Advance Science Letters

Nonlinear finite element analysis of spar platform

Mohammed Jameel, A.B.M. Saiful Islam, M. Khaleel and Mohd Zamin Jumaat
Department of Civil Engineering, University of Malaya, 50603 Kuala Lumpur, Malaysia

Date of Submission: 30 September 2011.

Date of Acceptance: 21 October 2011.

Corresponding author: A.B.M. Saiful Islam

Mailing Address: PhD Student, Department of civil Engineering, University of Malaya,
50603 Kuala Lumpur, Malaysia
Telephones: +60-3-79675280(office), +60-102573287 (Mobile)
Fax: +60-3-79675318
E-mail: abm.saiful@gmail,com, abm.saiful@yahoo.com

Corresponding author, abm.saiful@gmail.com, University of Malaya, Tel: +603-7967-5280

Abstract:
In recent decades, oil and gas exploration technology has moved towards the offshore
deep-water deposits. Conventional fixed jacket type platforms and bottom supported
compliant platforms are found to be inefficient for exploring these resources. Floating Spar
platform is suitable alternative in deep water regions. The present study performs coupled
analysis of integrated Spar platform with full hull cylinder. This mathematical model
incorporates almost all the major nonlinearities. Time domain analysis is done adopting an
automatic Newmark- time integration technique. Airys wave theory is used for calculating
for wave kinematics. Wave induced spar hull motion in surge, heave and pitch directions
along with maximum tension in mooring line has been assessed for extreme wave height
condition in 1018 m water depth.

Keywords: Spar platform; Floating structures; Offshore structures; Mooring lines; Coupled
analysis.

1. INTRODUCTION
Exploration of offshore oil and gas in shallow water depths is traditionally carried out using the
conventional jacket type fixed platforms. As the water depth increases fixed platforms become
expensive and uneconomical1,2. Spar platform is such a compliant floating structure used for deep
water applications of drilling, production, processing, storage and off-loading of ocean deposits3.
Several studies have recently been performed in order to assess the effect of coupling on different
offshore floating production systems/Spar buoy4-6. Coupled dynamic behavior of hull/mooring/riser

elements of spar platform has been investigated by few researchers 7-10. Chen and Zhang11 presented
the response of a spar constrained by slack mooring lines to steep ocean waves by two different
schemes: a quasi-static approach (SMACOS), and a coupled dynamic approach (COUPLE) to reveal
the coupling effects between spar and its mooring system. In coupled dynamic approach, dynamics of
the mooring system are calculated using a numerical program, known as CABLE3D. A numerical
code (COUPLE6D) for coupled dynamic analysis of Moored offshore structures was developed by
Ding et al.12. Umar and Datta13 have carried out study and shown the behavior of nonlinear response
of a moored buoy. The wave induced response showing coupling effect of spar-mooring system has
been carried out by several researchers14-17.
The mathematical model considering coupled action in nonlinear dynamic response is presented
by Agarwal and Jain18 for spar platforms subjected to regular sea waves. Tahar and Kim19 developed
numerical tool for coupled analysis of deep water floating platform with polyester mooring lines.
Finite element approach is well suited for such complex structural configurations 20-22. Low and
Langley23 presented a hybrid time/frequency domain approach for coupled analysis of
vessel/mooring/riser. The vessel was modeled as a rigid body with six degrees-of-freedom, and the
lines were discretized as lumped masses connected by linear extensional and rotational springs. The
method was found to be in good agreement with fully coupled time domain analysis, when used for
relatively shallow water depths. Low24 used the same hybrid method to predict the extreme responses
of coupled floating structure. Yang and Kim25 carried out coupled analysis of hull-tendon-riser for a
TLP. The mooring line/riser/tendon system was modeled as elastic rod. It was connected to the hull by
linear and rotational springs. The equilibrium equations of hull and mooring line/risers/ tendon system
were solved simultaneously. Ma et al.26 reported feed forward and feedback optimal control with

