Professional Documents
Culture Documents
OrcaFlex
Manual
Version
9.4a
Orcina
Ltd.
Daltongate
Ulverston
Cumbria
LA12
7AJ
UK
Telephone:
+44
(0)
1229
584742
Fax:
+44
(0)
1229
587191
E-mail:
orcina@orcina.com
Web
Site:
www.orcina.com
1
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Contents
CONTENTS
1 INTRODUCTION
11
1.1 Installing
OrcaFlex
11
1.2 Running
OrcaFlex
13
1.3 Parallel
Processing
14
1.4 Distributed
OrcaFlex
15
1.5 Orcina
Licence
Monitor
15
1.6 Demonstration
Version
15
1.7 OrcaFlex
Examples
15
1.8 Validation
and
QA
16
1.9 Orcina
16
1.10 References
and
Links
16
2 TUTORIAL
21
2.1 Getting
Started
21
2.2 Building
a
Simple
System
21
2.3 Adding
a
Line
21
2.4 Adjusting
the
View
22
2.5 Static
Analysis
22
2.6 Dynamic
Analysis
23
2.7 Multiple
Views
23
2.8 Looking
at
Results
24
2.9 Getting
Output
24
2.10 Input
Data
24
3 USER
INTERFACE
25
3.1 Introduction
25
3.1.1 Program
Windows
25
3.1.2 The
Model
25
3.1.3 Model
States
26
3.1.4 Toolbar
27
3.1.5 Status
Bar
28
3.1.6 Mouse
and
Keyboard
Actions
28
3.2 OrcaFlex
Model
Files
31
3.2.1 Data
Files
31
3.2.2 Text
Data
Files
32
3.2.3 Simulation
Files
36
3.3 Model
Browser
37
3.3.1 Model
Browser
Views
39
3.3.2 Move
Selected
Objects
Wizard
39
3
Contents
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3.4 Libraries
40
3.4.1 Using
Libraries
40
3.4.2 Building
a
Library
43
3.5 Menus
44
3.5.1 File
Menu
44
3.5.2 Edit
Menu
45
3.5.3 Model
Menu
46
3.5.4 Calculation
Menu
47
3.5.5 View
Menu
48
3.5.6 Replay
Menu
49
3.5.7 Graph
Menu
49
3.5.8 Results
Menu
50
3.5.9 Tools
Menu
50
3.5.10 Workspace
Menu
50
3.5.11 Window
Menu
51
3.5.12 Help
Menu
51
3.6 3D
Views
52
3.6.1 View
Parameters
53
3.6.2 View
Control
53
3.6.3 Navigating
in
3D
Views
54
3.6.4 Shaded
Graphics
55
3.6.5 How
Objects
are
Drawn
56
3.6.6 Selecting
Objects
58
3.6.7 Creating
and
Destroying
Objects
58
3.6.8 Dragging
Objects
58
3.6.9 Connecting
Objects
58
3.6.10 Printing,
Copying
and
Exporting
Views
59
3.7 Replays
59
3.7.1 Replay
Parameters
60
3.7.2 Replay
Control
60
3.7.3 Custom
Replays
61
3.7.4 Custom
Replay
Wizard
61
3.7.5 Superimpose
Times
63
3.8 Data
Forms
63
3.8.1 Data
Fields
64
3.8.2 Data
Form
Editing
64
3.9 Results
65
3.9.1 Producing
Results
65
3.9.2 Selecting
Variables
67
3.9.3 Summary
and
Full
Results
67
3.9.4 Statistics
68
3.9.5 Linked
Statistics
68
3.9.6 Offset
Tables
69
3.9.7 Line
Clashing
Report
69
3.9.8 Time
History
and
XY
Graphs
70
3.9.9 Range
Graphs
71
3.9.10 Offset
Graphs
72
3.9.11 Spectral
Response
Graphs
72
4
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Contents
4 AUTOMATION
83
4.1 Introduction
83
4.2 Batch
Processing
83
4.2.1 Introduction
83
4.2.2 Script
Files
85
4.2.3 Script
Syntax
85
4.2.4 Script
Commands
85
4.2.5 Examples
of
setting
data
88
4.2.6 Handling
Script
Errors
93
4.2.7 Obtaining
Variable
Names
93
4.2.8 Automating
Script
Generation
93
4.2.9 Automating
Text
Data
File
Generation
96
4.3 Post-processing
97
4.3.1 Introduction
97
4.3.2 OrcaFlex
Spreadsheet
98
4.3.3 Instruction
Format
100
4.3.4 Pre-defined
commands
101
4.3.5 Basic
commands
102
4.3.6 Time
History
and
related
commands
103
4.3.7 Range
Graph
commands
103
4.3.8 Data
commands
104
4.3.9 Instructions
Wizard
105
4.3.10 Duplicate
Instructions
107
5 THEORY
111
5.1 Coordinate
Systems
111
5.2 Direction
Conventions
112
5.3 Object
Connections
113
5.4 Interpolation
Methods
113
5.5 Static
Analysis
115
5.5.1 Line
Statics
115
5.5.2 Buoy
and
Vessel
Statics
119
5.5.3 Vessel
Multiple
Statics
119
5.6 Dynamic
Analysis
120
5
Contents
w
6
w
Contents
7
Contents
w
8
w
Contents
9
Contents
w
10
w
Introduction,
Installing
OrcaFlex
1 INTRODUCTION
Welcome
to
OrcaFlex
(version
9.4a),
a
marine
dynamics
program
developed
by
Orcina
for
static
and
dynamic
analysis
of
a
wide
range
of
offshore
systems,
including
all
types
of
marine
risers
(rigid
and
flexible),
global
analysis,
moorings,
installation
and
towed
systems.
OrcaFlex
provides
fast
and
accurate
analysis
of
catenary
systems
such
as
flexible
risers
and
umbilical
cables
under
wave
and
current
loads
and
externally
imposed
motions.
OrcaFlex
makes
extensive
use
of
graphics
to
assist
understanding.
The
program
can
be
operated
in
batch
mode
for
routine
analysis
work
and
there
are
also
special
facilities
for
post-processing
your
results
including
fully
integrated
fatigue
analysis
capabilities.
OrcaFlex
is
a
fully
3D
non-linear
time
domain
finite
element
program
capable
of
dealing
with
arbitrarily
large
deflections
of
the
flexible
from
the
initial
configuration.
A
lumped
mass
element
is
used
which
greatly
simplifies
the
mathematical
formulation
and
allows
quick
and
efficient
development
of
the
program
to
include
additional
force
terms
and
constraints
on
the
system
in
response
to
new
engineering
requirements.
In
addition
to
the
time
domain
features,
modal
analysis
can
be
performed
for
individual
lines
and
RAOs
can
be
calculated
for
any
results
variable
using
the
Spectral
Response
Analysis
feature.
OrcaFlex
is
also
used
for
applications
in
the
Defence,
Oceanography
and
Renewable
energy
sectors.
OrcaFlex
is
fully
3D
and
can
handle
multi-line
systems,
floating
lines,
line
dynamics
after
release,
etc.
Inputs
include
ship
motions,
regular
and
random
waves.
Results
output
includes
animated
replay
plus
full
graphical
and
numerical
presentation.
If
you
are
new
to
OrcaFlex
then
please
see
the
tutorial
and
examples.
For
further
details
of
OrcaFlex
and
our
other
software,
please
contact
Orcina
or
your
Orcina
agent.
Copyright
notice
11
Introduction,
Installing
OrcaFlex
w
Installation
To
install
OrcaFlex:
x You
will
need
to
install
from
an
account
with
administrator
privileges.
x If
installing
from
CD,
insert
the
OrcaFlex
CD
and
run
the
Autorun.exe
program
on
the
CD
(on
many
machines
this
program
will
run
automatically
when
you
insert
the
CD).
Then
click
on
'Install
OrcaFlex'.
x If
you
have
received
OrcaFlex
by
e-mail
or
from
the
web
you
will
have
a
zip
file,
and
possibly
a
number
of
licence
files
(.lic).
Extract
the
files
from
the
zip
file
to
some
temporary
location,
and
save
the
licence
files
to
the
same
folder.
Then
run
the
extracted
file
Setup.exe.
x You
will
also
need
to
install
the
OrcaFlex
dongle
supplied
by
Orcina.
See
below
for
details.
For
further
details,
including
information
on
network
and
silent
installation,
click
on
Read
Me
on
the
Autorun
menu
or
open
the
file
Installation
Guide.pdf
on
the
CD.
If
you
have
any
difficulty
installing
OrcaFlex
please
contact
Orcina
or
your
Orcina
agent.
Orcina
Shell
Extension
When
you
install
OrcaFlex
the
Orcina
Shell
Extension
is
also
installed.
This
integrates
with
Windows
Explorer,
and
associates
the
data
and
simulation
file
types
(.dat
and
.sim)
with
OrcaFlex.
You
can
then
open
an
OrcaFlex
file
by
simply
double-clicking
the
filename
in
Explorer.
The
shell
extension
also
provides
file
properties
information,
such
as
which
version
of
OrcaFlex
wrote
the
file
and
the
Comments
text
for
the
model
in
the
file.
For
details
see
the
file
CD:\OrcShlEx\ReadMe.htm
on
the
OrcaFlex
CD.
Installing
the
Dongle
OrcaFlex
is
supplied
with
a
dongle,
a
small
hardware
device
that
must
be
attached
to
the
machine
or
to
the
network
to
which
the
machine
is
attached.
Note:
The
dongle
is
effectively
your
licence
to
run
one
copy
(or
more,
if
the
dongle
is
enabled
for
more
copies)
of
OrcaFlex.
It
is,
in
essence,
what
you
have
purchased
or
leased,
and
it
should
be
treated
with
appropriate
care
and
security.
If
you
lose
your
dongle
you
cannot
run
OrcaFlex.
Warning:
Orcina
can
normally
resupply
disks
or
manuals
(a
charge
being
made
to
cover
costs)
if
they
are
lost
or
damaged.
But
we
can
only
supply
a
new
dongle
in
the
case
where
the
old
dongle
is
returned
to
us.
Dongles
labelled
'Hxxx'
(where
xxx
is
the
dongle
number)
must
be
plugged
into
the
machine
on
which
OrcaFlex
is
run.
Dongles
labelled
'Nxxx'
can
be
used
in
the
same
way
as
'Hxxx'
dongles,
but
they
can
also
be
used
over
a
network,
allowing
the
program
to
be
shared
by
multiple
users.
In
the
latter
case
the
dongle
should
be
installed
by
your
network
administrator;
instructions
can
be
found
in
the
Dongle
directory
on
the
OrcaFlex
CD.
Types
of
Dongle
Dongles
are
available
for
either
parallel
or
USB
ports,
and
these
are
functionally
equivalent
so
far
as
OrcaFlex
is
concerned.
In
general,
USB
dongles
are
preferred,
since
they
seem
to
be
more
reliable.
In
any
case,
parallel
ports
are
becoming
less
common
on
new
machines.
By
default,
'N'
dongles
can
hold
up
to
10
OrcaFlex
licences
for
use
over
a
network.
We
can
supply
dongles
with
larger
capacities
on
request.
Dongle
Troubleshooting
We
supply,
with
OrcaFlex,
a
dongle
utility
program
called
OrcaDongle.
If
OrcaFlex
cannot
find
the
dongle
then
this
program
may
be
used
to
check
that
the
dongle
is
working
correctly
and
has
the
expected
number
of
licences.
For
details
see
the
OrcaDongle
help
file.
The
OrcaDongle
program
is
included
on
the
OrcaFlex
CD,
and
you
may
choose
to
install
it
from
the
Autorun
menu
in
the
same
way
as
OrcaFlex.
It
is
also
available
for
download
from
www.orcina.com/Support/Dongle.
Also
on
our
website,
users
of
network
dongles
may
find
the
Orcina
Licence
Monitor
to
be
useful.
This
application
keeps
track
of
the
number
of
OrcaFlex
licences
claimed
on
a
network
at
any
time.
Diagnostics
If
OrcaFlex
fails
to
start,
with
the
error
that
it
can't
obtain
a
licence,
then
please
check
the
following.
x If
you
are
using
a
network
dongle,
are
all
the
licences
in
use?
The
Orcina
Licence
Monitor
may
be
of
use
in
determining
this.
If
they
are,
you
will
need
to
wait
until
a
licence
becomes
free
before
you
can
run
OrcaFlex.
12
w
Introduction,
Running
OrcaFlex
x If
you
are
using
a
local
dongle,
is
it
plugged
into
your
machine?
If
so,
is
the
dongle
device
driver
installed?
You
can
check
this
by
running
OrcaDongle.
If
the
driver
is
not
present,
it
may
have
been
uninstalled
by
another
program:
if
so,
you
can
fix
this
by
Repairing
the
OrcaFlex
installation
(from
the
Windows
Control
Panel,
select
'Add
or
Remove
Programs'
(XP)
or
Programs
/
Programs
and
Features
(Vista),
select
the
OrcaFlex
entry,
select
Change
then
Repair).
If
this
still
fails,
you
can
install
the
driver
by
downloading
from
our
website,
and
running,
the
file
Hasp-Setup.msi.
x Does
the
dongle
you
are
using
have
an
OrcaFlex
licence
on
it?
Again,
you
can
check
this
with
OrcaDongle.
x Do
you
have
a
licence
file
for
the
dongle
you
wish
to
access?
This
file
will
be
named
Nxxx.lic
or
Hxxx.lic
(where
xxx
is
the
dongle
number)
and
will
be
in
the
OrcaFlex
installation
folder.
If
not,
then
you
should
be
able
to
copy
the
required
file(s)
from
the
root
level
of
the
OrcaFlex
CD
into
the
installation
folder.
If
none
of
these
help,
then
please
contact
us
at
Orcina
with
a
description
of
the
problem.
Ideally,
please
also
email
to
us
the
diagnostics
file
named
OrcLog.txt
which
OrcaFlex
will
have
written
on
failing
to
find
a
licence.
This
file
can
be
found
in
the
folder
"%appdata%/Orcina/OrcaFlex":
to
open
this
folder,
select
Start
menu
|
Run...
and
enter
the
text
between
the
quotes
(including
the
'%'
characters).
By
default
the
program
searches
first
for
a
licence
on
a
local
dongle
and
then
for
a
licence
on
a
network
dongle.
The
following
switches
allow
you
to
modify
this
default
behaviour.
x /LocalDongle
Only
search
for
licences
on
a
local
dongle.
No
search
will
be
made
for
network
dongles.
x /NetworkDongle
Only
search
for
licences
on
a
network
dongle.
Any
local
dongle
will
be
ignored.
This
can
be
useful
if
you
have
a
local
dongle
but
want
to
use
a
network
dongle
that
has
licences
for
more
modules.
13
Introduction,
Parallel
Processing
w
This
switch
is
only
relevant
if
the
dongle
found
is
a
network
dongle
and
there
is
a
choice
of
licences
to
claim
from
that
dongle.
You
can
specify
your
choice
using
the
following
command
line
switch:
x /DisableDynamics
Choose
the
statics-only
basic
licence.
This
is
sometimes
useful
when
using
a
network
dongle
since
it
allows
you
to
leave
full
licences
free
for
other
users
when
you
only
need
a
statics-only
licence.
If
you
do
not
specify
all
the
choices
then
the
program
displays
the
Choose
Modules
dialog
to
ask
for
your
remaining
choices.
You
can
suppress
this
dialog
using
the
following
switch.
x /DisableInteractiveStartup
Do
not
display
the
Choose
Modules
dialog.
The
program
behaves
the
same
as
if
the
user
clicks
OK
on
that
dialog
without
changing
any
module
choices.
Batch
Calculation
switches
These
switches
allow
you
to
instruct
OrcaFlex
to
start
a
batch
calculation
as
soon
as
the
program
has
loaded.
The
following
switches
are
available:
x /Batch
Start
a
batch
calculation
as
soon
as
the
program
has
loaded.
The
batch
calculation
will
contain
all
the
files
specified
on
the
command
line
(you
can
have
more
than
one)
in
the
order
in
which
they
are
specified.
You
can
use
relative
paths
which
will
be
relative
to
the
working
directory.
x /CloseAfterBatch
Instructs
the
program
to
close
once
the
batch
is
complete.
x /BatchAnalysisStatics,
/BatchAnalysisDynamics
specify
what
type
of
analysis
to
perform
to
the
specified
files.
If
these
parameters
are
missing
then
the
program
defaults
to
dynamic
analysis.
Process
Priority
switches
These
switches
determine
the
processing
priority
of
OrcaFlex.
The
available
switches
are
/RealtimePriority,
/HighPriority,
/AboveNormalPriority,
/NormalPriority,
/BelowNormalPriority,
/LowPriority.
ThickLines
switch
The
/ThickLines
switch
allows
you
to
specify
a
minimum
thickness
for
lines
drawn
on
OrcaFlex
3D
View
windows.
For
example
using
the
switch
/ThickLines=5
forces
OrcaFlex
to
draw
all
lines
at
a
thickness
of
at
least
5.
If
no
value
is
specified
(i.e.
the
switch
is
/ThickLines)
then
the
minimum
thickness
i s
taken
to
be
2.
This
switch
has
been
added
to
make
OrcaFlex
3D
Views
clearer
when
projected
onto
a
large
screen.
ThreadCount
switch
The
/ThreadCount
switch
allows
you
to
set
the
number
of
execution
threads
used
by
OrcaFlex
for
parallel
processing.
For
example
/ThreadCount=1
forces
OrcaFlex
to
use
a
single
execution
thread
which
has
the
effect
of
disabling
parallel
processing.
OrcaFlex
manages
a
number
of
execution
threads
to
perform
the
parallel
calculations.
The
number
of
these
threads
(the
thread
count)
defaults
to
the
number
of
physical
processor
cores
available
on
your
machine
as
reported
by
the
operating
system.
This
default
will
work
well
for
most
cases.
Should
you
wish
to
change
it
you
can
use
the
Tools
|
Set
Thread
Count
menu
item.
The
thread
count
can
also
be
controlled
by
a
command
line
switch.
14
w
Introduction,
Distributed
OrcaFlex
Hyperthreading
Some
Intel
processors
offer
a
technology
called
hyperthreading.
Such
processors
can
process
multiple
execution
threads
in
parallel
by
making
use
of
under-used
resources
on
the
processor.
Hyperthreaded
processors
appear
to
the
operating
system
as
2
distinct,
logical
processors.
Sadly,
the
real
world
performance
of
such
chips
does
not
live
up
t o
the
marketing
hype.
At
best
this
technology
can
give
improvements
of
around
10-20%.
However,
the
performance
of
hyperthreading
under
OrcaFlex
varies
considerably
with
the
OrcaFlex
model
being
analysed.
In
the
worst
cases
using
hyperthreading
results
in
performance
twice
as
slow
as
without!
For
this
reason
we
recommend
that
you
don't
attempt
to
use
hyperthreading
when
running
OrcaFlex.
By
default
OrcaFlex
will
use
as
many
threads
as
there
are
true
physical
cores
available
to
your
system.
To
help
understand
this
consider
a
dual
processor,
dual
core
machine
with
hyperthreading
support.
The
operating
system
will
recognise
8
processors.
Of
these
processors,
4
are
true
physical
processor
cores
and
the
other
4
are
virtual
hyperthreaded
processors.
Accordingly
OrcaFlex
will
default
to
using
4
calculation
threads.
15
Introduction,
Validation
and
QA
w
1.9 ORCINA
Orcina
is
a
creative
engineering
software
and
consultancy
company
staffed
by
mechanical
engineers,
naval
architects,
mathematicians
and
software
engineers
with
long
experience
in
such
demanding
environments
as
the
offshore,
marine
and
nuclear
industries.
As
well
as
developing
engineering
software,
we
offer
a
wide
range
of
analysis
and
design
services
with
particular
strength
in
dynamics,
hydrodynamics,
fluid
mechanics
and
mathematical
modelling.
Contact
Details
Orcina
Ltd.
Daltongate
Ulverston
Cumbria
LA12
7AJ
UK
Telephone:
+44
(0)
1229
584742
Fax:
+44
(0)
1229
587191
E-mail:
orcina@orcina.com
Web
Site:
www.orcina.com
Orcina
Agents
We
have
agents
in
many
parts
of
the
world.
For
details
please
refer
to
www.orcina.com/ContactOrcina.
16
w
Introduction,
References
and
Links
CMPT,
1998.
Floating
structures:
A
guide
for
design
and
analysis.
Edited
by
Barltrop
N
D
P.
Centre
for
Marine
and
Petroleum
Technology
publication
101/98,
Oilfield
Publications
Limited.
Coles
S,
2001.
An
Introduction
to
Statistical
Modelling
of
Extreme
Values.
Springer.
Cummins
W
E,
1962.
The
impulse
response
function
and
ship
motions.
Schiffstechnik,
9,
101-109.
Dean
R
G,
1965.
Stream
function
representation
of
non-linear
ocean
waves.
J.
Geophys.
Res.,
70,
4561-4572.
Dirlik
T,
1985.
Application
of
computers
in
Fatigue
Analysis.
PhD
Thesis
University
of
Warwick.
DNV-OS-F201,
Dynamic
Risers.
DNV-RP-C205,
Environmental
Conditions
and
Environmental
Loads.
ESDU
71016.
Fluid
forces,
pressures
and
moments
on
rectangular
blocks.
ESDU
71016
ESDU
International,
London.
ESDU
80025.
Mean
forces,
pressures
and
flow
field
velocities
for
circular
cylindrical
structures:
Single
cylinder
with
two-dimensional
flow.
ESDU
80025
ESDU
International,
London.
Falco
M,
Fossati
F
and
Resta
F,
1999.
On
the
vortex
induced
vibration
of
submarine
cables:
Design
optimization
of
wrapped
cables
for
controlling
vibrations.
3rd
International
Symposium
on
Cable
Dynamics,
Trondheim,
Norway.
Faltinsen
O
M,
1990.
Sea
loads
on
ships
and
offshore
structures.
Cambridge
University
Press.
Fenton
J
D,
1979.
A
high-order
cnoidal
wave
theory.
J.
Fluid
Mech.
94,
129-161.
Fenton
J
D,
1985.
A
fifth-order
Stokes
theory
for
steady
waves.
J.
Waterway,
Port,
Coastal
&
Ocean
Eng.
ASCE.
111,
216-234.
Fenton
J
D,
1990.
Non-linear
wave
theories.
Chapter
in
"The
Sea
Volume
9:
Ocean
Engineering
Science",
edited
by
B.
Le
MeHaute
and
D.
M.
Hanes.
Wiley:
New
York.
3-25.
Fenton
J
D,
1995.
Personal
communication
pre-print
of
chapter
in
forthcoming
book
on
cnoidal
wave
theory.
Gregory
R
W
and
Paidoussis
M
P,
1996.
Unstable
oscillation
of
tubular
cantilevers
conveying
fluid:
Part
1:Theory.
Proc.
R.
Soc.293
Series
A,
512-527.
Hartnup
G
C,
Airey
R
G
and
Fraser
J
M,
1987.
Model
Basin
Testing
of
Flexible
Marine
Risers.
OMAE
Houston.
Hoerner
S
F
1965.
Fluid
Dynamic
Drag,
Published
by
the
author
at
Hoerner
Fluid
Dynamics,
NJ
08723,
USA.
Huse
E,
1993.
Interaction
in
Deep-Sea
Riser
Arrays.
OTC
7237,
1993.
Isherwood
R
M,
1987.
A
Revised
Parameterisation
of
the
JONSWAP
Spectrum.
Applied
Ocean
Research,
9,
No.
1
(January),
47-50.
Iwan
W
D,
1981.
The
vortex-induced
oscillation
of
non-uniform
structural
systems.
Journal
of
Sound
and
Vibration,
79,
291-301.
Iwan
W
D
and
Blevins
R
D,
1974.
A
Model
for
Vortex
Induced
Oscillation
of
Structures.
Journal
of
Applied
Mechanics,
September
1974,
581-586.
Kotik
J
and
Mangulis
V,
1962.
On
the
Kramers-Kronig
relations
for
ship
motions.
Int.
Shipbuilding
Progress,
9,
No.
97,
361-368.
Larsen
C
M,
1991.
Flexible
Riser
Analysis
Comparison
of
Results
from
Computer
Programs.
Marine
Structures,
Elsevier
Applied
Science.
Longuet-Higgins
M
S,
1983.
On
the
joint
distribution
of
wave
periods
and
amplitudes
in
a
random
wave
field.
Proceedings
Royal
Society
London,
Series
A,
Mathematical
and
Physical
Sciences.389,
241-258.
Maddox
S
J,
1998.
Fatigue
strength
of
welded
structures.
Woodhead
Publishing
Ltd,
ISBN
1
85573
013
8.
Morison
J
R,
O'Brien
M
D,
Johnson
J
W,
and
Schaaf
S
A,
1950.
The
force
exerted
by
surface
waves
on
piles.
Petrol
Trans
AIME.
189.
Mueller
H
F,
1968.
Hydrodynamic
forces
and
moments
of
streamlined
bodies
of
revolution
at
large
incidence.
Schiffstechnik.
15,
99-104.
Newman
J
N.
1974.
Second-order,
slowly-varying
forces
on
vessels
in
irregular
waves.
Proc
Int
Symp
Dynamics
of
Marine
Vehicles
and
Structures
in
Waves,
Ed.
Bishop
RED
and
Price
WG,
Mech
Eng
Publications
Ltd,
London.
Newman
J
N,
1977.
Marine
Hydrodynamics,
MIT
Press.
17
Introduction,
References
and
Links
w
NDP,
1995.
Regulations
relating
to
loadbearing
structures
in
the
petroleum
activities.
Norwegian
Petroleum
Directorate.
Ochi
M
K
and
Hubble
E
N,
1976.
Six-parameter
wave
spectra,
Proc
15th
Coastal
Engineering
Conference,
301-328.
Ochi
M
K,
1973.
On
Prediction
of
Extreme
Values,
J.
Ship
Research,
17,
No.
1,
29-37.
Ochi
M
K,
1998.
Ocean
Waves:
The
Stochastic
Approach,
Cambridge
University
Press.
Oil
Companies
International
Marine
Forum,
1994.
Prediction
of
Wind
and
Current
Loads
on
VLCCs,
2nd
edition,
Witherby
&
Co.,
London.
Paidoussis
M
P,
1970.
Dynamics
of
tubular
cantilevers
conveying
fluid.
J.
Mechanical
Engineering
Science,
12,
No
2,
85-103.
Paidoussis
M
P
and
Deksnis
E
B,
1970.
Articulated
models
of
cantilevers
conveying
fluid:
The
study
of
a
paradox.
J.
Mechanical
Engineering
Science,
12,
No
4,
288-300.
Paidoussis
M
P
and
Lathier
B
E,
1976.
Dynamics
of
Timoshenko
beams
conveying
fluid.
J.
Mechanical
Engineering
Science,
18,
No
4,
210-220.
Palmer
A
C
and
Baldry
J
A
S,
1974.
Lateral
buckling
of
axially
constrained
pipes.
J.
Petroleum
Technology,
Nov
1974,
1283-1284.
Pode
L,
1951.
Tables
for
Computing
the
Equilibrium
Configuration
of
a
Flexible
Cable
in
a
Uniform
Stream.
DTMB
Report.
687.
Principles
of
Naval
Architecture.
Revised
edition,
edited
by
J
P
Comstock,
1967.
Society
of
Naval
Architects
and
Marine
Engineers,
New
York.
Puech
A,
1984.
The
Use
of
Anchors
in
Offshore
Petroleum
Operations.
Editions
Technique.
Randolph
M
and
Quiggin
P,
2009.
Non-linear
hysteretic
seabed
model
for
catenary
pipeline
contact.
OMAE
paper
79259,
2009
(www.orcina.com/Resources/Papers/OMAE2009-79259.pdf).
Rawson
and
Tupper,
1984.
Basic
Ship
Theory
3rd
ed,
2:
Ship
Dynamics
and
Design,
482.
Longman
Scientific
&
Technical
(Harlow).
Rienecker
M
M
and
Fenton
J
D,
1981.
A
Fourier
approximation
method
for
steady
water
waves.
J.
Fluid
Mech.104,
119-137.
Roark
R
J,
1965.
Formulas
for
Stress
and
Strain.
4th
edition
McGraw-Hill.
Sarpkaya
T,
Shoaff
R
L,
1979.
Inviscid
Model
of
Two-Dimensional
Vortex
Shedding
by
a
Circular
Cylinder.
Article
No.
79-0281R,
AIAA
Journal,17,
no.
11,
1193-1200.
Sarpkaya
T,
Shoaff
R
L,
1979.
A
discrete-vortex
analysis
of
flow
about
stationary
and
transversely
oscillating
circular
cylinders.
Report
no.
NPS-69SL79011,
Naval
Postgraduate
School,
Monterey,
California.
Rychlik
I,
1987.
A
new
definition
of
the
rainflow
cycle
counting
method.
Int.
J.
Fatigue
9,
No
2,
119-121.
Skjelbreia
L,
Hendrickson
J,
1961.
Fifth
order
gravity
wave
theory.
Proc.
7th
Conf.
Coastal
Eng.
184-196.
Sobey
R
J,
Goodwin
P,
Thieke
R
J
and
Westberg
R
J,
1987.
Wave
theories.
J.
Waterway,
Port,
Coastal
&
Ocean
Eng.
ASCE
113,
565-587.
Sparks
C,
1980.
Le
comportement
mecanique
des
risers
influence
des
principaux
parametres.
Revue
de
l'Institut
Francais
du
Petrol,
35,
no.
5,
811.
Sparks
C,
1983.
Comportement
mecanique
des
tuyaux
influence
de
la
traction,
de
la
pression
et
du
poids
lineique
:
Application
aux
risers.
Revue
de
l'Institut
Francais
du
Petrol
38,
no.
4,
481.
Standing
RG,
Brendling
WJ,
Wilson
D,
1987.
Recent
Developments
in
the
Analysis
of
Wave
Drift
Forces,
Low-
Frequency
Damping
and
Response.
OTC
paper
5456,
1987.
Tan
Z,
Quiggin
P,
Sheldrake
T,
2007.
Time
domain
simulation
of
the
3D
bending
hysteresis
behaviour
of
an
unbonded
flexible
riser.
OMAE
paper
29315,
2007
(www.orcina.com/Resources/Papers/OMAE2007-29315.pdf).
Taylor
R
and
Valent
P,
1984.
Design
Guide
for
Drag
Embedment
Anchors,
Naval
Civil
Engineering
Laboratory
(USA),
TN
No
N-1688.
Torsethaugen
K
and
Haver
S,
2004.
Simplified
double
peak
spectral
model
for
ocean
waves,
Paper
No.
2004-JSC-193,
ISOPE
2004
Touson,
France.
18
w
Introduction,
References
and
Links
SBM
Atlantia
1255
Enclave
Parkway,
Suite
1200
Houston,
TX
77077,
USA
Attention:
Dr.
S.
Leverette
Email:
Steve.Leverette@sbmatlantia.com
Tel:
+1
281
899
4300
Fax:
+1
281
899
4307
VIVA
JD
Marine
11777
Katy
Freeway,
Suite
434
South
Houston,
TX
77079,
USA
Phone:
+1
281
531
0888
Fax:
+1
281
531
5888
Email:
info@jdmarineus.com
19
w
Tutorial,
Getting
Started
2 TUTORIAL
2.1 GETTING
STARTED
This
short
tutorial
gives
you
a
very
quick
run
through
the
model
building
and
results
presentation
features
of
OrcaFlex.
On
completion
of
the
tutorial
we
suggest
that
you
also
look
through
the
pre-run
examples
see
Example
Files.
On
starting
up
OrcaFlex,
you
are
presented
with
a
3D
view
showing
just
a
blue
line
representing
the
sea
surface
and
a
brown
line
representing
the
seabed.
At
the
top
of
the
screen
are
menus,
a
tool
bar
and
a
status
bar
arranged
in
the
manner
common
to
most
Windows
software.
As
usual
in
Windows
software,
nearly
all
actions
can
be
done
in
several
ways:
here,
to
avoid
confusion,
we
will
usually
only
refer
to
one
way
of
doing
the
action
we
want,
generally
using
the
mouse.
Figure:
The
OrcaFlex
main
window
Using
the
mouse,
click
on
the
new
vessel
button
on
the
toolbar.
The
cursor
changes
from
the
usual
pointer
to
a
crosshair
cursor
to
show
that
you
have
now
selected
a
new
object
and
OrcaFlex
is
waiting
for
you
to
decide
where
to
place
it.
Place
the
cursor
anywhere
on
the
screen
and
click
the
mouse
button.
A
"ship"
shape
appears
on
screen,
positioned
at
the
sea
surface,
and
the
cursor
reverts
to
the
pointer
shape.
To
select
the
vessel,
move
the
cursor
close
to
the
vessel
and
click
the
mouse
button
the
message
box
(near
the
top
of
the
3D
view)
will
confirm
when
the
vessel
has
been
selected.
Now
press
and
hold
down
the
mouse
button
and
move
the
mouse
around.
The
vessel
follows
the
mouse
horizontally,
but
remains
at
the
sea
surface.
(To
alter
vessel
vertical
position,
or
other
details,
select
the
vessel
with
the
mouse,
then
double
click
to
open
the
Vessel
data
window.)
Now
add
a
line.
Using
the
mouse,
click
on
the
new
line
button
.
The
crosshair
cursor
reappears
move
the
mouse
to
a
point
just
to
the
right
of
the
vessel
and
click.
The
line
appears
as
a
catenary
loop
at
the
mouse
position.
Move
the
mouse
to
a
point
close
to
the
left
hand
end
of
the
line,
press
and
hold
down
the
mouse
button
and
move
the
mouse
around.
The
end
of
the
line
moves
around
following
t he
mouse,
and
the
line
is
redrawn
at
each
position.
Release
the
mouse
button,
move
to
the
right
hand
end,
click
and
drag.
This
time
the
right
hand
end
of
the
line
is
dragged
around.
In
this
way,
you
can
put
the
ends
of
the
lines
roughly
where
you
want
them.
(Final
positioning
to
exact
locations
has
to
be
done
by
typing
in
the
appropriate
numbers
select
the
line
with
the
mouse
and
double
click
to
bring
up
the
line
data
form.)
Move
the
line
ends
until
the
left
hand
end
of
the
line
is
close
to
the
bow
of
the
ship,
the
right
hand
end
lies
above
the
water
and
the
line
hangs
down
into
the
water.
21
Tutorial,
Adjusting
the
View
w
At
this
point,
the
line
has
a
default
set
of
properties
and
both
ends
are
at
fixed
positions
relative
to
the
Global
origin.
For
the
moment
we
will
leave
the
line
properties
(length,
mass,
etc.)
at
their
default
values,
but
we
will
connect
the
left
hand
end
to
the
ship.
Do
this
as
follows:
1. Click
on
the
line
near
the
left
hand
end,
to
select
that
end
of
the
line;
make
sure
you
have
selected
the
line,
not
the
vessel
or
the
sea.
The
message
box
at
the
left
hand
end
of
the
status
bar
tells
you
what
is
currently
selected.
If
you
have
selected
the
wrong
thing,
try
again.
(Note
that
you
don't
have
to
click
at
the
end
of
the
line
in
order
to
select
it
anywhere
in
the
left
hand
half
of
the
line
will
select
the
left
hand
end.
As
a
rule,
it
is
better
to
choose
a
point
well
away
from
any
other
object
when
selecting
something
with
the
mouse.)
2. Release
the
mouse
and
move
it
to
the
vessel,
hold
down
the
CTRL
key
and
click.
The
message
box
will
confirm
the
connection
and,
to
indicate
the
connection,
the
triangle
at
the
end
of
the
line
will
now
be
the
same
colour
as
the
vessel.
Now
select
the
vessel
again
and
drag
it
around
with
the
mouse.
The
left
hand
end
of
the
line
now
moves
with
the
vessel.
Leave
the
vessel
positioned
roughly
as
before
with
the
line
in
a
slack
catenary.
There
are
three
shortcut
keys
which
are
particularly
useful
for
controlling
the
view.
For
example
CTRL+P
gives
a
plan
view
from
above;
CTRL+E
gives
an
elevation;
CTRL+Q
rotates
the
view
through
90
about
the
vertical
axis.
( CTRL+P
and
CTRL+E
leave
the
view
azimuth
unchanged.)
Now
click
the
button
on
the
3D
View
to
bring
up
the
Edit
View
Parameters
form.
This
gives
a
more
precise
way
of
controlling
the
view
and
is
particularly
useful
if
you
want
to
arrange
exactly
the
same
view
of
2
different
models
say
2
alternative
configurations
for
a
particular
riser
system.
Edit
the
view
parameters
if
you
wish
by
positioning
the
cursor
in
the
appropriate
box
and
editing
as
required.
If
you
should
accidentally
lose
the
model
completely
from
view
(perhaps
by
zooming
in
too
close,
or
moving
the
view
centre
too
far)
there
are
a
number
of
ways
of
retrieving
it:
x Press
CTRL+T
or
right
click
in
the
view
window
and
select
Reset
to
Default
View.
x Press
the
Reset
button
on
the
Edit
View
Parameters
form.
This
also
resets
back
to
the
default
view.
x Zoom
out
repeatedly
until
the
model
reappears.
x Close
the
3D
View
and
add
a
new
one
(use
the
Window|Add
3D
View
menu
item).
The
new
window
will
have
the
default
view
centre
and
view
size.
To
run
a
static
analysis
of
the
system,
click
on
the
calculate
statics
button
.
The
message
box
reports
which
line
is
being
analysed
and
how
many
iterations
have
occurred.
When
the
analysis
is
finished
(almost
instantly
for
this
simple
system)
the
Program
State
message
in
the
centre
of
the
Status
Bar
changes
to
read
"Statics
Complete",
and
the
Static
Analysis
button
changes
to
light
grey
to
indicate
that
this
command
is
no
longer
available.
The
appearance
of
the
line
will
have
changed
a
little.
When
editing
the
model,
OrcaFlex
uses
a
quick
approximation
to
a
catenary
22
w
Tutorial,
Dynamic
Analysis
shape
for
general
guidance
only,
and
this
shape
is
replaced
with
the
true
catenary
shape
when
static
analysis
has
been
carried
out.
(See
Static
Analysis
for
more
details).
We
can
now
examine
the
results
of
the
static
analysis
by
clicking
on
the
Results
button
.
This
opens
a
Results
Selection
window.
You
are
offered
the
following
choices:
x Results
in
numerical
and
graphical
form,
with
various
further
choices
which
determine
what
the
table
or
graph
will
contain.
x Results
for
all
objects
or
one
selected
object.
Ignore
the
graph
options
for
the
moment,
select
Summary
Results
and
All
Objects,
then
click
Table.
A
summary
of
the
static
analysis
results
is
then
displayed
in
spreadsheet
form.
Results
for
different
objects
are
presented
in
different
sheets.
To
view
more
static
analysis
results
repeat
this
process:
click
on
the
Results
button
and
select
as
before.
Click
the
Run
Dynamic
Simulation
button
.
As
the
simulation
progresses,
the
status
bar
reports
current
simulation
time
and
expected
(real)
time
to
finish
the
analysis,
and
the
3D
view
shows
the
motions
of
the
system
as
the
wave
passes
through.
Click
the
Start
Replay
button
.
An
animated
replay
of
the
simulation
is
shown
in
the
3D
view
window.
Use
the
view
control
keys
and
mouse
as
before
to
change
the
view.
The
default
Replay
Period
is
Whole
Simulation.
This
means
that
you
see
the
simulation
start
from
still
water,
the
wave
building
and
with
it
the
motions
of
the
system.
Simulation
time
is
shown
in
the
Status
bar,
top
left.
Negative
time
means
the
wave
is
still
building
up
from
still
water
to
full
amplitude.
At
the
end
of
the
simulation
the
replay
begins
again.
The
replay
consists
of
a
series
of
"frames"
at
equal
intervals
of
time.
Just
as
you
can
"zoom"
in
and
out
in
space
for
a
closer
view,
so
OrcaFlex
lets
you
"zoom"
in
and
out
in
time.
Click
on
the
Replay
Parameters
button
,
edit
Interval
to
0.5s
and
click
OK.
The
animated
replay
is
now
much
jerkier
than
before
because
fewer
frames
are
being
shown.
Now
click
again
on
Replay
Parameters,
set
Replay
Period
to
Latest
Wave
and
click
on
the
Continuous
box
to
deselect.
The
replay
period
shown
is
at
the
end
of
the
simulation
and
has
duration
of
a
single
wave
period.
At
the
end
of
the
wave
period
the
replay
pauses,
then
begins
again.
Now
click
on
the
Replay
Step
button
to
pause
the
replay.
Clicking
repeatedly
on
this
button
steps
through
the
replay
one
frame
at
a
time
a
very
useful
facility
for
examining
a
particular
part
of
the
motion
in
detail.
Click
with
the
SHIFT
key
held
down
to
step
backwards.
You
can
then
restart
the
animation
by
clicking
on
'Start
Replay'
as
before.
To
slow
down
or
speed
up
the
replay,
click
on
Replay
Parameters
and
adjust
the
speed.
Alternatively
use
the
shortcuts
CTRL+F
and
SHIFT+CTRL+F
to
make
the
replay
faster
or
slower
respectively.
You
can
add
another
view
of
the
system
if
you
wish
by
clicking
on
the
View
button
.
Click
again
to
add
a
third
view,
etc.
Each
view
can
be
manipulated
independently
to
give,
say,
simultaneous
plan
and
elevation
views.
To
make
all
views
replay
together,
click
on
Replay
Control
and
check
the
All
Views
box.
To
remove
an
unwanted
view
simply
close
its
view
window.
To
rearrange
the
screen
and
make
best
use
of
the
space,
click
Window
and
choose
Tile
Vertical
(F4)
or
Tile
Horizontal
(SHIFT+F4).
Alternatively,
you
can
minimise
windows
so
that
they
appear
as
small
icons
on
the
background,
or
you
can
re-size
them
or
move
them
around
manually
with
the
mouse.
These
are
standard
Windows
operations
which
may
be
useful
if
you
want
to
tidy
up
the
screen
without
having
to
close
a
window
down
completely.
23
Tutorial,
Looking
at
Results
w
Now
click
on
the
Results
button
.
This
opens
a
Results
Selection
window.
You
are
offered
the
following
choices:
x Results
as
Tables
or
Graphs,
with
various
further
choices
which
determine
what
the
table
or
graph
will
contain.
x Results
for
all
objects
or
one
selected
object.
Select
Time
History
for
any
line,
then
select
Effective
Tension
at
End
A
and
click
the
Graph
button.
The
graph
appears
in
a
new
window.
You
can
call
up
time
histories
of
a
wide
range
of
parameters
for
most
objects.
For
lines,
you
can
also
call
up
Range
Graphs
of
effective
tension,
curvature,
bend
moment
and
many
other
variables.
These
show
maximum,
mean
and
minimum
values
of
the
variable
plotted
against
position
along
the
line.
Detailed
numerical
results
are
available
by
selecting
Summary
Results,
Full
Results,
Statistics
and
Linked
Statistics.
Time
history
and
range
graph
results
are
also
available
in
numerical
form
select
the
variable
you
want
and
press
the
Values
button.
The
results
can
be
exported
as
Excel
compatible
spreadsheets
for
further
processing
as
required.
Further
numerical
results
are
available
in
tabular
form
by
selecting
Summary
Results,
Full
Results,
Statistics
and
Linked
Statistics.
Results
Post-Processing
Take
a
look
through
the
input
data
forms.
Start
by
resetting
the
program:
click
on
the
Reset
button
.
This
returns
OrcaFlex
to
the
reset
state,
in
which
you
can
edit
the
data
freely.
(While
a
simulation
is
active
you
can
only
edit
certain
non-critical
items,
such
as
the
colours
used
for
drawing.)
Now
click
on
the
Model
Browser
button
.
This
displays
the
data
structure
in
tree
form
in
the
Model
Browser.
Select
an
item
and
double
click
with
the
mouse
to
bring
up
the
data
form.
Many
of
the
data
items
are
self
explanatory.
For
details
of
a
data
item,
select
the
item
with
the
mouse
and
press
the
F1
key.
Alternatively
use
the
question
mark
Help
icon
in
the
top
right
corner
of
the
form.
Have
a
look
around
all
the
object
data
forms
available
to
get
an
idea
of
the
capabilities
of
OrcaFlex.
End
of
Tutorial
We
hope
you
have
found
this
tutorial
useful.
To
familiarise
yourself
with
OrcaFlex,
try
building
and
running
models
of
a
number
of
different
systems.
The
manual
also
includes
a
range
of
examples
which
expand
on
particular
points
of
interest
or
difficulty.
Finally,
please
remember
that
we
at
Orcina
are
on
call
to
handle
your
questions
if
you
are
stuck.
24
w
User
Interface,
Introduction
3 USER
INTERFACE
3.1 INTRODUCTION
3.1.1 Program
Windows
OrcaFlex
is
based
upon
a
main
window
that
contains
the
Menus,
a
Tool
Bar,
a
Status
Bar
and
usually
at
least
one
3D
view.
The
window
caption
shows
the
program
version
and
the
file
name
for
the
current
model.
Figure:
The
OrcaFlex
main
window
Within
this
main
window,
any
number
of
child
windows
can
be
placed
which
may
be:
3D
View
Windows
showing
3D
pictorial
views
of
the
model
Graph
Windows
showing
results
in
graphical
form
Spreadsheet
Windows
showing
results
in
numerical
form
Text
Windows
reporting
status
Additional
temporary
windows
are
popped
up,
such
as
Data
Forms
for
each
object
in
the
model
(allowing
data
to
be
viewed
and
modified)
and
dialogue
windows
(used
to
specify
details
for
program
actions
such
as
loading
and
saving
files).
While
one
of
these
temporary
windows
is
present
you
can
only
work
inside
that
window
you
must
dismiss
the
temporary
window
before
you
can
use
other
windows,
the
menus
or
toolbar.
The
actions
that
you
can
perform
at
any
time
depend
on
the
current
Model
State.
Arranging
Windows
3D
View,
Graph,
Spreadsheet
and
Text
Windows
may
be
tiled
so
that
they
sit
side-by-side,
but
they
must
remain
within
the
bounds
of
the
main
window.
The
program
rearranges
the
windows
every
time
a
new
window
is
created.
3.1.2 The
Model
OrcaFlex
works
by
building
a
mathematical
computer
model
of
your
system.
This
model
consists
of
a
number
of
objects
that
represent
the
parts
of
the
system
e.g.
vessels,
buoys,
lines
etc.
Each
object
has
a
name,
which
can
be
any
length.
Object
names
are
not
case-sensitive,
so
Riser,
riser
and
RISER
would
all
refer
to
the
same
object.
This
behaviour
is
the
same
as
for
Windows
file
names.
The
model
always
has
two
standard
objects:
x General
contains
general
data,
such
as
title,
units
etc.
x Environment
represents
the
sea,
seabed,
waves,
current
etc.
You
can
then
use
the
Model
Browser
or
the
toolbar
to
add
other
objects
to
represent
the
parts
of
your
system.
There
is
no
limit,
other
than
the
capacity
of
your
computer,
to
the
number
of
objects
you
can
add
to
the
model.
At
any
time,
you
can
save
your
model
to
a
data
file.
25
User
Interface,
Introduction
w
RESET
Calculate
Static
Position
Calculating Reset
Statics
Edit or
Reset
STATICS COMPLETE
Reset
Run
Pause
SIMULATION Simulating SIMULATION Reset
UNSTABLE PAUSED
Run
Extend
Simulation
SIMULATION
COMPLETE Reset
Figure:
Model
States
The
state
in
which
OrcaFlex
starts.
In
Reset
state
you
can
freely
change
the
model
and
edit
the
data.
No
results
are
available.
Calculating
Statics
OrcaFlex
is
calculating
the
statics
position
of
the
model.
You
can
abort
the
calculation
by
CLICKING
the
Reset
button.
Statics
Complete
The
statics
calculation
is
complete
and
the
static
position
results
are
available.
You
are
allowed
to
make
changes
to
the
model
when
in
this
state
but
if
you
make
any
changes
(except
for
very
minor
changes
like
colours
used)
then
the
model
will
be
automatically
reset
and
the
statics
results
will
be
lost.
Simulating
The
dynamic
simulation
is
running.
The
results
of
the
simulation
so
far
are
available
and
you
can
examine
the
model
data,
but
only
make
minor
changes
(e.g.
colours
used).
You
cannot
store
the
simulation
to
a
file
while
simulating
you
must
pause
the
simulation
first.
26
w
User
Interface,
Introduction
Simulation Paused
There
is
a
simulation
active,
but
it
is
paused.
The
results
so
far
are
available
and
you
can
examine
the
model
data.
You
can
also
store
the
part-run
simulation
to
a
file.
Simulation
Complete
The
simulation
is
complete.
The
simulation
results
are
available
and
you
can
store
the
results
to
a
simulation
f ile
for
later
examination.
You
must
reset
the
model,
by
CLICKING
on
the
Reset
button,
before
significant
changes
to
the
model
can
be
made.
You
can
use
the
Extend
Dynamic
Simulation
facility
if
you
wish
to
simulate
for
a
further
period
of
time.
Simulation
Unstable
The
simulation
has
become
unstable.
The
simulation
results
are
available
and
you
can
store
the
results
to
a
simulation
file
for
later
examination.
This
allows
you
to
try
and
understand
why
the
simulation
has
become
unstable.
You
may
also
want
to
examine
the
results
up
until
the
point
at
which
the
simulation
became
unstable.
However,
please
treat
these
results
with
caution
because
the
simulation
eventually
went
unstable
this
indicates
that
the
dynamic
simulation
may
not
have
converged
at
earlier
simulation
times.
You
must
reset
the
model,
by
CLICKING
on
the
Reset
button,
before
significant
changes
to
the
model
can
be
made.
Typical
model
state
flow
To
illustrate
how
model
states
work,
here
is
an
example
of
a
typical
working
pattern:
1. In
Reset
state,
open
a
new
model
from
a
data
file
or
use
the
current
model
as
the
starting
point
for
a
new
model.
2. In
Reset
state,
add
or
remove
objects
and
edit
the
model
data
as
required
for
the
new
model.
It
is
generally
best
to
use
a
very
simple
model
in
the
early
stages
of
design
and
only
add
more
features
when
the
simple
model
is
satisfactory.
3. Run
a
static
analysis
(to
get
to
Statics
Complete
state)
and
examine
the
static
position
results.
Make
any
corrections
to
the
model
that
are
needed
this
will
automatically
reset
the
model.
Steps
(2)
and
(3)
are
repeated
as
required.
4. Run
a
simulation
and
monitor
the
results
during
the
simulation
(in
Simulating
state).
5. If
further
changes
to
the
model
are
needed
then
Reset
the
model
and
edit
the
model
accordingly.
Steps
(2)
to
(5)
are
repeated
as
required.
6. Finalise
the
model,
perhaps
improving
the
discretisation
(for
example
by
reducing
the
time
step
sizes
or
increasing
the
number
of
segments
used
for
Lines).
Run
a
final
complete
simulation
(to
reach
Simulation
Complete
state)
and
generate
reports
using
the
results.
3.1.4 Toolbar
The
toolbar
holds
a
variety
of
buttons
that
provide
quick
access
to
the
most
frequently
used
menu
items.
The
selection
of
buttons
available
varies
with
the
current
Program
State.
Button
Action
Equivalent
Menu
Item
Open
File
|
Open
Save
File
|
Save
Model
Browser
Model
|
Model
Browser
New
Vessel
Model
|
New
Vessel
New
Line
Model
|
New
Line
New
6D
Buoy
Model
|
New
6D
Buoy
New
3D
Buoy
Model
|
New
3D
Buoy
New
Winch
Model
|
New
Winch
New
Link
Model
|
New
Link
27
User
Interface,
Introduction
w
This
is
at
the
left
hand
end.
It
shows
information
about
the
progress
of
the
current
action,
such
as
the
name
of
the
currently
selected
object,
or
the
current
iteration
number
or
simulation
time.
Error
messages
are
also
shown
here.
When
a
statics
calculation
is
done
messages
showing
the
progress
of
the
calculation
are
shown
in
the
message
box.
To
see
all
the
messages
from
the
statics
calculation
CLICK
on
the
message
box
the
Statics
Progress
Window
will
then
be
opened.
The
Program
State
Indicator
In
the
centre
and
shows
which
state
the
program
is
in
(see
Model
States).
The
Information
Box
A
number
of
frequently
used
menu
items
may
also
be
accessed
by
shortcut
keys,
such
as
CTRL+R
to
start
a
replay.
See
the
tables
below.
The
shortcut
keys
are
also
displayed
on
the
OrcaFlex
menus.
We
suggest
that
as
you
become
more
familiar
with
the
operation
of
OrcaFlex
that
you
memorise
some
of
the
shortcut
keys
for
actions
that
you
use
frequently.
28
w
User
Interface,
Introduction
Help
F1
Go
to
next
data
form
F6
Go
to
previous
data
form
SHIFT+F6
29
User
Interface,
Introduction
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30
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31
User
Interface,
OrcaFlex
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Files
w
contains
inactive
data
can
be
very
useful
and
so,
in
general,
we
would
recommend
that
model
building
and
development
is
performed
using
the
binary
data
file.
Text
data
files
can
be
created
without
the
use
of
OrcaFlex
simply
by
entering
text
into
a
text
editor.
In
general
we
would
not
advocate
this
approach
to
model
building.
For
very
simple
systems
it
may
be
a
practical
approach
but
more
complex
models
are
usually
much
easier
to
build
and
inspect
using
the
full
capabilities
and
visualisation
strengths
of
OrcaFlex.
On
the
other
hand,
text
data
files
can
be
very
effective
when
making
minor
changes
to
existing
models.
Using
text
data
files
for
such
minor
variations
of
existing
models
makes
it
much
easier
to
monitor
just
what
has
been
changed,
for
example
by
using
standard
text
differencing
programs.
Text
data
files
are
highly
readable
and
self-documenting
which
makes
them
ideal
for
QA
and
archival
purposes.
Another
application
well
suited
to
the
use
of
text
data
files
is
automation.
3.2.2 Text
Data
Files
Text
data
files
are
used
to
define
and
represent
OrcaFlex
models
in
a
human
readable
and
easily
editable
format.
Text
data
files
can
be
opened
and
saved
by
OrcaFlex.
A
very
simple
example
is
shown
below:
General:
StageDuration:
- 10.0
- 50.0
Lines:
- Name: Line1
Length, TargetSegmentLength:
- [60.0, 5.0]
- [40.0, 2.0]
- [120.0, 10.0]
This
example
first
defines
a
10s
build-up
stage
followed
by
stage
1
with
50s
duration.
Then
a
Line
is
created
and
named
"Line1".
Finally
the
section
data
is
specified:
three
sections
are
created
with
varying
section
lengths
and
segment
lengths.
Default
values
are
used
for
all
data
which
are
not
specified.
Note:
The
formatting
(colour,
bold,
italic
etc.)
in
the
examples
here
has
been
added
to
aid
readability,
and
is
not
a
feature
or
requirement
of
text
data
files
themselves.
More
details
on
the
YAML
format
and
Notepad++
can
be
obtained
from
the
following
web
sites:
x http://en.wikipedia.org/wiki/YAML
YAML
page
on
Wikipedia.
x http://www.yaml.org/
Official
YAML
homepage.
x http://www.yaml.org/spec/
Complete
technical
specification
of
YAML.
x http://notepad-plus.sourceforge.net/
Notepad++.
Elements
of
a
text
data
file
The
most
basic
element
of
a
text
data
file
is
the
name/value
pair:
UnitsSystem: SI
The
name
(UnitsSystem)
is
written
first,
followed
by
a
colon
(:),
then
a
SPACE,
and
then
the
value
(SI).
The
names
used
in
text
data
files
are
the
same
as
used
to
identify
data
items
in
batch
script
files.
Names
and
values
in
YAML
files
can
contain
spaces
and
other
punctuation:
General:
StaticsMethod: Whole System statics
Lines:
32
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Interface,
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34
w
User
Interface,
OrcaFlex
Model
Files
# File: C:\Desktop\untitled.yml
# Created: 12:35 on 21/07/2009
# User: jamie
# Machine: holly
---
General:
# Statics
StaticsMethod: Whole System statics
BuoysIncludedInStatics: Individually Specified
# Dynamics
StageDuration:
- 8
- 16
TargetLogSampleInterval: 0.1
# Integration
SimulationIntegrationMethod: Implicit
ImplicitConstantTimeStep: 0.1
Environment:
# Seabed
SeabedType: Flat
WaterDepth: 100
SeabedModel: Linear
SeabedNormalStiffness: 100
# Current
RefCurrentSpeed: 0.4
RefCurrentDirection: 180
...
The
section
between
the
---
and
...
lines
is
the
main
body
of
the
file
and
is
known
in
YAML
terminology
as
a
document.
Everything
else
is
in
fact
optional
and
can
be
omitted.
A
YAML
file
can
contain
multiple
documents,
separated
by
---
lines
but
OrcaFlex
has
no
special
treatment
for
such
multi-document
files
and
all
data
is
read
into
a
single
OrcaFlex
model.
The
first
line
(%YAML
1.1)
is
known
as
the
YAML
directive
and
specifies
which
version
of
YAML
the
file
adheres
to.
The
YAML
directive
can
be
omitted.
The
rest
of
the
header
contains
a
number
of
comments
detailing
the
version
of
OrcaFlex
which
created
the
file,
the
file
name
etc.
Again,
these
comments
can
be
omitted.
Ordering
issues
The
order
in
which
the
data
appear
in
a
text
data
file
is
very
important.
OrcaFlex
processes
the
file
line
by
line
in
the
order
in
which
it
appears
in
the
file.
Any
references
(e.g.
Lines
referring
to
Line
Types)
must
be
ordered
so
that
the
referenced
object
appears
before
any
references
to
it.
So
Line
Types
appear
before
Lines
in
the
file.
Similarly
Vessels
and
3D/6D
Buoys
appear
before
Lines,
Links,
Winches
and
Shapes
so
that
any
connection
references
(e.g.
a
Line
connected
to
a
Vessel)
can
be
ordered
correctly.
The
other
ordering
issue
relates
to
inactive
data.
Data
which
are
not
currently
available
are
known
as
inactive
data.
For
example,
data
relating
to
the
explicit
solver
are
inactive
when
the
implicit
solver
is
selected.
Inactive
data
cannot
be
specified
in
a
text
data
file.
This
rule
has
implications
for
the
order
in
which
data
are
presented
in
the
text
data
file.
Consider
the
following
example:
General:
InnerTimeStep: 0.01
SimulationIntegrationMethod: Explicit
Since
the
default
integration
method
is
the
implicit
solver
the
attempt
to
set
the
explicit
time
step
(InnerTimeStep)
will
fail
because
it
is
inactive
data.
The
solution
is
to
set
the
integration
method
before
setting
the
time
step:
General:
SimulationIntegrationMethod: Explicit
InnerTimeStep: 0.01
35
User
Interface,
OrcaFlex
Model
Files
w
This
principle
applies
in
general
you
should
set
as
soon
as
possible
all
data
which
influences
whether
other
data
are
active.
Automation
Text
data
files
can
easily
be
modified
and/or
generated
by
computer
programs/scripts.
This
means
that
the
text
data
file
format,
combined
with
a
text
processing
script
language
(e.g.
Python,
Perl,
Ruby
etc.),
can
form
a
very
effective
automation
tool.
The
OrcaFlex
Spreadsheet
provides
a
simple,
yet
effective,
facility
for
automating
the
production
of
text
data
files.
Some
specialist
features
have
been
included
in
the
text
data
file
to
aid
with
automation
tasks,
as
illustrated
in
the
following
example:
BaseFile: base.dat
Riser:
ContentsDensity: 0.8
Length[1]: 180
When
this
text
data
file
is
loaded
in
OrcaFlex
the
program
does
the
following:
1. Opens
the
OrcaFlex
binary
data
file
named
base.dat,
located
in
the
same
directory
as
the
text
data
file.
2. Sets
the
contents
density
for
the
OrcaFlex
Line
called
"Riser"
to
0.8.
3. Sets
the
length
of
the
first
section
of
"Riser"
to
180.
The
BaseFile
identifier
differs
from
IncludeFile
in
that
it
is
able
to
load
either
binary
or
text
data
files
(IncludeFile
only
works
with
text
data
files).
In
addition
BaseFile
clears
all
existing
data
in
the
model
before
loading
the
contents
of
the
specified
file.
On
the
other
hand,
IncludeFile
acts
incrementally,
starting
from
whatever
state
the
model
is
in
when
the
IncludeFile
identifier
is
encountered.
Standard
text
data
files
typically
specify
the
entire
model.
The
common
automation
task
of
making
systematic
variations
to
a
base
case
requires
the
ability
to
specify
an
existing
object
for
which
data
modifications
are
to
be
made.
This
is
done
using
the
object's
name
in
the
example
above
the
Riser:
line
performs
this
step.
In
a
similar
vein
it
is
a
common
requirement
to
modify
data
for
certain
items
in
a
list
or
table
without
specifying
the
entire
table.
The
indexing
syntax
(Length[1]
in
the
example)
performs
this
task.
Note
that
as
for
batch
script
files
the
indices
are
always
1-based.
Manually
edited
text
data
files
Saving
a
text
data
file,
then
editing
it
is
a
good
way
to
create
a
base
file
for
automation,
or
to
discover
data
names
and
data
structure
for
an
object.
However,
please
be
aware
that
this
is
a
one
way
process.
OrcaFlex
reads
and
interprets
a
text
data
file
line
by
line
to
build
the
model
incrementally,
discarding
the
lines
once
processed.
When
saving
a
file
OrcaFlex
exports
each
object,
including
any
default
values.
Consequently
the
save
process
is
not
the
inverse
of
the
load
process
and
any
manual
modifications
to
the
input
file
will
be
overwritten
when
the
file
is
saved
by
OrcaFlex.
In
the
short
automation
example
above,
if
the
model
created
when
this
file
is
loaded
is
saved,
the
text
data
file
would
contain
data
for
all
the
objects
imported
by
the
BaseFile
command,
the
full
data
for
the
line
Riser
and
other
default
data
not
specified
in
the
input
file.
3.2.3 Simulation
Files
Results
from
OrcaFlex
calculations
(statics
or
dynamics)
are
saved
to
simulation
files
(.sim).
These
are
binary
files
containing
the
following
sections:
x The
model
data.
This
section
is
essentially
a
binary
data
file.
x The
latest
calculated
state
(positions,
loads
etc.)
of
the
model.
This
section
allows
static
state
results
to
be
retrieved
and
also
enables
partially-run
dynamic
simulations
to
be
continued.
x The
log
file
which
contains
results
for
a
dynamic
simulation.
This
section
is
not
present
for
static
state
simulation
files.
Simulation
files
can
be
generated
in
a
number
of
different
ways:
x Interactively
from
the
main
OrcaFlex
window.
After
a
calculation
(statics
or
dynamics)
has
performed
then
a
simulation
can
be
saved
using
the
File
|
Save
or
File
|
Save
As
menu
items.
36
w
User
Interface,
Model
Browser
Figure:
Model
Browser
The
Model
Browser
consists
of
a
list
of
all
the
objects
in
the
model,
arranged
into
categories
according
to
object
type.
Several
symbols
are
used
in
the
list
of
objects:
Categories
can
be
opened,
to
show
their
contents,
or
closed,
to
simplify
viewing
a
complex
model.
Objects.
Use
double
click
to
view
or
edit
the
object's
data.
Locked.
These
objects
cannot
be
dragged
by
the
mouse
in
the
3D
View.
37
User
Interface,
Model
Browser
w
You
can
navigate
the
list
and
select
the
object
required
by
clicking
with
the
mouse,
or
using
the
arrow
keys
and
return.
If
the
list
is
longer
than
the
window
then
you
can
either
enlarge
the
window
or
use
the
scroll
bar.
Note:
More
than
one
object
can
be
selected
in
the
model
browser.
This
allows
you
to
perform
the
same
action
(e.g.
delete,
copy,
hide,
show,
locate)
on
many
objects
at
once.
To
select
more
than
one
object
you
use
the
standard
Windows
key
presses
CTRL+CLICK
to
add
to
a
selection
and
SHIFT+CLICK
to
extend
a
selection.
Hint:
If
you
have
all
objects
in
the
model
browser
selected
then
it
can
be
difficult
to
de-select
them.
The
simplest
way
is
to
use
CTRL+CLICK
to
de-select
one
item
and
then
to
CLICK
that
item
again
to
select
it
alone.
Paste
an
object
from
the
clipboard
into
the
model.
If
the
object
is
the
Variable
Data
then
all
the
variable
data
tables
are
pasted
in,
with
tables
being
renamed
if
necessary
to
avoid
clashing
with
existing
variable
data
n ames.
Note:
You
can
use
Cut/Copy
and
Paste
to
transfer
objects
between
two
copies
of
OrcaFlex
running
on
the
same
machine.
You
can
also
use
it
to
transfer
objects
between
two
OrcaFlex
data
files
(open
the
source
file
and
copy
the
object
to
the
clipboard,
t hen
open
the
destination
file
and
paste
the
object
back
from
the
clipboard),
but
the
Library
facility
(see
below)
provides
an
easier
way
of
achieving
the
same
thing.
Finds
and
highlights
the
object
in
any
open
3D
view
windows.
This
is
useful
in
complex
models
where
many
objects
are
on
the
3D
view.
The
highlighting
method
is
determined
by
the
Locate
Object
Method
preference.
Edit
Open
the
object's
data
form.
This
action
can
also
be
invoked
by
double-clicking
an
item,
or
by
selecting
it
and
pressing
RETURN.
Rename
Rename
the
selected
object.
You
can
also
rename
by
single-clicking
the
selected
object.
Lock/Unlock
You
can
use
drag+drop
with
the
mouse
to
reorder
objects
in
the
model.
This
is
useful
if
you
are
working
on
the
static
position
of
one
particular
line
you
can
drag
it
up
to
the
top
of
the
list
of
lines,
so
that
it
will
be
tackled
first
when
OrcaFlex
does
the
static
analysis.
38
w
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Interface,
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Browser
Library
The
Library
menu
facilities
allow
you
to
open
a
second
data
file.
You
can
then
Import
objects
from
that
second
file
into
the
current
model.
You
can
also
import
using
drag+drop
with
the
mouse.
For
details
see
Libraries.
Notes:
The
second
data
file
is
referred
to
as
the
library
model,
but
in
fact
it
can
be
any
OrcaFlex
data
file.
The
library
facilities
therefore
provide
an
easy
way
to
move
objects
between
different
OrcaFlex
data
files.
If
the
object
being
imported
is
the
variable
data
then
all
the
variable
data
tables
are
transferred,
with
tables
being
renamed
if
necessary
to
avoid
clashing
with
existing
variable
data
names.
The
browser's
Window
menu
enables
you
to
switch
focus
to
the
main
form
without
closing
the
browser
window.
A
corresponding
command
on
the
main
form's
Window
menu
switches
focus
back.
3.3.1 Model
Browser
Views
There
are
2
ways
of
viewing
objects
in
the
model
browser:
by
Types
or
by
Groups.
You
can
switch
between
views
by
clicking
on
the
model
browser
View
|
View
by
Groups/Types
menu
items,
or
though
the
popup
menu.
Types
View
This
is
the
traditional
model
browser
view.
The
browser
has
a
number
of
folders
containing
objects
of
the
same
type.
For
example
all
the
lines
are
contained
in
a
folder
called
"Lines".
Objects
can
be
reordered
within
a
folder
but
they
cannot
be
moved
to
a
different
folder.
To
select
this
view
you
should
click
the
View
|
View
by
Types
menu
item.
Groups
View
This
view
allows
you
to
customise
how
the
objects
are
arranged
in
the
model
browser.
You
can
add
any
number
of
browser
groups
to
the
browser.
These
groups
are
simply
folders
in
the
browser
tree.
Groups
can
contain
any
number
of
objects
or
other
groups.
In
this
way
a
hierarchical
structure
for
the
model
can
be
created.
To
select
this
view
you
should
click
the
View
|
View
by
Groups
menu
item.
To
add
groups
you
select
the
Edit
|
Add
Group
menu
item
or
use
the
popup
menu.
Groups
can
be
renamed
in
the
same
way
as
other
objects.
Objects
can
be
added
to
a
group
by
dragging
the
objects
onto
the
group.
Any
number
of
objects
can
be
added
to
a
group
in
one
operation
by
first
selecting
the
objects
and
then
d ragging
them.
This
multiple
selection
is
performed
using
the
standard
Windows
key
presses
CTRL+CLICK
to
add
to
a
selection
and
SHIFT+CLICK
to
extend
a
selection.
Groups
can
be
dragged
into
other
groups
and
so
a
hierarchical
structure
for
the
model
can
be
created.
As
well
as
allowing
you
the
freedom
to
structure
your
model
however
you
like,
the
Groups
View
allows
you
to
perform
the
same
action
(e.g.
delete,
copy,
hide,
show,
locate)
on
all
objects
in
a
group.
The
grouping
structure
is
also
used
when
cycling
through
data
forms-
clicking
the
Next
button
takes
you
to
the
next
object
in
the
groups
view.
3.3.2 Move
Selected
Objects
Wizard
This
wizard
allows
you
to
move
and
rotate
a
number
of
objects
en
masse.
The
wizard
is
most
useful
w hen
you
select
multiple
objects,
a
group
or
a
number
of
groups
or
even
the
entire
model.
To
use
the
wizard
you
must
first
open
the
Model
Browser
and
select
the
objects
which
you
wish
to
move.
Then
click
Move
Selected
Objects
on
the
browser's
edit
menu
(also
available
from
the
popup
menu).
Selecting
objects
Before
using
the
wizard
you
must
select
(in
the
model
browser)
the
objects
which
you
wish
to
move.
There
are
a
variety
of
ways
in
which
you
can
do
this.
We
list
a
few
of
the
more
useful
methods
below:
x Select
a
single
object.
x Select
multiple
objects.
You
can
do
this
in
the
model
browser
using
CTRL+CLICK
to
add
to
a
selection
and
SHIFT+CLICK
to
extend
a
selection.
x Select
an
object
type
folder.
This
works
when
the
model
browser
is
in
Types
View
mode.
For
example
select
the
Lines
folder
if
you
wish
to
move
all
the
lines
in
a
model.
39
User
Interface,
Libraries
w
x Select
a
group.
This
works
when
the
model
browser
is
in
Groups
View
mode.
This
allows
you
to
move
all
objects
in
that
group.
x Select
the
entire
model.
This
is
easiest
to
do
when
the
model
browser
is
in
Groups
View
mode.
The
first
item
in
the
model
browser
is
titled
"Model".
Select
this
item
if
you
wish
to
move
all
objects
in
the
model.
There
is
no
limitation
to
the
type
of
selections
you
can
make.
If
y ou
wish
to
move
2
groups
then
select
both
of
them
(using
CTRL+CLICK)
and
open
the
wizard.
Note:
If
your
selection
includes
an
item
which
contains
other
objects
(e.g.
a
group
or
an
object
type
folder)
then
all
objects
contained
by
that
item
will
be
moved
by
the
wizard.
Points
The
wizard
shows
a
list
of
the
points
associated
with
each
selected
object.
For
objects
like
buoys,
vessels
and
shapes
a
single
point
is
shown.
For
objects
like
lines,
links
and
winches
with
multiple
connection
points
the
list
shows
each
connection
point
for
that
object.
The
list
also
shows
the
global
coordinates
of
each
point.
For
each
point
you
have
the
option
of
including
or
excluding
it
in
the
move
operation.
This
might
be
useful
if
you
wanted
to
move
only
the
End
A
line
connection
points
and
leave
the
End
B
connection
points
unchanged,
for
example.
Move
specified
by
There
are
4
methods
of
specifying
how
the
objects
are
moved.
Displacement
For
this
method
you
specify
a
position
change
(i.e.
a
displacement)
which
will
be
applied
to
all
the
points
included
in
the
move
operation.
Polar
Displacement
This
method
is
similar
to
the
Displacement
method.
Here
you
specify
a
direction
and
distance
which
determine
a
position
change.
This
is
applied
to
all
the
points
included
in
the
move
operation.
New
Position
Here
you
give
a
reference
point
and
its
new
position.
The
same
displacement
is
applied
to
all
other
points
included
in
the
move.
Rotation
This
method
rotates
the
included
points
in
the
horizontal
plane.
You
specify
an
angle
of
rotation
and
a
central
point
about
which
the
rotation
is
performed.
Note
that
the
environment
data
(e.g.
wave
and
current
directions,
seabed
direction
etc.)
is
not
included
in
the
rotation.
Moving
the
objects
Once
you
have
decided
which
objects
to
include
in
the
move
and
how
the
move
is
specified
you
are
ready
to
actually
move
the
objects.
This
is
done
by
clicking
the
Move
button.
If
you
change
your
mind
and
decide
not
to
move
the
objects
then
simply
click
the
Close
button.
3.4 LIBRARIES
An
OrcaFlex
Library
is
a
collection
of
OrcaFlex
objects
(line
types,
lines,
buoys
etc.)
stored
in
an
ordinary
OrcaFlex
data
file.
For
example,
a
library
may
contain
all
the
standard
Line
Types
that
you
use
regularly.
Once
such
a
library
file
has
been
built
you
can
quickly
build
new
models
using
the
library
this
gives
faster
model
building
and
can
make
QA
procedures
safer.
To
open
a
library
file,
use
the
File
|
Libraries
menu
or
the
Library
menu
on
the
Model
Browser.
Note
that
any
OrcaFlex
data
file
can
be
opened
as
a
library
file,
and
this
makes
it
easy
to
use
the
model
browser
to
copy
objects
from
one
model
to
another.
3.4.1 Using
Libraries
Libraries
allow
you
to
easily
import
objects
from
one
OrcaFlex
model
to
another.
To
do
this
run
OrcaFlex
and
open
the
model
browser
by
clicking
the
model
browser
button
or
the
Model
|
Model
Browser
menu
item,
or
pressing
F2.
The
model
browser
should
look
like:
40
w
User
Interface,
Libraries
Now
you
open
your
file
as
a
library.
To
do
this
click
the
open
button
on
the
model
browser
and
select
your
data
file.
Now
the
model
browser
will
look
like:
We
are
now
going
to
copy
some
objects
from
the
right
hand
pane
to
the
left
hand
pane.
To
do
so
select
the
required
line
types
and
click
the
import
button
.
As
an
alternative
to
the
import
button
the
objects
can
be
dragged
from
the
right
hand
pane
to
the
left
hand
pane
or
the
Library
|
Import
menu
item
can
be
used.
41
User
Interface,
Libraries
w
Note
that
you
can
select
a
number
of
objects
and
import
them
all
in
one
go.
You
do
this
by
using
the
standard
Windows
key
presses
CTRL+CLICK
to
add
to
a
selection
and
SHIFT+CLICK
to
extend
a
selection.
If
you
do
this
the
library
will
look
like:
Once
you
have
imported
the
required
objects
you
can
close
the
library
by
selecting
the
Library
|
Close
menu
item
on
the
model
browser.
Now
the
model
browser
looks
like:
42
w
User
Interface,
Menus
Here
are
some
other
points
about
using
library
files:
x Because
library
files
are
simply
ordinary
OrcaFlex
data
files,
you
can
temporarily
treat
any
OrcaFlex
data
file
as
a
library.
This
allows
you
to
import
objects
from
one
OrcaFlex
data
file
to
another.
x You
can
re-size
the
model
browser
by
dragging
its
border.
You
can
also
control
the
relative
sizes
of
its
two
panes,
by
dragging
the
right
border
of
the
left
pane.
x You
can
view,
but
not
edit,
the
data
for
a
library
model
object,
by
double
clicking
it
in
the
Model
Browser
or
by
selecting
it
and
using
the
pop-up
menu.
x When
an
object
is
imported
from
a
library,
the
current
model
may
already
have
an
object
of
that
name.
In
this
case
OrcaFlex
automatically
gives
the
object
a
new
name
based
on
the
old
name.
3.4.2 Building
a
Library
A
library
file
is
simply
an
OrcaFlex
data
file
you
can
use
any
OrcaFlex
data
file
as
a
library.
In
practice
it
is
most
convenient
to
put
your
commonly
used
OrcaFlex
objects
into
files
designated
as
OrcaFlex
library
files.
You
build
a
library
file
in
the
same
way
as
you
build
a
standard
OrcaFlex
data
file.
Starting
with
a
blank
model
you
can
add
objects
in
the
usual
way
and
set
their
data.
Typically,
however,
you
would
want
to
reuse
objects
that
had
previously
been
created
and
used
for
a
project.
To
do
this
you
would
open
the
model
browser
and
load
your
project
data
file
as
a
library
using
the
open
button
on
the
model
browser.
Then
you
import
the
required
objects
as
described
in
Using
Libraries.
This
procedure
can
be
repeated
with
a
number
of
different
data
files
until
you
have
all
the
objects
you
wish
to
keep
in
the
library.
Then
you
should
close
the
model
browser
and
save
the
data
file
by
clicking
the
button
on
the
main
OrcaFlex
form.
This
data
file
can
now
be
used
as
a
library.
Notes:
Because
they
are
OrcaFlex
models,
libraries
contain
General
and
Environment
data,
but
these
would
not
usually
be
used,
except
perhaps
for
the
General
data
Comment
field,
which
can
act
as
a
title
for
the
library.
Because
the
library
file
is
just
an
ordinary
OrcaFlex
data
file,
it
can
also
be
opened
using
File
|
Open.
This
allows
you
to
edit
the
data
of
the
objects
in
the
library.
You
can
set
up
as
many
library
files
as
you
wish.
For
example
you
might
have
separate
libraries
for
Line
Types,
Attachment
Types,
Vessel
Types,
Variable
Data
Sources
etc.,
or
you
may
choose
to
use
just
one
library
for
everything.
The
model
browser's
Library
menu
contains
a
list
of
the
most
recently
used
libraries.
43
User
Interface,
Menus
w
3.5 MENUS
OrcaFlex
has
the
following
menus:
x The
File
menu
has
the
file
opening
and
saving
commands,
plus
commands
for
printing
or
exporting
data
or
results
and
managing
libraries.
x The
Edit
menu
has
data
and
object
editing
facilities.
x The
Model
menu
gives
access
to
the
model
building
facilities.
x The
Calculation
menu
provides
commands
for
starting
and
stopping
analyses,
including
batch
processing.
x The
View
menu
provides
view
control.
x The
Replay
menu
provides
replay
control.
x The
Graph
menu
gives
you
access
to
facilities
related
to
the
currently
active
graph
window.
x The
Results
menu
leads
to
the
results
facilities.
x The
Tools
menu
allows
you
adjust
preferences
and
to
lock
or
unlock
objects.
x The
Workspace
menu
allows
you
to
save
and
restore
collections
of
view,
graph
and
spreadsheet
windows.
x The
Window
menu
gives
access
to
the
various
windows
that
are
available,
and
allows
you
to
adjust
the
layout
of
your
windows.
x The
Help
menu
leads
to
the
various
help
documentation
that
is
available.
3.5.1 File
Menu
New
Deletes all objects from the model and resets data to default values.
Open
Open
an
OrcaFlex
file
either
a
data
file
(.dat
or
.yml)
or
a
simulation
file
(.sim).
You
can
also
open
an
OrcaFlex
file
by
dragging
and
dropping
it
onto
the
OrcaFlex
window.
For
example
if
you
have
Windows
Explorer
running
in
one
window
and
OrcaFlex
running
in
another
then
you
can
ask
OrcaFlex
to
open
a
file
by
simply
dragging
it
from
Explorer
and
dropping
it
over
the
OrcaFlex
window.
If
you
open
a
data
file
then
OrcaFlex
reads
in
the
data,
whereas
if
you
select
a
simulation
file
then
OrcaFlex
reads
in
both
the
data
and
the
simulation
results.
To
read
just
the
data
from
a
simulation
file,
you
can
use
the
Open
Data
menu
item.
Save
Save
an
OrcaFlex
file
either
a
data
file
(.dat
or
.yml)
or
a
simulation
file
(.sim)
to
the
currently
selected
file
name.
If
a
file
of
that
name
already
exists
then
it
is
overwritten.
If
calculation
results
(either
statics
or
dynamics)
are
available
then
a
simulation
file
will
be
saved.
Otherwise
a
data
file
will
be
saved.
Note:
You
cannot
save
a
dynamic
simulation
while
it
is
running
you
must
pause
the
simulation
first.
Save As
This
is
the
same
as
Save
but
allows
you
to
specify
the
file
name
to
save
to.
If
a
file
of
that
name
already
exists
then
you
are
asked
whether
to
overwrite
the
file.
When
saving
data
you
can
choose
either
the
binary
file
format
(.dat)
or
the
text
file
format
(.yml)
from
the
Save
as
type
drop
down
list.
Open
Data
Read
the
data
from
an
existing
data
file
or
simulation
file,
replacing
the
existing
model.
If
a
simulation
file
is
specified
then
OrcaFlex
reads
just
the
data
from
it,
ignoring
the
simulation
results
in
the
file.
44
w
User
Interface,
Menus
Save Data
Save
the
data
to
the
currently
selected
file
name,
using
extension
.dat
or
.yml.
If
a
file
of
that
name
already
exists
then
it
is
overwritten.
Save
Data
As
This
is
the
same
as
Save
Data
but
allows
you
to
specify
the
file
name
to
save
to.
If
a
file
of
that
name
already
exists
then
you
are
asked
whether
to
overwrite
the
file.
You
can
choose
either
the
binary
file
format
(.dat)
or
the
text
file
format
(.yml)
from
the
Save
as
type
drop
down
list.
Compare
Data
Compares
the
data
of
two
OrcaFlex
models.
See
Comparing
Data
for
details.
Properties
Displays
the
system
file
properties
dialog
for
the
current
file.
This
is
mainly
intended
t o
make
it
easier
to
find
the
full
path
for
files
with
long
names.
Submit
to
Distributed
OrcaFlex
Submit
the
current
file
for
processing
by
Distributed
OrcaFlex.
For
this
option
to
be
available,
either
the
Distributed
OrcaFlex
Viewer
or
Client
must
also
be
installed
on
the
machine.
Libraries
You
can
create
new
libraries
of
OrcaFlex
objects,
or
open
existing
libraries.
You
can
then
import
objects
from
the
library
into
your
existing
model,
or
export
objects
from
your
existing
model
to
the
library.
Export
Display
the
Export
form,
allowing
you
to
export
Data,
3D
Views,
Graphs,
Spreadsheets
or
Text
Windows.
See
also
Copy.
Selected
Printer
Calls
up
the
Printer
Setup
dialogue
window.
This
standard
Windows
dialogue
is
used
to
select
which
printer
to
use,
and
allows
you
to
control
the
way
that
it
is
used
the
details
vary
from
printer
to
printer,
and
depend
on
the
printer
manufacturer's
device
driver
currently
installed.
Please
refer
to
the
manuals
for
your
printer
as
well
as
the
Microsoft
documentation.
Display
the
Print
form,
allowing
you
to
print
Data,
3D
Views,
Graphs,
Spreadsheets
or
Text
Windows.
See
Printing.
Most
Recent
Files
List
of
the
most
recently
used
files.
Selecting
an
item
on
the
list
causes
the
file
to
be
opened.
Exit
Close
OrcaFlex.
3.5.2 Edit
Menu
Undo Drag
Undo the most recent drag. This is useful if you accidentally drag an object.
Cut
Copies the current selection to the clipboard and then deletes it.
45
User
Interface,
Menus
w
Copy
If
there
is
a
currently
selected
object
(see
Selecting
Objects),
then
that
object
is
copied
to
the
clipboard.
You
can
then
use
Edit
|
Paste
to
create
duplicate
copies
of
the
object.
The
data
for
the
object
is
copied
to
the
clipboard
in
text
form,
from
where
it
can
be
pasted
into
a
word
processor
document.
Note:
After
pasting
into
a
word
processor,
you
will
probably
need
to
put
the
text
into
a
fixed
space
font
since
much
of
the
data
is
in
tables.
If
there
is
no
currently
selected
object
then
the
currently
selected
3D
view,
text
window,
graph
or
spreadsheet
is
copied
to
the
clipboard.
Paste
Insert
object
from
clipboard.
This
can
be
used
to
duplicate
an
object
several
times
within
the
model.
After
selecting
Paste,
the
object
is
inserted
at
the
next
mouse
CLICK
position
in
a
3D
view.
If
the
current
window
is
a
Spreadsheet
then
the
contents
of
the
clipboard
are
pasted
into
the
spreadsheet.
Delete
If
the
active
window
is
a
3D
View
then
the
currently
selected
object
is
deleted.
Before
the
object
is
deleted,
any
connected
objects
are
disconnected,
and
any
graphs
associated
with
the
object
are
closed.
If
the
active
window
is
a
Spreadsheet
then
the
selected
cells
are
cleared.
Select
All
Copy
the
whole
model
to
the
clipboard.
The
model
data
is
copied
to
the
clipboard
in
text
form,
from
where
it
can
be
pasted
into
a
word
processor
document.
3.5.3 Model
Menu
Model Browser
New Vessel
New Line
New 6D Buoy
New 3D Buoy
New Winch
New Link
New Shape
Create
new
objects.
The
mouse
cursor
changes
to
the
New
Object
symbol
.
The
object
is
placed
at
the
position
of
the
next
mouse
CLICK
within
a
3D
View.
A
three
dimensional
position
is
generated
by
finding
the
point
where
the
mouse
CLICK
position
falls
on
a
plane
normal
to
the
view
direction
and
passing
through
the
View
Centre.
Vessels
are
always
placed
initially
at
the
sea
surface.
Show
Connections
Report
Displays a spreadsheet containing information about all object connections in the model.
46
w
User
Interface,
Menus
Old
versions
of
OrcaFlex
(before
7.4b)
cannot
read
files
that
contain
long
object
names,
i.e.
longer
than
10
characters.
This
menu
item
truncates
any
long
object
names
in
the
model.
You
should
do
this
if
you
wish
to
send
a
file
to
another
user
whose
version
of
OrcaFlex
is
older
than
7.4b.
Delete
Unused
Types
Deletes
any
types
(e.g.
Line
Types,
Clump
Types
etc.)
that
are
not
in
use.
This
is
sometimes
useful
to
simplify
a
data
file,
or
to
find
out
which
types
are
in
use.
Delete
Unused
Variable
Data
Sources
Deletes
any
variable
data
sources
that
are
not
in
use.
This
is
sometimes
useful
to
simplify
a
data
file,
or
to
find
out
which
variable
data
sources
are
in
use.
Use
Calculated
Positions
This
menu
item
is
available
after
a
successful
static
iteration
or
when
t he
simulation
is
finished
or
paused.
If
the
model
is
in
the
statics
complete
state
then
clicking
the
menu
item
sets
the
initial
positions
of
buoys,
vessels
and
free
line
ends
to
be
the
calculated
static
positions.
This
can
be
desirable
when
setting
up
a
model,
since
the
positions
found
are
likely
to
be
good
estimates
for
the
next
statics
calculation.
If
the
model
is
in
the
simulation
paused
or
stopped
state,
then
clicking
the
menu
item
sets
the
initial
positions
of
buoys
and
free
line
ends
to
be
the
latest
positions
in
the
simulation.
This
is
useful
when
OrcaFlex
statics
fails
to
find
an
equilibrium
configuration.
In
such
cases
you
can
use
dynamics
with
no
wave
motion
to
find
the
static
equilibrium
position
and
then
click
Use
Calculated
Positions.
If
a
replay
is
active
then
clicking
the
menu
item
sets
the
initial
positions
of
buoys
and
free
line
ends
to
be
the
positions
at
the
latest
replay
time.
Use
Specified
Starting
Shape
for
Lines
This
menu
item
is
an
extension
of
Use
Calculated
Positions.
As
well
as
setting
the
initial
positions
of
buoys,
vessels
and
free
line
ends
it
modifies
data
for
all
Lines
in
the
following
way:
1. The
Step
1
Statics
Method
is
set
to
User
Specified.
2. The
User
Specified
Starting
Shape
data
are
set
to
the
calculated
node
positions.
As
described
above
these
positions
are
either
the
results
of
a
static
calculation
or
the
results
of
a
dynamic
simulation.
Use
Static
Line
End
Orientations
This
menu
item
is
only
available
after
a
successful
static
analysis.
Clicking
the
menu
item
sets
the
line
end
orientation
data,
for
all
line
ends
in
the
model
that
have
zero
connection
stiffness,
to
the
orientations
found
in
the
static
analysis.
This
is
done
as
follows.
x For
any
line
end
with
zero
bend
connection
stiffness,
the
end
azimuth
and
end
declination
will
be
set
to
the
azimuth
and
declination
of
the
end
node,
as
found
by
the
static
analysis.
x If
the
line
includes
torsion
and
the
line
end
connection
twist
stiffness
is
zero,
then
the
end
gamma
will
be
set
to
the
gamma
of
the
end
node,
as
found
by
the
static
analysis.
This
action
can
be
useful
if
you
want
to
set
the
line
end
orientation
to
that
which
gives
zero
end
moments
when
the
line
is
in
its
static
position.
To
do
this
first
set
the
end
connection
stiffness
values
to
zero,
then
run
the
static
analysis
and
then
click
the
Use
Static
Line
End
Orientations
menu
item.
You
can
then
set
the
end
connection
stiffness
to
their
actual
values.
3.5.4 Calculation
Menu
Single Statics
Start
the
single
statics
calculation
(see
Static
Analysis).
Progress
and
any
error
messages
that
occur
are
reported
in
the
Statics
Progress
Window,
which
is
shown
as
a
minimised
window
icon.
The
statics
calculation
can
be
interrupted
by
CLICKING
the
Reset
button.
47
User
Interface,
Menus
w
Multiple Statics
Starts
the
multiple
offset
statics
calculation
(see
Multiple
Statics).
Progress
and
any
error
messages
that
occur
are
reported
in
the
Statics
Progress
Window,
which
is
shown
as
a
minimised
window
icon.
The
statics
calculation
can
be
interrupted
by
CLICKING
the
Reset
button.
Start
a
dynamic
simulation
(see
Dynamic
Analysis).
If
necessary,
OrcaFlex
will
automatically
do
a
statics
calculation
first.
During
the
simulation,
the
Status
Bar
shows
the
current
simulation
time
and
an
estimate
of
the
time
that
the
simulation
will
take,
and
all
3D
View
windows
and
Graphs
are
updated
at
regular
intervals.
Pause
the
simulation.
To
save
the
results
of
a
part-run
simulation
you
need
to
pause
it
first.
The
simulation
can
be
restarted
by
CLICKING
the
Run
button.
Extend
Dynamic
Simulation
This
facility
is
only
available
when
the
current
simulation
is
either
paused
or
completed.
It
adds
another
stage
to
the
current
simulation,
without
having
to
reset.
You
are
asked
to
specify
the
length
of
the
new
stage.
You
can
then
continue
the
simulation,
without
having
to
restart
it
from
scratch.
This
is
particularly
useful
if
you
have
a
simulation
that
has
not
been
run
for
long
enough.
Note
that
data
for
the
new
stage,
e.g.
for
winch
control
and
vessel
prescribed
motion,
are
initially
set
to
be
the
same
as
for
the
previous
stage.
However,
the
data
for
the
new
stage
can
be
edited
because
the
new
stage
has
not
yet
started.
Reset
Reset the model, discarding any existing results. The model can then be edited or a new model loaded.
View Warnings
Displays
a
window
allowing
you
to
review
all
warnings
displayed
by
OrcaFlex
during
a
calculation
(statics
or
dynamics).
This
feature
is
particularly
useful
for
simulations
run
in
batch
mode
or
by
Distributed
OrcaFlex.
In
these
circumstances
warnings
are
not
displayed
since
to
do
so
would
require
user
intervention.
Line
Setup
Wizard
Opens
the
Line
Setup
Wizard.
The
wizard
is
only
available
when
the
current
simulation
is
in
Reset
state.
Wave
Scatter
Conversion
Opens
the
Wave
Scatter
Conversion
form.
This
facility
converts
a
scatter
table
of
sea
states
to
a
scatter
table
of
regular
(i.e.
individual)
waves.
Batch
Processing
Run
a
batch
of
analyses
automatically
while
the
program
is
unattended.
See
Batch
Processing
for
details.
3.5.5 View
Menu
Change the view direction, for the active 3D View, by the view rotation increment.
48
w
User
Interface,
Menus
Plan
Increase (or decrease) the view azimuth by 90, for the active 3D view.
Click
the
zoom
button
to
zoom
in
(decrease
view
size)
or
SHIFT+CLICK
it
to
zoom
out
(increase
view
size).
Reset
to
Default
View
Set
the
view
parameters
for
the
active
3D
View
to
be
the
default
view
of
the
model.
Set
as
Default
View
Set
the
default
view
of
the
model
to
be
the
view
parameters
of
the
active
3D
View.
Show
Entire
Model
Set
the
view
parameters
for
the
active
3D
View
so
that
the
entire
model
will
be
displayed.
Axes
Allows
model
configurations
for
different
times
of
the
simulation
to
be
superimposed
in
3D
Views.
See
Superimpose
Times.
Current
Position
Draws
the
model
at
the
latest
time
this
action
is
used
to
cancel
the
Superimpose
Times
view.
3.5.6 Replay
Menu
Adjust
the
Replay
Parameters,
such
as
the
period
of
simulation
to
replay,
the
time
interval
between
frames,
the
replay
speed
etc.
For
more
information
see
Replays.
Step
the
replay
forwards
or
backwards
one
frame
at
a
time.
Click
the
button
to
step
forwards;
CLICK
with
SHIFT
held
down
to
step
backwards.
Replay
Faster
/
Slower
Exports
the
replay
as
a
video
clip
in
AVI
file
format.
See
Replays
for
more
details.
3.5.7 Graph
Menu
Use
Default
Ranges
49
User
Interface,
Menus
w
Values
Displays
a
spreadsheet
containing
the
numerical
values
on
which
the
graph
is
based.
Spectral
Density
(only
available
for
time
history
graphs)
Opens
the
graph
properties
form
(which
can
also
be
opened
by
double
clicking
the
graph).
3.5.8 Results
Menu
Select Results
Display
the
results
form
which
allows
you
to
choose
from
the
currently
available
selection
of
graphs
and
results
tables.
Graphs
such
as
Time
Histories,
XY
Graphs
and
Range
Graphs
may
be
created
before
a
simulation
has
been
run,
thus
allowing
you
to
watch
the
variables
during
a
simulation.
Fatigue
Analysis
Locking
an
object
prevents
it
from
being
accidentally
dragged
or
connected
using
the
mouse
on
3D
views,
for
example
if
you
nudge
the
mouse
slightly
while
trying
to
DOUBLE
CLICK.
Lock
/
Unlock
Selected
Object
toggles
the
lock
on
the
currently
selected
object.
If
the
lock
is
on,
it
will
be
switched
off.
If
the
lock
is
off,
then
it
will
be
switched
on.
Locked
Objects
may
still
have
their
positions
edited
in
the
data
Edit
Forms.
The
status
of
the
object
locks
is
shown
by
symbols
in
the
Model
Browser.
Lock
/
Unlock
All
Objects
Locks
or
unlocks
all
objects
in
the
model.
Set
Thread
Count
Allows
you
to
change
the
number
of
execution
threads
used
by
OrcaFlex
for
parallel
processing.
Preferences
Allows
you
to
control
various
program
settings
so
that
you
can
customise
the
program
to
the
way
you
prefer
to
work.
See
Preferences.
3.5.10 Workspace
Menu
Open
Workspace
Opens
a
previously
saved
workspace
file
and
restores
the
window
layout
described
in
that
workspace
file.
Save
Workspace
50
w
User
Interface,
Menus
Make default for this file, Make default for this folder
Makes
the
current
window
layout
the
default
workspace
for
the
current
simulation
file
or
for
the
current
folder,
respectively.
The
default
workspace
for
a
simulation
file
will
be
restored
whenever
you
open
that
file.
The
default
workspace
for
a
folder
will
be
restored
whenever
you
open
any
simulation
file
in
that
folder.
If
a
default
workspace
exists
for
a
both
a
file
and
the
folder
containing
the
file,
then
the
default
for
the
file
is
used.
Use
file
default,
Use
folder
default
Applies
the
default
workspace
to
the
current
model.
This
is
useful
if
you
have
changed
the
window
layout
and
wish
to
restore
the
default
workspace
layout
without
re-loading
the
model.
Remove
file
default,
Remove
folder
default
List
of
the
most
recently
saved
workspaces
in
the
directory
which
contains
the
current
model.
Selecting
an
item
on
the
list
causes
the
workspace
to
be
loaded.
3.5.11 Window
Menu
Add 3D View
Add
another
3D
View
Window.
Having
multiple
views
on
screen
allows
you
to
watch
different
parts
of
the
system
simultaneously,
or
to
see
different
views
at
the
same
time
(for
example
a
plan
and
an
elevation).
Tile
Vertical,
Tile
Horizontal
Arranges
all
the
windows
(3D
View,
graph
or
spreadsheet)
so
that
they
fill
the
main
window
area
and
fit
side
by
side
without
overlapping.
The
program
automatically
tiles
windows
every
time
a
new
window
is
created
or
deleted.
Switch
to
Model
Browser
This
command,
and
the
corresponding
command
on
the
model
browser's
Window
menu,
enable
you
to
switch
focus
between
the
main
form
and
the
model
browser
window.
Statics
Progress
This
is
a
list
of
all
currently
open
windows.
If
a
window
is
hidden
under
others
it
can
be
selected
easily
from
this
list.
3.5.12 Help
Menu
OrcaFlex Help
Opens
the
help
file
at
the
introduction
to
the
OrcaFlex
Examples
topics.
