sustainability

Article
Effect of Mooring Parameters on Dynamic Responses of a
Semi-Submersible Floating Offshore Wind Turbine
Baolong Liu 1,2 and Jianxing Yu 1,2, *

1 State Key Laboratory of Hydraulic Engineering Simulation and Safety, School of Civil Engineering, Tianjin
University, Tianjin 300354, China
2 Tianjin Key Laboratory of Port and Ocean Engineering, School of Civil Engineering, Tianjin University,
Tianjin 300354, China
* Correspondence: [email protected]

Abstract: Based on a new semi-submersible floating offshore wind turbine (FOWT), a coupling aero-
hydro-flexible model was established to study its dynamic behaviors, as well as the corresponding
mooring system, under complicated sea scenarios. The aerodynamic load, the wave load, the current
load, and the mooring load were taken into consideration. To further investigate the influence
of the mooring parameters on the floating system, the diameter and the total length of mooring
lines, which are the most critical parameters in mooring line design, were chosen to be analyzed.
Particularly, five diameters and seven lengths were adopted to establish the FOWT mooring system,
and a time-domain simulation was carried out for each cases. Based on the numerical simulations,
their influences on the mooring system stiffness and the dynamic responses of FOWT were studied.
The results show that the diameter has little influence on the static shape of the mooring line. The
mooring system stiffness can be effectively increased by reducing the length and increasing the
diameter of mooring lines. Moreover, the surge motion of floating foundation can be effectively
Citation: Liu, B.; Yu, J. Effect of controlled by increasing the mooring line diameter and decreasing mooring line length under the
Mooring Parameters on Dynamic rated sea scenario. From this aspect, the dynamic response features of the FOWTs could be improved.
Responses of a Semi-Submersible
Floating Offshore Wind Turbine. Keywords: mooring system; dynamic response; floating offshore wind turbine; semi-submersible
Sustainability 2022, 14, 14012. platform
https://doi.org/10.3390/
su142114012

Academic Editors: Yuquan Zhang,

Jianhua Zhang, Ling Zhou, 1. Introduction
Bin Huang and Firoz Alam With the traditional fossil energy crisis and environmental pollution becoming serious,
Received: 16 August 2022
renewable energy development has become one of the key approaches to overcome this
Accepted: 26 October 2022
predicament. Wind energy, as an easily accessible and huge-reserve renewable energy,
Published: 27 October 2022
has achieved rapid development in the past decades. Compared with onshore wind, the
offshore wind speed is higher and its turbulence intensity is lower. In addition, offshore
Publisher’s Note: MDPI stays neutral
wind turbines occupy little farming resources, which releases the negative impact on the
with regard to jurisdictional claims in
environment. Therefore, it is suitable for large-scale development and utilization. At
published maps and institutional affil-
present, with the exploitation of the offshore resources in in the China coastal shallow-
iations.
water areas becoming saturated, the development of offshore wind resources has gradually
moved to the far-reaching sea area, which water depths exceed 50 m.
A complete offshore wind turbine system usually consists of a turbine, a tower, a
Copyright: © 2022 by the authors.
platform, and a mooring system. As the structure for energy conversion, the turbine
Licensee MDPI, Basel, Switzerland. extracts energy from the surrounding flow, which are divided into water turbines and
This article is an open access article wind turbines according to the different fluids. Based on the hydrodynamic and structural
distributed under the terms and dynamics analysis, there are many research studies on water turbines and wind turbines.
conditions of the Creative Commons Zhang et al. [1,2] studied the influence of the support structure and bypass flow on the
Attribution (CC BY) license (https:// turbine wake through model experiments, expanding the knowledge of the turbine wake
creativecommons.org/licenses/by/ under waves and currents [3]. In offshore wind farms, multiple wind turbines are usually
4.0/). installed in one area in order to obtain power more effectively, which leads to a wake

Sustainability 2022, 14, 14012. https://doi.org/10.3390/su142114012 https://www.mdpi.com/journal/sustainability

Sustainability 2022, 14, 14012 2 of 18

interaction. Rezvane et al. [4] proposed an innovative method to study the inflow velocity
of wind turbines after considering the multiple wake effects. Giovanni et al. [5] studied the
influence of turbulence on the wake dynamic mode of NREL-5MW turbine and the wind
field layout is optimized according to the analysis wake model.
The present floating foundations of the FOWT are derived from the experience of off-
shore oil and gas platforms. The common floating platform types include semi-submersible,
Spar, and TLP [6]. At present, scholars worldwide have carried out relevant research on
the dynamic responses of floating wind energy facilities. For example, based on the compu-
tational fluid dynamics (CFD) method, Li et al. [7] calculated the nonlinear hydrodynamic
parameters including the second-order difference-frequency wave load, the radiation wave
load of the semi-submersible wind turbine platform. They found that the dynamic perfor-
mance of a floating platform predicted by the modified hydrodynamic coefficient was in
better agreement with the experimental results. Jiang et al. [8] proposed a stepped Spar
type FOWT platform, and verified its applicability in both 50 m and 100 m water-depth
conditions, according to a model test and numerical analysis. A conceptual design of
reduced-draft FOWT was proposed by Zhang et al. [9], to operate in a 70 m water-depth
area, and its dynamic behaviors were predicted by in their in-house numerical simulation
tool. It was found that increasing the diameter of the anti-motion structure in the bottom
can effectively reduce the FOWT pitch motion, as well as the mooring tension, thus im-
proving the safety and robustness of the FOWT system. Beshbichi et al. [10] studied the
dynamic response of a two-rotor wind turbine mounted on a spar floating platform by
comparing it with the baseline OC3 single-rotor design. According to their results, the
two-rotor design has an advantage of mass saving, but a disadvantage in motion, that
is the low-frequency yaw response is increased at the rated operating wind speed. Ren
et al. [11] calculated the hydrodynamic parameters and motion responses of a TLP FOWT
in the case of tendon failure. The numerical prediction is based on the software WAMIT
and ANSYS/AQWA. It was found that the heave, pitch, and roll motions of the FOWT
were all affected with tendon failure scenarios. In addition, the natural frequency of the
platform and the tension of the unbroken tendon were also affected.
As a permanent mooring structure, the FOWT maintains the energy generation in
the predetermined operating area under the restriction of the mooring system to prevent
the drift motion under the action of wind and waves. To some extent, the generation
efficiency of the FOWT depends on the performance of the mooring system. Therefore, the
mooring system of FOWT has been studied extensively. Hsu et al. [12] used commercial
software to analyze the dynamic mooring load of a semi-submersible FOWT under the
operating and extreme conditions. They found that the impact load might be observed in
the mooring line under extreme conditions. The aerodynamic–hydrodynamic–mooring
coupling dynamic analysis models were successively established by Bae et al. [13] and Li
et al. [14], respectively. The dynamic response of the DeepCwind semi-submersible FOWT
and the Hywind Spar FOWT were analyzed with a single mooring line broken. It was found
that the mooring line failure would cause a large drift motion of the floating platform, while
the mooring system is not redundancy. Yang et al. [15] demonstrated the transient dynamic
response of a new multi column FOWT in the case of tendon fracture, and found that the
tendon fracture connecting between the buoyancy tank and the ballast tank would have a
significant influence on the pitching motion. In order to reduce the dynamic response of
the semisubmersible FOWT, Giulio Ferri et al. [16], proposed a configuration optimization
method of the platform and mooring system by establishing an effective frequency domain
simulation model. The results show that the optimized structure has better performance
and smaller platform size.
Moreover, the parametric studies have been conducted to investigate the influence
of the catenary mooring line parameter on the dynamic performance of the floaters. For
example, Ghafari and Dardel [17] established the numerical model of a moored semi-
submersible platform model and the effects of mooring line stretch and buoy size are
studied in both time and frequency domain. They found that the wider stretch and smaller
Sustainability 2022, 14, 14012 3 of 18

