A finite difference approximation for dynamic calculation of vertical free hanging slender risers in re-entry application

The dynamic calculations of slender marine risers, such as Finite Element Method (FEM) or Modal Expansion Solution Method (MESM), are mainly for the slender structures with their both ends hinged to the surface and bottom. However, for the re-entry operation, risers held by vessels are in vertical free hanging state, so the displacement and velocity of lower joint would not be zero. For the model of free hanging flexible marine risers, the paper proposed a Finite Difference Approximation (FDA) method for its dynamic calculation. The riser is divided into a reasonable number of rigid discrete segments. And the dynamic model is established based on simple Euler-Bernoulli Beam Theory concerning tension, shear forces and bending moments at each node along the cylindrical structures, which is extendible for different boundary conditions. The governing equations with specific boundary conditions for riser’s free hanging state are simplified by Keller-box method and solved with Newton iteration algorithm for a stable dynamic solution. The calculation starts when the riser is vertical and still in calm water, and its behavior is obtained along time responding to the lateral forward motion at the top. The dynamic behavior in response to the lateral parametric excitation at the top is also proposed and discussed in this paper.     

Simulating fundamental and higher harmonic VIV of slender structures

Vortex-induced vibrations (VIV) of slender marine structures are complicated response processes, where a number of distinct frequency components might be simultaneously active. These are categorized as fundamental and higher harmonics respectively, where the latter can have a tremendous impact on the fatigue life. The present work proposes a method for time domain simulation of such multi-frequency response, by introducing a higher harmonic load term to a pre-existing semi-empirical hydrodynamic force model. Forced motion tests of a circular cylinder were simulated to experimentally and qualitatively validate the fluid-structure energy transfer. Next, the model was used to predict the response of a tension dominated riser in uniform current, for 22 velocities in the range 0.3 m/s to 2.4 m/s. The empirical input was chosen to give an average best fit with respect to the cross-flow strain measurements, which allowed dominating frequencies, fatigue damage, higher harmonics and response variability to be predicted with a high level of realism. Same set of empirical coefficients was subsequently used to predict VIV of three additional flexible pipe experiments in uniform flow, with significant differences in structural properties. The results were satisfactory for all cases, but could be improved by moderate changes to the empirical input.     

Fluid—Structure Interaction Analysis of Flexible Plate with Partitioned Coupling Method

The development and rapid usage of numerical codes for fluid-structure interaction(FSI) problems are of great relevance to researchers in many engineering fields such as civil engineering and ocean engineering. This multidisciplinary field known as FSI has been expanded to engineering fields such as offshore structures, tall slender structures and other flexible structures applications. The motivation of this paper is to investigate the numerical model of two-way coupling FSI partitioned flexible plate structure under fluid flow. The adopted partitioned method and approach utilized the advantage of the existing numerical algorithms in solving the two-way coupling fluid and structural interactions. The flexible plate was subjected to a fluid flow which causes large deformation on the fluid domain from the oscillation of the flexible plate. Both fluid and flexible plate are subjected to the interaction of load transfer within two physics by using the strong and weak coupling methods of MFS and Load Transfer Physics Environment, respectively. The oscillation and deformation results have been validated which demonstrate the reliability of both strong and weak method in resolving the two-way coupling problem in contribution of knowledge to the feasibility field study of ocean engineering and civil engineering.     

On the parametric excitation of vertical elastic slender structures and the effect of damping in marine applications

The dynamic behaviour of vertical slender structures for marine applications under parametric excitation is considered. The governing equations are treated using two different numerical schemes. The effect of parametric excitation is examined in cases where the excitation frequency lies in the vicinity of nonlinear resonances. First, the un-damped case is considered and the features of the dynamic response are properly identified and discussed. For explaining the particulars of the un-damped behaviour, the governing equations are treated analytically by applying the method of normal forms. The effect of damping is examined through comparative numerical computations of the system's behaviour. It is shown that the inclusion of hydrodynamic drag in the describing model eliminates the impacts of internal resonances excited due to the parametrically imposed motions. Finally, the paper demonstrates the significance of the terms that describe the coupling between the longitudinal and transverse vibrations.     

