2.

20 Marine Hydrodynamics, Fall 2008

Lecture 24
c 2008 MIT - Department of Mechanical Engineering, All rights reserved.
Copyright

2.20 - Marine Hydrodynamics

Lecture 24

6.9 Wave Forces on a Body

UP
U = A
U`
A`
Re =
=

AT
A
UT
=
= 2
Kc =
`
`
`

F
CF =
=f
gA`2

A
`
h
,
, Re , , roughness, . . .

|{z}
|{z}
Wave
Diffraction
steepness parameter

"

UT
"

Kc

AT
"

A
"

6.9.1 Types of Forces

1. Viscous forces Form drag, viscous drag = f (Re , Kc , roughness, . . .).

f R , K c , roughness
,...
Form drag (C

D)

Associated
primarily
with flow
flow separation
- normal stresses.
ag form associated
primarily
with
separation

wake
Particle vel.

drag

#$
Friction drag (CF )

b.l. RR

Associated with skin friction w , i.e., F~

forces arising from potentialU flow wave theory

p

'
gy
%
t
&

1
2

2 $

"
#

If linear theory
Small amplitude waves

D + R

ave
al

w dS.

body
(wetted surface)

Radiated wave potential

Diffracted wave
potential

'
%
% I
% ( at)
&

D
t

(b)

R
t

(c)

$
"
gy ... "
"
#

b.l.

2. Inertial forces Froude-Krylov forces, diffraction forces, radiation forces.

Forces arising from potential flow wave theory,
ZZ
F~ =

p
ndS, where p =

body
(wetted surface)

1
+ gy + ||2
t
|2 {z }
=0, for linear theory,
small amplitude waves

For linear theory, the velocity potential and the pressure p can be decomposed to
=

I
|{z}

Incident wave
potential (a)

p
=

I
t

D
|{z}

Diffracted wave
potential (b.1)

D
t

R
|{z}
Radiated wave
potential (b.2)

R
t

+ gy

(a) Incident wave potential

Froude-Krylov Force approximation When ` << , the incident wave field is not
significantly modified by the presence of the body, therefore ignore D and R .
Froude-Krylov approximation:
)

ZZ
I

I
can calculate knowing (incident)
I
F~F K =

+ gy n
dS wave
kinematics (and body geometry)
t
p
+ gy
{z
}
body |
t
surface
pI
applying RRR
the divergence theorem, the F~F K
Mathematical approximation After
RR
can be rewritten as F~F K =
pI n
dS =
pI d.
body
surface

body
volume

If the body dimensions are very small comparable to the wave length, we can
assume that pI is approximately constant through the body volume and
pull the pI out of the integral. Thus, the F~F K can be approximated as

ZZZ

d = |{z}

pI
F~F K
= pI
at body
at body
body
center

body
volume

volume

center

The last relation is particularly useful for small bodies of non-trivial geometry for 2.20, that is all bodies that do not have a rectangular cross section.
3

(b) Diffraction and Radiation Forces

(b.1) Diffraction or scattering force When ` < , the wave field near the body

(b.1)
or scattering
when !sonot
", wave
near body will be
will Diffraction
be affected even
if the body force:
is stationary,
that<<
no-flux
B.C.field
is satisfied.
affected even if body is stationary.
I

Stationary body

(b.1) Diffraction or scattering force: when ! not << ", wave

Dfield near body will be
D
affected even if body is stationary.

!
FD

!!
body

( I + D Stationary
)
= 0I =
body
n
n
D

or DD = I given
n 0 n

ZZ

D
' D $
F~D =

n
dS
%%
""ndS
t
body
& t # !
surface
' D $
FD

!!

body

%%
&

or

D
n

I
given
n

"ndS
t "#

(b.2)
added
mass
andand
damping
coefficient:
(b.2)Radiation
RadiationForce
Force
- added
mass
damping
coefficient Even in the
(b.2)
Radiation
Force

added
mass
and
damping
coefficient:
absence
of an
incidentofwave,
a body in
motion
creates
waves and
hence waves
inertial and
wavehence wave
even
in the
absence
an incident
wave,
body
in motion
creates
even in the absence of an incident wave, body in motion creates waves and hence wave
forces.
forces, and experiences
alsoandinertial
forces.
forces,
experiences
also inertial forces.
!
R

!
U

!
R
= U n
n

!
U

!!

' $

!!' %& $ "#

%
"
'&

!
R
Wave radiation damping
Added mass
U n

'
n

ZZ
R
~
FR =

n
dS = mij U j dij Uj
|{z}Added mass
|{z} Wave radiation damping
t
body
surface

added
mass

wave
radiation
damping

6.9.2 Important parameters

(1)Kc =

UT
`

2 A`

(2)diffraction parameter

Interrelated through maximum wave steepness

A
0.07

A
`

0.07
`

If Kc 1: no appreciable flow separation, viscous effect confined to boundary layer

(hence small), solve problem via potential theory. In addition, depending on the value
of the ratio ` ,
If ` <<
0, mij
calculate
If

1, ignore diffraction , wave effects in radiation problem (i.e., dij

mij infinite fluid added mass). F-K approximation might be used,
F~F K .

>> 1/5, must consider wave diffraction, radiation ( A`

0.07
`/

0.035).

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

`
0.07
`

so << 1 ignore diffraction, i.e., the Froude-Krylov approximation is valid.

A/`

1
F = `2 U (t) |U (t)|CD (Re )
|{z}
2
relative
velocity

Intermediate Kc - both viscous and inertial effects important, use Morrisons formula.
1
F = `2 U (t)|U (t)|CD (Re ) + `3 U Cm (Re , Kc )
2

 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.