OTC 3543

FREQUENCY-DOMAIN ANALYSIS OF OTEC CW PIPE

AND PLATFORM DYNAMICS

by J.R. Paulling, U. of Calif.

"Copyright 1979, Offshore Technology Conference

This paper was presented at the 11th Annual OTC in Houston, Tex" April30·May 3, 1979, The material is subject to correction by the author, Permission to copy is restricted to an abstract of not more than 300 words,

ABSTRACT it into the floating nlatform in the event of a severe

storm. The pipe must, therefore, be designed
A quasi-linear frequency domain analysis of the structurallv to withstand the most severe sea con-
coupled OTEC CW pipe and platform system has been ditions to be expected in its region of operation
developed. A finite element model of pipe structural with an acceptably low level of risk of failure. In
~ynamics is employed and the platform is modelled carrying'out thii desian nrocess, the dvnamic aspects
by contemporary ship or stable platform motion of the pine response to waves, in combination with
theory. Nonlinear fluid forces are included bv means the ~Ynamics of the platform, must be included in
of the method of equivalent linearization. the desian analysis procedure.
The procedure has proven to be extremely In some of the pronosed OTEC sYstems, the CW
versatile in its ability to represent various plat- pipe is constructed as an essentially continuous
form configurations and realistic directional random tubular structural member. There may be a small
sea states. The F.E. representation of the CW pipe number of flexible joints which allow some nearlv
has the capability of dealin~ accurately with pipes unrestricted rotational flexibility at the pioe-
having variable properties along the length and dis- platform connection and, nerhaps, at several locations
crete irregularities such as flexible joints. along the oipe length, and these ioints divide the
pipe into two or three tubular beam-like segments.
The procedures have been applied successfully In other cases, it has been oroposed to construct
to a wide range of platform ahd pipe configurations. the pipe of a series of short, essentially rigid,
tubular segments, with a relativelv flexible joint
at the junction of each pair of segments. The prin-
INTRODUCTION cipal source of flexibility, in this case, comes from
these joints, and the segments themselves may be
Most of the open sea Ocean Thermal Energy assumed to be completely inflexible.
Conversion Plants which have been studied to date
employ a cold water pipe approximately 2000 to 3000 In developing an analytical procedure for com-
feet in length and from five to 100 feet in diameter, puting the structural dynamics of the coupled CW pipe
depending upon plant capacity. The pipe is susnended and platform system, it has been found expedient to
vertically below a floating platform and is subject include two different nipe models to renresent the
to dynamic excitation from the motion of the platform cases described above. The first utilizes an elastic
as well as the wave-induced forces which act on the beam-like model of the pipe to represent the relative-
near-surface portion of the pipe itself. The length ly long flexible sections of continuous CW pipe,
to diameter ratio of the pipe is such that it may where the bending deflection of the pipe itself·is
be expected to be quite flexible in its bending res- of importance, with the added provision for intro-
ponse to these forces, and the resulting deflections ducing a small number of rotationally flexible joints
of the pipe about its mean position, consequently, into the model. The second model represents the pipe
will be sufficiently large as to require that the as a larae number of essentially rigid tubular members,
motions of the pipe must be taken into consideration and confines all of the flexibility' in bending, tor-
when computing the fluid forces actinq on it. In sion, shear and axial displacement to the joints bet-
the larger capacity plants especially, the overall ween segments. In both cases, similar procedures
length and weight of the cold water pipe are such are employed in representing the fluid forces on the
that there is little possibility of easilv retracting pipe and platform.

References and illustrations at end of paper.

