16

Mathematical techniques for wave interaction with exible structures

the famous initial value problem associated with the one-dimensional wave equation 2u 1 2u = 2 2 (1.31) 2 x c t is dened as the problem of determining the real valued function u(x, t) dened in the half-plane (x, t) (, ) (0, ) subject to the initial conditions u(x, 0) = f (x), ut (x, 0) = g(x), (1.32)

is the well known Cauchy problem. The solution for the cauchy problem discussed is given by 1 1 x+ct u(x, t) = [f (x ct) + f (x + ct)] + g(s)ds, (1.33) 2 2 xct and is known as the DAlembert solution for Cauchy problem. Classical methods like integral transforms, separation of variables which is also called eigenfunction expansion method, Greens function techniques are applied to solve a large class of boundary value problems associated with both ordinary and partial dierential equations. Apart from these classical methods, methods like Wiener-Hopf technique, method of steepest descent and complex variable methods, numerical methods based on variational principle, boundary element method, nite element methods are used to deal with initial and boundary value problems associated with elliptic and hyperbolic equations of second order in two/three dimensions. There are several text books on the subject considering various mathematical tools, welposedness/uniqueness of such problems, a few of these text books are cited for easy reference.

1.5

Fundamentals of waves and exible structures

In this Section, the content is highly selective and is neither meant for a complete development of the dynamics of uid/structural mechanics nor of wave propagation. The exact mathematical description of the complex wave structure interaction problem is quite dicult and hence some physical assumptions are to be made to obtain acceptable mathematical model of the physical event at hand. In this Section, various physical assumptions, governing equations and boundary conditions associated with the linearized water wave theory and small amplitude structural equations are discussed in brief. Occurrences of higher order boundary conditions on structural boundaries of wave structure interaction problems associated with Laplace equation are demonstrated and some of the basic characteristics of the associated wave motion are briey discussed in this Section. Further details on waves/structures are available in various text books and research papers in a scattered manner as cited in the reference.

General Introduction

17

y ] ( x, z , t )

Mean water level

y 0
x

y h

Bottom boundary
y h

FIGURE 1.1 Schematic diagram of single layer uid in nite water depth

1.5.1

Basic equations in the linearized water wave theory

The uid motion is considered in the three dimensional Cartesian co-ordinate system (x, y, z) with x-z being horizontal plane and the y-axis being vertically downward positive. It is assumed that the uid is incompressible, inviscid and the uid motion is irrotational in nature. It is assumed that the uid is of homogeneous mass density , and is under the action of gravity and constant atmospheric pressure patm . The uid domain is assumed to be bounded above by the free surface y = (x, z, t) and bounded below by the bottom surface y = h(x, z, t) in nite water depth while it is extended vertically to innity in case of innite water depth as in FIGURE 1.1. The uid domain is extended horizontally in the x and z directions. Thus, the uid occupies the innite strip < x, z < , 0 < y < h(x, z, t) in case of uid of nite depth and in case of innite depth, the uid occupies the half plane < x, z < , 0 < y < . The instantaneous upper uid surface is dened by the wave prole y = (x, z, t), where (x, z, t) is the free surface elevation at time t and is not known a priori. Thus, there exists a velocity potential (x, y, z, t) which satises the Laplace equation as given by ( ) 2 2 2 + 2 + 2 = 0, in the uid domain, (1.34) x2 y z and is related to the uid velocity = (u, v, w) as = (x, y, z, t). q q At the interface of two dierent uids or of a uid and a solid surface, two types of boundary conditions are satised, namely (i) the kinematic condition and (ii) the dynamic condition. In problems of water waves, one comes across interface of the form: (i) air water interface, (ii) interface of two immiscible uids arising in two layer uids having common interface, (iii) the bottom surface and (iv) body surface in the presence of any oating and/or submerged structure. Depending on whether the body is xed or moving,

18

Mathematical techniques for wave interaction with exible structures

oating or submerged, rigid or exible, permeable or impermeable, appropriate boundary conditions are to be used. Further, the bottom bed can be rigid, exible, poroelastic/viscoelastic in nature. The boundary condition on the surface which is open to the atmosphere is a combination of both the kinematic and dynamic free surface conditions and is known as the free surface boundary condition. Often the free surface can be considered rigid or exible depending on the nature of the problem. In the context of the present Section, the free surface boundary condition in the presence of the atmospheric pressure is derived. Let F (x, y, z, t) = 0 describes the surface that constitute a xed or moving boundary. Then, the kinematic boundary condition is derived based on the assumption that there is no gap between the air water interface, which yields DF = 0, (1.35) Dt where D/Dt represents the material derivative or the total derivative and is given by D +u +v +w . (1.36) Dt t x y z It is assumed that the free surface of water is described as F (x, y, z, t) = y (x, z, t) = 0, where (x, z, t) is the vertical displacement of the free surface or the free surface elevation, and y = 0 is referred as the mean free surface. Thus, from Eq. (1.35), the kinematic condition on the free surface in terms of the velocity potential (x, y, z, t) is written as + + = on y = (x, z, t). t x x z z y (1.37)

Next, using Taylor series expansion and assuming that (x, z, t) is small, Eq.(1.37) yields ( ) ( + y t x x z z y y t y=0 ) + ... = 0. (1.38) x x z z
y=0

Under the assumptions of the linearized theory, the velocity of the water particles, surface displacement (x, z, t), and their derivatives are small quantities. Thus, the product and square terms of and are very small. Hence, neglecting the product, square and higher powers of the dependent variables and , from Eq.(1.38), the linearized kinematic condition on the mean free surface y = 0 is obtained as = on y = 0. t y (1.39)

General Introduction

19

Further, on the free surface y = (x, z, t), the dynamic pressure is assumed to be uniform along the wave form and is the constant atmospheric pressure Patm . Neglecting eect of surface tension, from Bernoullis equation,the hydrodynamic pressure Ps on the free surface y = (x, z, t) is given by {( )2 ( )2 ( )2 } Ps 1 + + + gy = . (1.40) t 2 x y z As discussed above, assuming that the hydrodynamic pressure Ps is the same as the ambient atmospheric pressure Patm , which is taken as zero without loss of generality. Proceeding in a similar manner as in Eq. (1.38), Eq.(1.40) yields {( )2 ( )2 ( )2 } ) ( ( 1 + + + + g t 2 x y z y t y=0 {( )2 ( )2 ( )2 } ) 1 + + + g + ... = 0. (1.41) 2 x y z
y=0

