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WaveLoads
A computer program to calculate wave loading on
vertical and inclined tubes


User Manual short Version

Version 0.94 August 2003

K. Mittendorf
1
and B. Nguyen
2




Partners of GIGAWIND research project:

Fluid Mechanics Institute (Coordination) Steel Construction Institute
Prof. Dr.-Ing. W. Zielke Prof. Dr.-Ing. P. Schaumann

Curt-Risch-Institute Institute for Foundation and Soil Mechanics Rock Mechanics
Dipl.-Ing. W. Gerasch and Tunnel Construction (Essen)
Prof. Dr.-Ing. W. Richwien


1
Dipl.-Ing., Fluid Mechanics Institute, University of Hannover, Germany
2
Dr. rer. nat., Fluid Mechanics Institute, University of Hannover, Germany


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Table of contents



Introduction ............................................................................................................................ 3

General Remarks .................................................................................................................... 4

Input Files............................................................................................................................... 4
Input file for wave parameters ........................................................................................... 4
Input file for structure parameters ...................................................................................... 8

Output Files .......................................................................................................................... 11
Airy theory output files .................................................................................................... 11
Stokes 2 theory output files.............................................................................................. 11
Stokes 3 theory output files.............................................................................................. 12
Stokes 5 theory output files.............................................................................................. 12
Lagrangian approach by Woltering output files............................................................... 13
Streamfunction by Dean-Dalrymple ................................................................................ 13
Wave Spectrum Approach ............................................................................................... 15

Appendix .............................................................................................................................. 16
Example 1 Morison Forces on a Monopile ................................................................... 16
Example 2 Morison Forces on an Inclined Tube .......................................................... 18
Example 2 Morison Forces on an Inclined Tube .......................................................... 19
Example 3 Morison Forces on a Composite Structure.................................................. 21
Example 4 Wave Spectrum Approach Method............................................................. 22

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I ntroduction

This software for calculating wave induced loading on hydrodynamicly transparent structures
has been developed by B. Nguyen and K. Mittendorf within the research project Structure,
Design and Environmental Aspects of Offshore Wind-Energy-Converters (GIGAWIND).
This project is supported by the (German) Federal Ministry of Economics and Technology
(Bundesministerium fr Wirtschaft und Technologie).

The research group GIGAWIND at Hannover University deals with environmental and
structural design aspects of offshore wind-energy converters (OWEC). One aim of this
research is to develop and improve methods and tools for design and construction of offshore
wind-energy-turbines, in order to optimize their design and to reduce construction and
operating costs. To reach this aim there is a need of having a reliable tool for calculating wave
loading on OWEC support structures. Therefore, the software WAVELOADS, which
includes both regular and irregular wave loading was developed.

The Fluid Mechanic Institute limits the user support for WAVELOADS. However, questions,
remarks, bug reports, suggestions etc. that may contribute to the continued development of
WAVELOADS are always welcome and we will try to respond as soon as possible. Please
send your bug reports to [email protected] or [email protected]
hannover.de. A current version of WAVELOADS will be available through the GIGAWIND
web-site (www.gigawind.de), once the user has signed a licence agreement.

WaveLoads is copyrighted by the Fluid Mechanics Institute (ISEB). Copyright holders will
not be liable for any direct, indirect, special or consequential damages arising out of any use
of the software or documentation. A re-distribution of the software is not allowed.
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General Remarks

WAVELOADS consists of a single executable file. Further you need two ASCII-files, one file
describing the wave condition and a second one for the structure information. To start the
program type
WaveLoads {name of wave parameter file} {name of structure parameter file}
and press return (compare with figure 1). The calculation will start immediately and the
results will be written in several ASCII-files.

I nput Files

Every line beginning with # is a comment und will be ignored. The options, which can be
defined by a user always start with a special keyword followed by parameter.

Input file for wave parameters

Here is a list with all possible keywords.

