Aalborg Universitet

Assessment of Available Numerical Tools for Dynamic Mooring Analysis

WP1.2 & M1
Thomsen, Jonas Bjerg; Eskilsson, Claes; Ferri, Francesco

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2017

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Thomsen, J. B., Eskilsson, C., & Ferri, F. (2017). Assessment of Available Numerical Tools for Dynamic Mooring
Analysis: WP1.2 & M1. Department of Civil Engineering, Aalborg University. DCE Technical reports No. 220

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 Assessment of Available Numerical Tools
for Dynamic Mooring Analysis
WP1.2 & M1

Jonas Bjerg Thomsen

Claes Eskilsson
Francesco Ferri

ISSN 1901-726X
DCE Technical Report No. 220
 Aalborg University
Department of Civil Engineering
Wave Energy Research Group

DCE Technical Report No. 220

Assessment of Available Numerical Tools for Dynamic

Mooring Analysis
WP1.2 & M1

by

Jonas Bjerg Thomsen

Claes Eskilsson
Francesco Ferri

January 2017

© Aalborg University
Scientific Publications at the Department of Civil Engineering

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Published 2017 by
Aalborg University
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Printed in Aalborg at Aalborg University

ISSN 1901-726X
DCE Technical Report No. 220
Preface

This report covers a preliminary assessment of available numerical tools to be used in

upcoming full dynamic analysis of the mooring systems assessed in the project Mooring
Solutions for Large Wave Energy Converters. The assessments tends to cover potential
candidate software and subsequently cover their capabilities. The result of the assess-
ments should make it possible to choose relevant software that will be used throughout
the project and also in general use for mooring design of WECs.

The report is a part of Work Package 1 : "Task 1.2: Assessment of Available Numerical
Tools for Dynamic Mooring Analysis" and "Milestone 1: Acquisition of Selected Numer-
ical Tools" of the project and was produced by Aalborg University in cooperation with
Chalmers University of Technology.

Aalborg University, March 9, 2017

v
Contents

Preface v

Contents 1

1 Introduction 3
1.1 Objectives of Present Mooring Analysis . . . . . . . . . . . . . . . . . . . . 3
1.2 Area of Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Candidate Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 Candidate Software 7
2.1 Aqwa . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Flexcom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Gmoor32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 MooDy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.5 MOSES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.6 OrcaFlex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.7 ProteusDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.8 SeaFEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.9 Sesam DeepC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.10 WHOI Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3 Comparison of Candidate Software 17

Bibliography 21

1
1 | Introduction

Many dierent software tools for mooring analysis exists today, each with a set of
specications and a eld of application. Most of the commercial software are aimed
primarily at the oshore Oil & Gas and naval industry, with the capabilities of the software
originally targeted at these. Wave Energy Converters (WECs) are employed at high-
energy locations and are expected to experience a response dierent from that of e.g. Oil
& Gas platforms. The applicability of the existing software for the wave energy sector is
therefore not certain at present, as the capability to describe the conditions relevant for
WEC mooring systems is decisive. This forms the basis of this assessment, which tends
to clarify the specication of a range of relevant software packages, thereby providing a
basis for choosing a suited tool for dynamic mooring analysis. The assessment tends not
to compare analysis results but merely present the relevant software specications.

1.1 Objectives of Present Mooring Analysis

In order to chose appropriate software, the software specications needs to be evaluated

according to the objectives of the present analysis. In the current research the mooring
systems for four large, oating WECs will be designed and evaluated. These devices are
all characterised by having a mooring system which is not an active part of the wave
energy absorption and all are planned for deployment in shallow water depths.

The oshore Oil & Gas and naval sector has a tradition of designing the mooring system
through quasi-static analysis, justied by the low responsiveness of the large masses and
corresponding low velocities. In operational conditions, this might also be sucient for
WECs.

The design standards as e.g. API-RP-2SK [API, 2005] , ISO [ISO, 2013], IEC [IEC,
2014] and DNV [DNV-GL, 2010] states that the mooring system must be evaluated in an
ultimate limit state (ULS), in which extreme wave, wind and current events are present.
Here, a more dynamic behaviour must be expected for the WECs and the design standards
states that a dynamic analysis for the nal design must be performed.

Based on this and the fact that the ULS in general is determining for the overall cost
of the WECs Zanuttigh et al. [2012], the main objective for the present study will be the
dynamics of mooring lines in extreme conditions.

1.2 Area of Assessment

Based on the objective of the study, a range of parameters seems relevant to investigate
and consider when choosing software package.

Time or frequency domain: Existing software diers between analysing in the fre-
quency or time domain. Use of these dierent methods implies dierent advantages, as

3
4 1. Introduction

analysis in the frequency domain often leads to faster calculations while analysis in the
time domain in most cases are more time consuming. However, in the frequency domain
the non-linearities of the system needs to be linearised, which is not necessary in the time
domain. In a mooring system, signicant non-linearities are present, and this needs to be
considered.

