Reliability-based comparative study for mooring lines design criteria

The characteristic environmental load effect for the design of mooring systems of floating units can be defined by means of three procedures: (a) the one associated to an extreme sea state with a given return period, (b) the worst one from a set of sea states on a contour line associated to a return period or (c) the extreme one based on response statistics for a long-term period. This work presents the result of a reliability-based partial safety factor calibration study for a LRFD mooring line design criteria considering the three approaches mentioned above. The calibration exercise is applied to three FPSOs considering North Sea environmental conditions and different water depths: 200, 800 and 3000 m. The mooring systems investigated take into account mooring lines made up of chains and polyester ropes. It is shown that, among all cases investigated, the design procedure based on the long-term response is the one that presents less scattered reliability indices around the target level.     

Shallow Water Effects on Surge Motion and Load of Soft Yoke Moored FPSO

Much attention should be paid to a large FPSO moored permanently in an oil field with water depth of only about 20 m, since shallow water effects on the hydrodynamics may bring about collision and damage. A 160kDWT FPSO with a permanent soft yoke mooring system is investigated with various shallow water depths and focuses are the low frequency surge motion and mooring load. Computation for the FPSO system is made based on linear 3-D potential fluid theory and time-domain numerical simulation method. Corresponding model test is carried out in the ocean engineering basin of Shanghai Jiao Tong University. It is shown that, in the surge natural period, low frequency surge motion and mooring force increase remarkably with the decrease of water depth. Especially, the smaller the ratio of water depth and draught is, the quicker the increase is. The shallow water effects should be taken into account carefully for determining the design load of a single point mooring system.     

安装误差对半潜漂浮式风机悬链线系泊系统性能的影响

由于浅水深条件下悬链线系泊系统的性能对系泊缆长度和几何形状更为敏感,悬链线系泊系统的安装误差对其性能的影响较深水条件下的更为显著。因此首先对适用于半潜漂浮式风机的悬链线系泊系统施工进行研究,分别确定了锚安装位置误差、系泊缆预铺误差和系泊缆与漂浮式基础回接误差的来源,并根据施工条件给出了误差值。之后,以浮体动力学仿真作为手段,对系泊缆系统施工误差对其性能的影响进行基于时域仿真的量化研究。研究表明,锚安装位置误差对系泊系统性能影响不大,但系泊缆预铺和回接的误差对系泊系统性能的影响较大。系泊缆回接的误差可造成系泊缆张力平均值和标准差与设计值偏差近20%,可能对系泊系统疲劳寿命评估产生较大的影响。与系泊缆回接误差相比,系泊缆预铺误差的产生原因更为复杂,由于系泊缆预铺误差往往导致系泊缆长度增长,存在误差的系泊缆张力的各项统计值总体偏小,但可能会造成同组无误差系泊缆的张力过载。     

Hybrid Verification of A Deepwater Cell-Truss Spar

Hybrid model testing technique is widely used in verification of a deepwater floating structure and its mooring system,but the design of the truncated mooring systems which can reproduce both static and dynamic response same as the full-depth mooring system is still a big challenge,especially for the mooting systems with large truncation.A Cell-Tress Spar operated in 1500 m water depth is verified in a wave basin with 4 m water depth.A large truncation factor arises even though a small model scale 1:100 is adopted.Computer program modules for analyzing the static and frequency domain dynamic response of mooting line are combined with multi-objective genetic algorithm NSGA-II to optimize the truncared mooting system.Considering the asymmetry of layout of mooring hnes,two different truncated mooring systems are respectively designed for both directions in which the restoring forces of the.mooting system are quite,different.Not only the static characteristics of the mooting systems are calibrated,but also the dynamic responses of the single truncated mooting line are evaluated through time domain numerical simulation and model tests.The model test results of 100-year storm in the GOM are reconstructed and extrapolated to a full depth.It is found that the experimental and numerical resuits of Spar wave frequency motion agree well,and the dynamic responses of the full-depth mooring lines are better reproduced,but the low frequency surge motion is overestimated due to the smaller mooring-induced damping.It is a feasible method adopting different truncated mooring systems for different directions in which the restoring force characteristics are quite different and cannot be simulated by one truncated mooring system.Hybrid verification of a deepwater platform in wave basin with shallow water depth is still feasible if the truncated mooring systems are properly designed,and numerical extrapolation is necessary.     

