Compurrrr & SrnKrar~r Vol. 22. No. 3. pp. 31 l-334. 1986 @M-7949,86 53.00 + .

a3
Pnnted in Great Bntain. E 1986 Pcrpmon Press L!d.

ON THE DYNAMICS OF A MULTICOMPONENT MOORING

LINE

NAJEEB ULLAH KHAN? and KHYRUDDIN AKBAR ANSARIS

Department of Mechanical Engineering, University of Petroleum and Minerals, Dhahran, Saudi
Arabia

(Received 18 Jlrne 1984)

Abstract-The inclusion of cable dynamics is an important consideration in the evaluation of the

dynamic station-keeping response of a moored offshore vessel. In this paper, equations of motion for
a multicomponent mooring cable are derived using Lagrange’s modified equation, allowing for anchor
motion, if any, and then numerically solved to yield time histories for the various cable configurations
that can occur. Initial conditions for the dynamic solution are furnished through the static catenary
equations. From the time histories obtained, the nonlinear dynamic tension-displacement character-
istics of the mooring line can be derived which would be useful in providing the restotint force terms
occurring in the equations of motion of a moored offshore vessel. An example involvmg a typical
anchoring line used on a moored production barge is examined to demonstrate the applicability of the
analysis presented which should serve as a useful tool in developing mooring line restoring forces for
use in offshore vessel mooring analyses.

NOTATION Pk kth co-ordinate (k = 1, 2, . . . , N) used

in modified Lagrange’s equation
projected surface area of the anchor
an n x n pseudo-mass matrix
87; virtual power
a coefficient in the modified Lagrange’s Qi nonconservative generalized force as-
sociated with the generalized co-ordinate
equation [ = df,/dp,]
drag coefficient for cylindrical cable Pi
links Qxi. Q,i x and y components of generalized forces
acting at ith mass
inertia coefficient for cylindrical cable
links 141representation of system unknown vari-
ables
tangential and normal drag coefficients
I kinetic energy of the system
for cylindrical links
Ty, Ti’ horizontal and vertical components of
anchor drag coefftcient
tension in ith cable segment
diameter of cylindrical link
segment velocity
horizontal component of nonconserva-
potential energy of the system
tive force acting at a node
average tangential and normal velocities
pseudo force column matrices
of pth segment
horizontal and vertical component of
co-ordinates of anchor with reference to
nonconservative forces acting at anchor
a fixed frame of co-ordinates
horizontal and vertical component of
X, y co-ordinates of ith lumped mass
nonconservative forces acting at ith mass
Lagrange multipliers
tangential and normal components of
mass density of seawater
drag forces acting on the pth link
angular displacement of ith segment
force per unit length of cylinder in Mor-
ison’s formula
‘c’ number of constraint equations in La-
INTRODUCTIOS
grange’s formulation
acceleration due to gravity With increase in the world’s demand for energy, a
projection of cable in XI direction
potential energy source, namely, offshore oil, has
height of floating vessel center of mass
above ocean bed
now become quite significant. The exploration, pro-
length of ith cable segment duction and transportation of oil often requires the
anchor mass use of moored offshore vessels. Ordinary as well
mass per unit length of cable segment as special-purpose vessels such as tankers, pipe-
virtual mass lumped at a node
cable segment mass lumped at ith node
laying barges and OTEC platforms, all need to be
pseudo-mass matrix moored successfully. Newer vessels have become
total number of co-ordinates available in more complex and so have the mooring systems
Lagrange’s modified equation required to keep these vessels in position. A proper
total number of line segments
choice of anchors, clump weights, chains and ca-
biers is vital for keeping a vessel on site and for
t Research Assistant; presently with Schlumberger
mooring system survival under trying sea condi-
Technical Services, Inc.. Singapore 1544.
$ Associate Professor: presently Senior Research En-
tions. A mooring system can only be designed sat-
gineer, Applied Mechanics and Structures, Battelle Pacific isfactorily if all of the factors influencing its behav-
Northwest Laboratories, Richland, WA, 99352, U.S.A. ior are studied and analyzed completely, and,
311
312 N. C. KHAN
because of the actual physical limits imposed on
vessel excursions and line tensions, the mooring
system must be properly checked out with suitable
mathematical models, and analysis techniques, if its
behavior is to be predicted realistically.
An important consideration in the dynamical
analysis of a moored offshore vessel is the inclusion
of the dynamics of the mooring line as well. The
behavior of a mooring line resembles that of a non-
linear spring whose tension-displacement charac-
teristics depend on its length. weight, elastic prop-
erties. water depth. etc. In a series of papers,
Childers[ l-41 discusses mooring system design
considerations from a practical standpoint. Nied-
zwecki and Casarella[S] have developed an algo-
rithm for solving the dimensionless form of the cat-
enary equation for mooring lines which are made
up of chain or rope or a combination of the two.
However, they concern themselves strictly with the
equilibrium configuration of the cable. Further,
they do not include the effects of clump weights,
additional anchors and line extensibility. Xnsari[6]
presents an analysis to determine the tension-dis-
placement characteristics of a slack mooring line
made up of anchors, clump weights, chains and ca-
bles and shows how the effect of cable behavior can
be included in the dynamic analysis of a moored
offshore vessel. However. his analysis addresses
the dynamics of the mooring system in a static man-
ner whereby a static equilibrium state is assumed
at each time step. This assumption is deemed valid
because the response of the moored vessel is nor-
mally outside the frequency range of the mooring
lines. Although this gives a first-cut feel for mooring
system dynamics, the effect of line inertia has been
ignored. Schellin et af.f7] use a similar quasi-static
approach as that of Ansari[6] and evaluate proba-
bility functions of the magnitudes of line tensions
and vessel motions. Nath and Felix[8] consider a
single point mooring system with a uniform cable
and predict mooring line motion and tensions re-
sulting from oscillating wave forces. However,
their numerical model is not good for all ranges of
water depths and wave conditions. Wison and Gar-
baccio[9] also consider a uniform cable to deter-
mine the dynamic tensions in a mooring line. One
difficulty is that their method, although quite ele-
gant for uniform cables, tends to be rather expen-
sive. involving 2-3 hr of computer time for any
given case. Also, since the formulation assumes a
uniform cable, multicomponent lines with clump
weights cannot be handled. Dominguez and
Smith[tOl present a method which extends the
static analysis of a non-elastic cable to a dynamic
capability using a discrete parameter model com-
prised of linear springs. This method, however, is
only applicable to small cable displacements and
does not account for vessel motions at the upper
end of the cable.
The purpose of this paper is to predict mooring
system behavior in a realistic and feasibfe way by
modeling a mooring line as a multi-segment, dis-
and K. A. ANSARI
crete, dynamic system. Equations of motion are
formulated and numerically solved with a view to
develop its tension-displacement characteristics,
which can be utilized in providing nonlinear re-
storing forces in the equations of motion of a moored
structure. In order to illustrate a practical appli-
cation, a typical mooring line used on a moored
production barge is examined and results are com-
pared with those of previous work in which the
cable is modeled as a static catenary system.
PROBLEXlFORMUL.4TIOS
Mathematical model
The mooring system analyzed is a network of
multicomponent lines each of which is a combi-
nation of clumped weights. chains and cables. The
mathematical model of each mooring line is a multi-
degree of freedom system obtained from breaking
up the line into a series of finite partitions or seg-
ments whose masses are lumped at appropriate
nodes as shown in Fig. 1. The tota number of such
nodes used should be large enough to model the
basic motions of the mooring array. However, this
is a function of the accuracy desired. Each segment
of the line between two lumped masses or nodes is
treated as a massless, inextensible cylindrical link.
For applications utilizing chains and metal ropes,
the assumption of inextensibility is justi~able. For
example, for a Z&-in.(54-mm) chain-cable type mul-
ticomponent line with a modulus of elasticity of 30
x IO6psi (20.65 x IO6N/cm), the strain is less than
IOc3 in/in, and thus, the total elongation for a 500-ft
(152.4-m) mooring line is only 3 in. (76.2 mm) for
an average tension of 100 kips (444 kN). A global
frame of coordinates is selected with the anchor at
(~0, ~0). Co-ordinates xi, yi and 8; are chosen as
shown in Fig. 1 to describe the motion. The 8; are
measured from the horizontal axis and are positive
counterclockwise. To make the formulation more
general, anchor motions are included in the anal-
ysis. For sufftcient anchor holding capacity, how-
ever, a stationary anchor at the origin can be con-
sidered. The primary interest being one of station-
keeping, vessel motion is restricted to the horizon-
tal plane, which imposes a constraint on the motion
of the surface end of the cable at the vessel fair-
leader. Because of seawater movement, the moor-
ing line would be subjected to drag as well as damp-
ing. The added mass effect from acceleration of the
fluid around a ink can be included in the form of a
fractional mass added to each lumped mass.
The modified Lagrange’s equations for cable
motion permitting the use of holonomic con-
straintsll 1, 121are
, (k = I, 2, 3, . * f , A% flf
where Tand V are the kinetic and potential energies
 Dynamics of a multicomponent mooring line 313
Y
{Fairleader

