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lOMoARcPSD
OTC 4309
On the Dynamic Analysis of Multi-Component Mooring Lines
by Toshio Nakajima, Sumitomo Heavy Industries Ltd., and Seizo Motora and Masataka FUjino,
University of Tokyo
This paper was presented at the 14th Annual OTe in Houston, Texas, May 3-6, 1982. The material is subject
to correction by the author. Permission to copy is restricted to an abstract of not more than 300 words.
is developed to obtain a better understanding of the
dynamic behavior of multi-component mooring lines.
In the present method, the continuous distribution
of the mooring line's mass replaced by a discrete
distribution of lumped masses at a finite number of
points on the line. This replacement amounts to
idealizing the system as a set of point masses and
non-mass linear springs. At the present analysis,
non-linearities of viscous damping acting on the
mooring line are considered.
ABSTRACT
This paper presents the results of both theoretical and experimental studies on the dynamic tensions and motions of the multi-component mooring
lines such as chain with clump weights and/or spring
buoys. Especially, the author's attention is paid
to analysis of the dynamic behavior of a mooring
line under the excitation caused by the motion of
floating platform.
Appearance of new types of multi-component
mooring lines demands the development of numerical
methods which are able to be applied for the analysis
of dynamic behavior of various types of mooring
lines.
In this paper a new method is proposed by
the authors, which is motivated by the lumped mass
method originally developed by Walton and Polachek
(1959). The present method, however, is somewhat
modified to be applied to the analysis of the multicomponent mooring system and extended to be able to
include the elastic deformation of the mooring line.
The time histories of dynamic tension predicted
by the present method are compared with the experimentanl ones with excellent agreement.
INTRODUCTION
In recent years, ocean platforms have become
more and more complex and at the same time the
requirement of the mooring systems used for those
platforms becomes more severe. For use as these
mooring systems, the mooring lines with a combination of chains and wire ropes, and those connected
with buoys and/or clump weights have come to be used.
Since the dynamic behaviors of those mooring
lines are complicated and somewhat different from
those of conventional single lines, the dynamic
analysis of those lines become more important for
investigating
the feasibility and safety of mooring
of the floating platforms.
(j=2,3, . , , N)
105
lOMoARcPSD
where
Mass of j-th lump, and its added
masses in normal and tangential
directions respectively.
Unj
(7)
(8)
(3)
Fxj
FZj
(4)
where
(Xj-Xj_l)2 + (ZrZj_l)2 =
where
A
E
"2p
,
ArxCdx " XrCj I (xrCj)
*
-i Dci"
+
%ArzCdzlzj!zj
fdzj =
i,i)2
(j=2, 3, , N+l)
(1. +
(9)
Xj
(RjTj
PjTj_l + Uj)/t.t 2
(10)
Zj
(SjTj
QjTj-l + Vj)/t.t 2
(11)
..... (6)
(j=2, 3 N)
(j=2, 3, ... N)
where
where
II = Mj +
~j
IS = Mj + Anj cos
density of water
2 Yj + Atj sin 2 Yj
.. ... (12)
106
~--
lOMoARcPSD
.. (19)
=0
s~+l
-n+l
Provided that the tentative values Tj
are
.. (13)
+1
~j
1
+1
n
n-l
n-2
6~t (11 sj
- 18 Sj + 9 Sj
- 2 Sj )
..... (14)
n 1
E-j + 'L\ATn+l
j-2
F-n+l
ATn+l
j'L\ j-l
=2
(20)
(j=2, 3 , N+1)
n
n-l
1 n-2
Xj - 2 Xj
+ 2 Xj
where
n+l = 1 Z~ _ 2 z~-l
1 n-2
Zj
2 J
J
+ 2 Zj
n+l
To obtain the tensions of next time step Ti '
we use the Newton-Raphson Method. It is assumea that
Tjn+.l consists of two components as follows:
+ Q-n+l
(_ n+l - zn+l)
j-l Zj
j-l
...... (22)
(17)
~Tjn+l
is the correction.
-~
.. (23)
n+l
(1+Tj_1 /E'A)2
Expanding
~j
(- n+l __n+l)
Zj
z.:i-l
(j=2, 3,
N+1)
(j=2, 3 . N)
n+l
S n+1
(18)
(24)
and
2x.
n-l
+2
xj
n-2
- n+l - n+l
P- n+l T-n+l + u-. n+l )/2
+ [Rj
Tj
- j
j-l
J
(25)
107
lOMoARcPSD
n+l
2.=Z
J
5
2j
n _ ~z n-1
1
j
~zj
n-2
.....(26)
n+l
-n+l are the
-n+l -n+l
n+l
n+l
where Rj , Sj , Ij , ~j , ~j
j
n+l
n+l
n+l
n;l
n+l
tentative values of Rj , Sj
Pjvjujin
equations (12).
