertia Ax, Ay, Az are the components, in buoy axes directions, of the local water particle acceleration relative to globalaxes Arx,Ary,Arzarethecomponents,inbuoyaxesdirections,ofthelocalwaterparticleaccelerationrelativeto thebuoy Wx, Wy, Wz are the components (in buoy axes directions) of the angular acceleration of the local water isobarrelativetoglobalaxes Wrx,Wry,Wrzarethecomponents(inbuoyaxesdirections)oftheangularaccelerationofthelocalwater isobarrelativetothebuoy. Notes: In the above equations, the first term is known as the Froude Krylov force (or moment) and the secondtermistheaddedmassforce(ormoment). Iftheaddedinertia(AInorAIa)iszero,thentheFroudeKrylovmomenttermisomittedforthat direction,sonomomentisappliedaboutthatdirection.ThisdoesnotapplytotheFroudeKrylov forcetermstheyarestillappliedeveniftheaddedmasscoefficientforthatdirectioniszero.
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DampingForcesandMoments
Thecomponents,relativetobuoyaxes,ofthedampingforceandmomentappliedtoacylinderaregivenby: xDampingForce=PW.UDFn.Vrx yDampingForce=PW.UDFn.Vry zDampingForce=PW.UDFa.Vrz xDampingMoment=PW.UDMn.Wrx yDampingMoment=PW.UDMn.Wry zDampingMoment=PW.UDMa.Wrz where PWistheproportionwetforthiscylinder UDFnandUDFaaretheUnitDampingForcesforthenormalandaxialdirections,respectively UDMnandUDMaaretheUnitDampingMomentsforthenormalandaxialdirections,respectively Vrx,VryandVrzarethecomponents(inlocalbuoyaxesdirections)ofthewatervelocityrelativetothebuoy Wrx, Wry and Wrz are the components (in local buoy axes directions) of the angular velocity of the local waterisobar,relativetothebuoy. LoadsspecifiedbyRAOsandMatrices Note: ThisoptionisonlyavailableforSparBuoys.
With this option the added mass and damping effects are calculated from the specified wave force and moment RAOs and added mass and damping matrices. In addition, the buoyancy force is calculated using the mean water level,ratherthantheinstantaneouswatersurface.Thisexcludesthewaverelatedbuoyancyeffects,sincetheseare assumedtobeaccountedforintheloadsspecifiedbytheRAOs. Warning: Thedragforceisalsocalculatedusingthemeanwaterlevel,although(nonlinear)dragcan'tbe completelyaccountedforin(linear)RAOs.
The RAOs are used to calculate force and moment vectors that are proportional to the amplitude of the wave component. They are applied at the instantaneous position of the RAO, Added Mass and Damping Origin, but are specifiedrelativetoaframeofreferencethathasxhorizontalinthewavedirection,yhorizontalandnormaltothe wavedirection,andzverticallyupwards.ThesurgeRAOthereforespecifiesaforcethatactsattheRAO,AddedMass and DampingOrigin in thewave direction, the heaveRAOspecifies a vertical force, andthe pitch RAO specifies a momentactingaboutthehorizontallinenormaltothewavedirection. TheaddedmassanddampingmatricesarealsoappliedattheRAO,AddedMassandDampingOrigin.Andtheyare appliedinthebuoyaxesdirectionsi.e.thesurgeaddedmassisappliedinthebuoylocalxdirection,etc. Theaddedmassmatrixissimplyaddedintothebuoy'sinertia(alsoknownasthevirtualmassmatrix). Thedampingloadiscalculatedusingthefollowingmatrixequation: [Fx,Fy,Fz,Mx,My,Mz]T=D[vx,vy,vz,x,y,z]T where Fx,Fy,Fz,Mx,MyandMzarethecomponents,withrespecttolocalaxes,oftheresultingdampingforceand moment. Disthedampingmatrix. vx,vy,andvzarethecomponents,withrespecttolocalaxes, ofthebuoyvelocityattheRAO,AddedMass andDampingOrigin,relativetothecurrent. x,yandzarethecomponents,withrespecttolocalaxes,ofthebuoyangularvelocity,relativetothe current.Sincethecurrenthasnoangularvelocitythisisthesameasthebuoyangularvelocityrelativetothe earth. Note: The fluid velocity due to waves is excluded here since the damping effects due to waves are assumedtobeincludedintheRAOs.
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6.12.4
SparBuoyandTowedFishDrag
ThesecondorderhydrodynamicloadsonSparBuoysandTowedFisharecalculatedandappliedseparatelyforeach cylinder. The loads on each cylinder are calculated as follows. The proportion wet PW, referred to below, is calculatedforeachcylinderaccordingtoitslevelofimmersion. DragForces Thedragforcesarecalculatedusingthe"crossflow"assumption.Inthelocalxandydirections,i.e.normaltothe cylinderaxis,thedragforcesaregivenby: xDragForce=PW...Cdn.An.Vrx.|Vrxy| yDragForce=PW...Cdn.An.Vry.|Vrxy| where Anisthedragareaforthenormaldirection Cdnisthedragcoefficientforthenormaldirection VrxandVryarethexandydirectioncomponentsofthewatervelocityrelativetothebuoy |Vrxy|istheabsolutemagnitudeoftherelativevelocityinthexyplane. Andinthezdirection,i.e.paralleltothecylinderaxis,thedragforceisgivenby: zDragForce=PW...Cda.Aa.Vrz.|Vrz| where Aaisthedragareafortheaxialdirection Cdaisthedragcoefficientfortheaxialdirection Vrzisthezdirectioncomponentofthewatervelocityrelativetothebuoy |Vrz|isitsabsolutemagnitude. DragMoments Dragmomentsarealsocalculatedusingthecrossflowassumption. Aboutthelocalxandydirectionsthedragmomentsaregivenby: xMoment=PW...Cdn.An.Wrx.|Wrxy| yMoment=PW...Cdn.An.Wry.|Wrxy| where Anisthedragareamomentforthenormaldirection. Cdnisthedragmomentcoefficientforthenormaldirection WrxandWryarethexandycomponentsoftheangularvelocityofthelocalwaterisobarrelativetothebuoy |Wrxy|istheabsolutemagnitudeofthecomponentinthexyplaneoftheangularvelocityofthelocalwater isobarrelativetothebuoy. Andaboutthelocalzdirectionthedragmomentisgivenby: zMoment=PW...Cda.Aa.Wrz.|Wrz| where Aaisthedragareamomentfortheaxialdirection. Cdaisthedragmomentcoefficientspecifiedfortheaxialdirection Wrzisthezcomponentoftheangularvelocityofthelocalwaterisobarrelativetothebuoy |Wrz|isitsabsolutemagnitude.
DragAreaMoments
Thedragareamomentsintheaboveequationsaretherectified3rdmomentsofdragareaabouttheaxisofrotation. Sodragareamoment=Sum(A.|r|3)whereAisanelementofdragareaatan(absolute)distance|r|fromtheaxisof rotation. The modulus |r| arises from the drag term in Morison's equation. The area moment should have
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dimensionsL5.NotethattheaxialAreaMomentisaboutthecylinderaxis,andthenormalAreaMomentisaboutthe normaltothataxisthroughthecylindercentre. Wehavederivedthefollowingresultsforsimplebodies: ForarectangleoflengthLandwidthW,the3rdmomentofareaaboutthelineintheplaneoftherectangleand throughitscentreinthelengthdirectionis(L.W4)/32.Andthe3rdmomentofareaaboutthelineintheplane oftherectangleandthroughitscentreinthewidthdirectionis(W.L4)/32. ForacirculardiscofdiameterD,the3rdmomentofareaaboutalineintheplaneofthediscandthroughits centre=(D5)/60. WecanusethetworesultsabovetocalculatereasonableDragAreaMomentvaluestouseforacylinderina sparbuoy.LetLbethelengthofthecylinderandDbethediameter,andfirstconsidertheAreaMomentforthe Normal direction, i.e. about a line through the cylinder centre and normal to the cylinder axis. If the curved surfaceofthecylinderisexposedtodragthenwecanaccountforitscontributiontotheAreaMomentbyusing itsprojectionontotheplanemadebythelineandthecylinderaxis.ThisprojectedareaisarectangleoflengthL andwidthDandthelinecrossesitinthewidthdirection,sothecontributiontotheAreaMomentis(D.L4)/32. If either of the end discs of the cylinder are also exposed to drag then we also need to account for their contributiontotheAreaMoment.
CalculationofSeaAngularVelocity
Inordertocalculatetherelativeangularvelocity,OrcaFlexhastodeterminealocalangularvelocityforthewater. Thisisnotdefinedbystandardwavetheory,soOrcaFlexusestheangularvelocityofthelocalisobar(atthesurface this is the angular velocity of the water surface). The resulting drag moments due to waves are approximately correctforabuoywithlargehorizontalextensione.g.adiscusshape. ForalongverticalSPARbuoy,thecalculatedpitch/rolldragareamomentisactuallyinthewrongdirection.Instead the buoy should be divided into several cylinders and the required moments are generated by distributing the hydrodynamicloadingbetweenthem.Thedragareamomentsfortheindividualcylindersshouldbesettozero. Foranobjectwhichhassignificantdimensionsbothverticallyandhorizontally,thedragareamomentsareamixof roughlycorrectandincorrectparts.Theproblemrelatesonlytodragmomentsduetowavesmomentsresulting frombodyangularvelocityinstillwaterarecorrectlycalculated. MunkMoment SlenderbodiesinnearaxialflowexperienceadestabilisingmomentcalledtheMunkmoment.Thisemergesfrom potential flow and is distinct from (and additional to) any moments associated with viscous drag. It is only well definedforafullysubmergedbody. Newman(1977,page341)derivesthetermandpointsoutthatit"actsonanonliftingbodyinsteadytranslation". Thwaites(1960,pages399401)givesanalternativederivationandprovidesnumericalvaluesforspheroids. Note thatforbluff bodiesthe flowtends to separate over the afterbody. This hasthe effect of reducingtheMunk momenttoavaluelessthanthepotentialflowtheorywouldsuggest.SeeMueller(1968). TheMunkmomenteffectcanbemodelledinOrcaFlexbyspecifyinganonzeroMunkmomentcoefficientforaSpar BuoyorTowedFish.OrcaFlexthenappliesaMunkmomentgivenby: MunkMoment=Cmm.M..sin(2).V2 where CmmistheMunkmomentcoefficient Misthemassofwatercurrentlydisplaced.Ifthebuoyissurfacepiercingthenthisallowsfortheproportion ofthebuoythatisinthefluid.However,notethatthevalueofCmmisilldefinedforapartiallysubmerged body. Moreover, the true effects of breaking surface, for instance planing and slamming, are much more complexthanthisandarenotmodelled. Vistheflowvelocityrelativetothebuoy,atthepointonthestackaxisthatishalfwaybetweentheendsof thestack. istheanglebetweentherelativeflowvelocityVandthebuoyaxis. Themomentisappliedaboutthelinethatisnormaltotheplaneofthebuoyaxisandtherelativeflowvector,inthe directionthattriestoincreasetheangle.
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6.12.5
ContactForces
ContactForcesfromInteractionwithShapes Interactions with shapes and the seabed are calculated as if the buoy consists of a series of lumps, one at each vertex. Notes: For a lumped buoy you can specify the number and location of the vertices. If you specify no verticesthenthe6DBuoywillnotreacttocontactwiththeseabedorwithanysolids. Forasparbuoyortowedfish,theverticesusedaretheverticeswhichareautomaticallycreated for the Draw square cylinders drawing option. These vertices are used even if the Draw circular cylindersoptionisselected.
Wheneveravertexpenetratesashape,itthenexperiencesareactionforcefromtheshapegivenby Reaction=KAvd whereKistheStiffnessoftheSolid,Avisthecontactarea(seebelow)associatedwitheachvertexanddisthedepth ofpenetrationofthevertexintothesolid. Becausetheverticesare(ingeneral)offsetfromthebuoyorigin,thisreactionforcegivesareactionmomentabout thebuoyorigin. AdampingforceisalsoincludedseeShapesTheoryfordetails. Finally,frictionforcescanalsobeincluded.

Contactarea
Thetotalcontactarea,At,isspecifiedonthebuoydataform.Thecontactareaforeachvertex,Av,iscalculatedby dividingAtequallyamongstallvertices.IfAtissettozerothenthebuoyexperiencesnocontactforces.IfAtissetto '~'thenOrcaFlexcalculatesAtusingdefaultvaluesbasedonthebuoygeometryasdescribedbelow.

LumpedBuoydefaulttotalcontactarea
ForaLumpedBuoythedefaulttotalcontactareaisgivenby: At=Volume/Height whereVolumeandHeightareasspecifiedonthebuoydataform.

SparBuoyandTowedFishdefaulttotalcontactarea
ForSparBuoysandTowedFishthedefaulttotalcontactareaisgivenby: At=max(Aaxial,Alateral) where Aaxialisthemaximumcylindercrosssectionalarea. Alateralisthesum,overallcylinders,oftheprojectedlateralarea=cylinderdiametercylinderlength. ContactForcesfromInteractionwithSeabed Interactionwiththeseabedistreatedinexactlythesamewayaswithshapes.Theseabedreactstopenetrationby the vertices of the buoy and applies a reaction force at the vertex, giving a moment about the buoy origin. See SeabedTheoryfordetails.
6.13
3DBUOYTHEORY
The effects included for a 3D Buoy are weight, buoyancy, drag, added mass and reactions from shapes. All of the fluidrelatedeffectsarecalculatedallowingforwhatproportionofthebuoyiscurrentlyimmersedinthesea.Thisis donebycalculatingaproportionwet,PW,andthenscalingall ofthefluidrelatedforcesbythisproportion.Inthe followingequations,thewaterdensityisdenotedby. Theforcesappliedareasfollows. WeightandBuoyancy Weight=Mass.gverticallydownwards
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Buoyancy=.g.PW.Volumeverticallyupwards. Drag DragforcesarecalculatedseparatelyforeachoftheglobalX,YandZdirections.FortheXdirection(andsimilarly fortheYandZdirections)thedragforceappliedis DragForce=PW...CdX.AX.VrX.|Vr| where CdXandAXaretheDragCoefficientandDragArea,respectively,fortheXdirection Vristhevelocityvectorofthefluidrelativetothebuoyand|Vr|isitsabsolutemagnitude VrXisthecomponentofVrintheXdirection. FluidInertiaEffects Fluidaccelerationforce=(1+Ca)..PW.Volume.A ineachoftheglobalaxesdirections,where CaistheAddedMassCoefficientforthatdirection Aistheaccelerationofthefluidinthatdirection. Thisforceisoftenconsideredasbeingmadeupoftwoparts: 1. 2. TheFroudeKrylovforce=.PW.Volume.A Theaddedinertiaforce=Ca..PW.Volume.A. Addedmass=.Ca.PW.Volume where CaistheAddedMassCoefficientforthatdirection. ContactForces Finally,3DBuoysarealsosubjectedtoareactionforcefromtheseabedandanyelasticsolidwithwhichtheycome intocontact,givenby: Reaction=KAd where KistheStiffnessoftheseabedorelasticsolid Aisthecontactarea disthedepthofpenetrationofthebuoyoriginB. In addition to this reaction force, 3D Buoys receive a contact damping force. For details see Seabed Theory and SolidsTheory. Finally,frictionforcescanalsobeincluded.
Inaddition,theinertiaofthebuoyineachoftheglobalaxesdirectionsisincreasedby:
6.14
WINCHTHEORY
StaticAnalysis IftheStaticswinchcontrolmodeissettoSpecifiedLengththenforthestaticanalysistheunstretchedlengthofwire paidout,L0,issettotheValuespecified,thewiretensiontisthensetto: t=(LL0).(WireStiffness)/L0................(1) where Listhetotallengthofthewinchwirepath, WireStiffnessisspecifiedinthedata, thewinchdriveforcefissettoequalt.
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Alternatively,ifthe Staticswinchcontrolmodeissetto SpecifiedTensionthenforthestaticanalysisthewinch driveforcefandthewiretensiontarebothsettothegivenValue,andtheunstretchedlengthpaidout,L0,isthenset tomatchthiswiretensionaccordingtoequation(1)above. DynamicAnalysis IfSpecifiedPayoutisspecified(lengthcontrolmode)forastageofthesimulation,thentheunstretchedlengthof winchwirepaidout,L0,issteadilyincreasedordecreasedduringthatstagesothatthetotalchangeduringthestage istheValuespecified.PositiveValuemeanspayout,negativeValuemeanshaulin. Thewinchwiretensiont(whichisappliedtoeachpointonthewire)isthengivenby t=[(LL0)+(WireDamping).(dL/dtdL0/dt)].(WireStiffness)/L0................(2) where Listhetotallengthofthewinchwirepath WireDampingandWireStiffnessareasspecifiedinthedata. Note: Thewinchwireisnotallowedtogointocompression,soifthevaluefortgivenbyequation(2)is negativethenthewinchwireisconsideredtohavegoneslackandtissettozero.
If Specified Tension mode is specified for a stage of the simulation, the Value specified in the data is used as a targetnominalconstanttensionthatthewinchdriveattemptstoachieve. ForSimplewinchesthewinchdriveisalwaysassumedtoachievethetargettension,sotheValuespecifiedisused fortheactualwinchwiretension. ForDetailedwinchesthewinchdrivetriestoachievethetargettensionbyapplyingadriveforcetoonesideofthe winchInertia,opposingthewiretensionbeingappliedtotheotherside.Thedriveforcefappliedisthengivenby: ifdL0/dt<0:f(V)=f(0)Deadband+A.VC.V2 ifdL0/dt=0:f(V)=f(0) ifdL0/dt>0:f(V)=f(0)+Deadband+B.V+D.V2................(3) where V=rateofpayout=dL0/dt Deadband=thewinchdrivedeadbanddataitem A,B=thewinchdrivedampingtermdataitems C,D=thewinchdrivedragtermdataitems. f(0)=Value+Stiffness.(L0L00) Value=thenominalconstanttensionValuegiven Stiffness=thewinchdrivestiffnessdataitem L00=originalvalueofL0atthestartofthesimulation(setbythestaticanalysis)
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w
Drive Force f f(V) = f(0) + Deadband 2 + B.V + D.V
Deadband Deadband
f(0) = Nominal Tension + Stiffness (Payout since simulation started)
Payout Speed V (-ve = hauling in)
f(V) = f(0) - Deadband 2 + A.V - C.V
Figure: ForceControlModeforDetailedWinches
IfthewinchInertiaMisnonzero,thenthewinchwiretensionissetasinequation(2)aboveandthewinchinertia reactsbypayingoutorhaulinginwireaccordingtoNewton'slaw: M.d2(L0)/dt2=tf sothewiretensionthereforetendstowardsthewinchdriveforceandishencecontrolledbythegivenValue. Ifthewinchinertiaissettozero,thenthewinchisassumedtobeinstantlyresponsivesothat f=tatalltimes................(4) GiventhecurrentvalueofL0,thecommonvalueoffandtisthenfoundbysolvingthesimultaneousequations(2), (3)and(4)forthepayoutratedL0/dt.Theunstretchedlengthofwinchwireout,L0,isthenalteredatthecalculated ratedL0/dtasthestageprogresses. Note: IfthewinchinertiaissettozerothenatleastoneofthedampinganddragtermsA,B,C,Dshould benonzero,sinceotherwisethesimultaneousequations(2),(3)and(4)mayhavenosolution.A warningisgivenifthisisattempted.
6.15
ElasticSolids
SHAPETHEORY
Thereactionforceonanobjectpenetratinganelasticsolidisinthedirectionoftheoutwardnormalofthenearest surfaceoftheshapewithmagnitudeequaltoK.A.dwhere K=stiffnessofthematerial, A=contactarea, d=depthofpenetration. AlsothereisadampingforceD,inthesamedirection,givenby: D=2(M.K.A).Vin where ispercentageofcriticaldamping/100, Misthemassoftheobject, Vinisthenormalcomponentofobjectvelocity.
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Thedampingforceisonlyappliedwhentheobjectistravellingintotheshape(i.e.whenVinispositive). Fordetailsofthewaythecontactareaiscalculated,see:LineInteractionwithSeabedandSolids,3DBuoyTheory and6DBuoyTheory. Careisneededwhenusingelasticsolidssomeoftheissuesinvolvedarelistedbelow: ElasticsolidsareonlytakenintoaccountinthestaticanalysisforthoselineswiththeFullStaticscalculation. Elastic solids are intended only for modelling the overall limitation on movement that a physical barrier presents; they are not intended to model an object's interaction with the barrier in detail. For example the calculation of the contact area and penetration depth are very simplistic and do not allow for the detailed geometricshapeoftheobject.ThevaluegivenforStiffnessisthereforenotnormallyimportant,providingitis highenoughtokeeppenetrationsmall.Ontheotherhand,althoughtheactualstiffnessofrealbarriersisusually veryhigh,theStiffnessshouldnotbesettoohighsincethis canintroduceveryshortnaturalperiodswhichin turnrequireveryshortsimulationtimesteps. Linesonlyinteractwithelasticsolidsbytheirnodescomingintocontact,soelasticsolidsthataresmallerthan thesegmentlengthcan"slip"betweenadjacentnodes.Thesegmentlengthinalineshouldbethereforebesmall comparedwiththedimensionsofanyelasticsolidwithwhichthelinemaymakecontact.
TrappedWater
Insideatrappedwatershapethefluidmotionismodifiedasfollows: Thefluidtranslationalvelocityandaccelerationarecalculatedontheassumptionthatthetrappedwatermoves and rotates with the shape. So if the trapped water shape is Fixed or Anchored then no fluid motion occurs inside the shape. But if the shape is connected to a moving vessel, for example, then the trapped water is assumedtomoveandrotatewiththevessel. Thefluidangularvelocityandaccelerationofthelocalwaterisobararebothtakentobezero.(Theseangular motionsareonlyusedforcalculatingmomentson6Dbuoys.) Notes: If the shape intersects the water surface then the surface is assumed to pass through the shape unaltered. Thus a wave in the open sea also appears inside the shape. We make this assumption because of the difficulty in predicting, for realistic cases, how the surface will behave inside the trappedwatervolume. Forexample,amoonpoolwithanopenconnectionatthebottomwillsuppressmostofthewave andcurrentaction.Howevertherewillbesomeflowinandoutofthemoonpool,dependingonthe size of the opening to the sea, pressure difference effects and the local geometry. The surface elevationinthemoonpoolthereforedoesrespondtothewaveoutside,butitisattenuatedtosome extentandlagsbehindthesurfaceoutside.
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7
7.1
SYSTEMMODELLINGDATAANDRESULTS
MODELLINGINTRODUCTION
To analyse a marine system using OrcaFlex, you must first build a mathematical model of the realworld system, usingthevariousmodellingfacilitiesprovidedbyOrcaFlex.Themodelconsistsofthemarineenvironmenttowhich the system is subjected, plus a variable number of objects chosen by the user, placed in the environment and connected together as required. The objects represent the structures being analysed and the environment determinesthecurrent,waveexcitation,etc.towhichtheobjectsaresubjected. ThefollowingtypesofobjectsareavailableinOrcaFlex.(Detaileddescriptionsofeachtypeofobjectaregivenlater.)
Vessels
areusedtomodelships,floatingplatforms,bargesetc.Theyarerigidbodieswhosemotionsareprescribed bytheuser.Themotioncanbespecifiedinanumberofways:directlybyatimehistorymotiondatafileor specifyingResponseAmplitudeOperators(RAOs)foreachof6degreesoffreedom(surge,sway,heave,roll, pitch and yaw), or indirectly by giving first order wave load RAOs or second order wave drift QTFs; or a combination of the two. They can also be driven around the sea surface, at user specified velocities and headings,duringthecourseofthesimulation.
3DBuoys
aresimplepointbodieswithjust3degreesoffreedomthetranslationaldegreesoffreedom(X,YandZ). Unlike a vessel, whose response to waves is defined by the data, the motion of a buoy is calculated by OrcaFlex. 3D buoys are not allowed to rotate and are intended only for modelling objects that are small enoughforrotationstobeunimportant.
6DBuoys
aremuchmoresophisticatedthan3Dbuoystheyarerigidbodieswiththefull6degreesoffreedom.That is,OrcaFlexcalculatesboththeirtranslationalandrotationalmotion.Severaldifferenttypesof6DBuoyare available,formodellingdifferentsortsofmarineobject. Note:

Lines
Althoughcalledbuoys,3Dand6Dbuoysdonotneedtobebuoyantandsocanreadilybeusedto modelanyrigidbodywhosemotionyouwantOrcaFlextocalculate.
arecatenaryelementsusedtorepresentpipes,flexiblehoses,cables,mooringlines,etc.Linepropertiesmay varyalongthelength,forexampletoallowabuoyantsectiontoberepresented.Lineendsmaybefixedor free,orattachedtootherobjectssuchasVesselsorBuoys,andendscanbedisconnectedinthecourseofa simulation. Each line can also have a number of attachments. These are elements attached to lines at userspecified locations,andprovideaconvenientwayofmodellingitemssuchasfloats,clumpweights,ordragchains.
Links
are massless connections linking two other objects in the model. Two types are available: Tethers are simpleelasticties,Spring/Dampersarecombined(linearornonlinear)spring+damperunits.
Winches
are also massless connections linking two (or more) objects in the model. The connection is by a winch wire,whichisfedfromandcontrolledbyawinchdrivemountedonthefirstobject.Thewinchdrivecanbe operatedineitherconstantspeedmode,inwhichitpaysoutorhaulsinthewinchwireatauserspecified rate,orelseinconstanttensionmode,inwhichitappliesauserspecifiedtensiontothewinchwire.
Shapes
aregeometricshapesandtwotypesareavailableSolidsorTrappedWater.TrappedWaterShapescanbe usedtomodelpartsofthesea,suchasmoonpools,thatareshieldedfromthewaves.Solidscanbeusedto act as physical barriers to restrict the movement of the other objects in the system; they are made of an elasticmaterialandsoapplyareactionforcetoanyobjectthatpenetratesthem.However,byspecifyingzero stiffness, you can also use a solid purely for drawing purposes, for example to see on the 3D view the positionofapieceofequipment.
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SystemModellingDataandResults,DatainTimeHistoryFiles
Several different elementary shapes (cuboids, planes and cylinders) are available and a number of shapes maybeplacedtogethertobuildupmorecomplexcompoundshapes.Theymaybefixedorattachedtoother objectssuchasVesselsorBuoys. Ofthesevariousobjecttypes,thelines,linksandwincheshavethespecialpropertythattheycanbeusedtoconnect togetherotherobjects.Assemblingthemodelthereforeconsistsofcreatingobjectsandthenusingthelines,links andwinchestoconnecttheotherobjectstogether,asrequired.SeeObjectConnectionsfordetails. Thenumberofobjectsinthemodelisonlylimitedbythememoryandotherresourcesavailableonthecomputer being used. Similarly, there are no builtin limits to the number of lines, links or winches that are attached to an object.Asaresultverycomplexsystemscanbemodelled,thoughofcoursethemorecomplexthemodelthelonger theanalysistakes.ExamplefilesareprovidedwithOrcaFlex. Computer programs cannot exactly represent every aspect of a realworld system the data and computation requiredwouldbetoogreat.Sowhenbuildingthemodelyoumustdecidewhicharetheimportantfeaturesofthe systembeinganalysed,andthensetupamodelthatincludesthosefeatures.Thefirstmodelofasystemmightbe quite simple, only including the most important aspects, so that early results and understanding can be gained quickly. Later, the model can be extended to include more features of the system, thereby giving more accurate predictionsofitsbehaviour,thoughatthecostofincreasedanalysistime. Oncethemodelhasbeenbuilt,OrcaFlexoffersthreetypesofanalysis:
ModalAnalysis
isonlyavailableforlines.Itcalculatesandreportstheundampednaturalmodesofaline.
Staticanalysis
inwhichOrcaFlexcalculatesthestaticequilibriumpositionofthemodel;currentdragloadscanbeincluded butnotwaves.
Dynamicanalysis
inwhichOrcaFlexcarriesoutatimesimulationoftheresponseofthesystemtowaves,currentandarange ofuserdefinedinputs.
7.2
DATAINTIMEHISTORYFILES
Forcertaindatayoucanusetimehistoryfilestospecifytimevaryingvalues.Thisisavailableforwaveelevation, windspeedandvesselmotion,andallowsyoufullcontroloverhowthevariablechangeswithtime. Ifyouwanttospecifytimevaryingdataformorethanoneobject(e.g.forboththewaveandwind,orforthewave andavessel)thenyoucaneitherputallthedatainonefile(usingmultiplecolumnsinasingletable)oryoucanuse separatetimehistoryfilesforthedifferentobjects. Timehistoryfiledataisspecifiedonamultipagecontrol:
Figure: Timehistorydata
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SystemModellingDataandResults,DatainTimeHistoryFiles
Sourcepage
TheInputFileisthenameofthetimehistoryinputfilethatcontainsthedata.Youcaneitherspecifythefullpathor arelativepath. ForVesseltimehistoryfilesyoumustspecifyan InterpolationMethod.Formostpurposeswerecommendusing Cubic Spline interpolation, since it gives continuity of vessel velocity and acceleration. Cubic Bessel interpolation typically gives step changes in acceleration at the specified time samples, and Linear interpolation gives zero accelerationbetweenthetimesspecifiedandthenaninfiniteaccelerationwhenthevelocitychangesataspecified time sample. Such acceleration effects can manifest themselves as steps or spikes in the inertial forces on any objectsattachedtothevessel. TheTimeOrigingivesyoucontrolofhowthetimesgiveninthetimehistoryfilerelatetothetimesinOrcaFlex.The timeoriginisspecifiedrelativetotheOrcaFlexglobaltimeorigin,soitspecifiestheglobaltimethatcorrespondsto zero time in the time history file. The simulation time origin is also specified relative to global time, so you can simulate different periods of the time history by adjusting either the time history origin or the simulation time origin. So,forexample,ifthetimehistoryfile'stimeoriginissetto100sandthesimulationtimeoriginissetto400s,thena simulationconsistingof40sofbuildup(i.e.simulationtime 40to0)followedby200sofsimulation(simulation time0to200)willcovertimehistorytimefrom260sto500s. Notethatthetimehistoryfilemustcontaindatato coverthewholeofthesimulation. Note: Ifyouareusingmorethanonetimehistoryfile(e.g.oneforawavetrainandoneformotionofa vessel) then they each have their own time origins, which you can use to time shift each time historyindependentlyoftheothers.
TheMinimumtimesampleintervalcanbeusefultosmoothtimehistorydatainsomesituations: ifthetimehistoryvalueshavebeentruncatedtoasmallnumberofsignificantfigures,or ifthesampleintervalinthefileisverysmall.
Ifeitheroftheseconditionshold(orworse,ifbothdo)thenyoumayfindthattheinterpolatedtimehistoryvalues causethesimulationtocontainunrealisticnoise. Usinganonzerominimumtimesampleintervalresultsinthetimehistorydatabeingsubsampledatthespecified period.Forexampleifthetimehistoryfilecontaineddatasampledat0.01sintervalsandtheminimumtimesample intervalwas0.2sthenOrcaFlexwoulduseevery20throwoftimehistorydata. This subsampling technique has proved to be very effective at smoothing interpolated time histories and so improvingthequalityandstabilityofsimulations. Note:
Datapage
Ifyoudonotwishtosubsamplethetimehistoryinputfilethenyoushoulduseavalueof0.
You must tell OrcaFlex which columns in the time history file contain the relevant data. This is done on the Data pageusingaseriesofdropdownlists.TohelpwiththisOrcaFlexdisplaysthetimehistorydatainaspreadsheet.
Previewpage
Thepreviewpagepresentsgraphsofthedatacontainedinthetimehistoryfile.Thiscanprovideaquickcheckthat thecolumndatahasbeencorrectlyspecified. Each graph contains two vertical lines to represent the beginning and end of the simulation. The time axis of the graphsusetherawdatacontainedintheinputfile.Asdescribedabovethetimehistoryoriginandthesimulation time origin can be used to control of how the times given in the time history file relate to the times in OrcaFlex. Thesegraphscanthereforebeusedtocheckthatthetimeorigindataitemsaresetcorrectly. Note: The values plotted on the graphs are the raw data contained in the time history input file. No interpolationisappliedbeforeplottingthecurves.
TimeHistoryFileFormat TimeHistoryfilesmustconformtothefollowingformattingrules:
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The file must be a tabdelimited text file; in other words it must be a text file in which the time history data columns are separated by single tab characters. Files of this format can easily be produced with commercial spreadsheetprogramsbyusing"SaveAs"andselectingtabdelimitedtextformat. Thedatavaluesmustbeinstandarddecimalorscientificform. Onecolumnmustcontainthetimevaluesandthesemustbegiveninascendingorder. ThedatamustbegiveninthesameunitsasusedintheOrcaFlexmodel. For a wave time history the time values must be equally spaced since a fast Fourier transformis used which requiresequalspacing.Butforwindvelocityorvesselmotion timehistoryfilesvariabletimeintervalscanbe usedsincetheinterpolationmethodsuseddonotrequireequalspacing.
Thedataisassumedtostartatthefirstnumericentryinthetimecolumnandblankrowsarenotallowedoncethe datahasstarted.Thismeansthattextualinformationaboutthefile(titlesetc.)canprecedethedatabutoncethe databeginsitcannotbeinterruptedwithanymoretext. Note: IfyougenerateyourtimehistorytextfilefromaspreadsheetprogramsuchasExcel,pleasenote thatthenumberofsignificantfiguresinthetextfilewilldependonthenumberformatofthecells inthespreadsheet.Beforesavingthetextfile,itisthereforeimportanttosetthenumberformatto onethatdisplaysallthesignificantfigures,sinceotherwisethetimehistorytextfilewilllosesome significant figures. In Excel you can get all significant figures by selecting all the cells and then usingtheFormatCellscommand(ontheFormatmenu)tosetthenumberformattoscientificwith 15decimalplaces.
7.3
VARIABLEDATA
MostOrcaFlexdataisconstanti.e.itsvalue,ysay,isafixedspecifiedvalue.Butforsomenumericaldataitemsyou canchoosetoinsteadspecifyvariabledata.Typicallythedataitem'svalueyisthenspecifiedasbeingafunctionof someothervaluex,andtheactualvaluey(x)usedbyOrcaFlexthendependsonthevalueofxatthetime.Ifxvaries duringthesimulationthenyvariesaccordingly. Asanexampleconsiderthedragcoefficientofaline.Intherealworldthisisn'tafixedconstantvalueitdependson theReynoldsnumber.Formanyapplicationsthisvariationisnotsignificantsoafixedconstantdragcoefficientis sufficient.ButsometimestheReynoldsnumbervariationisimportant,soyoucanthenspecifythedragcoefficientto be a function of Reynolds number. Then, each time the drag coefficient is needed OrcaFlex will first calculate the Reynoldsnumber(thexintheabovedescription)andthenderiveandusethecorrespondingdragcoefficienty(x). Notethatsomedataitemsusevariabledatainaslightlydifferentway.Forexampletheaxialstiffnessofalinetype is the slope of the tensionstrain curve, so in this case constant data specifies dy/dx, rather than y, where y is tension and x is axial strain. In this context constant means constant slope, i.e. linear, and the constant value you specify is dy/dx, whereas variable means nonlinear and you specify y as a function of x. Cases like this are documentedinthedescriptionofeachdataitem. UsingVariableData Variabledatacanonlybeusedforcertaindataitems.Thesearethenumericaldataitemsthathaveasmalldown arrowbuttontotherightofthedataitemvalue.Fortheseyoucaneitherspecifyafixedconstantnumericalvaluein theusualway.Oryoucanspecifythenameofavariabledatasource,eitherbytypingthenameinorbyselectingit usingthedownarrowbutton.Thenameddatasourcemustalreadyhavebeendefinedseethenextsection. DifferentdataitemscanusethesamevariabledatasourcemuchinthesamewaythatdifferentsectionsofaLine canusethesameLineType. SettingupVariableDataSources All the variable data sources are specified on the Variable Data form. This form can be opened using the model browserorusingthepopupmenuonanydataform. EachtableontheVariableDataformisgivenanameandthetablesaregroupedaccordingtothetypeofdatathey contain.Forexampledatafordragcoefficientsiskeptseparatefromdataforaxialstiffness. Thisstructureisindicatedbythelayoutoftheform,whichisdesignedtobeusedfromlefttoright.Sofirstselectthe typeofdatayouwant,usingthetreeviewinthelefthandsectionoftheform. Thecentresectionoftheformthenshowshowmanydatasourceshavealreadybeendefinedforthatselectedtype of data, and their names. To add a new table, increment the Number of Data Sources. To edit the name of a data
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SystemModellingDataandResults,VariableData
sourcedoubleclickthenameorselectthenameandthenpress F2.Todeleteadatasourceselectitandpressthe DELETEkey. Therighthandsectionoftheformiswherethedataforthedatasourceisentered.Whatformthesedatatakevaries. Thedifferentpossibilitiesaredescribedbelow. TabularDataSources Thesedatasourcesarespecifiedbygivingatableofcorrespondingvalues(x1,y1),(x2,y2),..,(xn,yn),wherethetable's lefthandcolumnistheindependentvariablexanditsrighthandcolumnisthedependentvariabley.Thedatawill beautomaticallysortedintoorderofincreasingxwhenthedataisusedorwhenyouusetheProfilebutton. This table defines a function y(x). For intermediate values of x OrcaFlex interpolates. For values of x outside the rangespecifiedOrcaFlexeitherextrapolatesorelsetruncates.TruncationmeansthatOrcaFlexusesy1forallxx1 and yn for all xxn (the table already having been sorted so that x1 is the lowest xvalue specified and xn is the highest). The variable data form reports the method of interpolation and whether extrapolation or truncation is used. TheProfilebuttondisplaysagraphofthecurrentlyselecteddata.Thisisusefulfordatacheckingpurposes.Where appropriate,logscalesareused. HorizontalVariationFactorDataSources Thesedatasourcesspecifyavariationalongauserprescribedaxis.ThisaxisisdefinedbytheX,Ycoordinatesofan origin and an azimuth direction. Together with the axis you also specify a table of values defining the horizontal variationfactorasafunctionofdistancealongtheaxis.Thistableisspecifiedinthesamewayasfortabulardata sources.
7.3.1
ExternalFunctions
ExternalFunctionDataSourcesareyetanothervarietyofvariabledatasource.Thesedatasourcesallowdatato be specified by a userdefined function provided in an external DLL. This function is called repeatedly during the OrcaFlexsimulation and is passedthecurrent valueofthe variable data item. The function mustthen recalculate andupdatethevalueofthevariabledataitem. Thefollowingdataitemsarerequiredtospecifyanexternalfunctiondatasource:
DLLName
The file name of the DLL containing the external function. If the full path to the DLL is not specified then the standardWindowsconventionsareusedwhensearchingforthefile.Fulldetailsoftheseconventionsaregivenin thedocumentationoftheLoadLibraryWindowsAPIfunction. Note: WhenLoadLibraryiscalledthecurrentdirectoryissettobethedirectorycontainingthelatestfile (.dat or .sim) that you have opened or saved. If there is no such file (because it is a new model whichhasnotyetbeensaved)thenthecurrentdirectoryissettobethecurrentdirectorywhenthe programstarted.
FunctionName
ThenameoftheexternalfunctionexportedbytheexternalDLL.Fordetailsonhowtoimplementexternalfunctions pleaserefertotheOrcaFlexprogramminginterfacedocumentation.
InitialValue
WhenOrcaFlexcallstheexternalfunctionforthefirsttimeitpassesthisvaluetothefunction.Thefunctioncanuse thisvalueasitsstartingvalueifitsochooses.Alternativelyitcanignorethisvalueandsubstituteadifferentvalue. Note:

TimeStep
ThisvalueisusedbyOrcaFlexwhendrawingthemodelinResetstate.
Thisspecifieshowfrequentlytheexternalfunctioniscalledtoupdatethevalueofthevariabledataitem.Youcan useeithertheinnertimestep,theoutertimesteporauserspecifiedtimestep.Ifyouchooseauserspecifiedtime stepthenyouinputatargettimestepandtheprogramusesthenearestwholemultipleoftheinnertimestep. ExternalFunctionParameters Theexternalfunctionfacilityprovidesageneralpurposemethodofpassingparameterstoexternalfunctions.
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SystemModellingDataandResults,GeneralData
For an example of why this is desirable consider an external function which implements a PID controller used to modeltheactivecontrolsystemforaheavecompensatingwinch.APIDcontrollerhasanumberofparametersand thesecouldbehardcodedintotheexternalfunction. However,inOrcaFlexyoumaywanttoexperimentbyvaryingtheseparameterstoseehowtheyaffectasimulation. If the parameters are hard coded then the external function DLL will have to be recompiled each time you experimentbychangingtheparameters. Instead OrcaFlex allows you to specify parameters for the external function as part of the OrcaFlex data. These parametersarepassedtotheexternalfunction.Theparametersarespecifiedasafreeformmultilinetextfield.This means that the external function has to do some work to decode and interpret the text before it can access the parameters.However,thisalsomeansthatthereisagreatdealofflexibilityintheparameterpassingmechanism. WheneveranOrcaFlexobject(e.g.aWinch,a6DBuoy,aVessel,theEnvironmentetc.)usesanexternalfunctionthen a page titled External Functions is available on that object's data form. The external function parameters are specifiedinthetextfieldcontainedinthispage. The external function parameters are passed to the external function in the lpObjectParameters member of the TExternalFunctionInfo data structure. For more details please refer to the OrcaFlex programming interfacedocumentation. TheExternalFunctionExamplesillustratetheprocedureinvolvedinpassingparameterstoexternalfunctions. DatawhichcanbecontrolledbyExternalFunctions ThefollowingdataitemscanbecontrolledbyExternalFunctions: Vesseland6DBuoyappliedloads. Wingorientationangles. Winchtensionandwinchpayoutrate. Currentreferencespeedandreferencedirection. BendstiffnessforLineTypes.
ExternalFunctionExamples A selection of example external functions are supplied on the OrcaFlex CD. Alternatively these example functions canbedownloadedfromourwebsiteatwww.orcina.com/Support.
7.4
Comments
GENERALDATA
TheGeneralDataformgivesdatathatappliestothewholemodel. Afreeformmultilinetextfieldthatcanbeusedtostorenotesaboutthemodel.OrcaFlexdoesnotusethistext.
UnitsData
This may be SI, US or User Defined (multiple choice). Units are defined for length, mass, force, time and temperature. SelectingSIgiveslengthinmetres,massintonnes,forceinkN,timeinsecondsandtemperatureinCelsius.Selecting USgiveslengthinfeet,massinkips,forceinkips,timeinsecondsandtemperatureinFahrenheit. If neither of these systems meets your requirements then select User Defined. You may then select individually from the length, mass, force, time and temperature units on offer and in addition you can specify the value of g (gravitationalacceleration). Iftheunitsarechanged,thenOrcaFlexconvertsallthedatainthemodelintothenewunits.
NonInertialUnitsSystems
Foranygivenlength,forceandtimeunitsthereisacorrespondinginertialmassunit,whichisthemassthatwould beacceleratedat1unitofaccelerationwhenoneunitofforcewasapplied.ForexampleintheUSunitssystemthe unitofaccelerationis1ft/s2andtheunitofforceis1kipforce,sotheinertialmassunitis1'kiloslug'(=1000slugs =approximately32000poundsmass),sincea1kipforceappliedtoa1000slugmasswouldgiveanaccelerationof 1ft/s2.
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USunits,andmanyofthepossibleUserDefinedunitssystems,usemassunitsthatarenottheinertialmassunit correspondingtothelength,forceandtimeunits.Whenusingsuchasystemyoushouldnotethattheequationsin thismanual,asinmosttextbooks,arewritteninaformthat assumestheanytermsthatinvolvemassunits(e.g. mass, moment of inertia, mass per unit length, density etc.) are expressed in the inertial mass unit, not the 'non inertial'massunitusedbytheunitsystem.OrcaFlexautomaticallyallowsforthiswhenyouuseUSunitsoranyUser Definedsystemwherethemassunitisnottheinertialmassunit.
7.4.1
Statics
StaticsMethod OrcaFlexincludestwosystemstaticsmethods:WholeSystemstaticsandSeparateBuoyandLinestatics.They arefunctionallyequivalentbutyouwilllikelyfindcaseswhichconvergewitheitheroneofthemethodsbutnotthe other. WerecommendthatyouusethedefaultmethodofWholeSystemstaticsbecauseitis,ingeneral,muchfasterand morerobustthanSeparateBuoyandLinestatics. WholeSystemstaticssolvestheentiresysteminasingleintegratediterativemethod.Theprogramcalculatesthe systemJacobianmatrixanalytically.ConceptuallythismethodisidenticaltotheFullStaticsmethodforLines,except thatitoperatesonallobjectsinthemodel. SeparateBuoyandLinestaticsisahybridstaticsmethodcomprisinganouterandaninnerloop.Theinnerstatics loopsolvesstaticsforallLinesinthemodel,andtheouterstaticsloopsolvesstaticsforBuoysandVessels.While this method works reasonably well in many cases, it can perform poorly for cases containing large numbers of Buoys and/or Vessels. This hybrid method uses a perturbation technique to calculate the system Jacobian matrix whichisbothslowerandlessaccuratethancalculatingitanalytically. Note: Wholesystemstaticscannotyetbeusedwithmodelsthatuseexternallycalculatedbendmoments. ThislimitationwillberemovedinafuturereleaseofOrcaFlex.
BuoyDegreesofFreedomIncludedinStaticAnalysis Buoyscaneitherbeincludedorexcludedfromthestaticanalysis.WhenabuoyisincludedOrcaFlexcalculatesthe staticequilibriumpositionofthebuoy;whenitisexcludedOrcaFlexsimplyplacesthebuoyatthepositionspecified bytheuser. Whichbuoysareincludedinthestaticanalysisisdeterminedbythedataitem"BuoyDegreesofFreedomIncluded inStaticAnalysis"ontheGeneralDataform,togetherwithindividualsettingsoneachbuoy'sdataform,asdescribed below: A value of None means that OrcaFlex does not find the true static equilibrium position of the buoys in the model,butinsteadsimplyplacesthebuoysattheinitialstartingpositionspecifiedinthedata. AvalueofX,Y,Zincludesallbuoysinthestaticcalculation,butexcludesrotationaldegreesoffreedomfor6D Buoys. AvalueofIndividuallySpecifiedallowsyoutospecifyindividuallyoneachbuoydataform,whetherthatbuoy should be included in the static equilibrium calculation. For 6D Buoys you can also choose whether the rotationaldegreesoffreedomareincludedorexcluded. This data item should normally be set to All, in which case the static analysis will attempt to find the static equilibriumpositionofallthebuoysinthemodel,aswellasfindingthestaticequilibriumpositionoftheother objects.
ThereareseveralcaseswherethisdataitemshouldbesettoNone.ThefirstisifyouarenotusingCatenaryStatics orFullStaticsforanylinesinthemodel(seeStaticAnalysis).Inthiscase,thelineisnotintruestaticequilibrium andsoOrcaFlexcannotfindthestaticequilibriumpositionofanybuoytowhichsuchlinesareattached.Ifanysuch linesexistthenallthebuoysmustbeexcludedfromthestaticanalysisbysettingthisdataitemtoNone. ThesecondcasewherethisitemmayneedtobesettoNoneisifthemodelisstaticallyindeterminate,forexamplea free floating buoy, or if the static analysis fails to converge. The static analysis is an iterative calculation and for somecomplexsystemsthiscalculationmayfailtoconverge,especiallyiftheinitialestimatedpositiongiveninthe dataisfarfrombeinganequilibriumposition.Ifthishappensyoucanexcludesomeorallbuoys(or,for6Dbuoys, justtherotationaldegreesoffreedom)fromthestaticanalysis;thissimplifiesthestaticanalysisandshouldenable convergence.Althoughthesimulationthenstartsfromanonequilibriumposition,itdoesallowthesimulationto proceed and the initial nonequilibrium errors will normally be dissipated during the buildup stage of the
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simulation,providedareasonablelengthbuildupstageisspecified.Infactthesimulationcanthenoftenbeusedto find the true static equilibrium position, by running a simulation with no waves; once it is found, the true static equilibriumpositionsofthebuoyscanthenbeinputastheirstartingpositionsforsubsequentruns. Finally,youmayspecificallywantthesimulationtostartfromanonequilibriumposition.Oneexampleofthisisto usethesimulationtodeterminethedampingpropertiesofthesystem,byrunningasimulationwithnowavesand startingfromanonequilibriumposition. StartingVelocity Specifiesthevelocityofthewholemodelforthestaticanalysisandforthestartofthesimulation.Itisdefinedby givingthespeed(i.e.magnitude)anddirection. Normally the starting speed is zero. If a nonzero speed is specified (e.g. for modelling a towed system) then the staticanalysisbecomesasteadystateanalysisthatfindsthe steadystateequilibriumpositioninwhichthewhole model is moving with the specified velocity. The static position is therefore then referred to as a steady state position, and the calculation of this position allows for any drag loads due to differences between the starting velocityandthecurrentvelocity. Note: Themodelwillstartthesimulationfromthecalculatedsteadystate;i.e.withthespecifiedstarting velocity.Soyoushouldnormallyensurethateachvesselinthemodelhasitsprescribedmotionfor stage0(thebuildupstage)settomatchthespecifiedstartingvelocity.Otherwisethesimulation willstartwithasuddenchangeinvesselvelocity,whichwillcausea"kick"whichmaytakesome timetosettledown.
StaticsConvergenceParameters When buoys or vessels are included in the static analysis, their equilibrium positions are calculated using an iterativealgorithmthatiscontrolledbytheconvergenceparametersontheGeneraldataform.Theydonotnormally need to be altered. However if the static calculation fails to converge it is sometimes possible to improve the behaviourbyadjustingtheconvergenceparameters.
MaxIterations
The calculation is abandoned if convergence has not been achieved after this number of steps. For some difficult casessimplyincreasingthislimitmaybeenough.
Tolerance
This controls the accuracy of the solution. See 3D Buoy statics accuracies, 6D Buoy statics accuracies and Vessel staticsaccuracies.
MinDamping,MaxDamping
Forsomecasesitisnecessarytocontroltheconvergenceprocessbydampingdown(i.e.reducing)thesteptakenat each stage. The program includes an automatic damping system that chooses a suitable damping factor for each iteration,buttheusercansettheminimumdampingandmaximumdampingfactorsthatareused. Normallythedefaultvalueswillsufficebutfordifficultcasesthedefaultvaluescanbealtered.Forcasesthatappear to make the convergence unstable (e.g. giving very bad line positions on the screen) try increasing the Min Damping factor to a value greater than 1, say values in the range 1 to 10. You can also try increasing the Max Dampingfactor,saytovaluesintherange10to100. Note: Convergencewillbeslowerwithlargerdampingvaluessoyoushouldusethesmallestvaluesthat resultinstaticsconverging.
Mag.ofStd.Error,Mag.ofStd.Change
Forsomecasesitmaybenecessarytoreduceoneorbothofthesevaluesfromtheirdefaults.Doingsoislikelyto slowdowntheconvergence,butitmaybenecessaryinordertoachieveconvergence!
7.4.2
Dynamics
SimulationStages ThesimulationproceedsinaNumberofStageseachofagivenDuration.SeeFigure:TimeandSimulationStages inDynamicAnalysis.
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BeforethefirststageisaBuildUpPeriodduringwhichtheseaconditionsareslowlyrampedupfromzeroinorder toavoidsuddentransientswhenstartingasimulation.Timeduringthebuildupstageisreportedbytheprogramas negative,sothatthefirststageproperstartsattimet=0. Whenusingregularwaves,itisusualtodefinethewholesimulationasasinglestageandresultsarepresentedona cyclebycycle basis. In random waves there is no meaningful "wave cycle". By dividing the simulation time into stagesyouarefreetocollectresultsforspecifictimeperiodsofinterest. Logging OrcaFlexstorestheresultsofasimulationbysamplingatregularintervalsandstoringthesamplesinatemporary logfile.WhenyousavethesimulationOrcaFlexwritesthedatatothesimulationfile,followedbyacopyofthelog file,sothatthesampledvaluescanbereadbackinagainatalaterdate. YoucancontrolthetimeintervalbetweenlogsamplesbysettingtheTargetSampleIntervalonthegeneraldata form.TheActualSampleIntervalwillbethenearestwholemultipleoftheinnertimestep.Youcanobtainmore informationabouttheloggingbyusingthePropertiescommandonthepopupmenuonthegeneraldataform.This reportsthenumberoflogsamplesthatwillbetakenandthesizeoftheresultingsimulationfile.
LoggingPrecision
YoucanalsocontrolthePrecisionwithwhichsamplesarelogged. Singleprecisionuses4bytestorepresenteachvalueandgivesabout7significantfigures,whichisquiteaccurate enoughforalmostallapplications.Doubleprecisionuses8bytespervalue,givingabout16significantfiguresbut usestwiceasmuchdiskspace. Double precision logging is usually only needed in very particular cases. We therefore recommend that you use single precision logging unless you see signs of precision problems in the results. The typical signs of precision problems are that the curvature or bend moment time histories for a line look more like a step function than a smoothcurve.Ifyouseesuchresultsthentryusingdoubleprecisionloggingtoseeifprecisionisthecause. The typical case where precision problems can occur is where the model contains a pipe or riser that has an extremelyhighbendstiffnessandwhichexperienceslargedisplacementsduringthesimulation.Thereasonisthat OrcaFlex logs the positions of each node but in order to save space in the simulation file it does not log the curvature,bendmomentetc.InsteadOrcaFlexrecalculatesresultslikecurvatureandbendmomentfromthenode positionswheneveryourequesttheseresults.Whenboththebendstiffnessandthenodedisplacementsarevery large then this calculation can greatly amplify the small steps in node position (8th significant figure) that are presentinasingleprecisionlog,givingabendmomentgraphthathasstepsratherthanbeingsmooth.
7.4.3
Integration&TimeSteps
IntegrationMethod OrcaFleximplementstwocomplementaryintegrationschemes:ExplicitandImplicit.Theoreticaldetailsaregiven inDynamicAnalysis:CalculationMethod.

ExplicitIntegration
The explicit scheme used by OrcaFlex is forward Euler. Like all explicit schemes this is conditionally stable. In practicethismeansthatinordertoachievestabilitythetimestepmustbesmallcomparedtotheshortestnatural nodalperiod.BydefaultOrcaFlexwillautomaticallysetthetimestep.
ImplicitIntegration
For implicit integration OrcaFlex uses the Generalised integration scheme which is unconditionally stable for linear systems. Constant and variable time step options are available. OrcaFlex provides two results variables (Implicit solver iteration count and Implicit solver time step) which can be used to track the performance of the implicitintegrationscheme.
LimitationsofImplicitIntegration
SomeofOrcaFlex'sfeatureshavenotyetbeenadaptedfortheimplicitscheme.Becauseofthisimplicitintegration cannotyetbeusedwithmodelsthatuseanyofthefollowingfeatures: Vessels with 3 calculated degrees of freedom. Note that vessels with 6 calculated degrees of freedom can be modelled.
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VesselswhichusebothprimarymotionofCalculated(6DOF)andsuperimposedmotionofDisplacementRAOs +HarmonicMotion. Tensioncontrolleddetailedwincheswithnonzeroinertia. Externalfunctions. TimedomainVIVmodels.
Also,notethatimplicitintegrationdoesnot(yet)includeseabeddamping,soliddampingorlineclashdamping.For caseswherethelevelofsuchdampingmightmatteryoushouldcheckimplicitintegrationresultsagainstthosefrom explicitintegrationtoensuretheeffectisnotsignificant. Weplantoremovetheselimitations,wherepossible,infuturereleasesofOrcaFlex.

Advantagesanddisadvantagesofthetwointegrationschemes
Theexplicitschemeisextremelyrobustandflexible.Itsmaindrawbackisthatthestabilityrequirementscanresult in very short time steps and correspondingly long computation times. This tends to be most significant for stiff systems,orforsystemswithfinesegmentation.Forsuchsystemstheimplicitschemecanbefaster,sometimesby ordersofmagnitude. Itisessentialtoconsideraccuracyaswellascomputationtime.Fortheexplicitscheme,ifthesimulationisstable then, in our experience, it is rare for the results to be inaccurate. We recommend that you conduct time step sensitivitystudiestoconfirmthis. Implicitschemes,ontheotherhand,canquiteeasilyachievestabilityandyetproduceinaccurateresults.Forrapidly varyingphysicalphenomena (e.g. snatchloads, impact, sudden line on line clashing etc.) results accuracy ismore likelytobeanissue.Werecommendthattimestepsensitivitystudiesarecarriedouttoensureaccuracyofresults. Comparisonswiththeexplicitschemeareparticularlyusefulforthispurpose.
7.4.4
ExplicitIntegration
InnerTimeStep,OuterTimeStep Forefficiencyofcomputation,OrcaFlexuses2integrationtimestepsinthedynamicsimulation:aninnertimestep and a larger outer time step. Most calculations during the simulation are done every inner time step, but some parameters (the more slowlyvarying values such as wave particle motion and most hydrodynamic and aerodynamic forces) are only recalculated every outer time step. This reduces the calculations needed and so increasesthespeedofsimulation. Theusualeffectofsettingoneofthetimestepstoolargeisthatthesimulationbecomesunstable,inthesensethat verylargeandrapidlyincreasingoscillationsdevelop,usuallyverynearthestartofthesimulation.OrcaFlexdetects and reportsmost such instabilities; thetime steps can then be reduced andthe simulation retried. However, it is generally worth repeating important simulations with smaller step sizes to ensure that no significant loss of accuracyhasoccurred. Note: HighvaluesofSeabedstiffnessmayshortenthenaturalperiodofpartsofthesystemlyingonit. This in turn leads to shorter inner time steps being required. Beware that the effects of seabed stiffnesswillnotbeaccountedforiftouchdowndoesnotoccuruntildynamicsarerun.
Recommendationsforsettingtimesteps
Bothtime steps must be short enough to give stable and accurate simulation. Experience indicates that the inner stepshouldnotexceed1/10thto1/20thoftheshortestnaturalnodalperiodofmotionforanydegreeoffreedomin themodel.TheshortestnaturalnodalperiodisreportedintheFullResultsforstatics. Theouterstepcanusuallybesetto10timestheinnertimestep;thisgivesagoodsavingincomputingtimewithout riskinginstability.Inaddition,theoutertimestepshouldgenerallynotbemorethan1/40thofthewaveperiod(or 1/40th of the zero crossing period for a wave spectrum). If you are using a Wake Oscillator VIV model then we recommendthattheoutertimestepisnomorethan1/200thoftheminimumWakeOscillatorStrouhalPeriod. Alwaysuserecommendedtimesteps OrcaFlexhelpsyousetthesimulationtimestepsusingtheabovecriteria.Thereare2modesofoperation: IfAlwaysuserecommendedtimestepsischecked(thedefaultsetting)thenOrcaFlexwillcalculaterecommended timestepsandusethesevaluesdirectly.Thismeansthatanyvaluesthatyouspecifywillbeoverwritten.
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The main advantage of using this option comes during the design phase. If you make changes to the model's properties which alter the shortest natural nodal period then OrcaFlex automatically modifies the time steps accordingly.Thisisparticularlyusefulwhenyoumakeachangethatallowstheuseoflongertimesteps.Whennot usingthisoptionitisalltooeasytoforgettolengthenthetimestepsandsufferunnecessarilylongsimulationrun times. Theothersignificantbenefitofthismodeofoperationcomeswhenpreparingalargenumberofsimilarsimulations using batch script methods. Suppose that the different models involved have differing shortest natural nodal periods. The Always use recommended time steps option allows you to use appropriate time steps for each individualmodelwithouthavingtosetthemmanually. Alternatively, if Always use recommended time steps is not checked then OrcaFlex first of all calculates the recommended time steps. If these are shorter than the values specified on the General Data form then OrcaFlex issuesawarningandgivesyoutheoptionofusingtherecommendedvalues.Youarefreetodisregardthewarnings ifdesired,butifeithertimestep(thoughespeciallytheinnerstepsize)issettoolargethereisdangerofinstability orinaccuracyinthesimulation. ThemainsituationwherethismodeofoperationistobepreferrediswhenOrcaFlexrecommendedtimestepsare toolongandleadtoanunstablesimulation.Sometimestheonlysolutionistosetthetimestepsmanuallyandthis optiongivesyouthatflexibility. Recommendedtimestepsettings
Innertimestep(fractionofshortestnaturalperiod)
Ourexperienceisthatformostcasestheinnertimestepcansafelybesetto1/10thoftheshortestnaturalnodal period.However,forsomemodelsyoumayfindyouneedtouseashortertimesteptoachieveastablesimulation. By changing this data item you can control what fraction of the shortest natural nodal period OrcaFlex uses to calculatetherecommendedinnertimestep.Thedefaultvalueis10,whichequatestoarecommendedinnertime step of 1/10th of the shortest natural nodal period. A value of 20 would give a recommended inner time step of 1/20thoftheshortestnaturalnodalperiod,andsoon.
Outertimestep(multipleofinnertimestep)
Therecommendedoutertimestepwillbenogreaterthanthisvaluetimestheinnertimestep.
Outertimestep(fractionofwaveperiodorTz)
TherecommendedoutertimestepwillbenogreaterthanTdividedbythisvalue,whereTiseitherthewaveperiod (forregularwaves)orTz(forrandomwaves).
Outertimestep(fractionofWakeOscillatorStrouhalperiod)
ThisdataitemisonlyavailableifyouareusingaWakeOscillatorVIVmodel.Therecommendedoutertimestepwill benogreaterthantheminimumWakeOscillatorStrouhalPerioddividedbythisvalue.
7.4.5
ImplicitIntegration
ImplicitIntegrationParameters
Usevariabletimestep
FortheimplicitsolverOrcaFlexoffersbothconstantandvariabletimestepalgorithms. The default is to use a constant time step and in general this is to be preferred. Variable time step schemes can introducehighfrequencynoiseintoasystemwhichinturncan leadtoinaccurateresults,forexamplenoisytime histories,nonphysicalspikesinresultsetc.Notethatthisisafeatureofallvariabletimestepalgorithms.Forthe majorityofsystemsnoproblemsarisewhenusingavariabletimestep.However,ifyouareusingvariabletimesteps thenwedorecommendthatyoucheckthequalityofyourresults. Thevariabletimestepalgorithmchoosesthetimestepbasedonthenumberofiterationsusedforprevioustime steps. If a large number of iterations were required for previous time steps then the time step is reduced. Conversely, if a small number of iterations were required then the time step is increased. The results variables Implicit solver iteration count and Implicit solver time step can be used to track the performance of the variable timestepalgorithm.
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Timestep/Maximumtimestep
Ifyouareusingaconstanttimestepthenthisdataitemdeterminesthattimestep.OrcaFlexhasadefaultvalueof 0.1s. However, different systems will require shorter time steps and indeed some systems can give perfectly accurateanswerswithlongertimesteps.Ifyouwishtooptimiseruntimesthenyoumayneedtoexperimentwith differenttimestepvalues. If you are using a variable time step then this data item limits the time step used by OrcaFlex and it will never exceedthisvalue. Warning: Implicit solvers can produce inaccurate results, even for stable simulations, if the time step is chosen to be too large. Because of this we strongly recommend that you carry out sensitivity studies on your time step to ensure accuracy. A very useful additional technique is to compare resultsfromtheimplicitsolverandtheexplicitsolver.
Maximumnumberofiterations
The implicit integration scheme uses an iterative method to solve the dynamic equilibrium equations. The calculationisabandonedifconvergencehasnotbeenachievedafterthisnumberofiterations. Ifyouareusingavariabletimestepthenthisresultsinthetimestepbeingreducedratherthanthesimulationbeing aborted.Accordinglywerecommendthatarelativelysmallvalueisused,werecommendusingthedefaultvalueof 20.ThisallowsOrcaFlextoabandonthecurrentiterationquiteearlyandtryagainwithashortertimestep. Converselyifyouareusingaconstanttimestepthenthesimulationisabortedifconvergencecannotbeachieved inside this number of iterations. Because ofthis we recommend usinga larger value thanfor variable timesteps. Thedefaultvalueof100isusuallyagoodchoice.
Tolerance
A nondimensional value which controls the accuracy of the solution. Increasing this value can result in reduced computationtimesincefeweriterationsareneededtosolvethedynamicequilibriumequations.However,doingso mayalsoresultininaccurateresults. Notes: Werecommendthatyouusethedefaulttolerancevalue.Shouldyouchoosetoincreaseitthenwe stronglyrecommendthatyouperformsensitivitystudiestoconfirmtheaccuracyofyourresults. Forsystemswheretheonlyresponsesareextremelyslowlyvarying(e.g.driftmotions,SparVIM) youmightneedtouseasmallertolerancethanthedefaultvaluetoobtainaccurateresults.
7.4.6
NumericalDamping
LineTargetDamping Finite element models may contain spurious high frequency response, a feature inherent in the finite element method. Line Target Damping specifies damping whose effect is usually only to damp down this high frequency noise. The data specifies the % critical damping level that will be achieved for oscillations atthe shortest natural period of each node. These oscillation periods are typically very short and depend on the segment length and stiffnessvaluesofthelinesectioninvolved. The % critical damping generated for longer oscillation periods is inversely proportional to the period, and for typical response periods (usually much longer) the damping level is usually insignificant. To achieve a significant levelofdampingatwaveperiodusuallyrequiresthataveryhighLineTargetDampingdatavaluetobecalculated and specified, and this often also requires shorter time steps and so longer simulations. Because of this we recommendthatyouuseRayleighDampingtomodeltheeffectsofstructuraldamping. The target damping can be specified independently for tension, bending and torsion. Within broad limits, this dampinghaslittleinfluenceontheresultsofasimulationunlessthesystemissubjecttoveryrapidvariationsin tensionorbending,forexamplewhensnatchloadsoccur.Avaluebetween5%and50%oftargetdampingisusually assumed.Fordetailsontheuseofthisdata,seethetheorydocumentationfortension,bendingandtorsion. Note: This data is only available when using the explicit integration scheme. The implicit integration schemehasbuiltinnumericaldamping.
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7.4.7
ResponseCalculation
SimulationPeriodusedforResponseCalculations
ThesedataitemsdeterminetheperiodofthesimulationtobeusedfortheSpectralResponseAnalysis. ThisperiodisspecifiedbygivingFromandTosimulationtimes.Avalueof'~'fortheFromtimeisinterpretedas simulationtime0.Avalueof'~'fortheTotimeistakentomeanthesimulationtimeattheendofthesimulation. Thesearethedefaultvaluesandinmostcasesarethevalueswhichyoushoulduse. Note: ThesedataitemsareonlyavailablewhenyouhaveselectedtheResponseCalculationwavetype.
7.4.8
PropertiesReport
TheGeneralDatapropertiesreportisavailablefromthepopupmenuonthedataform.Itreportsthefollowing:
Simulationdurationincludingbuildup
Thesumofthestagedurations.
Targetlogsampleinterval,Actuallogsampleinterval,Totalnumberoflogsamples
Targetlogsampleintervalisthedataitemspecifiedonthedataform.ActualSampleIntervalisthenearestwhole multipleoftheinnertimestep.TotalnumberoflogsamplesequalsSimulationdurationincludingbuildup/Actual logsampleinterval

Logsamplefrequency
Thisequals1/Actuallogsampleinterval.
Logsamplesperwavecycle
ThisisonlyavailablewhentheWaveDataspecifiesasingleregularwavetrain.ItequalsWavePeriod/Actuallog sampleinterval.
Estimatedsimulationfilesize
Anestimateofthesimulationfilesize.Forcertainmodelstheestimatemaybeinaccurate.Inparticularthesizeof simulationfilesformodelsusingvortextrackingandwhichlogvorticesaredifficulttoestimate.Thisisbecausethe numberofvorticesisvariableanddependsonthesimulation.

Logfilelocation(s)
This reports the location of any log files used by an OrcaFlex simulation. Small log files are stored in memory to improveperformanceandlargerfilesarestoredinyourmachine'stemporarydirectory.
7.4.9
Pen
Drawing
Thepenusedtodrawtheglobalaxes,theviewaxes,thescalebarandthecompassin3DViews.
Northdirection
Ifthisdirectionisdefinedthenacompassisdrawnonthe3DView.Thecompassisonlydrawnforplanviews. The direction is an azimuth direction. So a value of 0 is the positive X direction, a value of 90 is the positive Y directionetc.
7.4.10
Results
FordetailsonhowtoselectresultsvariablesseeSelectingVariables. Theavailablevariablesare:
Time
Thesimulationtime.
Implicitsolveriterationcount
Thenumberofiterationsusedbytheimplicitintegrationschemetosolvethedynamicequilibriumequations.
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SystemModellingDataandResults,Environment
Implicitsolvertimestep
Thetimestepusedbytheimplicitintegrationscheme.Thisismostusefulwhenyouareusingavariabletimestep.
7.5
ENVIRONMENT
The environment defines the conditions to which the objects in the model are subjected; it consists of the sea, current,wavesandseabed.
Z
Still water surface Surface Z-level
Datum Current Direction
Wave Direction
Y G
Global Axes
X
Seabed Direction of Slope
Water Depth
Seabed Origin
Figure: Environment
Asshownabove,theenvironmentisdefinedrelativetotheglobalaxes.Soforexampletheseabedandthecurrent andwavedirectionsarespecifiedrelativetotheglobalaxes.
7.5.1
SeaSurfaceZ
SeaData
SpecifiestheglobalZcoordinateofthemean(orstill)waterlevel.
KinematicViscosity
ThisdataisusedtocalculateReynoldsnumber.Theviscositycaneitherbeaconstantorvarywithtemperature.In thelattercasetheusercaneitherinputtheirowntableofviscosityvariationagainsttemperature,orelseuseoneof thetablessuppliedintheOrcaFlexdefaultdata. ThetablessuppliedintheOrcaFlexdefaultdataarefor0%(freshwater)and3.5%salinity,asgivenonpage337of thebookPrinciplesofNavalArchitecture(PNA).Forothersalinityvaluesthatbookrecommendsusinginterpolation betweenthefreshwaterand3.5%salinitytables.

Temperature
Thetemperatureofthewatercaneitherbeconstantorvarywithdepthbelowthemeanwaterlevel. Thetemperaturecanaffectthekinematicviscosity(ifthatisspecifiedasvaryingwithtemperature),whichinturn affectstheReynoldsnumber.This,inturn,canaffectthedragandliftcoefficientsusedforaline. Reynoldsnumbercalculation Reynoldsnumber,Re,isameasureoftheflowregimedefinedas Re=VL/ whereVandLarevelocityandlengthparameterschosentocharacterisetheflow,andisthekinematicviscosityof thefluid.DifferentvaluesofReresultfromdifferentselectionsofcharacteristicvelocityandlength.
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OrcaFlex calculates Reynolds number in order to calculate drag and lift coefficients for lines that are specified as varying with Reynolds number. Accordingly the characteristic velocity is based on the relative flow velocity at a node,Vr=VfluidVnodeandthecharacteristiclengthisalwaysrelatedtothenormaldrag/liftdiameterofthenode,D. OrcaFlexoffersthefollowingoptionsforcharacteristicvelocityandlength: NominalRe,Renom,isdefinedbysettingV=|Vr|andL=D.ThatisRenom=|Vr|D/. CrossFlowRe,Recross,isdefinedbysettingV=|Vn|andL=DwhereVnisthecomponentofVrnormaltothe line.Ifwedefinetobetheanglebetweentherelativeflowdirectionandthenormaltothelinethencanwrite Recross=|Vr|Dcos()/since|Vn|=|Vr|cos(). FlowDirectionRe,Reflow,isdefinedbysettingV=|Vr|andL=D/cos(),thelengthofthelinecrosssectionin therelativeflowdirection.ThisgivesReflow=|Vr|D/cos().
These can all be related by the equation Recross/cos() = Renom = Reflowcos(), from which it follows that Recross RenomReflow. Reynoldsnumberisavailableasalineresultsvariable. Notes: Which method you select for calculating Reynolds number is in many ways arbitrary. The key factor is that the method chosen matches the data source used for the variable drag and lift coefficient data. For example, ESDU 80025 provides curves relating drag and lift coefficients to Reflow.Differentdatasourcesmaymakedifferentchoices. Older versions of OrcaFlex did not allow the user to specify the Reynolds number calculation methodandimplicitlyusedCrossFlowRe.
7.5.2
SeaDensity
SeaDensityData
Theseadensitycanbeconstantatallpositionsintheseaoritcanvarywithdepthand/orhorizontalposition. By default the sea density is constant. This is the most common value to use, since in most models the effects of densityvariationarenotsignificant.Forsomesystems,however,densityvariationisimportantbecauseitcauses buoyancyvariation. Note: Density variation only affects the buoyancy of objects. OrcaFlex does not allow for density variationwhencalculatinghydrodynamiceffectssuchasdrag,addedmass,etc.Fortheseeffectsa nominalseadensityvalueisused,whichistakentobethedensityvalueattheseadensityorigin.
VerticalDensityVariation
Vertical Density Variation specifies whether, and how, the water density varies with depth. The vertical density variationcanbesettoConstant,InterpolatedorBulkModulus. Constantallowsyoutospecifyasingledensityvaluethatappliesatalldepths. Interpolatedallowsyoutospecifyadensityprofileasatablegivingthe densityataseriesofdepthlevels.Linear interpolation is used to obtain the density at intermediate levels, and at levels beyond the ends of the table the densityvalueattheendofthetableisused. BulkModulusspecifiesthatthedensityvarieswithdepthpurelybecauseofthecompressibilityofthewater.You mustspecifythewater'sSurfaceDensityandBulkModulus.Thewater'sbulkmodulusspecifieshowagivenmassof water shrinks under pressure, using the same volume formula as for buoys and line types see Bulk Modulus. OrcaFlexthenderivesthedensityvariationwithdepthontheassumptionthatthewatercolumnhasthegivenbulk modulusandisatuniformtemperatureandsalinity. AdrylandsystemcanbemodelledbyusingConstantdensityandsettingthedensitytozero.
HorizontalDensityVariation
Densityvariationwithhorizontalpositioncanalsobemodelled.Thisisspecifiedasadimensionlessmultiplicative factor.Whereavariationofdensitywithdepthhasbeendefinedthefactorwillbeappliedatalldepths. Toneglectdensityvariationwithhorizontalpositionthisdataitemshouldbesetto'~'.Usinganumericvalue(e.g. 0.5)allowsyoutoapplyascalingfactortotheverticaldensityprofile.
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To model density variation with horizontal position you must define a Horizontal Variation Factor variable data source.Thehorizontalvariationfactorisassumedtobeconstantinthedirectionnormaltotheaxis.
SeaDensityOrigin
Asexplainedabove,forallhydrodynamiccalculationsotherthanbuoyancyOrcaFlexusesasingleseadensityvalue. Thisistheseadensityvalueattheseadensityoriginwhichisdefinedasfollows: Ifthereisnohorizontaldensityvariationthentheseadensityoriginisdefinedtobe(0,0,SeaSurfaceZ).Sincethere isnovariationofdensitywithhorizontalpositionthechoiceofXandYcoordinateshereisarbitrary.Thus,thesea densityvalueusedistheseadensityatthestillwaterlevel. Ifthereishorizontaldensityvariationthentheseadensityoriginisdefinedtobe(X,Y,SeaSurfaceZ).HereXandY aretheorigincoordinatesforthehorizontalvariationaxis.
7.5.3
SeabedType
SeabedData
Threetypesofseabedshapeareavailable: AFlatseabedisasimpleplane,whichcanbehorizontalorsloping. A Profile seabed is one where the shape is specified by a 2D profile in a particular direction; normal to that profiledirectiontheseabedishorizontal. A3Dseabedallowsyoutospecifyafullygeneral3Dsurfacefortheseabed.
SeabedOrigin,DepthandDirection
Theseabedoriginisapointontheseabedandisthepointtowhichtheseabeddatarefer.Itcanbechosenbythe user and is specified by giving its coordinates with respect to global axes. For Profile and 3Dseabeds the seabed originZcoordinateisnotspecifieddirectly,butisdeterminedbytheZvaluesspecifiedintheseabedgeometrydata. TheseabedoriginZcoordinateandthespecifiedSeaSurfaceZ togetherdeterminethewaterdepthattheseabed origin,whichisdisplayedonthedataform. The direction is measured positive anticlockwise from the global X axis when viewed from above. How it is interpreteddependsonthetypeofseabedinuse: For a flat seabed the direction specified is the direction of maximum upwards slope. For example, 0 means slopingupwardsintheglobalXdirectionand90meansslopingupintheintheglobalYdirection. Foraprofileseabedthedirectionspecifiedisthedirectioninwhichthe2Dprofileisdefined. For a 3Dseabed the direction, together with the seabed origin, define a frame of reference with which the seabeddatapointsarerelativeto. Warning: Thedepthattheseabedoriginisusedforallthewavetheorycalculations,soifthewaterisshallow andthedepthvariesthentheseabedoriginshouldnormallybechosentobenearthemainwave sensitivepartsofthemodel.
NormalSeabedStiffness,ShearSeabedStiffness,SeabedDamping
The seabed is modelled as a sprung and damped surface with a spring reaction force that is proportional to the depthofpenetrationandthecontactarea,plusadampingforcethatisproportionaltotherateofpenetration.See SeabedTheory. TheNormalSeabedStiffnessistheconstantofproportionalityofthespringforceandequalsthesprungreaction forceperunitareaofcontactperunitdepthofpenetration.Ahighvaluemodelsasurfacesuchasrock;alowvalue modelsasoftsurfacesuchasmud. TheShearSeabedStiffnessisusedbythefrictioncalculation.Avalueof'~'resultsintheNormalSeabedStiffness beingused. The Seabed Damping is the constant of proportionality of the damping force, and is a percentage of critical damping.Seabeddampingisalwayszerowhenusingtheimplicitintegrationscheme. Warning: Ahighseabedstiffnesswillshortenthenaturalperiodsofpartsofthesystemlyingonit,whichmay requiretheuseofasmallersimulationtimestep.Bewarethattheshorternaturalperiodswillnot bereportedinthestaticsresultstableiftouchdownonlyoccursduringthesimulation.
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Flatseabeddata
Slope
Themaximumslope,indegreesabovethehorizontal.Theflatseabedismodelledasaplane,inclinedatthisangle, passingthroughtheseabedorigin.Themodelisonlyapplicabletosmallslopes.Theprogramwillacceptslopesof upto45butthemodelbecomesincreasinglyunrealisticastheslopeincreasesbecausethebottomcurrentremains horizontal. Profileseabeddata

Profile
Theprofiletabledefinestheseabedshapeintheverticalplanethroughtheseabedoriginintheseabeddirection. The shape isspecified by giving the seabed Z coordinate, relative toglobal axes, at aseries ofpointsspecified by their Distance From Seabed Origin, which is measured from the seabed origin in the seabed direction (negative valuescanbegiventoindicatepointsintheoppositedirection).Theresultingdepthsatthepointsarereportedin the table. The seabed also has its own seabed origin and local axes, with respect to which the seabed shape is defined. SeabedZvaluesinbetweenprofilepointsareobtainedbysmoothcubicsplineinterpolation,andbeyondtheendsof thetabletheseabedisassumedtobehorizontal.Theseabedisassumedtobehorizontalinthedirectionnormalto theseabedprofiledirection.
InterpolationMethod
DetermineshowOrcaFlexinterpolatesbetweenvaluesinthespecifiedprofile. Warning: Linear interpolation can cause difficulties for static and dynamic calculations. If you are having problems with static convergence or unstable simulations then you should try one of the other interpolationmethods. You cannot model a true vertical cliff by entering 2 points with identical Distance from Seabed Origin but different Z coordinate the second point will be ignored. However you can specify a nearverticalcliff.Ifyoudothis,notethattoavoidinterpolationovershootyoumayneedtospecify several extra points just either side of the cliff, or else use linear interpolation. See Choosing InterpolationMethod.
Note:
ViewProfile
TheViewProfilebuttonprovidesagraphoftheseabedprofile.Thespecifiedprofilepointsareshown,togetherwith theinterpolatedshapeinbetweenprofilepoints.Theseabedishorizontalbeyondtheendsofthegraph. Youshouldcheckthattheinterpolatedshapeissatisfactory,inparticularthattheinterpolationhasnotintroduced overshooti.e.wheretheinterpolatedseabedissignificantlyhigherorlowerthandesired.Overshootcanbesolved by adding more profile points in the area concerned and carefully adjusting their coordinates until suitable interpolationisobtained. 3Dseabeddata The 3Dseabed is defined by specifying a set of x, y and Z coordinates of the seabed. The x and y coordinates are givenwithrespecttoahorizontalframeofreferencecentredontheseabedoriginandwiththespecifieddirection. The Z coordinate is given with respect to the OrcaFlex global model origin. Note that the Z coordinates can, for convenience,alternativelybespecifiedasdepths. OrcaFlexwillformaseabedsurfacewhichinterpolatesthespecifieddatausingeitherLinearorCubicPolynomial interpolationmethods. We would normally recommend using the cubic polynomial interpolation method. This provides a smooth interpolationwhichmakesbothstaticanddynamiccalculationsmorestableandrobust. The linear method has been provided for the special case of an analysis where your seabed data consists only of depthand slope at each line anchor point. The linear interpolationmethodallows youto build a seabed which is effectivelyanumberofdifferentflatslopingseabedsforeachline. Notes: IfthedatayouwishtoinputareXandYcoordinateswithrespecttotheOrcaFlexglobalaxes,then youshouldsettheseabedoriginanddirectiontozero.
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The seabed generated by OrcaFlex only extends as far as the data specified. That is at any horizontalpositionoutsidethespecifieddatatheseaisconsideredtobeinfinitelydeep.
7.5.4
WaveData
NumberofWaveTrains
Youcandefineanumberofdifferentwavetrainsandtheoverallseaconditionsarethesuperpositionofthewave trains.Inmostcasesasinglewavetrainissufficient,butmultiplewavetrainscanbeusedformorecomplexcases, suchasacrossingsea(i.e.asuperpositionoflocallygeneratedwavesinonedirectionanddistantstormgenerated swellinadifferentdirection). Eachwavetraincanbegivenanameandaspecifieddirection. Andeachwavetraincanbeeitheraregularwave (withachoiceofwavetheory)orarandomwave(withachoiceofspectrum),orelsebespecifiedbyatimehistory file.

SimulationTimeOrigin
Thesimulationtimeoriginallowsyoutocontroltheperiodoftimethatthedynamicsimulationcovers.Itdefinesthe globaltimethatcorrespondstosimulationtimet=0,sochangingthesimulationtimeoriginallowsyoutoshiftthe periodofglobaltimethatissimulated.Alteringthesimulationtimeoriginshiftsthesimulationtimerelativetoallof thewavetrains;alternatively,youcanalsotimeshiftanindividualwavetrainbyalteringitswavetimeorigin.See DynamicAnalysisfordetailsofthetimeframesusedinOrcaFlex. DataforaWaveTrain Eachwavetrainisspecifiedbythefollowingdata.

WaveDirection
For both regular and random waves, this is the direction that the wave is progressing, measured positive anti clockwisefromtheglobalXaxiswhenviewedfromabove.So,forexample,0degreesmeansawavetravellinginthe positiveXdirection,and90meansawavetravellinginthepositiveYdirection. Ifyouareusingadirectionalspreadingspectrumthenthewavedirectionistakentobetheprincipaldirection. With multiple wave trains the direction of the first wave train is taken to be the primary direction and this is reflectedinboththewaytheseaisdrawnandtheSeaAxes.
WaveType
Eachwavetraincanbeanyofthefollowingtypes: Airy,Dean,Stokes'5thorCnoidal.Thesearevariousdifferentwavetheoriesforregularwaves. SeeDatafor RegularWaves. JONSWAP,ISSC(alsoknownasBretschneiderormodifiedPiersonMoskowitz), OchiHubble,Torsethaugen orUserDefinedSpectrum.Thesearevariousdifferentspectraforrandomwaves. TimeHistoryallowsyoutospecifythewaveintheformofatimehistoryinputfile.SeeDataforTimeHistory Waves. User Specified Components allows you to specify the wave train as the sum of a number of sinusoidal components. This wave type gives you complete control over the wave train and would typically be used to compare OrcaFlex results with results produced by a different program. See Data for User Specified Components. ResponseCalculationisaspecialtypeofrandomwavewithatruncatedwhitenoise spectrumwhichisused for Spectral Response Analysis. A truncated white noise spectrum has energy spread evenly over a user specifiedrangeoffrequencies.SeeDataforResponseCalculation.
ForregularwaveswerecommendtheDeanwavethisisanonlinearwavetheoryusingaFourierapproximation method and it is suitable for all regular waves. The Airy wave theory is a simple linear wave theory that is only suitableforsmallwaves.TheCnoidalwavetheoryisonlysuitableforlongwavesinshallowwater.TheStokes'5th wavetheoryisonlysuitableforshortwavesindeepwater. There are two Stokes' 5th order theories implemented in OrcaFlex which we have called Stokes' 5th (SH) and Stokes' 5th. The former is the standard method of Skjelbreia and Hendrickson whilst the latter theory is due to Fenton.Fenton'sworkisthebetterchoiceprimarilybecauseitdealswithcurrentsmoreaccurately.
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Ifthespecifiedwaveisnotsuitablefortheselectedwavetheory,OrcaFlexwillgiveawarningormayreportthatthe wavecalculationhasfailed.Ifthishappenspleasecheckthatthewavetheoryselectedissuitable.Forfurtherdetails seeRangesofApplicability.

KinematicStretchingMethod
KinematicstretchingistheprocessofextendinglinearAirywavetheorytoprovidepredictionsoffluidvelocityand acceleration(kinematics)atpointsabovethemeanwaterlevel.OrcaFlexoffersachoiceofthreemethods:Vertical Stretching,WheelerStretchingandExtrapolationStretching.FordetailsseeKinematicStretchingTheory. Note: RandomwavesaremodelledbycombininganumberoflinearAirywaves,sokinematicstretching alsoappliestorandomwaves.
TheHorizontalVelocitypreviewgraphcanbeusedtoseetheeffectofthedifferentkinematicstretchingmethods.
WaveOriginandWaveTimeOrigin
Eachwavetrainhasitsownspatialoriginandtimeorigin.Thespatialoriginisspecifiedrelativetotheglobalorigin andthetimeoriginisspecifiedrelativetotheglobaltimeorigin. Thewavetrain'sdataspecifythewavetrainrelativetoitsownorigins,soyoucanshiftagivenwavetraininspace ortime,independentlyoftheotherwavetrains,byadjustingitsorigins. For a regular wave train the wave time origin is the time at which a wave crest passes the wave origin. You can therefore use the origins to arrange that a wave crest passes a particular point at a particular time during the simulation. Forarandomwavetrain,thephasesofthewavecomponentsthatmakeupthewavetrainarerandomlydistributed, buttheyarefixedrelativetothewavetimeorigin.Youcanthereforearrangethatthesimulationcoversadifferent pieceoftherandomwavetrainbychangingthewavetimeorigin.Thiscanbeusefulfortwopurposes: You may want to select a particularly significant event in the wave train, such as a large wave. OrcaFlex has specialfacilitiestomakethiseasyseeWavePreview. Secondly,youmaywanttodoaseriesofrunswiththesamewavetraindatabutdifferentrandomphasesfor thewavecomponents.Thiscanbedonebyspecifyingrandomlychosenwavetimeoriginsforthedifferentruns, since randomly selecting different periods of the wave train is statistically equivalent to choosing different randomphasesforthewavecomponents.
7.5.5
DataforRegularWaves
A regular wave is a single wave component defined by wave Direction, Height and Period. Wave height is measuredfromtroughtocrest.
StreamFunctionOrder
For the Dean wave theory only, you can set the order of stream function to be used. For most waves the default valuewillsuffice.However,fornearlybreakingwavesthemethodsometimeshasproblemsconverging.Ifthisisthe casethenitmightbeworthexperimentingwithdifferentvalues.
7.5.6
DataforRandomWaves
Randomwavesarespecifiedbygivingtheenergyspectrumoftherandomsea.TheWaveTypespecifiesthetypeof spectrumandthespectraldatathendefinestheactualspectrumwithinthattype.SeeJONSWAPandISSCSpectra, OchiHubbleSpectrum,TorsethaugenSpectrumorUserDefinedSpectrum. Foragivenspectrum,seastateandsimulationtimeorigin,differentwaveconditionscanbeobtainedbyshiftingthe wavetimeorigin.Formoreinformation,seeSettingupaRandomSea.

