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ABSTRACT
In this so-called quasi-static mooring analysis, all other phenomena having an effect on the
maximum line load are taken into account in an
overall safety factor, as required by the certifying
authorities. Typical values are 3 for operational
and 2 for survival conditions.
Up to very recently the design of mooring systems and flexible risers lacked an adequate approach
to account for dynamic effects in the extreme load
assessment. Usually the design concept was based on
the extreme positions of the floating structure.
Recent research has indicated that the dynamic
amplification of the tensions in the lines and
risers can be of the same order of magnitude as the
co-called quasi static values. Also it has been
concluded that the dynamic effects in the mooring
system can affect the low frequency motions of the
structure by the increase of virtual stiffness and
damping.
Experimental
and
theoretical research have
shown that high frequency oscillations (in the wave
frequency range) of the upper end of a mooring line
can generate significant dynamic amplification of
the line loads.
-
Van Sluijs and Blok [5] have found from a systematic series of forced oscillation model tests,
that the ratios of maximum dynamic tension and maximum quasi static tension depend strongly on the frequency of oscillation. This ratio is enhanced by
increasing oscillation amplitude, increasing pretension and reduction of line mass.
1. INTRODUCTION
The growth of the number of moored concepts
amongst the offshore structures and the trends
towards cheaper technology as a result of low oil
prices, puts high demands on the design of the
mooring arrangement.
405
--=---
~~
.-"'";::::;C_
-0
~~--'- .---=~
~~_~~.~~_.,=-;::;;_~_-.
__~-_~-=.~
__ ~~_~
- __
~_-
---=-==----'"',-
~_~
~ _
~=
- -
.
----:--.~=-
.'='-~.-
-'-.---'-~--
OTC 5531
T (T)
~~~!:~_~J2J2E~~!;
!. (T)
-J
2
D~ ~j
a tj
D~ ~j
P (CIt - 1) n/4
The
tj
4~j(T-~T)
force
-j
+ 1/2
~j(T-2~T)
+
(5)
-J
To derive consistent segment tensions and displacements, a Newton-Raphson iteration using the
additional constraint equation for the constitutive
stress-strain relation is applied:
(l)
I ~xj(T)12
o/j(T) "
T .(T)
- ~2 {1 + ---L......:....}2
oj
EA
j
(6)
(2)
(7)
For
each
s~ould be
T (T+~T)
nodal
+ ~ it.(THT)
(T-~T)
5/2 X.(T) - 2x
], [A
5~(T)
or:
nj
~:2 {2~j(T+~T)
-J
[A
-J
- x.(T-2~T)
(4)
.!j(T+~T)
18~j(T)
+ 9X.(T-~T) - 2X.(T-2~T)}
2. THEORY
([ Mj] + [m
vector F. contains
-J
the
following
Fluid forces
-------------
segment tension
shear forces due to bending rigidity
FT(T)
Fs(T)
c.
d.
e.
f.
g.
fluid forces
sea floor reactive forces
buoyancy and weight
buoy forces
tether forces
Ff(T)
Fr(T)
Fw
Fb(T)
FTT(T)
(8)
406
.;;~~:~~~:~-;,;~
--,---
,._.~~-:.c,.-==,_
-'=0-
-~""'-
--.;---~
:::=-~~ = ~:_~c:-~-=--.~~
..
--=---
--
.__
-.-'-----,---~=
-=--~~
--~~~:~---'-:-:=-.-=~,:;::~.
.,..---
~~---.==--==----'---;...'---~_=_~~~-~~R7~;_~~_-""=--~'*.~"'~~=:_~~~::;:_-
~""_
-C'-=,
- - ... ,,~~~-~
-~ _~-~. '= --
'::-z- =,,7'---:::::-~
o:::c...~_= --
-----==-
__ ~_~""=-_::;~:~~::-_~-O-~-;::'---=-.,-~~-':---
_--""~
~=-:---"~~:---=~ :.::::=~~-:-:-~-
-~
.---",__
"--.___
--~-
_~
~=-- ~_-
~_':-' __ '~'
---
--::=-----,
._~~-~."---~ __=__~
-=--
---
..,._--------
,~
.~~'~~.'"'";::;;_~_-.
