GREAT

Keywordswave loads, seakeeping

60% 2m

1.1

TLP

ringing,springing

Heave

1.2

springing

slamming,wave on deck

fast small craft

Keywords:heave roll

1.3

D/=0.0333<0.2

D/ =0.00333

Keywords:numerical calculation,model test,full scale trial

1.5

1.4

D/=0.333>0.2

2.1

incompressible, inviscid and irrotational

2.1.1

2.1.2

2.2.

Airy

2.3.

2.3.1Short term sea state

2.3.2

(1028+419+160+57+19+6+1)/100001=1.7%

2.4

2.5.

2.6

3.1

3.2

3.2.1

3.2.2

3.3.3

3.3.4

3.2.5

3.2.6

3.2.7

3.2.8

3.3

3.4

3.5

3.5.1

3.5.2

3.6

3.7

3.7.1

3.8

4.1

4.1.1

4.1.2

4.2

4.3

4.4

TLP springtether

132

SECOND-ORDER NON-LINEAR PROBLEMS

SECOND-ORDER N O N - L I N E A R PROBLEMS

I33

The order of magnitude of mean wave forces relative to linear first-order wave forces can be exemplified by results presented by Zhao ei al. (1988) for a hemisphere floating in the free-surface. Incident were studied in a limited regular waves with wave amplitude frequency range. By translating the results to a full-scale diameter of 50 m we find the linear wave excitation forces to be about 104c, (kN) while the horizontal drift force is about 102tn2(kN). For a wave amplitude of 1 m the linear wave excitation forces are 100 times larger, and for a wave amplitude of 10 m the first-order force is about 10 times larger, than the mean wave forces. Since mean wave forces and moments --mhg~k .a_'e small, a high degree of accuracy is needed both in the calculations ~ m h k qand ~ in the experiments. The results are sensitive to wave headin< bbd form, body motion, wavelength and wave height. In irregularseas : t %,1048, 10048 second-order loads are also sensitive to the width of the wave spectrum, i.e. the wave frequency range with significant wave energy. -In a potential-flow -model wave drift forces are due to a structure's abil$y~o cause waves. The consequence of this is that drift forces are small in a potential flow model when mass forces dominate. This occurs for semi-submersibles. However, viscous effects may also contribute to drift forces. This is a third-order effect that will briefly be discussed later in the chapter. Let us try to give a simple explanation of why we get a mean wave force on a structure in regular incident harmonically oscillating waves. For a surface piercing body a major contribution to the horizontal mean wave force is due to the relative vertical motion between the structure and the waves. This causes some of the body surface to be part of the time in the water and part of the time out of the water. Examining the pressure in one of the points in this surface zone, it is obvious from Fig. 5.1 that the result is a non-zero mean pressure even in regular harmonically oscillating waves. If the relative vertical motion differs around the waterline, the result is a non-zero mean force. This occurs for large-volume structures where the incident waves are modified by the structure. However, there are also other contributions. We get one of them by averaging the quadratic term in Bernoulli's equation.

c,

A simple way to. illustrate the presence of non-linear wave effects is to consider the quadratic velocity term in Bernoulli's equation for the fluid pressure. We can write this term as

G&fiJu@.g Imhx$qRP 09BEfB@&

where V = (V,, V,, V,) is the fluid velocity vector. We emphasize that equation (5.1) provides only one of the non-linear effects. Other contributions may be equally important. Consider an idealized sea state consisting of two wave components of circular frequencies ol and 0 2 . An approximation for the x-component of the velocity'can be written formally as

By algebra it now follows that

Pressure Partly in or out of Water

Out of the water

- J
Time

Non-zero 3 mean force

Fig. 5.1. Horizontal mean wave force contribution due to pressure forces on
the free-surface zone of a structure.

This means that we have the presence of a constant term represented by - 0 . 5 ~(A12/2+AZ2/2) and a pressure term which oscillates with the For a more realistic representation of the difference frequency ol - 02. seaway, acd considering the wave as the sum of N components of different circular frequencies o , , we will find pressure terms with difference frequencies o, - ok,(k, j = 1, N). These non-linear interac tion terms produce slowly-varying excitation forces a-nd moments which : ----. may cause resonance oscillations in the surge, sway, and yaw motions of a moored structure. Typical resonance periods are 1-2 minutes. 1~2 Equation (5.3) also tells us that non-linear effects can create excitation forces . with -- frequencies - -higher than the dominant frequency components in a wave spectrum. This is due to terms oscillating with frequencies 2 0 1 , 2 0 , and ( o , + 0 2 ) These may be important for exciting the resonance oscillations in the heave, pitch and roll for TLPs. Typical resonance periods are 2-4 s. The restoring forces for the TLP are due to the tethers and the mass forces due to the structure. In the following text we will start by discussing mean wave loads.
-

5.1

5.1.1

5.1.2

5.1.3

5.1.4

5.1.5

5.2.1

5.2.2

5.3

5.4

5.5

7.1

7.2

7.3

7.4

7.4.1.

7.4.2

7.5

7.6

7.7

8.1

8.1.1

8.1.2

8.2

8.2.1

8.2.2

8.3

8.4

9.1

9.2

9.3