Keyboard
Shortcuts
Lists
the
keyboard
shortcuts
used
by
OrcaFlex.
Orcina
Home
Page
51
User
Interface,
3D
Views
w
About
Displays
a
window
giving
the
program
version,
details
about
Orcina
Ltd
and
various
other
miscellaneous
information.
3.6 3D
VIEWS
3D
Views
are
windows
showing
a
spatial
representation
of
the
model.
Two
distinct
types
of
3D
View
are
available:
wire
frame
shows
an
isometric
projection
of
the
model;
shaded
draws
the
model
as
solid
objects
with
lighting,
shading,
perspective
and
hidden
line
removal.
Figure:
A
wire
frame
3D
View
(left)
alongside
a
shaded
3D
View
(right)
3D
View
windows
may
be
rotated,
zoomed
and
panned
to
allow
any
aspect
of
the
system
to
be
viewed.
The
view
is
controlled
by
a
number
of
View
parameters
see
View
Parameters
and
the
caption
of
a
3D
View
window
shows
the
current
View
Azimuth
and
View
Elevation
values,
while
a
scale
bar
in
the
view
indicates
the
current
View
Size.
Multiple
view
windows
may
be
placed
side-by-side
so
that
you
can
view
different
parts
of
the
system
simultaneously
or
view
from
different
angles
(for
example
a
plan
and
elevation
view).
This
allows
you
to
build
non-
in-plane
models
on
screen
with
the
mouse.
Further
3D
View
windows
are
added
by
using
the
Window
|
Add
3D
View
menu
item
or
by
CLICKING
on
the
Add
3D
View
button
on
the
tool
bar.
Windows
may
be
arranged
by
dragging
their
borders
or
using
the
Window
|
Tile
Vertical/Horizontal
menu
items.
3D
Views
may
be
closed
by
CLICKING
the
cross
at
the
top
right-hand
corner.
The
objects
in
a
3D
view
are
"live"
in
the
sense
that
you
can
use
the
mouse
pointer
to
select
objects,
drag
them
around
in
the
view
and
make
connections
between
objects.
See
Selecting
Objects,
Creating
and
Destroying
Objects,
Dragging
Objects,
Object
Connections,
for
details.
If
you
DOUBLE
CLICK
on
an
object
then
the
data
form
for
that
object
appears,
so
that
you
can
examine
or
edit
its
data.
Note:
When
using
the
shaded
view
objects
cannot
be
selected,
dragged
etc.
For
this
reason,
the
wire
frame
view
is
most
useful
when
building
your
model.
After
running
a
simulation,
or
loading
a
simulation
file,
a
dynamic
replay
(animation)
can
be
shown
in
one
or
more
3D
View
windows.
A
replay
shows
a
sequence
of
snapshots
of
the
model
taken
at
specified
intervals
throughout
part
or
all
of
the
simulation.
Replays
may
be
played
in
just
one
3D
View
window,
or
in
all
of
them
simultaneously
see
Preferences.
52
w
User
Interface,
3D
Views
Finally,
3D
Views
may
be
printed
by
selecting
the
view
desired
and
using
the
print
menu.
Also,
the
picture
may
be
exported
to
a
file
or
the
windows
clipboard.
Measuring
Tape
Tool
(only
available
in
wire
frame
mode)
You
can
measure
distance
on
a
3D
view
using
the
measuring
tape
tool.
Hold
down
the
SHIFT
and
CTRL
keys
and
then
drag
a
line
between
any
two
points
the
distance
between
them
is
displayed
on
the
status
bar.
Note
that
this
is
the
distance
in
the
plane
of
the
3D
view.
3.6.1 View
Parameters
The
view
shown
in
a
3D
view
window
is
determined
by
the
following
parameters,
which
can
be
adjusted
using
the
view
control
buttons
or
the
Edit
View
Parameters
item
on
the
View
menu.
View
Centre
Defines
the
3D
global
coordinates
of
the
point
that
is
shown
at
the
centre
of
the
window.
View
Size
The
diameter
of
the
view
area.
It
equals
the
distance
represented
by
the
smaller
of
the
2
sides
of
the
view
window.
This
parameter
must
be
greater
than
zero.
Example:
If
the
window
on
screen
is
wider
than
it
is
high,
and
View
Size
=
100.0
then
an
object
100
units
high
would
just
fill
the
height
of
the
window.
These
determine
the
direction
(from
the
view
centre)
from
which
the
model
is
being
viewed.
The
azimuth
angle
is
measured
from
the
global
X
direction
towards
the
global
Y
direction.
The
elevation
angle
is
then
measured
upwards
(downwards
for
negative
elevation
angles)
from
there.
The
view
shown
is
that
seen
when
looking
from
this
direction
i.e.
by
a
viewer
who
is
in
that
direction
from
the
view
centre.
Example:
View
Elevation
+90
means
looking
in
plan
view
from
above,
and
View
Elevation
=
0,
View
Azimuth
=
270
(or
-90)
means
a
standard
elevation
view,
looking
along
the
Y
axis.
Window Size
You
can
adjust
the
size
of
a
3D
view
window
either
by
dragging
the
window
border,
or
by
setting
its
window
size
on
the
view
parameters
form.
The
latter
is
sometimes
useful
when
exporting
a
view
or
exporting
a
replay
video,
since
it
makes
it
easier
to
export
multiple
files
and
produce
videos
with
identical
dimensions.
Graphics
Mode
Each
model
has
its
own
default
view
parameters
that
are
saved
with
the
model
data.
Whenever
a
new
3D
view
is
created,
it
starts
with
this
default
view.
You
can
set
an
existing
3D
view
to
the
default
view
by
using
the
Reset
to
Default
View
command
(on
the
view
menu
or
pop-up
menu).
To
set
the
default
view
parameters,
first
set
up
a
3D
View
to
the
default
view
that
you
want
and
then
use
the
Set
as
Default
View
command
(on
the
view
menu
or
pop-up
menu).
As
an
alternative
you
can
use
the
calculated
based
on
the
model
extent
option
which
results
in
a
default
view
that
is
sized
so
that
the
entire
model
will
be
displayed.
3.6.2 View
Control
You
can
adjust
the
view
in
a
3D
view
window
using
the
view
control
buttons:
Button
Menu
Item
Shortcut
Action
View
|
Rotate
Up
CTRL+
Increase
view
elevation
View
|
Rotate
Down
CTRL+
Decrease
view
elevation
+
SHIFT
View
|
Rotate
Right
CTRL+
Increase
view
azimuth
53
User
Interface,
3D
Views
w
x Use
the
rotate
buttons
.
Pressing
these
with
the
SHIFT
key
held
reverses
the
rotation.
x Use
the
Rotate
Up,
Rotate
Down,
Rotate
Left
or
Rotate
Right
menu
items
or
their
shortcut
keys
CTRL+ALT+
.
For
shaded
views
only
you
can
rotate
about
the
viewer
position
by
holding
the
ALT
key
down
whilst
selecting
these
menu
items
or
shortcuts.
x Use
the
Plan,
Elevation,
Rotate
90
or
Rotate
-90
menu
items
or
their
shortcut
keys
CTRL+P,
CTRL+E,
CTRL+Q
and
SHIFT+CTRL+Q.
x Edit
the
View
Azimuth
and
View
Elevation
in
the
view
parameters
form.
Zooming
You
can
zoom
into
and
out
of
3D
Views
by
using
the
zoom
button
,
the
zoom
menu
items
and
the
shortcut
keys
CTRL+I
and
SHIFT+CTRL+I.
In
addition,
you
can
zoom
in
or
out
using
the
mouse
wheel
button
with
the
CTRL
key
held
down.
The
following
methods
of
zooming
are
only
available
in
wire
frame
3D
Views.
Also
you
can
zoom
in
on
a
particular
region
of
interest
in
a
3D
view
by
defining
a
rectangle
around
it
on
screen
using
the
mouse.
To
do
this,
hold
the
ALT
key
down,
place
the
mouse
in
one
corner
of
the
desired
rectangle
and
press
down
the
left
mouse
button
while
dragging
the
mouse
to
the
opposite
corner.
When
you
release,
the
region
selected
will
be
expanded
to
fill
the
window.
To
zoom
out,
repeat
the
operation
holding
down
the
SHIFT
and
ALT
keys
the
region
shown
in
the
window
will
shrink
to
fit
into
the
rectangle
drawn.
54
w
User
Interface,
3D
Views
You
can
also
zoom
in
and
out
by
a
fixed
amount,
keeping
the
same
view
centre,
by
using
ALT+CLICK
and
ALT+SHIFT+CLICK.
Figure:
Shaded
graphics
The
Sea
Surface
and
Seabed
are
drawn
as
textured
surfaces.
If
there
are
objects
on
the
other
side
of
these
surfaces
then
they
can
be
obscured.
These
surfaces
are
drawn
with
a
user-specified
amount
of
translucency
which
allows
you
to
compensate
for
this.
Importing
3D
models
Objects
like
Lines
are
straightforward
to
draw.
OrcaFlex
uses
the
Line
Type
contact
diameter
to
determine
the
thickness
of
each
segment
of
the
Line.
Objects
like
Vessels
present
more
difficulties.
OrcaFlex
by
default
will
draw
a
solid,
filled-in
shape
based
on
the
wire
frame
data
you
have
specified.
While
this
can
be
sufficient
you
may
prefer
something
less
simplistic.
Alternatively
you
may
import
a
more
detailed
3D
model,
e.g.
the
turret
moored
FPSO
above.
You
can
import
3D
models
for
6D
Buoys,
Wings
and
Shapes
as
well
as
for
Vessels.
55
User
Interface,
3D
Views
w
We
have
provided
a
very
basic
selection
of
generic
models
which
you
are
free
to
use.
There
are
models
of
an
FPSO,
a
turret
moored
FPSO,
an
installation
vessel,
a
semisub
and
a
subsea
template.
For
information
on
generating
and
importing
3D
models
specific
to
your
project
please
refer
to
www.orcina.com/Support/ShadedGraphics.
Viewer
Position
Because
the
shaded
graphics
mode
uses
perspective
it
requires
the
concept
of
the
viewer
position
as
well
as
the
viewer
centre.
The
isometric
wire
frame
view
has
no
such
requirement.
OrcaFlex
defines
the
viewer
position
to
be
in
a
line
in
the
view
direction
(defined
by
the
view
azimuth
and
view
elevation)
at
a
distance
of
view
size
*
1.5
from
the
view
centre.
It
is
possible
to
rotate
the
view
around
both
the
view
centre
and
around
the
viewer
position.
Video
export
Just
as
for
wire
frame
views
OrcaFlex
can
export
video
files
of
a
replays
in
shaded
views.
When
producing
videos
it
is
very
important
to
use
compression,
otherwise
the
video
file
size
becomes
unreasonably
large.
The
software
that
performs
this
compression
is
called
a
codec.
For
wire
frame
replays
OrcaFlex
uses
a
built-in
codec
called
run-length
encoding.
This
codec
is
not
suitable
for
shaded
replays
and
in
fact
there
is
no
suitable
built-in
codec
in
Windows.
We
would
recommend
using
an
MPEG-4
codec
of
which
many
are
available.
In
our
experience
the
freely
available
XVID
codec
performs
very
well.
The
XVID
codec
can
be
downloaded
from
www.orcina.com/Support/ShadedGraphics.
Should
you
wish
to
use
a
different
codec
you
can
select
this
from
the
Preferences
form.
Hardware
Requirements
The
shaded
graphics
mode
does
require
the
presence
of
a
DirectX
9
compatible
graphics
card.
In
our
experience
the
most
important
factor
to
consider
when
choosing
a
card
to
work
with
shaded
graphics
is
the
amount
of
memory.
We
would
recommend
using
a
card
with
256MB
or
more.
It
is
also
important
to
make
sure
that
your
computer's
graphics
settings
specify
a
colour
mode
of
16
bits
(65536
colours)
or
better.
Notes:
If
your
machine's
graphics
capabilities
are
insufficient
then
the
shaded
graphics
mode
may
fail
to
function
properly
or
indeed
fail
to
function
at
all.
For
example,
low
quality,
blocky
images
usually
indicate
a
graphics
card
with
insufficient
memory.
This
problem
can
also
manifest
itself
by
failure
to
draw
the
sky
which
appears
plain
white.
For
best
results
you
should
centre
your
model
close
to
the
global
origin.
The
Move
Selected
Objects
facility
can
help
you
do
this.
On
some
machines
the
display
driver
cannot
draw
the
dashed
or
dotted
pen
styles
and
instead
draws
nothing.
So
on
such
machines
only
the
solid
and
blank
pen
styles
work.
For
wire
frame
views
the
various
objects
are
drawn
as
follows:
x The
various
coordinate
systems
can
be
drawn
as
small
triplets
of
lines
showing
their
origin
and
the
orientation
of
their
axes.
The
wave,
current
and
wind
directions
can
be
drawn
as
arrows
in
the
top
right
hand
corner
of
3D
views.
You
can
control
both
what
is
drawn
(see
3D
View
Drawing
Preferences)
and
the
drawing
data
used.
x The
Seabed
is
drawn
as
a
grid
using
the
seabed
pen.
56
w
User
Interface,
3D
Views
x The
Sea
Surface
is
drawn
as
a
grid
or
as
a
single
line.
This
is
controlled
by
the
user's
choice
of
Surface
Type
as
specified
on
the
drawing
page
on
the
Environment
data
form.
If
the
Surface
Type
is
set
to
Single
Line
then
one
line
is
drawn,
aligned
in
the
wave
direction.
If
the
Surface
Type
is
set
to
Grid
then
a
grid
of
lines
is
drawn.
This
line
or
grid
is
drawn
using
the
sea
surface
pen.
x Shapes
are
drawn
either
as
wire
frames
(Blocks,
Cylinders
and
Curved
Plates)
or
as
a
grid
(Planes).
As
well
as
controlling
the
pen
colour,
width
and
style,
for
shapes
you
can
also
control
the
number
of
lines
used
to
draw
the
shape.
x Vessels
are
drawn
as
a
wire
frame
of
edges
and
vertices
defined
by
the
user
on
the
Vessel
and
Vessel
Types
data
forms.
x 3D
Buoys
are
drawn
as
a
single
vertical
line
of
length
equal
to
the
height
of
the
buoy.
x 6D
Buoys
are
drawn
as
a
wire
frame
of
edges
and
vertices.
For
Lumped
Buoys,
the
vertices
and
edges
are
defined
by
the
user
on
the
buoy
data
form.
For
Spar
Buoys
and
Towed
Fish
the
vertices
and
edges
are
automatically
generated
by
OrcaFlex
to
represent
the
stack
of
cylinders
that
make
up
the
buoy.
As
an
option
Spar
Buoys
and
Towed
Fish
can
be
drawn
as
a
stack
of
circular
cylinders
this
is
the
default
setting.
x Wings
are
drawn
as
rectangles
in
either
the
6D
Buoy
pen
or
the
Wing
Type
pen
as
determined
in
the
Wing
Type
data.
x Lines
are
drawn
as
a
series
of
straight
lines,
one
for
each
segment,
joining
points
drawn
at
each
node.
Separate
pens
are
used
for
the
segments
and
nodes,
so
you
can,
for
example,
increase
the
pen
width
used
for
the
nodes
to
make
them
more
visible.
There
is
also,
on
the
Line
Data
form,
a
choice
of
which
pen
to
use
to
draw
the
segments.
x Clumps
are
drawn
as
a
thin
vertical
bar.
x Drag
Chains
are
drawn
using
the
colour
and
line
style
specified
on
the
attachment
types
form.
The
hanging
part
of
the
chain
is
drawn
as
a
line,
of
length
equal
to
the
hanging
length
and
at
the
angle
calculated
using
the
above
theory.
The
supported
part
of
the
chain
(if
any
is
supported)
is
separately
drawn
as
a
blob
at
the
seabed,
directly
beneath
the
node.
The
drag
chain
drawing
therefore
directly
reflects
the
way
in
which
the
chain
is
modelled.
x Flex
Joints
are
drawn
as
a
circular
blob
using
the
colour
and
line
style
specified
on
the
attachment
types
form.
x Links
and
Winches
are
drawn
as
a
straight
line
segments
joining
the
connection
points.
Lines,
Links
and
Winches
and
Shapes
are
special
slave
objects
that
can
be
connected
to
other
master
objects
see
Connecting
Objects.
To
allow
these
connections
to
be
made,
each
slave
object
has
a
joint
at
each
end
that
you
can
connect
to
a
master
object
or
else
leave
Free.
When
the
program
is
in
Reset
or
Statics
Complete
state
these
joints
are
drawn
as
follows:
The
joint
at
End
A
of
a
line
or
end
1
of
a
Link
or
Winch
is
drawn
as
a
small
triangle.
The
other
joints
are
drawn
as
small
squares.
This
distinguishes
which
end
of
a
Line,
Link
or
Winch
is
which.
If
the
joint
is
connected
to
a
master
object,
then
it
is
drawn
in
the
colour
of
the
master
object
to
which
it
is
connected.
If
the
joint
is
Free,
then
it
is
drawn
in
the
colour
of
the
Line,
Link
or
Winch
to
which
it
belongs.
Shaded
Drawing
57
User
Interface,
3D
Views
w
x Wings
are
drawn
as
plates
using
their
specified
span
and
chord.
Alternatively
they
can
be
represented
by
an
imported
3D
model.
x Lines
are
drawn
as
a
series
of
cylinders,
one
for
each
segment
using
the
contact
diameter
as
specified
on
the
Line
Type
form.
There
is
also,
on
the
Line
Data
form,
a
choice
of
which
pen
to
use
to
draw
the
segments.
x Drag
Chains
are
drawn
as
a
chain
with
bar
diameter
derived
from
the
drag
chain's
effective
diameter.
x Flex
Joints
are
drawn
as
cylinders
with
radius
2R
and
length
4R
where
R
is
the
radius
of
the
node
to
which
the
flex
joint
is
attached.
x Links
and
Winches
are
drawn
as
a
series
of
cylinders
joining
the
connection
points.
The
diameter
of
the
cylinders
can
be
specified
on
the
object's
data
form.
3.6.6 Selecting
Objects
A
single
CLICK
on
or
near
an
object
in
a
3D
View
selects
it
ready
for
further
operations.
The
currently
selected
object
is
indicated
in
the
Status
bar.
All
objects
have
a
hot
zone
around
them.
If
several
objects
have
overlapping
hot
zones
at
the
mouse
position,
they
will
be
selected
in
turn
at
subsequent
CLICKS.
To
deselect
the
object
(without
selecting
another
object)
CLICK
on
the
3D
view
away
from
all
objects.
CLICK
on
an
object
to
open
its
data
form.
3.6.7 Creating
and
Destroying
Objects
When
the
model
is
in
Reset
or
Statics
Complete
state
then
you
can
create
and
destroy
objects
using
the
mouse.
To
create
a
new
object,
CLICK
on
the
appropriate
new
object
button
on
the
tool
bar
or
select
the
Model
|
New
Object
menu
item.
The
mouse
cursor
changes
to
show
this.
A
new
object
of
that
type
is
created
at
the
position
of
the
next
CLICK
on
a
3D
View.
You
can
also
create
a
new
object
by
copying
an
existing
one.
To
do
this
select
the
object
and
press
CTRL+C
to
take
a
copy
of
it.
You
can
now
press
CTRL+V
(more
than
once
if
you
want
more
than
one
copy)
again
the
mouse
cursor
changes
and
the
copy
object
is
pasted
at
the
position
of
the
next
mouse
CLICK
in
a
3D
view.
This
method
of
creating
a
new
object
is
particularly
useful
if
you
want
an
almost
identical
object
you
can
create
a
copy
of
it
and
then
just
change
the
data
that
you
want
to
differ.
To
destroy
an
object,
simply
select
it
and
then
press
the
DELETE
key.
You
will
be
asked
to
confirm
the
action.
3.6.8 Dragging
Objects
An
unlocked
object
may
be
dragged
to
relocate
it
by
pressing
the
mouse
button
down
and
holding
it
down
while
moving
the
mouse.
When
the
mouse
button
is
released,
then
the
object
will
be
positioned
at
the
new
location.
The
current
coordinates
of
the
object
are
shown
in
the
Status
Bar
during
the
drag
operation.
Note:
Objects
must
be
dragged
a
certain
minimum
distance
(as
specified
in
the
Preferences
form)
before
the
drag
operation
is
started.
This
prevents
accidental
movement
of
objects
when
DOUBLE
CLICKING
etc.
Objects
may
be
locked
to
prevent
unintended
drag
operations
moving
them
(see
Locking
an
object).
Their
coordinates
may
still
be
edited
on
their
data
form.
Note:
Slave
objects
that
are
connected
are
moved
relative
to
their
master's
local
origin.
Other
objects
are
moved
in
the
global
coordinate
frame.
Dragging
is
only
available
in
Reset
or
Statics
Complete
states,
and
when
the
object
is
not
locked.
3.6.9 Connecting
Objects
Unlocked
slave
objects
(e.g.
Lines,
Links,
etc.)
can
be
connected
to
master
objects
using
the
mouse
in
a
3D
View
(see
Object
Connections).
First
select
the
end
of
the
slave
that
you
want
to
connect
by
CLICKING
on
or
near
its
end
joint.
Then
hold
down
the
CTRL
key
while
CLICKING
on
the
master
object
the
two
will
then
be
connected
together.
This
operation
is
only
permitted
for
master-slave
object
pairs,
for
example
connecting
a
line
to
a
vessel.
The
connection
is
indicated
in
the
Status
Bar
and
the
joint
connected
is
drawn
in
the
colour
of
the
master
object
to
show
the
connection.
To
Free
a
joint
i.e.
to
disconnect
it
select
it
and
then
CTRL+CLICK
on
the
sea
surface.
To
connect
a
joint
to
a
Fixed
Point,
select
it
and
then
CTRL+CLICK
on
the
global
axes.
58
w
User
Interface,
Replays
To
connect
an
object
to
an
Anchor
(a
fixed
point
with
a
coordinate
relative
to
the
seabed),
select
it
and
then
CTRL+CLICK
on
the
seabed
grid.
If
the
object
is
close
to
the
seabed
then
the
program
snaps
it
onto
the
seabed.
This
allows
an
object
to
be
placed
exactly
on
the
seabed.
If
you
require
an
anchor
coordinate
close
to,
but
not
on
the
seabed,
connect
it
to
the
seabed
at
a
distance
and
then
drag
it
nearer
or
edit
the
coordinate
in
the
Data
Form.
3.6.10 Printing,
Copying
and
Exporting
Views
3D
Views
may
be
printed,
copied
to
the
windows
clipboard,
or
exported
to
a
windows
graphics
metafile,
so
that
the
pictures
may
be
used
in
other
applications
such
as
word
processors
and
graphics
packages.
First
select
the
view
and
adjust
the
viewpoint
as
desired.
Then
to
copy
to
the
clipboard
press
CTRL+C,
or
select
Copy
from
the
pop-up
menu.
The
pop-up
menu
also
has
commands
to
print
or
export
the
3D
view.
If
needed,
you
can
first
adjust
the
printer
setup
using
the
Printer
Setup
command
on
the
pop-up
menu
or
on
the
File
menu.
If
you
are
printing
the
view
on
a
black
and
white
printer
(or
are
transferring
the
view
into
a
document
which
you
intend
to
print
on
a
black
and
white
printer)
then
it
is
often
best
to
first
set
OrcaFlex
to
output
in
monochrome
(use
the
Tools|Preferences|Output
menu
item).
This
avoids
light
colours
appearing
as
faint
shades
of
grey.
After
a
3D
view
has
been
transferred
to
another
application
you
should
be
careful
not
to
change
its
aspect
ratio,
since
this
will
produce
unequal
scaling
in
the
vertical
and
horizontal
directions
and
invalidate
the
scale
bar.
In
Word
you
can
maintain
aspect
ratio
by
dragging
the
corners
of
the
picture,
whereas
if
you
drag
the
centres
of
the
sides
then
the
aspect
ratio
is
changed.
3.7 REPLAYS
A
Replay
is
a
sequence
of
3D
views
shown
one
after
another
to
give
an
animation.
A
replay
is
therefore
like
a
short
length
of
film,
with
each
frame
of
the
film
being
a
snapshot
of
a
model
as
it
was
at
a
given
time.
There
are
various
controls
and
parameters
that
allow
you
to
control
a
replay.
You
can
also
view
a
series
of
snapshots
all
superimposed
onto
a
single
view
see
Superimpose
Times.
There
are
two
types
of
replay:
x Active
Simulation
Replays
show
the
model
as
it
was
at
regularly
spaced
times
during
the
currently
active
simulation.
This
type
of
replay
is
therefore
only
available
when
a
simulation
is
active
and
can
only
cover
the
period
that
has
already
been
simulated.
If
you
have
a
time
history
graph
window
open
when
the
replay
is
run,
then
the
replay
time
is
indicated
on
the
graph.
x Custom
Replays
are
replays
where
you
have
complete
control
over
frames
which
make
up
the
replay.
This
means
that,
for
example,
you
are
not
restricted
to
regularly
spaced
times;
you
can
have
frames
from
different
simulation
files
in
the
same
replay;
you
can
include
frames
showing
the
static
configuration
of
a
model;
you
are
able
to
vary
the
view
size,
view
angles
and
view
centre
to
achieve
panning,
rotating
and
zooming
effects.
Custom
replays
were
originally
introduced
to
help
visualise
series
of
static
snapshots,
for
example
during
a
lowering
operation.
However,
the
facility
is
very
powerful
and
you
are
certainly
not
restricted
to
this
application.
See
Custom
Replays
for
details.
Export
Video
Replays
can
be
exported
as
a
video
clip
in
AVI
file
format,
using
the
Export
Video
button
on
the
replay
parameters
form.
An
AVI
file
is
generated
containing
the
replay
using
the
most
recently
selected
3D
view
window
and
using
the
same
period,
frame
interval
and
speed
as
the
replay.
When
you
export
a
video
clip
you
will
be
asked
to
select
a
file
name
for
the
video
using
the
standard
Save
File
window.
At
the
bottom
of
this
window
is
a
checkbox
titled
Include
frame
details
in
video.
If
this
is
selected
then
each
frame
in
the
video
has
details
of
that
frame
(e.g.
simulation
time)
written
in
the
top
left
hand
corner
of
the
frame.
There
is
also
a
button
which
provides
a
link
to
the
Video
preferences.
AVI
is
a
standard
video
format,
so
the
file
can
then
be
imported
into
other
applications,
for
example
to
be
shown
in
a
presentation.
The
compression
method
(the
codec)
used
for
the
generating
the
video
file
can
be
set
on
the
Preferences
form.
Note:
AVI
files
can
be
very
large
if
the
window
size
is
large
or
there
are
a
lot
of
frames
in
the
replay.
Also,
resizing
video
clips
(after
pasting
into
your
presentation)
will
introduce
aliasing
(digitisation
errors),
so
it
is
often
best
to
set
the
3D
View
window
size
to
the
required
size
before
you
export
the
video.
59
User
Interface,
Replays
w
The
replay
can
be
controlled
by
the
following
parameters
that
can
be
set
in
the
Replay
Parameters
form,
accessed
using
the
Replay
Parameters
button.
Replay
Period
The
part
of
the
simulation
that
the
replay
covers.
You
can
select
to
replay
the
whole
simulation,
just
one
simulation
stage
(an
asterisk
*
denotes
an
incomplete
stage),
the
latest
wave
period
or
else
a
user
specified
period.
If
you
select
User
Specified
then
you
can
enter
your
own
Start
and
End
Times
for
the
replay
period.
These
can
be
set
to
'~'
which
is
interpreted
as
simulation
start
time
and
simulation
finish
time
respectively.
Interval
The
simulation
time
step
size
between
frames
of
the
replay.
The
value
'~'
is
interpreted
as
the
actual
sample
interval,
i.e.
the
smallest
possible
interval.
Using
shorter
intervals
means
that
you
see
a
smoother
animation
(though
the
extra
drawing
required
may
slow
the
animation).
Example:
For
a
simulation
with
stages
of
8
seconds
each,
selecting
stage
2
and
a
replay
time
step
of
0.5
seconds
causes
the
replay
to
show
16
frames,
corresponding
to
t=8.0,
8.5,
9.0
...
15.5.
Target
Speed
Determines
how
fast
the
replay
is
played.
It
is
specified
as
a
percentage
of
real
time,
so
100%
means
at
real
time,
200%
means
twice
as
fast
etc.
As
a
special
case,
the
fastest
allowable
target
speed
(10000%
at
the
moment)
is
taken
to
mean
"as
fast
as
possible".
Note:
The
specified
target
speed
is
not
always
achievable
because
the
computer
may
not
be
able
to
draw
each
frame
quickly
enough.
When
this
happens,
the
replay
will
be
played
as
fast
as
possible.
Replays
may
be
slow
if
you
specify
thick
lines
(line
width>1)
for
objects
in
the
model,
since
t his
can
increase
the
drawing
time.
Continuous
Continuous
means
replaying
like
an
endless
film
loop,
automatically
cycling
back
to
the
first
frame
after
the
last
frame
has
been
shown;
this
is
suitable
for
replays
of
whole
cycles
of
regular
cyclic
motion.
Non-continuous
means
that
there
will
be
a
pause
at
the
end
of
the
replay,
before
it
starts
again
at
the
beginning;
this
is
more
suitable
for
non-cyclic
motion.
All
Views
If
this
is
selected,
then
the
replay
is
shown
in
all
3D
Views
simultaneously,
allowing
motion
to
be
viewed
from
several
different
viewpoints.
Otherwise
the
replay
is
played
in
the
currently
selected
view
window
only.
Show
Trails
If
this
is
selected,
then
when
each
frame
of
the
replay
is
drawn
the
previous
frame
is
first
overdrawn
in
grey
this
results
in
grey
'trails'
showing
the
path
of
each
object.
3.7.2 Replay
Control
The
replay
can
be
controlled
from
the
Replay
menu,
by
using
toolbar
buttons
or
with
shortcut
keys.
In
addition,
some
replay
settings
can
only
be
modified
on
the
Replay
Parameters
form.
The
toolbar
has
a
section
dedicated
to
replay
control:
Figure:
Replay
toolbar
controls
The
replay
control
buttons,
menu
items
are
listed
in
the
table
below:
Button
Menu
Item
Shortcut
Action
Replay
|
Start
Replay
CTRL+R
Start
replay
Replay
|
Stop
Replay
CTRL+R
Stop
replay
60
w
User
Interface,
Replays
The
final
part
of
the
replay
toolbar
is
the
replay
slider.
This
allows
direct
control
of
the
replay
time.
Drag
the
slider
to
the
left
to
move
to
an
earlier
part
of
the
replay
and
to
the
right
to
move
to
a
later
part.
For
fine
grained
adjustment
of
replay
time
you
can
use
the
Replay
|
Step
Replay
Forwards
and
Replay
|
Step
Replay
Backwards
actions
or
alternatively
their
shortcuts,
CTRL+A
and
CTRL+B.
The
replay
time
is
displayed
on
and
can
be
controlled
from
Time
History
graphs.
3.7.3 Custom
Replays
Custom
replays
allow
you
to
piece
together
arbitrary
frames
from
different
OrcaFlex
files.
Each
frame
of
the
replay
can
be
either
the
static
configuration,
or
a
snapshot
of
a
specified
time
in
a
dynamic
simulation
file.
Using
frames
of
static
configurations
you
can
string
together
a
series
of
static
snapshots
giving,
for
example,
an
animation
of
an
installation
procedure.
Using
frames
from
dynamic
simulation
files
allows
you
to
create
replays
where
the
frames
are
from
one
or
more
simulations,
and,
if
you
wish,
vary
the
time
intervals
between
frames.
Frames
of
both
static
and
dynamic
configurations
can
be
included
in
the
same
custom
replay.
In
addition
you
are
able
to
vary
the
view
size,
view
angles
and
view
centre
to
achieve
panning,
rotating
and
zooming
effects.
To
use
the
custom
replay
feature
you
must
first
set
the
Replay
Type
data
item
on
the
Replay
Parameters
form
to
Custom
Replay.
Next
you
must
build
the
custom
replay
which
is
most
easily
done
using
the
Custom
Replay
Wizard,
which
can
be
opened
by
clicking
the
Custom
Replay
Wizard
button.
Replay
Specification
This
is
the
file
containing
the
custom
replay
specification
that
is
the
file
that
is
saved
by
the
Custom
Replay
Wizard.
Custom
Replay
Parameters
Custom
replays
also
make
use
of
some
of
the
parameters
needed
for
standard
simulation
replays.
These
parameters
are
Target
Speed,
Continuous,
All
Views
and
Show
Trails.
3.7.4 Custom
Replay
Wizard
The
Custom
Replay
Wizard
allows
you
to
define
a
series
of
replay
sections.
Each
replay
section
can
show
either:
1. A
series
of
regularly
spaced
snapshots
from
a
simulation
file.
2. The
static
configuration
of
a
model
specified
by
either
a
data
file
or
a
simulation
file.
Different
files
can
be
used
for
different
replay
sections.
Custom
Replay
Files
When
you
have
built
your
custom
replay
you
must
save
it
using
the
File
menu
or
save
button
on
the
toolbar.
Custom
replay
files
can
be
opened
in
a
similar
way.
We
recommend
that
you
save
your
custom
replay
file
before
you
start
setting
up
the
replay
sections.
This
is
because
once
you
have
saved
the
custom
replay
file
you
will
be
able
to
use
relative
paths
for
the
OrcaFlex
file
names.
Custom
Replay
Data
Custom
replay
specifies
view
parameters
(size,
position,
angles
and
graphics
mode)
If
this
data
item
is
not
checked
then
the
replay
will
use
the
view
parameters
of
whichever
3D
View
window
it
appears
in.
In
this
mode
of
operation
you
will
be
able
manually
to
pan,
rotate
and
zoom
the
3D
View
using
the
normal
buttons
and
shortcuts.
61
User
Interface,
Replays
w
If
this
data
item
is
checked
then
you
will
be
required
to
specify
the
view
parameters
(view
size,
view
centre,
view
azimuth,
view
elevation
and
graphics
mode)
for
each
replay
section.
This
allows
you
to
include
panning,
rotating
and
zooming
effects
in
your
replay.
While
learning
how
custom
replays
work
we
recommend
that
you
do
not
check
this
data
item.
Use
smoothed
panning,
rotating
and
zooming
effects
This
item
is
only
available
if
the
"Custom
replay
specifies
view
parameters"
option
is
enabled.
If
you
are
panning,
rotating
and
zooming
during
replay
sections
then
the
transition
from
one
section
to
another
sometimes
appears
to
be
disjointed.
If
this
option
is
checked
then
the
transition
between
sections
i s
smoothed.
Frame
interval
in
real
time
OrcaFlex
needs
to
know
how
fast
to
play
the
replay.
This
data
item
specifies
the
interval,
in
real
time,
between
each
replay
frame,
assuming
a
target
replay
speed
of
100%.
If
the
target
replay
speed
is,
say
200%,
then
the
interval
between
frames
will
be
half
this
value,
and
so
on.
Replay
Sections
You
can
specify
any
number
of
replay
sections.
For
each
replay
section
you
must
also
specify
the
following:
Replay
Section
Name
This
is
a
descriptive
name
for
the
replay
section.
When
the
replay
is
running
OrcaFlex
displays
a
description
of
the
current
frame
in
the
message
box
on
the
status
bar
this
includes
the
replay
section
name.
This
description
can
also
be
included
in
exported
videos.
OrcaFlex
File
Name
The
model
to
be
used
for
this
section
either
a
data
file
(.dat
or
.yml)
or
a
simulation
file
(.sim).
Dynamics
This
setting
determines
whether
the
replay
section
defines
snapshots
from
a
dynamic
simulation
or
a
static
configuration.
If
the
file
is
a
data
file
then
the
replay
section
will
show
the
static
configuration
and
so
this
data
item
cannot
be
edited.
The
custom
replay
displays
static
configurations
for
a
data
file
by
loading
the
file
and
then
performing
the
static
calculation.
This
can
be
time
consuming
static
state
simulation
files
can
be
used
instead
to
avoid
the
overhead
of
performing
statics
each
time
the
replay
is
shown.
Simulation
Time
From,
Simulation
Time
To
This
specifies
the
period
of
the
dynamic
simulation
covered
by
the
replay
section.
These
are
OrcaFlex
simulation
times
for
the
specified
simulation
file
of
this
replay
section.
If
the
replay
section
is
a
static
snapshot
then
these
data
items
are
not
editable.
Number
of
Frames
This
is
the
total
number
of
frames
in
the
replay
section.
If
your
custom
replay
is
a
series
of
static
snapshots
then
you
would
usually
set
this
value
to
1.
Included
in
Replay
This
allows
you
to
exclude
certain
sections
from
the
replay.
This
may
be
useful
while
developing
the
custom
replay
because
it
allows
you
to
concentrate
on
particular
replay
sections.
PowerPoint
slide
number
Custom
replays
can
be
used
to
control
PowerPoint
slideshows.
To
make
use
of
this
you
need
to
be
showing
a
PowerPoint
slideshow
while
the
custom
replay
is
running.
At
the
start
of
each
replay
section
OrcaFlex
will
change
the
PowerPoint
slide
to
the
slide
number
specified
here.
If
you
do
not
wish
to
use
this
feature
you
should
leave
this
data
item
at
its
default
value
of
'~'.
View
Parameter
data
The
following
data
items
are
only
available
when
the
specifies
view
parameters
option
is
checked.
62
w
User
Interface,
Data
Forms
The
view
size,
view
centre,
view
azimuth
and
view
elevation
for
the
first
and
last
frames
of
the
replay
section.
These
view
parameters
are
varied
between
these
values
for
the
other
frames
in
the
replay
section.
Hint:
These
values
can
be
copied
from
OrcaFlex's
View
Parameters
form
using
the
clipboard.
Graphics Mode
Specifies
either
the
Wire
frame
or
Shaded
graphics
mode
for
the
replay
section.
3.7.5 Superimpose
Times
Allows
model
configurations
for
different
times
of
the
simulation
to
be
superimposed
in
3D
Views.
Use
View
|
Current
Position
to
return
to
the
normal
view.
The
data
items
are:
List
of
Times
If
this
box
is
checked
then
the
superimposed
view
is
drawn
in
all
3D
View
windows.
If
not
then
it
is
drawn
in
the
selected
3D
View.
Accepts
the
data
changes
made
and
then
closes
the
form.
Cancel
Cancels
the
data
changes
made
and
then
closes
the
form.
Next
Accepts
the
data
changes
made
and
then
displays
the
next
form
in
sequence.
Holding
the
SHIFT
key
down
while
CLICKING
the
Next
button
accepts
the
changes
and
then
displays
the
previous
data
form
in
sequence.
You
can
also
use
the
keyboard
shortcuts
]]F6
for
next
and
SHIFT+F6
for
previous.
Pop-up
Menu
The
pop-up
menu
on
a
data
form
provides
various
facilities,
including:
x The
data
form
can
be
printed,
copied
to
the
clipboard
or
exported
to
a
file.
The
data
for
the
whole
model
may
be
printed
using
the
File
|
Print
menu
item.
x Access
to
the
next
and
previous
data
form
and
to
the
Variable
Data
form.
x The
batch
script
names
for
the
currently-selected
block
of
data
items.
x Data
forms
for
3D
Buoys,
6D
Buoys,
Vessels
and
Lines
provide
a
Connections
Report.
This
is
a
spreadsheet
listing
information
about
other
objects
connected
to
it.
Note
that
the
same
information,
but
for
all
objects
in
the
model,
can
be
displayed
using
the
Model
|
Show
Connections
Report
menu
item.
63
User
Interface,
Data
Forms
w
x On
data
forms
of
some
model
objects,
a
report
of
the
properties
of
that
object.
The
report
displays
properties
like
weight
in
air,
displacement,
weight
in
water
etc.
These
reports
are
currently
available
for
General
Data,
3D
Buoys,
6D
Buoys,
Vessels,
Lines,
Line
Types
and
Clump
Types.
Calculator
A
simple
calculator
is
available
from
any
OrcaFlex
data
form.
It
can
be
opened
from
the
popup
menu
or
alternatively
by
pressing
F12.
Numbers
can
be
transferred
to
and
from
it
with
standard
Windows
copy
( CTRL+C)
and
paste
(CTRL+V).
The
calculator
can
also
be
closed
by
pressing
F12
if
you
do
this
then
the
value
in
the
calculator
is
transferred
to
the
active
edit
cell.
3.8.1 Data
Fields
Data
items
on
each
Data
Form
are
displayed
in
Fields,
generally
with
related
fields
organised
into
Groups
or
Tables.
You
can
select
a
field
with
the
mouse,
or
use
the
keyboard
to
navigate
around
the
form.
TAB
moves
from
group
to
group,
and
the
arrow
keys
move
across
the
fields
in
a
group.
The
following
types
of
fields
are
used:
Text
A
general
string
of
text,
used
for
example
for
titles
and
comments.
Name
Each
object
is
given
a
name,
which
you
can
edit.
Object
names
must
be
unique
you
cannot
have
two
objects
with
the
same
name.
Certain
names
are
reserved
for
special
purposes:
Fixed,
Anchored
and
Free
(see
Connecting
Objects).
Numeric
Numbers
can
be
entered
in
a
number
of
formats
such
as
3,
3.0,
0.3,
.3
or
3.0e6
or
3.0E6.
It
is
possible
to
enter
more
digits
than
those
shown
in
the
field,
but
beware
that
it
will
not
be
possible
to
see
them
again
without
editing
again
and
using
the
arrow
keys
to
examine
the
rest
of
field.
For
some
numeric
data
items
the
value
'~'
is
permitted.
For
example
this
is
sometimes
used
to
mean
'default
value'.
Details
are
given
in
the
descriptions
of
the
relevant
data
items.
Spin
Buttons
These
are
small
buttons
with
up
and
down
arrows,
used
for
incrementing
and
decrementing
the
associated
field
(such
as
the
number
of
entries
in
a
table).
Using
the
mouse,
CLICK
on
the
upper
or
lower
parts
of
the
button
to
increment
or
decrement
the
associated
counter.
Multi-choice
Buttons
These
are
used
when
a
number
of
options
are
available.
Activate
the
button
to
step
on
to
the
next
available
option.
Check
Boxes
These
show
a
tick,
meaning
selected,
or
are
blank,
meaning
not
selected.
CLICK
or
press
RETURN
to
change.
Colour
Selection
These
show
as
a
block
of
colour.
DOUBLE
CLICK
or
press
RETURN
to
open
the
Colour
Selection
dialogue
window.
The
desired
colour
may
now
be
selected.
List
Boxes
These
show
the
current
selection,
such
as
the
name
of
another
object
that
this
object
is
connected
to.
DOUBLE
CLICK
or
press
RETURN
to
show
a
List
Box,
and
then
select
another
item
and
RETURN
to
accept
the
new
choice.
3.8.2 Data
Form
Editing
The
TAB,
SHIFT+TAB,
HOME,
END
and
ARROW
keys
and
the
mouse
can
be
used
to
navigate
around
the
Edit
Form.
Editing
mode
is
entered
by
DOUBLE
CLICKING
a
cell
with
the
mouse,
or
by
starting
to
type
alphanumeric
characters,
which
are
entered
into
the
field
as
they
are
typed.
The
characters
that
have
been
typed
can
be
edited
by
using
the
arrow
keys
to
move
around
(now
within
the
field)
and
the
BACKSPACE
and
DELETE
keys.
Editing
mode
is
ended,
and
the
new
value
takes
effect,
when
you
press
RETURN
or
select
another
field
or
button
on
the
form.
To
end
editing
mode
but
reject
the
edit
(and
so
keep
the
old
value)
press
ESC.
64
w
User
Interface,
Results
Many
numeric
fields
have
limits
on
the
range
of
values
that
can
be
entered,
for
example
an
object's
mass
must
always
be
greater
than
zero.
Warnings
are
given
if
invalid
values
are
typed.
Input
can
also
be
from
the
Windows
clipboard.
CTRL+C
copies
the
selected
field
or
block
of
fields
to
the
clipboard
whilst
CTRL+V
pastes
from
the
clipboard
into
the
selected
field.
In
this
way
data
can
be
easily
transferred
to
and
from
Spreadsheets,
Word
Processors,
etc.
Mouse
Actions
CLICK
Select
Field
CLICK+DRAG,
Select
a
block
of
fields
SHIFT+CLICK
DOUBLE
CLICK
Start
Edit
Mode
in
this
field
(please
also
see
Data
Fields)
SECONDARY
Context
sensitive
pop-up
menu
for
copying,
exporting
and
printing
the
form
and,
for
some
BUTTON
CLICK
model
objects,
viewing
additional
properties
Group
Movement
TAB
Next
Group
SHIFT+TAB
Previous
Group
ALT+...
Move
to
the
group
with
this
letter
underlined
in
its
heading
Field
Movement
Go
to
adjacent
row
or
column
HOME
Go
to
leftmost
column
END
Go
to
rightmost
column
PAGE
UP
Go
to
top
row
PAGE
DOWN
Go
to
bottom
row
Table
Editing
INSERT,
DELETE
Insert
or
delete
rows
Start
Editing
0..9,
A..Z
Edit
(replace)
During
Editing
,
HOME,
END
Move
within
field
End
Editing
ESC
Cancel
edit
Accept
edit
and
move
to
previous/next
row
RETURN
Accept
edit
Copy
/
Paste
CTRL+C
Copy
selected
field/block
to
clipboard
CTRL+V
Paste
from
clipboard
into
selected
field
CTRL+D
Fill
selection
from
top
(copy
top
cell
down)
CTRL+R
Fill
selection
from
left
(copy
leftmost
cell
to
right)
CTRL+U
Fill
selection
from
bottom
(copy
bottom
cell
up)
SHIFT+CTRL+D
CTRL+L
Fill
selection
from
right
(copy
rightmost
cell
to
left)
SHIFT+CTRL+R
3.9 RESULTS
3.9.1 Producing
Results
You
can
access
results
by
either
CLICKING
on
the
Results
button
on
the
toolbar
or
by
using
the
Select
Results
menu
item;
the
Select
Results
form
then
appears.
65
User
Interface,
Results
w
There
is
a
Keep
Open
switch
on
the
form's
context
menu,
which
allows
you
to
choose
whether
the
form
automatically
closes
when
you
select
a
result,
or
alternatively
stays
open
(and
on
top)
until
you
explicitly
close
it.
Graphs
and
Tables
can
be
sent
straight
to
the
printer
by
CLICKING
the
Print
button.
If
the
values
of
a
graph
are
required
in
text
form
then
CLICK
the
Values
button
this
give
the
values
in
a
Spreadsheet
window,
which
can
handle
multiple
variables
if
desired.
The
Select
Results
form
allows
you
to
select
the
results
you
want
by
specifying:
Result
Type
This
option
allows
you
to
select
which
of
the
various
types
of
results
output
you
require.
Results
are
available
as
text
tables
(summary
results,
full
results,
offset
tables,
statistics,
linked
statistics,
extreme
statistics
or
line
clashing
reports)
or
as
graphs
(time
histories,
range
graphs,
XY
graphs,
offset
graphs
or
spectral
response
graphs).
The
types
of
results
available
depend
on
the
current
model
state.
Object
The
object
for
which
you
want
results
(selected
in
the
same
way
as
in
the
Model
Browser)
and
for
some
objects
which
point
in
the
object.
x For
the
Environment
you
must
specify
the
global
X,Y,Z
coordinates
of
the
point
for
which
you
want
results.
x For
6D
Buoys
that
have
wings
attached,
results
for
the
buoy
and
for
each
wing
are
available
separately.
x For
6D
Buoys
and
Vessels
the
position,
velocity
and
acceleration
results
are
reported
at
a
user
specified
point
on
the
object.
This
point
is
specified
in
object
local
coordinates.
x For
lines
you
must
specify
the
arc
length
along
the
line
see
Line
Results.
Period
For
time
histories,
XY
graphs
and
range
graphs
you
must
specify
the
period
of
the
simulation
to
be
included.
This
can
be
one
of
the
stages
of
the
simulation,
the
Whole
Simulation,
Specified
Period
or
Latest
Wave
(only
available
if
the
wave
is
regular).
The
Specified
Period
values
can
be
set
to
'~'
which
is
interpreted
as
simulation
start
time
and
simulation
finish
time
respectively.
For
Range
Graphs
the
period
can
also
be
Static
State
or
Instantaneous
Value.
The
Static
State
period
is
only
available
after
a
statics
calculation
and
the
graph
shows
a
curve
of
the
values
in
the
static
configuration.
The
Instantaneous
Value
period
is
available
when
a
simulation
has
been
run.
It
shows
a
curve
of
the
values
at
the
instantaneous
simulation
time.
This
is
normally
the
latest
simulated
time.
However,
if
a
replay
is
active
then
the
graph
shows
a
curve
of
values
at
the
active
replay
time.
This
allows
you
to
see,
for
an
entire
line,
how
a
results
variable
evolves
over
a
simulation.
Variable
OrcaFlex
spike
logs
Effective
Tension,
Torque,
Clash
Force,
Clash
Energy,
Solid
Contact
Force,
End
Force
results
a nd
Vortex
Force
results.
In
addition
other
results
which
are
derived
from
these
quantities
are
effectively
spike
logged
66
w
User
Interface,
Results
by
association.
Such
variables
include
Wall
Tension,
Normalised
Tension,
Direct
Tensile
Strain,
ZZ
Strain,
Worst
ZZ
Strain,
Direct
Tensile
Stress,
von
Mises
Stress,
Max
von
Mises
Stress
and
ZZ
Stress.
Link
and
Winch
Results
OrcaFlex
spike
logs
Implicit
solver
iteration
count
and
Implicit
solver
time
step.
Inadequate
segmentation
warning
If
any
lines
have,
during
the
simulation,
gone
into
greater
compression
than
their
segment
Euler
load
then
a
warning
note
is
added
to
the
Results
form.
Such
lines
are
marked
with
the
symbol
in
the
Model
Browser.
Usually
this
means
that
finer
segmentation
is
needed
in
some
sections
of
these
lines
in
order
to
model
compression
adequately.
Offset
warning
If
any
of
the
multiple
statics
calculations
have
failed
then
a
warning
note
is
added
to
the
Results
form.
3.9.2 Selecting
Variables
Each
object
has
associated
with
it:
x A
currently
selected
variable
that
will
be
used
for
graphs.
x A
set
of
statistics
variables
that
will
be
included
in
statistics
reports.
For
the
currently
selected
object,
the
currently
selected
variables
are
shown
in
a
list
on
the
results
selection
form.
If
Statistics
results
are
selected,
then
the
list
shows
the
set
of
variables
that
will
be
included
in
the
statistics
report
and
you
can
add
or
remove
variables
by
CLICKING
on
them
in
the
list.
If
a
Time
History
is
selected,
the
list
shows
the
(single)
currently
selected
variable
and
you
can
select
a
different
variable
by
CLICKING
on
it
in
the
list.
You
can
also
multi-select
variables,
using:
CLICK
select
one
variable
DRAG
select
a
range
of
variables
SHIFT+CLICK
select
a
range
of
variables
CTRL+CLICK
add
/
remove
one
variable
CTRL+DRAG
add
/
remove
range
of
variables
If
more
than
one
variable
is
selected,
then
the
Values
button
will
give
a
single
Spreadsheet
Window
with
a
time
history
column
for
each
selected
variable,
and
the
Graph
button
will
give
a
separate
Graph
Window
for
each
variable.
New
columns
can
be
appended
to
existing
time
history
spreadsheet
windows,
as
follows:
x Select
the
spreadsheet
window
to
which
you
want
to
append,
by
clicking
on
it.
x Then
open
the
Select
Results
form
and
select
the
variables
that
you
want
to
append.
x Then
hold
the
CTRL
button
down
and
click
the
Values
button.
x Provided
that
the
selected
spreadsheet
window
is
a
time
history
values
table
and
that
the
time
periods
for
both
sets
of
histories
match,
then
the
new
time
histories
will
be
appended
to
the
active
window.
This
allows
you
to
have
a
single
window
containing
results
from
different
objects.
3.9.3 Summary
and
Full
Results
These
spreadsheet
windows
give
the
current
state
of
an
object
or
of
the
whole
model.
For
example,
in
Statics
Complete
state
the
full
results
tables
show
the
positions
of
objects
in
their
static
position.
If
a
simulation
is
active,
then
they
show
the
positions
of
objects
at
the
latest
time
calculated.
To
obtain
one
of
these
results
tables:
67
User
Interface,
Results
w
68
w
User
Interface,
Results
Note:
Be
careful
when
interpreting
statistics
of
Line
Clearance
and
Seabed
Clearance,
since
these
results
are
already
minima
the
shortest
distance
to
any
other
line
and
to
any
point
on
the
seabed.
For
example,
the
maximum
of
Line
Contact
Clearance
will
be
the
maximum
value
that
the
smallest
clearance
took
during
the
period.
A
number
of
clash
events
may
occur
during
the
simulation.
Each
event
is
given
a
number
to
identify
it.
This
is
useful
when
relating
the
summary
results
of
a
clash
event
to
the
detailed
results.
Segment
number
and
segment
arc
length
The
simulation
time
of
the
start
and
end
of
the
clash
event
together
with
its
duration.
Total
Impulse
69
User
Interface,
Results
w
A
scalar
value
reporting
the
greatest
value
of
clash
force
achieved
during
the
clash
event.
The
clash
force
vector
is
monitored
during
each
clash
event
and
the
greatest
magnitude
of
this
vector
is
reported.
Peak
Clash
Energy
A
scalar
value
reporting
the
greatest
value
of
clash
energy
achieved
during
the
clash
event.
Max
Penetration
At
each
time
step
we
calculate
the
depth
of
penetration
between
the
outer
surfaces
of
segment
S 1
and
all
other
segments.
Let
S2
be
a
segment
on
another
line.
Let
the
radii
of
the
two
segments
be
r1
and
r2
(as
defined
by
the
line
type
contact
diameter).
OrcaFlex
calculates
the
shortest
separation
distance,
d,
between
the
centrelines
of
the
two
segments.
The
penetration
of
these
two
segments
is
defined
to
be
(r1
+
r2)
d.
The
value
reported
as
Max
Penetration
is
the
maximum
value
of
penetration
between
segment
S1
and
any
other
segment
over
the
duration
of
the
clash
event.
Detailed
table
The
detailed
table
reports
information
about
each
individual
contact
between
segment
S 1
and
another
segment.
If
during
the
course
of
a
clash
event
segment
S1
is
in
contact
with
a
number
of
segments
on
other
lines
then
the
start
time,
end
time
and
duration
of
each
of
those
individual
contacts
is
reported.
Contact
velocity
The
detailed
table
also
includes
the
contact
velocity
for
each
individual
contact.
This
is
defined
to
be
the
normal
relative
velocity
of
the
two
contact
points
at
the
instant
in
time
when
the
clash
event
started.
3.9.8 Time
History
and
XY
Graphs
Time
History
graphs
are
of
a
single
variable
against
time.
XY
graphs
are
of
one
time
dependent
variable
against
another.
The
period
of
simulation
covered
by
the
graph
is
chosen
from
a
list.
To
obtain
a
Time
History
or
XY
Graph:
For
time
histories
of
angles
OrcaFlex
chooses
the
angle's
range
so
that
the
time
history
is
continuous.
For
example
consider
vessel
heading,
which
is
normally
reported
in
the
range
-180
to
+180.
If
the
vessel's
heading
passes
through
180
then
without
range
jump
suppression
the
time
history
would
be:
..,
179,
180,
-179,
..
i.e.
with
a
360
jump.
To
avoid
this
jump
OrcaFlex
adds
or
subtracts
multiples
of
360
to
give
the
best
continuation
of
the
previous
value.
So
in
this
example
it
adds
360
to
the
-179
value
and
hence
reports:
..,
179,
180,
181,
..
This
addition
is
valid
since
181
and
-179
are
of
course
identical
headings.
70
w
User
Interface,
Results
Note
that
this
means
that
angle
time
history
results
can
go
outside
the
range
-360
to
+360.
Spectral
Density
From
any
time
history
graph
you
can
use
the
pop-up
menu
to
obtain
the
spectral
density
graph
for
that
time
history.
The
curve
shown
on
the
graph
is
the
one-sided
power
spectral
density
(PSD)
per
unit
time
of
the
sampled
time
history,
obtained
using
the
Fourier
Transform.
Notes:
Using
the
Fourier
Transform
to
estimate
the
PSD
inevitably
introduces
'noise'
or
'leakage'
to
the
spectrum.
To
reduce
the
leakage
the
time
history
is
partitioned
into
a
number
of
overlapping
periods.
The
PSDs
are
calculated
for
each
period
and
then
averaged
to
give
the
reported
PSD
which
has
the
effect
of
smoothing
the
resulting
PSD.
This smoothing technique is only applied if there is more than 200s of data in the time history.
From
any
time
history
graph
you
can
use
the
pop-up
menu
to
obtain
the
empirical
cumulative
distribution
graph
for
that
time
history.
This
graph
shows
what
proportion
of
the
samples
in
the
time
history
are
less
than
or
equal
to
a
given
value.
These
graphs
are
sometimes
referred
to
as
Exceedence
Plots
since
they
can
sometimes
be
used
to
estimate
the
probability
that
the
variable
will
exceed
a
given
value.
Warning:
The
samples
in
a
time
history
are
not
independent.
They
have
what
is
called
'serial
correlation',
which
often
affects
the
accuracy
of
statistical
results
based
on
them.
From
any
time
history
graph
you
can
use
the
pop-up
menu
to
obtain
the
rainflow
half-cycle
empirical
cumulative
distribution
graph
for
that
time
history.
The
curve
on
this
graph
is
produced
in
the
following
way:
1. The
time
history
is
analysed
using
the
rainflow
cycle-counting
algorithm.
For
details
of
this
algorithm
see
the
paper
by
Rychlik.
2. The
rainflow
algorithm
produces
a
list
of
half-cycles
associated
with
the
time
history.
The
empirical
cumulative
distribution
of
these
half-cycles
is
then
plotted.
3.9.9 Range
Graphs
Range
graphs
are
only
available
for
a
selection
of
variables
and
they
are
only
available
for
Lines.
They
show
the
values
the
variable
took,
during
a
specified
part
of
the
simulation,
as
a
function
of
arc
length
along
the
Line.
In
particular:
x Range
graphs
show
the
minimum,
mean
and
maximum
values
that
the
variable
took
during
the
specified
part
of
the
simulation
with
the
exception
that
the
Line
Clearance
range
graphs
only
show
the
minimum
value.
x Effective
tension
range
graphs
have
extra
curves
showing
the
segment
Euler
load
and
the
Allowable
Tension
value
(as
specified
on
the
Line
Types
data
form).
x Bend
Moment
range
graphs
have
an
extra
curve
showing
the
maximum
permitted
bend
moment
(EI
/
Minimum
Bend
Radius
specified
on
the
Line
Types
data
form).
x Curvature
range
graphs
have
an
extra
curve
showing
the
maximum
permitted
curvature
(the
reciprocal
of
the
Minimum
Bend
Radius
specified
on
the
Line
Types
data
form).
x Stress
range
graphs
show
the
Allowable
Stress
(as
specified
on
the
Line
Types
data
form).
x A
Standard
Deviation
curve
can
also
be
added
to
a
range
graph
to
do
this
edit
the
graph's
properties
(by
double
clicking
on
the
graph)
and
set
the
Standard
Deviation
curve's
visible
property
(by
default
the
curves
are
not
visible).
Two
curves
are
then
drawn,
at
Mean
deviation.
The
standard
deviation
is
calculated
from
all
the
samples
that
lie
in
the
simulation
period
chosen
for
the
graph.
Warning:
Be
careful
not
to
assume
that
95%
of
the
data
lie
in
the
interval
Mean
is
based
on
the
assumption
that
the
data
are
sampled
from
a
N ormal
(i.e.
Gaussian)
distribution.
71
User
Interface,
Results
w
Just
as
it
does
for
Time
History
and
XY
Graphs,
OrcaFlex
applies
range
jump
suppression
for
range
graphs
of
angles.
3.9.10 Offset
Graphs
These
graphs
are
available
only
after
a
multiple
statics
calculation
has
been
done
and
only
for
the
offset
vessel.
The
following
variables
are
plotted
against
offset
distance:
Restoring
Force
The
magnitude
of
the
horizontal
component
of
the
total
force
applied
to
the
vessel
by
the
attached
Lines
or
other
objects.
Note
that
this
force
is
not
necessarily
in
the
offset
direction.
Vertical
Force
The
vertically
downwards
component
of
the
total
force
applied
to
the
vessel
by
the
attached
Lines
or
other
objects.
Yaw
Moment
The
moment,
about
the
vertical,
applied
to
the
vessel
by
the
attached
Lines
or
other
objects.
Worst
Tension
The
largest
tension
in
any
segment
of
any
Line
connected
to
the
vessel.
To
obtain
an
Offset
Graph:
72
w
User
Interface,
Results
OrcaFlex
can
estimate
extreme
values
for
any
given
result
variable
by
analysing
the
simulated
time
history
of
the
variable
using
extreme
value
statistical
methods.
You
may,
for
instance,
perform
a
mooring
analysis
in
an
irregular
sea-state
and
then
estimate
the
maximum
mooring
line
tension
for
a
3-hour
storm.
The
statistical
theory
for
this
estimation
is
well-established
and
is
described
in
the
theory
section.
The
procedure
is
essentially
this:
x You
select
the
statistical
distribution
to
be
used
to
model
the
distribution
of
extremes.
See
Data
below.
x OrcaFlex
estimates
the
distribution
model
parameters
that
best
fit
the
simulation
time
history
of
the
variable.
x OrcaFlex
uses
the
fitted
distribution
to
estimate
and
report
the
required
extreme
statistic
(e.g.
return
level),
for
a
specified
period
of
exposure.
See
Results
below.
x OrcaFlex
provides
diagnostic
graphs
that
you
should
use
to
judge
the
reliability
of
the
results.
The
Extreme
Statistics
Results
form
is
designed
to
lead
you
through
this
process.
When
you
open
the
Extreme
Statistics
Results
form,
for
a
selected
results
variable,
you
will
come
first
to
the
Data
page,
where
you
will
select
the
distribution.
Moving
then
to
either
of
the
other
pages
(Results
or
Diagnostic
Graphs)
will
cause
OrcaFlex
to
carry
out
the
estimation
part
of
the
procedure.
The
Diagnostic
Graphs
assist
in
testing
the
model.
The
Results
page
reports
the
estimated
statistics,
e.g.
the
return
value
for
the
specified
period,
the
estimation
uncertainty
inherent
in
that
value
etc.
Data
For
convenience,
the
time
history
result
graph
is
reproduced
on
the
Data
page.
The
data
required
for
the
fitting
of
the
model
are
entered
on
this
page,
and
are
as
follows.
Distributions
These
fall
into
two
groups,
according
to
the
statistical
method
with
which
they
are
applied.
For
details
see
the
Extreme
Statistics
Theory
section.
x Rayleigh
distribution.
This
method
assumes
that
the
variable
is
a
stationary
Gaussian
process.
This
is
perhaps
a
reasonable
assumption
for
waves,
particularly
in
deep
water,
and
for
responses
which
are
approximately
linear
with
respect
to
wave
height.
However,
for
many
other
variables
of
interest,
the
Gaussian
assumption
is
invalid
and
leads
to
poor
estimates
of
extreme
values.
x Weibull
and
Generalised
Pareto
(GPD)
distributions.
These
distributions
are
both
fitted
using
the
maximum
likelihood
method.
Historically,
the
Weibull
distribution
has
often
been
used
for
marine
systems,
but
the
Generalised
Pareto
is
preferred
by
the
extreme
statistics
community
because
of
its
sound
mathematical
foundations.
Extremes
to
analyse
Specifies
whether
maxima
(upper
tail)
or
minima
(lower
tail)
are
to
be
analysed.
Threshold
and
Decluster
Period
These
data
are
only
required
when
using
the
Weibull
and
GPD
distributions,
which
are
fitted
to
extremes
of
the
time
history
and
those
extremes
are
selected
using
the
peaks-over-threshold
method
with
(optional)
declustering.
The
threshold
controls
the
peaks-over-threshold
method.
This
allows
you
to
control
the
extent
to
which
the
analysis
is
based
on
only
the
extreme
values
in
the
data
(the
tail
of
the
distribution).
The
decluster
period
controls
the
declustering.
This
helps
avoid
or
reduce
any
statistical
dependence
between
the
extreme
data
values
used
in
the
analysis.
It
can
be
set
to
one
of
the
following:
x Zero,
in
which
case
no
declustering
will
be
done,
and
all
values
above
the
specified
threshold
will
be
included.
This
is
generally
not
recommended
since
the
values
are
unlikely
to
be
independent.
x A
positive
value.
In
this
case
OrcaFlex
will
break
the
sequence
of
time
history
values
into
clusters
of
successive
values
that
stay
above
the
threshold.
It
will
then
decluster
by
merging
successive
clusters
that
are
separated
by
periods
(during
which
the
variable
is
less
than
the
threshold)
that
last
no
longer
than
the
specified
decluster
period.
The
most
extreme
value
of
each
of
the
resulting
merged
clusters
will
then
be
included
in
the
analysis.
x '~'.
This
special
value
may
be
used
to
tell
OrcaFlex
to
take
the
clusters
to
be
the
groups
of
values
between
successive
up-crossings
of
the
mean
value
(or
down-crossings
if
analysing
lower
tail).
The
most
extreme
value
of
each
such
cluster
will
then
be
included
in
the
analysis,
but
ignoring
any
that
do
not
exceed
the
threshold.
73
User
Interface,
Results
w
The
threshold
is
drawn
on
the
time
history
graph,
to
help
visualise
its
value
relative
to
the
extremes
o f
the
data.
The
number
of
data
points
that
will
be
included
in
the
analysis
(after
the
threshold
and
declustering
have
been
done)
is
also
displayed.
This
helps
with
setting
the
threshold
and
decluster
period.
The
best
value
for
the
threshold
is
one
that
strikes
a
balance
between
a
not-extreme-enough
value
(which
will
increase
the
number
of
data
points
fitted
but
may
give
biased
fitting
by
allowing
less
extreme
values
to
influence
the
fitting
too
much),
and
a
too-extreme
value
(which
will
fit
to
only
the
more
relevant
extreme
data
points,
but
may
give
very
wide
confidence
intervals
if
there
are
too
few
such
extremes
in
the
data).
Results
The
following
data
items,
found
on
the
Results
page,
do
not
affect
the
fitting
of
the
statistical
model.
Rather,
they
are
applied
to
the
fitted
model
to
obtain
the
reported
results.
Rayleigh
Storm
duration
is
the
return
period
for
which
the
return
level
is
reported.
The
length
of
the
simulation,
relative
to
this
duration,
will
determine
the
accuracy
of
the
estimate
for
the
return
level.
Risk
factor
is
the
probability
of
exceeding
(or
falling
below,
for
lower
tail)
the
estimated
extreme
value.
For
example,
you
may
ask
for
the
3-hour
extreme
value
that
is
exceeded
with
a
probability
of
0.01
(i.e.
a
risk
factor
of
1%).
Weibull
and
GPD
Diagnostic
Graphs
The
diagnostic
graphs
will
help
you
to
assess
the
goodness-of-fit
of
the
model,
and
how
appropriate
or
not
the
fitted
distribution
is.
They
should
be
interpreted
together,
not
in
isolation,
as
follows.
x The
Quantile
Plot
displays
quantiles
of
the
empirical
data
plotted
against
model
quantiles.
If
the
model
is
a
good
fit,
then
the
points
should
lie
close
to
the
superimposed
45
diagonal
line,
and
any
significant
departure
from
this
(especially
a
systematic
one,
for
example
an
obvious
trend
away
from
the
diagonal)
indicates
poor
model
fit.
The
vertical
lines,
drawn
through
each
point,
are
pointwise
95%
tolerance
intervals
and
may
be
used
as
a
guide
to
deciding
whether
any
departure
from
the
diagonal
is
significant.
If
all
the
vertical
lines
intersect
the
diagonal
line,
then
the
modelled
values
are
probably
sufficiently
close
to
the
empirical
value
not
to
be
of
concern.
If,
however,
a
number
of
the
vertical
lines
fail
to
reach
the
diagonal,
then
that
may
raise
concerns
about
the
validity
of
the
fitted
model.
x The
Return
Level
Plot
shows
return
level
against
return
period
(i.e.
storm
duration),
with
the
latter
on
a
logarithmic
scale
to
highlight
the
effect
of
extrapolation.
The
central
line
on
the
graph
is
the
return
level
for
the
fitted
model,
and
the
pair
of
outer
lines
the
corresponding
pointwise
95%
confidence
limits.
The
points
are
the
empirical
return
levels,
based
upon
the
data,
and
should
lie
between
the
confidence
limits
if
the
model
fits
the
data
well.
As
with
the
quantile
plot,
a
significant
number
of
points
contravening
these
limits
indicates
poor
model
fit.
Again,
OrcaFlex
may
sometimes
be
unable
to
determine
the
confidence
limits
for
some
return
periods
this
may
result
in
gaps
in
the
confidence
limit
lines,
or
even
in
their
not
appearing
at
all.
An
example
of
diagnostics
graphs
indicating
a
good
model
fit
is
shown
below:
74
w
User
Interface,
Results
Figure:
Diagnostics
graphs
for
a
good
model
fit
If
either
of
these
graphs
indicates
a
poor
model
fit,
then
you
should
reconsider
the
entries
on
the
data
page:
x Distribution.
The
distribution
may
be
inappropriate
the
data
may
simply
not
conform
to
the
selected
distribution.
x Threshold.
The
threshold
may
be
too
low,
hence
including
too
many
points
which
are
not
in
the
tail
of
the
distribution;
or
too
high,
resulting
in
too
few
data
points
for
the
analysis
and
consequent
large
variation
in
the
results.
x Decluster
period.
This
may
be
too
long
(so
too
few
data
points),
or
too
short
(so
successive
data
points
might
not
be
independent).
3.9.13 Presenting
OrcaFlex
Results
OrcaFlex
users
often
wish
to
show
their
OrcaFlex
results
in
a
slide
presentation
prepared
using
a
presentation
program
such
as
Microsoft
PowerPoint.
Here
are
some
tips
on
how
this
can
be
done.
Graphs
Graphs
can
be
transferred
from
OrcaFlex
to
presentation
programs
by
simple
copy
+
paste.
Note:
In
PowerPoint,
instead
of
using
Paste,
it
is
better
to
use
Paste
Special
(from
the
Edit
menu)
and
then
select
the
Enhanced
Metafile.
This
gives
better
resolution.
Replays
Replays
can
be
transferred
by
exporting
to
an
AVI
file
and
then
importing
that
video
clip
file
into
the
presentation
program.
An
XVID
encoded
AVI
file
(and
possibly
other
codecs)
added
to
Microsoft
PowerPoint
slides
as
a
Movie
Object
may
not
play
correctly
(displaying
a
blank
screen
on
replay,
or
the
video
only
appearing
in
full
screen
mode).
To
avoid
these
problems,
an
XVID
AVI
file
needs
to
be
inserted
as
a
Video
Clip
Object.
This
can
be
done
in
two
ways:
1. Drag
and
Drop
the
AVI
file
onto
the
PowerPoint
slide,
or
2. From
the
PowerPoint
menu,
choose
Insert
|
Object.
Select
'Create
from
file'
and
Browse
to
your
file
(do
not
select
the
'Link'
option).
To
set
options
such
as
auto
repeat,
right-click
on
the
image
in
the
slide,
then
select
Video
Clip
Object
|
Open,
this
displays
the
video
player
window
and
menus.
75
User
Interface,
Graphs
w
The
Video
Clip
Object
links
to
the
AVI
file
(it
is
not
embedded
within
PowerPoint)
so
the
file
location
needs
to
be
accessible
when
running
the
presentation.
The
computer
running
the
presentation
must
also
have
the
XVID
codec
installed.
Note:
Resizing
video
clips
(after
pasting
into
your
presentation)
will
introduce
aliasing
(re-digitisation
errors)
so
it
is
best
to
set
the
OrcaFlex
3D
View
window
to
the
required
size
before
you
export
the
video.
Your
presentation
can
even
show
video
clips
of
OrcaFlex
in
use,
illustrating
how
the
program
i s
used.
However,
it
is
rather
harder
to
generate
the
required
video
files.
We
recommend
using
software
called
Camtasia
(www.techsmith.com)
to
record
video
clips
showing
OrcaFlex
in
use.
3.10 GRAPHS
When
you
request
results
in
graphical
form,
they
are
presented
in
Graph
Windows.
You
can
open
several
simultaneous
graph
windows,
showing
different
results,
and
tile
them
on
the
screen
together
with
3D
Views
and
text
results
windows.
To
adjust
a
graph's
properties
(range
of
axes,
colours,
etc.)
see
Modifying
Graphs.
Graphs
have
a
pop-up
menu
that
provides
the
following
facilities.
x Use
Default
Ranges.
x Copy
copies
the
graph
to
the
clipboard,
from
where
you
can
paste
it
into
other
applications.
x Values.
x Spectral
Density.
x Empirical
Cumulative
Distribution.
x Rainflow
half-cycle
Empirical
Cumulative
Distribution.
x Export
enables
you
to
export
the
graph
to
a
metafile
or
bitmap
file.
x Print
facilities
and
the
Monochrome
Output
preference.
x Properties.
Graphs
of
simulation
results
are
updated
automatically
as
the
simulation
progresses.
Also,
they
are
kept
even
if
you
reset
the
simulation,
so
once
you
have
set
up
a
set
of
interesting
graphs
you
can
edit
the
model
and
re-run
the
simulation
to
see
the
effect
of
changing
the
model.
You
can
also
set
up
results
graphs
when
in
reset
state,
prior
to
running
a
simulation
the
graph
will
be
empty
initially
and
will
grow
as
the
simulation
progresses.
Note
that
we
do
not
recommend
this
for
graphs
of
line
clearance,
however,
since
updating
them
can
significantly
slow
down
the
simulation.
The
workspace
feature
provides
a
very
powerful
way
of
managing
collections
of
related
graphs.
When
a
replay
is
in
progress
the
replay
time
is
indicated
on
both
Time
History
and
XY
graphs.
76
w
User
Interface,
Graphs
Figure:
Replay
time
indicator
on
a
Time
History
Graph
(vertical
line
at
Time=16s)
and
on
an
XY
Graph
(grey
cross
in
bottom
right
of
the
graph).
The
replay
time
indicator
on
a
Time
History
graph
can
be
directly
manipulated
using
the
mouse.
With
the
CTRL
key
pressed
you
simply
click
on
a
Time
History
graph
and
the
indicator
moves
to
where
you
have
clicked.
Any
open
3D
Views
are
updated
to
show
the
new
replay
time.
Similarly,
with
the
CTRL
key
pressed
you
can
click
and
then
drag
the
indicator.
This
direct
manipulation
of
the
replay
time
indicator
is
designed
to
help
understand
and
visualise
how
your
model
is
behaving
at
key
moments
of
the
simulation.
Printing
Graphs
To
print
a
graph,
use
the
File
|
Print
menu
item.
When
printing
to
a
monochrome
printer
you
will
get
the
best
results
by
setting
the
Monochrome
Output
preference
this
is
set
by
default
when
the
program
is
first
installed.
Copy
and
Paste
with
graphs
You
can
also
copy
a
graph
to
the
clipboard
simply
select
the
graph
window
by
CLICKING
on
it
and
then
using
the
Edit
|
Copy
menu
item.
From
the
clipboard
you
can
then
paste
it
into
another
application,
for
instance
into
a
word
processor
document.
Graphs
can
also
be
exported
as
Windows
metafiles,
use
the
File
|
Export
menu
item.
Metafiles
can
be
imported
into
many
Windows
programs,
such
as
word
processors,
spreadsheets,
graphics
packages
etc.
Note:
When
copying
a
graph
to
the
clipboard,
the
size
of
the
graph
window
you
copy
from
has
an
effect
on
how
the
text
label
fonts
appear
when
the
graph
is
pasted
into
another
application.
For
example,
if
you
are
copying
a
graph
to
a
Word
Processor
and
want
the
graph
to
be
full
page
size,
then
the
graph
window
should
be
made
large
on
screen
(e.g.
maximised).
If
you
want
a
number
of
graphs
on
one
page
of
a
document
then
the
graph
should
be
smaller
on
screen
try
tiling
or
cascading
the
windows
(see
the
Window
menu).
By
experimenting
with
various
differently
sized
graphs
it
should
be
possible
to
arrange
for
the
fonts
to
appear
as
you
wish.
77
User
Interface,
Spreadsheets
w
Axes
You
can
set
the
range,
the
tick
spacing
and
the
number
of
small
ticks.
The
Use
Default
Tick
Spacing
button
sets
the
tick
spacing
and
the
number
of
small
ticks
to
sensible
default
values
based
on
the
range.
This
is
useful
if
you
want
to
set
the
range
to
a
specific
value
and
want
the
tick
spacing
to
be
set
automatically.
Labels
You
can
alter
the
text
and
fonts
of
the
axis
and
tick
labels.
Curves
You
can
control
the
line
properties
and
visibility
for
each
curve
on
the
graph.
Legend
The
legend
is
a
key
showing
which
curve
is
which.
It
only
appears
on
graphs
that
have
multiple
curves,
e.g.
range
graphs.
You
can
control
whether
the
legend
is
shown
and
if
so
where
and
using
what
font.
Note
that
the
legend
includes
all
the
curves,
even
if
some
of
them
may
not
be
visible
at
the
time.
Intercepts
Intercepts
are
lines,
like
the
axes,
that
go
right
across
the
graph.
In
fact
the
X
and
Y
axes
themselves
are
considered
to
be
intercepts.
You
can
add
more
intercepts,
for
example
to
mark
things
like
stage
start
times,
and
you
can
control
their
position
and
style.
Save
As
Default
Changes
to
a
graph's
properties
normally
only
apply
to
that
graph.
But
for
general
settings
(fonts
etc.)
you
can
also
click
the
Save
As
Default
button.
OrcaFlex
then
remembers
the
current
settings
for
use
with
future
graphs.
3.11 SPREADSHEETS
Some
numerical
results
(e.g.
obtained
with
the
Values
button
on
the
Results
form)
appear
in
an
Excel
compatible
spreadsheet.
The
spreadsheet
is
read-only.
If
you
wish
to
modify
or
extend
it
you
must
first
save
it
as
described
below.
Printing,
Copying
and
Exporting
Spreadsheets
To
print
the
spreadsheet
right
click
and
select
Print,
but
remember
that
OrcaFlex
time
histories
are
normally
quite
long
and
will
therefore
produce
many
pages.
If
necessary,
you
can
first
adjust
the
printer
setup
using
File
|
Printer
Setup.
You
can
also
easily
transfer
the
results
to
other
applications
by
either:
x Copy
and
paste
via
the
Windows
clipboard.
Select
the
block
to
be
transferred
and
press
CTRL+C.
x Saving
to
file.
Choose
Export
from
the
popup
menu
to
save
as
Excel
format
(.xls),
comma
separated
values
(.csv)
or
as
tab
delimited
text
(.txt).
3.13 WORKSPACES
It
is
common
to
have
many
windows
(3D
View,
graph
or
spreadsheet)
open
within
OrcaFlex.
The
workspace
facility
is
designed
to
help
manage
these
windows.
78
w
User
Interface,
Comparing
Data
Workspace files
A
collection
of
view,
graph
or
spreadsheet
windows
can
be
saved
using
the
Workspace
|
Save
Workspace
menu
item.
This
creates
a
text
file
with
the
.wrk
file
extension
containing
a
specification
of
the
current
window
layout.
The
workspace
can
be
restored
at
any
time
with
the
Workspace
|
Open
Workspace
menu
item.
This
can
give
significant
time
savings
if
you
wish
to
look
at
a
number
of
different
results
windows
for
a
large
number
of
OrcaFlex
models.
Note
that
the
contents
of
the
windows
are
not
saved
to
the
workspace
file,
just
a
logical
description
of
the
window.
For
example,
suppose
you
saved
a
workspace
containing
a
graph
of
Effective
Tension
of
a
Line
called
Riser.
If
you
then
loaded
a
different
simulation
file
and
open
that
workspace
then
you
would
see
the
Effective
Tension
of
the
Line
called
Riser
in
the
new
simulation
file
and
not
the
simulation
filed
open
when
the
workspace
was
saved.
This
means
that
you
can
look
at
the
same
collection
of
results
for
any
number
of
simulation
files.
Workspace
files
are
not
limited
to
simulation
files
static
results
and
multiple
statics
results
can
also
be
saved.
Default
workspaces
As
an
alternative
to
loading
a
workspace
by
using
the
Workspace
menu
items
you
can
associate
default
workspaces
with
either
individual
simulation
files
or
with
entire
directories.
x If
you
define
a
default
workspace
for
a
simulation
file
then
the
workspace
is
restored
whenever
you
open
that
same
simulation
file.
x If
you
define
a
default
workspace
for
a
directory
then
the
workspace
is
restored
whenever
you
open
any
simulation
file
in
that
directory.
Getting
the
most
out
of
workspaces
We
recommend
that
you
save
your
workspace
files
in
the
same
directory
as
the
OrcaFlex
files.
If
you
do
so
then
the
workspace
file
will
appear
in
the
Most
Recent
Files
list
on
the
Workspace
menu.
Workspace
files
can
be
very
useful
if
you
are
sending
simulation
files
to
another
person.
By
including
a
workspace
file
with
the
results
of
interest
you
can
be
sure
that
they
will
view
the
correct
information.
This
can
be
particularly
valuable
when
sending
files
to
someone
who
is
not
an
experienced
OrcaFlex
user.
This
can
even
be
useful
when
sending
files
to
Orcina
for
software
support
because
they
contain
a
precise
specification
of
the
results
you
are
interested
in.
This
is
the
compare
program's
executable
file
name.
You
can
specify
either
the
full
path,
or
just
the
file
name
if
the
executable
file
resides
in
a
directory
which
is
on
your
system
path.
A
basic
compare
program
called
WinDiff
is
freely
available
(you
can
find
it
by
searching
the
Internet)
and
is
quite
sufficient
for
this
purpose.
79
User
Interface,
Preferences
w
This
defines
the
command
line
parameters
that
are
passed
to
the
compare
program.
OrcaFlex
replaces
the
special
strings
%1
and
%2
with
the
file
names
of
the
temporary
text
files.
For
most
compare
programs
the
default
setting
of
"%1
%2"
will
be
sufficient.
Otherwise
you
will
need
to
consult
the
documentation
of
your
compare
program.
3.15 PREFERENCES
OrcaFlex
has
a
number
of
settings
that
can
be
customised
to
suit
the
way
that
you
work.
The
majority
of
settings
can
be
adjusted
in
the
Preferences
form,
which
is
accessed
by
using
the
Tools
|
Preferences
menu
item.
3D
View
Preferences
Minimum
Drag
Distance
Object
positions
are
not
updated
until
the
mouse
has
been
dragged
at
least
this
distance
(in
pixels).
This
prevents
accidental
changes
to
object
positions.
To
make
a
small
movement,
drag
away
and
then
back
again,
or
edit
the
coordinate
directly
in
the
object's
Edit
Form.
View
Rotation
Increment
Each
CLICK
on
a
Rotate
View
button
increments
or
decrements
View
Azimuth
or
Elevation
by
this
amount.
Refresh
Rate
During
a
simulation
calculation
all
3D
View
and
Graph
windows
are
updated
at
this
rate.
Selecting
a
faster
rate
allows
you
to
see
the
behaviour
of
the
simulation
more
clearly
at
the
expense
of
performance.
Set
a
slow
Refresh
Rate
to
give
the
numerical
calculation
more
processor
time.
Background
Colour
Can
be
either
Flash
object
or
Hide
other
objects.
It
determines
what
method
the
Locate
action
in
the
model
browser
uses.
x When
the
Flash
object
preference
is
set
then
the
Locate
action
repeatedly
draws
and
hides
the
object
on
the
3D
View,
like
a
blinking
cursor.
x When
the
Hide
other
objects
preference
is
set
then
the
Locate
action
temporarily
hides
all
other
objects.
Normally
the
default
setting
of
Flash
object
is
sufficient
to
locate
objects.
However,
if
the
model
you
are
searching
for
is
obscured
by
other
objects
then
this
method
may
not
help
you
to
locate
the
object.
In
this
case
you
should
use
the
Hide
other
objects
preference.
3D
View
Axes
Preferences
View
Axes
The
view
axes
show
the
same
directions
as
the
global
axes,
but
are
drawn
in
the
top
right
hand
corner
of
3D
views,
rather
than
at
the
global
origin.
Can
also
be
set
from
the
View
menu.
Scale
Bar
Determines
whether
a
scale
bar
is
drawn
in
3D
views.
Can
also
be
set
from
the
View
menu.
Note:
The
Scale
Bar
is
not
drawn
for
shaded
graphics
views
because
it
would
be
meaningless
due
to
perspective.
Global Axes
Determines
whether
the
global
axes
are
drawn,
at
the
model's
global
origin
(0,0,0).
Can
also
be
set
from
the
View
menu.
Environment
Axes
Determines
whether
the
wave,
current
and
wind
directions
are
drawn
in
the
3D
view.
When
multiple
wave
trains
are
present
the
first
wave
train
is
taken
to
be
the
dominant
one
and
is
drawn
using
sea
surface
pen,
whereas
the
other
wave
trains'
directions
are
drawn
in
the
secondary
wave
direction
pen.
Can
also
be
set
from
the
View
menu.
80
w
User
Interface,
Preferences
Local Axes
Determines
whether
the
local
axes
for
vessels,
buoys
and
line
ends
are
shown.
Drawing
the
local
axes
on
the
3D
view
helps
you
check
the
orientations
of
these
objects.
This
preference
can
also
be
set
from
the
View
menu.
Note:
Local
Axes
are
not
drawn
for
shaded
graphics
views.
Node Axes
Determines
whether
axes
for
line
nodes
are
shown.
This
preference
can
also
be
set
from
the
View
menu.
Out
of
Balance
Forces
If
selected,
then
in
the
static
analysis
(not
during
the
simulation)
there
are
extra
lines
drawn
on
the
3D
view,
representing
the
out
of
balance
force
acting
on
each
vessel
and
buoy.
This
preference
is
sometimes
useful
for
static
analysis,
since
it
enables
you
to
see
how
far
a
buoy
or
vessel
is
from
being
in
equilibrium.
This
preference
can
also
be
set
from
the
View
menu.
The
force
is
drawn
as
a
line,
starting
at
the
force's
effective
point
of
application,
and
whose
length
represents
the
size
of
the
force.
The
scaling
is
piecewise
linear
and
based
on
the
View
Size
of
the
3D
view.
Lines
up
to
ViewSize/2
long
mean
forces
up
to
10
force
units
and
lines
from
ViewSize/2
to
ViewSize
mean
forces
from
10
to
1000
force
units.
Note:
Out
of
Balance
Forces
are
not
drawn
for
shaded
graphics
views.
Video
Preferences
The
video
preferences
allow
you
to
control
the
compression
algorithm
used
for
exported
video.
The
software
which
performs
this
compression
is
called
a
codec.
Because
the
different
graphics
modes
produce
very
different
images
they
require
different
types
of
codec.
Shaded
Graphics
Codec
The
run-length
encoding
which
works
well
for
wire
frame
graphics
is
not
suitable
for
shaded
replays
and
in
fact
there
is
no
suitable
built-in
codec
in
Windows.
We
would
recommend
using
an
MPEG-4
codec
of
which
many
are
available.
In
our
experience
the
freely
available
(licensed
under
the
GPL)
XVID
codec
performs
very
well.
The
Shaded
Graphics
topic
has
more
information
about
the
XVID
codec.
Another
reasonable
choice
is
the
Windows
Media
Video
9
codec,
which
is
identified
by
the
code
WMV3.
This
codec
produces
lower
quality
videos
than
XVID
for
the
same
video
file
size,
but
does
have
the
advantage
that
the
videos
should
work
on
almost
all
Windows
machines
without
the
need
for
codec
installation.
Details
on
how
to
download
this
codec
can
be
found
at:
www.orcina.com/Support/ShadedGraphics.
You
can
choose
to
use
other
codecs
that
are
installed
on
your
machine.
Should
you
do
so
then
you
must
also
specify
the
following
information:
x Codec
4
character
code:
Codecs
are
identified
by
unique
codes,
4
characters
long.
Good
alternatives
to
XVID
and
WMV3
include
DIVX,
the
3ivx
codec
(character
code
3IV2).
x Padding:
MPEG-4
codecs
commonly
require
round
number
frame
sizes
(width
and
height
in
pixels).
For
example
XVID
requires
frame
sizes
to
be
multiples
of
8.
When
OrcaFlex
exports
the
video
it
ensures
that
the
frame
sizes
are
a
multiple
of
this
number.
If
you
are
unsure
of
what
number
to
use
for
your
codec
then
we
recommend
trying
8
which
usually
works.
x Colour
depth:
Some
MPEG-4
codecs
require
a
specific
colour
depth.
Again,
if
you
are
unsure
of
what
value
to
use
then
we
recommend
trying
32
bit
or
16
bit
colour
depth.
Wire
Frame
Graphics
Codec
Run-length
encoding
is
the
default
setting
and
is
usually
the
best
choice.
This
codec
offers
good
compression
rates
for
OrcaFlex
wire
frame
video.
The
AVI
files
produced
using
this
codec
can
be
played
on
most
Windows
PCs.
If
you
choose
Uncompressed
then
each
frame
of
the
video
is
stored
as
an
uncompressed
bitmap.
This
means
that
the
AVI
file
produced
can
be
extremely
large.
Output
Preferences
Printer
Margins
81
User
Interface,
Printing
and
Exporting
w
Monochrome Output
If
this
is
checked
then
external
output
(copying
to
the
clipboard,
exporting
metafiles
and
printing)
is
in
black
and
white.
This
is
useful
with
black
and
white
printers,
since
otherwise
pale
colours
may
be
drawn
in
very
light
grey
and
may
be
hard
to
see.
Miscellaneous
Preferences
Show
Splash
Screen
Determines
whether
OrcaFlex
displays
its
splash
screen
when
the
program
starts.
Batch
Auto
Save
If
this
is
enabled
then
simulations
run
in
batch
mode
are
automatically
stored
to
simulation
files
at
the
specified
regular
Auto
Save
Interval.
This
is
useful
if
your
computer
is
prone
to
failure
(for
example
because
of
overnight
power
failures)
since
the
part-run
simulation
file
can
be
loaded
and
continued,
rather
than
having
to
re-run
the
whole
simulation
from
scratch.
The
Auto
Save
Interval
should
be
neither
too
short,
since
then
the
program
will
then
waste
a
lot
of
time
repeatedly
storing
away
the
results,
nor
too
long,
since
then
a
lot
of
simulation
work
will
be
lost
if
a
failure
occurs.
82
w
Automation,
Introduction
4 AUTOMATION
4.1 INTRODUCTION
OrcaFlex
provides
several
important
facilities
for
automating
and
post-processing
work:
x OrcaFlex
is
supplied
with
a
special
Excel
spreadsheet
which
enables
you
to
automate
the
extraction
of
simulation
results
into
your
own
spreadsheet.
You
can
then
use
the
normal
Excel
calculation
facilities
to
do
your
own
customised
post-processing
and
graphing.
x The
Batch
Processing
facility
enables
you
to
run
a
set
of
simulations
in
unattended
mode,
for
example
as
an
overnight
job.
The
simulations
can
either
be
of
pre-prepared
data
files,
or
else
can
be
specified
by
a
batch
script
file
that
specifies
the
simulation
as
variations
on
a
base
data
file.
The
OrcaFlex
Spreadsheet
mentioned
above
also
has
facilities
for
automating
the
production
of
batch
script
files
and
text
data
files.
x OrcaFlex
includes
a
well-documented
programming
interface
called
OrcFxAPI
(short
for
OrcaFlex
Application
Program
Interface).
See
the
OrxFxAPI
help
file
for
details.
OrcFxAPI
is
a
Windows
dynamic
link
library
(DLL)
that
is
installed
when
you
install
OrcaFlex,
and
which
provides
facilities
for
setting
data,
calculating
static
positions
and
extracting
results
from
those
calculations
or
from
pre-run
simulation
files.
For
example
you
can
write
programs
to
automate
post-processing
or
that
use
OrcaFlex
as
a
'statics
calculation
engine'.
One
important
example
application
of
this
is
for
real-time
monitoring
of
pipes,
moorings
etc.
For
further
information
or
to
discuss
possible
applications
of
OrcFxAPI,
please
contact
Orcina.
When
adding
data
files
(.dat
or
.yml)
you
need
to
specify
whether
static
or
dynamic
analysis
is
to
be
performed.
This
choice
is
made
from
the
Add
Files
file
dialogue
window,
or
from
the
popup
menu.
OrcaFlex
can
auto-save
partial
completed
dynamic
simulations
to
file
at
regular
intervals
during
the
batch
job.
This
is
useful
if
your
computer
is
prone
to
failure
(for
example
because
of
overnight
power
failures)
since
the
part-run
simulation
file
can
be
loaded
and
continued,
rather
than
having
to
re-run
the
whole
simulation
from
scratch.
83
Automation,
Batch
Processing
w
Multi-threading
The
batch
processing
functionality
can
make
use
of
multiple
processor
cores.
So,
for
example,
if
you
have
a
quad-
core
machine
then
4
simulation
files
can
be
run
concurrently.
Since
some
batch
tasks
can
depend
on
the
output
of
other
tasks
OrcaFlex
processes
tasks
in
a
very
particular
order,
as
follows:
x The
batch
script
files
are
all
processed
first.
Because
it
is
common
to
write
scripts
that
output
data
files
it
is
important
to
complete
all
batch
scripts
before
processing
the
data
files.
x Any
data
or
simulation
files
are
processed
next.
x Fatigue
files
are
processed
next.
These
use
simulation
files
as
input
and
so
should
not
be
started
until
all
data
or
simulation
files
have
been
processed.
x Finally
any
OrcaFlex
spreadsheet
files
or
load
cases
are
processed.
These
also
cannot
be
started
until
all
data
or
simulation
files
have
been
processed.
The
commands
in
batch
script
files
are
processed
sequentially.
Consequently
any
simulations
that
are
processed
with
Run
commands
cannot
be
performed
in
parallel.
Because
of
this
it
is
advisable
to
use
the
SaveData
command
rather
than
the
Run
command
when
creating
batch
scripts.
Such
a
script
would
create
a
number
of
OrcaFlex
data
files
which
you
could
then
process
in
the
batch
form
using
all
available
processor
cores.
Batch
Form
User
Interface
Close
Adds
jobs
to
the
list.
The
standard
file
dialogue
window
is
displayed,
where
you
select
one
or
more
files
to
be
added
to
the
list.
Files
can
also
be
added
by
drag
and
drop.
That
is
if
you
are
browsing
your
file
system
then
you
can
highlight
files
and
drag
them
onto
the
jobs
list.
Remove
Files
OrcaFlex
opens
each
file
in
the
jobs
list,
checks
that
they
contain
valid
OrcaFlex
data
or
script
commands
and
reports
any
errors.
When
checking
OrcaFlex
spreadsheet
or
fatigue
files
it
simply
confirms
the
file
exists.
Run
Batch
Processes
the
list
of
jobs.
If
a
job
fails
then
it
is
abandoned
but
other
jobs
are
still
attempted.
Any
errors
are
reported
once
all
jobs
have
been
processed.
Pause
Batch
Pauses
the
currently
running
batch
jobs.
This
can
be
useful
if
you
temporarily
want
another
process
on
your
machine
to
have
the
processor
resource
that
OrcaFlex
is
using.
Stop
Batch
Displays
a
window
allowing
you
to
review
all
warnings
generated
by
OrcaFlex
during
a
calculation.
These
warnings
are
suppressed
when
you
are
operating
in
batch
mode
and
this
button
allows
you
to
review
them
once
the
simulation
has
completed.
Close
program
when
Batch
completes
If
checked
then
OrcaFlex
will
close
once
the
processing
of
jobs
completes.
This
feature
is
intended
principally
for
users
with
networked
licences.
It
allows
you
to
release
your
claim
on
an
OrcaFlex
licence
as
soon
as
the
batch
of
jobs
is
complete.
84
w
Automation,
Batch
Processing
Opens
the
OrcaFlex
file
named
<FileName>.
The
file
can
be
either
a
data
file
or
a
simulation
file.
LoadData
<FileName>
Opens
the
data
from
the
OrcaFlex
data
file
named
<FileName>.
RunStatics
<FileName>
Perform
statics
for
the
current
model
and
save
the
resulting
simulation
to
<FileName>.
After
the
file
is
saved
the
model
is
reset.
RunDynamics
<FileName>
Run
dynamics
for
the
current
model
and
save
the
resulting
simulation
to
<FileName>.
After
the
file
is
saved
the
model
is
reset.
Run
<FileName>
Identical
to
RunDynamics.
Save
<FileName>
85
Automation,
Batch
Processing
w
If
calculation
results
(either
statics
or
dynamics)
are
available
then
a
simulation
file
will
be
saved.
Otherwise
a
data
file
will
be
saved.
When
saving
data,
if
the
file
extension
is
.yml
then
a
text
data
file
will
be
saved;
otherwise
a
binary
data
file
will
be
saved.
SaveData
<FileName>
ExtendSimulation <StageDuration>
Adds
a
new
stage
of
length
<StageDuration>.
This
command
is
equivalent
to
the
Calculation
|
Extend
Dynamic
Simulation
menu
item.
You
would
normally
follow
this
command
with
a
Run
command.
Reset
Resets
the
current
model.
This
command
is
equivalent
to
the
Calculation
|
Reset
menu
item.
NewModel
Deletes
all
objects
from
the
current
model
and
resets
data
to
default
values.
