2 019 D

2.019 Desiign off O

Ocean Systems

Lecture 12

g Dynamics
Mooring y (I)

()

March 18, 2011

P iti keepiing
Position

Chain, wire, rope, …

Steel, natural fibre, synthetic fibre

Good for tension, ineffective for compression, bending moment,

Tension are provided by weight and elasticity of cables

Vertical mooring: TLP

Spreading mooring: FPSO, SPAR

Reference:
O. M. Faltinsen, 1990 Sea Loads on Ships and Offshore Structures,
Cambridge University Press
 z

ϕW
x
TH

h
ϕ

Anchor
s

Seafloor
ϕO = 0
xB
x
Image by MIT OpenCourseWare.

Given top end position or tension at the top end, to find:

• Configuration of the cable: s(φ) or x(

x(φφ), z(
z(φφ) or z(x)

• Tension along the cable: T(s) or T(x) or T(z).

 Static Analysis of a Cable Line
T+dT-ρgzA-ρgAdz

ϕ + dϕ
T
__
ds + ds
AE
wds
F
dz

D
ϕ
dx

T - ρgzA
T Cable tension
A Area of the cross section of the cable
W Water weight per unit length
F, D Current induced hydrodynamic loads

Image by MIT OpenCourseWare.

Tangential direction: dT − r gA dz = w sin f − F (1+ T / ( AE ) )  ds

Normal direction: T df − r gAz df = w cos f + D (1+ T / ( AE ) )  ds

 Solution of Inelastic Cables

Effective tension:

Governing equations:

dT 0 d cos φ
T0 = − cos φ

Tension along the cable:

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Solution of s(φ):

Solution of x(φ):

Solution of z(φ):

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 Choose φ0 to be the point of contact between the cable line and the sea bed, i.e.
φ0 =0.
=0 What is T0’ ??

T00 = T 0 (φ) cos φ = T 0 (φw ) cos φw = TH

Given the horizontal component of the tension at the waterline TH, we then have:

TH w 
Cable configuration: s= sinh  x
w  TH 
T  w  
z+h= H cosh  x  −1
w   TH  

TH
Tension along the cable: T − r gzA = = TH + w (z + h)
cos f
T = TH + w h + (w + r gA ) z

V ti l componentt off the

Vertical th tensiion Tz att the
th watterpllae:

Tz = ws
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2.019 Design of Ocean Systems

Spring 2011

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2 019 D
2.019 Desiign off O
Ocean Systems

Lecture 13
13

g Dynamics
Mooring y (II))

March 28, 2011

 Static Analysis: Catenary Cable

ϕW
x
TH

h
ϕ

Anchor
s

Seafloor
ϕO = 0
xB
x
Image by MIT OpenCourseWare.

Cable configuration: Tension along the cable:

TH w
s = sinh 

x T = TH + w h + (w + r gA ) z
w  TH 
TH  w   Tz = w s
z−h = cosh  x  −1
w   TH  
 Catenary Solution ⎯⎯ Key Results (without Elasticity)
• Minimum line length required (or suspended length for a given fairlead tension)
for gravity anchor:
1
2Tmax 2
lmin = h wh −1
• Horizontal force for a given fairlead tension:

TH = T − wh

• Horizontal scope (length in plan view from fairlead to touchdown point):

TH −1 wlmin
x= w sinh TH
• Vertical force at the fairlead:

Tz = wlmin

 Simple Examples
• Given Tmax= Tbr =1510 KN, w=828 N/m, h=25m, then
¡ 2T ¢ 12 q
3
l min = h wh
h
max
−1 ∗ 2∗1510∗10
= 25 ∗
828∗2
25 − 1 = 300.93m
TH = T − wh = 1510 ∗ 103 − 828 ∗ 25 = 1489KN

Tz = wlmin = 828 ∗ 301 = 249KN

³ ´
−1 1489∗103
x= TH
w sinh wlmin
TH = 828 sinh−1 828∗301
1489∗103 = 300m
• Given x=270m, w=828 N/m, h=25m, then
h ³ ´ i
TH
h= w cosh Twx
H
−1 TH = 1200kN

T = TH + wh = 1221kN
¡ 2T ¢ 12
lmin = h wh −1 = 271m

Tz = wlmin = 828 ∗ 271 = 224KN

 Cable Load-Excursion Relation

Vessel Moored with One Anchor Line

ϕW

TH (kN)
ls
l
h

x
Anchor
X
Image by MIT OpenCourseWare.

X(m)
X = l − ls + x Image by MIT OpenCourseWare.

¡ ¢1 ³ ´
TH 2
X = l − h 1 + 2 wh + TH
w cosh−1 1 + wh
TH
Restoring
g Coefficient: " #−11
³ ´
dTH −2 −1 wh
C11 = dX =w ¡ TH
¢1/2 + cosh 1+ TH
1+2 wh
 Simple Example
Given: A ship experiences a total mean drift force (in surge) of 50KN, wave
frequency oscillation of amplitude ζ 1 = 3 m and frequency 2π/10 rad/s, what is the
total tension in the cable?

