Typology and design of moorings

for sea-keeping floating platforms

Pau Trubat Casal

pau.trubat.casal@upc.edu
 1. Mooring systems
• Moorings lines: lines attached to the platform and the seabed at both
ends
 1. Mooring systems
• Anchors: elements that fix the mooring lines to the seabed
 1. Mooring systems
• Active system: active systems such trusts
 2. Mooring system types
• Catenary mooring lines:
• Restoring forces: wet weight
• Vertical and Horizontal Forces at the Platform
• Horizontal forces at the anchor
• Large foot print
 2. Mooring system types
• Catenary mooring system:
• Restoring forces: NonLinear
• motion of the top end increases/decreases the suspended weight increasing/decreasing
the horizontal and vertical force
• Incident angle of the mooring end also change with the top end motion
• Damping forces: drag force transversal movement
 2. Mooring system types
• Taut or semi-taut mooring line:
• Restoring forces: axial stiffness of the lines (wire o synthetic ropes)
• Vertical and Horizontal forces on the anchor
• Stiffer mooring system than the catenary ones
• Lower foot print
 2. Mooring system types
• Restrained mooring systems: Tension Leg Platforms:
• Restoring forces: tendon stiffness (EA/L)
• Restrain DOF of the platform (Heave and Pitch)
• Lower footprint
• Large stiffness
• High-frequency movements -> fatigue
• VIV tendons
 2. Mooring system types
• Mooring configurations:
• Delta Lines: extra yaw stiffness
 2. Mooring system types
• Mooring configurations:
• Combination of buoys and clump weights -> compliant or stiffer mooring
systems
 2. Mooring system types
• Line Types:

CHAIN WIRE ELECTRIC CABLE

Source: Vicinay Marine Source: Bekaert Source: JDR

 3. Line types
• Chains:
• D up to 200 mm -> 900kg/m

Stud Chain: Studless Chain:

- Heavier (Higher tensions) - More fatigue resistance
- Easy handling - Permanent units
 3. Line types
• Chains
𝑵𝑵
TENSILE STRENGTH
STEEL GRADE YIELD STRESS 𝑵𝑵 ELONGATION %
𝒎𝒎𝒎𝒎𝟐𝟐
𝒎𝒎𝒎𝒎𝟐𝟐
R3 410 690 17
R3S 490 770 15
R4 580 860 12
R4S 700 960 12
R5 760 1000 12
GRADE R3 GRADE R3S GRADE R4 GRADE R4S GRADE R5
Proof load,
0,0156𝑑𝑑2 (44 0,0180𝑑𝑑2 (44 0,0216𝑑𝑑2 (44 0,0240𝑑𝑑2 (44 0,0251𝑑𝑑2 (44
stud link
− 0,08𝑑𝑑) − 0,08𝑑𝑑) − 0,08𝑑𝑑) − 0,08𝑑𝑑) − 0,08𝑑𝑑)
[kN]
Proof load
0,0156𝑑𝑑2 (44 0,0174𝑑𝑑2 (44 0,0192𝑑𝑑2 (44 0,0213𝑑𝑑2 (44 0,0223𝑑𝑑2 (44
stud less
− 0,08𝑑𝑑) − 0,08𝑑𝑑) − 0,08𝑑𝑑) − 0,08𝑑𝑑) − 0,08𝑑𝑑)
[kN]
Breaking 0,0223𝑑𝑑2 (44 0,0249𝑑𝑑2 (44 0,0274𝑑𝑑2 (44 0,0304𝑑𝑑2 (44 0,0320𝑑𝑑2 (44
load [kN] − 0,08𝑑𝑑) − 0,08𝑑𝑑) − 0,08𝑑𝑑) − 0,08𝑑𝑑) − 0,08𝑑𝑑)
Weight
stud-link 0,0219𝑑𝑑2
[kg/m]
 3. Line types
• Wire Ropes

Independent Wire Rope Core

Spiral strand Fiber Core

Wire Strand Core

 3. Line types
• Wire Ropes

SPIRAL STRAND 6 SPIRAL STRAND IWRC

Steel area [mm] 0.58 𝑑𝑑 2 0.54 𝑑𝑑 2
Weight in water [N/m] 0,039 𝑑𝑑 2 0.036 𝑑𝑑 2
Breaking strength [N] 870 𝑑𝑑 2 640 𝑑𝑑 2
Stiffness [N] 92000 𝑑𝑑 2 59600 𝑑𝑑 2
 3. Line types
• Synthetic Ropes
No Linear ->E = E(ε)
 4. Anchors
• Deadweight anchor
• Self-weight and seabed friction
• Horizontal capacity
• Low slopes
• Reliability most soils
• Bearing capacity limited due to
handling operation
 4. Anchors
• Drag anchors
• Horizontal capacity
• Resistance due to displaced soil during burial
 4. Anchors
• Drag anchors
• Shank: transmit forces from mooring line to fluke
• Stabilisers: for a better embedment
 4. Anchors
• Pile anchors
• Driven or drilled and grouted
• High lateral and vertical capacity
 4. Anchors
• Suction Pile anchors
• Driven by pumping out water ->negative pressure
• High lateral and vertical capacity
• Seabed: only sand and clay

