OTC 3951

MEAN AND LOW FREQUENCY WAVE

FORCES ON SEMI -SUBMERS I BLES

by J.A. Pinkster,
Netherlands Ship Model Basin

Ocopyrlght 1981 Offshore Technology Conference

This paper was presented at the 13th Annual OTC in Houston, TX, May 4.7, 1981. The material Is subject to correction by the author. Per-
mission to copy 1s restricted to an abstract of not more than 300 words.
U

ABSTRACT - For semi-submersibles which consist of a number

of r e l a t i v e l y slender elements such as columns,
Mean and low frequency wave d r i f t forces on moored f l o a t e r s and bracings, computation methods have been
s t r u c t u r e s have been shown t o be of importance with developed which determine t h e hydrodynamic loads on
respect t o low frequency motions and peak mooring such elements without taking i n t o account i n t e r a c t i o n
loads. This paper i s concerned with l x e d i c t i o n of these e f f e c t s between t h e elements. For t h e f i r s t order
forces on semi-submersible rtype s t r u c t u r e s by computa- wave loads and motion problem t h i s has been shown t o
t i o n s based on three-dimensional p o t e n t i a l theory. give accurate r e s u l t s . See Hooft [ l ] .
A discussion i s given of a method t o compute such
forces based on d i r e c t i n t e g r a t i o n of pressure on t h e This paper deals with t h e mean and low frequency
wetted p a r t of t h e h u l l of a r b i t r a r i l y shaped struc- second order wave forces a c t i n g on s t a t i o n a r y vessels
t u r e s . Results o l computations of horizontal d r i f t i n regular and i r r e g u l a r waves i n general and, i n
forces on a six-column semi-submersible a r e compared p a r t i c u l a r , with a method t o predict these forces on
with model t e s t s i n regular and i r r e g u l a r waves. The b a s i s of computations.
mean v e r t i c a l d r i f t forces on a submerged horizontal.
cylinder obtained from model t e s t s a r e a l s o compared The importance of t h e mean and low frequency
t o r e s u l t s of computations. On t h e b a s i s of t h e s e wave d r i f t forces from t h e point of view of motion
comparisons it i s concluded t h a t wave d r i f t forces on behaviour and mooring loads on vessels moored a t s e a
semi-submersible type s t r u c t u r e s i n conditions of has been recognized only within t h e l a s t few yeass.
waves without current can be predicted t o a reasonable Verhagen and Van S l u i j s [ 2 ] , Bsu and Blenkasn E33 and
degree of accuracy by means of computations based on Remery and Hennans [ h ] showed t h a t t h e low frequency
p o t e n t i a l theory. components of t h e wave d r i f t forces i n i r r e g u l a r waves
could, even though r e l a t i v e l y small i n magnitude,
INTRODUCTIOrJ e x c i t e l a r g e amplitude low frequency horizontal mo-
t i o n s i n moored s t r u c t u r e s . It was shown t h a t i n
Stationary vessels f l o a t i n g or submerged i n ir- i r r e g u l a r waves t h e d r i f t forces contain components
regular waves are subjected t o l a r g e , f i r s t order, with frequencies coinciding with t h e n a t u r a l frequen-
wave forces and moments which a r e l i n e a r l y proportional c i e s of t h e horizontal motions of moored vessels.
t o the wave height and contain t h e same frequencies Combined with t h e f a c t t h a t the damping of low f r e -
as t h e waves. They a r e a l s o subjected t o small, second quency horizontal motions of moored s t r u c t u r e s i s
order, mean and low frequency wave forces and moments generally very low, t h i s leads t o l a r g e amplitude
which a r e proportional t o t h e square of t h e wave resonant behaviour of t h e motions. See Fig. 1. Remery
height. The frequencies of t h e second order low f r e - and Hermans [4] established t h a t t h e low frequency
quency components a r e associated with t h e frequencies components i n t h e d r i f t forces a r e associated with
of wave groups occurring i n i r r e g u l a r waves. -
t h e frequencies of groups of waves present i n an ir-
regular wave t r a i n .
The f i r s t order wave forces and moments a r e t h e
cause of t h e well known f i r s t order motions with wave The v e r t i c a l components of t h e second order
