Dynamics of offshore structures

• Hydrodynamic (forces/motions) response

• Structural dynamics
 Wave excitation forces and resulting motions

 Assuming that the body is held fixed in the waves and H/ and B/ are small (<
0.2). The total wave excitation forces acting on the body is calculated as:

FT = Dynamic pressure force + Acceleration force + Drag force

(Froude-Krylov force) (Diffraction force) (Viscosity force)

 Wave excitation forces

 Dynamic pressure force (Froude-Krylov force)
 Wave acceleration force (diffraction force)
 Wave velocity force (viscosity force)
 Dynamic pressure force

• This force is due to the hydrodynamic pressure

change below the surface of a wave train while the
wave is proceeding.

• It is assumed that the presence of the member does

not interfere with the flow field
 Dynamic pressure force
z
  y
• Pressure force dFp   pn ds
   H cosh k  z  d  
Fp   dFp    pn ds    g coskx  t n ds
2 cosh kd

S S S

H 
   g expkz  coskx  t n ds dF p
S 2
• If H/ and B/ are small (< 0.2), the above force
vector can be written as:

  
Fp    As ax dyi    As az dyj
L L
x
where,
 = density of water
As = cross sectional area
ax = horizontal wave particle acceleration at the centre of the cross section As
az = vertical wave particle acceleration at the centre of the cross section

Fpx   As a x dy Fpz   As az dy

L L
 Dynamic pressure force
• The pressure force   1 
F  pn ds   H W ge kz coskx  t n ds
s
2

• When the sectional dimensions of the volume element (D or beam B): D/ << 1, it
CAN be shown that the pressure force vector components given with the surface
integral equation can be calculated as:

FPx  a x As [force/unit length]

FPz  a z As [force/unit length]
where As  cross - sectional area
a x  horizontal water particle acceleration at the centre of As
a z  vertical water particle acceleration at the centre of As
 Wave acceleration force
• The presence of the volume element in the wave field causes disturbance of the
pressure field and this results in the acceleration forces on it. These forces can
be calculated as:

FAx  Cax a x As [force/unit length]

FAz  Caz a z As [force/unit length]
where Cax  added - mass coefficient in horizontal mode of oscillation
Caz  added - mass coefficient in vertical mode of oscillation
 Wave inertia force
• When the pressure and acceleration forces are summed, the
following terms of total inertia force equation is obtained:

FIx  FPx  FAx  a x As 1  Cax   a x As CMx

FIz  FPz  FAz  a z As 1  Caz   a z As CMz

where 1  Cax  and 1  Caz  can be replaced with the horizontal inertia
coefficient CMx and the vertical inertia coefficient CMz respectively.
 Drag force
• Viscous effects existing in the real flow domain give rise to drag
forces. Drag forces mainly result from turbulent flow of body
downstream and can be calculated as

FDx  1 2 C Dx  DU x U x [force/unit length]

where D  diameter (if a column)

CDx  drag coefficient in x direction
U x  horizontal water particle velocity at the centre of As
 Motion induced force

The motion induced force has the following two components

• Acceleration force

• Drag force
Trigonometric identities

sin a  b   sin a cos b  cos a sin b

sin a  b   sin a cos b  cos a sin b
cosa  b   cos a cos b  sin a sin b
cosa  b   cos a cos b  sin a sin b
Summary of methods to estimate wave excitation forces
• Dynamic pressure [Froude-Krylov] force (Newton):
L
– Method 1 (a)
  As az dx
0
Note that

• Eqs. (a-e) are presented with

respect to the heave
– Method 2 PAs |paticular location(x,z) (b) response. For the surge
response, ax and dz are used.
L
• These methods can be found

– Method 3
  As az dx
0 (c)
in examples and used in
tutorial questions, depending
on the platform geometry.
• Added mass [diffraction] force (Newton):
• Use formula sheet for
L
expressions of wave particle
– Method 1 C  A a dx (d)
a s z accelerations and velocities,
0 as well as added mass Ma.

