41107 Marin and ocean engineering – Lecture 11
Wave-structure interactions in
ocean waves (= spectral analysis)
Today’s program
• Spectral analysis, i.e. the combination of wave spectra and transfer
functions
Continuation of wave-ship interactions, including a recap of L9+L10
Reading: Chapter 16 (Nielsen, 2024)
NOTE: We focus exclusively on a ship in long-crested waves, and beam to
head seas
• Work on Assignment 3
2
Ship motions – A 6 DOF problem
• Motion components (6 DOF): Three
translational and three rotational
• Knowing the resulting force on the
ship, the ship’s motion is governed
by Newton’s 2nd law
• In the general case, the problem at
hand results in a non-linear and
coupled equation system from
which the six unknown motion
components must be found
… altogether, a highly complex problem! 3
Waves Response
spectrum
time
frequency
Main assumption:
Wave Ship = linear filter
spectrum
“... responses of the vessel will be
proportional to the amplitude of
the exciting forces and at the
Response same frequency, but with phase
shift”
time
frequency
4
Governing physics
• Newton’s 2nd law for the fully coupled set of motions η:
• Suffice it here to note that F(t) is the resulting total (hydrostatic and
hydrodynamic) force; emphasizing that its components are fluid
forces (j=1,2,3) and moments (j=4,5,6)
• Establishing / determining F(t) is the elementary problem we are
(initially) concerned about
5
Governing physics – Excitation and radiation
• Based on the main assumption of linearity, it is possible to consider
the fluid forces as the combined result of:
(1) Waves acting on the restrained ship --> Excitation forces
(2) Movement (motions) of the ship in an assumed calm sea --> Radiation
forces (added mass and damping forces)
(1) (2)
6
Not presented
Solving the problem
I. II.
Faltinsen O. Sea loads on ships and offshore structures. Cambridge university press; 1993:
The hydrodynamic problem in regular waves is normally dealt with as two sub-problem:
I: The forces and moments on the body when the structure is restrained from oscillating and there are incident regular waves. The
hydrodynamic loads are called wave excitation loads and composed of so-called Froude-Krylov and diffraction forces and moments.
II: The forces and moments on the body when the structure is forced to oscillate with the wave excitation frequency in any rigid-
body motion mode. There are no incident waves. The hydrodynamic loads are identified as added mass, damping and restoring 7
terms.
A simplified example: An oscillating vertical
(slender) cylinder
• Cylinder with the longitudinal
axis vertically aligned (𝑚 𝜌𝛻) 𝑧≡𝑧 𝑡
Time now
• Motion results because of
regular waves
• In this simple case, we derived
the solution for pure vertical
oscillating motions
… a moment later
8
Not presented
The BIG picture – Conceptual illustration
Linear theory…
NOTE: Different symbols! 9
Response in regular waves – Transfer function
• The central assumption in the linear theory is that the “the harmonic responses
of the vessel will be proportional to the amplitude of the exciting forces and at the
same frequency, but with phase shift”
• For the cylinder, this means
𝑧 = 𝑧 cos(𝜔𝑡 + 𝜖 )
𝑧 = −𝑧 𝜔 sin 𝜔𝑡 + 𝜖
𝑧 = −𝑧 𝜔 cos(𝜔𝑡 + 𝜖 )
• with the response amplitude, za, proportional to the wave amplitude, but we
expect a dependency with wave frequency, i.e. za(ω) = |Φ(ω)| ζa.
10
Response in regular waves – Transfer function
• Substitution of the (“unknown”) solution into the governing equation:
𝑧 𝑐 − 𝜔 𝑚 + 𝑎 cos 𝜔𝑡 + 𝜖 − 𝑧 𝑏𝜔 sin 𝜔𝑡 + 𝜖
= 𝐹 cos(𝜔𝑡 + 𝜖 )
• Inserting amplitude and phase of excitation force gives (after a few
algebraic operations):
|Φ(ω)| ≡
11
Not presented
Response in regular waves – Transfer function
• In combination, the normalized response amplitude, Φ(𝜔), and phase angle 𝜖
constitute the transfer function.