__~ - _~_:='~
__ ~~_~
~_ _
~_-=
-'-=--==..-._-----,--='c-:-_-'------___=_
','~'~
,.,_~-'__'____~
-~
~_~
_, ,'.-;----',-_' =
' =' ~
: __ --==------.--:-.~~
~'------,--- =--~=,
~'--
-------:-==-"-
_~__= __-==--=___~
..
_.=-_-,--~ .. _'-:: ---,--- _~ ~._:;:::_= __ '==~_-=-=."= '"--"--:::0--'-- =', ----e=.-_~= .,..-_ _-~= ___=_-.-:-.c=::::;;
-
__
~~=::?-~--=~:::'-~-'--~-~::"_~~~-~:?~~
--=~
_-_
.. :
'----.--:-_==
",~'____:_c,-=: ..__:_:_~.",____~_
".~'"::=_,~
--=--
OTC 5531
(9)
=- <P j -
<P
_
j 1
(14)
with
<P j
where:
~
. (15)
[n]
(Ye
Y..w - i~) j +
(.Ye
(16)
Note
force~
After computation of
in local coordinates
nents are found from:
ite'
(17)
or:
(10)
(18)
.L,
-L
(.L,
-Le
+.L,
)/2
-Le _
j
j 1
d<P j =- arccos
with:
~j
(11)
To calculate the instantaneous orbital velocities and accelerations of the water particles due to
wave action use is made of the Volterra series formulation which represents a linear filtering of the
specified wave train
[7]:
V
hV
~
The direction of the bending moment vector is perpendicular to a and b and given by their vector
product:
~j
~j
=s
~j
~j
=s
~j-l x ~j
Hv (w) e
iwT
(13)
dw
~j
00
_00
(21)
=s
where:
=- L2TI
(20)
-s
= -j-l
S
(22)
- S
-j
the
~ x ~
= impulse
h--y (T)
~j - ~j-l
=-
-j-l
orbital velocity
response function for V
=- input wave train
(19)
lj =- ~j+l - ~j
(12)
where:
(~j'lj)/I~jllljl )
407
-B!:"--- - - --~ -~ -~
..
~- ~----~----
-'--'.-.-,-,'-,:'-.. ---'----
~"--~-
_._~
~~~:~~~~~-;,;:;.-
'~.:.=:": ~=='-
---=-~
--- --C:----:~-c:~~-=~~--~=:~--~~~-c
--
c=_ -
-=_--:.;~~:~....:.:-.:=--.:::~,:;:"~--~=-"-'-~.-.~-.;-::..,;-
- -~
-=-~~~~ - --~ ~_:~ --e:--,~-== ~~~-~-=:'=:=~~-~-i~7~7::;~oi-O""=- ~,~= ~~=:-~~~-~- ~'.::.
_
~-~- -- --
.--c--
"=-:-:-~~~~
-~c: -~~-: . , , -: .=.-- - -
--="'~--~'~~-''=-;::;;-~--._-~--~--=,~--~~-~
~-
~~~-','--=:~"-~
~--~.-
-~
""""C
-C--=:::-'2-~
-==-_--=--=~_= -_:;=.::--_ - -_~_=
.-;~~~,~~_
-;-::-~-:::?;--=~::::.~ -~-~=-:-..,...;~""::.=~?~-=--::-' ~=-:----~~-c.=~ --==~~ -:-:-~-
~~.-__--,~~ __~':~,_-~~-----,-=--~=,:~,~,',~:..-
-~'-~--=
-= ~:;::: -- =~ ~
~-~
--
-:::0--
--=
-_
-=-= ~---::---=
-, ,'--"--",--'='----:-:-.==
3.
VERIFICATION
The development of the computer algorithms presented in Figure 1 has been undertaken in continuous
relation with extensive model testing programs both
for module building and integrated validation. The
validation has been focussed on specific applications:
- mooring systems and floaters [2]
- rigid risers [6]
- flexible risers.
Mooring--a~ems
and floaters
----------In the 1984 mooring line dynamics study [2]
extensive teats have been carried out for determination of fluid reactive force coefficients of chains
and wires.
