An Efficient Time-Domain Model to Simulate Parametric Resonances in a Floating Body Free to Move in Six Degrees of Freedom

We present a computationally efficient time-domain model capable of simulating parametric resonances in a floating body in waves. The model assumes all wave forces to be linear, but the inertia and restoring forces acting on the body are expanded to second order in body motions. The simulation speed on a standard computer is approximately 40 times faster than real time. The model is applied to a soft-moored floating axisymmetric body which absorbs energy through heave, but is otherwise free to move in six degrees of freedom. Under certain conditions, we show that the body undergoes parametric resonance with large amplitudes not only in surge and pitch, but also in sway, roll, and yaw, provided it is given some small initial displacement in one of these out-of-plane modes. The predictions are confirmed by simulations using state-of-the-art nonlinear Froude-Krylov and computational fluid dynamics models.