NumberofwavedirectionsandSpreadingexponent
Thisdataallowsyoutomodeladirectionalspreadspectrum.Youspecifythenumberofdiscretewavedirectionsto beusedtogetherwithanexponentforthespreadingfunction.Ifthenumberofwavedirectionsissetto1thenno spreadingisapplied. OrcaFlex uses a cosn spreading function where n (which must be even) is the specified spreading exponent. Full detailsaregiveninthewavetheorytopic.
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NumberofComponentsandSeed
Randomwavetrainsarerepresentedbyauserdefinednumberofcomponentwaveswhoseamplitudesandperiods areselectedbytheprogramtogiveaseastatehavingthespecifiedspectrum. Ifyouareusingadirectionalspreadingspectrumthenyouspecifythenumberofwavecomponents perdirection. Otherwiseyouspecifythetotalnumberofwavecomponentsforthewavetrain. Thephasesassociatedwitheachwavecomponentarepseudorandom.OrcaFlexusesarandomnumbergenerator andtheuserdefinedseedtoassignphases.Thesequenceisrepeatable,sothesameseedwillalwaysgivethesame phasesandconsequentlythesametrainofwaves. IfUserspecifiedseedsischeckedthentheusermustspecifyaseedforeachwavetrain.Otherwisetheprogram choosesaseedautomatically. Spectrumgraphsandtables The View Frequency Spectrum button produces a graph of energy spectrum. If you are using a directional spreadingfunctionthenyoucanplotitusingtheViewDirectionSpectrumbutton. The ViewWaveComponents buttonoutputsaspreadsheetgivingdetails ofthewave componentsthatOrcaFlex hasusedtorepresentarandomortimehistorywavetrain. Forarandomwavetrainthespreadsheetalsoreportsthefollowingpropertiesofthespectrum: Thefirst3momentsofthespectrum,m0,m1andm2. MeanperiodT1whichequalsm0/m1.NotethatT1issometimesdenotedbyTm. PeakperiodandfrequencyTpandfm.Thesearetheperiodandfrequencyatwhichthespectrumhasthegreatest spectraldensity.
7.5.7
DataforJONSWAPandISSCSpectra
For the ISSC spectrum you specify Hs and Tz (or alternatively the linked parameters Tp or fm) and the program calculatestheotherspectralparameters. FortheJONSWAPspectrumyouhavethefollowingoptionsforsettingthespectralparameters: Automatic:YouspecifyHsandTzandtheprogramcalculatestheotherparameters. PartiallySpecified:YouspecifyHs,Tz(oralternativelythelinkedparametersTporfm)andandtheprogram calculatestheotherparameters. FullySpecified:Youspecifyallthespectralparameters(,,1,2andTporfm)andtheprogramcalculatesand reportsHsandTz.
Thevariousspectralparametersaredocumentedbelow:
Hs,Tz,fm,Tp
Hs is the significant wave height. Tz is the zero crossing period. Tp and fm are the spectral peak period and peak frequency,i.e.thosewithlargestspectralenergy. FortheISSCspectrumTz,Tpandfmaretiedtogether,sosettinganyoneofthemsetstheothertwotomatch. FortheJONSWAPspectrumhowthesedataareuseddependsontheselectedparameteroption: ForAutomaticparametersyousetHsandTzandtheprogramcalculatesandreportsTpandfm. ForPartiallySpecifiedparametersTz,Tpandfmaretiedtogether,sosettinganyoneofthemsetstheothertwo tomatch.YoumustalsosetHs. ForFullySpecifiedparametersTpandfmaretiedtogether,sosettingoneofthemsetstheothertomatch.The programcalculatesandreportsHsandTz.
Peakenhancementfactor()
FortheISSCspectrumisalways1. FortheJONSWAPspectrumisautomaticallycalculatedbytheprogramusingformulaegivenbyIsherwood,1987if theparametersarecalculatedusingtheAutomaticoption.Otherwiseyoucanspecifythevalue.
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For Partially Specified parameters you must be careful about the order in which you set parameters. The relationshipbetweenTz,Tpandfmdependson.WetreatTzasthemasterdataitemwhichmeansthatyoumustset beforesettingTporfm.
Spectralwidthparameters(1,2)
TheseonlyapplytotheJONSWAPspectrum.IftheparametersarecalculatedusingtheFullySpecifiedoptionyou canspecifythesevalues.Otherwisetheyarefixedatthestandardvaluesof0.07and0.09respectively.
Spectralenergyparameter()
FortheISSCspectrumiscalculatedbytheprogramtogiveaseastatewiththespecifiedHsandTz. FortheJONSWAPspectrumiftheparametersarecalculatedusingtheFullySpecifiedoptionyoucanspecifyand the program reports the corresponding Hs. Otherwise is calculated by the program to give a sea state with the specifiedHsandTz.
7.5.8
DataforOchiHubbleSpectrum
TheOchiHubbleformulationallows2peakedspectratobesetup,enablingyoutorepresentseastatesthatinclude botharemotelygeneratedswellandlocalwindgeneratedwaves.
HsandTz
HsisthesignificantwaveheightandTzisthezerocrossingperiod.TheirvaluesdependonwhetheryouspecifyAuto orUser. Auto:InthiscaseHsisspecifiedbytheuserandtheprogramselectsthemostprobablespectralparametersforthat valueofHs.TheresultingTzisthenderivedanddisplayed,butcannotbeedited. User:Inthiscasetheuserspecifiesthespectralparametersexplicitly.TheresultingHsandTzvaluesaredisplayed, butneithercanbeedited.

Hs1,fm1,1,Hs2,fm2and2
The OchiHubble spectrum is the sum of 2 component spectra, each of which is specified by a set of three parameters:Hs1,fm1,1forthelowerfrequencycomponentandHs2,fm2,2forthehigherfrequencycomponent. Parameters Hs1 and Hs2 are the significant wave heights of the component spectra; the overall significant wave heightHs=(Hs12+Hs22).Parametersfm1andfm2arethemodalfrequenciesofthetwocomponents.Finally,1and2 are shape parameters that control the extent to which the spectral energy is concentrated around the modal frequencylargervaluesgivemoreconcentratedcomponentspectra. Youcanspecifythesespectraparametersintwoalternativeways: IfyouselectAutomatictheprogramcalculatestheparametersofthemostprobablespectrum,basedontheoverall significantwaveheightHsthatyouhavespecified.TheparametersusedareasgivenintheOchiHubblepaper,table 2b. IfyouselectSpecifiedyoumustspecifyall6parameters.Theprogramthenderivesanddisplaysthecorresponding overallHsandTzvalues. Notes: Themodalfrequencyofthefirstcomponent,fm1,mustbelessthanthatofthesecond,fm2.Itisalso recommendedthatfm2isgreaterthan0.096. Thesignificantwaveheightofthefirstcomponent,Hs1,shouldnormallybegreaterthanthatofthe second, Hs2, since most of the wave energy tends to be associated with the lower frequency component. The OchiHubble spectrum makes no allowance for the directionality of the swell and wind components of the sea state. In reality the separate components frequently come from different directions.However,anOrcaFlexwavetrainhasasingleprincipaldirection.Becauseofthisitis moreappropriatetomodelatwopeakedseastateusingtwoseparateOrcaFlexwavetrains,one fortheswellcomponentandoneforthelocalwindgeneratedcomponent.
Warning:
7.5.9
DataforTorsethaugenSpectrum
The Torsethaugen spectrum is a double peaked spectrum best suited to North Sea conditions. It enables you to representseastatesthatincludebotharemotelygeneratedswellandlocalwindgeneratedwaves.
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FulldetailsoftheformulationusedarefoundintheTorsethaugenandHaverpaper.
Hs,fmandTp
TheTorsethaugenspectrumisspecifiedbyHsandTp.ThefmandTpdataitemsarelinkedbytherelationshipfm= 1/Tp.Ifyouenteronetheotherwillbeupdatedaccordingtothisequality. Warning: The Torsethaugen spectrum makes no allowance for the directionality of the swell and wind components of the sea state. In reality the separate components frequently come from different directions.However,anOrcaFlexwavetrainhasasingleprincipaldirection.Becauseofthisitis moreappropriatetomodelatwopeakedseastateusingtwoseparateOrcaFlexwavetrains,one fortheswellcomponentandoneforthelocalwindgeneratedcomponent.
7.5.10
DataforUserDefinedSpectrum
AuserdefinedspectrumisspecifiedbygivingatableofvaluesofS(f),whereS(f)isthespectralenergyasafunction offrequencyf. Thevaluesoffspecifieddonotneedtobeequallyspaced.Forintermediatevaluesoff(i.e.betweenthosespecified inthetable)OrcaFlexuseslinearinterpolationtoobtainthe spectralordinateS(f).Andforvaluesoffoutsidethe rangespecifiedinthetableOrcaFlexassumesthatS(f)iszero.Yourtableshouldthereforeincludeenoughpointsto adequatelydefinetheshapeyouwant(importantwhereS(f)islargeorhashighcurvature)andshouldcoverthefull rangeoverwhichthespectrumhassignificantenergy. OrcaFlexreportsonthedataformHsandTzthatcorrespondtothespectrumspecified.Thesearecalculatedusing thestandardformulae: Hs=4m0. Tz=(m0/m2). wherem0andm2arethezerothandsecondmomentsofthespectrum.
7.5.11
DataforTimeHistoryWaves
Atimehistorywavetrainisdefinedbyaseparatetextfilethatcontainsthewaveelevationasafunctionoftime.To usethisyouneedtodothefollowing: Createasuitabletimehistorytextfiledefiningthewaveelevationasafunctionoftime.Thetimevaluesinthe filemustbeequallyspacedandinseconds.Theelevationvaluesmustbetheelevationattheglobaloriginused in the OrcaFlex model, measured positive upwards from the still water level specified in the OrcaFlex model, andusingthesameunitsasthoseintheOrcaFlexmodel. SetupthetimehistorydataasdescribedinDatainTimeHistoryFiles. Setthe Wave Time Origin to position the required section of wavetime history within the simulation period. YoucanusetheViewProfilebutton(ontheWavesPreviewpageontheenvironmentdataform)toseethewave elevationasafunctionofsimulationtime. SettheMinimumNumberofComponents.ThisaffectsthenumberofFouriercomponentsthatwillbeusedto modelthetimehistorywave.Itshouldbesethighenoughtogivedesiredaccuracy,butnotethatusingavery largenumberofcomponentsmaysignificantlyslowthesimulation.Moredetailsaregivenbelow.
HowWaveTimeHistoryDataisUsed Briefly,OrcaFlexusesaFastFourierTransform(FFT)totransformthedataintoanumberoffrequencycomponents. EachcomponentisthenusedtodefineasingleAirywaveandtheseAirywavesarethencombinedtogivethewave elevationandkinematicsatallpoints.TheViewWaveComponentsandViewSpectrumbuttonsonthedataform show(intabularandpowerspectraldensitygraphformrespectively)theAirywavecomponentsthatOrcaFlexwill usetomodelthewaves. NotethattheFFTrequiresthenumberofsamplesitusesfromthetimehistoryfile,Nsay,tobeapowerof2,andit producesN/2components.Becauseofthis,thetimehistoryfilemustcontainasequenceofNsamplesthatcovers the period of the simulation, where N is a power of 2 that is at least twice the specified minimum number of components. Warning: Ifthetimehistoryfiledoesnotcontainenoughsamplestoachievethis,thenzeropaddingwillbe used to extend the time history until it does. This islikely to introduce spurious high frequencies intothewaves,sowerecommendthatthisisavoidedbyprovidingmoreactualsamples.
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Herearemoredetails.
1.OrcaFlexfirstselectstheelevationvaluesthatcoverthesimulationperiod
To do this OrcaFlex searches the time history file and selects the time samples that cover the simulation period. Thesewillbethetimesamplesfromtime (T0BuildUpDuration)to(T0+SimulationDuration) whereBuildUpDurationisthelengthofthebuildupstageofthesimulation,SimulationDurationisthelengthofthe remaining stages and T0 = SimulationTimeOrigin WaveTimeOrigin. These time origin settings allow you, if you want,toshiftthesimulationrelativetothetimehistory.
2.OrcaFlexthenincludesmoresamples,ifnecessary
Let n be the number of samples selected in step 1. In order to achieve the specified minimum number of components,msay,OrcaFlexneedsatleast2msamples.Soifnislessthan2mthenOrcaFlexselectsmoresamples fromthefile(takenequallyfromearlierandlaterinthefile,ifpossible)untilithas2msamples.IfOrcaFlexrunsout ofsamplesinthefilewhiledoingthisthenanerrormessageisgiven;youmusttheneitherprovidemoresamplesin thetimehistoryfileorelsereducetheminimumnumberofcomponentsrequested. HoweverOrcaFlexalsoneedsthenumberofsamplestobeapowerof2,sincethatisneededinordertouseafast Fouriertransform.Soif2misnotapowerof2thenOrcaFlexagainselectsmoresamplesfromthefile(takenequally fromearlierandlaterinthefile,ifpossible)untilthenumberofselectedsamplesisapowerof2.IfOrcaFlexruns out of samples in the file while doing this then it zeropads (i.e. it adds extra samples of value zero); you will be warnedifthishappens.
3.OrcaFlexusesafastFouriertransformtoobtainFouriercomponents
The selected time history samples, N of them say, are converted into frequency domain form using a Fast FourierTransform (FFT). This gives N/2 sinusoidal Fourier components. The View Wave Components button reportstheirnumericalvaluesandtheViewSpectrumshowstheirspectrum.
4.OrcaFlexmodelsthetimehistorywaveasthesuperpositionofAirywaves
N/2 Airy waves are created, with periods, amplitudes and phases that match the Fourier components. The time historywaveisthenmodelledasthesuperpositionoftheseAirywaves. Warning: This last step effectively uses Airy wave theory to extrapolate from the global origin, where the surfaceelevationhasbeendefined,toderivesurfaceelevationatotherpointsandtoderivefluid kinematics from the surface elevation readings. This extrapolation introduces errors, which become worse the further you go from the global origin. It is therefore recommended that the globalorigin (= the point the time history file data applies to) is placed close tothe main wave sensitivepartsofthemodel.
7.5.12
DataforUserSpecifiedComponents
The User Specified Components wave type allows you to specify the wave train as the sum of a number of sinusoidalcomponents.Foreachcomponentyouspecify:
FrequencyorPeriod
You may specify either of these and the other is automatically updated using the relationship Period = 1 / Frequency.
Amplitude
Thesingleamplitudeofthecomponentthatishalfthepeaktotroughheight.
Phaselag
Thephaselagrelativetothewavetraintimeorigin.
7.5.13
Hs
DataforResponseCalculation
The significant wave height of the truncated white noise spectrum used for the Spectral Response Analysis. A truncatedwhitenoisespectrumhasenergyspreadevenlyovertheaspecifiedrangeoffrequencies.
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ThetotalenergyofthespectrumisdeterminedbyH susingthestandardformulam0=(Hs/4)2wherem0isthezero thspectralmoment,thatisthetotalspectralenergy.OrcaFlexalsoreportsTz=(m0/m2). AmoredetaileddiscussionoftheissuesinvolvedinchoosingHsisgiveninLoadCasesDataforSpectralAnalysis.

TargetFrequencyRange
These data items determine the frequency range of the truncated white noise spectrum used for the Spectral ResponseAnalysis. The wave components that OrcaFlex uses to represent this spectrum are carefully chosen. They are selected to matchthefrequenciesproducedbytheFastFourierTransform(FFT)usedtocalculatethespectralresponse.This processisdescribedinmoredetailintheSpectralResponseAnalysistheorysection. ItispossiblefortherangeofFFTfrequenciesnottocovertheTargetFrequencyRange.Ifthishappensthenasmuch ofthetargetrangeisusedasispossible.YouwillbewarnediftheactualfrequencyrangecannotachievetheTarget FrequencyRange.
7.5.14
WavesPreview
Whenusingarandomwaveoratimehistorywave,OrcaFlexprovidestwopreviewfacilitiestoaidselectionofthe wave,namelyListEventsandViewProfile.TheseareprovidedontheWavesPreviewpageontheenvironmentdata formandaredocumentedbelow. Notes: These commands work in terms of global time, rather than simulation time. This enables you to searchthroughaperiodofglobaltimelookingforaninterestingwaveeventandthensetthetime originssothatthesimulationcoversthatevent. Ifyouareusingmultiplewavetrainsthenthesecommandsreportthecombinedseastatefromall ofthewavetrains.
SeealsoSettingupaRandomSea.
Position
ThisisthepointtowhichtheListEvents,ViewProfileandHorizontalVelocitycommandsapply.Sincewavetrains varyinspaceaswellastimeyoushouldnormallysetthispointtobeclosetoasystempointofinterest,suchasa risertopendposition.

ViewProfile
ThisplotsatimehistoryofwaveelevationatthespecifiedPositionoverthespecifiedintervalofglobaltime. AnexampleoftheuseofthesecommandsistouseListEventstoscanoveralongperiodofglobaltime(e.g.10000 secondsormore),lookforlargewavesandthenuseViewProfiletolookinmoredetailatshortsectionsofinterest. Having decided which part of the wave train to use, the simulation time origin can then be set to just before the periodofinterest,sothatthesimulationcoversthatperiod.
ListEvents
Thiscommandsearchesforindividualwaveswithinarandomseawhichsatisfyspecifiedcriteria.Allwaveeventsin thespecifiedintervalofglobaltimeandatthespecifiedPositionwhichmatchthespecifiedcriteriaarereported. Thecriteriaarebespecifiedinoneoftwoways,determinedbytheWaveSearchMethod: IftheHeightorSteepnessoptionisselectedthenprogramsearchesforrisesorfallsthatexceedthespecified height H, or (providing there is only a single wave train) that the wave steepness exceeds the specified steepnessS.ThesteepnesscriterionSisnotusedifthereismorethanonewavetrainspecified.Thisisbecause steepnessismeasuredinthewavedirectionandwhenmultiplewavetrainsarepresentthereisnotnecessarily auniquewavedirection. IftheHeightorPeriodoptionisselectedthentheprogramsearchesforwaveeventsmatching(uptospecified tolerancelevels)boththespecifiedwaveheightHandthespecifiedwaveperiodT.
For each event, the height (total rise or fall) is given and an equivalent period is derived from the time interval betweenthepeakandtrough.Thesearethenusedtocalculate,forthiswaterdepth,anAirywaveofthesameheight andperiod,andthelengthandsteepnessofthisequivalentAirywavearegiven. Ifthereisonlyonewavetrainthen,forcomparisonpurposes,areferencewaveisreportedatthetopofthetable. ThisreportstheAirywavewhoseheightandperiodmatchtheHsandTzofthatsinglewavetrain.
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Finally,variouswaveelevationstatisticsarereportedforthepositionandperiodoftimespecified.Theseinclude the largest rise and fall, the highest crest and lowest trough, the number of up and down zerocrossings and the sample's estimated Hs and Tz values. These statistics enable you to measure how "typical" this wave elevation sampleis,comparedwiththeoverallparentspectrum.
HorizontalVelocity
This plots how the water horizontal velocity (due to current and waves) varies with depth, at the specified (X,Y) Positionandspecifiedglobaltime.
7.5.15
SettingupaRandomSea
ThissectiongivesinformationonhowtosetuparandomseausingOrcaFlex'smodellingfacilities.Foradetailed descriptionofthese,seeWaveData. The most common requirement is to produce a realistic wave train which includes a "design wave" of specified height Hmax and period Tmax. However alternative requirements are possible andit is sometimes useful to impose additionalconditionsforconvenienceinresultspresentation,etc. The height and period of the maximum design wave may be specified by the client, but on occasion we have to derivetheappropriatevaluesourselves,eitherfromotherwavestatistics(forexampleawavescattertable,giving significantwaveheightsHs andaverageperiodsTz)orfromamoregeneraldescriptionofweather(suchaswind speed).SeeWaveStatisticsforguidance. HavingdecidedwhatvaluesofHmaxandTmaxarerequired,weselectanappropriatewavetrainasfollows,usingthe facilitiesavailableinOrcaFlex. Setthesignificantwaveheight(Hs)andaverageperiod(Tz)forthedesignstorm,andthewavespectrumISSC, JONSWAP,OchiHubbleandTorsethaugenoptionsareavailable.SeeSettingtheSeaStateDatafordetails. Setthenumberofwavecomponents(typically100).SeeSettingtheNumberofComponentsfordetails. Searchthroughthetimehistoryofwaveheightandlookingfor aparticularwaverise(troughtocrest)orfall (cresttotrough)whichhastherequiredtotalheightandperiod.Ifnowaveoftherequiredcharacteristicscan befound,thenadjustHsandTzslightlyandrepeat.SeeFindingaSuitableDesignWaveEventfordetails. Whentherequireddesignwavehasbeenlocated,youcansetthesimulationtimeoriginanddurationsothat the design wave occurs within the simulation time, with sufficient time before and after to avoid starting transientsandcollectallimportantresponsesofthesystemtothedesignwave.Atypicalrandomseasimulation mayrepresent5or6averagewaveperiods(say6070secondsforadesignstormintheNorthSea)plusabuild upperiodof10seconds.Ifthesystemiswidelydispersedinthewavedirection,thenthesimulationmayhave to be longer toallowtimeforthe principal wave group topassthroughthe whole system. Since short waves travelmoreslowlythanlongones,thisaffectssimulationsofmildseastatesmorethansevereseas.
SettingtheSeaStateData
TheISSCspectrum(alsoknownasBretschneiderormodifiedPiersonMoskowitz)isappropriateforfullydeveloped seas in the open ocean. The JONSWAP spectrum is a variant of the ISSC spectrum in which a "peak enhancement factor",,isappliedtogiveagreaterconcentrationofenergyinthemidbandoffrequencies.TheOchiHubbleand Torsethaugenspectraenableyoutorepresentseastatesthatincludebotharemotelygeneratedswellandalocal windgeneratedsea. JONSWAPiscommonlyspecifiedfortheNorthSea.TwoparametersaresufficienttodefineanISSCspectrumwe use Hs and Tz for convenience. For the JONSWAP spectrum, five parameters are required, Hs, Tz, , and two additionalparametersaandb(denoted1and2inOrcaFlex),whichdefinethebandwidthoverwhichthepeak enhancementisapplied.IfyouchooseJONSWAPthenyoucaneitherspecifyorlettheprogramcalculateit(see formulaegivenbyIsherwood).Thebandwidthparametersaresetautomaticallytostandardvalues).FortheNorth Seaitiscommontoset=3.3.Ifyouhavetodoasystematicseriesofanalysesinarangeofwaveheights,thereare advantagesinkeepingconstant.NotethataJONSWAPspectrumwith=1.0isidenticaltotheISSCspectrumwith thesameHsandTz. Choice of wave spectrum can cause unnecessary pain and suffering to the beginner. For present purposes, the important point is to get the "design wave" we want embedded in a realistic random train of smaller waves. The spectrumisameanstothisend,andinpracticeitmatterslittlewhatformulationisused.Theoneexceptiontothis sweepingstatementmaybe2peakedspectra(e.g.OchiHubbleorTorsethaugen).
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SettingtheNumberofComponents
OrcaFlexgeneratesatimehistoryofwaveheightbydividingthespectrumintoanumberofcomponentsinewaves ofconstantamplitudeand(pseudorandom)phase.Thephasesassociatedwitheachwavecomponentarepseudo random.OrcaFlexusesarandomnumbergeneratorandtheseedtoassignphases.Thesequenceisrepeatable,so thesameseedwillalwaysgivethesamephasesandconsequentlythesametrainofwaves.Thewavecomponents are added assuming linear superposition to create the wave train. Ship responses and wave kinematics are also generated for each wave component and added assuming linear superposition. OrcaFlex currently allows you to specify the number of wave components to use; more components give greater realism but a greater computing overhead. Thetimehistorygeneratedisjustoneofaninfinitenumberofpossiblewavetrainswhichcorrespondtothechosen spectruminfactthereareaninfinitenumberofwavetrains whichcouldbegeneratedfrom100components,a furtherinfinitesetfrom101componentsandsoon. Strictlyspeaking,weshoulduseafullFourierseriesrepresentationofthewavesystemwhichwouldtypicallyhave severalthousandcomponents(thenumberdependsontherequireddurationofthesimulationandtheintegration timestep).Thisisprohibitivelyexpensiveincomputingtimesoweuseamuchreducednumberofcomponents,as notedabove.However,thisdoesinvolvesomelossofrandomnessinthetimehistorygenerated.Foradiscussionof theconsequencesofthisapproach,seeTuckeretal(1984).
FindingaSuitableDesignWave
Afrequentrequirementistofindasectionofrandomseawhichincludesawavecorrespondinginheightandperiod toaspecifieddesignwave.OrcaFlexprovidespreviewfacilitiesforthispurpose.Ifyouarelookingforalargewave in a random sea, say Hmax = 1.9Hs, then use the List Events command (on the Waves Preview page of the environmentdataform)toaskforalistingofwaveswithheight>H=1.7Hs,say.Itisworthlookingoverareasonably longperiodoftimeatfirstsayt=0sto50,000soreven100,000s.OrcaFlexwillthensearchthattimeperiodand listwaverisesandfallswhichmeetthecriterionyouhavespecified. Supposethatthelistshowsawavefallatt=647swhichisclosetoyourrequirement.ThenyoucanusetheView Profilecommandtoinspectthispartofthewavetrain,byaskingOrcaFlextodrawtheseasurfaceelevationforthe periodfromt=600stot=700s,say.Youwillthenseethelargewavewiththesmallerwaveswhichprecedeand followit. Notethatwhenyouusethepreviewfacilityyouhavetospecifyboththetimeandthelocation(X,Ycoordinates).A randomwavetrainvariesinbothtimeandspace,soforwavesgoinginthepositiveXdirection(wavedirection= 0),thewavetrainatX=0differsfromthatatX=300m. Youcanusethepreviewfacilitytoexaminethewaveatdifferentcriticalpointsforyoursystem.Forexample,you maybeanalysingasysteminwhichlinesareconnectedbetweenShipAatX=0andShipBatX=300m.Itisworth checkingthatawavetrainwhichgivesadesignwaveatShipAdoesnotsimultaneouslyincludeanevenhigherwave atShipB.IfyouwanttoinvestigatesystemresponsetoaspecifieddesignwaveatbothShipAandShipB,thenyou willusuallyhavetodotheanalysistwice,oncewiththedesignwaveatShipAandonceatShipB. Ifnowaveoftherequiredcharacteristicscanbefound,thenadjustHsandTzslightlyandrepeat.Aswenotedabove, theimportantpointistogetthedesignwavewewantembeddedinarealisticrandomtrainofsmallerwaves.Thisis often conveniently done by small adjustments to Hs and Tz. We need make no apology for this. In the real world, even in a stationary sea state, the instantaneous wave spectrum varies considerably and Hs and Tz with it. For furtherdiscussionseeTuckeretal(1984). IfyouareusinganISSCspectrum,oraJONSWAPspectrumwithconstant,thenyoucanmakeuseofsomeuseful scaling rules at this point. In these 2 cases, provided the number of wave components and the seed are held constant,then: ForconstantTz,waveelevationatanytimeandanylocationisdirectlyproportionaltoHs.Forexample,ifyou havefoundawaveattimetwhichhastheperiodyourequirebutis5%lowinheight,increasingHsby5%will giveyouthewaveyouwant,alsoattimet. ForconstantHs,thetimebetweensuccessivewavecrestsattheorigin(X=0,Y=0)isproportionaltoTz.For example, if you have found a wave at the origin at time t which has the height you require but the period betweencrestsis5%lessthanyouwant,increasingTzby5%willgiveyouthewaveyouwant,butattime1.05t. Note: Thisruledoesnotapplyingeneralexceptattheoriginofglobalcoordinates.
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Thesescalingrulescanbehelpfulwhenconductingastudyofsystembehaviourinarangeofwaveheights.Wecan selectasuitablewavetrainforonewaveheightandscaletoeachoftheotherwaveheights.Thisgivesasystematic variation in wave excitation for which we may expect a systematic variation in response. If the wave trains were independentlyderived,thentherewouldbeadditionalscatter.
WaveStatistics
ThefollowingisbasedonTucker(1991). DerivingHmaxfromHs Hmax/Hs=K.[(logeN)/2] where N is the number of waves in the period under consideration and K is an empirical constant. Since wave statisticsareusuallybasedonmeasurementsmadeevery3hours,Nisusuallytakenasthenumberofwavesin3 hours: N=10800/Tz. Forextremestorms,Kmaybetakenas0.9,butformoderatewaveconditionsasusedforfatigueanalysis,K=1is usuallyassumed. Inextremestormconditions,itiscommontoassumea"significantwavesteepness"of1/18,i.e. S=(2Hs)/(gTz2)=1/18 hence Tz=[(2Hs)/(gSs)]=3.39Hs for Ss=1/18(Hsinmetres,Tzinseconds.) DerivingTmaxfromTz Generally,itcanbeassumedthat 1.05Tz<Tmax<1.4Tz. Acommonassumptionis Tmax=1.28Tz.
7.5.16
CurrentData
MultipleCurrentDataSets Multiplesetsofcurrentdatacanbedefined.However,onlyonesetofcurrentdataisactiveatanyonetime.This capability is intended to help when you are analysing a series of load cases with differing current data. You can definethedifferentcurrentdatasetsinthebasedatafile.Then,inthebatchscriptwhichgeneratestheloadcase simulations,yousimplysettheactivecurrenttobeoneofthepredefinedcurrentdatasets.
Multiplesetsofcurrentdatacanbedefined
Thisdataitemmustbecheckedifyouwishtodefinemultiplesetsofcurrentdata.Ifitisnotcheckedthenyoudefine justasinglecurrentdataset.
Activecurrent
Specifieswhichofthemultiplecurrentdatasetsisactivein themodel.Thisdataitemisonlyavailableifyouhave enabledmultiplecurrentdatasets. TodefinethecurrentdatasetsclickontheEditCurrentDataSetsbutton.Thisopensaseparatedataformwhere thecurrentdatasetscanbedefinedandnamed. DataforasingleCurrentDataSet

RampDuringBuildUp
Ifselectedthenthestaticpositionwillbecalculatedwithouttheeffectsofcurrent.Then,duringthebuildupstageof dynamics the current is ramped up to its full value. If not selected (the default) then the current is used in calculatingthestaticpositionandfullcurrentisappliedthroughout.
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This facility to omit current effects from the static calculation and introduce them during the build up is useful wherethecurrentmaycauselinestocomeintocontact.Forexample,consideracasewhereaflexiblelineistothe left of a stiff pipe but current pushes the flexible up against the pipe. Since the OrcaFlex static analysis does not includetheeffectsofcontactbetweenlines,ifcurrentwasincludedinthestaticanalysisthenitwouldfindastatic positionwheretheflexiblelinewastotherightofthepipe.Thesimulationwouldthenstartwiththeflexibleonthe wrongsideofthepipe. Thisproblemcanbeovercomebysettingthecurrenttorampduringbuildupandsettingclashcheckingforthetwo lines.Thestaticpositionwillexcludetheeffectofcurrentandsowillleavetheflexibletotheleftofthepipe.The buildup stage will then introduce the current effects but will also include the effect of contact between the two lines. VerticalCurrentVariation
CurrentMethod
CanbeInterpolatedorPowerLaw.TheInterpolatedmethodusesafull3Dprofilewithvariablespeedanddirection. ThePowerLawmethodusesanexponentialdecayformula. DataforInterpolatedMethod

SpeedandDirection
The magnitude and direction of a reference current, generally taken as a surface current. The actual current at a givenZlevelisthendefinedrelativetothisreferencecurrentbyacurrentprofile. Thedirectionspecifiedisthedirectionthecurrentisprogressingforexample,0and90meancurrentsflowingin theXandYdirections,respectively. Thespeedanddirectioncaneitherbefixed,varywithsimulationtimeorbegivenbyanexternalfunction.
Profile
Acurrentprofilemaybedefinedbyspecifyingfactorsandrotationsatvariousdepths,relativetoreference.Ateach Depth in the table the current speed is the reference current speed multiplied by the Factor for that depth; the Direction is the reference direction plus the rotation specified. Current speed and direction are interpolated linearlybetweenthespecifiedlevels.Thecurrentatthegreatestdepthspecifiedisappliedtoanydepthbelowthis, forexamplewhenaslopingseabedisspecified.Similarly,the currentattheleastdepthspecifiedisappliedtoany depthabovethis. Negativefactorscanbeusedwhichallowyoutomodelreversingcurrents. Note: OrcaFlex interpolates rotations over the shortest route. For example if consecutive rows in the tablespecifyrotationsof350and10thentheprograminterpolatespassingthrough355,0and 5.
Ifyouprefertoentercurrentspeedsanddirectionsdirectly, ratherthanusingareferencecurrentandreference relativeprofile,simplysetthereferencecurrentspeedto1andthereferencedirectionto0. DataforPowerLawMethod

SpeedatSurfaceandatSeabed
Thecurrentspeedatthestillwaterlevelandattheseabedlevel. Note:
Direction
SpeedatSeabedcannotbegreaterthanSpeedatSurface.
Whenusingthepowerlawcurrentmethod,thecurrentdirectionisthesameatalllevels.Thedirectionspecifiedis the direction the current is progressing, measured positive from the global Xaxis towards the global Yaxis. For example,0and90meancurrentsflowingintheXandYdirections,respectively.
Exponent
This determines how the current decays. With a smaller value, the decay is spread more evenly across thewater depth.Withahighervalue,thedecaymostlyoccursclosetotheseabed.
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ViewVerticalProfileGraph,ViewVerticalProfile3DView TheVerticalProfileGraphplotsZagainstcurrentspeedwhichcanbeusefultohelpvisualiseandcheckyourvertical currentspeedvariation. TheVerticalProfile3DViewshowsa3DViewwithanumberofarrowsshowingthecurrentvelocityvectorsata rangeofdepths.Thevectorsarenondimensionalised.Thismeansthatyoucannotusethemtotellabsolutecurrent speedsbutthespeedofthecurrentataparticulardepthcanbecomparedrelativetothespeedatotherdepths.This viewismostusefulforvisualisingandcheckingyourcurrentprofilerotationdata. HorizontalCurrentVariation Current speed variation with horizontal position can also be modelled. This is specified as a dimensionless multiplicativefactor.Whereavariationofcurrentspeedwithdepthhasbeendefinedthefactorwillbeappliedatall depths. Toneglectcurrentspeedvariationwithhorizontalpositionthisdataitemshouldbesetto'~'.Usinganumericvalue (e.g.0.5)allowsyoutoapplyascalingfactortotheverticalcurrentspeedprofile. TomodelcurrentspeedvariationwithhorizontalpositionyoumustdefineaHorizontalVariationFactorvariable datasource.Thehorizontalvariationfactorisassumedtobeconstantinthedirectionnormaltotheaxis. Negativefactorscanbeusedwhichallowyoutomodelreversingcurrents.
7.5.17
WindData
TheWindpageontheEnvironmentdataformcontainsdataformodellingwind.Thewinddataisusedtocalculate windloadson: VesselsseeVesselTheory:DragLoads. LinesseeLineTheory:HydrodynamicandAerodynamicLoads. 6DBuoyWingssee6DBuoys:WingTypeData.
IncludewindloadsonVessels,Linesand6DBuoyWings SpecifieswhetherwindloadsareincludedforVessels,Linesand6DBuoyWings. WhennewmodelsarecreatedinOrcaFlexwindloadsareincludedonVessels,Linesand6DBuoyWingsthatisall 3optionsareticked. Theseoptionsareprimarilyintendedtomaintaincompatibility withsomeolderversionsofOrcaFlex.Version8.3 and earlier did not include wind loads on Lines or 6D Buoy Wings. When files produced with such versions are loadedtheoptionsforLinesand6DBuoyWingsarenotticked. AirDensity Theairdensityisassumedtobeconstantandthesameeverywhere. AirKinematicViscosity ThisisusedtocalculateReynoldsnumber.Thisvalueisfixedandcannotbeedited. WindDirection ThedirectionspecifiedisthedirectioninwhichthewindisprogressingseeDirectionandHeadings.Inallcasesthe windisunidirectional. WindSpeed Windspeedisassumedtobethesameeverywhere.Thespeedspecifiedshouldbethevalueatanelevationof10m (32.8ft)abovethemeanseasurface,sincethatistheheightusedbytheOCIMFvesselwindloadmodel.Ifyouhave thewindspeedV(h)atsomeotherheighth(inmetres),thenthewindspeedV(10)at10mcanbeestimatedusing theformula:V(10)=V(h)(10/h)^(1/7). Youcanchoosetospecifywindspeedinvariousways,bysettingtheWindTypetooneofthefollowing.
Constant
Thewindspeedisthenconstantintime.
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Random
Thewindspeedvariesrandomlyintime,usingachoiceofeithertheAmericanPetroleumInstitutespectrum(API) ortheNorwegianPetroleumDirectoratespectrum(NPD). Inbothcases: The spectrum is determined by specifying the Mean Speed and the spectrum then determines the statistical variationaboutthatmean.TheViewSpectrumbuttonshowsagraphofthespectrum. Thewindspeedismodelledbyasumofanumberofcomponents.Thecomponentsaresinusoidalfunctionsof time whose amplitudes and frequencies are chosen by OrcaFlex to match the spectral shape. OrcaFlex uses a 'equal energy' algorithm to choose the amplitudes and frequencies. This gives all the components the same energy,andthereforethesameamplitude,buttheirfrequenciesarechosensothatthecomponentsaremore closelyspacedwherethespectralenergydensityishigh,andmorewidelyspacedwherethespectralenergyis low. You can specify the Number of Components to use. You should specify enough to give a reasonable representationofthespectrum. The phases of the components are chosen using a pseudorandom number generator that generates phases whichareuniformlydistributed.Thephasesgeneratedarerepeatablei.e.ifyourerunacasewiththesame datathenthesamephaseswillbeusedbutyoucanchoosetousedifferentrandomphasesbyalteringtheSeed usedintherandomnumbergenerator.Thiscanbeanyintegerintherange232to+2321. TheViewComponentsbuttongivesareportofthecomponentsthatOrcaFlexhaschosen. TheViewProfilebuttonshowstheresultingwindspeedtimehistory,asafunctionofglobaltime.Ifyouwant tosimulateaparticularsectionofthattimehistorythenyou canusethewind TimeOrigintotimeshiftthat sectionintothesimulationperiod.SeeTimeOriginsfordetails.
TimeHistory(Speed)
Thewindspeedvariationwithtimeisspecifiedexplicitlyinafile.FordetailsseeDatainTimeHistoryFiles.Linear interpolationisusedtoobtainthewindspeedatintermediatetimes.
TimeHistory(Speed&Direction)
Thewindspeedanddirectionvariationwithtimeisspecifiedexplicitlyinafile.FordetailsseeDatainTimeHistory Files.Linearinterpolationisusedtoobtainthewindspeedanddirectionatintermediatetimes. VerticalWindVariation Wind speed variation withheight above the mean water level (MWL) can also be modelled. This is specified as a dimensionlessmultiplicativefactor.Thisallowsaverticalwindprofiletobemodelled. TomodelverticalwindspeedvariationyoumustdefineaVerticalVariationFactorvariabledatasource. Toneglectverticalwindspeedvariationthisdataitemshouldbesetto'~'.Negativefactorscanbeusedwhichallow youtomodelreversingwindprofiles. ViewProfile TheViewSpeedProfileandViewDirectionProfilebuttonsdisplaytimehistorygraphsshowingthewindspeed anddirectionthatwillbeused.ThegraphscoverthespecifiedDuration,startingatthespecifiedStarttime.This Starttime,andthegraphs'timeaxes,arebothglobaltimes.
7.5.18
DrawingData
ThisdataallowsyoutocontrolthedrawingofthevariouscomponentswhichmakeuptheOrcaFlexEnvironment. ForamoregeneraldiscussionofdrawinginOrcaFlexseeHowObjectsAreDrawn.
SeaSurfacePen
Determines how the sea surface, current direction arrow and wave direction arrows are drawn. The current directionarrowisanarrownexttotheviewaxeswhichpoints inthedirectionofthecurrent.Thisarrowisonly drawnifthecurrentspeedisnotzeroandiftheDrawEnvironmentAxespreferenceisticked.Thewavedirection arrowsareexplainedbelow.
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SeaSurfaceGridDensity
Thedensityofthegridisspecifiedintermsofthelengthofthescalebaronthe3Dview;adensityofdmeansthat therearedlinesperscalebarlength,sohigherdensityvaluesgiveafinergrid(buttakeslongertodraw).
ShadedDrawingSeaSurfaceTranslucency
ControlshowtranslucenttheseasurfaceappearsintheShadedGraphicsmode.Avalueof0%givesasolidsurface and all objects behind the surface will not be visible. A value of 100% specifies transparency and leads to a completelyseethroughsurface.
SecondaryWaveDirectionPen
WhentheDrawEnvironmentAxespreferenceistickedawavedirectionarrowisdrawninthedirectionofthewave. If there are multiple wave trains whose directions are not equal then a wave direction arrow is drawn in the directionofeachwavetrain.Thefirstwavetrainusestheseasurfacepensinceitisregardedasthedominantone fordrawingpurposes.Allsubsequentwavetrains'directionarrowsaredrawnintheSecondaryWaveDirectionPen.
WindDirectionPen
Determines how the wind direction arrow is drawn. This is an arrow next to the view axes which points in the direction of the wind. This arrow is only drawn if the wind speed is not zero and if the Draw Environment Axes preferenceisticked.
SeabedPen
Theseabedgridisdrawninthispen.
SeabedGridDensity
Thedensityofthegridisspecifiedintermsofthelengthofthescalebaronthe3Dview.Adensityofdmeansthat therearedlinesperscalebarlength,sohigherdensityvaluesgiveafinergrid(buttakeslongertodraw).
ShadedDrawingSeabedTranslucency
ControlshowtranslucenttheseabedappearsintheShadedGraphicsmode.Avalueof0%givesasolidsurfaceand allobjectsbehindthesurfacewillnotbevisible.Avalueof100%specifiestransparencyandleadstoacompletely seethroughsurface.

SeabedProfilePen
Ifyouareusingaprofileseabedthenanextragridlineisdrawnalongeachdatapointusedtospecifytheprofile. Thiscanbeusedtoemphasisetheseabedprofiledata.
7.5.19
Parameters
ExternalFunctions
ThisdataitemspecifiestheExternalFunctionParameters,afreeformmultilinetextfieldwhichispassedtoany externalfunctionusedbytheEnvironment.
7.5.20
Results
SummaryandFullResults Results tables are available for the Environment reporting Wave length, Wave number, Ursell number and theoreticalBreakingwaveheight. TimeHistory,StatisticsandLinkedStatistics FordetailsonhowtoselectresultsvariablesseeSelectingVariables. ForEnvironmentresultsyoumustspecifytheglobalX,Y,Zcoordinatesofthepointforwhichyouwantresults.Note thattheresultsgivenarefortheseaconditionsthatapplyduringthesimulationtheythereforeincludethebuild upofwavemotionthatisdoneduringthebuildupstage. Theavailablevariablesareasfollows.
Elevation
TheglobalZcoordinateoftheseasurfaceatthespecifiedglobalX,Yposition.
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Velocity,X,Y,ZVelocity, Acceleration,X,Y,ZAcceleration
The magnitude and global X,Y and Z components of the water particle velocity (due to current and waves) and acceleration (due to waves) at the specified global X,Y,Z position. If the specified Z position is above the water surfacethenzeroisreported.IfthespecifiedZisbelowtheseabedthenthevalueapplicableattheseabedisgiven.
CurrentSpeedandCurrentDirection
ThespeedanddirectionofthecurrentatthespecifiedglobalX,Y,Zposition.
WindSpeedandWindDirection
Thewindspeedanddirection.NotethatthisdoesnotdependonthespecifiedglobalX,Y,Zposition.
StaticPressure
ThepressureduetothestaticheadofwateratthespecifiedglobalX,Y,Zposition.
Density
ThedensityofthewateratthespecifiedglobalX,Y,Zposition.
7.5.21
WaveScatterConversion
Introduction
Thewavescatterconversiontoolconvertsascattertableofseastatestoascattertableofregular(i.e.individual) waves.TheconversionmethodusestheformulaofLonguetHiggins,1983.Thisgivesthejointprobabilitydensityof individualwavesinarandomsea.Thisprobabilitydensityisdeterminedbythefirst3spectralmomentsm0,m1 andm2usingtheformulaofLonguetHiggins,1983.Fulldetailsofthecalculationsinvolvedaregiveninthetheory section. Oneofthemostusefulfeaturesofthetoolistheabilitytocreatebatchscriptandfatigueanalysisfilescorresponding tothecalculatedregularwavescattertable. As an alternative you can input directly the regular wave scatter table. This allows you to take advantage of the automaticexportofbatchscriptandfatigueanalysisfiles. The wave scatter conversion tool is run by selecting the Wave Scatter Conversion command from the OrcaFlex Calculation menu. It is essentially a selfcontained subprogram within OrcaFlex, with its own menus, data and output. Any OrcaFlex process active in the main window is paused until the wave scatter form is closed and the wavescatterconversiontoolhasnoeffectonexistingOrcaFlexdata. FileMenucommands Thecommandsonthefilemenuallowyoutosave,andthenreload,thedatarelatingtothewavescatterconversion.
New
ClearspreviouslyenteredWaveScatterdataandresetsdatatodefaultvalues.
Open
OpenaWaveScatterfile(.sct).
Save
Savethedatatothecurrentlyselectedfilename(shownintitlebarofthewindow).
SaveAs
ThisisthesameasSave,butallowsyoutospecifythefilenametosaveto.
MostRecentFilesList
Listofthemostrecentlyusedfiles.Selectinganitemonthelistcausesthefiletobeloaded.Thesizeofthelistcanbe adjustedfromthePreferencesform.
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Exit
Closesthewavescatterform.
Data
Thewavescatterconversiontoolrequiresthefollowingdata.Thisdatacanbesavedtoafile. RegularWaveScatter IfCalculatedfromirregularwavescatterisselectedthentheregularwavescattertableisderivedfromarandom seastatescattertableusingtheformulaofLonguetHiggins,1983.Fulldetailsofthecalculationsinvolvedaregiven inthetheorysection. If User specified is selected then the regular wave scatter table is input directly. This option is useful where the regularwavescattertableispredeterminedbutyoustillwanttotakeadvantageoftheautomaticexportofbatch scriptandfatigueanalysisfiles. Units Youcanselecttheunitsoflengthtobeusedforthewavescatterdata. SeaStateTable Thesedataspecifytherandomseastatescattertable.Ifthe RegularWaveScatteroptionisUserspecifiedthen thesedataarenotrequired.
SpectralForm
AlltheseastatesareassumedtobeofthesamespectralformwhichcanbeeitherJONSWAPorISSC. Note: TheLonguetHiggins,1983methodisvalidonlyfornarrowbandedspectra.ThustheOchiHubble andTorsethaugenspectraarenotavailableforthistypeofconversion.
SpectralParameters
If you select the JONSWAP spectral form you have 3 options for specifying the spectral parameters: Automatic, PartiallySpecifiedorFullySpecified.Thissettingappliestoallseastates.
SeaStates
Youmustspecifythespectrumforeachseastateinyourscattertable. IfyouhaveselectedtheISSCspectralformthenyouenterHsandoneofTz,Tporfm. IfyouhaveselectedtheJONSWAPspectrumtherequiredparametersdependontheselectedparameteroption: ForAutomaticparametersyousetHsandTzandtheprogramcalculatesandreportsTpandfm. ForPartiallySpecifiedparametersTz,Tpandfmaretiedtogether,sosettinganyoneofthemsetstheother twotomatch.YoumustalsosetHs. ForFullySpecifiedparametersTpandfmaretiedtogether,sosettingoneofthemsetstheothertomatch.The programcalculatesandreportsHsandTz.YoumustalsosetGamma,Alpha,Sigma1andSigma2.
NumberofOccurrences
Foreachseastateinyourscattertableyoumustalsospecifythenumberofoccurrencesofthatseastate.Thisdata isrequiredtodeterminetherelativelikelihoodofoccurrenceofeachseastate. Normallythisdatacomesfromaseastatescattertablewhereitisusuallypresentedinpartsperthousand. RegularWaves(scattertablecalculatedfromirregularwavescattertable) Thesedataspecifyhowtheregularwavescattertableisdiscretisedintobins.

WaveHeights,WavePeriods
Thesearetheregularwaveheightsandwaveperiodsthatyouwishtoanalyse.OrcaFlexautomaticallyconstructs binsaroundthesevalues.Theoutputfromthewavescatterconversiontoolincludesatablelistingthesebins.
TotalDuration
Thisisthetotaldurationtobecoveredbytheregularwavescattertable.
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Occurrencethreshold
Some of the bins in the regular wave scatter table can have very small occurrence values. In order to reduce the amountofcomputationtimerequiredtoanalysealltheloadcasesitiscustomarytoignoresuchbins.Anybinwhich hasanoccurrencevaluelowerthanthisthresholdwillbeignored.Ifyoudonotwishtoignoreanybinsthenyou shouldsetthethresholdto0. RegularWaves(userspecifiedregularwavescattertable) Thesedataspecifyacompleteregularwavescattertable.
Numberofbins
Thenumberofbinsintheregularwavescattertable.
WaveHeight,WavePeriod,NumberofOccurrences
Thesearespecifiedforeachbinintheregularwavescattertable.
Output
Toperformthewavescatterconversionyousimplyclickthe ShowRegularWaveScatterTablebuttonwhichis foundontheRegularWavespage.ThiscommandisalsoavailablefromtheActionmenu.Notethatthisbuttonisnot availableifyouhaveauserspecifiedregularwavescattertable. Theoutputispresentedinaspreadsheetwindowwhich,likeallsuchwindowsinOrcaFlex,canbesavedasanExcel file.Thespreadsheetismadeupofthefollowingsheets:
SeaStateTable
Thissheetcontainstheinputdatawhichspecifiedtheseastatescattertable.
RegularWaveBins
Theregularwaveheightandwaveperiodbinsarelistedhere.
RegularWaveScatterTable
Thissheetcontainsthemainoutputfromthewavescatterconversionatablelistingthenumberofoccurrencesof wavesineachregularwavebin.Anybinswhichhaveoccurrencesbelowtheoccurrencethresholdareomitted. This sheet also displays the total number of bins and the total probability covered by the table. This latter value providesanimportantcheckthatyourbinsextendfarenoughalongthewaveheightandperiodaxes.Ifthevalueis significantlylessthan1thenyourbinsneedtobeextended. BatchScript Onceyouhaveobtainedtheregularwavescattertableyouwillusuallywanttogeneratearegularwavesimulation fileforeachregularwavebin.TheExportBatchScriptbuttoncanbeusedtowriteanOrcaFlexbatchscriptfileto automatethegenerationofthesesimulationfiles.AlternativelytheCreateScriptTableSpreadsheetbuttoncanbe usedtocreateascripttablespreadsheetwhichcanbepastedintoanOrcaFlexExcelspreadsheet. Tousetheseoptionsyouneedtospecifythefollowingthings.
BaseCaseFileName
ThenameofanOrcaFlexdatafileonwhichalltheloadcasesaretobebased.Thisdatafileshouldspecifyaregular wave.Thebatchscriptfilesetsthewaveheightandperiodtogetherwiththesimulationduration. Ifyouhavealreadysavedthewavescatterdatathenrelativepathscanbeusedwhenlocatingthisfile.

SimulationFileNameTemplate
Eachloadcasesimulationfile(correspondingtoasingleregularwavebin)isgivenanameinthebatchscriptfile. Thesenamesarebasedonthistemplate.Specialformatstringscanbeusedtocustomisethesimulationfilenames asfollows: %Nwillbereplacedwiththeloadcasenumber.Eachloadcaseisassignedauniquenumber. %Hwillbereplacedwiththewaveheightforthatloadcase. %Twillbereplacedwiththewaveperiodforthatloadcase.
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The default value of the template is "Case #%N, H=%H, T=%T" and this will lead to simulation files named, for example:"Case#01,H=0.5,T=3.sim","Case#02,H=0.5,T=5.sim"andsoonforallloadcases. Note: You do not need to use all 3 format strings in your template. However, you must use enough of them to make the simulation file names unique. OrcaFlex will display an error message if the simulationfilenamesarenotunique.
Batchscriptloadcaseaction
If Run and save simulation is selected then the batch script will be written using the Run command. This optionshouldbecheckedifyouplantogeneratealltheloadcasesonasinglemachine. IfSaveDatafileisselectedthenthebatchscriptwillbewrittenusingtheSaveDatacommand.Thisoptionis intendedforusewithDistributedOrcaFlex.Whenrun,thescriptproducesanOrcaFlexdatafileforeachregular waveloadcaseandtheseloadcasescanthenbesubmittedtoDistributedOrcaFlex.
SimulationDuration
SpecifiesthedurationoftheBuildupStageandStage1foreachloadcasesimulationfileinthebatchscript.Because differentloadcaseshavedifferentwaveperiodsthesedataarespecifiedasmultiplesofthatwaveperiod.
OverridebasecaselogintervalandTargetnumberoflogsamplesperwaveperiod
Thesedataallowyoutosetthesimulationlogintervalforeachloadcasesimulationfilebyspecifyingthenumberof logsamplesineachwaveperiod.Thisallowsloadcaseswithlongerwaveperiodstouseacoarserlogginginterval thanforthosewithshorterwaveperiodsandhencereducethesizesofthesimulationfiles. Fatigue Having generated a regular wave simulation file for each regular wave bin you will commonlywantto perform a fatigueanalysis.ClickingtheExportFatigueAnalysisFilebuttonproducesanOrcaFlexfatigueanalysisfile. This file lists each load case together with the corresponding number of occurrences for that load case. The file producedisnotcompleteandotherdata,suchastheSNcurve data,willneedtobeinput.However,itprovidesa goodstartingpointforperformingthefatigueanalysis. TheFatigueLineNamedataitemcanbeusedtospecifythecorrespondingfatigueanalysisdataitem.
Theory
Notation
LetthelistofseastatespectraandassociateddurationsbedenotedZlandDlrespectively,forl=1,,kwherekis thenumberofseastates. Notethattheseastatedurationisonlyusedtospecifythedistributionofseastates.Theprobabilityofoccurrenceof sea state q is given by P(Zq) = Dq / l Dl. From this formula it can be seen that the absolute values of Dl are not important;ratheritistheirrelativevalueswhicharesignificant.
Regularwavebins
ThespecifiedregularwaveheightsandperiodsaredenotedH ifori=1,,mandTjforj=1,n,respectively.These waveheightsandperiodsareorderedtobestrictlyincreasing. Thewaveheightbinsaredenotedby[Hilower,Hiupper]fori=1,,m.Thefirstbinistakentobe [H1lower,H1upper]=[0,(H1+H2)/2]. Itisclearlyimportantthat0iscontainedinthebin.HoweverthisalsomeansthatH1maynotfallinthemiddleof thebin.Thisshouldnotmatterprovidedthatthebinissmallenough.Thelastbinistakentobe [Hmlower,Hmupper]=[(Hm1+Hm)/2,Hm+(HmHm1)/2] sothatHmfallsinthemiddleofthelastbin. Finallytheotherbinsarechosentobe [Hilower,Hiupper]=[(Hi1+Hi)/2,(Hi+Hi+1)/2] fori=2,,m1. Thewaveperiodbins[Tjlower,Tjupper]forj=1,,narechoseninananalagousfashion.
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SystemModellingDataandResults,SolidFrictionCoefficientsData
WenowhavemnindividualwaveheightandperiodbinswhichwedenotebyBijfori=1,,mandj=1,,n.Each binBijrepresentsindividualwaveswhoseheightsandperiodsfallin theranges[Hilower,Hiupper]and[Tjlower,Tjupper] respectively.

Jointprobabilityforindividualwaves
This section is based on Barltrop and Adams section 6.6.3. Following their lead we use the formula of Longuet Higgins,1983.Thisgivesthejointprobabilitydensityp(R,S,Z)ofindividualwavesinagivenrandomseastateas follows: p(R,S,Z)=L().exp(R2{1+[11/S]2/2}).2R2/(S2) where Z=spectrumofgivenrandomseastate, mi=ithmomentofZ, Tm=m0/m1, Tz=(m0/m2), S=T/Tm, Hrms=Hs/2, R=H/Hrms, =(Tm2/Tz21)and L()=2/(1+1/{1+2}).
Individualwavescatter
ForeachseastateZlwecancalculatetheprobabilityofoccurrenceofeachindividualwaveheightandperiodbin, denotedbyP(Bij,Zl)asfollows: P(Bij,Zl)=p(R,S,Zl)dSdR where theintegralisevaluatedovertheregionRilowerRRiupper,SjlowerSSjupper, Rilower=Hilower/Hrms, Riupper=Hiupper/Hrms, Sjlower=Tjlower/Tmand Sjupper=Tjupper/Tm. Thus,theprobabilityofoccurrenceP(Bij)ofeachindividualwaveheightandperiodbiniscalculatedasfollows: P(Bij)=lP(Zl)P(Bij,Zl) OrcaFlexdoesnotreporttheseprobabilities;insteaditreportsthetotalnumberofoccurrencesOijforeachbinBij. ThisisgivenbyOij=P(Bij)Dtotal/TjwhereDtotalisthetotaldurationasspecifiedontheRegularWavespage.
7.6
SOLIDFRICTIONCOEFFICIENTSDATA
ThisdataisusedtospecifyfrictioncoefficientsforcontactbetweenElasticSolidsandLines,3DBuoysand6DBuoys. Because each Elastic Solid can come into contact with any number of Lines and Buoys, and vice versa, the specificationofthisdataisnecessarilymorecomplexthanthatfortheseabedfrictioncoefficients. Note: Frictionforcontactwithelasticsolidsisonlyincludedduringdynamics.
Thedatacomprisesthreetablesasfollows: TheLineTypestabledefinesfrictioncoefficientsforcontactbetweenLinesandElasticSolids. The6DBuoystabledefinesfrictioncoefficientsforcontactbetween6DBuoysandElasticSolids. The3DBuoystabledefinesfrictioncoefficientsforcontactbetween3DBuoysandElasticSolids.
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SystemModellingDataandResults,SolidFrictionCoefficientsData
LineTypestable The table contains a userdefined number of rows specifying friction coefficients and each row has the following data:
LineTypeandShape
Thespecifiedfrictioncoefficientswillbeusedforcontactbetweenthespecifiedshapeandanynodewhichusesthe specifiedlinetype. TheLineTypecanbespecifiedas"alllinetypes".Anynodeinthemodel,irrespectiveofthelinetypeitisbasedon, will use the specified friction coefficients when in contact with the specified shape. Similarly the Shape can be specifiedas"allshapes".
FrictionCoefficients
Normalandaxialfrictioncoefficients.Iftheaxialcoefficientissetto'~'thenthenormalfrictioncoefficientisused foralldirectionsofmotion. ForfulldetailsofthefrictioncalculationseeFrictionTheory. 6DBuoystableand3DBuoystable ThesetablesareentirelyanalogoustotheLineTypestable.InsteadofLineTypeyouspecify3DBuoysor6DBuoys andthereisonlyasinglefrictioncoefficientbecauseBuoyfrictioninOrcaFlexisisotropic. Howthedataareinterpreted Forthemostpartitshouldbeclearhowthedataareinterpreted.Theexceptiontothisstatementiswhenmultiple rows specify friction coefficients for the same elastic solid and contacting object. For example consider the table below:
Figure: SolidFrictionCoefficientsLineTypesdatatable
If a node which uses "Line Type1" comes into contact with "Shape1" then OrcaFlex has two choices for friction coefficient since this particular contact satisfies both rows of the table. OrcaFlex deals with this ambiguity by choosingthemorespecificcombination,thatisthesecondrowwhichspecifies"LineType1". A row with named line type and named shape is the most specific combination and the friction coefficients from suchanentrywillalwaysbechosenoveranyotherentries. Arowwith"alllinetypes"and"allshapes"istheleastspecificcombinationandotherentrieswillalwaysbechosen overthis. Theotherpossibilitiesare: 1. 2. Rowswith"alllinetypes"andanamedshape. Rowswithanamedlinetypeand"allshapes".
OrcaFlexregardssuchrowsasequallyspecific.Accordinglytheprogramdoesnotallowyoutohaverowsofboth type1and2inthesametable. SimilarlyiftherearemultiplerowswithidenticalLineTypeandShapeentriesthentheprogramwillissueaerror message.ThisisbecauseOrcaFlexhasnowayofchoosingonesetoffrictioncoefficientsoveranother. IfnofrictioncoefficientsarespecifiedforaparticularcombinationofLineTypeandShapethennofrictionwillbe modelled.Forexample,withthedataspecifiedinthefigureabove,anycontactbetweennodesandanyshapeother than"Shape1"willnotincludefrictioneffects. Thedatainthe6DBuoystableandthe3DBuoystableareinterpretedinexactlythesameway.
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SystemModellingDataandResults,Vessels
7.7
VESSELS
AVesselisusedtomodelaship,floatingplatform,barge,orsimilar rigidbody.Avessel'sprimarymotioncanbe prescribed (by prescribed motion. or by a Time History file) or calculated (using first order wave load Response AmplitudeOperators(RAOs)and/orsecondorderQuadraticTransferfunctions(QTFs));itssuperimposedmotion (i.e.superimposedontotheprimarymotion)maybedefinedbyasetofdisplacementRAOsand/orotherharmonic motions,orbyaTimeHistoryfile.
vertex 3
edge joining 3 to 5
vertex 5
z (heave)
yaw
y (sway) pitch V roll x (surge)
Figure: VesselModel
EachvesselhasaVesselTypethatdeterminesitsRAOanddrawingdata.Toillustratethis,consideramodelofa pipebeingtowedbytwoidenticaltugs.Thisismodelledbycreatingavesseltypecalled'Tug'andthencreatingtwo vessels,eachoftype'Tug'.Thedrawingdata(definingthetugoutline)aredataoftheTugvesseltype,sincethey applytobothtugs.Similarly,theRAOsaredataofthevesseltype,sinceagaintheyarethesameforbothtugs.Onthe other hand the two tugs differ in their positions and prescribed motion, so these are properties of the individual vesselobjects. Note: Thevesselalsohasextradrawingdatathisistoallowyoutosetupvesselspecificdrawing.For exampletheleadtugmayhaveaspecialtowpointfittingthatyouwanttodraw.Whenthevessel is drawn, OrcaFlex first draws the vessel type wire frame and then draws the vessel wire frame. These two wire frames can have different colours, so you can highlight applicationspecific drawing.
ThevesselisdefinedrelativetoarighthandedsystemoflocalvesselaxesVxyz,where: Visthevesseloriginforthisvesseltype.Thisischosenbytheuserwhenthevesseltypeissetup.Howevernote that if you specify that the vessel type has symmetry then the vessel origin must be placed on the plane of symmetryoratthecentreofcircularsymmetry;seeVesselTypes:Conventionsfordetails. Vx,VyandVzmustbethedirectionsofsurge,swayandheave,respectively,forthisvesseltype.Notethatthese directionsmustthereforebethedirectionstowhichtheRAOsapply.
Pointsonthevessel,forexamplewherecablesorrisersareconnected,arethendefinedrelativetothesevesselaxes. Thesepointsthenmovewiththoseaxesasthevesselmovesand rotatesrelativetotheglobalaxes,andOrcaFlex calculatesthesemotionsautomatically. Thevesselisdrawn,in3Dviewsofthemodel,asa"wireframe"ofuserspecifiedverticesandedges.Thisallowsa simplevisualcheckthatamplitudes,phasesetc.areconsistentwiththeappliedwave.Thevesselwireframecanalso beusedtodoavisualcheckforinterferencebetweenlinesandvesselstructure.Aswithallpointsonthevessel,the verticesaredefinedrelativetothevesselaxesVxyz.
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7.7.1
Name
VesselData
UsedtorefertotheVessel.
Type
SpecifiestheVesselType.TheVesselTypesbuttonallowsyoutoviewandedittheVesselTypeData.
Draught
SpecifieswhichsetofRAOstousefromthespecifiedvesseltype.SeeDraughts.
Length
Specifiesthelengthofthisvessel.Thedefaultvalue'~'meansthatthisvesselisthesamelengthasthevesseltype.If you specify a length that differs from the vessel type length, then OrcaFlex will scale all the vessel type's data to allow for the scaling factor VesselLength/VesselTypeLength. This is useful if you have data for a 70m ship, for example,butwanttousea50mshipthatisotherwiseverysimilar. ThescalingisdoneusingFroudescaling(seeRawsonandTupper).Froudescalingscalesallitemsofdatabyafactor that depends on the units of that data. If R = ratio of vessel length to vessel type length, then the scaling factor appliedisasfollows: AlllengthsarescaledbyR. Allmasses(andaddedmasses)arescaledbyR3. AlltimesarescaledbyR0.5.
Dataitemswithotherunitsarescaledbywritingtheunitsin termsofthefundamentalunitsofmass,lengthand time, and then applying the above factors. For example force data has units equivalent to Mass*Length/Time2, so forcedataisscaledby(R3).(R)/((R0.5)2)=R3.DimensionlessitemssuchastranslationalRAOs(surge,sway,heave), QTFsandphaseanglesareunchangedbythescalingprocess,butnotethatFroudescalingdoesapplytotheperiods (orfrequencies)specifiedforRAOandQTFdata.NotealsothatrotationalRAOs(roll,pitch,yaw)areoftengivenin dimensionalterms(degreespermetre)andthesealsoscale. Thesescalingrulesarethesameasthoseusedinderivingfullscaleshipperformancefromphysicalmodeltests,and arecorrectifthevesselisaperfectscaledreplicaofthevesseltypeinallrespects. Warnings: Ifthevesseldoesnotscaleuniformlyinalldimensions,thenthistypeofscalingintroduceserrors andshouldnotnormallybeused.Instead,accuratedataspecifictothisvesselshouldbeobtained. However,forshipsinheadandsternseastheRAOscalingerrorsmaybeacceptable,sincetheRAOs forthesewavedirectionsdependmainlyonvessellength.ForothercasestheRAOscalingislikely tobepoor,soOrcaFlexissuesawarningifscalingisusedandthewavedirectionisnotclosetoa headorsternsea.
InitialPositionandOrientation
Thesespecifythevessel'sstaticpositionrelativetotheglobalaxes.TheInitialPositiondefinesthepositionofthe vesseloriginV.TheInitialOrientationdefinestheorientationofthevesselaxesVxyzasthreerotations,Heading, TrimandHeel.ThestaticorientationofVxyzisthatwhichresultsfromstartingwithVxyzalignedwiththeglobal axesandapplyingtheHeadingrotationaboutVz,thentheTrimrotationaboutVyandfinallytheHeelrotationabout Vx. If the vessel is not included in the static analysis then this Initial Position is taken to be the static position of the vessel. If the vessel is included in the static analysis, then this Initial Position is used as an initial estimate of the vessel position and the statics calculation will move the vessel from this position iteratively until an equilibrium positionisfound. Note: Warning: ThevesselZcoordinatecanonlybechangedbyeditingonthevesseldataform.DraggingintheZ directionwiththemouseisprevented. Ifyouhaveincludedanyharmonicmotiononthevessel(seeHarmonicMotion)thenthephasesof the harmonic motions will normally depend on the vessel Initial Position, so if you change the InitialPositionyoumayneedtochangetheharmonicmotionphasesaccordingly.
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CalculationData
Thefollowingsettings(ontheCalculationpageonthevesseldataform)controlhowthevessel'sstaticpositionand dynamicmotionaredetermined. IncludedinStaticAnalysis You can control whether the OrcaFlex static analysis calculates the static equilibrium position of the vessel, or simplyplacesthevesselintheuserspecifiedinitialposition. OrcaFlex first places the vessel at the initial position and orientation specified by the user. If Included in Static Analysis is set to None then OrcaFlex leaves the vessel in this userspecified position. This is not necessarily an equilibriumposition. IfIncludedinStaticAnalysisissetto3DOFthenOrcaFlexstartsfromtheuserspecifiedpositionandadjuststhe vessel'sX,YandHeadinguntilanequilibriumpositionisreached.Notethatonlythese3freedegreesoffreedomof thevessel(X,YandHeading)areincludedinthecalculation.Theotherthreedegreesoffreedom(Z,HeelandTrim) areassumedtobeconstrainedandsoareleftatthevaluesspecifiedbytheuser.ThismeansthattheZcomponentof resultantforcemaybenonzerointheequilibriumposition.LikewisetheresultantHeelandTrimmomentsmaybe nonzerointheequilibriumposition. IfIncludedinStaticAnalysisissetto6DOFthenOrcaFlexstartsfromtheuserspecifiedpositionandadjustsall sixdegreesoffreedomuntilanequilibriumpositionisreached.Inthiscase,alloftheX,Y,ZforcesandHeel,Trim, Headingmomentswillbezeroattheequilibriumposition. Note: Ifmultiplestaticsarebeingperformedonthevesselthennoequilibriumcalculationisperformed on the vessel and its placement is determined by the multiple statics data. Other vessels in the modelareincludedinthestaticanalysisasspecifiedbytheirowndata.
DynamicAnalysis Themotionofavesselduringthedynamicanalysiscanbespecifiedinavarietyofways.OrcaFlexallowsthevessel motiontobemadeupoftwoparts,calledthePrimarymotionandtheSuperimposedmotion.Broadly,thePrimary motionisaimedatmodellingthesteadyorlowfrequencymotionofthevessel,whereastheSuperimposedmotionis aimedatmodellingthehigherfrequencymotion,suchasthatgeneratedbywaves. Asanexample,considerashipbeingdrivenunderpoweralongaspecifiedcourse.Intheabsenceofwavesitmoves steadily along its course and this would be modelled by the Primary motion. But when waves are present the primary motion is augmented by wavegenerated motion that would often be modelled in OrcaFlex as SuperimposedmotionspecifiedbyRAOs.OrcaFlexsuperimposesthislattermotionontheprimarymotiontogive thetotalcombinedmotionofthevessel. YoucanspecifythePrimaryandSuperimposedmotionsinanumberofways,asfollows.Seeexamplesbelowofhow theseoptionscanbeused.
PrimaryMotion
ThePrimarymotiondetermineswhatOrcaFlexreferstoastheprimarypositionofthevessel.Itcanbeoneofthe followingoptions. None. In this option there is no primary motion and the primary position of the vessel remains fixed at the positiondeterminedbythestaticanalysis. Prescribed.Thisoptionallowsyoutodrivethevesselaroundtheseasurface,forexampletomodelthevessel moving station during the simulation. The vessel's speed and course is specified using the data on the PrescribedMotionpageonthevesseldataform. Calculated(3DOF).InthisoptionOrcaFlexcalculatesthevesselprimarymotioninonly3degreesoffreedom (surge,sway,yaw)basedontheincludedloadsplusloadsfromanylinesorotherobjectsthatareattachedto thevessel.Thereisnoprimarymotionintheother3degreesoffreedom(heave,roll,pitch).Theaddedmass anddampingmatricesofthevesseltypemustbespecified,plusthedataforalltheincludedloads. Calculated(6DOF).InthisoptionOrcaFlexcalculatesthevesselmotioninall6degreesoffreedom,basedon theincludedloads,plusloadsfromanylinesorotherobjects thatareattachedtothevessel.Theaddedmass, damping, stiffness and equilibrium position of the vessel type must be specified, plus the data for all the includedloads.
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Time History. In this option the user specifies the primary motion in a time history file that defines, as a function of time, the vessel Primary X, Primary Y, Primary Z, Primary Rotation 1, Primary Rotation 2 and PrimaryRotation3.Seethevessel'sTimeHistorydata.
SuperimposedMotion
TheSuperimposedmotionisappliedasanoffsetfromthepositiongivenbytheprimarymotion.Itcanbeoneofthe followingoptions. None.Inthisoptionthereisnooffsetandthevesselpositionisequaltotheprimarypositionatalltimes. RAOs+Harmonic.Inthisoptionthevessel'spositionoscillatesharmonicallyabouttheprimaryposition.The harmonically varying offset comes from two sources. Firstly, if waves are present and you specify nonzero displacement RAOs for the vessel type, then the offset will include the wavegenerated harmonic motions specified by those RAOs. Secondly, the vessel's superimposed offset also includes any harmonic motions that youspecifyontheHarmonicMotionspageonthevesseldataform. Time History. In this option the user specifies the offset in a time history file that defines the vessel Surge, Sway,Heave,Roll,PitchandYawasafunctionoftime.Seethevessel'sTimeHistorydata.
TypicalExamplesofPrimaryandSuperimposedMotion
Here are some typical examples of how primary and superimposed motion can be combined to achieve various things. PrimarymotionsettoNoneandsuperimposedmotionsettoRAOs+Harmoniccanbeusedtomodelasimple steady(e.g.moored)vesselwhosemotionisduetothe1storderwaveeffectsonly. PrescribedorTimeHistoryprimarymotioncanbeusedtomodelavesselbeingdrivenoverapredetermined course,andthesuperimposedmotionsettoRAOs+Harmonictomodelthe1storderwaveinducedmotion. Calculated (3 DOF)primary motion can be used to model the low frequency slow drift of a vessel in the horizontalplane(dueto2ndorderwaveloads,windandcurrentdrag,etc.),withthesuperimposedmotionset toRAOs+Harmonictomodelthesuperimposed1storderwaveinducedmotion. Calculated(6DOF)primarymotioncanbeusedtomodelthewholemotionofavessel,optionallyincluding1st and 2nd order wave loads, current and wind drag loads, applied loads, and always including loads from any attachedlinesorotherobjects.InthiscasethesuperimposedmotionwouldnormallybeNone,sinceallmotion hasalreadybeenaccountedforintheprimarymotion,andthedisplacementRAOdatawouldthereforenotbe used. Time Historyprimary motion (or Time Historysuperimposed motion but not usually both) can be used to completelyspecifythemotionofavessel.
IncludedEffects Youcanchoosewhichvesselloadsareincludedandwhichareignoredbytickingthecorrespondingcheckboxes.Ifa boxischeckedthenthatloadwillbecalculatedandappliedtothevessel,anditsvaluewillbeavailableasaresult.If aboxisnotchecked,thenthatloadwillnotbecalculatedanditwillbetakenaszero. Note: Loadsthatareincludedwillonlyaffectthevesselmotioniftheprimarymotionissettooneofthe Calculatedoptions.Otherwisethevesselmotionisspecified,forexamplebyprescribedmotionorby superimposedmotionbasedonthedisplacementRAOs.
PrescribedMotion
Theprescribedmotiondataonlyappliesifthevessel'sPrimaryMotionissettoPrescribed.Itenablesyoutodrive thevesselaroundtheseasurfacealongapredeterminedpath,byspecifyinghowthevessel'sprimarypositionand headingchangeduringthesimulation. Thevesselisdrivenbyspecifying,foreachstageofthesimulation,thevelocity(speedanddirection)oftheprimary positionandtherateofchangeoftheheading. Warning: ThePrescribedMotionfacilitycancausediscontinuitiesofvelocityatstageboundariesandthese maycausetransientsinthesystem.OrcaFlexissueswarningsatthestartofthesimulationifthe dataspecifiesadiscontinuousvelocity.
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SpeedofMotion
ForeachsimulationstagethespeedofthemotioncanbespecifiedaseitheraConstantSpeedoraSpeedChange. IfConstantSpeedisselectedthenthatspeedappliesthroughoutthestage. IfSpeedChangeisselectedthenthespeedisincrementedlinearlybythespecifiedamountduringthestage.For example,anincrementof1m/sduringastageoflength10secondscausesanaccelerationof0.1m/s2tobeapplied throughoutthestage,sothatifthevesselstartsatrestthenatthestartofthenextstagethevesselistravellingat 1m/s. Note:

DirectionofMotion
Negativespeedscanbespecified.
ForeachsimulationstagethedirectionofthemotioncanbespecifiedaseitherrelativetotheGlobalXdirectionor relativetotheVesselheading. Thedirectionvalueisinterpretedasanazimuth.So,avalueof90relativetotheGlobalXdirectionwouldresultin themotionbeingintheglobalYdirection.Likewise,ifthevessel'sheadingwas130andthedirectionofmotionwas 50relativetotheVesselheadingthenthemotionwouldbeanazimuthof130+50=180relativetoglobal,that isintheglobalXdirection. Note:

RateofTurn
Thedirectionofmotionisnotrestrictedtobeinthesamedirectionasthevesselheading.
Inadditiontovaryingthevelocityofthemeanposition,youcanspecifyaRateofTurnforeachstage.Thisisthe anglechangepersecondtobeappliedtothevessel'sheadingthroughoutthestage. IftheDirectionofMotionisspecifiedrelativetotheVesselheadingandtheRateofTurnisnonzero,thenthevessel velocitydirectionvariesduringthestage.Inaddition,ifthedirectionis0relativetoVesselheadingthenthevessel velocity,whilstvarying,isalwaysintheVesselheadingdirection. IfthedirectionisspecifiedrelativetotheGlobalXdirectionthenthevesselvelocitydirectionisnotaffectedbythe RateofTurn.
HarmonicMotion
TheHarmonicMotionpage(onthevesseldataform)onlyappliesifthevessel'ssuperimposedmotionissettoRAOs +Harmonic.Itallowsyoutospecifyanumberofharmonicmotionsofthevessel. TheharmonicmotionsareinadditiontoanywavegeneratedmotionspecifiedbytheRAOdata,soifyouonlywant thewavegeneratedmotionthenyoushouldsetthenumberofharmonicmotionstozero. Eachharmonicmotionisasingleperiodsinusoidalmotionofthevessel,specifiedbygiving: thePeriodoftheharmonicmotion;thisappliestoall6degreesoffreedom, theAmplitudeandPhaseofthemotionforeachofthe6degreesoffreedomofthevessel.Ifyouaremodelling slowdrift,thennotethatslowdriftnormallyonlyappliestosurge,swayandyaw,inwhichcasetheamplitudes forheave,rollandpitchshouldbesettozero. Note: Theharmonicmotionamplitudes(unliketheRAOresponsesofthevessel)arenotspecifiedrelative to a wave amplitude they are specified directly in length units (for surge, sway and heave) or degrees(forroll,pitchandyaw).
Similarly,thephasesarenotspecifiedrelativetothephaseofawavetheyarethephaselagsfromtheglobaltime originT=0untilthemaximumharmonicmotionoccurs.Moreprecisely,thephasethatshouldbespecifiedforthe harmonicmotionisgivenby 360((Tmax/P)mod1) wherePistheperiodoftheharmonicmotionandTmaxistheglobaltimeatwhichyouwantthemaximumofthe motiontooccur.
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SystemModellingDataandResults,Vessels Harmonicmotionscanbeusedtomodelprecalculatedvesselslowdrift.Ifyoudothis,thenifyou move the vessel's Initial Position in the wave direction, or if you change the data for the waves (otherthanchangingthesimulationtimeorigin),thenyouwillnormallyalsothenhavetoadjust the phases of the slow drift. This is because such changes affect the global time at which a particularpartofthewavetrainwillreachthevesselandhencewillalsoaffecttheglobaltimeat whichmaximumslowdriftmotionisachieved.
Warning:
TimeHistory
The Time History pages (on the vessel data form) only apply if the vessel's primary or superimposed motion, or both,aresettoTimeHistory.Itallowsyoutospecifythemotionbygivingatimehistoryfile.Todothis: OntheCalculationpagesettheprimarymotionorsuperimposedmotiondataitem(orboth)toTimeHistory. Createatabdelimitedtextfilecontainingthetimehistorymotionyouwant,asdescribedbelow. OntheappropriateTimeHistorypage,setupthetimehistorydataasdescribedinDatainTimeHistoryFiles.
ContentsofTimeHistoryFile Thetimehistoryfilemustcontainatimecolumnandcolumnsforall6degreesoffreedomofthevessel.Forprimary timehistorymotionthesearePrimaryX,PrimaryY,PrimaryZ,PrimaryRotation1,PrimaryRotation2andPrimary Rotation3,measuredrelativetotheglobalaxes. ForsuperimposedtimehistorymotionthedegreesoffreedomthatmustbespecifiedareSurge,Sway,Heave,Roll, PitchandYaw.Theyaremeasuredrelativetotheprimarypositionofthevessel,asspecifiedbythevessel'sprimary motion. Fordetailsofhowrotationsareapplied,seeorderofapplicationofrotations. Thetimevaluesinavesseltimehistoryfileneednotbeequallyspaced.Theunitsusedforallthecolumnsmustbe thesameasthoseusedintheOrcaFlexmodel,sothetimevaluesmustbeinsecondsandanglesindegrees. ForfurtherdetailsofthefileformatseeTimeHistoryFiles. Notes: Ifthereisanywavegeneratedmotionpresentinavessel'stimehistorymotionthentheOrcaFlex wavedataneedstomatchthewavethatgeneratedthatmotion.Ifyouhavesuitabledataforthe waveelevationthenyoucanusethattospecifythewavebytimehistory.Thiscanbedoneeitherin aseparatetimehistoryfileforthewaveorelseinanextracolumninthevessel'stimehistoryfile. The position and velocity specified by a time history file for the start of the simulation (i.e. for SimulationTime = BuildUpDuration) will not, in general, match the static state from which OrcaFlexstartsthesimulation.TohandlethisOrcaFlexusesrampingduringthebuildupstageto smooththetransitionfromthestaticstatetothepositionandmotionspecifiedinthetimehistory file.
AppliedLoads
Youcanoptionallyincludeappliedloadsonavessel. You can apply to the vessel external Global Loads that do not rotate if the vessel rotates. These are specified by giving thecomponents of Applied Force and Applied Moment relative to global axes. These componentscan be constant,varywithsimulationtimeorbegivenbyanexternal function.Ifthevesselrotatesthentheloadsdonot rotatewithit. In addition, you canspecify external LocalLoadsthat do rotate with the vessel.These are specified bygivingthe componentsofAppliedForceandAppliedMomentrelativetovesselaxes.Againthesecomponentscanbeconstant, varywithsimulationtimeorbegivenbyanexternalfunction.Ifthevesselrotatesthentheloadsdorotatewithit. Thesearesuitableformodellingthrusters,forexample. InbothcasesthePointofApplicationoftheloadisspecifiedbygivingitsx,y,zcoordinatesrelativetovesselaxes. Note: Applied loads will only affect vessel static position if the corresponding degree of freedom is includedinthestaticanalysis,andwillonlyaffectthemotionifthePrimaryMotionissettooneof thecalculatedoptionswhichincludesthedegreeoffreedom.
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MultipleStatics
Theoffsetsformultiplestaticscalculationsarespecifiedhere.Offsetsarefromthevessel'sinitialpositionandare specifiedbygivingarangeofazimuthandoffsetvalues.Forexample:
TheAzimuthstabledetermineswhichdirectionsaretobeanalysed.TheOffsetstablespecifieshowfarinthegiven directionthevesselistobeplaced.Withtheabovedata,theoffsetsanalysedbythemultiplestaticscalculationare asillustratedbythedotsinthediagrambelow:

Y 90 deg X
135 deg
45 deg
180 deg 0m
0 deg 20m 40m 60m 80m 100m
Vessel Initial Position
Figure: ExampleOffsets
AdiagramshowingtheselectedoffsetsisdrawnontheVesselOffsetsdataform,tohelpvisualisewhichoffsetswill beanalysed.
Drawing
VesselsaredrawnaswireframesdefinedinthedataasasetofVerticesandEdges.TheVerticesaredefinedby givingtheircoordinatesrelativetothevesselaxesVxyz.TheEdgesarelinesdrawnbetweentwovertices. Forshadedgraphics views,by default,the vessel is drawn usinga solid, filledin shape basedonthe vertices and edges.Asanalternativeyoucanusetheverticesandedgestodefineaframelikestructure.Iftheedgediameteris '~'thenthatedgewillbeusedtobuildafilledinshape,otherwisethatedgeisdrawnasacylinderwiththespecified diameter.Notethatyoucanuseamixtureofedgediameters(somedefined,somesetto'~')tocombinebothfilled inandframeworkshapes.
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Youcandefinewireframedrawingdataintwoplacesforthevesselandalsoforitsvesseltype.Thevesselisdrawn byfirstdrawingawireframebasedonthevertices,edgesandpenspecifiedforitsvesseltype(seethevesseltypes data form). Then a further vesselspecific wire frame may be drawn, using any vertices, edges and pen that you specifyonthevessel'sdataform. Thisallowsyoutospecifyawireframedrawingofthebasicvesseltype,andthenoptionallyaddtoit(possiblyina differentcolour)awireframedrawingofsomeequipmentthatisspecifictothatvessel.Ifthevessellengthdiffers fromthevesseltypelength,thenthevesseltypewireframeisscaledaccordingly.Notethateither,orboth,ofthese wireframescanbeempty(i.e.noedges)ifdesired. The drawing data do not affect the mathematical model in any way they are purely for drawing 3D views. The verticesandedgesfollowthemotionsofthevessel,andthusmaybeusedtoimproveunderstandingofthemotion ofthemodel.Theycanalsobeusedtorepresentasparorotherequipmentattachedtothevessel,sothatyoucan then look for clashing with other parts of the system. For example during a simulation replay you can adjust the viewpointtolookexactlyalongtheedgeofinterest,andcheckvisuallyifotherpartsofthemodelpassthroughit.
ShadedDrawing
Bydefault,forshaded3DViews,vesselsaredrawnusingthewireframedata. The wire frame drawing data comprises vertices and edges, but OrcaFlex needs a solid surface for the shaded graphics representation. OrcaFlex uses the following procedure to generate this surface from the wire frame verticesandedges. Firstanyedgeswithspecifieddiameters(i.e.diametersnotequalto'~')aredrawnascylinders.Thisallowsyouto use such edges to visualise parts of the structure thatare not solid,e.g. crane boom latticework. These edges are nowhandledandareexcludedfromtheremainderoftheprocedure. Theremainingedgesareusedtopartitiontheverticesintosetsofconnectedvertices.Twoverticesaredeemedto beconnectedifthereexistsapathofedgesbetweenthetwovertices. Finally,foreachsetofconnectedvertices,thesmallestconvexhullenclosingthesetisdrawn. This algorithm does not always generate the shaded drawings that you might expect. Consider the following two wireframevessels.Whendrawninwireframemodetheylookthesame,butinshadedmodetheydiffer.
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Figure: WireFrameandShadedDrawing
Forthegreenvesselthesuperstructureandthehullshareverticesandsoallverticesareconnected.Thisresultsina singleconvexhullforallverticesbeingdrawn.Intheredvessel,thesuperstructureandhulldonotsharevertices and so there are two distinct sets of connected vertices. This results in two separate convex hulls and a better representation. Alternativelytheobjectcanberepresentedbyanimported3DmodelbyspecifyingtheShadedDrawingFile.This mustbeaDirectXformatfile,usuallywiththe.xfileextension.Ifyouusearelativepaththenthepathwillbetaken asrelativetothefoldercontainingtheOrcaFlexfile(.dator.sim). The Browse button allows you to specify the Shaded Drawing File quickly and also provides quick access to the OrcinasampledrawingsviatheNavigatetoOrcinasampledrawingsbutton. TheUseCullingoptionisnormallyselectedsinceitcanprovideausefulperformancebenefit.However,inorderto workitrequiresthatthetrianglesdefinedinthe.xfilehavetheiroutwardfacingdirectionsdefinedcorrectly.Inthe
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unusual situation where the outward facing directions are not defined correctly then the .x file will not display correctly.IfthishappensthentypicallysectionsofthemodelwillbemissingwhendrawnbyOrcaFlex.Disablingthe UseCullingoptionresolvesthisproblem. DrawSizeisprovidedtoallowyoutoscalethedrawing.Alldirectionsarescaledequallytoarrangethatthelongest sideinthedrawingisdrawntothespecifiedDrawSize.Thislongestsideiscalculatedbyfirstfittingthesmallest possiblecuboidaroundtheverticesoftheshadeddrawing(thesearedefinedinthe.xfile).Thiscuboidisaligned withtheshadeddrawing'slocalaxes.Thenthelengthofthelongestsideofthiscuboidisfound. Specifyavalueof'~'todisplaythedrawingusingtheabsolutecoordinatesasspecifiedinthe.xfile. Note: Ifyouuseavalueof'~'forDrawSizethenOrcaFlexusesthecoordinatesinthe.xfiledirectly.If these coordinates use a different length units system from your OrcaFlex model then you should specify the units used in the .x file by including an auxiliary file called AdditionalInformation.txt. ExamplesofthiscanbefoundinthesampleshadeddrawingsprovidedbyOrcina.
Shaded Drawing Origin is provided because the shaded drawing and the vessel may have different origins. The Shaded Drawing Origin defines the origin of the shaded drawing with respect to the vessel's local axis system. Similarly Shaded Drawing Orientation allows you to reorient the shaded drawing to match the vessel's axis system.
ExternalFunctions
Parameters
PropertiesReport
TheVesselpropertiesreportisavailablefromthepopupmenuonthedataform.Itreportsthefollowing:
Length
Thelengthofthevessel.
Wavedirectionrelativetovessel
Therelativewavedirection.Ifthereismorethanonewavetrainthenthedirectionofthefirstwavetrainisused.
Staticsforceaccuracy,Staticsmomentaccuracy
Theseareonlyreportedifthevesselisincludedinstatics. The static analysis searches for an equilibrium position for the vessel that is a position for which the resultant force and moment on the vessel is zero. We refer to the resultant force and moment as the out of balance load. Because computers have limited numerical precisionthe staticanalysis cannot always find a configurationwhere theoutofbalanceloadisexactlyzero.OrcaFlexacceptsapositionasastaticequilibriumpositionifthelargestoutof balanceloadcomponentislessthanthestaticsaccuracy. TheStaticsforceaccuracyequalsTolerance*vesseltypicalforceandtheStaticsmomentaccuracyequalsTolerance * vessel typical moment. The vessel typical force and moment are based on the forces and moments applied by connectedobjects. Reducing the Tolerance value will give a more accurate static equilibrium position, but will take more iterations. OrcaFlex may not be able to achieve the Tolerance specified if it is too small, since the computer has limited numericalprecision. Note: Thestaticsaccuracieschangeduringthestaticanalysisbecausetheforcesandmomentsapplied byconnectedobjectsvarywiththepositionofthevessel.ThestaticsaccuraciesreportedinReset state may be quite different from those used for the final equilibrium position and should be treatedasroughapproximationstothetruestaticsaccuracies.
7.7.2
VesselTypes
Eachvesselhasavesseltypethatdeterminesalotofitsdataandwhichisdefinedonthevesseltypesform.Youcan defineanumberofdifferentvesseltypesandeachtypeisgivenaname,whichisthenusedonthevesseldataform tospecifythetypeofthatparticularvessel.
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Two different vessels can have the same type. To illustrate this, consider a model of a pipe being towed by two identical tugs. This is modelled by creating a vessel type called 'Tug' and then creating two vessels, each of type 'Tug'.TheRAOs,forexample,aredataofthe'Tug'vesseltype,sincetheyapplytobothtugs.Ontheotherhandthe twotugsdifferintheirpositionsandanyprescribedmotion,sothesearepropertiesoftheindividualvesselobjects. You don't have to use all, or even any, of the vessel types you define. For example you can set up a data file that definesanumberofvesseltypesbuthasnovessels.Suchafilecanthenactasalibraryofvesseltypesthatcanbe importedintootherOrcaFlexdatafiles. VesselTypeData ForeachVesselTypeyoucanenterdataforseveraldifferentdraughts,eachdraughthavingauserspecifiedName. Each vessel in the model must specify (on its vessel data form) which draught to use. It is not possible to use differentdraughtsatdifferenttimesduringthesamesimulation. Someofthevesseltypedataapplytoalldraughts,butalotofthedataisdraughtdependentandsoseparatedatais definedforeachdefineddraught.Seethefollowinglistofthemainclassesofvesseltypedata. Geometryanddrawingdata.Appliestoalldraughts. ConventionsdefinethemeaningofanyRAOandwavedriftQTFdata.Theconventionsapplytoalldraughts. RAOdata.SeparateRAOsarespecifiedforeachdifferentdraught.ThereisaCheckRAOsfacilitythatprovides RAOgraphsthathelpdetecterrors. HydrodynamicandWindDragdata.Separatevaluesarespecifiedforeachdifferentdraught. WaveDriftdata.Separatevaluesarespecifiedforeachdifferentdraught. InertiaandDampingdata.Separatevaluesarespecifiedforeachdifferentdraught.
DefaultVesselTypeData
Whenyoucreateanewvesseltype,itisgiveninitialdefault datathatcorrespondstoatanker.Youshouldreplace thiswithaccuratedataforthevesselyouaremodelling. Ifyourvesselissimilartothedefaultdatatankerthenyoumightfindthedefaultdatausefulifyouhavenobetter data available. However note that the default vessel tanker has a significant heave resonance in beam seas at 7s period. Thedefaultdatawasobtainedasfollows. The default structure data, displacement RAOs, wave load RAOs, wave drift QTFs, stiffness, added mass and dampingdataallcomefromanNMIWavediffractionanalysisofa103mlongtankerin400mwaterdepth.The tanker used in this analysis had the following properties: Breadth 15.95m, Draught 6.66m, Transverse GM 1.84m,LongitudinalGM=114m,BlockCoefficient0.804.Thediffractionanalysisused8%extradampinginroll aboutCG. ThedefaulthydrodynamicandwinddragcoefficientsarebasedongraphsgiveninthestandardOCIMFbook. NotethattheOCIMFbookgivesdifferentcoefficientsfordifferentvesseltypesanddraughts.Thedefaultvessel type data are approximate averaged deepwater coefficients, and they have been rounded to only 1 or 2 significantfigures. Thehydrodynamicandwinddragareasandareamomentsaresetfortheabove103mtanker.Thewinddrag areasarebasedonanassumedaverageupperworksheightof12mforsurgeand9mforsway. Theoriginforthesedefaultdataisonthecentrelineatmidshipsandatthemeanwaterlevel.
OrcaFlex automatically Froude scales vessel type data to the vessel length you specify. So this default data might sometimesstillbeusefulifyourvesselisadifferentlengthtothetankerdescribedabove,butisotherwisesimilar.
Structure
VesselTypeLength
The length to which the vessel type RAO and drawing data apply. This may be left unspecified ('~'). If a value is specified,thenitmaybeusedtoscalethevesseltypedatatothelengthofthevessel.SeeVesselLengthfordetails. TheremainingdataontheStructurepage(onthevesseltypeform)areonlyusedifthevesselPrimaryMotionisset toCalculated(3DOF)orCalculated(6DOF).Notethatthesedataaredraughtspecific.
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MassandMomentsofInertia
Thevesseltype'smassanditsmomentsofinertiaaboutaxesthroughtheCGinthevesselx,yandzdirections.This shouldincludethestructuralandcontentsmassandinertia,butnottheaddedmass.
Centreofgravity(CG)
Thecoordinatesofthevesseltype'scentreofmass,relativetovesselaxes.
Conventions
Theconventionspage(onthevesseltypesdataform)containssettingsthatdefinethemeaningoftheRAO,QTF,and (inthecaseofthedirectionconventions)stiffness,addedmassanddampingdata.Thisenablesyoutoenterthese datadirectlyfrommanyotherprogramswithouthavingtoconvertthevaluesbetweendifferentsetsofconventions. InsteadyoucantellOrcaFlextheconventionsthatapplytothosedataandOrcaFlexwillthenautomaticallyallowfor thoseconventionswhenitusesthedata. Warning: In general, the conventions apply to all RAO and QTF data. You cannot mix data with differing conventionsinthesamemodel(butseerotationalRAOsbelow).
AlthoughRAOsaresimpleenoughinprinciple,anumberofcomplicationsmakethemnotoriouslyerrorproneand difficulttocheckinpractice.Themainissuesare: Differentcoordinatesystems. DifferentdefinitionsofphaseangleandrotationalRAOs. Useofvesselsymmetry,e.g.toobtainmotionsinseasfromtheportsidegivendataforseasfromthestarboard side.
OrcaFlexprovideseasywaysofhandlingtheseproblemareas. The use of differing coordinate systems and conventions by different suppliers of data is the main source of confusion.ItisvitalthatyouknowtheconventionsthatapplytotheRAOtablesthatyouareusing.Unfortunately, not all RAO tables fully document the conventions used: see RAO data checklist for help finding out what conventionsapplytoyourdataandseeCheckingRAOstocheckthattheconventionsaresetcorrectly.
TranslationalRAOConventions
TranslationaldisplacementRAOsarealwaysnondimensional(e.g.metres/metreorfeet/foot). TranslationallloadRAOsarealwaysgivenasforceperunitwaveamplitude(e.g.kN/m).
RotationalRAOConventions
Roll,pitchandyawdisplacementRAOsmaybespecifiedusingoneofthefollowingthreepossibleconventions. Asrotationanglesperunitwaveamplitude.Thevaluesaredimensional,e.g.indegrees/metreorradians/foot. As rotation angles per unit maximum wave slope. Maximum wave slope is the true maximum slope of the wavesurface,whichis.Waveheight/Wavelengthradians(=180.Waveheight/Wavelengthdegrees).Thevalues arenondimensional,whichcanbethoughtofaseitherdegrees/degreeorradians/radian,whichofcourseare equivalent. Asrotationanglesperunitwavesteepness.Wavesteepnessisacommonlyusedangularmeasureofawave, defined by steepness = Waveheight/Wavelength radians (= (180/).Waveheight/Wavelength degrees). The valuesareagainnondimensional,i.e.eitherdegrees/degreeor(equivalently)radians/radian,butofcoursethe RAOsarenumericallylarger(byafactorof)thanthoseusingthemaximumwaveslopeconvention.
In each case, the angles of rotation may be given in either degrees or radians; the convention on the data form shouldbespecifiedaccordingly.Forthetwonondimensionalcases,theunits(degreesorradians)ofthemaxwave slope or wave steepness must be the same as those for the angles of rotation. Note that, so long as the units are consistent in this way, the actual numerical values for these nondimensional RAOs are the same regardless of whethertheunitselectedisdegreesorradians. RotationalloadRAOsmustbegivenasmomentperunitwaveamplitude(e.g.kN.m/m),androtationalQTFs(i.e.the yaw QTF) are nondimensional. Therefore, the degrees/radians switch and the unit amplitude / steepness / maximumslopeswitchdonotapplytoloadRAOs.Thisistheexceptiontotheaboverulethattheconventionsapply toallRAOsandQTFs.
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Warning:
If rotational displacement RAOs are given relative to wave slope or steepness, then OrcaFlex (internally)convertsthemtoberelativetowaveamplitudeusingthedeepwaterwavelength,not thewavelengthforthewaterdepthspecifiedinthemodel.
Wavesarereferredtoby
TheRAOandQTFdatacanbespecifiedbyperiodinseconds,orbyfrequencyinradians/secondorHertz(cyclesper second). Note:

RAOPhases
IfyouimportRAOorQTFdatafromatextfile,thesettingspecifiedherewillbeoverriddenbythat definedinthetextfileseeImportingRAODataandImportingQTFDatafordetails.
TheRAOPhaseconventionisspecifiedby3dataitems: 1. 2. 3. Phasesareeitherleadsorlags. Phasesarespecifiedeitherindegreesorradians. Thephasedefinesthetimeatwhichthemaximumpositivevalue ofthemotionoccurs.Thisisrelativetothe timeatwhichthewavecrest,trough,zeroupcrossingorzerodowncrossingpassesthephaseorigin. Note:

Directions
Wave Drift QTFs are not affected by this convention, since they are entered without any phase information.
You must specify the directions that correspond to positive motion or load in the RAO and QTF data, and in the stiffness, damping and added mass matrices. The most common convention is as given by the default OrcaFlex vesseltype:arighthandedsystemwithZupwardsandclockwiserotationsbeingpositive.
Symmetry
You can specify symmetry of the vessel type. OrcaFlex will then use the userspecified RAO/QTF tables for wave directionsononesideofthesymmetryplanetoderivetablesforthereflecteddirectionsontheothersideofthe plane. TheSymmetrycanbesetto: None:Thevesseltypehasnosymmetry.Thedirectionsspecifiedmustcoverallthewavedirectionsusedinthe simulation. XZplane(orYZplane):ThisspecifiesthattheXZ(orYZ)planethroughtheRAOoriginisaplaneofsymmetry. ForeachdirectiongivenOrcaFlexusessymmetrytoderivetablesforthereflecteddirectionontheothersideof theplane. XZ&YZplanes:ThisspecifiesthatboththeXZandYZplanesthroughtheRAOoriginareplanesofsymmetry. For each direction given OrcaFlex uses symmetry to derive tables for the reflected directions in the other 3 quadrants. Circular:ThisspecifiesthatthevesselhascircularsymmetryabouttheRAOorigin.RAO/QTFtablescanonlybe givenforonewavedirection,andOrcaFlexusessymmetrytoderivetablesforallotherdirections. Warning: IfyouspecifysomeplanesofsymmetrythentheRAOoriginmustbeonalltheplanesofsymmetry. OrifyouspecifycircularsymmetrythentheRAOoriginmustbeatthecentreofsymmetry.
RAOs
OrcaFlex uses two different types of RAO (response amplitude operator): Displacement RAOs and Wave Load RAOs. DisplacementRAOsarespecifiedontheRAOspageonthevesseltypedataform.Theydefinethe1stordermotion of the vessel in response to waves of given period and amplitude. They are only used if the vessel superimposed motionissettoRAOs+Harmonic.Inthedynamicanalysisthevesselmovesharmonically,inall6degreesoffreedom, aboutitsprimaryposition.TheseharmonicmotionsarespecifiedbygivingtheRAOamplitudesandphases,forall sixdegreesoffreedom,usuallyforarangeofwaveperiodsanddirections.ForfurtherinformationseeRAOsand Phases.
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WaveloadRAOsarespecifiedontheLoadRAOspageonthevesseltypedataform.Theydefinethe1storderwave force and moment onthevessel due towaves ofgiven periodandamplitude. They are only used ifthe 1storder waveloadsareincludedforthevesselandtheyonlyaffectthemotionifthevesselprimarymotionissettooneof thecalculatedoptions. The2typesofRAOsarespecifiedinverysimilarways,usingthefollowingdata.
RAOOrigin
TheRAOoriginisthepointonthevesselwhosemotionisdefinedbytheRAOs.TheRAOoriginisspecifiedbygiving itscoordinateswithrespecttotheOrcaFlexvesselaxes(notthedirectionsspecifiedontheConventionspage).Itis commonly,butdoesnotneedtobe,atthecentreofgravity.DifferentdraughtscanusedifferentRAOorigins.