frequencies. Due t o t h e importance of t h e f i r s t order forces a r e sometimes known a s suction forces. This
wave forces and motions they have been subject t o term i s generally applied i n connection with t h e mean
investigation f o r several decades. As a r e s u l t of wave induced v e r t i c a l force and pitching moment a c t i n g
these investigations, methods have evolved by means of on submarine vehicles when hovering o r t r a v e l l i n g
which these may be predicted with a reasonable degree near t h e f r e e surface. It i s shown by Bhattaeharyya
of accuracy f o r many d i f f e r e n t vessel shapes. [ 5 ] t h a t i n extreme cases t h e upward a c t i n g suction
force due t o waves can cause a submarine vehicle t o
- - r i s e and broach t h e surface, thus posing a problem
References and i l l u s t r a t i o n s a t end of paper. concerning t h e control of t h e vehicle i n t h e v e r t i c a l
plane.
 The v e r t i c a l components of t h e second order wave submerged cylinder. For t h e semi-submersible r e s u l t s
forces have a l s o been connected with t h e phenomena of of model t e s t s i n i r r e g u l a r head waves w i l l a l s o be
t h e steady tilt of semi-submersibles with low i n i t i a l compared with computations. Before t r e a t i n g r e s u l t s
s t a t i c s t a b i l i t y a s indicated by Kuo e t a 1 [61. Depen- of model t e s t s and computations a b r i e f review of t h e
ding on t h e frequency of t h e waves it has been found computation method i s given here. A complete review
t h a t t h e difference i n t h e suction forces on t h e i s given i n r e f . [ 131.
f l o a t e r s of a semi-submersible can r e s u l t i n a t i l t i n g
moment, which can cause t h e platform t o tilt towards THEORY
o r away f r o m t h e oncoming waves. Such e f f e c t s a r e of
importance i n judging t h e minimum s t a t i c s t a b i l i t y The computations a r e based on p o t e n t i a l theory.
requirements f o r such platforms. It i s assumed t h a t t h e f l u i d i s i n v i s c i d , incompress-
i b l e and i r r o t a t i o n a l . The f l u i d motions a r e described
I n order t o determine t h e behaviour of moored by a v e l o c i t y p o t e n t i a l Q:
s t r u c t u r e s i n waves, model t e s t s a r e o f t e n c a r r i e d
out. Simulation techniques based on numerical compu-
t a t i o n s a r e becoming of increasing importance i n t h e
design phase of many f l o a t i n g s t r u c t u r e s however. where :
For such simulation s t u d i e s accurate numerical d a t a
on t h e behaviour of t h e mean and low frequency wave Q" ) = f i r s t order velocity p o t e n t i a l from which
forces a r e desirable, so t h a t m e a n i n ~ f u lr e s u l t s can f i r s t order pressures and forces a r e de-
be given regarding t h e systems under-investigation. rived
See f o r instance Van Oortmerssen L71 and Arai e t a 1
Q(2) = second order v e l o c i t y p o t e n t i a l
[81 and Wichers [g]. In order t o produce numerical
r e s u l t s , however, a r e l i a b l e theory must be available E = a small parameter << 1
on which calculations can be based.
Both of these p o t e n t i a l s may be w r i t t e n i n t h e follow-
Wahab [ 101 and P i j f e r s and Brink [ 11 1 formulated i n g form:
expressions f o r t h e d r i f t forces on semi-submersibles
based on Morisonts equation. The d s i f t force on t h e Q Q Q @ ...... ....... (2)
t o t a l s t r u c t u r e i s assumed t o be t h e sum of t h e forces
a c t i n g on elements such a s t h e columns and f l o a t e r s i n which:
which a r e determined without taking i n t o account
i n t e r a c t i o n e f f e c t s . Such formulations i n d i c a t e t h a t Q--
W
= velocity p o t e n t i a l of incoming waves
t h e viscous drag term i n Morisonls equation can r e s u l t
i n a mean d r i f t force i n regular waves. Furthermore,
ad = v e l o c i t y p o t e n t i a l due t o d i f f r a c t i o n of
Q on t h e s t a t i o n a r y body
t h e d r i f t force i s shown t o be a cubic function of W
t h e wave amplitude r a t h e r than a quadratic function
as is predicted by p o t e n t i a l theory.

