Time-domain hydroelastic analysis with effic

ient load estimation for random waves

Authored by H.Y. Kang, M.H. Kim

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 Outline
01 Introduction
Background and Purpose

02 Methods
Formulation of the time-domain hydroelastic problem for random waves

03 Numerical results and discussions

Verification and Investigation

04 Conclusion
Wrap up what I learned in this paper review
 Introduction
Hydroelasticity : floating body deformation <-> water waves

Pelamis-type wave energy converters

Study on the Motion of Floater Structure for Design
of Wave Energy Generation in Ocean, 2011

Offshore wind platform

Single platform holds multiple wind
Monopile
turbines  large scale
Natural Frequency including wet Coupled dynamic analysis of multiple unit floating
effects within high frequency offshore wind turbine, 2013

energy of severe sea state or rotor

excitation  resonance Hydroelastic problems
Floating Liquefied Natural Structural robustness and fatigue
Gas(FLNG) platforms failure  hydroelastic simulation
tools are essential
Length over 400 m of high aspect
ratio + taut mooring system
Purpose Direct simulation method
Expanded
Cummins'equation method
FEM (structure domain) + Impulse response functions,
BEM (fluid domain) Fourier transformation, and
Random waves that involv Modal expansion theorem
es time domain analysis 1. Beneficial for strongly
nonlinear problems 1. Advantageous in efficiency
2. Time consuming 2. Applications in many
problems for random
waves
Simplified approach :
1. No correct convolution integrals of decaying memory effect, regular waves,
solitary waves and transient impacts
2. Only transient deformation/displacements without extensive structural
resultants  Hooke’s law (save time from time domain analysis)  no load
mapping
3. Two dimensional methods or strip theory-based methods were widely used,
and slamming with the irregular waves were studied without considering fully
coupled convolution integrals of the memory effects  few 3D investigations
 In this paper,
Random seas in time domain
Achieve both dynamic motion
responses and stress resultants
Time domain analysis
Componential loads induced by external
environmental loading and restoring loading
Cummins'method (FT)
on the deformable body
Time-domain calculation of full distributed
loads on the deformable floating body
Results in
interacting with the random waves
 Direct hydroelastic structural analysis Dynamic stress resultants,
Shear forces
Bending moments,
Fubini's theorem  continuous time-marching load
mapping
Reformulates hydrodynamic integral term
 Localized pressure-wise integral

Impulse response
functions
Φj : total velocity potential
induced by Xj
Xj : modal displacement
Ψj : unit potential for
impulse flow
φj : wave elevation
Cummins’ equation
Neumann boundary Hydrodynamic
Equation of motion
condition at Sw coefficient
ζj : 3 translational modes M : inertia matrix of the Obtained from
αj : 3 rotational modes elastic floating body B(u) : radiation
ξχ : modal response of ΔM∞ : infinite-frequency damping coefficients
the j-6 th elastic modes added inertia matrix ΔM(u) : added inertia
KH : stiffness matrix by Kramerse-Kronig
F1 : 1st order wave relations based on
excitation Fourier Transform.
FC : convolution integral
of decaying radiation Rij : Response of ship
waves motion
i,j : number of DOF
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 Hydroelastic motion dynamics

Hydrostatic and Relationship between general frequency Numerical hammer test

gravitational stiffness response and unit impulse response
So : mean wetted surface Motion response time series + FT  spectral RAO Wave excitation terms
Sδ : deformed wetted  replaced by short-period
surface by jth mode impulse loads FI
n : normal velocity of the
mode j : the target elastic mode
D : divergence of the P : impact, linear increased
displacement vector along with time until t1
: position
 Hydroelastic structural dynamics
Normal stress and
Bending moment
σ : normal stress
κ : curvature of deflection
ε : strain
E : young’s modulus
A : cross section area
M : bending moment
V : shear force
w : deflection
Bad accuracy Hydroelastic structural
analysis with clarified loads F
Equivalent thin plate  omit some loading
components that are significant to stress V0, M0 : initial values before the
resultant, EX: horizontal pressures on spatial integrals
longitudinal lateral surfaces are ignored F : distributed loads
Curvature approximation make the
accuracy worse  can’t extend to load
mapping
 Introduce Fubini’s theorem