Neglecting the product, square and higher powers of the dependent variables and , the linearized dynamic free surface condition on the mean free surface y = 0 is obtained as = g on y = 0. (1.42) t It may be noted that these linearized forms in Eqs. (1.39) and (1.42) can also be obtained by using a perturbation series expansion for and as in Stoker (1957). Eliminating from the Eqs. (1.39) and (1.42), the boundary condition on the mean free surface is obtained as 2 g = 0 on y = 0 2 t y (1.43)

Once is obtained, (x, z, t) can be obtained from one of the relations (1.39) and (1.42). Assuming that the bottom surface is assumed to be impermeable and is given by F (x, y, z, t) = y h(x, z, t) = 0, the kinematic condition at the bottom (as in Eq. (1.35)) yields h h h u w + v = 0. t x z (1.44)

In case of xed rigid impermeable bottom with uniform water depth h which is independent of x, z, t, the bottom boundary condition reduces to = 0 on y = h. y (1.45)

In case of water of innite depth, i.e., when y , the bottom boundary condition is given by , || 0 as y . (1.46)

20

Mathematical techniques for wave interaction with exible structures

y (x, z, t)

Free surface
y 0
x

y h

(x, z, t)

Interface

y h y H h
2

Bottom boundary

y H

FIGURE 1.2 Schematic diagram of two layer uid in nite water depth

Assuming that the uid motion is simple harmonic in time with angular frequency , the velocity potential (x, y, z, t) and the surface elevation (x, z, t) can be written in the form (x, y, z, t) = Re{(x, y, z)eit } and (x, z, t) = Re{(x, z)eit }. (1.47) Thus, the linearised free surface boundary condition (1.43) yields + K = 0 on y = 0, y (1.48)

where K = 2 /g. The condition (1.48) represents the free surface condition at the mean free surface y = 0 (often referred as still water level) in terms of the spatial velocity potential in the absence of surface tension in the linearized theory of surface water waves in case of a single layer uid of homogeneous density having a free surface. It is clear to note that the spatial velocity potential (x, y, z) also satises the boundary conditions in Eqs. (1.45) and (1.46). Next, we will derive the boundary condition to be satised at the interface of two immiscible uids of dierent densities. Assuming that the upper uid is of density 1 and the lower uid is of density 2 , with 2 > 1 , it is assumed that the two uids are separated by a common interface at y = h + 2 with the upper layer bounded above by the free surface y = 1 (x, z, t) and the lower layer is bounded below by the xed rigid bottom y = H as in FIGURE 1.2. Here, 2 (x, z, t) is called as the interface elevation and 1 (x, z, t) is called as the surface elevation. Hereafter, we have used the subscript 1 for the upper uid and 2 for the lower uid respectively. We assume that the uid motions are irrotational, which suggests the existence of the velocity potentials 1 (x, y, z, t) and 2 (x, y, z, t) and each of them satisfy the Laplace equation (1.34) in the respective uid regions. the velocity potential 1 (x, y, z, t) satises the linearised free surface condition (1.43) and 2 (x, y, z, t) satises the linearised

General Introduction

21

bottom condition as in Eq. (1.45) at y = H and Eq.(1.46) as y . In addition, at the interface of the two uids at y = h + 2 , the kinematic condition in (1.35) yields + + = on y = h + 2 (x, z, t). t x x z z y (1.49)

which on linearization yields at the mean interface y = h the boundary condition 1 2 2 = = on y = h, (1.50) y y t where y = 2 (x, z, t) is the interface and 2 (x, z, t) is called the interfacial elevation. In addition, from Bernoullis equation as in Eq. (1.40), the uid pressures P1 and P2 at the interface at y = h + 2 are given by {( )2 ( )2 ( )2 } 1 Pj j j j j + + + gy = . (1.51) t 2 x y z Assuming the uid pressure is continuous across the interface, proceeding in the same manner as in case of single layer uid, the linearized dynamic boundary condition yields ( ) ( ) 1 2 1 g2 = 2 g2 on y = h. (1.52) t t Eliminating 2 from Eqs.(1.50) and (1.52), we obtain ( ) ( ) 2 1 1 2 2 2 s = on y = h. g g t2 y t2 y

(1.53)

where s = 1 /2 < 1. Thus, in case of simple harmonic motion in time with angular frequency , from (1.50) and (1.53), it can be derived that the spatial velocity potential j (x, y, z) satises 1 2 = on y = h, y y ( ) ( ) 1 2 s + K1 = + K2 on y = h. y y (1.54) (1.55)

where K is the same as in (1.48). In case of obliquely incident surface waves in a single homogeneous uid having a free surface, the water surface prole associated with a monochromatic progressive wave is in general given by (x, z, t) = H cos{(kx )x + (kz )z t}, 2 (1.56)

22

Mathematical techniques for wave interaction with exible structures

where H = wave height, k (= 2/) = wave number, = wavelength, = 2/T = angular frequency, T = wave period, kx = k cos and kz = k sin with being the angle made by the wave with the positive x-axis. The corresponding velocity potential (x, y, z, t) satisfying the governing equation (1.34) along with the bottom boundary condition (1.45) and the linearized free surface condition (1.43) is given by (x, y, z, t) = H g cosh k(h y) sin{(kx )x + (kz )z t}, 2 cosh kh (1.57)

where k and are related by the dispersion relation as given by 2 = gk tanh kh. (1.58)

