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.
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ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering
June 9–14, 2013
Nantes, France
Conference Sponsors:
- Ocean, Offshore and Arctic Engineering Division
ISBN:
978-0-7918-5539-3
PROCEEDINGS PAPER
Systematic Dynamic Modeling and Simulation of Multibody Offshore Structures: Application to Wave Energy Converters Available to Purchase
François Rongère,
François Rongère
LUNAM Université-École Centrale de Nantes, Nantes, France
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Alain H. Clément
Alain H. Clément
LUNAM Université-École Centrale de Nantes, Nantes, France
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François Rongère
LUNAM Université-École Centrale de Nantes, Nantes, France
Alain H. Clément
LUNAM Université-École Centrale de Nantes, Nantes, France
Paper No:
OMAE2013-11370, V005T06A086; 10 pages
Published Online:
November 26, 2013
Citation
Rongère, F, & Clément, AH. "Systematic Dynamic Modeling and Simulation of Multibody Offshore Structures: Application to Wave Energy Converters." Proceedings of the ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering. Volume 5: Ocean Engineering. Nantes, France. June 9–14, 2013. V005T06A086. ASME. https://doi.org/10.1115/OMAE2013-11370
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