V Water line

i
(Xi ,Yi’ 1 _fiti_

J
mi
Gj

(Xi-1 ,Yi-1)
‘i
-_-
/ q-1

(x2 ,Yz) ,/

(xO,;;*-l~

I
D
0 X

Fig. 1. Mathematical model of an n-segment cable.

of the system respectively, and PI, p2, . . . , pN are fz - (y, - y. - I, sin 8,) = 0.
a set of co-ordinates used to define the system mo-
tion. Here, N is the total number of such coordi- f, - (x1 - XI - 12cos 02) = 0, (4)
nates, the Al are Lagrange multipliers, the Qk are f4 - (Y2 - Yl - & sin 02) = 0,
nonconservative generalized forces acting in each
co-ordinate direction pk, and the ark are coefficients fs - (x, - x2 - I, cos e,) = 0,
defined by f6 - (h - y2 - 1, sin 0,) = 0.

af, Here, the ten co-ordinates employed are

a/k = C& q

1 = 1,2,..., candk= I,2 ,..., N, (2) PI =Xo, Pr = Yov P3 = XI,

in which the f, are a total of c constraint equations. P4 =* y, 1 ps = x2, Pa = Y2, (5)

Three-segment model P7 = x3, Ps = e,, P9 = 82, PI0 = (33.

Before extension to an n-segment line, the three-
segment model of Fig. 2 will first be analyzed. The Application of eqn ( 1) leads to
kinetic and potential energies in this case are
M~.to=Q.w-A,,
T = fM,& + ji) + Im,($ -I- j:,
MAYO+ Kg = Qw - Arv
t Imr(if + jl:, + lm,i$, (3)
m,R, = Qx, + A, - h3,
V = M*~Yo + mlgyl + mzgy2+ m&
+ mlg =
m,jil Q,,+ A2- AA, (6)
where MA is the anchor mass, mi (i = 1,2, 3) is the m2f2 = a2 + A3 - As,
mass lumped at the ith node, .ro and y. are the an-
chor co-ordinates in the fixed frame of reference m& + mtg = Q,2 + A4 - X6,
and h is the height of the floating vessel above the m3i3=QX,+A5, Az=A,tan8,.
ocean bed. The constraints imposed on the motion
of the mooring line yield the following six constraint A4 = A3tanflz, Ag = Astan&.
equations:
Elimination of the Lagrange multipliers A,, AZ.
f, - (x, - x0 - I, cos e,) = 0, . . . ) A6 and co-ordinates xl, y, , x2, y2, and x3
314 N. U. KHAN and K. A. ANSARI

(Vessel moves only in

horizontal plane)
4-k

Ancho
___

Displacement, H = x + f tj cos 2.
3
j=1
. .

Fig. 2. Mathematical maodel of a three-segment cable.

through algebraic manipulation and simpli~~ation where [A] and [E] are 5 x 5 matrices whose ele-
eventually gives five differential equations in the ments are functions of the instantaneous line con-
five unknown variablesxo, yo, 13,~I& and 83in matrix figuration (t%, &, C13),the {F}s are force column
form as follows matrices and {q} is a representation of the system
unknown variables x0, yo, Bi, 13~and i&. These are
[A](& + [Blf$} = (F,} + {Fz} + (F3), (7) shown below.

A] =

M,4+ml+m2+m3) 0 -(m14m2tm31 - (mz + m3)sin 62 -m3 sin 83

sin 9,
1 [iv,4 cos 8, -(mr4-m2+m3~ -(mz+m,)sin 8, sin -mt sin B1sin 83
+(ml+m2+m3) sin’81 02
sin &I
ml cos 8, sit@, - ed sin(BI- 82)
-[
ml sin $1 (m2+m3)
cos 82 m3 cos 82

+(m2+m3) sin@, - 8:)

+m2
, sin(0f - 82) cos 02

~05 e2 I *sin 81

sin(8, e2)-
fm3
cos e3

sin 8,
1
[
sin(& - f3,)
-[m,sin& + m3 m2 cos 02 rnz cOs(t& - $81
1
L
ml cos (ez- 0,) m3

*sin
cos e3

03
sin(82- 83) +m sir&-03) sin(& - 03)
3 +m3
cos 8, cos e3 cos 83
I

*sin 0, *sin 02
1 I
0 m3 m3 cos 81 m3 cos 02 m3 cos 8,
 Dynamics of a multicomponent mooring line 315

LB1=
0 0 -I(mr +mz+m~)cos O,] (ml + m2kos 8, rn3 cos 03
0 0 -[(m~+mz-tmJsin 8, cos &I (m+ m3)sin 0, cos 8? m3 sin 8, cos 83

0 0 ml sin(& - 9,)
[
(m2 + m3)
sin@t

cos
-82)

82
cos
e ?
1 m3
sin@, - 6:)
cos 8:
‘COS 03

sin(l32- 0~)
0 0
[
rn? sin(&-0,)
C mz sin& - 02) m3
cos 03

+m3
sin@2- 03) cos
cos es
Or

1 +m3
sin@2 - 03) cos e
cos 83
2
I
.cos 03

,o 0 -m3 sin 0, -m3 sin B2 -m3 sin 0,

q=(1 x0
Yo
he,
1202
1393
in which (x0, yo) are anchor co-ordinates. Problem
constraints are represented with the fotiowing tn
equations.

f2i- 1 - [Xj - (Xi-t + liCOS@i)]= 0,

fori= 1,2,. . . .n
fX - [yi - (yr_ t f fisin8i)] = 0,
VII = fori= 1,2,. . . ,n- I (13)

fzn-[h-fyn_,+Insine,)l=O.

