THE LOW FREQUENCY MOTIONS OF A SEMI-SUBMERSIBLE I N WAVES

J . A . P i n k s t e r and R.H.M. Huijsmans

Netherlands Ship Model B a s i n , The Netherlands

SUMMARY

I n t h i s p a p e r a t t e n t i o n i s p a i d t o low frequency wave d r i f t f o r c e s on a semi-submersible

moored i n i r r e g u l a r head waves and t o t h e low frequency h o r i z o n t a l motions caused by t h e d r i f t
forces.

The wave d r i f t f o r c e s a r e computed based on t h r e e - d i m e n s i o n a l p o t e n t i a l t h e o r y u s i n g t h e

d i r e c t i n t e g r a t i o n method. Time r e c o r d s of t h e low frequency d r i f t f o r c e i n i r r e g u l a r waves a r e
computed u s i n g t h e second o r d e r impulse r e s p o n s e f u n c t i o n t e c h n i q u e . R e s u l t s of t h i s method a r e
compared w i t h r e s u l t s of t h e d i r e c t summation method. The comparison shows t h a t u s e of t h e sec-
ond o r d e r impulse response f u n c t i o n l e a d s t o n u m e r i c a l l y a c c u r a t e r e s u l t s . A computed low f r e -
quency d r i f t f o r c e r e c o r d i s compared w i t h a measured d r i f t f o r c e r e c o r d . The comparison shows
t h a t t h e p r e d i c t i o n s a r e q u a l i t a t i v e l y c o r r e c t b u t some 30 t o 40 p e r c e n t lower t h a n measured
d a t a . R e s u l t s of time domain s i m u l a t i o n computations of t h e low frequency s u r g e motions i n ir-
r e g u l a r head s e a s a r e compared w i t h measurements. A d i s c u s s i o n i s given r e g a r d i n g d i f f e r e n c e s
between computations and measurements.
NOMENCLATURE

= added mass i n s u r g e
all
= l i n e a r damping c o e f f i c i e n t i n s u r g e
bll
= q u a d r a t i c damping c o e f f i c i e n t
b2
C = r e s t o r i n g c o e f f i c i e n t of t h e mooring system

dL = l e n g t h element of t h e w a t e r l i n e

dS = s u r f a c e element of S o r So
-F = f o r c e v e c t o r w i t h components F,, F2 and F3
~ ( 2 ) = second o r d e r f o r c e v e c t o r w i t h components F : ~ ) l F:~) and F$*)

g ( 2 ) (t,,t 2 ) = q u a d r a t i c impulse r e s p o n s e f u n c t i o n

M = mass m a t r i x

m = mass of t h e v e s s e l i n a i r
-N = outward p o i n t i n g normal u n i t v e c t o r o f a s u r f a c e elernent dS r e l a t i v e t o a r i g h t -
handed system of c o - o r d i n a t e s w i t h o r i g i n i n t h e c e n t r e of g r a v i t y and Xj-axis,
v e r t i c a l l y upwards

= outward p o i n t i n g normal u n i t v e c t o r o f a s u r f a c e element dS r e f e r e n c e d t o t h e

body a x e s w i t h components n n2 and n 3

n, (a) = d i r e c t i o n c o s i n e of a l e n g t h element dL i n l o n g i t u d i n a l d i r e c t i o n

= in-phase p a r t of t h e q u a d r a t i c t r a n s f e r f u n c t i o n
'ij
P = p r e s s u r e o b t a i n a b l e from B e r n o u l l i ' s e q u a t i o n
= q u a d r a t u r e p a r t of t h e q u a d r a t i c t r a n s f e r f u n c t i o n
Qi
j
S = instantaneous wetted s u r f a c e

= mean w e t t e d s u r f a c e
S0
T. = amplitude of t h e q u a d r a t i c t r a n s f e r f u n c t i o n
1j
t = time

5' t2 = time s h i f t s
%(l) = f i r s t o r d e r motion of a s u r f a c e e l e m e n t dS
- = motion v e c t o r of t h e c e n t r e of g r a v i t y w i t h components X l g l X2g and X
Xg 3g
~ ( 1 ) = f i r s t o r d e r o s c i l l a t o r y component o f t h e motions o f t h e c e n t r e of g r a v i t y
g
;(l) = f ' r t o r d e r a n g u l a r motion v e c t o r w i t h components x i 1 ) ( r o l l ) , xi1) ( p i t c h ) and
x a l f (yawl

Ei = random phase uniformly d i s t r i b u t e d o v e r 0 - 2n

E (L) = phase a n g l e of t h e r e l a t i v e wave e l e v a t i o n a t p o i n t II r e l a t e d t o t h e u n d i s t u r b e d

i wave c r e s t p a s s i n g t h e c e n t r e of g r a v i t y
(1) = amplitude of t h e i - t h r e g u l a r wave component
5i
<(l) ( t ) = time dependent wave e l e v a t i o n

(l) ' ( L ) = t r a n s f e r f u n c t i o n o f t h e amplitude of t h e f i r s t o r d e r r e l a t i v e wave e l e v a t i o n a t

=ri point L i n the waterline

(t,!t) = time dependent r e l a t i v e wave e l e v a t i o n i n a p o i n t L a l o n g t h e w a t e r l i n e

o(l)
= f i r s t o r d e r v e l o c i t y p o t e n t i a l i n c l u d i n g c o n t r i b u t i o n s from t h e incoming waves,
d i f f r a c t i o n and body motions

= second o r d e r d i f f r a c t i o n p o t e n t i a l

= second o r d e r " u n d i s t u r b e d wave" p o t e n t i a l

W. = frequency of i - t h component

INTRODUCTION

I n o f f s h o r e a c t i v i t i e s t h e t y p e s of work f o r which semi-submersibles a r e employed, a r e

c o n t i n u o u s l y i n c r e a s i n g . I n i t i a l l y t h e s e v e s s e l s were used a s s t a b l e p l a t f o r m s from which d r i l -
l i n g a c t i v i t i e s were c a r r i e d o u t . Due t o t h e c o n s i s t e n t l y s u p e r i o r s e a k e e p i n g performance of
t h e s e v e s s e l s compared with b a r g e s and s h i p s , such v e s s e l s a r e now a l s o b e i n g used f o r a v a r i e t y
of o t h e r t a s k s s u c h as p r o d u c t i o n p l a t f o r m s , h o t e l p l a t f o r m s , m u l t i - f u n c t i o n a l s e r v i c e v e s s e l s
and c r a n e v e s s e l s . The e a r l y semi-submersibles c o n s i s t e d of r e l a t i v e l y s l e n d e r e l e m e n t s . T h i s
was i n keeping w i t h t h e b a s i c i d e a behind t h e d e s i g n of such v e s s e l s which s t r o v e towards a
f l o a t i n g s t r u c t u r e which was " t r a n s p a r e n t " f o r t h e waves and which g a i n e d most of i t s buoyancy
from submerged f l o a t e r s o u t of r e a c h of t h e g r e a t e s t wave motion. Such d e s i g n p h i l o s o p h i e s l e d
t o semi-submersibles which, a l t h o u g h i n many c a s e s p o s s e s s e d e x c e l l e n t motion c h a r a c t e r i s t i c s
i n waves, were l i m i t e d i n t h e i r c a p a b i l i t y t o a c c e p t l a r g e v a r i a t i o n s i n deck l o a d . T h i s was i n
p a r t due t o t h e r e l a t i v e l y s l e n d e r columns and c o r r e s p o n d i n g l y s m a l l w a t e r p l a n e a r e a s of such
vessels.

With t h e development of t h e o r e t i c a l means, such a s g i v e n by Hooft [ l ] , t o a n a l y s e t h e

complex hydrodynamic a s p e c t s of semi-submersibles it became a p p a r e n t t h a t wave t r a n s p a r e n c y i s
a d e s i g n r e q u i r e m e n t which i s t o o simple and u n n e c e s s a r i l y r e s t r i c t i v e f o r d e s i g n i n g such ves-
s e l s from t h e p o i n t of view of s e a k i n d l i n e s s . I t appeared t h a t wave l o a d s on such v e s s e l s c o u l d
b e i n f l u e n c e d and t h e c o r r e s p o n d i n g motion c o u l d b e o p t i m i s e d , f o r i n s t a n c e , by a l t e r a t i o n i n
geometry. Thus, more r e c e n t semi-submersible d e s i g n s have become c o n s i d e r a b l y l e s s s l e n d e r and
l e s s wave t r a n s p a r e n t t h a n t h e i r p r e d e c e s s o r s , w h i l e r e t a i n i n g t h e f a v o u r a b l e motion c h a r a c t e r -
i s t i c s i n waves.