Steady tension: T0H = 50kN

Mean position: X0 = 92.5m
Restoring coefficient: C11 (T0H ) ≈ 10kN/
10kN/mm
TH = T0H
0 + TH (ω) 0 + [−C11 ζ1 cos(
) = T0H (ωt + α))] = 50 − 30 cos((ωt + α))

|TH | = 80kN Plus effect due to slowly varying motion

T = TH + wh
h
 Catenary Solution ⎯⎯ Key Results (with Elasticity)

• Horizontal force for a given fairlead tension T:

q¡ ¢2
T 2wh
TH = AE AE +1 − AE − AE
• Minimum line length required (or suspended length for a given fairlead tension)
for gravity anchor:

1
p
lmin = 2
T 2 − TH
w
• Vertical force at the fairlead:

Tz = wlmin
• Horizontal scope (length in plan view from fairlead to touchdown point):
³ ´
x= TH
w sinh−1 wlmin
TH + TH lmin
AE

AE: stiffness of the cable

 Analysis of Spread Mooring System

Total mooring line force/moment:

n
F1
M
= ∑ THi cos y i
i=1
y THi n
ψi F2 M = ∑ THi sin y i
(xi, yi) i=1
n
x
F6 M = ∑ THi [ xi sin y i − yi cos y i ]
i=1

Total mooring line restoring coefficients:

n
C11 = ∑ ki cos 2 y i
i=1
n

Image by MIT OpenCourseWare.

C22 = ∑ ki sin 2 y i
i=1
• Mean position of the body is determined n
C66 = ∑ ki ( xi sin y i − yi cos y i )
2
by balancing force/moment between
i=1
those due to environments and mooring
n
lines C26 = C62 = ∑ ki ( xi sin y i − yi cos y i ) sin y i
i=1
• Iterative solver is usually applied
MIT OpenCourseWare
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2.019 Design of Ocean Systems

Spring 2011

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.
2 019 D
2.019 Desiign off O
Ocean Systems

Lecture 14
14

g Dynamics
Mooring y (III))

April 1, 2011

 Cable Load-Excursion Relation

Vessel Moored with One Anchor Line

ϕW

ls
l

TH (kN)
h

x
Anchor
X
Image by MIT OpenCourseWare.

X = l − ls + x X(m)

¡ ¢1 ³ ´ Image by MIT OpenCourseWare.

TH 2
X = l − h 1 + 2 wh + TH
w cosh−1 1 + wh
TH
Restoring
g Coefficient: " #−11
³ ´
dTH −2 −1 wh
C11 = dX =w ¡ TH
¢1/2 + cosh 1+ TH
1+2 wh
 TZ
T

TH
L

l
h

ls

A B
x
Image by MIT OpenCourseWare.

TH = THA _ THB

1000 2δ
Horizontal Tension, kN

kN
Line B
Line A
Fm = 660 kN

500

Displacement
∗
2δ
m δ
0
+50m +50m
Image by MIT OpenCourseWare.

Image by MIT OpenCourseWare.

 Catenary Solution ⎯⎯ Key Results (with Elasticity)

• Horizontal force for a given fairlead tension T:

q¡ ¢2
T 2wh
TH = AE AE +1 − AE − AE
• Minimum line length required (or suspended length for a given fairlead tension)
for gravity anchor:

1
p
lmin = 2
T 2 − TH
w
• Vertical force at the fairlead:

Tz = wlmin
• Horizontal scope (length in plan view from fairlead to touchdown point):
³ ´
x= TH
w sinh−1 wlmin
TH + TH lmin
AE

AE: stiffness of the cable

 Analysis of Spread Mooring System

Total mooring line force/moment:

n
F1
M
= ∑ THi cos y i
y THi i=1
ψi n

(xi, yi)
F2 M = ∑ THi sin y i
i=1
x n
F6 M = ∑ THi [ xi sin y i − yi cos y i ]
i=1

Total mooring line restoring coefficients:

n
C11 = ∑ ki cos 2 y i
i=1
n
Image by MIT OpenCourseWare.
C22 = ∑ ki sin 2 y i
i=1
• Mean position of the body is determined
n
C66 = ∑ ki ( xi sin y i − yi cos y i )
by balancing force/moment between 2

those due to environments and mooring i=1

lines n
C26 = C62 = ∑ ki ( xi sin y i − yi cos y i ) sin y i
i=1
• Iterative solver is usually applied
 Mooring Line Dynamics

THE FINITE DIFFERENCE METHOD

Wave-frequency motion
Slowly-varying motion
Mean drift motion

m5
Current

m4

m3

m2
m1

Image by MIT OpenCourseWare.