半潜平台浮子式系泊系统参数优化研究

通过在系泊缆中设置浮子可以改善系泊系统性能,降低平台运动响应。建立浮子式系泊系统的数值计算模型,验证浮子式系泊系统数值计算方法,详细分析浮子设计参数(设置位置和净浮力大小)变化对系泊缆张力特性与平台运动的影响规律,并根据得到的规律选择了优化的浮子系泊系统方案。最后对优化方案进行评估,表明优化方案可以显著降低系泊中的平台水平运动,尤其是低频运动,同时系泊缆张力变化不大,仍满足安全要求。研究结果可为今后浮子式系泊系统设计提供参考。     

Measurements of static and dynamic mooring line damping and their importance for floating WEC devices

The dynamic response of the mooring line will be a dominant factor to consider in their use for the station keeping of a wave energy converter (WEC). Due to the relatively small size of WECs and their being moored in relatively shallow waters the effect of waves, tide and current can be of greater significance than for other floating offshore systems. Axial line stretching and high-frequency ‘top-end’ dynamics can importantly modify damping and top-end loading.If a ‘farm’ of devices is to be considered then limitations in sea space may necessitate that the devices be relatively densely packed. This will mean that the ‘footprint’ of the mooring should be constrained, to ensure that the moorings from each device do not interfere and this will have great significance for the loading experienced by the line. One must also consider how the mooring system might change the response of the WEC and so alter its ability to extract power from the waves. Unlike a typical offshore system, the design of moorings for a WEC device must consider reliability and survivability, and the need to ensure efficient energy conversion.The design and operation of a chain mooring for a WEC is considered here. Generic experimental measurements of mooring line damping were conducted in the Heriot-Watt University wave basin at a scale of 1:10. The measurements were conducted on a single mooring line for surge motions and include the study of axial stretching and high top-end dynamics. The laboratory procedures were designed to resemble tests undertaken earlier at ‘full’ scale in 24 m water depth. The measurements were also compared with numerical studies. The experimental findings for WEC devices, supports the conclusion that dynamic mooring line motion will be an important variable, needing to be considered carefully within the design.     

半潜式钻井平台复合锚泊系统组分配比优化设计

从提高锚泊系统收放时效性入手,提出了一种半潜式钻井平台复合式锚泊系统组分配比优化设计方法,旨在尽可能降低复合式锚泊系统的钢链配比长度,提高收放效率。结合锚泊系统设计参数,制定优化设计准则,建立优化分析流程,采用ANSYS-AQWA建立锚泊定位半潜式平台水动力分析模型,获得平台运动参数和锚链动力参数,对平台漂移量、锚链最小安全系数、走锚临界张力、锚链最小卧底长度和起锚力进行无量纲指标分析,并综合考虑张力倾角与预张力对优化结果的影响,获得复合式锚泊系统钢链与钢缆的最优配比关系,确定最优钢链长度为395 m,较原钢链长度缩短225 m,钢链收放时间降低36%,进一步提高锚泊系统收放时效性,并降低平台可变荷载。     

Multibody dynamical modeling of the FPSO soft yoke mooring system and prototype validation

The Soft Yoke Mooring System (SYMS) is a single point mooring system for shallow water. It is composed of a mooring framework, mooring legs, yoke, and single point, and is located at the Floating Production Storage and Offloading (FPSO) through 13 hinge joints, such as universal joints and thrust bearings. Mooring restoring force, motions and postures of mooring components, and mechanical behaviors of hinge joints are major criteria for the structural design of the SYMS. Aiming at the difficulties of the multibody dynamics in traditional design of the SYMS, a multi-body dynamic mathematical modeling with seven independent degrees of freedom (DOFs) which is applicable to prototype field engineering was developed in this study. The proposed mathematical modeling of the SYMS multibody dynamic system has several advantages: 1. Internal tribological behaviors in hinge joints are considered within the presented multibody dynamics model to illustrate the good dynamic effects of the SYMS. 2. The multibody dynamic model can be applied in field service. Correctness and feasibility of the proposed multibody dynamic simulation method for describing motions and postures of hinges and single-body were validated by the prototype monitoring data. 3. The horizontal restoring force of the SYMS was calculated according to field measurement data. The motion state of each single body and internal stress distributions at each hinge joint in the SYMS are given. 4. The multibody dynamics calculation program can be directly used for the real-time monitoring of mechanical behaviors of the SYMS under the service state. The simulated results can provide real-time guarantee for safety alarming of the system. The vulnerability of the mooring system in service was evaluated based on long-term monitoring data analysis.     

