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The two hydrodynamic coefficients, the damping coefficient and the added-mass coefficient are
incorporated into a single complex coefficient, the radiation impedance. These coefficients become
matrices for a system of interacting wave-generating oscillators. A derivation and an optimization
of the power absorbed by the system are obtained by using a phenomenological theory.
Subsequently the phenomenological parameters are related with hydrodynamics. Finally the
optimum absorption by two heaving point oscillators is considered. It is demonstrated that the
optimum velocity for maximum power absorption is not in all cases in phase with the excitation
force.
0141-1187/80/0200754)652.00
© 1980 CML Publications Applied Ocean Research, 1980, Vol. 2, No. 2 75
Radiatimt imt,edtmcc matrix/or oscillator.s itl .~t,jacc watcs: ,l. t'ulm,,~
veniently assembled into column vectors, F,, F,. and U, Observe from equations (7), (8) and 111) that the net
respectively. Considering equation (2) as a set of equations absorbed power is given by the difference between two
for all oscillators it may be written in matrix form as: terms. The first term, which is linear in oscillator velocity.
represents the incident power due to the given wave. The
F,=F,.-Zt! (3) second term, which is bilinear in oscillator velocity,
represents power radiated into the sea. In the absence of
where Z is a square matrix with elements Z~j. incident waves this is the only non-vanishing term. The
We call Z the radiation impedance matrix in analogy absorbed power is negative, of course, since the oscillators
with term usage in theories for antennae and for acoustic then work as wave generators. Further, it should be
transducers. The complex matrix element Z~j may be observed that both terms vanish if all oscillators are kept
decomposed into its real part Ri/, the radiation resistance fixed (U = 0). Hence the second term does not represent
element, and imaginary part X~ r the radiation reactance reflected or diffracted power from fixed bodies, but only
element. Thus. radiated power from oscillating bodies. The effect of
diffraction on the bodies is included in the excitation force
Zi. / = R i j q- i X i j = R i j -{- ia)mij (4) F e.
If all Fedand all U~ are known, the total power P is given
where ~o is the angular frequency and mlj is the hy- by equation (11) if all the radiation resistance matrix
drodynamic added-mass element. It should be noted that elements Rij are known. However, in order to find the
the radiation resistance is commonly termed 'damping partition of the absorbed power amongst the individual
coefficient' in hydrodynamic texts. For convenience, we oscillators equation (7) shows that knowledge of the
shall thus combine two hydrodynamic real parameters imaginary part of Z~j, or of the added mass matrix, is also
into a single complex parameter, the radiation impedance. required. This knowledge is also necessary in order to find
It can be shown 2 that the radiation impedance matrix is from equation (2) the total force F,.~ acting on each
symmetric: oscillator.
P i -_1
~ R e ( f "t,iUi* )-4(Ft,iUi
_! * + F*iU i) (6) for the optimum value of U. Solving equation (12) with
respect to the optimum complex velocity amplitude we
where an asterix denotes complex conjugate. Using obtain:
equation (2) we find:
1
Pi-- ~(F,,,iUi
1 * + Fe,iUi)-a
* 1 Z (ZijU jU~ ~f-Zi~U~ Ui)
Ui = 2 Gij2Fe,j or U = C,~F e --- Uopt (13)
J
(7) where
The power absorbed by the total systems of oscillators is: G=R -1 (14)
where Pmax
,~
=gFeGFe, - g lF~e R - , w~e
, _ l --
~ , 2~op:'~opt
RIT (15)
R i j = L(Zij + Z * ) (9) In the special case of only one oscillator, the maximum
absorbed power is3:
From the reciprocity relation (5) it follows that:
Pmax=]FelZ/8R for U=Uopt=F~,/2R (16)
Rij = Rji= Re(Zij ) or R =/~ = Re(Z) (10) In this case, the optimum oscillation velocity is in phase
with the excitation force due to the incident wave. This
In matrix notation equation (8) reads phase condition is automatically satisfied by an oscillator
which is in resonance with the incident wave 4.
