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To cite this article: Milan Batista & Marko Perkovič (2019): Computation of mooring chain with the
touchdown on an inclined seabed, Journal of Marine Engineering & Technology
CONTACT Milan Batista milan.batista@fpp.uni-lj.si Faculty of Maritime Studies and Transport, University of Ljubljana, Portorož, Slovenia
2. If hB , LB , and p are specified, then, using Eqs. (4) and Figure 1):
(5),
X1 = XA + 0 cos α, Y1 = YA − 0 sin α, (15)
hB = hA + pLB , (8)
Now, if we assume that H is specified, then, λ is expressed
as
= hA + LB 1+p +p .
2 (9)
H
λ= , (16)
3. If p, , and hA are specified, then from Eq. (9) qw
and therefore, the fundamental unknowns of the prob-
LB = ( − hA ) 1+p −p ,
2 (10) lem are arc-length coordinates s1 , s2 , of catenary start and
endpoint and length 0 of the chain on seabed. These
and hB is expressed by Eq. (8). unknowns are connected by the following two geomet-
4. Finally, if hA , hB , and are specified, then, from rical conditions:
Eqs. (4) and (5),
• The total length of the chain is
hB − hA
p= , (11)
( − hB )2 − (hA − hB )2 = 0 + s2 − s1 . (17)
and LB can be calculated from Eq. (10). • The vertical distance between the catenary end-points
We note that the chain cannot be straightened, and is (see Figure 1)
thus, chain span L is constrained to
y2 − y1 = hA + 0 sin α. (18)
LB ≤ L < 2 − h2A . (12)
From Eq. (17), we have
With zero horizontal force, the vertical force at the s2 = − 0 + s1 . (19)
suspension point is composed of only the weight of
the vertical part of the chain. We thus obtain the Using Eqs. (17) and Eq. (88) for y, we can express condi-
following values of the vertical load at the chain tion (18) as
touchdown point (index 1) and chain end (index 2):
p
λ2 + ( − 0 + s1 )2 − λ2 + s21 = hA + 0 .
V1 = 0 V2 = qw hB . (13) 1 + p2
(20)
This expression contains three parameters: s1 , 0 , and λ.
2.2. Calculation when the horizontal force is
When two of these are specified, then, the third can be
specified
calculated from Eq. (20). We distinguish the following
With the application of horizontal tension force H to three cases:
the suspension point, the chain gradually rises from the
seabed; thus, its shape consists of a line of length 0 on the Case 1: The chain is only to be raised from the seabed
seabed and the catenary. It is evident from the equations
in Appendix A that the shape of the catenary and its load In this case, 0 = 0, and at the catenary touchdown point
is completely determined if we know the chain param- (tangency point), we have α = −θ1 ; thus, tan θ1 = −p.
eter λ as well as the chain arc-length coordinates s1 of Therefore, from Eq. (89), we have s1 = −λp. Substituting
its start point and the arc-length coordinates s2 of its end this into Eq. (20), we obtain the equation for λ. By replac-
point. Further, the position of the chain in the plane coor- ing λ with Hmin /qw , where Hmin is the minimal force
dinate system OXY is completely determined if we know required to raise the chain from the seabed, we obtain
the plane coordinates of its start point (see Appendix B).