De-coupled or coupled analysis: For some software the mooring analysis is performed
as a de-coupled analysis, meaning that a separate analysis of the oating body motion is
carried out initially and with the mooring system simulated as an added stiness. The
motions are subsequently applied to the connection points of the mooring lines and the
dynamic cable analysis is carried out.

In a coupled analysis all interactions between mooring lines and the oating body are
modelled directly and simultaneously. A coupled analysis is therefore also considered to
be more sophisticated.

Floating body analysis: Some software packages are capable of modelling the oat-
ing body and calculate both motions and loads from environmental exposures. Many
software packages need hydrodynamic coecients as input in order to do this, while oth-
ers has the option of performing a hydrodynamic analysis itself. The methods used are
relevant to consider and compare.

Compatibility with other software: The possibility of direct implementation of input

etc. from other software can highly benet the analysis process. Especially in the case of
de-coupled analysis, compatibility with other software is useful. However, in many cases
a self-developed script can be used.

Implemented wave theories: Dierent wave theories can be applied when modelling
waves. Le Méhauté [1969] described the area of application for dierent wave theories
dependent on wave characteristics, cf. Fig. 1.1. Design standards as e.g. DNV-RP-C205
denes the same areas of application, which must be used when determining what theories
that should be implemented in the software packages.
 1.2. Area of Assessment 5

Figure 1.1. Application area for dierent wave theories dependent on wave height H , wave
period T and water depth h, Le Méhauté [1969]

For the present study, where the devices are deployed in shallow to intermediate water
depths, advanced theories as the stream function theory needs to be applied, cf. Fig. 1.1.

Also, implementation of relevant wave spectra can be benecial.

Line theory: Dierent methods for modelling of mooring lines have been suggested,
covering e.g. the Finite Element, Finite Dierence or the Lumped Mass methods. Addi-
tionally, implementation of a small strain approximation, which is often seen in relevant
software packages, can inuence the analysis results, as this approximation is ecient in
analysis of sti materials such as chains or steel wire rope, but might not be suitable in
analysis of materials like synthetic ropes.

Wind and current theory: The design standards have dierent demands to wind
and current, including both how to model them and how to calculate induced loads. The
specications of the software need to correspond to the requirements from the standards.

Interaction with seabed: The methods for modelling the seabed can be dierent for
each software, and the modelling of contact between lines and seabed therefore vary. Im-
plementation of e.g. soil models might not be the same and therefore also result in dierent
levels of detail.

Implementation of standards: Some software are developed or distributed by com-

panies that produce the design standards, hence the software have them implemented.
Others have also chosen to implement the standards and e.g. provide code check. This
benets the program, but might not necessarily be a demand. It is highly relevant to
investigate the certication of the software packages to ensure that the nalized design
are capable of being certied.

The parameters described above will be investigated and described for each relevant soft-
ware and provide an overall outline of each software. This will then form a basis for choice
6 1. Introduction

of model to use in assessment of mooring design for WECs.

1.3 Candidate Software

A large amount of mooring software exists, especially aimed at ports together with the
naval, Oil & Gas industry. Many of these software are for quasi-static analysis, and
therefore not considered in this analysis. Through an initial study the following list of
candidates were found relevant for further investigation:

1. Aqwa by ANSYS Inc. [ANSYS Inc., 2013]

2. Flexcom by Wood Group Kenny [MCS Kenny, 2014]
3. GMOOR32 by Global Maritime [Global Maritime Consultancy Ltd., 2007]
4. MooDy by Chalmers University of Technology [Palm and Eskilsson, 2014]
5. MOSES by Bentley [Bentley Systems, 2015]
6. Orcaex by Orcina Ltd. [Orcina Ltd., 2013]
7. ProteusDS by Dynamic System Analysis Ltd. [Global Maritime Consultancy Ltd.,
2015]
8. SeaFEM by Compass [Compass, 2014]
9. Sesam DeepC by DNV-GL and MARINTEK [DNV, 2005]
10. WHOI Cable by Woods Hole Oceanographic Institution [Gobat and Grosenbaugh,
2000]

The list of candidates covers software relevant and available for this project. However,
CASH by GVA or ZenMoor by Zentech Inc.
many others exists, i.a. the in-house software
DHI Group has developed WAMSIM and are currently developing a new software expected
to be released in summer 2015. DeepLines Wind by Principia & Energies Nouvelle also
seems to be a relevant candidate for mooring analysis, but will not be released until mid
2015. Finally, a widely used software is the Ariane-3Dynamics by Bureau Veritas. For
advanced cable analysis the software uses a cable-module based on Flexcom and developed
by Wood Group Kenny. For that reason, it is not included in this assessment since Flexcom
will be investigated.
2 | Candidate Software

2.1 Aqwa
Aqwa, developed by ANSYS Inc., is a software package used in investigation of the
inuence of environmental loads from waves, wind and currents on xed and oating
oshore structures. The software is therefore considered a potential candidate for use in
analysis and design of WECs and the applied mooring system. The software benets from
having a graphical user interface making both 2D and 3D graphic available. The software
is available in dierent packages in which a cable dynamic package is available.