This
command
is
equivalent
to
the
File
|
New
menu
item.
Create
<ObjectType>
[<ObjectName>]
Creates
a
new
object
of
type
<ObjectType>.
The
new
object
is
automatically
selected
which
means
that
subsequent
assignment
commands
apply
to
this
new
object.
The
<ObjectType>
parameter
can
be
"Line
Type",
"Vessel
Type",
"Line",
"Winch"
etc.
Select
Edit
|
Add
from
the
Model
Browser
menu
to
see
a
list
of
possible
values
for
this
parameter.
Alternatively
variable
data
sources
can
be
created
by
setting
the
<ObjectType>
parameter
to
"Bending
Stiffness",
"Drag
Coefficient"
etc.
This
list
of
possible
variable
data
source
object
types
can
be
found
in
the
Data
Source
Type
tree
on
the
variable
data
form.
If
the
optional
<ObjectName>
parameter
is
included
then
the
new
object
will
be
given
that
name.
Delete
<ObjectName>
Specify
the
model
object
to
which
subsequent
assignment
commands
will
apply.
The
<ObjectType>
parameter
is
optional,
and
by
default
is
'object',
meaning
select
the
named
model
object.
<ObjectName>
must
then
be
either
the
name
of
an
object
that
exists
in
the
current
model
or
one
of
the
reserved
names
'General'
(for
the
General
data
form)
or
'Environment'
(for
the
Environment
data
form).
Some
examples
of
the
select
and
assignment
commands
are
given
in
Examples
of
setting
data.
Other
<ObjectType>
values
only
need
to
be
specified
in
the
following
special
cases.
If
the
Environment
has
been
selected
and
there
is
more
than
one
wave
train,
then
before
you
can
specify
any
wave
train
data
you
must
give
another
select
command
to
select
the
wave
train.
This
second
select
command
has
the
form:
Select WaveTrain <WaveTrainName>
So,
for
example:
Select Environment
Select WaveTrain Primary
WaveDirection = 30.0
Similarly,
if
the
Environment
has
been
selected
and
there
is
more
than
one
current
data
set,
then
you
must
select
one
of
them
before
specifying
any
current
data.
For
example:
86
w
Automation,
Batch
Processing
Select Environment
Select Current Current2
RefCurrentDirection = 270.0
Note
that
this
is
not
the
same
as
setting
the
Active
Current.
In
fact,
you
should
avoid
setting
up
multiple
current
data
in
batch
scripts
if
possible:
this
is
best
done
interactively
on
the
Environment
form.
If
a
vessel
type
has
been
selected
and
it
has
more
than
one
draught,
then
before
specifying
any
draught-dependent
data
you
must
give
another
select
command
that
selects
the
draught.
This
second
select
command
has
the
form:
Select Draught <DraughtName>
Before
specifying
data
for
RAOs
you
need
to
specify
the
type
of
RAOs
this
can
be
either
Displacement,
WaveLoad
or
QTF.
This
is
done
with
a
command
of
the
form:
Select RAOs <RAO type>
Similarly,
before
specifying
vessel
type
data
for
a
given
wave
direction
you
must
give
another
select
command
to
select
that
direction.
This
takes
the
form:
Select Direction <Direction>
So,
for
example:
Select "Vessel Type1"
Select Draught Transit
Select RAOs Displacement
RAOOriginX = 10
RAOOriginY = 0
RAOOriginZ = 2
Select Direction 45
RAOSurgeAmplitude[2] = 0.1
Select Direction 90
RAOSurgeAmplitude[2] = 0.16
Note:
Indentation
with
spaces
or
tabs
is
optional,
but
makes
scripts
more
readable.
Assignment
87
Automation,
Batch
Processing
w
InvokeWizard
Sets
the
data
for
the
selected
object
using
either
the
Line
Type
Wizard
or
the
Plasticity
Wizard.
The
selected
object
must
be
either
a
line
type
or
a
bend
stiffness
variable
data
source.
The
input
data
for
the
Wizard
should
first
be
set
using
data
assignment
commands.
An
example
of
how
to
use
this
command
is
given
in
Examples
of
setting
data.
WaveSearch
<FileName>
Exports
the
wave
search
spreadsheet
to
the
specified
file.
The
file
can
be
an
Excel
spreadsheet
(.xls),
a
tab
delimited
file
(.txt)
or
a
comma
separated
file
(.csv).
The
decision
is
taken
based
on
the
file
extension
that
you
specify.
The
input
data
for
the
wave
search
should
first
be
set
using
data
assignment
commands.
DisplacementRAOsReport
<FileName>
[<VesselName>]
SpectralResponseReport
<FileName>
[<VesselName>]
Exports
the
vessel
response
report
spreadsheets
to
the
specified
file
for
the
specified
vessel.
The
file
can
be
an
Excel
spreadsheet
(.xls),
a
tab
delimited
file
(.txt)
or
a
comma
separated
file
(.csv).
The
decision
is
taken
based
on
the
file
extension
that
you
specify.
If
no
vessel
is
specified,
and
there
is
only
one
vessel
in
the
model,
then
that
vessel
will
be
used.
The
input
data
for
the
response
reports
should
first
be
set
using
data
assignment
commands.
SHEAR7DataFile
<LineName>
<FileName>
Exports
to
<FileName>
a
SHEAR7
data
file
for
the
line
named
<LineName>.
SHEAR7MdsFile
<LineName>
<FileName>
[<FirstMode>
<LastMode>]
Exports
to
<FileName>
a
SHEAR7
Mds
file
for
the
line
named
<LineName>.
The
<FirstMode>
and
<LastMode>
parameters
are
optional.
If
they
are
specified
then
mode
numbers
in
the
range
<FirstMode>
to
<LastMode>
inclusive
are
exported.
If
these
parameters
are
omitted
then
all
modes
are
exported.
Only
the
Transverse
and
Mostly
Transverse
modes
are
included
in
the
exported
file.
If
you
have
specified
first
and
last
modes
to
export
then
these
mode
numbers
refer
to
the
transverse
and
mostly
transverse
modes.
The
program
takes
the
following
steps:
1. Calculate
all
modes.
2. Sort
the
modes
into
order
of
decreasing
period
/
increasing
frequency.
3. Remove
all
modes
which
are
not
Transverse
or
Mostly
Transverse.
4. Export
the
modes
in
the
range
<FirstMode>
to
<LastMode>
inclusive.
SHEAR7OutFile
<LineName>
<FileName>
Exports
to
<FileName>
the
SHEAR7
.out
file
for
the
line
named
<LineName>.
This
command
is
only
available
if
the
direct
SHEAR7
interface
is
in
use.
SHEAR7PltFile
<LineName>
<FileName>
Exports
to
<FileName>
the
SHEAR7
.plt
file
for
the
line
named
<LineName>.
This
command
is
only
available
if
the
direct
SHEAR7
interface
is
in
use.
4.2.5 Examples
of
setting
data
The
Select
command
is
probably
the
most
difficult
script
command
to
use.
To
help
understand
how
it
works
we
present
some
examples
of
its
use
below:
Simple
examples
For
many
objects
the
script
commands
for
setting
data
take
the
form:
1. Select
the
object
using
the
command
Select
<ObjectName>.
2. Set
the
data
using
one
or
more
commands
of
the
form
VariableName
=
Value.
The
object
name
is
most
easily
found
on
the
Model
Browser.
The
variable
name
is
found
by
opening
the
relevant
data
form,
selecting
the
required
data
item
and
pressing
F7.
Some
examples
of
this
procedure
follow:
Select Link1
UnstretchedLength = 50
88
w
Automation,
Batch
Processing
Select "3D Buoy1"
Mass = 4
Volume = 8
Height = 7.5
Select Line1
IncludeTorsion = Yes
Note:
The
name
"3D
Buoy"
needs
to
be
enclosed
in
quotes
because
it
contains
a
space.
If
the
name
contains
a
double
quote
and
spaces
then
it
should
be
enclosed
with
single
quotes.
89
Automation,
Batch
Processing
w
However,
the
majority
of
Vessel
Type
data
requires
that
you
also
specify
which
draught
the
data
applies
to.
For
example:
Select "Vessel Type1"
Select Draught "Transit Draught"
CurrentCoeffSurgeArea = 1200
CurrentCoeffSwayArea = 1100
CurrentCoeffYawAreaMoment = 120E3
To
set
data
for
displacement
RAOs,
wave
load
RAOs
and
wave
drift
QTFs
you
must
also
specify
which
type
of
RAO
the
data
applies
to.
For
example:
Select "Vessel Type1"
Select Draught "Survival Draught"
Select RAOs Displacement
RAOOriginX = 10
RAOOriginY = 0
RAOOriginZ = 2
Select RAOs WaveLoad
90
w
Automation,
Batch
Processing
RAOOriginX = 0
RAOOriginY = 0
RAOOriginZ = 0
Select RAOs QTF
RAOOriginX = -3
RAOOriginY = 0
RAOOriginZ = 4
Note
that
the
variable
names
are
the
same
but
different
data
is
set
depending
on
which
type
of
RAOs
has
been
selected.
In
addition,
when
setting
RAO
table
data
(for
displacement
RAOs,
wave
load
RAOs
and
wave
drift
QTFs)
you
must
specify
which
direction
the
data
applies
to.
For
example:
Select "Vessel Type1"
Select Draught "Survival Draught"
Select RAOs Displacement
Select Direction 22.5
RAOYawAmplitude[2] = 0.13
Select Direction 45
RAOYawAmplitude[2] = 0.18
However,
it
is
worth
pointing
out
that
situations
where
you
would
wish
to
specify
RAO
table
data
in
a
batch
script
are
rare.
It
is
much
more
likely
that
you
would
import
this
data
into
OrcaFlex
from
some
external
source
and
then
save
it
as
part
of
the
base
case
data
file.
Variable
Data
sources
Data
for
Variable
Data
sources
can
be
set
from
the
batch
script,
although
once
again
we
feel
it
is
unlikely
that
you
would
need
to
do
this
often.
The
procedure
for
setting
variable
data
sources
is
illustrated
below:
Select Stiffness1
NumberOfRows = 3
IndependentValue[1] = 0
DependentValue[1] = 0
IndependentValue[2] = 0.2
DependentValue[2] = 1000
IndependentValue[3] = 0.4
DependentValue[3] = 5000
Note
that
IndependentValue
and
DependentValue
are
the
variable
names
for
the
X
and
Y
columns
of
the
variable
data
source.
That
is
if
you
are
setting
data
for
a
bending
stiffness
data
source
then
IndependentValue
denotes
curvature
and
DependentValue
denotes
bend
moment.
Line
Type
Wizard
The
Line
Type
Wizard
can
be
used
from
batch
script.
First
of
all
you
must
select
the
Line
Type
and
set
its
Wizard
data.
Once
this
is
complete
the
Wizard
is
invoked
using
the
InvokeWizard
command
as
illustrated
below:
Select "Line Type1"
WizardCalculation = "Homogeneous Pipe"
PipeMaterial = Steel
PipeOuterDiameter = 0.082
PipeWallThickness = 0.005
InvokeWizard
Select "Line Type2"
WizardCalculation = "Line with Floats"
FloatBaseLineType = "Line Type3"
FloatDiameter = 0.80
FloatLength = 1.2
FloatPitch = 5.5
InvokeWizard
91
Automation,
Batch
Processing
w
Plasticity
Wizard
The
Plasticity
Wizard
can
be
used
from
batch
script.
First
of
all
you
must
select
the
Bend
Stiffness
variable
data
source
and
set
its
Wizard
data.
Once
this
is
complete
the
Wizard
is
invoked
using
the
InvokeWizard
command
as
illustrated
below:
Select Stiffness1
StressOD = 0.30
StressID = 0.27
Type = "Ramberg-Osgood curve"
E = 230.0e6
RefStress = 385.0e3
InvokeWizard
92
w
Automation,
Batch
Processing
93
Automation,
Batch
Processing
w
x Note
that
you
can
add
extra
columns
to
the
table
or
indeed
remove
columns
from
the
table.
x The
table
can
be
arrange
with
rows
and
columns
transposed.
To
do
this
you
must
use
the
keyword
Script
Table
Row.
An
example
of
this
alternative
approach
can
be
found
in
the
default
OrcaFlex
spreadsheet
template.
An
example
is
shown
below:
Figure:
Example
table
for
automatic
batch
script
generation
The
script
generated
by
this
table
loads
a
base
case
from
a
file
called
"Base
Case.dat".
Because
no
path
is
specified
then
this
file
is
located
in
the
same
directory
as
the
spreadsheet.
Four
cases
are
produced
based
on
this
data
file
with
current
values
of
0.5
and
0.8
and
line
lengths
of
100
and
120.
Note:
The
cell
containing
the
base
case
data
file
name
has
the
file
name
surrounded
by
quotes.
This
is
because
the
file
name
contains
a
space.
However,
the
quotes
are
not
needed
for
the
file
names
in
the
last
column
because
they
do
not
contain
spaces.
The
script
is
generated
as
follows.
First
select
the
cell
containing
the
text
Script
Table.
Then
drop
down
the
OrcaFlex
menu
contained
in
the
main
Excel
menu
and
click
Create
Batch
Scripts.
When
you
do
this
you
are
presented
with
the
following
window:
94
w
Automation,
Batch
Processing
Figure:
Automatically
generated
batch
script
The
script
file
has
not
been
saved
yet.
You
should
check
that
the
automatically
generated
script
is
as
intended.
Should
you
wish
to,
you
can
modify
the
script
file
name
at
this
point.
If
there
is
a
problem
with
the
script
you
can
click
the
Close
button
and
correct
the
script
table.
Save
button
Saves
the
script
file
and
then
processes
it
within
Excel.
Each
data
file
saved
by
the
script
is
then
submitted
to
Distributed
OrcaFlex
which
runs
and
saves
the
simulation
file.
Note:
The
Save,
Run
and
Submit
button
is
only
available
if
Distributed
OrcaFlex
is
installed
on
your
machine.
In
addition,
it
cannot
be
used
if
the
script
contains
any
Run
commands.
95
Automation,
Batch
Processing
w
Multiple
tables
You
can
have
multiple
script
tables
w ithin
a
workbook.
To
create
all
the
batch
scripts
in
one
operation
select
all
the
script
tables
and
then
click
Create
Batch
Scripts
in
the
OrcaFlex
menu.
4.2.9 Automating
Text
Data
File
Generation
The
OrcaFlex
Spreadsheet
has
facilities
for
automating
the
generation
of
text
data
files
for
a
regular
set
of
cases.
To
use
this
facility
select
the
Pre-processing
worksheet,
then
select
the
Text
Data
Files
cell
and
then
click
the
Create
Text
Data
Files
command
which
can
be
found
on
the
OrcaFlex
menu
in
Excel.
The
basic
idea
is
very
similar
to
the
facility
for
automating
generation
of
batch
script
files.
An
example
table
is
shown
below:
Figure:
Example
table
for
automatic
text
data
file
generation
The
cell
containing
"Text
Data
Files",
highlighted
in
yellow,
is
known
as
the
anchor
cell.
The
text
data
files
are
generated
based
on
the
template
file
specified
the
in
cell
immediately
to
the
right
of
the
anchor
cell.
In
this
example
the
template
file
might
look
like
this:
BaseFile: Base Case.dat
Environment:
WaveDirection: %direction
WaveHeight: %height
Line1:
Length[1]: %length
The
row
immediately
below
the
anchor
cell,
highlighted
in
blue,
contains
variable
names.
You
are
free
to
choose
these
names
as
you
please.
We
have
adopted
a
convention
that
the
variable
names
begin
with
a
percentage
sign
(%).
Although
you
do
not
need
to
follow
this
convention,
doing
so
will
have
the
benefit
of
making
the
variable
names
stand
out.
The
rows
beneath
the
variable
names
row
are
known
as
the
value
rows.
Each
row
defines
a
single
text
data
file.
The
text
data
file
is
generated
by
starting
from
the
template
file
and
then
replacing
each
variable
name,
in
turn,
by
the
value
specified
in
the
table.
The
%filename
variable
name
is
compulsory,
that
is
it
must
be
included
as
one
of
the
variable
names.
It
specifies
the
name
of
the
generated
text
data
file.
Relative
paths
can
be
used
for
the
template
file
name
and
the
output
file
names.
The
extent
of
the
table
is
determined
by
the
presence
of
empty
cells.
So
the
variable
names
row
ends
at
the
first
empty
cell.
Likewise
the
value
rows
end
at
the
first
empty
cell
in
the
column
beneath
the
anchor
cell.
The
example
above
produces
8
text
data
files
as
its
output,
named
Case01.yml,
Case02.yml,
etc.
This
first
of
these
looks
like
this:
BaseFile: Base Case.dat
Environment:
WaveDirection: 0
WaveHeight: 8
Line1:
Length[1]: 100
It
is
clearly
important
that
you
choose
unique
variable
names.
However,
there
is
a
further
subtlety
which
can
arise
when
one
variable
name
is
a
sub-string
of
another.
For
example,
consider
the
variable
names
%x1
and
%x10.
When
96
w
Automation,
Post-processing
occurrences
of
%x1
in
the
template
file
are
replaced
by
their
actual
values,
the
first
3
characters
of
any
occurrences
of
%x10
will
also
be
detected.
Such
ambiguities
seldom
arise,
but
if
you
are
affected
then
you
can
extend
the
naming
convention
to
include
a
trailing
%
sign.
In
the
example
given
above,
the
variable
names
become
%x1%
and
%x10%
and
clearly
the
problem
does
not
arise.
Multiple
tables
You
can
have
multiple
tables
within
a
workbook.
To
process
all
the
tables
in
one
operation,
select
all
the
tables
and
then
click
the
Create
Text
Data
Files
command.
Benefits
over
script
tables
The
text
data
file
approach
to
load
case
file
generation
described
above
is
very
similar
to
the
approach
using
batch
script
files.
The
choice
of
which
to
use
is
largely
one
of
personal
preference.
If
you
are
already
familiar
with
batch
script
and
not
yet
familiar
with
text
data
files
then
it
may
prove
easier
to
continue
using
batch
script.
There
is
one
significant
advantage
of
using
text
data
files
which
is
that
it
avoids
duplication
of
the
OrcaFlex
model
data.
Consider
the
following
typical
sequence
of
actions
when
using
batch
script
where
we
assume
that
the
basic
model
and
scripts
are
already
in
place:
1. Modify
the
single
base
model,
represented
by
an
OrcaFlex
data
file.
2. Run
the
batch
script
(or
scripts)
that
generate
all
the
load
case
data
files.
3. Run
the
simulations
for
all
load
case
data
files.
If
text
data
files
are
used,
as
described
above,
then
step
2
is
not
required.
This
is
because
the
load
case
text
data
files
contain
a
reference
to
the
base
model
rather
than
containing
a
copy
as
is
the
case
when
using
batch
script.
This
is
a
relatively
minor
advantage
but
it
does
reduce
the
likelihood
of
mistakenly
forgetting
to
carry
out
step
2
when
using
batch
script
files.
In
addition,
more
complex
analyses
can
lead
to
your
load
cases
being
defined
by
multiple
script
files
which
have
to
be
executed
in
a
particular
order.
Using
the
text
data
file
approach
means
that
this
complexity
is
dealt
with
just
once
when
setting
up
the
text
data
files,
as
opposed
to
every
time
a
modification
to
the
base
model
is
made.
4.3 POST-PROCESSING
4.3.1 Introduction
OrcaFlex
users
often
use
spreadsheets
to
post-process
their
OrcaFlex
results.
This
can
be
done
manually
by
transferring
the
results
from
OrcaFlex
into
the
spreadsheet
using
copy
+
paste.
However,
this
is
laborious
and
error
prone
if
a
lot
of
results
need
transferring,
so
we
have
developed
special
facilities
to
automate
the
process.
This
automation
is
done
using
an
Excel
spreadsheet
that
has
facilities
for
automatic
extraction
of
specified
results
from
one
or
more
OrcaFlex
files
into
nominated
cells
in
the
spreadsheet.
You
can
then
use
the
normal
spreadsheet
facilities
to
calculate
other
post-processed
results
from
those
OrcaFlex
results.
Note:
The
OrcaFlex
spreadsheet
works
with
Excel
2000
or
later
and
requires
OrcaFlex
to
be
installed
on
the
machine.
Before
you
try
to
use
the
new
spreadsheet
you
need
to
save
it
to
a
file;
it
can
be
given
any
valid
file
name.
It
is
usually
most
convenient
to
save
it
to
the
directory
containing
the
OrcaFlex
files
from
which
you
want
to
extract
results.
You
can
then
specify
the
names
of
those
files
in
the
spreadsheet
using
relative
paths.
Using
relative
paths
makes
it
easier
to
rename
the
directory
or
move
the
spreadsheet
and
OrcaFlex
files
to
some
other
directory.
97
System
Modelling:
Data
and
Results,
Vessels
w
z (heave)
yaw y (sway)
pitch
x (surge)
V roll
Figure:
Vessel
Model
Each
vessel
has
a
Vessel
Type
that
determines
its
RAO
and
drawing
data.
To
illustrate
this,
consider
a
model
of
a
pipe
being
towed
by
two
identical
tugs.
This
is
modelled
by
creating
a
vessel
type
called
'Tug'
and
then
creating
two
vessels,
each
of
type
'Tug'.
The
drawing
data
(defining
the
tug
outline)
are
data
of
the
Tug
vessel
type,
since
they
apply
to
both
tugs.
Similarly,
the
RAOs
are
data
of
the
vessel
type,
since
again
they
are
the
same
for
both
tugs.
On
the
other
hand
the
two
tugs
differ
in
their
positions
and
prescribed
motion,
so
these
are
properties
of
the
individual
vessel
objects.
Note:
The
vessel
also
has
extra
drawing
data
this
is
to
allow
you
to
set
up
vessel-specific
drawing.
For
example
the
lead
tug
may
have
a
special
tow-point
fitting
that
you
want
to
draw.
When
the
vessel
is
drawn,
OrcaFlex
first
draws
the
vessel
type
wire
frame
and
then
draws
the
vessel
wire
frame.
These
two
wire
frames
can
have
different
colours,
so
you
can
highlight
application-specific
drawing.
The
vessel
is
defined
relative
to
a
right-handed
system
of
local
vessel
axes
Vxyz,
where:
x V
is
the
vessel
origin
for
this
vessel
type.
This
is
chosen
by
the
user
when
the
vessel
type
is
set
up.
However
note
that
if
you
specify
that
the
vessel
type
has
symmetry
then
the
vessel
origin
must
be
placed
on
the
plane
of
symmetry
or
at
the
centre
of
circular
symmetry;
see
Vessel
Types:
Conventions
for
details.
x Vx,
Vy
and
Vz
must
be
the
directions
of
surge,
sway
and
heave,
respectively,
for
this
vessel
type.
Note
that
these
directions
must
therefore
be
the
directions
to
which
the
RAOs
apply.
Points
on
the
vessel,
for
example
where
cables
or
risers
are
connected,
are
then
defined
relative
to
these
vessel
axes.
These
points
then
move
with
those
axes
as
the
vessel
moves
and
rotates
relative
to
the
global
axes,
and
OrcaFlex
calculates
these
motions
automatically.
The
vessel
is
drawn,
in
3D
views
of
the
model,
as
a
"wire
frame"
of
user-specified
vertices
and
edges.
This
allows
a
simple
visual
check
that
amplitudes,
phases
etc.
are
consistent
with
the
applied
wave.
The
vessel
wire
frame
can
also
be
used
to
do
a
visual
check
for
interference
between
lines
and
vessel
structure.
As
with
all
points
on
the
vessel,
the
vertices
are
defined
relative
to
the
vessel
axes
Vxyz.
6.7.1 Vessel
Data
Name
230
w
System
Modelling:
Data
and
Results,
Vessels
Type
Specifies
the
Vessel
Type.
The
Vessel
Types
button
allows
you
to
view
and
edit
the
Vessel
Type
Data.
Draught
Specifies
which
set
of
RAOs
to
use
from
the
specified
vessel
type.
See
Draughts.
Length
Specifies
the
length
of
this
vessel.
The
default
value
'~'
means
that
this
vessel
is
the
same
length
as
the
vessel
type.
If
you
specify
a
length
that
differs
from
the
vessel
type
length,
then
OrcaFlex
will
scale
all
the
vessel
type's
data
to
allow
for
the
scaling
factor
VesselLength/VesselTypeLength.
This
is
useful
if
you
have
data
for
a
70m
ship,
for
example,
but
want
to
use
a
50m
ship
that
is
otherwise
very
similar.
The
scaling
is
done
using
Froude
scaling
(see
Rawson
and
Tupper).
Froude
scaling
scales
all
items
of
data
by
a
factor
that
depends
on
the
units
of
that
data.
If
R
=
ratio
of
vessel
length
to
vessel
type
length,
then
the
scaling
factor
applied
is
as
follows:
x All
lengths
are
scaled
by
R.
x All
masses
(and
added
masses)
are
scaled
by
R3.
x All
times
are
scaled
by
R0.5.
Data
items
with
other
units
are
scaled
by
writing
the
units
in
terms
of
the
fundamental
units
of
mass,
length
and
time,
and
then
applying
the
above
factors.
For
example
force
data
has
units
equivalent
to
Mass*Length/Time2,
so
force
data
is
scaled
by
(R3).(R)
/
((R0.5)2)
=
R3.
Dimensionless
items
such
as
translational
RAOs
(surge,
sway,
heave),
QTFs
and
phase
angles
are
unchanged
by
the
scaling
process,
but
note
that
Froude
scaling
does
apply
to
the
periods
(or
frequencies)
specified
for
RAO
and
QTF
data.
Note
also
that
rotational
RAOs
(roll,
pitch,
yaw)
are
often
given
in
dimensional
terms
(degrees
per
metre)
and
these
also
scale.
These
scaling
rules
are
the
same
as
those
used
in
deriving
full
scale
ship
performance
from
physical
model
tests,
and
are
correct
if
the
vessel
is
a
perfect
scaled
replica
of
the
vessel
type
in
all
respects.
Warnings:
If
the
vessel
does
not
scale
uniformly
in
all
dimensions,
then
this
type
of
scaling
introduces
errors
and
should
not
normally
be
used.
Instead,
accurate
data
specific
to
this
vessel
should
be
obtained.
However,
for
ships
in
head
and
stern
seas
the
RAO
scaling
errors
may
be
acceptable,
since
the
RAOs
for
these
wave
directions
depend
mainly
on
vessel
length.
For
other
cases
the
RAO
scaling
is
likely
to
be
poor,
so
OrcaFlex
issues
a
warning
if
scaling
is
used
and
the
wave
direction
is
not
close
to
a
head
or
stern
sea.
These
specify
the
vessel's
static
position
relative
to
the
global
axes.
The
Initial
Position
defines
the
position
of
the
vessel
origin
V.
The
Initial
Orientation
defines
the
orientation
of
the
vessel
axes
Vxyz
as
three
rotations,
Heading,
Trim
and
Heel.
The
static
orientation
of
Vxyz
is
that
which
results
from
starting
with
Vxyz
aligned
with
the
global
axes
and
applying
the
Heading
rotation
about
Vz,
then
the
Trim
rotation
about
Vy
and
finally
the
Heel
rotation
about
Vx.
If
the
vessel
is
not
included
in
the
static
analysis
then
this
Initial
Position
is
taken
to
be
the
static
position
of
the
vessel.
If
the
vessel
is
included
in
the
static
analysis,
then
this
Initial
Position
is
used
as
an
initial
estimate
of
the
vessel
position
and
the
statics
calculation
will
move
the
vessel
from
this
position
iteratively
until
an
equilibrium
position
is
found.
Note:
The
vessel
Z
coordinate
can
only
be
changed
by
editing
on
the
vessel
data
form.
Dragging
in
the
Z
direction
with
the
mouse
is
prevented.
Warning:
If
you
have
included
any
harmonic
motion
on
the
vessel
(see
Harmonic
Motion)
then
the
phases
of
the
harmonic
motions
will
normally
depend
on
the
vessel
Initial
Position,
so
if
you
change
the
Initial
Position
you
may
need
to
change
the
harmonic
motion
phases
accordingly.
Calculation
Data
The
following
settings
(on
the
Calculation
page
on
the
vessel
data
form)
control
how
the
vessel's
static
position
and
dynamic
motion
are
determined.
231
System
Modelling:
Data
and
Results,
Vessels
w
Dynamic
Analysis
The
motion
of
a
vessel
during
the
dynamic
analysis
can
be
specified
in
a
variety
of
ways.
OrcaFlex
allows
the
vessel
motion
to
be
made
up
of
two
parts,
called
the
Primary
motion
and
the
Superimposed
motion.
Broadly,
the
Primary
motion
is
aimed
at
modelling
the
steady
or
low
frequency
motion
of
the
vessel,
whereas
the
Superimposed
motion
is
aimed
at
modelling
the
higher
frequency
motion,
such
as
that
generated
by
waves.
As
an
example,
consider
a
ship
being
driven
under
power
along
a
specified
course.
In
the
absence
of
waves
it
moves
steadily
along
its
course
and
this
would
be
modelled
by
the
Primary
motion.
But
when
waves
are
present
the
primary
motion
is
augmented
by
wave-generated
motion
that
would
often
be
modelled
in
OrcaFlex
as
Superimposed
motion
specified
by
RAOs.
OrcaFlex
superimposes
this
latter
motion
on
the
primary
motion
to
give
the
total
combined
motion
of
the
vessel.
You
can
specify
the
Primary
and
Superimposed
motions
in
a
number
of
ways,
as
follows.
See
examples
below
of
how
these
options
can
be
used.
Primary
Motion
The
Primary
motion
determines
what
OrcaFlex
refers
to
as
the
primary
position
of
the
vessel.
It
can
be
one
of
the
following
options.
x None.
In
this
option
there
is
no
primary
motion
and
the
primary
position
of
the
vessel
remains
fixed
at
the
position
determined
by
the
static
analysis.
x Prescribed.
This
option
allows
you
to
drive
the
vessel
around
the
sea
surface,
for
example
to
model
the
vessel
moving
station
during
the
simulation.
The
vessel's
speed
and
course
is
specified
using
the
data
on
the
Prescribed
Motion
page
on
the
vessel
data
form.
x Calculated
(3
DOF).
In
this
option
OrcaFlex
calculates
the
vessel
primary
motion
in
only
3
degrees
of
freedom
(surge,
sway,
yaw)
based
on
the
included
loads
plus
loads
from
any
lines
or
other
objects
that
are
attached
to
the
vessel.
There
is
no
primary
motion
in
the
other
3
degrees
of
freedom
(heave,
roll,
pitch).
The
added
mass
and
damping
matrices
of
the
vessel
type
must
be
specified,
plus
the
data
for
all
the
included
loads.
x Calculated
(6
DOF).
In
this
option
OrcaFlex
calculates
the
vessel
motion
in
all
6
degrees
of
freedom,
based
on
the
included
loads,
plus
loads
from
any
lines
or
other
objects
that
are
attached
to
the
vessel.
The
added
mass,
damping,
stiffness
and
equilibrium
position
of
the
vessel
type
must
be
specified,
plus
the
data
for
all
the
included
loads.
232
w
System
Modelling:
Data
and
Results,
Vessels
x Time
History.
In
this
option
the
user
specifies
the
primary
motion
in
a
time
history
file
that
defines,
as
a
function
of
time,
the
vessel
Primary
X,
Primary
Y,
Primary
Z,
Primary
Rotation
1,
Primary
Rotation
2
and
Primary
Rotation
3.
See
the
vessel's
Time
History
data.
Superimposed
Motion
The
Superimposed
motion
is
applied
as
an
offset
from
the
position
given
by
the
primary
motion.
It
can
be
one
of
the
following
options.
x None.
In
this
option
there
is
no
offset
and
the
vessel
position
is
equal
to
the
primary
position
at
all
times.
x Displacement
RAOs
+
Harmonic.
In
this
option
the
vessel's
position
oscillates
harmonically
about
the
primary
position.
The
harmonically
varying
offset
comes
from
two
sources.
Firstly,
if
waves
are
present
and
you
specify
non-zero
displacement
RAOs
for
the
vessel
type,
then
the
offset
will
include
the
wave-generated
harmonic
motions
specified
by
those
RAOs.
Secondly,
the
vessel's
superimposed
offset
also
includes
any
harmonic
motions
that
you
specify
on
the
Harmonic
Motions
page
on
the
vessel
data
form.
x Time
History.
In
this
option
the
user
specifies
the
offset
in
a
time
history
file
that
defines
the
vessel
Surge,
Sway,
Heave,
Roll,
Pitch
and
Yaw
as
a
function
of
time.
See
the
vessel's
Time
History
data.
Typical
Examples
of
Primary
and
Superimposed
Motion
Here
are
some
typical
examples
of
how
primary
and
superimposed
motion
can
be
combined
to
achieve
various
things.
x Primary
motion
set
to
None
and
superimposed
motion
set
to
RAOs
+
Harmonic
can
be
used
to
model
a
simple
steady
(e.g.
moored)
vessel
whose
motion
is
due
to
the
1st
order
wave
effects
only.
x Prescribed
or
Time
History
primary
motion
can
be
used
to
model
a
vessel
being
driven
over
a
predetermined
course,
and
the
superimposed
motion
set
to
RAOs
+
Harmonic
to
model
the
1st
order
wave
induced
motion.
x Calculated
(3
DOF)
primary
motion
can
be
used
to
model
the
low
frequency
slow
drift
of
a
vessel
in
the
horizontal
plane
(due
to
2nd
order
wave
loads,
wind
and
current
drag,
etc.),
with
the
superimposed
motion
set
to
RAOs
+
Harmonic
to
model
the
superimposed
1st
order
wave
induced
motion.
x Calculated
(6
DOF)
primary
motion
can
be
used
to
model
the
whole
motion
of
a
vessel,
optionally
including
1st
and
2nd
order
wave
loads,
current
and
wind
drag
loads,
applied
loads,
and
always
including
loads
from
any
attached
lines
or
other
objects.
In
this
case
the
superimposed
motion
would
normally
be
None,
since
all
motion
has
already
been
accounted
for
in
the
primary
motion,
and
the
displacement
RAO
data
would
therefore
not
be
used.
x Time
History
primary
motion
(or
Time
History
superimposed
motion
but
not
usually
both)
can
be
used
to
completely
specify
the
motion
of
a
vessel.
Included
Effects
You
can
choose
which
vessel
loads
are
included
and
which
are
ignored
by
ticking
the
corresponding
checkboxes.
If
a
box
is
checked
then
that
load
will
be
calculated
and
applied
to
the
vessel,
and
its
value
will
be
available
as
a
result.
If
a
box
is
not
checked,
then
that
load
will
not
be
calculated
and
it
will
be
taken
as
zero.
Note:
Loads
which
are
included
will
only
affect
the
vessel
static
equilibrium
position
if
Included
in
Static
Analysis
is
set
to
other
than
None,
and
will
only
affect
the
vessel
motion
if
the
primary
motion
is
set
to
one
of
the
Calculated
options.
Prescribed
Motion
The
prescribed
motion
data
only
applies
if
the
vessel's
Primary
Motion
is
set
to
Prescribed.
It
enables
you
to
drive
the
vessel
around
the
sea
surface
along
a
predetermined
path,
by
specifying
how
the
vessel's
primary
position
and
heading
change
during
the
simulation.
The
vessel
is
driven
by
specifying,
for
each
stage
of
the
simulation,
the
velocity
(speed
and
direction)
of
the
primary
position
and
the
rate
of
change
of
the
heading.
Warning:
The
Prescribed
Motion
facility
can
cause
discontinuities
of
velocity
at
stage
boundaries
and
these
may
cause
transients
in
the
system.
OrcaFlex
issues
warnings
at
the
start
of
the
simulation
if
the
data
specifies
a
discontinuous
velocity.
233
System
Modelling:
Data
and
Results,
Vessels
w
Speed of Motion
For
each
simulation
stage
the
speed
of
the
motion
can
be
specified
as
either
a
Constant
Speed
or
a
Speed
Change.
If
Constant
Speed
is
selected
then
that
speed
applies
throughout
the
stage.
If
Speed
Change
is
selected
then
the
speed
is
incremented
linearly
by
the
specified
amount
during
the
stage.
For
example,
an
increment
of
1m/s
during
a
stage
of
length
10
seconds
causes
an
acceleration
of
0.1m/s 2
to
be
applied
throughout
the
stage,
so
that
if
the
vessel
starts
at
rest
then
at
the
start
of
the
next
stage
the
vessel
is
travelling
at
1m/s.
Note:
Negative
speeds
can
be
specified.
Direction of Motion
For
each
simulation
stage
the
direction
of
the
motion
can
be
specified
as
either
relative
to
the
Global
X
direction
or
relative
to
the
Vessel
heading.
The
direction
value
is
interpreted
as
an
azimuth.
So,
a
value
of
90
relative
to
the
Global
X
direction
would
result
in
the
motion
being
in
the
global
Y
direction.
Likewise,
if
the
vessel's
heading
was
130
and
the
direction
of
motion
was
50
relative
to
the
Vessel
heading
then
the
motion
would
be
an
azimuth
of
130
+
50
=
180
relative
to
global,
that
is
in
the
global
-X
direction.
Note:
The
direction
of
motion
is
not
restricted
to
be
in
the
same
direction
as
the
vessel
heading.
Rate of Turn
In
addition
to
varying
the
velocity
of
the
mean
position,
you
can
specify
a
Rate
of
Turn
for
each
stage.
This
is
the
angle
change
per
second
to
be
applied
to
the
vessel's
heading
throughout
the
stage.
If
the
Direction
of
Motion
is
specified
relative
to
the
Vessel
heading
and
the
Rate
of
Turn
is
non-zero,
then
the
vessel
velocity
direction
varies
during
the
stage.
In
addition,
if
the
direction
is
0
relative
to
Vessel
heading
then
the
vessel
velocity,
whilst
varying,
is
always
in
the
Vessel
heading
direction.
If
the
direction
is
specified
relative
to
the
Global
X
direction
then
the
vessel
velocity
direction
is
not
affected
by
the
Rate
of
Turn.
Harmonic
Motion
The
Harmonic
Motion
page
(on
the
vessel
data
form)
only
applies
if
the
vessel's
superimposed
motion
is
set
to
RAOs
+
Harmonic.
It
allows
you
to
specify
a
number
of
harmonic
motions
of
the
vessel.
The
harmonic
motions
are
in
addition
to
any
wave-generated
motion
specified
by
the
RAO
data,
so
if
you
only
want
the
wave-generated
motion
then
you
should
set
the
number
of
harmonic
motions
to
zero.
Each
harmonic
motion
is
a
single-period
sinusoidal
motion
of
the
vessel,
specified
by
giving:
x the
Period
of
the
harmonic
motion;
this
applies
to
all
6
degrees
of
freedom,
x the
Amplitude
and
Phase
of
the
motion
for
each
of
the
6
degrees
of
freedom
of
the
vessel.
If
you
are
modelling
slow
drift,
then
note
that
slow
drift
normally
only
applies
to
surge,
sway
and
yaw,
in
which
case
the
amplitudes
for
heave,
roll
and
pitch
should
be
set
to
zero.
Note:
The
harmonic
motion
amplitudes
(unlike
the
RAO
responses
of
the
vessel)
are
not
specified
relative
to
a
wave
amplitude
they
are
specified
directly
in
length
units
(for
surge,
sway
and
heave)
or
degrees
(for
roll,
pitch
and
yaw).
Similarly,
the
phases
are
not
specified
relative
to
the
phase
of
a
wave
they
are
the
phase
lags
from
the
global
time
origin
T=0
until
the
maximum
harmonic
motion
occurs.
More
precisely,
the
phase
that
should
be
specified
for
the
harmonic
motion
is
given
by
360
((Tmax
/
P)
mod
1)
where
P
is
the
period
of
the
harmonic
motion
and
Tmax
is
the
global
time
at
which
you
want
the
maximum
of
the
motion
to
occur.
234
w
System
Modelling:
Data
and
Results,
Vessels
Warning:
Harmonic
motions
can
be
used
to
model
pre-calculated
vessel
slow
drift.
If
you
do
this,
then
if
you
move
the
vessel's
Initial
Position
in
the
wave
direction,
or
if
you
change
the
data
for
the
waves
(other
than
changing
the
simulation
time
origin),
then
you
will
normally
also
then
have
to
adjust
the
phases
of
the
slow
drift.
This
is
because
such
changes
affect
the
global
time
at
which
a
particular
part
of
the
wave
train
will
reach
the
vessel
and
hence
will
also
affect
the
global
time
at
which
maximum
slow
drift
motion
is
achieved.
Time
History
The
Time
History
pages
(on
the
vessel
data
form)
only
apply
if
the
vessel's
primary
or
superimposed
motion,
or
both,
are
set
to
Time
History.
It
allows
you
to
specify
the
motion
by
giving
a
time
history
file.
To
do
this:
x On
the
Calculation
page
set
the
primary
motion
or
superimposed
motion
data
item
(or
both)
to
Time
History.
x Create
a
tab-delimited
text
file
containing
the
time
history
motion
you
want,
as
described
below.
x On
the
appropriate
Time
History
page,
setup
the
time
history
data
as
described
in
Data
in
Time
History
Files.
Contents
of
Time
History
File
The
time
history
file
must
contain
a
time
column
and
columns
for
all
6
degrees
of
freedom
of
the
vessel.
For
primary
time
history
motion
these
are
Primary
X,
Primary
Y,
Primary
Z,
Primary
Rotation
1,
Primary
Rotation
2
and
Primary
Rotation
3,
measured
relative
to
the
global
axes.
For
superimposed
time
history
motion
the
degrees
of
freedom
that
must
be
specified
are
Surge,
Sway,
Heave,
Roll,
Pitch
and
Yaw.
They
are
measured
relative
to
the
primary
position
of
the
vessel,
as
specified
by
the
vessel's
primary
motion.
For
details
of
how
rotations
are
applied,
see
order
of
application
of
rotations.
The
time
values
in
a
vessel
time
history
file
need
not
be
equally
spaced.
The
units
used
for
all
the
columns
must
be
the
same
as
those
used
in
the
OrcaFlex
model,
so
the
time
values
must
be
in
seconds
and
angles
in
degrees.
For
further
details
of
the
file
format
see
Time
History
Files.
Notes:
If
there
is
any
wave-generated
motion
present
in
a
vessel's
time
history
motion
then
the
OrcaFlex
wave
data
needs
to
match
the
wave
that
generated
that
motion.
If
you
have
suitable
data
for
the
wave
elevation
then
you
can
use
that
to
specify
the
wave
by
time
history.
This
can
be
done
either
in
a
separate
time
history
file
for
the
wave
or
else
in
an
extra
column
in
the
vessel's
time
history
file.
The
position
and
velocity
specified
by
a
time
history
file
for
the
start
of
the
simulation
(i.e.
for
SimulationTime
=
-BuildUpDuration)
will
not,
in
general,
match
the
static
state
from
which
OrcaFlex
starts
the
simulation.
To
handle
this
OrcaFlex
uses
ramping
during
the
build-up
stage
to
smooth
the
transition
from
the
static
state
to
the
position
and
motion
specified
in
the
time
history
file.
Applied
Loads
You
can
optionally
include
applied
loads
on
a
vessel.
You
can
apply
to
the
vessel
external
Global
Loads
that
do
not
rotate
if
the
vessel
rotates.
These
are
specified
by
giving
the
components
of
Applied
Force
and
Applied
Moment
relative
to
global
axes.
These
components
can
be
constant,
vary
with
simulation
time
or
be
given
by
an
external
function.
If
the
vessel
rotates
then
the
loads
do
not
rotate
with
it.
In
addition,
you
can
specify
external
Local
Loads
that
do
rotate
with
the
vessel.
These
are
specified
by
giving
the
components
of
Applied
Force
and
Applied
Moment
relative
to
vessel
axes.
Again
these
components
c an
be
constant,
vary
with
simulation
time
or
be
given
by
an
external
function.
If
the
vessel
rotates
then
the
loads
do
rotate
with
it.
These
are
suitable
for
modelling
thrusters,
for
example.
In
both
cases
the
Point
of
Application
of
the
load
is
specified
by
giving
its
x,y,z
coordinates
relative
to
vessel
axes.
Note:
Applied
loads
will
only
affect
vessel
static
position
if
the
corresponding
degree
of
freedom
is
included
in
the
static
analysis,
and
will
only
affect
the
motion
if
the
Primary
Motion
is
set
to
one
of
the
calculated
options
which
includes
the
degree
of
freedom.
235
System
Modelling:
Data
and
Results,
Vessels
w
Multiple
Statics
The
offsets
for
multiple
statics
calculations
are
specified
here.
Offsets
are
from
the
vessel's
initial
position
and
are
specified
by
giving
a
range
of
azimuth
and
offset
values.
For
example:
The
Azimuths
table
determines
which
directions
are
to
be
analysed.
The
Offsets
table
specifies
how
far
in
the
given
direction
the
vessel
is
to
be
placed.
With
the
above
data,
the
offsets
analysed
by
the
multiple
statics
calculation
are
as
illustrated
by
the
dots
in
the
diagram
below:
90 deg X
Vessel Initial
Position
Figure:
Example
Offsets
A
diagram
showing
the
selected
offsets
is
drawn
on
the
Vessel
Offsets
data
form,
to
help
visualise
which
offsets
will
be
analysed.
Drawing
Vessels
are
drawn
as
wire
frames
defined
in
the
data
as
a
set
of
Vertices
and
Edges.
The
Vertices
are
defined
by
giving
their
coordinates
relative
to
the
vessel
axes
Vxyz.
The
Edges
are
lines
drawn
between
two
vertices.
For
shaded
graphics
views,
by
default,
the
vessel
is
drawn
using
a
solid,
filled-in
shape
based
on
the
vertices
and
edges.
As
an
alternative
you
can
use
the
vertices
and
edges
to
define
a
frame
like
structure.
If
the
edge
diameter
is
'~'
then
that
edge
will
be
used
to
build
a
filled
in
shape,
otherwise
that
edge
is
drawn
as
a
cylinder
with
the
specified
diameter.
Note
that
you
can
use
a
mixture
of
edge
diameters
(some
defined,
some
set
to
'~')
to
combine
both
filled
in
and
framework
shapes.
You
can
define
wire
frame
drawing
data
in
two
places
for
the
vessel
and
also
for
its
vessel
type.
The
vessel
is
drawn
by
first
drawing
a
wire
frame
based
on
the
vertices,
edges
and
pen
specified
for
its
vessel
type
(see
the
vessel
236
w
System
Modelling:
Data
and
Results,
Vessels
types
data
form).
Then
a
further
vessel-specific
wire
frame
may
be
drawn,
using
any
vertices,
edges
and
pen
that
you
specify
on
the
vessel's
data
form.
This
allows
you
to
specify
a
wire
frame
drawing
of
the
basic
vessel
type,
and
then
optionally
add
to
it
(possibly
in
a
different
colour)
a
wire
frame
drawing
of
some
equipment
that
is
specific
to
that
vessel.
If
the
vessel
length
differs
from
the
vessel
type
length,
then
the
vessel
type
wire
frame
is
scaled
accordingly.
Note
that
either,
or
both,
of
these
wire
frames
can
be
empty
(i.e.
no
edges)
if
desired.
The
drawing
data
do
not
affect
the
mathematical
model
in
any
way
they
are
purely
for
drawing
3D
views.
The
vertices
and
edges
follow
the
motions
of
the
vessel,
and
thus
may
be
used
to
improve
understanding
of
the
motion
of
the
model.
They
can
also
be
used
to
represent
a
spar
or
other
equipment
attached
to
the
vessel,
so
that
you
can
then
look
for
clashing
with
other
parts
of
the
system.
For
example
during
a
simulation
replay
you
can
adjust
the
viewpoint
to
look
exactly
along
the
edge
of
interest,
and
check
visually
if
other
parts
of
the
model
pass
through
it.
Shaded
Drawing
By
default,
for
shaded
3D
Views,
vessels
are
drawn
using
the
wire
frame
data.
The
wire
frame
drawing
data
comprises
vertices
and
edges,
but
OrcaFlex
needs
a
solid
surface
for
the
shaded
graphics
representation.
OrcaFlex
uses
the
following
procedure
to
generate
this
surface
from
the
wire
frame
vertices
and
edges.
First
any
edges
with
specified
diameters
(i.e.
diameters
not
equal
to
'~')
are
drawn
as
cylinders.
This
allows
you
to
use
such
edges
to
visualise
parts
of
the
structure
that
are
not
solid,
e.g.
crane
boom
latticework.
These
edges
are
now
handled
and
are
excluded
from
the
remainder
of
the
procedure.
The
remaining
edges
are
used
to
partition
the
vertices
into
sets
of
connected
vertices.
Two
vertices
are
deemed
to
be
connected
if
there
exists
a
path
of
edges
between
the
two
vertices.
Finally,
for
each
set
of
connected
vertices,
the
smallest
convex
hull
enclosing
the
set
is
drawn.
This
algorithm
does
not
always
generate
the
shaded
drawings
that
you
might
expect.
Consider
the
following
two
wire
frame
vessels.
When
drawn
in
wire
frame
mode
they
look
the
same,
but
in
shaded
mode
they
differ.
237
System
Modelling:
Data
and
Results,
Vessels
w
Figure:
Wire
Frame
and
Shaded
Drawing
For
the
green
vessel
the
superstructure
and
the
hull
share
vertices
and
so
all
vertices
are
connected.
This
results
in
a
single
convex
hull
for
all
vertices
being
drawn.
In
the
red
vessel,
the
superstructure
and
hull
do
not
share
vertices
and
so
there
are
two
distinct
sets
of
connected
vertices.
This
results
in
two
separate
convex
hulls
and
a
better
representation.
Alternatively
the
object
can
be
represented
by
an
imported
3D
model
by
specifying
the
Shaded
Drawing
File.
This
must
be
a
Direct
X
format
file,
usually
with
the
.x
file
extension.
If
you
use
a
relative
path
then
the
path
will
be
taken
as
relative
to
the
folder
containing
the
OrcaFlex
file.
The
Browse
button
allows
you
to
specify
the
Shaded
Drawing
File
quickly
and
also
provides
quick
access
to
the
Orcina
sample
drawings
via
the
Navigate
to
Orcina
sample
drawings
button.
The
Use
Culling
option
is
normally
selected
since
it
can
provide
a
useful
performance
benefit.
However,
in
order
to
work
it
requires
that
the
triangles
defined
in
the
.x
file
have
their
outward
facing
directions
defined
correctly.
In
the
238
w
System
Modelling:
Data
and
Results,
Vessels
unusual
situation
where
the
outward
facing
directions
are
not
defined
correctly
then
the
.x
file
will
not
display
correctly.
If
this
happens
then
typically
sections
of
the
model
will
be
missing
w hen
drawn
by
OrcaFlex.
Disabling
the
Use
Culling
option
resolves
this
problem.
Draw
Size
is
provided
to
allow
you
to
scale
the
drawing.
All
directions
are
scaled
equally
to
arrange
that
the
longest
side
in
the
drawing
is
drawn
to
the
specified
Draw
Size.
This
longest
side
is
calculated
by
first
fitting
the
smallest
possible
cuboid
around
the
vertices
of
the
shaded
drawing
(these
are
defined
in
the
.x
file).
This
cuboid
is
aligned
with
the
shaded
drawing's
local
axes.
Then
the
length
of
the
longest
side
of
t his
cuboid
is
found.
Specify
a
value
of
'~'
to
display
the
drawing
using
the
absolute
coordinates
as
specified
in
the
.x
file.
Note:
If
you
use
a
value
of
'~'
for
Draw
Size
then
OrcaFlex
uses
the
coordinates
in
the
.x
file
directly.
If
these
coordinates
use
a
different
length
units
system
from
your
OrcaFlex
model
then
you
should
specify
the
units
used
in
the
.x
file
by
including
an
auxiliary
file
called
AdditionalInformation.txt.
Examples
of
this
can
be
found
in
the
sample
shaded
drawings
provided
by
Orcina.
Shaded
Drawing
Origin
is
provided
because
the
shaded
drawing
and
the
vessel
may
have
different
origins.
The
Shaded
Drawing
Origin
defines
the
origin
of
the
shaded
drawing
with
respect
to
the
vessel's
local
axis
system.
Similarly
Shaded
Drawing
Orientation
allows
you
to
reorient
the
shaded
drawing
to
match
the
vessel's
axis
system.
External
Functions
Parameters
This
data
item
specifies
the
External
Function
Parameters,
a
free
form
multi-line
text
field
which
is
passed
to
any
external
function
used
by
the
Environment.
Properties
Report
The
Vessel
properties
report
is
available
from
the
popup-menu
on
the
data
form.
It
reports
the
following:
Length
The
relative
wave
direction.
If
there
is
more
than
one
wave
train
then
the
direction
of
the
first
wave
train
is
used.
Statics
force
accuracy,
Statics
moment
accuracy
239
System
Modelling:
Data
and
Results,
Vessels
w
Two
different
vessels
can
have
the
same
type.
To
illustrate
this,
consider
a
model
of
a
pipe
being
towed
by
two
identical
tugs.
This
is
modelled
by
creating
a
vessel
type
called
'Tug'
and
then
creating
two
vessels,
each
of
type
'Tug'.
The
RAOs,
for
example,
are
data
of
the
'Tug'
vessel
type,
since
they
apply
to
both
tugs.
On
the
other
hand
the
two
tugs
differ
in
their
positions
and
any
prescribed
motion,
so
these
are
properties
of
the
individual
vessel
objects.
You
don't
have
to
use
all,
or
even
any,
of
the
vessel
types
you
define.
For
example
you
can
set
up
a
data
file
that
defines
a
number
of
vessel
types
but
has
no
vessels.
Such
a
file
can
then
act
as
a
library
of
vessel
types
that
can
be
imported
into
other
OrcaFlex
data
files.
Vessel
Type
Data
For
each
Vessel
Type
you
can
enter
data
for
several
different
draughts,
each
draught
h aving
a
user-specified
Name.
Each
vessel
in
the
model
must
specify
(on
its
vessel
data
form)
which
draught
to
use.
It
is
not
possible
to
use
different
draughts
at
different
times
during
the
same
simulation.
Some
of
the
vessel
type
data
apply
to
all
draughts,
but
a
lot
of
the
data
is
draught-dependent
and
so
separate
data
is
defined
for
each
defined
draught.
The
principal
categories
of
vessel
type
data
are:
x Geometry
and
drawing
data
which
apply
to
all
draughts.
x Conventions
define
the
meaning
of
any
RAO
and
wave
drift
QTF
data.
The
conventions
apply
to
all
draughts.
x RAO
data.
Separate
RAOs
are
specified
for
each
different
draught.
There
is
a
Check
RAOs
facility
that
provides
RAO
graphs
that
help
detect
errors.
x Wave
Drift
data.
Separate
values
are
specified
for
each
different
draught.
x Hydrodynamic
and
Wind
Damping
data.
Separate
values
are
specified
for
each
different
draught.
x Inertia
and
Damping
data.
Separate
values
are
specified
for
each
different
draught.
Default
Vessel
Type
Data
When
you
create
a
new
vessel
type,
it
is
given
initial
default
data
that
corresponds
to
a
tanker.
You
should
replace
this
with
accurate
data
for
the
vessel
you
are
modelling.
If
your
vessel
is
similar
to
the
default
data
tanker
then
you
might
find
the
default
data
useful
if
you
have
no
better
data
available.
However
note
that
the
default
vessel
tanker
has
a
significant
heave
resonance
in
beam
seas
at
7s
period.
The
default
data
was
obtained
as
follows.
x The
default
structure
data,
displacement
RAOs,
wave
load
RAOs,
wave
drift
QTFs,
stiffness,
added
mass
and
damping
data
all
come
from
an
NMIWave
diffraction
analysis
of
a
103m
long
tanker
in
400m
water
depth.
The
tanker
used
in
this
analysis
had
the
following
properties:
Breadth
15.95m,
Draught
6.66m,
Transverse
GM
1.84m,
Longitudinal
GM
=
114m,
Block
Coefficient
0.804.
The
diffraction
analysis
used
8%
extra
damping
in
roll
about
CG.
x The
default
hydrodynamic
and
wind
drag
coefficients
are
based
on
graphs
given
in
the
standard
OCIMF
book.
Note
that
the
OCIMF
book
gives
different
coefficients
for
different
vessel
types
and
draughts.
The
default
vessel
type
data
are
approximate
averaged
deepwater
coefficients,
and
they
have
been
rounded
to
only
1
or
2
significant
figures.
x The
hydrodynamic
and
wind
drag
areas
and
area
moments
are
set
for
the
above
103m
tanker.
The
wind
drag
areas
are
based
on
an
assumed
average
upperworks
height
of
12m
for
surge
and
9m
for
sway.
x The
origin
for
these
default
data
is
on
the
centreline
at
midships
and
at
the
mean
water
level.
OrcaFlex
automatically
Froude
scales
vessel
type
data
to
the
vessel
length
you
specify.
So
this
default
data
might
sometimes
still
be
useful
if
your
vessel
is
a
different
length
to
the
tanker
described
above,
but
is
otherwise
similar.
Structure
Vessel
Type
Length
The
length
to
which
the
vessel
type
RAO
and
drawing
data
apply.
This
may
be
left
unspecified
('~').
If
a
value
is
specified,
then
it
may
be
used
to
scale
the
vessel
type
data
to
the
length
of
the
vessel.
See
Vessel
Length
for
details.
The
remaining
data
on
the
Structure
page
(on
the
vessel
type
form)
are
only
used
if
the
vessel
Primary
Motion
is
set
to
Calculated
(3
DOF)
or
Calculated
(6
DOF).
Note
that
these
data
are
draught-specific.
240
w
System
Modelling:
Data
and
Results,
Vessels
The
vessel
type's
mass
and
its
moments
of
inertia
about
axes
through
the
CG
in
the
vessel
x,
y
and
z
directions.
This
should
include
the
structural
and
contents
mass
and
inertia,
but
not
the
added
mass.
Centre
of
gravity
(CG)
The coordinates of the vessel type's centre of mass, relative to vessel axes.
Conventions
The
conventions
page
(on
the
vessel
types
data
form)
contains
settings
that
define
the
meaning
of
the
RAO,
QTF,
and
(in
the
case
of
the
direction
conventions)
stiffness,
added
mass
and
damping
data.
This
enables
you
to
enter
these
data
directly
from
many
other
programs
without
having
to
convert
the
values
between
different
sets
of
conventions.
Instead
you
can
tell
OrcaFlex
the
conventions
that
apply
to
those
data
and
OrcaFlex
will
then
automatically
allow
for
those
conventions
when
it
uses
the
data.
Warning:
In
general,
the
conventions
apply
to
all
RAO
and
QTF
data.
You
cannot
mix
data
with
differing
conventions
in
the
same
model
(but
see
rotational
RAOs
below).
Although
RAOs
are
simple
enough
in
principle,
a
number
of
complications
make
them
notoriously
error-prone
and
difficult
to
check
in
practice.
The
main
issues
are:
x Different
coordinate
systems.
x Different
definitions
of
phase
angle
and
rotational
RAOs.
x Use
of
vessel
symmetry,
e.g.
to
obtain
motions
in
seas
from
the
port
side
given
data
for
seas
from
the
starboard
side.
OrcaFlex
provides
easy
ways
of
handling
these
problem
areas.
The
use
of
differing
coordinate
systems
and
conventions
by
different
suppliers
of
data
is
the
main
source
of
confusion.
It
is
vital
that
you
know
the
conventions
that
apply
to
the
RAO
tables
that
you
are
using.
Unfortunately,
not
all
RAO
tables
fully
document
the
conventions
used:
see
RAO
data
checklist
for
help
finding
out
what
conventions
apply
to
your
data
and
see
Checking
RAOs
to
check
that
the
conventions
are
set
correctly.
Translational
RAO
Conventions
Roll,
pitch
and
yaw
displacement
RAOs
may
be
specified
using
one
of
the
following
three
possible
conventions:
x As
rotation
angles
per
unit
wave
amplitude.
The
values
are
dimensional,
e.g.
in
degrees/metre,
radians/foot
etc.
x As
rotation
angles
per
unit
maximum
wave
slope.
Maximum
wave
slope
is
the
true
maximum
slope
of
the
non-dimensional,
which
can
be
thought
of
as
either
degrees/degree
or
radians/radian
which,
of
course,
are
equivalent.
x As
rotation
angles
per
unit
wave
steepness.
Wave
steepness
is
a
commonly
used
angular
measure
of
a
wave,
defined
by
steepness
=
H/L
radians
(=
(18-dimensional,
i.e.
either
degrees/degree
or
(equivalently)
radians/radian,
but
of
course
the
RAOs
are
numerically
larger
(by
a
factor
of
In
each
case,
the
angles
of
rotation
may
be
given
in
either
degrees
or
radians;
the
convention
on
the
data
form
should
be
specified
accordingly.
For
the
two
non-dimensional
cases,
the
units
(degrees
or
radians)
of
the
max
wave
slope
or
wave
steepness
must
be
the
same
as
those
for
the
angles
of
rotation.
Note
that,
so
long
as
the
units
are
consistent
in
this
way,
the
actual
numerical
values
for
these
non-dimensional
RAOs
are
the
same
regardless
of
whether
the
unit
selected
is
degrees
or
radians.
Rotational
load
RAOs
must
be
given
as
moment
per
unit
wave
amplitude
(e.g.
kNm/m),
and
rotational
QTFs
(i.e.
the
yaw
QTF)
are
non-dimensional.
Therefore,
the
degrees/radians
switch
and
the
unit
amplitude
/
steepness
/
maximum
slope
switch
do
not
apply
to
load
RAOs.
This
is
the
exception
to
the
above
rule
that
the
conventions
apply
to
all
RAOs
and
QTFs.
241
System
Modelling:
Data
and
Results,
Vessels
w
Warning:
If
rotational
displacement
RAOs
are
given
relative
to
wave
slope
or
steepness,
then
OrcaFlex
(internally)
converts
them
to
be
relative
to
wave
amplitude
using
the
deep
water
wavelength,
not
the
wavelength
for
the
water
depth
specified
in
the
model.
The
RAO
and
QTF
data
can
be
specified
by
period
in
seconds,
by
angular
frequency
in
radians/second
or
by
frequency
in
Hertz.
RAO
Phases
You
must
specify
the
directions
that
correspond
to
positive
motion
or
load
in
the
RAO
and
QTF
data,
and
in
the
stiffness,
damping
and
added
mass
matrices.
The
most
common
convention
is
as
given
by
the
default
OrcaFlex
vessel
type:
a
right-handed
system
with
Z
upwards
and
clockwise
rotations
being
positive.
Symmetry
You
can
specify
symmetry
of
the
vessel
type.
OrcaFlex
will
then
use
the
user-specified
RAO/QTF
tables
for
wave
directions
on
one
side
of
the
symmetry
plane
to
derive
tables
for
the
reflected
directions
on
the
other
side
of
the
plane.
The
Symmetry
can
be
set
to:
x None:
The
vessel
type
has
no
symmetry.
The
directions
specified
must
cover
all
the
wave
directions
used
in
the
simulation.
x XZ
plane
(or
YZ
plane):
This
specifies
that
the
XZ
(or
YZ)
plane
through
the
RAO
origin
is
a
plane
of
symmetry.
For
each
direction
given
OrcaFlex
uses
symmetry
to
derive
tables
for
the
reflected
direction
on
the
other
side
of
the
plane.
x XZ
&
YZ
planes:
This
specifies
that
both
the
XZ
and
YZ
planes
through
the
RAO
origin
are
planes
of
symmetry.
For
each
direction
given
OrcaFlex
uses
symmetry
to
derive
tables
for
the
reflected
directions
in
the
other
3
quadrants.
x Circular:
This
specifies
that
the
vessel
has
circular
symmetry
about
the
RAO
origin.
RAO/QTF
tables
can
only
be
given
for
one
wave
direction,
and
OrcaFlex
uses
symmetry
to
derive
tables
for
all
other
directions.
Warning:
If
you
specify
some
planes
of
symmetry
then
the
RAO
origin
must
be
on
all
the
planes
of
symmetry.
Or
if
you
specify
circular
symmetry
then
the
RAO
origin
must
be
at
the
centre
of
symmetry.
RAOs
OrcaFlex
uses
two
different
types
of
RAO
(response
amplitude
operator):
Displacement
RAOs
and
Wave
Load
RAOs.
Displacement
RAOs
are
specified
on
the
RAOs
page
on
the
vessel
type
data
form.
They
define
the
1st
order
motion
of
the
vessel
in
response
to
waves
of
given
period
and
amplitude.
They
are
only
used
if
the
vessel
superimposed
motion
is
set
to
RAOs+Harmonic.
In
the
dynamic
analysis
the
vessel
moves
harmonically,
in
all
6
degrees
of
freedom,
about
its
primary
position.
These
harmonic
motions
are
specified
by
giving
the
RAO
amplitudes
and
phases,
for
all
six
degrees
of
freedom,
usually
for
a
range
of
wave
periods
and
directions.
For
further
information
see
RAOs
and
Phases.
Wave
load
RAOs
are
specified
on
the
Load
RAOs
page
on
the
vessel
type
data
form.
They
define
the
1st
order
wave
force
and
moment
on
the
vessel
due
to
waves
of
given
period
and
amplitude.
They
are
only
used
if
the
1st
order
wave
loads
are
included
for
the
vessel
and
they
only
affect
the
motion
if
the
vessel
primary
motion
is
set
to
one
of
the
calculated
options.
The
2
types
of
RAOs
are
specified
in
very
similar
ways,
using
the
following
data.
242
w
System
Modelling:
Data
and
Results,
Vessels
RAO Origin
The
RAO
origin
is
the
point
on
the
vessel
whose
motion
is
defined
by
the
RAOs.
The
RAO
origin
is
specified
by
giving
its
coordinates
with
respect
to
the
OrcaFlex
vessel
axes
(not
the
directions
specified
on
the
Conventions
page).
It
is
commonly,
but
does
not
need
to
be,
at
the
centre
of
gravity.
Different
draughts
can
use
different
RAO
origins.
RAO
Phase
Origin
The
RAO
phase
origin
is
the
point
on
the
vessel
that
the
RAO
phase
values
are
relative
to.
It
is
specified
by
giving
its
x
and
y-coordinates
with
respect
to
the
OrcaFlex
vessel
axes
(not
the
directions
specified
on
the
Conventions
page).
The
phase
values
given
in
the
RAOs
must
be
relative
to
the
time
that
the
wave
crest
or
trough
(depending
on
the
RAO
phase
conventions
specified)
passes
the
specified
RAO
phase
origin.
Often
the
phase
origin
is
the
same
as
the
RAO
origin,
i.e.
the
phases
are
relative
to
the
time
the
crest
or
trough
passes
the
point
whose
motion
the
RAOs
define.
In
this
case
the
phase
origin
can
be
set
to
'~',
meaning
'same
as
RAO
origin'.
But
note
that
some
programs
(one
example
being
Moses)
generate
RAOs
where
the
phase
origin
is
not
necessarily
the
same
as
the
RAO
origin.
RAO
Data
RAO
data
can
be
specified
for
a
number
of
different
wave
directions
relative
to
the
vessel,
using
the
OrcaFlex
direction
convention.
This
relative
wave
direction
is
the
direction
in
which
the
wave
is
progressing,
measured
positive
from
the
vessel
x-direction
towards
the
vessel
y-direction,
and
on
the
RAOs
page
of
the
vessel
type
data
form
each
RAO
table
is
labelled
with
its
associated
direction.
To
change
the
value
of
the
wave
direction
for
one
of
the
RAO
tables,
select
the
tab
for
that
table
and
edit
the
Selected
Direction.
To
insert
a
new
wave
direction
after
an
existing
direction,
select
the
existing
direction's
page
and
click
the
Insert
Direction
button.
Similarly,
the
Delete
Direction
button
deletes
the
currently
selected
direction.
For
each
direction,
the
RAO
table
covers
a
range
of
wave
periods
or
frequencies,
as
specified
in
the
conventions
data.
The
periods/frequencies
need
not
be
entered
in
order
they
will
be
sorted
before
use.
In
the
case
of
a
circular
symmetric
vessel,
RAOs
are
specified
for
only
one
wave
direction
OrcaFlex
will
derive
RAOs
for
all
other
directions.
RAO
Interpolation/Extrapolation
On
direction
You
must
provide
RAO
tables
that
include
or
span
the
wave
direction(s)
involved
in
the
simulation.
If
RAOs
are
required
for
a
wave
direction
for
which
an
RAO
table
has
not
been
supplied,
then
OrcaFlex
will
use
linear
interpolation
to
obtain
an
RAO
table
for
that
direction.
Warning:
Interpolation
is
likely
to
be
poor
if
the
interval
involved
is
large.
We
therefore
recommend
that
the
RAO
directions
defined
cover
all
the
wave
directions
that
will
be
used
and
in
steps
of
30
or
less.
On period
For
regular
wave
analysis,
RAO
data
is
only
needed
for
the
appropriate
wave
period,
or
for
wave
periods
either
side
of
that
period.
For
random
sea
simulations,
RAO
data
should
be
specified
for
a
wide
enough
range
of
wave
periods
to
cover
the
spectrum.
The
View
Wave
Components
button
(on
the
Waves
page
of
the
environment
data
form)
reports
the
wave
frequencies
that
OrcaFlex
will
use
to
represent
the
spectrum.
Note:
If
the
vessel
length
differs
from
the
vessel
type
length
then
the
RAO
periods
specified
on
the
vessel
type
form
are
Froude
scaled,
and
it
is
these
Froude
scaled
periods
that
must
cover
the
actual
wave
period(s).
Linear
interpolation
is
used
if
RAOs
are
required
for
a
period
that
is
between
the
periods
given
in
the
table.
We
strongly
recommend
that
your
RAO
tables
provide
data
for
periods
that
include
or
span
all
the
wave
periods
that
will
be
involved
in
the
simulation.
For
periods
shorter
than
the
smallest
value
in
the
table,
OrcaFlex
will
assume
a
zero
amplitude
response
at
zero
period
and
apply
linear
interpolation
between
that
and
the
shortest
period
value.
If
you
specify
an
RAO
for
zero
period
which
has
non-zero
response,
OrcaFlex
will
over-ride
this
with
a
zero
response,
since
a
non-zero
response
at
zero
period
is
physically
implausible.
In
both
of
these
cases,
OrcaFlex
will
issue
a
warning.
To
avoid
this
warning,
simply
specify
a
zero-amplitude
response
at
zero
period
in
your
RAO
tables.
243
System
Modelling:
Data
and
Results,
Vessels
w
For
periods
longer
than
the
largest
value
in
the
table,
OrcaFlex
will
use
linear
extrapolation,
based
on
the
two
longest
periods
in
the
RAO
table.
This
may
give
unexpected
results,
especially
if
the
extrapolation
required
is
over
a
large
period
range,
so
again
OrcaFlex
will
issue
a
warning.
To
avoid
this
warning,
you
may
specify
the
limiting
infinite
period
RAO,
which
for
a
free-floating
vessel
can
be
derived
from
the
knowledge
that
the
vessel
must
follow
the
surface
in
a
sufficiently
long
wave.
See
RAO
Quality
Checks
for
details.
Complex-valued
Interpolation
and
Extrapolation
Note
that
RAO
interpolation
and
extrapolation
is
done
using
the
complex
value
representation
of
the
RAOs,
in
which
the
RAO
with
amplitude
A
and
phase
lag
P
is
represented
by
the
complex
number:
C(A,P)
=
A[cos(P)
+
i
sin(P)].
For
example,
given
RAOs
(A1,P1)
for
direction
D1
and
(A2,P2)
for
direction
D2,
the
interpolated
RAO
for
the
intermediate
direction
D=(D1+D2)/2
is
(A,P),
where:
C(A,P)
=
[C(A1,P1)
+
C(A2,P2)]/2
This
gives
better
results
than
interpolating
the
amplitude
and
phase
separately.
OrcaFlex
first
interpolates
on
direction,
to
obtain
an
RAO
table
appropriate
to
the
wave
direction.
It
then
interpolates
(or
extrapolates)
that
table
to
obtain
the
RAO
for
the
appropriate
wave
period.
Both
of
these
stages
are
done
using
complex
valued
interpolation
or
extrapolation.
Obtaining
the
data
All
of
the
above
data
can
generally
be
obtained
from
the
results
of
a
diffraction
program.
OrcaFlex
can
import
these
data
from
the
output
files
of
some
specific
programs
(AQWA
and
WAMIT)
and
from
generic
text
files
with
OrcaFlex-
specific
markers
added.
There
are
two
different
ways
to
do
this
import.
The
easiest
and
most
reliable
way
is
to
import
all
the
hydrodynamic
data
using
the
Import
Hydrodynamic
Data
button
on
the
Vessel
Types
data
form.
Alternatively,
you
may
use
the
Import
RAOs
button
to
import
only
the
RAO
data.
See
Wave
Drift
Load
Theory
for
details
of
how
OrcaFlex
calculates
the
wave
drift
l oads.
QTF
Origin
The
QTF
origin
is
the
point
on
the
vessel
to
which
the
QTFs
apply.
The
wave
drift
loads
are
calculated
based
on
the
wave
conditions
at
this
point
and
they
are
applied
at
this
point.
The
QTF
origin
is
specified
relative
to
the
OrcaFlex
vessel
axes
(not
the
directions
specified
on
the
Conventions
page);
different
draughts
can
use
different
origins.
The
z-coordinate
of
this
origin
is
not
specified,
since
the
loads
are
calculated
and
applied
only
for
the
'horizontal'
(surge,
sway
and
yaw)
degrees
of
freedom.
Wave
Drift
QTFs
QTFs,
like
wave
load
RAOs,
are
specified
in
dimensional
form
and
with
respect
to
waves
of
unit
amplitude.
Translational
QTFs
have
units
of
force
per
unit
length
squared,
and
rotational
QTFs
moment
per
unit
length
squared.
No
phases
are
required
because
only
the
diagonal
terms
of
the
full
QTF
matrix
are
entered
in
OrcaFlex,
and
these
diagonal
terms
necessarily
have
zero
phase.
OrcaFlex
uses
Newman's
approximation
to
obtain
the
off-diagonal
QTFs
from
the
diagonal
QTFs
specified.
See
Wave
Drift
Load
Theory
for
details.
The
way
QTF
data
are
entered
in
OrcaFlex
is
much
the
same
as
that
for
RAO
data.
In
particular:
x For
each
draught,
QTF
tables
are
specified
for
each
of
a
number
of
wave
directions,
specified
using
the
Orcina
direction
convention.
To
insert
a
new
table
use
the
Insert
Direction
button
and
to
delete
a
table
select
that
table's
page
and
then
click
the
Delete
Direction
button.
To
change
the
direction
associated
with
a
table,
select
that
table's
page
and
then
edit
the
Selected
Direction
value.
244
w
System
Modelling:
Data
and
Results,
Vessels
The
origin
to
which
the
stiffness,
added
mass
and
damping
matrices
all
refer,
specified
as
coordinates
with
respect
to
the
OrcaFlex
vessel
axes.
Equilibrium
Position
The
Z
above
mean
water
level
and
the
heel
and
trim
(relative
to
global
axes)
of
the
reference
origin
when
the
vessel
is
in
hydrostatic
equilibrium
for
this
draught.
Note
that
Z
above
mean
water
level
(rather
than
Z
relative
to
global
axes)
is
specified,
so
that
the
vessel
type
data
is
independent
of
mean
water
level
or
choice
of
position
of
global
origin.
Added
Mass,
Damping
and
Hydrostatic
Stiffness
All
these
matrices
must
be
specified
with
respect
to
axes
through
the
given
Reference
Origin
in
the
conventions
directions,
i.e.
with
respect
to
the
directions
specified
on
the
conventions
page
of
the
vessel
types
form.
For
details
of
the
units,
and
the
theory
used,
see
Vessel
Theory:
Stiffness,
Added
Mass
and
Damping.
Hydrostatic
Stiffness
The
hydrostatic
stiffness
matrix
is
only
specified
for
heave,
roll
and
pitch
directions.
It
is
applied
in
Statics
only
if
the
vessel's
Static
Analysis
includes
6
DOF,
and
in
dynamics
only
if
the
vessel's
Primary
Motion
is
set
to
"Calculated
(6
DOF)".
Added
Mass
and
Damping
The
added
mass
and
damping
matrices
are
specified
in
all
6
degrees
of
freedom.
They
are
always
applied
to
the
vessel,
but
will
only
influence
the
motion
of
the
vessel
if
the
Primary
Motion
is
set
to
one
of
the
calculated
modes.
Added
Mass
and
Damping
Method
If
you
choose
Constant
for
the
Added
Mass
and
Damping
method,
then
single-valued
added
mass
and
damping
matrices
will
be
used.
If
you
choose
Frequency
Dependent,
then
you
may
specify
a
number
of
added
mass
and
damping
matrices,
each
pair
corresponding
to
a
particular
given
frequency
or
period.
Whether
you
specify
period
or
frequency
values
is
determined
by
the
Waves
are
referred
to
by
setting
on
the
Vessel
Type
Conventions
page.
If
you
use
the
Constant
(i.e.
frequency
independent)
method,
then
you
should
specify
values
that
are
appropriate
to
the
frequency
of
vessel
motion
you
expect.
To
calculate
slow
drift
motion
of
the
vessel
it
is
normally
appropriate
to
245
System
Modelling:
Data
and
Results,
Vessels
w
enter
low
frequency
values.
Otherwise
values
corresponding
to
the
dominant
wave
frequency
are
perhaps
more
appropriate.
Clearly,
if
the
vessel
experiences
a
wide
range
of
frequencies,
the
frequency-dependent
method
is
more
appropriate
and
would
be
expected
to
give
better
results.
If
you
use
the
Frequency
Dependent
method
then
you
need
to
specify
both
the
added
mass
and
damping
matrices,
and
for
a
range
of
frequencies.
Also.
the
added
mass
and
damping
data
should
be
consistent
in
the
sense
that
they
obey
the
Kramers-Kronig
relations
see
Consistent
Added
Mass
and
Damping
for
details.
Cutoff
Time
When
you
use
frequency-dependent
added
mass
and
damping,
OrcaFlex
applies
the
frequency-dependent
data
in
the
time
domain
by
calculating
and
applying
the
vessel's
Impulse
Response
Functions
(IRF).
See
Vessel
Theory:
Impulse
Response
and
Convolution
for
details.
Realistic
IRFs
decay
to
zero
with
increasing
time
lag.
So
to
improve
the
calculation
speed
OrcaFlex
truncates
the
Impulse
Response
Function
at
the
time
lag
specified
by
the
Cutoff
Time.
The
IRF
is
assumed
to
be
zero
for
time
lags
greater
than
the
Cutoff
Time.
Larger
Cutoff
Time
values
might
give
more
accurate
results
but
require
more
calculation.
In
order
to
choose
the
Cutoff
Time,
you
may
find
it
useful
to
use
the
Report
Vessel
Response
window
to
view
the
graphs
of
the
components
of
the
IRF.
From
the
graphs
you
could
decide
the
time
lag
at
which
the
function
has
decayed
sufficiently
close
to
zero
as
to
have
little
or
no
effect
on
the
calculation.
Note
1:
Frequency-dependent
added
mass
and
damping
can
be
quite
time-consuming
to
compute.
For
this
reason,
it
is
not
calculated
for
vessels
which
do
not
have
calculated
primary
motion:
in
this
case,
the
added
mass
and
damping
load
is
simply
set
uniformly
to
zero.
Note
2:
The
damping
matrix
given
by
a
diffraction
program
models
wave
radiation
damping.
However
there
is
another,
often
more
important,
source
of
damping,
namely
wave
drift
damping.
See
Damping
Effects
on
Vessel
Slow
Drift.
Wave
drift
damping
can
be
modelled
in
OrcaFlex
by
adjusting
the
diagonal
entries
in
the
damping
matrix.
Load Origin
The
coordinates
(relative
to
vessel
axes)
of
the
point
on
the
vessel
at
which
the
hydrodynamic
or
wind
drag
loads
are
calculated
and
at
which
they
will
be
applied.
This
need
not
be
at
the
vessel
origin.
It
is
normally
best
to
place
the
load
origin
at
the
centre
of
the
vessel.
246
w
System
Modelling:
Data
and
Results,
Vessels
The
velocity
used
in
the
hydrodynamic
drag
load
calculation
is
the
current
velocity
at
the
load
origin,
minus
any
velocity
of
the
load
origin
due
to
primary
motion
of
the
vessel.
Note
that
if
the
load
origin
is
above
the
water
surface
then
the
current
velocity
used
is
that
at
the
water
surface.
The
velocity
used
in
the
wind
load
calculation
is
the
wind
velocity
(as
specified
on
the
Wind
page
on
the
environment
data
form),
minus
any
velocity
of
the
wind
load
origin
due
to
primary
motion
of
the
vessel.
Note
that
the
wind
velocity
specified
should
be
that
at
10m
above
mean
water
level,
since
that
is
the
height
used
by
the
OCIMF
vessel
wind
load
model
(see
Wind
Speed
for
more
details).
Load
Symmetry
Specifies
what
symmetry
the
vessel
type
has
below
(for
hydrodynamic
damping)
or
above
(for
wind
damping)
the
water
line,
about
the
load
origin.
For
XZ
and
YZ
symmetry,
OrcaFlex
will
use
the
symmetry
to
derive
load
coefficients
for
extra
directions
generated
by
reflection
in
the
specified
vessel
axes
planes.
For
circular
symmetry,
you
must
specify
coefficients
for
one
direction
only
and
OrcaFlex
will
use
symmetry
to
derive
coefficients
for
all
other
directions.
Note:
The
symmetry
for
hydrodynamic
drag,
wind
drag
and
RAOs
(see
RAO
Symmetry)
need
not
be
the
same,
though
of
course
the
symmetry
for
hydrodynamic
drag
would
normally
be
the
same
as
that
for
RAOs.
The
surge
and
sway
areas
and
yaw
area
moment
that
will
be
used
to
calculate
the
current
or
wind
loads.
For
details
see
Vessel
Theory:
Drag
Loads.
Coefficients
Load
coefficients
are
specified
for
the
vessel
surge,
sway
and
yaw
directions.
They
depend
on
the
direction
of
the
current
or
wind,
relative
to
the
vessel
(direction
0
meaning
from
astern,
90
meaning
from
starboard,
etc.).
OrcaFlex
uses
any
symmetry
specified
to
derive
coefficients
for
other
directions
and
then
uses
linear
interpolation
to
derive
coefficients
for
intermediate
directions.
Note:
When
the
symmetry
is
XZ
and
YZ
the
yaw
moments
must
be
zero,
so
OrcaFlex
forces
zero
yaw
coefficients
in
this
case.
The
View
Coefficients
button
allows
you
to
view
the
coefficients
that
will
be
used
the
blobs
on
the
graph
show
the
coefficients
you
have
specified
plus
any
that
OrcaFlex
has
derived
using
reflection,
and
the
curve
shows
the
interpolated
coefficients
that
will
be
used
for
intermediate
directions.
You
should
specify
sufficient
directions
to
define
the
shape
of
the
curve
and
to
cover
the
range
of
directions
that
the
vessel
will
experience.
Yaw
Rate
Drag
Factors
(hydrodynamic
damping
only)
The
yaw
rate
drag
factors
determine
the
yaw
drag
moment,
and
any
surge
and
sway
drag
forces,
that
result
if
the
vessel
has
a
non-zero
rate
of
yaw.
For
a
slender
ship,
and
if
the
load
origin
has
been
placed
at
the
centre
of
the
vessel,
then
the
surge
and
sway
drag
factors
can
usually
be
taken
to
be
zero,
and
then
yaw
drag
factor
can
be
estimated
based
on
the
vessel
length
and
draught.
See
Drag
Loads
due
to
Yaw
Rate
for
details.
Roll
Damping
(hydrodynamic
damping
only)
These
coefficients
allow
you
to
include
a
roll
damping
moment
that
is
proportional
to
the
roll
component
of
angular
velocity.
Both
linear
and
quadratic
terms
can
be
modelled.
See
Roll
Damping
for
details.
Drawing
Drawing
Data
Each
vessel
of
this
type
is
drawn
as
a
wire
frame,
based
on
vertices
and
representing
the
vessel
type,
plus
a
wire
frame
representing
vessel-specific
features.
See
Drawing.
Edge
diameter
(used
only
for
shaded
drawing)
For
shaded
graphics
views,
by
default,
the
vessel
is
drawn
using
a
solid,
filled-in
shape
based
on
the
vertices
and
edges.
247
System
Modelling:
Data
and
Results,
Vessels
w
As
an
alternative
you
can
use
the
vertices
and
edges
to
define
a
frame
like
structure.
If
the
edge
diameter
is
'~'
then
that
edge
will
be
used
to
build
a
filled
in
shape,
otherwise
that
edge
is
drawn
as
a
cylinder
with
the
specified
diameter.
Note
that
you
can
use
a
mixture
of
edge
diameters
(some
defined,
some
set
to
'~')
to
combine
both
filled
in
and
framework
shapes.
Figure:
Wire
frames
with
different
edge
diameter.
A
value
of
'~'
is
used
for
the
wire
frame
on
the
left
and
a
value
of
1m
is
used
for
the
wire
frame
on
the
right.
Shaded
Drawing
By
default,
for
shaded
3D
Views,
vessels
are
drawn
using
the
wire
frame
data.
The
wire
frame
drawing
data
comprises
vertices
and
edges,
but
OrcaFlex
needs
a
solid
surface
for
the
shaded
graphics
representation.
OrcaFlex
uses
the
following
procedure
to
generate
this
surface
from
the
wire
frame
vertices
and
edges.
First
any
edges
with
specified
diameters
(i.e.
diameters
not
equal
to
'~')
are
drawn
as
cylinders.
This
allows
you
to
use
such
edges
to
visualise
parts
of
the
structure
that
are
not
solid,
e.g.
crane
boom
latticework.
These
edges
are
now
handled
and
are
excluded
from
the
remainder
of
the
procedure.
The
remaining
edges
are
used
to
partition
the
vertices
into
sets
of
connected
vertices.
Two
vertices
are
deemed
to
be
connected
if
there
exists
a
path
of
edges
between
the
two
vertices.
Finally,
for
each
set
of
connected
vertices,
the
smallest
convex
hull
enclosing
the
set
is
drawn.
This
algorithm
does
not
always
generate
the
shaded
drawings
that
you
might
expect.
Consider
the
following
two
wire
frame
vessels.
When
drawn
in
wire
frame
mode
they
look
the
same,
but
in
shaded
mode
they
differ.
248
w
System
Modelling:
Data
and
Results,
Vessels
Figure:
Wire
Frame
and
Shaded
Drawing
For
the
green
vessel
the
superstructure
and
the
hull
share
vertices
and
so
all
vertices
are
connected.
This
results
in
a
single
convex
hull
for
all
vertices
being
drawn.
In
the
red
vessel,
the
superstructure
and
hull
do
not
share
vertices
and
so
there
are
two
distinct
sets
of
connected
vertices.
This
results
in
two
separate
convex
hulls
and
a
better
representation.
Alternatively
the
object
can
be
represented
by
an
imported
3D
model
by
specifying
the
Shaded
Drawing
File.
This
must
be
a
Direct
X
format
file,
usually
with
the
.x
file
extension.
If
you
use
a
relative
path
then
the
path
will
be
taken
as
relative
to
the
folder
containing
the
OrcaFlex
file.
The
Browse
button
allows
you
to
specify
the
Shaded
Drawing
File
quickly
and
also
provides
quick
access
to
the
Orcina
sample
drawings
via
the
Navigate
to
Orcina
sample
drawings
button.
The
Use
Culling
option
is
normally
selected
since
it
can
provide
a
useful
performance
benefit.
However,
in
order
to
work
it
requires
that
the
triangles
defined
in
the
.x
file
have
their
outward
facing
directions
defined
correctly.
In
the
249
System
Modelling:
Data
and
Results,
Vessels
w
unusual
situation
where
the
outward
facing
directions
are
not
defined
correctly
then
the
.x
file
will
not
display
correctly.
If
this
happens
then
typically
sections
of
the
model
will
be
missing
when
drawn
by
OrcaFlex.
Disabling
the
Use
Culling
option
resolves
this
problem.
Draw
Size
is
provided
to
allow
you
to
scale
the
drawing.
All
directions
are
scaled
equally
to
arrange
that
the
longest
side
in
the
drawing
is
drawn
to
the
specified
Draw
Size.
This
longest
side
is
calculated
by
first
fitting
the
smallest
possible
cuboid
around
the
vertices
of
the
shaded
drawing
(these
are
defined
in
the
.x
file).
This
cuboid
is
aligned
with
the
shaded
drawing's
local
axes.
Then
the
length
of
the
longest
side
of
this
cuboid
is
found.
Specify
a
value
of
'~'
to
display
the
drawing
using
the
absolute
coordinates
as
specified
in
the
.x
file.
Note:
If
you
use
a
value
of
'~'
for
Draw
Size
then
OrcaFlex
uses
the
coordinates
in
the
.x
file
directly.
If
these
coordinates
use
a
different
length
units
system
from
your
OrcaFlex
model
then
you
should
specify
the
units
used
in
the
.x
file
by
including
an
auxiliary
file
called
AdditionalInformation.txt.
Examples
of
this
can
be
found
in
the
sample
shaded
drawings
provided
by
Orcina.
Shaded
Drawing
Origin
is
provided
because
the
shaded
drawing
and
the
vessel
type
may
have
different
origins.
The
Shaded
Drawing
Origin
defines
the
origin
of
the
shaded
drawing
with
respect
to
the
vessel
type's
local
axis
system.
Similarly
Shaded
Drawing
Orientation
allows
you
to
reorient
the
shaded
drawing
to
match
the
vessel
type's
axis
system.
Vessel
length
scaling
If
the
vessel
length
and
the
vessel
type
length
are
different
then
the
shaded
drawing
is
scaled
accordingly.
This
scaling
is
applied
in
addition
to
the
scaling
of
the
shaded
drawing
specified
by
the
Draw
Size.
OrcaFlex
first
attempts
to
determine
the
units
in
use
in
the
file,
from
the
values
of
g
(acceleration
due
to
gravity)
and
the
data
(if
necessary)
from
the
units
in
use
in
the
file
to
the
units
of
the
OrcaFlex
model.
If
the
units
cannot
be
determined,
or
if
they
are
a
mixture
of
SI
and
US,
OrcaFlex
will
be
unable
to
convert
the
data
in
this
way:
in
this
case,
the
raw
data
will
be
imported
from
the
file
unscaled
and
a
warning
will
be
issued.
Reference
origins
All
of
the
AQWA
data
have
their
reference
origin
at
the
vessel
centre
of
gravity.
So
OrcaFlex
sets
the
RAO
origins,
QTF
origin,
and
reference
origin
for
stiffness,
added
mass
&
damping
to
the
value
of
the
centre
of
gravity
given
on
250
w
System
Modelling:
Data
and
Results,
Vessels
the
vessel
types
Structure
page.
You
will
need
to
ensure
that
this
value
is
appropriate
before
importing
the
AQWA
data.
RAO
phase
origins,
likewise,
are
at
the
vessel
centre
of
gravity,
so
are
set
appropriately
by
OrcaFlex.
Added
mass
and
damping
AQWA
outputs
the
whole
6x6
matrices
for
added
mass
and
damping,
but
OrcaFlex
uses
only
the
upper
right
triangle
of
each.
You
will
receive
a
warning
if
any
of
these
matrices,
in
the
imported
file,
are
significantly
non-symmetric,
since
OrcaFlex
is
unable
to
handle
this.
Note:
Frequency-independent
added
mass
and
damping
are
not
imported.
If
you
have
such
data,
you
may
wish
to
pre-process
your
AQWA
file
to
add
them
to
each
frequency-dependent
item
before
importing
into
OrcaFlex.
RAOs
Displacement
RAOs
are
imported
in
a
straightforward
way.
Load
RAOs
are
imported
including
the
Froude-Krylov
contribution.
Since
AQWA
and
OrcaFlex
use
the
same
conventions
for
vessel
headings,
RAO
directions
are
read
in
directly
and
require
no
adjustment.
QTFs
Wave
drift
QTFs
in
all
six
degrees
of
freedom
are
imported.
As
with
RAOs,
no
adjustment
is
necessary
for
directions.
Stiffness
and
equilibrium
position
The
heave,
roll
and
pitch
components
of
the
hydrostatic
stiffness
matrix
are
imported.
Again,
only
the
upper
right
triangle
is
used,
and
a
warning
is
issued
if
the
AQWA
data
are
non-symmetric.
The
Z-component
of
the
equilibrium
position
is
imported.
Since
AQWA
does
not
give
the
heel
and
trim
values
at
the
equilibrium
position,
these
values
are
set
to
zero:
if
necessary,
you
should
edit
these
values
yourself.
Note:
AQWA
may
output
the
stiffness
matrix
twice,
under
the
hydrostatic
and
hydrodynamic
headings.
If
so,
and
if
the
two
matrices
are
not
the
same,
a
warning
will
be
given
and
the
'hydrostatic'
form
will
be
imported.
Mass
and
moments
of
inertia
are
imported,
the
latter
from
the
diagonal
elements
of
the
inertia
matrix
output
by
AQWA.
Importing
data
from
WAMIT
WAMIT
results
are
output
in
a
text
file
with
an
.out
extension.
The
data
are
almost
all
non-dimensional,
the
main
exceptions
to
this
being
g,
acceleration
due
to
gravity,
and
L,
WAMIT's
length
scale
which
is
used
to
non-
dimensionalise
the
data.
OrcaFlex
reads
data
into
the
presently
selected
draught.
Please
note
that
OrcaFlex
is
unable
to
import
WAMIT
data
representing
multi-body
problems.
Units
The
length
unit
in
use
in
the
file
will
be
determined,
if
possible,
from
the
v alue
of
g
and
the
knowledge
that
the
unit
of
time
is
the
second.
If
this
is
successful,
then
OrcaFlex
will
convert
the
data
from
non-dimensional
to
the
units
of
the
OrcaFlex
model,
using
WAMIT's
length
scale
(converted
to
the
length
unit
of
the
OrcaFlex
model)
and
the
current
OrcaFlex
values
of
g
(acceleration
due
to
gravitynominal
water
density),
using
the
scaling
factors
defined
in
the
WAMIT
user
manual.
If
the
length
unit
cannot
be
determined
then
the
raw
data
will
be
imported
from
the
file
unscaled
and
a
warning
will
be
issued.
Reference
origins
All
of
the
WAMIT
data
have
their
reference
origin
at
WAMIT's
vessel
origin.
OrcaFlex
determines
the
position
of
this
origin,
with
respect
to
OrcaFlex's
vessel
origin,
from
the
difference
in
the
centre
of
gravity
as
given
in
the
two
coordinate
systems,
and
sets
the
RAO
origins,
QTF
origin,
and
added
mass
&
damping
origin
to
have
this
value.
(If
you
choose
the
OrcaFlex
vessel
origin
to
be
the
same
as
the
WAMIT
vessel
origin,
then
the
coordinates
of
the
centre
of
gravity
will
coincide
and
the
reference
origins
will
all
be
zero).
In
WAMIT,
the
phase
origin
is
at
the
global
origin,
so
the
OrcaFlex
RAO
phase
origins
are
represented
by
the
coordinates
of
the
WAMIT
global
origin
relative
to
the
OrcaFlex
vessel
origin.
We
determine
this
by
(i)
expressing
the
WAMIT
global
origin
relative
to
the
WAMIT
vessel
origin
(i.e.
in
"body-fixed
axes"),
using
the
values
of
XBODY,
YBODY,
ZBODY
and
PHIBODY
in
the
WAMIT
output
file,
and
(ii)
translating
this
value
to
be
relative
to
the
OrcaFlex
vessel
origin,
using
the
difference
between
the
centres
of
gravity
in
the
two
systems.
251
System
Modelling:
Data
and
Results,
Vessels
w
You
will
therefore
need
to
ensure
that
the
centre
of
gravity
is
set
appropriately
in
OrcaFlex
before
importing
the
WAMIT
data.
Note:
In
some
cases,
WAMIT
does
not
output
the
horizontal
position
of
the
centre
of
gravity.
If
so,
then
OrcaFlex
will
warn
you
of
this,
and
you
will
need
to
set
these
reference
origins
yourself.
WAMIT
outputs
added
mass
and
damping
as
a
list
of
(i,j)
components.
OrcaFlex
imports
these
values,
but
uses
only
the
upper
right
triangle
of
each
matrix.
You
will
receive
a
warning
if
any
of
these
matrices,
in
the
imported
file,
are
significantly
non-symmetric,
since
OrcaFlex
is
unable
to
handle
this.
Components
for
which
an
(i,j)
value
is
not
given
are
assumed
to
be
zero.
The
non-dimensional
WAMIT
values
for
added
mass
(a)
and
damping
(b)
are
scaled
to
dimensional
(A,B
respectively)
values
according
to
the
formulae
Aij
kaij
Bij
kij
where
k
=
3
for
i,j=1,2,3;
k
=
4
for
i=1,2,3,
j=4,5,6
or
i=4,5,6,
j=1,2,3;
k
=
5
for
i,j=4,5,6
and
RAOs
Displacement
RAOs
are
imported
in
a
straightforward
way.
They
are
re-dimensionalised
by
multiplying
by
the
factor
Lk,
k
=
0
for
i
=
1,2,3;
k
=
1
for
i
=
4,5,6.
WAMIT
may
calculate
load
RAOs
in
one
of
two
ways,
and
either
or
both
methods
(labelled
"Haskind"
and
"Diffraction")
may
be
present
in
the
file.
If
both
are
given,
OrcaFlex
will
prompt
you
to
choose
one
method
and
will
import
the
data
for
that
method
only.
