FATIGUE OF SHIPS AND OFFSHORE STRUCTURES

Source: https://www.explorermagazin.de/amstar/amaut_e.htm Source: https://metallurgyandmaterials.wordpress.com/2015/12/25/liberty-ship-failures/

Nandar Hlaing, Pablo G. Morato

Philippe Rigo
Simplified fatigue assessment

To understand the simplified fatigue assessment

𝒏𝒕 𝑺𝒎
𝟎 𝒎
𝑫= 𝒎/𝒉
𝚪 𝟏+
𝑲 𝒍𝒏 𝒏𝟎 𝒉

D = long-term fatigue damage

nt = total number of stress cycles for the design lifetime
K, m = SN curve parameters
q, h = Weibull scale and shape parameters
S0 = Stress range at the reference probability of exceedance of 0.01 in Mpa
n0 = number of cycles corresponding to the reference probability of exceedance of 0.01,
i.e., n0 = 100

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 2 Nandar Hlaing, Pablo G. Morato

Time-domain fatigue approach

Time-domain stress history

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 3 Nandar Hlaing, Pablo G. Morato

Time-domain fatigue approach

Rainflow counting

http://www.maths.lth.se/matstat/wafo/

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 4 Nandar Hlaing, Pablo G. Morato

Time-domain fatigue approach
Rainflow counting

http://www.maths.lth.se/matstat/wafo/

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 5 Nandar Hlaing, Pablo G. Morato

Probability and statistics

Deterministic approach
𝑭𝑳
𝜹=
𝑬𝑨

𝐹
𝐴 = 𝑤ℎ ℎ = 10 𝑚𝑚

𝑤 = 20 𝑚𝑚

𝐿 =2𝑚
𝐸 = 210 𝐺𝑃𝑎 𝜹 = 𝟏. 𝟗 𝒎𝒎
𝐹 = 40 𝑘𝑁

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 6 Nandar Hlaing, Pablo G. Morato

Probability and statistics

Probabilistic approach

𝐴 = 𝑤ℎ ℎ = 10 𝑚𝑚

𝑤 = 20 𝑚𝑚
𝐹
𝑤 ~ 𝑁[𝜇 = 20 𝑚𝑚, 𝐶𝑜𝑉 = 15%]
𝜎
𝐿 =2𝑚 𝐶𝑜𝑉 =
𝜇
𝐸 = 210 𝐺𝑃𝑎
𝜎 = 3𝑚𝑚
𝐹 = 40 𝑘𝑁

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 7 Nandar Hlaing, Pablo G. Morato

Probability and statistics

What is a normal (Gaussian) distribution?

68% of the samples are with 1

standard deviation of the mean.

σ σ σ μ σ σ σ

95% of the samples are with 2

Carl Friedrich
standard deviation of the mean. Gauss discovered the
normal distribution in
σ σ σ μ σ σ σ 1809.

99.7% of the samples are with 3

standard deviation of the mean.
σ σ σ μ σ σ σ

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 8 Nandar Hlaing, Pablo G. Morato

Probability and statistics
𝑷𝒓𝒐𝒃𝒂𝒃𝒊𝒍𝒊𝒕𝒚 𝒅𝒆𝒏𝒔𝒊𝒕𝒚 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 (𝒑𝒅𝒇)
𝑭𝑳
ℎ = 10 𝑚𝑚 𝜹=
𝑬𝑨
𝑤 = 20 𝑚𝑚

𝑤 ~ 𝑁[𝜇 = 20 𝑚𝑚, 𝐶𝑜𝑉 = 15%]

𝑴𝒆𝒂𝒏 𝝁𝒘 1 1 𝑤−𝜇
−2( 𝜎 )2
𝑝𝑤 𝑤 = 𝑒
+∞ 𝜎 2𝜋
𝜇𝑤 = න 𝒘 𝑝𝑤 𝑤 𝑑𝑤
−∞
𝑷𝒓𝒐𝒃𝒂𝒃𝒊𝒍𝒊𝒕𝒚 (𝑷) − 𝟏𝟖 < 𝑾 < 𝟐𝟎
𝑽𝒂𝒓𝒊𝒂𝒏𝒄𝒆 𝝈𝟐𝒘
+∞ 20
𝜎𝑤2 =න 𝒘−𝝁 𝟐 𝑝𝑤 𝑤 𝑑𝑤
−∞
𝑃 = න 𝑝𝑤 𝑤 𝑑𝑤
18
FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 9 Nandar Hlaing, Pablo G. Morato
Probability and statistics
𝑷𝒓𝒐𝒃𝒂𝒃𝒊𝒍𝒊𝒕𝒚 𝒅𝒆𝒏𝒔𝒊𝒕𝒚 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 (𝒑𝒅𝒇)
𝑭𝑳
ℎ = 10 𝑚𝑚 𝜹=
𝑬𝑨
𝑤 = 20 𝑚𝑚

