NUMERICAL SIMULATION OF SUBMERGED PAYLOAD COUPLED WITH CRANE BARGE IN WAVES MOHAMMED ABDUL HANNAN (B.Sc. (Hons.), BUET) A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY DEPARTMENT OF CIVIL AND ENVIRONMENTAL ENGINEERING NATIONAL UNIVERSITY OF SINGAPORE 2014 DECLARATION I hereby declare that the thesis is my original work and it has been written by me in its entirety. I have duly acknowledged all the sources of information which have been used in the thesis. This thesis has also not been submitted for any degree in any university previously. Mohammed Abdul Hannan 03 November 2014 i ii Acknowledgements Acknowledgements First and foremost, all the praises be to Almighty Allah for His endless blessings, mercy and guidance upon me. Thank to Allah for bestowing me with wisdom and sustaining me with countless supports throughout this study period. I would like to express my utmost gratitude to my supervisor Professor Bai Wei. Since the beginning of my research study, he has been guiding me with so much skills and care; especially I am quite thankful to him for his invaluable sharing of programming knowledge, ideas, inspiration, advices, discussions and above all, great patience. In every aspects of my life, I have learnt something new from him along the way he trained me. I am also very grateful to Professor Ang Kok Keng for his continuous guidance and encouragement as my supervisor, throughout the study. His insights, comments, critical assessments and ideas for improvements have always sharpened my views, and helped me to refine my works. My special thanks to Professor Wang Chien Ming for his valuable suggestions on refining my PhD research proposal. Sincere thanks to Professor Rodney Eatock Taylor for sharing his experiences, I truly acknowledge his advices on identifying and solving the problems and limitations in my research. Thanks to Professor Ng How Yong as well for providing me supports during the past few months with an opportunity to learn and share. I also acknowledge the financial support provided by the National University of Singapore in the form of Research Scholarship. My deepest thanks to my parents (Rahima and Abdul Mannan), wife (Salma), siblings (Robiul & Tashfi), other family members and friends for their unconditional loves and supports in my life. I am greatly indebted to them and would like to express my gratitude for their patience and support throughout the study period. Thank you for your understanding and continuing to be an inseparable part of my life. iii Acknowledgements I am grateful to my friends, my lecturers and colleagues from NUS as well as the staffs of CEE department who have supported me in many ways, especially Dr. Aziz Ahmed, Dr. Shakil Ahmed, Mr. Feng Xingya, Mr. Dai Jian, Dr Tarik Arafat, Dr. Abu Sohel, Dr. Zakaria, Ms. Charulatha, Mr. Sit, Mr. Yip, Dr. Anower and Mr. Martin. I also, would like to thank my friends in Singapore: Taiob, Siam, Tarik, Prince, Shameem and all the friends from ‘Graduate Students’ Society’ of NUS; I am grateful to all of you for making my stay here in Singapore so memorable. Last of all, but not the least my sincere respects to all my teachers back in my home country Bangladesh for their countless efforts throughout the various stages of my educational life which laid the foundation of my higher study. iv Table of contents Table of contents Acknowledgements…………………………………………………………. iii Table of contents………………………………………………………………v Summary…………………………………………………………………… .ix List of tables………………………………………………………………….xii List of figures……………………………………………………………… xiii Chapter 1: Introduction 1.1 Background . 1.2 Offshore crane vessel 1.3 Subsea structure installation process . 1.4 Literature Review 1.4.1 Wave-structure interactions of surface piercing bodies 1.4.2 Numerical simulation of fully submerged bodies . 12 1.4.3 Offshore lifting and installation 15 1.4.4 Summary 20 1.5 Objective and scope of the research . 20 1.6 Layout of thesis 24 Chapter 2: Mathematical formulation and numerical implementation 27 2.1 Mathematical formulation 27 2.1.1 Model tank and coordinate systems 27 2.1.2 Basic assumptions, equations and boundary conditions . 29 2.1.3 Higher order boundary element simulation 33 2.1.4 Hydrodynamic forces 42 2.2 Numerical implementation . 45 v Table of contents 2.2.1 Discretization of computational domain . 45 2.2.2 Artificial damping layer 49 2.2.3 The Mixed Eulerian Lagrangian (MEL) approach & time stepping integration 51 2.2.4 Algebraic equation solver . 54 2.2.5 Mesh re-gridding and removal of saw tooth instabilities 55 2.2.6 Interpolation 57 2.2.7 Intersection Line . 58 2.3 Summary 59 Chapter 3: Fully nonlinear wave radiation by submerged structures 61 3.1 Model description 61 3.2 Convergence test and selection of model parameter 63 3.2.1 Convergence . 63 3.2.2 Tank radius selection 66 3.2.3 Optimization of damping coefficient 67 3.3 Fully submerged sphere in heave motion 68 3.4 Wave radiation by a submerged vertical cylinder undergoing forced motion 71 3.4.1 Translatory motion: influence of motion amplitude . 71 3.4.2 Translatory motion: subjected to various oscillation frequencies . 75 3.4.3 Angular motion: influence of pitch motion amplitudes 80 3.4.4 Angular motion: changing frequency of pitch motion 82 3.4.5 Submerged cylinder under combined heave and pitch motion . 84 3.5 Summary 86 vi Table of contents Chapter 4: Wave interactions with submerged structure in constrained motion 87 4.1 Model description 87 4.2 Fixed horizontal cylinder beneath waves . 