Professional Documents
Culture Documents
P. Vannucci
1
Content
2
Content
Bibliography
Copyright P. Vannucci – UVSQ
paolo.vannucci@meca.uvsq.fr
The most part of information, figures and diagrams of this course,
where not explicitly indicated, have been taken from the following
sources.
Books
T. Sarpkaya & Isaacson: Mechanics of wave forces on offshore
structures. Van Nostrand, 1981.
B. Mc Clelland & M. D. Reifel (Eds.): Planning and design of fixed
offshore platforms. Van Nostrand, 1986.
O. C. Zienkiewicz, R. W. Lewis & K. G. Stagg (Eds.): Numerical
methods in offshore engineering. J. Wiley, 1978.
M. G. Hallam, N. J. Heaf & L. R. Wotton (Eds.): Dynamics of marine
structures. Report UR8 – CIRIA, 1978.
Internet sites
http://www.kuleuven.ac.be/bwk/materials/Teaching/master/wg15a/l0200
.htm
http://www.nts.no/norsok
http://www.offshore.tudelft.nl/
3
Chapter 1
General considerations 9
Platform functions and types 10
Historical background 48
Design process 52
4
General considerations
5
Platform functions and types
drilling ship
semi-submersible TLP
jack-up
jacket
www.mms.gov
12
6
Platform functions and types
13
7
Platform functions and types
www.offshore-technology.com
Numerical investigations are normally
used to simulate these phases, which
considerably condition the design of
a steel jacket. In the next pages,
these phases are outlined.
15
16
8
Platform functions and types
www.offshore-technology.com
www.offshore-technology.com
17
1
www.doris-engineering.com
www.offshore-technology.com
3 2
18
9
Platform functions and types
www.rigzone.com
www.structurae.de
19
10
Platform functions and types
21
11
Platform functions and types
www.tecnomare.it
www.paroscientific.com
www.raeng.org.uk
23
24
12
Platform functions and types
www.ogp.org.uk
25
26
13
Platform functions and types
27
Source: www.ogp.org.uk
28
14
Platform functions and types
30
15
Platform functions and types
31
16
Platform functions and types
www.malampaya.com
5. ballasting of the concrete substructure
7. the final platform
Source: www.arup.com
33
17
Platform functions and types
www.ima.umn.edu
www.ima.umn.edu
35
36
18
Platform functions and types
37
38
19
Platform functions and types
www.rigzone.com
www.offshore-technology.com
40
20
Platform functions and types
www.offshore-technology.com
water depth (m) 536 395 872 345 1158
diam. col. (m) 12,2 24,4 22,6 24 26
column height (m) 54
dimension (m) 55 x55 100 x 100 87,6 x 103,1 110 x 110
hull's weight (t) 1950 43700 21772 20321
topsides weight (t) 4170 30000 35380 26018
displacement (t) 16602 106000 66225 290610 88450
41
Magnolia
Heidrun
Marlin Snorre
42
21
Platform functions and types
www.offshore-technology.com
www.offshore-technology.com
43
44
22
Platform functions and types
www.offshore-technology.com
has been constructed.
www.doris-engineering.com
www.doris-engineering.com
45
46
23
Platform functions and types
47
48
24
Historical background
49
25
Historical background
600
1989; 536
1998; 501
26
Design process
53
54
27
Design process
55
28
Design process
57
29
Standards and regulations
60
30
Standards and regulations
61
62
31
Standards and regulations
63
64
32
Chapter 2
Types of loads 67
Operational loadings 68
Deformation loads 77
Accidental loads 79
Environmental loadings 81
Storm selection 82
Wind forces 99
Ice forces 114
Snow loads 127
Current forces 128
Marine growth 131
Earthquake actions 133
Design load combinations 137
66
33
Types of loads
68
34
Operational loadings
69
70
35
Operational loadings
71
72
36
Operational loadings
Emergency exits 5 5 0
STORAGE
Delivery zone 10 10 5
Non-attributed area 6 4 3
73
74
37
Operational loadings
75
38
Deformation loads
78
39
Accidental loads
40
Environmental loadings
81
41
Storm selection
84
42
Storm selection
85
H1/3= 4ση.
The expected value of the maximum wave height Hmax in a sample
of N waves is given by:
H1 3
H max = 2 ln N .
2
86
43
Storm selection
87
44
Storm selection
p(H) P(H)
Gumbel
Gumbel
Weibull
Weibull
H (m) H (m)
90
45
Storm selection
91
H100 = m + 3.1367σ .
For instance, for the case of the Gumbel distribution sketched in the
previous figures (m= 6,15 m, σ = 2.565 m) it is H50= 12,8 m and
H100= 14,2 m. This means, for instance, that waves with a height
equal to or greater than 14,2 m are waited once in a century.
For instance, in the Adriatic Sea H100= 13 m, while in the North Sea
H100= 26 m.
92
46
Storm selection
−1
1
TR = 1 − (1 − E ) L .
After this, the determination of the design wave follows the same
steps seen above.
93
94
47
Storm selection
95
96
48
Storm selection
98
49
Wind forces
99
50
Wind forces
101
coefficients for different shapes and Old Car like a T-for d 0 ,7 - 0,9 fr ont al ar ea
objects affects the flow and hence the Tract or Tr ailed Tr uck
Dolp hin
0 ,9 6
0 ,0 0 36
fr ont al ar ea
w et t ed area
What is done, is that the wind actions Solid Hem isp here flow nor m al
t o flat side
1 ,1 7 p / 4 d2
s2
the platform are added together; this
Cub e 0 ,8
St r eam line b od y 0 ,0 4 p / 4 d2
1 .9 8
take into account for interactions Hollow sem i-sp here op p osit e
st r eam
1 .4 2
among bodies for what concern the Hollow sem i-sp here facing
st r eam
0 .3 8
global wind action, but usually this Hollow sem i-cy lind er op posit e
st r eam
1 .2 0
of buildings, Cd= 0,5 for cylindrical Sub sonic Transp or t Air craft
0 .0 1 6
sections and Cd= 1,0 for total Per son (up r ig ht p osit ion) 1 .0 - 1.3
102
51
Wind forces
104
52
Wind forces
53
Wind forces
The same norms give a different wind profile, taking into account the
time variation too:
z t
U ( z, t ) = U R 1 + 0.137 ln − 0.047 ln ;
zR tR
108
54
Wind forces
t
U ( z, t ) = U ( z )1 − 0.41 Iu ( z ) ln ;
tR
z
U(z):1 hour mean wind U ( z ) = U o 1 + 0.0573 1 + 0.15 U o ln ;
speed: zR
109
laws of NTS.
t=3600 s
UR= 44 m/s
z (m)
110
55
Wind forces
111
112
56
Wind forces
113
57
Ice forces
58
Ice forces
117
118
59
Ice forces
60
Ice forces
C: a constant of proportionality;
σc: ice compressive yield strength;
t: ice sheet thickness;
d: cylinder diameter;
f: a function of the aspect ratio d/t.
This type of formulae usually overestimates the force: this is mainly
due to the assumptions of perfectly plastic behavior of the ice. In
fact, ice often shows a brittle behavior, so after yielding it can no
longer carry as large a stress as the initial yield stress.