Dynamics of large-truncated mooring systems coupled with a catenary moored semi-submersible

With the floating structures pushing their activities to the ultra-deep water,model tests have presented a challenge due to the limitation of the existing wave basins.Therefore,the concept of truncated mooring system is implemented to replace the full depth mooring system in the model tests,which aims to have the same dynamic responses as the full depth system.The truncated mooring system plays such a significant role that extra attention should be paid to the mooring systems with large truncation factor.Three different types of large truncation factor mooring system are being employed in the simulations,including the homogenously truncated mooring system,non-homogenously truncated mooring system and simplified truncated mooring system.A catenary moored semi-submersible operating at 1000 m water depth is presented.In addition,truncated mooring systems are proposed at the truncated water depth of 200 m.In order to explore the applicability of these truncated mooring systems,numerical simulations of the platform’s surge free decay interacting with three different styles of truncated mooring systems are studied in calm water.Furthermore,the mooring-induced damping of the truncated mooring systems is simulated in the regular wave.Finally,the platform motion responses and mooring line dynamics are simulated in irregular wave.All these simulations are implemented by employing full time domain coupled dynamic analysis,and the results are compared with those of the full depth simulations in the same cases.The results show that the mooring-induced damping plays a significant role in platform motion responses,and all truncated mooring systems are suitable for model tests with appropriate truncated mooring line diameters.However,a large diameter is needed for simplified truncated mooring lines.The suggestions are given to the selection of truncated mooring system for different situations as well as to the truncated mooring design criteria.     

双体波浪能装置运动及系泊系统特性研究

波浪能是一种清洁、可再生的新型能源,波浪能发电装置在海上作业时会受到变化的风、浪、流载荷作用,需要系泊系统保证其稳性和安全性。以适用于中国南海500 m水深的振荡双浮体式波浪能发电装置为研究对象,运用频域计算与时域计算结合的方法对双浮体及其系泊系统的运动响应和动力载荷进行计算,获取极端海况与工作海况下浮体运动和系泊缆索张力的时历数据。参照BV船级社NR-493规定的海上浮式结构物系泊安全系数规范,对3种系泊方案进行安全校核和对比分析。选定其中一种系泊方案,通过改变系泊系统以及能量转换器（PTO）的参数,探究参数变化对双体波浪能装置运动响应以及系泊系统特性的影响,为类似应用于深水的双体波浪能装置系泊系统的设计提供参考。     

Direct estimation of motion from sea floor images for automaticstation-keeping of submersible platforms

Maintaining a fixed position near the sea floor is a critical capability during the deployment of remotely operated or intelligent (autonomous) undersea vehicles in a variety of missions, including inspection and repair of undersea structures, data collection, and surveillance. We present an automatic optical station-keeping system for application to submersible vehicles in deep waters by exploiting the information in sea floor images. Readily measurable spatio-temporal image gradients are used to detect and compute the vehicle's translational and yaw motions using a direct motion vision technique. The vision system has been implemented on a Windows-NT Pentium platform, and the estimated positions and yaw angles are communicated via a serial link to the control system, running on a PC-386. Accurate station-keeping is demonstrated in experiments with a three-thruster floating vehicle in a 6-ft×12-ft×6-ft water tank     

