13.

021 Marine Hydrodynamics, Fall 2004

Lecture 21

c 2004 MIT - Department of Ocean Engineering, All rights reserved.

Copyright

13.021 - Marine Hydrodynamics

Lecture 21

Wave Forces on a Body

UP

U = A
Ul Al
R= =

UT AT A
Kc = = = 2
l l l

F A l h
CF = = f , R, , roughness, . . .
gAl2 ,
|{z} |{z}

Wave Diffraction
steepness parameter

1
" h A UT A T A
Kc 2
" " "

Type of Forces

f R , K c ,1.roughness
Viscous forces,...
(form drag, viscous drag) : f (R, Kc , roughness, . . .).

ag form (a) Form drag (C

associated D ). Associated
primarily primarily
with flowwith flow separation - normal stresses.
separation

wake
Particle vel.

drag #$
RR
(b) Friction drag (CF ). F~ dS b.l.
body
S

b.l.

forces arising from potential flow wave theory

' 2 $
p forces
2. Inertial % (Froude-Krylov "
1
gy 2 force, diffraction force, radiation forc): forces arising from potential
& t
flow wave theory. #
If linear theory
Small amplitude waves


ZZ
1
D+ R ~
F = wave potential
Radiated pndS where p =
t + gy + ||2

2
| {z }
Diffracted wave
body
=0 if linear theory,
ave potential (wetted surface)
small ampitude waves

al
' $
% I D R " 2
p % gy ... "
% t t t "
& (a ) (b) (c) #
In general:

= I + D + R
|{z} |{z} |{z}
(a) Incident wave (b.1) Diffracted wave (b.2) Radiated wave
potential potential potential

I D R
p = + + + gy + . . .
t t t
(a) (b.1) (b.2)

(a) Incident wave potential: Froude-Krylov Force approximation, when l << , the incident wave
field is not significantly modified by the presence of the body, therefore ignore D and R :

Z Z
I
F~F K = + gy ndS can calculate knowing (incident) wave kinematics (and body geometry)
t
| {z }
body
pI
surface

Further mathematical approximationis valid if the body is really small. After applying the diver-
gence theorem, the above integral can be replaced by:
Z Z Z
F~F K = pI d pI |
|{z}
at body center
body volume body volume

(b) Diffraction and Radiation Forces - hydrodynamic coefficients: added mass, wave damping and
wave excitation . . .

(b.1) Diffraction or scattering force: when l not << , wave field near body will be affected even if
body is stationary, so that no-flux B.C. is satisfied.

3
 (b.1) Diffraction or scattering force: when ! not << ", wave field near body will be
affected even if body is stationary.
I
I Stationary body

D D
D (b.1) Diffraction or scattering force: when ! not << ", wave field near body will be

D affected even if body is stationary. = 0 = ( I + D )
n n
D I I
I
or = givenStationary body
n n
D
D

' $
D
!
!!
0
FD %% D
"ndS D I D

t "#
n n

body & or D I
given
n n
Z Z
! ~D ='% D $"ndS D
(b.2) Radiation Force !!added
F D
Fmass
body
% and
& t

" damping
#
ndS
t coefficient:
even in the absence of an incident wave, body
body in motion creates waves and hence wave
forces,
(b.2) and experiences
Radiation also
Force - added inertial
mass
(b.2) forces.
and damping
Radiation coefficient:
Force added even incoefficient:
mass and damping the absence of an incident
wave, body in motion creates even
wavesin the
andabsence
henceofwave
an incident wave,
forces, andbody in motion creates
experiences waves and
also inertial hence wave
forces.
forces, and experiences also inertial forces.

! ' $
R !
R
R !
R !! ! %
& !! "'%
#&
$
"
#
U ! U R !
R = U n '
U n n '
n
Added mass Wave radiation damping

Added mass Wave radiation damping

Z Z
R
F~R = ndS = mij Uj dij Uj
t |{z} |{z}
body
added wave

mass radiation

damping

4
Important parameters

(1)Kc = UT
= 2 Al

l
A
interrelated since maximum wave steepness:
0.07
A l 0.07

l
l
(2)diffraction parameter

If Kc 1: no appreciable flow separation, viscous effect confined to b.l. (hence small), solve
problem via potential theory. In addition, depending on the value of the ratio l :

If l << 1, ignore diffraction , wave effects in radiation problem (i.e., dij 0, mij mij infinite
fluid added mass). F-K approximation might be used, calculate F~F K .
l
If
>> 1/5, must consider wave diffraction, radiation ( Al 0.07
l/
0.035).

If Kc >> 1: separation important, viscous forces can not be neglected. Further on if:

l 0.07 l
so << 1 ignore diffraction and F-K approximation might be used
A/l

1
F = l2 U (t) |U (t)|CD (R)
2 |{z}
relative

velocity

Intermediate Kc - both viscous and inertial effects important, use Morrisons formula.

1
F = l2 U (t)|U (t)|CD (R) + l3 U Cm (R, Kc )
2

5
Summary:

I
Limiting case:
wave breaking occurs

II III

I. Use: CD and F K approximation.

II. Use: CF and F K approximation.
III. CD is not important and F K approximation. is not valid.