RAOPhaseOrigin
TheRAOphaseoriginisthepointonthevesselthattheRAOphasevaluesarerelativeto.Itisspecifiedbygivingits xandycoordinateswithrespecttotheOrcaFlexvesselaxes(notthedirectionsspecifiedontheConventionspage). ThephasevaluesgivenintheRAOsmustberelativetothetimethatthewavecrestortrough(dependingonthe RAOphaseconventionsspecified)passesthespecifiedRAOphaseorigin. OftenthephaseoriginisthesameastheRAOorigin,i.e.thephasesarerelativetothetimethecrestortroughpasses the point whose motion the RAOs define. In this case the phase origin can be set to '~', meaning 'same as RAO origin'. But note that some programs (one example being Moses) generate RAOs where the phase origin is not necessarilythesameastheRAOorigin.
RAOData
RAO data can be specified for a number of different wave directions relative to the vessel, using the OrcaFlex directionconvention.Thisrelativewavedirectionislabelled onthepageatthebottomoftheRAOtable.Itisthe direction in which the wave is progressing, measured positive from the vessel xdirection towards the vessel y direction. TochangethewavedirectionforoneoftheRAOtables,selectthattableandedittheSelectedDirection.Toinserta new wave direction after an existing direction, select the existing direction's page and click the Insert Direction button.Similarly,theDeleteDirectionbuttondeletesthecurrentlyselecteddirection. Foreachdirection,theRAOtablecoversarangeofwaveperiodsorfrequencies,asspecifiedintheconventionsdata. Theperiods/frequenciesneednotbeenteredinordertheywillbesortedbeforeuse. In the case of a circular symmetric vessel, RAOs are specified for only one wave direction OrcaFlex will derive RAOsforallotherdirections. RAOInterpolation/Extrapolation You must provide RAO tables that include or span the wave direction(s) involved in the simulation. If RAOs are required for a wave direction for which an RAO table has not been supplied, then OrcaFlex will use linear interpolationtoobtainanRAOtableforthatdirection. Forregularwaveanalysis,RAOdataisonlyneededfortheappropriatewaveperiod,orforwaveperiodseitherside ofthatperiod.Forrandomseasimulations,RAOdatashouldbespecifiedforawideenoughrangeofwaveperiodsto coverthespectrum.TheViewWaveComponentsbutton(ontheWavespageoftheenvironmentdataform)reports thewavefrequenciesthatOrcaFlexwillusetorepresentthespectrum. Note: IfthevessellengthdiffersfromthevesseltypelengththentheRAOperiodsspecifiedonthevessel typeformareFroudescaled,anditistheseFroudescaledperiodsthatmustcovertheactualwave period(s).
Linear interpolation is used if RAOs are required for a period that is between the periods given in the table. We stronglyrecommendthatyourRAOtablesprovidedataforperiodsthatincludeorspanallthewaveperiodsthat willbeinvolvedinthesimulation.HoweverifRAOsarerequiredforaperiodoutsidetherangeofperiodsgiventhen OrcaFlexwilluselinearextrapolation;awarningisgivenifthisoccurs. You can avoid the need for extrapolation by providing RAOs for periods zero and Infinity. The RAOs for the zero periodlimitmustbeallzero(sincenoobjectcanrespondtoaninfinitefrequencywave).FortheInfinityperiodlimit theRAOsofafreefloatingvesselcanbederivedfromtheknowledgethatthevesselmustfollowthesurfaceina sufficientlylongwave.SeeRAOQualityChecksfordetails.
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Warning:
Interpolationislikelytobepooriftheintervalinvolvedislarge.Wethereforerecommendthatthe RAOdirectionsdefinedcoverallthewavedirectionsthatwillbeusedandinstepsof30orless.
ComplexvaluedInterpolationandExtrapolation
NotethatRAOinterpolationandextrapolationisdoneusingthecomplexvaluerepresentationoftheRAOs,inwhich theRAOwithamplitudeAandphaselagPisrepresentedbythecomplexnumber: C(A,P)=A.(cos(P)+i.sin(P)). For example, given RAOs (A1,P1) for direction D1 and (A2,P2) for direction D2, the interpolated RAO for the intermediatedirectionD=(D1+D2)/2is(A,P),where: C(A,P)=(C(A1,P1)+C(A2,P2))/2 Thisgivesbetterresultsthaninterpolatingtheamplitudeandphaseseparately. OrcaFlex first interpolates on direction, to obtain an RAO table appropriate to the wave direction. It then interpolates(orextrapolates)thattabletoobtaintheRAOfortheappropriatewaveperiod.Bothofthesestagesare doneusingcomplexvaluedinterpolationorextrapolation. Obtainingthedata Alloftheabovedatacangenerallybeobtainedfromtheresultsofadiffractionprogram.OrcaFlexcanimportthese datafromtheoutputfilesofsomespecificprograms(AQWAandWAMIT)andfromgenerictextfileswithOrcaFlex specificmarkersadded.Therearetwodifferentwaystodothisimport. The easiest and most reliable way is to import all the hydrodynamic data for an appropriate vessel modelled in AQWA or WAMIT, via the Import Hydrodynamic Data button on the Vessel Types data form. The Vessel Type conventionswillbesetinaccordancewiththoseusedbythediffractionprogram. Alternatively,youmayusethe ImportRAOsbuttontoimportonlytheRAOdata.Thismaybeusefulifyourdata come from a different source. Note, however, that RAO and phase origins are not imported and the Vessel Type conventionsarenotsetbythismethod.
Stiffness,AddedMassandDamping
ReferenceOrigin
Theorigintowhichthestiffness,addedmassanddampingmatricesallrefer,specifiedascoordinateswithrespect totheOrcaFlexvesselaxes.
EquilibriumPosition
TheZabovemeanwaterlevelandtheheelandtrim(relativetoglobalaxes)ofthereferenceoriginwhenthevessel isinhydrostaticequilibriumforthisdraught.NotethatZabovemeanwaterlevel(ratherthanZrelativetoglobal axes) is specified, so that the vessel type data is independent of mean water level or choice of position of global origin. AddedMass,DampingandHydrostaticStiffness All these matrices must be specified with respect to axes through the given Reference Origin in the conventions directions,i.e.withrespecttothedirectionsspecifiedontheconventionspageofthevesseltypesform. Fordetailsoftheunits,andthetheoryused,seeVesselTheory:Stiffness,AddedMassandDamping.
HydrostaticStiffness
Thehydrostaticstiffnessmatrixisonlyspecifiedforheave,rollandpitchdirections.ItisappliedinStaticsonlyifthe vessel'sStaticAnalysisincludes6DOF,andindynamicsonlyifthevessel'sPrimaryMotionissetto"Calculated(6 DOF)".

AddedMassandDamping
The added mass and damping matrices are specified in all 6 degrees of freedom. They are always applied to the vessel,butwillonlyinfluencethemotionofthevesselifthePrimaryMotionissettooneofthecalculatedmodes.
AddedMassandDampingMethod
If you choose Constant for the Added Mass and Damping method, then singlevalued added mass and damping matriceswillbeused.
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IfyouchooseFrequencyDependent,thenyoumayspecifyanumberofaddedmassanddampingmatrices,each pair corresponding to a particular given frequency or period. Whether you specify period or frequency values is determinedbytheWavesarereferredtobysettingontheVesselTypeConventionspage. IfyouusetheConstant(i.e.frequencyindependent)method,thenyoushouldspecifyvaluesthatareappropriateto thefrequencyofvesselmotionyouexpect.Tocalculateslowdriftmotionofthevesselitisnormallyappropriateto enter low frequency values. Otherwise values corresponding to the dominant wave frequency are perhaps more appropriate.Clearly,ifthevesselexperiencesawiderangeoffrequencies,thefrequencydependentmethodismore appropriateandwouldbeexpectedtogivebetterresults. IfyouusetheFrequencyDependentmethodthenyouneedtospecifyboththeaddedmassanddampingmatrices, andforarangeoffrequencies.Also.theaddedmassanddampingdatashouldbeconsistentinthesensethatthey obeytheKramersKronigrelationsseeConsistentAddedMassandDampingfordetails.
CutoffTime
When you use frequencydependent added mass and damping, OrcaFlex applies the frequencydependent data in the time domain by calculating and applying the vessel's Impulse Response Functions (IRF). See Vessel Theory: ImpulseResponseandConvolutionfordetails. Realistic IRFs decay to zero with increasing time lag. So to improve the calculation speed OrcaFlex truncates the ImpulseResponseFunctionatthetimelagspecifiedbytheCutoffTime.TheIRFisassumedtobezerofortimelags greaterthantheCutoffTime. Larger Cutoff Time values might give more accurate results but require more calculation. In order to choose the CutoffTime,youmayfinditusefultousetheReportVesselResponsewindowtoviewthegraphsofthecomponents oftheIRF.Fromthegraphsyoucoulddecidethetimelagatwhichthefunctionhasdecayedsufficientlyclosetozero astohavelittleornoeffectonthecalculation. Note1: Frequencydependentaddedmassanddampingcanbequitetimeconsumingtocompute.Forthis reason,itisnotcalculatedforvesselswhichdonothavecalculatedprimarymotion:inthiscase, theaddedmassanddampingloadissimplysetuniformlytozero. The damping matrix given by a diffraction program models wave radiation damping. However there is another, often more important, source of damping, namely wave drift damping. See Damping Effects on Vessel Slow Drift. Wave drift damping can be modelled in OrcaFlex by adjustingthediagonalentriesinthedampingmatrix. InOrcaFlex8.5a,andearlierreleases,addedmass,dampingandstiffnessmatriceswerespecified with respect to OrcaFlex vessel axes. Whereas in OrcaFlex 8.5b, and later releases, they are specified with respect to the conventions directions. We have made this change since the data typically comes from the same source as the RAOs (e.g. from a diffraction program) and the conventionsdirectionsspecifythedirectionsthattheRAOsaredefinedwithrespectto. WhenyouuseOrcaFlex8.5b(orlater)toopenafilewrittenbyoneofthoseearlierreleasesthen OrcaFlex automatically changes the data to be with respect to the conventions directions. (The effectofthechangeisthatthe(i,j)elementofthematrixchangessigniftheconventionsdirections areoppositetotheOrcaFlexvesselaxesdirectionsfordegreeoffreedomiordegreeoffreedomj, butnotboth.Thereisthereforenochangeunlesssomeoftheconventionsdirectionsareoppositeto theOrcaFlexvesseldirections,inwhichcasesomeoftheoffdiagonaltermschangesign.) BecauseOrcaFlexautomaticallyhandlesthechangeforyou,thereisnoneedforyoutotakeany action,assumingthatyourdatawaspreviouslyspecifiedcorrectlywithrespecttoOrcaFlexvessel directions.Howeverwerecommendthatyoucheckthatyourdataisnowcorrectlyspecifiedwith respecttotheconventionsdirections.IfthedatahascomefromthesamesourceastheRAOs,and theconventionsdirectionsspecifythedirectionsusedbythatsource,thenthematricesinOrcaFlex shouldmatchthosefromthesource,withnochanges.
Note2:
Note3:
Obtainingthedata Alloftheabovedatacangenerallybeobtainedfromtheresultsofadiffractionprogram:OrcaFlexprovidesvarious facilitiesfortheirimport. Theeasiestandmostreliablewayistoimportallthehydrodynamicdataforanappropriatevesselmodelledinone ofthepackagessupportedbyOrcaFlex(presentlyAQWAandWAMIT).ThisisdoneviatheImportHydrodynamic
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DatabuttonontheVesselTypesdataform.Asmuchasispossibleoftherelevantdatawillbeimported,andthe VesselTypeconventionswillbesetinaccordancewiththoseusedbythediffractionprogram. The output from other packages may be imported from text files with the addition of appropriate markup to indicate the data to OrcaFlex. To do so (and only with the frequencydependent method selected), click on the ImportDatabuttonandselecttheappropriatefilename.
DragLoads
Hydrodynamicandwinddragloadsonavesselaresquarelawloadsduetotherelativevelocityofthefluidpastthe vessel.TheycanbemodelledusingthedataontheHydrodynamicDragandWindDragpagesonthevesseltype data form. If the length of the vessel differs from that of the vessel type then the vessel type data will be scaled accordingly. Drag loads are an important source of damping when modelling vessel slow drift. Foradiscussion of the various dampingsourcesseeDampingEffectsonVesselSlowDrift. The velocityused to calculatethe drag loads isthe relative velocity ofthe fluid past the vessel. This includes any currentorwindvelocityandthevesselvelocityduetoanyprimarymotion.Thedragforcesandmomentsdueto translational motion are modelled using the standard OCIMF method. The drag forces and moments due to any vessel rate of yaw are modelled using yaw rate drag load factors. For details ofhow the loads are calculated, see VesselTheory:DragLoads. Warning:
LoadOrigin
The current and wind loads are based on theory for surface vessels and are not suitable for submergedvessels.
Thecoordinates(relativetovesselaxes)ofthepointonthevesselatwhichthehydrodynamicorwinddragloads arecalculatedandatwhichtheywillbeapplied.Thisneednotbeatthevesselorigin.Itisnormallybesttoplacethe loadoriginatthecentreofthevessel. The velocity used in the hydrodynamic drag load calculation is the current velocity at the load origin, minus any velocityoftheloadoriginduetoprimarymotionofthevessel.Notethatiftheloadoriginisabovethewatersurface thenthecurrentvelocityusedisthatatthewatersurface. The velocity used in the wind load calculation is the wind velocity (as specified on the Wind page on the environmentdataform),minusanyvelocityofthewindloadoriginduetoprimarymotionofthevessel.Notethat thewindvelocityspecifiedshouldbethatat10mabovemeanwaterlevel,sincethatistheheightusedbytheOCIMF vesselwindloadmodel(seeWindSpeedformoredetails).
LoadSymmetry
Specifies what symmetry the vessel type has below (for hydrodynamic drag) or above (for wind drag) the water line,abouttheloadorigin.ForXZandYZsymmetry,OrcaFlexwillusethesymmetrytoderiveloadcoefficientsfor extradirectionsgeneratedbyreflectioninthespecifiedvesselaxesplanes.Forcircularsymmetry,youmustspecify coefficientsforonedirectiononlyandOrcaFlexwillusesymmetrytoderivecoefficientsforallotherdirections. Note: Thesymmetryforhydrodynamicdrag,winddragandRAOs(seeRAOSymmetry)neednotbethe same,thoughofcoursethesymmetryforhydrodynamicdragwouldnormallybethesameasthat forRAOs.
AreasandAreaMoment
Thesurgeandswayareasandyawareamomentthatwillbeusedtocalculatethecurrentorwindloads.Fordetails seeVesselTheory:DragLoads.
Coefficients
Loadcoefficientsarespecified forthevesselsurge,swayand yawdirections.Theydependonthedirectionofthe currentorwind,relativetothevessel(direction0meaningfromastern,90meaningfromstarboard,etc.). OrcaFlexusesanysymmetryspecifiedtoderivecoefficientsforotherdirectionsandthenuseslinearinterpolation toderivecoefficientsforintermediatedirections. Note: When the symmetry is XZ and YZ the yaw moments must be zero, so OrcaFlex forces zero yaw coefficientsinthiscase.
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TheViewCoefficientsbuttonallowsyoutoviewthecoefficientsthatwillbeusedtheblobsonthegraphshowthe coefficients you have specified plus any that OrcaFlex has derived using reflection, and the curve shows the interpolated coefficients that will be used for intermediate directions. You should specify sufficient directions to definetheshapeofthecurveandtocovertherangeofdirectionsthatthevesselwillexperience.
YawRateDragFactors
Theyawratedragfactorsonlyapplytothehydrodynamicloaddata.Theydeterminetheyawdragmoment,andany surge and sway drag forces, that result if the vessel has a nonzero rate of yaw. With wind drag this effect is insignificant. Foraslendership,andiftheloadoriginhasbeenplacedatthecentreofthevessel,thenthesurgeandswaydrag factorscanusuallybetakentobezero,andthenyawdragfactorcanbeestimatedbasedonthevessellengthand draught.SeeDragLoadsduetoYawRatefordetails.
WaveDriftLoads
TheWaveDriftpageonthevesseltypeformcontainstheQuadraticTransferFunctions(QTFs)thatOrcaFlexusesto calculateawavedriftload(sometimescalledtheslowdriftload). Note: ThewavedriftloadisonlycalculatedforavesseliftheWaveDriftLoad(2ndOrder)optionis checked in the list of vessel Included Effects, and will only affect the vessel motion if the vessel primarymotionissettooneoftheCalculatedoptions.SeeModellingVesselSlowDriftfordetails.
SeeWaveDriftLoadTheoryfordetailsofhowOrcaFlexcalculatesthewavedriftloads.
QTFOrigin
TheQTForiginisthepointonthevesseltowhichtheQTFsapply.Thewavedriftloadsarecalculatedbasedonthe waveconditionsatthispointandtheyareappliedatthispoint.TheQTForiginisspecifiedrelativetotheOrcaFlex vesselaxes(notthedirectionsspecifiedontheConventionspage)anddifferentdraughtscanusedifferentorigins. Thereisnoneedtospecifythezcoordinateofthepointsincetheloadsarecalculatedandappliedonlyforthesurge, swayandyawdegreesoffreedom.

WaveDriftQTFs
The QTF arespecified in nondimensional form. For translational QTFSthe value specified isthe wave drift force from a wave of unit amplitude, divided by .g.L, where is the nominal sea density, g is the acceleration due to gravityandListhevessellength.ForrotationalQTFsthevaluespecifiedisthewavedriftmomentfromawaveof unitamplitude,dividedby.g.L2.ForfurtherdetailsseeWaveDriftLoadTheory. NophasesarerequiredbecauseonlythediagonaltermsofthefullQTFmatrixareenteredinOrcaFlex,andthese diagonal terms always have zero phase. OrcaFlex uses Newman's approximation to obtain the offdiagonal QTFs fromthediagonalQTFsspecified.SeeWaveDriftLoadTheoryfordetails. ThewayQTFdataisenteredinOrcaFlexhasmanysimilaritieswithRAOdata.Inparticular: Foreachdraught,QTFtablesarespecifiedforeachofanumberofwavedirections,specifiedusingtheOrcina direction convention. To insert a new table use the Insert Direction button and to delete a table select that table'spageandthenclicktheDeleteDirectionbutton.Tochangethedirectionassociatedwithatable,select thattable'spageandthenedittheSelectedDirectionvalue. SomeoftheRAOconventionsapplytotheQTFs. If the vessel type has some symmetry (see the conventions page) then OrcaFlex automatically generates QTF tables for all the reflected directions implied by that symmetry. You must provide QTF tables for enough directionsforOrcaFlextohavedata(eitheruserspecifiedorgeneratedbasedonsymmetry)fordirectionsthat coverthewavedirectionsthevesselwillexperience. Each QTF table consists of data for a range of wave periods or frequencies (depending on the convention specified).Youshouldprovidedataforperiodsthat(afterallowingforFroudescalingifthevessellengthdiffers fromthevesseltypelength)coverthewaveperiodsthevesselwillexperience. Warning: Thesettingsontheconventionspageapplytoalldraughtsandtheyapplytoboththevesseltype's RAOs and to its wave drift QTFs. If your RAO and QTF data use different conventions you will thereforeneedtotransformyourQTFsintotheconventionsoftheRAOs(orviceversa)beforeusing theminOrcaFlex.
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Obtainingthedata WavedriftQTFdatacanbeimportedintoOrcaFlex,viathe ImportQTFsbutton,fromtextfilesfromavarietyof differentsources: AQWAorWAMIToutputfiles NMIWAVEoutputfiles Generictextfiles.
Specificprogramoutputfiles
OrcaFlex can import QTFs directly from AQWA and WAMIT output files, as described under Importing HydrodynamicData.Note,however,thatinthiscase(usingtheImportQTFsbutton)theQTForiginisnotimported and the Vessel Type conventions are not set. You may also, depending on the way that you use this Vessel Type, need to obtain RAOs and added mass and damping data for it. Note, however, that the conventions must be set correctlyandmustbeconsistentacrossthedifferentdata. AllexistingQTFdatafortheselecteddraughtwillbeoverwritten.Iftheunitsusedinthedatafiledifferfromthose currentlydefinedinOrcaFlex,thentheRAOswillbescaledtotheOrcaFlexunitsautomatically.TheQTFswillalsobe adjustedautomaticallyforthenondimensionalscalingusedbyOrcaFlex.
NMIWAVEfiles
NMIWAVEtextoutputfilesmayalsobeimported,withtheadditionofalinecontainingthestringNMIWAVEWave Driftatthestartofthefile.Hereisanexample: *** NMIWAVE Wave Drift Data *** Scaled Tanker: Lpp, B, T (m) =310.90 ,48 0.31090E+03, -0.10000E+01, 0.10250E+04 45.00 1 0.50000E+01, 0.30000E-01 0.10000E+02, 0.10000E-02 0.15000E+02, 0.00000E+00 -0.10000E+01, 0.00000E+00 2 0.50000E+01, 0.90000E-01 0.10000E+02, 0.50000E-02 etc. Note that NMIWAVE uses the ITTC conventions, which are surge +ve forward, sway +ve to starboard, heave +ve down, roll +ve starboard down, pitch +ve bow up, yaw +ve bow to starboard. These are not set automatically on importing these data. If your RAOs also use these conventions then they can be set on the Conventions page. Otherwiseyouwillneedtomodifythedatatoallowforconventiondifferences. The wave heading convention used by NMIWAVE is that wave heading is measured +ve clockwise when viewed from above, and zero wave heading means a stern wave. This is the same as OrcaFlex uses, except that OrcaFlex measures+veanticlockwise.OrcaFlexautomaticallyhandlesthisbychangingthesignofthewaveheadingswhen anNMIWAVEfileisimported. OrcaFlexalsoautomaticallyhandlestheconversionofNMIWAVE'sdimensionaldatatothenondimensionalform required.ThisconversionusesthevessellengthgivenintheNMIWAVEdatafiletoperformthescaling.
Generictextfiles
StandardformatissimilartothetextformatusedtoimportRAOs.Hereisasimpleexample: *** OrcaFlex QTF Start Data *** Draught Transit Direction 45 WP surge sway yaw 0.0 0.030 0.090 -0.006 5.0 0.030 0.090 -0.006 10.0 0.001 0.005 -0.002 15.0 0.000 0.001 -0.001
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Infinity 0.000 0.000 0.000 *** OrcaFlex QTF End Data *** TheQTFformatdiffersfromthatforRAOsintwoways:(i)theidentifierlineisOrcaFlexQTFStartDatainsteadof OrcaFlexRAOStartData,and(ii)thecolumnheadersaresurge,sway,heave,roll,pitchandyawinsteadofX,Y, Z,RX,RYandRZrespectively.Otherwise,theformatfollowsthatforimportingRAOs. The example above only includes the horizontal degrees of freedom surge, sway and yaw. Data in this form is commonforvesselswithlargewaterplaneareas,e.g.barges,tankersetc.Ifyoudonotspecifyheave,rollandpitch QTFsthenOrcaFlexwillsetthemto0whenthedataisimported. If you are importing data with all QTFs for 6 degrees of freedom then the above example can be extended in the obviousway.
Drawing
DrawingData
Eachvesselofthistypeisdrawnasawireframe,basedonverticesandrepresentingthevesseltype,plusawire framerepresentingvesselspecificfeatures.SeeDrawing.
Edgediameter(usedonlyforshadeddrawing)
Forshadedgraphics views,by default,the vessel is drawn usinga solid, filledin shape basedonthe vertices and edges. Asanalternativeyoucanusetheverticesandedgestodefineaframelikestructure.Iftheedgediameteris'~'then that edge will be used to build a filled in shape, otherwise that edge is drawn as a cylinder with the specified diameter.Notethatyoucanuseamixtureofedgediameters(somedefined,somesetto'~')tocombinebothfilled inandframeworkshapes.
Figure: Wireframeswithdifferentedgediameter.Avalueof'~'isusedforthewireframeontheleft andavalueof1misusedforthewireframeontheright.
ShadedDrawing
Bydefault,forshaded3DViews,vesselsaredrawnusingthewireframedata. The wire frame drawing data comprises vertices and edges, but OrcaFlex needs a solid surface for the shaded graphics representation. OrcaFlex uses the following procedure to generate this surface from the wire frame verticesandedges.
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Firstanyedgeswithspecifieddiameters(i.e.diametersnotequalto'~')aredrawnascylinders.Thisallowsyouto use such edges to visualise parts of the structure thatare not solid,e.g. crane boom latticework. These edges are nowhandledandareexcludedfromtheremainderoftheprocedure. Theremainingedgesareusedtopartitiontheverticesintosetsofconnectedvertices.Twoverticesaredeemedto beconnectedifthereexistsapathofedgesbetweenthetwovertices. Finally,foreachsetofconnectedvertices,thesmallestconvexhullenclosingthesetisdrawn. This algorithm does not always generate the shaded drawings that you might expect. Consider the following two wireframevessels.Whendrawninwireframemodetheylookthesame,butinshadedmodetheydiffer.
Forthegreenvesselthesuperstructureandthehullshareverticesandsoallverticesareconnected.Thisresultsina singleconvexhullforallverticesbeingdrawn.Intheredvessel,thesuperstructureandhulldonotsharevertices
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and so there are two distinct sets of connected vertices. This results in two separate convex hulls and a better representation. Alternativelytheobjectcanberepresentedbyanimported3DmodelbyspecifyingtheShadedDrawingFile.This mustbeaDirectXformatfile,usuallywiththe.xfileextension.Ifyouusearelativepaththenthepathwillbetaken asrelativetothefoldercontainingtheOrcaFlexfile(.dator.sim). The Browse button allows you to specify the Shaded Drawing File quickly and also provides quick access to the OrcinasampledrawingsviatheNavigatetoOrcinasampledrawingsbutton. TheUseCullingoptionisnormallyselectedsinceitcanprovideausefulperformancebenefit.However,inorderto workitrequiresthatthetrianglesdefinedinthe.xfilehavetheiroutwardfacingdirectionsdefinedcorrectly.Inthe unusual situation where the outward facing directions are not defined correctly then the .x file will not display correctly.IfthishappensthentypicallysectionsofthemodelwillbemissingwhendrawnbyOrcaFlex.Disablingthe UseCullingoptionresolvesthisproblem. DrawSizeisprovidedtoallowyoutoscalethedrawing.Alldirectionsarescaledequallytoarrangethatthelongest sideinthedrawingisdrawntothespecifiedDrawSize.Thislongestsideiscalculatedbyfirstfittingthesmallest possiblecuboidaroundtheverticesoftheshadeddrawing(thesearedefinedinthe.xfile).Thiscuboidisaligned withtheshadeddrawing'slocalaxes.Thenthelengthofthelongestsideofthiscuboidisfound. Specifyavalueof'~'todisplaythedrawingusingtheabsolutecoordinatesasspecifiedinthe.xfile. Note: Ifyouuseavalueof'~'forDrawSizethenOrcaFlexusesthecoordinatesinthe.xfiledirectly.If these coordinates use a different length units system from your OrcaFlex model then you should specify the units used in the .x file by including an auxiliary file called AdditionalInformation.txt. ExamplesofthiscanbefoundinthesampleshadeddrawingsprovidedbyOrcina.
ShadedDrawingOriginisprovidedbecausetheshaded drawingandthevesseltypemayhavedifferentorigins. The Shaded Drawing Origin defines the origin of the shaded drawing with respect to the vessel type's local axis system. Similarly Shaded Drawing Orientation allows you to reorient the shaded drawing to match the vessel type'saxissystem.
Vessellengthscaling
If the vessel length and the vessel type length are different then the shaded drawing is scaled accordingly. This scalingisappliedinadditiontothescalingoftheshadeddrawingspecifiedbytheDrawSize.
ImportingHydrodynamicData
TheImportHydrodynamicDatabuttononthevesseltypesformenablestheimportofdata,intheformofresults from common ship response calculation packages, into OrcaFlex. Presently, OrcaFlex can import data which has beenoutputbyAQWAandWAMIT. When you click this button, you will be prompted for the name of an AQWA or WAMIT results file. In each case, OrcaFlexwillattempttoimportasmuchdataaspossiblefromthefiletotheappropriatedataitemsonthevessel types form, for the presently selected draught. These data are: displacement RAOs, load RAOs, QTFs, added mass anddamping,andhydrostaticstiffness.Thevesseltypeconventionswillalsobesettomatchthoseoftheimported data. Mass & inertia and hydrostatic equilibrium position are not always output by these packages, but will be imported by OrcaFlex if they are available. The remaining vessel type data are not typically calculated by such programs,sowillneedtobeobtainedfromanothersource.Any previouslyenteredOrcaFlexdataforwhichthere arenotanycorrespondingdataintheimportedfilewillnotbechanged. Iftheimportfailsforanyreason,OrcaFlexwillreportanerrorandreinstatethevesseltypedatatothatwhichwas presentbeforetheimportbegan.Ifthedatainthefileareambiguous,OrcaFlexwillpromptyouforclarification.At theendoftheimportprocess,OrcaFlexwillwarnyouofanythingnoteworthy(forexampleifnoQTFswerepresent inthefile,orifadampingmatrixwasnonsymmetric). ImportingdatafromAQWA AQWAresultsareoutputinatextfilenamed*.lis.Thedataareindimensionalform.
Units
OrcaFlexfirstattemptstodeterminetheunitsinuseinthefile,fromthevaluesofg(accelerationduetogravity)and (water density), and the knowledge that the unit of time is the second. If this is successful, then OrcaFlex will convertthedata(ifnecessary)fromtheunitsinuseinthefiletotheunitsoftheOrcaFlexmodel.Iftheunitscannot
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bedetermined,oriftheyareamixtureofSIandUS,OrcaFlexwillbeunabletoconvertthedatainthisway:inthis case,therawdatawillbeimportedfromthefileunchangedandacorrespondingwarningwillbeissued.
Referenceorigins
AlloftheAQWAdatahavetheirreferenceoriginatthevessel centreofgravity.SoOrcaFlexsetstheRAOorigins, QTF origin, and added mass & damping origin to the value of the centre of gravity given on the vessel types Structurepage.YouwillneedtoensurethatthisvalueisappropriatebeforeimportingtheAQWAdata.RAOphase origins,likewise,areatthevesselcentreofgravity,soaresetappropriatelybyOrcaFlex.
Addedmassanddamping
AQWAoutputsthewhole6x6matricesforaddedmassanddamping,butOrcaFlexusesonlytheupperrighttriangle of each. You will receive a warning if any of these matrices, in the imported file, are significantly nonsymmetric, sinceOrcaFlexisunabletohandlethis. Note: Frequencyindependent added mass and damping are not imported. If you have such data, you may wish to preprocess your AQWA file to add them to each frequencydependent item before importingintoOrcaFlex.
RAOs
Displacement RAOs are imported in a straightforward way. LoadRAOsare imported including the FroudeKrylov contribution.
QTFs
Wave drift QTFs are presented nondimensionally in OrcaFlex. The dimensional data in the imported file are thereforescaledaspartoftheimportprocess:seeWavedriftQTFsfordetailsofthescalingfactorsinvolved.
Stiffnessandequilibriumposition
Theheave,rollandpitchcomponentsofthehydrostaticstiffnessmatrixareimported.Again,onlytheupperright triangleisused,andawarningisissuediftheAQWAdataarenonsymmetric.TheZcomponentoftheequilibrium positionisimported.SinceAQWAdoesnotgivetheheelandtrimvaluesattheequilibriumposition,thesevaluesare settozero:ifnecessary,youshouldeditthesevaluesyourself. Note: AQWAmayoutputthestiffnessmatrixtwice,underthehydrostaticandhydrodynamicheadings.If so,andifthetwomatricesarenotthesame,awarningwillbegivenandthe'hydrostatic'formwill beimported.
Massandinertia
Mass and moments of inertia are imported, the latter from the diagonal elements of the inertia matrix output by AQWA. ImportingdatafromWAMIT WAMITresultsareoutputinatextfilenamed*.out.Thedataarealmostallnondimensional,themainexceptionsto thisbeingg,accelerationduetogravity,andL,WAMIT'slengthscalewhichisusedtonondimensionalisethedata. PleasenotethatOrcaFlexisunabletoimportWAMITdatarepresentingmultibodyproblems.
Units
Thelengthunitinuseinthefilewillbedetermined,ifpossible,fromthevalueofgandtheknowledgethattheunit oftimeisthesecond.Ifthisissuccessful,thenOrcaFlexwillconvertthedatafromnondimensionaltotheunitsof the OrcaFlex model, using WAMIT's length scale (converted to the length unit of the OrcaFlex model) and the currentOrcaFlexvaluesofg(accelerationduetogravity)and (nominalwaterdensity),usingthescalingfactors definedintheWAMITusermanual.Ifthelengthunitcannotbedeterminedthentherawdatawillbeimportedfrom thefileunchangedandacorrespondingwarningwillbeissued.
Referenceorigins
AlloftheWAMITdatahavetheirreferenceoriginatWAMIT'svesselorigin.OrcaFlexdeterminethepositionofthis origin, with respect to OrcaFlex's vessel origin, from the difference in the centre of gravity as given in the two coordinatesystems,andsetstheRAOorigins,QTForigin,andaddedmass&dampingorigintohavethisvalue.(If youchoosetheOrcaFlexvesselorigintobethesameastheWAMITvesselorigin,thenthecoordinatesofthecentre ofgravitywillcoincideandthereferenceoriginswillallbezero).
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In WAMIT, the phase origin is at the global origin, so the OrcaFlex RAO phase origins are represented by the coordinatesoftheWAMITglobaloriginrelativetotheOrcaFlexvesselorigin.Wedeterminethisby(i)expressing theWAMITglobaloriginrelativetotheWAMITvesselorigin(iein"bodyfixedaxes"),usingthevaluesofXBODY, YBODY,ZBODYandPHIBODYintheWAMIToutputfile,and(ii)translatingthisvaluetoberelativetotheOrcaFlex vesselorigin,usingthedifferencebetweenthecentresofgravityinthetwosystems. You will therefore need to ensure that the centre of gravity is set appropriately in OrcaFlex before importing the WAMITdata. Note: Insomecases,WAMITdoesnotoutputthehorizontalpositionofthecentreofgravity.Ifso,then OrcaFlexwillwarnyouofthis,andyouwillneedtosetthesereferenceoriginsyourself.
Addedmassanddamping
WAMIToutputsaddedmassanddampingasalistof(i,j)components.OrcaFleximportsthesevalues,butusesonly theupperrighttriangleofeachmatrix.Youwillreceiveawarningifanyofthesematrices,intheimportedfile,are significantlynonsymmetric,sinceOrcaFlexisunabletohandlethis.Componentsforwhichan(i,j)valueisnotgiven are assumed to be zero. The nondimensional WAMIT values for added mass (a) and damping (b) are scaled to dimensional(A,Brespectively)valuesaccordingtotheformulae Aij=Lkaij Bij=Lkbij where k=3fori,j=1,2,3; k=4fori=1,2,3,j=4,5,6ori=4,5,6,j=1,2,3; k=5fori,j=4,5,6and isthefrequencyinrad/s.
RAOs
Displacement RAOs are imported in a straightforward way. They are redimensionalised by multiplying by the factorLk,k=0fori=1,2,3;k=1fori=4,5,6.WAMITmaycalculateloadRAOsinoneoftwoways,andeitherorboth methods (labelled "Haskind" and"Diffraction") may be present in the file. If both aregiven, OrcaFlex will prompt you tochoose one methodand will importthe datafor thatmethod only. The redimensionalising factor forload RAOsisgLk,k=2fori=1,2,3;k=3fori=4,5,6.TheRAOdirections(alsoforQTFs)inOrcaFlexarerelativetothe vessel,andaredeterminedbysubtractingthevalueofPHIBODYintheWAMITinputfile(thevesselheadingatrest) fromeachofthevaluesofwaveheading,whicharegiveninWAMITwithrespecttoglobalaxes.
QTFs
WavedriftQTFsarepresentednondimensionallyinOrcaFlexseeWavedriftQTFsfordetailsofthescalingfactors involved. Note that the length used in this scaling is the OrcaFlex vessel type length, which may differ from the WAMIT length scale. To import these data, therefore, OrcaFlex must redimensionalise them using the WAMIT lengthscaleLandthennondimensionalisethemagainwithOrcaFlex'svesseltypelength. WAMIT may calculate QTFs in a number of different ways: Momentum Conservation, Pressure Integration, and ControlSurface.OrcaFlexispresentlyunabletoimportdataresultingfromtheMomentumConservationcalculation, sothismethodisdisregarded.AswithloadRAOs,ifdatafrommorethanoneoftheremainingmethodsispresent, thenyouwillbepromptedtochoosejustoneofthem. Notes: WAMIT outputs QTFs for pairs of wave headings. OrcaFlex allows only unidirectional QTFs, so importsonlythedataforwhichthetwoheadingscoincide. WAMIT outputs QTFs as amplitude and phase pairs. OrcaFlex requires that the phase is zero, so converts values with phase = 180 by negating the amplitude. If any phase is not 0 or 180 (to within2),OrcaFlexwillreportanerrorandtheimportwillbestopped.
Stiffnessandequilibriumposition
Theheave,rollandpitchcomponentsofthehydrostaticstiffnessmatrixareimported.Theequilibriumpositionis notspecifiedbyWAMIT,soyoushouldeditthisvalueyourself.
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Massandinertia
MassandmomentsofinertiaarenotimportedfromWAMITfiles.Youshouldenterthesedatayourself.
ImportingAddedMassandDampingData
AddedmassanddampingmatricesmaybeimportedusingtheImportDatabuttononthevesseltypesform.Data may be imported directly from AQWA or WAMIT output files, and with the addition of some markup text from Moses, Ariane/Hydrostar and Wadam output files. The form of thismarkup alsoallows for import of reasonably formatted6x6addedmassanddampingmatricesfromanygenerictextfile. Directimportfromspecificprogramoutput OrcaFlex can import data directly from AQWA and WAMIT output files, as described under Importing Hydrodynamic Data. Note, however, that in this case the reference origin is not imported and the Vessel Type conventionsarenotset.Youmayalso,dependingonthewaythatyouusethisVesselType,needtoobtainRAOand QTFdataforit,inwhichcasetheconventionsmustbesetcorrectlyandmustbeconsistentacrossthedifferentdata. All existing added mass and damping data for the selected draught will be overwritten. If the currently defined OrcaFlex units differ from those used in the data file, then the imported data will be scaled to the OrcaFlex units automatically. Importfrommarkeduptextfiles Withtheadditionofsometagsindicatingthestartandendofthedata,andothersdefiningwhichvesselproperties should receive the imported data, data may be imported from the plain ASCII text files which are written by a numberofanalysisprogramsinadditiontoAQWAandWAMIT.Theformofthesetagsisgivenbelowforeachsuch program.Commontoeachisalineoftheform"Draught[DraughtName]"specifyingthevesseltypedraughtinto whichthedataaretobeimported.IfDraughtNamealreadyexists,theexistingaddedmassanddampingdatawill beoverwritten;ifnot,thenitwillbecreatedandalltheotherdatawillbesettothoseoftheOrcaFlexdefaultvessel type.Mosesoutput AddedmassanddampingmaybeoutputintwoformsbyMoses: (i)Diagonalelementsonly ThestandardMosesoutputfilemaycontaintablesofthediagonalelements(surgesurge,swaysway,yawyawetc termsonly)oftheaddedmassanddampingmatrices,listedagainstperiodorfrequency.OrcaFlexwillimportthese values, setting the offdiagonal elements to zero. These data are identified to OrcaFlex by the addition of a line containing the phrase "OrcaFlex Added Mass Table Start" (analogously for Damping), followed by a draught specifierandalinecontainingoneofthestrings"WP","WFR" or"WFH"toindicatethatthedataaregiveninthe Moses file by period, frequency in radians/sec, or frequency in Hz respectively. These lines must immediately precede the table of data, after any column headings, and each table must be terminated by a corresponding "OrcaFlexAddedMassTableEnd"(orDamping)line.Theuseofthismarkupisillustratedinthistruncatedexample (ii)Fullmatrices Moses will also optionally output the full 6x6 matrices to a PPO file: in general, if you have this file you should import the data from here in preference to the diagonal values only. In this case, the required tags are "OrcaFlex Added Mass Matrix Start" (again, analogously for Damping), followed by a draught specifier and one of "WP x", "WFR x" or "WFH x", where x is the value of the period or frequency, at the beginning of each matrix, and the correspondingEndtagimmediatelyaftereachmatrix.Thissampledemonstratestheuseofthesetags. Inbothcases,Mosespresentsaddedmassanddampingvalueswhicharescaledbymass.SinceOrcaFlexrequires nonnormalized data, the import process must account for this scaling factor. To do so, note that towards the beginningofeachofthetwoexamplesaboveisasectionoftheform OrcaFlexScalingFactorStart1381.8OrcaFlexScalingFactorEnd The number 1381.8 here is the mass ofthe vessel, asgiven in the standardoutput file. OrcaFlex will scaleall the importeddatabythisvalue. Note: Mosesusesencounterperiodorfrequency,toaccountfortheeffectofthespeedofthevesselonthe apparent wave period or frequency. OrcaFlex does not take this into account, so if possible your vesselinyourMosesmodelshouldnothaveanyforwardspeed.
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Ariane/Hydrostaroutput
Full6x6addedmassanddampingmatricesareoutput,withoutanynormalisingorscalingfactors.Otherthanthe lackofscalingfactors,thetagsrequiredbyOrcaFlexarethe sameasthoseforMoses6x6matrices:youwillneed StartandEndtagssurroundingeachmatrixanda"Draught"line,anda"WPx","WFRx"or"WFHx"line,wherexis thevalueoftheperiodorfrequency,atthebeginningofeachmatrix.NotethatOrcaFlexwillallow,asnecessary,for therowandcolumnheadings1,2,...,6iftheyarepresent.AshortexampleofmarkedupHydrostaroutputisgiven. Note:

WADAMoutput
AswithMoses,Arianetakesaccountoftheeffectofthespeedofthevesselindeterminingtheadded massanddamping.YourvesselinyourArianemodelshouldnothaveanyforwardspeed.
WADAMalsooutputsfull6x6addedmassanddampingmatrices,butthesearenondimensional.Thetagsrequired for each matrix are as for Ariane/Hydrostar as above; in addition, the nondimensionalising factors must be specifiedinthefile.Sincethedataarefullynondimensional,thescalingisrathermorecomplexthanMoses'scaling by mass alone: the factors differ between the added mass and damping matrices, and each matrix requires a differentfactorforeachconstituent3x3submatrix(sincetheirunitsdiffer).Fulldetailsofthecalculationofthese factorsaregivenintheWADAMoutputfileitself(searchforthestring'nondimensional');seethiseditedexample, whichshowstherelevanttextandthecorrespondingmarkuptextrequiredbyOrcaFlex.
Outputfromotherprograms
OrcaFlexshouldbeabletoimportaddedmassanddampingdatafromotherprograms,notlistedabove,solongas theyarepresentedintextfilesas6x6matrices.Asintheaboveexamples,youwillneedto:addtheappropriatetext stringsinthefiletodelimitthedata,nominatethedraughtintowhichthedataaretobeimported,andindicatethe waveperiodorfrequencyforeachmatrix.Ifthematricesarenondimensional,eitherpartiallyorfully,youwillneed toenterthescalingfactorsintothefile.Notethatthesefactorsmaybeenteredmultipletimesandwillbeupdated eachtimethismaybeusefulif,say,theydependonfrequency.
ImportingRAOs
RAOsmaybeimportedusingtheImportRAOsbuttononthevesseltypesform.Datamaybeimportedfrom: AQWAorWAMIToutputfiles Generictextfiles. OrcaMotion.raofiles(displacementRAOsonly).
OnclickingtheImportRAOsbutton,youwillbepromptedforafilename.SelectthefileyourequireandOrcaFlex willreadthefile,extracttheRAOdata,andenterthesevaluesontheOrcaFlexdataformforyou. ImportRAOsfromspecificprogramoutput OrcaFlex can import RAOs directly from AQWA and WAMIT output files, as described under Importing HydrodynamicData.Note,however,thatinthiscaseRAOandphaseoriginsarenotimportedandtheVesselType conventionsarenotset.Youmayalso,dependingonthewaythatyouusethisVesselType,needtoobtainQTFsand added mass and damping data for it. Note, however, that the conventions must be set correctly and must be consistentacrossthedifferentdata. AllexistingRAOdatafortheselecteddraughtwillbeoverwritten.Iftheunitsusedinthedatafiledifferfromthose currentlydefinedinOrcaFlex,thentheRAOswillbescaledtotheOrcaFlexunitsautomatically. ImportRAOsfromgenerictextfiles YoucanusegenerictextfilestoimportRAOdatafrom,forexample,ashipresponsecalculationprogramormodel testresults. Note: When you import RAOs from a text file, any RAO data previously present in OrcaFlex for the draughts given in the text file will be deleted. (Other data for these draughts, e.g. wind and hydrodynamic drag data, will not be affected.) So for each draught you import, all the RAOs for thatdraughtmustbeinasinglefile.YoucanthereforeeitherputalltheRAOsinasinglefile,or elsehaveseparatefilesforseparatedraughts.
RAO data in a text file can be imported providing that the data appears in tabular form and markers are first insertedintothefiletoidentifythedatatoOrcaFlex.Thissavesthelaboriousanderrorpronejoboftypinginalarge
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tableofRAOdata.Themarkers,describedbelow,canbeinsertedusingatexteditororwordprocessor;ifusinga wordprocessor,notethatthefilemustbesavedasanASCIItextfileandnotasawordprocessordocument. AtextRAOfilemustcontaintheRAOdatainthefollowingform.Itisusuallyeasytocreateasuitablefilebyaddinga fewlinestoyouroriginalresponsedatafile.Seetheexamples. TheRAOdatamustappearinthefileinoneormoretables,eachtablebeingforonedraughtanddirection.To enable OrcaFlex to find the tables, each table must be preceded by a line containing the string OrcaFlex RAO StartDataandmustbeimmediatelyfollowedbyalinecontainingthestringOrcaFlexRAOEndData.Theremust notbeanyblanklinesbetweenthesetwomarkerlines.Anymixtureofupperandlowercaseisaccepted. Note: OrcaFlex does not distinguish between text files containing displacement RAOs and those containingwaveloadRAOs.Youmusttakecaretoimportthemintothecorrectlocation.
ImmediatelyfollowingthelinecontainingtheOrcaFlexRAOStartDatastringtheremustbetwolines(ineither order)specifyingthedraughtanddirectionthatappliestothattable.Thelinespecifyingthedraughtmustbeof theformDraughtDraughtName,whereDraughtNameisthenameofthedraught.Ifthenamecontainsspaces, thenDraughtNamemustbeenclosedinquotes.ThelinespecifyingthedirectionmustbeoftheformDirectionn, where n is a number specifying the direction the wave is progressing, in degrees, measured positive from forwardtowardstheportside.Sodirection0meanswavescomingfromasternanddirection90meanswaves comingfromthestarboardside. Followingthesetwolines,thefirstlineofthetablemustbeasetofheadersdefiningthesubsequentcolumns. This headers line consists of a number of character strings, separated by spaces. The strings indicate the contentsofthecolumns;thefollowingheaderstringsarerecognisedbyOrcaFlex;otherwisethecorresponding columnisignored.SeeHeaderStringsforTextRAOTables IfyouwantOrcaFlextoignoreacolumn,forexamplebecauseitcontainsirrelevantorsuperfluousdata,then insertaheaderstring,(e.g."N/A"or"~")thatisnotlistedintheabovetable.Inparticular,ifthetablecontains both wave period and frequency you must indicate thatone ofthese is to be ignored, sinceOrcaFlex will not accepttwocolumnsspecifyingthesameinformation. Theremaininglinesinthetablemustcontainnumbers,oneforeachheaderintheheadersline,separatedby anystringofcharactersthatcannotappearinanumber(i.e.anythingexcept0..9,,+,.orE).Pleasenotethatitis theorderofthecolumnsthatmatters,nottheiractualpositionacrossthepage.Hence,althoughitisnaturalto aligntheheadersabovethecolumnsofnumbers,thisisnotinfactnecessary. There is no provision for specifying the associated conventions (other than whether the RAOs are given by periodorfrequency)inthetextfile:theconventionsdatamustbesettocorrespondtotheimporteddata.Since the conventions apply to all RAO data for the vessel type, the period/frequency convention specified by the header(WPorWFHorWFR)mustbeconsistentthroughoutthefile.Similarly,theinputoriginandphaseorigin towhichtheRAOsapplyisnotreadin,butmustbesetontheVesselTypeform.
ImportRAOsfrom*.raofiles OrcaMotionisanOrcinaDOSprogram(nowobsolete)fortransformingandreportingRAOs.Inthiscasepleasenote thefollowing: EachOrcaMotionfilecontainsdataforonewavedirection,butthedirectionisnotdefinedinthefile.Therefore, to importfrom a *.raofile, you must select the draught and direction to whichthe *.rao file applies and then clicktheImportbutton.TheimporteddatawilloverwritetheRAOtableforthecurrentlyselecteddraughtand direction. Becausethedatain*.raofilesalwaysusetheOrcinastandardconventions,theconventionsdatainOrcaFlexwill besettothesestandardconventions. Warning: These conventions apply to all RAO data for this vessel type, so any existing data that does not conformtothestandardOrcinaconventions,willbeinvalidatedbyimportinga*.raofile.
HeaderStringsforTextRAOTables
WhenimportingRAOsfromatextfile,thefollowingstringscanbeusedintheheadersline. Headerstring Columncontains WP WFH Waveperiodinseconds WavefrequencyinHz(cyclespersecond)
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Headerstring Columncontains WFR XA XP YA YP ZA ZP RXA RXP RYA RYP RZA RZP Wavefrequencyinradians/second Surgeamplitude Surgephase Swayamplitude Swayphase Heaveamplitude Heavephase Rollamplitude Rollphase Pitchamplitude Pitchphase Yawamplitude Yawphase
(In these header strings X, Y and Z represent the vessel axes, 'A' denotes amplitude, 'P' denotes phase and 'R' rotationaboutthegivenaxis.)
RAODataChecklist
Toderivevesselpointmotions,youneedtoobtaindatagivingbothRAOsandphasesforthevesselfortherelevant waveperiod.Youalsoneedtoknowwhatconventionsapplytoyourdata;thesemaybedocumentedwiththedata, butsometimesyoumayhavetodeducewhattheyare.Youshouldhaveanswerstoallthefollowingquestions:
Towhatpointonthevesseldothedataapply?
ThisistheRAOoriginandisoftenthevesselcentreofgravity,butyouneedtobesure.Ifitisnotspecifiedcheck withyourdatasupplier.
Towhatpointonthevesselarethephasesrelative?
ThisistheRAOphaseoriginandisusuallybutnotalwaysthesameastheRAOorigin.
AretheresponsesindimensionalorRAOform?
RAOform(i.e.forunitwaveamplitude)isthemostcommon;datagivingdimensionalformwouldhavetoalsogive theassociatedwaveamplitudes/heights.OrcaFlexwillonlyacceptRAOform.
Inwhatformaretherotationalroll,pitchandyawRAOs?
Unitssuchasdegrees/metreorradians/metre(displacementRAOs),orkN.m/m(waveloadRAOs),almostalways meantherotationalmotionsarerelativetowavesofunitamplitude. Very rarely, rotational RAO amplitudes are given per unit wave height (i.e. double amplitude) check your data source.InthiscaseyouwillhavetodividetheRAOsby2manually,beforeentrytoOrcaFlex. Unitssuchasdegrees/degree,radians/radian,ornounits(displacementRAOs),orkN.m/radian(waveloadRAOs), implyrotationalRAOsrelativetowavesofunitsteepnessormaximumslope. Forlongwaveperiodsindeepwater,therotationaldisplacementRAOsinthewaveplane(e.g.pitchinheadorstern seas)shouldtendto1forRAOsrelativetounitmaximumslope,ortopiforRAOsrelativetounitsteepness.
Arethephasesindegreesorradians?
Unlessyouonlyhaveasmallamountofdata,thisshouldbeobviousfromtherangeofphasevalues.
Whatdirectionsarepositiveforsurge,sway,heave,roll,pitchandyaw?
Oftentheyaresurgepositiveforward,swaypositivetoport,heavepositiveup,butsomeauthorsuseheavepositive downwards. Roll, pitch and yaw are usually positive when clockwise about the positive surge, sway and heave directions. Mostdatasourcesuserighthandedaxes,butnotall.OrcaFlexallowscompletegeneralityinitsdatainput,butyou mustfindouthowyourdataaredefined.
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Towhatphasetimeoriginarethephasesrelative?
OrcaFlexallowsyoutospecifythatthephasestoberelativetothetimethewavecrest,trough,zeroupcrossingor zerodowncrossingpassesthephaseorigin.ThepassageofthecrestpasttheRAOoriginisthemostcommonphase timeorigin,butyouneedtocheckandtellOrcaFlexseenoteonphaseleads/lagsbelow.

Arethephasesleadsorlags?
Phase conventions are sometimes documented by giving the formula used to represent the harmonic motion. Commonlyusedonesare: A.cos(.tP)orA.cos(P.t)implythatphasePisalag. cos(.t+P')impliesthatphaseP'isalead.
Usingsineratherthancosineintheaboveformulaehasnoeffectonwhetherthephasesareleadsorlags.
CheckingRAOs
The Check RAOs button on the vessel types form allows a visual check on the RAO data for either displacement RAOsorwaveloadRAOs.Foragivendraughtandwavedirection,itdisplaysgraphs(oneforeachvesseldegreeof freedom)showinghowtheRAOandphasevarywithwaveperiod. Thereare3typesofgraphavailable: ComplexValues Amplitude Phase
AmplitudeandPhaseGraphs
ThesegraphsprovideastraightforwardgraphicalrepresentationoftheRAOdataasinputontheVesselTypesdata form.The amplitude or phase isplotted onthe Yaxis of thegraph. For the Xaxis you havethe choiceofplotting period,frequencyinrad/sorfrequencyinHz.
ComplexValueGraphs
The graphs initially show the RAOs for the currently selected draught and direction. You can switch to other draughtsanddirections,eitherbyusingthenavigationbuttonsatthebottomoftheformtostepthroughthedata, elseorbyselectingfromthedropdownlists.Youcanchangethescaleofthegraphs(doubleclickonthegraphand changetherangesoftheaxes).Thisisusefulifthecurvedoesnotinitiallyfitonthegraph.
Figure:
ComplexValueRAOGraphforAmplitude(R)andphase()
ThegraphsdepictstheRAOdataspecifiedbytheuserforthespecifiedRAOorigin.Thegraphhastwoparts: AcurveshowingtheRAOdataspecifiedbytheuserasaseries ofpointsjoinedinorderofincreasingperiod. Thecurvestartsfromthe'short'waveresponse,whichshouldhavezeroorverysmallamplitude,sothecurve shouldstartfromneartheorigin.Movingalongthecurveawayfromtheorigincorrespondstothewaveperiod increasingfromzero.Forsurge,swayandheave,theotherendofthecurveisthe'long'waveRAOdataspecified
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forperiod'Infinity'.Forroll,pitchandyaw,theRAOdataforperiod'Infinity'cannot(fortechnicalreasons)be includedinthecurve,soinsteadtheotherendofthecurveistheRAOdataforthelargestfiniteperiodspecified. Asolidcirclerepresentingtheexpectedlongwaveresponselimitforafreelyfloatingvessel.SeeRAOQuality ChecksfordetailsoftheexpectedlongwaveRAOs. Warning: TheexpectedlongwaveresponselimitscalculatedbyOrcaFlexonlyapplytofreefloatingvessels. Also, the yaw response limit only applies to slender vessels (i.e. vessels that are long in the x directionandnarrowintheydirection).
ThepurposeofthegraphishelpyoucheckyourRAOdatathe curveshouldnormallybereasonablysmoothand tendtowardstheexpectedlimitshownbythesolidcircle.SeeHowtoCheckRAODatafordetails. ThegraphrepresentsRAOsaspointsinpolarcoordinates(R,),where: Risthenondimensionalamplitude.Forsurge,swayandheaveRisthevesselmotionamplitudedividedbythe waveamplitude.Andforroll,pitchandyaw,Ristherotationalresponsenormalisedwithrespecttomaximum waveslopei.e.itisvesselrotationamplitudedividedbythemaximumwaveslope. is the phase lag, from the time the wave crest passes the userspecified phase origin until the maximum positivemotionoccurs. Note: PositiveheremeansasintheOrcaFlexconventions(notnecessarilythesameasthevesseltypeRAO conventions).Sopositivesurgeisforward,positiveswayistoport,positiveheaveisup,positiveroll isstarboarddown,positivepitchisbowdownandpositiveyawisbowtoport.
ThispolarcoordinateswayofrepresentingRAOsisbetterthan drawingseparategraphsofamplitudeandphase, since it presents all the information on a single graph and also the resulting curves are smooth, whereas phase graphsfrequentlyshowphasejumps.
HowtoCheckRAOs
For each draught and wave direction, you should check that the curves on the Complex Value RAO graphs are reasonably smooth and approach the circle, which is the expected longwave limit for a freefloating vessel. Note that: ThecurvemaynotapproachtheexpectedlongwavelimitiftheRAOdatadoesnotincludevaluesforanylong waves. Wave periods over 20 seconds for ships, or 30 seconds for semisubmersibles, are considered to be sufficientlylongforthispurpose. The curve might also not approach the circle if the vessel is not freefloating. For example the heave displacementRAOamplitudeofatensionlegplatformwillnotapproachtheusuallongwavelimitof1. The circle on the yaw graph only applies to slender vessels (i.e. long in the xdirection and narrow in the y direction). SmoothgraphscanonlybeexpectedifthedataincludesRAOsforreasonablycloselyspacedperiods.
Asexamples,considerthefollowingthreeexamplegraphs:
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Thefirstgraphshowsatypical,wellbehavedsetofdisplacementRAOdatathecurveissmoothandthelongwave limitagreeswiththeexpectedvaluemarkedbythecircle. Forafreelyfloatingvessel,thesecondgraphisclearlyinerror,sincethecurvedoesnotleadtotheexpectedlong wavelimit.TheRAOdataforlongwaves(representedbytheendofthecurve)hasthecorrectamplitude,butits phasediffersby180fromtheexpectedlongwavevalue(representedbythecircle).Therearetwolikelycausesit maybethatthephaselead/lagconventiondatahasbeensetwrongly(thiswouldgiveaphaseanglesignerror)or else that the convention data for the direction of positive motion has been set wrongly (this would give a phase errorof180). Thecurveonthethirdgraphapproachestheexpectedlongwavelimit,butthensuddenlygoestozero.Thissuggests thattheRAOdataforperiod'Infinity'hasnotbeensetcorrectlyandiszero.
CommonProblems
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ItisnotunusualtobegivenRAOdataforavesselbutnotbegivenalltheconventionsthatapplytothedata.Below are some common problems and their symptoms. But beware that several common problems have very similar symptoms, so it is not possible to be sure what the problem is unless you are sure about most of the data's conventionsandonlyunsureaboutone.Itisthereforeimportanttogetasmuchinformationaspossiblefromthe originalRAOdatasupplier. Thequotedwavedirectionmightbemeasuredclockwise(viewedfromabove)fromthexdirection,ratherthan anticlockwise (which is the OrcaFlex convention). The effect would be a 180 shift in the sway, roll and yaw phases. The quoted wave direction may be the direction the wave is coming from, rather than the direction it is progressingtowards(whichistheOrcaFlexconvention).Theeffectwouldbetonegateallthephasevalues. Thephasesmaybeleadsinsteadoflags(OrcaFlexwillaccepteitherseeRAOPhaseConventions).Theeffectof anerrorherewouldbetonegateallthephasevalues.
7.7.3
ModellingVesselSlowDrift
When a vessel is exposed to waves it experiences wave loads that can be split into first order and second order terms. The first order terms generate motion at wave frequency and this is modelled in OrcaFlex using RAOs to specifyeitherthedisplacementortheload.Thesecondordertermsaremuchsmallerbuttheyincludeloadswitha much lower frequency. These low frequency terms are called the wave drift loads and they can cause significant slowdriftmotionsofthevesseliftheirfrequenciesareclosetoanaturalfrequencyofthevessel. One common situation where the wave drift loads can matter is with a moored vessel. The vessel's natural frequenciesinsurge,swayandyawaretypicallyquitelowandsothelowfrequencywavedriftloadscangenerate quitesignificantslowdriftexcursions.
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If you have already calculated the vessel slow drift motion then that motion can be applied in OrcaFlex using harmonicmotionoratimehistoryfile.ButOrcaFlexcancalculateandapplytheslowdriftmotionforyou.Todothis youneedtodothefollowing: SpecifyQTFdataonthewavedriftpageofthevesseltypeform(thewavedriftloadsarecalculatedbasedon thisdata).Also,ensurethatWaveDriftLoad(2ndOrder)isinthevessel'sIncludedEffects.ThistellsOrcaFlex toapplythemeanwavedriftloadtothevesselduringthestaticanalysis,andtheninthedynamicanalysisto applythetimevaryingwavedriftload. Optionally,specifyappropriatedataforthehydrodynamicandwinddragloadsandanyappliedload,etc.,and includetheseloadsinthevessel'sIncludedEffects.OrcaFlexwillautomaticallyincludeloadsfromaddedmass anddampingandloadsfromanylinesorotherobjectsthatareconnectedtothevessel. OntheStructurepageonthevesseltypeform,specifythevesselcentreofgravity,mass,momentsofinertiadata fortheappropriatedraught.AndontheStiffness,AddedMassandDampingpage,specifytheaddedmassand damping matrices and the reference origin to which they apply. The stiffness and hydrostatic equilibrium positiondataarenotrequiredfor3DOFanalyses,sincetheyonlyapplyintheheave,rollandpitchdirections. On the vessel form, include 3 degrees of freedom in the static analysis. The OrcaFlex static analysis will then calculate the equilibrium position allowing for the mean wave drift load. And set the primary motion to Calculated (3DOF). The OrcaFlex simulation will then calculate the vessel surge, sway and yaw motion that results. Set the vessel's superimposed motion according to whether and how you want to model first order wave frequencymotion.
InthedynamicsimulationOrcaFlexwillthencalculatealltheloadsonthevesselandtheresultingslowsurge,sway andyawmotion. DampingEffectsonVesselSlowDrift Draganddampingloadshaveanimportanteffectonvesselslowdriftmotions.Thefollowingdiscussiondocuments thevariousdampingeffectsandhowtheyaremodelledinOrcaFlex.SeeCMPT(1998)section3.12. Hydrodynamicdragandskinfrictiononthevesselhull.ThisismodelledinOrcaFlexusingacombinationof theOCIMFapproachplusayawdragmomentproportionalto(yawrate)2.SeetheHydrodynamicDragdataon thevesseltypedataform.FordetailsofthetheoryseeVesselTheory:DragLoads.NotethatOrcaFlexdoesnot yethavethedependencyofyawdragonswayvelocityproposedbyWichers,1979. Winddragonthevesselhull.Thisistheaerodynamicdragduetowindandanyvesselvelocity.Itismodelled inOrcaFlexbasedontheOCIMFapproach.SeetheWindDragdataonthevesseltypedataform.Fordetailsof thetheoryseeVesselTheory:DragLoads. Hydrodynamic drag on the risers/moorings. This is modelled in OrcaFlex by the drag force part of the Morisonforceonthelinesthatmodeltherisers/moorings. Waveradiationdamping.Thisisnotusuallyverysignificantatlowfrequencies,becausetheasymptoticlimit ofthewavefrequencydampingiszero.ItcanbemodelledinOrcaFlexusingthedampingmatrixonthevessel typeform. Wavedriftdamping.Thisarisesbecausethewavedriftloadsvarywithvesselvelocity.Itcanbemodelledin OrcaFlexbyincludingitinthedampingmatrixonthevesseltypedataform.SeeCMPT(1998)page378and Faltinsen(1990)page161. Material damping in the risers/moorings. This is the structural damping in the material of the risers and mooringlines.ThiscanbemodelledinOrcaFlexbythelinetargetdampingvalue.HoweverTriantafyllouetal (1994)concludedthatitseffectisnegligible. Seabed soil friction on the risers/moorings. This arises from the frictional force acting on the part of a mooring/riser that is lifting off and touching down on the seabed. It is modelled in OrcaFlex by the friction between the seabed and the line used to model the mooring/riser. However Triantafyllou et al (1994) concludedthatitseffectisnegligible.
7.7.4
VesselResponseReports
ThevesselresponsewindowcanbeopenedusingtheResultsMenuorusingtheReportVesselResponsebuttonon thevesseldataform.Itofferstwopages:DisplacementResponse,andImpulseResponse,AddedMassandDamping.
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DisplacementResponse TheDisplacementResponsepagegivesaccesstotwospreadsheet reports,onegivingdisplacementRAOsandone giving spectral values, of the vessel's response to waves, based on its vessel type's displacement RAOs. It can be accessedfromtheResultsmenuorfromtheVesseldataform. DirectionsandOutputPoints Youspecifyoneormorevesselrelativewavedirections,andoneormorepointsonthevessel,forwhichtheRAOs andspectralresponsewillbereported. Ifyouspecifyadirectionof'~'thenthedirectionofthewaverelativetothevesselisused.Ifthereismorethanone wavetrainthenthedirectionofthefirstwavetrainisused. Theoutputpointsarespecifiedbygivingtheircoordinatesrelativetovesselaxes. ReportRAOs The RAO report gives a separate worksheet for each specified direction, containing the RAOs for each of the specifiedoutputpoints,derivedfromthedisplacementRAOsofitsvesseltype. ThereportedRAOsallowforthefollowingeffects: TheyallowforthepositionoftheoutputpointrelativetotheRAOorigintowhichthevesseltypeRAOsapply. TheygivetheRAOsforthespecifiedwavedirection,relativetothevessel.Ifthisisnotoneofthedirectionsfor whichRAOsarespecified,thentheRAOsarederivedbyinterpolationondirection. TheyallowforFroudescalingifthereisadifferencebetweenthevesseltypelengthandthevessellength.This affectstheperiodsatwhichtheRAOsarereported.
RAOsaregivenfortheposition,velocityandaccelerationoftheoutputpoints,forall6degreesoffreedomandforZ AboveWave. The RAO report covers the wave periods specified on the vessel type data form, plus (if appropriate) the regular waveperiodspecifiedontheenvironmentdataform.
PhaseOrigin
YoucanchoosethePhaseOrigintouseforreportingphases,theoptionsbeing: RAO Phase Origin. The phases will then be reported relative to the time that the wave (crest or trough, as specifiedinthevesseltypeRAOconventions)passestheRAOphaseoriginspecifiedonthevesseltypeform. EachPoint.Thephaseswillthenbereportedrelativetothetimethewave(crestortrough,asspecifiedinthe vesseltypeRAOconventions)passesthatparticularoutputpoint.
ThetranslationalRAOsdependonthepositionoftheoutputpoint.TherotationalRAOamplitudesdonotdependon the position of the output point, since the roll, pitch and yaw of a vessel are the same everywhere on it. The rotationalRAOphasesdependonthepositionoftheoutputpointonlyifyouspecifythePhaseOrigintobeEach Point.
Conventions
YoucanchoosefortheRAOstobereportedeitherusingthesameRAOconventionsasspecifiedforthisvessel'stype orusingOrcinastandardconventions.
ZAboveWave
Z Above Wave reports the heave of the vessel relative to the water surface. This can be useful when evaluating whetheranobjectatsomepointonthevesselwillcontactthewatersurfaceandifsowithwhatrelativevelocity. Warning: ZAboveWavedoesnottakeaccountofwavesurfacedisturbanceduetothepresenceofthevessel.
ReportSpectralResponse The spectral response report contains a separate worksheet for each specified direction and each random wave trainspecifiedontheEnvironmentdataform.Theworksheetcontainstablesofspectralvaluesforposition,velocity and acceleration, for all 6 degrees of freedom and for Z Above Wave. Separate tables are given for each of the specifiedoutputpoints. Notes: Thespectralresponsereportisnotavailableifnorandomwavetrainsarespecified.
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It is also not available if (for any of the specified directions and for any degree of freedom) the vessel has a nonzero RAO amplitude for the zero wave period limit. This is because some of the spectralintegralsdonotconvergeinsuchcases.SuchRAOdataisnotrealistic,sincenovesselcan respondtoinfinitelyhighfrequencywaves.
Thefollowingspectralvaluesarereported. Thesignificantamplitude. TheexpectedmaximumamplitudeinarandomlychosenperiodofthespecifiedDuration.(Putanotherway,ifa various different randomly chosen samples of the specified Duration are taken, then the expected maximum amplitudeisthestatisticalmeanofthedistributionofthevariousdifferentmaximumamplitudesobtained.) Theaverageperiodoftheresponse.Thisisthemeanperiodbetweenzeroupcrossings. Note: Warning: The significant and maximum values are reported as single amplitudes, i.e. the motion is +/ the valuereported. The standard formulae used to calculate the spectral values (see below) are based on the assumptions that the spectrum is narrowbanded and Gaussian, and that the extremes are Rayleighdistributed.Theyarealsobasedpurelyonsmallamplitudelineartheory.
Thesespectralvaluesarecalculatedasfollows: ThespectrumofthewavetrainiscombinedwiththevesselresponsespecifiedbyitsRAOs,toobtaintheresponse spectrum for each degree of freedom. The zero'th moment, m 0, and the second moment, m2, of the response spectrum(expressedagainstfrequencyinHertz)arethencalculated.Thespectralvaluesarethengivenby: SignificantAmplitude=As=2m0 AveragePeriod=Tave=(m0/m2) MaxAmplitude=As(loge(D*60*60/Tave)) whereAsisthesignificantamplitude,DisthespecifiedDuration(inhours),Taveistheaverageperiod(inseconds) andlogeisthenaturallogarithm(=ln).See,forexample,Faltinsen,pages2427. Notes: For Z Above Wave, no spectral values can be reported for acceleration and only the significant amplitudecanbereportedforvelocity.ThisisbecausetheRAOofZAboveWavedoesnotdecayto zero as wave period goes to zero, so some of the integrals for the spectral moments do not converge. For velocity of Z Above Wave you could perhaps estimate the expected maximum amplitude byassuming that the ratioofmaximum amplitude to significant amplitude is roughly thesameforvelocityasforposition. AllthesereportsarebasedonthevesseltypedisplacementRAOs.AnywaveloadRAOdataare ignored.
ImpulseResponse,AddedMassandDamping TheImpulseResponse,AddedMassandDampingpagehasonlyone button:ShowGraphs.Thisbuttonisenabled onlyiftheVesselTypeandDraughtusedbythevesselhaveAddedMassandDampingMethodsettoFrequency Dependent.Clickingthebuttonwillopenaformshowing: AgraphoftheImpulseResponseFunction(IRF)forthevessel. Graphsoftheoriginalfrequencydependentaddedmassordampingdata.
ThescaleofthetimelagaxisfortheIRFisdeterminedbythecutofftimechosen.Thisgraphmaybeusefulinjudging whatvalueshouldbeselectedforthiscutofftime:ashortercutofftimewillallowforfastercalculation,buttooshort maymeansignificantIRFvaluesarediscardedandaccuracylostasaresult. The graph of Added Mass against frequency has superimposed on it a horizontal intercept representing the calculatedvalueofthe"infinitefrequency"addedmass.Solongasthedataaregiventosufficientlyhighfrequency, thisisanindicatoroftheconsistencyoftheaddedmassanddampingdata. NotethatthevaluesofaddedmassanddampingshownmayhavebeenFroudescaledaccordingtoVessellength.
7.7.5
VesselResults
FordetailsonhowtoselectresultsvariablesseeSelectingVariables.
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MotionResults The vessel motion is split into two components, the primary and superimposed motions. Both the total overall motionandthesetwocomponentsareavailableastimehistoryresults.
X,Y,Z,Rotation1,Rotation2andRotation3
The position and orientation of the vessel, relative to global axes, due to the combination of the primary and superimposedmotion. X,YandZaretheglobalcoordinatesofauserspecifiedpointPonthevessel.ThepointPisspecifiedinvessellocal coordinates.IfP=(0,0,0)thentheglobalX,YandZcoordinatesofthevesseloriginarereported. Rotation 1, 2 and 3 define the final orientation relative to global axes. The 3 rotations (called Euler angles) are 3 successiverotationsthattaketheglobalaxesdirectionstothefinalaxesdirections.Rotation2isintherange90to +90.RangejumpsuppressionisappliedtotheRotation1andRotation3angles(sovaluesoutsidetherange360 to+360mightbereported).
Velocity,GXVelocity,GYVelocity,GZVelocity
Themagnitudeandcomponentsofthevelocityofthevessel,relativetoglobalaxes,duetothecombinationofthe primaryandsuperimposedmotion.TheseresultsarereportedatauserspecifiedpointPonthevessel.ThepointP isspecifiedinvessellocalcoordinates.

Acceleration,GXAcceleration,GYAcceleration,GZAcceleration
Themagnitudeandcomponentsoftheaccelerationofthevessel,relativetoglobalaxes,duetothecombinationof the primary and superimposed motion. These results are reported at a user specified point P on the vessel. The pointPisspecifiedinvessellocalcoordinates.
PrimaryX,PrimaryY,PrimaryZ,PrimaryRotation1,PrimaryRotation2andPrimaryRotation3
The primary position of the vessel, as produced by any primary motion, relative to global axes. So Primary X, PrimaryYandPrimaryZaretheglobalX,Y,Zcoordinatesoftheprimarypositionofthevesselorigin,andPrimary Rotation1,PrimaryRotation2andPrimaryRotation3aretheprimaryorientationofthevessel,againrelativeto globalaxes. Primary Rotation 2 is in the range 90 to +90. Range jump suppression is applied to Primary Rotation 1 and PrimaryRotation3(sovaluesoutsidetherange360to+360mightbereported).
Surge,Sway,Heave,Roll,PitchandYaw
The offset ofthe vessel, due to any superimposed motion, relativetothe primary position ofthe vessel. They are usually, therefore, the wavegenerated part of the motion, so Surge, Sway and Heave are the offsets from the primarypositiontothefinalpositionandaremeasuredinthe primaryvesselaxesdirections.AndRoll,Pitchand Yawarethewavegeneratedrotationsandarerelativetotheprimaryvesselaxesdirections. Pitchisintherange90to+90.RangejumpsuppressionisappliedtotheRollandYawangles(sovaluesoutside therange360to+360mightbereported).
SeaSurfaceZ
TheglobalZcoordinateoftheseasurfacedirectlyabovetheinstantaneousvesselprimaryposition. ForceandMomentResults Foreachloadonthevessel,solongasitisnotexplicitlyexcludedfromthelistofthatvessel'sIncludedEffects,time history results are available for the magnitude of the force and moment, and for each component of the force or moment.Alltheseresultsarereportedinvesselaxesdirections,withmomentstakenaboutthevesselorigin.Ifa loadisexcludedthenitwillnotbecalculatedandwillnotappearinthelistofavailableresults.
TotalLoad
Themagnitudeandcomponents(invesselaxesdirections)ofthesumoftheconstituentloadsonthevesselwhich areincludedinthecalculation.
ConnectionsLoad
Thesumoftheloadsfromallattachedlines,links,winches,shapes,etc.Availableonlyifatleastonesuchobjectis attached to the vessel. For convenience, the components of Connection Force and Moment are also available in
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SystemModellingDataandResults,Lines
Global axes directions (GX,GY,GZ). Details of the loads exerted by each individual object are available as results tables,andcanalsobefoundundertheresultsforeachobjectitself.
AppliedLoad
Thesumofallthelocalandglobalappliedloads.AvailableonlyifAppliedLoadsisinthelistofthevessel'sincluded effects.
HydrodynamicDragLoad
The hydrodynamic drag force and moment on the vessel. Available only if Hydrodynamic Drag is checked in includedeffects.
WindDragLoad
The wind drag force and moment on the vessel. Available only if Wind Drag is checked in included effects and IncludeWindLoadsonVesselsischeckedontheWinddatapageoftheEnvironmentdataform.
WaveDriftLoad
Thewavedriftforceandmomentexertedonthevessel.TheseresultsareavailableonlyifWaveDriftLoad(2nd order)isincluded.
AddedMass&DampingLoad
Theforceandmomentonthevesselduetoaddedmassanddamping.
HydrostaticStiffnessLoad
TheHydrostaticstiffnessforceandmomentonthevessel.
WaveLoadRAOForceandMoment
TheforceandmomentonthevesselduetothewaveloadRAOs.AvailableifWaveLoad(1stOrder)ischeckedin includedeffects. MultipleStaticResults Formultiplestaticscalculationstheresultsvariablesavailableareasfollows.Theloadsreportedarethetotalloads, includingthosefromcurrent,wind,appliedloadsandattachedlinesandotherobjects.

