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Ocean Engineering
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art ic l e i nf o a b s t r a c t
Article history: The slow drift motions would lead to a serious influence on moored floating structures and cause the
Received 26 July 2015 failure of mooring and riser systems. Mooring line damping which represents the transfer of energy is
Accepted 14 December 2015 important for moored floating structures. In this paper, time domain finite element method was applied
Available online 29 December 2015
by using OrcaFlex. A series of mooring line top end motions was simulated to investigate the relationship
Keywords: between mooring line damping and low-frequency superimposed with wave-frequency random motion.
Mooring line damping A transformation method was introduced that wave-frequency random motion was transferred to an
Low-frequency motion equivalent sinusoidal motion based on the spectral density of vessel motion. Then, the influence of
Wave-frequency random motion equivalent sinusoidal motion and random motion on mooring line damping was compared. It can be
Transformation method
found that mooring line damping could be reduced slightly if considering random motion. Finally, the
Parametric study
influence of individual parameter which includes current speed, drag coefficient, added mass coefficient
Time domain
and pre-tension on mooring line damping was studied. The results showed that the significant status of
drag coefficient and pre-tension on the predication of mooring line damping. But for current speed, the
effect on mooring line damping cannot be overstated for considering random motion but the reverse is
true for considering sinusoidal motion.
& 2015 Elsevier Ltd. All rights reserved.
1. Introduction was also proved that the mooring line damping was the key
component of the total damping through the comparison with
The motion of moored offshore structure is mainly resulted other sources of damping (Matsumoto, 1991). For some ship-like
from and dependent on the static and dynamic environmental structures such as FPSOs, the mooring line damping plays the key
loads. The first-order motion and second-order motion which are role in determining the maximum excursion and peak line tension
excited by different components of environmental loads are taking since the inherent damping in surge motion is very low for those
place at wave-frequency range and well below the wave- kinds of vessels (Webster, 1995). Through the coupled analysis of
frequency range respectively. Normally, the natural frequency of dynamics for moored floating structures, the prediction for the
the floating structure’s surge motion or sway motion is close to the amount of damping from mooring line is important to predict the
frequency of second-order wave loads. As a result, the low- low-frequency motion of the vessels as it accounts for a large
frequency slow drift motions at resonant frequencies are one of contribution to the total damping (Ormberg and Larsen, 1998).
the characteristic features of moored floating structures causing Therefore, the effect of mooring line damping should be taken into
large horizontal excursions. The amount of the low-frequency consideration in order to predict the motion response of moored
floating structures. It was known that the mooring line damping
surge or sway damping plays an important role in determining
has limited influence on the wave-frequency motion, but the
the maximum horizontal excursions. Generally, the main sources
influence on low-frequency motion cannot be overstated (Huse,
of the total damping which includes viscous hull damping,
1986). But, the combination of wave-frequency motion and low-
mooring line damping, wave drift damping, etc. are coming from
frequency motion would lead to an obvious increase of the low-
the structure itself and mooring system.
frequency mooring line damping (Huse and Matsumoto, 1988,
It was presented that that the mooring line damping might be a
1989; Dercksen et al., 1992). The explanation for this phenomenon
main contribution to the total low-frequency damping of the
was that the drag coefficient is enlarged owning to the variation of
system in certain circumstances (Huse and Matsumoto, 1989). It the drag force acting on the mooring line with relative velocity
between the fluid and line itself (Huse,1991).
n
Corresponding author. Tel.: þ 86 13918796513. Brown and Mavrakos (1999) found that the superimposed
E-mail address: yycjx19881030@126.com (Y. Yang). wave-frequency sinusoidal motion had a significant effect on the
http://dx.doi.org/10.1016/j.oceaneng.2015.12.026
0029-8018/& 2015 Elsevier Ltd. All rights reserved.