121
61
Ice forces
124
62
Ice forces
125
126
63
Snow loads
Snow actions can be, however, rather important for local effects on
some single element (e.g. roofs, beams and so on).
127
64
Current forces
h +z h
Vw ( z ) = Vw o for 0 ≥ z ≥ −ho ,
h
o
Vw ( z ) = 0 for z < −ho ,
129
130
65
Marine growth
131
+2 ÷-40 100 mm 60 mm
Under -40 50 mm 30 mm
66
Earthquake actions
133
134
67
Earthquake actions
68
Design load combinations
138
69
Design load combinations
139
70
Content
141
142
71
The actions of a fluid on an immersed body
σ = − pI + 2µD
we get
f = −∫ p n ds + 2µ ∫ D n ds = − ∫ ∇p dv + µ ∫ ∆u dv
∂Ω ∂Ω Ω Ω
143
f = f1 + f2 + f3
where
144
72
The actions of a fluid on an immersed body
f2 = (τ ⊗ τ )( − ∫ p * n ds + 2µ ∫ D n ds ) = (τ ⊗ τ )∫ ( −∇p * + µ ∆u)dv .
∂Ω ∂Ω Ω
This is the more general expression of the force that the fluid applies
on the body in the direction τ, which should be the direction of the
undisturbed flow. We will see that this force has different
expressions, depending upon the negligibility or not of some effects.
This force is composed of two terms: the first one linked to p* and
the other one to the stretching tensor D, the symmetric part of the
velocity gradient.
This second term, being proportional to viscosity, is absent for
inviscid fluids. It is the part of the resistance called the friction or
viscous force. The term proportional to p* gives the force due to the
pressure fields around the body.
145
73
The actions of a fluid on an immersed body
f3 = f − f1 − f2 = f + ρ ∫ b dv + (I − τ ⊗ τ )∫ ( p * n − 2µ D n)ds
Ω ∂Ω
147
u = ∇Φ.
The continuity equation gives then
div u = 0 → ∆Φ = 0.
This is the field kinematical condition for such flows.
The Navier-Stokes equations reduce to Euler equations:
∂u p u2
= ∇( β − − )
∂t ρ 2
148
74
Inertial force: the added mass
∂ Φ p ( ∇Φ ) 2
+ + − β = f (t ),
∂t ρ 2
f(t) is a time function accounting for unsteady effects (f(t)= 0 for steady
flows, but anyway f(t) can be included into Φ).
f = − ∫ ∇p * dv − ρ ∫ b dv .
Ω Ω
150
75
Inertial force: the added mass
f = − ∫ ∇p dv = − ∫ p n ds.
Ω ∂Ω
Let us use the this formula for the case of a body moving at velocity
v in a fluid at rest at infinity. Be the flow irrotational and the fluid
ideal.
Then, we can write
Φ ( x, y , z; t ) = v(t ) ⋅ ϕ( x, y , z ).
This because, being the flow irrotational, the whole velocity field is
instantaneously affected of a change in the boundary conditions,
which can happen only at the body surface (actually, it can be
shown that irrotational ideal flows are the fluid equivalent of the rigid
body).
151
dΦ
∫Ω ρ ∇( dt )dv = − ∫Ω ∇p dv .
The divergence (Gauss) theorem gives then (n is the unit normal
exterior to the fluid region)
dΦ
∫Ω
∂ US ∞
ρ
dt
n ds = − ∫
∂Ω US∞
p n ds.
76
Inertial force: the added mass
The second member is nothing else than the dynamical force acting
on the body, f.
So
dΦ
f=∫ ρ n ds.
∂Ω dt
Remembering the expression of Φ used in this case, we get
dv
f = ρ ( ∫ n ⊗ ϕ ds ) .
∂Ω dt
153
154
77
Inertial force: the added mass
156
78
Inertial force: the added mass
R2 R 2
cosθ = V (t ) cosθ r +
+ V (t ) .
r r
The complex velocity is
df R 2
g= = V (t ) 1 − .
dz 2 2iθ
r e
Its value on the cylinder’s surface is:
g (r = R ) = V (t )(1 − cos 2θ + i sin 2θ ).
157
v 2 ∂ϕ
p = −ρ + .
2 ∂t
The time derivative of the potential is:
158
79
Inertial force: the added mass
The force acting upon the cylinder is then the surface integral of the
pressure over the cylinder’s surface:
f= ∫∂Ω t ds = − ∫∂Ω p n ds.
For symmetry, the only component of f different from zero is that
along the direction of the flow; so, with reference to the figure on
page 156:
2π
f = − ∫ p cos θ ds = −R ∫ p cos θ dθ .
∂Ω 0
159
This result has a general validity and the force above is called the
Froude-Krylov force (it is just the same already found on page 153).
160
80
Inertial force: the added mass
∂ϕ ∂ϕ ∂ϕ ∂ ∂
f = ρ∫ n ds = ρ ∫ u + d n ds = ρ ∫ ∇ϕu dv + ρ ∫ ∇ϕ d dv .
∂Ω ∂t ∂Ω ∂t ∂t ∂t Ω ∂t Ω
Remembering the link between the velocity and the potential, one
can write that the term depending upon the uniform flow potential is
∂ ∂ ∂v u
ρ ∫
∂t Ω
∇ϕu dv = ρ ∫ v u dv = ρ ∫
∂t Ω Ω ∂t
dv = ρα ∫ dv = ραΩ .
Ω
81
Inertial force: the added mass
163
f = ρ CM π R 2α = 2 ρ π R 2α → CM = 2.
So, in such a case the apparent mass is twice the displaced mass.
164
82
Inertial force: the added mass
165
166
83
Inertial force: the added mass
168
84
Inertial force: the added mass
fL = − ρ Γ v
Γ : circulation around the body contour.
fL
However, this result does not yet make appear a resistance in the
case of steady flow.
Actually, to obtain such a force, it is necessary to remove the basic
assumption used in the demonstration of the d’Alembert’s paradox:
the hypothesis of inviscid fluid.
170
85
The drag force
∂ω
+ (∇ω)u = (∇u)ω +ν∆ω, ω = curlu.
∂t
The convection term is the second one at the first member whilst the
diffusion term is the last at the second member.
For fluids like water or air, the values of ν give almost always rise to
values of Re much greater than unity (of the order of 104 and more).
This means that in all these cases, the viscosity term can be
neglected in the motion equation and the diffusion term in the
vorticity equation.
So the motion equations can still be approximated by the Euler
equations also for a viscous fluid.
Actually, viscosity is taken into account by the dynamical boundary
condition, stipulating the adherence of the fluid particles to the solid
surface:
u=w.
172
86
The drag force
173
174
87
The drag force
176
88
The drag force
fd
v wake
177
178
89
The drag force
179
90
Wave theories
91
Wave theories
184
92
Wave theories
∂η ∂ϕ
− =0 for z = d ;
∂t ∂z
∂ϕ
+ gη = 0 for z = d .
∂t
185
ϕ ( x, z, t ) = f ( z ) cos (kx − ωt ).
This form assures that the motion is a regular train of wave
propagating in the positive x-direction at speed c=ω/k, periodic in
time and space.
186
93
Wave theories
ga
A=− .
ω coshkd
Finally,
g a cosh kz
ϕ ( x, z, t ) = − cos (kx − ωt ).