Pinkster [ 121 computed t h e mean and low frequency

l Qb = v e l o c i t y p o t e n t i a l due t o t h e motion of t h e
second order wave d r i f t forces acting on a smi-sub-
mersible i n head waves based on p o t e n t i a l theory
methods which neglect t h e e f f e c t s of viscosity.-Com-
parison of r e s u l t s of computations with r e s u l t s of
model t e s t s indicated t h a t such methods a r e capable
of giving good quantitative predictions of d r i f t
forces on such s t r u c t u r e s . Since viscous e f f e c t s a r e
not included i n p o t e n t i a l theor$ methods t h i s r e s u l t
indicates t h a t wave d r i f t forces cannot be predicted
c o r r e c t l y by using methods based on Morisonfs equation
I n t h i s paper computed and experimental r e s u l t s
on t h e mean d r i f t forces i n regular waves and irreg-
u l a r waves on a semi-submersible w i l l be presented.
The computations a r e based on d i r e c t i n t e g r a t i o n of
second order pressure. and force contributions acting
on t h e instantaneous wetted p a r t of t h e h u l l of a
semi-submersible. The f l u i d motions and pressures
a r e obtained using a three-dimensional d i f f r a c t i o n
program based on l i n e a r p o t e n t i a l theory. Results of
computations and model t e s t s on mean horizontal drift
forces i n regular waves a r e compared f o r t h r e e wave
d i r e c t i o n s , v i z . : head waves, quartering waves and
beam waves.
body
The second order p o t e n t i a l s Q") and @F)
a r e quadrat-
W
(If
i c functions of t h e f i r s t order p o t e n t i a l s %
1.11
, (1)
111,
and Q,,
I n developing-the expressions f o r t h e wave drift
forces and moments use i s made of t h r e e systems of
co-ordinate axes; see Fig. 2. The f i r s t i s a fixed
0-X,-X2-X system with o r i g i n i n t h e mean f r e e surface,
The poten$ials and t h e l i n e a r motions of t h e s t r u c t u r e
a r e defined r e l a t i v e t o t h i s system. The second i s
t h e body axes G-X,-x2-x3 with o r i g i n i n t h e centre of
gravity ( G ) of t h e s t r u c t u r e . The angular motions a r e
defined r e l a t i v e t o t h i s system. The t h i r d i s t h e
G-Xi-XI X' system with o r i g i n i n G but with axes par-
allel 20 t h e 0-XI-X2-X3 system. Forces a d moments
w i l l be defined r e l a t i v e t o t h e G-X{-%-X> system of
axes. This system i s chosen since we a r e generally
i n t e r e s t e d i n , f o r instance, horizontal forces r a t h e r
than i n forces along t h e body axes which a r e contin-
u a l l y carrying out angular motions.
The hydrodynamic forces a r e obtained by integra-
t i o n of t h e pressure over t h e wetted p a r t of t h e hull:

I n order t o show t h a t d r i f t forces a l s o a c t i n

t h e v e r t i c a l d i r e c t i o n , r e s u l t s of computations and i n which:
experiments f o r t h e same wave directions w i l l a l s o
be compared with respect t o t h e mean v e r t i c a l d r i f t p = pressure obtainable from B e r n o u l l i t s equa-
force and t r i m moment i n re@;ulax waves on a horizontal t ion
 -
N = outward pointing normal nit vector of a where :
surface element dS r e l a t i v e t o t h e G-Xi-Xi-X;
system of axes
-
F = force vector

According t o Bernoulli's equation:

i n which.:

p. = atmospheric pressure i n which:

p = mass density of t h e f l u i d pc = constant p a r t of t h e hydrostatic pressure

@ = v e l o c i t y p o t e n t i a l describing t h e f l u i d
Substitution of equations ( g ) , ( I O ) , (1 1 ) and (6) i n
flow; see equation ( 1 ) equation ( 3 ) and taking i n t o account t h a t t h e wetted
C ( t ) = a constant depending only on time t surface S can be subdivided i n a constant part SO and
= v e r t i c a l position of point under consid- an o s c i l l a t i n g p a r t s near t h e water l i n e (see Fig. 2)
X3 f i n a l l y leads t o t h e following expression f o r the
e r a t i o n i n 0-XI-X2-X3 system of co-ordi- second order force vector:
nates

I n t h i s equation p. and ~ ( t may

) be taken equal t o
zero without l o s s of generality.

I n order t o determine t h e second order wave d r i f t

forces we assume t h a t t h e s t r u c t u r e i s carrying out
small f i r s t order o s c i l l a t o r y motions about a mean
position. The first order l i n e a r motions of a point
on t h e h u l l of t h e s t r u c t u r e r e l a t i v e t o t h e 0-X,-X2- Following a s i m i l a r development t h e d r i f t moment vec-
X, system i s : t o r becomes :

where :

