Classification: Internal

Status: Draft

How to estimate hydrodynamic coefficients applicable

for lifting from the sea bed.
Finn Gunnar Nielsen, Chief Researcher
StatoilHydro Research Centre, Bergen
Subsea Lifting Operations
Kranteknisk Forening
Tekniske foreningers servicekontor
Stavanger, 27. 28. november 2007

Hydrodynamic coefficients for subsea structures

Content

Hydrodynamic mass and damping

Crossing of the splash-zone.
Deeply submerged.
Landing on bottom.

Estimating hydrodynamic coefficients

Tabulated values
Simple estimates
Advanced methods

Simulation challenge during lift-off.

Example

Phases of the installation process

1.
2.
3.
4.
5.

Lift-off from deck.

Lift in air
Crossing splash zone.
Lowering through the water column
Landing the structure.
2

Subsea template Ormen Lange

L*B*H=
44m *33m *15m
M=
1150*103 kg

Added mass for simple 2D

forms
Challenge:
How to relate such values to real
structures?
Key issues:
Interaction
Shielding
Perforation
Finite length
Viscous effects
Free surface proximity
Bottom proximity

Source: DNV RP C205

Natural periods (Lightly damped)

Pendulum in air:

T1,2 = 2

L
g

T3 = 2

mLE
EA

Pendulum in water:
m + A11 ) L
(
T1 = 2
mg gV

T2 = 2

( m + A22 ) L
mg gV

m + A33 ) LE
(
T3 = 2

EA

3
1, 2

Added mass versus damping ?

Oscillation of a body in calm water:

Added mass:
Force on body in phase with acceleration

Damping:
Force on body in phase with velocity

F = ( m + A) 
x + B1 x + B2 x x
1

1
Position
Force

0.6

0.6

0.4

0.4

0.2

0.2

-0.2

-0.2

-0.4

-0.4

-0.6

-0.6

-0.8

-0.8

-1

-1

10

15

20

25

30

35

40

Time (sec)

Position and total force

45

Force
Added mass force

0.8

Force

Ftot

0.8

50

10

15

20

25

30

35

40

45

50

Time (sec)

Total force and added mass contribution

Added mass versus damping ?

Oscillation of a body in calm water:

Added mass:
Force on body in phase with acceleration

Damping:
Force on body in phase with velocity

F = ( m + A) 
x + B1 x + B2 x x

1
Position
Force

0.6

0.6

0.4

0.4

0.2

0.2

-0.2

-0.2

-0.4

-0.4

-0.6

-0.6

-0.8

-0.8

-1

10

15

20

25

30

35

40

Time (sec)

Position and total force

45

Force
Linear damping

0.8

Force

Ftot

0.8

50

-1

10

15

20

25

30

35

40

45

50

Time (sec)

Total force and linear damping force

Added mass versus damping ?

Oscillation of a body in calm water:

Added mass:
Force on body in phase with acceleration

Damping:
Force on body in phase with velocity

F = ( m + A) 
x + B1 x + B2 x x
1

1
Position
Force

0.6

0.6

0.4

0.4

0.2

0.2

-0.2

-0.2

-0.4

-0.4

-0.6

-0.6

-0.8

-0.8

-1

-1
0

10

15

20

25

30

35

40

Time (sec)

Position and total force

45

Force
Drag force

0.8

Force

Ftot

0.8

50

10

15

20

25

30

35

40

45

50

Time (sec)

Total force and quadratic damping force

10

Water entry of TOGP template (2000)

11

Water entry forces, calm water

Uz
z
z=0

h
V

Vertical hydrodynamic force (positive upwards):

dA33 2

Fh 3 = gV + A33U z +
Uz
dh

Hydrostatic Added mass Slamming

Water entry
Note: A33 from high frequency limit

12

Water entry forces, including waves

z
z=0

x
V

Vertical hydrodynamic force:

dA33
2



(
)
dh
+ B1 (  ) + B2 (  )  

Fh 3 = gV + V  + A33 ( ) +

Water entry term

Position dependent added mass

13

Added mass for simple structures.

Horizontal circular cylinder
1

=0

Added mass for horizontal 2D cylinder.

= 0 at z = 0

0.9

0.8
0.7

2R

0.5
Analytical expressions
Asymptotic values

0.4
0.3

0.2

0.9

0.1

0.8

0
-1

Derivative of A33 for horizontal 2D cylinder.

