Theoretical Model and Dynamic Analysis of Soft Yoke Mooring System

As a popular solution for mooring an FPSO （Floating Production, Storage and Offloading） permanently in shallow water, the soft yoke mooring system has been widely used in ocean oil production activities in the Bohai Bay of China. In order to simulate the interaction mechanism and conduct dynamic analysis of the soft yoke mooring system, a theoretical model with basic dynamic equations is established. A numerical iteration algorithm based on error estimation is developed to solve the equations and calculate the dynanfic response of the mooring system due to FPSO motions. Validation is conducted by wave basin experimentation. It is shown that the numerical simulation takes only a few iteration times and the final errors are small. Furthermore, the calculated results of both the static and dynamic responses agree well with those ones obtained by the model test. It indicates that the efficiency, the precision, the reliability and the validity of the developed numerical algorithm and program are rather good. It is proposed to develop a real-time monitoring system to further monitor the dynamic performance of the FPSO with a soft yoke mooring system under various real sea environments.     

基于多体分析的浅水FPSO和水下软钢臂系泊系统运动特性研究

基于多体动力分析方法进行FPSO和水下软钢臂系泊系统的运动特性研究。相较于非线性弹簧模拟软钢臂系泊系统或者其他近似模拟方法,多体分析方法可以充分考虑系泊系统具体结构形式及其动力项对FPSO运动性能的影响,更好的预报系统运动响应和系泊力。本文将FPSO和水下钢臂结构模拟成2个具有6自由度的独立结构,两者用系泊链组进行连接。基于三维势流理论应用汇源分布法,首先在频域内进行FPSO的水动力参数分析,进而在时域内对系统进行耦合动力分析。本文重点讨论系泊系统黏性力和二阶波浪力对系统响应的影响,计算结果发现系泊系统黏性力对系泊力有一定影响,而在浅水条件下二阶波浪力的计算对准确预报系统运动及系泊力非常重要。     

软刚臂系泊系统水平恢复力特性数值预报

建立软刚臂系泊系统的理论模型以及6自由度静恢复力特性计算分析的数学模型,模拟实际几何关系与力学作用机制。提出基于误差判断的变步长迭代搜索的数值逼近求解方法,以QHD32-6 FPSO软刚臂系泊系统的纵向和横向水平恢复力特性为例进行数值预报,并与国外设计公司计算结果以及模型试验结果进行比较分析。对比显示,该模型的数值计算结果符合良好,而且迭代计算次数少、收敛快、误差小,可用于海上软刚臂系泊系统静恢复力特性的预报。     

软刚臂单点系泊系统静力特性分析

软刚臂系泊系统是一种利用压载质量为浮式生产储油装置(FPSO)提供回复力的单点系泊方式。为快速准确地评估多铰接组成的软刚臂系统的受力状态,避免应用高复杂度的有限元软件,进而快速完成优化设计等任务,建立一种静力计算方法十分有必要。因此,针对由刚臂(YOKE)、柔性系泊腿和压载舱组成的刚柔多体系统,以分解组合的方式,提出一种二维静力计算方法,用以研究FPSO软刚臂系泊系统的静力特性。该方法主要依靠软刚臂的几何构型,在有限铰接约束下,形成非线性静力平衡方程,建立了压载舱式水上软刚臂单点系泊系统二维静力平衡计算算法。采用OrcaFlex、SESAM等软件开展了理论和数值对比分析,同时与系泊试验结果开展验证分析。对比结果表明,文中所提方法计算精度较高,可为软刚臂单点系泊系统的研究提供可靠支持。     

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.     

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.     

圆筒型FPSO优化设计与水动力性能分析

针对圆筒型海上储油装置FPSO垂荡运动性能较差、无法安装干式井口的问题,设计了带延伸筒体与矩形阻尼结构的圆筒型FPSO,根据延伸筒体与矩形阻尼结构是否通海分为两种型式。建立水动力计算模型,比较分析不同延伸筒体和阻尼结构型式对FPSO水动力性能的影响。针对南海作业海域,设计了悬链式系泊系统,基于JONSWAP波浪谱对FPSO的运动进行时域预报,并对系泊系统进行校核。分析结果表明:通海型FPSO垂荡固有周期显著提升,可以错开南海百年一遇谱峰周期,通海型FPSO满足钻井、安装干式井口的运动响应要求,系泊系统系缆张力满足规范要求。     

LNG-FSRU在软刚臂系泊下水动力特性研究

针对35万立方米超大型LNG-FSRU,采用软刚臂单点系泊系统定位方式,运用模型试验与数值计算两种技术手段开展风、浪、流联合作用下水动力研究。软刚臂系泊系统各构件间的连接方式及Yoke重量模拟是数值计算与模型试验的关键,数值计算对构件间的铰接方式与Yoke重量进行模拟,模型试验同样模拟了系泊系统的相似性,并将数值计算结果与模型试验结果进行对比分析。结果表明,软刚臂系泊系统刚度曲线呈非线性,试验结果与数值结果吻合良好,表明对于软刚臂系泊系统的两种模拟是合理的,反映了LNG-FSRU在风、浪、流联合作用下的运动特性,建立的研究方法可用于软刚臂系统的水动力研究。     

