04 2023 DMS Ch05

CHAPTER 5
MOORING STRENGTH
ANALYSIS
Design of Mooring System by Prof. Seung Jae LEE 1
BASIC CONCEPT
BC#1: Floater’s motion
Mooring line dynamics

BC#2: Anchor model
2
5.1
Floater’s Motion
DEFINITION OF SHIP MOTION
MODES IMPORTANCE
surge
sway Mooring system analysis
yaw
heave
roll Seakeeping analysis
pitch
4
SHIP AS MASS-SPRING-DAMPER SYSTEM
F
M
Ma(ω)
C(ω) K
z + C(ω ) z! + Kz = Feiω t
⎡⎣ M + M a (ω ) ⎤⎦ !!
⎧M : real mass matrix
⎪
⎪M a (ω ) : added mass matrix
⎪
⎨C(ω ) : radiation damping coefficients matrix
⎪K : restoring coefficients matrix
⎪
⎪⎩Feiω t : wave excitation forces and moments matrix
RADIATION AND DIFFRACTION PROBLEM

Radiation problem Diffraction problem Hydrostatic properties
+
+
=
Motion of a floating body
6
TWO DOMINANT FACTORS FOR MOTIONS
Geometry of
submerged volume
Mass distribution
MOTION RAO
• Transfer functions?
- The multiplication factor for output for unit input
- Useful tool for linear-based analysis
• Unit input for ship response

- Incoming sinusoidal regular wave with unit amplitude regular
wave
z
• Di erent kinds of RAOs can be de ned for ship motion analysis y
- Bending moment RAO x
- Motion RAO
- Acceleration RAO
- Etc.
• Motion RAO is a kind of transfer functions

- The multiplication factor for motion response for unit wave amplitude
8
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HOW MANY MOTION RAOS?
6 DOF
z
y
x
×
Number of
wave directions
6-DOF MOTION RAOS
(1) (2)
regular
wave
z
y
(3) (4)
10
EXAMPLE OF MOTION ANALYSIS
MARIN-FPSO
11
ADVANTAGE OF MOTION RAO

(I)
Structure group
Motion
RAO RAO
heave
Hydrodynamic
calculation motion “derrick design”
ω acceleration
surge !
sway moment a
roll .
pitch .
yaw .
!
Model test “mooring design” x
for verification
“Wave spectrum”
Electric signal Input S(ω )
"(!) “Response spectrum”

R(ω )
!
ω
R(ω )
“Motion RAO”
H (ω ) =
2
H (ω )
S(ω )
(I) = (II) ? (II)
ω
12
5.2
Line Modeling
13
AXIAL STIFFNESS
• For non-spring material, linear axial
x=0 sti ness can be expressed as follow:
“spring at rest” EA
k=
L
⎧ E : Young's modulus
x=x ⎪
⎨ A : Cross-sectional area of line
⎪ L :Length of the line
F=k·x ⎩
EA vs. EI
14
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AXIAL STIFFNESS
• “Taut mooring system can be modeled by springs”
15
SLACK CONDITION
“Slack condition” “Neutral length” “Extended line”
L+ L
L L
T=0 T=0 T=k· L
16
INITIAL TENSION
• Initial tension is:
y T = k ⋅ ( ΔL0 + ΔL1 )
⎧ Δy Δy
! ⎪cos α = L = L + ΔL + ΔL
T=? ⎪ 0 0 1
⎪ Δy
L0+ L0 L0+ L0+ L1 ⎨ L0 + ΔL0 + ΔL1 =
⎪ cos α
⎪ Δy
⎪ ΔL + ΔL = − L0
0 1
cos α
⎩
⎛ Δy ⎞
= k ⋅⎜ − L0 ⎟
⎝ cos α ⎠
17
CATENARY EQUATION
• Assumption:
- Inelastic line
- Seabed e ects (friction & line shape) not included
• Line shape equation
w=Weight per unit length

