TU DELFT. User Manual of SEAWAY. Release 4.19 ( ) J.M.J. Journée. Report 1212a February Last revision: - PDF

User Manual of SEAWAY J.M.J. Journée Release 4.19 ( ) Report 1212a February 2001 Last revision: TU DELFT Faculty of Mechanical Engineering and Marine Technology Ship Hydromechanics

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User Manual of SEAWAY J.M.J. Journée Release 4.19 ( ) Report 1212a February 2001 Last revision: TU DELFT Faculty of Mechanical Engineering and Marine Technology Ship Hydromechanics Laboratory Delft University of Technology . 2 Contents 1 Introduction Installation and Use Hull Form Data Description of Hull Form Data File Examples of Hull Form Data Files Containership Rectangular Barge Semi-submersible Hull Form Series Lewis Hull Form Creator SEAWAY-L Description of Input Data for SEAWAY-L Examples of SEAWAY-L Data Files Offsets Controller SEAWAY-H Input Data Description of Input Data File Examples of Input Data Files Input Editor SEAWAY-E Output Data of SEAWAY Description of Output Data File Non-Dimensionalising Example of an Output Data File Restrictions of Linear Strip Theory Error Return Messages Error Return Messages of SEAWAY-L Error Return Messages of Editor SEAWAY-E Error Return Messages of Main Program SEAWAY Operability-Limiting Criteria Definitions Shipping Water Propeller Racing Bow Slamming Voluntary Speed Reduction Criteria on Ship Motions List of Modifications Closure Remarks Bibliography Appendix: Body Plans of Hull Forms Series 4 1 Introduction SEAWAY is a frequency-domain ship motions PC program, based on both the ordinary and the modified strip theory, to calculate the wave-induced loads and motions with six degrees of freedom of mono-hull ships and barges in seaway. When not accounting for interaction effects between the two individual hulls, also these calculations can be carried out for twinhull ships, such as semi-submersibles or catamarans. The program is suitable for deep and shallow water. The underlying theory of the program has been given by [Journée, 2001b]. This new User Manual of program SEAWAY replaces the previous old manuals. Program SEAWAY has been validated with results of other 2-D and 3-D computer programs and experimental data. Based on these validations and on experiences, obtained during an intensive use of SEAWAY for many years by the author, industrial users, institutes and students, it is expected that the program is free of significant errors. SEAWAY requires two separate input data files: a hull form data file and a hydromechanical input data file. The offsets of the cross-sections of the fully loaded ship have to be stored in a hull form data file, which can be obtained in different ways: The hull form data file can be made manually with any ASCII word processor, simply by following the descriptions given in this manual. Also, the hull form data file can be an output file of the PIAS program of SARC, an hydrostatic program which is frequently used in the Netherlands. For preliminary calculations, a set of hull form data files with 123 non-dimensional parent hull forms has been made available for the users. Selected hull forms from this set with acceptable water plane area coefficients and block coefficients - can be scaled easily by the user to the principal dimensions of his actual ship. In a preliminary design stage of a ship, a pre-processing program SEAWAY-L can be used to create a Lewis hull form data file from the sectional breadths, draughts and areas only. A control program, named SEAWAY-H, displays the body plan of the ship, as stored in the hull form data file, on the screen. Modifications can be carried out with this control program too. A user's friendly input-editor, named SEAWAY-E, creates the hydromechanical input data file. Almost this editor takes the place of the User Manual. At any actual loading of the ship - given in the hydromechanical input data file - new offsets will be calculated by the program and a linear transformation of the hull form can be carried out by an input of three independent scale factors. Lewis or N-parameter close-fit conformal mapping methods and the potential theory of [Ursell, 1949] and [Tasai, 1959/1960/1961] in deep water can be used to calculate the twodimensional hydrodynamic coefficients. Also the 2-D diffraction pulsating source theory of [Frank, 1967] can be used. Shallow water coefficients can be determined with the Lewis conformal mapping method and the shallow potential theory given by [Keil, 1974]. Special attention has been paid to submerged cross-sections and to surge coefficients. 