The analysis can be performed in both the time domain with all non-linearities included
and in the frequency domain where non-linearities need to be linearised. Dependent on
the applied calculation procedure the analysis can either be fully coupled or de-coupled.

Aqwa is equipped with a module capable of modelling the motion of the oating body,
hence no input is required.Aqwa models the motions of the body from hydrodynamic
loads covering drag, wave exciting and inertia loads. In case of large bodies compared to
the incoming waves, the loads are determined by a three-dimensional panel methods, by
use of uid potential theory. Both 1
st and 2
nd order wave loads are calculated. 1
st order
eects on the body are solved by response amplitude operators (RAOs) and the 2
nd order
eects by quadratic transfer functions (QTFs). For slender bodies, Aqwa uses the Morison
Equation approach.

The response of the system is calculated from the specied wave, wind and current
conditions. Aqwa has dierent possibilities in modelling these.

Waves can be applied as either regular or irregular waves. Regular waves can be
modelled as linear Airy waves or 2
nd order Stokes waves. Irregular waves are modelled by
superposition of the regular waves, and spectra such as JONSWAP, Pierson-Moskowitz,
Gaussian or a user-specied spectrum are available. Time histories of wave elevations can
be imported and used in analysis. Spread seas are also handled by Aqwa.

The wind is modelled as a mean wind combined with time varying gust eects. A
wind prole describing the wind speed variation with height can be applied, together
with dierent standard spectra such as the API, Ochi & Shing, NPD, ISO or a user-
specied. Uniform wind or time histories of wind speed amplitude and direction can also
be simulated.

The current can be modelled as either uniform or proled with depth, but time
variations of the current cannot be included. Interactions between the current and waves
are modelled.

Loads from the current and wind on the oating body are calculated by a drag
formulation, using a user-specied wind and current force coecients, Cd , dened as
F
Cd = u2
, where F is the force on the structure and u is the current or wind speed.

The seabed is modelled as a at surface, which is additionally assumed horizontal

in the dynamic cable solver. Aqwa models the seabed by springs and dampers, either

7
8 2. Candidate Software

non-linear or linear if in frequency domain.

The Aqwa dynamic cable analysis includes tension and bending, but torsional
deformation is not included. Further, it is based on the small strain approximations.

The dynamic mooring line is modelled using a discrete lumped mass approach, i.e. the
line is divided into a number of segments where the mass of each element is concentrated
into a corresponding node. The external forces are calculated using Morison's equations.

Aqwa uses an explicit two-stage predictor-corrector method for advancing in time, no

further detail is found about the order or method.

2.2 Flexcom
Flexcom developed by MCS Kenny is a structural analysis software aimed at the oshore
sector, and a potential candidate for mooring analysis. The software is used as the dynamic
cable module in the Ariane-3Dynamic software package, which is used in oshore design
and developed and distributed by Bureau Veritas. The software oers a 3D graphical user
interface, in which models can be build and mesh generated automatically.

The software allows analysis in both the frequency and time domain, making it possible
to perform a faster analysis in the frequency domain or a more detailed analysis in the
time domain. In the frequency domain all non-linearities needs to be linearised, which
is not necessary in the time domain. Both a coupled and de-coupled analysis can be
performed dependent on the analysis procedure. Flexcom oers the possibility to perform
code check with the DNV-OS-F101 (Submarine Pipeline Systems) and DNV-OS-F201
(Dynamic Risers).

When determining the motions of and loads on the oating body, user-input is
necessary and the hydrodynamic analysis need to be done in an external software. Flexcom
needs information on current and wind force coecient, added mass and radiation damping
coecients together with RAOs and QTFs. The software is compatible with several
software packages such as WAMIT, Aqwa and MOSES, from which these inputs can be
directly imported. Flexcom computes the loads on the oating body and includes both 1st
and 2
nd order eects. First order eects are determined from RAOs and 2
nd order eects
from QTFs.

Flexcom models environmental loads from wave, wind and current, and oers a variety
of dierent theories and possibilities. Both regular and irregular waves can be modelled
with the irregular waves as a superposition of linear waves. Regular waves are modelled
by either linear Airy waves, 5
th order Stokes waves or Stream Function waves. Irregular
waves can be simulated as dierent spectra covering JONSWAP, Pierson-Moskowitz, Ochi-
Hubble, Torsethaugen and user-specied spectra. A time history of wave elevation can
similarly be imported and simulated. Flexcom also oers the possibility to model spread
sea states.

No information on denition of wind conditions is available in the theory manual

of Flexcom, but it sates the wind load are included. Current can be modelled through
dierent options. Generally, it is possible to model the current as either uniform or proled
with depth, but time variations are not included. The inuence from the current on the
waves are modelled as well. Loads from wind and current are calculated with a drag force
formulation and user-specied force coecients.