s=Length along a line from anchoring point to fairlead
Tha=Horizontal tension at anchoring point
Tva=Vertical tension at anchoring point
K=Axial sti ness (K=EA/l)
18
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CATENARY EQUATION
Line shape comparison with ORCAFLEX Catenary shape Tension
Catenary(equa+on Orcaﬂex
400"
s)[m] z(s))[m] x(s))[m] z(s) x(s)
0 0 0 0 0 300"
10 3.229533981 9.443455313 3.278693584 9.447914447
200" Catenary"
20 8.266411872 18.06655927 8.316684943 18.08694237
30 14.63207637 25.76755808 14.68502241 25.79798283 100" Orcaﬂex"
40 21.93203659 32.59425692 21.98817379 32.63039728
50 29.88298158 38.65364796 29.94211767 38.69298386 0"
60 38.29222199 44.06129576 38.35404249 44.10243255 Tva" Th" Ta" Tf"
70 47.03027427 48.92123737 47.09452838 48.96340679
80 56.00940742 53.32086912 56.07593902 53.36364099
90 65.16915258 57.33164909 65.2378867 57.37477652
100 74.46697556 61.01152406 74.53789792 61.05486178
110 83.87232946 64.40751941 83.94546906 64.45098016
120 93.36283402 67.55799304 93.43825034 67.60152388
130 102.921784 70.49445739 102.9995581 70.53802633
140 112.5364949 73.24300829 112.616723 73.28659659
150 122.1971832 75.8254329 122.279973 75.86903043
160 131.896195 78.2600671 131.9816621 78.3036695
170 141.6274643 80.56246091 141.7157305 80.60606773
180 151.3861265 82.74589773 151.4773183 82.7895113
190 161.1682381 84.82180233 161.2624856 84.86542686
200 170.970571 86.80006371 171.068007 86.84370481
210 180.7904584 88.68929265 180.891218 88.73295687
220 190.6256791 90.49702864 190.7298993 90.54072322
230 200.4743687 92.22990744 200.5821879 92.27364009
240 210.3349515 93.89379767 210.4465093 93.9375764
250 220.2060867 95.49391299 220.3215236 95.53774603
260 230.0866265 97.0349048 230.2060842 97.07880045
270 239.9755831 98.52093925 240.0992036 98.56490666
280 249.8721015 99.95576176 250 100
19
LUMPED MASS MODEL FOR DYNAMICS
Md!! + Bd! + Kd = F
M : Mass matrix
B : Structural damping matrix
K : Axial stiffness matrix
d : Displacement at nodes
F : External force matrix
20
5.3
Analysis Procedure
21
MOORING STRENGTH ANALYSIS

• Basic considerations
• Mooring analysis conditions
• Vessel o set
• Line tension
• Statistics of peak values
22
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5.3.1
Basic Considerations
23
BASIC CONSIDERATIONS
• Goal is predicting extreme responses of:
- Line tensions
- Anchor loads
- Vessel o sets
• Comparison between extreme values vs. allowable values
24
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VESSEL DYNAMICS SIMULATION
• Three approaches
- Frequency Domain Approach
- Time Domain Approach
- Combined Time and Frequency Domain Approach
• For weather vane of a SPM with large yaw angle, model testing should be accounted
for .
25

• Frequency Domain Approach
- De-coupled analysis
‣ Mean response: Static equilibrium b/w environmental load and mooring system’s
restoring force
‣ Low and Wave frequency motion: Statistical signi cant or maximum responses are
to yield maximum combined response
26
• For weather vane analysis,
- Vessel heading should be xed
- The xed design heading should be determined taking into consideration the
mean equilibrium heading and low frequency yaw motions
27

