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Systematic Dynamic Modeling and Simulation of Multibody Offshore Structures: Application to Wave Energy Converters

[+] Author Affiliations
François Rongère, Alain H. Clément

LUNAM Université-École Centrale de Nantes, Nantes, France

Paper No. OMAE2013-11370, pp. V005T06A086; 10 pages
doi:10.1115/OMAE2013-11370
From:
  • ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering
  • Volume 5: Ocean Engineering
  • Nantes, France, June 9–14, 2013
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 978-0-7918-5539-3
  • Copyright © 2013 by ASME

abstract

This article presents a framework to model and perform time domain dynamic simulations of offshore structures presenting several interconnected rigid bodies. Both fixed and 6 degree of freedom floating structures are considered. It uses a robotics formalism to parameterize the kinematic chain of the structures and is robust with respect to the number of bodies involved. Direct dynamics algorithms are given, using a consistent notation across offshore engineering and robotics fields. They use efficient recursive techniques based on Newton-Euler equations. The advantage of this framework is that tedious analytical developments are no longer needed. Instead of that, it is sufficient to provide a data parameter table as well as principal inertia parameters of each body to entirely describe the mechanical structure. An example of simulation is given, based on the 7 degree of freedom SEAREV Wave Energy Converter.

Copyright © 2013 by ASME

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