Professional Documents
Culture Documents
Ivan ATIPOVI
Veeslav ORI
Jadranka RADANOVI
UDC 629.5.028.722:531:678.6
I. ATIPOVI, V. ORI,
J. RADANOVI
U lanku se prouava model krutosti jako rastezljivih sidrenih poliesterskih linija. Sidrene linije
razmatraju se unutar spregnutog modela koji opisuje usidreni plutajui objekt. Iscrpnije, razmatra
se sidreni sustav s nategnutim sidrenim linijama od poliestera za sidrenje na velikim dubinama.
U ovom sluaju sidrena se linija modelira kao rastezljivo ue bez savojne i torzijske krutosti. Pretpostavlja se da su gibanja trodimenzionalna, stoga treba ispitati model s velikim pomacima. Kod
prorauna uzdune deformacije uzima se u obzir nelinearnost materijala sidrene linije. Visoki iznos
istezanja razmatra se u okviru modela krutosti. Inercijske sile koje djeluju na sidrenu liniju takoer
se uzimaju u obzir. Hidrodinamika optereenja koja nastaju zbog okolnoga uida proraunavaju
se pomou Morisonove jednadbe. Zbog nelinearnih znaajki sidrenoga sustava svi prorauni
se moraju provesti u vremenskoj domeni. Na osnovi navedenih pretpostavki prikazan je izvod
konanog elementa sidrene linije za statiki i dinamiki sluaj. Plutajui objekt razmatra se kao
kruto tijelo sa est stupnjeva slobode i uz pretpostavku malih pomaka. Hidrodinamiki koecijenti
prvo se proraunavaju u frekvencijskoj domeni, a zatim se provodi preslikavanje iz frekvencijske
u vremensku domenu. Provedena je usporedba izmeu poboljanog modela koji je razvijen u
ovom radu i jednoga suvremenog modela. Osnova za usporedbu jedna je sidrena linija za koju se
mogu dobiti analitiki rezultati. Poboljani model postigao je bolje slaganje rezultata s analitikim
modelom.
Kljune rijei: dinamiki odziv, rastezljivost, poliestersko ue, sidrenje, spregnuti model, metoda
konanih elemenata, vremenska domena
1 Introduction
Polyester mooring lines endure high elongation during exploitation. Breaking point can be usually found at 15% elongation. Taut
polyester lines can form a part of deep-water mooring solution. The
characteristics of such mooring system are significantly influenced
by extensibility of polyester rope. The stiffness of mooring system
is especially sensitive to elongation of mooring lines. A part of this
problem is nonlinear stress-strain relation of polyester fibres.
62(2011)3, 235-248
235
a position vector r. Any point on the curve is defined by an arclength of the extended rod s . In this case, a unit tangent vector
of the space curve is given as
dr
ds
(1)
u = 1.
(2)
u=
with
Within dynamic analysis the position vector r is also function of the time t. A segment of the mooring line is shown in n
Figure 1 where:
s
F
q
p
m
r
2 Mathematical model
2.1 Dynamics of the mooring line
Elastic rod theory [1],[2] is a cornerstone for the mathematical
model. The behaviour of a slender rod is expressed in terms of
the centreline position. Movements are three-dimensional, so it is
necessary to examine large displacement model. High elongation
value of the mooring line is considered for the modelling of the
stiffness. Nonlinearity of tension-elongation relationship is taken
into account. The cross-section is assumed to be homogeneous
and circular. Bending and torsional stiffness are neglected as well
as shear deformation and rotary inertia terms. Governing equations are treated in global coordinate system, so there is no need
for any kind of coordinate system transformation.
2.1.1 Motion equation
The centreline of a deformed rod is described by a space
curve [10]. In governing equations the space curve is defined by
236
62(2011)3, 235-248
(3)
(4)
(5)
dr dr
dr
dr
d s d s FE d s FE d s = 0,
d FE
+ q E = m r,
ds
dr dr
= 1.
ds ds
(6)
(7)
where denotes vector product. The vector product from the right
hand side of (6) with dr/d s yields, after some manipulations of
triple vector product [10]
(8)
(9)
dr
FE .
ds
(10)
Scalar variable TE in the previous equation denotes effective tension force [11], [12]. Eq. (8) is simplified using (9) and
(10)
62(2011)3, 235-248
237
FE = TE
dr
.
ds
(12)
1
A ( C + R ) ,
E
(17)
A =
TR
.
