Vibration mitigation of structures in the marine environment

The research described in this paper involves a method to mitigate the vibration of an offshore structural system in the marine environment when subjected to the in-plane wave forces. The method introduced include a practical application for the viscoelastic material to the offshore structural system, and the analytical technique to evaluate the structural responses when the system is incorporated with damping devices. The viscoelastic materials applied here were tested and verified that they have high energy absorption capacity. In the analysis, the applied wave forces are based on the fifth-order Stokes wave theory and Morrison equation for small body and the computation method is based on Newmark method for nonlinear system. Results of the vibration responses for the system with added damping devices are presented and compared to the responses of structures of the traditional design. It was observed that the effect of the vibration mitigation was significant and the dynamic performance of the offshore structural system were greatly improved when the new damping devices were applied.     

Passive control of offshore jacket platforms

The wave-induced dynamic force is one of the most important excitations to be dealt with in the design of offshore structures. In order to perform a reliable design of an offshore structure, it is important to obtain an exact evaluation of its dynamic response but also to examine the ways of reducing the response. This paper presents the response of offshore jacket platforms installed with energy dissipation devices such as viscoelastic, viscous and friction dampers under wave loading. The offshore jacket platforms are modeled as multi-degrees-of-freedom system provided with dampers at each floor location. The wave forces are modeled as per Morison's equation. The governing equations of motion of the jacket platform with dampers are derived and their solution in the frequency domain is presented. The uni-directional random wave loading is expressed by the Pierson-Muskowitz spectrum. The response of the jacket platform with viscoelastic, viscous and friction dampers is compared with the corresponding response without dampers in order to investigate the effectiveness of the passive control systems. It is observed that the additional dampers add substantial damping to structure and thus favorably control the response of platform structure. Among the various energy dissipation devices used for study, the viscoelastic dampers perform better in comparison to the other dampers. This is due to the fact that the added viscoelastic dampers contribute to increased viscous damping as well as lateral stiffness which reduces the response of the offshore jacket platforms significantly.     

转角阻尼器对海洋平台-摇摆墙体系抗振分析

在海洋平台摇摆墙体系基础上,提出在海洋平台和摇摆墙之间刚性连接杆的铰接点处安装粘弹性转角阻尼器的减振措施,对海洋平台进行进一步减振控制。对粘弹性转角位移阻尼器的刚度和阻尼参数进行了优化分析,可知阻尼器的阻尼与刚度在结构减振中起到了十分重要的作用,且存在特定范围内的优化值。以JZ20-2北高点井口平台为例,利用ANSYS进行地震荷载作用和实测挤压冰荷载下的仿真分析,研究了粘弹性转角阻尼器在海洋平台和摇摆墙之间刚性连接杆铰接点处的不同安装方式,对比分析减振效果。结果表明,在该体系刚性连接杆的铰接点处安装粘弹性转角阻尼器能显著降低结构的振动反应,连接杆右侧安装粘弹性转角阻尼器的方式为减振效果最佳方式。     

Experimental and numerical investigations of monopile ringing in irregular finite-depth water waves

In storm conditions, nonlinear wave loads on monopile offshore wind turbines can induce resonant ringing-type responses. Efficient, validated methods which capture such events in irregular waves in intermediate or shallow water depth conditions are needed for design. Dedicated experiments and numerical studies were performed toward this goal. The extensive experimental campaign at 1:48 scale was carried out for Statoil related to the development of the Dudgeon wind farm, and included both a rigid model and a flexible, pitching-type, single degree-of-freedom model. Twenty 3-hour duration realizations for 4 sea states and 2 water depths were tested for each model. A high level of repeatability in ringing events was observed. Uncertainties in the experimental results were critically examined. The stochastic variation in the 3-hour maximum bending moment at the sea bed was significantly larger than the random variation in repetition tests, and highlighted the need for a good statistical basis in design. Numerical simulations using a beam element model with a modified Morison wave load model and second order wave kinematics gave reasonable prediction of the ringing response of the flexible model, and of the measured excitation forces on the rigid model in the absence of slamming. The numerical model was also used to investigate the sensitivity of the responses with respect to damping and natural period. A simple single degree-of-freedom model was shown to behave similarly to a fully flexible model when considering changes in natural frequency and damping.     

