4.4.

Response Amplitude Operators

Aqwa solves a set of linear algebraic equations to obtain the harmonic response of the body to regular waves. These response
characteristics are commonly referred to as response amplitude operators (RAOs) and are proportional to wave amplitude.
The set of linear motion equations of hydrodynamic interaction structures with frequency dependent coefficients are obtained as:
(4
49)
where is a !"! structural mass matri#$ and are the !"! hydrodynamic added mass and
damping matrices including the hydrodynamic interaction coupling terms between different structures$ is the assembled hydrostatic
stiffness matri# of which each diagonal " hydrostatic stiffness sub%matri# corresponding to individual structure is defined by
&quation '()*$ and all off%diagonal " sub%matrices are null as there is no hydrostatic interaction between different structures.
&quation +(+* can alternatively e#pressed as
(4
50)
where
is termed the transfer function or modal receptance which relates input forces to output response.
,n addition$ Aqwa can calculate the RAOs at any point of the structure given the RAOs at the structure-s center of gravity and the vector
from the center of gravity to the position of interest. The RAOs of a point . of (/
pm
$ 0
pm
$ 1
pm
)
T
on the m%th structure may be found
using the following relationship
(4
51)
where the translation matri# between the center of gravity (/
gm
$ 0
gm
$ 1
gm
)
T
and the point . is
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