Development of Time Domain Model for Synthetic Rope Mooring Systems

2014 ◽  
Author(s):  
Karl E. Kaasen ◽  
Halvor Lie ◽  
Jie Wu ◽  
Erik Falkenberg ◽  
Vidar Åhjem ◽  
...  
Keyword(s):  
Time Domain ◽  
Steel Wire ◽  
Offshore Structures ◽  
Domain Model ◽  
Synthetic Material ◽  
Plastic Properties ◽  
Identification Technique ◽  
The Time Domain ◽  
Permanent Elongation ◽  
Permanent Increase

Mooring of offshore structures in very deep water has been made possible through the use of lines made of fibres of synthetic material. The mechanical behaviour of synthetic ropes is considerably more complex than that of steel wire rope and chain, due to the visco-elastic and visco-plastic properties of the synthetic material. In particular, the gradually developing permanent increase in rope length will affect the offset and motion of the moored structure and make its characteristics change from one storm to the next. For design and analysis of offshore mooring systems incorporating synthetic ropes it is valuable to have good models that can be used for response simulation in the time domain. The paper describes the development of a time domain model for synthetic rope. The model structure and the values of the parameters are determined from experimental data using a system identification technique. The resulting model is implemented in an existing computer program for analysis of mooring and riser systems. In particular, the permanent elongation of the synthetic rope appears to be well represented.

Experimental Identification Technique of Nonlinear Beams in Time Domain

1997 ◽  
Author(s):  
Kimihio Yasuda ◽  
Keisuke Kamiya
Keyword(s):  
Time Domain ◽  
Harmonic Balance ◽  
Least Square Method ◽  
Least Square ◽  
Governing Equations ◽  
Experimental Identification ◽  
Initial Values ◽  
Nonlinear Beams ◽  
Identification Technique ◽  
The Time Domain

Abstract In previous papers the authors proposed a new experimental identification technique applicable to elastic structures. The proposed technique is based on the principle of harmonic balance, and can be classified as the frequency domain technique. The technique requires the excitation force to be periodic. This is in some cases a restriction. So another technique free from this restriction is of use. In this paper, as a first step for developing such techniques, a technique applicable to beams is proposed. The proposed technique can be classified as the time domain one. Two variations of the technique are proposed, depending on what methods are used for estimating the parameters of the governing equations. The first method is based on the usual least square method. The second is based on solving a minimization problem with constraints. The latter usually yields better results. But in this method, an iteration procedure is used, which requires initial values for the parameters. To determine the initial values, the first method can be used. So both methods are useful. Finally the applicability of the proposed technique is confirmed by numerical simulation and experiments.

Coupled Time-Domain Hydro-Elastic Simulation for Submerged Floating Tunnel Under Wave Excitations

2021 ◽  
Author(s):  
Chungkuk Jin ◽  
Sung-Jae Kim ◽  
MooHyun Kim
Keyword(s):  
Time Domain ◽  
Domain Model ◽  
Mooring Line ◽  
Wave Forces ◽  
Rod Theory ◽  
Discrete Module ◽  
Simulation Based ◽  
Submerged Floating Tunnel ◽  
The Time Domain ◽  
Elastic Simulation

Abstract We develop a fully-coupled time-domain hydro-elasticity model for the Submerged Floating Tunnel (SFT) based on the Discrete-Module-Beam (DMB) method. Frequency-domain simulation based on 3D potential theory results in multibody’s hydrodynamic coefficients and excitation forces for tunnel sections. Subsequently, we build the time-domain model with the multibody Cummins equation and external stiffness matrix from the Euler-Bernoulli and Saint-Venant torsion theories. We establish the mooring line model with rod theory and couple components with translational springs at their respective connection locations. We then compare the dynamic motions, wave forces, and mooring tensions between the present and Morison-equation-based elastic models under regular wave excitations at different submergence depths. The present model is especially important for the shallowly submerged tunnel in which the Morison model shows exaggerated motions, especially at high-frequency range.

