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H. Nedergaard
LICengineering A/S,
DK-6700 Esbjerg, Denmark
Response of a Tripod
The dynamic behavior o f a tripod steel jacket installed in 65 m water depth in the
North Sea has been investigated. The analysis method is a time-domain simulation
J. Tychsen o f the platform exposed to irregular sea. Similar to monotower platforms, the so-
Maersk Olie & Gas AS, called ' 'ringing" phenomenon caused by higher-order harmonics in the wave loading
DK-6700 Esbjerg, Denmark
is detected. Further, the analysis discovered another dynamic feature, "double fre-
quency response," caused by the interaction between the spatial distribution of the
S. Lyngesen wave load and the shape o f first vibrational mode. The dynamic response showed
that the top o f the platform vibrates notably more in first mode than found by a
LlCengineering A/S,
Ostergade 4, quasi-static analysis with incorporation o f standard dynamic amplification factors.
DK-6700 Esbjerg, Denmark However, the resulting extreme stress level and accumulated fatigue damage are
found quite similar and the consequences to human comfort small The basis for this
finding is the fact that first mode contributes very little to the stress level in
critical points.
Introduction basis of this method relies on the fact that any deflection can
Transient resonant responses of tension leg platforms (TLP) be expressed as a sum of orthogonal eigen functions (mode
and fixed platforms have been identified in analysis, model shapes )
tanks, and in actual sea environments, (see, e.g., Fames et al., N
1994). The transient response is denoted ringing and may not r(t) = ~ qbiYi(t) (1)
be fully uncovered for TLPs; but with respect to monotower i=1
platforms it is more generally agreed that the phenomenon oc- The amplitude factors and its time variation are found from the
curs due to the nonlinearities in the hydrodynamic loading. With N differential equations
nonlinearities is meant the loading which deviates from pure
sinusoidal loading at given wave frequencies, the most im- ]i + 2~i~i~)i + ~i2yi Fhyd,i(t) (2)
portant contributions being the quadratic drag loading combined mg ,i
with the effect of hydrodynamic loading to instantaneous water
level (see Karunakaran et al., 1994). The generalized force and mass are defined by
Ringing is seen as a decaying vibration in the first bending
mode of the tower after passage of a wave, although the wave Fhyd.i(t) = q~rFhyd(t)
period is far longer than the first eigen period. The ringing mg.i = 4aTM(ai (3)
analysis has been included in the design of the Draugen platform
in order to avoid expected cracking in the monotower shaft (see We have N coupled differential equations because of the cou-
Nygaard et al., 1994). pling through the hydrodynamic force vector, Fhyd(t), which is
The ringing detected for monotowers has been the initiator based on the relative motions in-between the structure and wa-
for the present study, i.e., ringing of a tripod platform. See Fig. ter. Therefore, the N differential equations are solved by an
1 for a sketch of the platform, definitions, etc. The platform is iterative scheme.
above elev. ( - ) 9 m consisting of a single column with an When Yi (t) is determined, the total deflection, stresses, etc.,
outer diameter of 3.2 m and with a first eigen period of around can be derived in the time domain, based on the mode shapes
3 s. The platform is installed on 65 m water depth in the Danish and their derivatives. The modal analysis reduces the number
sector of the North Sea, an area with relative harsh wave envi- of equations to be solved in the time domain when compared
ronment. An argument for investigation of the ringing phenome- with the full matrix system from which the eigen values and
non for the tripod was that--compared to a monotower--the eigen functions are calculated. However, in order to calculate
first bending mode of a tripod is relatively more "active" in the stress correctly (second derivative of the eigen function),
the wave zone due to the restraining substructure. Thus, larger a large number of eigen functions have to be included. For the
nonlinear effects could be expected. present, quite simple structure, the 40 lowest eigen functions
The dynamic behavior of the platform was investigated by a were investigated and the 20 lowest were used in the analysis.
time-domain response model and the results were compared The modal analysis yields important detailed information with
with standard quasi-static design verification analysis. Quasi- respect to which frequencies and modes may cause undesirable
static response analysis is defined as the analysis where the behavior of the structure. By use of this knowledge of the basic
inertia and damping terms are omitted. dynamic nature of the system, redesigning in order to avoid
these problems is far easier.