Before proceeding into details on wave transformation, we make a note on wave classication which is based on relative water depth h/. The waves are called shallow water waves or long waves if h/ < 1/20. In case h/ > 1/2, the waves are called deep water waves. In the intermediate range 1/20 < h/ < 1/2, the waves are termed as the intermediate depth waves. The dispersion relation for shallow water reduces to 2 = gk 2 h and in case of deep water waves, it is given by 2 = gk. On the other hand, in case of two layer uids having a free surface and an interface, the surface and interface proles associated with plane progressive waves are in general given by j (x, z, t) = Hj cos{(kx )x + (kz )z t}. 2 (1.59)

where Hj s are the wave heights associated with the free surface and interfacial waves respectively, whilst H refers to the water depth in two-layer uids and h refers to the depth of the upper layer uid from the mean free surface. On the other hand, it may be noted that in case of single layer uid, H refers to the wave height. Thus, the velocity potentials j (x, y, z, t) for j = 1, 2, satisfying the governing equation (1.34) along with the bottom boundary condition (1.45), the linearized free surface condition (1.43) and the interfacial boundary conditions (1.50) and (1.53) are given by j (x, y, z, t) = Hj Yj (y) sin{(kx )x + (kz )z t}, j = 1, 2, 2 (1.60)

g (k cosh ky K sinh ky), 0 < y < h, j = 1 Yj (y) = cosh k(H y), h < y < H, j = 2, sinh k(H h) where k satises the dispersion equation

(1.61)

(1 s)k 2 Kk{coth k(H h) + coth kh} + K 2 {s + coth k(H h) coth kh} = 0. (1.62) Further, as H , Eq. (1.63) can be rewritten as (1 s)k 2 Kk(1 + coth kh) + K 2 (s + coth kh) = 0, (1.63)

General Introduction which yields

2 + = gk, 2 =

23 (1 s)gk . s + coth kh

(1.64)

Eq.(1.64) ensures that in case of water of innity depth, waves in surface mode satises the dispersion relation 2 = gk, which is the same as the deep water wave dispersion relation for homogeneous uid having a free surface. Further, 2 for kh >> 1, = (1 s)gk/(1 + s). However, in general the dispersion relation (1.62) has two real roots k = k1 , k2 with k1 > k2 (say). The root k1 corresponds to the wave number associated with the wave propagating at the free surface and k2 corresponds to the wave number associated with the wave propagating at the interface. Often k1 is called the wave in surface mode and k2 is called the waves in interface/internal mode. As discussed in subsection 1.4.2, in case of a boundary value problem (BVP) associated with Helmholtz equation, the uniqueness of the solution demands appropriate radiation condition to be prescribed at far eld for problems dened in an innite/semi-innite domain. In case of water wave problems, often the uid domains are either the half/quarter-planes or innite/semi-innite strips depending on whether the problem is considered in water of innite or nite depths. Thus, the far eld boundary conditions in case of plane progressive waves in case of single layer uid having a free surface in terms of the velocity potential (x, y, z, t) is of the form (x, y, z, t) {Aeikx x + Bei(kx x }ei(kz zt) 0 (y), as x in case of nite depth with 0 (y) = cosh k(h y)/ cosh kh and (x, y, z, t) {Aeikx x + Bei(kx x }eky+i(kz zt) , as x (1.66) (1.65)

in case of innite water depth. The constants A and B in Eqs. (1.65) and (1.66) are associated with wave amplitudes at far elds. The part of the potential which is outgoing in nature is the radiated potential and the part of the potential which is inward in nature is the incoming potential associated with the wave eld. Thus, the associated wave eld will satisfy the radiation condition which is similar to that of the Sommerfelds radiation condition associated with Helmholtz equation. On the other hand, in case of two layer uids having a free surface and an interface, the far eld boundary condition in terms of the velocity potential (x, y, z, t) is of the form (x, y, z, t)
II i=I

Yj (y){Ai eikix x + Bi eikix x }ei(kz zt) as x , (1.67)

in case of nite depth. On the other hand, in case of innite water depth, the form of radiation condition will remain the same form with H with the subscripts I and II corresponding to waves in surface and internal

24

Mathematical techniques for wave interaction with exible structures

modes respectively. The constants Ai , Bi , i = 1, 2 are associated with the wave amplitudes in surface and internal modes respectively. The phase velocity or wave celerity c associated with a plane progressive wave in a single homogeneous uid is dened as the rate of propagation of the wave form and is given by g = = tanh kh. (1.68) c= T k k In case of shallow water waves, the phase velocity is given by c = gh, which shows that the phase velocity in case of shallow water depends only on the water depth, whilst in case of deep water, c = g/k. On the other hand, when two progressive waves of same heights H propagate in the same direction with slightly dierent frequencies and wave numbers, the resulting prole as in Eq. (1.56) has a wave form moving with velocity c = /k, modulated by a wave envelope that propagates with velocity cg , and is known as the group velocity. The group velocity is the rate at which the wave energy transfers and is dened as d cg = = nc, (1.69) dk where n = (1 + 2kh/ sinh kh)/2. It can be easily derived that { 1, in case of shallow water n= (1.70) 1/2, in case of deep water. For further details on water waves classical text books by [61] [12], [68] may be referred. NB. In case of small amplitude wave theory, the velocity potential satises the Laplace equation along with the free surface and bottom conditions. However, the free surface (x, z, t is related with the velocity potential (x, y, z, t) through the dynamic and kinematic conditions. In this case, (x, z, t) satises the wave equation (1.23) with c = /k. From equation (1.56), it is clear that the characteristics of the surface prole depends on the physical quantities namely, wave height H, wavelength , phase velocity c and the wave incident angle . In addition, change of phase also plays a signicant role on the surface prole and wave processes. Various physical processes are associated with the suitable control of these physical parameters. Some of the major physical processes associated with wave transformations are scattering, radiation, refraction, shoaling, wave breaking, vortex formation and shedding, wave energy dissipation, phase interaction etc. Often these physical changes in waves are observed when the wave interact with various types of structures in the marine environment, a brief details of some of the physical processes will be discussed as and when required.