qw 2 − h2A
These coordinates are arbitrary. For definitiveness, in this Hmin = . (21)
study, we define the coordinate origin to be on the water 2 hA 1 + p2 + p
surface immediately above the anchor: When α = 0, i.e. p = 0, it reduces to a popular formula
XA = 0, YA = −hA , (14) for describing a chain rising from a horizontal seabed
(Garza-Rios et al. 1997):
where XA , YA are the coordinates of the anchor in the
qw (2 − h2A )
plane coordinate system. The coordinates of the con- Hmin = . (22)
tact point between the catenary and seabed are then (see 2 hA
4 M. BATISTA AND M. PERKOVIČ
Case 2: Part of the chain is on the seabed Because H ≥ 0, the lower value of TB is specified based
on the condition H = 0. Using Eq. (13), we obtain
When H < Hmin , it implies that part of the chain is on the
seabed. At the catenary touchdown point, we have s1 = TB ≥ qw hB or λB ≥ hB , (30)
−λp; thus, Eq. (20) becomes an equation with 0 as the where equality implies that H = 0. Equations (20) and
unknown. A solution to this equation is (27) have three parameters: s1 , 0 , and λ. Thus, one of
these must be specified, and the remaining two can be cal-
2
0 = (1 + p ) + 1 + p hA p
2 culated. As described in section 2.2, we now distinguish
three cases:
− h2A + 2hA (λ + p) 1 + p2 + 2λp+ (2 + h2A )p2 . Case 1: The chain is only to be raised from the seabed
(23)
In this case, we have 0 = 0, H = Hmin , and s1 =
When α = 0, this equation reduces to the formula for −Hmin p/qw , where Hmin is expressed by Eq. (21). Substi-
describing a chain on a horizontal seabed (Garza-Rios tuting these into Eq. (27) for H, we obtain the minimum
et al. 1997): tension force required for raising the chain from the
seabed:
0 = − 2hA λ + h2A . (24)
TB,min = Hmin 2 + (q − H
w
2
min p) . (31)
Case 3: The chain is completely raised from the seabed
Case 2: Part of the chain is on the seabed
If H > Hmin , then 0 = 0; thus, Eq. (20) becomes an
If qw hB < TB < Tmin , then a part of the chain 0 is on the
equation with s1 as the unknown. Its solution is
seabed. At the catenary touchdown point, we have s1 =
−λp; thus, in this case, for λ, Eq. (28) yields
1 2 − h2A + 4λ2
s1 = hA − . (25)
2 2 − h2A 0 = − λp − λ2B − λ2 . (32)
When s1 < 0, the catenary part of the chain contains its Note that we assume − 0 + s1 > 0 because the ver-
apex. When s1 = 0, the apex is at the anchor point. This tical force V2 > 0 at the suspension point. Substituting
occurs when the horizontal force is this into Eq. (20), we obtain an equation with λ as the
unknown, which has the following solution:
2 − h2A
H = qw . (26)
2hA
λB − r 1 + p + p 2λB 1 + p2 − r r(1 + p2 )
2
2.4. Chain-restoring coefficient and when H ≤ Hc , i.e. when the chain is lifted from the
seabed, then
The chain-restoring coefficient, which is used for lineari-
sation of H in, for example, mooring lines analysis (Jones
1985), is defined as d0 ds1 λh2A
=0 and = 2 . (45)
dλ dλ ( − h2A )(s1 + /2)
dH
K≡ , (38)
dδ We observe that the chain-restoring coefficient can be
where δ is the horizontal displacement of the buoy, which calculated in a purely analytical manner once the shape
can be expressed as the following using Eq. (88) for x: of the chain is known.
s s
δ ≡ L − LB = λ sinh−1 − sinh−1
2 1
λ λ 3. Chain with sinker
0
+ − LB . (39) When the chain has a sinker, the sinker divides the chain
1 + p2
into two parts: the part from the anchor to the sinker
This coefficient is used for linearisation of H. (referred to as the anchor chain and denoted by super-
Now, δ = δ̂(λ, s1 , s2 , 0 ). As observed from Eqs. (25) script -) and the part from the sinker to the buoy (referred
and (23), s1 and 0 rely only on λ; meanwhile, based to as the buoy chain and denoted by superscript +). In
on Eq. (19), s2 = ŝ2 (0 , s1 ). The total differential of δ is addition to the parameters from section 2.1, we now have
therefore the following parameters:
∂ δ̂ ∂ δ̂ ∂ δ̂ ∂s2 d0 • Sinker-chain specific weight, q− , and length, −
dδ = + +
∂λ ∂0 ∂s2 ∂0 dλ • Buoy-chain specific weight, q+ , and length, +
• Initial water depth above the sinker, hS
∂ δ̂ ∂ δ̂ ∂s2 ds1
+ + dλ. (40) • Initial horizontal distance from the anchor to the
∂s1 ∂s2 ∂s1 dλ sinker, LS
∂s2
From this as well as ∂ 0
= −1, ∂s 2 dH
∂s1 = 1, and dλ = q , the The total chain length, , is now expressed as
chain-restoring coefficient is expressed as follows:
K=
q
, (41) = − + + . (46)
∂ δ̂ ∂ δ̂ ∂ δ̂ d0 ∂ δ̂ ∂ δ̂ ds1
∂λ + ∂0 − ∂s2 dλ + ∂s1 + ∂s2 dλ
3.1. Initial geometry
where
∂ δ̂ s s s1
When there is no horizontal force on the buoy, then,
= sinh−1 − sinh−1
2 1
+ similar to a chain without a sinker, the chain shape is
∂λ λ λ λ2 + s1 2 composed of two straight lines (Figure 2).
