DNV Software

Sesam User Course

Wajac Wave, current and wind loads on fixed frame structures

Wajac in Sesam Overview

general
structures

frame
structures

general
structures

Presel
superelement
assembly
Submod
submodelling

Sesam Wajac

Waveship

Installjac

Postresp

Xtract

wave loads
on general
structures

wave loads
on ships

launching
of jackets

presentation
of statistical
response

presentation
& animation
of results

Wasim

Simo
Framework

Stofat

frame
fatigue and
earthquake

shell/plate
fatigue

Profast

Cutres

probabilistic
fatigue and
inspection

presentation
of sectional
results

Riflex

Platework

Concode

non-linear
riser

plate
design

concrete
design

Wajac

Wajac

wave
loads 3D wave
wave
loads
on
frame
on frame
loads
structures on vessels
structures

marine
operations

Prefem

INTEGRATED
PROGRAM
PACKAGES

27 February, 2013
Det Norske Veritas AS. All rights reserved.

SESAM INTERFACE FILE

STRUCTURAL

PREPROCESSING

Preframe

Wadam

Sestra

Mimosa

linear
statics and
dynamics

mooring
analysis

Splice

Usfos
progressive
collapse

structurepile-soil
interaction

POSTPROCESSING

Patran-Pre

ENVIRONMENTAL

Sesam Manager

GeniE

DeepC

HydroD

conceptual modeller including

Wajac, Sestra, Splice, Framework

deep water mooring and riser

analysis including Simo, Riflex

environmental modeller including

Wadam, Wasim, Postresp

Slide 2

Purpose and main features of Wajac

For fixed frame structures (jackets, jack-ups, etc.) composed of 2 node beams
Computes loads:
-

Wave
Buoyancy
Wind
Current

wind

Computes mass:
- Added mass
- Mass of internal water
(flooded members)

current

wave

buoyancy

added
mass
Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 3

Fundamentals
Z-axis must point upwards,
only 2 node beams considered

Z
not floating

not flexible

Fixed and rigid structure

D

Hydrodynamic force calculation:

- Morison equation for beams
- (MacCamy-Fuchs for vertical tubes)

Wave length > 5D

Water particle motion undisturbed

(with some modifications)

flooded

air filled

Buoyancy included,
with or without flooding

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 4

Load calculation
Wave and current force (per unit
length) in load calculation points
Two or more segments per beam,
increase if wanted
Only submerged part of beams
subjected to wave and current

load
calc.

Distributed loads transferred to

structural analysis through L*.FEM file

points

overturning moment Overturning moment and

base shear reported in print file

segment
Z

base shear

- If the origin is not at mudline

and jacket centre then
specify vector to point
for overturning moment
- On Output > Global results tab
of Edit Wave Load Run dialog

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 5

Load calculation Morison equation

current

Force per unit length in each

load calculation point is
F = FInertia + FDrag

wave

- FInertia is inertia part of force

- FDrag is drag part of force

FInertia = D2/4 Cm an

FDrag = D/2 Cd vn |vn|

vn / an
load calc.
points
segment

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 6

Linear variation of force between

load calculation points
Water particle acceleration an and
velocity vn are normal to member,
vn include current

Load calculation MacCamy-Fuchs

D

If wave length < 5D then inertia

part of Morison inaccurate

Then MacCamy-Fuchs force

calculation is more accurate
MacCamy-Fuchs theory: for
single, vertical, cylinder standing
on bottom and breaking surface

MacCamy-Fuchs
according to theory

Use with care in Wajac!