1641

------------------------------------------------------
- ---- --- --- --- --- --- ~--------=-----~--- ---
 ANALYTICAL MODELS OF CW PIPE
In formulating the mathematical models of the
platform and CW pipe system, the platform may be
considered to be a rigid body having six degrees of
motion freedom, and the fluid forces acting upon it
due to wave motion and its own motions may be com-
puted by standard ship or platform motion theory.
The CW pipe, on the other hand, is expected to
experience appreciable bending deformation in res-
ponse to wave excitation, due either to its flexi-
bility or to the multiple joint flexibility. It
must, therefore, be modelled as either an elastic
body or a series of linked rigid bodies in order to
FINITE-ELEMENT REPRESENTATION AND FLUID FORCES
EXERTED ON CONTINUOUS COLD-WATER PIPE
The cold-water pipe behaves as a beam with
variable tension along its length. An appropriate
FE representation employs a tension beam or "tie
rod" element (See Timonshenko, 1941) for which
the nomenclature is shown in Figure 1.
For such an element, assuming small deflections,
it may be shown that the stiffness matrix for bending
in the xy-plane is given by:

{:}
accurately represent the fluid forces due to the
relative motion between pipe and surrounding water.
. . . . . . . . . [1]
In the present analysis, the elastic behavior
of the continuous CW pipe is represented by the
finite-element (FE) method of structural analysis. Here
This method is particularly well suited to config- p sinh pJl.
urations in which the stiffness, weight, tension, k =T ---------
and other properties may vary along the length of ll 2(1-coshpJl.)+pJl. sinh pJl.
the pipe. Since the FE analysis is based upon a
discretization of the continuous pipe, a finite 1 - cosh pJl.
number of degrees of motion freedom will replace the k = k = T ----------
actual infinity of DOF. By -choosing a sufficiently 12 21 2(1-cosphJl.)+pJl. sinh pJl.
fine FE node mesh, all of the dynamic response
characteristics of importance may be represented
with acceptable accuracy, and only the responses pJl. cosh pJl. - sinh pJl. • [2]
associated with the higher natural frequences, which k = T ----------
22 p[2(l-coshpJl.)+pJl. sinh PJl.]
are of no practical importance, will be neglected.
The multiply segmented pipe is represented as a series
of rigid cylindrical bodies with suitable elastic
and friction properties being assigned to the joints Where,
between pairs of segments.
The physical connection between barge and pipe p = J~I
may include provision for relative translational
motion, as in the case of a heave compensating sus-
pension, or relative rotational motion if the pipe In addition to bending, the pipe element'is
support is gimballed. Restraint of the relative subject to a variable longitudinal force superimposed
motion may be present and is represented as a linear on the mean tension T. The complete 6x6 stiffness
function of the relative displacement (spring res- matrix for a tensioned element of a circular cross
traint) and the relative velocity (damping restraint). section in three dimensions is:
Linear procedures are used in treating both ....
EA
the pipe and barge response. The linearization T
requires that certain approximations be made, e.g.,
in computing the viscous fluid forces on the pipe. kll -k 12
In the range of small motion amplitudes which are of
importance in the present problem, it is felt that kll -k 12
such approximations may be handled in such a way
that no serious errors in the predicted results will [k] GIp
arise. The linearized analysis has the overwhelming JI.
advantage over more exact procedures of permitting -k 21
the representation of the response to a realistic 1<'22
random seaway by superimposing a series of responses
to elementary regular wave trains, each of a dif- k21 k22
ferent frequency and systematically varied amplitude. ....
Furthermore, an equivalent linear representation of Here,
an assumed nonlinear drag force is used which, in
view of our incomplete knowledge of drag forces in A Cross section area of pipe
oscillatory flow, may be expected to yield results
which represent the real behavior of the pipe with
an accuracy which is similar to that of "exact"
methods.
Polar moment of inertia
In the following sections, a description is
first given of the FE model of the continuous pipe
and a later section is concerned with the segmented = l (0" - 0")
pipe model. 32 0 0'

