Understanding the Dynamic Coupling Effects in Deep Water Floating Structures Using a Simplified Model

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
Ying Min Low ◽  
Robin S. Langley
Keyword(s):  
Frequency Domain ◽  
Deep Water ◽  
Time Domain ◽  
Low Frequency ◽  
Wave Frequency ◽  
Computational Time ◽  
Coupled Analysis ◽  
Floating Platform ◽  
Coupling Effects ◽  
Mooring Lines

The global dynamic response of a deep water floating production system needs to be predicted with coupled analysis methods to ensure accuracy and reliability. Two types of coupling can be identified: one is between the floating platform and the mooring lines/risers, while the other is between the mean offset, the wave frequency, and the low frequency motions of the system. At present, it is unfeasible to employ fully coupled time domain analysis on a routine basis due to the prohibitive computational time. This has spurred the development of more efficient methods, including frequency domain approaches. A good understanding of the intricate coupling mechanisms is paramount for making appropriate approximations in an efficient method. To this end, a simplified two degree-of-freedom system representing the surge motion of a vessel and the fundamental vibration mode of the lines is studied for physical insight. Within this framework, the frequency domain equations are rigorously formulated, and the nonlinearities in the restoring forces and drag are statistically linearized. The model allows key coupling effects to be understood; among other things, the equations demonstrate how the wave frequency dynamics of the mooring lines are coupled to the low frequency motions of the vessel. Subsequently, the effects of making certain simplifications are investigated through a series of frequency domain analyses, and comparisons are made to simulations in the time domain. The work highlights the effect of some common approximations, and recommendations are made regarding the development of efficient modeling techniques.

A Simplified Model for the Study of Dynamic Coupling Effects in Deepwater Floating Structures

2005 ◽  
Author(s):  
Ying Min Low ◽  
Robin S. Langley
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Low Frequency ◽  
Wave Frequency ◽  
Computational Time ◽  
Coupled Analysis ◽  
Floating Platform ◽  
Coupling Effects ◽  
Fundamental Vibration ◽  
Mooring Lines

As the exploitation of hydrocarbon moves towards deeper waters, the global dynamic response of a floating production system needs to be predicted with coupled analysis methods to ensure accuracy and reliability. Two types of coupling can be identified: one is between the floating platform and the mooring lines/risers, while the other is between the mean offset, the wave frequency and the low frequency motions of the system. At present, it is unfeasible to employ fully coupled time domain analysis on a routine basis due to prohibitive computational time. This has spurred the development of more efficient methods that account for the various couplings, including frequency domain approaches. It is paramount for the complex coupling mechanisms to be well understood before appropriate simplifications and assumptions can be made. In this paper, a simplified two degree-of-freedom system representing the surge motion of a vessel and the fundamental vibration mode of the lines is examined which captures the important underlying physics. Within this framework, the frequency domain equations are rigorously formulated, and the nonlinearities in the restoring forces and drag are stochastically linearized. The model allows key coupling effects to be identified: among other things, the equations demonstrate how the wave frequency dynamics of the mooring lines are coupled to the low frequency motions of the vessel. Subsequently, the effects of making certain simplifications are investigated through a series of frequency domain spectral analyses, and comparisons are made to simulations in the time domain. The work highlights the effect of certain common approximations, and recommendations are made regarding the development of efficient modeling techniques.

Hydrodynamic Performance Effect of Steel Catenary Risers on Wave Frequency Motions of a Semi Submersible

2016 ◽  
Author(s):  
Chen Gang ◽  
Zhao Nan ◽  
Zhang Wei ◽  
Yuan Hongtao ◽  
Li Chunhui ◽  
...  
Keyword(s):  
Time Domain ◽  
Wave Frequency ◽  
Hydrodynamic Performance ◽  
Coupled Analysis ◽  
Phase Lag ◽  
Floating Platform ◽  
Mooring Lines ◽  
Performance Effect ◽  
Steel Catenary Risers ◽  
Depth Increase

The analysis of the influence of risers on the motions of a floating platform is often conducted and simplified by uncoupled method. As the number of risers and water depth increase, this method would not predict system motion accurately. Coupled analysis method in time domain becomes a very convenient approach in response calculation since it automatically includes the interaction among platform, mooring lines and risers. This paper introduces a full coupled approach by AQWA-NAUT to include viscous damping of the semi submersible and effects of steel catenary risers on the wave frequency response of platform in time domain motion analysis. The main conclusion of this paper is that full coupled method can accruately predict semi submersible Response Amplitude Operator (RAOs) comparing to the case without risers. Other conclusions are that risers have an important effect on the wave frequency motion of semi submersible and also lead to a phase lag with respect to platform motions.

