Low-Frequency Phenomena Associated With Vessels Moored at Sea

1 \

i
f

J.A.

NETHERLANDS SHIP MODEL BASIN WAGENINGEN. T H E NETHERLANDS

ABSTRACT
T h e in/luence o j the low-/requency-waue-drifting force on t h e motion^ o/ moored v e s s e l s a n d the l o a d s in the mooring s y s t e m i s demonstrated from r e s u l t s of model t e s t s in irregular waves. T h e origin o/ the wave diilting force i s d i s c u s s e d a n d methods /or calculating the mean drifting /orce a r e r ~ u i e u z ~ d .T o /aciIitate calculatzon of the lowfrequency-wuve drifizcg force on an object in irregular waves, a n existing method using the meczn drilting Jorce in regular w a v e s i s generalized. T h e r e s u l t s o j c a l c u l a t i o n s using the method introduced in t h i s p a p e r a r e comparr*dwith previously prtblisheci t e s t reszllts. Ftnally, s o m e remarks a r e a d d e d concernzng e / j e c t s that have not been a c c o m t c d /or in e x i s t i n g ca1cu:ation methods.

A v e s s e l m-ured a t s e a in stationary conditions with regard t o w a v e s , wind, and current i s s u b j e c t e d to f o r c e s t h a t tend to shift i t from the d e s i r e d position. F o r a given v e s s e l a n d position in t h e horizontal p l a n c , the motions depend on both t h e mooring s y s t e m a n d the external forces acting on t h e v e s s e l . In s t e a d y condi:ions, t h e f o r c e s c a u s ~ d by a c o n s t a n t wind and current a r e c o n s t a n t q u a n t i t i e s for a given headirig a n g l e of t h e v e s s e l . l T h e f o r c e s c a u s e d by a statronary irregular s e a a r e of an irregular nature and may b e s p l i t into two f o r c e s with wave parts: first-order oscillato:y frequency, and second-order, slowly varying forces with frequencies much lower than the wave frequency. T h e first-order o s c i 1 l a t o r ~ - wave f o r c e s on a v e s s e l c a u s e the well known s h i p motions whose frequencies equal t h e frequetlcies p r c s c n t in the specxrun of $he irregular waves. T h e s e a r e t h e line.*[ motions of surge, sway. a n d h e a v e and t h e three angular nlctions of roll, pitch, and yaw. In general, t h e first-order wave f o r c e s a r e proportional to the wave height, a s a r e thz e n s u i n g motions.

T h e magnitude of the l i n e a r oscillatory motions i s in t h e order of t h e height of the waves.. T h e second-order wave forces, perh;tps b e t t e r known a s the wave drifting forces, h a v e been shown2 t o b e proportional to the s q u a r e of r h r wave height. T h e s e forces, though s m a l l in magnitude, a r e the c a u s e of t h e low-frequency, large-amplitude, horizontal motions sometimes o b s e r v e d in large v e s s l e s moored i n irregular waves. T e s t s run in irregular w a v e s in wave t a n k s of the Netherlands Ship Model B a s i n r e v c a l e d a number of properties and e f f e c t s of the low-frequency-wave drifting force t h a t a r e d i s c u s s e d h e r e -sing the r e s u l t s of two t e s t programs. T h e f i r s t of t h e s e programs coflcerns t e s t s run with t h e model of a 125,000-cu m L N G carrier moored in h e a d s e a s with an i d e a l l i n e a r mooring system. T h e s e c o n d program d e a l s with a 300,000-DWT VLCC myored with g r e a l i s t i c nonlincar bow h a w s e r to a single-buoy mooring in waves, wind, a n d current coming from different directions. T h e r e s u l t s of the t e s t s with t h e LNG carrier a r e shown in F i g s . 1 through 3, while t h e r e s u l t s of t h e t e s t s with t h e 300,000-DWT V L C C a r e shown j, F i g . 4. All r e s u l t s a r e given i n f u l l - s c a l e v a l u e s . Fig. 1 s h o w s the wave t r a c e and t h e s u r g e motion of t h e L N G carrier t o a b a s e of time. From t h i s figure i t i s s e e n t h a t t h e s u r g e motions show n o
RECORD
0,

an i R r l W U L A R SE*

--

p .