The use of l a r g e r d i a m e t e r columns and t h e i n c r e a s e i n d i s p l a c e m e n t , however, a l s o r e s u l t

i n a p o t e n t i a l l y g r e a t e r c a p a b i l i t y of t h e s t r u c t u r e t o d i s t u r b and r e f l e c t t h e incoming waves.
T h i s may have a s i g n i f i c a n t e f f e c t on t h e low frequency second o r d e r wave f o r c e s on t h e s t r u c -
t u r e . These f o r c e s , a l s o known a s low frequency wave d r i f t f o r c e s , a r e a s s o c i a t e d w i t h t h e capa-
b i l i t i e s of a s t r u c t u r e t o r e f l e c t waves and can g e n e r a t e l a r g e amplitude low frequency motions
i n moored v e s s e l s r e s u l t i n g i n h i g h peak mooring l o a d s . I n t h e c a s e of dynamically p o s i t i o n e d
v e s s e l s , t h e s e f o r c e s a r e of importance from t h e p o i n t of view of s t a t i o n keeping a c c u r a c y and
t h r u s t e r sizing.

I n o r d e r t o i n v e s t i g a t e t h e m e r i t s of a p a r t i c u l a r d e s i g n f o r a semi-submersible from
t h e p o i n t of view of wave d r i f t f o r c e s and t h e r e s u l t a n t motion, a t h e o r y which embodies a l l
r e l e v a n t a s p e c t s and which can be used a s a b a s i s f o r computation, i s needed. I n t h e p a s t , a
number of t h e o r i e s have been p u t forward by means of which t h e wave d r i f t f o r c e s on a semi-
s u b m e r s i b l e c o u l d be computed. See f o r i n s t a n c e Wahab 1 2 1 , P i j f e r s and Brink [31, F e r r e t t i and
B e r t a E41 and Karppinen [ 5 ] . The l a s t of t h e s e a u t h o r s p r e s e n t e d a c o m p u t a t i o n a l method which
i s based on p o t e n t i a l t h e o r y and t h e assumption t h a t t h e e l e m e n t s of a semi-submersible such
a s t h e columns and f l o a t e r s a r e s l e n d e r and from a hydrodynamic p o i n t of view, do n o t i n t e r a c t .
The t o t a l second o r d e r wave d r i f t f o r c e i s t h e n t h e sum of t h e d r i f t f o r c e s on t h e e l e m e n t s i n
t h e absence of a l l o t h e r e l e m e n t s . According t o p o t e n t i a l t h e o r y which d i s r e g a r d s v i s c o u s
e f f e c t , t h e d r i f t f o r c e s a r e a q u a d r a t i c f u n c t i o n o f t h e wave h e i g h t . Wahab [ 2 1 , P i j f e r s and
Brink 131 and F e r r e t t i and B e r t a [ 4 ] a l s o make use o f t h e assumption of s l e n d e r n e s s and t h e
absence of hydrodynamic i n t e r a c t i o n o f t h e e l e m e n t s of t h e semi-submersible. The hydrodynamic
f o r c e i n each e l e m e n t i s determined through t h e u s e of Morison's e q u a t i o n and t h e r e l a t i v e
v e l o c i t y between t h e f l u i d and t h e e l e m e n t s . The t o t a l f o s c e i s found by summation o v e r t h e
e l e m e n t s . The d r i f t f o r c e i s d e f i n e d a s t h e mean v a l u e of t h e t o t a l f o r c e averaged o v e r a wave
p e r i o d . R e s u l t s of c a l c u l a t i o n i n d i c a t e t h a t v i s c o u s e f f e c t s a r i s i n g from t h e d r a g t e r m i n
Morison's e q u a t i o n a r e of s i g n i f i c a n t importance and t h a t t h e d r i f t f o r c e s a r e p r o p o r t i o n a l t o
a b o u t t h e t h i r d power of t h e wave h e i g h t . I n none o f t h e s e c a s e s a r e r e s u l t s of computation
compared w i t h e x p e r i m e n t a l r e s u l t s , however, s o t h e i s s u e a s t o whether t h e wave d r i f t f o r c e s
on semi-submersible s t r u c t u r e s a r e s i g n i f i c a n t l y i n f l u e n c e d by v i s c o u s e f f e c t s o r t h a t t h e s e
f o r c e s may be determined by methods which n e g l e c t hydrodynamic i n t e r a c t i o n between t h e e l e m e n t s
of t h e c o n s t r u c t i o n i s e s s e n t i a l l y l e f t u n s e t t l e d .
I n t h i s p a p e r e x p e r i m e n t a l r e s u l t s of model t e s t s w i t h a semi-submersible i n i r r e g u l a r
head waves w i l l be p r e s e n t e d . The time domain r e c o r d o f t h e measured wave d r i f t f o r c e i n i r r e g -
u l a r waves is compared w i t h r e s u l t s of computation. The computations a r e based on three-dimen-
s i o n a l p o t e n t i a l t h e o r y and t a k e i n t o a c c o u n t t h e hydrodynamic i n t e r a c t i o n between t h e e l e m e n t s .
R e s u l t s of time domain s i m u l a t i o n of t h e low frequency s u r g e motions i n i r r e g u l a r head waves a r e
a l s o compared w i t h e x p e r i m e n t a l r e s u l t s . Before comparing t h e r e s u l t s of computations and exper-
iments a b r i e f a c c o u n t w i l l be given of t h e method of computation employed f o r d e t e r m i n a t i o n of
t h e wave d r i f t f o r c e s and t h e s i m u l a t i o n t e c h n i q u e s used t o d e t e r m i n e t h e low frequency compo-
n e n t s of t h e wave d r i f t f o r c e and t h e h o r i z o n t a l s u r g e motion of t h e semi-submersible.

WAVE DRIFT FORCES

Computations of wave d r i f t f o r c e s a r e based on t h e d i r e c t i n t e g r a t i o n method, s e e r e f .

L 6 1 and [ 7 1 . By t h i s method t h e wave d r i f t f o r c e s a r e found from t h e second o r d e r term i n t h e
f o l l o w i n g e x p r e s s i o n f o r t h e hydrodynamic f o r c e :

Following t h e development g i v e n i n r e f . 161 we o b t a i n t h e f o l l o w i n g e x p r e s s i o n f o r t h e

second o r d e r wave f o r c e :

For t h e purpose of t i m e domain s i m u l a t i o n of wave d r i f t f o r c e s e q u a t i o n ( 2 ) i s u n s u i t a b l e

i n i t s p r e s e n t form. T h i s i s due t o t h e l a r g e amount of d a t a which must be computed a t e a c h t i m e
s t e p i n o r d e r t o b e a b l e t o c a r r y o u t t h e i n t e g r a t i o n s around t h e w a t e r l i n e and o v e r t h e h u l l
s u r f a c e . I t i s c o m p u t a t i o n a l l y more c o n v e n i e n t t o use e q u a t i o n ( 2 ) t o compute frequency domain
q u a d r a t i c frequency r e s p o n s e o r t r a n s f e r f u n c t i o n s , which i n t u r n can be t r a n s f o r m e d i n t o time
domain second o r d e r impulse response f u n c t i o n s . These second o r d e r impulse r e s p o n s e f u n c t i o n s ,
when convoluted w i t h t h e u n d i s t u r b e d wave t r a i n , y i e l d time r e c o r d s of t h e second o r d e r d r i f t
f o r c e s . See r e f . [ B ] . T h i s procedure makes i t p o s s i b l e t o compute wave d r i f t f o r c e r e c o ~ d sf o r
a r b i t r a r y wave r e c o r d s i n a r e l a t i v e l y s t r a i g h t f o r w a r d and economic manner.

I n t h e f o l l o w i n g a b r i e f d e s c r i p t i o n i s g i v e n o f t h e procedure t o o b t a i n t h e q u a d r a t i c ,
t r a n s f e r f u n c t i o n f o r t h e second o r d e r wave d r i f t f o r c e s .