Added inertia Distributed convolution loads Distributed wave

excitation loading

Distributed added inertia

PD : diffraction potential
Ẋj : velocity of jth mode N : number of frequencies to
PRe /Pim : real/imaginary part of the generate the irregular waves
radiation hydrodynamic pressures
 Hydroelastic structural dynamics

Distributed inertia loads Gravity induces bending moments Shear forces

Restoring loads

Bending moments
All the distributed loads

j=1,…,e
 k=1,2,3
χj() : mode shape of jth elastic mode
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Modeling of an elastic elongated

rectangular barge in random seas
Length : 80 m, Width : 10 m, Draft : 5 m, 2900 BElements
Mass : 4.0E+06 kg, Moment of inertia : 2.13E+09 kg m 2
Center of gravity : -2 m
Bernoullie-Euler beam with free-free end condition

Mode shape:
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Irregular waves
2-parameter Pierson-Moskowitz (PM) spectrum :
Hydroelastic responses and resulting stresses on the
severity of sea state :
Sea state 3 : Hs 0.88 m, Tp 7.8 s, time interval 0.05 s
Sea state 4 : Hs 1.88 m, Tp 8.6 s, time interval 0.03 s
Sea state 5 : Hs 3.25 m, Tp 9.7 s, time interval 0.02 s
Sea state 5* : Hs 3.25 m, Tp 10.8 s, time interval 0.02 s

3-parameter JONSWAP (JS) spectrum :

A shallow site of offshore Korea :
Hs 2 m, Tp 4.49 s, γ 3.3, time interval 0.03 s

Ramping period for first 10000 steps

4000 s

Random sea :
80 regular wave components between 0.1 ~ 2.0 rad/s

dω = 0.01 rad/s and ωmax = 2.0 rad/s

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For the maximum value, the JONSWAP spectrum results in

similar magnitude to sea-state 5 although its HS is similar to
that of sea-state 4 (see Fig. 12). Likewise in the frequency
domain, the stress-resultant spectrum can be obtained by
the product of wave spectrum and RAO squared, which can
also be significantly magnified due to the elastic resonance.
 Conclusion
Key findings/contributions

Efficient time domain analysis

Full distribution of loads and stresses without using costly CFD

True wet natural frequency

By numerical hammer tests including hydrostatic stiffness and added inertia, the actual wet
natural frequencies can be obtained.

Findings depend on parametric study

Generally, elastic motion responses increase and stress resultants decrease with flexibility.
However, in some cases, ex: shallow site, the elastic resonance result in significant increase in
stress resultants.
Importance of horizontal pressure and convolution term
The effect of horizontal pressure induced bending moments and convolution term of wave
excitation are proved to be significant during the study.
 Conclusion
Key takeaways and future works

Basic concepts of hydroelasticity

Loadings, wave properties, time domain <-> frequency domain, hydrodynamic memory
effect…

A good example and entrance for hydroelastic study

Solid-fluid interaction, Cummins’s method, Parametric study…

A picture of future work and things to be learned

Numerical methods (BEM…), Hydroelastic theories…

Future work
Coupling with other environmental loads and damping system: ice, mooring riser and wind
turbines, for instance, the internal forces of wave energy convertor…

Euler-Bernoulli Beam
equation
EI, m vary along x
q(x)r(t): total hydrodynamic
pressure
Solved by end condition:
Modal Analysis Mx^.. + k x = F
{Sigma} =
Elastic deflection of the floater Solve the equation of
motion in frequency
domain
Expressed as summation of
infinite mode shapes Particular solution:
By assuming f=Fe^-iwt
x=Xe^-iwt
For impulse:
 Statistical Maximum

Maximum

Shear-force and bending Type I: taking the maxima along Spectral moment
moment spectra x axis in different frequencies

Swave(w): irregular wave spectra Type II: taking V (w) and M(w) at
each x point, calculating with the
previous equation and choose
the maximum value
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 Conclusion
Key findings/contributions

Structural flexibility
Influence elastic modes more than 6 DOF RAOs

Wave frequencies
Long waves -> side wall pressure
Intermediate waves -> stress increase with rigidity
Near elastic mode -> significant resonance
Low frequency -> restoring/hydrodynamic (increase with rigidity) ; High frequency -> inertia
Statistical maximum
Two methods almost get the same results. Largest values decrease with flexibility

Jognswap spectrum
Elastic responses can significantly increase the maximum shear forces and bending
moments.
Free decay test
Thank you