A
(18)
Both the circumferential and the radial stress vary as a function of a radial distance from the mooring line axis, but their
sum is constant. At any point on the cross-section sum of these
stresses is defined by Lams formula
C + R = 2 p,
TE =
(13)
(14)
(1 + )
dr dr
= 1.
ds ds
(16)
238
62(2011)3, 235-248
(20)
dr
F.
ds
(21)
dr
P
ds
(22)
dr
dr
F +
P.
ds
ds
(15)
In (15) there are three unknown variables: r, TE and ; therefore it is necessary to define additional two equations.
(19)
dr
P
ds
(23)
(24)
Relationship between the real tension TR and the effective tension TE is defined in (24). Similar formula can be found in [12].
Next, the axial stress A in (18) is given in the form suitable for
further derivations using (24)
A =
TE pA
.
A
(25)
Based on (17), (19) and (25) a new definition of the elongation is obtained
1 TE
(1 2 ) p .
E A
(26)
0.5.
(27)
T
AE = RHOL + R 10 6 [ N ],
B
(29)
(36)
(1 + )2
= 1 2 + 3 2 + O( 3 ).
(37)
(30)
(31)
2
T
d
T dr
+ mg Ag = 0
TE TE E + TE E
AE d s
d s
AE
and
2
TE
TE d r d r
= 1.
1
2
+
3
AE
AE d s d s
(32)
m=
m
,
1+
'
2
T
T
TE TE E + TE E ri + m g i A g i = 0
AE
AE
(40)
TE
T
+ 3 E rj rj = 1,
1 2
AE
AE
(41)
and
(39)
It should be noted that (39) is intentionally defined in approximate form. By observing (16) and (28) an exact form of the
axial elongation condition can be obtained, simply by multiplying
(16) with (1 + )2. As it will be written below, this approximate
form of eq. (39) provides a symmetric equation set for numerical calculations.
In (38) and (39) there are two unknown variables: effective tension TE and the position vector of mooring line r. This
equation set is solved utilizing finite element method (FEM).
The application of FEM starts from describing (38) and (39) in
index notation
where is density of the sea water, and g is gravitational acceleration. Similarly, qG is expressed as
qG = mg.
(38)
with
i, j = 1, 2, 3
(42)
(33)
where prime denotes differentiation with respect to s. Here unknown variables TE and ri are approximated as [14]
(34)
62(2011)3, 235-248
(43)
239
TE (s) = Pm (s) m
(44)
with
m = 1, 2, 3; l = 1, ..., 4
(45)
1
can be
the mooring line elongation according to (28), K nmijkl
2
quadratic change coefficient
considered as linear and K nmpijkl
of the geometric stiffness.
Axial elongation condition (41) is also discretized using
Galerkins method [15] and combining with (43) and (44) as
follows
(B
0
mkl
1
2
+ n Bnmkl
+ n p Bnmpkl
U jl U jk Cm = 0,
(54)
with
U i1 = ri (0 ); U i 2 = ri(0 )
U i 3 = ri ( L ); U i 4 = ri( L )
(46)
0
= Pm Ak Al d s
Bmkl
(55)
and
L
1 = TE (0 )
2 = TE ( L / 2 ).
3 = TE ( L )
(47)
2
=
Bnmpkl
(K
0
nijkl
+ m K
1
nmijkl
+ m p K
2
nmpijkl
) UU
n
jk
+ Fil = 0,
(49)
1
=
Pn Pm Pp Ak Al ij d s
(
)2
AE
0
L
12 ( k )
U
U jk
J nil
Ril1( k )
= 2( k ) ,
22 ( k )
J mn n
Rm
(k )
11( k )
0
1
2
= K nijkl
+ m K nmijkl
+ m p K nmpijkl
J ijkl
2
12 ( k )
0
1
J nil
= K nijkl
+ 2 m K nmijkl
+ 3m p K nmpijkl
(52)
n( k )
(k )
U (jkk )
(60)
(61)
21( k )
0
1
2
= Bmkl
+ n Bnmkl
+ n p Bnmpkl
J mjk
n, p = 1, 2, 3; k = 1, ..., 4.
(53)
62(2011)3, 235-248
(59)
with
(51)
and
240
(58)
Fil = F C + mgi d s ( A ) gi Al d s
(57)
(50)
2
nmpijkl
Pn Pm Pp Ak Al d s
Cm = Pm d s.