buoy size could reduce the platform motions, but enlarge the tensions in the mooring
lines. Wu et al. [18] numerically investigated the effect of three different mooring line types
and two auxiliary mooring system on the floating current turbine which was adopted to
capture the hydrokinetic energy from Kuroshio current. Their results showed that the
system robustness could be achieved when the mooring mass density could exceed the
corresponding thresholds. Ali et al. [19] performed sensitivity analysis on the mooring
system of a deep-water turret-moored FPSO. The influences of water depth, diameter, and
the hydrodynamic coefficients of the mooring line were studied. It could be observed from
their results that the water depth and mooring line diameter had significant effects on surge
motion reduction, but the hydrodynamic coefficients had little impact on the FPSO motion.
Huang and Yang [20] optimized the mooring system of OC4 semi-submersible FOWT
depending on the shallow water area with five different water depths ranging from 50 m to
100 m, based on the design rules or guidelines issued by Det Norske Veritas and American
Petroleum Institute. Both the ultimate strength and fatigue damage of the catenary mooring
lines were discussed via different met-ocean data. Particularly, the cost of each mooring
system was carefully examined and compared. Ja’e et al. [21] further conclude the design
method and the optimization techniques of the mooring system. They found that some
evolutionary algorithms showed great potential and had been used for the mooring line
parameter optimization works.
In the present study, a new-type semi-submersible floating platform with pontoon
and three columns was adopted. For safety reasons, three groups of three mooring lines
were designed, unlike the Hywind Scotland and Windfloat Atlantic. The prototype FOWT
was established in the South China Sea. Moreover, previous research on the mooring
system of FOWTs usually focuses on the performance of the particular mooring system
under different sea conditions. In this work, more attentions are paid to the mooring line
parameters’ influence on the dynamic behaviors of FOWT. We hope to provide reference for
the design of other floating platforms and their corresponding mooring systems. Therefore,
considering different mooring line diameters and lengths, which are the most critical
parameters of the mooring line design, the effect of the mooring system on the stiffness
and the dynamic response of the floating wind turbine system was analyzed based on the
numerical simulation method. A coupled model with wind turbine, floating platform, and
mooring system was conducted to perform the dynamic response simulations of a new
semi-submersible FOWT via different mooring lines.
In the following section, the numerical algorithms are briefly described. The FOWT
system is clarified in Section 3. The simulation results of the FOWT with different mooring
system are carefully discussed in Section 4. Finally, the conclusions are drawn in Section 5.

2. Methodology
2.1. Aerodynamic Loads
The blade element momentum theory is used to calculate the aerodynamic loads on
the wind turbine. It is assumed that the blade is discretized into a plurality of independent
blade elements along the length direction of the blade, and the airfoil remains unchanged
along the same element. When the pressure difference is generated after the wind flow
passes through the rotor, the axial and tangential induced velocities at each blade element
can be calculated through the momentum loss of the wind flow, and then the thrust dT and
torque dQ on the blade element can be determined by the following formula,

dT = 21 ρW 2 BC (Cl cos φ + Cd sin φ)dr

(1)
dQ = 12 ρW 2 BC (Cl sin φ − Cd cos φ)rdr

where ρ is the air density, W is the wind speed, B is the number of the blades, C is the chord
length of the blade element profile, Cl and Cd represent the lift and drag coefficient of the
blade element at the corresponding angle of attack, φ is the angle of incidence, and r is the
distance between the blade element and the hub center. The aerodynamic load on a single
blade can be obtained by integrating the distributed load along the blade span direction.
Sustainability 2022, 14, 14012 4 of 18

2.2. Wave Loads

In this study, the three-dimensional potential flow theory was used to calculate the
hydrodynamic loads on the floating platform. This theory was developed from the linear
potential flow theory, and is also one of the common tools to solve the hydrodynamic
coefficient of the floating body without forward speed.
According to the linear potential flow theory, the velocity potential Φ of the floating
body in the flow field is composed of three parts: the undisturbed incident velocity potential
Φw , the diffraction velocity potential Φd under the assumption that the floating body is
stationary, and the radiation velocity potential Φj caused by the six degree of freedom
motion of the floating body. These three velocity potential terms all satisfy Laplace equation.
By combining with the boundary conditions of the flow field, the velocity of the floating
body can be obtained, and then the wave force on the wet surface of the floating body can
be obtained by numerical integration.
At the same time, because the second-order wave load easily generates the second-
order drift force of the low-frequency resonance of the mooring system, the Newman
approximation method was used to deal with the second-order differential frequency wave
load on the floating platform. Hereby, the wave loads could be achieved based on the
following equations, " #
M
Fwave_1 (t) = Re ∑ ηi F1 (ωi ) (2)
i =1
" #
M M
∑∑ ηi η j∗ F2d


Fwave_2d (t) = Re ωi , ω j (3)
i =1 j =1

where η i and η j∗ donate the elevation and its conjugation of i-th wave component in complex
domain, F1 (ω) is the linear wave load transfer function, and the F2d (ω i ,ω j ) is difference-
frequency quadric transfer function calculated by Newman approximation method.

2.3. Current Loads

The main types of ocean current include shear flow and uniform flow. The sea
condition in this study is uniform flow. In uniform flow, the flow velocity at different points
on the same streamline is equal, the flow velocity distribution on each cross-section is the
same, and the average cross-section flow velocity is constant. The flow load acting on the
surface of the floating body is estimated by the drag force formula as follows,

1 2
Fcur = CD ρW AVcur (4)
2
where, ρW is the density of sea water, CD is the drag force coefficient related to the shape, A
is the force area of the floating body in the direction of positive projection of velocity, and
Vcur is the relative velocity of the body.

2.4. Mooring Loads

The internal forces of mooring lines mainly affected by axial tension can be calculated
by the finite element method as shown in Figure 1. The bar elements are expressed by the
overall Lagrange formula. The expression is based on the Bergan method and is modified
according to the comprehensive cross-section force and small strain theory. Based on the
small strain theory, it can be deduced that the axial force N of the unit is:

L − L0
N= ( EA) (5)
L0

where L0 is the initial stress-free unit length and EA is the axial stiffness. The tangential
stiffness relation of the unit is derived by incremental form of virtual work principle:

∆Sint = (k G + k M )∆v (6)

 stiffness relation of the unit is derived by incremental form of virtual work principle:

ΔSint = ( kG + kM ) Δv (6)

In this equation, ΔSint is the increment of internal force vector, and kG and kM are the
Sustainability 2022, 14, 14012 geometric stiffness matrix and the material stiffness matrix, respectively. Δv is the incre-
5 of 18
ment of displacement vector.

Figure 1. Model
Figure 1. Model of
of bar
bar element.
element.