5 Wave loads can be calculated by either the classic relative motion approach or by a simplified diffraction method. Always, the wave potentials are defined for the actual water depth. The input data of the longitudinal mass distribution, required for calculating the vertical and horizontal shear forces and bending moments and the torsion moments, are independent of the hull form input. Jumps in these distributions are permitted. Linear and non-linear (viscous) roll damping coefficients can be determined by the empirical method of [Miller, 1974] or by the semi-empirical method of [Ikeda et. al., 1978]. Damping coefficients, as derived from model tests, can be input too. If required, the program will carry out the linearisation. Free surface anti-rolling tanks based on theory or on experimental data - are included. External roll moments, to be defined by the user, can be input. Linear springs (mooring) can be used too. At choice, the unidirectional wave spectra can be defined by the ideal Neumann spectra, modified Pierson-Moskowitz, ITTC, ISSC or Bretschneider spectra or JONSWAP spectra and by an input of (measured) wave spectra. Either the spectral centre period or the zero-crossing period can define these wave spectra. The printed output data of the statistics of the responses will follow this definition. The major magnitudes of ships, barges, semi-submersibles or catamarans, which can be calculated by the program SEAWAY, are: Some geometrical data, such as areas and centroids of cross-sections and waterlines, volume of displacement, centre of buoyancy, metacenter heights, wetted surface of underwater hull, vertical shear forces and bending moments in still water, etc. Two-dimensional and three-dimensional frequency-dependent hydrodynamic coefficients calculated with either one of the conformal mapping methods or the pulsating source method. Natural heave, roll and pitch periods. Frequency characteristics of: First order wave forces and moments. Centre of gravity motions: surge, sway, heave, roll, pitch and yaw. At specified points: absolute motions, velocities and accelerations in the three directions and vertical relative motions, including or excluding a dynamical swell-up. Mean added resistance caused by waves and ship motions, calculated with both the radiated energy method and the integrated pressure method. At specified cross-sections: vertical and lateral shear forces and bending moments and torsion moments. Energy spectra of unidirectional irregular waves defined by Neumann, Bretschneider, JONSWAP or measured wave spectra. With these wave spectra: energy distributions, significant amplitudes and average periods of all responses of which the frequency characteristics have been calculated. Probability as well as number per hour of exceeding threshold values by the relative motions, to be used for the calculation of shipping (green) water, propeller racing, etc. Probability and number per hour of slamming, according to a formulation by a vertical relative velocity and by a pressure criterion. With print-options, a choice can be made for the desired output. A lot of attention has been paid to an well-ordered output of the calculated data. The ASCII output data are given in a 6 format that can be made suitable for other programs, spreadsheets and plot routines by a usual editor, easily. Optionally, an ASCII data file, named SEAWAY.DAT, will be filled with data in a format defined by the user. The user has to inform the author about the required data in this file. Exclusive for