The
re-dimensionalising
factor
for
load
k,
k
=
2
for
i=1,2,3;
k
=
3
for
i=4,5,6.
The
RAO
directions
in
OrcaFlex
are
relative
to
the
vessel,
and
are
determined
by
subtracting
the
value
of
PHIBODY
in
the
WAMIT
input
file
(the
vessel
heading
at
rest)
from
each
of
the
values
of
wave
heading,
which
are
given
in
WAMIT
with
respect
to
global
axes.
QTFs
Wave
drift
QTFs
are
re- k,
k
=
1
for
i=1,2,3;
k
=
2
for
i=4,5,6.
Directions
are
adjusted
in
the
same
way
as
for
RAOs.
WAMIT
may
calculate
QTFs
in
a
number
of
different
ways:
Momentum
Conservation,
Pressure
Integration,
and
Control
Surface.
OrcaFlex
is
presently
unable
to
import
data
resulting
from
the
Momentum
Conservation
calculation,
so
this
method
is
disregarded.
As
with
load
RAOs,
if
data
from
more
than
one
of
the
remaining
methods
is
present,
then
you
will
be
prompted
to
choose
just
one
of
them.
Notes:
WAMIT
outputs
QTFs
for
pairs
of
wave
headings.
OrcaFlex
allows
only
unidirectional
QTFs,
so
imports
only
the
data
for
which
the
two
headings
coincide.
The
heave,
roll
and
pitch
components
of
the
hydrostatic
stiffness
matrix
are
imported.
The
equilibrium
position
is
not
specified
by
WAMIT,
so
you
should
edit
this
value
yourself.
Mass
and
inertia
Mass
and
moments
of
inertia
are
not
imported
from
WAMIT
files.
You
should
enter
these
data
yourself.
Importing
data
from
generic
text
files
The
Import
Hydrodynamic
Data
button
can
also
be
to
import
data
from
a
generic
text
file
containing
special
markup
to
identify
and
describe
the
data.
The
following
data
are
imported:
x Displacement
RAOs.
x Load
RAOs.
x Wave
Drift
QTFs.
x Frequency
dependent
added
mass
and
damping
matrices.
252
w
System
Modelling:
Data
and
Results,
Vessels
This
mode
of
import
is
equivalent
to
i mporting
each
of
the
above
categories
of
data
individually
by
using
the
import
buttons
as
follows:
x Import
RAOs
on
the
Displacement
RAOs
page.
x Import
RAOs
on
the
Load
RAOs
page.
x Import
QTFs
on
the
Wave
Drift
page.
x Import
Matrices
on
the
Stiffness,
Added
Mass,
Damping
page.
If
the
import
fails
for
any
reason,
OrcaFlex
will
report
an
error
and
reinstate
the
vessel
type
data
to
that
which
was
present
before
the
import
began.
At
the
end
of
the
import
process,
OrcaFlex
will
warn
you
of
anything
noteworthy
for
example,
if
no
QTFs
were
present
in
the
file,
or
if
a
damping
matrix
was
non-symmetric.
Importing
RAOs
RAOs
may
be
imported
using
the
Import
RAOs
button
on
the
vessel
types
form.
Data
may
be
imported
from
AQWA
or
WAMIT
output
files
and,
with
the
addition
of
some
markup
text,
from
Moses,
Hydrostar/ARIANE
and
Wadam
output
files.
The
form
of
this
markup
also
allows
for
import
from
other
text
files.
Import
RAOs
from
specific
program
output
OrcaFlex
can
import
RAOs
directly
from
AQWA
and
WAMIT
output
files,
as
described
under
Importing
Hydrodynamic
Data.
All
existing
RAO
data
for
the
selected
draught
will
be
overwritten.
Import
RAOs
from
marked-up
text
files
You
can
use
generic
text
files
to
import
RAO
data
from,
for
example,
a
ship
response
calculation
program
or
model
test
results.
When
you
import
RAOs
from
a
text
file,
any
RAO
data
previously
present
in
OrcaFlex
for
the
draughts
given
in
the
text
file
will
be
deleted.
Other
data
for
these
draughts,
e.g.
wind
and
hydrodynamic
damping
data,
will
not
be
affected.
So
for
each
draught
you
import,
all
the
RAOs
for
that
draught
must
be
in
a
single
file.
You
can
therefore
either
put
all
the
RAOs
in
a
single
file,
or
else
have
separate
files
for
separate
draughts.
RAO
data
in
a
text
file
can
be
imported
providing
that
the
data
appears
in
tabular
form
and
markers
are
first
inserted
into
the
file
to
identify
the
data
to
OrcaFlex.
A
text
RAO
file
must
contain
the
RAO
data
in
the
following
form.
It
is
usually
easy
to
create
a
suitable
file
by
adding
a
few
lines
to
your
original
response
data
file
see
the
examples
below
for
specific
program
output.
x The
RAO
data
must
appear
in
the
file
in
one
or
more
tables,
each
table
being
for
one
draught
and
direction.
To
enable
OrcaFlex
to
find
the
tables,
each
table
must
be
preceded
by
a
line
containing
the
string
OrcaFlex
Displacement
RAO
Start.
The
table
must
be
immediately
followed
by
a
line
containing
the
string
OrcaFlex
Displacement
RAO
End.
There
must
not
be
any
blank
lines
between
these
two
marker
lines.
For
load
RAOs
these
strings
should
be
OrcaFlex
Load
RAO
Start
and
OrcaFlex
Load
RAO
End.
Note:
OrcaFlex
does
not
distinguish
between
text
files
containing
displacement
RAOs
and
those
containing
wave
load
RAOs.
You
must
take
care
to
import
them
into
the
correct
location.
x Immediately
following
the
line
containing
the
OrcaFlex
RAO
Start
string
there
must
be
two
lines
(in
either
order)
specifying
the
draught
and
direction
that
applies
to
that
table.
The
line
specifying
the
draught
must
be
of
the
form
Draught
DraughtName,
where
DraughtName
is
the
name
of
the
draught.
If
the
name
contains
spaces,
then
DraughtName
must
be
enclosed
in
quotes.
The
line
specifying
the
direction
must
be
of
the
form
Direction
n,
where
n
is
a
number
specifying
the
direction
the
wave
is
progressing,
in
degrees,
measured
positive
from
forward
towards
the
port
side.
So
direction
0
means
waves
coming
from
astern
and
direction
90
means
waves
coming
from
the
starboard
side.
x Following
these
two
lines,
the
first
line
of
the
table
must
be
a
set
of
headers
defining
the
subsequent
columns.
This
headers
line
consists
of
a
number
of
character
strings,
separated
by
spaces.
The
strings
indicate
the
contents
of
the
columns
see
Header
Strings
for
Text
RAO
Tables.
Columns
with
unrecognised
header
strings
are
ignored.
x If
you
want
OrcaFlex
to
ignore
a
column,
for
example
because
it
contains
irrelevant
or
superfluous
data,
then
insert
an
unrecognised
header
string,
(e.g.
"N/A"
or
"~").
In
particular,
if
the
table
contains
both
wave
period
and
frequency
you
must
indicate
that
one
of
these
is
to
be
ignored,
since
OrcaFlex
will
not
accept
two
columns
specifying
the
same
information.
253
System
Modelling:
Data
and
Results,
Vessels
w
x The
remaining
lines
in
the
table
must
contain
numbers,
one
for
each
header
in
the
headers
line,
separated
by
tabs
and/or
spaces.
Please
note
that
it
is
the
order
of
the
columns
that
matters,
not
their
actual
position
across
the
page.
Hence,
although
it
is
natural
to
align
the
headers
above
the
columns
of
numbers,
this
is
not
in
fact
necessary.
x The
conventions
and
units
used
in
the
text
file
can
be
specified
see
below.
Doing
so
allows
the
imported
data
to
be
converted
to
match
the
vessel
type
conventions
and
scaled
to
match
the
units
of
the
OrcaFlex
model.
x The
RAO
and
phase
origins
are
not
read
in
and
should
be
set
on
the
Vessel
Type
form.
Specifying
conventions
and
units
You
can
add
markup
to
the
file
to
specify
the
conventions
and
units
of
the
data
contained
in
the
file.
For
example,
a
typical
markup
block
for
conventions
is
as
follows:
*** OrcaFlex Conventions Start ***
RAOResponseUnits = degrees
RAOWaveUnit = amplitude
RAOPhaseConvention = lags
RAOPhaseUnitsConvention = degrees
RAOPhaseRelativeToConvention = crest
SurgePositive = forward
SwayPositive = port
HeavePositive = up
RollPositiveStarboard = down
PitchPositiveBow = down
YawPositiveBow = port
*** OrcaFlex Conventions End ***
The
block
begins
with
a
line
containing
the
string
OrcaFlex
Conventions
Start
and
ends
with
a
line
containing
OrcaFlex
Conventions
End.
The
lines
in
between
specify
the
conventions
using
the
standard
OrcaFlex
batch
script
names
and
values.
The
above
list
contains
all
possible
conventions
settings
that
can
be
included
in
the
block.
Note
that
the
waves
are
referred
to
by
convention
is
not
allowed
because
the
WP,
WFH
or
WFR
header
string
identifies
the
period/frequency
convention.
In
addition
the
symmetry
convention
should
not
be
specified
in
this
block
instead
you
should
simply
set
it
to
the
appropiate
value
in
the
OrcaFlex
model.
If
some
conventions
are
omitted
then
OrcaFlex
uses
the
corresponding
value
from
the
OrcaFlex
model
conventions.
If
the
block
is
omitted
altogether
then
a
warning
is
issued
and
no
conventions
conversion
is
performed.
The
units
of
the
data
contained
in
the
file
are
specified
in
a
similar
way:
*** OrcaFlex Units Start ***
LengthUnits = m
ForceUnits = kN
*** OrcaFlex Units End ***
The
above
list
contains
all
possible
units
settings
that
can
be
included
in
the
block.
For
displacement
RAOs
the
length
unit
is
the
only
one
which
is
used
and
consequently
the
force
units
can
b e
omitted.
For
load
RAOs
both
length
and
force
units
should
be
specified.
If
some
units
settings
are
omitted
then
OrcaFlex
uses
the
corresponding
value
from
the
OrcaFlex
model.
If
the
block
is
omitted
altogether
then
a
warning
is
issued
and
no
units
scaling
is
performed.
Moses
output
See
this
example
for
Moses
displacement
RAOs,
and
this
one
for
Moses
wave
load
RAOs.
Remember
that
RAO
and
phase
origins
are
not
imported
from
text
files
you
should
take
particular
care
with
Moses
output
to
set
these
correctly,
since
RAO
origin
may
differ
from
phase
origin
in
this
case.
Note:
Moses
reports
encounter
period
or
frequency,
to
account
for
the
effect
of
the
speed
of
the
vessel
on
the
apparent
wave
period
or
frequency.
OrcaFlex
requires
the
data
at
actual
wave
period
or
frequency,
so
if
possible
your
vessel
in
your
Moses
model
should
not
have
any
forward
speed.
Hydrostar/ARIANE output
Hydrostar
has
an
option
to
output
results
in
a
format
suitable
for
import
directly
into
ARIANE,
and
this
format
is
also
suitable
for
import,
with
the
mark-up
described
above,
into
OrcaFlex.
This
format
is
usually
indicated
by
the
phrase
'pour
ARIANE'
at
the
head
of
the
file.
This
example
demonstrates
the
necessary
mark-up
and
the
setting
of
254
w
System
Modelling:
Data
and
Results,
Vessels
conventions
and
units
for
displacement
RAOs.
Hydrostar
requires
that
the
'horizontal'
components
of
the
RAOs
are
listed
first,
then
the
'vertical'
components:
you
must
take
particular
care
here
to
order
the
column
headers
correctly.
Note:
As
with
Moses,
Hydrostar
takes
account
of
the
effect
of
the
speed
of
the
vessel
in
determining
the
added
mass
and
damping,
and
reports
results
at
encounter
period
or
frequency.
Your
vessel
in
your
Hydrostar
model
should
not
have
any
forward
speed.
Other output
OrcaFlex
can
import
data
produced
by
other
programs
(or,
more
generally,
text
data
obtained
by
any
other
means)
so
long
as
it
is
in
the
format
illustrated
by
the
examples
above,
ie
a
series
of
tables
of
data,
one
for
each
direction,
arranged
with
rows
representing
wave
period
or
frequency
and
columns
for
surge/sway/heave/roll/pitch/yaw
dimensional
RAO
values.
This
is
the
RAO
origin
and
is
often
the
vessel
centre
of
gravity,
but
you
need
to
be
sure.
If
it
is
not
specified
check
with
your
data
supplier.
To
what
point
on
the
vessel
are
the
phases
relative?
This
is
the
RAO
phase
origin
and
is
usually,
but
not
always,
the
same
as
the
RAO
origin.
Are
the
responses
in
dimensional
or
RAO
form?
RAO
form
(i.e.
for
unit
wave
amplitude)
is
the
most
common;
data
giving
dimensional
form
would
have
to
also
give
the
associated
wave
amplitudes/heights.
OrcaFlex
will
only
accept
RAO
form.
In
what
form
are
the
rotational
roll,
pitch
and
yaw
RAOs?
Units
such
as
degrees/metre
or
radians/metre
(displacement
RAOs),
or
kN.m/m
(wave
load
RAOs),
almost
always
mean
the
rotational
motions
are
relative
to
waves
of
unit
amplitude.
255
System
Modelling:
Data
and
Results,
Vessels
w
Very
rarely,
rotational
RAO
amplitudes
are
given
per
unit
wave
height
(i.e.
double
amplitude)
check
your
data
source.
In
this
case
you
will
have
to
multiply
the
RAOs
by
2
manually,
before
entry
to
OrcaFlex.
Units
such
as
degrees/degree,
radians/radian,
or
no
units
(displacement
RAOs),
or
kN.m/radian
(wave
load
RAOs),
imply
rotational
RAOs
relative
to
waves
of
unit
steepness
or
maximum
slope.
For
long
wave
periods
in
deep
water,
the
rotational
displacement
RAOs
in
the
wave
plane
(e.g.
pitch
in
head
or
stern
seas)
should
tend
to
1
for
RAOs
relative
to
unit
maximum
slope,
or
to
pi
for
RAOs
relative
to
unit
steepness.
Are
the
phases
in
degrees
or
radians?
Unless
you
only
have
a
small
amount
of
data,
this
should
be
obvious
from
the
range
of
phase
values.
What
directions
are
positive
for
surge,
sway,
heave,
roll,
pitch
and
y aw?
Often
they
are
surge
positive
forward,
sway
positive
to
port,
heave
positive
up,
but
some
authors
use
heave
positive
downwards.
Roll,
pitch
and
yaw
are
usually
positive
when
clockwise
about
the
positive
surge,
sway
and
heave
directions.
Most
data
sources
use
right-handed
axes,
but
not
all.
OrcaFlex
allows
complete
generality
in
its
data
input,
but
you
must
find
out
how
your
data
are
defined.
To
what
phase
time
origin
are
the
phases
relative?
OrcaFlex
allows
you
to
specify
that
the
phases
to
be
relative
to
the
time
the
wave
crest,
trough,
zero
up-crossing
or
zero
down-crossing
passes
the
phase
origin.
The
passage
of
the
crest
past
the
RAO
origin
is
the
most
common
phase
time
origin,
but
you
need
to
check
and
tell
OrcaFlex
see
note
on
phase
leads/lags
below.
Are
the
phases
leads
or
lags?
Phase
conventions
are
sometimes
documented
by
giving
the
formula
used
to
represent
the
harmonic
motion.
Commonly
used
ones
are:
x -
P)
or
A.cos(P
-
x
Using
sin
rather
than
cos
in
the
above
formulae
has
no
effect
on
whether
the
phases
are
leads
or
lags.
Checking
RAOs
The
Check
RAOs
button
on
the
vessel
types
form
allows
a
visual
check
on
the
RAO
data
for
either
displacement
RAOs
or
wave
load
RAOs.
For
a
given
draught
and
wave
direction,
it
displays
graphs
(one
for
each
vessel
degree
of
freedom)
showing
how
the
RAO
and
phase
vary
with
wave
period.
There
are
3
types
of
graph
available:
x Complex
Values
x Amplitude
x Phase
Amplitude
and
Phase
Graphs
These
graphs
provide
a
straightforward
graphical
representation
of
the
RAO
data
as
input
on
the
Vessel
Types
data
form.
The
amplitude
or
phase
is
plotted
on
the
Y
axis
of
the
graph.
For
the
X
axis
you
have
the
choice
of
plotting
period,
frequency
in
rad/s
or
frequency
in
Hz.
Complex
Value
Graphs
The
graphs
initially
show
the
RAOs
for
the
currently
selected
draught
and
direction.
You
can
switch
to
other
draughts
and
directions,
either
by
using
the
navigation
buttons
at
the
bottom
of
the
form
to
step
through
the
data,
else
or
by
selecting
from
the
drop-down
lists.
You
can
change
the
scale
of
the
graphs
(double
click
on
the
graph
and
change
the
ranges
of
the
axes).
This
is
useful
if
the
curve
does
not
initially
fit
on
the
graph.
256
w
System
Modelling:
Data
and
Results,
Vessels
I
0
0
Figure:
T
The
graphs
depicts
the
RAO
data
specified
by
the
user
for
the
specified
RAO
origin.
The
graph
has
two
parts:
x A
curve
showing
the
RAO
data
specified
by
the
user
as
a
series
of
points
joined
in
order
of
increasing
period.
The
curve
starts
from
the
'short'
wave
response,
which
should
have
zero
or
very
small
amplitude,
so
the
curve
should
start
from
near
the
origin.
Moving
along
the
curve
away
from
the
origin
corresponds
to
the
wave
period
increasing
from
zero.
For
surge,
sway
and
heave,
the
other
end
of
the
curve
is
the
'long'
wave
RAO
data
specified
for
period
'Infinity'.
For
roll,
pitch
and
yaw,
the
RAO
data
for
period
'Infinity'
cannot
(for
technical
reasons)
be
included
in
the
curve,
so
instead
the
other
end
of
the
curve
is
the
RAO
data
for
the
largest
finite
period
specified.
x A
solid
circle
representing
the
expected
long
wave
response
limit
for
a
freely
floating
vessel.
See
RAO
Quality
Checks
for
details
of
the
expected
long
wave
RAOs.
Warning:
The
expected
long
wave
response
limits
calculated
by
OrcaFlex
only
apply
to
free-floating
vessels.
Also,
the
yaw
response
limit
only
applies
to
slender
vessels
(i.e.
vessels
that
are
long
in
the
x-
direction
and
narrow
in
the
y-direction).
The
purpose
of
the
graph
is
help
you
check
your
RAO
data
the
curve
should
normally
be
reasonably
smooth
and
tend
towards
the
expected
limit
shown
by
the
solid
circle.
See
How
to
Check
RAO
Data
for
details.
The
graph
repr
x R
is
the
non-dimensional
amplitude.
For
surge,
sway
and
heave
R
is
the
vessel
motion
amplitude
divided
by
the
wave
amplitude.
And
for
roll,
pitch
and
yaw,
R
is
the
rotational
response
normalised
with
respect
to
maximum
wave
slope
i.e.
it
is
vessel
rotation
amplitude
divided
by
the
maximum
wave
slope.
x lag,
from
the
time
the
wave
crest
passes
the
user-specified
phase
origin
until
the
maximum
positive
motion
occurs.
Note:
Positive
here
means
as
in
the
OrcaFlex
conventions
(not
necessarily
the
same
as
the
vessel
type
RAO
conventions).
So
positive
surge
is
forward,
positive
sway
is
to
port,
positive
heave
is
up,
positive
roll
is
starboard
down,
positive
pitch
is
bow
down
and
positive
yaw
is
bow
to
port.
This
polar
coordinates
way
of
representing
RAOs
is
better
than
drawing
separate
graphs
of
amplitude
and
phase,
since
it
presents
all
the
information
on
a
single
graph
and
also
the
resulting
curves
are
smooth,
whereas
phase
graphs
frequently
show
phase
jumps.
257
System
Modelling:
Data
and
Results,
Vessels
w
x The
circle
on
the
yaw
graph
only
applies
to
slender
vessels
(i.e.
long
in
the
x-direction
and
narrow
in
the
y-
direction).
x Smooth
graphs
can
only
be
expected
if
the
data
includes
RAOs
for
reasonably
closely
spaced
periods.
As
examples,
consider
the
following
three
example
graphs:
258
w
System
Modelling:
Data
and
Results,
Vessels
1.5
0.5
-0.5
-1
-1.5
-1.5 -1 -0.5 0 0.5 1 1.5
1.5
0.5
-0.5
-1
-1.5
-1.5 -1 -0.5 0 0.5 1 1.5
259
System
Modelling:
Data
and
Results,
Vessels
w
1.5
0.5
-0.5
-1
-1.5
-1.5 -1 -0.5 0 0.5 1 1.5
The
first
graph
shows
a
typical,
well-behaved
set
of
displacement
RAO
data
the
curve
is
smooth
and
the
long-wave
limit
agrees
with
the
expected
value
marked
by
the
circle.
For
a
freely
floating
vessel,
the
second
graph
is
clearly
in
error,
since
the
curve
does
not
lead
to
the
expected
long
wave
limit.
The
RAO
data
for
long
waves
(represented
by
the
end
of
the
curve)
has
the
correct
amplitude,
but
its
phase
differs
by
180
from
the
expected
long-wave
value
(represented
by
the
circle).
There
are
two
likely
causes
it
may
be
that
the
phase
lead/lag
convention
data
has
been
set
wrongly
(this
would
give
a
phase
angle
sign
error)
or
else
that
the
convention
data
for
the
direction
of
positive
motion
has
been
set
wrongly
(this
would
give
a
phase
error
of
180).
The
curve
on
the
third
graph
approaches
the
expected
long
wave
limit,
but
then
suddenly
goes
to
zero.
This
suggests
that
the
RAO
data
for
period
'Infinity'
has
not
been
set
correctly
and
is
zero.
Common
Problems
It
is
not
unusual
to
be
given
RAO
data
for
a
vessel
but
not
be
given
all
the
conventions
that
apply
to
the
data.
Below
are
some
common
problems
and
their
symptoms.
But
beware
that
several
common
problems
have
very
similar
symptoms,
so
it
is
not
possible
to
be
sure
what
the
problem
is
unless
you
are
sure
about
most
of
the
data's
conventions
and
only
unsure
about
one.
It
is
therefore
important
to
get
as
much
information
as
possible
from
the
original
RAO
data
supplier.
x The
quoted
wave
direction
might
be
measured
clockwise
(viewed
from
above)
from
the
x-direction,
rather
than
anticlockwise
(which
is
the
OrcaFlex
convention).
The
effect
would
be
a
180
shift
in
the
sway,
roll
and
yaw
phases.
x The
quoted
wave
direction
may
be
the
direction
the
wave
is
coming
from,
rather
than
the
direction
it
is
progressing
towards
(which
is
the
OrcaFlex
convention).
The
effect
would
be
to
negate
all
the
phase
values.
x The
phases
may
be
leads
instead
of
lags
(OrcaFlex
will
accept
either
see
RAO
Phase
Conventions).
The
effect
of
an
error
here
would
be
to
negate
all
the
phase
values.
Importing
QTFs
Wave
drift
QTF
data
may
be
imported
using
the
Import
QTFs
button
on
the
vessel
types
form.
Data
may
be
imported
directly
from
AQWA
or
WAMIT
output
files,
from
NMIWAVE
output
files,
and,
with
the
addition
of
some
markup
text,
from
Moses
and
Hydrostar/ARIANE
output
files.
The
form
of
this
markup
also
allows
for
import
from
other
text
files.
Import
QTFs
from
specific
program
output
OrcaFlex
can
import
QTFs
directly
from
AQWA
and
WAMIT
output
files,
as
described
under
Importing
Hydrodynamic
Data.
All
existing
QTF
data
for
the
selected
draught
will
be
overwritten.
260
w
System
Modelling:
Data
and
Results,
Vessels
NMIWAVE files
NMIWAVE
text
output
files
may
be
imported
with
the
addition
of
a
single
line
containing
the
string
NMIWAVE
Wave
Drift
at
the
start
of
the
file,
as
in
this
example
NMIWAVE
uses
the
ITTC
conventions,
which
are
surge
+ve
forward,
sway
+ve
to
starboard,
heave
+ve
down,
roll
+ve
starboard
down,
pitch
+ve
bow
up,
yaw
+ve
bow
to
starboard.
As
with
AQWA
and
WAMIT,
OrcaFlex
recognizes
the
type
of
file
and
'knows'
what
these
conventions
are,
so
you
do
not
need
to
specify
them
explicitly
in
the
file
before
import.
The
imported
data
is
converted
from
these
conventions
to
match
the
vessel
type
conventions.
The
wave
heading
convention
used
by
NMIWAVE
is
that
wave
heading
is
measured
+ve
clockwise
when
viewed
from
above,
and
zero
wave
heading
means
a
stern
wave.
This
is
the
opposite
sense
to
OrcaFlex,
and
is
handled
automatically
on
import
by
changing
the
sign
of
the
wave
headings
when
an
NMIWAVE
file
is
imported.
Also,
note
that
NMIWAVE
QTFs
are
non-dimensional:
OrcaFlex
will
re-dimensionalise
them
on
import,
in
the
same
way
as
for
WAMIT.
Import
QTFs
from
marked-up
text
files
QTF
data
can
be
imported
from
generic
text
files
using
a
similar
format
to
that
for
RAOs.
Only
the
direction
conventions
are
required
in
this
case:
*** OrcaFlex Conventions Start ***
SurgePositive = forward
SwayPositive = port
HeavePositive = up
RollPositiveStarboard = down
PitchPositiveBow = down
YawPositiveBow = port
*** OrcaFlex Conventions End ***
Since
QTFs
contain
no
phase
information,
the
conventions
relating
to
phase
have
no
relevance;
and
all
QTFs
are
assumed
to
be
given
relative
to
waves
of
unit
amplitude,
so
the
RAOWaveUnit
convention
is
implicitly
set
to
be
"amplitude".
The
units
of
the
data
contained
in
the
file
are
specified
in
the
same
way:
*** OrcaFlex Units Start ***
LengthUnits = m
ForceUnits = kN
*** OrcaFlex Units End ***
The
QTF
format
differs
from
that
for
RAOs
as
follows:
x The
identifier
line
is
OrcaFlex
QTF
Start
rather
than
OrcaFlex
Displacement
RAO
Start
or
OrcaFlex
Load
RAO
Start.
x The
column
headers
are
surge,
sway,
heave,
roll,
pitch
and
yaw
instead
of
X,
Y,
Z,
RX,
RY
and
RZ
respectively.
x Phase
data
are
not
specified.
Otherwise,
the
format
follows
that
for
importing
RAOs.
The
QTF
origin
is
not
read
in
and
should
be
set
on
the
Vessel
Type
form.
Moses
output
QTFs
in
all
six
degrees
of
freedom
are
included
in
this
example
of
Moses
output.
Note:
Moses
reports
encounter
period
or
frequency,
to
account
for
the
effect
of
the
speed
of
the
vessel
on
the
apparent
wave
period
or
frequency.
OrcaFlex
requires
the
data
at
actual
wave
period
or
frequency,
so
if
possible
your
vessel
in
your
Moses
model
should
not
have
any
forward
speed.
Hydrostar/ARIANE output
As
is
the
case
with
RAOs,
Hydrostar's
output
format
'pour
ARIANE'
is
suitable,
with
the
mark-up
described
above,
for
import
into
OrcaFlex.
This
example
demonstrates
the
necessary
mark-up
and
the
setting
of
conventions
and
units
for
horizontal-plane
QTFs
(surge,
sway
and
yaw).
OrcaFlex
will
set
the
data
for
the
degrees
of
freedom
which
are
not
imported
(so
heave,
roll
and
pitch
in
this
case)
to
zero.
Data
in
this
form
are
common
for
vessels
with
large
water
plane
areas,
such
as
barges,
tankers,
etc.
261
System
Modelling:
Data
and
Results,
Vessels
w
Note:
As
with
Moses,
Hydrostar
takes
account
of
the
effect
of
the
speed
of
the
vessel
in
determining
the
added
mass
and
damping,
and
reports
results
at
encounter
period
or
frequency.
Your
vessel
in
your
Hydrostar
model
should
not
have
any
forward
speed.
Other output
OrcaFlex
can
import
data
produced
by
other
programs
(or,
more
generally,
text
data
obtained
by
any
other
means)
so
long
as
it
is
in
the
format
illustrated
by
the
examples
above,
ie
a
series
of
tables
of
data,
one
for
each
direction,
arranged
with
rows
representing
wave
period
or
frequency
and
columns
for
surge/sway/heave/roll/pitch/yaw
dimensional
QTF
amplitudes.
As
in
the
Hydrostar/ARIANE
example
above,
any
missing
columns
will
have
their
data
set
to
zero.
262
w
System
Modelling:
Data
and
Results,
Vessels
precede
the
table
of
data,
after
any
column
headings,
and
each
table
must
be
terminated
by
a
corresponding
"OrcaFlex
Added
Mass
Table
End"
(or
Damping)
line.
The
use
of
this
markup
is
illustrated
in
this
truncated
example
(ii)
Full
matrices
Moses
will
also
optionally
output
the
full
6x6
matrices
to
a
PPO
file:
in
general,
if
you
have
this
file
you
should
import
the
data
from
here
in
preference
to
the
diagonal
values
only.
In
this
case,
the
required
tags
are
"OrcaFlex
Added
Mass
Matrix
Start"
(again,
analogously
for
Damping),
followed
by
a
draught
specifier
and
one
of
"WP
x",
"WFR
x"
or
"WFH
x",
where
x
is
the
value
of
the
period
or
frequency,
at
the
beginning
of
each
matrix,
and
the
corresponding
End
tag
immediately
after
each
matrix.
This
sample
demonstrates
the
use
of
these
tags.
In
both
cases,
Moses
presents
added
mass
and
damping
values
which
are
scaled
by
mass.
Since
OrcaFlex
requires
non-normalized
data,
the
import
process
must
account
for
this
scaling
factor.
To
do
so,
note
that
towards
the
beginning
of
each
of
the
two
examples
above
is
a
section
of
the
form
OrcaFlex
Scaling
Factor
Start
1381.8
OrcaFlex
Scaling
Factor
End
The
number
1381.8
here
is
the
mass
of
the
vessel,
as
specified
in
the
standard
output
file.
OrcaFlex
will
scale
all
the
imported
data
by
this
value.
Note:
Moses
reports
encounter
period
or
frequency,
to
account
for
the
effect
of
the
speed
of
the
vessel
on
the
apparent
wave
period
or
frequency.
OrcaFlex
requires
the
data
at
actual
wave
period
or
frequency,
so
if
possible
your
vessel
in
your
Moses
model
should
not
have
any
forward
speed.
Hydrostar/ARIANE output
Full
6x6
added
mass
and
damping
matrices
are
output,
without
any
normalising
or
scaling
factors.
Other
than
the
lack
of
scaling
factors,
the
tags
required
by
OrcaFlex
are
the
same
as
those
for
Moses
6x6
matrices:
you
will
need
Start
and
End
tags
surrounding
each
matrix
and
a
" Draught"
line,
and
a
"WP
x",
"WFR
x"
or
"WFH
x"
line,
where
x
is
the
value
of
the
period
or
frequency,
at
the
beginning
of
each
matrix.
Note
that
OrcaFlex
will
allow,
as
necessary,
for
the
row
and
column
headings
1,
2,
...,
6
if
they
are
present.
A
short
example
of
marked-up
Hydrostar
output
is
given.
You
should
be
aware
that
Hydrostar
results
may
be
given
in
either
Hydrostar's
own
axis
conventions
or
those
of
ARIANE,
and
that
the
two
differ.
The
latter
is
usually
indicated
by
the
phrase
'pour
ARIANE'
in
the
file:
the
conventions
in
the
example
here
are
those
for
ARIANE.
Note:
As
with
Moses,
Hydrostar
takes
account
of
the
effect
of
the
speed
of
the
vessel
in
determining
the
added
mass
and
damping,
and
reports
results
at
encounter
period
or
frequency.
Your
vessel
in
your
Hydrostar
model
should
not
have
any
forward
speed.
WADAM output
WADAM
also
outputs
full
6x6
added
mass
and
damping
matrices,
but
these
a re
non-dimensional.
The
tags
required
for
each
matrix
are
as
for
Hydrostar/ARIANE
as
above;
in
addition,
the
non-dimensionalising
factors
must
be
specified
in
the
file.
Since
the
data
are
fully
non-dimensional,
the
scaling
is
rather
more
complex
than
Moses'
scaling
by
mass
alone:
the
factors
differ
between
the
added
mass
and
damping
matrices,
and
each
matrix
requires
a
different
factor
for
each
constituent
3x3
sub-matrix
(since
their
units
differ).
Full
details
of
the
calculation
of
these
factors
are
given
in
the
WADAM
output
file
itself
(search
for
the
string
'non-dimensional');
see
this
edited
example,
which
shows
the
relevant
text
and
the
corresponding
markup
text
required
by
OrcaFlex.
Note:
The
conventions
are
not
specified
in
this
example,
as
we
(Orcina)
do
not
have
any
information
on
them.
If
you
are
able
to
let
us
know
what
they
are,
and
help
us
improve
this
example,
then
please
do
get
in
touch
with
us.
OrcaFlex
should
be
able
to
import
added
mass
and
damping
data
from
other
programs,
not
listed
above,
so
long
as
they
are
presented
in
text
files
as
6x6
matrices.
As
in
the
above
examples,
you
will
need
to:
add
the
appropriate
text
strings
in
the
file
to
delimit
the
data,
nominate
the
draught
into
which
the
data
are
to
be
imported,
and
indicate
the
wave
period
or
frequency
for
each
matrix.
If
the
matrices
are
non-dimensional,
either
partially
or
fully,
you
will
need
to
enter
the
scaling
factors
into
the
file.
Note
that
these
factors
may
be
entered
multiple
times
and
will
be
updated
each
time
this
may
be
useful
if,
say,
they
depend
on
frequency.
6.7.3 Modelling
Vessel
Slow
Drift
When
a
vessel
is
exposed
to
waves
it
experiences
wave
loads
that
can
be
split
into
first
order
and
second
order
terms.
The
first
order
terms
generate
motion
at
wave
frequency
and
this
is
modelled
in
OrcaFlex
using
RAOs
to
specify
either
the
displacement
or
the
load.
The
second
order
terms
are
much
smaller
but
they
include
loads
with
a
263
System
Modelling:
Data
and
Results,
Vessels
w
much
lower
frequency.
These
low
frequency
terms
are
called
the
wave
drift
loads
and
they
can
cause
significant
slow
drift
motions
of
the
vessel
if
their
frequencies
are
close
to
a
natural
frequency
of
the
vessel.
One
common
situation
where
the
wave
drift
loads
can
matter
is
with
a
moored
vessel.
The
vessel's
natural
frequencies
in
surge,
sway
and
yaw
are
typically
quite
low
and
so
the
low
frequency
wave
drift
loads
can
generate
quite
significant
slow
drift
excursions.
If
you
have
already
calculated
the
vessel
slow
drift
motion
then
that
motion
can
be
applied
in
OrcaFlex
using
harmonic
motion
or
a
time
history
file.
But
OrcaFlex
can
calculate
and
apply
the
slow
drift
motion
for
you.
To
do
this
you
need
to
do
the
following:
x Specify
QTF
data
on
the
wave
drift
page
of
the
vessel
type
form
(the
wave
drift
loads
are
calculated
based
on
this
data).
Also,
ensure
that
Wave
Drift
Load
(2nd
Order)
is
in
the
vessel's
Included
Effects.
This
tells
OrcaFlex
to
apply
the
mean
wave
drift
load
to
the
vessel
during
the
static
analysis,
and
then
in
the
dynamic
analysis
to
apply
the
time
varying
wave
drift
load.
x Optionally,
specify
appropriate
data
for
hydrodynamic
and
wind
damping
and
any
applied
load,
etc.,
and
include
these
loads
in
the
vessel's
Included
Effects.
OrcaFlex
will
automatically
include
loads
from
added
mass
and
damping
and
loads
from
any
lines
or
other
objects
that
are
connected
to
the
vessel.
x On
the
Structure
page
on
the
vessel
type
form,
specify
the
vessel
centre
of
gravity,
mass,
moments
of
inertia
data
for
the
appropriate
draught.
And
on
the
Stiffness,
Added
Mass
and
Damping
page,
specify
the
added
mass
and
damping
matrices
and
the
reference
origin
to
which
they
apply.
The
stiffness
and
hydrostatic
equilibrium
position
data
are
not
required
for
3DOF
analyses,
since
they
only
apply
in
the
heave,
roll
and
pitch
directions.
x On
the
vessel
form,
include
3
degrees
of
freedom
in
the
static
analysis.
The
OrcaFlex
static
analysis
will
then
calculate
the
equilibrium
position
allowing
for
the
mean
wave
drift
load.
And
set
the
primary
motion
to
Calculated
(3DOF).
The
OrcaFlex
simulation
will
then
calculate
the
vessel
surge,
sway
and
yaw
motion
that
results.
x Set
the
vessel's
superimposed
motion
according
to
whether
and
how
you
want
to
model
first
order
wave
frequency
motion.
In
the
dynamic
simulation
OrcaFlex
will
then
calculate
all
the
loads
on
the
vessel
and
the
resulting
slow
surge,
sway
and
yaw
motion.
Damping
Effects
on
Vessel
Slow
Drift
Drag
and
damping
loads
have
an
important
effect
on
vessel
slow
drift
motions.
The
following
discussion
documents
the
various
damping
effects
and
how
they
are
modelled
in
OrcaFlex.
See
CMPT
(1998)
section
3.12.
x Hydrodynamic
drag
and
skin
friction
on
the
vessel
hull.
This
is
modelled
in
OrcaFlex
using
a
combination
of
the
OCIMF
approach,
a
yaw
drag
moment
proportional
to
(yaw
rate) 2
and
roll
damping
terms
(both
linear
and
quadratic).
See
the
Hydrodynamic
Damping
data
on
the
vessel
type
data
form.
For
details
of
the
theory
see
Vessel
Theory:
Hydrodynamic
and
Wind
Damping.
Note
that
OrcaFlex
does
not
yet
have
the
dependency
of
yaw
drag
on
sway
velocity
proposed
by
Wichers,
1979.
x Wind
drag
on
the
vessel
hull.
This
is
the
aerodynamic
drag
due
to
wind
and
any
vessel
velocity.
It
is
modelled
in
OrcaFlex
based
on
the
OCIMF
approach.
See
the
Wind
Damping
data
on
the
vessel
type
data
form.
For
details
of
the
theory
see
Vessel
Theory:
Hydrodynamic
and
Wind
Damping.
x Hydrodynamic
drag
on
the
risers/moorings.
This
is
modelled
in
OrcaFlex
by
the
drag
force
part
of
the
Morison
force
on
the
lines
that
model
the
risers/moorings.
x Wave
radiation
damping.
This
is
not
usually
very
significant
at
low
frequencies,
because
the
asymptotic
limit
of
the
wave
frequency
damping
is
zero.
It
can
be
modelled
in
OrcaFlex
using
the
constant
damping
matrix
on
the
vessel
type
form.
x Wave
drift
damping.
This
arises
because
the
wave
drift
loads
vary
with
vessel
velocity.
It
can
be
modelled
in
OrcaFlex
by
including
it
in
the
constant
damping
matrix
on
the
vessel
type
data
form.
See
CMPT
(1998)
page
3-
78
and
Faltinsen
(1990)
page
161.
x Material
damping
in
the
risers/moorings.
This
is
the
structural
damping
in
the
material
of
the
risers
and
mooring
lines.
This
can
be
modelled
in
OrcaFlex
by
the
line
target
damping
value.
However
Triantafyllou
et
al
(1994)
concluded
that
its
effect
is
negligible.
x Seabed
soil
friction
on
the
risers/moorings.
This
arises
from
the
frictional
force
acting
on
the
part
of
a
mooring/riser
that
is
lifting
off
and
touching
down
on
the
seabed.
It
is
modelled
in
OrcaFlex
by
the
friction
264
w
System
Modelling:
Data
and
Results,
Vessels
between
the
seabed
and
the
line
used
to
model
the
mooring/riser.
However
Triantafyllou
et
al
(1994)
concluded
that
its
effect
is
negligible.
6.7.4 Vessel
Response
Reports
The
vessel
response
window
can
be
opened
using
the
Results
Menu
or
using
the
Report
Vessel
Response
button
on
the
vessel
data
form.
It
offers
two
pages:
Displacement
Response,
and
Impulse
Response,
Added
Mass
and
Damping.
Generation
of
vessel
response
reports
can
be
automated
through
the
batch
script,
or
from
the
OrcaFlex
programming
interface.
Note:
The
reported
RAOs
are
first
order
RAOs
calculated
using
small-angle
theory
to
transform
the
RAOs
from
the
vessel
RAO
origin
to
the
points
specified
on
the
Vessel
Response
form.
Theses
results
are
accurate
for
small-angle
rotational
motion,
but
if
the
vessel
undergoes
large-angle
rotational
motion
it
will
exhibit
a
non-linear
higher-order
response
that
can
only
be
approximated
by
RAOs.
More
accurate
results
can
be
obtained
in
this
case
by
running
a
simulation,
which
uses
large
angle
theory,
and
this
can
often
be
done
very
quickly
by
removing
from
the
model
all
other
objects
that
do
not
affect
the
motion
of
the
vessel.
Displacement
Response
The
Displacement
Response
page
gives
access
to
two
spreadsheet
reports,
one
giving
displacement
RAOs
and
one
giving
spectral
values,
of
the
vessel's
response
to
waves,
based
on
its
vessel
type's
displacement
RAOs.
It
can
be
accessed
from
the
Results
menu
or
from
the
Vessel
data
form.
Directions
and
Output
Points
You
specify
one
or
more
vessel-relative
wave
directions,
and
one
or
more
points
on
the
vessel,
for
which
the
RAOs
and
spectral
response
will
be
reported.
If
you
specify
a
direction
of
'~'
then
the
direction
of
the
wave
relative
to
the
vessel
is
used.
If
there
is
more
than
one
wave
train
then
the
direction
of
the
first
wave
train
is
used.
The
output
points
are
specified
by
giving
their
coordinates
relative
to
vessel
axes.
Report
RAOs
The
RAO
report
gives
a
separate
worksheet
for
each
specified
direction,
containing
the
RAOs
for
each
of
the
specified
output
points,
derived
from
the
displacement
RAOs
of
its
vessel
type.
The
reported
RAOs
allow
for
the
following
effects:
x They
allow
for
the
position
of
the
output
point
relative
to
the
RAO
origin
to
which
the
vessel
type
RAOs
apply.
x They
give
the
RAOs
for
the
specified
wave
direction,
relative
to
the
vessel.
If
this
is
not
one
of
the
directions
for
which
RAOs
are
specified,
then
the
RAOs
are
derived
by
interpolation
on
direction.
x They
allow
for
Froude
scaling
if
there
is
a
difference
between
the
vessel
type
length
and
the
vessel
length.
This
affects
the
periods
at
which
the
RAOs
are
reported.
RAOs
are
given
for
the
position,
velocity
and
acceleration
of
the
output
points,
for
all
6
degrees
of
freedom
and
for
Z
Above
Wave.
The
RAO
report
covers
the
wave
periods
specified
on
the
vessel
type
data
form,
plus
(if
appropriate)
the
regular
wave
period
specified
on
the
environment
data
form.
Phase
Origin
You
can
choose
the
Phase
Origin
to
use
for
reporting
phases,
the
options
being:
x RAO
Phase
Origin.
The
phases
will
then
be
reported
relative
to
the
time
that
the
wave
(crest
or
trough,
as
specified
in
the
vessel
type
RAO
conventions)
passes
the
RAO
phase
origin
specified
on
the
vessel
type
form.
x Each
Point.
The
phases
will
then
be
reported
relative
to
the
time
the
wave
(crest
or
trough,
as
specified
in
the
vessel
type
RAO
conventions)
passes
that
particular
output
point.
The
translational
RAOs
depend
on
the
position
of
the
output
point.
The
rotational
RAO
amplitudes
do
not
depend
on
the
position
of
the
output
point,
since
the
roll,
pitch
and
yaw
of
a
vessel
are
the
same
everywhere
on
it.
The
rotational
RAO
phases
depend
on
the
position
of
the
output
point
only
if
you
specify
the
Phase
Origin
to
be
Each
Point.
265
System
Modelling:
Data
and
Results,
Vessels
w
Conventions
You
can
choose
for
the
RAOs
to
be
reported
either
using
the
same
RAO
conventions
as
specified
for
this
vessel's
type
or
using
Orcina
standard
conventions.
Z
Above
Wave
Z
Above
Wave
reports
the
heave
of
the
vessel
relative
to
the
water
surface.
This
can
be
useful
when
evaluating
whether
an
object
at
some
point
on
the
vessel
will
contact
the
water
surface
and
if
so
with
what
relative
velocity.
Warning:
Z
Above
Wave
does
not
take
account
of
wave
surface
disturbance
due
to
the
presence
of
the
vessel.
It
is
also
not
available
if
(for
any
of
the
specified
directions
and
for
any
degree
of
freedom)
the
vessel
has
a
non-zero
RAO
amplitude
for
the
zero
wave
period
limit.
This
is
because
some
of
the
spectral
integrals
do
not
converge
in
such
cases.
Such
RAO
data
is
not
realistic,
since
no
vessel
can
respond
to
infinitely
high
frequency
waves.
Warnings:
Wave
directional
spreading
spectra
are
not
taken
into
account.
The
calculation
assumes
that
all
the
spectral
energy
is
in
the
specified
direction
for
each
wavetrain.
The
standard
formulae
used
to
calculate
the
spectral
values
(see
below)
are
based
on
the
further
assumptions
that
the
spectrum
is
narrow-banded
and
Gaussian,
and
that
the
extremes
are
Rayleigh
distributed.
They
are
also
based
purely
on
small
amplitude
linear
theory.
The
storm
duration
should
be
short-term,
ie
of
the
order
of
hours
rather
than
days
or
years,
since
the
sea-state,
as
represented
by
(Hs,Tz),
is
assumed
to
remain
constant
over
this
duration.
266
w
System
Modelling:
Data
and
Results,
Vessels
All
these
reports
are
based
on
the
vessel
type
displacement
RAOs.
Any
wave
load
RAO
data
are
ignored.
The
position,
orientation
and
sea
surface
clearance
of
the
vessel,
relative
to
global
axes,
due
to
the
combination
of
the
primary
and
superimposed
motion.
X,
Y
and
Z
are
the
global
coordinates
of
a
user
specified
point
P
on
the
vessel.
The
point
P
is
specified
in
vessel
local
coordinates.
If
P=(0,0,0)
then
the
global
X,
Y
and
Z
coordinates
of
the
vessel
origin
are
reported.
Sea
Surface
Clearance
is
the
vertical
clearance
of
point
P
from
the
instantaneous
sea
surface.
A
positive
value
indicates
the
point
P
is
above
the
sea
surface.
Rotation
1,
2
and
3
define
the
final
orientation
relative
to
global
axes.
The
3
rotations
(called
Euler
angles)
are
3
successive
rotations
that
take
the
global
axes
directions
to
the
final
axes
directions.
Rotation
2
is
in
the
range
-90
to
+90.
Range
jump
suppression
is
applied
to
the
Rotation
1
and
Rotation
3
angles
(so
values
outside
the
range
-360
to
+360
might
be
reported).
Velocity,
GX-Velocity,
GY-Velocity,
GZ-Velocity
The
magnitude
and
components
of
the
velocity
of
the
vessel,
relative
to
global
axes,
due
to
the
combination
of
the
primary
and
superimposed
motion.
These
results
are
reported
at
a
user
specified
point
P
on
the
vessel.
The
point
P
is
specified
in
vessel
local
coordinates.
Angular
Velocity,
x-Angular
Velocity,
y-Angular
Velocity,
z-Angular
Velocity
The
magnitude
and
components
of
the
angular
velocity
of
the
vessel,
relative
to
vessel
axes,
due
to
the
combination
of
the
primary
and
superimposed
motion.
Acceleration,
GX-Acceleration,
GY-Acceleration,
GZ-Acceleration
The
magnitude
and
components
of
the
acceleration
of
the
vessel,
relative
to
global
axes,
due
to
the
combination
of
the
primary
and
superimposed
motion.
These
results
are
reported
at
a
user
specified
point
P
on
the
vessel.
The
point
P
is
specified
in
vessel
local
coordinates.
Acceleration
(incl.
g),
x-Acceleration
(incl.
g),
y-Acceleration
(incl.
g),
z-Acceleration
(incl.
g)
The
magnitude
and
components
(with
respect
to
vessel
axes)
of
the
vector
a
-
g
where
a
is
the
acceleration
of
the
vessel
and
g
is
the
acceleration
due
to
gravity,
a
vector
pointing
vertically
downwards.
These
results
are
reported
at
a
user
specified
point
P
on
the
vessel.
The
point
P
is
specified
in
vessel
local
coordinates.
267
System
Modelling:
Data
and
Results,
Vessels
w
The
magnitude
and
components
of
the
angular
acceleration
of
the
vessel,
relative
to
vessel
axes,
due
to
the
combination
of
the
primary
and
superimposed
motion.
Primary
X,
Primary
Y,
Primary
Z,
Primary
Rotation
1,
Primary
Rotation
2
and
Primary
Rotation
3
The
primary
position
of
the
vessel,
as
produced
by
any
primary
motion,
relative
to
global
axes.
So
Primary
X,
Primary
Y
and
Primary
Z
are
the
global
X,Y,Z
coordinates
of
the
primary
position
of
the
vessel
origin,
and
Primary
Rotation
1,
Primary
Rotation
2
and
Primary
Rotation
3
are
the
primary
orientation
of
the
vessel,
again
relative
to
global
axes.
Primary
Rotation
2
is
in
the
range
-90
to
+90.
Range
jump
suppression
is
applied
to
Primary
Rotation
1
and
Primary
Rotation
3
(so
values
outside
the
range
-360
to
+360
might
be
reported).
Surge,
Sway,
Heave,
Roll,
Pitch
and
Yaw
The
offset
of
the
vessel,
due
to
any
superimposed
motion,
relative
to
the
primary
position
of
the
vessel.
They
are
usually,
therefore,
the
wave-generated
part
of
the
motion,
so
Surge,
Sway
and
Heave
are
the
offsets
from
the
primary
position
to
the
final
position
and
are
measured
in
the
primary
vessel
axes
directions.
And
Roll,
Pitch
and
Yaw
are
the
wave-generated
rotations
and
are
relative
to
the
primary
vessel
axes
directions.
Pitch
is
in
the
range
-90
to
+90.
Range
jump
suppression
is
applied
to
the
Roll
and
Yaw
angles
(so
values
outside
the
range
-360
to
+360
might
be
reported).
Sea
Surface
Z
The
global
Z
coordinate
of
the
sea
surface
directly
above
the
instantaneous
vessel
primary
position.
Force
and
Moment
Results
For
each
load
on
the
vessel,
so
long
as
it
is
not
explicitly
excluded
from
the
list
of
that
vessel's
Included
Effects,
time
history
results
are
available
for
the
magnitude
of
the
force
and
moment,
and
for
each
component
of
the
force
or
moment.
All
these
results
are
reported
in
vessel
axes
directions,
with
moments
taken
about
the
vessel
origin.
If
a
load
is
excluded
then
it
will
not
be
calculated
and
will
not
appear
in
the
list
of
available
results.
Total
Load
The
magnitude
and
components
(in
vessel
axes
directions)
of
the
sum
of
the
constituent
loads
on
the
vessel
which
are
included
in
the
calculation.
Connections
Load
The
sum
of
the
loads
from
all
attached
lines,
links,
winches,
shapes,
etc.
Available
only
if
at
least
one
such
object
is
attached
to
the
vessel.
For
convenience,
the
components
of
Connection
Force
and
Moment
are
also
available
in
Global
axes
directions
(GX,GY,GZ).
Details
of
the
loads
exerted
by
each
individual
object
are
available
as
results
tables,
and
can
also
be
found
under
the
results
for
each
object
itself.
Applied
Load
The
sum
of
all
the
local
and
global
applied
loads.
Available
only
if
Applied
Loads
is
in
the
list
of
the
vessel's
included
effects.
Hydrodynamic
Damping
Load
The
hydrodynamic
damping
force
and
moment
on
the
vessel.
Available
only
if
Hydrodynamic
Damping
is
checked
in
included
effects.
Wind
Damping
Load
The
wind
damping
force
and
moment
on
the
vessel.
Available
only
if
Wind
Damping
is
checked
in
included
effects
and
Include
Wind
Loads
on
Vessels
is
checked
on
the
Wind
data
page
of
the
Environment
data
form.
Wave
Drift
Load
The
wave
drift
force
and
moment
exerted
on
the
vessel.
These
results
are
available
only
if
Wave
Drift
Load
(2nd
order)
is
included.
268
w
System
Modelling:
Data
and
Results,
Lines
The
force
and
moment
on
the
vessel
due
to
added
mass
and
damping.
Hydrostatic
Stiffness
Load
The
force
and
moment
on
the
vessel
due
to
the
wave
load
RAOs.
Available
if
Wave
Load
(1st
Order)
is
checked
in
included
effects.
Note:
First
order
wave
RAO
load
and
second
order
wave
drift
load
results,
though
reported
with
respect
to
vessel
axes,
are
applied
with
respect
to
primary
heading
axes.
In
most
cases
there
will
be
little
difference
between
the
two
frames
of
reference,
but
large
values
of
Primary
Rotations
1&2
may
have
a
significant
effect
on
these
results.
The
magnitude
of
the
horizontal
component
of
the
total
force
applied
to
the
vessel.
Note
that
this
force
is
not
necessarily
in
the
offset
direction.
Vertical
Force
The
vertically
downwards
component
of
the
total
force
applied
to
the
vessel.
GZ-Moment
The largest tension in any segment of any Line connected to the Vessel.
6.8 LINES
Lines
are
flexible
linear
elements
used
to
model
cables,
hoses,
chains
or
other
similar
items.
Lines
are
represented
in
OrcaFlex
using
a
lumped
mass
model.
That
is,
the
line
is
modelled
as
a
series
of
lumps
of
mass
joined
together
by
massless
springs,
rather
like
beads
on
a
necklace.
The
lumps
of
mass
are
called
nodes
and
the
springs
joining
them
are
called
segments.
Each
segment
represents
a
short
piece
of
the
line,
whose
properties
(mass,
buoyancy,
drag
etc.)
have
been
lumped,
for
modelling
purposes,
at
the
nodes
at
its
ends.
See
the
figure
below,
which
shows
an
example
line
spanning
from
a
Vessel
to
a
Buoy.
269
System
Modelling:
Data
and
Results,
Lines
w
z y
End A
B x
z
y
x
V
End B
section 1
(3 segments)
section 3
Clump (9 segments)
section 2
(7 segments)
Figure:
Line
Model
The
properties
of
a
Line
are
specified
by
dividing
it
up
into
a
number
of
consecutive
sections
that
are
chosen
by
the
user.
For
each
section
you
must
define
its
length,
the
Line
Type
of
which
it
is
made
and
the
number
of
segments
into
which
it
should
be
divided
for
modelling
purposes.
A
Line
Type
is
simply
a
set
of
properties
(for
example
the
diameter,
mass
per
unit
length
and
bend
stiffness)
given
a
name
so
that
they
can
be
called
by
that
name.
The
Line
Types
are
defined
separately,
on
the
Line
Types
data
form.
This
allows
the
same
set
of
line
properties
to
be
used
for
a
number
of
different
sections
of
the
line,
or
for
different
lines.
There
is
also
a
Line
Type
Wizard
tool
that
helps
you
set
up
Line
Types
representing
common
structures
like
chains,
ropes,
etc.
In
addition,
a
number
of
attachments
may
be
specified,
to
represent
items
that
are
connected
to
the
Line.
For
example,
attachments
may
be
used
to
model
clump
weights,
drag
chains
or
buoyancy
bags
attached
to
the
line.
Two
types
of
attachment
are
available
clumps
(buoyancy
or
heavy)
and
drag
chains.
270
w
System
Modelling:
Data
and
Results,
Lines
Each
attachment
attached
to
the
Line
is
specified
by
giving
the
Attachment
Type
and
the
arc
length,
measured
from
End
A,
at
which
it
should
be
attached.
The
attachment
is
then
attached
to
the
nearest
node
to
that
arc
length.
Attachment
Types
are
similar
to
Line
Types
they
are
simply
named
sets
of
attachment
properties.
The
properties
themselves
are
then
given
separately,
on
the
Attachment
Types
data
form.
This
allows
the
same
set
of
attachment
properties
to
be
used
for
a
number
of
different
attachments.
The
two
ends
of
a
Line
are
referred
to
as
End
A
and
End
B
and
each
end
can
be
Free,
Fixed,
Anchored
or
else
connected
to
a
Vessel
or
Buoy.
The
two
ends
of
a
line
are
treated
in
essentially
the
same
way,
but
some
aspects
of
the
line
are
dependent
on
which
end
is
which.
In
particular
the
numbering
of
parts
of
a
Line
is
always
done
starting
at
End
A.
6.8.1 Line
Data
For
every
line
in
the
system
there
is
a
data
form
defining
its
structure
and
interconnection.
It
is
on
these
data
forms
that
the
system
is
built
up
by
connecting
lines
between
the
objects
that
have
been
defined.
Name
Torsional
effects
can
be
included
or
ignored,
for
each
line
in
the
model.
If
torsion
is
included
then
the
line
type
torsional
properties
must
be
specified.
See
Torsional
Stiffness.
To
see
the
line
orientation
visually
on
the
3D
views,
select
Draw
Node
Axes
on
the
View
menu.
OrcaFlex
then
draws
the
node
axes
Nxyz
at
each
node,
and
these
axes
allow
you
to
see
how
the
line
is
behaving
torsionally.
Notes:
The
node
axes
are
drawn
using
the
node
pen,
specified
on
the
line
data
form.
If
torsion
is
included
for
a
line,
you
must
specify
the
torsional
orientation
at
each
end
of
the
line.
This
is
done
by
setting
the
Gamma
angle
of
the
end
connections
on
the
line
data
form.
The
Gamma
angle
determines
the
torsional
position
of
the
line
end
for
details
see
Line
End
Orientation.
To
check
visually
that
you
have
the
orientation
you
expect,
select
Draw
Node
Axes
on
the
View
menu.
If
torsion
is
included
for
a
line,
the
static
analysis
should
also
include
the
effects
of
torsion
otherwise
the
simulation
will
start
from
a
position
that
is
not
in
torsional
equilibrium
and
an
unstable
simulation
may
result.
We
recommend
that
the
Full
Statics
option
is
selected
because
this
is
the
only
statics
option
in
OrcaFlex
that
includes
the
effects
of
torsion.
Top End
This
data
item
is
used
to
give
OrcaFlex
information
about
the
sense
of
the
Line.
Various
calculations
performed
by
the
program
need
to
know
which
end
of
the
line
(End
A
or
End
B)
is
at
the
top,
and
which
end
is
at
the
bottom.
You
specify
which
end
is
at
the
top,
and
the
program
assumes
that
the
other
end
is
at
the
bottom.
Suppose
you
have
a
line
with
the
top
end
connected
to
a
vessel,
and
the
bottom
end
anchored
to
the
seabed.
If
you
wish
to
measure
arc
length
from
the
vessel
then
you
should
connect
End
A
to
the
vessel,
make
End
B
anchored
and
set
Top
End
to
End
A.
On
the
other
hand,
if
you
wish
to
measure
arc
length
from
the
seabed
then
you
should
connect
End
B
to
the
vessel,
make
End
A
anchored
and
set
Top
End
to
End
B.
The
setting
of
the
Top
and
Bottom
Ends
is
used
by
the
program
as
follows:
x The
Lay
Azimuth
data
defines
a
lay
direction
starting
from
the
Bottom
End
and
moving
towards
the
Top
End.
x The
Touchdown
results
point
is
determined
by
starting
at
the
Top
End
and
then
moving
towards
the
Bottom
End
until
the
first
node
in
contact
with
the
seabed
is
found.
x The
Contents
Pressure
Reference
Z
level
can
be
set
to
'~'
(indeed
this
is
the
default
value)
which
OrcaFlex
interprets
as
the
Z
level
of
the
Top
End
in
the
reset
state.
x The
Line
Setup
Wizard
uses
the
bottom
end
when
calculating
anchor
positions
and
also
for
the
layback
calculation.
If
the
Line
is
not
in
contact
with
the
seabed
then
this
data
is
somewhat
arbitrary.
You
are
free
to
make
whatever
choice
suits
your
model,
but
remember
that
the
contents
pressure
will
be
referenced
from
the
Top
End.
If
the
entire
Line
is
in
contact
with
the
seabed
then
again
you
are
free
to
make
whatever
choice
of
Top
and
Bottom
Ends
suits
your
model.
271
System
Modelling:
Data
and
Results,
Lines
w
Connections
The
line
end
connection
data
specifies
whether
the
line
ends
are
connected
to
other
objects,
the
position,
angle
and
stiffness
of
the
connection,
and
whether
the
end
is
released
during
the
simulation.
You
can
view
and
edit
an
individual
line's
connection
data
on
the
line's
data
form.
Or
you
can
view
and
edit
the
connection
data
for
all
the
lines
together
on
the
All
Objects
Data
Form.
Connect
to
Object
The
line
spans
from
End
A
to
End
B
and
each
end
may
be
connected
to
another
object
in
the
model,
such
as
a
buoy
or
vessel,
or
else
Fixed,
Anchored
or
left
Free.
Object
Relative
Position
Defines
the
position
of
the
centre
of
the
node
at
the
line
end.
x If
the
end
is
connected
to
another
object
this
defines
the
coordinates
of
the
connection
point
relative
to
that
other
object's
local
axes.
x If
the
end
is
Fixed
this
defines
the
coordinates
of
that
point
relative
to
global
axes.
x If
the
end
is
Anchored
this
defines
the
X
and
Y
coordinates
of
the
anchor
relative
to
global
axes,
plus
the
Z-
coordinate
relative
to
the
seabed
level
at
that
(X,Y)
position.
x If
the
end
is
Free
then
this
defines
the
coordinates
of
the
estimated
equilibrium
position
of
the
line
end,
relative
to
global
axes.
Height
above
seabed
This
data
item
is
only
available
for
Anchored
connections
and
specifies
the
vertical
height
above
the
seabed
of
the
pipe
underside.
This
value
is
coupled
to
the
Object
Relative
z
coordinate
changing
either
one
results
in
the
other
being
changed
to
match.
To
understand
how
this
data
item
should
be
used
consider,
for
simplicity,
a
line
end
anchored
to
a
flat
horizontal
seabed.
The
Object
Relative
z
coordinate
specifies
the
position
of
the
centreline.
If
it
is
set
to
0
then
the
end
node
will
penetrate
the
seabed
by
a
distance
of
D,
where
D
is
the
contact
diameter.
The
net
result
of
this
is
that
the
end
node
is
'buried'
in
the
seabed
and
receives
a
large
seabed
reaction
force.
Because
it
is
anchored
this
force
cannot
displace
the
end
node,
but
the
adjacent
node
is
free
to
move
and
it
will
try
to
take
up
a
position
sitting
on
top
of
the
seabed.
This
in
turn
will
lead
to
unrealistic
values
of
curvature,
bend
moment
etc.
at
the
end.
If,
however,
you
set
Height
above
seabed
to
0
then
the
end
node
centreline
will
have
a
z
coordinate
of
D,
relative
to
the
seabed.
The
node
sits
just
in
contact
with
the
seabed
and
the
above
problems
are
removed.
If
the
seabed
is
not
horizontal
then
the
mathematics
is
slightly
more
complicated
as
it
has
to
take
into
account
the
slope
of
the
seabed.
However,
the
recommendation
of
setting
Height
above
seabed
to
0
remains
valid.
End
Orientation
When
a
line
is
connected
to
an
object,
it
is
connected
into
an
end
fitting
that
is
rigidly
attached
to
that
object
and
you
specify
the
orientation
of
this
connection
by
giving
its
Azimuth,
Declination
and
Gamma
angles.
These
angles
define
the
end
fitting
orientation
relative
to
the
object,
so
for
objects
that
rotate
(e.g.
vessels
and
6D
buoys)
the
fitting
rotates
with
the
object.
For
Fixed
or
Anchored
ends
the
end
orientation
is
defined
relative
to
global
axes.
For
Free
ends
the
end
orientation
is
not
used.
Azimuth,
Declination
and
Gamma
define
the
end
fitting
orientation
by
specifying
the
directions
of
the
axes
(Ex,
Ey,
Ez)
of
its
frame
of
reference,
where
E
is
the
end
fitting
origin
the
point
to
which
the
line
end
is
connected.
See
Line
End
Orientation.
The
direction
of
Ez
is
defined
by
specifying
its
Azimuth
and
Declination
angles.
Ez
is
the
end
fitting
axial
direction;
when
the
end
segment
is
aligned
with
Ez
then
no
bending
moment
is
applied
by
the
joint,
so
Ez
is
sometimes
called
the
no-moment
direction.
Note
that
Ez
must
be
specified
using
the
End
A
to
End
B
convention,
i.e.
Ez
is
into
the
line
at
End
A,
but
out
of
the
line
at
End
B.
Ex
and
Ey
are
perpendicular
to
Ez
and
they
are
defined
by
specifying
the
Gamma
angle,
w hich
is
a
rotation
about
Ez.
The
Ex
and
Ey
directions
are
used
for
reporting
results
(e.g.
the
2
components
of
shear
force).
And
if
the
line
has
272
w
System
Modelling:
Data
and
Results,
Lines
torsion
included
and
the
joint
twisting
stiffness
is
non-zero,
then
Ex
and
Ey
also
define
the
line
end
orientation
at
which
no
torsional
moment
is
applied
by
the
joint.
The
connection
at
a
line
end
is
modelled
as
a
ball-joint
with
this
orientation
being
the
preferred
"no-moment"
orientation,
i.e.
the
orientation
of
the
line
end
that
gives
rise
to
no
moment
from
any
rotational
stiffness
of
the
connection.
If
all
of
the
end
connection
stiffness
values
are
zero,
e.g.
to
model
a
ball
joint
that
is
completely
free
to
rotate,
then
the
end
orientation
angles
have
no
effect
on
the
line
behaviour.
The
angles
then
only
serve
to
define
the
local
x,
y
and
z-directions
that
are
used
to
define
results
(e.g.
shear
and
bend
moment
components,
stress
components,
etc.)
that
depend
on
the
local
axes
directions.
Bending
and
Twisting
Stiffness
The
connection
at
a
line
end
is
modelled
as
a
joint
with
the
specified
rotational
stiffness.
The
restoring
moments
applied
by
the
joint
depend
on
the
deflection
angle,
which
is
the
difference
between
the
end
fitting
orientation
and
the
orientation
of
the
line.
The
end
orientation
is
therefore
the
orientation
of
the
line
that
corresponds
to
zero
moment
being
applied
by
the
joint.
The
connection
stiffness
is
the
slope
of
the
curve
of
restoring
moment
against
deflection
angle.
The
bending
and
twisting
connection
stiffnesses
can
be
set
to:
x Zero:
free
to
rotate
with
no
resistance.
x Non-zero,
finite:
can
rotate
but
with
resistance.
x Infinity:
a
rigid
connection.
x Variable:
non-linear
(for
bending
connection
stiffness
only).
The
x
bending
and
y
bending
values
specify
the
connection
bending
behaviour
for
rotation
about
the
end
Ex
and
Ey
directions,
respectively.
For
an
isotropic
ball
joint
the
two
values
must
be
equal;
this
can
conveniently
be
specified
by
setting
the
y-bending
value
to
'~',
meaning
'same
as
x-value'.
A
non-isotropic
ball
joint
can
be
modelled
by
giving
different
x
and
y
bending
values;
in
this
case
the
line
must
include
torsion.
The
x
bending
and
y
bending
behaviour
can
either
be
linear
or
non-linear,
as
follows:
x For
a
simple
linear
behaviour,
specify
the
bending
stiffness
to
be
the
constant
slope
of
the
curve
of
restoring
moment
against
deflection
angle.
x For
a
non-linear
behaviour,
use
variable
data
to
specify
a
table
of
restoring
moment
against
deflection
angle.
OrcaFlex
uses
linear
interpolation
for
angles
between
those
specified
in
the
table,
and
linear
extrapolation
for
angles
beyond
those
specified
in
the
table.
The
restoring
bend
moment
must
be
zero
at
zero
angle.
The
Twisting
Stiffness
value
is
only
relevant
if
torsion
is
included
for
the
line.
It
specifies
the
rotational
stiffness
about
the
end
Ez
direction.
For
the
twisting
stiffness
this
variation
is
always
modelled
as
linear
so
the
twisting
stiffness
you
specify
should
be
the
slope
of
the
linear
angle-moment
curve.
A
flex
joint
can
be
modelled
by
setting
the
stiffness
values
to
be
non-zero
and
finite.
Warning:
Avoid
specifying
large
connection
stiffness
values
(except
the
special
value
Infinity)
since
they
require
very
short
simulation
time
steps.
If
desired
each
line
end
can
be
disconnected
at
the
start
of
a
given
stage
of
the
simulation.
If
no
release
is
wanted
then
set
this
item
to
"~",
meaning
"not
applicable".
Structure
Each
line
can
be
made
up
of
up
a
number
of
sections
with
different
properties,
the
sections
being
defined
in
sequence
from
End
A
to
End
B.
Line
Type
273
System
Modelling:
Data
and
Results,
Lines
w
Section Length
The
unstretched
length
of
the
section.
This
is
the
unstressed
length
(i.e.
zero
wall
tension)
at
atmospheric
pressure
inside
and
out.
Length
changes
due
to
external
and
internal
pressure,
and
allowing
for
the
Poisson
ratio
effect,
are
calculated
and
allowed
for
by
OrcaFlex.
If
the
line
type
is
profiled
then
the
section
length
is
determined
by
the
profile
data
and
so
cannot
be
edited
here.
Expansion
Factor
The
expansion
factor
allows
you
to
model
time-varying
changes
in
unstretched
length,
for
example
due
to
thermal
expansion
or
contraction.
A
value
of
'~'
means
that
no
expansion
factor
is
applied
this
is
equivalent
to
a
value
of
1.
Other
positive
values
can
be
used,
in
which
case
the
unstretched
length
remains
constant
throughout
the
simulation.
Alternatively
the
expansion
factor
can
be
a
variable
data
source
which
specifies
a
table
of
expansion
factor
against
simulation
time.
It
specifies
a
multiplicative
factor
which
is
applied
to
the
unstretched
length
when
calculating
axial
strain
which
in
turn
is
used
to
calculate
effective
tension
(see
Line
Theory:
Calculation
Stages).
Note:
Expansion
factor
is
only
used
in
the
calculation
of
strain.
It
has
no
effect
on
mass,
buoyancy,
drag,
added
mass
etc.
Clash Check
Clash
modelling
is
included
when
this
data
item
is
set
to
Yes.
If
it
is
set
to
No
then
the
section
will
be
ignored
for
clashing
purposes.
Notes:
Line
clashing
is
not
modelled
during
statics.
Clash
checking
is
quite
time-consuming,
so
you
should
only
set
this
item
to
Yes
for
those
sections
for
which
you
need
clash
modelling
to
be
included.
See
Line
Clashing.
These
columns
report
the
cumulative
length
and
cumulative
number
of
segments
counted
from
the
first
section.
The
values
are
for
reporting
purposes
only
and
cannot
be
edited.
Profile
Graph
The
profile
graph
plots
the
inner
and
outer
radii
of
the
line
as
they
vary
with
arc
length.
This
is
especially
useful
to
check
that
stress
joint
and
bend
stiffener
data
has
been
correctly
input.
Pre-bend
Pre-bend
is
only
available
when
torsion
is
modelled.
Pre-bend
is
provided
for
modelling
lines
which
are
not
straight
when
unstressed,
e.g.
spool
pieces.
The
pre-bend
is
defined
for
each
section
by
specifying
the
pre-bent
curvature
(in
radians
per
unit
length)
of
the
section.
The
pre-bent
curvature
is
the
curvature
of
the
pipe
in
its
unstressed
state.
For
lines
which
are
straight
when
unstressed
then
pre-bend
should
be
specified
to
be
zero
which
is
the
default
setting.
Pre-bend
can
be
specified
in
both
the
line
local
x
and
y
directions.
However,
to
simplify
data
preparation
and
interpretation
of
results
we
recommend
that
you
arrange
the
line's
local
axes
such
that
the
pre-bend
is
entirely
in
either
the
local
x
or
local
y
direction.
274
w
System
Modelling:
Data
and
Results,
Lines
Note:
When
pre-bend
is
modelled
curvature
and
bend
radius
results
are
reported
relative
to
the
pre-bent
curvature.
Warning: Pre-bend breaks the assumptions of the stress results and fatigue analysis.
Attachments
A
number
of
attachments
may
be
added
to
each
line.
Each
attachment
can
either
be
of
a
specified
Attachment
Type
or
else
be
a
clone
of
a
specified
6D
buoy.
Attachment
Type
Can
be
a
Clump
Type,
a
Drag
Chain
Type,
a
Flex
Joint
Type,
a
Stiffener
Type
or
an
existing
6D
Buoy.
If
you
specify
a
6D
buoy
as
the
attachment
type
then
the
attachment
is
a
clone
of
that
6D
buoy
and
changing
the
properties
of
the
6D
buoy
also
changes
the
properties
of
the
attachment.
The
6D
buoy
from
which
the
attachment
is
cloned
cannot
be
deleted,
without
first
deleting
all
the
attachments
that
are
clones
of
it.
6D
buoy
attachments
are
useful
when
you
want
a
number
of
identical
6D
buoys
attached
to
a
line.
To
attach
20
identical
buoys
to
a
line,
for
example,
first
create
the
first
buoy
separately
from
the
line
and
then
connect
it
to
the
line
by
setting
its
connection
data
item
on
the
buoy
data
form.
This
first
buoy
acts
as
the
master
from
which
all
the
other
attachment
buoys
are
cloned.
Then,
on
the
line
data
form,
specify
19
attachments
and
set
their
attachment
type
to
be
the
first
6D
buoy.
Note:
6D
Buoy
attachments
can
only
be
used
when
the
Line
includes
torsion.
Position
The
x,
y
and
z
coordinates
specify
the
position
of
the
attachment
relative
to
the
line.
The
z
coordinate
specifies
the
arc
length
at
which
the
attachment
is
connected
and
this
arc
length
may
be
measured
relative
to
either
End
A
or
End
B
as
specified
by
the
user.
x For
Clumps,
Drag
Chains,
Flex
Joints
and
Stiffeners
the
x
and
y
coordinates
must
be
zero
and
the
z
coordinate
is
the
arc
length.
These
attachments
are
connected
at
the
node
nearest
to
this
arc
length.
x For
Stiffeners
the
z
coordinate
specifies
the
arc
length
of
the
stiffener
connection
point.
Note:
If
the
attachment
is
a
clump
then
it
is
also
offset
vertically
from
the
node
by
the
offset
distance
specified
in
the
clump
type
data.
Beware
that
the
sign
convention
for
this
offset
varies
depending
on
whether
the
clump
is
net
buoyant
(positive
offset
is
upwards)
or
heavy
(positive
offset
is
downwards).
x For
6D
Buoy
attachments
the
z
coordinate
specifies
the
arc
length
at
which
the
buoy
should
be
connected
to
the
line.
The
buoy
will
be
connected
to
the
nearest
node
to
that
arc
length.
The
buoy
will
be
connected
with
an
offset
(relative
to
that
node's
axes)
that
is
given
by
(x,
y,
0).
See
6D
Buoy
Initial
Position
for
more
details.
Orientation
For
6D
Buoy
attachments
only.
Rotation
1,
Rotation
2
and
Rotation
3
determine
the
Initial
Attitude
of
the
attached
buoy.
Name
For
6D
Buoy
and
Drag
Chain
attachments
only.
This
is
the
name
of
the
attached
object
and
is
used
to
select
results
for
that
object.
Contents
Contents
Method
275
System
Modelling:
Data
and
Results,
Lines
w
This
data
item
allows
the
component
of
inertia
due
to
contents
in
the
line's
axial
direction
to
be
omitted
from
the
analysis.
Typically
the
axial
contents
inertia
would
be
excluded
from
an
analysis
of
a
line
with
free-flooding
contents,
for
example
a
drilling
riser
in
emergency
disconnect
mode.
Contents
Pressure
and
Reference
Z
level
The
contents
pressure
specifies
the
internal
pressure
in
the
line
at
a
specified
fixed
reference
Z
level
(specified
relative
to
global
axes).
The
internal
pressure
at
this
Z
level
is
assumed
to
remain
constant
throughout
the
simulation.
The
internal
pressure
at
other
levels
is
calculated
allowing
for
the
static
pressure
head
due
to
differences
in
Z
level.
For
slug
flow,
the
static
pressure
head
is
calculated
using
the
mean
contents
density
in
the
line.
The
reference
Z
level
can
be
set
to
'~'
and
this
is
taken
to
mean
the
Z
level
of
the
Top
End
of
the
line
in
the
reset
state.
See
Line
Pressure
Effects
for
details
of
contents
pressure
modelling.
Uniform
contents
data
Contents
Density
Each
section
of
the
line
is
assumed
to
be
full
of
contents
of
this
density
and
the
mass
of
the
section
is
increased
accordingly.
All
pressures
in
OrcaFlex
are
gauge
pressures,
not
absolute
pressures.
That
is,
they
are
relative
to
atmospheric
pressure
and
so
can
be
as
low
as
-1
atmosphere
(-101.3
kPa).
Flow
Rate
The
rate
of
flow
of
mass
through
the
line.
If
it
is
non-zero
then
it
is
used
to
calculate
the
centrifugal
and
Coriolis
forces
due
to
flow
of
fluid
in
the
line.
Positive
values
mean
flow
from
End
A
towards
End
B
and
vice
versa.
To
convert
between
mass
flow
rate,
volume
flow
rate
and
flow
velocity
use
the
following
simple
formulae:
Flow
velocity
=
Volume
flow
rate
/
A
s-sectional
area.
Slug
flow
data
The
slug
flow
data
allows
you
to
specify
variation
of
contents
density
along
the
arc
length
of
the
line.
This
pattern
of
contents
can
also
progress
along
the
line
over
time.
The
program
accounts
for
the
resulting
variations
of
mass,
weight
and
centrifugal
and
Coriolis
forces
Flow
velocity
The
velocity
at
which
the
contents
pattern
flows
along
the
line.
This
value
can
be
constant,
or
can
vary
as
simulation
time
varies.
Positive
values
mean
flow
from
End
A
towards
End
B
and
vice
versa.
A
value
of
zero
can
be
used
to
specify
spatial
contents
variation
with
no
temporal
variation.
A
variable
flow
velocity
can
be
used
to
model,
for
example,
the
flow
of
contents
out
of
a
drilling
riser
in
emergency
disconnect
mode.
Note:
There
is
no
need
to
ramp
flow
velocity
at
the
beginning
of
dynamics
in
fact
it
is
better
to
include
the
fluid
flow
in
the
static
calculation
because
this
removes
undesirable
transients
during
the
dynamic
analysis.
Therefore,
if
you
wish
to
model
a
constant
flow
rate,
you
should
set
the
flow
velocity
to
be
this
constant
value.
The
contents
density
for
sections
of
the
line
that
fall
in
between
slugs.
Slug
flow
contents
pattern
The
spatial
variation
of
contents
density,
i.e.
the
contents
pattern,
is
specified
in
a
table.
Each
row
of
the
table
allows
you
to
define
a
number
or
group
of
identical
slugs
specified
by
their
density
and
length
together
with
the
distance
between
slugs.
In
addition
you
specify
a
reference
point,
an
arc
length
which
can
be
relative
to
either
end
of
the
line,
and
the
simulation
time
at
which
the
first
slug
in
the
group
reaches
that
reference
point.
If
the
flow
velocity
is
zero
then
the
previous
definition
is
meaningless.
In
this
case
we
adopt
the
convention
that
the
group
of
slugs
covers
arc
lengths
276
w
System
Modelling:
Data
and
Results,
Lines
(measured
from
End
A)
greater
than
the
reference
point.
For
example,
if
the
flow
velocity
is
zero
and
you
have
a
single
slug
with
length
L
and
reference
point
at
End
A
then
the
slug
will
stretch
between
arc
lengths
0
and
L.
Simple
repeating
patterns
of
slugs
can
easily
be
modelled
using
a
single
row
in
the
table.
For
irregular
patterns
of
slug
you
can
model
each
slug
as
a
single
row
in
the
table.
Range
graphs
of
contents
density
can
be
used
to
confirm
that
your
data
corresponds
to
your
desired
pattern
of
slugs.
Statics
The
line
static
calculation
is
performed
in
2
steps
as
described
in
Statics
of
Lines.
Included
in
Statics
This
switch
allows
you
to
exclude
certain
lines
from
the
statics
calculation.
This
is
mainly
useful
when
building
a
model
and
a
particular
line
is
not
converging.
In
this
situation
you
could
exclude
all
other
lines
from
statics
(this
is
easiest
from
the
All
Objects
Data
Form).
This
would
allow
you
to
experiment
with
different
statics
convergence
parameters
for
the
problematic
line
without
having
to
wait
for
all
the
other
lines
to
converge
each
time
you
tried
a
new
set
of
convergence
parameters.
Note:
Results
are
not
available
for
such
lines
and
dynamics
is
disabled
if
you
have
any
lines
which
are
excluded
from
statics.
Lines
which
are
excluded
from
statics
have
no
influence
on
other
objects
in
the
model.
Note:
It
is
only
possible
to
include
buoys
in
the
static
analysis
(see
Buoy
Degrees
of
Freedom
Included
in
Static
Analysis)
if
either
the
Catenary
method
or
Full
Statics
is
used
for
all
lines
in
the
model.
Include
Friction
Friction
can
be
included
in
the
static
analysis
only
if
the
Step
1
Statics
Method
is
Catenary
or
if
Full
Statics
is
used
for
the
Step
2
Statics
Method.
With
seabed
friction
present
there
is
not,
in
general,
a
unique
static
position
for
the
line,
since
the
position
it
adopts
depends
on
how
it
was
originally
laid
and
its
history
since
then.
In
order
to
define
a
unique
solution,
we
therefore
277
System
Modelling:
Data
and
Results,
Lines
w
need
to
make
some
assumptions
about
how
the
line
was
originally
laid
and
friction
is
then
assumed
to
act
towards
this
position.
If
the
Step
1
Statics
Method
is
Prescribed,
then
this
'originally
laid'
position
is
assumed
to
be
the
position
defined
by
the
Prescribed
track.
Otherwise,
the
'originally
laid'
position
is
defined
by
specifying
the
Lay
Azimuth
and
As
Laid
Tension
values.
Lay
Azimuth
This
data
is
only
used
when
seabed
friction
is
included
in
the
static
analysis
and
the
Step
1
Statics
Method
is
not
Prescribed.
It
then
defines
the
position
in
which
the
line
is
assumed
to
have
been
originally
laid,
and
friction
is
then
assumed
to
act
towards
this
position.
When
Statics
Method
is
not
Prescribed,
it
is
assumed
that:
1. The
line
was
originally
laid,
with
the
specified
As
Laid
Tension,
starting
with
the
Bottom
End
at
its
specified
position
(or
at
the
point
on
the
seabed
directly
below,
if
the
Bottom
End
is
not
on
the
seabed).
2. The
line
was
then
laid
in
the
Lay
Azimuth
direction,
leading
away
from
the
Bottom
End
position
and
with
the
specified
As
Laid
Tension.
3. The
line
was
laid
following
the
profile
of
the
seabed.
4. The
Top
End
was
then
moved
slowly
from
that
original
position
to
its
specified
position.
To
help
set
this
data
item,
there
is
a
button
on
the
form
marked
Set.
This
button
sets
the
Lay
Azimuth
value
to
be
the
direction
from
the
Bottom
End
towards
the
Top
End,
based
on
their
current
positions.
Notes:
Whilst
the
program
will
accept
any
Lay
Azimuth,
we
would
expect
the
statics
convergence
routine
to
have
increasing
difficulty
in
finding
a
solution
as
the
angle
between
the
Lay
Azimuth
direction
and
the
vertical
plane
through
the
line
ends
increases.
For
example,
if
we
have
a
line
top
at
X=0,
Y=0,
and
anchor
at
X=100,
Y=0,
we
would
expect
trouble
for
a
Lay
Direction
of
90.
The Line Setup Wizard also uses the Lay Azimuth direction.
As
Laid
Tension
This
data
specifies
the
effective
tension
with
which
the
line
was
originally
laid.
OrcaFlex
uses
this
to
determine
the
as-laid
node
positions,
which
are
used
as
the
friction
target
positions
towards
which
friction
acts
in
the
static
analysis.
This
data
is
therefore
only
used
if
friction
is
included
in
statics.
If
the
Step
1
Statics
Method
is
set
to
Prescribed
starting
shape,
then
the
statics
friction
target
positions
are
laid
out
along
the
prescribed
shape
with
a
strain
determined
by
the
axial
stiffness
and
this
As
Laid
Effective
Tension
v alue.
If
the
Step
1
Statics
Method
is
not
Prescribed,
then
this
data
is
used
as
described
in
the
Lay
Azimuth
section
above.
Catenary
Convergence
If
the
Catenary
statics
method
is
chosen,
then
an
iterative
catenary
calculation
is
used
to
determine
the
static
position
of
the
line.
This
calculation
is
controlled
by
a
number
of
convergence
parameters
which
can
normally
be
left
at
their
default
values.
However
sometimes
the
calculation
can
fail
to
converge.
If
this
happens,
first
check
your
data
for
errors
and
check
for
the
following
common
causes
of
convergence
failure:
x Does
the
solution
have
a
slack
segment?
This
can
happen
in
lines
that
touch
down
on
the
seabed
almost
at
right
angles
or
in
lines
that
hang
in
a
very
narrow
U
shape.
The
catenary
calculation
cannot
handle
lines
with
slack
segments
try
increasing
the
number
of
segments
in
the
relevant
section
of
the
line.
x For
lines
that
touch
down
on
the
seabed,
is
the
Lay
Azimuth
value
specified
correctly?
It
is
the
azimuth
direction
leading
away
from
End
B
and
it
is
easy
to
get
it
wrong
by
180.
x Is
the
line
buoyant,
either
deliberately
or
by
mistake.
The
catenary
calculation
has
problems
with
floating
lines
you
may
need
to
use
the
Spline
statics
method
instead.
x Does
the
line
have
a
surface-piercing
buoyant
clump
attached?
If
the
clump
is
short
then
the
catenary
calculation
is
more
difficult.
If
the
calculation
still
fails
to
converge,
then
it
is
sometimes
possible
to
obtain
convergence
by
changing
one
or
more
of
the
convergence
parameters,
as
outlined
below.
278
w
System
Modelling:
Data
and
Results,
Lines
Max Iterations
The
maximum
number
of
iterations
that
OrcaFlex
will
make
before
treating
the
calculation
as
having
failed
to
converge.
Increasing
this
value
can
sometimes
help.
Tolerance
The
non-dimensional
accuracy
to
which
the
calculation
is
done,
before
the
calculation
is
treated
as
having
converged.
Increasing
the
tolerance
increases
the
chances
of
convergence
but
reduces
the
accuracy.
Min
Damping
The
minimum
damping
factor
to
be
used
in
the
calculation.
Convergence
can
sometimes
be
achieved
by
increasing
this
parameter
to
a
value
greater
than
1
try
values
in
the
range
1.1
to
2.0.
The
minimum
damping
should
not
be
set
to
less
than
1.
Mag.
of
Std.
Error,
Mag.
of
Std.
Change
These
parameters
control
the
maximum
size
of
the
change,
in
the
estimated
solution,
this
is
allowed
in
a
single
step.
Reducing
these
values
can
sometimes
help,
but
the
calculation
will
then
usually
require
more
iterations.
The
remaining
parameters
should
not
normally
be
changed.
For
further
information
contact
Orcina.
Either
Line
Search
or
Mag.
of
Std.
Error
/
Change.
We
recommend
using
the
default
value,
Line
Search,
but
if
this
fails
then
the
alternative
Mag.
of
Std.
Error
/
Change
may
succeed.
Max
Iterations
The
calculation
is
abandoned
if
convergence
has
not
been
achieved
after
this
number
of
steps.
For
some
difficult
cases
simply
increasing
this
limit
may
be
enough.
Tolerance
This
controls
the
accuracy
of
the
solution.
The
program
accepts
the
line
position
as
a
static
equilibrium
position
if
the
largest
out
of
balance
force
component
on
any
node
is
less
than
Tolerance
*
total
weight
in
air.
When
torsion
is
included
the
static
equilibrium
position
must
also
satisfy
the
condition
that
the
largest
out
of
balance
moment
component
on
any
node
is
less
than
Tolerance
*
total
weight
in
air
*
ODmax
where
ODmax
is
the
maximum
diameter,
contact
diameter,
stress
diameter
or
normal
drag
diameter
over
the
entire
line.
Reducing
the
Tolerance
value
will
give
a
more
accurate
static
equilibrium
position,
but
will
take
more
iterations.
OrcaFlex
may
not
be
able
to
achieve
the
Tolerance
specified
if
it
is
too
small,
since
the
computer
has
limited
numerical
precision.
Delta
This
is
a
perturbation
size,
used
to
calculate
the
Jacobian
matrix
for
the
problem.
Delta
should
always
be
less
than
the
tolerance
specified.
Note:
This
parameter
is
only
used
when
torsion
is
included.
For
some
cases
it
is
necessary
to
control
the
convergence
process
by
damping
down
(i.e.
reducing)
the
step
taken
at
each
stage.
The
program
includes
an
automatic
damping
system
that
chooses
a
suitable
damping
factor
for
each
iteration,
but
the
user
can
set
the
minimum
damping
and
maximum
damping
factors
that
are
used.
Normally
the
default
values
will
suffice
but
for
difficult
cases
the
default
values
can
be
altered.
For
cases
that
appear
to
make
the
convergence
unstable
(e.g.
giving
very
bad
line
positions
on
the
screen)
try
increasing
the
Min
Damping
factor
to
a
value
greater
than
1,
say
values
in
the
range
1
to
10.
You
can
also
try
increasing
the
Max
Damping
factor,
say
to
values
in
the
range
10
to
100.
279
System
Modelling:
Data
and
Results,
Lines
w
Note:
Convergence
will
be
slower
with
larger
damping
values
so
you
should
use
the
smallest
values
that
result
in
statics
converging.
These
parameters
are
only
available
when
the
Mag
of
Std.
Error
/
Change
convergence
control
method
is
selected.
For
some
cases
it
may
be
necessary
to
reduce
one
or
both
of
these
values
from
their
defaults.
Doing
so
is
likely
to
slow
down
the
convergence,
but
it
may
be
necessary
in
order
to
achieve
convergence!
This
sets
the
smoothness
of
the
spline
shape;
generally
order
3
is
reasonable.
If
a
higher
order
is
chosen,
a
smoother
curve
results.
The
order
cannot
exceed
the
number
of
spline
points.
Control
Points
The
line
shape
is
specified
by
a
number
of
Control
Points.
The
first
and
last
control
points
are
automatically
placed
at
the
line
ends
A
and
B
respectively
and
OrcaFlex
generates
a
smooth
curve
between
the
first
and
last
control
points
and
passing
near
to
the
intermediate
control
points.
These
intermediate
control
points
may
be
adjusted
to
'pull'
the
curve
into
the
desired
shape.
The
first
and
last
control
points
correspond
to
line
ends
A
and
B
respectively.
The
line
is
stretched
to
the
specified
As
Laid
Tension
and
laid
out
following
the
spline
curve
starting
at
End
A
and
working
towards
End
B.
For
a
line
with
a
Free
end
the
line
is
laid
out
along
the
curve
until
End
B
is
reached.
If
the
length
around
the
curve
is
not
equal
to
the
stretched
line
length
then
the
end
will
either
fall
short
of
the
end
Estimated
Position
or
lie
beyond
it
(along
the
continuation
of
the
curve
along
its
'final'
direction).
For
a
line
with
a
Fixed
end,
Anchor
or
attached
to
some
object
the
curve
is
automatically
expanded
or
contracted
to
allow
the
end
to
lie
at
the
specified
end
position.
An
error
is
reported
if
this
process
fails.
The length of the circular arc (or straight line if Section Turn = 0).
280
w
System
Modelling:
Data
and
Results,
Lines
Section Turn
The
amount
by
which
the
track
azimuth
increases
over
this
section.
A
positive
value
denotes
a
turn
to
the
left,
when
viewed
from
above,
and
a
negative
value
denotes
a
turn
to
the
right.
A
value
of
zero
can
be
entered
to
specify
a
straight
track
section.
Section
Radius
absolute
value
of
section
turn,
in
degrees.
For
straight
sections
(i.e.
if
Section
Turn
=
0)
the
radius
is
reported
as
Infinity.
Notes:
This
is
a
reported
value,
not
an
editable
data
item,
and
is
hence
always
shown
in
grey.
With
a
profiled
or
sloping
seabed
the
actual
track
on
the
seabed
will
have
a
slightly
different
radius
of
curvature
see
Laying
out
the
Line.
Section X and Y
The
global
X
and
Y
coordinates
of
the
end
of
this
track
section.
You
can
either
edit
these
X
and
Y
coordinates
explicitly,
on
the
line
data
form,
or
else
by
dragging
the
end
point
on
a
3D
view.
If
you
edit
X
or
Y
then
OrcaFlex
fits
a
circular
arc
(starting
at
the
previous
section's
end
point)
through
the
new
end
point
and
the
Section
Length
and
Section
Turn
are
automatically
updated
to
match
this
new
arc.
Section
Z
The
global
Z
coordinate
of
the
section
end
point
on
the
seabed.
This
is
a
reported
value,
not
an
editable
data
item,
and
is
hence
always
shown
in
grey.
Section
Arc
Length
The
total
arc
length
to
the
end
of
the
section.
This
is
a
reported
value,
not
an
editable
data
item,
and
is
hence
always
shown
in
grey.
Section
Azimuth
The
azimuth
direction
at
the
end
of
the
section.
This
is
a
reported
value,
not
an
editable
data
item,
and
is
hence
always
shown
in
grey.
Track
Pen
This
controls
how
the
track
is
drawn.
You
can
switch
between
the
options
of
drawing
the
track
in
the
chosen
pen
and
not
drawing
it
at
all.
Laying
out
the
Line
The
track
data
defines
a
sequence
of
straight
lines
and
circular
arcs
in
the
horizontal
plane,
which
are
then
projected
vertically
onto
the
seabed
to
define
the
track
itself.
The
program
then
lays
the
line
out
along
the
track,
allowing
for
any
As
Laid
Tension
specified
by
the
user
on
the
line
data
form.
Because
the
line
is
modelled
as
a
series
of
straight
segments,
when
the
line
is
laid
out
along
a
curved
track
it
will
repeatedly
'cut
corners'
and
so
the
length
of
line
laid
along
a
given
curved
track
section
will
be
slightly
shorter
than
the
length
of
that
section.
The
size
of
this
discrepancy
reduces
as
more
segments
are
used.
If
End
A
is
above
the
seabed
then
the
height
above
the
seabed
varies
linearly
between
End
A
and
the
first
track
section
point,
reaching
the
seabed
at
the
end
of
the
first
track
section.
If
the
end
of
the
last
track
section
is
reached
before
all
the
line
has
been
laid
out,
then
the
rest
of
the
line
is
laid
out
in
a
straight
line
in
the
direction
of
the
end
o f
the
track.
Sloping
and
profiled
seabeds
The
track
on
the
seabed
is
obtained
by
projecting
the
specified
circular
arcs
or
straight
sections
vertically
down
onto
the
seabed.
With
a
horizontal
seabed
this
vertical
projection
has
no
effect
on
the
shape
of
the
track.
But
with
a
sloping
seabed
the
vertical
projection
does
not
preserve
distances
and
this
causes
some
effects
that
users
should
note:
x The
section
lengths
and
arc
lengths
that
appear
in
the
prescribed
starting
shape
data
table
are
lengths
in
the
horizontal
plane,
i.e.
before
projection
down
onto
the
seabed.
With
a
sloping
seabed
the
true
section
and
arc
lengths
on
the
seabed
will
differ,
the
difference
depending
on
the
slope
of
the
seabed.
The
actual
arc
lengths
can
be
obtained
by
running
the
static
analysis
and
looking
at
the
Full
Results
table
for
the
line.
281
System
Modelling:
Data
and
Results,
Lines
w
x The
section
radius
reported
in
the
prescribed
starting
shape
data
table
is
that
of
the
circular
arc
in
the
horizontal
plane,
i.e.
before
projection
down
onto
the
seabed.
When
the
circular
arc
is
projected
down
onto
a
sloping
seabed
the
resulting
track
section
is
slightly
elliptical
rather
than
circular,
so
again
the
actual
radius
of
curvature
will
differ.
The
actual
radii
of
curvature
can
b e
obtained
by
running
the
static
analysis
and
looking
at
the
Full
Results
table
for
the
line.
The
User
Specified
Starting
Shape
statics
method
places
each
node
at
the
position
specified
in
this
table.
If
torsion
is
modelled
then
node
orientations
can
also
be
specified.
A
number
of
authors
have
proposed
formulae
to
model
how
the
drag
force
on
a
line
varies
with
the
incidence
angle.
OrcaFlex
offers
the
choice
of
the
Standard,
Pode
or
Eames
formulations.
All
of
these
use
drag
coefficients
that
are
specified
on
the
Line
Types
data
form.
