Ocean Engineering 32 (2005) 241271

www.elsevier.com/locate/oceaneng

Hydrodynamic properties of two vertical truncated

cylinders in waves
Y.H. Zhenga,*, Y.M. Shenb, Y.G. Youa, B.J. Wua, Liu Ronga
a

Guangzhou Institute of Energy Conversion, Chinese Academy of Sciences,

Guangzhou 510640, Peoples Republic of China
b
State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology,
Dalian 116023, Peoples Republic of China
Received 30 April 2004; accepted 23 September 2004
Available online 2 December 2004

Abstract
The radiation and diffraction boundary value problem arising from the interaction of linear water
waves with two vertical truncated cylinders is investigated by use of the method of separation of
variables and the method of matched eigenfunction expansion. Analytical expressions for the
radiated and diffracted potentials are obtained as infinite series of orthogonal functions. The
unknown coefficients in the obtained expressions are determined by use of the matched
eigenfunction expansion method. To verify the obtained expressions, the Greens second identity
and the symmetry of the matrices for the added masses and damping coefficients are used. The results
show that the analytical expressions presented in this paper are correct. By use of the present
analytical solution, the hydrodynamic coefficients and wave forces for some specific cases are
calculated and the hydrodynamic effects of the cylinders radii on the hydrodynamic properties of the
cylinders are investigated which will supply some useful information for the design of this kind of
system.
q 2004 Elsevier Ltd. All rights reserved.
Keywords: Hydrodynamic property; Radiation; Diffraction; Water waves; Analytical method; Two vertical
truncated cylinders

* Corresponding author. Tel.: C86 20 87057612; fax: C86 20 87057597.

E-mail address: zhengyh@ms.giec.ac.cn (Y.H. Zheng).
0029-8018/$ - see front matter q 2004 Elsevier Ltd. All rights reserved.
doi:10.1016/j.oceaneng.2004.09.002

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Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

1. Introduction
It is well known that floating structures, such as ocean platforms, breakwaters, and
wave energy devices, are often used in ocean engineering. The hydrodynamic properties,
of which most important are the hydrodynamic coefficients, wave excitation forces, and
transmission and reflection coefficients, are of major interest of designers and many
researches have been carried out and lots of results have been obtained.
To analyze the hydrodynamic properties of floating structures, various methods, such as
the Boundary Element Method (BEM), the Finite Element Method (FEM), and some
analytical methods, can be used. Of all existing methods the most efficient are analytical
methods which are only applicable to some particular problems, for example, the problem
considered in the present paper. Numerical methods like BEM and FEM are suitable for
general problems, but the computational procedure is complex, the efficiency and the
accuracy are relatively lower compared with those of analytical methods. So the best
methods for some particular problems are analytical ones.
Up to now, many scholars have applied various analytical methods, such as the
matched eigenfunction expansion, the multipole expansion, and the multiple scattering
technique, to the study of hydrodynamic properties of floating structures. The often-used
analytical methods are the matched eigenfunction expansion method. The following are
some examples of application of these analytical methods to hydrodynamics of vertical
floating circular structures. By using the eigenfunction method, Black et al. (1971), Yeung
(1981), Sabuncu and Calisal (1981), Calisal and Sabuncu (1984, 1993), Williams et al.
(2000) and Bhatta and Rahman (2003) studied the radiation and/or diffraction by a single
floating circular cylinder and obtained theoretical results of hydrodynamic coefficients
and/or wave forces. Berggren and Johansson (1992) and Eidsmoen (1995) investigated the
heave radiation problem of a two-body axisymmetric system and calculated the heave
added masses and damping coefficients. Wu et al. (2004) explored the diffraction and
radiation problem for a cylinder over a caisson in water of finite depth and presented the
calculated results of hydrodynamic coefficients, wave forces and hydrodynamic effect of
the caisson on the hydrodynamics of the cylinder. Yeung and Sphaier (1989) determined
the radiation and diffraction properties of a floating vertical cylinder of finite draft in a
channel. Mciver and Bennett (1993) and Linton and Evans (1993) studied hydrodynamic
characteristics of a body in a channel by use of the multipole expansion. Simon (1982),
Kagemoto and Yue (1986), Williams and Demirbilek (1988), Williams and Abul-Azm
(1989) and Williams and Rangappa (1994) investigated the scattering and/or radiation
problems of horizontally arranged cylinder arrays by application of the multiple scattering
technique and plane-wave approximation or modified plane-wave technique.
In this paper, we consider the radiation and diffraction problem of a system consisting
of two coaxial cylinders arranged vertically. The problem has practical engineering
background, and part of which, namely cylinders in heave, was studied by Berggren and
Johansson (1992) and Eidsmoen (1995). They did not consider the sway and roll motions
and the scattering of water waves though Eidsmoen (1995) obtained the vertical force on
the cylinders by use of the general Haskinds theorem. The information about the sway and
roll motions of the cylinders and wave scattering may be important for designers, so we
study the radiation and diffraction problem here. The method used here is the matched

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

243

eigenfunction expansion which has been used by many investigators listed above.
Analytical expressions for the radiated and diffracted potentials are obtained. The
hydrodynamic coefficients and wave forces are calculated and the hydrodynamic effects of
the cylinders radii on the hydrodynamic properties are investigated.

2. Problem formulation and mathematical model

Here the diffraction and radiation including heave, sway and roll of linear water waves
by a system consisting of a floating circular cylinder and a submerged circular cylinder
will be studied. The two cylinders are coaxial with the same radius. The geometry of the
system and the arrangement of the right-hand Cartesian coordinate system Oxyz and the
cylindrical coordinate system Orzq are shown in Fig. 1. The origin of the coordinate
system is at the undisturbed water surface with the positive z pointing upwardly and the
positive x directing to the right. The floating cylinder, which is called hereafter cylinder 1,
occupies the space defined by r%R, 0%q%2p, Kd1%z, and the submerged cylinder
called as cylinder 2 hereafter occupies the space with r%R, 0%q%2p and Ke2%z%Ke1.
As usual we assume that the fluid is incompressible, inviscid and periodic, and the
motion of the fluid is irrotational. There exists a velocity potential
fr; q; z; tZ ReFr; q; zeKiut , where Re[ ] denotes the real part of the complex
expression, u is the wave angular frequency, t is the time and F is a time-independent
spatial velocity potential which satisfies the following three-dimensional Laplace equation



v2 F 1 v
vF
1 v2 F
r
C
Z0
(1)
C 2
2
r vr
vr
vz
r vq2

Fig. 1. Schematic of geometry.