244 Y. Yang et al. / Ocean Engineering 112 (2016) 243–252
low-frequency mooring line damping that it would show a dra- 2. Methodology and modeling
matic upward trend compared with those under low-frequency
motion only. The results showed that a wave-frequency motion of 2.1. Time domain finite element method for calculating mooring line
5.4 m amplitude at 10 s period will increase the low-frequency damping
damping by a factor of 7.1 and 2.0 for two different systems
respectively. And the increasing factors were 8.8 and 2.4 respec- The top end motion of the mooring line is illustrated in a time
tively when amplitude of wave-frequency motion increases from history file to input or directly pre-defined in the program. The top
5.4 m to 8 m. Experimental model test was carried out by Kitney end motion can be low-frequency motion, wave-frequency motion
and Brown (2001). The tensions of the mooring line measured in or a combination of them. The horizontal component of tension at
the experiment were acceptable agreed with the results from mooring line top end will be calculated and outputted as a func-
dynamic analysis. According to the results described as enclosed tion of the time during one low-frequency period cycle of vessel
area in indicator diagram, it was found that the combination of surge motion. Then integrate the product of the horizontal com-
low-frequency and wave-frequency motions leaded to a significant ponent of tension multiplying with the low-frequency component
increase of the low-frequency mooring line damping. Johanning of the velocity over a low-frequency period (Huse, 1991). Typically,
et al. (2007) predicted the motion of WEC devices by using the the dissipated energy caused by the mooring line during one low-
time domain finite element method. The effect of wave-frequency frequency period cycle can be obtained by using the indicator
top end motion was considered in a different approach that the diagram. The horizontal displacement is plotted on the horizontal
frequency ratio (top end motion frequency over natural frequency axis and the corresponding horizontal component of tension is
of the mooring line) was introduced. The results suggested that plotted on the vertical axis. The figure obtained will be a curve that
the dissipated energy caused by mooring line showed an upward the area of it represents the dissipated energy caused by the
trend with the increase of the frequency ratio. Besides, this trend mooring line as shown in Fig. 1.
would be more obvious and significant with the increase of the According to Webster (1995), Brown and Mavrakos (1999), the
mooring line pre-tension. dissipated energy caused by the mooring line during one period
A fully dynamic finite element method was performed to cal- cycle of vessel surge motion can be defined as:
culate the tensions of mooring line and mooring line damping Z τ
with the indicator diagram plotting according to the relevant non- dX
E¼ T h dt ð1Þ
dimensional parameters by Webster (1995). The parametric study 0 dt
showed that the pre-tension of the mooring line had a significant where T h is the horizontal component of tension at mooring line
influence on the mooring line damping. It indicated that the top end; X is the low-frequency component of horizontal dis-
mooring line damping will firstly show an upward trend with the placement; τ is period of the low-frequency surge motion.
increase of the drag coefficient and motion frequency at low pre- The equivalent linear damping coefficient B is introduced to
tensions, but the reverse was true if the pre-tensions are high. That express the mooring line damping. It can be assumed that:
is to say the elastic stretch of mooring line has a significant effect
on the damping values since it will become domain at high pre- dX
Th ¼ B ð2Þ
tensions while its effect can be neglected if the pre-tensions are dt
low. Besides, the results showed that the current effect on the After combination of the (Eqs. (1) and 2), the dissipated energy
damping is very slight. It might be true if the velocity of the
caused by the mooring line can be represented as:
mooring line motion is fast. If just consider a low-frequency
Z τ 2
motion the effect might be quite different. Qiao and Ou (2010) dX
proposed a parametric study on mooring line damping due to low- E¼ B dt ð3Þ
0 dt
frequency motion only by using time domain finite element
method. The damping resulted from friction force at seabed and
drag force along mooring were both taken into consideration. It
was found that the damping due to drag force constitutes the vast
majority of the total damping and different seabed friction coef-
ficient had a limited influence on the mooring line damping. Qiao
and Ou (2011) also investigated the effect of current speed on
mooring line damping due to low-frequency motion. The results
showed that the mooring line damping had an upward trend with
the increases of the current speed.
Most researches focus on the mooring line damping corre-
sponding to pure low-frequency motion or pure wave-frequency
motion. And also the parametric study was carried out in this
background. In this paper, the effect of the superimposed wave-
frequency random motion on the low-frequency mooring line
damping will be investigated. Meanwhile, the wave-frequency
random motion will be transferred to an equivalent sinusoidal
motion by using an energy based method. Then, the comparison
between the effects of those two kinds superimposed wave-
frequency motion on low-frequency mooring line damping will
be carried out. Finally, parametric study is performed to investi-
gate the influence of each individual parameter on mooring line
damping due to low-frequency superimposed with wave-
frequency random motion as well as with wave-frequency sinu-
soidal motion respectively. Fig. 1. Indicator diagram.
Y. Yang et al. / Ocean Engineering 112 (2016) 243–252 245
Table 2
Parameters of the mooring line.
