Module with subroutines for hydrodynamic load calculations. More...

Data Types
interface	updateatconvergence
	Updates hydrodynamics quantities after a time step is converged. More...

Functions/Subroutines
subroutine, public	initfluidmotions (time, env, triads, sups, ierr)
	Initializes the fluid particle motion cache for all triads in water. More...

logical function, public	getcalculatedfluidmotion (triad, elev, fvel, facc)
	Returns the latest calculated fluid particle motion at a triad. More...

real(dp) function	watersurfacenormal (normal, gravity, Tlg)
	Returns the water surface normal vector in local coordinate system. More...

subroutine	evaluatewave (waveFunc, waveTheory, Twave, g, depth, Xg, time, scale, wave, dynp, stat)
	Evaluates the wave profile, velocity and acceleration at a point. More...

subroutine	evaluatecurrent (currFunc, dirFunc, Tsea, Xg, time, scale, cvel, stat)
	Evaluates the sea current velocity at the given point and time. More...

subroutine	evaluatesea (env, g, time, istep, inod, x, waterMotion, stat)
	Evaluates the sea state at the given point and time. More...

real(dp) function, public	getwaveelevation (env, Xg, time, stat)
	Returns the wave height at the given point and time. More...

subroutine, public	getseastate (env, time, Xg, sea, stat)
	Evaluates the sea state at the given point and time. More...

subroutine, public	initiatehydrodynbodies (sups, elms, env, restart, ierr)
	Initiates all hydrodynamic bodies in the model. More...

subroutine	updatehydrodynbody (hydyn, triads, supTr, sLev, gravity, g, wb, ierr)
	Updates the hydrodynamic body quantities. More...

subroutine	getbeamlength (triad1, triad2, normal, h1, h2, Tlg, weight, Lb, C0b, iEnd)
	Computes the buoyancy length and center for a two-noded beam. More...

subroutine, public	getmorisonforces (beamId, triads, supTr, urd, urdd, Q, eMa, eCd, hydyn, env, time, istep, iter, ierr)
	Calculates Morison force contributions for a two-noded beam element. More...

subroutine, public	getbuoyancyforces (supId, triads, supTr, hydyn, env, g, time, iter, Q, ierr)
	Calculates buoyancy force resultant for a superelement or beam. More...

subroutine, public	getdragforces (Fd, sup, hydyn, env, time, dt, ierr)
	Calculates drag (and slam) forces for a (partly) submerged body. More...

subroutine	updatehydrodynamicsatconvergence (hydyn, supTr, ierr)
	Updates the HydroDynType object after convergence has been achieved. More...

subroutine, public	closehydrodyn (lpu)
	Closes the hydrodynamics module and report some timings. More...

subroutine, public	diffractioncalc (env, waveFunc, ierr)
	Performs diffraction analysis using Nemoh. More...

subroutine, public	getdiffractionforces (Q, sup, hydyn, env, time, ierr)
	Extracts the diffraction force at a given time for a superelement. More...

Variables
real(dp), dimension(:,:), allocatable, save	watermotion
	Fluid particle motions. More...

integer, dimension(:), allocatable, save	calcwmotion
	Have calculated motions? More...

real(dp), parameter	eps_p = 1.0e-16_dp
	Zero tolerance. More...

Detailed Description

Module with subroutines for hydrodynamic load calculations.

This module deals with the calculation of hydrodynamic loads (buoyancy, inertia loads due to added mass, damping forces due to drag, etc.) for beam- and superelements. It also manages the evaluation of the fluid particle motions, which are needed in the hydrodynamic load calculations.

Some of the subroutines and functions of this module are not documented. You have to configure doxygen with the option ENABLED_SECTIONS = FULL_DOC to extract detailed documentation of those subroutines and functions.

Function/Subroutine Documentation

◆ closehydrodyn()

subroutine, public hydrodynamicsmodule::closehydrodyn ( integer, intent(in) lpu )

Closes the hydrodynamics module and report some timings.

Parameters

[in] lpu File unit number for res-file output

Author: Knut Morten Okstad

Date: 9 Jan 2012

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◆ diffractioncalc()

subroutine, public hydrodynamicsmodule::diffractioncalc	(	type(environmenttype), intent(in)	env,
		type(functiontype), intent(in)	waveFunc,
		integer, intent(out)	ierr
	)

Performs diffraction analysis using Nemoh.