• (a) and (d) can be combined

– Method 2 M a az |paticular location(x,z) (e) so that (Ca+1) = CM. As Ca =1,
CM = 2 in general.
• Horizontal Drag [viscous] force (Newton):
0
1

2 z
 CD D u x u x dz
 Example 1
• Calculate the vertical dynamic wave pressure force acting on the horizontal
cylinder shown in the figure.
z
• Given:
H 6m x
  0.6 rad/sec
2 20.62
k    0.037
 g 9.81 d = 25 m

D=5m

L = 80 m
 horizontal vertical
Velocity Cosh, cos Sinh, sin
• Solution: Acceleration Cosh, sin Sinh, cos with (-)

d  25 m
L
2
 gkH 
Fpz    As a z dx    As  exp  kz  cos  kx  t   dx
L L
 2 
2
40
 D 2  9.81  0.037  6 
  1.025   exp  0.037  25 cos  kx  t   dx
40
4  2 
40
 8.619  cos  kx  t  dx
40
40
8.619
 sin  kx  t  
k  40
8.619
 sin  40k  t   sin  40k  t  
k 
 471cos t  kN
 Example 2
• Calculate the vertical wave pressure force and the resulting motions of the
floating structure shown in the diagram (H= 6m).

• Given:   0.4 rad/sec   0.15

2 2
0.4 2
k    0.0163
 g 9.81

D1  10 m
zt  10 m
static pressure dynamic pressure zb  30 m

D2  25 m
• Solution:
 
– Total vertical wave pressure forces: Fpz   PT 
4
D2
2 
 D12  PB 
4
D22

(Force on Top) (Force on bottom)

– Pressure force on top surface
gH  D22  D12 
FT    expkdT  coskx  t 
2 4
9.81 6
 1.025   412.33  exp 0.0163  10   cos0.0163  0  t 
2
 10567.4 cost 

– Pressure force on bottom surface

FB  
 
gH  D22
expkd B  coskx  t 
2 4
9.81 6
 1.025   490.87  exp 0.0163  30  cos0.0163  0  t 
2
 9080.5 cost 

– Total pressure force (kN)

Fpz  1489cos t 
 Resulting heave motions
• Damping ratio   0.15   0.4 rad/sec
• Heave motion equation: M  M a z  Cz  Kz  F0 cost 
 F0  cost   
 K
• solution of the motion equation: z  
2
      2   2  2
M 10 2  10  1.025   252  20  1.025 1       
4 4   n    n 
 805.03  10062.92  10867.95 t

8 D
3
 4  D1 
3
 gAw 1.025  9.81    102
n   4
Ma    2     
3  2  3  2 
M  Ma M  Ma
3 3  0.222 rad/sec
8  25  4  10 
  1.025      1.025   
3  2  3  2 
K  gAw  1.025  9.81 10 2  789.7
 42708  1366.67  5167.71 t 4

z
 F K  cos t    
 1486.9 789.7  cos t   
   2 2 2 2
  0.4 2   2  0.4  0.15  2
 2 
1       1      
  n     n    0.123    0.123 
 
1.883cos t   
 0.82cos t    m
91.731  0.952
 Example 3
• Determine the total wave exciting surge forces on the structure shown in the
following figure; what should be the ratio between column separation B and
the wave length  so that there will be no wave force acting on the structure.
Calculate the surge response. z y

• Given:
HW x
CM  2, C D  0.6,
d  10 m, D  10 m
d D
and
H W  10 m,   0.6 rad/sec A A

B/2 B/2
D
Section A-A
 • Solution:
• Horizontal wave exciting force on left column
Inertia force

FT , LHS  FPx  FAx  FDx Viscous drag force

0 0
1
  CM  a x, LHS As dz   CDU x, LHS U x, LHS  Ddz
2
d d
where CM  2, CD  0.6, As  πD 2 4 (for circular cylinder),
1  B 
a x, LHS  H w 2e kz sin  k  t 
2  2 
1  B 
U x, LHS  H w ekz cos  k  t 
2  2 
0 2 0
πD 2 1  B  1 1   B   B 
FT , LHS   CM H w sin  k  t   e dz   C D D  H w  cos  k  t  cos  k  t   e 2kz dz
2 kz
4 2  2  2 2   2   2 
d d
2
  CM
πD 2 1
4 2
2  B

1
H w sin  k  t  1  e
 2 k


kd 1 1   B   B  1
  CD D  H w  cos  k  t  cos  k  t 
2 2   2   2  2k

1  e2kd 
• Similarly, horizontal wave exciting force on right column
FT , RHS  FPx  FAx  FDx
0 0
1
 C M  a x , RHS As dz  C DU x , RHS U x , RHS  Ddz
d
2 d
2