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Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

For linear water waves considered here, it is customary not to solve F directly, but make
the following decomposition if we consider only heave, sway and roll modes of radiation
F Z FI C FD C

2 X
3
X

FJ;L
R

(2)

JZ1 LZ1

where FI is the incident wave potential; FD is the diffracted potential; FJ;L

is the radiated
R
potential due to the motion of the cylinders. Here LZ1 stands for the heave, 2 for sway and
3 for roll. JZ1,2 represents cylinder 1 and cylinder 2, respectively. In the following
sections, L always ranges from 1 to 3 and J always ranges from 1 to 2 if they are not
specified particularly.
The solution of F is equivalent to the solving of FD and FJ;L
as FI is generally
R
prescribed beforehand. For linear water waves of amplitude A and angular frequency u
propagating along the positive x direction in water of depth h1, the time-independent
incident wave potential may be expressed by
N
igA coshkz C h1  X
mm Jm krcosmq
(3)
u
coshkh1
mZ0
p
where iZ K1; g is the gravitational acceleration; k is the wave number, which is
determined by the dispersion relation k tanh(kh1)Zu2/g; Jm( ) is the Bessel function of
order m; mm is a coefficient given by
(
1
m Z0
mm Z
2im mO 0

FI Z K

2.1. Mathematical model for radiated potentials

If the complex amplitudes of heave, sway and roll of cylinder J are assumed as AJ;1
R ,
J;L
and AJ;3
can be expressed as
R , respectively, the radiated potential FR
(
J;1
L Z1
KiuAJ;1
R 4R r; z
J;L
FR Z
(4)
J;L
KiuAJ;L
R 4R r; zcos q L Z 2; 3

AJ;2
R

is a spatial quantity independent of q. For convenience, Eq. (4) can be

where 4J;L
R
expressed in a general form (LZ1,2,3)
J;L
FJ;L
Z KiuAJ;L
R
R 4R r; zcos1 K d1;L q

(5)

where
(
dj;L Z

LZj

L sj

Substitution of Eq. (5) into Eq. (1) gives the following general partial differential
equation (LZ1,2,3)

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

"
#
1 K d1;L 2 4J;L
v2 4J;L
1 v
v4J;L
R
R
R
r
C
Z0
K
2
r vr
vr
vz
r2

245

(6)

To obtain the unique solution to Eq. (6), it is necessary to specify the following boundary
conditions:
1. The free surface boundary condition
v4J;L
u2
R
K 4J;L
Z0
vz
g R

z Z 0; rO R

(7)

2. The sea bed boundary condition

v4J;L
R
Z0
vz

z Z Kh1

(8)

3. The body surface conditions

v4J;L
R
Z dJ;1 d1;L K rd3;L z Z Kd1 ; r% R
vz

(9)

v4J;L
R
Z dJ;2 d1;L K rd3;L z Z Ke1 ; r% R
vz

(10)

v4J;L
R
Z dJ;2 d1;L K rd3;L z Z Ke2 ; r% R
vz

(11)

v4J;L
R
Z dJ;1 d2;L C z K z0 d3;L  Kd1 % z% 0; r Z R
vr

(12)

v4J;L
R
Z dJ;2 d2;L C z K z0 d3;L Ke2 % z%Ke1 ; r Z R
vr

(13)

4. The radiation condition

"
#
p v4J;L
J;L
R
lim r
K ik4R
Z 0 r/N
r/N
vr

(14)

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Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

It should be noted that (0,0,z0) is assumed to be the center of rotation in order to specify the
body surface boundary condition of roll motion.
2.2. Mathematical model for the diffracted potential
The governing equation and the corresponding boundary conditions for the diffracted
potential are expressed as follows



v2 FD 1 v
vFD
1 v2 F D
r
C
Z0
C
r vr
vr
r 2 vq2
vz2

(15)

vFD u2
K FD Z 0 z Z 0; rO R
vz
g

(16)

vFD
Z0
vz

(17)

z Z Kh1

vFD
vF
ZK I
vn
vn

on S1 and S2


p vFD
K ikFD Z 0
lim r
r/N
vr

(18)

r/N

(19)

where n is the outward normal from the fluid; S1 and S2 are the submerged surfaces of
cylinders 1 and 2, respectively.

3. Solution method
To obtain the expressions for the radiated and diffracted potentials, we divide the fluid
domain into three subdomains I, II and III as shown in Fig. 1. Here the radiated potentials
J;L
J;L
in the three subdomains are denoted by 4J;L
R1 , 4R2 and 4R3 , and the diffracted potentials
are expressed by FD1, FD2 and FD3, respectively. The method of separation of variables is
applied in each subdomain to obtain the expressions for the radiated and diffracted
potentials with unknown coefficients. The unknown coefficients are then solved by use of
the matched eigenfunction expansion method.
3.1. Expressions for the radiated potentials in three subdomains
Application of the method of separation of variables may give the analytical
expressions for the radiated potentials in regions I, II and III as follows.

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

247

3.1.1. Region I
4J;L
R1 Z

N
X

AJ;L
cosln z C h1 
n

nZ1

R1Kd1;L ln r
R1Kd1;L ln R

(20)

where the eigenvalues are given by

l1 Z Kik; k is the wave number; k tanhkh1 Z u2 =g
ln tanln h1 Z Ku2 =g

nZ1

n Z 2; 3; .

(21)
(22)

and the radial function R1Kd1;L is given by

( 1
H1Kd1;L kr n Z 1
R1Kd1;L ln r Z
K1Kd1;L ln r nO 1

(23)

1
and K1Kd1;L are the first kind Hankel function and the second kind modified
where H1Kd
1;L
Bessel function of order 1Kd1,L, respectively.