X(Q') = motion vector of G

< ( l ) = angular motion vector with components

xi'), X(') and x6( 1
5 i n which:
X = p o s i t i o n vector of t h e point on t h e h u l l
r e l a t i v e t o t h e body axes G-xl-x2-x3 <L1) = f i r s t order o s c i l l a t o r y r e l a t i v e wave
elevation a t t h e water l i n e WL
Since t h e s t r u c t u r e i s a l s o carrying out f i r s t order dR = length element measured along t h e mean
angular motions, t h e normal vector N of surface ele- water l i n e
ments i s varying r e l a t i v e t o t h e G-Xi-Xi-Xi system
of axes: M = mass matrix
I = mass moment of i n e r t i a matrix

Equations (12) and (13) express t h e forces and moments

where :
-
n = normal vector r e l a t i v e t o t h e G-xl-x2-x3
system of axes
Taking i n t o account t h a t a point on t h e wetted sur-
face i s carrying out f i r s t order motions according
t o equation ( 5 ) , t h e pressure i n t h e point a s given
by BernoulLils equation ( 4 ) can be expressed i n terms
of t h e pressure pm i n t h e mean position and t h e pres-
sure gradient :
Substitution of Bernoulli's equation leads t o t h e
following pressure:
i n t h e time domain.
It can be shown t h a t these expressions can be
used t o formulate t h e d r i f t forces and moments i n t h e
frequency domain i n terms of quadratic t r a n s f e r func-
t i o n s . These functions depend on two frequencies
r a t h e r than on one frequency a s i s t h e case with f i r s t
order t r a n s f e r functions. These t r a n s f e r functions
give t h e r e l a t i o n s h i p between t h e d r i f t forces and
regular wave groups consisting of two reguLas waves
with d i f f e r e n t frequencies. The quadratic t r a n s f e r
functions may be used t o determine t h e mean d r i f t
forces and s p e c t r a l density of t h e d r i f t f o r c e s i n
regular waves or t o p r e d i c t t h e wave *if% forces i n
time domain f o r a r b i t r a r y i r r e g u l a r waves. Given an
i r r e g u l a r wave t r a i n of t h e following type:
t h e low frequency p a r t of t h e square of t h e wave ele- f i r s t order v e s s e l motions from which t h e drift forces
vation i s : a r e then derivable. A description of such computation
N N methods is given i n r e f . [7] and i n r e f . [13].
2
q t ) = C C 25.5. cos{(wi - w . ) t + ( g i -E.))
i = l j=l J J " -J
..........
(15) MODEL TESTS AND COMPUTATIONS

I n t h i s wave t r a i n t h e wave drift f o r c e i s found from: I n Table I t h e main p a r t i c u l a r s of t h e vessels

a r e given, while t h e body plans a r e given i n Fig. 3.
= The semi-submersible i s a conventional six-column,
two f l o a t e r design, with c i r c u l a r columns and r e c t a -
N N gular f l o a t e r s . The submerged cylinder i s c i r c u l a r i n
= c
<=l j=l
c 5 . 5 Pij c0s{(ui
J
- WJ. ) t + (E+ - E.)]
3
+ cross-section with hemispherical ends.

N N The model t e s t s on t h e semi-submersible were

+ C C L - L - Pij sin - )t + - 1) c a r r i e d out i n t h e Wave and Current Laboratory of t h e
Netherlands Ship Model Basin, Wageningen. This basin
i = l j=l J
.1 . . 3. . . . . . 3
. (16) measures 60 X 40 X 1 metres. The model t e s t s on t h e
submerged cylinder were c a r r i e d out i n t h e Seakeeping
i n which: Laboratory of t h e same i n s t i t u t e . This basin measures
100 X 24 X 2.5 metres.
= in-phase p a r t of t h e quadratic
= 'ji t r a n s f e r function f o r t h e d r i f t TESTS I N REGULAR WAVES
force dependent on t h e frequencies
Wi and w For t h e t e s t s i n regular waves,-the models were
-- -Qji j r e s t r a i n e d by s o f t l i n e a r spring mooring l i n e s which
Qij - quadrature p a r t of t h e quadratic incorporated f o r c e transducers t o measure t h e mean
t r a n s f e r function
d r i f t forces. The spring constants of t h e s o f t mooring
~ ~(16) shows
~ that ~ t orderi forces~are
the second ~system were chosen so t h a t no d3mamic magnification
of motions due t o t h e r e s t r a i n i n g system occurred i n
.
closely r e l a t e d t o t h e square of t h e wave elevation
given i n equation ( 15) The mean o r constant p a r t of t h e range of wave frequencies t e s t e d . Tests i n regular
waves were c a r r i e d out f o r t h r e e wave d i r e c t i o n s ,
t h e d r i f t forces are found by p u t t i n g wi = w. i n
equation ( 16). This becomes : J .
v i z . : head waves ( 180 deg ) , starboard bow quartering
waves ( 135 deg .) and beam waves (90 deg. ) .
( 1 = C 2
P
. . . . . . . . . . . (17) COMPUTATIONS

