Sei sulla pagina 1di 16

SECOND APPROACH TO COMPUTE THE RESTORING

COEFFICIENTS
This draft is written in rough manner
This approach is closer to reality because takes in account more motion parameters and
has no simplification for what concerns tethers motion.
Two tethers are used in this analysis

Surge restoring coefficients

Cij = forces in i-degrees of freedom due to unit displacement of j-degree of freedom


keeping all other degrees restrained.
C11 = give a displacement in the first degree and find out the force in the first degree.
C12 = give a displacement in the second degree and find out the force in the first degree.
I apply a displacement along surge direction
Initially the tethers tension is T0
When I give a force in x1 I have a k11 and of course I have an effect in heave direction so I
will have a force k31 and of course along y axis I will have a rotation because tethers
create have now a vertical component and they create a rotation about y axis

T 1=

AE
l0

[ ( x l )l ]
2
1

Equilibrium in the surge direction

C11 x 1=2 ( T 0+ T 1 ) sin x

sin x =

x1

x +l
2
1

It is gonna be restored by the horizontal component force of the tensions by an angle y s.

C11 =

2 ( T 0 + T 1 ) sin x 2 ( T 0+ T 1 )
=
x1
x 2+l2
1

C12=0

because there is no motion or displacement along y axis. It is because since

there is no movement about y axis the rotation along this axis is pitch which is zero.

C 41=0

no moment about x axis (so no roll about x axis)

C61=0 there is no rotation about z axis due to symmetry


k11 has an influence in the heave direction so lets find k31

C31 ()=2 [ T 0 cos x + T 1 cos x T 0 ]

cos x =

C31=

l0

x +l
2
1

2
[ T cos x + T 1 cos x T 0 ]
0

C51=( C 11 h )
taking in consideration the vertical components of the tensions and compute the moment
about the point C. the moment is counteract k 51. It is easy to note that the horizontal
component of the tensions is nothing but k11. Therefore, the moment about the point C is
k11 by h.

Sway restoring coefficients

C12=0

in the surge degree because of the heave displacement given in the sway degree

is zero

C52=0
C62=0 due to symmetry the platform will have no yaw rotation

C22=2

(T 0 + T 2)

x +l
2
2

2
0

it is the same as C11 but the change in tension is different

C32=

2
[ T cos y + T 2 cos y T 0 ]
0

C 42=( C 32 h )
It is identical to the surge motion

Heave
coefficients

restoring

C13=0
When I give a displacement in surge, heave is generated, but when I give heave
displacement, why surge is not generated? When the tlp is floating because of the
buoyancy in excess, when I push my tlp right or to my left, there is a change in buoyancy
and the draft changes in tension and changing tension, the system restores it back.
Therefore surge sway are coupled with heave. If only I give a heave displacement there is
only a change in buoyancy T0 will not be there. So,

C23=0
C 43=0

it is the force in the roll axis because of the displacement in heave direction.

Since there is no force along y axis (k23 = 0)

C53=0

since there is no force along x axis (k13 = 0)

C63=0

since the rotation about z axis is zero. By giving a displacement along heave

direction. It is not because of symmetry in this case. Since k 13 and k23 are zero, the

moments about these forces are unbalanced moments about these forces about CoG will
remain zero. There is no activity.
The only thing we have here is

C33 ( x 3 )=2

( )]

AE
D2
+ w g
l
4

K33 cannot be zero because it is one of the leading elements of the stiffness matrix
diagonal. If it is zero the whole row is zero and this cannot be and you cannot invert the
matrix.
Second k33 is nothing but the change in buoyancy (change in draft) and the buoyancy will
be transferred only to T0. It means the restoration cannot happen.
It is given by the change in tension in the cable (AE/l)

( )]
2

AE
D
C33 =2
+ w g
( x3 )
l
4
The stiffness matrix is not symmetric because for example k 14 is never equal to k41. K41 is
the displacement force in the surge degree because of rotation given in roll which can
never be equal to force displacement given in surge. One is a rotation and one is the
displacement so they cannot be combined.

Yaw restoring coefficients

It is a rotation about z axis

The position of the tethers will be twisted, but there is not buoyancy difference in my F B
value. So yaw influences only the tethers and so I will have a new l of tethers, l which is a
combination of l and 6

L1= l 2+ 26 ( a2 +b2 )

Once known l1,

T 6=

EA (l 1l)
l

C16 =0 Force in surge degree because of yaw rotation, it is identically rotating in the
horizontal plane, nothing is happening in the surge axis.