General Introduction

25

1.5.2

Basic structure equations

In this Section, we will derive the governing plate equation and the associated edge conditions that are described by the classical thin plate theory. This theory is the two-dimensional analogue of Euler-Bernoulli beam theory. A plate is dened as a body, in which one dimension, say y, is very small compared to the other two dimensions. Here, we are only concerned with the transverse bending of the plate that includes large in-plane tensile and compressive forces. Here, it is assumed that the stress normal to the plate is zero throughout the plate. In addition to that, since this assumes that the surface of the plate is eectively stress-free, we also assume that the shear stress in the x-y and y-z plane are also zero. These assumptions comprise what is known as the plane stress assumptions of linear elasticity theory. For an isotropic homogeneous thin elastic plate undergoing small deformations in the presence of in-plane compressive forces Nx and Nz , the governing equation for the plate deection (x, z, t), under the assumption of thin plate theory is given by ([38]) EI4 Nx xz 2 2 2 Nz 2 + p d 2 = F (x, z, t), x2 z t (1.71)

where 4 = 2 2 , 2 = 2 /x2 + 2 /z 2 , EI is the exural rigidity of xz xz xz xz the plate, E is Youngs modulus, I = d3 /12(1 2 ) , d is plate thickness, is Poissons ration, and F (x, z, t) is the force acting on the structure. Hereafter, we will use Nx = Nz = N for uniform compressive force and Nx = Nz = T for uniform tensile force in the monograph. On the other hand, under the assumption that the membrane is a thin, homogeneous and inextensible sheet with uniform mass(p d), where d is the thickness of the membrane and p is the density of the membrane acting under uniform tension T , the governing equation for the membrane deection (x, z, t), under the assumption of small amplitude of membrane deection is obtained directly from the governing equation of the exible plate by putting E = 0 and Nx = Nz = T and is given by 2 T 2 + p d 2 = F (x, z, t). (1.72) xz t In case of wave structure interaction problems, depending on the nature of the physical problem, a class of edge conditions ([38]) are prescribed at the ends of the exible structure. These conditions are required not only as a physical requirement but also for unique determination of the solution of the associated mathematical problem. Assuming that (x, z, t) is the surface displacement of the oating elastic plate and/or membrane, we describe various types of edge conditions, which occur frequently in the problems of wave interaction with oating exible/membrane structures. 1. For clamped or built in edge, the displacement and the rotation (slope) of the plate at the plate edge are zero and hence

26

Mathematical techniques for wave interaction with exible structures = 0. x

= 0 and

(1.73)

2. In case of simple-supported or hinged edge, the plate displacement is zero at that edge along with the zero restraining moment. Hence, = 0 and 2 2 + 2 = 0. 2 x z (1.74)

3. In case of free edge with no in-plane forces, there are no restraining moments and shear forces which yields 2 2 { 2 } 3 + 2 = 0 and xz + (1 ) = 0. 2 x z x x 2 z (1.75)

4. In case of a free edge plate with compressive in-plane force N, the edge conditions will be of the form 2 2 + 2 =0 2 x z [ { } 3 ] and EI 2 + (1 ) +N = 0. xz x x 2 z x

(1.76)

5. For free edge plate resting on a linear spring along an edge, the plate deection satises 2 2 } 2 { 2 + 2 = 0 and EI xz +(1) 2 = s0 k0 , (1.77) 2 x z x z where k0 is the spring constant and s0 = 1 at the right edge of the plate and s0 = 1 at the left edge. 6. In case of a torsion spring attached along a free edge with no inplane forces, the edge condition is of the form { 2 2 } 2 2 xz + (1 ) 2 = 0 and + 2 = s0 0 , (1.78) 2 x z x z x where 0 is the torsion spring constant and s0 = 1 at the right edge of the plate and s0 = 1 at the left edge. 7. For a torsion spring attached along a simple supported edge (springhinged), the edge condition is given by = 0 and EI 2 = s0 0 x2 x (1.79)

where 0 is the torsion spring constant and s0 = 1 at the right edge of the plate and s0 = 1 at the left edge.

General Introduction 8. In case of a torsion spring attached along a free edge with in-plane forces, the plate deection satises 2 2 + 2 = s0 0 x2 z x [ { } 3 ] and EI 2 + (1 ) +N = 0. (1.80) xz x x 2 z x 9. In the case when two elastic plates are connected by a series of vertical linear spring with stiness k33 and/or exural rotational spring with stiness k55 at the origin. The vertical spring transmit the shear force that is determined by the displacement dierence. On the other hand, the rotational spring transmits the bending moment that determined by the dierence of the gradient of the edges of the elastic plate. Thus, the shear force and the bending moment at the connecting edge satisfy the edge conditions as given by ([10], [72]) { } { } 2 2 + , (1.81) EI + 2 = k55 x2 z x x { } { 2 2 } + EI xz + (1 ) 2 = k33 . (1.82) x z However, the limiting case k33 = k55 = 0 corresponds to the case of free edge conditions, which physically implies that the bending moment and the shear force vanishes at that edge of the structure. This case occurs when the study involves the wave scattering by a freely oating elastic plate. On the other hand, k33 , k55 = 0 corresponds to the case of hinge connector, whilst k33 and k55 corresponds to the case of a continuous plate (see [72], [27] for further details). 10. Assuming that the plates are connected by mooring lines with stiness q1 and q2 at the edges, the bending moment and shear force at the connecting edges satises the edge conditions ([28]) xx (x, y) = 0 and Dxxx = q, (1.83)

27

where q is the stiness constant at the edge. It may be noted that if the stiness constant q = 0, then the oating elastic plate behaves as a plate with free edge. Unlike the case of a exible elastic plate, in case of a exible membrane, the following two types of edge conditions are commonly used. 1. At a xed or clamped end of a spring, the transverse displacement is zero at the edge, which yields (x, t) = 0, (1.84)

28

Mathematical techniques for wave interaction with exible structures 2. Suppose a weightless rigid loop attached to the end of a string. The loop slides without any friction on a rigid vertical bar so that a tension T can be maintained throughout the string. Around this bar is a spring of constant q0 attached at one end to the loop and at the other end to a xed support. The force required to displace the spring is q0 . The component of tension through a small angle d/dx about the rigid loop, is T d/dx. Equating the restoring forces in the spring to the transverse component of the tension yield T = q0 . x (1.85)

The edge conditions prescribed at the edge of the structure can be represented in terms of the velocity potentials using the kinematic condition as in Eq. (1.35). Thus, depending on the nature of the physical problem, the edge conditions will give rise to a class of boundary conditions which are of higher order and prescribed at the edges of the structures to deal with the boundary value problem associated with Laplace equation. The details will be discussed while dealing with specic problems in various Chapters.

