SIMO-3.6.16 Release notes
Contents
1. 1 COUPLING DATA DKK KKK KKK KKK KK KK KKK KKK KKK KK KK KKK CRANE WIRE CHCPL LIFTW Crane wire from crane top to hook 50 mm wire MULTIPLE WIRE COUPLING CHBRAN CHBDY XBDY YBDY ZBDY IHLA HOOK GEOF 29 5 0 22 4 0 EA rlen flexc nrun dampmw irest 8 137500 10 0 2 1500 0 0 tstart tstop runvel 2s 8 2 12s 18 2 IFMOCO FTIME BTENS 0 1 COUPLING DATA 1 SLING 1 KK K CHCPL SLING1 Sling 1 from hook to load 50 mm wire 1 MULTIPLE WIRE COUPLING CHBRAN CHBDY XBDY YBDY ZBDY HOOK LOAD 15 Tets 0 EA rlen flexc dampmw irest 8 137500 6 0 500 0 0 IFMOCO FTIME BTENS 0 1 COUPLING DATA TO I2. 1 SYSTEM DESCRIPTION SIMO 1 KKK KKK KKK KKK KKK KKK KK KKK KKK KKK KK KKK KKK KK KK KK KK KK txsys 3 lines Test of guide points Txt 1 Txt 2 LENUNI TIMUNI MASUNI GRAV RHOW RHOA m S Mg 9 81 1 025 0 00125 DEPTH DIRSLO SLOPE 1000 1 BODY DATA SPECIFICATION KKK KKK KK KK KK TKK CHBDY VESSEL A txbdy 3 lines txbdy txbdy txbdy IBDTYP 4 BODY LOCATION DATA Xglob Yglob Zglob Phi Theta Psi 0 0 0 0 0 0 0 0 0 0 0 TKK KK KK KK KKK KKK KK KKK KKK KKK KKK KKK KK KKK KKK KK KK KK KK KKKK KK KK KK BODY DATA SPECIFICATION KKK KKK KK KK KK 1 SIMO 3 6 Release notes MARINTEK APPENDIX A project no 516412 date 10 Dec 2007 page 12 of 13 CHBDY VESSEL 8 txbdy 3 lines txbdy
3. CHCPL LIFTW Crane wire from crane top to hook 50 mm wire MULTIPLE WIRE COUPLING CHBRAN CHCOPO HOOK CraneWinch EA rlen flexc dampmw irest 8 137500 0 1000 0 0 IFMOCO FTIME BTENS 0 1 COUPLING DATA VK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KK KKK SLING 1 CHCPL SLING1 Sling 1 from hook to load 50 mm wire F MULTIPLE WIRE COUPLING MARINTEK SIMO 3 6 Release notes APPENDIX A project no 516412 date 10 Dec 2007 page 7 of 13 CHBRAN CHBDY XBDY YBDY HOOK LOAD T75 1 EO EA rlen flexc 137500 65 0 500 IFMOCO FTIME BTENS 0 ZBDY 0 dampmw irest 8 0 0 1 COUPLING DATA 1 KK KK KKK SLING 2 8 CHCPL SLING2 MARINTEK 516412 SIMO 3 6 Release notes e date 10 Dec 2007 APPENDIX A T 8 of 13 3 3 Modelling a body sliding along a flexible wire guide points The example consist
4. hydrodynamic coupling retardation functions were given only at the diagonal the results will be correct otherwise they will be wrong Erroneous results 46 5 44 project no 516412 MARINTEK SIMO 3 6 16 Release notes ete 2011 12 09 page 12 of 17 e DP system with reference point located at another body Error in low pass filtering causes erroneous results AB 22 7 Erroneous results e Application of diffracted wave transfer function Local diffracted wave particle velocity and acceleration components were applied as if A3 18 4 they referred to global system 43191 Erroneous results e Storage of fender coupling forces For body numbers 2 NBDY the normal and tangential components of the fender force may not have been stored even if specified Affects presented coupling forces only project no 516412 MARINTEK SIMO 3 6 16 Release notes date 2011 12 09 page 13 of 17 7 New improved modelling functionality SIMO 3 6 7 1 SIMO basics Import data generated by the computer program MOSES The possibility to import data generated by MOSES hyd file has been implemented Frequency added mass and damping First order wave force transfer functions Second order wave drift coefficients may be imported It not possible to read first order motion transfer functions RAOs Ballast tanks The effect of filling ballast tanks with specified dimensions is f
5. The purpose of SysGen is to read hydrodynamic coefficients from WAMIT result files wamit out wamit 1 wamit 4 etc calculate retardation functions and write all relevant data to a SIMO system description file The following data groups are written if present on the Wamit result files e Mass data including added mass matrix infinite zero e Hydrostatic stiffness e First order wave force transfer functions e First order motion transfer functions e Retardation functions e Second order wave drift coefficients e Hydrodynamic interaction between bodies o Coupled added mass data o Coupled retardation functions Note that the present version of SysGen does not write QTF data SysGen is run from a console window java jar path to SysGen jar wamit out Options time delay lt dt gt retardation function time delay Default 0 5 pressure drift force by pressure info info messages SysGen requires a java virtual machine to be installed on your system Virtual machines can be downloaded from http www java com Please note that SysGen is beta software The sys file produced by this utility should be thoroughly checked SIMO INPMOD is the recommended tool for sys file generation for cases where hydrodynamic interaction between vessels is not present SysGen does not read sif files from WADAM directly As a work around for WADAM users that want to use SysGen one may specify WADAM to export results to WAMIT For more information