3.1.2. Region II
J;L
J;L 1Kd1;L
4J;L
r
C
R2 Z 4R2P C B1

N
X
nZ2

BJ;L
cosbn z C e1 
n

I1Kd1;L bn r
I1Kd1;L bn R

(24)

where I1Kd1;L is the first kind modified Bessel function of order 1Kd1,L; 4J;L
R2P and bn are the
particular solution and eigenvalue of the radiation mode L of cylinder J in region II, whose
expressions are given by
8
z C e1 2 K r 2 =2
z C d1 2 K r 2 =2
>
>
d
K
dJ;2
LZ1
>
J;1
>
>
2h2
2h2
<
0
LZ2
(25)
4J;L
R2P Z
>
>
2
3
2
3
>
z C e1 r K r =4
z C d1 r K r =4
>
>
:K
dJ;1 C
dJ;2 L Z 3
2h2
2h2
bn Z n K 1p=h2

(26)

3.1.3. Region III

J;L
J;L 1Kd1;L
r
C
4J;L
R3 Z 4R3P C C1

N
X
nZ2

CnJ;L cosgn z C h1 

I1Kd1;L gn r
I1Kd1;L gn R

(27)

where 4J;L
R3P and gn are the particular solution and eigenvalue of the radiation mode L of
cylinder J in region III and the expressions for them are

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Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

8
z C h1 2 K r 2 =2
>
>
dJ;2
>
>
>
2h3
<
0
4J;L
R3P Z
>
>
>
z C h1 2 r K r 3 =4
>
>
:K
dJ;2
2h3

L Z1
L Z2

(28)

L Z3

gn Z n K 1p=h3

(29)

, BJ;L
and CnJ;L in Eqs. (20), (24) and (27) are unknown and will be
The coefficients AJ;L
n
n
determined in Section 3.3.
3.2. Expressions for the diffracted potentials in three subdomains
Similarly, applying the method of separation of variables to the diffraction problem
satisfying Eqs. (15)(19), one can easily derive the expressions for the diffracted potentials
in regions I, II and III as follows, respectively.
FD1 Z

N X
N
X

Am;n cosln z C h1 

mZ0 nZ1

FD2 Z KFI C

N
X

mZ0

FD3 Z KFI C

N
X
mZ0

Rm ln r
cosmq
Rm ln R

(30)

)
Im bn r
Bm;1 r C
Bm;n cosbn z C e1 
cosmq
Im bn R
nZ2

(31)

)
Im gn r
cosgn z C h1 
cosmq
Im gn R

(32)

N
X

N
X

(
Cm;1 r C

Cm;n

nZ2

where Am,n, Bm,n and Cm,n are the coefficients to be solved in Section 3.3; ln, bn and gn are
defined by Eqs. (21), (22), (26) and (29).
3.3. Method for the unknown coefficients
The expressions for the radiated and diffracted potentials given in Sections 3.1 and 3.2
satisfy all the boundary conditions except those at the boundary rZR. The remaining
problem is to solve the unknown coefficients AJ;L
, BJ;L
and CnJ;L in the expressions for
n
n
the radiated potentials and Am,n, Bm,n and Cm,n (mZ0,1,2,.; nZ1,2,.) in the expressions
for the diffracted potentials. These unknown coefficients are determined by use of the
conditions of continuity of pressure and normal velocity at rZR. For the radiation problem
considered here, the conditions of continuity are the following
J;L
4J;L
R2 Z 4R1

K e1 % z%Kd1

(33)

J;L
4J;L
R3 Z 4R1

K h1 % z%Ke2

(34)

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

v4J;L
R1
vr

8
dJ;1 d2;L C z K z0 d3;L 
>
>
>
>
>
J;L
>
>
> v4R2
<
vr
Z
dJ;2 d2;L C z K z0 d3;L 
>
>
>
>
>
J;L
>
>
>
: v4R3
vr

249

Kd1 % z% 0
Ke1 % z%Kd1
Ke2 % z%Ke1

(35)

Kh1 % z%Ke2

For the diffraction problem, the conditions of continuity are expressed by

FD2 Z FD1

r Z R; K e1 % z%Kd1

(36)

FD3 Z FD1

r Z R; K h1 % z%Ke2

(37)

8
vF
>
>
K I
>
>
vr
>
>
>
> vFD2
>
vFD1 < vr
Z
vF
>
vr
>
>
K I
>
>
vr
>
>
>
>
: vFD3
vr

r Z R; K d1 % z% 0
r Z R; K e1 % z%Kd1
(38)
r Z R; K e2 % z%Ke1
r Z R; K h1 % z%Ke2

If the method of matched eigenfunction expansion is applied at the boundary rZR, one
can easily obtain the following expressions
Kd1
Kd1
4J;L
R;
zcosb
z
C
e

dz
Z
4J;L
(39)
i
1
R1
R2 R; zcosbi z C e1  dz
Ke1

Ke2

Ke1

4J;L
R1 R; zcosgi z C h1 

Kh1

0
Kh1

Ke2
dz Z

4J;L
R3 R; zcosgi z C h1  dz

(40)

Kh1

v4J;L
R1 r; z
jrZR cosli z C h1 dz
vr
Kd1

Ke2 J;L
v4J;L
v4R3 r; z
R2 r; z
jrZR cosli z C h1 dz C
jrZR cosli z
vr
vr
Ke1
Kh1
0
dJ;1 d2;L C z K z0 d3;L cosli z C h1 dz
C h1 dz C
Kd1

Ke1

dJ;2 d2;L C z K z0 d3;L cosli z C h1 dz

(41)

FD1 K FD2 cosbi z C e1 cosjqdq dz Z 0

(42)

C
Ke2

2p Kd1
0

Ke1

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Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

2p Kd1
0

FD1 K FD3 cosgi z C h1 cosjqdq dz Z 0

(43)