• Time Domain Approach
- Single dynamic equation includes:
‣ The vessel, mooring lines, risers, and thruster forces
‣ Time histories are processed statistically to yield expected extreme values
‣ The simulation should be long enough to establish stable statistical peak values
• Combined Approach
- To reduce complexity and e orts of time domain simulation
‣ In time domain: The mean and low frequency responses
‣ In frequency domain: The wave frequency responses
‣ Freq. domain solution is processed to yield either statistical peak values or time
histories, which are then superimposed on the mean and low freq. responses
28
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MOORING LINE SIMULATION
• Mean and Low Frequency Motions
- Static catenary equations (Low frequency motion has long period)
• Wave Frequency Motions

- Quasi-static analysis
- Dynamic analysis
‣ Time domain analysis
‣ Frequency domain analysis
29

• Quasi-static Analysis
- Dynamic wave loads are taken into account by statically o setting the vessel by
wave induced motion
- Vertical motions and dynamic e ects are neglected
30
• Dynamic Analysis
- Accounting for the time varying e ects due to mass, damping, and uid
acceleration
Fairlead motions are

Mooring line responses
calculated from vessel’s
to the fairlead motions
6-DOF motions
31

• Dynamic Analysis
- Time domain analysis
‣ All nonlinear e ects can be modeled. Primary nonlinear e ects are:
✓ Nonlinear stretching behaviour of line
✓ Changes in line geometry
✓ Fluid loading
✓ Bottom e ects
- Frequency domain analysis

‣ All system is linear with superposition
‣ Methods to approximate nonlinear e ects in the frequency domain and their
limitation should be investigated to ensure acceptable solutions for the intended
operation
32
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RISER CONSIDERATIONS
• Interaction between riser, vessel, and mooring system
•E ects by riser
- Wave and current loads on riser
- Damping from riser system
- The net result depends on a number of factors (Number of riser, water depth, etc.)
33
DAMPINGS OF LOW FREQ. MOTION

• Low freq. motion amplitude depends on sti ness of mooring system and damping
• Four sources of damping

- Viscous damping of the vessel, including wind, wave, and current drag
- Wave drift damping of the vessel
- Mooring system damping
- Riser system damping
• Analytical approach or model test is required to evaluate them
34
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5.3.2
Mooring Analysis
Conditions
35
MOORING ANALYSIS CONDITION

• Intact Condition
- All mooring lines are intact
• Damaged Condition
- Vessel oscillates around a new mean position after a mooring line breakage or a
thruster system failure
• Transient Condition
- Vessel is subject to transient motion after a mooring line breakage or a thruster
system failure
36
RECOMMENDED ANALYSIS METHODS AND CONDITIONS
Type of Mooring Analysis Method Conditions to be analyzed
PERMANENT MOORING
Strength design Dynamic Intact/damaged
Fatigue design Dynamic Intact
MOBILE MOORING
Strength design Quasi-static or dynamic Intact/damaged/transient
Fatigue design Not required Not required
37
5.3.3
Vessel Offset
38
VESSEL OFFSET
• Maximum O set in Frequency Domain
- The larger o set of followings:
‣ Smax = Smean + Slfmax + Swfsig
‣ Smax = Smean + Swfmax + Slfsig
✓ Smean : Mean vessel o set
✓ Smax : Maximum vessel o set
✓ Swfmax : Maximum wave frequency motion
✓ Swfsig : Signi cant wave frequency motion
✓ Slfmax : Maximum low frequency motion
✓ Slfsig : Signi cant low frequency motion
39
VESSEL OFFSET
• Maximum O set in Time Domain Approach and Combined Time and Freq. domain
Approach
- Statistical processing of simulated time history to yield expected extreme o sets
• Above approaches are valid only for intact and damaged conditions
- Maximum o set in transient condition is discussed later
40
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5.3.4
Line Tension
41
LINE TENSION
• Mean Tension
- Line tension corresponding to the mean o set to the vessel
• Maximum Tension in Frequency Domain