90 4.3 Fully submerged cylinder attached to rigid cable and subjected to constrained motion . 96 4.3.1 Influence of different cable length 96 4.3.2 Variation of motion amplitude of wave maker . 99 4.3.3 Effect of wave frequency 101 4.3.4 Cylindrical payload attached to cable and subjected to constant downward velocity . 103 4.4 Summary 108 Chapter 5: Numerical modeling of fixed crane barge and submerged payload 111 5.1 Model description 111 5.2 Wave interaction with a single barge . 114 5.2.1 Barge in two-dimensional fully nonlinear wave tank . 114 5.2.2 Rectangular barge in three-dimensional wave tank 117 5.3 Analysis of fixed floating barge and submerged payload in proximity 119 5.3.1 Selecting the wave tank parameters 120 5.3.2 Floating barge and submerged payload under various wave amplitudes 123 5.3.3 Dependence on wave frequency of hydrodynamic features . 135 5.4 Summary 144 vii Table of contents Chapter 6: Analysis of moving payload in the vicinity of floating barge 145 6.1 Numerical model 145 6.2 Payload subjected to constrained motion while attached to cable . 146 6.2.1 Low frequency drift motion 147 6.2.2 Influence of different cable length 156 6.2.3 Effect of wave frequency 159 6.2.4 Influence of spacing between the barge and submerged cylinder 165 6.3 Submerged payload subjected to constant downward velocity . 166 6.3.1 Changing the wave maker motion amplitude . 167 6.3.2 Influence of various moving downward speed . 170 6.3.3 Payload moving downward under various wave frequencies . 173 6.4 Summary 176 Chapter 7: Conclusions and recommendations 179 7.1 Concluding remarks . 179 7.2 Recommendations for future work 182 References 185 List of author’s publications 195 viii Chapter Conclusions and recommendations After performing the above analysis, the numerical model was extended to simulate the wave interaction with a submerged payload which is connected to a cable from the top and is subjected to constrained pendulum like motion under wave action (Chapter 4); this was the second scope of the study. The effect of cable length, wave maker motion amplitude and frequency and downward moving speed of the payload on its behaviour are extensively studied. As observed, variation of cable length does not produce noticeable impact on the horizontal displacement of the cylinder. However, a significant increase in moment due to the increase of cable length is noticed. Beside this, it is also found that the moment, cable tension and angular displacement of the cylinder decrease with the rise of wave maker motion frequency. It is further noticed that all of these parameters also decreases gradually when the downward moving speed of the cylinder increases. The next scope of the current research study was to couple the submerged payload problem with floating barge to understand the hydrodynamics of the system in various environmental conditions. Initially, a fixed floating barge and a submerged fixed cylinder was placed side by side and studied under various scenarios (Chapter 5). With the rise of wave maker motion amplitude, the existence of the submerged cylinder found to significantly reduces the large mean of horizontal force acting on floating barge in head sea configurations. The nonlinear force components on contrary, which appears to be very small and weakly nonlinear, seems to increases with the increase of motion amplitude in presence of submerged cylinder and becomes more than times larger than that of usual values at ka = 0.08 (Figure 5.14). Both the horizontal and vertical dynamic forces acting on the submerged cylinder on the other hand, increases noticeably especially for the case of cylinder placement in beam sea upstream side. The dependence on wave maker motion frequency of hydrodynamic forces is also studied comprehensively. The results show that a fully submerged cylinder placed at the upstream side of a barge in beam sea observes significant amount of nonlinearities in the wave forces acting upon it as compared to any other locations. Therefore, the effective orientation of floating structure and near surface submerged bodies needs to be strategically determined to serve the desired purpose. 180 Chapter Conclusions and recommendations Finally, the fixed cylinder was allowed to move within the coupled system described above, and both the pendulum like angular motion as well as moving downward motion with a constant velocity was considered (Chapter 6). Extensive study was performed to predict payload movement, maximum expected tensions on cable and forces acting upon the barge and payload during installation operation. It is found that, generally the moment acting on the cylinder increases with the increase of cable length irrespective of the various scenarios considered. However, phenomenal influence of shielding is observed in cable tension and angular motion of the payload in terms of slow varying low frequency responses, which appears as a harmonic at 1/10th of wave maker frequency, for head sea and both of the beam sea scenarios. Besides, the payload in upstream beam sea case found to be facing a very large mean drift motion, nearly times larger than 1st harmonic motion amplitude for incident wave frequency (Figure 6.8), which arises because of the shielding effect as well. It is further found at higher frequencies that, the time history patterns for payload angular motion in head sea and beam sea downstream cases vary significantly compared to responses at lower motion frequency because of the presence