1
=
Pn Pm Ak Al ij d s
AE
0
(56)
1
nmijkl
( AE )
(48)
with
0
K nijkl
= Pn Ak Al ij d s
2
Pn Pm Ak Al d s
AE
1
=
Bnmkl
22 ( k )
J mn
=
1 1
2
Bnmkl + 2 p Bnmpkl
2
(k )
(k )
U (jlk )
U (jlk )U (jkk )
11 ( k )
Ril1( k ) = J ijkl
U (jkk ) + Fil( k )
Rm2 ( k ) =
(62)
(63)
(64)
1 21( k ) ( k )
J mjk U jk + Cm .
2
(65)
22
11
12
21
In (59) J ijkl
, J nil
, J mjk
, J mn
and denote parts of a Jacobian
matrix while Ril1 and Rm2 compose a residual vector. Label (k)
in superscripts denotes number of iteration. Simplified form of
eq. (59) for a single finite element is given as
[ J ]( k ) {y} = {R}( k ) ,
(66)
where
{R} = { R111 R121 R211 R221 R311 R321 R12 R22 R131 R141 R213 R241 R331 R341 R32 } . (68)
T
{Y } = K 1 {F}( k )
(69)
{Y }( k +1) = {Y } ( k ) + {Y },
(70)
(k )
q E = q B + qG + q H .
(73)
(74)
(72)
dr dr
vn = v v
ds ds
dr dr
vn = v v
ds ds
where
denotes the length of a vector; A and D are crosssection area and diameter of the non-extended mooring line
respectively; C A, C M and C D are added mass, inertial and
drag coefficients. In (72), r n is a component of the mooring
line acceleration normal to the mooring line, see Figure 5.
.
Analogously, r n is the normal component of the mooring line
velocity. Motion of the surrounding sea water is considered
.
through normal components of water particle acceleration v n
n
and velocity v . In the next step, hydrodynamic load needs to
be considered within the motion equation (15). Therefore, the
effective distributed load qE for dynamic analysis is formulated
according to (4) and (30)
1 + ds ds
(75)
'
2
T
T
H
TE TE E + TE E ri + mgi Agi + qi = m ri (76)
AE
AE
62(2011)3, 235-248
241
and
V jk( n+1) =
2
TE TE
TE
= 0.
+
1
rj rj 1
AE
AE
AE
(77)
Note that in the above equations there is new label qHi for the
hydrodynamic load to avoid confusion when using index notation. Unknown variables TE and ri are approximated in the same
way as for static calculations by (43) and (44), in this case here
unknown coefficients Uil and m are time dependent.
Finite element discretization of the motion equation (76) is
based on Galerkins method [15] as follows
(M
+ K
0
nijkl
+ m K
1
nmijkl
ijkl
+M
A
ijkl
+ m p K
)U +
) U
jk
2
nmpijkl
jk
+ Fil + F = 0,
H
il
(79)
(C
nijkl
jk
(90)
il
(91)
(80)
0
= Pm Ak Al d s
B mkl
(92)
1
1
=
B nmkl
Pn Pm Ak Al d s
AE
0
1
+ C D A eabc ( vb ArU br ) As U cs eade ( vd AtU dt ) Au U eu
2
0
(81)
2
=
B nmpkl
Al eifg Av egjh v j Ak U jk Az U fv U hz d s
( AE )
(93)
Pn Pm Pp Ak Al d s
(94)
and
a, b, c, d , e, f , g, h = 1, 2, 3; r, t , u, v, z = 1,..., 4.
1
C nm =
Pn Pm d s.
AE
0
(82)
11( n +1, k )
Jijkl
21( n+1, k )
Jmjk
12 ( n +1, k )
1( n +1, k )
U jk
Jnil
R il
=
2 ( n +1, k )
J 22 ( n+1, k ) n
Rm
mn
(83)
U jk = V jk
(84)
with substitutions
K nijkl = K
0
nijkl
+ m K
1
nmijkl
4
( n +1, k )
( n +1, k )
11( n +1, k )
Jijkl
= 2 M ijkl
+ K nijkl
n
t
J12 ( n+1, k ) = K ( n+1, k ) U ( n+1, k )
A
ijkl
(85)
2
nmpijkl
(86)
(87)
62(2011)3, 235-248
nijkl
1
1 1
22 ( n +1, k )
2
Jmn
= C mn B nmkl
+ 2 p B nmpkl
2
2
(97)
(98)
jk
2
21( n +1, k )
0
1
Jmjk
= B mkl
+ n B nmkl
+ n p B nmpk
l
+ m p K
(96)
with
M ijkl = M ijkl + M
(95)
nil
242
0
1
2
+ n B nmkl
+ n p B nmpkl
( B mkl
)U jl U jk + C nm n Cm = 0
A ) Al eifg Av egjh Az v j U fv U hz d s +
(89)
4 ( n+1)
( n +1) 4
( n +1)
(n)
(n)
M ijkl
t 2 U jk U jk t V jk V jk =
2 ( n +1) ( n +1)
( n +1)
( n +1)
F
= K
.