memory for offshore platforms under irregular wave forces. Islam et al.27 recently presented a
complete model of spar-mooring system considering various nonlinearities.
In view of existing literatures, the main objective of present study is to idealize the Spar mooring
integrated system as a fully/strongly coupled system This essentially means that the spar hull is
physically linked with mooring lines at fairleads provided by six nonlinear springs. The spar hull has
been modeled as large cylinder28,29. The mooring lines act as an integral part of the system support the
spar at fairlead and pinned at the far end on the seabed (Figure 1). Sea bed is modeled as a large flat
surface with a provision to simulate mooring contact behavior. Commercial finite element code
ABAQUS/ AQUA30 is found to be suitable for the present study. Modeled spar-mooring system has
been subjected to regular wave. The structural responses in steady state for 6 m wave height and 14
sec wave period have been evaluated.

2.

MATERIALS AND METHODS

The non-linear finite element deterministic model includes non-linear stiffness matrix allowing for
mooring line tension fluctuations subjected to variable buoyancy as well as structural and
environmental nonlinearities. The model involves selection and solution of wave theory that
reasonably represents the water particle kinematics to estimate the drag and inertia for all the six
degrees of freedom. The static coupled problem is solved by Newtons method. In order to incorporate
high degrees of nonlinearities, an iterative time domain numerical integration is adopted to solve the
equation of motion and to obtain the response time histories. The equation of motion for the
Spar-mooring system equilibrium between inertia, damping, restoring and exciting forces is given by:

MX CX KX Ft

(1)

Where
{X} = 6 DOF structural displacements vector
[M] =Total mass matrix= [M]Spar+Mooring +[M]Added mass
[C] = Damping Matrix= [C] Structural damping+[C] Hydrodynamic damping
[K] =Stiffness matrix=[K]Elastic+[K]Geometric

The dot symbolizes differentiation with respect to time (velocity vector) and double dot as double
differentiation with respect to time (acceleration vector). The structural mass of the Spar-mooring
system is made up of elemental consistent mass matrices of the moorings and lumped mass properties
of the rigid Spar hull. The lumped mass properties are assumed to be concentrated at the CG of Spar
hull. The added mass of the structure occurs due to the water surrounding the entire structure.
Considering the oscillation of the free surface, this effect of variable submergence is simulated as per
Wheelers approach. The overall damping to the system is being offered by structural and
hydrodynamic damping. The major damping is induced due to the hydrodynamic effects. It may be
obtained if the structure velocity term in the Morison equation is transferred from the force vector on
right hand side to the damping term on the left hand side in the governing equation of motion. The
structural damping is simulated by Rayleigh model. It follows the following equation (2) in which
signifies structural damping ratio, is modal matrix, i denotes natural frequency and mi implies the
generalized mass.

T C

2 i mi

Structural

(2)

In the integrated model the cylindrical spar hull has been modeled as an assemblage of rigid beam
elements connecting its center of gravity, riser reaction points and mooring line fair leads. The rigid
Spar platform has been connected to the elastic mooring lines by means of hinge connection. This
model is capable to handle all nonlinearities, loading and boundary conditions. The equation of
motion has been solved using the above finite element code31.

Fig. 1. Configuration of spar platform

The mooring lines are modeled as three dimensional tensioned beam elements. Hybrid beam
element is used to model the mooring lines. It is hybrid because it employs the mixed formulation
involving six displacements and axial tension as nodal degrees of freedom. The axial tension
maintains the catenary shape of the mooring line. The hybrid beam element is selected for easy
convergence, linear or nonlinear truss elements can also be considered with associated limitations.
The beam element under consideration experiences the wave forces due to Morisons equation. The
self-weight and axial tensions are duly incorporated. The force vector consists of the concentrated
forces fx, fy & fz and the corresponding moments mx, my & mz at each node. [KG] models the large
deformation associated with mooring configuration. Hydrodynamic damping is dominant in case of
oscillating slender member surrounded by water. An automatic time interval (t) incrimination
solution scheme representing Newmark- approach is selected. The scheme uses half step residual
control to ensure an accurate dynamic solution.

3.

RESULTS AND DISCUSSIONS

Spar platform has been chosen allowing coupling of spar-mooring in ocean wave at 1018 m deep
water. The sea water density has been considered as 1026 kg/m3. Response of spar platform subjected
to 6 m, 14 sec wave has been evaluated. The mechanical and geotechnical properties of the Spar
mooring system under study are given in Table 1.