• Remember: The devil goes by many names… transfer functions, frequency
response functions, response amplitude operators, sometimes just RAOs
12
Not presented
Transfer function – Complex notation
• Write the response in complex notation
𝑧̅ = Φ 𝜔 𝑒 = Φ 𝜔 cos 𝜔𝑡 + 𝑖 sin(𝜔𝑡)
where the complex amplitude is
Φ 𝜔 = 𝑅𝑒 Φ 𝜔 + 𝑖 𝐼𝑚 Φ 𝜔 =Φ + 𝑖Φ
• In this case,
Response amplitude: Φ 𝜔 ≡ Φ 𝜔 = Φ +Φ
Phase angle (relative to wave): tan 𝜖 =
13
Not presented
Motion response of the oscillating cylinder –
A numerical example
• Φ 𝜔 =
( )
=
• With known cylinder geometry; this
gives a and c, and further we study
for b = 0. Select a range of 𝜔…
14
Ocean waves in the frequency domain
• We make use of the concept of a wave spectrum to describe irregular
waves in the ocean
• The wave spectrum applies to the frequency domain; the spectrum
gives the distribution of energy (density) as function of frequency
Wave spectrum
2
Ordinate [m2s/rad]
1.5
0.5
0
0 0.5 1 1.5 2
-0.5
Frequency [rad/s] 15
Recap: The concept of a wave spectrum
𝜁 ,
An illustration… 𝑆 𝜔 = (“energy density”)
2𝛿𝜔
𝑆 𝜔 𝛿𝜔
”energy” in one single (regular) wave
16
Recap: The concept of a wave spectrum
An illustration… The wave energy density
spectrum, or simply just
the wave spectrum
𝑆 𝜔
17
Recap: Spectral moments
A number of integral wave parameters [next slide] can be expressed
through the n-th order spectral moment, defined by:
Note that the variance of the wave system becomes identical to m0,
equivalently the area under the spectrum.
18
WARNING: The parameters may be referred to by
different symbols (letters) in the literature!
Recap:Integral wave parameters
• Significant wave height: 𝐻 =𝐻 / =4 𝑚
• Average period of component waves: 𝑇 =𝑇 = 2𝜋
(“mean energy period”)
• Period corresponding to average frequency: 𝑇 = 2𝜋
(“mean wave period”, sometimes denoted Tm)
• Average period between zero-upcrossings: 𝑇 = 𝑇 = 2𝜋
• Average period between maxima (crests): 𝑇 = 2𝜋
• Modal period (“peak period”, sometimes denoted by T0 or Tm): 𝑇 = , 𝜔 = max S 𝜔 |
19
Spectral analysis:
Wave-induced motions in an irregular
seaway... without and with forward speed
20
Process – the electronic filter analogy (St. Denis and Pierson, 1953):
Amplification or attenuation of “input signal”
Input (waves) Output (ship motions)
time time
A linear filter Mass-spring-damper
(i.e. the transfer functions for the In irregular waves, this can be
given motion/response) given in terms of the response
spectrum.
21
Process – the electronic filter analogy (St. Denis and Pierson, 1953):
Amplification or attenuation of “input signal”
A linear filter
(i.e. the transfer functions for the
given motion/response)
22
Process – the electronic filter analogy (St. Denis and Pierson, 1953):
Amplification or attenuation of “input signal”
Mounet et al. (2022)
A linear filter
(i.e. the transfer functions for the given motion/response) 23
Conceptual illustration Spectral analysis
Wave Transfer Response
spectrum
“+” function(s) spectrum
S (𝜔) |Φ 𝜔 | S (𝜔)
Wave spectrum Heave transfer function [m/m] Response spectrum
3
2
2.5
2
1.5
“+”
mS2s
1.5
m2s
1
1
0.5 0.5
0
0 0.5 1 1.5 0
ω 0 0.5 1 1.5
ω [rad/s] ω [rad/s] ω
ω [rad/s]
24
Spectral analysis
• In a wave system, the energy (density) from the n-th wave component with
amplitude 𝑎 is given by the wave energy spectrum (re L9); by definition:
𝑆 𝜔 Δ𝜔 = ½𝑎
• Further, the transfer function (L10) of the response is |Φ 𝜔 |, with
response amplitude
𝑟
Φ 𝜔 ≡ wave amplitude
𝑎
for the response 𝑟 𝑡 = 𝑟 cos(𝜔𝑡 + 𝜖). NOTE: The index n has been omitted.