2.5. Equation of Motion ∆S

In this equation, int is
in the increment of internal force vector, and kG and kM are
theDomain
Time
the geometric stiffness matrix and the material stiffness matrix, respectively. ∆v is the
For a FOWT, the platform motion governing equation in the time domain can be
increment of displacement vector.
written as following,
2.5. Equation of Motion in the Time Domain t

For a FOWT, the platform

( M+A∞) x( t)motion
+ h( t −τ )x (τ ) dτ +Df ( x) +K( x) x =q( t, x, x)

0 governing equation in the time domain can be
(7)
written as following,
where M is the body mass matrix, A is the frequency-dependent attached water quality
matrix, h(t) is the retardation..
Z function,
t D. is the nonlinear .
damping matrix .
and K is the
(M + A∞ )x ( t ) + h(t − τ )x(τ )dτ x+, xDf 
, x represent the displacement, veloc-
x + K ( x ) x = q t, x, x (7)
restoring stiffness matrix of the0 floating body.
ity, and
where Macceleration
is the body vector of the floating
mass matrix, A is thebody, respectively. q isattached
frequency-dependent the external waterexcitation
quality
matrix, h(t) is the retardation function, D is the nonlinear damping matrix andprovided
load, including the first and second order wave loads, nonlinear restoring forces K is the
by the mooring lines, andof aerodynamic .the
.. wind turbines.
restoring stiffness matrix the floating loads
body. on x, x, x represent the displacement, velocity,
and acceleration vector of the floating body, respectively. q is thebyexternal
The added mass and potential flow damping calculated the three-dimensional
excitation load,
potential flow theory are frequency-dependent, while the
including the first and second order wave loads, nonlinear restoring forces provided wave frequency components
by the
are complex under irregular wave conditions,
mooring lines, and aerodynamic loads on the wind turbines. so the added mass and potential flow
damping corresponding to a certain frequency cannot be
The added mass and potential flow damping calculated by the three-dimensionaldirectly determined and used in
the time domain
potential flow theory equation. On this basis, the added
are frequency-dependent, whilemass and potential
the wave frequencyflow dampingare
components re-
lating to under
complex the frequency
irregularare transformed
wave conditions, intoso convolution
the added mass function by convolution
and potential integra-
flow damping
tion. Fourth-order
corresponding to aRunge–Kutta
certain frequency numerical
cannot method was used
be directly to solveand
determined the motion
used in response
the time
of floating
domain platform.On this basis, the added mass and potential flow damping relating
equation.
to the frequency are transformed into convolution function by convolution integration.
3. DescriptionRunge–Kutta
Fourth-order of the New-Type Semi-Submersible
numerical method was used FOWT to solve the motion response of
floating platform.
3.1. The Semi-Submersible Floating Platform

3. Description of the New-Type Semi-Submersible FOWT

3.1. The Semi-Submersible Floating Platform
In previous studies on semi-submersible FOWT, the OC4 DeepCWind FOWT are
usually adopted. However, in this study, we adopted a novel semi-submersible floating
foundation which was composed of columns, heave plates, lower floating bodies, and
square cross braces. The whole structure is arranged in an equilateral triangle for better
stability. The basic structure type of the floating platform is shown in Figure 2, and the
main parameters are shown in Table 1.
 usually adopted. However, in this study, we adopted a novel semi-submersible floating
In previous
foundation studies
which on semi-submersible
was composed of columns,FOWT,
heave the OC4lower
plates, DeepCWind
floating FOWT
bodies, are
and
usually adopted. However, in this study, we adopted a novel semi-submersible floating
square cross braces. The whole structure is arranged in an equilateral triangle for better
foundation which
stability. The basicwas composed
structure typeofof columns, heave
the floating plates,islower
platform shownfloating bodies,
in Figure 2, andand
the
square cross braces. The whole structure
main parameters are shown in Table 1. is arranged in an equilateral triangle for better
Sustainability 2022, 14, 14012 stability. The basic structure type of the floating platform is shown in Figure 2, and6the of 18
main parameters are shown in Table 1.

Figure 2. Floating platform.

Figure 2. Floating platform.
Figure
Table2.1.Floating platform. of the floating platform.
Main parameters
Table 1. Main parameters of the floating platform.
Table 1. Main parameters of theParameter
floating platform. Value
Parameter
Total length Value 71.96 m
Parameter
Total length
Total width 71.96 mValue
80.0 m
Total
Total width
Moldedlength
depth 80.0 m71.9633.0mm
Molded depth
Total width
Column diameter/spacing 33.0 13.0
m 80.0 m m
m/60.0
Column diameter/spacing
Molded
Pontoon depth
width/height 13.0 m/60.0 mm/3.5
33.0
14.0 m m
Pontoon width/height
Column diameter/spacing 14.0 m/3.5
13.0 m
Heave plate diameter/height 20.0 m/3.5m
m/60.0 m
Heave plate diameter/height 20.0 m/3.5 m
Square Pontoon width/height
cross brace length/width/height 14.0
47 m/3.5m/3.5 m m
m/3.5
Square cross brace length/width/height 47 m/3.5 m/3.5 m
Heave plate diameter/height
Draft 20.0 m/3.5 m
Draft 18 m 18 m
Square cross brace length/width/height 47 m/3.5 m/3.5t m
Weight Weight 5621.0665621.066
t
Draft 18 m
3.2. The Mooring System Weight
3.2. The Mooring System
5621.066 t

Nine
Nine mooringlines
mooring lines were used in the present study, which were divided into 3
3.2. The Mooring System were used in the present study, which were divided into 3 groups.
groups. Each group, which consisted
Each group, which consisted of three of three mooring
mooring lines, waslines, was connected
connected with thewith the and
column col-
umn Nine mooring
and were
the lines lines were
were in used
arranged in the present study, which were divided into 3is
the lines arranged parallel.inThe
parallel. The configuration
configuration of mooringof system
mooringis system
shown in
groups.
shown Each group,
in Figure 3. which consisted of three mooring lines, was connected with the col-
Figure 3.
umn and the lines were arranged in parallel. The configuration of mooring system is
shown in Figure 3.

Figure 3. Configuration of mooring system.

A single mooring line was composed of three sections. The profile is displayed in
Figure 4. The upper section of the splash zone was a R3S anchor chain with a length of
20 m. The middle suspension section was R3 anchor chain with a length of 131 m; the
lowest lying section was M2 anchor chain with a length of 280 m. The main parameters
of each section are shown in Table 2. It should be noted that the diameter means the
nominal diameter of the chains, so the thickness of the chain is same as the diameter,
which is required by the international standard ISO-1074. In fact, each component and
 A single mooring line was composed of three sections. The profile is displayed in
Figure 4. The upper section of the splash zone was a R3S anchor chain with a length of 20
m. The middle suspension section was R3 anchor chain with a length of 131 m; the lowest
lying section was M2 anchor chain with a length of 280 m. The main parameters of each
section are shown in Table 2. It should be noted that the diameter means the nominal
Sustainability 2022, 14, 14012 7 of 18
diameter of the chains, so the thickness of the chain is same as the diameter, which is
required by the international standard ISO-1074. In fact, each component and its corre-
sponding length are designed based on the guideline approved by the China Classifica-
itsSociety
tion corresponding
[22]. Thislength
designare designed
meets based on the
the requirements of guideline
both buoyapproved
motion andby extreme
the China
Classification Society [22]. This design meets the requirements of both
tension in the lines, like the design work based on the API or DNV guidelines in anotherbuoy motion and
extreme tension in the lines, like the design work based on the API or DNV
citation [20]. These results could be observed in other publications [23,24]. It should be guidelines
in another
noted citation
that in those [20]. the
works, These resultslines
mooring couldarebesimplified
observed asin two-part
other publications
cable. The[23,24].
Upper It
should be noted that in those works, the mooring lines are simplified
part S3 whose minimum broken tension is larger is merged into S2. Specifically, when as two-part cable.
The Upper part S3 whose minimum broken tension is larger is merged into
analyzing the effect of mooring line diameter, since a single mooring line is composed of S2. Specifically,
when analyzing the effect of mooring line diameter, since a single mooring line is composed
three sections of anchor chains of different materials, the diameter of the three sections
of three sections of anchor chains of different materials, the diameter of the three sections
will increase/decrease the corresponding change value on the original design parameters.
will increase/decrease the corresponding change value on the original design parameters.
When analyzing the effect of mooring line length, since the tension of the upper mooring
When analyzing the effect of mooring line length, since the tension of the upper mooring
line is greater, the length of the S3 section is defined to change, and the position of the
line is greater, the length of the S3 section is defined to change, and the position of the
fairlead and anchor point remains unchanged.
fairlead and anchor point remains unchanged.