U
FilH =
4
4 (n)
U (jkn+1) U (jkn )
V jk V jk( n ) ,
t2
t
with
(88)
A
ijkl
(78)
with
M ijkl = mAl Ak ij d s
V jk( n+1) =
2
U (jkn+1) U (jkn ) V jk( n )
t
( n +1, k )
( n +1, k )
U (jln+1, k )
(99)
( n +1, k )
( n +1, k )
R il1( n+1, k ) = 2 M ijkl
+ K nijkl
n U (jkn+1, k ) + Fil( n+1, k ) +
t
4 (n) 4 (n)
( n +1, k )
(n)
+ M ijkl
t 2 U jk t V jk V jk
(101)
( n +1, k )
2
1
0
(102)
Rm
=
2 U ( n+1, k ) U ( n+1, k ) + C ( n+1, k ) C
jk
nm n
m
jl
( n +1, k )
{y} = { R }
( n +1, k )
(103)
. (104)
( M
+ A
){ (t )} + [ K (t )]{( )} d +
0
+ C { (t )} = {F (t )},
(105)
where
{ (t)}
M m
A
C h
[ K (t )]
{F (t)}
{F
{F
(1)
W
}
(t )}
[ K (t )] = [ B( )] cos( t ) d .
(106)
[ K (t )]sin(
AC
t ) d t,
(107)
AC 0
where
[A()]
AC
62(2011)3, 235-248
243
xG ,
p
yML
(109)
(110)
where
FFC force on the floating object due to the mooring line
FMC force on the mooring line due to the floating object.
MC
Quantity
412.8
914.4
Unit
kN
m
12.19
70
30.2
258
1.08 105
11.8 103
m
mm
kg/m
N/m
kN
kN
856.49
85
5.06
12.3
2.429 104
m
mm
kg/m
N/m
kN
2.5
2.0
1.97 103
kN
Segment 3: chain
Length
45.72
Other parameters are the same as for the segment 1.
Static case
Initial state is characterized by a pretension force and associated elongation of the mooring line. This force is applied at the
Figure 8 The relation vertical force-elongation of single mooring
line with linearized material properties
Slika 8 Odnos vertikalne sile i istezanja sidrene linije s lineariziranim znaajkama materijala
244
62(2011)3, 235-248
Quantity
2357
2590.8
91.44
Unit
kN
m
m
121.92
245
287.8
2 485
1.03 106
11.8 103
37.4
2.45
m
mm
kg/m
N/m
kN
kN
kg/m
2 377.44
210
36.52
75.5
3.18 105
12.79 103
28.8
1.2
m
mm
kg/m
N/m
kN
kN
kg/m
Segment 3: chain
Length
91.44
Other parameters are the same as for the segment 1.
Elongation [%]
Quantity
214.88
198.12
164.59
129.84
220 740
67.36
8.69
1.15
2 671.59
Unit
m
m
m
m
t
m
m
N/(m/s)2
Designation
Waves
Hs:
Tp:
Wave spectrum
Wave direction
Wind
Wind speed (1 h):
Wind spectrum
Wind direction
Sea current
Prole:
depth
:0m
: 60.96 m
: 91.44 m
seabed
Current direction
Quantity
Unit
6.19
14
m
s
JONSWAP ( = 2.5)
180
degree
16.28
API RP 2A-WSD
210
m/s @ 10 m
0.0668
0.0668
0.0014
0.0014
150
m/s
m/s
m/s
m/s
degree
degree
Dynamic case
Each mooring line is modelled by 7 finite elements, and one
of them is used for each chain segment. Length of the time step
is 0.2 s, see (83) to (90). Within each time step 3 iterations are
carried out, see (96) to (104). Hydrodynamic calculations are
done using HYDROSTAR [18]. The obtained numerical results
are shown in the following figures.