of several low frequency components in it which might be of practical interest during offshore installation process. Apart from these parametric studies where the payload is not allowed to move downward, studies are also performed to investigate the behaviour of cylindrical payload when it is lowered towards the seabed at constant velocity. During this process, all the hydrodynamic parameters found to be decrease in time as the cylinder moves towards the sea bed irrespective of various parametric changes considered. It is also observed that the presence of barge in head sea reduces the moment, cable tension and payload movement significantly when the cylinder went down sufficiently below the free surface compared to the single cylinder case at similar situation. Besides the influence of low frequency motion is also found to exist even at considerable water depth. However, the slow varying response in moment and rope tension is not observed while the cylinder starts to move towards the seabed. In sum, it is expected that the results of present study will contribute to existing literature and will help to understand the hydrodynamic behaviour of 181 Chapter Conclusions and recommendations submerged structure subjected to constrained movement (alone or near to other floating bodies). It can also provide valuable guidance to determine the minimum gap between the barge and payload during an offshore installation process, and will help to design active damping devices for reducing the unexpected movement of the payload in waves by controlling its motion. 7.2 Recommendations for future work This thesis provides understanding on the behavior of a fully submerged hanging payload subjected to pendulum motion in vicinity of a floating barge. The hydrodynamic forces acting on the fixed barge and moving cylinder, the tension of the cable between the barge and payload as well as the moment and underwater motion of the payload are calculated in order to assess the interaction. However, parameters those are certainly of interest for practical operation, for example degree of freedom (dof) to the barge and mooring line forces, are not studied as a matter of primary concern within the present context and thus more of topics for further research. Although, considering a fixed barge with submerged payload in pitch motion provides reasonable outputs, as the barge here is assumed to be moored and has relatively small motion. Nevertheless, taking into account of the movement of barge along with mooring lines may provide some more interesting results due to the induced radiation effects. In addition, considering more complex situations for the payload (for example, payload is connected to a real cable instead of a rigid rod (taking in to account of the cable dynamics) and beside its movement about the cable origin point at the crane, the payload is also allowed to move around its own hanging point from the cable) will help to understand its behavior from more realistic point of view which in turn will assist in designing active motion control mechanism for payload. Devising the method and/or devices to control (influence) the motion of the heavy payload will be an effective way of increasing the operation efficiency of the floating crane. Further investigations need to be carried out in order to understand how to actively influence the motion of the crane barge and 182 Chapter Conclusions and recommendations submerged payload. One way of influencing the dynamics is to change the Eigen frequencies of the system by suitable changes in the construction, which might be complicated and not a feasible option in all situations. Another way of influencing the motion is to add passive, semi-active, or active elements to reduce the energy stored in the system in order to avoid undesired dynamical behavior. However, detail study is required to find the desired solution in this situation. Also, before performing this type of study it is necessary to consider the influence of drag forces on suspended payload and cable system, as drag might generate significant impact on forces acting in this situation. Besides, various orientations of barge and cylinder positioning as well as different shapes of payload should be exploited with respect to different environmental conditions. Because, it is found in present study that behavior of both the submerged cylinder and floating barge varies significantly among the different orientations. Hence, further works are needed on selecting the accurate heading angle for barge and position of payload near it, to obtain optimum response for practical implications. Another important aspect to consider in future research might be the effect of current forces towards swinging/ swaying motion as well as the drift forces of the payload. The effect of current could be quite significant for such a submerged installation problem especially in deep and harsh sea environment. Furthermore, developing framework for stochastic hydrodynamic analysis of the offshore crane barge and its submerged payload system might be an interesting research as well. Multidirectional irregular waves defined through a directional wave spectrum can be considered to develop such framework. 