vi

TABLE OF CONTENTS

CHAPTER TITLE PAGE

TITLE PAGE i
CERTIFICATE OF ORIGINALITY ii
DEDICATION iii
ACKNOWLEDGEMENT iv
ABSTRACT v
TABLE OF CONTENTS vi
LIST OF TABLES ix
LIST OF FIGURES x
LIST OF SYMBOLS xii
LIST OF APPENDICES xv

1 INTRODUCTION 1
1.1 Background 1
1.2 Problem Statement 2
1.3 Objective of the Research 3
1.4 Scope of the Research 3

2 LITERATURE SEARCH 4
2.1 Introduction 4
2.2 Fundamental of Mooring Systems 5
2.3 Catenary Moorings 8
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2.4 Numerical Models Analysis for Catenary Moorings 9

2.4.1 Mathematical Modelling 10
2.4.2 Quasi-static Modelling 10
2.4.3 Dynamic Modelling 11
2.4.4 Non-Linear Time Domain Analysis 11

3 RESEARCH METHODOLOGY 13
3.1 Introduction 13
3.2 Research Mechanism 14
3.3 Research Procedure Flow Chart 14
3.4 Research Scheduling 18

4 MATHEMATICAL FORMULATION 20
4.1 Introduction 20
4.2 Surface Area and Offset Calculation Method for
Spar Platform 20
4.3 Hydrodynamic forces 23
4.4 Equation of Motion of Spar Platform 27
4.5 Newton- Technique Time Step Integration 28
4.6 Coordinate Systems and Transformations 30
4.7 Mass and Added Mass for Spar 33
4.8 Damping Matrix for the Spar 39
4.9 Stiffness Forces on Spar 45
4.10 Mooring Stiffness 46
4.11 Mooring Cables Calculation 49
4.11.1 Two-Dimensional Problem 50
4.11.2 Segmentation and Nomenclature 52
4.11.3 Computation Process 52
4.12 Dynamics of Mooring Lines 56
4.12.1 Forces to Consider 56
4.12.2 Equation of Motion 60
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5 PROGRAMME DEVELOPMENT 61
5.1 Introduction 61
5.2 Introduction to MATLAB Software 61
5.3 Programming with MATLAB 62
5.4 Matrices in M-File 63
5.5 Programming Flow Charts 64
5.5.1 Flow Chart for Main Program 64
5.5.2 Flow Chart to Calculate Total Mass 66
5.5.3 Flow Chart to Calculate Damping 67
5.5.4 Flow Chart to Calculate Resultant Stiffness 68
5.5.5 Flow Chart for Static Mooring Program 69
5.5.6 Flow Chart for Dynamic Mooring Program 70
5.6 Programming Process 71
5.7 Overall Programming Description 71

6 RESULT AND DISCUSSION 73

6.1 Introduction 73
6.2 Spar Platform Characteristic 73
6.3 Mooring Line Properties 75
6.4 Segmentation of Side and Bottom Cylinder 76
6.5 Solution of the Equation of Motion 79
6.6 Response Behavior of the Spar Platform 81
6.7 Mooring Line Analysis 88
6.8 Analysis of Current Velocity on Mooring Line 92

7 CONCLUSION 94

REFERENCES 95
Appendices A H 97 - 121
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LIST OF TABLE

TABLE NO. TITLE PAGE

3.1 Project 1 research scheduling 19

3.2 Project 1 research scheduling 19
4.1 Coordinate transformation matrix 32
6.1 Spar dimension and wave data 75
6.2 Mooring cable data 76
6.3 Behavior of mooring line due to increasing current speed 93
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LIST OF FIGURES