Parameters

[in]	env	Environmental data
[in]	waveFunc	The wave function to use in the diffraction analysis
[out]	ierr	Error flag

Author: Knut Morten Okstad

Date: 06 Mar 2015

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◆ evaluatecurrent()

subroutine hydrodynamicsmodule::evaluatecurrent	(	type(functiontype), pointer	currFunc,
		type(functiontype), pointer	dirFunc,
		real(dp), dimension(3,4), intent(in)	Tsea,
		real(dp), dimension(3), intent(in)	Xg,
		real(dp), intent(in)	time,
		real(dp), intent(in)	scale,
		real(dp), dimension(3), intent(out)	cvel,
		integer, intent(inout)	stat
	)

Evaluates the sea current velocity at the given point and time.

Parameters

[in]	currFunc	The sea current velocity function to evaluate for
[in]	dirFunc	The sea current direction function
[in]	Tsea	Coordinate system for the sea current
[in]	Xg	Global coordinates of the evaluation point
[in]	time	Current simulation time
[in]	scale	Scaling factor
[out]	cvel	Sea current velocity in global axis directions
	stat	Status flag (negative on error exit). 1 = The point is below or on the water surface. 2 = The point is above the water surface (no kinematics).

Author: Knut Morten Okstad

Date: 27 Oct 2009

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◆ evaluatesea()

subroutine hydrodynamicsmodule::evaluatesea	(	type(environmenttype), intent(in)	env,
		real(dp), intent(in)	g,
		real(dp), intent(in)	time,
		integer, intent(in)	istep,
		integer, intent(in)	inod,
		real(dp), dimension(3), intent(in)	x,
		real(dp), dimension(:), intent(out)	waterMotion,
		integer, intent(inout)	stat
	)

private

Evaluates the sea state at the given point and time.

Parameters

[in]	env	Environmental data
[in]	g	Gravitation constant
[in]	time	Current simulation time
[in]	istep	Time increment counter
[in]	inod	Nodal number of sea kinematics evaluation point
[in]	x	Global coordinates of sea kinematics evaluation point
[out]	waterMotion	Sea kinematics state at current point. waterMotion(1:3) = Projection of point x onto the current sea surface. waterMotion(4:6) = Particle velocity at point x in global coordinates. waterMotion(7:9) = Particle acceleration at point x in global coordinates.
	stat	Status flag (negative on error exit)

Author: Knut Morten Okstad

Date: 9 Sep 2011

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◆ evaluatewave()

subroutine hydrodynamicsmodule::evaluatewave	(	type(functiontype), intent(in)	waveFunc,
		integer, intent(in)	waveTheory,
		real(dp), dimension(3,4), intent(in)	Twave,
		real(dp), intent(in)	g,
		real(dp), intent(in)	depth,
		real(dp), dimension(3), intent(in)	Xg,
		real(dp), intent(in)	time,
		real(dp), intent(in)	scale,
		real(dp), dimension(3,3), intent(out)	wave,
		real(dp), intent(out), optional	dynp,
		integer, intent(inout)	stat
	)

Evaluates the wave profile, velocity and acceleration at a point.

Parameters

[in]	waveFunc	The wave function to evaluate for
[in]	waveTheory	Flag indicating which wave theory to use
[in]	Twave	Wave coordinate system (axis directions and origin)
[in]	g	Gravitation constant
[in]	depth	Water depth (zero means infinite)
[in]	Xg	Global coordinates of the evaluation point
[in]	time	Current simulation time
[in]	scale	Scaling factor
[out]	wave	Wave kinematics quantities at the evaluation point. wave(:,1) = Projection of point coordinates onto the current sea surface. wave(:,2) = Water particle velocity. wave(:,3) = Water particle acceleration.
[out]	dynp	Dynamic pressure (optional)
	stat	Status flag (negative on error exit). 1 = The point is below or on the water surface. 2 = The point is above the water surface (no kinematics).

The calculated wave kinematics quantities are referring to the global coordinate system, unless when stat is negative on entry. In the latter case the wave coordinate system is used.

