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Dynamics of Offshore Structures

James F. Wilson, Editor

John Wiley & Sons, Inc.

Contents
Preface Contributors Acknowledgments 1 Structures in the Offshore Environment xi xiii xv 1

James F. Wilson 1.1 1.2 Historical Perspective, 2 Platforms, 4 Fixed-Bottom Platforms, 4 Compliant Platforms, 7 Buoyant Platforms, 7 Moorings, 9 Temporary Anchor Moorings, 9 Platform Pile and Single-Point Moorings, 10 Pipelines, 11 Sea Floor Pipelines, 11 Vertical Pipelines, 12 Challenges, 14 Environmental Forces, 14 Structural Materials, 14 Modeling and Analysis, 15 Experimental Evaluations, 15 References, 15 Structure-Environmental Force Interactions James F. Wilson Single Degree of Freedom Structures, 17 Fluid-Induced Structural Forces, 21 Classical Inviscid Fluid Flow, 21 Real Viscous Fluid Flow, 23 Conservation of Linear Momentum and Flow Superposition, 25 Buoyancy and Gravity, 28 Winds and Currents, 33 Earthquakes, Ice Impact, and Wave Slamming, 36 Earthquake Forces, 36 Ice Impact Forces, 38 Wave Slamming Forces, 39 Structural Mass, Damping, and Restraint, 40 Structural Mass and Stiffness, 40 17

1.3 1.4 1.5

2 2.1 2.2

2.3

2.4

vi Cable Restraints, 43 Soil Foundation Restraints, 52 Problems, 54 References, 56 3 3.1 3.2 3.3 Deterministic Descriptions of Offshore Waves Bruce J. Muga Description of Plane Waves, 62 Linear Plane Waves, 65 Nonlinear Waves, 68 Trochoidal Theory, 69 Cnoidal Theory, 69 Stokes Theory, 69 Solitary Theory, 72 Numerical Theory, 73 Domains of Validity for Wave Theories, 75 Problems, 80 References, 81 Wave Forces on Structures James F. Wilson Wave Loading of Flexible Cylinders, 84 Classification of Fluid Load Regimes, 87 Flow Regimes for Offshore Structures, 91 Summary of Flow Coefficients CD and CM, 93 Transfer Functions for Wave Loading, 94 Problems, 96 References, 98 Deterministic Responses for Single Degree of Freedom Structures James F. Wilson Natural Frequencies of Linear Systems, 101 Direct Method, 101 The Rayleigh Method, 105 Frequencies for Nonlinear Structures, 111 Response Functions for Linear Structures, 115 Harmonic Response Function, 116 Impulse Response Function, 118 Convolution Integral, 119 Response of Linear Structures to Earthquake Loading, 120 Response Characteristics of Nonlinear Structures, 123 Responses to Harmonic Excitation, 123

CONTENTS

61

3.4

4 4.1 4.2 4.3 4.4 4.5

84

100

5.1 5.2 5.3

5.4 5.5

CONTENTS Jumps, 126 Subharmonics, 129 Nonlinear Responses for a SALM Buoy, 131 Physical Description and Dynamic Model, 132 Numerical Results and Conclusions, 136 Problems, 138 References, 142 Statistical Descriptions of Offshore Waves Bruce J. Muga Introduction to Wave Spectra, 144 Concept of the Significant Wave, 147 Wave Height Distributions, 148 Wave Height-Wave Spectrum Relationships, 150 Descriptions of Wave Energy Spectra, 152 Alternative Definitions, 152 Empirical Forms, 154 Selection of Design Wave Spectra, 156 Synthesis of Time Histories from Spectra, 159 References, 162 Statistical Responses for Single Degree of Freedom Linear Structures James F. Wilson Averages and Probabilities, 166 Stationary and Ergodic Hypotheses, 169 Autocorrelation and Spectral Density, 172 Structural Response Statistics: Part I, 173 The Fourier Transform, 174 The Autocorrelation Functions, 175 Response Parameters, 176 Approximate Responses, 180 Extensions, 182 Structural Response Statistics: Part II, 183 State Variable Form, 184 Covariance Propagation Equation: Derivation, 185 Steady State Solutions, 187 A Closed Form Solution, 188 Problems, 190 References, 193 Multi-Degree of Freedom Linear Structures James F. Wilson Equations of Motion: General Form, 196

vii

5.6

6 6.1 6.2 6.3 6.4 6.5 7

144

165

7.1 7.2 7.3 7.4

7.5

8 8.1

195

viii

CONTENTS

8.2 8.3

8.4

8.5

8.6

The Coordinate Vector, , 196 The Loading Vector, p, 198 The Mass Matrix, M, 199 The Stiffness Matrix, K, 201 The Damping Matrix, C, 203 Equations of Motion: Newton's Method, 204 Equations of Motion: Lagrange's Formulation, 208 System Energies, 208 Hamilton's Principle, 209 Derivation for a Simple System, 209 Comments, 212 Free, Undamped Motion, 214 Frequencies, 214 Modal Vectors and Normalization, 214 Orthogonality of the Modal Vectors, 215 Forced, Damped Motion, 216 The Mode Shape Matrix, X, 217 Modal Damping Matrix, C, 217 Uncoupling the Equations of Motion, 218 Steady State Solutions, 219 Summary of the Normal Mode Method, 219 Problems, 220 References, 221 Applications of Multi-Degree of Freedom Analysis James F. Wilson A Fixed Leg Platform: Time Domain Responses, 224 Mathematical Model, 224 Frequencies, 225 Modal Vectors and Normalization, 226 Response to a Harmonic Wave, 227 Response to Earthquake Excitation, 231 A Monopod Gravity Platform: Free Vibration and Stability, 233 Mathematical Model, 233 Frequencies and Mode Shapes, 236 Dynamic Stability, 238 Structural Response Statistics for Wave Loading, 239 A Fixed Leg Platform: Statistical Responses, 242 Problems, 246 References, 246 Continuous Systems James F. Wilson Modeling Beams and Cables, 250 Governing Equations, 250 248 223

9 9.1

9.2

9.3 9.4

10 10.1

CONTENTS Cable Frequencies and Mode Shapes, 252 Beam Frequencies and Mode Shapes, 254 Cable Responses, 259 Transverse End Excitation, 259 Parametric Excitation, 261 Beam Responses, 265 Transverse Excitation, 266 Parametric Excitation, 269 Statistical Wave Excitation, 272 Deployment of an OTEC Pipeline, 275 Mathematical Model, 276 Pipe Excitations by Barge and Waves, 277 Numerical Results, 280 Problems, 284 References, 287 Behavior of Piles Supporting Offshore Structures Lymon C. Reese Characteristics of Soil and Response to External Loading, 290 Design of Single Piles under Axial Loading, 291 Design of Single Piles under Lateral Loading, 296 Pile Model and Method of Solution, 297 Response of Soil, 298 Short-Term Static Loading, 299 Cyclic Loading, 299 Scour, 300 Solutions Using Nondimensional Parameters, 301 Computer-Aided Solutions, 306 An Example: Lateral Pile Loading, 307 Problem Description, 308 Solutions Using Nondimensional Parameters, 310 Computer-Aided Solutions, 313 Conclusions, 316 Response of Piles to Dynamic Loading, 316 Earthquakes, 316 Time-Dependent Loading Above the Mudline, 317 Problems, 318 References, 319 Conversion Table Index

ix

10.2 10.3

10.4

11 11.1 11.2 11.3

289

11.4

11.5

321 323