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.

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.

The Effect of Wave Directionality on Low Frequency Motions and Mooring Forces

2009 ◽  
Author(s):  
Olaf J. Waals
Keyword(s):  
Water Depth ◽  
Transfer Functions ◽  
Low Frequency ◽  
Sensitivity Study ◽  
Wave Loads ◽  
Offshore Structure ◽  
Frequency Wave ◽  
Drift Theory ◽  
Mooring Forces ◽  
Drift Forces

Operability of offshore moored ships can be affected by low frequency wave loads. The low frequency motions of a moored ship may limit the uptime of an offshore structure such as an LNG offloading terminal. The wave loads that cause the main excitation of these low frequency motions are usually computed using second order wave drift theory for long crested waves, which assumes that the low frequency components are only related to waves coming from the same direction. In this method short crested seas are dealt with as a summation of long crested seas, but no interaction between the wave components traveling in different directions is usually taken into account. This paper describes the results of a study to the effect of 2nd order low frequency wave loads in directional seas. For this study the drift forces related to the interaction between waves coming from different directions is also included. This is done by computing the quadratic transfer functions (QTF) for all possible combinations of wave components (frequencies and directions). Time traces of drift forces are generated and compared to the results without wave directional interaction after which the motions of an LNG carrier are simulated. A sensitivity study is carried out towards the number of direction steps and the water depth. Finally the motions of an LNG carrier in shallow water (15m water depth) are simulated and mooring forces are compared for various amounts of wave spreading.

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.

USING FIELD DATA FOR THE EVALUATION OF THE IMPACT OF ULTRA-LOW FREQUENCY MOTIONS ON THE FATIGUE OF MOORING LINES

2019 ◽  
Author(s):  
Guilherme Borzacchiello ◽  
Carl Albrecht ◽  
Fabricio N Correa ◽  
Breno Jacob ◽  
Guilherme da Silva Leal
Keyword(s):  
Field Data ◽  
Low Frequency ◽  
Mooring Lines ◽  
The Impact

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 A phase-locked loop using ESO-based loop filter for grid-connected converter: performance analysis

2021 ◽  
Author(s):  
Baoling Guo ◽  
Seddik Bacha ◽  
Mazen Alamir ◽  
Julien Pouget
Keyword(s):  
Performance Analysis ◽  
Frequency Domain ◽  
Low Frequency ◽  
Experimental Tests ◽  
Frequency Measurement ◽  
Phase Locked Loop ◽  
Frequency Domain Analysis ◽  
Loop Filter ◽  
Control Stability ◽  
Unbalanced Grid

AbstractAn extended state observer (ESO)-based loop filter is designed for the phase-locked loop (PLL) involved in a disturbed grid-connected converter (GcC). This ESO-based design enhances the performances and robustness of the PLL, and, therefore, improves control performances of the disturbed GcCs. Besides, the ESO-based LF can be applied to PLLs with extra filters for abnormal grid conditions. The unbalanced grid is particularly taken into account for the performance analysis. A tuning approach based on the well-designed PI controller is discussed, which results in a fair comparison with conventional PI-type PLLs. The frequency domain properties are quantitatively analysed with respect to the control stability and the noises rejection. The frequency domain analysis and simulation results suggest that the performances of the generated ESO-based controllers are comparable to those of the PI control at low frequency, while have better ability to attenuate high-frequency measurement noises. The phase margin decreases slightly, but remains acceptable. Finally, experimental tests are conducted with a hybrid power hardware-in-the-loop benchmark, in which balanced/unbalanced cases are both explored. The obtained results prove the effectiveness of ESO-based PLLs when applied to the disturbed GcC.

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.

Error analyses of a Multi-Input-Multi-Output cantilever beam test

2021 ◽  
pp. 107754632110337
Author(s):  
Arup Maji ◽  
Fernando Moreu ◽  
James Woodall ◽  
Maimuna Hossain
Keyword(s):  
Transfer Function ◽  
Frequency Domain ◽  
Cantilever Beam ◽  
Transfer Functions ◽  
Linear Superposition ◽  
Transfer Function Matrix ◽  
Error Analyses ◽  
Pseudo Inverse ◽  
Function Matrix

Multi-Input-Multi-Output vibration testing typically requires the determination of inputs to achieve desired response at multiple locations. First, the responses due to each input are quantified in terms of complex transfer functions in the frequency domain. In this study, two Inputs and five Responses were used leading to a 5 × 2 transfer function matrix. Inputs corresponding to the desired Responses are then computed by inversion of the rectangular matrix using Pseudo-Inverse techniques that involve least-squared solutions. It is important to understand and quantify the various sources of errors in this process toward improved implementation of Multi-Input-Multi-Output testing. In this article, tests on a cantilever beam with two actuators (input controlled smart shakers) were used as Inputs while acceleration Responses were measured at five locations including the two input locations. Variation among tests was quantified including its impact on transfer functions across the relevant frequency domain. Accuracy of linear superposition of the influence of two actuators was quantified to investigate the influence of relative phase information. Finally, the accuracy of the Multi-Input-Multi-Output inversion process was investigated while varying the number of Responses from 2 (square transfer function matrix) to 5 (full-rectangular transfer function matrix). Results were examined in the context of the resonances and anti-resonances of the system as well as the ability of the actuators to provide actuation energy across the domain. Improved understanding of the sources of uncertainty from this study can be used for more complex Multi-Input-Multi-Output experiments.

scholarly journals Multi-scale time-frequency domain full waveform inversion with a weighted local correlation-phase misfit function

2019 ◽  
Vol 16 (6) ◽  
pp. 1017-1031 ◽  
Author(s):  
Yong Hu ◽  
Liguo Han ◽  
Rushan Wu ◽  
Yongzhong Xu
Keyword(s):  
Frequency Domain ◽  
Seismic Data ◽  
Waveform Inversion ◽  
Low Frequency ◽  
Full Waveform Inversion ◽  
Local Correlation ◽  
Time Frequency ◽  
Model Dependence ◽  
Full Waveform ◽  
Frequency Components

Abstract Full Waveform Inversion (FWI) is based on the least squares algorithm to minimize the difference between the synthetic and observed data, which is a promising technique for high-resolution velocity inversion. However, the FWI method is characterized by strong model dependence, because the ultra-low-frequency components in the field seismic data are usually not available. In this work, to reduce the model dependence of the FWI method, we introduce a Weighted Local Correlation-phase based FWI method (WLCFWI), which emphasizes the correlation phase between the synthetic and observed data in the time-frequency domain. The local correlation-phase misfit function combines the advantages of phase and normalized correlation function, and has an enormous potential for reducing the model dependence and improving FWI results. Besides, in the correlation-phase misfit function, the amplitude information is treated as a weighting factor, which emphasizes the phase similarity between synthetic and observed data. Numerical examples and the analysis of the misfit function show that the WLCFWI method has a strong ability to reduce model dependence, even if the seismic data are devoid of low-frequency components and contain strong Gaussian noise.

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