6. 12 10 Initial release of SIMO 3 6 1 2 SIMO 3 6 1 Released 07 12 20 Error correction 1 3 SIMO 3 6 2 Released 08 05 22 Error corrections 1 4 SIMO 3 6 3 Released 08 08 28 Error corrections 1 5 SIMO 3 6 4 Released 08 11 03 Error corrections 1 6 SIMO 3 6 5 Released 09 03 03 Error corrections 1 7 SIMO 3 6 6 Released 09 08 20 Error corrections 1 8 SIMO 3 6 7 Released 10 01 01 Error corrections 1 9 SIMO 3 6 8 Released 10 06 01 Error corrections SIMO 3 6 9 3 6 11 omitted 1 10 SIMO 3 6 12 Released 10 10 18 Error corrections 1 11 SIMO 3 6 13 Released 11 01 15 Error corrections 1 12 SIMO 3 6 14 Released 11 04 15 Error corrections 1 13 SIMO 3 6 15 Released 11 10 21 Error corrections project no 516412 MARINTEK SIMO 3 6 16 Release notes date 2011 12 09 page 4 of 17 2 SIMO version number SIMO 3 6 is the new official version of SIMO replacing SIMO 3 4 that was initially released in June 2004 The sub version number is added to track corrections made to the version Subsequent bug fix releases will be labelled 3 6 1 3 6 2 etc The odd numbered versions e g 3 3 3 5 are reserved for internal development versions The next official release will therefore be SIMO 3 8 project no 516412 MARINTEK SIMO 3 6 16 Release notes te 2011 12 09 page 5 17 3 SIMO 3 6 license management system SIMO v3 6 is licen
7. FILE The force transfer functions were not read correctly The error has been corrected Erroneous results e WAVE EXCITATION FORCE BASED ON COSINE SERIES Error in wave excitation forces when the calculations were based on cosine series The error has been corrected No error in application of visualization waves Erroneous results e DISTRIBUTED ELEMENT FORCE If no wave kinematics was specified for the last slender element or fixed body element attached to a body IWDHF 0 wave kinematics were not calculated for any of the slender or the fixed body elements attached to that body The error has been corrected Erroneous results e WINCH RUN 1 The formulation for winch run was not consistent with the time integration method This concerns Runge Kutta and Newmark B integration schemes This resulted in incorrect tension in the winch wire during winching Work around Use Euler integration scheme with short time steps The error has been corrected 2 The maximum acceleration specified for the winch run was not used correctly This caused too high peak loads transient loads at the start and at the end of the winch run interval The error has been corrected Erroneous results e Improvement to Wave drift forces Keep value constant and equal to value for largest given frequency instead of use linear extrapolation on force transfer function above highest given frequency Insignificant changes to results However input dependent e
8. KKKKK date 10 Dec 2007 APPENDIX A page 13 of 13 ybdyl zbdyl 0 0 ybdy2 zbdy2 0 10 iactive 1 FLEXC DAMPSW 4 1000 btens 100
9. confer WADAM User Manual DNV Software SIMO 3 6 Release notes project no 516412 MARINTEK date 10 Dec 2007 APPENDIX A page 1 of 13 APPENDIX A Modifications of SIMO sys files SIMO version 3 4 to 3 6 Introduction dn tence ices odaseipeaness Senese roos Sensis seroso taas 2 1 1 The following data groups have been modified in SIMO version 3 6 2 1 2 The following data groups are new in SIMO version 3 60 0000 3 2 BODY COMPONENTS 00 0 0 Dd tdasassceacencsetopeesisducabesasuvandesncenseceee 3 2 1 Changes input data a ed 2 3 3 Example of sys files version 3 4 and 3 4 3 1 Version 3 4 sys file running Of WINCH 3 4 3 2 Version 3 6 sys file running Of WINCH 3 5 3 3 Modelling a body sliding along a flexible wire guide points pp 8 3 4 Modelling a double pendulum guide pointS pt 11 SIMO 3 6 Release notes projectno 516412 MARINTEK date 10 Dec 2007 APPENDIX A page 2 of 13 1 Introduction This document describes the modifications of the SIMO system description file the so called sys file Some data groups have been modified and some are new The document describes the sys file changes from the latest versions of SIMO 3 4 to version 3 6 1 1 The following data groups have been modified in SIMO version 3 6 FENDER positioning and FENDER coupling In version 3 4 the fender plane had in
10. previous versions have been maintained This means that macro files have to be rewritten project no 516412 MARINTEK SIMO 3 6 16 Release notes date 2011 12 09 page 17 of 17 10 Useful tools 10 1SIMO modelling tutorial Simo modelling tutorial is a new tool The intention of the tutorial is to give some advice on how SIMO can be used to model the marine units and the various mechanical systems often encountered in different marine operations Thus the focus has been based on experience to comment on how the numerous models available in SIMO can be used alone or in combination to represent practical cases as well as possible Also comments are given on where special attention should be paid to avoid numerical problems It has not been the intention to write a general textbook on marine hydrodynamics Neither has it been an intention to replace the Theory Manual or the Users Manual where a more complete description of the theory and input data is found It is our hope that the tutorial can give some additional advice to the user regarding practical use of SIMO The zip file SIMO_Tutorial zip contains the necessary files The file may be downloaded from the SIMO web pages Extract the files and double click on the file SIMO_modellingTutorial html to run the tutorial 10 2 System Description File generator SysGen Together with the release of SIMO 3 4 0 a new utility SysGen is made available
