Low-frequency responses of nonlinearly moored vessels in random waves: coupled surge, pitch and heave motions

摘要

The responses of a multi-degree-of-freedom model of a moored vessel are analysed, accounting for the hydroelastic interaction between the nonlinear wave hydrodynamics and the nonlinear mooring stiffness. A two-scale perturbation method developed by Sarkar & Eatock Taylor to determine low-frequency hydrodynamic forces on a single-degree-of-freedom model of a nonlinearly moored vessel has been extended to analyse the nonlinear multi-degree-of-reedom dynamics of the system. Surge, heave and pitch motions are considered. The perturbation equations of successive orders are derived. To illustrate the approach, semi-analytical expressions for the higher-order hydrodynamic forces components have been obtained for a truncated circular cylinder in finite water depth. In addition to conventional quadratic force transfer functions, a new type of higher-order force transfer function is introduced. This is used to characterize the hydrodynamic forces on the vessel which arise due to nonlinearity of the mooring stiffness. These are a type of radiation force, generated by the nonlinear interaction of the fluid-structure coupled system. Based on a Volterra series model, the power spectral densities of the new higher-order forces are then derived for the case of Gaussian random seas. It is shown that the additional response arising due to nonlinear dynamics of the mooring system can significantly contribute to low-frequency drift forces and responses of the vessel. Unlike conventional non-Gaussian second-order forces which are quadratic transformations of a Gaussian random process, the new higher-order forces arising due to the nonlinear mooring stiffness are polynomials of a Gaussian random process (up to fourth order for a Duffing oscillator model). This may significantly influence the extreme responses.