On Vessel Motion Induced Vortex-Induced Vibrations of a Steel Lazy Wave Riser

2021 ◽  
Author(s):  
Decao Yin
Keyword(s):  
Vortex Shedding ◽  
Time Domain ◽  
Oscillatory Flow ◽  
Domain Model ◽  
Time Varying ◽  
Structure Interaction ◽  
Response Characteristics ◽  
Vortex Induced Vibrations ◽  
The Time Domain ◽  
Vessel Motion

Abstract Deepwater steel lazy wave risers (SLWR) subject to vessel motion will be exposed to time-varying oscillatory flow, vortices could be generated and the cyclic vortex shedding force causes the structure vibrate, such fluid-structure interaction is called vortex-induced vibrations (VIV). To investigate VIV on a riser with non-linear structures under vessel motion and oscillatory flows, time domain approaches are needed. In this study, a time-domain approach is used to simulate a full-scale SLWR. Two cases with simplified riser top motions are simulated numerically. By using default input parameters to the time domain approach, the key oscillatory flow induced VIV response characteristics such as response frequency, curvature and displacements are examined and discussed. More accurate VIV prediction could be achieved by using realistic hydrodynamic inputs into the time domain model.

Simulating High Mode Vortex Induced Vibration of Riser in Linear Sheared Current Using an Empirical Time Domain Model

2020 ◽  
Author(s):  
Sang Woo Kim ◽  
Svein Sævik ◽  
Jie Wu
Keyword(s):  
Frequency Domain ◽  
Vortex Shedding ◽  
Time Domain ◽  
Structural Model ◽  
Cross Flow ◽  
Domain Model ◽  
Vortex Induced Vibrations ◽  
The One ◽  
The Time Domain ◽  
Empirical Coefficients

Abstract This paper addresses the performance evaluation of an empirical time domain Vortex Induced Vibrations (VIV) model which has been developed for several years at NTNU. Unlike the frequency domain which is the existing VIV analysis method, the time domain model introduces new vortex shedding force terms to the well known Morison equation. The extra load terms are based on the relative velocity, a synchronization model and additional empirical coefficients that describe the hydrodynamic forces due to cross-flow (CF) and In-line (IL) vortex shedding. These hydrodynamic coefficients have been tuned to fit experimental data and by considering the results from the one of existing frequency domain VIV programs, VIVANA, which is widely used for industrial design. The feature of the time domain model is that it enables to include the structural non-linearity, such as variable tension, and time-varying flow. The robustness of the new model’s features has been validated by comparing the test results in previous researches. However, the riser used in experiments has a relatively small length/diameter (L/D) ratio. It implies that there is a need for more validation to make it applicable to real riser design. In this study, the time domain VIV model is applied to perform correlation studies against the Hanøytangen experiment data for the case of linear sheared current at a large L/D ratio. The main comparison has been made with respect to the maximum fatigue damage and dominating frequency for each test condition. The results show the time domain model showed reasonable accuracy with respect to the experimental and VIVANA. The discrepancy with regard to experiment results needs to be further studied with a non-linear structural model.

Computing Large Amplitude Motions of a Floating Offshore Structure in the Time Domain

2008 ◽  
Author(s):  
Wei Qiu ◽  
Hongxuan Peng
Keyword(s):  
Time Domain ◽  
Large Amplitude ◽  
Offshore Structures ◽  
The Body ◽  
Surface Boundary ◽  
Offshore Structure ◽  
Floating Structure ◽  
Time Step ◽  
Large Amplitude Motions ◽  
The Time Domain

Based on the panel-free method, large-amplitude motions of floating offshore structures have been computed by solving the body-exact problem in the time domain using the exact geometry. The body boundary condition is imposed on the instantaneous wetted surface exactly at each time step. The free surface boundary is assumed linear so that the time-domain Green function can be applied. The instantaneous wetted surface is obtained by trimming the entire NURBS surfaces of a floating structure. At each time step, Gaussian points are automatically distributed on the instantaneous wetted surface. The velocity potentials and velocities are computed accurately on the body surface by solving the desingularized integral equations. Nonlinear Froude-Krylov forces are computed on the instantaneous wetted surface under the incident wave profile. Validation studies have been carried out for a Floating Production Storage and Offloading (FPSO) vessel. Computed results were compared with experimental results and solutions by the panel method.