海洋平台磁流变阻尼器半主动控制研究

基于现代最优控制理论建立海洋平台磁流变 (MR)半主动控制系统的数学模型 ,采用白噪声过程通过滤波器来近似随机波浪力谱。以典型导管架平台为算例 ,对磁流变阻尼器进行了参数设计。分析了 MR阻尼器对海洋平台振动控制的有效性 ,仿真结果表明 ,采用磁流变阻尼器对海洋平台进行半主动控制能够有效的减小平台的动态响应。     

The experimental and theoretical evaluation of a twin-flap wave-energy absorbing device

A series of model experiments with a twin-flap wave-energy absorbing device is described, and the results compared with numerical predictions based on theoretical work reported by Srokosz and Evans (1979). Measurements were made of absorption efficiency, flap motion responses, and total flap forces (mooring forces), all with the supporting structure held fixed, with normal wave encounter. Both 2-D and finite-length flap experiments were conducted.Generally, fair agreement was obtained between theory and experiments with regard to efficiency vs wavenumber and applied damping coefficient was generally matched by apparent from these experiments. Maximum efficiencies approaching 100% (as predicted analytically) were confirmed by experiments. Further, the predicted behavior of curves of efficiency vs wave number and applied damping coefficient was generally matched by experimental results.Results for flap motion responses and forces showed good agreement with theory.Some basic conclusions are drawn with regard to practical design and economic considerations for a twin-flap power generating system.     

Wind and wave induced behaviour of offshore guyed tower platforms

Offshore guyed tower platforms belong to the group of compliant offshore platforms which are most suited for deep water exploration. The basic feature of compliant offshore platforms is that they are designed to move with the waves, in at least some degrees-of-freedom. As far as excitation of wave frequencies is concerned, the system opposes wave forces by inertial effects. The offshore guyed tower derives its stability against lateral movement from its mooring system.In this study, the response of offshore guyed towers to random forces generated by wind and wave is investigated. The exposed portion of the tower is subjected to the action of turbulent wind, while the submerged portion is acted upon by random wave forces. The analysis includes the nonlinearities due to the Morison equation of drag force, the variable submergence effect due to waves, the instantaneous position of the tower and force excursion relation of the mooring lines. A parametric study is conducted to investigate the behaviour of the tower under waves, and the combined effect of wind and wave forces.     

Influences of wave stretching on the response of wave-excited offshore platforms

Critical examinations are reported for the effects of wave stretching on realistic representations of the wave forces that act on offshore structures. Examinations are also made for the importance of such effects on the corresponding structural responses, and it is demonstrated that the effects of stretching on the governing wave forces and the resulting structural responses are small, indicating that they can be ignored in design practice. Valuable insight is further provided into the definition of the wave excitation, and physical interpretations are made which show that the actions of stretching cannot materially influence the governing excitation and the corresponding structural response.     

Feedback and Feedforward Optimal Control for Offshore Jacket Platforms

The optimal control is investigated for linear systems affected by external harmonic disturbance and applied to vibration control systems of offshore steel jacket platforms. The wave-induced force is the dominant load that offshore structures are subjected to, and it can be taken as harmonic excitation for the system. The iineafized Morison equation is employed to estimate the wave loading. The main result concerns the existence and design of a realizable optimal regulator, which is proposed to damp the forced oscillation in an optimal fashion. For demonstration of the effectiveness of the control scheme, the platform performance is investigated for different wave states. The simulations axe based on the tuned mass damper (TMD) and the active mass damper (AMD) control devices. It is demonstrated that the control scheme is useful in reducing the displacement response of jacket-type offshore platforms.     

Parametric vibration of submerged floating tunnel tether under random excitation

For the study of the parametric vibration response of submerged floating tunnel tether under random excitation,a nonlinear random parametric vibration equation of coupled tether and tube of submerged floating tunnel is set up.Subsequently,vibration response of tether in the tether-tube system is analyzed by Monte Carlo method.It may be concluded that when the tube is subjected to zero-mean Gaussian white noise random excitation,the displacement and velocity root mean square responses of tether reach the peak if the circular frequency of tube doubles that of tether;the displacement and velocity root mean square responses of tether increase as the random excitation root mean square increases;owing to the damping force of water,the displacement and velocity root mean square responses of tether decrease rapidly compared with tether in air;increasing the damping of the tether or tube reduces the displacement and velocity root mean square responses of tether;the large-amplitude vibration of tether may be avoided by locating dampers on the tether or tube.     