Ke1

2p 0

vFD1
jrZR cosli z C h1 cosjqdq dz
0
Kh1 vr


Kd1
Ke1
Ke2
2p 
0
vFI
vFD2
vFI
vFD3
C
C
C
Z
cosli z C h1 dz
0
Kd1 vr
Ke1 vr
Ke2 vr
Kh1 vr
44

!cosjqdq

Substitution of the expressions derived above for 4J;L

and FD into Eqs. (39)(44) yields
R
( J;L
N
X
Bi h2 R1Kd1;L i Z 1
J;L
AJ;L
El
;
b

Z
P
C
(45)
j i
j
1i
BJ;L
h
=2
iO
1
jZ1
2
i
N
X

(
AJ;L
Elj ; gi
j

Z PJ;L
2i

jZ1

CiJ;L h3 R1Kd1;L

iZ1

CiJ;L h3 =2

iO 1

J;L
DL
AJ;L
i
li Nli Z P3i
"

BJ;L
1 K d1;L RKd1;L
1

N
X

(46)

#
BJ;L
Db 1 K d1;L ; j
j

Eli ; bj

jZ2

"
C

C1J;L 1 K d1;L RKd1;L

N
X

#
CjJ;L Dg 1 K d1;L ; j

Eli ; gj

jZ2

(47)
N
X

(
Am;j Elj ; bi Z P4 m; i C

jZ1

N
X

(
Am;j Elj ; gi Z P5 m; i C

jZ1

Bm;i h2 Rm

i Z1

Bm;i h2 =2

iO 1

Cm;i h3 Rm

iZ1

Cm;i h3 =2

iO 1

Am;i Dl m; iNl i Z P6 m; i C mR

N
X

mK1

sinli h2
sinli h3
Bm;1
C Cm;1
li
li

(48)

(49)


Bm;j Db m; jEli ; bj C Cm;j Dg m; jEli ; gj 

jZ2

where iZ1,2,.N; mZ0,1,2,.N and

(50)

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

Elj ; bi Z

Kd1

251

coslj z C h1 cosbi z C e1 dz

(51a)

coslj z C h1 cosgi z C h1 dz

(51b)

Ke1

Elj ; gi Z

Ke2
Kh1

Nl i Z

cos2 li z C h1 dz

(52)

Kh1

8 10
kHm kR
>
>
< 1
Hm kR
Dl m; i Z
0
>
l
>
: i Km li R
Km li R

iZ1
(53a)
iO 1

Db m; j Z

bj Im0 bj R
Im bj R

(53b)

Dg m; j Z

gj Im0 gj R
Im gj R

(53c)

PJ;L
Z
1i

Kd1

4J;L
R2P jrZR cosbi z C e1 dz

(54a)

4J;L
R3P jrZR cosbi z C e1 dz

(54b)

Ke1

PJ;L
Z
2i

Kd1
Ke1

PJ;L
3i

0
Z

dJ;1 d2;L
Kd1
Ke1

C z K z0 d3;L cosli z C h1 dz

dJ;2 d2;L C z K z0 d3;L cosli z C h1 dz

Kd1 J;L 
Ke2 J;L
v4R2P 
v4R3P
C
j cosli z C h1 dz
rZR cosli z C h1 dz C

vr
vr rZR
Ke1
Kh1
(54c)

Ke2

P4 m; i Z

igkAmm Jm kR K1iK1 sinhkh1 K d1  K sinhkh1 K e1 

u coshkh1
k2 C b2i

(55a)

P5 m; i Z

igkAmm Jm kR K1iK1 sinhkh1 K e2 

u coshkh1
k2 C g2i

(55b)

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Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

igkAmm Jm0 kR
P6 m; i Z
u coshkh1

coshkz C h1 cosli z C h1 dz

(55c)

Kh1

, BJ;L
, CnJ;L , Am,n, Bm,n and
To obtain the numerical solutions to the coefficients AJ;L
n
n
Cm,n, it is necessary to choose the finite terms of the infinite series to carry out the
computation. If the first N and M!N terms of the infinite series are chosen for the radiated
and diffracted problems, respectively, one can obtain three sets and M sets of system of
equations, each set of system of equations consist of 3N equations with complex
coefficients and equal number of unknowns. Making some arrangements for these
equations yields
J;L
SJ;L
R X R Z FR
m
Sm
D X D Z FD

L Z 1; 2; 3; J Z 1; 2
m Z 0; 1; .; M

(56a)
(56b)

where
J;L
J;L
; AJ;L
; .; AJ;L
; BJ;L
; .; BJ;L
; C2J;L ; .; CNJ;L T ;
XR Z AJ;L
N ; B1
N ; C1
1
2
2

XD Z Am;1 ; Am;2 ; .; Am;N ; Bm;1 ; Bm;2 ; .; Bm;N ; Cm;1 ; Cm;2 ; .; Cm;N T ;

J;L
SJ;L
and Sm
and Fm
R
D are the coefficient matrices; FR
D are the right hand vectors of the
J;L
J;L
systems of equations. The elements in SR and FR can be computed from Eqs. (45)(47),
m
while Sm
D and FD can be calculated by Eqs. (48)(50), and their expressions are given in
Appendices A and B for convenience to readers, respectively.
The application of the solution method for the linear system of equations to Eq. (56)
will give the results to the unknowns in the expressions of the radiated and diffracted
potentials. So the radiated and diffracted potentials at any position in the fluid can be
computed, and the wave forces, added masses and damping coefficients can be calculated
from the linearized Bernoullis equation, which will be illustrated in Section 4.

