• International Journal of Ocean System Engineering
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• v.3 no.4
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• pp.188-208
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• 2013

The motion response of floating structures should be adequately low to permit the operation of rigid risers along with dry well heads. Though Spar platforms have low heave responses under lower sea state, could become unacceptable in near resonance region of wave periods. Hence the hydrodynamic response, heave in particular, must be examined to ensure that it is minimized. To reduce heave motions, external damping devices are introduced and one such effective damping device is heave plate. Addition of heave plate can provide additional viscous damping and additional added mass in the heave direction which influence the heave motion. The present study focuses on the influence of heave plate on the hydrodynamic responses of Classic Spar in regular waves. The experimental investigation has been carried out on a 1:100 scale model of Spar with single and double heave plates in regular waves. Numerical investigation has been carried out to derive the hydrodynamic responses using ANSYS AQWA. The experimental results were compared with those obtained from numerical simulation and found to be in good agreement. The influence of disk diameter ratio, wave steepness, pretension in the mooring line and relative spacing between the plates on the hydrodynamic responses of Spar are evaluated and presented.

• Structural Engineering and Mechanics
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• v.65 no.5
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• pp.513-521
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• 2018

In this paper, the resonance response of spar-type floating platform in coupled heave and pitch motion is investigated using a CPU time-effective numerical method. A coupled nonlinear 2-DOF equation of motion is derived based on the potential wave theory and the rigid-body hydrodynamics. The transient responses are solved by the fourth-order Runge-Kutta (RK4) method and transformed to the frequency responses by the digital Fourier transform (DFT), and the first-order approximation of heave response is analytically derived. Through the numerical experiments, the theoretical derivation and the numerical formulation are verified from the comparison with the commercial software AQWA. And, the frequencies of resonance arising from the nonlinear coupling between heave and pitch motions are investigated and justified from the comparison with the analytically derived first-order approximation of heave response.

• Structural Engineering and Mechanics
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• v.63 no.1
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• pp.37-46
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• 2017

This paper is concerned with the numerical study on the resonance response of a rigid spar-type floating platform in coupled heave and pitch motion. Spar-type floating platforms, widely used for supporting the offshore structures, offer an economic advantage but those exhibit the dynamically high sensitivity to external excitations due to their shape at the same time. Hence, the investigation of their dynamic responses, particularly at resonance, is prerequisite for the design of spar-type floating platforms which secure the dynamic stability. Spar-type floating platform in 2-D surface wave is assumed to be a rigid body having 2-DOFs, and its coupled dynamic equations are analytically derived using the geometric and kinematic relations. The motion-variance of the metacentric height and the moment of inertia of floating platform are taken into consideration, and the hydrodynamic interaction between the wave and platform motions is reflected into the hydrodynamic force and moment and the frequency-dependent added masses. The coupled nonlinear equations governing the heave and pitch motions are solved by the RK4 method, and the frequency responses are obtained by the digital Fourier transform. Through the numerical experiments to the wave frequency, the resonance responses and the coupling in resonance between heave and pitch motions are investigated in time and frequency domains.

• Structural Engineering and Mechanics
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• v.52 no.3
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• pp.633-646
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• 2014

A semi-analytical numerical approach for the effective structural dynamic response analysis of spar floating substructure for offshore wind turbine subject to wave-induced excitation is introduced in this paper. The wave-induced rigid body motions at the center of mass are analytically solved using the dynamic equations of rigid ship motion. After that, the flexible structural dynamic responses of spar floating substructure for offshore wind turbine are numerically analyzed by letting the analytically derived rigid body motions be the external dynamic loading. Restricted to one-dimensional sinusoidal wave excitation at sea state 3, pitch and heave motions are considered. Through the numerical experiments, the time responses of heave and pitch motions are solved and the wave-induced dynamic displacement and effective stress of flexible floating substructure are investigated. The hydrodynamic interaction between wave and structure is modeled by means of added mass and wave damping, and its modeling accuracy is verified from the comparison of natural frequencies obtained by experiment with a 1/100 scale model.

• Ocean Systems Engineering
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• v.3 no.3
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• pp.203-217
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• 2013

A PTO (power-take-off) mechanism by using relative heave motions between a floating buoy and its inner mass (magnet or amateur) is suggested. The inner power take-off system is characterized by a mass with linear stiffness and damping. A vertical truncated cylinder is selected as a buoy and a special station-keeping system is proposed to minimize pitch motions while not affecting heave motions. By numerical examples, it is seen that the maximum power can actually be obtained at the optimal spring and damper condition, as predicted by the developed WEC(wave energy converter) theory. Then, based on the developed theory, several design strategies are proposed to further enhance the maximum PTO, which includes the intentional mismatching among heave natural frequency of the buoy, natural frequency of the inner dynamic system, and peak frequency of input wave spectrum. By using the intentional mismatching strategy, the generated power is actually increased and the required damping value is significantly reduced, which is a big advantage in designing the proposed WEC with practical inner LEG (linear electric generator) system.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1111-1118
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• 2013

In this paper, the disturbance applied to launcher hatch by ship motions is introduced to identify the vertical ship motion disturbance. Basically, ship motions are comprised of 6 degrees of freedom: roll, pitch, yaw, heave, surge and sway. In the case of the shipboard launcher hatch the coupled pitch, heave and roll are significant motions to be transformed to a vertical direction motion. The maximum acceleration values are obtained from the vertical motion model and the ship motion data in accordance with ship type and hatch location on the ship. We verify that the maximum pitch motion mainly influences the launcher hatch and also present the quantity of the maximum load disturbance by the ship's motion acceleration.