COMPUTATIONAL PROCEDURES
z~~~)
3) chain with clump weight (of lead)
x~+l
0
N+l
+ (1. - e-vt).~.sin(
ut+ .x )
+ (1 - e vt)Bp.sin( ut + Sz )
.....(28)
where
V,EX,CZ: chosen parameters
u
frequency of motion
t:
time [= (n+l).At ]
P P:
Material
.....(27)
Ww
0.1938 kgjm
WA
0.222
kglm
cm
Equivalent Diameter Dc
0.599
28.2 cm3/m
Modulus of elasticity
Table 1
Principal Particular
of Chain
Clump Weight
Spring Buoy
3) Correct the weights of the lumped masses nearest
to the bottom by the equations described in
Appendix.
Material
Styrol Form
-n+l -n+l
4) Calculate the matrix coefficients Rj , Sj ,
Diameter
18.0 cm
(Bl buoy)
0.07 kg
Weight in air
??+l, 6?+1.
Weight in water
or Buoyancy
Force
E]=F?:-::[EI..(29)
Table 2
-3.0
kg
(B2 buoy)
Wood
Lead
22.6 cm
7.5 cm
4.1 kg
2.0 kg
-1.9 kg
1.823 kg
::22:;:;erod108
lOMoARcPSD
= 2.18
NOM8NCLATURJI
A
The comparisons between theoretical and experimental results for the mooring chains with spring
buoy are also made and shown in Fig. 8. As shown
in Fig. 8, a spring buoy of which the weight in the
water is equal to - 3 kg (- means that the buoyant
force exceeds the gravity force) ia attached to the
mooring line at the cencer of the line. The frequency response curves of the dynamic tension of the
mooring line with spring buoys are shown in Fig. 9.
Anj, Atj :
Arx, Arz :
Ap, Bp
Cj
Chn, Ght :
Cdn, Cdt :
109
lOMoARcPSD
Cdx, Cdz :
2.
3.
Dc
modulus of elasticity
F.
xJ Y Fzj :
fdxj,fdzj:
4.
5.
6.
7.
gravity accerelation
Mj
i-i
period of motion
T.:
Tj
(T~+l):
~T~+l
TH, TV
Tx, T.z
THO, TVO :
time [ n.At ]
At
Unj,
Utj
Ww, WA
w=
Xj,
Zj
time increment
APPENDIX
The correction of the weight of line segment is
necessary to prevent unrealistic impact load of line
from being caused by a drastic change of weight in
case where a lumped mass nearest to the bottom hit
the bottom or is lifted up from the bottom. In order
to prevent the unrealistic impact, a part of the
mooring line close to the bottom is approximated by
a parabola and the weight of a fraction of the
parabola which locates below the bottom surface is
neglected (See Fig. 1).
(n = O, 1, 2, ..... )
(1)
:
weight of mooring line segment (= Ww.~)
n+l
n+l
displacements of j-th lumped
, Zj
(Xj
):
mass in x and z directions
respectively
density of water
frequency of motion
and Dynamic
by chains.,
the 38 th
Research
O&
A!ZI_I< L1_I
aI-1 =
ACKNOWLEDGEMENT
I-I-l*ZI
- IZI+l
X1.X1+1 (xI - xl+l)
22
2
X1.Z 1+1 - 1+1 zI
bI_l =
REFERENCES
(2)
A!?,l_l
< 0
1. Ando, S.:
61 = 1.5 Wc
and
110
61+1 = Wc
lOMoARcPSD
-?
N-
u&-
lOMoARcPSD
lOMoARcPSD
...
- &--
..
RING GAUGE
BUOY
.. MOORING
_ ._.
_ CHAIN
._.
_
._.
\D
I
E
!.0
y
,
I
2(3M
15M
5t.1
10M
A.P.
DIRECTION
OF MOTION
of mooring
line
-IL
L-i-!
I
I
0.5M
0. 0.1 0.2
I
I
STEEL
WIRE
.
CHAIJN
-. -,,... .-...-. ..--
/
Fig. 3 Upper
~_.
-t
end of mooring
-line
lOMoARcPSD
ID No.
Tension(
Kg)
2.5391082
7
9
A)
Angle(deg.
x(M)
z(H)
0.8971394
0.0000000
0.0000000
2.6445727
16.2596529
3.0021154
0.3605167
2.8712229
27.8441336
5.8431810
1.4093504
3.1363702
35.9558410
7.6015360
2.4063136
CONVENTIONAL
SINGLE
MOORING
LINE
17.9(B1)
{17.7
(B2)}
10
11
12
13
<
14
E
!0
A
IO No.
Tension(
Kg)
Angle(deg.
