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OMAE2004-51370
INTRODUCTION With the selected model scale it was not possible to model
The dynamic behaviour of mooring lines has been the complete mooring system in the model test basin.
investigated in model tests and numerical simulations for many Therefore, instead of the full length mooring system and water
years. The coupling effects between the mooring line dynamics depth, a truncated mooring system was used in an equivalent
and the behaviour of the moored floater are in many cases not water depth of 208 m. This truncated mooring system was
negligible. For large water plane area floaters with a large designed such, that the behaviour of the full length mooring
displacement, like FPSOs, these coupling effects contribute system was represented as accurately as possible. For the same
only to the low frequency damping, generally without affecting reason, the FPSO was not included in the model tests. Instead,
the wave frequency motions. See e.g. Reference [1]. For other only part of the total length of the export risers was considered
floater types, like CALM buoys, semi-submersibles and spar in the tests. Anchor points for the export riser models were
buoys, however, the mooring line dynamics may have a placed at a fixed point on the basin wall. General considerations
significant effect on the wave frequency motions of the floater. for the model testing and analysis approach of deep water
floaters can be found in Reference [3].
TIME-DOMAIN SIMULATIONS FOR THE CALM BUOY Prior to the actual time domain simulations for the moored
Two types of time-domain simulations were performed for CALM buoy, linear diffraction and radiation calculations are
the moored CALM buoy, being fully dynamic coupled carried out to determine the buoy hydrodynamic reaction loads
simulations and quasi-static simulations. Below, first a (added mass and damping), as well as the first and second order
description of the applied numerical model is given, which is wave exciting loads. The frequency domain results are
used for both types of simulations. Second, the differences in transformed to the time domain, using a retardation function
approach between the fully coupled and the quasi-static approach for the hydrodynamic reaction forces, see Reference
simulations are discussed. [5], and Fourier transforms for the wave exciting loads.
Description of the Numerical Model The following time domain equations of motion are used
The numerical model used in the time-domain simulations for the moored CALM buoy.
for the moored CALM buoy consists of two separate models,
which are linked as shown in the figure below. t
The two main components of the simulation model are a The load function F(t) at the right hand side of the equation
numerical model for the CALM buoy (at the upper left corner) of motion contains all loads on the CALM buoy, other than the
buoy inertia, the added mass, the wave radiation damping and
In which :
F(1)wave(t) = first order wave loads The inertia matrix A contains the mass properties of all
F(2)wave(t) = second order wave loads nodes, while the time-dependent inertia matrix aj(τ) contains
Fdamping(t) = viscous CALM buoy damping loads the added mass contributions. The nodal force vector Fj(τ)
Fmooring(t) = dynamic mooring loads contains the contributions due to line segment axial tensions,
buoyancy and weight, hydrodynamic loads and sea floor
Time records of the first and second order wave loads are reaction forces (if any).
calculated prior to the start of the time domain simulations. The
frequency domain results in combination with a wave spectrum Current loads and hydrodynamic reaction forces resulting
(with random phase model) or with a wave elevation record from the line motions (drag and inertia) are calculated using the
(e.g. undisturbed waves measured in the model basin during formulas below. The loads are applied as external forces to the
wave calibrations) are transformed to the time domain. discrete nodes.
Viscous damping loads are not included in the diffraction Normal drag force : FDn = −
1
ρCDnD L x& n x& n
and radiation calculation results, since these are potential theory 2
calculations. Therefore, the viscous damping contributions are Tangential drag force : FDt = 1
− ρCDt D L x& t x& t
modelled as external loads. During the time domain simulations 2
these are calculated using linear and quadratic damping an = ρ(CIn π 2
Normal added mass : − 1) D L
coefficients and the CALM buoy velocity. The following 4
formulation is used for each mode of motion of the buoy. at = π
Tangential added mass : ρ(CIt − 1) D 2L
4
Fdamping (t) = -b(1) ⋅ x& - b(2) ⋅ x& ⋅ x&
The drag and inertia coefficients used in the dynamic
mooring line simulations can be found in Table 7. In the
The values of the viscous damping coefficients have been calculation of the relative fluid velocities, the current velocity
selected based on the results of the motion decay tests. The (if any) and the velocity of the discrete nodes themselves are
values used in the present simulations are shown in Table 6. taken into account, but the wave orbital velocities are not.