Method for Response Analysis The quasi-static response can easily be derived from Eq. (2)
Time Domain Response Analysis. When calculating the as
dynamic response, the modal analysis approach is adopted. The
Yi,stat(t) = Fhyd'i ( t ) (4)
Contributed by the OMAE Division and presented at the 15th International
mg,ita.)i2
Symposium and Exhibit on Offshore Mechanics and Arctic Engineering, Florence,
Italy, June 16-20, 1996, of THE AMERICANSOCIETY(OF MECHANICALENGINEERS. in which the generalized hydrodynamic loading is calculated
Manuscript received by the OMAE Division, June 1996; revised manuscript re- without inclusion of the relative motion, i.e., Fhyd,i ( t ) is calcu-
ceived October 1, 1996. Associate Technical Editor: C. Ertekin. lated from pure wave kinematics.
Journal of Offshore Mechanics and Arctic Engineering MAY 1997, Vol. 119 / 79
Copyright © 1997 by ASME
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HoLspot
Centre Column
Hots
(b)
Fig. 1 (a) The tripo d platform, definition of hot spots; and (b) beam model used in the analysis. The platform is shown with a topside, which is
lighter than the actual topside used in the analysis.
Nomenclature
Generalized Force therefore, it is not seen in the foregoing expression. The hydro-
dynamic damping is taken directly into account in correct qua-
Nondimensional Surface Elevation dratic manner by using the relative motion concept of Eq. (6).
(kN)
As pointed out by Utne et al. (1995), Morison's equation
20- may not describe the wave loading at the wave crest correctly
because the wave run-up in front of the cylinder and other
effects such as possible spraying in connection with breaking
waves are not modeled. However, the main platform column
o has a diameter of only 3.2 m, which has to be compared with
the extreme wave heights of 20-25 m and the important waves
of 7 - 1 0 m with respect to fatigue life. Thus, it is judged that
the omission of these features will not have a governing effect
] I I I
on the final conclusions.
4 2 12 16 Basic parameters of the platform and the finite element model
Time ( s ) are enclosed in Table 1. The structural model is based on a
(A consistent mass matrix and the wave loading is applied as dis-
crete loads at the elements. The number of discrete load points
Relative FFT Analysis of can be varied from element to element, and thus any required
Energy Generalized Force
resolution of wave loading near the surface can be obtained.
1.o-
Since the important loading is mainly in the drag-dominated
range, no correction to the inertia coefficient CM for very low
Keulegan-Carpenter number has been done. The drag coeffi-
cient has been determined based on the roughness, appurte-
I
nances, and the actual Keulegan-Carpenter number.
The eigen modes fall generally in pairs due to the symmetry
of the spatial model; however, in the following, the first pair
of modes is denoted beam mode 1, the second beam mode 2,
etc. (an analogy with a console beam).
i i i i
2 4 B 8
Period (s) Results
(b) General Dynamic Behavior. The nature of the dynamics
of the tripod platform was initially investigated by calculating
Fig. 2 (a) Generalized force for mode I when exPosed to regular waves,
and (b) its spectral content the so-called generalized force, the folding of the load vector
with the eigen mode vector, see Eq. (3). When calculating the
............. Dynamic
Deflection
(m) Static
.OB-] Nondimensional Surface Elevation - .08
l ~, ~,~, ' ,, , ~, ~, ~, ,
•o4-A ~ ~ , , , , ~', , ,~ ', ~ ~ I ~ :~' ' ~ ~~ ,~ ! ~ ' ~ ~' ~' ,~ ~ "! A ~ ~ ' ,~ " f- .04
1l
and static responses can be found, but as soon as the load
is squared in order to model the drag loading, large dynamic
~ ~ Quadratic amplification is found. The last case is meant to include higher-
order terms such as calculation of wave loading up to the actual
"~ o surface, which is modeled by the cubic load. Large dynamic
amplifications with a typical "ringing" decay period is seen.