Flexcom allows dening a sea bed prole, dened either as at, sloped or with an
arbitrary bathymetry. The seabed is either modelled as rigid or elastic, where the latter
either uses a linear spring or a non-linear force-embedment curve. Further, a seabed
friction model is implemented. In case of a penetrating object, dierent layers with
 2.3. Gmoor32 9

dierent properties can be specied though P-y curves.

Flexcom solves for tension, bending and torsion, albeit it also have a special mooring
line format that only includes tension in order to speed up computations. The model uses
the small strain approximation in addition to assuming that the bending deformation is
small.

The general nite element solution is based on a hybrid nite element beam model,
where the axial displacement and rotation is given by a linear basis function, cubic
basis function for the transverse displacements and constant basis functions for the extra
variables axial force and torque moment. A Lagrangian constraint is then applied on the
axial force and torque moment.

Time-stepping is done by second-order implicit generalised-α method with the option

of a variable time step based on the current period parameter.

2.3 Gmoor32
GMOOR32 is developed by Global Maritime and is a quasi-static and dynamic analysis
tool aimed at vessels in open sea. The software has a graphical user interface with 2D and
3D graphics. The software oers the possibility to perform code check with API-RP-2SK
and DNV-OS-E301.

GMOOR32 is able to perform analysis in both the frequency and time domain, but can
only do a de-coupled analysis. The motion RAOs are necessary input used by GMOOR32
to calculate oating body motions. The motion of the fairlead is applied to the attachment
point of the mooring cables, and the cable dynamics are analysed.

Since GMOOR32 is not capable of doing the hydrodynamic analysis, a range of inputs
is necessary. In order to calculate the motions of the oating body, RAOs need to
be dened by the user, together with wind, current and wave force coecient used in
calculation of the environmental loads on the structure. The input needs to be produced
in a format that requires other Global Maritime software.

GMOOR32 provides the option of simulating irregular waves modelled by superposi-

tion of regular, linear waves. JONSWAP and Pierson-Moskowitz spectra are the options
provided by the software package. The possibility to model spread seas is available.

Wind can be modelled as a wind prole varying with height, and including wind spectra
to account for the time varying gust eect. Dierent spectra including the API, NPD,
Harris and Ochi & Shin spectra are available.

Current can be modelled as either uniform or proled, with no option of time variations.
The loads on the structure from both wind and current are calculated using a drag
formulation using user-specied force coecients.

The seabed is modelled as horizontal or sloped and includes friction eects. Non-
linearities are included.

GMoor32 uses a discrete lumped mass approach. No further details are available in
the user manual.

2.4 MooDy
MooDy is unlike the rest of the softwares described in this report not a complete software
package, but only a dynamic cable solver. MooDy is therefore highly dependent on input
and interaction with other scripts and codes. The code is developed by CHALMERS
University of Technology initially in the Matlab code language but are at present
undergoing development into a C++ version.
10 2. Candidate Software

MooDy allows simulations in the time domain, and can be used in both a coupled an de-
coupled analysis, dependent on the calculation procedure. Motion and loads on the oating
body from environmental loads can not be assessed by MooDy and are a necessary input to
the solver. MooDy has the ability to communicate with other software allowing the coupled
analysis. For the latter a software or script calculating oater motions, communicate with
MooDy throughout the analysis. The motion of the mooring point is calculated in each
time step by the external software and read by MooDy, which then calculates the mooring
force. This force is then send to the software which uses it in calculation of the mooring
point position for the next time step.

As MooDy does not calculate motion, environmental load etc., no implementation of

wind, current and wave models are present.

The sea bed is modelled by a linear spring and bilinear damper, and dynamic friction
can be included.

MooDy only solves for the tension, but have no small strain assumption in the
formulation.

A unique feature of MooDy is the use of spectral/ hp discontinuous Galerkin method,

i.e. an arbitrary order (set by the user) nite element method that allows discontinuities
between the elements. The discontinuous solution is well suited for handling shock waves,
such as snap loads, and comes to the cost of comes at the price of requiring more degrees of
freedom per element. On the other hand, with a suitable choice of basis functions, the mass
matrix becomes diagonal without resorting to the approximation of mass lumping. The
p
use of high-order spatial resolution ( th order) gives that very few elements are required
(for smooth solutions).

MooDy uses explicit time-stepping, including the third-order strong-stability-

preserving Runge-Kutta scheme and a second-order leap-frog scheme.

2.5 MOSES
MOSES is a software package for modelling of oshore oating structures. The software
is available in three dierent packages, each providing dierent capabilities. MOSES has
a simple graphical user interface, where 3D graphics are available. Most commands are
though in a scripting language. The software has a large range of applications and is
capable of doing analysis of both stability, motion, mooring, structures and launching.
The software is intended to be an overall software package used for the entire design and
installation of the complete structure. MOSES performs code checking with AISC, API,
NORSOK and ISO.

