SIMO WORKSHOP

Introduction to SIMO

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SIMO
SIMULATION OF COMPLEX MARINE OPERATIONS

Typical applications: Time domain simulation of surface vessels Complex marine operations

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SIMO
Time domain simulation of surface vessels :

Turret moored vessel Dynamic positioning Semi-submersibles Tension leg platforms (TLP) SPAR-buoys

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SIMO
Complex marine operations:

TLP installation Offloading Crane operations with mechanical coupling

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SIMO
SYSTEM DESCRIPTION FILE

Body types:
Large volume body, total motion 6 DOF
1st order wave excitation forces Retardation functions Any other forces

Large volume body, separated motion 6 DOF

1st order motion transfer functions (RAO) Any other forces

Small volume body, total motion 3 DOF

Position-dependent hydrodynamic forces
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SIMO
SYSTEM DESCRIPTION FILE

Body data specification (1):

Initial position Structural mass data Hydrostatic stiffness Linear and quadratic damping

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SIMO
SYSTEM DESCRIPTION FILE

Body data specification (2):

Wind force coefficients Linear and quadratic current force coefficients Time-dependent mass Distributed hydrodynamic forces (Morison model) Small body hydrodynamic data
(incl. position dependent coeff. and diffracted wave application)
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SIMO
SYSTEM DESCRIPTION FILE

Body data specification (3):

Added mass data Retardation functions First order wave force transfer functions or First order motion transfer functions First order diffracted wave transfer functions

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SIMO
SYSTEM DESCRIPTION FILE

Body data specification (4):

Second order wave drift forces Wave drift damping (wave drift current interaction coefficients) Second order wave force transfer functions (QTF)
difference frequency, or sum frequency

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SIMO
SYSTEM DESCRIPTION FILE

Body data specification (5):

Specified forces External forces Positioning system data

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SIMO
SYSTEM DESCRIPTION FILE

Positioning system elements:

Catenary mooring lines and risers Force-elongation with fixed attack points Fenders, other contact elements Thrusters Dynamic Positioning

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SIMO
SYSTEM DESCRIPTION FILE

Coupling types:
Specified force-elongation data, fixed attack points Simple wire coupling Multiple wire coupling Fender Bumper Docking cone

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SIMO
SYSTEM DESCRIPTION FILE

Environment specification:
Regular waves Irregular waves Wind - constant or fluctuating Current - constant velocity for given profile

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SIMO
SYSTEM DESCRIPTION FILE

Available wave spectra:

Pierson-Moskowitz (1 and 2 parameter spectrum) JONSWAP (2, 3 and 6 parameter spectrum) Doubly peaked (Torsethaugen) Numerically defined (user defined)

Wave time series measured from model tests at MARINTEK Ocean Basin can be used directly
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SIMO
SYSTEM DESCRIPTION FILE

Available wind spectra:

Davenport Harris Wills (modified Harris) Sletringen NPD / ISO API

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SIMO
Coordinate Systems:

Global (earth-fixed) system, XG Local (body-fixed) system, XB Body-related system, XR Initial system, XI

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Dynamic analysis of crane operations

A set of simple equations of object motion, which can be solved directly if the coefficients are constant:

+ c x  + k x = F ex (t) M x
(RAO-data for the vessel is calculated separately) However:
Slamming: Slack/snatch: Winching: Damping: Splash zone: Ventilated items: Large objects: M varies k varies k varies quadratic M, c og Fex position dependent M amplitude dependent M and c frequency dependent

Time domain simulation required

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Programs for analysis of crane operations

MACSI
Crane operations

Simplified (smal volume) theory Forces and motions Ship unaffected by forces on the load

SIMO
Complex marine operations

One or several vessels Heavy lift (in air, under water) Slender / complex structures Shadow effects, hydrodynamic coupling Positioning Motion response Sea fastening forces

RESPONSE
Vessel motion

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MACSI-2: System configurations

Standard (with or without guidewires or compensator)

Pull-down through a sea bed sheave

Pull-down with a subsea winch

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MACSI:

Verification test

Measured vs. calculated motion in the splash zone

Test: A half submerged sphere in an elastic pendulum, regular waves. Data: Diameter: D = 0.280 m Wave height H = 0.384 m Wave period T = 2.5 s MODEL TEST Z Z MACSI

X
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Simulation of complex marine operations

Installation of SNORRE TLP

Simulation model SIMO

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SIMO Modeling of subsea structures

Slender elements

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Long pipes through the splash zone

Stability (step 1 - 2)

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Long pipes through the splash zone

Stability (step 3 - 4)

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Long pipes through the splash zone

Method 2

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Long pipes through the splash zone

Wire tension calculated by SIMO (method 2)

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Why do we need a simulator?

New challenges require new technology for deep waters More marine operations, high costs.
Subsea equipment Maintenance

More complex operations. Need accurate analysis for

Design of operation / equipment Training of personnel, familiarization. Decision support onboard.

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Structure of simulator
SIMULATOR CONTROL Visualization GL view

Terrain module ROV control and visualization

High level architecture (HLA) / Run -Time Infrastructure (RTI)

RIFLEX cables and risers

SIMO vessel INC. DP

SIMLA Pipelaying Free spans

Important features: Accurate modelling. State of art computer programs. Realistic visualization. Replay option

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Globale view

Structure of simulator Navigation

ROV view display

HLA / RTI bus

Pipelaying (Terrain model, Free spans)
'************************* RISER SYSTEM '************************* NJORD riser replacement op --------------------------'************************* SYSTEM DES SIMO '************************* NJORD riser replacement op --------------------------'************************** OPERATOR CONSOL '************************** NJORD riser replacement op ----------------------------

Measured data

RIFLEX (slender structures)

Operator SIMO (multiple Rigid bodies)

Server

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User Run on PCs Interactive vessel & crane commands

Positioning, winches, ++

interface

Run ROVs by joystick Several screens. Stereo & cave technology

Cave technology

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