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Publicacin nm.208
J.P. RUIZ-MINGUELA
R. RODRGUEZ
P. RICCI
A. MARN
M.E. PRIETO
M. TABOADA
Ministerio
de Defensa
MADRID
OCTUBRE 2008
DESIGN AND TESTING OF THE MOORING SYSTEM
FOR A NEW OFFSHORE
WAVE ENERGY CONVERTER
POR
J.P. RUIZ-MINGUELA
R. RODRGUEZ
P. RICCI
A. MARN
M.E. PRIETO
M. TABOADA
Abstract
The structure that comprises the absorber and the rest of
Wave energy technology has been growing in the past the elements is characterised by a slender design and a
years as one of the most promising one within the scalable size. This size is adapted to the predominant sea
renewable energy sector. Many Wave Energy climate of the selected location. For instance, in a
Converters, usually to be deployed offshore, are based location with predominant wave periods between 10 and
on the concept of a floating body capable of extracting 12 s (typical of the Northern Coast of Spain), the length
energy through its motion against a reference in one of the structure can range 40 to 60 m.
or more degrees of freedom.
On the other hand, the external shape of the hull is
As many other station-keeping offshore structures, designed to maximise the pitching motion due to incident
these devices generally require a mooring system to waves and to offer a low hydrodynamic damping, so as
maintain their reference position within a specified to maximise wave energy capture. The hull has a
range but, unlike the former, they are also quite sufficiently high draft to minimise the effects of the wind
sensitive to the incident wave direction. Due to this over the exposed area, and consequently to be oriented in
requirement, mooring systems of offshore Wave the main wave propagation direction. Inside the fore and
Energy Converters have often to allow the device aft ends spaces have been reserved for solid ballast using
itself to weathervane to the wave direction. high-density concrete as the filling material.
This paper describes the design process of the Multi- WEC Wave propagation
catenary Spread Mooring System for a new offshore
Wave Energy Converter, namely the OCEANTEC
WEC. It will present and discuss the results of wave
tank tests using a reduced-scale model and the
subsequent extrapolation and adjustment of the
mooring system elements for sea trials of a quarter
Mooring line
scale prototype to be located in the Northern Coast of
Spain. Experimental results show how the correct 50-100 m
choice of the mooring is a critical factor in the design
and assessment of a wave power device.
1. INTRODUCTION
The OCEANTEC Wave Energy Converter (WEC) is an
offshore floating device. According to its working Figure 1. Complete mooring system arrangement of the
principle it can be classified as a linear absorber or OCEANTEC WEC.
attenuator. The energy conversion process is based on the The mooring system consists of four lines that allow the
relative inertial motion that waves cause in a gyroscopic WEC to face the incident wave front which maximise the
device. This motion is used to feed an electric generator directional wave energy absorption. The selected
through a series of transformation stages. The gyroscopic configuration presents a minimum interference with the
device is located inside a lengthened structure or hull that active degree of freedom for wave energy extraction, i.e.
stays aligned with the wave front, resulting in a pitching the pitch. This mooring system has been designed for
motion. depths ranging 50 to 100 m and it has been tested under
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2nd International Conference on Ocean Energy (ICOE 2008), 15th 17th October 2008, Brest, France
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2nd International Conference on Ocean Energy (ICOE 2008), 15th 17th October 2008, Brest, France
Torpedo anchors " " Yes No The head waves condition corresponds to the extremal
conditions with a return period of 225 years while the
From among all the alternatives shown above, the best bow and beam seas conditions correspond to a return
options to anchor a WEC seem to be the first three ones. period of 10 years. The last condition corresponds to the
typical storm of the Northern Coast of Spain, with a
The gravity anchors option of the deadweight type has return period of 2 years. In this last case, waves act in the
been considered in all the subsequent analyses. The basic bow-to-stern direction while the wind and the marine
design parameters are the horizontal and vertical loads current act in the port-to-starboard direction.
derived from the extreme design conditions. 2.3.2. Mooring system analysis
The mooring system will have four lines placed at 45, The analyses of tensions have been carried out using the
135, 225 and 315 as shown in Figure 3. The four lines SeaSTAR v1.0 software package [4], considering both
will be oriented according to the four cardinal points the elasticity of the chain and the wire rope. The safety
since the original orientation of the WEC will be NW so coefficient for tensions applied in the preliminary design
that it will be most of the time facing the predominant is 2.0.
wave propagation direction in the location area.
For the evaluation of the loads on the mooring lines a
quasi-static approach has been followed. First, the
equilibrium position for the WEC is obtained assuming
that the stationary wind, current and drift forces produced
by sea waves are compensated by the reactions in the
four mooring lines.