62(2011)3, 235-248
245
Figure 12 Real tension force on the upper end of the rst mooring
line (of the spar platform)
Slika 12 Realna vlana sila na gornjem kraju prve sidrene linije
(spar platforme)
5 Conclusion
In this study, high elongation of polyester mooring lines is
considered within a stiffness model in a new, improved way. The
nonlinear tension-elongation relation of a polyester rope is a part
of the improved stiffness model. Development of the model is done
considering the coupled dynamic analysis of a moored vessel.
Special effort is invested to achieve symmetrical forms of
equation sets for static and dynamic analysis. These symmetrical
forms enable easier numerical implementation utilizing classical
FEM codes.
Comparison between the improved model and the current
equivalent model is done, see Case study I. The single mooring
line that can be analytically described was a base for comparison.
The improved model achieved better matching with analytical
results. Satisfactory stability and results of the improved model
are found in the coupled dynamic analysis of a moored deepwater
spar, see Case study II. Therefore, the mooring line model from
this paper is a good cornerstone for future research.
References
[1] NORDGEN, R. P.: On Computation of the Motion of
Elastic Rod, Journal of Applied Mechanics, 41(1974), p.
777-780.
[2] GARRETT, D. L.: Dynamic Analysis of Slender Rods, Journal of Energy Resources Technology, 104(1982), p. 302-307.
[3] Proceedings of The 16th International Ship and Offshore
Structures Congress; Report of Committee 1.2, Loads; Editors: FREIZE, P. A., SHENOI, R. A.; Southampton 2006.
[4] TAHAR, A., KIM. M. H.: Hull/Mooring/Riser Coupled
Dynamic Analysis and Sensitivity Study of Tanker-based
FPSO, Applied Ocean Research 25:6, p. 367-382; 2003.
[5] GARRETT, D. L.: Coupled Analysis of Floating Production
System, Ocean Engineering, 32:7, p. 802-816; 2005.
[6] KIM, M. H., KOO, B. J., MERCIER, R. M., WARD, E.
G.: Vessel/Mooring/Riser Coupled Dynamic Analysis of
246
62(2011)3, 235-248
and
P1 = 1 3 + 2 2
P2 = 4 (1 )
P3 = (2 1)
with
s
.
L
where L is length of finite element.
{F
(1)
W
N
(t ) = R a j f (1)
j =1
{ }
A1 = 1 3 2 + 2 3
A2 = L 2 2 + 3
A3 = 3 2
2
i
ex
R{}
f (1)
{ }
aj
j
N
A4 = L 2 + 3
(A1)
i j t
(B1)
imaginary unit
exponential function of x
denotes real part of complex quantity
linear transfer function (LTF) for wave loads of
the first order
complex amplitude of a wave component
frequency of a wave component
total number of wave components.
{F
(2)
W
N N
(t ) = R f ( 2 )
j =1 k =1
{ }
jk
a j a*k e
i ( j k )t
(B2)
where
{f }
(2)
a*
jk
where
S
j
j
where
aj =e
(A3)
Appendix B
Appendix A
Shape functions
(A2)
i j
2 S ( j ) j ,
(B3)
wave spectrum
phase of a wave component (determined on the
basis of a random number)
frequency step size.
62(2011)3, 235-248
(B4)
247
where
where
FWN
CWN
wind load
wind load coefficient dependant on the type of
floating object and the exposed projected area.
1
2
CCR VCR
AUP ,
2
(B5)
where
FCR
CCR
VCR
AUP
AE
u
x
N
Eq. (C1) is used for each segment of the mooring line. The
origin of the local coordinate system is set up at the end of the
segment that is closer to the seabed. In the case of a single mooring line the cross-section force N and the real tension force TR
are the same.
Since the segments of the mooring line are vertical, the force
TR is simply formed for each segment in the local coordinate
system
TR ( x ) = R + qE1 x , for Segment 1
(C2)
(C4)
with
Appendix C
R = FV qE1 l1 qE 2 l2 qE 3 l3
248
du
= N,
dx
62(2011)3, 235-248
(C1)
(C5)
where R is reaction force at the seabed; qE1, qE2 and qE3 are effective distributed loads of segments, see (30); l1, l2 and l3 are
lengths of segments; FV is the vertical force on the top of the
mooring line which contains initial pretension. During formulation of (C3) for Segment 2 it is necessary to consider (24). For
the nonlinear case of polyester rope material axial stiffness is
calculated using (29).