11. ING POINT First guide point at body LOAD chcopo cpltyp xcpl ycpl zcpl project no 516412 SIMO 3 6 Release notes MARINTEK date 10 Dec 2007 APPENDIX A Guidel at LOAD guide 14 0 10 dia dv1 dv2 dv3 a2 2 0 0 COUPLING POINT Second guide point at body LOAD chcopo cpltyp xcpl ycpl zcpl Guide2 at LOAD guide 14 0 10 dia dv1 dv2 dv3 2 2 0 0 PERE EEE EREEREER EEEE COUPLING DATA O EERE EERE HEE HEE CPL1 Coupling between VESSEL A and VESSEL B SIMPLE WIRE COUPLING chbdyl xbdyl ybdyl zbdyl VESSEL A 0 0 0 ee E Load chbdy2 xbdy2 ybdy2 zbdy2 VESSEL B 0 0 0 nguide 2 chgupo iactiv Guidel 8 LOAD 1 Guide2 8 LOAD 1 g EA RLEN FLEXC DAMPSW 8 8E4 147 8 0 1000 ifmoco ftime btens 0 0 100 END Toject no 916412 MARINTEK SIMO 3 6 Release notes gt APPENDIX A page 11 of 13 3 4 Modelling a double pendulum guide points The example consists of 3 bodies VESSEL_A VESSEL_B and LOAD VESSEL B is not shown in the figure LOAD is hanging in a wire that goes through guide hole with diameter 10 m in body VESSEL B VESSEL A and VESSEL B are of type 4 and cannot move 30000 00 20000 00 10000 00
12. K RO OK OR IO I TOK AOR OK OK IO RK AKA KK KAKA SLING 2 CHCPL SLING2 3 2 Version 3 6 sys file running of winch KK KK KK KK KK KK KK KK 1 BODY DATA SPECIFICATION KKK KKK KK KK VKKKKKKKKKK KK KK KK CHBDY SIMO 3 6 Release notes project no 516412 MARINTEK date 10 Dec 2007 APPENDIX A page 6 of 13 GEOF txbdy 3 lines text 1 text 2 text 3 TBDTYP 1 BODY COMPONENTS COUPLING POINT Crane point with winch chcopo cpltyp xcpl 1 1 CraneWinch FIXED 25 0 22 4 COUPLING WINCH chcowi cwico winch GEOF NRUN waccm wvelm druma druml nrun I Ir 100 100 2 tstart tstop runvel 2 8 32 T2 Tey 52 1 BODY DATA SPECIFICATION Te CHBDY LOAD Load module Txt 2 Txt 3 TBOTY P KK KK KK KK KK KK VKKKKKKKK KK KK KK KK COUPLING DATA DKK KK KKK KKK KKK KKK KKK KKK CRANE WIRE
13. MARINTEK Norwegian Marine Technology Research Institute Postal address P O Box 4125 Valentinlyst N 7450 Trondheim NORWAY Location Marine Technology Centre Otto Nielsens veg 10 Phone 47 7359 5500 Fax 47 7359 5776 http www marintek sintef no Enterprise No NO 937 357 370 MVA MEMO MEMO CONCERNS SIMO 3 6 16 RELEASE NOTES FOR YOUR ATTENTION COMMENTS ARE INVITED FOR YOUR INFORMATION AS AGREED PROJECT NO DATE 516412 2011 12 09 Table of contents DISTRIBUTION SIMO users PERSON RESPONSIBLE AUTHOR NUMBER OF PAGES Harald Ormberg Knut Mo 17 13 1 3 0 RELEASES 3 LF SINICA GO sta 0 do i a nn a a a aata 3 7 3 2 S62 en a ed a A AS 3 TAA SIO 3 0 J ne cael t seat hel Nase EE LO aeat ateg tM NT Lar atte a LNG 3 S04 gs nd no a aaas 3 1 6 se Ped Sette cit oda BUS Ns hd a tsa latinas ed abe ols ate ae Wet 3 0 3 3 CO SMO aO 0 re ed pe rr a de a a a 3 2 PETS IMO O hts ogee Manas es ASA Gated aA seen ahead eee 3 6 3 TSM 0 3 2 SIMO Version 4 3 SIMO 3 6 license management system 0000 5 4 2 SE EEE 5 5 Work array size in DYNMOD and OUTIMOD ee 5 70 6 6 1 Corrections included in SIMO 3 00 6 6 2 Corrections included in SIMO 3 6 15 Ne 6 6 3 Corrections included in SIMO 3 6 14 0 6 6 4 Corrections included in SIMO 3 6 13 0 6 6 5 Corrections include
14. MARINTEK SIMULATOR ENVIRONMENT Real time communication package Program termination running RIFLEX coupled analysis The error has been present since SIMO 3 6 3 The error has been corrected 6 10 Corrections included in SIMO 3 6 4 e DISTRIBUTED ELEMENT FORCE SLENDER ELEMENT Error in all wave loads based on added mass or drag coefficients except when depth dependent coefficients are specified The error concerns any strip located between mean water level and the instantaneous wave elevation The error has been present since SIMO 3 6 3 Erroneous results 6 3 1 6 3 2 4 1 2 6 2 1 A 3 18 A 3 22 A 3 23 A 3 18 project no 516412 MARINTEK SIMO 3 6 16 Release notes te 2011 12 09 page 10 of 17 e MASS MATRIX INPMOD Wrong sign in coupling terms IYX IZX and IZY when importing data from WADAM SIF file MOSES file or SWIM file Normally of small significance however system dependent e NUMBER OF SAMPLES IN COMPUTED RETARDATION FUNCTION INPMOD The requirement to maximum number of samples 500 in the retardation function has been relaxed May give insignificant changes to results e PRESENTATION OF BUMPER FORCE CHARACTERISTCS The presented BUMPER force characteristics were incorrect No consequence to results 6 11 Corrections included in SIMO 3 6 3 e DISTRIBUDED ELEMENT FORCE SLENDER ELEMENT and FIXED BODY ELEMENT In the case VOL 1 include gravity for