ω cosh kd
So
η ( x, t ) = a sin (kx − ω t ).
187
This gives
g tanh kd
c= .
k
The velocity vector is
kg a
u = ∆ϕ = [cosh kz sin(kx − ωt );− sinh kz cos (kx − ωt )],
ω cosh kd
and the displacement about the mean position is
a
x= [cosh kz cos (kx − ωt ); sinh kz sin(kx − ωt )].
sinh kd
188
94
Wave theories
189
95
Wave theories
∂ 2ϕ ∂ϕ ∂ (∇ϕ )2 1
f ( x,z,t ) = +g + + ∇ϕ ⋅ ∇(∇ϕ )2 = 0, for z = η + d .
∂t 2
∂z ∂t 2
This equation can be found either from the two free surface
conditions, the kinematical and the dynamical one, either imposing
the derivative of the pressure to be null, using the Bernoulli’s
theorem and the formula for the substantial derivative.
The above condition is again to be imposed on an unknown
boundary. Stokes develops in a Taylor series the function f(x,z,t) up
to second term and then imposes the condition for z=d. This gives,
for the two orders, the conditions:
∂ 2ϕ1 ∂ϕ
+ g 1 = 0, for z = d ;
∂t 2
∂z
∂ ϕ2
2
∂ϕ2 ∂ (∇ϕ1 )2 ∂ ∂ 2ϕ1 ∂ϕ
+ g = − − η1 ( 2 + g 1 ), for z = d .
∂t 2
∂z ∂t ∂z ∂t ∂z
191
1 ∂ϕ 1
η = − + ( ∇ ϕ )2 .
g ∂ t 2 z =η + d
Using the power series expansion for η and developing it in Taylor’s
expansion up to the second order term written again for z=d, one
gets:
1 ∂ϕ
η1 = − 1 ;
g ∂ t z =d
1 1 ∂ 2ϕ1 ∂ϕ2
η2 = − (∇ϕ1)2 + η1 + .
g 2 ∂ t ∂ z ∂ t
z =d
Finally, all the linear terms define again the Airy’s theory, so the
Airy’s solution is just the linear term ϕ1 and η1 in a power expansion
of the wave problem. That is why the Airy’s theory is also called the
linear theory.
192
96
Wave theories
2π a
ε = ka = .
L
This parameter represent the steepness of the wave; if ε is small,
the wave steepness is small and hence the wave is a small
perturbation: the linear theory of airy is justified, i.e. the power series
can be truncated at the first term.
193
Unlike in the linear theory, now crests and troughs are no longer
symmetrical, the crests being steeper than the troughs, see the
figure.
It is worth noting the fact that the quadratic term is of an order of
magnitude less than the linear term (it is apparent in the figure).
194
97
Wave theories
5
2nd order term
0
L=200 m
-5
a=10 m
d=500 m
-10 1st order term x (m)
0 50 100 150 200
196
98
Wave theories
198
99
Wave theories
H/HB=0,25
100
Slender and large bodies
201
202
101
Slender and large bodies
203
102
Slender and large bodies
umaxT
KC = .
D
It is known as the Keulegan-Carpenter number and it represents the
ratio between an overestimation of the horizontal distance traveled
by a particle during the wave period T and the cylinder diameter D.
Hence, a small KC means that the particle near the cylinder cannot
travel far from the cylinder itself, for the flow inversion during the
wave period.
In such circumstances, the wake separation, though it tends to
produce, is actually unimportant, as this phenomenon remains
confined in a small region close to the cylinder’s surface.
Outside this zone, the flow is not affected by the wake separation: it
is still a potential flow and hence this model can still be used for the
assessment of the wave actions on the cylinder.
205
103
Slender and large bodies
g akT g ak a π (H/L)
KC = = 2 π 2 = 2π = .
ωD ω D D tanh kd (D/L) tanh kd
104
Slender and large bodies
4
H/L=0.5(H/L)max
1
KC = KCmax
2
2 Diffraction range
Inertial range
0
0 0.1 0.2 0.3 0.4 0.5
D/L 210
105
First order wave action on a slender body
211
106
First order wave action on a slender body
213
107
First order wave action on a slender body
215
108
First order wave action on a slender body
T
Te = .
U
1−
c
This transformation is always applicable, not only for the case of
slender bodies.
217
218
109
Second order wave action on a slender body
F = F1 + F2 + F3 + F4 + F5 .
In the above formula, it is:
∂ ϕ1
F1 = − ρ ∫ n ds = 2 π ρ g a b 2 cos ωt .
∂Ω ∂ t
This term is exactly the inertial term in the Morison’s equation for a
vertical cylinder, with CM=2 (this force is due to the unsteadiness of
the linear wave motion).
220
110
Second order wave action on a slender body
F2 = 1 CD ρ g a2 D sinωt sinωt .
4
The third term is:
π 0,28
F3 = − ρ ∫ w(∇ϕ1 )2ds = ρ g a 2 b 4 k 3 16 log − 3 sin 2ωt .
z =d 2 kb
This term is due to the quadratic term of the velocity potential in a
second order Stokes-like potential decomposition.
1 π
F4 = ρ ∫ (∇ϕ1 )2 cos θ ds = ρ g a 2 b 2 k sin 2ωt .
2 S 4
This term is due to the kinetic pressure, relative to the only linear
potential.
221
This term is present only if the cylinder cross the free surface and it
is due to the fact that the boundary condition is written on the actual
surface, and not on z=d, with the technique seen in the Stokes'
second order theory.
The next figure shows the case of a cylinder with D= 1m subjected
to waves with H= 20m and L= 200m.
The terms of the Lighthill’s correction are small compared to those of
the (linear) formula of Morison.
Actually, as already said, the importance of these terms increases
with the steepness of the wave (the wave considered in the example
is almost the steepest possible wave): it is sufficient to consider the
ratio between F4 and F1 to appreciate this circumstance:
222
111
Second order wave action on a slender body
tons tons
10 F5
F2
F1+F2
10 F4 F1
F3+ F4+F5
100 F3
Ftotal
sec sec
223
224
112
First order wave action on a large body
113
First order wave action on a large body
∂ϕ
=0 for z = 0,
∂ z
∂ϕ
=0 at ∂Ω ,
∂n
∂ 2ϕ ∂ϕ
+g =0 for z = d .
∂t 2
∂ z
1 ∂ϕ
η ( x, t ) = − .
g ∂ t z =d
227
228
114
First order wave action on a large body
∂ϕs
=0 for z = 0,
∂z
∂ 2ϕs ∂ϕ
+ g s = 0 for z = d.
∂t 2
∂z
In addition, ϕs must respect a condition at the body’s surface such
that the global potential ϕ respect the kinematical condition at that
surface; hence, it must be
∂ϕs ∂ϕ
=− w at ∂Ω .
∂n ∂n
This relation gives the dependence of ϕs on ϕw.
229
∂ϕ
lim r s − i k ϕ s = 0.
r →∞
∂r
230
115
First order wave action on a large body
∂ϕ
p = −ρ .
∂t
Integrating the pressure over the immersed body surface, we get the
dynamical wave action on the body:
∂ϕ
F=∫ ρ n ds.