𝑤 ~ 𝑁[𝜇 = 20 𝑚𝑚, 𝐶𝑜𝑉 = 15%]

𝑪𝒖𝒎𝒖𝒍𝒂𝒕𝒊𝒗𝒆 𝒅𝒊𝒔𝒕𝒓𝒊𝒃𝒖𝒕𝒊𝒐𝒏 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 (𝒄𝒅𝒇) 𝑷𝒓𝒐𝒃𝒂𝒃𝒊𝒍𝒊𝒕𝒚 (𝑷) − 𝟏𝟖 < 𝑾 < 𝟐𝟎

20
𝑃 = න 𝑝𝑤 𝑤 𝑑𝑤
18

𝑃 = 𝑃𝑊 20 − 𝑃𝑊 18
𝑤0
𝑃𝑤 𝑊 ≤ 𝑤0 = න 𝑝𝑤 𝑤 𝑑𝑤
−∞
FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 10 Nandar Hlaing, Pablo G. Morato
Probability and statistics
𝑷𝒓𝒐𝒃𝒂𝒃𝒊𝒍𝒊𝒕𝒚 𝒅𝒆𝒏𝒔𝒊𝒕𝒚 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 (𝒑𝒅𝒇)
𝑭𝑳
ℎ = 10 𝑚𝑚 𝜹=
𝑬𝑨
𝑤 = 20 𝑚𝑚

𝑤 ~ 𝑁[𝜇 = 20 𝑚𝑚, 𝐶𝑜𝑉 = 15%]

𝑪𝒖𝒎𝒖𝒍𝒂𝒕𝒊𝒗𝒆 𝒅𝒊𝒔𝒕𝒓𝒊𝒃𝒖𝒕𝒊𝒐𝒏 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 (𝒄𝒅𝒇) 𝑬𝒙𝒄𝒆𝒆𝒅𝒂𝒏𝒄𝒆 𝒑𝒓𝒐𝒃𝒂𝒃𝒊𝒍𝒊𝒕𝒚 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏

𝑤0
𝑃𝑤 𝑊 ≤ 𝑤0 = න 𝑝𝑤 𝑤 𝑑𝑤 𝑃𝑤 𝑊 ≥ 𝑤0 = 1 − 𝑃𝑤 𝑊 ≤ 𝑤0
−∞
FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 11 Nandar Hlaing, Pablo G. Morato
Probability and statistics

𝑭𝑳 𝐴 = 𝑤ℎ ℎ = 10 𝑚𝑚
𝜹=
𝑬𝑨
𝑤 = 20 𝑚𝑚

𝐹 𝑤 ~ 𝑁[𝜇 = 20 𝑚𝑚, 𝐶𝑜𝑉 = 15%]

𝜎
𝐶𝑜𝑉 =
𝜇
𝜎 = 3𝑚𝑚
𝐿 =2𝑚
𝐸 = 210 𝐺𝑃𝑎 ℎ ~ 𝑁[𝜇 = 10 𝑚𝑚, 𝐶𝑜𝑉 = 10%]
𝐹 = 40 𝑘𝑁
𝜎ℎ = 1 𝑚𝑚

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 12 Nandar Hlaing, Pablo G. Morato

Probability and statistics

𝑪𝒐𝒓𝒓𝒆𝒍𝒂𝒕𝒊𝒐𝒏: 𝝆 = 𝟎

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 13 Nandar Hlaing, Pablo G. Morato

Probability and statistics

𝑪𝒐𝒓𝒓𝒆𝒍𝒂𝒕𝒊𝒐𝒏: 𝝆 = 𝟎. 𝟕

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 14 Nandar Hlaing, Pablo G. Morato

Probability and statistics
Random process
Ergodic (wide-sense stationary) – Sea state

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 15 Nandar Hlaing, Pablo G. Morato

Probability and statistics

Autocorrelation / autocovariance

Continuous signal:

Discrete signal:

The Fourier transform of the autocorrelation function

gives a wave spectrum, i.e. the distribution of wave
energy over various frequencies.