0 S1 S2 S3

-20
Z (m)

-40

-60

0 50 100 150 200 250 300 350 400

X (m)
Figure 4. Profile
Figure of the
4. Profile mooring
of the line.
mooring line.

Table 2. Main
Table parameters
2. Main of of
parameters thethe
mooring system.
mooring system.
Component S1 (Lowest) S2 (Middle) S3 (Upper)
Component S1 (Lowest) S2 (Middle) S3 (Upper)
Level M2 R3 R3S
NominalLevel
Diameter (mm) M2208 R3
122 R3S
122
Nominal Diameter (mm) 208 122 122
Length (m) 280 131 20
Length (m) 280 131 20
Dry weight (kg/m) 861 296.2 296.2
Dry weight (kg/m) 861 296.2 296.2
Minimumbroken
Minimum brokentension
tension(kN)
(kN) 24,140
24,140 11,365
11,365 12,690
12,690
Axial stiffness (N)
Axial stiffness (N) 3.693.69
× 10×910
9
1.27 ××10
1.27 1099 1.27
1.27×× 1010
9 9

3.3.3.3.
TheThe
Wind
WindTurbine
Turbine
NREL 5MW
NREL 5MW wind
windturbine [25]
turbine was
[25] adopted
was adoptedas as
thethe
wind
windturbine
turbinein this study,
in this butbut
study, thethe
tower was modified for the corresponding wind farm. To be specific, the
tower was modified for the corresponding wind farm. To be specific, the tower column tower column
with
withheight of of
height 78 78
m,m,
toptop
diameter of 4.77
diameter m, m,
of 4.77 andand
bottom
bottom diameter
diameterof 6.96 m was
of 6.96 m was redesigned
redesigned
according to the actual environmental conditions of offshore wind farms
according to the actual environmental conditions of offshore wind farms in China. in China. In the In
numerical model, the tower column was divided into 30 sections which
the numerical model, the tower column was divided into 30 sections which the diameter the diameter
changes
changes linearly,
linearly,and
andthethe
beam
beamelement
elementwas adopted
was adopted to to
model
model thethe
blades
blades and tower.
and In In
tower.
other words, both bending and torsional moments on these slender structures were taken
into consideration. Their dynamic behaviors were simulated by the Riflex module in the
SIMA package. However, the nacelle and the rotor hub were modelled as the rigid bodies
which include the six-DOF motion responses, respectively. The corresponding oscillations
were predicted by the SIMO package. The models of wind turbine and tower column can
be observed in Figure 5. Moreover, the semi-submersible foundation was modelled as the
rigid body while the bar elements were adopted to establish the numerical model of all
nine mooring lines. The geometry modelling and the hydrodynamic coefficient prediction
of the floater were finished in SESAM, and the coupled model was established in SIMA.
 SIMA package. However, the nacelle and the rotor hub were modelled as the rigid bodies
which include the six-DOF motion responses, respectively. The corresponding oscillations
were predicted by the SIMO package. The models of wind turbine and tower column can
be observed in Figure 5. Moreover, the semi-submersible foundation was modelled as the
Sustainability 2022, 14, 14012 rigid body while the bar elements were adopted to establish the numerical model8of all
of 18
nine mooring lines. The geometry modelling and the hydrodynamic coefficient prediction
of the floater were finished in SESAM, and the coupled model was established in SIMA.

Figure5.5.Dynamic
Figure Dynamicsimulation
simulationmodel
modelin
inSIMA.
SIMA.

4.4.Results
Resultsand
andDiscussion
Discussion
In
Inthis
thissection,
section,two
twomajor
majormooring
mooringparameters
parametersare arechosen
chosentotobe beanalyzed.
analyzed.One Oneisisthe
the
mooring line diameter which could significantly affect the construction
mooring line diameter which could significantly affect the construction cost and mini- cost and minimum
breaking loads. loads.
mum breaking The other
The is the is
other mooring
the mooringline length. This parameter
line length. This parameterusually affects
usually the
affects
pretension as well
the pretension as the
as well as body motion.
the body Firstly,
motion. the static
Firstly, restoring
the static stiffness
restoring of the
stiffness mooring
of the moor-
system is calculated
ing system based based
is calculated on the finite
on theelement algorithm
finite element with different
algorithm with body motions.
different bodyThis
mo-
istions.
followed by the dynamic response simulations under the rated operation
This is followed by the dynamic response simulations under the rated operation sea sea scenario. To
perform these simulations, SIMA, one of the SESAM numerical packages
scenario. To perform these simulations, SIMA, one of the SESAM numerical packages is is adopted. The
established
adopted. The numerical model
established is shownmodel
numerical in Figure 5. DueintoFigure
is shown the limitation
5. Due to of the
the limitation
manuscript, of
we hope to brief and quick display the most significant results
the manuscript, we hope to brief and quick display the most significant results of the FOWT, the of
buoy
the
motion
FOWT,and the the
buoy mooring
motiontension
and the(like the original
mooring tensionmanuscript shows),manuscript
(like the original which are directly
shows),
and mainly determined by the mooring system, other than spreading
which are directly and mainly determined by the mooring system, other than spreading out all the results to
make the manuscript like an engineering report. Therefore, we select
out all the results to make the manuscript like an engineering report. Therefore, we selecttwo major mooring
line
twoparameters:
major mooring the diameter and thethe
line parameters: length. To beand
diameter specific, five sensitivity
the length. analysis
To be specific, cases
five sen-
of the mooring line diameter with a 10 mm step and seven sensitivity
sitivity analysis cases of the mooring line diameter with a 10 mm step and seven sensitiv-analysis cases of the
mooring line length with a 1 m step are adopted to perform the 3 h CPU-time
ity analysis cases of the mooring line length with a 1 m step are adopted to perform the 3 simulations.
To avoid the stochastic influence caused by the irregular wave and the unsteady wind, we
h CPU-time simulations. To avoid the stochastic influence caused by the irregular wave
choose 10 random seeds in every case, and the statistic results displayed in the manuscript
and the unsteady wind, we choose 10 random seeds in every case, and the statistic results
has been chosen from the same random seed.
displayed in the manuscript has been chosen from the same random seed.
4.1. Static Stiffness Characteristics of the Mooring System
4.1. Static Stiffness Characteristics of the Mooring System
The stiffness is one of the important design parameters of the mooring line for the
The stiffness
large drifts is one of plane
in the horizontal the important design
of the FOWT areparameters of the
mainly limited by mooring linesystem.
the mooring for the
large drifts in the horizontal plane of the FOWT are mainly limited by the mooring
Among many parameters, the diameter and length of mooring line are the most important system.
Among many
parameters parameters,
to be the in
determined diameter
mooring and length Therefore,
design. of mooringthe
linefinite
are the most important
element method
described in Section 2.4 is used to analyze the mooring line mooring type and stiffness of
mooring system in this section.