Model tests utilizing harmonic upper-end forced
oscillations of the line at five frequencies for
eleven combinations. The water depths ranged from 75
m to 608 m. Chains, steel wires and chain-wire
combi-lines were investigated (Table 1). For these
tests, which were carried out according to Froudets
law of similitude, use was made of steel atudless
chain and wire. The scale ratios ranged from 19 to
76. It should be noted that the chain links of the
1.0 and 2.0 mm chain were cut at one side. The EAvaluea were derived from tension-elongation tests
(Table 2).
The oscillation tests were carried out in the
220mx4mx4mand
the 240mx18mx8mbasins
of MARIN. During the tests the forced oscillation,
generated by means of a mechanical large stroke oscillator, was measured by means of a potentiometer.
The upper-end line tension and vertical angle were
measured by means of a two-component force transducer while the tension at the anchor point was measured by means of a ring-type force transducer. The
motions of the line were recorded by underwater
video. The measured tensions were directly compared
with the computed results. Moreover comparisons were
carried out on the basis of the Dynamic Tension
Amplification (DTA) defined as amplification of the
maximum total quasi-static tension, i.e. the static
tension at the maximum excursion.
For the 300 m water depth cases typical results
A good correlation between measured and calculated line tensions was found during the harmonic
oscillation tests for the wide range of situations
investigated. Because of the non-linear phenomena
involved, the ultimate validation of the developed
computer program was carried out by means of model
tests in irregular waves. A model of a floating
structure was moored by means of two parallel lines
and a tensioning weight.
During the tests the motions of the structure
were measured by means of an optical tracking device
while the upper-end mooring line tensions and angles
were meazured by means of two-component straingauges. The fairlead motions derived from the measured motion at deck level were used as input to
DYNFLX. This procedure enabled a deterministical
comparison between experimental and numeric tension
records.
Results for the semi-submersible and the barge
(defined in Table 3) in irregular waves with a significant height of 13.0 m and a mean period of 15.5
s are given in Figures 4 and 5. In order to ahow the
contribution of the dynamic behaviour, the computer
simulations were repeated for 80 per cent reduced
line diameters thus reducing drag (80%) and added
inertia (96%).
Since in the basic approach to the extreme
loading assessment it was assumed that motions fo
the floating structure are not affected by the
dynamic mooring forces some additional analyses were
performed. To this end the dynamic tension records
resulting from hi-harmonic top oscillations, combining a typical low frequency oscillation with a wave
frequency response, were investigated.
The low frequency energy in the hi-harmonic
result was studied by removing the high frequency
tension components by means of low-pass filtering.
This result was compared with the tension due to the
low frequency oscillation are given in Figure 6.
The change of restoring forces experienced by
the floating structure is illustrated by an increase
in amplitude of low frequency tension and a phaae
shift. Dividing the tension record in an in-phase
and quadrature phase component, it is clear that the
dynamic behaviour of the mooring line may increase
both the effective mooring stiffness and the low
408
O!rc5531
J-u
//2
.-.
,JJ-!.,
x..,
-U.
u.u..
(
-4-.
..-..
variations performed:
- Results for location 2 and 3 are sensitive for
changes in inertia coefficients cIn and Cit.
Apparently,
the effect of increasing
cIn/cIt
increases for higher frequencies.
- Results for locations 2 and 3 are sensitive for
changes in the normal drag coefficient of the
arch, ~n. The effect of a ~n modification seems
to be reduced for higher frequencies.
- Results for locations 2 and 3 prove to be insensitive to changes in the tangential drag coefficient
cDt.
4. CONCLUSIONS
The riser was manufactured at MARIN to scale 1
to 30.5 having the correct weight, mass and outer
dimensions. The bending stiffness was approximated
through a proper choice of the material and was
checked by a bending test.
Furthermore, buoyancy rings were fitted in
order to reach the appropriate shape of the lazywave configuration.
The riser top was subjected to forced harmonic
oscillations in x, y and z direction with constant
amplitude for a number of frequencies.
To establish meaningful correlation results, it
was essential that the DYNFLX model discretization
closely approximated the tank model. This was easily
achieved for mass and flexibility, while for the
hydrodynamic
coefficients
of smooth cylindrical
parts of the riser well-known values were taken from
literature.