Or;r.na! m a n u s c r i p t r e c e i v e d i n S o c i ~ of : ~p~ r t r ~ l r u r nE n g i n e e r s
o f f l c e ' l a r c h 18. 1 9 7 4 . R e v i s e d m a n u s c r ~ ~ re . c e i v e d o c t . 10, 1 9 7 5 . P a p e r ,.CpE 1837; i v n s f l r s t P r e s e n t e d a t the SPE-AIME E u r o p e a n Sprlnt IT--tlng, treld i n Amsterdam. The X e r h e r l a n d s . May 2 9 - 3 0 , 1974. :C: Copyrtght 1 9 7 5 A m e r ~ c a n I n s t i t u t e of Mlning,

Metallurarcal,

and P e t r o l e u m E n g i n e e r s , I,,,-.

oscillation with wave frequency. A n a l y s i s of the s u r g e motion revealed that i t s mean period w a s very c l o s e to the natural surge period of t h e moored v e s s e l in still water. T h i s phenomenon appeared to hold for the entire range of s t i f f n e s s of the mooring system t e s t e d , a s i s shown in Fig. 2. In this figure the mean period of th'e surge

M E A S U R E D in an IRREGULAR S E A

NATURAL SURGE PERIOD : M E A N SURGE P E R I O D

motion during t e s t s in the same irregular w a v e s i s shown to a b a s e of the natural surge period in still water. T h e s e r e s u l t s i n d i c a t e two properties. F i r s t , the moored v e s s e l c o n s t i t u t e s a mass-spring system with l i t t l e damping, and second, the wave drifting force in irregular waves corltains a wide range o f frequencies. From t h e t e s t s with the LNG carrier, Fig. 3 s h o w s the significant value o f the total force between the v e s s e l and the mooring system for t e s t s in the same irreguiar wave using different v a l u e s of the s t i f f n e s s of the mooring system. T h e s e r e s u l t s i n d i c a t e that, for the s e a condition tested, there a p p e a r s to be an optimum value of the s t i f f n e s s of the mooring system thac r e s u l t s in the l o w e s t total mooring force. T h e mean v a l u e of the total mooring force that i s the mean v a l u e of the drifting force amounted to about 6 tons for a l l v a l u e s of the s t i f f n e s s of the mooring system. T h e r e s u l t s in Fig. 3 show thac in irregular w a v e s t h e mooring forces induced by the wave drifting phenomena can reach v a l u e s f a r greater than the mean value. From the r e s u l t s shown in Fig. 2 i t would appear that the low-frequency drifting force c a n induce resonance for the s u r g e motion which, in turn, can l e a d to high f o r c e s in the mooring system. T h e r e s u l t s of t e s t s with the model of a 300,000-DWT VLCC show t h e Influence of t h e
nelgnt
m o r P " IRREGULAR 5 E A 2 60m

od

B l 0l K

n a t u r a l surge pertoe In seconds

FIG. 2 - hlEAN P E R I O D OF S U R G E MOTION I N I R R E G U L A R WAVES F O R AN L N G CARRIER.

I\

MEASURED rn an IRREGULAR SEA

WAVE HEIGHT s n metres

50

100

150

oA

50 lam.

I 100
n s.ronds

I59

XI0

rcstoronp coettlcxcnt c R ' n t o n n i t

fIG. 3 - SIGNIFICANT D O U B L E A h l P L I T U D E O F T H E F O R C E I N T H E MOORING SYSTEM O F AN L N G CARRIER.

F I G . 4 - T H E YA'XING MOTION AND F O R C E IN T H E BOW HAWSER O F A V L C C MOORED T O A SINGLEBOUY MOORING.

w a v e drifting f o r c e combined with wind a n d current. T h e r e s u l t s ( F i g . 4) s h o w t h a t t h e yaw motion of t h e V L C C c a u s e d by che irregular w a v e s coming from t h e port bow a r e a l m o s t e n t i r e l y of t h e low-frequency type. $hen t h e VLCC s w i n g s to p o r t ( i n c r e a s i n g ynw a n g l e ) t h e a n g l e of a t t a c k to t h e c u r r e n t i n c r e a s e s , which r e s u l t s i n h i g h e r c u r r e n t f o r c e s . T h i s i s r e f l e c t e d by t h e i n c r e a s e i n t h e force i n t h e bow h a w s e r , a l s o shown i n Fig. 4. I t i s s e e n t h a t t h e bow h a w s e r force c o n t a i n s more c o m p o n e n t s with w a v e frequency. T h i s i s c a u s e d b y t h e motions of t h e buoy. T h e results of these t e s t s show that the m a g n i t u d e of t h e low-frequency f o r c e s a n d m o t i o n s c a n b e s u c h t h a t they c o n ~ p l c t e l y d o m i n a t e t h e b e n a v i o r o f moored v e s s e l s . T h e e x a m p l e s given h e r e i n d i c a t e t h e i m p o r t a n c e t h a t m u s t b e a t t a c h e d t o t h e low-frequency drifting f o r c e i n t h e d e s i g n of s y s t e m s for mooring l a r g e v e s s e l s a t s e a . hlethods for determining t h e low-frequency driftin; f o r c e for t h e p u r p o s e of d e s i g n i n g s u c h mooring s y s t e m s a r e d i s c u s s e d . A method of c a l c u l a t i o n complementary to a n e x i s t i n g method i s i n t r o d u c e d a n d t h e r e s u l t s of c a l c u l a t i o n s a r e compared with e x p e r i m e n t a l r e s u l t s . ORIGLU O F T H E VAVE D R I F T I N G F O R C E ON .LV O B J E C T