4. Wave forces and hydrodynamic coefficients

4.1. Expressions for wave excitation forces
The wave excitation forces are computed from the incident and diffracted wave
potentials. The relation of the dynamic fluid pressure with the velocity potentials is
obtained from the Bernoullis equation first, and then the integration of the dynamic
pressure along the submerged surfaces of the cylinders is carried out subsequently, which
will yield the expression for the wave excitation force of cylinder J in direction L as follow
J;L
J;L Kiut
FWt
Z FW
e

(57)

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

253

J;L
where FW
is the time-independent wave force which is computed by

J;L
FW Z iruFI C FD nL ds

(58)

SJ

where SJ(JZ1,2) is the submerged surface of cylinder J; nL(LZ1,2,3) is the generalized

outward normal from the fluid with n1Znz, n2Znx, n3Z(zKz0)nxKxnz; nx and nz are the
components of the unit inward normal to the cylinders. For convenience to readers, the
J;L
expressions for FW
obtained from Eq. (58) are given in Appendix C.
It should be noted that the wave excitation force can also be calculated from the
incident and radiated wave potentials. The application of the Greens second identity and
considering the boundary conditions for the radiated and diffracted potentials yield the
following expression
2

6
J;L
FW
Z r iu4 FI

v4J;L
R
vn

SJ

ds K 4J;L
R

vFI
vFI 7
ds K 4J;L
ds5
R
vn
vn

S1

(59)

S2

1;L
and the expressions for FW
obtained from Eq. (59) are given in Appendix D.

4.2. Expressions for hydrodynamic coefficients

The radiation forces can be computed from the radiated potentials due to the motions of
the cylinders. For cylinder I in K direction, it is expressed by
X
3 X
2

FRI;K Z r iu

SI

Z eKiut

FJ;L
eKiut nK ds
R

LZ1 JZ1

3 X
2
X

J;L
J;L
J;L
u2 AJ;L
R CaI;K C iuAR CdI;K 

(60)

LZ1 JZ1
J;L
where CaJ;L
I;K and CdI;K represent the added mass and damping coefficient of cylinder I in
direction K due to the motion mode L of cylinder J, respectively. The expressions for them
are

J;L
J;L
CaI;K Z r Re4J;L
(61)
R cos1 K d1;L qnK ds Z RerfI;K 
SI

J;L
CdJ;L
Z
ru
Im4J;L
R cos1 K d1;L qnK ds Z ImrufI;K 
I;K
SI

(62)

254

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

where
J;L
fI;K

Z 4J;L
cos1 K d1;L qnK ds
R

(63)

SI

which can be expressed in a matrix form as

2 1;1 1;2 1;3 2;1 2;2
f1;1 f1;1 f1;1 f1;1 f1;1
6 1;1 1;2 1;3 2;1 2;2
6f
6 1;2 f1;2 f1;2 f1;2 f1;2
6
6 f 1;1 f 1;2 f 1;3 f 2;1 f 2;2
6 1;3 1;3 1;3 1;3 1;3
f Z6
6 1;1 1;2 1;3 2;1 2;2
6 f2;1 f2;1 f2;1 f2;1 f2;1
6
6 1;1 1;2 1;3 2;1 2;2
6 f2;2 f2;2 f2;2 f2;2 f2;2
4
2

1;1
f2;3

1;2
f2;3

1;3
f2;3

2;1
f2;3

2;2
f2;3

1;1
f1;1

2;1
f1;1

1;2
f1;2

1;3
f1;2

2;2
f1;2

1;2
f1;3

1;3
f1;3

2;2
f1;3

2;1
f2;1

1;2
f2;2

1;3
f2;2

2;2
f2;2

1;2
f2;3

1;3
f2;3

2;2
f2;3

6
6 0
6
6
6 0
6
Z6
6 1;1
6 f2;1
6
6
6 0
4
0

2;3
f1;1

7
2;3 7
f1;2
7
7
2;3 7
f1;3 7
7
2;3 7
7
f2;1
7
2;3 7
f2;2 7
5
2;3
f2;3

7
2;3 7
f1;2
7
7
2;3 7
f1;3 7
7
7
0 7
7
2;3 7
7
f2;2
5

(64)

2;3
f2;3

As we know, f is a symmetrical matrix, so are the matrices for the added masses and
damping coefficients, which can be used to verify indirectly the correctness of the
expressions for the radiated potentials. The expressions for the nonzero elements in f are
given in Appendix E for convenience to readers.

5. Results and discussions

5.1. Verification of the expressions for radiated and diffracted potentials
As stated in Section 1, the method used here is the same as that in Berggren and
Johansson (1992) where the method and the obtained expressions for the radiated
potentials of heave motion in each subregion were verified. The expressions obtained
here for the heave motion are the same as those in Berggren and Johansson (1992)
which can be used to verify indirectly the correctness of the diffracted potentials
because the wave forces including the vertical force, horizontal force and roll torque
can be obtained not only by the incident and diffracted potentials using Eq. (58), but
also by the incident and radiated potentials through Eq. (59). If the two results
obtained by Eqs. (58) and (59) for the vertical force are the same, the correctness of

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

255

Table 1
Geometrical parameters for the calculation
Case no.

d1/h1

R/h1

e1/h1

e2/h1

1
2
3
4
5
6

0.1
0.1
0.1
0.1
0.1
0.1

0.2
0.2
0.2
0.2
0.5
1.0

0.25
0.4
0.7
0.4
0.4
0.4

0.35
0.5
0.8
0.5
0.5
0.5

Fig. 2. Dimensionless vertical forces on cylinders 1 and 2 of cases 1, 2 and 3. (a) Vertical force on cylinder 1 of
case 1. (b) Vertical force on cylinder 2 of case 1. (c) Vertical force on cylinder 1 of case 2. (d) Vertical force on
cylinder 2 of case 2. (e) Vertical force on cylinder 1 of case 3. (f) Vertical force on cylinder 2 of case 3.

256

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

Fig. 3. Dimensionless horizontal forces on cylinders 1 and 2 of cases 1, 2 and 3. (a) Horizontal force on
cylinder 1 of case 1. (b) Horizontal force on cylinder 2 of case 1. (c) Horizontal force on cylinder 1 of case 2.
(d) Horizontal force on cylinder 2 of case 2. (e) Horizontal force on cylinder 1 of case 3. (f) Horizontal force on
cylinder 2 of case 3.

the diffracted potential is confirmed. After this, we can use the diffracted potential to
verify the correctness of the expressions for the radiated potentials of sway and roll
motions. In addition, the symmetry of the matrices for the added masses and damping
coefficients can also be used to verify indirectly the correctness of the expressions for
the radiated potentials of sway and roll motions, which will be illustrated in the
following.