4.1.1. Effect of Mooring Line Diameter on Mooring Stiffness

The change of mooring line diameter will not only change the weight of mooring line,
but also change the tensile stiffness of mooring line. Based on the basic principles of material
mechanics and the empirical formulas obtained from classification tests, it is assumed that
the weight and tensile stiffness of the mooring line are proportional to the square of the
diameter. On this basis, five different diameters of mooring lines are selected for stiffness
characteristics analysis. The static configuration of a single mooring line, surge sway and
yaw stiffness curves of the mooring system are shown in Figure 6a–d, respectively.
 Sustainability 2022, 14, x FOR PEER REVIEW 9 of

Sustainability 2022, 14, 14012 9 of 18

parameters to be determined in mooring design. Therefore, the finite element method d
scribed in Section 2.4 is used to analyze the mooring line mooring type and stiffness
mooring system in this section.
It can be found from the calculation results in Figure 6a that the static shape of a single
mooring line does
4.1.1. not of
Effect change when
Mooring theDiameter
Line mooringon line diameter
Mooring changes. However, from
Stiffness
the stiffness curves in Figure 6b,c, it can be seen that both surge and sway stiffness of
The change of mooring line diameter will not only change the weight of mooring lin
the mooring system increases with the increasing diameter, and significant nonlinearity
but also change the tensile stiffness of mooring line. Based on the basic principles of m
was found when the displacement is more than 5 m which ensuring the motion of the
terial mechanics and the empirical formulas obtained from classification tests, it is a
semi-submersible FOWT in a limited range. Moreover, according to the yaw restoring
sumed that the weight and tensile stiffness of the mooring line are proportional to t
moment curves, we could observe the linearity in the stiffness. Particularly, it could be seen
square of the diameter. On this basis, five different diameters of mooring lines are selecte
that we the restoring stiffness of the horizontal motions is positive relative to the mooring
for stiffness characteristics analysis. The static configuration of a single mooring lin
line diameter. In order words, the larger-diameter lines could provide larger restoring
surge sway and yaw stiffness curves of the mooring system are shown in Figure 6a–
force/moment for the FOWT because of the heavier weight. However, the cost of the
respectively.
thicker lines is undoubtedly more expensive.

10
D = -20mm D = -10mm D = 0mm D = 10mm D = 20mm
0

-10

-20
Z (m)

-30

-40

-50

-60

-70
0 50 100 150 200 250 300 350 400
X (m)
(a)
4
10
4

3
Restoring Force (kN)

-1
-15 -10 -5 0 5 10 15
Surge (m)
(b)

Figure 6. Cont.
SustainabilitySustainability
2022, 14, 14012
2022, 14, x FOR PEER REVIEW 10 of 18 10 of

4
10
3

Restoring Force (kN)

1

-1

-2

-3
-15 -10 -5 0 5 10 15
Sway (m)
(c)
4
10
6

4
Restoring Moment (kN .m)

-2

-4

-6
-5 -4 -3 -2 -1 0 1 2 3 4 5
Yaw (deg)
(d)
Figure
Figure 6. Effect of6.diameter
Effect of on
diameter on the
the static static mooring
mooring stiffness. stiffness.
(a) Static(a) Static mooring
mooring line configuration; (b
line configuration;
Surge Stiffness; (c) Sway Stiffness; (d) Yaw
(b) Surge Stiffness; (c) Sway Stiffness; (d) Yaw Stiffness. Stiffness.

It can beLine
4.1.2. Effect of Mooring found fromon
Length theMooring
calculation results in Figure 6a that the static shape of
Stiffness
singlethe
Choosing mooring line does
appropriate notof
length change
mooringwhen linethe
is mooring line diameter
not only beneficial changes. Howeve
to guarantee
positioning from the stiffness
performance of curves
mooring in system
Figure 6b,c, it can
but also to be seenexcess
avoid that both surge
project and sway stiffne
investment
with usingof the
the toomooring systemline.
long mooring increases with the
Therefore, the increasing diameter,
stiffness analysis and
of the significant
different nonlinearit
length
was found when the displacement is more than 5 m which
is carried out with the position of the mooring pipe and anchor unchanged. On this basis, ensuring the motion of th
semi-submersible FOWT in a limited range. Moreover, according
six more mooring lines in different length are selected for the stiffness analysis. The static to the yaw restorin
type of themoment curves,line,
single mooring we could observe
surge sway andthe
yaw linearity
stiffnessincurves
the stiffness. Particularly,
of the mooring systemit could b
are shownseen that we
in Figure 7a–d,therespectively.
restoring stiffness of the horizontal motions is positive relative to th
mooring line
The calculation diameter.
results showIn order
that the words, the larger-diameter
static type of the single mooringlines could
line inprovide
water larger r
storing force/moment
changes significantly with the length for the FOWTOn
changes. because
the one of hand,
the heavier weight.touching
the position However, thethe cost o
ground of the
the thicker
mooring lines
lineisisundoubtedly more expensive.
closer to the fairlead with the increase in length, which leads
to the increase in the angle between lifting section and horizontal plane. On the other hand,
4.1.2.ofEffect
the curvature of Mooring
the lifting section Line Lengthwith
increases on Mooring Stiffness
the increase in length, both of which
leads to the decrease in the horizontal component of
Choosing the appropriate length of mooring line isthe mooring line
nottension. This is also
only beneficial to guarante
confirmedpositioning
by the stiffness curves of the mooring system shown in Figure
performance of mooring system but also to avoid excess project 7b–d, i.e., theinvestmen
stiffness ofwith
the mooring
using the system
too longin themooring
DOFs ofline.
surge, sway, andthe
Therefore, yaw, increases
stiffness significantly
analysis of the differen
as the length of the mooring line decreases. Moreover, when the mooring
length is carried out with the position of the mooring pipe and anchor unchanged. length is too On th
 Sustainability 2022, 14, x FOR PEER REVIEW 11 of 19
Sustainability 2022, 14, 14012 11 of 18

basis, six more

short, the horizontal mooring
restoring lines inisdifferent
stiffness extremelylength areAlthough
large. selected for theisstiffness
this analysis.
beneficial to The
static type of the single mooring line, surge sway and yaw stiffness curves
the positioning effect, it may cause other issues such as the large tension which will be of the mooring
system
discussed later are shown
based on the in Figure 7a–d,
dynamic responserespectively.
predictions.

