OTC 5531

Dynamic Aspects of Offshore Riser and Mooring Concepts

by H.J.J. van den Boom, J.N. Dekker, and A.W. van Elsacker,
Maritime Research Inst. Netherlands

Copyright 1987 Offshore Technology Conference

This paper was presented at the 19th Annual OTC in Houston, Texas, April 27-30, 1987. The material is subject to correction by the author. Permission
to copy is restricted to an abstract of not more than 300 words.

ABSTRACT

In this so-called quasi-static mooring analysis, all other phenomena having an effect on the
maximum line load are taken into account in an
overall safety factor, as required by the certifying
authorities. Typical values are 3 for operational
and 2 for survival conditions.

Up to very recently the design of mooring systems and flexible risers lacked an adequate approach
to account for dynamic effects in the extreme load
assessment. Usually the design concept was based on
the extreme positions of the floating structure.
Recent research has indicated that the dynamic
amplification of the tensions in the lines and
risers can be of the same order of magnitude as the
co-called quasi static values. Also it has been
concluded that the dynamic effects in the mooring
system can affect the low frequency motions of the
structure by the increase of virtual stiffness and
damping.

Experimental
and
theoretical research have
shown that high frequency oscillations (in the wave
frequency range) of the upper end of a mooring line
can generate significant dynamic amplification of
the line loads.
-

In this paper newly developed 3D computational

procedures are presented, describing the motion,
tension and bending moment along a flexible pipe or
a mooring line. Also correlations with model test
data are discussed.

These dynamic effects are depending on:

frequency of oscillation
amplitude of oscillation
specific line mass
pretension
hydromechanic line properties.

Van Sluijs and Blok [5] have found from a systematic series of forced oscillation model tests,
that the ratios of maximum dynamic tension and maximum quasi static tension depend strongly on the frequency of oscillation. This ratio is enhanced by
increasing oscillation amplitude, increasing pretension and reduction of line mass.

1. INTRODUCTION
The growth of the number of moored concepts
amongst the offshore structures and the trends
towards cheaper technology as a result of low oil
prices, puts high demands on the design of the
mooring arrangement.

Knowing the importance of dynamics for mooring

systems, a similar behaviour is to be expected for
related "line-type" configurations such as flexible
risers, pipe bundles etc. The additional parameters
concerning dynamic effects in these cases are the
direct wave forces and the bending stiffness. The
traditional theoretical approach to solve the dynamic behaviour of cable/riser systems is based on
semi-analytical techniques. Geometrical non-linearities are neglected to reduce the equations to differential equations which could be solved. Perturbation techniques were applied with success but are
restricted to certain areas [3].

Important parameters in this respect are the

large displacement of the structure,
deep and
hostile waters and
the required round-the-year
workability.
The wide variety of mooring systems may be illustrated by the existence of shallow and deep water
single point moorings with temporarily or permanently moored tankers, clump weight systems used for
guyed towers and wire moorings of semi-submersible
crane vessels.
The current design procedures mostly include a
dynamic motion analysis of the moored object. This
provides extreme positions of the structure. From
the static load excursion characteristics of the
mooring system, the mooring line tensions at these
extreme positions can be found.

A more general approach to the problem was

provided by discretization techniques. The line is
assumed to be composed of a limited number of discrete elements. These elements can have physical
properties of their own. The thus formed system of
partial differential equations describing the vari-

ables along the line, could be replaced by equationg

of motion in an earth-bound system of coordinates.

References and illustrations at end of paper

405

--=---

~~

.-"'";::::;C_

-0

~~--'- .---=~

~~_~~.~~_.,=-;::;;_~_-.

