Nonlinear Dynamic Analysis of Deepwater Drilling Risers Subjected to Random Loads

Excited by ocean currents, random wave and vessel motion, deepwater drilling risers exhibit significant dynamic response. In time domain, a method is proposed to calculate the nonlinear dynamic response of deepwater drilling risers subjected to random wave and dynamic large displacement vessel motion boundary condition. Structural and functional loads, external and internal pressure, free surface effect of irregular wave, hydrodynamic forces induced by current and wave, as well as wave and low frequency (drift) motion of the drilling vessel are all accounted for. An example is presented which illustrates the application of the proposed method. The study shows that long term drift motion of the vessel has profound effect on the envelopes of bending stress and lateral displacement, as well as the range of lower flex joint angle of the deepwater riser. It can also be concluded that vessel motion is the principal dynamic loading of nonlinear dynamic response for the deepwater risers rather than wave force.     

Dynamic and static analysis of a marine riser

A frequency domain normal mode solution is presented for the dynamic response of an unbuoyed marine riser subjected to periodic excitation from a surface vessel in the direction of wave propagation. The variable tension beam-column equation is solved in terms of normal modes of free vibration of the riser and the rigid body displacement. Drag forces on the riser are represented by Morison's formula taking account of the velocity of the riser and wave-induced fluid velocity. A periodic solution for the flexural motion of the riser and the bending stress is then obtained by means of an iterative solution of the frequency response function. The drag force induced stresses arising from a linearly varying current are also determined. The results presented compare favourably with those obtained by other methods.     

Sea state estimation using vessel response in dynamic positioning

This paper presents a novel method for estimating the sea state parameters based on the heave, roll and pitch response of a vessel conducting station keeping automatically by a dynamic positioning (DP) system, i.e., without forward speed. The proposed algorithm finds the wave spectrum estimate from the response measurements by iteratively solving a set of linear equations, and it is computationally efficient. The main vessel parameters are required as input. Apart from this the method is signal-based, with no assumptions on the wave spectrum shape. Performance of the proposed algorithm is demonstrated on full-scale experimental DP data of a vessel in three different sea states at head, bow quartering, beam, stern quartering and following sea waves, respectively.     

由波浪压力记录计算表面波谱

对目前仍广为使用的压力测波仪来说,如何通过波浪在某深度处的压力信息来推算海面的波浪状况呢?根据深水小振幅简单波动的经典理论,关系式H_o=H_z exp[kz]成立,式中H_o、H_z分别表示海面和水深z处的波高。将这一关系式应用于实际资料,则由波浪压力记录可以求出H_z、T_z(或λ_z),再由记录的深度z就可以求出H_o。     

Improved coastal boundary condition for surface water waves

Surface water waves in coastal waters are commonly modeled using the mild slope equation. One of the parameters in the coastal boundary condition for this equation is the direction at which waves approach a coast. Three published methods of estimating this direction are examined, and it is demonstrated that the wave fields obtained using these estimates deviate significantly from the corresponding analytic solution. A new method of estimating the direction of approaching waves is presented and it is shown that this method correctly reproduces the analytic solution. The ability of these methods to simulate waves in a rectangular harbor is examined.     

Nonlinear hydrodynamic pressures on structures during earthquakes

The nonlinear hydrodynamic pressures acting on the surface of rigid structures during earthquakes is examined analytically by a two-dimensional potential flow theory. The ground acceleration is assumed to be horizontal and harmonic. When the relative displacement, the ratio of horizontal displacement of structures to the undisturbed water depth, is small. A perturbation method, using the relative displacement as perturbation parameter, is adopted to analyze the nonlinear hydrodynamic pressures. The effect of surface waves on the hydrodynamic pressure distribution is included in this research. Numerical values are given for different wave effect parameters.     

A simplified method of obtaining the response of structures from large data banks of wave power spectral densities

A statistical method using empirical orthonormal functions (EOF's) is presented for efficiently representing large data banks of archived nondirectional wave power spectral densities (PSD's). This reduced data set is used to obtain a displacement output probability density function of an offshore structure in response to a wave field. An example is presented thai utilizes five months of NOAA estimated wave spectra taken at 4-h intervals in the Eastern Pacific Ocean. Structural Applications Software was developed to provide the output probability density function for any frequency band of interest without requiring the many tapes of original data. For nonlinear problems, a method of generating typical random wave data is discussed that will allow for Monte Carlo simulation.     

Second order frequency domain analysis of moored vessels

A frequency domain analysis method for the dynamic response of a vessel moored in a random sea is presented, in which second order wave forces are included. The non-linearities occurring in the equations of motion of the vessel are accounted for by using the equivalent linearisation technique, leading to an iterative solution scheme for the mean values and covariances of the response. Application of the method to a moored drill ship indicates that the required computer time is relatively low. The method is intended for use in the preliminary stages of design where a parametric study may be required and the costs of a time domain analysis are prohibitive.     