s2 We now distinguish two cases:
− , (42)
λ + s2 2
2
1. The sinker is initially on the seabed
∂ δ̂ 1 ∂ δ̂ λ
= , = − , In this case, + ≥ hB . If LS is specified, then the water
∂0 1 + p2 ∂s1 λ + s1 2
2
depth above the sinker, hS , and the length of anchor chain
∂ δ̂ λ are expressed by
= . (43)
∂s2 λ + s2 2
2
hS = hA + LS p, (47)
Now, when H ≤ Hc , i.e. part of the chain is on the seabed,
then
d0 p + hA 1 + p2 (1 + p2 ) − = LS 1 + p2 . (48)
=− and
dλ − + p p + h 1 + p2
0 A Evidently, these relations are valid if LS < LB . The initial
ds1 load of the buoy chain is identical to that without a sinker
= −p, (44) (see Eq. (13)).
dλ
6 M. BATISTA AND M. PERKOVIČ
Figure 2. Initial state of a chain with sinker on the seabed (left) and that of a chain with sinker lifted (right).
If − is specified, then, based on Eq. (48), the distance (Qw − V1+ )p + H (λS − s+
1 )p + λ
+
In this case, + < hB . Thus, we have Evidently, N = 0 can be achieved only when + 0 = 0, i.e.
when the buoy part of the chain is completely raised from
LS = LB , (51) the seabed. This can also be demonstrated analytically. If
hS = hB − . +
(52) +
0 > 0, then, the contact point of the chain and seabed is
the catenary tangency point. Thus V1+ = pH, and there-
When the sinker is lifted, we have the following vertical fore, N = √Qw 2 > 0 for any Qw > 0. Thus, for H ≤ HS ,
forces at the chain’s characteristic points: 1+p
where HS is the minimum force that raises the sinker,
V1− = 0, V2− = q−
w (hB − hS ), (53) the sinker assumes the role of the anchor; moreover, the
V1+ = V2− + Qw , V2+ = V1+ + q+ chain is considered through a replacement of all the for-
w hS . (54)
mulae based on the methods described in the previous
section, i.e.
3.2. Equilibrium of sinker
hA ← hS and ← + (60)
If Q is the weight of the sinker in air, then, its weight Qw
in water is
To determine HS , we equate Eqs. (25) and (59) for s+
1 . The
ρw solution to the resulting equation is
Qw = 1 − Q. (55)
ρs
YS = Y2− = Y1− s+ + +
2 = s1 + . (73)
⎛ ⎞
2 2 Introducing these expressions into Eq. (70), we obtain
⎜ s− s−
⎟
+ λ− ⎝1 + 2− − 1 + 1− ⎠ , (65) the relation among − −
0 , s1 , and H. Two of the parameters
λ λ must be specified; then, the third can be calculated. Sim-
ilar to a chain without a sinker, we consider the following
and the coordinates of the sinker are the coordinates of three cases:
the start point of the buoy chain, i.e.
Case 1: The sinker is only to be raised from the seabed
X1+ = XS , Y1+ = YS . (66)
In this case, − − − −
0 = 0 and s1 = −λ p = −Hmin p/q . In
−
Case 2: Part of the sinker of the chain is on the seabed To obtain the tension force TB,min that lifts the anchor
chain from the seabed, we first calculate Hmin ; moreover,
−
In this case, H < Hmin , and at the anchor chain touch- from the above formula, we express the following:
down point, we have s− −
1 = −λ p. Thus, the remaining
−
unknown in Eq. (70) is 0 . 2 + (q+ + + q− − − H 2
TB,min = Hmin w w min p + Qw ) .
(76)
Case 3: The chain is completely lifted from the seabed
the value 0 ≤ − − s−
1 = − − (78)
0 ≤ . This is the smallest positive root. q−
w
In the third case, we must select the root that is proximate
to zero. Substituting this into (74), we obtain an equation with H
as the unknown.
3.4. Case when the tension force at the buoy is The resultant expressions are long and cumbersome;
specified therefore, we omitted them herein. However, the pro-
gramming of these equations with the aid of a computer
To address this case, first, we use the definitions λ− = algebra programme is straightforward.
H/q− and λ+ = H/q+ to re-express Eq. (70) in the fol-
lowing form:
3.5. Restoring coefficient of chain with sinker
H 2 − 2 H 2 In this case, the horizontal displacement of the buoy, δ, is
+ (s−
2
+ (s ) − 1)
q− 2
q−
+ s+ −1
+
−1 s1
H 2 + 2 H 2 δ = λ sinh 2
− sinh
+ (q+ s+
2
+ + (s ) − 1) λ+ λ+
q+ 2
q+
+
− p s s+
= hA + 0 . (74) + λ− sinh−1 2− − sinh−1 1−
1 + p2 λ λ
−
In addition, in this case, when applying Eqs. (71)–(73), + 0 − LB . (79)
Eq. (27) for H becomes 1 + p2
H = TB2 − [q+ + + q− (− − − − 2 To calculate K = dH dδ , we have two equations: one has
0 + s1 ) + Qw ] .