1642

- - - -
- ---- --- --- --- --- --- ~--------=-----~ -- ---
 G Shear modulus of material
E
2(l+v)
k , k12 , k21 , k22 are defined in equation [2].
ll
The local coordinate system and nomenclature
are shown in Figure 2.
The total force vector, at the right hand end
is related to the displacement vector by
{F} [k] {v} ,
{F , F2 , ... , F6} and
where {F}
l consists of the following steps
{v} = {v l ' v , ••• , v }.
2 6
The stiffness matrix for the entire pipe may
be assembled from element stiffness matrices as
described above following standard procedures of
matrix structural analysis in the manner described,
e.g., by Zienkiewicz (1967). With each node is
associated a lumped mass and damping force repre-
senting the equivalent of the distributed mass and
damping of the adjacent elements of the pipe. The
lumped mass will include the added mass of entrained
and internal water as well as the physical mass of
the pipe material. In the present case, as a first
approximation, one-half of the total mass for each
of the two adjacent elements was lumped at each
node. Provision is made for different added mass in
the axial and lateral directions in order to account
for differences in the behavior in these directions
of the internal water.
The distributed drag forces on elements are
similarly replaced by equivalent lumped drag forces
at the nodes. The principal contribution to drag
on the CW pipe comes from viscous fluid drag which
is usually approximated by a constant drag coef-
ficent multiplied by the square of the relative nor-
mal velocity between pipe and the fluid. The
relative velocity is the vector sum of the pipe
absolute motion and the wave-induced fluid motion.
With this linear representation, the total force
may be expressed as the sum of a part proportional
to the fluid absolute velocity and a part propor-
tional to the pipe segment absolute velocity. The
first part comprises part of the wave-induced
exciting force, while the second part forms the
pipe damping.
A quadratic dependence of dra9 upon velocity
is, of course, contrary to our assumption of a linear
representation of system dynamics. Therefore, the
quadratic drag force is replaced by an equivalent
linear force so defined that the rate of dissipation
of energy by the e~uivalent linear force equals
that of the "exact" quadratic-force. A procedure
for deriving these coefficients is given by Oakley,
Paul ling and Wood (1974), and by Paulling (1970).
The relation between the eauivalent linear drag
~oef~icient C and the quadratic coefficient CD
L
1S glven by:
C = 8wa C0 . [3]
L 3'Tf
1643
for reQular sinusoidal relative motion of freQuen~y
wand-amplitude a, or
C=TT"crC . . . . [4]
L V 1T v 0
for a Gaussian random motion havin9 an RMS relative
velocity given by cr v.
In either case, the amplitude or RMS amplitude
of the response must be known before the damping
coefficient is computed and this implies that an
iterative procedure must be used in solving the
equations of motion.
A suitable procedure for the present case
(1) An initial value is assumed for the re-
lative velocity (either amplitude or RMS)
at each node.
(2) The corresponding equivalent drag coef-
ficient at each node is evaluated by
Equation [3] or Eauation [4J.
(3) The equations of motion are solved for
the pipe-platform system.
(4) The relative velocities at each node
corresponding to this solution are
computed and compared to the assumed
values.
(5) If the minimum difference between the initial
assumed velocities and the computed veloci-
ties exceeds an acceotable level modify the
assumed velocities and repeat steps (2)-(4).
A suitable choice for the modified velocity
is the averaqe of the assumed and present'
computed values.
It is usually found that the procedure converges
rapidly in five to ten iterations. The converqence
is more rapid for large diamter cold water pipes for
which viscous forces are of less importance compared
to other fluid forces than in the case of small pipes.
CW PIPE DYNAMICS
The eauations of motion of the CW pipe may be
written in matrix form as:
{x} Vector of nodal displacements including
three translations and three rotations
per node
[MpJ Combined mass matrix for assembled pipe
[B p] Damping matrix
[Kp] Stiffness matrix
{Fp(t)} = Time dependent wave exciting force.
 The wave exciting force is computed by linear . cos ut + (CD sin k~- 2 CMUCOS kg) ●

water wave theory following well established pro-

cedures. It may be conveniently subdivided into
three terms for purposes of computation: “sinut]. . . . . . . . . . . . . . . .[8]

(1) The Froude-Krylov term representing the

force due tothe varying pressure gradient The total force on the element extending from
in the wave, n, to n * is given by,

(2) The drag term due .to the wave-induced fluid

velocity past the pipe, F=/nldFr ,. . . . . . . . . . . . . . .[9]