__~-_~-=.~
__ ~~_~

- __

~_-

---=-==----'"',-

~_~

~ _

~=

- -

.
----:--.~=-

.'='-~.-

-'-.---'-~--

OTC 5531

RISER, MOORING, DYNAMICS

The most successful methods are well-known as the

lumped mass method (LMM) and the finite element
method (FEM).
In this paper a LMM-technique and the resulting
algorithm (named DYNFLX) are presented. The validation of this approach has been obtained by use of
the results of an extensive research program. This
study was carried out by the Maritime Research
Institute Netherlands (MARIN), on behalf of the
Netherlands Marine Technological Research (MaTS)
program (Figure 1).
This program was sponsored by the following parties:

T (T)

= instantaneous length of segment j=~oj(l~)

j

Assuming that all nodal force contributions are

formulated in terms of node positions, velocities
and accelerations the motions of the nodes may be
approximated by a finite difference method known as
the Houbolt scheme [3]:

Dutch Ministry of Economic Affairs

Gusto Engineering C.V.
Heerema Engineering Service B.V.
MARIN
Shell Internationale Petroleum Maatschappij B.V.
Van Rietschoten & Houwens B.V.

ij(T+~T) = 6~T {ll~j(T+~T)

-J

~~~!:~_~J2J2E~~!;

T)]) .!j (T) "

!. (T)

-J
2

D~ ~j

a tj

D~ ~j

P (CIt - 1) n/4

The

tj

4~j(T-~T)

force

-j

+ 1/2

~j(T-2~T)

+
(5)

-J

To derive consistent segment tensions and displacements, a Newton-Raphson iteration using the
additional constraint equation for the constitutive
stress-strain relation is applied:

(l)

I ~xj(T)12

o/j(T) "

T .(T)

- ~2 {1 + ---L......:....}2
oj
EA
j

(6)

(2)

(7)

For

each

time step the system of equations (7)

solved until acceptable convergence of
is obtained. The initial tentative tension
can be taken equal to the tension in the previous
step. Each node j is connected to the adjacent nodes
j-1 and j+1, hence equation (7) represents a tridiagonal (Nx3) system. Such equations may be efficiently solved by the so-called Thomas algorithm.

s~ould be
T (T+~T)

] : directional transformation matrices

nodal

+ ~ it.(THT)

where a j and a tj represent the normal and tangential ad!ea mass:

a nj " P (C In - 1) n/4

(T-~T)

5/2 X.(T) - 2x

[mj(T)] " anj[Anj(T)] + atj[Atj(T)]

], [A

5~(T)

or:

The added inertia matrix can be derived from the

normal and tangential fluid inertia coefficients by
directional transformations:

nj

~:2 {2~j(T+~T)
-J

To derive the governing equations of motions

for the j-th lumped mass, Newton's law is written in
global coordinates (Figure 2).

[A

-J

- x.(T-2~T)

The mathematical model for the simulation of

the three dimensional behaviour of flexible lines is
an extension of the lumled mass method used for
mooring chains and wires l2]. The spacewise discretization of the line is obtained by lumping the mass
and all forces to a finite number of nodes.

(4)

.!j(T+~T)

18~j(T)

+ 9X.(T-~T) - 2X.(T-2~T)}

2. THEORY

([ Mj] + [m

vector F. contains
-J

the

following

Fluid forces
-------------

internal and external force components:

a.
b.

segment tension
shear forces due to bending rigidity

FT(T)
Fs(T)

c.
