Eigenfunction Matching for a Submerged Circular Dock
Introduction
We present here very briefly the theory for a submerged circular dock. The details of the method can be found in Eigenfunction Matching for a Submerged Semi-Infinite Dock and Eigenfunction Matching for a Circular Dock
Governing Equations
We begin with the Frequency Domain Problem. We will use a cylindrical coordinate system, [math]\displaystyle{ (r,\theta,z) }[/math], assumed to have its origin at the centre of the circular plate which has radius [math]\displaystyle{ a }[/math]. The water is assumed to have constant finite depth [math]\displaystyle{ h }[/math] and the [math]\displaystyle{ z }[/math]-direction points vertically upward with the water surface at [math]\displaystyle{ z=0 }[/math] and the sea floor at [math]\displaystyle{ z=-h }[/math]. The boundary value problem can therefore be expressed as
[math]\displaystyle{ \Delta\phi=0, \,\, -h\lt z\lt 0, }[/math]
[math]\displaystyle{ \phi_{z}=0, \,\, z=-h, }[/math]
[math]\displaystyle{ \phi_{z}=0, \,\, z=-d,\,r\lt a }[/math]
We must also apply the Sommerfeld Radiation Condition as [math]\displaystyle{ r\rightarrow\infty }[/math]. The subscript [math]\displaystyle{ z }[/math] denotes the derivative in [math]\displaystyle{ z }[/math]-direction.
Solution Method
We use separation of variables in the two regions, [math]\displaystyle{ r\lt a }[/math] and [math]\displaystyle{ r\gt a }[/math].
The solution of the problem for the potential in finite water depth can be found by a separation ansatz,
[math]\displaystyle{ \phi (r,\theta,z) =: Y(r,\theta) Z(z).\, }[/math]
Substituting this into the equation for [math]\displaystyle{ \phi }[/math] yields
[math]\displaystyle{ \frac{1}{Y(r,\theta)} \left[ \frac{1}{r} \frac{\partial}{\partial r} \left( r \frac{\partial Y}{\partial r} \right) + \frac{1}{r^2} \frac{\partial^2 Y}{\partial \theta^2} \right] = - \frac{1}{Z(z)} \frac{\mathrm{d}^2 Z}{\mathrm{d} z^2} = k^2. }[/math]
The possible separation constants [math]\displaystyle{ k }[/math] will be determined by the free surface condition and the bed condition.
Separation of variables for a free surface
We use separation of variables
We express the potential as
[math]\displaystyle{ \phi(x,z) = X(x)Z(z)\, }[/math]
and then Laplace's equation becomes
[math]\displaystyle{ \frac{X^{\prime\prime}}{X} = - \frac{Z^{\prime\prime}}{Z} = k^2 }[/math]
The separation of variables equation for deriving free surface eigenfunctions is as follows:
[math]\displaystyle{ Z^{\prime\prime} + k^2 Z =0. }[/math]
subject to the boundary conditions
[math]\displaystyle{ Z^{\prime}(-h) = 0 }[/math]
and
[math]\displaystyle{ Z^{\prime}(0) = \alpha Z(0) }[/math]
We can then use the boundary condition at [math]\displaystyle{ z=-h \, }[/math] to write
[math]\displaystyle{ Z = \frac{\cos k(z+h)}{\cos kh} }[/math]
where we have chosen the value of the coefficent so we have unit value at [math]\displaystyle{ z=0 }[/math]. The boundary condition at the free surface ([math]\displaystyle{ z=0 \, }[/math]) gives rise to:
which is the Dispersion Relation for a Free Surface
The above equation is a transcendental equation. If we solve for all roots in the complex plane we find that the first root is a pair of imaginary roots. We denote the imaginary solutions of this equation by [math]\displaystyle{ k_{0}=\pm ik \, }[/math] and the positive real solutions by [math]\displaystyle{ k_{m} \, }[/math], [math]\displaystyle{ m\geq1 }[/math]. The [math]\displaystyle{ k \, }[/math] of the imaginary solution is the wavenumber. We put the imaginary roots back into the equation above and use the hyperbolic relations
[math]\displaystyle{ \cos ix = \cosh x, \quad \sin ix = i\sinh x, }[/math]
to arrive at the dispersion relation
[math]\displaystyle{ \alpha = k\tanh kh. }[/math]
We note that for a specified frequency [math]\displaystyle{ \omega \, }[/math] the equation determines the wavenumber [math]\displaystyle{ k \, }[/math].