An example of topside response to a regular wave train is
1 depicted in Fig. 4. It is seen that the static response is with
double frequency. The topside response is governed by the gen-
eralized force corresponding to the first beam mode, which, as
previously explained, has a double frequency content. Further,
the ringing phenomenon is seen in the dynamic response.
Based on these considerations, ringing and double frequency
11
"7" .5
'i
A Cubic
response behavior of the platform in the form of significant
vibration in first beam mode can be expected. As an example,
irregular time-series of topside deflections can be seen in Figs.
6 - 7 . Generally, there is far more response when full dynamic
calculation is performed compared with static solution, and fur-
therm0re, after each peak the typical ringing decay response
-1 can be seen.
0 3 6 9
Extreme Response. A simulation of a 100-yr storm re-
sponse was carried out, and wefocused on the extreme values
Time-f1 (-)
of deflection and stresses at critical nodes. Figure 7 shows the
Fig. 5 Dynamic and static responses to a harmonic pulse of a single- simulation where the platform is exposed to a 20-m wave with
degree-of-freedom system a period of approx. 15 s. It can be seen from the figure that the
topside deflection, when dynamic effects is included, exceeds
the static response at the extreme by 30 percent and typical
generalized force for first beam mode in a regular wave train ringing can be seen. However, when looking at the imposed
of period 8 s, it was found that the energy in the forcing of first stresses, practically the same stress level is reached at the ex-
mode was distributed at both 4 and 8 s, see Fig. 2. treme. The explanation for these results is that although there
o.o 0.05
0'O---~r~P~ 00
0.1o.-
] l F
i,. I o.o
I I I I I I I I i I
200 400 600 800 1000 1200 1400 1600 1800
Time (s)
Fig. 6 An example of time series, comparison of dynamic and quasi-static responses
In Fig. 9, the fictive DAF for the four analyzed time series
is plotted as a function of the mean wave period together with
the DAF based on the SDOF system (deterministic analysis).
As it can be seen, the fictive DAF is smaller or equal to the
Stress in HoLspot #1 DAF from the SDOF system; only for the center column the
result is opposite. However, for the center column this has no
practical impact since the accumulated fatigue-damage is very
small at this location. It can be seen from the figure that when
defining the fictive DAF based on the fatigue damage due to
first mode only, the fictive DAF exceeds the DAF from the
SDOF method. This finding is explained by the fact that al-
though there is a considerable amplification in the first mode
( 1 . 5 - 3 ) , it has only very little effect upon the total fatigue
damage due to small imposed stress. It is remarkable that the
DAF based on the SDOF method seems to quantify the dynam-
ics correctly in the sense that the fatigue damage compares well.
It shall be taken as a coincidence that the poor description of
the dynamics in the quasi-static fatigue calculation does not
i I i i ¢ influence the result and is due to the fact that the actual structure
?70 7flO 790 800 '810 820 830
responds nearly statically with respect to stresses. However,
Time (s)
this finding is not universal as for other structures; the first
Fig. 7 Extreme response, topside deflection and hot-spot stress beam mode may be governing with respect to both deflections
and stresses.
are considerable vibrations in first beam mode, the stress arising Conclusion
from this mode is very small. Figure 8 presents a snapshot of
the platform deflection, decomposed into first and second beam The nonlinear dynamic behavior of the tripod platform causes
mode and the total deflection. Nearly all the deflection originates significant vibrations at topside with the lowest natural fre-
from the two first beam modes, but since the normalized stresses quency, but this does n o t influence the extreme stress and mini-
are far higher for the second and higher beam modes compared mum fatigue life significantly when compared with traditional
to the first, they contribute mainly to the stresses. The maximum methods. This is due to the lowest modes not causing significant
mode shape stress is for same maximum deflection 12 times stress in the highest utilized nodes.
higher for the second beam mode when compared with the first. The standard deterministic fatigue analysis gives "correct"
For the third mode compared to the first, the ratio is 15. The results for the three selected hot spots. This is due to the fact
first beam mode only contributes to the small ripples in the that the stresses at these points are governed by higher modes
stress signal (Fig. 7). which respond nearly statically (stiffness controls the re-
sponse).