I n i r r e g u l a r waves with t h e s p e c t r a l density defined In order t o compute t h e quadratic t r a n s f e r func-

as: t i o n s f o r mean and low frequency wave d r i f t forces
using three-dimensional d i f f r a c t i o n theory, t h e a c t u a l
S5(u)Au C k2 . . . . . . . . . . . . . . . ( 18) shape of t h e wetted p a r t of t h e h u l l i s approximated
by a number of plane f a c e t s o r panels. Each panel
equation ( I T ) , when w r i t t e n i n t h e continuous form, represents a pulsating source which contributes t o
becomes: t h e velocity p o t e n t i a l describing t h e flow. The water
m l i n e of t h e v e s s e l i s approximated by a nurnber of
(2) = 2 1 S5(w) P(u,u) do . (19) l i n e elements. This i s necessary i n order t o e v d u a t e
0 t h e f i r s t p a r t of t h e right-hand side of equation (12)
where ~ ( w , w )is t h e equivalent of Pii. and equation ( 13). The f a c e t d i s t r i b u t i o n of one s i d e
of t h e semi-submersible and t h e water l i n e d i s c r e t i -
The low frequency p a r t of equation (16) may be zation of one column i s shown i n Fig. 4. The f a c e t
expressed i n terms of a force spectrum as follows: d i s t r i b u t i o n of t h e cylinder i s shown i n Fig. 5 . Com-
m
putations of t h e mean d r i f t forces were c a r r i e d out
f o r t h e same wave directions a s applied i n t h e model
S (,)(U) = 8 $ Sg(u) Si(w+v) T ~ ( u + v , u dw
)
F 0 . . . . . . . . . . (20) tests.

where : RESULTS O F COMPUTATIONS AND MEASUREMENTS I N REGULAR

WAVES
2
T (W+U,U)
2 2
= P (w+l~,u)-t. Q (w+~,w) . . . . . (21) The mean longitudinal and transverse d r i f t forces
i n which ~(w+p,w)i s t h e equivalent of P i j f o r and t h e mean yaw moment on t h e semi-submersible a r e
u i - W - = 1-1. The quadratic t r a n s f e r f u n c t ~ o n smay a l s o given i n Fig. 6 , 1 and 8. The mean v e r t i c a l d r i f t
be useito the wave drift forces in the time
force and mean trim moment on t h e cylinder a r e given
i n Fig. 9 . A l l r e s u l t s a r e given i n non-dimensional.
domain; see r e f . [ I b ] .
form. The non-dimensional d r i f t forces and moments
I n t h i s paper a t t e n t i o n w i l l be focused on t h e correspond with t h e non-dimensional form of t h e qua-
frequency domain quadratic t r a n s f e r functions only. d r a t i c t r a n s f e r function Pi$. Since both frequencies
Final evaluation of the quadratic transfer wctions
on which t h e t r a n s f e r functions depend a r e equal in
f o r t h e d r i f t forces i s possible through use of a regular waves, t h e t r a n s f e r functions a r e f o r t h i s
case dependent on one frequency, being i n t h i s case
three-dimensional d i f f r a c t i o n theory computer program.
By means of such computer programs it i s possible t o the frequency of the rewlar wave.
determine t h e f i r s t order v e l o c i t y p o t e n t i a l s and t h e