RestoringForce
The magnitude of the horizontal component of the total force applied to the vessel. Note that this force is not necessarilyintheoffsetdirection.
VerticalForce
Theverticallydownwardscomponentofthetotalforceappliedtothevessel.
GZMoment
Thetotalmoment,aboutthevertical,appliedtothevessel.
WorstTension
ThelargesttensioninanysegmentofanyLineconnectedtotheVessel.
7.8
LINES
Linesareflexiblelinearelementsusedtomodelcables,hoses,chainsorothersimilaritems.Linesarerepresentedin OrcaFlexusingalumpedmassmodel.Thatis,thelineismodelledasaseriesoflumpsofmassjoinedtogetherby masslesssprings,ratherlikebeadsonanecklace.Thelumpsofmassarecallednodesandthespringsjoiningthem are called segments. Each segment represents a short piece of the line, whose properties (mass, buoyancy, drag etc.) have been lumped, for modelling purposes, at the nodes at its ends. See the figure below, which shows an examplelinespanningfromaVesseltoaBuoy.
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End positions and no-moment directions are defined relative to the objects to which the ends are connected and move with those objects.
z End A z V B y x End B
y x
section 1 (3 segments)
Clump
Figure: LineModel
ThepropertiesofaLinearespecifiedbydividingitupintoanumberofconsecutivesectionsthatarechosenbythe user.Foreachsectionyoumustdefineitslength,theLineTypeofwhichitismadeandthenumberofsegmentsinto which it should be divided for modelling purposes. A Line Type is simply a set of properties (for example the diameter,massperunitlengthandbendstiffness)givenanamesothattheycanbecalledbythatname.TheLine Typesaredefinedseparately,ontheLineTypesdataform.Thisallowsthesamesetoflinepropertiestobeusedfor anumberofdifferentsectionsoftheline,orfordifferentlines.ThereisalsoaLineTypeWizardtoolthathelpsyou setupLineTypesrepresentingcommonstructureslikechains,ropes,etc. In addition, a number of attachments may be specified, to represent items that are connected to the Line. For example,attachmentsmaybeusedtomodelclumpweights,dragchainsorbuoyancybagsattachedtotheline.Two typesofattachmentareavailableclumps(buoyancyorheavy)anddragchains.
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EachattachmentattachedtotheLineisspecifiedbygivingtheAttachmentTypeandthearclength,measuredfrom End A, at which it should be attached. The attachment is then attached to the nearest node to that arc length. AttachmentTypesaresimilartoLineTypestheyaresimplynamedsetsofattachmentproperties.Theproperties themselvesarethengivenseparately,ontheAttachmentTypesdataform.Thisallowsthesamesetofattachment propertiestobeusedforanumberofdifferentattachments. The two ends of a Line are referred to as End A and End B and each end can be Free, Fixed, Anchored or else connectedtoaVesselorBuoy.Thetwoendsofalinearetreatedinessentiallythesameway,butsomeaspectsof thelinearedependentonwhichendiswhich.InparticularthenumberingofpartsofaLineisalwaysdonestarting atEndA.
7.8.1
LineData
Foreverylineinthesystemthereisadataformdefiningitsstructureandinterconnection.Itisonthesedataforms thatthesystemisbuiltupbyconnectinglinesbetweentheobjectsthathavebeendefined.
Name
UsedtorefertotheLine.
IncludeTorsion
Torsional effects can be included or ignored, for each line in the model. If torsion is included then the line type torsionalpropertiesmustbespecified.SeeTorsionalStiffness. Toseethelineorientationvisuallyonthe3Dviews,selectDrawNodeAxesontheViewmenu.OrcaFlexthendraws thenodeaxesNxyzateachnode,andtheseaxesallowyoutoseehowthelineisbehavingtorsionally. Notes: Thenodeaxesaredrawnusingthenodepen,specifiedonthelinedataform. Iftorsionisincludedforaline,youmustspecifythetorsionalorientationateachendoftheline. ThisisdonebysettingtheGammaangleoftheendconnectionsonthelinedataform.TheGamma angle determines the torsional position of the line end for details see Line End Orientation. To checkvisuallythatyouhavetheorientationyouexpect,selectDrawNodeAxesontheViewmenu. If torsion is included for a line, the static analysis should also include the effects of torsion otherwise the simulation will start from a position that is not in torsional equilibrium and an unstablesimulationmayresult.WerecommendthattheFullStaticsoptionisselectedbecausethis istheonlystaticsoptioninOrcaFlexthatincludestheeffectsoftorsion.
TopEnd
ThisdataitemisusedtogiveOrcaFlexinformationaboutthe senseoftheLine.Variouscalculationsperformedby theprogramneedtoknowwhichendoftheline(EndAorEndB)isatthetop,andwhichendisatthebottom.You specifywhichendisatthetop,andtheprogramassumesthattheotherendisatthebottom. Supposeyouhavealinewiththetopendconnectedtoavessel,andthebottomendanchoredtotheseabed.Ifyou wishtomeasurearclengthfromthevesselthenyoushouldconnectEndAtothevessel,makeEndBanchoredand setTopEndtoEndA.Ontheotherhand,ifyouwishtomeasurearclengthfromtheseabedthenyoushouldconnect EndBtothevessel,makeEndAanchoredandsetTopEndtoEndB. ThesettingoftheTopandBottomEndsisusedbytheprogramasfollows: TheLayAzimuthdatadefinesalaydirectionstartingfromtheBottomEndandmovingtowardstheTopEnd. TheTouchdownresultspointisdeterminedbystartingattheTopEndandthenmovingtowardstheBottom Enduntilthefirstnodeincontactwiththeseabedisfound. The Contents Pressure Reference Z level can be set to '~' (indeed this is the default value) which OrcaFlex interpretsastheZleveloftheTopEndintheresetstate. The Line Setup Wizard uses the bottom end when calculating anchor positions and also for the layback calculation.
IftheLineisnotincontactwiththeseabedthenthisdataissomewhatarbitrary.Youarefreetomakewhatever choicesuitsyourmodel,butrememberthatthecontentspressurewillbereferencedfromtheTopEnd.Iftheentire LineisincontactwiththeseabedthenagainyouarefreetomakewhateverchoiceofTopandBottomEndssuits yourmodel.
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Connections
Thelineendconnectiondataspecifieswhetherthelineendsareconnectedtootherobjects,theposition,angleand stiffnessoftheconnection,andwhethertheendisreleasedduringthesimulation. You can view and edit an individual line's connection data on the line's data form. Or you can view and edit the connectiondataforallthelinestogetherontheAllObjectsDataForm.
ConnecttoObject
ThelinespansfromEndAtoEndBandeachendmaybeconnectedtoanotherobjectinthemodel,suchasabuoyor vessel,orelseFixed,AnchoredorleftFree.
ObjectRelativePosition
Definesthepositionofthecentreofthenodeatthelineend. If the end is connected to another object this defines the coordinates of the connection point relative to that otherobject'slocalaxes. IftheendisFixedthisdefinesthecoordinatesofthatpointrelativetoglobalaxes. If the end is Anchored this defines the X and Y coordinates of the anchor relative to global axes, plus the Z coordinaterelativetotheseabedlevelatthat(X,Y)position. IftheendisFreethenthisdefinesthecoordinatesoftheestimatedequilibriumpositionofthelineend,relative toglobalaxes.
Heightaboveseabed
ThisdataitemisonlyavailableforAnchoredconnectionsandspecifiestheverticalheightabovetheseabedofthe pipeunderside.ThisvalueiscoupledtotheObjectRelativez coordinatechangingeitheroneresultsintheother beingchangedtomatch. Tounderstandhowthisdataitemshouldbeusedconsider,forsimplicity,alineendanchoredtoaflathorizontal seabed.TheObjectRelativezcoordinatespecifiesthepositionofthecentreline.Ifitissetto0thentheendnodewill penetratetheseabedbyadistanceofD,whereDisthecontactdiameter. The net result of this is that the end node is 'buried' in the seabed and receives a large seabed reaction force. Becauseitisanchoredthisforcecannotdisplacetheendnode,buttheadjacentnodeisfreetomoveanditwilltryto takeupapositionsittingontopoftheseabed.Thisinturnwillleadtounrealisticvaluesofcurvature,bendmoment etc.attheend. If,however,yousetHeightaboveseabedto0thentheendnodecentrelinewillhaveazcoordinateofD,relativeto theseabed.Thenodesitsjustincontactwiththeseabedandtheaboveproblemsareremoved. Iftheseabedisnothorizontalthenthemathematicsisslightlymorecomplicatedasithastotakeintoaccountthe slopeoftheseabed.However,therecommendationofsettingHeightaboveseabedto0remainsvalid.
EndOrientation
Whenalineisconnectedtoanobject,itisconnectedintoanendfittingthatisrigidlyattachedtothatobjectandyou specifytheorientationofthisconnectionbygivingitsAzimuth,DeclinationandGammaangles. Theseanglesdefinetheendfittingorientationrelativetotheobject,soforobjectsthatrotate(e.g.vesselsand6D buoys) the fitting rotates with the object. For Fixed or Anchored ends the end orientation is defined relative to globalaxes.ForFreeendstheendorientationisnotused. Azimuth,DeclinationandGammadefinetheendfittingorientationbyspecifyingthedirectionsoftheaxes(Ex,Ey, Ez)ofitsframeofreference,whereEistheendfittingoriginthepointtowhichthelineendisconnected.SeeLine EndOrientation. ThedirectionofEzisdefinedbyspecifyingitsAzimuthandDeclinationangles.Ezistheendfittingaxialdirection; whentheendsegmentisalignedwithEzthennobendingmomentisappliedbythejoint,soEzissometimescalled thenomomentdirection.NotethatEzmustbespecifiedusingtheEndAtoEndBconvention,i.e.Ezisintotheline atEndA,butoutofthelineatEndB. ExandEyareperpendiculartoEzandtheyaredefinedbyspecifyingtheGammaangle,whichisarotationaboutEz. TheExandEydirectionsareusedforreportingresults(e.g.the2componentsofshearforce).Andifthelinehas
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torsionincludedandthejointtwistingstiffnessisnonzero, thenExandEyalsodefinethelineendorientationat whichnotorsionalmomentisappliedbythejoint. The connection at a line end is modelled as a balljoint with this orientation being the preferred "nomoment" orientation, i.e. the orientation of the line end that gives rise to no moment from any rotational stiffness of the connection. Ifalloftheendconnectionstiffnessvaluesarezero,e.g.tomodelaballjointthatiscompletelyfreetorotate,then theendorientationangleshavenoeffectonthelinebehaviour.Theanglesthenonlyservetodefinethelocalx,y andzdirectionsthatareusedtodefineresults(e.g.shearandbendmomentcomponents,stresscomponents,etc.) thatdependonthelocalaxesdirections.
BendingandTwistingStiffness
The connection at a line end is modelled as a joint with the specified rotational stiffness. The restoring moments appliedbythejointdependonthedeflectionangle,whichisthedifferencebetweentheendfittingorientationand the orientation of the line. The end orientation is therefore the orientation of the line that corresponds to zero momentbeingappliedbythejoint. Theconnectionstiffnessistheslopeofthecurveofrestoringmomentagainstdeflectionangle. ThexbendingandybendingvaluesspecifytheconnectionbendingbehaviourforrotationabouttheendExandEy directions,respectively.Foranisotropicballjointthetwovaluesmustbeequal;thiscanconvenientlybespecified bysettingtheybendingvalueto'~',meaning'sameasxvalue'.Anonisotropicballjointcanbemodelledbygiving differentxandybendingvalues;inthiscasethelinemustincludetorsion. Thexbendingandybendingbehaviourcaneitherbelinearornonlinear,asfollows: For a simple linear behaviour, specify the bending stiffness to be the constant slope of the curve of restoring momentagainstdeflectionangle. For a nonlinear behaviour, use variable data to specify a table of restoring moment against deflection angle. OrcaFlexuseslinearinterpolationforanglesbetweenthosespecifiedinthetable,andlinearextrapolationfor anglesbeyondthosespecifiedinthetable.Therestoringbendmomentmustbezeroatzeroangle.
TheTwistingStiffnessvalueisonlyrelevantiftorsionisincludedfortheline.Itspecifiestherotationalstiffness about the end Ez direction. For the twisting stiffness this variation is always modelled as linear so the twisting stiffnessyouspecifyshouldbetheslopeofthelinearanglemomentcurve. Thebendingandtwistingstiffnesscanbesettozero(freeto rotatewithnoresistance); nonzero(canrotatebut with resistance); Infinity (a rigid connection) or variable (nonlinear, for bending only). Note that Infinity can be abbreviatedto'Inf'. Aflexjointcanbemodelledbysettingthestiffnessvaluestobenonzero(andlessthaninfinity). Warning: Avoid specifying large connection stiffness values (except the special value Infinity) since they requireveryshortsimulationtimesteps.
ReleaseatStartofStage
Ifdesiredeachlineendcanbedisconnectedatthestartofa givenstageofthesimulation.Ifnoreleaseiswanted thensetthisitemto"~",meaning"notapplicable".
Structure
Each line can be made up of up a number of sections with different properties, the sections being defined in sequencefromEndAtoEndB.
LineType
Thisdeterminesthepropertiesofthesection.
SectionLength
Theunstretchedlengthofthesection.Thisistheunstressedlength(i.e.zerowalltension)atatmosphericpressure insideandout.Lengthchangesduetoexternalandinternalpressure,andallowingforthePoissonratioeffect,are calculatedandallowedforbyOrcaFlex. Ifthelinetypeisprofiledthenthesectionlengthisdeterminedbytheprofiledataandsocannotbeeditedhere.
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ExpansionFactor
Theexpansionfactorallowsyoutomodeltimevaryingchangesinunstretchedlength,forexampleduetothermal expansionorcontraction. Avalueof'~'meansthatnoexpansionfactorisappliedthisisequivalenttoavalueof1.Otherpositivevaluescan beused,inwhichcasetheunstretchedlengthremainsconstantthroughoutthesimulation. Alternativelytheexpansionfactorcanbeavariabledatasourcewhichspecifiesatableofexpansionfactoragainst simulationtime.Itspecifiesamultiplicativefactorwhichisappliedtotheunstretchedlengthwhencalculatingaxial strainwhichinturnisusedtocalculateeffectivetension(seeLineTheory:CalculationStages). Note: Expansionfactorisonlyusedinthecalculationofstrain.Ithasnoeffectonmass,buoyancy,drag, addedmassetc.
TargetSegmentLength,NumberofSegments
Thesedataitemsdeterminethesegmentationofthesection. IfTargetSegmentLengthissetto~thenthenumberofsegmentsinthesectionissetbyNumberofSegments. Otherwise,thesegmentationischosenbasedonTargetSegmentLength.TheNumberofSegmentsisnoteditable andreportstheactualnumberofsegmentsusedwhichisgivenbytheformula: NumberofSegments=Round(SectionLength/TargetSegmentLength) whereRoundisthefunctionthatroundsafloatingpointvaluetothenearestinteger. Note:

ClashCheck
It is usually preferable to determine segmentation by specifying Target Segment Length. This allowsyoutoaltersectionlengthswithoutalteringsegmentlength.
Clashmodellingisincludedwhenthisdataitemissetto Yes.IfitissettoNothenthesectionwillbeignoredfor clashingpurposes. Notes: Lineclashingisnotmodelledduringstatics. Clashcheckingisquitetimeconsuming,soyoushouldonlysetthisitemtoYesforthosesections forwhichyouneedclashmodellingtobeincluded.SeeLineClashing.
CumulativeLength,CumulativeSegments
Thesecolumnsreportthecumulativelengthandcumulativenumberofsegmentscountedfromthefirstsection.The valuesareforreportingpurposesonlyandcannotbeedited.
ProfileGraph
Theprofilegraphplotstheinnerandouterradiiofthelineastheyvarywitharclength.Thisisespeciallyusefulto checkthatstressjointandbendstiffenerdatahasbeencorrectlyinput.
Prebend
Prebendisonlyavailablewhentorsionismodelled.Prebendisprovidedformodellinglineswhicharenotstraight whenunstressed,e.g.spoolpieces. The prebend is defined for each section by specifying the prebent curvature (in radians per unit length) of the section.Theprebentcurvatureisthecurvatureofthepipeinitsunstressedstate.Forlineswhicharestraightwhen unstressedthenprebendshouldbespecifiedtobezerowhichisthedefaultsetting. Prebend can be specified in both the line local x and y directions. However, to simplify data preparation and interpretationofresultswerecommendthatyouarrangetheline'slocalaxessuchthattheprebendisentirelyin eitherthelocalxorlocalydirection. Note: Warning: Whenprebendismodelledcurvatureandbendradiusresultsarereportedrelativetotheprebent curvature. Prebendbreakstheassumptionsofthestressresultsandfatigueanalysis.
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Attachments
Anumberofattachmentsmaybeaddedtoeachline.EachattachmentcaneitherbeofaspecifiedAttachmentType orelsebeacloneofaspecified6Dbuoy.
AttachmentType
CanbeaClumpType,aDragChainType,aFlexJointType,aStiffenerTypeoranexisting6DBuoy. If youspecify a 6D buoy as the attachment type thenthe attachment isa clone of that 6D buoy andchanging the propertiesofthe6Dbuoyalsochangesthepropertiesoftheattachment.The6Dbuoyfromwhichtheattachmentis clonedcannotbedeleted,withoutfirstdeletingalltheattachmentsthatareclonesofit. 6D buoy attachments are useful when you want a number of identical 6D buoys attached to a line. To attach 20 identicalbuoystoaline,forexample,firstcreatethefirst buoyseparatelyfromthelineandthenconnectittothe linebysettingitsconnectiondataitemonthebuoydataform.Thisfirstbuoyactsasthemasterfromwhichallthe other attachment buoys are cloned. Then, on the line data form, specify 19 attachments and set their attachment typetobethefirst6Dbuoy. Note:
Position
6DBuoyattachmentscanonlybeusedwhentheLineincludestorsion.
Thex,yandzcoordinatesspecifythepositionoftheattachmentrelativetotheline. Thezcoordinatespecifiesthearclengthatwhichtheattachmentisconnectedandthisarclengthmaybemeasured relativetoeitherEndAorEndBasspecifiedbytheuser. ForClumps,DragChains,FlexJointsandStiffenersthexandycoordinatesmustbezeroandthezcoordinateis thearclength.Theseattachmentsareconnectedatthenodenearesttothisarclength. ForStiffenersthezcoordinatespecifiesthearclengthofthestiffenerconnectionpoint. Note: If the attachment is a clump then it is also offset vertically from the node by the offset distance specifiedintheclumptypedata.Bewarethatthesignconventionforthisoffsetvariesdepending on whether the clump is net buoyant (positive offset is upwards) or heavy (positive offset is downwards).
For6DBuoyattachmentsthezcoordinatespecifiesthearclengthatwhichthebuoyshouldbeconnectedtothe line.Thebuoywillbeconnectedtothenearestnodetothatarclength.Thebuoywillbeconnectedwithanoffset (relativetothatnode'saxes)thatisgivenby(x,y,0).See6DBuoyInitialPositionformoredetails.
Orientation
For6DBuoyattachmentsonly.Rotation1,Rotation2andRotation3determinetheInitialAttitudeoftheattached buoy.
Name
For6DBuoyandDragChainattachmentsonly.Thisisthenameoftheattachedobjectandisusedtoselectresults forthatobject.
Contents
ContentsDensity
Ifanysectionofthelineisofalinetypethatishollow,i.e.hasnonzeroinnerdiameter,thenitsmassisincreased by: Density.InnerCrossSectionalArea.SectionLength.

MassFlowRate
The rate of flow of mass through the line. If it is nonzero then it is used to calculate the centrifugal and Coriolis forcesduetoflowoffluidintheline.PositivevaluesmeanflowfromEndAtoEndB;negativevaluesmeanflow fromEndBtowardsEndA.Toconvertbetweenmassflowrate,volumeflowrateandflowvelocityusethefollowing simpleformulae: Volumeflowrate=Massflowrate/ Flowvelocity=Massflowrate/(d2/4)
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whereisthecontentsdensityanddistheinternaldiameteroftheline.
ContentsPressureandReferenceZlevel
ThecontentspressurespecifiestheinternalpressureinthelineataspecifiedfixedreferenceZlevel(specified relative to global axes). The internal pressure at this Z level is assumed to remain constant throughout the simulation.Theinternalpressureatotherlevelsiscalculatedallowingforthestaticpressureheadduetodifferences inZlevel.SeeLinePressureEffectsfordetailsofcontentspressuremodelling. ThereferenceZlevelcanbesetto'~'andthisistakentomeantheZleveloftheTopEndofthelineinthereset state. All pressures in OrcaFlex are gauge pressures, not absolute pressures. That is, they are relative to atmospheric pressureandsocanbeaslowasminus1atmosphere(101.325kPa).
Statics
Thelinestaticcalculationisperformedin2stepsasdescribedinStaticsofLines. IncludedinStatics This switch allows you to exclude certain lines from the statics calculation. This is mainly useful when buildinga modelandaparticularlineisnotconverging.Inthissituationyoucouldexcludeallotherlinesfromstatics(thisis easiest from the All Objects Data Form). This would allow you to experiment with different statics convergence parametersfortheproblematiclinewithouthavingtowaitforalltheotherlinestoconvergeeachtimeyoutrieda newsetofconvergenceparameters. Note: Results are not available for such lines and dynamics is disabled if you have any lines which are excludedfromstatics.
Step1StaticsMethod ThiscanbeeitherCatenary,Spline,Quick,PrescribedorUserSpecified. ThenormalsettingisCatenary,inwhichcasethestaticanalysisfindstheequilibriumcatenarypositionoftheline, allowing for weight, buoyancy, drag, but not allowing for bend stiffness or interaction with shapes. See Catenary Statics. TheCatenarysolutionhassomelimitationsandsomesystems,suchasthosewithslackorneutrallybuoyantlines, canbetroublesome.ForsuchlinesyoucaninsteadspecifySpline,inwhichcasethelineisinsteadsettoa3Dspline curvebasedonsplinecontrolpointsspecifiedbytheuser.SeeSplineDataandSplineStatics. TheQuickmethodleavesthelineintheroughcatenaryshapeusedintheResetstate.SeeQuickStatics. ForpullinanalysisthePrescribedoptionhasbeenprovided.Heretheuserspecifiesthestartingpositionoftheline asasequenceofstraightlineorcurvedsectionsontheseabed.SeePrescribedStartingShape. TheUserSpecifiedoptionallowsyoutospecifythepositionforeachnodeontheline.Nocalculationisperformed, thenodesaremerelyplacedatthespecifiedpositions.SeeUserSpecifiedStartingShapeandUserSpecifiedStatics. Step2StaticsMethod(FullStatics) ThiscanbeeitherNoneorFullStatics. IfNoneisselectedthenthepositionobtainedbytheStep1StaticsMethodisused. TheFullStaticscalculationfindsafullequilibriumpositionforthemodel.UnliketheStep1Catenarymethod,bend stiffnessandinteractionwithshapesareincluded.Fullstaticsneedsastartingshapefortheline,anditusestheStep 1StaticsMethodtoobtainthis;itthenfindstheequilibriumpositionfromthere.YoushouldthereforesettheStep1 StaticsMethodtogiveareasonablestartingshape.SeeFullStatics. FormoredetailsoftheStaticsCalculationseeStaticsAnalysis. Warning: Note: If you do not use Full Statics, then the starting position will not (in general) be an equilibrium position. Itisonlypossibletoincludebuoysinthestaticanalysis(seeBuoyDegreesofFreedomIncludedin StaticAnalysis)ifeithertheCatenarymethodorFullStaticsisusedforalllinesinthemodel.
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IncludeFriction FrictioncanbeincludedinthestaticanalysisonlyiftheStep1StaticsMethodisCatenaryorifFullStaticsisusedfor theStep2StaticsMethod. Withseabedfrictionpresentthereisnot,ingeneral,auniquestaticpositionfortheline,sincethepositionitadopts dependsonhowitwasoriginallylaidanditshistorysincethen.Inordertodefineauniquesolution,wetherefore needtomakesomeassumptionsabouthowthelinewasoriginallylaidandfrictionisthenassumedtoacttowards thisposition. IftheStep1StaticsMethodisPrescribed,thenthis'originallylaid'positionisassumedtobethepositiondefinedby thePrescribedtrack.Otherwise,the'originallylaid'positionisdefinedbyspecifyingtheLayAzimuthandAsLaid Tensionvalues. LayAzimuth This data is only used when seabedfriction is included in the static analysisandthe Step 1 StaticsMethod is not Prescribed.Itthendefinesthepositioninwhichthelineisassumedtohavebeenoriginallylaid,andfrictionisthen assumedtoacttowardsthisposition.WhenStaticsMethodisnotPrescribed,itisassumedthat: 1. 2. 3. 4. The line was originally laid, with the specified As Laid Tension, starting with the Bottom End at its specified position(oratthepointontheseabeddirectlybelow,iftheBottomEndisnotontheseabed). ThelinewasthenlaidintheLayAzimuthdirection,leadingawayfromtheBottomEndpositionandwiththe specifiedAsLaidTension. Thelinewaslaidfollowingtheprofileoftheseabed. TheTopEndwasthenmovedslowlyfromthatoriginalpositiontoitsspecifiedposition.
Tohelpsetthisdataitem,thereisabuttonontheformmarkedSet.ThisbuttonsetstheLayAzimuthvaluetobethe directionfromtheBottomEndtowardstheTopEnd,basedontheircurrentpositions. Notes: WhilsttheprogramwillacceptanyLayAzimuth,wewouldexpectthestaticsconvergenceroutine tohaveincreasingdifficultyinfindingasolutionastheanglebetweentheLayAzimuthdirection andtheverticalplanethroughthelineendsincreases.Forexample,ifwehavealinetopatX=0, Y=0,andanchoratX=100,Y=0,wewouldexpecttroubleforaLayDirectionof90. TheLineSetupWizardalsousestheLayAzimuthdirection.
AsLaidTension
Thisdataspecifiestheeffectivetensionwithwhichthelinewasoriginallylaid.OrcaFlexusesthistodeterminethe aslaid node positions, which are used as the friction target positions towards which friction acts in the static analysis.Thisdataisthereforeonlyusediffrictionisincludedinstatics. IftheStep1StaticsMethodissettoPrescribedstartingshape,thenthestaticsfrictiontargetpositionsarelaidout alongtheprescribedshapewithastraindeterminedbytheaxialstiffnessandthisAsLaidEffectiveTensionvalue. IftheStep1StaticsMethodisnotPrescribed,thenthisdataisusedasdescribedintheLayAzimuthsectionabove.
CatenaryConvergence
If the Catenary statics method is chosen, then an iterative catenary calculation is used to determine the static positionoftheline.Thiscalculationiscontrolledbyanumberofconvergenceparameterswhichcannormallybeleft attheirdefaultvalues.Howeversometimesthecalculationcanfailtoconverge.Ifthishappens,firstcheckyourdata forerrorsandcheckforthefollowingcommoncausesofconvergencefailure: Doesthesolutionhaveaslacksegment?Thiscanhappeninlinesthattouchdownontheseabedalmostatright anglesorinlinesthathanginaverynarrowUshape.Thecatenarycalculationcannothandlelineswithslack segmentstryincreasingthenumberofsegmentsintherelevantsectionoftheline. Forlinesthattouchdownontheseabed,istheLayAzimuthvaluespecifiedcorrectly?Itistheazimuthdirection leadingawayfromEndBanditiseasytogetitwrongby180. Isthelinebuoyant,eitherdeliberatelyorbymistake.Thecatenarycalculationhasproblemswithfloatinglines youmayneedtousetheSplinestaticsmethodinstead. Does the line have a surfacepiercing buoyant clump attached? If the clump is short then the catenary calculationismoredifficult.
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Ifthecalculationstillfailstoconverge,thenitissometimespossibletoobtainconvergencebychangingoneormore oftheconvergenceparameters,asoutlinedbelow.
MaxIterations
The maximum number of iterations that OrcaFlex will make before treating the calculation as having failed to converge.Increasingthisvaluecansometimeshelp.
Tolerance
The nondimensional accuracy to which the calculation is done, before the calculation is treated as having converged.Increasingthetoleranceincreasesthechancesofconvergencebutreducestheaccuracy.
MinDamping
Theminimumdampingfactortobeusedinthecalculation.Convergencecansometimesbeachievedbyincreasing thisparametertoavaluegreaterthan1tryvaluesintherange1.1to2.0.Theminimumdampingshouldnotbeset tolessthan1.

Theseparameterscontrolthemaximumsizeofthechange,intheestimatedsolution,thisisallowedinasinglestep. Reducingthesevaluescansometimeshelp,butthecalculationwillthenusuallyrequiremoreiterations. Theremainingparametersshouldnotnormallybechanged.ForfurtherinformationcontactOrcina.
FullStaticsConvergence
The numerical method used to solve for the static position is an iterative process in which the program tries to converge on the solution in a series of steps. This process is controlled by a number of convergence parameters, foundontheLinedataform.
ConvergenceControlMethod
EitherLineSearchorMag.ofStd.Error/Change.Werecommendusingthedefaultvalue,LineSearch,butifthis failsthenthealternativeMag.ofStd.Error/Changemaysucceed.
MaxIterations
The calculation is abandoned if convergence has not been achieved after this number of steps. For some difficult casessimplyincreasingthislimitmaybeenough.
Tolerance
Thiscontrolstheaccuracyofthesolution.Theprogramacceptsthelinepositionasastaticequilibriumpositionif thelargestoutofbalanceforcecomponentonanynodeislessthanTolerance*totalweightinair. When torsion is included the static equilibrium position must also satisfy the condition that the largest out of balance moment component on any node is less than Tolerance * total weight in air * ODmax where ODmax is the maximumdiameter,contactdiameter,stressdiameterornormaldragdiameterovertheentireline. Reducing the Tolerance value will give a more accurate static equilibrium position, but will take more iterations. OrcaFlex may not be able to achieve the Tolerance specified if it is too small, since the computer has limited numericalprecision.
Delta
Thisisaperturbationsize,usedtocalculatetheJacobianmatrixfortheproblem.Deltashouldalwaysbelessthan thetolerancespecified. Note: Thisparameterisonlyusedwhentorsionisincluded.
MinDamping,MaxDamping
Forsomecasesitisnecessarytocontroltheconvergenceprocessbydampingdown(i.e.reducing)thesteptakenat each stage. The program includes an automatic damping system that chooses a suitable damping factor for each iteration,buttheusercansettheminimumdampingandmaximumdampingfactorsthatareused. Normallythedefaultvalueswillsufficebutfordifficultcasesthedefaultvaluescanbealtered.Forcasesthatappear to make the convergence unstable (e.g. giving very bad line positions on the screen) try increasing the Min
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Damping factor to a value greater than 1, say values in the range 1 to 10. You can also try increasing the Max Dampingfactor,saytovaluesintherange10to100. Note: Convergencewillbeslowerwithlargerdampingvaluessoyoushouldusethesmallestvaluesthat resultinstaticsconverging.
TheseparametersareonlyavailablewhentheMagofStd.Error/Changeconvergencecontrolmethodisselected. Forsomecasesitmaybenecessarytoreduceoneorbothofthesevaluesfromtheirdefaults.Doingsoislikelyto slowdowntheconvergence,butitmaybenecessaryinordertoachieveconvergence!
SplineStartingShape
ThefollowingdataisonlyusediftheSplinestaticsmethodisspecified.
Order
Thissetsthesmoothnessofthesplineshape;generallyorder3isreasonable.Ifahigherorderischosen,asmoother curveresults.Theordercannotexceedthenumberofsplinepoints.
ControlPoints
ThelineshapeisspecifiedbyanumberofControlPoints.Thefirstandlastcontrolpointsareautomaticallyplaced at the line ends A and B respectively and OrcaFlex generates a smooth curve between the first and last control pointsandpassingneartotheintermediatecontrolpoints.Theseintermediatecontrolpointsmaybeadjustedto 'pull'thecurveintothedesiredshape. ThefirstandlastcontrolpointscorrespondtolineendsAandBrespectively.Thelineisstretchedtothespecified AsLaidTensionandlaidoutfollowingthesplinecurvestartingatEndAandworkingtowardsEndB. ForalinewithaFreeendthelineislaidoutalongthecurveuntilEndBisreached.Ifthelengtharoundthecurveis notequaltothestretchedlinelengththentheendwilleitherfallshortoftheendEstimatedPositionorliebeyondit (alongthecontinuationofthecurvealongits'final'direction). ForalinewithaFixedend,Anchororattachedtosomeobjectthecurveisautomaticallyexpandedorcontractedto allowtheendtolieatthespecifiedendposition.Anerrorisreportedifthisprocessfails.
PrescribedStartingShape
ThisdataisonlyusedifthePrescribedmethodisusedforStep1statics.ItcanbefoundinthePrescribedStarting Shapepageonthelinedataformandcanbeeditedinseveralways: ByeditingtheLengthandTurnvaluesofatracksectiononthelinedataform.OrcaFlexthencreatesanarcof the specified Length and Turn, and the X and Y coordinates of the end of this section, and all subsequent sections,areautomaticallyadjustedtomatch. ByeditingtheXandYcoordinatesoftheendsofatracksectiononthelinedataform.OrcaFlexthencreatesthe (unique)circulararc(orstraightline)thatisasmoothcontinuationoftheprevioussectionandpassesthrough thenew(X,Y)point.TheLengthandTurnvaluesforthissection,andtheXandYcoordinatesforsubsequent sections,arethenautomaticallyadjustedtomatch. Bydraggingtheendpointsofthetracksectionsona3Dviewusingthemouse.Thetrackandthetracksection endpointsaredrawnonthe3Dviews.Draggingatracksection endpointisequivalenttoeditingitsXandY values,asdescribedabove.
Theindividualdataitems(seeFigure:PlanViewofExampleTrack)areasfollows:
EndAAzimuth
Theinitialdirectionofthetrack.
TrackSections
Thenumberofsectionsusedtodefinethetrack.
SectionLength
Thelengthofthecirculararc(orstraightlineifSectionTurn=0).
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SectionTurn
Theamountbywhichthetrackazimuthincreasesoverthissection.Apositivevaluedenotesaturntotheleft,when viewed from above, and a negative value denotes a turn to the right. A value of zero can be entered to specify a straighttracksection.
SectionRadius
Theradiusofcurvatureofthecirculararc.Theradiusequals(180L)/(T),whereListhesectionlengthandTisthe absolutevalueofsectionturn,indegrees.Forstraightsections(i.e.ifSectionTurn=0)theradiusisreportedas Infinity. Notes:

SectionXandY
Thisisareportedvalue,notaneditabledataitem,andishencealwaysshowningrey. Withaprofiledorslopingseabedtheactualtrackontheseabedwillhaveaslightlydifferentradius ofcurvatureseeLayingouttheLine.
The global X and Y coordinates of the end of this track section. You can either edit these X and Y coordinates explicitly,onthelinedataform,orelsebydraggingtheendpointona3Dview.IfyoueditXorYthenOrcaFlexfitsa circulararc(startingattheprevioussection'sendpoint)throughthenewendpointandthe SectionLengthand SectionTurnareautomaticallyupdatedtomatchthisnewarc.
SectionZ
TheglobalZcoordinateofthesectionendpointontheseabed.Thisisareportedvalue,notaneditabledataitem, andishencealwaysshowningrey.
SectionArcLength
Thetotalarclengthtotheendofthesection.Thisisareportedvalue,notaneditabledataitem,andishencealways showningrey.
SectionAzimuth
The azimuth direction at the end of the section. This is a reported value, not an editable data item, and is hence alwaysshowningrey.
TrackPen
Thiscontrolshowthetrackisdrawn.Youcanswitchbetweentheoptionsofdrawingthetrackinthechosenpen andnotdrawingitatall. LayingouttheLine Thetrackdatadefinesasequenceofstraightlinesandcirculararcsinthehorizontalplane,whicharethenprojected verticallyontotheseabedtodefinethetrackitself.Theprogramthenlaysthelineoutalongthetrack,allowingfor anyAsLaidTensionspecifiedbytheuseronthelinedataform. Becausethelineismodelledasaseriesofstraightsegments, whenthelineislaidoutalongacurvedtrackitwill repeatedly'cutcorners'andsothelengthoflinelaidalongagivencurvedtracksectionwillbeslightlyshorterthan thelengthofthatsection.Thesizeofthisdiscrepancyreducesasmoresegmentsareused. If End A is above the seabed then the height above the seabed varies linearly between End A and the first track sectionpoint,reachingtheseabedattheendofthefirsttracksection.Iftheendofthelasttracksectionisreached beforeallthelinehasbeenlaidout,thentherestofthelineislaidoutinastraightlineinthedirectionoftheendof thetrack.
Slopingandprofiledseabeds
Thetrackontheseabedisobtainedbyprojectingthespecifiedcirculararcsorstraightsectionsverticallydownonto the seabed. With a horizontal seabed this vertical projection has no effect on the shape of the track. But with a sloping seabed the vertical projection does not preserve distances and this causes some effects that users should note: The section lengthsand arc lengthsthatappear inthe prescribedstarting shapedatatableare lengths inthe horizontal plane, i.e. before projection down onto the seabed. With a sloping seabed the true section and arc lengthsontheseabedwilldiffer,thedifferencedependingontheslopeoftheseabed.Theactualarclengthscan beobtainedbyrunningthestaticanalysisandlookingattheFullResultstablefortheline.
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The section radius reported in the prescribed starting shape data table is that of the circular arc in the horizontalplane,i.e.beforeprojectiondownontotheseabed. Whenthecirculararcisprojecteddownontoa slopingseabedtheresultingtracksectionisslightlyellipticalratherthancircular,soagaintheactualradiusof curvaturewilldiffer.Theactualradiiofcurvaturecanbeobtainedbyrunningthestaticanalysisandlookingat theFullResultstablefortheline.
UserSpecifiedStartingShape
NodePositions
Theuserspecifiedstaticmethodplaceseachnodeatthepositionspecifiedinthistable.SeeUserSpecifiedStatics andStaticsData.
DragandWake
DragFormulation
Anumberofauthorshaveproposedformulaetomodelhowthedragforceonalinevarieswiththeincidenceangle. OrcaFlexoffersthechoiceoftheStandard,PodeorEamesformulations.Alloftheseusedragcoefficientsthatare specifiedontheLineTypesdataform. FordetailsoftheformulationsseetheLineTheorysection. LineWakeInterference Toincludewakeinterferencemodellingyoumustfirstdefineoneormorewakeinterferencemodels.SeetheWake ModelsbuttonontheLinedataform. You must then specify which line sections to include in wake modelling, by either being included as a wake generator (an 'upstream' section) or as a section that reacts to wake (a 'downstream' section), or both (a downstreamsectionthatreactstowakegeneratedfurtherupstream,butalsogeneratesitsownwakethatfurther downstreamsectionsmightreactto).FordetailsseetheLineWakeInterferenceDataontheDrag&Wakepageof theLineDataForm. Note: WakemodellingisonlyincludedinthestaticanalysisiftheStaticsMethodissettoWholeSystem Statics. It is not included if the Separate Buoy and Line Statics method is specified. This is becausewakeeffectsrequirethatthestaticpositionsofthelinesinvolvedarecalculatedtogether, notseparately.
HowWakeEffectsAreModelled
Thewakemodelsaresteadystatemodelsofwakeeffects.AlsoOrcaFlexdoesnotmodeltheeffectthatwaketakes timetoconvectdownstream.OrcaFlexthereforeonlyattemptstomodelthesteadywakeeffects. Wakeisgeneratedwhenthereisfluidvelocityrelativetotheupstreamcylinder,sobothfluidmotionandupstream cylindermotioncancontributetothewake.ThereforethevelocityOrcaFlexusesastheinputtothewakemodelis thesteadyrelativevelocityVsgivenby Vs = [undisturbed current velocity vector at upstream cylinder centre] [any steady starting velocity specifiedforthemodel] The wake effects therefore do not include any effects of wave motion, or of any changes in upstream cylinder velocityduringasimulation. Note: OrcaFlexdoesnotmodelcombinedwakeeffects.Ifagiven'downstream'nodeisinthemodelled wake of more than one 'upstream' node, then OrcaFlex chooses to apply the wake effects of the upstream node that gives the strongest wake effect at that downstream position when the wake effectsfromotherupstreamnodes(whichgiveweakerwakeeffectsatthatpoint)areignored.Soif youaremodellingriserarrays,forexample,thenthewakeeffectsatanygivenpointaremodelled as if they came from the upstream wakegenerating node that gives largest wake effect in isolation,i.e.withtheotherupstreamnodeswereabsent.
The strength of a given node's wake decays with distance downstream and also with distance in the transverse direction,asspecifiedbythewakemodel.ButinadditionOrcaFlexalsomakesthewakestrengthdecayintheaxial direction of the upstream line, so that the strongest wake selected comes from the upstream node that is axially closesttothedownstreamnode.MoredetailsaregiveninthepaperbyWuetal.
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LineWakeInterferenceData Wakemodellingrequiressignificantcomputation,sotoavoidslowingsimulationsunnecessarilyOrcaFlexenables youtoonlyincludewakemodellingforsectionsoflinewhereyouthinkwakeeffectsmightbesignificant.Thisis doneontheDrag&Wakepageofthelinedataform,byspecifyingwhichlinesectionsgeneratemodelledwake(the 'upstream'sections)andwhichlinesectionsreacttomodelledwake(the'downstream'sections). The fluid forces applied to sections that react to modelled wake will include the strongest wake effect from the sectionsthatgeneratemodelledwake.Thefollowingtwodataitemsspecifywhichsectionsgenerateand/orreact towake:
WakeGenerated
Thiscanbesettooneofthedefinedwakemodels,inwhichcaseOrcaFlexwillmodelwakegeneratedbythatline sectionactingasan'upstream'line.OritcanbesettoNone,inwhichcaseOrcaFlexwillnotmodelwakegenerated bythatlinesection. Threetypesofwakemodelareavailable. TheHusemodelisananalyticwakemodelthatmodelsthevelocityreductionandhencedragreductiononthe downstreamobject,butdoesnotmodelthewakelifteffect. The Blevins model is an analytic model that models the both the drag reduction and the wake lift force that tendstodrawthedownstreamobjectintothecentreofthewake. TheUserSpecifiedmodelallowsyoutomodelboththedragreductionandwakelifteffectusingyourowndata, byspecifyingthedragandwakeliftcoefficientsasafunctionofthepositionofthedownstreamobjectrelative tothewakeoftheupstreamobject.
SeetheWakeModelssectionfordetails.
ReactstoWake
If Reacts to Wake is turned on then each node in the section will act as a 'downstream' cylinder in the wake modelling. Those nodes will then be subject to the strongest wake effects (i.e. strongest at that downstream position) from any upstream node that generate modelled wake. Sections with Reacts to Wake turned off will ignoreanymodelledwakegeneratedbyupstreamsections. So to summarise, the wake modelling will include the strongest wake effects on downstream sections that have ReactstoWaketurnedon,duetomodelledwakefromupstreamnodeswithWakeGeneratedsettoawakemodel. Note: Alinesectionisallowedtobebotha'downstream'section,i.e.ReactstoWakeisturnedon,andat the same time also act as an 'upstream' section, i.e. generate modelled wake that further downstreamlinesectionscanreactto.Howeverthewakeeffectsofsuchasectionwillbebasedon theundisturbedsteadyrelativeflowvelocity,sothewakeeffectsofthiswakegeneratingsection will not take into account any velocity reduction due to it in turn being in the wake of another wakegeneratingsectionfurtherupstream.
WakeModels TheWakeModelDataformenablesyoutodefineoneormoremodelsofwakeinterference.Thewakeinterference model specified determines how the flow velocity, wake drag reduction and wake lift force on a downstream cylindervariesasafunctionofthe(x,y)positionofthedownstreamcylindercentrerelativetothewakeframeof referenceoftheupstreamcylinder. Youcandefinemorethanonewakemodel,forexampleifyouwanttousedifferentwakemodelstomodelthewake generationbydifferentlines.Awakemodelthatisn'tusedbyanylineinthemodelwillbeignored,soyoucandefine wakemodelsandthendecidelaterwhich(ifany)tousetomodelwakegeneration.
Wakeframeofreference
Thewakemodellingisdonerelativetoawakeframeofreferencethatisbasedonthesteadyrelativefluidvelocity vectorVsattheupstreamcylinder,andisgivenby: Thewakeframeoriginisattheupstreamcylindercentre. ThewakeframexaxisisinthedirectionofthesteadyrelativefluidvelocityvectorVs.
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Thewakeframezdirectionisthedirectionobtainedbyprojectingtheupstreamcylinderaxialdirectionnormal toVs.ItisthereforethedirectionnormaltoVsandintheplaneformedbytheVsandthecylinderaxialdirection. The+vewakezdirectionistowardsendBoftheupstreamline. Thewakeframeyaxisisthedirectionthatcompletestheorthogonalrighthandtriadofwakeaxesx,y,z.Itis thereforenormaltotheplaneformedbyVsandthecylinderaxialdirection.
Thewakemodeltheorybelowusesthefollowingkeyvariables.Uppercasesubscript'D'denotes'drag',lowercase subscripts'u'and'd'denote'upstream'and'downstream',andsubscript'0'denotes'undisturbed',i.e.ignoringany wakeeffects. Vd(x,y)isthedisturbedfluidvelocityvectoratdownstreamposition(x,y)relativetotheupstreamcylinder wake,allowingforwakeeffects. Vd0(x,y)istheundisturbedfluidvelocityvectoratposition(x,y). Vu0istheundisturbedfluidvelocityattheupstreamcylindercentre. Du, Dd and CDu0, CDd0 are the normal drag diameter and undisturbed drag coefficient of the upstream and downstream cylinders, respectively, as specified on the line type data form. Note that the wake modelling doesnotallowforanynonisotropicaspectsofthedragcoefficients.Ifdifferentdragcoefficientshavebeen specifiedforthelinexandydirectionsthenthewakemodellingusesthemeanofthetwovalues.
WakeModelData
EachwakemodelisgivenauserspecifiedName.AndeachmodelcanbeoneofthreetypesHusemodel,Blevins modelorUserSpecifiedmodel,asdescribedbelow.
HuseModel
This is an analytic model proposed by Huse (1993). It models the wake velocity reduction, and hence drag reduction,butdoesnotgiveanywakeliftforce. IntheHusemodelthewakefluidflowvelocityVd(x,y)atagivenposition(x,y)inthewakeisgivenby: Vd(x,y)=Vd0(x,y)k2Vu0[CduDu/xs]Exp[k3(y/b)2] where xs=x+4Du/Cdu b=k1[CduDuxs] andtheothertermsaredefinedabove. k1, k2 and k3 are usereditable nondimensional model parameters. They should normally be left as the default values,sincethesegivetheoriginalHusemodel.(Notethattheparameterk3ismisprintedinHuse,1993as0.639 andwascorrectedinalaterpaperto0.693.)Changingthesemodelparametersfromtheirdefaultvalueswillgivea variantoftheHusemodel.
Blevinsmodel
TheBlevinsmodelisananalyticmodelthatmodelsvelocityanddragreduction,andalsomodelsthewakeliftforce that tends to draw the downstream object into the centre of the wake. See the Appendix of Blevins OMAE 2005 paperforthetheoryofthemodel. Themodelhas3nondimensionalmodelparametersa1,a2,a3thatareusereditable.Theyshouldnormallybeleftas thedefaultvalues,sincethesearethevaluesgivenbyBlevins.Changingthesemodelparametersfromtheirdefault valueswillgiveavariantoftheBlevinsmodel.
UserSpecifiedmodel
Thisoptionallowsyoutodefineamodel(ofbothwakedragreductionandwakelifteffect)byspecifyingdragand liftcoefficientfactorsasafunctionofthepositionofthedownstreamobjectrelativetothewakeoftheupstream object. The wake effects are specified by giving a table of wake drag and lift coefficient factors for the downstream cylinder,asafunctionofthedownstreamcylinderpositionrelativetotheupstreamcylinderwake,asfollows.See abovefornotation. The Positioncolumnsofthetabledefine,innondimensionalform,anumberofdownstreamcylindercentre positions relative to the upstream cylinder wake frame of reference. This is done by specifying non
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dimensionaliseddistancesL/Du(downstream)andT/Du(transverse)fromtheupstreamcylindercentretothe downstreamcylindercentre,whereDuisthenormaldragdiameteroftheupstreamcylinder. The Coefficient Factor columns of the table define the wake effects at the given (L/Du, T/Du) positions, by specifying drag and lift coefficient factors. Note that these data are scaling factors, not the drag and lift coefficientsthemselves.Thedragfactorsarenonnegativescalingfactorsthatareappliedtothereferencedrag coefficientCDd0thatisspecifiedonthelinetypedataform.Theliftcoefficientfactorsaresignedscalingfactors thatareappliedtotheReferenceWakeLiftCoefficientCLd0,whichisspecifiedonthewakemodelsdataform. A+veliftcoefficientfactormeansaliftforceinthe+vewakeframeydirection,sotheliftcoefficientfactorata givenT/DupositionwillnormallyhavetheoppositesigntotheT/Duvalue,sincewakelifteffectsarenormally towardsthecentrelineofthewake.
Wakedrageffectsarenormallysymmetric,andwakelifteffectsantisymmetric,eithersideofthewakecentreline. Sotoavoidtheneedtospecifyinthetableboth+veandvevaluesofT/DuyoucantellOrcaFlextoReflectData.In thiscaseyoumustonlyspecifytablerowsforonehalfofthewakeplane,i.e.eitherforT/Du>=0only,orforT/Du<= 0 only. For a wake frame position (x,y) that is on the other side of the wake centre line OrcaFlex will then automatically use the drag and lift coefficient factors defined for the symmetric position (x,y), but with the lift coefficientfactornegated. OrcaFlex uses linear triangular interpolation to obtain the drag and lift coefficient factors to use for wake frame positionsbetweenthosespecifiedinthetable.
Results
LogResults
ThisoptionischeckedbydefaultandthismeansthatsimulationresultsatallpointsontheLineareavailable.Ifthis optionisuncheckedthennosimulationresultsareavailableforthisLine. OrcaFlexstoressimulationresultsinanefficientway,onlyloggingaminimalsetofvariablestothesimulationfile. Otherresultsvariableswhichhavenotbeenloggedarethenderivedwhentheresultsarerequested.Usuallythis meansthatsimulationfilesareareasonablesizeandwerecommendthatthisvalueischecked. Shouldyouneedtoreducethesizeofsimulationfilesthenthisoptioncanbeuncheckedforthoselinesforwhich youdonotneedresults.

Arclengthaxis,Arclengthaxisinverted,Valueaxisinverted
Thesedataitemsallowyoucustomisethewayrangegraphsaredisplayed.TheArclengthaxissettingallowsyouto controlwhetherthearclengthaxisishorizontalorvertical. Thelatteroptionwouldtypicallybeusedforvertical risers. NormallytheaxesonanOrcaFlexgraphdisplayincreasingvaluestotheright(forahorizontalaxis)orupwards(for a vertical axis). The axis inverted options allow you to reverse the axes. Again this would typically be used for verticalriserstoarrangethatupanddownonthearclengthaxisofthegraphmatchedupanddowninthephysical systembeingmodelled. Sincechangestothesesettingsareusuallymotivatedbythephysicallayoutofthelineinquestion,eachlineinan OrcaFlexmodelhasitsowncopiesofthesesettings. Thesedataitemscanalsobesetontheresultsform.
Drawing
Nodes
Youcandefinethecolour,linestyleandthicknessofthepensusedfordrawingthenodesandsectionsoftheline. SeeHowObjectsAreDrawn.Youcanalsochoosetodrawnodesascirculardiscswithdiameterequaltothecontact diameter.

Segments
Thereisachoiceforwhichpenisusedtodrawthesegments.YoumayeitherspecifythepenexplicitlyontheLine Data form, in which case it will be used for all segments of that line. This allows you to use different pens to distinguishbetweendifferentlines.Alternatively,youcanchoosetohavethesegmentsdrawnusingtheappropriate Line Type Pen defined on the Line Types form. This allows you to use different pens to distinguish sections of differentlinetypes.
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Nodeaxes
Nodeaxisdirections(x,y,z)canbegivenindividualcolours.Thishelpsdistinguishbetweenxandydirectionsthus makingcomponentresultseasiertointerpret.Thenodeaxesdirectionsaredrawnoptionallyandcanbecontrolled bytheDrawNodeAxespreferenceorbypressingCTRL+ALT+Y.

Contact
Youcandefineacontactpenwhichisusedwhendrawingnodesandsegmentswhichareincontactwiththeseabed, elasticsolidsandotherlines.Shouldyouwishyoucanchoosetodisablethecontactdrawing.
PrescribedStaticsMethod(Track)
For Lines with Prescribed Statics Method you can control how the track is drawn. You can switch between the optionsofdrawingthetrackinthechosenpenandnotdrawingitatall.
SplineStartingShape
FortheSplineStartingShapeyoucanswitchbetweentheoptionsofdrawingtheunscaledsplineinthechosenpen andnotdrawingitatall.
VIVDrawing
TheVIVDrawingpageisvisiblewhenatimedomainVIVmodelisused.FordetailsseetheVIVDrawingtopic.
PropertiesReport
TheLinepropertiesreportisavailablefromthepopupmenuonthedataform.Itreportsthefollowing:
Totallength
Thesumofallthesectionlengths.
Totalweightinair
Theforceduetogravityoftheentireline.Thecontentsareincludedbuttheweightofanyattachmentsisexcluded.
Totaldisplacement
The weight of water displaced by the entire line's volume. The displacement of any attachments is excluded. The reportedvalueusesthewaterdensityattheseasurface.
Totalweightinwater
EqualsTotallineweightinairTotallinedisplacement.
FullStaticsforceaccuracy,FullStaticsmomentaccuracy
FullStaticsforceaccuracyisonlyreportedifthelineusestheFullStaticsmethod.FullStaticsmomentaccuracyis onlyreportedifthelineusestheFullStaticsmethodandtorsionisincluded. TheFullStaticsmethodfindsanequilibriumconfigurationthatisasetofnodepositionsforwhichtheresultant force and moment on each node is zero. We refer to the resultant force and moment as the out of balance load. Because computers have limited numerical precisionthe staticanalysis cannot always find a configurationwhere theoutofbalanceloadisexactlyzero.OrcaFlexacceptsapositionasastaticequilibriumpositionifthelargestoutof balanceloadcomponentislessthanthestaticsaccuracy. The Full Statics force accuracy equals Tolerance * line typical force and the Full Statics moment accuracy equals Tolerance * line typical moment. The line typical force is defined to be the total weight in air. The line typical momentisdefinedtobetotalweightinair*totallength. Reducing the Tolerance value will give a more accurate static equilibrium position, but will take more iterations. OrcaFlex may not be able to achieve the Tolerance specified if it is too small, since the computer has limited numericalprecision.
7.8.2 Data
LineTypes
TheLineTypesformdefinesthepropertiesofanumberofnamedlinetypes,whichcanthenbeusedtospecifythe structureoftheLinesusedinthemodel.
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ThelinetypesformmustincludeallthelinetypesreferredtoonalloftheLinesforms,butitcanalsoincludeother line types that are not currently in use in the model. This allows you to build up a library of standard line types whichcanthenbeeasilyusedwhenbuildingLines. Thereisn'troomonthescreentoshowallthepropertiesofallthelinetypes,soOrcaFlexofferstwoviewmodes. Individualmodeshowsonelinetypeatatime,butshowsyouallitsproperties.Allmodeshowsallthelinetypes, butdifferenttypesofpropertiesareshownindifferenttables. There is alsoa Line TypeWizard that helps set up line type datato representcommonly used structures such as chains,ropesetc. LineTypeName UsedtorefertotheLineType. Category Canbeeither: HomogeneousPipe:Thisoptionisappropriateforapipeconstructedfromasinglehomogeneousmaterial,for exampleametalriser,orwhenmodellingstressjointsandbendstiffeners.Thepipe'sstructuralpropertiesare definedbyspecifyingYoung'smodulus,materialdensityandpipediameters.Whenmodellingstressjointsand bendstiffenerstheouterdiametercanbespecifiedasvaryingwitharclength. General: This option is used in all other situations. The axial, bending and torsional stiffnesses are directly inputinsteadofbeingcalculatedfromE.Similarlythemassisspecifiedasmassperunitlengthasopposedto being calculated from a material density. This approach allows analysis of flexible risers, umbilicals, hoses, mooringchains,ropes,wires,bundles,seismicarrays,powercables,netsetc.
Geometry&MassData
OuterandInnerDiameter Usedtodefinebuoyancyandmassofcontentsperunitlengthrespectively. Thesedatacanalsobeusedforotherpurposesasfollows: If the Stress Diameters are set to '~' then these diameters are used for wall tension and stress results calculations. IftheContactDiameterissetto'~'thentheouterdiameterisusedforcontactcalculations. IftheDrag/LiftDiametersaresetto'~'thentheouterdiameterisusedfordragcalculations.
Profiledlinetypes(homogeneouspipeonly)
Forhomogeneouspipestheouterdiametercanvarywitharclength.TodothisyoufirstspecifytheprofileinaLine TypeOuterDiametervariabledatasourcewhichisthenreferencedbytheouterdiameterdataofthelinetype. Thisfeatureisusedwhenmodellingstressjointsandbendstiffeners.Arclengthisdefinedrelativetothestartofthe linesectionwhichusesthislinetypeandincreasesfromEndAtowardsEndB. CGOffset Thexandycoordinatesofthecentreofgravity(CG)relativetothecentreline.Thesedataitemsareonlyusedwhen torsionisbeingmodelled.NotethatifthelinehascontentsthenthecontentsCGisassumedtobeatthecentreline andisnotaffectedbythisCGOffset. BulkModulus Specifiesthecompressibilityofthelinetype.Ifthelinetypeisnotsignificantlycompressible,thentheBulkModulus canbesettoInfinity,whichmeansincompressible.SeeBuoyancyVariation. MaterialDensity(homogeneouspipeonly) Thedensityofthematerial. MassperUnitLength The mass of the line or pipe structure, excluding contents, per unit length. For homogeneous pipes the material densityisusedtocalculatethestructuralmassandthereforethemassperunitlengthdataitemcannotbeedited.
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LimitsData
LimitCompression The program has two modes for handling slack segments, i.e. when the distance between two adjacent nodes becomeslessthantheoriginalunstretchedsegmentlength: No: means that the segment is treated as a strut which can support unlimited compression. This is the preferred modelexceptwherebendstiffnessisinsignificant. Yes:meansthatthesegmentistreatedasanelasticEulerstrutthecompressionislimitedtothesegmentEuler load.Thisisabettermodelforcaseswherethebendstiffnessisinsignificant,suchasforchainsandsoftropes. ThesegmentEulerloadisgivenby2.EI/L02whereEIisthebendingstiffnessofthepipeandL0istheunstretched lengthofthesegment.Inallcases,wheneverasegmenthasbeencompressedtoorbeyondthesegmentEulerload, thenawarningofthisisgivenontheresultsformandinthestatisticstable. Foritemssuchasmooringchain,thebendingstiffnessiszero,andthesegmentEulerloadisalsozero.Inthiscase "Limit Compression" should be set to "Yes" this correctly models a chain or very flexible rope, which cannot supportanycompression.ThesegmentEulerloadwarningisthensimplyawarningthatthelinehasgoneslack. For a line with nonzero bend stiffness the Euler load warning is effectively a warning that the segments at that pointaretoolongtoaccuratelymodelthebendingthatisoccurring.Effectively,bendingisoccurringatascalethat islessthanthesegmentlength,soshortersegmentsareneededtomodelitaccurately.Usingshortersegmentsin thatareawillgivealargersegmentEulerload,andtoobtainanaccuratesolutionyoushould,ideally,usesufficiently short segments that the resulting segment Euler load is not reached. See Line Compression and Modelling CompressioninFlexiblesfordetails. MaximumTension Themaximumpermittedtensionforthistypeofline.ThisvalueisonlyusedtodrawalimitcurveonTensionRange Graphs;itdoesnotlimitthetensionachievedintheline.Ifnolimitcurveiswantedthenyoumayinputthetilde character"~"(meaningnotapplicable)insteadofanumber. MinimumBendRadii(MBR) Youcanspecifytheminimumpermittedradiiofcurvatureforbendingaboutthexandydirections.Thesevalues areoptionaltheyareonlyusedtodraw"allowable"curvesonrangegraphsandinthecalculationofNormalised Curvatureresults.Theydonotlimitthebendradiusoftheline.Ifyoudonotwantthesecurvesthensetthexradius to"~"(meaning"notapplicable")andtheyvalueto"~"(meaning"sameasxvalue"). Often the radii for the x and ydirections are equal and this can be specified by setting the yradius to "~" which means"sameasxradius". Thespecifiedvaluesareusedtodraw"allowablecurvature"curvesonthexandyCurvaturerangegraphs,andalso (ifthexandyminimumradiiareequal)ontheCurvaturerangegraph.Inaddition,theyareused(togetherwiththe specifiedbendstiffness)toderive"allowablebendmoment"curveswhicharedrawnonthexandyBendMoment rangegraphs,andalso(ifthexandyvaluesareequal)ontheBendMomentrangegraph.TheMBRisalsousedto calculatenormalisedcurvature. Notes: MBRcanbespecifiedasavariabledataitemdefinedasatablerelatingMBRtoeffectivetension. A typical example of this would be a steel core umbilical. A variable MBR is used solely in the calculationofnormalisedcurvature. The "allowable" curve may not be visible on the range graph, since it may be outside the range coveredbythegraph.Toseethe"allowable"curveinthiscaseyouwillneedtomodifythegraphto increasetherangeofvaluescovered.
StructureData
Young'sModulus(homogeneouspipeonly) The Young's modulus of the material. For homogeneous pipes the Young's modulus is used to calculate the axial, bendingandtorsionalstiffnessesandthereforethesestiffnessdataitemscannotbeedited.
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BendStiffness The bend stiffness is the slope of the bend momentcurvature curve. You can specify separate values for bending aboutthexandydirections,butoftentheseareequal.Thiscanbeachievedbysettingtheybendstiffnessto'~' whichmeans'sameasxbendstiffness'. The bend stiffness specified may be zero, for examplefor chains. Itcanalso be very large values, for example for steelpipes,butthiswilloftenresultinshortnaturalperiodsinthemodelandhencerequireshortsimulationtime steps.SeeInnerandOuterTimeSteps. Youcanspecifythebendstiffnesstobelinear,elasticnonlinear,hystereticnonlinearorexternallycalculated, asfollows.SeeCalculatingBendMomentsforfurtherdetailsofthebendingmodelused.
LinearBendStiffness
For normal simple linear behaviour, specify the bend stiffness to be the constant slope of the bend moment curvature relationship. This slope is the equivalent EI value for the line, where E is Young's modulus and I is the moment of area of the crosssection. The bend stiffness equals the bend moment required to bend the line to a curvatureof1radianperunitlength.
NonLinearBendStiffness
For nonlinear behaviour, use variable data to specify a table of bend moment magnitude against curvature magnitude. OrcaFlex uses linear interpolation for curvatures between those specified in the table, and linear extrapolationforcurvaturesbeyondthosespecifiedinthetable.Thebendmomentmustbezeroatzerocurvature. ForhomogeneouspipesthePlasticityWizardmaybeusefultohelpsetupthetable. Withnonlinearbendstiffnessyoumustalsospecifywhetherthehystereticbendingmodelshouldbeused. Nonhysteretic means that the nonlinear stiffness is elastic. No hysteresis effects are included and the bend momentmagnitudeissimplythespecifiedfunctionofthecurrentcurvaturemagnitude. Hystereticmeansthebendmomentincludeshysteresiseffects,sothatthebendmomentdependsonthehistory ofcurvatureappliedaswellasonthecurrentcurvature.Alsonotethatifthehystereticmodelisusedthenthe linemustincludetorsioneffects. Warning: You must check that the hysteretic model is suitable for the line type being modelled. It is not suitable for modelling ratedependent effects. It is intended for modelling hysteresis due to persisting effects such as yield of material or slippage of one part of a composite line structure relativetoanotherpart.
Ifyouusethehystereticbendingmodelthenthesimulationspeedmaybesignificantlyslowediftherearealarge number of points specified in the table of bend moment against curvature. You might be able to speed up the simulation,withoutsignificantlyaffectingaccuracy,byremovingsuperfluouspointsinareaswherethecurveisvery closetolinear. Inadditionhystereticbendstiffnessusuallyrequiresshortertimestepsthannonhystereticmodelling,whenusing implicitintegration. Note: Ifyouareusingnonlinearbendstiffness,thenthemidsegmentcurvatureresultsreporteddepend on whether the bend stiffness is specified to be hysteretic or not. If the bend stiffness is not hystereticthenthemidsegmentcurvaturereportedisthecurvaturethatcorrespondstothemid segmentbendmoment(whichisthemeanofthebendmomentsateitherendofthesegment).Ifthe bendstiffnessishystereticthenthemidsegmentcurvaturecannotbederivedinthisway(because ofpossiblehysteresiseffects)sothemidsegmentcurvaturereportedisthemeanofthecurvatures attheendsofthesegment.Thisdifferencemaybesignificantifthebendstiffnessissignificantly nonlinearovertherangeofcurvaturesinvolved.
Forfurtherdetailsseenonlinearbendstiffnesstheory.
ExternallyCalculatedBendMoment
Thisoptionallowsthebendmomenttobecalculatedbyanexternalfunction.Ifthisoptionisusedthenthelinemust includetorsioneffects.Theexternalfunctioncanbewrittenbytheuserorothersoftwarewriters.Fordetailssee theOrcaFlexprogramminginterface(OrcFxAPI)andtheOrcFxAPIdocumentation. Warning: NonlinearbehaviourbreakstheassumptionsofthestressresultsandfatigueanalysisinOrcaFlex. Youshouldthereforenotusethesefacilitieswhentherearesignificantnonlineareffects.
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AxialStiffness Theaxialstiffnessistheslopeofthecurverelatingwalltensiontostrain.The dataspecifiesthebehaviourinthe unpressuredstate,i.e.atmosphericpressureinsideandout.Pressureeffects,includingthePoissonratioeffect,are thenallowedforbyOrcaFlex. Youcaneitherspecifylinearornonlinearbehaviour,asfollows: Forasimplelinearbehaviour,specifytheaxialstiffnesstobetheconstantslopeofthelinerelatingwalltension tostrain.ThisslopeistheequivalentEAvaluefortheline,whereEisYoung'smodulusandAisthecrosssection area.Itequalstheforcerequiredtodoublethelengthofanygivenpieceofline,assumingperfectlylinearelastic behaviour.(Inpractice,ofcourse,lineswouldyieldbeforesuchatensionwasreached.) Foranonlinearbehaviour,usevariabledatatospecifyatableofwalltensionagainstaxialstrain.OrcaFlexuses linearinterpolationforstrainsbetweenthosespecifiedinthetable,andlinearextrapolationforstrainsbeyond thosespecifiedinthetable.Thetensionmustbezeroatzerostrain. Note: Axial strain is defined to equal (L L0) / L0, where L and L0 are the stretched and unstretched length of a given piece of pipe. Here 'unstretched' means the length when unpressured and unstressed. When a pipe is pressured its tension at this 'unstretched' length is often not zero because of strains due to pressure effects. For a homogeneous pipe this can be modelled by specifyingthePoissonratio.Foranonhomogeneouspipe(e.g.aflexible)thePoissonratiomaynot beabletocapturethepressureeffects. Nonlinearbehaviourbreakstheassumptionsofthestressresultsandfatigueanalysis.
Warning:
SeeCalculatingTensionForcesfordetailsofthetensionmodelused. Note: If you use explicit integration for dynamic simulation then the axial stiffness specified here will haveamajoreffectonhowlongthedynamicsimulationwilltake.Thisisbecauseverylargeaxial stiffnessvaluesleadtoverysmallnaturalperiodsforthenodes,andthisinturnrequiresverysmall simulationtimestepswhenusingexplicitintegration.SeeInnerandOuterTimeSteps. Fortunately, the value of axial stiffness used is often not very important, providing it is large enoughthattheaxialstrainsproducedaresmall.Theexceptiontothisiswheresnatchloadsoccur, sincetheaxialstiffnessdirectlyaffectsthepeaktensionthatresults.Itisthereforenormallyquite acceptabletospecifyamuchsmalleraxialstiffnessvaluethanappliestotherealline,soenabling much faster simulations. We recommend that artificially low axial stiffness values are specified, particularlyforearlyinvestigativesimulations.Theeffectofthiscaneasilybeinvestigatedlaterby rerunningaselectionofimportantsimulationswiththeactualaxialstiffnessvalue.
PoissonRatio ThisspecifiesthePoissonratioofthematerialthatmakesupthewallofthelinetype.Itisusedtomodelanylength changesduetotheradialandcircumferentialstressescausedbycontentspressureandexternalpressure. APoissonratioofzeromeansnosuchlengthchanges.FormetalssuchassteelortitaniumthePoissonratioisabout 0.3andforpolyethyleneabout0.4.MostmaterialshavePoissonratiobetween0.0and0.5. Note: The Poisson ratio effect is calculated assuming that the line type is a pipe made from a homogeneous material. It is not really applicable to complex structures such as flexibles, whose length changes due to pressure are more complex. However for such cases an effective Poisson ratiocouldbespecifiedasanapproximation.
TorsionalStiffness Thetorsionalstiffnessisusedonlyiftorsionisincludedonthelinedataform. The torsional stiffness specifies the relationship between twist and torsional moment (torque). You can specify linearornonlinearbehaviour,asfollows: Forasimplelinearbehaviour,specifythetorsionalstiffness tobetheconstantslopeofthetorsionalmoment twistperunitlengthrelationship.ThisslopeistheequivalentGJvaluefortheline,whereGistheshearmodulus andJisthepolarmomentofinertia.Itequalsthetorquewhicharisesifthelineisgivenatwistof1radianper unitlength.
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Foranonlinearbehaviour,usevariabledatatospecifyatableoftorqueagainsttwistperunitlength.OrcaFlex useslinearinterpolationforcurvaturesbetweenthosespecifiedinthetable,andlinearextrapolationforvalues outsidethosespecifiedinthetable.Thetorquemustbezeroatzerotwist. Note: When defining nonlinear torsional stiffness you should specify values for both positive and negativetwistperunitlength.Ifthebehaviourismirroredforpositiveandnegativetwistthenyou mustspecifythefullrelationshipOrcaFlexdoesnotautomaticallyreflectthedataforyou. Nonlinearbehaviourbreakstheassumptionsofthestressresultsandfatigueanalysis.
SeeCalculatingTorsionMomentsfordetailsonhowthisdataisused.
Warning:
Drag,Lift&AddedMassData
DragCoefficients Thedragcoefficientsforthenormal(xandy)directionsandaxial(z)directionarespecifiedonthelinetypedata form.Forthexandydirectionsthedragcoefficientscanbeoneofthefollowingoptions: Afixedconstantvalue. AvaluethatvarieswithReynoldsnumber. AvaluethatvarieswithHeightaboveSeabed. AvaluethatvarieswithbothReynoldsnumberandHeightaboveSeabed.
Oftenthecoefficientsforthexandydirectionsareequalandthiscanbespecifiedbysettingtheycoefficientto"~", whichmeans"sameasxcoefficient".OrcaFlexalsooffersachoice(onthelinedataform)ofdifferentformulations forhowthedragforcecomponentsvarywiththeincidenceangle. Ifwakeinterferenceeffectsarebeingmodelledforagivenline,thenthesenormaldragcoefficientsonthelinetype data form specify the undisturbed drag coefficient. And the drag force will be calculated using a drag coefficient thatismodifiedfromthisvalueaccordingtothewakemodelused. ForfurtherdetailsseetheLineTheorysection. LiftCoefficient Theliftcoefficientisusedtospecifyaliftforcewhichactsinthedirectionnormaltothelineaxisandintheplaneof thataxisandtheseabednormal.Itcanbeoneofthefollowingoptions: Afixedconstantvalue. AvaluethatvarieswithReynoldsnumber. AvaluethatvarieswithHeightaboveseabed. AvaluethatvarieswithbothReynoldsnumberandHeightaboveseabed.
ForfurtherdetailsseetheLineTheorysection. Drag/LiftDiameters Theseareusedwhencalculatingdragareaandliftarea.Avalueof'~'resultsintheouterdiameterbeingused. Note: OrcaFlex calculates the normal drag / lift area to be Dn.L and the axial drag area to be .Da.L where Dn is the normal drag / lift diameter, Da is the axial drag diameter and L is the element length.Notethatdifferentprogramshandlethesecalculationsindifferentways.Forexampleitis common for programs to use a single drag / lift area for both normal and axial flow and in addition some programs do not include the factor of in the axial drag area. Because of these differencesyoumustbecarefulwhencomparingortransferringdatabetweendifferentprograms.
AddedMassCoefficients TheaddedmasscoefficientsCafornormal(xandydirections)andaxial(zdirection)flow.Oftenthecoefficientsfor thexandydirectionsareequalandthiscanbespecifiedbysettingtheycoefficientto"~"whichmeans"sameasx coefficient". Foreachflowdirection,theinertiacoefficient,Cm,isautomaticallysettoequal1+Ca.SeeAddedMassfordetails.
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ContactData
ContactDiameter Contactbetweenlinesandtheseabed,elasticsolidsorotherlinesaccountsforthediameteroftheline.Thisvalue specifiesthediametertobeused.Ifavalueof'~'isspecifiedthenthelineouterdiameterisused. ThisvalueisalsousedinthecalculationofLineContactClearanceresultsandasthedrawingdiameterforshaded graphicsviews. ContactStiffnessandDamping Thestiffnessanddampingvaluesusedbytheclashingalgorithm.SeeLineClashing. Dampingisalwayszerowhenusingtheimplicitintegrationscheme.
StressData
StressOuterandInnerDiameter Thestressdiametersaretheinsideandoutsidediametersoftheloadbearingcylinder.Theyareusedinthe wall tensionandstressresultscalculations,whicharebasedontheassumptionthattheloadsinthelinearetakenbya simple homogeneous cylinder. For simple cases, the stress diameters can be set to '~', in which case they will be takentobethesameasthepipediameters.Formorecomplexcases,forexamplewherethepipeoutsidediameter allowsforaddedbuoyancymodulesthatarenotloadbearing,thestressdiameterscanbesetseparately.SeeLine ResultsForces. AllowableStress Themaximumallowablestressforthistypeofline.Thisvalue isonlyusedtodrawalimitcurveonStressRange Graphs; it does not limit the stress achieved in the line. If no limit curve is wanted then you may input the tilde character"~"(meaningnotapplicable)insteadofanumber. StressLoadingFactors These are used to specifywhat proportion ofthe loads (tension, bend moment, shear andtorque) are to be used when calculating wall tension and stress results. The effective tension, bend moment, shear force and torque are multiplied by the appropriate stress loading factor when they are used to calculate the wall tension and stress results. Formanycases,e.g.whenmodellingasimplehomogeneouspipethatcarriesalltheloads,theseloadfactorsshould besetto1,thedefaultvalue. Insomecases,valueslessthan1maybesuitable.Forexample,consideracasewherethelinemodelsacomposite structurethatconsistsofamaincarrierpipeandanexternalpiggybackpipe.Youmightestimatethatthemainpipe takesallofthetensileandtorsionalloads,butonlycarries70%ofthebendingloads,theother30%beingtakenby the piggyback pipe. Then to obtain stress estimates for the main pipe you could set the Stress Outer and Inner Diametersto'~'andsetthebendingandshearstressloadingfactorsto0.7. Note: TheAllowableStressandStressLoadingFactorsonlyaffectthewalltensionresults,stressresults and fatigue analyses. These results are derived after the simulation has run, and because of this OrcaFlexallowsthesedataitemstobemodifiedafterasimulationhasbeenrun.
StructuralDampingData
RayleighDampingCoefficients A named Rayleigh Damping Coefficient data set. This data item can be set to "(no damping)", in which case no RayleighdampingwillbeappliedforthisLineType. Thisdataisonlyavailablewhenusingtheimplicitintegrationscheme.
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FrictionData
SeabedFrictionCoefficients OrcaFlex applies Coulomb friction between the line and the seabed. The friction force applied never exceeds R whereRistheseabedreactionforceandisthefrictioncoefficient.SeeSeabedFrictionDataforpublishedfriction data. Lines lying on the seabed often move axially more readily than they move laterally. To enable this effect to be modelled, you can specify different friction coefficients formotionnormal (i.e. lateral)andaxial tothe line. For intermediatedirectionsofmotionOrcaFlexinterpolatesbetweenthesetwovaluestoobtainthefrictioncoefficient touse.Iftheaxialfrictioncoefficientissetto'~'thenthenormalfrictioncoefficientisusedforforalldirectionsof motion.Thisprovidesaconvenientwayofusingthesamefrictioncoefficientforalldirectionsofmotion. SeeFrictionTheoryforfurtherdetailsofthefrictionmodelused. Note: ThefrictioncoefficientforcontactwithelasticsolidsisspecifiedontheSolidFrictionCoefficients dataform.
DrawingData
Pen Definesthecolour,linestyleandthicknessofthepenusedfordrawingthislinetype.SeeHowObjectsAreDrawn. Foreachlinethereisachoice,ontheLineDataform,ofwhethertodrawthesectionsofthelineusingtheseLine Typespens,orwhethertodefineaspecificpentouseforallthesectionsoftheline.
ExternalFunctions
Parameters ThisdataitemspecifiestheExternalFunctionParameters,afreeformmultilinetextfieldwhichispassedtoany externalfunctionusedbytheLineType.
PlasticityWizard
OrcaFlex allows you to specify nonlinear bend stiffnesses for Line Types. The data is given as a table of bend momentagainstcurvature.Ifyouaremodellingauniform,homogeneouspipeyoucanusethePlasticityWizardto createthistable. Onceyouhaveenteredtheappropriatedataasdescribedbelow,clicktheCalculatebuttonandthecurvature/bend momentrelationshipisgenerated.Inaddition,theBendStiffnessvariabledatasourcethatiscreatedisinitialisedto behysteretic. ThePlasticityWizardisopenedbyclickingthe"PlasticityWizard"buttonontheVariableDataform. Note: Before you can open the Plasticity Wizard you must have created and selected a Bend Stiffness variabledatasource.
PlasticityWizardData ThePlasticityWizardrequiresthefollowingdata:
StressDiameters(Outer/Inner)
Theinsideandoutsidediametersoftheloadbearingcylinder.
MeanAxialStrain
The Plasticity Wizard calculates bend moment curvature relationship by integrating the stress profile across the pipecrosssection.Thiscalculationrequiresameanaxialstraintobespecifiedthisdataitemservesthatpurpose.
MaximumCurvatureforDerivedDataSource
The Plasticity Wizard derives a nonlinear bend stiffness variable data source. This data source will be defined betweenzerocurvatureandthismaximumcurvature.
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StressStrainrelationship
The relationship between stress and strain can be specified by either RambergOsgood curve or StressStrain table.
MaterialE,ReferenceStress(y),K,n(RambergOsgoodcurveonly)
Thesedatadefinetherelationshipbetweenstress()andstrain()intermsofaRambergOsgoodcurveasfollows: =/E+K(/y)n. Thereferencestressparameterisusuallytakentobetheyieldstress,whichiswhyitisdenotedyhere.Notethat thereisanalternativeparameterisationoftheRambergOsgoodequation.Itisstraightforwardtoconvertbetween the two forms of the equation but please take care to ensure that the data you input corresponds to the parameterisationusedbyOrcaFlex.
Stress,Strain(StressStraintableonly)
This table directly specifies the relationship between stress and strain. The table is interpolated linearly and for valuesofstrainoutsidethetablelinearextrapolationwillbeused.
Profilebutton
Thisplotsagraphshowingthestressstrainrelationshipthat yourdataspecifies.Ifyouupdatethedatawhilethe graphisshowingthenitisupdatedtoshowyouramendeddata.
PropertiesReport
TheLineTypepropertiesreportisavailablefromthepopupmenuonthedataform.Itreportsthefollowing:
Weightinair
Theforceduetogravityactingonthelinetype'smass.
Displacement
The weight of water displaced by the line type's volume. The reported value uses the water density at the sea surface.
Weightinwater
EqualsWeightinairDisplacement.
Diam/WtRatio
EqualsOuterDiameter/Weightinwater. Note: ForLineTypesthathaveanonzeroboreyoumustspecifythecontentsdensitytobeusedinthe calculationoftheaboveproperties,sincethiswillaffectthepropertiesthatinvolveweight.
Usedin,ContentsDensity
Thenamesandcontentsdensitiesofeachlinethatusesthatlinetype.
7.8.3
Attachments
AttachmentTypes
TheAttachmentTypesformdefinesthepropertiesofanumberofnamedattachmenttypes.Attachmentswiththese properties can then be connected to lines. Attachment Types can be either Clump Types, Drag Chain Types, Flex JointTypesorStiffenerTypes. TheattachmenttypesformmustincludealltheattachmenttypesreferredtoonalloftheLinesdataforms,butitcan alsoincludeotherattachmenttypesthatarenotcurrentlyinuseinthemodel.Thisallowsyoutobuildupalibrary ofstandardattachmenttypesthatcanthenbeeasilyusedwhenbuildingLines.
Clumps
AclumpisaconcentratedattachmentthatisconnectedtoanodeonaLine.Itcanbebuoyantorheavyandisasmall body that experiences forces (weight, buoyancy, drag etc.) exactly as for a 3D Buoy. But instead of being free to move it is constrained to move with the node and the forces acting on it are transferred to that node. A clump thereforeaddstothemass,buoyancyandhydrodynamicforceofthenodetowhichitisattached.
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Clumpsonlyhave3degreesoffreedomX,YandZwhicharedeterminedbythepositionofthenodetowhichthey are attached. Clumps can be aligned with the global axes directions or alternatively they can be aligned with the nodetowhichtheyareattached. EachclumpisassignedaheightandanoffsetfromthenodewhichareusedtodeterminetheZcoordinateofthe clumpforthepurposesofevaluatingbuoyancyandhydrodynamicforces:nomomentisappliedtothenodebythe clump.Wheretheclumppiercesthewatersurface,buoyancyandhydrodynamicforcesareappliedinproportionto theimmersedlengthoftheclump. Eachclumpisofanamedclumptype,fromwhichitinheritsallitsproperties.Theclumptypesarespecifiedonthe AttachmentTypesformandhavethefollowingdata.
ClumpTypeName
UsedtorefertotheClumpType.
Mass
Massorweightinair.
Volume
Usedtocalculatebuoyancyandaddedmassforeachclumpofthistypeonaline.Clumpsmaybeeithernetbuoyant orheavyasdesired.
Height
Usedfordrawingtheclumpandalsotodeterminehowmuchoftheclumpisbelowthewatersurface. IftheclumpisalignedwithglobalaxesthenitiscentredattheOffsetpositionabovethenode,andextendsforhalf itsHeightaboveandbelowthispoint. IftheclumpisalignedwithLineaxesthenitiscentredatthenode,andextendsforhalfitsHeighteithersideofthis pointinthenode'saxialdirection.

Offset
Aclumpmaybeoffsetverticallyfromtheline,forexampletorepresentalinesupportedbelowthesurfacebyfloats. The connection is not modelled fully: the clump is always treated as being at the specified offset vertically above (offsetpositive)orbelow(offsetnegative)thenodetowhichitisattached. IftheclumpisalignedwithLineaxesthentheclumpoffsetisforcedtobezero.
Alignwith
DetermineswhethertheclumpisalignedwithGlobalAxesorLineAxes. Thissettingdeterminestheclump'slocaldirections.Ifitisalignedwithglobalaxesthentheclump'slocaldirections arethesameastheglobalaxissystem.IfitisalignedwithLineaxesthenitslocaldirectionsarethesameasthenode towhichitisconnected.

Drag
Dragforcesarecalculatedinclumplocaldirectionsforeachclumponaline. dragforce=PW..WaterDensity.(velocity)2.Cd.DragArea where CdisDragCoefficientasspecifiedhere, DragAreaisspecifiedhere, velocityisthevelocityofthefluidrelativetotheclumpintheappropriatedirection.

AddedMassCoefficients
Addedmassinclumplocaldirectionsisgivenby Addedmass=PW.Ca.WaterDensity.Volume where CaistheAddedMassCoefficientasspecifiedhere.
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Pen
Definesthecolour,linestyleandthicknessofthepenusedfordrawingthisclumptype.SeeHowObjectsAreDrawn.
ClumpTypePropertiesReport
TheClumpTypespropertiesreportisavailablefromthepopupmenuonthedataform.Itreportsthefollowing:
Weightinair
Theforceduetogravityactingontheclump'smass.
Displacement
Theweightofwaterdisplacedbytheclump'svolume.Thereportedvalueusesthewaterdensityattheseasurface.
Weightinwater
DragChains
Dragchainsareattachmentstoalinethatmodelstraightchainsthathangdownfromtheline.Theyapplyweight, buoyancyanddragforcestothenodetowhichtheyareattached,butnotanyaddedmasseffects.Fordetailssee DragChainTheory. Drag chains include two facilities that can be important in modelling towed systems. Firstly, the chain's drag coefficients can vary with the incidence angle of the relative flow; this enables modelling the effect that as the relativeflowincreasesthechainhangsatagreaterangletotheverticalandsofluiddraggeneratesmorelift,which isappliedtotheline.Secondly,dragchainsinteractwiththeseabed(inasimplemanner);ifthenodecomescloser totheseabedthanthechainlength,thentheseabedprovidesasupportingreactionforceandafrictionforce,bothof whichareappliedtothenode. Each drag chain is of a named drag chain type, from which it inherits all its properties. The drag chain types are specifiedontheAttachmentTypesformandhavethefollowingdata.
Name
UsedtorefertotheDragChainType.
Length
Lengthofthedragchain.
EffectiveDiameter
Effectivediameterofthedragchain.Thisisthediameterofthecylinderthathasthesamedisplacedmassperunit length.
Mass
Massperunitlength.Massisassumedtobeuniformlydistributedalongthelengthofthedragchain.
FrictionCoefficient
Coefficientoffrictionforcontactwiththeseabed.Thiscoefficientisusedforalldirectionsoffriction.Thevaluecan besetto'~',inwhichcasethedragchainwillinsteadusetheaxialfrictioncoefficientofthenodetowhichthedrag chainisattached.

Drawing
Definesthecolour,linestyleandthicknessofthepenusedfordrawingdragchainsofthistype.SeeHowObjectsAre Drawn.
DragCoefficients
The fluid drag forces on the chain are specified by giving a table of the normal and axial drag coefficients, as a function of the incidence angle between the relative velocity vector and the drag chain. So =0 means flow axiallyalongthedragchainand=90meansflownormaltothedragchain. Coefficients are specified for a range of incidence angles between 0 and 90 and linear interpolation is used to obtaincoefficientsforintermediateangles.TheGraphbuttonshowstheresultingcoefficientvariation.Symmetryis usedtoobtaincoefficientsforanglesoutsidetherange0to90.
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SystemModellingDataandResults,Lines To be realistic, the normal drag force should increase monotonically as the incidence angle increasesfrom0to90.Thisturnsouttorequirethatthegradientofthenormaldragcoefficient curve Cdn() should be greater than 2.Cdn() / tan() for all . OrcaFlex warns if the drag coefficientdatadoesnotsatisfythis.
Note:
SeeDragChainTheoryforfurtherdetails.
DragChainTypePropertiesReport
TheDragChainTypespropertiesreportisavailablefromthepopupmenuonthedataform.Itreportsthefollowing:
Length,Diameter
Thedataasspecifiedonthedataform.
TotalMass
ThetotalmassofthedragchaingivenbyLengthMassperunitLength.
Totalweightinair
EqualsTotalMassg.
Totaldisplacement
Theweightofthevolumeoffluiddisplacedbythedragchain.ThevolumeisgivenbyLengthD2/4whereDisthe effectivediameterasspecifiedonthedataform.
Totalwetweight
EqualsTotalweightinairTotaldisplacement.
FlexJoints
Flex joints are attachments to a line that add additional bending stiffness to a particular node (specified by the attachment'szposition). This additional local stiffness acts inseries withthe stiffnessof the underlying line type bendstiffness.If,forexample,yousetthestiffnessfortheflexjointtozero,thenyoueffectivelymakethatnodepin jointed. Each flex joint has properties determined by a named Flex Joint Type. The Flex Joint Types are specified on the AttachmentTypesformandhavethefollowingdata:
Name
UsedtorefertotheFlexJointType.
BendStiffness
SpecifiesthebendstiffnessoftheFlexJointType.Youcanspecifyseparatevaluesforbendingaboutthexandy directions.Aybendstiffnessvalueof'~'isinterpretedas'sameasxbendstiffness'. Similarlytolineendconnectionstiffnessthebendstiffnessisspecifiedintermsofmomentperdegreeofdeflection.

