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Transcript of SIMO Workshop

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    SIMO WORKSHOP

    Introduction to SIMO

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    SIMO

    Time domain simulation of surface vesselsTime domain simulation of surface vessels

    Complex marine operationsComplex marine operations

    SIMULATION OF COMPLEX MARINE OPERATIONS

    Typical applications:

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    Turret moored vesselTurret moored vessel Dynamic positioningDynamic positioning

    SemiSemi--submersiblessubmersibles

    Tension leg platforms (TLP)Tension leg platforms (TLP)

    SPARSPAR--buoysbuoys

    Time domain simulation of surface vessels :

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    SIMO

    TLP installationTLP installation

    OffloadingOffloading

    Crane operations withCrane operations with

    mechanical couplingmechanical coupling

    Complex marine operations:

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    SIMO

    Large volume body, total motion 6 DOFLarge volume body, total motion 6 DOF

    1st order wave excitation forces1st order wave excitation forces Retardation funct ionsRetardation functions

    Any other forcesAny other forces

    Large volume body, separated motion 6 DOFLarge volume body, separated motion 6 DOF

    1st order motion transfer functions (RAO)1st order motion transfer functions (RAO)Any other forcesAny other forces

    Small volume body, total motion 3 DOFSmall volume body, total motion 3 DOF

    PositionPosition--dependent hydrodynamic forcesdependent hydrodynamic forces

    SYSTEM DESCRIPTION FILE

    Body types:

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    Initial posit ionInitial posit ion

    Structural mass dataStructural mass data

    Hydrostatic stiffnessHydrostatic stiffness

    Linear and quadratic dampingLinear and quadratic damping

    SYSTEM DESCRIPTION FILE

    Body data specification (1):

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    Wind force coefficientsWind force coefficients

    Linear and quadratic current force coefficientsLinear and quadratic current force coefficients

    TimeTime--dependent massdependent mass

    Distributed hydrodynamic forces (Morison model)Distributed hydrodynamic forces (Morison model) Small body hydrodynamic dataSmall body hydrodynamic data

    (incl. position dependent(incl. position dependent coeffcoeff. and diffracted wave. and diffracted wave

    application)application)

    SYSTEM DESCRIPTION FILE

    Body data specification (2):

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    Added mass dataAdded mass data

    Retardation functionsRetardation functions

    First order wave force transfer functions orFirst order wave force transfer functions or

    First order motion transfer functionsFirst order motion transfer functions

    First order diffracted wave transfer functionsFirst order diffracted wave transfer functions

    SYSTEM DESCRIPTION FILE

    Body data specification (3):

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    Second order wave drif t forcesSecond order wave drift forces

    Wave drift damping (wave drift current interactionWave drift damping (wave drift current interaction

    coefficients)coefficients)

    Second order wave force transfer functions (QTF)Second order wave force transfer functions (QTF)

    dif ference frequency, ordifference frequency, or

    sum frequencysum frequency

    SYSTEM DESCRIPTION FILE

    Body data specification (4):

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    Specified forcesSpecified forces

    External forcesExternal forces

    Positioning system dataPositioning system data

    SYSTEM DESCRIPTION FILE

    Body data specification (5):

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    Catenary mooring lines and risersCatenary mooring lines and risers ForceForce--elongation with fixed attack pointselongation with fixed attack points

    Fenders, other contact elementsFenders, other contact elements

    ThrustersThrusters

    Dynamic PositioningDynamic Positioning

    SYSTEM DESCRIPTION FILE

    Positioning system elements:

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    Specified forceSpecif ied force--elongation data, fixed attack pointselongation data, fixed attack points Simple wire couplingSimple wire coupling

    Multiple wire couplingMultiple wire coupling

    FenderFender

    BumperBumper

    Docking coneDocking cone

    SYSTEM DESCRIPTION FILE

    Coupling types:

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    Regular wavesRegular waves

    Irregular wavesIrregular waves

    WindWind -- constant or fluctuatingconstant or fluctuating

    CurrentCurrent -- constant velocity for given profileconstant velocity for given profile

    SYSTEM DESCRIPTION FILE

    Environment specification:

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    PiersonPierson--MoskowitzMoskowitz (1 and 2 parameter spectrum)(1 and 2 parameter spectrum)

    JONSWAP (2, 3 and 6 parameter spectrum)JONSWAP (2, 3 and 6 parameter spectrum)

    Doubly peaked (Doubly peaked (TorsethaugenTorsethaugen))

    Numerically defined (user defined)Numerically defined (user defined)

    SYSTEM DESCRIPTION FILE

    Available wave spectra:

    Wave time series measured from model tests atWave time series measured from model tests at

    MARINTEK Ocean Basin can be used directlyMARINTEK Ocean Basin can be used directly

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    DavenportDavenport HarrisHarris

    Wills (modified Harris)Wills (modified Harris)

    SletringenSletringen

    NPD / ISONPD / ISO

    APIAPI

    SYSTEM DESCRIPTION FILE

    Available wind spectra:

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    Dynamic analysis of crane operations

    A set of simple equations of object motion, which can be

    solved directly if the coefficients are constant:

    (RAO-data for the vessel is calculated separately)

    However:

    Slamming: M varies

    Slack/snatch: k varies

    Winching: k varies

    Damping: quadratic

    Splash zone: M, c og Fex

    position dependent

    Ventilated items: M amplitude dependent

    Large objects: M and c frequency dependent

    Time domain simulation required

    (t)F=xk+xc+xM ex

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    Programs for analysis of crane operations

    Simplified (smal volume) theory Forces and motions Ship unaffected by forces on the load

    One or several vessels Heavy lift (in air, under water) Slender / complex structures Shadow effects, hydrodynamic coupling Positioning

    Motion response Sea fastening forces

    MACSI Crane operations

    SIMO Complex marine

    operations

    RESPONSE Vessel motion

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    MACSI-2: System configurations

    Standard

    (with or without guidewires or compensator)

    Pull-down through a sea bedsheave

    Pull-down with a subsea winch

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    MACSI: Verification testMeasured vs. calculated motion in the splash zone

    Test: A half submerged sphere in an

    elastic pendulum, regular waves.

    Data: Diameter: D = 0.280 m

    Wave height H = 0.384 m

    Wave period T = 2.5 s

    MODEL TEST

    Z

    X

    MACSI

    Z

    X

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    Simulation of complex marine operations

    Installation of

    SNORRE TLP

    Simulation model

    SIMO

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    SIMO Modeling of subsea structures

    Slender elements

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    Long pipes through the splash zone

    Stability (step 1 - 2)

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    Long pipes through the splash zone

    Stability (step 3 - 4)

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    Long pipes through the splash zone

    Method 2

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    Long pipes through the splash zoneWire tension calculated by SIMO (method 2)

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    Why do we need a simulator?

    New challenges require new technology for deep waters

    More marine operations, high costs. Subsea equipment

    Maintenance

    More complex operations.

    Need accurate analysis for Design of operation / equipment

    Training of personnel, familiarization.

    Decision support onboard.

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    Structure of simulator

    High level archi tecture (HLA) / Run -TimeInfrastructu re (RTI)

    Terrain modu le

    ROV contro l and

    visualization

    RIFLEX

    cables and risers

    SIMO

    vessel INC. DP

    SIMLA

    Pipelaying

    Free spans

    SIMULATORCONTROL Visualization

    GL view

    Important features:Accurate modelling.State of art computer programs.Realistic visualization.Replay option

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