25
Spectral analysis, cont’d
• By analogy, we define the response spectrum:
𝑆 𝜔 Δ𝜔 ≡ ½ 𝑟 = ½ |Φ 𝜔 | ⋅ 𝑎
• and thus, using the wave spectrum 𝑆 𝜔 = ½ ,
𝑆 𝜔 =Φ 𝜔 𝑆 𝜔
• Based on the response spectrum, the (response) spectral moments becomes available:
𝑚 , = 𝜔 𝑆 𝜔 d𝜔
26
Spectral analysis: An example
Wave spectrum and heave motion of a semi-submersible
The table below shows corresponding values between the wave frequency ω and a wave spectrum Sζ(ω) together with
amplitudes of the heave transfer function, i.e. |Φz(ω)| = Y(ω), of a semi-submersible.
Y(ω)
Task: (a) Estimate the significant wave height H1/3 and plot the wave spectrum and the heave transfer
function together. (b) Assess (qualitatively) the seakeeping characteristics of the semi-submersible. (c)
Determine the significant heave amplitude z1/3. 27
Example, cont’d
Wave spectrum [m2s]
Transfer function (amplitude) [m/m]
Note: No significant overlap between
wave spectrum and the transfer
function…
28
Preparing the calculations and
Example, cont’d computing the 0th spectral moment of
wave spectrum (numerical integration)…
Y(ω) Y2(ω)
m 2s
m2
m
29
Example, cont’d
Y(ω) Y2(ω)
Sζ (ω )
× 2
Y (ω )
j
2
=
S ρ (ω )
m 2s m 2s
m2 m2
m m 30
Calculated how?
Example, cont’d
Wave spectrum [m2s]
Transfer function [m/m]
Response spectrum [m2s]
31
Forward-speed case
• While being onboard a ship,
moving with forward speed,
the encountered waves “do not
care”; that is, the waves carry
the same amount of energy,
independent of the presence of
the ship…
• 𝑆 𝜔 𝑑𝜔 = 𝑆 ∗ 𝜔 𝑑𝜔 *
32
Forward-speed case, cont’d
• The Doppler Shift gives the relation between absolute frequency 𝜔 and
encountered frequency 𝜔 ,
𝑈 Home work: Show this. (Hint on next slide)
𝜔 =𝜔−𝜔 cos 𝜇
𝑔
• Differentiation with respect to 𝜔,
𝑉
𝑑𝜔 = 1 − 2𝜔 cos 𝜇 𝑑𝜔
𝑔
• Conservation of energy
𝑆 𝜔 𝑑𝜔 = 𝑆 ∗ 𝜔 𝑑𝜔 ⟹
∗
1
𝑆 𝜔 = 𝑆(𝜔)
2𝜔𝑉
1 − 𝑔 cos 𝜇
33
Not presented
U cosμ
Relative speed between ship and waves: 𝑉 = 𝑐 − 𝑈 cos 𝜇
34
Forward-speed case, cont’d
∗
1
𝑆 𝜔 = 𝑆 𝜔
2𝜔𝑉
1− cos 𝜇
𝑔
IMPORTANT: We consider only encounter
angles from 90 deg (beam sea) over 180 deg
(head sea) to 270 deg (beam sea)!
• The complications involved with following sea
is beyond the scope of 41107.
35
Applied probability theory for the short term*
*In L12 (video lecture) we look at long term…
• Probability of exceedance:
• Linear theory ⟶ peaks are Rayleigh distributed (like the waves):
𝑥
𝑃 𝑋 > 𝑥 = 1 − 𝑃 𝑋 ≤ 𝑥 = exp −
2𝑚 ,
• Number of exceedances 𝑁 of the level 𝑥 during period T:
𝑇 𝑥 𝑚 ,
𝑁 = exp − , 𝑇 = 2𝜋
𝑇 2𝑚 , 𝑚 ,
• Most probable largest value (amplitude) among N peaks (Ochi, 1973)
𝑇
𝑀𝑃𝐿 = 𝑚 , 2 ln 𝑁 , 𝑁=
𝑇
NOTE: Above assumes a stationary, narrow-banded process.
Study questions: (1) What does it mean if a process is stationary? (2) What does it mean if a process is narrow-banded?