Wave diffraction through submerged flexible breakwaters

This paper presents an analytical, computationally efficient method for the wave reflection and dynamic displacement of a submerged flexible breakwater. The solution of the two-dimensional linearized hydrodynamic problem introduced is based on the eigenfunction expansion technique. The breakwater is assumed to be thin, impermeable, flexible, moored to the bed through tethers and kept in tension by means of a floating buoy at its tip. The beam structure is considered to be either clamped or hinged at the sea bed, situated in an arbitrary water depth and subjected to normal linear waves. Numerical examples presented by this method are compared with those obtained by the Boundary Integral Equation Method, presented by Williams et al. Comparisons show an excellent agreement over a wide range of parameters for the wave reflection and the dynamic displacement. Numerical results are presented, mainly to show the effect of the breakwater rigidity and the method of fixation on the wave reflection and the structural displacement over a wide range of wave frequencies.     

An updated Lagrangian finite element formulation for large displacement dynamic analysis of three-dimensional flexible riser structures

An updated Lagrangian finite element formulation of a three-dimensional annular section beam element is presented for large displacement and large rotation dynamic analyses of flexible riser structures. In this formulation a new linearization method is used to avoid inaccuracies normally associated with other linearization schemes. The effects of buoyancy force as well as steady state current loading are considered in the finite element solution for riser structures response. The formulation has been implemented in a nonlinear finite element code and the results are compared with those obtained from other schemes reported in the literature.     

结构损伤初步定位的简便方法

提出将基于动态特性的检测方法与局部物理检测手段相结合的探伤思路。利用动力学方法进行实时监测及损伤区域的粗略定位,再由物理探测方法实现损伤程度和位置的精确判断,从而降低对动态检测方法的精度要求。此外,文中尝试直接由结构的动力响应信号构建能量指标识别结构损伤的方法,不需要进行模态参数识别,算法简单,有望应用于海洋平台、高层建筑等可简化为串联多自由度体系的结构的实时监测和损伤初步定位。     

Dynamic Response Study of Steel Catenary Riser Based on Slender Rod Model

A numerical model of the steel catenary riser(SCR) is built based on the slender rod model. The slender rod model,which describes the behavior of the slender riser in terms of the center line position, can solve the geometrical nonlinearity effectively. In a marine environment, the SCR is under the combined internal flow and external loads,such as wave and current. A general analysis considers only the inertial force and the drag force caused by the wave and current. However, the internal flow has an effect on the SCR; it is essential to explore the dynamic response of the SCR with the internal flow. The SCR also suffers the lift force and the fluctuating drag force because of the current. Finite element method is utilized to solve the motion equations. The effects of the internal flow, wave and current on the dynamic response of the SCR are considered. The results indicate that the increase of the internal flow density leads to the decrease of the displacement of the SCR, while the internal flow velocity has little effect on the SCR. The displacement of the SCR increases with the increase of the wave height and period. And the increasing wave period results in an increase in the vibration period of the SCR. The current velocity changes the displacements of the SCR in x-and z-directions. The vibration frequency of the SCR in y-direction increases with the increase of the current velocity.     

A finite element method for dynamic analysis of long slender marine structures under combined parametric and forcing excitations

This paper presents a numerical analysis of lateral responses of a long slender marine structure under combined parametric and forcing excitations. In the development of the 3-D numerical program, a finite element method is implemented in the time domain using the Newmark constant acceleration method. Some example studies are performed for various water depths, environmental conditions and vessel motions. The relative amplitudes of combined excitations to a conventional forcing excitation are examined. The response amplitude of a combined excitation is much greater than that of a forcing excitation in the even number of instability regions of the Mathieu stability chart. The results demonstrate that a combined excitation needs to be considered for the accurate dynamic analysis of long slender marine structures subjected to a surface vessel motion.     

Dynamic Analysis of A 5-MW Tripod Offshore Wind Turbine by Considering Fluid–Structure Interaction

Fixed offshore wind turbines usually have large underwater supporting structures.The fluid influences the dynamic characteristics of the structure system.The dynamic model of a 5-MW tripod offshore wind turbine considering the pile–soil system and fluid structure interaction(FSI) is established,and the structural modes in air and in water are obtained by use of ANSYS.By comparing low-order natural frequencies and mode shapes,the influence of sea water on the free vibration characteristics of offshore wind turbine is analyzed.On basis of the above work,seismic responses under excitation by El-Centro waves are calculated by the time-history analysis method.The results reveal that the dynamic responses such as the lateral displacement of the foundation and the section bending moment of the tubular piles increase substantially under the influence of the added-mass and hydrodynamic pressure of sea water.The method and conclusions presented in this paper can provide a theoretical reference for structure design and analysis of offshore wind turbines fixed in deep seawater.     