Author: Knut Morten Okstad

Date: 25 Mar 2009

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◆ getbeamlength()

subroutine hydrodynamicsmodule::getbeamlength	(	type(triadtype), intent(in)	triad1,
		type(triadtype), intent(in)	triad2,
		real(dp), dimension(3), intent(in)	normal,
		real(dp), intent(in)	h1,
		real(dp), intent(in)	h2,
		real(dp), dimension(3,4), intent(in), optional	Tlg,
		real(dp), dimension(2), intent(out), optional	weight,
		real(dp), intent(out)	Lb,
		real(dp), dimension(3), intent(out), optional	C0b,
		integer, intent(out), optional	iEnd
	)

Computes the buoyancy length and center for a two-noded beam.

Parameters

[in]	triad1	Triad art first end of the beam
[in]	triad2	Triad art second end of the beam
[in]	normal	Normal vector of the water surface in global coordinates
[in]	h1	Height of the water surface along the normal vector for end 1
[in]	h2	Height of the water surface along the normal vector for end 2
[in]	Tlg	Local to global transformation matrix for the beam element
[out]	weight	Buoyancy weight factors
[out]	Lb	Length of the submerged part of the beam (buoyancy length)
[out]	C0b	Centre of buoyancy
[out]	iEnd	Which end is below the water surface, if partly submerged. iEnd < 0 : This element is completely submerged. iEnd = 0 : This element is completely in the air.

Author: Knut Morten Okstad

Date: 29 Sep 2008

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◆ getbuoyancyforces()

subroutine, public hydrodynamicsmodule::getbuoyancyforces	(	character(len=*), intent(in)	supId,
		type(triadptrtype), dimension(:), intent(in)	triads,
		real(dp), dimension(:,:), intent(in)	supTr,
		type(hydrodyntype), intent(inout)	hydyn,
		type(environmenttype), intent(inout)	env,
		real(dp), intent(out)	g,
		real(dp), intent(in)	time,
		integer, intent(in)	iter,
		real(dp), dimension(:), intent(inout), optional	Q,
		integer, intent(out)	ierr
	)

Calculates buoyancy force resultant for a superelement or beam.

Parameters

[in]	supId	ID string of the superelement used in feedback messages
[in]	triads	Triads connected to the superelement
[in]	supTr	Position matrix for the superelement
	hydyn	Data for hydrodynamic force calculation
	env	Environmental data
[out]	g	Gravitation constant
[in]	time	Current simulation time
[in]	iter	Iteration counter
	Q	External nodal forces for beams, including buoyancy on output
[out]	ierr	Error flag

The contributions to the external load vector form the hydrostatic buoyancy may optionally be calculated, but only for two-noded elements.

Author: Knut Morten Okstad

Date: 2 Jul 2008

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◆ getcalculatedfluidmotion()

logical function, public hydrodynamicsmodule::getcalculatedfluidmotion	(	type(triadtype), intent(in)	triad,
		real(dp), intent(out), optional	elev,
		real(dp), dimension(3), intent(out), optional	fvel,
		real(dp), dimension(3), intent(out), optional	facc
	)

Returns the latest calculated fluid particle motion at a triad.

Parameters

[in]	triad	The triad object to get particle motion data for
[out]	elev	Sea surface elevation at the triad location
[out]	fvel	Water particle velocity at the triad location
[out]	facc	Water particle acceleration at the triad location

Author: Knut Morten Okstad

Date: 29 Nov 2010

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◆ getdiffractionforces()

subroutine, public hydrodynamicsmodule::getdiffractionforces	(	real(dp), dimension(:), intent(inout)	Q,
		type(supeltype), intent(in)	sup,
		type(hydrodyntype), intent(inout)	hydyn,
		type(environmenttype), intent(in)	env,
		real(dp), intent(in)	time,
		integer, intent(inout)	ierr
	)

Extracts the diffraction force at a given time for a superelement.

Parameters

	Q	External forces at centre of gravity including diffraction effects
[in]	sup	Superelement to extract diffraction forces
	hydyn	Data for hydrodynamic force calculation
[in]	env	Environmental data
[in]	time	Current simulation time
	ierr	Error flag

Author: Knut Morten Okstad

Date: 16 Mar 2015

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◆ getdragforces()

subroutine, public hydrodynamicsmodule::getdragforces	(	real(dp), dimension(:), intent(inout)	Fd,
		type(supeltype), intent(in)	sup,
		type(hydrodyntype), intent(inout)	hydyn,
		type(environmenttype), intent(in)	env,
		real(dp), intent(in)	time,
		real(dp), intent(in)	dt,
		integer, intent(inout)	ierr
	)

Calculates drag (and slam) forces for a (partly) submerged body.