- (Mean tension) + (Combined wave and low frequency tensions)
42
LINE TENSION
• Maximum Tension in Frequency Domain
- The larger tension of followings:
‣ Tmax = Tmean + Tlfmax + Twfsig
‣ Tmax = Tmean + Twfmax + Tlfsig
✓ Tmean : Mean tension
✓ Tmax : Maximum tension
✓ Twfmax : Maximum wave frequency tension
✓ Twfsig : Signi cant wave frequency tension
✓ Tlfmax : Maximum low frequency tension
✓ Tlfsig : Signi cant low frequency tension
43
LINE TENSION
• Maximum Tension in Time Domain Approach and Combined Time and Freq. domain
Approach
- Statistical processing of simulated time history to yield expected extreme tensions
• Above approaches are valid only for intact and damaged conditions
- Maximum tension in transient condition is discussed later
44
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5.3.5
Statistics Of Peak
Values
45
STATISTICS OF PEAK VALUES

• Wave and low frequency motion and tensions can be represented by a narrow band
Gaussian process with Rayleigh distributed peaks
Spectrum area = m0
Standard deviation(σ ) = m0
Significant value = 2σ
Maximum value = 2(ln N )σ
where N = T / Ta
T = the specified storm period (sec)
Ta = the average zero up-crossing period (sec)
of the response
46
STATISTICS OF PEAK VALUES
• For non-Rayleigh peak distributions:
- Model test or time domain simulation is required
- They should be carried out with enough duration to establish reasonable
con dence bounds for the expected maximum response in the storm duration
47
5.4
Industrial Practice
48
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THREE BASIC STEPS
• Hydrodynamic calculation
- Hydrodynamic coe cients
- AQWA, WAMIT, WADAM, etc.
• Coupled Dynamic Analysis

- Coupled motion including mooring system
- AQWA, ARIANE, HARP, etc.
• Detail Analysis
- Detail dynamic response
- ORCAFLEX, etc.
49
INDUSTRIAL PRACTICE
Global performance analysis
Metocean data
Hydrodynamic
calculation
Floater and Mooring

Mean loads Floater model
con guration
Mooring resistance Hydrodynamic

Mean o set
(Forces vs. O set) coe cients
Mean + Slow drift

Wave freq. motions
responses
Detail analysis
• Max. mooring loads
Riser con guration • Max. riser stresses Mean + Slow drift + Wave freq. responses (Max.)
• Max. platform motions
50
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EXAMPLE OF MOORING ANALYSIS
CALM system
51
LOAD CASES FROM CLIENTS

• Example of client’s request:
- Collinear
- Oblique: Wind is 30deg. o wave and current is 45deg. o wave
- Cross: Wind is 45 deg. o wave and current is 90deg. o wave
• For each operating and survival cases:

- Inline case : Environmental load direction is line with one of the mooring legs.
- In-between case : Environmental load direction is between two adjacent mooring
legs.
52
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OPERATING CONDITION ANALYSIS
Load Case - Operational condition
- Added mass & Radiation damping

AQWA - 1st order wave excitation force
- Motion RAOs
(Buoy + Tanker) - Motion RAOs
- Full QTF or diagonal terms only
- Current loads on tanker from experiments

ARIANE - Drift force from Full QTF or Newman’ approximation
- Buoy o set
(Buoy + Legs + Tanker) - Mean wave loads & slow drift loads by multiplication of QTF & wave spectrum
- Env. directions
- Time domain simulation
- Low freq. + Wave freq. (RAO) response
- Riser modeling
ORCAFLEX - Time domain simulation with regular waves
(Buoy + Legs + Tanker) - Max. tension vs. Rule values with safety factor
- Riser interference analysis
53
SURVIVAL CONDITION ANALYSIS

- Buoy modelled by a surface-piercing Morison cylinder
ORCAFLEX
- Mooring lines are attached to the buoy
(Buoy + Legs)
- Static mooring line tension, hang-o angle, and mooring radius are established
- Regular time-domain simulations