For
details
of
the
formulations
see
the
Line
Theory
section.
Line
Wake
Interference
To
include
wake
interference
modelling
you
must
first
define
one
or
more
wake
interference
models.
See
the
Wake
Models
button
on
the
Line
data
form.
You
must
then
specify
which
line
sections
to
include
in
wake
modelling,
by
either
being
included
as
a
wake
generator
(an
'upstream'
section)
or
as
a
section
that
reacts
to
wake
(a
'downstream'
section),
or
both
(a
downstream
section
that
reacts
to
wake
generated
further
upstream,
but
also
generates
its
own
wake
that
further
downstream
sections
might
react
to).
For
details
see
the
Line
Wake
Interference
Data
on
the
Drag
&
Wake
page
of
the
Line
Data
Form.
Note:
Wake
modelling
is
only
included
in
the
static
analysis
if
the
Statics
Method
is
set
to
Whole
System
Statics.
It
is
not
included
if
the
Separate
Buoy
and
Line
Statics
method
is
specified.
This
is
because
wake
effects
require
that
the
static
positions
of
the
lines
involved
are
calculated
together,
not
separately.
The
wake
models
are
steady
state
models
of
wake
effects.
Also
OrcaFlex
does
not
model
the
effect
that
wake
takes
time
to
convect
downstream.
OrcaFlex
therefore
only
attempts
to
model
the
steady
wake
effects.
Wake
is
generated
when
there
is
fluid
velocity
relative
to
the
upstream
cylinder,
so
both
fluid
motion
and
upstream
cylinder
motion
can
contribute
to
the
wake.
Therefore
the
velocity
OrcaFlex
uses
as
the
input
to
the
wake
model
is
the
steady
relative
velocity
Vs
given
by
Vs
=
[undisturbed
current
velocity
vector
at
upstream
cylinder
centre]
-
[any
steady
starting
velocity
specified
for
the
model]
The
wake
effects
therefore
do
not
include
any
effects
of
wave
motion,
or
of
any
changes
in
upstream
cylinder
velocity
during
a
simulation.
Note:
OrcaFlex
does
not
model
combined
wake
effects.
If
a
given
'downstream'
node
is
in
the
modelled
wake
of
more
than
one
'upstream'
node,
then
OrcaFlex
chooses
to
apply
the
wake
effects
of
the
upstream
node
that
gives
the
strongest
wake
effect
at
that
downstream
position
when
the
wake
effects
from
other
upstream
nodes
(which
give
weaker
wake
effects
at
that
point)
are
ignored.
So
if
you
are
modelling
riser
arrays,
for
example,
then
the
wake
effects
at
any
given
point
are
modelled
as
if
they
came
from
the
upstream
wake-generating
node
that
gives
largest
wake
effect
in
isolation,
i.e.
with
the
other
upstream
nodes
were
absent.
The
strength
of
a
given
node's
wake
decays
with
distance
downstream
and
also
with
distance
in
the
transverse
direction,
as
specified
by
the
wake
model.
But
in
addition
OrcaFlex
also
makes
the
wake
strength
decay
in
the
axial
direction
of
the
upstream
line,
so
that
the
strongest
wake
selected
comes
from
the
upstream
node
that
is
axially
closest
to
the
downstream
node.
More
details
are
given
in
the
paper
by
Wu
et
al.
282
w
System
Modelling:
Data
and
Results,
Lines
This
can
be
set
to
one
of
the
defined
wake
models,
in
which
case
OrcaFlex
will
model
wake
generated
by
that
line
section
acting
as
an
'upstream'
line.
Or
it
can
be
set
to
None,
in
which
case
OrcaFlex
will
not
model
wake
generated
by
that
line
section.
Three
types
of
wake
model
are
available.
x The
Huse
model
is
an
analytic
wake
model
that
models
the
velocity
reduction
and
hence
drag
reduction
on
the
downstream
object,
but
does
not
model
the
wake
lift
effect.
x The
Blevins
model
is
an
analytic
model
that
models
the
both
the
drag
reduction
and
the
wake
lift
force
that
tends
to
draw
the
downstream
object
into
the
centre
of
the
wake.
x The
User
Specified
model
allows
you
to
model
both
the
drag
reduction
and
wake
lift
effect
using
your
own
data,
by
specifying
the
drag
and
wake
lift
coefficients
as
a
function
of
the
position
of
the
downstream
object
relative
to
the
wake
of
the
upstream
object.
See
the
Wake
Models
section
for
details.
Reacts
to
Wake
If
Reacts
to
Wake
is
turned
on
then
each
node
in
the
section
will
act
as
a
'downstream'
cylinder
in
the
wake
modelling.
Those
nodes
will
then
be
subject
to
the
strongest
wake
effects
(i.e.
strongest
at
that
downstream
position)
from
any
upstream
node
that
generate
modelled
wake.
Sections
with
Reacts
to
Wake
turned
off
will
ignore
any
modelled
wake
generated
by
upstream
sections.
So
to
summarise,
the
wake
modelling
will
include
the
strongest
wake
effects
on
downstream
sections
that
have
Reacts
to
Wake
turned
on,
due
to
modelled
wake
from
upstream
nodes
with
Wake
Generated
set
to
a
wake
model.
Note:
A
line
section
is
allowed
to
be
both
a
'downstream'
section,
i.e.
Reacts
to
Wake
is
turned
on,
and
at
the
same
time
also
act
as
an
'upstream'
section,
i.e.
generate
modelled
wake
that
further
downstream
line
sections
can
react
to.
However
the
wake
effects
of
such
a
section
will
be
based
on
the
undisturbed
steady
relative
flow
velocity,
so
the
wake
effects
of
this
wake-generating
section
will
not
take
into
account
any
velocity
reduction
due
to
it
in
turn
being
in
the
wake
of
another
wake-generating
section
further
upstream.
Wake
Models
The
Wake
Model
Data
form
enables
you
to
define
one
or
more
models
of
wake
interference.
The
wake
interference
model
specified
determines
how
the
flow
velocity,
wake
drag
reduction
and
wake
lift
force
on
a
downstream
cylinder
varies
as
a
function
of
the
(x,y)
position
of
the
downstream
cylinder
centre
relative
to
the
wake
frame
of
reference
of
the
upstream
cylinder.
You
can
define
more
than
one
wake
model,
for
example
if
you
want
to
use
different
wake
models
to
model
the
wake
generation
by
different
lines.
A
wake
model
that
isn't
used
by
any
line
in
the
model
will
be
ignored,
so
you
can
define
wake
models
and
then
decide
later
which
(if
any)
to
use
to
model
wake
generation.
Wake
frame
of
reference
The
wake
modelling
is
done
relative
to
a
wake
frame
of
reference
that
is
based
on
the
steady
relative
fluid
velocity
vector
Vs
at
the
upstream
cylinder,
and
is
given
by:
x The
wake
frame
origin
is
at
the
upstream
cylinder
centre.
x The
wake
frame
x-axis
is
in
the
direction
of
the
steady
relative
fluid
velocity
vector
Vs.
283
System
Modelling:
Data
and
Results,
Lines
w
x The
wake
frame
z-direction
is
the
direction
obtained
by
projecting
the
upstream
cylinder
axial
direction
normal
to
Vs.
It
is
therefore
the
direction
normal
to
Vs
and
in
the
plane
formed
by
the
Vs
and
the
cylinder
axial
direction.
The
+ve
wake
z-direction
is
towards
end
B
of
the
upstream
line.
x The
wake
frame
y-axis
is
the
direction
that
completes
the
orthogonal
right-hand
triad
of
wake
axes
x,y,z.
It
is
therefore
normal
to
the
plane
formed
by
Vs
and
the
cylinder
axial
direction.
The
wake
model
theory
below
uses
the
following
key
variables.
Upper
case
subscript
'D'
denotes
'drag',
lower
case
subscripts
'u'
and
'd'
denote
'upstream'
and
'downstream',
and
subscript
'0'
denotes
'undisturbed',
i.e.
ignoring
any
wake
effects.
Vd(x,y)
is
the
disturbed
fluid
velocity
vector
at
downstream
position
(x,y)
relative
to
the
upstream
cylinder
wake,
allowing
for
wake
effects.
Vd0(x,y)
is
the
undisturbed
fluid
velocity
vector
at
position
(x,y).
Vu0
is
the
undisturbed
fluid
velocity
at
the
upstream
cylinder
centre.
Du,
Dd
and
CDu0,
CDd0
are
the
normal
drag
diameter
and
undisturbed
drag
coefficient
of
the
upstream
and
downstream
cylinders,
respectively,
as
specified
on
the
line
type
data
form.
Note
that
the
wake
modelling
does
not
allow
for
any
non-isotropic
aspects
of
the
drag
coefficients.
If
different
drag
coefficients
have
been
specified
for
the
line
x-
and
y-directions
then
the
wake
modelling
uses
the
mean
of
the
two
values.
Wake
Model
Data
Each
wake
model
is
given
a
user-specified
Name.
And
each
model
can
be
one
of
three
types:
Huse
model,
Blevins
model
or
User-Specified
model,
as
described
below.
Huse
Model
This
is
an
analytic
model
proposed
by
Huse
(1993).
It
models
the
wake
velocity
reduction,
and
hence
drag
reduction,
but
does
not
give
any
wake
lift
force.
In
the
Huse
model
the
wake
fluid
flow
velocity
Vd(x,y)
at
a
given
position
(x,y)
in
the
wake
is
given
by:
Vd(x,y)
=
Vd0(x,y)
-
k2Vu0[CduDu/xs]exp[-k3(y/b)2]
where
xs
=
x
+
4Du/Cdu
b
=
k1[CduDuxs]
and
the
other
terms
are
defined
above.
k1,
k2
and
k3
are
user-editable
non-dimensional
model
parameters.
They
should
normally
be
left
as
the
default
values,
since
these
give
the
original
Huse
model.
(Note
that
the
parameter
k 3
is
mis-printed
in
Huse,
1993
as
0.639
and
was
corrected
in
a
later
paper
to
0.693.)
Changing
these
model
parameters
from
their
default
values
will
give
a
variant
of
the
Huse
model.
Blevins
model
The
Blevins
model
is
an
analytic
model
that
models
velocity
and
drag
reduction,
and
also
models
the
wake
lift
force
that
tends
to
draw
the
downstream
object
into
the
centre
of
the
wake.
See
the
Appendix
of
Blevins
OMAE
2005
paper
for
the
theory
of
the
model.
The
model
has
3
non-dimensional
model
parameters
a1,
a2,
a3
that
are
user-editable.
They
should
normally
be
left
as
the
default
values,
since
these
are
the
values
given
by
Blevins.
Changing
these
model
parameters
from
their
default
values
will
give
a
variant
of
the
Blevins
model.
User
Specified
model
This
option
allows
you
to
define
a
model
(of
both
wake
drag
reduction
and
wake
lift
effect)
by
specifying
drag
and
lift
coefficient
factors
as
a
function
of
the
position
of
the
downstream
object
relative
to
the
wake
of
the
upstream
object.
The
wake
effects
are
specified
by
giving
a
table
of
wake
drag
and
lift
coefficient
factors
for
the
downstream
cylinder,
as
a
function
of
the
downstream
cylinder
position
relative
to
the
upstream
cylinder
wake,
as
follows.
See
above
for
notation.
x The
Position
columns
of
the
table
define,
in
non-dimensional
form,
a
number
of
downstream
cylinder
centre
positions
relative
to
the
upstream
cylinder
wake
frame
of
reference.
This
is
done
by
specifying
non-
284
w
System
Modelling:
Data
and
Results,
Lines
dimensionalised
distances
L/Du
(downstream)
and
T/Du
(transverse)
from
the
upstream
cylinder
centre
to
the
downstream
cylinder
centre,
where
Du
is
the
normal
drag
diameter
of
the
upstream
cylinder.
x The
Coefficient
Factor
columns
of
the
table
define
the
wake
effects
at
the
given
(L/D u,
T/Du)
positions,
by
specifying
drag
and
lift
coefficient
factors.
Note
that
these
data
are
scaling
factors,
not
the
drag
and
lift
coefficients
themselves.
The
drag
factors
are
non-negative
scaling
factors
that
are
applied
to
the
reference
drag
coefficient
CDd0
that
is
specified
on
the
line
type
data
form.
The
lift
coefficient
factors
are
signed
scaling
factors
that
are
applied
to
the
Reference
Wake
Lift
Coefficient
CLd0,
which
is
specified
on
the
wake
models
data
form.
A
+ve
lift
coefficient
factor
means
a
lift
force
in
the
+ve
wake
frame
y -direction,
so
the
lift
coefficient
factor
at
a
given
T/Du
position
will
normally
have
the
opposite
sign
to
the
T/Du
value,
since
wake
lift
effects
are
normally
towards
the
centre
line
of
the
wake.
Wake
drag
effects
are
normally
symmetric,
and
wake
lift
effects
anti-symmetric,
either
side
of
the
wake
centre
line.
So
to
avoid
the
need
to
specify
in
the
table
both
+ve
and
-ve
values
of
T/Du
you
can
tell
OrcaFlex
to
Reflect
Data.
In
this
case
you
must
only
specify
table
rows
for
one
half
of
the
wake
plane,
i.e.
either
for
T/D u>=
0
only,
or
for
T/Du<=
0
only.
For
a
wake
frame
position
(x,y)
that
is
on
the
other
side
of
the
wake
centre
line
OrcaFlex
will
then
automatically
use
the
drag
and
lift
coefficient
factors
defined
for
the
symmetric
position
(x,-y),
but
with
the
lift
coefficient
factor
negated.
OrcaFlex
uses
linear
triangular
interpolation
to
obtain
the
drag
and
lift
coefficient
factors
to
use
for
wake
frame
positions
between
those
specified
in
the
table.
Results
Log
Results
This
option
is
checked
by
default
and
this
means
that
simulation
results
at
all
points
on
the
Line
are
available.
If
this
option
is
unchecked
then
no
simulation
results
are
available
for
this
Line.
OrcaFlex
stores
simulation
results
in
an
efficient
way,
only
logging
a
minimal
set
of
variables
to
the
simulation
file.
Other
results
variables
which
have
not
been
logged
are
then
derived
when
the
results
are
requested.
Usually
this
means
that
simulation
files
are
a
reasonable
size
and
we
recommend
that
this
value
is
checked.
Should
you
need
to
reduce
the
size
of
simulation
files
then
this
option
can
be
unchecked
for
those
lines
for
which
you
do
not
need
results.
Arc
length
axis,
Arc
length
axis
inverted,
Value
axis
inverted
These
data
items
allow
you
customise
the
way
range
graphs
are
displayed.
The
Arc
length
axis
setting
allows
you
to
control
whether
the
arc
length
axis
is
horizontal
or
vertical.
The
latter
option
would
typically
be
used
for
vertical
risers.
Normally
the
axes
on
an
OrcaFlex
graph
display
increasing
values
to
the
right
(for
a
horizontal
axis)
or
upwards
(for
a
vertical
axis).
The
axis
inverted
options
allow
you
to
reverse
the
axes.
Again
this
would
typically
be
used
for
vertical
risers
to
arrange
that
up
and
down
on
the
arc
length
axis
of
the
graph
matched
up
and
down
in
the
physical
system
being
modelled.
Since
changes
to
these
settings
are
usually
motivated
by
the
physical
layout
of
the
line
in
question,
each
line
in
an
OrcaFlex
model
has
its
own
copies
of
these
settings.
These
data
items
can
also
be
set
on
the
results
form.
Drawing
Nodes
You
can
define
the
colour,
line
style
and
thickness
of
the
pens
used
for
drawing
the
nodes
and
sections
of
the
line.
See
How
Objects
Are
Drawn.
You
can
also
choose
to
draw
nodes
as
circular
discs
with
diameter
equal
to
the
contact
diameter.
Segments
There
is
a
choice
for
which
pen
is
used
to
draw
the
segments.
You
may
either
specify
the
pen
explicitly
on
the
Line
Data
form,
in
which
case
it
will
be
used
for
all
segments
of
that
line.
This
allows
you
to
use
different
pens
to
distinguish
between
different
lines.
Alternatively,
you
can
choose
to
have
the
segments
drawn
using
the
appropriate
Line
Type
Pen
defined
on
the
Line
Types
form.
This
allows
you
to
use
different
pens
to
distinguish
sections
of
different
line
types.
285
System
Modelling:
Data
and
Results,
Lines
w
Node axes
Node
axis
directions
(x,
y,
z)
can
be
given
individual
colours.
This
helps
distinguish
between
x
and
y
directions
thus
making
component
results
easier
to
interpret.
The
node
axes
directions
are
drawn
optionally
and
can
be
controlled
by
the
Draw
Node
Axes
preference
or
by
pressing
CTRL+ALT+Y.
Contact
You
can
define
a
contact
pen
which
is
used
when
drawing
nodes
and
segments
which
are
in
contact
with
the
seabed,
elastic
solids
and
other
lines.
Should
you
wish
you
can
choose
to
disable
the
contact
drawing.
Prescribed
Statics
Method
(Track)
For
Lines
with
Prescribed
Statics
Method
you
can
control
how
the
track
is
drawn.
You
can
switch
between
the
options
of
drawing
the
track
in
the
chosen
pen
and
not
drawing
it
at
all.
Spline
Starting
Shape
For
the
Spline
Starting
Shape
you
can
switch
between
the
options
of
drawing
the
unscaled
spline
in
the
chosen
pen
and
not
drawing
it
at
all.
VIV
Drawing
The
VIV
Drawing
page
is
visible
when
a
time
domain
VIV
model
is
used.
For
details
see
the
VIV
Drawing
topic.
Properties
Report
The
Line
properties
report
is
available
from
the
popup-menu
on
the
data
form.
It
reports
the
following:
Total
length
The
force
due
to
gravity
of
the
entire
line.
The
contents
are
included
but
the
weight
of
any
attachments
is
excluded.
Total
displacement
The
weight
of
water
displaced
by
the
entire
line's
volume.
The
displacement
of
any
attachments
is
excluded.
The
reported
value
uses
the
water
density
at
the
sea
surface.
Total
weight
in
water
Full
Statics
force
accuracy
is
only
reported
if
the
line
uses
the
Full
Statics
method.
Full
Statics
moment
accuracy
is
only
reported
if
the
line
uses
the
Full
Statics
method
and
torsion
is
included.
The
Full
Statics
method
finds
an
equilibrium
configuration
that
is
a
set
of
node
positions
for
which
the
resultant
force
and
moment
on
each
node
is
zero.
We
refer
to
the
resultant
force
and
moment
as
the
out
of
balance
load.
Because
computers
have
limited
numerical
precision
the
static
analysis
cannot
always
find
a
configuration
where
the
out
of
balance
load
is
exactly
zero.
OrcaFlex
accepts
a
position
as
a
static
equilibrium
position
if
the
largest
out
of
balance
load
component
is
less
than
the
statics
accuracy.
The
Full
Statics
force
accuracy
equals
Tolerance
*
line
typical
force
and
the
Full
Statics
moment
accuracy
equals
Tolerance
*
line
typical
moment.
The
line
typical
force
is
defined
to
be
the
total
weight
in
air.
The
line
typical
moment
is
defined
to
be
total
weight
in
air
*
total
length.
Reducing
the
Tolerance
value
will
give
a
more
accurate
static
equilibrium
position,
but
will
take
more
iterations.
OrcaFlex
may
not
be
able
to
achieve
the
Tolerance
specified
if
it
is
too
small,
since
the
computer
has
limited
numerical
precision.
6.8.2 Line
Types
Data
The
Line
Types
form
defines
the
properties
of
a
number
of
named
line
types,
which
can
then
be
used
to
specify
the
structure
of
the
Lines
used
in
the
model.
286
w
System
Modelling:
Data
and
Results,
Lines
The
line
types
form
must
include
all
the
line
types
referred
to
on
all
of
the
Lines
forms,
but
it
can
also
include
other
line
types
that
are
not
currently
in
use
in
the
model.
This
allows
you
to
build
up
a
library
of
standard
line
types
which
can
then
be
easily
used
when
building
Lines.
There
is
not
enough
room
on
the
screen
to
show
all
the
properties
of
all
the
line
types,
so
OrcaFlex
offers
different
view
modes:
x Individual
mode
shows
one
line
type
at
a
time,
but
shows
you
all
its
properties.
x All
mode
shows
all
the
line
types,
but
different
types
of
properties
are
shown
in
different
tables.
x Code
Checks
mode
shows
data
used
for
post-processing
code
checks.
x External
Function
Parameters
mode
shows
the
data
used
by
any
external
functions
referenced
by
the
Line
Type.
The
Line
Type
Wizard
is
available
to
help
set
up
line
type
data
to
represent
commonly
used
structures
such
as
chains,
ropes
etc.
Line
Type
Name
Used
to
refer
to
the
Line
Type.
Category
Can
be
either:
x Homogeneous
Pipe:
This
option
is
appropriate
for
a
pipe
constructed
from
a
single
homogeneous
material,
for
example
a
metal
riser,
or
when
modelling
stress
joints
and
bend
stiffeners.
The
pipe's
structural
properties
are
defined
by
specifying
Young's
modulus,
material
density
and
pipe
diameters.
When
modelling
stress
joints
and
bend
stiffeners
the
outer
diameter
can
be
specified
as
varying
with
arc
length.
x General:
This
option
is
used
in
all
other
situations.
The
axial,
bending
and
torsional
stiffnesses
are
directly
input
instead
of
being
calculated
from
E.
Similarly
the
mass
is
specified
as
mass
per
unit
length
as
opposed
to
being
calculated
from
a
material
density.
This
approach
allows
analysis
of
flexible
risers,
umbilicals,
hoses,
mooring
chains,
ropes,
wires,
bundles,
seismic
arrays,
power
cables,
nets
etc.
For
homogeneous
pipes
the
outer
diameter
can
vary
with
arc
length.
To
do
this
you
first
specify
the
profile
in
a
Line
Type
Outer
Diameter
variable
data
source
which
is
then
referenced
by
the
outer
diameter
data
of
the
line
type.
This
feature
is
used
when
modelling
stress
joints
and
bend
stiffeners.
Arc
length
is
defined
relative
to
the
start
of
the
line
section
which
uses
this
line
type
and
increases
from
End
A
towards
End
B.
CG
Offset
The
x
and
y
coordinates
of
the
centre
of
gravity
(CG)
relative
to
the
centreline.
These
data
items
are
only
used
when
torsion
is
being
modelled.
Note
that
if
the
line
has
contents
then
the
contents
CG
is
assumed
to
be
at
the
centreline
and
is
not
affected
by
this
CG
Offset.
Bulk
Modulus
Specifies
the
compressibility
of
the
line
type.
If
the
line
type
is
not
significantly
compressible,
then
the
Bulk
Modulus
can
be
set
to
Infinity,
which
means
incompressible.
See
Buoyancy
Variation.
287
System
Modelling:
Data
and
Results,
Lines
w
The
thickness
specifies
the
physical
dimension
of
the
coating
or
lining.
For
a
coating
the
buoyancy
diameter,
contact
diameter
and
drag
diameters
are
all
increased
by
twice
the
coating
thickness.
Similarly
the
pipe's
inner
diameter
is
reduced
by
twice
the
lining
thickness
which
has
the
effect
of
reducing
the
contents
mass
and
weight.
The
material
density
is
used,
together
with
the
thickness,
to
calculate
the
additional
mass
and
weight
of
the
coating
or
lining.
Multiple
layers
The
data
on
the
Line
Type
data
form
only
allow
single
coating
or
lining
layers
to
be
specified.
It
is,
however,
also
possible
to
specify
multiple
layers
of
coatings
or
linings.
To
do
this
you
define
Coatings
or
Linings
variable
data
sources
which
are
then
referenced
by
the
thickness
data
on
the
Line
Type
data
form.
These
data
sources
specify
a
list
of
layers
defined
by
thickness
and
material
density.
The
layers
are
listed
in
the
order
of
application.
In
other
words
the
first
layer
is
immediately
adjacent
to
the
pipe,
the
second
layer
is
next
to
the
first
layer,
and
so
on.
Limits
Data
Limit
Compression
The
program
has
two
modes
for
handling
slack
segments,
i.e.
when
the
distance
between
two
adjacent
nodes
becomes
less
than
the
original
unstretched
segment
length:
x No
means
that
the
segment
is
treated
as
a
strut
which
can
support
unlimited
compression.
This
is
the
preferred
model
except
where
bend
stiffness
is
insignificant.
x Yes
means
that
the
segment
is
treated
as
an
elastic
Euler
strut
the
compression
is
limited
to
the
segment
Euler
load.
This
is
a
better
model
for
cases
where
the
bend
stiffness
is
insignificant,
such
as
for
chains
and
soft
ropes.
2EI/L02
where
EI
is
the
bending
stiffness
of
the
pipe
and
L 0
is
the
unstretched
length
of
the
segment.
In
all
cases,
whenever
a
segment
has
been
compressed
to
or
beyond
the
segment
Euler
load,
then
a
warning
of
this
is
given
on
the
results
form
and
in
the
statistics
table.
For
items
such
as
mooring
chain,
the
bending
stiffness
is
zero,
and
the
segment
Euler
load
is
also
zero.
In
this
case
"Limit
Compression"
should
be
set
to
"Yes"
this
correctly
models
a
chain
or
very
flexible
rope,
which
cannot
support
any
compression.
The
segment
Euler
load
warning
is
then
simply
a
warning
that
the
line
has
gone
slack.
For
a
line
with
non-zero
bend
stiffness
the
Euler
load
warning
is
effectively
a
warning
that
the
segments
at
that
point
are
too
long
to
accurately
model
the
bending
that
is
occurring.
Effectively,
bending
is
occurring
at
a
scale
that
is
less
than
the
segment
length,
so
shorter
segments
are
needed
to
model
it
accurately.
Using
shorter
segments
in
that
area
will
give
a
larger
segment
Euler
load,
and
to
obtain
an
accurate
solution
you
should,
ideally,
use
sufficiently
short
segments
that
the
resulting
segment
Euler
load
is
not
reached.
See
Line
Compression
and
Modelling
Compression
in
Flexibles
for
details.
288
w
System
Modelling:
Data
and
Results,
Lines
Allowable
Tension
The
maximum
permitted
tension
for
this
type
of
line.
This
value
is
used
to
draw
a
limit
curve
on
Tension
Range
Graphs
and
to
calculate
the
Normalised
Tension.
It
does
not
limit
the
tension
achieved
in
the
line.
If
no
limit
curve
is
wanted
then
you
may
input
"~".
Minimum
Bend
Radii
(MBR)
You
can
specify
the
minimum
permitted
radii
of
curvature
for
bending
about
the
x
and
y-directions.
These
values
are
optional
they
are
only
used
to
draw
"allowable"
curves
on
range
graphs
and
in
the
calculation
of
Normalised
Curvature
results.
They
do
not
limit
the
bend
radius
of
the
line.
If
you
do
not
want
these
curves
then
set
the
x-radius
to
"~"
(meaning
"not
applicable")
and
the
y-value
to
"~"
(meaning
"same
as
x-value").
Often
the
radii
for
the
x
and
y-directions
are
equal
and
this
can
be
specified
by
setting
the
y-radius
to
"~"
which
means
"same
as
x-radius".
The
specified
values
are
used
to
draw
"allowable
curvature"
curves
on
the
x
and
y -Curvature
range
graphs,
and
also
(if
the
x
and
y-minimum
radii
are
equal)
on
the
Curvature
range
graph.
In
addition,
they
are
used
(together
with
the
specified
bend
stiffness)
to
derive
"allowable
bend
moment"
curves
which
are
drawn
on
the
x
and
y-Bend
Moment
range
graphs,
and
also
(if
the
x
and
y-values
are
equal)
on
the
Bend
Moment
range
graph.
The
MBR
is
also
used
to
calculate
Normalised
Curvature.
Notes:
MBR
can
be
specified
as
a
variable
data
item
defined
as
a
table
relating
MBR
to
tension
either
wall
tension
or
effective
tension
can
be
used.
A
typical
example
of
this
would
be
a
steel
core
umbilical.
A
variable
MBR
is
used
solely
in
the
calculation
of
Normalised
Curvature.
The
"allowable"
curve
may
not
be
visible
on
the
range
graph,
since
it
may
be
outside
the
range
covered
by
the
graph.
To
see
the
"allowable"
curve
in
this
case
you
will
need
to
modify
the
graph
to
increase
the
range
of
values
covered.
Structure
Data
Young's
Modulus
(homogeneous
pipe
only)
The
Young's
modulus
of
the
material
which
can
be
constant
or
variable.
x A
constant
value
results
in
linear
material
properties.
x A
variable
data
item
specifies
a
non-linear
stress-strain
relationship
which
results
in
a
bending
stiffness
with
non-linear
elastic
behaviour.
Note
however
that
the
axial
and
torsional
stiffnesses
are
still
assumed
to
be
linear.
For
homogeneous
pipes
the
Young's
modulus
determines
the
axial,
bending
and
torsional
stiffnesses.
These
stiffness
data
items
are
reported
on
the
data
form,
although
they
cannot
be
edited.
Bend
Stiffness
The
bend
stiffness
is
the
slope
of
the
bend
moment-curvature
curve.
You
can
specify
separate
values
for
bending
about
the
x
and
y-directions,
but
often
these
are
equal.
This
can
be
achieved
by
setting
the
y-bend
stiffness
to
'~'
which
means
'same
as
x-bend
stiffness'.
The
bend
stiffness
specified
may
be
zero,
for
example
for
chains.
It
can
also
be
very
large
values,
for
example
for
steel
pipes,
but
this
will
often
result
in
short
natural
periods
in
the
model
and
hence
require
short
simulation
time
steps.
See
Inner
and
Outer
Time
Steps.
You
can
specify
the
bend
stiffness
to
be
linear,
elastic
non-linear,
hysteretic
non-linear
or
externally
calculated,
as
follows.
See
Calculating
Bend
Moments
for
further
details
of
the
bending
model
used.
Linear
Bend
Stiffness
For
normal
simple
linear
behaviour,
specify
the
bend
stiffness
to
be
the
constant
slope
of
the
bend
moment-
curvature
relationship.
This
slope
is
the
equivalent
EI
value
for
the
line,
where
E
is
Young's
modulus
and
I
is
the
moment
of
area
of
the
cross-section.
The
bend
stiffness
equals
the
bend
moment
required
to
bend
the
line
to
a
curvature
of
1
radian
per
unit
length.
Non-Linear
Bend
Stiffness
For
non-linear
behaviour,
use
variable
data
to
specify
a
table
of
bend
moment
magnitude
against
curvature
magnitude.
OrcaFlex
uses
linear
interpolation
for
curvatures
between
those
specified
in
the
table,
and
linear
289
System
Modelling:
Data
and
Results,
Lines
w
extrapolation
for
curvatures
beyond
those
specified
in
the
table.
The
bend
moment
must
be
zero
at
zero
curvature.
For
homogeneous
pipes
the
Plasticity
Wizard
may
be
useful
to
help
set
up
the
table.
With
non-linear
bend
stiffness
you
must
also
specify
whether
the
hysteretic
bending
model
should
be
used.
x Non-hysteretic
means
that
the
non-linear
stiffness
is
elastic.
No
hysteresis
effects
are
included
and
the
bend
moment
magnitude
is
simply
the
specified
function
of
the
current
curvature
magnitude.
x Hysteretic
means
the
bend
moment
includes
hysteresis
effects,
so
that
the
bend
moment
depends
on
the
history
of
curvature
applied
as
well
as
on
the
current
curvature.
Also
note
that
if
the
hysteretic
model
is
used
then
the
line
must
include
torsion
effects.
Warning:
You
must
check
that
the
hysteretic
model
is
suitable
for
the
line
type
being
modelled.
It
is
not
suitable
for
modelling
rate-dependent
effects.
It
is
intended
for
modelling
hysteresis
due
to
persisting
effects
such
as
yield
of
material
or
slippage
of
one
part
of
a
composite
line
structure
relative
to
another
part.
If
you
use
the
hysteretic
bending
model
then
the
simulation
speed
may
be
significantly
slowed
if
there
are
a
large
number
of
points
specified
in
the
table
of
bend
moment
against
curvature.
You
might
be
able
to
speed
up
the
simulation,
without
significantly
affecting
accuracy,
by
removing
superfluous
points
in
areas
where
the
curve
is
very
close
to
linear.
In
addition
hysteretic
bend
stiffness
usually
requires
shorter
time
steps
than
non-hysteretic
modelling,
when
using
implicit
integration.
Note:
If
you
are
using
non-linear
bend
stiffness,
then
the
mid-segment
curvature
results
reported
depend
on
whether
the
bend
stiffness
is
specified
to
be
hysteretic
or
not.
If
the
bend
stiffness
is
not
hysteretic
then
the
mid-segment
curvature
reported
is
the
curvature
that
corresponds
to
the
mid-
segment
bend
moment
(which
is
the
mean
of
the
bend
moments
at
either
end
of
the
segment).
If
the
bend
stiffness
is
hysteretic
then
the
mid-segment
curvature
cannot
be
derived
in
this
way
(because
of
possible
hysteresis
effects)
so
the
mid-segment
curvature
reported
is
the
mean
of
the
curvatures
at
the
ends
of
the
segment.
This
difference
may
be
significant
if
the
bend
stiffness
is
significantly
non-linear
over
the
range
of
curvatures
involved.
This
option
allows
the
bend
moment
to
be
calculated
by
an
external
function.
If
this
option
is
used
then
the
line
must
include
torsion
effects.
The
external
function
can
be
written
by
the
user
or
other
software
writers.
For
details
see
the
OrcaFlex
programming
interface
(OrcFxAPI)
and
the
OrcFxAPI
documentation.
Warning:
Non-linear
behaviour
breaks
the
assumptions
of
the
stress
results
and
fatigue
analysis
in
OrcaFlex.
You
should
therefore
not
use
these
facilities
when
there
are
significant
non-linear
effects.
Axial
Stiffness
The
axial
stiffness
is
the
slope
of
the
curve
relating
wall
tension
to
strain.
The
data
specifies
the
behaviour
in
the
unpressured
state,
i.e.
atmospheric
pressure
inside
and
out.
Pressure
effects,
including
the
Poisson
ratio
effect,
are
then
allowed
for
by
OrcaFlex.
You
can
either
specify
linear
or
non-linear
behaviour,
as
follows:
x For
a
simple
linear
behaviour,
specify
the
axial
stiffness
to
be
the
constant
slope
of
the
line
relating
wall
tension
to
strain.
This
slope
is
the
equivalent
EA
value
for
the
line,
where
E
is
Young's
modulus
and
A
is
the
cross
section
area.
It
equals
the
force
required
to
double
the
length
of
any
given
piece
of
line,
assuming
perfectly
linear
elastic
behaviour.
(In
practice,
of
course,
lines
would
yield
before
such
a
tension
was
reached.)
x For
a
non-linear
behaviour,
use
variable
data
to
specify
a
table
of
wall
tension
against
axial
strain.
OrcaFlex
uses
linear
interpolation
for
strains
between
those
specified
in
the
table,
and
linear
extrapolation
for
strains
beyond
those
specified
in
the
table.
The
wall
tension
is
allowed
to
be
non-zero
at
zero
strain.
290
w
System
Modelling:
Data
and
Results,
Lines
Note:
Axial
strain
is
defined
to
equal
(L
-
L0)
/
L0,
where
L
and
L0
are
the
stretched
and
unstretched
length
of
a
given
piece
of
pipe.
Here
'unstretched'
means
the
length
when
unpressured
and
unstressed.
When
a
pipe
is
pressured
its
tension
at
this
'unstretched'
length
is
often
not
zero
because
of
strains
due
to
pressure
effects.
For
a
homogeneous
pipe
this
can
be
modelled
by
specifying
the
Poisson
ratio.
For
a
non-homogeneous
pipe
(e.g.
a
flexible)
the
Poisson
ratio
may
not
be
able
to
capture
the
pressure
effects.
Warning: Non-linear behaviour breaks the assumptions of the stress results and fatigue analysis.
See
Calculating
Tension
Forces
for
details
of
the
tension
model
used.
Note:
If
you
use
explicit
integration
for
dynamic
simulation
then
the
axial
stiffness
specified
here
will
have
a
major
effect
on
how
long
the
dynamic
simulation
will
take.
This
is
because
very
large
axial
stiffness
values
lead
to
very
small
natural
periods
for
the
nodes,
and
this
in
turn
requires
very
small
simulation
time
steps
when
using
explicit
integration.
See
Inner
and
Outer
Time
Steps.
Fortunately,
the
value
of
axial
stiffness
used
is
often
not
very
important,
providing
it
is
large
enough
that
the
axial
strains
produced
are
small.
The
exception
to
this
is
where
snatch
loads
occur,
since
the
axial
stiffness
directly
affects
the
peak
tension
that
results.
It
is
therefore
normally
quite
acceptable
to
specify
a
much
smaller
axial
stiffness
value
than
applies
to
the
real
line,
so
enabling
much
faster
simulations.
We
recommend
that
artificially
low
axial
stiffness
values
are
specified,
particularly
for
early
investigative
simulations.
The
effect
of
this
can
easily
be
investigated
later
by
re-running
a
selection
of
important
simulations
with
the
actual
axial
stiffness
value.
Poisson
Ratio
This
specifies
the
Poisson
ratio
of
the
material
that
makes
up
the
wall
of
the
line
type.
It
is
used
to
model
any
length
changes
due
to
the
radial
and
circumferential
stresses
caused
by
contents
pressure
and
external
pressure.
A
Poisson
ratio
of
zero
means
no
such
length
changes.
For
metals
such
as
steel
or
titanium
the
Poisson
ratio
is
about
0.3
and
for
polyethylene
about
0.4.
Most
materials
have
Poisson
ratio
between
0.0
and
0.5.
Note:
The
Poisson
ratio
effect
is
calculated
assuming
that
the
line
type
is
a
pipe
made
from
a
homogeneous
material.
It
is
not
really
applicable
to
complex
structures
such
as
flexibles,
whose
length
changes
due
to
pressure
are
more
complex.
However
for
such
cases
an
effective
Poisson
ratio
could
be
specified
as
an
approximation.
Torsional
Stiffness
The
torsional
stiffness
is
used
only
if
torsion
is
included
on
the
line
data
form.
The
torsional
stiffness
specifies
the
relationship
between
twist
and
torsional
moment
(torque).
You
can
specify
linear
or
non-linear
behaviour,
as
follows:
x For
a
simple
linear
behaviour,
specify
the
torsional
stiffness
to
be
the
constant
slope
of
the
torsional
moment-
twist
per
unit
length
relationship.
This
slope
is
the
equivalent
GJ
value
for
the
line,
where
G
is
the
shear
modulus
and
J
is
the
polar
moment
of
inertia.
It
equals
the
torque
which
arises
if
the
line
is
given
a
twist
of
1
radian
per
unit
length.
x For
a
non-linear
behaviour,
use
variable
data
to
specify
a
table
of
torque
against
twist
per
unit
length.
OrcaFlex
uses
linear
interpolation
for
curvatures
between
those
specified
in
the
table,
and
linear
extrapolation
for
values
outside
those
specified
in
the
table.
The
torque
must
be
zero
at
zero
twist.
See
Calculating
Torsion
Moments
for
details
on
how
this
data
is
used.
Note:
When
defining
non-linear
torsional
stiffness
you
should
specify
values
for
both
positive
and
negative
twist
per
unit
length.
This
allows
you,
for
example,
to
have
different
stiffnesses
for
positive
and
negative
twisting.
If
the
behaviour
is
mirrored
for
positive
and
negative
twist
then
you
must
specify
the
full
relationship
OrcaFlex
does
not
automatically
reflect
the
data
for
you.
Warning: Non-linear behaviour breaks the assumptions of the stress results and fatigue analysis.
291
System
Modelling:
Data
and
Results,
Lines
w
For
circular
cylinders,
the
drag
coefficient
for
normal
flow
depends
on
Reynolds
number
Re
and
surface
finish.
For
values
of
Re
between
2E4
and
3E5
the
drag
coefficient
takes
the
value
1.2
and
is
independent
of
surface
roughness.
Values
below
this
range
are
unlikely
to
occur
in
practice.
For
Reynolds
numbers
greater
than
3E5,
the
drag
coefficient
is
strongly
dependent
on
both
Re
and
surface
roughness.
For
very
smooth
cylinders
the
drag
coefficient
falls
rapidly
to
0.28
at
a
Re
of
about
6E5
before
recovering
to
a
value
of
0.5
for
Re
values
above
2E6.
For
rough
cylinders
the
effect
is
less
marked,
but
remains
significant.
In
view
of
this
behaviour,
the
use
of
variable
data
for
normal
drag
coefficients
is
strongly
recommended.
OrcaFlex
will
then
use
the
value
of
drag
appropriate
to
the
instantaneous
local
value
of
Reynolds
number
throughout
the
simulation.
The
functional
form
of
the
dependence
is
well
documented
in
the
open
literature
and
also
in
proprietary
data
sources,
such
as
ESDU
80025.
Note
that
some
of
these
sources
take
account
of
the
effect
of
the
amount
of
turbulence
in
the
incoming
flow
by
defining
an
effective
Reynolds
number.
Consequently,
care
is
needed
to
ensure
that
the
data
are
presented
in
a
form
that
is
consistent
with
the
definition
of
Reynolds
number
used
by
OrcaFlex.
Results
for
Reynolds
number
and
drag
coefficient
are
available
as
time
history
results.
The
above
values
apply
where
vortex-induced
vibration
(VIV)
is
expected
to
be
negligible.
If
significant
VIV
is
anticipated,
then
drag
coefficients
may
be
increased
significantly.
If
this
is
the
case,
a
more
detailed
VIV
analysis
should
be
carried
out.
Axial
drag
results
from
skin
friction
only.
In
subcritical
flow
(Re
<
3.8E5),
the
drag
coefficient
for
axial
flow,
C t,
is
0.008
for
a
smooth
cylinder
and
0.011
for
a
rough
cylinder,
based
on
ESDU
data.
At
higher
Re,
ESDU
suggest
that
skin
friction
may
be
neglected,
i.e.
Ct
=
0.
In
practice,
axial
drag
is
often
negligible
and
Ct
=
0
is
often
acceptable.
Lift
Coefficient
The
lift
coefficient
is
used
to
specify
a
lift
force
which
acts
in
the
direction
normal
to
the
line
axis
and
in
the
plane
of
that
axis
and
the
seabed
normal.
It
can
be
one
of
the
following
options:
x A
fixed
constant
value.
x A
value
that
varies
with
Reynolds
number.
x A
value
that
varies
with
Height
above
seabed.
x A
value
that
varies
with
both
Reynolds
number
and
Height
above
seabed.
For
further
details
see
the
Line
Theory
section.
292
w
System
Modelling:
Data
and
Results,
Lines
Contact
Data
Contact
Diameter
Contact
between
lines
and
the
seabed,
elastic
solids
or
other
lines
accounts
for
the
diameter
of
the
line.
This
value
specifies
the
diameter
to
be
used.
If
a
value
of
'~'
is
specified
then
the
line
outer
diameter
is
used.
This
value
is
also
used
in
the
calculation
of
Line
Contact
Clearance
results
and
as
the
drawing
diameter
for
shaded
graphics
views.
Contact
Stiffness
and
Damping
The
stiffness
and
damping
values
used
by
the
clashing
algorithm.
See
Line
Clashing.
Damping
is
always
zero
when
using
the
implicit
integration
scheme.
Stress
Data
Stress
Outer
and
Inner
Diameter
The
stress
diameters
are
the
inside
and
outside
diameters
of
the
load-bearing
cylinder.
They
are
used
in
the
wall
tension
and
stress
results
calculations,
which
are
based
on
the
assumption
that
the
loads
in
the
line
are
taken
by
a
simple
homogeneous
cylinder.
For
simple
cases,
the
stress
diameters
can
be
set
to
'~',
in
which
case
they
will
be
taken
to
be
the
same
as
the
pipe
diameters.
For
more
complex
cases,
for
example
where
the
pipe
outside
diameter
allows
for
added
buoyancy
modules
that
are
not
load
bearing,
the
stress
diameters
can
be
set
separately.
See
Line
Results
Forces.
Allowable
Stress
The
maximum
allowable
stress
for
this
type
of
line.
This
value
is
only
used
to
draw
a
limit
curve
on
Stress
Range
Graphs;
it
does
not
limit
the
stress
achieved
in
the
line.
If
no
limit
curve
is
wanted
then
you
may
input
the
tilde
character
"~"
(meaning
not
applicable)
instead
of
a
number.
Stress
Loading
Factors
These
are
used
to
specify
what
proportion
of
the
loads
(tension,
bend
moment,
shear
and
torque)
are
to
be
used
when
calculating
wall
tension
and
stress
results.
The
effective
tension,
bend
moment,
shear
force
and
torque
are
multiplied
by
the
appropriate
stress
loading
factor
when
they
are
used
to
calculate
the
wall
tension
and
stress
results.
For
many
cases,
e.g.
when
modelling
a
simple
homogeneous
pipe
that
carries
all
the
loads,
these
load
factors
should
be
set
to
1,
the
default
value.
In
some
cases,
values
less
than
1
may
be
suitable.
For
example,
consider
a
case
where
the
line
models
a
composite
structure
that
consists
of
a
main
carrier
pipe
and
an
external
piggyback
pipe.
You
might
estimate
that
the
main
pipe
takes
all
of
the
tensile
and
torsional
loads,
but
only
carries
70%
of
the
bending
loads,
the
other
30%
being
taken
by
the
piggyback
pipe.
Then
to
obtain
stress
estimates
for
the
main
pipe
you
could
set
the
Stress
Outer
and
Inner
Diameters
to
'~'
and
set
the
bending
and
shear
stress
loading
factors
to
0.7.
293
System
Modelling:
Data
and
Results,
Lines
w
Note:
The
Allowable
Stress
and
Stress
Loading
Factors
only
affect
the
wall
tension
results,
stress
results
and
fatigue
analyses.
These
results
are
derived
after
the
simulation
has
run,
and
because
of
this
OrcaFlex
allows
these
data
items
to
be
modified
after
a
simulation
has
been
run.
Friction
Data
Seabed
Friction
Coefficients
OrcaFlex
applies
Coulomb
friction
between
the
line
and
the
seab
Lines
lying
on
the
seabed
often
move
axially
more
readily
than
they
move
laterally.
To
enable
this
effect
to
be
modelled,
you
can
specif
to
use.
If
the
axial
friction
coefficient
motion.
This
provides
a
convenient
way
of
using
the
same
friction
coefficient
for
all
directions
of
motion.
See
Friction
Theory
for
further
details
of
the
friction
model
used.
Note:
The
friction
coefficient
for
contact
with
elastic
solids
is
specified
on
the
Solid
Friction
Coefficients
data
form.
Typical values
Published
data
are
sparse.
Some
information
is
given
in
Puech
(1984)
and
Taylor
and
Valent(1984).
Both
references
distinguish
between
sliding
friction
and
starting
friction:
starting
friction
is
greater
to
represent
the
"breakout"
force.
OrcaFlex
does
not
draw
this
distinction.
In
most
cases,
the
sliding
friction
coefficient
should
be
used;
this
will
usually
be
conservative.
Both
references
are
written
in
the
context
of
the
contribution
of
chains
and
cables
to
anchor
holding
power,
so
we
assume
the
friction
values
given
are
axial.
Transverse
values
will
be
greater,
perhaps
by
50%
to
100%.
The
values
given
below
are
recommendations
from
Taylor
and
Valent.
Line
type
Seabed
Type
Starting
Friction
Sliding
Friction
Coefficient
Coefficient
Chain
Sand
0.98
0.74
Mud
with
sand
0.92
0.69
Mud/clay
0.90
0.56
Wire
rope
Sand
0.98
0.25
Mud
with
sand
0.69
0.23
Mud/clay
0.45
0.18
Structural
Damping
Data
Rayleigh
Damping
Coefficients
A
named
Rayleigh
Damping
Coefficient
data
set.
This
data
item
can
be
set
to
"(no
damping)",
in
which
case
no
Rayleigh
damping
will
be
applied
for
this
Line
Type.
This
data
is
only
available
when
using
the
implicit
integration
scheme.
294
w
System
Modelling:
Data
and
Results,
Lines
The
minimum
wall
thickness,
denoted
tmin
in
API
RP
2RD,
section
5.2.4.4.
A
value
of
'~'
results
in
the
nominal
wall
thickness,
(OD-ID)/2,
being
used.
SMYS
The material minimum yield strength (SMYS), denotey in API RP 2RD, section 5.2.3.1.
Drawing
Data
Pen
Defines
the
colour,
line
style
and
thickness
of
the
pen
used
for
drawing
this
line
type.
See
How
Objects
Are
Drawn.
For
each
line
there
is
a
choice,
on
the
Line
Data
form,
of
whether
to
draw
the
sections
of
the
line
using
these
Line
Types
pens,
or
whether
to
define
a
specific
pen
to
use
for
all
the
sections
of
the
line.
External
Functions
Parameters
This
data
item
specifies
the
External
Function
Parameters,
a
free
form
multi-line
text
field
which
is
passed
to
any
external
function
used
by
the
Line
Type.
Plasticity
Wizard
OrcaFlex
allows
you
to
specify
non-linear
bend
stiffness
for
Line
Types.
The
data
is
given
as
a
table
of
bend
moment
against
curvature.
If
you
are
modelling
a
uniform,
homogeneous
pipe
you
can
use
the
Plasticity
Wizard
to
create
this
table.
Once
you
have
entered
the
appropriate
data
as
described
below,
click
the
Calculate
button
and
the
curvature
/
bend
moment
relationship
is
generated.
The
Bend
Stiffness
variable
data
source
that
is
created
is
initialised
to
be
hysteretic.
The
Plasticity
Wizard
is
opened
by
clicking
the
"Plasticity
Wizard"
button
on
the
Variable
Data
form.
Note:
Before
you
can
open
the
Plasticity
Wizard
you
must
have
created
and
selected
a
Bend
Stiffness
variable
data
source.
The
Plasticity
Wizard
calculates
bend
moment
curvature
relationship
by
integrating
the
stress
profile
across
the
pipe
cross-section.
This
calculation
requires
a
direct
tensile
strain
to
be
specified
this
data
item
serves
that
purpose.
Stress-Strain
relationship
The
relationship
between
stress
and
strain
can
be
specified
by
either
Ramberg-Osgood
curve
or
Stress-Strain
table.
Material
E,
RP y),
K,
n
(Ramberg-Osgood
curve
only)
295
System
Modelling:
Data
and
Results,
Lines
w
This
table
directly
specifies
the
relationship
between
stress
and
strain.
The
table
is
interpolated
linearly
and
for
values
of
strain
outside
the
table
linear
extrapolation
will
be
used.
Maximum
curvature
for
derived
data
source
The
Bend
Stiffness
variable
data
source
is
defined
for
curvature
values
between
0
and
C max
max/Ro
where
Ro
is
the
radius
to
the
outer
fibre.
The
outer
fibre
strain
corresponding
to
Cmax
max
and
is
defined
as
follows:
x For
a
Ramberg- max
=
max{0.05,
y max
will
be
5
times
the
strain
corresponding
to
the
reference
stress
or
5%,
whichever
is
larger.
x For
a
Stress-max
is
simply
the
largest
value
of
strain
specified
in
the
table.
Properties
Report
The
Line
Type
properties
report
is
available
from
the
popup-menu
on
the
data
form.
It
reports
the
following:
Weight
in
air
The
weight
of
water
displaced
by
the
line
type's
volume.
The
reported
value
uses
the
water
density
at
the
sea
surface.
Weight
in
water
The
names
and
contents
densities
of
each
line
that
uses
that
line
type.
6.8.3 Attachments
Attachment
Types
The
Attachment
Types
form
defines
the
properties
of
a
number
of
named
attachment
types.
Attachments
with
these
properties
can
then
be
connected
to
lines.
Attachment
Types
can
be
either
Clump
Types,
Drag
Chain
Types,
Flex
Joint
Types
or
Stiffener
Types.
The
attachment
types
form
must
include
all
the
attachment
types
referred
to
on
all
of
the
Lines
data
forms,
but
it
can
also
include
other
attachment
types
that
are
not
currently
in
use
in
the
model.
This
allows
you
to
build
up
a
library
of
standard
attachment
types
that
can
then
be
easily
used
when
building
Lines.
Clumps
A
clump
is
a
concentrated
attachment
that
is
connected
to
a
node
on
a
Line.
It
can
be
buoyant
or
heavy
and
is
a
small
body
that
experiences
forces
(weight,
buoyancy,
drag
etc.)
exactly
as
for
a
3D
Buoy.
But
instead
of
being
free
to
move
it
is
constrained
to
move
with
the
node
and
the
forces
acting
on
it
are
transferred
to
that
node.
A
clump
therefore
adds
to
the
mass,
buoyancy
and
hydrodynamic
force
of
the
node
to
which
it
is
attached.
Clumps
only
have
3
degrees
of
freedom
X,Y
and
Z
which
are
determined
by
the
position
of
the
node
to
which
they
are
attached.
Clumps
can
be
aligned
with
the
global
axes
directions
or
alternatively
they
can
be
aligned
with
the
node
to
which
they
are
attached.
Each
clump
is
assigned
a
height
and
an
offset
from
the
node
which
are
used
to
determine
the
Z
coordinate
of
the
clump
for
the
purposes
of
evaluating
buoyancy
and
hydrodynamic
forces:
no
moment
is
applied
to
the
node
by
the
clump.
Where
the
clump
pierces
the
water
surface,
buoyancy
and
hydrodynamic
forces
are
applied
in
proportion
to
the
immersed
length
of
the
clump.
296
w
System
Modelling:
Data
and
Results,
Lines
Each
clump
is
of
a
named
clump
type,
from
which
it
inherits
all
its
properties.
The
clump
types
are
specified
on
the
Attachment
Types
form
and
have
the
following
data.
Clump
Type
Name
Used
to
calculate
buoyancy
and
added
mass
for
each
clump
of
this
type
on
a
line.
Clumps
may
be
either
net
buoyant
or
heavy
as
desired.
Height
Used
for
drawing
the
clump
and
also
to
determine
how
much
of
the
clump
is
below
the
water
surface.
If
the
clump
is
aligned
with
global
axes
then
it
is
centred
at
the
Offset
position
above
the
node,
and
extends
for
half
its
Height
above
and
below
this
point.
If
the
clump
is
aligned
with
Line
axes
then
it
is
centred
at
the
node,
and
extends
for
half
its
Height
either
side
of
this
point
in
the
node's
axial
direction.
Offset
A
clump
may
be
offset
vertically
from
the
line,
for
example
to
represent
a
line
supported
below
the
surface
by
floats.
The
connection
is
not
modelled
fully:
the
clump
is
always
treated
as
being
at
the
specified
offset
vertically
above
(offset
positive)
or
below
(offset
negative)
the
node
to
which
it
is
attached.
If
the
clump
is
aligned
with
Line
axes
then
the
clump
offset
is
forced
to
be
zero.
Align
with
Determines
whether
the
clump
is
aligned
with
Global
Axes
or
Line
Axes.
This
setting
determines
the
clump's
local
directions.
If
it
is
aligned
with
global
axes
then
the
clump's
local
directions
are
the
same
as
the
global
axis
system.
If
it
is
aligned
with
Line
axes
then
its
local
directions
are
the
same
as
the
node
to
which
it
is
connected.
Drag
Drag
forces
are
calculated
in
clump
local
directions
for
each
clump
on
a
line.
drag
force
=
PW
.
.
Water
Density
.
(velocity)2
.
Cd
.
Drag
Area
where
Cd
is
Drag
Coefficient
as
specified
here,
Drag
Area
is
specified
here,
velocity
is
the
velocity
of
the
fluid
relative
to
the
clump
in
the
appropriate
direction.
Added
Mass
Coefficients
Defines the colour, line style and thickness of the pen used for drawing this clump type. See How Objects Are Drawn.
297
System
Modelling:
Data
and
Results,
Lines
w
Weight in air
The
weight
of
water
displaced
by
the
clump's
volume.
The
reported
value
uses
the
water
density
at
the
sea
surface.
Weight
in
water
Drag
Chains
Drag
chains
are
attachments
to
a
line
that
model
straight
chains
that
hang
down
from
the
line.
They
apply
weight,
buoyancy
and
drag
forces
to
the
node
to
which
they
are
attached,
but
not
any
added
mass
effects.
For
details
see
Drag
Chain
Theory.
Drag
chains
include
two
facilities
that
can
be
important
in
modelling
towed
systems.
Firstly,
the
chain's
drag
coefficients
can
vary
with
the
incidence
angle
of
the
relative
flow;
this
enables
modelling
the
effect
that
as
the
relative
flow
increases
the
chain
hangs
at
a
greater
angle
to
the
vertical
and
so
fluid
drag
generates
more
lift,
which
is
applied
to
the
line.
Secondly,
drag
chains
interact
with
the
seabed
(in
a
simple
manner);
if
the
node
comes
closer
to
the
seabed
than
the
chain
length,
then
the
seabed
provides
a
supporting
reaction
force
and
a
friction
force,
both
of
which
are
applied
to
the
node.
Each
drag
chain
is
of
a
named
drag
chain
type,
from
which
it
inherits
all
its
properties.
The
drag
chain
types
are
specified
on
the
Attachment
Types
form
and
have
the
following
data.
Name
Effective
diameter
of
the
drag
chain.
This
is
the
diameter
of
the
cylinder
that
has
the
same
displaced
mass
per
unit
length.
Mass
Mass
per
unit
length.
Mass
is
assumed
to
be
uniformly
distributed
along
the
length
of
the
drag
chain.
Friction
Coefficient
Coefficient
of
friction
for
contact
with
the
seabed.
This
coefficient
is
used
for
all
directions
of
friction.
The
value
can
be
set
to
'~',
in
which
case
the
drag
chain
will
instead
use
the
axial
friction
coefficient
of
the
node
to
which
the
drag
chain
is
attached.
Drawing
Defines
the
colour,
line
style
and
thickness
of
the
pen
used
for
drawing
drag
chains
of
this
type.
See
How
Objects
Are
Drawn.
Drag
Coefficients
The
fluid
drag
forces
on
the
chain
are
specified
by
giving
a
table
of
the
normal
and
axial
drag
coefficients,
as
a
=
0
means
flow
=
90
means
flow
normal
to
the
drag
chain.
Coefficients
are
specified
for
a
range
of
incidence
angles
between
0
and
90
and
linear
interpolation
is
used
to
obtain
coefficients
for
intermediate
angles.
The
Graph
button
shows
the
resulting
coefficient
variation.
Symmetry
is
used
to
obtain
coefficients
for
angles
outside
the
range
0
to
90.
Note:
increases
from
0
to
90.
This
turns
out
to
require
that
the
gradient
of
the
normal
drag
coefficient
-
coefficient
data
does
not
satisfy
this.
298
w
System
Modelling:
Data
and
Results,
Lines
The
total
mass
of
the
drag
chain
given
by
Length
Mass
per
unit
Length.
Total
weight
in
air
Flex
Joints
Flex
joints
are
attachments
to
a
line
that
add
additional
bending
stiffness
to
a
particular
node
(specified
by
the
attachment's
z-position).
This
additional
local
stiffness
acts
in
series
with
the
stiffness
of
the
underlying
line
type
bend
stiffness.
If,
for
example,
you
set
the
stiffness
for
the
flex
joint
to
zero,
then
you
effectively
make
that
node
pin-
jointed.
Each
flex
joint
has
properties
determined
by
a
named
Flex
Joint
Type.
The
Flex
Joint
Types
are
specified
on
the
Attachment
Types
form
and
have
the
following
data:
Name
Specifies
the
bend
stiffness
of
the
Flex
Joint
Type.
You
can
specify
separate
values
for
bending
about
the
x
and
y-
directions.
A
y-bend
stiffness
value
of
'~'
is
interpreted
as
'same
as
x-bend
stiffness'.
Similarly
to
line
end
connection
stiffness
the
bend
stiffness
is
specified
in
terms
of
moment
per
degree
of
deflection.
Drawing
Defines
the
colour,
line
style
and
thickness
of
the
pen
used
for
drawing
flex
joints
of
this
type.
See
How
Objects
Are
Drawn.
Stiffeners
Stiffeners
are
attachments
to
a
line
intended
for
use
modelling
bend
stiffeners.
Each
stiffener
has
properties
determined
by
a
named
Stiffener
Type.
The
Stiffener
Types
are
specified
on
the
Attachment
Types
form
and
have
the
following
data:
Name
Determines
the
physical
properties
of
the
stiffener.
Usually
this
will
be
a
profiled
homogeneous
pipe.
Because
the
stiffener
properties
are
included
in
addition
to
the
protected
line
properties
this
line
type
should
just
specify
the
properties
of
the
stiffener.
Length
Defines
the
length
of
the
stiffener.
If
the
line
type
is
profiled
then
the
length
is
determined
by
the
profile
data
and
so
cannot
be
edited
here.
299
System
Modelling:
Data
and
Results,
Lines
w
Defines
the
point
on
the
stiffener
which
corresponds
to
the
protected
line
attachment
position.
This
correspondence
is
illustrated
in
the
following
table
which
assumes
a
stiffener
length
of
10:
Protected
line
Stiffener
Protected
line
attachment
connection
protected
arc
length
arc
length
arc
length
range
0
0
0-10
5
0
5-15
10
5
5-15
50
10
40-50
For
a
bend
stiffener
at
End
A
of
a
line
the
connection
arc
length
would
set
to
0
relative
to
End
A.
Similarly
for
a
bend
stiffener
at
End
B
of
a
line
the
connection
arc
length
would
set
to
0
relative
to
End
B.
Axial
load/inertia
transfer
Specifies
how
the
axial
loads
and
axial
inertia
are
transferred
from
the
stiffener
to
the
protected
line.
If
at
connection
point
is
specified
then
the
axial
loads
and
axial
inertia
for
the
entire
stiffener
line
are
transferred
to
the
protected
line
at
the
connection
point.
This
option
is
suitable
when
you
wish
to
neglect
the
axial
effects
of
friction
due
to
contact
between
protected
line
and
stiffener.
If
over
full
length
is
specified
then
the
axial
loads
and
axial
inertia
are
transferred
and
shared
across
the
full
length
of
the
stiffener.
If
the
contact
friction
means
that
the
protected
line
effectively
carries
the
axial
loads
and
inertia
of
the
stiffener
then
this
option
should
be
used.
For
a
stiffener
which
is
connected
to
the
protected
line
by
means
of
a
full
length
friction
grip,
e.g.
a
Cumberland
Grip,
then
you
should
use
the
over
the
full
length
option
for
axial
load/inertia
transfer.
More
technical
details
of
how
this
data
item
is
used
are
given
in
Modelling
Bend
Stiffeners.
6.8.4 Rayleigh
Damping
Rayleigh
damping
is
used
to
model
structural
damping
for
Lines
and
is
only
available
when
using
the
implicit
integration
scheme.
Classical
Rayleigh
damping
In addition to classical Rayleigh damping OrcaFlex offers a separated Rayleigh damping model where C is defined as:
300
w
System
Modelling:
Data
and
Results,
Lines
OrcaFlex
offers
four
distinct
methods
for
specifying
the
Rayleigh
damping
coefficients:
x Stiffness
proportional.
x Mass
and
stiffness
proportional.
x Coefficients
(classical).
x Coefficients
(separated).
Stiffness
proportional
and
Mass
and
stiffness
proportional
methods
These
methods
allow
you
to
specify
structural
damping
in
terms
of
%
critical
damping
ratio.
In
addition
you
need
to
specify
response
periods
at
which
the
damping
ratio
will
be
achieved.
For
Stiffness
proportional
damping
only
one
response
period
can
be
specified.
If
Response
Period
1
is
set
to
'~'
then
OrcaFlex
will
choose
response
periods
automatically
based
on
the
wave
period,
or
peak
period
Tp
for
a
random
wave.
This
method
is
generally
recommended
and
is
particularly
useful
if
you
are
running
a
batch
of
cases
with
varying
wave
conditions.
Coefficients
(classical)
and
Coefficients
(separated)
methods
The
damping
ratio
graph
plots
the
damping
ratio
that
will
be
achieved
for
a
range
of
response
frequencies.
The
graph's
x-axis
can
be
either
period
of
frequency.
Guidance
Variation
of
damping
ratio
Rayleigh
damping
is
viscous
damping
that
is
proportional
to
a
linear
combination
of
mass
and
stiffness.
The
constants
of
proportionality.
Rayleigh
damping
does
afford
certain
mathematical
conveniences
and
is
widely
used
to
model
internal
structural
damping.
One
of
the
less
attractive
features
of
Rayleigh
damping
is
that
the
achieved
damping
ratio
varies
as
response
frequency
varies.
The
stiffness
proportional
term
contributes
damping
that
is
linearly
proportional
to
response
frequency
and
the
mass
proportional
term
contributes
damping
that
is
inversely
proportional
to
response
frequency.
Mathematically,
these
frequency
d
301
System
Modelling:
Data
and
Results,
Lines
w
The
plot
below
illustrates
how
the
separate
mass
and
stiffness
damping
terms
contribute
to
the
overall
damping
ratio:
6%
5%
Damping ratio
4%
3%
2%
1%
0%
0 1 2 3 4 5
Response angular frequency (rad/s)
Figure:
Variation
Of
Damping
Ratio
With
Frequency
Consider
a
system
which
has
two
primary
responses:
one
at
the
wave
frequency
and
the
other
at
a
much
lower
frequency,
for
example
due
to
vessel
drift.
Clearly
Rayleigh
damping
constants
must
be
chosen
carefully
to
avoid
the
mass
proportional
term
resulting
in
over-damping
of
the
low
frequency
response.
It
is
common
practice
to
do
this
by
using
the
stiffness
proportional
term
only.
For
example
the
DNV
dynamic
riser
code
DNV-OS-F201
(Appendix
A,
K103)
makes
the
following
recommendation:
"It
should
also
be
observed
that
the
mass
proportional
damping
would
give
damping
due
to
rigid
body
motions.
The
mass
proportional
damping
is
therefore
normally
neglected
for
compliant
structures
undergoing
large
rigid
body
motions."
In
other
words
the
recommendation
for
such
systems
is
to
use
stiffness
proportional
damping
(the
red
curve
above).
This
is
a
good
argument.
However,
an
analogous
argument
can
also
be
made
about
any
high
frequency
response.
If
only
stiffness
proportional
damping
is
used
then
any
high
frequency
response
will
be
over-damped.
It
is
quite
common
for
systems
to
have
responses
at
frequencies
higher
than
the
wave
frequency.
Since
high
frequency
responses
are
often
damaging
to
a
system
it
is
important
to
model
them
accurately.
Stiffness
proportional
damping
is
very
effective
at
artificially
removing
high
frequency
responses
from
an
analysis
and
this
is
a
danger
that
must
be
avoided.
Avoiding
over-damping
of
system
response
302
w
System
Modelling:
Data
and
Results,
Lines
If
your
system
response
is
concentrated
at
the
wave
frequency
for
all
critical
design
cases
then
it
is
safe
to
apply
stiffness
proportional
damping.
Discussion
The
above
procedure
will
help
you
avoid
non-conservative
over-damping
of
high
or
low
frequency
responses
in
your
system.
However,
it
is
quite
laborious
and
time-consuming.
Can
we
adopt
a
simpler
approach?
For
a
great
many
of
the
systems
that
are
analysed
by
OrcaFlex
it
turns
out
that
structural
damping
has
little
or
no
effect
on
system
performance.
For
subsea
lines
the
structural
damping
is
usually
negligible
in
comparison
with
the
damping
due
to
hydrodynamic
drag.
For
this
reason
Rayleigh
damping
can
usually
be
ignored
for
analysis
of
subsea
lines.
For
systems
which
show
significantly
different
responses
w hen
Rayleigh
damping
is
applied
you
should
check
that
this
is
not
due
to
the
over-damping
issues
described
above.
For
in-air
lines
(e.g.
jumper
hoses)
the
situation
is
different.
These
lines
have
no
hydrodynamic
damping
and
so
the
structural
damping
can
be
significant.
For
such
lines
it
is
very
easy
for
resonant
responses
to
be
excited
and
if
no
damping
is
modelled
then
these
responses
do
not
decay.
In
this
situation
Rayleigh
damping
can
be
very
useful.
It
is,
of
course,
important
to
apply
it
carefully
as
described
above.
One
common
phenomenon
that
is
sometimes
modelled
with
Rayleigh
damping
is
the
damping
due
to
internal
friction
between
layers
of
a
pressurised,
unbonded
flexible
riser.
This
effect
is
strongly
amplitude
dependent
and
is
poorly
represented
by
Rayleigh
damping.
The
problem
is
that
the
damping
ratio
depends
on
the
amplitude
of
response.
This
makes
the
damping
ratio
very
difficult
to
set
and
it
will
differ
for
different
load
cases.
Instead
we
recommend
that
you
use
a
hysteretic
bend
stiffness
which
gives
a
more
accurate
model
of
the
riser.
6.8.5 Line
Results
This
section
describes
the
line
results
that
are
available
for
the
static
and
dynamic
analyses.
These
results
are
available
using
the
Results
Selection
form.
Results
from
the
modal
analysis
and
fatigue
analysis
are
described
elsewhere
see
the
Modal
Analysis
and
Fatigue
Analysis
sections.
Selecting
which
Categories
of
Line
Results
are
Shown
For
Lines
there
are
a
large
number
of
results
variables
available
on
the
Results
form.
So
OrcaFlex
groups
the
results
variables
into
the
following
categories:
x Positions.
x Motions.
x Angles.
x Forces.
x Moments.
x Contact.
x Pipe
Stress
/
Strain.
x End
Loads.
To
ease
results
selection
the
Show
boxes
on
the
results
form
allow
you
to
choose
which
of
these
categories
of
variables
are
shown
in
the
Variable
list.
To
get
the
full
list
of
available
variables
simply
select
all
the
categories.
But
normally
there
are
several
categories
of
variable
that
you
do
not
currently
need,
in
which
case
de-selecting
them
reduces
the
displayed
list
of
variables
to
a
more
manageable
set.
Specifying
the
Position
on
the
Line
For
line
results
you
need
to
specify
the
position
on
the
line
at
which
you
want
results.
This
is
done
by
setting
the
entries
in
a
row
in
the
Position
table
on
the
results
form.
You
are
then
offered
the
Variables
that
are
available
for
the
point
specified
by
the
currently-selected
row.
Each
row
in
the
table
specifies
one
point
on
the
line.
There
are
multiple
rows
in
the
table,
so
you
can
set
up
rows
specifying
a
number
of
different
points
of
interest
and
then
easily
switch
between
them
by
choosing
which
row
you
select.
In
a
row
that
you
don't
want
to
use
you
can
set
the
Node
or
Arc
Length
column
to
'~',
meaning
'unspecified'.
Three
rows
in
the
table
are
dedicated
to
special
arc
lengths
on
the
line:
303
System
Modelling:
Data
and
Results,
Lines
w
x The
first
and
last
rows
in
the
Position
table
are
dedicated
to
the
line's
end
points
A
and
B.
x The
next
to
last
row
in
the
table
is
dedicated
to
the
Touchdown
point.
This
is
defined
to
be
the
first
node
on
the
seabed
(starting
from
the
Top
End).
If
the
results
variable
selected
is
a
segment
variable
(i.e.
is
only
available
at
mid-segment
points)
then
the
value
reported
for
the
touchdown
point
is
the
mid-segment
valued
in
the
segment
that
precedes
the
Touchdown
node.
When
there
are
no
nodes
on
the
seabed
then
the
results
variable
is
reported
as
N/A
(meaning
'not
available')
and
the
graph
shows
no
value.
Arc
Length
and
Node
Columns
The
Arc
Length
column
specifies
how
far
along
the
line
the
point
is,
measured
from
zero
at
End
A.
For
information,
if
you
set
the
Arc
Length
column
then
the
adjacent
Node
cell
is
set
to
the
number
of
the
nearest
node
to
that
arc
length.
The
Node
column
can
also
be
used
as
an
alternative
way
of
setting
the
arc
length.
You
can
set
the
Node
column
to
the
number
of
a
node
on
the
line.
The
adjacent
Arc
Length
cell
will
then
be
set
to
the
arc
length
to
that
node.
The
node
number
must
be
in
the
range
1
(the
node
at
End
A)
to
N+1
(the
node
at
End
B),
where
N
is
the
total
number
o f
segments
in
the
line.
Note:
The
actual
arc
length
for
which
line
results
are
reported
may
not
be
exactly
the
specified
arc
length.
OrcaFlex
reports
results
for
the
'nearest
appropriate'
result
point.
See
Result
Points
below.
For
some
variables
(e.g.
stress
components)
you
must
also
specify
the
position
of
the
point
within
the
cross
section
through
the
specified
arc
length.
Whenever
one
of
these
variables
is
selected
in
the
Variables
list,
two
extra
columns
become
visible
in
the
Position
table.
These
extra
columns
specify
the
polar
coordinates
(R,Theta)
of
the
point
within
the
cross
section;
see
the
diagram
in
the
Pipe
Stress
Calculation
section.
The
R
column
can
only
be
set
to
either
Inner
or
Outer,
meaning
the
radii
corresponding
to
the
Stress
ID
or
Stress
OD
respectively.
Results
are
not
available
for
points
between
these
two
radii.
Clearance
Results
Clearance
results
can
be
reported
either
as
clearances
from
this
line
to
all
other
lines
or
from
this
line
to
a
specified
other
line.
You
choose
which
of
the
options
is
used
from
the
drop-down
list
labelled
"Clearances
are
reported
as
clearances
from".
Result
Points
OrcaFlex
uses
a
discretised
model
and
so
results
are
only
available
at
nodes,
mid-segment
points
and
line
ends;
we
call
these
points
'result
points'.
The
available
result
points
depend
on
which
variable
you
request,
they
are
documented
in
the
description
of
the
variable.
When
you
ask
for
a
variable
at
a
specified
arc
length
OrcaFlex
gives
the
value
for
the
'nearest
appropriate'
result
point.
The
phrase
'nearest
appropriate'
here
means
that
OrcaFlex
considers
the
available
result
points
that
are
in
the
same
section
as
the
arc
length
you
specified
and
then
chooses
the
one
that
is
nearest
to
the
arc
length
you
specified.
If
you
specify
an
arc
length
that
is
exactly
at
the
boundary
of
two
sections
then
OrcaFlex
uses
the
section
that
starts
at
that
arc
length.
OrcaFlex
always
labels
results
with
the
actual
arc
length
to
the
result
point
to
which
they
apply,
so
you
can
check
to
ensure
that
you
are
getting
results
at
the
result
point
you
want.
Positions
X,
Y
and
Z
Available
at
nodes.
The
horizontal
component
of
distance
between
the
selected
node
and
the
touchdown
point.
Layback
is
not
defined
(N/A)
if
there
is
no
touchdown
point,
that
is
if
there
are
no
nodes
on
the
seabed.
Likewise,
if
the
selected
node
is
after
the
touchdown
point,
then
Layback
is
not
defined.
304
w
System
Modelling:
Data
and
Results,
Lines
Proportion Wet
Available
at
nodes.
The
proportion
of
the
part
of
the
line
that
the
node
represents,
that
is
submerged
in
the
sea.
The
value
is
in
the
range
0
to
1,
a
value
of
0
meaning
no
submersion
and
1
meaning
is
completely
submerged.
For
details
see
Line
Interaction
with
the
Sea
Surface.
Sea
Surface
Z
Available
at
nodes.
The
global
Z
coordinate
of
the
sea
surface
directly
above
the
instantaneous
position
of
the
selected
node.
Depth
Available
at
nodes.
The
depth
of
the
node
beneath
the
sea
surface
(=
Surface
Z
-
Node
Z).
Sea
Surface
Clearance
Available
at
nodes.
The
vertical
clearance
from
node
centre
to
the
instantaneous
sea
surface.
Negative
values
mean
that
the
node
is
submerged.
Arc
Length
Available
at
nodes.
The
arc
length
from
End
A
to
the
selected
point.
This
is
normally
only
useful
for
the
touchdown
point,
since
for
other
points
it
is
constant.
For
the
touchdown
point
it
gives
the
arc
length
from
End
A
to
the
first
node
on
the
seabed,
or
zero
if
there
is
no
touchdown.
Expansion
Factor
Available
at
nodes.
This
is
the
node's
offset
from
the
non-VIV
node
position,
in
the
transverse
VIV
direction.
Estimated
Transverse
A/D
Available
only
at
nodes
that
use
one
of
the
time
domain
VIV
models
from
the
VIV
Toolbox.
The
amplitude
of
the
oscillation
in
the
transverse
VIV
direction
divided
by
the
node's
VIV
diameter.
Motions
Velocity,
GX-Velocity,
GY-Velocity,
GZ-Velocity,
Acceleration,
GX-Acceleration,
GY-Acceleration,
GZ-Acceleration
Available
at
nodes.
The
magnitude
and
components
(with
respect
to
global
axes)
of
the
velocity
and
acceleration
of
the
node.
Warning:
The
velocity
results
are
derived
by
numerically
differentiating
the
logged
positions
of
the
node
with
respect
to
time,
using
the
central
difference
scheme.
The
acceleration
results
are
derived
by
a
further
such
numerical
differentiation.
Because
of
this
the
accuracy
of
the
results
(especially
the
accelerations)
will
depend
on
the
log
sample
interval.
If
the
log
sample
interval
is
large
then
the
results
will
not
show
higher
frequency
components
of
velocity
and
acceleration.
If
the
log
sample
interval
is
small
then
the
results
may
be
inaccurate
due
to
loss
of
precision
due
to
subtraction.
Acceleration (incl. g), x-Acceleration (incl. g), y-Acceleration (incl. g), z-Acceleration (incl. g)
Available
at
nodes.
The
magnitude
and
components
(with
respect
to
node
axes)
of
the
vector
a
-
g
where
a
is
the
acceleration
of
the
node
and
g
is
the
acceleration
due
to
gravity,
a
vector
pointing
vertically
downwards.
These
results
can
be
used
to
compare
against
accelerometer
readings.
Relative
Velocity,
Normal
Relative
Velocity,
Axial
Relative
Velocity
Available
at
nodes.
Relative
Velocity
is
the
velocity
of
the
fluid
relative
to
the
node,
i.e.
Vfluid
-
Vnode.
The
results
reported
are
the
magnitude
of
the
relative
velocity
and
its
normal
and
axial
components
(relative
to
the
line).
For
the
axial
component,
a
positive
value
means
that
the
fluid
is
moving
(relative
to
the
line)
towards
End
B.
The
fluid
velocity
used
is
the
velocity
of
the
principal
fluid
affecting
the
node.
The
principal
fluid
is
defined
as
follows:
1. If
proportion
dry
>
0.5
and
the
Include
wind
loads
on
Lines
option
is
enabled
in
the
Environment
data
then
the
principal
fluid
is
the
air.
305
System
Modelling:
Data
and
Results,
Lines
w
Warning:
The
relative
velocity
results
are
derived
using
the
node
velocity
results,
so
see
the
accuracy
warning
given
above.
Strouhal Frequency
Available
at
nodes.
The
Strouhal
Frequency
is
defined
to
be
St.V/D
where
St=0.2,
V
is
the
normal
component
of
relative
velocity
and
D
is
the
normal
drag
diameter.
Reynolds
Number
Available
at
nodes.
The
Reynolds
number
is
a
measure
of
the
flow
regime.
OrcaFlex
offers
a
number
of
different
options
for
the
calculation
of
Reynolds
number,
specified
on
the
Environment
data
form.
x-Drag
Coefficient,
y-Drag
Coefficient,
z-Drag
Coefficient,
Lift
Coefficient
Available
at
nodes.
These
are
the
drag
and
lift
coefficients
used
in
the
calculation.
For
constant
coefficients
then
these
results
report
the
values
given
in
the
user's
data,
except
for
a
node
at
the
junction
between
two
sections
with
different
coefficients,
where
an
effective
average
value
is
used.
If
the
line's
drag
or
lift
coefficients
vary
with
Reynolds
number
or
Height
above
Seabed
then
these
results
report
the
computed
value
that
was
used.
If
the
line
uses
a
wake
oscillator
VIV
model
with
inline
drag
amplification
then
the
amplification
factor
is
included
in
these
results.
The
inline
drag
amplification
factor
is
also
available
as
a
separate
result.
Wake
Velocity
Reduction
Factor,
Wake
Cd,
Wake
Cl
Available
at
nodes
only,
for
lines
which
include
sections
that
react
to
wake
effects.
Wake
Velocity
Reduction
Factor
is
the
factor
applied
to
the
velocity
at
the
node
as
a
result
of
upstream
wake
effects.
Wake
Cd
and
Wake
Cl
are
the
drag
and
lift
coefficients
respectively,
used
to
calculate
the
hydrodynamic
forces
at
the
node
as
a
result
of
any
upstream
wake
effects.
Note:
Wake
Cl
is
positive
when
the
lift
force
is
applied
in
the
y
direction
of
the
upstream
wake's
frame
of
reference
and
negative
when
the
lift
force
is
applied
in
the
-y
direction
of
the
upstream
wake's
frame
of
reference.
Angles
Azimuth,
Declination
and
Gamma
Available
at
mid-segment
points
and
line
ends.
These
angles
report
the
local
orientation
of
the
line
relative
to
global
axes.
The
gamma
angle
is
defined
as
for
line
ends
see
Line
End
Orientation.
Declination
is
in
the
range
0
to
180.
Range
jump
suppression
is
applied
to
Azimuth
and
Gamma
(so
values
outside
the
range
-360
to
+360
might
be
reported).
Ez-Angle,
Exy-Angle,
Ezx-Angle,
Ezy-Angle
Available
at
mid-segment
points
and
line
ends.
The
direction
angles
of
the
mid-segment
point,
relative
to
the
end
axes
of
the
nearest
line
end.
See
End
Direction
Results.
Ez-Angle
is
in
the
range
0
to
180.
Range
jump
suppression
is
applied
to
Exy-Angle,
Ezx-Angle
and
Ezy-Angle
(so
values
outside
the
range
-360
to
+360
might
be
reported).
Twist
Available
at
mid-segment
points.
The
twist
per
unit
length
experienced
by
the
segment.
Fluid
Incidence
Angle
Available
at
nodes.
The
angle
between
the
relative
velocity
direction
and
the
line
axial
direction.
A
value
in
the
range
0
to
90.
306
w
System
Modelling:
Data
and
Results,
Lines
Available
at
line
ends.
The
azimuth
and
declination
angles,
relative
to
global
axes,
of
the
no-moment
direction
at
the
end,
allowing
for
any
motion
of
the
object
to
which
the
line
is
attached.
These
results
are
only
available
if
the
end
orientation
angles
are
defined.
No-Moment
Declination
is
in
the
range
0
to
180.
Range
jump
suppression
is
applied
to
No-Moment
Azimuth
(so
values
outside
the
range
-360
to
+360
might
be
reported).
End
Force
Azimuth,
End
Force
Declination
Available
at
line
ends.
The
azimuth
and
declination
of
the
end
force
vector,
relative
to
global
axes.
End
Force
Declination
is
in
the
range
0
to
180.
Range
jump
suppression
is
applied
to
End
Force
Azimuth
(so
values
outside
the
range
-360
to
+360
might
be
reported).
End
Force
Ez-Angle,
End
Force
Exy-Angle,
End
Force
Ezx-Angle,
End
Force
Ezy-Angle
Available
at
line
ends.
The
direction
angles
of
the
end
force
vector,
with
respect
to
the
frame
of
reference
of
the
line
end.
See
End
Direction
Results.
These
results
are
only
available
if
the
end
orientation
angles
are
defined.
End
Force
Ez-Angle
is
in
the
range
0
to
180.
Range
jump
suppression
is
applied
to
the
other
3
end
force
angles
(so
values
outside
the
range
-360
to
+360
might
be
reported).
VIV
Stagnation
Point,
VIV
Neg
Separation
Point,
VIV
Pos
Separation
Point
Available
only
at
nodes
that
use
one
of
the
vortex
tracking
VIV
models
from
the
VIV
Toolbox.
The
values
reported
are
the
angular
positions
of
the
stagnation
and
separation
points.
Forces
Effective
Tension
and
Wall
Tension
Available
at
mid-segment
points
and
line
ends.
The
structural
force
along
the
line
axis.
Positive
values
denote
tension
and
negative
values
denote
compression.
The
reported
wall
tension
is
the
total
wall
tension,
T w,
scaled
by
the
tensile
stress
loading
factor.
By
default
this
loading
factor
equals
1.
For
details
of
the
difference
between
the
effective
tension,
T e,
and
the
wall
tension,
Tw,
see
the
Line
Pressure
Effects
section.
In
particular
see
the
warning
in
that
section
if
the
line
type
stress
diameters
differ
from
the
outer
and
inner
diameters.
Normalised
Tension
Defined
to
be
Effective
Tension
divided
by
Allowable
Tension.
Available
at
mid-segment
points
and
line
ends;
not
available
if
the
Allowable
Tension
is
set
to
'~'.
Contents
Density
Available
at
nodes.
This
result
is
most
useful
when
the
free-flooding
or
slug
flow
contents
methods
are
in
use.
Shear
Force,
x-Shear
Force,
y-Shear
Force,
Shear
Force
component,
In-plane
Shear
Force,
Out-of-plane
Shear
Force
Available
at
mid-segment
points
and
line
ends.
The
magnitude
of
structural
force
normal
to
the
line
axis,
its
components
in
the
local
x
and
y-directions,
its
component
in
the
user
specified
local
direction
theta
and
its
components
in
the
in-plane
and
out-of-plane
directions.
The
in-plane
direction
is
normal
to
both
the
line's
axis
(at
the
specified
arc
length)
and
the
vertical
direction.
The
out-of-plane
direction
is
normal
to
both
the
line's
axis
and
the
in-plane
direction.
If
the
line's
axis
is
vertical
then
these
directions
are
ill-defined
and
therefore
no
values
can
be
reported.
Vortex
Force
Magnitude,
Inline
Vortex
Force,
Transverse
Vortex
Force,
GX-Vortex
Force,
GY-Vortex
Force,
GZ-Vortex
Force
Available
only
at
nodes
that
use
one
of
the
time
domain
VIV
models
from
the
VIV
Toolbox.
The
magnitude
of
the
lift
and
drag
force
per
unit
length
of
line,
and
its
components
in
the
VIV
directions
and
global
axes
directions.
For
details,
see
the
documentation
of
the
relevant
time
domain
VIV
model.
307
System
Modelling:
Data
and
Results,
Lines
w
Available
only
at
nodes
that
use
one
of
the
wake
oscillator
VIV
models
from
the
VIV
Toolbox.
The
instantaneous
value
of
the
Inline
Drag
Amplification
Factor.
Moments
Bend
Moment,
x-Bend
Moment,
y-Bend
Moment,
Bend
Moment
component,
In-plane
Bend
Moment,
Out-of-plane
Bend
Moment
Available
at
mid-segment
points
and
line
ends.
The
magnitude
of
bend
moment,
its
components
in
the
local
x
and
y-
directions,
its
component
in
the
user
specified
local
direction
theta
and
its
components
in
the
in-plane
and
out-of-
plane
directions.
The
in-plane
direction
is
normal
to
both
the
line's
axis
(at
the
specified
arc
length)
and
the
vertical
direction.
The
out-of-plane
direction
is
normal
to
both
the
line's
axis
and
the
in-plane
direction.
If
the
line's
axis
is
vertical
then
these
directions
are
ill-defined
and
therefore
no
values
can
be
reported.
Curvature,
x-Curvature,
y-Curvature,
Curvature
component,
In-plane
Curvature,
Out-of-plane
Curvature
Available
at
mid-segment
points
and
line
ends.
The
magnitude
of
curvature,
its
components
in
the
local
x
and
y-
directions,
its
component
in
the
user
specified
local
direction
theta,
the
in-plane
and
out-of
plane-components
and
its
components
in
the
in-plane
and
out-of-plane
directions,
as
defined
above.
When
pre-bend
is
modelled
curvature
results
are
reported
relative
to
the
pre-bent
curvature.
Note:
When
using
non-linear
bend
stiffness,
the
reported
mid-segment
curvature
depends
on
whether
the
bend
stiffness
is
specified
to
be
hysteretic
or
not.
For
details
see
the
note
in
the
Non-linear
Bend
Stiffness
section.
Warning:
Curvature
results
are
accurate
only
if
the
segment
length
is
sufficiently
short.
T he
accuracy
can
be
estimated
by
performing
a
sensitivity
study
on
segment
length
in
the
area
of
interest.
Normalised Curvature
Available
at
mid-segment
points
and
line
ends.
Defined
to
be
Curvature
divided
by
Allowable
Curvature.
If
minimum
bend
radius
(MBR)
is
specified
as
varying
with
wall
tension
then
this
variation
is
taken
into
account
when
calculating
Normalised
Curvature.
Bend
Radius,
x-Bend
Radius,
y-Bend
Radius,
Bend
Radius
component,
In-plane
Bend
Radius,
Out-of-plane
Bend
Radius
Available
at
mid-segment
points
and
line
ends.
The
magnitude
of
bend
radius,
its
components
in
the
local
x
and
y-
directions,
its
component
in
the
user
specified
local
direction
theta
and
its
components
in
the
in-plane
and
out-of-
plane
directions,
as
defined
above.
When
pre-bend
is
modelled
these
results
are
reported
relative
to
the
pre-bent
curvature.
Notes:
Bend
radius
is
defined
to
be
1
/
curvature.
If
the
curvature
is
0
then
a
value
of
'Infinity'
is
reported.
When
using
non-linear
bend
stiffness,
the
reported
mid-segment
curvature
depends
on
whether
the
bend
stiffness
is
specified
to
be
hysteretic
or
not.
For
details
see
the
note
in
the
Non-linear
Bend
Stiffness
section.
Warning:
Bend
radius
results
are
accurate
only
if
the
segment
length
is
sufficiently
short.
The
accuracy
can
be
estimated
by
performing
a
sensitivity
study
on
segment
length
in
the
area
of
interest.
Torque
Available
at
mid-segment
points
and
line
ends
only,
and
available
only
for
lines
with
torsion
included.
The
component
of
structural
moment
along
the
line
axis.
Contact
Note:
As
well
as
the
results
variables
documented
below
OrcaFlex
also
provides
a
Line
Clashing
Report.
308
w
System
Modelling:
Data
and
Results,
Lines
Available
at
mid-segment
points
and
line
ends.
The
line
clearance
variables
report
shortest
distances
between
lines.
These
distances
can
be
either
the
shortest
distance
between
centrelines
(Line
Centreline
Clearance)
or
the
shortest
distance
between
outer
edges
(Line
Contact
Clearance).
The
results
selection
form
lets
you
choose
to
report
clearances
either:
x from
this
line
to
all
other
lines
or
x from
this
line
to
a
specified
other
line.
In
the
text
below
we
refer
to
the
other
lines
used
in
the
clearance
calculations
as
the
clearance
lines,
be
they
all
other
lines
or
a
single
specified
other
line.
Line
Centreline
Clearance
reports
the
centreline
clearance
from
this
line
to
the
clearance
lines.
More
precisely,
the
clearance
reported
for
a
segment
is
the
shortest
distance
from
the
centreline
of
the
segment
to
the
centreline
of
any
segment
on
the
clearance
lines.
Note
that
the
clearance
reported
therefore
does
not
allow
for
the
radii
of
the
lines
involved.
When
clearance
is
reported
for
a
line
end
it
reports
the
shortest
distance
from
the
centreline
of
the
point
at
the
end
node
to
the
centreline
of
any
segment
on
the
clearance
lines.
Line
Contact
Clearance
is
similar
but
it
reports
the
clearance
between
line
outer
edges
allowing
for
their
contact
diameters.
Note:
Line
Contact
Clearance
can
report
negative
values.
This
means
that
the
segments
in
question
are
penetrating
each
other.
If
clashing
is
being
modelled
for
both
segments
then
a
clash
force
will
result
from
this
penetration.
The
line
clearance
variables
are
useful
for
checking
for
clashing
between
lines.
They
are
available
in
both
range
graph
and
time
history
form.
The
range
graph,
for
a
given
period
of
the
simulation,
enables
you
to
see
where
on
the
line
clashing
may
be
a
problem.
You
can
then
examine
the
time
history
of
line
clearance
for
that
point
on
the
line,
to
see
when
closest
approach
occurs.
You
can
then
use
the
replay
to
examine
which
other
line
is
coming
closest.
It
is
sometimes
worth
choosing
carefully
which
line
to
check
for
clearance.
An
example
is
checking
for
clashing
between
a
single
mooring
line
and
one
or
more
of
a
number
of
closely
spaced
flowlines.
Let
us
assume
that
you
are
reporting
clearances
from
all
other
lines.
The
clearance
graphs
for
the
flowlines
will
include
clearance
to
the
other
flowlines,
between
which
clashing
may
not
be
a
concern.
The
mooring
line
clearance
is
probably
more
useful,
since
it
only
includes
clearance
to
the
flowlines.
Line
clearance
only
checks
against
other
lines,
not
against
edges
of
vessels,
buoys,
etc.
However
you
can
check
clearance
against
part
of
a
vessel,
for
example,
by
attaching
a
dummy
single-segment
line
to
the
vessel,
spanning
across
the
area
of
interest.
The
line
clearance
graphs
for
that
dummy
line
will
then
show
how
close
other
lines
come
to
that
area
of
the
vessel.
Notes:
For
mid-segment
points
the
segment
used
is
the
one
containing
the
selected
arc
length.
Line clearance results are only available if there are at least 2 lines in the model.
Warning:
For
complex
models,
building
and
updating
clearance
graphs
can
be
slow.
Having
"live"
clearance
graphs
open
while
a
simulation
is
running
can
significantly
slow
down
the
simulation.
Seabed Clearance
Available
at
nodes.
The
clearance
is
the
shortest
distance
between
the
node
and
any
point
on
the
seabed,
allowing
for
the
contact
diameter.
The
value
reported
is
for
the
node
that
is
nearest
the
specified
arc
length.
A
negative
value
indicates
that
the
node
is
in
contact
with
the
seabed.
This
result
is
not
available
for
3D
seabeds
because
it
is
difficult
to
calculate.
Instead
you
should
use
Vertical
Seabed
Clearance.
Vertical
Seabed
Clearance
Available
at
nodes.
The
clearance
is
the
vertical
distance
between
the
node
and
the
seabed,
allowing
for
the
contact
diameter.
The
value
reported
is
for
the
node
that
is
nearest
the
specified
arc
length.
A
negative
value
indicates
that
the
node
is
in
contact
with
the
seabed.
309
System
Modelling:
Data
and
Results,
Lines
w
Available
at
mid-segment
points.
The
magnitude
of
the
clash
force
between
this
segment
and
other
lines.
Please
note
that
this
variable
is
only
available
if
clash
checking
has
been
included
for
the
lines
concerned.
See
Line
Clashing
for
details.
Line
Clash
Force
is
given
for
the
segment
containing
the
selected
arc
length
and
results
are
available
in
the
form
of
time
histories
and
range
graphs.
If
multiple
clashes
occur
simultaneously
on
the
same
segment
then
the
value
reported
is
the
magnitude
of
the
vector
sum
of
the
clash
forces
involved.
Line
Clash
Impulse
Available
at
mid-segment
points.
The
integral
of
Line
Clash
Force
with
respect
to
time.
Line
Clash
Energy
Available
at
mid-segment
points.
Clash
energy
is
calculated
by
integrating
the
magnitude
of
clash
force
with
respect
to
depth
of
penetration.
Suppose
that
this
segment
is
denoted
by
S1
and
segment
S2
is
another
segment
which
S1
is
in
contact
with.
The
clash
energy
for
the
spring/damper
representing
contact
between
these
2
segments
is
calculated
by
integrating
the
magnitude
of
clash
force
with
respect
to
depth
of
penetration.
This
then
is
the
potential
energy
in
the
spring/damper.
If
multiple
clashes
occur
simultaneously
on
the
same
segment
then
the
value
reported
is
the
sum
of
all
individual
clash
energies
between
this
segment
and
other
segments.
Solid
Contact
Force
Available
at
nodes.
The
magnitude
of
the
force
per
unit
length
due
to
contact
with
elastic
solids.
Seabed
Normal
Penetration/D
Available
at
nodes.
The
component
of
seabed
penetration
normal
to
the
seabed,
divided
by
the
contact
diameter.
Seabed
Normal
Resistance,
Seabed
Normal
Resistance/D
Available
at
nodes.
Seabed
Normal
Resistance
is
the
component
of
seabed
resistance
normal
to
the
seabed,
where
seabed
resistance
means
the
seabed
reaction
force
per
unit
length
of
line.
Seabed
Normal
Resistance/D
is
the
Seabed
Normal
Resistance
divided
by
the
contact
diameter.
The
forces
due
to
both
seabed
stiffness
and
seabed
damping
are
included.
Warning:
The
damping
force
depends
upon
node
velocity.
This
is
derived
by
numerically
differentiating
the
logged
positions
of
the
node
with
respect
to
time,
using
the
central
difference
scheme.
Because
of
this
the
accuracy
of
the
results
will
depend
on
the
log
sample
interval.
See
Motions
results
for
more
details.
310
w
System
Modelling:
Data
and
Results,
Lines
The
assumptions
described
above
mean
that
the
stress
calculations
are
only
valid
for
pipes
such
as
steel
or
titanium
risers,
not
for
composite
flexible
risers,
ropes
chains,
etc.
If
the
pipe
has
non-linear
stiffness
then
the
program
cannot,
in
general,
accurately
calculate
pipe
stresses.
The
program
uses
the
same
formulae
for
stress
calculation
as
it
does
for
linear
stiffness.
For
example
the
bending
stress
is
calculated
as
Mr/Ixy.