M E A i D R I F T I N G F O R C E IN R E G U L A R WAVES
A g e n e r a l e q u a t i o n for t h e mean drifting f o r c e in r e g u l a r w a v e s on a v e s s e l t h a t i s e i t h e r free-floating or c a p t i v e i s

F = f P g C F ~ Aa . . . . . . ( ] )

In Eq. 1, t h e drifting force c o e f f i c i e n t , C F q , which may b e d e t e r m i n e d e x p e r i m e n t a l l y o r , In s o m e c a s e s , by c a l c u l a t i o n , i s g e n e r a l l y s o m e function of t h e frequency of t h e r e g u l a r w a v e s for a g i v e n h e a d i n g a n g l e of t h e v e s s e l . In F i g . 5, a n e x a m p l e of CF,] for s free-floating r e c t a n g u l a r b a r g e i s given. T h e r e s u l t s a r e t a k e n from Ref. 5. D R I F T I N G F O R C E IN I R R E G U L A R WAVES

.
L

A rigid o b j e c t , e i t h e r free-floating o r fixed, will d i s t u r b t h e nacural p a t t e r n of t h e w a v e s t h a t surround i t . On m e e t i n g t h e o b j e c t , t h e incoming w a v e s u7ill b e partly r e f l e c t e d a n d s c a t t e r e d . If t h e o b j e c t i s floating free!?, i t s n ~ c i l l a t o r y m o t i o n s a l s o will c a u s e w a v e s to b e t r a n s m i t t e d r a d i a l l y outward. T h e complex w a v e p a t t e r n around a v e s s e l a t s e a , therefore, i s a mixture of t h e o r i g i n a l , undisturbed waves, the reilecred and scattered w a v e s , a n d t h e w a v e s g e c e r a t e d by t h e o s c i l l a t i n g vessel. :n c a l c u l a t i n g t h e mean drifting force o n a v e s s e l in liead w a v e s , Gerritsma a n d B e u k e l m a n 3 d e t e r m i n e d t h e e n e r g y p r e s e n t in t h e w a v e s p r o g r e s s i n g o u t w a r d from t h e v e s s e l by m e a n s of a s t r i p theory a n d t h e r e l a t i v e motion concept. T h e i r method a s s u m e s t h a t t h i s energy i s chc work d o n e by t h e i n c o m i n g w a v e s . T h e method i s s u i t a b l e for v e s s e l s with a n d without forward s p e e d , but w a s specifically developed to determine the resistance i n c r e a s e of v e s s e l s craveling i n h e a d w a v e s . T h e r e s u l t s of t h e c a l c u l n t i o n s a g r e e c l o s e l y with t h e r e s u l t s of model t e s t s . A noteworthy p a r t of G e r r i t s m a and B e u k e l m a n ' s p a p e r i s thc e x p e r i m e n t a l v e r i f i c a t i o n of t h e d e p e n d e n c y o f t h e w a v e drifting f o r c e o n t h e s q u a r e o f t h e w a v e height. T h e mean w a v e drifting force i n regular w a v e s o n r e c t a n g u l a r c a p t i v e b a r g e s o f i n f i n i t e breadth w a s kh . c~ ir c a l c u l a t e d t h e o r e t i c a l l y by Evfei a n d ~ l i ~ c T method, l i k e Gerricsma a n d E e u k r l m a n ' s method, d e r i v e s t h e mean drifting force from .I survey o f t h e w a v e s t r a r e l i n g outward from t h e o b j e c t . T h i s h a s b e e n s h o w n t o b e a c c e p t a b l e whcn viewing t h e mean drifting f o r c e i n r e g u l a r w a v e s .