Fig. 3. Meanwhile, the surge R.A.O. of the vessel is presented in Amplitude Operator (R.A.O.) of the vessel used in the analysis. It is
Fig. 4 for the purpose of discussion on the results. clear from Fig. 4 that the curve shows an abrupt increase between
Considering the random process of the mooring line top end 10 s and 15 s, but the curve is flatter for the interval 15–20 s.
motion, 25 cycles of low-frequency motions (for the low- Besides, the mooring line damping values corresponding to two
frequency motion of 30 m amplitude at 150 s period, the time different pure low-frequency motion are 40.21 kN s/m and
for calculation is 4500 s which equals sum of 30 cycles period of 20.23 kN s/m respectively, those two damping values getting clo-
the low-frequency motion, and in which the last 25 cycles are used ser with the extreme environmental condition provided by the sea
due to the instability of the first several cycles) are taken into spectrum. That is to say, the wave-frequency random motion plays
account to calculate the average dissipated energy and average
a key role in determining the mooring line damping.
equivalent linear damping value.
The values of the mooring line damping due to the effect of the
combined low-frequency motion and wave-frequency random
motion in low-frequency motions of 30 m amplitude at 150 s 4. Comparison on effects of two kinds superimposed wave-
period and of 30 m amplitude at 300 s period conditions are frequency top end motion
shown in Fig. 5 respectively.
As shown in Fig. 5, the effect on the mooing line damping is 4.1. Transfer to the equivalent sinusoidal motion
very slight if the zero crossing period is at 8 s and 10 s. But once
the period reaches to 15 s, the effect will be significant. In Fig. 5(a), The random motion of the vessel will be transformed and
the damping shows an increase from 41.89 kN s/m to 52.95 kN s/m represented by an equivalent sinusoidal motion in order to com-
by a factor of approximately 1.3 with the period increases from pare the effect of the superimposed sinusoidal motion and random
10 s to 15 s (same significant wave height 12.5 m). In Fig. 5(b), the motion on the low-frequency mooring line damping. The energy
damping shows an increase from 24.07 kN s/m to 40.19 kN s/m by equals to the area under the energy density spectrum. The
a factor of approximately 1.7 with the period increases from 10 s to Response Amplitude Operator (R.A.O.) of the vessel surge motion
15 s (same significant wave height 12.5 m). But it should be is used as the transfer function to get the density of vessel surge
pointed out that the mooring line damping values are getting spectrum. From the density of vessel surge spectrum, the sig-
closer for period of 15 s and 20 s (same significant wave height
nificant response amplitude, the average response amplitude and
23 m). This feature might be resulted from the Response
the root mean square response amplitude can be obtained.
In practice, the process to transform the vessel random motion
to single sinusoidal motion by using OracFlex is illustrated in
Fig. 6. Record surge motion of the vessel due to the wave effect
with specified sea spectrum, and get the density of vessel surge
spectrum. Then calculate the area under the density of the vessel
surge spectrum (which equals to A1). The root mean square
response
p ffiffiffiffiffiffi amplitude (arms1 ) can be determined which equals to
A1 . Besides, for a single sinusoidal surge motion of the vessel,
the relationship between the area under the response spectrum
(which equals to A2)
pffiffiffiffiffiffiffiffi and the amplitude of the sinusoidal motion is
ffi pffiffiffi
that Amp ¼ 2A2 ¼ 2arms2 . Assume the areas under the density
of vessel surge spectrum and the response spectrum of a single
sinusoidal motion are the same (A1 ¼ A2 ¼ A; arms1 ¼ arms2 ). Thus,
thepamplitude
ffiffiffiffiffiffi of the equivalent sinusoidal motion (Amp.) equals
to 2A. Mean zero crossing period is reasonable to be regarded as
the period of an equivalent sinusoidal motion since average the
times between each zero down (or up) crossing gives the mean
Fig. 4. Surge R.A.O. of the vessel.
zero crossing period.
Fig. 5. Effect of superimposed wave frequency random motion on damping. (a) 150 s–30 m and (b) 300 s–30 m.
Y. Yang et al. / Ocean Engineering 112 (2016) 243–252 247
Table 4
Comparison of superimposed equivalent sinusoidal motion and random motion.
Case no. Hs-Tz (m-s) ER. (kJ) BR.(kN*s/m) Amp.-Period (m-s) EE.S. (kJ) BE.S. (kN s/m)
4.2. Comparison of the results The results of the dissipated energy and the equivalent linear
damping with the effect of the superimposed wave-frequency
The equivalent linear mooring line damping due to the effect of random motion are listed in Table 4. Meanwhile, the random
the low-frequency superimposed with random top end motion motion is transformed to the equivalent sinusoidal motion. The
equals to the average value of the individual damping values in the results with the effect of the equivalent sinusoidal motion are also
last 25 low-frequency motion cycles. The equivalent linear moor- given in Table 4. After comparison of the two series of the results,
ing line damping can be determined by the following equation:
it is clear that the dissipated energy and the corresponding
v"ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
#2 ffi
u equivalent linear damping values due to random motion are both
u 1X n
1X n
B¼ t ðB1 þB2 þ … þ Bi 1 þBi Þ þ ðB Baverage Þ 2
ð5Þ smaller than those with the effect of the equivalent sinusoidal
ni¼1 ni¼1 i
motion.
