The motion of a deep-sea remotely operated vehicle system: Part 1: Motion observations

Rapid and high-resolution motion and tension measurements were made of a caged deep-sea remotely operated vehicle (ROV) system. Simultaneous measurements were made of all six components of motion at the cage and ship A-frame and of the tension in the tether at the ship. Data were collected for cage depths of 0–1765 m. The most significant forcing was in the wave-frequency band (0.1–0.25 Hz) and accounted for over 90% of the variance of vertical acceleration. The vertical acceleration of the cage lagged the acceleration of the A-frame by up to 1.9 s and its variance was larger by up to a factor 2.2. For moderate displacements of the A-frame (≤2 m), the system is only weakly non-linear because the harmonics (3rd and 5th) of the vertical acceleration of the cage account for less than 2% of the total variance. The system is essentially one-dimensional because only the vertical motion of the cage and the vertical motion of the A-frame were coherent, while horizontal motions of the cage were weak and incoherent with any component of motion of the A-frame. The natural frequency of the system is 0.22 Hz at 1730 m, and we estimate that it is within the waveband for depths between 1450 m and the full operating depth of 5000 m.Large vertical excursions of the A-frame produce momentary slack in the tether near the cage. Retensioning results in snap loads with vertical accelerations of 0.5 gravity. Large rates of change of tension and vertical acceleration first occur at the cage during its downward motion and propagate to the surface with the characteristic speed (3870 m s⁻¹) of tensile waves for the tether. Six echoes are clearly detectable at both ends of the tether, and their pattern is extremely repeatable in different snap loads. Due to misalignment of the tether termination with the centres of mass and buoyancy, the cage pitches by up 14° during a snap. The resulting small radius of curvature poses the greatest stress on the tether.     

深海垂直吊放缆索系统固有频率和母船临界运动幅值快速计算方法

探索一种可描述缆索系统垂向吊放动力学行为的解析模型.给出它的自封闭方程、固有频率和简谐运动表达式,确定了母船和中际站之间的运动和张力传递函数,模拟结果能很好地符合实验估计值.导出沿着缆索的张力表达式,可用来预测缆索松驰和突变载荷的发生.     

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.     

Tension during parametric excitation in submerged vertical taut tethers

The construction of a suspension bridge with floating pylons or a submerged floating tunnel requires the installation of a mooring system. The option of taut vertical tethers, similar to those used in tension-leg platforms, has been suggested in preliminary designs. The environmental loading on the tether, mainly due to wind waves and swell, results in a parametrically excited system. Certain loading conditions develop instabilities that translate into large horizontal motion. However, the effects of parametric resonance on the tension values have rarely been investigated. This paper aims to clarify the relation between lateral displacement and tether tension and to quantify the extreme tension values in the event of parametric resonance. The presented analysis is based on a full numerical model of the tether that includes geometric and hydrodynamic nonlinear effects. This model is used to investigate a representative example that illustrates parametric resonance and multiple parametric studies to assess the effects of the excitation frequency, amplitude, initial pretension, tether length and inclination angle on the tether’s response. The results reported here provide the basis for a recommendation on designing a tether under parametric resonance regarding the ultimate extreme values and fatigue life.     

抑制涡激振动的螺旋列板设计参数研究

基于水池模型实验结果和工程设计经验,结合国内外试验数据,着重分析用于抑制海洋立管涡激振动的螺旋列板几何参数(鳍高和螺距)及覆盖率对立管涡激振动的影响;并对水动力直径和水动力系数的选取对预报涡激振动的影响进行了分析,进而提出了适合于海洋立管工程应用的螺旋列板几何和设计参数选取的建议,为螺旋列板工程应用、海洋立管强度和疲劳设计提供参考。     

Seismic response of submerged floating tunnel tether

A mathematical equation for vibration of submerged floating tunnel tether under the effects of earthquake and parametric excitation is presented.Multi-step Galerkin method is used to simplify this equation and the fourth-order Runge-Kuta integration method is used for numerical analysis.Finally,vibration response of submerged floating tunnel tether subjected to earthquake and parametric excitation is analyzed in a few numerical examples.The results show that the vibration response of tether varies with the seismic wave type;the steady maximum mid-span displacement of tether subjected to seismic wave keeps constant when parametric resonance takes place;the transient maximum mid-span displacement of tether is related to the peak value of input seismic wave acceleration.     