QUADRATIC TRIlNSFER FUNCTION

The t o t a l q u a d r a t i c t r a n s f e r f u n c t i o n i s s p l i t up i n c o n t r i b u t i o n s a r i s i n g from t h e f o l -
lowing components of e q u a t i o n ( 2 ) :

I : F i r s t o r d e r r e l a t i v e wave e l e v a t i o n

I1 : P r e s s u r e d r o p due t o f i r s t o r d e r v e l o c i t y

- JJ - t p l ~ o ( ' ) 12.;i.ds (4)

0
111: P r e s s u r e due t o p r o d u c t of g r a d i e n t of f i r s t o r d e r p r e s s u r e and f i r s t o r d e r motion

IV : C o n t r i b u t i o n due t o p r o d u c t s of f i r s t o r d e r a n g u l a r motions and i n e r t i a f o r c e s

V : C o n t r i b u t i o n due t o second o r d e r p o t e n t i a l s

The procedure t o o b t a i n t h e q u a d r a t i c t r a n s f e r f u n c t i o n s of t h e f o r c e s dependent on f i r s t o r d e r

q u a n t i t i e s ( I , 11, I11 and I V ) w i l l be i l l u s t r a t e d by t a k i n g t h e low frequency p a r t o f t h e lon-
g i t u d i n a l component of t h e f o r c e c o n t r i b u t i o n due t o t h e r e l a t i v e wave e l e v a t i o n :
I n i r r e g u l a r l o n g - c r e s t e d waves t h e e l e v a t i o n , t o f i r s t o r d e r , of t h e incoming u n d i s t u r b e d waves
- r e f e r r e d t o t h e mean p o s i t i o n of t h e c e n t r e of g r a v i t y of t h e f l o a t i n g body
as :
-
may be w r i t t e n

The f i r s t o r d e r r e l a t i v e wave e l e v a t i o n a t a p o i n t 9. on t h e w a t e r l i n e of t h e body may be w r i t -

t e n a s follows:

S u b s t i t u t i o n of (10) i n e q u a t i o n ( 8 ) l e a d s t o :

+ h i g h frequency terms (11)

where Pij and Q . a r e t h e in-phase and out-of-phase components of t h e time independent t r a n s -

I ljl
£ e r f u n c t i o n with:

QijI = QI(wi1wj) = - WLJ f ~ 9 ri

3 ' ( L ) . 5; ( L )
j
sin{^,
i
(L) - j
( L ) I n l ( L ) .dL (13)

Taking t h e low frequency p a r t of t h e s q u a r e of t h e wave e l e v a t i o n g i v e n by e q u a t i o n ( 9 ) r e s u l t s

i n:

Comparison w i t h e q u a t i o n (11) shows t h a t P . and Q i j a r e t r a n s f e r f u n c t i o n s which g i v e t h a t

11, I
p a r t o f t h e wave d r i f t i n g f o r c e which i s in-phase a n d - o u t - ~ f - ~ h a s er e s p e c t i v e l y w i t h t h e low
f r e q u e n c y p a r t of t h e s q u a r e of t h e i n c i d e n t wave e l e v a t i o n .

I t w i l l be c l e a r t h a t s i m i l a r developments can be made f o r o t h e r c o n t r i b u t i o n s t o t h e

wave d r i f t i n g f o r c e s which depend o n l y on f i r s t o r d e r q u a n t i t i e s . The c o n t r i b u t i o n V due t o
second o r d e r p o t e n t i a l s i s approximated u s i n g r e s u l t s o f f i r s t o r d e r wave l o a d s ; s e e r e f . [7].
The t o t a l in-phase and out-of-phase t r a n s f e r f u n c t i o n s a r e found by s i m p l e summation o f t h e
c o n t r i b u t i o n s from t h e f i v e components. The wave d r i f t i n g f o r c e s may t h u s be p r e s e n t e d a s t r a n s -
f e r f u n c t i o n s which, a s can be s e e n from t h e a f o r e g o i n g , a r e a f u n c t i o n o f two f r e q u e n c i e s .
I n g e n e r a l , t h e q u a d r a t i c t r a n s f e r f u n c t i o n s w i l l a l s o be f u n c t i o n s of t h e d i r e c t i o n of t h e
wave S.

Based on a wave e l e v a t i o n a s given by e q u a t i o n ( 9 ) t h e t o t a l wave d r i f t f o r c e i s found

from:

i n which P . . and Q i j a r e found by summation of c o n t r i b u t i o n s I through V.

13
DRIFT FORCE I N A REGULAR WAVE GROUP

We c o n s i d e r t h e f i r s t o r d e r wave e l e v a t i o n i n a r e g u l a r wave group c o n s i s t i n g of two reg-

u l a r waves w i t h frequency U . and w
j-
-

= jl) .cos ( w l t + cl) + <;l) . c o s ( u 2 t + C2)

The second o r d e r f o r c e a s s o c i a t e d w i t h such a wave t r a i n h a s t h e f o l l o w i n g form:

From e q u a t i o n (17) i t i s s e e n t h a t t h e second o r d e r f o r c e c o n t a i n s two c o n s t a n t compo-

n e n t s . Each of t h e s e components r e p r e s e n t s t h e c o n s t a n t f o r c e which would be found i f t h e wave
t r a i n c o n s i s t e d of a s i n g l e r e g u l a r wave w i t h frequency w l o r w2 r e s p e c t i v e l y . T h i s shows t h a t ,
a l t h o u g h t h e f o r c e i s a n o n - l i n e a r phenomenon, t h e c o n s t a n t o r mean second o r d e r f o r c e i n a
wave t r a i n c o n s i s t i n g of a s u p e r p o s i t i o n of r e g u l a r waves i s t h e sum of t h e mean f o r c e s found
f o r e a c h of t h e component waves. The q u a d r a t i c t r a n s f e r f u n c t i o n :

g i v e s t h e mean second o r d e r f o r c e i n r e g u l a r waves w i t h frequency wl: I n l i t e r a t u r e d e a l i n g

w i t h t h e mean second o r d e r f o r c e s on f l o a t i n g o b j e c t s i n r e g u l a r o r irregular waves t h i s i s
o f t e n e x p r e s s e d a s a f u n c t i o n dependent on one frequency wl. The above e q u a t i o n s show t h a t t h e
t r a n s f e r f u n c t i o n f o r t h e mean o r c o n s t a n t p a r t i s , however, o n l y a s p e c i f i c c a s e of t h e gen-
e r a l q u a d r a t i c t r a n s f e r f u n c t i o n P(wlrw2) f o r t h e f o r c e i n r e g u l a r wave groups.
Besides t h e c o n s t a n t p a r t s t h e second o r d e r f o r c e c o n t a i n s low frequency p a r t s w i t h a
frequency c o r r e s p o n d i n g t o t h e d i f f e r e n c e frequency wl -
w2 of t h e component r e g u l a r waves.
I t i s s e e n t h a t t h e a m p l i t u d e s of t h e in-phase and out-of-phase p a r t s depend on t h e sum of t h e
in-phase q u a d r a t i c t r a n s f e r f u n c t i o n s P12 and P21 and t h e d i f f e r e n c e of t h e out-of-phase func-
t i o n s Q12 and Q21.

SYMMETRY OF THE QUADRATIC TRANSFER FUNCTIONS

From e q u a t i o n (1'7) it i s s e e n t h a t t h e t r a n s f e r f u n c t i o n s do n o t appear i n i s o l a t i o n b u t

r a t h e r i n p a i r s . I n g e n e r a l , t h e in-phase and out-of-phase components of t h e q u a d r a t i c t r a n s f e r
f u n c t i o n s a s d e t e r m i n e d from e q u a t i o n s ( 3 ) through ( 7 ) f o r combinations of wl and w2 w i l l be s o
t h a t , f o r instance:

However, s i n c e t h e f o r c e a s g i v e n i n e q u a t i o n ( 1 7 ) depends on t h e sum o r d i f f e r e n c e o f t h e com-

p o n e n t s of t h e q u a d r a t i c t r a n s f e r f u n c t i o n s t h e s e may be s o r e f o r m u l a t e d t h a t t h e f o l l o w i n g
symmetry r e l a t i o n s a r e v a l i d :

P(w1,w2) = P(w2'w1) (20)

Q(w1,w2) = -Q(w 2 1 ~ 1 ) (21)

The in-phase component P(w1,w2) of t h e q u a d r a t i c t r a n s f e r f u n c t i o n of t h e t o t a l second o r d e r
f o r c e t a k e s t h e form o f a m a t r i x which i s symmetrical about t h e d i a g o n a l f o r which w l i s e q u a l
t o w2 w h i l e t h e out-of-phase component Q ( w 1 , w 2 ) i s anti-symmetrical about the diagonal.
EVALUATION OF QUADRATIC TRANSFER FUNCTIONS

E v a l u a t i o n of t h e v a r i o u s components of t h e q u a d r a t i c t r a n s f e r f u n c t i o n s of t h e low f r e -
quency wave d r i f t i n g f o r c e s r e q u i r e s d e t a i l e d knowledge of t h e f i r s t o r d e r v e s s e l motions and
f l u i d motions. For i n s t a n c e , a s shown by e q u a t i o n s (12) and ( 1 3 ) , e v a l u a t i o n of c o n t r i b u t i o n I
r e q u i r e s knowledge of t h e r e l a t i v e wave e l e v a t i o n a m p l i t u d e s and phase a n g l e s around t h e water-
line.