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2nd International Conference on Ocean Energy (ICOE 2008), 15th 17th October 2008, Brest, France
-1.5
3. WAVE TANK TESTS
0 30 60 90 120 150 180 210 240 270 300 330 360
3.1. Mooring system adjustment for scaled wave
Figure 4. Directional coeffs. for wind & current forces tank tests
The main objective of wave tank tests is to obtain
essential information on the dynamic behaviour of the
1 WEC and its interaction with the marine environment
Even though the added offset is a linear displacement in the
(e.g. loads and motions). The WEC is subjected to
wave propagation direction, the necessary displacement to reach
the equilibrium position does not follow the same direction, and
different excitation states that should represent the
therefore cannot be directly combined. closest real conditions during its operational life.
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2nd International Conference on Ocean Energy (ICOE 2008), 15th 17th October 2008, Brest, France
PAHSE
1:15 YES YES YES NO
simulations (verification of the concept, validation 1:15 YES YES POSSIBLE NO
of the operation and survival under extreme wave
conditions). This phase was completed at the
beginning of the year 2007 testing a 1:37.5 scale Table 4: Possible tests matrix according to type and
model with a basic configuration of the mooring phase.
system but not including any energy conversion
equipment. TEST TYPE Transport Instalation Navigation Normal Op. Special Op. Survival
1:37,5 N/A N/A N/A YES NO YES
Phase 2: Design models. Once verified the
PAHSE
1:15 N/A N/A N/A YES NO POSSIBLE
numerical models and after a first experimentation 1:15 N/A N/A N/A YES POSSIBLE NO
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2nd International Conference on Ocean Energy (ICOE 2008), 15th 17th October 2008, Brest, France
Excursion
Rigid line with springs
orientation of the WEC with respect to the theoretical
direction of wind and current.
Buoy
Surface
Spring
Wire rope
Bottom
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2nd International Conference on Ocean Energy (ICOE 2008), 15th 17th October 2008, Brest, France
ROBO TIKER
RAO PITCH
0.8
interval can be determined and therefore the design loads
0.6 for each of the mooring lines at real scale can be defined.
0.4
4.2. Results analysis and extrapolation for the
0.2 quarter scale prototype
0.0 After carrying out 1:37.5 scale tank tests, results were
0.0 1.0 2.0 3.0
/L pp
4.0 5.0 6. 0 7.0
analysed to adjust the shape, force and displacement
coefficients used in the simulations for the design of the
Fiugre 12. RAO of pitch quarter scale prototype mooring system.
In the case of the survival tests described previously, the In the tests in CEHIPAR, the wind and current force
maximum values of the tensions were obtained in the coefficients were measured and they were therefore
lines from the statistical analysis of the time series. The directly utilised in the subsequent calculation phase.
maximum values obtained in the time series have a
statistical high variability because they are a single The third group of loads to be considered is the one due
sample (although equivalent to 3 hours at real scale). In to the waves. The estimation of these forces is much
order to reduce this statistical variability and to obtain more complex. In this case the complete records of the
more significant values, an extremal analysis of tensions motions and tensions are used to define the behaviour of
in the mooring lines was carried out in a similar way to the wave energy device. Using these values as a basis,
the one usually applied in offshore sea trials. the load coefficients applied by the SeaSTAR software
package are fitted to the experimental outcomes. The
For these analyses, the observed peaks in the tests of motions of the model are taken as the basic information
each time series that had overcome a certain threshold while the values of the tension forces allow a validation
were selected. The points obtained through this method of the adjustment calculations.
were fitted using different theoretical probability
distributions. Incidentally, it was found out that the two- The samples of the tested device motions have been used
parameter Weibull distribution guaranteed the best fitting to compute the statistical values (i.e. average, significant
and it was thus adopted in the subsequent calculations. and maximum values) in the incident wave direction.
This Weibull distribution is defined as follows: Only the motions on the plane of the centre of gravity of
x B (4.1) the WEC are needed for a quasi-static analysis.
F ( x ) = Pr ( p x ) = 1 exp
Therefore, the degrees of freedom considered will be
A
only surge and sway. The application of the Fourier
The fitting of the parameters can be carried out
transform and a digital filter has allowed the subdivision
representing the data in a logarithmic scale such that the
in first and second order harmonic quantities.
resulting theoretical distribution is a straight line. The
transformation applied to obtain the probability
Slow wave drift forces have been estimated from average
distribution in the logarithmic scale is:
motions. These motions are the result of the sum of wind,
current and drift forces. As the values of wind and
log log (1 F ) = B ( log x log A ) current coefficients are known, the drift coefficient is
(4.2)
deduced directly from the subtraction of these effects
Using this regression line, the value of the tensions in the from the total force required to displace the device to the
mooring lines can be calculated for any probability. An calculated average position.
example of this Weibull distribution fitting for the
tension of the bow line under a certain extremal Finally, the offsets associated to waves, imposed in the
condition can be seen in the following figure. direction of wave propagation, have also to be estimated.