Fundamental analysis of deep sea mooring line in static equilibrium

The integrated equations of deep sea mooring lines in static equilibrium under consideration of gravity force and line elongation are obtained. The most useful forms of the equations for designing deep sea mooring system are those in which horizontal displacement and horizontal and vertical components of tension are obtained as functions of line length, water depth, critical tension and unit weight of line.When the dynamic simulation of a buoy system is carried out, line tensions acting on the buoy should be represented as a linear function of displacement. Therefore the linearisation method is introduced by use of linearisation coefficient matrix. Translation formulae for the matrix from two to three dimensions is also presented.The influence of line elongation on the horizontal component of tension in a taut mooring condition is important, therefore the elongation of stretched deep sea mooring line must be considered carefully. Also, the scaling law under consideration of line elongation in static equilibrium, which is necessary in estimation from a small sized experiment, is discussed.     

Fatigue reliability analysis of mooring system for fish cage

Fish cages in the open sea are exposed to cycle loads due to irregular wave climate during their service life, and thus the fatigue reliability assessment of mooring system should be conducted to ensure the safe operation. The aim of this study is to evaluate the fatigue failure probability of mooring system for fish cage. Numerical simulation of net cage in random waves is performed and the time dependent approach is applied to conduct the fatigue reliability analysis of shackle chains based on S-N curve method. The sensitivity analysis of fatigue reliability of mooring line to the uncertainty of random variables in the fatigue limit state is conducted. In addition, the system reliability for mooring system is analyzed and the effect of the initial pretension and safety factor on system reliability is investigated. The results indicate that a case without the initial pretension on anchor lines is helpful to decrease the failure probability of mooring system and the safety factor of mooring lines in the current regulation is conservative for the system reliability against fatigue damage.     

转塔式锚泊系统初步设计图谱

本文提供了一套设计图谱，用于转塔式锚泊系统的初步设计。图谱包含的水深范围为１００～６００ｍ。锚泊线的布置形式分别为４根、６根、８根和１０根均匀分布。锚泊线的构成有全链和索链组合二种方式。每种构成方式又对应着二种规格的索或链。从图谱中，设计者可以根据水深和定位浮体的运动及受力情况，方便地选择锚泊线的构成、尺寸及系统的布置状况，或对已选定的与图谱中参数相近的系统估算回复力。     

深水圆筒型钻井平台张紧式系泊系统设计

基于我国南海海域环境条件,对一座深水圆筒型钻井平台设计一套张紧式系泊定位系统,利用SESAM软件对平台运动响应和缆索张力进行分析计算,得到主要运动响应为纵荡、纵摇和垂荡。分别考虑0°和180°的环境载荷方向,对比得到0°方向的缆索张力更大,且6号和7号缆承受了主要的环境力。分析了平台运动的影响因素,认为缆索夹角设定为35°时较优,适度增大系泊缆初始长度和减小两端锚链长度可较为有效地降低系泊缆受力,系泊缆总根数保持12时（4根×3组）为最优方案。根据分析结果对初始系泊方案进行了优化,在风暴工况下系泊缆最大受力减小了约14.8%。钻井作业工况和一根系泊缆破断工况下,系泊缆受力和平台位移均能满足规范要求。     

浸没式可移动外输终端系泊系统优化研究

我国的边际油田大多年产量小且开发年限短，周围没有可依托设施的油田。针对此情况，可采用“蜜蜂式”开发模式。针对浸没式可移动外输终端这一新型概念设计，选取关键工况开展了时域耦合分析，研究了系泊系统参数对可移动外输终端最大水平位移和系泊缆最大张力的影响。以可移动外输终端最大水平位移和系泊缆最大张力最小为优化目标，以系泊缆结构安全为约束条件，构建了系泊系统多目标优化模型。分别建立了基于NSGA-Ⅱ和多目标粒子群算法的系泊系统优化框架，并应用这两种算法对系泊系统进行了优化设计。结果表明，NSGA-Ⅱ和多目标粒子群算法均可以解决系泊系统多目标优化问题，粒子群算法优化速度快，但通过NSGA-Ⅱ得到的Pareto前沿优化性能更好，因此更适合开展浸没式可移动外输终端的系泊系统优化。     

Design Curves for Mooring Lines of Turret Mooring Systems

This paper presents a series of design curves to aid in the selection of turret mooring systemsfor tankers based Floating Production Storage and Offloading(FPSO)systems.These curves are appropri-ate to water depths ranging from 100m to 600m.The curves can be used as a preliminary design tool,al-lowing the designer to quickly evaluate alternative mooring system configurations,including the numberof mooring lines,the characteristics of chain and wire rope to be deployed and the initial tension.With aknowledge of the total environmental force and vessel motion characteristics,the designer can determinethe appropriate system for closer evaluation.     