MODEL following wave theories can be chosen

0. Calculation and comparison of boundary conditions errors for the wave
models Airy, Stokes 1-5
1 Stokes First Order Theory (Airy)
2 Stokes Second Order Theory
3 Stokes Third Order Theory
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4 Lagrangian formulation by Woltering
5 Stokes Fifth Order Theory
6 Stream -Function Theory in Formulation by Sobey (not implemented yet)
7 Stream -Function Theory in Formulation by Fenton
8 Stream -Function Theory in Formulation by Dalrymple
9 Wave Spectra Approach

LABEL here a name for the problem could be defined

DURATION defines the simulation time in seconds - only for regular wave models

TIMESTEP defines the time step

WATERDEPTH the fixed water depth in meter

WAVEHEIGT wave height in meter

WAVEPERIOD wave period in seconds
only if WAVELENGTH is not active, you can decide whether you want
to describe the wave by period or by wavelength

WAVELENGTH wave length in meter
only if WAVEPERIOD is not active, you can decide whether you want
to describe the wave by period or by wavelength

EULERCURRENT The calculation can be performed with or without a constant (basic)
current component

Y for YES, calculation with current
N for NO, calculation without current

CURRENTVELOCITY (Basic) current velocity in meter/second, value > 1 in direction
of wave propagation, value < 1 opposed to wave propagation, if
calculation should be performed with constant current

MASSTRANSPORT A calculation can be performed with or without mass transport

Y for YES, calculation with mass transport
N for NO, calculation without mass transport

TRANSPORTMODEL If mass transport is activated you can chose between two ways
for the series expansion of high order WaveLoads of the non-
periodic component.

1 Stokes transport model
2 Euler transport model
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STRECHINGSMODE Method for finding the wave kinematics above mean water level
1 Extrapolation of Airy results from mean water level
2 Wheeler 's Stretching method

Only necessary for Streamfunction Theory:

N_ORDER Order of the Fourier Series

MPUNCT Number of segments on wave profile default 131

KMAX The upper limit of the iterations/greatest number of iterations

DAMPING Damping coefficient for the iteration default 0.3

If streamfunction theory by Fention is chosen:

FENTONSTEP: Subdividing the vertical direction in N zones for calculation
default N=10

Only necessary for Wave Spectrum Approach:

SEEGANG_3D_OBERFLAECH 1: a file with a time dependent 3D surface
profile will be generated for Tecplot
file name Seegang_3DXYZOberflaech.plt
0: no water surface file will be generated

SEEGANG_DURATION duration for the sea state simulation

SEEGANG_TIMESTEP defines the time step for the simulation

SEEGANG_TIEFE the fixed water depth in meter

X_SEASTREAM current velocity in meter/second in x-direction

Y_SEASTREAM current velocity in meter/second in y-direction

SEEGANG_SPECTRUM_MODE 0: parametrised JONSWAP Spectrum
1: discretised spectrum given by data file
2 parametrised JONSWAP Spectrum
with Hs and Tp

SEEGANG_SPECTRUM_DATAFILE file name for a discretised spectrum (optional)

SEEGANG_N_OMEGA number of grid points for dividing the wave
spectrum

SEEGANG_SUPERPOS_MODE 1: Mode 1, constant delta omega
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2: Mode 2, irrational omega
3: Mode 3, Webster & Trudell
for details look into the theory manual

SEEGANG_OMEGA_MIN lowest frequency

SEEGANG_OMEGA_MAX highest frequency

If no discretised spectrum file is defined you have to give all recommended parameters for a
JONSWAP spectrum

SEEGANG_ALPHA Phillips Alpha constant for high frequency tail

SEEGANG_BETA1 relate respectively to the widths of the left side of
the spectral peak

SEEGANG_BETA2 relate respectively to the widths of the right side
of the spectral peak


SEEGANG_GAMMA peak enhancement factor

SEEGANG_OMEGA_M peak frequency

SEEGANG_STAT name of gauging station

SEEGANG_MART kind of measurement, e.g. buoy

SEEGANG_DATUM date of measurement

SEEGANG_UHRZEIT time of measurement

SEEGANG_DIRECTION_MODEL 0 : directional spectrum (Jonswap parametrised
SEEGANG_SPECTRUM_MODE =0) based
on a cosine power model.
1 : directional spectrum (Jonswap parametrised
SEEGANG_SPECTRUM_MODE =0) based
on Banners hyperbolic type model.

SEEGANG_PEAK_THETA0 if SEEGANG_DIRECTION_MODEL = 1
the peak wind direction angle has to be defined
in radian (-pi - +pi)

SPREADING if SEEGANG_DIRECTION_MODEL = 0 the
spreading angle theta in radian has to be defiend.
(-pi - +pi)

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SEEGANG_HS if SEEGANG_SPECTRUM_MODE = 2 the
significant wave height has to be defined

SEEGANG_TP if SEEGANG_SPECTRUM_MODE = 2 the
the peek period has to be defined


A simple wave input file for regular waves could look like this:

# WAVELOADS STEERING FILE
#
MODEL : 5
# 5 Stokes Fifth Order Theory
#
DURATION : 30.
# simulating 30 seconds
#
TIMESTEP : .1
# time Stepp is 0.1 second
#
WATERDEPTH : 30.0
# water depth 30 m
#
WAVEHEIGHT = 12.0
# wave height 12 m
#
WAVEPERIOD : 13.0
# wave period 13 s
#
# alternativ
#WAVELENGTH : 200.
# switched off
#
EULERCURRENT : N
# without Euler- current
#
CURRENTVELOCITY = 0.01
# will be ignored, because EULERCURRENT IS switched off
#
MASSTRANSPORT : N
# without mass transport
#
TRANSPORTMODEL : 0
# no mass trasport
#
# THE END
Input file for structure parameters

In this file the number of circular structure components will be defined and their location. The
user has also to enter the inertia and drag coefficients as well as the diameter. The coordinate
system is a right handed system.
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The x-axis is the wave propagation direction. The origin in z-direction is located on the mean
water level. Up is positive and down is negative scaled, so the sea bottom is at the negative
water depth.

The list of all available keywords and their meanings:

NSUBSTRUCT defines the number of structure components

SUBSTRUCTINDEX index of a substructure, always starting with 0,
so the first index of the first member is 0

XU x-coordinate of the upper endpoint of the current member

YU y-coordinate of the upper endpoint of the current member

ZU z-coordinate of the upper endpoint of the current member

XL x-coordinate of the lower endpoint of the current member

YL y-coordinate of the lower endpoint of the current member

ZL z-coordinate of the lower endpoint of the current member

RADIUS radius of the circular member in meter

CD drag coefficient [default=0.7]

CM inertia coefficient [default=2.0]

NELEMENT number of elements, in which the structure is divided

NNODES instead of NELEMNT
Number of nodes, in which the structure is divided

Figure 2 WAVELOADS uses a right handed
coordinate system
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NNODES = NELEMENT+1

According to the number of members this block must be repeated!

NUMBMOMTREF Number of reference points for calculating the moment
(limited to max. 5 points)

MOMTREFINDEX Index of a node, always starting with 0

XM x-coordinate of the node for moment calculation

YM y-coordinate of the node for moment calculation

ZM z-coordinate of the node for moment calculation

According to the number of nodes for moment calculation this block must be repeated!

A structure input file describing two members could look like this:

NSUBSTRUCT : 2
#
SUBSTRUCTINDEX : 0
#
XU : 0.0
#
YU : 0.0
#
ZU : 20.0
#
XL : 0.0
#
YL : 0.0
#
ZL : -30.0
#
RADIUS : 0.455
#
CD : 0.7
#
CM : 2.1
#
NELEMENT : 50
#
SUBSTRUCTINDEX : 1
#
XU : 0.
#
YU : 0.
#
ZU : 10.0
#
XL : 10.
#
YL : 0.
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#
ZL : -30.
#
RADIUS : 0.455
#
CD : 0.700
#
CM : 2.0000
#
NELEMENT : 40
# End of the inputblock

Output Files

Model 0 output file

1. Allwaves_Fskindynbc.plt file including water surface profiles, orbital velocities,
orbital accelerations and kinematic and dynamic
free surface boundary condition errors for the Airy and
Stokes wave theories.

Airy theory output files

1. wellenpar.dat ASCII-FILE containing general information about the
calculated wave

1. w_moris.fem File prepared for processing with ANSYS

2. w_integralkraft.plt This file contains a time series of the integrated
Morison-forces in all possible directions

3. w_morisonkraft.plt All calculated parameters in Tecplot-style

4. w_morissubstr.plt All calculated parameters in Tecplot-style

5. w_surface.plt The calculated surface depending on time

6. w_xoberfl.plt The calculated surface depending on space

7. w_moment.plt The calculated moments at a chosen points

Stokes 2 theory output files

1. wellenpar.dat ASCII-FILE containing general information about the
calculated wave
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2. zstokes2_moris.fem File prepared for processing with ANSYS

3. zstokes2_integralkraft.plt This file contains a time series of the integrated
Morison-forces in all possible directions
4. zstokes2_morison.plt Calculated p forces in Tecplot-style

5. zstokes2_substr.plt All calculated parameters in Tecplot-style

6. zstokes2_surface.plt The calculated surface depending on time

7. zstokes2_oberfl.plt The calculated surface depending on space

8. zstokes2_param.plt All calculated parameters in Tecplot-style

9. zstokes2_momt.plt The calculated moments at a chosen points

Stokes 3 theory output files

1. wellenpar.dat ASCII-FILE containing general information about the
calculated wave