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 16 Nandar Hlaing, Pablo G. Morato

Wave spectrum
• A random sea surface is just a sum of several regular periodic waves with different
wave frequencies/wavelengths.

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 17 Nandar Hlaing, Pablo G. Morato

Spectral Method

Bretschneider Spectrum
4
5 𝑤𝑚 2 −5𝜔 4 /4𝜔4
𝑆 𝜔 = 5
𝐻1/3 𝑒 𝑚
16 𝜔
Sea state (SS) Peak period Significant wave
𝑻𝒎 (𝒔) height 𝑯𝟏/𝟑 (𝒎)

2 6.3 0.3
3 7.5 0.9
4 8.8 1.9
5 9.7 3.3
6 12.4 5.0

https://ocw.mit.edu/courses/mechanical-engineering/2-017j-design-of-
electromechanical-robotic-systems-fall-2009/assignments/MIT2_017JF09_p04.pdf

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 18 Nandar Hlaing, Pablo G. Morato

Spectral Method
Response spectrum
Response amplitude
operator Wave spectrum
𝑋 2 /𝑚2 𝑚2 /𝑠
2
𝑆(𝜔, ∅, 𝑉) = 𝑅𝐴𝑂 𝜔, ∅, 𝑉 · 𝑆𝜔(𝜔)

𝑖𝜔𝑡
𝑦0 𝑅𝑒 𝑒
𝑅𝐴𝑂 =
𝑥0 𝑅𝑒 𝑒 𝑖𝜔𝑡

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 19 Nandar Hlaing, Pablo G. Morato

Spectral Method
RAOs

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 20 Nandar Hlaing, Pablo G. Morato

Spectral Method
Short-term structural response
2
𝑆(𝜔, ∅, 𝑉) = 𝑅𝐴𝑂 𝜔, ∅, 𝑉 · 𝑆𝜔(𝜔)

Wave Heading Ship speed

frequency angle

Rayleigh distribution
Probability density function Exceedance probability
𝑆2 𝑺𝟐
𝑆 − 2 − 𝟐
𝑝 𝑆 = 2 𝑒 8𝑞 𝑝 𝑆 > 𝑆0 = 𝒆 𝟖𝒒
4𝑞
FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 21 Nandar Hlaing, Pablo G. Morato
Spectral Method

Long-term structural response

𝑺𝟐𝟎
− 𝟐
𝑝 𝑆 > 𝑆0 = න න න න 𝒆 𝟖𝝁 ഥ 𝑇𝑚 𝑝 ∅ 𝑝 𝑉 𝑑∅𝑑𝑉𝑑𝑇𝑑𝐻
𝑝 𝐻, ഥ

Probability Probability Probability

sea state heading speed
Weibull distribution angle

Probability density function Exceedance probability

ℎ−1 𝑆 ℎ 𝑆0 ℎ
ℎ 𝑆 − −
𝑝 𝑆 = 𝑒 𝑞 𝑝 𝑆 > 𝑆0 = 𝑒 𝑞
𝑞 𝑞
FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 22 Nandar Hlaing, Pablo G. Morato
Spectral Method
Long-term structural response
Weibull distribution(q,h)
Probability density function Exceedance probability
ℎ−1 𝑆 ℎ 𝑆0 ℎ
ℎ 𝑆 − 𝑞 −
𝑝 𝑆 = 𝑒 𝑝 𝑆 > 𝑆0 = 𝑒 𝑞
𝑞 𝑞
q = 1, h = 0.5
q = 1, h = 1
q = 1, h = 1.5
q = 1, h= 5

q = 1, k = 0.5
q = 1, k = 1
q = 1, k = 1.5
q = 1, k = 5

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 23 Nandar Hlaing, Pablo G. Morato

Spectral Method

Wave spectrum + RAO

Response spectrum

Probabilities Short-term response ~ Rayliegh (q)

S-N curve Long-term response ~ Weibull (q,h)

Fatigue damage

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 24 Nandar Hlaing, Pablo G. Morato

Simplified fatigue assessment
*Assumption: The long-term stress range is represented by a Weibull distribution.