MOSES is capable of performing both frequency and time domain analysis, performed
as either coupled or de-coupled. Further it is able to do a hydrodynamic analysis and
thereby determine hydrodynamic coecients and motion of the vessel. MOSES provides
three dierent hydrodynamic theories for this, namely the Strip Theory, three-dimensional
diraction theory and Morison Equations. Calculations of motions and loads are based
on the determined hydrodynamic coecients for the specied oater.

Waves can be simulated as either regular or irregular waves. The regular waves can be
either linear, Stokes 5
th order or Stream theory waves. The irregular waves are superposed
linear waves and JONSWAP and ISSC spectra are implemented. MOSES additionally has
the ability to model spread seas.

Wind can be simulated as either vertically constant or proled, following standards by

ABS, API or NPD. Variations in time can be modelled as API, NPD, Harrus or Davenport
spectra or a time history can be implemented.
 2.6. OrcaFlex 11

Current is either modelled as uniform or proled, and wave-current interaction can be

included.

The loads from wind and current are calculated from a drag formulation, based on
user-specied force coecients.

MOSES models the seabed as combinations of springs and dampers, either linear or
non-linear. Friction models can be dened and for penetrating objects, it is possible to
dene dierent properties for dierent layers in depth.

MOSES solves for tension, bending and torsion and solves the beam equations by
linear nite elements.

MOSES use the implicit Newmark β -schemes, typically of second-order, for the time-
stepping.

2.6 OrcaFlex
Orcaex is a marine dynamic software package developed by Orcina Ltd. The software
covers both static and dynamic analysis and are also aimed at design of mooring systems.
Orcaex has an extensive graphical user interface, and uses the graphic for set-up and
analysis. The graphics allow both 2D and 3D views.

OrcaFlex primarily allows analysis in the time domain, and the analysis can be either
coupled or de-coupled. Code check with API-RD-2RD, API-RD-1111, DNV-OS-F101,
DNV-OS-F201 and PD 8010 are possible.

OrcaFlex models the motion of the oating body, based on output (displacement
RAOs, Load RAOs, QTFs, Stiness, Added Mass, Damping, Mass and Inertia) from an
external radiation/diraction analysis. OrcaFlex canot perform this analysis, and needs
the data as input. However, OrcaFlex is directly compatible with software packages such
as Aqwa and WAMIT, and can use the output from MOSES, Ariane and WADAM if
small modications are made.

Based on the input, OrcaFlex models both 1

st and 2
nd order eects, based on
respectively RAOs and QTFs. In a de-coupled analysis OrcaFlex models motions from
displacement RAOs and in the coupled analysis it models loads on the body from load
RAOs, combine them with other external loads, and solves the motions from these.
Additionally, OrcaFlex oers the option of using Morison's equations when determining
loads. This is only applicable in cases where the size of the body compared to the incoming
waves allows it.

OrcaFlex provides the possibility to simulate both regular and irregular wave states.
The regular waves can be modelled as either linear, 5
th order Stokes, Stream Function or
Cnoidal waves. The irregular sea states are modelled by superposition of regular linear
waves. JONSWAP, ISSC, Ochi-Hubble, Torsethaugen and Gaussian spectra are available,
and spread sea can be dened.

OrcaFlex oers dierent possibility regarding modelling of wind and current. The wind
prole can either be modelled as constant or varying with height above surface. API and
DNV spectra together with input time history of wind speed and direction are available
for simulation of variation in time.

Current can be modelled as constant with depth or with a non-linear prole.

Magnitude and direction can be modelled as dependent on time. The load from wind
and current are calculated from a drag force formulation with use of user-specied force
coecients.

The sea bed can be modelled as both horizontal, sloping or with a 3D bathymetry.
Both linear and non-linear stiness, in accordance with API standards, can be used when
12 2. Candidate Software

modelling the sea bed and friction models are available. In case of penetration of the soil,
API standard models for strength can be applied.

OrcaFlex solves for tension, bending and torsion using the small strain approximation
for the axial tension.

The mooring dynamics equations are solved using a discrete lumped mass approach,
with the segment mass concentrated at the end nodes of the segment. The segments are
connected by axial and torsional springs and dampers.

Time-stepping can be either explicit by the rst-order forward Euler method, or

implicit by the second-order generalized α-method. It is worth mentioning that if the
forward Euler method is chosen then several additional damping terms are added to the
equations to stabilize the solutions, while for the implicit method OrcaFlex relies on the
numerical dissipation of high-frequency noise that the α-method provides.

2.7 ProteusDS
ProteusDS, developed by Dynamic System Analysis Ltd., is a dynamic software for use
in analysis of oshore structures, also aimed at mooring design. The software uses a full
graphical user interface, and allows direct modelling of the system in the software.