d.
e.
f.
g.

fluid forces
sea floor reactive forces
buoyancy and weight
buoy forces
tether forces

Ff(T)
Fr(T)
Fw
Fb(T)
FTT(T)

The fluid forces acting on the submerged part

of the line originate from line motions (fluid reactive forces) and water particle motions due to waves
and current. Dividing the forces into velocity and
acceleration dependent parts, the total element
force may be approximated by the relative motion
concept known as the Morison formulation:

Since the tangential stiffness of the line,

represented by its modulus of elasticity EA is an
order of magnitude higher than the stiffness in
normal direction, the tension is taken into account
in the solution procedure direct [4]

(8)

Since the inertia part of the fluid reactive forces

is already accounted for in the left hand side of
equation (1) iind the current velocity is assumed to
be constant, u only consists of the water acceleration due to waves.

The tension vector on the j-th node results

from the tension and orientation of the adjacent
line segments

The element relative velocities and accelera-

406

~._~.~~__-~~_=c~~=_~~-:~.-~.~~--,.c.:~c--,. _~-,-_.~.:..._~.~-~_-~g-.-~=-~-~=-,-~~~.'c-. ~.=~_.~~-:.;.;._~-:;:-=c-!~-~!-~.~-!~~,~.-!~-g&BE:~--~-=;::_:::::;;---~-~~--~-~-~-~---:,"",!,~-~~-~"-.-=--~~--._ '

.;;~~:~~~:~-;,;~

--,---

,._.~~-:.c,.-==,_

-'=0-

-~""'-

--.;---~

:::=-~~ = ~:_~c:-~-=--.~~

..

--=---

--

.__

-.-'-----,---~=

-=--~~

--~~~:~---'-:-:=-.-=~,:;::~.

.,..---

~~---.==--==----'---;...'---~_=_~~~-~~R7~;_~~_-""=--~'*.~"'~~=:_~~~::;:_-

~""_

-C'-=,

- - ... ,,~~~-~

-~ _~-~. '= --

'::-z- =,,7'---:::::-~

o:::c...~_= --

-----==-

__ ~_~""=-_::;~:~~::-_~-O-~-;::'---=-.,-~~-':---

.~.-"~~-=- :=-O"~..:...~ -~C:_ -~"=.:-:.-,-;;--: .---,;;c. .

-

_--""~

--=-"-- ~~,-'_-- ,_~

~=-:---"~~:---=~ :.::::=~~-:-:-~-

-~

.---",__

"--.___

--~-

_~

~=-- ~_-

~_':-' __ '~'

---

--::=-----,

._~~-~."---~ __=__~

-=--

---

..,._--------

,~

_ ,_.~~ ._"'";::::;-:_.--,----o,,c __ '--==o~

.~~'~~.'"'";::;;_~_-.

__~ - _~_:='~
__ ~~_~

~_ _

~_-=

-'-=--==..-._-----,--='c-:-_-'------___=_

','~'~

,.,_~-'__'____~

-~

~_~

_, ,'.-;----',-_' =

' =' ~

: __ --==------.--:-.~~

==---=--:=::-~~-~~-:F:i.~~-~'C~"~~';""C~:~'~-'~=:--c:":'-:5,.-=':;'~"--=-~:::-:'~...:'-_---=:' ~:~T-'-----===-~.:::. :-_'~:-,---.-=,-----=-.-o=-

~'------,--- =--~=,

~'--

-------:-==-"-

_~__= __-==--=___~
..

_.=-_-,--~ .. _'-:: ---,--- _~ ~._:;:::_= __ '==~_-=-=."= '"--"--:::0--'-- =', ----e=.-_~= .,..-_ _-~= ___=_-.-:-.c=::::;;
-

__

'"~"---:--~','~~===.-~.<~-~-=-----=,c.~",;-~,-,-"--,-~' _=,= '~: _

~~=::?-~--=~:::'-~-'--~-~::"_~~~-~:?~~

--=~

_-_
.. :

=-:::.c:::-=~--....: -:'-~.- -=-.~-~"':..:.~--=--.:::- -~ -

'----.--:-_==

",~'____:_c,-=: ..__:_:_~.",____~_

".~'"::=_,~

--=--

VAN DEN BOOM/DEKKER/VAN ELSACKER

OTC 5531

tions are taken equal to the average values of the

values at the subsequent nodes. The inertia and drag
force shape coefficients for slender cylindrical
elements may be formulated in normal and tangential
components. For this reason the fluid forces in