A m e t h o d for c a l c u l a t i n g the drifting f o r c e i n i r r e g u l a r w a v e s , s u g g e s t e d by H s u and ~ l e n k a r n ~ a n d u s e d by Remery a n d erm mans^ to c a l c u l a t e t h e low-frequency s u r g e m o t i o n s of a moored r e c t a n g u l a r barge, a s s u m e s t h a t a n i r r e g u l a r w a v e t r a i n may b e thought of a s a s u c c e s s i o n of h a l f - p e r i o d s of r e g u l a r w a v e s . T h e a m p l i t u d e and the p e r i o d of e a c h half-period i s e q u a l t o t h e zero-to-peak o r zero-to-trough v a l u e a n d t h e time becween zero c r o s s i n g s , r e s p e c t i v e l y , of t h e i r r e g u l a r w a v e z n i n ( s e e F i g . 6). T h e v a l u e of t h e w a v e drifting force during t h e p a s s a g e nf 2 p e a k o r trough with a p p l i t u d e A, a n d p e r i o d T, i s c a l c u l a t e d u s i n g Eq. 1 . C F D i s s e l e c t e d a t t h e f r e q u e n c y correspondirig to 7 ,.
I

FIG. 5

- WAVE D R I F T I N G F O R C E C O E F F I C I E N T F O R
A RECTANGULAR BARGE.
O E C M D of a n ( Q O F G U L A l SEA

FIG. 6 - DETERMINATION O F T H E WAVE DRIFTING F O R C E ACCORDING M RE3lERY AND HERMi\NS5 AND HSU AND BLENKAHN.

By fairing t h e c a l c u l a t e d v a l u e s , a lowfrequency drifting force s i g n a l i s o b t a i n e d from a given w a v e record. T h i s f o r c e record then may b e u s e d a s input t o a m a s s - s p r i n g s y s t e m s i m u l a t i n g t h e moored v e s s e l , from which t h e m o t i o n s may b e calculated. T h e a b o v e method r e q u i r e s t h a t a record of t h e irregular v a v e s b e a t hand. T h e s u b s e q u e n t method of c a l c u l ~ t i n gt h e time record o f t h e low-frequency chifting f o r c e r e q u i r e s a s u b s t a n t i a l amount of calculation that, in most c a s e s , must b e carried o u t by computer. However, t h e m e t h o d h a s l e d t o u s e f u l r e s u l t s , a s i s shown i n Ref. 5. In t h e following, a more g e n e r a l a p p r o a c h u s i n g t h e s a m e a s s u m p t i o n u s e d for t h i s method i s introduced. An i r r e g u l a r , l o n g - c r e s t e d s e a may b e c o n s i d e r e d a s t h e sum of a l a r g e number of r e g u l a r waves:

A.A. Cos { ( f i - f . ) t

i=1 j=1

1 3

or, a f t e r regrouping terms,

N
(t,X)

1 Ai C o s ( f . ~ - c Y ~ x + E ~ ) .
i=l
1

Eq. 2 a l s o may b e written a s

i = 1 j=1
i

A.A.

Cos

1 3

{(fi-f . ) t 3

where

N
C

N
C A.A.
COS { ( f i - f . )

i=1 j=1 1 1

If t h e w a v e amplitude A ( t , x ) a n d t h e f r e q u e n c y I) a r e slowly varying q u a n t i t i e s , then w e may a p p r o x i m a t e t h e wave drifting force from Eq. 1:
/(I,

and
E

wave envelope,

. . . . . . . (4)

( t , ~ = )a r c t g
Ai

Sin { ( f i - f r , ) t - aix

i= l
L

L A; C o s { ( f i - f r ) t - O i X + E i ! d I i= l . . . . . . . . . . . . . . . . . . . . .(5)

T h i s i s t h e a s s u m p t i o n ir. R e f s . 5 a n d G written in a c o n t i n u o u s form. If we a s s u m e t h a t t h e s q u a r e of

C F Di s

If t h e s p e c t r a l d e n s i t y of b e irregular w a v e s i s
narrow, m e a n i n g t h a t the h i g h e s t a n d l u w e s t f r e q u e n c i e s p r e s e n t i n t h e w a v e s d i f f e r only sliphtly from some c e n t r a l l y c h o s e n f r e q u e n c y l,, then t h e a m p l i t u d e :\ ( I , u) a n d p h a s e t ( t , X) a r e of a s l o w l y varying iorm ( s e e Fig. 7). From t h e a b o v e e x p r e s s i o n s , w e may d e f i n e t h e s l o w l y varying f r e q u e n c y / ( t , X):

then the drifting force b e c o m e s

WAVE ENVELOPE

AI1 XI

T h i s l e n d s to

FIG. 7 - R E C O R D O F I R R E G U L . 4 R WAVES WITH A

NARROW S P E C T R A L D E N S I T Y .