A Comparison of Methods for the Coupled Analysis of Floating Structures

2007 ◽  
Author(s):  
Ying Min Low ◽  
Robin S. Langley
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
High Frequency ◽  
Geometric Nonlinearity ◽  
Low Frequency ◽  
Alternative Methods ◽  
Coupled Analysis ◽  
Intermediate Water ◽  
Low Frequency Motion ◽  
Frequency Domain Approach

The dynamic analysis of a deepwater floating platform and the associated mooring/riser system should ideally be fully coupled to ensure a reliable response prediction. It is generally held that a time domain analysis is the only means of capturing the various coupling and nonlinear effects accurately. However, in recent work it has been found that for an ultra-deepwater floating system (2000m water depth), the highly efficient frequency domain approach can provide highly accurate response predictions. One reason for this is the accuracy of the drag linearization procedure over both first and second order motions, another reason is the minimal geometric nonlinearity displayed by the mooring lines in deepwater. In this paper, the aim is to develop an efficient analysis method for intermediate water depths, where both mooring/vessel coupling and geometric nonlinearity are of importance. It is found that the standard frequency domain approach is not so accurate for this case and two alternative methods are investigated. In the first, an enhanced frequency domain approach is adopted, in which line nonlinearities are linearized in a systematic way. In the second, a hybrid approach is adopted in which the low frequency motion is solved in the time domain while the high frequency motion is solved in the frequency domain; the two analyses are coupled by the fact that (i) the low frequency motion affects the mooring line geometry for the high frequency motion, and (ii) the high frequency motion affects the drag forces which damp the low frequency motion. The accuracy and efficiency of each of the methods are systematically compared.

A Comparison of Time Domain and Frequency Domain Approaches for the Fully Coupled Analysis of Deepwater Floating Systems

2006 ◽  
Author(s):  
Ying Min Low ◽  
Robin S. Langley
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Coupled Analysis ◽  
Integration Scheme ◽  
Global Coordinate System ◽  
Mooring Lines ◽  
Frequency Domain Methods ◽  
The Time Domain ◽  
Fully Coupled ◽  
Fully Coupled Analysis

The recognition of the need for a fully coupled analysis of deepwater floating production systems has led to the research and development of several coupled analysis tools in recent years. Barring a handful of exceptions, these tools and available commercial packages are invariably in the time domain. This has resulted in a much better understanding and confidence in time domain coupled analysis, but less so for the frequency domain approach. In this paper, the viability of frequency domain coupled analysis is explored by performing a systematic comparison of time and frequency domain methods using computer programs developed in-house. In both methods, a global coordinate system is employed where the vessel is modeled with six degrees-of-freedom, while the mooring lines and risers are discretized as lumped masses connected by extensional and rotational springs. Coupling between the vessel and the mooring lines is achieved by stiff springs, and the influence of inertia and damping from the lines are directly accounted for without the need for prior assumptions. First and second order wave forces generated from a random environment are applied on the vessel, as well as drag and inertia loading on the lines. For the time domain simulation, the Wilson-theta implicit integration scheme is employed to permit the use of relatively large time steps. The frequency domain analysis is highly efficient despite being formulated in global coordinates, owing to the banded characteristics of the mass, damping and stiffness matrices. The nonlinear drag forces are stochastically linearized iteratively. As both the time and frequency domain models of the coupled system are identical, a consistent assessment of the error induced by stochastic linearization can be made.

Extreme Response Analysis of Floating Structures Using Coupled Frequency Domain Analysis

2011 ◽  
Vol 133 (3) ◽  
Author(s):  
Ying Min Low ◽  
Andrew J. Grime
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Low Frequency ◽  
Domain Analysis ◽  
Frequency Domain Analysis ◽  
Coupled Analysis ◽  
Statistical Techniques ◽  
Frequency Domain Methods ◽  
Extreme Response ◽  
The Mean