(75) seven parameters, i.e. δ = δ̂(− − − − + + +
0 , λ , s1 , s2 , λ , s1 , s2 );
Again, we consider three cases: the other is Eq. (70), which has the form ĥ(− − − −
0 , λ , s1 , s2 ,
+ +
λ+ , s1 , s2 ) = 0. If we add λ− = H/q− and λ+ = H/q+ ,
Case 1: The chain is only to be raised from the seabed we have sufficient equations to compute K. A tedious
JOURNAL OF MARINE ENGINEERING & TECHNOLOGY 9
⎫
∂ ĥ ⎪
⎪
= 1 + (s− /λ− )2 − 1 + (s− /λ− )2 ⎪
⎪
⎪
∂λ− 2 1
⎪
⎪
s− /λ− s− /λ− ⎪
⎪
+ 1 − 2 ⎪
⎪
⎪
⎪
1 + (s− − 2 1 + (s− − 2 ⎪
⎪
1 /λ ) 2 /λ ) ⎪
⎪
⎪
⎪
∂ ĥ ⎪
⎪
= + (s + + 2
/λ ) − 1 + (s+ + 2 ⎪
1 1 /λ ) ⎪
⎪
∂λ+ 2
⎪
⎪
s+ /λ+ s+ /λ+ ⎪
⎪
+ 1 − 2 ⎪
⎪
⎪
⎪
1 + (s+ + 2 1 + (s+ + 2 ⎪
⎪
1 /λ ) 2 /λ ) ⎪
⎪
⎬
∂ ĥ p ∂ ĥ s−
1 /λ
−
.
= − = − ⎪
∂− 0 1 + p 2 ∂s −
1 1 + (s1 /λ− ) ⎪
− 2 ⎪
⎪
⎪
⎪
− − ⎪
⎪
∂ ĥ s2 /λ ⎪
⎪
= ⎪
⎪
∂s2−
− − 2 ⎪
⎪
1 + (s2 /λ ) ⎪
⎪
⎪
⎪
∂ ĥ + +
s1 /λ ⎪
⎪
⎪
⎪
+ = − ⎪
⎪
∂s1 + + 2 ⎪
⎪
1 + (s1 /λ ) ⎪
⎪
⎪
⎪
∂ ĥ + +
s2 /λ ⎪
⎪
= ⎪
⎪
+ ⎪
⎪
∂s2 + +
1 + (s2 /λ )
2 ⎭
Figure 6. Force–deflection diagram for the chain described in
(83)
Table 1.
4. Numerical example
demonstrate that the various calculated values are highly
We implement the discussed model in the Maple and consistent.
the Matlab programme. For verifying the model, we use The second example provided in Table 2 and the cor-
data from Smith and MacFarlane (Smith and MacFar- responding Figures 5–7 are for demonstration purposes
lane 2001), where instead of θ1− = 00 , we use the sinker- and can be used to verify the results when one imple-
chain length calculated by them. The results in Table 1 ments their own programme.
5. Conclusions
In this article, we provided a complete analytical solution
for a system consisting of an anchor, chain(s), a sinker,
and a buoy. The assumptions listed in the introduction
Figure 7. Restoring-coefficient diagram for the chain described
in Table 1. permitted us to fabricate a relatively straightforward ana-
lytical description of the system, which can be conve-
niently implemented using a computer programme.
The developed methodology was used in a real case in When the presented model is used for a buoy and/or
the Port of Koper, where large ro-ros are berthed in the an uphill seabed, a few additional examinations of the
Mediterranean fashion, the ships’ sterns made fast with input data are required because an arbitrary selection of
Figure 9. Screenshot of the Matlab programme used for calculations. Example is load case 1 from Table 2.
Tsinker GP. 1995. Marine structures engineering specialized for the plane coordinate system OXY, the catenary geometry is
applications. New York: Chapman & Hall. expressed as
Wang LZ, Guo Z, Yuan F. 2010. Three-dimensional interac- s
tion between anchor chain and seabed. Appl Ocean Res. X = X0 + λsinh−1
λ
32(4):404–413.
