SEA LOADS ON SHIPS AND OFFSHORE STRUCTURES O. M. Faltinsen Professor, Department of Marine Technology Norwegian Insutute of Technology BRIDGE UNIVERSITY PRESSPUBLISHED BY THE PRESS SYNDICATE OF THE UNIVERSITY OF CAMBRIDGE ‘The Pitt Building, Trumpingcon Street, Cambridge CB2 IRP, United Kingdom (CAMBRIDGE UNIVERSITY PRESS ‘The Edinburgh Building, Cambridge CB2 2RU, UK hup:/www.cup.cam.accuk 40 West 20th Street, New York, NY 10011-4211, USA hutp:/www.cup.org 10 Stamford Road, Oakleigh, Melbourne 3166, Australia © Cambridge University Press 1990 ‘This book's in copyright. Subject to statutory exception and to the provisions of relevant collective licensing agreements, no reproduction of any part may take place without the written permission of Cambridge University Press. First published 1990 First paperback edition 1993 Reprinted 1995, 1998 A catalogue record for this book is available from the British Library ISBN 0 521 45870 6 paperback ‘Transferred to digital printing 1999 CONTENTS Preface Introduction Definitions of motions ‘Traditional ship problems Offshore structure problems Hydrodynamic classification of structures Engineering tools, Sea environment Basic assumptions Regular wave theory Statistical description of waves Wind Current Exercises Linear wave-induced motions and loads on floating structures Response in irregular sea Response in regular waves Discussion on natural periods, damping and excitation evel Linear wave-induced motions and loads on a tension leg platform (TLP) in the mass-force domain Heave motion of a semi-submersible Minimalization of vertical ship motions Roll stabilization Exercises Numerical methods for linear wave-induced motions and loads Source technique ‘Alternative solution procedures Forward speed and current effects Exercises 37 37 39 4 16 81 85 89 102 103, 118 122 127CONTENTS Second-order non-linear problems ‘Mean wave (drift) forces and moments Slow-drift motions in irregular waves Slowiy-varying oscillations due to wind Sumt-frequency effects Exercises Current and wind loads Steady incident flow past a circular cylinder Boundary layers Wake behaviour Vortex shedding Current loads on ships Current loads on offshore structures Wind loads Vortex-induced resonance oscillations Galloping Exercises ‘Viscous wave loads and damping ‘Morison’s equation Flow separation Oscillatory non-separated flow Separated flow at small KC-numbers Separated flow at high KC-numbers Experimental tools Exercises Stationkeeping ‘Mooring systems “Thruster forces ‘Thruster performance and dynamic positioning Exercises Water impact and entry Slamming Water entry problems Exercises References Index 11 155 166 168 170 14 174 178 181 184 187 200 207 212 215 223 223 228 24 238 2a4 249 253 257 257 270 276 27 282 282 296 308 316 324 PREFACE ‘The material in this book has been continuously developed since the ‘author started to teach hydrodynamics of ships and offshore structures at the Norwegian Institute of Technology (NTH) in 1974. During this, period offshore oil activity has played an important role in Norwegian society. Interest in ships for transportation has changed during these years. At the moment there is an increasing interest in developing high-speed marine vehicles for transportation of goods and passengers. In the future it is expected that oii and gas exploration will move into areas of deeper water. Examples on future new areas where ocean engineers and naval architects can be of help is fish farming in open sea, recovery of deep-sea minerals, and development of marine ene‘ey resources from temperature gradients and waves. In all these areas there js a need to know about sea loads. This is what this book is all about, ‘The book covers applications in a broad area. This includes conventional ships, high-speed marine vehicles, fixed and floating offshore structures. ‘Many of the applications come through exercises. Part of the material in the book has been taught for the last year siv.ing (MSc) students at the Department of Marine Technology, NTH. It has also been used in graduate courses at te Department of Ocean Engineering, MIT, when the author was a visiting professor there in two periods from 1980 to 1981 and from 1987 to 1988. ‘A book on wave-induced motions and loads can easily be very ‘mathematical. The author has tried to avoid this, The hope is that ‘engineers with a non-mathematical background can get a good insight into sea loads on ships and offshore structures by reading the book. However, ‘knowledge in calculus including vector analysis and differential equations is necessary to read the book in detail. The reader should also be familiar with basic hydrodynamics of potential and viscous flow. T was encouraged by Professor J. N. Newman, MIT, 10 write the book. Being an editor for the book he has also given me much valuable advice. Dr. Svein Skjordal has spent a lot of time giving detailed comments on different versions of the manuscript. He has also been helpful in seeing the topics from a practical point of view. Many other people should be thanked for their critical review and contributions,vi PREFACE ‘These include: Dr J. M. R, Graham of Imperial College, Londons Dr Martin Greenhow of Brunel University, London; Professor Makoto Ohkusu of Kyushu University; Professor Paul Sclavounos of MIT; Professor Finn Gunnar Nielsen of Norsk Hydro; Professor Enok Palm of University of Oslo; Dr John Grue of University of Oslo, Dr Bjom Sortland of Marinteks Siv.ing. Terje Nedrelid of Marintek, Professor Bjomar Pettersen of NTH and Professor Dag Myrhaug of NTH. Graduate students who have been particularly helpful have been Seung Il An, Rong Zhao, Geir Leland, Jan Kvilsvold, Knut Streitlien and Jens Bloch Helmers. Rong Zhao has done the calculations presented in several of the figures and Vigdis . Dahl is responsible for the skilful drawing of many of the figures. Marianne Kjolaas has typed the many versions of the manuscript in an accurate and efficient way. 1 INTRODUCTION Knowledge about wave induced loads and motions of ships and offshore structures is important both in design and operational studies. ‘The significant wave height (the mean of the highest one-third of the waves) can be larger than 2m for 60% of the time in hostile areas like the North Sea. Wave heights higher than 30m can occur, The mean wave period can be from 15 0 20s in extreme weather situations and it is seldom below 4s, Environmental loads due to current and wind are also important. Extreme wind velocities of 40 to 45 ms~" have to be used in the design of offshore structures in the North Sea. Fig. 1.1 shows five examples of offshore structures. Two of them, the jacket type and the gravity platform, penetrate the sea floor. At present, fixed structures have been built for water depths up to about 300m. Two of the structures, the semi-submersible and the floating production ship, are free-floating. The tension leg platform (LP) is restrained from oscillating vertically by tethers, which are vertical anchorlines that are tensioned by the platform buoyancy being larger than the platform ‘weight. Both the ship and the semi-submersible are kept in position by a spread mooring system. An alternative would be to use thrusters and a dynamic positioning system. Pipes (risers) are used as connections between equipment on the sea floor and the platform. Ships serve a large variety of purposes. Examples are transportation of goods and passengers, naval operations, drilling, marine operations, fishing, sport and leisure activities. Fig. 1.2 shows three types of ships: a monohull, a SWATH and a SES. The monohull is exemplified by a LNG (liquid natural gas) carrier with spherical tanks. SWATH stands for small-waterplane-area, twin-hult ship and consists of two fully- submerged hulls that are connected to the above water structure by one or several thin struts. Between the hulls there may be fitted fins or foils as in Fig, 1.2. SES (surface effect ship) is an air-cushion supported high-speed vehicle where the air-cushion is enclosed on the sides by rigid sidewalls.and on the bow and stern by compliant seals. By high speed we mean high Froude number (Fn). This is defined as Fn = U/tLg)\U = ship speed, L = ship length, g = acceleration of gravity). A ship is considered a high-speed marine vehicle when Fn>~0.5, From a