In the dynamic analysis of a floating structure, coupled analysis refers to a procedure in which the vessel, moorings, and risers are modeled as a whole system, thus allowing for interactions between various system components. Because coupled analysis in the time domain is impractical owing to prohibitive computational costs, a highly efficient frequency domain approach was developed in a previous work, wherein the drag forces are linearized. The study showed that provided the geometric nonlinearity of the moorings/risers is insignificant, which often holds for ultradeepwater systems, the mean-squared responses yielded by the time and frequency domain methods are in close agreement. Practical design is concerned with the extreme response, for which the mean upcrossing rate is a key parameter. Crossing rate analysis based on statistical techniques is complicated as the total response occurs at two timescales, with the low frequency contribution being notably non-Gaussian. Many studies have been devoted to this problem, mainly relying on a technique originating from Kac and Siegert; however, these studies have mostly been confined to a single-degree-of-freedom system. The aim of this work is to apply statistical techniques in conjunction with frequency domain analysis to predict the extreme responses of the coupled system, in particular the modes with a prominent low frequency component. It is found that the crossing rates for surge, sway and yaw thus obtained agree well with those extracted from time domain simulation, whereas the result for roll is less favorable, and the reasons are discussed.

Extreme Response Analysis of Floating Structures Using Coupled Frequency Domain Analysis

2010 ◽  
Author(s):  
Ying Min Low ◽  
Andrew J. Grime
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Low Frequency ◽  
Domain Analysis ◽  
Frequency Domain Analysis ◽  
Coupled Analysis ◽  
Statistical Techniques ◽  
Frequency Domain Methods ◽  
Extreme Response ◽  
The Mean

In the dynamic analysis of a floating structure, coupled analysis refers to a procedure in which the vessel, moorings and risers are modeled as a whole system, thus allowing for the interactions between the various system components. Because coupled analysis in the time domain is impractical owing to prohibitive computational costs, a highly efficient frequency domain approach was developed in a previous work, wherein the drag forces are linearized. The study showed that provided the geometric nonlinearity of the moorings/risers is insignificant, which often holds for ultra-deepwater systems, the mean-squared responses yielded by the time and frequency domain methods are in close agreement. Practical design is concerned with the extreme response, for which the mean upcrossing rate is a key parameter. Crossing rate analysis based on statistical techniques is complicated as the total response occurs at two timescales, with the low frequency contribution being notably non-Gaussian. Many studies have been devoted to this problem, mainly relying on a technique originating from Kac and Siegert; however, these studies have mostly been confined to a single-degree-of-freedom system. The aim of this work is to apply statistical techniques in conjunction with frequency domain analysis to predict the extreme responses of the coupled system, in particular the modes with a prominent low frequency component. It is found that the crossing rates for surge, sway and yaw thus obtained agree well with those extracted from time domain simulation, whereas the result for roll is less favorable, and the reasons are discussed.

Dynamic Analysis of Mooring Lines for Deep Water Floating Systems

2011 ◽  
Author(s):  
K. Gurumurthy ◽  
Suhail Ahmad ◽  
A. S. Chitrapu
Keyword(s):  
Finite Element ◽  
Dynamic Analysis ◽  
Deep Water ◽  
Time Domain ◽  
Accurate Prediction ◽  
Coupled Analysis ◽  
Analysis Method ◽  
Mooring Lines ◽  
Coupled Dynamic Analysis ◽  
Floating Systems

Efficient dynamic analysis of mooring lines and risers is necessary for deepwater floating systems that typically consist of a number of mooring lines and risers. In deepwater, the interactions between the floater motions and the large number of risers and mooring lines become significant and must be considered for accurate prediction of floater motions as well as line dynamics. Time-domain coupled dynamic analysis procedures have been proposed which can account for the coupling effects and consider most of the nonlinearities present in the problem. These methods have been shown to give more accurate results compared to traditional de-coupled analysis methods although they tend to be computationally more expensive. If the system has a large number of mooring lines and risers, it becomes very difficult and impractical to perform time domain coupled analysis. A number of efficient methodologies have therefore been proposed in the past to balance the accuracy of results with computational efficiency. Such methods include the frequency domain approach, combination of frequency and time domain methods, and combination of coupled and uncoupled analysis methodologies. Enhanced de-coupled dynamic analysis is an efficient method and is similar to the traditional de-coupled dynamic analysis method except that the floater motions are computed by coupled analysis considering a coarse finite element model of the mooring lines. In this paper, dynamic analysis of mooring lines for a deep water classical spar floater under random waves is performed by using the enhanced de-coupled dynamic analysis method and the response statistics are compared with results obtained from coupled dynamic analysis. The spar is modeled as a rigid body with six degrees-of-freedom and the mooring lines are modeled as finite element assemblage of elastic rods. All major non-linearities and the dynamic interaction between spar and its mooring lines are considered while determining the tension time histories. Hinge connection is assumed at the fairleads. At every time step of the integration of equations of motion of the spar, a series of nonlinear dynamic analyses of the mooring lines is performed using a subcycling technique. From the analyses, it is found that the enhanced de-coupled dynamic analysis provides results comparable in accuracy with the results obtained from coupled dynamic analysis in terms of predicting the response statistics, but requires only one third of the computational time. Therefore, enhanced de-coupled dynamic analysis can be used for accurate prediction of mooring line dynamics for deep water floating systems.