 C M
πD 2 1
4 2
 B 1 1
 1
   B   B  1
H w 2 sin   k  t  1  e kd  C D D H w  cos  k  t  cos  k  t  
1  e 2 kd 
 2 k 2 2   2   2  2k

• Total horizontal wave exciting force on the structure:

FT  FT , LHS  FT , RHS

  CM
πD 2 1
4 2
1
   B
   B 
H w 2 1  ekd sin  k  t   sin   k  t  
k   2   2 
2
1 1
  CD D  H w 
2 2
 1
 2k
   B
  2
 

 B
 2


 B
 2


 B
 2

1  e 2kd  cos  k  t  cos  k  t   cos  k  t  cos   k  t  


  CM
πD 2 1
4 2
1
 
  B 
H w 2 1  ekd  2cos  k   sin t 
k   2 

 
2 8
1 1  1  B 
  CD D  H w  1  e 2kd  2cos  k   cos t 
2 2  2k  3  2 
Relative importance of drag and inertia force

πD 2 1
CM H w 2e kz
inertia force 4 2 CM πD
  2
 kz
drag force 1 1  2kz CD H we
CD D H w  e
2 2 
• Assuming:
CM  2, CD  0.6, HW  10 m, d  0 m, D  10 m
2  10
  10
0.6  10  1
and taking d  10 m,  0.6 rad/sec  k   2 g  0.62 9.81  0.03669
2  10
 10 k
 15
0.6  10  e

Inertia force dominate!

• If we neglect the drag forces on the structure, the total horizontal
wave force:

FT   CM 2
πD 2 1
4
d H w 2
2
1
kd
   B
1  e  kd cos k  sin t 
 2

Submerged volume Spacing dependent

of the structure term

• Wave exciting force amplitude:

FT 0   CM 2
πD 2 1
4
d H w 2
2
1
kd
   B
1  e  kd cos k 
 2
• In order to arrive at zero horizontal wave force on the structure, the
spacing dependent term should be set to zero,

 B
cos k   0
 2
B 
k  2n  1 whe re n  0,1,2,3,...
2 2
2
since k 

therefore
B

2n  1
 2
 Surge response
• Surge motion equation M  M a X  BX  KX  F0 sin t 
where D 2 D 2 D 2 D 2
M  M a   2  d  K M 2 d  21  K M  d  CM  2  d
4 4 4 4
C 0
• Assume: X  X 0 sin t 
F j ,0 1
X j ,0 
X  X  cost 
Kj 2
     2
2

2
0
1   
   
X   X 0 2 sin t    n    n
 
  
• Surge motion equation becomes:
 M  M a X 0 2 sin t   0  X 0 cost   KX 0 sin t   F0 sin t 
or

X 0 K   2 M  M a   F0 
therefore
F0
F0 K K
X0 
K   M  M 
2
a

 
1   
2
where n 
M  Ma

 n 
 Example 4
• Determine the heave response of the simplified structure shown in
the following figure

z x
z y

y
x
D2
d

D1

D1
L
 Example 4
• Solution:
• Vertical forces on the horizontal cylinder
 πD12  1
FVH  CM As a z  CM    L H w 2e  kd cost 
 4  2
 
• Vertical forces on the vertical cylinder
 2 3
1  kd  πD2  4  D2  1
FVV  FVVp  FVVa  g H we cost      H w 2e  kd cost 
2  4  3  2  2
 
• Total force on the structure

1   πD12  2  πD22  4  D2 3 2 
TTV  FVH  FVV   H we  kd 
 CM   L  g        cost 
2      
 4   4  3  2 
• Assuming that D1  10 m, D2  5 m, L  50 m,   0.5 rad/sec , CM  2, g  9.81 m/sec
  10 2
Hull pressure  accelerati on dependent term  2   50  0.52  1963.5
4
  52
Vertical column pressure dependent term  9.81   192.6
4
3
4 5
Vertical column accelerati on dependent term      0.52  5.20
3 2
• The above calculations show that the acceleration forces on the
vertical column can be neglected and the total heave force on the
structure can be written as:

1  2 
 kd  πD2 
 2 
2  D1 L 
TTV  FVH  FVV   H we g 1  CM   cost 
2  4   D 2 g 
   2 
• In order to have zero heave force on the structure, the term in the
brackets should be set to zero:

 D12 L 
2 D22 g
1  CM     2
D g
2
CM D12 L
 2 
gAw
or  
CM VH
D12
Aw  water plane area of the vertical cylinder
4
D12
VH  L volume of the horizontal cylinder
4
• Heave response equation:
where
M  M a Z  CZ  KZ  FTV  F0 sin t 
 D12 D22 
M   L d   VH  Awd 
 4 4 
 
3
4 D 
M a  Ca1VH    2  where Ca1  1 for circular cylinder
3 2 
C  o (with no damping)
K  gAw
• And the solution of heave response equation may be written as
FTV 1 K
Z 2
where n 
K   M  Ma
1   

 n 
1   2VH 
 cost 
 kd
H w e gAw 1  CM
2  A g
w 
Z
  D23  
gAw 1    2VH  Awd  
2 

  6 
 
• RAO for the heave motion can be determined as
RAO
for C  0, or   0
  2VH 
e  kd 1  CM 
Z  A w 
g
RAO  0 
1  3
Hw D
2 1   2    2VH  Awd   2 
 6 
 
Note
 2VH Aw g
if 1  CM  0 
Aw g CM VH
RAO  0
n 
Aw g

CM VH
 Example 5 – head seas
• Calculate the heave response of the semi-submersible platform shown in
the following figure due to dynamic wave pressure and acceleration.
z y
• Given: Head seas

x
wave height : H  6 m
  0.10
  0.5 rad/sec 60 m 20 m

2 20.5 2
k    0.025 10 m
 g 9.81
100 m 40 m
• Solution:
– Heave motion equation: M  M a 3 z  Bz  Kz  F03 sin t 
 F0   
– Heave response:  K  cost    2  
 3
z
2 tan    n 
  
2
 2 
2

2

1        1   
   n     n   n 

– Heave stiffness:   52
K 3  gAw  1.025  9.81  4   789.7 kN/m
4
  10  52 
2

– Mass: M   2   100  4   15  17308.2 t

 4 4 
M a  M a pontons   M a columns 
– Heave added mass:
  10 2
3
4 5
 2   100  4      16015.2 t
– Heave natural frequency: 4 3 2

K3 789.7
n 3    0.154 rad/sec
M  Ma 17309.2  16015.2
• Solution:
– Wave exciting force in heave: F3  F3 pontons   F3 columns 

– Heave force on pontoons:

L2 L2
F3  ponton     As az dx   M a 3az dx
L 2 L 2
50
  102  1 
  1.025      H   2  exp  kh  cos  kx  t   dx
50
4  2 
50
  102 L  1 
  1.025       H   2  exp  kh  cos  kx  t   dx
50
4 L  2 
50
  102  1 
 2   1.025     H   2  exp  kh  cos  kx  t   dx
50
4 2 
50 50
73.24
 73.24   cos  kx  t  dx   sin  kx  t    5454.76cos t 
50
k 50
 • Solution:
– Heave force on columns:
F3 columns   F3 columns - pressure   F3 columns - acceleration
According to Hofft (1973), the wave acceleration forces on the ends of the cylinder can be calculated
by Multiplying the acceleration of the water particles at the centre of top or bottom cross-sections of
the cylinder and the added mass of a disk which has the same diameter as the cylinder in question.

 
F3  columns-acceleration   2   M a az x 30  M a az x 30 
 z 20 z 20 
3
  4  Dcol   
 2  M a  az x 30  az x 30   2      az x 30  az x 30 
 z 20 z 20  
3  2   z 20 z 20 

3
4 5  1 1 
 2   1.025       H  2 exp  20k  cos  30k  t   H  2 exp  20k  cos  30 x  t  
3  2  2 2 
 28.43cos t  kN
• Solution:
– Heave force on columns:
 
F3  columns-pressure   2   p x 30 As  p x 30 As 
 z 20 z 20 
1
 2  As   gH exp  kz  cos  30 x  t   cos  30 x  t  
2
2
 Dcol
 2  gH exp  kz   2cos  30k  cos t 
4
  52
 2  1.025  9.81  6  exp  20  0.0255   2cos  30  0.0255  cos t 
4
 1051.44cos t  kN

F3  columns   F3  columns-pressure   F3  columns-acceleration 

• Solution:
– Total wave exciting force in heave:
F3  F3  pontons   F3  columns 
 9887 cos t  kN
– Heave response in head seas:
 F0 
 K  cos t   
z  3
2
   2   2  2
1      
  n    n 
 
 1.3cos t    m
 
2  
 n 
tan   2
 0.068
 
1  
 n 