一种适用于石油平台的有缆潜标系统的设计与布放方法

针对石油平台上的海洋环境动力检测,设计一套有缆潜标系统,并进行现场布放.该设计采用从海底到石油平台垂直布放一根受力钢缆,测量设备和通讯电缆依附于受力钢缆上.布放时采用船舶布放有缆潜标水下部分,平台布放有缆潜标水面以上部分,两部分在水面附近进行连接,调整受力.该设计可以大大降低布放成本,避免有缆潜标系统缠绕平台桩腿等问题,有一定的工程施工参考价值,可以应用于石油平台的有缆潜标布放设计.     

Autonomous and rapid deployment of a compact taut-wire mooring

The deployment time of a taut-wire mooring is reduced to the time any transportation/hoisting device needs to put a payload at the sea surface. This is a matter of minutes rather than hours needed for deployment of long deep-ocean moorings in the regular way. It is achieved by extending the basic function of mooring parts to temporarily form a Launcher for Oceanographic Equipment and Instruments (LOEI). Full preparation of the mooring is done onshore where the instruments are prepared and programmed, and spooled onto the top-buoy together with the line. At sea, no other gear is required than a device that is able to lift a load of, say, 2000 kg, even for long deep-ocean moorings. The compact mooring method realizes considerable budget savings through deployments from non-research vessels and airborne transportation-deployment. Limitations lay in size and weight of the oceanographic instruments. We present a test-design shaped as a barbell and loaded with 940 m line and 3 current meters. Unfurling speed was maximally 2.3 m s⁻¹ and the descent speed amounted 1.2 m s⁻¹ until landing on the seabed. These speeds are comparable to those acquired during a conventional free-falling mooring deployment.     

Reliability of mooring lines and piles for a permanently manned vessel in a tropical cyclone environment

The factors of safety for stationkeeping systems in current standards (ISO, API) are not derived or validated using reliability analyses. As the oil and gas exploration and production is breaking new boundaries, deploying new floating systems and moving into regions with harsher environments, it is of paramount importance to understand what level of reliability these new marine structures are achieving. This paper presents a reliability analysis of the mooring system of a Floating LNG (FLNG) vessel permanently moored and permanently manned offshore North West Australia in a tropical cyclone environment. The reliability analysis addresses both the mooring chain and the pile foundation. The analysis accounts for the long term characteristics of the environment, including the short term variability, in response to a given sea state and the variability and uncertainty in strength of the mooring chain and the pile. The stationkeeping system was analysed using detailed time domain simulations, capturing system non-linearities and low frequency oscillations as well as wave frequency responses and, thereby, reducing modelling uncertainties to a minimum.It is found that for the conditions modelled, neither the chain nor the pile meet a target reliability of 10⁻⁴/annum using the factors of safety commonly used in design following current ISO and API standards. New factors of safety are proposed to achieve this target reliability. For the pile design, one complicating factor is that current design standards do not explicitly define the exceedance probability that should be associated with the characteristic value of the undrained shear strength to be used in the design. It is demonstrated that the required factor of safety is crucially dependent on the definition of this characteristic value and on the level and the type of uncertainty in the soil strength profile. A recommendation is made regarding the definition of this characteristic value and the associated factor of safety. Furthermore, it is found that designing the mooring system to an environmental condition with a return period of 10,000 yr (as an Abnormal Limit State event), and setting the factor of safety to unity, meets the target reliability of 10⁻⁴/annum for the pile, if the characteristic undrained shear strength is a lower bound, defined in this paper by the 10th percentile value. For the chain however, this target reliability is not achieved.