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DYNAMICS OF MARINE VEHICLES

RESPONSE AMPLITUDE OPERATOR (RAO) AND


MOORING ANALYSIS OF TYPICAL DRILLING RIG
PRESENTED BY:
Khor Wei Han
Ummu Saiyidah Najihah Binti Zainuddin
Naqila Binti Mohd Mustaat
Nur Syazani Binti Norshahruddin
Nurizzati Binti Roslan
LECTURER:
Prof. Dr. Adi Maimun Bin Abdul Malik

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OUTLINE

• Introduction
• Problem Statement
• Objective
• Theory • Result
• Methodology • Discussion
• Expected Result • Conclusion
• References
• Team Management
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INTRODUCTION

 Response Amplitude Operator (RAO) is a type of statistics to


display the behavior and response of floating structures to
prevent failure in extreme sea states.

 Mooring system is to anchor the system in designed position


so that it does not drift away.

 The purpose of the project is to determine the behaviour and


response of the floating platform when subjected to different
wave conditions.

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INTRODUCTION

OFFSHORE DRILLING RIG


Semi-submersible
drilling rig motions with
variation in the mooring
line pre-tension to the
safety of the
incorporated drilling
riser

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PROBLEM STATEMENT

1. Uncertainty on the performance of the designed


platform
– Simulation to simulate the performance and
behaviour

2. Uncertainty on the safety factor of the designed


platform.
– Simulate extreme conditions to increase
confidence on safety of the designed platform

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OBJECTIVES

1. To obtain the Response Amplitude Operator


(RAO) of the Offshore Drilling Rig.
2. To determine the applicability of the designed
mooring system.
3. To simulate the behaviour and response of the
Offshore Drilling rig in sea.

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THEORY

 The tension spring effect of mooring lines derives


from two mechanisms:
i. Hanging catenary effect: From gravity acting
vertically on the line.
ii. Line elastic effect: From elastic stretch over the
length of the line.
 Mooring systems with these two mechanisms are
called catenary moorings and taut moorings,
respectively.

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THEORY

 According to Wang et. al. (2012), the RAO can be


defined as follows:

𝑅𝑒 2 𝐼𝑚 2
𝑥𝑖 𝑋𝑖 + 𝑋𝑖
𝑅𝐴𝑂 = =
1 1
𝐻 𝐻
2 𝑤 2 𝑤

1
 Where 𝐻𝑤 is the wave amplitude.
2

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THEORY

 Heave, roll and pitch are considered as oscillatory


motions since they are moving about a neutral point
while for surge, sway and yaw, the do not return to
their original equilibrium unless they are forced by
exciting forces or moments (Halim & Koto, 2014).

 The hydrodynamic interactions towards the motion of


the offshore structures is important to consider -
identify its effects and achieve safe operations of the
floating structure.

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THEORY

FIGURE 1: Six degree of motions for ship

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THEORY

 In addition to the evaluation of RAOs, it is equally


important to analyse the mooring systems of the
structure.
 DNV (2010) states that the mooring systems provide
resistance to environmental loading by deforming and
activating reaction forces.
 Mooring systems work as spring mechanisms where
displacement of the floater from a neutral equilibrium
position causes a restoring force to react to the
applied loading.

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METHODOLOGY

Model
Research Analysis Results
Simulation

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METHODOLOGY

RESEARCH
 Study on the usage of software to produce simulations
 Choose the suitable type of platform for this project
 Obtain design and data for the model

MODEL SIMULATION
 Draw the model in AUTOCAD
 Obtain needed data such as dimensions and radius of
gyration
 Open model file in ANSYS- AQWA
 Simulate the performance and behaviour of the model

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METHODOLOGY

Figure 2: Modelling in Autocad Figure 3: Modelling in ANSYS

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METHODOLOGY

ANALYSIS
 Analysis on the data obtain
 Check on the accuracy and error of the simulation
 Assumptions made in the simulation
 Troubleshoot problems

REPORT WRITING
 Compilation of data and results obtain
 To be presented in the form of presentation slides and report

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MODELLING OF SEMI SUBMERSIBLE

MOULDED HULL DIMENSIONS KEY DECK DIMENSIONS

No Item Dimension (m) No Item Dimension (m)