FIGURE NO. TITLE PAGE

2.1 Schematic elevation of Spar platform 7

2.2 Components of a catenary mooring system at 1200 m
water depth 7
2.3 Force balance in a catenary mooring 8
2.4 The active hybrid mooring system being developed
at MARIN 9
3.1 Performance analysis flow chart 15
4.1 Tangent plane to non-flat surface consider as a normal
surface 22
4.2 Froud Krilov Force acting on segment surface of cylinder 22
4.3 Nomenclature for translatory and angular displacements 31
4.4 Definition diagram for added mass of a circular cylinder 34
4.5 Forces on cable element 51
4.6 Forces applied to first mooring segment 53
4.7 Forces to derive equation of motion of cable element 57
5.1 Main program flow chart 65
5.2 Total mass calculation flow chart 66
5.3 Damping calculation flow chart 67
5.4 Resultant stiffness calculation flow chart 68
5.5 Static mooring program flow chart 69
5.6 Dynamic mooring program flow chart 70
6.1 Mesh representing the surface normal element for Spar
platform 77
6.2 Normal forces acting on the segment center of the Spar 78
6.3 Six degree of freedom response of Spar platform
(Vc = 0.1m/s, Hw = 3m, Lw = 100 m) 82
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6.4 Six degree of freedom response of Spar platform

(Vc = 0.5m/s, Hw = 3m, Lw = 100 m) 83
6.5 Six degree of freedom response of Spar platform
(Vc = 1.0 m/s, Hw = 3m, Lw = 100 m) 84
6.6 Surge motion of Spar platform at current speed 0.1
and 1.0m/s 85
6.7 Sway motion of Spar platform at current speed 0.1
and 1.0m/s 85
6.8 Heave motion of Spar platform at current speed 0.1
and 1.0m/s 86
6.9 Roll motion of Spar platform at current speed 0.1
and 1.0m/s 86
6.10 Pitching motion of Spar platform at current speed 0.1
and 1.0m/s 87
6.11 Yaw motion of Spar platform at current speed 0.1
and 1.0m/s 87
6.12 Mooring Profile at (Vc = 0.1m/s, Hw = 3m, Lw = 100 m) 89
6.13 Mooring Profile at (Vc = 0.5 m/s, Hw = 3m, Lw = 100 m) 90
6.14 Mooring Profile at (Vc = 1.0 m/s, Hw = 3m, Lw = 100 m) 91
6.15 Comparison of mooring profile at different current speed 93
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LIST OF SYMBOLS

Ms Moments

Fh Horizontal force

WD , h Water depth

F FK
Foude-Krylov force

SW Wetted surface of the floating body

p Pressure in the undisturbed waves

n The bodys normal vector pointing into the water

F Normal force/Froud Krilov force
, w Water density

CD drag coefficient of cylinder

Aw Element wetted area

Vw Wave velocity

dX Segment length in x direction

dY Segment length in x direction
LW Wavelength

TW Period of wave

FD Drag force
W Wave frequency

g Acceleration due to gravity

a Wave amplitude

k Wave number
u& Velocities of water particles in horizontal direction
w& Velocities of water particles in vertical direction
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UC Current velocity

Ms Spar mass or moment of inertia

Ma Added mass or added moment of inertia

{X } Structural displacement vector

{X& } Structural velocity vector

{X&&} Structural acceleration vector

Kh Hydrostatic restoring stiffness

Km Mooring Stiffness

F (t ) External forces
t Delta time
t Time
,, Constant

[A] Transformation matrix

mij Added mass matrix

bij Damping coefficient matrix

kij Stiffness matrix

Cm Added mass coefficient

x Global x coordinates
y Global y coordinates
z Global z coordinates
X Body X coordinates
Y Body Y coordinates
Z Body Z coordinates
K hy Hydrostatic stiffness matrix

D Diameter of the Spar platform

S cb Distance from the keel of the Spar platform to its

center of buoyancy
S cg Distance from the keel of the Spar platform to its

center of gravity
Td Draft of the Spar platform
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x Small displacement

CDT Tangential drag coefficient

CDN Normal drag coefficient

T Mooring line tension

Inclination of mooring line
Rz Resultant force in z direction
Rx Resultant force in x direction
L Elongation of segment
L Segment length of mooring line
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LIST OF APPENDICES

APPENDIX TITLE PAGE

A1 Main Program For Segment Surface 97
A2 Sub-Program For Trapezium Calculation 99
A3 Sub-Program For Triangle Calculation 100
B Sub-Program For Coordinate 101
Transformation
C1 Program For External Force Moment 102
C2 Program Forces And Moment 108
D Sub-Program For Mass And Added Mass 111
E1 Sub-Program For Mooring Stiffness 113
E2 Sub-Program For Spar Hydrostatic Stiffness 114
F Sub-Program For Damping Coefficient 115
G Spar Main Program 117

H Couple Mooring Line Program 120