深海遥控潜水器多体系统非线性耦合动力特性模拟

建立带缆遥控潜水器(TROV)系统空间运动模型,探讨支持船-吊缆-中际站-脐带缆-潜水器多体之间的强非线性耦合运动机理。潜器的运动考虑为六自由度,缆索分段的三维动态方程中采用了"凝集参数"模型与平均切向量非线性流体动力载荷处理技术,通过计算非均匀缆索的动张力和瞬态构型,预报导致脐带缆保护层及其内部光电传输芯线结构破坏的巨大瞬间突变载荷,对避免谐振,延长缆索寿命和最大限度地扩大ROV系统安全操作的范围,确保潜水器安全入坞和回收,节约试验费,避免作业事故都具有重要意义。     

Stability analysis of TLP tethers

Compliant offshore TLPs are essentially meant for deep oil/gas exploration and are usually constructed on the seashore and then towed down to the particular location for anchorage. They are connected to the sea bed by means of pretension cables. The increased use of TLPs in deep waters and necessity of reduction of usually high value of pretension make the effect of variable tension in the tether dynamics more significant. This work presents the dynamic analysis of tethers and TLPs considering the linearly varying tension along the tether length. The modal analysis considers a linear cable equation for tether modeling subjected to tension which varies along its length. A Mathieu stability analysis is then performed for TLPs of different shapes and different water depth vis-à-vis of 527.8, 872, and 1200 m respectively to obtain the amplitudes of tether vibrations. The unstable modes of vibration are also verified. The resultant modal forms for the tether's dynamic model are then obtained in form of Bessel's function. From the numerical studies conducted it is seen that increased tether tension not only leads to a stable platform but also improves the stability due to increased hydrodynamic loading contributing to added mass. From the studies conducted it is also seen that the triangular configuration TLPs with increased initial pretension are more stable compared to four leg TLP in the first mode of vibration.     

Influence of wave approach angle on TLP's response

The current study focuses on the response analysis of triangular tension leg platform (TLP) for different wave approach angles varying from 0° through 90° and its influence on the coupled dynamic response of triangular TLPs. Hydrodynamic loading is modeled using Stokes fifth-order nonlinear wave theory along with various other nonlinearities arising caused by change in tether tension and change in buoyancy caused by set down effect. Low frequency surge oscillations and high frequency tension oscillations of tethers are ignored in the analysis. Results show that wave approach angle influences the coupled dynamic response of triangular TLP in all degrees of freedom except heave. Response in roll and sway degrees of freedom are activated which otherwise are not present in TLP's response to unidirectional waves. Pitch and roll responses are highly stochastic in nature indicating high degree of randomness. Variation in surge, sway and heave responses are nonlinear and are not proportional to change in wave height for the same period.     

水下悬浮隧道锚索稳定性分析

为研究水下悬浮隧道锚索的稳定性,建立锚索在涡街激励作用下振动的数学方程,采用伽辽金法对其进行化简,锚索振动的稳定性通过Lyapunov指数法进行判断,分析了锚索动静张力比的大小、悬浮隧道系统的阻尼比和锚索参数激励频率对锚索振动稳定性的影响。计算结果表明,锚索振动失稳的范围取决于锚索的动静张力比、锚索的阻尼比和频率比(锚索参数激励频率与锚索1阶模态固有频率的比值);当频率比为1和2左右时,随着锚索动静张力比的增大和阻尼比的减小,锚索逐渐从稳定状态转变为不稳定状态,且锚索的不稳定区域逐渐增大。     

Dragged surge motion of tension leg platforms and strained elastic tethers

This paper presents an analytical solution for the dynamic behavior of both the platform and tethers in the tension leg platform system when the platform system is subjected to the wave-induced surge motion and the flow-induced drag motion. Along with the analysis the coupling problem of a two dimensional tension leg platform interacting with a monochromatic linear wave train in an inviscid and incompressible fluid is being considered. The scattering problem and radiation problem are first solved independently and then combined together to resolve for all unknowns. The dynamic behavior of the platform and tethers was further solved based on these solutions. The material property and the dimensional effect for the tether incorporated in the tension leg platform system are both taken into account in the analytical analysis. Corresponding to the variation of material properties and tether dimensions, it was found that the dynamic behavior of both the tether of tension leg platform and the platform itself is closely related to the material property and the dimension of the tether.     

Wavelet analysis for processing of ocean surface wave records

Wavelet analysis is a relatively new technique and in the recent years enormous interest in application of wavelets has been observed. This modern technique is particularly suitable for non-stationary processes as in contrast to the Fourier transform, (FT), the wavelet transform (WT) allows exceptional localization, both in time and frequency domains. The wavelet transform has been successfully implemented in signal and image processing, ordinary and partial differential equation theory, numerical analysis, communication theory and other fields. On the other hand, the application of the WT to ocean engineering and oceanography is rare. In this paper the WTs capability to give a full time–frequency representation of the wave signals is demonstrated. The processing of the time series of the non-stationary deep water waves, waves breaking at the tropical coral reefs and mechanically generated waves in the wave flume demonstrates the ability of the wavelet transform technique to detect a complex variability of these signals in the time–frequency domain. Various spectral representations resulting from the wavelet transform are discussed and their application for wave signals is shown.     