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

257

Fig. 4. Dimensionless torques on cylinders 1 and 2 of cases 1, 2 and 3 with z0Z0. (a) Torque on cylinder 1 of
case 1. (b) Torque on cylinder 2 of case 1. (c) Torque on cylinder 1 of case 2. (d) Torque on cylinder 2 of case 2.
(e) Torque of cylinder 1 of case 3. (f) Torque on cylinder 2 of case 3.

The geometrical parameters, shown in Table 1 of cases 13, are taken from Berggren
and Johansson (1992) where they were used for the calculation of the hydrodynamic
coefficients of heave motion. Here we use them to calculate wave forces and the
hydrodynamic coefficients of sway and roll motions which were not considered in
Berggren and Johansson (1992) and to verify the expressions for the radiated and
diffracted potentials.

258

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

Fig. 5. Asymmetrical quantities of dimensionless added masses and damping coefficients. (a) Dimensionless
heave added mass. (b) Dimensionless heave damping. (c) Dimensionless surge added mass. (d) Dimensionless
surge damping. (e) Dimensionless pitch added mass. (f) Dimensionless pitch damping.

In our computations the first 30 terms and 30!30 terms in the infinite series of
the radiated and diffracted potentials are taken, respectively. The wave forces and
the hydrodynamic coefficients shown in all figures of the following sections are
nondimensionlized as follows (JZ1,2; LZ1,2,3)
(
F

J;L

J;L
j=rgpR2 A L Z 1; 2
jFW
J;L
j=rgpR3 A L Z 3
jFW

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

259

Fig. 6. Asymmetrical quantities of dimensionless added masses and damping coefficients. (a) Dimensionless
heave added mass. (b) Dimensionless heave damping. (c) Dimensionless surge added mass. (d) Dimensionless
surge damping. (e) Dimensionless pitch added mass. (f) Dimensionless pitch damping.

Ca1J;L
I;K Z

8 J;L
>
CaI;K =rpR2 d1 L Z 1; 2; K Z 1; 2
>
>
>
>
>
3
< CaJ;L
I;K =rpR d1 L Z 1; 2; K Z 3
3
>
>
CaJ;L
>
I;K =rpR d1 L Z 3; K Z 1; 2
>
>
>
: J;L
CaI;K =rpR4 d1 L Z 3; K Z 3

260

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

Fig. 7. Symmetrical quantities of dimensionless added masses and damping coefficients of case 1.

Cd1J;L
I;K Z

8 J;L
>
CdI;K =rpR2 d1 u
>
>
>
>
>
3
< CdJ;L
I;K =rpR d1 u
>
>
CdJ;L =rpR3 d1 u
>
> I;K
>
>
:

4
CdJ;L
I;K =rpR d1 u

L Z 1; 2; K Z 1; 2
L Z 1; 2; K Z 3
L Z 3; K Z 1; 2
L Z 3; K Z 3

Fig. 2(a) and (b) shows the vertical forces on cylinder 1 and 2 of case 1,
respectively. Fig. 2(c) and (d) gives the vertical forces of case 2, and the vertical

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

261

Fig. 8. Symmetrical quantities of dimensionless added masses and damping coefficients of case 1.

forces of case 3 are illustrated in Fig. 2(e) and (f) where the solid lines and circles
represent the results calculated by use of Eqs. (58) and (59), respectively. It can be
seen from these figures that for all cases the results given by Eq. (58) are the same
as those calculated by use of Eq. (59), which illustrates that the expressions for
the diffracted potentials are correct due to the correctness of the expressions for the
heave motion.
Figs. 3 and 4 present the horizontal forces and the roll torques computed by Eqs.
(58) and (59), respectively. We can see the two results obtained by Eqs. (58) and (59)
are the same, which indicates that the expressions for the radiated potentials are

262

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

Fig. 9. Hydrodynamic effects of the cylinders radii on excitation forces. (a) Vertical force on cylinder 1.
(b) Vertical force on cylinder 2. (c) Horizontal force on cylinder 1. (d) Horizontal force on cylinder 2. (e) Pitch
torque on cylinder 1. (f) Pitch torque on cylinder 2.

correct. To further verify the correctness of the expressions for the radiated potentials,
we compute the added masses and damping coefficients shown in Figs. 58. The
results of the diagonal elements in the matrices for the added masses and damping
coefficients are presented in Figs. 5 and 6, and the values of the non-diagonal
symmetrical elements are given in Figs. 7 and 8. It can be seen from Figs. 7 and 8
that the values of the symmetrical elements are all the same which indicates further
that the expressions for the radiated potentials are correct.

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

263

Fig. 10. Hydrodynamic effects of the cylinders radii on added masses and damping coefficients.
(a) Dimensionless heave added mass. (b) Dimensionless heave damping. (c) Dimensionless surge added mass.
(d) Dimensionless surge damping. (e) Dimensionless pitch added mass. (f) Dimensionless pitch damping.

5.2. Hydrodynamic effects of the cylinders radii

In Section 5.1, we not only verified the correctness of the expressions given in
this paper, but also considered the hydrodynamic effects of the submerged positions
of cylinder 2, while in this section the hydrodynamic effects of the radius on the wave
force, added masses, damping coefficients will be considered. The geometrical parameters
are listed in Table 1 of cases 46.

264

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

Fig. 11. Hydrodynamic effects of the cylinders radii on added masses and damping coefficients.
(a) Dimensionless heave added mass. (b) Dimensionless heave damping. (c) Dimensionless surge added mass.
(d) Dimensionless surge damping. (e) Dimensionless pitch added mass. (f) Dimensionless pitch damping.