Table 1. Mechanical and Geometrical Properties of Spar platform

Mooring tensions are assumed to be equally distributed in all the four mooring lines. The Spar hull
is expected to behave like a rigid body. When the wave forces act on the entire structure, participation
of mooring lines in the overall response is well depicted. The variable boundary conditions due to
mooring anchor point are appropriately incorporated. Due to ideal modelling, the solution is having
difficulty in convergence. Table 2 illustrates the hydrodynamic characteristics of sea environment.

Table 2. Hydrodynamic properties

The ability for more accurate prediction of platform motions by coupled analysis approach may
consequently contribute to a smaller and comparatively less expensive spar-mooring system and
hence a lighter Spar platform through a lessening in payload requirements. Through the time domain
analysis adopting step-by-step integration procedure, the excursion time histories are found for
sufficient length of time so that the response attains their steady state. To understand the mooring
damping and coupling effect, long range responses are obtained. The responses in terms of surge,
heave, pitch and mooring line tension are plotted.

3.1

Spar hull responses in surge direction

The time histories of displacement responses in surge direction are shown in Fig. 2. The peaks of
surge response occur ranging from +12.56 m to -13.72 m for time duration within 1200 second. The
nature of surge is predominantly periodic as shown in Fig. 2. The pitch motion (Fig. 4) occurs
simultaneously with surge and attracts significant wave energy close to the pitch frequency. At the
higher time of wave loading, both the positive peak and negative peak experience value of larger
magnitudes. Surge response requires huge energy input because of large inertia and hence do not get
excited. However, pitching motion occurring with surge gets excited easily. The surge response at the
deck level is mainly dominated by the pitching motion of the hull with insignificant excitation of
surge mode. It is mainly due to coupling of surge and pitch. Effect of non-linearity is not very strong
on surge response.
The time history shows regular behavior as shown in Fig. 2. On comparison of statistics with the
surge response in regular wave, the above trend is established. These peaks correspond to natural
frequencies of surge and pitch respectively. The coupled stiffness matrix of Spar mooring system
significantly changes when the Spar hull undergoes higher impact. It is also observed that after 3200
sec the surge response become steady.

Fig. 2. Spar response in surge direction

3.2

Spar hull responses in heave direction

The heave response directly influences the mooring tensions and other operations. The time history
(Fig. 3) shows the cluster of reversals occurring at varying time intervals. The phenomenon shows the

regularity in the behavior. The larger magnitudes of heave responses come earlier for the wave
loading. The heave response fluctuates about the mean position oscillating from smaller to larger
amplitudes and repeating the same trend onwards all through the time series. The fluctuations
gradually increase from narrow to broad by 30 %. Reaching the peak, it gradually reduces by 10 %
and again increases ensuring the similar trend.
The response denoting the vertical movement is periodic in nature with superimposed ripples. The
local fluctuations near the peaks have small participation in the response. It is clearly identified that
the displacement responses in vertical direction (Fig. 3) indicates that for larger wave height the spar
hull is more excited. It is also noticed that up to 1000 sec of wave loading the displacement responses
are insignificant and it gradually increases to periodic peak up to maximum value of 2.36 m. This
magnitude is significant in case of vertical direction. The maximum heave response reduces again in
presence of wave loading because of the hull and mooring interaction. The heave time history shows
the beating phenomenon. However, after 3500 sec the heave response attains steady state.

Fig. 3. Spar response in heave direction

3.3

Spar hull response in pitch

The pitch time history shows regular fluctuations initiating for zero up to peak of 0.12 rad. However,
these values are below 0.08 up to 1000 sec time of wave loading (Fig. 4). The pitch responses
reduce periodically and again increase by taking energy. The significant value of pitch response leads
to a significant surge at CG level. It is coupled with the surge of rigid hull which otherwise is of small
magnitude but gets enhanced due to pitch input. This is why the surge time series shows maximum

peak at pitch frequency. Like surge response pitch time series also shows the similar behavior.