Accumulated Fatigue Damage. In the design verification, Linear spectral response analysis, which is commonly used
both deterministic fatigue and linear spectral fatigue analyses for platform design, does not include the wave kinematics up
were performed. The two methods yielded very similar results; to actual surface. Neglecting this may cause significant errors
therefore, in this work, only comparisons with the deterministic both in the total dynamic behavior and fatigue damage at some
fatigue analysis are presented. The analysis consists of calculat- locations (see, e.g., Madsen and Jensen, 1989).
ing the stress ranges for a large series of single waves by step- Although the tripod is found to vibrate significantly more
ping these waves through the platform model by a quasi-static than in the quasi-static analysis, the vibration is not at all that
method. Dynamic effects were introduced by use of a dynamic severe; consequently, the influence to human comfort is small
amplification factor (DAF), which is calculated assuming a (see Fig. 10).
+ m
!
I
It y
i
l l
%
%
%
"4
yI ~ tl xl ;
I
Fig. 8 Deflection snapshot decomposed into first and second beam modes and total deflection
Discussion and R e c o m m e n d a t i o n s ted. However, increased stress in first mode due to a stiff sub-
structure may then be anticipated and the ringing response may
It shall be highlighted that the conclusion of nonlinear dy-
then play a significant role.
namic behavior not affecting the predicted minimum fatigue
The conclusion is drawn correctly; however, one major factor
life for the actual tripod platform cannot be transferred directly
in the analysis is linked with considerable uncertainties. This
to other tripod platform types. If a stiffer substructure had been
is the wave loading in the near-surface area, and especially
designed, the double frequency behavior might have been omit-
in the crest. Numerical models and model tests do not yield
satisfactory results at present, perhaps due to various scale ef-
DAF DAF fects, correlation effects, and the need for precise data for cali-
bration. Therefore, measurement of the actual wave kinematics
in the crest together with force measurements are essential for
progress in this area.
With respect to practical methods for response analysis of
SDOF slender marine structures, which due to nonlinearities respond
All M o d e s in a non-Gaussian manner, two general types of methods are
Wave period (s) Wave period (s)
- Mode I only found:
DAF DAF
• Methods extending the linear spectral method to include
the nonlinearities; see, e.g., Brouwers and Verbeek
(1983), which includes the nonlinear drag, and Madsen
and Jensen (1989), which further includes the effect of
second-order wave theory.
• Methods improving the DAF factor for use in quasi-static
o {5 o t5
Wsve period (s) Wave period (s) response analysis; see, e.g., Nedergaard et al. (1992),
which proposes a DAF based on few time-domain simula-
Fig. 9 Dynamic amplification factor (fictive DAF based on damage) as tions, or Baatrup and Jensen ( 1991 ), presenting a stochas-
a function of wave period
tic method for extracting a DAF from a series of quasi-
static response calculations of a steel jacket.
Acceleration
o5- 7 ( m / s ~ ) " Acknowledgment
|
04[ ISO 6897Acceptance],eve] DUC, consisting of Shell, A. P. Moiler, and Texaco, as well
as DUC's operator Mmrsk Olie & Gas AS, are gratefully ac-
. 6 3 - 1 knowledged for releasing the data and their support for the
present reanalysis. Also, their willingness to introduce new and
,02 Calculated Accelerations more accurate methods, especially in the area of hydrodynamic
loading on platforms, is appreciated.
.Of-
O- References
O 2 4 6 8 10 Almar-Nmss, A.; 1985, Fatigue Handbook, Offshore Steel Structures, Tapir
Significant Wave Height (m) Publishers, pp. 204-206.
Baatrup J., and Juncher Jensen, J., 1991, "Dynamic Analysis of Offshore
Fig. 10 Rmsof acceleration as a function of significant wave height and Jacket Platform Subjected to Non-Gaussian Wave Loads," Proceedings of the
the acceptance level of ISO6897 8th International Symposium on Offshore Engineering, Rio de Janeiro, Brazil.
8 4 / Vot. 119, M A Y 1 9 9 7 T r a n s a c t i o n s of t h e A S M E
Journal of Offshore Mechanics and Arctic Engineering MAY 1997, Vol. 119 / 85