(3) The acceleration term due to the wave-

induced fluid acceleration about the pipe.
and the moment of the force about the lower end of
the element is,
In the case of a circular section such as the
CWpipe which we are considering here, terms (1)
and (3) are equal, and may be combined for computa-
tional efficiency.
M= /nl(rI -n2)dFc. . . . . . . . . . . [10]
In computing the exciting force on a segment n.
of the pipe we make use of a wave coordinate system
which is shown in Figure 3. In this system, we de-
If [8] is introduced into [9] and [10] and the
fine OEC to lie in the mean water surface, with
integrals evaluated, the results enable us to define
Og positive in the direction of wave motion which
two concentrated forces applied at the upper and
makes an angle 6 with the platform centerline. The
lower ends of the pipe segment which are statically
velocity potential for infinitesimal deep water waves
equivalent to F and N. These equivalent nodal forces
in this system is given by:
have components in the shiu coordinate x- and z-
directions given by,

~ . we h sin (kg-ret) . . . . . ..[6]

FX=FCOS6

where

a = wave amplitude,
I Fz=Fsin&. . . . . . . . . . . . . . .[111

Note that the lumped forces computed for each

w= frequency, segment will have two terms, one in cos ut and the
other in sin wt. This enables us to express the
k = ti2/g, exciting force vector, which is composed of all of
the lumped nodal forces for the assembled pi~e, in
= 21T/A , the equivalent complex exponential form

A = wave length .
{F(t)} = {FPO(U)} e-i’”t
The wave-induced water velocity and ac-
celeration are given, in the OG direction by,
where {Fpo(u)} is a complex amplitude vector.

u= g , .-
MODELLING THE MULTIPLE SEGMENT PIPE

In this case, the multiple short segments of

au
il= ..,. .[7] pipe are essentially rigid so that their bending
x ““ “ “ “ ““ “ ““”” “
deflections contribute little to the overall defor-
The total wave-induced force in the c..directiol mation of the pipe. Instead, this deflection results
almost entirely from the angular and linear deflec-
on a segment of pipe of length dri,making use of the
tions in the joints between the segments. The pipe
above noted equality of Froude-Krylov and fluid
segments are, therefore, modelled as individual rigid
acceleration forces and assuming a linear drag force
bodies which have six degrees of motion freedom and
is given by:
are acted upon by a combination of external forces.
These forces include fluid forces due to the relative
dF< = dn(CD U +2 CM:) motion between the segment and the water surrounding
it, and joint forces due to the relative displacements
and velocities between the ends of the present seg-
ment and the adjacent ends of the segments above and
below it.

The joint forces acting on a pipe segment may

be expressed in terms of rigid body motions defined
with respect to a local coordinate system having its
origin at the segment C.G. as shown in Figure 4.

.-.
1644
 In this figure, oi~? is a coordinate system where the terms !2T in the fourth and sixth rows
whose orgin is located at the mean position of the represent the eff~ct of the axial
tension, T. The
segments C.G., the instantaneous position of G in remaining terms are derived from the elastic pro-
o~y~ is denoted by (x,y,z), and the instantaneous perties of the joint. The [6] matrix is of similar
small rotation of the segment by (u,B,Y). The ends form but without the terms in T. The corresponding
of the segment, denoted 1 and 2, are at distances coefficient matrices at end 2 of member i will be
L2 from G. The instantaneous displacement of end denoted by [ki+l] and [b.+,]. The force on member
% ‘
1 for segment i from its mean position is, therefore, i at end 1 is, therefor~, given by
given by vector measured in 02jL7,
{Fll = [~i](~~l,i-l~ - ~xi~)

+ [bil({i, ,i_,} -&i}) . . . . . . . . . . .[16]

{X1} =[Lli]O {Xi} . . . . . . . . . . ..[12] This force vector is now transformed to the segment
centroidal coordinate system by the inverse of the
[Ll,i] transformation
Here, I
{Fli}= [L1i]T{Fl} . . . . . . . . . . . . [17]

and There will be similar forces, denoted by {F2} at end

2 of member i as a result of relative displacements
1 -Q>, and velocities between end 2 of member i and end 1
r ‘1 of member i+l,

[Lli] =
1 1, + [~i+l]([L
i~i+ll{~i+l} - [L2i]{~il) >. . . [18]
1

and this is transformed to the C.G. of member i by

1

1 1
I . . . . .[13] {F2i}=[L2i]T ”{F2} . . . . . . . . . . . ..[19]