Fig. 4. Spar response in pitch direction

Pitching motion is regularly distributed about the mean position. Maximum and minimum values
of pitch responses increase with time. After a certain time station the magnitude of spatial
displacement decreases. The reason is the damping of pitching motion due to regular wave on Spar
and mooring system. However, the regularity is more sever here. The behavior indicates that after
1200 sec the spar pitch shows steady value.

3.4

Maximum mooring line tension response

The response of mooring lines plays an important role in the coupled dynamic analysis of Spar
Platform. The regular wave loads simultaneously act on the hull and mooring lines. The designed
pretension in each mooring line of the present problem is 1.625E7 N (Table 1). Mooring line shows
the regular behavior of tension up to a certain time (Fig. 5). Surge response also causes increase in
tension. Mooring line 1 is positioned in the direction of wave propagation. It is noted that the mooring
line 1 experiences the maximum tension to support surge in the forward direction. Fig. 5 shows the
tension fluctuations when mooring line 1 stretches due to sea loading in coupled analysis. Tension
fluctuation is of complex periodic nature showing minor ripples near the peaks. On the low frequency
fluctuation a periodic oscillation at the frequency close to the wave frequency is superimposed. The
low frequency response in mooring line is important as it attract significant energy.

Fig. 5. Maximum tension in mooring line

4.

CONCLUSIONS

The developed finite element model considers spar platform as an integrated single model. This model
is capable of handling all nonlinearities, loading and boundary conditions. The computational efforts
required for coupled analysis considering structural coupling of all mooring lines is substantial. In
regular wave of 6 m, 14 sec at 1018m water depth surge, heave and pitch responses are predominantly
excited respectively. However, the low frequency and wave frequency responses may simultaneously
occur due to synchronizing sea states. The pitch response is quite sensitive to the loading time of
wave.
Fluctuations in mooring tension attain steady state after longer duration of time whereas, surge,
heave and pitch responses stabilizes quite early. Significant qualitative and quantitative changes in
the dynamic responses are observed for the long time wave loading. Therefore, a wide range of time
duration with respective probabilities of occurrences should be considered for the final design. There
are several changes in the basic characteristics of response under regular sea state, hence, it is
important to simulate random sea as force input to Spar mooring system.

Acknowledgements: The authors gratefully acknowledge University of Malaya (UM), for providing
the fund to carry out this research work through grants RG093-10AET and PS054-2010B.

References
1. A. J. Hillis and C. R. P. Courtney, Journal of Sound and Vibration 330 (6), 1141 (2011).
2. M. Jameel, S. Ahmad, A. B. M. S. Islam, and M. Z. Jumaat, Proceedings of the 21st International
Offshore and Polar Engineering Conference, (2011) June 19-24; Maui, Hawaii, USA.
3. A. B. M. S. Islam, M. Jameel, and M. Z. Jumaat, International Journal of Green Energy, In press,
Corrected proof (2011).
4. X. Chen, J. Zhang, and W. Ma, Ocean Engineering 28 (7), 863 (2001).
5. A. Culla and A. Carcaterra, Journal of Sound and Vibration 308 (1-2), 44 (2007).
6. M. Jameel, S. Ahmad, A. B. M. S. Islam, and M. Z. Jumaat, Journal of Civil Engineering and
Management, In press, Corrected proof (2011).
7. X. Chen, Y. Ding, J. Zhang, P. Liagre, J. Niedzwecki, and P. Teigen,

Ocean Engineering 33 (1),

93 (2006).
8. M. Jameel and S. Ahmad, Proceedings of the ASME 2011 30th International Conference on Ocean,
Offshore and Arctic Engineering, OMAE (2011), June 19-24, Rotterdam, The Netherlands.
9. M. H. Kim, B. J. Koo, R. M. Mercier, and E. G. Ward, Ocean Engineering 32 (14-15), 1780
(2005).
10. M. H. Kim, Z. Ran, and W. Zheng, International Journal of Offshore and Polar Engineering 11 (1),
42 (2001).
11. X. Chen and Zhang J., Proceedings of the International Offshore Polar Engineering Conference
(1999) May 30-June 4, Brest, France.
12. Y. Ding, M. Kim, X. Chen, and J. Zhang, Proceedings of International Symposium on Deepwater
Mooring Systems, October 2-3 (2003) Houston, Texas, USA.