Finally we define the function [math]\displaystyle{ Z(z) \, }[/math] as
[math]\displaystyle{ \chi_{m}\left( z\right) =\frac{\cos k_{m}(z+h)}{\cos k_{m}h},\quad m\geq0 }[/math]
as the vertical eigenfunction of the potential in the open water region. From Sturm-Liouville theory the vertical eigenfunctions are orthogonal. They can be normalised to be orthonormal, but this has no advantages for a numerical implementation. It can be shown that
[math]\displaystyle{ \int\nolimits_{-h}^{0}\chi_{m}(z)\chi_{n}(z) \mathrm{d} z=A_{n}\delta_{mn} }[/math]
where
[math]\displaystyle{ A_{n}=\frac{1}{2}\left( \frac{\cos k_{n}h\sin k_{n}h+k_{n}h}{k_{n}\cos ^{2}k_{n}h}\right). }[/math]
Separation of Variables for a Dock
The separation of variables equation for a floating dock
[math]\displaystyle{ Z^{\prime\prime} + k^2 Z =0, }[/math]
subject to the boundary conditions
[math]\displaystyle{ Z^{\prime} (-h) = 0, }[/math]
and
[math]\displaystyle{ Z^{\prime} (0) = 0. }[/math]
The solution is [math]\displaystyle{ k=\kappa_{m}= \frac{m\pi}{h} \, }[/math], [math]\displaystyle{ m\geq 0 }[/math] and
[math]\displaystyle{ Z = \psi_{m}\left( z\right) = \cos\kappa_{m}(z+h),\quad m\geq 0. }[/math]
We note that
[math]\displaystyle{ \int\nolimits_{-h}^{0}\psi_{m}(z)\psi_{n}(z) \mathrm{d} z=C_{m}\delta_{mn}, }[/math]
where
[math]\displaystyle{ C_{m} = \begin{cases} h,\quad m=0 \\ \frac{1}{2}h,\,\,\,m\neq 0 \end{cases} }[/math]
The depth above the plate is [math]\displaystyle{ d }[/math] and below the plate is [math]\displaystyle{ h-d }[/math]. We introduce a new dispersion value [math]\displaystyle{ \mu_n }[/math]:
[math]\displaystyle{ \mu_n = \begin{cases} k_n^{d},\qquad \qquad\mbox{for}\,\, 0 \leq n \leq N-M\\ n\pi/(h-d),\,\,\mbox{otherwise} \end{cases} }[/math]
where [math]\displaystyle{ k_n^{d} }[/math] are the roots of the Dispersion Relation for a Free Surface with depth [math]\displaystyle{ d }[/math]. We also order the roots with the first being the positive imaginary solution [math]\displaystyle{ k_0^{d} }[/math], the second being zero, then ordering by increasing size. We then define a new function
[math]\displaystyle{ \chi_n = \begin{cases} 0,\,\,\, \qquad-d\lt z\lt 0 \\ \psi_{n}(z),\,\,\,-h\lt z\lt -d \end{cases} }[/math]
or
[math]\displaystyle{ \chi_{n} = \begin{cases} \phi_{n}^{d}(z),\,\,\,-d\lt z\lt 0 \\ 0,\,\,\qquad-h\lt z\lt -d \end{cases} }[/math]
where
[math]\displaystyle{ \phi_{m}^{d}\left( z\right) =\frac{\cos k_{m}^{d}(z+d)}{\cos k_{m}^{d}d},\quad m\geq0 }[/math]
depending on whether the root [math]\displaystyle{ \mu_n }[/math] is above or below.
Inner product between free surface and submerged plate modes
We define
[math]\displaystyle{ \int\nolimits_{-d}^{0}\phi_{n}^h(z)\chi_{m}^d(z) \mathrm{d} z=B_{mn} }[/math]
where [math]\displaystyle{ B_{mn} }[/math] is either
[math]\displaystyle{ \int\nolimits_{-d}^{0}\phi_{n}^h(z)\phi_{m}^d(z) \mathrm{d} z }[/math]
or
[math]\displaystyle{ \int\nolimits_{-h}^{-d}\phi_{n}^h(z)\psi_{m}(z) \mathrm{d} z }[/math]
depending on whether the root [math]\displaystyle{ \mu_n }[/math] is above or below.
Separation for Cylindrical Coordinates
We now separate variables, noting that since the problem has circular symmetry we can write the potential as
[math]\displaystyle{ \phi(r,\theta,z)=\frac{\cos k(z+h)}{\cos kh}\sum_{n=-\infty}^{\infty}\rho_{n}(r)e^{i n \theta} }[/math]
We now solve for the function [math]\displaystyle{ \rho_{n}(r) }[/math]. Using Laplace's equation in polar coordinates we obtain
[math]\displaystyle{ \frac{\mathrm{d}^{2}\rho_{n}}{\mathrm{d}r^{2}}+\frac{1}{r} \frac{\mathrm{d}\rho_{n}}{\mathrm{d}r}-\left( \frac{n^{2}}{r^{2}}+k^{2}\right) \rho_{n}=0. }[/math]
We can convert this equation to the standard form by substituting [math]\displaystyle{ y=k r }[/math] (provided that [math]\displaystyle{ \mu\neq 0 }[/math]to obtain
[math]\displaystyle{ y^{2}\frac{\mathrm{d}^{2}\rho_{n}}{\mathrm{d}y^{2}}+y\frac{\mathrm{d}\rho_{n} }{\rm{d}y}-(n^{2}+y^{2})\rho_{n}=0 }[/math]
The solution of this equation is a linear combination of the modified Bessel functions of order [math]\displaystyle{ n }[/math], [math]\displaystyle{ I_{n}(y) }[/math] and [math]\displaystyle{ K_{n}(y) }[/math] (Abramowitz and Stegun 1964).