Hydroelastic analysis of flexible floating interconnected structures

Three-dimensional hydroelasticity theory is used to predict the hydroelastic response of flexible floating interconnected structures. The theory is extended to take into account hinge rigid modes, which are calculated from a numerical analysis of the structure based on the finite element method. The modules and connectors are all considered to be flexible, with variable translational and rotational connector stiffness. As a special case, the response of a two-module interconnected structure with very high connector stiffness is found to compare well to experimental results for an otherwise equivalent continuous structure. This model is used to study the general characteristics of hydroelastic response in flexible floating interconnected structures, including their displacement and bending moments under various conditions. The effects of connector and module stiffness on the hydroelastic response are also studied, to provide information regarding the optimal design of such structures.     

Some Recent Advances on Ice Related Problems in Offshore Engineering

This paper deals with several hot topics in ice related problems.In recent years,advances havebeen made on ice breaking modes,dynamic ice loads on offshore structures.ice-induced structural vibra-tions,fatigue and fracture by ice-structure interaction,and design of jackets in the Bohai Gulf.     

顶部浮体激励下钢悬链线立管的动力响应分析

考虑钢悬链线立管大变形的特性以及内流的影响,利用Kane方法和拉格朗日应变理论建立钢悬链线立管的二维动力学模型。将顶部浮体的激励简化为一个沿顺流向的周期作用力施加于立管顶部,采用平均加速度法求解立管的动力响应。探讨顶部浮体不同激励频率下立管的非线性动力响应以及内流流速的大小对管道共振响应幅值的影响。     

高等级海况条件下移动式海上基地动力响应分析

针对半潜式超大型浮式结构中典型的移动式海上基地(Mobile Offshore Base,MOB)在高等级海况下的动力响应问题展开研究。在MOB结构"刚性模块-柔性连接构件(Rigid Modules and Flexible Connectors,RMFC)"模型的前提下,根据动力学基本原理,经理论推导并计算得到MOB分别在6、7、8级海况的随机波激励下,其上各模块的动力响应位移结果。详细分析了MOB结构同一模块在不同海况条件下的动力响应位移随浪向角及连接构件刚度的变化规律。研究成果可为半潜式超大型浮式结构动力响应研究及结构优化设计提供一定的技术支撑。     

Small- and large-scale model tests on the buckling property of slender pile

Slender piles embedded in soft ground or liquefied soil may buckle under vertical load. In this paper, both small- and large-scale model tests are conducted to investigate the buckling mechanisms of a slender pile and the lateral earth pressure acting on the pile. To observe the buckling of a slender pile, the strain-controlled loading method is adopted to apply a vertical load. When the two ends of a slender pile are hinged, the buckling mechanisms of small- and large-scale model tests are same. It should be noted that this applies only to a system with a small ratio of pile bending stiffness to soil bending stiffness. An applied vertical load increases with an increasing pile head settlement until it reaches the critical buckling load. By further increasing the pile head settlement, the measured load approaches the critical buckling load. In the large-scale model test, the measured lateral earth pressure (i.e., active and passive) acting on the slender pile varies linearly with the lateral pile displacement when the measured range is 3–5?m beneath the ground. A critical buckling calculation method has been adopted to compare with the conventional “m” method. The two-sided earth pressure calculation method can achieve more approximate results with the model test.     

新型多功能干树储油半潜平台研发

针对凝析油气田开发了一型适应我国南海环境条件的深水多功能干树半潜平台,平台运动性能优良,可实现干树开采、回接水下井口、油气生产处理、凝析油存储、钻修井等功能。平台由上部组块、主船体、细长柔性连接结构、垂荡板、顶张紧式立管(TTR立管)系统、系泊系统构成,结构特点为采用细长柔性连接结构连接主船体与箱型垂荡板。垂荡板采用箱型结构,承受作业吃水压力,可实现平台与箱型垂荡板的整体拖航,平台安装简易,细长柔性连接结构可在位维修或更换。平台立柱内设置储油舱存储天然气凝析油,解决凝析油存储外输问题。平台采用成熟系统系统集成,运动性能优良,海上施工风险可控,未来有望成为一种新的深水油气田开发平台型式。     