COMPARISON OF RESULTS OF COMPUTATIONS AND MEASUREMENTS
I N REGULAR WAVES
P
From t h e comparison of t h e r e s u l t s on t h e mean
d r i f t forces and yaw moment on t h e semi-submersible,
shown i n Figs. 6 through 8, it can be concluded t h a t
t h e d r i f t forces a r e a l s o predicted correctly. With
respect t o t h e r e s u l t s obtained f o r t h e semi-submers-
i b l e it i s noted t h a t the mean d r i f t forces given i n
Figs, 6 through 8 show rapid f l u c t u a t i o n s with t h e
wave frequency f o r a l l wave d i r e c t i o n s . These fluctua-
t i o n s i n t h e mean d r i f t forces a r e r e l a t e d t o i n t e r -
action e f f e c t s between t h e columns. I n head waves
t h e r e s u l t s given i n Fig. 6 show a marked seduction
i n t h e mean d r i f t force a t a non-dimensionalwave
frequency of 2.2. I n beam waves t h e r e s u l t s given i n
Fig. 8 show a similar reduction a t a non-dimensional
wave frequency of about 1.8. The wave lengths corre-
sponding t o these frequencies f o r t h e head waves and
t h e beam wave case amount t o 43 m and 62 m respec-
t i v e l y f o r t h e v e s s e l s i z e as given i n Fig, 3. These
values a r e q u i t e close t o t h e distance between t h e
columns a s measured i n t h e d i r e c t i o n of the wave
propagation which amount t o 38 m and 60 m respective-
l y . I n such cases standing wave e d e c t s occur between
t h e columns.
I n order t o check t h e quadratic r e l a t i o n s h i p
between t h e mean second order forces and t h e wave
amplitude, experiments with t h e semi-submersible
were c a r r i e d out i n waves with d i f f e r e n t amplitudes.
In general t h e quadratic r e l a s o n s h i p between 'the
mean forces and t h e wave amplitude i s conformed with
t o a reasonable degree.
The v e r t i c a l d r i f t force and t r i m moment on t h e
submerged horizontal cylinder given i n Fig, 9 show
t h a t these q u a n t i t i e s a r e a l s o predicted c o r r e c t l y
by p o t e n t i a l theory methods.
I n order t o i l l u s t r a t e t h e importance of t h e
several components of t h e d r i f t forces given i n equa-
t i o n (12), a breakdown of t h e mean longitudinal d r i f t
force i n head waves on t h e semi-submersible and t h e
mean v e r t i c a l force on t h e cylinder i n head and i n
beam waves i s given i n Fig. 10 and Fig. 1 1 respec-
t i v e l y . The numerals i n these figures r e f e r t o t h e
following componen-bs of equation ( 12) :
I : F i r s t order r e l a t i v e wave elevation
2 t h e quadratic t r a n s f e r function TI2 t o a base of f u l l
- :pg J C!)' .;.a . . . . . . . . . (22)
WL
I1 : Pressure drop due t o first order v e l o c i t y
-J -S .... ....
so
111: Pressure due t o product of gradient of
f i r s t order pressure and f i r s t Order motion
- - p . . . . . . . . (24)
So
I V : Contribution due t o products of f i r s t order
angular motions and i n e r t i a forces
a(') X ( M=. x( l~) ) . ..........
9
V : Contribution due t o second order p o t e n t i a l $
. . . . . . . (26)
- 11 t m(2)).G.&
So Wt
From t h e r e s u l t s on t h e semi-submersible it can
be seen t h a t t h e r e l a t i v e wave elevation contribution I
i s dominant. Contribution I1 i s directed opposite t o
t h e d i r e c t i o n of the t o t a l force. Contributions I11
and I V a r e l e s s important than I and 11. In regular
waves contribution V i s always equal t o zero.
Since t h e cylinder i s f u l l y submerged no conkri-
bution a r i s e s from r e l a t i v e wave elevations around a
water l i n e . Hence contribution I i s zero. Since it i s
c i r c u l a r with t h e centre of gravity i n t h e centre of
t h e cylinder no r o l l motions occur. Due t o t h i s e f f e c t
contribution I V i s zero i n beam waves. The r e s u l t s
shown i n Fig. 11 show t h a t i n t h i s case t h e r e l a t i v e
importance of t h e contributions t o t h e t o t a l force
can vary q u i t e s i g n i f i c a n t l y . I n head waves contribu-
t i o n I1 i s dominant and contributions I11 and IV haye
only minor e f f e c t on t h e t o t a l . I n beam waves, however,
contributions I1 and 111 axe of t h e same order but.
opposite i n sign. I n both cases t h e t o t a l me= force
i s directed upwards. The sign of contribution I1 i s
a l s o upwards i n both cases.
TESTS I N IRREGULAR WAVES
One t e s t was c a r r i e d out with t h e semi-submersible
i n i r r e g u l a r head waves. The wave spectrum i s given i n
Fig. 12. The purpose of t h i s t e s t was t o meastire di-
r e c t l y t h e mean and low frequency longitudinal wave
d r i f t force i n a r e a l i s t i c s e a condition. The measured
d r i f t f o r c e record was analyzed by means of cross-bi-
s p e c t r a l methods ( s e e r e f . [l41 ) which r e s u l t i n e s t i -
mates of t h e quadratic t r a n s f e r function Pi; v a l i d for
regular waves and of t h e value of t h e amplztude TI2
of t h e quadratic t r a n s f e r function i n regular wa;ve
groups consisting of two regular waves with frequen-
c i e s (31 and w2, These r e s u l t s a r e compared with r e s u l t s
of computations based on p o t e n t i a l theory.
The measuring system used f o r these t e s t s i s de-
scribed extensively i n r e f . [l31 and w i l l be l e f t out
of consideration here.
The r e s u l t s of computations and measurements a r e
compared i n Fig. 13. The r e s u l t s show t h e value of
s c a l e mean frequency of t h e regular wave components