ProteusDS has the ability to perform analysis in the time domain and primarily as a
coupled analysis.

ProteusDS has the ability to model the loads on and motion of the oating bodies,
through the Morison Equation approach. For cases where the Morison approach is
not appropriate, ProteusDS needs the hydrodynamic properties from external software,
covering added mass, damping, loading and RAOs as functions of wave frequency. Software
as WAMIT, MOSES or ShipMo3D (by Dynamic System Analysis Ltd.) are directly
compatible.

ProteusDS oers a variety of wave theories, and both regular and irregular waves
can be modelled. The regular waves covers linear and 2
nd and 5
th order Stokes waves.
Irregular waves are modelled as superposed regular and linear waves. Dierent spectra
such as the JONSWAP, Pierson-Moskowitz and Bretschneider are available, and spread
seas can similarly be modelled.

ProteusDS oers dierent possibility regarding modelling of wind and current. The
wind prole can either be modelled as constant or varying with height above surface.
Dierent build-in options for the prole are available. To model variation in time,
ProteusDS have implemented the Ochi-Shin and NPD spectrum. Additionally time
histories of speed and direction can be imported and simulated.

Similar possibilies are available for current as depth-varying proles are available, but
with a constant velocity throughout the entire simulation. Interaction between wave and
current is neglected in ProteusDS.
When calculating wind and current loads on the oater, a drag force formulation is
applied with use of user-specied drag coecients.

The seabed can be modelled as both horizontal, sloping or with an imported 3D

bathymetry. Both linear and non-linear stiness of the seabed is possible and friction can
be modelled.

ProteusDS solves for tension, bending and a quasi-static torsion using the small strain
approximation for the axial tension.

ProteusDS uses a cubic spline nite element method, i.e. the solution inside an element
is given by a fourth-order polynomial and the solution is actually C2 continuous giving
that not only the translations and moments also the rst and second order derivatives
 2.8. SeaFEM 13

are continuous over element boundaries. In order to speed-up the computations the mass
matrix is lumped. There is no discussion in the manual, if, and to what extent, this
lumping aects the otherwise fourth-order spatial accuracy of the numerical solution.

The model is advanced in time using explicit Runge-Kutta schemes of fourth-order with
adaptive time step. The numerical error introduced by the time integrator is maintained
below user dened level by adjusting the time step.

2.8 SeaFEM
SeaFEM is a software package developed by Compass, with the aim of sea keeping and
manoeuvring simulation with investigation of wave, wind and current eects on oating
oshore structures. The software highly benets from a 3D graphical user interface, with
the possibility to generate models and mesh.

The software allows analysis in both frequency and time domain, and are capable of
both coupled and de-coupled analysis. SeaFEM performs a hydrodynamic analysis itself,
and therefore has implemented a second order diraction-radiation analysis, for calculation
of the hydrodynamic coecients, using a time domain 3D Finite Element Method. Slender
bodies are analysed by use of the Morison approach.

SeaFEM are capable of simulating linear, regular waves, together with irregular sea
states dened by superposed linear waves. The JONSWAP and Pierson-Moskowitz spectra
are both implemented together with the possibility to run user-specied spectra. Spread
sea can additionally be simulated.

Denition of wind conditions with standard proles and spectra are not implemented
in SeaFEM, but wind forces can be applied as an external force on the body or as a local
force. The wind load will therefore be constant.

Denition of the environmental conditions regarding the current is implemented and

the current can be modelled with a constant velocity and direction. No application of
proles or time variations are supported. The load from the current is calculated from a
user-specied force coecient.

The seabed is modelled through linear springs and dampers. The friction between
mooring lines and seabed can be modelled by a friction coecient.

SeaFEM solves for axial tension, while neglecting bending and torsion.

The dynamic mooring equations are solved by linear bar elements and the solution is
updated in time using an implicit second order Newmark scheme.

2.9 Sesam DeepC

Sesam DeepC developed by DNV-GL, is a software package consisting of the MARINTEK
software Riex and Simo, and is aimed at analysis of oating structures and mooring
systems.

Sesam DeepC is capabale of analysing in both the frequency and time domain, and
the analysis can both be fully coupled or de-coupled. Riex and Simo are not capable of
performing the hydrodynamic analysis, and therefore uses imported RAOs and QTFs to
calculate loads and motions of the oating body. A software, HydroD, can be included
in the Sesam DeepC package, and is capable of calculating the hydrodynamic coecients
or they can be directly imported from software as WADAM or WAMIT. Sesam DeepC
calculates the 1
st order wave frequency and high frequency motions and loads, and also
includes the 2
nd order low frequency eects.
14 2. Candidate Software

For simulations, Sesam DeepC has implemented a range of wave theories for describing
the waves. Regular waves can be modelled by linear wave theory or by Stokes 5
th order
theory. Irregular waves are superposed linear waves combined of both a wind sea and
swell. A range of standard spectra are available including Pierson-Moskowitz, JONSWAP,
Derbyshire-Scott, Ochi, Bretschneider and Torsethaugen. Sesam DeepC also includes the
possibility to simulate spread sea states.

