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OMAE2015
May 31 - June 5, 2015, St. John's, Newfoundland, Canada
OMAE2015-41691
COMPARISON OF AQWA, GL RANKINE, MOSES, OCTOPUS, PDSTRIP AND
WAMIT WITH MODEL TEST RESULTS FOR CARGO SHIP WAVE-INDUCED
MOTIONS IN SHALLOW WATER
Tim Gourlay
Centre for Marine Science and
Technology, Curtin University
Perth, Australia
ABSTRACT
A benchmarking study is carried out regarding waveinduced ship motions in shallow water, predicted using the
mathematical and commercially-available codes AQWA,
GL Rankine, MOSES, OCTOPUS, PDStrip and WAMIT.
Comparison is made with experiments for three cargo ship
models tested at Flanders Hydraulics Research. The same IGES
files of the ship hulls have been used in all codes to ensure
consistent representation of the model geometry.
The
comparisons may be used to assess the suitability of each code
for zero-speed applications such as berthed ship motions and
under-keel clearance, as well as forward-speed applications
such as under-keel clearance in navigation channels. Another,
quickly developing, application area that requires analysis of
seaway-induced ship motions in shallow water, is analysis of
motions, accelerations and loads on cargo transport, installation
and service vessels for offshore wind parks.
INTRODUCTION
Table 1 shows software used for this benchmarking study.
Three ships were considered, under conditions for which
published model test data are available. The model tests were
undertaken at Flanders Hydraulics Research and are described
in Vantorre and Journe (2003) and Vantorre et al. (2008). The
test cases are:
Ship F (panamax container ship) at water depth
13.6 m, concerning heave, pitch and roll in head waves
at 0, 8 and 12 knots forward speed and in beam seas at
zero speed;
Ship G (panamax bulk carrier) at water depth 13.6 m,
concerning heave, pitch and roll in head waves at 8
and 10 knots and in beam waves at zero speed;
Ship D (post-panamax container ship) at water depth
18.0 m, concerning heave, pitch and roll in head waves
at 12 knots and waves 10 off-stern at 12 knots.
Vladimir Shigunov
DNV GL
Hamburg, Germany
Evert Lataire
Maritime Technology
Division, Ghent University
Ghent, Belgium
Bwl [m]
T [m]
Ship F
190.00
32.00
11.60
Ship G
180.00
33.00
11.60
Ship D
291.13
40.25
15.00
Coordinate origin
x-axis
y-axis
z-axis
OCTOPUS
keel, AP
forward
to port
upward
PDSTRIP
keel, LCG
forward
to port
upward
WAMIT
waterline, LCG
forward
to port
upward
AQWA
waterline, LCG
forward
to port
upward
GL Rankine
waterline, LCG
forward
MOSES
aft
to port
upward
to
upward
starboard
Developer
Reference
Calculations
done by
ANSYS
DNV GL
DNV GL
DNV GL
Bentley
Systems
Ultramarine (2012)
CMST
Amarcon
Amarcon (2009)
CMST
H. Sding
Sding (2006)
CMST
WAMIT Inc.
WAMIT (2013)
CMST
180
160
140
120
100
10
5
0
80
60
40
10
0
20
-10
100
80
60
40
20
0
0
-5
-10
-20
-40
-60
10
-80
0
80
60
40
20
0
-20
0
-5
-10
-40
-60
x
-80
10
0
180
160
140
120
100
10
5
0
80
60
40
10
0
-10
20
RESULTS
Comparative predictions from all codes and model test
results are shown in this section. For Ship F and Ship G, also
results from Vantorre and Journe (2003) computed with
OCTOPUS are shown, labelled OCTOPUS 2003. For Ship D,
0.6
0.5
0.4
0.8
0.7
0.8
0.7
0.6
0.5
0.4
0.6
0.5
0.4
0.3
0.3
0.3
0.2
0.2
0.2
0.1
0.1
0.2
0.3
0 08
0.4
0.5
0.6
0.7
frequency
0 09 Wave
0 096
0 08(rad/s)
0 08
0.8
0.9
0.1
0
0.1
0.2
0.7
0.5
0.6
0.4
Wave frequency (rad/s)
0.3
0 08
0
0.1
0.9
0.8
1.4
AQWA
GLR fixed
GLR free
MOSES
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
WAMIT fixed
WAMIT free
Experiment
0.8
0.6
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
Experiment
1.2
RAO (deg/m)
1.2
0.8
0.6
0.2
0.2
0.8
0.9
0
0.1
0.9
0.7
0.6
0.5
0.4
Wave frequency (rad/s)
0.3
0.2
0
0.1
0.9
0.8
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
Experiment
0.6
0.2