Drawing
Definesthecolour,linestyleandthicknessofthepenusedfordrawingflexjointsofthistype.SeeHowObjectsAre Drawn.
Stiffeners
Stiffeners are attachments to a line intended for use modelling bend stiffeners. Each stiffener has properties determinedbyanamedStiffenerType.TheStiffenerTypesarespecifiedontheAttachmentTypesformandhave thefollowingdata:
Name
UsedtorefertotheStiffenerType.
LineType
Determinesthephysicalpropertiesofthestiffener.Usuallythiswillbeaprofiledhomogeneouspipe.
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Because the stiffener properties are included in addition to the product line properties this line type should just specifythepropertiesofthestiffener.
Length
Definesthelengthofthestiffener.Ifthelinetypeisprofiledthenthelengthisdeterminedbytheprofiledataandso cannotbeeditedhere.
ConnectionArcLength,Relativeto
Definesthepointonthestiffenerwhichcorrespondstotheproductlineattachmentposition.Thiscorrespondence isillustratedinthefollowingtablewhichassumesastiffenerlengthof10: Productline Stiffener Productline attachment connection protectedarclength arclength range arclength 0 5 10 50 0 0 5 10 010 515 515 4050
ForabendstiffeneratEndAofalinetheconnectionarclengthwouldsetto0relativetoEndA.Similarlyforabend stiffeneratEndBofalinetheconnectionarclengthwouldsetto0relativetoEndB.
Axialload/inertiatransfer
Specifieshowtheaxialloadsandaxialinertiaaretransferredfromthestiffenertotheproductline. Ifatconnectionpointisspecifiedthentheaxialloadsandaxialinertiafortheentirestiffenerlinearetransferredto theproductattheconnectionpoint.Thisoptionissuitablewhenyouwishtoneglecttheaxialeffectsoffrictiondue tocontactbetweenproductandstiffener. Ifoverfulllengthisspecifiedthentheaxialloadsandaxialinertiaaretransferredandsharedacrossthefulllength ofthestiffener.Ifthecontactfrictionmeansthattheproductlineeffectivelycarriestheaxialloadsandinertiaofthe stiffenerthenthisoptionshouldbeused. Forastiffenerwhichisconnectedtotheproductlinebymeansofafulllengthfrictiongrip,e.g.aCumberlandGrip, thenyoushouldusetheoverthefulllengthoptionforaxialload/inertiatransfer. MoretechnicaldetailsofhowthisdataitemisusedaregiveninModellingBendStiffeners.
7.8.4
RayleighDamping
Rayleigh damping is used to model structural damping for Lines and is only available when using the implicit integrationscheme.
ClassicalRayleighdamping
ClassicalRayleighdampingusesasystemdampingmatrixCdefinedas: C=M+K where isthemassproportionalRayleighdampingcoefficient. isthestiffnessproportionalRayleighdampingcoefficient. Misthesystemstructuralmassmatrix. Kisthesystemstructuralstiffnessmatrix. Withthisformulationthedampingratioisthesameforaxial,bendingandtorsionalresponse. ClassicalRayleighdampingresultsindifferentdampingratios fordifferentresponsefrequenciesaccordingtothe followingequation: =0.5(/+) where isthedampingratio(avalueof1correspondstocriticaldamping).
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istheresponsefrequencyinrad/s. It can be seen from this that the mass proportional term gives damping ratio inversely proportional to response frequencyandthestiffnessproportionaltermgivesdampingratiolinearlyproportionaltoresponsefrequency.
SeparatedRayleighdamping
InadditiontoclassicalRayleighdampingOrcaFlexoffersaseparatedRayleighdampingmodelwhereCisdefinedas: C=M+aKa+bKb+tKt where aisthestiffnessproportionalRayleighdampingcoefficientforaxialdeformation. bisthestiffnessproportionalRayleighdampingcoefficientforbendingdeformation. tisthestiffnessproportionalRayleighdampingcoefficientfortorsionaldeformation. Kaisthesystemstructuralstiffnessmatrixcorrespondingtoaxialdeformation. Kbisthesystemstructuralstiffnessmatrixcorrespondingtobendingdeformation. Ktisthesystemstructuralstiffnessmatrixcorrespondingtotorsionaldeformation. NotethatK=Ka+Kb+Kt. Theseparatedmodelallowsfordifferentdampingratioinaxial,bendingandtorsionalresponse. Data EachLineTypehasstructuraldampingpropertiesdeterminedby anamedRayleighDampingCoefficientdataset. MultipleRayleighDampingCoefficientdatasetscanbedefined,eachwiththefollowingdata.
Rayleighdampingmode
OrcaFlexoffersfourdistinctmethodsforspecifyingtheRayleighdampingcoefficients: Stiffnessproportional. Massandstiffnessproportional. Coefficients(classical). Coefficients(separated).
StiffnessproportionalandMassandstiffnessproportionalmethods
Thesemethodsallowyoutospecifystructuraldampingintermsof%criticaldampingratio.Inadditionyouneed tospecifyresponseperiodsatwhichthedampingratiowillbeachieved.ForStiffnessproportionaldampingonly oneresponseperiodcanbespecified. If Response Period 1 is set to '~' then OrcaFlex will choose response periods automatically based on the wave period,orpeakperiodTpforarandomwave.Thismethodisgenerallyrecommendedandisparticularlyusefulif youarerunningabatchofcaseswithvaryingwaveconditions. OrcaFlexusestheclassicalRayleighdampingmodelandreports themassandstiffnessproportionalcoefficients and.
Coefficients(classical)andCoefficients(separated)methods
Forthesemethodsyouspecifythedampingcoefficientsdirectly.
Dampingratiograph
The damping ratio graph plots the damping ratio that will be achieved for a range of response frequencies. The graph'sxaxiscanbeeitherperiodoffrequency.
Massproportionaldamping
Massproportionaldampingisunrealisticandsoshouldnotbeusedforanysystemwithsignificantsteadymotion, e.g. towing, lowering, vessel manoeuvring, wave drift motion etc. Mass proportional damping can be disabled by ensuringthatissettozero.
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Guidance
Variationofdampingratio
Rayleigh damping is viscous damping that is proportional to a linear combination of mass and stiffness. The dampingmatrixCisgivenbyC=M+KwhereM,Karethemassandstiffnessmatricesrespectivelyand,are constantsofproportionality. Rayleigh damping does afford certain mathematical conveniences and is widely used to model internal structural damping. One of the less attractive features of Rayleigh damping is that the achieved damping ratio varies as response frequency varies. The stiffness proportional term contributes damping that is linearly proportional to responsefrequencyandthemassproportionaltermcontributesdampingthatisinverselyproportionaltoresponse frequency.Mathematically,thesefrequencydependenciescanbe seenintheformulafordampingratio=(/f+ f)wherefistheresponsefrequency. The plot below illustrates how the separate mass and stiffness damping terms contribute to the overall damping ratio:
Mass and Stiffness
6% 5%
Mass term
Stiffness term
Damping ratio
4% 3% 2% 1% 0% 0 1 2 3 4 5
Response angular frequency (rad/s) (=0.025, ?=0.023)
Figure: VariationOfDampingRatioWithFrequency
Artificialoverdampingofsystemresponse
Consider a system which has two primary responses: one at the wave frequency and the other at a much lower frequency,forexampleduetovesseldrift.ClearlyRayleighdampingconstantsmustbechosencarefullytoavoidthe massproportionaltermresultinginoverdampingofthelowfrequencyresponse. Itiscommonpracticetodothisbyusingthestiffnessproportionaltermonly.ForexampletheDNVdynamicriser codeDNVOSF201(AppendixA,K103)makesthefollowingrecommendation:"Itshouldalsobeobservedthatthe mass proportional damping would give damping due to rigid body motions. The mass proportional damping is therefore normally neglected for compliant structures undergoing large rigid body motions." In other words the recommendationforsuchsystemsistousestiffnessproportionaldamping(theredcurveabove). Thisisagoodargument.However,ananalogousargumentcanalsobemadeaboutanyhighfrequencyresponse.If only stiffness proportional damping is used then any high frequency response will be overdamped. It is quite common for systems to have responses at frequencies higher than the wave frequency. Since high frequency responsesareoftendamagingtoasystemitisimportanttomodelthemaccurately.Stiffnessproportionaldamping isveryeffectiveatartificiallyremovinghighfrequencyresponsesfromananalysisandthisisadangerthatmustbe avoided.
Avoidingoverdampingofsystemresponse
WerecommendthefollowingprocedureforapplyingRayleighdamping:
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1. 2. 3. 4.
Identifyanumberofcriticalloadcases. RunthesecaseswithoutRayleighdamping. Identifytheminimumandmaximumfrequenciespresentinthesystemresponse,fminandfmax. ApplymassandstiffnessproportionalRayleighdampingwithresponseperiodssetto1/fminand1/fmax.
This technique will apply the specified damping ratio at responses with frequency fmin and fmax. For frequencies between fmin andfmax the damping ratiowill be less than the specified damping ratio which ensures thatartificial overdampingisavoided. Note: Sincethisapproachleadstoadampingratiolessthanthespecifieddampingratioforfrequencies between fmin and fmax it could be argued that the response will be underdamped. Generally this conservativeunderdampingisfarlesssignificantthanthenonconservativeoverdampingthatwe aretryingtoavoid.
If your system response is concentrated atthe wavefrequency forall criticaldesign casesthen it issafe toapply stiffnessproportionaldamping.
Discussion
The above procedure will help you avoid nonconservative overdamping of high or low frequency responses in yoursystem.However,itisquitelaboriousandtimeconsuming.Canweadoptasimplerapproach? ForagreatmanyofthesystemsthatareanalysedbyOrcaFlexitturnsoutthatstructuraldampinghaslittleorno effectonsystemperformance.Forsubsealinesthestructuraldampingisusuallynegligibleincomparisonwiththe dampingduetohydrodynamicdrag.ForthisreasonRayleighdampingcanusuallybeignoredforanalysisofsubsea lines.ForsystemswhichshowsignificantlydifferentresponseswhenRayleighdampingisappliedyoushouldcheck thatthisisnotduetotheoverdampingissuesdescribedabove. Forinairlines(e.g.jumperhoses)thesituationisdifferent.Theselineshavenohydrodynamicdampingandsothe structuraldampingcanbesignificant.Forsuchlinesitisveryeasyforresonantresponsestobeexcitedandifno dampingismodelledthentheseresponsesdonotdecay.InthissituationRayleighdampingcanbeveryuseful.Itis, ofcourse,importanttoapplyitcarefullyasdescribedabove. One common phenomenon that is sometimes modelled with Rayleigh damping is the damping due to internal frictionbetweenlayersofapressurised,unbondedflexibleriser.Thiseffectisstronglyamplitudedependentandis poorly represented by Rayleigh damping. The problem is that the damping ratio depends on the amplitude of response. This makes the damping ratio very difficult to set and it will differ for different load cases. Instead we recommendthatyouuseahystereticbendstiffnesswhichgivesamoreaccuratemodeloftheriser.
7.8.5
LineResults
This section describes the line results that are available for the static and dynamic analyses. These results are availableusingtheResultsSelectionform. ResultsfromthemodalanalysisandfatigueanalysisaredescribedelsewhereseetheModalAnalysisandFatigue Analysissections. SelectingwhichCategoriesofLineResultsareShown ForLinestherearealargenumberofresultsvariablesavailableontheResultsform.SoOrcaFlexgroupstheresults variablesintothefollowingcategories: Positions. Motions. Angles. Forces. Moments. Contact. PipeStress/Strain. EndLoads.
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To ease results selection the Show boxes on the results form allow you to choose which of these categories of variablesareshownintheVariablelist.Togetthefulllistofavailablevariablessimplyselectallthecategories.But normally there are several categories ofvariable thatyou do not currently need, in which case deselecting them reducesthedisplayedlistofvariablestoamoremanageableset. SpecifyingthePositionontheLine Forlineresultsyouneedtospecifythepositiononthelineatwhichyouwantresults.Thisisdonebysettingthe entriesinarowinthePositiontableontheresultsform.YouarethenofferedtheVariablesthatareavailablefor thepointspecifiedbythecurrentlyselectedrow. Eachrowinthetablespecifiesonepointontheline.Therearemultiplerowsinthetable,soyoucansetuprows specifyinganumberofdifferentpointsofinterestandtheneasilyswitchbetweenthembychoosingwhichrowyou select.Inarowthatyoudon'twanttouseyoucansettheNodeorArclengthcolumnto'~',meaning'unspecified'. Threerowsinthetablearededicatedtospecialarclengthsontheline: ThefirstandlastrowsinthePositiontablearededicatedtotheline'sendpointsAandB. ThenexttolastrowinthetableisdedicatedtotheTouchdownpoint.Thisisdefinedtobethefirstnodeonthe seabed(startingfromtheTopEnd).Iftheresultsvariableselectedisasegmentvariable(i.e.isonlyavailableat midsegmentpoints)thenthevaluereportedforthetouchdownpointisthemidsegmentvaluedinthesegment thatprecedestheTouchdownnode.Whentherearenonodesontheseabedthentheresultsvariableisreported asN/A(meaning'notavailable')andthegraphshowsnovalue.
ArclengthandNodeColumns
TheArclengthcolumnspecifieshowfaralongthelinethepointis,measuredfromzeroatEndA.Forinformation,if yousettheArclengthcolumnthentheadjacentNodecellissettothenumberofthenearestnodetothatarclength. TheNodecolumncanalsobeusedasanalternativewayofsettingthearclength.YoucansettheNodecolumntothe numberofanodeontheline.TheadjacentArclengthcellwill thenbesettothearclengthtothatnode.Thenode number must be in the range 1 (the node at End A) to N+1 (the node at End B), where N is the total number of segmentsintheline. Note: Theactualarclengthforwhichlineresultsarereportedmaynotbeexactlythespecifiedarclength. OrcaFlexreportsresultsforthe'nearestappropriate'resultpoint.SeeResultPointsbelow.
RandThetaColumns
Forsomevariables(e.g.stresscomponents)youmustalsospecifythepositionofthepointwithinthecrosssection throughthespecifiedarclength.WheneveroneofthesevariablesisselectedintheVariableslist,twoextracolumns become visible in the Position table. These extra columns specify the polar coordinates (R,Theta) of the point within the cross section; see the diagram in the Pipe Stress Calculation section. The R column can only be set to eitherInnerorOuter,meaningtheradiicorrespondingtotheStressIDorStressODrespectively.Resultsarenot availableforpointsbetweenthesetworadii. ClearanceResults Clearanceresultscanbereportedeitherasclearancesfromthislinetoallotherlinesorfromthislinetoaspecified other line. You choose which of the options is used from the dropdown list labelled "Clearances are reported as clearancesfrom". ResultPoints OrcaFlexusesadiscretisedmodelandsoresultsareonlyavailableatnodes,midsegmentpointsandlineends;we call these points 'result points'. The available result points depend on which variable you request, they are documentedinthedescriptionofthevariable. When you ask for a variable at a specified arclength OrcaFlex gives the value for the 'nearest appropriate' result point.Thephrase'nearestappropriate'heremeansthatOrcaFlexconsiderstheavailableresultpointsthatareinthe samesectionasthearclengthyouspecifiedandthenchoosestheonethatisnearesttothearclengthyouspecified.If youspecifyanarclengththatisexactlyattheboundaryoftwosectionsthenOrcaFlexusesthesectionthatstartsat thatarclength. OrcaFlexalwayslabelsresultswiththeactualarclengthtotheresultpointtowhichtheyapply,soyoucancheckto ensurethatyouaregettingresultsattheresultpointyouwant.
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Positions
X,YandZ
Availableatnodesonly.Theglobalcoordinatesoftheselectednode.
ProportionWet
Availableatnodesonly.Theproportionofthepartofthelinethatthenoderepresents,thatissubmergedinthesea. Thevalueisintherange0to1,avalueof0meaningnosubmersionand1meaningiscompletelysubmerged.For detailsseeLineInteractionwiththeSeaSurface.

SurfaceZ
Availableatnodesonly.TheglobalZcoordinateoftheseasurfacedirectlyabovetheinstantaneouspositionofthe selectednode.
Depth
Availableatnodesonly.Thedepthofthenodebeneaththeseasurface(=SurfaceZNodeZ).
SeaSurfaceClearance
Availableatnodesonly.Theverticalclearancefromnodecentretotheinstantaneousseasurface.Negativevalues meanthatthenodeissubmerged.
ArcLength
Available at nodes only. The arc length from End A to the selected point. This is normally only useful for the touchdownpoint,sinceforotherpointsitisconstant.ForthetouchdownpointitgivesthearclengthfromEndAto thefirstnodeontheseabed,orzeroifthereisnotouchdown.
ExpansionFactor
Availableatmidsegmentsonly.Theexpansionfactoroftheselectedsegment.
TransverseVIVOffset
Availableatnodesonly.Thisisthenode'soffsetfromthenonVIVnodeposition,inthetransverseVIVdirection.
EstimatedTransverseA/D
Available only at nodes that use one of the time domain VIV models from the VIV Toolbox. The amplitude of the oscillationinthetransverseVIVdirectiondividedbythenode'sVIVdiameter.
Motions
Velocity,GXVelocity,GYVelocity,GZVelocity, Acceleration,GXAcceleration,GYAcceleration,GZAcceleration
Available at nodes only. The magnitude and components (with respect to global axes) of the velocity and accelerationofthenode. Warning: Thevelocityresultsarederivedbynumericallydifferentiatingtheloggedpositionsofthenodewith respect to time, using the central difference scheme. The acceleration results are derived by a further such numerical differentiation. Because of this the accuracy of the results (especially the accelerations)willdependonthelogsampleinterval.Ifthelogsampleintervalislargethenthe resultswillnotshowhigherfrequencycomponentsofvelocityandacceleration.Ifthelogsample intervalissmallthentheresultsmaybeinaccurateduetolossofprecisionduetosubtraction.
Acceleration(incl.g),xAcceleration(incl.g),yAcceleration(incl.g),zAcceleration(incl.g)
Availableatnodesonly.Themagnitudeandcomponents(withrespecttonodeaxes)ofthevectoragwhereais theaccelerationofthenodeandgistheaccelerationduetogravity,avectorpointingverticallydownwards. Theseresultscanbeusedtocompareagainstaccelerometerreadings.

RelativeVelocity,NormalRelativeVelocity,AxialRelativeVelocity
Availableatnodesonly.RelativeVelocityisthevelocityofthefluidrelativetothenode,i.e.VfluidVnode.Theresults reportedarethemagnitudeoftherelativevelocityanditsnormalandaxialcomponents(relativetotheline).For theaxialcomponent,apositivevaluemeansthatthefluidismoving(relativetotheline)towardsEndB.
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The fluid velocity used is the velocity of the principal fluid affecting the node. The principal fluid is defined as follows: 1. 2. Ifproportiondry>0.5andtheIncludewindloadsonLinesoptionisenabledintheEnvironmentdatathenthe principalfluidistheair. Otherwisetheprincipalfluidisthesea. Note: Warning:
ReynoldsNumber
ForanodethatisabovethewatersurfaceOrcaFlexreportsarelativevelocitybasedonthefluid velocityatthesurface. Therelativevelocityresultsarederivedusingthenodevelocityresults,soseetheaccuracywarning givenabove.
Availableatnodesonly.TheReynoldsnumberisameasureoftheflowregime.OrcaFlexoffersanumberofdifferent optionsforthecalculationofReynoldsnumber,specifiedontheEnvironmentdataform.
xDragCoefficient,yDragCoefficient,zDragCoefficient,LiftCoefficient
Availableatnodesonly.Thesearethedragandliftcoefficientsusedinthecalculation. For constant coefficients then these results report the values given in the user's data, except for a node at the junctionbetweentwosectionswithdifferentcoefficients,whereaneffectiveaveragevalueisused. Iftheline'sdragorliftcoefficientsvarywithReynoldsnumberorHeightaboveSeabedthentheseresultsreportthe computedvaluethatwasused. IfthelineusesawakeoscillatorVIVmodelwithinlinedragamplificationthentheamplificationfactorisincludedin theseresults.Theinlinedragamplificationfactorisalsoavailableasaseparateresult.
WakeVelocityReductionFactor,WakeCd,WakeCl
Availableatnodesonly,forlineswhichincludesectionsthatreacttowakeeffects. WakeVelocityReductionFactoristhefactorappliedtothevelocityatthenodeasaresultofupstreamwakeeffects. WakeCdandWakeClarethedragandliftcoefficientsrespectively,usedtocalculatethehydrodynamicforcesatthe nodeasaresultofanyupstreamwakeeffects. Note: WakeClispositivewhentheliftforceisappliedintheydirectionoftheupstreamwake'sframeof reference and negative when the lift force is applied in the y direction of the upstream wake's frameofreference.
Angles
Azimuth,DeclinationandGamma
Availableatmidsegmentpointsandlineendsonly.Theseanglesreportthelocalorientationofthelinerelativeto globalaxes.Thegammaangleisdefinedasforlineends(seeLineEndOrientation)andisonlyavailableiftheline twistorientationisdefined. Declinationisintherange0to180.RangejumpsuppressionisappliedtoAzimuthandGamma(sovaluesoutside therange360to+360mightbereported).

EzAngle,ExyAngle,EzxAngle,EzyAngle
Availableatmidsegmentpointsandlineendsonly.Thedirectionanglesofthemidsegmentpointwithrespectto theendaxesofthenearestlineend.SeeEndDirectionResults.Theseresultsareonlyavailableiftheendorientation anglesaredefined. EzAngleisintherange0to180.Rangejumpsuppressionis appliedtoExyAngle,EzxAngleandEzyAngle(so valuesoutsidetherange360to+360mightbereported).

Twist
Availableatmidsegmentpointsonly.Thetwistperunitlengthexperiencedbythesegment.
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FluidIncidenceAngle
Availableatnodesonly.Theanglebetweentherelativevelocitydirectionandthelineaxialdirection.Avalueinthe range0to90.
NoMomentAzimuth,NoMomentDeclination
Availableatlineendsonly.Theazimuthanddeclinationangles,relativetoglobalaxes,ofthenomomentdirection attheend,allowingforanymotionoftheobjecttowhichthelineisattached.Theseresultsareonlyavailableifthe endorientationanglesaredefined. NoMomentDeclinationisintherange0to180.RangejumpsuppressionisappliedtoNoMomentAzimuth(so valuesoutsidetherange360to+360mightbereported).

EndForceAzimuth,EndForceDeclination
Availableatlineendsonly.Theazimuthanddeclinationoftheendforcevector,relativetoglobalaxes. EndForceDeclinationisintherange0to180.RangejumpsuppressionisappliedtoEndForceAzimuth(sovalues outsidetherange360to+360mightbereported).

EndForceEzAngle,EndForceExyAngle,EndForceEzxAngle,EndForceEzyAngle
Availableatlineendsonly.Thedirectionanglesoftheendforcevector,withrespecttotheframeofreferenceofthe lineend.SeeEndDirectionResults.Theseresultsareonlyavailableiftheendorientationanglesaredefined. EndForceEzAngleisintherange0to180.Rangejumpsuppressionisappliedtotheother3endforceangles(so valuesoutsidetherange360to+360mightbereported).

VIVStagnationPoint,VIVNegSeparationPoint,VIVPosSeparationPoint
AvailableonlyatnodesthatuseoneofthevortextrackingVIVmodelsfromtheVIVToolbox.Thevaluesreported aretheangularpositionsofthestagnationandseparationpoints.
Forces
EffectiveTensionandWallTension
Availableatmidsegmentpointsandlineendsonly.Thestructuralforcealongthelineaxis.Positivevaluesdenote tensionandnegativevaluesdenotecompression. FordetailsofthedifferencebetweentheeffectivetensionandthewalltensionseetheLinePressureEffectssection. In particular see the warning in that section if the line type stress diameters differ from the outer and inner diameters.
NormalisedTension
Availableatmidsegmentpointsandlineendsonly.DefinedtobeEffectiveTensiondividedbyMaximumTension.
ShearForce,xShearForce,yShearForce,ShearForcecomponent,InplaneShearForce,OutofplaneShearForce
Available atmidsegment points and line ends only. The magnitude of structural force normal to the line axis, its components in the local x and ydirections, its component in the user specified local direction theta and its componentsintheinplaneandoutofplanedirections. Theinplanedirectionisnormaltoboththeline'saxis(atthespecifiedarclength)andtheverticaldirection.The outofplanedirectionisnormaltoboththeline'saxisandtheinplanedirection. Iftheline'saxisisverticalthenthesedirectionsareilldefinedandthereforenovaluescanbereported.
VortexForceMagnitude, InlineVortexForce,TransverseVortexForce, GXVortexForce,GYVortexForce,GZVortexForce
AvailableonlyatnodesthatuseoneofthetimedomainVIVmodelsfromtheVIVToolbox.Themagnitudeofthelift and drag force per unit length of line, and its components in the VIV directions and global axes directions. For details,seethedocumentationoftherelevanttimedomainVIVmodel.
InlineDragAmplificationFactor
Available only at nodes that use one of the wake oscillator VIV models from the VIV Toolbox. The instantaneous valueoftheInlineDragAmplificationFactor.
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Moments
BendMoment,xBendMoment,yBendMoment,BendMomentcomponent,InplaneBendMoment,OutofplaneBend Moment
Availableatmidsegmentpointsandlineendsonly.Themagnitudeofbendmoment,itscomponentsinthelocalx and ydirections, its component in the user specified local direction theta and its componentsin the inplane and outofplanedirections. Theinplanedirectionisnormaltoboththeline'saxis(atthespecifiedarclength)andtheverticaldirection.The outofplanedirectionisnormaltoboththeline'saxisandtheinplanedirection. Iftheline'saxisisverticalthenthesedirectionsareilldefinedandthereforenovaluescanbereported.
Curvature,xCurvature,yCurvature,Curvaturecomponent,InplaneCurvature,OutofplaneCurvature
Availableatmidsegmentpointsandlineendsonly.Themagnitudeofcurvature,itscomponentsinthelocalxandy directions,itscomponentintheuserspecifiedlocaldirectiontheta,theinplaneandoutofplanecomponentsand itscomponentsintheinplaneandoutofplanedirections,asdefinedabove. Whenprebendismodelledcurvatureresultsarereportedrelativetotheprebentcurvature. Note: Whenusingnonlinearbendstiffness,thereportedmidsegmentcurvaturedependsonwhetherthe bend stiffness is specified to be hysteretic or not. For details see the note in the Nonlinear Bend Stiffnesssection. Curvatureresultsareaccurateonlyifthesegmentlengthissufficientlyshort.Theaccuracycanbe estimatedbyperformingasensitivitystudyonsegmentlengthintheareaofinterest.
Warning:
NormalisedCurvature
Availableatmidsegmentpointsandlineendsonly.DefinedtobeCurvaturedividedbyAllowableCurvature. Ifminimumbendradius(MBR)isspecifiedasvaryingwitheffectivetensionthenthisvariationistakenintoaccount whencalculatingNormalisedCurvature.

BendRadius,xBendRadius,yBendRadius,BendRadiuscomponent,InplaneBendRadius,OutofplaneBendRadius
Availableatmidsegmentpointsandlineendsonly.Themagnitudeofbendradius,itscomponentsinthelocalxand ydirections,itscomponentintheuserspecifiedlocaldirectionthetaanditscomponentsintheinplaneandoutof planedirections,asdefinedabove. Whenprebendismodelledtheseresultsarereportedrelativetotheprebentcurvature. Notes: Bendradiusisdefinedtobe1/curvature.Ifthecurvatureis0thenavalueof'Infinity'isreported. Whenusingnonlinearbendstiffness,thereportedmidsegmentcurvaturedependsonwhetherthe bend stiffness is specified to be hysteretic or not. For details see the note in the Nonlinear Bend Stiffnesssection. Bendradiusresultsareaccurateonlyifthesegmentlengthissufficientlyshort.Theaccuracycan beestimatedbyperformingasensitivitystudyonsegmentlengthintheareaofinterest.
Warning:
Torque
Available at midsegment points and line ends only, and available only for lines with torsion included. The componentofstructuralmomentalongthelineaxis.
Contact
Note: AswellastheresultsvariablesdocumentedbelowOrcaFlexalsoprovidesaLineClashingReport.
LineCentrelineClearance,LineContactClearance
Availableatmidsegmentpointsandlineends.Thelineclearancevariablesreportshortestdistancesbetweenlines. Thesedistancescanbeeithertheshortestdistancebetweencentrelines(LineCentrelineClearance)ortheshortest distance between outer edges (Line Contact Clearance). The results selection form lets you choose to report clearanceseither: fromthislinetoallotherlinesor
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fromthislinetoaspecifiedotherline.
Inthetextbelowwerefertotheotherlinesusedintheclearancecalculationsastheclearancelines,betheyallother linesorasinglespecifiedotherline. LineCentrelineClearancereportsthecentrelineclearancefromthislinetotheclearancelines.Moreprecisely,the clearancereportedforasegmentistheshortestdistancefromthecentrelineofthesegmenttothecentrelineofany segmentontheclearancelines.Notethattheclearancereportedthereforedoesnotallowfortheradiiofthelines involved.Whenclearanceisreportedforalineenditreportstheshortestdistancefromthecentrelineofthepoint attheendnodetothecentrelineofanysegmentontheclearancelines. LineContactClearanceissimilarbutitreportstheclearancebetweenlineouteredgesallowingfortheircontact diameters. Note: LineContactClearancecanreportnegativevalues.Thismeansthatthesegmentsinquestionare penetrating each other. If clashing is being modelled for both segments then a clash force will resultfromthispenetration.
The line clearance variables are useful for checking for clashing between lines. They are available in both range graphandtimehistoryform.Therangegraph,foragivenperiodofthesimulation,enablesyoutoseewhereonthe lineclashingmaybeaproblem.Youcanthenexaminethetimehistoryoflineclearanceforthatpointontheline,to seewhenclosestapproachoccurs.Youcanthenusethereplaytoexaminewhichotherlineiscomingclosest. It is sometimes worth choosing carefully which line to check for clearance. An example is checking for clashing betweenasinglemooringlineandoneormoreofanumberofcloselyspacedflowlines.Letusassumethatyouare reportingclearancesfromallotherlines.Theclearancegraphsfortheflowlineswillincludeclearancetotheother flowlines,betweenwhichclashingmaynotbeaconcern.Themooringlineclearanceisprobablymoreuseful,since itonlyincludesclearancetotheflowlines. Line clearance only checks against other lines, not against edges of vessels, buoys, etc. However you can check clearance against part of a vessel, for example, by attaching a dummy singlesegment line to the vessel, spanning acrosstheareaofinterest.Thelineclearancegraphsforthatdummylinewillthenshowhowcloseotherlinescome tothatareaofthevessel. Notes: Warning:
SeabedClearance
Formidsegmentpointsthesegmentusedistheonecontainingtheselectedarclength. Lineclearanceresultsareonlyavailableifthereareatleast2linesinthemodel. Forcomplexmodels,buildingandupdatingclearancegraphscanbeslow.Having"live"clearance graphsopenwhileasimulationisrunningcansignificantlyslowdownthesimulation.
Available at nodes only. The clearance is the shortest distance between the node and any point on the seabed, allowing for the contact diameter. The value reported is for the node that is nearest the specified arc length. A negativevalueindicatesthatthenodeisincontactwiththeseabed. Thisresultisnotavailablefor3Dseabedsbecauseitisdifficulttocalculate.InsteadyoushoulduseVerticalSeabed Clearance.
VerticalSeabedClearance
Available at nodes only. The clearance is the vertical distance between the node and the seabed, allowing for the contact diameter. The value reported is for the node that is nearest the specified arc length. A negative value indicatesthatthenodeisincontactwiththeseabed.
LineClashForce
Availableatmidsegmentpointsonly.Themagnitudeoftheclashforcebetweenthissegmentandotherlines.Please notethatthisvariableisonlyavailableifclashcheckinghasbeenincludedforthelinesconcerned.SeeLineClashing fordetails. LineClashForceisgivenforthesegmentcontainingtheselectedarclengthandresultsareavailableintheformof time histories and range graphs. If multiple clashes occur simultaneously on the same segment then the value reportedisthemagnitudeofthevectorsumoftheclashforcesinvolved.
LineClashImpulse
Availableatmidsegmentpointsonly.TheintegralofLineClashForcewithrespecttotime.
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LineClashEnergy
Available at midsegment points only. Clash energy is calculated by integrating the magnitude of clash force with respecttodepthofpenetration. Suppose that this segment is denoted by S1 and segment S2 is another segment which S1 is in contact with. The clashenergyforthespring/damperrepresentingcontactbetweenthese2segmentsiscalculatedbyintegratingthe magnitude of clash force with respect to depth of penetration. This then is the potential energy in the spring/damper. Ifmultipleclashesoccursimultaneouslyonthesamesegmentthenthevaluereportedisthesumofallindividual clashenergiesbetweenthissegmentandothersegments.
SolidContactForce
Availableatnodesonly.Themagnitudeoftheforceperunitlengthduetocontactwithelasticsolids.
SeabedNormalPenetration/D
Available at nodes only. The component of seabed penetration normal to the seabed, divided by the contact diameter.
SeabedNormalResistance,SeabedNormalResistance/D
Available at nodes only. Seabed Normal Resistance is the component of seabed resistance normal to the seabed. Seabedresistanceisdefinedasseabedreactionforceperunitlengthofline.SeabedNormalResistance/Disgivenby SeabedNormalResistancedividedbythecontactdiameter. Theforcesduetobothseabedstiffnessandseabeddampingareincluded. Warning: Thedampingforcedependsuponnodevelocity.Thisisderivedbynumericallydifferentiatingthe loggedpositionsofthenodewithrespecttotime,usingthecentraldifferencescheme.Becauseof thistheaccuracyoftheresultswilldependonthelogsampleinterval.SeeMotionsresultsformore details.
PipeStress/Strain
Stressandstrainresultsareavailableatmidsegmentpointsandatlineends. Note: The loads (tension, bend moment, shear and torque) which are used in stress calculations are scaledbythestressloadingfactorsbeforebeingused.
Warnings: ThestresscalculationbuiltintoOrcaFlexmakesvariousassumptionsseebelow.Inparticularitis assumed that the pipe is made of a straight, uniform, homogeneous, linear material, that the tensionandshearareuniformlydistributedacrossthepipewall,andthatthebendingstressvaries linearlyacrossthepipecrosssection.Itisthereforeonlyvalidforpipessuchassteelortitanium risers,notforcompositeflexiblerisers,ropeschains,etc.Anditisnotvalidifthepipeisstressed beyondthematerial'slinearrange(evenifthisisallowedforbyusingnonlinearbendstiffnessor axialstiffnessdata). Ifthelinetypestressdiametersdifferfromtheouterandinnerdiametersthenseethewarningin theLinePressureEffectssection. OrcaFlexdoesnot,andindeedcannot,allowforthecomplexstressconcentrationsthatcanoccur atjointsoratthetopandbottomofariser.Thestresscalculationsincludedareonlyvalidunder theassumptionsgivenbelow;detailedstressanalysisisstillnecessary.
Thestresscalculationmakesthefollowingassumptions: At each point along the line all the loads are taken by a single simple cylinder of the specified Stress OD and StressIDandmadeofahomogeneousmaterial. Thestressesincludedarethoseduetotension,bending,shearandhoopstress. Internalpressureinthelinegenerateswalltensioninthelineasitwoulddoinasealedcylinder. Shear stress is assumed to be uniformly distributed across the cross section. Although this is not strictly the case,theshearstressisnormallynegligiblesothissimplifyingassumptionisreasonable.
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ThehoopstressduetostaticinternalandexternalpressureatthecurrentZlevelisincluded,andiscalculated using the standard Lam equation for thick walled cylinders. However the effect of dynamic variations in pressure,forexamplefromthepassageofthewave,arenotincluded.
ForterminologyseePipeStressCalculation.
DirectTensileStrain
Availableatmidsegmentpointsandlineendsonly.Thisisthecomponentofaxialstrainduetowalltension(which includestheeffectsofinternalandexternalpressure).
MaxBendingStrain
Availableatmidsegmentpointsandlineendsonly.Thisistheaxialstrainduetobendingattheouterfibreonthe outsideofthebend.
WorstZZStrain
Availableatmidsegmentpointsandlineendsonly.ThisequalswhicheverofDirectTensileStrainMaxBending Strainhasthelargestabsolutevalue.
ZZStrain
Availableatmidsegmentpointsonly.ThisequalsDirectTensileStrain+BendingStrain.ZZStrainvariesacrossthe crosssectionandsoitsvalueisreportedataspecified(R,Theta)position.
InternalandExternalPressure
Availableatmidsegmentpointsandlineendsonly.Theinternalandexternalstaticpressures,PiandPo.SeeLine PressureEffectsfordetails. PressuresinOrcaFlexaregaugepressures,notabsolutepressures.Thatis,theyarerelativetoatmosphericpressure andsocanbeaslowasminus1atmosphere(101.325kPa).

NetExternalPressure
Availableatmidsegmentpointsandlineendsonly.DefinedasInternalPressureExternalPressure.
DirectTensileStress
Availableatmidsegmentpointsandlineendsonly.Thisistheaxialstressduetowalltension(whichincludesthe effectsofinternalandexternalpressure).ItisconstantacrossthecrosssectionandequalsTw/A.Apositivevalue indicatestension;anegativevalueindicatescompression.

MaxBendingStress
Available at midsegment points and line ends only. This is the maximum value that the Bending Stress takes anywhereinthesection.Itisgivenby MaxBendingStress=(C2.M.StressOD/2)/Ixy andthismaximumoccursattheextremefibreontheoutsideofthebend.
WorstHoopStress
Available at midsegment points and line ends only. The Hoop Stress is due to internal and external pressure. It variesacrossthesectionandcanbepositive(tension)ornegative(compression),andbytheWorstHoopStresswe mean the hoop stress of greatest magnitude. It is obtained by finding the point in the crosssection where the unsignedmagnitudeoftheHoopStressislargest;thismustbeeitherattheinsideoroutsidefibreofthestressarea. TheHoopStressatthispointiscalledtheWorstHoopStress.
MaxxyShearStress
Availableatmidsegmentpointsandlineendsonly.Thevalue(RZStress2+CZStress2)iscalledthexyShearStress. Thisvariesacrossthecrosssection,andOrcaFlexreportsthe maximumvaluethatoccursanywhereinthecross section.ThisistheMaxxyShearStressanditisgivenby MaxxyShearStress=(C4..StressOD/2)/Iz+C3.S/A
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vonMisesStress,MaxvonMisesStress
Availableatmidsegmentpointsandlineendsonly.ThevonMisesstressisastressmeasurethatisoftenusedasa yieldcriterion.Itisacombinationofallthecomponentsofthestressmatrixandintermsofprincipalstressesitis givenby: vonMisesStress=(((s1s2)2+(s2s3)2+(s3s1)2)/2) wheres1,s2ands3aretheprincipalstresses,i.e.theeigenvaluesofthe3by3stressmatrix. ThevonMisesStressvariesacrossthecrosssection,soitsvalueisreportedataspecified(R,Theta)position. TheMaxvonMisesStressisanestimateofthemaximumvalueofthevonMisesStressoverthecrosssection.The wayitiscalculateddependsonwhetherthelineincludestorsionornot,asfollows. Iftorsionisnotincluded,thenOrcaFlexassumesthatthetorqueiszero.Inthiscasethemaximumvalueofthe vonMisesstressmustoccurintheplaneofbending.OrcaFlexalsoassumesthatthemaximumoccursateither theinnerorouterfibre.(Thisisacommonlyusedassumptionthatisalmostalwaysvalid,sinceiftheinternal pressurestresscontributionisdominantthenthemaximumwillbeattheinnerfibre,whereasifbendingstress isdominantthenitwilloccurattheouterfibre.)OrcaFlexthereforecalculatesthevonMisesstressat4points (R=StressID/2andStressOD/2,intheplaneofbending)andreportsthelargestvalue. Iftorsionisincluded,thenthemaximumvalueofthevonMisesstresscan,ingeneral,occuranywhereinthe pipe wall. SoOrcaFlexcalculatesthe von Mises stress atagridofpoints acrossthe pipe walland reportsthe largestvaluefound.Currently,thegridconsists36Thetavalues(i.e.every10aroundthepipecircumference) ateachof5Rvaluesacrossthepipewall. Warning: IftorsionisincludedthenthereportedmaximumvonMisesstressisthereforeapproximate,since theactualmaximummaynotoccuratagridpoint.
RRStress,CCStress,ZZStress,RCStress,RZStress,CZStress
Available at midsegment points and line ends only. These are the individual stress components at a point in the crosssection. The point is specified by its polar coordinates (R, Theta) within the cross section. See Pipe Stress CalculationandPipeStressMatrixfordetails.
EndLoads
Thelineendloadresultsarebasedontheendforceandendmomentvectorsatthelineend.Thereare3groupsof endloadresults: StandardresultslikeEffectiveTension,BendMoment,etc.are availableatlineendsaswellasatmidsegment points.ForexampletoobtaintheendtensionatEndAyoucanaskfortheEffectiveTension(orWallTension)at EndA. Magnitudeandothercomponentsoftheendforceandendmomentvectors. BendRestrictorLoad,whichisaspecialendloadresultusefulforbendrestrictordesign.
SignConvention
When considering the sign of end load components the question arises as to whether the load reported is that appliedbythelinetoitsconnectionorviceversa.TheOrcaFlexconventionisthattheloadreportedatanypointis thatappliedbytheBsideofthatpointtotheAside.SoatEndAwereporttheendloadappliedbythelinetoits connection(e.g.avessel),butatEndBwereporttheendloadappliedtothelinebyitsconnection.Thisisinkeeping withtheOrcaFlexconventionforspecifyingthenomomentdirection.
TreatmentofLinksandWinchesattachedtotheendnode
Normally,theendforceandendmomentarethetotalloadactingbetweentheendnodeandtheobjecttowhichitis connected.Thisincludesforcesfromanylinksorwinchesattachedtotheendnode. However if the line end is free, or has been released, then it is not connected to any object. In this case the end momentiszeroandtheendforceistakentobethetotalforceactingbetweenthelineendandanylinksorwinches attachedtotheendnode.Iftherearenoattachedlinksorwinches,ortheyhavebeenreleased,thentheendforceis zero.
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StandardResults
EffectiveTension,WallTension, ShearForce,xShearForce,yShearForce, BendMoment,xBendMoment,yBendMoment, Curvature,xCurvature,yCurvature
Theseresultsvariablesareavailableatthelineendnodes,aswellasatmidsegmentpoints.Whetheryouaregiven endvaluesormidsegmentvaluesdependsonthepointatwhichyouaskfortheresults.Ifyouaskfortheseresults atEndAorEndB,oratanarclengththatisclosertoalineendthantothenearestmidsegmentarclength,thenthe valuesatthelineendwillbegiven.Otherwisethevaluesforthenearestmidsegmentpointwillbegiven. FormidsegmentvaluesseeLineResults:Forces,LineResults:MomentsandLineResults:PipeStresses. Atalineendtheyreportthecomponentsoftheendloadsinthelocalnodedirectionsoftheendnode,asfollows: Effectivetensionisthecomponentoftheendforcevectorintheendnodeaxialdirection(=Nzdirection). Walltensionisderivedfromtheeffectivetensionatthelineend,usingthepressureeffectsformula. Shearisthecomponentoftheendforcevectornormaltotheendnodeaxialdirection. xShearandySheararethecomponentsoftheendforcevectorintheendnodeNxandNydirections. Torqueisthecomponentoftheendmomentvectorintheendnodeaxialdirection. Bendmomentisthecomponentoftheendmomentvectornormaltotheendnodeaxialdirection. xBendMomentandyBendMomentarethecomponentsintheendnodeNxandNydirections. Stressresultsarebasedontheendloadcomponentsintheendnodeaxesdirections.
DifferencesbetweenEndLoadsandEndSegmentLoads
Theendvaluesoftheseresultsdifferfromthecorrespondingvaluesfortheendsegmentfortworeasons. Firstly,theyincludetheloads(weight,buoyancy,dragetc.)onthelasthalfsegmentadjacenttotheend. Secondly,theyarecomponentsinthelocalnodedirections(Nx,Ny,Nz)attheendnode,whereastheendsegment valuesarecomponentswithrespecttothesegmentdirections(Sx,Sy,Sz).Theendnodeisoftennotalignedwiththe endsegmentbecauseendconnectionstiffnessturnsittowardstheendorientationdirection.Forexample: Iftheendconnectionstiffnessiszero,orifthelineendisfreeorhasbeenreleased,thentheendnodedirections arealignedwiththeendsegmentdirections.Theendnodevaluesthendifferfromtheendsegmentvaluesonly bytheloadsontheendhalfsegment. IftheendconnectionstiffnessisInfinity(andtheendisnotfreeorreleased)thentheendnodedirectionsstay alignedwiththelineendaxesEx,Ey,Ez.Theendnodevaluesarethenusuallyindifferentdirectionstotheend segmentvalues. For intermediate values of end connection stiffness, the end node directions will be somewhere between the two.Theywilltendtobenearertotheendfittingdirectionsiftheendconnectionstiffnessesarestrongerthan thelinebendstiffnessandtorsionalstiffness,butnearertotheendsegmentdirectionsifitisweaker.
EndLoadMagnitudeandComponents
EndForce,EndMoment, EndGXForce,EndGYForceandEndGZForce,EndGXMoment,EndGYMoment,EndGZMoment, EndLxForce,EndLyForceandEndLzForce,EndLxMoment,EndLyMoment,EndLzMoment, EndExForce,EndEyForceandEndEzForce,EndExMoment,EndEyMoment,EndEzMoment
Theseresultsreportthemagnitudeoftheendforceandendmomentvectors,andtheircomponentsinthefollowing directions: ThedirectionsoftheglobalaxesGX,GY,GZ. ThedirectionsofthelocalaxesLx,Ly,Lzoftheobjecttowhichthelineendisconnected.Forexampleiftheline endisconnectedtoavessel,theLx,Ly,Lzarethedirectionsofthevesselaxes. ThedirectionsofthelineendaxesEx,Ey,Ez.SeeLineEndOrientation.
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BendRestrictorLoad
ThisisdefinedasBendRestrictorLoad=EndForce*(1cos(EndForceEzAngle)).Anothercommonlyusedname forthisvariableis"pseudocurvature".
7.8.6
DragChainResults
FordetailsonhowtoselectresultsvariablesseeSelectingVariables. ForDragChainsthefollowingresultsvariablesareavailable.
Theazimuthanddeclinationofthedragchain,relativetoglobalaxes.
SupportedLengthandHangingLength
Thesupportedlengthisthelengthdeemedtobesupportedbytheseabed.Thehanginglengthisthelengthofthe restofthedragchain.Thesupportedlengthplusthehanginglengthequalsthetotallengthofthedragchain.See DragChainSeabedInteractionfordetailsonhowthesevaluesarecalculated.

DragForce
Themagnitudeofthedragforceactingonthedragchain.Thisincludesboththeaxialandnormalcomponentsofthe dragforce.
AxialDragForce,NormalDragForce
Thecomponentsofdragforceaxialandnormaltothedragchain.
HorizontalDragForce,VerticalDragForce
Thehorizontalandverticalcomponentsofthedragforce.Fortheverticaldragforceapositivevalueindicatesan upwardsforce. SeeDragChainTheoryfordetailsonhowthedragforceiscalculated.
7.8.7
FlexJointResults
FordetailsonhowtoselectresultsvariablesseeSelectingVariables. ForFlexJointsthefollowingresultsvariablesareavailable.
BendMoment,xBendMoment,yBendMoment
ThemagnitudeofbendingmomentattheFlexJointanditscomponentsinthelocalxandydirections.
7.8.8
ModalAnalysis
Themodalanalysisformenablesyoutocalculateandviewtheundampednaturalmodesofalineinthemodel.To openthisform,seetheModalAnalysiscommandontheResultsmenu.Notethattheanalysisisonlyavailablewhen thestaticpositionofthemodelhasbeencalculated. ForfulldetailsofthecalculationseetheModalAnalysistheorysection. DoingaModalAnalysis Toperformamodalanalysisyouneedtospecifythefollowing: Whichlineyouwanttoanalyse.Notethattheanalysisisnotyetavailableforlinesthathavetorsionincluded. Whichmodesyouwanttocalculate.YoucanaskforAllmodesoraspecifiedrangeofmodes.SeeModalAnalysis Theoryfordetails. Whetheryouwanttocalculatethemodeshapesorjustthenaturalperiods.Ifyouexcludethemodeshapesthen theanalysisonlycalculatesthenaturalperiodsoftheline,nottheshapesofthenaturalmodes.Ifyouinclude themodeshapesthentheanalysistakeslonger.
When you have made your selections click the Calculate button. The modal analysis will then calculate the undamped natural periods and, if requested, the mode shapes. Each mode is normalised to have largest offset magnitudeequalto1,i.e.theoffsetsvectorsarescaledsothatlargestoffsetvectorisaunitvector.Themodesare numberedinorderofincreasingfrequency.
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ModeTable TheTablepagethendisplaysaspreadsheetgivingtheresultsinnumericalform.Ifyoudonotcalculatethemode shapethenthetablereportsonlytheperiodsoftherequestednaturalmodes.Ifyoucalculatethemodeshapesthen thetablealsogivestheshapeintheformofthedisplacementsofeachfreenode. Ifmodeshapesarecalculatedthenthetableincludesthefollowinginformation: OffsetDistributiondisplaysameasureofhowinline,transverseandaxialthemodeis.FordetailsseeOffset Distributionbelow. Mode Type classifies each mode according to the offset distribution. Transverse means that the transverse component is more than 90% of the total, Mostly Transverse means that it is between 50% and 90%, and similarlyforInline,MostlyInline,AxialandMostlyAxial.Mixedmeansthatnoneofthecomponentsaremore than50%ofthetotal. Note: TheOffsetDistributionandModeTypeinformationisonlyavailableifthereisrelativeflownormal to the line. So, if the line is entirely above the water, or there is no current defined then this informationwillnotbeavailable.
ModeView If you requested the mode shapes then the View page displays a 3D view of the line showing one selected mode shapesuperimposedonthestaticpositionoftheline.Thecurrentdirectionisalsoshownontheview,andyoucan controltheviewangle,zoometc.,asonany3Dview. Notethatyoumayneedtozoomoutinordertoseetheline,andyoumayneedtoadjusttheviewangletosuitthe modethatyouareviewing.Forexampleanoutofplanemodeisbestviewedbylookingalongtheplaneoftheline. YoucanusetheModedropdownlisttocontrolwhichmodeisshownontheview.Notethatwhenthatdropdown listhasthefocus(clickittogiveitthefocus)thenyoucanusethearrowkeystoquicklyincrementordecrementthe modeshapenumberthatisdisplayed. TheDrawingExaggerationvalueallowsyoutocontroltheamplitudeofthemode.(Amodeshapedoesnotdefine theoverallamplitudeoftheoscillationitonlydefineshowtheamplitudevariesalongtheline.) The OffsetDistributionandModeTypefortheselectednodeisalsoshown,providedthatthereisrelativeflow normaltotheline. VIVPage IfyourequestedthemodeshapesthentheViewpagedisplaysatableofinformationrelatingtoVIV. Eachrowofthetablereferstoasinglemodeandcontainsthefollowinginformation: TheModeNumber. Themode'sPeriodandFrequency. Themode'sOffsetDistributionandModeType. Export to SHEAR7 Mds File determines whether or not the mode will be included in the exported SHEAR7 .Mdsfile.
Thetablecanbesortedinorderofinline,transverseoraxialoffsetdistributionorinorderofmodenumber.
OffsetDistribution
Foragivenmode,letVbethemodeoffsetvectoratagivennode,letVi,VtandVabeV'scomponentsinthelocal inline, transverse and axial directions and let L be the length of line represented by that node. Then OrcaFlex calculatestheinline,transverseandaxialcomponentsoftheoverallmodeshapeasfollows: Modeshapeinlinecomponent=Mi=((L.Vi2)) Modeshapetransversecomponent=Mt=((L.Vt2)) Modeshapeaxialcomponent=Ma=((L.Va2)) wherethesummationsareoverallnodesintheline. OrcaFlexthenreportsthese3modeshapecomponentsaspercentagesoftheirsum,i.e.theoffsetdistributionvalues reportedbyOrcaFlexareMi/M,Mt/MandMa/MwhereM=Mi+Mt+Ma.Thesevaluesareonlyusedtoprovidesome measureofhowinline,transverseandaxialthemodeis.
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Therootsumofsquaresformulationusedaboveisthemultidimensionalequivalentofthestandard3Dformula|V| =(Vi2+Vt2+Va2).ThescalingbyListheresothatthevaluesareindependentofthelevelofdiscretisation.
ExportSHEAR7MdsFile
ThisbuttonexportsaSHEAR7.Mdsfile.
7.8.9
LineSetupWizard
Intended principally for mooring analyses, this wizard adjusts line configuration to achieve specified tension, declination or layback. The wizard is available when the current simulation is in Reset state and is opened by clickingtheCalculation|LineSetupWizardmenuitem.
Figure: TheLineSetupWizard
CalculationMode
TheWizardhastwomodesofoperation:CalculateLineLengthsorCalculateAnchorPositions. TheCalculateLineLengthsoptionoperatesbyvaryingthelengthofthespecifiedsectionofeachincludedlineuntil the target top value is achieved. Because the section length is altered by the Calculate Line Lengths option we recommendthatyouspecifythesegmentationusingTargetSegmentLengthratherthanNumberofSegments.Thus ifthewizardlengthensthelinethentheprogramwillautomaticallyaddmoresegmentstomeettheTargetSegment Length. TheCalculateAnchorPositionsoptionoperatesbyvaryingthe positionoftheBottomEndofeachincludedline until the target value is achieved. The Bottom End position is constrained to be on a line in the Lay Azimuth directionsoyoumustsetthesedataitemsbeforeusingthewizard.
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SystemModellingDataandResults,Lines Thesecalculationsuseanumericalmethodwhichisnot100%robust.Werecommendthatyouset upyourmodelsothatyourtoptension/topdeclinationvaluesarequiteclosetoyourexacttarget valuesbeforeusingthewizard.Ifyoudothisthewizardismorelikelytobeabletofindasolution.
Note:
TargetValues
Tousethewizardyoumustfirstspecifythetargettensionsordeclinations.ThewizardpresentsalistofallLinesin themodel. TheIncludethisLineoptiondetermineswhichLinesareincludedinthecalculation whichallowsyoutoexclude certainLines.Forexample,youmaybemodellingbothmooringsandflowlinesinthesameOrcaFlexfile.Typically youwouldonlyincludethemooringsinthiscalculation. TheTargetVariableoptionallowsyoutoswitchbetweenthefollowingoptions: EndATensionorEndBTension. EndAHorizontalEndForceorEndBHorizontalEndForce. EndADeclinationorEndBDeclination. Layback, defined to be the horizontal component of distance between the Top End of the line and the touchdownpoint. No Target, which means that the line will be included in the static calculation but that its data is not to be modified.Thisisparticularlyusefulifyouareanalysingbuoyedsystemswheretheupperandlowercatenaries aremodelledwithdifferentLines.
FinallyyouspecifyTension,HorizontalEndForce,DeclinationorLaybackvalues,asapplicable,intheTargetValue field.
Linesectiontobemodified
SpecifieswhichsectiononthelineistohaveitslengthmodifiedwhenusingtheCalculateLineLengthsmode.
ConvergenceParameters
TheWizardperformsaniterativecalculationandtheseparameterscanbeusedtohelpconvergence. The calculation is abandoned if convergence has not been achieved after the number of steps specified by Max Iterations.Forsomedifficultcasessimplyincreasingthislimitmaybeenough. The nondimensional Tolerance parameter determines when the calculation is deemed to have converged. The calculationhasconvergedoncethefollowingconditionsaresatisfied: CalculatedValue<ToleranceTypicalForcefortensionandendforcetargets.TypicalForceforalineisdefined astobethetotaldryweightoftheline. CalculatedValue<Tolerancefordeclinationtargets. CalculatedValue<ToleranceTargetValueforalaybacktarget.
TheMinDampingandMaxDampingparameterscansometimesbeusedtohelpdifficultproblemsconverge.Try increasingtheMinDampingfactor,sayvaluesintherange1.5to10.YoucanalsotryincreasingtheMaxDamping factor,saytovaluesintherange10to100.
7.8.10
LineTypeWizard
TheLineTypeWizardisatoolthathelpsyousetupaLineTypethatrepresentsoneofthefollowingcommonlyused structures: Chain. Rope/Wire. LinewithFloats. HomogeneousPipe. Hose. Umbilical.
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What the Wizard does is ask you for the basic data of the structure e.g. the bar diameter for a chain and then calculate for you as much of the line type data as it reasonably can for representing that structure. The Wizard leavesyoutosetotherdatae.g.frictioncoefficientswherethereisnoformulaonwhichtobasethedata. Warning: ThevaluesgeneratedbytheWizardareofferedingoodfaith,butduetovariationsinproperties betweenproductstheycannotbeguaranteed.Pleaseusesuppliers'datawherethisisavailable.
HowTheLineTypeWizardWorks TheWizardworksonthecurrentlyselectedlinetypeonthelinetypesform,soyoushouldfirstcreate,nameand select the Line Type that you wantto set up. You canthen open the Wizard using the Wizard button on the Line Typesform. ThefirsttimeyouusetheWizardonagivenlinetypeyoumustbeinresetstate,sinceyouwillbesettingdata.You then tell the Wizard the category of structure that you want to model (chain, rope etc.) and the data for that structure(e.g.chainbardiameter).ThisinformationiscalledtheWizarddata,andfromittheWizardderivesline typedatatocorrespondtothatWizarddata.Ifnecessaryyoucanthenmanuallyadjustthederivedlinetypedata. OnceyouhaveusedtheWizardtosetupdataforagivenlinetype,thentheWizardrememberstheWizarddatayou gave it. If you reopen the Wizard when in reset state then you can edit the Wizard data and the Wizard will calculatecorrespondingnewderivedlinetypedata.Anymanualadjustmentswillneedtobedoneagain. YoucanalsoreopentheWizardwheninotherstates(e.g.instaticstateorwhenasimulationisactive)butonlyin ordertoviewtheWizarddata.YoucannoteditWizarddataorrederivelinetypedataexceptinresetstate. Note: RememberthatthecurrentlinetypedatamightnotcorrespondtothecurrentWizarddata,since youmighthavemanuallyeditedthelinetypedataafteritwasderivedbytheWizard.
UsingtheLineTypeWizard TheWizardhasthreestages,withNextandBackbuttonssothatyoucanmovebetweenstagestosetupthedata youwant. Stage1displaysthenameoftheselectedLineTypeandasksyoutospecifythespecialcategorythatyouwant.You canthenclickNexttoproceedtothesecondstage. Stage2presents3framesofinformation.Thetopleftframeasksyouforthebasicdataofthespecialcategoryyou haveselected.ThebottomleftframedisplaystheresultingderivedLineTypedatayoushouldcheckthatthevalues arereasonable. TherighthandframedisplaysotherpropertiesoftheresultingLineType,whichareoftenusefulasacheck.Insome cases these depend on contents density, in which case you can specify the contents density to be used for the calculationofproperties.Ifthereareanyerrorsthenamessagewillbedisplayed.Wheneverythingiscorrectyou canclickNexttoproceedtothelaststage. Stage3displaysalloftheLineTypedata.BoldtextisdatathathasbeenderivedforyoubytheWizard,basedonthe speciallinetypedatayouspecified.NonboldtextisdatathathasnotbeensetbytheWizardthisdatawillbeas youlastsetit.Youcanadjustanyofthedataatthisstage,overridingthevaluesderivedbytheWizardifyouwish. YoucanalsostillgobacktopreviousstagesoftheWizardiffurthermodificationsarerequired.Wheneverythingis correctyoucanclicktheFinishbutton,inwhichcasethenewdatawillbewritten,overwritingthepreviousdatafor that line type. Alternatively, you can Cancel to leave the line type unchanged, but then any newly entered special categorydatawillalsobelost.
7.8.11
Chain
AchaincanbemodelledinOrcaFlexbyusingaLineTypewithitsvariouspropertiessettosuitablevalues.Thisnote derivesthevaluestouseforanchorchainofnominal(i.e.bar)diameterD,asshownintheFigure:ChainGeometry. Thepropertiesofanequivalentlinetypearegivenbelow. OD ID Contactdiameter Mass/Length Axialstiffness Studless 1.80D 0 3.35D 19.9D2 0.854x108D2 Studlink 1.89D 0 3.6D 21.9D2te/mforDinm 1.01x108D2kNforDinm
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SystemModellingDataandResults,Lines Studless 0 yes 1.0 2.10D 0.4 0.54D/ 0.08 '~' '~' Studlink 0 yes 1.0 2.26D 0.4 0.60D/ 1.0 0.07 '~' '~'
Bendstiffness LimitCompression Normaldragcoefficient Normaldragdiameter Axialdragcoefficient Axialdragdiameter Axialaddedmasscoefficient Stressdiameters Allowablestress Frictioncoefficient
Reference
Normaladdedmasscoefficient 1.0
typically0.40.8dependingontheseabed
PuechA,1984.
Geometry
D = Nominal Diameter AFACE AEDGE 3.35D (studless) 3.6D (studlink)
3.35D (studless) 3.6D (studlink)

Figure: ChainGeometry
6D
Data
Chainsarewidelyusedinavarietyofoffshoreapplications,mostobviouslyinmooring.TheLineTypeWizardhelps derivealinetypetorepresentachainbasedonthefollowinginputdata.
BarDiameter
Thediameterofthemetalbarthatformsthelinks.
LinkType
Canbeeitherstudlinkorstudless.
MechanicalProperties
CatalogueData WhenmodellingmooringchaintheLineTypeWizardaimstoderivedataforalinetypewhosecharacteristicsare equivalenttothatofachain. Warning: ThevaluesgeneratedbytheWizardareapproximateonlyandareintendedasfirstestimatesfor preliminary use. They are offered in good faith, but due to variations in properties between productstheycannotbeguaranteed.Pleaseusesuppliers'datawherethisisavailable.
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In derivingthese someofthe available cataloguedata will prove useful and weoutline here the relevantaspects. TheMooringChainfigureshowsthegeometryofapairofchainlinks.Thevaluesaregivenintermsofthenominal bardiameterofthechain(D),assumedtobeinmetres,andaregivenforbothastudlesschainand,wheredifferent, for a studlink chain. The geometry given in the figure is based on catalogue data available from the chain manufacturerScanaRamnas(1990&1995),asisthefollowingexpressionformasspermetre: Masspermetre(M)=19.9D2te/m(studless)or21.9D2te/m(studlink). ThecataloguealsogivesthefollowingvaluefortheYoung'sModulusofthechainthathasbeendeducedfromstress strainrelationshipsinwhichthecrosssectionalareaoftwobarsistakentobetheloadbearingarea: E=5.44x107kN/m2(studless)or6.40x107kN/m2(studlink).
MinimumBreakingLoads
Forinformation,thepropertieswindowdisplaysminimumbreakingloadsthatdependonthenominaldiameterand chain grade. They are derived using the following relationship, which was obtained from the manufacturer's catalogue: MinBreakingLoad=c.D2.(4480D)kN wherecisagradedependentconstant,giveninthecataloguedataasGrade2:1.37e4,Grade3:1.96e4,ORQ:2.11e4, R42.74e4. StudlessandStudlinkchainswiththesamenominaldiametersarestatedtowithstandthesamebreakandproof loads. DerivedData Itwillbeusefultoknowthecentrelinelengthofbarneededtomakeasinglelink.Wecanobtainthisbynotingthat, foralongchain,thereisonechainlinkevery4Dlengthofchain.Hence,thenumberoflinkspermetreofchainisN= 1/(4D),andthusforasinglelink: Massperlink=M/N=79.6D3te(studless)or876D3te(studlink). Assumingthatthechainismadefromsteel,andusingsasdensityofsteel(=7.8te/m3),thisthenleadsto: Volumeperlink=(M/N)/s=10.2D3m3(studless)or11.2D3m3(studlink). But,byconsideringthegeometryofalink,wealsohave Volume=L.D2/4, whereLiscentrelinelengthofbarneededtomakeasinglelink(includingthestudinthecaseofthestudlinkchain). Hence: L=Volume/(D2/4)=13.0Dm(studless)or14.3Dm(studlink).
Outer,InnerandContactDiameter
TheLineTypeWizardsetsupdiametersforachainasfollows:
OuterDiameter
The effective outer diameter of the equivalent line is obtained using a similar argument to that deployed in obtainingtheoveralllengthofbarperlink.Firstly,notethatthevolumepermetrecanbeexpressedasboth: Volumepermetre=M/s andalsoas Volumepermetre=OD2/4 where OD is the equivalent diameterfora line with constant volume along its length. Equatingthese expressions leadsto: OuterDiameter=[4M/(s)]=1.80Dm(studless)or1.89Dm(studlink).
InnerDiameter
Chainsdonothaveanycontents,sotheInnerDiameterissettozero.
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ContactDiameter
Thecontactdiameterissettothechainlinkenvelopediameter.ThatisContactDiameter=3.35Dm(studless)or 3.6Dm(studlink).
AxialandBendingStiffness
TheLineTypeWizardsetsupAxialandBendingStiffnessandLimitCompressionforachainasfollows:
AxialStiffness
AsdetailedinMechanicalPropertiesofMooringChainswehave valuesfortheYoung'sModulusforbothstudlink andstudlesschainsfromcataloguedata.TakingAtobethecombinedcrosssectionalareaoftwobars,thatis: A=2(D2/4)m2 leadsto: EA=0.854x108D2kN(studless)or1.01x108D2kN(studlink).

BendingStiffness
Forbothstudlinkandstudlesschainsthebendingstiffnessissettozeroasthechainsareassumedtobendwhen subjectedtoverysmallmoments.
LimitCompression
Inconjunctionwithazerovalueforbendstiffness,LimitCompressionissetto'yes'.
AxialAddedMassCoefficient
TheLineTypeWizardsetsupAxialAddedMassCoefficientforachainasfollows. Asforaxialdrag,thepartsattractingaddedmassinaxialflowaretheprojectinglobesonlyseethefigure.Eachpair oflobesaresimplyalinkwiththemiddlesection(andstudifpresent)removed,andcanbeviewedroughlyasan ellipsoidsplitdownthecentrewiththefollowingdimensions: length6D,widthDandheight2.35D(studless)or2.60D(studlink). JNNewman(1977)(page147,Fig4.8)givesaddedmasscoefficientsforspheroids.Weapproximatetheellipsoidas a spheroid with a lenbgth of 6D (the link length) and a mean width of (D+2.35D)/2 = 1.675D for studless), or (D+2.60D)/2=1.80Dforstudlink.Thisgivesanaspectratio(width/length)ofabout0.3inbothcases. ForthisaspectratioandaxialflowNewmangivesanaddedmasscoefficientof0.1.Thisisforusewithareference volumeequaltothespheroidvolume,whichinthiscaseisthevolumeofthelobesonly.ButOrcaFlexusesthetotal displacedvolumeasthereferencevolume,soasuitablescalingofNewman'scoefficientisneededtoallowforthis differenceinreferencevolume. Forastudlesslinkthenonlobelengthofbaris2D(themiddlesection)outofatotalof13D,sothelobesrepresent 11D/13D=84.6%ofthetotallinkvolume.Forastudlinkchainthenonlobelengthofbaris2D+1.6D(thestud)our of a total of 14.3D, so the lobes represent 10.7D/14.3D = 74.8% of the total link volume. So we scale Newman's addedmasscoefficient0.1bythesefactorsandroundtogiveOrcaFlexaxialaddedmasscoefficientsof Caa=0.08(studless)or0.07(studlink).
AxialDrag
TheLineTypeWizardsetsuptheaxialdragcoefficientandaxialdragdiameterforachainasfollows. Generally,axialdragisverylowforsmoothpipes,beingduetoskinfrictiononly.However,forachainthereissome projectedareapresenteveninaxialflowandweconsiderthedragforceduetothiseffect.Weignoretheeffectof skinfrictioninthederivationoutlinedbelow. As in the calculation for normal flow we consider two adjacent links and calculate their projected area. The projectedarea,normaltotheflow,foraxialflowconsistsofthefour"lobes"only,sincethecentralpartiseffectively shieldedfromtheflowseethefigure. Hoerner(1965),page58,Fig14c,givesCd a=0.32forahemisphericalrivetheadprojectingfromaplane.Thelobes herearesimilarmoreelongatedintheflowdirection(implyingalowerCda)butonalesssmoothbody(implyinga higherCda).Hence,weassume: Cda=0.40.
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Thereferencedragareathatcorrespondstothisistheaxialprojectedareaofthelobes.Eachlobeis(3.35DD)/2= 1.175Dlongforstudless,or(3.6DD)/2=1.30Dlongforstudlink,consistingofasemicircleofdiameterDonthe end of a rectangle of widthD and length1.175D 0.5D = 0.675D(studless), or 1.3D 0.5D = 0.8D(studlink). And eachpairoflinksgives4lobes,sothetotalaxialprojectedareapermetreofchain(=1/8Dpairsoflinks)isgivenby: 4.(D2/8+0.675D2)/(8D)=0.54Dforstudless 4.(D2/8+0.8D2)/(8D)=0.60Dforstudlink. HoweverforaxialdragOrcaFlexusesareferencedragareaequaltoDa,whereDaistheaxialdragdiameter.Sothe axialdragdiameterforOrcaFlexis: Da=0.54D/(studless) Da=0.60D/(studlink).
NormalDrag
TheLineTypeWizardsetsuptheNormalDragCoefficientforachainasfollows: We first calculate the drag force on a chain in normal flow, for which we require a value for its projected area (normaltotheflow).Tocalculatethiswemustconsiderthechainasacollectionofpairsofadjacentlinks,oneface on to the flow, with projected area AFACE, and one edge on, with projected area AEDGE see Figure. The overall projectedareapermetrewillbeamultipleofthesumofthesetwoareas. AFACE=LD2D2=11.0D2m2(studless)or12.3D2m2(studlink) and AEDGE=5DD+2(D2/4)/2=5.79D2m2. Thereare1/(4D)linkspermetreandhence1/(8D)suchpairsoflinkspermetre.Hence,thetotalprojectedareaper metre(normaltotheflow)isgivenbythefollowingexpression: ANORMAL=(AFACE+AEDGE)(1/(8D))=2.10Dm(studless)or2.26Dm(studlink). So,wearenowabletocalculatethedragforcepermetrelengthofchainas: Dragforce=v2CdnANORMAL foragivendragcoefficientCdn,whereisthedensityofseawaterandvistheflowvelocity.Forirregularshaped bluffbodiessuchaschainlinks,ofeithertype,asuitablevalueforCdnis1.0. ThedragforcepermetrelengthascalculatedbyOrcaFlexisgivenby: Dragforce=v2CdnDn whereDnisthenormaldragdiameter.Equatingthetwoequationsfordragforceleadsto: Dn=ANORMAL=2.10Dm(studless)or2.26Dm(studlink).
NormalAddedMassCoefficient
TheLineTypeWizardsetsuptheNormalAddedMassCoefficientforachainasfollows: Whenalineisacceleratedinwateritrequiresanimpulseinexcessofthatneededforthesameaccelerationinair. This is due to the extra force required to displace the water in the vicinity of the submerged part of the line. An addedmasstermisusedtoreflectthisanditisfoundtobeproportionaltothevolumeofdisplacedfluid: Addedmass=Ca..Vol where isdensityofwater, Volisthedisplacedvolume. The parts of a line displacing the fluid are said to be attracting added mass. For asymmetrical bodies the parts attractingaddedmasswilldifferindifferentdirections.Hence,weconsidertheeffectduetofluidflowexertinga forcein,first,thenormalandthentheaxialdirections. Foracircularcylinderinflownormaltoitsaxis: Can=1.0.
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Thesituationforachainismorecomplicatedas,forflownormaltoalink,partsofthelinkareshieldedfromthe flowbutthereisalsosomeentrappedwaterwithineachedgeonlink.Anaccuratecalculationisveryproblematic andisunlikelytogiveavalueforthenormaladdedmasscoefficientfardistantfrom1.0.Henceweassume: Can=1.0.
StressDiametersandAllowableStress
These are not relevant for chains which have no contents and so are set to '~', the default values. Any available stressorwalltensionresultsshouldbeignored.
7.8.12
Rope/Wire
D = Nominal rope diameter
Fibre rope
Figure:
Wire with Fibre core
Wire with Wire core
Rope/WireGeometry
Ropesandwireshavemanyapplicationsintheoffshoreindustryincludingtowing,mooringandwinching.TheLine Type Wizard can be used to derive Line Type data to represent five different types: Nylon (8strand Multiplait); Polyester(8strandMultiplait);Polyethylene(8strandMultiplait);6x19WireRopewithFibreCore;and6x19Wire RopewithWireCore. Most of the calculations of the derived line properties are based on data from a catalogue published by Marlow Ropes Ltd (1995). All quantities are expressed as a function of the rope's nominal diameter D. Note that this documentation uses the SI units system, so D is in metres in this documentation, but the program automatically adjuststheformulaetomatchtheunitsspecifiedbytheuser. Warning: ThevaluesgeneratedbytheWizardareapproximateonlyandareintendedasfirstestimatesfor preliminary use. They are offered in good faith, but due to variations in properties between productstheycannotbeguaranteed.Pleaseusesuppliers'datawherethisisavailable.
Data
The Line Type Wizard can be used to create line types representing a variety of ropes and wires. The input data requiredconsistsofthefollowing:
Rope/WireNominalDiameter
Theoveralldiameteroftheropeorwire.Themajorityofthederivedlinetypedataarefunctionsofthisdiameter. Warning: Thelinetypeouterdiameterderivedbythewizardislessthanthisnominaldiameter,inorderto give the correct buoyancy. You need to allow for this when setting the line type drag and added masscoefficients,sincethecoefficientscorrespondtothederivedlinetypeouterdiameter,notthe nominaldiameter.
Construction
Canbeoneof: Nylon(8strandMultiplait). Polyester(8strandMultiplait). Polyethylene(8strandMultiplait).
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6x19WirewithFibreCore(8strandMultiplait). 6x19WirewithWireCore(8strandMultiplait).
Theconstructionaffectsboththemassperunitlengthofthelinetypeandthestrengthofthelinetype.
Massperunitlength
TheLineTypeWizardsetsupMassforaRope/Wireasfollows: The quantity Mass per unit length is available from catalogue data for ropes. The nominal rope diameter and nominal mass are available for a variety of rope constructions. A simple statistical analysis of the available data leadstothefollowingexpressions: MassPerMetre=0.6476D2te/m(forNylonropes). MassPerMetre=0.7978D2te/m(forPolyesterropes). MassPerMetre=0.4526D2te/m(forPolypropyleneropes). MassPerMetre=3.6109D2te/m(forWireropeswithfibrecore). MassPerMetre=3.9897D2te/m(forWireropeswithwirecore).
OuterandInnerDiameters
TheLineTypeWizardsetsupouterandinnerdiametersforaRope/Wireasfollows. Theinnerdiameterissettozeroforallropeconstructiontypes.Thelinetypeouterdiameter,OD,issetasfollows: OD=0.85D(forNylonropes). OD=0.86D(forPolyesterropes). OD=0.80D(forPolypropyleneropes). OD=0.82D(forWireropeswithfibrecore). OD=0.80D(forWireropeswithwirecore). whereDisthespecifiedropediameter. Theseouterdiametersareeffectivediametersthatgivethelinetypeadisplacedvolumeperunitlengththatequals theestimateddisplacedvolumeperunitlengthoftherope/wire.Thelinetypethenhastheappropriatebuoyancy. Notethatthiseffectivediameterislessthanthespecifiedropediameter,becausetherearegapsbetweenthefibres andsonotallofthespecifiednominaldiametercontributestobuoyancy. TheaboveformulaeforthelinetypeODwerederivedbyequatingthelinetypedisplacedvolumeperunitlength, OD2/4,tothedisplacedvolumepermetre,M/,whereMistherope/wiremassperunitlengthandistheaverage densityofthematerial. The following average material densities (in te/m3) were assumed: Nylon 1.14; Polyester 1.38; Polypropylene 0.91;Wirewithfibrecore6.87;WirewithWirecore7.85.TheaveragematerialdensityfortheWirewithfibrecore wasestimatedbyassumingaratioof6:1betweenthewireandfibrevolume,withthefibretakentohavethesame densityas(fresh)water.
TheLineTypeWizardsetsupAxialandBendingStiffnessandLimitCompressionforaRope/Wireasfollows
AxialStiffness
Theexpressionsforaxialstiffnessarecalculatedindifferentwaysforthetwogroupsoffibreropesandwireropes. For Fibre Ropes we use the catalogue data. Load/extension characteristics depend on previous load history, whethertheropeiswetordry,andtherateofapplicationoftheload.Toreflectthelikelyworkingenvironmentof theropeweusedataassociatedwithropesthathavebeentestedunderthefollowingconditions: theropehasbeenpreworkedloadedto50%ofbreakingloadandthenrestedfor24hours(thiscausesthe ropetobeddownsothatitselasticbehaviourismoreconsistentandrepeatable) subjectedtoslowlyvaryingloads(forloadsvaryingatwavefrequency,stiffnessshouldbeabouttwicethevalue shown)
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a wet rope presoaked in water (this is most significant for Nylon ropes which suffer a loss in performance whenwet) we use figures for the average performance when the mean extension is 10% (by taking the tangent of the stressstraincurveat10%).
Incorporating all of the factors indicated above we can produce values of axial stiffness for a range of rope diameters. Once again using simple statistical techniques we obtain the following expression for axial stiffness of fibreropes: AxialStiffness=1.18x105D2kN(forNylonropes). AxialStiffness=1.09x106D2kN(forPolyesterropes). AxialStiffness=1.06x106D2kN(forPolypropyleneropes). AxialstiffnessforWireRopesiscalculateddirectly,ratherthanestimatedfromempiricalrelationships.Weassume avalueforYoung'sModulus,forthe6x19strandgroup,of: E=1.03x108kN/m2(forWireropeswithfibrecore). E=1.13x108kN/m2(forWireropeswithwirecore). andworkonanassumedmetallicareaof: A=0.455(D2/4)m2(forbothwireropes). BothofthesequantitieshavebeenobtainedfromtheHERGroupMarineEquipment&WireRopeHandbook.Note thatforwireropeswithawirecoretheadditionalaxialstiffnessisaccountedforintheenhancedYoung'smodulus. Thisleadsto: AxialStiffness=3.67x107D2kN(forWireropeswithfibrecore). AxialStiffness=4.04x107D2kN(forWireropeswithwirecore).
BendingStiffness
ForallropeconstructiontypesthebendingstiffnessofferedbytheWizardiszero.Forsystemswherebendstiffness isasignificantfactoryoushouldoverridethisvaluewiththetruevalueobtainedfromtheropesupplier.
LimitCompression
InconjunctionwithazerovalueforbendstiffnessLimitCompressionissettoyes.
TheLineTypeWizardsetsthestressdiametersandallowablestressforaRope/Wireto'~'sincetheOrcaFlexstress analysisisnotapplicabletocomplexstructuressuchasropesorwires.Anyavailablestressorwalltensionresults shouldbeignored.
MinimumBreakingLoads
The properties window in the line type wizard displays approximate minimum breaking load (MBL) values for ropesandwires.ThesemaybeusefulforsettingtheMaximumTensiondataitemforthelinetype. The MBL values displayed are calculated using the following functional formulae, where D is rope/wire nominal diameterinmetres: Nylonropes(dry) Nylonropes(wet) Polyesterropes Polypropyleneropes Wireropeswithfibrecore Wireropeswithwirecore 163950.D2kN 139357.D2kN 170466.D2kN 105990.D2kN 584175.D2kN 633358.D2kN
Theseformulaewerederivedfrommanufacturer'scataloguedata,whichconsistofminimum(dry)strengthagainst nominal diameter for each of the five rope/wire constructions. The formulae were derived using least squares fitting, and they were found to give a good fit to the manufacturer's data, except that they tend to underestimate MBLforsmalldiameternonwireropes.
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Note:
Nylonropeslosesomestrengthwhenwet;theformulagivenforwetnylonropesisbasedonthe manufacturer'sstatementthattheycanloseupto15%oftheir(dry)strengthwhenwet.
7.8.13
LinewithFloats
You can model floats or buoyancy modules attached to a line by using buoyant Clumps attached at the relevant points.Howeverwhenanumberoffloatsaresupportingalengthoflineitisofteneasiertomodelthebuoyancyasif itweresmeared,i.e.spreadoutevenly,alongthatpartoftheline.Thisallowsthelengthandsegmentationofthe buoyedsectiontobevariedeasilywithouthavingtoaddandremoveindividualfloats. Tousethis'smearedproperties'approachyouneedtodothefollowing. Createanewlinetype. Setthenewlinetype'spropertiestobeequivalenttothoseoftheoriginalpipe+floats.Thisisdonebyspreading eachfloat'sbuoyancy,drag,etc.uniformlyoverthelengthofpipefromSf/2beforethefloatcentretoSf/2after thefloatcentre,whereSfisthefloatpitch,i.e.thespacingbetweenfloatcentres(seediagrambelow).Theresult isauniformcircularsectionlinewhichwillexperiencethesameforcesperunitlengthastheoriginallineplus floats.Thelinetypewizardwillautomaticallysetupthis'equivalent'linetypeforyou. Setupalinesectiontomodelthelengthoflinesupportedbythefloats.Thesection'slinetypeshouldbesetto theequivalentlinetypeanditslengthshouldbeNxSf,whereNisthenumberoffloatsandSfisthefloatpitch. Notethatthislengthisalittlemorethanthelengthbetween thestartofthefirstfloatandtheendofthelast one, since each float is effectively being smeared equally both ways from its centre; see the diagram below, whichshowthesituationwhenN=3.
We describe below how the Line Type Wizard derives the properties of the equivalent line type. Note that this approachisalsosuitableformodellingaregularlyweightedsectionofline. Warning: ThevaluesgeneratedbytheWizardarebasedoncurrentbestpractice,butmorespecificproject datashouldbeusedwherethisisavailable.
Floats
Dp
Df
Sf
Sf
Sf
Figure:
GeometryofLineandFloats
Wefirstdefinethenotationtorepresenttheunderlyinglineontowhichthefloatsaretobeattached,whichwerefer to as the Base Line Type see Base Line Type Notation. We then specify the quantities required to represent the floatsseeFloatNotation. Thefollowingpropertiesarealldeemedtobeunaffectedbytheadditionoffloatstothebaselineandsoaresetto havethesamevaluesasthoseofthebaseline. AxialandBendingStiffness LimitCompression MaximumTension MinimumBendRadius
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TorsionalStiffness
Data
Adding floats to a line to produce extra buoyancy is a common requirement. The Line Type Wizard helps you to quicklyderivesuchalinetypebyspecifyingboththeexistingunderlyingbaselinetype,ontowhichthefloatswillbe added,andvariouspropertiesofthefloats:
BaseLineType
Thelinetypeonwhichthefloatsaremounted.
FloatDiameter
Theoutsidediameterofeachfloat.Itmustbegreaterthantheoutsidediameteroftheunderlyingbaselinetype.
FloatLength
Theaxiallengthofeachfloat.
FloatPitch
Theaveragedistancebetweenthecentresofsuccessivefloats.
FloatMaterialDensity
Thedensityofthematerialformingthefloats,excludingadditionalitemssuchasfixingmaterial.
FloatHardwareMass
Thisaccountsfortheextramassduetotheadditionofthefloatsabovethatduetothematerialdensityandcovers suchitemsastheclamping/fixingmechanisms.
FloatNormalDragCoefficient
Thedragcoefficientassociatedwiththefloatforflownormaltotheline.
FloatAxialSkinDragCoefficient
Thedragcoefficientassociatedwiththefloats,duetothefloats'skinfriction,forflowalongtheaxisoftheline.
FloatAxialFormDragCoefficient
Thedragcoefficientassociatedwiththefloat,duetotheprojectedannulusareaoftheendofthefloat,forflowalong theaxisoftheline.
FloatNormalAddedMassCoefficient
Theaddedmasscoefficientforflownormaltotheline.
FloatAxialAddedMassCoefficient
Theaddedmasscoefficientforflowalongtheaxisoftheline. TheLineTypedatathatarederived,andtheassociatedunderlyingexpressions,aredetailedinModellingLineswith Floats.
PropertiesofBaseLineType
Formodellinglineswithfloatsthelinewithoutfloatsisreferredtoasthebaselinetypeandthefollowingnotationis used.Thelinewithoutfloatsisassumedtobeofcircularcrosssectionandhavethefollowingcharacteristics: ODpouterdiameter. IDpinnerdiameter. Mpmassperunitlength. Cdnpdragcoefficientinnormalflow. Cdapdragcoefficientinaxialflow. CanpAddedmasscoefficientinNormalflow(commonlytakenas1.0forcircularsection). CaapAddedMasscoefficientinAxialflow(commonlytakenaszero).
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PropertiesoftheFloats
For modelling lines with floats the following notation is used for the floats. The floats are assumed to be short cylindersfittedcoaxiallyonthelineatconstantspacing: L f Df f Sf mfh Cdnf length diameter floatdensity floatpitch floathardwaremass(e.g.fixingclamps,bolts,etc.) dragcoefficient,normalflow
Cdaf1 dragcoefficient,axialflowduetoform Cdaf2 dragcoefficient,axialflowduetoskinfriction Canf Caaf addedmasscoefficientsinnormalflow addedmasscoefficientinaxialflow Vf=/4(Df2ODp2)Lf whichleadstothemassofthefloatbeingcalculatedasfollows: Mf=Vf.f+mfh.
Withtheaboveinformationwecancalculatethevolumeoccupiedbyanindividualfloatas:
Outer,InnerandContactDiameter
TheLineTypeWizardsetsupdiametersforaLinewithFloatsasfollows:
OuterDiameter
TheOuterDiameter(OD)oftheequivalentlineiscalculatedbyequatingtwoequivalentexpressionsforthevolume perunitlengthoftheline: Volperunitlength=/4.OD2(equivalentline) Volperunitlength(V)=/4.ODp2+Vf/Sf(linewithfloats) Thisleadsto: OuterDiameter(OD)=(4V/)

InnerDiameter
TheInnerDiameterisunaffectedbytheadditionoffloatsandsoissettobethesameasthatofthebaseline.
ContactDiameter
TheContactDiameterissettoequalthefloatdiameterDf.ThisallowsfloatclearancetobereportedusingtheLine ContactClearanceresult.
MassperUnitLength
ThelinetypemassperunitlengthiscalculatedbyallowingforthefactthatthereisonefloatforeverySflengthof thesectionandhence(1/Sf)floatsperunitlength,giving: Massperunitlength=Mp+Mf/Sf
AxialDragCoefficient
TheLineTypeWizardsetsuptheAxialDragCoefficientforaLinewithFloatsasfollows. To derive the drag coefficient when flow is axial to the line we adopt a similar approach to that used above for normalflow. Whenconsideringtheequivalentline,withtheadditionalbuoyancysmearedalongit'soutersurface,thedragforce perunitlength,whenflowisaxialtotheline,isduesolelytoskinfrictionandcanbeexpressedas: DragForcea=v2Cda(OD)
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inwhichthereferenceareaisthecircumferenceoftheequivalentlineandwhereristhedensityofseawaterandv istheflowvelocity. As in the case for flow normal to the line, we can also express the drag force per unit length experienced by the equivalentlineasthesumofthedragforcesexperiencedbythefloatsandthedragforcesexperiencedbythepartof thelinenothiddenbythefloats.However,thedragforcesexperiencedbythefloatsareslightlymorecomplicatedin axialflowastherewillbeadragforceduetotheexposedannulusontheendofeachfloatandadragforcedueto skinfriction. DragForcea=DragForceaFLOATS+DragForceaEXPLINE =v2[Cdaf1.DragArea1aFLOATS+Cdaf2.DragArea2aFLOATS+Cdap.DragAreaaEXPLINE] inwhichthereferencedragarea,duetotheannulus,forthefloatsinaxialflowisgivenby: DragArea1aFLOATS=/4(Df2ODp2).1/Sf thereferencedragarea,duetotheskin,forthefloatsinaxialflowisgivenby: DragArea2aFLOATS=DfLf/Sf andthereferencedragarea,duetotheskin,fortheexposedlineinaxialflowisgivenby: DragAreaaEXPLINE=ODp(1Lf/Sf). Equatingthesetwoexpressionsleadsto: Cda=[Cdaf1.DragArea1aFLOATS+Cdaf2.DragArea2aFLOATS+Cdap.DragAreaaEXPLINE]/(OD).
NormalDragCoefficient
TheLineTypeWizardsetsuptheNormalDragCoefficientforaLinewithFloatsasfollows: Thedragforceperunitlengthoftheequivalentlinewhenflowisnormaltotheline'saxiscanbeexpressedas: DragForcen=v2CdnOD inwhichthereferencedragareaperunitlength,normaltotheflow,isgivenbyODandwhereisthedensityof seawaterandvistheflowvelocity. Wecanalsoexpressthedragforceperunitlengthexperiencedbytheequivalentlineasthesumofthedragforces experiencedbythefloatsandthedragforcesexperiencedbythepartofthelinenothiddenbythefloats: DragForcen=DragForcenFLOATS+DragForcenEXPLINE =v2[Cdnf.DragAreanFLOATS+Cdnp.DragAreanEXPLINE] inwhichthereferencedragareaforthefloatsinnormalflowisgivenby: DragAreanFLOATS=DfLf/Sf andthereferencedragareafortheexposedlineinnormalflowisgivenby: DragAreanEXPLINE=ODp(1Lf/Sf). Equatingthesetwoexpressionsleadsto: Cdn=[Cdnf.DragAreanFLOATS+Cdnp.DragAreanEXPLINE]/OD.
AddedMassCoefficients
TheLineTypeWizardsetsupNormalandAxialAddedMassCoefficientsforaLinewithFloatsasfollows:
NormalAddedMassCoefficient
Addedmasscoefficientsarecalculatedinasimilarwaytothedragforcecoefficients.Forflownormaltotheaxisof thelinetheaddedmassperunitlengthisgivenby: AddedMassn=/4OD2Can inwhichthereferencevolumeisthevolumeoftheequivalentlineandwhereisthedensityofseawater. Wecanalsoexpresstheaddedmasstermoftheequivalentlineasthesumoftheaddedmassesduetothefloatsand duetotheunderlyingline: AddedMassn=(CanfAMVolFLOATS+CanpAMVolEXPLINE)
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inwhichthereferencevolumeperunitlengthforthefloats(andtheportionoflinetheycover)isgivenby: AMVolFLOATS=/4Df2Lf/Sf andthereferencevolumeperunitlengthfortheexposedpartofthelineisgivenby: AMVolEXPLINE=/4ODp2(1Lf/Sf) Equatingthesetwoexpressionsleadsto: Can=(CanfAMVolFLOATS+CanpAMVolEXPLINE)/(/4OD2).