36
Example: Wave spectrum transformation
A (part of a) wave spectrum Sζ (ω) of an irregular long-crested wave system, as measured at a fixed
point, is given by:
𝛚 [rad/s] 0.3 0.4 0.5 0.6
Sζ(𝛚) [m2 s/rad] 0.50 2.00 0.75 0.25
A ship heads into this wave system at 20 knots, encountering the waves at an angle of 1200 (i.e. the
velocity vectors for ship and waves incline at 1200).
• Task: Calculate the wave spectrum S*ζ (ωe) as a wave probe moving forward with the speed of the
ship would measure it.
(Black board and Excel...)
37
Example: “crude hand calculations”
• Based on wave spectrum and heave transfer function, estimate: (1) The significant wave height; (2) The probability that
the heave motion exceeds a level corresponding to three times the standard deviation of the heave motion. NB: Beam sea
is assumed
• Area under wave spectrum = 0.6 rad/s × 5.5 m2s/rad = 3.3 m2 Hs = 7.3 m
Wave spectrum Magnitude of heave transfer function
38
“hand calculation”…
SR(ω)
12× 8.4 = 8.4
8
6
0.82× 7 = 4.5
12× 4=4
4
2 12× 2 = 2
0.42× 5 = 0.8
0.32 39
0.2 0.4 ω
The end
• Work on Assignment 3
• Hints to the assignment follow on subsequent slides... (not
presented); see also the document made available this morning on
Learn
40
Not presented
Assignment 3
A few hints…
Not presented
Assignment 3
The problem:
• Neglecting damping, the equation for uncoupled heave motion of the
semi-sub reads:
𝜌𝛻 + 𝑎 𝑧 + 𝑐𝑧 = 𝐹 𝑡
which you must solve.
Suggested “recipe”:
(1) Read (like in really read ) Chapter 15
(2) Compute added mass coefficient a and restoring coefficient c (noting
that a associates to the pontoons only)
(3) Compute the excitation force F3(t) and insert;
together with 𝑧 = 𝑧 cos(𝜔𝑡 + 𝜖 ) in the equation
(4) Plot 𝑧 /𝜁 ≡ Φ(𝜔)
42
Not presented
Assignment 3, cont’d
HINTS:
• Platform restoring force: 𝐹 = −𝜌𝑔𝐴 𝑧
• Platform effective mass
• Mass: Use Archimedes’ principle…
• Added mass: Only contribution from pontoons
[why?]
• Platform damping… is neglected
• About the excitation force…
43
Not presented
Assignment 3, cont’d
HINTS:
• Recall that the excitation force is computed for the
single members of the semi-sub (i.e. 2 pontoons + 6
legs, in the shown case)
• Pontoons are fully submerged and we make use of the
Morison formula to compute the “in-line (vertical)
force” associated with vertical water particle motion Not your platform!
resulting due to regular waves. NB: You must consider
the horizontal distance between the pontoons.
• For the legs (columns) there is only the contribution
from the Froude-Krylov force, but you must again
consider the spacing between the sets
• After insertion, use trigonometric identities to simplify
44
Not presented
Assignment 3, cont’d
HINTS:
• Legs/columns; only Froude-Krylov force [why?]:
• Port: …
• Starboard: …
• Total: …
Hint: Use analogy to pontoons
• Froude-Krylov force:
What about the value of x? 45
Not presented
Assignment 3, cont’d
HINTS:
• Excitation force:
• Force results because of regular waves
• Computed for the “exploded” situation; i.e. 2 pontoons and 2x3 columns
Vertical water particle acceleration
• Pontoons; use Morison formula:
• Port: 𝐹 = 𝜌𝐴𝐿𝑈 + 𝜌𝐶 𝐴 𝐿𝑈 = 𝜌𝐿 𝐴 + 𝐶 𝐴 𝑤 = … cos(−𝑘𝑎 − 𝜔𝑡)
• Starboard: 𝐹 . = 𝜌𝐴𝐿𝑈 + 𝜌𝐶 𝐴 𝐿𝑈 = … cos(+𝑘𝑎 − 𝜔𝑡)
Why (−𝑘𝑎) and
• Total: 𝐹 =𝐹 +𝐹 . = … (+𝑘𝑎)??
Hints: Use 𝜔 = 𝑘𝑔 (deep water dispersion); cos 𝛼 + 𝛽 + cos 𝛼 − 𝛽 = 2 cos 𝛼 cos 𝛽
46