1.5.3

Wave motion in the presence of oating structure

Often, wave structure interaction problems, the uid and structure parts are analyzed separately and are coupled at the end to obtain required physical quantities (As in [50], [29]). On the other hand, in this subsection, the kinematic and boundary conditions at the interface of the structure and the uid are coupled and are presented in terms of the velocity potential (as in [14], [49]). As a result, the physical problem is easily expressed as a boundary value problem associated with Laplace equation as in Eq. (1.34) satisfying the higher order boundary in terms of the velocity potential (x, y, z, t). Assuming the uid characteristics as in subsection 1.5.1, the uid pressure Ps is obtained from the linearized Bernoullis equation as given by Ps = + g, t (1.86)

where is the density of water and g is the acceleration due to gravity. It is assumed that a thin homogeneous isotropic elastic plate under uniform in plane compressive force N is oating in the homogeneous uid of density in case of a single layer uid at the still water level y = 0 as in Figure 1.3 . Assuming that there is no gap between the oating elastic plate and the surface of the plate, proceeding in a similar manner as in Eq. (1.35), the linearized kinematic condition at the mean plate covered surface y = 0 is given by = on y = 0. t y (1.87)

where (x, z, t) is the plate deection. Further, in the presence of uniform

General Introduction
y ( x, z , t )
Floating elastic plate
x z

29

y 0

y h

FIGURE 1.3 Schematic diagram of oating elastic plate in nite water depth

compressive force N , the two dimensional thin plate equation as in Eq. (1.71) yields 2 p d 2 = EI4 N 2 Ps (x, z, t), (1.88) xz xz t where Ps (x, z, t) is the external pressure due to the uid. Combining the kinematic and dynamic boundary conditions as in Eqs. (1.86) - (1.88), and assuming that the atmospheric pressure Patm is constant on the free surface y = , we have Ps = Patm = 0 (without loss of generality) on the free surface y = , the linearized boundary condition on the plate covered mean free surface y = 0 is obtained as ( 2 ) 2 EI4 + N 2 + g + p d 2 = 2. (1.89) xz xz t y t Thus, in case of time harmonic motions with angular frequency , in terms of the spatial velocity potential (x, y, z) as in Eq. (1.47), the plate covered mean free surface condition in Eq. (1.89) yields } { xz xz D4 + Q2 + 1 + K = 0, y on y = 0, (1.90)

where D = EI/(g p d 2 ), Q = N/(g p d 2 ), K = 2 /(g p d 2 ). Utilizing that satises the Laplace equation, Eq. (1.34) is rewritten as
3 5 + K = 0, D 5 Q 3 + y y y

on y = 0,

(1.91)

On the other hand, if D = 0, N = T and T = T /(g p d 2 ), Eq.(1.91) reduces to 3 + K = 0, on y = 0, T 3 + (1.92) y y

30

Mathematical techniques for wave interaction with exible structures

12

Q=0(D)

1/2

Q=(D)1/2 Q=(1/3)(20D)1/2 Q=2(D)1/2

10

Phase velocity

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Wave number (m1)

FIGURE 1.4 Phase velocity of exural gravity waves in nite water depth

which represents the mean free surface condition in presence of a oating membrane under uniform tension T with p as the mass density of the membrane. Putting p 2 = 0, the mean free surface boundary condition associated with capillary gravity wave motion in the linearised water wave theory as discussed in [46] is obtained in a straightforward manner. Assuming that the plate deection is of the form (x, z, t) = Re{aei(kx x+kz zt) }, where a is the amplitude of the plane exural gravity wave and kx = k0 cos , kz = k0 sin where is the angle of incidence of the plane exural gravity waves propagating below the oating elastic plate and k0 is the wave number associated wits the exural gravity waves. Using the boundary conditions in the plate covered surface as in Eq.(1.89), the velocity potential (x, y, z, t) in the plate covered region can be obtained in the form
2 4 a(EIk0 N k0 p dm 2 + g) cosh k0 (h y) i(kx x+kz zt) e , i cosh k0 h (1.93) where k0 is the wave number associated with the exural gravity wave, which satises the dispersion relation in k as given by

(x, y, z, t) =

(EIk 4 N k 2 p d 2 + g)k tanh kh = 2 .

(1.94)

Assuming p d 2 << 1 (as in [57]), the dispersion relation (1.94) reduces to (Dk 4 Qk 2 + 1)k tanh kh = K, (1.95)

where D = EI/g, Q = N/g, K = 2 /g. In particular, in case of innite water depth, the dispersion relation in Eq.(1.95) reduces to (Dk 4 Qk2 + 1)k = K, (1.96)

General Introduction

31

Q=0(D)1/2 20 Q=(D)
1/2 1/2

Q=(1/3)(20D) 15 Q=2(D)1/2

Group velocity

10

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Wave number (m1)

FIGURE 1.5 Group velocity of exural gravity waves in nite water depth

which has a real root at k = k0 (say). Thus, the phase velocity c and group velocity cg associated with the exural gravity waves in innite water depth are obtained as { }1/2 g(Dk 4 Qk2 + 1) g c= and cg = (5Dk 4 3Qk 2 + 1). (1.97) k 2 For the minimum phase velocity cmin , the wave number k0 has to satisfy 2 2 2 the relation (3Dk0 Q)k0 = 1, which in turn yields that for Q = 2Dk0 , cmin = 0. This value of Q is referred to as critical compressive force Qcr and the corresponding wave number is referred to as the critical wave number pcr and is given by pcr = (1/D)1/4 which yields Qcr = 2 D. In case, Q exceeds Qcr , from relation in Eq.(1.96), 2 becomes negative, which contradicts the existence of a real frequency and in this situation, instability in the oating elastic plate may occur. On the other hand, for 0 Q < Qcr , cmin is a nonzero value for all values of the wave number k0 . Further, from the second relation of Eq.(1.97), the group velocity cg can be rewritten as [ ( )2 ] g 3Q 9Q2 2 5D k0 +1 , (1.98) 2 10D 20D which becomes positive denite for Q < 20D/3 = Qcg . Hence, the group velocity cg becomes zero or negative for Qcg Q Qcr which implies that the wave crest and the wave group will propagate in opposite direction. It is clear from Eq.(1.98) that when Q = Qcg and k0 = (1/5D)1/4 , the group velocity vanishes. Further, it may be noted that the critical value Qcr for which the phase velocity vanishes is the same as the buckling limit of the compressive force as in [30]. On the other hand, in case of shallow water cg =