Parameters

	Fd	Damping forces at the centre of gravity due to drag and slam
[in]	sup	Superelement to calculate damping forces for
	hydyn	Data for hydrodynamic force calculation
[in]	env	Environmental data
[in]	time	Current simulation time
[in]	dt	Time increment size
	ierr	Error flag

Author: Knut Morten Okstad

Date: 8 Jul 2008

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◆ getmorisonforces()

subroutine, public hydrodynamicsmodule::getmorisonforces	(	character(len=*), intent(in)	beamId,
		type(triadptrtype), dimension(:), intent(in)	triads,
		real(dp), dimension(:,:), intent(in)	supTr,
		real(dp), dimension(:), intent(in)	urd,
		real(dp), dimension(:), intent(in)	urdd,
		real(dp), dimension(:), intent(inout)	Q,
		real(dp), dimension(:,:), intent(out)	eMa,
		real(dp), dimension(:,:), intent(out)	eCd,
		type(hydrodyntype), intent(inout)	hydyn,
		type(environmenttype), intent(inout)	env,
		real(dp), intent(in)	time,
		integer, intent(in)	istep,
		integer, intent(in)	iter,
		integer, intent(out)	ierr
	)

Calculates Morison force contributions for a two-noded beam element.

Parameters

[in]	beamId	ID string of the beam element used in feedback messages
[in]	triads	Triads connected to the beam elements
[in]	supTr	Position matrix for the beam element
[in]	urd	Nodal velocities in local coordinates
[in]	urdd	Nodal accelerations in local coordinates
	Q	External nodal forces with added mass, drag and buoyancy terms
[out]	eMa	Element added mass matrix
[out]	eCd	Element damping matrix due to drag
	hydyn	Data for hydrodynamic force calculation
	env	Environmental data
[in]	time	Current simulation time
[in]	istep	Time increment counter
[in]	iter	Iteration counter
[out]	ierr	Error flag

The inertia- and damping forces due to added mass and drag are calculated for a two-noded element assuming a circular cross section. The corresponding left-hand side matrix contributions are also calculated. Buoyancy forces are also calculated, but no load-correction stiffness.

Author: Knut Morten Okstad

Date: 27 Mar 2009

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◆ getseastate()

subroutine, public hydrodynamicsmodule::getseastate	(	type(environmenttype), intent(in)	env,
		real(dp), intent(in)	time,
		real(dp), dimension(3), intent(in)	Xg,
		real(dp), dimension(:), intent(out)	sea,
		integer, intent(out)	stat
	)

Evaluates the sea state at the given point and time.

Parameters

[in]	env	Environmental data
[in]	time	Current simulation time
[in]	Xg	Global coordinates of sea kinematics evaluation point
[out]	sea	Sea kinematics state at current point. sea(1:3) = Particle velocity at point Xg in global coordinates. sea(4:6) = Particle acceleration at point Xg in global coordinates. sea(7) = Dynamic pressure at point Xg in global coordinates.
[out]	stat	Status flag (negative on error exit)

Author: Knut Morten Okstad

Date: 29 Jun 2015

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◆ getwaveelevation()

real(dp) function, public hydrodynamicsmodule::getwaveelevation	(	type(environmenttype), intent(in)	env,
		real(dp), dimension(3), intent(in)	Xg,
		real(dp), intent(in)	time,
		integer, intent(out)	stat
	)

Returns the wave height at the given point and time.

Parameters

[in]	env	Environmental data
[in]	Xg	Global coordinates of sea kinematics evaluation point
[in]	time	Current simulation time
[out]	stat	Status flag (negative on error exit)

Author: Knut Morten Okstad

Date: 8 Feb 2013

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◆ initfluidmotions()

subroutine, public hydrodynamicsmodule::initfluidmotions	(	real(dp), intent(in)	time,
		type(environmenttype), intent(in)	env,
		type(triadtype), dimension(:), intent(in)	triads,
		type(supeltype), dimension(:), intent(in)	sups,
		integer, intent(out)	ierr
	)

Initializes the fluid particle motion cache for all triads in water.