Computation of Wave-Induced Drift Forces Introduced by Displaced Position of Compliant Offshore Platforms

1992 ◽  
Vol 114 (3) ◽  
pp. 175-184 ◽  
Author(s):  
Y. Li ◽  
A. Kareem
Keyword(s):  
Time Domain ◽  
Phase Relationship ◽  
Time Domain Analysis ◽  
Domain Analysis ◽  
Offshore Structures ◽  
Time Dependent ◽  
Wave Loads ◽  
Nonlinear Feedback ◽  
The Time Domain ◽  
Drift Forces

The wave forces computed at the displaced position of offshore structures may introduce additional drift forces. This contribution is particularly significant for compliant offshore structures that are configured by design to experience large excursions under the environmental load effects, e.g., tension leg platform. In a random sea environment, this feature can be included in the time domain analysis by synthesizing drag and diffraction forces through a summation of a large number of harmonics with an appropriate phase relationship that reflects the platform displaced position. This approach is not only limited to the time domain analysis, but the superposition of a large number of trigonometric terms in such an analysis requires a considerable computational effort. This paper presents a computationally efficient procedure in both the time and frequency domains that permits inclusion of the time-dependent drift forces, introduced by the platform displacement, in terms of linear and nonlinear feedback contributions. These time-dependent feedback forces are expressed in terms of the applied wave loads by linear and quadratic transformations. It is demonstrated that the results obtained by this approach exhibit good agreement with the procedure based on the summation of trigonometric functions.

Investigation on Fluidelastic Instability Accompanied by Wake Shedding With a Time-Domain Model

2019 ◽  
Author(s):  
Kai Guo ◽  
Yipeng Wang ◽  
Tong Su ◽  
Liyan Liu ◽  
Zhanbin Jia ◽  
...  
Keyword(s):  
Vortex Shedding ◽  
Time Domain ◽  
Domain Model ◽  
Elastic Instability ◽  
Flow Induced Vibration ◽  
Fluid Forces ◽  
Double Peaks ◽  
Critical Instability ◽  
Periodic Characteristic ◽  
The Time Domain

Abstract As the most dangerous flow-induced vibration (FIV) mechanism, fluid-elastic instability is always accompanied by the wake shedding. If both of the two FIV mechanisms are considered, fluid forces in this condition can be quite complex. In this paper, a time-domain model based on unsteady flow theory was used to investigate the fluid-elastic instability in a rotated triangular tube array. The vortex shedding forces were simplified as harmonic forces. Computational fluid dynamics (CFD) was used to get the fluid force coefficients with vortex shedding. The model was established by a finite element code with MATLAB software and simulation results agreed with the experiment results. The results showed the critical instability velocity can be influenced by vortex shedding forces, and double peaks can be found in the frequency spectrum of displacements of tubes. The time-domain displacements showed the phases had been impacted by the shedding and periodic characteristic was found in the displacements results. The model can also be adopted in fluid-elastic instability analysis in other tube arrangements and flow conditions.

Effect of the elastic hysteresis term formulation and response to non-harmonic periodic excitations of a non-linear SDOF dynamical model with weak frequency-dependency in the time domain

2021 ◽  
pp. 095440622110182
Author(s):  
Christos Spitas ◽  
Mahmoud S Dwaikat ◽  
Vasileios Spitas
Keyword(s):  
Correction Factor ◽  
Time Domain ◽  
Hysteresis Loops ◽  
Domain Model ◽  
Viscous Damping ◽  
State Variables ◽  
Hysteretic Damping ◽  
Vibration Responses ◽  
The Time Domain ◽  
Damping Model