A numerical method by means of which such d e t a i l e d i n f o r m a t i o n may be o b t a i n e d ( u s i n g a

d i s t r i b u t i o n of s o u r c e s over t h e mean w e t t e d s u r f a c e of t h e body) has been developed by B o r e e l
191 and Van Oortmerssen [ 1 0 ] .

TIME DOMAIN REPRESENTATION OF THE MEAN AND LOW FREQUENCY SECOND ORDER FORCES

According t o D a l z e l l [ 8 1 t h e low frequency second o r d e r f o r c e s can be computed given t h e

q u a d r a t i c t r a n s f e r f u n c t i o n and t h e time r e c o r d of t h e wave e l e v a t i o n u s i n g t h e f o l l o w i n g r e l a -
tionship :

The q u a d r a t i c impulse response f u n c t i o n g ( 2 ) ( t , t ) i s d e r i v e d from t h e f o l l o w i n g e x p r e s s i o n :

1 2

i n which:
G ( ~ ()w l , w 2 ) = complex q u a d r a t i c t r a n s f e r f u n c t i o n

From e q u a t i o n ( 2 2 ) i t i s s e e n t h a t i f t h e q u a d r a t i c impulse r e s p o n s e f u n c t i o n g ( 2 ) ( t l r t 2 )
i s known t h e time r e c o r d of t h e low frequency second o r d e r f o r c e s can be computed f o r a r b i t r a r y
wave e l e v a t i o n r e c o r d s . The a p p l i c a b i l i t y of t h i s t e c h n i q u e h a s been demonstrated e x t e n s i v e l y
and c o n v i n c i n g l y by D a l z e l l [ l 1 1 u s i n g q u a d r a t i c t r a n s f e r f u n c t i o n s f o r t h e second o r d e r f o r c e s
o b t a i n e d from t e s t s i n i r r e g u l a r waves u s i n g c r o s s - b i - s p e c t r a l a n a l y s i s t e c h n i q u e s .

Time r e c o r d s of second o r d e r wave d r i f t f o r c e s i n i r r e g u l a r waves can a l s o be g e n e r a t e d

based on e q u a t i o n ( 1 5 ) . I n such c a s e s i t i s assumed t h a t t h e i r r e g u l a r waves a r e d e s c r i b e d by
t h e s p e c t r a l d e n s i t y S ( U ) . The a m p l i t u d e s ci a r e found from t h e f o l l o w i n g r e l a t i o n s h i p :
5

The phase a n g l e s gi a r e random w i t h a homogeneous d i s t r i b u t i o n f u n c t i o n from z e r o t o 2n. The

wave e l e v a t i o n f o l l o w s from e q u a t i o n ( 9 ) . The wave d r i f t f o r c e r e c o r d i s found from e q u a t i o n
( 1 5 ) . It should be n o t e d , however, t h a t i f t i m e r e c o r d s of d r i f t f o r c e s a r e g e n e r a t e d f o r t h e
purpose of s i m u l a t i n g t h e behaviour of moored v e s s e l s , t h e frequency d i f f e r e n c e s w i w' in -
e q u a t i o n (15) must be chosen s u f f i c i e n t l y s m a l l i n o r d e r t o c o v e r t h e frequency r a n g e sig- 03
n i f i c a n t response of t h e moored v e s s e l w i t h enough frequency bands. T h i s w i l l g e n e r a l l y r e s u l t
i n a l a r g e number, N I of d i s c r e t e f r e q u e n c i e s w i b e i n g used t o d e s c r i b e t h e wave t r a i n of equa-
t i o n ( 9 ) . T h i s i n t u r n l e a d s t o a l a r g e number of summations t o be c a r r i e d o u t when g e n e r a t i n g
wave d r i f t f o r c e s a c c o r d i n g t o e q u a t i o n ( 1 5 ) .

Computational e f f o r t s i n v o l v e d with e v a l u a t i o n o f t h e wave d r i f t f o r c e r e c o r d a c c o r d i n g

t o e q u a t i o n ( 1 5 ) can be d r a s t i . c a l l y reduced by c h o s i n g e q u i d i s t a n t f r e q u e n c i e s w i t o d e s c r i b e
t h e wave spectrum. I f t h e frequency s t e p used t o d e s c r i b e t h e wave spectrum i s Aw t h e n t h e
wave r e c o r d and hence t h e wave d r i f t f o r c e r e c o r d become p e r i o d i c w i t h a p e r i o d o f :

According t o F o u r i e r ' s theorem t h e wave d r i f t f o r c e r e c o r d can t h e n be w r i t t e n i n t h e form of

a s i n g l e summation a s f o l l o w s :
where : wk = k. Aw

and from e q u a t i o n (15) Ak and Bk a r e found t o be:

with:
6k = 1 f o r k = 0
= 2 f o r k # O
N = number of wave f r e q u e n c i e s used t o d e s c r i b e t h e wave spectrum
M = N - l

Use of e q u a t i o n (27) i n s t e a d of e q u a t i o n ( 1 5 ) i n v o l v e s computing t h e c o e f f i c i e n t s Ak and

Bk a c c o r d i n g t o e q u a t i o n s ( 2 9 ) , ( 3 0 ) and (25) u s i n g d a t a on t h e q u a d r a t i c t r a n s f e r f u n c t i o n s
Pij and Qij. Once t h e s e c o e f f i c i e n t s a r e computed and s t o r e d t h e time r e c o r d of t h e wave d r i f t
f o r c e i s computed from t h e s i n g l e summation of e q u a t i o n ( 2 7 ) .

I n t h i s p a p e r time r e c o r d s of wave d r i f t f o r c e s on a semi-submersible i n i r r e g u l a r head

waves a r e g i v e n , which have been computed u s i n g b o t h t h e q u a d r a t i c impulse r e s p o n s e f u n c t i o n
t e c h n i q u e and t h e d i r e c t summation t e c h n i q u e of e q u a t i o n ( 2 7 ) .
COMPUTATIONS OF LOW FREQUENCY MOTIONS

I n t h i s p a p e r t h e low frequency wave d r i f t f o r c e induced s u r g e motions of a semi-submers-

i b l e i n head s e a s w i l l be p r e s e n t e d . The e q u a t i o n of motion d e s c r i b i n g t h e s u r g e motion i s a s
follows:
( m + al1)P1 + b j:
111
+ b P \ P1I +
2 1
cx1 = ~ : ~ ) ( t ) (31)

The added mass a l l was determined based on t h r e e - d i m e n s i o n a l p o t e n t i a l t h e o r y computations. The

damping c o e f f i c i e n t s b l l and b2 were o b t a i n e d from s t i l l w a t e r s u r g e motion decay t e s t s i n t h e
mooring system. The time r e c o r d of t h e wave d r i f t f o r c e ~ 1 ~ )
( t ) i s computed o f f - l i n e and s t o r e d .
A f t e r t h i s t h e e q u a t i o n of motion i s s o l v e d f o r t h e s u r g e motion.

The aforementioned e q u a t i o n of motion i s r a t h e r simple. For more complex c a s e s i n v o l v i n g

more d e g r e e s of freedom, and i n which t h e assumption of c o n s t a n t added mass and damping i s n o t
v a l i d anymore, a more s u i t a b l e s e t of e q u a t i o n s o f motion i s chosen. See Van Oortmerssen 1101.
THE VESSEL

Computations and model t e s t s have been c a r r i e d o u t f o r a s i x column, two f l o a t e r semi-

s u b m e r s i b l e . The main p a r t i c u l a r s a r e g i v e n i n T a b l e I and F i g u r e 1. The model was made o f PVC
t o a s c a l e of 1 t o 40.