Dynamic Analysis of Turret-Moored FPSO System in Freak Wave

Freak wave is the common wave which has significant wave height and irregular wave shape, and it is easy to damage offshore structure extremely. The FPSOs (Floating Production Storage and Offloading) suffer from the environment loads, including the freak wave. The freak waves were generated based on the improved phase modulation model, and the coupling model of FPSO-SPM (Single Point Mooring) was established by considering internal-turret FPSO and its mooring system. The dynamic response characteristics of both FPSO and SPM affected by the freak wave were analyzed in the time domain. According to the results, the freak waves generated by original phase modulation model mainly affect the 2nd-order wave loads. However, the freak waves which are generated by random frequencies phase modulation model affect both 1st-order and 2nd-order wave loads on FPSO. What is more, compared with the irregular waves, the dynamic responses of mooring system are larger in the freak waves, but its amplitude lags behind the peak of the freak wave.     

On the Vibration Reduction Effect of Offshore Platform Vibration Distribution Structure

Based on the Bohai ocean environment characteristics, a new platform vibration distribution structure is designed to reduce the platform vibration due to flowing ice. The effect of the earthquake wave and ocean wave load on this vibration distribution structure is considered in the design. The principal idea of this new vibration distribution structure is dividing the platform main column into the inner tube and the outer tube. The outer tube is connected with the leg pontoon by braces, while the inner tube is used to support the platform deck. The inner tube and outer tube can be connected or disconneted in the region near the water line. For evaluating the vibration reduction effect of such a structure, tests are carried out on a steel model, and the external load of flowing ice, earthquake wave and ocean wave are simulated by concentated random load applied to different points of the model. The tests are performed in water media and air media respectively. The vibration reduction effect is evaluated     

Hull/mooring/riser coupled dynamic analysis and sensitivity study of a tanker-based FPSO

A computer program is developed for hull/mooring/riser coupled dynamic analysis of a tanker-based turret-moored FPSO (Floating Production Storage and Offloading) in waves, winds, and currents. In this computer program, the floating body is modeled as a rigid body with six degrees of freedom. The first- and second-order wave forces, added mass, and radiation damping at various yaw angles are calculated from the second-order diffraction/radiation panel program WAMIT. The wind and current forces for various yaw angles of FPSO are modeled following the empirical method suggested by OCIMF (Oil Company International Marine Forum).

The mooring/riser dynamics are modeled using a rod theory and finite element method (FEM), with the governing equations described in a generalized coordinate system. The dynamics of hull, mooring lines, and risers are solved simultaneously at each time step in a combined matrix for the specified connection condition. For illustration, semi-taut chain-steel wire-chain mooring lines and steel catenary risers are employed and their effects on global FPSO hull motions are investigated. To better understand the physics related to the motion characteristics of a turret-moored FPSO, the role of various hydrodynamic contributions is analyzed and assessed including the effects of hull and mooring/riser viscous damping, second-order difference-frequency wave-force quadratic transfer functions, and yaw-angle dependent wave forces and hydrodynamic coefficients. To see the effects of hull and mooring/riser coupling and mooring/riser damping more clearly, the case with no drag forces on those slender members is also investigated. The numerical results are compared with MARIN's wave basin experiments.     

Vibration Characteristics of An Offshore Platform and Its Vibration Control

A template offshore platform, located in the Bohai Bay of China, has exhibited excessive, unexpected vibration un-der mildly hostile sea conditions, which has affected the normal operation of the platform. Since the structure was de-signed to sustain more severe wave climate, the cause of the excessive vibration has been suspected to originate from other sources. The main objectives of this study are to investigate the causes of the excessive vibration, and to explore possible remedies to solve the problem, In this paper, the vibration behavior of the offshore platform is analyzed by means of finite element (FE) modeling, field measurements and laboratory test. Results of analysis suggest that relative movement and impact between the piles and the jacket legs exist, i. e. the piles and the jacket are not perfectly connected. The discon-nection of the piles and jacket weakens the overall stiffness of the platform, and therefore produces unexpected excessive vibration. In this study, measures for reducing     

规则波中铰接塔-油轮系统的动力响应分析

论文研究铰接系泊塔-油轮系统波流联合作用下的动力响应。考虑铰接塔-油轮单点系泊系统系缆刚度的非线性,将尼龙系缆处理为分段非线性刚度模型,采用M orison公式计算铰接塔的波浪载荷,采用线性波浪绕射理论计算波浪对油轮的作用,建立了两自由度耦合的分段非线性运动微分方程。计算了高177 m的铰接系泊塔和93 500 t油轮构成的FPSO系统的耦合动力响应,并讨论了系统运动对于系缆张力的影响。     

基于模糊Petri网络的FPSO单点多管缆干涉风险评估

FPSO单点系泊系统水下管缆众多,受环境等因素影响,管缆容易发生拉伸、扭转、弯曲和碰撞,引发干涉现象,危及工程安全.针对FPSO单点多管缆干涉风险,提出了基于模糊Petri网络的风险评估方法.首先,辨识风险因素来构建风险评估指标体系,并转化为模糊Petri网模型;其次,采用层次分析法确定风险因素的常权重,并引入模糊置信结构来提高专家主观评价的准确性;然后,将变权理论与模糊推理算法相结合来迭代求解库所可信度和状态矩阵;最后,以南海某内转塔式FPSO为例进行了风险评估.结果表明:该FPSO的风险评估等级为中等,环境与设备因素是影响管缆干涉的主要因素.通过风险排序结果对综合评估值较高的风险指标提出了风险控制措施,可有效降低管缆干涉风险发生的概率与危害.     