Hydrodynamic loads during the deployment of ROVs

Offshore operators understandably seek to operate remotely operated vehicles (ROVs) for as long as possible and in the widest range of sea conditions. Accurate predictions of the hydrodynamic loads are important at the design stage as well as in operation, particularly during the launch and recovery phases when snatching of the tether may occur. There is some speculation that calculation methods currently advocated in guidelines lead to an over-estimation of the hydrodynamic forces and consequently to unduly restrictive operability constraints. The present paper has measured wave forces on a 1/8 scale model of a widely used ‘workclass’ ROV, as well as on a solid box of similar envelope dimensions, and compared these against Morison's equation using coefficients derived from three methods. It is concluded that simple linear theory using total (substantive) derivatives, together with a Morison coefficient C_m≈1.5, can provide good estimates of the loading even in waves of quite high steepness, perhaps for height-to-wavelength ratios up to 0.08; i.e., in practice, up to wave breaking.     

Hydrodynamic optimization of ship hull forms

An extremely simple CFD tool is used to compare the calm-water drags of a series of hull forms and to define ‘optimized’ monohull ships for which the total (friction+wave) calm-water drag is minimized. The friction drag is estimated using the classical ITTC formula. The wave drag is predicted using the zeroth-order slender-ship approximation. Comparisons of theoretical predictions and experimental measurements for a series of eight hull forms show that—despite the extreme simplicity of the method that is used here to estimate the friction drag and the wave drag—the method is able to rank the drags of a series of hull forms roughly in accordance with experimental measurements. Thus, the method may be used, with appropriate caution, as a practical hull form design and optimization tool. For purposes of illustration, optimized hull forms that have the same displacement and waterplane transverse moment of inertia as the classical Wigley hull, taken as initial hull in the optimization process, are determined for three speeds and for a speed range.     

Non-Linear Response of Tethers Subjected to Parametric Excitation in Submerged Floating Tunnels

For the study of the non-linear response of inclined tethers subjected to parametric excitation in submerged floating tunnels,a theoretical model for coupled tube-tether vibration is developed.Upon the assumption that the static equilibrium position of the tether is a quadratic parabola,the governing differential equations of the tether motion are derived by use of the Hamilton principle.An approximate numerical solution is obtained by use of Galerkin method and Runge-kutta method.The results show that,when the static equilibrimn position of the tether is assumed to be a quadratic parabola,the tether sag effect on its vibration may be reflected;the tether sag results in the asymmetry of tether vibration amplitude;for the reduction of the tether amplitude,the buoyant unit weight of the tether should approach to zero as far as possible during the design.     

Large angular motions of tethered surface buoys

A three-dimensional coupled analysis of the interaction of a floating buoy and its mooring is studied. External loads include hydrodynamic forces, tether tensions, wind loads and system weight and buoyancy. Nonlinearities include large rotational and translational motions and non-conservative fluid loads. The mooring problem is formulated as a nonlinear two-point-boundary-value-problem. At each instant in time, the mooring problem is solved by direct integration using a successive iterative algorithm to satisfy boundary conditions. Buoy kinetic and kinematic equations are derived assuming large angles represented by Euler parameters. Coupling between the buoy and the mooring is enforced by matching the velocities of the tether and buoy at the attachment point. A predictor-corrector coupling algorithm is used with multiple sizes of time steps used to provide stability for the separate mooring and buoy models. Numerical results are compared to experimental responses of three types of buoys (sphere, spar and disc) subject to both regular and irregular waves.     

Measurements of the water-following capability of holey-sock and TRISTAR drifters

Since 1985, a number of measurements have been made in deep water to determine the water-following characteristics of mixed layer drifters with both holey-sock and TRISTAR drogues at 15 m depth. The measurements were done by attaching two neutrally buoyant vector measuring current meters (VMCMs) to the top and the bottom of the drogues and deploying the drifters in different wind and upper ocean shear conditions for periods of 2–4 h. The average velocity of the VMCM records was taken to be a quantitative measure of the slip of the drogue through the water, observed to be 0.5-3.5 cm s⁻¹. The most important hydrodynamic design parameter which influenced the slip of the drogue was the ratio of the drag area of the drogue to the sum of the drag areas of the tether and surface floats: the drag area ratio R. The most important environmental parameters which affected the slip were the wind and the measured velocity difference across the vertical extent of the drogue. A model of the vector slip as a function of R, vector wind and velocity difference across the drogue was developed and a least squares fit accounts for 85% of the variance of the slip measurements. These measurements indicated that to reduce the wind produced slip below 1 cm s⁻¹ in 10 m s⁻¹ wind speed, R > 40. Conversely, if the daily average wind is known to 5 m s⁻¹ accuracy, the displacement of the R = 40 drifter can be corrected to an accuracy of 0.5 km day⁻¹.     

Motions and slamming impact on catamaran

Prediction of craft motions and the dynamic loads acting on a catamaran hull are of great importance to the designer. This paper presents the motions of a Vosper International catamaran in head seas with and without forward speed. Two approaches are used—strip theory and the 3D pulsating source method. A method to predict slamming loads acting on this catamaran section using Computational Fluid Dynamics is presented. The loads acting on catamaran hulls and the cross structure are illustrated.