∂Ω ∂t
This is the Froude-Krylov force, already found, see page 160 (some
authors reserve this name only to the case where the potential is
evaluated on the cylinder’s axis, i.e. to the inertial term of the
Morison’s equation); once again, it is worth noting that it is due only
to the transient pressure, i.e. to the unsteadiness of the motion.
So, in the theoretical framework of the linear diffraction theory, the
whole wave action on a fixed body is entirely due to the transient
pressure, hence to the fact that the flow is not steady.
232
116
The Mc Camy and Fuchs solution
L ∂Ω
d
Ω n
z
x
0
233
∂ 2ϕ h 1 ∂ϕh 1 ∂ 2ϕ h ∂ 2ϕ h
∆ϕ h = + + + = 0 in Ω ;
∂ r 2 r ∂ r r 2 ∂ θ 2 ∂ z2
∂ϕs ∂ϕ
= − w for r=b;
∂r ∂r
∂ϕh
= 0 for z = 0;
∂ z
∂ 2ϕ h ∂ϕ
+ g h = 0 for z=d;
∂t 2
∂ z
∂ϕ
lim r s − i k ϕ s = 0.
r →∞
∂ r
234
117
The Mc Camy and Fuchs solution
g a cosh k z
ϕ s = Re − φ (r ,θ ) e −i ω t .
ω cosh k d
In this way, the boundary conditions at the bottom and free surfaces
are automatically satisfied.
The function φ(r,θ) is expressed by a Fourier series of Hankel’s
functions:
∞
φ (r ,θ ) = ∑ ε n i n an Hn (kr ) cos nθ ;
n =0
236
118
The Mc Camy and Fuchs solution
The prime indicates the derivative with respect to the argument, kr.
To resume, Mc Camy and Fuchs have obtained a representation of
the scattered potential using the classical techniques of variable
separation, series representation and using some special functions
automatically satisfying all the conditions but that on the body’s
surface: this last has given the coefficients of the series.
Finally, the total potential is
∞
g a cosh k z J′ (kb)
ϕ = Re −
ω cosh k d
∑ ε n i n Jn (kr ) − Hn′ (kb) Hn (kr ) cos nθ e −i ω t .
n =0 n
238
119
The Mc Camy and Fuchs solution
∞
J′n (kb )
η = −a Re ∑ ε n i n +1 Jn (kr ) − Hn ( kr ) cos nθ e −i ω t .
n =0 H′n (kb )
In the figure, the diffracted wave profile (b= 20m, a=10 m, L=200 m,
d=500 m; 10 terms in the series; radius of the plotting: 20 kb).
239
J′n (kb) 2i
Jn (kb ) − Hn (kb) = ,
H′n (kb ) π k b H′n (kb)
gives
4ρga i e− i ω t
F= tanh kd Re .
k2 H1′ (kb )
Then, as for real positive arguments (as in this case kr) the Bessel’s
functions of the first and second order are real valued and as
240
120
The Mc Camy and Fuchs solution
λ=kd, µ=kb and the Bessel’s function are intended to be evaluated for
the value µ of the argument.
In a similar way one can compute the overturning moment
∂ϕ 4 ρ g a 1 + kd sinhkd − coshkd cos(ω t − δ )
MMCF = ρ ∫ ( p − o) ∧ n ds = .
∂Ω ∂t k3 coshkd J1′2 (kb) + Y1′2 (kb)
Again, we introduce the dimensionless overturning moment:
242
121
The Mc Camy and Fuchs solution
F
λ
λ
µ µ
243
FM = CM π ρ g a b 2 tanh kd cos ωt +
1 cosh kd sinh kd + kd
+ CD ρ g a 2 D sin ωt sin ωt .
2 cosh kd sinh kd
In the case of deep waters, and assuming CM=2, we find again the
terms F1 and F2 of the Lighthill correction to the Morison’s equation.
We introduce now the ratio χ between the maximum of the
Morison’s force and maximum of the Mc Camy and Fuchs formula.
For the sake of simplicity, the maximum of the Morison’s force is
computed as the sum of the inertial and drag terms; the real
maximum of Fm is slightly smaller than this value.
244
122
The Mc Camy and Fuchs solution
χ
inertial range
diffraction range
FM /FMCF
λ FIN /FMCF
FD /FMCF
µ
D/L=0.1
D/L=0.2
µ
The first figure shows that χ practically does not depend upon λ.
The second figure, shows that in the separation range the Mc Camy
and Fuchs solution underestimate the force.
Physically, this is because it does not consider drag, and
mathematically, because the drag is a linear function of µ while the
Mc Camy and Fuchs force (as well as the inertial force) is quadratic.
246
123
The Mc Camy and Fuchs solution
FM FMCF FM
FMCF
µ=π/100 µ=3π/10
t t
248
124
The Mc Camy and Fuchs solution
249
125
The Garrett solution
Ω1 : r < b, 0 ≤ z ≤ h;
Ω 2 : r ≥ b, 0 ≤ z ≤ d .
251
252
126
The Garrett solution
X = Re − 2 π i ω 2 ρ a b ∫ ψ 1(b, z ) dz e −i ω t e1;
d
h
Z = Re 2 π ω 2 ρ a ∫ ψ 0 (r , h ) r dr e −iω t e 3 .
b
0
253
∞
Z 1 (−1)n F0n −iω t
= Re2λ tanh λ F00 + 2 ∑ e ;
B 2 2G
n =1 n π µ 0n
ν
λˆ = qd , µˆ = qb, νˆ = qh;
the parameters q are the real positive solutions of the equation
ω 2 + q g tan qd = 0.
254
127
The Garrett solution
255
128
The simplified Garrett solution
Im (ζ ) = i −m Jm (i ζ ).
129
The simplified Garrett solution
Hence, one can write the horizontal force acting upon a truncated
cylinder, of immersion p, as
259
1
χx 0.5
0.9 0.6
1 0.7
0.8
χx 2 0.8
0.8
1.5 0.7
0.6 υ/λ=0.9 µ=0.5
1 0.6
ν/λ=0.8 µ
5
0.5 0.5
10
λ 15 0 5 10 15 λ 20
20
260
130
The simplified Garrett solution
ν/λ =0.9
-1.5
µ=0.5
-1.55
0 5 10 15 λ 20
261
The next figures show the comparison between the value of X/B
computed with the formula on page 258 for ten terms in the series,
the upper graphics, and that computed with the last approximation
hereon, the lower graphics, for χx=0.95.
262
131
The simplified Garrett solution
J′02 (µ ) + Y0′2 (µ )
χ z (λ, µ,ν ) = ;
β12 (λ, µ,ν ) + β 22 (λ, µ,ν )
β1(λ, µ,ν ) = σ 0 (λ, µ,ν )J0 (µ ) − J′0 (µ );
β 2 (λ, µ,ν ) = σ 0 (λ, µ,ν )Y0 (µ ) − Y0′ (µ );
β1
δ z = arctan .
β2
264
132
The simplified Garrett solution
ξ (µ,ν ) ≅
1
2
(
ν + e −ν . )
The above approximation for the function ξ assumes the
independence of ξ on µ; actually, the dependence of ξ on µ is
almost linear but rather weak, and it has been neglected in the
above approximation.
In this way, the following simple formula for the vertical force is
easily found
Z 4χ z sinh ν ν + e −ν
= .