15. O 3 6 Release notes MARINTEK APPENDIX A project no 516412 date 10 Dec 2007 page 9 of 13 KK KK KK KK KK KK KK KK KK KK 1 BODY DATA SPECIFICATION DKK KK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK CHBDY VESSEL 8 txbdy 3 lines txbdy txbdy txbdy IBDTYP 4 BODY LOCATION DATA Xglob Yglob Zglob Phi Theta Psi 100 0 0 0 0 0 0 0 0 0 KK KK KK KK KK KK KK KK KK VKKKKKKKK KK KK KK KK KK BODY DATA SPECIFICATION VK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KKK KK KKK KKK KK CHBDY LOAD txbdy 3 lines txbdy txbdy txbdy IBDTYP 1 BODY LOCATION DATA Xglob Yglob Zglob Phi Theta Psi 114 0 0 10 0 0 0 0 0 0 BODY MASS DATA txmass 2 lines 24 4 02 9 03 xcog ycog 200 0 0 0 0 MASS COEFFICIENTS rm rixx riyx riyy 5 rizy rizz 1000 10000 0 000 40000 0 000 0 000 40000 GRAVITY FORCE INCLUDED LINEAR DAMPING txtl txt2 dll 12 3 14 15 16 50 0 0 0 0 0 0 50 0 0 0 0 0 0 50 0 0 0 0 0 0 200 0 0 0 4 0 0 200 0 0 0 0 0 0 200 BODY COMPONENTS BODY COMPONENTS COUPL
16. Version 3 4 Example SIMPLE WIRE COUPLING CHBDY1 XBDY1 YBDY1 ZBDY1 VESSEL A 50 10 30 CHBDY2 XBDY2 YBDY2 ZBDY2 HOOK 0 0 1 5 In case of attachment to a guide point or if a winch shall be run the name of the coupling point must be specified SIMPLE WIRE COUPLING Pointname Crane A CHBDY2 XBDY2 YBDY2 ZBDY2 HOOK 0 0 15 For a more detailed description see the Users Manual ver 3 6 3 Example of sys files version 3 4 and 3 6 The example consists of two bodies the vessel GEOF and the container LOAD In addition we have a branch point named HOOK 3 1 Version 3 4 sys file running of winch KK KK KK KK KK KK VKKKKKK KK BODY DATA SPECIFICATION 1 KK KK KK KK KK KK KK KK KK KK KK KK CHBDY GEOF txbdy 3 lines text 1 text 2 text 3 IBDTYP SIMO 3 6 Release notes Pe 516412 MARINTEK date 10 Dec 2007 APPENDIX A 5 of 13 1 BODY DATA SPECIFICATION Te CHBDY LOAD Load module Txt 2 TXt 3 IBDTYP
17. acilitated by use of the option Time Dependent Mass Quasi static forces due to free surface effects are included Finite fender plane It is possible to specified fender planes with specified dimension In previous versions a fender plane was assumed to be infinite Lift line coupling The lift line model gives fast and quite accurate model for prediction of the total static and dynamic line end forces and load offset The simplified lift line is modelled by nominal E module diameter transverse and longitudinal drag coefficient and the mass per meter length The model gives zero compressive forces The basic model is a straight line A modification to the straight line assumption is made to take into account the transition of horizontal motion and forces from the crane to the lifted body due to WF motion LF motion and transient motions moving vessel Current forces and the damping forces of the line acting on the body and the load are calculated along a straight line The line weight and buoyancy and the inertia forces are also calculated along this line Docking cone The load formulation is extended to include radial damping forces and friction forces parallel to the cone surface Frequency dependent wave drift damping Newman s method The implementation has been completed It also includes importing frequency dependent wave drift damping coefficients from SIF files DP system The time step dependence of the Kalman filter gains h
18. and ITALLOC The KALMAN filter has been improved The option of using a reference point at a different body has been corrected SIMO 3 6 Release notes projectno 516412 MARINTEK date 10 Dec 2007 APPENDIX A page 3 of 13 1 2 The following data groups are new in SIMO version 3 6 BODY COMPONENTS LIFT LINE COUPLING Possible to model a lifting line with line dynamics and wave and current forces 2 BODY COMPONENTS The most extensive change in SIMO 3 6 is introduction of data group BODY COMPONENTS By introducing this data group the user can for example model an object sliding along a wire With respect to marine operations this means that guide wires can be modelled Another feature is modelling of sheaves The attachment of a line may also be modified during a simulation Data group BODY COMPONENTS can optionally be specified together within the data defining each body and includes all information about equipment at the attachment points of the coupling elements that can be changed during an analysis The presently implemented feature is winch running Future extensions are special lifting equipment such as heave compensators or winch equipment with automatic modes In SIMO versions 3 4 and earlier winch operation was specified as a part of the data for wire couplings and no further information about the winch could be given SIMO version 3 6 allows the user a more detailed specification of the atta