P = ~(PeU* + F ' U ) - ½ U * R U (11) For a system of oscillators such a phase agreement
since the radiated power equals the incident power in this and, finally,
case. Observe that, while equation (13) gives the sufficient
and necessary condition for maximum P, equation (17) cosh (kz + kh)
gives only a sufficient condition for P = 0. e(kz) = (24)
cosh (kh)
S =USp (26)
%=~Uioi
i
(19) P
g dS
2 20j \~°J Tnn -~°*
~nn(tp° + (Pd)= 0 on all Sp (20) S'
~oi
~O i {;pq onSp = - imp q)j~-~:lS
~nn - on S'p (p' :¢:p) (21) (27)
S,,
Here 8/8n is the normal derivative in the direction of the where S' is any surface within the fluid such that all
outward unit normal h~ to the surface of the body. oscillating bodies are inside S'. If the distance from all
Remembering (1), %q is defined as the x, y or z component bodies to the surface tends to infinity we have S'~S~.
of n, when q = 1, 2 or 3, respectively. Further npq is the x, y Further, it may be shown that:
or z component of the vector rp x n when q =4, 5 or 6,
respectively. Here rp is the position vector referred to a
selected point of body no. p, for instance the centre of mij=XiJ(o = Z,j--Z*2i(o= --P f f ~n (28)
gravity or the centre of buoyancy. s
where
_ 1 - ~''~','* (31) 2.
the radiation condition we can show [cf. eq. (18) of ref. 1] Here a = a(z) is the horizontal radius of the heaving body
that P may be rewritten as equation (8) with: at depth - z, and z = z~ corresponds to the lowest point of
the body. In a submerged body z, corresponds to the
highest point of the body, while for a floating body z~ = 0.
(32)
For a floating shallow body, where e(kz)~ 1, Ap is simply
S the horizontal cross-section at the water line of body no. p.
Using the reciprocity relation (5) and the asymptotic
and with R u as in equation (27)• The formula (32) for the expression for Jo(kdu) a comparison of equation (35) with
excitation force is formally equal to the Haskind formula 7. (37) gives:
However, according to equation (21), ~o~represents a wave
which is radiated from oscillator no. i and scattered from k ~1,'2 Ap e iin,4
all the remaining bodies of the system• (391
Plane incident wave for the heaving point oscillator p. Hence, from equations
Consider an incident plane wave propagating in the (36) and (23), we get:
positive x direction. The complex amplitude of the
velocity potential is: Ril P¢okA2 P{gk3 tanh(kh)}"2A P2
- (40)
2f(kh) 2f(kh)
q~<,=igrloe ikXe(kz) (33)
O)
for the heaving mode in the point-oscillator approxi-
where % is the complex amplitude of the surface elevation mation, Using equations (40)and (39)in equation (37), the
at x = 0 . Inserting for ~oo and (p~ from equations (33) and asymptotic expression for kdu>>l becomes:
(22) into equation (32) and integrating over the distant
surfaces SCj, we obtain ~ 1,'2
•2RiiRjj e x p { - i ( k d u - ~ / 4 ) I
ZU~ ~ ~kdu ~ (41)
F<,.,= pg(2x/k) 1/2b~(x)j(kh)tlo exp { - i(kX,- ~,/4)} (34)
where X~ = Xp is the x co-ordinate of the reference point rp The heaving excitation force on the body no. p is,
= 0 in the body no. p, and bi(x) is the value of b i according to equations (34) and (39) given by:
corresponding to the direction Op= ~t, that is opposite to
the propagation direction of the incoming wave. F,,i=Fe,6p+3,~pgApqoexp{-ikXpl (42)
We shall consider point oscillators, i.e., oscillating Two equal heaving bodies
bodies whose horizontal extension is much smaller than We consider two equal bodies (p = 1 and p = 2), oscillat-
one wavelength. To simplify, we assume that the bodies ing in the heaving mode (q=3), only. The bodies are
are circularly symmetric around a vertical axis and that placed as shown in Fig. I. According to equations (40) and
///
The factor q2, which has a maximum value of q2. . . . ~ 1.67
is the complex amplitude of the heaving excitation force of The denominator in the last term is positive in the
intervals:
a body placed in the origin.
According to equations (15) and (13) the maximum
power absorbed by the two oscillating bodies is: (N - 3/4)rE< kd < N~z (54)