= 0 at z = 0

0.7
-0.5

0.5

1.5

Submergence h/r

2.5

(dA33/dh)r

A33/r

0.6

Numerical differentiation
Asymptotic value

0.6
0.5
0.4
0.3
0.2
0.1
0
-1

-0.5

0.5

1.5

Submergence, h/r

2.5

 3

14

Close to bottom
No action from waves
Modified water entry / slamming term
Added mass for body close to fixed wall (Zero frequency limit)

15

Vertical force close to bottom

dA33 2
Fh 3 = gV A333 0.5
3
dh
B13 B23 3

 3

dA33
<0
dh

h
2R

16

A33 2D cylinder close to bottom

Added mass for horizontal 2D cylinder. d /dz = 0 at z = 0
2.5
2

/3-1

A33/r

1.5

0.5

1.2

1.4

1.6

1.8

2.2

2.4

Centre distance from wall h/r

2.6

2.8

17

Circular disc close to bottom

Far from bottom h/R >>1:

8 3
A33 = R
3

Close to wall (Vinje 2001):

5

as h 0

4
3.5
A33/R3

A33

WAMIT results for t/R=0.05

Asymptotic results for h/R<<1
Asymptotic results for h/R>>1

4.5

2.5
2
1.5
1

0.5

1.5

2.5
h/R

3.5

4.5

18

Perforated plate, circular hollows, potential theory

Plate L*B = 15m*10m

A33(0) = 0.625 LB 2

19

Suction anchor
Fully submerged, no ventilation (a=0):
2a

A11 = R 2 H ,

= 0.6 - 1

(plus enclosed water)

4 R
2

A33  R H 1 +
3 H

2R

20

Suction anchor

Fully submerged, with ventilation, a > 0:

2a

2R
KC =

2X A
H

21

Suction anchor
Partly submerged, with
Free air flow

ventilation
2a

A33  0

Restricted airflow?
H

2R

22

Templates with cover and mudmats.

Range of experimental results

23

Protection cover made from tubular members.

(approx 14 * 19m) (perforation ratio 0.27)

24

Computed and measured (forced oscillations)

added mass. Protection cover
1.2
1

Measured
Ca

0.8

Perforated plate

0.6
0.4
0.2

Sum of cylinders w/ interaction

0
0

0.5

KC

1.5

XA
KC = 2
B

25

Theoretical method. Horizontal circular disk

Circular disk, perforation ratio,

z=h

3.

Restricted flow through disk

Disk

z=d

1
.

2.
z

Pressure drop proportional to

velocity squared.
Porous KC number:

KC por =

KC

26

Estimated and measured damping including estimate on the effect

of the edge vortex. Hatch 18 (perforation 0.25).
Hatch 18
4.5
Total
Measured
Measured
Measured
perforation
Edge effect

4
3.5
3

Cb

2.5
2
1.5
1
0.5
0

KCpor

27

Total force on hatch 18

Hatch 18
0.9
0.8
0.7

0.5

Ft/ R

0.6

0.4
0.3
0.2
0.1
0

0.5

KCpor

1.5

2.5

28

Installation of gravity anchor. Use of method Molin &

Nielsen(2004)

29

Model. Solid top, open top.

H = 3.42m
R = 3.77m

30

Comparison with model tests. Suction anchor with

central hole in top plate.
2a

1.6

KC =

2X A
H

1.4
1.2
1

Blue: Computed

CA

Red: Measured

0.8
KC= 1.2
KC= 1.2
KC= 0.6
KC= 0.6
KC= 0.1
KC= 0.1

0.6
0.4
0.2
0

2R
6
Perforation ratio %

10

12

31

Added mass and linearized damping

A33
Cm =
R 2 H

B33
Cb =
R 2 H

1
2

2
2
2

Ftot = ( A33 ) + ( B33 ) X A

1
2

= Ca2 + C b2 X A2R 2 H

32

Added mass and damping, fully submerged, 12.2%

open area.
Linearized B33, R=3.949 m, d/H=5.8548, R/H=1.156

Linearized A33, R=3.949 m, d/H=5.8548, R/H=1.156

1.8

0.9
T=8 sec

1.6

0.8

1.4

T=8 sec

0.7
B33/(R2H)

A33/(R2H)

1.2
1
0.8

0.6
0.5

0.6
0.4
0.4
0.3

0.2
0

0.5

1.5

2.5

3.5

KC = 2XA /H

Asymptotic value: CA0 = 1.99

0.2

0.5

1.5

2
KC = 2XA /H

2.5

3.5

33

Added mass and damping, fully submerged, 12.2%

open area.
Linearized B33, R=3.949 m, d/H=5.8548, R/H=1.156

Linearized A33, R=3.949 m, d/H=5.8548, R/H=1.156

1.8

0.9
T=8 sec

1.6

0.8

1.4

T=8 sec

0.7
B33/(R2H)

A33/(R2H)

1.2
1
0.8

0.6
0.5

0.6
0.4
0.4
0.3

0.2
0

0.5

1.5

2.5

3.5

KC = 2XA /H

Asymptotic value: CA0 = 1.99

0.2

0.5

1.5

2
KC = 2XA /H

2.5

3.5

34

Effect of bottom proximity (1.0 and 0.25m from

bottom)
Linearized A 33, R=3.949 m, d/H=10.4169, R/H=1.156

Linearized B 33, R=3.949 m, d/H=10.4169, R/H=1.156

2.5

1
T=8 sec

T=8 sec
0.9

1.5

B33/(R2H)