* 100-yr wave height & associated wave period
* Collinear condition for worst tension and o set
- Maximum values
* O sets and line tensions at fairlead and anchor
* Uplifting force and angle at anchor
* Buoy excursion and motions
- Maximum buoy overtopping

* Relative motion of buoy and waves
- Factors of safety of the mooring lines
54
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CHALLENGING ISSUES
• Truncated mooring system analysis
- Limitation of ultra deep water model test
- Equivalent mooring system
• Fatigue analysis of polyester mooring rope

- API-2SM and DNV-E301 give T-N curve for polyester rope
- Short period of application
• Integrity monitoring system

- Tension monitoring system
- Remaining fatigue life
55
END OF CHAPTER 5
MOORING STRENGTH
ANALYSIS
56

04 2023 DMS Ch05

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CHAPTER 5

Design of Mooring System by Prof. Seung Jae LEE 1

Mooring line dynamics

Design of Mooring System by Prof. Seung Jae LEE 2

Design of Mooring System by Prof. Seung Jae LEE 3

DEFINITION OF SHIP MOTION

Design of Mooring System by Prof. Seung Jae LEE 4

Design of Mooring System by Prof. Seung Jae LEE 5

RADIATION AND DIFFRACTION PROBLEM

Motion of a floating body

Design of Mooring System by Prof. Seung Jae LEE 6

Design of Mooring System by Prof. Seung Jae LEE 7

• Unit input for ship response

• Motion RAO is a kind of transfer functions

Design of Mooring System by Prof. Seung Jae LEE 9

6-DOF MOTION RAOS

Design of Mooring System by Prof. Seung Jae LEE 10

Design of Mooring System by Prof. Seung Jae LEE 11

ADVANTAGE OF MOTION RAO

"(!) “Response spectrum”

Design of Mooring System by Prof. Seung Jae LEE 12

Design of Mooring System by Prof. Seung Jae LEE 13

Design of Mooring System by Prof. Seung Jae LEE 14

Design of Mooring System by Prof. Seung Jae LEE 15

“Slack condition” “Neutral length” “Extended line”

Design of Mooring System by Prof. Seung Jae LEE 16

• Line shape equation

w=Weight per unit length

Design of Mooring System by Prof. Seung Jae LEE 18

Design of Mooring System by Prof. Seung Jae LEE 19

LUMPED MASS MODEL FOR DYNAMICS

Design of Mooring System by Prof. Seung Jae LEE 20

Design of Mooring System by Prof. Seung Jae LEE 21

MOORING STRENGTH ANALYSIS

Design of Mooring System by Prof. Seung Jae LEE 22

Design of Mooring System by Prof. Seung Jae LEE 23

• Comparison between extreme values vs. allowable values

Design of Mooring System by Prof. Seung Jae LEE 24

Design of Mooring System by Prof. Seung Jae LEE 25

VESSEL DYNAMICS SIMULATION

Design of Mooring System by Prof. Seung Jae LEE 26

Design of Mooring System by Prof. Seung Jae LEE 27

VESSEL DYNAMICS SIMULATION

• Wave Frequency Motions

Design of Mooring System by Prof. Seung Jae LEE 29

MOORING LINE SIMULATION

Design of Mooring System by Prof. Seung Jae LEE 30

Fairlead motions are

Design of Mooring System by Prof. Seung Jae LEE 31

MOORING LINE SIMULATION

- Frequency domain analysis

Design of Mooring System by Prof. Seung Jae LEE 33

DAMPINGS OF LOW FREQ. MOTION

• Four sources of damping

• Analytical approach or model test is required to evaluate them

Design of Mooring System by Prof. Seung Jae LEE 34

Design of Mooring System by Prof. Seung Jae LEE 35

MOORING ANALYSIS CONDITION

Design of Mooring System by Prof. Seung Jae LEE 36

Type of Mooring Analysis Method Conditions to be analyzed

Strength design Dynamic Intact/damaged

Fatigue design Dynamic Intact

Strength design Quasi-static or dynamic Intact/damaged/transient