(0x0 + Pm + Qx2+ Qx,) For this model, the total number of co-ordinates
Quocos @I+ (Ox, + Ox2 + Q&in @I
represented in Lagrange’s modified equations is
F'21 = CQ,vcos 81 - eX, sin W
(Qyz cos 6~ - Qx2sin 62)
0 N=n+c+l, (14)

where n denotes the number of line segments, and

c represents the total number of constraints, that
{F,l = (11) is, 2n. It can be shown that the motion of the anchor
is given by

n-Segment madei
MA + i
i-l1 mi

n i
To make the formulation more general, models - C mi 2 I/i)/’cos 0, = a, +
i-l j-l i= I
5 Qxi,
with different number of segments have been stud-
ied. The equations obtained show a general pattern
enabling extension to an n-segment mathematical
model as follows. For the n-segment line of Fig. 1,
the kinetic and potential energy expressions can be
seen to be
n i
T = &MA(.i$f j& + i tttj$ + “2 mjjj
j-l j-1
I (12)

V = MAYO+ m,h
j-l 1
+ “i mfYj g, = Q,, + tan@I
i= I
Qd, - MAg.
316 N. U. KHAN and K..% ANSARI

In addition. ‘n’ other equations for the n segments where Ff’ and Fy denote the horizontal and vertical
can be written down in matrix form as follows: components of the nonconservative force acting at
a lumped node in the horizontal (I) and vertical (y)
M~plIL&~ + [B,plIL~h} = IF,}. directions respectively. Subscript A refers to the
anchor, while subscripts i (1, 2. . . , n) provide a
a = I, 2. . . . . n. (16)
representation of the nodes.
p = I, 2. . . . n.
Computation of external forces acting on nodes
where a and p are indices employed to denote rows In general, the forces acting on a mooring line
and columns respectively and the elements Aapt B,, segment can be categorized as ( I) constant and/or
and F, are given by time-dependent wave and current forces; (2) wind
forces on the exposed part of the line; (3) for a
A 4 = m,cos(B, - Op).e steady flow, forces from IMorrison’s formulation.
Since the cable, for all practical purposes, can be
+ (sin(l3, - ~,+,)sinOrJcosOa+l) i mi, assumed to be totally submerged in the water, wind
i=h
and wave forces need not be included. For steady
flap = tn,sin(O, - eph flow below the surface, Morrison’s formula[l3] is
appropriate for computation of forces on a sub-
+ sin(0, - e,+,)cOsepkOse,+,, merged cable. The force exerted by a fluid on an
accelerating body is composed of two components,
F, = m,sin&+ (sin(8, - e,+,)k0se,+d t17J one depending upon friction effects and the other
{ upon displaced fluid inertia. For cylindrical cable
X i t?lii. - {m,cos e,}jiO segments, this is
i=a+ I I
- {m,gcos e,} + {Q,. cos 8, - Qx. sin emI f = fp,.CDDu111
1+ p&AZ, ($).
(f)D2 (22)

- {sin(B, - e,,,)/cose,-,}. 5 QJli, where f is the force per unit length of the cylindrical
i=a+l
cable segment, pWis the mass density of seawater,
cI= 1,2,. . . ,n- l;p= 1,2.. . . ,n u is the segment velocity, D is its diameter, Co is
A n0 = m,cosf$, BnP = - m, sin ep, the drag coefficient and C, is the added mass coef-
ficient. The second term in eqn (22) is due to the
F,, = -‘m& (p = 1, 2, . . . , n). (18) added mass effect which is included in the inertia
force computation. Consequently, only the first
In the above, the multiplying factor E and the index term in equation (22) representing the effect of fric-
6 are defined as tion need be considered in the computation of the
exciting forces. The virtual mass to be lumped at a
1, arp node would then be
e=
{ 0, o<P (19)
a + 1, aZ P m’ = (m + C,,,p,,.D’7~/4)1, (23)
6= o
L a<P
where m is the mass per unit length of the cable
Generalized forces on cable segment, I is the segment length and C,, is the added
The virtual power due to generalized forces ap- mass coefficient. The drag forces in tangential and
plied through infinitesimal virtual velocities com- normal displacement directions of the pth segment
patible with system constraints is of the mooring line can be written as (see Fig. 3)

SF = $. Qisi)i, (20)
i-l

where Qi represents the generalized force associ-

ated with the generalized co-ordinate pi. Equating
this, for the n-segment model, with the power re-
sulting from exciting forces applied through infin-
itesimal virtual velocities compatible with system
constraints yields the generalized forces as

Q,lu = Fz, QYo= F:,

Qxi = Fr , Qyi = F‘)‘, Qei = 0.
Fig. 3. Average velocities and drag forces along and nor-
(i = I, 2, . . . , n), (21) mal to pth link.
 Dynamics of a multicomponent mooring line 317
Numerical soldon
The set of mooring line equations of motion de-
rived for the n-segment model can be written in the
form
where the coefftcients CTand C,S are given by

fMlM = VI. (‘91

where [M] is a pseudo-mass matrix comprised of

Here, ‘i;;,’and v,” are the average tangential and functions of the qs, {Fj represents a pseudo-force
normal velocities of the pth segment, DP and lp are column matrix made up of functions of the qs and
the diameter and length of the pth segment. and the 4s. For sufficient anchor holding capacity, the
C’i and C’,”denote the tangential and normal drag motion of the anchor can be neglected and the an-
coefficients for cylind~cal links. Approp~ate val- chor can be restrained at the origin, In this case,
ues of these coefficients are recommended by Cas- the anchor motion given by eqns (15) need not be
arella and Parsons1141 in their survey of investi- included. A minor modification to eqn (16) obtained
gations on the configurations and motions of cable by dropping the Z0 and $0 terms of eqns (17) will
systems. Considering the velocities along and nor- yield a complete set of n equations of motion with
mal to the segment as the averages of the corre- only 8s as the variables. These equations are cou-
sponding velocities at the nodes on the opposite pled, nonlinear differential equations which can be
ends of the segment, it can be shown that solved numerically. A static equilibrium configu-
ration[6, IS, 161can be assumed to provide the in-
itial conditions for the problem. If the values of 0s
Tr = j, cos e, - 4 sin e, + I/,&
and 6s are known at any instant, the substitution in
VT = i. cos e, + j, sin 8, [M] and {F} will lead to a set of /r simultaneous
algebraic equations with gs as unknowns. Elements
Tf = jt, cos e, - t sin eP of [Ml and (F} are first computed from the known
p-1 values of 0s and es at the first step and then the
+ x i&tj cos(t?, - ej) + ti,f$,, (26) simultaneous equations are solved bp Gauss’s
j=l
method of elimination to find the 6s. Thus, the es.
‘i;;,’ = Lo sin e, + 4 cos e, 4.sand iis are all known at this step. Essentially, we
p-1
have a set of n coupled nonlinear differential equa-
+ x I& sir@, - ej).
tions to be solved at each time step. The solution
j=l to these equations may be obtained by Runge-
Kutta calculations, A subroutine subprogram which
(p = 2, 3, . . . , n).
performs Runge-Kutta calculations by Gill’s
method[ll] is utilized to solve these second-order
The normal and tangential drag force components
differential equations. This is a self-starting
can then be found from eqns (24). The generalized
method, which yields a step-by-step-solution up to
forces Q+ and Q,,, acting at a node p can be con-
the given time limit, once the initial 0 and b values
sidered as the average of those at the connecting
are furnished. The time step can be monitored dur-
links, that is,
ing the computations, if desired.
Q.vF= RF; + F’;+ I 1,
“Starting” cable configurations
Qyp= W=$ + F;+ 11, (27) There are several methods of generating static
(p = 1,2,. . . ,n - 1) equilib~um cable con~gurations to serve as initial
conditions for the dynamic solution. Skop and
Qx. = tF”,, Q,.=!LK O’Hara[lS] have developed the method of imagi-
nary reactions to find the static cable configuration
where superscripts x and y denote force compo- using rapidly converging iterations for cables with
nents in x and y directions respectively. concentrated loads. However, this method requires
In a situation where anchor motion is possible, a “good” initial guess. For a “bad” initial guess,
the effect of added mass has to be incorporated in the method does not converge as rapidly as for a
the anchor inertia and the drag forces on the anchor “good” one. A faster numerical procedure for find-
must be included too, using ing the complete geometry and static end forces for
a plane cable element has been developed by Peyrot
F* = .ipwA,C$V*, (28) and Goulois[l6]. Static tension-displacement char-
:1 acteristics and cable configurations for a 3-segment
where A, is the anchor projected area, C”, is the multicomponent mooring line comprising of an-
anchor drag coefftcient, pW.is the mass density of chors, clump weights, chains and cables have been
seawater, and V is the anchor speed. derived by Ansari[6]. Any of these listed methods
318 N. U. KHAN and K. A. ANSARI

