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J. W. Leonard
Professor of Ovil and Ocean Engineering, Oregon State University, Corvallis, OR 97331,
USA
(Received April 1989)
A flexible cable is a structural element that ideally supports tensile loads only. Extremely long and slender
flexural members, such as risers on oil production platforms, also exhibit primary tensile behaviour away from
supports. Cables are used as tethers to connect two or
more items, or as major structural components in many
land-based and sea-based systems 1. They are used as
warp lines in midwater and bottom trawls 2'3. Tethers
are the primary seakeeping restraints for floating buoys,
platforms, and breakwaters and for moored vessels 4-6.
Wave, current, and tidal drift are resisted by multiple
lines, sometimes called tension or catenary legs. The
objects can be floating, as in the case of platforms, or
completely submerged, as in the case of submerged
buoyant breakwaters.
The prediction of the strumming response of a cable
to vortex sheeding may be thought to consist of four
major components: a structural model, an excitation
model, a damping model, and an analysis method 7. In
this work the emphasis is on the improvement of structural models.
Strumming
Hydrodynamic response of cables
The response of a cable to hydrodynamic loads is complex and does not lend itself readily to exact
0141-0296/92/050282-09
1 9 9 2 B u t t e r w o r t h - H e i n e m a n n Ltd
Lumped-parameter
Finite element
Imaginary reactions
Direct integration
Seide126
Thresher and Nath 27
Liu 29
Nuckolls and Dominguez 3
Leonard and Nath 12
Sanders 31
A b l o w and Schechter 32
Gay 46
Schram and Reyle 47
Wang 4a
Choo and Casarella 49
Chang and Pilkey s
DeZoysa 23
Wingham and Kreshaven 5~
Leonard 52 - 54
Methodology
Since shedding frequencies are much higher than ocean
wave frequencies, they may be treated independently;
284
model
(1)
(2)
Ol
0'(~)
1/'L
(3)
(4)
The incremental equations of motion for the pseudoHookean material are given by 4
',4'O
Lift forces
Lift force per unit length acting on a nodal point may be
expressed as
),c
(5)
Fu =
where
/,4
- [I] 3 31
1 [ [I]33
[KL] = c~
- ~ 3
i/]3 ~ ~ ]
(6)
_
[KNL]
[ [C]33
("L)
~
-[C]33]
-[C]3 x3
'Xilcxj
I -
[~33x3 J
(cxilcxj2 + cxi2%])
-{- cxi2"Xj2
(8)
in which
FL, ith component of lift force
Oi fluid mass density
D diameter of cable
CL periodic lift force coefficient
0h kth direction cosine of cable at nodal point
VNR magnitude of normal relative fluid velocity vector
[Go
[i ]
1 [1133
[1133
(ll)
(9)
3 [1133
Exciting forces
Exciting forces in this case are mainly comprised of the
hydrodynamic forces which may be grouped into three
types: drag forces, inertial forces, and lift forces.
The first two forces cause in-line motion of the cables
while lift forces will cause transversal motion of the
cable. The mathematical expressions for drag and lift
forces can be derived from the well known Morison
equation and their incremental forms may be found in
(12)
/-/= ~h
[I] 3
3
2]
logl0(~ = 0.25-0.21Sc
[M] = "L
(lO)
(7)
E 2 pfDCLe'kflkVNRVNm
k=l /=1
log~0(hS~) = - 0 . 2 4 + 0.66S~
F = 4GSG/h
= 2 s k,
p:D
(13)
(14)
(15)
(16)
(17)
(18)
in which
m structural mass plus added mass per unit length
u kinematic viscosity of fluid
h dummy variable
damping ratio
For cables the added mass is independent of the
transverse displacement amplitude (up to a vibration
Eng. Struct. 1992, Vol. 14, No 5 285
(19)
(u/oo.)112
(20)
7rm
i=1
NDOF NDOF
i=1
(2)
(4)
(5)
NDOF
,(t)
(1)
(3)
(21)
(6)
(7)
(8)
(9)
j=l
where
nth mode shape of ith component of global
displacement in equation (5) linearized about
dynamic in-line position at time t
F, ith component of force in linearized global equation
of transverse motion
element mass matrix in linearized global equation
of motion
NDOF number of degrees of freedom
The transverse displacement and velocity may then be
obtained by the following relationship
(10)
(11)
Demonstration problems
Transverse displacement of a horizontal string in a
steady uniform flow
Consider the transverse motion of a straight horizontal
string in a steady uniform flow. The cable and flow properties are tabulated below. A finite model of four equal
size elements was generated and ~St= 0.001 s.