each individual user, these formats can be fixed into program SEAWAY. Postprocessing programs, spreadsheets or plot routines can read this personal SEAWAY.DAT file, directly. Standard, the SEAWAY.DAT file will be filled with LOTUS or QUATRO-PRO data. The programs are written in FORTRAN/77, suitable for any MS-DOS Personal Computer. Easily, the main program SEAWAY can be made suitable for other computer systems, because all system-related parts have been assembled in one subroutine. The PC version of this program has been protected against an unauthorised use by a Sentinel-C software protection key. A demo this SEAWAY program, which can be used freely for one particular ship only, can be downloaded from the Internet: or a link to this homepage at Additional information on the SEAWAY-package and its theoretical background can be obtained from: Ir. J.M.J. Journée, Associate Professor, Delft University of Technology, Ship Hydromechanics Laboratory, Mekelweg 2, 2628 CD Delft, the Netherlands. Tel: Fax: Private: Dunantlaan 12, 2641 ZK Pijnacker. Tel: , GSM during vacation (urgent cases only!) A full licence of the SEAWAY-package, including all future updates, costs about 5,000 US$. Universities and other non-profit educational organisations can obtain this SEAWAY-package and all future updates free of charge. In that case however, a restriction is that the program will be used for educational purposes only; any commercial use is prohibited. The present licensees of the ship motions program SEAWAY are listed below. 000 S/Sd Author and Students of DUT, HTO and HNO 001 S IHC Gusto Engineering, Schiedam, The Netherlands 002 S Royal Dutch Navy, Ship Design Office, Den Haag, The Netherlands 003 S/Sd Royal Institute for the Dutch Navy, Den Helder, The Netherlands 004 S Allseas Engineering, Delft, The Netherlands 005 S Kupras Computer Systems, Zoetermeer, The Netherlands 006 S Hoger Technisch Onderwijs Rotterdam, Rotterdam, The Netherlands 007 S Technische Hogeschool Haarlem, Haarlem, The Netherlands 008 S/Sd Delft University of Technology, Dredging Lab., Delft, The Netherlands 009 S Wijsmuller Engineering, IJmuiden, The Netherlands 010 S Hollandse Signaalapparaten, Hengelo, The Netherlands 7 011 S/Sd Delft Shiphydromechanics Laboratory, Delft, The Netherlands 012 S Kahn Shipping, Rotterdam, The Netherlands 013 S University of Twente, Enschede, The Netherlands 014 S Norwegian Contractors, Stabekk, Norway 015 Sd Delft Hydraulics, Delft, The Netherlands 016 S Directorate General of Transport, Den Haag, The Netherlands 017 S Nevesbu, Den Haag, The Netherlands 018 S/Sd Delft University of Technology, Ship Design, Delft, The Netherlands 019 Sd TNO-CMC, Delft, The Netherlands 020 S Meteo Consult, Wageningen, The Netherlands 021 S Shipyard YVC, Capelle aan den IJssel, The Netherlands 022 S Directorate General of Transport, Den Haag, The Netherlands 023 S Bureau voor Scheepsbouw de Groot, Bloemendaal, The Netherlands 024 S Hoger Nautisch Onderwijs, Rotterdam, The Netherlands 025 S Damen Shipyards, Gorinchem, The Netherlands 026 Sd HAM, Capelle aan den IJssel, The Netherlands 027 Sd Boskalis-Westminster, Papendrecht, The Netherlands 028 Sd Ballast-Nedam, Zeist, The Netherlands 029 S/Sd SAM Consult, Delft, The Netherlands 030 S University of Ghent, Ghent, Belgium 031 S University of Izmir, Izmir, Turkey 032 S University of Trondheim, Trondheim, Norway 033 S Geomatic, Dordrecht, The Netherlands 034 S University of California, Berkeley, USA 035 S Vestfold College, Horten, Norway 036 S/Sd MTI Holland, Kinderdijk, The Netherlands 037 S Technical University of Berlin, Berlin, Germany 038 S Flanders Hydraulics, Antwerp, Belgium 039 S Bluewater Engineering, Hoofddorp, The Netherlands 040 S Pattimura University, Ambon, Indonesia 041 Sd JBR, Pijnacker, The Netherlands 042 S Shipyard de Hoop Lobith, Lobith, The Netherlands 043 S Bureau Veritas, Rotterdam, The Netherlands 044 S Marine Structure Consultants, Schiedam, The Netherlands 045 S Dockwise, Meer, Belgium 046 S Marine Treasure, Rotterdam, The Netherlands 047 S Boskalis, Papendrecht, The Netherlands 048 S Seaway Heavy Lifting, Zoetermeer, The Netherlands 049 S Alkyon, Marknesse, The Netherlands 050 S Oceanco Shipyards, Alblasserdam, The Netherlands 051 S Cochin University of Science and Technology, Cochin, India 052 S University of Belgrade, Belgrade, Yugoslavia 053 S University of Buenos Aires, Buenos Aires, Argentina 054 S Isfahan University of Technology, Isfahan, Iran 055 S Baar Maritime Cons. Int., Burgh-Haamstede, The Netherlands 056 S Sea of Solutions, Vlaardingen, The Netherlands 057 S University of Newcastle, United Kingdom 8 058 S University of Rijeka, Croatia. 