The arch, however, including the buoyancy beads
as well as two transducers, was ldentifLed as main
area of uncertainty.
Since this part of the riser is also represented in
the mathematical model by means of cylindrical memhers with an equivalent diameter, it is implicitly
assumed that the influence of the buoyancy beads on
drag and inertia in normal and tangential direction
can be descrLbed by a single parameter. Therefore it
was felt appropriate to investigate the sensitivity
of calculation results for separate variations in
the individual hydrodynamic coefficients ~n,
~t,
cIn and Cit.
For the correlation study the oscillations in z
direction were chosen as representative for the test
model behaviour, since this component introduces
significant tension and bend radius variations at
the instrumented locations.
In Figure 8 some calculated and measured mean
values for bending and tension are presented. On the
basis of the fair agreement found, it was concluded
that the geometry and material properties of the
discretization correspond with the tank model.
The results of the parameter variations are
also presented in Fig. 8. Apart from the complex
nature of the problem, interpretation was hampered
by:
- Standard deviations for signals at locations 2 and
3 are small compared to the mean values.
- The rate of change in bending moments at the instrumented locations is large. Hence, approxfmation by a discretized model may lead to noticeable
differences.
Nevertheless,
some
trends
were
deduced
from
the
5. ACKNOWLEDGEMENT
The authors are indebted to the mentioned
sponsors of the research programs of the Netherlands
Marine Technological Research (MaTS) for their kind
permission to make use of the results from these
programs.
NOMENCLATURE
A
a
B
b
~M
CD
C1
;
d
dc
E
;
~j
g
H
h
I
j
k
L
.L
~
409
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
OTC 5531
j
H
=1 inertia matrix
= time dependent added inertia matrix
j
~
= node
n
= subscript: normal direction
R
= radius
c= horizontal distance in wave direction,
bending radius
s
= shear force
r
= tension, period of oscillation
rT
= tether tension
t
= subscript: tangential direction, time
u
= relative fluid velocity in local coordinates
u
= relative fluid velocity in global coordinates
v
= velocity
w
= subscript: weight, wave
x
= displacement, input record
= excursion vector (x,y,z)
;j
= output record
X,y,z = 3-D system of coordinates
U
6
E
c
A
A
!J
P
u
T
4
=
=
=
=
=
=
=
=
=
=
=
+
k
[A*]
w
Q
REFERENCES
1.
2.
3.
4.
angle
angle
element strain
wave elevation
transformation matrix
scale factor
angle
fluid density
standard deviation
time
line angle
5.
6.
7.
TABLE
lTEST
SITUATIONS
FOR MOORING
STUDIES
PERFORMED
Situation
1
Situation
4
Situation
7/12/15
Chain
D=O.152 m
Situation
2
Situation
5
Situation
8/13/16
Wire
D=O.076 m
Situation
3
Situation
6
Situation
9/14/17
Situation
10
Combi-line
D=O.076 m
TABLE2MOORING
LINES PROPERTIES
Situation
11
AS MODELLED
Prototype chain
Model chains
D (mm) B (mm)
1.0
4.2
7.9
0.021
0.177 0.0019
0.03
76
124
1048
0.144
1.19
2.0
6.8
12.0
0.080
0.690 0.0036
0.11
38
119
1021
0.137
0.60
4.0
14.2
22.8
0.338
2.874 0.0076
7.00
19
125
1063
0.144
4.90
8.0
26.9
40.1
1.383
11.801 0.0151
22.00
128
1092
0.144
1.93
410
9.5
RESPONSIBILITY
Year
MaTS
(lRO]
MP.RIN
INDUSTRY
I
TABLE 3MOORED
FLOATER
CHARACTERISTICS
1983
Magnitude
Designation
Symbol
Unit
Seni-subl
DYNLINE
Bag.