DYNFLX are computed in a local system of coordinates.

moment in the j-th node is acting in the plane

through the elements j-l and j (Figure 3). According
to slender beam theory this bending moment can be
written as a linear function of the angle between
the successive elements.
d<P

(9)

=- <P j -

<P

_
j 1

(14)

with
<P j

where:
~

. (15)

velocity vector in local coordinates

[n]

directional transformation matrix

velocity vector in global coordinates

(Ye

Y..w - i~) j +

(.Ye

Y..w - ~) j+l )/2

(16)

Note

that for both tangential and normal fluid

the same reference area (D~) and volume
(TI/4D ~) are used.

equation (14) yields:

force~

After computation of
in local coordinates
nents are found from:

ite'

the element fluid forces

the global force compo-

(17)
or:

(10)
(18)

The node forces are readily derived from the element

fluid forces:

.L,
-L

(.L,
-Le

Knowing the co-ordinates of the nodes in 3-D the

angle d<p i between the successive elements j-l and j
is founa from the scalar product of the element
vectors:

+.L,
)/2
-Le _
j
j 1

The direction of the current is defined by the

horizontal angle il c between the current vector and
the x-axis:

d<P j =- arccos
with:
~j

(11)

To calculate the instantaneous orbital velocities and accelerations of the water particles due to
wave action use is made of the Volterra series formulation which represents a linear filtering of the
specified wave train

[7]:

V
hV
~

The direction of the bending moment vector is perpendicular to a and b and given by their vector
product:

~j

~j

=s

~j

~j

=s

~j-l x ~j

Hv (w) e

iwT

(13)

dw

Orbital velocities and accelerations at an arbitrary

position (x,z), are formulated according to small
amplitude (linear) wave theory.

~j

The force components acting on the j-th node are now

readily found from the shear force vectors of the
adjacent elements:

00

_00

(21)

=s

where:

The impulse response function can be found from

the frequency dependent transfer function H.y(w) =V(w)/~(w) by inverse Fourier transform:

=- L2TI

(20)

The shear force vector for element j-l is now given

by:

-s

= -j-l
S

(22)

- S
-j

From the bending moment the bending stress and

the bending radius are derived direct. In case of a
clamped end condition use is made of an extra fictive element which remains in the original orientation of the end element. At the top of the line the
motions of this element result from the floater
motions.

The advantage of the Volterra series approach

is that simulations can be carried out based on measured wave records as well as on synthetic wave
records.

the

~ x ~

= impulse

h--y (T)

~j - ~j-l

=-

-j-l

orbital velocity
response function for V
=- input wave train

(19)

lj =- ~j+l - ~j

(12)
where:

(~j'lj)/I~jllljl )

Sea floor forces

For the derivation of the bending moments and

shear forces it is assumed that the bending

In vertical direction sea floor contact is sim-

407

-B!:"--- - - --~ -~ -~

..

~- ~----~----

-'--'.-.-,-,'-,:'-.. ---'----

~"--~-

_._~

:. .:. :. : : ':- - " _-