Similarly, the displacement of end 2 is given by Examining the structure of the forces expressed by
equations [16] through [19], we see that the total
joint force on the member i, referred to the local
member centroidal coordinate system, and consisting
{~2} = [L2i] {Xi} . . . . . . . . . .[14]
of the sum of {Fli} and {F2i} can be written in
the form
There will be similar expressions for the displace-
ment vectors {Yl}, {X2} of ends 1 and 2 for the {Fi} = [ki,i-l]{xi-l} + [kii]{xi} + [ki,i+l]{xi+l}
members i-1 and i+l above and below the present
member.
+ [bi,i-l]{~i-ll + [bii]{~il + [bi,i+ll{~i+l~
Now, assume that the forces in the joint con-
necting two members are proportional to the relative . . . . . . . . . . . . . . . . . . . . . . . . . [20]
displacements and velocities of the two member ends
at the joint. Let the spring force and velocity
force coefficient matrices for the joint at end 1 of where
mgmber i be denoted by diagonal matrices [Ii.]and
[bi], respectively. The spring force matri~ [ki] [ki>i-l] = [L1i]T ● [Ii] ● [L2,i-1] . . . . [21]
w1ll be given by
r t. 1

I ’11 I and there are corresponding expressions for the

remaining five terms.
’22

I ‘-”1
These spring and damping terms are seen to
’33
play the same role for the segmented pipe as the
[k] = + LIT assembled stiffness and lumped drag matrices in the
k44
case of the continuous pipe given in Eauation [5].
In formulating the equations of motion, for the
’55
segmented pipe, the displacement vector, {x} , of
+ klT equation [5] is now made up of the rigid body trans-
’66 . . . .[15]
lations and rotations of the C.G. of each pipe

1645
;egment, the mass matrix Npl will be made UP of the
~asses and moments of inertia of each segment
JIUS its enclosed and entrained water, and the force
/ector, {Fp} will contain the forces and moments
‘eferred to’ the segment centroidal axes. In evalua-
ting the fluid forces on the segment a term has been
included to represent the drag, added mass, and wave-
nduced force in the segment’s axial direction. Such
L force, which was not included in the case of the
:ontinuous pipe force, represents the effect of
‘langes and other protuberances outside the nominal
iiameter of the cylindrical segment which are a part
)f the physical construction of the joint.
REPRESENTATION OF THE PLATFORM AND COUPLING TO THE
;W PIPE
The dynamic representation of the platform may
]e based upon any of a number of well-established
]rocedures. For a ship or barge the’strip method of
:omputing the hydrodynamic forces may be used. Other
;uitable procedures are available for platforms of
;emisubmersible type and for those of buoy-like
configuration. By such a linear procedure, the
?quations of motion of the platform alone may be
fritten in a matrix form similar to equation [5] as
This assumes a force,proportional to the rela-
tive velocity and relative displacement between the
top node and the point on the platform to which the
pipe is attached. Such an assumption permits a
linearized representation of, for example, a gimbal
support with some degree of heave compensation. Here
{xl] , {xTB] are respectively vectors of absol!te
motions of the top node or segment of the PIPe
and the point of attachment of the pipe to platform,
and [b,], [k,] are matrices of the damping and spring
coefficients, both of which characterize the attach-
ment of the pipe to the platform.
The motions of the point of attachment may be
expressed in terms of the motions of the C.G. of
the platform as
{xlB}= [D]{xB}. . . . . . . . . . . . . . [24]
In order to form the matrix [D], refer to
Figure 6 which shows the platform coordinate system,
XYZ, the coordinates of the pipe attachment point
XIYIZ1 and the pipe coordinate system,$?jE.
The translator and rotational motions of the
point of the pipe attachment are given by

‘1 -Y,

1
lMBl{~bl + [BB]{~B} + [KB]{xB} = {FB(t)}. . . . [22]
1 -z
1 ‘1
iere 1 Y1 -xl

1
[MB] = Mass plus added mass matrix
1
[BB] = Damping matrix
(Both [M ] and [BB] are frequency 1
depende~t)
. . . . . . . . . . . . . . . . . . . . . ..$ .[25]
[KBI = Hydrostatic force matrix

{FB(t)} = Wave exciting force vector

For regular waves of frequency m,
I or{fil=[D]{ul . . . . . . . . . . . . . . . . .[26]

where {U}, {u} are vectors of either displacements

{FB(t)} = {FBO(W)} e-iwt or velocities.