波能分析及在珠江口波力试验电站初步设计中的应用

本文结合珠江口波力试验电站初步设计的实例,介绍和探讨了利用波浪观测记录进行波能估算、分析及应用的方法。     

基于SVM回归模型的SAR图像有效波高估测

A new method for estimating significant wave height(SWH) from advanced synthetic aperture radar(ASAR) wave mode data based on a support vector machine(SVM) regression model is presented. The model is established based on a nonlinear relationship between σ0, the variance of the normalized SAR image, SAR image spectrum spectral decomposition parameters and ocean wave SWH. The feature parameters of the SAR images are the input parameters of the SVM regression model, and the SWH provided by the European Centre for Medium-range Weather Forecasts(ECMWF) is the output parameter. On the basis of ASAR matching data set, a particle swarm optimization(PSO) algorithm is used to optimize the input kernel parameters of the SVM regression model and to establish the SVM model. The SWH estimation results yielded by this model are compared with the ECMWF reanalysis data and the buoy data. The RMSE values of the SWH are 0.34 and 0.48 m, and the correlation coefficient is 0.94 and 0.81, respectively. The results show that the SVM regression model is an effective method for estimating the SWH from the SAR data. The advantage of this model is that SAR data may serve as an independent data source for retrieving the SWH, which can avoid the complicated solution process associated with wave spectra.     

Wind Farm Support Vessel Extreme Roll Assessment While Docking in the Bohai Sea

Robust prediction of extreme motions during wind farm support vessel(WFSV)operation is an important safety concern that requires further extensive research as offshore wind energy industry sector widens.In particular,it is important to study the safety of operation in random sea conditions during WFSV docking against the wind tower,while workers are able to get on the tower.Docking is performed by thrusting vessel fender against wind tower(an alternative docking way by hinging is not studied here).In this paper,the finite element software AQWA has been used to analyze vessel response due to hydrodynamic wave loads,acting on a specific maintenance ship under actual sea conditions.Excessive roll may occur during certain sea conditions,especially in the beam sea,posing a risk to the crew transfer operation.The Bohai Sea is the area of diverse industrial activities such as offshore oil production,wave and wind power generation,etc.This paper advocates a novel method for estimating extreme roll statistics,based on Monte Carlo simulations(or measurements).The ACER(averaged conditional exceedance rate)method and its modification are presented in brief detail in Appendix.The proposed methodology provides an accurate extreme value prediction,utilizing available data efficiently.In this study the estimated return level values,obtained by ACER method,are compared with the corresponding return level values obtained by Gumbel method.Based on the overall performance of the proposed method,it is concluded that the ACER method can provide more robust and accurate prediction of the extreme vessel roll.The described approach may be well used at the vessel design stage,while defining optimal boat parameters would minimize potential roll.     

波频和慢漂组合作用下钢悬链线立管疲劳损伤研究

为了有效地考虑浮体慢漂运动对钢悬链线立管疲劳损伤的影响,提出了波频和慢漂运动组合作用下钢悬链线立管疲劳损伤简化计算的位置组合叠加法。其核心是:基于浮体慢漂运动概率分布选取若干典型慢漂位置,进行波频运动作用下钢悬链线立管动力响应分析;根据钢悬链线立管运动位置变化特征,截取若干慢漂位置对应的波频应力时程叠加到慢漂应力时程上,得到波频和慢漂运动的组合应力时程;编写基于雨流计数法的MATLAB程序处理立管各节点应力,采用海水环境下Do E.E型S-N曲线和Palmgren-Miner累积损伤准则计算立管各节点疲劳损伤。应用位置组合叠加法对某海域500 m水深的立管进行了疲劳分析,并与全耦合法、权重组合叠加法以及波频和慢漂疲劳损伤简单相加法的结果进行了对比,结果表明该方法具有较高的精度和效率。此外,进行了区域设定系数、波浪高度、波浪周期和土壤表面剪切强度等参数对组合作用下立管疲劳损伤的敏感性分析。     

船只目标SAR、HFSWR和AIS多手段融合探测的点迹关联分析

A space-borne synthetic aperture radar （SAR）, a high frequency surface wave radar （HFSWR）, and a ship automatic identification system （AIS） are the main remote sensors for vessel monitoring in a wide range. These three sensors have their own advantages and weaknesses, and they can complement each other in some situations. So it would improve the capability of vessel target detection to use multiple sensors including SAR, HFSWR, and A/S to identify non-cooperative vessel targets from the fusion results. During the fusion process of multiple sensors＇ detection results, point association is one of the key steps, and it can affect the accuracy of the data fusion and the efficiency of a non-cooperative target＇s recognition. This study investigated the point association analyses of vessel target detection under different conditions： space- borne SAR paired with AIS, as well as HFSWR, paired with AIS, and the characteristics of the SAR and the HFSWR and their capability of vessel target detection. Then a point association method of multiple sensors was proposed. Finally, the thresholds selection of key parameters in the points association （including range threshold, radial velocity threshold, and azimuth threshold） were investigated, and their influences on final association results were analyzed.     