19. as been removed The mass decoupling term is improved in the PID controller user manual section ref 43 4 3 A3 22 4 A6 6 A6 3 A3 22 3 46 5 A3 16 2 A3 22 7 project no 516412 MARINTEK SIMO 3 6 16 Release notes date 2011 12 09 page 14 of 17 Body component specification This modelling option defines two types of connection points for coupling elements Fixed points at a defined location on the body e Guide point at a defined location on the body but sliding along a coupling element In case of fixed point it is possible to specify types of equipment that may be located at the point Winch Motion compensator DLL only A guide point facilitates the possibility to model guide wires and sheaves A coupling element may be connectable disconnectable at a fixed connection point based on HLA communications The location of a fixed connection point may be controllable based on HLA communication simulating crane operations Body type 4 Body type 4 is assumed earth fixed or given prescribed motions read from file The input specification is similar to body type 1 The use of body type 4 facilitates coupling element functionality where one end is earth fixed Torsethaugen wave spectrum The formulation has been modified according to Torsethaugen ISOPE paper 2004 JSC 193 Wind velocity in time domain This is an option that avoids pre generation of wind velocity and the
20. ber of frequency components used in swell spectrum was determined from frequency increment used for wind waves Normally of no consequence to results e Import of data from MOSES type file INPMOD Reading force transfer functions from MOSES file has been corrected 6 13 Corrections included in SIMO 3 6 1 e Pre generation of time series Error in computation of wave response time series based on transfer functions The error was introduced in SIMO 3 6 0 Erroneous results DYNMOD 6 14 Corrections included in SIMO 3 6 0 This section describes known errors contained in SIMO 3 4 12 and earlier versions that have been corrected in SIMO 3 6 e Restoring forces computed by STAMOD For bodies with body number gt 1 the applied and presented restoring forces during static analysis are incorrect The only reliable results for restoring force in STAMOD are for body number 1 the first body at the sys file Erroneous results STAMOD Moments from docking cone coupling elements were wrong For bodies with docking cone coupling the moments were not calculated correctly This will normally have small influence on the calculated motions but if the docking pin at a small body is located at some distance from the origin the incorrect moments may be of significance Erroneous results e Hydrodynamic coupling The coupling forces due to hydrodynamic coupling were not calculated correctly unless the
21. ce and hydro static buoyancy force but no wave particle acceleration was specified parts of the Froude Krylov were erroneously taken into account Erroneous results e BERTHING FENDER DATA and FENDER COUPLING The combination of spherical fender point and fender roller was intended to be an illegal specification Check on input has been included Erroneous results e FIXED BODY ELEMENT The wave force at a FIXED BODY ELEMENT was computed at wrong position of the element Erroneous results e Zero thruster force in case of no DP system The thrust forces were erroneously set to zero in stead of using the specified thruster force 6 12 Corrections included in SIMO 3 6 2 e MULTIPLE WIRE COUPLING in connection with BODY COMPONENTS The error occurs when attachment points of multiple wire coupling are specified by use of BODY COMPONENTS Erroneous results e Too small internal work array STAMOD In case of irregular waves and no wave drift coefficients given for any body results from STAMOD are erroneous Erroneous results STAMOD A3 18 2 A3 18 3 A3 22 4 46 6 43 18 3 46 2 project no 516412 MARINTEK SIMO 3 6 16 Release notes date 2011 12 09 page 11 of 17 e Export responses for visualization STAMOD Correction to avoid access violation when export of forces from force models is enabled No consequence to results e Swell specrum DYNMOD Num
22. chment point with relevant equipment In SIMO 3 4 the coupling line SIMPLE WIRE COUPLING included a parameter NRUN with which it was possible to adjust the length of the line during a simulation In SIMO 3 6 the parameter NRUN shall not be given Instead a winch with specified properties is defined under data group BODY COMPONENTS Examples are given below 2 1 Changes in input data Parameters NRUN and TSTART TSTOP RUNVEL specifying winch operation shall no longer be given as a part of the SIMPLE or MULTIPLE WIRE COUPLING data Instead these data are moved to data group BODY COMPONENTS Examples from the SIMPLE WIRE COUPLING data Ver 3 4 EA RLEN FLEXC NRUN DAMPSW 8 8E4 250 0 2 1000 NRUN lines with data regarding winch running TSTART TSTOP RUNVEL 5y 100 2 100 TIO 0 05 Ver 3 6 BODY COMPONENTS Coupling point type FIXED project no 516412 MARINTEK SIMO 3 6 Release notes oe O AE APPENDIX A Ver 3 6 EA RLEN FLEXC DAMPSW 8 8E4 250 0 1000 TSTART TSTOP RUNVEL The parameters regarding running of winch must be given as a COUPLING POINT in the data group BODY COMPONENTS Each body defined in the system description file sys file can have several coupling points If the ends of a coupling line is attached fixed to a body and no winch operation is specified the attachment points can be specified as in