海洋石油平台TMD振动控制及参数优化

研究了随机波浪载荷作用下调谐质量阻尼器（ＴＭＤ）对桩基钢结构海洋平台的减振效果,采用谱分析法对ＴＭＤ参数进行优化,优化ＴＭＤ 使平台的位移响应标准偏差比无ＴＭＤ下降１２．４％ 。并研究了ＴＭＤ参数在优化域内的失调对响应的影响,ＴＭＤ刚度失调比阻尼失调要敏感,欠阻尼失调比过阻尼失调要敏感。从振害累积概念出发,对谐激励下ＳＤＯＦ－ ＴＭＤ的Ｒａｎｄａｌｌ参数优化方法提出了改进。     

Feedforward and feedback optimal control for offshore structures subjected to irregular wave forces

This paper studies the vibration control of a jacket-type offshore platform with an active mass damper (AMD) and presents a feedforward and feedback optimal control (FFOC) law. The linearized Morison equation is employed to estimate the wave load. The offshore structure is simplified into a single degree of freedom (SDOF) system. The original vibration control is formulated as the optimal control for a linear discrete-time system affected by external disturbances with known dynamic characteristics but unknown initial conditions. We give the existence and uniqueness conditions of the FFOC law. Simulation results show that, compared with the classical state feedback optimal control (CFOC) law, the presented control scheme is more efficient in reducing the displacement and velocity of the offshore structure subjected to irregular wave forces.     

Structural monitoring of offshore platforms using impulse and relaxation response

Monitoring offshore platforms, long span bridges, high rise buildings, TV towers and other similar structures is essential for ensuring their safety in service. Continuous monitoring assumes even greater significance in the case of offshore platforms, which are highly susceptible to damage due to the corrosive environment and the continuous action of waves. Also, since a major part of the structure is under water and covered by marine growth, even a trained diver cannot easily detect damage in the structure. In the present work, vibration criterion is adopted for structural monitoring of jacket platforms. Artificial excitation of these structures is not always practicable and ambient excitation due to wind and waves may not be sufficient for collecting the required vibration data. Alternate methods can be adopted for the same purpose, for example, the application of an impact or a sudden relaxation of an applied force for exciting the structure. For jacket platforms, impact can be applied by gently pushing the structure at the fender while relaxation can be accomplished by pulling the structure and then suddenly releasing it using a tug or a supply vessel in both cases. The present study is an experimental investigation on a laboratory model of a jacket platform, for exploring the feasibility of adapting vibration responses due to impulse and relaxation, for structural monitoring. Effects of damage in six members of the platform as well as changes in deck masses were studied. A finite element model of the structure was used to analyze all the cases for comparison of the results as well as system identification. A data acquisition and analysis procedure for obtaining the response signatures of the platform due to the impulse and relaxation procedure was also developed for possible adoption in on-line monitoring of offshore platforms. From the study, it has been concluded that both impulse and relaxation responses are useful tools for monitoring offshore jacket platforms. The present work forms the basis for the development of an automated, on-line monitoring system for offshore platforms, using neural networks.     

Force resultants for deep-water wave-excited offshore structures

Concepts are developed which lead to an improved understanding of the characteristics of the wave forces that act on deep-water, jacket-type offshore structures. These concepts are the result of comprehensive examinations of both the inertia and the drag force components of the wave excitation. It is shown that, under conditions which are of practical importance, the resultants of the inertia and drag force components can both be expressed in terms of the motion of the sea surface. Fundamental modal forces which govern fundamental modal responses for offshore structures are also examined, and the relationships between these modal forces and the resultants of the inertia and drag force components are established. The structural response itself is further examined, and valuable information is developed which is believed to be of practical importance.     

Spectral Analysis of Nonlinear Drag Forces

The spectral properties of nonlinear drag forces of random waves on vertical circular cylinders are analyzed in this paper by means of nonlinear spectral analysis. The analysis provides basic parameters for estimation of the characteristic drag forces. Numerical computation is also performed for the investigation of the effects of nonlinearity of the drag forces.The results indicate that the wave drag forces calculated by linear wave theory are larger than those calculated by the third order Stokes wave theory for given waves. The difference between them increases with wave height. The wave drag forces calculated by use of hnear approximation are about 5% smaller than their actual values when measured in the peak values of spectral densities. This will result in a safety problem for the design of offshore structures. Therefore, the nonlinear effect of wave drag forces should be taken into comidemtion in design and application of important offshore structures.     