For t h e computations u s i n g t h r e e - d i m e n s i o n a l d i f f r a c t i o n t h e o r y , t h e w e t t e d s u r f a c e of
t h e h u l l i s approximated u s i n g a t o t a l of 216 p l a n e f a c e t elements. The w a t e r l i n e of t h e semi-
s u b m e r s i b l e i s approximated u s i n g a t o t a l of 72 s t r a i g h t l i n e e l e m e n t s . The f a c e t s c h e m a t i s a -
t i o n of one f l o a t e r and t h e w a t e r l i n e s c h e m a t i s a t i o n of one column a r e shown i n F i g u r e 2.

Model t e s t s and computations were c a r r i e d o u t f o r a w a t e r d e p t h c o r r e s p o n d i n g t o 40 m

f u l l scale.

MODEL TESTS

Model t e s t s (and c o m p u t a t i o n s ) have been c a r r i e d o u t f o r t h i s v e s s e l i n a v a r i e t y of

c o n d i t i o n s . I n r e f . L71 r e s u l t s have been g i v e n on t e s t s i n r e g u l a r waves from ahead, abeam
and from t h e bow q u a r t e r i n g d i r e c t i o n . I n t h e r e f e r e n c e mentioned, mean d r i f t f o r c e s i n regu-
l a r waves and wave frequency motion r e s p o n s e f u n c t i o n s have been compared with r e s u l t s o f com-
p u t a t i o n s . The comparisons c o n f i r m t h a t , i n g e n e r a l , t h e wave frequency motions and mean d r i f t
f o r c e s a r e a c c u r a t e l y p r e d i c t e d by t h e computations. For f u r t h e r d e t a i l s we r e f e r t o t h e above
mentioned r e f e r e n c e .

For t h i s p a p e r a t t e n t i o n i s r e s t r i c t e d t o tests i n i r r e g u l a r head s e a s . Two t e s t s w i l l

be d i s c u s s e d h e r e , v i z . :
- One t e s t t o measure t h e time r e c o r d of t h e s u r g e wave d r i f t f o r c e (wave d r i f t f o r c e t e s t ) .
- One t e s t t o measure t h e low f r e q u e n c y s u r g e m o t i o n s w i t h t h e v e s s e l moored i n a s o f t l i n e a r
mooring s y s t e m (motion t e s t ) .
B e s i d e s t e s t s i n i r r e g u l a r head s e a s a s u r g e motion decay t e s t was c a r r i e d o u t i n s t i l l w a t e r
w i t h t h e v e s s e l moored i n t h e s o f t l i n e a r mooring system. I n F i g u r e 3 t h e wave s p e c t r u m i s shown
o f t h e i r r e g u l a r waves f o r which model t e s t s were c a r r i e d o u t .
TEST SET-UP FOR THE WAVE DRIFT FORCE TEST

The p u r p o s e o f t h i s t e s t was t o measure t h e wave d r i f t f o r c e s i n i r r e g u l a r waves i n s u c h

a way t h a t t h e r e s u l t s would b e r e p r e s e n t a t i v e f o r t h e wave d r i f t f o r c e s a c t i n g on a s o f t moored
s e m i - s u b m e r s i b l e . T h i s r e q u i r e d a t e s t s e t - u p which, on t h e one hand d o e s n o t r e s t r i c t t h e wave
f r e q u e n c y m o t i o n s , and on t h e o t h e r hand r e s t r i c t s a s much a s p o s s i b l e low f r e q u e n c y s u r g e mo-
t i o n s . The l a t t e r r e q u i r e m e n t e n s u r e s t h a t t h e measured f o r c e s a r e n o t a f f e c t e d unduly by dynam-
i c magnification e f f e c t s .

I n o r d e r t o measure t h e low f r e q u e n c y wave d r i f t f o r c e on t h e s e m i - s u b m e r s i b l e u s e was

made o f a s t i f f l i n e a r s p r i n g mooring system. The s e t - u p i s shown s c h e m a t i c a l l y i n F i g u r e 4.
The s t i f f n e s s o f t h e s p r i n g s was chosen s u c h t h a t t h e n a t u r a l f r e q u e n c y o f t h e s u r g e m o t i o n was
j u s t o u t s i d e t h e f r e q u e n c y r a n g e o f t h e i r r e g u l a r waves. The n a t u r a l s u r g e f r e q u e n c y c o r r e -
sponded w i t h 0 . 4 r a d . / s e c . f u l l s c a l e . I n s p i t e o f t h e r e l a t i v e l y l a r g e s t i f f n e s s o f t h e moor-
i n g s y s t e m , t h e wave f r e q u e n c y m o t i o n s were o n l y s l i g h t l y a f f e c t e d i n t h e r a n g e o f t h e wave
f r e q u e n c i e s p r e s e n t i n t h e s p e c t r u m . T h i s i s shown i n F i g u r e 5 i n which r e s u l t s o f wave f r e -
quency h e a v e , p i t c h and s u r g e motion r e s p o n s e c o m p u t a t i o n s a r e shown w i t h and w i t h o u t t h e e f f e c t
o f t h e s t i f f mooring system. I n F i g u r e 6 t h e e f f e c t o f t h e mooring s t i f f n e s s on t h e computed
v a l u e s o f t h e mean d r i f t f o r c e i n r e g u l a r waves i s shown. Again t h e i n f l u e n c e o f t h e mooring
s t i f f n e s s i s s m a l l , which i n d i c a t e s t h a t t h e low f r e q u e n c y wave d r i f t f o r c e on t h e v e s s e l i n
t h e s t i f f mooring s y s t e m i s p r a c t i c a l l y t h e same a s i t would b e on t h e v e s s e l moored i n a s o f t
system.

The mean and low f r e q u e n c y wave d r i f t f o r c e was found from t h e mooring f o r c e measure-
ments ( s e e F i g u r e 4 ) . Due t o t h e mooring s y s t e m t h e measured low f r e q u e n c y f o r c e w i l l t e n d t o
s u f f e r from m a g n i f i c a t i o n e f f e c t s a s t h e f r e q u e n c y o f i n t e r e s t i n c r e a s e s from z e r o upward t o
t h e n a t u r a l s u r g e f r e q u e n c y . F o r t h e p r e s e n t c a s e , low f r e q u e n c y d r i f t f o r c e s w i t h f r e q u e n c i e s
up t o 0.1 r a d . / s e c . f u l l s c a l e s u f f e r e d l e s s t h a n 6 p e r c e n t from dynamic m a g n i f i c a t i o n e f f e c t s .
T h i s means t h a t t h e low f r e q u e n c y components o f t h e measured mooring f o r c e c o u l d be e q u a t e d t o
t h e wave d r i f t f o r c e up t o a f r e q u e n c y o f 0 . 1 r a d . / s e c . f u l l s c a l e . Above t h i s f r e q u e n c y magni-
f i c a t i o n e f f e c t s i n c r e a s e d above 6 p e r c e n t .

TEST SET-UP FOR THE MOTION TEST

The p r i n c i p l e o f t h e t e s t s e t - u p f o r t h i s t e s t i s a l s o shown i n F i g u r e 4. I n t h i s c a s e ,
however, t h e mooring s t i f f n e s s was c o n s i d e r a b l y l e s s . The n a t u r a l f r e q u e n c y o f t h e s u r g e motion
amounted t o 0.036 r a d . / s e c . f u l l s c a l e , which c o r r e s p o n d s t o a n a t u r a l p e r i o d o f 176 s e c o n d s .
S u r g e motion decay t e s t s t o d e t e r m i n e t h e s t i l l w a t e r damping c o e f f i c i e n t s b l l and b2 o f equa-
t i o n ( 3 1 ) were a l s o c a r r i e d o u t i n t h e s o f t s p r i n g s y s t e m . From t h e s e t e s t s t h e f o l l o w i n g v a l u e s
were found:

RESULTS OF COMPUTATIONS OF THE QUADRATIC TRANSFER FUNCTION AND THE SECOND ORDER IMPULSE RESPONSE
FUNCTION

I n F i g u r e 7 and F i g u r e 8 p l o t s a I e g i v e n o f t h e q u a d r a t i c t r a n s f e r f u n c t i o n s P i j and Q i j
r e s p e c t i v e l y of t h e d r i f t f o r c e i n h e a d waves. The p l o t s show t h e c o n t o u r l i n e s o f t h e f u n c t i o n s
P 3.3 and Q i j i n t h e w i , w j f r e q u e n c y p l a n e . I n e a c h p l o t numbers have been a s s i g n e d t o t h e con-
t o u r s . These e x p r e s s t h e v a l u e s o f P i j and Q i i n m e t r i c tons/m2. The p l o t s o n l y c o v e r p a r t o f
t h e t o t a l wi,u plane. For lwi - U, l > 0.24 t i e t r a n s f e r f u n c t i o n s have n o t been computed and
have been set 20 z e r o . The r a p i d f a l l - o f f of t h e f u n c t i o n s a l o n g t h e l i n e s i w i - W . l = 0.21 i s
t h e r e f o r e n o t a c h a r a c t e r i s t i c o f t h e f u n c t i o n s b u t due t o t r u n c a t i o n . D a t a f o r l a g g e r d i f f e r -
e n c e f r e q u e n c i e s a r e n o t r e l e v a n t f o r t h e low f r e q u e n c y s u r g e motions. F o r o t h e r modes o f mo-
t i o n , f o r i n s t a n c e , when low f r e q u e n c y v e r t i c a l motions a r e i m p o r t a n t , i t may be n e c e s s a r y t o
e n l a r g e t h e t r a n s f e r f u n c t i o n s t o l a r g e r d i f f e r e n c e f r e q u e n c i e s . The f u n c t i o n P i j g i v e n i n F i g -
u r e 7 i s s y m m e t r i c a l a b o u t t h e l i n e w i = wj w h i l e t h e f u n c t i o n Q i j g i v e n i n F i g u r e 8 i s a n t i -
s y m m e t r i c a l a b o u t t h e l i n e wi = w j . T h i s i s i n k e e p i n g w i t h e q u a t i o n s ( 2 0 ) and ( 2 1 ) . I n F i g u r e 7
t h e d a t a on t h e l i n e w i = W, c o r r e s p o n d s w i t h t h e mean d r i f t f o r c e s i n r e g u l a r waves shown i n
F i g u r e 6. The n e g a t i v e s i g n o f P i n d i c a t e s t h a t t h e mean f o r c e i n head waves i s d i r e c t e d a f t .
I t i s n o t e d t h a t t h e f u n c t i o n P i i j i n F i g u r e I g e n e r a l l y h a s i t s l o w e s t v a l u e s on t h e d i a g o n a l
W = = W,. -
T h i s f u n c t i o n t e n d s t o l n c r e a s e a s t h e d i f f e r e n c e f r e q u e n c y Iwi w j l is increased.
Below a f r e q u e n c y o f a b o u t 0.75 r a d . / s e c . t h e r e a r e n o c o n t o u r l i n e s e x c e p t n e a r t h e f r e q u e n c y
0 . 3 r a d . / s e c . A t t h i s f r e q u e n c y a s l i g h t " d i p " i s shown i n Pi,. T h i s f r e q u e n c y c o r r e s p o n d s t o
t h e n a t u r a l heave and p i t c h f r e q u e n c y o f t h e v e s s e l . I n between 0.75 r a d . / s e c . and 0.3 r a d . / s e c .
t h e f u n c t i o n P i j r e m a i n s above t h e v a l u e o f -2 and below z e r o . The f i r s t c o n t o u r l i n e marks t h e
-2 l e v e l , h e n c e no c o n t o u r l i n e s o f P i j a r e shown i n t h i s i n t e r v a l . The d e c r e a s e ( l a r g e r nega-
t i v e v a l u e s i n d i c a t i n g t h a t t h e a f t d i r e c t e d f o r c e i s i n c r e a s i n g ) i n t h e v a l u e o f P i , above
f r e q u e n c i e s o f a b o u t 0.75 r a d . / s e c . i s a s s o c i a t e d w i t h i n c r e a s i n g d i f f r a c t i o n e f f e c t s . The s t r u c -
t u r e becomes l a r g e r e l a t i v e t o t h e wave l e n g t h and more wave e n e r g y i s r e f l e c t e d back. The p e a k s
and t r o u g h s shown i n F i g u r e '7 a r e due t o c h a n g i n g i n t e r a c t i o n e f f e c t s o c c u r r i n g between t h e s i x
columns o f t h e s e m i - s u b m e r s i b l e . T h i s is a l s o r e f l e c t e d i n F i g u r e 6 , i n which t h e mean d r i f t
f o r c e i n r e g u l a r waves i s shown. The r e s u l t s i n t h i s f i g u r e c o r r e s p o n d t o t h e v a l u e s on t h e d i -
a g o n a l o f F i g u r e 7.

As i n d i c a t e d p r e v i o u s l y , t h e f u n c t i o n Q i . shown i n F i g u r e 8 i s a n t i - s y m m e t r i c a b o u t t h e
d i a g o n a l . On t h e d i a g o n a l t h e v a l u e s a r e z e r o . i s o n e moves f u r t h e r away from t h e d i a g o n a l t h e
v a l u e s , i n a b s o l u t e s e n s e , i n c r e a s e . F o r low v a l u e s o f w i and w j , Q i j i n c r e a s e s more r a p i d l y a s
/mi - w j I t n c r e a s e s . T h i s i s due t o c o n t r i b u t i o n V t o t h e d r i f t f o r c e which i s g i v e n i n e q u a t i o n
( 7 ) . F o r h i g h e r v a l u e s o f w i and w j , Q i j shows p e a k s and t r o u g h s which a r e a g a i n a s s o c i a t e d w i t h
d i f f r a c t i o n and i n t e r a c t i o n e f f e c t s between columns o f t h e s e m i - s u b m e r s i b l e . F o r I w i - u . l > 0.24,
Q i j f a l l s o f f r a p i d l y . T h i s i s a g a i n due t o t r u n c a t i o n . 3

I n F i g u r e 9 t h e a m p l i t u d e T i j o f t h e wave d r i f t f o r c e t r a n s f e r f u n c t i o n i s g i v e n . T h i s i s
d e f i n e d by:

By d e f i n i t i o n T i j i s symmetric a b o u t t h e d i a g o n a l . I n s p e c t i o n o f T i i n comparison w i t h P i j and

Qi, shows t h a t f o r h i g h e r v a l u e s o f o i and u, t h e a m p l i t u d e T i . i s dominated by t h e i n - p h a s e

::;:eziareater
. F o r lower v a l u e s o f w i and w j , t h e q u a d r a t u r e p a r t hi i s dominant. F o r f r e q u e n c y
t h a n a b o u t 0.75 r a d . /sec. , T i v a l u e s d e c r e a s e r a p i d l y . Between 0.75 r a d . / s e c .
and 0 . 9 1 r a d . / s e c . t h e c o n t o u r s o f Ti, t e n d
/toi -
20 run a t right-angles t o t h e diagonal w i = o j f o r
w j l v a l u e s o f up t o a b o u t 0 . 1 r a d . / s e c . T h i s t y p e o f b e h a v i o u r t e n d s t o f a v o u r t h e u s e o f
a p p r o x i m a t e methods f o r computing d r i f t f o r c e s i n i r r e g u l a r waves a s , f o r i n s t a n c e , g i v e n by
P i n k s t e r [ 1 2 ] . T h i s i s b e c a u s e i n s u c h c a s e s t h e o f f - d i a g o n a l v a l u e s o f T i , can b e r e p l a c e d by
t h e v a l u e on t h e d i a g o n a l Tnn where t h e f r e q u e n c y wn i s e q u a l t o t h e mean o f t h e f r e q u e n c i e s w i
and U,. F o r l o w e r v a l u e s of t h e f r e q u e n c i e s w i and w j t h e v a l u e s o f T i j a r e c h a n g i n g more r a p i d -
l y when moving away from t h e d i a g o n a l w i = w j . T h i s t e n d s t o make a p p r o x i m a t i v e methods, which
a r e b a s e d on t h e d a t a o n t h e d i a g o n a l o n l y , l e s s a c c e p t a b l e .

F i g u r e s 7, 8 and 9 show t h a t t h e q u a d r a t i c t r a n s f e r f u n c t i o n i s a c o m p l i c a t e d s u r f a c e
i n t h e w i , w j p l a n e . Some o f i t s f e a t u r e s a r e r e a d i l y a s s o c i a t e d w i t h known p h y s i c a l e f f e c t s .
A f u l l u n d e r s t a n d i n g o f t h e q u a d r a t i c t r a n s f e r f u n c t i o n w i l l r e q u i r e more s y s t e m a t i c computa-
tions.