AxialAddedMassCoefficient
Theaddedmasscoefficientsfollowinasimilarwaytoabove.Thereferencevolumesfortheequivalentlineandfor the floats and exposed part of the underlying base line are taken to be the same in axial flow as in normal flow. Hence,wecantaketheaboveexpressionfortheaddedmasscoefficientinnormalflowandreplacethecoefficients fornormalflowwiththoseforaxialflow: Caa=(CaafAMVolFLOATS+CaapAMVolEXPLINE)/(/4OD2).
Thestressdiameterandallowablestressaresettobethevaluesusedbythebaseline,sinceitisthebaselinewhich isloadbearing.
7.8.14
HomogeneousPipe
O
O
Figure: HomogeneousPipe
TheLineTypeWizardprovidesaconvenientwaytosetthedataforaLineTypewhichusestheHomogeneousPipe category. Anumberofpredefinedmaterialsareavailable,aswellastheoptiontospecifythematerialpropertiesdirectly.The predefinedmaterialsarerepresentativevaluespleaseuseprecisematerialpropertieswheretheseareavailable. Theotherconvenienceofferedisthatthepipediameterscanbesetbyspecifyingouterdiameterandwallthickness.
Data
TheLineTypeWizardhelpsbuildalinetypetorepresentahomogeneouspipe,basedonthefollowingdata:
Material
The Wizard provides 3 standard materials for a homogeneous pipe: Steel; Titanium and High Density Polyethylene. For these standard materials OrcaFlex automatically sets Material Density, Young's Modulus and PoissonRatio. ThereisalsoanoptiontoenterUserSpecifiedastheMaterial.InthiscaseyoumustsetMaterialDensity,Young's ModulusandPoissonRatio.
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MaterialDensity
Thisisthedensityofthematerialusedintheconstructionofthepipe.
OuterDiameter,WallThickness
Thesedataspecifythegeometryofthepipecrosssection.
Young'sModulus
Theratioofthetensilestresstothetensilestrain.
PoissonRatio
The amount of lateral strain experienced by a material subjected to tensile strain as a negative proportion of the tensilestrain. The Line Type data that are derived, and the associated underlying expressions, are detailed in Modelling HomogeneousPipes.
7.8.15
HosesandUmbilicals
ThevaluesgeneratedbytheWizardareapproximateonlyandareintendedasfirstestimatesfor preliminary use. They are offered in good faith, but due to variations in properties between productstheycannotbeguaranteed.Pleaseusesuppliers'datawherethisisavailable.
TheLineTypeWizardestimatestypicalpropertiesforhosesandumbilicalsbasedonprojectdata. Warning:
Therearethreecategoriesofhoseavailable: Highpressurewhichcovershighpressureflexiblerisersandflowlinesofunbondedconstructionwithinside diametersintherange2to15inches(50to380mm). Low pressure which covers lowpressure floating hoses of bonded rubber construction with inside diameter from2to20inches(50to500mm). Foldflatwhichcoverslowpressure,foldflathoseswithsteelreinforcement;insidediameteraround6inches (150mm).
Theumbilicalpropertiesassumeconstructionwithsteelwirearmourandthermoplastichosesandoutsidediameter upto250mm. ThepropertiesderivedbytheWizardareobtainedfromempiricallyestimatedrelationshipswiththediameterof the hose/cable. They have been estimated from a limited amount of data covering only the range of diameters indicatedabove.Forsimplicity,onlythoserelationshipsoftheform: Y=aXb, wherebisaninteger,wereconsidered. InthedetailsbelowthediameterisassumedtobeinmetresandtheSIunitssystemisappliedthroughout. Theamountofdataavailableforlowpressurehosesandfoldflathosesisverysmall. Thereisquiteabitmoredataforhighpressurehosesandumbilicalsbutitisfoundtohavequitealargespread.To demonstratethisspread,theratiooftheobservedvaluetothefittedvalue,expressedasapercentage,iscalculated andthelargestandsmallestoftheseisgiven. The OrcaFlex stress analysis is not applicable to complex structures such as hoses and umbilicals. Any available stressorwalltensionresultsshouldthereforebeignored.
DataforUmbilicals
The Line Type Wizard can help build a line type to represent umbilical. Umbilical cables have many applications includingthecarryingofelectricalcommunicationwiresandhydraulicconnectorstosubmersibles.TheLineType dataquantitiesthatthewizardderiveshavebeenestimatedfromalimitedamountofprojectdata.Thesingleitem ofinputdatais:
UmbilicalDiameter
Theouterdiameteroftheumbilical.Eachderivedlinetypepropertyisafunctionofthisdiameter.
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DataforHoses
TheLineTypeWizardhelpsyoubuildalinetypetorepresentahose,basedonthefollowingdata.Alimitedamount ofavailableprojectdatahasbeencollatedandusedtoderivepurelyempiricalrelationshipsbetweenthediameter oftypesofhoseandcertainlinetypedataquantities.Theinputdataconsistsof:
HoseInnerDiameter
Eachderivedlinetypepropertyisafunctionofthehoseinnerdiameter.
HoseType
TheHoseTypecanbeoneofhighpressure,lowpressureorfoldflat.Thesecategoriesroughlycovertheavailable projectdata.
OuterandInnerDiameters
TheLineTypeWizardsetsupOuterandInnerDiametersforhosesandumbilicalsasfollows:
Hoses
Theinnerdiameter(ID)isspecifiedbytheuserandtheouterdiameter(OD)isafunctionoftheinnerdiameter: OD=1.40IDm(forHighPressure)[90%150%], OD=1.28IDm(forLowPressure), OD=1.34IDm(forFoldFlat).

Umbilicals
Theinnerdiameter(ID)issettozeroandtheouterdiameter(OD)isspecifiedbytheuser.
Massperunitlength
TheLineTypeWizardsetsupmassforhosesandumbilicalsasfollows:
Hoses
Foreachtypeofhosethemasspermetrehasbeenestimatedasafunctionofinnerdiametergiving: Masspermetre=0.7523IDte/m(forHighPressure)[55%145%], Masspermetre=0.3642IDte/m(forLowPressure), Masspermetre=0.1844IDte/m(forFoldFlat).

Umbilicals
Fortheumbilicalsthemasspermetrehasbeenestimatedasafunctionofouterdiametergiving: Masspermetre=1.8OD2te/m(forUmbilical)[35%170%].
The Line Type Wizard sets up Axial and Bending Stiffness and Limit Compression for hoses and umbilicals as follows:
AxialStiffness
Foreachtypeofhosetheaxialstiffnesshasbeenestimatedasafunctionofinnerdiametergiving: AxialStiffness=2.80x106IDkN(forHighPressure)[40%160%], AxialStiffness=3.40x104IDkN(forLowPressure), AxialStiffness=6.56x103IDkN(forFoldFlat). Fortheumbilicalstheaxialstiffnesshasbeenestimatedasafunctionofouterdiametergiving: AxialStiffness=1.44x106ODkN(forUmbilical)[15%415%].

BendingStiffness
Foreachtypeofhosethebendingstiffnesshasbeenestimatedasafunctionofinnerdiametergiving: BendingStiffness=3x104ID4kN.m2(forHighPressure)[45%300%],
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BendingStiffness=6x102ID3kN.m2(forLowPressure), BendingStiffness=1x103ID3kN.m2(forFoldFlat). Fortheumbilicalsthebendingstiffnesshasbeenestimatedasafunctionofouterdiametergiving: BendingStiffness=3x103OD3kN.m2(forUmbilical)[55%240%].

LimitCompression
Asthebendingstiffnessissignificantthisissetto'no'.
7.8.16
ModellingStressJoints
A tapered stress joint is a riser joint with a tapered crosssection. Stress joints are used to spread loads over a criticalsectionoftheriser.Stressjointsaretypicallyfabricatedfromsteelortitanium. Stress joints are modelled in OrcaFlex using profiled line types. To model a stress joints you need to take the followingsteps: 1. 2. 3. 4. Create a line type with the homogeneous pipe category and set the inner diameter, material data (Young's modulus,Poissonratio,materialdensity),hydrodynamicpropertiesetc. CreateaLineTypeOuterDiametervariabledatasourcewhichdefinesthestressjointprofile. Setthelinetypeouterdiametertorefertothevariabledatasourceoftheprofile. SettheLineTypedataitemonthestructurepageofthelinedataformtorefertotheprofiledlinetypecreated above.
Segmentation
OrcaFlexlinesegmentsarestraight,thatisthediameterisconstantoverthelengthofthesegment.Eachsegmentin aprofilelinesectionhasadiameterdefinedbyevaluatingtheprofiledataatthemidpointofthesegments. Becauseofthisyoutypicallyneedtousequiteshortsegmentstomodelthetaperaccurately.However,notethata stress joint is usually placed in a region of concentrated stress. Such regions also require short segments for accurate modelling and so the use of straight segments to model the profile does not in practice turn out to be a significantlimitation. Inordertodeterminesegmentlengthwerecommendthatyouperformsensitivitystudiesonsegmentlength.
Arclengthconvention
Profile arc length is defined relative to the start of the line section and increases from End A towards End B. To illustratethisconsiderastressjointdefinedbythefollowingprofile:
Figure: Stressjointprofile
Astressjointspecifiedthiswaywouldcommonlybeusedinthefirstsectionofaline.If,however,yourstressjointis located adjacent to End B of the line, then the End A to End B convention means that the stress joint would be incorrectlyconfigured.Thisiseasytocheckwiththeprofilegraphavailableonthelinedataform:
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Figure: StressjointprofileatEndB,incorrectlymodelled
Theproblemisthatthetaperisnowinthewrongdirection.ThethickerendofthetapershouldbeadjacenttoEndB oftheline.Inordertofixthiswesimplyneedtoreversetheprofiledata.ThisisverysimpletodousingtheReverse buttononthevariabledataform.Theresultlookslikethis:
Figure: StressjointprofileatEndB,corrected
Thelineprofilegraphwhenusingthereversedprofilenowshowsthatthedataisnowappliedasintended:
Figure: StressjointprofileatEndB,correctlymodelled
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7.8.17
ModellingBendRestrictors
Webeginbyintroducingsometerminology.Abendrestrictorisanydevicethatcontrolsbendingatalineend.A bend limiter is a bend restrictor that has no effect until a certain curvature is reached, and then curvature is preventedfromgoingabovethatvalue.Abendstiffenerisabendrestrictorthatprovidesincreasedbendstiffness nearthelineendinorderdistributemoreevenlythebendingneartheend. ModellingBendLimiters Nonlinearbendstiffnesscanbeusedtomodelabendlimiter.SeeexampleG08. ModellingBendStiffeners BendstiffenersaremodelledinOrcaFlexusingtwoseparatelinestorepresentthestiffenerandthelinewhichit protects,whichwerefertoastheproduct.Theregionoftheproductwhichiscoveredbythestiffeneriscalledthe protectedregion. Thetwolineapproachenablesreportingofseparateresultsfortheproductandstiffener.Inparticularthismakes fatigueanalysisoftheproductquitesimplesincethereportedloadsandstressesfortheproductdonotincludethe contributionsofthestiffener. The product can have nonlinear elastic or hysteretic bending properties. The stiffener is modelled as a profiled homogeneous pipe with linear material properties. A future release of OrcaFlex will support nonlinear material propertiesforthestiffener.
Data
AlthoughthestiffenerismodelledasaseparatelineyoudonotneedtocreatethislinemanuallyOrcaFlexcreates itautomaticallyasanattachment.Theprocedureforsettingupabendstiffenerisasfollows: 1. 2. 3. 4. CreateaLineTypewhichdefinesthematerial,structuralandhydrodynamicpropertiesofthestiffener.Usually thiswillbeaprofiledhomogeneouspipe. CreateaStiffenertypewhichusesthisLineType. CreatealineattachmentbasedonthisStiffenerType. SetthelineattachmentpositionandtheStiffenerTypeconnectionarclengthsothatthestiffenerisattachedat thedesiredlocationontheproductline.
IfyouhavemultipleproductlineswhichalluseidenticalbendstiffenersthenyoucancreateasingleStiffenerType whichcanbereusedoneachproductline. ThestiffenerprofileusestheconventionthatprofilearclengthincreasesfromEndAtowardsEndBofthestiffener. IfyouhaveabendstiffenerconnectedatEndBofalinethenyouwillneedtodefinetheprofilesothatthearclength 0 refers to the tip of the stiffener. The Modelling Stress Joints topic illustrates this issue in some more detail. Although the discussion there centres on stress joints many of the points covered are equally applicable to bend stiffeners. WestronglyrecommendthatyouusetheProfileGraphavailablefromtheLineDataformtocheckthatthestiffener isconnectedatthecorrectlocationonthelinewiththeprofiledefinedasyouintended.
Segmentation
The stiffener line that OrcaFlex creates is modelled with constant segment length that is every segment in the stiffener has the same length. The segment length is determined by the segmentlength of the product line in the protectedregion. Thestiffenermodelling(seebelow)requiresthateachnodeon thestiffenerlineisassociatedwithanodeonthe productline.Eachstiffenernodeiseffectivelyclampedtoitsassociatedproductnode. Theseconstraintshavethefollowingimplicationsforthesegmentationoftheproductline: 1. 2. Theprotectedregionoftheproductmusthaveconstantsegmentlength. Thestiffenerlengthmustbeanexactmultipleofthesegmentlength.
Onesimplewaytosatisfytheserequirementsistomodeltheprotectedregionoftheproductasasinglesectionwith lengthequaltothestiffenerlength. Note that it is not essential for the protected region to be a single section. The protected region could comprise multiplesectionseachusingdifferentlinetypes,solongasyousatisfythetworulesabove.
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Results
ResultsareavailableforthestiffenerlineexactlyastheyareforanyotherOrcaFlexline. OrcaFlex reports results separately for product line and stiffener line and this does need some explanation. For example,considerbendmomentataparticularlocationintheproductlineandatthecorrespondinglocationinthe stiffener line. Suppose that the bending stiffnesses are EIp and EIs for product and stiffener respectively (we are assuminglinearbendstiffnessforsimplicity).Thebendmomentcarriedbytheproductandstiffenerensembleis givenbyBMtotal=C(EIp+EIs)whereCisthecurvatureatthislocation.FortheproductlineOrcaFlexreportsthelocal product line bend moment BMp = C.EIp and likewise for the stiffener line OrcaFlex reports BM s = C.EIs. It is straightforwardtoseethatBMtotal=BMp+BMs. Thisapproachofsplittingthetotalloadintoseparatelocalcomponentsforproductandstiffenerisalsoappliedfor effectivetension,walltension,shearforce,torqueandstressresults.
Modellingdetails
AsmentionedabovethestiffenerismodelledasaseparateOrcaFlexlinewhichiscreatedautomaticallybyOrcaFlex asanattachment.Thestiffenerlineinheritsanumberofpropertiesfromitsproductline,namely: IncludeTorsion. Segmentlength. Staticsfrictiondata. Dragformulationandwakeinterferencedata. VIVdata. Drawingdata. Resultsdata.
Thestiffenerlinedoesnothaveanyfreedegreesoffreedom.Insteadeachnodeonthestiffenerisclampedtoand movesandrotateswithitsassociatednodeontheproductline.Thestiffenerlinecalculatesitsloadsandinertiaand then transfers them to the product line. How this transfer is performed is governed by the Axial load/inertia transferdataoftheStiffenerType. All components of loadand inertia normal tothe stiffener are transferred directly from each stiffener node to its associatedproductnode.This,ofcourse,enablesthestiffenertoperformitsjobofspreadingthebendloadsoverthe protectedregion. Iftheaxialload/inertiatransferisspecifiedtooccurattheconnectionpointthencomponentsofaxialload/inertia are transferred to the product node at the connection point. Typically this connection point is at the end of the productlineandtheaxialloadsandinertiaarethustransferredtotheproductlinesendconnection.Thismodelling optioneffectivelyneglectsanyaxialfrictionduetocontactbetweenstiffenerandproduct. If the axial load/inertia transfer is specified to occur over the stiffener's full length then components of axial load/inertiaaretransferreddirectlyfromeachstiffenernodetoitsassociatedproductnode.Thiscorrespondstothe assumptionthattheaxialcontactfrictionissufficientthatthereis noaxialslipping.Theaxialloadwillbeshared betweenproductandstiffenerasdeterminedbytheirrelativeaxialstiffnesses,justasthebendmomentisshared. BendStiffenerdesignusingOrcaFlex Themodellingapproachdescribedaboveapplieswhereabendstiffenerhasalreadybeendesigned,andoneofthe objectivesoftheanalysisistoconfirmthatthestiffenerprovidestherequiredprotection.However,inmanycases thestiffenerdesigndoesnotyetexistandtheanalysisisneededinordertodefinedesignloads.Ifthisisthecase, thenrunapreliminaryanalysiswithnobendstiffenerincluded.Thelineshouldbemodelledwithapinnedend(i.e. zero bending stiffness at the line end connection). The load information required for bend stiffener design then consistsofpairedvaluesoftensionandangleatthepinnedend.ThesecanbeextractedintheformofanXYplot showing Effective Tension against Ez Angle for the first segment. In practice, it is often sufficient to consider just threepointsonthisgraph,correspondingtomaximumtension,maximumangleandmaximumbendrestrictorload: thesecanbeextractedaslinkedstatistics. Asanexample,seeexampleA01.Thetopendoftheriser(EndA)ispinnedtotheshipnearthebow.Turnonthe DrawLocalAxesoptionandnotethedirectionofthelinezaxisatEndA.TheEzAngleforthefirstsegmentisthe anglebetweenthisdirectionandthesegmentdirection.AnXY graphofEffectiveTensionatEndAvsEzAngleat EndAgivestheinformationrequired.RecallthatEzAngleisanabsolutemagnitudeandthereforealwaystakesa
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positivevalue.Ifasignedvalueisrequired(e.g.todefineouttooutloadcyclesforfatigueanalysis),thenusetheEzx orEzyangleasappropriate. Itisusuallynecessarytocombineresultsfromseveralanalysisrunsinordertofullydefinethebendstiffenerdesign loading.ThisismostconvenientlydonebyexportingtheEffectiveTensionvsEzAngleresultsasatableofvaluesfor eachanalysiscase,combiningintoasingleExcelspreadsheetandusingtheplottingfacilitiesinExceltogeneratea single plot with all resultssuperimposed. A simplifiedset of load cases representing theoverall loading envelope canthenbeselectedforuseinstiffenerdesign.TheexporttoExcelcanbedonemanuallyorautomatedthroughthe Resultsspreadsheet. BendStiffenerdesignusingOrcaBend The task of bend stiffener design is usually left to the manufacturer, since the actual stiffener shape selected is governedinpartbythemanufacturingprocess,availabilityoftooling,etc.,aswellasbytheloadcases.TheOrcina programOrcaBendhasbeendevelopedtoassistthisprocess.ThereisademonstrationversionofOrcaBendonthe OrcaFlexCDseeCD:\Demo_CD\ReadMefordetails.ForfurtherinformationcontactOrcina.
7.8.18
LineEnds
Lines in OrcaFlex run from End A to End B. Travelling from A to B, the orientation of any segment in the line is definedintermsofAzimuthandDeclinationangles,relativetoglobalaxes.AzimuthismeasuredintheXYplane, DeclinationismeasureddownwardsfromtheZaxis.SeeNoMomentDirection.
NomomentDirection
Associated with each end is a stiffness, and a nomoment direction which is described in terms of azimuth and declination.ThistoousestheEndAtoEndBconvention,soifwehangupacatenaryofline,andthenfreezethe ends,thenomomentdirectionsareasshownbelow:
No moment direction ( Az = 0, Dec = 160 )
No moment direction ( Az = 0, Dec = 45 ) End B
End A
Declination Angle
Azimuth Angle x
Figure:
Directions
Ifthelineendisattachedtoabodywhichcanmove(aVessel orBuoy),thenthenomomentdirectionisdefined relativetothebodyaxesandthereforemoveswiththebody.Otherwise,itisdefinedinglobalaxes.
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EndStiffness
Thestiffnessassociatedwiththeendcanbeusedtorepresentanitemsuchasaflexjoint,whosestiffnessisinunits ofmomentperunitangle,e.g.kN.m/degree.Morecommonly,thelineendiseitherfreetorotateorfullyrestrained. Inthefirstcase,theendstiffnessissettozero;inthesecondcase,theendstiffnessissettoInfinity.Notethatitis never necessary (or correct) to 'convert' the line stiffness into an end stiffness: the program includes the line stiffnessforyouautomatically.
FreetorotateorFullyrestrainedEnds
Inmanypracticalcases,thelineendsareneithercompletelyfreenorfullyrestrained.Nevertheless,werecommend that you should usually choose one of these conditions. When should you use one rather than the other? The followingnotesofferabriefguide: 1. ManysystemsmodelledusingOrcaFlexconsistofrelativelylongflexiblelineswherebendstiffnessplaysonlya minorroleindeterminingtheoverallforcesonandmovementsofthesystem.Insuchsystems,lineendsmay safelybemodelledasfreetorotate. Anexceptiontothisruleissystemswhichincludeoneormore 6Dbuoys.Therotationalmotionsofthebuoy may then be influenced by moment transfer from the ends of lines attached to it, particularly where buoy rotationalinertiasaresmall.Insuchcases,theendconnectionstothebuoyshouldbefullyrestrained. Afurtherexceptionissystemswheretheflexiblelinesarerelativelyshortandstiff,e.g.alargediameterunder buoyhoseinshallowwater.Bendstiffness,includingendmoments,mayhaveasignificantinfluenceonoverall systembehaviourinsuchcases,andtheendconnectionsshouldbefullyrestrained. Wherefullyrestrainedendsareused,itisnecessarytopaymoreattentiontothemodellingofthelinecloseto the end. In particular make allowance for the additional stiffness of a bend stiffener, if one is fitted and use shortersegmentsnearthelineendssoastorepresentthemomentswithsufficientaccuracy. Rollon/rolloff contact (e.g. stern rollers, pipelay stingers, midwater arches for riser systems). A pinned connection at the average contact point is often sufficient. For a more exact representation, use one or more solidstorepresentthesupportingsurface,butrememberthattheremustbesufficientnodesatthelineendto interactwiththesolid.
2.
3.
4.
5.
EndForceandEndForceEzAngle
The figure below shows the end connection of a flexible line fitted with a bend stiffener. The line applies a load (tension)Tasshown.Ifthelocalloads(weight,drag,etc.)ontheendpartoftheline,includingthebendstiffener, aresmallbycomparisonwithT,thenthereactionforceFisequalandoppositetoT,andthebendmomentatthe endfittingisM=T.h. OrcaFlexreportstheEndForce,F,andtheEndForceEzAngle,,asshown.The"Nomomentdirection"isdefinedin theinputdata.WhenthereactionforceFactsinthenomomentdirection,thenthereactionmomentMiszero. Itisclearfromthisthat 1. 2. End Force and End Force EzAngle are the same whether the end condition is defined as freetorotate, fully restrained,orsomeintermediatecondition; The bend moment at the end fitting, M, is a function of the lever arm, h, which depends not only on the end conditionbutalsoonthebendstiffnessdistributionintheline/bendstiffener.
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No moment direction M F
h T
Figure: EndconnectionofaflexiblelinefittedwithaBendStiffener
DesignLoadsforEndFittings
Fordesignofendfittings,includingbendrestrictors,theprincipalparametersprovidedbyOrcaFlexareEndForce andEndForceEzAngle.Themomentattheendcanthenbedeterminedbyalocal(static)analysiswhichcanbe developedtoincorporateasmuchdetailasrequired. Thisapproachisusuallysufficient,exceptwhereEndForceisverysmall.ThisoccurswhenthelinetensionTcomes closetozero.Thedirectionoftheendforceisthennolongerdominatedbythelinetension,andotherloads(shear, localdragandinertialoadsetc.)whichareusuallynegligiblebecomeimportant.Intheseconditions,thereported EndForceEzAngleismisleadingandamoreappropriateestimateshouldbemadefromthesystemgeometry.This canbedoneusingtheEzAngleresultsvariable.EzAngleforanysegmentgivestheangleofthatsegmentrelativeto theNoMomentDirectionattheadjacentlineend,includingallowanceforthemotionoflineendwherethelineis attached to a vessel or buoy. EzAngle for a point near the end of the bend restrictor is a reasonable alternative whereEndForceEzAngleisnotsuitable.
Results
Whenexaminingresultsatlineendsnotethatifastiffpipegoesintocompression,linetensionbecomesnegative butEndForceremainspositive,andEndForceEzAnglemayapproach180. CurvatureiscalculatedinOrcaFlexbydividingtheanglechangeatanynodebythesumofthehalfsegmentlengths on each side of the node: bend moment is curvature multiplied by bend stiffness. At the end, OrcaFlex takes the angle change between the end segment of the line and the nomoment direction, and reports the corresponding curvature and bend moment based onthe half lengthofthe end segment.Where bend stiffness at the line end is zero(pinnedendorazerostiffnessline),curvatureandbendmomentarereportedaszero.
DesignDataforBendRestrictors
Weclassifybendrestrictorsinto3types: Bellmouths:curvedsurfaceswhichsupporttheflexibleandmaintainacceptablecurvature. BendLimiters:articulateddeviceswhichrotatefreelytoaspecifiedcurvature,thenstop. BendStiffeners:elastomericdeviceswhichprovideataperedadditionalbendstiffness.
Differentdesigninformationisrequiredforeachtype:
Bellmouth
TheprincipaldesignrequirementisthatbellmouthangleshouldbegreaterthanthemaximumvalueofEndForce EzAngle. For cases where the bellmouth is not radially symmetrical, OrcaFlex reports components of End Force
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AngleinthelocalXZandYZplanes.EndForceEzxAngleisthecomponentinthelocalxzplane;EndForceEzyAngle isthecomponentinthelocalyzplane.
BendLimiter
Therearetwodesignrequirements: 1. 2. Thelimiterlengthmustbenotlessthana*RwhereaisEndForceEzAngleandRisthelimiterlockingradius. ThelimitermustbecapableofwithstandingthemaximumbendmomentMgivenbyM=R*F*(1cos(a))where F,aaresimultaneousvaluesofEndForceandEndForceEzAngle.OrcaFlexreportsBendRestrictorLoadP= F*(1cos(a))asanaidtobendlimiterdesign.Pissometimescalled"pseudocurvature".
BendStiffener
Thedesignprocessismorecomplexandthecriticaldesignloadcasesarenotalwaysselfevident.AnXYgraphofF againsta(EndForceagainstEndForceEzAngle)providesacompletedefinitionoftheloadingforoneanalysiscase, with each (F,a) pair defining a load case. The bend stiffener should be designed to prevent infringement of the permitted curvature for any (F,a) pair. In practice, it is often sufficient to consider just the three (F,a) pairs correspondingtomaximumvaluesofEndForceF,EndForceEzAngleaandBendRestrictorLoadP.
7.8.19
ModellingCompressioninFlexibles
When a flexible line experiences compression, it responds by deflecting transversely: the magnitude of the deflectioniscontrolledbybendstiffness.Understaticconditions,thebehaviourofaninitiallystraightsectionofline underpureaxialloadingisdescribedbyclassicEulerbucklingtheory.Thisdefinesthemaximumcompressiveload the"Eulerload"whichaparticularlengthoflinecanwithstandbeforetransversedeflectionoccurs.TheEulerload is a function of the length of the straight section, the bend stiffness and the end conditions. For a simple stick of length L, bend stiffness EI, with pin joints at each end, the Eulerload is 2EI/L2. The Eulerload is derived from a stabilityanalysis:ittellsusthevalueofaxialloadatwhichtransversedeflectionwilloccurbutnothingaboutthe postbucklingbehaviour. Under dynamic loading conditions, the transverse deflection is resisted by a combination of inertia and bending. OrcaFlex is fully capable of modelling this behaviour provided the discretisation of the model is sufficient, i.e. provided the segments are short enough to model the deflected shape properly. Another way of saying the same thingisthatthecompressiveloadinanysegmentofthelineshouldneverexceedtheEulerloadforthesegment. Why are these two statements equivalent? Imagine the real line replaced by a series of rigid sticks connected by rotational springs at the joints this is essentially how OrcaFlex models the line. Under compression, the line deflects:thesticksremainstraightandthejointsrotate.Providedthewavelengthofthedeflectionislongerthanthe length of the individual sticks then the rigid stick model can approximate it: shorter sticks give a better approximation. IfthecompressiveloadreachestheEulerloadforanindividualstick,thenthereallinewhichthestickrepresents willstarttodeformatashorterwavelength,anddeflectionswithinthesticklengthbecomesignificant.Clearly,this stickmodelisnolongeradequate.Byreplacingeachlongstickbyseveralshortones,wecanmaketheEulerloadfor eachstickgreaterthantheappliedcompressiveload.Eachstickwillthenremainstraight,butwenowhavemore stickswithwhichtomodelthedeflectedshape. This gives us a convenient way of checking the adequacy of our model: provided the compressive load in each segmentalwaysremainslessthantheEulerloadforthatsegment,thenwecanhaveconfidencethatthebehaviour ofthelineincompressionisadequatelymodelled.OrcaFlexmakesthiscomparisonautomaticallyforallsegments andreportsanyinfringementsintheStatisticstables.ThesegmentEulerloadisalsoplottedintensionrangegraphs (asanegativevaluecompressionisnegative)sothatinfringementsareclearlyvisible. If the segment Eulerload is infringed during a simulation, then we have to decide what to do about it. If infringementoccursonlyduringthebuildupperiod,perhapsasaresultofastartingtransient,thenwecansafely ignoreit.Ifitoccursduringthemainpartofthesimulation,thenweshouldexaminethetimehistoriesoftensionin theaffectedareas.Whereinfringementsaresevereandrepeatedoroflongdurationtheanalysisshouldberepeated with shorter segments in the affected area. However it may be acceptable to disregard occasional minor infringementsofshortdurationonthefollowinggrounds: Transversedeflectioncausedbycompressiontakessometimetooccurbecauseofinertia. ThesegmentEulerloadusedinOrcaFlexasabasisforcomparisonisthelowestofthevariousalternatives,and assumespinnedjointswithnobendstiffnessateachendofthesegment.Thisisaconservativeassumption.
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SystemModellingDataandResults,6DBuoys
Whetherornottodisregardaninfringementisadecisionwhichcanonlybetakenbytheanalystinthecontext ofthetaskinhand.
LimitCompressionSwitch
Foreachlinetype,thedataincludesaLimitCompressionswitch. The usual setting is "No". This means that each segment of this line type is treated as a strut capable of taking whatevercompressiveloadsariseinthecourseofthesimulation. Forsomespecialcases,suchaschainsandsoftropeswithlittlebendstiffness,thisisnotthemostusefulmodeland OrcaFlexoffersanalternative.Linesofthissortcannottakecompressionatall,sothe"LimitCompression"switch canbesetto"Yes".OrcaFlexthendoesnotallowcompressiveloadinggreaterthanthesegmentEulerload(whichis zeroifthebendstiffnessiszero). Note: Ineithercase,ifthesegmentEulerloadisreachedthenaWarningisgivenontheresultformand inthestatisticstable.
7.9
6DBUOYS
6DBuoysareobjectshavingallsixdegreesoffreedom3translational(X,YandZ)and3rotational(Rotation1,2 and3).Theforcesactingonabuoyaremass,buoyancy,addedmassanddampinganddraginthethreeprincipal buoydirections.Correspondingmomentsareappliedfortherotationaldegreesoffreedom.Buoyscanbesurface piercing, and have a notional height; this allows the hydrostatic and hydrodynamic forces to be proportioned dependingonthedepthofimmersion. 6D Buoys can have wings attached to them. A wing is a rectangular surface, attached to the buoy at a specified positionandorientation,whichexperiencesliftanddragforces,andamoment,duetotherelativeflowofthesea pastthewing. Linesattachedtoa6DBuoycanthusexperiencebothmomenteffectsandtranslationsasthebuoyrotatesunderthe influenceofhydrodynamicsandappliedloads.Linescanbeattachedtoanoffsetpositiononabuoythisallowsthe directstudyoflineclashing,includingtheseparationintroducedbyspacedattachmentpoints. Threetypesof6DBuoyareavailable,thedifferencesbeingthewayinwhichthegeometryofthebuoyisdefined.
LumpedBuoys
Thefirsttype,LumpedBuoys,arespecifiedwithoutreferencetoaspecificgeometry.Thisnecessarilyrestrictsthe accuracywithwhichinteractionswiththewatersurfacearemodelled.Wherealumpedbuoypiercesthesurfaceitis treatedforbuoyancypurposesasasimpleverticalstickelementwithalengthequaltothespecifiedheightofthe buoy (thus buoyancy changes linearly with vertical position without regard to orientation). This model does not providetherotationalstiffnessthatwouldbeexperiencedbymostsurfacepiercingbuoys. Interactionswiththeseabedandwithshapesarealsomodelledinafairlysimplemanner,andfrictioneffectsarenot included.Arbitraryhydrodynamicandphysicalpropertiesaremodelledbyderivingequivalentterms.
SparBuoys
The second type, called Spar Buoys, are intended for modelling axisymmetric buoys whose axis is normally vertical,particularlywheresurfacepiercingeffectsareimportant(suchasforaCALMbuoy). SparBuoysaremodelledasaseriesofcoaxialcylindersmountedendtoendalongthelocalzaxis(seeSparBuoy andTowedFishProperties).Thisallowsyoutoprovidesomeinformationaboutthebuoygeometry,byspecifying the number of cylinders and their lengths and diameters. A conical or spherical shape can be approximated as a seriesofshortcylindersofgraduallyincreasingordiminishingdiameter. SparBuoys model surfacepiercing effects ina muchmore sophisticated waythan Lumped buoys. Effectssuch as heavestiffnessandrightingmomentsinpitchandrollaredeterminedbycalculatingtheintersectionofthewater surfacewitheachofthecylindersmakingupthebuoy,allowingfortheinstantaneouspositionandattitudeofthe buoy in the wave. However note that OrcaFlex does not calculate radiation damping (a linear damping term resultingfromthecreationofsurfacewavesasthebuoyoscillates)orimpactloads(slamming). Becausetheyaremodelledasastackofconcentriccylinders,SparBuoysareoftennotsuitableforfullysubmerged objectswithmorecomplexgeometry. AswithLumpedBuoys,themodellingofseabedinteractionissimplisticandfrictioneffectsarenotincluded.
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Hydrodynamic loads on Spar Buoys are calculated using Morison's equation. Added mass and drag forces are appliedonlytothosepartsofthebuoywhichareinthewateratthetimeforwhichtheforceiscalculated.Forpartly immersed cylinders, added mass and drag are proportioned according to the fraction of the cylinder which is immersed. The use of Morison's equation implies that the buoy diameter is small compared to the wavelength (usuallythecaseforCALMbuoysandthelike)butmeansthatsomeloadtermsarenotrepresented.
TowedFish
The third type, called Towed Fish, are intended formodelling bodies, such astowedfish, whose principal axis is normallyhorizontal.TowedFishbuoysareidenticaltoSparBuoysexceptthatthestackofcylindersrepresenting thebuoyislaidoutalongthexaxisofthebuoy,ratherthanalongthezaxis.
7.9.1
Wings
6Dbuoyscanhaveanumberofwingsattached;theseareuseful forrepresentingliftsurfaces,divertersetc.Each winghasitsowndataandresultsavailable. Awingisarectangularsurface,attachedtothebuoyataspecifiedpositionandorientation,whichexperienceslift force,dragforceanddragmoment,duetotherelativeflowoffluidpastthewing.Thesedragloadsdependonuser specifiedcoefficientsthatdependontheincidenceangleoftherelativefluidflow. Thefluidreferredtoherecanbethesea,theair,orboth,asfollows. Whenever the wing is completely below the instantaneous water surface, then the lift and drag loads are calculatedusingtheseadensity,velocityandincidenceangle. Whenever the wing is completely above the water surface, and if you have selected to include wind loads on wings(ontheWindpageontheEnvironmentdataform),theninsteadairliftanddragloadsarecalculatedand applied,usingthesameformulaeandcoefficients,butusingtheairdensity,velocityandincidenceangle. Whenthewingispartiallysubmerged,OrcaFlexcalculateswhatproportionofthewingrectangleareaisbelow the instantaneous water surface, i.e. its 'proportion wet' PW. OrcaFlex then calculates the water lift and drag loadsasifthewingwasfullysubmerged,butthenscalesthembyPWbeforetheyareapplied.Inaddition,ifyou haveselectedtoincludewindloadsonwings,thenOrcaFlexalsocalculatestheairliftanddragloads(asifthe wingwasnotsubmerged)andscalesthemby1PW,i.e.the'proportiondry',beforetheyareapplied.Whenthis happens,therefore,bothwaterandairliftanddragloadsareapplied,eachappropriatelyscaled.Thewinglift, dragandmomentresultsthenreportthewaterloadswheneverthewingismorethanhalfsubmergedandthe airloadswheneveritislessthanhalfsubmerged.
Wingsdonothaveanymass,addedmassorbuoyancyassociatedwiththem.Thereforeanymass,addedmassor buoyancyduetowingsshouldbeaddedintothepropertiesspecifiedforthebuoyitself. Thedragforceonawingistheforceappliedinthedirectionofrelativeflow.Theliftforceistheforceat90tothat direction.Themomentrepresentsthemoment(aboutthewingcentre)thatarisesduetothefactthatthecentreof pressuremaynotbeatthewingcentre.Theseloadsareappliedatthewingcentreandarespecifiedbygivinglift, drag and moment coefficients as a function of the incidence angle between the relative velocity vector (flow velocityrelativetowing)andthewingplane.
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+ve lift Flow Velocity V (relative to wing) Wy Chord Wz W Leading edge Wx
Principal Wing Axis
Span -ve lift

Figure: WingModel
Eachwinghasitsownsetoflocalwingaxes,withoriginWatthewingcentreandaxesWx,WyandWz. Wyisnormaltothewingsurfaceandpointstowardsthepositivesideofthewing,i.e.thesidetowardswhich positiveliftforcesact. WxandWzareintheplaneofthewing.ThewingisthereforearectangleintheWxzplane,centredonW. Wzistheprincipalaxisofthewing.Itistheaxisaboutwhichthewingcaneasilybepitched,byadjustingthe winggammaangle. Wxisintheplaneofthewing,normaltotheaxisWz,sothat(Wx,Wy,Wz)formarighthandtriad. We normally choose Wz and Wx so that Wx is towards the leading edge of the wing. With this arrangement, increasingthewinggammaanglemovestheleadingedgeinthedirectionofpositivelift.
Werefertothewing'slengthintheWzdirectionasitsspananditswidthintheWxdirectionasitschord. If the wing is not completely submerged, then the forces and moments applied by OrcaFlex are scaled down according to the proportion of the wing area that is below the surface. However, note that the true effects of breakingsurface,forinstanceplaningandslamming,aremuchmorecomplexthanthisandarenotmodelled.
7.9.2
CommonData
Alltypesof6DBuoyusealocalcoordinatesystemwiththeoriginatthecentreofgravity.Thefollowingdataitems arecommontoalltypes.
Name
Usedtorefertothe6DBuoy.
Type
Threetypesofbuoyareavailable:LumpedBuoys,SparBuoysandTowedFish.
Connection
A 6D Buoy can either be Free, Fixed or connected to a Vessel, 6D Buoy or a Line (provided that line includes torsion). IfthebuoyisFreethenitisfreetomoveinresponsetowaveloads,attachedlinesetc.Inthiscasethebuoy's InitialPositionandAttitudearespecifiedrelativetoglobalaxes. IfthebuoyisFixedthenitcannotmove.ItsInitialPositionandAttitudearespecifiedrelativetoglobalaxes.
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IfthebuoyisconnectedtoaVessel,6DBuoyoraLine,thenitisrigidlyconnectedtothatobjectandsomoves androtateswithit.Allresultingforcesandmomentsonthebuoyaretransmittedtotheobject.Inthiscasethe buoy'sInitialPositionandAttitudearespecifiedrelativetotheobjecttowhichitisconnected.
InitialPositionandAttitude
Specifiestheinitialpositionofthebuoyorigin(whichmustbethecentreofgravity)anditsinitialorientation. If the buoy is Free or Fixed then its initial position is specified by giving the X, Y and Z coordinates of the buoy originB,relativetotheglobalaxes.Anditsinitialorientationisspecifiedbygiving3anglesRotation1,Rotation2, Rotation3,whicharesuccessiverotationsthatdefinetheorientationofthebuoyaxesBxyz,relativetoglobalaxes, as follows. First align the buoy with global axes, so that Bxyz are in the same directions as GXYZ. Then apply Rotation1aboutBx(=GX),followedbyRotation2aboutthenewBydirection,andfinallyRotation3aboutthenew (andfinal)Bzdirection. IfaFreebuoyisnotincludedinthestaticanalysisthenthisinitialpositionistakentobethestaticpositionofthe buoy.Ifthebuoyisincludedinthestaticanalysis,thenthisinitialpositionisusedasaninitialestimateofthebuoy position and the static analysis will move and rotate the buoy from this position until an equilibrium position is found.SeeDegreesofFreedomIncludedinStaticAnalysis. IfthebuoyisconnectedtoaLine,thentheInitialPositionandAttitudespecifywhereonthelineitisconnected,and withwhatorientation,asfollows: TheInitialPositionzcoordinatespecifiesthearclengthatwhichthebuoyshouldbeconnectedtotheline.The buoywillbeconnectedtothenearestnodetothatarclength.Thisarclengthmaybemeasuredrelativetoeither EndAorEndBasspecifiedbytheuser. Thebuoywillbeconnectedtothatnode,butwithanoffsetrelativetothatnode'saxesthatisgivenby(x,y,0). ThebuoyorientationrelativetothenodeaxesisspecifiedbytheInitialAttitudeangles.
DegreesofFreedomIncludedinStaticAnalysis
Determineswhichdegreesoffreedomarecalculatedbythestaticanalysis.ThisdataitemonlyappliestoFreebuoys anditcanbesettooneof: None: the buoy position and orientation are not calculated by the static analysis they are simply set to the initialpositionandorientationspecifiedonthebuoydataform. X,Y,Z: the buoy position is calculated by the static analysis, but its orientation is simply set to the initial orientationsetonthebuoydataform. All:thebuoypositionandorientationarecalculatedbythestaticanalysis.
NormallythisdataitemshouldbesettoAllsothatthestaticanalysiscalculatesthetrueequilibriumpositionand orientation of the buoy.However it issometimes useful tofix the buoy positionororientation, for exampleif the staticanalysisisunabletofindtheequilibriumpositionororientation.
Mass
Massorweightinair.
MassMomentsofInertia
Thesolidmomentsofinertiaofthebuoyaboutthelocalx,yandzaxesdirectionsthroughitscentreofmass.
CentreofMass
The centre of mass of the buoy, relative to the buoy origin. The weight force, mass and moments of inertia are appliedatthispoint.
BulkModulus
Specifiesthecompressibilityofthebuoy.Ifthebuoyisnotsignificantlycompressible,thentheBulkModuluscanbe settoInfinity,whichmeans'incompressible'.SeeBuoyancyVariationfordetails.
SeabedFrictionCoefficient
OrcaFlex applies Coulomb friction between the buoy and the seabed. The friction force applied never exceeds R whereRistheseabedreactionforceandisthefrictioncoefficient. SeeFrictionTheoryforfurtherdetailsofthefrictionmodelused.
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SystemModellingDataandResults,6DBuoys ThefrictioncoefficientforcontactwithelasticsolidsisspecifiedontheSolidFrictionCoefficients dataform.
Note:
TotalContactArea
Used to determine contact forces when the buoy comes in to contact with the seabed and with elastic solids. If a valueof'~'isspecifiedthenOrcaFlexcalculatesadefaultvaluefortotalcontactareabasedonthebuoygeometry. SeeContactForcesfordetails. Specifyingavalueofzeroallowsyoutodisablecontactforthebuoy.
7.9.3
AppliedLoads
YoucanapplytothebuoyexternalGlobalLoadsthatdonotrotateifthebuoyrotates.Thesearespecifiedbygiving thecomponentsofAppliedForceandAppliedMomentrelativeto globalaxes.Thesecomponentscanbeconstant, varywithsimulationtimeorbegivenbyanexternalfunction.Ifthebuoyrotatesthentheloadsdonotrotatewithit. In addition, you can specify external Local Loads that do rotate with the buoy. These are specified by giving the componentsofAppliedForceandAppliedMomentrelativetobuoyaxes.Againthesecomponentscanbeconstant, varywithsimulationtimeorbegivenbyanexternalfunction. Ifthebuoyrotatesthentheloadsdorotatewithit. Thesearesuitableformodellingthrusters,forexample. InbothcasesthePointofApplicationoftheloadisspecifiedbygivingitsx,y,zcoordinatesrelativetobuoyaxes.
7.9.4
Name
WingData
6Dbuoyscanhaveanumberofwingsattached,eachhavingitsowndataandtype. Usedtorefertothewing.
Span
Thelengthofthewing,inthelocalWzdirection.
Chord
Thewidthofthewing,inthelocalWxdirection.
CentreofWing
Thepositionofthewingorigin,relativetobuoyaxes.Thewingisdrawnisdrawnasasimplerectanglecentredon thisorigin,therectangle'sdimensionsbeingthespecifiedChordandSpan. Notethatthisoriginisthepointatwhichtherelativevelocityiscalculatedandatwhichtheresultingwingliftand dragforcesareapplied.Itshouldthereforenormallybeatthecentreofpressure,whichmaynotbeatthecentreof area(eventhoughOrcaFlexdrawsthewingasbeingcentredatthispoint).

Orientation
Theorientationofthewingisspecifiedbygiving3anglesazimuth,declinationandgammarelativetothebuoy axes.Theanglescanbefixed,orcanvarywithsimulationtime,orcanvaryandbegivenbyanexternalfunction. Theanglesdefinetheorientationofthelocalwingaxesrelativetothebuoyaxesasfollows: StartwiththewingaxesWxyzalignedwiththebuoyaxesBxyzandthenrotateWxyzaboutBzbytheazimuth angle.ThisleavesWzalignedwithBzbutWxnowpointsinthedirectiontowardswhichthedeclinationistobe made. Now rotate by the declination angle about the new direction of Wy. This declines Wz down into its final direction,i.e.Wznowpointsalongthedirectionwhoseazimuthanddeclinationanglesareasspecified. FinallyrotatebythegammaangleaboutthisfinalWzdirection.Thisisarotationabouttheprincipalwingaxis, soitallowsyoutoadjustthepitchofthewing.
For each of these rotations, positive angles mean clockwise rotation and negative angles mean anticlockwise rotation,whenlookedatalongtheaxisofrotation. Whensettingtheseorientationangles,itiseasiesttofirstsettheazimuthanddeclinationvaluestogivethedesired Wzdirection.Thisisthedirectionoftheaxisaboutwhichthewingpitchisset.Thensetgammatogivethecorrect pitch of the wing. This process is best done with the Draw Local Axes option set on (see the View menu or the
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Tools|Preferencesmenu)sincethewingaxesarethenvisibleonthe3Dviewandyoucancheckthattheresulting orientationiscorrect.
WingType
Determinesthepropertiesofthewing.Youcandefineanumber ofwingtypesclickthe"WingTypes"buttonto accessthewingtypesdataform.
7.9.5
Name
WingTypeData
6Dbuoyscanhaveanumberofwingsattached,eachhavingitsowndataandtype. Usedtorefertothewingtype.
WingTypeProperties
Thepropertiesofeachwingtypearespecifiedbygivingatableoflift,dragandmomentcoefficientsasafunctionof theincidenceangleoftheflowrelativetothewing. A'Graph'buttonisprovided,whichdisplaysagraphofthe3coefficientssothatyoucanvisuallycheckyourdata.

IncidenceAngle
Theincidenceangleistheangle,,thattherelativeflowvectormakestothewingsurface.Thisequals90minusthe anglebetweenWyandtherelativeflowvector. The incidence angle is always in the range 90 to +90, where positive values mean that the flow is towards the positive side of the wing (i.e. hitting the negative side) and negative values mean that the flow is towards the negativesideofthewing(i.e.hittingthepositiveside). Theincidenceanglesinthetablemustbegiveninstrictlyincreasingorderandthetablemustcoverthefullrangeof incidence angles, so the first and last angle in the table are set to 90 and +90 and cannot be changed. Linear interpolationisusedtoobtaincoefficientsoverthecontinuousrangeofangles. Note: The wing lift, drag and moment are assumed to depend only on the incidence angle, not on the angle of attack in the wing plane. OrcaFlex will therefore use the same lift, drag and moment coefficientsforflow(withthesameincidenceangle)ontothefront,thesideorthebackofthewing, even though your data may only apply over a limited range of inplane attack angles. You can checkthattheangleofattackinthewingplanestayswithintherangeofyourdatabyexamining theBetaangleresultvariable.
Lift,DragandMomentCoefficients
Thesedefinethehydrodynamicandaerodynamicloadsappliedtothewing.Aerodynamicloadsareonlyappliedif theIncludewindloadson6DBuoyWingsoptionisenabledintheEnvironmentdata. The lift coefficient Cl() defines the lift force applied to the wing, as a function of incidence angle . The lift coefficientscanbepositiveornegativeandtheliftforceisgivenby: LiftForce=P.Cl()..A.V2 where Pistheproportionwetorproportiondryasappropriate. isthefluiddensity, Aistheareaofwingthatisinsidethefluidand Vistherelativeflowvelocityatthewingcentre. Theliftforceisappliedatthewingcentre,alongthelinethatisat90totherelativeflowvectorandintheplaneof thatvectorandWy.For=90thislineisilldefinedandtheliftcoefficientmustbezero.Positiveliftcoefficients meanliftpushingthewingtowardsitspositiveside(the+veWyside). ThedragforceisdefinedbythedragcoefficientCd()usingtheformula: DragForce=P.Cd()..A.V2 Thedragcoefficientcannotbenegative,sothedragforceisalwaysintherelativeflowdirection.
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ThemomentcoefficientCm()definesamomentthatisappliedtothewing.Thismomentrepresentsthefactthat thepositionofthecentreofpressuremaydependontheincidenceangle. Themomentcoefficientscanbepositiveornegativeandthemomentisgivenby: Moment=P.Cm()..A.V2.Chord Thismomentisappliedaboutthelinethatisinthewingplaneandisat90totherelativeflowvector.For=90 thislineisilldefinedandthemomentcoefficientmustbezero.Positivemomentcoefficientsmeanthatthemoment istryingtoturnthewingtobringWytopointalongtherelativeflowdirection.Negativemomentcoefficientsmean themomenttriestoturnthewingtheoppositeway.

Pen
ThiscontrolswhichpenisusedtodrawaWingwhichusesthisWingType.IfitissettoUseBuoy'spenthenthe6D Buoypenwillbeused.IfitissettoUsethispenthenthespecifiedpenisused.
ShadedDrawing
Bydefault,forshaded3DViews,wingsaredrawnasplateswiththespecifiedspanandchord. Alternativelytheobjectcanberepresentedbyanimported3DmodelbyspecifyingtheShadedDrawingFile.This mustbeaDirectXformatfile,usuallywiththe.xfileextension.Ifyouusearelativepaththenthepathwillbetaken asrelativetothefoldercontainingtheOrcaFlexfile(.dator.sim). The Browse button allows you to specify the Shaded Drawing File quickly and also provides quick access to the OrcinasampledrawingsviatheNavigatetoOrcinasampledrawingsbutton. TheUseCullingoptionisnormallyselectedsinceitcanprovideausefulperformancebenefit.However,inorderto workitrequiresthatthetrianglesdefinedinthe.xfilehavetheiroutwardfacingdirectionsdefinedcorrectly.Inthe unusual situation where the outward facing directions are not defined correctly then the .x file will not display correctly.IfthishappensthentypicallysectionsofthemodelwillbemissingwhendrawnbyOrcaFlex.Disablingthe UseCullingoptionresolvesthisproblem. DrawSizeisprovidedtoallowyoutoscalethedrawing.Alldirectionsarescaledequallytoarrangethatthelongest sideinthedrawingisdrawntothespecifiedDrawSize.Thislongestsideiscalculatedbyfirstfittingthesmallest possiblecuboidaroundtheverticesoftheshadeddrawing(thesearedefinedinthe.xfile).Thiscuboidisaligned withtheshadeddrawing'slocalaxes.Thenthelengthofthelongestsideofthiscuboidisfound. Specifyavalueof'~'todisplaythedrawingusingtheabsolutecoordinatesasspecifiedinthe.xfile. Note: Ifyouuseavalueof'~'forDrawSizethenOrcaFlexusesthecoordinatesinthe.xfiledirectly.If these coordinates use a different length units system from your OrcaFlex model then you should specify the units used in the .x file by including an auxiliary file called AdditionalInformation.txt. ExamplesofthiscanbefoundinthesampleshadeddrawingsprovidedbyOrcina.
Shaded Drawing Origin is provided because the shaded drawing and the wing may have different origins. The Shaded Drawing Origin defines the origin of the shaded drawing with respect to the wing's local axis system. SimilarlyShadedDrawingOrientationallowsyoutoreorienttheshadeddrawingtomatchthewing'saxissystem.
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w
Vertices
7.9.6
LumpedBuoyProperties
z (heave)
yaw
y (sway) pitch
B (B=buoy origin)
roll
x (surge)
Figure: LumpedBuoy
A Lumped Buoy is specified relative to its own local frame of reference Bxyz. The Centre of Mass is specified relativetoBxyz. Theforcesandmomentsarecalculatedasfollows(iswaterdensity,gisaccelerationduetogravity).Eachdegree offreedomiscalculatedindependently.
Geometry
Volumeisthetotalvolumeofthebuoy,withitscentreattheCentreofVolume,definedrelativetothelocalbuoy axesBxyz. Heightisthebuoyverticaldimension,assumedequallyspacedaboutthecentreofvolume.Heightisassumedtobe independentofbuoyrotation. TheHeightisusedfortwomainpurposes: Tocalculatethecontactareausedtocalculateforcesofcontactwithshapesandtheseabed. To calculate the ProportionWet, which is used to scale the hydrostatic and hydrodynamic forces and to determinethecentreofwettedvolume,whichisthepointatwhichtheyareapplied.
Damping
Hydrodynamic damping forces and moments may be applied to the buoy. These are loads that are directly proportionalto the relative velocity, or angular velocity, of the seapastthe buoy. For eachofthe local buoy axes directions, you specify the magnitude of the Unit Force that is applied when the relative velocity is 1lengthunit/second.OrcaFlexthenscalesthesemagnitudesaccordingtotheactualrelativevelocityandappliesthe resulting force or moment. Similarly you can specify a Unit Moment that is applied when the relative angular velocityis1radian/second.
Drag
Hydrodynamicdragforcesandmomentsmaybeappliedtothebuoy.Theseareloadsthatareproportionaltothe squareoftherelativevelocity,orangularvelocity,oftheseapastthebuoy. Thedragforcepropertiesarespecifiedbygiving,foreachof thelocalbuoyaxesdirections,the DragAreathatis subjecttodragloadinginthatdirectionandthecorrespondingDragCoefficient. Drag moment properties are specified in a similar way, except that instead of specifying a drag area you must specifyaMomentofArea.
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SystemModellingDataandResults,6DBuoys DragAreaMomentisthe3rdabsolutemomentofdragareaabouttheaxis.SeparateCdvaluesare givenforforceandmomentcalculations.
Note: FluidInertia
Fluid inertia properties are those that are proportional to the acceleration of the sea and the buoy. These accelerationshavetwomaineffects.Firstly,theyresultinforcesandmomentsbeingappliedtothebuoytheseare referredtoasthefluidaccelerationloads.Secondly,thebuoyexperiencesanincreaseininertiathisisknownas theaddedmass. FulldetailsofthecalculationarepresentedintheLumpedBuoyAddedMass,DampingandDragtopic. ThefluidinertiapropertiescanbespecifiedeitherbyprovidingtheDiagonalvaluesorFullmatrices.
FluidInertiaspecifiedbydiagonalvalues
Thesepropertiesarespecifiedseparatelyfortranslationalandrotationalmotionsandalsoseparatelyforeachlocal axisdirection. The translational fluid inertia properties of the buoy are specified, for each of the local buoy axis directions, by givingareferenceHydrodynamicMasstogetherwiththetwoinertiacoefficients,CaandCm.ThetranslationalCm valuescanbesetto'~'tomean1+Ca. The translational Hydrodynamic Mass values can be set to '~', meaning equal to the fully submerged displaced mass.(=volumexwaterdensity).Thisisoftenaconvenientreferencemasstouse.
FluidInertiaspecifiedbyfullmatrices
Theaddedmassandfluidinertiapropertiesarespecifiedasfull6x6symmetricmatrices.Theaddedmassmatrixis simplyaddedintothebuoy'svirtualmassmatrix.Thefluidinertiamatrixismultipliedbytheinstantaneousfluid accelerationvectortoproducethefluidaccelerationloads. Theunitsoftheaddedmassandfluidinertiamatricesareasfollows,whereM,LandTindicatetheunitsofmass, lengthandtime: Theupperleft3x3blockofcellshasunitsM. Theupperrightandlowerleft3x3blockshaveunitsM.L. Thelowerright3x3blockofcellshasunitsM.L2.
7.9.7
LumpedBuoyDrawingData
VerticesandEdges Thisdefinesa"wireframe"representationofthebuoy.Thewireframerepresentationofthebuoyisusedtodraw thebuoy.Itisalsousedtocalculatetheinteractionofthebuoywithshapesandtheseabed.SeeContactForcesfor details. TheverticesarespecifiedbygivingtheircoordinateswithrespecttobuoyaxesBxyz,andtheedgesarespecifiedby givingthevertexnumbersoftheverticestheyconnect.

Edgediameter(usedonlyforshadeddrawing)
Forshadedgraphicsviews,bydefault,theLumpedBuoyisdrawnusingasolid,filledinshapebasedonthevertices andedges.Asanalternativeyoucanusetheverticesandedgestodefineaframelikestructure.Iftheedgediameter is '~' then that edge will be used to build a filled in shape, otherwise that edge is drawn as a cylinder with the specifieddiameter.
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Figure: Wireframeswithdifferentedgediameter.Avalueof'~'isusedforthewireframeontheleft andavalueof1misusedforthewireframeontheright.
7.9.8
SparBuoyandTowedFishProperties
The figure below shows the geometry of a Spar Buoy. The buoy is specified relative to its own local frame of referenceBxyz.TheCentreofMassisspecifiedrelativetoBxyz. ASparBuoyismodelledasaseriesofcoaxialcylindersmountedendtoendalongthelocalzaxis.Thegeometryof aTowedFishisidenticalexceptthatthebuoyaxisisalignedwiththexaxisofthebuoy. Thecylindersarenumberedfromthetopdownwards.Sointhetablesonthebuoydataformthecylinderatthebase ofthestack(lowestxorz)appearsatthebottomofthetable. IfyouaremodellingaCALMorSPARbuoythenseealsoModellingaSurfacePiercingBuoy.
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Buoy Axis Cylinder 1 OD
Cylinder 1 Length
z (heave)
yaw
y (sway) pitch
B (B=buoy origin)
roll
x (surge)
Stack Base Position

Figure: Geometry TheshapeofaSparBuoyorTowedFishisspecifiedbythefollowingdataontheGeometrypageonthebuoydata form.
StackBaseCentrePosition
SparBuoy
Thecentreofthebaseofthestack,relativetobuoyaxes.
Cylinders:OuterDiameter,InnerDiameterandLength
Thediametersofthecylinderanditslengthmeasuredalongtheaxis.
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Theseparametersdefinethebuoygeometryfromwhichbuoyancyforcesandmomentsaredetermined.Whenthe buoypiercesthewatersurface,OrcaFlexallowsfortheangleofintersectionbetweentheseasurfaceandthebuoy axis when calculating the immersed volume and centre of immersed volume, and includes the appropriate contributionstostaticstability. Iftheinnerdiameterisgreaterthanzerothenthecylinderisactuallyahollowcylindricalpipe.Theinternalregion ofthecylindercontainsseawaterifthebuoyissubmerged.Inthiscasethenthecontainedwatercontributestothe buoy'sinertia.Theseinertialeffectsareonlyincludedindirectionsnormaltothebuoy. Theremainingparametersdeterminethehydrodynamicloadsactingoneachcylinder.Loadsarecalculatedforeach cylinderindividually,thensummedtoobtainthetotalloadonthebuoy. HydrodynamicLoads SeetheAddedMassandDampingandDragpagesonthebuoydataform.
7.9.9
SparBuoyandTowedFishAddedMassandDamping
Thereisachoiceofhowtomodelthesefirstordereffects,ontheAddedMassandDampingpageofthesparbuoy dataform.Theycaneitherbespecifiedbygivingaddedmassanddampingvaluesforeachcylinder,orelsebygiving RAOsandmatricesforthewholebuoy. ValuesforEachCylinder Withthisoption,theaddedmass anddampingeffectsarecalculatedseparatelyforeachcylinderusingMorison's Equation.

AddedMass
Translationaladdedmass effects arecalculated using the displacedmassasthe reference mass for eachcylinder. Separate added mass coefficients are given for flow normal (x and y directions) and axial (z direction) to the cylinder. Rotationaladdedinertiaisspecifieddirectly(sonoreferenceinertiaisinvolved).Separatevaluescanbegivenfor rotationaboutthecylinderaxisandnormaltothataxis. SeeSparBuoyTheory.
DampingForcesandMoments
Dampingforcesandmomentsarethehydrodynamicloadsthatare proportionaltofluidvelocity(angularvelocity for moments) relative to the cylinder. They are specified by giving the Unit Damping Force and Unit Damping Momentforthenormalandaxialdirections.Thesespecifytheforceandmomentthatthecylinderwillexperience,in that direction, when the relative fluid velocity (angular velocity for moments) in that direction is 1 unit. See DampingForcesandMomentsfordetails. RAOsandMatricesforBuoy InthisoptionthelinearhydrodynamiceffectsarespecifiedbygivingwaveforceandmomentRAOs,andaddedmass anddampingmatrices.Normallythisdatawouldcomefromaseparateprogram,suchasadiffractionprogram. Note: This option is only appropriate for circularlysymmetric spar buoys whose axis undergoes only smalloscillationsaboutvertical.ItwasdevelopedprimarilyforCALMbuoyswithdiameterinthe range5mto15m.Itisthereforenotavailablefortowedfish. TheRAOsandaddedmassanddampingmatricesspecifiedmustapplytothemeanpositionofthe buoy.Theyarenotmodifiedtoaccountforanyvariationsinbuoyattitudeorimmersion,sothis optionisonlysuitableforbuoysthatundergosmalloscillationsabouttheirmeanposition.
Warning:
RAO,AddedMassandDampingOrigin
This specifies the coordinates, with respect to buoy axes, of the point on the buoy at which the RAOs and added massanddampingmatricesareapplied.Thismeansthat: TheRAOsareappliedtothewaveconditionsatthispointtogivethewaveloads,whicharethenappliedatthis point. Thedampingmatrixismultipliedbythecurrentvelocityrelativetothebuoyatthispointtogivethedamping load,whichisappliedatthispoint.
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Theaddedmassmatrixisappliedatthispoint.
WaveForceandMomentRAOs
TheRAOsarespecifiedinatablegivingtheamplitudesandphasesofthesurgeforce,heaveforceandpitchmoment RAOs,asafunctionofwaveangularfrequency.RAOsmustbespecifiedforbothofthelimitingcases,i.e.forlongand shortwaves,andforatleastoneotherfrequency. TheRAOsmustbespecifiedusingthefollowingOrcinaconventions.Theforceandmomentamplitudesmustbethe forcesandmomentsthatareappliedatthebuoyoriginwhenaunitamplitudewaveisapplied.Thephasesmustbe lags,indegrees,fromthetimethewavecrestpassesthebuoy originuntilthemaximumpositiveforceormoment occurs.

AddedMassandDampingMatrices
Inrealitytheaddedmassanddampingmatricesarefrequencydependent,butinOrcaFlexyoucanonlyenterthe matricesforonefrequency.Youshouldgivethevaluesfortheprincipalfrequencyofexcitationexpected. The added mass and damping matrices are 6 x 6 symmetric matrices, so only the cells on and above the leading diagonalareeditable.Thecellsbelowtheleadingdiagonalarenoneditableandalwaysequalthecorrespondingcell valuesabovethediagonal. The units of the added mass and damping matrices are as follows, where M, L and T indicate the units of mass, lengthandtime: Added mass matrix. The upperleft 3x3 block of cells has units M. The upperright and lowerleft 3x3 blocks haveunitsM.L.Thelowerright3x3blockofcellshasunitsM.L2. Damping matrix. The upperleft 3x3 block of cells has units F/(L/T). The upperright 3x3 block has units F/(rad/T).Thelowerleft3x3blockofcellshasunits(F.L)/(L/T).Thelowerright3x3blockofcellshasunits (F.L)/(rad/T).
Because the buoy is assumed to be axisymmetric these matrices should both have the following axisymmetric form:
a 0 0 0 b 0
0 a 0 b 0 0
0 0 c 0 0 0
0 b 0 d 0 0
b 0 0 0 d 0
0 0 e 0 0 0
OrcaFlexwarnsatsimulationtimeifthematricesarenotofthisform.
7.9.10
SparBuoyandTowedFishDrag
MunkMomentCoefficient Slender bodies in nearaxial flow experience a destabilising moment called the Munk moment. This effect can be modelledbyspecifyinganonzeroMunkmomentcoefficient. DragForcesandMoments Dragloadsarethehydrodynamicloadsthatareproportionaltothesquareoffluidvelocityrelativetothecylinder. For details of the drag load formulae see Spar Buoy and Towed Fish Theory. For information when modelling a SPARorCALMbuoyseeModellingaSurfacePiercingBuoy. Thedragforcesarecalculatedoneachcylinderusingthe"crossflow"assumption.Thatis,therelativevelocityofthe seapastthecylinderissplitintoitsnormalandaxialcomponentsandthesecomponentsareused,togetherwiththe specifieddragareasandcoefficients,tocalculatethenormalandaxialcomponentsofthedragforce. The drag forces are specified by giving separate Drag Area and Drag Coefficient values for flow in the normal direction(localxandydirections)andintheaxialdirection(localzdirection).TheDragAreaisareferencearea thatismultipliedbytheDragCoefficientinthedragforceformula.YoucanthereforeuseanypositiveDragAreathat suitsyourneed,butyouthenneedtogiveaDragCoefficientthatcorrespondstothatspecifiedreferencearea.
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TheDragmomentsarespecifiedandcalculatedinasimilarway tothedragforces,exceptthatthereferencedrag area is replaced by a reference Area Moment. This and the Drag Coefficient are multiplied together in the drag momentformula,soagainyoucanuseanypositiveAreaMomentthatsuitsyourneed,providingyouthenspecifya DragCoefficientthatcorrespondstothespecifiedAreaMoment. Therearetwoalternativemethodsthatyoucanadoptwhenspecifyingthedragdata.Thefirstmethodistosetthe OrcaFlexdatatogetbestpossiblematchwithrealmeasuredresultsforthebuoy(e.g.frommodeltestsorfullscale measurements).Thisisthemostaccuratemethod,andwerecommenditforCALManddiscusbuoysseeModelling aSurfacePiercingBuoyfordetails.BecausetheDragAreaandDragCoefficientdataaresimplymultipliedtogether, youcancalibratethemodeltotherealresultsbyfixingoneofthesetwodataitemsandthenadjustingtheother.For example,youcouldsettheaxialDragCoefficientto1andadjusttheaxialDragAreauntiltheheaveresponsedecay rateintheOrcaFlexmodelbestmatchesthemodeltestresults.Or,youcouldsettheaxialDragAreatoafixedvalue (e.g.1orsomeappropriatereferencearea)andthenadjusttheaxialDragCoefficientuntiltheheaveresponsedecay rateinOrcaFlexbestmatchesthemodeltestresults. Thesecondmethodistosetthedragdatausingtheoreticalvaluesorgivenintheliterature.Itislessaccuratebut canbeusedifyoucannotgetanyrealbuoyresultsagainstwhichtocalibrate.Tousethismethod,setthedataas follows. SettheDragAreastotheprojectedsurfaceareathatisexposedtodraginthatdirectionandthensettheDragForce Coefficients based on values given in the literature (see Barltrop & Adams, 1991, Hoerner,1965 and DNV, 1991). Note that the drag area specified should be the total projected area exposed to drag when the buoy is fully submerged, since OrcaFlex allows for the proportion wet in the drag force formula. For a simple cylinder of diameter D and length L the total projected drag area is D.L for the normal direction and (.D2)/4 for the axial direction,butifthebuoyhasattachmentsthatwillexperiencedragthentheirareasmustalsobeincluded. Set the Drag Area Moments to the 3rd absolute moments of projected area exposed to drag in the direction concerned;seeDragAreaMomentsfordetails.AndthensettheDragMomentCoefficientsbasedonvaluesgivenin theliterature.
7.9.11
1.
SparBuoyandTowedFishDrawing
TherearetwoalternativemethodsofdrawingtheSparBuoyandTowedFishcylinders: Drawsquarecylinders.Ifthisoptionisselectedtheneachcylinderisdrawnasasquarebasedcuboid.OrcaFlex automaticallygeneratestheverticesandedges.Thereareeightverticespercylinderandthesquarebasehasa sidelengthequaltothediameteroftheactualcircularcylinder. Drawcircularcylinders.Withthisoptionselectedthecircularcylindersaredrawnassuch.Youcanspecifypens fortheoutsideandinsideofthecylinders.Inadditionyouspecifyhowmanylinesaredrawn.Increasingthis numbermakesthebuoydrawingmorerealisticbutincreasesthetimetakentodrawthebuoy. Notes: The selected drawing method only affects the way the object is drawn. It does not affect calculationsinanyway. Theverticesofthesquarebasedcuboidsareusedforcalculationofanycontactwiththeseabedor shapes.Thisappliesevenifyouchooseforpresentationpurposestodrawcircularcylinders.
2.
7.9.12
ShadedDrawing
Bydefault,forshaded3DViews,SparBuoysandTowedFisharedrawnassolidobjectsusingthespecifiedcylinder geometry.LumpedBuoysaredrawnusingthewireframedata. The wire frame drawing data comprises vertices and edges, but OrcaFlex needs a solid surface for the shaded graphics representation. OrcaFlex uses the following procedure to generate this surface from the wire frame verticesandedges. Firstanyedgeswithspecifieddiameters(i.e.diametersnotequalto'~')aredrawnascylinders.Thisallowsyouto use such edges to visualise parts of the structure thatare not solid,e.g. crane boom latticework. These edges are nowhandledandareexcludedfromtheremainderoftheprocedure. Theremainingedgesareusedtopartitiontheverticesintosetsofconnectedvertices.Twoverticesaredeemedto beconnectedifthereexistsapathofedgesbetweenthetwovertices. Finally,foreachsetofconnectedvertices,thesmallestconvexhullenclosingthesetisdrawn. This algorithm does not always generate the shaded drawings that you might expect. Consider the following two wireframevessels.Whendrawninwireframemodetheylookthesame,butinshadedmodetheydiffer.
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Forthegreenvesselthesuperstructureandthehullshareverticesandsoallverticesareconnected.Thisresultsina singleconvexhullforallverticesbeingdrawn.Intheredvessel,thesuperstructureandhulldonotsharevertices and so there are two distinct sets of connected vertices. This results in two separate convex hulls and a better representation. Alternativelytheobjectcanberepresentedbyanimported3DmodelbyspecifyingtheShadedDrawingFile.This mustbeaDirectXformatfile,usuallywiththe.xfileextension.Ifyouusearelativepaththenthepathwillbetaken asrelativetothefoldercontainingtheOrcaFlexfile(.dator.sim). The Browse button allows you to specify the Shaded Drawing File quickly and also provides quick access to the OrcinasampledrawingsviatheNavigatetoOrcinasampledrawingsbutton. TheUseCullingoptionisnormallyselectedsinceitcanprovideausefulperformancebenefit.However,inorderto workitrequiresthatthetrianglesdefinedinthe.xfilehavetheiroutwardfacingdirectionsdefinedcorrectly.Inthe
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unusual situation where the outward facing directions are not defined correctly then the .x file will not display correctly.IfthishappensthentypicallysectionsofthemodelwillbemissingwhendrawnbyOrcaFlex.Disablingthe UseCullingoptionresolvesthisproblem. DrawSizeisprovidedtoallowyoutoscalethedrawing.Alldirectionsarescaledequallytoarrangethatthelongest sideinthedrawingisdrawntothespecifiedDrawSize.Thislongestsideiscalculatedbyfirstfittingthesmallest possiblecuboidaroundtheverticesoftheshadeddrawing(thesearedefinedinthe.xfile).Thiscuboidisaligned withtheshadeddrawing'slocalaxes.Thenthelengthofthelongestsideofthiscuboidisfound. Specifyavalueof'~'todisplaythedrawingusingtheabsolutecoordinatesasspecifiedinthe.xfile. Note: Ifyouuseavalueof'~'forDrawSizethenOrcaFlexusesthecoordinatesinthe.xfiledirectly.If these coordinates use a different length units system from your OrcaFlex model then you should specify the units used in the .x file by including an auxiliary file called AdditionalInformation.txt. ExamplesofthiscanbefoundinthesampleshadeddrawingsprovidedbyOrcina.
Shaded Drawing Origin is provided because the shaded drawing and the buoy may have different origins. The Shaded Drawing Origin defines the origin of the shaded drawing with respect to the buoy's local axis system. SimilarlyShadedDrawingOrientationallowsyoutoreorienttheshadeddrawingtomatchthebuoy'saxissystem.
7.9.13
Otheruses
6DBuoysarefrequentlyusedfornonstandardpurposes.ForexampletheycanbeusedtoconnectLinestogether. Sometimestheyareusedasframeofreferenceobjectswherethepropertiesareprovidedbyvariousotherobjects (usuallysinglesegmentLines)connectedtothe6DBuoy. Forsuchusesthe6DBuoyneedsnegligiblestructuralandhydrodynamicproperties.Becausethisissuchacommon thingtodowehaveprovidedafacilityonthe6DBuoydataformtosetupappropriateproperties.Clickingonthe GiveBuoynegligiblepropertiesbuttonhasthefollowingeffects: BuoyTypewillbesetasLumpedBuoy. Masswillbesettoanegligiblevalue. Heightwillnotbemodifiedsinceitcannotbesettozero.Becauseotherpropertiesaresettozeroitsvalueisnot significant. AllotherLumpedBuoypropertiesaresettozero. AnyexistingWing,AppliedLoadandDrawingdataisnotmodified.
7.9.14
Parameters
ExternalFunctions
7.9.15
Weightinair
PropertiesReport
The6DBuoypropertiesreportisavailablefromthepopupmenuonthedataform.Itreportsthefollowing: Theforceduetogravityactingonthebuoy'smass.
Displacement
Theweightofwaterdisplacedbythebuoy'svolume.Thereportedvalueusesthewaterdensityattheseasurface.
Weightinwater
Volume
Thevolumeofthebuoy.
Centreofvolume
Reportedwithrespecttothebuoyframeofreference.
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xmassradiusofgyration,ymassradiusofgyration,zmassradiusofgyration
Equals(MassMomentofInertia/Mass).
Totalcontactarea
ReportstheTotalcontactareadata.Ifavalueof'~'issetonthedataformthenthevaluereportedhereisthedefault valuecalculatedbyOrcaFlex.
Numberofvertices
Thenumberofverticesinthewireframedrawing.Contactfor6DBuoysiscalculatedateachofthesevertices.
Contactareapervertex
EqualsTotalcontactarea/Numberofvertices.
Theseareonlyreportedifthebuoyisincludedinstatics. Thestaticanalysissearchesforanequilibriumpositionforthebuoythatisapositionforwhichtheresultantforce andmomentonthebuoyiszero.Werefertotheresultantforceandmomentastheoutofbalanceload.Because computershavelimitednumericalprecisionthestaticanalysiscannotalwaysfindaconfigurationwheretheoutof balanceloadisexactlyzero.OrcaFlexacceptsapositionasastaticequilibriumpositionifthelargestoutofbalance loadcomponentislessthanthestaticsaccuracy. TheStaticsforceaccuracyequalsTolerance*buoytypicalforceandtheStaticsmomentaccuracyequalsTolerance* buoytypicalmoment.Thebuoytypicalforceandmomentarebasedontheweightinair,theheightofthebuoyand theforcesandmomentsappliedbyconnectedobjects. Reducing the Tolerance value will give a more accurate static equilibrium position, but will take more iterations. OrcaFlex may not be able to achieve the Tolerance specified if it is too small, since the computer has limited numericalprecision. Note: Thestaticsaccuracieschangeduringthestaticanalysisbecausetheforcesandmomentsapplied by connected objects vary with the position of the buoy. The statics accuracies reported in Reset state may be quite different from those used for the final equilibrium position and should be treatedasroughapproximationstothetruestaticsaccuracies.
7.9.16
Results
FordetailsonhowtoselectresultsvariablesseeSelectingVariables. 6DBuoyResults For6DBuoystheavailablevariablesare:

X,YandZ
ThepositionofauserspecifiedpointPonthebuoy,relative toglobalaxes.ThepointPisspecifiedinbuoylocal coordinates.IfP=(0,0,0)thentheglobalX,YandZcoordinatesofthebuoyoriginarereported.

Rotation1,Rotation2andRotation3
Definetheorientationofthebuoyrelativetoglobalaxes.Theyare3successiverotationsthattaketheglobalaxes directionstothebuoyaxesdirections.SeeInitialPositionandAttitudeforthedefinitionoftheseangles. Rotation2isintherange90to+90.RangejumpsuppressionisappliedtoRotation1andRotation3(sovalues outsidetherange360to+360mightbereported).

Azimuth,Declination
Theazimuthanddeclinationofthelocalzaxis.
Velocity,GXVelocity,GYVelocity,GZVelocity
Themagnitudeandcomponentsofthevelocityofthebuoy,relativetoglobalaxes.Theseresultsarereportedata userspecifiedpointPonthebuoy.ThepointPisspecifiedinbuoylocalcoordinates.
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Acceleration,GXAcceleration,GYAcceleration,GZAcceleration
Themagnitudeandcomponentsoftheaccelerationofthebuoy,relativetoglobalaxes.Theseresultsarereportedat auserspecifiedpointPonthebuoy.ThepointPisspecifiedinbuoylocalcoordinates.
SeaSurfaceZ
TheglobalZcoordinateoftheseasurfacedirectlyabovetheinstantaneouspositionofthebuoyorigin.
DryLength
Thelengthofbuoyabovethewatersurface,measuredalongthebuoyzaxis,calculatedasfollows: ForaLumpedBuoy,thisiscalculatedbyassumingthatthezextentofaLumpedBuoyisHeighteithersideof itscentreofvolume. ForaSparBuoyitisthesumofthedrylengthsofeachofitscylinders,wherethedrylengthofanindividual cylinderiscalculatedas: (cylinderlength)(submergedvolumeofcylinder)/(totalvolumeofcylinder).

Force,Moment LxForce,LyForce,LzForce,LxMoment,LyMoment,LzMoment, GxForce,GyForce,GzForce,GxMoment,GyMoment,GzMoment
TheseresultsarenotavailableforbuoysthatareconnectedtootherobjectsyoucaninsteadusetheConnection ForceandConnectionMomentresults. Theseresultsarethetotalforceandmomentappliedtothebuoy.ForceandMomentreportthemagnitudesofthe loads.TheLx,LyandLzresultsreportthecomponentsoftheforceandmomentinthelocalaxesdirections.TheGx, GyandGzresultsreportthecomponentsoftheforceandmomentintheglobalaxesdirections.

ConnectionForce,ConnectionMoment ConnectionxForce,ConnectionyForce,ConnectionzForce ConnectionxMoment,ConnectionyMoment,ConnectionzMoment
Theseconnectionloadresultsareonlyavailableforbuoysthatareconnectedtootherobjects.Theyreportthetotal forceandmomentappliedtothebuoybytheobjecttowhichitisconnected. Connection Force and Connection Moment report the magnitudes of the connection loads. The other results reportthecomponentsoftheconnectionforceandmomentinthebuoyaxesdirections. These connection force and moment results include the inertial load on the buoy due to any acceleration of the objecttowhichitisattached.Thismeansthattheseresultscanbeusedforseafasteningcalculations,byusinga6D buoytomodeltheobjecttobefastenedandthenattachingittoavessel.Theconnectionforceandmomentinclude theweightofthebuoyandtheinertialloadsduetothevesselacceleration.Notethatifthevesselmotionisspecified by a time history then the time history interpolation method used is important since it affects the calculation of vesselaccelerationandhenceaffectstheinertialloads. WingResults Ifthe6Dbuoyhaswingsattachedthenforeachwingthefollowingresultsareavailable.
WingX,WingY,WingZ
Thepositionofthewingorigin,relativetoglobalaxes.
WingAzimuth,DeclinationandGamma
Theorientationanglesofthewing,relativetothebuoy.
Lift,Drag,Moment
Theliftforce,dragforceanddragmomentappliedtothewing. Theliftforceisappliedat90totherelativeflowdirection.Positivevaluesmeanaforcetryingtopushthewing towardsitspositiveside,negativevaluestowardsitsnegativeside. Thedragforceisappliedintherelativeflowdirectionandisalwayspositive. Thedragmomentisappliedaboutthelinethatisinthewingplaneandat90totherelativeflowdirection.Positive valuesaremomentstryingtoturnthewingtobringthewingyaxisWytopointalongtherelativeflowdirection; negativevaluesaremomentstryingtoturnthewingtheoppositeway.
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SystemModellingDataandResults,6DBuoys Whenthewingislessthanhalfsubmerged,andyouhaveincludedwindloadsonwings,thenthe liftforce,dragforceandmomentreportedaretheairloads.Otherwisetheyarethewaterloads.
Note:
IncidenceAngle
Theangle,,thattherelativeflowvectormakeswiththeplaneofthewing,intherange90to+90.Positivevalues meanthattheflowistowardsthepositivesideofthewing(i.e.hittingthenegativeside)andnegativevaluesmean thattheflowistowardsthenegativesideofthewing(i.e.hittingthepositiveside). Thevaluereportediswithrespecttotheprincipalfluidaffectingthewing.