Cos

i (fi-f l t - ( o i - o . )
.IS

X+ ( E

-E.)

which i s t h e s a m e

F(t,x) =

N N Pq C 1 i = 1 j=1

f i+f

A . A . C2
1 1

FD

( -

'

random p h a s e a n g l e s ci a n d c,. Eq. 1 3 i s a r r i v e d a t by a v e r a g i n g t h e s p e c t r a l d e n s i t y for a l l p o s s i b l e . . ' The spectral density c o m b i n a t i o n s of ci a n d C a n d t h e mean v a l u e of tAe drifting f o r c e may b e c a l c u l a t e d from Eqs. 1 3 a n d 1 4 u s i n g a w a v e s p e c t r u m , S Z ( / ) , a n d t h e w a v e drifting-force c o e f f i c i e n t , C F D (l). In t h e following, t h e low-frequency s u r g e m o t i o n s of t h e r e c t a n g u l a r b a r g e t e s t e d by Remery a n i i~ermana s r~ e c a l c u l a t e d u s i n g E q s . 1 3 a n d 14. ? h e r e s u l t s of t h e s e c a l c u l a t i o n s a r e c o m p a r e d with t h e r e s u l t s of m e a s u r e m e n t s g i v e n by Remery a n d Hermans. T o calculate the surge motions, assume that the moored b a r g e i s a l i n e a r m a s s - s p r i n g s y s t e m with t h e f o l l o w i n g e q u a t i o n of motion:

T h e amplitude, ,4,, of t h e s u r g e r e s p o n s e t o a s i n u s o i d a l i n p u t with a m p l i t u d e A F a n d freqllency v is I t i s s e e n from Eq. 11 t h a t t h e drifting f o r c e i s a l s o of a s l o w l y varying form, s i n c e i t c o n t a i n s f r e q u e n c i e s t h a t a r e d i f f e r - n c e s of t h e f r e q u e n c i e s fi a n d j j . T h e mean drifting f o r c e in irregular w a v e s f o l l o w s by m a k i n g i = 1. T h e s u r g e r e s p o n s e c ? e r a t o r then b e c o m e s

If o n l y c o m b i n a t i o n s of ! ;a n d li a r e u s e d i n Eq. 11 s u c h t h a t ii 4 1;.,,then E q s . 11 a n d 12 g i v e t h e low-frequency o s c i l l a t i n g portion a n d t h e mean, r e s p e c t i v e l y , of t h e w a v e driftina inrce. . form t h a t c a n b e u s e d E q s . l 1 a n d 1 2 a r e n o t in a e a s i l y for p r a c t i c a l c a s e s . Straight-forward b u t l e n g t h y manipulation of E q s . 1 1 a n d 12 g i v e s t h e following e x p r e s s i o n s fur t h e s p c c t r a l d e n s i t y , = S ( V ) , nf t h e low-frequency portion and t h e rnr-an, I : , of t h e d r i f t i n g f o r c e i n irregular w a v e s with spectral density S Z ( / J .

T h e s p e c t r a l d e n s i t y of t h e low-frequency s u r g e motion f o l l o w s from

C : ~ ( + V / ~ ) df- . .

F i n a l l y , t h e mean s q u a r e v a l u e , [L:, of t h e s u r g e motion f o l l o w s by i n t e g r a t i o n of Eq. 18:

From E q s . 13 a n d 1 4 i t i s s e e n t h a t t h e mean a n d t h e s p e c t r a l d e n s i t y of t h e drifting force now may b e c a l c u l a t e d d i r e c t l y from t h e s p e c t r u m of t h e irregular w a v e s without u s i n g a w a v e record. I t s h o u l d b e n o t e d t h a t Eq. 13 g i v r s t h e m e a n v a l u e of t h e s p e c t r a l d e n s i t y , SF(v). Strictly speaking, the spectral dcnsity of t h e drifting force given by Eq. 11 c a n a s s u m e a l a r g e range of v a l u e s , depending on t h e c h o i c e o f t h e

w h e r e SF (v) i s t h e s p e c t r a l d e n s i t y of t h e low-frequency drifting f o r c e from Eq. 13. T h e root mean s q u a r e v a l u e s of t h e s u r g e m o t i o n s of t h e r e c t a n g u l a r b a r g e were c a l c u l a t e d u s i n g t h e following v a l u e s . 5 V i r t u a l m a s s of b a r g e ,\l Damping c o e f f i c i e n t CD