YOUTUBE
 4. Anchors
• Plate anchors
• Buried
• Vertical and Horizontal Capacity
• Good relation holding capacity vs
weight

z
zrel =
B
 5. Loads on mooring lines
• Morison equation for oscillating cylinders
π 1 π
=F ρC M D u + ρC D D ( u − x ) u − x − ρC A D2 
2
x
4  
 2   4 
Fluid inertia force Viscous force Added mass term

CM = 1 + C A
CD Transverse Longitudinal
𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂 2,6 1,4
𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒 𝐥𝐥𝐥𝐥𝐥𝐥𝐥𝐥 𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜 2,4 1,15
𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒𝐒 𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫 1,8 *
Spiral rope with out plastic sheathing 1,8 *
Spiral rope with plastic sheathing 1,2 *
Fibre rope 1,6 *
 5. Loads on mooring lines
• Current loads:
• Drag & Lift

1
FD = ρC D Du u
2
1
FL = ρC L Du u
2
 5. Loads on mooring lines
• Current loads:
• VIV: vortex induced vibrations

1 2
=FL ρU DC L sin ( 2π fvt + φFl )
2

fv D
St =
U
 5. Loads on mooring lines
• Wave loads:
• Low impact

>5%
Regular wave

H 0.1 m
Tp 1.4 s
 5. Loads on mooring lines
• Forces on the platform:
• First order wave loads: wave theory (Potential flow ->Bernoulli linearization)
∂φ 1 2
ρ + ρV + p + ρ gz = C (t )
∂t 2
− ρ gz − ρ
p=
∂φ H cosh ( k ( h + z ) )
∂t p= − ρ gz − ρ g cos ( kx − ωt )
2 cosh ( kh)
 5. Loads on mooring lines
• Forces on the platform:
• Second order wave forces: steady and slow drift force
Long Periods close to Mooring natural frequency
 5. Loads on mooring lines
• Forces on the platform:
• Platform VIM: Vortex Induced Motion
 6. Mooring system design
• Static design:
• Catenary equation

dT = ω sin (φ ) ds
Tdφ = ω cos (φ ) ds

TH cos (φ ) T0 =
T= cos (φ0 ) cnt
Tv = ω·s
 6. Mooring system design
• Static design:
• Catenary equation

TH   1   1   TH
x − x0
= ln  + tan (φ )  − ln  + tan (φ0 )   + l
ω   cos (φ )   
  cos (φ0 )   EA
TV
TH  1 1  1ω 2
z − z0
=  − + l
ω  cos (φ ) cos (φ0 )  2 EA (x,z) TH
 Tv 
φ = arctan   l,ω, EA
 TH 
Tv Tv ,0 + ω l
= (x0,z0)
f (TH ,Tv ) → Non lineal function TH
Tv,0
 6. Mooring system design
• Static design:
• Single line response
 6. Mooring system design
• Static design:
• Mooring system surge response
 6. Mooring system design
• Static design:
• Catenary equation solution & large security factors
• Dynamic offset: standards and tables
 6. Mooring system design
• Static design:
• Natural period of the mooring system (Catenary mooring system)

F= K ·∆x
2π
T=
K
m
 6. Mooring system design
• Static design:
• Natural period of the mooring system (TLP)

2π
T=
K F=
11 nT sin (θ=
)
∆x
nT = K 11 ∆x
L
m  ∆L  nEA
F33= n  EA = ∆z= K 33∆z
 L  L
 6. Mooring system design
• Quasi-Static design:
• Platform hydrodynamics: Mx + Cx + Kx =
F
• Mooring quasi-static response
 6. Mooring system design
• Quasi-Static design:
• Platform hydrodynamics: Mx + Cx + Kx =
F
• Mooring quasi-static response
 6. Mooring system design
• Quasi-Static design:
• Platform hydrodynamics: Mx + Cx + Kx =
F
• Mooring quasi-static response
 6. Mooring system design
• Dynamic design:
• Platform and Mooring system hydrodynamics Mx + Cx + Kx =
F
 6. Mooring system design
• Dynamic design:
• Platform and Mooring system hydrodynamics Mx + Cx + Kx =
F
 6. Mooring system design
• Dynamic design:
• Slack events -> snap tension