10

0 L=421m
L=428m
L=429m
-10
L=430m
L=431m
-20
L=432m
Z (m)

L=433m
-30
L=434m
L=441m
-40

-50

-60

-70
0 50 100 150 200 250 300 350 400
X (m)
(a)
4
10
6

4
Restoring Force (kN)

-1

-2
-15 -10 -5 0 5 10 15
Surge (m)
(b)
4
10
5
Restoring Force (kN)

-5
-15 -10 -5 0 5 10 15
Sway (m)
(c)

Figure 7. Cont.
 Restoring Mom
0

-0.5
Sustainability Sustainability
2022, 14, 140122022, 14, x FOR PEER REVIEW 12 of 1812 of 19

-1
-5 -4 -3 -2 -1 0 1 2 3 4 5
5
10 Yaw (deg)
1
(d)
Figure 7. Effect of length on the static mooring stiffness; (a) Static mooring line configuration; (b)

Restoring Moment (kN .m)

Surge Stiffness; (c) 0.5
Sway Stiffness; (d) Yaw Stiffness.

The calculation results show that the static type of the single mooring line in water
changes significantly 0 with the length changes. On the one hand, the position touching the
ground of the mooring line is closer to the fairlead with the increase in length, which leads
to the increase in the angle between lifting section and horizontal plane. On the other
hand, the curvature-0.5 of the lifting section increases with the increase in length, both of
which leads to the decrease in the horizontal component of the mooring line tension. This
is also confirmed by the stiffness curves of the mooring system shown in Figure 7b–d, i.e.,
the stiffness of the-1mooring system in the DOFs of surge, sway, and yaw, increases signif-
-5 -4 -3 -2 -1 0 1 2 3 4 5
icantly as the length of the mooring line decreases. Moreover, when the mooring length is
Yaw (deg)
too short, the horizontal restoring stiffness is extremely (d) large. Although this is beneficial
to the positioning effect, it may cause other issues such as the large tension which will be
Figure
Effect 7. Effect
lengthofon
length on themooring
static mooring stiffness; (a) Static mooring line configuration; (b)
Figure
discussed later based 7. on the of
dynamic the static
response predictions.stiffness; (a) Static mooring line configuration;
Surge Stiffness;
(b) Surge Stiffness; (c)Stiffness;
(c) Sway Sway Stiffness; (d)Stiffness.
(d) Yaw Yaw Stiffness.

4.2. Dynamic 4.2.

Response Analysis
Dynamic of theAnalysis
Response Wind Turbine
of the WindSystem
The calculation results showTurbine
that theSystem
static type of the single mooring line in water
4.2.1. Free Decay
4.2.1.Tests
Freechanges
Decay Tests
significantly with the length changes. On the one hand, the position touching the
Based on theBased ground
on theofthree-dimensional
three-dimensional the mooring
potential lineflow
is closer
theory
potentialto the fairlead
described
flow theory with the increase
in described
Section 2.2, in length,
in the
Section 2.2,which
the leads
hydrodynamic to theof
parameters
hydrodynamic increase in of
the floating
parameters the angle
platform
the floatingbetween
are lifting
calculated
platform aresection
in theand
calculated horizontal
frequency
in do-plane.domain.
the frequency On the other
main. Then we Then hand,the
established
we establishedthewind
curvature
windofturbine-floating
the lifting
the turbine-floating section
buoy-mooring increases
buoy-mooringline with linethe
coupled increase
system
coupled in length,
system in theboth of
in the time domain, which
time domain,
and andleads
firstly to the
firstly decrease
performed
performed the free indecay
the the
freehorizontal
decay
tests to component
tests theof
to calculate
calculate the natural
the
natural mooring line tension. This
fre- frequencies
of the
quencies of the buoy. is also
buoy.
The The confirmed
relaxation
relaxation by
curves the
curvesarestiffness
are curves
displayed
displayed of Figure
in
in Figurethe mooring
8 and
8 and thesystem
the shown in Figure
corresponding
correspond- natural7b–d, i.e.,
periodsof
ing natural periods the
of the stiffness
the platform of the
platform motion aremooring system
are listed
listedin in
inTable the DOFs
Table3.3.ItItcan of surge,
canbebeobservedsway,
observed and
from fromthe results that signif-
yaw, increases
thethe
the results that icantly
natural period
natural as
periodthe length
of the
of the of
floating the
floating mooring
platform
platform line
in in
this decreases.
study
this study Moreover,
is large,
is large,which when
which farfarthe mooring
away from the length is
away from the peaked
peaked too
wave
wave short,
period the
period horizontal
of the operational
of the restoring
operational seaseastiffness
condition
condition is extremely
(10.0 s), so
(10.0 large.
s),itsocould Although
be derived
it could be this is
that thebeneficial
derived that buoy
the buoy to the positioning
oscillations willwill
oscillations beeffect,
be seldom seldom it may
affected cause
by the
affected other
by issues
resonance
the such
resonance causedas the
causedby large
the
by the tension which will be
high-frequency
wave discussed later based on the dynamic response predictions.
load.
high-frequency wave load.
4.2. Dynamic Response Analysis of the Wind Turbine System
4.2.1. Free Decay Tests
Based on the three-dimensional potential flow theory described in Section 2.2, the
hydrodynamic parameters of the floating platform are calculated in the frequency do-
main. Then we established the wind turbine-floating buoy-mooring line coupled system
in the time domain, and firstly performed the free decay tests to calculate the natural fre-
(a)
quencies of the buoy.(b)
The relaxation curves are displayed
(c)
in Figure 8 and the correspond-
ing natural periods of the platform motion are listed in Table 3. It can be observed from
the results that the natural period of the floating platform in this study is large, which far
Figure 8. Time histories of the free decay tests; (a) Surge; (b) Heave; (c) Pitch.
away from the peaked wave period of the operational sea condition (10.0 s), so it could be
derived
Table 3. Natural that the
periods buoy
of the oscillations will be seldom affected by the resonance caused by the
FOWT.
high-frequency wave load.
DOF Natural Period (s)
Surge 53.33
Heave 24.25
Pitch 26.43

4.2.2. Environmental Conditions and Simulation Results

Based on the static stiffness analysis of the mooring system, the time domain calcu-
(a) response characteristics of (b)
lation of the dynamic the FOWT is carried out under(c)different
mooring parameters using the integrated analysis model. The rated environmental con-
ditions are selected considering the combined action of wind, wave, and current load
 Figure 8. Time histories of the free decay tests; (a) Surge; (b) Heave; (c) Pitch.

Table 3. Natural periods of the FOWT.