059 S Polytechnics of Dubrovnik, Croatia. 060 S Yildiz Technical University, Istanbul, Turkey. Legend: S = Licensee of the parent program SEAWAY. Sd = Licensee of a derivative version of program SEAWAY, for instance a hydromechanic pre-processing program for time domain calculations. Apart of these licensees, the SEAWAY programs are and have been used temporarily by and for a large number of other (mostly small) companies. 9 10 2 Installation and Use To install the programs of the SEAWAY package in the computer system, it is advised to create a new directory - for instance C:\SEAWAY - for this. Then, copy the SEAWAY.ZIP file to this new directory and open it there. This file contains: README.DOC, a Word 97 file with brief information about the SEAWAY package, installing it and its modifications with respect to earlier releases. MANUAL.DOC and APPENDIX OF MANUAL.DOC, this user manual. SEAWAY-L.EXE, the Lewis hull form creator. SEAWAY-H.EXE, the hull form controller. SEAWAY-E.EXE, the input editor of SEAWAY SEAWAY.EXE, the ship motions program SEAWAY LEWIS.INP, an input data file for SEAWAY-L. LEWIS.HUL, an output data file of SEAWAY-L, which is also a hull form input data file for SEAWAY. SHIP.HUL, a hull form input data file for SEAWAY. SHIP.INP, an input data file for SEAWAY. SHIP.OUT, an output data file of SEAWAY. SEAWAY.TDP, an unformatted file, which contains the potential coefficients being used or created during the execution of SEAWAY. SEAWAY.DAT, a personal ASCII-file with calculated data of SEAWAY - in an order defined by the user - suitable for post-processing, plot routines, etc. HULLFORMSERIES.ZIP, which contains a large number of hull form data files. It is advised not to run any of these programs in the directory C:\SEAWAY itself. It is very convenient to run the SEAWAY programs in the working directory by using batch files, created with a normal editor, for instance: SWL.BAT, with: CALL C:\SEAWAY\SEAWAY-L SWH.BAT, with: CALL C:\SEAWAY\SEAWAY-H SWE.BAT, with: CALL C:\SEAWAY\SEAWAY-E SW.BAT, with: CALL C:\SEAWAY\SEAWAY The main program SEAWAY is protected against an unauthorised use by a Sentinel-C security key. The program itself searches for the LPT-port, connected to this key. The Sentinel-C key is manufactured by Rainbow Technologies, A Mitchell South, Irvine, CA USA and distributed in the Netherlands by: IntroCom, Welbergerweg 30, 7556 PE Hengelo, the Netherlands, tel.: , fax.: , The instructions below, for using the Sentinel-C key, are given by IntroCom: The products do not contain serviceable parts. Disassembling the key, expires the guarantee. Static electricity can damage electronic parts. Before touching Sentinel products, one has to discharge oneself by touching a metal desk or doorframe. When static discharge has been observed, an anti-static spray or carpets can remedy this. 11 Be sure about the use of the parallel port of the computer. Take care that the proper side of the Sentinel-C key (labelled with: COMPUTER) will be connected in the right direction to the parallel port of the computer. Never connect the key to the serial port by turning it around. In that case it is highly probable that the Sentinel-C key will be damaged. The computer and the printer have to be properly connected to the electric power supply. An incorrect connection or a disconnection to the mass can cause potential differences between the connected apparatus, which can damage the computer hardware as well as the