An
exception
to
this
is
made
for
a
homogeneous
pipe
with
non-linear
stress-strain.
In
this
situation
stress
results
can
be
calculated
accurately
by
using
the
stress-strain
data.
If
the
line
type
stress
diameters
differ
from
the
outer
and
inner
diameters
then
see
the
warning
in
the
Line
Pressure
Effects
section.
The
program
does
not,
and
indeed
cannot,
allow
for
the
complex
stress
concentrations
that
can
occur
at
joints
or
at
the
top
and
bottom
of
a
riser.
Direct
Tensile
Strain
Available
at
mid-segment
points
and
line
ends.
This
is
the
component
of
axial
strain
due
to
wall
tension
(which
includes
the
effects
of
internal
and
external
pressure).
Max
Bending
Strain
Available
at
mid-segment
points
and
line
ends.
This
is
the
axial
strain
due
to
bending
at
the
outer
fibre
on
the
outside
of
the
bend.
Worst
ZZ
Strain
Available
at
mid-segment
points
and
line
ends.
This
equals
whichever
of
Direct
Tensile
Strain
Max
Bending
Strain
has
the
larger
absolute
value.
ZZ
Strain
Available
at
mid-segment
points.
This
equals
Direct
Tensile
Strain
+
Bending
Strain.
ZZ
Strain
varies
across
the
cross-section
and
so
its
value
is
reported
at
a
specified
()
position.
Internal
and
External
Pressure
Available
at
mid-segment
points
and
line
ends.
The
internal
and
external
static
pressures,
P i
and
Po.
See
Line
Pressure
Effects
for
details.
Pressures
in
OrcaFlex
are
gauge
pressures,
not
absolute
pressures.
That
is,
they
are
relative
to
atmospheric
pressure
and
so
can
be
as
low
as
minus
1
atmosphere
(-101.325
kPa).
Net
External
Pressure
Available
at
mid-segment
points
and
line
ends.
This
is
the
axial
stress
due
to
wall
tension
(which
includes
the
effects
of
internal
and
external
pressure).
It
is
constant
across
the
cross-section
and
equals
Tw/A.
A
positive
value
indicates
tension;
a
negative
value
indicates
compression.
Max
Bending
Stress
Available
at
mid-segment
points
and
line
ends.
This
is
the
maximum
value
that
the
Bending
Stress
takes
anywhere
in
the
section.
It
is
given
by
Max
Bending
Stress
=
(C2.M.ODstress/2)
/
Ixy
and
this
maximum
occurs
at
the
extreme
fibre
on
the
outside
of
the
bend.
For
a
homogeneous
pipe
with
non-linear
stress-strain
zz)
-
zz)
-
Tw/A
stress-strain
relationship
zz
is
the
axial
strain
at
the
extreme
fibre
on
the
outside
of
the
bend
data.
Worst
Hoop
Stress
Available
at
mid-segment
points
and
line
ends.
The
Hoop
Stress
is
due
to
internal
and
external
pressure.
It
varies
across
the
section
and
can
be
positive
(tension)
or
negative
(compression),
and
by
the
Worst
Hoop
Stress
we
mean
311
System
Modelling:
Data
and
Results,
Lines
w
the
hoop
stress
of
greatest
magnitude.
It
is
obtained
by
finding
the
point
in
the
cross-section
where
the
unsigned
magnitude
of
the
Hoop
Stress
is
largest;
this
must
be
either
at
the
inside
or
outside
f ibre
of
the
stress
area.
The
Hoop
Stress
at
this
point
is
called
the
Worst
Hoop
Stress.
Max
xy-Shear
Stress
Available
at
mid- RZ2
CZ2)
is
called
the
xy-Shear
Stress.
This
varies
across
the
cross-section,
and
OrcaFlex
reports
the
maximum
value
that
occurs
anywhere
in
the
cross-section.
This
is
the
Max
xy-Shear
Stress
and
it
is
given
by
Max
xy-Shear
Stress
=
(C4stress/2)
/
Iz
+
C3.S
/
A
von
Mises
Stress,
Max
von
Mises
Stress
312
w
System
Modelling:
Data
and
Results,
Lines
Available
at
mid-segment
points
and
line
ends.
These
are
the
individual
stress
components
at
a
point
in
the
cross-
section.
The
point
is
specified
by
its
polar
coordinates
( )
within
the
cross
section.
See
Pipe
Stress
Calculation
and
Pipe
Stress
Matrix
for
details.
End
Loads
The
line
end
load
results
are
based
on
the
end
force
and
end
moment
vectors
at
the
line
end.
There
are
3
groups
of
end
load
results:
x Standard
results
like
Effective
Tension,
Bend
Moment,
etc.
are
available
at
line
ends
as
well
as
at
mid-segment
points.
For
example
to
obtain
the
end
tension
at
End
A
you
can
ask
for
the
Effective
Tension
(or
Wall
Tension)
at
End
A.
x Magnitude
and
other
components
of
the
end
force
and
end
moment
vectors.
x Bend
Restrictor
Load,
which
is
a
special
end
load
result
useful
for
bend
restrictor
design.
Sign
Convention
When
considering
the
sign
of
end
load
components
the
question
arises
as
to
whether
the
load
reported
is
that
applied
by
the
line
to
its
connection
or
vice
versa.
The
OrcaFlex
convention
is
that
the
load
reported
at
any
point
is
that
applied
by
the
B
side
of
that
point
to
the
A
side.
So
at
End
A
we
report
the
end
load
applied
by
the
line
to
its
connection
(e.g.
a
vessel),
but
at
End
B
we
report
the
end
load
applied
to
the
line
by
its
connection.
This
is
in
keeping
with
the
OrcaFlex
convention
for
specifying
the
no-moment
direction.
Treatment
of
Links
and
Winches
attached
to
the
end
node
Normally,
the
end
force
and
end
moment
are
the
total
load
acting
between
the
end
node
and
the
object
to
which
it
is
connected.
This
includes
forces
from
any
links
or
winches
attached
to
the
end
node.
However
if
the
line
end
is
free,
or
has
been
released,
then
it
is
not
connected
to
any
object.
In
this
case
the
end
moment
is
zero
and
the
end
force
is
taken
to
be
the
total
force
acting
between
the
line
end
and
any
links
or
winches
attached
to
the
end
node.
If
there
are
no
attached
links
or
winches,
or
they
h ave
been
released,
then
the
end
force
is
zero.
Standard
Results
Effective
Tension,
Wall
Tension,
Shear
Force,
x-Shear
Force,
y-Shear
Force,
Bend
Moment,
x-Bend
Moment,
y-Bend
Moment,
Curvature,
x-Curvature,
y-Curvature
These
results
variables
are
available
at
the
line
end
nodes,
as
well
as
at
mid-segment
points.
Whether
you
are
given
end
values
or
mid-segment
values
depends
on
the
point
at
which
you
ask
for
the
results.
If
you
ask
for
these
results
at
EndA
or
EndB,
or
at
an
arc
length
that
is
closer
to
a
line
end
than
to
the
nearest
mid-segment
arc
length,
then
the
values
at
the
line
end
will
be
given.
Otherwise
the
values
for
the
nearest
mid-segment
point
will
be
given.
For
mid-segment
values
see
Line
Results:
Forces,
Line
Results:
Moments
and
Line
Results:
Pipe
Stresses.
At
a
line
end
they
report
the
components
of
the
end
loads
in
the
local
node
directions
of
the
end
node,
as
follows:
x Effective
tension
is
the
component
of
the
end
force
vector
in
the
end
node
axial
direction
(=
Nz
direction).
x Wall
tension
is
derived
from
the
effective
tension
at
the
line
end,
using
the
pressure
effects
formula.
x Shear
is
the
component
of
the
end
force
vector
normal
to
the
end
node
axial
direction.
x x-Shear
and
y-Shear
are
the
components
of
the
end
force
vector
in
the
end
node
Nx
and
Ny
directions.
x Torque
is
the
component
of
the
end
moment
vector
in
the
end
node
axial
direction.
x Bend
moment
is
the
component
of
the
end
moment
vector
normal
to
the
end
node
axial
direction.
x x-Bend
Moment
and
y-Bend
Moment
are
the
components
in
the
end
node
Nx
and
Ny
directions.
x Stress
results
are
based
on
the
end
load
components
in
the
end
node
axes
directions.
Differences
between
End
Loads
and
End
Segment
Loads
The end values of these results differ from the corresponding values for the end segment for two reasons.
313
System
Modelling:
Data
and
Results,
Lines
w
Firstly,
they
include
the
loads
(weight,
buoyancy,
drag
etc.)
on
the
last
half
segment
adjacent
to
the
end.
Secondly,
they
are
components
in
the
local
node
directions
(Nx,Ny,Nz)
at
the
end
node,
whereas
the
end
segment
values
are
components
with
respect
to
the
segment
directions
(Sx,Sy,Sz).
The
end
node
is
often
not
aligned
with
the
end
segment
because
end
connection
stiffness
turns
it
towards
the
end
orientation
direction.
For
example:
x If
the
end
connection
stiffness
is
zero,
or
if
the
line
end
is
free
or
has
been
released,
then
the
end
node
directions
are
aligned
with
the
end
segment
directions.
The
end
node
values
then
differ
from
the
end
segment
values
only
by
the
loads
on
the
end
half
segment.
x If
the
end
connection
stiffness
is
Infinity
(and
the
end
is
not
free
or
released)
then
the
end
node
directions
stay
aligned
with
the
line
end
axes
Ex,
Ey,
Ez.
The
end
node
values
are
then
usually
in
different
directions
to
the
end
segment
values.
x For
intermediate
values
of
end
connection
stiffness,
the
end
node
directions
will
be
somewhere
between
the
two.
They
will
tend
to
be
nearer
to
the
end
fitting
directions
if
the
end
connection
stiffnesses
are
stronger
than
the
line
bend
stiffness
and
torsional
stiffness,
but
nearer
to
the
end
segment
directions
if
it
is
weaker.
End
Load
Magnitude
and
Components
End
Force,
End
Moment,
End
GX-Force,
End
GY-Force
and
End
GZ-Force,
End
GX-Moment,
End
GY-Moment,
End
GZ-Moment,
End
Lx-Force,
End
Ly-Force
and
End
Lz-Force,
End
Lx-Moment,
End
Ly-Moment,
End
Lz-Moment,
End
Ex-Force,
End
Ey-Force
and
End
Ez-Force,
End
Ex-Moment,
End
Ey-Moment,
End
Ez-Moment
These
results
report
the
magnitude
of
the
end
force
and
end
moment
vectors,
and
their
components
in
the
following
directions:
x The
directions
of
the
global
axes
GX,
GY,
GZ.
x The
directions
of
the
local
axes
Lx,
Ly,
Lz
of
the
object
to
which
the
line
end
is
connected.
For
example
if
the
line
end
is
connected
to
a
vessel,
the
Lx,
Ly,
Lz
are
the
directions
of
the
vessel
axes.
x The
directions
of
the
line
end
axes
Ex,
Ey,
Ez.
See
Line
End
Orientation.
For
a
line
with
a
stiffener
attached
results
are
reported
separately
for
the
protected
line
and
its
stiffener.
However,
it
is
sometimes
necessary
(e.g.
when
designing
end
fittings)
to
report
combined
end
loads
including
the
load
from
both
the
protected
line
and
its
stiffener.
End
load
results
are
available
for
the
protected
line
which
include
the
stiffener
end
load,
in
addition
to
the
protected
line
end
load.
These
results
are
all
prefixed
with
"Total",
e.g.
Total
End
Load,
Total
End
Moment,
Total
End
GZ-
Force
etc.
Bend
Restrictor
Load
This
is
defined
as
Bend
Restrictor
Load
=
End
Force*(1
-
cos(End
Force
Ez-Angle)).
Another
commonly
used
name
for
this
variable
is
"pseudo-curvature".
6.8.6 Drag
Chain
Results
For
details
on
how
to
select
results
variables
see
Selecting
Variables.
For
Drag
Chains
the
following
results
variables
are
available.
Azimuth
and
Declination
The
azimuth
and
declination
of
the
drag
chain,
relative
to
global
axes.
Supported
Length
and
Hanging
Length
The
supported
length
is
the
length
deemed
to
be
supported
by
the
seabed.
The
hanging
length
is
the
length
of
the
rest
of
the
drag
chain.
The
supported
length
plus
the
hanging
length
equals
the
total
length
of
the
drag
chain.
See
Drag
Chain
Seabed
Interaction
for
details
on
how
these
values
are
calculated.
Drag
Force
The
magnitude
of
the
drag
force
acting
on
the
drag
chain.
This
includes
both
the
axial
and
normal
components
of
the
drag
force.
Axial
Drag
Force,
Normal
Drag
Force
The components of drag force axial and normal to the drag chain.
314
w
System
Modelling:
Data
and
Results,
Lines
The
horizontal
and
vertical
components
of
the
drag
force.
For
the
vertical
drag
force
a
positive
value
indicates
an
upwards
force.
See
Drag
Chain
Theory
for
details
on
how
the
drag
force
is
calculated.
6.8.7 Flex
Joint
Results
For
details
on
how
to
select
results
variables
see
Selecting
Variables.
For
Flex
Joints
the
following
results
variables
are
available.
Bend
Moment,
x-Bend
Moment,
y-Bend
Moment
The
magnitude
of
bending
moment
at
the
Flex
Joint
and
its
components
in
the
local
x
and
y-directions.
6.8.8 Line
Setup
Wizard
Intended
principally
for
mooring
analyses,
this
wizard
adjusts
line
configuration
to
achieve
specified
tension,
declination
or
layback.
The
wizard
is
available
when
the
current
simulation
is
in
Reset
state
and
is
opened
by
clicking
the
Calculation
|
Line
Setup
Wizard
menu
item.
Figure:
The
Line
Setup
Wizard
Calculation Mode
The Wizard has two modes of operation: Calculate Line Lengths or Calculate Anchor Positions.
315
System
Modelling:
Data
and
Results,
Lines
w
The
Calculate
Line
Lengths
option
operates
by
varying
the
length
of
the
specified
section
of
each
included
line
until
the
target
top
value
is
achieved.
Because
the
section
length
is
altered
by
the
Calculate
Line
Lengths
option
we
recommend
that
you
specify
the
segmentation
using
Target
Segment
Length
rather
than
Number
of
Segments.
Thus
if
the
wizard
lengthens
the
line
then
the
program
will
automatically
add
more
segments
to
meet
the
Target
Segment
Length.
The
Calculate
Anchor
Positions
option
operates
by
varying
the
position
of
the
Bottom
End
of
each
included
line
until
the
target
value
is
achieved.
The
Bottom
End
position
is
constrained
to
be
on
a
line
in
the
Lay
Azimuth
direction
so
you
must
set
these
data
items
before
using
the
wizard.
Note:
These
calculations
use
a
numerical
method
which
is
not
100%
robust.
We
recommend
that
you
set
up
your
model
so
that
your
top
tension
/
top
declination
values
are
quite
close
to
your
exact
target
values
before
using
the
wizard.
If
you
do
this
the
wizard
is
more
likely
to
be
able
to
find
a
solution.
Target Values
To
use
the
wizard
you
must
first
specify
the
target
tensions
or
declinations.
The
wizard
presents
a
list
of
all
Lines
in
the
model.
The
Include
this
Line
option
determines
which
Lines
are
included
in
the
calculation
which
allows
you
to
exclude
certain
Lines.
For
example,
you
may
be
modelling
both
moorings
and
flow
lines
in
the
same
OrcaFlex
file.
Typically
you
would
only
include
the
moorings
in
this
calculation.
The
Target
Variable
option
allows
you
to
switch
between
the
following
options:
x End
A
Tension
or
End
B
Tension.
x End
A
Horizontal
End
Force
or
End
B
Horizontal
End
Force.
x End
A
Declination
or
End
B
Declination.
x Layback,
defined
to
be
the
horizontal
component
of
distance
between
the
Top
End
of
the
line
and
the
touchdown
point.
x No
Target,
which
means
that
the
line
will
be
included
in
the
static
calculation
but
that
its
data
is
not
to
be
modified.
This
is
particularly
useful
if
you
are
analysing
buoyed
systems
where
the
upper
and
lower
catenaries
are
modelled
with
different
Lines.
Finally
you
specify
Tension,
Horizontal
End
Force,
Declination
or
Layback
values,
as
applicable,
in
the
Target
Value
field.
Line
section
to
be
modified
Specifies
which
section
on
the
line
is
to
have
its
length
modified
when
using
the
Calculate
Line
Lengths
mode.
Convergence
Parameters
The
Wizard
performs
an
iterative
calculation
and
these
parameters
can
be
used
to
help
convergence.
The
calculation
is
abandoned
if
convergence
has
not
been
achieved
after
the
number
of
steps
specified
by
Max
Iterations.
For
some
difficult
cases
simply
increasing
this
limit
may
be
enough.
The
non-dimensional
Tolerance
parameter
determines
when
the
calculation
is
deemed
to
have
converged.
The
calculation
has
converged
once
the
following
conditions
are
satisfied:
x Calculated
Value
<
Tolerance
Typical
Force
for
tension
and
end
force
targets.
Typical
Force
for
a
line
is
defined
as
to
be
the
total
dry
weight
of
the
line.
x Calculated
Value
<
Tolerance
for
declination
targets.
x Calculated
Value
<
Tolerance
Target
Value
for
a
layback
target.
The
Min
Damping
and
Max
Damping
parameters
can
sometimes
be
used
to
help
difficult
problems
converge.
Try
increasing
the
Min
Damping
factor,
say
values
in
the
range
1.5
to
10.
You
can
also
try
increasing
the
Max
Damping
factor,
say
to
values
in
the
range
10
to
100.
6.8.9 Line
Type
Wizard
The
Line
Type
Wizard
is
a
tool
that
helps
you
set
up
a
Line
Type
that
represents
one
of
the
following
commonly
used
structures:
x Chain.
316
w
System
Modelling:
Data
and
Results,
Lines
x Rope/Wire.
x Line
with
Floats.
x Homogeneous
Pipe.
x Hose.
x Umbilical.
What
the
Wizard
does
is
ask
you
for
the
basic
data
of
the
structure
e.g.
the
bar
diameter
for
a
chain
and
then
calculate
for
you
as
much
of
the
line
type
data
as
it
reasonably
can
for
representing
that
structure.
The
Wizard
leaves
you
to
set
other
data
e.g.
friction
coefficients
where
there
is
no
formula
on
which
to
base
the
data.
Warning:
The
values
generated
by
the
Wizard
are
offered
in
good
faith,
but
due
to
variations
in
properties
between
products
they
cannot
be
guaranteed.
Please
use
suppliers'
data
where
this
is
available.
317
System
Modelling:
Data
and
Results,
Lines
w
Studless
Studlink
OD
1.80D
1.89D
ID
0
0
Contact
diameter
3.35D
3.6D
Mass/Length
19.9D2
21.9D2
te/m
for
D
in
m
Axial
stiffness
0.854x108D2
1.01x108D2
kN
for
D
in
m
Bend
stiffness
0
0
Limit
Compression
yes
yes
Normal
drag
coefficient
1.0
1.0
Normal
drag
diameter
2.10D
2.26D
Axial
drag
coefficient
0.4
0.4
Axial
drag
diameter
Normal
added
mass
coefficient
1.0
1.0
Axial
added
mass
coefficient
0.08
0.07
Stress
diameters
'~'
'~'
Allowable
stress
'~'
'~'
Friction
coefficient
typically
0.4
-
0.8
depending
on
the
seabed
Reference
Puech A, 1984.
Geometry
D = Nominal Diameter
AFACE
3.35D (studless) 6D
3.6D (studlink)
Figure:
Chain
Geometry
Data
Chains
are
widely
used
in
a
variety
of
offshore
applications,
most
obviously
in
mooring.
The
Line
Type
Wizard
helps
derive
a
line
type
to
represent
a
chain
based
on
the
following
input
data.
Bar
Diameter
318
w
System
Modelling:
Data
and
Results,
Lines
Mechanical
Properties
Catalogue
Data
When
modelling
mooring
chain
the
Line
Type
Wizard
aims
to
derive
data
for
a
line
type
whose
characteristics
are
equivalent
to
that
of
a
chain.
Warning:
The
values
generated
by
the
Wizard
are
approximate
only
and
are
intended
as
first
estimates
for
preliminary
use.
They
are
offered
in
good
faith,
but
due
to
variations
in
properties
between
products
they
cannot
be
guaranteed.
Please
use
suppliers'
data
where
this
is
available.
In
deriving
these
some
of
the
available
catalogue
data
will
prove
useful
and
we
outline
here
the
relevant
aspects.
The
Mooring
Chain
figure
shows
the
geometry
of
a
pair
of
chain
links.
The
values
are
given
in
terms
of
the
nominal
bar
diameter
of
the
chain
(D),
assumed
to
be
in
metres,
and
are
given
for
both
a
studless
chain
and,
where
different,
for
a
studlink
chain.
The
geometry
given
in
the
figure
is
based
on
catalogue
data
available
from
the
chain
manufacturer
Scana
Ramnas
(1990
&
1995),
as
is
the
following
expression
for
mass
per
metre:
Mass
per
metre
(M)
=
19.9D2
te/m
(studless)
or
21.9D2
te/m
(studlink).
The
catalogue
also
gives
the
following
value
for
the
Young's
Modulus
of
the
chain
that
has
been
deduced
from
stress-
strain
relationships
in
which
the
cross-sectional
area
of
two
bars
is
taken
to
be
the
load
bearing
area:
E
=
5.44
x
107
kN/m2
(studless)
or
6.40
x
107
kN/m2
(studlink).
Minimum
Breaking
Loads
For
information,
the
properties
window
displays
minimum
breaking
loads
that
depend
on
the
nominal
diameter
and
chain
grade.
They
are
derived
using
the
following
relationship,
which
was
obtained
from
the
manufacturer's
catalogue:
Min
Breaking
Load
=
c.D2.(44
-
80D)
kN
where
c
is
a
grade-dependent
constant,
given
in
the
catalogue
data
as
Grade
2:
1.37e4,
Grade
3:
1.96e4,
ORQ:
2.11e4,
R4
-
2.74e4.
Studless
and
Studlink
chains
with
the
same
nominal
diameters
are
stated
to
withstand
the
same
break-
and
proof-
loads.
Derived
Data
It
will
be
useful
to
know
the
centreline
length
of
bar
needed
to
make
a
single
link.
We
can
obtain
this
by
noting
that,
for
a
long
chain,
there
is
one
chain
link
every
4D
length
of
chain.
Hence,
the
number
of
links
per
metre
of
chain
is
N
=
1/(4D),
and
thus
for
a
single
link:
Mass
per
link
=
M
/
N
=
79.6D3
te
(studless)
or
87
6D3
te
(studlink).
s
as
density
of
steel
(=
7.8
te/m3),
this
then
leads
to:
Volume
per
s
=
10.2D3
m3
(studless)
or
11.2D3
m3
(studlink).
But,
by
considering
the
geometry
of
a
link,
we
also
have
2/4,
where
L
is
centreline
length
of
bar
needed
to
make
a
single
link
(including
the
stud
in
the
case
of
the
studlink
chain).
Hence:
2/4)
=
13.0D
m
(studless)
or
14.3D
m
(studlink).
The
effective
outer
diameter
of
the
equivalent
line
is
obtained
using
a
similar
argument
to
that
deployed
in
obtaining
the
overall
length
of
bar
per
link.
Firstly,
note
that
the
volume
per
metre
can
b e
expressed
as
both:
s
and
also
as
2/4
319
System
Modelling:
Data
and
Results,
Lines
w
where
OD
is
the
equivalent
diameter
for
a
line
with
constant
volume
along
its
length.
Equating
these
expressions
leads
to:
s)]
=
1.80D
m
(studless)
or
1.89D
m
(studlink).
Inner
Diameter
Chains
do
not
have
any
contents,
so
the
Inner
Diameter
is
set
to
zero.
Contact
Diameter
The
contact
diameter
is
set
to
the
chain
link
envelope
diameter.
That
is
Contact
Diameter
=
3.35D
m
(studless)
or
3.6D
m
(studlink).
As
detailed
in
Mechanical
Properties
of
Mooring
Chains
we
have
values
for
the
Young's
Modulus
for
both
studlink
and
studless
chains
from
catalogue
data.
Taking
A
to
be
the
combined
cross-sectional
area
of
two
bars,
that
is:
2
/
4)
m2
leads
to:
EA
=
0.854
x
108
D2
kN
(studless)
or
1.01
x
108
D2
kN
(studlink).
Bending
Stiffness
For
both
studlink
and
studless
chains
the
bending
stiffness
is
set
to
zero
as
the
chains
are
assumed
to
bend
when
subjected
to
very
small
moments.
Limit
Compression
In conjunction with a zero value for bend stiffness, Limit Compression is set to 'yes'.
Axial
Drag
The
Line
Type
Wizard
sets
up
the
axial
drag
coefficient
and
axial
drag
diameter
for
a
chain
as
follows.
Generally,
axial
drag
is
very
low
for
smooth
pipes,
being
due
to
skin
friction
only.
However,
for
a
chain
there
is
some
projected
area
present
even
in
axial
flow
and
we
consider
the
drag
force
due
to
this
effect.
We
ignore
the
effect
of
skin
friction
in
the
derivation
outlined
below.
320
w
System
Modelling:
Data
and
Results,
Lines
As
in
the
calculation
for
normal
flow
we
consider
two
adjacent
links
and
calculate
their
projected
area.
The
projected
area,
normal
to
the
flow,
for
axial
flow
consists
of
the
four
"lobes"
only,
since
the
central
part
is
effectively
shielded
from
the
flow
see
the
figure.
Hoerner
(1965),
page
5-8,
Fig
14c,
gives
Cda
=
0.32
for
a
hemispherical
rivet
head
projecting
from
a
plane.
The
lobes
here
are
similar
more
elongated
in
the
flow
direction
(implying
a
lower
Cda)
but
on
a
less
smooth
body
(implying
a
higher
Cda).
Hence,
we
assume:
Cda
=
0.40.
The
reference
drag
area
that
corresponds
to
this
is
the
axial
projected
area
of
the
lobes.
Each
lobe
is
(3.35D
-
D)/2
=
1.175D
long
for
studless,
or
(3.6D
-
D)/2
=
1.30D
long
for
studlink,
consisting
of
a
semicircle
of
diameter
D
on
the
end
of
a
rectangle
of
width
D
and
length
1.175D
-
0.5D
=
0.675D
(studless),
or
1.3D
-
0.5D
=
0.8D
(studlink).
And
each
pair
of
links
gives
4
lobes,
so
the
total
axial
projected
area
p er
metre
of
chain
(=
1/8D
pairs
of
links)
is
given
by:
2/8
+
0.675D2)
/
(8D)
=
0.54D
for
studless
2/8
+
0.8D2)
/
(8D)
=
0.60D
for
studlink.
a,
where
Da
is
the
axial
drag
diameter.
So
the
axial
drag
diameter
for
OrcaFlex
is:
Da
Da
Normal
Drag
The
Line
Type
Wizard
sets
up
the
Normal
Drag
Coefficient
for
a
chain
as
follows:
We
first
calculate
the
drag
force
on
a
chain
in
normal
flow,
for
which
we
require
a
value
for
its
projected
area
(normal
to
the
flow).
To
calculate
this
we
must
consider
the
chain
as
a
collection
of
pairs
of
adjacent
links,
one
face
on
to
the
flow,
with
projected
area
AFACE,
and
one
edge
on,
with
projected
area
AEDGE
see
Figure.
The
overall
projected
area
per
metre
will
be
a
multiple
of
the
sum
of
these
two
areas.
AFACE
=
L
D
-
2D2
=
11.0
D2
m2
(studless)
or
12.3D2
m2
(studlink)
and
AEDGE
2/4)/2
=
5.79
D2
m2.
There
are
1/(4D)
links
per
metre
and
hence
1/(8D)
such
pairs
of
links
per
metre.
Hence,
the
total
projected
area
per
metre
(normal
to
the
flow)
is
given
by
the
following
expression:
ANORMAL
=
(AFACE
+
AEDGE)
(1/(8D))
=
2.10D
m
(studless)
or
2.26D
m
(studlink).
So,
we
are
now
able
to
calculate
the
drag
force
per
metre
length
of
chain
as:
Drag
fo2
Cdn
ANORMAL
for
a
given
drag
coefficient
Cdn
bluff
bodies
such
as
chain
links,
of
either
type,
a
suitable
value
for
Cd n
is
1.0.
The
drag
force
per
metre
length
as
calculated
by
OrcaFlex
is
given
by:
2
Cdn
Dn
where
Dn
is
the
normal
drag
diameter.
Equating
the
two
equations
for
drag
force
leads
to:
Dn
=
ANORMAL
=
2.10D
m
(studless)
or
2.26D
m
(studlink).
321
System
Modelling:
Data
and
Results,
Lines
w
Fibre rope Wire with Fibre core Wire with Wire core
Figure:
Rope/Wire
Geometry
Ropes
and
wires
have
many
applications
in
the
offshore
industry
including
towing,
mooring
and
winching.
The
Line
Type
Wizard
can
be
used
to
derive
Line
Type
data
to
represent
five
different
types:
Nylon
(8-strand
Multiplait);
Polyester
(8-strand
Multiplait);
Polyethylene
(8-strand
Multiplait);
6x19
Wire
Rope
with
Fibre
Core;
and
6x19
Wire
Rope
with
Wire
Core.
Most
of
the
calculations
of
the
derived
line
properties
are
based
on
data
from
a
catalogue
published
by
Marlow
Ropes
Ltd
(1995).
All
quantities
are
expressed
as
a
function
of
the
rope's
nominal
diameter
D.
Note
that
this
documentation
uses
the
SI
units
system,
so
D
is
in
metres
in
this
documentation,
but
the
program
automatically
adjusts
the
formulae
to
match
the
units
specified
by
the
user.
Warning:
The
values
generated
by
the
Wizard
are
approximate
only
and
are
intended
as
first
estimates
for
preliminary
use.
They
are
offered
in
good
faith,
but
due
to
variations
in
properties
between
products
they
cannot
be
guaranteed.
Please
use
suppliers'
data
where
this
is
available.
Data
The
Line
Type
Wizard
can
be
used
to
create
line
types
representing
a
variety
of
ropes
and
wires.
The
input
data
required
consists
of
the
following:
Rope/Wire
Nominal
Diameter
The
overall
diameter
of
the
rope
or
wire.
The
majority
of
the
derived
line
type
data
are
functions
of
this
diameter.
Warning:
The
line
type
outer
diameter
derived
by
the
wizard
is
less
than
this
nominal
diameter,
in
order
to
give
the
correct
buoyancy.
You
need
to
allow
for
this
when
setting
the
line
type
drag
and
added
mass
coefficients,
since
the
coefficients
correspond
to
the
derived
line
type
outer
diameter,
not
the
nominal
diameter.
322
w
System
Modelling:
Data
and
Results,
Lines
Construction
The expressions for axial stiffness are calculated in different ways for the two groups of fibre ropes and wire ropes.
323
System
Modelling:
Data
and
Results,
Lines
w
For
Fibre
Ropes
we
use
the
catalogue
data.
Load/extension
characteristics
depend
on
previous
load
history,
whether
the
rope
is
wet
or
dry,
and
the
rate
of
application
of
the
load.
To
reflect
the
likely
working
environment
of
the
rope
we
use
data
associated
with
ropes
that
have
been
tested
under
the
following
conditions:
x the
rope
has
been
pre-worked
loaded
to
50%
of
breaking
load
and
then
rested
for
24
hours
(this
causes
the
rope
to
bed
down
so
that
its
elastic
behaviour
is
more
consistent
and
repeatable)
x subjected
to
slowly
varying
loads
(for
loads
varying
at
wave
frequency,
stiffness
should
be
about
twice
the
value
shown)
x a
wet
rope
pre-soaked
in
water
(this
is
most
significant
for
Nylon
ropes
which
suffer
a
loss
in
performance
when
wet)
x we
use
figures
for
the
average
performance
when
the
mean
extension
is
10%
(by
taking
the
tangent
of
the
stress-strain
curve
at
10%).
Incorporating
all
of
the
factors
indicated
above
we
can
produce
values
of
axial
stiffness
for
a
range
of
rope
diameters.
Once
again
using
simple
statistical
techniques
we
obtain
the
following
expression
for
axial
stiffness
of
fibre
ropes:
Axial
Stiffness
=
1.18
x
105
D2
kN
(for
Nylon
ropes).
Axial
Stiffness
=
1.09
x
106
D2
kN
(for
Polyester
ropes).
Axial
Stiffness
=
1.06
x
106
D2
kN
(for
Polypropylene
ropes).
Axial
stiffness
for
Wire
Ropes
is
calculated
directly,
rather
than
estimated
from
empirical
relationships.
We
assume
a
value
for
Young's
Modulus,
for
the
6x19
strand
group,
of:
E
=
1.03
x
108
kN/m2
(for
Wire
ropes
with
fibre
core).
E
=
1.13
x
108
kN/m2
(for
Wire
ropes
with
wire
core).
and
work
on
an
assumed
metallic
area
of:
2/4)
m2
(for
both
wire
ropes).
Both
of
these
quantities
have
been
obtained
from
the
HER
Group
Marine
Equipment
&
Wire
Rope
Handbook.
Note
that
for
wire
ropes
with
a
wire
core
the
additional
axial
stiffness
is
accounted
for
in
the
enhanced
Young's
modulus.
This
leads
to:
Axial
Stiffness
=
3.67
x
107
D2
kN
(for
Wire
ropes
with
fibre
core).
Axial
Stiffness
=
4.04
x
107
D2
kN
(for
Wire
ropes
with
wire
core).
Bending
Stiffness
For
all
rope
construction
types
the
bending
stiffness
offered
by
the
Wizard
is
zero.
For
systems
where
bend
stiffness
is
a
significant
factor
you
should
override
this
value
with
the
true
value
obtained
from
the
rope
supplier.
Limit
Compression
In conjunction with a zero value for bend stiffness Limit Compression is set to yes.
324
w
System
Modelling:
Data
and
Results,
Lines
Floats
Dp Df
Sf Sf Sf
Figure:
Geometry
of
Line
and
Floats
We
first
define
the
notation
to
represent
the
underlying
line
onto
which
the
floats
are
to
be
attached,
which
we
refer
to
as
the
Base
Line
Type.
We
then
specify
the
quantities
required
to
represent
the
floats.
The
following
properties
are
all
deemed
to
be
unaffected
by
the
addition
of
floats
to
the
base
line
and
so
are
set
to
have
the
same
values
as
those
of
the
base
line.
325
System
Modelling:
Data
and
Results,
Lines
w
Data
Adding
floats
to
a
line
to
produce
extra
buoyancy
is
a
common
requirement.
The
Line
Type
Wizard
helps
you
to
quickly
derive
such
a
line
type
by
specifying
both
the
existing
underlying
base
line
type,
onto
which
the
floats
will
be
added,
and
various
properties
of
the
floats:
Base
Line
Type
The
outside
diameter
of
each
float.
It
must
be
greater
than
the
outside
diameter
of
the
underlying
base
line
type.
Float
Length
The
density
of
the
material
forming
the
floats,
excluding
additional
items
such
as
fixing
material.
Float
Hardware
Mass
This
accounts
for
the
extra
mass
due
to
the
addition
of
the
floats
above
that
due
to
the
material
density
and
covers
such
items
as
the
clamping/fixing
mechanisms.
Float
Normal
Drag
Coefficient
The
drag
coefficient
associated
with
the
float
for
flow
normal
to
the
line.
Float
Axial
Skin
Drag
Coefficient
The
drag
coefficient
associated
with
the
floats,
due
to
the
floats'
skin
friction,
for
flow
along
the
axis
of
the
line.
Float
Axial
Form
Drag
Coefficient
The
drag
coefficient
associated
with
the
float,
due
to
the
projected
annulus
area
of
the
end
of
the
float,
for
flow
along
the
axis
of
the
line.
Float
Normal
Added
Mass
Coefficient
The
added
mass
coefficient
for
flow
along
the
axis
of
the
line.
The
Line
Type
data
that
are
derived,
and
the
associated
underlying
expressions,
are
detailed
in
Modelling
Lines
with
Floats.
326
w
System
Modelling:
Data
and
Results,
Lines
The
Outer
Diameter
(OD)
of
the
equivalent
line
is
calculated
by
equating
two
equivalent
expressions
for
the
volume
per
unit
length
of
the
line:
D2
(equivalent
line)
p2
+
Vf
/Sf
(line
with
floats)
This
leads
to:
Inner
Diameter
The
Inner
Diameter
is
unaffected
by
the
addition
of
floats
and
so
is
set
to
be
the
same
as
that
of
the
base
line.
Contact
Diameter
The
Contact
Diameter
is
set
to
equal
the
float
diameter
Df.
This
allows
float
clearance
to
be
reported
using
the
Line
Contact
Clearance
result.
327
System
Modelling:
Data
and
Results,
Lines
w
328
w
System
Modelling:
Data
and
Results,
Lines
Added
mass
coefficients
are
calculated
in
a
similar
way
to
the
drag
force
coefficients.
For
flow
normal
to
the
axis
of
the
line
the
added
mass
per
unit
length
is
given
by:
Added
Massn
2
Can
We
can
also
express
the
added
mass
term
of
the
equivalent
line
as
the
sum
of
the
added
masses
due
to
the
floats
and
due
to
the
underlying
line:
Added
Massn
nf
AMVolFLOATS
+
Canp
AMVolEXP
LINE)
in
which
the
reference
volume
per
unit
length
for
the
floats
(and
the
portion
of
line
they
cover)
is
given
by:
AMVolFLOATS
f2
Lf/Sf
and
the
reference
volume
per
unit
length
for
the
exposed
part
of
the
line
is
given
by:
AMVolEXP
LINE
p2
(Sf-Lf)/Sf
Equating
the
expressions
for
added
mass
leads
to:
Can
=
(Canf
AMVolFLOATS
+
Canp
AMVolEXP
LINE2).
Axial
Added
Mass
Coefficient
The
added
mass
coefficients
follow
in
a
similar
way
to
above.
The
reference
volumes
for
the
equivalent
line
and
for
the
floats
and
exposed
part
of
the
underlying
base
line
are
taken
to
be
the
same
in
axial
flow
as
in
normal
flow.
Hence,
we
can
take
the
above
expression
for
the
added
mass
coefficient
in
normal
flow
and
replace
the
coefficients
for
normal
flow
with
those
for
axial
flow:
Caa
=
(Caaf
AMVolFLOATS
+
Caap
AMVolEXP
LINE2).
N 1
2
Figure:
Homogeneous
Pipe
The
Line
Type
Wizard
for
Homogeneous
Pipe
creates
data
for
a
General
Category
Line
Type
with
properties
appropriate
to
a
pipe
constructed
from
a
single
homogeneous
material,
for
example
a
metal
riser.
329
System
Modelling:
Data
and
Results,
Lines
w
Note:
If
you
are
modelling
a
homogeneous
pipe
then
it
is
normally
better
to
do
so
using
a
Homogeneous
Pipe
Category
Line
Type.
This
allows
you
to
specify
material
density,
Young's
modulus
etc.
directly.
The
line
type
outer
and
inner
diameters
are
set
to
the
pipe
diameters
specified
by
the
user.
Axial
Stiffness
The
line
type
torsional
stiffness
is
set
as
follows.
The
torque
experienced
by
a
pipe
of
length
l
when
twisted
through
where
J
is
the
second
moment
of
area
about
the
axial
axis
OO'
(often
called
the
polar
moment
of
inertia)
and
G
is
the
Shear
Modulus
(sometimes
called
the
modulus
of
rigidity).
For
homogeneous
pipes
J
=
2I.
The
quantity
G
is
related
to
The
Torsional
Stiffness,
representing
the
Torque
resisting
a
twist
of
1
radian,
per
unit
length,
is
therefore
given
by:
4
-
ID4).
Stress
Outer
and
Inner
Diameters
The
line
type
stress
diameters
are
set
to
'~',
since
they
are
the
same
as
the
pipe
diameters.
Stress
Loading
Factors
These are set to one, the default value, as a simple homogeneous pipe carries all the loads.
Data
The
Line
Type
Wizard
helps
build
a
line
type
to
represent
a
homogeneous
pipe,
based
on
the
following
data:
330
w
System
Modelling:
Data
and
Results,
Lines
Material
The
Wizard
provides
3
standard
materials
for
a
homogeneous
pipe:
Steel;
Titanium
and
High
Density
Polyethylene.
For
these
standard
materials
OrcaFlex
automatically
sets
Material
Density,
Young's
Modulus
and
Poisson
Ratio.
There
is
also
an
option
to
enter
User
Specified
as
the
Material.
In
this
case
you
must
set
Material
Density,
Young's
Modulus
and
Poisson
Ratio.
Material
Density
This
is
the
density
of
the
material
used
in
the
construction
of
the
pipe.
Outer
Diameter,
Wall
Thickness
The
amount
of
lateral
strain
experienced
by
a
material
subjected
to
tensile
strain
as
a
negative
proportion
of
the
tensile
strain.
The
Line
Type
data
that
are
derived,
and
the
associated
underlying
expressions,
are
detailed
in
Modelling
Homogeneous
Pipes.
6.8.14 Hoses
and
Umbilicals
The
Line
Type
Wizard
estimates
typical
properties
for
hoses
and
umbilicals
based
on
project
data.
Warning:
The
values
generated
by
the
Wizard
are
approximate
only
and
are
intended
as
first
estimates
for
preliminary
use.
They
are
offered
in
good
faith,
but
due
to
variations
in
properties
between
products
they
cannot
be
guaranteed.
Please
use
suppliers'
data
where
this
is
available.
331
System
Modelling:
Data
and
Results,
Lines
w
The outer diameter of the umbilical. Each derived line type property is a function of this diameter.
Each
derived
line
type
property
is
a
function
of
the
hose
inner
diameter.
Hose
Type
The
Hose
Type
can
be
one
of
high
pressure,
low
pressure
or
fold-flat.
These
categories
roughly
cover
the
available
project
data.
The
inner
diameter
(ID)
is
specified
by
the
user
and
the
outer
diameter
(OD)
is
a
function
of
the
inner
diameter:
OD
=
1.40
ID
m
(for
High
Pressure)
[90%
150%],
OD
=
1.28
ID
m
(for
Low
Pressure),
OD
=
1.34
ID
m
(for
Fold-Flat).
Umbilicals
The inner diameter (ID) is set to zero and the outer diameter (OD) is specified by the user.
For
each
type
of
hose
the
mass
per
metre
has
been
estimated
as
a
function
of
inner
diameter
giving:
Mass
per
metre
=
0.7523
ID
te/m
(for
High
Pressure)
[55%
145%],
Mass
per
metre
=
0.3642
ID
te/m
(for
Low
Pressure),
Mass
per
metre
=
0.1844
ID
te/m
(for
Fold-Flat).
Umbilicals
For
the
umbilicals
the
mass
per
metre
has
been
estimated
as
a
function
of
outer
diameter
giving:
Mass
per
metre
=
1.8
OD2
te/m
(for
Umbilical)
[35%
170%].
For
each
type
of
hose
the
axial
stiffness
has
been
estimated
as
a
function
of
inner
diameter
giving:
Axial
Stiffness
=
2.80
x
106
ID
kN
(for
High
Pressure)
[40%
160%],
332
w
System
Modelling:
Data
and
Results,
Lines
For
each
type
of
hose
the
bending
stiffness
has
been
estimated
as
a
function
of
inner
diameter
giving:
Bending
Stiffness
=
3
x
104
ID4
kN.m2
(for
High
Pressure)
[45%
300%],
Bending
Stiffness
=
6
x
102
ID3
kN.m2
(for
Low
Pressure),
Bending
Stiffness
=
1
x
103
ID3
kN.m2
(for
Fold-Flat).
For
the
umbilicals
the
bending
stiffness
has
been
estimated
as
a
function
of
outer
diameter
giving:
Bending
Stiffness
=
3
x
103
OD3
kN.m2
(for
Umbilical)
[55%
240%].
Limit
Compression
OrcaFlex
line
segments
are
straight,
that
is
the
diameter
is
constant
over
the
length
of
the
segment.
Each
segment
in
a
profile
line
section
has
a
diameter
defined
by
evaluating
the
profile
data
at
the
mid-point
of
the
segments.
Because
of
this
you
typically
need
to
use
quite
short
segments
to
model
the
taper
accurately.
However,
note
that
a
stress
joint
is
usually
placed
in
a
region
of
concentrated
stress.
Such
regions
also
require
short
segments
for
accurate
modelling
and
so
the
use
of
straight
segments
to
model
the
profile
does
not
in
practice
turn
out
to
be
a
significant
limitation.
In
order
to
determine
segment
length
we
recommend
that
you
perform
sensitivity
studies
on
segment
length.
Arc
length
convention
Profile
arc
length
is
defined
relative
to
the
start
of
the
line
section
and
increases
from
End
A
towards
End
B.
To
illustrate
this
consider
a
stress
joint
defined
by
the
following
profile:
333
System
Modelling:
Data
and
Results,
Lines
w
Figure:
Stress
joint
profile
A
stress
joint
specified
this
way
would
commonly
be
used
in
the
first
section
of
a
line.
If,
however,
your
stress
joint
is
located
adjacent
to
End
B
of
the
line,
then
the
End
A
to
End
B
convention
means
that
the
stress
joint
would
be
incorrectly
configured.
This
is
easy
to
check
with
the
profile
graph
available
on
the
line
data
form:
Figure:
Stress
joint
profile
at
End
B,
incorrectly
modelled
The
problem
is
that
the
taper
is
now
in
the
wrong
direction.
The
thicker
end
of
the
taper
should
be
adjacent
to
End
B
of
the
line.
In
order
to
fix
this
we
simply
need
to
reverse
the
profile
data.
This
is
very
simple
to
do
using
the
Reverse
button
on
the
variable
data
form.
The
result
looks
like
this:
Figure:
Stress
joint
profile
at
End
B,
corrected
The line profile graph when using the reversed profile now shows that the data is now applied as intended:
334
w
System
Modelling:
Data
and
Results,
Lines
Figure:
Stress
joint
profile
at
End
B,
correctly
modelled
335
System
Modelling:
Data
and
Results,
Lines
w
Data
Although
the
stiffener
is
modelled
as
a
separate
line
you
do
not
need
to
create
this
line
manually
OrcaFlex
creates
it
automatically
as
an
attachment.
The
procedure
for
setting
up
a
bend
stiffener
is
as
follows:
1. Create
a
Line
Type
which
defines
the
material,
structural
and
hydrodynamic
properties
of
the
stiffener.
Usually
this
will
be
a
profiled
homogeneous
pipe.
2. Create
a
Stiffener
Type
which
uses
this
Line
Type.
3. Create
a
line
attachment
based
on
this
Stiffener
Type.
4. Set
the
line
attachment
position
and
the
Stiffener
Type
connection
arc
length
so
that
the
stiffener
is
attached
at
the
desired
location
on
the
protected
line.
If
you
have
multiple
protected
lines
which
all
use
identical
bend
stiffeners
then
you
can
create
a
single
Stiffener
Type
which
can
be
re-used
on
each
protected
line.
The
stiffener
profile
uses
the
convention
that
profile
arc
length
increases
from
End
A
towards
End
B
of
the
stiffener.
If
you
have
a
bend
stiffener
connected
at
End
B
of
a
line
then
you
will
need
to
define
the
profile
so
that
the
arc
length
0
refers
to
the
tip
of
the
stiffener.
The
Modelling
Stress
Joints
topic
illustrates
this
issue
in
some
more
detail.
Although
the
discussion
there
centres
on
stress
joints
many
of
the
points
covered
are
equally
applicable
to
bend
stiffeners.
We
strongly
recommend
that
you
use
the
Profile
Graph
available
from
the
Line
Data
form
to
check
that
the
stiffener
is
connected
at
the
correct
location
on
the
line
with
the
profile
defined
as
you
intended.
Segmentation
The
stiffener
line
that
OrcaFlex
creates
is
modelled
with
constant
segment
length
that
is
every
segment
in
the
stiffener
has
the
same
length.
The
segment
length
is
determined
by
the
segment
length
of
the
protected
line
in
the
protected
region.
The
stiffener
modelling
(see
below)
requires
that
each
node
on
the
stiffener
line
is
associated
with
a
node
on
the
protected
line.
Each
stiffener
node
is
effectively
clamped
to
its
associated
protected
node.
These
constraints
have
the
following
implications
for
the
segmentation
of
the
protected
line:
1. The
protected
region
must
have
constant
segment
length.
2. The
stiffener
length
must
be
an
exact
multiple
of
the
segment
length.
One
simple
way
to
satisfy
these
requirements
is
to
model
the
protected
region
as
a
single
section
with
length
equal
to
the
stiffener
length.
Note
that
it
is
not
essential
for
the
protected
region
to
be
a
single
section.
The
protected
region
could
comprise
multiple
sections
each
using
different
line
types,
so
long
as
you
satisfy
the
two
rules
above.
Drawing
and
Results
The
stiffener
line
is
drawn
using
the
drawing
data
of
the
protected
line
to
which
it
is
attached.
Note
that
the
stiffener
is
not
drawn
when
the
program
is
in
reset
state;
it
is
only
drawn
after
the
static
or
dynamic
analysis
has
started.
Results
are
available
for
the
stiffener
line
exactly
as
they
are
for
any
other
OrcaFlex
line.
OrcaFlex
reports
results
separately
for
protected
line
and
stiffener
line
and
this
does
need
some
explanation.
For
example,
consider
bend
moment
at
a
particular
location
in
the
protected
line
and
at
the
corresponding
location
in
the
stiffener
line.
Suppose
that
the
bending
stiffnesses
are
EI p
and
EIs
for
protected
line
and
stiffener
respectively
(we
are
assuming
linear
bend
stiffness
for
simplicity).
The
bend
moment
carried
by
the
protected
line
and
stiffener
ensemble
is
given
by
BMtotal
=
C(EIp
+
EIs)
where
C
is
the
curvature
at
this
location.
For
the
protected
line
OrcaFlex
reports
the
local
protected
line
bend
moment
BM p
=
C.EIp
and
likewise
for
the
stiffener
line
OrcaFlex
reports
BM s
=
C.EIs.
It
is
straightforward
to
see
that
BMtotal
=
BMp
+
BMs.
The
total
load
is
also
split
into
separate
protected
line
and
stiffener
loads
for
effective
tension,
wall
tension,
shear
force,
torque
and
stress
results.
However,
the
method
for
doing
this
varies
for
axial
components
as
explained
in
the
next
section.
Modelling
details
As
mentioned
above
the
stiffener
is
modelled
as
a
separate
OrcaFlex
line
which
is
created
automatically
by
OrcaFlex
as
an
attachment.
The
stiffener
line
inherits
a
number
of
properties
from
its
protected
line,
namely:
336
w
System
Modelling:
Data
and
Results,
Lines
x Include
Torsion.
x Segment
length.
x Statics
friction
data.
x Drag
formulation
and
wake
interference
data.
x VIV
data.
x Drawing
data.
x Results
data.
The
stiffener
line
does
not
have
any
free
degrees
of
freedom.
Instead
each
node
on
the
stiffener
is
clamped
to
and
moves
and
rotates
with
its
associated
node
on
the
protected
line.
The
stiffener
line
calculates
its
loads
and
inertia
and
then
transfers
them
to
the
protected
line.
How
this
transfer
is
performed
is
governed
by
the
Axial
load/inertia
transfer
data
of
the
Stiffener
Type.
All
components
of
load
and
inertia
normal
to
the
stiffener
are
transferred
directly
from
each
stiffener
node
to
its
associated
protected
node.
This,
of
course,
enables
the
stiffener
to
perform
its
job
of
spreading
the
bend
loads
over
the
protected
region.
If
the
axial
load/inertia
transfer
is
specified
to
occur
at
the
connection
point
then
components
of
axial
load/inertia
are
transferred
to
the
protected
node
at
the
connection
point.
Typically
this
connection
point
is
at
the
end
of
the
protected
line
and
the
axial
loads
and
inertia
are
thus
transferred
to
the
protected
line's
end
connection.
This
modelling
option
effectively
neglects
any
axial
friction
due
to
contact
between
stiffener
and
protected
line.
If
the
axial
load/inertia
transfer
is
specified
to
occur
over
the
stiffener's
full
length
then
components
of
axial
load/inertia
are
transferred
directly
from
each
stiffener
node
to
its
associated
protected
node.
This
corresponds
to
the
assumption
that
the
axial
contact
friction
is
sufficient
that
there
is
no
axial
slipping.
The
axial
load
will
be
shared
between
protected
line
and
stiffener
as
determined
by
their
relative
axial
stiffnesses,
just
as
the
bend
moment
is
shared.
Bend
Stiffener
design
using
OrcaFlex
The
modelling
approach
described
above
applies
where
a
bend
stiffener
has
already
been
designed,
and
one
of
the
objectives
of
the
analysis
is
to
confirm
that
the
stiffener
provides
the
required
protection.
However,
in
many
cases
the
stiffener
design
does
not
yet
exist
and
the
analysis
is
needed
in
order
to
define
design
loads.
If
this
is
the
case,
then
run
a
preliminary
analysis
with
no
bend
stiffener
included.
The
line
should
be
modelled
with
a
pinned
end
(i.e.
zero
bending
stiffness
at
the
line
end
connection).
The
load
information
required
for
bend
stiffener
design
then
consists
of
paired
values
of
tension
and
angle
at
the
pinned
end.
These
can
be
extracted
in
the
form
of
an
X-Y
graph
showing
Effective
Tension
against
Ez
Angle
for
the
first
segment.
In
practice,
it
is
often
sufficient
to
consider
just
three
points
on
this
graph,
corresponding
to
maximum
tension,
maximum
angle
and
maximum
bend
restrictor
load:
these
can
be
extracted
as
linked
statistics.
Recall
that
Ez
Angle
is
an
absolute
magnitude
and
therefore
always
takes
a
positive
value.
If
a
signed
value
is
required
(e.g.
to
define
out-to-out
load
cycles
for
fatigue
analysis),
then
use
the
Ezx
or
Ezy
angle
as
appropriate.
It
is
usually
necessary
to
combine
results
from
several
analysis
runs
in
order
to
fully
define
the
bend
stiffener
design
loading.
This
is
most
conveniently
done
by
exporting
the
Effective
Tension
vs
Ez
Angle
results
as
a
table
of
values
for
each
analysis
case,
combining
into
a
single
Excel
spreadsheet
and
using
the
plotting
facilities
in
Excel
to
generate
a
single
plot
with
all
results
superimposed.
A
simplified
set
of
load
cases
representing
the
overall
loading
envelope
can
then
be
selected
for
use
in
stiffener
design.
The
export
to
Excel
can
be
done
manually
or
automated
through
the
Results
spreadsheet.
Bend
Stiffener
design
using
OrcaBend
The
task
of
bend
stiffener
design
is
usually
left
to
the
manufacturer,
since
the
actual
stiffener
shape
selected
is
governed
in
part
by
the
manufacturing
process,
availability
of
tooling,
etc.,
as
well
as
by
the
load
cases.
The
Orcina
program
OrcaBend
has
been
developed
to
assist
this
process.
There
is
a
demonstration
version
of
OrcaBend
on
the
OrcaFlex
CD
see
CD:\Demo_CD\ReadMe
for
details.
For
further
information
contact
Orcina.
6.8.17 Modelling
non-linear
homogeneous
pipes
A
non-linear
stress-strain
relationship
is
most
commonly
used
to
model
either:
x non-linear
behaviour
of
elastomeric
bend
stiffeners,
or
337
System
Modelling:
Data
and
Results,
Lines
w
The
relationship
between
stress
and
strain
can
be
specified
by
either
Ramberg-Osgood
curve
or
Stress-Strain
table.
P
y),
K,
n
(Ramberg-Osgood
curve
only)
This
table
directly
specifies
the
relationship
between
stress
and
strain.
The
table
is
interpolated
linearly
and
for
values
of
strain
outside
the
table
linear
extrapolation
will
be
used.
Model
building
OrcaFlex
uses
the
stress-strain
relationship
to
generate
a
table
of
bend
moment
against
curvature
using
the
same
algorithm
as
the
Plasticity
Wizard.
Each
segment
in
the
OrcaFlex
model
uses
a
distinct
bend
moment
/
curvature
table
which
is
clearly
necessary
if
the
line
type
has
a
diameter
profile.
The
use
of
distinct
bend
moment
/
curvature
tables
also
allows
OrcaFlex
to
account
for
the
variation
of
direct
tensile
strain
within
a
line.
The
bend
moment
/
curvature
relationship
depends
upon:
x The
stress-strain
relationship
(as
described
above).
x The
inner
and
outer
diameter
(as
specified
in
the
Line
Type
data).
x The
direct
tensile
strain.
The
direct
tensile
strain
can
have
a
significant
effect
on
the
non-linear
bending
behaviour
if
it
is
large.
To
see
why
this
is
so
consider
a
steel
pipe
under
tension
such
that
the
direct
tensile
strain
equals
the
yield
strain.
When
the
pipe
is
in
this
state
then
any
small
amount
of
curvature
will
yield
the
pipe
outer
fibres.
On
the
other
hand
consider
an
unstressed
steel
pipe,
where
the
direct
tensile
strain
is
zero.
In
this
state
the
pipe
can
withstand
significant
curvature
before
the
outer
fibres
yield.
In
principle
the
bend
moment
/
curvature
relationship
could
be
recalculated
at
each
time
step
of
an
OrcaFlex
calculation.
However
this
would
incur
a
significant
performance
cost.
Instead
we
make
the
assumption
that
the
effect
of
dynamic
variation
of
direct
tensile
strain
on
the
bend
moment
/
curvature
relationship
is
small.
This
allows
us
to
use
a
constant
value
of
direct
tensile
strain
for
the
purpose
of
deriving
the
bend
moment
/
curvature
relationship.
Note
that
each
segment
in
the
model
has
a
distinct
bend
moment
/
curvature
relationship
based
on
a
distinct
value
of
direct
tensile
strain.
By
"constant"
we
mean
that
we
do
not
update
the
bend
moment
/
338
w
System
Modelling:
Data
and
Results,
Lines
curvature
relationship
during
the
dynamic
simulation.
Note
also
that
this
discussion
of
direct
tensile
strain
only
pertains
to
the
generation
of
bend
moment
/
curvature
relationships.
The
program
does,
of
course,
account
for
dynamic
variation
of
direct
tensile
strain
when
calculating
wall
tension,
effective
tension
etc.
The
program
chooses
the
value
of
direct
tensile
strain
by
first
performing
a
static
calculation
under
the
assumption
that
direct
tensile
strain
is
0.
Non-linear
bend
moment
/
curvature
relationships
are
created
for
each
segment
under
this
assumption.
The
direct
tensile
strain
values
from
this
initial
static
solution
are
then
used
to
update
the
non-
linear
bend
moment
/
curvature
relationships.
Finally
the
static
calculation
is
repeated
to
obtain
a
solution
which
accounts
for
the
effects
of
direct
tensile
strain.
Stress
results
The
non-linear
stress-strain
relationship
is
also
used
to
calculate
certain
stress
results
from
strain
values.
Non-
linear
stress-strain
leads
to
a
non-linear
elastic
bend
stiffness,
but
the
axial
and
torsional
stiffnesses
are
still
assumed
to
be
linear.
This
means
that
the
only
stress
results
affected
are
those
that
depend
on
bending:
Max
Bending
Stress,
von
Mises
Stress,
Max
von
Mises
Stress
and
ZZ
Stress.
6.8.18 Line
Ends
Lines
in
OrcaFlex
run
from
End
A
to
End
B.
Travelling
from
A
to
B,
the
orientation
of
any
segment
in
the
line
is
defined
in
terms
of
Azimuth
and
Declination
angles,
relative
to
global
axes.
Azimuth
is
measured
in
the
X-Y
plane,
Declination
is
measured
downwards
from
the
Z
axis.
See
No-Moment
Direction.
No-moment
Direction
Associated
with
each
end
is
a
stiffness,
and
a
no-moment
direction
which
is
described
in
terms
of
azimuth
and
declination.
This
too
uses
the
End
A
to
End
B
convention,
so
if
we
hang
up
a
catenary
of
line,
and
then
freeze
the
ends,
the
no-moment
directions
are
as
shown
below:
No moment direction
( Az = 0, Dec = 160 )
No moment direction
( Az = 0, Dec = 45 )
End A
End B
Declination y
Azimuth
Angle Angle
Figure:
Directions
If
the
line
end
is
attached
to
a
body
which
can
move
(a
Vessel
or
Buoy),
then
the
no-moment
direction
is
defined
relative
to
the
body
axes
and
therefore
moves
with
the
body.
Otherwise,
it
is
defined
in
global
axes.
339
System
Modelling:
Data
and
Results,
Lines
w
End
Stiffness
The
stiffness
associated
with
the
end
can
be
used
to
represent
an
item
such
as
a
flexjoint,
whose
stiffness
is
in
units
of
moment
per
unit
angle,
e.g.
kN.m/degree.
More
commonly,
the
line
end
is
either
free
to
rotate
or
fully
restrained.
In
the
first
case,
the
end
stiffness
is
set
to
zero;
in
the
second
case,
the
end
stiffness
is
set
to
Infinity.
Note
that
it
is
never
necessary
(or
correct)
to
'convert'
the
line
stiffness
into
an
end
stiffness:
the
program
includes
the
line
stiffness
for
you
automatically.
340
w
System
Modelling:
Data
and
Results,
Lines
No moment direction
M
F T
Figure:
End
connection
of
a
flexible
line
fitted
with
a
Bend
Stiffener
Results
When
examining
results
at
line
ends
note
that
if
a
stiff
pipe
goes
into
compression,
line
tension
becomes
negative
but
End
Force
remains
positive,
and
End
Force
Ez-Angle
may
approach
180.
Curvature
is
calculated
in
OrcaFlex
by
dividing
the
angle
change
at
any
node
by
the
sum
of
the
half-segment
lengths
on
each
side
of
the
node:
bend
moment
is
curvature
multiplied
by
bend
stiffness.
At
the
end,
OrcaFlex
takes
the
angle
change
between
the
end
segment
of
the
line
and
the
no-moment
direction,
and
reports
the
corresponding
curvature
and
bend
moment
based
on
the
half
length
of
the
end
segment.
Where
bend
stiffness
at
the
line
end
is
zero
(pinned
end
or
a
zero
stiffness
line),
curvature
and
bend
moment
are
reported
as
zero.
The
principal
design
requirement
is
that
bellmouth
angle
should
be
greater
than
the
maximum
value
of
End
Force
Ez-Angle.
For
cases
where
the
bellmouth
is
not
radially
symmetrical,
OrcaFlex
reports
components
of
End
Force
341
System
Modelling:
Data
and
Results,
Lines
w
Angle
in
the
local
XZ
and
YZ
planes.
End
Force
Ezx-Angle
is
the
component
in
the
local
xz
plane;
End
Force
Ezy-Angle
is
the
component
in
the
local
yz
plane.
Bend
Limiter
The
design
process
for
a
stiffener
is
more
complex
than
for
a
bellmouth
or
a
bend
limiter,
and
the
critical
design
load
cases
are
not
always
self-evident.
An
X-Y
graph
of
F
against
a
(End
Force
against
End
Force-Ez
Angle)
provides
a
complete
definition
of
the
loading
for
one
analysis
case,
with
each
(F,a)
pair
defining
a
load
case.
The
bend
stiffener
should
be
designed
to
prevent
infringement
of
the
permitted
curvature
for
any
(F,a)
pair.
In
practice,
it
is
often
sufficient
to
consider
just
the
three
(F,a)
pairs
corresponding
to
maximum
values
of
End
Force
F,
End
Force
Ez-
Angle
a
and
Bend
Restrictor
Load
P.
Once
the
stiffener
design
is
known
the
stiffener
can
be
modelled
using
a
bend
stiffener
attachment.
6.8.19 Modelling
Compression
in
Flexibles
When
a
flexible
line
experiences
compression,
it
responds
by
deflecting
transversely:
the
magnitude
of
the
deflection
is
controlled
by
bend
stiffness.
Under
static
conditions,
the
behaviour
of
an
initially
straight
section
of
line
under
pure
axial
loading
is
described
by
classic
Euler
buckling
theory.
This
defines
the
maximum
compressive
load
the
"Euler
load"
which
a
particular
length
of
line
can
withstand
before
transverse
deflection
occurs.
The
Euler
load
is
a
function
of
the
length
of
the
straight
section,
the
bend
stiffness
and
the
end
conditions.
For
a
simple
stick
of
length
L,
bend
stiffness
EI,
with
pin
joints
at
each
end,
the
Euler
2EI/L2.
The
Euler
load
is
derived
from
a
stability
analysis:
it
tells
us
the
value
of
axial
load
at
which
transverse
deflection
will
occur
but
nothing
about
the
post-buckling
behaviour.
Under
dynamic
loading
conditions,
the
transverse
deflection
is
resisted
by
a
combination
of
inertia
and
bending.
OrcaFlex
is
fully
capable
of
modelling
this
behaviour
provided
the
discretisation
of
the
model
is
sufficient,
i.e.
provided
the
segments
are
short
enough
to
model
the
deflected
shape
properly.
Another
way
of
saying
the
same
thing
is
that
the
compressive
load
in
any
segment
of
the
line
should
never
exceed
the
Euler
load
for
the
segment.
Why
are
these
two
statements
equivalent?
Imagine
the
real
line
replaced
by
a
series
of
rigid
sticks
connected
by
rotational
springs
at
the
joints
this
is
essentially
how
OrcaFlex
models
the
line.
Under
compression,
the
line
deflects:
the
sticks
remain
straight
and
the
joints
rotate.
Provided
the
wavelength
of
the
deflection
is
longer
than
the
length
of
the
individual
sticks
then
the
rigid
stick
model
can
approximate
it:
shorter
sticks
give
a
better
approximation.
If
the
compressive
load
reaches
the
Euler
load
for
an
individual
stick,
then
the
real
line
which
the
stick
represents
will
start
to
deform
at
a
shorter
wavelength,
and
deflections
within
the
stick
length
become
significant.
Clearly,
this
stick
model
is
no
longer
adequate.
By
replacing
each
long
stick
by
several
short
ones,
we
can
make
the
Euler
load
for
each
stick
greater
than
the
applied
compressive
load.
Each
stick
will
then
remain
straight,
but
we
now
have
more
sticks
with
which
to
model
the
deflected
shape.
This
gives
us
a
convenient
way
of
checking
the
adequacy
of
our
model:
provided
the
compressive
load
in
each
segment
always
remains
less
than
the
Euler
load
for
that
segment,
then
we
can
have
confidence
that
the
behaviour
of
the
line
in
compression
is
adequately
modelled.
OrcaFlex
makes
this
comparison
automatically
for
all
segments
and
reports
any
infringements
in
the
Statistics
tables.
The
segment
Euler
load
is
also
plotted
in
tension
range
graphs
(as
a
negative
value
compression
is
negative)
so
that
infringements
are
clearly
visible.
If
the
segment
Euler
load
is
infringed
during
a
simulation,
then
we
have
to
decide
what
to
do
about
it.
If
infringement
occurs
only
during
the
build-up
period,
perhaps
as
a
result
of
a
starting
transient,
then
we
can
safely
ignore
it.
If
it
occurs
during
the
main
part
of
the
simulation,
then
we
should
examine
the
time
histories
of
tension
in
the
affected
areas.
Where
infringements
are
severe
and
repeated
or
of
long
duration
the
analysis
should
be
repeated
with
shorter
segments
in
the
affected
area.
However
it
may
be
acceptable
to
disregard
occasional
minor
infringements
of
short
duration
on
the
following
grounds:
x Transverse
deflection
caused
by
compression
takes
some
time
to
occur
because
of
inertia.
342
w
System
Modelling:
Data
and
Results,
6D
Buoys
x The
segment
Euler
load
used
in
OrcaFlex
as
a
basis
for
comparison
is
the
lowest
of
the
various
alternatives,
and
assumes
pinned
joints
with
no
bend
stiffness
at
each
end
of
the
segment.
This
is
a
conservative
assumption.
x Whether
or
not
to
disregard
an
infringement
is
a
decision
which
can
only
be
taken
by
the
analyst
in
the
context
of
the
task
in
hand.
6.9 6D
BUOYS
6D
Buoys
are
objects
having
all
six
degrees
of
freedom
3
translational
(X,
Y
and
Z)
and
3
rotational
(Rotation
1,
2
and
3).
The
forces
acting
on
a
buoy
are
mass,
buoyancy,
added
mass
and
damping
and
drag
in
the
three
principal
buoy
directions.
Corresponding
moments
are
applied
for
the
rotational
degrees
of
freedom.
Buoys
can
be
surface-
piercing,
and
have
a
notional
height;
this
allows
the
hydrostatic
and
hydrodynamic
forces
to
be
proportioned
depending
on
the
depth
of
immersion.
6D
Buoys
can
have
wings
attached
to
them.
A
wing
is
a
rectangular
surface,
attached
to
the
buoy
at
a
specified
position
and
orientation,
which
experiences
lift
and
drag
forces,
and
a
moment,
due
to
the
relative
flow
of
the
sea
past
the
wing.
Lines
attached
to
a
6D
Buoy
can
thus
experience
both
moment
effects
and
translations
as
the
buoy
rotates
under
the
influence
of
hydrodynamics
and
applied
loads.
Lines
can
be
attached
to
an
offset
position
on
a
buoy
this
allows
the
direct
study
of
line
clashing,
including
the
separation
introduced
by
spaced
attachment
points.
Three
types
of
6D
Buoy
are
available,
the
differences
being
the
way
in
which
the
geometry
of
the
buoy
is
defined.
Lumped
Buoys
The
first
type,
Lumped
Buoys,
are
specified
without
reference
to
a
specific
geometry.
This
necessarily
restricts
the
accuracy
with
which
interactions
with
the
water
surface
are
modelled.
Where
a
lumped
buoy
pierces
the
surface
it
is
treated
for
buoyancy
purposes
as
a
simple
vertical
stick
element
with
a
length
equal
to
the
specified
height
of
the
buoy
(thus
buoyancy
changes
linearly
with
vertical
position
without
regard
to
orientation).
This
model
does
not
provide
the
rotational
stiffness
that
would
be
experienced
by
most
surface
piercing
buoys.
Interactions
with
the
seabed
and
with
shapes
are
also
modelled
in
a
fairly
simple
manner,
and
friction
effects
are
not
included.
Arbitrary
hydrodynamic
and
physical
properties
are
modelled
by
deriving
equivalent
terms.
Spar
Buoys
The
second
type,
called
Spar
Buoys,
are
intended
for
modelling
axi-symmetric
buoys
whose
axis
is
normally
vertical,
particularly
where
surface
piercing
effects
are
important
(such
as
for
a
CALM
buoy).
Spar
Buoys
are
modelled
as
a
series
of
co-axial
cylinders
mounted
end
to
end
along
the
local
z-axis
(see
Spar
Buoy
and
Towed
Fish
Properties).
This
allows
you
to
provide
some
information
about
the
buoy
geometry,
by
specifying
the
number
of
cylinders
and
their
lengths
and
diameters.
A
conical
or
spherical
shape
can
be
approximated
as
a
series
of
short
cylinders
of
gradually
increasing
or
diminishing
diameter.
Spar
Buoys
model
surface-piercing
effects
in
a
much
more
sophisticated
way
than
Lumped
buoys.
Effects
such
as
heave
stiffness
and
righting
moments
in
pitch
and
roll
are
determined
by
calculating
the
intersection
of
the
water
surface
with
each
of
the
cylinders
making
up
the
buoy,
allowing
for
the
instantaneous
position
and
attitude
of
the
buoy
in
the
wave.
However
note
that
OrcaFlex
does
not
calculate
radiation
damping
(a
linear
damping
term
resulting
from
the
creation
of
surface
waves
as
the
buoy
oscillates)
or
impact
loads
(slamming).
Because
they
are
modelled
as
a
stack
of
concentric
cylinders,
Spar
Buoys
are
often
not
suitable
for
fully
submerged
objects
with
more
complex
geometry.
343
System
Modelling:
Data
and
Results,
6D
Buoys
w
As
with
Lumped
Buoys,
the
modelling
of
seabed
interaction
is
simplistic
and
friction
effects
are
not
included.
Hydrodynamic
loads
on
Spar
Buoys
are
calculated
using
Morison's
equation.
Added
mass
and
drag
forces
are
applied
only
to
those
parts
of
the
buoy
which
are
in
the
water
at
the
time
for
which
the
force
is
calculated.
For
partly
immersed
cylinders,
added
mass
and
drag
are
proportioned
according
to
the
fraction
of
the
cylinder
which
is
immersed.
The
use
of
Morison's
equation
implies
that
the
buoy
diameter
is
small
compared
to
the
wavelength
(usually
the
case
for
CALM
buoys
and
the
like)
but
means
that
some
load
terms
are
not
represented.
Towed
Fish
The
third
type,
called
Towed
Fish,
are
intended
for
modelling
bodies,
such
as
towed
fish,
whose
principal
axis
is
normally
horizontal.
Towed
Fish
buoys
are
identical
to
Spar
Buoys
except
that
the
stack
of
cylinders
representing
the
buoy
is
laid
out
along
the
x-axis
of
the
buoy,
rather
than
along
the
z-axis.
6.9.1 Wings
6D
buoys
can
have
a
number
of
wings
attached;
these
are
useful
for
representing
lift
surfaces,
diverters
etc.
Each
wing
has
its
own
data
and
results
available.
A
wing
is
a
rectangular
surface,
attached
to
the
buoy
at
a
specified
position
and
orientation,
which
experiences
lift
force,
drag
force
and
drag
moment,
due
to
the
relative
flow
of
fluid
past
the
wing.
These
drag
loads
depend
on
user-
specified
coefficients
that
depend
on
the
incidence
angle
of
the
relative
fluid
flow.
The
fluid
referred
to
here
can
be
the
sea,
the
air,
or
both,
as
follows.
x Whenever
the
wing
is
completely
below
the
instantaneous
water
surface,
then
the
lift
and
drag
loads
are
calculated
using
the
sea
density,
velocity
and
incidence
angle.
x Whenever
the
wing
is
completely
above
the
water
surface,
and
if
you
have
selected
to
include
wind
loads
on
wings
(on
the
Wind
page
on
the
Environment
data
form),
then
instead
air
lift
and
drag
loads
are
calculated
and
applied,
using
the
same
formulae
and
coefficients,
but
using
the
air
density,
velocity
and
incidence
angle.
x When
the
wing
is
partially
submerged,
OrcaFlex
calculates
what
proportion
of
the
wing
rectangle
area
is
below
the
instantaneous
water
surface,
i.e.
its
'proportion
wet'
PW.
OrcaFlex
then
calculates
the
water
lift
and
drag
loads
as
if
the
wing
was
fully
submerged,
but
then
scales
them
by
PW
before
they
are
applied.
In
addition,
if
you
have
selected
to
include
wind
loads
on
wings,
then
OrcaFlex
also
calculates
the
air
lift
and
drag
loads
(as
if
the
wing
was
not
submerged)
and
scales
them
by
1-PW,
i.e.
the
'proportion
dry',
before
they
are
applied.
When
this
happens,
therefore,
both
water
and
air
lift
and
drag
loads
are
applied,
each
appropriately
scaled.
The
wing
lift,
drag
and
moment
results
then
report
the
water
loads
whenever
the
wing
is
more
than
half
submerged
and
the
air
loads
whenever
it
is
less
than
half
submerged.
Wings
do
not
have
any
mass,
added
mass
or
buoyancy
associated
with
them.
Therefore
any
mass,
added
mass
or
buoyancy
due
to
wings
should
be
added
into
the
properties
specified
for
the
buoy
itself.
The
drag
force
on
a
wing
is
the
force
applied
in
the
direction
of
relative
flow.
The
lift
force
is
the
force
at
90
to
that
direction.
The
moment
represents
the
moment
(about
the
wing
centre)
that
arises
due
to
the
fact
that
the
centre
of
pressure
may
not
be
at
the
wing
centre.
These
loads
are
applied
at
the
wing
centre
and
are
specified
by
giving
lift,
velocity
relative
to
wing)
and
the
wing
plane.
344
w
System
Modelling:
Data
and
Results,
6D
Buoys
+ve lift
Flow Velocity V
(relative to wing)
D
Wy
Chord Wz Principal
W Wing Axis
Wx
Leading
edge
Span
-ve lift
Figure:
Wing
Model
Each
wing
has
its
own
set
of
local
wing
axes,
with
origin
W
at
the
wing
centre
and
axes
Wx,
Wy
and
Wz.
x Wy
is
normal
to
the
wing
surface
and
points
towards
the
positive
side
of
the
wing,
i.e.
the
side
towards
which
positive
lift
forces
act.
x Wx
and
Wz
are
in
the
plane
of
the
wing.
The
wing
is
therefore
a
rectangle
in
the
Wxz
plane,
centred
on
W.
x Wz
is
the
principal
axis
of
the
wing.
It
is
the
axis
about
which
the
wing
can
easily
be
pitched,
by
adjusting
the
wing
gamma
angle.
x Wx
is
in
the
plane
of
the
wing,
normal
to
the
axis
Wz,
so
that
(Wx,Wy,Wz)
form
a
right-hand
triad.
x We
normally
choose
Wz
and
Wx
so
that
Wx
is
towards
the
leading
edge
of
the
wing.
With
this
arrangement,
increasing
the
wing
gamma
angle
moves
the
leading
edge
in
the
direction
of
positive
lift.
We
refer
to
the
wing's
length
in
the
Wz
direction
as
its
span
and
its
width
in
the
Wx
direction
as
its
chord.
If
the
wing
is
not
completely
submerged,
then
the
forces
and
moments
applied
by
OrcaFlex
are
scaled
down
according
to
the
proportion
of
the
wing
area
that
is
below
the
surface.
However,
note
that
the
true
effects
of
breaking
surface,
for
instance
planing
and
slamming,
are
much
more
complex
than
this
and
are
not
modelled.
6.9.2 Common
Data
All
types
of
6D
Buoy
use
a
local
buoy
axes
coordinate
system.
The
origin
of
the
buoy
axes
can
any
point
chosen
by
the
user,
but
the
buoy
axes
directions
should
be
in
the
directions
of
the
principle
axes
of
structural
inertia
of
the
buoy
see
Mass
Moments
of
Inertia
below.
Name
Three
types
of
buoy
are
available:
Lumped
Buoys,
Spar
Buoys
and
Towed
Fish.
The
following
data
items
are
common
to
all
types.
Connection
A
6D
Buoy
can
either
be
Free,
Fixed
or
connected
to
a
Vessel,
6D
Buoy
or
a
Line
(provided
that
line
includes
torsion).
345
System
Modelling:
Data
and
Results,
6D
Buoys
w
x If
the
buoy
is
Free
then
it
is
free
to
move
in
response
to
wave
loads,
attached
lines
etc.
In
this
case
the
buoy's
Initial
Position
and
Attitude
are
specified
relative
to
global
axes.
x If
the
buoy
is
Fixed
then
it
cannot
move.
Its
Initial
Position
and
Attitude
are
specified
relative
to
global
axes.
x If
the
buoy
is
connected
to
a
Vessel,
6D
Buoy
or
a
Line,
then
it
is
rigidly
connected
to
that
object
and
so
moves
and
rotates
with
it.
All
resulting
forces
and
moments
on
the
buoy
are
transmitted
to
the
object.
In
this
case
the
buoy's
Initial
Position
and
Attitude
are
specified
relative
to
the
object
to
which
it
is
connected.
Initial
Position
and
Attitude
Specifies
the
initial
position
of
the
buoy
origin
and
the
buoy
initial
orientation.
If
the
buoy
is
Free
or
Fixed
then
its
initial
position
is
specified
by
giving
the
X,
Y
and
Z
coordinates
of
the
buoy
origin
B,
relative
to
the
global
axes.
And
its
initial
orientation
is
specified
by
giving
3
angles
Rotation
1,
Rotation
2,
Rotation
3,
which
are
successive
rotations
that
define
the
orientation
of
the
buoy
axes
Bxyz,
relative
to
global
axes,
as
follows.
First
align
the
buoy
with
global
axes,
so
that
Bxyz
are
in
the
same
directions
as
GXYZ.
Then
apply
Rotation
1
about
Bx
(=GX),
followed
by
Rotation
2
about
the
new
By
direction,
and
finally
Rotation
3
about
the
new
(and
final)
Bz
direction.
If
a
Free
buoy
is
not
included
in
the
static
analysis
then
this
initial
position
is
taken
to
be
the
static
position
of
the
buoy.
If
the
buoy
is
included
in
the
static
analysis,
then
this
initial
position
is
used
as
an
initial
estimate
of
the
buoy
position
and
the
static
analysis
will
move
and
rotate
the
buoy
from
this
position
until
an
equilibrium
position
is
found.
See
Degrees
of
Freedom
Included
in
Static
Analysis.
If
the
buoy
is
connected
to
a
Line,
then
the
Initial
Position
and
Attitude
specify
where
on
the
line
it
is
connected,
and
with
what
orientation,
as
follows:
x The
Initial
Position
z-coordinate
specifies
the
arc
length
at
which
the
buoy
should
be
connected
to
the
line.
The
buoy
will
be
connected
to
the
nearest
node
to
that
arc
length.
This
arc
length
may
be
measured
relative
to
either
End
A
or
End
B
as
specified
by
the
user.
x The
buoy
will
be
connected
to
that
node,
but
with
an
offset
relative
to
that
node's
axes
that
is
given
by
(x,
y,
0).
x The
buoy
orientation
relative
to
the
node
axes
is
specified
by
the
Initial
Attitude
angles.
Degrees
of
Freedom
Included
in
Static
Analysis
Determines
which
degrees
of
freedom
are
calculated
by
the
static
analysis.
This
data
item
only
applies
to
Free
buoys
and
it
can
be
set
to
one
of:
x None:
the
buoy
position
and
orientation
are
not
calculated
by
the
static
analysis
they
are
simply
set
to
the
initial
position
and
orientation
specified
on
the
buoy
data
form.
x X,Y,Z:
the
buoy
position
is
calculated
by
the
static
analysis,
but
its
orientation
is
simply
set
to
the
initial
orientation
set
on
the
buoy
data
form.
x All:
the
buoy
position
and
orientation
are
calculated
by
the
static
analysis.
Normally
this
data
item
should
be
set
to
All
so
that
the
static
analysis
calculates
the
true
equilibrium
position
and
orientation
of
the
buoy.
However
it
is
sometimes
useful
to
fix
the
buoy
position
or
orientation,
for
example
if
the
static
analysis
is
unable
to
find
the
equilibrium
position
or
orientation.
Mass
The
solid
moments
of
inertia
of
the
buoy,
about
the
local
x,
y
and
z
buoy
axes
directions
through
its
centre
of
mass.
Note:
These
moments
of
inertia
are
the
diagonal
terms
in
the
structural
inertia
matrix
about
the
specified
centre
of
mass.
The
off-diagonal
terms
are
taken
to
be
zero,
so
the
buoy
axes
should
be
chosen
to
be
in
the
principle
directions
of
inertia
about
the
centre
of
mass
(or
at
least
be
close
to
those
directions).
Centre of Mass
The
centre
of
mass
of
the
buoy,
relative
to
the
buoy
origin.
The
weight
force,
mass
and
moments
of
inertia
are
applied
at
this
point.
346
w
System
Modelling:
Data
and
Results,
6D
Buoys
Bulk Modulus
Specifies
the
compressibility
of
the
buoy.
If
the
buoy
is
not
significantly
compressible,
then
the
Bulk
Modulus
can
be
set
to
Infinity,
which
means
'incompressible'.
See
Buoyancy
Variation
for
details.
Seabed
Friction
Coefficient
See
Friction
Theory
for
further
details
of
the
friction
model
used.
Note:
The
friction
coefficient
for
contact
with
elastic
solids
is
specified
on
the
Solid
Friction
Coefficients
data
form.
Used
to
determine
contact
forces
when
the
buoy
comes
in
to
contact
with
the
seabed
and
with
elastic
solids.
If
a
value
of
'~'
is
specified
then
OrcaFlex
calculates
a
default
value
for
total
contact
area
based
on
the
buoy
geometry.
See
Contact
Forces
for
details.
Specifying
a
value
of
zero
allows
you
to
disable
contact
for
the
buoy.
6.9.3 Applied
Loads
You
can
apply
to
the
buoy
external
Global
Loads
that
do
not
rotate
if
the
buoy
rotates.
These
are
specified
by
giving
the
components
of
Applied
Force
and
Applied
Moment
relative
to
global
axes.
These
components
can
be
constant,
vary
with
simulation
time
or
be
given
by
an
external
function.
If
the
buoy
rotates
then
the
loads
do
not
rotate
with
it.
In
addition,
you
can
specify
external
Local
Loads
that
do
rotate
with
the
buoy.
These
are
specified
by
giving
the
components
of
Applied
Force
and
Applied
Moment
relative
to
buoy
axes.
Again
these
components
can
be
constant,
vary
with
simulation
time
or
be
given
by
an
external
function.
If
the
buoy
rotates
then
the
loads
do
rotate
with
it.
These
are
suitable
for
modelling
thrusters,
for
example.
In
both
cases
the
Point
of
Application
of
the
load
is
specified
by
giving
its
x,y,z
coordinates
relative
to
buoy
axes.
6.9.4 Wing
Data
6D
buoys
can
have
a
number
of
wings
attached,
each
having
its
own
data
and
type.
Name
The
position
of
the
wing
origin,
relative
to
buoy
axes.
The
wing
is
drawn
is
drawn
as
a
simple
rectangle
centred
on
this
origin,
the
rectangle's
dimensions
being
the
specified
Chord
and
Span.
Note
that
this
origin
is
the
point
at
which
the
relative
velocity
is
calculated
and
at
which
the
resulting
wing
lift
and
drag
forces
are
applied.
It
should
therefore
normally
be
at
the
centre
of
pressure,
which
may
not
be
at
the
centre
of
area
(even
though
OrcaFlex
draws
the
wing
as
being
centred
at
this
point).
Orientation
The
orientation
of
the
wing
is
specified
by
giving
3
angles
azimuth,
declination
and
gamma
relative
to
the
buoy
axes.
The
angles
can
be
fixed,
or
can
vary
with
simulation
time,
or
can
vary
and
be
given
by
an
external
function.
The
angles
define
the
orientation
of
the
local
wing
axes
relative
to
the
buoy
axes
as
follows:
x Start
with
the
wing
axes
Wxyz
aligned
with
the
buoy
axes
Bxyz
and
then
rotate
Wxyz
about
Bz
by
the
azimuth
angle.
This
leaves
Wz
aligned
with
Bz
but
Wx
now
points
in
the
direction
towards
which
the
declination
is
to
be
made.
347
System
Modelling:
Data
and
Results,
6D
Buoys
w
x Now
rotate
by
the
declination
angle
about
the
new
direction
of
Wy.
This
declines
Wz
down
into
its
final
direction,
i.e.
Wz
now
points
along
the
direction
whose
azimuth
and
declination
angles
are
as
specified.
x Finally
rotate
by
the
gamma
angle
about
this
final
Wz
direction.
This
is
a
rotation
about
the
principal
wing
axis,
so
it
allows
you
to
adjust
the
pitch
of
the
wing.
For
each
of
these
rotations,
positive
angles
mean
clockwise
rotation
and
negative
angles
mean
anti-clockwise
rotation,
when
looked
at
along
the
axis
of
rotation.
When
setting
these
orientation
angles,
it
is
easiest
to
first
set
the
azimuth
and
declination
values
to
give
the
desired
Wz-direction.
This
is
the
direction
of
the
axis
about
which
the
wing
pitch
is
set.
Then
set
gamma
to
give
the
correct
pitch
of
the
wing.
This
process
is
best
done
with
the
Draw
Local
Axes
option
set
on
(see
the
View
menu
or
the
Tools
|
Preferences
menu)
since
the
wing
axes
are
then
visible
on
the
3D
view
and
you
can
check
that
the
resulting
orientation
is
correct.
Wing
Type
Determines
the
properties
of
the
wing.
You
can
define
a
number
of
wing
types
click
the
"Wing
Types"
button
to
access
the
wing
types
data
form.
6.9.5 Wing
Type
Data
6D
buoys
can
have
a
number
of
wings
attached,
each
having
its
own
data
and
type.
Name
The
properties
of
each
wing
type
are
specified
by
giving
a
table
of
lift,
drag
and
moment
coefficients
as
a
function
of
the
incidence
angle
of
the
flow
relative
to
the
wing.
A
'Graph'
button
is
provided,
which
displays
a
graph
of
the
3
coefficients
so
that
you
can
visually
check
your
data.
Incidence
Angle
angle
between
Wy
and
the
relative
flow
vector.
The
incidence
angle
is
always
in
the
range
-90
to
+90,
where
positive
values
mean
that
the
flow
is
towards
the
positive
side
of
the
wing
(i.e.
hitting
the
negative
side)
and
negative
values
mean
that
the
flow
is
towards
the
negative
side
of
the
wing
(i.e.
hitting
the
positive
side).
The
incidence
angles
in
the
table
must
be
given
in
strictly
increasing
order
and
the
table
must
cover
the
full
range
of
incidence
angles,
so
the
first
and
last
angle
in
the
table
are
set
to
-90
and
+90
and
cannot
be
changed.
Linear
interpolation
is
used
to
obtain
coefficients
over
the
continuous
range
of
angles.
Note:
The
wing
lift,
drag
and
moment
are
assumed
to
depend
only
on
the
incidence
angle,
not
on
the
angle
of
attack
in
the
wing
plane.
OrcaFlex
will
therefore
use
the
same
lift,
drag
and
moment
coefficients
for
flow
(with
the
same
incidence
angle)
onto
the
front,
the
side
or
the
back
of
the
wing,
even
though
your
data
may
only
apply
over
a
limited
range
of
in-plane
attack
angles.
You
can
check
that
the
angle
of
attack
in
the
wing
plane
stays
within
the
range
of
your
data
by
examining
the
Beta
angle
result
variable.
These
define
the
hydrodynamic
and
aerodynamic
loads
applied
to
the
wing.
Aerodynamic
loads
are
only
applied
if
the
Include
wind
loads
on
6D
Buoy
Wings
option
is
enabled
in
the
Environment
data.
The
lift
coefficient
Cl
coefficients
can
be
positive
or
negative
and
the
lift
force
is
given
by:
Lift
Force
=
P
.Cl2
where
P
is
the
proportion
wet
or
proportion
dry
as
appropriate.
A
is
the
area
of
wing
that
is
inside
the
fluid
and
348
w
System
Modelling:
Data
and
Results,
6D
Buoys
This
controls
which
pen
is
used
to
draw
a
Wing
which
uses
this
Wing
Type.
If
it
is
set
to
Use
Buoy's
pen
then
the
6D
Buoy
pen
will
be
used.
If
it
is
set
to
Use
this
pen
then
the
specified
pen
is
used.
Shaded
Drawing
By
default,
for
shaded
3D
Views,
wings
are
drawn
as
plates
with
the
specified
span
and
chord.
Alternatively
the
object
can
be
represented
by
an
imported
3D
model
by
specifying
the
Shaded
Drawing
File.
This
must
be
a
Direct
X
format
file,
usually
with
the
.x
file
extension.
If
you
use
a
relative
path
then
the
path
will
be
taken
as
relative
to
the
folder
containing
the
OrcaFlex
file.
The
Browse
button
allows
you
to
specify
the
Shaded
Drawing
File
quickly
and
also
provides
quick
access
to
the
Orcina
sample
drawings
via
the
Navigate
to
Orcina
sample
drawings
button.
The
Use
Culling
option
is
normally
selected
since
it
can
provide
a
useful
performance
benefit.
However,
in
order
to
work
it
requires
that
the
triangles
defined
in
the
.x
file
have
their
outward
facing
directions
defined
correctly.
In
the
unusual
situation
where
the
outward
facing
directions
are
not
defined
correctly
then
the
.x
file
will
not
display
correctly.
If
this
happens
then
typically
sections
of
the
model
will
be
missing
when
drawn
by
OrcaFlex.
Disabling
the
Use
Culling
option
resolves
this
problem.
Draw
Size
is
provided
to
allow
you
to
scale
the
drawing.
All
directions
are
scaled
equally
to
arrange
that
the
longest
side
in
the
drawing
is
drawn
to
the
specified
Draw
Size.
This
longest
side
is
calculated
by
first
fitting
the
smallest
possible
cuboid
around
the
vertices
of
the
shaded
drawing
(these
are
defined
in
the
.x
file).
This
cuboid
is
aligned
with
the
shaded
drawing's
local
axes.
Then
the
length
of
the
longest
side
of
this
cuboid
is
found.
Specify
a
value
of
'~'
to
display
the
drawing
using
the
absolute
coordinates
as
specified
in
the
.x
file.
Note:
If
you
use
a
value
of
'~'
for
Draw
Size
then
OrcaFlex
uses
the
coordinates
in
the
.x
file
directly.
If
these
coordinates
use
a
different
length
units
system
from
your
OrcaFlex
model
then
you
should
specify
the
units
used
in
the
.x
file
by
including
an
auxiliary
file
called
AdditionalInformation.txt.
Examples
of
this
can
be
found
in
the
sample
shaded
drawings
provided
by
Orcina.
Shaded
Drawing
Origin
is
provided
because
the
shaded
drawing
and
the
wing
may
have
different
origins.
The
Shaded
Drawing
Origin
defines
the
origin
of
the
shaded
drawing
with
respect
to
the
wing's
local
axis
system.
Similarly
Shaded
Drawing
Orientation
allows
you
to
reorient
the
shaded
drawing
to
match
the
wing's
axis
system.
349
System
Modelling:
Data
and
Results,
6D
Buoys
w
z (heave)
yaw y (sway)
pitch
x (surge)
B roll
(B=buoy origin)
Figure:
Lumped
Buoy
A
Lumped
Buoy
is
specified
relative
to
its
own
local
frame
of
reference
Bxyz.
The
Centre
of
Mass
is
specified
relative
to
Bxyz.
acceleration
due
to
gravity).
Each
degree
of
freedom
is
calculated
independently.
Geometry
Volume
is
the
total
volume
of
the
buoy,
with
its
centre
at
the
Centre
of
Volume,
defined
relative
to
the
local
buoy
axes
Bxyz.
Height
is
the
buoy
vertical
dimension,
assumed
equally
spaced
about
the
centre
of
volume.
Height
is
assumed
to
be
independent
of
buoy
rotation.
The
Height
is
used
for
two
main
purposes:
x To
calculate
the
contact
area
used
to
calculate
forces
of
contact
with
shapes
and
the
seabed.
x To
calculate
the
ProportionWet,
which
is
used
to
scale
the
hydrostatic
and
hydrodynamic
forces
and
to
determine
the
centre
of
wetted
volume,
which
is
the
point
at
which
they
are
applied.
Damping
Hydrodynamic
damping
forces
and
moments
may
be
applied
to
the
buoy.
These
are
loads
that
are
directly
proportional
to
the
relative
velocity,
or
angular
velocity,
of
the
sea
past
the
buoy.
For
each
of
the
local
buoy
axes
directions,
you
specify
the
magnitude
of
the
Unit
Force
that
is
applied
when
the
relative
velocity
is
1
length
unit/second.
OrcaFlex
then
scales
these
magnitudes
according
to
the
actual
relative
velocity
and
applies
t he
resulting
force
or
moment.
Similarly
you
can
specify
a
Unit
Moment
that
is
applied
when
the
relative
angular
velocity
is
1
radian/second.
Drag
Hydrodynamic
drag
forces
and
moments
may
be
applied
to
the
buoy.
These
are
loads
that
are
proportional
to
the
square
of
the
relative
velocity,
or
angular
velocity,
of
the
sea
past
the
buoy.
The
drag
force
properties
are
specified
by
giving,
for
each
of
the
local
buoy
axes
directions,
the
Drag
Area
that
is
subject
to
drag
loading
in
that
direction
and
the
corresponding
Drag
Coefficient.
Drag
moment
properties
are
specified
in
a
similar
way,
except
that
instead
of
specifying
a
drag
area
you
must
specify
a
Moment
of
Area.
350
w
System
Modelling:
Data
and
Results,
6D
Buoys
Note:
Drag
Area
Moment
is
the
3rd
absolute
moment
of
drag
area
about
the
axis.
S eparate
Cd
values
are
given
for
force
and
moment
calculations.
Fluid
Inertia
Fluid
inertia
properties
are
those
that
are
proportional
to
the
acceleration
of
the
sea
and
the
buoy.
These
accelerations
have
two
main
effects.
Firstly,
they
result
in
forces
and
moments
being
applied
to
the
buoy
these
are
referred
to
as
the
fluid
acceleration
loads.
Secondly,
the
buoy
experiences
an
increase
in
inertia
this
is
known
as
the
added
mass.
Full
details
of
the
calculation
are
presented
in
the
Lumped
Buoy
Added
Mass,
Damping
and
Drag
topic.
The
fluid
inertia
properties
can
be
specified
either
by
providing
the
Diagonal
values
or
Full
matrices.
Fluid
Inertia
specified
by
diagonal
values
These
properties
are
specified
separately
for
translational
and
rotational
motions
and
also
separately
for
each
local
axis
direction.
The
translational
fluid
inertia
properties
of
the
buoy
are
specified,
for
each
of
the
local
buoy
axis
directions,
by
giving
a
reference
Hydrodynamic
Mass
together
with
the
two
inertia
coefficients,
Ca
and
Cm.
The
translational
Cm
values
can
be
set
to
'~'
to
mean
1
+
Ca.
The
translational
Hydrodynamic
Mass
values
can
be
set
to
'~',
meaning
equal
to
the
fully
submerged
displaced
mass.(=
volume
x
water
density).