130.50 ton s e c 2 / m 270 ton s e c / m

Restoring coefficients C R

- and 136,68,49,40, 29, 20 ton/m

l
1
l
l

The spectrum, S,(/), of the irregular v7aves i s given in Fig. 8. Furthermore, t h e mean wave drifting force given by Eq. 14 i s a l s o given in Ref. 5 . T h e calculated mean v a l u e s , therefore, ace equivalent. T h e mean force amounted to 28 tons. T h e measured mean forces were between 22 and 30 tons. T h e r e s u l t s of the calculations, showing the root mean square of the low-frequency surge motion for the different values of the s t i f f n e s s ( C R ) of the mooring system are given in Fig. 9. - 4 1 ~ 0shown i n t h i s figure a r e the r e s u l t s of t e s t s and c s l c u l a t i o n s carried out by Remery and d er man ss u s i n g the method of Hsu and ~lenkarn.~ The r e s u l t s of the c a l c u l a t i o n s u s i n g the spectral density g i v m by Eq. 13 are somewhat higher than the t e s t v J u e s and the calculated values given in Ref. 5. A p o s s i b l e explanation for the difference i s that the present method of calculation i s b a s e d on an infinite t e s t period, while the r e s u l t s given in Ref. 5 are b a s e d on a finite period corresponding to about 35 minutes in reality. An example of the influence of the length of the t e s t period on the root mean s q u a r e of the surge motion i s given in the following table. T e s t Period Prototype (minutes) Root Mean Square of Low-Frequency Surge Motion (meters) 1.70

the low-frequency surge motion increased by about 15 p e r c e n t when i n c r e a s i n g the t e s t period by a factor of three. A s e c o n d possible explanation for the differences may b e in t h e linearization a s s u m e d in Eq. 9. FURTHER DEVELOPXIENTS In deriving the p r e s e n t method of calculation i r w a s a s s u m e d that t h e low-frequency drifting force in irregular w a v e s could be calculated u s i n g the mean wave drifting force coefficients for regular waves. U s i n g the e x a c t solution for the low-frequency p r e s s u r e variations in an undisturbed irregular wave, Newman8 concluded that t h i s method i s valid provided only low frequencies appr0achir.g zero a r e considered. When considering higher frequencies of the wave drifting force e f f e c t s & a t must b e accounted for are (1) influence of low-frequency p r e s s u r e variations not accounted for by the mean drifting force i n regular waves, and (2) influence of the dimensions of the o b j e c t r e l a t i v e to the "wave length" of :he slowly varying envelope of the irregular waves. When considering the e x a c t theoretical solution for the low-frequency drifting force on an object, i t c a n be shown that che low-frequency p r e s s u r e variation acting on the object may b e c a l c u l a t e d , including using the velocity potential, second-order contributions:

35
105

1.96

Q = @ (l)

(2)

. . . . . . .

(20)

The above r e s u l t % were taken from t e s t s carried out in head waves with the model of a large LNG carrier. .4s may b e s e e n , the root mean square of
20

The physical implication of the contribution of the i s that i t d e s c r i b e s each first-order potential, @(l), regular wave a s a perfect s i n e form. T h e contribution

SPECTRUM of a n IRREGULAR
SIGNIFICANT WAVE HEIGHT
M E A N WAVE

SEA

PERIOD

5 m
JCC

1(

CALCULATED

b y REMERY

and H E R M A N S (3)

CALCULATED

b y PRESENT METHOD

0 25

050
trequcncy

0 75

100

restarnng

coclftcgent

cRrn ton

m'

o n

raa . c < '

FIG. 9

FIG. 8

- SPECTRUM O

F I R R E G U L A R WAVES.