C26 =0

Because for a unidirectional wave sway is of course zero

C 46 =0

Because sway C26 is zero

C56 =0

C36 ( 6 ) =2T 0

( ll 1)+ T ll
6

In the heave degree the force will be given by the change in tension

C66 ( 6 ) =2 ( T 0 + T 6 ) ( a 2+ b2 )

6
l1

Roll restoring coefficients

I give a rotation 4, initially there is a tension


The tension remains vertical. It is possible to note that the right part of the platform is
more immerged compared to the left one which is protruding up, there is a shift of
buoyancy from left to right. Therefore, the centre of buoyancy changes. Let us call it as e 4

s 1=

Pl
+e
2 4

s 2=

Pl
e 4
2

Because of 4, will be generated a moment k44


C14 is the force in the surge degree of freedom because of the rotation given.

C14 =0

because surge is not affected at all.

C24 =0

for a unidirectional wave k24 is zero because there is no effect of sway because

of roll angle this also remains zero.

T 4=

EA Pl
cos 4 = T 4
l 2

Pl
cos 4
2

'

Remains the same because of the symmetry.

is the component in direction of T4

T4 is caused by the initial tension AE/l


T4 is the change in tension or pre-tension in the nearer leg
T4 is the change in tension or pre-tension in the farther leg

C34 =

2 ( T 4 + T 4 )
'

It is the force in heave degree because of the roll angle. The force in the heave degree will
be affected only by the change in tension. That is not causing disturbance. It is divided
by 4 because of units

( T 0 h sin
D
Pl sin 4 + 4
4
4
2

C 44 ( 4 ) =F B e4 + 2 ( T 0 + T 4 ) ( s1e4 )(1uno dovrebbe essere)2 ( T 0 + T 4 ) ( s 2 +e 4 ) =w g


'

This part is to be reviewed


It is the force in the roll degree because of the displacement given in the roll degree.
The negative values come from the legs 1 and 2.
Knowing h, it is possible to know 4

T4=
'

Pl cos 4
2

It is possible to plot a graph with 4 varying

Pitch restoring coefficients

It is the same as the roll but

C15=0

because there are no forces in surge activated because of the rotation given in

pitch degree

C25=0

because there are no forces in sway activated because of the rotation given in

pitch degree

C35=2

T 5+ T 5
5

'

It is like C34

C55=4 w g

T h sin 5
AE Pb cos 5
D2
Pb sin 5 +4 0
+4
4
5
2l

(To be reviewed)

Properties of [C]
[C] is square, non-symmetric matrix of size 6x6
Heave has strong coupling with all degrees-of-freedom
Presence of off-diagonal terms reflect coupling between various degrees-of-freedom
Coefficients depend on change in tether tension which affects the buoyancy of the system
Hence [C] is response dependent

Coefficients of [Cij] are non-linear (for example C32, C11)


Hence [C] is not constant but changes with instant of time

Mass Matrix
M ] is still 6x6 matrix, we assume that the structural mass is

The mass matrix [

lumped at each degree. When we deal with lumped mass we are talking about diagonal
matrix, but in this problem will not remain diagonal.

M
0
0
M
0
0
[ M ]=
0
0
0
0
M y g 0

0
0
0
0
M
M yg
M y g I 11
0
I 21
0
I 31

M 11=M 22=M 33=M

0 M y g
0
0
0
0
I 12
I 23
I 22
I 23
I 32
I 33

Total mass of the body, which is added in all degrees of freedom

respectively in surge, sway and heave degree.

M 44=M 11 r 2x

M44 is the mass moment of inertia about x axis (r2x is the gyration radius)

Similarly

M 55=M 22 r 2y
M 66=M 33 r 2z
You can compute easily r2x because we know the mass of inertia of the whole system
respect to the centre of gravity and we know the cross sectional area of all members and
you can easily find rx
Once you know the diagonal look at M11, you get Ma11 because it is added mass

M a 11= w

D
( C m 1 ) x surge
4

Look at the plane and i have an additional mass in surge degree and this mass will create
a moment about y axis, that is my Ma51. So it is the moment of ma11 about cog
Ma51 =
I have also Ma33 it is the added mass in heave direction. It is coming from set-down
behaviour

M a 33=w

D2
( C m1 ) x heave
4

I have also Ma53, because of the different heave there is a probability that some of the
columns may get immersed lesser and some of them immersed more. There is a
difference in buoyancy and so it

Potrebbero piacerti anche