NMOD
ari =
~.~ 4~,iZ,
(22)
n= 1
NMOD
(23)
uT,:
n= I
286
Cable diameter
Cable length
Initial stress
Cable mass density
Young's modulus
Fluid velocity
Fluid mass density
Kinematic viscosity
Stationary lift force coefficient
D = 0.05 ft
L = 14.37 ft
a0 = 33 100 psf
p = 7.78 slugs ft -3
E = 8 113 100psf
V = 0.695 fps
py = 2.0 slugs ft -3
u =0.0000113 ft 2 s -I
0.2
0"61
0.4
TLS' ~
~-I.6'
~o2
o.o V k / V k / V V V V V k /
31.5'
~-0.2
J
-0.4
,/
-0.6
-0.8
[ I l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l I I l l l l l
1.0
2,0
Time (s)
3.0
4.0
Figure 3
view)
:500'
t-
~L 7
~110
6
7
j
150'
-I
:59.81 '
5
4
1.4 = 0.0218 ft 2
E = 8 120 000 psf
p = 3.35 slugs ft -3
59.81'
I0
Figure 4
4.03.0"
Pl = 2.0 slugs ft -3
H = 10.0 ft
T=3s
1,0;
x
2'0"1
~-1.0
-2.0
- 3
-4.00
Figure 2
0
1.0
~
2.0
Time(s)
3.0
4.0
250
~5o--
50-
150 t
5.0
~ / ~
+!
k.
-5.0
d
Slack ,n
El .No.7
-25.0l.,
o
Figure 5
q5.0
-25.0| . . . . . . . . . , . . . . . . . . . , . . . . . . . . . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
0
I0
2.0
5.0
40
5.0
Time (s)
+ l l l l l l l l + l ~ ' l ' l + l l l l l l t J l l l l ~ l ~ l + + ~ l l l l l t l l + l l l l l + l l l l + l ~
1.0
2.0
5.0
Time (s)
4.0
5.0
60
60
lines
50-
1.0
50"
08 t
0.6
0,4
I.O-
02
d
-r-t .0"
Slack in
El No.7
-0.4-
-3o
-0.6-0,8-
-5.0
+ + , ~ + , t l ~ , , + , , l , , l , , l l , l , l l l + ~ l , J , ~ = , l , , + , , l l + , l l + , , , , t , ,
I0
Figure 6
20
ZO
Time (s)
40
5D
-I
60
.0
ii
Figure 8
t l l l l l ~ l
i l l l l l
I0
I l l l l l l
2.0
iii
iI
ill
ii
3.0
Time(s)
= l l l = l l l l l l l l l l = l
4.0
ii
50
iii
i [ I
6.0
lines
288
5.0-
:5.0
o 1.0
x
-I .003
-5.0
-5.0
o ........
.......
.......
.......
......
.......
6 0
Time (s)
Figure 9
Conclusions
A finite element model with straight elements and an
incremental/iterative method to solve the nonlinear cable
equation of in-line motion due to wave loading have
given satisfactory results when applied to the threedimensional response of curved three-leg cable moorings.
The effects of strumming on the cable responses are
incorporated in the model by employing a wake
oscillator model. With the assumption of constant
relative fluid velocity in the interval of a time step used
for calculating the in-line response, a mode superposition technique can be used to predict the transverse
strumming motion. These strumming effects can be seen
in the sway motion of the buoy in which the high frequency fluctuation of the sway motion is superimposed
on the lower frequency motion of the cable. The motion
becomes noticeable when the cable experiences high
tension. High tension will increase the stiffness of the
cable and, hence, the natural frequency; which then
approaches the shedding frequency such that a lock-in
condition takes place.
Acknowledgment
This paper is based on work supported by the USN
Office of Naval Research under the University Research
Initiative (URI) Contract N00014-86-K-0687.
References
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