~~~:~~~~~-;,;:;.-

'~.:.=:": ~=='-

---=-~

~~_--:-:~.~'-'i= --: -,- ~~,~---O

--- --C:----:~-c:~~-=~~--~=:~--~~~-c

--

c=_ -

-=_--:.;~~:~....:.:-.:=--.:::~,:;:"~--~=-"-'-~.-.~-.;-::..,;-

- -~
-=-~~~~ - --~ ~_:~ --e:--,~-== ~~~-~-=:'=:=~~-~-i~7~7::;~oi-O""=- ~,~= ~~=:-~~~-~- ~'.::.
_

~-~- -- --

.--c--

"=-:-:-~~~~
-~c: -~~-: . , , -: .=.-- - -

--="'~--~'~~-''=-;::;;-~--._-~--~--=,~--~~-~

~-

~~~-','--=:~"-~

~--~.-

-~

""""C

-C--=:::-'2-~
-==-_--=--=~_= -_:;=.::--_ - -_~_=
.-;~~~,~~_
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~~.-__--,~~ __~':~,_-~~-----,-=--~=,:~,~,',~:..-

-~'-~--=

-= ~:;::: -- =~ ~

~-~

--

-:::0--

--=

-_

-=-= ~---::---=

-~- -:;:~_~~=-=:;~_~ .T'O~- ~~-=_~-~-- _ ~~_~_" ~_-=-_~

_
~_-=_- ---=-~?==-:-=:::;:.-=-- ~~~- ~:-:- __-_--==::--::=~- ~__~--= =- __ ~~~

-, ,'--"--",--'='----:-:-.==

RISER, MOORING, DYNAMICS

ulated by means of a linear spring system for each
node. Instabilities due to large impacts are prevented by adding a critical damping.
Buoys
and Tether
.-----.--------When the line contains large volumes fixed in
orientation, the force formulations as presented in
subsection Fluid forces cannot be applied. Therefore an additional direction fixed formulation for
fluid forces on such components is optional. Toe
wire or tether application can be applied as linear
springs from any node in arbitrary direction.
Top
motions
.- ------
The upper-end position of the line is derived
from the motions in six degrees of freedom of a
vessel attached to the line. Phase shifts between
vessel motions, top motions and direct wave forces
are accounted for.

3.

VERIFICATION

The development of the computer algorithms presented in Figure 1 has been undertaken in continuous
relation with extensive model testing programs both
for module building and integrated validation. The
validation has been focussed on specific applications:
- mooring systems and floaters [2]
- rigid risers [6]
- flexible risers.
Mooring--a~ems
and floaters
----------In the 1984 mooring line dynamics study [2]
extensive teats have been carried out for determination of fluid reactive force coefficients of chains
and wires.
Model tests utilizing harmonic upper-end forced
oscillations of the line at five frequencies for
eleven combinations. The water depths ranged from 75
m to 608 m. Chains, steel wires and chain-wire
combi-lines were investigated (Table 1). For these
tests, which were carried out according to Froudets
law of similitude, use was made of steel atudless
chain and wire. The scale ratios ranged from 19 to
76. It should be noted that the chain links of the
1.0 and 2.0 mm chain were cut at one side. The EAvaluea were derived from tension-elongation tests
(Table 2).
The oscillation tests were carried out in the
220mx4mx4mand
the 240mx18mx8mbasins
of MARIN. During the tests the forced oscillation,
generated by means of a mechanical large stroke oscillator, was measured by means of a potentiometer.
The upper-end line tension and vertical angle were
measured by means of a two-component force transducer while the tension at the anchor point was measured by means of a ring-type force transducer. The
motions of the line were recorded by underwater
video. The measured tensions were directly compared
with the computed results. Moreover comparisons were
carried out on the basis of the Dynamic Tension
Amplification (DTA) defined as amplification of the
maximum total quasi-static tension, i.e. the static
tension at the maximum excursion.
For the 300 m water depth cases typical results

are presented in Figures 4 and 5.

Results of the mentioned study clearly showed
that in practical situations the dynamic behaviour
may contribute to the maximum tension significantly.
Important parameters are the non-linear static loadexcursion, the low frequency (pre-) tension and
the amplitude and frequency of the exciting upperend oscillation.
The prime dynamic tension increase originated
from the normal drag forces related to large global
(first mode) line motions at the middle sections.
Long periods of slackness even at low frequencies of
oscillation occurred due to flying of the line
under the influence of gravity and drag only. With
increaae frequency the drag and inertia equalled
gravity forces resulting in an elevated equilibrium of the line and normal motions in the upper
section yielding lower DTA-values.
Inertia became of importance at higher wave