The force due to the relative static displace-

{xB} = Vector of platform surge, heave, sway,
ment exerted by the platform on the pipe may now
roll, yaw, pitch motions. be written, equation [23], as
rhe quantities [BBI, [KBI, {F (u)} and the added-
{Fp} = -[kll({xll - [D]{xB})
nass part of [MB] are compu~e”d by a standard ship
notions program patterned after the procedure of = -[kl]{xl}+[kl]”[D]{xB}. . . . . . . [27]
Salvesen, et.al. (1970) for a ship or barge, by the
~rocedure of Paulling (1970) for a semisubmersible,
or by the procedure of Garrison (1977) for a buoy There would be a corresponding expression for
or other monolithic form, and typical platform types the relative velocity ~ependent forceowith [bl]
~re shown in Figure 5. substituted for [k,], Xl for Xl, and ‘B for xB”

There will be additional forces exerted on the
llatformby the pipe and on the pipe by the platform
t the point of connection between the two.
We shall assume that the force exerted by the
)Iatform on the top node of the CW pipe may be re-
presented by the following expression
A force equal and opposite to this would be
exerted on the platform at the pipe attachment point.
This is transformed to a force through the platform
C.G. and a moment about the centroidal axes, including
velocity terms, as
{FBI = -[DIT{FD}

= [D]T. [kl]{xl} - [DITO [klIIDl{xB}

{F,}= ‘[bl]{$ - $B] - [kI]{xl - xlB]. . . [23]
+ [D]T* [bl]{;l} - [DIT* [b,][D]{iB} . . .[28]
I
._.-
154b
 Equation [28], therfore, is seen to contain
terms which are added to [KB], [BB] in Eauation [22]
is well as the terms of[Bp] and [k 1 in Equation
[5] correspond ng to the top node.p There are
additional coupling terms in each case which couple
the platform to the top node of the pipe and vice
dersa.
Assuming regular waves.of frequency, u , the
;omplete equations of motion of the coupled platform
;W pipe top node take the form
pipe. Since such stresses and internal loads are
found to be linear functions of the nodal motions,
therefore, linear functions of wave amplitude,
they also may be treated as transfer functions.
Having the transfer function for any resuonse,
e.g., platform motion, pipe nodal motion, element
stress, the response to a random seaway may be
easily computed. Let S(U) be the spectral density
function function characterizing the random seaway.
The spectral density of a linear response whose
complex transfer function is T(u) is given by

III-II
~k;- U2M iuB;][iub; - ki]
B- ‘B ‘Bo
.
SR(U) = IT(U)12S(W) . . . . . . . . . . . .1311
~imb’ - ki] [k; - M*M - iuB’]
1 P P ‘1 ‘lo

The RMS value of the response, assuming a Gaussian

. . . . . . . . . . . . . . . . . . . . . . . . . [N] distribution of the time history, is

rhe primes, e.g. k’B, denote .the coefficients with

]ipe-platform coupllng included. In the present
malysis, the platform and each node of the CW pipe
ire assumed to have six degrees of freedom each.
;ince each node shares a member with either the
lode above or the node below and the platform is
:onnected to only the top node, the coefficient
natrix will be of the following tri-diagonal form
‘R~S=F-----------’ 32]
Other statistical measures such as the average
of the hiqhest l/n oeaks are ~roportional to the R!%.
The following table gives these coefficients of
proDortionallty for the average of the highest l/n
peaks.