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.8
0.4
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.4
0.2
0.3
1.2
0.4
0
0.1
0.2
1.4
1.4
RAO (deg/m)
0
0.1
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
Experiment
0.9
RAO (m/m)
0.7
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
Experiment
0.9
RAO (m/m)
0.8
RAO (m/m)
AQWA
GLR fixed
GLR free
MOSES
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
WAMIT fixed
WAMIT free
Experiment
0.9
RAO (deg/m)
0.2
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
Figure 11: Heave (top) and pitch (bottom) of Ship F in head waves at 0.0 (left), 8.0 (middle) and 12.0 (right) knots
0.35
1.6
RAO (m/m)
1.4
1.2
1
0.8
15
AQWA
GLR fixed
GLR free
MOSES
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
WAMIT fixed
WAMIT free
Experiment
0.3
0.25
RAO (deg/m)
AQWA
GLR fixed
GLR free
MOSES
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
WAMIT fixed
WAMIT free
Experiment
0.2
0.15
AQWA
GLR fixed
GLR free
MOSES
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
WAMIT fixed
WAMIT free
Experiment
10
RAO (deg/m)
2
1.8
0.6
0.1
0.4
0.05
0.2
0
0.1
0.2
0.3
0.6
0.7
0.5
0.4
Wave frequency (rad/s)
0.8
0.9
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
Figure 12: Heave (left), pitch (middle) and roll (right) of Ship F in beam waves at zero forward speed
0.6
0.5
0.4
0.3
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
Experiment
1.2
RAO (m/m)
0.7
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
Experiment
1.2
RAO (m/m)
0.8
RAO (m/m)
1.4
1.4
AQWA
GLR fixed
GLR free
MOSES
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
WAMIT fixed
WAMIT free
0.9
0.8
0.6
0.8
0.6
0.4
0.4
0.2
0.2
0.2
0.1
0.2
0.3
0.5
0.6
0.7
0.4
Wave frequency (rad/s)
0.8
0.9
0
0.1
1.4
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
0
0.1
1.4
AQWA
GLR fixed
GLR free
MOSES
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
WAMIT fixed
WAMIT free
0.8
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
Experiment
0.6
0.8
0.6
0.2
0.2
0.8
0.9
0
0.1
0.9
0.2
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
Experiment
0.6
0.2
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.8
0.4
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.4
0.2
0.3
1.2
0.4
0
0.1
0.2
1.4
1.2
RAO (deg/m)
1.2
RAO (deg/m)
0.2
RAO (deg/m)
0
0.1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
Figure 14: Heave (top) and pitch (bottom) of Ship G in head waves at 0.0 (left), 8.0 (middle) and 10.0 (right) knots
0.8
0.7
RAO (deg/m)
1.5
AQWA
GLR fixed
GLR free
MOSES
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
WAMIT fixed
WAMIT free
Experiment
0.9
0.6
0.5
0.4
AQWA
GLR fixed
GLR free
MOSES
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
WAMIT fixed
WAMIT free
Experiment
10
RAO (deg/m)
AQWA
GLR fixed
GLR free
MOSES
OCTOPUS-2D
OCTOPUS 2003
PDSTRIP
WAMIT fixed
WAMIT free
Experiment
RAO (m/m)
15
2.5
0.3
0.2
0.5
0.1
0
0.1
0.2
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.3
0.8
0.9
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
0
0.1
0.3
0.2
0.8
0.7
0.6
0.5
0.4
Wave frequency (rad/s)
0.9
Figure 15: Heave (left), pitch (middle) and roll (right) of Ship G in beam waves at zero forward speed
0.7
0.6
AQUA+ 2008
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2008
PDSTRIP
Experiment
0.7
0.6
0.5
0.4
0.5
0.4
0.3
0.3
0.2
0.2
0.1
0.1
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
0
0.3
0.35
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
1.4
0.45
AQUA+ 2008
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2008
PDSTRIP
Experiment
0.25
0.2
0.35
0.3
RAO (deg/m)
0.3
AQUA+ 2008
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2008
PDSTRIP
Experiment
0.4
0.15
0.25
AQUA+ 2008
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2008
PDSTRIP
Experiment
1.2
RAO (deg/m)
RAO (m/m)
0 05
0.8
RAO (deg/m)
0.8
RAO (m/m)
00 3
0.9
AQUA+ 2008
GLR fixed
