Ring

Collaboration diagram for Ring:

Author

Jørgen Haavind Jensen

Date

Q3 2011 JHJ: Initial version.

Hydrodynamics

The simulation must include an Environment (fhsim_environment): a model without one is a setup error (MARE-0315). Each element is a cylinder loaded by the water on its wet part, as RbCable/Cable loads it (ElementWaterLoad.h, MARE-0227, MARE-0315):

• the wet fraction f of the element against the wave surface over its two ends; a dry element has no water load (the air is not modelled), and an element whose centre is at the surface is half wet;
• the buoyancy \(\rho g f \pi r^2 L\); scaled by BuoyancyFactor (Default: 0.1);
• the drag on the velocity relative to the environment's particle velocity at the element's centre (current, waves and wakes), \(-\rho r L f (\pi C_t |V_t| V_t + C_n |V_n| V_n)\) with the tangential and normal parts of the relative velocity as vectors, so it does not depend on the orientation of the global axes;
• in waves the Froude-Krylov force \(\rho f \pi r^2 L\, a_n\) normal to the axis, from the mean wave acceleration at the element's ends. There is no added mass in the elements' inertia (MARE-0314).

Example configuration excerpt

<Lib
   LibName            = "marine_elements"
   SimObject          = "RbCable/Ring"
   Name               = "C"
   Length             = "20"
   numElements        = "7"
   AlphaN             = "1.0"
   BetaN              = "1.0"
   EpsilonN           = "0.0001"
   AlphaM             = "1.0"
   BetaM              = "1.0"
   EpsilonM           = "0.0001"
   AlphaT             = "1.0"
   BetaT              = "1.0"
   EpsilonT           = "0.0001"
   Weight             = "200"
   Radius             = "0.1"
   BuoyancyFactor     = "0.1"
   CentrePosInit      = "0.0,0.0,0.0"
   Damping_Tangential = "0.01"
   Damping_Normal     = "1.2"
/>

Input Ports

If addinional connections are specified in configuration parameters, then the following are the simObjects input ports:

Name	Width	Description
Force<1>...Force<NumConnectors>	3	Force applied at additional connector i

Output Ports

If addinional connections are specified in configuration parameters, then the following are the simObjects output ports:

Name	Width	Description
ConnectorPos<1>...ConnectorPos<NumConnectors>	3	Position of additional connector i
ConnectorVel<1>...ConnectorVel<NumConnectors>	3	Velocity of additional connector i

Configuration parameters

Name	Width	Description
Length	1	Length of cable
numElements	1	Number of internal mass elements.
AlphaN	1	...
BetaN	1	...
EpsilonN	1	...
AlphaM	1	...
BetaM	1	...
EpsilonM	1	...
AlphaT	1	...
BetaT	1	...
EpsilonT	1	...
Weight	1	Weight of the cable.
Radius	1	Radius of the cable.
Cm_IsAddedMassHack	1	A stopgap for added mass (MARE-0017): the translational mass of each ring element is increased by this factor times the mass of the water it displaces (1025 kg/m^3 times pi Radius^2 times the element length). The weight and the rotational inertia do not change. 0 leaves the mass as it is (Default: 0)
BuoyancyFactor	1	... (Default: 0.1)
CentrePosInit	3	Initial position of the ring centre (Default: "0.0,0.0,0.0")
AdditionalConnectors	1	Whether or not there are additional connectors. If there are, NumConnectors needs to be set (Default: false)
NumConnectors	1	Number of additional connectors (Default: 0)
Damping_Tangential	1	Tangential damping coefficient. (Default: 0)
Damping_Normal	1	Normal damping coefficient. (Default: 0)

Initial conditions

Name	Width	Description
pos<i>	3	Position of point \(i \in {0\cdots\text{numElements}-1}\).
vel<i>	3	Velocity of point \(i \in {0\cdots\text{numElements}-1}\).
theta<i>	4	Orientation in quaternion of point \(i \in {0\cdots\text{numElements}-1}\)..
omega<i>	3	Angular velocity in rad per second of point \(i \in {0\cdots\text{numElements}-1}\)..

Full example file

<Contents>
   <OBJECTS>
      <Lib
        LibName="environment"
        SimObject="Environment"
        Name="Env"
        Waves.Model="Component"
        Waves.NumWaves="0"
        Bathymetry.Depth="500"
        Current.Model = "Constant"
        Current.Vector = "0,0,0"
        />
      <Lib
         LibName            = "marine_elements"
         SimObject          = "RbCable/Ring"
         Name               = "C"
         Length             = "20"
         numElements        = "7"
         AlphaN             = "1.0"
         BetaN              = "1.0"
         EpsilonN           = "0.0001"
         AlphaM             = "1.0"
         BetaM              = "1.0"
         EpsilonM           = "0.0001"
         AlphaT             = "1.0"
         BetaT              = "1.0"
         EpsilonT           = "0.0001"
         Weight             = "200"
         Radius             = "0.1"
         BuoyancyFactor     = "0.1"
         CentrePosInit      = "0.0,0.0,0.0"
         Damping_Tangential = "0.01"
         Damping_Normal     = "1.2"
      />
   </OBJECTS>
 
   <INTERCONNECTIONS>
      <Connection
      />
   </INTERCONNECTIONS>
 
   <INITIALIZATION>
      <InitialCondition
      />
   </INITIALIZATION>
 
   <SIMULATION>
      <Timing TStart="0" TEnd="10"/>
      <Integrator Method="RK45_i" NumCores="1" LogStates="0" UseRSSNorm="0">
        <StepControl Step="1e-4" StepMax="100" StepMin="1e-6" AbsTol="1e-7" RelTol="1e-7"/>
      </Integrator>
      <!-- TODO migrate_v3: FileOutput="objects:all" -> configure via <OBSERVERS> section -->
   </SIMULATION>
</Contents>