frequencies especially for steel wires and multicomponent lines.

A good correlation between measured and calculated line tensions was found during the harmonic
oscillation tests for the wide range of situations
investigated. Because of the non-linear phenomena
involved, the ultimate validation of the developed
computer program was carried out by means of model
tests in irregular waves. A model of a floating
structure was moored by means of two parallel lines
and a tensioning weight.
During the tests the motions of the structure
were measured by means of an optical tracking device
while the upper-end mooring line tensions and angles
were meazured by means of two-component straingauges. The fairlead motions derived from the measured motion at deck level were used as input to
DYNFLX. This procedure enabled a deterministical
comparison between experimental and numeric tension
records.
Results for the semi-submersible and the barge
(defined in Table 3) in irregular waves with a significant height of 13.0 m and a mean period of 15.5
s are given in Figures 4 and 5. In order to ahow the
contribution of the dynamic behaviour, the computer
simulations were repeated for 80 per cent reduced
line diameters thus reducing drag (80%) and added
inertia (96%).
Since in the basic approach to the extreme
loading assessment it was assumed that motions fo
the floating structure are not affected by the
dynamic mooring forces some additional analyses were
performed. To this end the dynamic tension records
resulting from hi-harmonic top oscillations, combining a typical low frequency oscillation with a wave
frequency response, were investigated.
The low frequency energy in the hi-harmonic
result was studied by removing the high frequency
tension components by means of low-pass filtering.
This result was compared with the tension due to the
low frequency oscillation are given in Figure 6.
The change of restoring forces experienced by
the floating structure is illustrated by an increase
in amplitude of low frequency tension and a phaae
shift. Dividing the tension record in an in-phase
and quadrature phase component, it is clear that the
dynamic behaviour of the mooring line may increase
both the effective mooring stiffness and the low

408

O!rc5531

J-u

//2

.-.

,JJ-!.,

x..,

-U.

frequency damping. The latter can be of the same

order of magnitude as the potential and viscous
fluid damping acting on the vessels hull directly
and is therefore important for the low frequency
behaviour of the mooring structure.
Flexible risers
-----.----The newly developed DYNFLX program was subjetted to several verification tests based on comparison with well-known analytical solutions. In
addition to this, it was decided to carry out a
correlation study between calculations and model
tests for a so-called lazy-wave flexible riser
presented in Figure 7.

u.u..
(

-4-.

..-..

variations performed:
- Results for location 2 and 3 are sensitive for
changes in inertia coefficients cIn and Cit.
Apparently,
the effect of increasing
cIn/cIt
increases for higher frequencies.
- Results for locations 2 and 3 are sensitive for
changes in the normal drag coefficient of the
arch, ~n. The effect of a ~n modification seems
to be reduced for higher frequencies.
- Results for locations 2 and 3 prove to be insensitive to changes in the tangential drag coefficient

cDt.

4. CONCLUSIONS
The riser was manufactured at MARIN to scale 1
to 30.5 having the correct weight, mass and outer
dimensions. The bending stiffness was approximated
through a proper choice of the material and was
checked by a bending test.
Furthermore, buoyancy rings were fitted in
order to reach the appropriate shape of the lazywave configuration.
The riser top was subjected to forced harmonic
oscillations in x, y and z direction with constant
amplitude for a number of frequencies.
To establish meaningful correlation results, it
was essential that the DYNFLX model discretization
closely approximated the tank model. This was easily
achieved for mass and flexibility, while for the
hydrodynamic
coefficients
of smooth cylindrical
parts of the riser well-known values were taken from
literature.
The arch, however, including the buoyancy beads
as well as two transducers, was ldentifLed as main
area of uncertainty.
Since this part of the riser is also represented in
the mathematical model by means of cylindrical memhers with an equivalent diameter, it is implicitly