Y
t

*i

Fig. 4. Horizontal and vertical equilibrium of mass, mi.

can be used to generate “starting” cable configu- i

rations. - mi g + j;, + x /j(Gj COSOj - i$ sin 6j) ,
j=l

Mooring line tensions

(32)
An analysis of forces at the surface end of the
cable yields
where F? and FY are the horizontal and vertical
Tz = F? - m,&, components of external forces acting at the ith mass
(30)
Ty = F,V - m,g, mi. Starting with the nth segment, thus, tensions in
all segments of the cable can be found using eqns
where Ff and F,V are the horizontal and vertical (30-32). The values of x0, yo, &, jio, &, 8; and iii
components, respectively, of external forces acting are known at any time, and, in turn, tensions at that
at the nth mass, Tf and T,’ are the horizontal and time can be computed, yielding the entire tension
vertical components of the tension in the nth seg- time history from the differential equation solution.
ment and the acceleration f, is given by

Mooring line dynamic tension-displacement

” = ,fo -
xn i /j(tij sin 6j + @ COS 9j). (31) characteristics
j=l
Relations may now be obtained giving time-dis-
placement, time-tension, and time-horizontal ten-
Similarly, the tension components in adjacent seg-
sion profiles. With the help of these, a horizontal
ments i and (i + I) are seen to bear the following
tension vs horizontal cable projection curve can be
relationships (see Fig. 4):
generated providing the tension-displacement
characteristics of the mooring lines for specified
configurations or displacement ranges. Using
curve-fitting techniques, polynomial forms for
- mi Ro - i sin 0j + 6; COS 8,)
/j(ii,
{ j-1
these curves can then be obtained. The “starting”
or “initial” configuration for a given displacement
T:= TiV,, + F,?’ range must, however, be specified, which can be
 ofa mu~ticompo~ent mooing tine
Dynamics 319

Set initial configurationof

mooring line using one of the
methods ellployingstatic catenary
equations,with segment msses
luqed at discretenodes

Generatehorizontalcomponent 1
of tension vs. horizontal
displacementof vessel data
Manipulateequation(16)in the (tension-displacement
form: characteristics of individual
[M](i;)= IF) mooring lines)

Calc. elementsof matrix CM1 and

vector <F) which are functionsof Develop equationofpolynomial
p's and i's, using equation (18). of tension-displacement
characteristicsusing curve-
fitting techniques

:-i‘
algebraicequationsin matrix form
by Gauss-Jordonmethod, to yield {$I
END

Calc. vessel position,horizontal

and vertical coopt. of tensionin
each segment, using eqns.(30)-(32)

scheme for developing

Fig.5.General mooring line dynamic tension-displacement characteristics.
320 N. U. KHAN and K. A. ANSARI

/Vessel fairleader
Water line
A
---
50'

Fig. 6. Mooring
line of example problem. Conversion factors: ft = 0.3048 m. lb-force = 4.44 N.

LL”
c . Configuration 1
WO

1 I
0.00 80.00 160.00 240.00 320.00
Distance in ft.

Configuration 2

80.00 160.00 240.00 320.00

Distana2 in ft.

Configuration 3

Distance in ft.

Configuration 4

Distance in ft.

Configuration 5

Fig. 7. Line starting configurations obtained from static catenary equations. Conversion factor: ft =
0.3048 m.
 Dynamics of a multicomponent mooring line 321

Fig. 8. Tension-displacement characteristics of the iine with con~gurati~n I as the initial condition.
Conversion factors: ft = 0.3048 m, lb-force = 4.44 N.

furnished through the static catenary equations. Ef-
fects of elastic stretch, therma eiongation, etc. can
also be easify included in the generation of the “in-
itial” static cable configurations. The dynamic so-
lution assumes, however, that the cable remains
inextensible as it goes from one configuration to the
next.
As a moored offshore structure subjected to en-
vironmental forces moves from its initial position,
some of the mooring lines can become taut while
others can slacken. The technique employed can
handle both taut and slack cables as well as single-
component and multicomponent combinations with
or without clump weights.
Computer program development
Using the analysis technique presented in this
paper a digital computer program has been devel-
oped for generation of the dynamic tension-dis-
placement characteristics of a mooring line. This
program performs a dynamic time domain analysis
of mooring line motions. A Bow diagram ihustrating
the general procedure on which the development of
the program is based is shown in Fig. 5. A detailed
program listing is given in the Appendix.
EXAMPLE PROBLEM
As an application of the technique presented in
this paper, the dynamic response of a typical moor-
ing line used on a production barge moored in shal-
low water is examined. The fine analyzed. which is
shown in Fig. 6, is a 3%ft (I~.~-rn) length of 26-
in (54-mm) chain with a 10 kip (44.4 kNf clump
weight positioned 100 ft (30.48 m) from an anchor
pile. For purposes of modeling, the line is broken
up into 10 segments, with the clump weight put in
as an additional mass at the appropriate node, as

Hormntol protection, ft

Fig. 9. Tensjon-displacement characteristics of the line with con~guration 2 as the initial condition.
Conversion factors: ft = 0.3048 m, lb-force = 4.44 N.
 N. U. KHAN and K. A. ANSARI

Fig. 10. Tension-displacement characteristics of the line with configuration 3 as the initial condition.
Conversion factors: ft = 0.3048 m, lb-force = 4.44 N.

shown in Fig. 7. The vessel which is attached to
the floating end of each cable, is 210 ft (64 m) x
60 ft (18.3 m) x 14 ft (4.3 m) with a 7.5 ft (2.3 m)
draft in water 50 ft (15.2 m) deep and a displacement
of 6 X IO6lb (13.32 x lo6 N). In order to make an
effective comparison of the results obtained by this
approach with those of the static analysis[6] the
mooring line is analyzed for five starting contigu-
rations. These are obtained from the static catenary
equations and are shown in Fig. 7. Tension-dis-
placement characteristics are obtained with the
help of the computer program developed. These are
shown in Figs. 8-12.
A comparison with the results of the static anal-
ysis[6] indicates that, although, in the displacement
range of cable configuration 4 and 5 the line tension
does not go up with the inclusion of cable dynamics
it does shift to higher values in configurations 1 to
3 which are the configurations of interest since a
mooring line must be designed to function mostly
in these configurations with the clump weight sit-
ting on the ocean bottom and serving as an auxiliary
anchor.
CONCLUDING REMARKS
A dynamic analysis of a multicomponent moor-
ing line made up of a combination of clumped
weights, chains, and cables has been presented in
this paper. The mathematical model of the line is
a multidegree of freedom system generated by
breaking it up into a series of finite segments with
masses lumped at appropriate nodes. Each line seg-
ment between two nodes is treated as a massless,
inextensible, cylindrical link. Equations of motion
are derived using the modified Lagrange’s equation
permitting holonomic constraints. The general

Fig. I 1. Tension-displacement characteristics of the line with configuration 4 as the initial condition.
Conversion factors: ft = 0.3048 m. lb-force = 4.44 N.
 Dynamics of a multicomponent mooring line 323

_8
.L!
8
‘0
=001 I I I # 8
, , , , , , t

33755 33686 340.17 341.48 342.80 344.11 345%

H0rrzonlol pr0fiOCtion. ft

Fig. 12. Tension-displacement characteristics of the tine with configuration 5 as the initial condition.
Conversion factors: ft = 0.3048 m, lb-force = 4.44 N.

