2.

019 Desi 2 019 D ign of O f Ocean Systems

t Lecture 14 14
Mooring Dynamics (III)
g y ) April 1, 2011

Cable Load-Excursion Relation

Vessel Moored with One Anchor Line

W

Anchor X

Image by MIT OpenCourseWare.

Restoring Coefficient: g

1 TH 2 X = l h 1 + 2 wh +
C11 =
dTH dX

X = l ls + x

TH (kN)

ls

X(m)

TH w

cosh1 1 +

=w

"

wh TH

Image by MIT OpenCourseWare.

1+2 wh

1/2 + cosh1 1 + TH

wh TH

#1 1

TZ T TH
L

l ls

B
Image by MIT OpenCourseWare.

TH 1000 Horizontal Tension, kN

= THA _ THB
2

Line B

500

Fm = 660 kN

Line A

kN

m
+50m

Displacement

+50m

Image by MIT OpenCourseWare.

Image by MIT OpenCourseWare.

Catenary Solution Key Results (with Elasticity)

Horizontal force for a given fairlead tension T:

TH = AE

Minimum line length required (or suspended length for a given fairlead tension) for gravity anchor:

q
w

T AE

2 +1

2wh AE

AE

lmin =
Vertical force at the fairlead:

p 1

2 T 2 TH

Tz = wlmin
Horizontal scope (length in plan view from fairlead to touchdown point):

x=

TH w

sinh1

AE: stiffness of the cable

wlmin TH

TH lmin AE

Analysis of Spread Mooring System

Total mooring line force/moment:

y THi i (xi, yi) x
n

M 1

= THi cos y i
i=1 n

F2 M = THi sin y i F6 M = THi [ xi sin y i yi cos y i ]

i=1 i=1 n

Total mooring line restoring coefficients:

C11 = ki cos 2 y i
i=1 n
Image by MIT OpenCourseWare.

i=1 Mean position of the body is determined n 2 by balancing force/moment between C66 = ki ( xi sin y i yi cos y i ) those due to environments and mooring i=1 n lines C26 = C62 = ki ( xi sin y i yi cos y i ) sin y i i=1 Iterative solver is usually applied

C22 = ki sin 2 y i

Mooring Line Dynamics

THE FINITE DIFFERENCE METHOD

Wave-frequency motion Slowly-varying motion Mean drift motion

Current

m5 m4 m3 m1 m2

Image by MIT OpenCourseWare.

Mooring Forces and Displacement vs. Mooring Stiffness

Mooring force = steady force (independent of stiffness)

+ slow drift mooring force stiffness g + wave frequency motion e Displacement =

( stiffness )

steady force 1 stiffness stiffness 1 slow drift displacement stiffness wave frequency motion (independent of stiffness) )

Thus as a general rule, as a system is made less stiff, the mooring forces will be smaller and the displacements will be larger.

Load/Displacement Combinations and Extreme Values

Tensions and excursions in a mooring system have three components:
(1) a static component known as Tstatic which arises from wind, wave drift, and current
(2) a wave frequency component, which occurs in the range of 0.03 to 0.3 Hz and is caused by first order wave loads (3) a low frequency component, which occurs in the range of 0 to 0.02 Hz and is caused by second order waves and wind dynamics

Significant wave frequency motion: Maximum wave frequency motion: Significant low-frequency motion: Maximum low frequency motion: ow-frequency

xwfsig = 2s wf xwfmax = 2ln (Texp / Tzwf ) s wf

xlfsig = 2s lf xlfmax = 2ln (Texp / Tzlf ) s lf

Texp ~ 3 to 6 hours; Tz: peak period

Maximum combined dynamic tension/excursion:

xdyn = max[(xwfmax + xlfsig),(xwfsig + xlfmax)]

Mooring
Analysis
Flowchart

Platform Wave Frequency Motion Dynamic Mooring Line Tension

Design Environmental Condition

Total Line Tension

Damage Condition (lnc. Transient) Analysed?

Yes

Analysis Completed

Platform Low Frequency Motion

Slow Varying Mooring Line Tension

No

Steady Environmental Loads

Static Mooring System Displacement and Tensions

Critical Mooring Line Removed

Image by MIT OpenCourseWare.

Chain: Studless or studded chain links Heavy, highbreaking strength, high elastisity No bending effect Most popular, all chain in shallow water (< 100M) Chain segments are used near fairlead and bottom (in deepwater) Wire: Lighter than chain Slight bending effect U d as main mooring li segments i d Used i i line t in deep water (t reduce vertical l d ) t (to d ti l loads) High-Tech Fibre: Light weight (almost neutrally buoyant) Highly extensible g y Potentially useful for very deep water

Mooring Line Materials

Centre for Marine and Petroleum Technology. All rights reserved. This content is excluded from our Creative Commons license. For more information, see http://ocw.mit.edu/fairuse.

Chain
Weight and Stiffness:
Submerged weight per unit length, w = 0.1875D2 N/M (D in mm) Axial stiffness per unit length, AE = 90000D2 N (D in mm) Breaking Strength: CBS or proof load = c(44 - 0.08D)D2 N (D in mm) Catalogue breaking strength
Values of c:
Grade (specification) ORQ 3 3S 4 Catalogue Break Strength 21.1 22.3 24.9 27.4 Proof Load 14.0 14.8 18.0 21.6

Wire Rope

Weight and Stiffness:

Construction Six strand (IWRC) Spiral strand

Centre for Marine and Petroleum Technology. All rights reserved. This content is excluded from our Creative Commons license. For more information, see http://ocw.mit.edu/fairuse.

Submerged weight/length, w 0.034d2 N (d in mm) 0.043d2 N (d in mm)

Stiffness/length, AE 45000d2 N (d in mm) 90000d2 N (d in mm)

Breaking Strength:
Construction Six strand (IWRC) Six strand (IWRC) Spiral strand Ultimate Tensile Stress (N/mm2) 1770 1860 1570 Breaking Strength (N) 525d2 (d in mm) 600d2 (d in mm) 900d2 (d in mm)

High Technology Fibre Rope

Weight and Stiffness:
Fibre Rope Type Polyester Aramid HMPE Weight Per Unit Length (N/m) 0.0067d2 (d in mm) 0.00565d2 (d in mm) 0.0062d2 (d in mm)

Breaking Strength:
Fibre Rope Type Polyester Aramid HMPE Breaking Strength (N) 250d2 (d in mm) 450d2 (d in mm) 575d2 (d in mm)

Properties of Typical Systems

Extreme Excursions as a Percentage of Water Depth

Water Depth (m) 30 150 500 1000 Mooring Type Chain/wire Chain Chain/wire Fibre ropes Semi-submersible 30-45% 15-25% 25-30% 5-10% Ship 40-55% 30-40% 20-30% 5-15%

Typical Natural Periods of Mooring Systems

Water Depth (m) 30 150 500 1000 Mooring Type Chain/wire Chain Chain/wire Fibre ropes Semi-submersible (s) 30 60-120 120-180 90-110 Ship (s) 45 60-150 150-250 120-150

Guidance, Rules, and Regulations

IACS (International Association of Classification Societies) safety factors: for survival conditions

Condition Intact One line removed Transient

Safety factor (= Break strength/Max.tension) 1.8 1.25 1.1

IACS (International Association of Classification Societies) safety factors: for survival conditions for operating conditions, these safety factors are increased by about 50%.

API RP 2SK Safety Factors: Condition Intact One line removed Transient Safety factor (= Break strength/Max.tension) 1.67 1.25 1.05

MIT OpenCourseWare http://ocw.mit.edu

2.019 Design of Ocean Systems

Spring 2011

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.