𝑚 = 3 ; log 𝐾 = 12.164 𝑞=9

𝑛 = 8.5 ⋅ 107 ℎ = 0.8 Fatigue
damage
𝐃?

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 25 Nandar Hlaing, Pablo G. Morato

Long-term stress range – Damage (1)

1 𝑁 = 𝐾 ⋅ 𝑆 −𝑚
𝑛𝑖
2 𝐷=෍
𝑁𝑖
𝑆
If S is infinitesimal, then (2) becomes:
∞ ∞
𝑛𝑡 𝑝 𝑆 𝑑𝑆 𝑛𝑡
3 𝐷=න Combining (1) and (3): 4 𝐷 = න 𝑆 𝑚 𝑝 𝑆 𝑑𝑆
𝑁(𝑆) 𝐾
0 0

The stress range is represented by a Weibull distribution:

ℎ−1 𝑆 ℎ
ℎ 𝑆 − 𝑞
5 𝑝 𝑆, 𝑞, ℎ = 𝑒
𝑞 𝑞
*Where 𝑞 and ℎ are the scale and shape parameters respectively

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 26 Nandar Hlaing, Pablo G. Morato

Long-term stress range – Damage (2)

Replacing 𝑓 𝑆 in (4) from (5): Combining (6) and (7):

∞ ∞
𝒉−𝟏 𝒉
𝑛𝑡 𝒉 𝑺 −
𝑺 𝑛𝑡
6 𝐷= න𝑺𝒎 𝑒 𝒒 𝑑𝑆 8 𝐷 = න 𝑞 𝑚 𝑥 𝑚/ℎ 𝑑𝑥 𝑒 −𝑥
𝐾 𝒒 𝒒 𝐾
0 0
∞
𝑚
# Introducing a new variable ‘x’: 𝑛𝑡 𝑞
8 𝐷= න 𝑥 𝑚/ℎ 𝑒 −𝑥 𝑑𝑥
𝒉−𝟏 𝐾
𝒉 𝑺 0
𝑑𝑥 = 𝒅𝑺
𝒉 𝒒 𝒒 *Gamma function:
𝑺
7 𝑥= 𝑆 = 𝑥 1/ℎ 𝑞 ∞
𝒒
9 Γ(𝑧) = න 𝑥 𝑧−1 𝑒 −𝑥 𝑑𝑥
𝑺𝒎 = 𝑥 𝑚/ℎ 𝑞 𝑚
0

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 27 Nandar Hlaing, Pablo G. Morato

Long-term stress range – Damage (3)

Combining (6) and (7):

∞
𝑛𝑡
8 𝐷 = න 𝑞 𝑚 𝑥 𝑚/ℎ 𝑑𝑥 𝑒 −𝑥 A closed-form equation is obtained
𝐾
0
∞
for the fatigue damage:
𝑛𝑡 𝑞 𝑚
8 𝐷= න 𝑥 𝑚/ℎ 𝑒 −𝑥 𝑑𝑥
𝐾 𝒏𝒕 𝒒𝒎 𝒎
0 𝟏𝟎 𝑫 = 𝚪 𝟏+
𝑲 𝒉
*Gamma function:
∞

9 Γ(𝑧) = න 𝑥 𝑧−1 𝑒 −𝑥 𝑑𝑥
0

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 28 Nandar Hlaing, Pablo G. Morato

Simplified fatigue assessment
*Assumption: The long-term stress range is represented by a Weibull distribution.