L O U f - F R E Q U E N C Y S U R G E MOTIONS O F '1 R E C T A N G U L A R BARGE.

of t h e s e c r n d - o r d e r p o t e n t i a l , i s such that the b a s i c s i n e form is c o r r e c t e d s o t h a t t h e w a v e p e a k s a r e made s h a r p e r a n d higher a n d t h e w a v e uoughs a l e made longer and shallower, thus approaching moie c l o s e l y t h e w a v e ~ r o f i l e ss e e n i n reality. T h e pres:;ure o n t h e o b j e c t i s c a l c u l a t e d from t h e velocity potential using Bernouilli's equation:

F (t) =

pg

n 2D (-Tfi+f 1 A . A . \CF j i=1 j=1 1 3

n 1

L COS { ( fi-f . ) t- ( a . - g . ) / 2 + ( ~ i - ~j )
3

P " -

p= - f p (vo(~)) ~pgz . . . . . . . . . . . . . . . . . . . . (21)

a0

n
+

n
1

2
A . A

fi t f .

% 09 C

i = 1 j=1

1 3

CFD
L

) ( 7

I t cm b e s h o w n t h a t t h e low-frequency p r e s s u r e v a r i a t i o n s c o n t a i n c o n t r i b u t i o n s from both the first- a n d second-order terms, @ ( l ) a n d 0(2). I t a l s o c a n be shown, however, t h a t t h e mean p r e s s u r e a n d , h e n c e , t h e mean drifting f o r c e a r e onlv d e p e n d e n t o n t h e first-order p o t e n t i a l , @ ( l ) . T h i s m e a n s t h a t any method for c a l c u l a t i n g t h e low-frequency w a v e drifting f o r c e i n irregular w a v e s u s i n g o n l y B e mean drifting force c o e f f i c i e n t , C F D( l ) , o n l y a c c o u n t s for t h e contribution of @ ( l ) to t h e low-frequency drifting force. T h e i n f l u e n c e of the d i m e n s i o n s of t h e o b j e c t o n t h e low-frequericy force c a n b e d e m o n s t r a t e d by t h e following example. C o n s i d e r a f l o a t i n g o b j e c t c o n s i s t i n g of t w o i d e n t i c a l h u l l s with a rigid c o n s t r u c t i o n joining t h e h u l l s a b o v e w a t e r ( s e e F i g . 10). T h i s o b j e c t is moored i n irregular w a v e s coming i n a direction p a r a l l e l t o the l i o e joining the two h u l l s . T h e mean drifting force c o e f f i c i e n t on t h e o b j e c t i s CF . r ) ( l ) ,t h e n , if t h e d i s t a n c e b e t w e e n t h e h u l l s i s n o t a c c o u n t e d for, t h e s p e c t r a l d e n s i t y S F ( v ) of t h e low-frequency w a v e drifting force i s

COS

l(i-f

j t+

/*+ ( E i - c j )

. . . . . . . . . . . . . . . . . . . .)3:!
or,

F(t) =

T h e s p e c t r a l d e n s i t y of the low-frequency w a v e drifting force then b e c o m e s

L -

df , . . . . . . .

(251

o r , for If t i c h u i l s a r e s u l f i c i e ~ r t l yf a r a p a r t , then t h e mean w a v e drifting f o r c e on e a c h h u l l i s one-half t h e - T . I.O ~ C F , F. [":L; , ! ..e drifting force c o e f f i c i e n t for e a c h 1.~11 i s then ( I / ~ ~ ) C ~ ~ T ( o/ )s . how the i n f l u e n c e of t h e length ( L ) b e t w e e n t h e h u l l s w e determine t h e w a v e drifting f o r c e o n t h e o b j e c t from Eq. 11 by a d d i n g t h e cor~:ribution of e a c h hull. If t h e w a v e h e i g h t i s m e a s u r e d :it a p o i n t I ~ a l f w n y betwecr. the h u l l s , t h e n

<<l,

---

---l
DIRECTION of ~ R R E G U L A R WAVES

. '
.
X . .X.-

Cornparing t h i s r e s u l t with Eq. 22 s h o w s t h a t when t h e length ( L ) b e t w e e n t h e h u l l s i s a c c o u n t e d for, the s p e c t r ~ l d e n s i t y i n t h i s c a s e i s reduced. T h i s i s a r e s u l t of the phenomenon t h a t t h e length of the o b j e c t i s s u c h t h a t t h e w a v e a m p l i t u d e and w a v e frequency, when v i e w e d a t [hr s a m e i n s t a n t , a r e n o t t h e s a m e for both h u l l s .

CONCLUSIONS

HZLS
FIG. 1C,

S C I I E U A T I C R E P K E S E N T A T I O X OF A b 1 0 0 R E D OBJECT.

