FRyDoM

FRyDoM philosophy

From the outset, FRyDoM was imagined as a framework and not as software. This means that FRyDoM is intended to be the cornerstone of tailor-made numerical applications for the dynamic modelling and simulation of complex marine systems.

The purpose of the FRyDoM framework is to provide the keys for developing specific and ambitious programs for the simulation of complex marine systems. The general idea behind the design of FRyDoM is to avoid presupposing the type of application it can be used for. As soon as the aim is to simulate a system at sea, whether it's a complex articulated floating multi-body system, with or without contact, with cables, thrusters, or steering system, with constraints on calculation precision or rather on execution speed, FRyDoM has been designed to ease the development of a specifically adapted tool. FRyDoM's software architecture is also designed to facilitate its extension to new physical models as required.

A prerequisite for using FRyDoM is therefore to be an engineer who masters both object-oriented programming in C++ and the basis of the physical models proposed, such as hydrodynamics or marine environment modelling. At this price, FRyDoM opens an ocean of numérical possibilities, from the deployment of complex engineering workflows on supercomputers to real-time applications.

Programming skills and engineering ideas are the limits.

General Features

• A multiphysics Engine for marine systems focused on high-fidelity

• Based on PROJECTCHRONO (marinization)

• Constrained multibody dynamic solver

• Embedded finite elements solver

• State of the art collision detection algorithms

• Smooth and nonsmooth contact handling

• Marine environment modelling

• Advanced hydrodynamics (wave interaction, resistance, manoeuvring...)

• Advanced control systems

• Propulsion

• Cable modelling & complex mooring (Catenary static and FEA dynamics)

• Embeddable framework

• CMake / C++17

• Industrial-grade Software (Gitlab, CI, unit testing etc...)

Examples of industrial/commercial application cases where FRyDoM is used by D-ICE ENGINEERING:

• Floating wind turbine modelling with tight coupling with OpenFAST for blade controller setting

• Study of the motion of floating wind turbines moored to a quay

• Dynamic performance prediction of Wind Assisted Vessels for different industrial sail systems

• Physics engine for training simulator focused on Wind Assisted Vessels

• Manoeuvring simulations for model identification based on CFD calculations

• Crew Transfer Vessel  boat landing operation on Offshore Wind Turbines performance prediction

• Physics engine for Dynamic Positioning algorithm development

• etc.

Hydrodynamics models

• Manoeuvring

  • Calm water resistance

  • One quadrant Abkowitz model adapted to autopilot simulations

  • Full four quadrant model for Dynamic Positiong and harbour manoeuvring simulations

• Wave structure interactions

  • First order wave excitation and radiation based on Hydrodynamic Databases generated by potential theory hydrodynamics solvers

  • Multibody wave interactions

  • Finite and infinite water depth

  • Ultra fast radiation memory effect calculation (Cummins formulation) based on in-house original frequency domain identification of radiation frequency response

  • Second order mean drift effects

  • Forward speed effects based on encounter frequency and modification of the memory effects

  • Full Morison elements for slender bodies

  • Additional damping (eg nonlinear roll damping)

• Wave modelling

  • Regular waves

  • Irregular waves with directional spreading including different standard wave spectrum (Pierson-Moskowitz, JONSWAP, ...)

  • Stretching functions for better wave orbital velocity calculations

• Hydrostatics

  • Linear modelling

  • Nonlinear modelling based on instantaneous clipping of mesh with respect to undisturbed wave field