Wind can be simulated with a constant or time varying wind prole. Time series of
wind velocities and directions can additionally be imported and simulated.

Similarly, current can be modelled as constant or varying dependent on time, both for
speed and direction. The loads from wind and current are calculated from a drag force
formulation with user-specied load coecients.

The seabed is modelled by a vertical bilinear spring combined with a horizontal spring.
Furthermore, inclusion of a friction model is a possibility.

Sesam DeepC uses the software Riex which solves for tension, bending and torsion
using small strain theory. Riex comes with a linear bar elements and also with a
hybrid beam elements using a combination of linear basis functions (for the horisontal
displacements and torsion moment)and cubic basis functions (for vertical displacement
and bending moments). The mass matrix may be lumped for more ecient computations.

Time integration is the implicit Newmark β -schemes of that are typically second-order
(constant average acceleration scheme recommended) and solved with an Newton-Raphson
method.

2.10 WHOI Cable

WHOI Cable is a software package aimed at mooring design, capable of doing both static
and dynamic analysis. The software benets from having a graphical user interface, but
highly relies on a script language.

WHOI Cable is a time domain solver, capable of doing de-coupled analysis. The
software to some extent has the ability to model the motions of and loads on the oating
body, and dierent possibilities are available. One solution is to dene the velocities of
the oating body or alternatively the motions. Additionally, WHOI Cable is capable of
calculating forces on the structure by the Morison approach. The calculated or dened
motions of the oating body is used in the dynamic cable solver.

Waves are only described by linear waves, and can either be regular of random. No
implemented spectra etc. are available but user-dened time dependent waves can be
imported. The random seas are dened by the signicant wave height and the wave peak
period.

WHOI Cable can include wind eects in the calculation through a drag force
formulation. Drag coecients therefore need to be dened by the user. The wind can
be described by a user-dened expression, giving the possibility of variations in time, and
wind in two directions.

Currents are similarly dened as an expression, with the possibilty of time variations.
Additionally variations with depth is possible, together with current in two directions.
Loads from current are also dened by an user-specied drag coecient.

WHOI Cable models the seabed by a linear spring and damper system. Implementation
of friction though a static friction coecient is possible. Sloping or horisontal seabed are
both an opportunity.

WHOI cable solves the cable dynamics with tension, bending (based on Euler-
Bernoulli beam theory) and torsion.The equations are solved by second-order central nite
 2.10. WHOI Cable 15

dierences in space together with second-order implicit generalised-α method in time and
solved using an iterative method with relaxation.
3 | Comparison of Candidate Soft-
ware

Based on the area of assessment dened in Chapter 1 and the description of each software
packages, the following section is used for comparison of the technical aspects of the
software.

To a large extent, the software packages provides similar capabilities and since most
codes are validated prior to publication, it is expected that the results obtained from use
of the software packages will be in the same range. Some of the packages excel when
comparing all specications, and this will be discussed in the following text.

Considering Table 3.1 it is seen that all software packages are capable of performing
time domain analysis, which is a requirement from the standards. Similar, most can
perform coupled analysis except GMOOR32 and WHOI Cable. This is considered a
necessary feature.

Software Domain Analysis

Time Frequency Coupled De-coupled
ANSYS Aqwa 3 3 3 3
Flexcom 3 3 3 3
GMOOR32 3 3 7 3
MooDy 3 7 3 3
MOSES 3 3 3 3
Orcaex 3 7 3 3
ProteusDS 3 7 3 7
SeaFEM 3 3 3 3
Sesam DeepC 3 3 3 3
WHOI Cable 3 7 7 3

Table 3.1. Comparison of analysis method for software candidates. A blank cell means that no
information was available.

As it was stated previously, design standards suggest use of wave theories dependent
on the given site and conditions. For shallow water conditions, theories of higher order
are required and the software needs to be able to model irregular sea states. It may not
be considered a necessity that the software performs the hydrodynamic analysis itself, as
it can get hydrodynamic coecients as input. The table below can be used as comparison
of implemented wave theories and oater motion analysis.

Most software are capable of simulating waves using higher order wave theories and
all are capable of simulating irregular wave states. It is not relevant to consider MooDy
in this table, as this code is only a mooring solver, and need additional code to simulate
the hydrodynamics. Most sofware tools include second order eects. ProteusDS is in
the considered release not capable of including the full contribution from 2
nd order wave
eects. Some wave drift is though included, and the full contribution will be included in
future releases.