BetaAngle
Theangleoftherelativeflowdirection,measuredinthewingplane.Morespecifically,itistheanglebetweenwing Wxaxisandtheprojectionoftherelativeflowvectorontothewingplane,measuredpositivetowardsWz.Zerobeta angle means that this projection is in the Wx direction, 90 means it is along Wz and 90 means it is along the negativeWzdirection. Thevaluereportediswithrespecttotheprincipalfluidaffectingthewing. RangejumpsuppressionisappliedtotheBetaAngle(sovaluesoutsidetherange360to+360mightbereported).
7.9.17
BuoyHydrodynamics
3DandLumped6Dbuoysaregeneralisedobjectsforwhichnogeometryisdefinedinthedataotherthanaheight: Thisisusedforproportioninghydrodynamicpropertieswhentheobjectispartiallyimmersed,andfordrawinga 3Dbuoy. Sincethegeometryoftheobjectisundefined,itisnecessarytodefinepropertiessuchasinertias,dragareas,added masses,etc.explicitlyasdataitems.Thiscanbeadifficult task,especiallywherea6Dbuoyisusedtorepresenta complexshapesuchasamidwaterarchofthesortusedtosupportaflexiblerisersystem. Wecannotgiveasimplestepbystepprocedureforthistasksincethegeometryofdifferentobjectscanbewidely different.Asanexample,thehydrodynamicpropertiesin6degreesoffreedomarederivedforarectangularbox. This gives a general indication of the way in which the problem should be approached. If a 3Dbuoy is used, the rotationalpropertiesarenotused.
7.9.18
HydrodynamicPropertiesofaRectangularBox
O is the centre of the box
Y
z
y
Figure: Dragareas InXdirection:Ax=y.z BoxGeometry
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InYdirection:Ay=x.z InZdirection:Az=x.y DragCoefficientsforTranslationalMotions These are obtained from ESDU 71016, Figure 1 which gives datafor drag of isolated rectangular blocks with one facenormaltotheflow.Thedimensionsoftheblockare aintheflowdirection bandcnormaltotheflowdirection(c>b). Thefigureplotsdragcoefficient,Cxagainst(a/b)for(c/b)from1toinfinity(2Dflow).Cxisintherange0.9to2.75 forblockswithsquarecorners. Note: ESDU 71016 uses Cd for the force in the flow direction; Cx for the force normal to the face. For presentpurposesthetwoareidentical.
DragPropertiesforRotationalMotions There is no standard data source. As an approximation, we assume that the drag force contribution from an elementaryareadAisgivenby dF=..V2.Cd.dA whereCdisassumedtobethesameforallpointsonthesurface. Note: Thisisnotstrictlycorrect.ESDU71016givespressuredistributionsforsampleblocksinuniform flowwhichshowthatthepressureisgreatestatthecentreandleastattheedges.Howeverwedo notallowforthishere.
dz z
Figure: Integrationforrotationaldragproperties
ConsidertheboxrotatingaboutOX.TheareasAyandAzwillattractdragforceswhichwillresultinmomentsabout OX.FortheareaAy,consideranelementarystripasshown: ForanangularvelocityaboutOX,thedragforceonthestripis dF=..(z).|z|.Cd.x.dz andthemomentofthisforceaboutOXis dM=..(z).|z|.Cd.x.dz.z=(...||.Cd).x.z3.dz Totalmomentisobtainedbyintegration.BecauseoftheV.|V|formofthedragforce,simpleintegrationfromZ/2to +Z/2givesM=0.Wethereforeintegratefrom0toZ/2andmultiplytheanswerby2.Theresultis M=(...||.Cd).(x.z4/32) OrcaFlexcalculatesthedragmomentby
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M=(...||.Cdm).(AM) soweset Cdm=Cd,AM=x.z4/32. ThisisthedragmomentcontributionaboutOXfromtheAyarea.ThereisasimilarcontributionfromtheAzarea. SinceCdisgenerallydifferentforthe2areas,itisconvenienttocalculatethesumof(Cd.AM)forboth,setAMequal tothisvalueandsetCdequalto1. AddedMass OrcaFlexrequirestheaddedmassandinertiacontributionstothemassmatrix,plusthehydrodynamicmassesand inertiastobeusedforcomputationofwaveforces.Foreachdegreeoffreedom(3translations,3rotations),3data itemsarerequired.These areHydrodynamicMassintonnes(orInertiaintonne.m2);andcoefficientsCaandCm. Added mass is then defined as Hydrodynamic Mass.Ca; and wave force is defined as (Hydrodynamic mass.Cm) multipliedbythewaterparticleacceleration,aw. OntheusualassumptionsintrinsicintheuseofMorison'sEquation(thatthebodyissmallbycomparisonwiththe wavelength),thewaveforceisgivenby(+AM).aw,whereisbodydisplacementandAMisaddedmass.OrcaFlex calculatesthewaveforceasCm.HM.awwhereHMistheHydrodynamicMassgiveninthedata. For translational motions, set HM = for all degrees of freedom. Then Ca=AM/, Cm=1+Ca. For rotational motions,setHI=I,themomentofinertiaofthedisplacedmass.ThenCa=AI/I,Cm=1+CawhereAIistheadded inertia(i.e.therotationalanalogueofaddedmass). TranslationalMotion DNV (1991), Table 6.2, gives added mass data for a square section prism accelerating along its axis. The square sectionisofsidea,prismlengthisb,anddataaregivenforb/a=1.0andover.Thereferencevolumeisthevolume ofthebodywhichisthesamedefinitionwehaveadopted.WecanthereforeusethecalculatedCawithoutfurther adjustment. ConsidertheXdirection:Areanormaltoflow=Ax. Forasquareofthesamearea,a=(Ax). Lengthinflowdirection=x. Henceb/a=x/(Ax). HenceCacanbeobtainedfromDNV(1991)byinterpolation,andthenCm=1+Ca. Ifb/a<1.0thisapproachfailsandweusethedatagiveninDNV(1991)forrectangularflatplates.Ify>z,aspect ratiooftheplate=y/z.HenceCAfromDNV(1991)byinterpolation.Thereferencevolumeinthiscaseisthatofa cylinderofdiameterz,lengthy.Hence: Addedmass=CA..(/4).y.z2=AMx,say andthenCa=AMx/andCm=1+Ca. Note: Ify<z,thenaspectratio=z/yandreferencevolume=CA..(/4).z.y2.
RotationalMotion DNV(1991)givesnodataforhydrodynamicinertiaofrotatingbodies.Theonlydatafor3Dsolidsweknowofisfor spheroids(Newman1977).Fig4.8ofNewman1977givestheaddedinertiaforcoefficientforspheroidsofvarying aspectratioreferredtothemomentofinertiaofthedisplacedmass.Weassumethatthesamecoefficientappliesto themomentofinertiaofthedisplacedmassoftherectangularblock. RotationaboutX I=(Y2+Z2)/12

Addedinertia:
UsingdataforspheroidsfromNewman1977: Lengthinflowdirection=2a=x,soa=x/2. Equivalentradiusnormaltoflow,b,isgivenbyb2=yz,sob=(y.z/). HenceCafromNewman1977.
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Forb/a<1.6
Cacanbereadfromtheupperfigurewherethevalueisreferredtothemomentofinertiaofthedisplacedmass.In thiscasenofurtheradjustmentisrequired.
Forb/a>1.6
ThecoefficientCAisreadfromthelowergraphinwhichthereferencevolumeisthesphereofradiusb.Inthiscase: Ca=CA.(2.b3)/(a.(a2+b2)) Ineithercase,Cm=1+Ca.
7.9.19
ModellingaSurfacePiercingBuoy
Surfacepiercing buoys, such as CALM buoys, SPAR buoys or meteorological discus buoys, can be modelled in OrcaFlexusingtheSparBuoyversionofa6DBuoy.Despiteitsname,theOrcaFlexSparBuoycanbeusedtomodel anyaxisymmetricbody.SeetheexampleF01CALMBuoy. Spar Buoys have many data items available. This enables you to model a wide range of effects, but it also makes settingupaSparBuoymodelmorecomplicated.Tohelpinthis taskwedescribe,inthissection,theapproachwe adoptforsettingupanOrcaFlexmodelofasurfacepiercingbuoy. 1.CreateasimplemodelcontainingjustaSparBuoy Startbymodellingthefreefloatingbehaviourofthebuoy,withoutanylinesattached.Thisallowsustogetthebasic behaviourofthebuoycorrect,beforecomplicationssuchasmooringsetc.areintroduced.Wethereforesetupan OrcaFlexmodelcontainingjustaSparBuoyandwithnowavesorcurrent. Setthebuoy'sAppliedLoadtozero.Thisdataallowsyoutoapplyextraforcesandmomentstothebuoy,inaddition tothosefromanylinesthatyouattachtoit.Youcanusethislatertomodelthewindforceontheupperpartofthe buoy.Todothisyouwillneedtoknowtheprojectedarea(i.e.theareaexposedtowind)ofthepipeworketc.inthe upperpartofthebuoy. Setthebuoy'sMunkMomentCoefficienttozero.Thisdataitem isonlyusedforslenderbodiesinnearaxialfully submergedflowonly. Setthenumberofwingstozero.Wingsarenormallyonlyrelevantfortowedfish. Finally,westartbysettingallthebuoy'sdragandaddedmassdatatozero.Wewillsetuptheactualvalueslater. 2.Setupthegeometrydata TheSparBuoyhasitsownlocalcoordinatesystem.Thismusthaveitsoriginatthebuoycentreofgravity(CG)and musthavethelocalzaxispointingupwardsalongtheaxisofthebuoy.Youthereforeneedtoknowthepositionof thecentreofgravity.Thebuoymanufacturershouldsupplythisinformation. Set the Stack Base Position. This is the position of the centre of the bottom of the buoy, relative to the centre of gravity.TheStackBasePositionistherefore(0,0,h)where histhedistancefromthebottomofthebuoytothe centreofgravity. Nowsetupanumberofcylinders,andtheirlengthsanddiameters,inordertomodeltheshapeofthebuoy.Todo this you need the dimensions of the various parts of the buoy. The buoy manufacturer should supply this information.Setthecylinderlengthsanddiameterssothatyougetthecorrectlengthandvolumeforeachsection. Youcanrepresenttaperedsectionsbyaseriesofshortcylinderswithdiameterschangingprogressivelyfromoneto thenext. We recommend using a number of short cylinders, even where the buoy diameter is constant over a long length. Usingmorecylindersgivesmoreaccurateresults,thoughatthecostofreducedcomputationspeed. Youcancheckyourgeometrydatabyzoominginonthebuoyina3dviewwindow.Turnonthelocalaxessothat youcancheckthatthebuoyorigin(=centreofgravity)isinthecorrectplace. TheBulkModulusdataitemisnotrelevanttoasurfacepiercingbuoy,soitcanbeleftatthedefaultvalueofInfinity. 3.Setupthemassandinertiadata NowsettheMassandMomentsofInertiaofthebuoy.Thebuoymanufacturershouldsupplythisinformation. Themassequalstheweightofthebuoyinair.Themomentsofinertiaarethoseofthebuoy(inair)aboutitscentre ofgravity,asfollows:
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Iz=themomentofinertiaaboutthebuoyaxis. Ix and Iy = the moments of inertia about axes perpendicular to the buoy axis, through the centre of gravity. UsuallyitissufficienttoassumethatIx=Iy.
Ifyoucannotobtaindataforthemomentsofinertia,thentheycanbeapproximatelycalculatedfromaknowledgeof themassesofthevariouspartsofthebuoy,andapproximatelyhowthatmassisdistributed. 4.Checkthatthebuoyfloatsatthecorrectdraught SettheInitialPositionandInitialAttitudeofthebuoysothatthebuoyisinitsexpectedequilibriumposition.The initial position is the position of the buoy local origin, and therefore of the CG, and you can calculate this point's expectedequilibriumpositionfromthebuoydraught,whichshouldbeavailablefromthebuoymanufacturer. TheInitialAttitudedefinestheinitialorientationofthebuoy.Setitto(0,0,0),whichorientsthebuoywithitsaxis verticalandthebuoylocalx,yaxesalignedwiththeglobalX,Yaxes. SettheDegreesoffreedomincludedinstaticstoNoneandthenrunthesimulationandlookatthetimehistoryof buoyZ.Ifthedatahasbeensetupcorrectlythenthebuoyshouldhavestayedbasicallyinits initialpositionand attitude,withperhapsjustsmalloscillationsaboutthatposition. If the buoy Z has oscillated significantly then the model's equilibrium position does not match the expected equilibriumposition.Thismeansthatsomethingiswronginthedataandthisneedstracingandcorrectingbefore you proceed. You can estimate the model's equilibrium position by looking at the mean Z position in the time history. 5.Checkthatthebuoyisstable Nowcheckthatthebuoyisstablei.e.thatifitispitched overtoonesideandreleasedthenitrightsitself.Inthe InitialAttitudedata,settheRotation2valuetosay10and runthesimulation.Ifthebuoyfallsoverthenthereis somethingwrongwiththeCGpositionorthevolumedistribution,andthismustbecorrected. Note: Thebuoyonitsownmaynotbeintendedtobestable,e.g.stabilitymayonlybeachievedwhenthe mooringsareattached.Inthiscaseyouwillneedtomodelthemooringsinordertocheckstability.
6.SettheAddedMassdata Thexandyaddedmasscoefficientscanbesetto1.0,whichisthestandardvalueforacylinderinflownormaltoits axis. Addedmassinthezdirectionshouldbeestimatedforthebuoyfromthepublishedliterature(DNVrules,Barltrop& Adams, 1991) and distributed between the immersed cylinders (remember that hydrodynamic loads are only appliedtotheimmersedpartsofthemodel). Ideally, this data should then be checked by comparing the heave and pitch natural periods of the model against valuesobtainedfrommodeltestsorfullscalemeasurements,andadjustmentsmadeasnecessary. 7.Setthedraganddampingdata ThebestapproachdependsonwhetherthebuoyisaSPARwhoselengthisgreatbycomparisonwithitsdiameter, or a surfacefollowing Discus shape such as an oceanographic buoy. CALM buoys are usually closer to the Discus configuration,oftenwithadampingskirtwhichissubmergedatnormaldraft.
SparBuoys
Set the Drag Areas for each cylinder tothe areas,ofthe part of the buoy which thatcylinder represents, that are exposed to fluid drag in the direction concerned. Note that you should specifythe areasthatare exposedto drag when the buoy is fully submerged. OrcaFlex automatically calculates the proportion of the cylinder that is submergedandscalesallthefluidloadsonthecylinderusingthat'proportionwet'asafactor.Soifacylinderisnot submerged,orispartiallysubmerged,thenthedragloadswillbescaledaccordinglyforyou. For a simple cylinder, of diameter D and length L, the normal drag area is D.L since that is the area of a cylinder whenviewednormaltoitsaxis.Andtheaxialdragareais(.D2)/4sincethatistheareaofthecylinderwhenviewed alongitsaxis.However,whereacylinderisrepresentingpartofthebuoythatisnotinrealityasimplecylinder(for example,wemayrepresentthepipeworkandturntableonthedeckofaSPARbuoyasanequivalentcylinder)or wherethecylinderisshieldedfromdragbyadjacentstructure,thenthedragareasshouldbesetaccordingly.For example,ifthecylinderisshieldedbelowbyanothercylinder ofdiameterd(lessthanD)thentheaxialdragarea shouldbereducedby(.d2)/4tomodelthatshielding.
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Set the Drag Force Coefficient based on values given in the literature. For short simple cylinders fully immersed there are standard values given in the literature (see Barltrop & Adams, 1991, Hoerner,1965 and DNV, 1991). However,thestandardbookvaluesdonotincludeenergyabsorptionbywavemakingatthefreesurface.Strictly, this is a linear term (forces directly proportional to velocity), but in OrcaFlex this must be done by adjusting the dragcoefficientsofoneormorecylinders. The Unit Damping Forcedata can be settozero. If you laterfindthat the buoy shows persistent smallamplitude oscillationsthenyoumaywishtosetanonzerovaluetodampthisout. Set the Drag Area Moments, Drag Moment Coefficients and Unit Damping Moment data. For the normal direction thesedataitemscanusuallyallbeleftaszero,providingyouhavesubdividedthebuoyintoshortenoughcylinders (sincethesetermsinvolveahighpowerofL,thecylinderlength).Fortheaxialdirectionthesedataitemsmodelthe yawdraganddampingeffects,soifthisisimportanttoyouthensetthemtomodelthetwomainsources,namely skinfrictiononthecylindersurfaceandformdragonanyprotuberancesonthebuoy. Havingsetupthisdraganddampingdata,itiswellworthnowrunningsimulationsofheaveandpitchoscillations andcheckingthattheirrateofdecayisreasonableandconsistentwithanyrealdatayouhaveavailable.
DiscusandCALMBuoys
These types of buoy require different treatment since they have little axial extension. Instead it is their radial extensionthatmostaffectsthebuoy'spitchproperties.Asaresulttheaxialdiscretisationofthebuoyintocylinders doesnotcapturetheimportanteffects.Forexamplethepitchdampingisoftenmostlyduetoradiationdamping,i.e. surfacewavegeneration;thisisespeciallyimportantforaCALMbuoywithaskirt. To deal with this OrcaFlex offers the rotational drag and damping data, but there is little information in the literaturetohelpinsettingupthisdata.Wethereforestronglyrecommendthatyousetthedataupbycalibration againstrealtestresultsfrommodelorfullscaletests.Theeasiestinformationtoworkwitharetimehistorygraphs of the buoy heave and pitch in still water, starting from a displaced position. This will give the heave and pitch naturalperiodsandtheratesofdecayandyoucanadjustthebuoy'sdraganddampingdatauntilyougetagood matchwiththismeasuredbehaviour. Hereistheapproachweuse: For the normal direction, set the Drag Area, Drag Force Coefficient and Unit Damping Force as described for Sparbuoysabove. ThensettheaxialUnitDampingForcetozeroandrunasimulationthatmatchestheconditionsthatexistedin therealheavetimehistoryresults,i.e.withthesameinitialZdisplacement. ThenadjusttheaxialDragAreaandDragForceCoefficientsuntiltheOrcaFlexbuoy'sZtimehistorymatchesthe realtimehistory.Thesetwodataitemsaresimplymultipliedtogetherwhentheyareusedtocalculatethedrag force,soyoucangiveoneofthetwodataitemsafixedpositivevalue(e.g.1)andthenadjusttheother. Thematchwillprobablybepoorinthelaterpartsofthetimehistory,wheretheheaveamplitudehasdecayed to small values. This is because the square law drag term is insignificant at small amplitude and instead the dampingforcetakesover.ThereforewenowadjusttheaxialUnitDampingForcetofurtherimprovethematch wheretheamplitudeissmall.Youmayfindthatthisdisturbsthematchinthelargeamplitudepart,inwhich caseyoumightneedtoreadjustthedragdata. For the axial direction, set the Drag Area Moment, Drag Moment Coefficient and Unit Damping Moment as describedforSparbuoysabove. ThensetthenormalDragAreaMoment,DragMomentCoefficientandUnitDampingMomenttobestmatchthe realpitchtimehistory,inasimilarwaytothatusedabovetomatchtheheavetimehistory.
7.10
3DBUOYS
OrcaFlex3DBuoysaresimplifiedpointelementswithonly3degreesoffreedom:X,YandZ.Theydonotrotate,but remainalignedwiththeglobalaxes.Theythereforedonothaverotationalpropertiesandmomentsonthebuoyare ignored.Theyshouldthereforebeusedonlywheretheselimitationsareunimportant. 3D Buoys are able to float partsubmerged at the surface, and may also be used independently, with no lines attached.Althoughtheyaremuchlesssophisticatedthan6DBuoys,3DBuoysareeasiertouseandareconvenient formodellingbuoysatlinejunctionsetc.
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height/2
z B
y x
Buoy Axes always aligned with Global Axes
height/2
Figure: 3DBuoy
7.10.1
Name
Data
Usedtorefertothe3DBuoy.
IncludedinStaticAnalysis
Determineswhethertheequilibriumpositionofthebuoyiscalculatedbythestaticanalysis.SeeBuoyDegreesof FreedomIncludedinStaticAnalysis.
InitialPosition
Specifiestheinitialpositionforthebuoyoriginascoordinatesrelativetotheglobalaxes.Ifthebuoyisnotincluded inthestaticanalysisthenthisinitialpositionistakentobethestaticpositionofthebuoy.Ifthebuoyisincludedin the static analysis, then this initial position is used as an initial estimate of the buoy position and the statics calculationwillmovethebuoyfromthispositioniterativelyuntilanequilibriumpositionisfound.SeeBuoyDegrees ofFreedomIncludedinStaticAnalysis.
Mass
Massorweightinair.
Volume
Usedtocalculatebuoyancyandaddedmass.
BulkModulus
Specifiesthecompressibilityofthebuoy.Ifthebuoyisnotsignificantlycompressible,thentheBulkModuluscanbe settoInfinity,whichmeans"incompressible".SeeBuoyancyVariation.
Height
Usedtomodelfloatingbuoyscorrectly,wherethebuoyancy,dragetc.varyaccordingtothedepthofimmersion.It alsodeterminestheheightusedtodrawthebuoy.TheHeightistheverticaldistanceoverwhichthefluidrelated forceschangefromzerotofullforceasthebuoypiercesthesurface.Itistakentobesymmetricalaboutthebuoy's origin.
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SeabedFrictionCoefficient
OrcaFlex applies Coulomb friction between the buoy and the seabed. The friction force applied never exceeds R whereRistheseabedreactionforceandisthefrictioncoefficient. SeeFrictionTheoryforfurtherdetailsofthefrictionmodelused. Note:
ContactArea
ThefrictioncoefficientforcontactwithelasticsolidsisspecifiedontheSolidFrictionCoefficients dataform.
Used to determine contact forces when the buoy comes in to contact with the seabed and with elastic solids. If a valueof'~'isspecifiedthenOrcaFlexusesVolume/Height. Specifyingavalueofzeroallowsyoutodisablecontactforthebuoy.
Drag
DragforcesareappliedineachoftheglobalaxesdirectionsGX,GYandGZ.Foreachdirectionyoumustspecifya DragCoefficientandDragArea.
AddedMass
You must specify the added mass coefficient Ca for each global axis direction. The added mass is set to be Ca multipliedbythemassofwatercurrentlydisplaced.Theinertiacoefficient,Cm,issetautomaticallytoequal1+Ca.
7.10.2
Weightinair
PropertiesReport
The3DBuoypropertiesreportisavailablefromthepopupmenuonthedataform.Itreportsthefollowing: Theforceduetogravityactingonthebuoy'smass.
Displacement
Theweightofwaterdisplacedbythebuoy'svolume.Thereportedvalueusesthewaterdensityattheseasurface.
Weightinwater
Theseareonlyreportedifthebuoyisincludedinstatics. Thestaticanalysissearchesforanequilibriumpositionforthebuoythatisapositionforwhichtheresultantforce on the buoy is zero. We refer to the resultant force as the out of balance load. Because computers have limited numericalprecisionthestaticanalysiscannotalwaysfindaconfigurationwheretheoutofbalanceloadisexactly zero.OrcaFlexacceptsapositionasastaticequilibriumpositionifthelargestoutofbalanceloadcomponentisless thanthestaticsaccuracy. TheStaticsforceaccuracyequalsTolerance*buoytypicalforce.Thebuoytypicalforceisbasedontheweightinair, thedisplacementandtheforcesappliedbyconnectedobjects. Reducing the Tolerance value will give a more accurate static equilibrium position, but will take more iterations. OrcaFlex may not be able to achieve the Tolerance specified if it is too small, since the computer has limited numericalprecision. Note: The statics accuracies change during the static analysis because the forces applied by connected objects vary with the position of the buoy. The statics accuracies reported in Reset state may be quite different from those used for the final equilibrium position and should be treated as rough approximationstothetruestaticsaccuracies.
7.10.3
Results
FordetailsonhowtoselectresultsvariablesseeSelectingVariables. For3DBuoystheavailablevariablesare:
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SystemModellingDataandResults,Winches
X,YandZ
Positionsofthebuoyorigin,relativetoglobalaxes.
Velocity,XVelocity,YVelocity,ZVelocity Acceleration,XAcceleration,YAcceleration,ZAcceleration
Themagnitudeandcomponents(withrespecttoglobalaxes)ofthevelocityandaccelerationofthebuoy.
SurfaceZ
TheglobalZcoordinateoftheseasurfacedirectlyabovetheinstantaneouspositionofthebuoyorigin.
DryLength
Lengthofbuoyabovethewatersurface,measuredalongthebuoyzaxis.Forthispurpose,thezextentofa3Dbuoy isassumedtobeHeight/2eithersideofitsvolumecentre.
7.11
WINCHES
Winches provide a way of modelling constant tension or constant speed winches. They connect two (or more) pointsinthemodelbyawinch wire,fedfromawinchinertia(typicallyrepresentingawinchdrum)thatisthen drivenbyawinchdrive(typicallyrepresentingthewinchhydraulicsthatdrivethedrum). Aswellasconnectingitstwoendpoints,thewinchwiremay,optionally,passviaintermediatepoints,inwhichcase itdoessoasifpassingoverasmallfrictionlesspulleyatthatpoint.Thewiretensioneithersideoftheintermediate pointisthenappliedtothatpoint;ifthepointisoffsetontheobjectinvolvedthenthisalsogivesrisetoanapplied moment.
Winch may pull via intermediate objects Drive Force f Winch Drive Winch Inertia
Wire Tension t
Winch wire
Figure: WinchModel
TwotypesofwinchareavailableinOrcaFlex:
SimpleWinches
SimpleWinchesmodelperfectconstanttensionorconstantspeedperformanceandareeasiesttouse.Itisassumed thatthewinchinertiaisnegligibleandthewinchdriveisperfect,sothatitalwaysexactlyachievestherequested constanttensionorconstantspeed.Becauseoftheseassumptions,nodataneedstobegivenforthewinchinertiaor winchdrive.

DetailedWinches
DetailedWinchesincludemodellingoftheperformanceofthewinchdrivesystemitsdeadband,stiffness,inertia, dampinganddragbutthereforerequiremoredataandarehardertosetup. WerecommendusingSimplewinchesunlessyouknowthecharacteristicsofthewinchdrivesystemandbelieve thatitsperformancesignificantlydiffersfromtheconstanttensionorspeedideal.Inparticular,Simplewinchesare appropriate: Attheearlydesignstage,whenthetypeofwinchtobeusedhasnotyetbeendecided.
345
Ifthedutyissuchthatthewinchdrivewillgiveneartoperfectconstanttensionorconstantspeedperformance. Ifthewinchdrivedataarenotavailable.
WinchControl OrcaFlex winches allow quite complex offshore operations to be modelled. The winch drive can be operated in eitheroftwomodes:
LengthControlMode
Formodellingconstantspeedwinches.Thewinchwireispaidoutorhauledinatavelocityspecifiedinthedata.
ForceControlMode
For modelling tension controlled winches. Since such winches are usually hydraulic devices whose performance deviates quite seriously from the target tension ideal, OrcaFlex Winches provides facilities for modelling winch deadband, damping and drag forces (force decrements proportional to velocity and velocity2 respectively) and winchstiffnesseffectssuchasthosecausedbyhydraulicaccumulators. The winch can be switched between these two modes at predetermined times during the simulation and the constantvelocityortargettensioncanalsobevaried.
7.11.1
Name
Data
UsedtorefertotheWinch.
Type
MaybeeitherSimpleorDetailed.SeeWinches.
ConnecttoObjectandObjectRelativePosition
The(massless)winchwireconnectsatleasttwoobjects,oneateachendofthewinchwire. If more than 2 are specified then the winch wire passes from the first connection point to the last via the intermediate points specified. When intermediate connections are specified, the winch wire slides freely through these intermediate points as if passing via small frictionless pulleys mounted there. The winch wire tension on eithersidethenpullsontheintermediatepoints,soapplying forcesandmoments(ifthepointsareoffset)tothe objectsconcerned. Each connection is defined by specifying the object connected and the objectrelative position of the connection point. For connecting to a Line, the objectrelative z coordinate specifies the arc length to the connection point. The z coordinatespecifiesthearclengthalongtheLineandthisarclengthmaybemeasuredrelativetoeitherEndAorEnd Basspecifiedbytheuser.Theconnectionpointisattachedtothenearestnode.Thex,ycoordinatesareignored. ForFixedconnectionstheobjectrelativecoordinatesgivenaretheglobalcoordinatesofthepoint. ForconnectingtoanAnchor,theobjectrelativex,ycoordinatesgivenaretheglobalX,Ycoordinatesoftheanchor point,andthezcoordinateisthedistanceoftheanchorabove(positive)orbelow(negative)theseabedatthatX,Y position. Forconnectingtootherobjects,thecoordinatesoftheconnectionpointaregivenrelativetotheobjectlocalframe ofreference.
Thewinchwirecanbereleasedatthestartofagivenstageofthesimulation,bysettingthisnumbertothestage numberrequired.Oncereleasedthewinchnolongerappliesany forcestotheobjectsitconnects.Ifnoreleaseis required,thensetthisitemto'~'.
7.11.2
WireProperties
WireStiffness
Elasticstiffnessofthewinchwire.
346
WireDamping
Materialdampingvalueforthewinchwire. Note: Themassofthewinchwireisnotmodelled.
WinchInertia(DetailedWinchesonly)
Theinertiaofthewinchdrive,whichresistschangesintherateofpayoutofhaulinofthewinchwireifthewinchis inForceControlmode.TheWinchInertiahasnoeffectifthewinchisinLengthControlmode. This is a linear, rather than rotational, inertia. To represent the rotational inertia of a winch drum, set the winch inertiato l/r2 where I=drumrotationalinertia, r=radiusatwhichthewireisfed. Notes: The winch inertia doesnotcontributetothe mass of any objectstowhich the winch is attached andsodoesnotdirectlyresistaccelerationofanyoftheconnectionpoints.(Suchaccelerationsare resisted indirectly, of course, through the changes they cause to the winch wire path length and hencetothewinchwiretension.)Toincludethetruetranslationalinertiaofthewinchdrive,drum andwireitisnecessarytosuitablyincreasethemassesoftheobjectstowhichitisattached. Setting the winch inertia to a small value to model a low inertia winch can lead to very short naturalperiodsforthewinchsystem.Thesethenrequireveryshorttimestepsforthesimulation, slowingthesimulation.Toavoidthis,thewinchinertiacanbesettozero,ratherthantoasmall value;thewinchsysteminertiaisthennotmodelledatall,buttheshortnaturalperiodsarethen avoided.SeeWinchTheoryforfulldetailsofthealgorithmusedwhenthewinchinertiaiszero.
7.11.3
ControlType
Control
CanbeeitherByStageorWholeSimulation. When By Stage is selected the winch is controlled on a stage by stage basis. Foreach stage ofthe simulation you choosefromthewinchcontrolmodes.Thesemodesallowyoutocontrolthewinchpayoutrate,controltherateof changeoftargettensionorspecifyaconstanttargettension. Note: The control mode remains fixed for the duration of each stage. Because there is a limit on the numberofstagesinanOrcaFlexsimulationthiscanberestrictive.
When Whole Simulation is selected the winch is either tension controlled or length controlled for the whole simulation.Forthetensioncontrolledmodethetargettensioncanbefixed,varywithsimulationtimeorbegivenby an external function. Likewise for the length controlled mode the payout rate of unstretched winch wire can be fixed,varywithsimulationtimeorbegivenbyanexternalfunction.
7.11.4
ControlbyStage
WinchControlforStatics Forthestaticanalysis,theModeofthewinchdrivecanbesettooneofSpecifiedLengthorSpecifiedTension.
SpecifiedLength
Thewinchdriveislockedwiththeunstretchedlengthofwinch wireout,L0,beingsettotheValuespecified.The winchwiretensiontthendependsonthestretchedlengthLofthewinchwirepath.

SpecifiedTension
Thewinchdriveoperatesinperfectconstanttensionmode,thetensiontbeingtheValuespecified.Theunstretched lengthoutL0isthensettocorrespondtothistension.
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WinchControlforDynamics Duringthesimulationthewinchiscontrolledonastagebystagebasis.Foreachstagethewinchcontrolmodecan be set to one of Specified Payout, Specified Payout Rate, Specified Tension, Specified Tension Change or SpecifiedTensionRateofChange.
SpecifiedPayout
The Value specifies the unstretched length of winch wire to be paid out (positive) or hauled in (negative) at a constantrateduringthisstage.Thatis,theValuespecifiesthetotalchangeinunstretchedlengthduringthestage, sotokeepaconstantlengthsettheValuetozero.
SpecifiedPayoutRate
TheValuespecifiestherateatwhichthewinchwireistobepaidout(positive)orhauledin(negative)duringthis stage.
SpecifiedTension
TheValuespecifiesthetargetconstanttensionforthisstage. ForSimplewinchesthewinchdriveisassumedtoalwaysachievethisnominaltension,sotheValueisusedasthe actualwinchwiretension. For Detailed winches this nominal tension is used as the target tension for the winch drive, which then applies drive force to the winchinertia to try to achieve this target tension. The algorithm for the winch drive force is designed to model the characteristics of realworld winches that are nominally "constant tension". See Winch Theory. Note: Changesofnominaltensionareappliedinstantlyatthestartofeachstage,andthiscantherefore applyashockloadwhich,iflargeenough,mayaffectthestabilityofthesimulation.
SpecifiedTensionChange
The Value specifies the change in target tension for this stage. That is, the Value specifies the total change in nominaltensionduringthestage,sotokeepataconstantnominaltensionsettheValuetozero. TheabovecommentsfortheSpecifiedTensioncontrolmethodalsoapplytothismethod.
SpecifiedTensionRateofChange
TheValuespecifiestherateofchangeintargettensionforthisstage.Thatis,theValuespecifiesthetotalchangein nominaltensionduringthestage,sotokeepataconstantnominaltensionsettheValuetozero. TheabovecommentsfortheSpecifiedTensioncontrolmethodalsoapplytothismethod. Note: TheSpecifiedTensionChangeandSpecifiedTensionRateofChangemodesallowyou,forexample, tomodelaconstanttensionwinchwherethetensionisdeterminedbyanearliersimulationstage. Byspecifyingatensionchangeof0followingapayoutstageyoucanlockthewinchatthetension usedattheendofthepayoutoperation.
7.11.5
StaticsMode
ControlbyWholeSimulation
ThewinchcontroldataforstaticsisthesameasthedataspecifiedintheByStagecontroltype.
DynamicsMode
ThewinchiscontrolledeitherbySpecifiedTensionorbySpecifiedPayoutRate. If Specified Tension is set then you must also specify the target tension. This value can be fixed, vary with simulationtimeorbegivenbyanexternalfunction. IfSpecifiedPayoutRateissetthenyoumustalsospecifythepayoutrateofunstretchedwinchwire.Thisvaluecan befixed,varywithsimulationtimeorbegivenbyanexternalfunction.
7.11.6
Note:
DriveUnit
ThedriveunitdataappliestoDetailedWinchesonly
348
WinchDrive
The winch drive controls the winch wire in one of two winch control modes Length Control mode ("Specified Length", "Specified Payout" or "Specified Payout Rate") or Force Control mode ("Specified Tension", "Specified TensionChange"or"SpecifiedTensionRateofChange"). LengthControlmodeisformodellingaconstantspeedwinch.Thewinchtensionthendependssimplyonthe unstretchedlengthofwinchwireout,andthewireproperties(StiffnessandDamping). ForceControlmodeisformodellinga(nominally)constanttensionwinch.Becausesuchwinchesoftendeviate quite seriously from the constant tension ideal, facilities are provided for modelling winch Deadband, Damping,DragandStiffness.
Deadband
Adeadbandof+/thisvalueisappliedtothewinchdriveforcebetweenhaulinginandpayingoutthewinch.See WinchTheoryforfulldetails.
Stiffness
Thiscanbeusedtomodel,forexample,winchhydraulicaccumulators.Itistherateatwhichthezerovelocitywinch force(thedriveforceappliedwhenthewinchisneitherhaulinginnorpayingout)varieswiththetotalunstretched lengthofwinchwirepaidout.SeeWinchTheory.

DampingTermsAandB
Thesetermscanbeusedtomodeldampinginawinch'shydraulicdrivesystem.Thewinchdriveforceistakento varywithhaulin/payoutvelocityatratesAandB,respectively.SeeWinchTheory.
DragTermsCandD
Thesetermscanbeusedtomodeldraginawinch'shydraulicdrivesystem.Thewinchdriveforceistakentovary withhaulin/payoutvelocity2atratesCandD,respectively.SeeWinchTheory.
7.11.7
Parameters
ExternalFunctions
7.11.8
Results
FordetailsonhowtoselectresultsvariablesseeSelectingVariables. Forwinchestheavailablevariablesare:
X,YandZ
Theglobalcoordinatesofthespecifiedwinchconnectionpoint.
Tension
Thetensioninthewinchwire.
Length
Theunstretchedlengthofwinchwirepaidout.
Velocity
Therateofpayoutofwinchwire.Positivevaluemeanspayingout,negativevaluemeanshaulingin.
Theazimuthanddeclinationanglesofthedirectionofthewinchwirebetweenthefinal2connectionpoints,relative totheglobalaxes.Thisdirectionismeasuredfromthelastconnectionpointtowardsthepreviousconnectionpoint. Declinationisintherange0to180.RangejumpsuppressionisappliedtoAzimuth(sovaluesoutsidetherange 360to+360mightbereported).

SeaSurfaceZ
TheglobalZcoordinateoftheseasurfacedirectlyabovetheinstantaneouspositionofthewinchmount.
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SystemModellingDataandResults,Links
ConnectionForce,ConnectionGXForce,ConnectionGYForce,ConnectionGZForce
The magnitude and components relative to global axes of the connection force at the specified winch connection point. We adopt the convention that the force reported is that applied by the winch to the object to which it is connected.
7.12
LINKS
Linksaresimplespringorspring/damperconnectionslinkingtwopointsinthemodel,forexampleanodeonaline toavessel,orabuoytoananchor.Theypullthetwopointstogether,orholdthemapart,withaforcethatdepends ontheirrelativepositionsandvelocities. Linkshavenomassorhydrodynamicloadingandsimplyapplyanequalandoppositeforcetothetwopoints.They are useful for modelling items such as wires where the mass and hydrodynamic effects are small and can be neglected;forexamplebuoytiescansometimesbemodelledusinglinks. TwotypesofLinkareavailable:
Tethers
Simple elastic ties that can take tension but not compression. The unstretched length and stiffness of the tetherarespecified.Thetetherremainsslackanddoesnotapplyaforceifthedistancebetweentheendsis lessthantheunstretchedlength.
Spring/Dampers
Combinedspringandindependentdamperunits.Thespringcantakebothcompressionandtensionandcan haveeitheralinearorapiecewiselinearlengthforcerelationship.Thedampervelocityforcerelationship canalsobeeitherlinearorpiecewiselinear.
Tether:
Spring-Damper:
Figure: TypesofLink
7.12.1
Name
Data
UsedtorefertotheLink.
Type
maybeeither: Tether:asimpleelastictiehavinglinearstiffnessandnodamping. Spring/Damper:acombinedspringandindependentdamper,eachofwhichcanbeeitherlinearorpiecewise linear.
ConnecttoObjectandObjectRelativePosition
Specifiestheobjectstobelinked. For connecting to a Line, the objectrelative z coordinate specifies the arc length to the connection point. The z coordinatespecifiesthearclengthalongtheLineandthisarclengthmaybemeasuredrelativetoeitherEndAorEnd Basspecifiedbytheuser.Theconnectionpointisattachedtothenearestnode.Thex,ycoordinatesareignored.
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SystemModellingDataandResults,Links
ForFixedconnectionstheobjectrelativecoordinatesgivenaretheglobalcoordinatesofthepoint. ForconnectingtoanAnchor,theobjectrelativex,ycoordinatesgivenaretheglobalX,Ycoordinatesoftheanchor point,andthezcoordinateisthedistanceoftheanchorabove(positive)orbelow(negative)theseabedatthatX,Y position. Forconnectingtootherobjects,thecoordinatesoftheconnectionpointaregivenrelativetotheobjectlocalframe ofreference.

Thelinkcanbereleasedatthestartofagivenstageofthesimulation,bysettingthisnumbertothestagenumber required.Oncereleasedalinknolongerappliesanyforcestotheobjectsitconnects.Ifnoreleaseisrequired,then setthisitemto'~'.

UnstretchedLength
IstheunstretchedlengthoftheTetherorSpring.
Linear
BoththespringanddamperinaSpring/Dampercanhaveeithersimplelinearforcecharacteristicsorelseauser specifiedpiecewiselinearforcetable.
Stiffness
Foratetherthetensiontdependsonitsstrainandstiffnessasfollows: t=k.(LL0)/L0 where kisthespecifiedStiffness, Listhecurrentstretchedlengthbetweenthetwoends, L0isthespecifiedUnstretchedLength. TethersremainslackandexertnoforceifLislessthanL0. ForalinearspringinaSpring/Damperthetension(positive)orcompression(negative)isgivenby: t=k.(LL0) where kisthespecifiedStiffness, Listhecurrentstretchedlengthbetweenthetwoends, L0isthespecifiedUnstretchedLength. ThelinearspringdoesnotgoslackifLislessthanL0,butinsteadgoesintocompression. Warning:
Damping
Pleasenotethatthisisnotthesameformulaasfortethers.
AlineardamperinaSpring/Damperexertsanextratensionof t=c.(rateofincreaseofL) where cisthespecifiedDamping, Listhecurrentstretchedlengthbetweenthetwoends.

PiecewiseLinearForceTables
Forapiecewiselinearspring(ordamper)theforcecharacteristicisspecifiedasatableoftensionagainstlength(or velocity). The table must be arranged in increasing order of length (velocity) and a negative tension indicates compression. For a passive damper the tensions specified should therefore normally have the same sign as the velocities, since otherwise the damper will apply negative damping. For lengths (velocities) between, or outside, thosespecifiedinthetabletheprogramwilluselinearinterpolation,orextrapolation,tocalculatethetension.
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SystemModellingDataandResults,Shapes
7.12.2
Results
FordetailsonhowtoselectresultsvariablesseeSelectingVariables. Forlinksthefollowingvariablesareavailable:
Tension
Thetotaltensioninthelink.
Length
Thecurrentstretchedlengthofthelink.
Velocity
Therateofincreaseofthestretchedlength.
Theazimuthanddeclinationangles,relativetoglobalaxes,oftheEndAtoEndBdirectionofthelink.
EndAX,EndAY,EndAZ,EndBX,EndBYandEndBZ
Theglobalcoordinatesofthelink.
7.13
SHAPES
Figure: ExamplesofBlock,CylinderandCurvedplateshapes
Shapesaresimple3dimensionalgeometricobjectsthatcanbeusedtomodeltwodistinctthings: 1. 2. Elasticsolidstomodelphysicalobstacles, Trappedwatertomodelmoonpoolsorotherareaswherefluidmotionissuppressed.
You may choose between a number of different basic geometric shapes and several shapes can then be placed togethertodefinedmorecomplexshapes.Thebasicshapesavailableareplanes,blocks,cylindersandcurvedplates. Elasticsolids Anelasticsolidrepresentsaphysicalbarriertothemotionoflinesandbuoys.Itismadeofamaterialofaspecified stiffnessandresistspenetrationbyapplyingareactionforcenormaltothenearestsurfaceoftheelasticsolidand proportionaltothedepthandspeedofpenetrationoftheobjectintotheelasticsolid.
352
SystemModellingDataandResults,Shapes ElasticsolidsdonotresistpenetrationbyVessels,Links,WinchesorotherShapes.
Note:
Each elastic solid has an associated stiffness, which determines the rate at which the force applied to an object increaseswiththeareaofcontactanddepthofpenetrationintotheelasticsolid.Thestiffnessistheforceperunit areaofcontactperunitdepthofpenetration. Contact with elastic solids can model friction. Friction coefficients are specified on the Solid Friction Coefficients dataform.Notethatfrictionforcontactwithelasticsolidsisonlyincludedduringdynamics. Whereanobjectinteractswithmorethanoneelasticsolidsimultaneously,theforceactingonitisthesumofthe individualforcesfromeachelasticsolid. Note: Trappedwater Trappedwatercanbeusedtomodelhydrodynamicshieldingi.e.areassuchasmoonpools,theinsideofsparsor behindbreakwaters,wherewaveandcurrenteffectsaresuppressed. Inside a trapped water shape the fluid motion is calculated as if the fluid was moving with the shape. So if the trappedwatershapeisfixedthennofluidmotionoccursintheshapethiscouldbeusedtomodelabreakwater. Butiftheshapeisconnectedtoamovingvessel,forexample,thenthetrappedwaterisassumedtomovewiththe vesselthiscouldbeusedtomodelamoonpool. Note: Objects ignore any trapped water shapes which are connected to that particular object. If this wasn'tdonethenifyouconnectedatrappedwatershapetoabuoyandpartofthebuoywasinthe trappedwatershapethenafeedbackwouldoccur(thebuoymotiondeterminesthemotionofthe shape,whichinturnwouldaffectthefluidforcesonthebuoyandhenceitsmotion).Suchfeedback isundesirablesothebuoyignoresanytrappedwatershapesthatareconnectedtoit. Aelasticsolidwithzerostiffnesshasnoeffectontherestofthemodel.Suchshapescanbeuseful fordrawingreferencemarksonthe3Dviews,withoutaffectingthebehaviourofthemodel.
7.13.1
Name
Data
Usedtorefertotheshape.
Type
EitherElasticSolidorTrappedWater.
Shape
CanbeoneofBlock,Cylinder,CurvedPlateorPlane.
Connection
CanbeFixed,Anchoredorconnectedtoanotherobject(Vessels,3DBuoysor6DBuoys).
Position
Each shape has position data. For blocks it is named Origin, for cylinders and curved plates it is named End PositionandforplanesitisnamedPointonPlane. Thispointistakenastheoriginoftheshape'slocalx,y,zaxes. ForFixedconnectionsthisistheglobalpositionofthepoint. For Anchored connections the objectrelative x,y coordinates given are the global X,Y coordinates of the anchor point,andthezcoordinateisthedistanceoftheanchorabove(positive)orbelow(negative)theseabedatthatX,Y position. Forconnectionstootherobjects,thecoordinatesoftheconnectionpointaregivenrelativetotheobjectlocalframe ofreference.
PensandNumberofLines
Eachsurfaceofthesolidisdrawnasawireframeusingonethespecifiedpens.Toaidvisualisation,theOutsidepen isusedifthesurfaceisbeingviewedfromtheoutsideofthe solid,andtheInsidepenisusedifitisbeingviewed fromtheinside.
353
TheNumberofLinesdetermineshowmanylinesareusedinthewireframesalargervaluegivesamorerealistic picture,buttakesalittlelongertodraw. DataforElasticSolids

NormalStiffness
Thisisthereactionforcethatthesolidappliesperunitdepthofpenetrationperunitareaofcontact.Stiffnessmay besettozero,givingasolidthatisdrawnbutwhichhasnoeffectontheotherobjectsinthesystem.
ShearStiffness
TheShearStiffnessisusedbythefrictioncalculation.Avalueof'~'resultsintheNormalStiffnessbeingused.
Damping
Thepercentageofcriticaldampingfortheelasticsolid.Dampingisalwayszerowhenusingtheimplicitintegration scheme. SeeShapeTheoryfortechnicaldetails.
7.13.2
Blocks
z y
Block Position B x-size
z-size
x
y-size
ABlockshapeisarectangularcuboid,definedbygiving:
Size
Thisdefinestheblock'sdimensionsinitslocalx,yandzdirections.Withrespecttoitslocalaxes,theblockoccupies thevolumex=0toSize(x),y=0toSize(y),z=0toSize(z).
Orientation
Thisisdefinedbygivingthreerotationangles,Rotation1,2and3,thatdefineitsorientationrelativetotheobjectto whichtheblockisattached,orelserelativetoglobalaxesifitisnotattachedtoanotherobject.Forexample,ifthe blockisattachedtoanobjectwithlocalaxesLxyz,thenthe3rotationsdefinetheorientationoftheblockaxesBxyz asfollows.Firstaligntheblockwiththelocalaxesoftheobjecttowhichitisattached,sothatBxyzareinthesame directionsasLxyz.ThenapplyRotation1aboutBx(=Lx),followedbyRotation2aboutthenewBydirection,and finallyRotation2aboutthenew(andfinal)Bzdirection.
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7.13.3
Cylinders
r = Inner Radius R = Outer Radius
R End 2 Position r End 1 Position

Acylindershapeisathickwalledhollowpipedefinedbygiving: InnerandOuterDiameter. Length. AzimuthandDeclinationoftheaxis.
Theazimuthanddeclinationdefinethedirectionoftheaxisrelativetothelocalaxesoftheobjecttowhichtheendis connected.Forobjectsthatrotate,suchasvesselsand6Dbuoys,theaxisdirectionthereforerotateswiththeobject. ForFixedorAnchoredendsitisdefinedrelativetoglobalaxes. Cylindersaredrawnusingcirclestorepresenttheendfacesandanumberofrectangularfacetstorepresentaround thecurvedsurfaces.ThenumberoffacetsusedistheNumberofLinesspecified.Twogivesaverysimplewireframe profileofthecylinder,whilstaverylargenumbergivesapseudoopaquecylinderattheexpenseofdrawingspeed. IftheInnerDiameteriszerothenasoliddiscisformed. Ifthecylinderisanelasticsolidthenreactionforcesareapplied: Radiallyinwardsifanobjectcomesintocontactwiththeinnercurvedsurface. Radiallyoutwardsifanobjectcomesintocontactwiththeoutercurvedsurface. Normallyoutwardsifanobjectcomesintocontactwithoneoftheendfaces.
7.13.4
CurvedPlates
Figure: Someexamplecurvedplateshapes
355
Curved plate shapes are particularly suited to modelling bellmouths although they are not restricted to this application. The curved plate shape is similar to the cylinder. It differs in that the radius of the shape can vary smoothlybetweentheends.Curvedplatescanbeeitherfilledinorhollow.
Shapeishollow
If ticked then the shape is hollow and has both inner and outer surfaces. The middle picture above is not hollow whereastheothertwoare.
Orientation
This is defined by giving three rotation angles, Azimuth, Declination and Gamma, that define its orientation relative to the object to which the curved plate is attached, or else relative to global axes if it is not attached to anotherobject.Forexample,ifthecurvedplateisattachedtoanobjectwithlocalaxesLxyz,thenthe3rotations definetheorientationofthecurvedplateaxesPxyzasfollows.Firstaligntheblockwiththelocalaxesoftheobject towhichitisattached,sothatPxyzareinthesamedirectionsasLxyz.ThenapplyAzimuthaboutPz(=Lz),followed byDeclinationaboutthenewPydirection,andfinallyGammaaboutthenew(andfinal)Pzdirection.
IncludedAngleofRevolution
Thecurvedplateisasolidofrevolution.Avalueof360givesacompleterevolutionasshowninthefirst2pictures above. Other values can be used to model partial or cutaway curved plates for example the rightmost picture abovehasanincludedangleof90.
Thickness
Iftheshapeishollowthenthisdataitemspecifiesthewallthickness.Thisthicknessspecifiesthethicknessnormal totheshape'saxisorcentreline. Note:

Profile
Youmayneedtospecifyanartificiallylargevalueforthicknessinordertoavoidobjectspassing throughtheshape'swallduringthestaticcalculation.
A table specifying the variation of diameter with distance along the shape's axis or centreline. The radius is the radialdistance(i.e.indirectionnormaltotheshapeaxis)fromtheaxistothesurface.Iftheshapeishollowthenthe profiledefinestheradiustotheinnersurface.Iftheshapeisnothollowthentheprofiledefinestheradiustothe outersurface.Cubicsplineinterpolationisusedtogenerateasmoothprofile.
7.13.5
Planes
Direction of Maximum Slope Slope
Point on Plane
Aplaneshapeisaninfiniteplanesurfaceonesideoftheplaneisoutsideandtheotherisinside.Thepositionof theplaneisdefinedbyspecifyingaPointonPlanethroughwhichitpasses. Theangleoftheplaneisspecifiedbygivingits(maximum)SlopeAngleandSlopeDirection,relativetotheobject towhichitisconnected,asfollows. For a fixed or anchored shape, the Slope Angle is specified by giving the angle of elevation of the line of maximumslope,relativetotheglobalXYplane(i.e.relativetothehorizontal).ASlopeAngleof90isthereforea verticalplane.TheSlopeDirectionisspecifiedasthedirectionofthelineofmaximumupwardsslope,relativeto globalaxes.ForexampleaplanehavingaSlopeAngleof30andaSlopeDirectionof90slopesupwardsinthe positiveYdirectionat30tothehorizontal.
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Forashapeconnectedtoanotherobject,theSlopeAngleandSlopeDirectionarerelativetotheobject'slocalxy plane. For example with a Slope Angle of 30 and a Slope Direction of 90, the plane slopes upwards in the positiveydirectionat30totheobject'slocalxyplane.
Aplanewithzeroslopeangleisthereforeparalleltothexyplaneoftheobjecttowhichitisconnected,orparallelto theglobalXYplane(i.e.horizontal)inthecaseofaFixedorAnchoredplane. The'inside'ofaplaneisonthenegativezside(i.e.belowforaFixedorAnchoredplane)iftheSlopeAngleisinthe range90to+90,andonthepositivezside(i.e.aboveforaFixedorAnchoredplane)otherwise. Planesaredrawnasarectangulargrid,withthespecifiedNumberofLines,usingaspacingdeterminedbytheview size.Planesextendtoinfinityinalldirections,butonlyapartoftheinfiniteplanelocaltotheviewcentreisshown onthe3Dview.
7.13.6
Drawing
Wireframedrawing Representationofshapesinthewireframedrawingmodecanbeconfusing.OrcaFlexdoesnotprovidehiddenline removalsoshapeobjectsaredisplayedbysimplewireframedrawings.Youmayexercisecontroloverthedisplay byselectingthenumberoflinesdrawnforeachobject,andthesequenceinwhichtheyaredrawn.Forpendetails, seeHowObjectsAreDrawn. WhereitisnecessarytokeepthedisplaysimpleyoushouldsetNumberofLinesto2forblocksandcylinders.Ifthe numberoflinesissetlargeforblocksorcylinderstheyappearassolidobjects,althoughtheymaytakealongtime todraw. For planes you can control how they are drawn with the Grid Density data item. This is specified in terms of the lengthofthescalebaronthe3Dview.Adensityofdmeansthattherearedlinesperscalebarlength,sohigher densityvaluesgiveafinergrid(buttakeslongertodraw). Please note also that the Number of Lines only affects the drawing, and not the calculations (which are correctly performedwithcurvedgeometry).PlanesandBlocksaredrawnfirst,andthenCylinders,butotherwisethesolidsin themodelaredrawninthesequencethattheywerecreated.Youcansometimestakeadvantageofthis,bydefining background shapes before foreground ones, to obtain a pseudohidden line effect. You are encouraged to experiment,butsimplicityisbest. Hint: ShadedDrawing Bydefault,forshaded3DViews,shapesaredrawnassolidobjectsusingthespecifiedgeometry. Alternativelytheobjectcanberepresentedbyanimported3DmodelbyspecifyingtheShadedDrawingFile.This mustbeaDirectXformatfile,usuallywiththe.xfileextension.Ifyouusearelativepaththenthepathwillbetaken asrelativetothefoldercontainingtheOrcaFlexfile(.dator.sim). The Browse button allows you to specify the Shaded Drawing File quickly and also provides quick access to the OrcinasampledrawingsviatheNavigatetoOrcinasampledrawingsbutton. TheUseCullingoptionisnormallyselectedsinceitcanprovideausefulperformancebenefit.However,inorderto workitrequiresthatthetrianglesdefinedinthe.xfilehavetheiroutwardfacingdirectionsdefinedcorrectly.Inthe unusual situation where the outward facing directions are not defined correctly then the .x file will not display correctly.IfthishappensthentypicallysectionsofthemodelwillbemissingwhendrawnbyOrcaFlex.Disablingthe UseCullingoptionresolvesthisproblem. DrawSizeisprovidedtoallowyoutoscalethedrawing.Alldirectionsarescaledequallytoarrangethatthelongest sideinthedrawingisdrawntothespecifiedDrawSize.Thislongestsideiscalculatedbyfirstfittingthesmallest possiblecuboidaroundtheverticesoftheshadeddrawing(thesearedefinedinthe.xfile).Thiscuboidisaligned withtheshadeddrawing'slocalaxes.Thenthelengthofthelongestsideofthiscuboidisfound. Specifyavalueof'~'todisplaythedrawingusingtheabsolutecoordinatesasspecifiedinthe.xfile. Note: Ifyouuseavalueof'~'forDrawSizethenOrcaFlexusesthecoordinatesinthe.xfiledirectly.If these coordinates use a different length units system from your OrcaFlex model then you should specify the units used in the .x file by including an auxiliary file called AdditionalInformation.txt. ExamplesofthiscanbefoundinthesampleshadeddrawingsprovidedbyOrcina. Althoughtheprogramprovidesdepthcluestotheeyebydrawingrearfacesinadifferentcolour, theeyecansometimesbefooledbythepicturetryrotatingtheviewbackandforthafewtimes.
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Shaded Drawing Origin is provided because the shaded drawing and the shape may have different origins. The Shaded Drawing Origin defines the origin of the shaded drawing with respect to the shape's local axis system. Similarly Shaded Drawing Orientation allows you to reorient the shaded drawing to match the shape's axis system.
ShadedDrawingPlaneTranslucency(onlyavailableforplanes)
ControlshowtranslucenttheplaneappearsintheShadedGraphicsmode.Avalueof0%givesasolidsurfaceandall objectsbehindthesurfacewillnotbevisible.Avalueof100%specifiestransparencyandleadstoacompletelysee throughsurface. Note: Thisdataitemisnotusedifanimported3Dmodelisusedtodrawtheshape.
7.13.7
Results
FordetailsonhowtoselectresultsvariablesseeSelectingVariables.
ContactForce,ContactXForce,ContactYForceandContactZForce
The magnitude and components (in global axes directions) of the total force applied by an elastic solid to other objectsinthemodel.Thesevariablesareonlyavailableforelasticsolids.
X,Y,Z
Theglobalcoordinatesoftheshapeorigin.
Velocity,GXVelocity,GYVelocity,GZVelocity, Acceleration,GXAcceleration,GYAcceleration,GZAcceleration
Themagnitudeandcomponents(withrespecttoglobalaxes)ofthevelocityandaccelerationoftheshapeorigin.
7.14
ALLOBJECTSDATAFORM
TheAllObjectsDataFormallowsyoutovieworeditdataforalltheobjectsinthemodelonasingleform.Thisis particularlyusefulforsimulataneousviewingoreditingofpropertiesofmultipleobjects.Theformcanbeopened usingthemodelbrowser. Therearetwomodesofoperation:ConnectionsorOtherdata. Connections The ConnectionsmodeallowsyoutoeditconnectionspecificdataforallLines,LinksandWinchesinthe model. You can choose to filter which object types appear in the list each object type (Lines, Links or Winches) can be included or excluded from the list. The connections can be sorted either in object name order or in connection numberorder.
PositionsandConnectionspages
ThePositionsandConnectionspagesallowyoutovieworeditalltheconnectiondata.Thisisthesamedataason theindividualdataformsandincludesthefollowingdataitems: Thepositions(asCartesiancoordinates)relativetotheframeofreferenceoftheobjecttowhichtheconnection isattached. ForLinksandWinchesconnectedtoaline,thereferencelineend(eitherEndAorEndB)forthezcoordinate. Heightaboveseabedforanchoredlineends. Connectionorientationandstiffnessesforlineends. Releasestageforlineends.
PolarCoordinatespage
The Polar Coordinates page provides a way of viewing or setting the positions of the connections using polar coordinates,relativetoachoiceofframesofreference.Thisfacilityisusefulforcases,forexamplemooringarrays, whereaseriesofconnectionsneedtobelaidoutaroundacircle. Thepolarcoordinates(R,,Z)arethoseoftheconnectionpositionrelativetotheselectedpolarcoordinatesframe of reference (see below). The Cartesian coordinates of the connection, relative to the same reference frame, are (Rcos(),Rsin(),Z).
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SystemModellingDataandResults,AllObjectsDataForm
Ontheotherhand,theObjectRelativePositiondataaretheCartesiancoordinatesoftheconnectionrelativetothe frameofreferenceoftheobjecttowhichitisconnected. OrcaFlex keeps the two sets of coordinates synchronised, so if you change one then the other is automatically updatedtomatch.IfyouchangeanyotherdatathentheCartesianObjectRelativePositioncoordinatesaretakento bethemasterdataandsoleftunchanged,andthepolarcoordinatesareupdatedtomatch. Youhaveaquitealotofflexibilitytochoosewhatreferenceframeyouwantforthepolarcoordinates.Thereference frame has its origin at your chosen Reference Origin and has its axes are parallel to those of your chosen ReferenceAxes. Forthereferenceoriginyoucanchoosebetween: Theglobalorigin. Thepointontheseabedthatisdirectlybelowtheglobalorigin.Thisisonlyavailableifaconnectionpointis anchored. Theoriginoftheframeofreferenceofanyconnectedobject. ThepositionoftheotherendoftheobjectavailableforLinesandLinksonly.. Theglobalaxesdirections. Theaxesdirectionsoftheframeofreferenceofanyconnectedobject.
Andforthereferenceaxesdirectionsyoucanchoosebetween:
ExampleofUsingPolarCoordinates
The choices of reference frame for the polar coordinates may seem complex at first sight, but they allow various usefulcoordinatetransformationstobedoneeasilyandaccurately.Hereisanexample. Consider mooring a spar with an array of 4 lines, each of which has End A connected to the spar and End B anchored.SupposeyouwanttoplacetheAendsofthelinessothattheyareevenlyspacedcircumferentiallyaround the spar, all at radius 5m from the spar axis and all 3m below the spar origin. To do this easily, first sort into ConnectionordersothatalltheEndAconnectionsaregroupedtogether.Then,forthefirstline,setthereference frameoriginandaxestobethesparoriginandsparaxesandsetitspolarcoordinatestobeR=5,andZ=3.Youcan now use copy/paste or fill down to set all the other A ends to the same reference origin, axes and R and Z coordinates.FinallyyoucansetthecoordinatesfortheAendsto0,90,180and270. Similarly, suppose you want the End B connections to be anchored to the seabed, with the anchors again evenly spaced circumferentially, and with each line spanning 200m horizontally. The easiest reference frame for this is withthereferenceoriginbeingEndAandthereferenceaxesbeingthesparaxes.Thecoordinatesshouldagainbe setto0,90,180and270andtheRcoordinatessetto200m.Butthistime,tosettheverticalpositionsoftheB ends,itiseasier(especiallyiftheseabedissloping)togototheConnectionspageandsetConnectToObjecttobe AnchoredandthengotothePositionspageandsettheObjectRelativePositionzcoordinatetozero. Otherdata The OtherdatamodepresentstablesofdataforVessels,Lines,6D Buoys,3D Buoys,Links,WinchesandShapes. Thetablesarelaidoutwitheachrowcontainingrelateddataforasingleobject.ThenotableexceptionistheLine sectionspageinwhicheachrowcontainsdataforasinglesectionofaLine. Thistabulationallowsdataformultipleobjectstobesetinanefficientandcoordinatedway.Thecopy/pasteorfill downkeyboardshortcutsareparticularlyusefulhere.AnotherusefultechniqueistobuildatableofdatainExcel with identical layout of columns and rows. This allows you to make use of Excel's formulae and data handling facilitiestopreparedata,andthentopasteitintoOrcaFlexinasingleoperation.
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FatigueAnalysis,Commands
8
Note:
FATIGUEANALYSIS
ForanexampleofanOrcaFlexfatigueanalysisseeJ04FatigueAnalysis.
TheOrcaFlexfatigueanalysisisapostprocessorbasedonregularorirregularwavesimulations.Lineresultsare extractedfromaseriesofprerunsimulationfiles,stressisrecoveredandthenconvertedtodamage.
Threetypesoffatigueanalysiscanbeperformed: Deterministicregularwavefatigueanalysis. Deterministicirregularwavefatigueanalysisusingtherainflowcyclecountingmethod. Stochasticirregularwavefatigueanalysisusingspectralmethods.
Damage is calculated fromstress using SN curves. There are two options for recovering stresses: homogeneous pipestress(suitableformetalrisers)orstressfactors(suitableforumbilicalsandflexibles). The fatigue analysis tool is run by selecting the Fatigue Analysis command from the OrcaFlex Results menu. It is essentiallyaselfcontainedsubprogramwithinOrcaFlex,withitsownmenus,dataandresults. Thestepsinvolvedinperformingafatigueanalysisare: 1. 2. 3. 4. UsethenormalOrcaFlexfacilitiestosetupandrunsimulationsthatmodelthevariousloadcasesthattheline willexperience. Openthefatigueanalysistoolandsetupthefatigueanalysisdata.Thisfatigueanalysisdataisheldseparately fromtheotherOrcaFlexdataandcanbesavedinaseparateFatigueAnalysisFilewiththefileextension.ftg. Checkthedataforerrors. Calculatethestressesanddamage. Notes: TheCalculatestageofafatigueanalysiscantakealongtime,especiallyarainflowanalysiswitha lot of load cases. To help with this there is an Estimate Calculation Time facility and fatigue analysescanberuninbatchmode.Thecalculationmakesuseofallavailableprocessorcoresto processloadcasesconcurrently. Thefatiguecalculationperformanceisoftenlimitedbydiskaccessconsequentlyitisimportant thatthediskaccessspeedisasfastaspossible.Usuallythismeansthatthesimulationfilesshould bestoredonalocaldiskofthemachineperformingthefatiguecalculation.
LoadCases BeforetheFatigueAnalysiscanbeperformedyoumustfirstprepareasetofOrcaFlexsimulationfilesthatmodelthe samesystembutunderthevariousloadconditionsthatthesystemwillexperienceinitslifetime. Theapproachistodividetherangeofseastatesthatthesystemwillexperienceintoanumberof waveclasses typicallythisisdonewithawavescattertable. Forbothregularandrainflowanalysisyoutypicallyrepresent eachwaveclasswithadistinctOrcaFlexsimulation file.Forregularanalysisthesimulationshouldusearegularwaverepresentativeofthewaveclassandforrainflow analysisthesimulationshoulduseanirregularwaverepresentativeofthewaveclass. For spectral analysis multiple wave classes with similar Hs values may be represented by a single response calculationsimulation.Thereasonthisispossibleisthatthespectralresponseanalysisprovidesinformationabout howthesystemrespondstoarangeofwavefrequencies.Typicallyyouwillhavearangeofsimulationswhichcover therangeofHsvaluesinyourwavescattertable. Eachloadcaseisassignedanexposurelevel.Forregularloadcasesthisisthetotalnumberofoccurrencesofwaves withintheclassandforrainflowandspectralloadcasesthisisthetotaltimeexposedtowaveswithintheclass.
8.1
FileMenu
New
COMMANDS
ClearspreviouslyenteredFatigueAnalysisdataandresetsdatatodefaultvalues.
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FatigueAnalysis,Data
Open
OpensaFatigueAnalysisfile(.ftg).Ifthefilecontainsresultsthenthesewillbeavailablewithouthavingtoperform thetimeconsumingcalculationagain.
Save
Savesthedatatothecurrentlyselectedfilename(shownintitlebarofthewindow).Ifresultshavebeencalculated thenthesearealsosavedtothefile.Thisallowsyoutoview resultsatalaterdatewithouthavingtoperformthe calculationagain.

SaveAs
ThisisthesameasSave,butallowsyoutospecifythefilenametosaveto.
OpenData
Ifthefilecontainsresultsandtherearealargenumberofloadcasesthenthefilecantakealongtimetoload.Ifyou wanttoworkwithjusttheinputdatathenthiscommandloadsjusttheinputdatawhichisamuchquickerprocess.
MostRecentFilesList
Alistofthemostrecentlyusedfiles.Selectinganitemonthelistcausesthefiletobeloaded.Thesizeofthelistcan beadjustedfromthePreferencesform. AnalysisMenu

EstimateCalculationTime
Givesanestimateofhowlongitwilltaketodothefatigueanalysisandpresenttheresults.Thisisusefulforlong analyses,e.g.rainflowanalysesinvolvingalotofcasesorlongsimulations.
Check
The Checkcommand performsa preliminary checkof the fatigue analysisdata.For example it checks thatall the specifiedloadcasesimulationfilesexistandthatthenamedlineandthespecifiedarclengthintervalsexistineach loadcase. The Check command is generally much quicker that the fatigue analysis itself, so we recommend that the Check command is used before the Fatigue Analysis is run, since the check can often detect data errors that would otherwiseonlybefoundpartwaythroughwhatmaybequitealongfatigueanalysis.Itisparticularlyimportantto usetheCheckcommandwhenanewfatigueanalysishasbeenfirstsetuporwhensignificantchangeshavebeen madetothedata.
Calculate
TheCalculatecommandstartstheFatigueAnalysis.Thefatigueanalysiscantakealongtimeiftherearemanyload cases,oriftherearemanylogsamplesintheloadcasesimulations,orfinallyiftherearealotofsegmentsinthearc lengthintervalsspecified.Aprogresswindowisdisplayedandyoucancanceltheanalysisifdesired. Whenthecalculationiscompletetheresultsaredisplayedinaspreadsheetwindow.
8.2
Title
DATA
Usedtolabelalloutputofthefatigueanalysis.
AnalysisType
Threetypesoffatigueanalysisareavailable: Regularanalysismustbebasedonaseriesofregularwavesimulationsthatrepresentthevariousloadcases that will occur. For each of these load cases a singleoccurrence damage value is calculated based on the last wavecycleinthesimulation.Thisdamagevalueisthenscaledupbythespecifiednumberofcyclesexpectedto
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FatigueAnalysis,CommonLoadCasesData
occur during the structure's life, and this gives the total load casedamage value. Finally these total load case damagevaluesarethensummedforeachloadcasetogivetheoveralltotaldamage. Rainflowanalysisisnormallybasedonaseriesofrandomwavesimulations.Itusesacyclecountingtechnique to break down each random wave case into aseries of half cycles, andthen sums the damage from eachhalf cycleaccordingtothePalmgrenMinerlaw.FordetailsseethebookbyMaddoxandthepaperbyRychlik.This givesthedamagevalueforthatloadcase,whichisthenscaledtothespecifiedtotalexposuretime.Finallythese totalloadcasedamagevaluesarethensummedforeachloadcasetogivetheoveralltotaldamage. Spectralanalysiscalculatesdamageinthefrequencydomainusingstatisticalmethods.Themethodrequiresa power spectral density function (PSD) for a particular stress variable. The PSD is obtained from a response calculation simulation. This calculates RAOs for the stress variables of interest and these are then combined withtheloadcasewavespectrumtogivePSDsforstress.ThesePSDsarethenusedtocalculatedamageusing eitherDirlik'sformulaortheRayleighdistribution.Thedamageisscaledtothespecifiedtotalexposuretimefor theloadcase.Finallythesetotalloadcasedamagevaluesarethensummedforeachloadcasetogivetheoverall totaldamage.
Damagecalculation
DamageiscalculatedfromstressusingSNcurves.Therearetwooptionsforrecoveringstresses: Homogeneouspipestresswhichassumesapipemadeofastraight,uniform,homogeneous,linearmaterial. ThedamagecalculationisbasedonZZStress.Thisoptionisappropriateformetalrisers. An approach based on stress factors. Here the stress is assumed to comprise a direct tensile contribution (proportional to wall tension) and a bending contribution (proportional to curvature). This approach is commonlyusedforumbilicalsbutcouldalsobeusedforunbondedflexibles.
A third option, externally calculated stress, is offered but this option is still under development and is not availableforgeneraluse.
Units
The units to be used for the fatigue analysis, for both the fatigue analysis data and for its results. The units are specifiedinthesamewayaselsewhereinOrcaFlex. Notethattheunitsspecifiedforthefatigueanalysisneednotmatchtheunitsthatwereusedinthevariousloadcase simulationfiles.Iftheydonotmatch,thenthestressresultsfromthatsimulationfilewillautomaticallybeconverted totheunitsspecifiedforthefatigueanalysis.Thisisuseful,sinceitallowsthefatigueanalysistobedoneusingm and MN as the length and force units (giving stresses in MN/m 2 = MPa), for example, even if the simulation load casesusemandkN(whichcorrespondstostressesinkN/m2=kPa).Similarly,inUSunits,thefatigueanalysiscan useinches(givingstressesinksi)evenifthesimulationfilesusefeetasthelengthunit. Ifyouchangeunits,thenallexistingfatigueanalysisdataisautomaticallychangedtomatchthenewunits.Thisis usefulifyouwanttoenterdatainsomeothersetofunits,sinceyoucansimplychangetotheunitsofthenewdata, thenenterthenewdata,andthenchangebacktotheoriginalunitsagain.
StressRangeDistribution(spectralanalysisonly)
Thespectralfatiguecalculationassumesthatstressrangesfollowastatisticaldistributionwhichisspecifiedbythis dataitem.ThedistributioncanbeeitherDirlik'sformulaortheRayleighdistribution.TheRayleighdistribution isappropriateifthevariationofstressisanarrowbandedrandomGaussianprocess.Dirlik'sformulaisapplicable evenifthevariationofstressisnotanarrowbandedprocess.ForthisreasonwerecommendusingDirlik'sformula.
8.3
COMMONLOADCASESDATA
TheLoadCasesdatapagespecifiestheloadcaseswhicharetobeanalysed.
AddLoadCase(s),RemoveLoadCase(s)
The Add Load Case(s) button is used to add load cases to the Fatigue Analysis. You select which OrcaFlex simulationfilesrepresenttheloadcasesandextrarowsareaddedtotheloadcasetable.TheRemoveLoadCase(s) buttonremovesthecurrentlyselectedloadcase(s)fromtheloadcasetable.
SimulationFileName
Thenameofthesimulationfilewhichrepresentstheloadcase.Thefilenamecaneitherbetypedinorelsesetby usingtheAddLoadCasebutton.Ifyoutypeitinyoucaneitherspecifythefullpathorarelativepath.
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FatigueAnalysis,LoadCasesDataforRegularAnalysis
LineName
Thename,inthisloadcasesimulationfile,ofthelinetobeanalysed. Note: Normally the line name will be the same in all of the load cases (though this is not necessary). Howeverthenamedlinesinthevariousloadcasesmust,ofcourse,allrepresentthesamephysical line.Andtheymustalsohavethesamesegmentationintheareasbeinganalysed.
8.4
LOADCASESDATAFORREGULARANALYSIS
NumberofCycles
Thenumberofwavecycles,ofthisparticularsetofloadconditions,thatthelinewillexperience.
8.5
LOADCASESDATAFORRAINFLOWANALYSIS
SimulationPeriod
Theperiodoftheprerunsimulationfilethatdefinestheloadcase.
ExposureTime
Thetotaltimethesystemisexposedtothisloadcase.
8.6
LOADCASESDATAFORSPECTRALANALYSIS
ExposureTime
Thetotaltimethesystemisexposedtothisloadcase.
SpectralForm,SpectralParameters
ForspectralanalysisthesimulationfilespecifiesaresponsecalculationsimulationfilefromwhichstressRAOsare derived.ThespectralfatiguecalculationthenproceedsbycombiningtheseRAOswithawavespectrumtoproduce stresspowerspectraldensity(PSD)functions. SpectralFormcanbeoneofJONSWAP,ISSC,OchiHubbleorTorsethaugen.Thisspecifiesthegeneralformofthe wavespectrum. Theparametersforthechosenspectralformarespecifiedasfollows: If JONSWAP is selected then Spectral Parameters can be either Automatic, Partially Specified or Fully Specified.Thisdeterminesexactlyhowthespectralparametersforeachloadcasearespecified.Forexample,if Automatic is selected then you specify Hs and Tz and the other JONSWAP parameters are calculated automaticallyandreported.FordetailsseeDataforJONSWAPandISSCSpectra. IfISSCisselectedthenyoumustspecifyHsandTzforeachloadcase.YoucanalsospecifyfmorTpbutsinceTz, Tpandfmaretiedtogetherthensettinganyoneofthemchangestheothertwotomatch.FordetailsseeDatafor JONSWAPandISSCSpectra. If OchiHubble is selected then Spectral Parameters can be either Automatic, or Specified. Again, this determines exactly how the spectral parameters for each load case are specified. If you select Automatic the programcalculatestheparametersofthemostprobablespectrum,basedontheoverallsignificantwaveheight Hsthatyouhavespecified.IfyouselectSpecifiedyoumustspecifyall6parametersandOrcaFlexthenderives anddisplaysthecorrespondingoverallHsandTzvalues.FordetailsseeDataforOchiHubbleSpectrum. IfTorsethaugenisselectedthenyoumustspecifyHsandTpforeachloadcase.Youcanalsospecifyfmbutsince Tp and fm are tied together then setting either one changes the other to match. For details see Data for TorsethaugenSpectrum.
SettinguploadcasesforSpectralAnalysis When performing a spectral fatigue analysis you will typically have a wave scatter table describing the relative probabilityofstormoccurrence.Thisdeterminesanumberofwaveclasses,e.g.stormsdefinedbyHs,Tzpairs. The load cases data should be setup to match load cases with wave classes. For example, suppose that you were workingwiththefollowing(truncated)wavescattertable: 45 9 3
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FatigueAnalysis,LoadCasesDataforSpectralAnalysis 6 18 6
34 Hs 23 12 01
22 132 117 57 201 249 48 Tz 69 45
3 15
45 56 67 78
The values in the table represent joint probabilities in parts per thousand, so that a value of 201 represents a probabilityof0.201. Thiswavescattertablegives16waveclassesandsothefatigueanalysisdatainOrcaFlexwouldbesetupwith16 correspondingloadcaseswithappropriateHsandTzvalues.
Simulationfilesforspectralfatigueanalysisloadcases
Thesimulationfilesusedtorepresentaloadcaseforspectralfatigueanalysisshouldmodelallaspectsofthesystem and environment other than the wave spectrum. So you must specify vessel offset, current profile and direction, wavedirectionandsoonwhichareappropriatefortheloadcasebeinganalysed. The wave type for the load case simulation file must be response calculation. This effectively calculates system responses(i.e.RAOs)forarangeofwavefrequencies.ThespectralfatigueanalysisthencombinestheseRAOswith theloadcasewavespectra(i.e.theHs,Tzpairs)toproducefatiguedamageestimatesfortheloadcase.
ChoiceofHsforresponsecalculationsimulationfiles
The Spectral Response Analysis method which is used to calculate system responses (RAOs) includes nonlinear effectssuchashydrodynamicdrag.InorderforthesenonlineareffectstobewellmodelledthechoiceofHsforthe response calculation simulation files is important. Essentially the RAOs can be considered as being dependent on waveheight.Howsignificantthisdependenceiswillvaryfromcasetocase.Certainsystemsaredominatedbylinear physicaleffectsandtheRAOsmaynotinfactbedependentonwaveheight.Todeterminehowsignificantthiseffect iswewouldrecommendsensitivitystudies. In the example above we mightchooseto runa response calculation simulationfor each row of the wave scatter table(assumingthatthesystemhadsignificantnonlinearities).Thiswouldgive5simulationfilesforHsranges01, 12,23,34and45.Thereare4waveclassescorrespondingtothe01Hsrange.Theloadcasecorrespondingto each of these wave classes would then be represented by the same simulation file. The other Hs ranges are dealt withsimilarlyandsotheloadcasestablewouldlookasbelow:
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FatigueAnalysis,ComponentsData
Figure: Exampleloadcasestable
Ifthenonlinearitiesinthesystemarenotsosignificantthenyoumaybeabletoobtainaccurateresultswithfewer simulationfiles.Thismaybedesirabletoreducetheamountoftimetakentorunthesimulations.Forexamplethe Hs1, Hs2 and Hs3 simulations could be combined into a single Hs2 simulation etc. Again, the accuracy of such a simplificationshouldbetestedwithsensitivitystudies.
Responsecalculationsimulationduration
Theotherdecisiontomakeisoverthelengthoftheresponsecalculationsimulations.Youneedtosimulateforlong enoughtogetaccurateresults.AsfortheissueofH sdiscussedabovewewouldrecommendusingsensitivitystudies todeterminehowlongisrequired.
8.7
COMPONENTSDATA
TheComponentsDatapageisonlyavailablewhendamageiscalculatedusingstressfactors. You define a number of components for which damage is to be calculated. Components can be used to represent differentlayersorcomponentsinthecrosssectionofanumbilicaloraflexible.
ComponentName
Thisisusedtoidentifythecomponentintheresults.
TensionandCurvatureStressFactors
Thestressesusedtocalculatedamagearecalculatedaccordingtotheformula: S=KtTw+Kc(CxsinCycos) where Sisstress, KtandKcarethetensionandcurvaturestressfactors,respectively,
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Twiswalltension, CxandCyarethecomponentsofcurvatureintheline'slocalxandydirections,respectively,and isthecircumferentiallocationofthefatiguepoint. Ineffectthisformuladefinesstresstobethesumofcontributionsduetodirecttensilestrainandbendingstrain. The circumferential variation (i.e. the terms which refer to ) istoaccount forthe factthat bending strain varies with.So,forapointintheplaneofbending,stressisgivenbyS=KtTwKc|C|,whereCisthecurvaturevector(Cx, Cy).Similarly,forapointat90totheplaneofbending,stressisgivenbyS=KtTw. The stress factors will typically be calculated from experimental data or from detailed analytic models of the umbilicalorrisercrosssection.Suppliersofsuchproductsareusuallyabletoprovidethenecessarystressfactors.
SNCurve
SpecifieswhichSNcurveisusedfordamagecalculationsforthiscomponent.
8.8
ANALYSISDATA
TheAnalysisDatapagecontainsthefollowingdataitems,whichspecifythepartsofthelinetobeanalysed.
CriticalDamage
Isawarninglevel.IfthetotaldamageatanyfatiguepointexceedstheCriticalDamagethenthatdamagefigurewill behighlightedintheresults.
NumberofThetas
Thenumberofpoints(N)aroundthepipecircumference,atwhichfatigueanalysiswillbeperformed.Therewillbe Nfatiguepointsuniformlydistributedat360/Nintervalsaroundthepipecircumference.Alargernumberofthetas givesamorecomprehensiveanalysis,buttakesalittlelonger.

ArcLengthIntervals
You define the parts of the line that are to be analysed by specifying a number of nonoverlapping Arc Length IntervalsintheformofFromandToarclengthvalues.OrcaFlexwillanalysecrosssectionsateachlineendand midsegmentwhosearclengthSisintherangeFromSTo. Forsimplecasesyoucanusejustonearclengthintervalcoveringthewholeline.Howeveritisoftenclearwhich part,orparts,ofthelineareliabletofatigueproblems.Ifcalculationtimeissignificantthenyoucansavecalculation timebyanalysingthosepartsoftheline. Warning: Theincludedarclengthsmustbethesameineachloadcase,sothelinetobeanalysedshouldhave thesamenumberanddistributionofsegmentsineachoftheloadcasesimulations.
SCFandThicknessCorrectionFactor(homogeneouspipestressesonly)
When stress ranges are used with the SN curve to calculate damage, the stress ranges are scaled by the Stress ConcentrationFactor(SCF)andtheThicknessCorrectionFactorbeforecalculatingdamage. Ifnostresscorrectionisrequiredthenthesefactorsshouldbothbesetto1. Notes: To use different stress correction factors for different parts of the line, you will need to specify separatearclengthintervalsforthoseparts.
SNCurve(homogeneouspipestressesonly)
SpecifieswhichSNcurveisusedfordamagecalculationsinthisarclengthinterval.
8.9
SNCURVES
An SN curve defines the number of cycles to failure, N(S), when a material is repeatedly cycled through a given stressrangeS.OrcaFlexusestheSNcurvetocalculatethedamageinafatigueanalysis.Ifneededyoucandefinea numberofdifferentSNcurvesandusethematdifferentarclengthsalongaline. WitheachSNcurveyoumustalsospecifyanassociatedstressendurancelimit,FL,whichisthestressrangebelow whichnodamageoccurs. TheSNcurveitselfcanbespecifiedeitherbyparametersorbyatable.
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FatigueAnalysis,IntegrationParameters
Whenthecurveisdefinedbyparameterstheuserspecifiestwoparameters,Aandb,andthecurveisthengivenby eitherofthefollowingequivalentformulae: N=10A/Sb Log10(N)=AbLog10(S) WhenthecurveisspecifiedbyatabletheusergivesatableofcorrespondingvaluesofSandN.ForothervaluesofS weuseloglinearinterpolationorextrapolationtofindthevalueofN. FordetailsofhowtheSNcurveisusedtocalculatethedamageseeHowDamageisCalculated. TheGraphbuttondisplaystheselectedSNcurveonalogloggraph.

SNCurveUnits
The SN curve parameters entered must be consistent with the fatigue analysis units. SN curve parameters are typicallyquotedwithrespecttostressesinMPa,butyoumightbedoingthefatigueanalysisusingsomeotherstress units.Youcanhandlethisproblemasfollows.Firstchangethefatigueanalysisunitsandsettheunitssystemtobe 'User',thelengthunitstobe'mm'andtheforceunitstobe'N'.ThiscorrespondstostressesinMPa,soyoucanthen entertheSNparametersintermsofMPa.Finally,restoretheunitstothosethatyouwantforthefatigueanalysis. Theparameterswillautomaticallybeconvertedtoallowforthechangeinunits.
8.10
INTEGRATIONPARAMETERS
Integrationparametersareonlyavailablewhenthespectralfatigueanalysisoptionisselected.Normallyyoushould not need to modify the parameters from their default values. However, if the spectral fatigue calculation has problemswithconvergencethenitmayproveproductivetotrydifferentvaluesfortheseparameters. We recommend that you contact Orcina for further details should you encounter problems with spectral fatigue convergence.
8.11
RESULTS
Fatigueresultsarepresentedinaseparatewindow.Resultsareavailableineithergraphicalortabularform. Graphicaloutput Thegraphicaloutputproducesplotsoffatiguedamageorfatiguelifeagainstarclengthrangegraphsoffatigue. WedenoteadamagevalueatarclengthzandcircumferentialpositionasD(z,).Thiscouldbeoveralltotaldamage orthetotalexposuredamagevalueforanindividualloadcase.ThedamagegraphsallplotD(z)=maxD(z,),thatis themaximumdamagevalueatagivenarclengthz. ThelifegraphsplotthecorrespondinglifevaluesT/D(z)whereTistheexposuretime.ForindividualloadcasesTis theexposuretimefortheloadcase.FortotallifeTisthetotalexposuretimeofalltheloadcases. Graphsareavailablefor: Totaldamage/life:theoveralltotaldamage/life. Individualloadcasedamage/life:thetotalexposuredamage/lifefromthespecifiedloadcase. Worstcases:thetotalexposuredamagevaluefromthefivemostdamagingloadcases.Bymostdamagingwe meantheloadcaseswiththelargestvaluesofmaxz,D(z,),themaximumdamagevalueoverallz,. The arc length axis can be either horizontal or vertical, the latter option being more appropriate for vertical risers. The arc length axis can be inverted. When it is inverted increasing values run from right to left (if it is horizontal)andtoptobottom(ifitisvertical).Againthisisparticularlyusefulforverticalriserswitharclength valuesthatincreasefromthetopendtothebottomend. Fatiguedamage/lifecanoptionallybeplottedonalogarithmicscale. Individualarclengthintervalscanbeplotted.
Thegraphscanbecustomisedinanumberofways:
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FatigueAnalysis,FatiguePoints
Tabularoutput ThetabularoutputispresentedinaspreadsheetthathasoneDamageTablessheet,plusoneLoadCasesheetfor eachloadcase.ThereisalsoasheetechoingtheSNcurvedata.

LoadCasesheets
TheLoadCasesheetscontainthederivedstressresultsforeachfatiguepointthathasbeenanalysed,togetherwith generalinformationsuchastheenvironmentaldatathatappliedtothatloadcase. Thereisonetableofstressresultsforeacharclengthcoveredbythespecifiedarclengthintervals.Eachsuchtable containsarowofresultsforeachfatiguepointinthatarclengthcrosssection.Theseresultsarethestressranges (foreachofthestresscomponents),themaximumstressrangeandtheresultingloadcasedamagevalues. In addition to the detailed tables a damage summary table is presented which tabulates the load case damage at eachfatiguepoint.
DamageTablesheet
TheDamageTablesheetstartswithanExcessiveDamagetable,whichlistsanyfatiguepointsatwhichtheoverall totaldamagehasexceededthespecifiedcriticaldamagevalue.Detailsofwhereonthelinetheworsttotaldamage occurredarealsoreported. Atablesummarisingtheoveralldamageovertotalexposureforallarclengthsispresented. Finally,theDamageTablesheetprovidesdamagetablesforeacharclengthcrosssectionanalysed.Thesereport,for eachfatiguepoint inthe crosssection,the total exposure damage value from each loadcase andthe overall total damage. Inallofthesetables,overalltotaldamagevaluesthatexceedthespecifiedcriticaldamagevaluearehighlightedin red.
PrintingandExporting
TosavetheresultsyouwillneedtoexportthespreadsheetasanExcelsheet.Ifyouwanttoprinttheresultsthenfor bestresultsyoushouldfirstexportthemandthenuseExceltodotheprinting. Customisingresultsoutput ThetabularresultsoutputcanbecustomisedusingtheoptionsontheResultspageofthemainfatigueform.

Outputdetailedloadcasetables
If this option is deselected then the detailed load case sheets are omitted from the fatigue results. This can significantlyreducethetimerequiredtogeneratetheresultstables.
Loadcasedamageunits
Loadcasedamagevaluescanbereportedasdamageperhour,damageperdayordamageperyear,asspecifiedby thisdataitem.
8.12
FATIGUEPOINTS
Damageiscalculatedatanumberoflineendandmidsegmentcrosssectionsalongtheline,asspecifiedbydefining ArcLengthIntervalsintheAnalysisData.Eachincludedarclengthdefinesacrosssectionthroughthepipe.
Damagecalculatedbyhomogeneouspipestresses
Eachcrosssectionisdescribedbypolarcoordinates(R,)whereRistheradialdistancefromthecentrelineand ismeasuredfromtheline'slocalxaxistowardsitsyaxis. Inprincipledamagecouldbecalculatedforanyvalueof(R,).HoweveritisclearthatthemaximumvalueofZZ stressmustoccurattheouterfibresoweonlyconsiderR=(StressOD)/2. ForwecalculatedamageatequallyspacedintervalsdeterminedbythespecifiedNumberofThetas.Forexample,if youspecify16thetavalues,thentheywillbeequallyspacedat360/16=22.5intervals0,22.5,45etc.

Damagecalculatedbystressfactors
For stress factor fatigue the radial position is implicit in the stress factors and so is not explicitly used in the calculation.DamageiscalculatedatcircumferentiallocationsdeterminedbythespecifiedNumberofThetas.
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FatigueAnalysis,HowDamageisCalculated
8.13

HOWDAMAGEISCALCULATED
ForeachloadcaseandfatiguepointOrcaFlexcalculatesdamagevaluesasfollows: Thetimehistoryofstress,inthatloadcase,atthatfatigue point,iscalculated.ForhomogeneouspipestheZZ stressvariableisused.Forstressfactorfatiguethenthestressiscalculatedbasedonthosestressfactors. Thedamagevaluecorrespondingtothestresstimehistoryiscalculatedseebelowfordetails.Thisvalueisthe damagevalueatthatfatiguepointduetooneoccurrenceofthatloadcase. Theloadcasedamagevaluesarescaledtoallowfortheexposureassociatedwiththatloadcase. Theabovestepgivesthetotalexposuredamagevaluefromthatloadcaseatthisfatiguepoint. Finally,thesetotalexposureloadcasedamagevaluesaresummedoverallloadcasestoobtaintheoveralltotal damagevalueatthatfatiguepoint.
DamageCalculation TheSNcurvedefinesthenumberofcyclestofailure,N(S),foragivenstressrangeS,andalsodefinesaendurance limit,FL,belowwhichnodamageoccurs.OrcaFlexusesthesetocalculateadamagevaluegivenby: D(S)=1/N(S)ifS>FL D(S)=0ifSFL Thisdamagevaluecanbethoughtofastheproportionofthefatiguelifethatisusedupby1cycleofstressrangeS. IftheSNcurveisdefinedbyparametersthenforS>FLwehave: Log10(N)=AbLog10(S) soD(S)canbeexpressedinthefollowingform: D(S)=10ASb.
Regularanalysis
The minimum and maximum values of stress over the last simulated wave cycle define a stress range S. The associated singleoccurrence load case damage value is then given by D(S) where is the stress concentration factor.
Rainflowanalysis
Thestresstimehistoryisanalysedusingtherainflowcyclecountingmethod.Thisgivesanumberofstressranges forhalfcycles,saySiwhereirunsfrom1tothenumberofstressranges.Theassociatedsingleoccurrenceloadcase damagevalueisthengivenbyD(Si)wherethesummationisoverallthehalfcycles.Notethatthefactorofone halfispresentbecausetherainflowalgorithmcountshalfcyclesratherthanfullcycles.