s 2
Y = Y0 + λ 1+ −1 (s1 ≤ s ≤ s2 ), (A9)
λ
Appendices
where X0 and Y0 are the coordinates of the catenary apex, and
Appendix A. Catenary s1 , s2 are the natural coordinates of the catenary start and end
points, respectively. The coordinates of the apex can be calcu-
A catenary equation that has the apex at its coordinate origin
lated once we know a point that lies on the catenary. In our
(Bedford and Fowler 2008) is (see Figure A1)
case, this point is the contact point between the catenary and
x the seabed, i.e. the catenary start point with coordinate s1 . If
y = λ cosh − 1 , (A1) the coordinates of the contact point are X1 and Y1 , then, using
λ
Eq. (A9), the coordinates of the catenary apex are
where λ is the catenary parameter (characteristic length) s
X0 = X1 − λsinh−1
1
defined by horizontal force H and catenary specific weight q ,
as λ
s 2
H 1
λ≡ . (A2) Y 0 = Y1 − λ 1+ −1 . (A10)
q λ
The length of catenary s (arc-length coordinate) from its apex Thus, we can alternatively obtain the catenary through the
to a point with coordinate x is following formulae:
s s
X = X1 + λ sinh−1 − sinh−1
1
x ,
s = λ sinh . (A3) λ λ
λ
s 2 s 2
1
From Eqs. (A1) and (A3), we can express x and y as functions Y = Y1 + λ 1+ − 1+ (s1 ≤ s ≤ s2 ).
of s using the trigonometric identity cosh2 x − sinh2 x = 1, i.e. λ λ
(A11)
s 2
−1 s
x = λsinh , y=λ 1+ −1 . (A4)
λ λ Appendix C.
In this appendix, we consider an alternative method to compute
The inclination of the catenary at the point with coordinate s is
an unknown quantity for a chain with a sinker for the three
s cases discussed in section 4.3.
tan θ = , (A5) The governing expression for the first two cases has the
λ
following form:
where θ is the angle between the x-axis and the tangent to the √ √
catenary. The vertical component of the tension force at the X1 − X2 = X3 − A. (A12)
point with coordinate s is expressed as By eliminating the square roots, we obtain
s 64A2 X1 X2 X3 − [4(AX3 + X1 X2 )
V = qs = H . (A6)
λ
− (A2 + X3 − X1 − X2 )2 ]2 = 0. (A13)
In particular, at the catenary end-points, we have
Now, in the first case, H is unknown. Thus, if we substitute the
V1 = −qs1 and V2 = qs2 , (A7) following into Eq. (A13), we obtain a polynomial equation of
the sixth order for unknown H:
where the minus sign at the start point results from Newton’s 2 − − 2
H q − Hp + Q
law of reciprocal actions. The total tension force T at the point X1 ≡ +
with coordinate s is q+ q+
2 2
s 2 H + q− − − Hp + Q
X2 ≡ + +
T = H2 + V 2 = H 1 + . (A8) q+ q+
λ 2 2
H Hp H
Note that V, T, and θ are expressed as functions of s and are X3 ≡ −
+ − − + A ≡ − 1 + p2 + hA .
therefore independent of the position of the catenary in the q q q
plane. (A14)
For the second case, when −
0 is unknown, we substitute the
following into Eq. (A13):
Appendix B. Catenary in the plane
2 − − 2
In Appendix A, the geometry of the catenary is expressed in H q ( − −0 ) − Hp + Q
X1 ≡ +
the coordinate system located at the catenary apex. In general, q+ q+
14 M. BATISTA AND M. PERKOVIČ
In the third case, the basic equation has the following form:
√ √ √
X1 − X2 = X3 − X4 − a. (A17)
To eliminate
√ the square roots from this equation, we substitute
A = X4 + a into Eq. (A13). After a few manipulations, we
obtain an expression of the following form:
X4 f12 (X1 , X2 , X3 , X4 , a) − f22 (X1 , X2 , X3 , X4 , a) = 0, (A18)
where f1 and f2 are rather long and are thus omitted herein. If
we substitute the following into the above expression,
2 − − 2
H q ( + s− 1)+Q
X1 ≡ +
q+ q+
2 2
H + q− (− + s−1)+Q
X2 ≡ + +
q+ q+
2
H
+ (− + s−
2
Figure A1. Catenary. X3 ≡ 1)
q−
2
2 2 H
+ (s−
2
q− (− − − X4 ≡ 1) a ≡ hA , (A19)
H + 0 ) − Hp + Q q−
X2 ≡ + + (A15)
q+ q+
we obtain a twelfth-order polynomial equation with s−
1 as the
2
H − − Hp 2 unknown.
X3 ≡ + − − The described procedure is evidently manageable using a
q− 0
q+
computer algebra programme.
− p
H
A ≡ − 1 + p2 + hA + 0 . (A16)
q 1 + p2
After a rearrangement, we obtain an eighth-order polynomial
equation with −
0 as the unknown.