This
is
often
a
convenient
reference
mass
to
use.
Fluid
Inertia
specified
by
full
matrices
The
added
mass
and
fluid
inertia
properties
are
specified
as
full
6x6
symmetric
matrices.
The
added
mass
matrix
is
simply
added
in
to
the
buoy's
virtual
mass
matrix.
The
fluid
inertia
matrix
is
multiplied
by
the
instantaneous
fluid
acceleration
vector
to
produce
the
fluid
acceleration
loads.
The
units
of
the
added
mass
and
fluid
inertia
matrices
are
as
follows,
where
M,
L
and
T
indicate
the
units
of
mass,
length
and
time:
x The
upper-left
3x3
block
of
cells
has
units
M.
x The
upper-right
and
lower-left
3x3
blocks
have
units
M.L.
x The
lower-right
3x3
block
of
cells
has
units
M.L2.
6.9.7 Lumped
Buoy
Drawing
Data
Vertices
and
Edges
This
defines
a
"wire
frame"
representation
of
the
buoy.
The
wire
frame
representation
of
the
buoy
is
used
to
draw
the
buoy.
It
is
also
used
to
calculate
the
interaction
of
the
buoy
with
shapes
and
the
seabed.
See
Contact
Forces
for
details.
The
vertices
are
specified
by
giving
their
coordinates
with
respect
to
buoy
axes
Bxyz,
and
the
edges
are
specified
by
giving
the
vertex
numbers
of
the
vertices
they
connect.
Edge
diameter
(used
only
for
shaded
drawing)
For
shaded
graphics
views,
by
default,
the
Lumped
Buoy
is
drawn
using
a
solid,
filled-in
shape
based
on
the
vertices
and
edges.
As
an
alternative
you
can
use
the
vertices
and
edges
to
define
a
frame
like
structure.
If
the
edge
diameter
is
'~'
then
that
edge
will
be
used
to
build
a
filled
in
shape,
otherwise
that
edge
is
drawn
as
a
cylinder
with
the
specified
diameter.
351
System
Modelling:
Data
and
Results,
6D
Buoys
w
Figure:
Wire
frames
with
different
edge
diameter.
A
value
of
'~'
is
used
for
the
wire
frame
on
the
left
and
a
value
of
1m
is
used
for
the
wire
frame
on
the
right.
352
w
System
Modelling:
Data
and
Results,
6D
Buoys
Buoy Axis
Cylinder 1 OD
Cylinder 1 Length
z (heave)
yaw y (sway)
pitch
B x (surge)
roll
(B=buoy origin)
Figure:
Spar
Buoy
Geometry
The
shape
of
a
Spar
Buoy
or
Towed
Fish
is
specified
by
the
following
data
on
the
Geometry
page
on
the
buoy
data
form.
Stack
Base
Centre
Position
The diameters of the cylinder and its length measured along the axis.
353
System
Modelling:
Data
and
Results,
6D
Buoys
w
These
parameters
define
the
buoy
geometry
from
which
buoyancy
forces
and
moments
are
determined.
When
the
buoy
pierces
the
water
surface,
OrcaFlex
allows
for
the
angle
of
intersection
between
the
sea
surface
and
the
buoy
axis
when
calculating
the
immersed
volume
and
centre
of
immersed
volume,
and
includes
the
appropriate
contributions
to
static
stability.
If
the
inner
diameter
is
greater
than
zero
then
the
cylinder
is
actually
a
hollow
cylindrical
pipe.
The
internal
region
of
the
cylinder
contains
sea
water
if
the
buoy
is
submerged.
In
this
case
then
the
contained
water
contributes
to
the
buoy's
inertia.
These
inertial
effects
are
only
included
in
directions
normal
to
the
buoy.
The
remaining
parameters
determine
the
hydrodynamic
loads
acting
on
each
cylinder.
Loads
are
calculated
for
each
cylinder
individually,
then
summed
to
obtain
the
total
load
on
the
buoy.
Hydrodynamic
Loads
See
the
Added
Mass
and
Damping
and
Drag
pages
on
the
buoy
data
form.
6.9.9 Spar
Buoy
and
Towed
Fish
Added
Mass
and
Damping
There
is
a
choice
of
how
to
model
these
first
order
effects,
on
the
Added
Mass
and
Damping
page
of
the
spar
buoy
data
form.
They
can
either
be
specified
by
giving
added
mass
and
damping
values
for
each
cylinder,
or
else
by
giving
RAOs
and
matrices
for
the
whole
buoy.
Values
for
Each
Cylinder
With
this
option,
the
added
mass
and
damping
effects
are
calculated
separately
for
each
cylinder
using
Morison's
Equation.
Added
Mass
Translational
added
mass
effects
are
calculated
using
the
displaced
mass
as
the
reference
mass
for
each
cylinder.
Separate
added
mass
coefficients
are
given
for
flow
normal
(x
and
y
directions)
and
axial
(z
direction)
to
the
cylinder.
Rotational
added
inertia
is
specified
directly
(so
no
reference
inertia
is
involved).
Separate
values
can
be
given
for
rotation
about
the
cylinder
axis
and
normal
to
that
axis.
See
Spar
Buoy
Theory.
Damping
Forces
and
Moments
Damping
forces
and
moments
are
the
hydrodynamic
loads
that
are
proportional
to
fluid
velocity
(angular
velocity
for
moments)
relative
to
the
cylinder.
They
are
specified
by
giving
the
Unit
Damping
Force
and
Unit
Damping
Moment
for
the
normal
and
axial
directions.
These
specify
the
force
and
moment
that
the
cylinder
will
experience,
in
that
direction,
when
the
relative
fluid
velocity
(angular
velocity
for
moments)
in
that
direction
is
1
unit.
See
Damping
Forces
and
Moments
for
details.
RAOs
and
Matrices
for
Buoy
In
this
option
the
linear
hydrodynamic
effects
are
specified
by
giving
wave
force
and
moment
RAOs,
and
added
mass
and
damping
matrices.
Normally
this
data
would
come
from
a
separate
program,
such
as
a
d iffraction
program.
Note:
This
option
is
only
appropriate
for
circularly-symmetric
spar
buoys
whose
axis
undergoes
only
small
oscillations
about
vertical.
It
was
developed
primarily
for
CALM
buoys
with
diameter
in
the
range
5m
to
15m.
It
is
therefore
not
available
for
towed
fish.
Warning:
The
RAOs
and
added
mass
and
damping
matrices
specified
must
apply
to
the
mean
position
of
the
buoy.
They
are
not
modified
to
account
for
any
variations
in
buoy
attitude
or
immersion,
so
this
option
is
only
suitable
for
buoys
that
undergo
small
oscillations
about
their
mean
position.
This
specifies
the
coordinates,
with
respect
to
buoy
axes,
of
the
point
on
the
buoy
at
which
the
RAOs
and
added
mass
and
damping
matrices
are
applied.
This
means
that:
x The
RAOs
are
applied
to
the
wave
conditions
at
this
point
to
give
the
wave
loads,
which
are
then
applied
at
this
point.
x The
damping
matrix
is
multiplied
by
the
current
velocity
relative
to
the
buoy
at
this
point
to
give
the
damping
load,
which
is
applied
at
this
point.
354
w
System
Modelling:
Data
and
Results,
6D
Buoys
The
RAOs
are
specified
in
a
table
giving
the
amplitudes
and
phases
of
the
surge
force,
heave
force
and
pitch
moment
RAOs,
as
a
function
of
wave
angular
frequency.
RAOs
must
be
specified
for
both
of
the
limiting
cases,
i.e.
for
long
and
short
waves,
and
for
at
least
one
other
frequency.
The
RAOs
must
be
specified
using
the
following
Orcina
conventions.
The
force
and
moment
amplitudes
must
be
the
forces
and
moments
that
are
applied
at
the
buoy
origin
when
a
unit
amplitude
wave
is
applied.
The
phases
m ust
be
lags,
in
degrees,
from
the
time
the
wave
crest
passes
the
buoy
origin
until
the
maximum
positive
force
or
moment
occurs.
Added
Mass
and
Damping
Matrices
In
reality
the
added
mass
and
damping
matrices
are
frequency-dependent,
but
in
OrcaFlex
you
can
only
enter
the
matrices
for
one
frequency.
You
should
give
the
values
for
the
principal
frequency
of
excitation
expected.
The
added
mass
and
damping
matrices
are
6
x
6
symmetric
matrices,
so
only
the
cells
on
and
above
the
leading
diagonal
are
editable.
The
cells
below
the
leading
diagonal
are
non-editable
and
always
equal
the
corresponding
cell
values
above
the
diagonal.
The
units
of
the
added
mass
and
damping
matrices
are
as
follows,
where
M,
L
and
T
indicate
the
units
of
mass,
length
and
time:
x Added
mass
matrix.
The
upper-left
3x3
block
of
cells
has
units
M.
The
upper-right
and
lower-left
3x3
blocks
have
units
M.L.
The
lower-right
3x3
block
of
cells
has
units
M.L2.
x Damping
matrix.
The
upper-left
3x3
block
of
cells
has
units
F/(L/T).
The
upper-right
3x3
block
has
units
F/(rad/T).
The
lower-left
3x3
block
of
cells
has
units
(F.L)/(L/T).
The
lower-right
3x3
block
of
cells
has
units
(F.L)/(rad/T).
Because
the
buoy
is
assumed
to
be
axi-symmetric
these
matrices
should
both
have
the
following
axi-symmetric
form:
a 0 0 0 b 0
0 a 0 b 0 0
0 0 c 0 0 0
0 b 0 d 0 0
b 0 0 0 d 0
0 0 0 0 0 e
OrcaFlex
warns
at
simulation
time
if
the
matrices
are
not
of
this
form.
6.9.10 Spar
Buoy
and
Towed
Fish
Drag
Munk
Moment
Coefficient
Slender
bodies
in
near-axial
flow
experience
a
destabilising
moment
called
the
Munk
moment.
This
effect
can
be
modelled
by
specifying
a
non-zero
Munk
moment
coefficient.
Drag
Forces
and
Moments
Drag
loads
are
the
hydrodynamic
loads
that
are
proportional
to
the
square
of
fluid
velocity
relative
to
the
cylinder.
For
details
of
the
drag
load
formulae
see
Spar
Buoy
and
Towed
Fish
Theory.
For
information
when
modelling
a
SPAR
or
CALM
buoy
see
Modelling
a
Surface-Piercing
Buoy.
The
drag
forces
are
calculated
on
each
cylinder
using
the
"cross
flow"
assumption.
That
is,
the
relative
velocity
of
the
sea
past
the
cylinder
is
split
into
its
normal
and
axial
components
and
these
components
are
used,
together
with
the
specified
drag
areas
and
coefficients,
to
calculate
the
normal
and
axial
components
of
the
drag
force.
The
drag
forces
are
specified
by
giving
separate
Drag
Area
and
Drag
Coefficient
values
for
flow
in
the
normal
direction
(local
x
and
y
directions)
and
in
the
axial
direction
(local
z
direction).
The
Drag
Area
is
a
reference
area
that
is
multiplied
by
the
Drag
Coefficient
in
the
drag
force
formula.
You
can
therefore
use
any
positive
Drag
Area
that
suits
your
need,
but
you
then
need
to
give
a
Drag
Coefficient
that
corresponds
to
that
specified
reference
area.
355
System
Modelling:
Data
and
Results,
6D
Buoys
w
The
Drag
moments
are
specified
and
calculated
in
a
similar
way
to
the
drag
forces,
except
that
the
reference
drag
area
is
replaced
by
a
reference
Area
Moment.
This
and
the
Drag
Coefficient
are
multiplied
together
in
the
drag
moment
formula,
so
again
you
can
use
any
positive
Area
Moment
that
suits
your
need,
providing
you
then
specify
a
Drag
Coefficient
that
corresponds
to
the
specified
Area
Moment.
There
are
two
alternative
methods
that
you
can
adopt
when
specifying
the
drag
data.
The
first
method
is
to
set
the
OrcaFlex
data
to
get
best
possible
match
with
real
measured
results
for
the
buoy
(e.g.
from
model
tests
or
full
scale
measurements).
This
is
the
most
accurate
method,
and
we
recommend
it
for
CALM
and
discus
buoys
see
Modelling
a
Surface-Piercing
Buoy
for
details.
Because
the
Drag
Area
and
Drag
Coefficient
data
are
simply
multiplied
together,
you
can
calibrate
the
model
to
the
real
results
by
fixing
one
of
these
two
data
items
and
then
adjusting
the
other.
For
example,
you
could
set
the
axial
Drag
Coefficient
to
1
and
adjust
the
axial
Drag
Area
until
the
heave
response
decay
rate
in
the
OrcaFlex
model
best
matches
the
model
test
results.
Or,
you
could
set
the
axial
Drag
Area
to
a
fixed
value
(e.g.
1
or
some
appropriate
reference
area)
and
then
adjust
the
axial
Drag
Coefficient
until
the
heave
response
decay
rate
in
OrcaFlex
best
matches
the
model
test
results.
The
second
method
is
to
set
the
drag
data
using
theoretical
values
or
given
in
the
literature.
It
is
less
accurate
but
can
be
used
if
you
cannot
get
any
real
buoy
results
against
which
to
calibrate.
To
use
this
method,
set
the
data
as
follows.
Set
the
Drag
Areas
to
the
projected
surface
area
that
is
exposed
to
drag
in
that
direction
and
then
set
the
Drag
Force
Coefficients
based
on
values
given
in
the
literature
(see
Barltrop
&
Adams,
1991,
Hoerner,1965
and
DNV-RP-C205).
Note
that
the
drag
area
specified
should
be
the
total
projected
area
exposed
to
drag
when
the
buoy
is
fully
submerged,
since
OrcaFlex
allows
for
the
proportion
wet
in
the
drag
force
formula.
For
a
simple
cylinder
of
2)/4
for
the
axial
direction,
but
if
the
buoy
has
attachments
that
will
experience
drag
then
their
areas
must
also
be
included.
Set
the
Drag
Area
Moments
to
the
3rd
absolute
moments
of
projected
area
exposed
to
drag
in
the
direction
concerned;
see
Drag
Area
Moments
for
details.
And
then
set
the
Drag
Moment
Coefficients
based
on
values
given
in
the
literature.
6.9.11 Spar
Buoy
and
Towed
Fish
Drawing
There
are
two
alternative
methods
of
drawing
the
Spar
Buoy
and
Towed
Fish
cylinders:
1. Draw
square
cylinders.
If
this
option
is
selected
then
each
cylinder
is
drawn
as
a
square-based
cuboid.
OrcaFlex
automatically
generates
the
vertices
and
edges.
There
are
eight
vertices
per
cylinder
and
the
square
base
has
a
side
length
equal
to
the
diameter
of
the
actual
circular
cylinder.
2. Draw
circular
cylinders.
With
this
option
selected
the
circular
cylinders
are
drawn
as
such.
You
can
specify
pens
for
the
outside
and
inside
of
the
cylinders.
In
addition
you
specify
how
many
lines
are
drawn.
Increasing
this
number
makes
the
buoy
drawing
more
realistic
but
increases
the
time
taken
to
draw
the
buoy.
Notes:
The
selected
drawing
method
only
affects
the
way
the
object
is
drawn.
It
does
not
affect
calculations
in
any
way.
The
vertices
of
the
square-based
cuboids
are
used
for
calculation
of
any
contact
with
the
seabed
or
shapes.
This
applies
even
if
you
choose
for
presentation
purposes
to
draw
circular
cylinders.
356
w
System
Modelling:
Data
and
Results,
6D
Buoys
Figure:
Wire
Frame
and
Shaded
Drawing
For
the
green
vessel
the
superstructure
and
the
hull
share
vertices
and
so
all
vertices
are
connected.
This
results
in
a
single
convex
hull
for
all
vertices
being
drawn.
In
the
red
vessel,
the
superstructure
and
hull
do
not
share
vertices
and
so
there
are
two
distinct
sets
of
connected
vertices.
This
results
in
two
separate
convex
hulls
and
a
better
representation.
Alternatively
the
object
can
be
represented
by
an
imported
3D
model
by
specifying
the
Shaded
Drawing
File.
This
must
be
a
Direct
X
format
file,
usually
with
the
.x
file
extension.
If
you
use
a
relative
path
then
the
path
will
be
taken
as
relative
to
the
folder
containing
the
OrcaFlex
file.
The
Browse
button
allows
you
to
specify
the
Shaded
Drawing
File
quickly
and
also
provides
quick
access
to
the
Orcina
sample
drawings
via
the
Navigate
to
Orcina
sample
drawings
button.
The
Use
Culling
option
is
normally
selected
since
it
can
provide
a
useful
performance
benefit.
However,
in
order
to
work
it
requires
that
the
triangles
defined
in
the
.x
file
have
their
outward
facing
directions
defined
correctly.
In
the
357
System
Modelling:
Data
and
Results,
6D
Buoys
w
unusual
situation
where
the
outward
facing
directions
are
not
defined
correctly
then
the
.x
file
will
not
display
correctly.
If
this
happens
then
typically
sections
of
the
model
will
be
missing
when
drawn
by
OrcaFlex.
Disabling
the
Use
Culling
option
resolves
this
problem.
Draw
Size
is
provided
to
allow
you
to
scale
the
drawing.
All
directions
are
scaled
equally
to
arrange
that
the
longest
side
in
the
drawing
is
drawn
to
the
specified
Draw
Size.
This
longest
side
is
calculated
by
first
fitting
the
smallest
possible
cuboid
around
the
vertices
of
the
shaded
drawing
(these
are
defined
in
the
.x
file).
This
cuboid
is
aligned
with
the
shaded
drawing's
local
axes.
Then
the
length
of
the
longest
side
of
this
cuboid
is
found.
Specify
a
value
of
'~'
to
display
the
drawing
using
the
absolute
coordinates
as
specified
in
the
.x
file.
Note:
If
you
use
a
value
of
'~'
for
Draw
Size
then
OrcaFlex
uses
the
coordinates
in
the
.x
file
directly.
If
these
coordinates
use
a
different
length
units
system
from
your
OrcaFlex
model
then
you
should
specify
the
units
used
in
the
.x
file
by
including
an
auxiliary
file
called
AdditionalInformation.txt.
Examples
of
this
can
be
found
in
the
sample
shaded
drawings
provided
by
Orcina.
Shaded
Drawing
Origin
is
provided
because
the
shaded
drawing
and
the
buoy
may
have
different
origins.
The
Shaded
Drawing
Origin
defines
the
origin
of
the
shaded
drawing
with
respect
to
the
buoy's
local
axis
system.
Similarly
Shaded
Drawing
Orientation
allows
you
to
reorient
the
shaded
drawing
to
match
the
buoy's
axis
system.
6.9.13 Other
uses
6D
Buoys
are
frequently
used
for
non-standard
purposes.
For
example
they
can
be
used
to
connect
Lines
together.
Sometimes
they
are
used
as
frame
of
reference
objects
where
the
properties
are
provided
by
various
other
objects
(usually
single
segment
Lines)
connected
to
the
6D
Buoy.
For
such
uses
the
6D
Buoy
needs
negligible
structural
and
hydrodynamic
properties.
Because
this
is
such
a
common
thing
to
do
we
have
provided
a
facility
on
the
6D
Buoy
data
form
to
set
up
appropriate
properties.
Clicking
on
the
Give
Buoy
negligible
properties
button
has
the
following
effects:
x Buoy
Type
will
be
set
as
Lumped
Buoy.
x Mass
will
be
set
to
a
negligible
value.
x Height
will
not
be
modified
since
it
cannot
be
set
to
zero.
Because
other
properties
are
set
to
zero
its
value
is
not
significant.
x All
other
Lumped
Buoy
properties
are
set
to
zero.
x Any
existing
Wing,
Applied
Load
and
Drawing
data
is
not
modified.
6.9.14 External
Functions
Parameters
This
data
item
specifies
the
External
Function
Parameters,
a
free
form
multi-line
text
field
which
is
passed
to
any
external
function
used
by
the
Environment.
6.9.15 Properties
Report
The
6D
Buoy
properties
report
is
available
from
the
popup-menu
on
the
data
form.
It
reports
the
following:
Weight
in
air
The
weight
of
water
displaced
by
the
buoy's
volume.
The
reported
value
uses
the
water
density
at
the
sea
surface.
Weight
in
water
358
w
System
Modelling:
Data
and
Results,
6D
Buoys
Total
contact
area
Reports
the
Total
contact
area
data.
If
a
value
of
'~'
is
set
on
the
data
form
then
the
value
reported
here
is
the
default
value
calculated
by
OrcaFlex.
Number
of
vertices
The
number
of
vertices
in
the
wire
frame
drawing.
Contact
for
6D
Buoys
is
calculated
at
each
of
these
vertices.
Contact
area
per
vertex
6.9.16 Results
For
details
on
how
to
select
results
variables
see
Selecting
Variables.
6D
Buoy
Results
For
6D
Buoys
the
available
variables
are:
X,
Y
and
Z
The
position
of
a
user
specified
point
P
on
the
buoy,
relative
to
global
axes.
The
point
P
is
specified
in
buoy
local
coordinates.
If
P=(0,0,0)
then
the
global
X,
Y
and
Z
coordinates
of
the
buoy
origin
are
reported.
Rotation
1,
Rotation
2
and
Rotation
3
Define
the
orientation
of
the
buoy
relative
to
global
axes.
They
are
3
successive
rotations
that
take
the
global
axes
directions
to
the
buoy
axes
directions.
See
Initial
Position
and
Attitude
for
the
definition
of
these
angles.
Rotation
2
is
in
the
range
-90
to
+90.
Range
jump
suppression
is
applied
to
Rotation
1
and
Rotation
3
(so
values
outside
the
range
-360
to
+360
might
be
reported).
Azimuth,
Declination
The
magnitude
and
components
of
the
velocity
of
the
buoy,
relative
to
global
axes.
These
results
are
reported
at
a
user
specified
point
P
on
the
buoy.
The
point
P
is
specified
in
buoy
local
coordinates.
Angular
Velocity,
x-Angular
Velocity,
y-Angular
Velocity,
z-Angular
Velocity
The magnitude and components of the angular velocity of the buoy, relative to buoy axes.
359
System
Modelling:
Data
and
Results,
6D
Buoys
w
The
magnitude
and
components
of
the
acceleration
of
the
buoy,
relative
to
global
axes.
These
results
are
r eported
at
a
user
specified
point
P
on
the
buoy.
The
point
P
is
specified
in
buoy
local
coordinates.
Acceleration
(incl.
g),
x-Acceleration
(incl.
g),
y-Acceleration
(incl.
g),
z-Acceleration
(incl.
g)
The
magnitude
and
components
(with
respect
to
buoy
axes)
of
the
vector
a
-
g
where
a
is
the
acceleration
of
the
buoy
and
g
is
the
acceleration
due
to
gravity,
a
vector
pointing
vertically
downwards.
These
results
are
reported
at
a
user
specified
point
P
on
the
buoy.
The
point
P
is
specified
in
buoy
local
coordinates.
These
results
can
be
used
to
compare
against
accelerometer
readings.
Angular
Acceleration,
x-Angular
Acceleration,
y-Angular
Acceleration,
z-Angular
Acceleration
The
magnitude
and
components
of
the
angular
acceleration
of
the
buoy,
relative
to
buoy
axes.
Sea
Surface
Z
The
global
Z
coordinate
of
the
sea
surface
directly
above
the
instantaneous
position
of
the
buoy
origin.
Dry
Length
The
length
of
buoy
above
the
water
surface,
measured
along
the
buoy
z
axis,
calculated
as
follows:
x For
a
Lumped
Buoy,
this
is
calculated
by
assuming
that
the
z-extent
of
a
Lumped
Buoy
is
Height
either
side
of
its
centre
of
volume.
x For
a
Spar
Buoy
it
is
the
sum
of
the
dry
lengths
of
each
of
its
cylinders,
where
the
dry
length
of
an
individual
cylinder
is
calculated
as:
(cylinder
length)
(cylinder
volume
above
surface)
/
(cylinder
total
volume).
Force,
Moment
Lx-Force,
Ly-Force,
Lz-Force,
Lx-Moment,
Ly-Moment,
Lz-Moment,
Gx-Force,
Gy-Force,
Gz-Force,
Gx-Moment,
Gy-Moment,
Gz-Moment
These
results
are
not
available
for
buoys
that
are
connected
to
other
objects
you
can
instead
use
the
Connection
Force
and
Connection
Moment
results.
These
results
are
the
total
force
and
moment
applied
to
the
buoy.
Force
and
Moment
report
the
magnitudes
of
the
loads.
The
Lx,
Ly
and
Lz
results
report
the
components
of
the
force
and
moment
in
the
local
axes
directions.
The
Gx,
Gy
and
Gz
results
report
the
components
of
the
force
and
moment
in
the
global
axes
directions.
Connection
Force,
Connection
Moment
Connection
x-Force,
Connection
y-Force,
Connection
z-Force
Connection
x-Moment,
Connection
y-Moment,
Connection
z-Moment
These
connection
load
results
are
only
available
for
buoys
that
are
connected
to
other
objects.
They
report
the
total
force
and
moment
applied
to
the
buoy
by
the
object
to
which
it
is
connected.
Connection
Force
and
Connection
Moment
report
the
magnitudes
of
the
connection
loads.
The
other
results
report
the
components
of
the
connection
force
and
moment
in
the
buoy
axes
directions.
These
connection
force
and
moment
results
include
the
inertial
load
on
the
buoy
due
to
any
acceleration
of
the
object
to
which
it
is
attached.
This
means
that
these
results
can
be
used
for
sea
fastening
calculations,
by
using
a
6D
buoy
to
model
the
object
to
be
fastened
and
then
attaching
it
to
a
vessel.
The
connection
force
and
moment
include
the
weight
of
the
buoy
and
the
inertial
loads
due
to
the
vessel
acceleration.
Note
that
if
the
vessel
motion
is
specified
by
a
time
history
then
the
time
history
interpolation
method
used
is
important
since
it
affects
the
calculation
of
vessel
acceleration
and
hence
affects
the
inertial
loads.
Wing
Results
If
the
6D
buoy
has
wings
attached
then
for
each
wing
the
following
results
are
available.
Wing
X,
Wing
Y,
Wing
Z
360
w
System
Modelling:
Data
and
Results,
6D
Buoys
The
lift
force,
drag
force
and
drag
moment
applied
to
the
wing.
The
lift
force
is
applied
at
90
to
the
relative
flow
direction.
Positive
values
mean
a
force
trying
to
push
the
wing
towards
its
positive
side,
negative
values
towards
its
negative
side.
The
drag
force
is
applied
in
the
relative
flow
direction
and
is
always
positive.
The
drag
moment
is
applied
about
the
line
that
is
in
the
wing
plane
and
at
90
to
the
relative
flow
direction.
Positive
values
are
moments
trying
to
turn
the
wing
to
bring
the
wing
y-axis
Wy
to
point
along
the
relative
flow
direction;
negative
values
are
moments
trying
to
turn
the
wing
the
opposite
way.
Note:
When
the
wing
is
less
than
half
submerged,
and
you
have
included
wind
loads
on
wings,
then
the
lift
force,
drag
force
and
moment
reported
are
the
air
loads.
Otherwise
they
are
the
water
loads.
Incidence Angle
The
angle
of
the
relative
flow
direction,
measured
in
the
wing
plane.
More
specifically,
it
is
the
angle
between
wing
Wx
axis
and
the
projection
of
the
relative
flow
vector
onto
the
wing
plane,
measured
positive
towards
Wz.
Zero
beta
angle
means
that
this
projection
is
in
the
Wx
direction,
90
means
it
is
along
Wz
and
-90
means
it
is
along
the
negative
Wz
direction.
The
value
reported
is
with
respect
to
the
principal
fluid
affecting
the
wing.
Range
jump
suppression
is
applied
to
the
Beta
Angle
(so
values
outside
the
range
-360
to
+360
might
be
reported).
6.9.17 Buoy
Hydrodynamics
3D
and
Lumped
6D
buoys
are
generalised
objects
for
which
no
geometry
is
defined
in
the
data
other
than
a
height:
This
is
used
for
proportioning
hydrodynamic
properties
when
the
object
is
partially
immersed,
and
for
drawing
a
3D
buoy.
Since
the
geometry
of
the
object
is
undefined,
it
is
necessary
to
define
properties
such
as
inertias,
drag
areas,
added
masses,
etc.
explicitly
as
data
items.
This
can
be
a
difficult
task,
especially
where
a
6D
buoy
is
used
to
represent
a
complex
shape
such
as
a
midwater
arch
of
the
sort
used
to
support
a
flexible
riser
system.
We
cannot
give
a
simple
step-by-step
procedure
for
this
task
since
the
geometry
of
different
objects
can
be
widely
different.
As
an
example,
the
hydrodynamic
properties
in
6
degrees
of
freedom
are
derived
for
a
rectangular
box.
This
gives
a
general
indication
of
the
way
in
which
the
problem
should
be
approached.
If
a
3D
buoy
is
used,
the
rotational
properties
are
not
used.
361
System
Modelling:
Data
and
Results,
6D
Buoys
w
Y X
z
y x
Figure:
Box
Geometry
Drag
areas
In
X
direction:
Ax
=
y
.
z
In
Y
direction:
Ay
=
x
.
z
In
Z
direction:
Az
=
x
.
y
Drag
Coefficients
for
Translational
Motions
These
are
obtained
from
ESDU
71016,
Figure
1
which
gives
data
for
drag
of
isolated
rectangular
blocks
with
one
face
normal
to
the
flow.
The
dimensions
of
the
block
are
a
in
the
flow
direction
b
and
c
normal
to
the
flow
direction
(c>b).
The
figure
plots
drag
coefficient,
Cx
against
(a/b)
for
(c/b)
from
1
to
infinity
(2D
flow).
Cx
is
in
the
range
0.9
to
2.75
for
blocks
with
square
corners.
Note:
ESDU
71016
uses
Cd
for
the
force
in
the
flow
direction;
Cx
for
the
force
normal
to
the
face.
For
present
purposes
the
two
are
identical.
362
w
System
Modelling:
Data
and
Results,
6D
Buoys
dz
z
O X
Figure:
Integration
for
rotational
drag
properties
Consider
the
box
rotating
about
OX.
The
areas
Ay
and
Az
will
attract
drag
forces
which
will
result
in
moments
about
OX.
For
the
area
Ay,
consider
an
elementary
strip
as
shown:
and
the
moment
of
this
force
about
OX
is
3.dz
Total
moment
is
obtained
by
integration.
Because
of
the
V.|V|
form
of
the
drag
force,
simple
integration
from
-Z/2
to
+Z/2
gives
M
=
0.
We
therefore
integrate
from
0
to
Z/2
and
multiply
the
answer
by
2.
The
result
is
M
4/32)
OrcaFlex
calculates
the
drag
moment
by
so
we
set
Cdm
=
Cd,
AM
=
x.z4/32.
This
is
the
drag
moment
contribution
about
OX
from
the
Ay
area.
There
is
a
similar
contribution
from
the
Az
area.
Since
Cd
is
generally
different
for
the
2
areas,
it
is
convenient
to
calculate
the
sum
of
(Cd.AM)
for
both,
set
AM
equal
to
this
value
and
set
Cd
equal
to
1.
Added
Mass
OrcaFlex
requires
the
added
mass
and
inertia
contributions
to
the
mass
matrix,
plus
the
hydrodynamic
masses
and
inertias
to
be
used
for
computation
of
wave
forces.
For
each
degree
of
freedom
(3
translations,
3
rotations),
3
data
items
are
required.
These
are
Hydrodynamic
Mass
in
tonnes
(or
Inertia
in
tonne.m 2);
and
coefficients
Ca
and
Cm.
Added
mass
is
then
defined
as
Hydrodynamic
Mass
.
Ca;
and
wave
force
is
defined
as
(Hydrodynamic
mass
.
Cm)
multiplied
by
the
water
particle
acceleration,
aw.
On
the
usual
assumptions
intrinsic
in
the
use
of
Morison's
Equation
(that
the
body
is
small
by
comparison
with
the
AM)
.
aw
calculates
the
wave
force
as
Cm
.
HM
.
aw
where
HM
is
the
Hydrodynamic
Mass
given
in
the
data.
=
=
1
+
Ca.
For
rotational
=
=
1
+
Ca
where
AI
is
the
added
inertia
(i.e.
the
rotational
analogue
of
added
mass).
Translational
Motion
DNV-RP-C205,
Table
6.2,
gives
added
mass
data
for
a
square
section
prism
accelerating
along
its
axis.
The
square
section
is
of
side
a,
prism
length
is
b,
and
data
are
given
for
b/a
=
1.0
and
over.
The
reference
volume
is
the
volume
363
System
Modelling:
Data
and
Results,
6D
Buoys
w
of
the
body
which
is
the
same
definition
we
have
adopted.
We
can
therefore
use
the
calculated
Ca
without
further
adjustment.
Consider
the
X
direction:
Area
normal
to
flow
=
Ax.
Length
in
flow
direction
=
x.
Hence
Ca
can
be
obtained
from
DNV-RP-C205
by
interpolation,
and
then
Cm
=
1
+
Ca.
If
b/a
<
1.0
this
approach
fails
and
we
use
the
data
given
in
DNV-RP-C205
for
rectangular
flat
plates.
If
y
>
z,
aspect
ratio
of
the
plate
=
y/z.
Hence
CA
from
DNV-RP-C205
by
interpolation.
The
reference
volume
in
this
case
is
that
of
a
cylinder
of
diameter
z,
length
y.
Hence:
2
=
AMx,
say
Note:
If
y
<
z,
then
aspect
ratio
=
z/y
and
reference
volume
=
CA
.
2.
Rotational
Motion
DNV-RP-C205
gives
no
data
for
hydrodynamic
inertia
of
rotating
bodies.
The
only
data
for
3D
solids
we
know
of
is
for
spheroids
(Newman
1977).
Fig
4.8
of
Newman
1977
gives
the
added
inertia
for
coefficient
for
spheroids
of
varying
aspect
ratio
referred
to
the
moment
of
inertia
of
the
displaced
mass.
We
assume
that
the
same
coefficient
applies
to
the
moment
of
inertia
of
the
displaced
mass
of
the
rectangular
block.
Rotation
about
X
2
+
Z2)/12
Added
inertia:
Ca
can
be
read
from
the
upper
figure
where
the
value
is
referred
to
the
moment
of
inertia
of
the
displaced
mass.
In
this
case
no
further
adjustment
is
required.
For
b/a
>
1.6
The
coefficient
CA
is
read
from
the
lower
graph
in
which
the
reference
volume
is
the
sphere
of
radius
b.
In
this
case:
Ca
=
CA
.
(2
.
b3)/(a
.
(a2+b2))
In
either
case,
Cm
=
1
+
Ca.
6.9.19 Modelling
a
Surface-Piercing
Buoy
Surface-piercing
buoys,
such
as
CALM
buoys,
SPAR
buoys
or
meteorological
discus
buoys,
can
be
modelled
in
OrcaFlex
using
the
Spar
Buoy
version
of
a
6D
Buoy.
Despite
its
name,
the
OrcaFlex
Spar
Buoy
can
be
used
to
model
any
axi-symmetric
body.
Spar
Buoys
have
many
data
items
available.
This
enables
you
to
model
a
wide
range
of
effects,
but
it
also
makes
setting
up
a
Spar
Buoy
model
more
complicated.
To
help
in
this
task
we
describe,
in
this
section,
the
approach
we
adopt
for
setting
up
an
OrcaFlex
model
of
a
surface-piercing
buoy.
1.
Create
a
simple
model
containing
just
a
Spar
Buoy
Start
by
modelling
the
free-floating
behaviour
of
the
buoy,
without
any
lines
attached.
This
allows
us
to
get
the
basic
behaviour
of
the
buoy
correct,
before
complications
such
as
moorings
etc.
are
introduced.
We
therefore
set
up
an
OrcaFlex
model
containing
just
a
Spar
Buoy
and
with
no
waves
or
current.
364
w
System
Modelling:
Data
and
Results,
6D
Buoys
Set
the
buoy's
Applied
Load
to
zero.
This
data
allows
you
to
apply
extra
forces
and
moments
to
the
buoy,
in
addition
to
those
from
any
lines
that
you
attach
to
it.
You
can
use
this
later
to
model
the
wind
force
on
the
upper
part
of
the
buoy.
To
do
this
you
will
need
to
know
the
projected
area
(i.e.
the
area
exposed
to
wind)
of
the
pipe
work
etc.
in
the
upper
part
of
the
buoy.
Set
the
buoy's
Munk
Moment
Coefficient
to
zero.
This
data
item
is
only
used
for
slender
bodies
in
near
axial
fully-
submerged
flow
only.
Set
the
number
of
wings
to
zero.
Wings
are
normally
only
relevant
for
towed
fish.
Finally,
we
start
by
setting
all
the
buoy's
drag
and
added
mass
data
to
zero.
We
will
set
up
the
actual
values
later.
2.
Set
up
the
geometry
data
The
Spar
Buoy
has
its
own
local
buoy
axes
coordinate
system.
You
can
choose
the
origin
for
these
buoy
axes,
but
the
buoy
z-axis
direction
must
be
chosen
to
be
parallel
to
the
axis
of
the
buoy,
and
the
buoy
x-
and
y-axes
should
be
parallel
to
the
other
two
principle
directions
of
structural
inertia.
You
also
need
to
specify
the
position
of
the
centre
of
gravity,
relative
to
the
local
coordinate
system.
The
buoy
manufacturer
should
supply
this
information.
Set
the
Stack
Base
Position.
This
is
the
position
of
the
centre
of
the
bottom
of
the
buoy,
relative
to
the
buoy
axes.
The
Stack
Base
Position
therefore
has
z-coordinate
=
-h,
where
h
is
the
distance
axially
from
the
bottom
of
the
buoy
to
the
buoy
origin.
Now
set
up
a
number
of
cylinders,
and
their
lengths
and
diameters,
in
order
to
model
the
shape
of
the
buoy.
To
do
this
you
need
the
dimensions
of
the
various
parts
of
the
buoy.
The
buoy
manufacturer
should
supply
this
information.
Set
the
cylinder
lengths
and
diameters
so
that
you
get
the
correct
length
and
volume
for
each
section.
You
can
represent
tapered
sections
by
a
series
of
short
cylinders
with
diameters
changing
progressively
from
one
to
the
next.
We
recommend
using
a
number
of
short
cylinders,
even
where
the
buoy
diameter
is
constant
over
a
long
length.
Using
more
cylinders
gives
more
accurate
results,
though
at
the
cost
of
reduced
computation
speed.
You
can
check
your
geometry
data
by
zooming
in
on
the
buoy
in
a
3D
View
window.
Turn
on
the
local
axes
so
that
you
can
check
that
the
buoy
origin
is
in
the
correct
place.
The
Bulk
Modulus
data
item
is
not
relevant
to
a
surface-piercing
buoy,
so
it
can
be
left
at
the
default
value
of
Infinity.
3.
Set
up
the
mass
and
inertia
data
Now
set
the
Mass
and
Moments
of
Inertia
of
the
buoy.
The
buoy
manufacturer
should
supply
this
information.
The
mass
equals
the
weight
of
the
buoy
in
air.
The
moments
of
inertia
are
those
of
the
buoy
(in
air)
about
its
centre
of
gravity,
as
follows:
x Iz
=
the
moment
of
inertia
about
the
buoy
axis.
x Ix
and
Iy
=
the
moments
of
inertia
about
axes
perpendicular
to
the
buoy
axis,
through
the
centre
of
gravity.
Usually
it
is
sufficient
to
assume
that
Ix
=
Iy.
If
you
cannot
obtain
data
for
the
moments
of
inertia,
then
they
can
be
approximately
calculated
from
a
knowledge
of
the
masses
of
the
various
parts
of
the
buoy,
and
approximately
how
that
mass
is
distributed.
4.
Check
that
the
buoy
floats
at
the
correct
draught
Set
the
Initial
Position
and
Initial
Attitude
of
the
buoy
so
that
the
buoy
is
in
its
expected
equilibrium
position.
The
initial
position
is
the
position
of
the
buoy
local
origin,
and
therefore
of
the
CG,
and
you
can
calculate
this
point's
expected
equilibrium
position
from
the
buoy
draught,
which
should
be
available
from
the
buoy
manufacturer.
The
Initial
Attitude
defines
the
initial
orientation
of
the
buoy.
Set
it
to
(0,0,0),
which
orients
the
buoy
with
its
axis
vertical
and
the
buoy
local
x,y
axes
aligned
with
the
global
X,Y
axes.
Set
the
Degrees
of
freedom
included
in
statics
to
None
and
then
run
the
simulation
and
look
at
the
time
history
of
buoy
Z.
If
the
data
has
been
set
up
correctly
then
the
buoy
should
have
stayed
basically
in
its
initial
position
and
attitude,
with
perhaps
just
small
oscillations
about
that
position.
If
the
buoy
Z
has
oscillated
significantly
then
the
model's
equilibrium
position
does
not
match
the
expected
equilibrium
position.
This
means
that
something
is
wrong
in
the
data
and
this
needs
tracing
and
correcting
before
you
proceed.
You
can
estimate
the
model's
equilibrium
position
by
looking
at
the
mean
Z
position
in
the
time
history.
365
System
Modelling:
Data
and
Results,
6D
Buoys
w
Set
the
Drag
Areas
for
each
cylinder
to
the
areas,
of
the
part
of
the
buoy
which
that
cylinder
represents,
that
are
exposed
to
fluid
drag
in
the
direction
concerned.
Note
that
you
should
specify
the
areas
that
are
exposed
to
drag
when
the
buoy
is
fully
submerged.
OrcaFlex
automatically
calculates
the
proportion
of
the
cylinder
that
is
submerged
and
scales
all
the
fluid
loads
on
the
cylinder
using
that
'proportion
wet'
as
a
factor.
So
if
a
cylinder
is
not
submerged,
or
is
partially
submerged,
then
the
drag
loads
will
be
scaled
accordingly
for
you.
For
a
simple
cylinder,
of
diameter
D
and
length
L,
the
normal
drag
area
is
D.L
since
that
is
the
area
of
a
cylinder
2)/4
since
that
is
the
area
of
the
cylinder
when
viewed
along
its
axis.
However,
where
a
cylinder
is
representing
part
of
the
buoy
that
is
not
in
reality
a
simple
cylinder
(for
example,
we
may
represent
the
pipework
and
turntable
on
the
deck
of
a
SPAR
buoy
as
an
equivalent
cylinder)
or
where
the
cylinder
is
shielded
from
drag
by
adjacent
structure,
then
the
drag
areas
should
be
set
accordingly.
For
example,
if
the
cylinder
is
shielded
below
by
another
cylinder
of
diameter
d
(less
than
D)
then
the
axial
drag
area
2)/4
to
model
that
shielding.
Set
the
Drag
Force
Coefficient
based
on
values
given
in
the
literature.
For
short
simple
cylinders
fully
immersed
there
are
standard
values
given
in
the
literature
(see
Barltrop
&
Adams,
1991,
Hoerner,1965
and
DNV-RP-C205).
However,
the
standard
book
values
do
not
include
energy
absorption
by
wave-making
at
the
free
surface.
Strictly,
this
is
a
linear
term
(forces
directly
proportional
to
velocity),
but
in
OrcaFlex
this
must
be
done
by
adjusting
the
drag
coefficients
of
one
or
more
cylinders.
The
Unit
Damping
Force
data
can
be
set
to
zero.
If
you
later
find
that
the
buoy
shows
persistent
small
amplitude
oscillations
then
you
may
wish
to
set
a
non-zero
value
to
damp
this
out.
Set
the
Drag
Area
Moments,
Drag
Moment
Coefficients
and
Unit
Damping
Moment
data.
For
the
normal
direction
these
data
items
can
usually
all
be
left
as
zero,
providing
you
have
subdivided
the
buoy
into
short
enough
cylinders
(since
these
terms
involve
a
high
power
of
L,
the
cylinder
length).
For
the
axial
direction
these
data
items
model
the
yaw
drag
and
damping
effects,
so
if
this
is
important
to
you
then
set
them
to
model
the
two
main
sources,
namely
skin
friction
on
the
cylinder
surface
and
form
drag
on
any
protuberances
on
the
buoy.
Having
set
up
this
drag
and
damping
data,
it
is
well
worth
now
running
simulations
of
heave
and
pitch
oscillations
and
checking
that
their
rate
of
decay
is
reasonable
and
consistent
with
any
real
data
you
have
available.
Discus
and
CALM
Buoys
These
types
of
buoy
require
different
treatment
since
they
have
little
axial
extension.
Instead
it
is
their
radial
extension
that
most
affects
the
buoy's
pitch
properties.
As
a
result
the
axial
discretisation
of
the
buoy
into
cylinders
does
not
capture
the
important
effects.
For
example
the
pitch
damping
is
often
mostly
due
to
radiation
damping,
i.e.
surface
wave
generation;
this
is
especially
important
for
a
CALM
buoy
with
a
skirt.
366
w
System
Modelling:
Data
and
Results,
3D
Buoys
To
deal
with
this
OrcaFlex
offers
the
rotational
drag
and
damping
data,
but
there
is
little
information
in
the
literature
to
help
in
setting
up
this
data.
We
therefore
strongly
recommend
that
you
set
the
data
up
by
calibration
against
real
test
results
from
model
or
full
scale
tests.
The
easiest
information
to
work
with
are
time
history
graphs
of
the
buoy
heave
and
pitch
in
still
water,
starting
from
a
displaced
position.
This
will
give
the
heave
and
pitch
natural
periods
and
the
rates
of
decay
and
you
can
adjust
the
buoy's
drag
and
damping
data
until
you
get
a
good
match
with
this
measured
behaviour.
Here
is
the
approach
we
use:
x For
the
normal
direction,
set
the
Drag
Area,
Drag
Force
Coefficient
and
Unit
Damping
Force
as
described
for
Spar
buoys
above.
x Then
set
the
axial
Unit
Damping
Force
to
zero
and
run
a
simulation
that
matches
the
conditions
that
existed
in
the
real
heave
time
history
results,
i.e.
with
the
same
initial
Z
displacement.
x Then
adjust
the
axial
Drag
Area
and
Drag
Force
Coefficients
until
the
OrcaFlex
buoy's
Z
time
history
matches
the
real
time
history.
These
two
data
items
are
simply
multiplied
together
when
they
are
used
to
calculate
the
drag
force,
so
you
can
give
one
of
the
two
data
items
a
fixed
positive
value
(e.g.
1)
and
then
adjust
the
other.
x The
match
will
probably
be
poor
in
the
later
parts
of
the
time
history,
where
the
heave
amplitude
has
decayed
to
small
values.
This
is
because
the
square
law
drag
term
is
insignificant
at
small
amplitude
and
instead
the
damping
force
takes
over.
Therefore
we
now
adjust
the
axial
Unit
Damping
Force
to
further
improve
the
match
where
the
amplitude
is
small.
You
may
find
that
this
disturbs
the
match
in
the
large
amplitude
part,
in
which
case
you
might
need
to
readjust
the
drag
data.
x For
the
axial
direction,
set
the
Drag
Area
Moment,
Drag
Moment
Coefficient
and
Unit
Damping
Moment
as
described
for
Spar
buoys
above.
x Then
set
the
normal
Drag
Area
Moment,
Drag
Moment
Coefficient
and
Unit
Damping
Moment
to
best
match
the
real
pitch
time
history,
in
a
similar
way
to
that
used
above
to
match
the
heave
time
history.
6.10 3D
BUOYS
OrcaFlex
3D
Buoys
are
simplified
point
elements
with
only
3
degrees
of
freedom:
X,
Y
and
Z.
They
do
not
rotate,
but
remain
aligned
with
the
global
axes.
They
therefore
do
not
have
rotational
properties
and
moments
on
the
buoy
are
ignored.
They
should
therefore
be
used
only
where
these
limitations
are
unimportant.
3D
Buoys
are
able
to
float
part-submerged
at
the
surface,
and
may
also
be
used
independently,
with
no
lines
attached.
Although
they
are
much
less
sophisticated
than
6D
Buoys,
3D
Buoys
are
easier
to
use
and
are
convenient
for
modelling
buoys
at
line
junctions
etc.
367
System
Modelling:
Data
and
Results,
3D
Buoys
w
height/2
z y Buoy Axes
always aligned
with Global Axes
B
x
height/2
Figure:
3D
Buoy
6.10.1 Data
Name
Determines
whether
the
equilibrium
position
of
the
buoy
is
calculated
by
the
static
analysis.
See
Buoy
Degrees
of
Freedom
Included
in
Static
Analysis.
Initial
Position
Specifies
the
initial
position
for
the
buoy
origin
as
coordinates
relative
to
the
global
axes.
If
the
buoy
is
not
included
in
the
static
analysis
then
this
initial
position
is
taken
to
be
the
static
position
of
t he
buoy.
If
the
buoy
is
included
in
the
static
analysis,
then
this
initial
position
is
used
as
an
initial
estimate
of
the
buoy
position
and
the
statics
calculation
will
move
the
buoy
from
this
position
iteratively
until
an
equilibrium
position
is
found.
See
Buoy
Degrees
of
Freedom
Included
in
Static
Analysis.
Mass
Specifies
the
compressibility
of
the
buoy.
If
the
buoy
is
not
significantly
compressible,
then
the
Bulk
Modulus
can
be
set
to
Infinity,
which
means
"incompressible".
See
Buoyancy
Variation.
Height
Used
to
model
floating
buoys
correctly,
where
the
buoyancy,
drag
etc.
vary
according
to
the
depth
of
immersion.
It
also
determines
the
height
used
to
draw
the
buoy.
The
Height
is
the
vertical
distance
over
which
the
fluid-related
forces
change
from
zero
to
full
force
as
the
buoy
pierces
the
surface.
It
is
taken
to
be
symmetrical
about
the
buoy's
origin.
368
w
System
Modelling:
Data
and
Results,
3D
Buoys
OrcaFlex
applies
Coulomb
friction
between
the
buoy
and
the
seabed.
The
friction
fo
See
Friction
Theory
for
further
details
of
the
friction
model
used.
Note:
The
friction
coefficient
for
contact
with
elastic
solids
is
specified
on
the
Solid
Friction
Coefficients
data
form.
Contact Area
Used
to
determine
contact
forces
when
the
buoy
comes
in
to
contact
with
the
seabed
and
with
elastic
solids.
If
a
value
of
'~'
is
specified
then
OrcaFlex
uses
Volume
/
Height.
Specifying
a
value
of
zero
allows
you
to
disable
contact
for
the
buoy.
Drag
Drag
forces
are
applied
in
each
of
the
global
axes
directions
GX,
GY
and
GZ.
For
each
direction
you
must
specify
a
Drag
Coefficient
and
Drag
Area.
Added
Mass
You
must
specify
the
added
mass
coefficient
Ca
for
each
global
axis
direction.
The
added
mass
is
set
to
be
Ca
multiplied
by
the
mass
of
water
currently
displaced.
The
inertia
coefficient,
Cm,
is
set
automatically
to
equal
1+Ca.
6.10.2 Properties
Report
The
3D
Buoy
properties
report
is
available
from
the
popup-menu
on
the
data
form.
It
reports
the
following:
Weight
in
air
The
weight
of
water
displaced
by
the
buoy's
volume.
The
reported
value
uses
the
water
density
at
the
sea
surface.
Weight
in
water
6.10.3 Results
For
details
on
how
to
select
results
variables
see
Selecting
Variables.
For
3D
Buoys
the
available
variables
are:
369
System
Modelling:
Data
and
Results,
Winches
w
X,Y and Z
The
magnitude
and
components
(with
respect
to
global
axes)
of
the
velocity
and
acceleration
of
the
buoy.
Surface
Z
The
global
Z
coordinate
of
the
sea
surface
directly
above
the
instantaneous
position
of
the
buoy
origin.
Dry
Length
Length
of
buoy
above
the
water
surface,
measured
along
the
buoy
z
axis.
For
this
purpose,
the
z -extent
of
a
3D
buoy
is
assumed
to
be
Height/2
either
side
of
its
volume
centre.
6.11 WINCHES
Winches
provide
a
way
of
modelling
constant
tension
or
constant
speed
winches.
They
connect
two
(or
more)
points
in
the
model
by
a
winch
wire,
fed
from
a
winch
inertia
(typically
representing
a
winch
drum)
that
is
then
driven
by
a
winch
drive
(typically
representing
the
winch
hydraulics
that
d rive
the
drum).
As
well
as
connecting
its
two
end
points,
the
winch
wire
may,
optionally,
pass
via
intermediate
points,
in
which
case
it
does
so
as
if
passing
over
a
small
frictionless
pulley
at
that
point.
The
wire
tension
either
side
of
the
intermediate
point
is
then
applied
to
that
point;
if
the
point
is
offset
on
the
object
involved
then
this
also
gives
rise
to
an
applied
moment.
Winch wire
Figure:
Winch
Model
Simple
Winches
model
perfect
constant
tension
or
constant
speed
performance
and
are
easiest
to
use.
It
is
assumed
that
the
winch
inertia
is
negligible
and
the
winch
drive
is
perfect,
so
that
it
always
exactly
achieves
the
requested
constant
tension
or
constant
speed.
Because
of
these
assumptions,
no
data
needs
to
be
given
for
the
winch
inertia
or
winch
drive.
Detailed
Winches
Detailed
Winches
include
modelling
of
the
performance
of
the
winch
drive
system
its
deadband,
stiffness,
inertia,
damping
and
drag
but
therefore
require
more
data
and
are
harder
to
set
up.
We
recommend
using
Simple
winches
unless
you
know
the
characteristics
of
the
winch
drive
system
and
believe
that
its
performance
significantly
differs
from
the
constant
tension
or
speed
ideal.
In
particular,
Simple
winches
are
appropriate:
x At
the
early
design
stage,
when
the
type
of
winch
to
be
used
has
not
yet
been
d ecided.
370
w
System
Modelling:
Data
and
Results,
Winches
x If
the
duty
is
such
that
the
winch
drive
will
give
near
to
perfect
constant
tension
or
constant
speed
performance.
x If
the
winch
drive
data
are
not
available.
Winch
Control
OrcaFlex
winches
allow
quite
complex
offshore
operations
to
be
modelled.
The
winch
drive
can
be
operated
in
either
of
two
modes:
Length
Control
Mode
For
modelling
constant
speed
winches.
The
winch
wire
is
paid
out
or
hauled
in
at
a
velocity
specified
in
the
data.
Force
Control
Mode
For
modelling
tension
controlled
winches.
Since
such
winches
are
usually
hydraulic
devices
whose
performance
deviates
quite
seriously
from
the
target
tension
ideal,
OrcaFlex
Winches
provides
facilities
for
modelling
winch
deadband,
damping
and
drag
forces
(force
decrements
proportional
to
velocity
and
velocity 2
respectively)
and
winch
stiffness
effects
such
as
those
caused
by
hydraulic
accumulators.
The
winch
can
be
switched
between
these
two
modes
at
predetermined
times
during
the
simulation
and
the
constant
velocity
or
target
tension
can
also
be
varied.
6.11.1 Data
Name
The
(mass-less)
winch
wire
connects
at
least
two
objects,
one
at
each
end
of
the
winch
wire.
If
more
than
2
are
specified
then
the
winch
wire
passes
from
the
first
connection
point
to
the
last
via
the
intermediate
points
specified.
When
intermediate
connections
are
specified,
the
winch
wire
slides
freely
through
these
intermediate
points
as
if
passing
via
small
friction-less
pulleys
mounted
there.
The
winch
wire
tension
on
either
side
then
pulls
on
the
intermediate
points,
so
applying
forces
and
moments
(if
the
points
are
offset)
to
the
objects
concerned.
Each
connection
is
defined
by
specifying
the
object
connected
and
the
object-relative
position
of
the
connection
point.
For
connecting
to
a
Line,
the
object-relative
z
coordinate
specifies
the
arc
length
to
the
connection
point.
The
z
coordinate
specifies
the
arc
length
along
the
Line
and
this
arc
length
may
be
measured
relative
to
either
End
A
or
End
B
as
specified
by
the
user.
The
connection
point
is
attached
to
the
nearest
node.
If
torsion
is
not
modelled
then
the
x,y
coordinates
are
ignored
and
the
connection
point
is
at
the
centreline
of
the
Line.
If
torsion
is
modelled
then
the
x,y
coordinates
allow
you
to
offset
the
connection
from
the
centreline.
For
Fixed
connections
the
object-relative
coordinates
given
are
the
global
coordinates
of
the
point.
For
connecting
to
an
Anchor,
the
object-relative
x,y
coordinates
given
are
the
global
X,Y
coordinates
of
the
anchor
point,
and
the
z-coordinate
is
the
distance
of
the
anchor
above
(positive)
or
below
(negative)
the
seabed
at
that
X,Y
position.
For
connecting
to
other
objects,
the
coordinates
of
the
connection
point
are
given
relative
to
the
object
local
frame
of
reference.
Release
at
Start
of
Stage
The
winch
wire
can
be
released
at
the
start
of
a
given
stage
of
the
simulation,
by
setting
this
number
to
the
stage
number
required.
Once
released
the
winch
no
longer
applies
any
forces
to
the
objects
it
connects.
If
no
release
is
required,
then
set
this
item
to
'~'.
6.11.2 Wire
Properties
Wire
Stiffness
371
System
Modelling:
Data
and
Results,
Winches
w
Wire Damping
The
inertia
of
the
winch
drive,
which
resists
changes
in
the
rate
of
pay
out
of
haul
in
of
the
winch
wire
if
the
winch
is
in
Force
Control
mode.
The
Winch
Inertia
has
no
effect
if
the
winch
is
in
Length
Control
mode.
This
is
a
linear,
rather
than
rotational,
inertia.
To
represent
the
rotational
inertia
of
a
winch
drum,
set
the
winch
inertia
to
l
/
r2
where
I
=
drum
rotational
inertia,
r
=
radius
at
which
the
wire
is
fed.
Notes:
The
winch
inertia
does
not
contribute
to
the
mass
of
any
objects
to
which
the
winch
is
attached
and
so
does
not
directly
resist
acceleration
of
any
of
the
connection
points.
(Such
accelerations
are
resisted
indirectly,
of
course,
through
the
changes
they
cause
to
the
winch
wire
path
length
and
hence
to
the
winch
wire
tension.)
To
include
the
true
translational
inertia
of
the
winch
drive,
drum
and
wire
it
is
necessary
to
suitably
increase
the
masses
of
the
objects
to
which
it
is
attached.
Setting
the
winch
inertia
to
a
small
value
to
model
a
low
inertia
winch
can
lead
to
very
short
natural
periods
for
the
winch
system.
These
then
require
very
short
time
steps
for
the
simulation,
slowing
the
simulation.
To
avoid
this,
the
winch
inertia
can
be
set
to
zero,
rather
than
to
a
small
value;
the
winch
system
inertia
is
then
not
modelled
at
all,
but
the
short
natural
periods
are
then
avoided.
See
Winch
Theory
for
full
details
of
the
algorithm
used
when
the
winch
inertia
is
zero.
6.11.3 Control
Control
Type
When
Whole
Simulation
is
selected
the
winch
is
either
tension
controlled
or
length
controlled
for
the
whole
simulation.
For
the
tension
controlled
mode
the
target
tension
can
be
fixed,
vary
with
simulation
time
or
be
given
by
an
external
function.
Likewise
for
the
length
controlled
mode
the
payout
rate
of
unstretched
winch
wire
can
be
fixed,
vary
with
simulation
time
or
be
given
by
an
external
function.
6.11.4 Control
by
Stage
Winch
Control
for
Statics
For
the
static
analysis,
the
Mode
of
the
winch
drive
can
be
set
to
one
of
Specified
Length
or
Specified
Tension.
Specified
Length
The
winch
drive
is
locked
with
the
unstretched
length
of
winch
wire
out,
L 0,
being
set
to
the
Value
specified.
The
winch
wire
tension
t
then
depends
on
the
stretched
length
L
of
the
winch
wire
path.
Specified
Tension
The
winch
drive
operates
in
perfect
constant
tension
mode,
the
tension
t
being
the
Value
specified.
The
unstretched
length
out
L0
is
then
set
to
correspond
to
this
tension.
372
w
System
Modelling:
Data
and
Results,
Winches
The
Value
specifies
the
unstretched
length
of
winch
wire
to
be
paid
out
(positive)
or
hauled
in
(negative)
at
a
constant
rate
during
this
stage.
That
is,
the
Value
specifies
the
total
change
in
unstretched
length
during
the
stage,
so
to
keep
a
constant
length
set
the
Value
to
zero.
Specified
Payout
Rate
The
Value
specifies
the
rate
at
which
the
winch
wire
is
to
be
paid
out
(positive)
or
hauled
in
(negative)
during
this
stage.
Specified
Tension
The
Value
specifies
the
target
constant
tension
for
this
stage.
For
Simple
winches
the
winch
drive
is
assumed
to
always
achieve
this
nominal
tension,
so
the
Value
is
used
as
the
actual
winch
wire
tension.
For
Detailed
winches
this
nominal
tension
is
used
as
the
target
tension
for
the
winch
drive,
which
then
applies
drive
force
to
the
winchinertia
to
try
to
achieve
this
target
tension.
The
algorithm
for
the
winch
drive
force
is
designed
to
model
the
characteristics
of
real-world
winches
that
are
nominally
"constant
tension".
See
Winch
Theory.
Note:
Changes
of
nominal
tension
are
applied
instantly
at
the
start
of
each
stage,
and
this
can
therefore
apply
a
shock
load
which,
if
large
enough,
may
affect
the
stability
of
the
simulation.
The
Value
specifies
the
change
in
target
tension
for
this
stage.
That
is,
the
Value
specifies
the
total
change
in
nominal
tension
during
the
stage,
so
to
keep
at
a
constant
nominal
tension
set
the
Value
to
zero.
The
above
comments
for
the
Specified
Tension
control
method
also
apply
to
this
method.
Specified
Tension
Rate
of
Change
The
Value
specifies
the
rate
of
change
in
target
tension
for
this
stage.
The
above
comments
for
the
Specified
Tension
control
method
also
apply
to
this
method.
Note:
The
Specified
Tension
Change
and
Specified
Tension
Rate
of
Change
modes
allow
you,
f or
example,
to
model
a
constant
tension
winch
where
the
tension
is
determined
by
an
earlier
simulation
stage.
By
specifying
a
tension
change
of
0
following
a
payout
stage
you
can
lock
the
winch
at
the
tension
used
at
the
end
of
the
payout
operation.
The
winch
control
data
for
statics
is
the
same
as
the
data
specified
in
the
By
Stage
control
type.
Dynamics
Mode
373
System
Modelling:
Data
and
Results,
Winches
w
Winch Drive
The
winch
drive
controls
the
winch
wire
in
one
of
two
winch
control
modes:
Length
Control
mode
("Specified
Length",
"Specified
Payout"
or
"Specified
Payout
Rate")
or
Force
Control
mode
("Specified
Tension",
"Specified
Tension
Change"
or
"Specified
Tension
Rate
of
Change").
x Length
Control
mode
is
for
modelling
a
constant
speed
winch.
The
winch
tension
then
depends
simply
on
the
unstretched
length
of
winch
wire
out,
and
the
wire
properties
(Stiffness
and
Damping).
x Force
Control
mode
is
for
modelling
a
(nominally)
constant
tension
winch.
Because
such
winches
often
deviate
quite
seriously
from
the
constant
tension
ideal,
facilities
are
provided
for
modelling
winch
Deadband,
Damping,
Drag
and
Stiffness.
Deadband
A
deadband
of
+/-
this
value
is
applied
to
the
winch
drive
force
between
hauling
in
and
paying
out
the
winch.
See
Winch
Theory
for
full
details.
Stiffness
This
can
be
used
to
model,
for
example,
winch
hydraulic
accumulators.
It
is
the
rate
at
which
the
zero-velocity
winch
force
(the
drive
force
applied
when
the
winch
is
neither
hauling
in
nor
paying
out)
varies
with
the
total
unstretched
length
of
winch
wire
paid
out.
See
Winch
Theory.
Damping
Terms
A
and
B
These
terms
can
be
used
to
model
damping
in
a
winch's
hydraulic
drive
system.
The
winch
drive
force
is
taken
to
vary
with
haul-in/payout
velocity
at
rates
A
and
B,
respectively.
See
Winch
Theory.
Drag
Terms
C
and
D
These
terms
can
be
used
to
model
drag
in
a
winch's
hydraulic
drive
system.
The
winch
drive
force
is
taken
to
vary
with
haul-in/payout
velocity2
at
rates
C
and
D,
respectively.
See
Winch
Theory.
6.11.7 External
Functions
Parameters
This
data
item
specifies
the
External
Function
Parameters,
a
free
form
multi-line
text
field
which
is
passed
to
any
external
function
used
by
the
Environment.
6.11.8 Results
For
details
on
how
to
select
results
variables
see
Selecting
Variables.
For
winches
the
available
variables
are:
X,
Y
and
Z
The
rate
of
pay
out
of
winch
wire.
Positive
value
means
paying
out,
negative
value
means
hauling
in.
Azimuth
and
Declination
The
azimuth
and
declination
angles
of
the
direction
of
the
winch
wire
between
the
final
2
connection
points,
relative
to
the
global
axes.
This
direction
is
measured
from
the
last
connection
point
towards
the
previous
connection
point.
Declination
is
in
the
range
0
to
180.
Range
jump
suppression
is
applied
to
Azimuth
(so
values
outside
the
range
-
360
to
+360
might
be
reported).
Sea
Surface
Z
The global Z coordinate of the sea surface directly above the instantaneous position of the winch mount.
374
w
System
Modelling:
Data
and
Results,
Links
The
magnitude
and
components
relative
to
global
axes
of
the
connection
force
at
the
specified
winch
connection
point.
We
adopt
the
convention
that
the
force
reported
is
that
applied
by
the
winch
to
the
object
to
which
it
is
connected.
6.12 LINKS
Links
are
simple
spring
or
spring/damper
connections
linking
two
points
in
the
model,
for
example
a
node
on
a
line
to
a
vessel,
or
a
buoy
to
an
anchor.
They
pull
the
two
points
together,
or
hold
them
apart,
with
a
force
that
depends
on
their
relative
positions
and
velocities.
Links
have
no
mass
or
hydrodynamic
loading
and
simply
apply
an
equal
and
opposite
force
to
the
two
points.
They
are
useful
for
modelling
items
such
as
wires
where
the
mass
and
hydrodynamic
effects
are
small
and
can
be
neglected;
for
example
buoy
ties
can
sometimes
be
modelled
using
links.
Two
types
of
Link
are
available:
Tethers
Simple
elastic
ties
that
can
take
tension
but
not
compression.
The
unstretched
length
and
stiffness
of
the
tether
are
specified.
The
tether
remains
slack
and
does
not
apply
a
force
if
the
distance
between
the
ends
is
less
than
the
unstretched
length.
Spring/Dampers
Combined
spring
and
independent
damper
units.
The
spring
can
take
both
compression
and
tension
and
can
have
either
a
linear
or
a
piecewise-linear
length-force
relationship.
The
damper
velocity-force
relationship
can
also
be
either
linear
or
piecewise-linear.
Tether:
Spring-Damper:
Figure:
Types
of
Link
6.12.1 Data
Name
may
be
either:
x Tether:
a
simple
elastic
tie
having
linear
stiffness
and
no
damping.
x Spring/Damper:
a
combined
spring
and
independent
damper,
each
of
which
can
be
either
linear
or
piecewise-
linear.
Connect
to
Object
and
Object
Relative
Position
375
System
Modelling:
Data
and
Results,
Links
w
the
x,y
coordinates
are
ignored
and
the
connection
point
is
at
the
centreline
of
the
Line.
If
torsion
is
modelled
then
the
x,y
coordinates
allow
you
to
offset
the
connection
from
the
centreline.
For
Fixed
connections
the
object-relative
coordinates
given
are
the
global
coordinates
of
the
point.
For
connecting
to
an
Anchor,
the
object-relative
x,y
coordinates
given
are
the
global
X,Y
coordinates
of
the
anchor
point,
and
the
z-coordinate
is
the
distance
of
the
anchor
above
(positive)
or
below
(negative)
the
seabed
at
that
X,Y
position.
For
connecting
to
other
objects,
the
coordinates
of
the
connection
point
are
given
relative
to
the
object
local
frame
of
reference.
Release
at
Start
of
Stage
The
link
can
be
released
at
the
start
of
a
given
stage
of
the
simulation,
by
setting
this
number
to
the
stage
number
required.
Once
released
a
link
no
longer
applies
any
forces
to
the
objects
it
connects.
If
no
release
is
required,
then
set
this
item
to
'~'.
Unstretched
Length
Both
the
spring
and
damper
in
a
Spring/Damper
can
have
either
simple
linear
force
characteristics
or
else
a
user-
specified
piecewise-linear
force
table.
Stiffness
For
a
tether
the
tension
t
depends
on
its
strain
and
stiffness
as
follows:
t
=
k.(L-L0)/L0
where
k
is
the
specified
Stiffness,
L
is
the
current
stretched
length
between
the
two
ends,
L0
is
the
specified
Unstretched
Length.
Tethers
remain
slack
and
exert
no
force
if
L
is
less
than
L 0.
For
a
linear
spring
in
a
Spring/Damper
the
tension
(positive)
or
compression
(negative)
is
given
by:
t
=
k.(L-L0)
where
k
is
the
specified
Stiffness,
L
is
the
current
stretched
length
between
the
two
ends,
L0
is
the
specified
Unstretched
Length.
The
linear
spring
does
not
go
slack
if
L
is
less
than
L0,
but
instead
goes
into
compression.
Warning:
Please
note
that
this
is
not
the
same
formula
as
for
tethers.
Damping
For
a
non-linear
spring
(or
damper)
the
force
characteristic
is
specified
as
a
table
of
tension
against
length
(or
velocity).
The
table
must
be
arranged
in
increasing
order
of
length
(velocity)
and
a
negative
tension
indicates
compression.
For
a
passive
damper
the
tensions
specified
should
therefore
normally
have
the
same
sign
as
the
376
w
System
Modelling:
Data
and
Results,
Shapes
velocities,
since
otherwise
the
damper
will
apply
negative
damping.
For
lengths
(velocities)
between,
or
outside,
those
specified
in
the
table
the
program
will
use
linear
interpolation,
or
extrapolation,
to
calculate
the
tension.
6.12.2 Results
For
details
on
how
to
select
results
variables
see
Selecting
Variables.
For
links
the
following
variables
are
available:
Tension
The
azimuth
and
declination
angles,
relative
to
global
axes,
of
the
End
A
to
End
B
direction
of
the
link.
End
A
X,
End
A
Y,
End
A
Z,
End
B
X,
End
B
Y
and
End
B
Z
6.13 SHAPES
Figure:
Examples
of
Block,
Cylinder
and
Curved
plate
shapes
Shapes
are
simple
3
dimensional
geometric
objects
that
can
be
configured
in
a
variety
of
ways:
1. Elastic
solids
are
used
to
model
physical
obstacles,
2. Trapped
water
are
used
to
model
moonpools
or
other
areas
where
fluid
motion
is
suppressed.
3. Drawing
shapes
have
no
physical
effect
on
the
model
and
are
just
intended
for
drawing
purposes.
You
may
choose
between
a
number
of
different
basic
geometric
shapes
and
several
shapes
can
then
be
placed
together
to
defined
more
complex
shapes.
The
basic
shapes
available
are
planes,
blocks,
cylinders
and
curved
plates.
377
System
Modelling:
Data
and
Results,
Shapes
w
Elastic
solids
An
elastic
solid
represents
a
physical
barrier
to
the
motion
of
lines
and
buoys.
It
is
made
of
a
material
of
a
specified
stiffness
and
resists
penetration
by
applying
a
reaction
force
normal
to
the
nearest
surface
of
the
elastic
solid
and
proportional
to
the
depth
of
penetration
of
the
object
into
the
elastic
solid.
Note:
Elastic
solids
do
not
resist
penetration
by
Vessels,
Links,
Winches
or
other
Shapes.
Each
elastic
solid
has
an
associated
stiffness,
which
determines
the
rate
at
which
the
force
applied
to
an
object
increases
with
the
area
of
contact
and
depth
of
penetration
into
the
elastic
solid.
The
stiffness
is
the
force
per
unit
area
of
contact
per
unit
depth
of
penetration.
Contact
with
elastic
solids
can
model
friction.
Friction
coefficients
are
specified
on
the
Solid
Friction
Coefficients
data
form.
Note
that
friction
for
contact
with
elastic
solids
is
only
included
during
dynamics.
Where
an
object
interacts
with
more
than
one
elastic
solid
simultaneously,
the
force
acting
on
it
is
the
sum
of
the
individual
forces
from
each
elastic
solid.
Elastic
solids
are
intended
only
for
modelling
the
overall
limitation
on
movement
that
a
physical
barrier
presents;
they
are
not
intended
to
model
an
object's
interaction
with
the
barrier
in
detail.
For
example
the
calculation
of
the
contact
area
and
penetration
depth
are
very
simplistic
and
do
not
allow
for
the
detailed
geometric
shape
of
the
object.
The
value
given
for
Stiffness
is
therefore
not
normally
important,
providing
it
is
high
enough
to
keep
penetration
small.
On
the
other
hand,
although
the
actual
stiffness
of
real
barriers
is
usually
very
high,
the
Stiffness
should
not
be
set
too
high
since
this
can
introduce
very
short
natural
periods
which
in
turn
require
very
short
simulation
time
steps.
Lines
only
interact
with
elastic
solids
by
their
nodes
coming
into
contact,
so
elastic
solids
that
are
smaller
than
the
segment
length
can
"slip"
between
adjacent
nodes.
The
segment
length
in
a
line
should
be
therefore
be
small
compared
with
the
dimensions
of
any
elastic
solid
with
which
the
line
may
make
contact.
Trapped
water
Trapped
water
can
be
used
to
model
hydrodynamic
shielding
i.e.
areas
such
as
moonpools,
the
inside
of
spars
or
behind
breakwaters,
where
wave
and
current
effects
are
suppressed.
Inside
a
trapped
water
shape
the
fluid
motion
is
calculated
as
if
the
fluid
was
moving
with
the
shape.
So
if
the
trapped
water
shape
is
fixed
then
no
fluid
motion
occurs
in
the
shape
this
could
be
used
to
model
a
breakwater.
But
if
the
shape
is
connected
to
a
moving
vessel,
for
example,
then
the
trapped
water
is
assumed
to
move
with
the
vessel
this
could
be
used
to
model
a
moonpool.
Note:
Objects
ignore
any
trapped
water
shapes
which
are
connected
to
that
particular
object.
If
this
wasn't
done
then
if
you
connected
a
trapped
water
shape
to
a
buoy
and
part
of
the
buoy
was
in
the
trapped
water
shape
then
a
feedback
would
occur
(the
buoy
motion
determines
the
motion
of
the
shape,
which
in
turn
would
affect
the
fluid
forces
on
the
buoy
and
hence
its
motion).
Such
feedback
is
undesirable
so
the
buoy
ignores
any
trapped
water
shapes
that
are
connected
to
it.
Drawing
shapes
Drawing
shapes
have
no
physical
effect
on
the
model.
They
can
be
used
to
draw
objects
of
interest
and
do
not
interact
with
other
objects.
6.13.1 Data
Name
378
w
System
Modelling:
Data
and
Results,
Shapes
Position
Each
shape
has
position
data.
For
blocks
it
is
named
Origin,
for
cylinders
and
curved
plates
it
is
named
End
Position
and
for
planes
it
is
named
Point
on
Plane.
This
point
is
taken
as
the
origin
of
the
shape's
local
x,y,z
axes.
For
Fixed
connections
this
is
the
global
position
of
the
point.
For
Anchored
connections
the
object-relative
x,y
coordinates
given
are
the
global
X,Y
coordinates
of
the
anchor
point,
and
the
z-coordinate
is
the
distance
of
the
anchor
above
(positive)
or
below
(negative)
t he
seabed
at
that
X,Y
position.
For
connections
to
other
objects,
the
coordinates
of
the
connection
point
are
given
relative
to
the
object
local
frame
of
reference.
Pens
and
Number
of
Lines
Each
surface
of
the
solid
is
drawn
as
a
wire
frame
using
one
the
specified
pens.
To
aid
visualisation,
the
Outside
pen
is
used
if
the
surface
is
being
viewed
from
the
outside
of
the
solid,
and
the
Inside
pen
is
used
if
it
is
being
viewed
from
the
inside.
The
Number
of
Lines
determines
how
many
lines
are
used
in
the
wire
frames
a
larger
value
gives
a
more
realistic
picture,
but
takes
a
little
longer
to
draw.
Data
for
Elastic
Solids
Normal
Stiffness
This
is
the
reaction
force
that
the
solid
applies
per
unit
depth
of
penetration
per
unit
area
of
contact.
Stiffness
may
be
set
to
zero,
giving
a
solid
that
is
drawn
but
which
has
no
effect
on
the
other
objects
in
the
system.
Shear
Stiffness
The
Shear
Stiffness
is
used
by
the
friction
calculation.
A
value
of
'~'
results
in
the
Normal
Stiffness
being
used.
Damping
The
percentage
of
critical
damping
for
the
elastic
solid.
Damping
is
always
zero
when
using
the
implicit
integration
scheme.
See
Shape
Theory
for
technical
details.
6.13.2 Blocks
z z-size
y
Block Position B
x
y-size
x-size
A
Block
shape
is
a
rectangular
cuboid,
defined
by
giving:
379
System
Modelling:
Data
and
Results,
Shapes
w
Size
This
defines
the
block's
dimensions
in
its
local
x,
y
and
z
directions.
With
respect
to
its
local
axes,
the
block
occupies
the
volume
x=0
to
Size(x),
y=0
to
Size(y),
z=0
to
Size(z).
Orientation
This
is
defined
by
giving
three
rotation
angles,
Rotation
1,
2
and
3,
that
define
its
orientation
relative
to
the
object
to
which
the
block
is
attached,
or
else
relative
to
global
axes
if
it
is
not
attached
to
another
object.
For
example,
if
the
block
is
attached
to
an
object
with
local
axes
L xyz,
then
the
3
rotations
define
the
orientation
of
the
block
axes
Bxyz
as
follows.
First
align
the
block
with
the
local
axes
of
the
object
to
which
it
is
attached,
so
that
Bxyz
are
in
the
same
directions
as
Lxyz.
Then
apply
Rotation
1
about
Bx
(=Lx),
followed
by
Rotation
2
about
the
new
By
direction,
and
finally
Rotation
2
about
the
new
(and
final)
Bz
direction.
6.13.3 Cylinders
r = Inner Radius
R = Outer Radius
R
End 2 Position
End 1 Position
A
cylinder
shape
is
a
thick
walled
hollow
pipe
defined
by
giving:
x Inner
and
Outer
Diameter.
x Length.
x Azimuth
and
Declination
of
the
axis.
The
azimuth
and
declination
define
the
direction
of
the
axis
relative
to
the
local
axes
of
the
object
to
which
the
end
is
connected.
For
objects
that
rotate,
such
as
vessels
and
6D
buoys,
the
axis
direction
therefore
rotates
with
the
object.
For
Fixed
or
Anchored
ends
it
is
defined
relative
to
global
axes.
Cylinders
are
drawn
using
circles
to
represent
the
end
faces
and
a
number
of
rectangular
facets
to
represent
around
the
curved
surfaces.
The
number
of
facets
used
is
the
Number
of
Lines
specified.
Two
gives
a
very
simple
wire
frame
profile
of
the
cylinder,
whilst
a
very
large
number
gives
a
pseudo-opaque
cylinder
at
the
expense
of
drawing
speed.
If
the
Inner
Diameter
is
zero
then
a
solid
disc
is
formed.
If
the
cylinder
is
an
elastic
solid
then
reaction
forces
are
applied:
x Radially
inwards
if
an
object
comes
into
contact
with
the
inner
curved
surface.
x Radially
outwards
if
an
object
comes
into
contact
with
the
outer
curved
surface.
x Normally
outwards
if
an
object
comes
into
contact
with
one
of
the
end
faces.
380
w
System
Modelling:
Data
and
Results,
Shapes
Figure:
Some
example
curved
plate
shapes
Curved
plate
shapes
are
particularly
suited
to
modelling
bellmouths
although
they
are
not
restricted
to
this
application.
The
curved
plate
shape
is
similar
to
the
cylinder.
It
differs
in
that
the
radius
of
the
shape
can
vary
smoothly
between
the
ends.
Curved
plates
can
be
either
filled
in
or
hollow.
Shape
is
hollow
If
ticked
then
the
shape
is
hollow
and
has
both
inner
and
outer
surfaces.
The
middle
picture
above
is
not
hollow
whereas
the
other
two
are.
Orientation
This
is
defined
by
giving
three
rotation
angles,
Azimuth,
Declination
and
Gamma,
that
define
its
orientation
relative
to
the
object
to
which
the
shape
is
attached,
or
else
relative
to
global
axes
if
it
is
not
attached
to
another
object.
The
Azimuth
and
Declination
values
define
the
direction
of
the
principal
axis.
The
Gamma
value
specifies
rotation
of
the
shape
about
its
own
axis
and
so
is
only
relevant
when
the
Included
Angle
of
Revolution
is
not
equal
to
360.
Included
Angle
of
Revolution
The
curved
plate
is
a
solid
of
revolution.
A
value
of
360
gives
a
complete
revolution
as
shown
in
the
first
2
pictures
above.
Other
values
can
be
used
to
model
partial
or
cut-away
curved
plates
for
example
the
right-most
picture
above
has
an
included
angle
of
90.
Thickness
If
the
shape
is
hollow
then
this
data
item
specifies
the
wall
thickness.
This
thickness
specifies
the
thickness
normal
to
the
shape's
axis
or
centreline.
Note:
You
may
need
to
specify
an
artificially
large
value
for
thickness
in
order
to
avoid
objects
passing
through
the
shape's
wall
during
the
static
calculation.
Profile
A
table
specifying
the
variation
of
diameter
with
distance
along
the
shape's
axis
or
centreline.
The
radius
is
the
radial
distance
(i.e.
in
direction
normal
to
the
shape
axis)
from
the
axis
to
the
surface.
If
the
shape
is
hollow
then
the
profile
defines
the
radius
to
the
inner
surface.
If
the
shape
is
not
hollow
then
the
profile
defines
the
radius
to
the
outer
surface.
Cubic
Bessel
interpolation
is
used
to
generate
a
smooth
profile.
381
System
Modelling:
Data
and
Results,
Shapes
w
6.13.5 Planes
Direction of
Maximum Slope
Slope
Point on Plane
A
plane
shape
is
an
infinite
plane
surface
one
side
of
the
plane
is
outside
and
the
other
is
inside.
The
position
of
the
plane
is
defined
by
specifying
a
Point
on
Plane
through
which
it
passes.
The
angle
of
the
plane
is
specified
by
giving
its
(maximum)
Slope
Angle
and
Slope
Direction,
relative
to
the
object
to
which
it
is
connected,
as
follows.
x For
a
fixed
or
anchored
shape,
the
Slope
Angle
is
specified
by
giving
the
angle
of
elevation
of
the
line
of
maximum
slope,
relative
to
the
global
XY
plane
(i.e.
relative
to
the
horizontal).
A
Slope
Angle
of
90
is
therefore
a
vertical
plane.
The
Slope
Direction
is
specified
as
the
direction
of
the
line
of
maximum
upwards
slope,
relative
to
global
axes.
For
example
a
plane
having
a
Slope
Angle
of
30
and
a
Slope
Direction
of
90
slopes
upwards
in
the
positive
Y
direction
at
30
to
the
horizontal.
x For
a
shape
connected
to
another
object,
the
Slope
Angle
and
Slope
Direction
are
relative
to
the
object's
local
xy
plane.
For
example
with
a
Slope
Angle
of
30
and
a
Slope
Direction
of
90,
the
plane
slopes
upwards
in
the
positive
y
direction
at
30
to
the
object's
local
xy
plane.
A
plane
with
zero
slope
angle
is
therefore
parallel
to
the
xy
plane
of
the
object
to
which
it
is
connected,
or
parallel
to
the
global
XY
plane
(i.e.
horizontal)
in
the
case
of
a
Fixed
or
Anchored
plane.
The
'inside'
of
a
plane
is
on
the
negative
z
side
(i.e.
below
for
a
Fixed
or
Anchored
plane)
if
the
Slope
Angle
is
in
the
range
-90
to
+90,
and
on
the
positive
z
side
(i.e.
above
for
a
Fixed
or
Anchored
plane)
otherwise.
Planes
are
drawn
as
a
rectangular
grid,
with
the
specified
Number
of
Lines,
using
a
spacing
determined
by
the
view
size.
Planes
extend
to
infinity
in
all
directions,
but
only
a
part
of
the
infinite
plane
local
to
the
view
centre
is
shown
on
the
3D
view.
6.13.6 Drawing
Wire
frame
drawing
Representation
of
shapes
in
the
wire
frame
drawing
mode
can
be
confusing.
OrcaFlex
does
not
provide
hidden-line
removal
so
shape
objects
are
displayed
by
simple
wire-frame
drawings.
You
may
exercise
control
over
the
display
by
selecting
the
number
of
lines
drawn
for
each
object,
and
the
sequence
in
which
they
are
drawn.
For
pen
details,
see
How
Objects
Are
Drawn.
Where
it
is
necessary
to
keep
the
display
simple
you
should
set
Number
of
Lines
to
2
for
blocks
and
cylinders.
If
the
number
of
lines
is
set
large
for
blocks
or
cylinders
they
appear
as
solid
objects,
although
they
may
take
a
long
time
to
draw.
For
planes
you
can
control
how
they
are
drawn
with
the
Grid
Density
data
item.
This
is
specified
in
terms
of
the
length
of
the
scale
bar
on
the
3D
view.
A
density
of
d
means
that
there
are
d
lines
per
scale
bar
length,
so
higher
density
values
give
a
finer
grid
(but
takes
longer
to
draw).
Please
note
also
that
the
Number
of
Lines
only
affects
the
drawing,
and
not
the
calculations
(which
are
correctly
performed
with
curved
geometry).
Planes
and
Blocks
are
drawn
first,
and
then
Cylinders,
but
otherwise
the
solids
in
the
model
are
drawn
in
the
sequence
that
they
were
created.
You
can
sometimes
take
advantage
of
this,
by
defining
background
shapes
before
foreground
ones,
to
obtain
a
pseudo-hidden
line
effect.
You
are
encouraged
to
experiment,
but
simplicity
is
best.
Hint:
Although
the
program
provides
depth
clues
to
the
eye
by
drawing
rear
faces
in
a
different
colour,
the
eye
can
sometimes
be
fooled
by
the
picture
try
rotating
the
view
back
and
forth
a
few
times.
382
w
System
Modelling:
Data
and
Results,
All
Objects
Data
Form
Shaded
Drawing
By
default,
for
shaded
3D
Views,
shapes
are
drawn
as
solid
objects
using
the
specified
geometry.
Alternatively
the
object
can
be
represented
by
an
imported
3D
model
by
specifying
the
Shaded
Drawing
File.
This
must
be
a
Direct
X
format
file,
usually
with
the
.x
file
extension.
If
you
use
a
relative
path
then
the
path
will
be
taken
as
relative
to
the
folder
containing
the
OrcaFlex
file.
The
Browse
button
allows
you
to
specify
the
Shaded
Drawing
File
quickly
and
also
provides
quick
access
to
the
Orcina
sample
drawings
via
the
Navigate
to
Orcina
sample
drawings
button.
The
Use
Culling
option
is
normally
selected
since
it
can
provide
a
useful
performance
benefit.
However,
in
order
to
work
it
requires
that
the
triangles
defined
in
the
.x
file
have
their
outward
facing
directions
defined
correctly.
In
the
unusual
situation
where
the
outward
facing
directions
are
not
defined
correctly
then
the
.x
file
will
not
display
correctly.
If
this
happens
then
typically
sections
of
the
model
will
be
missing
when
drawn
by
OrcaFlex.
Disabling
the
Use
Culling
option
resolves
this
problem.
Draw
Size
is
provided
to
allow
you
to
scale
the
drawing.
All
directions
are
scaled
equally
to
arrange
that
the
longest
side
in
the
drawing
is
drawn
to
the
specified
Draw
Size.
This
longest
side
is
calculated
by
first
fitting
the
smallest
possible
cuboid
around
the
vertices
of
the
shaded
drawing
(these
are
defined
in
the
.x
file).
This
cuboid
is
aligned
with
the
shaded
drawing's
local
axes.
Then
the
length
of
the
longest
side
of
this
cuboid
is
found.
Specify
a
value
of
'~'
to
display
the
drawing
using
the
absolute
coordinates
as
specified
in
the
.x
file.
Note:
If
you
use
a
value
of
'~'
for
Draw
Size
then
OrcaFlex
uses
the
coordinates
in
the
.x
file
directly.
If
these
coordinates
use
a
different
length
units
system
from
your
OrcaFlex
model
then
you
should
specify
the
units
used
in
the
.x
file
by
including
an
auxiliary
file
called
AdditionalInformation.txt.
Examples
of
this
can
be
found
in
the
sample
shaded
drawings
provided
by
Orcina.
Shaded
Drawing
Origin
is
provided
because
the
shaded
drawing
and
the
shape
may
have
different
origins.
The
Shaded
Drawing
Origin
defines
the
origin
of
the
shaded
drawing
with
respect
to
the
shape's
local
axis
system.
Similarly
Shaded
Drawing
Orientation
allows
you
to
reorient
the
shaded
drawing
to
match
the
shape's
axis
system.
Shaded
Drawing
Plane
Translucency
(only
available
for
planes)
Controls
how
translucent
the
plane
appears
in
the
Shaded
Graphics
mode.
A
value
of
0%
gives
a
solid
surface
and
all
objects
behind
the
surface
will
not
be
visible.
A
value
of
100%
specifies
transparency
and
leads
to
a
completely
see-
through
surface.
Note:
This
data
item
is
not
used
if
an
imported
3D
model
is
used
to
draw
the
shape.
6.13.7 Results
For
details
on
how
to
select
results
variables
see
Selecting
Variables.
Contact
Force,
Contact
GX-Force,
Contact
GY-Force,
Contact
GZ-Force,
Contact
Lx-Force,
Contact
Ly-Force
and
Contact
Lz-Force
The
magnitude
and
components
of
the
total
force
applied
by
an
elastic
solid
to
other
objects
in
the
model.
The
components
are
reported
relative
to
either
global
axes
(GX,
GY,
GZ)
or
local
axes
(Lx,
Ly,
Lz).
These
variables
are
only
available
for
elastic
solids.
X,
Y,
Z
The magnitude and components (with respect to global axes) of the velocity and acceleration of the shape origin.
383
System
Modelling:
Data
and
Results,
All
Objects
Data
Form
w
The
Positions
and
Connections
pages
allow
you
to
view
or
edit
all
the
connection
data.
This
is
the
same
data
as
on
the
individual
data
forms
and
includes
the
following
data
items:
x The
positions
(as
Cartesian
coordinates)
relative
to
the
frame
of
reference
of
the
object
to
which
the
connection
is
attached.
x For
Links
and
Winches
connected
to
a
line,
the
reference
line
end
(either
End
A
or
End
B)
for
the
z
coordinate.
x Height
above
seabed
for
anchored
line
ends.
x Connection
orientation
and
stiffnesses
for
line
ends.
x Release
stage
for
line
ends.
Polar
Coordinates
page
The
Polar
Coordinates
page
provides
a
way
of
viewing
or
setting
the
positions
of
the
connections
using
polar
coordinates,
relative
to
a
choice
of
frames
of
reference.
This
facility
is
useful
for
cases,
for
example
mooring
arrays,
where
a
series
of
connections
need
to
be
laid
out
around
a
circle.
coordinates
frame
of
reference
(see
below).
The
Cartesian
coordinates
of
the
connection,
relative
to
the
same
reference
frame,
are
On
the
other
hand,
the
Object
Relative
Position
data
are
the
Cartesian
coordinates
of
the
connection
relative
to
the
frame
of
reference
of
the
object
to
which
it
is
connected.
OrcaFlex
keeps
the
two
sets
of
coordinates
synchronised,
so
if
you
change
one
then
the
other
is
automatically
updated
to
match.
If
you
change
any
other
data
then
the
Cartesian
Object
Relative
Position
coordinates
are
taken
to
be
the
master
data
and
so
left
unchanged,
and
the
polar
coordinates
are
updated
to
match.
You
have
a
quite
a
lot
of
flexibility
to
choose
what
reference
frame
you
want
for
the
polar
coordinates.
The
reference
frame
has
its
origin
at
your
chosen
Reference
Origin
and
has
its
axes
are
parallel
to
those
of
your
chosen
Reference
Axes.
For
the
reference
origin
you
can
choose
between:
x The
global
origin.
x The
point
on
the
seabed
that
is
directly
below
the
global
origin.
This
is
only
available
if
a
connection
point
is
anchored.
x The
origin
of
the
frame
of
reference
of
any
connected
object.
x The
position
of
the
other
end
of
the
object
available
for
Lines
and
Links
only.
And
for
the
reference
axes
directions
you
can
choose
between:
x The
global
axes
directions.
x The
axes
directions
of
the
frame
of
reference
of
any
connected
object.
Example
of
Using
Polar
Coordinates
The
choices
of
reference
frame
for
the
polar
coordinates
may
seem
complex
at
first
sight,
but
they
allow
various
useful
coordinate
transformations
to
be
done
easily
and
accurately.
Here
is
an
example.
Consider
mooring
a
spar
with
an
array
of
4
lines,
each
of
which
has
End
A
connected
to
the
spar
and
End
B
anchored.
Suppose
you
want
to
place
the
A
ends
of
the
lines
so
that
they
are
evenly
spaced
circumferentially
around
the
spar,
all
at
radius
5m
from
the
spar
axis
and
all
3m
below
the
spar
origin.
To
do
this
easily,
first
sort
into
Connection
order
so
that
all
the
End
A
connections
are
grouped
together.
Then,
for
the
first
line,
set
the
reference
frame
origin
and
axes
to
be
the
spar
origin
and
spar
axes
and
set
its
polar
coordinates
to
be
R=5,
and
Z=-3.
You
can
384
w
System
Modelling:
Data
and
Results,
All
Objects
Data
Form
now
use
copy/paste
or
fill
down
to
set
all
the
other
A
ends
to
the
same
reference
origin,
axes
and
R
and
Z
90,
180
and
270.
Similarly,
suppose
you
want
the
End
B
connections
to
be
anchored
to
the
seabed,
with
the
anchors
again
evenly
spaced
circumferentially,
and
with
each
line
spanning
200m
horizontally.
The
easiest
reference
frame
for
this
is
with
the
refe
set
to
0,
90,
180
and
270
and
the
R
coordinates
set
to
200m.
But
this
time,
to
set
the
vertical
positions
of
the
B
ends,
it
is
easier
(especially
if
the
seabed
is
sloping)
to
go
to
the
Connections
page
and
set
Connect
To
Object
to
be
Anchored
and
then
go
to
the
Positions
page
and
set
the
Object
Relative
Position
z
coordinate
to
zero.
Other
data
The
Other
data
mode
presents
tables
of
data
for
Vessels,
Lines,
6D
Buoys,
3D
Buoys,
Links,
Winches
and
Shapes.
The
tables
are
laid
out
with
each
row
containing
related
data
for
a
single
object.
The
notable
exception
is
the
Line
sections
page
in
which
each
row
contains
data
for
a
single
section
of
a
Line.
This
tabulation
allows
data
for
multiple
objects
to
be
set
in
an
efficient
and
coordinated
way.
The
copy/paste
or
fill
down
keyboard
shortcuts
are
particularly
useful
here.
Another
useful
technique
is
to
build
a
table
of
data
in
Excel
with
identical
layout
of
columns
and
rows.
This
allows
you
to
make
use
of
Excel's
formulae
and
data
handling
facilities
to
prepare
data,
and
then
to
paste
it
into
OrcaFlex
in
a
single
operation.
385
w
Modal
Analysis,
All
Objects
Data
Form
7 MODAL
ANALYSIS
The
modal
analysis
form
enables
you
to
calculate
and
view
the
undamped
natural
modes
of
the
whole
system,
or
of
a
single
line.
To
open
this
form,
see
the
Modal
Analysis
command
on
the
Results
menu.
Note
that
the
analysis
is
only
available
when
the
static
position
of
the
model
has
been
calculated.
For
full
details
of
the
calculation,
and
a
discussion
of
its
limitations,
see
the
Modal
Analysis
theory
section.
Performing
modal
analysis
To
perform
a
modal
analysis
you
need
to
specify
the
following:
x What
you
want
to
analyse:
the
whole
system
or
a
single
line.
x Which
modes
you
want
to
calculate.
You
can
ask
for
All
modes
or
a
specified
range
of
modes.
For
large
systems
it
is
much
quicker
to
calculate
only
a
small
number
of
modes
see
Modal
Analysis
Theory
for
more
details.
x Whether
you
want
to
calculate
the
mode
shapes
or
just
the
natural
periods.
If
you
exclude
the
mode
shapes
then
the
analysis
only
calculates
the
natural
periods,
not
the
shapes
of
the
natural
modes.
If
you
include
the
mode
shapes
then
the
analysis
takes
longer.
When
you
have
made
your
selections
click
the
Calculate
button.
The
modal
analysis
will
then
calculate
the
undamped
natural
periods
and,
if
requested,
the
mode
shapes.
Each
mode
is
normalised
to
have
largest
offset
magnitude
equal
to
1,
i.e.
the
offsets
vectors
are
scaled
so
that
largest
offset
vector
is
a
unit
vector.
The
modes
are
numbered
in
order
of
increasing
frequency.
Mode
Table
The
Table
page
then
displays
a
spreadsheet
giving
the
results
in
numerical
form.