scholarly journals Low-Frequency Dynamics of Moored Vessels

1982 ◽  
Vol 19 (01) ◽  
pp. 1-22
Author(s):  
B. W. Oppenheim ◽  
P.A Wilson
Keyword(s):  
Frequency Domain ◽  
Deep Water ◽  
Transfer Functions ◽  
Low Frequency ◽  
Static Theory ◽  
Mooring Lines ◽  
The Third ◽  
Mooring Forces ◽  
Complete Theories

Three complete theories of the low-frequency dynamics of ships and disks moored with multileg mooring systems in deep water are derived, evaluated, and computerized. One theory is nonlinear; it includes the effects of cubic damping, nonlinear mooring forces and the excitation-yaw motion feedback, and it is handled by simulation. It yields random, regular and transient records, probabilities and statistics, exact and linearized transfer functions, and spectra of responses. The second theory is linear, solved in the frequency domain. The third is a static theory, which is a by-product of the linear one. Mooring lines of arbitrary compositions are considered.

scholarly journals Time and Frequency Domain Dynamic Analysis of Offshore Mooring

2021 ◽  
Vol 9 (7) ◽  
pp. 781
Author(s):  
Shi He ◽  
Aijun Wang
Keyword(s):  
Dynamic Analysis ◽  
Frequency Domain ◽  
Time Domain ◽  
Linearization Method ◽  
Euler Method ◽  
Single Component ◽  
Hydrodynamic Drag ◽  
Lumped Mass ◽  
Mooring Lines ◽  
The Time Domain

The numerical procedures for dynamic analysis of mooring lines in the time domain and frequency domain were developed in this work. The lumped mass method was used to model the mooring lines. In the time domain dynamic analysis, the modified Euler method was used to solve the motion equation of mooring lines. The dynamic analyses of mooring lines under horizontal, vertical, and combined harmonic excitations were carried out. The cases of single-component and multicomponent mooring lines under these excitations were studied, respectively. The case considering the seabed contact was also included. The program was validated by comparing with the results from commercial software, Orcaflex. For the frequency domain dynamic analysis, an improved frame invariant stochastic linearization method was applied to the nonlinear hydrodynamic drag term. The cases of single-component and multicomponent mooring lines were studied. The comparison of results shows that frequency domain results agree well with nonlinear time domain results.

scholarly journals Seakeeping Tests of a FOWT in Wind and Waves: An Analysis of Dynamic Coupling Effects and Their Impact on the Predictions of Pitch Motion Response

2021 ◽  
Vol 9 (2) ◽  
pp. 179
Author(s):  
Giovanni Amaral ◽  
Pedro Mello ◽  
Lucas do Carmo ◽  
Izabela Alberto ◽  
Edgard Malta ◽  
...  
Keyword(s):  
Frequency Domain ◽  
Offshore Wind ◽  
Offshore Wind Turbine ◽  
Dynamic Coupling ◽  
Coupling Effects ◽  
Mooring Lines ◽  
Scaled Model ◽  
Wave Basin ◽  
Domain Models ◽  
Catenary System

The present work highlights some of the dynamic couplings observed in a series of tests performed in a wave basin with a scaled-model of a Floating Offshore Wind Turbine (FOWT) with semi-submersible substructure. The model was moored by means of a conventional chain catenary system and an actively controlled fan was used for emulating the thrust loads during the tests. A set of wave tests was performed for concomitant effects of not aligned wave and wind. The experimental measurements illustrate the main coupling effects involved and how they affect the FOWT motions in waves, especially when the floater presents a non-negligible tilt angle. In addition, a frequency domain numerical analysis was performed in order to evaluate its ability to capture these effects properly. The influence of different modes of fan response, floater trim angles (changeable with ballast compensation) and variations in the mooring stiffness with the offsets were investigated in the analysis. Results attest that significant changes in the FOWT responses may indeed arise from coupling effects, thus indicating that caution must be taken when simplifying the hydrodynamic frequency-domain models often used as a basis for the simulation of FOWTs in waves and in optimization procedures for the design of the floater and mooring lines.

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