In order to do so, a statistical analysis of the movements
measured during the tests has been carried out. Applying
the methodology proposed by API [2] it is necessary to
couple the first and second order motions.
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2nd International Conference on Ocean Energy (ICOE 2008), 15th 17th October 2008, Brest, France
4.3. Configuration and sizing of the mooring As in the initial design, the mooring system will consist
system for the quarter scale prototype of four lines arranged to 45, 135, 225 and 315. Each
line will consist of two sections separated by a floating
Similarly to the 1:37.5 case, the objective of this phase is
buoy. In this case, due to the properties scaling, an wire
to develop a system dynamically equivalent to the real
rope cable has been found more adequate than the chain
one with the purpose of directly extrapolating the results
for the section connecting the buoy to the seabed because
and drawing valid conclusions. This case is even more
of its superior resistance per unit weight. It has to be said,
difficult since the tests are not carried out in the wave
however, that these cables are usually more sensitive to
tank but in the sea. This implies that neither the depth nor
abrasion and for this reason the segment connecting to
the environmental conditions can be scaled correctly.
the deadweight should be protected against the contact
Besides, the expected tidal range has to be taken into
with the seabed.
account in the estimation of maximum tensions.
There is no material in the market capable of fulfilling all
Four possible situations equivalent to those tested in the
the necessary requirements to obtain the desired
wave tank have been considered. In this case, sea trials
response. It turns out that the only possible solution to
will be carried out during a short period of time, and
the different needs of load resistance, weight and
therefore a return period of 10 years will be taken as
flexibility is represented by a combination of different
design conditions for wave height and wind velocity. On
materials within each line.
the other hand, the environmental conditions of the
typical situation correspond to a return period of 3 years.
For example, the high breaking load limit required would
It has been considered that the commission of the
result in selecting a wire rope heavier than expected. The
prototype will be carried out during the summer months
solution to this problem is to "virtually" unload the lines
for the selection of these values. In order to adjust the
by means of some positive buoyancy elements
available environmental data to the deployment location,
encapsulating the line.
a correction for fetch is carried out using the
Bretschneider diagram.
However a wire rope of higher resistance implies also
higher stiffness that needs to be compensated. This can
Table 7: Environmental design conditions for the quarter
be achieved substituting parts of the wire rope with a
scale prototype.
more elastic element. If a linear approach is used for two
Wind Current Hs Tp
(m/s) (m/s) (m) (s) springs connected in series, then the stiffness of the
Head waves 22.6 1.0 5.5 12.5 whole line can be broken down in each one of the
Bow seas 22.6 1.0 5.2 12.3 sections as follows:
AE 1 1 (4.3)
Beam seas 16.5 1.0 1.8 6.3 K= ; =
Typical storm 14.9 0.5 4.7 12.3 L K EQ i Ki
Therefore, once the elasticity of the material to be used
Comparing with the values for the design of the full-scale has been defined, the necessary length for the wire rope
mooring system, these ones are found significantly is calculated.
larger. This implies that the tension loads will be
consistently larger. The use of flexible connectors is not applicable in this
case, since they present too low breaking loads for the
As a result, the mooring system should be designed so operational conditions. The selection process points
that it has a dynamically equivalent behaviour to real therefore at the introduction of a synthetic fibre rope
system in the range of tensions where the latter will section that should guarantee the required compromise
work, but it should also be flexible enough to absorb over flexibility and resistance.
many higher tensions peaks. In order to fulfil these
requirements, a similar design process to the one 4.4. Mooring system analysis
followed for the 1:37.5 case has been followed. The procedure applied to the mooring system analysis is
Graphically, the obtained result is the following one. similar to that used in the case of the 1:37.5 scale model.
The wind, current and drift force coefficients can be
directly applied since they are dimensionless. This is not
applicable to motions, since the environmental conditions
that the prototype will withstand are different to those of
the real scaled WEC.
Excursion
Tested line
In the API recommendations [2], there are found a series
On site line
of graphs that allow estimating the second order motions
of the prototype. In these graphs, it can be observed how
the movement with the wave group frequency remains
relatively constant above a certain significant wave
Horizontal force height. However, these movements are given for a
specified stiffness of the line and they need to be adjusted
Figure 14. Excursion vs. Horizontal force response: following the API recommendations depending on the
comparison between the installed line (1:4) and the tested moorings characteristics to be effectively installed.
one. k
1/ 2
(4.4)
Sig .Mov. = Sig .Mov.REF REF
k
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2nd International Conference on Ocean Energy (ICOE 2008), 15th 17th October 2008, Brest, France