assumed that the influence of the buoyancy beads on
drag and inertia in normal and tangential direction
can be descrLbed by a single parameter. Therefore it
was felt appropriate to investigate the sensitivity
of calculation results for separate variations in
the individual hydrodynamic coefficients ~n,
~t,
cIn and Cit.
For the correlation study the oscillations in z
direction were chosen as representative for the test
model behaviour, since this component introduces
significant tension and bend radius variations at
the instrumented locations.
In Figure 8 some calculated and measured mean
values for bending and tension are presented. On the
basis of the fair agreement found, it was concluded
that the geometry and material properties of the
discretization correspond with the tank model.
The results of the parameter variations are
also presented in Fig. 8. Apart from the complex
nature of the problem, interpretation was hampered
by:
- Standard deviations for signals at locations 2 and
3 are small compared to the mean values.
- The rate of change in bending moments at the instrumented locations is large. Hence, approxfmation by a discretized model may lead to noticeable
differences.
Nevertheless,

some

trends

were

deduced

from

the

The following major conclusions were drawn from

the research programs presented in this paper:
. Dynamic behaviour of mooring lines occurs in many
practical offshore mooring situations and strongly
increases the maximum line tensions.
. Dynamic components of mooring line tension may
affect the low frequency motions of the moored
structure by increase of the virtual stiffness and
damping of the system.
The hydromechanic properties of both mooring lines
and riser systems are of prime Importance for
motion, tension and bending behaviour.
. The presented Lumped Mass Method does provide a
cost effective and accurate approach to predicting
the motions and internal loads of 3-D mooring and
riser systems under random top excitation, waves
and current.

5. ACKNOWLEDGEMENT
The authors are indebted to the mentioned
sponsors of the research programs of the Netherlands
Marine Technological Research (MaTS) for their kind
permission to make use of the results from these
programs.

NOMENCLATURE
A
a
B
b
~M
CD

C1
;
d
dc
E
;
~j
g
H
h
I
j
k
L
.L
~

409

=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=

amplitude, material area cross-section

added inertia, vector
buoyancy per unit length
vector
bending moment
hydrodynamic drag coefficient
hydrodynamic inertia coefficient
current
line diameter
water depth, vector
volumetric diameter
Youngs modulus
subscript; element, vector
force in global co-ordinates
nodal force vector
force in local coordinates
gravitational acceleration
water
frequency
domain
depth,
transfer
function
impulse response function
second moment of sectional area
subscript: node number
iteration index
length
line segment length
line mass (matrix)

OTC 5531

RISER, MOORING, DYNAMICS

j
H

=1 inertia matrix
= time dependent added inertia matrix
j
~
= node
n
= subscript: normal direction
R
= radius
c= horizontal distance in wave direction,
bending radius
s
= shear force
r
= tension, period of oscillation
rT
= tether tension
t
= subscript: tangential direction, time
u
= relative fluid velocity in local coordinates
u
= relative fluid velocity in global coordinates
v
= velocity
w
= subscript: weight, wave
x
= displacement, input record
= excursion vector (x,y,z)
;j
= output record
X,y,z = 3-D system of coordinates
U
6
E
c
A
A
!J
P
u
T
4

=
=
=
=
=
=
=
=
=
=
=

+
k

= segment length error

= Segment errOr vector ($1, .... $j, .... *N)

[A*]

=length error derivative matrix [aY/aT]

obtained from equations (5) and (6)
= angular frequency of oscillation, wave
frequency
= transformation matrix

w
Q

REFERENCES
1.

2.
3.

4.

angle
angle
element strain
wave elevation
transformation matrix
scale factor
angle
fluid density
standard deviation
time
line angle

5.

6.

7.

TABLE

lTEST

SITUATIONS

Bathe, K. and Wilson, E.L.: Numerical methods

in finite element analysis, Prentice Hall,
Englewood Cliffs, 1976.
Boom, H.J.J. van den: Dynamic behaviour of
mooring lines, BOSS-Conference, Delft 1985.
Polderdijk, S.H.: Response of Anchor Lines to
Excitation at the Top, BOSS Conference, Delft,
1985.
Ractliffe, A.T.: Dynamic response of catenary
risers, RINA Int. Symposium on Floating Production Systems, London, 1984.
SI.uijs, M.F. van and Blok, J.J.: The Dynamic