B 16 + π 2 µ 4 cosh λ ν
266
133
The simplified Garrett solution
1 0.6 λ=5µ
Z/B 2
0.5
1.5 0.4
0
1 0.2
µ ν/λ=0.9
5 0.3 0.6
0.5 0
10
0 2 4 6 8 µ 10
λ 15
20 a) b)
1
Z/B
ν/λ=0.8 0.8
1 0.6 λ=5µ
Z/B 2
0.5
1.5 0.4
0
1 0.2
ν/λ=0.9
5 µ 0.3 0.6
0.5 0
10
0 2 4 6 8 µ 10
15
λ
20 c) d)
267
M1 2 µ χ x ν + e −ν sinh ν
= ;
bB 16 + π 2 µ 4 ν cosh λ
268
134
The simplified Garrett solution
ν/λ=0.8 ν/λ=0.8
M1/bB M/bB
0.3 2 100
0.2 2
0.1 1.5 50 1.5
0
1 0
5 1
µ 5
10 0.5 µ
10 0.5
λ 15
b) 15
20 λ
f) 20
M/bB
ν/λ=0.8 6 ν/λ =0,0.3
5
M2/bB 0.6 λ=5µ
100 2 4
50 1.5 3
0
1 2
5 µ 0.9
10 0.5 1
15 0
λ
20 0 2 4 6 8 10
d) µ 269
f = 2 π ρ g k a b 2 e −k ( p −b ) . L
d
Ω z
x
0
270
135
The Ogilvie solution
τ =kp.
fL/ B
The variation of fL/B with µ
and τ is in the figure.
µ
τ
271
η = ε η1 + ε 2 η 2 = ε (η1w +η1s ) + ε 2 (η 2w +η 2s ).
As usual, the linear and the quadratic potentials must be harmonic
and satisfy the conditions at the bottom surface, on the body’s
surface and at the free surface:
∆ϕ iw = ∆ϕ is = 0;
∂ϕiw ∂ϕis
= = 0; for z = 0; i = 1,2
∂z ∂z
∂ ϕ is ∂ ϕ iw
=− on ∂Ω ;
∂n ∂n 272
136
Second order wave action on large bodies
∂ 2ϕ 2 j ∂ϕ2 j ∂ (∇ϕ1 j )2 2
∂ ∂ ϕ1j ∂ϕ1j
+g =− − η1 j ( +g ), for z = d .
∂ t2 ∂z ∂t ∂z ∂ t 2 ∂ z
1 ∂ϕ1j
η1j = − ;
g ∂t
j=s or w
1 1 2 ∂ 2ϕ1j ∂ϕ2 j
η2 j =− (∇ϕ1 j ) + η1 j + .
g 2 ∂t ∂z ∂t
273
F = ε F1 + ε 2 F2 .
It is easy to see that the linear term is still given by the Froude-
Krylov force:
∂ϕ1
ε F1 = ρ ∫ n ds.
s ∂t
For what concerns the quadratic term, it has been shown by Molin
(1979) that it can be put in the form
2
ρ ∂ ϕ1 ρ ∂ ϕ2
2
∫ (∇ϕ1 ) 2
2 ∫∂Ω
ε F2 = − n dl + n ds + ρ ∫ n ds.
2g ∂ t
C ∂Ω ∂t
274
137
Second order wave action on large bodies
[
ϕ 2 = Re φ2 ( x, y , z ) e − 2 i ωt , ]
then the following expression of F2 is readily obtained:
F2 = F2C + Re (F2T e − 2 i ωt ).
In the above expression, F2C is a constant force, the drift force, FD,
and it is easy to see that
ω 2ρ ρ
F2C = FD = FD1 + FD 2 = −
4g ∫C φ1φ 1n dl + 4 ∫∂Ω ∇φ1 ⋅ ∇φ 1n ds.
So, the drift force is exclusively due to the 2nd order condition on the
free surface and to the quadratic term of the kinetic pressure due to
the first order potential (the bar indicates the complex conjugate).
275
ω2ρ ρ 2
∫C φ1 n dl − 4 ∫∂Ω (∇φ1) n ds + 2 i ω ρ ∫∂Ω φ2 n ds.
2
F2T = −
4g
138
Second order wave action on large bodies
ρ 2 ρ g a2b ∞ m(m + 1) 2λ 2λ
FD2 =
4 ∫ ∇φ1 ⋅ ∇φ1 n ds = π µ2
∑ Ψm (µ) 2 1+
sinh2λ
+ 1− e1.
sinh2λ
∂Ω m=0 µ
Finally,
2 ρ g a 2b 2λ ∞ m(m + 1)
FD = FD1 + FD 2 = 1+ ∑
π µ 2 sinh 2λ m =0
Ψ m ( µ )
2
− 1 e1.
µ
139
Second order wave action on large bodies
FD/|FMCF|
0.15
0.1
FD/B 0.1 2 2
0.05 0.05
1.5 1.5
0 0
1 1
µ µ
5 5
0.5 0.5
10 10
λ 15 λ 15
20 c) d) 20
279
280
140
Second order wave action on large bodies
MD/|MMCF|
MD/bB 2 0.15
2 2
0.1
1
1.5 0.05 1.5
0 0
1 1
5 µ 5
10
0.5 0.5 µ
10
λ 15
c) d) λ 15
20 20 281
141
Second order wave action on large bodies
283
284
142
Second order wave action on large bodies
∞
2 ρ g a 2b m(m + 1) 2λ − 2ν + sinh 2λ − sinh 2ν
FD = FD1 + FD 2 =
πµ 2 ∑ ζ m ( µ ) 2 sinh 2λ
+
m =0 µ
− 2λ + 2ν − sinh 2λ − sinh 2ν
+ e1,
sinh 2λ
M m N m +1 − N m M m +1
ζ m (λ, µ,ν ) = 2 2 2 2
,
(M m + Nm )(M m +1 + N m +1 )
FD/|FMCF|
FD/B
0.06 2 0.15 2
0.04 0.1
0.02 1.5 0.05 1.5
0 0
1 1
5 µ 5 µ
0.5 0.5
10 10
λ 15 λ 15
20 c) d) 20
286
143
Second order wave action on large bodies
FD/|FMCF|
0.15
0.1
FD/B 0.1 2 2
0.05 0.05
1.5 1.5
0 0
1 1
µ µ
5 5
0.5 0.5
10 10
λ 15 λ 15
20 c) d) 20
287
FDV = −
4 ρ g a 2d sinh 2 ν ∞
πλµ ν 2 2 sinh 2λ ∑
M 2
εm
+ N
b
2 ∫0
2
r Am 2
+ Bm dr e 3 ; ( )
m=0 m m
where
nπr
m −1 ′
Im
mr 2π ∞ n h ,
Am =
b b
+ ∑
h n =1 n 2π 2 n π b
1+ Im
ν2 h
n π r
m ∞ Im
m r n h .
B m = − + 2 ∑
r b n =1 n 2π 2 I n π b
1+
h
m
ν2
The above expression of the vertical drift shows that this force is
always directed downward.
288
144
Second order wave action on large bodies
FDV/|Z|
0 0
FDV/B 2 2
-0.02 -0.05
1.5 1.5
-0.04 -0.1
1 1
5 µ 5 µ
0.5 0.5
10 10
λ 15 λ 15
a) b)
20 20
289
The next figure is the analogous of that on page 281, for ν =0.8.