32

Mathematical techniques for wave interaction with exible structures

depth, the dispersion relation in Eq.(1.95) reduces to (Dk 4 Qk 2 + 1)k 2 gh = 2 . (1.99)

Eq.(1.99) has a real root at k = k0 . It can be easily derived from relation (1.99) that, the phase velocity c and group velocity cg are given by ( c= g(Dk 4 Qk 2 + 1)h k )1/2 , cg = gkh [3Dk 4 2Qk2 + 1)]. (1.100)

As in case of nite water depth, in this case also, it is obvious that for Q = Qcr = 2 D, c = cmin = 0. The behavior of phase and group velocity versus wave number are plotted for various values of the compressive force in Figure 4 and Figure 5 with = 0.3, g = 9.81ms2 , exural rigidity of the elastic plate EI = 105 Nm, water density = 1025kgm3 , time period T = 5s and water depth h = 20m in case of nite water depth (See [23] and [57]). Unlike the case of gravity waves, the average total wave energy per unit surface area associated with the plane exural gravity waves is the sum of the average potential energy, kinetic energy and the surface energy. In the context of exural gravity waves, the surface energy is generated due to the deection of the oating ice sheet against the exural rigidity of the oating ice sheet and is same as the strain energy (see [38]). For a plane exural { } gravity wave prole (x, z, t) = Re Hei(x+lzt) /2 , the average potential energy V, kinetic energy T and the surface energy S over one wavelength in the presence of uniform compressive force N are given by V= l 2 2
x+ 2 x

z+ 2 l

g(h+)
z

(h + ) 1 dxdz = gH 2 , 2 16 [( )2 + ( )2 + ( )2 ] dxdydz

l 2 2 2 p dl 4 2

x+ 2

z+ 2 l

x x+ 2 x

z+ 2 l

+ =

)2 dxdz

gH 2 (Dk 4 Qk2 + 1 + 2p d 2 /g), 16 gH 2 {Dk 4 Qk 2 }, 16

z

S = Fh +Fn +Fp = where gD l Fh = 2 2 2

x+ 2

z+ 2 l

2 2 + x2 z 2

)2 dxdz,

General Introduction l Fn = gD(1) 2 2 Fp = gQ l 2 2 2

x+ 2 x

33 )2 ] 2 2 2 2 2 dxdz, xz x z z {( )2 ( )2 } z+ 2 l + dxdz. x z z
z+ 2 l

[(

x+ 2

Thus, the total energy density in case of exural gravity waves is given by gH 2 (Dk 4 Qk 2 + 1 + p d 2 /g). (1.101) 8 Therefore, the average energy ux F over a time period is obtained as the product of the group velocity cg and energy density E, which yields E =V +T +S = F = Ecg . (1.102)

It may be noted that the kinetic energy density is equal to the sum of the surface energy density and the potential energy density. The strain energy in case of exural gravity waves is similar to the surface energy in case of capillary gravity waves (see [68][Sect. 15]). The equations of motion of the elastic plate are simpler in case the plate is thin compared to the wavelength of the incoming waves. Conventionally, this is the thin-plate equation that includes elastic eects. On the other hand, if the plate thickness is large enough in comparison with the incoming wavelength, we need to adopt the more complicated Timoshenko-Mindlin equation ([13], [2]). We further consider a mean compressive stress N in the oating elastic plate. Excluding the term due to dissipation in the elastic plate, TimoshenkoMindlin thick plate equation in terms of the plate deection (x, t) in one dimension is given by ( 2 2 )( 2 mS 2 ) 2 2 EI 2 mIR 2 +N 2 +m 2 x t x2 EI t2 x t ( 2 IR S 2 ) = 1S 2 +m Ps , (1.103) x EI t2 where EI = Ed3 /12(1 2 ) = exural rigidity of the elastic plate, E = Youngs modulus, d = thickness of the elastic plate, = Poisson ratio, m = p d, p = density of the elastic plate, N = compressive force, S = 12EI/ 2 Gd = shear deformation of the elastic plate, G = E/2(1 + ) = shear modulus, IR = d2 /12 = rotary inertia and Ps = external pressure. In the present problem of our concern, the external pressure is due to the uid beneath the elastic plate. Assuming that the motion is simple harmonic in time with angular frequency , and combining the Eqs. (1.86), (1.87) and (1.103), the plate covered boundary condition in case of thick plate in terms of the spatial velocity potential (x, y) in a two dimensional uid domain is obtained as ( 2 4 ) ( 2 ) c0 + c1 2 + c2 4 + d0 + d1 2 = 0 on y = 0, (1.104) x x y x

34

Mathematical techniques for wave interaction with exible structures

y ( x, z , t )
Floating elastic plate
x

y 0

( x, z , t ) h

Submerged flexible plate

y h

H h
2

y H

FIGURE 1.6 Schematic diagram of oating and submerged plates in nite water depth

where c0 = m2 4 (IR S/B) + g m 2 , c1 = m 2 (S + IR ) + N , c2 = EI, d0 = 2 {1 2 m(IR S/EI)} and d1 = 2 S. It may be noted that in case of L/d < 10, where L is the characteristic length of the elastic plate, shear deformation and rotary inertia play important roles. In such situation, one has to use the Timoshenko-Mindlin thick plate model to describe the dynamics of the oating elastic plate. On the other hand, if L/d > 10, then shear deformation and rotary inertia can be neglected and in such a situation, the thick plate equation reduces to the thin plate equation in one-dimension as in Eq. (1.91) with in-plane uniform compressive force N .