海洋平台磁流变阻尼器控制技术研究

为了更有效地减小海洋平台动力响应,采用基于模糊控制算法的磁流变阻尼器对海洋平台的振动进行控制.以海洋平台位移响应误差和误差变化为输入变量,以最优控制力为输出变量,优化设计出模糊控制器.考虑实际磁流变阻尼器输出控制力上限存在限制,采用半主动控制算法计算接近于最优控制力的半主动控制力.以一固定式海洋平台为算例研究磁流变阻尼器的振动控制效果及其模糊性,仿真结果表明模糊磁流变控制器对于平台的振动可以实现非常有效的控制,且控制效果对结构阻尼和环境的不确定性具有较好的模糊性.     

Application of double bounded probability density function for analysis of ocean waves

Ocean waves and forces induced by them on offshore structures are random in nature. Experience has shown that short term statistics of wave heights can be described by the Rayleigh distribution for narrow band spectra (Longuet-Higgins, 1952) and that the long term statistics or the evaluation of design wave is based on certain well known extreme value distribution such as mixed Frechet distribution (Thom, 1973a, b).This paper presents a new application of the double bounded probability density function to describe the ocean wave statistics. The prime importance is to estimate the most probable maximum wave height for offshore structural designs.     

Probabilistic analysis of offshore wind turbines under extreme resonant response: Application of environmental contour method

Offshore wind turbines can exhibit dynamic resonant behavior due to sea states with wave excitation frequencies coinciding with the structural eigenfrequencies. In addition to significant contributions to fatigue actions, dynamic load amplification can govern extreme wind turbine responses. However, current design requirements lack specifications for assessment of resonant loads, particularly during parked or idling conditions where aerodynamic damping contributions are significantly reduced. This study demonstrates a probabilistic approach for assessment of offshore wind turbines under extreme resonant responses during parked situations. Based on in-situ metocean observations on the North Sea, the environmental contour method is used to establish relevant design conditions. A case study on a feasible large monopile design showed that resonant loads can govern the design loads. The presented framework can be applied to assess the reliability of wave-sensitive offshore wind turbine structures for a given site-specific metocean conditions and support structure design.     

Modeling and Analyzing Dynamic Response for An Offshore Bottom-Fixed Wind Turbine with Individual Pitch Control

The asymmetric or periodically varying blade loads resulted by wind shear become more significant as the blade length is increased to capture more wind power. Additionally, compared with the onshore wind turbines, their offshore counterparts are subjected to additional wave loadings in addition to wind loadings within their lifetime. Therefore, vibration control and fatigue load mitigation are crucial for safe operation of large-scale offshore wind turbines. In view of this, a multi-body model of an offshore bottom-fixed wind turbine including a detailed drivetrain is established in this paper. Then, an individual pitch controller (IPC) is designed using disturbance accommodating control. State feedback is used to add damping in flexible modes of concern, and a state estimator is designed to predict unmeasured signals. Continued, a coupled aero-hydro-servo-elastic model is constructed. Based on this coupled model, the load reduction effect of IPC and the dynamic responses of the drivetrain are investigated. The results showed that the designed IPC can effectively reduce the structural loads of the wind turbine while stabilizing the turbine power output. Moreover, it is found that the drivetrain dynamic responses are improved under IPC.

     

畸形波作用下张力腿浮式风力机动力响应特性

针对张力腿系泊浮式风力机的基础运动,忽略柔性构件的影响,建立气动—水动—系泊非线性耦合运动方程。在运动控制方程中包含张力腿系泊系统的非线性回复刚度,桨距角控制以及浮式基础运动对空气动力载荷的影响。在波浪载荷的计算中考虑二阶波浪载荷的作用。采用随机频率相位角调制法生成畸形波波面时历,计算在畸形波作用下张力腿型浮式风力机的动力响应特性。数值模拟结果表明,在畸形波作用下,浮式基础的运动及空气动力性能均受到了显著的影响。其中浮式基础的纵荡和纵摇运动分别受二阶差频与和频波浪力的影响,而垂荡运动的增加则主要是受下沉运动的影响。在畸形波经过的时刻,风力机的功率系数迅速下降,水平方向的风载荷波动先减小,随后其数值急剧下降,而垂直方向的风载荷波动增大。