23. d in SIMO 3 6 12 7 6 6 Corrections included in SIMO 3 6 8 Ne 7 6 7 Corrections included in SIMO 3 6 7 o cccccccccessssccceessscececesssececesaeeeceeseseeceesssseeeeseaeeeeeees 8 6 8 Corrections included in 110 30 0 8 6 9 Corrections included in SIMO 3 6 5 sake he Gsan eed dd ated eer hele es 9 6 10 Corrections included in SIMO 3 6 4 0 9 6 11 Corrections included in SIMO 3 6 3 0 10 project no 516412 MARINTEK SIMO 3 6 16 Release notes date 2011 12 09 page 2 of 17 6 12 Corrections included in SIMO 3 6 2 0 10 6 13 Corrections included in SIMO 3 6 1 et 11 6 14 Corrections included in SIMO 3 6 0 0 11 7 New improved modelling functionality 5 1 3 6 sss 13 WE SIMO IS AST CS en de sa tach Mls titans occa be Steet ps ased a ase oe io ee 13 7 2 SIMO visualisation SIMVIS and HLA communication ppp 15 System description file modifications 00000000 sss 16 9 Menu MO 0 sess opsit ds ssooos ses sosei pese eois sasoie seostes otos eoss 16 10 Useful tols er 17 10 1 SIMO modelling 10 17 10 2 System Description File generator SYSGen 17 APPENDIX A Modifications of SIMO sys files SIMO version 3 4 to 3 6 MARINTEK SIMO 3 6 16 Release notes projectno 516412 date 2011 12 09 page 3 of 17 1 SIMO 3 6 RELEASES 1 1 SIMO 3 6 0 Released 07
24. ds This corresponds to specifying 6MB MARINTEK SIMO 3 6 16 Release notes date project no 516412 2011 12 09 page 6 of 17 6 Error corrections 6 1 Corrections included in SIMO 3 6 16 e INPMOD Calculation of retardation functions If frequency dependent damping is given at a SIF file some retardation functions have to be calculated even if the variation damping is small Corrected e Print of static forces in STAMOD The thrust forces are now printed separately and not included in positioning forces 6 2 Corrections included in SIMO 3 6 15 e Diffracted wave transfer functions The diffracted wave transfer functions have to be given for wave elevation and particle velocity in X Y and Z direction A check that all 4 trf s are given is included e Dynamic positioning Thrust forces STAMOD option Active DP in static calc Y N did not work If thrusters were specified and no DP system the thrust forces became zero in DYNMOD Corrected 6 3 Corrections included in SIMO 3 6 14 e Directions for which responses should be pregenerated The directions were not always calculated correctly Improving error message 6 4 Corrections included in SIMO 3 6 13 e Directions for which responses should be pregenerated The directions were not always calculated correctly Corrected e Fixed force elongation When the distance between the coupling points becomes zero the coupling force direction wi
25. finite dimensions In version 3 6 the dimensions of the fender plane may be given DOCKING CONE positioning and coupling Version 3 4 Docking cone positioning was specified as FIXED FORCE ELONGATION with IMETH 4 Docking cone coupling was specified as FIXED ELONGATION COUPLING with IMETH 4 Damping data given for positioning and coupling are dummy Version 3 6 Docking cone positioning is specified as DOCKING CONE POSITIONING Docking cone coupling is specified as DOCKING CONE COUPLING Damping data given for positioning and coupling are used Friction parallel to cone surface is included input line with RADMAX and FRIC TIME DEPENDENT MASS Version 3 4 Variation of mass was specified as mass at pre defined time instances Version 3 6 TIME DEPENDENT MASS may be of type POINT or TANK with dimensions Mass volume flow rate is specified instead of mass at pre defined time instances Type TANK gt Tank with specified dimensions is given Quasi static forces due to free surface effects are included SIMPLE WIRE COUPLING Version 3 4 The parameter NRUN and lines with data TSTART TSTOP RUNVEL are removed Version 3 6 Data regarding running of winch are moved to data group BODY COMPONENTS MULTIPLE WIRE COUPLING Same modifications as for SIMPLE WIRE COUPLING DYNAMIC POSITIONING DATA Version 3 6 Input line with parameter IDP shall now shall now precede line with IFO IFO2 Line with IFO1 IFO2 IFO6 has additional parameters IDPMOD
26. h for soil penetration The reference depth for start of penetration may be updated from seafloor topology data for the actual x y position of the body Visualisation HLA Visualisation HLA HLA HLA HLA project no 516412 MARINTEK SIMO 3 6 16 Release notes date 2011 12 09 page 16 of 17 8 System description file modifications This section gives a brief overview of modifications to the system description file for version 3 6 as compared to version 3 4 Description of new functionality is not described A detailed description of modifications both with regard to old and new functionality together with examples is given in Appendix A DOCKING CONE POSITIONING Version 3 4 Specified as FIXED FORCE ELONGATION with IMETH 4 Version 3 6 Specified as DOCKING CONE POSITIONING DOCKING CONE COUPLING Version 3 4 Specified as FIXED ELONGATION COUPLING with IMETH 4 Version 3 6 Specified as DOCKING CONE COUPLING SIMPLE WIRE COUPLING Data regarding winching have been removed That is The parameter NRUN and lines with data TSTART TSTOP RUNVEL are removed Data regarding winch run are moved to data group BODY COMPONENTS MULTIPLE WIRE COUPLING Similar modifications as for SIMPLE WIRE COUPLING DYNAMIC POSITIONING DATA Extra input line 9 Menu modifications Note that the menus applied during run of all modules have been modified However all previous options for analysis provided by