f o r t h e case t h a t w, = w2, which i s equivalent t o t h e
mean force i n regular waves, and f o r t h e case of
wl - w2 = 0.1 rad./sec., which i s t h e case t h a t t h e
wave group frequency and hence t h e frequency of t h e
(23) second order force equals 0.1 rad./sec. ~ L K L scale.
The experimental data i s denoted by C.B.S. (cross-bi-
s p e c t r a l analysis r e s u l t s obtained from measured d a t a ) .
I n t h e Fig. 13(b) two computed l i n e s a r e s denoted
by computed (!Total) and computed without mP8Y
l a t t e r computation i s based on equation (12) excluding
The
t h e contribution due t o t h e second order p o t e n t i a l s
d 2 ) and
W
md( 2 ) .
Comparison of r e s u l t s of computations and measure-
ments shows t h a t a l s o r e s u l t s of t e s t s i n r e a l i s t i c
(25) i r r e g u l a r waves tend t o confirm t h a t p o t e n t i a l theory
p r e d i c t s wave d r i f t forces with reasonable accuracy.
\
CONCLUSIONS
The agreement obtained between r e s u l t s of model
t e s t s and computations based on p o t e n t i a l theory indi-
cates t h a t viscous e f f e c t s on wave d r i f t forces on
semi-submersibles a r e small i n conditions of waves
only. Not only t h e horizontal d r i f t forces a r e rea-
sonably well predicted using p o t e n t i a l theory but
a l s o t h e v e r t i c a l d r i f t forces.
I n conditions of waves combined with current
viscous e f f e c t s probably do play a r o l e with respect
t o t h e mean and low frequency forces however. This i s
deduced from r e s u l t s of model t e s t s , which i n d i c a t e
t h a t t h e t o t a l mean force i n conditions of waves and
cuxrent i s not always equal t o t h e sum of t h e mean
forces found i n waves only and i n current only. Com-
putations based on Morisonls equation c a r r i e d out by
P i j f e r s and Brink [ l l ] and F e r r e t t i and Berta [l51
confirm t h i s e f f e c t i n q u a l i t a t i v e sense. This sug-
gests t h a t t h e r e a r e i n t e r a c t i o n e f f e c t s between
current and waves which, up t o t h e present, have not
been properly quantified. It has been suggested t h a t
wave d r i f t forces a r e s i g n i f i c a n t l y changed due t o
t h e presence of current. On t h e other hand it i s a l s o
possible t h a t t h e presence of waves d i s t u r b s t h e cur-
r e n t flow p a t t e r n conskderably r e l a t i v e t o t h e s t i l l
water case, thus leading t o a change i n t h e current
drag. More research w i l l be needed i n order t o clariSy
t h i s situation.
NOMENCLATURE - No. 28, Vol. 3, BOSS 1979, London.
F/~), &L2), F?) mean second order d r i f t force i n
regular waves i n longitudinal,
transverse and v e r t i c a l d i r e c t i o n s
respectively a s given i n f i g u r e s
-(2)
M1 , M2( ~ ) d2)
, mean second
yaw moments
order r o l l , t r i m and
respectively due t o
drift forces i n regular waves
lJ i n f i g u r e s , wave d i r e c t i o n
(1 amplitude of a regular wave
<a
V displaced volume of t h e s t r u c t u r e
g acceleration of gravity
s i g n i f i c a n t wave height
'w1/3
- t r i b u t i o n t o t h e d r i f t forces on a f l o a t i n g
I mean wave period
REFERENCES
1 . Hooft , J.P. : "Hydrodyn&c aspects of semi-sub-
mersible platforms", N .S .M.B. Publication No.
400, 1971.
2. Verhagen, J.B.G. and Van S l u i j s , M.F.: "The low
frequency d r i f t i n g force on f l o a t i n g bodies i n
waves", I n t e r n a t i o n a l Shipbuilding Progress,
Vol. 17, No. 188, April 1970.
3. Hsu, F.H. and Blenkaxn, K.A.: "Analysis of peak .
mooring forces caused by slow v e s s e l d r i f t os-
c i l l a t i o n s i n random seas", Paper No, 1159,
OTC, Houston, 1970.
4. Remery, G.F .M. and Hermans, A. J. : "The slow d r i f t
o s c i l l a t i o n s of a moored object i n random seas",
Paper No. 1500, OTC, Houston, 1971.
5. Bhattacharyya, Rameswhax: "Dynamics of marine
vehicles", Wiley Series on Ocean Engineering,
1978. -
6. Kuo, C . , Lee, A., Welya, Y. and Martin, J.:
"Semi-submersible i n t a c t s t a b i l i t y - s t a t i c and
dynamic assessment and steady tilt i n waves",
Paper No. 2976, OTC, Houston, 1977.
7. Van Oortmerssen, G.: "The motions of a moored
ship i n waves", N.S.M.B. Publication No. 570,
1976.
8. Arai, S., Nakado, Y. and Takagi, M.: "Study on
t h e motion of a moored v e s s e l among t h e irregu-
lar waves", J.S.N.A. Japan, Vol.. 140, 1976.
9. Wichers , J.E .W. : "Slowly o s c i l l a t i n g mooring
forces i n s i n g l e point mooring systems", Paper
Wahab , R. : "Wave induced motions and d r i f t forces
10.
on a f l o a t i n g structure", Report No. 1865,
Netherlands Ship Research Centre, TNO, D e l f t ,
1974.
11. P i j f e r s , J.G.L. and Brink, A.W. : "Calculated
d r i f t forces of two semi-submersible platform
types i n regular and i r r e g u l a r waves", Paper
No. 2977, OTC, Houston, 1977.
12. Pinkster, J.A.: "Mean and low frequency wave
d r i f t i n g forces on f l o a t i n g structures", Ocean
Engineering, October 1979.
13. Pinkster, J.A.: "Low frequency second order wave
exciting forces on f l o a t i n g structures", R.S.M.B.
Publication No. 650, 1980.
14. Dalzell, J.F.: "Application of t h e fundamental
polynomial model t o t h e ship added r e s i s t a n c e
problem", Eleventh Symposium on Naval Hydrody-
namics, University College, London, 1976.
15. F e r r e t t i , C. and Berta, M.: "Viscous e f f e c t con-
s t r u c t u r e " , I n t e r n a t i o n a l Symposium on Ocean
Engineering and Shiphandling, Gothenburg, 1980.
J
 TABLE I