As shown by Remery a n d Iierm:lns, i t a p p e a r s to b e p o s s i b l e to m a k e a r e a s o n a b l v a c c u r a t e r s t i ~ n a t e uf t h e s u r g e motion of a b ~ r g e - t y p e v e s s e l under d r i f t i n g f o r c e in t h e i n f l u e n c e of t h e 1 o ~ - f r e q u e n c y

irregular waves. In t h i s paper i t h a s been shown that the m e h o d s u g g e s t e d by Hsu and Blenkarn may b e generalized s o that the spectral density of the drifting force mav be calculated directly from the spectral density of the irregular waves using the mean drifting force coefficients in regular waves. The r e s u l t s of c a l c u l a t i o n s agree reasonably with t h e r e s u l t s of t e s t s with a rectangular barge in head s e a s . In f1:rther developing methods for calculating the motions of v e s s e l s moored in irregular s e a s , due care will h a v e to b e taken in ~ c c o u n t i n gfor rhe influence of the dimensions of the v e s s e l and for the influence of higher-order effects in the low-frequency wave drifting force.

S,(v) - s p e c t r a l density of surge motion S,(/) = s p e c t r a l d e n s i t y of the irregular waves

t = time z = vertical displacement Z ( t ,.X)

time- and position-dependent elevation of of the s e a s u r f a c e r i = random p h a s e angle, uniformly distributed c ( t , x ) = p h a s e angle p, = root mean square value of surge motion
=

p
Q

specific m a s s of s e a water velocity potential

a; = wave number
=

@ ( l ) = first-order velocity potential @(2) = second-order velocity potential

A,,..\, ,-lF

amplitude of a regular wave amplitude of exciting force .4, = amplitude of surge motion A ( f , x ) = wave envelope
= =
- (V) =
"S

REFERENCES

1. R e m r r y , G. F. M. a n d V a n Oortmerssen. G.: "Thr

Mean Wave. Wind, a n d Current F o r c e s o n Off-hare S t r u c t u r e s a n d T h e i r R o l e i n t h e D e s i g n of Mooring S y s t e m s , " p a p e r O T C 1741 p r e s e n t e d a t t h e Fif:h Annual O f f s h o r e T e c h n o l o g y Conference, H 2 u s t o n , April 30-May 2, 1973.

"F

frequency-dependent surge-response operator

B b = breadth of b3rge 5 , D = constant coefficients of the linearized

CD CFD
CR
= =
=

2. Maruo, H.: " T h e Drift of a Aody F l o a t i n g o n Waves," 1 . of Ship Res. (Dec. 1960) Vol. 4.
3. Gerritsma, J. a n d BeukeIrian, W.: " A n a l y s i s of :he R e s i s t a n c e I n c r e a s e in Wa.res of a F a s t C a r ~ o Ship," Report No. 334, Laboratorium voor Scheepsbouwkunde. T e c h n i c a l U. of Delft, The N e t h e r l a n d s (1971). 4. Mei. C. C. a n d B l a c k , J. L.: " S c a t t e r i n c of S u r i a c e Waves," J. Fluid Afech. (1969) Vol. 38, P a r t 3, 433-455.

F
ji j,

= =
=

. . ',l =

L
,\l

n =

SF(v) =

[/(t,x)] coefficient cFD2 damping coefficient drifting force coefficient restoring coefficient mean wave drifting force frequency of regular wave component centrally chosen, constant frequency acceleration of gravity indices disrance between h u l l s virtual m a s s number of wave components pressure spectral density of the low-frequer~cy wave drifting force

5. Remery, G. F. M. a n d Hermans. A. J.: "The Slow

Drift O s c i l l a t i o n s of a Moored O b j e c t i n Random S e a s , " Soc. Pet. Eng. J . (June 1972) 191-198.

6. H s u , F. H. a n d Blenkarn, K. A.: " A n a l y s i s

of P e a k M0orir.t: F o r c e s C a u s e d by Slow V e s s e i 9 r i f t O s c i l l a t i o n s in Random Seas." Soc. P e l . ER& J. (Aug. 1972) 329-344.

7. R i c e , S. 0.: "Mathematical A n a l y s i s of Random N o i s e , " Bell S y s t e m Technical J., Vols. 23 a n d 24. 8. Newman, J. N.: "Seco~ld-Order, Slowly V a r y i n g F o r c e s o n V e s s e l s in I r r e g u l a r Waves," p a p e r p r e s e n t e d a t t h e I n t e r n a t i o n a l Symposium o n t h e Dynamic5 af Marine V e h i c l e s a n d Structures in Waves, Uiliversity C o l l e g e , London, April 1974.

***