DOF Natural Period (s)

Sustainability 2022, 14, 14012 Surge 53.33 13 of 18
Heave 24.25
Pitch 26.43

in which the JONSWAP spectrum is used for wave propagation along the X-axis in the
4.2.2. Environmental Conditions and Simulation Results
positive direction, with a significant wave height of 3.0 m and a peak period of 10.0 s.
The API windBased spectrum on the static to
is used stiffness analysis
simulate of the mooring
the turbulent system,
wind with the timewind
an average domain calcu
lation
speed of 11.4 m/sof the
anddynamic
a constantresponse
surfacecharacteristics
current of 1.0ofm/s. the FOWT is carried out under
Each environmental load differen
is incidentmooring
along the parameters
direction ofusing the integrated
0 degrees. Therefore, analysis
three model.
degreesThe rated environmental
of freedom motions cond
tions are selected
in the longitudinal plane areconsidering the combined
mainly analyzed, i.e., surge,action
pitch,of and
wind, wave,
heave and current
motions. The load i
response of semi-submersible platform motion and mooring line tension under differentin the pos
which the JONSWAP spectrum is used for wave propagation along the X-axis
conditionsitive direction,bywith
are obtained a significant
3 h simulation in wave
the timeheight
domain.of 3.0 m and a peak
Specifically, periodofof
the results the10.0 s. Th
tension areAPI windfrom
chosen spectrum is used
the upper to connected
chain simulate the withturbulent windinwith
the fairlead an average
Line#2, because wind
of spee
the largestoftension
11.4 m/s inand a constant
the whole surface
mooring current
system. Anofexample
1.0 m/s. ofEach
theenvironmental load is inciden
time histories under
along
the original the direction
mooring parametersof 0isdegrees.
shown in Therefore,
Figure 9. three degrees range
The unstable of freedom
in the motions
first 500 sin the lon
gitudinal
of each time historyplane
curveare mainly analyzed,
is removed i.e., surge,
and the response pitch, and heave
characteristics of themotions.
motion andThe respons
of semi-submersible
mooring line tension in the stable platform
rangemotion and mooring line tension under different condition
are analyzed.
are obtained by 3 h simulation in the time domain. Specifically, the results of the tensio
4.2.3. Effect
areofchosen
Mooring linethe
from Diameter on Dynamic
upper chain connectedResponse
with the fairlead in Line#2, because of th
Statistical
largestresults
tensionof the platform
in the whole motion
mooringundersystem. different mooring
An example linetime
of the diameters areunder th
histories
shown in original
Figure 10. In the bar
mooring chart, theisresults
parameters shownofineach bar 9.
Figure areThe
expressed
unstableasrange
the minimum,
in the first 500 s o
mean, maximum,
each time and standard
history curvedeviation of the
is removed andcorresponding
the responsestatistical variable
characteristics under
of the motion an
the relevant condition.
mooring line tension in the stable range are analyzed.

(a)

(b)

(c)

Figure 9. Cont.
Sustainability 2022, 14, 14012 2022, 14, x FOR PEER REVIEW
Sustainability 14 of 18 14 o

(d)

(e)

Figure 9. TimeFigure 9. Time

histories historiesresponses
of dynamic of dynamic responses
of the of the semi-submersible
semi-submersible FOWT;
FOWT; (a) Surge; (b) (a) Surge; (b) He
Heave;
(c) Pitch; (d) Yaw; (e) Mooring
(c) Pitch; (d) Yaw; (e) Mooring line tension. line tension.

From the4.2.3. Effect of

statistical Mooring
results line Diameter
of platform motion oninDynamic Response
Figure 10a–c, it can be found that
the mooring line Statistical
diameter exerts
resultsaofgreat influencemotion
the platform on the under
surge and heavemooring
different motion lineof the
diameters
platform, which
shown theinsurge
Figuremotion
10. In decreases obviously
the bar chart, with
the results ofthe increase
each bar arein mooringas
expressed line
the minim
diameter. It mean,
can be maximum,
acknowledged and from the static
standard stiffness
deviation of thecharacteristics
corresponding of statistical
the mooring variable un
system that the
the relevant
stiffness condition.
of surge increases significantly with the increase in the mooring
line diameter. Therefore, the surge motion decrease with the increase in the mooring system
stiffness8 under the same conditions, which results 1.5
in this phenomenon. At the same time,
due to the increase in mooring line diameter, the mooring line mass increases, and Min the
1 Mean
heave motion
6
of the platform decreases accordingly. On the other hand, according to the
Max
statistic results of yaw motions, we could observe 0.5 that the fluctuations of the yaw motion Std
Heave (m)
Surge (m)

are generally decreasing with the increasing mooring line diameter. It also illustrates that
4 0
the thicker and heavier mooring line could provide larger restoring stiffness which could
be derived from the static results in Figure 6. The -0.5 effect of mooring system on pitch motion
2
is not significant, which shows a slightly decreasing -1 trend with the increase in diameter.
This is because the contribution of mooring system to the pitch stiffness is much smaller
0 -1.5
than that of the
-20 floating
-10 0 platform
10 20itself, while the coupling
-20 -10 effect
0 between
10 20 the surge and
pitch motion attributes D (mm)
to the slightly decreasing trend of theD pitch (mm) motion. In addition,
(a) of the tension of the mooring line shown in(b)
the statistical results Figure 10e show that the
tension of each mooring line increases with the increase in the diameter which due to the
corresponding increase in the weight and the pre-tension of mooring line with the increase
in the diameter.
Pitch (deg)

Yaw (deg)

4.2.4. Effect of Mooring Line Length on Dynamic Response

The statistic results of platform motion under different mooring line lengths are shown
in Figure 11.
Comparing the results of Figures 10a and 11a, it can be found that the effect of the
length of mooring line on the surge motion is more significant than that of the diameter.
With the increase in the length of mooring line, the mean and amplitude of the surge of
the floating platform
(c) are enlarged, which is due to the decrease (d)
in the stiffness of mooring
system caused by the increase in length. It can be found from Figure 11b that the pitch
motion of the platform is less affected by the length of the mooring line. As can be seen
from the statistical results of the pitch motion shown in Figure 11c, the change in the pitch
amplitude is relatively small, but it shows an enlarged trend with the growth of mooring
line length. This is also observed in the statistical yaw fluctuations in Figure 11d. In
addition, the comparative results of Figures 10e and 11e shows that the tension of each
 (d)

Sustainability 2022, 14, 14012 15 of 18

mooring line decreases as the length of the mooring line increases, which is different from
the effect of changing the diameter of the mooring line. The reason is the mooring line
becomes more relaxed with the increase (e)in mooring line length, so the pre-tension as well
as the dynamic tension of the mooring line tends to decrease under the environmental
Figure 9. Time histories of dynamic responses of the semi-submersible FOWT; (a) Surge; (b) Heave
loads such as wind and wave. However, it should be noted that when the mooring line is
(c) Pitch; (d) Yaw; (e) Mooring line tension.
too long, it will become too loose to moor the floating buoy, and the large drift may occur
as the 4414.2.3.
m case shows.
Effect On the other
of Mooring hand, theonshorter
line Diameter mooring
Dynamic line could significantly
Response
release the horizontal motions, but the line will become too tight. This will not only lead to
Statistical results of the platform motion under different mooring line diameters ar
the large mooring tension which may increase the fracture risk, but also will increase the
shown in Figure 10. In the bar chart, the results of each bar are expressed as the minimum
set-down heave motion, as the results of the 421 m case displays. Therefore, it is necessary
to choosemean, maximum,
a suitable mooringand standard
length during deviation of the corresponding statistical variable unde
the design.
the relevant condition.

8 1.5
Min
1 Mean
6 Max
0.5 Std

Heave (m)
Surge (m)

4 0

-0.5
2
-1

0 -1.5
-20 -10 0 10 20 -20 -10 0 10 20
D (mm) D (mm)
(a) (b)
Pitch (deg)

Yaw (deg)

tainability 2022, 14, x FOR PEER REVIEW 15 of 19

(c) (d)

(e)
Figure 10. Statistic
Figure results dynamic
10. Statistic response
results of the
dynamic FOWTofwith
response different-diameter
the FOWT mooring lines;
with different-diameter mooring lines;
(a) Surge; (b) Heave; (c) Pitch; (d) Yaw; (e) Mooring line tension.
(a) Surge; (b) Heave; (c) Pitch; (d) Yaw; (e) Mooring line tension.

