FhSim  3.1.0
Marine systems simulation
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WaveHulls.xml
1<Contents>
2 <!--
3 Three WavePropulsionHull hulls of 12, 20 and 40 m in a 1.5 m irregular sea, drawn in the ocean
4 of the environment.
5
6 The sea is a JONSWAP spectrum, mean period 6 s, travelling south (MainDirectionDeg 180). Each
7 hull steams in a turning circle, so it stays in view and meets the waves from every direction:
8 the 12 and 40 m hulls to starboard, the 20 m hull to port.
9
10 The 12 and 40 m hulls are the 20 m workboat Froude-scaled by 0.6 and 2: lengths, GM and the
11 propeller diameter scale by s, areas and the resistance by s^2, mass by s^3, inertias and
12 RollQuadraticDamping by s^5, and the propeller speed by s^-1/2. Each starts at about its
13 straight-course speed. Added mass and the sway and yaw damping take their defaults.
14 SampleLevel grows with the length so the sample spacing stays below the shortest waves with
15 energy (about 6 m; see "Short waves" in the WaveHull documentation).
16
17 The live view needs a visualization build and the <Visualization> observer below;
18 simulationSpeed="1" runs it in real time. The camera starts at NED (-30, 0, 0) looking north
19 towards the hulls.
20 -->
21 <OBJECTS>
22 <Lib
23 LibName = "marine_elements"
24 SimObject = "Vessel/WavePropulsionHull"
25 Name = "Small"
26 Length = "12"
27 Breadth = "3.6"
28 Mass = "32400"
29 RollInertia = "46656"
30 PitchInertia = "349920"
31 YawInertia = "349920"
32 GMT = "0.48"
33 GML = "15"
34 RollQuadraticDamping = "15552"
35 SurgeQuadraticDamping = "540"
36 PropellerDiameter = "0.84"
37 KT0 = "0.45"
38 KT1 = "-0.35"
39 KT2 = "-0.1"
40 WakeFraction = "0.2"
41 ThrustDeduction = "0.15"
42 RudderArea = "0.54"
43 RudderAspectRatio = "1.5"
44 HullInteraction = "0.2"
45 SampleLevel = "2"
46 />
47 <Lib
48 LibName = "marine_elements"
49 SimObject = "Vessel/WavePropulsionHull"
50 Name = "Medium"
51 Length = "20"
52 Breadth = "6"
53 Mass = "150000"
54 RollInertia = "6.0e5"
55 PitchInertia = "4.5e6"
56 YawInertia = "4.5e6"
57 GMT = "0.8"
58 GML = "25"
59 RollQuadraticDamping = "2.0e5"
60 SurgeQuadraticDamping = "1.5e3"
61 PropellerDiameter = "1.4"
62 KT0 = "0.45"
63 KT1 = "-0.35"
64 KT2 = "-0.1"
65 WakeFraction = "0.2"
66 ThrustDeduction = "0.15"
67 RudderArea = "1.5"
68 RudderAspectRatio = "1.5"
69 HullInteraction = "0.2"
70 SampleLevel = "3"
71 />
72 <Lib
73 LibName = "marine_elements"
74 SimObject = "Vessel/WavePropulsionHull"
75 Name = "Large"
76 Length = "40"
77 Breadth = "12"
78 Mass = "1.2e6"
79 RollInertia = "1.92e7"
80 PitchInertia = "1.44e8"
81 YawInertia = "1.44e8"
82 GMT = "1.6"
83 GML = "50"
84 RollQuadraticDamping = "6.4e6"
85 SurgeQuadraticDamping = "6.0e3"
86 PropellerDiameter = "2.8"
87 KT0 = "0.45"
88 KT1 = "-0.35"
89 KT2 = "-0.1"
90 WakeFraction = "0.2"
91 ThrustDeduction = "0.15"
92 RudderArea = "6.0"
93 RudderAspectRatio = "1.5"
94 HullInteraction = "0.2"
95 SampleLevel = "4"
96 />
97 <Lib
98 LibName = "environment"
99 SimObject = "Environment"
100 Name = "Environment"
101 Waves.Spectrum = "JONSWAP"
102 Waves.Theory = "Airy"
103 Waves.Hs = "1.5"
104 Waves.MeanPeriod = "6"
105 Waves.MainDirectionDeg = "180"
106 Waves.DirectionCosinePower = "10"
107 Waves.NumWaves = "40"
108 Bathymetry.Depth = "1000"
109 Visual.WorldRadius = "500"
110 />
111 </OBJECTS>
112
113 <INTERCONNECTIONS>
114 <Connection
115 Small.PropellerSpeed = "5.16"
116 Small.RudderAngle = "0.35"
117 Medium.PropellerSpeed = "4"
118 Medium.RudderAngle = "-0.35"
119 Large.PropellerSpeed = "2.83"
120 Large.RudderAngle = "0.35"
121 />
122 </INTERCONNECTIONS>
123
124 <INITIALIZATION>
125 <InitialCondition
126 Small.Pose = "40,-70,0"
127 Small.Velocity = "2.42,0,0"
128 Medium.Pose = "40,40,0"
129 Medium.Velocity = "3.13,0,0"
130 Large.Pose = "40,85,0"
131 Large.Velocity = "4.42,0,0"
132 />
133 </INITIALIZATION>
134
135 <SIMULATION simulationSpeed="1">
136 <Timing TStart="0" TEnd="600"/>
137 <Integrator Method="RK45_i">
138 <StepControl StepMax="0.05" StepMin="1e-10" AbsTol="1e-3" RelTol="1e-3"/>
139 </Integrator>
140 </SIMULATION>
141
142 <OBSERVERS>
143 <FileOutput TOutput="0, 0:0.5:600, 600" Select="objects:all"/>
144 <Visualization frameRate="25"/>
145 </OBSERVERS>
146</Contents>