𝑚 = 3 ; log 𝐾 = 12.164 𝑞=9

𝑛 = 8.5 ⋅ 107 ℎ = 0.8
Fatigue
damage
𝐃 = 𝟎. 𝟕

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 29 Nandar Hlaing, Pablo G. Morato

Simplified fatigue assessment

Closed-form equation - fatigue damage: Rearranging (11):

𝑛𝑡 𝑞 𝑚 𝑚 𝑆0
10 𝐷 = Γ 1+ 11 𝑞 = 1/ℎ
𝐾 ℎ 𝑙𝑛 𝑛0

Exceedance probability – ‘Weibull’ Replacing ‘𝑞’ from (11) into (10):

𝑆0
ℎ
1 𝒏𝒕 𝑺𝒎
𝟎 𝒎
11 𝑝𝑒𝑥𝑐 (𝑆0 ) = 𝑒𝑥𝑝 − = 𝟏𝟐 𝑫 = 𝒎/𝒉
𝚪 𝟏+
𝑞 𝑛0 𝑲 𝒍𝒏 𝒏𝟎 𝒉

NB: if pexc(30 MPa) = 0.01, 1 out of 100

stress cycles will exceed 30 MPa.

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 30 Nandar Hlaing, Pablo G. Morato

Simplified fatigue assessment

Scale parameter: Re-arranging (13):

𝑆0 14 𝑆 = 𝑞 𝑙𝑛 𝑛 1/ℎ
11 𝑞 = 1/ℎ
𝑙𝑛 𝑛0

Exceedance probability – ‘Weibull’ Replacing ‘𝑞’ from (11) into (13):

ℎ 𝟏/𝒉
𝑆 1 𝒍𝒏 𝒏
13 𝑝𝑒𝑥𝑐 = 𝑒𝑥𝑝 − = 𝟏𝟓 𝑺 = 𝑺𝟎 ⋅
𝑞 𝑛 𝐥𝐧 𝒏𝟎

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 31 Nandar Hlaing, Pablo G. Morato

Simplified fatigue assessment

To understand the simplified fatigue assessment

𝒏𝒕 𝑺𝒎
𝟎 𝒎
𝑫= 𝒎/𝒉
𝚪 𝟏+
𝑲 𝒍𝒏 𝒏𝟎 𝒉

D = long-term fatigue damage

nt = total number of stress cycles for the design lifetime
K, m = SN curve parameters
q, h = Weibull scale and shape parameters
S0 = Stress range at the reference probability of exceedance of 0.01 in Mpa
n0 = number of cycles corresponding to the reference probability of exceedance of 0.01,
i.e., n0 = 100

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 32 Nandar Hlaing, Pablo G. Morato

Simplified fatigue assessment
*Assumption: The long-term stress range is represented by a Weibull distribution.

𝑚 = 3 ; log 𝐾 = 12.164 𝑞=9

𝑛𝑡 = 8.5 ⋅ 107 ℎ = 0.8
𝑝𝑆 (𝑆𝑖 ) Fatigue
damage
𝐃 = 𝟎. 𝟕

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 33 Nandar Hlaing, Pablo G. Morato

Damage contribution – Stress Range

𝑛𝑖 = 𝑛𝑡 𝑝𝑆 (𝑆𝑖 )
𝑁𝑖 = 𝐾 ⋅ 𝑆𝑖−𝑚
𝐷𝑖 = 𝑛𝑖 /𝑁𝑖

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 34 Nandar Hlaing, Pablo G. Morato

Damage contribution – Prob. of exceedance

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 35 Nandar Hlaing, Pablo G. Morato

Exercise - Fatigue damage estimation

Compute the reference stress at 10-4 and 10-8 exceedance

probabilities and lifetime fatigue damage.
𝟏/𝒉
𝒍𝒏 𝒏 𝒏𝒕 𝑺𝒎
𝟎 𝒎
𝑺 = 𝑺𝟎 ⋅ 𝑫= 𝒎/𝒉
𝚪 𝟏+
𝐥𝐧 𝒏𝟎 𝑲 𝒍𝒏 𝒏𝟎 𝒉

𝑚=3
𝒏𝟎 𝑺𝟎 (𝑴𝑷𝒂) 𝑫
log 10 𝐾 = 12.164 𝟏𝟎𝟐 𝟔𝟎. 𝟕𝟐
𝑛𝑡 = 8.5 ⋅ 107 cycles 104
108
ℎ = 0.8: 0.02: 1.2
FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 36 Nandar Hlaing, Pablo G. Morato
Exercise - Fatigue damage estimation

a a e

FATIGUE OF SHIPS AND OFFSHORE STRUCTURES 37 Nandar Hlaing, Pablo G. Morato