From the statistical results of platform motion in Figure 10a–c, it can be found that
the mooring line diameter exerts a great influence on the surge and heave motion of the
platform, which the surge motion decreases obviously with the increase in mooring line
diameter. It can be acknowledged from the static stiffness characteristics of the mooring
system that the stiffness of surge increases significantly with the increase in the mooring
line diameter. Therefore, the surge motion decrease with the increase in the mooring sys-
tem stiffness under the same conditions, which results in this phenomenon. At the same
 ure 10e show that the tension of each mooring line increases with the increase in the
ameter which due to the corresponding increase in the weight and the pre-tension
mooring line with the increase in the diameter.

Sustainability 2022, 14, 14012 4.2.4. Effect of Mooring Line Length on Dynamic Response 16 of 18
The statistic results of platform motion under different mooring line lengths
shown in Figure 11.
20 1
Min
Mean
15 0 Max
Std

Heave (m)
Surge (m)
10 -1

5 -2

0 -3

-5 -4
Sustainability 2022, 14, x FOR PEER REVIEW
-10 -3 -2 -1 0 1 2 3 10 -10 -3 -2 -1 0 1 2 3 10 1
L (m) L (m)
(a) (b)
Pitch (deg)

Yaw (deg)
(c) (d)

(e)
Figure
Figure 11. Statistic 11. Statistic
results dynamicresults dynamic
response of theresponse of thedifferent-length
FOWT with FOWT with different-length mooring li
mooring lines;
Surge; (b) Heave; (c) Pitch; (d) Yaw; (e) Mooring
(a) Surge; (b) Heave; (c) Pitch; (d) Yaw; (e) Mooring line tension. line tension.

On the other hand, Comparing the results

we observed of Figures
an interesting 10a and 11a,initthe
phenomenon canstatistical
be foundresults
that the effect
of mooring linelength
loads of mooring10e
in Figures lineand
on 11e.
the surge
The mean motionvalueis more
of thesignificant
mooring linethantension
that of the dia
varies linearly With
with thethe diameter
increase in andthelength,
lengthwhile
of mooring line, the
the change mean
in the and amplitude
maximum value is of the su
thefrom
slightly different floating
the platform
mean value.are enlarged, whichin
To be specific, is some
due toparticular
the decrease in the
cases, suchstiffness
as of m
system caused by the increase in length. It can
the changing diameter is changing length is −3 m, −1 m, 1 m, 2 m, and 3 m, we found be found from Figure 11b that the
the minimum motion
tension of is the platform
largest in theiscase
less of
affected
−1 m,by the length
while of the mooring
the maximum tensionline.wasAs can b
observed in thefrom casethe
of statistical
−2 m. In results
fact, dueof the pitch
to the motion
water depth shown in Figure
is relative 11c, the
shallow (65change
m), in th
heave and pitchamplitude is relatively
will also influence thesmall,
extreme butmooring
it showstension.
an enlarged trend with
According to thethe growth of m
results
in Figure 11b, itline length.
shows thatThis
the is also motion
heave observed is in the statistical
raised by the longeryaw mooring
fluctuations
line,inand
Figure
it 11d. In
means the largertion,vertical distance from
the comparative the fairlead
results of Figures to 10e
the and
anchor11eandshowsleads tothe
that thetension
larger of each
tension in all mooring
ing linelines. However,
decreases due
as the to theofsurge
length motion isline
the mooring reduced by thewhich
increases, longerisline,
different fro
the tension in line
effect#2 will be decreased
of changing because of
the diameter of the
thesmaller
mooring horizontal
line. Thedistance
reason is between
the mooring li
both ends. Duecomes
to these two relaxed
more inconsistent
withfactors, the mooring
the increase in mooringtension
lineshows
length,this
so interesting
the pre-tension as w
phenomenon. Simultaneously,
the dynamic tension the extreme tension line
of the mooring willtends
also be to slightly
decreaseinfluenced
under theby the
environmenta
stochastic extreme wave load.
such as wind and wave. However, it should be noted that when the mooring line
long, it will become too loose to moor the floating buoy, and the large drift may oc
the 441 m case shows. On the other hand, the shorter mooring line could signifi
release the horizontal motions, but the line will become too tight. This will not onl
to the large mooring tension which may increase the fracture risk, but also will in
the set-down heave motion, as the results of the 421 m case displays. Therefore, it
essary to choose a suitable mooring length during the design.
Sustainability 2022, 14, 14012 17 of 18

5. Conclusions
Through the research on the critical mooring design parameters such as diameter
and length, the static configuration of the separate mooring line and restoring stiffness
of the whole mooring system are analyzed by the finite element method. The dynamic
responses of the semi-submersible FOWT are calculated based on the numerical model of
wind turbine-platform-mooring system, and the following conclusions are drawn. The
diameter of mooring line has little effect on the static type, but the length will significantly
influence the static shape and the restoring loads in the mooring line. This is caused by
the different pretension among the mooring system with different length. In addition, the
stiffness of mooring system can be effectively improved by reducing the length of mooring
line and increasing the diameter of mooring line. On the other hand, the surge motion of
FOWT can be effectively controlled by increasing the diameter of the mooring line and
decreasing the length of the mooring line under the rated operational sea scenario of the
semi-submersible FOWT, while the extreme tensions in the lines will both influenced by all
DOF motions of the buoy, due to the relative shallow water depth.
In present simulations, the mooring parameters are chosen based on the prototype
engineering design and the changes are chosen in a small range, to show the influence and
its tendency of the dynamic response of FOWT when the mooring line length and diameter
change. However, it should be admitted that this is an initial step to analyze the influence
in the specified range. In the following works, we will adopt the optimization algorithms
(such as NAGA-III algorithm [26] and evolutionary algorithm [21]) to further investigate
the global optimized mooring parameters. On the other hand, in the present work, two
representative parameters, length and diameter, are adopted to performed the numerical
simulations. However, there are many other parameters such as pretension, line numbers,
and materials [27] In the following study, we will make additional investigations on other
parameters, in order to fully grasp the key mooring parameter and its influence, so that we
could provide reference for the design of other floating platforms and their corresponding
mooring systems.
On the other hand, although the simulations are performed under a specific sea
scenario, the results may have broader suggestion on the engineering practical. However,
it should be admitted that there are many other DLCs suggested by the IEC61300 are not
included in present work. We will further investigate the accidental and gust DLCs in our
following investigations, so that we could fully capture the whole dynamic feature of this
floating renewable energy system.

Author Contributions: Conceptualization, B.L. and J.Y.; methodology, B.L.; software, B.L.; validation,
B.L. and J.Y.; formal analysis, B.L.; investigation, B.L.; resources, B.L.; data curation, B.L.; writing—
original draft preparation, B.L.; writing—review and editing, B.L.; visualization, B.L.; supervision,
B.L.; project administration, B.L.; funding acquisition, J.Y. All authors have read and agreed to the
published version of the manuscript.
Funding: This research was funded Fund of the State Key Laboratory of Ocean Engineering, Shanghai
Jiao Tong University (No. GKZD010081).
Institutional Review Board Statement: Not applicable.
Informed Consent Statement: Not applicable.
Data Availability Statement: Not applicable.
Conflicts of Interest: The authors declare no conflict of interest.

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