I n F i g u r e 1 0 , t h e s e c o n d o r d e r i m p u l s e r e s p o n s e f u n c t i o n g ( 2 ) ( t l , t 2 )computed a c c o r d i n g
t o e q u a t i o n ( 2 3 ) i s shown. The f u n c t i o n g ( 2 ) ( t l , t 2 ) i s shown f o r t l and t 2 v a l u e s from -30 sec.
t o +30 s e c . T h i s i s o n l y p a r t o f t h e c o m p l e t e f u n c t i o n which was CO t e d f o r t l and t 2 from
-78 s e c . t o +78 s e c . w i t h a sample t i m e o f 1.14 s e c . The f u n c t i o n g T 3 y ( t l , t 2 ) i s r e a l and sym-
m e t r i c a l a b o u t t h e d i a g o n a l t l = t 2 . It r e a c h e s i t s l a r g e t v a u e s , i n a b s o l u t e s e n s e , on t h e
d i a g o n a l . The l a r g e s t v a l u e on t h e d i a g o n a l i s -0.48 t f . m S / s e c t f o r t l = t 2 = 6.8 s e c . The con-
t o u r s o f t h e f u n c t i o n g e n e r a l l y r u n p a r a l l e l t o t h e d i a g o n a l i n d i c a t i n a s t r o n g dependence
on t h e t i m e d i f f e r e n c e t l - t 2 . As we move away from t h e d i a g o n a l , g ( 2 y 1 t l , t 2 ) o s c i l l a t e s i n
s i g n and d e c a y s . The same b e h a v i o u r was a l s o found by D a l z e l l [ l 1 1 when s t u d y i n g t h e q u a d r a t i c
i m p u l s e r e s p o n s e f u n c t i o n f o r t h e added r e s i s t a n c e o f a v e s s e l t r a v e l l i n g i n head waves.

The f u n c t i o n g ( 2 ) ( t l , t 2 ) i s t o o c o m p l i c a t e d t o b e a b l e t o i d e n t i f y any p a r t i c u l a r phys-

i c a l phenomena a s h a v i n g i n f l u e n c e on a p a r t i c u l a r f e a t u r e o f t h e f u n c t i o n . Again, s y s t e m a t i c
c o m p u t a t i o n s i n which, f o r i n s t a n c e , t h e geometry o f a p l a t f o r m i s changed, can b e u s e d t o g e t
a b e t t e r f e e l f o r t h e s i g n i f i c a n c e of such d a t a .
RESULTS OF TIME DOMAIN COMPUTATIONS OF THE DRIFT FORCE

I n o r d e r t o v e r i f y t h a t t h e wave d r i f t f o r c e i n i r r e g u l a r waves i s computed c o r r e c t l y u s i n g

t h e q u a d r a t i c t r a n s f e r f u n c t i o n and e q u a t i o n ( 2 2 ) , t h e r e s u l t s o b t a i n e d i n t h i s way a r e compared
w i t h r e s u l t s o b t a i n e d by a p p l i c a t i o n o f t h e d i r e c t summation t e c h n i q u e g i v e n by e q u a t i o n ( 2 7 ) .
To t h i s e n d a wave t r a i n c o r r e s p o n d i n g t o t h e wave s p e c t r u m i n F i g u r e 3 was g e n e r a t e d b a s e d on
e q u a t i o n ( 9 ) u s i n g 600 e q u i d i s t a n t f r e q u e n c y components. F o r t h i s wave t r a i n t h e " t r u e " wave
d r i f t f o r c e s i g n a l i s o b t a i n e d from e q u a t i o n (2'7) u s i n g d a t a on P i j a n d Q i j shown i n F i g u r e s 7
and 8. The wave d r i f t f o r c e s i g n a l was a l s o computed u s i n g t h e s e c o n d o r d e r i m p u l s e r e s p o n s e
f u n c t i o n g ( 2 ) ( t l , t 2 )and e q u a t i o n ( 2 2 ) . The r e s u l t s a r e compared i n F i g u r e 11. I t can b e s e e n
t h a t t h e agreement between t h e two methods i s e x c e l l e n t , t h u s g i v i n g c o n f i d e n c e i n t h e a p p l i c a -
b i l i t y o f e q u a t i o n ( 2 2 ) t o a r b i t r a r y measured wave r e c o r d s .
COMPARISON OF MEASURED AND COMPUTED DRIFT FORCES

I n F i g u r e s 12, 1 3 and 1 4 time r e c o r d s of t h e measured and computed low frequency s u r g e

d r i f t f o r c e i n i r r e g u l a r waves a r e g i v e n . In t h e s e f i g u r e s t h e r e c o r d of t h e waves and t h e low
frequency p a r t of t h e s q u a r e of t h e wave e l e v a t i o n a r e a l s o g i v e n . A l l r e c o r d s , e x c e p t f o r t h e
wave r e c o r d , have been low-pass f i l t e r e d s o a s t o e l i m i n a t e f r e q u e n c i e s h i g h e r t h a n a b o u t 0.1
r a d . / s e c . f u l l s c a l e . The measured f o r c e r e c o r d s t i l l c o n t a i n s some h i g h e r frequency components.
T h i s i s due t o t h e s t i f f mooring system used f o r t h i s t e s t , which r e s u l t e d i n l a r g e wave f r e -
quency f o r c e components. A s was shown p r e v i o u s l y , t h o s e d i d n o t i n f l u e n c e t h e wave frequency
motions s i g n i f i c a n t l y . The r e c o r d of t h e low-pass f i l t e r e d s q u a r e of t h e wave e l e v a t i o n i s i n -
c l u d e d t o show t h e c l e a r r e l a t i o n s h i p between t h e f o r c e and t h i s q u a n t i t y . The computed r e c o r d
i s b a s e d upon t h e measured wave r e c o r d and e q u a t i o n ( 2 2 ) .

I n F i g u r e 15 t h e s p e c t r a l d e n s i t y of t h e measured and computed wave d r i f t f o r c e r e c o r d s

a r e shown up t o a frequency of 0.1 r a d . / s e c . f u l l s c a l e . The s p e c t r a l d e n s i t i e s were computed
based on a r e c o r d l e n g t h o f 6 hours f u l l s c a l e u s i n g t h e a u t o - c o r r e l a t i o n f u n c t i o n method. The
sample p e r i o d was 3.79 seconds and 200 l a g s were used t o compute t h e a u t o - c o r r e l a t i o n f u n c t i o n s .
No smoothing was a p p l i e d .

From t h e comparison it can b e concluded t h a t t h e computed wave d r i f t f o r c e r e c o r d i s i n

good q u a l i t a t i v e agreement w i t h t h e measured f o r c e r e c o r d . The s p e c t r a l d e n s i t i e s of b o t h r e c -
o r d s g i v e n i n F i g u r e 15 a r e very s i m i l a r i n form o n l y , t h e magnitude i s somewhat d i f f e r e n t .
I n g e n e r a l it a p p e a r s t h a t t h e computations u n d e r e s t i m a t e t h e wave d r i f t f o r c e b o t h i n t h e mean
v a l u e and i n t h e amplitude o f t h e s l o w l y v a r y i n g components by 30 t o 40 p e r c e n t . The good a g r e e -
ment between t h e d i r e c t summation t e c h n i q u e and t h e second o r d e r impulse r e s p o n s e t e c h n i q u e
( s e e F i g u r e 11) i n d i c a t e s t h a t i n t h i s c a s e , t h e cause of t h e d i f f e r e n c e s may l i e i n i n a c c u r a -
c i e s i n t h e f o r c e measurements, i n a c c u r a c i e s i n t h e computation of t h e q u a d r a t i c t r a n s f e r func-
t i o n s o r be caused by p h y s i c a l e f f e c t s n o t t a k e n i n t o a c c o u n t i n t h e computations such a s f o r c e s
of v i s c o u s o r i g i n . T h i s w i l l be a s u b j e c t f o r f u r t h e r r e s e a r c h and no d e f i n i t e c o n c l u s i o n s c a n
be drawn a t t h i s time.