1.5.4

Wave interaction with oating and submerged structures

In this subsection, the wave motion in the presence of both oating and submerged horizontal exible structure is analyzed. The problem is formulated in a two layer uid of densities 1 and 2 respectively. Both the cases of nite and innite water depths are considered in the present subsection. The mathematical problem is of general nature from which the formulation of realistic physical problems can be obtained as particular cases. Under the assumption of the linearized theory of water waves and small amplitude structural response, the problem is considered in the three dimensional Cartesian coordinate system with x z being the horizontal plane and y-axis being in the vertically downward positive direction. An innitely extended thin elastic plate is oating at the still water level (mean free surface) y = 0 in the innitely extended uid, whilst an innitely extended submerged exible plate is kept horizontally at the mean interface y = h in the uid domain domain as in Figure 1.3. It is assumed that a uid of density 1 occupies the region 0 < y < h, 0 < x < , < z < in still water and is referred as region 1.

General Introduction

35

On the other hand, the uid of density 2 occupies the region h < y < H, 0 < x < , < z < in case of nite water depth and h < y < , 0 < x < , < z < in case of innite water depth, in still water and is referred as region 2. It is assumed that y = 1 (x, z, t) is the surface of the oating elastic plate and y = h + 2 (x, z, t) is the surface of the submerged elastic plate, with 1 (x, z, t) being the deection of the oating elastic plate and 2 (x, z, t) being the deection of the submerged plate. Thus, the subscript j = 1 refers to the oating plate and the uid in region 1, whilst j = 2 refers to the submerged plate and the uid in region 2. Assuming the uid is inviscid, incompressible, motion being irrotational, the velocity potential j (x, y, z, t) satises the Laplace equation as in Eq. (1.34). The bottom boundary conditions are given by 2 =0 y and 2 , |2 | 0 as y in case of innite depth. (1.106) at y=H in case of nite depth (1.105)

Proceeding in a similar manner as in Eq. (1.39), the linearized kinematic conditions at the mean surface of the oating and submerged structures are given by 1 1 = , on y = 0, (1.107) t y 2 2 1 = = , on y = h. (1.108) t y y Further, as in Eq.(1.71), the plate deection j in the presence of uniform compressive force satises ( ) ( ) 2 4 2 Ej Ij xz + Nj xz + pj dj 2 j = Pj Pj1 , (1.109) t y=a+ y=a where a = 0, h, Pj (x, y, z, t) is the linearised hydrodynamic pressure in the j-th region for j = 1, 2 and are given by ( ) j Pj = j gj (1.110) t and P0 (x, y, z, t) = Patm (x, y, z, t) is the constant atmospheric pressure exerted on the oating elastic plate near the free surface and g is the acceleration due to gravity. Further, in Eq. (1.109), various physical constants associated with the j-th plate are similar to the one described in Eq.(1.71). Assuming P0 as the constant atmospheric pressure and eliminating P1 and 1 from Eqs.(1.107), (1.109) and (1.110), the linearized condition on the oating thin elastic plate at y = 0 for 0 < x < , < z < is obtained as ) ( 2 ) ( 1 1 2 1 = 1 g . (1.111) E1 I1 4 + N1 2 + p1 d1 2 xz xz t y t2 y

36

Mathematical techniques for wave interaction with exible structures

Eliminating from Eqs.(1.108)-(1.110), the condition on the submerged plate at y = h for 0 < x < , < z < is obtained as ( ) ( 2 ) 2 2 2 2 4 2 E2 I2 xz + N2 xz + p2 d2 2 = 2 g t y t2 y ) ( 2 1 1 1 g . (1.112) t2 y Assuming that the motion is simple harmonic in time with angular frequency , the uid motion is described by the velocity potentials j (x, y, z, t) = Re{j (x, y, z)eit } for j = 1, 2. Further, it is assumed that the deection of the oating and submerged plates are of the forms j (x, z, t) = Re{j (x, z)eit) }. Thus, the spatial velocity potential j satises Eq.(1.34) along with bottom boundary condition as in Eqs. (1.105) and (1.106). The linearized kinematic condition on the exible submerged plate surface at y = h for 0 < x < , < z < as in Eq. (1.108) yields 2 y =
y=h+

1 y

.
y=h

(1.113)

Assuming in case of both the plates pj dj 2 << 1 as in case of subsection 1.5.3, from Eq. (1.111), the condition on the oating plate at the mean free surface y = 0 for 0 < x < , < z < in terms of the spatial velocity potential 1 satises D1 5 1 3 1 1 Q1 + + K1 = 0, 5 3 y y y on y = 0, (1.114)

whilst, from Eq. (1.112) on the submerged exible plate at y = h, for 0 < x < , < z < , j s satisfy ( ) 5 2 3 2 2 1 D2 Q2 + + K2 = s + K1 , (1.115) y 5 y 3 y y where K and s are the same as in Eq. (1.55), Dj = Ej Ij /j g, Qj = Nj /j g. For s = 1, an equivalent form of Eq. (1.114) is given by
5 3 2 Q2 2 D2 5 y y 3

2 + K2 y ( ) 5 3 2 1 Q2 1 + 1 + K1 , (1.116) = s D y 5 y 3 y +

where D2 = E2 I2 /(2 1 )g and Q2 = N2 /(2 1 )g. The behavior of the progressive wave solution associated with the physical problem is investigated by assuming j (x, z, t) = Re{j0 eikx x+kz zt } for j =

General Introduction

37

1, 2 where kx , kz and are similar to the one dened in subsection 1.5.3, with k0 being the plane progressive wave associated with the wave motion in the uid domain, 10 being the amplitude of deection of the oating structure at the free surface and 20 being the amplitude of the deection of the exible submerged plate located at the mean interface y = h. Thus, the associated velocity potential is obtained as i ( cosh k0 y + sinh k0 y)10 eikx x+kz zt , for 0 < y < h, k0 (x, y, z, t) = ik x+kz zt i cosh k0 (H y)20 e x , for h < y < H, k0 sinh k0 (H h) (1.117) where k0 satises the dispersion relation in k as given by 2 = gkN1 (k) (1.118)

and in case of nite water depth is given by = K{s + coth kh coth k(H h)} {N2 (k) s}k coth kh K{s coth kh + coth k(H h)} k{N2 (k) s} (1.119)

where Nj (k) = Dj k 4 Qj k 2 + 1, j = 1, 2. Further, ratio of amplitude of the deection of the oating to submerged plate is given by 10 sinh kh[K{s coth kh + coth k(H h)} k{N2 (k) s}] = . 20 sK An equivalent form of Eq.(1.118) is given by R 4 S 2 + T = 0, where R = s+coth kh coth k(Hh), S = k[{N2 (k) s} coth kh + N1 (k){s coth kh + coth k(H h)}], T = k 2 {N2 (k) s}N1 (k). Solving Eq.(1.135) for 2 , it is derived that
2 =