If
you
do
not
calculate
the
mode
shape
then
the
table
reports
only
the
periods
of
the
requested
natural
modes.
If
you
calculate
the
mode
shapes
then
the
table
also
gives
the
shape
in
the
form
of
the
displacements
of
each
degree
of
freedom.
Mode
shapes
can
be
reported
with
respect
to
either
global
axes
directions
or
local
axes
directions.
If
mode
shapes
are
calculated
then
the
table
includes
the
following
information:
x Offset
distribution
displays
a
measure
of
how
inline,
transverse
and
axial
the
mode
is.
For
details
see
Offset
Distribution
below.
x Mode
type
classifies
each
mode
according
to
the
offset
distribution.
Transverse
means
that
the
transverse
component
is
more
than
90%
of
the
total,
Mostly
transverse
means
that
it
is
between
50%
and
90%,
and
similarly
for
inline,
mostly
inline,
axial
and
mostly
axial.
Mixed
means
that
none
of
the
components
are
more
than
50%
of
the
total.
Note:
The
Offset
Distribution
and
Mode
Type
information
is
only
available
for
single
line
analyses
where
there
is
relative
flow
normal
to
the
line.
So,
if
the
line
is
entirely
above
the
water,
or
there
is
no
current
defined
then
this
information
will
not
be
available.
Mode
View
If
you
requested
the
mode
shapes
then
the
View
page
displays
a
3D
view
of
the
system
showing
one
selected
mode
shape
superimposed
on
the
static
position
of
the
system.
The
current
direction
is
also
shown
on
the
view,
and
you
can
control
the
view
angle,
zoom
etc.,
as
on
any
3D
view.
You
may
need
to
zoom
out
in
order
to
see
the
system,
and
you
may
need
to
adjust
the
view
angle
to
suit
the
mode
that
you
are
viewing.
For
example
an
out
of
plane
mode
for
a
catenary
is
best
viewed
by
looking
along
the
plane
of
the
catenary.
You
can
use
the
mode
drop-down
list
to
control
which
mode
is
shown
on
the
view.
Note
that
when
that
drop-down
list
has
the
focus
(click
it
to
give
it
the
focus)
then
you
can
use
the
arrow
keys
to
quickly
increment
or
decrement
the
mode
shape
number
that
is
displayed.
The
drawing
exaggeration
value
allows
you
to
vary
the
amplitude
of
the
drawn
mode
shape.
The
animate
mode
shape
and
draw
node
axes
options
allow
further
control
of
the
mode
shape
drawing.
If
the
mode
shape
is
being
animated
then
there
is
a
further
choice
to
make,
the
animation
period.
If
you
select
the
mode
period
option
then
the
animation
has
a
cycle
period
equal
to
the
mode
period.
However,
for
modes
with
either
very
long
or
very
short
periods,
this
option
can
make
visualisation
of
the
mode
shape
quite
difficult.
The
alternative
option,
fixed,
animates
the
mode
with
a
5s
cycle
period.
387
Modal
Analysis,
Modal
Analysis
Theory
w
For
single
line
analyses,
the
offset
distribution
and
mode
type
for
the
selected
mode
is
also
shown,
provided
that
there
is
relative
flow
normal
to
the
line.
VIV
Page
The
VIV
facilities
related
to
modal
analysis
are
not
yet
available
for
lines
that
have
torsion
included.
These
facilities
are
also
currently
only
available
for
single
line
analyses.
If
you
requested
that
mode
shapes
be
calculated
then
the
View
page
displays
a
table
of
information
relating
to
VIV.
Each
row
of
the
table
refers
to
a
single
mode
and
contains
the
following
information:
x The
mode
number.
x The
mode's
period
and
frequency.
x The
mode's
offset
distribution
and
mode
type.
x Export
to
SHEAR7
Mds
file
determines
whether
or
not
the
mode
will
be
included
in
the
exported
SHEAR7
Mds
file.
The
filter
allows
you
to
restrict
the
table
to
show
only
certain
types
of
mode.
For
example,
you
may
wish
to
view
only
the
transverse
modes
when
considering
transverse
VIV.
The
table
reports
modes
in
order
of
increasing
mode
number.
Offset
Distribution
For
a
given
mode,
let
V
be
the
mode
offset
vector
at
a
given
node,
let
V i,
Vt
and
Va
be
V's
components
in
the
local
inline,
transverse
and
axial
directions
and
let
L
be
the
length
of
line
represented
by
that
node.
Then
OrcaFlex
calculates
the
inline,
transverse
and
axial
components
of
the
overall
mode
shape
as
follows:
Mode
shape
inline
component
=
Mi
i2)
Mode
shape
transverse
component
=
Mt
t2)
Mode
shape
axial
component
=
Ma
a2)
where
the
summations
are
over
all
nodes
in
the
line.
OrcaFlex
then
reports
these
3
mode
shape
components
as
percentages
of
their
sum,
i.e.
the
offset
distribution
values
reported
by
OrcaFlex
are
Mi/M,
Mt/M
and
Ma/M
where
M
=
Mi
+
Mt
+
Ma.
These
values
are
only
used
to
provide
some
measure
of
how
inline,
transverse
and
axial
the
mode
is.
The
root
sum
of
squares
formulation
used
above
is
the
multi-dimensional
equivalent
of
the
standard
3D
formula
|V|
=
(Vi2
+
Vt2
+
Va2).
The
scaling
by
L
is
there
so
that
the
values
are
independent
of
the
level
of
discretisation.
Export
SHEAR7
Mds
File
Modal
analysis
is
a
standard
technique
that
is
well-documented
in
the
literature,
but
here
is
a
brief
outline.
First
consider
a
single
degree
of
freedom
system
consisting
of
a
mass
attached
to
a
linear
spring.
The
undamped
equation
of
motion
is:
388
w
Modal
Analysis,
Modal
Analysis
Theory
Mx''(t)
=
-Kx(t)
where
x(t)
is
the
offset
(at
time
t)
from
mean
position,
x''(t)
is
the
acceleration,
M
is
its
mass
and
K
is
the
stiffness
of
the
spring.
Since
this
analysis
neglects
any
damping
the
results
are
referred
to
as
the
undamped
modes.
unknowns
to
be
found
by
solving
the
equation.
Differentiating
x(t)
gives:
x''(t)
=
-2
so
when
we
substitute
into
the
equation
of
motion
we
obtain:
-2-
which
can
be
rearranged
to
give:
.
This
is
the
angular
frequency
of
the
oscillation
and
so
the
natural
period
T
is
given
by:
T
For
this
simple
harmonic
oscillator
there
is
just
a
single
undamped
natural
mode,
corresponding
to
the
single
degree
of
freedom.
For
a
continuous
riser
there
are
an
infinite
number
of
degrees
of
freedom,
and
hence
an
infinite
number
of
undamped
natural
modes,
but
computers
work
with
discretised
models
with
finite
numbers
of
degrees
of
freedom.
Consider
a
discretised
line
in
OrcaFlex
with
N
degrees
of
freedom.
In
this
situation
the
above
equations
still
apply,
but
they
now
have
to
be
interpreted
vectors
with
N
elements,
and
M
and
K
become
NN
matrices.
Equation
(1)
is
an
eigen-problem
with
N
solutions,
the
ith
i
and
aii
is
a
scalar
and
ai
is
a
vector
with
N
elements.
This
ith
solution
is
called
the
ith
natural
mode.
It
is
an
oscillation
of
the
line
in
which
all
the
i.
But
different
degrees
of
freedom
have
different
amplitudes,
given
by
the
components
of
ai.
This
amplitude
variation
is
called
the
mode's
shape.
Eigen-solvers
Two
eigen-solvers
are
used
to
perform
modal
analysis.
The
choice
of
which
to
use
is
made
based
on
the
number
of
modes
extracted,
n,
and
the
number
of
degrees
of
freedom,
N.
tridiagonal
MATRIX
diagonalisation
is
used.
For
large
problems
the
iterative
Lanczos
algorithm
is
much
faster
and
requires
much
less
memory
and
so
should
be
used
if
at
all
possible.
One
final
subtlety
concerns
the
precise
definition
of
n
in
the
above
inequalities.
The
Lanczos
algorithm
works
by
finding
the
largest
(or
smallest)
eigenvalue
first,
then
the
next
largest
(or
smallest)
and
so
on.
Consequently
if
you
ask
for
modes
5
to
10
then
the
solver
has
to
find
modes
1
to
4
first
and
so
the
number
of
modes
extracted,
n,
is
10.
Seabed
friction
The
theory
outlined
above
requires
that
the
mass
and
stiffness
matrices
are
symmetric
which
is
not
always
the
case
in
an
OrcaFlex
model.
The
most
important
example
of
this
is
the
friction
model.
Friction
is
a
non-conservative
effect
and
non-conservatism
equates
to
non-symmetric
terms
in
the
stiffness
matrix.
Clearly
this
presents
a
problem.
The
non-conservatism
of
the
standard
OrcaFlex
friction
model
arises
when
a
node
is
slipping,
that
is
when
the
deflection
from
its
friction
target
position
exceeds
Dcrit.
When
performing
modal
analysis
OrcaFlex
assumes
that
nodes
on
the
seabed
are
restrained
by
a
linear
stiffness
effect
determined
by
the
seabed's
shear
stiffness,
Ks
and
the
node's
contact
area,
A.
This
stiffness
term
corresponds
to
the
stiffness
of
a
linear
spring
acting
in
the
plane
of
the
seabed,
connecting
the
node
and
its
target
position,
and
with
a
stiffness
of
K sA.
This
has
the
effect
of
restraining
movement
of
the
nodes
on
the
seabed,
in
the
plane
of
the
seabed
which
is
desirable
for
a
modal
analysis
of
a
system
with
seabed
contact.
This
modification
to
the
seabed
friction
model
results
in
a
symmetric,
conservative
system
and
hence
enables
modal
analysis
t o
be
performed
successfully.
Stiffness
terms
due
to
fluid
loading
As
mentioned
above,
the
modal
analysis
is
an
undamped
analysis
which
means
that
damping
terms
(i.e.
those
dependent
on
x')
are
neglected.
So,
for
example,
the
effects
of
drag
loading
are
neglected
in
the
modal
analysis.
However,
fluid
loads
do
contribute
stiffness
terms
because
perturbations
of
position
and
orientation
can
result
in
changes
of
direction
of
the
fluid
load
vector.
These
are
stiffness
terms,
as
opposed
to
damping
terms,
because
they
389
Modal
Analysis,
Modal
Analysis
Theory
w
arise
from
displacements
even
though
the
magnitude
of
the
loads
themselves
are
dependent
on
velocities.
OrcaFlex
does
include
these
stiffness
terms
to
improve
convergence
for
whole
system
statics
and
implicit
dynamics
calculations.
However,
these
fluid
load
terms
are
neglected
in
the
modal
analysis.
Non-linear
bend
stiffness
Modal
analysis
inherently
assumes
linearity
of
the
system
under
consideration.
For
non-linear,
elastic
bend
stiffness
the
local
tangent
stiffness
is
used.
For
small
oscillations
about
the
static
configuration,
such
a
system
is
linear
and
modal
analysis
may
be
adequately
accurate.
For
hysteretic
bend
stiffness
the
situation
is
more
complex.
The
local
tangent
stiffness
is,
in
general,
ill-defined
because
it
can
be
many-values
depending
on
whether
the
perturbation
increases
or
decreases
curvature.
In
this
situation
OrcaFlex
uses
an
average
of
the
possible
stiffness
values.
Yet
another
case
to
consider
is
externally
calculated
bend
stiffness.
The
external
function
interface
provides
no
mechanism
for
specifying
the
local
tangent
bend
stiffness.
Hence
OrcaFlex
uses
the
nominal
bend
stiffness
as
provided
by
the
external
function.
Clearly
the
modal
analysis
will
be
less
accurate
for
hysteretic
and
externally
calculated
bend
stiffness
than
it
is
for
the
other
bend
stiffness
options.
However,
it
is
often
the
case
that
tension,
as
opposed
to
bend
stiffness,
is
the
dominant
contribution
to
lateral
stiffness
and
so
the
limitations
described
above
are
often
not
significant.
Vessel
added
mass
When
performing
a
whole
system
modal
analysis
with
vessel
degrees
of
freedom
included,
the
added
mass
of
a
vessel
is
usually
a
significant
factor
in
the
analysis.
However,
if
the
vessel
added
mass
and
damping
data
is
specified
as
frequency
dependent
there
is
no
easy
way
for
the
modal
analysis
to
account
for
this
dependency
on
frequency.
Therefore,
for
modal
analyses,
the
program
neglects
added
mass
when
the
data
is
frequency
dependent.
In
order
to
perform
a
more
accurate
modal
analysis
you
can
use
the
constant
option
for
added
mass
specification.
In
this
situation
you
provide
a
single
added
mass
matrix
which
is
included
in
the
system
wide
mass
matrix.
Because
you
can
only
specify
a
single
added
mass
matrix
you
must
first
assess
what
modes
are
of
interest
and
choose
appropriate
added
mass
values.
If
the
added
mass
varies
significantly
with
mode
period,
over
the
range
of
periods
under
consideration,
then
you
may
need
to
perform
multiple
analyses
with
different
added
mass
matrices.
390
w
Fatigue
Analysis,
Modal
Analysis
Theory
8 FATIGUE
ANALYSIS
The
OrcaFlex
fatigue
analysis
is
a
post-processor
which
calculates
fatigue
damage
using
a
variety
of
methods.
Damage
is
then
collated
and
summed
for
specified
load
cases
and
then
presented,
either
as
plots
or
in
tabular
fashion.
Damage
can
be
calculated
in
a
variety
of
ways:
x The
S-N
curve
approaches
recover
stress
using
either
homogeneous
pipe
stress
(suitable
for
metal
risers)
or
stress
factors
(suitable
for
umbilicals
and
flexibles).
Damage
is
then
calculated
based
on
the
specified
S-N
curve.
x Mooring
line
fatigue
calculates
damage
from
effective
tension
ranges
using
T -N
curves.
Likewise,
damage
is
summed
in
a
variety
of
ways:
x Deterministic
regular
wave
fatigue
analysis.
x Deterministic
irregular
wave
fatigue
analysis
using
the
rainflow
cycle
counting
method.
x Stochastic
irregular
wave
fatigue
analysis
using
spectral
methods.
The
SHEAR7
option
is
rather
different
because
damage
is
calculated
external
to
OrcaFlex
by
SHEAR7.
This
option
allows
you
to
collate
fatigue
damage
from
a
number
of
SHEAR7
load
cases.
The
fatigue
analysis
tool
is
accessed
by
selecting
the
Fatigue
Analysis
command
from
the
OrcaFlex
Results
menu.
It
is
essentially
a
self-contained
sub-program
within
OrcaFlex,
with
its
own
menus,
data
and
results.
The
steps
involved
in
performing
a
fatigue
analysis
are:
1. Use
the
normal
OrcaFlex
facilities
to
set
up
and
run
simulations
that
model
the
various
load
cases
that
the
line
will
experience.
Alternatively,
for
a
SHEAR7
analysis,
create
a
set
of
SHEAR7
.plt
output
files
to
represent
your
VIV
load
cases.
2. Open
the
fatigue
analysis
tool
and
set
up
the
fatigue
analysis
data.
This
fatigue
analysis
data
is
held
separately
from
the
other
OrcaFlex
data
and
can
be
saved
in
a
separate
file
with
the
file
extension
.ftg.
3. Check
the
data
for
errors.
4. Calculate
and
collate
the
damage.
Notes:
The
calculation
stage
of
a
fatigue
analysis
can
take
a
long
time
,
especially
a
rainflow
analysis
with
a
lot
of
load
cases.
To
help
with
this
there
is
an
Estimate
Calculation
Time
facility
and
fatigue
analyses
can
be
run
in
batch
mode.
The
calculation
makes
use
of
all
available
processor
cores
to
process
load
cases
concurrently.
The
fatigue
calculation
performance
is
often
limited
by
disk
access
consequently
it
is
important
that
the
disk
access
speed
is
as
fast
as
possible.
Usually
this
means
that
the
simulation
files
should
be
stored
on
a
local
disk
of
the
machine
performing
the
fatigue
calculation.
Load
Cases
Before
the
fatigue
analysis
can
be
performed
you
must
first
prepare
a
set
of
OrcaFlex
simulation
files
that
model
the
same
system
but
under
the
various
load
conditions
that
the
system
will
experience
in
its
lifetime.
The
approach
is
to
divide
the
range
of
sea
states
that
the
system
will
experience
into
a
number
of
wave
classes;
typically
this
is
done
with
a
wave
scatter
table.
For
both
regular
and
rainflow
analysis
you
typically
represent
each
wave
class
with
a
distinct
OrcaFlex
simulation
file.
For
regular
analysis
the
simulation
should
use
a
regular
wave
representative
of
the
wave
class
and
for
rainflow
analysis
the
simulation
should
use
an
irregular
wave
representative
of
the
wave
class.
For
spectral
analysis
multiple
wave
classes
with
similar
Hs
values
may
be
represented
by
a
single
response
calculation
simulation.
The
reason
this
is
possible
is
that
the
spectral
response
analysis
provides
information
about
how
the
system
responds
to
a
range
of
wave
frequencies.
Typically
you
will
have
a
range
of
simulations
which
cover
the
range
of
Hs
values
in
your
wave
scatter
table.
For
SHEAR7
fatigue
analysis
the
load
cases
are
specified
by
a
set
of
SHEAR7
.plt
output
files.
These
are
most
easily
generated
using
the
direct
SHEAR7
interface,
together
with
the
standard
OrcaFlex
automation
facilities
the
.plt
files
are
automatically
exported
if
you
run
the
direct
SHEAR7
interface
in
batch
mode.
391
Fatigue
Analysis,
Commands
w
Each
load
case
is
assigned
an
exposure
level.
For
regular
load
cases
this
is
the
total
number
of
occurrences
of
waves
within
the
wave
class.
For
the
other
methods
the
exposure
level
is
specified
as
the
total
time
exposed
to
waves
within
the
wave
class.
Choice
of
fatigue
analysis
method
As
described
above
OrcaFlex
can
perform
three
different
types
of
fatigue
analysis:
regular,
rainflow
or
spectral.
Rainflow
fatigue
is
the
most
accurate
of
the
methods,
but
also
the
most
time
consuming
and
demanding
of
disk
storage.
The
time
and
storage
requirements
can
be
somewhat
alleviated
by
careful
selection
of
load
cases.
The
other
factor
which
can
be
adjusted
is
the
duration
of
the
irregular
wave
load
case
simulations.
In
our
experience
it
is
often
possible
to
achieve
accurate
damage
predictions
with
simulations
of
20
minutes
duration.
Regular
wave
fatigue
analysis
is
much
faster
and
requires
much
less
disk
storage
than
rainflow
fatigue.
The
wave
scatter
conversion
facility
provides
an
efficient
and
productive
way
to
generate
a
regular
wave
scatter
table
from
a
random
sea
scatter
table.
Provided
that
the
regular
wave
bin
discretisation
is
performed
well,
the
results
from
a
regular
wave
fatigue
analysis
will
generally
agree
well
with
an
equivalent
rainflow
analysis.
The
spectral
fatigue
analysis
method
was
originally
included
to
provide
a
very
quick
alternative
to
the
other
methods.
The
spectral
fatigue
method
in
OrcaFlex
is
much
more
difficult
to
use
effectively
than
the
other
methods.
This
is
largely
due
to
weaknesses
and
limitations
in
the
response
calculation
approach
used
to
generate
response
RAOs.
If
you
do
perform
a
spectral
fatigue
analysis
in
OrcaFlex
then
it
is
very
important
that
you
check
that
the
spectral
response
RAOs
are
smooth.
The
response
calculation
method
often
results
in
very
noisy
RAOs
which
in
turn
result
in
gross
over-predictions
of
damage.
It
is
our
experience
that
use
of
the
spectral
fatigue
method
usually
results
in
poor
and
inaccurate
results.
Recommendations
The
advent
of
multi-core
processors
and
the
wave
scatter
conversion
facility
mean
that
regular
wave
fatigue
analysis
is
often
just
as
fast
as
spectral
fatigue
analysis,
as
well
as
giving
much
more
reliable
and
accurate
answers.
Because
of
this
we
no
longer
recommend
the
use
of
spectral
fatigue
analysis
in
OrcaFlex.
This
then
reduces
the
choice
of
methods
to
regular
and
rainflow.
Because
of
the
calculation
time
and
disk
storage
advantages
it
is
clearly
desirable
to
use
regular
wave
fatigue.
Certainly
during
system
design
these
advantages
are
significant
because
they
allow
for
greater
coverage
and
exploration
of
the
design
space.
Another
effective
strategy
is
to
use
regular
fatigue
analysis
for
the
bulk
of
the
time
and
switch
to
rainflow
analysis
for
a
final,
more
detailed
check.
If
the
regular
wave
fatigue
analysis
predicts
a
system
life
significantly
in
excess
of
the
design
life
then
this
final
detailed
check
could
be
omitted.
8.1 COMMANDS
File
Menu
New
Clears previously entered Fatigue Analysis data and resets data to default values.
Open
Opens
a
Fatigue
Analysis
file
(.ftg).
If
the
file
contains
results
then
these
will
be
available
without
having
to
perform
the
time-consuming
calculation
again.
Save
Saves
the
data
to
the
currently
selected
file
name
(shown
in
title
bar
of
the
window).
If
results
have
been
calculated
then
these
are
also
saved
to
the
file.
This
allows
you
to
view
results
at
a
later
date
without
having
to
perform
the
calculation
again.
Save As
This is the same as Save, but allows you to specify the file name to save to.
392
w
Fatigue
Analysis,
Data
Open Data
If
the
file
contains
results
and
there
are
a
large
number
of
load
cases
then
the
file
can
take
a
long
time
to
load.
If
you
want
to
work
with
just
the
input
data
then
this
command
loads
just
the
input
data
which
is
a
much
quicker
process.
Most
Recent
Files
List
A
list
of
the
most
recently
used
files.
Selecting
an
item
on
the
list
causes
the
file
to
be
loaded.
The
size
of
the
list
can
be
adjusted
from
the
Preferences
form.
Analysis
Menu
Estimate
Calculation
Time
Gives
an
estimate
of
how
long
it
will
take
to
do
the
fatigue
analysis
and
present
the
results.
This
is
useful
for
long
analyses,
e.g.
rainflow
analyses
involving
a
lot
of
cases
or
long
simulations.
Check
The
Check
command
performs
a
preliminary
check
of
the
fatigue
analysis
data.
For
example
it
checks
that
all
the
specified
load
case
simulation
files
exist
and
that
the
named
line
and
the
specified
arc
length
intervals
exist
in
each
load
case.
The
Check
command
is
generally
much
quicker
that
the
fatigue
analysis
itself,
so
we
recommend
that
the
Check
command
is
used
before
the
Fatigue
Analysis
is
run,
since
the
check
can
often
detect
data
errors
that
would
otherwise
only
be
found
part
way
through
what
may
be
quite
a
long
fatigue
analysis.
It
is
particularly
important
to
use
the
Check
command
when
a
new
fatigue
analysis
has
been
first
set
up
or
when
significant
changes
have
been
made
to
the
data.
Calculate
The
Calculate
command
starts
the
Fatigue
Analysis.
The
fatigue
analysis
can
take
a
long
time
if
there
are
many
load
cases,
or
if
there
are
many
log
samples
in
the
load
case
simulations,
or
finally
if
there
are
a
lot
of
segments
in
the
arc
length
intervals
specified.
A
progress
window
is
displayed
and
you
can
cancel
the
analysis
if
desired.
When
the
calculation
is
complete
the
results
are
displayed
in
a
spreadsheet
window.
8.2 DATA
Title
393
Fatigue
Analysis,
Load
Cases
Data
for
Regular
Analysis
w
x Rainflow
analysis
is
normally
based
on
a
series
of
random
wave
simulations.
It
uses
a
cycle
counting
technique
to
break
down
each
random
wave
case
into
a
series
of
half
cycles,
and
then
sums
the
damage
from
each
half
cycle
according
to
the
Palmgren-Miner
law.
For
details
see
the
book
by
Maddox
and
the
paper
by
Rychlik.
This
gives
the
damage
value
for
that
load
case,
which
is
then
scaled
to
the
specified
total
exposure
time.
Finally
these
total
load
case
damage
values
are
then
summed
for
each
load
case
to
give
the
overall
total
damage.
x Spectral
analysis
calculates
damage
in
the
frequency
domain
using
statistical
methods.
The
method
requires
a
power
spectral
density
function
(PSD)
for
a
particular
load
variable
(stress
or
tension).
The
PSD
is
obtained
from
a
response
calculation
simulation.
This
calculates
RAOs
for
the
load
variables
of
interest
and
these
are
then
combined
with
the
load
case
wave
spectrum
to
give
PSDs
for
load.
These
PSDs
are
then
used
to
calculate
damage
using
either
Dirlik's
formula
or
the
Rayleigh
distribution.
The
damage
is
scaled
to
the
specified
total
exposure
time
for
the
load
case.
Finally
these
total
load
case
damage
values
are
then
summed
for
each
load
case
to
give
the
overall
total
damage.
Units
The
units
to
be
used
for
the
fatigue
analysis,
for
both
the
fatigue
analysis
data
and
for
its
results.
The
units
are
specified
in
the
same
way
as
elsewhere
in
OrcaFlex.
Note
that
the
units
specified
for
the
fatigue
analysis
need
not
match
the
units
that
were
used
in
the
various
load
case
simulation
files.
If
they
do
not
match,
then
the
results
from
that
simulation
file
will
automatically
be
converted
to
the
units
specified
for
the
fatigue
analysis.
This
is
useful,
since
it
allows
the
fatigue
analysis
to
be
done
using
m
and
MN
as
the
length
and
force
units
(giving
stresses
in
MN/m2
=
MPa),
for
example,
even
if
the
simulation
load
cases
use
m
and
kN
(which
corresponds
to
stresses
in
kN/m2
=
kPa).
Similarly,
in
US
units,
the
fatigue
analysis
can
use
inches
(giving
stresses
in
ksi)
even
if
the
simulation
files
use
feet
as
the
length
unit.
If
you
change
units,
then
all
existing
fatigue
analysis
data
is
automatically
changed
to
match
the
new
units.
This
is
useful
if
you
want
to
enter
data
in
some
other
set
of
units,
since
you
can
simply
change
to
the
units
of
the
new
data,
then
enter
the
new
data,
and
then
change
back
to
the
o riginal
units
again.
Cycle
Range
Distribution
(spectral
analysis
only)
The
spectral
fatigue
calculation
assumes
that
cycle
ranges
follow
a
statistical
distribution
which
is
specified
by
this
data
item.
The
distribution
can
be
either
Dirlik's
formula
or
the
Rayleigh
distribution.
The
Rayleigh
distribution
is
appropriate
if
the
variation
of
the
response
is
a
narrow
banded
random
Gaussian
process.
Dirlik's
formula
is
applicable
even
if
the
variation
of
the
response
is
not
a
narrow
banded
process.
For
this
reason
we
recommend
using
Dirlik's
formula.
The
name
of
the
simulation
file
which
represents
the
load
case.
You
can
either
specify
the
full
path
or
a
relative
path.
Line
Name
The
name,
in
this
load
case
simulation
file,
of
the
line
to
be
analysed.
Note:
Normally
the
line
name
will
be
the
same
in
all
of
the
load
cases
(though
this
is
not
necessary).
However
the
named
lines
in
the
various
load
cases
must,
of
course,
all
represent
the
same
physical
line
and
use
the
same
discretisation
in
the
areas
being
analysed.
Number of Cycles
The number of wave cycles, of this particular set of load conditions, that the line will experience.
The
name
of
the
simulation
file
which
represents
the
load
case.
You
can
either
specify
the
full
path
or
a
relative
path.
Line
Name
The name, in this load case simulation file, of the line to be analysed.
394
w
Fatigue
Analysis,
Load
Cases
Data
for
Spectral
Analysis
Note:
Normally
the
line
name
will
be
the
same
in
all
of
the
load
cases
(though
this
is
not
necessary).
However
the
named
lines
in
the
various
load
cases
must,
of
course,
all
represent
the
same
physical
line
and
use
the
same
discretisation
in
the
areas
being
analysed.
Simulation Period
The
period
of
the
pre-run
simulation
file
that
defines
the
load
case.
Exposure
Time
The
name
of
the
simulation
file
which
represents
the
load
case.
You
can
either
specify
the
full
path
or
a
relative
path.
Line
Name
The
name,
in
this
load
case
simulation
file,
of
the
line
to
be
analysed.
Note:
Normally
the
line
name
will
be
the
same
in
all
of
the
load
cases
(though
this
is
not
necessary).
However
the
named
lines
in
the
various
load
cases
must,
of
course,
all
represent
the
same
physical
line
and
use
the
same
discretisation
in
the
areas
being
analysed.
Exposure Time
For
spectral
analysis
the
simulation
file
specifies
a
response
calculation
simulation
file
from
which
response
RAOs
are
derived.
The
spectral
fatigue
calculation
then
proceeds
by
combining
these
response
RAOs
with
a
wave
spectrum
to
produce
power
spectral
density
(PSD)
functions.
Spectral
Form
can
be
one
of
JONSWAP,
ISSC,
Ochi-Hubble
or
Torsethaugen.
This
specifies
the
general
form
of
the
wave
spectrum.
The
parameters
for
the
chosen
spectral
form
are
specified
as
follows:
x If
JONSWAP
is
selected
then
Spectral
Parameters
can
be
either
Automatic,
Partially
Specified
or
Fully
Specified.
This
determines
exactly
how
the
spectral
parameters
for
each
load
case
are
specified.
For
example,
if
Automatic
is
selected
then
you
specify
Hs
and
Tz
and
the
other
JONSWAP
parameters
are
calculated
automatically
and
reported.
For
details
see
Data
for
JONSWAP
and
ISSC
Spectra.
x If
ISSC
is
selected
then
you
must
specify
H s
and
Tz
for
each
load
case.
You
can
also
specify
fm
or
Tp
but
since
Tz,
Tp
and
fm
are
tied
together
then
setting
any
one
of
them
changes
the
other
two
to
m atch.
For
details
see
Data
for
JONSWAP
and
ISSC
Spectra.
x If
Ochi-Hubble
is
selected
then
Spectral
Parameters
can
be
either
Automatic,
or
Specified.
Again,
this
determines
exactly
how
the
spectral
parameters
for
each
load
case
are
specified.
If
you
select
Automatic
the
program
calculates
the
parameters
of
the
most
probable
spectrum,
based
on
the
overall
significant
wave
height
Hs
that
you
have
specified.
If
you
select
Specified
you
must
specify
all
6
parameters
and
OrcaFlex
then
derives
and
displays
the
corresponding
overall
Hs
and
Tz
values.
For
details
see
Data
for
Ochi-Hubble
Spectrum.
x If
Torsethaugen
is
selected
then
you
must
specify
Hs
and
Tp
for
each
load
case.
You
can
also
specify
fm
but
since
Tp
and
fm
are
tied
together
then
setting
either
one
changes
the
other
to
match.
For
details
see
Data
for
Torsethaugen
Spectrum.
Setting
up
load
cases
for
Spectral
Analysis
When
performing
a
spectral
fatigue
analysis
you
will
typically
have
a
wave
scatter
table
describing
the
relative
probability
of
storm
occurrence.
This
determines
a
number
of
wave
classes,
e.g.
storms
defined
by
H s,Tz
pairs.
The
load
cases
data
should
be
setup
to
match
load
cases
with
wave
classes.
For
example,
suppose
that
you
were
working
with
the
following
(truncated)
wave
scatter
table:
4-5
9
3
3-4
6
18
6
395
Fatigue
Analysis,
Load
Cases
Data
for
Spectral
Analysis
w
The
simulation
files
used
to
represent
a
load
case
for
spectral
fatigue
analysis
should
model
all
aspects
of
the
system
and
environment
other
than
the
wave
spectrum.
So
you
must
specify
vessel
offset,
current
profile
and
direction,
wave
direction
and
so
on
which
are
appropriate
for
the
load
case
being
analysed.
The
wave
type
for
the
load
case
simulation
file
must
be
response
calculation.
This
effectively
calculates
system
responses
(i.e.
RAOs)
for
a
range
of
wave
frequencies.
The
spectral
fatigue
analysis
then
combines
these
RAOs
with
the
load
case
wave
spectra
(i.e.
the
Hs,Tz
pairs)
to
produce
fatigue
damage
estimates
for
the
load
case.
Choice
of
Hs
for
response
calculation
simulation
files
The
Spectral
Response
Analysis
method
which
is
used
to
calculate
system
responses
(RAOs)
includes
non-linear
effects
such
as
hydrodynamic
drag.
In
order
for
these
non-linear
effects
to
be
well
modelled
the
choice
of
Hs
for
the
response
calculation
simulation
files
is
important.
Essentially
the
RAOs
can
be
considered
as
being
dependent
on
wave
height.
How
significant
this
dependence
is
will
vary
from
case
to
case.
Certain
systems
are
dominated
by
linear
physical
effects
and
the
RAOs
may
not
in
fact
be
dependent
on
wave
height.
To
determine
how
significant
this
e ffect
is
we
would
recommend
sensitivity
studies.
In
the
example
above
we
might
choose
to
run
a
response
calculation
simulation
for
each
row
of
the
wave
scatter
table
(assuming
that
the
system
had
significant
non-linearities).
This
would
give
5
simulation
files
for
Hs
ranges
0-1,
1-2,
2-3,
3-4
and
4-5.
There
are
4
wave
classes
corresponding
to
the
0-1
Hs
range.
The
load
case
corresponding
to
each
of
these
wave
classes
would
then
be
represented
by
the
same
simulation
file.
The
other
H s
ranges
are
dealt
with
similarly
and
so
the
load
cases
table
would
look
as
below:
396
w
Fatigue
Analysis,
Load
Cases
Data
for
SHEAR7
Figure:
Example
load
cases
table
If
the
non-linearities
in
the
system
are
not
so
significant
then
you
may
be
able
to
obtain
accurate
results
with
fewer
simulation
files.
This
may
be
desirable
to
reduce
the
amount
of
time
taken
to
run
the
simulations.
For
example
the
Hs1,
Hs2
and
Hs3
simulations
could
be
combined
into
a
single
Hs2
simulation
etc.
Again,
the
accuracy
of
such
a
simplification
should
be
tested
with
sensitivity
studies.
Response
calculation
simulation
duration
The
other
decision
to
make
is
over
the
length
of
the
response
calculation
simulations.
You
need
to
simulate
for
long
enough
to
get
accurate
results.
As
for
the
issue
of
H s
discussed
above
we
would
recommend
using
sensitivity
studies
to
determine
how
long
is
required.
The
name
of
the
SHEAR7
.plt
output
file
which
represents
the
load
case.
You
can
either
specify
the
full
path
or
a
relative
path.
Exposure
Time
The
total
time
the
system
is
exposed
to
this
load
case.
The
damage
for
the
load
case
is
calculated
by
multiplying
the
exposure
time
by
the
damage
rate
read
from
the
load
case
.plt
file.
397
Fatigue
Analysis,
Analysis
Data
w
You
define
a
number
of
components
for
which
damage
is
to
be
calculated.
Components
can
be
used
to
represent
different
layers
or
components
in
the
cross-section
of
an
umbilical
or
a
flexible.
Component
Name
The
stresses
used
to
calculate
damage
are
calculated
according
to
the
formula:
S
=
KtT
+
Kc(Cx-
Cy
where
S
is
stress,
Kt
and
Kc
are
the
tension
and
curvature
stress
factors,
respectively,
T
is
either
wall
tension
or
effective
tension,
as
specified
by
the
tension
variable
data,
Cx
and
Cy
are
the
components
of
curvature
in
the
line's
local
x
and
y
directions,
respectively,
and
fatigue
point.
In
effect
this
formula
defines
stress
to
be
the
sum
of
contributions
due
to
direct
tensile
strain
and
bending
strain.
.
So,
for
a
point
in
the
plane
of
bending,
stress
is
given
by
S
=
K tT
Kc|C|,
where
C
is
the
curvature
vector
(Cx,
Cy).
Similarly,
for
a
point
at
90
to
the
plane
of
bending,
stress
is
given
by
S
=
KtT.
The
stress
factors
will
typically
be
calculated
from
experimental
data
or
from
detailed
analytic
models
of
the
umbilical
or
riser
cross-section.
Suppliers
of
such
products
are
usually
able
to
provide
the
necessary
stress
factors.
S-N
Curve
Specifies which S-N curve is used for damage calculations for this component.
Is
a
warning
level.
If
the
total
damage
at
any
fatigue
point
exceeds
the
Critical
Damage
then
that
damage
figure
will
be
highlighted
in
the
results.
Number
of
Thetas
The
number
of
points
(N)
around
the
pipe
circumference,
at
which
fatigue
analysis
will
be
performed.
There
will
be
N
fatigue
points
uniformly
distributed
at
360/N
intervals
around
the
pipe
circumference.
A
larger
number
of
thetas
gives
a
more
comprehensive
analysis,
but
takes
a
little
longer.
This
data
is
not
required,
and
hence
not
available,
for
mooring
and
SHEAR7
fatigue.
Radial
Position
(homogeneous
pipe
stresses
only)
Specifies
whether
the
fatigue
analysis
is
performed
at
the
inner
or
outer
fibre
of
the
pipe.
Line
Length
(SHEAR7
fatigue
only)
Specifies
the
length
of
the
line
being
consider
by
the
SHEAR7
analysis.
This
data
item
is
implemented
solely
to
provide
some
convenience
to
results
reporting.
A
value
of
'~'
results
in
arc
lengths
being
reported
as
non-
dimensional
x/L
values,
the
native
form
for
SHEAR7.
If
a
value
is
specified
for
the
line
length
then
the
x/L
values
are
re-dimensionalised
using
that
specified
value.
Arc
Length
Intervals
You
define
the
parts
of
the
line
that
are
to
be
analysed
by
specifying
a
number
of
non-overlapping
Arc
Length
Intervals
in
the
form
of
From
and
To
arc
length
values.
OrcaFlex
will
analyse
cross-sections
at
each
line
end
and
mid-
398
w
Fatigue
Analysis,
S-N
and
T-N
Curves
For
simple
cases
you
can
use
just
one
arc
length
interval
covering
the
whole
line.
However
it
is
often
clear
which
part,
or
parts,
of
the
line
are
liable
to
fatigue
problems.
If
calculation
time
is
significant
then
you
can
save
calculation
time
by
analysing
those
parts
of
the
line.
Warning:
The
included
arc
lengths
must
be
the
same
in
each
load
case,
so
the
line
to
be
analysed
should
have
the
same
number
and
distribution
of
segments
in
each
of
the
load
case
simulations.
When
stress
ranges
are
used
with
the
S-N
curve
to
calculate
damage,
the
stress
ranges
are
scaled
by
the
Stress
Concentration
Factor
(SCF)
and
the
Thickness
Correction
Factor
before
calculating
damage.
If
no
stress
correction
is
required
then
these
factors
should
both
be
set
to
1.
Notes:
To
use
different
stress
correction
factors
for
different
parts
of
the
line,
you
will
need
to
specify
separate
arc
length
intervals
for
those
parts.
Specifies
which
S-N
curve
is
used
for
damage
calculations
in
this
arc
length
interval.
T-N
Curve
(mooring
fatigue
only)
Specifies which T-N curve is used for damage calculations in this arc length interval.
An
S-N
curve
defines
the
number
of
cycles
to
failure,
N(S),
when
a
material
is
repeatedly
cycled
through
a
given
stress
range
S.
OrcaFlex
uses
the
S-N
curve
to
calculate
the
damage
in
a
fatigue
analysis.
If
needed
you
can
define
a
number
of
different
S-N
curves
and
use
them
at
different
arc
lengths
along
a
line.
With
each
S-N
curve
you
must
also
specify
an
associated
stress
endurance
limit,
FL,
which
is
the
stress
range
below
which
no
damage
occurs.
The
S-N
curve
itself
can
be
specified
either
by
parameters
or
by
a
table.
When
the
curve
is
specified
by
parameters
the
user
specifies
two
parameters,
A
and
b,
and
the
curve
is
then
given
by
either
of
the
following
equivalent
formulae:
N
=
10A
S-b
Log10(N)
=
A
-
b
Log10(S)
When
the
curve
is
specified
by
a
table
the
user
gives
a
table
of
corresponding
values
of
S
and
N.
For
other
values
of
S
we
use
log
linear
interpolation
or
extrapolation
to
find
the
value
of
N.
Mean
stress
effects
can
be
accounted
for
using
Goodman,
Soderberg
or
Gerber
models.
For
details
of
how
the
S-N
curve
is
used
to
calculate
the
damage
see
How
Damage
is
Calculated.
S-N
Curve
Units
The
S-N
curve
parameters
entered
must
be
consistent
with
the
fatigue
analysis
units.
S-N
curve
parameters
are
typically
quoted
with
respect
to
stresses
in
MPa,
but
you
might
be
doing
the
fatigue
analysis
using
some
other
stress
units.
You
can
handle
this
problem
as
follows.
First
change
the
fatigue
analysis
units
and
set
the
units
system
to
be
'User',
the
length
units
to
be
'mm'
and
the
force
units
to
be
'N'.
This
corresponds
to
stresses
in
MPa,
so
you
can
then
enter
the
S-N
parameters
in
terms
of
MPa.
Finally,
restore
the
units
to
those
that
you
want
for
the
fatigue
analysis.
The
parameters
will
automatically
be
converted
to
allow
for
the
change
in
units.
T-N
Curves
For
mooring
fatigue
damage
is
calculated
with
T-N
curves.
These
define
the
number
of
cycles
to
failure,
N(T),
when
a
material
is
repeatedly
cycled
through
a
given
effective
tension
range
T.
The
T-N
curve
can
be
specified
either
by
parameters
or
by
a
table.
When
the
curve
is
specified
by
parameters
the
user
specifies
three
parameters,
m,
k
and
the
reference
breaking
strength
(RBS).
The
curve
is
then
given
by
the
following
formula:
N
=
k(T/RBS)-m
399
Fatigue
Analysis,
Integration
Parameters
w
When
the
curve
is
specified
by
a
table
the
user
gives
a
table
of
corresponding
values
of
T
and
N.
For
other
values
of
T
we
use
log
linear
interpolation
or
extrapolation
to
find
the
value
of
N.
For
details
of
how
the
T-N
curve
is
used
to
calculate
the
damage
see
How
Damage
is
Calculated.
8.11 RESULTS
Fatigue
results
are
presented
in
a
separate
window.
Results
are
available
in
either
graphical
or
tabular
form.
Graphical
output
The
graphical
output
produces
plots
of
fatigue
damage
or
fatigue
life
against
arc
length
range
graphs
of
fatigue.
or
the
total
exposure
damage
value
for
an
individual
load
case.
The
damage
graphs
all
plot
D(z)
=
max
the
maximum
damage
value
at
a
given
arc
length
z.
The
life
graphs
plot
the
corresponding
life
values
T/D(z)
where
T
is
the
exposure
time.
For
individual
load
cases
T
is
the
exposure
time
for
the
load
case.
For
total
life
T
is
the
total
exposure
time
of
all
the
load
cases.
Graphs
are
available
for:
x Total
damage/life:
the
overall
total
damage/life.
x Individual
load
case
damage/life:
the
total
exposure
damage/life
from
the
specified
load
case.
x Worst
cases:
the
total
exposure
damage
value
from
the
five
most
damaging
load
cases.
By
most
damaging
we
mean
the
load
cases
with
the
largest
values
of
max
The
graphs
can
be
customised
in
a
number
of
ways:
x The
arc
length
axis
can
be
either
horizontal
or
vertical,
the
latter
option
being
more
appropriate
for
vertical
risers.
x The
arc
length
axis
can
be
inverted.
When
it
is
inverted
increasing
values
run
from
right
to
left
(if
it
is
horizontal)
and
top
to
bottom
(if
it
is
vertical).
Again
this
is
particularly
useful
for
vertical
risers
with
arc
length
values
that
increase
from
the
top
end
to
the
bottom
end.
x Fatigue
damage/life
can
optionally
be
plotted
on
a
logarithmic
scale.
x Individual
arc
length
intervals
can
be
plotted.
Tabular
output
The
tabular
output
is
presented
in
a
spreadsheet
that
has
one
Damage
Tables
sheet,
plus
one
Load
Case
sheet
for
each
load
case.
There
is
also
a
sheet
echoing
the
S-N
curve
data.
Load
Case
sheets
The
Load
Case
sheets
contain
the
derived
stress
results
for
each
fatigue
point
that
has
been
analysed,
together
with
general
information
such
as
the
environmental
data
that
applied
to
that
load
case.
There
is
one
table
of
stress
results
for
each
arc
length
covered
by
the
specified
arc
length
intervals.
Each
such
table
contains
a
row
of
results
for
each
fatigue
point
in
that
arc
length
cross-section.
These
results
are
the
stress
ranges
(for
each
of
the
stress
components),
the
maximum
stress
range
and
the
resulting
load
case
damage
values.
In
addition
to
the
detailed
tables
a
damage
summary
table
is
presented
which
tabulates
the
load
case
damage
at
each
fatigue
point.
For
mooring
fatigue,
tension
results
rather
than
stress
results
are
reported.
For
SHEAR7
fatigue,
since
the
damage
calculation
has
been
performed
by
SHEAR7,
only
damage
values
are
reported.
400
w
Fatigue
Analysis,
Fatigue
Points
The
Damage
Table
sheet
starts
with
an
Excessive
Damage
table,
which
lists
any
fatigue
points
at
which
the
overall
total
damage
has
exceeded
the
specified
critical
damage
value.
Details
of
where
on
the
line
the
worst
total
damage
occurred
are
also
reported.
A
table
summarising
the
overall
damage
over
total
exposure
for
all
arc
lengths
is
presented.
Finally,
the
Damage
Table
sheet
provides
damage
tables
for
each
arc
length
cross-section
analysed.
These
report,
for
each
fatigue
point
in
the
cross-section,
the
total
exposure
damage
value
from
each
load
case
and
the
overall
total
damage.
In
all
of
these
tables,
overall
total
damage
values
that
exceed
the
specified
critical
damage
value
are
highlighted
in
red.
Printing
and
Exporting
To
save
the
results
you
will
need
to
export
the
spreadsheet
as
an
Excel
sheet.
If
you
want
to
print
the
results
then
for
best
results
you
should
first
export
them
and
then
use
Excel
to
do
the
printing.
Customising
results
output
The
tabular
results
output
can
be
customised
using
the
options
on
the
Results
page
of
the
main
fatigue
form.
Output
load
case
tables
If
this
option
is
deselected
then
the
load
case
sheets
are
omitted
from
the
fatigue
results.
This
can
significantly
reduce
the
time
and
memory
required
to
generate
the
results
tables.
Output
detailed
load
case
tables
If
this
option
is
deselected
then
the
detailed
tables
on
the
load
case
sheets
are
omitted
from
the
fatigue
results.
This
can
significantly
reduce
the
time
and
memory
required
to
generate
the
results
tables.
Load
case
damage
units
Load
case
damage
values
can
be
reported
as
damage
per
hour,
damage
per
d ay
or
damage
per
year,
as
specified
by
this
data
item.
For
stress
factor
fatigue
the
radial
position
is
implicit
in
the
stress
factors
and
so
is
not
explicitly
used
in
the
calculation.
Damage
is
calculated
at
circumferential
locations
determined
by
the
specified
Number
of
Thetas,
as
described
above.
Mooring
fatigue
damage
For
mooring
fatigue
there
is
no
need
to
consider
radial
and
circumferential
variation
and
so
there
is
one
fatigue
point
for
each
arc
length
considered.
401
Fatigue
Analysis,
How
Damage
is
Calculated
w
x The
damage
value
corresponding
to
the
response
time
history
is
calculated
see
below
for
details.
This
value
is
the
damage
value
at
that
fatigue
point
due
to
one
occurrence
of
that
load
case.
x The
load
case
damage
values
are
scaled
to
allow
for
the
exposure
associated
with
that
load
case.
x The
above
step
gives
the
total
exposure
damage
value
from
that
load
case
at
this
fatigue
point.
x Finally,
these
total
exposure
load
case
damage
values
are
summed
over
all
load
cases
to
obtain
the
overall
total
damage
value
at
that
fatigue
point.
Damage
Calculation
using
S-N
curves
The
S-N
curve
defines
the
number
of
cycles
to
failure,
N(S),
for
stress
range
S,
and
also
defines
a
endurance
limit,
FL,
below
which
no
damage
occurs.
OrcaFlex
uses
these
to
calculate
a
damage
value
given
by:
D(S)
=
1/N(S)
if
S
>
FL
L
This
damage
value
can
be
thought
of
as
the
proportion
of
the
fatigue
life
that
is
used
up
by
1
cycle
of
stress
range
S.
If
the
S-N
curve
is
defined
by
parameters
then
for
S
>
FL
we
have:
Log10(N)
=
A
-
b
Log10(S)
so
D(S)
can
be
expressed
in
the
following
form:
D(S)
=
10-A
Sb.
Mean
stress
effects
Mean
stress
effects
are
handled
by
modifying
each
stress
range
according
to
a
formula
dependent
on
the
mean
stress
level.
Three
models
of
mean
stress
effects
are
provided:
Goodman,
Soderberg
and
Gerber.
Each
method
is
defined
by
a
formula
for
Se,
the
equivalent
stress,
allowing
for
mean
stress
effects,
to
be
used
in
the
zero
mean
stress
S-N
curve.
The
Goodman
model
is:
Se
=
Sr
/
(1
-
Sm/SMTS)
for
0
<
Sm
<
SMTS
Se
=
Sr
for
-SMTS
<
Sm
where
Sr
is
the
true
stress
range,
Sm
is
the
mean
stress
and
SMTS
is
the
ultimate
tensile
strength
as
specified
in
the
S -
N
data.
The
Soderberg
model
is:
Se
=
Sr
/
(1
-
Sm/SMYS)
for
0
<
Sm
<
SMYS
Se
=
Sr
for
-SMYS
<
Sm
where
SMYS
is
the
yield
strength
as
specified
in
the
S-N
data.
The
Gerber
model
is:
Se
=
Sr
/
(1
-
[Sm/SMTS]2)
for
-SMTS
<
Sm
<
SMTS
The
definition
of
mean
stress,
Sm,
depends
on
the
analysis
method
being
used.
For
regular
analysis,
S m
is
defined
to
be
the
mean
of
the
min
and
max
stress
values
associated
with
the
stress
range
S r.
For
rainflow
analysis,
Sm
is
the
mean
value
of
the
local
turning
points
in
the
stress
time
history.
For
spectral
fatigue,
S m
is
the
mean
of
the
time
history
used
to
determine
the
stress
RAOs.
Regular
analysis
The
minimum
and
maximum
values
of
stress
over
the
last
simulated
wave
cycle
define
a
stress
range
S.
The
associated
single- stress
concentration
factor
and
the
thickness
correction
factor.
If
mean
stress
effects
are
included
then
the
equivalent
stress
range
Se
is
used.
Rainflow
analysis
The
stress
time
history
is
analysed
using
the
rainflow
cycle
counting
method.
This
gives
a
number
of
stress
ranges
for
half
cycles,
say
Si
where
i
runs
from
1
to
the
number
of
stress
ranges.
The
associated
single-occurrence
load
case
damage
value
is
then
i)
where
the
summation
is
over
all
the
half
cycles.
Note
that
the
factor
of
one
402
w
Fatigue
Analysis,
How
Damage
is
Calculated
half
is
present
because
the
rainflow
algorithm
counts
half
cycles
rather
than
full-cycles.
Again,
if
mean
stress
effects
are
included,
then
the
equivalent
stress
range
Se
is
used.
Spectral
analysis
For
spectral
analysis
damage
is
calculated
in
the
frequency
domain
using
statistical
methods.
The
calculation
requires
a
power
spectral
density
function
(PSD)
for
stress.
The
PSD
is
obtained
from
a
response
calculation
simulation.
This
calculates
RAOs
for
stress
which
is
then
combined
with
the
load
case
wave
spectrum
to
give
the
PSD
for
stress.
These
PSD
are
then
used
to
calculate
damage
using
either
Dirlik's
formula
or
the
Rayleigh
distribution.
The
stress
concentration
factor,
thickness
correction
factor
and
mean
stress
effects
are
all
accounted
for
in
the
spectral
damage
calculation.
For
detailed
references
on
how
spectral
fatigue
analysis
calculates
damage
from
stress
PSDs
please
refer
to:
x Barltrop
and
Adams
(1991)
which
has
an
excellent
section
on
spectral
fatigue
analysis.
x Dirlik
(1985)
is
the
original
reference
for
Dirlik's
stress
range
distribution
formula.
Damage
Calculation
using
T-N
curves
T-N
curves
are
handled
in
a
similar
way.
A
T-N
curve
defines
the
number
of
cycles
to
failure,
N(T),
for
effective
tension
range
T.
There
is
no
analog
of
endurance
limit
for
T-N
curves.
Likewise
there
are
no
analogs
of
stress
concentration
factor
and
thickness
correction
factor.
As
for
S-N
curves,
OrcaFlex
defines
damage
as:
D(T)
=
1/N(T)
The
summation
of
damage
is
then
performed
in
an
identical
manner
to
that
performed
for
S -N
curves.
Damage
Calculation
for
SHEAR7
fatigue
SHEAR7
fatigue
is
rather
different
from
the
other
fatigue
methods
because
damage
is
calculated
external
to
OrcaFlex
by
SHEAR7.
OrcaFlex
merely
provides
a
means
to
collate,
sum
and
plot
the
damage
from
a
number
of
different
SHEAR7
load
cases
in
a
convenient
manner.
The
SHEAR7
damage
calculation
is
based
on
the
damage
rate
output
in
the
SHEAR7
.plt
file.
This
value
is
multipled
by
the
load
case
exposure
time
to
produce
the
damage
associated
with
that
load
case.
403
w
VIV
Toolbox,
Frequency
Domain
Models
9 VIV
TOOLBOX
The
OrcaFlex
VIV
Toolbox
provides
analysis
of
vortex
induced
vibration
(VIV)
of
lines.
It
offers
a
choice
of
various
alternative
ways
of
modelling
VIV,
including
both
frequency
and
time
domain
approaches,
and
has
been
developed
in
co-operation
with
academics
in
the
UK
and
USA.
The
VIV
Toolbox
is
included
as
standard
in
OrcaFlex.
A
separate
user
guide
for
the
time
domain
VIV
models
is
available
( Time
Domain
VIV
Models.pdf).
Different
VIV
Models
The
VIV
Toolbox
provides
facilities
for
using
the
following
different
VIV
models:
x VIVA.
The
VIV
Toolbox
provides
a
fully
integrated
link
to
VIVA.
OrcaFlex
automatically
prepares
the
VIVA
data
from
the
OrcaFlex
data,
calls
VIVA
and
presents
the
results.
To
use
this
you
will
need
a
copy
of
VIVA,
release
2.0.6
or
later.
x SHEAR7.
The
VIV
Toolbox
provides
facilities
for
exporting
SHEAR7
structural
data
files
and
SHEAR7
.mds
files
based
on
an
OrcaFlex
model.
SHEAR7
can
then
be
run
manually
using
these
files
as
input,
or
called
directly
from
OrcaFlex.
x Two
wake
oscillator
models,
the
Milan
model
and
the
Iwan
and
Blevins
model.
x Two
vortex
tracking
models.
Of
all
these
models,
VIVA
and
SHEAR7
are
the
two
main
programs
in
current
use
in
the
industry.
They
are
both
independent
non-Orcina
programs
written
and
distributed
by
other
companies,
so
to
use
them
you
need
to
purchase
and
install
them
on
your
machine.
They
are
both
frequency
domain
models,
so
they
only
analyse
steady
state
conditions.
The
other
models
are
included
in
the
VIV
Toolbox
within
OrcaFlex,
so
no
further
software
is
needed.
They
are
all
time-domain
models,
so
they
can
analyse
non-steady-state
conditions.
They
do
not
yet
have
a
track
record
in
the
industry.
Using
VIV
Models
You
choose
which
VIV
model
to
use
(if
any)
on
the
VIV
page
on
the
line
data
form.
There
are
separate
choices
for
the
static
and
dynamic
analyses
and
so
you
do
not
have
to
use
the
same
model
for
the
two
analyses.
The
time-domain
models
are
only
applicable
to
the
dynamic
analysis.
405
VIV
Toolbox,
Frequency
Domain
Models
w
The
current
version
of
OrcaFlex
is
compatible,
and
has
been
tested
with,
the
VIVA
DLL
version
2.0.6.
Later
versions
of
the
DLL
can
be
used
OrcaFlex
checks
for
interface
compatibility
before
calling
the
DLL,
and
reports
an
error
if
the
DLL
found
is
not
compatible.
To
use
VIVA
for
VIV
analysis
of
a
line,
set
the
line's
Statics
VIV
or
Dynamics
VIV
data
item
(or
both)
to
VIVA.
Then
set
up
the
VIVA
data
that
appears.
VIVA
will
then
be
called
when
you
do
the
OrcaFlex
static
or
dynamic
analysis,
and
the
drag
coefficients
predicted
by
VIVA
(for
the
specified
Target
Mode)
will
be
used
instead
of
the
user-specified
drag
coefficients
from
the
line
type
form.
These
VIVA
drag
coefficients,
and
other
results
calculated
by
VIVA,
are
available
in
OrcaFlex
see
VIVA
Results.
VIVA
in
Static
Analysis
When
Statics
VIV
is
set
to
VIVA,
OrcaFlex
calculates
the
static
position
of
the
line
using
the
drag
coefficients
calculated
by
VIVA.
A
fully
coupled
statics
calculation
is
performed
since
VIVA's
analysis
depends
on
the
position
of
the
line
and
vice
versa.
The
coupled
static
analysis
is
done
as
follows:
1. First
OrcaFlex
sets
the
line's
drag
coefficients
to
those
specified
on
the
OrcaFlex
line
type
form.
2. OrcaFlex
then
calculates
the
static
position
of
the
line
using
those
drag
coefficients.
3. OrcaFlex
then
calls
VIVA
to
analyse
VIV
for
that
position
and
the
line
drag
coefficients
are
updated
to
those
calculated
by
VIVA
for
the
specified
Target
Mode.
4. OrcaFlex
then
recalculates
the
static
position
of
the
line
for
those
new
drag
coefficients.
5. Steps
3
and
4
are
then
repeated
until
the
static
position
has
converged.
The
iteration
is
deemed
to
have
converged
when
none
of
the
nodes
has
changed
position
(compared
with
the
previous
iteration)
by
more
than
Convergence
Tolerance
*
NodeLength,
where
NodeLength
is
the
length
of
line
represented
by
that
node.
The
method
usually
requires
only
2
or
3
coupling
iterations
to
converge.
VIVA
in
Dynamic
Analysis
When
Dynamics
VIV
is
set
to
VIVA,
OrcaFlex
calls
VIVA
at
regular
intervals,
as
specified
by
the
Dynamics
Time
Interval.
After
each
call
the
drag
coefficients
of
the
line
are
updated
to
those
calculated
by
VIVA
for
the
specified
Target
Mode.
Note
that
VIVA
is
a
frequency
domain
program
and
so
can
only
handle
steady
state
conditions.
It
is
therefore
unrealistic
to
use
VIVA
in
dynamic
analysis
unless
the
conditions
change
only
slowly
compared
to
the
Strouhal
period.
See
also
Use
Relative
Fluid
Velocity
and
Include
Wave
in
Fluid
Velocity.
Limitations
When
using
the
OrcaFlex
interface
to
VIVA
please
note
the
following
limitations:
x The
VIVA
analysis
involves
a
modal
analysis
of
the
line.
Currently
this
modal
analysis
is
done
by
VIVA
but
this
has
limitations
see
VIVA
modal
analysis
limitations.
x There
are
difficulties
in
passing
to
VIVA
details
of
attachments
to
the
line
(e.g.
clumps,
buoys,
links,
winches),
so
attachment
are
ignored
by
the
VIVA
analysis.
x The
VIVA
DLL
is
not
currently
capable
of
handling
multiple
simultaneous
use,
so
you
should
not
use
the
VIVA
interface
from
more
than
one
copy
of
OrcaFlex
at
a
time
running
on
a
single
machine.
VIVA
Data
The
VIVA
data
is
the
data
that
VIVA
needs
and
which
OrcaFlex
cannot
deduce
automatically
from
the
ordinary
OrcaFlex
data.
It
is
described
below
and
appears
on
the
VIV
page
on
the
line
data
form
when
you
select
VIVA
for
Statics
VIV
or
Dynamics
VIV.
When
using
VIVA
please
note
the
following:
x You
should
set
up
the
line
with
End
A
at
the
top
and
End
B
at
the
bottom.
x All
the
sections
in
the
line
must
have
the
same
segment
length.
This
is
a
requirement
of
VIVA.
x If
the
line
touches
down
on
the
seabed
then
OrcaFlex
passes
only
the
suspended
part
of
the
line
to
VIVA
for
analysis.
The
rest
of
the
line
is
not
passed
to
VIVA.
By
'suspended
part'
here
is
meant
the
part
between
End
A
406
w
VIV
Toolbox,
Frequency
Domain
Models
and
the
first
node
in
contact
with
the
seabed.
Note
that
if
there
are
multiple
touchdowns
then
the
VIVA
analysis
is
only
applied
to
the
part
of
the
line
up
to
the
first
touchdown
point.
x When
there
is
seabed
contact
OrcaFlex
tells
VIVA
to
treat
the
touchdown
point
as
pinned.
This
is
as
in
the
touchdown
example
in
the
VIVA
documentation.
x You
need
to
use
enough
segments
in
the
suspended
part
of
the
line.
There
is
a
lower
limit
in
VIVA
of
100
segments,
and
if
the
line
has
fewer
than
this
then
VIVA
reports
an
error
and
no
VIV
calculation
is
done.
If
the
line
has
100
or
more
segments
then
VIVA
checks
whether
there
are
enough
segments
to
reasonably
model
VIV;
and
if
not
then
VIVA
gives
a
warning
but
the
calculation
continues.
For
details
see
the
VIVA
documentation.
x When
modelling
Vetco
type
risers
(i.e.
with
auxiliary
pipes
attached),
you
need
to
set
the
OrcaFlex
line
end
orientation
to
match
the
orientation
of
the
auxiliary
pipes.
For
details
see
Modelling
Vetco
Risers.
x OrcaFlex
passes
VIVA
the
fluid
density
and
viscosity
at
each
node.
For
fully
submerged
nodes
OrcaFlex
passes
the
sea
density
and
kinematic
viscosity
at
that
point.
For
a
node
out
of
the
water
OrcaFlex
passes
the
air
density
specified
in
the
OrcaFlex
data
and
a
hard-coded
viscosity
value
of
1.5e-5
m2/s
(Source:
Batchelor,
page
594,
air
at
20C).
For
a
partially
submerged
node
OrcaFlex
interpolates
between
the
two,
based
on
the
node's
Proportion
Wet.
Whole
Line
Properties
Target
Mode
VIVA
predicts
which
modes
of
oscillation
might
be
excited
and
it
gives
separate
VIV
results
for
each
possible
excited
mode.
In
addition
it
gives
VIV
results
for
'multi-mode'
response,
i.e.
response
that
is
a
mixture
of
the
possible
modes.
You
must
specify
which
set
of
VIVA
Cd
results
to
use,
based
on
the
type
of
response
you
expect,
by
setting
the
Target
Mode
data
item.
The
Target
Mode
can
be
set
to
a
mode
number,
meaning
use
the
single
mode
results
for
that
mode
number.
Or
it
can
be
set
to
'~',
meaning
use
the
multi-mode
results.
If
you
set
the
Target
Mode
to
a
mode
number
that
VIVA
does
not
predict
will
be
excited
then
OrcaFlex
will
report
a
warning
and
use
the
line
type
Cd
values.
Dynamics
Time
Interval
This
data
item
only
applies
when
Dynamics
VIV
is
set
to
VIVA.
It
specifies
how
often
VIVA
will
be
called
during
the
OrcaFlex
simulation.
VIVA
will
be
called
after
every
T
seconds
of
simulation,
where
T
is
the
specified
dynamics
time
interval.
After
each
call
to
VIVA,
the
drag
coefficients
used
by
the
line
will
be
updated
to
those
calculated
by
VIVA
for
the
specified
Target
Mode.
Convergence
Tolerance
This
data
item
only
applies
when
Statics
VIV
is
set
to
VIVA.
It
specifies
the
tolerance
used
in
the
statics
iteration.
For
details
see
VIVA
in
Static
Analysis.
Transverse
Damping
Ratio
The
structural
damping
ratio
that
VIVA
should
use.
It
is
a
single
value
that
applies
to
the
whole
line.
For
details
see
the
VIVA
documentation,
where
it
is
referred
to
as
ZETA.
VIVA
Z
Axis
Direction
This
data
item
specifies
the
direction
of
the
VIVA
global
Z-axis.
VIVA
uses
its
own
global,
right-handed
frame
of
reference,
in
which
the
X-axis
is
vertically
upwards
(i.e.
in
the
OrcaFlex
global
Z-axis
direction)
and
the
Y
and
Z
axes
are
horizontal.
VIVA
recommends
that
the
VIVA
Z-axis
is
chosen
to
be
in
the
downstream
flow
direction,
if
that
is
well-defined.
For
constant
uniform
flow
there
is
a
unique
flow
direction,
so
it
is
well-defined.
If
the
flow
direction
varies
along
the
line
then
there
is
no
unique
flow
direction.
In
this
case
it
is
probably
best
to
set
the
VIVA
Z -axis
to
be
in
the
average
flow
direction.
A
value
of
'~'
is
interpreted
to
mean
the
current
direction
at
the
sea
surface.
407
VIV
Toolbox,
Frequency
Domain
Models
w
VIVA
needs
to
know
the
flow
velocity
at
each
point
along
the
line.
You
can
choose
to
either
use
the
relative
velocity,
including
the
velocity
of
the
line,
or
else
use
only
the
fluid
velocity,
ignoring
any
velocity
of
the
line.
You
can
also
choose
whether
to
include
any
wave
contribution
to
the
fluid
velocity.
Ideally
the
relative
velocity
should
be
used
and
the
wave
should
be
included,
since
in
reality
it
is
the
total
relative
velocity
that
generates
vortices.
However
VIVA
is
a
frequency
domain
program
and
so
can
only
handle
steady
state
conditions,
whereas
OrcaFlex
can
handle
time-varying
conditions.
VIVA
effectively
assumes
that
the
flow
velocity
it
is
given
is
constant
for
long
enough
for
VIV
to
settle.
It
therefore
cannot
correctly
analyse
cases
where
the
flow
velocity
includes
time-varying
components
whose
periods
are
comparable
with
or
shorter
than
the
Strouhal
period.
(The
same
applies
to
SHEAR7,
since
it
too
uses
a
frequency
domain
analysis.)
We
therefore
provide
these
two
switches,
to
allow
you
to
control
whether
line
motion
and
wave
effects
are
included
in
the
flow
velocity
given
to
VIVA.
If
the
line
motion
or
wave
include
significant
velocity
components
that
are
not
'slow'
compared
to
the
expected
VIV
period,
then
you
might
want
exclude
the
line
motion
or
wave.
This
is
still
not
ideal,
since
their
effects
are
then
ignored.
The
alternative
is
to
use
a
time-domain
model,
such
as
a
wake
oscillator
model
or
the
vortex
tracking
models.
Section-Specific
Properties
For
each
section
of
the
line,
you
must
specify
the
VIVA
section
type
and
its
properties.
The
OrcaFlex
line
type
and
length
of
the
sections
are
displayed
for
information,
but
they
are
not
editable
(to
edit
them
see
the
Structure
page
on
the
OrcaFlex
line
data
form).
VIV Diameter
The
VIV
diameter
specifies
the
diameter
used
by
the
VIV
model.
Separate
values
can
be
specified
for
each
section.
The
value
specified
is
used
for
all
nodes
in
that
section.
For
a
node
at
the
intersection
of
two
sections
the
VIV
diameter
of
the
following
section
is
used.
The
VIV
Diameter
can
be
set
to
'~',
which
is
taken
to
mean
'same
as
the
section
outer
diameter'.
Section
Type
408
w
VIV
Toolbox,
Frequency
Domain
Models
Flow
Direction
Alpha
VIVA
Results
The
VIVA
results
are
presented
in
OrcaFlex
as
extra
worksheets
in
the
Full
Results
tables.
The
worksheets
give
the
results
from
the
latest
VIVA
call.
There
is
a
separate
worksheet
for
each
excited
mode,
plus
an
extra
worksheet
for
the
multi-mode
response.
The
drag
coefficients
currently
in
use
are
those
corresponding
to
the
specified
Target
Mode.
The
VIVA
results
are
described
briefly
below.
For
details
see
the
VIVA
documentation.
Note:
Amplitudes
in
VIVA
results
are
single
amplitudes,
i.e.
measured
from
the
mean
position
to
the
peak.
The
dynamic
bend
moment
and
stress
amplitudes
due
to
VIV.
Note
that
they
do
not
include
the
bend
moment
and
stress
due
to
the
mean
position
of
the
line.
Drag
Coefficient
This
column
shows
which
modes
have
been
analysed.
Those
that
VIVA
calculates
as
possibly
being
excited
are
marked
with
an
asterisk.
Natural
Mode
Frequency
With
and
Without
VIV
These
columns
give
the
natural
frequencies
of
the
mode,
as
calculated
by
VIVA.
Those
'Without
VIV'
are
calculated
using
VIVA's
own
default
added
mass
coefficients
(not
those
specified
in
the
OrcaFlex
line
type
data).
Whereas
in
those
'With
VIV'
the
VIVA
default
added
mass
coefficients
have
been
modified
to
allow
for
VIV.
409
VIV
Toolbox,
Frequency
Domain
Models
w
Warning:
VIVA's
modal
analysis
calculates
bending
modes
only
and
does
not
allow
for
the
mean
curvature.
This
omission
is
equivalent
to
VIVA
calculating
the
out-of-plane
modes,
since
there
is
no
mean
curvature
component
in
the
out-of-plane
direction.
The
natural
frequencies
in
the
VIVA
results
therefore
correspond
to
the
out-of-plane
bending
modes
predicted
by
the
OrcaFlex
modal
analysis.
These
are
correct
modes
to
use
for
in-plane
flow
(since
VIV
will
then
be
in
the
out
of
plane
direction),
but
they
are
not
the
right
modes
to
use
for
out-of-plane
flow,
since
the
VIV
will
then
be
in-plane.
The
difference
between
the
in-plane
and
out-of-plane
bending
modes
depends
on
the
magnitude
of
the
curvature
and
the
wave
length
of
the
mode.
Max Amplitude
When
exporting
a
SHEAR7
data
file
the
program
assumes
that
you
will
also
be
u sing
a
mode
shape
file
produced
by
OrcaFlex.
The
procedure
for
linking
SHEAR7
to
your
OrcaFlex
model
is
as
follows:
1. Build
your
OrcaFlex
model
as
normal.
SHEAR7
analyses
VIV
for
one
or
more
of
your
OrcaFlex
Lines.
2. Input
the
appropriate
values
on
the
SHEAR7
data
form.
3. Calculate
the
static
position
of
the
model.
4. Export
a
SHEAR7
data
file
and
a
SHEAR7
Mds
file.
5. These
files
can
now
be
used
as
inputs
to
SHEAR7.
Direct
SHEAR7
interface
As
an
alternative
to
exporting
files
and
running
SHEAR7
manually,
as
described
above,
OrcaFlex
is
capable
of
calling
SHEAR7
directly.
This
capability
is
enabled
by
selecting
the
SHEAR7
statics
VIV
option
on
the
VIV
page
of
the
Line
data
form.
SHEAR7
executable
file
location,
SHEAR7
lift
file
location
The
direct
SHEAR7
interface
operates
by
executing
the
SHEAR7
executable
file.
In
order
to
do
this
OrcaFlex
must
be
told
where
to
locate
the
executable
file.
This
data
is
specified
on
the
SHEAR7
data
form
and
is
only
available
when
SHEAR7
is
selected
for
the
statics
VIV
option
on
the
VIV
page
of
the
Line
data
form.
In
addition
SHEAR7
requires
a
file
to
specify
lift
coefficients,
usually
called
"common.cl".
Typically
the
lift
file
will
be
the
standard
one
supplied
with
SHEAR7.
If
the
lift
file
location
is
left
blank
OrcaFlex
attempts
to
use
a
file
called
"common.cl"
in
the
same
directory
as
the
executable
file.
These
file
locations
can
be
specified
as
either
full
paths
or
as
paths
relative
to
the
directory
containing
the
OrcaFlex
file.
These
data
are
model-wide
properties.
A
consequence
of
this
is
that
if
you
wish
to
modify
the
values
using
batch
script
then
you
need
to
select
the
General
object
rather
than
a
Line
object.
SHEAR7
coupling
method
The
SHEAR7
direct
interface
performs
a
coupled
statics
calculation
since
the
SHEAR7
analysis
depends
on
the
position
of
the
line
and
vice
versa.
The
coupled
static
analysis
is
done
as
follows:
1. First
OrcaFlex
sets
the
line's
drag
coefficients
to
those
specified
on
the
OrcaFlex
line
type
form.
2. OrcaFlex
then
calculates
the
static
position
of
the
line
using
those
drag
coefficients.
3. OrcaFlex
then
calls
SHEAR7
to
analyse
VIV
for
that
position
and
the
line
drag
coefficients
are
updated.
4. OrcaFlex
then
recalculates
the
static
position
of
the
line
for
those
new
drag
coefficients.
5. Steps
3
and
4
are
then
repeated
until
the
static
position
has
converged.
410
w
VIV
Toolbox,
Frequency
Domain
Models
The
iteration
is
deemed
to
have
converged
when
none
of
the
nodes
has
changed
position
(compared
with
the
previous
iteration)
by
more
than
Convergence
Tolerance
*
NodeLength,
where
NodeLength
is
the
length
of
line
represented
by
that
node.
The
method
usually
requires
only
2
or
3
coupling
iterations
to
converge.
The
direct
SHEAR7
interface
offers
a
variety
of
coupling
options
which
differ
in
how
they
handle
the
SHEAR7
.mds
file.
x The
full
coupling
option
generates
a
new
.mds
file
at
each
coupling
iteration,
that
is
every
time
SHEAR7
is
called.
x The
partial,
automatic
.mds
file
coupling
option
creates
an
.mds
file
on
the
first
coupling
iteration
which
is
then
used
in
all
subsequent
coupling
iterations.
x The
partial,
user
.mds
file
coupling
option
uses
an
.mds
file
specified
on
the
data
form
for
all
coupling
iterations.
The
fully
coupled
approach
does
have
the
disadvantage
that
generating
an
.mds
file
at
each
coupling
iteration
can
be
time
consuming,
especially
for
more
complex
models,
and
so
the
partially
coupled
approach
can
be
significantly
faster.
The
partially
coupled
approaches
are
more
akin
to
running
SHEAR7
manually.
However,
the
ultimate
static
solution
will
differ
because
it
does
include
the
effect
of
drag
enhancement.
When
running
SHEAR7
manually
the
only
way
to
account
for
drag
enhancement
is
to
manually
modify
drag
coefficients
in
the
OrcaFlex
model
which
is
extremely
impractical.
First
and
last
modes
These
data
items
specify
which
modes
are
to
be
included
in
the
.mds
file.
These
data
are
not
required
if
you
select
the
partial,
user
.mds
file
coupling
option.
A
value
of
'~'
for
the
first
mode
is
interpreted
as
the
lowest
numbered
transverse
mode.
A
value
of
'~'
for
the
last
mode
is
interpreted
as
the
highest
numbered
transverse
mode.
By
transverse
we
mean
that
the
modal
analysis
classifies
the
mode
as
either
Transverse
or
Mostly
Transverse.
These
data
items
are
interpreted
in
exactly
the
same
way
as
the
FirstMode
and
LastMode
parameters
to
the
SHEAR7MdsFile
batch
script
command.
SHEAR7
.mds
file
The
location
of
the
.mds
file
to
be
passed
to
SHEAR7.
This
data
is
only
required
if
you
select
the
partial,
user
.mds
file
coupling
option.
The
location
can
be
specified
as
either
a
full
path
or
as
a
path
relative
to
the
directory
containing
the
OrcaFlex
file.
The
.mds
file
must
be
generated
separately
which
is
normally
done
either
form
the
modal
analysis
form
or
using
batch
script.
Although
SHEAR7
requires
.mds
files
to
be
named
"common.mds"
that
restriction
does
not
apply
to
OrcaFlex's
direct
interface
to
SHEAR7.
This
is
a
significant
benefit
of
the
direct
interface
to
SHEAR7
because
it
allows
you
to
have
multiple
.mds
files
in
the
same
directory.
Results
output
When
OrcaFlex
calls
SHEAR7
it
captures
the
SHEAR7
output
file,
.out
and
.plt.
These
output
files
are
included
in
the
Full
Results
tables
for
the
Line.
These
output
files
can
also
be
exported
from
the
SHEAR7
data
form
and
by
using
the
SHEAR7OutFile
and
SHEAR7PltFile
batch
script
commands.
The
.out
and
.plt
files
are
automatically
exported
if
you
run
the
static
analysis
in
batch
mode.
The
files
are
exported
with
file
names
based
on
the
model
file
name
and
the
line
name.
The
enhanced
drag
coefficients
can
be
obtained
from
a
static
state
range
graph
of
x-Drag
Coefficient
(or
indeed
y-
Drag
Coefficient
which
is
identical).
Technical
details
The
direct
SHEAR7
interface
operates
by
calling
the
SHEAR7
executable
directly
as
follows:
1. A
temporary
directory
is
created
to
contain
the
SHEAR7
input
and
output
files.
2. A
SHEAR7
.dat
file
is
generated
in
the
temporary
directory.
411
VIV
Toolbox,
Frequency
Domain
Models
w
3. The
SHEAR7
.mds
file
is
created
in
the
temporary
directory
and
called
"Common.mds".
How
this
.mds
file
is
created
is
determined
by
the
chosen
coupling
option
as
described
above.
4. The
specified
lift
file
is
copied
to
the
temporary
directory
and
renamed
as
"Common.cl".
5. The
SHEAR7
executable
is
run
and
the
SHEAR7
.out
and
.plt
files
are
read
by
OrcaFlex.
6. The
.plt
file
is
parsed
by
OrcaFlex
to
find
the
drag
enhancements
factors
C f.
This
process
depends
very
heavily
on
the
current
implementation
details
of
SHEAR7.
We
have
developed
and
tested
the
SHEAR7
direct
interface
with
SHEAR7
versions
4.4
and
4.5.
We
cannot
guarantee
that
other
versions
of
SHEAR7
will
be
compatible
with
the
SHEAR7
direct
interface.
OrcaFlex
uses
linear
interpolation
of
the
the
C f
values
if
the
locations
read
from
the
.plt
file
do
not
correspond
to
the
node
locations
in
the
OrcaFlex
model.
This
can
occur
if
the
discretisation
of
a
user-supplied
.mds
file
differs
from
that
of
the
OrcaFlex
model.
By
default
the
SHEAR7
data
is
not
included
in
text
data
files
saved
by
OrcaFlex.
You
can
check
this
option
to
override
that
default
and
ensure
that
SHEAR7
data
is
included
in
text
data
files.
If
you
are
using
the
direct
SHEAR7
interface
then
the
SHEAR7
data
is
always
included
in
text
data
files
irrespective
of
this
setting.
Exporting
from
Batch
Script
The
SHEAR7
data
file
can
be
exported
from
an
OrcaFlex
batch
script
using
the
SHEAR7DataFile
command.
SHEAR7
data
The
majority
of
the
information
in
a
SHEAR7
data
file
can
be
derived
from
the
data
for
an
OrcaFlex
Line.
However,
there
are
a
number
of
other
values
which
SHEAR7
needs
and
these
are
documented
below.
Mostly
these
values
are
given
the
same
name
as
used
by
SHEAR7.
For
full
details
on
how
they
are
used
please
refer
to
the
SHEAR7
documentation.
Line
SHEAR7
changed
the
format
of
its
data
file
with
the
release
of
SHEAR7
version
4.5.
OrcaFlex
can
output
data
files
for
either
version
4.3/4.4
or
version
4.5,
as
specified
by
this
data.
Output
summary
Locations
These
data
specify
the
locations
at
which
a
summary
of
the
response
is
given
in
the
SHEAR7
.out
file.
A
value
of
'~'
can
be
used
for
the
Arc
Length
Range
Start
to
mean
'End
A'.
Likewise,
a
value
of
'~'
for
Arc
Length
Range
End
means
'End
B'.
Reduced
Velocity
Bandwidths
For
SHEAR7
version
4.3/4.4
you
specify
the
single-mode
and
multi-mode
reduced
velocity
bandwidth.
For
SHEAR7
version
4.5
you
specify
just
a
single
value
for
reduced
velocity
bandwidth.
Structural
Damping
Ratio
412
w
VIV
Toolbox,
Frequency
Domain
Models
This
is
the
number
of
tables
you
want
SHEAR7
to
read
from
the
common.cl
file.
Current
Profile
The
discretisation
option
allows
you
to
control
how
the
current
profile
is
output.
You
can
specify
that
the
current
profile
contains
one
entry
for
each
node
in
the
line.
However
this
can
give
rise
to
numerical
problems
in
SHEAR7,
especially
for
finely
segmented
models,
and
so
it
is
preferable
to
discretise
the
current
more
coarsely
using
the
regular
spacing
option.
You
also
specify
the
probability
of
occurrence
(a
number
between
0
and
1)
of
the
flow
profile
and
the
flow
profile
ID.
Young's
Modulus
Young's
modulus
for
the
strength
member.
SHEAR7
uses
this
for
computing
stress
and
damage
rate.
Power
Ratio
exponent
(SHEAR7
version
4.5
only)
Specifies
the
S-N
curve
to
be
used
by
SHEAR7
for
its
fatigue
calculations.
An
endurance
limit
can
be
specified
this
is
called
the
"cutoff
stress
range"
in
the
SHEAR7
documentation.
Stress
Concentration
Factors
Specify
a
global
stress
concentration
factor
for
the
line
and
optionally
a
number
of
local
stress
concentration
factors.
Section
Data
The
following
data
is
specified
on
a
section
by
section
basis.
That
is
different
values
can
be
specified
for
each
OrcaFlex
line
section.
The
SHEAR7
terminology
for
this
is
sectional
zones.
In
the
SHEAR7
data
file
that
OrcaFlex
produces
there
is
a
one-to-one
correspondence
between
OrcaFlex
line
sections
and
SHEAR7
sectional
zones.
VIV Diameter
The
VIV
diameter
specifies
the
diameter
used
by
the
VIV
model.
Separate
values
can
be
specified
for
each
section.
The
value
specified
is
used
for
all
nodes
in
that
section.
For
a
node
at
the
intersection
of
two
sections
the
VIV
diameter
of
the
following
section
is
used.
The
VIV
Diameter
can
be
set
to
'~',
which
is
taken
to
mean
'same
as
the
section
outer
diameter'.
Strouhal
Type,
Strouhal
Number
The
Strouhal
type
and
number
defines
the
relationship
of
flow
velocity
and
cylinder
diameter
to
the
local
vortex
shedding
frequency.
Strouhal
Type
can
be
Rough
Cylinder
or
User
Specified.
Rough
Cylinder
corresponds
to
the
SHEAR7
Strouhal
code
200.
If
User
Specified
is
chosen
then
you
must
also
specify
a
Strouhal
Number.
Lift
Coefficient
Table,
Lift
Coefficient
Factor
Lift
Coefficient
Table
specifies
which
table
is
used
from
the
common.cl
file.
Lift
Coefficient
Factor
corresponds
to
the
SHEAR7
data
item
called
Lift
Coefficient
Reduction
Factor.
Reduced
Velocity
Damping
Coefficients
Damping
Coefficients
for
still
water,
low
and
high
reduced
velocity
are
specified.
SHEAR7
structural
zones
When
OrcaFlex
generates
the
SHEAR7
data
file
it
assumes
a
one-to-one
mapping
between
OrcaFlex
sections
and
SHEAR7
structural
zones.
This
has
some
implications
for
how
you
create
your
OrcaFlex
model.
Essentially,
anywhere
on
your
line
where
you
need
SHEAR7
structural
zone
data
to
change
you
must
ensure
that
there
is
an
OrcaFlex
section
boundary.
413
VIV
Toolbox,
Frequency
Domain
Models
w
The SHEAR7 Mds file can be exported from an OrcaFlex batch script using the SHEAR7MdsFile command.
414
w
VIV
Toolbox,
Frequency
Domain
Models
The
OrcaFlex
modal
analysis
gives
vector
values,
but
SHEAR7
requires
scalar
values.
These
are
calculated
as
follows.
Let:
V
=
the
mode
shape
vector
calculated
by
OrcaFlex
at
a
given
node,
Vi
Vt
and
Va
=
V's
inline,
transverse
and
axial
component
vectors,
respectively,
VL
=
lateral
component
vector
of
V,
given
by
VL
=
Vi
+
Vt
(vector
sum),
m
=
maximum
value
of
|VL|
for
any
node,
C
=
curvature
vector
at
the
node,
for
the
mean
position
(this
is
a
vector
in
the
direction
normal
to
the
plane
of
curvature),
dC/dm
=
linear
rate
of
change
of
C
per
unit
maximum
lateral
mode
offset.
This
rate
of
change
(a
vector)
equals
the
change
in
curvature
vector
at
the
node
caused
by
applying
the
mode
offsets
V
to
all
the
nodes
and
then
dividing
by
m.
Then
the
scalar
Mode
Offset
and
Mode
Curvature
values
exported
by
OrcaFlex
to
the
Mds
file
are
Mode
Offset
=
Sign(Vt).|VL|
/
m
Mode
Curvature
=
Sign(inline
component
of
dC/dm).|dC/dm|
The
reasoning
behind
these
formulae
is
as
follows:
x SHEAR7
assumes
that
the
exported
mode
offset
is
in
the
transverse
direction.
This
assumption
applies
to
the
power-in
zone,
since
in
this
zone
SHEAR7
assumes
that
the
mode
offset
is
in
the
direction
of
VIV
excitation.
However
SHEAR7's
power-out
calculation
will
still
be
valid
providing
the
mode
offset
is
lateral
(i.e.
no
axial
component),
since
fluid
drag
and
damping
occur
in
any
lateral
direction.
x OrcaFlex
should
therefore
ideally
export
the
transverse
component
of
mode
offset
for
the
power-in
zone
and
the
lateral
offset
for
the
power-out
zone.
However
OrcaFlex
does
not
know
the
power-in
and
power-out
zones,
415
VIV
Toolbox,
Time
Domain
Models
w
flow
Figure:
Vortex
Tracking
Plane
When
the
flow
meets
the
disc
it
has
to
flow
around
the
disc
circumference
and
a
boundary
layer
is
formed.
Boundary
layer
theory
is
used
to
model
this
region,
where
viscosity
plays
a
crucial
role.
Sarpkaya
and
Shoaff
originally
used
the
Polhausen
boundary
layer
method,
but
since
then
this
method
has
been
superseded
by
simpler
and
more
accurate
methods.
OrcaFlex
uses
Thwaites'
method
(see
Young
1989)
for
both
models.
Some
of
the
fluid
flows
around
one
side
of
the
disc
and
some
around
the
other,
and
the
point
where
the
flow
splits
is
called
the
stagnation
point.
As
the
fluid
flows
around
the
disc
it
initially
remains
in
contact
with
the
disc,
but
it
typically
then
reaches
a
point
on
each
side
where
the
flow
separates.
These
are
called
the
separation
points,
and
at
these
points
vorticity
is
shed
from
the
disc.
The
boundary
layer
theory
gives
the
position
of
each
separation
point
and
the
strength
of
vorticity
shed
there
in
one
time
step.
A
new
vortex
of
this
strength
is
then
created
at
the
separation
point.
The
new
vortex
is
placed
at
the
model
2
Creation
Clearance
specified
by
the
user.
In
model
1
tangential
velocity
contribution
of
the
new
vortex
just
cancelling
out
the
existing
tangential
velocity
at
the
separation
point.
In
the
drawing
above
(and
in
the
OrcaFlex
3D
view)
the
stagnation
point
is
shown
as
a
small
triangle
and
the
separation
points
as
small
blobs,
part
way
around
the
disc
circumference.
The
vorticity
shed
from
the
two
sides
of
the
disc
is
distinguished
by
being
drawn
in
separate
colours,
to
denote
the
difference
in
the
direction
of
rotation
clockwise
for
vorticity
shed
from
the
upper
side
and
anti-clockwise
from
the
lower
side,
as
seen
in
the
drawing.
Vortex
Tracking
After
being
shed
from
the
boundary
layer,
the
vorticity
then
flows
downstream.
In
reality,
the
vorticity
is
shed
continuously
and
it
is
shed
along
the
neighbouring
parts
of
the
line
at
the
same
time,
so
as
it
flows
away
it
forms
sheets
of
vorticity,
one
on
each
side.
In
the
above
drawing
these
vortex
sheets
are
shown
as
red
and
green
lines,
since
the
drawing
shows
the
intersection
of
the
sheets
with
the
vortex
plane.
The
colour
denotes
the
sign
of
the
vorticity.
For
computation
purposes
the
model
has
to
discretise
the
vorticity
being
shed,
so
in
the
vortex
tracking
model
the
vorticity
is
represented
by
discrete
vortex
points.
The
vortex
sheet
is
therefore
represented
by
a
sequence
of
vortex
points,
each
one
of
which
represents
the
vorticity
of
a
short
length
of
vortex
sheet.
424
VIV
Toolbox,
Time
Domain
Models
w
The
Creation
Clearance
can
also
be
set
to
'~',
in
which
case
the
new
vortices
are
placed
using
the
same
algorithm
as
in
model
1
at
the
separation
point
just
cancelling
out
the
previous
tangential
velocity
at
that
point.
Coalesce
Same,
Coalesce
Opposite
These
are
non-dimensional
thresholds
that
are
only
used
for
coalescing
in
model
2.
They
control
how
close
to
each
other
two
vortices
have
to
be
before
they
are
allowed
to
be
coalesced
into
one
combined
vortex.
For
details,
see
Coalescing.
There
are
separate
threshold
values
depending
on
whether
the
two
vortices
have
equal
or
opposite
signs
of
vorticity.
So
if
one
of
the
two
vortices
is
clockwise
and
the
other
is
anti-clockwise
then
the
opposite
sign
threshold
will
be
used,
whereas
if
they
are
both
clockwise
or
both
anti-clockwise
then
the
same
sign
threshold
will
be
used.
Reducing
the
thresholds
makes
the
model
coalesce
vortices
less
often,
so
the
model
will
have
to
keep
track
of
more
vortices
and
the
simulation
will
therefore
be
slower.
Conversely,
increasing
the
thresholds
makes
the
model
coalesce
more
readily,
so
fewer
vortices
need
to
be
tracked
and
the
simulation
is
faster,
but
less
accurate.
Our
experience
so
far
is
that
the
default
values
of
0.04
for
both
thresholds
gives
a
reasonable
balance
between
performance
and
accuracy.
If
the
mass
ratio
(=
mass
of
line
/
mass
of
water
displaced)
is
low
then
the
fluid
forces
are
more
significant,
and
in
these
cases
lower
coalescing
thresholds
may
be
needed
so
that
the
fluid
behaviour
is
more
accurately
modelled.
Vortex
Decay
Constant,
Vortex
Decay
Threshold
1,
Vortex
Decay
Threshold
2
These
data
items
set
the
rate
of
vortex
strength
decay
in
both
vortex
tracking
models.
The
decay
model
is
described
below.
It
is
as
in
Sarpkaya
and
Shoaff's
report
(page
79)
and
the
default
values
for
this
data
are
as
given
in
that
report.
We
therefore
recommend
that
the
default
values
be
used
unless
you
wish
to
experiment
with
other
values,
for
example
to
calibrate
the
model.
Vortices
are
created
at
the
separation
points,
with
an
initial
vortex
strength
determined
by
the
tangential
velocity
at
the
separation
point.
The
strength
of
each
vortex
then
decays
at
a
rate
that
depends
on
how
far
the
vortex
is
away
from
the
centre
of
the
disc,
in
the
relative
flow
direction.
Let
R
be
the
disc
radius
(=
half
the
line
outer
diameter)
and
D
be
the
distance,
measured
in
the
relative
flow
direction
from
the
centre
of
the
line
to
the
vortex.
In
model
1,
at
each
variable
time
step
the
vortex
strength
is
scaled
x -DecayConstant)
x I
x -DecayConstant)
to
1.
The
effect
of
this
is
that
while
the
vortex
is
less
than
DecayThreshold1
radii
downstream
then
the
vortex
loses
DecayConstant
of
its
strength
(e.g.
DecayConstant=0.01
means
1%
decay)
per
variable
time
step.
While
the
vortex
is
between
DecayThreshold1
and
DecayThreshold2
radii
downstream
its
rate
of
decay
falls
linearly
(as
a
function
of
D)
to
zero.
And
when
the
vortex
is
more
than
DecayThreshold2
radii
downstream
then
there
is
no
decay.
Clearly
DecayConstant
must
be
in
the
range
0
to
1,
and
DecayThreshold1
must
be
less
than
DecayThreshold2.
Note
that
DecayThreshold1
and
DecayThreshold2
can
be
set
to
Infinity.
If
either
o -
DecayConstant
always,
so
the
vortices
always
lose
DecayConstant
of
their
strength
per
variable
time
step.
The
same
decay
model
is
used
in
model
2w
for
the
fact
that
model
2
uses
the
outer
time
step
instead
of
the
variable
time
step
used
in
model
1.
The
adjustment
results
in
the
same
rate
of
decay
per
unit
time.
Drag
Coefficients
The
vortex
tracking
model
includes
the
drag
effects
in
both
the
transverse
and
inline
directions,
but
not
in
the
axial
direction.
When
the
vortex
tracking
model
is
used,
OrcaFlex
therefore
suppresses
the
components
of
the
usual
Morison
drag
force
in
the
transverse
and
inline
directions,
but
includes
the
component
in
the
axial
direction.
The
drag
coefficients
for
the
normal
directions
are
therefore
not
used,
but
the
axial
drag
coefficient
i s
used.
Results
The
Vortex
Force
is
available
as
line
force
results
variables.
This
reports
the
total
lift
and
drag
force.
Note
that
this
is
the
sum
of
the
force
generated
by
the
vortex
tracking
model,
which
is
in
the
inline
and
transverse
directions
and
already
includes
the
drag
force
in
those
directions,
plus
the
standard
Morison
drag
force
in
the
axial
direction.
428
w
VIV
Toolbox,
Time
Domain
Models
The
stagnation
and
separation
points
are
available
as
line
angle
results
variables.
Transverse
VIV
Offset
is
also
available
as
a
line
position
results
variable.
9.2.3 VIV
Drawing
With
the
time-domain
VIV
models
you
can
control
how
various
aspects
of
VIV
are
drawn
on
the
3D
view,
by
setting
data
on
the
VIV
Drawing
page
on
the
line
data
form.
Arc
Length
Intervals
You
can
control
which
nodes
have
VIV
detail
drawn,
by
specifying
one
or
more
Arc
Length
Intervals.
An
arc
length
interval
specifies
a
contiguous
length
of
line
From
one
specified
arc
length
To
another.
The
VIV
details
are
drawn
for
all
nodes
whose
arc
lengths
fall
in
any
one
of
the
specified
intervals.
For
convenience
'~'
in
the
From
column
means
End
A
of
the
line,
and
'~'
in
the
To
column
means
End
B.
For
example,
to
view
the
detail
for
one
node
only,
specify
1
arc
length
interval
and
set
both
its
From
and
To
values
equal
to
the
arc
length
of
that
node.
Whereas
to
view
the
detail
for
the
whole
line
specify
1
arc
length
interval
and
set
both
its
From
and
To
values
equal
to
'~'.
What
is
Drawn
The
following
VIV
details
are
drawn
for
all
nodes
whose
arc
lengths
fall
in
any
one
of
the
specified
arc
length
intervals.
For
all
the
time
domain
VIV
models,
the
vortex
force
is
drawn
as
a
line
radiating
from
the
disc
centre
in
the
direction
of
the
vortex
force.
The
line
length
is
scaled
so
that
a
vortex
force
equal
to
the
standard
Morison
drag
force
with
Cd=1
in
a
relative
velocity
of
1m/s,
is
represented
by
a
line
1
disc
radius
long
(i.e.
just
reaching
the
edge
of
the
disc).
For
the
vortex
tracking
models
only,
and
only
if
the
maximum
number
of
vortices
logged
is
set
greater
than
zero,
then
the
following
extra
details
are
drawn.
x The
node
is
drawn
as
a
disc
(even
if
you
have
not
specified
nodes
drawn
as
discs)
and
the
stagnation
and
separation
points
are
drawn
on
the
edge
of
the
disc.
x The
positive
and
negative
vortices
are
drawn
as
circles
whose
areas
are
proportional
to
the
vortex
strengths.
The
constant
of
proportionality
can
be
controlled
by
setting
Area
per
Unit
Strength.
x The
centre-lines
of
the
positive
and
negative
vortex
sheets,
and
the
wake
line
are
drawn.
Note:
The
vortices
and
sheet
centre-lines
drawn
are
limited
by
the
specified
maximum
number
of
vortices
logged.
For
all
these
items
you
can
control
the
pen
used
for
drawing.
With
the
vortex
tracking
models,
for
example,
this
allows
you
to
suppress
(by
setting
the
pen
style
to
null)
or
downplay
(by
choosing
a
suitable
colour)
individual
aspects
of
the
detail.
429