13. A. Umar and T. K. Datta, Ocean Engineering 30 (13), 1625 (2003).

14. A. B. M. S. Islam, M. Jameel, and M. Z. Jumaat, International Journal of the Physical Sciences
6 (11), 2671 (2011).
15. D. L. Garrett, Ocean Engineering 32 (7), 802 (2005).
16. M. Luo and W. Q. Zhu, Journal of Sound and Vibration 296 (4-5), 734 (2006).
17. C. Mei, Journal of Sound and Vibration 322 (1-2), 29 (2009).
18. A. K. Agarwal and A. K. Jain, Ocean Engineering 30 (4), 517 (2003).
19. A. Tahar and M. H. Kim, Ocean Engineering 35 (17-18), 1676 (2008).
20. S.-B. Choi and M.-K. Park, Advanced Science Letters 4 (3), 805 (2011).
21. J.-W. Kim, C. Lee, and S. Park, Advanced Science Letters 4 (3), 696 (2011).
22. J. Lee, W.-B. Na, S. W. Shin, and D.-J. Kim, Advanced Science Letters 4 (4-5), 1702 (2011).
23. Y. M. Low and R. S. Langley, Ocean Engineering 35 (5-6), 433 (2008).
24. Y. M. Low, Ocean Engineering 35 (14-15), 1416 (2008).
25. C. K. Yang and M. H. Kim, Ocean Engineering 37 (8-9), 667 (2010).H.
26.

Ma, G. Y. Tang, and W. Hu, Journal of Sound and Vibration 328 (4-5), 369 (2009).

27. A. B. M. S. Islam, M. Jameel, M. Z. Jumaat, and S. M. Shirazi, International Journal of the

Physical Sciences, In press, Corrected proof (2011).
28. K. Rasiulis and K. Gurknys, Journal of Civil Engineering and Management 16 (2), 209 (2010).
29. C. Li,

Advanced Science Letters 4 (4), 1648 (2011).

30. ABAQUS 6.9.1, Karlson & Sorensen, Inc, (2006).

31. M. Jameel, Ph.D. Dissertation, Indian institute of technology Delhi, India ( 2008).

Figures and Tables

Table 1. Mechanical and Geometrical Properties of Spar platform

Table 2. Hydrodynamic properties
Fig. 2. Configuration of spar platform
Fig. 2. Spar response in surge direction
Fig. 3. Spar response in heave direction
Fig. 4. Spar response in pitch direction
Fig. 5. Maximum tension in mooring line

Author(s): Mohammed Jameel, A.B.M. Saiful Islam, M. Khaleel and Mohd Zamin Jumaat

Table 1. Mechanical and Geometrical Properties of Spar platform

ELEMENT

Spar
(Classic
JIP Spar)

Mooring
line

Length
Diameter
Draft
Mass
Mooring Point
No. of Nodes
No. of Elements
Type of Element
No. of Moorings
Stiffness (EA)
Length
Mass
Mooring line
pre-tension
No. of Nodes
Element Type

PROPERTIES
213.044 m
40.54 m
198.12 m
2.515276E8 kg
106.62 m
17
16
Rigid beam
element
4
1.501E9 N
2000.0 m
1100 Kg/m
1.625E7 N
101
Hybrid beam
element

Table 2. Hydrodynamic properties

STRUCTURAL
ELEMENT
Spar

Mooring line

HYDRODYNAMIC COEFFICIENT
Drag coefficient
Inertia coefficient
Added mass coefficient
Drag coefficient in vertical direction
Drag coefficient
Inertia coefficient
Added mass coefficient

0.6
2.0
1.0
3.0
1.0
2.2
1.2

Author(s): Mohammed Jameel, A.B.M. Saiful Islam, M. Khaleel and Mohd Zamin Jumaat

Fig. 3. Configuration of spar platform

Fig. 2. Spar response in surge direction

Fig. 3. Spar response in heave direction

Fig. 4. Spar response in pitch direction

Fig. 5. Maximum tension in mooring line