(1.120)

(1.121)

S (S 2 4RT )1/2 , 2R

(1.122)

In Eq.(1.122), the subscript with + sign refers to exural gravity waves in surface mode and subscript with sign refers to exural gravity waves in internal mode. This is dierent from the case of a elastic plate oating on the water surface in a single homogeneous uid of constant density, in which case only a exural gravity wave propagates ([57]). Further, from Eq.(1.120) it may be noted that, if the value of 10 /20 is real and positive then the surface and exural gravity waves are said to be in phase and if negative then the surface

38

Mathematical techniques for wave interaction with exible structures

and exural gravity waves are said to be 1800 out of phase. In case of innite water depth, in the dispersion relation in Eq. (1.119) reduces to = K{s + coth kh} {N2 (k) s}k coth kh K{s coth kh + 1} k{N2 (k) s} (1.123)

Further, in case of deep water waves for kh >> 1, k(H h) >> 1 tanh kh 1 and tanh k(H h) 1. Thus, Eq. (1.122) yields
2 + = gkN1 (k)/1 2 and =

gk{N2 (k) s} . 1+s

(1.124)

The values of + and ensures that the frequency of the exural waves in internal mode is smaller than that in surface mode. The phase and group velocities c and cg in surface and internal modes are given by gN1 (k) g{N2 (k) s} c+ = , c = , (1.125) k k(1 + s) (1 3Q1 k 2 + 5D1 k 4 ) g g{5D2 k 4 3Q2 k 2 + 1 s} , cg = . 2 kN1 (k) 2 k(1 + s){N2 (k) s} (1.126) Few special cases of this general problem are highlighted as below for easy references of various physical problems arising in Ocean Engineering. cg+ = 1. For 1 = 2 , the problem will reduce to exural gravity wave motion in the presence of oating and submerged exible plate used for mitigating structural response [66]. 2. For D2 = 0, Q2 = 0, p2 = 0, the problem will reduce to exural gravity wave motion in the presence of interfacial waves in a two layer uid as discussed in subsection 1.5.1 3. For D1 = 0, Q1 = 0,p1 = 0, 1 = 2 , the problem will reduce to surface wave motion in the presence of a exible submerged plate as in [17]. 4. For D1 = D2 = 0, Q2 = T2 , Q1 = 0, 1 = 2 , the problem will reduce to surface wave motion in the presence of a exible submerged membrane. 5. For pi = 0, Ei = 0, Ni = Ti , the problem will reduce to capillary gravity wave motion in the presence of surface and interfacial tension as in [47]. 6. For pi = 0, Ei = 0, Ni = 0, the problem will reduce to gravity wave motion in the presence of surface and interfacial waves as in [41].

General Introduction

39

1.6

Examples and Exercises

Exercise 1.1 Consider the one-dimensional water waves of innitesimal amplitude in a shallow lake of depth h and length L. In the absence of atmospheric forcing, the linearized governing equation for the surface displacement (x, t) is 2 1 2 = 2 2 x2 c t where c = gh. Let the initial surface displacement and velocity be given by (x, 0) = f (x) and t (x, 0) = g(x). Determine the surface displacement (x, t) and hence describe the physical signicance of each term in the surface displacement. (Hints. Along the banks, the horizontal velocity u must vanish). Exercise 1.2 Show that full reection takes place when monochromatic short gravity waves of the form (x, t) = a cos(kx t) impinges on a rigid vertical wall. Exercise 1.3 Derive the form of the velocity potential when a small amplitude monochromatic gravity waves of the form (x, t) = a cos(kx t) reected by a circular cylinder of radius a in water of nite depth h. Exercise 1.4 Derive the free surface condition in the presence of surface tension. Hence, show that when surface tension is dominating, the group velocity moves at a faster rate than the celerity. Exercise 1.5 Derive the free surface and interfacial condition in the presence of surface and interfacial tension. Hence, show that when surface tension is dominating, the group velocity moves at a faster rate than the phase velocity. Find out the dispersion relation associated with the wave motion and thus discuss the wave characteristics. (See [47] for detail) Exercise 1.6 Consider the case an elastic beam of length L having both the ends free. Determine the natural frequency and mode shapes for the free beam. Give an example of such a structure in Ocean engineering. Exercise 1.7 Discuss the root behavior of exural gravity waves in single layer uid having a exible oating elastic plate covered surface. Exercise 1.8 Discuss the root behavior of exural gravity waves in two- layer uid having a exible oating elastic plate covered surface. Exercise 1.9 Derive the energy identity associated with a plane progressive wave = a cos(kx t) in case of exural gravity wave scattering due to abrupt change in bottom topography.

40

Mathematical techniques for wave interaction with exible structures

Exercise 1.10 A plane progressive wave is propagating in a large tank of length a and with b in nite water depth h having a free surface and a exible bottom bed. Discuss the nature of the the wave wave motion in the tank. Exercise 1.11 Derive the dispersion relation for exural gravity waves in case of long wave from the dispersion relation of exural gravity waves as a particular case and also directly from the long wave equation associated with exural gravity waves. Exercise 1.12 Find the value of the wave number for which the phase and group velocities are equal in case of exural gravity waves in the presence of in-plane compressive force Q. Thus, discuss the behavior of phase and group velocities with respect to wave number in case of long and short waves separately. Exercise 1.13 Discuss the orbital path followed by plane progressive waves associated with exural gravity waves. Exercise 1.14 Dene kinetic and potential energy density in case of a two layer uid having a free surface and an interface and thus establish the law of conservation of energy ux. Exercise 1.15 Dene energy density in case of exural gravity waves in a two layer uid having a oating elastic plate covered surface and an interface. Hence, discuss law of conservation of energy ux for exural gravity waves in two-layer uid. Exercise 1.16 Derive the energy density associated with plane progressive waves in case of a horizontally submerged exible structure.