Spectralanalysis
For spectral analysis damage is calculated in the frequency domain using statistical methods. The calculation requires a power spectral density function (PSD) for stress. The PSD is obtained from a response calculation simulation. This calculatesRAOs for stress which is then combined with the load case wave spectrum to give the PSD for stress. These PSD are then used to calculate damage using either Dirlik's formula or the Rayleigh distribution. FordetailedreferencesonhowspectralfatigueanalysiscalculatesdamagefromstressPSDspleasereferto: BarltropandAdams(1991)whichhasanexcellentsectiononspectralfatigueanalysis. Dirlik(1985)istheoriginalreferenceforDirlik'sstressrangedistributionformula.
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VIVToolbox,HowDamageisCalculated
VIVTOOLBOX
TheOrcaFlexVIVToolboxprovidesanalysisofvortexinducedvibration(VIV)oflines.Itoffersachoiceofvarious alternative ways of modelling VIV, including both frequency and time domain approaches, and is the product of extensiveandongoingresearchincooperationwithacademicsintheUKandUSA. TheVIVToolboxisincludedasstandardinOrcaFlex. DifferentVIVModels TheVIVToolboxprovidesfacilitiesforusingthefollowingdifferentVIVmodels: VIVAInterface.TheVIVToolboxprovidesafullyintegratedlinktoVIVA.OrcaFlexautomaticallypreparesthe VIVAdatafromtheOrcaFlexdata,callsVIVAandpresentstheresults.TousethisyouwillneedacopyofVIVA, release2.0.3orlater. SHEAR7 Export. The VIV Toolbox provides facilities for exporting SHEAR7 structural data files and SHEAR7 .mdsfilesbasedonanOrcaFlexmodel.SHEAR7canthenberunusingthesefilesasinput. Twowakeoscillatormodels,theMilanmodelandtheIwanandBlevinsmodel. Twovortextrackingmodels.
Of all these models, VIVA and SHEAR7 are the two main programs in current use in the industry. They are both independent nonOrcina programs written and distributed by other companies, so to use them you need to purchaseandinstallthemonyourmachine.Theyarebothfrequencydomainmodels,sotheyonlyanalysesteady stateconditions. TheothermodelsareincludedintheVIVToolboxwithinOrcaFlex,sonofurthersoftwareisneeded.Theyareall timedomain models, so they can analyse nonsteadystate conditions. They do not yet have a track record in the industry. Fordetails,seedocumentationoftheindividualmodelsinthesectionsthatfollow. UsingVIVModels ExceptfortheSHEAR7Exportfacility,youchoosewhichVIVmodeltouse(ifany)ontheVIVpageonthelinedata form. Thereareseparatechoicesforthestaticanddynamicanalysesseethe'StaticsVIV'and'DynamicsVIV'dataitems. You do not have to use the same model for the two analyses. The timedomainmodelsare only applicable to the dynamicanalysis. WhenyouchooseaVIVmodel,dataforVIVappearsontheVIVpage.Somedataappliestothewholelineandsome isspecifictoagivensectionofline.Thedatadependsonyourchoiceofmodel,butallthemodelsusethefollowing sectionspecificdata. AseparateuserguideforthetimedomainVIVmodelsisavailable(TimeDomainVIVModels.pdf).
VIVDiameter
TheVIVdiameterspecifiesthediameterusedbyalltheVIVmodels,i.e.forVIVAifitisused,andforthetimedomain VIVmodelsiftheyareused. Separatevaluescanbespecifiedforeachsection.Thevaluespecifiedisusedforallnodesinthatsection.Foranode attheintersectionoftwosectionstheVIVdiameterofthefollowingsectionisused. TheVIVDiametercanbesetto'~',whichistakentomean'sameasthesectionouterdiameter'. Testing,VerificationandWarranties VIVAandSHEAR7areinterfacestothirdpartyanalysispackages.Orcina'swarrantyislimitedtoprovidingthedata requiredbyeachpackageintherequiredformattoallowthepackagetocommenceitsanalysis.Wecannotaccept any responsibility for the results of the analysis, or for any failure by the third party package to complete the analysis,saveinsofarasthefailuretocompleteresultsfromincorrectpreparationoftheinputdata. TheothermodelsaresoftwareimplementationsbyOrcinaofpublishedtheory.Wehavetestedourimplementations andgiveguidancetousersontheassumptionsimplicitinusingthesemethodsforanalysisofpracticalrisers,but givenowarrantiesthatsuchuseisvalid.
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VIVToolbox,FrequencyDomainModels
AnycommercialuseoftheseVIVmodelsisattheuser'sownriskandontheunderstandingthatusersareawareof theassumptionsinvolvedandhavetakenstepstosatisfythemselvesthattheyarejustified. ForfurtherdetailscontactOrcina.
9.1
9.1.1
FREQUENCYDOMAINMODELS
VIVA
VIVAisanindependentfrequencydomainprogramdevelopedbyProf.MTriantafyllouatMITanddistributedby DavidTeinConsultingEngineers(DTCEL). OrcinaisaparticipatingmemberofaJointIndustryProjectrunbyDTCELandProf.TriantafyllouofMIT.Theproject beganmidyear2000.Phase1wascompletedmidyear2001andasecondphaseisinprogress. Aspartoftheproject,asoftwarelinkhasbeenwrittenbetweenOrcaFlexandVIVA.Thesoftwarelinkallowsariser model to be built in OrcaFlex takingadvantage ofthe existing interactive user interface. OrcaFlex then callsVIVA whichcarriesoutafrequencydomaincalculationofVIVresponsebasedonanenergybalance.Resultsarereported inspreadsheetformforeachsingleexcitedmodeofvibration. Acombinedmultimoderesponseisalsoreported. Results include amplitudes of vibration and mean effective drag coefficients. The drag coefficients can be automaticallyusedbyOrcaFlexinfurtherstaticanddynamicanalysis. The VIVA calculation can be repeated at intervals through an OrcaFlex analysis to update the drag coefficients. OrcaFlexrunsasusualinthetimedomain,butmakesacallperiodicallytoVIVAwhichrepeatstheVIVcalculation for the instantaneous riser configuration. The drag coefficient distribution is then read back into OrcaFlex which continueswiththeanalysis. OrcaFlexVIVAInterface TheOrcaFlexinterfacetoVIVArequiresVIVAtobeinstalledonyourmachineandavailableintheformofadynamic linklibrary(DLL)calledv3ddll.dll.ThisDLLfile,andtheVIVAdatabasefilesthatituses,mustbelocatedinthesame directoryastheOrcaFlex.exeprogramfile. ThecurrentversionofOrcaFlexiscompatible,andhasbeentestedwith,theVIVADLLversion2.0.6.Laterversions oftheDLLcanbeusedOrcaFlexchecksforinterfacecompatibilitybeforecallingtheDLL,andreportsanerrorif theDLLfoundisnotcompatible. TouseVIVAforVIVanalysisofaline,settheline'sStaticsVIVorDynamicsVIVdataitem(orboth)toVIVA.Thenset uptheVIVAdatathatappears. VIVAwillthenbecalledwhenyoudotheOrcaFlexstaticordynamicanalysis,andthedragcoefficientspredictedby VIVA(forthespecifiedTargetMode)willbeusedinsteadoftheuserspecifieddragcoefficientsfromthelinetype form. These VIVA drag coefficients, and other results calculated by VIVA, are available in OrcaFlex see VIVA Results.
VIVAinStaticAnalysis
When Statics VIV is set to VIVA, OrcaFlex calculates the static position of the line using the drag coefficients calculatedbyVIVA.ThisisaniterativecalculationsinceVIVA'sanalysisinturndependsonthepositionoftheline. Theiterativestaticanalysisisdoneasfollows: 1. 2. 3. 4. 5. FirstOrcaFlexsetstheline'sdragcoefficientstothosespecifiedontheOrcaFlexlinetypeform. OrcaFlexthencalculatesthestaticpositionofthelineusingthosedragcoefficients. OrcaFlex then calls VIVA to analyse VIV for that position and the line drag coefficients are updated to those calculatedbyVIVAforthespecifiedTargetMode. OrcaFlexthenrecalculatesthestaticpositionofthelineforthosenewdragcoefficients. Steps3and4arethenrepeateduntilthestaticpositionhasconverged.
The iteration is deemed to have converged when none of the nodes has changed position (compared with the previous iteration) by more than Convergence Tolerance * NodeLength, where NodeLength is the length of line representedbythatnode.
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VIVAinDynamicAnalysis
When Dynamics VIV is set to VIVA, OrcaFlex calls VIVA at regular intervals, as specified by the Dynamics Time Interval. After each call the drag coefficients of the line are updated to those calculated by VIVA for the specified TargetMode. Note that VIVA is a frequency domain program and so can only handle steady state conditions. It is therefore unrealistic to use VIVA in dynamic analysis unless the conditions change only slowly compared to the Strouhal period.SeealsoUseRelativeFluidVelocityandIncludeWaveinFluidVelocity. Limitations WhenusingtheOrcaFlexinterfacetoVIVApleasenotethefollowinglimitations: TheVIVAanalysisinvolvesamodalanalysisoftheline.CurrentlythismodalanalysisisdonebyVIVAbutthis haslimitationsseeVIVAmodalanalysislimitations. TherearedifficultiesinpassingtoVIVAdetailsofattachmentstotheline(e.g.clumps,buoys,links,winches),so attachmentareignoredbytheVIVAanalysis. TheVIVADLLisnotcurrentlycapableofhandlingmultiplesimultaneoususe,soyoushouldnotusetheVIVA interfacefrommorethanonecopyofOrcaFlexatatimerunningonasinglemachine.
VIVAData
The VIVA data is the data that VIVA needs and which OrcaFlex cannot deduce automatically from the ordinary OrcaFlexdata.ItisdescribedbelowandappearsontheVIVpageonthelinedataformwhenyouselectVIVAfor StaticsVIVorDynamicsVIV. WhenusingVIVApleasenotethefollowing: YoushouldsetupthelinewithEndAatthetopandEndBatthebottom. Allthesectionsinthelinemusthavethesamesegmentlength.ThisisarequirementofVIVA. If the line touches down on the seabed then OrcaFlex passes only the suspended part of the line to VIVA for analysis.TherestofthelineisnotpassedtoVIVA.By'suspendedpart'hereismeantthepartbetweenEndA andthefirstnodeincontactwiththeseabed.NotethatiftherearemultipletouchdownsthentheVIVAanalysis isonlyappliedtothepartofthelineuptothefirsttouchdownpoint. When there is seabed contact OrcaFlex tells VIVA to treat the touchdown point as pinned. This is as in the touchdownexampleintheVIVAdocumentation. You need to use enough segments in the suspended part of the line. There is a lower limit in VIVA of 100 segments,andifthelinehasfewerthanthisthenVIVAreportsanerrorandnoVIVcalculationisdone.Ifthe linehas100ormoresegmentsthenVIVAcheckswhetherthereareenoughsegmentstoreasonablymodelVIV; andifnotthenVIVAgivesawarningbutthecalculationcontinues.FordetailsseetheVIVAdocumentation. When modelling Vetco type risers (i.e. with auxiliary pipes attached), you need to set the OrcaFlex line end orientationtomatchtheorientationoftheauxiliarypipes.FordetailsseeModellingVetcoRisers. OrcaFlexpassesVIVAthefluiddensityandviscosityateachnode.ForfullysubmergednodesOrcaFlexpasses theseadensityandkinematicviscosityatthatpoint.ForanodeoutofthewaterOrcaFlexpassestheairdensity specifiedintheOrcaFlexdataandahardcodedviscosityvalueof1.5e5m2/s(Source:Batchelor,page594,air at 20C). For a partially submerged node OrcaFlex interpolates between the two, based on the node's ProportionWet.
WholeLineProperties
TargetMode
VIVApredictswhichmodesofoscillationmightbeexcitedanditgivesseparateVIVresultsforeachpossibleexcited mode.InadditionitgivesVIVresultsfor'multimode'response,i.e.responsethatisamixtureofthepossiblemodes. YoumustspecifywhichsetofVIVACdresultstouse,basedonthetypeofresponseyouexpect,bysettingtheTarget Modedataitem.TheTargetModecanbesettoamodenumber,meaningusethesinglemoderesultsforthatmode number.Oritcanbesetto'~',meaningusethemultimoderesults. IfyousettheTargetModetoamodenumberthatVIVAdoesnotpredictwillbeexcitedthenOrcaFlexwillreporta warningandusethelinetypeCdvalues.
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DynamicsTimeInterval
ThisdataitemonlyapplieswhenDynamicsVIVissettoVIVA.ItspecifieshowoftenVIVAwillbecalledduringthe OrcaFlexsimulation. VIVAwillbecalledaftereveryTsecondsofsimulation,whereTisthespecifieddynamicstimeinterval.Aftereach call to VIVA, the drag coefficients used by the line will be updated to those calculated by VIVA for the specified TargetMode.
ConvergenceTolerance
ThisdataitemonlyapplieswhenStaticsVIVissettoVIVA.Itspecifiesthetoleranceusedinthestaticsiteration.For detailsseeVIVAinStaticAnalysis.
TransverseDampingRatio
ThestructuraldampingratiothatVIVAshoulduse.Itisasinglevaluethatappliestothewholeline.Fordetailssee theVIVAdocumentation,whereitisreferredtoasZETA.
VIVAZAxisDirection
ThisdataitemspecifiesthedirectionoftheVIVAglobalZaxis. VIVA uses its own global, righthanded frame of reference, in which the Xaxis is vertically upwards (i.e. in the OrcaFlexglobalZaxisdirection)andtheYandZaxesarehorizontal. VIVArecommendsthattheVIVAZaxisischosentobeinthedownstreamflowdirection,ifthatiswelldefined.For constantuniformflowthereisauniqueflowdirection,soitiswelldefined.Iftheflowdirectionvariesalongtheline thenthereisnouniqueflowdirection.InthiscaseitisprobablybesttosettheVIVAZaxistobeintheaverageflow direction. Avalueof'~'isinterpretedtomeanthecurrentdirectionattheseasurface.
UseRelativeFluidVelocity,IncludeWaveinFluidVelocity
VIVAneedstoknowtheflowvelocityateachpointalongtheline.Youcanchoosetoeitherusetherelativevelocity, includingthevelocityoftheline,orelseuseonlythefluid velocity,ignoringanyvelocityoftheline.Youcanalso choosewhethertoincludeanywavecontributiontothefluidvelocity. Ideallytherelativevelocityshouldbeusedandthewaveshouldbeincluded,sinceinrealityitisthetotalrelative velocitythatgeneratesvortices.HoweverVIVAisafrequencydomainprogramandsocanonlyhandlesteadystate conditions,whereasOrcaFlexcanhandletimevaryingconditions.VIVAeffectivelyassumesthattheflowvelocityit is given is constant for long enough for VIV to settle. It therefore cannot correctly analyse cases where the flow velocityincludestimevaryingcomponentswhoseperiodsarecomparablewithorshorterthantheStrouhalperiod. (ThesameappliestoSHEAR7,sinceittoousesafrequencydomainanalysis.) Wethereforeprovidethesetwoswitches,toallowyoutocontrolwhetherlinemotionandwaveeffectsareincluded intheflowvelocitygiventoVIVA.Ifthelinemotionorwave includesignificantvelocitycomponentsthatarenot 'slow'comparedtotheexpectedVIVperiod,thenyoumightwantexcludethelinemotionorwave.Thisisstillnot ideal,sincetheireffectsarethenignored.Thealternativeistouseatimedomainmodel,suchasawakeoscillator modelorthevortextrackingmodels. SectionSpecificProperties Foreachsectionoftheline,youmustspecifytheVIVAsectiontypeanditsproperties.TheOrcaFlexlinetypeand lengthofthesectionsaredisplayedforinformation,buttheyarenoteditable(toeditthemseetheStructurepageon theOrcaFlexlinedataform).
VIVDiameter
SeeVIVDiameter.
SectionType
TheVIVAsectiontypecanbeoneof: Smooth:NofurtherVIVAsectiondataisneeded. Strake:Youmustalsospecifytheheighttodiameterratioforthestrakes. Fairing:Youmustalsospecifythechordlengthandthicknessofthefairing.
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Vetco:NofurtherVIVAsectiondataisneeded,butthelineorientationmustmatchtheorientationoftheVetco riser.SeeModellingVetcoRisersbelow.
FordetailsofthisVIVAdataseetheVIVAdocumentation. ModellingVetcoRisers Vetco risers have auxiliary pipes attached and VIVA needs to know the direction of the flow, relative to the orientationoftheauxiliarypipes.Thediagrambelowshowsasectionthroughtheline,lookingtowardsEndB.VIVA needstoknowtheangleAlpha. OrcaFlex calculates this angle automatically by assuming that the auxiliary pipes are oriented, relative to the OrcaFlexlocalxandydirection,asshowninthediagram.Youmustthereforesetupthelineendorientationdataso that the line's local x and ydirections are oriented as shown. In other words you should set up the line end orientationdatasothatthelinelocalxaxispointsthroughthelargerofthetwogapsbetweenauxiliarypipes.
Flow Direction Alpha x
VIVAResults
TheVIVAresultsarepresentedinOrcaFlexasextraworksheetsintheFullResultstables.Theworksheetsgivethe resultsfromthelatestVIVAcall. There is a separate worksheet for each excited mode, plus an extra worksheet for the multimode response. The dragcoefficientscurrentlyinusearethosecorrespondingtothespecifiedTargetMode. TheVIVAresultsaredescribedbrieflybelow.FordetailsseetheVIVAdocumentation. Note: AmplitudesinVIVAresultsaresingleamplitudes,i.e.measuredfromthemeanpositiontothepeak.
SingleModeResults Theworksheetforagivensingleexcitedmodegivesatableof'SingleMode'resultsasafunctionofarclengthalong theline.TheseareresultspredictedbyVIVAifsinglemodeVIVresponseoccursinthatmode.Theyinclude:

MaxAmplitude
TheamplitudeofpredictedVIVmotionatthatpoint.
MaxBendMoment,MaxStress
ThedynamicbendmomentandstressamplitudesduetoVIV.Notethattheydonotincludethebendmomentand stressduetothemeanpositionoftheline.
DragCoefficient
Thepredicteddragcoefficient,allowingforVIV.
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MultiModeResults The 'MultiMode' worksheet gives two tables. The second table is the multimode equivalent of the single mode resultstable;itgivesthesameinformation,butthistimeforthecasewheremultimodeVIVresponseoccurs. Thefirsttablesummarisesthebendingmodes.Ithasthefollowingcolumns:
Mode
This column shows which modes have been analysed. Those that VIVA calculates as possibly being excited are markedwithanasterisk.
NaturalModeFrequencyWithandWithoutVIV
Thesecolumnsgivethenaturalfrequenciesofthemode,ascalculatedbyVIVA.Those'WithoutVIV'arecalculated usingVIVA'sowndefaultaddedmasscoefficients(notthosespecifiedintheOrcaFlexlinetypedata).Whereasin those'WithVIV'theVIVAdefaultaddedmasscoefficientshavebeenmodifiedtoallowforVIV. Warning: VIVA'smodalanalysiscalculatesbendingmodesonlyanddoesnotallowforthemeancurvature. This omission is equivalent to VIVA calculating the outofplane modes, since there is no mean curvature component in the outofplane direction. The natural frequencies in the VIVA results thereforecorrespondtotheoutofplanebendingmodespredictedbytheOrcaFlexmodalanalysis. These are correct modes to use for inplane flow (since VIV will then be in the out of plane direction),buttheyarenottherightmodestouseforoutofplaneflow,sincetheVIVwillthenbe inplane. The difference between the inplane and outofplane bending modes depends on the magnitudeofthecurvatureandthewavelengthofthemode.
MaxAmplitude
Thelargestoffsetofanynodeinthismode.
9.1.2
SHEAR7
SHEAR7isanindependentprogram,developedbyProf.KVandiveratMITanddistributedbySBMAtlantia.Thelink toSHEAR7isalittledifferentfromtheotherVIVmodelsintheVIVToolbox.Theothermodelsareintegrateddirectly withOrcaFlexwhereastheSHEAR7linkisintheformoffacilitiestoexportSHEAR7datafiles(.dat)andSHEAR7 modeshapefiles(.mds). Note: SHEAR7mustbelicensedseparatelytoOrcaFlex.PleasecontactSBMAtlantiafordetails.
WhenexportingaSHEAR7datafiletheprogramassumesthatyouwillalsobeusingamodeshapefileproducedby OrcaFlex.TheprocedureforlinkingSHEAR7toyourOrcaFlexmodelisasfollows: 1. 2. 3. 4. 5. 6. BuildyourOrcaFlexmodelasnormal.SHEAR7analysesVIVforoneormoreofyourOrcaFlexLines. InputtheappropriatevaluesontheSHEAR7dataform. Calculatethestaticpositionofthemodel. ExportaSHEAR7datafile. ExportaSHEAR7Mdsfile. ThesefilescannowbeusedasinputstoSHEAR7.
SHEAR7datafile
ToexportaSHEAR7datafilesyoumustfirstprovideextradatathatSHEAR7requiresbutwhichisnotneededby OrcaFlex.ThisisdonefromtheSHEAR7dataformwhichcanbeopenedfromtheModelBrowser.Notethatyour modelmustincludeatleastoneLinefortheSHEAR7dataformtobeavailable. WhenyouhaveinputallthenecessarydataontheSHEAR7dataformyoucreatetheSHEAR7datafilebyclickingon the Export Shear7 Data File button. The model must be in Statics Complete state when you export the SHEAR7 datafilebutpleasenotethatdataontheSHEAR7dataformiseditablewhileinthisstate.
ExportingfromBatchScript
TheSHEAR7datafilecanbeexportedfromanOrcaFlexbatchscriptusingtheSHEAR7DataFilecommand.
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SHEAR7data ThemajorityoftheinformationinaSHEAR7datafilecanbederivedfromthedataforanOrcaFlexLine.However, thereareanumberofothervalueswhichSHEAR7needsandthesearedocumentedbelow.Mostlythesevaluesare given the same name as used by SHEAR7. For full details on how they are used please refer to the SHEAR7 documentation.
Line
SpecifiestheOrcaFlexLinetobedescribedintheSHEAR7datafile.
SHEAR7FileVersion
SHEAR7changedtheformatofitsdatafilewiththereleaseofShear7version4.5.OrcaFlexcanoutputdatafilesfor eitherversion4.3/4.4orversion4.5,asspecifiedbythisdata.
OutputsummaryLocations
ThesedataspecifythelocationsatwhichasummaryoftheresponseisgivenintheSHEAR7.outfile.Avalueof'~' canbeusedforthe ArcLengthRangeStarttomean'EndA'.Likewise,avalueof'~'for ArcLengthRangeEnd means'EndB'.

ReducedVelocityBandwidths
ForShear7version4.3/4.4youspecifythesinglemodeandmultimodereducedvelocitybandwidth. ForShear7version4.5youspecifyjustasinglevalueforreducedvelocitybandwidth.
StructuralDampingRatio
CorrespondstotheSHEAR7dataitemofthesamename.
Primaryzoneamplitudelimit(SHEAR7version4.5only)
ModeBehaviourCutOff
CorrespondstotheSHEAR7dataitemcalled"Cutofflevel".
NumberofLiftCoefficientTables(SHEAR7version4.3/4.4only)
ThisisthenumberoftablesyouwantSHEAR7toreadfromthecommon.clfile.
CurrentProfile
Theprobabilityofoccurrence(anumberbetween0and1)oftheflowprofileandtheflowprofileID.
Young'sModulus
Young'smodulusforthestrengthmember.SHEAR7usesthisforcomputingstressanddamagerate.
PowerRatioexponent(SHEAR7version4.5only)
SNCurve
SpecifiestheSNcurvetobeusedbySHEAR7foritsfatiguecalculations.Anendurancelimitcanbespecifiedthisis calledthe"cutoffstressrange"intheSHEAR7documentation.
StressConcentrationFactors
Specifyaglobalstressconcentrationfactorforthelineandoptionallyanumberoflocalstressconcentrationfactors. SectionData The following data is specified on a section by section basis. That is different values can be specified for each OrcaFlex linesection. The SHEAR7terminology forthis is sectional zones. In the SHEAR7data file that OrcaFlex producesthereisaonetoonecorrespondencebetweenOrcaFlexlinesectionsandSHEAR7sectionalzones.
VIVDiameter
Specifiesthediameteroftheline.Ifthedefaultvalueof'~'isspecifiedthenthebuoyancydiameterisused.
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StrouhalType,StrouhalNumber
The Strouhal type and number defines the relationship of flow velocity and cylinder diameter to the local vortex sheddingfrequency.StrouhalTypecanbe RoughCylinderorUserSpecified.RoughCylindercorrespondstothe SHEAR7Strouhalcode200.IfUserSpecifiedischosenthenyoumustalsospecifyaStrouhalNumber.
LiftCoefficientTable,LiftCoefficientFactor
LiftCoefficientTablespecifieswhichtableisusedfromthecommon.clfile. LiftCoefficientFactorcorrespondstotheSHEAR7dataitemcalledLiftCoefficientReductionFactor.
ReducedVelocityDampingCoefficients
DampingCoefficientsforstillwater,lowandhighreducedvelocityarespecified.
SHEAR7Mdsfile
TheSHEAR7MdsfileexportfacilityisprovidedontheModalAnalysisform.Touseit: YouwillneedtocreateaSHEAR7datafile.Thesimplestwaytodothisistousetheinbuiltfacilitytoexport SHEAR7datafiles. Warning: TheOrcaFlexandShear7modelsmustbothhavezeroarclength(calledEndAinOrcaFlex)atthe same end of the line. The Shear7 manual says 'It is common, but not required, that x/L=0.0 correspondwiththeminimumtensionendofthecylinder'.InOrcaFlexEndAiscommonlyplaced atthetopoftheline,andwewouldrecommenddoingthiswheninterfacingwithSHEAR7.
Calculatethestaticpositionofthemodel. OntheResultsmenuselecttheModalAnalysis. Dothemodalanalysisforthelineyouwanttoanalyse.Youmustincludecalculationofthemodeshapesand includeallmodesthatmighttobeneededbySHEAR7. SelecttheVIVpage.Foreachmode,theVIVpagereportstheextenttowhichthemodeistransverse(i.e.inthe VIV direction), inline (i.e. in the normal drag direction), axial, or some mixture. This helps you decide which modestoexporttoSHEAR7.SeeModeSelectionTablebelowfordetails. The final column of the table shows which modes are currently selected to be exported to the .Mds file. WheneveryoucalculatethemodesOrcaFlexticksjusttheTransverseandMostlyTransversemodes,butyou canthenchangetheselectionasrequired. UsetheExportSHEAR7MdsFilebutton.ASHEAR7.Mdsfileisgeneratedforthosemodesthatarecurrently tickedforexport.Youareaskedwheretosavethefile.SeeValuesExportedfordetails. Warning: OrcaFlexdoesnotcalculatethemodeslope;initsplaceOrcaFlexoutputszero.SeeValuesExported fordetails.
ExportingfromBatchScript
TheSHEAR7MdsfilecanbeexportedfromanOrcaFlexbatchscriptusingtheSHEAR7MdsFilecommand. ModeSelectionTable VIVexcitationoccursinthetransversedirection.InSHEAR7modeshapesare1Dsinceitassumesthatallthemodes inthe.Mdsfilearepurelyinthattransversedirection.TheOrcaFlexmodalanalysisisfully3D,soinprincipleyou shouldthereforeonlyexportmodesthatarepurelytransverse. Inpracticethenaturalmodesdonotalwaysneatlydivideintothetransverse,inlineandaxialdirections,soyouwill sometimes have to export the modes that are nearest to being transverse. OrcaFlex therefore provides the mode selectiontabletohelpyoudecidewhichmodesshouldbeexportedtoSHEAR7. Thetableincludesthefollowingcolumns: OffsetDistributiondisplaysameasureofhowinline,transverseandaxialthemodeis.FordetailsseeOffset Distribution. Mode Type classifies each mode according to the offset distribution. Transverse means that the transverse component is more than 90% of the total, Mostly Transverse means that it is between 50% and 90%, and
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similarlyforInline,MostlyInline,AxialandMostlyAxial.Mixedmeansthatnoneofthecomponentsaremore than50%ofthetotal. Export to SHEAR7 Mds File determines which modes will be exported to SHEAR7. When you calculate (or recalculate) the modes OrcaFlex ticks just the Transverse and Mostly Transverse modes, but you can then changetheselectionasrequired.SeeDiscussionandExamples.
ValuesExported The first line in the .Mds file contains the number of selected modes and the number of nodes in the line. Then followsasectiongivingtheangularfrequenciesoftheselectedmodes,inradianspersecond.Finallytherefollowsa sectionforeachselectedmode,givingtheModeOffset,ModeSlopeandModeCurvature. Warning: OrcaFlexdoesnotcalculatethemodeslope;initsplaceOrcaFlexoutputszero.Themodeslopeis onlyusedinSHEAR7tocorrectthepredictedRMSaccelerationforaverticalriser,inthespecial case where one is trying to model the gravitational contamination from tilt that a transversely mounted accelerometer would measure. See the SHEAR7 documentation for details. The RMS accelerationislistedintheSHEAR7.pltplottingfiles.
ExportedModeOffsetandModeCurvature
TheOrcaFlexmodalanalysisgivesvectorvalues,butSHEAR7requiresscalarvalues.Thesearecalculatedasfollows. Let: V=themodeshapevectorcalculatedbyOrcaFlexatagivennode, Vi,VtandVa=V'sinline,transverseandaxialcomponentvectors,respectively, VL=lateralcomponentvectorofV,givenbyVL=Vi+Vt(vectorsum), C1=curvaturevectoratthenode,forthemeanposition, C2=curvaturevectoratthenode,whenthemodeshapeoffsetsVareapplied, dC=C2C1=modalcurvaturevector. ThenthevaluesexportedbyOrcaFlextotheMdsfileareasfollows: ModeOffset=Sign(Vt).S.|VL| ModeCurvature=Sign(transversecomponentofdC).S.|dC| HereSisanormalisingfactorthatischosentomakethelargestvalueinthemodeoffsetcolumnhavemagnitude1, asrecommendedbySHEAR7. Thereasoningbehindtheaboveformulaeisasfollows: SHEAR7assumes thattheexportedmode offset is inthe transverse direction. This assumption applies tothe powerin zone, since in this zone SHEAR7 assumes that the mode offset is in the direction of VIV excitation. However SHEAR7's powerout calculation will still be valid providing the mode offset is lateral (i.e. no axial component),sincefluiddraganddampingoccurinanylateraldirection. OrcaFlex should thereforeideally export the transverse componentof mode offset forthe powerin zone and thelateraloffsetforthepoweroutzone.HoweverOrcaFlexdoesnotknowthepowerinandpoweroutzones, since they are calculated inside SHEAR7, so it therefore outputs the lateral offset (suitably signed and normalised)throughout.Thiscorrectlyremovestheaxialcomponent,andifthereisnoinlinecomponentthen noerrorisintroduced. Foramodethathassomeinlinecomponentstherewillbeanerrorintroducedinthepowerincalculation,since SHEAR7 will assume that the lateral offset is in fact transverse. This error is equivalent to rotating the VIV excitationtobeinthelateralmodeoffsetdirection,soitshouldbeconservative. ThemodecurvaturecolumnisusedinSHEAR7tocalculatethedynamicbendingstressesthatareinducedwhen the mode is excited. Such stresses occurdue to bothtransverse and inline oscillations, so it isappropriate to exportthewholeofthedynamiccurvature(dC),ratherthanjustitstransversecomponent. Finally,theexportedvaluesaresignedandscaledasrequiredbySHEAR7.
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VIVToolbox,TimeDomainModels
DiscussionandExamples The OrcaFlex modal analysis is fully 3D, so for a general line configuration a mode can be a mixture of axial (i.e. tensile)andlateral(i.e.bending)motion.Howeverformanyconfigurationsthemodesbroadlyfallintooneofthree categoriestensilemodes,inplanebendingmodesandoutofplanebendingmodes.Hereinplaneandoutofplane referstotheverticalplaneofthecatenaryinwhichthelineishanging.
VerticalRiser
Foranexactlystraightverticalriserthereisnouniquesuchverticalplane.Inthiscasethebendingmodesappearas aseriesoftwins,i.e.pairsofmodeswithidentical(ornear identical)amplitudeandfrequency,butinorthogonal directions. Warning: In such cases it is important that only one of the pair is exported to SHEAR7 the one that is nearesttobeinginthetransversedirection.
Inpractice,however,thecurrentwillmaketheriserbowoutslightlyinthecurrentdirection.Thisdefinesavertical planeforthestaticposition,andthetransversedirectionisnormaltothisplane.Thenaturalmodestypicallydivide neatly into modes that are virtually 100% transverse (the outofplane lateral modes), inline (the inplane lateral modes) or axial (the tensile modes). It is therefore clear cut as to which modes to export to SHEAR7, i.e. the transversemodes,andOrcaFlexselectstheseforyou.
UshapeCatenary,InplaneCurrent
For this case the transverse direction is the outofplane direction, so the transverse modes are the outofplane modes. These typically have virtually 100% of their power in the transverse direction, whereas the remaining modes have very little power in the transverse direction, so again it is clear cut as to which modes to export to SHEAR7.
UshapeCatenary,OutofplaneCurrent
Forthiscasethetransversedirectionisinplaneandnormaltothelineaxis.Itthereforevariesalongthelineandso thetransversemodesaresome,butnotall,oftheinplanemodes. The lowest inplane mode is typically the inplane fundamental 'swinging' mode. In the parts of the line that are nearlyverticalthismodeistransverse,butnearthebottomoftheUthemotionisnearaxial.Thismodeistherefore often displayed as Mostly Transverse. OrcaFlex removes the axial components of the modes when exporting to SHEAR7(seeValuesExported)soitisreasonabletoexportthismode. Mostoftheremaininginplanemodesarebendingmodesinwhichthenodesoscillatelaterally,withthewavelength decreasingasthefrequencyincreases.Thesearepredominantlyinthetransversedirectionandsoaresuitablefor exporttoSHEAR7. However there are also some tensile inplane modes present, in which the nodes oscillate in the axial direction, causingalternatingtensionandcompressionintheline.Thesetendtobeinamongstthehigherfrequencymodes, duetothetypicallyhighaxialstiffnessofaline.
UshapeCatenary,ObliqueCurrent
Ifthecurrentisat10,say,totheplaneofthecatenary,thenthetransversedirectionisat80totheplane.Noneof themodeswillbepurelyinthisdirection,buttheoutofplanemodesarenearesttothisdirection,sotheyarethe bestonestochoose. SHEAR7 will assume that each exported mode is purely transverse, so an approximation is involved. This approximationgetsworseastheangleofthecurrenttotheplaneincreasesupto45.Theapproximationisworst forthelowmodes.Forthehighermodestheoutofplanemodesandtheinplanelateralmodestendtohavequite similarfrequenciesandshapes,sotheapproximationislessofaproblem.
9.2
TIMEDOMAINMODELS
Therearefourtimedomainmodels,twobeingwakeoscillatormodelsandtwobeingvortextrackingmodels. Withallthetimedomainmodels,thevortexforceappliedinthestaticanalysisisthestandardMorisondragforce. Then, during the buildup stage of the simulation, the ramping function is used to smoothly change to the vortex forcegivenbytheVIVmodel.
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VIVToolbox,TimeDomainModels This rampingis onlyapplied for the componentsof vortex force which are calculated by the VIV model. For example, the wake oscillator models only provide transverse vortex force. So, for the wake oscillators, the ramping is done for the transverse component of force, but the inline componentofforceiscalculatedusingthestandardMorisondragformulation.
Note:
Thedatadescribedbelowarecommontoallthetimedomainmodels. OuterTimeStep Forallthetimedomainmodels,itisimportantthattheoutertimestep(ontheGeneralDataform)issettoavalue that is small compared with the Strouhal Period. Assuming a Strouhal number of 0.2, then the Strouhal period is givenby5D/VwhereDisthelinediameterandVistherelativeflowvelocity.Theoutertimestepneedstobesetto afractionofthisStrouhalperiod,thefractiontousedependingonwhichmodelisbeingused,asfollows.
Wakeoscillatormodels
Thewakeoscillatorcalculationsaredoneeveryoutertimestepandexperiencesofarsuggeststhattheintegration ofthewakeoscillatorlosesaccuracyifthistimestepisgreaterthanabout1/200thoftheStrouhalperiod.Atthe startofthesimulationOrcaFlexchecksandwarnsiftheoutertimestepexceedsthislimitatanynodeonlinesthat use a wake oscillator. Note that this check is against the Strouhal period for the flow velocity that applies in the staticanalysis,soitdoesnottakeintoaccountchangesinStrouhalperiodduringthesimulation.
VortexTracking(1)Model
The outer time step determines how often the fluid forces on the line are updated. The model performs its calculations using a variable time step. The calculations done in this variable time step are typically much more timeconsuming than the other calculations in the simulation, so the outer time step does not usually have much effect on the simulation speed. We therefore recommend that the outer time step is set to a very small value, preferably a lot less than the variable time step, so that the line has a chance to quickly react to changes in fluid force.
Theoutertimestepsetsthetimestepusedbythevortextrackingmodel,andalsodetermineshowoftenthefluid forces on the line are updated. It should be small enough to discretise the VIV, but if it is too small then a lot of vorticesmustbetrackedandthissignificantlyslowsthemodel.Basedonourexperiencesofar,werecommendthat theoutertimestepissettoapproximately1/100thor1/200thoftheStrouhalperiod. Note: The automated recommended time step feature in OrcaFlex implements the above recommendationfortheWakeoscillatormodelsbutdoesnotimplementtherecommendationsfor theVortexTrackingmodels.
DatafortheWholeLine
FilterPeriod
OrcaFlexusesadigitalfilter,withthisfiltercutoffperiod,toseparatethemeanmotionofthenodefromtheVIV motion.Forexample,thisfilteringisneededwiththewakeoscillatormodelsinordertoallownonVIVmotionofthe nodetocontributetoVIV,withoutlettingtheVIVmotionfeedbackintothevelocityinputintothewakeoscillator model. Hereismoredetail.Thenodevelocityvectorisfilteredandtheresulting'nonVIV'velocityissubtractedfromthe fluidvelocitytoobtaina'nonVIV'relativevelocityvector.Then: Forthewakeoscillatormodels,thenormalcomponentofthis'nonVIV'relativevelocityvectorisusedasthe velocityinputtothewakeoscillatormodel. Forallthetimedomainmodels,theinlineandtransversedirectionsarebasedonthe'nonVIV'relativevelocity vector. Thenodepositionvectorisalsofilteredandtheresulting'nonVIVnodeposition'isusedwhencalculatingthe TransverseVIVOffset. For the Milan wake oscillator only, the 'nonVIV node position' is used as the mean position for the Milan oscillator.
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Thefiltertriestofilteroutmotionwhoseperiodisbelowthefilterperiod.Soafilterperiodofzerogivesanallpass filter, which isn't desirable since it allows VIV motion to feed back into the wake oscillator models and into the definitionsoftheinlineandtransversedirections. Attheotherextreme,afilterperiodofInfinitygivesanopassfilter,whichfiltersoutalloscillatorymotionofthe line,leavingonlyanynonzerostartingvelocity.SoifafilterperiodofInfinityisusedthentheonlylinevelocitythat contributes to the inline and transverse directions is any nonzero starting velocity, and with the wake oscillator modelstheonlyvelocityinputtothemodelwillbeanynonzerostartingvelocity. Inpractice,thefilterperiodshouldbesettobesignificantlyabove,preferablybyafactorof10ormore,theperiod ofanyexpectedVIV.Howeveritshouldalsobesignificantlybelow,againpreferablybyafactorof10ormore,the periodofanylinemotion(e.g.duetotowingorvesselmotion)thatyouwanttocontributetoVIV. ForsimplecaseswhereVIVisexcitedonlybyfluidflow,notbylinemotion,thefilterperiodcanbesettoalarge valuethatisatleast10timestheperiodofanyexpectedVIV.ForcaseswherelinemotioncontributestoVIVitmight be harder to achieve the above recommended factors of 10, in which case it will be necessary to compromise by settingthefilterperiodtoavalueabouthalfwaybetweenthetwoperiods. The reason a significant factor is recommended here is that the filter does not achieve a very sharp cutoff. Its responseisshowninthefollowinggraphs,whichillustratehowitattenuatesandlagsfrequenciesthatarenearto thefilterperiod.
1.2 Filter RAO Amplitude 1 0.8 0.6 0.4 0.2 0 0 1 2 3 4 5 Period / FilterPeriod Filter RAO Phase Lag (deg) 160 140 120 100 80 60 40 20 0 0 1 2 3 4 5 Period / FilterPeriod
Warning:
NotealsothatwiththeMilanwakeoscillator,ifyousetthefilterperiodtoInfinityoraveryhigh value,thenthenodemeanpositionusedbythewakeoscillatorwillremainatthenode'sstarting positionfoundbythestaticanalysis.InthatcaseitisimportantthatthelineusesFullstatics,since otherwise that starting position might not be a sensible mean position for the Milan wake oscillatormodeltouse.
DataforEachSection Thefollowingdatacanbesetforeachsectionoftheline.Anodeatthejunctionbetweentwosectionsusesthevalue forthehighernumberedsection.

VIVEnabled
YoucancontrolwhichsectionsofthelinetheVIVmodelisappliedto.Allthetimedomainmodelsanalysewhatgoes onatasinglespecifiedpointontheline,soOrcaFlexcreatesoneinstanceofthemodelforeachnodeineachofthe enabledsections. YoucanusethisswitchtodisableVIVmodellingwhereyouthinkVIVexcitationisnotsignificant.Forexample: You might disable VIV modelling if the normal component of flow velocity is not significant, or the incidence angleisneartobeingtangential YoumightdisableVIVmodellingifthereareVIVsuppressiondevices(e.g.strakes,fairings)andyoubelievethey willbeeffective. The vortex tracking model requires a lot of computing, so you could improve the speed of simulation by disablingVIVmodellingwhereyoubelieveVIVwillnotbesignificant.
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VIVDiameter
SeeVIVDiameter.
InlineDragAmplificationFactor
Onlyavailableforthewakeoscillatormodels.Theinlinecomponentofdragismultipliedbythisvalue.Thedatacan bespecifiedasavariabledataitemwhichvarieswithTransverseA/D,thatistheamplitudeoftransverseoscillation dividedbytheVIVdiameter. Thisisnotavailableforthevortextrackingmodelssincetheyincludetheeffectofinlinedragamplification.

VortexForceFactors
Thesefactorsallowyoutoscaletheinlineandtransversecomponentsofthevortexforce.Setthembothto1touse thevortexforcepredictedbytheVIVmodel,withoutadjustment. IfVIVsuppressiondevices(e.g.strakes,fairings,shrouds)arefittedtoasectionofthelinethenyoucouldallowfor their VIVreduction effect by setting the transverse force factor to a value less than 1. The device is also likely to affecttheinlinedragforce,soyoumightalsowanttoallowforthisbyadjustingtheinlineforcefactor.SeeBarltrop andAdamspage372. The inline force factor is not available for wake oscillator models, instead you should use the Inline Drag AmplificationFactordata. Note: WiththeMilanwakeoscillatormodelthetransverseforcegeneratedbythemodelisnotthewhole ofthetransverseforce,sincetheMilanmodelrequiresthetransversecomponentofstandarddrag force to be added to give the total transverse force. The transverse vortex force factor is only appliedtotheforcegeneratedbythemodel,nottothetransversecomponentofthestandarddrag force.
SeaSurfaceandSeaBed The time domain VIV models (wake oscillator and vortex tracking) make no allowance for surfacepiercing or seabedcontacteffects.OrcaFlexthereforehandlestheseeffectsasfollows: Ifanodecomescompletelyoutofthewater,orcomesintocontactwiththeseabed,thenthetimedomainwake modelisreset.Forthewakeoscillatormodelsthismeansthatthewakedegreeoffreedomisresettozero;for the vortex tracking model all existing vortices are removed. If the node later comes back into the water, or breakscontactwiththeseabed,thenthemodelstartsagainfromthatresetstate. Ifthenodeispartiallysubmerged(i.e.thelengthoflinerepresentedbythenodeissurfacepiercing)thenthe time domain wake model continues to run but the forces it applies to the node are scaled by the node's ProportionWet.
VIVDirections ForthetimedomainVIVmodels,OrcaFlexcalculatesthefollowingdirections: TheAxialdirectionisthelocaltangentialdirection,givenbythenode'slocalzdirection. TheTransversedirectionisnormaltotheaxialdirectionandnormaltothe'nonVIV'relativevelocityvector. TheInlinedirectionisnormaltotheAxialandTransversedirections.Itisthereforenormaltothelineaxisand intheplanedefinedbythataxisandtherelativeflowdirection.Itisthedirectionofthenormalcomponentof thedragforce(assumingCdx=Cdy). Thevelocityinputtothewakeoscillatormodelsistheinlinecomponentofthe'nonVIV'relativevelocity. The transverse displacement input into the Milan wake oscillator model is the transverse component of the nodepositionrelativetoits'nonVIV'nodeposition. Theinlineandtransversecomponentsofthevortexforceareavailableasresults.
Thesedirectionsareusedforthreepurposes:
9.2.1
WakeOscillatorModels
TheVIVToolboxprovidestwowakeoscillatormodels,theMilanmodelandtheIwanandBlevinsmodel.Theseare two of many different wake oscillator models that have been proposed by many different authors over the last twentyyears.Weselectedthesetwomodelsafterreviewingtheliteratureandtestinganumberofdifferentmodels.
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Wefoundthatthereareerrorsinsomeofthepublishedmodelsandthatmanyofthewakeoscillatormodelscontain disguisedreferencestofrequencydomainconcepts.Thismakesthemdifficulttoimplementinatruetimedomain analysis,unlessadditionalassumptionsaremade. WhatisaWakeOscillatorModel? A typical wake oscillator model is a heuristic model that uses a single degree of freedom, Q say, to represent the wake behind a rigid cylinder. It models the oscillation of the wake by Q being a function of time that obeys a differentialequationthatwewillcallthewakeequationofmotion. Theoscillationofthewakegeneratesaliftforce,i.e.aforcethatisnormaltothecylinderaxisandnormaltotheflow direction.ThemodelgivestheliftforcemagnitudeasafunctionofQ,andthisforceisappliedtothecylinderandso affectsthemotionofthecylinder.Inreturn,thewakeequationofmotioninvolvestermsthatdependonthemotion ofthecylinder.Thiscouplesthewakeequationofmotiontothecylinderequationofmotion,sotogetherthetwo formacouplednonlinearsystem.
WakeEquationofMotion
The wake equation of motion is typically a nearly linear, second order, ordinary differential equation. It is not usuallyderivedfromphysicallaws,butischosentobeonewhosequalitativecharacteristicsareknowntobesimilar to VIV. For example there are differential equations that are know to have solutions that are oscillatory, self generatingandselflimiting. Thewakeequationofmotioninvolvesparameterswhosevaluesarecalibratedtomatchempiricalresults.Thissort ofmodellingethosiscommonlyknownasaninversemethod.Thisiswhereoneattemptstoreproduceempirical data without recourse to the fundamental physics of the system. Rather, one simply writes down a system of equationsthathavetherightsortofcharacteristicsandthen adjustsparametersintheequationstotunethemto bestmatchtheempiricaldata. Almostuniversally,wakeoscillatormodelsonlygivetheliftforceandsaynothingabouttheeffectofVIVonthedrag force.Themainaimbehindthewakeoscillatorparadigmistomodeltheoscillatingliftforce.
UsingaWakeOscillatorModel
Wake oscillator models are timedomain models and so can only be used in the dynamic analysis. To use a wake oscillatormodelsettheDynamicsVIVtothatmodel. WhenthesimulationisrunOrcaFlexcreatesandattachesawakeoscillator,ofthechosenmodel,toeachnodeinthe line. Each such oscillator then obeys the equations of the chosen model. There is no linkage between the wake oscillatorsexceptthroughthestructure.ItisthereforeeffectivelybeingassumedthattheinteractionbetweenVIVat differentlevelsoccurspredominantlythroughthestructure,notthroughthefluid.
LiftDirection
Thewakeoscillatormodelsaresingledegreeoffreedommodels,i.e.theyonlymodelthetransversedirection.Note thatthisdirectioncanchangeduringthesimulation,eitherbecausethelineorientationchangesorbecauseofwave motion changing the fluid velocity direction. When this happens the wake oscillator model is effectively being rotatedandthereisanimplicitassumptionthatthisrotationdoesnotsignificantlyaffectthewake.
NodeSteadyMotionIncluded
Thewakeoscillatormodelsrequiretheflowvelocityasinput.InOrcaFlexthisinputflowvelocityistakentobethe fluidvelocityminusthefilterednodevelocity.ThisallowsnonVIVmotion,e.g.inatowedcase,tocontributetoVIV, providingitsperiodissignificantlylongerthanthefilterperiod.ThefilteringisnecessarytopreventtheVIVmotion itselffeedingbackintotheinputtothewakeoscillator.

CurrentandWaveMotionAreBothIncluded
The input velocity to the wake oscillator models include the fluid velocity due to both current and any waves specified.ThemodelscanthereforeinprinciplebeusedtomodeltheeffectofwavesonVIV.Howeverpleasenote that the models were developed and calibrated for steady state conditions, so unsteady flow is outside their intendedareaofapplication.
Inlinedragamplification
Theeffectofinlinedragamplificationcanbemodelledbymeansofatablerelatingamplificationfactortotransverse A/D.
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DataCommontoWakeOscillatorModels
ModelParameters
BoththeMilanandtheIwanandBlevinsmodelshavevariousparametersthatdeterminetheirproperties.Youcan choosetoeitherusetheDefaultsetofvaluesfortheseparametersorelsechoosetouseyourownSpecifiedvalues. Except for the Initial Value (see below), the Default values are the parameters given in the original published papers, i.e. in the Milan and Iwan and Blevins papers. If the Specified option is chosen then you have complete controloverthemodelparameters. Warning: The Specified option has been provided principally to allow users the option of calibrating the model against other experimental results. If you are not doing thisthen we strongly recommend thatyouusetheDefaultparameters.
Thefollowingtwomodelparametersarecommontobothwakeoscillatormodels. Strouhal Number. Note that the Strouhal number interacts with the other model parameters, and the other defaultpublishedvaluesareintendedtobeusedwiththedefaultStrouhalnumber0.2.AdjustingtheStrouhal numberisthereforenotrecommendedunlessyouarecalibratingthemodelparametersagainstknownresults. InitialValueisthemagnitudeoftheinitialvaluegiventothewakedegreeoffreedomusedbythemodels.The wakeoscillationcantakealongtimetobuildupifitisstartedfromzero,sogivingitasmallnonzeroinitial valuehelpstostartupthewakeoscillationatthestartofthesimulation.Thesignoftheinitialvalueischosen randomlyforeachnodeintheline.Thisavoidsthesituationwherethenodesonalineallstartbymovinginthe samedirection.
HowwelldowakeoscillatorsmodelVIV? Anywakeoscillatormodelisveryheavilytiedtothedatasetusedtocalibrateit.Onemustensurethattherelevant fluiddynamicalandstructuraldimensionlessparameters(forexample,theReynoldsnumber)oftheexperimental setupusedtogeneratethedataaresufficientlysimilartothatofthesituationthatonewantstomodel.Otherwise, oneisrelyingonlucktoprovidetherightanswer.Forexample,ifonewantstomodeltheVIVoftelephonewiresin air,thenoneshoulduseadatasetobtainedfromawirevibratinginawindtunnel.Theexperimentaldataisusually obtained from a system with a constant fluid inflow speed, so one cannot expect the model to be applicable for currentsthatvaryoverthesametimescaleasthatduetoVIV.Ifthecurrentvariationissufficientlyslowthenthe modelshouldbevalid. Ingeneral,theauthorsofwakeoscillatorsmakenoattempttomodelthestartupofVIV.Thisisduetothenatureof thedevisedmathematicalmodel.Themodellingmethodusedexploitsthefactthatthesolutionphasespaceofthe systemcontainslimitcyclesthatcorrespondtostationaryVIV.Theparametersaresetsothatthelimitcycleshave therightradiusandthatthesystemstatetracksaroundthemwiththerightfrequency.Tofindthenonstationary dynamical behaviour of the system far away from such critical regions in the phase space is extremely difficult withoutsimplyintegratingtheequationsofmotion.
MilanWakeOscillatorModel
TheMilanmodelisanimplementationofthemodeldevelopedbyagroupinItalyanddocumentedinthepaperby Falco, Fossati and Resta. It is a wake oscillator model; see the wake oscillator models topic for information that appliestoallsuchmodels. Results TheVortexForceisavailableasalineforceresultsvariable.Thisreportsthetotalliftanddragforce.Notethatthisis thesumoftheforcegeneratedbythewakeoscillatormodel,whichisinthetransversedirectionbutdoesn'tinclude thedragforceinthatdirection,plusthestandardMorisondragforceintheinline,transverseandaxialdirections. TransverseVIVOffsetisalsoavailableasalinepositionresultsvariable. MilanModelImplementationinOrcaFlex InimplementingtheMilanmodelinOrcaFlexwecameacrossthefollowingissues.
LiftForce
In the Milan model the standard Morison drag force in the transverse direction must be added to the force generatedbythewakeoscillator.OrcaFlexthereforecalculatesthedragforcesasusualandthenaddsintheforce
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generated by the Milan wake oscillator. The line motion therefore depends significantly on the drag coefficient specifiedforthetransversedirection. Notes: TheMilanmodelwascalibratedbyassumingatransversedragcoefficientof1.2andatransverse addedmasscoefficientof1.0,soothervaluesofthesecoefficientstakethemodeloutsideitsdomain ofcalibration. The transverse force factoris only applied to the forcegenerated by the Milan model, not tothe transversecomponentofthestandarddragforce.
NodeMeanPosition
TheMilanmodelneedsthenode'soffsetintheliftdirection,relativetoitsmeanposition,i.e.relativetotheposition aboutwhichVIVisoccurring.ForthismeanpositionOrcaFlexusesthefilteredpositionofthenode.Thisenables OrcaFlextohandlecasessuchastowedlines,wheretheVIVexcitationisduetomotionofthelinerather(oraswell as)fluidflow.Itisimportantthatthefilterperiodissuitablyset. OurexperienceoftheMilanModel Ifalineendnodedoesn'tmoveatall(e.g.abecauseitisfixed)thenthewakeoscillationdoesnotdevelopandso the Vortex Force decays to zero. The Milan model is therefore not suitable for predicting the vortex force on fixedlineendnodes. WehaveruntheMilanmodelforthecaseofasimplespringmountedcylinder,andcomparedtheresultswith theempiricallybasedresponsecurvepublishedbySkopandBalasubramanian.FordetailscontactOrcina. We have also run the Milan model for flexible riser cases and compared it against experimental results. The resultssofarsuggestthattheMilanmodelisreasonableforcaseswheretheflowvelocityisuniformalongthe riser,butthemodelislesssatisfactorywhentheflowvelocityvariesalotalongtheriser.
IwanandBlevinsWakeOscillatorModel
This wake oscillator model is as published by Iwan and Blevins. In their paper the model is developed from theoreticalconsiderationsofmomentum,andthehiddenwakedegreeoffreedomissuchthatitsrateofchangeisa measureofthefluidmomentuminthetransversedirection. TheresultingmodelmakesthewakedegreeoffreedomobeyaVanderPolequation.Thisisatypeofequationthat hasbeenusedinotherwakeoscillatormodels,anditisknown tohaveVIVtypecharacteristicssuchasfrequency lockin. Theauthorscalibratedthemodelagainstexperimentalresultsforfixedandforcedcylinders,andthencomparedthe model'spredictionsagainstexperimentalresultsforspringmountedcylinders. InadditionnotethattheforcegeneratedbytheIwanandBlevinsmodel(unliketheMilanwakeoscillatormodel) includesthestandardMorisondragforceinthetransversedirection.WhenthismodelisusedOrcaFlextherefore suppresses the transverse component of the usual drag force, so the drag coefficient specified for the transverse directionisnotused. Results TheVortexForceisavailableasalineforceresultsvariable.Thisreportsthetotalliftanddragforce.Notethatthisis thesumoftheforcegeneratedbythewakeoscillatormodel,whichisinthetransversedirectionbutdoesn'tinclude thedragforceinthatdirection,plusthestandardMorisondragforceintheinline,transverseandaxialdirections. TransverseVIVOffsetisalsoavailableasalinepositionresultsvariable.
9.2.2
Overview
VortexTrackingModels
TwovortextrackingmodelsareavailableinOrcaFlex,whichwerefertobynumber:VortexTracking(1)andVortex Tracking(2).BotharebasedontheunderlyingphysicalequationsofboundarylayertheoryandtheNavierStokes equation.Asaresulttheyintroducephysicalrealismthatisabsentfromthewakeoscillatormodels. Vorticity is a measure of a fluid's rotation and it is often advantageous to analyse fluid dynamics in terms of vorticity.Thereasonforthisisthatthevorticityisoftenconfinedtonarrowsheetlikeregionsandtheimportant fluidforcesonabodyintheflowareintimatelyrelatedtothevorticity.Onecanfocusonthesheetlikeregionsand
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this is far more efficient from a computational point of view. Vortex methods are prevalent throughout computationalfluiddynamics. Thevortextrackingmodelsaremuchmorecomputationallydemandingthanthewakeoscillatormodels.Infactthey are a type of computational fluid dynamic model, but they are much less computationally demanding than 'full' Computational Fluid Dynamics (CFD). Work to date shows considerable promise, and we hope they will offer a practicalanalysistechniquewhichgivesmuchoftherealismoffullCFDwithouttheassociatedextremelylongrun times. Thevortextrackingmodelsmodelthefullfluidflowfield.In OrcaFlexthevortextrackingmodelsareusedtogive theforceactingontheline,buttheycanalsogiveotherresults,suchasthefluidvelocityandpressureatanypoint. ForexamplewehaveexperimentallyusedthemtocalculatethepressurevariationsonthelinesurfaceduetoVIV.If otherresultssuchastheseinterestyouthenpleasecontactOrcinaforfurtherdetails. Thevortextrackingmodelsarebasedontherelativevelocityoftheflowpasttheline.Theycanthereforebeused both for cases where the excitation is due to current or waves, and also where the excitation is due to the line moving,forexampletowedcases. Themodelsinvolvecalculatingandtrackingmanyvorticesforeachnodeoftheline.Thiscanmakethesimulation fileverylarge,butthiscanbecontrolledbylimitingtheMaximumNumberofVorticesLogged. Warning: Boththevortextrackingmodelsarestillbeingdeveloped.Theyhaveundergonetestingbuthave had limited use so far. This is particularly true for the Vortex Tracking (2) model, which is a recentlydevelopedvariantoftheVortexTracking(1)model.
SeetheVortexTrackingExampleandalsoDataandResults. FeaturesCommontobothVortexTrackingModels Thissectiondescribesthebasicvortextrackingmodelonwhichbothmodelsarebased.

VortexTrackingPlane
Thebasicvortextrackingmodelisa2Dfluidmodelassociatedwithaparticularnodeontheline.Itmodelsthe2D 'slice'throughthefluidnormaltothelineaxis,whichwecallthevortextrackingplane.Inthis2Dslicethenodeisa disc. Toapplythis2Dmodeltothe3DsituationpresentinOrcaFlex,weattachaseparatevortextrackingplanetoeach node on the line where VIV modelling is enabled. Each node therefore models its own fluid interaction, by generatingandsheddingvorticesandthentrackingtheminitsassociatedvortextrackingplane. Thedrawingbelowshowsatypicalvortexplane,i.e.itisacrosssectionthroughtheline,normaltothelineaxis.The lineitselfisrepresentedbythegreydiscandthefluidflowiscomingfromtheleft.Seethevortextrackingexample toseethevortexplaneinaction.
flow
Figure: VortexTrackingPlane
Themodelhastwomainelements:
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A boundary layer theory is used to analyse the fluid very near to the disc surface, where viscosity plays a dominant role. At each time step, the boundary layertheory gives the positionsof the two separation points, andanewvortexiscreatedateachofthesetwopoints,tomodelthevorticitybeinggeneratedthere. The vortex tracking itself handles the rest of the fluid, where viscosity is much less important. The created vortices are tracked downstream by solving the inviscid Navier Stokes equations (which are approximately validoutsidetheboundarylayer).Thismodelsthewakedevelopment,i.e.howthevorticityflowsafterleaving theboundarylayer.
BoundaryLayer
When the flow meets the disc it has to flow around the disc circumference and a boundary layer is formed. Boundary layer theory is used to model this region, where viscosity plays a crucial role. Sarpkaya and Shoaff originallyusedthePolhausenboundarylayermethod,butsincethenthismethodhasbeensupersededbysimpler andmoreaccuratemethods.OrcaFlexusesThwaites'method(seeYoung1989)forbothmodels. Someofthefluidflowsaroundonesideofthediscandsomearoundtheother,andthepointwheretheflowsplitsis called the stagnation point. As the fluid flows around the disc it initially remains in contact with the disc, but it typicallythenreachesapointoneachsidewheretheflowseparates.Thesearecalledtheseparationpoints,andat thesepointsvorticityisshedfromthedisc. Theboundarylayertheorygivesthepositionofeachseparationpointandthestrengthofvorticityshedthereinone time step. A new vortex of this strength is then created at the separation point. The new vortex is placed at the separationpointbutatadistance.Rfromthediscsurface.Inthemodel2istheCreationClearancespecifiedby the user. In model 1, or if the Creation Clearance is set to '~', is calculated to be the value that results in the tangential velocity contribution of the new vortex just cancelling out the existing tangential velocity at the separationpoint. In the drawing above (and in the OrcaFlex 3D view) the stagnation point is shown as a small triangle and the separationpointsassmallblobs,partwayaroundthedisccircumference.Thevorticityshedfromthetwosidesof thediscisdistinguishedbybeingdrawninseparatecolours,todenotethedifferenceinthedirectionofrotation clockwiseforvorticityshedfromtheuppersideandanticlockwisefromthelowerside,asseeninthedrawing.
VortexTracking
After being shed from the boundary layer, the vorticity then flows downstream. In reality, the vorticity is shed continuouslyanditisshedalongtheneighbouringpartsofthelineatthesametime,soasitflowsawayitforms sheets of vorticity, one on each side. In the above drawing these vortex sheets are shown as red and green lines, since the drawing shows the intersection of the sheets with the vortex plane. The colour denotes the sign of the vorticity. Forcomputationpurposesthemodelhastodiscretisethevorticitybeingshed,sointhevortextrackingmodelthe vorticityisrepresentedbydiscretevortexpoints.Thevortexsheetisthereforerepresentedbyasequenceofvortex points,eachoneofwhichrepresentsthevorticityofashortlengthofvortexsheet. Inthe3Dviewtheindividualvortexpointsaredrawnascircleswiththeircentresjoinedtorepresentthevortex sheetline,withthecolourindicatingthesignofvorticity.Avortexsheetthereforeappearsasalinkedsequenceof circlesflowingawayfromtheline. Sarpkaya and Shoaff originally used singular vortex points, but in both vortex tracking models OrcaFlex uses smearedvortexpoints.
StrouhalNumber
ThevortextrackingmodelsdonothaveanyStrouhalnumberbuiltin.InsteadtheStrouhalperiodemergesdirectly fromthephysicsofthevortexdynamicsandboundarylayer.
The Vortex Tracking (1) model is our implementation and development of the vortex tracking model originally developed by Sarpkaya and Shoaff. It shares many common features with the Vortex Tracking (2) model see FeaturesCommontobothVortexTrackingModels.Itdiffersinthefollowingways: Itusesavariabletimestepgivenby: t=0.2.R/V
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whereRistheradiusofthelineandVisthefluidvelocityrelativetothenode.AssumingaStrouhalnumberof0.2, thisvalueis1/50thofthe(instantaneous)Strouhalperiod. Vorticesshedfromthesamesideofthediscaregroupedtorepresentthevortexsheetscomingoffthatside.The modeltriestodetectasuitablepointinthecycleatwhichtobreaktheattachedsheetawayfromthediscand startanewattachedsheet.SeeSheetDetachmentandCoalescingbelow. Ateachtimestepeachsheetisrediscretisedinawaythatkeepsthevorticesatequallyspacedarclengthsalong thesheet. Ateachtimestepthemodelsearchesforvorticesfromdetachedsheetsthathavemovedin betweenthetwo attached sheet. Such a vortex is 'entrained' into the attached sheet of opposite sign to its vorticity. See Wake LineandEntrainmentbelow.
SheetDetachmentandCoalescing
Atanygiventimetherearetypicallytwovortexsheetsbeingfedfromthedisconefromeachside.Thesearecalled theattachedsheets. Astheflowprogresses,anattachedsheetcanbecomedetachedandanewattachedsheetthenstartsformingonthat side. Typically this happens first on one side of the disc, then on the other, etc., and this alternating behaviour is typicallysynchronisedwiththeoscillatorynatureoftheliftforce. In reality the vortex sheets form, become detached and flow downstream ad infinitum, but their effect becomes muchlessastheymovefurtherawayfromthedisc.OrcaFlex,ofcourse,hastolimitthenumberofvorticesbeing modelled.Inmodel1thisisdoneasfollows: The two attached sheets and the one most recently detached sheet are modelled in detail, i.e. as linked sequencesofdiscretevortexpoints. Olderdetachedsheets(providingtheyarenotstillclosetothedisc)aresimplifiedby'coalescing'themtosingle vortex points. In other words whenever a sheet becomes detached the previous detached sheet is usually replaced by a single vortex point whose strength is the total vorticity in the sheet and whose position is the centroidofthevorticityinthatsheet.Thesheetisthenreferredtoasacoalescedsheet. Whenacoalescedsheetgetsbeyondacertaindistancefromthedisc,itseffectisassumedtohavedecayedtothe point where it is no longer significant and so it can be removed from the model. OrcaFlex does this by transferringitsvorticitytothenearestcoalescedsheetoftheoppositesign.Doingtheremovalinthiswayhas theadvantagethatthetotalvorticitypresentispreserved,andsovorticityisonlybeingmovedasmalldistance, ratherthanbeingdestroyed. Detailed modelling of two attached vortex sheets and (usually) one detached vortex sheet, plus single vortex modellingofanumberofcoalescedsheets.Thetwoattached(onegreen,onered)andthemostrecentdetached sheet(red)canbeseenasvortexlinesinthedrawingbelow. Singlevortexpointmodellingoftheearlierdetachedsheets,nowcoalesced.Theseareshowninthedrawingas circles,whichisalsohowtheyappearintheOrcaFlex3Dview.
Tosummarise,thewakeismodelledusing:
flow
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WakeLineandEntrainment
Inpracticethetailendofthedetachedsheettrailsintothespiralpartoftheprecedingattachedsheet.Thiscanlead to very contorted situations and to modelling problems if vortex points come very close to each other. Model 1 handlesthisasfollows. Themodelcalculatesthetangentlinebetweenthetwoattachedsheets.Thisline,calledthewakeline,isthedashed lineinthedrawingabove. The region between this wake line, the two attached sheets and the disc itself is called the wake region. Vortex points in the detached sheet that trail into the wake region can then be absorbed into the attached sheet of the oppositesign.Werefertothisprocessasentrainment.
TheVortexTracking(2)modelisasimplifiedvariantoftheVortexTracking(1)model. Warning: Model 2 has been developed more recently than model 1. It has undergone testing but has had limitedusesofar.
Model2sharesmanyfeaturesofmodel1seeFeaturesCommontobothVortexTrackingModels.Itdiffersinthe followingways: Itusesaconstanttimestep,equaltothesimulationoutertimestep.(Model1usesavariabletimestep.) Itdoesnotusesheetdetachmenttoseparatethevorticescomingfromonesideofthediscintoseparatesheets. It does not use entrainment, nor rediscretisation to keep the vortices at equally spaced arc lengths along the sheet. Itusesacoalescingalgorithmtocontrolthenumberofvortices.
Coalescing Tokeepdownthenumberofvorticesbeingtracked,model2tries,ateachtimestep,tocoalescepairsofvortices thathavecomeveryclosetoeachother.Thisisdoneasfollows: At each time step the model finds, for each vortex, the nearest neighbouring vortex. If two vortices are each other'snearestneighboursthentheyarecalled'mutuallynearestneighbours',andsuchapairareconsidered forpossiblecoalescingintoone. Such a pair of mutually nearest neighbours are coalesced if their separation is less than Sc, where Sc is a coalescingseparationthatdependsonthedistanceDfromthetwovorticestothediscsurface.Scisgivenby: Sc=.RifD2R Sc=.R.(D/2R)2ifD>2R whereRisthediscradiusandisthecoalescingthresholdspecifiedbytheuser.Thethresholduseddependson whetherthetwovorticesareofthesameoroppositesigns. TheseformulaeforScmeanthattheuser'sdatasets,indiscradiusunits,thecoalescingseparationforvortices thatarewithin2discradiiofthediscsurface,andforvorticesfurtherawaythecoalescingseparationincreases accordingtothesquareofthedistancefromthediscsurface.Theaimofthisistorestrictcoalescingneartothe discbutencourageitoncethevorticeshaveconvectedsignificantlyawayfromthedisc. Ifthetwovorticesarecoalescedthentheyarereplacedbyonevortexwhosestrengthisthesumoftheirsigned strengthsandwhichisplacedattheircentroidofabsolutevorticity.
DataandResults
Data The following data needs setting for the vortex tracking models. See also the data that is common to all the time domainVIVmodels.
MaximumNumberofVorticesLogged(persideoftheline)
Thiscontrolsthemaximumnumberofvorticesthatwillbedisplayedandlogged,foreachsideoftheline.Notethat thissettingonlyaffectsthedisplayofvorticesanddoes notaffectthecalculationitselfinanyway.Itspurposeis
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onlytoallowyoutocontrolthesizeofthelogfile(andhencethesimulationfile)andtocontrolthespeedofdrawing the3Dview.Youcansetthemaximumnumberofvorticestooneof: 0isthedefaultvalue,meaning'loganddrawnovortices'.Thelogfileandsimulationfilearethenassmallas possible and the replay as fast as possible. However the drawback of doing this is that you will not see any vorticesonthe3Dview. '~',meaning'loganddrawallvortices'.Thevortextrackingexampleusesthissettingsothatthevorticescanbe observed.Therearetypicallyuptoseveralhundredvorticesgeneratedpernode,andeachvortexneedstolog itspositionandstrengthsothatitcanbedrawnonthe3Dview.Soifallvorticesareloggedthenthelogfileand simulation file can therefore be quite large. Also the replay might be slower because many vortices must be drawnforeachframeofthereplay. Anintermediatevalue,30say,allowsyoutoseetheyoungest30vorticespersideoftheline.Notethatifyoudo thisthenasnewvorticesaregeneratedattheseparationpointsyouwillseetheoldestvortices(typicallynow downstream)disappearfromview.Theyhavenotbeendestroyedandwillstillbeinthecalculation,buttheir positionandstrengthisnolongeravailabletothe3Dview.
ModelParameters
IftheDefaultoptionischosenthenappropriatedefaultvaluesforthemodelparametersareused.Alternativelythe Specifiedoptioncanbeselectedwhichgivesyoucompletecontroloverthemodelparameters. Warning: The Specified option has been provided principally to allow users the option of calibrating the model against other experimental results. If you are not doing thisthen we strongly recommend thatyouusetheDefaultparameters.
VortexSmearFactor
Thissettingcontrolsthedegreetowhichvorticesaresmeared.TheoriginalSarpkayaandShoaffmodelusedpoint vortices,i.e.thevorticitywasconcentratedatasinglepoint.Thisiswhatarisesintheformalmathematicalsolution of the inviscid Navier Stokes equations (i.e. those ignoring fluid viscosity) but it means that each vortex is a singularity,sincethevorticitydensityatthepointitselfisactuallyinfinity.Inrealityviscosityinthefluidspreadsthe vorticitytosomeextent,andwehavefoundthatthemodelismorestableifthevorticesaresmearedtoreflectthis. The smear factor is nondimensional. Very small values make each vortex more concentrated into a single point, whereaslargervaluesspreadthevorticityinthevortexoveraregionsurroundingthepoint.Thedefaultvalueis0.1 and in our experience this gives reasonable performance. The smear factor should not be set too high, since that wouldbeunrealistic.OrcaFlexwarnsifthevalueismorethan0.2.
CreationClearance
Thisisanondimensionalvaluethatisonlyusedbymodel2.Ateachtimestepthemodelcreatestwonewvortices, one at each of the two separation points. This data controls how close to the disc surface these newlycreated vortices are placed. They are placed at the separation angle determined by the boundary layer model and at a distance.Rfromthediscsurface,whereisthespecifiedcreationclearanceandRisthediscradius(=halftheline outerdiameter). TheCreationClearancecanalsobesetto'~',inwhichcasethenewvorticesareplacedusingthesamealgorithm asinmodel1.Thissetsthefactortothevaluethatresultsinthetangentialvelocitycontributionofthenewvortex attheseparationpointjustcancellingouttheprevioustangentialvelocityatthatpoint.
CoalesceSame,CoalesceOpposite
Thesearenondimensionalthresholdsthatareonlyusedforcoalescinginmodel2.Theycontrolhowclosetoeach other two vortices have to be before they are allowed to be coalesced into one combined vortex. For details, see Coalescing. There are separate threshold values depending on whether the two vortices have equal or opposite signs of vorticity.Soifoneofthetwovorticesisclockwiseandtheotherisanticlockwisethentheoppositesignthreshold willbeused,whereasiftheyarebothclockwiseorbothanticlockwisethenthesamesignthresholdwillbeused. Reducingthethresholdsmakesthemodelcoalescevorticeslessoften,sothemodelwillhavetokeeptrackofmore vortices and the simulation will therefore be slower. Conversely, increasing the thresholds makes the model coalescemorereadily,sofewervorticesneedtobetrackedandthesimulationisfaster,butlessaccurate. Our experience so far is that the default values of 0.04 for both thresholds gives a reasonable balance between performanceandaccuracy.Ifthemassratio(=massofline/massofwaterdisplaced)islowthenthefluidforces
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aremoresignificant,andinthesecaseslowercoalescingthresholdsmaybeneededsothatthefluidbehaviouris moreaccuratelymodelled.
VortexDecayConstant,VortexDecayThreshold1,VortexDecayThreshold2
Thesedataitemssettherateofvortexstrengthdecayinbothvortextrackingmodels.Thedecaymodelisdescribed below. It is as in Sarpkaya and Shoaff's report (page 79) and the default values for this data are as given in that report.Wethereforerecommendthatthedefaultvaluesbeused unlessyouwishtoexperimentwithothervalues, forexampletocalibratethemodel. Vorticesarecreatedattheseparationpoints,withaninitialvortexstrengthdeterminedbythetangentialvelocityat theseparationpoint.Thestrengthofeachvortexthendecaysataratethatdependsonhowfarthevortexisaway fromthecentreofthedisc,intherelativeflowdirection. Let R be the disc radius (= half the line outer diameter) and D be the distance, measured in the relative flow directionfromthecentreofthelinetothevortex.Inmodel1,ateachvariabletimestepthevortexstrengthisscaled byafactorthatdependsonDasfollows: IfDDecayThreshold1*Rthen=(1DecayConstant) IfDDecayThreshold2*Rthen=1 IfDecayThreshold1*R<D<DecayThreshold2*RthenvarieslinearlywithD,from(1DecayConstant)to1.
The effect of this is that while the vortex is less than DecayThreshold1 radii downstream then the vortex loses DecayConstantofitsstrength(e.g.DecayConstant=0.01means1%decay)pervariabletimestep.Whilethevortexis betweenDecayThreshold1andDecayThreshold2radiidownstreamitsrateofdecayfallslinearly(asafunctionof D)tozero.AndwhenthevortexismorethanDecayThreshold2radiidownstreamthenthereisnodecay. ClearlyDecayConstantmustbeintherange0to1,andDecayThreshold1mustbelessthanDecayThreshold2.Note that DecayThreshold1 and DecayThreshold2 can be set to Infinity. If either of them is Infinity then = 1 DecayConstantalways,sothevorticesalwaysloseDecayConstantoftheirstrengthpervariabletimestep. Thesamedecaymodelisusedinmodel2,exceptthatthefactorisadjustedtoallowforthefactthatmodel2uses the outer time step instead of the variable time step used in model 1. The adjustment results in the same rate of decayperunittime.
DragCoefficients
Thevortextrackingmodelincludesthedrageffectsinboththetransverseandinlinedirections,butnotintheaxial direction. When the vortex tracking model is used, OrcaFlex therefore suppresses the components of the usual Morisondragforceinthetransverseandinlinedirections,butincludesthecomponentin theaxialdirection.The dragcoefficientsforthenormaldirectionsarethereforenotused,buttheaxialdragcoefficientisused. Results TheVortexForceisavailableaslineforceresultsvariables.Thisreportsthetotalliftanddragforce.Notethatthisis the sumof the forcegenerated bythe vortextracking model, which is inthe inline andtransverse directionsand alreadyincludesthedragforceinthosedirections,plusthestandardMorisondragforceintheaxialdirection. Thestagnationandseparationpointsareavailableaslineangleresultsvariables. TransverseVIVOffsetisalsoavailableasalinepositionresultsvariable.
9.2.3
VIVDrawing
WiththetimedomainVIVmodelsyoucancontrolhowvariousaspectsofVIVaredrawnonthe3Dview,bysetting dataontheVIVDrawingpageonthelinedataform.
ArcLengthIntervals
YoucancontrolwhichnodeshaveVIVdetaildrawn,byspecifyingoneormoreArcLengthIntervals.Anarclength intervalspecifiesacontiguouslengthofline FromonespecifiedarclengthToanother.TheVIVdetailsaredrawn forallnodeswhosearclengths fallinanyoneofthespecifiedintervals.Forconvenience'~'inthe Fromcolumn meansEndAoftheline,and'~'intheTocolumnmeansEndB. Forexample,toviewthedetailforonenodeonly,specify1arclengthintervalandsetbothitsFromandTovalues equaltothearclengthofthatnode.Whereastoviewthedetailforthewholelinespecify1arclengthintervaland setbothitsFromandTovaluesequalto'~'.
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WhatisDrawn
The following VIV details are drawn for all nodes whose arc lengths fall in any one of the specified arc length intervals. ForallthetimedomainVIVmodels,thevortexforceisdrawnasalineradiatingfromthedisccentreinthedirection ofthe vortexforce. The line length is scaled so that a vortexforceequal tothe standard Morison drag force with Cd=1inarelativevelocityof1m/s,isrepresentedbyaline1discradiuslong(i.e.justreachingtheedgeofthedisc). Forthevortextrackingmodelsonly,andonlyifthemaximumnumberofvorticesloggedissetgreaterthanzero, thenthefollowingextradetailsaredrawn. The node is drawn as a disc (even if you have not specified nodes drawn as discs) and the stagnation and separationpointsaredrawnontheedgeofthedisc. Thepositiveandnegativevorticesaredrawnascircleswhoseareasareproportionaltothevortexstrengths. TheconstantofproportionalitycanbecontrolledbysettingAreaperUnitStrength. Thecentrelinesofthepositiveandnegativevortexsheets,andthewakelinearedrawn. Note: Thevorticesandsheetcentrelinesdrawnarelimitedbythespecifiedmaximumnumberofvortices logged.
For all these items you can control the pen used for drawing. With the vortex tracking models, for example, this allows you to suppress (by setting the pen style to null) or downplay (by choosing a suitable colour) individual aspectsofthedetail.
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4.8 4.9 4.10 4.11 4.12 4.13

Spreadsheets TextWindows Workspaces ComparingData Preferences PrintingandExporting

6.13 3DBuoyTheory 6.14 WinchTheory 6.15 ShapeTheory

171 172 174

VIVA SHEAR7 WakeOscillatorModels VortexTrackingModels VIVDrawing

The OrcaFlex validation documents are www.orcina.com/SoftwareProducts/OrcaFlex/Validation.

SBMAtlantia 1255EnclaveParkway,Suite1200 Houston,TX77077,USA Attention:Dr.S.Leverette Email:Steve.Leverette@sbmatlantia.com Tel:+12818994300 Fax:+12818994307

DavidTeinConsultingEngineers,Ltd. 11777KatyFreeway,Suite434South Houston,TX77079,USA Phone:+12815310888 Fax:+12815315888 Email:dtcel@dtcel.com

Nowselectthevesselagainanddragitaroundwiththemouse. Thelefthandendofthelinenowmoveswiththe vessel.Leavethevesselpositionedroughlyasbeforewiththelineinaslackcatenary.

Youareofferedthefollowingchoices: ResultsasTablesorGraphs,withvariousfurtherchoiceswhichdeterminewhatthetableorgraphwillcontain. Resultsforallobjectsoroneselectedobject.

OrcaFlexisbaseduponamainwindowthatcontainstheMenus,aStatusBar,aToolBarandusuallyatleastone3D viewofthemodel.Thewindowcaptionshowstheprogramversionandthefilenamecurrentlyinuseforeitherdata (.dat)orsimulationfiles(.sim).

Figure: TheOrcaFlexmainwindow showing3Dpictorialviewsofthemodel showingresultsingraphicalform showingresultsinnumericalform reportingstatus

Withinthismainwindow,youcanplaceanynumberofsubordinate(orchild)windowswhichmaybe: 3DViewWindows GraphWindows SpreadsheetWindows TextWindows

YoucanthenusetheModelBrowserorthetoolbartoaddotherobjectstorepresentthepartsofyoursystem.There isnolimit,otherthanthecapacityofyourcomputer,tothenumberofobjectsyoucanaddtothemodel. Atanytime,youcansaveyourmodeltoadatafileyoucanthenreopenitatalaterdatetocontinuework.

UserInterface,Introduction Ifyouhaveallobjectsinthemodelbrowserselectedthenitcanbedifficulttodeselectthem.The simplestwayistouse CTRL+CLICKtodeselectoneitemandthento CLICKthatitemagaintoselect italone.

ModelBrowserFacilities Themodelbrowsermenus,anditspopupmenu,providethefollowingmodelmanagementfacilities.Fordetailsof keyboardshortcutsseeKeysonModelBrowser.

Youcanusedrag+dropwiththemousetoreorderobjectsinthemodel.Thisisusefulifyouareworkingonthestatic positionofoneparticularlineyoucandragituptothetopofthelistoflines,sothatitwillbetackledfirstwhen OrcaFlexdoesthestaticanalysis.

Nowyouopenyourfileasalibrary.Todothisclicktheopenbutton file.Nowthemodelbrowserwilllooklike: onthemodelbrowserandselectyourdata

RESET Calculate Static Position Calculating Statics Reset

STATICS COMPLETE Reset Run Pause SIMULATION UNSTABLE Simulating Run

SIMULATION Reset PAUSED Extend Simulation

Thestaticscalculationiscompleteandthestaticpositionresultsareavailable.Youareallowedtomakechangesto themodelwheninthisstatebutifyoumakeanychanges(exceptforveryminorchangeslikecoloursused)thenthe modelwillbeautomaticallyresetandthestaticsresultswillbelost.

Thedynamicsimulationisrunning.Theresultsofthesimulationsofarareavailableandyoucanexaminethemodel data,butonlymakeminorchanges(e.g.coloursused).Youcannotstorethesimulationtoafilewhilesimulating youmustpausethesimulationfirst.

Thisisontheright.Itshowsadditionalinformation,including: Theglobalcoordinatesofthepositionofthecursor,inthecurrentviewplane. Distanceswhenusingthemeasuringtapetool.

Anumberoffrequentlyusedmenuitemsmayalsobeaccessedby shortcutkeys,suchas CTRL+Rtostartareplay. Seethetablesbelow.TheshortcutkeysarealsodisplayedontheOrcaFlexmenus.Wesuggestthatasyoubecome morefamiliarwiththeoperationofOrcaFlexthatyoumemorisesomeoftheshortcutkeysforactionsthatyouuse frequently.

F1 F6 SHIFT+F6 F7 ALT+ENTER F8 F9 F10 CTRL+P F12 ALT+F4

Gotonextdataitemortable Gotopreviousdataitemortable Gotodataitemortablelabelledwithunderlinedletter Movearoundwithinatable Selectmultiplecellsintable Gotofirstorlastcolumnintable Goupordowntableseveralrowsatatime

TAB SHIFT+TAB ALT+LETTER

Typenewvalue F2 ,,HOME,END RETURN , ESC

Start/Stopreplay Replayfaster Replayslower Stepforwardsoneframeinthereplayandpause Stepbackwardsoneframeinthereplayandpause Editreplayparameters

CTRL+R CTRL+F SHIFT+CTRL+F CTRL+A CTRL+B CTRL+D

Savethedata,plusthesimulationresultsifasimulationisactive,tothecurrentlyselectedfilename,usingextension .DAT(iftherearenosimulationresults)or.SIM(iftherearesimulationresults).Ifafileofthatnamealreadyexists thenitisoverwritten. Note:

Readthedatafromanexistingdatafile(.DAT)orsimulationfile(.SIM),replacingtheexistingmodel.Ifasimulation fileisspecifiedthenOrcaFlexreadsjustthedatafromit,ignoringthesimulationresultsinthefile. Note:

Youcancreatenew librariesofOrcaFlexobjects,oropenexistinglibraries.Youcanthenimportobjectsfromthe libraryintoyourexistingmodel,orexportobjectsfromyourexistingmodeltothelibrary.

Displaythe Print Dialoguebox,allowingyoutoprintData, 3DViews, Graphs,Spreadsheets orTextWindows. See Printing.

Insertobjectfromclipboard.Thiscanbeusedtoduplicateanobjectseveraltimeswithinthemodel.Afterselecting Paste,theobjectisinsertedatthenextmouseCLICKpositionina3Dview. IfthecurrentwindowisaSpreadsheetthenthecontentsoftheclipboardarepastedintothespreadsheet.

Startsthemultipleoffsetstaticscalculation(seeMultipleStatics).Progressandanyerrormessagesthatoccurare reportedintheStaticsProgressWindow,whichisshownasaminimisedwindowicon.Thestaticscalculationcanbe interruptedbyCLICKINGtheResetbutton.

Clickthezoombuttontozoomin(decreaseviewsize)or SHIFT+CLICKittozoomout(increaseviewsize).Applies onlytothecurrentlyhighlighted3DView.

Stepthereplayforwardsorbackwardsoneframeatatime.Clickthebuttontostepforwards; CLICKwithSHIFTheld downtostepbackwards.

DisplayResultsSelectiondialoguebox(seeResults).Thisallowsyoutochoosefromthecurrentlyavailableselection ofgraphsandresultstables.GraphssuchasTimeHistories,XYGraphsandRangeGraphsmaybecreatedbeforea simulationhasbeenrun,thusallowingyoutowatchthevariablesduringasimulation.

3DViewsarewindowsshowingaspatialrepresentationofthemodel.Twodistincttypesof3DViewareavailable: wireframe,isometricshowsanisometricprojectionofthemodel;shaded,perspectivedrawsthemodelassolid objectswithlighting,shading,perspectiveandhiddenlineremoval.

Youcanmeasuredistanceona3Dviewusingthemeasuringtapetool.Holddownthe SHIFTandCTRLkeysandthen dragalinebetweenanytwopointsthedistancebetweenthemisdisplayedonthestatusbar.Notethatthisisthe distanceintheplaneofthe3Dview.

Thediameteroftheviewarea.Itequalsthedistancerepresentedbythesmallerofthe2sidesoftheviewwindow. Thisparametermustbegreaterthanzero. Example: Ifthewindowonscreeniswiderthanitishigh,andViewSize=100.0thenanobject100units highwouldjustfilltheheightofthewindow.

Youcanadjustthesizeofa3Dviewwindoweitherbydraggingthewindowborder,orbysettingitswindowsizeon theviewparametersform.Thelatterissometimesusefulwhenexportingavieworexportingareplayvideo,sinceit makesiteasiertoexporttwodifferentcasesandgetmatchingsizes.

Youcanadjusttheviewina3Dviewwindowusingtheviewcontrolbuttons: Action Increaseviewelevation Decreaseviewelevation Increaseviewazimuth Decreaseviewazimuth Zoomin Zoomout Changesgraphicsmode

CTRL+W EditViewParameters View|EditViewParameters Youcanalsousethemousewheelbuttontochangeview.Turnthewheeltoscrollthe3Dviewupanddown.Turnit withtheCTRLkeyhelddowntozoominoroutonthelocationatwhichthemouseiscurrentlypointing.

FormoreprecisecontrolyoucansettheviewparametersexplicitlyusingtheViewParametersform. Finally,3DviewscanalsobecontrolledusingtheViewmenuandvariousshortcutkeysseeMouseandKeyboard ActionsandNavigatingin3DViews.

Rotatingin3DViewscanbeachievedbyavarietyofmeans: Dragthe3DViewwiththe CTRLkeyhelddown.Forshadedviewsonlyyoucanrotateabouttheviewerposition (asopposedtorotatingabouttheviewcentre)byholdingdown the ALTkey(aswellasthe CTRLkey)whilst dragging.

UsethePlan,Elevation,Rotate90orRotate90menuitemsortheirshortcutkeys CTRL+P, CTRL+E, CTRL+Qand

TheSeaSurfaceandSeabedaredrawnastexturedsurfaces.Ifthereareobjectsontheothersideofthesesurfaces thentheycanbeobscured.Thesesurfacesaredrawnwithauserspecifiedamountoftranslucencywhichallowsyou tocompensateforthis.

Thereplaycanbecontrolledbythefollowingparametersthat canbesetintheReplayParametersdialogue window,accessedusingtheReplayParametersbutton.

Thereplaycontrolbuttons,menuitemsarelistedinthetablebelow: Action Startreplay Stopreplay Steptonextframeandpause Steptopreviousframeandpause Speedupreplay Editreplayparameters

TheCustomReplayWizardallowsyoutodefineaseriesofreplaysections.Eachreplaysectioncanshoweither: AseriesofregularlyspacedsnapshotsfromanOrcaFlexsimulationfile. ThestaticconfigurationofamodelspecifiedbyanOrcaFlexdatafile.

Thisitemisonlyavailableifthe"Customreplayspecifiesviewparameters"optionisenabled.Ifyouarepanning, rotatingandzoomingduringreplaysectionsthenthetransitionfromonesectiontoanothersometimesappearsto bedisjointed.Ifthisoptionischeckedthenthetransitionbetweensectionsissmoothed.

Thisisadescriptivenameforthereplaysection.WhenthereplayisrunningOrcaFlexdisplaysadescriptionofthe currentframeinthemessageboxonthestatusbarthisincludesthereplaysectionname.Thisdescriptioncanalso beincludedinexportedvideos.

Thisspecifiestheperiodofthesimulationcoveredbythereplaysection.TheseareOrcaFlexsimulationtimesforthe specifiedsimulationfileofthisreplaysection. Ifthereplaysectionisastaticsnapshotthenthesedataitemsarenoteditable.

Theviewsize,viewcentre,viewazimuthandviewelevationforthefirstandlastframesofthereplaysection.These viewparametersarevariedbetweenthesevaluesfortheotherframesinthereplaysection. Hint:

Eachobjectinthemodelhasdataitemsthatdefineitsproperties.Thedataareexaminedandeditedintheobject's DataForm,whichcanbeaccessedbyvariousmethods: usetheModelBrowser

Ifasimulationisactivethenmostdataitemscannotbechangedsincetheyaffectthecalculation,butyoucanchange thingsliketheobject'scolour. ControlButtons

Theseshowthecurrentselection,suchasthenameofanotherobjectthatthisobjectisconnectedto. DOUBLECLICK orpressRETURNtoshowaListBox,andthenselectanotheritemandRETURNtoacceptthenewchoice.

MouseActions DuringEditing ,HOME,END EndEditing

Youcanaccessresultsbyeither CLICKINGontheResultsbutton menuitem;theSelectResultsformthenappears.

Eachobjecthasassociatedwithit: Acurrentlyselectedvariablethatwillbeusedforgraphs. Asetofstatisticsvariablesthatwillbeincludedinstatisticsreports.