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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
T 1=
AE
l0
[ ( x l )l ]
2
1
sin x =
x1
x +l
2
1
C11 =
2 ( T 0 + T 1 ) sin x 2 ( T 0+ T 1 )
=
x1
x 2+l2
1
C12=0
there is no movement about y axis the rotation along this axis is pitch which is zero.
C 41=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.
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
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.
C53=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.
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 )
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
C 46 =0
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
s 1=
Pl
+e
2 4
s 2=
Pl
e 4
2
C14 =0
C24 =0
for a unidirectional wave k24 is zero because there is no effect of sway because
T 4=
EA Pl
cos 4 = T 4
l 2
Pl
cos 4
2
'
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
T4=
'
Pl cos 4
2
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
Mass Matrix
M ] is still 6x6 matrix, we assume that the structural mass is
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
0 M y g
0
0
0
0
I 12
I 23
I 22
I 23
I 32
I 33
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