Structural Dynamics - Assignment2 - ShaniceMcAlister PDF

Structural Dynamics Assignment #2
Shanice McAlister - 51552631
1.0 Executive Summary:

1.1 Problem Definition:
Preliminary dynamic analysis of a jack-up structure of mass 9000tons. The jack up is treated as SDOF
system and forced by waves acing only along the x-direction and undergoing vibrations also only in
the x-direction. Jack-up legs vary from 20m to 50m in height according to water depth (10m above
water).
1.2 Analysis Assumptions:

1. The lumped mass of 9000tons on the topside also accounts for the mass of the legs, added
mass and entrapped water.
2. Youngs Modulus of the steel, E = 204109N/m2
3. Waves initiate at legs A & D and steps through in the x-direction to legs B & C 30m away as
a sinusoidal wave, i.e. =0 at legs A & D.
4. Damping ratio, z = 0.1
1.3 Analysis Procedure:

1.3.1 Equation of Motion:
a)
The wave force is applied to the jack-up rig in the x-direction as described in the system
kinematics in Fig 02 in Section 2.1.
b) Each leg was modelled as having a stiffness, k and damping coefficient, c.

c)
The wave force was taken as an arbitrary forcing function, F(t), where F(t) is the sum of the
forces applied to each leg of the jack-up
d) Equation of motion: + + = ()
1.3.2 Natural Frequency:

a)
The second moment of area was calculated as, I =
(do di )
64
where do is the external diameter
of the legs (2m) and di is the internal diameter of the legs (1.96m). = . .
b) The jack-up legs are fixed at the topside connection and pinned at the seabed, therefore,
stiffness k, for varying leg lengths (5m increments) was calculated as, k =
summarized in Table 01
c)
3EI
l3
. k is
Using the equation of motion determined in Section 2.1, natural frequency was calculated as,
4
for the varying leg lengths and is summarized in Table 01.
d) Wave frequency was calculated for the given waves as w =

02.
2
T
and is summarized in Table

e) The ratio of the wave frequency to the natural frequencies was examined to determine the
worst case leg length and wave loading combinations. For example, the ratio for a 2m height
wave and a 20m leg length is 1.09. The worst combinations of wave heights to leg heights
are summarized in Table 03.
1.3.3 Relative Phasing of Wave Forces:
a)
The force on each leg, F(leg) is given by the equation,

F(leg) =
3FD
4
sin(wt )
sin 3(wt)
3
+ Fi cos(wt )
Where, is the phase of the wave incident on the leg
b) It was assumed that the waves are sinusoidal, initiating at legs A & D and steps through to
the adjacent legs 30m away. Therefore, the phase legs A and D are taken as zero.
c)
The phase angle at legs B and C is calculated as follows and is summarized in Table 04:
-
The deep water wavelength is determined, Lo =
gT2
2
where T is the wave period.
If the deep water depth < wavelength, the intermediate wavelength is

2d
determined, L = Lo tanh(
Lo
) where, d is the water depth. The water depth range
for each wave is split into 5m increments.
The wave number is determined , =
The phase angle is determined, = kx where x is the distance to the leg (30m)
d) Therefore, the equation of motion was modified as follows:
3FD
sin 3(wt)
m + 4c + 4kx = 2[
sin(wt)
+ Fi cos(wt) ]
4
3
3FD
sin 3(wt )
+ 2[
sin(wt )
+ Fi cos(wt ) ]
4
3
1.3.4 Maximum Amplitude:

a)
The equation of motion was simplified to express the R.H.S in terms of sin (wt), cos (wt), sin
(3wt) and cos (3wt).
b) By the Principle of Superposition of linear waves, the net response at a given place and time
caused by two or more stimuli is the sum of the responses which would have been caused
by each stimulus individually. Therefore, the amplitude X was determined for each of the four
components of the forcing function listed above, and the net expression was derived.
c)
At the maximum amplitude,
= 0 and the maximum r can be derived. r can then me input
into the equation derived for X, which is the maximum amplitude.