27. length of the wind time series will not limit the simulation duration In the future it will be possible to change the wind specification by HLA communication A3 23 A7 3 project no 516412 MARINTEK SIMO 3 6 16 Release notes date 2011 12 09 page 15 of 17 7 2 SIMO visualisation SIMVIS and HLA communication Results from SIMO and RIFLEX static and dynamic analyses can be visualised by use of the 3D visualisation tool SimVis SimVis is licensed directly from MARINTEK SIMO can also exchange selected parameters with other programs in a simulator setup The communication is handled by a Run Time Infrastructure RTI bus which uses a standard TCP IP network protocol administered by High Level Architecture HLA software HLA communication is not available as standard SIMO licence contract conditions HLA communication was introduced in SIMO v3 4 e Wave visualisation Long crested waves by FFT or cosine series and short crested visualisation waves including diffracted waves may be visualised by SIMVIS both subsequent to analysis and for HLA communication e Visualisation of line profiles e Crane operation The location of a body component fixed connection point may be controllable by HLA communication e Connect disconnect lines at coupling points The functionality is implemented for coupling specification of type simple wire coupling and lift wire coupling e Import of seafloor dept
28. ll be undefined Corrected e Read force time series from file If a force time series are read from file an error may occur in DYNMOD The time series written to file are blocked according to available space Set with the environment variable SIMO_MEM When more than one block is used an error may occur when force time series are read from file Corrected e FLEXIm license wait Windows versions may now wait for a FLEXIm license to become available Waiting is enabled by setting the environmental variable MARINTEK_LICENSE_WAIT to any non null string Windows versions only project no 516412 MARINTEK SIMO 3 6 16 Release notes date 2011 12 09 page 7 of 17 6 5 Corrections included in SIMO 3 6 12 e Depth dependent hydrodynamic coefficients for 3 DOF body mk If the parameter IREF is set to 2 depth referred to still water level slamming forces were not included in the calculated force The stored force time series did not include the force due to contact with bottom Corrected e Body component If a FIXED POINT Data group BODY COMPONENT is defined without a COUPLING WINCH the coupling lines attached to this coupling point will get a wrong line tension Corrected e Distributed element force Depth dependent coefficients may be specified under Distributed Element Force DEF data If the parameter ZREF is different from zero the calculated DEF force will be wrong Corrected e Scaling of dynamic po
29. ristics INTPOM 4 Corrected 6 8 Corrections included in SIMO 3 6 6 e WAVES IN TIME DOMAIN Incorrect realization of waves in time domain when using FFT and cosine series in combination or cosine series alone The frequencies and frequency components were not treated consistent The option FFT and cosine series with different realization has been removed e VISUALIZATION OF REGULAR WAVE SIMULATED WITH COSINE SERIES A regular wave will be visualized if not more than one wave component is given If swell is given waves will not be visualized e FORCE TIME SERIES READ FROM FILE When force time series are read from file and the force is specified to be given in local coordinate system the moment will only be correct if Euler simulation method is used e GENERAL LINE DATA If a system contained general line data STAMOD terminated if static forces were printed e MOMENTS FROM FENDERS The calculated moment at a fender point was slightly wrong e MULTIPLE WIRE COUPLING The calculation of the branch point position is improved project no 516412 MARINTEK SIMO 3 6 16 Release notes date 2011 12 09 page 9 of 17 6 9 Corrections included in SIMO 3 6 5 e READING TIME SERIES FROM FILE If time series were read from more than one ASCII file the reading might fail and lead to program termination Sporadic program termination e 1 ORDER WAVE EXCITATION FORCES FROM MOSES
30. s of 3 bodies VESSEL_A VESSEL_B and LOAD LOAD is sliding along a wire that goes from VESSEL A to VESSEL_B VESSEL A and VESSEL B are of type 4 and cannot move LOAD has two guide points 70000 00 60000 00 40000 00 20000 00 1 SYSTEM DESCRIPTION SIMO 1 txsys 3 lines est of guide points Tt 1 Txt 2 LENUNI TIMUNI MASUNI GRAV RHOW RHOA m S Md 9 81 1 025 0 00125 DEPTH DIRSLO SLOPE 1000 1 BODY DATA SPECIFICATION KKK KKK KK KK KK KK KK 1 CHBDY VESSEL A txbdy 3 lines txbdy txbdy txbdy IBDTYP 4 BODY LOCATION DATA Xglob Yglob Zglob Phi 0 0 0 0 0 0 Theta Psi 0 0 0 0 SIM