Dual floating breakwaters

A numerical model is developed to investigate the behavior of a pair of flexible, floating breakwaters consisting of complaint, beam-like structures anchored to the sea bed. Each structure is kept under tension by a small buoyancy chamber at the tip, additional stiffness in each case is provided by mooring lines attached to the buoyancy chamber. The fluid motion is idealized as linearized, two-dimensional potential flow and the equation of motion of each breakwater is taken to be that of a one-dimensional beam of uniform flexural rigidity and mass per unit length subjected to a constant axial force. The boundary integral equation method is applied to the fluid domain. Modifications are made to the basic formulation to account for the zero thickness of the idealized structures, and the dynamic behavior of the breakwaters is described through an appropriate Green's function. Numerical results are presented which illustrate the effects of the various wave and structural parameters on the efficiency of the two-breakwater systems as a barrier to wave action. It is found that by adjusting the spacing between the breakwaters acceptable wave reflection characteristics may be obtained even with relatively flexible structures.     

考虑应变率影响的圆管结构冲击试验缩尺修正方法研究

评估结构耐撞性能最可靠的方法是实尺度碰撞试验,然而对于大尺度结构物的碰撞试验,因其耗资巨大而不易开展,适当开展比例模型试验可以为简化解析算法及数值仿真计算提供验证依据,也可在一定程度上评估结构的耐撞性能。但是在进行碰撞模型试验时,材料应变率的敏感性会使得缩尺模型的动态响应与实尺度结构结果出现偏差,模型试验得到的数据与实际结构的动响应不完全遵循相似关系,这就限制了相似理论在大型结构物冲击问题上的应用。本文给出了一种通过改变冲击质量来修正应变率效应的方法,不同于传统量纲分析法中选取时间、质量和长度为基本量纲,而是以冲击质量、初始冲击速度和动态应力代替,得到计及应变率效应的质量相似关系。以此为基础,将该修正方法应用于船舶-自升式海洋平台的碰撞分析中。研究结果表明,该修正方法可以有效降低由于应变率效应而造成的缩尺误差,修正后的缩尺模型在碰撞冲击载荷下的位移、碰撞力和撞击时间等动态响应参数与实尺度模型结果的一致性更好。本文研究成果可以为大型结构物冲击模型试验设计提供技术支撑。     

Nonlinear dynamics of a fluid-conveying pipe under the combined action of cross-flow and top-end excitations

We report a theoretical investigation of an elastic and slender fluid-conveying pipe with a top-end excitation subjected to uniform cross flows. Considering the mean drag force and the time varying vortex-induced lift force which is modeled using a nonlinear van der Pol oscillator, the nonlinear partial differential equations of the motion of coupled fluid-structure system are constructed and simplified to a reduced-order model through the Galerkin-type discretization. By virtue of quasi-static displacement conditions, the characteristics of vortex-induced vibration of the pipe are evaluated for the first two lock-in modes. The results show that the top-end excitation can increase the vibration amplitude of the pipe when the cross-flow speed is out of the lock-in regions. When the cross-flow speed is within the lock-in region, however, the top-end oscillation causes a transition between quasi-periodic and periodic in the responses of the pipe, significantly reducing or increasing the vibration amplitudes depending on the excitation acceleration and frequency. This finding has an important guidance in suppressing vortex-induced vibrations by balancing the internal fluid velocity and the top-end excitation.     

Major challenges of offshore platforms design for shallow water oil and gas field in moderate ice conditions

Offshore engineers and scientists face fascinating economical and technical challenges in designing offshore platforms for shallow water oil and gas fields in moderate ice conditions. Petroleum production systems in these ice-infested areas such as the Bohai Bay of China, Cook Inlet, Barent Sea, and Caspian Sea must be designed to accommodate the harsh environmental conditions, among which the first-year sea ice is one of the major design consideration. Extreme ice loads and ice-induced vibrations still remain an area of uncertainty in offshore platforms. This paper demonstrates the main technical aspects on the use of jackets in the Bohai Bay, with particular focus on ice loads and the failure modes of slender ice-resistant structures, which are the two key issues in design considerations. A design proposal and some considerations for economical ice-resistant structures for safe development in the cold region are also conceptually discussed.