We elaborate a SDOF time-domain model for elastic hysteretic damping, by modifying the viscous damping model to introduce an instantaneous correction factor that recursively depends on the state variables of the system, such that the response exhibits weak dependency on frequency, corresponding to a large array of engineering materials. The effect of different formulations for calculating the instantaneous correction factor on the predicted hysteresis loops and the potential manifestation of singularities is studied. Hysteresis loops anticipated by the model are plotted and forced vibration responses to harmonic and other periodic non-harmonic excitations are simulated and discussed, also in comparison to the conventional viscous and Reid’s damping models.

An Improved Time Domain Simulation for Dynamic Milling at Small Radial Immersions and Large Depths of Cut

2001 ◽  
Author(s):  
Marc L. Campomanes ◽  
Yusuf Altintas
Keyword(s):  
Surface Finish ◽  
Time Domain ◽  
Dynamic Models ◽  
Three Dimensional ◽  
Domain Model ◽  
Time Domain Simulation ◽  
Chatter Stability ◽  
Linear Effects ◽  
Deep Cuts ◽  
The Time Domain

Abstract This paper presents an improved time domain model for milling, which can simulate vibratory cutting conditions at very small radial widths of cut and large depths of cut. The improved kinematics model allows simulation of very small radial immersions. The varying dynamics modeled along the cutting depth allows milling with very flexible cutters and/or flexible workpieces at very deep cuts to be simulated. The model can predict forces, surface finish, and chatter stability, accurately accounting for non-linear effects that are difficult to model analytically. The discretized cutter and workpiece kinematics and dynamic models are used to represent the exact trochoidal motion of the cutter, and to investigate the effects of forced vibrations and changing radial immersion due to deflection and vibrations on chatter stability. Three dimensional surface finish profiles are predicted and are compared to measured results. Stability lobes generated from the time domain simulation are also shown for various cases.

Simulating Riser VIV in Current and Waves Using an Empirical Time Domain Model

2017 ◽  
Author(s):  
Mats J. Thorsen ◽  
Svein Sævik
Keyword(s):  
Frequency Domain ◽  
Vortex Shedding ◽  
Time Domain ◽  
Theoretical Background ◽  
Domain Model ◽  
Wave Period ◽  
Time Variability ◽  
Analysis Tool ◽  
Load Model ◽  
The Time Domain

The theoretical background of an empirical model for time domain simulation of VIV is reviewed. This model allows the surrounding flow to be time varying, which is in contrast to the traditional frequency domain tools. The hydrodynamic load model consists of Morison’s equation plus an additional term representing the oscillating effect of vortex shedding. The magnitude of the vortex shedding force is given by a dimensionless coefficient, and this force is assumed to act perpendicular to the relative velocity between the cylinder and the fluid. The time variability of the vortex shedding force is described by a synchronization model, which captures how the instantaneous frequency reacts to cylinder motion. The parameters in the time domain load model are calibrated against a commonly used frequency domain VIV analysis tool, VIVANA. To do this, a finite element model of a vertical tensioned riser is established, and the structure is exposed to a linearly sheared flow. Key results such as cross-flow displacements along the riser, frequency content, r.m.s. of bending stresses and mean in-line displacements are compared, and it is shown that the frequency and time domain methods are close to equivalent in this simple case with stationary flow. Finally, the time domain model is utilized to study VIV of a riser subjected to regular waves. The characteristics of wave induced VIV are discussed in light of the simulation results. It is seen that VIV is excited in the zone close to the surface, and the energy is transported downwards as traveling waves. The vibrations typically build up as the horizontal water particle velocity is high, and die out as the velocity decreases. The effect of varying the wave amplitude and period is investigated, and it is found that the dominating frequency, mode and r.m.s. stresses increase together with the wave height. The effect of the wave period is however more complicated. For example, reducing the wave period increases the dominating mode but decreases the displacements. Hence the stress may increase or decrease, depending on which of these effects are strongest.

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