31. se managed using the FLEXIm software license management system SIMO 3 4 0 and higher use FLEXIm version 9 2 If you want SIMO to be usable from any networked computer on your site you must run a license manager on a server in your network In order to issue license keys for this license manager MARINTEK needs the following info on your server Hostname and IP address e Operating system and version Win2k WinXP HP UX Linux and SGI supported e FLEXIm hostID Utilities to generate the FLEXlm hostID and FLEXIm End Users Guide can be downloaded from http www macrovision com Utilities and manual are also included on your distribution media Your IT staff is probably already familiar with this procedure as FLEXIm is used by a large number of other applications e g Matlab If you have any questions please contact SIMO support SIMO marintek sintef no 4 Run time DLL You might have to upgrade the FORTRAN dlls on your computer If you get a system error message mentioning the file DFORMD DLL run the dll install program VFRUN66AI exe found on your distribution medium 5 Work array size in DYNMOD and OUTMOD The size of the DYNMOD and OUTMOD work arrays may be specified using the environment variable SIMO MEM The variables give the size in MB 1 6 4 times the number of million words The minimum size is 4 MB and the maximum size is 800 MB The default size of the DYNMOD and OUTMOD work arrays is 4 million wor
32. sitioning estimator time series Some of the time series of response type 23 were not scaled correctly The series were not scaled from radians to degrees For Kalman filter series the surge sway and yaw frequency series were not converted from rad s to Hz Corrected e Slamming forces Slamming forces for data group Distributed element forces are calculated if depth dependent coefficients are given The calculated slamming forces were too small e Pre computation of responses If the transfer functions were given for directions 180 150 180 degrees the pregenerated responses were not always generated for all necessary directions This has been corrected e Reading body motions from file For body type 4 the body motions may be read from file If this is used for a body and the next body is not of type 4 one had to set the parameter IMPTYP to zero Corrected 6 6 Corrections included in SIMO 3 6 8 e Presentation of restoring force STAMOD Forces from coupling elements not included in restoring force curve The error has been present since SIMO release version 3 6 0 Corrected e Calculation of coordinates of contact points when guide points are used In some cases the coordinates of the contact points were not calculated correctly This caused spikes in the generated force time series Corrected e Reading wave drift force coefficients from MOSES file If data for more than 5 directions were given
33. the drift force coefficients were not read correctly from MOSES data file Corrected e Time dependent mass tank with geometry Sometime DYNMOD simulation could terminate uncontrollerd and result in core dump Corrected e Time dependent mass tank with geometry If a sys file containing tank with geonetry was read twice an error occurred section ref MARINTEK SIMO 3 6 16 Release notes date projectno 516412 2011 12 09 page 8 of 17 Corrected e Body motions are read from file body type 4 The body velocity at the last time step was calculated incorrectly Corrected No effect at results Errouneous velocity at the last step in a simulation will normally not cause any error However if a coupling element with large damping is connected to the body then the DYNMOD simulation may end with an error e Guide point Guide point could not leave guide wire when number of guide points was specified to one Corrected 6 7 Corrections included in SIMO 3 6 7 e WAMIT out file containing RADII of gyration and not mass matrix In this case INPMOD generated an erroneous mass matrix Corrected e NUMBER OF SUBDIVISIONS IN SIMULATION Maximum Number of subdivisions in DYNMOD has been increased from 100 to 10 000 No effect on results e FENDER AND BUMPER POSITIONING AND COUPLING It was not possible to specify parabolic interpolation on both FORCE and DAMPING characte
34. txbdy txbdy IBDTYP 4 BODY LOCATION DATA Xglob Yglob Zglob Phi Theta Psi 0 0 0 0 0 0 0 0 0 0 BODY COMPONENTS BODY COMPONENTS COUPLING POINT First guide point at body LOAD chcopo cpltyp xcpl ycpl zcpl Guide_at_VESSEL B guide 0 0 0 dia dv1 dv2 dv3 10 O 0 T 1 BODY DATA SPECIFICATION VK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK CHBDY LOAD txbdy 3 lines txbdy txbdy txbdy IBDTYP 1 BODY LOCATION DATA Xglob Yglob Zglob Phi Theta Psi 48 301 0 0 45 0 0 60 0 0 BODY MASS DATA txmass 2 lines 24 4 02 9 03 rm rixx riyx riyy rizx rizy rizz 1000 10000 0 000 40000 0 000 0 000 40000 HR EE EE EE EE EE EE ET COUPLING DATA UE EE EE EE EE EE EE ET CPLL Coupling between VESSEL A and LOAD t SIMPLE WIRE COUPLING MARINTEK 516412 SIMO 3 6 Release notes Z244 chbdy1 xbdyl VESSEL A 0 T chbdy2 xbdy2 LOAD 0 1 nguide 1 chgupo Guide at VESSEL B T EA R EN 8 8E6 60 5 ifmoco ftime 0 0 DK eee END
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