1 Column Centerline Spacing 67,460 1 Deck Module Width 13,700
2 Column Width 19,460
2 Deck Module Height 12,200
3 Column Corner Radius 2,200
3 Deck Girder Height 1,200
4 Pontoon Width 14,260
5 Pontoon Length 48,000 4 TOC to BOS 2,500
6 Pontoon Height/ Level 1 Flat 8,820
5 Lower Deck BOS from Keel 39,500
7 Level 2 Flat Elevation 18,200
8 Level 3 Flat Elevation 27,200 6 Lower Deck TOS from Keel 40,700
9 Column Height (TOC) 37,000
10 Overall Length 86,920 7 Upper Deck TOS from Keel 52,900
11 Overall Width 86,920 8 Inboard Truss Row from CL 25,950
12 Operating Draft 22,000
13 Operating Displacement 58,748 MT 9 Outboard Truss Row from CL 39,650

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MODELLING OF SEMI SUBMERSIBLE

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MODELLING FOR MOORING SYSTEM

 Type: Catenary Mooring


 Number of mooring lines: 4 cables
 Type of mooring line: Non-linear catenary
 Combination of chain and cable are used.
 Length of chain attached to seabed = 400m
 Length of rope =600m
 Length of chain attached to structure =200m

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MODELLING IN ANSYS AQWA

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EXPECTED RESULT

 The Response Amplitude Operators (RAOs) for the


platform
 The applicable Mooring System for the offshore platform.

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RESULT

 The result from the simulation in ANSYS software are


presented. All the results and graph for RAO, structure
position, cable tension and laid length will be shown below.

 From the analysis, the coordinate of centre of buoyancy is


set to be (0,0,0). Meanwhile, the GM value is 17.048367 m.

 In addition, for Response Amplitude Operators, the analysis


is done for direction angle of -180 degree to 0 degree by
taking 15 degree of increment. The maximum heave motion
can be determined by looking at the green line in the graph.
The graphs according to direction angle are shown below:

INSPIRING CREATIVE AND INNOVATIVE MINDS


RESULT

From the analysis, the coordinate of centre of gravity is set to be (0,


0, -5m). The table below shows the hydrostatic data of the structure.

Heave 15.23 MN/m

Roll 222.313 MN.m/°

Pitch 222.313 MN.m/°

Volumetric Displacement 57473.336 𝑚3

Centre of buoyancy (0, 0, -13.77m)

Cut Water Plane Area 1514.77 𝑚2

Centre of Floatation (0, 0)

GM 22.05 m

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RESULT

Figure 4: RAO for direction angle of -180 degree

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RESULT

Figure 5: RAO for direction angle of -165 degree

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RESULT

Figure 6: RAO for direction angle of -150 degree

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RESULT

Figure 7: RAO for direction angle of -135 degree

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RESULT

Figure 8: RAO for direction angle of -120 degree

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RESULT

Figure 9: RAO for direction angle of -105 degree

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RESULT

Figure 10: RAO for direction angle of -90 degree

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RESULT

Figure 11: RAO for direction angle of -75 degree

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RESULT

Figure 12: RAO for direction angle of -60 degree

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RESULT

Figure 13: RAO for direction angle of -45 degree

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RESULT

Figure 14: RAO for direction angle of -30 degree

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RESULT

Figure 15: RAO for direction angle of -15 degree

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RESULT

Figure 16: RAO for direction angle of 0 degree

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RESULT

The requirement of position of the structure must be less than 12%


of water depth and its actual position is 53.673 m. The figure
below shows the graph of the structure position according to time

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RESULT

For mooring system, four cables have been used and their maximum
value of force and maximum tension are tabulated below: -
Cable Maximum Value (MN) Maximum Tension (MN) Safety Factor

1 5.1839 25.2 4.86

2 5.1839 25.2 4.86

3 5.8957 25.2 4.27

4 5.8957 25.2 4.27

Table 1: Safety factor according to cable

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RESULT

Cable Minimum Length (m) Maximum Length (m)

1 276.691 332.450

2 276.682 332.445

3 246.846 319.607

4 246.837 39.616

Table 2: Laid length according to cable

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DISCUSSION

Modelling Semisubmersible in AutoCAD Software.

In the beginning of remodelling process, we have


been tried remodelling the semisubmersible model
by using autoCAD and maxsurf Modeller software.

However, for modelling semisubmersible part, we


had decided to remodel the semisubmersible by
using autoCAD software instead of maxsurf
modeller
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DISCUSSION

Limitation of Meshing Part.

There are limitation number of meshing part


in ansys software which is 10 000 elements.

Hence, adjusting the size of element process


must be done and repeated when the
meshing numbers are exceeding the limit.

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DISCUSSION

Designing Mooring System for Semisubmersible


Model.
The first step must be taken after designing the
mooring system is checking either the mooring
system is applicable or not.
The checking process was take part by ensure that
the motion offset of the mooring system must be
less than 12 percent of water depth.
The laid length of the mooring system can’t be zero.
This is because if the laid length is equal to zero,
the anchor is already lifting up.
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DISCUSSION

Assumption have been made in Rao


Analysis.
• The assumptions have been made in Rao
Analysis are:
• The wave motion is assumed as irregular
waves because lack of data information.
• The value centre of gravity (KG value) is
assumed as zero for x,y and z direction.