equation generated in matrix format for the n-seg-
ment cable represents a set of nonlinear, coupled,
differential equations that can be solved by Runge-
Kutta’s method to yield cable displacement and
tension time histories for the various configurations
occurring. Initial conditions needed for starting the
dynamic solution can be provided through the static
catenary equations [6,10,11]. Although the dynamic
solution is restricted to inextensible cables, effects
such as elastic stretch and thermal elongation can
be easiiy incorporated in the generation of these
initial conditions, Once the dynamic solution is
computed, the tension-displacement characteristics
of the mooring line are obtained from the tension
and displacement time histories. With the analyt-
ical procedure discussed, cable segments having
different sizes and materia1 properties can be in-
cluded, any anchor motion possible can be allowed,
and both taut and slack cables as well as single com-
ponent and multicomponent combinations with or
without clump weights can be handled with ease.
Thus, the method should serve as a useful tool in
developing realistic mooring line restoring forces
for use in the mooring analysis of offshore vessels
anchored with muItipoint, multicom~nent cable
systems.
Acknowledgmenr-The authors are grateful to the Uni-
versity of Petroleum and Minerals, Dhahran, Saudi Arabia
for its support of this project, and to Professor A.D. Sarkar 14. M. J. Casarella, and M. Parsons, A survey of inves-
and Professor C.K. Wojcik for their helpful comments and
suggestions. Thanks are also due to A. Shehab Eldin for
his help with the tigures and to S.I. Jameef for typing the
equations.
REFERENCES
1. M. A. Childcrs, Mooring systems for hostile waters.
Petrol. Engr 58-70 (1973).
2. M. A. Childers, Deep water mooring-Part 1. Envi-
ronmental factors control station keeping methods.
Petrol. Engr 10, 36-58 (1974).
3. M. A. Childers, Deep water mooring-Part II. The
ultradeep water spread mooring system. Perrol. Engr
2, 108-l 18 (1974).
4. M. A. Childers, Deep water mooring-Part Hf.
Equipment for handling the ultradeep water spread
mooring system. Petrol. Engr 5, 114-132 (1975).
5. J. M. Niedzwecki, and M. J. Casarella, On the design
of mooring lines for deep water applications. ASME
paper No. 75-WAIOCE-1 (1975).
6. K. A. Ansari, Mooring with multicomponent cable
systems. J. Energy Resow. Technol. Trans. A.S.M.E.
102, 62-69 (1980).
7. T. E. Schellin, M. Scharrer, and H. G. Mathies, Anai-
ysis of vessel moored in shallow, unprotected waters.
Offshore Technol. Conf., OTC-4243,3-6 May (1982).
8. J. H. Nath, and M. P. Felix, Dynamics of single point
mooring in deep water. J. Waferways, Hurbows
Coastal Engng Div. Proc. ASCE 815-833 (1970).
9. B. W. Wilson, and D. H. Garbaccio, Dynamics of ship
anchorlines in waves and currents. J. WaterwaysHar-
bows Div., Proc. ASCE 449-465 (1969).
10. R. F. Dominguez, and C. E. Smith, Dynamic analysis
of cable systems. J. Struct. Div., Proc. ASCE 1817-
1834(1972).
11. L. Meirovitch. Methods of Analytical Dynamics, pp.
66-77. McGraw-Hill. New York (1970).
12. L. Meirovitch, A~ul~fic~i ~elho~s in Vib~arions,pp.
3 l-50. Macmillan, London f 1969).
13. Handbook of Ocean and Underwater Engineering
(Edited by J. J. Myers, C. H. Holm and R. F.
McAllister) Chap. 12, p. 47. McGraw-Hill. New York
(1%9).
tigations on the con~gu~tion and motion of cable sys-
tems under hydrodynamic toading. M.T.S. J. 4(4t, 27-
44 (1970).
15. R. A. Skop, and G. J. O’Hara. The method of
imaginary reactions, a new technique for analyzing
StNCtUd cable systems. M.T.S.J. 4, 21-30 (1970).
16. A. H. Peyrot, and A. M. Goulois, Analysis of cable
structures. Compuf. Sffttcfures 10, 805-813 (1979).
17. F. M. White, Viscous FIItid Flow, pp. 675-678.
McGraw-Hill, New York (1974).
324 N. U. KHAN and K. A. ANSARI

APPENDiX

Program for cnble dyamics

SJOB

DIMENSION Y(2~),~(20),R(lO),RF(lO),THETA(lO),VEL(1O),ACCN(lO),TENS
&(lO),TH(lO),TV(lO),XC(ll),YC(11),PP(ll,2),~(8SO),~(85O),TIME(4OO
&},TENSN(4OO},HORTEN(4OO~,DISPT{4OO)
CO~ON/rNPT/GL~lO),~(lO}
COMMON/TWO/A(lO,ll)
CO~ON/CONST/CT,CN/CONS1/CM,W,GI(1O),PI/O,DIA
PI=3.141592654
C
C DEFINE INITIAL CONDITIONS FOR RUNGE .
C
READ(5,4) X,XLIM,H,M,N
WRITE(6,4) X,XLIM,H,M,N

: DEFINE INITIAL CONDITIONS FOR CABLE CONFIGURATIONAND MOTIONS .

CALL INPUT(THETA,VEL,ACCN,~)
II=0
NM=0
NLP=NL+l
NN=NL-1
NL2=NL*2
C
C DEFINE RUNGE VARIABLES IN TERMS OF GIVEN VALUES OF THETA'S, VEL'S
C AND ACCELERATIONS .
C
DO 55 I=l,NL
Y(I)=THETA(T)
IPN=I+NL
Y(TPN)=O.O
F(IPN)=O.O
55 CONTINUE
C WRITE(6,14) (Y(I),I=l,N)
4 FORMAT(3FR.4,215)
C 14 FO~T(lOF8.4)
KM=1
8 IF(X-XLIM)6,6,7
6 CALL RUNGE(N,Y,F,X,H,M,K)
GO TO (10,20),K
10 DO 85 KK=l,NL
NP=KK+NL
F(KK~=Y(NP)
85 CONTINUE

FIND SECOND DERIVATIVES IN TERMS OF THETA'S AND THEIR DERIVATIVES .

SUBROUTINE CALL CALLS SUBROUTINE LUMP WHICH COMPUTES THE ELEMENTS
OF THE MATRIX EQATIONS OF MOTION FOR N-D.O.F. s SUB LUMP CALLS
OTHER SUBROUTI~S e
THEN, USING GAUSS-JORDAN METHOD, IT SOLVES SIMULTANEOUSEQUATIONS .

CALL CALL(R,RF,NL,NLP,Y,F,GL)
DO 95 KJ=l,NL
NPL=KJ+NL
F(NPL)=R(KJ)
95 CONTINUE
GO TO 6

C FIND OUTPUT FOR NEXT TIHE STEP .