The hydrodynamic effects of the cylinders radii on the dimensionless excitation forces
are shown in Fig. 9. For fixed d1/h1, e1/h1 and e2/h1, the lager the radii of the cylinders, the
smaller the dimensionless vertical and horizontal wave forces and the larger the
dimensionless roll torque on cylinder 1 and the smaller the dimensionless roll torque on
cylinder 2.
Figs. 10 and 11 illustrate the hydrodynamic effects of the cylinders radii on the
dimensionless added mass and damping coefficients. For fixed d1/h1, e1/h1 and e2/h1,
1;1
1;3
1;3
2;1
2;1
2;3
2;3
2;2
Ca11;1
1;1 , Cd11;1 , Ca11;3 , Cd11;3 , Ca12;1 , Cd12;1 , Ca12;3 , Cd12;3 , and Cd12;2

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

265

1;2
2;2
increase with the augment of the cylinders radii, while Ca11;2
1;2 , Cd11;2 and Ca12;2
decrease.
In a sum, the rule of the influence of the cylinders radii on the hydrodynamic properties
is relatively simple and deserves attention of designers.

6. Conclusions
In order to analyze the dynamics of a system in waves, it is necessary to study the
hydrodynamic coefficients and wave forces so as to obtain some important information for
designers. Here the method of separation of variables and the method of matched
eigenfunction expansion are used to obtain the analytical expressions for the radiated and
diffracted potentials. By using the analytical expressions, the hydrodynamic coefficients
and wave forces are calculated for some specific examples, and the hydrodynamic effects
of the radius on the hydrodynamic properties of the cylinders are investigated, which may
provide some useful information for designers.

Acknowledgements
This research is supported by the Chinese Academy of Sciences Foundation under
Grant No. KGCX2-SW-305, the High Tech Research and Development (863) Program of
China under Grant No. 2003AA516010, Chinese National Science Fund for Distinguished
Young Scholars under Grant No. 50125924 and the National Natural Science Foundation
of China under grant Nos. 50379001 and 10332050.

J;L
J;L
Appendix A. Expressions for the elements in SR
and FR

SJ;L
Ri;j Z Elj ; bi
(
SJ;L
Ri;NCi

(A1)

Kh2 R1Kd1;L

iZ1

Kh2 =2

iO 1

(A2)

J;L
FRi
Z PJ;L
1i

(A3)

SJ;L
RNCi;j Z Elj ; gi

(A4)

(
SJ;L
RNCi;2NCi

J;L
FRNCi
Z PJ;L
2i

Kh3 R1Kd1;L

iZ1

Kh3 =2

iO 1

(A5)

(A6)

266

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

SJ;L
R2NCi;i Z Dl 1 K d1;L ; jNli
(
SJ;L
R2NCi;NCj

K1 K d1;L RKd1;L Eli ; bj j Z 1

KDb 1 K d1;L ; jEli ; bj

(
SJ;L
R2Ni;2Nj

(A7)

(A8)

jO 1

K1 K d1;L RKd1;L Eli ; gj j 1

KDg 1 K d1;L ; j Eli ; gj

(A9)

jO 1

J;L
Z PJ;L
FR2NCi
3i

(A10)

where iZ1,2,.,N; jZ1,2,.,N; LZ1,2,3; JZ1,2. All the other elements in SJ;L
are zero.
R
m
Appendix B. Expressions for the elements in SD
and Fm
D

Sm
Di;j Z Elj ; bi
(
Sm
Di;NCi

(B1)

Kh2 Rm

iZ1

Kh2 =2

iO 1

(B2)

m
FDi
Z P4 m; i

(B3)

Sm
DNCi;j Z Elj ; gi

(B4)

(
Sm
DNCi;2NCi

Kh3 Rm

iZ1

Kh3 =2

iO 1

(B5)

m
FDNCi
Z P5 m; i

Sm
D2NCi;i Z

(B6)

li Rm0 li RNl i
Rm li R

Sm
D2NCi;NCj Z

8
<

(B7)

sinli h1 K d1  K sinli h1 K e1 
li
: KD m; jEl ; b
b
i j

Sm
D2NCi;2NCj Z

KmRmK1

8
<

sinli h3
l
: KD m; jEl i; g
g
i
j
KmRmK1

j Z1

(B8)

jO 1

j Z1

(B9)

jO 1

m
FD2NCi
Z P6 m; i

where iZ1,2,.,N; jZ1,2,.,N; mZ0,1,2,.,M. All the other elements in

(B10)
Sm
D

are zero.

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

J;L
Appendix C. Expressions for FW
obtained from Eq. (58)
"
#
N
B0;1 R2 X
RI1 bn R
1;1
FW Z 2pr iu
C
B0;n cosbn h2
bn I0 bn R
2
nZ2

"

N
C0;1 K B0;1 R2 X
2;1
C
Z 2pr iu
W0n
FW
2
nZ2

1;2
ZKr ipuR
FW

N
X

267

(C1)

A1;n cosln z Ch1 dz CCF2

Kd1 nZ1

(C2)

sinhkh1 Ksinhkh1 Kd1 

k
(C3)

2;2
FW
ZKr ipuR

Ke1 X
N

A1;n cosln zCh1 dzCCF2

Ke2 nZ1

sinhkh1 Ke1  Ksinhkh3

k
(C4)

1;3
FW
ZKpr iuR

N
X

0
A1;n

zKz0 cosln zCh1 dz

Kd1

nZ1

"

#
N
B1;1 R4 X
B1;n R2 cosbn h2 I2 bn R
C
Kpr iu
CCF2 CTk1
I1 bn R
bn
4
nZ2
2;3
ZKpr iuR
FWD

N
X

Ke1
A1;n

nZ1

(C5)

z Kz0 cosln z Ch1 dz

Ke2

)
N
C1;1 KB1;1 R4 X
C
W1n CCF2 CTk2
Kpr iu
4
nZ2

(C6)

where
CF2 ZK

2 iprgARJ1 kR
coshkh1

CTk1 Z

Kz0 sinhkh1 Cd1 Cz0 sinhkh1 Kd1  coshkh1 Kcoshkh1 Kd1 

K
k
k2

CTk2 Z

e2 Cz0 sinhkh1 Ke2  Ke1 Cz0 sinhkh1 Ke1 

k
C

coshkh1 Ke2  Kcoshkh1 Ke1 

k2

268

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

W0n ZC0;n cosgn h3

RI1 gn R
RI b R
KB0;n 1 n
gn I0 gn R
bn I0 bn R

W1n ZC1;n cosgn h3

R2 I2 gn R
R2 I2 bn R
KB1;n
gn I1 gn R
bn I1 bn R

Appendix D. Expressions for F1;L

obtained from Eq. (59)
W
1;1
FW
Z

CF1 RJ1 kRcoshkh1 Kd1 

k2
)
R ( 2
N
h2 Kr 2 =2 X
I0 bn r
1;1
CCB1
C
Bn cosbn h2
J krr dr
2h2
I0 bn R 0
0
nZ1
R (
KCB2