• Smart Structures and Systems
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• v.31 no.3
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• pp.283-299
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• 2023

Structural stability of floating platforms has long since been a crucial issue in the field of marine engineering. Excessive motions would not only deteriorate the operating conditions but also seriously impact the safety, service life, and production efficiency. In recent decades, several control devices have been proposed to reduce unwanted motions, and an attractive one is the tuned heave plate (THP). However, the THP system may reduce or even lose its effectiveness when it is mistuned due to the shift of dominant wave frequency. In the present study, a novel adaptive tuned heave plate (ATHP) is proposed based on inerter by adjusting its inertance, which allows to overcome the limitation of the conventional THP and realize adaptations to the dominant wave frequencies in real time. Specifically, the analytical model of a representative semisubmersible platform (SSP) equipped with an ATHP is created, and the equations of motion are formulated accordingly. Two optimization strategies (i.e., J₁ and J₂ optimizations) are developed to determine the optimum design parameters of ATHP. The control effectiveness of the optimized ATHP is then examined in the frequency domain by comparing to those without control and controlled by the conventional THP. Moreover, parametric analyses are systematically performed to evaluate the influences of the pre-specified frequency ratio, damping ratio, heave plate sizes, peak periods and wave heights on the performance of ATHP. Furthermore, a Simulink model is also developed to examine the control performance of ATHP in the time domain. It is demonstrated that the proposed ATHP could adaptively adjust the optimum inertance-to-mass ratio by tracking the dominant wave frequencies in real time, and the proposed system shows better control performance than the conventional THP.

• Ocean Systems Engineering
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• v.10 no.4
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• pp.373-397
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• 2020

Heave compensation is a vital part of various marine and offshore operations. It is used in various applications, including the transfer of cargo between two vessels in the open ocean, installation of topsides of an offshore structure, offshore drilling and for surveillance, reconnaissance and monitoring. These applications typically involve a load suspended from a hydraulically powered winch that is connected to a vessel that is undergoing dynamic motion in the ocean environment. The goal in these applications is to design a winch controller to keep the load at a regulated height by rejecting the net heave motion of the winch arising from ship motions at sea. In this study, we analyze and compare the performance of various control algorithms in stabilizing a suspended load while the vessel is subjected to changing sea conditions. The KCS container ship is chosen as the vessel undergoing dynamic motion in the ocean. The negative of the net heave motion at the winch is provided as a reference signal to track. Various control strategies like Proportional-Derivative (PD) Control, Model Predictive Control (MPC), Linear Quadratic Integral Control (LQI), and Sliding Mode Control (SMC) are implemented and tuned for effective heave compensation. The performance of the controllers is compared with respect to heave compensation, disturbance rejection and noise attenuation.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.10 no.2
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• pp.64-72
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• 1998

Dynamic response analysis is carried out for slender marine structures such as tensioned risers and tethers of tension leg platform, which are subjected to floating vessel motions as well as environmental forces arising from ocean waves. A mumerical analysis procedure is developed by using finite element model of the structural member. Dynamic analses are performed in the time domain for regular waves. Parameter studies are carried out to highlight the effects of surface vessel motions on the lateral dynamics of the structures. Example results of displacements, bending stresses are compared for various in water depth, environmental condition and vessel motion. Some instability conditions of the structures due to time-varying tension by vessel heave motion are discussed through the example analyses. As the results, the interaction between vessel surge and heave motions amplifies the total structural response of a riser. In the case of a tether, the effect of vessel heave motion during heavy storm is seemed to be quite significant to lateral response of the structure.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.2 s.140
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• pp.124-128
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• 2005

This paper describes motion stability of a spar platform with and without a damping plate in regular waves. The heave and pitch motion equation is derived in terms of Mathieu equation and the stability diagram is obtained. It is shown that the spar platform with damping plate has smaller unstable region than that without damping plate in the stability diagram. Model tests are carried out to verify the mathematical analysis. Under the condition that the pitch natural period is approximately double the heave natural period and the heave motion is amplified at heave resonance, unstable pitch motions are evoked. However the unstable motion is stabilized in cases of spar platform with damping plate. Therefore the damping plate is an effective device to stabilize the motion of spar platform.