X(14)
4.5956123
5.8201618
0.0000000
0.0000000
4.8088027
18.0585451
4.5066253
0.8768454
4.6109334
-7.4583730
8.7731644
2.5821370
13
4.5825744
3.9073754
13.3589091
2.3251757
16
4.7045563
13.6373945
16.7824205
2.7288570
B)
MOORING
LINE
WITH
SPRING
BUOY
z(n)
(Bl)
.v
s
I.-J
678,9
2345
x(M)
z(M)
IO No.
Tens{ on(Kg)
Angle (deg.)
9.3994392
0.0000000
9.3994392
0.0000000
4.5250015
0.0000000
9.7451230
15.3064917
9.0491267
0.0569110
13
10.0189763
20.2545844
13.3708716
1.3933476
16
10.3 I66257
24.3427090
16.5293184
2.6337060
C)
MOORING
LINE
WITH
CLUMP
0.0000000
0.0000000
WEIGHT
mooring lines
lOMoARcPSD
Motiq (JM)
Tx : HORIZONTAL
TENSJON
Tz VERTICALTENSION
EXPERIMENT
PRESENTMETHOD
Xp
//
;P
L..-
---
+= -.
(CM)
1-
L =9. o r-n
W=
Dc =5.99mm
O.1936 kg/m
Ap=S.
Ocm
\
\ ./
2. EC
1.
2.
4. SEC.
.
/
T= 1.5sec.
/4
I
-.
I l-+-+--j
H--+--j
p-+-.+I
EXPERIMEN
RECORD
-../
I
lOMoARcPSD
1.0
EX1?
TH
CAL.
2TH0
TH/2THo
Tv
TV/2Tvo
----
2Tv0
0.5
25
[
. o
A_
k.=.<
0.(
U*Z
(.)$4
0.6
0.8
1.0
1.2 (xlO-l
NON-DIMENSIONAL FREQUENCY
Fig. 6 Frequency response curves of dynamic tensions (conventional
chain)
single mooring
.C
cd
3.0
2.0
21H0
THIZTHO
Tit
-rv/2Tvo
--- 0---
2Tv0
0.5
,
,o%~
,/(3.
,4
o>:fy&/ .6
o --O-z:-g..-o-
0.
0.0
0.2
(),4
0.6
Q8
l.O
1.2 (%10-1
NON-DIMENSIONAL FREQUENCY
/Ei2g
lOMoARcPSD
Mot i~njMJ
xl)
1-
Tx-
: HORIZONTAL
TENSION
Tz VERTICAL TENSION
(CM)
M!
Gwa
(KG)
6..
1.
2.
=1
~
.$--
EXPERIMENT
1
PRESENTMETHOD ZP
y,
m
..
LB.-
v
..
DIA=
0.18 m
THO=
4.75 flkg
TVO=
1.17gkg
Ap=
5.0UT7
..
. .
/
.
. . ..
4.
*
T=l.5sec.
,.
12,
c).
-+-lI
T=2.5 sec.
II
T=2.osec.
m
t
T= &Osec.
mw
EXPERIMENT
RECORD
I
I
Wm
..
3.00
lLA=LB=$l.OOm
Tx 5.
Zp =
W*=-3.00kg
.*O
..
17.90 m
\Xp=
lOMoARcPSD
1.0
TH
EXI?
BUOY
ZTHO
CAL.
BIA
B2
---
0.5
0
0
0
/
,--*H
0
.0
&
%&.;
:
..&
O.c)
0.2
0.4
016
0.(3
1.O
NON-DIMENSIONAL FREQUENCY
I2(X1O-V
1.(
BUOY
EXF? CAL.
BIA
B2
----
al
0
rfrom
&
0.(
Static
>*.
.
0.2
Ana[ysis
~/\-
0.4
0.6
().8
1.0
NON-DIMENSIONAL FREQUENCY
Fig. 9 Frequency response cumesof
B2 spring buoys)
lOMoARcPSD
(CM)
5,
j=~z
(rep)
0
-5,
-5..
\
---
5.-.,
\
t-
-5.-
,/ /
1
-
,0
----
fl
MOTION
,.-Buoy
.
~,
\
\
8\
~,zg
\
-/
5.-
~,,
. /
)(5
\
.
\\
=-.
Z
z
a
,
%-
#--- *.,Z5
~
2
E
2
---
O(G?
6.-
\\
\\
---
5.4.-
0.0
0,6
1.2
TIME
1,8
SEC.
Fig. I o Dynamic behaviors of mooring line with BI spring buoy (period of motion =
1.2 see, amplitude of motion = 5 cm)
lOMoARcPSD
M :--.
-5.(KG)
0.5
20,
1.0
1
1.5
!
2.0
(SEC.]
b
o
00
~o
0
0
EXPERIMENT
PRESENT METHOD
Tz
5.0
0
0.-
Tx : HORIZONTAL
Tz : VERTICAL
TENSION
TENSION
Tx
!
,, ! / .
EXPERIMENTAL
RECORD
Tz
~1
~
1i ; II