Parameters

[in]	time	Current simulation time
[in]	env	Environmental data
[in]	triads	All triads in the model
[in]	sups	All superelements in the model
[out]	ierr	Error flag

Author: Knut Morten Okstad

Date: 30 Jun 2010

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◆ initiatehydrodynbodies()

subroutine, public hydrodynamicsmodule::initiatehydrodynbodies	(	type(supeltype), dimension(:), intent(inout)	sups,
		type(userdefeltype), dimension(:), intent(inout)	elms,
		type(environmenttype), intent(in)	env,
		logical, intent(in)	restart,
		integer, intent(out)	ierr
	)

Initiates all hydrodynamic bodies in the model.

Parameters

	sups	All superelements in the model
	elms	All user-defined elements in the model
[in]	env	Environmental data
[in]	restart	If .true., this is a restart simulation
[out]	ierr	Error flag

Author: Knut Morten Okstad

Date: 12 Aug 2008

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◆ updatehydrodynamicsatconvergence()

subroutine hydrodynamicsmodule::updatehydrodynamicsatconvergence	(	type(hydrodyntype), intent(inout)	hydyn,
		real(dp), dimension(3,4), intent(in)	supTr,
		integer, intent(out)	ierr
	)

private

Updates the HydroDynType object after convergence has been achieved.

Parameters

	hydyn	Data for hydrodynamic force calculation
[in]	supTr	Position matrix for the superelement to update for
[out]	ierr	Error flag

Author: Knut Morten Okstad

Date: 11 Aug 2008

◆ updatehydrodynbody()

subroutine hydrodynamicsmodule::updatehydrodynbody	(	type(hydrodyntype), intent(inout)	hydyn,
		type(triadptrtype), dimension(:), intent(in)	triads,
		real(dp), dimension(:,:), intent(in)	supTr,
		real(dp), intent(in)	sLev,
		real(dp), dimension(3), intent(in)	gravity,
		real(dp), intent(out), optional	g,
		real(dp), dimension(2), intent(out), optional	wb,
		integer, intent(out)	ierr
	)

Updates the hydrodynamic body quantities.

Parameters

	hydyn	Data for hydrodynamic force calculation
[in]	triads	Triads on the superelement to update hydrodynamics for
[in]	supTr	Superelement position matrix
[in]	sLev	Current sea level
[in]	gravity	Global gravitation vector
[out]	g	Gravitation constant
[out]	wb	Buoyancy weight factors for two-noded beams
[out]	ierr	Error flag

Author: Knut Morten Okstad

Date: 12 Aug 2008

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◆ watersurfacenormal()

real(dp) function hydrodynamicsmodule::watersurfacenormal	(	real(dp), dimension(3), intent(out)	normal,
		real(dp), dimension(3), intent(in)	gravity,
		real(dp), dimension(:,:), intent(in), optional	Tlg
	)

Returns the water surface normal vector in local coordinate system.

Parameters

[out]	normal	Unit normal vector for the water surface
[in]	gravity	Global gravitation vector
[in]	Tlg	Local to global transformation matrix (optional)

Returns: The gravitation constant

Author: Knut Morten Okstad

Date: 27 Mar 2009

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Variable Documentation

◆ calcwmotion

integer, dimension(:), allocatable, save hydrodynamicsmodule::calcwmotion

private

Have calculated motions?

◆ eps_p

real(dp), parameter hydrodynamicsmodule::eps_p = 1.0e-16_dp

private

Zero tolerance.

◆ watermotion

real(dp), dimension(:,:), allocatable, save hydrodynamicsmodule::watermotion

private

Fluid particle motions.

Data Types

Functions/Subroutines

Variables

Detailed Description

Function/Subroutine Documentation

◆ closehydrodyn()

◆ diffractioncalc()

◆ evaluatecurrent()

◆ evaluatesea()

◆ evaluatewave()

◆ getbeamlength()

◆ getbuoyancyforces()

◆ getcalculatedfluidmotion()

◆ getdiffractionforces()

◆ getdragforces()

◆ getmorisonforces()

◆ getseastate()

◆ getwaveelevation()

◆ initfluidmotions()

◆ initiatehydrodynbodies()

◆ updatehydrodynamicsatconvergence()

◆ updatehydrodynbody()

◆ watersurfacenormal()

Variable Documentation

◆ calcwmotion

◆ eps_p

◆ watermotion