Linear potential wave-body model #69
Description
Overview
We would like to combine the non-linear hydrostatic restoring force model used in asv_wave_sim with a linear potential flow wave-body interaction model.
The initial application is to buoys and other structures that satisfy the requirement that the displacements about an initial condition are expected to be small. However some of the features may be useful for surface vehicles, in particular the wave radiation damping and added mass contributions from the linear model may provide a better mechanism than the current model, particularly for larger / more massive vessels.
Approach
The linear wave-body model resolves the interaction into a number of different forces and the way these are incorporated in the simulation differs depending on the type of waves.
Forces
- Buoyancy
- Linear hydrostatic restoring forces
- Wave radiation damping
- Wave radiation added mass
- Wave excitation
Waves
- No waves (decay tests)
- Regular waves, single frequency
- Regular waves, multi-frequency
- Random waves, multi-frequency (FFT methods)
The proposed approach is to progress through the cases starting with the simplest model, no waves with linear hydrostatic restoring forces, and progressively work through the additional forces for each wave category before moving onto a more complex wave model.
Implementation
A working demonstration of the model is available on the demo/linear-wave-body branch which will be used to track progress:
- Linear potential wave-body model demo #70
- Wave Body: improve overrides - 8 #71
- Wave Body: use model:// URI to specify BEM file location #72
- Update example regular wave models #73
- Wave Body: add checks when reading the hdf5 file #74
- Wave Body: add publisher for added mass force #75
- Wave Body MBARI: add MBARI buoy example for testing #76
- Wave Body MBARI: add collision mesh and change default BEM file #77