The dynamic loads from the mooring lines and export The export risers in the present series of model tests were
risers are also modelled as external loads to the CALM buoy. not connected to the CALM buoy through a uni-joint, but
The motions, velocities and accelerations at the CALM buoy through a clamped connection. Furthermore, the bending
fairleads are used as input in the dynamic mooring line stiffness of the PVC riser section models was not negligible.
simulation model. The exact modeling of the mooring line The effect of the clamped connection and the bending stiffness
dynamic behaviour is described below. on the CALM buoy total pitch stiffness was calculated in an
approximate manner and included in the simulation model as an
Equations of motion for the mooring lines and export risers additional linear spring coefficient for pitch.
The fully dynamic three dimensional behaviour of the
mooring lines and export risers is simulated in the time domain
Fully Dynamic Coupled Simulations
using a lumped mass method, see Reference [6]. In this method In the fully coupled time domain mooring simulations for
each mooring line and export riser is discretised by the moored CALM buoy, the buoy motions and the mooring
concentrating the mass in a finite number of nodes along the line dynamics are modeled as described in the sections above.
line. A schematic example is shown in Figure 5. The CALM buoy motions and the dynamic behaviour of the
mooring lines are fully coupled. In other words, the buoy
The axial stiffness of the lines is modelled by springs motions are used as input for the dynamic mooring line
connecting the nodes. Bending stiffness is not modelled, since simulations, while the dynamic mooring line loads are used as
it is assumed that the behaviour of the mooring lines and export input for the simulation of the buoy motions. In this manner,
risers is governed by catenary effects. The lumped mass the effects of the mooring line dynamics on the first and second
approach results in a system of coupled equations of motion for order CALM buoy motions are taken into account. These
the discrete nodes. This system of coupled equations is solved effects can be summarised as follows :
in time with the CALM buoy motions at the fairleads
prescribed as boundary conditions. The results include the 1. Dynamic behaviour of the mooring lines
positions of all nodes in time, as well as the dynamic tension in 2. Damping contributions of the dynamic mooring line loads
the mooring lines and export risers. to the buoy motions
3. Inertia contributions of the dynamic mooring lines to the
buoy motions
computed
1,000 measured
0
-50 -40 -30 -20 -10 0 10 20 30 40 50
-500
-1,000
-1,500
Buoy Displacement X [m]
CALM buoy 8
4
Surge Motion [m]
0
long legs 0 100 200 300 400 500
-2
export risers
-4 Model Test
-6 Fully Dynamic Simulation
short legs -8 Quasi-static Simulation
-10
Time [s]
-1.00 -1.00
Time [s] Time [s]
Figure 9 - CALM buoy pitch decay plotted time traces Figure 13 - Sample plot of pitch motions from Test No. 5
0.10 Test No. 5 - Hs = 1.75 m, Tp = 7.0 s
3.00
0.08 Model Test
Fully Dynamic Simulation
0.05 2.00 Quasi-static Simulation
Pitch Motion [deg]
-0.10 -2.00
Time [s] Time [s]
0.00
300
1450 1475 1500 1525 1550
-0.50
200
-1.00
-1.50 100
-2.00 0
Time [s]
1450 1475 1500 1525 1550
Time [s]
800
Load Long Leg 5 [kN]
0.25
600
0.00
1450 1475 1500 1525 1550
-0.25 400
Model Test
-0.50 Model Test 200 Fully Dynamic Simulation
Fully Dynamic Simulation Quasi-static Simulation
Quasi-static Simulation
-0.75 0
Time [s]
1450 1475 1500 1525 1550
Time [s]
Figure 17 - Surge motion RAO from Test No. 5 [2] Bunnik, T.H.J., de Boer, G., Cozijn, J. L., van der
Cammen, J., van Haaften, E. and ter Brake E.: “Coupled
1.50
Model Test Mooring Analysis in Large Scale Model Tests on a
Dynamic
Deepwater CALM Buoy in Mild Wave Conditions”,
OMAE28056, 2002.
Surge Motion RAO [m/m]
Quasi-static
1.00
[3] Buchner, B.: “Numerical Simulation and Model Test
Requirements for Deep Water Developments”,
Symposium on Deep and Ultra Deep Water Offshore
0.50
Technology, New Castle 1999.
1.50 Dynamic
[6] van den Boom, H.J.J., “Dynamic Behaviour of Mooring
Quasi-static
Lines”, BOSS Conference, 1985.
1.00
0.50
0.00
0.50 0.75 1.00 1.25 1.50
Wave frequency [rad/s]
4.00 Dynamic
Pitch Motion RAO [deg/m]
Quasi-static
3.00
2.00
1.00
0.00
0.50 0.75 1.00 1.25 1.50
Wave frequency [rad/s]