‘All A12 n c
‘1 ‘1o
3 2.0

’21 ’22’23 ‘2 ’20 10 2.54

●
.
A 100 3.34
32 ’33 ’34 ‘3 ’30
.
. . For the present computer program, the
A A x F Bretschneider spectrum has been used to represent
n,n-1 nn n no the random seawa,y. The spectral density formulation
:1: ‘[: ~
is
. . . . . . . . . . . . . . . . . . . . . . . . .[30]
s(f) = 5 (+)*fo-I (~)’exp[-$(>)’l. “ . . [33]
vhere there are n-1 nodes. In equation [30] the
First row (subscript 1) now represents the platform where
notion, the second row the motion of the first node
or segmentj and so on. f = freouency in Hz, (u = 2mf)
1
f. = freauency of peak of spectrum = To
jol_lJTIot’J” OF THE, EQUATIONS OF MOTION
Hs = significant wave hei~ht
Each submatrix of [30] is a 6x6 complexmatrixand
sach of the unknown subvectors, x~> contains six By choosi~g amropriate values of the two
:omplex terms. Equation [30] therefore represents parameters significant height, Hs, and Peak freauenc.v,
?x6xn equations in an equal number of unknowns. In
solving for the x. ’s,”we may take advantage of the
fo=L,
tri-diagonal formTin developing an efficient solution To
ilgorithm.
a wide ranae of realistic sea states may be simulated.
The system of equations are formulated and
olved successively for a series of different wave The analysis procedure which is described in
‘frequencies,w; and an assumed unit wave amplitude. the foregoing section has been implemented in the
“or each node, the resulting complex motion vector form of FORTRAN commiter Programs called ROTEC,in the
;i(~) may be thought of as a frequency-dependent case of continuous pipe,or SEGPIP in the case of the
;ransfer function for that node’s motion. Having segmented ~ipe, and appropriate auxiliary programs
;he nodal motions, we may recall equation [1] to are available for Droducing the hydrodynamic coef-
Ibtain the internal forces for each finite element ficients and wave forces for the three ~latform types
:omprising the pipe or Equations [16] and [18] for shown in Figure 5. The current versions of the
:he joint forces for the segmented pipe. The inter- programs are capable of solvina for the response to
Ial forces may be combined with the elements’ section either a single regular wave of specified height
]odulus or sectional area to yield the bending, shear and period, or a random seaway of specified sianifi-
Inddirect stresses in the element for the continuous cant height and Desk freauency, fo. The output of

1647
the computations include the following quantities:
Continuous pipe (ROTEC)
Motions in 6 DOF for the platform CG and each
node of the CWP
Forces exerted by the platform on the top
node of the CWP
Stresses at the mid-length of each segment of
the CWP
Relative angular motion between pipe segments
at a hinge of the pipe
Segmented pipe (SEGPIP)
Motions in 6 DOF for the platform CG and the
CG of each segment of the CWP
Forces exerted by the platform on the top
of the CWP
Forces and moments in each joint of the CWP
Relative rotational motion in each joint of
the CWP
For regular waves, the amplitude and phase of each
of the quantities are given. For random seas, the
RMS values are given.
SAMPLE RESULTS
Example results showing typical CW pipe motions
and stress response are shown in Figures 7, 8 and 9.
In the first two figures, the effects of pipe stiff-
ness are illustrated. Figure 7 shows the response
of a relatively stiff pipe and Figure 8, a pipe of
material having a lower elastic modulus, therefore,
a lower stiffness. The latter shows a predominate
response in the random seaway used here, character-
ized by a lower order mode pattern, as one would
expect.
Y Y
t 4
Fig. 1 - Nomenclature for tie-rod element.
1648
The last figure displays the effect of flexible
joints on the pipe. The left hand figure represents
a continuous pipe. The middle and right hand drawings
show the bending stress distribution with two joints
and many joints in the pipe. For this configuration,
the numerous joints are seen to have a definitely
favorable effect.
ACKNOWLEDGMENTS
Most of the work described here has been
supported by Morris Guralnick Associates, Inc., and
the Johns Hopkins University, Applied Physics
Laboratory.
REFERENCES
1, Oakley, O. H.; Paulling, J. R. and Wood, P. D.:
“Ship Motions and Capsizing in Astern Seas,”
10th Symposium on Naval Hydrodynamics, Cambridge,
1974, ONR-ACR 204, pp. 297-350.
2. Paulling, J. R.: “Wave-Induced Forces and Motions
of Tubular Structures,” 8th Symposium on Naval
Hydrodynamics, Pasadena, 1970, ONR-ACR 179,
pp. 1083-1110.
3. Salvesen, N.; et al: “Ship Motions and Sea Loads;
Trans SNAME, v 78, 1970, pp. 250-287.
4. Paulling, J. R.: “The Analysis of Complex Ship
Structures by the Finite Element Technique,” JSR,
v 8, n 3, 1964, pp. 1-14.
5. Zienkiewicz, O. C. and Cheuna, Y. K.: “The Finite
Element Method in Structural and Continuum
Mechanics,” McGraw-Hill 1967, Pp. 170-172.
6. Timoshenko, S.: “Strength of Materials - Part 11’!
Van Nostrand, 1941, p. 39.
7. Hydronautics, Inc.: “Preliminary Model Test Data
for OTEC1 - 1/50 Scale Model Tests,” June 16,1972
to June 22, 1977.
8. Garrison, C. J.: “Hydrodynamic Interaction of Wave
with a Large Displacement Floating Body” USN Post-
graduate School Report No. NPS-69 Gm77091, Sept.77.
 7
Y
AXIS PARALLELTO PLATFORM
x-AXIS