新型圆筒型FPSO串靠外输作业耦合水动力响应分析

针对1 000 m水深作业的新型圆筒型浮式生产储卸油系统（FPSO）,选择多点系泊FPSO和穿梭油轮串靠外输方案,分析串靠方案在中国南海的可行性。FPSO和穿梭油轮作业时两者之间相互影响的研究较为重要,通过ANSYS-AQWA建立水动力耦合分析模型,基于多浮体水动力学方法进行时域耦合仿真模拟。在FPSO作业海况下,分析了串靠外输时系泊锚链及系泊大缆的张力特性和两浮体的运动响应,对大缆的长度和刚度参数变化进行了分析。结果表明：串靠外输方案满足新型圆筒型FPSO的作业环境。随着系泊大缆长度增加,其张力最值逐渐减小,FPSO和穿梭油轮的最小间距逐渐增大。两浮体最小距离稳定在83 m左右。随着系泊大缆刚度增加,其张力最值增大,相比于大缆长度,大缆刚度对耦合系统的影响较弱。     

一种适用于深水浮式海洋平台结构的新型系泊系统设计及水动力性能分析

作为浮式结构最常采用的两种系泊方式,悬链式系泊和张紧式系泊皆存在不足。本文提出了一种新型系泊系统,并以一深水FPSO为例,采用完全时域耦合分析方法,对不同工作水深情况下的浮体及新型系泊系统的运动性能进行了数值模拟,并将该新型系泊系统的仿真结果与传统的张紧式系泊系统进行了比较,分析了新型系泊系统在浮体运动性能、缆索张力等方面的改善,同时探讨了该新型系泊系统的最佳工作水深。     

Research on truncation method of FPSO and offloading system in model test

The model test method of the FPSO and offloading system is investigated by using the development mode of “FPSO + CALM + TANKER” working in a 1700-m depth of offshore West Africa. An equivalent design based on static and dynamic similarity criteria for oil offloading line (OOL) is discussed, and a type of creative method for the equivalent design of OOL in a model test is proposed. Based on the static similarity criterion, the truncated design of the FPSO mooring system in water depth and horizontal directions is carried out. After that, a relevant static optimization is conducted. Meanwhile, to avoid interference between the FPSO mooring system and CALM mooring system, a horizontal equivalent design for the CALM mooring system is provided. On this basis, the model test scheme is conducted. Time domain coupled analyses for the whole system before and after truncation are later performed. After comparison, it is observed that the calculated results of the truncated system are basically consistent with those of the prototype system, and the design of the model test scheme is demonstrated to be robust and reliable.     

Approximated dynamic analysis of single anchor leg storage system

This paper is concerned with the determination of dynamic load variations in the riser and yoke pivot components of an offshore vessel/mooring oil production and storage system.Forces on the yoke system arise from wave induced inertial and drag forces including current and motion due to vessel surge, heave and pitch.The analysis is carried out in the frequency domain and the results yield the limiting wave height for a specific design of SALS which will give rise to loss of tension in the riser. Also presented are the maximum horizontal and vertical components of load variation at the yoke pivoted connections with the vessel.     

水深对超大型FPSO波浪载荷响应影响试验研究

随着超大型浮式生产储卸油装置FPSO（floating production storing and offloading）在渤海浅水海域的广泛应用,水深对FP—SO波浪载荷响应的影响问题突现出来。对缩尺比为1：100的三模块分节模型进行了水深对超大型FPSO波浪载荷响应影响的试验研究,试验结果表明水深对FPSO波浪诱导载荷的影响很大。     

水下系泊监测平台非线性振动稳定性分析

针对水下系泊监测平台在水流涡激作用下的稳定性问题,考虑了浮体在振动过程中的变形,建立了其流固耦合的非线性动力学方程,利用谐波平衡法进行了非线性特性定性分析,Melnikov方法进行稳定性判据研究及影响因素分析,以系统出现混沌状态为稳定性控制条件,重点研究了系泊缆支撑间距对稳定性的影响,并计算出支撑间距的临界值。结果表明,系统稳定性随支撑间距增加而降低,当支撑间距超过临界值后,稍微增加都可能导致系泊监测平台振动偏离振动轨道而造成局部失稳甚至结构破坏。为保证监测平台的稳定性,应增加支撑数量,且支撑的间距不能超过系统发生失稳的临界值。