(vM-v-5)
* 2D
Length
Beam
Depth
Draft
Displacementweight
Centre of gravity above base
Transversemetacentricheight
Transverse
gyradius in air
Longitudinalgyradiusin air
Naturalperiods:
Surge (sit. 12/15)
(sit. 13/16)
L
B
D
T
n
m
n
Ill
t
m
Ill
m
m
117.0
85.0
64.7
22.8
46,360
21.5
4.4
36.0
38.0
T=
217.0
lok.o
T=
23.0
50.9
46.9
47.9
230.o
57.5
26.5
7.6
87,750
mathematical
model
* oscillating tests
* Harmonic tests
Irregular tests
Publication
BOSS 1985
1984
DYNPIPE
* Bending stiffness
357.0
173.0
: ;::;;c:g:
Delivery to
sponsors:
S1Pf4/KSEPL
Gusto/SBM
51eerema/B1uewater
R&H
I I MARIN
ess
China 1985
Wave
Roll (free-floating)
(sit. 12/15)
(sit. 13/16)
Pitch (free-floating)
(sit. 12/15)
(sit. 13/16)
39.9
38.4
35.1
10.4
10.4
10.3
1985
I/r
DYNFLX
,...
,.. .
postprocessing!
DYNAFA
Flexibleriser
model
. +--+I
-W--L
Ia
I
.-
Fatigueanalysis
u
Y
Exmivs10t4 DYNFLX
(VM-1x-8)
1987
(VM-VII-8)
* Publiication cmC87
* Preprocessing and
I*cRAYver.ion
L- -1
DYNRIS
waveforces
....-..-----
3D ma+h.=-.+ic.l
Inde 1
I* Bi;ka
stiffness
Wave f~rces
- Torsion
Advanced access
and application
* systematic
modeltests
* validation
Fig. lR&Dpr~rsms
onmoc.dng
Delivery to
sponsors
/x
.n
g
k
\
\
\
*
El
I
N
6)
.U
412
WAVE
[Ml
20
x
[Ml
200
10
z
[Ml
N15
1Oc)
2000
T
[kNl
u
Line discretization
[M]
10
2000
(reduced
dynamics)
10
2000
[kNl
0
10
;i;15
Y
Z-N15
10
[Ml
o~
400
Fig. 4Discretization,
II
400
Time [s]
0.5
1.0
Time [s]
Irregular wave results for semi-sub
(situation 12)
DTA-values,
and irregular
Harmonic oscillation
7/12/1 5.
1.5
u [rad/s]
results
II
10
lo-
WAVE
I
[Ml
20x
A.+
w-
[Ml
z
[Ml
T
500
[kNl
5000
Line discretization
-1
5.10
5.105
~1
1
(reduce
dynamic
[M]
5.105-
5.10
T
[kN]
m
0
rl -
I
1
./
X-N15
[M]
1
Z-N15
[MJ
]
I
o~
~
0
Time [s]
Time [s]
Irregular wave results for barge
(situation 16)
Fig. 5Discretization,
DTA-values,
;
,
0.5
1.5
1.0
u [rad/s]
Harmonic oscillation
8/10/13/1 6.
results
= 0.50 rad/s
U2 = 0.75
rad/s
w~ = 1.00 rad/s
5
X-TOP
[Ml
-5
1000
T
[kN]
o
~oo
o
1~,
200 0
Fig. 6Bi-harmonic
simulation
raaults.
Mom. transducer
location 2
Force transducerI
Mom. transducer
Force transducer 1 10catiOn 3
N.
m
!
1
,.
,.
...
,,,,,
.
.:.,.
.,.,..::
.. ..
, ,.:,
,.,.
.,
;,::..,.
..:,...
:. ,,
.,.,,:,
,,...:,.
..
,..
,.. .,.
54.2
Fig. 7General
test arrangement
flexible riser.
415
MEAN
VALUES
BENDING
MOMENT
Experiment
--
Em
8
x
0.8
VALUES
_----DyNFLx
DYNFLX
0.4
--
-w
MEAN
TENSION
Experiment
0.4
0.8
Experiment
........ Base case
...................... Increased CTn
-----
Increased c
In It
Increased c
In cIt cDn
Increased c
In cIt cDt
1.6
1.6
OBM
BM
0.8
O.E
1.6
aT
T3
0.$
/
.
o~
Fig. 8-Flexible
1.2
riser correlation
results.
416