8
t

-7= ’1,
/
z

Fig. 2 - Local coordinatesystem for CW pipe element.

E ‘—
PIPE SEGMENT

?=~~

Fig. 3 - Wave coordinate system and nomenclature

computation.
for wave force

Fig. 4 - Nomenclature for segment of jointed

pipe.

Fig. 5 - Example platformconfigurations.

 CW Pipe

Fig. 6 - Relationship of pipe and platform coordinate systems.

RMS BENDING MOMENT AND RMS LATERAL DEFLECTION

54 i
0
1-

o I I I I I I I I I I I I I I I I I I I I I 1 I I

o 500 1000 I500 2000 2500 3000

DISTANCE ALONG CWP ( FT)

[
16
f
- 12
z
o
58 /
w
J
11-
g4
(n
z
‘o I I I I I I I I I I 1 I I I I I I I I I I I I I
0 500 1000 I 500 2000 2500 3000
DISTANCE ALONG CWP ( FT)

HEAD SEA: H~=29FT, T=18 SEC.

CWP:60FT. I.D. 1 FT. THICK
STANDARD CONCRETE 125 LB/FT3 E= 7.2 X 108 PSF
Fig. Bending moment and lateral deflection, 60 ft. 1.D. x 1 ft.
7 -
standard concrete CW pipe.
 RMS BENDING. MOMENT AND RMS LATERAL DEFLECTION

1.25

m
\
: Loo
~
\w. ~ ?
m. 0.75
=
g 0.50
z
(n
~ o,25

0.00 I I I I I I I I I I I I I I I I i [ I I I 1 I 1
0 500 1000 1500 2000 2500 3000
DISTANCE ALONG CWP (FT)

-20
~

; 15
0
E [0
W
-1
k
05

!4
=0 I I I I I I I I I I I I I I [ I I 1 I I I 1 I I
o 500 1000 1500 2000 2500 3000
DISTANCE ALONGCWP (FT)

HEAD SEA: H~=29FT, T=18SEC

CWP:60FT. 1.0. IFT. THICK
LOW DENSITY CONCRETE 70 LB3, E=7.2x107PSF

Fig. 8 - Bending moment and lateral deflection, 60 ft. 1.0. x 1 ft. low-densitY
concrete CW pipe.

700-

1-
I.d
Id
L

1400 Psi

3000
NO HINGES HINGES 630’ HINGES @ 300’
400’ & 700’ INTERVALS

30 FT I.D. PIPE, I FT THICK WALL, E = I X 10 PSI, H =29FT, T= 18s, HEAD SEAS, PILOT PLANT

Fig. 9 - RMS bending stresses in 30 ft. 1.0. x 1 ft. wall CW pipe showing effect of segmentation.