17
18 3. Comparison of Candidate Software

Software Wave Theory Hydrodynamic Analysis

Linear Stokes Stream Cnoidal Irreg. Di./Rad. Morison Input 2nd order
Ansys Aqwa 3 2nd 7 7 3 3 3 3
Flexcom 3 5th 3 7 3 7 7 3 3
GMOOR32 3 7 7 7 3 7 7 3
MooDy 7 7 7 7 7 7 7 3
MOSES 3 5th 3 7 3 3 3 3
Orcaex 3 5th 3 3 3 7 3 3 3
ProteusDS 3 5th 7 7 3 7 3 3 7
SeaFEM 3 7 7 7 3 3 3 3
DeepC 3 5th 7 7 3 7 7 3 3
WHOI 3 7 7 7 3 7 3 3

Table 3.2. Comparison of implemented wave theories and oater analysis. Blank cells means
that no information was found.

Besides modelling the wave, the software needs to model the environmental loads from
wind and current. Design standards states how to model these, and the table below
compare the methods implemented in the software packages. Also the modelling of the
seabed is compared.

Software Wind Current Seabed

Uniform Prole Spectra Uniform Prole Time Linear Non-linear Friction
Ansys Aqwa 3 3 3 3 3 7 3 3 7
Flexcom 3 3 7 3 3 3
GMOOR32 3 3 3 3 3 7 3 3 3
MooDy 7 7 7 7 7 7 3 7 3
MOSES 3 3 3 3 3 7 3 3 3
Orcaex 3 3 3 3 3 3 3 3 3
ProteusDS 3 3 3 3 3 7 3 3 3
SeaFEM 7 7 7 7 7 7 3 7 3
Sesam DeepC 3 3 3 3 3 3 3 7 3
WHOI Cable 3 7 3 3 3 3 3 7 3

Finally the dynamic cable solver is compared and can be seen in the table below. Most
software have similar capabilities, while MooDy and ProteusDS can be highlighted due to
the high spatial and temporal order.

Dynamic Cable Solver

Software Small Bending Torsion Spatial Temporal LM/FE/FD
Strain Order Order
Ansys Aqwa 3 3 7 LM
Flexcom 3 3 3 2nd 2nd FE
GMOOR32 LM
MooDy 7 7 7 p th 3rd FE
MOSES 3 3 2nd 2nd FE
Orcaex 3 3 3 2nd LM
ProteusDS 3 3 3 4th 4th FE
SeaFEM 7 7 2nd 2nd FE
Sesam DeepC 3 3 3 2nd 2nd FE
WHOI Cable 7 3 3 2nd 2nd FD

Considering the tables in the current chapter, is it clear that most software packages
have similar features and all potentially can be used in analysis of WEC moorings, with
OrcaFlex, DeepC, SeaFEM and ProteusDS considered to be the strongest candidates.
ProteusDS has the most advanced cable solver, but since 2
nd order wave eects cannot be
included, it cannot be used at present.

It is worth to note that SeaFEM has the most advanced hydrodynamic solver, based on
a FE formulation of the entire uid domain. Frequency domain results (RAO and QTF)
are therefore not needed and the software will provide a better description of non-linear
waves. Potentially, the current eects will also be more advanced as they can be solved
by integrating the pressure on the body, and not by a drag formulation with an estimated
drag coecient. This will though give much higher computational time, which might be
undesirable for full analysis, where up to three hour simulations are performed.
 19

DeepC and OrcaFlex both seems similar, with DeepC being slightly more advanced
when considering the cable solver. Since both software packages have been validated
and OrcaFlex is widely commercially used and DeepC is developed by the certication
company DNV-GL, these two software seems like the strongest candidates.

In order to nally choose which software to use in full dynamic analysis, a benchmark
study will be performed in later work.
Bibliography

ANSYS Inc. (2013). Aqwa Theory Manual.

API (2005). Design and Analysis of Stationkeeping Systems for Floating Structures.
American Petroleum Institute API-RP-2SK.

Bentley Systems (2015). Reference Manual for MOSES.

Compass (2014). SeaFEM Theory Manual.
DNV (2005). DeepC User Manual - DeepC Theory. DNV Software.

DNV-GL (2010). Position Mooring. DNV Oshore Standard DNV-OS-E301.

Global Maritime Consultancy Ltd. (2007). GMOOR v9.41.

Global Maritime Consultancy Ltd. (2015). ProteusDS 2015 Manual.
WHOI Cable v2.0: Time Domain Numerical
Gobat, J. I. and Grosenbaugh, M. A. (2000).
Simulation of Moored and Towed Oceanographic Systems.
IEC (2014). Assessment of Mooring System for Marine Energy Converters (MECs). IEC
62600-10.

ISO (2013). Stationkeeping systems for oating oshore structures and mobile oshore
units. ISO 19901-7:2005.

Le Méhauté, B. (1969). An introduction to hydrodynamics and water waves. Springer.

MCS Kenny (2014). Flexcom Technical Manual.

Orcina Ltd. (2013). Orcaex User Manual.
Palm, J. and Eskilsson, C. (2014). Moody User Manual.
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ISSN 1901-726X
DCE Technical Report No. 220