 Dynamics of a multicomponent mooring line 325

C
20 CALL OUTPUT(NL,NN,NL2,X,Y,R,THETA,VEL,ACCN,TH)
C
C STOR THE OUTPUT AS TIME-HISTORY FOR CABLE TENSION, HORI.TENSIONAND
C DISPLACEMENT .
C
TIHE(KM)=X
TENSN(KM)=TENS(NL)
HORTEN(KM)=TH(NL)
DISPT(KM)=SUM
KM=KMtl
NK=KM-1
11=x1+1
AI=II/lO.O
NI=II/lO.o
IF(NI.EQ.AI)GO TO 444
GO TO 445
444 CALL CONFIG(NL,GL,THETA,XC,YC,PP)
DO 500 JJ=l,NLP
XN(JJ+NM)=XC(JJ)
500 YN(JJ+NM)=YC(JJ)
C IF(X.GE.O.S.AND.X.LE.2.18)H=0.08
C IF(X.GT.2.18)H=O.Ol
NM=NM+NLP
445 GO TO 8
C
C WRITE TENSION TIME-HISTORY ON DIFFERENT FILE .
C
7 WRITE(~O,~~~) (TIME(I),TENSN(I),I=~,NK)
231 FORMAT(' ',F8.4,2X,E14.6)
REWIND 10
C
C WRITE DISPLACEMENTTIME-HISTORY ON DIFFERENT FILE .
C
WRITE(~~,~~O) (TIME(I),DISPT(I),I=I,MK)

230 FORMAT(' ',F8.4,2X,F12.5)

REWIND 12
C
C WRITE HORI.TENSION TIME-HISTORY ON DIFFERENT FILE .
C
w~1~E(20,232) (TIME(I),HoRTEN(I),I=~,NK)
232 FORMAT(' ',F8.4,2X,E14.6)
REWIND 20
STOP
END
C
C
SUBROUTINE RUNGE(N,Y,F,X,H,M,K)
C
C THIS SUBROUTINE PERFORMS RUNGE-KUTTA CALCULATION BY GILLS METHOD .
C
DIMENSION Y(N),F(N),Q(28)
M=M+l
GO TO (1,4,5,3,7),M
1 DO21=1,N
2 Q(I)=O.
A=0.5
GO TO 9
3 A=1.707107
326 N. U. KHAN and K.A.ANSARI
C
c IF YOU NEED MORE ACCURACY , USE A=1.7071067811%6S475244
C
4 X=XtO.S*H
5 DO 6 I=l,N
Y(I)=Y(I)+A*(F(I)*H-Q(1))
6 Q(I)=Z.*A*H*F(~)+(l.-3.*A)*Q(I)
A=0.2928932
C
c IF YOU NEED MORE ACCURACY , SET A=0.292832188134524756
C
GO TO 9
7 DO 8 I=l,N
a Y(I)=Y(I)tH*F(I)/6.-Q(I)/3.
H=O
K=2
GO TO 10
9 K=l
10 RETURN
END
C
C
SUBROUTINE GAUSS(RF,M,MPl)
DIMENSION RF(10)
COMMON/TWO/A(lO,ll)
CO~ON/THREE/X(lO)
DO 33 I=l,M
33 A(I,Mtl)=RF(I)
N=MP1
LAST=M-1
DO 200 I=l,LAST
BIG=O.
DO 50 K=I,M
TERM=ABS(A(K,I))
IF(TERM-BIG)S0,50,30
30 BIG=TERH
L=K
50 CONTINUE
IF(BIG)%O,60,80
60 WRITE(6,22)
22 FORMATf' ',SX,'THESOLUTION IS NOT POSSIBLE',/)
RETURN
80 IF(I-L)90,120,90
90 DO 100 J=l,N
TEMP=A(I,J)
A(I,J)=A(L,J)
100 A(L,J)=TEMP
120 PIVOT=A(I,I)
NEXTR=Itl
DO 200 J=NEXTR,M
CONST=A{J,r)/PIVOT
DO 200 K=I,N
200 A(J,K)=A(J,K)-CONST*A(I,K)
DO 500 I=l,M
fREV=Mtl-I
Y=A(IREV,N)
IF(IREV-M)400,500,400
400 DO 450 J=2,1
K=N+l-J
450 Y=Y-A(IREV,K)*X(K)
500 X(IREV)=Y/A(IREV,IREV)
RETURN
END
C
C
 Dynamics
ofamulticom~nent line
mooring
SUBROUTINE INPUT(THETA,VEL,ACOJ,NL)
DIMENSION THETA(lO),vEL(lO),ACCrr(lO),P(ll,2)
CO~ON/INPT/GL(lO),~(lO)
CO~ON/CONST/CT,CN/CONS1/QI:,W,GI(lO),PI/CONSZ/~O,DLA
COMMON/FOUR/G
CO~ON/SXX/GX(ll),GY(ll)
C
C NL : NUHBER OF LINKS .
c
cw: HASS OF CABLE PER UNIT LENGTH -
C
c CM : COEFF. OF VIRTUAL MASS IN ACCELERATIVENORHAL FLUID FLOW .
C
c CT : TANGENTIAL DRAG COEFF .
c
C CN : NORMAL DRAG COEFF .
C
C DIA : DIAHETER OF CABLE
c
c RHO : SEA WATER DENSITY
C
C
READ,NL,W,BH
WRITE(6,43)NL.W
43 FORMAT(t ',$ NUMBER OF LINKS=',IS,' HASS PER UNIT LEGTH OF LINK='
&,F10.5,/)
WRITE(6,93) BM
93 FORMATi' ',' MASS OF BARGE (DISP~C~ME~) Is =',F16.5,/)
READ,G,DIA,RHO
READ,CM,CT,CN
WRITE(6,22) G,DIA,RMO
22 FORHAT(' ','G =',F8.3,' DIA=',F8.3,' RHO=',F8.3,/)
WRITE(6,23) CM,CT,CN
23 FORJtAT('','CM=',F8.5,' CT=',F8.5,' CN=',F8.5,/)
NP=NL+l
CALL COOR(NP,GL,THETA)
CALL ~SS(~,GL,BM,~)
DO 100 I=l,NL
VEL(I)=O.
ACCN(I)=O.
100 CONTINUE
DO 12 KK=l,NP
P(KK,l)=GX(KK)
P(KK,2)=GY(~)
12 CONTINUE
CALL PLOT(l,P,NP,Z,O,l)
T=O.
WRITE(6,l) T
1 FORMAT(' ','TIHE T=',F6.3,' SECONDS',/)
DO 2 f=l,NL
WRITE(6,3) I,TNETA(I),I,VEL(I),I,ACCN(I)
3 FORMAT(' ','THETA(',12,')=',E15.4,'ANG. V!ZL(',I2,')=',E15.4,' AN
&G. ACCELN.(',I2,')=',El5.4,/)
2 CONTINUE
RETURN
END
C
C
SUBROUTINE STATXC(NP,~TA,VEL,ACCN)
DIMENSION ~TA(lO),~L(lO),&C~(lO),P(ll,2)
COMMON/INPT/GL(lO),AM(lO)
COMMON/SIX/GX(l1),GY(ll)
CALL ~OOR(NP,GL,~ETA)
3’8 N. U. KHA?I and K. A. ANSARI

NL=NP-1
DO 100 I=l,NL
VEL(I)=O.
ACCN(I)=O.
100 CONTINUE
DO 12 KK=l,NP
P(KK,l)=GX(KK)
P(KK,Z)=GY(KK)
12 CONTINUE
CALL PLOT(l,P,NP,2,0,1)
T=O.
WRITE(6,l) T
1 FORMAT(' ','TIME T=',F6.3,' SECONDS',/)
DO 2 I=l,NL
WRITE(6,3) I,THETA(I),I,VEL(I),I,ACCN(I)
3 FORMAT(' ','iHETA(',I2,')=',E15.4,'ANG. VEL(',IZ,') =',E15.4,' AN
ffi.ACCELN.(',IZ,')=',E15.4,/)
2 CONTINUE
RETURN
END
C
C
SUBROUTINE MASS(NL,GL,BH,AM)
DIMENSION AM(lO),GL(NL)
COMMON/CONSl/CM,W,GI(1O),PI
COMMON/CONS2/RHO,DIA
NN=NL-1
DO 1 I=l,NN
IIP=I+l
AH(I)=(W+CM*RHO*PI*O.25*DIA*DIA)*(GL(I)+GL(IIP))*O.5
C
C WHERE ,
CAM : IS THE LUMPED MASS OF AN ELEMENT AT THE NODE .
C CM : IS THE COEFF. OF VIRTUAL MASS IN ACCELERATIVE NORMAL FLUID FLOW
C AROUND A CIRCULAR CYLINDER .
c RHO : IS THE DENSITY OF WATER .
C DIA : IS THE DIAMETER OF CABLE .
C CL(I) : IS THE LENGTH OF ITH ELEMENT OF CABLE .
C GL(I+l) : IS THE LENGTH OF (I+l)TH ELEMENT OF CABLE .
C
GI(I)=O.O
L