248 Y. Yang et al. / Ocean Engineering 112 (2016) 243–252
Fig. 7. Comparison of the damping results. (a) 150 s–30 m and (b) 300 s–30 m.
Table 5
Influence of current.
Case no. Current (m/s) Dissipated energy (kJ) Damping (kN s/m)
The results of the equivalent linear damping are shown in 5. Parametric study
Fig. 7. The dispersion of results from two approaches is becoming
obvious with the increase of the zero crossing period and the 5.1. Influence of current
significant wave height. Both two figures show that case 4, case
5 and case 6 have obvious gaps between damping values. Because The current influence on mooring line damping due to low-
after transferring to equivalent sinusoidal motion, the amplitudes frequency superimposed with wave-frequency motion is per-
formed as described in Table 5. The low-frequency motions which
of those three cases are in different order of magnitude compared
selected are of 30 m amplitude at 150 s period and 30 m ampli-
with the amplitudes of first three cases. Though the periods are
tude at 200 s period. The significant wave height is 12.5 m at 10 s
increasing from case 1 to case 6, the difference is much smaller
and 15 s zero crossing period in the selected sea spectrum. The
compared with the amplitude. Thus the equivalent sinusoidal
superimposed wave frequency top end motion which selected
motion in case 4, case 5 and case 6 will lead to high mooring line here is of 5 m amplitude at 10 s period. The current speed is in the
damping values, but at the same time, the random motion has a range from 0 to 1.5 m/s.
relatively small effect on the mooring line damping due to the Fig. 8 illustrates the effect of the current and it indicates that
offset of each wave component. Thus a conclusion might be the mooring line damping shows a non-linear increase with the
obtained that the difference between mooring line damping rise of the current speed. It indicates that the current effect cannot
values according to random motion and equivalent sinusoidal be overstated if the top end motion is low-frequency motion
motion will be increased for the severe wave conditions. superimposed with wave-frequency random motion. But the effect
Y. Yang et al. / Ocean Engineering 112 (2016) 243–252 249
Table 6
Influence of normal drag coefficient.
Case no. Normal drag coefficient Dissipated energy (kJ) Damping (kN s/m)
of current can be neglected when the superimposed wave- 5.2. Influence of normal drag coefficient
frequency motion is sinusoidal motion. According to the plentiful
of case study provided in this paper, the mooring line damping is The influence of normal drag coefficient on mooring line
just increasing by a maximum factor of 1.1 for sinusoidal motion damping due to low-frequency superimposed with wave-
while this factor is 2.9 for random motion. It seems that the dif- frequency motion is performed as described in Table 6. The
ferent components of sinusoidal motions within random motion motions are the same with the previous section. The variations of
have a mutual influence that the effect was reduced. S1 and S2 drag coefficient are neglected in the study and only the
According to the findings presented in this paragraph, it indi- variation of S3 drag coefficient is carried out.
cates that the current effect can be neglected if the wave- The effect of the variation of the drag coefficient on mooring
frequency sinusoidal motion is included. The similar phenom- line damping due to combined low-frequency and wave-frequency
enon that the current effect is very slight was also shown in the motion is shown in Fig. 9. The upward trend is almost linear. The
research by Webster (1995). But the difference is that the damping mooring line damping was increased by a factor of approximately
was only due to the wave-frequency sinusoidal motion in Web- 2.5 with the increase of S3 drag coefficient from 1.1 to 3.2 from
ster’s research. It indicates that the current influence can be case 1 to case 4. The low-frequency damping was increased by a
neglected if the wave-frequency sinusoidal motion is taken into factor of approximately 2.0 with the increase of S3 drag coefficient
consideration. from 1.1 to 3.2 for Case 5 and Case 6.
250 Y. Yang et al. / Ocean Engineering 112 (2016) 243–252
Table 8
Influence of pe-tension.
in determining the amplification factor of the mooring line reasonable comparison, the random motion was transformed
damping. to the equivalent sinusoidal motion. The results indicated that
(2) The comparison of the effects due to sinusoidal motion and the effect of superimposed random motion is more slight
random motion was carried out. In order to get a more compared with the superimposed equivalent sinusoidal
252 Y. Yang et al. / Ocean Engineering 112 (2016) 243–252
motion. It is reasonable that the random motion can be regard motions. In: Proceedings of the 24th Offshore Technology Conference. Houston,
as a combination of many single sinusoidal motions with Teaxs, pp. 209–218.
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