2. dstokes3_moris.fem File prepared for processing with ANSYS

3. dstokes3_integralkraft.plt This file contains a time series of the integrated
Morison-forces in all possible directions

4. dstokes3_morison.plt Calculated p forces in Tecplot-style

5. dstokes3_substr.plt All calculated parameters in Tecplot-style

6. dstokes3_surface.plt The calculated surface depending on time

7. dstokes3_oberfl.plt The calculated surface depending on space

8. dstokes3_param.plt All calculated parameters in Tecplot-style

9. dstokes3_momt.plt The calculated moments at a chosen points


Stokes 5 theory output files

1. wellenpar.dat ASCII-FILE containing general information about the
calculated wave.

2. stokes5_moris.fem File prepared for processing with ANSYS
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3. stokes5_integralkraft.plt This file contains a time series of the integrated
Morison-forces in all possible directions

4. stokes5_accexz.plt A time series of the acceleration in x- and z-direction.
Tecplot style

5. stokes5_substr.plt All calculated parameters in Tecplot-style

6. stokes5_surface.plt The calculated surface depending on time

7. stokes5_xvelo.plt The calculated horizontal velocities depending on time

8. stokes5_zvelo.plt The calculated vertical velocities depending on time

9. stokes5_momt.plt The calculated moments at a chosen points

Lagrangian approach by Woltering output files

1. wellenpar.dat ASCII-FILE containing general information about the
calculated wave

2. lgr_moris.fem File prepared for processing with ANSYS

3. lgr_integralkraft.plt This file contains a time series of the integrated
Morison-forces in all possible directions

4. lgr_morisondemo.plt Some calculated parameters in Tecplot-style

5. lgr_surface.plt The calculated surface depending on time

6. lgr_oberfl.plt The calculated surface depending on space

7. lgr_wparam.pl All calculated parameters in Tecplot-style

8. lgr_substr.plt All calculated parameters in Tecplot-style

9. lgr_momt.plt The calculated moments at a chosen points
Streamfunction by Dean-Dalrymple

1. dalrymple_moris.fem File prepared for processing with ANSYS

2. dalrymple_substr.plt All calculated parameters in Tecplot-style

3. dalrympletest.dat Test file containing STREAM FUNCTION
COEFFICIENTS
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4. deandalrymple_structmoment.plt The calculated moments at a chosen points

5. dalrymple_integralkraft.plt This file contains a time series of the integrated
Morison-forces in all possible directions

6. dalrymple_velo_acce.plt Calculated velocities, accelerations and water surface
elevation in Tecplot-style

7. wavepar.dat ASCII-FILE containing general information about the
calculated wave
Streamfunction by Fenton

1. fenton_moris.fem File prepared for processing with ANSYS

2. fenton _substr.plt All calculated parameters in Tecplot-style

3. testfenton.dat Test file containing STREAM FUNCTION
COEFFICIENTS

4. fenton_structmoment.plt The calculated moments at a chosen points

5. fenton_integralkraft.plt This file contains a time series of the integrated
Morison-forces in all possible directions

6. fenton_surface.plt Calculated water surface elevation in Tecplot-style

7. wavepar.dat ASCII-FILE containing general information about the
calculated wave

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Wave Spectrum Approach

1. seegang_integralkraft.plt This file contains a time series of the integrated
Morison-forces in all possible directions

2. seegang_moris.fem File prepared for processing with ANSYS

3. seegang_param.dat File with all wavelets

4. seegang_structmoment.plt The calculated moments at a chosen points

5. seegang_substr.plt All calculated parameters in Tecplot-style

6. seegang_2DXZoberfl.plt 2D water surface elevation in Tecplot style

7. seegang_dataspec.plt Input spectrum in Tecplot style

8. seegang_spectrum.plt Spectrum of the calculated sea state in Tecplot style

9. optional Seegang_3DXYZOberflaech.plt 3D time dependent water surface elevation
in Tecplot sytle
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Appendix
Example 1 Morison Forces on a Monopile


The parameters:

Wave height: 17.5m
Water depth 34.0m
Wave period 15.0s
Euler current 0.01m/s

Pile diameter 6.0m
Pile length 54.0m
Drag coefficient 0.7 [-]
Inertia coefficient 2.0 [-]
Number of Nodes 501 [-]

Wave theory: Stokes 5








The wave input file:


Figure 3 Node forces on a monopile
# Stokes 5
MODEL : 5
#
DURATION : 30
#
TIMESTEP : 0.10
#
WATERDEPTH : 34.0
#
WAVEHEIGHT = 17.5
#
WAVEPERIOD : 15.0
#
#WAVELENGTH : 200.
#
EULERCURRENT : Y
#
CURRENTVELOCITY = 0.01
#
MASSTRANSPORT : Y
#
TRANSPORTMODEL : 1
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The structure input file:


The results:
The integrated maximum force is 4082.6 kN at 13.4s.
# Monopile
NSUBSTRUCT : 1
#
SUBSTRUCTINDEX : 0
#
XU : 0.0
#
YU : 0.0
#
ZU : 20.0
#
XL : 0.0
#
YL : 0.0
#
ZL : -34.0
#
RADIUS : 3.0
#
CD : 0.7
#
CM : 2.0
#
NELEMENT : 500
Figure 4 Total Morison-Force
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In Figure 5 you can see the calculated water surface elevaton.

The next image (figure 6) shows the particle velocity in x- and z-direction over time.

10.2681m

Figure 5 Calculated water surface elevation with Sotkes 5 theory
Figure 6 Particle velocities in the surface
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Example 2 Morison Forces on an Inclined Tube



The parameters:

Wave height: 12.0m
Water depth 30.0m
Wave period 13.0s
Euler current 0.00m/s

Pile diameter 0.91m
Pile length 46.1m
Drag coefficient 0.7 [-]
Inertia coefficient 2.1 [-]
Number of Nodes 51 [-]

Wave theory: Stokes 3





The water surface calculated with Stokes 3 theory.


Figure 7 Forces on an inclined tube
Figure 8 Calculated Surface Stokes 2 wave theory
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Calculated wave characteristics:

The calculated forces are shown in figure 9.
Calculated Wave Parameter
Wave heigt [m] = 12.000000
Wave Period [s] = 13.000000
Water Depth [m] = 30.000000

Wave length[m](Fenton Approach) = 198.197744
Wave length [m](Iteration IWB) = 202.169445
Wave amplitude [m] = 5.462709
! [Hz] = 0.483322
f [1/s] = 0.076923
k = 0.031079
c [m/s] = 15.245980
L/d = 15.551496
(H/(g*T^2)) = 0.007238
steepness = 0.059356
H/d = 0.400000
H/L = 0.059356
d/L = 0.148390
Figure 9 Total forces on inclined member
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Example 3 Morison Forces on a Composite Structure


The parameters:

Wave height: 15.0m
Water depth 30.0m
Wave period 16.0s
Euler current 0.00m/s

Pile diameter 0.91m
Pile length 0 20.0m
Pile length 1 50.0m
Pile length 2 70.71m
Pile length 3 70.71m
Drag coefficient 0.7 [-]
Inertia coefficient 2.0 [-]
Number of Nodes 31 [-]

Wave theory: Dean-Dalrymple's
Streamfunction

Figure 10 Composite Structure

Figure 11 Integrated wave loads in x-direction
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Example 4 Wave Spectrum Approach Method

The parameters:

Monopile
Pile diameter 0.91m
Pile length 40.0m
Drag coefficient 0.7 [-]
Inertia coefficient 2.0 [-]
Number of Nodes 20 [-]

Water depth 30.0m
Input spectrum: 22.03.1995, 06:00 pm, NSB

Figure 13 shows the resulting time series of water
surface elevation which are generating from a
spectrum by using following methods:

Mode 1 constant delta omega
Mode 2 irrational omega
Mode 3 Webster and Trudell Method
Figure 12 Input Spectra

Figure 13 Generated water surface elevation
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The next figure shows the resulting loads in x-direction.

The wave parameter input file:


Figure 14 Generated Load Series

MODEL: 9
LABEL: 22.03.95 18UhrNSB
SEEGANG_3D_OBERFLAECH: 0
SEEGANG_DURATION: 100
SEEGANG_TIMESTE: 0.1
SEEGANG_TIEFE: 30
X_SEASTREAM: 0.0
Y_SEASTREAM: 0.0
SEEGANG_SPECTRUM_MODE: 1
SEEGANG_SPECTRUM_DATAFILE: HEL1995.SPC
SEEGANG_N_OMEGA: 58
SEEGANG_SUPERPOS_MODE: 1
SEEGANG_OMEGA_MIN: 0.05
SEEGANG_OMEGA_MAX: 3.00
# end of the Waves-Input