Sentinel product. When connecting the Sentinel-C key, the power supply of the computer and the printer must have been switched off. Avoid physical contact with the connector-pins of the Sentinel-C key. The author does not accept any financial responsibility for damage of (and caused by) this Sentinel-C security key. To run the MS-DOS Personal Computer versions of SEAWAY-L, SEAWAY-E and SEAWAY, the computer system must use a CONFIG.SYS file that contains the following statements: BUFFERS=nn FILES=nn DEVICE=C:\WINDOWS\COMMAND\ANSI.SYS in which nn is generally 40 or more and C:\WINDOWS\COMMAND is the name of the directory in which the ANSI.SYS file is placed. This CONFIG.SYS file must be visible in the Explorer. If not so, set: View Folder Options Tab View Hidden Files Show all Files. Messages with error 3012 are caused by too low a nn-value in the statement Files=nn in the CONFIG.SYS file. Note for Windows2000 and WindowsNT: The ANSI.SYS file in directory C:\WINNT\SYSTEM32 has to be called in the CONFIG.NT file in this directory. Additionally, a new Sentinel System Driver 5.39 should be downloaded from: The huge downloaded file RainbowSSD539.exe (3.7 Mb) installs this driver easily. An LPT port must be available. After these modifications: Restart your computer!!! A typical error after calling SEAWAY is reflected on the screen by: [2J[7m[02;04H P R O G R A M S E A W A Y [0m [1m[02;67HRelease 4.19[0m[03;67H( ) [1m[20;53HUse licensed only to: [0m[21;53HDelft University of Techn.[22 ;53HShiphydromech. Laboratory [23;53H [1m[24;53H Journée. [0m 011[01;01H [04;04HDefault drive and directory will be used for data files. [1m[05;04HPre ss ENTER to continue.[0m A missing ANSI.SYS statement in the CONFIG.SYS file causes this error. After calling for SEAWAY, the display asks for three file names, to be entered by the keyboard: the name of the hull form data file; this file contains all information about the geometry of the underwater part of the hull of the fully laden ship 12 the name of the input data file; this file contains information about the actual loading of the ship, the forward ship speeds, the wave or sea conditions and the user's requirements on the output data of the program the name of the output data file, the file to which the calculated data have to be written. It is advised to use file names that contain the (abbreviated) name of the ship, for instance: Hull form data file: SHIP.HUL Input data file: SHIP.INP or SHIP.IN1, etc. Output data file: SHIP.OUT or SHIP.UT1, etc. in which SHIP is the name of the ship with a maximum of eight characters and HUL, INP, IN1, OUT and UT1 are the extension names of the data files with a maximum of three characters. Note that any existing file in the same directory with the same output file name will be overwritten. The maximum number of characters in the ASCII output data file is 129. A successful normal end of a program execution will be accompanied by the message: END OF PROGRAM EXECUTION, see Figure 1. P R O G R A M S E A W A Y Release 4.19 ( ) Date: Time: 23:17 Hull form data file : SHIP.HUL Input data file Output data file : SHIP.INP : SHIP.OUT Execution terminated: END OF PROGRAM EXECUTION Use licensed only to: Delft University of Techn. Shiphydromech. Laboratory. Journée 011 Figure 1 Screen Dump of Execution of Program SEAWAY Also, it is possible to carry out up to 25 subsequent calculations automatically. After calling SEAWAY, the program searches on the default drive for a file named SEAWAY.FIL. If this file is not present, the file names have to be entered by the keyboard as described before. If the file SEAWAY.FIL is present, it should be formatted as given in the example below: Line 00: 5 Line 01: SHIP.HUL SHIP.INP SHIP.OUT Line 02: SHIP.HUL SHIP.IN1 SHIP.UT1 13 Line 03: SHIP.HUL SHIP.IN2 SHIP.UT2 Line 04: SHIP.HUL SHIP.IN3 SHIP.UT3 Line 05: VESSEL.HUL VESSEL.INP VESSEL.OUT Each line with three file names implies a calculation with SEAWAY. The three file names on each line have to be separated by on
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