A33/(R2H)

0.8

0.7
0.6
0.5
0.4

0.5
0.3
0

0.5

1.5

2.5

3.5

0.2

KC = 2XA /H

0.5

1.5

2.5

Linearized A 33, R=3.949 m, d/H=10.6364, R/H=1.156

Linearized B 33, R=3.949 m, d/H=10.6364, R/H=1.156

1.6
T=8 sec

T=8 sec
1.4

2.5

1.2
B33/(R2H)

2
A33/(R2H)

3.5

KC = 2XA /H

1.5

1
0.8

1
0.6
0.5

0.4

0.5

1.5

2.5

KC = 2XA /H

Added mass

3.5

0.2

0.5

1.5

2.5

KC = 2XA /H

Damping

3.5

35

Effect of free surface proximity (2.5 and 1.25m from

free surface)
Linearized B 33, R=3.949 m, d/H=0.73185, R/H=1.156

1.2

1.8

1.1

1.6

1.4

0.9

T=5 sec
T=8 sec
T=12 sec

1.2

B33/(R2H)

A33/(R2H)

Linearized A 33, R=3.949 m, d/H=0.73185, R/H=1.156

1
0.8

0.8
0.7
0.6

0.6

0.5

0.4

0.4

0.2

0.3

0.5

1.5

2.5

3.5

0.2

T=5 sec
T=8 sec
T=12 sec

0.5

1.5

KC = 2XA /H

2.5

3.5

KC = 2XA /H

Linearized A 33, R=3.949 m, d/H=0.36593, R/H=1.156

Linearized B 33, R=3.949 m, d/H=0.36593, R/H=1.156

2.5

2
1.8

1.6

B33/(R2H)

A33/(R2H)

1.4
1.5

1
0.8

T=5 sec
T=8 sec
T=12 sec

0.5

1.2

0.6

T=5 sec
T=8 sec
T=12 sec

0.4
0

0.5

1.5

2.5

KC = 2XA /H

Added mass

3.5

0.2

0.5

1.5

2.5

KC = 2XA /H

Damping

3.5

36

Lift and drag force close to bottom (DNV RP C205)

37

Example: Intermediate phase of jacket installation

Four legs with mudmats, (circular plates).

Platform stable before piling?

Fwave

38

Plate close to bottom

R: Radius of plate.
h : Gap.
V: Vertical velocity.

39

Added mass. Circular plate close to bottom

A 33
A 33

R 4
8 R 5 R 3
h
=
+ log

for
1
8 h
h
3
2
R

8
h
= R 3
1
for
3
R

40

Dynamic equation.

1 dA 33 2

V + FB + kh = F3 + ( g mg )
( m + A 33 ) V +
2 dh
Inertia

Slamming

damping Spring External

force

Net
buoyancy

Damping:
Quadratic:
Linear:

1
FB = CD V V
2
FB = BV

Details:
Nielsen 2007: Lecture notes in Marine operations, NTNU,

41

Wave period 13.3sec, Fa = 22MN

Initial clearance 0.05m
2

A33 (kg)

V (m/sec)

R= 4 h0= 0.05

R= 4 h0= 0.05

x 10

-2

10

10

10

5
t (sec)

10

10

h (m)

dA/dh (kg/m)

x 10

-2

-4
0

10

0
-5

Lift force >0

5
t (sec)

10

dV/dt (m/sec 2)

F (N)

x 10

1
0
-1
-2

42

CFD is coming. Example ComFLOW.

Courtesy: DNV /Tormod Be

Developed by University of Groningen,

The Netherlands, in EU project SafeFlow
(2001-04)

Based on Volume of Fluid method.

Solves Navier Stokes equations for fluid
and free surface.

Application areas: Wave in deck,

slamming, green water, sloshing

Comflow is being further developed in

project JIP Comflow-2 (2005-07) to
account for

Structure

two-phase flow
arbitrary body motions
irregular wave inflow

Inflow boundary,
Airy or Stokes
5th wave

Fluid
domain

43

Summary

Proper added mass values crucial to find wave loads during installation.

Numerical and experimental tools available to find rough estimates on added

mass and damping.

Viscous effects important.

Water entry equations contain a slamming term.

In splash zone: Added mass sensitive to submergence and frequency.
By landing on bottom an increased added mass may contribute to softer landing.
Coefficients very sensitive to inclination.
The derivative of added mass versus distance from bottom pushes the object
upward.

Theoretical expressions exist for several simple shapes.

Real shapes very difficult to handle.
CFD is being introduced. The future tool for load assessment
Still several pitfalls Requires very skilled users and proper codes.