MD/|M|
MD/bB 2
2 0.1 2
1 0.05
1.5 1.5
0 0
1 1
5 µ 5 µ
0.5 0.5
10 10
λ 15 λ 15
20 c) d) 20
290
145
Second order wave action on large bodies
0.2
2
1.5
0
In the figure, the variation of F2T1/B as 1
λ 15
291
d) 20
2
Um = Mm 2
− Nm 2
; Vm = − 2 M m N m ; W m = M m 2
+ Nm . ( )2
The next figure shows is the analogous of that on page 290, i.e. the
variation of F2TV/B and its ratio to the highest value of the first-order
vertical force (α= π/10 and ν = 0.8).
292
146
Second order wave action on large bodies
Concerning this last force, the same remarks done for the vertical
drift can be done.
147
Something about the case of multiple bodies
The first work in the subject is due to Spring & Monkmeyer (1974):
the potential is expressed as the sum of the undisturbed waves
potential plus the N scattered potentials from the N cylinders.
296
148
Something about the case of multiple bodies
297
c
X 1 = X 4 = 1 − Re c12 + 13 X , 4 3
2
R
c
X 2 = X 3 = cos kR + Re c 21 + 24 X . 1 2
2 y
x
c − c13
X glob = 21 + cos kR + Re c 21 − c12 + 24 X.
2
298
149
Something about the case of multiple bodies
c
Y2 = −Y3 = − Rec 23 + 24 X .
2
The next figures show the actions on the cylinders for the case
R/b= 5.
It is apparent that the variations with respect to the isolated cylinder
299
1
0.95
0.9
0.8 0.9
0.7
0.85
0 0.5 1 1.5 kb 2 0 0.5 1 1.5 kb 2
300
150
Oscillating large bodies
ϕ = ϕw + ϕs + ϕf ;
301
151
Oscillating large bodies
v: body’s velocity;
n: external unit normal to the body’s surface;
∂Ωt: actual body’s surface at the time t.
In the case of small amplitude movements, i.e. for an oscillation
about an equilibrium position, the actual position of the body ∂Ωt can
be substituted by the position at rest ∂Ω, and hence one gets a
simpler condition at the body’s surface:
∂ ϕw ∂ ϕ s
+ = 0,
∂n ∂n on ∂Ω.
∂ ϕf
= v ⋅ n.
∂n
303
α j = a j e − iωt , j = 1,...,6;
152
Oscillating large bodies
v n = (n ⊗ n) vp = −i ω a j n j e − i ω t n,
n1 = n x , n2 = n y , n3 = nz ,
n 4 = y n z − z ny , n 5 = z n x − x n z ,
n6 = x n y − y n x .
What has been done for the velocity is done also for the potential,
305
∂ 2α j
mij + c ij α j = Fi , i = 1,...,6.
∂ t2
The terms mij are the components of the inertial matrix, whilst the
terms cij are those of the stiffness matrix.
306
153
Oscillating large bodies
∂ϕ
Fi = ρ ∫ n ds= i = 1,...,6.
∂Ω ∂t i
∂ (ϕw + ϕ s )
Fe i = ρ ∫ ni ds , i = 1,...,6;
∂Ω ∂t
∂ϕf 6
Ff i = ρ ∫ ni ds = −ωρ Re i ∑ ∫ ϕ f j ( x, y , z ) ni ds e − i ωt , i = 1,...,6.
∂Ω ∂ t ∂Ω
j =1
307
308
154
Oscillating large bodies
Then, after calculating the time derivatives of the αj and injecting the
results in the above expressions, one gets
309
ρ
µ ij =
a j ω ∫∂Ω
[ j ] ni ds,
Im ϕf
j= 1,…,6.
ρ
λij = −
aj ∫∂Ω Re[ϕf j ] ni ds.
µ ij =
iρ
∫ [ ] ∂∂ϕnf i )∂Ω ds,
Im ϕ f j (
(a j ω )2 ∂Ω
j= 1,…,6.
iρ ∂ϕ
λij = − 2 ∫ Re[ϕ f j ]( f i )∂Ω ds.
aj ω ∂Ω ∂n
310
155
Oscillating large bodies
Replacing these relations in the equations giving the µij and λij ,one
gets:
µ ij = µ ji ,
i, j= 1,…,6.
λij = λ ji .
∂ 2α j ∂α j
(mij + µij ) + λij
∂t
+ c ij α j = Fe i , i , j = 1,...,6.
∂ t2
311
312
156
Wave slamming
157
Wave slamming
1 θ
Ai = R 2 θ − sinθ , z = R(1 − cos ).
2 2
The value of z can be expressed also as a function of θ or of η(t):
z
z = η (t ) − η o = a sin ω t − η o = 2 arccos 1 − .
R
316
158
Wave slamming
2π
T = = 11.3 s
1 ηo 1 η o + 2R ω
t1 = arcsin , t2 = arcsin .
ω a ω a
t
317
1 ∂µ
Cwsmax = lim = π.
t →0 ρ R ∂z
So, usually the wave slamming is taken into account in the structural
design as an impulsive (i.e. instantaneous) force with Cws =π.
In this case, the dimensionless wave slamming force, obtained
dividing fws by the weight of the displaced water, πρgR², is
ω 2a 2
fws = .
gR
318
159
Wave slamming
319
160
Wave slamming
∂µ 2 θ
fws = ρ g Ai + ( µ + ρ Ai )η&& + η& + Cs (θ )ρη& η& R sin ;
∂z 2
Cs: drag coefficient for slamming, depending upon the angle θ and to be
determined only experimentally.
In this case, the slamming coefficient must be determined
experimentally.
The following figure shows the comparison between the theoretical
and experimental results (Sarpkaya, 1978).
321
161
Vortex shedding
Vortex shedding of a cloud cover by the Robinson Crusoe Island, near Chili (Landsat image).
only a drag force, but also pulsating
forces, in-line (i.e. in the same
direction of the flow) and cross-flow
(the lift or transversal force).
The origin of these forces is due to a
hydrodynamic phenomenon known as
vortex shedding, sketched in the
figures.
Source: www.tecplot.com
323
162
Vortex shedding
163
Vortex shedding
V 5 × 10 −6
ϖ ≅ 0.198 − .
D VD
327
aω 5 × 10 −6
ϖ ≅ 0.198 − .
D aωD
As an example, for the wave and the cylinder of the example in the
figure on page 318, one gets ϖ ≅ 1 Hz, that is twice the wave
frequency.
Re
328
164
Vortex shedding
165
Vortex shedding
m: mass per unit length, including the structural and added mass (so, it
is different in and out of water), and also the water eventually contained
in a hollow cylinder;
l: overall length of the cylinder;
d: water depth;
ζ: mode shape as a function of the ordinate s.
331
166
Vortex shedding
Vr
333
It is apparent that
these oscillations
are small
compared to the
cylinder’s
diameter, and
that they are (for Vr=2.5)
suppressed if
Ks>1.8.
Ks
334
167
Vortex shedding
Ks
335
1
fF = CF ρV 2D,
2
1
fL = CL ρV 2D,
2
fF: per unit length oscillating in-line force, in the direction of the flow;
fL: per unit length oscillating lift force, cross-flow;
CF: drag coefficient for the oscillating flow;
CL: lift drag coefficient.