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DISCUSSION

Diameter of chains and wire ropes.


We have decided to choose chains and wire
ropes for the semisubmersible mooring lines.
Based on the literature, the diameter of the
chains and wire ropes usually in inches unit.
After that, the chains and wire ropes diameter
have been decided which are 1. 5 inches and
6 inches.
The diameter of the chains and wire ropes
are used in determining the strength of the
chains and wire ropes
INSPIRING CREATIVE AND INNOVATIVE MINDS
DISCUSSION

Number of Mooring Lines.


• Based on the literature study, the number of
mooring lines used on the semisubmersible
structure is either 4, 8 and 16 of the mooring
lines.
• However, we are decided to choose the 4
grouping of anchor legs to maintain the
vessel location with fixed heading position.

INSPIRING CREATIVE AND INNOVATIVE MINDS


DISCUSSION

Significance Natural Frequency of the


Semisubmersible Structure.
• The study states that this natural frequency of the
semisubmersible structures are designed to fall
below the wave frequency range.
• This is because practically the values of structural
damping, the excitation frequency corresponding to
the peak displacement is very close to the
undamped natural frequency..

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DISCUSSION

Discussion on Why RAO Analysis in Ansys


Aqua Resulted only 3 DOF.
• The studies state that the translations along
the x-axis and y-axis and rotation about the z-
axis lead to no residual force or moment
which provided displacement remains
constant as the body is in neutral equilibrium.
• In addition, for the translation and rotation
movement are opposed by a force or moment
provided the floating body is stable in that
mode
INSPIRING CREATIVE AND INNOVATIVE MINDS
DISCUSSION

Selection Sea State for the Semisubmersible


Structure.
• The parameter of sea state is very salient because
a semisubmersible is designed to operate in harsh
environments in operational and temporary
conditions.
• The sea state conditions will impact on the
acceleration response of the semisubmersible. In
addition, the effect of these accelerations on the
integrity of a platform structure is extremely
important and it will be taken in account by means
of motion analysis.
INSPIRING CREATIVE AND INNOVATIVE MINDS
CONCLUSION

• The result for Response Amplitude Operator


(RAOs) of the semi-submersible offshore
drilling rig can be simplified that the maximum
heave motion for all direction angles is at
frequency of 0.052 Hz
• The maximum amplitude of heave motion for
all direction angle lies within 1.699 m/m and
1.707 m/m. Besides that, it can be concluded
the designed mooring system to support the
semisubmersible are applicable
INSPIRING CREATIVE AND INNOVATIVE MINDS
REFERENCES

1. Abdul Malik, et.al (2012). Modelling Recurrence


Motion of a Large Volume Semi- Submersible.
2. Abdul Samad, (2009). Performance of Catenary
Mooring System.
3. James, (1985). Advanced Method for Ship Motion
and Wave Load Prediction.
4. C.L Sow, et.al (2014). Semi-Submersible Heave
Response Study Using Diffraction Potential Theory
with Viscous Damping Correction

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GANTT CHART

GANTT CHART
DURATION WEEK
NO. TASK (WEEKS) 1 2 3 4 5 6 7 8 9 10 11 12 13 14
1 RESEARCH 5
Study on title 1
Learn on how to use AQWA 2
Study on the RAOs 1
Study on the mooring system 1
Installation of AQWA 1
2 SIMULATION 5
Modelling in AUTOCAD 2
Modelling in ANSYS-AQWA 1
Simulation of the model 2
Simulation of the mooring system 2
3 ANALYSIS 2
Analyse hydrostatics obtain from software 1
Analyse RAO of the model 1
Determine usablity of mooring system 1
4 REPORT WRITING 2
Presentation slides 1
Final report 1

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INSPIRING CREATIVE AND INNOVATIVE MINDS
TASK DISTRIBUTION

TASK DISTRIBUTION
GROUP MEMBERS
NO. TASK KHOR UMMU NAQILA ZANI IZZATI
1 RESEARCH
Study on title
Learn on how to use AQWA
Study on the RAOs
Study on the mooring system
Installation of AQWA
2 SIMULATION
Modelling in AUTOCAD
Modelling in ANSYS-AQWA
Simulation of the model
Simulation of the mooring system
3 ANALYSIS
Analyse hydrostatics obtain from software
Analyse RAO of the model
Determine usablity of mooring system
4 REPORT WRITING
Presentation slides
Final report
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INSPIRING CREATIVE AND INNOVATIVE MINDS