MacCamy-Fuchs only for inertia
part of force
For frequency domain only (linear
harmonic Airy wave)
On Special options tab of Edit
Wave Load Run dialog

Use of
MacCamy-Fuchs
in Wajac

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 7

Load calculation buoyancy forces

Buoyancy forces
- Optionally contributing to wave load in
deterministic load analysis
- Irrelevant for frequency analysis

- Or as separate load case

Contributing to buoyancy:
- Parts of members above below surface
- Steel
- Pipe sections non-flooded by default

Difference
is net
pressure
downwards

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 8

Model diameters and marine growth

Diameter for force calculation
D

Tubes:
- Structural diameter, D, by default
- Alternatively, manual specification
(Hydrodynamic diameter in Hydro Properties)
- Adding marine growth to diameter for drag forces
- Optionally adding marine growth to diameter also
for inertia forces

D + marine growth
marine growth

Non-tubes:
- Equivalent diameter by default
- Alternatively, manual specification as for tubes
Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 9

Model hydrodynamic coefficients

Hydrodynamic coefficients: inertia Cm and drag Cd
Constant assigned to whole or part of structure
- Different constant values to different parts of structure

Function of diameter
Function of roughness and Reynolds number
- Rn = vn D / , is kinematic viscosity

Function of roughness and Keulegan-Carpenter number

- KC = 2 vn / D

By API rule
Coefficients are normally on T*.FEM file created by GeniE
Coefficients on T*.FEM are overruled if coefficients are given in Wajac input file
- A few additional ways of specification
Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 10

Wave theories
T

an = an(h,H,T,z,t) and vn = vn(h,H,T,z,t)

- h = water depth
- H = wave height

- T = wave period
- z = height above mud-line

Wajac offers five wave theories:

- Linear harmonic theory, Airy
- Stokes 5th order steep waves, deep waters
- Deans Stream Function numeric approximation of given wave
- Cnoidal shallow waters
- NEWWAVE theory introduced by Shell
- Cannot be selected in GeniE, specify in Wajac input file

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

vn / an

- t = time

Slide 11

Linear harmonic wave theory, Airy

Harmonic waves (sinus)
constant

Linear theory, i.e. velocities and

accelerations are linear with respect
to wave height

extrap.
extrapolation
Wheeler
Wheeler

While other theories describe wave

crest and trough, Airy describe up to
still water level
Alternative assumptions:
- Constant above still water level
- Extrapolation of exponential curve
- Cannot be selected in GeniE

- Wheeler stretching

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 12

Current
Application of current:
- Contributes to drag force for deterministic
wave
- Contributes to drag force for time domain
simulation of short term sea state
- Used in equivalent linearisation of drag
force for spectral wave

Direction of current:
- X-, Y- and Z-component
- Horizontal and given direction
- Horizontal and parallel with wave

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 13

Wajac input & output

Input to Wajac:
- Model of structure on Input Interface Files (T*.FEM) created by:
- GeniE
- (Patran-Pre or other preprocessor)

- Model of hydrodynamic environment on input file (Wajac.inp) created by:

- GeniE
- Manual editing see example inputs in the following

Output from Wajac:

- Print file (Wajac.lis) for control of analysis
- Interpretation of input and possibly important messages
- Optional amount of results

- Loads Interface Files (L*.FEM) input to Sestra

- Superelement analysis: Loads must be combined in Presel

- S-file (S*.FEM) in certain cases input to Sestra

- Correspondence between load cases and wave directions/frequencies important for fatigue analysis

- Hydrodynamic Results Interface File (G1.SIF) if requested input to Postresp

- Display transfer function for base shear and overturning moment in Postresp useful in fatigue analysis
Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 14

Overview of analysis capabilities

1. Design (100 year ULS) wave analysis, deterministic analysis *
- Static analysis in Sestra
- Code checking in GeniE

2. Deterministic fatigue wave analysis *

- Static analysis in Sestra
- Deterministic fatigue analysis in Framework

3. Spectral fatigue wave analysis, calculation of load transfer functions

- Frequency domain quasi-static or dynamic analysis in Sestra
- Spectral (stochastic) fatigue analysis in Framework

4. Time domain simulation of wave loads in short term sea state

- For detailed study (time domain dynamic analysis in Sestra)