336
168
Vortex shedding
Re
CF
Re
337
Ks
338
169
Vortex shedding
170
Numerical methods for the wave action
∆ϕs = 0 in Ω,
∂ϕs
=0 for z = 0,
∂z
∂ 2ϕs ∂ϕ
+ g s = 0 for z = d ;
∂t 2 ∂z
∂ϕs ∂ϕ
=− w at ∂Ω;
∂n ∂n
∂ϕ
lim r s − i k ϕ s = 0.
r →∞ ∂r
In the linear context, the pressure is given by the only transient term:
∂ϕ
p = −ρ .
∂t
342
171
Numerical methods for the wave action
(ξ, η, ζ) is a point on ∂Ω ;
f(ξ, η, ζ) is the unknown source distribution on ∂Ω .
344
172
Numerical methods for the wave action
R= (x − ξ )2 + (y − η )2 + (z − ζ )2 ;
G* is a regular function satisfying
∆G * = 0 on ∂Ω .
345
∞
1 1 1 1 1 1
G= + + ∑ + + + ;
R R1 n =1 R2 n R3 n R 4 n R5 n
R1 = (x − ξ )2 + (y − η )2 + (z + ζ )2 ;
R 2n = (x − ξ )2 + (y − η )2 + (z − 2nd − ζ )2 ;
R3 n = (x − ξ )2 + (y − η )2 + (z + 2nd + ζ )2 ;
R 4n = (x − ξ )2 + (y − η )2 + (z + 2nd − ζ )2 ;
R5 n = (x − ξ )2 + (y − η )2 + (z − 2nd + ζ )2 .
The solution of the scattered problem posed in this form
automatically satisfies the field condition (the potential to be
harmonic), the boundary conditions at the bottom and free surface
and the irradiation condition.
346
173
Numerical methods for the wave action
1 ∂G
− fi + ∫
2π ∂Ω
f (ξ ,η,ζ )
∂n
( x i , y i , zi ;ξ ,η,ζ ) ds = 2w n i .
− fi + α ij f j = 2 w ni , i , j = 1, 2,..., N.
1 ∂G
2π ∫Ai ∂n
α ij = ( x i , y i , zi ;ξ ,η,ζ ) ds.
Physically, αij denotes the velocity induced at the ith node point in the
direction normal to the body’s surface by a source distribution of unit
strength distributed uniformly over the jth panel.
348
174
Numerical methods for the wave action
f = 2(α − I) −1w n .
350
175
Numerical methods for the wave action
∂ϕ w
= −w n e iωt .
∂n
ϕ s = f (r − ct ) for r → ∞.
Noting that
∂ϕ s ∂ϕ s
= −c f ′, = f ′,
∂t ∂r
we obtain the radiation condition in the form
∂ϕ s ∂ϕ
+ c s = 0.
∂t ∂r
176
Numerical methods for the wave action
∂ 2Φ ∂ 2Φ
∆Φ = 0 → + + k 2Φ = 0 in Ω ;
2 2
∂x ∂y
∂Φ
= wn at ∂Ω ;
∂n
∂Φ iω
+ Φ =0 for r → ∞.
∂r c
177
Numerical methods for the wave action
The problem is now a rather classical problem for the finite element
method: to solve an elliptic problem (the Helmoltz equation) with
Neumann-like conditions on the body’s surface but, in addition, with
the radiation condition to be satisfied at infinity.
It is just the infinity condition and the way it is dealt with that
characterizes the finite element method for wave problems.
The above problem can be cast as the variational problem of
minimizing the functional
H= ∫∫Ω L( x, y ) dx dy ,
where the Lagrangian L(x, y) is
355
[ ]
1 ∂Φ
2 2
1 ∂Φ
L( x, y ) = (∇Φ ) − k Φ =
2 2 2
+ − k 2Φ 2 .
2 2 ∂x ∂y
In fact, the Euler-Lagrange equation is the Helmoltz equation
∂L ∂ ∂L ∂ ∂L ∂ 2Φ ∂ 2Φ
− − =0 → k 2Φ + + = 0.
∂Φ ∂x ∂Φ ,x ∂y ∂Φ ,y ∂x 2 ∂y 2
178
Numerical methods for the wave action
179
Numerical methods for the wave action
p(s): a polynomial in s;
L: a length which dictates the severity of the exponential decay.
The first term, the polynomial, allows a certain variation in the wave
envelope, the second makes the wave decay for large radii and the
third ensures a basically periodic shape.
This shape function and its nodal values are complex, and it
satisfies the radiation condition.
For the rth node the shape function can be written (the nth node is far
distant)
sr − s n −1 s − s
N r = e L e iks ∏
q
.
s − sr
q =1 q
q ≠r
359
180
Numerical methods for the wave action
361
181
The spectral method in wave forces calculation
E = K +V;
1 L d +η 1 2
K= ∫ ∫ ρ u dx dz;
L 0 0 2
1 Lη
V = ∫ ∫ ρ g z dx dz.
L 0 0
363
1 L d +η 1 1 L d1
K= ∫ ∫ ρ u2dx dz ≅ ∫ ∫ ρ u2dx dz =
L 0 0 2 L 0 0 2
∫0 ∫0 [cosh
2
ρ kga L d 2
= kz sin2 (kx − ωt ) +
2L ω cosh kd
] 1
+ sinh 2 kz cos 2 (kx − ωt ) dx dz =
16
ρ g H 2;
1 Lη ρ g L a sin( kx −ωt ) 1
V = ∫ ∫ ρ g z dx dz = ρ g H 2.
L ∫0 ∫0
z dz dx =
L 0 0 16
So, in the linear theory, the kinetic energy associated with the flow is
exactly equal to the potential energy of the same flow and
364
182
The spectral method in wave forces calculation
183
The spectral method in wave forces calculation
Sηη (ω ) =
ω 5Tz4
The following relationships can be useful:
ωo = 1.14 ωm ;
2π
ωz = = 1. 4 ω m ;
Tz
Sηη (f ) = 2π Sηη (ω ).
368
184
The spectral method in wave forces calculation
ω2n
an = 2 ∫ω1n Sηη (ω ) dω .
N
η ( x, t ) = ∑ an sin(k n x + ωn t + θ n );
n =1
370
185
The spectral method in wave forces calculation
371
372
186
Chapter 4
Introduction 375
Response to regular waves 379
Response to an impulsive force 408
Response to irregular waves: the spectral analysis 413
The wave force spectrum 438
374
187
Introduction
376
188
Introduction
f f f
impulsive
periodic
t t random t
377
189
Response to regular waves
379
380
190
Response to regular waves
381
L=
1
2
(ml 2θ& 2 − Kθ 2 ) →
∂ ∂L ∂L
−
∂t ∂θ& ∂θ
=0 → ml 2θ&& + Kθ = 0.
m
Hence, here it is
l
2 K 1 µ θ
M = ml , K = µ → ωs = = .
M l m
µ
The system being conservative, the motion does
not change in time: the system continues to oscillate harmonically
and the total mechanical energy conserves its value, ½ K A².
382
191
Response to regular waves
192
Response to regular waves
x = Ae −αt cos(ϖ s t + ϕ ).