behaviour of mooring lines, OTC paper 2881,
Houston, 1977.
Sun Yi-Qing and Boom, H.J.J. van den: Dynamic
behaviour of marine risers, Offshore China
85, Guangzhou, 1985.
Wheeler, J.D.: Method for calculating forces
produced
by
irregular waves,
Journal
of
Petroleum Technology, March 1970.

FOR MOORING

STUDIES

PERFORMED

Water depth Water depth Water depth Water depth

608 m
150 m
300 m
75 m
A=76
A=38
i=76
a=19
Chain
D=O.076 m

Situation
1

Situation
4

Situation
7/12/15

Chain
D=O.152 m

Situation
2

Situation
5

Situation
8/13/16

Wire
D=O.076 m

Situation
3

Situation
6

Situation
9/14/17
Situation
10

Combi-line
D=O.076 m

TABLE2MOORING

LINES PROPERTIES

Situation
11

AS MODELLED

Prototype chain

Model chains
D (mm) B (mm)
1.0

L (mm) M (kg/m) W (N/m) dc (m) EA (N*105)

4.2

M (kg/m) W (N/m) dc (m) EA (N*109)

7.9

0.021

0.177 0.0019

0.03

76

124

1048

0.144

1.19

2.0

6.8

12.0

0.080

0.690 0.0036

0.11

38

119

1021

0.137

0.60

4.0

14.2

22.8

0.338

2.874 0.0076

7.00

19

125

1063

0.144

4.90

8.0

26.9

40.1

1.383

11.801 0.0151

22.00

128

1092

0.144

1.93

410

9.5

RESPONSIBILITY
Year
MaTS

(lRO]

MP.RIN

INDUSTRY

I
TABLE 3MOORED

FLOATER

CHARACTERISTICS

1983

Magnitude
Designation

Symbol

Unit

Seni-subl

DYNLINE

Bag.

(vM-v-5)

* 2D
Length
Beam

Depth
Draft
Displacementweight
Centre of gravity above base
Transversemetacentricheight
Transverse
gyradius in air
Longitudinalgyradiusin air
Naturalperiods:
Surge (sit. 12/15)
(sit. 13/16)

L
B
D
T

n
m
n

Ill
t
m
Ill
m
m

117.0
85.0
64.7
22.8
46,360
21.5
4.4
36.0
38.0

T=

217.0
lok.o

T=

23.0

50.9
46.9
47.9

230.o
57.5
26.5
7.6
87,750

mathematical
model
* oscillating tests
* Harmonic tests

Irregular tests

Publication
BOSS 1985

1984

DYNPIPE
* Bending stiffness

357.0
173.0

: ;::;;c:g:

Delivery to
sponsors:
S1Pf4/KSEPL
Gusto/SBM
51eerema/B1uewater
R&H
I I MARIN

ess

China 1985

Wave
Roll (free-floating)
(sit. 12/15)
(sit. 13/16)
Pitch (free-floating)
(sit. 12/15)
(sit. 13/16)

39.9
38.4
35.1

10.4
10.4
10.3

1985

I/r

DYNFLX

,...
,.. .

postprocessing!

DYNAFA

Flexibleriser
model
. +--+I

-W--L
Ia
I

.-

Fatigueanalysis

u
Y

Exmivs10t4 DYNFLX
(VM-1x-8)

1987

(VM-VII-8)

* Publiication cmC87

* Preprocessing and

I*cRAYver.ion

L- -1

DYNRIS

waveforces

....-..-----

3D ma+h.=-.+ic.l
Inde 1
I* Bi;ka
stiffness

Wave f~rces

- Torsion
Advanced access
and application
* systematic

modeltests
* validation

Fig. lR&Dpr~rsms

onmoc.dng

and riser dynamics,

Delivery to
sponsors

/x

.n

g
k

\
\
\
*

El

I
N

6)
.U

412

WAVE
[Ml

20

x
[Ml
200

10

z
[Ml

N15

1Oc)
2000
T
[kNl

u
Line discretization

[M]

10

2000

(reduced
dynamics)

10

2000

[kNl
0
10

;i;15
Y

Z-N15

10

[Ml

o~

400

Irregular wave results for barge

(situation 15)

Fig. 4Discretization,

II

400

Time [s]

0.5

1.0

Time [s]
Irregular wave results for semi-sub
(situation 12)

DTA-values,

and irregular

wave results for Situations

Harmonic oscillation

7/12/1 5.

1.5
u [rad/s]
results

II

10

lo-

WAVE
I

[Ml

20x

A.+

w-

[Ml

z
[Ml

T
500
[kNl

5000
Line discretization

-1

5.10

5.105

~1
1

(reduce
dynamic

[M]

5.105-

5.10
T
[kN]

m
0

rl -

I
1
./

X-N15
[M]

1
Z-N15
[MJ

]
I

o~

~
0

Time [s]

Time [s]
Irregular wave results for barge
(situation 16)

Fig. 5Discretization,

Irregular wave results for semi-sub

(situation 13)

DTA-values,

and irregular wave results for Situation

;
,

0.5

1.5
1.0
u [rad/s]

Harmonic oscillation

8/10/13/1 6.

results

= 0.50 rad/s

U2 = 0.75

rad/s

w~ = 1.00 rad/s

5
X-TOP

[Ml

-5

1000
T
[kN]
o

~oo
o

1~,
200 0

100 Time[s] 200

Results for w, + W2 after low pass filtering

Results for q

Fig. 6Bi-harmonic

simulation

raaults.

Force transducers location 1

Mom. transducer
location 2
Force transducerI

Mom. transducer
Force transducer 1 10catiOn 3
N.
m
!
1
,.
,.
...
,,,,,
.
.:.,.
.,.,..::
.. ..
, ,.:,
,.,.
.,
;,::..,.
..:,...
:. ,,
.,.,,:,
,,...:,.
..
,..
,.. .,.

54.2

Fig. 7General

test arrangement

flexible riser.

415

MEAN

VALUES

BENDING

MOMENT

Experiment
--

Em

8
x

0.8

VALUES

_----DyNFLx

DYNFLX

0.4

--
-w
MEAN

TENSION

Experiment

0.4

0.8

FLEXIBLE RISER PARAMETER VARIATIONS

Experiment
........ Base case
...................... Increased CTn

-----

Increased c
In It
Increased c
In cIt cDn
Increased c
In cIt cDt

1.6

1.6
OBM

BM
0.8

O.E

1.6
aT

T3
0.$

/
.

o~

Fig. 8-Flexible

1.2

riser correlation

results.

416