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Ang; Numerical simulation of fully nonlinear wave interaction with submerged structures: fixed or subjected to constrained motion; Journal of Fluids and Structures: 2014, 49, pp 534-553. [Chapter 4] 3. M.A. Hannan and W. Bai; Nonlinear hydrodynamic responses of submerged moving payload in vicinity of a crane barge in waves; Marine Structures: (Submitted: under review). [Chapter and 6] 4. W. Bai and M.A. Hannan; Three dimensional time domain analysis of side-by-side floating and submerged structures in nonlinear waves; (Under preparation). [Chapter and 6] Conferences: 1. K.K. Ang, M.A. Hannan and W. Bai; Numerical simulation of fully nonlinear wave radiation by submerged oscillating vertical cylinders; The International Conference on Advances in Computational Mechanics ACOME 2012, August 14-16, P 669-680, Ho Chi Minh City, Vietnam. 2. M.A. Hannan, W. Bai and K.K. Ang; Fully coupled nonlinear analysis of floating and fully submerged structures in waves; The Twenty-Sixth KKHTCNN Symposium on Civil Engineering, 2013, November 18-20, Singapore. 195 [...]... behaviour of the submerged payload of a crane barge The results of the analysis can be used for safety considerations during the offshore installation process and would be beneficial to the researcher working on designing active damping devices to extend the operating range of crane ships by means of controlling the motion of the submerged payload x List of tables List of tables Table 3.1: Number of elements... nonlinear components 12 Chapter 1 Introduction of these forces with frequencies up to 3 times the fundamental wave frequency Since then, analysis of hydrodynamic performances of submerged bodies become increasingly important with the growing interest in offshore activities, especially in using ocean wave energy which involves wave induced motion of oscillating submerged bodies Consequently, a number of. .. simulated in various wave conditons and the simulation results are compared with published data for single floating barge Finally, the submerged payload and floating crane barge problems are coupled and the combined analysis is performed for different physical conditions, for example fixed barge and fixed payload in head sea and beam sea, fixed barge and moving payload in head sea and beam sea etc In each... growing interests of mankind towards offshore activities in order to colonize the ocean mostly for space, food and energy, with more innovative ideas and greater challenges than before are increasingly driving the research towards greater height Safe operation of offshore crane vessel is an integral part of all offshore activities starting from transportation, installation, maintenance and salvaging of. .. categories: wavestructure interaction of surface piercing bodies, wave-structure interaction of fully submerged bodies and a combination of both scenarios The first two categories is again subjected to various situations, for example, a body moving at a prescribed manner in calm water, in which case the body's motion-induced nonlinear force is of interest; a body fixed or freely floating in nonlinear waves, in. .. providing an insight of the entire process of offshore installation via the evaluation of hydrodynamic performances of a crane barge and its payload in water waves The main attention is given towards the comprehensive analysis of submerged cylindrical payload behavior and the fully nonlinear three dimensional time domain approach is used to solve the problem as this method is capable of handling the... of offshore crane vessel and its submerged payload (the structure to be lifted with the crane, for example, subsea devices) are then presented Finally, the objective and scope of the study are stated along with the layout of the thesis afterwards in order to assist the reading 1.1 Background In recent years, with the advancement of technological innovations, ‘Offshore Installation’ is becoming an increasingly... barge or floating crane is a ship with a crane specialized in lifting heavy loads in offshore areas In coastal regions crane barges are common for lift operations and in offshore engineering larger crane ships or semisubmersibles can be found All these specialized ships are mainly used for transportation, construction of large offshore structures and for salvage operations The history of crane vessels... the years However, in 1949, J Ray McDermott (offshore service provider) built the ‘Derrick Barge 4’, a barge that was outfitted with a 150 tons revolving crane The arrival of this type of vessel changed the direction of the offshore construction industry and the era of building of jackets and decks as modules instead of constructing in parts thus begun Figure 1.1 Crane Ship No 1 built in 1920 (Popular... simulated using this model and the response of the ix Summary submerged cylinder is found to be dominated by the heave amplitude motion in most of the cases The next part of the research includes the investigation of the hydrodynamic feature of a submerged vertical cylindrical payload attached to a cable for constrained motions and moving towards the seabed at a constant speed in water waves The crane barge . Chapter 5: Numerical modeling of fixed crane barge and submerged payload 111 5.1 Model description 111 5.2 Wave interaction with a single barge 114 5.2.1 Barge in two-dimensional fully nonlinear. NUMERICAL SIMULATION OF SUBMERGED PAYLOAD COUPLED WITH CRANE BARGE IN WAVES MOHAMMED ABDUL HANNAN (B.Sc. (Hons.), BUET) A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY. of offshore crane vessel is an integral part of all offshore activities starting from transportation, installation, maintenance and salvaging of various offshore structures. The stability of