C WHERE ,
C GI : IS THE MOMENT OF INERTIA OF LINK .
C
1 CONTINUE
C BH=0.60E 07
AM(NL)=BM+(W+CH*RHO*PI*O.25*DIA*DIA)*GL(NL)*O.5
C
C THE CLUMP WEIGHT AT A POSITION ON CABLE IS CONSIDERED AS AN ADDITION-
C AL MASS LUMPED AT THE RESPECTIVE NODE .
C
C ICW IS POSITION OF CLUMP WEIGHT .
C
ICW=3
AM(ICW)=AM(ICW)+310.56
GI(NL)=O.
C
C LAST MASS IS THE MASS OF OCEAN STRUCTURE .
C
RETURN
END
C
C
 Dynamics of a multicomponent mooring line 319

SUBROUTINE COOR(NP,GL,THETA)
DIMENSION GL(lO),THETA(lO)
COMMON/COR/DEP
COMMON/SIX/GX(11),CY(ll)
NLl=NP
DO 1 I=l,NLl
READ(25,lO) GX(I),GY(I)
10 FORMAT(2F10.5)
1 CONTiNUE
NL=N?-1
DO 2 I=l,NL
IPl=I+l
GL(I)=SQRT((GX(IPl)-GX(I))**2+(GY(IP1)-GY(I))**2)
S=(GY(IPl)-GY(I))/(GX(IPl)-GX(1))
THETA(I)=ATAN(S)
2 CONTINUE
DEP=O.
DO 3 I=l,NL
DEP=DEP+GL(I)*SIN(THETA(I))
3 CONTINUE
WRITE(6,4) DEP
4 FORMAT(' ',ZX,'DEP=',F8.3,/)
RETURN
END
C
C
SUBROUTINE LUMP(RF,NL,Y,FA)
DIMENSION F1(10,10),F2(10),F3(10),F4(10),F5(10),THETA(10),~L(l0),
&RF(lO),RFl(lO),CS(lO),SN(lO),S~SS(lO),AC~(lO),Y(2O),FA(2O),
&SFH(lO),SFV(lO)
COMMON/INPT/GL(lO),AM(lO)
COMMON/TWO/A(lO,ll)
COMMON/CONST/CT,CN/CONS2/RHO,DIA
COMMON/CONSl/CM,W,GI(1O),PI
COMMON/FOUR/G
COMMON/COMPT/FH(lO),FV(lO)
NN=NL-1
DO 23 I=l,NL
THETA(I)=Y(I)
NPl=NL+I
VEL(I)=Y(NPl)
ACCN(I)=FA(NPl)
23 CONlINUE
GY=O.
YDT=O.
YZDT=O.
DO 104 KK=l,NL
CS(KK)=COS(THETA(KK))
SN(KK)=SIN(THETA(KK))
104 CONTINUE
NLP=NL+l
DO 105 I=l,NL
DO 105 J=l,NLP
105 A(I,J)=O.O
DO 106 I=l,NL
DO 106 J=l,NL
106 Fl(I,J)=O.O
CALL FORCE(NL,VEL,THETA,GL)
DO 40 IK=l,NL
ss2=0.
ss3=0.
DO 44 JK=IK,NL
SSZ=SSZ+FH(JK)
330 N. U.KHAN andK.A.ANSARI
SS3=SS3+FV(JK)
44 CONTINUE
SFH(iK)=SSZ
SFV(IK)=SS3
40 CONTINUE
CALL TMASS(AM,NL,SMASS)
DO 1 I=l,NN
DO 2 J=l,NL
IPl=I+l
VAL=SIN(THETA(I)-THETA(IPl))/COS(THETA(IPl))
IF(1.GE.J) GO TO 3
GO TO 4
3 SH=SMASS(IPl)
A(I,J)=A(I,J)+AH(I)*COS(THETA(I)-THETA(J))+VAL*SIN(THETA(J))*SH
Fl(I,J)=Fl(I,J)+~(I)*SIN(THETA(I)-THETA(J))+VAL*COS(~ETA(J))*SM
GO TO 5
4 SH=SMASS(J)
A(I,J)=A(I,J)+VAL*SIN(THETA(J))*SM
Fl(I,J)=Fl(I,J)+VAL*COS(THETA(J))*SM
GO TO 5
5 IF(1.EQ.J) A(I,J)=A(I,J)+GI(I)/GL(I)

2 CONTINUE
F3(I)=G*COS(THETA(I))*AM(I)
F4(I)=(FV(I)*CS(I)-FH(I)*SN(I))
FS(I)=VAL*SFH(IPl)
1 CONTINUE
DO 555 J=l,NL
A(NL,J)=A(NL,J)tAM(NL)*COS(THETA(J))
555 Fl(NL,J)=Fl(NL,J)-AM(NL)*SIN(THETA(J))
DO 220 IK=l,NL
FZ(IK)=GL(IK)*VEL(IK)*VEL(IK)
220 CONTINUE
F3(NL)=O.
F4(NL)=O.
FS(NL)=O.
CALL HULT(Fl,FZ,RFl,NL,NL,l)
DO 50 II=l,NL
RF(II)=O.
50 CONTINUE
DO 60 IJ=l,NL
RF(IJ)=RF(IJ)+F4(IJ)-FS(IJ)-F3(IJ)-RFl(IJ)
60 CONTINUE
C WRITE(6,140) (RF(I),I=l,NL)
Cl40 FORMAT(' ',ElS.S,/)
RETURN
END
C
C
SUBROUTINE TMASS(AM,NL,SMASS)
DIMENSION SMASS(lO),AM(lO)
DO 1 I=l,NL
1 SMASS(I)=O.
DO 2 I=l,NL
sUM=o.
DO 3 J=I,NL
SUM=SUMtAM(J)
3 CONTINUE
SMASS(I)=SMASS(I)tSUM
2 CONTINUE
RETURN
END
 Dynamics
ofamulticomponent
mooring line 331

SUBROUTINE FORCE(NL,VEL,THETA,GL)
DIMENSION VEL(lO),THETA(lO),FT(1O),FN(lO),CS(1O),SN(lO),
VAVT(lO),V
6WN(10),CDT(10),CDN(10),GL(10)
COM?fON/CONST/CT,CN
COMHON/CONS2/RHO,DIA
COMMON/COtfPT/FH(lO),FV(lO)
PI=3.141592654
NN-NL-1

DO 1 I=l,NL
CS(I)=COS(THETA(I))
SN(I)=SIN(THETA(I))
1 CONTINUE
DO 100 I=l,NL
CDT(I)=0.5*CT*RHO*PI*DIA*GL(I)
CDN(I)=O.5*CN*RHO"PI*DIA*GL(I)
100 CONTINUE
XDT=O.
YDT=O.
VAVN(l)=YDT*CS(l)-XDT*SN(l)+O.S"GL(l)*VEL(l)
VAVT(l)=YDT*SN(l)tXDT*CS(l)
DO 111 1=2,NL
sVN=o.
SVT=O.
IHl=I-1
DO 112 J=l,IHl
SVN=SVNtGL(J)*VEL(J)*COS(THETA(I)-THETA(J))
SVT=SVT+GL(J)*VEL(J)*SIN(THETA(I)-THETA(J))
112 CONTINUE
VAVN(I)=SVN-XDT*SN(I)tYDT*CS(I)tO.5*GL(I)*VEL(I)
VAVT(I)=SVTtXDT*CS(I)tYDT*SN(I)
111 CONTINUE
DO 113 I=l,NL
FT(I)=-CDT(I)*ABS(VAVT(I))*VAVT(I)
FN(I)=-CDN(I)*ABS(VAVN(I))*VAVN(I)
FH(I)=FT(I)*CS(I)-FN(I)*SN(I)
FV(I)=FN(I)*CS(I)tFT(I)*SN(I)
113 CONTINUE
VSURG=VAVT(NL)*CS(NL)-VAVN(NL)*SN(NL)
BL=210.
B=60.
DRAFT=7.5
D=14.0
AREA=BL*Bt2.0*BL*DRAFT
FH(NL)=FH(NL)-O.S*CT*RHO*(AREA)*ABS(VSURG)*VSURG
FH(l)=FH(l)*O.S
DO 3000 KK=Z,NN
KPl=KKtl
FH(KK)=(FH(KK)tFH(KPl))i0.5
FV(KK)=(FV(KK)tFV(KP1))*0.5
3000 CONTINUE
FH(NL)=FH(NL)*O.S
FV(NL)=FV(NL)*O.S
RETURN
END