Mooring Forces and Displacement vs. Mooring Stiffness

Mooring force = steady force (independent of stiffness)

+ slow drift mooring
g force ∝ stiffness ( )
+ wave freequency motion ( ∝ stiffness )

steady force  1 
Displacement =  stiffness 
stiffness ∝ 
1 
slow drift displacement  stiffness 
∝ 
wave frequency motion (independent of stiffness))

Thus as a general rule, as a system is made less stiff, the mooring forces will be smaller and the
displacements will be larger.
 Load/Displacement Combinations and Extreme Values
Tensions and excursions in a mooring system have three components:
(1) a static component known as Tstatic which arises from wind, wave drift, and current

(2) a wave frequency component, which occurs in the range of 0.03 to 0.3 Hz and is caused by first order wave loads
(3) a low frequency component, which occurs in the range of 0 to 0.02 Hz and is caused by second order waves and
wind dynamics

Significant wave frequency motion: xwfsig = 2s wf

xwfmax =  2ln (Texp / Tzwf ) s wf

Maximum wave frequency motion:
 
Significant low-frequency motion: xlfsig = 2s lf

Maximum low
ow-frequency
frequency motion: xlfmax =  2ln (Texp / Tzlf ) s lf

Texp ~ 3 to 6 hours; Tz: peak period

Maximum combined dynamic tension/excursion:

xdyn = max[(xwfmax + xlfsig),(xwfsig + xlfmax)]
 Mooring

Analysis

Flowchart

Platform Wave Dynamic Mooring

Frequency Motion Line Tension

Damage Condition
Design Environmental Total Line Tension Yes Analysis Completed
(lnc. Transient)
Condition
Analysed?

Platform Low Slow Varying

Frequency Motion Mooring Line
Tension No

Static Mooring
Steady Environmental Critical Mooring
System Displacement
Loads Line Removed
and Tensions

Image by MIT OpenCourseWare.

 Mooring Line Materials
Chain:
– Studless or studded chain links
– Heavy, highbreaking strength, high elastisity
– No bending effect
– Most popular, all chain in shallow water (< 100M)
– Chain segments are used near fairlead and bottom (in deepwater)
Wire:
– Lighter than chain
– Slight bending effect
– Used
U d as main i mooring
i liline segments
t iin d
deep water
t (t(to reduce
d vertical
ti l lloads)
d )
High-Tech Fibre:
– Light weight (almost neutrally buoyant)
– Hig
ghly
y extensible
– Potentially useful for very deep water

© Centre for Marine and Petroleum Technology. All rights reserved. This content is excluded from
our Creative Commons license. For more information, see http://ocw.mit.edu/fairuse.
 Chain
Weight and Stiffness:
Submerged weight per unit length, w = 0.1875D2 N/M (D in mm)
Axial stiffness per unit length, AE = 90000D2 N (D in mm)
Breaking Strength:
CBS or proof load = c(44 - 0.08D)D2 N (D in mm)
Catalogue breaking strength

Values of c:
Grade (specification) Catalogue Break Strength Proof Load

ORQ 21.1 14.0

3 22.3 14.8
3S 24.9 18.0
4 27.4 21.6
 Wire Rope

© Centre for Marine and Petroleum Technology. All rights reserved. This content is excluded

Weight and Stiffness: from our Creative Commons license. For more information, see http://ocw.mit.edu/fairuse.

Construction Submerged weight/length, w Stiffness/length, AE

Six strand (IWRC) 0.034d2 N (d in mm) 45000d2 N (d in mm)

Spiral strand 0.043d2 N (d in mm) 90000d2 N (d in mm)

Breaking Strength:

Construction Ultimate Tensile Stress (N/mm2) Breaking Strength (N)

Six strand (IWRC) 1770 525d2 (d in mm)

Six strand (IWRC) 1860 600d2 (d in mm)
Spiral strand 1570 900d2 (d in mm)
High Technology Fibre Rope

Weight and Stiffness:

Fibre Rope Type Weight Per Unit Length (N/m)

Polyester 0.0067d2 (d in mm)

Aramid 0.00565d2 (d in mm)
HMPE 0.0062d2 (d in mm)

Breaking Strength:

Fibre Rope Type Breaking Strength (N)

Polyester 250d2 (d in mm)

Aramid 450d2 (d in mm)
HMPE 575d2 (d in mm)
 Properties of Typical Systems

Extreme Excursions as a Percentage of Water Depth

Water Depth (m) Mooring Type Semi-submersible Ship

30 Chain/wire 30-45% 40-55%

150 Chain 15-25% 30-40%
500 Chain/wire 25-30% 20-30%
1000 Fibre ropes 5-10% 5-15%

Typical Natural Periods of Mooring Systems

Water Depth (m) Mooring Type Semi-submersible (s) Ship (s)

30 Chain/wire 30 45
150 Chain 60-120 60-150
500 Chain/wire 120-180 150-250
1000 Fibre ropes 90-110 120-150
 Guidance, Rules, and Regulations
IACS (International Association of Classification Societies) safety factors:
for survival conditions

Condition Safety factor (= Break strength/Max.tension)

Intact 1.8
One line removed 1.25
Transient 1.1
IACS (International Association of Classification Societies) safety factors: for survival conditions for operating
conditions, these safety factors are increased by about 50%.

API RP 2SK Safety Factors:

Condition Safety factor (= Break strength/Max.tension)

Intact 1.67
One line removed 1.25
Transient 1.05
MIT OpenCourseWare
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2.019 Design of Ocean Systems

Spring 2011

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.