GLR free
OCTOPUS-2D
OCTOPUS 2008
PDSTRIP
Experiment
0.9
0
0.3
0.2
0.8
0.6
0.15
0.1
0.4
0.1
0.05
0
0.3
0.2
0.05
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
0
0.3
0.4
0.5
0.7
0.6
Wave frequency (rad/s)
0.8
0.9
0
0.3
0.4
0.5
0.7
0.6
Wave frequency (rad/s)
0.8
0.9
Figure 16: Heave (left), pitch (middle) and roll (right) of Ship D in head waves (top) and in waves 10 off-stern (bottom) at
12.0 knots forward speed
Wave Direction
head
head
head
head
head
head
beam
beam
beam
head
head
head
head
beam
beam
beam
head
head
10
10
10
Speed [knots]
0.0
8.0
12.0
0.0
8.0
12.0
0.0
0.0
0.0
8.0
10.0
8.0
10.0
0.0
0.0
0.0
12.0
12.0
12.0
12.0
12.0
DOF
heave
heave
heave
Pitch
Pitch
Pitch
heave
Pitch
Roll
heave
heave
Pitch
Pitch
heave
Pitch
Roll
heave
Pitch
heave
Pitch
Roll
AQWA
0.101
0.081
0.180
0.031
2.110
0.131
0.060
0.890
-
GL Rankine
0.099
0.021
0.028
0.097
0.156
0.103
0.131
0.030
1.310
0.045
0.020
0.109
0.071
0.084
0.056
0.510
0.026
0.062
0.043
0.076
0.196
MOSES
0.105
0.096
0.289
0.028
1.900
0.207
0.166
0.860
-
OCTOPUS
0.103
0.030
0.052
0.082
0.145
0.057
0.071
0.039
1.140
0.064
0.070
0.098
0.096
0.059
0.058
0.700
0.028
0.073
0.050
0.066
0.113
PDStrip
0.103
0.031
0.024
0.081
0.184
0.103
0.178
0.029
1.530
0.042
0.029
0.095
0.072
0.118
0.049
0.920
0.031
0.057
0.039
0.071
0.214
WAMIT
0.099
0.084
0.179
0.031
1.200
0.136
0.051
0.510
-
x 10
4
3.5
18000
4.5
4
RAO (kN/m)
2.5
2
16000
14000
3.5
RAO (kN/m)
x 10
5
Head seas 0 kts
Head seas 8 kts
Head seas 12 kts
Beam seas 0 kts
12000
RAO (kN/m)
4.5
3
2.5
10000
8000
2
6000
1.5
1.5
4000
1
2000
0.5
0.5
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
0.2
0.3
0.7
0.6
0.5
0.4
Wave frequency (rad/s)
0.8
0.9
18
Head seas 0 kts
Head seas 8 kts
Head seas 12 kts
Beam seas 0 kts
x 10
16
14
10
RAO (kNm/m)
RAO (kNm/m)
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
x 10
3.5
3
12
0.5
x 10
0.4
RAO (kNm/m)
15
0
0.3
0
0.1
10
8
2.5
2
1.5
6
1
4
0.5
2
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
0
0.3
x 10
6.5
0.4
0.5
0.8
0.9
x 10
2.5
x 10
0.7
0.6
Wave frequency (rad/s)
RAO (kNm/m)
RAO (kNm/m)
RAO (kNm/m)
5.5
5.5
1.5
4.5
4.5
3.5
0.1
0.5
0.2
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
3.5
0.1
0.2
0.3
0.6
0.7
0.4
0.5
Wave frequency (rad/s)
0.8
0.9
0
0.3
0.4
0.5
0.6
0.7
Wave frequency (rad/s)
0.8
0.9
Figure 17: Wave-induced heave force (top), pitch moment (middle) and roll moment (bottom) of Ship F (left), Ship G (middle)
and Ship D (right) as calculated using OCTOPUS
ACKNOWLEDGEMENTS
The authors are thankful for the cooperation of Flanders
Hydraulics Research and Ghent University in providing ship
and model test data for this benchmarking study. We also
acknowledge the assistance of Amarcon, Bentley Systems,
Professor H. Sding and WAMIT Inc. in checking input and
output for their respective codes.
Mr. A. Khlmoos,
DNVGL SE Hamburg, is acknowledged for performing
numerical computations with AQWA software.
REFERENCES
[1] Amarcon (2009) Octopus-Office 6 User Manual, July
2009
[2] Ansys Inc. (2010) ANSYS AQWA Users Manual
AQWA
GLR fixed
MOSES
OCTOPUS-2D
PDSTRIP
WAMIT fixed
0.16
2.5
AQWA
GLR fixed
MOSES
OCTOPUS-2D
PDSTRIP
WAMIT fixed
0.14
0.12
1.5
0.1
0.08
0.06
0.04
0.5
0.02
0
Heave
0 kn
0.12
Heave
8 kn
Heave
12 kn
GLR fixed
Pitch
0 kn
OCTOPUS-2D
Pitch
8 kn
PDSTRIP
Pitch
12 kn
0
Heave
0 kn
1
0.9
0.1
AQWA
GLR fixed
Pitch
0 kn
MOSES
Roll
0 kn
OCTOPUS-2D
PDSTRIP
0.8
WAMIT fixed
0.25
GLR fixed
OCTOPUS-2D
PDSTRIP
0.2
0.7
0.08
0.6
0.15
0.5
0.06
0.4
0.1
0.3
0.04
0.2
0.02
0.05
0.1
0
0
Heave
8 kn
Heave
10 kn
Pitch
8 kn
Pitch
10 kn
0
Heave
0 kn
Pitch
0 kn
Roll
0 kn
Heave
head wave
Pitch
head wave
Heave
10
Pitch
10
Roll
10
Figure 18: Differences between numerical and experimental results, plotted from Table 4. Top left: Ship F, head seas; top
middle: Ship F, beam seas; bottom left: Ship G, head seas; bottom middle: Ship G, beam seas; bottom right: Ship D
10