SUBROUTINE T&NSON(THETA,VEL,ACCN,NL,TH,TV,TENS)
DIMENSION THETA(NL),~L(NL),ACCN(NL),XACC(lO),YACC(10),TH(10),TV(1
332 KHAN and K. A. ANSARI
N. ti.
&O),TENS(lO)
COMMON/CONSl/CM,W,GI(1O),PI
COMHON/INPT/GL(lO),AH(lO)
COMMON/COMPT/FH(lO),FV(lO)
COMMON/FOUR/G
COMMON/CONSZ/RHO,DIA
X2DT=O.O
Y2DT=O.O
DO 1 I=l,NL
SMl=O.
SH2=0.
DO 2 J=l,I
SM1=SM1+X2DT-GL(J)*(ACCN(J)*SIN(THETA(J))+VEL(J)*VEL(J)*COS(THETA(
&J)))
SM2=SM2+Y2DT+GL(J)*(ACCN(J)*COS(THETA(J))-VEL(J)*VEL(J)~SIN(THETA(
&J)))
2 CONTINUE
XACC(I)=SMl
YACC(I)=SM2
1 CONTINUE
TH(NL)=(FH(NL)-AM(NL)*XACC(NL))
TV(NL)=FV(NL)-(W+CM*RHO+PI*O.25*DIA*DIA)*GL(NL)*O.5*G
TENS(NL)=SQRT(TH(NL)*TH(NL)+TV(NL)*TV(NL))
NLl=NL-1
DO 10 I=l,NLl
IM=NL-I
IP=IM+l
TH(IM)=TH(IP)+FH(IM)-AM(IM)*XACC(IM)
TV(IM)=TV(IP)+FV(IM)-AM(IM)*(YACC(IM)+G)
TENS(IM)=SQRT(TH(IM)*TH(IM)+TV(IM)*TV(IM))
10 CONTINUE
RETURN
END

C
C
SUBROUTINE MULT(A,B,R,L,H,N)
DIMENSION A(L,M),B(M,N),R(L,N)
DO 2 I=l,L
DO 2 J=l,N
2 R(I,J)=O.O
DO 4 I=l,L
DO 4 J=l,N
DO 4 K=l,M
4 R(I,J)=R(I,J)+A(I,K)*B(K,J)
RETURN
END
C
C

SUBROUTINE CALL(XR,RF,H,HF'l,Y,FA,GL)
DIMENSION RF(M),Y(20),FA(20),XR(bl),GL(M)
COMHON/TWO/A(10,11)
COMHON/THREE/X(lD)
CALL LUMP(RF,M,Y,FA)
CALL GAUSS(RF,M,MPl)
DO 1 I=l,M
XR(I)=X(I)/GL(I)
1 CONTINUE
RETURN
END
C
C
 of a multicomponent
Dynamics mooring line 333
SUBROUTINE CONFIG(NL,GL,THETA,X,Y,PP)
DIMENSION GL(NL),THETA(NL),X(ll),Y(ll),PP(ll,2)
xA=o.
YA=O.
X(l)=xA
Y(l)=YA
NP=NL+l
DO 1 I=Z,NP
IMl=I-1
X(I)=X(IM1)+GL(IMl)*COS(THETA(IMl))
Y(I)=Y(IMl)+GL(IMl)*SIN(THETA(IMl))
1 CONTINUE
DO 2 K=l,NP
PP(K,l)=X(K)
PP(K,Z)=Y(K)
2 CONTINUE
WRITE(~,~) (J,x(J),J,Y(J),J=~,NP)
3 FORM.AT('',I X(',IZ,')=',F16.5,' Y(',IZ,')=',F16.5,/)
CALL PLOT(l,PP,NP,Z,O,l)
RETURN
END
C
C
SUBROUTINE OUTPUT(NL,NN,NN2,T,Y,R,THETA,VEL,ACCN,TH,TV,TENS,SUM)
DIMENSION THETA(lO),VEL(lO),ACCN(lO),Y(NN2),R(NL),TENS(lO),
&TV(lO),TH(lO),XC(lO),YC(1O),PP(ll,2)
COMHON/INPT/GL(lO),AM(lO)
DO 102 KI=l,NL
THETA(KI)=Y(KI)
KPl=KI+NL
VEL(KI)=Y(KPl)
ACCN(KI)=R(KI)
102 CONTINUE
SLSN=O.
sUM=o.
DO 101 K=l,NL
SLSN=SLSN+GL(K)*SIN(THETA(K))
SUH=SUM+GL(K)*COS(THETA(K))
101 CONTINUE
TlO=O.
WRITE(6,l) T
1 FORMAT(' ','TIME T=',F6.3,' SECONDS',/)
DO 2 I=l,NL
WRITE(6,3) I,THETA(I).I,VEL(I),I,ACCN(I)
3 FORMAT(' ','THETA(',IZ,')=',El5.4,'ANG. VEL(',IZ,')=',E15.4,'AN
&G. ACCELN.(',IZ,')=',El5.4,/)
2 CONTINUE
WRITE(6,ZOO) SLSN,SUM
200 FORMAT(' ','DEPTH , D=',FlZ.S,' DISPL OF BARGE , X=',FlZ.S,/)
CALL TENSON(THETA,VEL,ACCN,NL,TH,TV,TENS)
WRITE(6,331)
WRITE(6,411)
C
C IF TENSIONS COMPONENTS HAVE TO BE PRINTED, SET ICODE = 1.
C
ICODE=O
IF(ICODE.EQ.0)GO TO 331
DO 309 I=l,NL
WRITE(6,ZO) I,TH(I),I,TV(I).I,TENS(I)
20 FORMAT(' ','HORZ. COMPONENT TH(',IZ,')=',E14.6,' VERT. COMPONENEN
&T TV(',IZ,')=',E14.6,' TENS(',IZ,')=',E14.6,/)
309 CONTINUE
331 FORMAT!' I,' THE TENSIONS IN LINKS ARE CALCULATED IN LBS.')
334 N. U. KHAN and K. A. ANSARI

411 FORMAT(' ',3X,44('*'),/)

WRITE(6,261) N~,TENS(NL),NL,TH(NL)
261 FORMAT(' ','TENS(',I3,')=',E14.6,'HORI.TENS(',I3,')=‘,E14.6,,')
C
C IF TENSIONS COMPO. HAVE TO BE PRINTED ON A FILE, SET NCODE = 1.
c
NCOX=O
~F(NCODE,EQ.~)GO TO 831
WRITE(10,231)T,TENS(NL)
231 FORMAT(' ',F8.2,2X,E14.6)
WRITE(20,232)T,TH(NL)
232 FORMAT(' ',FB.2,2X,El4.6)
831 RETURN
END
SENTRY