5. Calculation of static (stationary) wind loads *

- Combine with deterministic wave analysis or wind fatigue, static analysis in Sestra

6. Calculation of added mass *

- For subsequent dynamic (e.g. eigenvalue) analysis in Sestra
* Analysis may be controlled from GeniE
Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 15

1. Design (100 year ULS) wave analysis

Stepping true waves through structure
-

step

Design waves from different directions

Any wave theory
Calculation of drag force
Current included
Optionally according to API 2A-WSD

Distributed wave loads transferred to

structural analysis (L*.FEM files)
- For steps giving maximum overturning
moment and base shear

Overturning moment and base shear

reported in print file (Wajac.lis)
- Sum of distributed wave loads
- Phase giving maximum overturning
moment and base shear

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 16

2. Deterministic fatigue wave analysis

Stepping true waves through structure
- Several waves, different:
- wave heights
- wave frequencies
- wave directions

- Any wave theory

- Calculation of drag force
- Current included

Distributed wave loads transferred to

structural analysis (L*.FEM files)
- For all steps of waves

Prepares for deterministic fatigue

analysis (in Framework)

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 17

3. Spectral fatigue wave analysis

Unit waves, different frequencies and directions
Linearity between wave height and wave force
1

- Linear harmonic Airy wave

- Linearise drag term (FDrag = (D/2) Cd vn |vn|)
- Equivalent linearisation
- Linearisation with respect to characteristic wave height
maximum submergence through cycle

- No contribution from current to loads

Distributed wave loads (load transfer functions)

transferred to structural analysis (L*.FEM files)
Frequency domain complex loads
Prepares for quasi-static or dynamic structural
analysis (Sestra) and spectral (stochastic)
fatigue analysis (Framework)
Edit Wajac input to give wave data
Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 18

3. Further processing of spectral loads

H() is complex transfer function

Wajac

Real stress is:

load

hydrodynamic
transfer
function

(t) = a Real [H() eit]

= a [ HR() cos(t)
HI() sin(t)]

a is wave amplitude
Framework
spectral fatigue
energy

Sestra

Sw()
wave
spectrum

H()
transfer function
for structural
stress
response

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 19

Sresp() = |H()|2 Sw()

2
load

Sresp()
response
spectrum

4. Time domain simulation

energy

Sw()
wave
spectrum

Random short term sea-state

generated based on wave energy
spectrum
- JONSWAP
- Pierson-Moskowitz

Sea state stepped through structure

Distributed wave loads transferred to

structural analysis (L*.FEM files)
Static or time domain dynamic analysis
(Sestra)
Time series results for stresses/forces
Statistical postprocessing (Postresp)
Edit Wajac input to wave spectrum and
simulation length

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 20

5. Calculation of static wind loads

Static wind = stationary wind
Relevant for:

wind

- Deterministic wave load analysis

- Wind fatigue analysis

FDrag-w

segment

vnw
load calc. points

SWL

Drag force per unit length in each

load calc. point is:
FDrag-w = a (D/2) Cdw vnw |vnw|
- a is air density
- Cdw is air drag coefficient
- vnw is wind velocity normal to member

Linear variation of force between

load calc. points
Wind loads transferred to structural
analysis (L*.FEM files)

D
Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 21

6. Calculation of added mass

Combine with other load calculation in
Wajac

Added mass

Added mass based on D including

marine growth:
D2/4 (Cm 1)

Marine growth
Internal water

tg
Dsteel
D
Nodal added masses

Transverse added mass

decomposed to X-direction

Acceleration in X
Transverse component of X-acceleration
giving rise to added mass

Including weight of marine growth

(g is density of marine growth):
g (D tg tg2)
Optionally including internal water
Added mass transferred to structural
analysis (L*.FEM files) as nodal masses
- Free vibration
- Dynamic forced response

Added mass summed over all elements

and reported in print file (Wajac.lis)

Sesam Wajac
27 February, 2013
Det Norske Veritas AS. All rights reserved.

Slide 22