4π M
= . τ
Tp
2
4MK − C
385
193
Response to regular waves
C C α
ξ= = = .
Ccr 2 MK ωs
387
388
194
Response to regular waves
We have seen above that in all the cases, a damped free oscillation
decreases in amplitude; so, under the action of a periodic force, the
term x(t) becomes more and more smaller than xf(t), and after a
sufficient time interval it can be completely neglected, so that
x (t ) ≅ x f (t ) = Af cos(ω f t + ϕ f ).
389
195
Response to regular waves
(
2 2 4α 2 2
χ −1 + 2 χ ) 2
ωs
ωs2 − 2α 2 α2
χ = χ* = = 1− 2 .
ωs 2
α cr
In these cases,
F F 1
Afo = Af ( χ = 0) = , Af* = Af ( χ = χ *) = .
K 2Mα ω 2 − α 2
s
391
196
Response to regular waves
394
197
Response to regular waves
χ = 1 − 2ξ 2 .
So we get
1
Qmax = .
2ξ 1 − ξ 2
Being ξ<<1 when resonance happens, it is
1 MK
Qmax ≅ = .
2ξ C
In civil engineering structures have usually a very low damping ratio
(β ≅ 3% for steel structures) and hence they are sensitive to the
phenomenon of resonance, which is totally unacceptable for
structural and operational safety.
Hence, the structure must be designed so as to ensure that
resonance do not occur. This means that the main natural
frequencies of the structure must be sufficiently different from that of
the exciting forces, which normally cannot be modified. 396
198
Response to regular waves
It is, of course, understood that the only real part is taken in the
above expression, and we will do the same in the following. The
solution is hence written as
x (t ) = Af e i (ωf t −ϕf ) ,
199
Response to regular waves
1
H ( iωf ) = ,
K − Mωf2 + i (Cωf )
x(t ) = H (iωf )F (t ).
200
Response to regular waves
What has been done above, concerned the very simple case of a
single degree of freedom system.
Real structures are modelled as multi-degree of freedom systems,
by very classical techniques like for instance finite elements.
In the case of the linear free vibrations of systems having n degrees
of freedom, the motion equations of the system are just similar to
that of a single-degree of freedom system:
401
Mx&& + Cx& + Kx = F (t ).
201
Response to regular waves
403
404
202
Response to regular waves
In this way, it is
Z (iωf ) x (t ) = F (t ),
so that
x(t ) = H (iωf ) F (t ).
203
Response to regular waves
407
F for τ ≤ t ≤ τ + ∆τ ; Fh(t)
Fh (t ) = h
0 elsewhere.
Fh
We define impulse the quantity
I = Fh ∆τ . τ τ+∆τ t
An elementary impulsive force is an impulsive force characterised by
the parameters τ =0, ∆τ → 0, I =1 (so that Fh →∞).
The motion equation of a system acted upon by an elementary
impulsive force, usually is indicated by h(t).
408
204
Response to an impulsive force
δ (t − a ) = 0 for t ≠ a;
∞
∫− ∞ ε (t ) δ (t − a ) dt = ε (a ).
a t
An impulsive elementary force produces on the system the same
effect of an initial velocity h&(0) impressed to the system.
The value of the initial velocity is obtained equating the impulse I
and the momentum Q:
1
Q = m h&(0), I h&(0) = .
=1 →Q =I ⇒
m
Hence, the motion equation h(t) of a system subjected to an
elementary impulsive force,
409
1
h&&(t ) + 2 ξ ω s h&(t ) + ωs2 h(t ) = δ (t ),
m
can be solved studying the initial value problem
1
h(t ) = e −ξ ωs t sin ωs 1 − ξ 2 t .
m ωs 1 − ξ 2
The function h(t) can be used also to determine the response of the
system to an impulse I other than unit and applied at the instant τ.
410
205
Response to an impulsive force
x (t ) = I h(t − τ ).
F (t ) ≅ ∑ Fhi (t ). F(t)
Fhi(τi)=
The structural response is the F(τi)
superposition of the responses
xi(t) to the corresponding
impulsive forces Fhi(t):
τi τi+∆τi t
206
Response to irregular waves: the spectral analysis
it becomes
1 ∞
F (iω ) e i ω t dω.
2π ∫− ∞
F (t ) =
The Fourier integral operates the Fourier transform and allows the
representation of a time function in the frequency domain, that is,
the function is represented by its frequency components.
414
207
Response to irregular waves: the spectral analysis
416
208
Response to irregular waves: the spectral analysis
The quantity
2 2
SFF (f ) = F (if ) .
T
is the single-sided spectral density function. It does not have the
convergence difficulties of the Fourier transforms of a random
process and indicates the manner of the distribution of the harmonic
content of the signal with frequency.
The mean square value of F(t) is related to the spectral density by
∞
σ F2 (t ) = ∫ SFF (f ) df .
0
So, the mean square value of F(t) is just represented by the area
under the curve of SFF(f).
417
So,
1
S xx (f ) = SFF (f ).
(K − 4π 2f 2M )2 + 4π 2 f 2 C 2
So, the link between the spectral density of the force and that of the
response is provided by the square of the transfer function; in a
sense, the structure behaves like a filter between the input and
output signals. 418
209
Response to irregular waves: the spectral analysis
420
210
Response to irregular waves: the spectral analysis
211
Response to irregular waves: the spectral analysis
423
212
Response to irregular waves: the spectral analysis
213
Response to irregular waves: the spectral analysis
427
g (t ) = ∑ c i hi (t ).
i
214
Response to irregular waves: the spectral analysis
γ
xmax = σ xx 2 ln(νT ) + ;
2 ln(νT )
215
Response to irregular waves: the spectral analysis
prob( x > xo ) = 1 − e N (x ) .
432
216
Response to irregular waves: the spectral analysis
Once the response spectral densities have been found, then the
mean square value may be calculated and statistical statements
regarding probability, etc. can be made in exactly the same way as
for a single degree of freedom system.
It is sometimes convenient to make use of the fact that
Szr zs (f ) = Szs zr (f ) for r ≠ s.
In this way the last equation can be rewritten with only real
quantities:
434
217
Response to irregular waves: the spectral analysis
436
218
Response to irregular waves: the spectral analysis
437
219
The wave force spectrum
cosh kz
Hu (f ) = 2π f ,
sinh kd
cosh kz
H a (f ) = −i 4π 2f 2 ,
sinh kd
H
η (t ) = e − i 2π f t .
2
439
220
The wave force spectrum
221
The wave force spectrum
443
222
The wave force spectrum
445
F (t ) = H ( kb ) a e − i 2π f t = H (kb )η (t ).
223
The wave force spectrum
For a given body and water depth, H(kb) is a known function. For
example, for a large vertical cylinder it is
4 ρ gχ x tanh kd 8 π ρ gχ x tanh kd
H ( kb ) = ≅ (kb )2 .
k2 J1′2 (kb ) + Y1′2 ( kb ) k2 16 + π 2 ( kb ) 4
447
H ( kb )
2
[
= π ρ g b 2CM (kb ) . ]2
The figure shows the
transfer function for the
case of two cylinders,
having different ratios
depth to radius
(respectively indicated
by d and a in the figure;
source: Sarpkaya and
Isaacson).
448
224