80
70
60 simulation
50
Tension [N]

40
30
20
10
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

time [s]
 7. Dynamic models
• Lumped Mass Method (LMM)
 7. Dynamic models
• Difference Finite Method (DFM)

 Y ji − Y ji −1   Y ji−1 − Y ji−−11   Y ji − Y ji−1 

(M i
j +M i −1
j )  ( i i −1
 + M j −1 + M j −1 )  ( i i
 + K j −1 + K j )   +
 ∆t   ∆t   ∆ s 
 Y ji −1 − Y ji−−11 
(
+ K i −1
j −1 +K i −1
j ) 
∆ s
( i i i −1 i −1
)
 + F j + F j −1 + F j + F j −1 =0
 
 7. Dynamic models
• Finite Element Method (FEM)

r = ∑ ri Ni
r
 7. Dynamic models
• Finite Element Method (FEM)
 6. Mooring system design
• Quasi-Dynamic design:

𝑻𝑻𝑆𝑆 = 𝑻𝑻𝑆𝑆 (Pos fairlead, submerged weight)

 6. Mooring system design
0 • Quasi-Dynamic design: velocidad [m/s]
0.16
0.5
aceleración [m/s
1.11
]

0.13
-0.5 0.96
0
0.11
0.81
-1
Z [m]

-0.5

Z [m]
0.08
0.66

-1.5 -1
0.06
0.51

-2 0.03 -1.5 0.36

-14 -12 -10 -8 -6 -4 -2 0 -14 -12 -10 -8 -6 -4 -2 0
X [m] X [m]
0
1 Modelo cuasi-estático
Modelo dinámico

]
2
0.8
-0.05
velocidad [m/s]

aceleración [m/s
0.6

-0.1 0.4

Modelo cuasi-estático
0.2
Modelo dinámico
-0.15
0
0 2 4 6 8 10 12 14 0 2 4 6 8 10 12 14
arc length "s" [m] parámetro arco "s" [m]
 6. Mooring system design
• Quasi-Dynamic design:
 6. Mooring system design
• Quasi-Dynamic design:
 6. Mooring system design
• Quasi-Dynamic design:

Hypothesis:
𝑻𝑻𝑄𝑄𝑄𝑄 = 𝑘𝑘𝑄𝑄𝑄𝑄 𝑻𝑻𝑆𝑆
- The resultant of the vertical
forces is distributed along the
line, as an aparent weight 𝑙𝑙
∫𝑠𝑠 𝒇𝒇𝑤𝑤 + 𝒇𝒇𝐻𝐻𝐻𝐻 − 𝒇𝒇𝐼𝐼 · 𝐤𝐤 𝑑𝑑s
0
𝑘𝑘𝑄𝑄𝑄𝑄 = ≥0
- Horizontal forces that could 𝑙𝑙
∫𝑠𝑠 𝒇𝒇𝑤𝑤 · 𝐤𝐤 𝑑𝑑𝑑𝑑
appeat does not modify the 0
catenary shape
 6. Mooring system design
• Quasi-Dynamic design:
L1

L2

L3
 8. Scale models
• Scale design
• Geometrical similitude
 8. Scale models
• Scale design
• Froude similitude: Inertia force Vs Gravitational force -> Proportional

𝑎𝑎𝑝𝑝 = 𝑎𝑎𝑚𝑚
 8. Scale models
• Scale design
• Froude similitude: problems with material properties (EA, EI), Drag forces (Cd)
• Solution: combine different types of lines, materials, springs,…
 8. Scale models
• Scale design
• Basin constrains: Deep waters, narrow flumes -> Ultra-scale models,
Truncated systems
 8. Scale models
• Scale design
• Ultra-scale models
 8. Scale models
• Scale design
• Hybrid methods: truncated scale model , numerical simulation calibration,
extrapolation and full-depth simulations
 8. Scale models
• Scale design
• Active method: through active systems simulate the behavior of the truncated
segments
 8. Scale models
• Scale design
• Truncated mooring design: Optimization problem min[ f ( X )]

• Horizontal response, Vertical response, Tension on the line

n
f ( X ) = ωi ∑ fi ( X )
i =1

2
1  Fi,prototype (x j ) − Fi,truncated (x j , X ) 
n
fi ( X ) = ∑ 
n j =1  Fi,prototype (x j )


 8. Scale models
• Scale design
• Truncated mooring design: Optimization problem