基于AIS信息校准的双频地波雷达的船只融合跟踪

高频地波雷达（HFSWR）和自动船只确认系统（AIS）是船只跟踪的重要传感器。高频地波雷达可以用来跟踪探测区域的所有船只,而AIS只能用来确认合作船只的信息。由于海杂波的干扰,使用单频率地波雷达的船只跟踪会淹没在布拉格峰值的盲区里,改变探测频率是克服这一缺点的有效手段。在这种背景下,我们提出一种基于AIS校准的双频雷达融合探测算法。因为不同频率的地波雷达测量与AIS的测量值存在系统误差,所以AIS信息可以用来估计和校准地波雷达的每个频率的系统误差。首先,将合作目标的点迹测量与地波雷达的点迹测量通过JVC分配算法进行点迹关联。从合作船只的点迹关联结果中,双频雷达的系统误差可以估计和校准。其次,基于校准的双频雷达数据,使用融合JPDA-UKF算法进行船只跟踪。通过真实探测的数据的实验结果显示所提算法可以实时跟踪船只,相比单频率跟踪可以进一步提高跟踪能力和跟踪精度。     

A comparative study of some directional sea models

Current specification of the ocean wave environment for the design of offshore platforms does not adequately describe the directional nature of a real seaway. The strong wave frequency dependent nature of the directional behavior of observed seas is often over-simplified for design. A general formulation encompassing a wide range of directional sea models is presented. Parameter values used in some of the more popular directional sea models are examined. Approximate expressions for the two frequency dependent parameters in a modified Longuet-Higgins cosine wave spreading model are presented. A general procedure which allows an engineer to estimate parameters for alternate wave spreading models is discussed. To illustrate this procedure an empirically based modified cosine spreading model is used as the basis to estimate frequency dependent parameters for circular normal and wrapped Gaussian wave spreading models. A comparison of the contours of the various directional sea models and the prediction of the root-mean-square velocity distribution is presented.     

Methods of fitting the Fisher-Tippett type 1 extreme value distribution

Methods are described for estimating the parameters of the Fisher-Tippet Type 1 extreme value distribution and associated return values from measured extremes, such as maximum wave height. A comparison of these methods, with simulated data, shows that those using Gumbel's plotting position are least satifactory. Maximum likelihood methods give the smallest mean square errors, but the very much simpler method of moments is nearly as good.     

A new formula for the sea state and structural parameters influencing the stability of homogeneous reshaping berm breakwaters

The berm recession of a reshaping berm breakwater has a very important role for the stability of this kind of structure. Based on a 2D experimental modeling method in a wave flume, the recession of the berm due to sea state and structural parameters has been studied. Irregular waves with a JONSWAP spectrum were used. A total of 215 tests have been performed to cover the impact of sea state conditions such as wave height, wave period, storm duration and water depth at the toe of the structure, and structural parameters such as berm elevation from still water level, berm width and stone diameter on berm recession. In this paper, first a new dimensionless parameter is introduced to evaluate the combined effect of wave height and wave period on berm recession using results of the experimental work. Then, a formula that includes some sea state and structural parameters is derived using the new dimensionless parameter for estimating the berm recession. A comparison is made between the estimated berm recessions by this new formula and formulae given by other researchers to show the preference of using the new dimensionless parameter. The comparison shows that the recession estimated by the new formula has not only a better correlation with the present experimental data, but also has an improved correlation with other experimental results within the range of parameters tested. Outside the range of parameters tested the Lykke Andersen (2006) formula performed best.     

Response-based estimation of sea state parameters — influence of filtering

Reliable estimation of the on-site sea state parameters is essential to decision support systems for safe navigation of ships. The wave spectrum can be estimated from procedures based on measured ship responses. The paper deals with two procedures—Bayesian Modelling and Parametric Modelling—which both use complex-valued frequency response functions (FRF) to estimate the wave spectrum. It is therefore interesting to investigate how the filtering aspect, introduced by FRF, affects the final outcome of the estimation procedures. In order to do this, extensive numerical simulations—with known wave parameters—are carried out for a large container vessel. The study shows that filtering has an influence on the estimations, since high-frequency components of the wave excitations are not estimated as accurately as lower frequency components.     

Maximum entropy estimation of directional wave spectra from an array of wave probes

A procedure for estimating directional wave spectra from an array of wave probes based on the Maximum Entropy Method (MEM) is developed in the present paper. The MEM approach yields an angular spreading function at each frequency band consistent with the input cross-spectral density matrix. The method is evaluated using numerical simulations of directional sea states. The MEM is also used to analyze data obtained from the three-dimensional wave basin of the Hydraulics Laboratory, National Research Council of Canada. Finally, the MEM is compared with the Maximum Likelihood Method (MLM) and is shown to be a powerful tool for directional wave analysis.     

Kalman filtering of vessel motions for ocean wave directional spectrum estimation

This paper proposes a high-speed iterative procedure for estimating the ocean wave directional spectrum from vessel motion data. It uses as input data, the measurements from motion sensors that are commonly available on dynamically positioned vessels and which may easily be installed on any ship. Because the necessary sensors are relatively inexpensive or may already be installed, it becomes an ideal solution to provide initial estimates to offline estimation procedures and to give spectral updates under quickly changing weather conditions. The Kalman filtering algorithm, for iterative harmonic detection, and frequency domain vessel response data are used in the estimation procedure. The results and conclusions are still based on synthesized data, but very promising.