R (X
N

CCB3

CCL1

)
N
Kr 2 =2 X
1;1 I0 bn r
J krr dr
C
Bn
2h2
I0 bn R 0
nZ1

I g r
Cn1;1 cosgn h3 0 n
I0 gn R
nZ1

0
N
X

A1;1
n

 0

)
J0 krr dr

Fk; ln ;z; h1 dzC

Ke1

Fk; ln ; z;h1 dz

D1

Ke2

Kd1

nZ1

sinhkh1 Ksinhkh1 Kd1 

k
)
R (
N
X
I1 bn r
1;2
1;2
CiCB1
B1 r C
Bn cosbn h2
J krr dr
I1 bn R 1
0
nZ2

1;2
FW
Z CF2

R (
KiCB2

R (
CiCB3

N
X

CCL2
nZ1

B1;2
1 rC

C11;2 r C

A1;2
n

 0
Kd1

N
X

I1 bn r
B1;2
n
I
1 bn R
nZ2

)
J1 krr dr

N
X

I g r
Cn1;2 cosgn h3 1 n
I
1 gn R
nZ2
Fk;ln ; z;h1 dz C

Ke1
Ke2

)
J1 krr dr

Fk;ln ; z; h1 dz


D2

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

1;3
FW
ZKiCF1 coshkh1 Kd1 

269

R2 J2 kR
CCF2 CTk1
k

)
R (
N
X
h22 r Kr 3 =4
I1 bn r
1;3
1;3
CiCB1
K
CB1 r C
Bn cosbn h2
J krr dr
2h2
I1 bn R 1
0
nZ2
R (
KiCB2

R (
CiCB3

CCL2

N
X

)
N
X
r3
1;3
1;3 I1 bn r
J krr dr
CB1 r C
Bn
I1 bn R 1
8h2
nZ2

C11;3 r C

A1;3
n

nZ1

 0

N
X

I g r
Cn1;3 cosgn h3 1 n
I
1 gn R
nZ2
Fk;ln ; z; h1 dz C

Ke1

)
J1 krr dr

Fk; ln ;z; h1 dz


D2

Ke2

Kd1

where CB1 ZKCF1 sinhkh1 Kd1 , CB2 ZKCF1 sinhkh1 Ke1 , CB3 ZKCF1 sinhkh3 ,
CL1 ZKCF1 RJ1 kR, CL2 ZiCF1 RJ0 kRKJ2 kR=2, CF1 Z2prgkA=coshkh1 ,
Fk; ln ;z; h1 ZcoshkzCh1 cosln zCh1 .
Appendix E. Expressions for the nonzero elements in f
"

#

N
2
X
h 2 R2
R4
B1;1
R
RI
b
R
1
n
1;1
1;1
K
C
f1;1 Z 2p
Bn cosbn h2
C 1
bn I0 bn R
4
16h2
2
nZ2
"

2;1
f1;1

N
R4
B2;1 R2 X
RI b R
C
Z 2p
C 1
B2;1
cosbn h2 1 n
n
b
16h2
2
n I0 bn R
nZ2

(E1)

#
(E2)

1;1
f2;1

N
2
X
R4
C 1;1 K B1;1
RI g R
1 R
C
C 1
Cn1;1 cosgn h3 1 n
gn I0 gn R
16h2
2
nZ2
)
N
X
RI1 bn R
K
B1;1
n
b
n I0 bn R
nZ2

Z 2p

(
2;1
f2;1

Z 2p

h2 C h3 R2 R4
K
4
16


2
1
1
C 2;1 K B2;1
1 R
C
C 1
h2 h3
2

N
X
RI g R
RI1 bn R
C
Cn2;1 cosgn h3 1 n K
B2;1
n
gn I0 gn R nZ2
bn I0 bn R
nZ2
N
X

j;l
f1;2
Z KRp

N
X
nZ1

Aj;l
n

(E3)

sinln h1 K sinln h1 K d1 
ln

(E4)

(E5)

270

Y.H. Zheng et al. / Ocean Engineering 32 (2005) 241271

N
X

j;l
f2;2
Z KRp

Anj;l

nZ1
N
X

j;l
Z KpR
f1;3

nZ1

Anj;l

sinln h1 K e1  K sinln h1 K e2 
ln
0

(E6)

cosln z C h1 z K z0 dz

Kd1

"

#
N
B1j;l R4 X
R2 I2 bn R
j;l
j;l
C
Bn cosbn h2
Kp
K pfP1;3
b
4
I
b
R
n
1
n
nZ2

(E7)

)
N 
4
2
2
X
C1j;l KBj;l
R
R
I
g
R
R
I
b
R
2
n
2
n
1
C
KBj;l
Cnj;l cosgn h3
n
gn I1 gn R
bn I1 bn R
4
nZ2

N
Ke1
X
j;l
Aj;l
cosln zCh1 zKz0 dzKpfP2;3
(E8)
KpR
n

j;l
ZKp
f2;3

nZ1

Ke2
1;2
2;2
1;2
2;2
ZfP1;3
ZfP2;3
ZfP2;3
Z0
fP1;3

where jZ1,2; lZ2,3.


8 4
2
R
R
>
>
K h2
<
8 6h2
j;3
fP1;3
Z
6
>
R
>
:K
48h2

j Z1
j Z2

8
R6
>
>
<K
48h2
j;3

fP2;3
Z
6

>
R
1
1
R4 h2 C h3
>
:
C
K
8
48 h2 h3

j Z1
j Z2

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