COMPARISON OF COMPUTED AND MEASURED LOW FREQUENCY SURGE MOTIONS

I n F i g u r e 16 r e s u l t s a r e g i v e n of t h e computed and measured low frequency s u r g e motions of

t h e semi-submersible. The computed s u r g e motions were determined b a s e d on e q u a t i o n (31) u s i n g t h e
computed wave d r i f t f o r c e s i g n a l . Also shown i n t h e f i g u r e i s t h e measured wave e l e v a t i o n . The
d u r a t i o n of t h e motion t e s t corresponded t o 30 minutes f u l l s c a l e . The t r a n s i e n t components i n
t h e computed s u r g e t a k e a b o u t 10 minutes t o d i e o u t , t h u s l e a v i n g a b o u t 20 minutes f o r t h e com-
p a r i s o n . The comparison shows t h a t t h e computed s u r g e r e c o r d c o r r e s p o n d s q u i t e w e l l w i t h t h e mea-
s u r e d r e c o r d w i t h r e s p e c t t o t h e phase of t h e motion and t h e g e n e r a l f e a t u r e s of t h e r e c o r d .
The a m p l i t u d e s of t h e computed r e c o r d a r e , however, somewhat lower t h a n t h e measured v a l u e s .
T h i s i s i n agreement w i t h t h e p r e v i o u s l y found d i f f e r e n c e s between t h e measured and computed
low f r e q u e n c y d r i f t f o r c e s .

CONCLUSIONS

In t h i s paper a g e n e r a l method t o determine t h e low frequency wave d r i f t f o r c e s on a

v e s s e l f l o a t i n g i n i r r e g u l a r waves h a s been d e s c r i b e d . A p p l i c a t i o n of t h i s method t o t h e c a s e
of a s i x column semi-submersible and comparison of r e s u l t s of time domain computations of wave
d r i f t f o r c e s and low frequency motions w i t h r e s u l t s of model t e s t s h a s shown t h a t , i n a q u a l i -
t a t i v e s e n s e , both t h e wave d r i f t f o r c e s and t h e low frequency motions a r e w e l l p r e d i c t e d by
computations. The computed d r i f t f o r c e s , however, f a l l below t h e measured d r i f t f o r c e s by some
30 t o 40 p e r c e n t . Using t h e computed d r i f t f o r c e s , t i m e domain s i m u l a t i o n s of t h e low frequency
h o r i z o n t a l motions show t h e same o r d e r of d i f f e r e n c e s compared t o r e s u l t s of measurements.

More i n v e s t i g a t i o n s w i l l be c a r r i e d o u t t o determine t h e phenomena which may e f f e c t t h e

d i f f e r e n c e s . The computations of wave d r i f t f o r c e s have been based on p o t e n t i a l t h e o r y . R e s u l t s
g i v e n i n t h i s paper i n d i c a t e t h a t , a l t h o u g h d i f f e r e n c e s e x i s t between r e s u l t s of measurements
and computations, f o r t h i s c a s e a t l e a s t , t h e low frequency wave d r i f t f o r c e s a c t i n g on t h e
semi-submersible a r e dominated by p o t e n t i a l e f f e c t s .

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Model Basin, P u b l i c a t i o n No. 400.

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wave f o r c e s on b o d i e s o s c i l l a t i n g i n r e g u l a r w a v e s " , P r o c e e d i n g s Second I n t e r n a t i o n a l
C o n f e r e n c e o n N u m e r i c a l S h i p Hydrodynamics, B e r k e l y , 1977.

P i n k s t e r , J . A . , 1 9 8 0 , Low f r e q u e n c y s e c o n d o r d e r wave e x c i t i n g f o r c e s o n f l o a t i n g s t r u c -
t u r e s , N e t h e r l a n d s S h i p Model B a s i n , P u b l i c a t i o n No. 650.

D a l z e l l , J.F., 1 9 7 6 , " A p p l i c a t i o n o f t h e f u n d a m e n t a l p o l y n o m i a l model t o t h e s h i p a d d e d

r e s i s t a n c e p r o b l e m " , E l e v e n t h Symposium o n N a v a l Hydrodynamics, U n i v e r s i t y C o l l e g e ,
London, 1976.

B o r e e l , L . J . , 1 9 7 4 , "Wave a c t i o n o n l a r g e o f f s h o r e s t r u c t u r e s " , C o n f e r e n c e o n O f f s h o r e
S t r u c t u r e s , I n s t i t u t e o f C i v i l E n g i n e e r s , London.

Van O o r t m e r s s e n , G . , 1 9 7 6 , The m o t i o n s o f a moored s h i p i n w a v e s , N e t h e r l a n d s S h i p Model

B a s i n , P u b l i c a t i o n No. 510.

D a l z e l l , J.F., 1 9 7 5 , The a p p l i c a b i l i t y o f t h e f u n c t i o n a l p o l y n o m i a l i n p u t - o u t p u t model

t o s h i p r e s i s t a n c e i n waves, S t e v e n s I n s t i t u t e o f Technology, Davidson L a b o r a t o r y , Report
SIT-DL-75-1794.

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E u r o p e a n S p r i n g M e e t i n g o f SPE-AIME, Amsterdam, P a p e r SPE 483'7.

TABLE I

MAIN PARTICULARS OF SEMI-SUBMERSIBLE

Designation Symbol Unit Value

Length between p e r p e n d i c u l a r s m 100.00

L~~
Breadth B m 76.00
Draught T m 20.00
D i s p l a c e m e n t volume V m 3- 35,925

Water d e p t h Wd m 40.00
 -
SEMI SUBMERSIBLE
FACET X H E M A T I S A T I O H SEMI-SUBMERSIBLE
TOTAL 216 FACETS

WATER LINE SCHEMATISATION

TOTAL 72 ELEMENTS

Fig. 1. Layout of the semi-submersible Fig. 2. Facet schematisation

- --
- FORCE TRANSDUCER

l0 0 01
W in rad sec-'

Fig. 3. The wave spectrum Fig. 4. Mooring system

 - FREE-FLOATING
D IN STIFF MOORING SYSTEM

w in rad sec -'

F i g . 5. I n f l u e n c e of mooring system s t i f f n e s s on f i r s t o r d e r motions

I- 0
F R E E FLOATING
IN STIFF MOORING SYSTEM

U in rad sec:'

Fig. 6 . I n f l u e n c e of mooring system

s t i f f n e s s on mean d r i f t f o r c e s
 W i in rad sec-' Wi in rad sec-'

F i g . '7. In-phase component of t h e q u a d r a t i c F i g . 8. Q u a d r a t u r e component of t h e q u a d r a t -

t r a n s f e r function f o r the d r i f t i c t r a n s f e r function f o r t h e d r i f t
f o r c e i n head s e a s f o r c e i n head s e a s

W, In rad sec-'
-30 ,
-30
+
-20 -10 0
11 In sec
-
10 20
I
30

F i g . 9. Amplitude of t h e q u a d r a t i c t r a n s - F i g . 10. Second o r d e r impulse r e s p o n s e func-

f e r function f o r the d r i f t force t i o n g ( t l , t 2 ) f o r the d r i f t force
i n head s e a s i n head s e a s
 DRIFT FORCE IMPULS RESPONSE EQUATION 122)
in t f

-500-

10

WAVE
In m
-1 0

5 00

DRIFT FORCE
In t f
-500

500-

DRIFT FORCE
In tf
L
-500-2

DRIFT FORCE
In t f /'
- V

-500-'

/v-
DRIFT FORCE
~n tf -

-
-500-

0 %l im
time tn sec

Fig. 11. Comparison of computed d r i f t f o r c e s

 WAVE
in m

50 0-
Computed Measured
DRIFT FORCE
in tf
-
-500-

20

WAVE
tn m

-20-1 '
V ' - ' V

DRIFT FORCE A
A
in t f

-50 0 -

20

WAVE
in m

-2oJ Y Y -' T l

DRIFT FORCE
in t f
-

-
-500-

0 SO
t i m e in sec

Fig. 12. Comparison of computed and measured drift forces

 20
WAVE

-2 0

DRIFT FORCE Computed Measured

~n 11 -0
e'
-500-

DRIFT FORCE
In t t 0

-500-

20
WAVE
in m 0

-20

2 o-l

500-
DRIFT FORCE
In t t

- 5QO-

0 S 100
t i m e in sec

Fig. 13. Comparison of computed and measured d r i f t f o r c e s

 20

WAVE
In m

-20 I ' v Y

Computed Measured
DRIFT FORCE /
in tt

-500-

20

WAVE
In m

-20 I

0 5D lrn
t t m e In sec

Fig. 14. Comparison of computed and measured drift forces