Submexged
Designation Symbol Unit horizontal
~ ~ ~ ~ ~ r s cylinder
i b l e

Length (between m 100.00 75.60

perpendiculars) 'PP
Breadth B m 76.00 8.40

Draft T m 20.00 12.60~

Displacement V m 35,925 4,034

vo Lume

Water depth Wd m 40.0 75.0

* Distance between base and mean still water surface

Main particulars of the semi-submersible and the horizontal

submerged cylinder.

- TIME in sec.

Fig. 1 -.Surge motions of a semi-submersible in irregular head waves.

Fig. 2 - Systems of co-ordinate axes.

 -
SEMI SUBMERSIBLE CYLINDER

Fig. 3 - The vessels.

FACET SCHEMATlSATlON CYLINDER

TOTAL 286 FACETS

FACET SCHEMATlSATlON SEMI-SUBMERSIBLE

TOTAL 216 FACETS

Fig. 5 - Facet distribution of the submerged horizontal cylinder.

COMPUTED
o A MEASURED

WATER LINE SCHEMATlSATlON

TOTAL 72 ELEMENTS

Fig. 4 - Facet and water line element distribution of the

semi-submersible (only one floater shown).

Fig. 6 -
Mean longitudinal drift force in regular
head waves (180~)on the semi-submersible.
 -COMPUTED
oao MEASURED

Fig. 7 - Mean longitudinal and transverse

drift forces and mean yaw moment on the
semi-submersible in regular bow quartering
waves (1350).

COMPUTED
0 A a MEASURED

Fig. 8 - Mean gransverse drift force in regular

beam waves (90 ) on the semi-submersible.
 -
Fig. 9 Mean vertical drift force and trim moment on the cylinder
in regular head waves, bow quartering waves, and beam waves.

I
-------
--- II
-.-.- m
m
CYLINDER

------------- TOTAL

Fig. 11 - Components of the mean vertical drift force

in regular head and beam waves on the cylinder.

-
Fig. 10 Components of the mean longitudinal
drift force in regular waves on the semi-
submersible.
 -40-
COMPUTED
---- FROMC.B.S.

W in rad. sec:'

ig. 12 - Spectrum of irregular waves.

Fig. 13 - Quadratic transfer function of 'che

longitudinal drift force on the semi-submersible
in regular waves and regular wave groups.