Therefore
[math]\displaystyle{ \rho_n(r) = C_1 I_{n}(kr) + C_2 K_{n}(kr)\, }[/math]
for some constants [math]\displaystyle{ C_1 }[/math] and [math]\displaystyle{ C_2 }[/math]
Separation for Cylindrical Coordinates
We now separate variables, noting that since the problem has circular symmetry we can write the potential as
[math]\displaystyle{ \phi(r,\theta,z)=\frac{\cos k(z+h)}{\cos kh}\sum_{n=-\infty}^{\infty}\rho_{n}(r)e^{i n \theta} }[/math]
We now solve for the function [math]\displaystyle{ \rho_{n}(r) }[/math]. Using Laplace's equation in polar coordinates we obtain
[math]\displaystyle{ \frac{\mathrm{d}^{2}\rho_{n}}{\mathrm{d}r^{2}}+\frac{1}{r} \frac{\mathrm{d}\rho_{n}}{\mathrm{d}r}-\left( \frac{n^{2}}{r^{2}}+k^{2}\right) \rho_{n}=0. }[/math]
We can convert this equation to the standard form by substituting [math]\displaystyle{ y=k r }[/math] (provided that [math]\displaystyle{ \mu\neq 0 }[/math]to obtain
[math]\displaystyle{ y^{2}\frac{\mathrm{d}^{2}\rho_{n}}{\mathrm{d}y^{2}}+y\frac{\mathrm{d}\rho_{n} }{\rm{d}y}-(n^{2}+y^{2})\rho_{n}=0 }[/math]
The solution of this equation is a linear combination of the modified Bessel functions of order [math]\displaystyle{ n }[/math], [math]\displaystyle{ I_{n}(y) }[/math] and [math]\displaystyle{ K_{n}(y) }[/math] (Abramowitz and Stegun 1964).
Therefore
[math]\displaystyle{ \rho_n(r) = C_1 I_{n}(kr) + C_2 K_{n}(kr)\, }[/math]
for some constants [math]\displaystyle{ C_1 }[/math] and [math]\displaystyle{ C_2 }[/math]
Since the solution must be bounded we know that under the plate the solution will be a linear combination of [math]\displaystyle{ I_{n}(y) }[/math] while outside the plate the solution will be a linear combination of [math]\displaystyle{ K_{n}(y) }[/math]. The case [math]\displaystyle{ \kappa_0 =0 }[/math] is a special case and the solution under the dock is [math]\displaystyle{ (r/a)^{|n|} }[/math].
Separation of Variables
We can separate variables and we obtain the following expression for the velocity potential
Therefore the potential can be expanded as
[math]\displaystyle{ \phi(r,\theta,z)=\sum_{n=-\infty}^{\infty}\sum_{m=0}^{\infty}a_{mn}K_{n} (k_{m}^{h}r)e^{i n\theta}\phi^{h}_{m}(z), \;\;r\gt a }[/math]
and
[math]\displaystyle{ \phi(r,\theta,z)= \sum_{n=-\infty}^{\infty}\sum_{m=0}^{\infty}b_{mn} I_{n}(k_{m}^{\prime}r)e^{i n\theta}\chi_{m}(z), \;\;r\lt a }[/math]
where the definition of [math]\displaystyle{ k_{m}^{h} }[/math], [math]\displaystyle{ k_{m}^{\prime} }[/math], [math]\displaystyle{ \phi^{h}_{m} }[/math] and [math]\displaystyle{ \chi_{m}(z) }[/math] can be found in Eigenfunction Matching for a Submerged Semi-Infinite Dock and the expansion in the cylindrical eigenfunctions can be found in Eigenfunction Matching for a Circular Dock
Equations to solve
[math]\displaystyle{ I_{n}(k_{0}^{h}a)A_{0}\delta_{0l}+a_{ln}K_{n}(k_{l}^{h}a)A_{l} =\sum_{m=0}^{\infty}b_{mn}I_{n}(k_{m}^{\prime}a)B_{ml}^{\prime} }[/math]
and
[math]\displaystyle{ k_{0}I_{n}^{\prime}(k_{0}^{h}a)A_{0}\delta_{0l}+a_{ln}k_{l}^{h}K_{n}^{\prime }(k_{l}a)A_{l} = \sum_{m=0}^{\infty}b_{mn}k_{m}^{\prime}I_{n}^{\prime}(k_{m}^{\prime}a)B_{ml}^{\prime} }[/math]
where the definition of [math]\displaystyle{ A_{l} }[/math] and [math]\displaystyle{ B_{ml}^{\prime} }[/math] can be found in Eigenfunction Matching for a Submerged Semi-Infinite Dock
To solve the system of equations we set the upper limit of [math]\displaystyle{ l }[/math] to be [math]\displaystyle{ M }[/math].
Matlab Code
A program to calculate the coefficients for circular dock problems can be found here circle_submerged_dock_matching_one_n.m Note that this problem solves only for a single n.
Additional code
This program requires dispersion_free_surface.m to run