2.0 Detailed Analysis:

2.1 Equation of Motion:
i.
System:
Mass, m = 9000tonnes
G is at the geometric center
Platform will always be 10m above
seabed
Water depth varies between 10m and
40m requiring different leg lengths
Legs are steel tubes of diameter 2m
and thickness 20mm
System is a SDOF system
Waves act in x-direction only
Deck Width is 30m
Fig 01 Jack-Up Structure
ii.
Kinematics: Wave forces act in x direction only -:
da = d b = d c = dd = x
a = b = c = d =
Fig 02 Plan View System Kinematics
iii.
Free Body Diagram:
Fig 03 Free Body Diagram

iv.
Equation of Motion:
m =
m = F(leg)a + F(leg)b + F(leg)c + F(leg)d 4c 4kx
m + 4c + 4kx = F(leg)a + F(leg)b + F(leg)c + F(leg)d
Let F(t) = F(leg)a + F(leg)b + F(leg)c + F(leg)d

+ + = ()
2.2 Natural Frequency:
Second Moment of Area,

I=
I=
(do 4 di 4 )
64
(24 1.964 )
64
= .
-
Natural frequency at water depth = 10m (Leg(Deck) height = 20m) is calculated as follows:Stiffness, k =
k=
3EI
l3
3x204x109 x0.061
203
k = 4.664MN/m2
Using equation of motion in section 2.1 above, we derive,
4k
Natural Frequency, wn =
wn =
4x4664
9000000
wn = 1.44 rad/s

Similarly, natural frequency at leg lengths 20m to 50m at 5m increments is summarized in Table
1 below
Leg Length
l (m)
Stiffness
k (MN/m)
Natural Frequency
wn (rad/s)
20
4.66
1.44
25
2.39
1.03
30
1.38
0.78
35
0.87
0.62
40
0.58
0.51
45
0.41
0.43
50
0.30
0.36
Table 01 Stiffness and Natural Frequency Summary
Natural Frequency
Vs Deck Height
1.60
1.40
Natural Frquency (rad/s)
1.20
1.00
0.80
0.60
0.40
0.20
0.00
0
10
20
30
40
Deck Height (m)

Fig 04 Plot of Natural Frequency Vs Deck Height (Leg Length)
50
60

2.3 Wave Frequency:
Wave frequency is calculated as w =
summarized below.
Wave Height
H (m)
2
3
4
6
2
T
for the four wave loading conditions provided and is
Wave Period
T (s)
4
5.5
7
9
Wave Frequency
w (rad/s)
1.57
1.14
0.90
0.70
Table 02 Wave Frequency Summary
Resonant conditions exist when the ratio of wave frequency and natural frequency is equal to one.
This ratio was calculated for the various leg heights (water depths) and wave loading combinations to
determine whether resonant conditions exist. Table 3 below summarizes this examination. The worst
case leg height for each wave is highlighted in red.
Wave
Height
H(m)
Water
Depth
Range
(m)
Wave
Period
T (s)
Wave
Frequency
w (rad/s)
10 - 30
1.57
10 - 30
5.5
1.14
20-40
0.90
20-40
0.70
Leg Length
l (m)
Natural
Frequency
wn
20
25
30
35
40
20
25
30
35
40
30
35
40
45
50
30
35
40
45
50
1.44
1.03
0.78
0.62
0.51
1.44
1.03
0.78
0.62
0.51
0.78
0.62
0.51
0.43
0.36
0.78
0.62
0.51
0.43
0.36
Table 03 Wave Frequency/ Natural Frequency Ratios
Wave
Frequency/
Natural
Frequency
r
1.09
1.52
2.00
2.53
3.09
0.79
1.11
1.46
1.84
2.24
1.15
1.44
1.76
2.10
2.46
0.89
1.12
1.37
1.64
1.92

2.4 Modification to Equation of Motion:
The force on each leg is given as: F(leg) =
3FD
4
sin(wt )
sin 3(wt)
3
+ Fi cos(wt ) where, is
the phase of the wave incident on the leg and t is the incident time of the wave on the leg as shown
in Fig below. In this analysis, it is assumed that the phase angles at legs A and D are equal to zero
and the wave steps through to the legs 30m away. This is illustrated in Fig 05 below.
Wavelength
=0
30m
Fig 05 Wave Incident on Jack Up Structure
The total wave force on the jack-up structure is equal to sum of the forces on the legs according to
the Principle of Superposition.
The equation of motion is therefore modified to:
sin 3(wt )
3FD
sin(wt )
+ Fi cos(wt ) ]
m + 4c + 4kx = [
4
3
+[
3FD
sin 3(wt )
sin(wt )
+ Fi cos(wt ) ]
4
3
+[
3FD
sin 3(wt )
sin(wt )
+ Fi cos(wt ) ]
4
3
+[
3FD
sin 3(wt )
sin(wt )
+ Fi cos(wt ) ]
4
3
Now, and t are equal at legs A & D (zero) and at legs B & C. So,
sin 3(wt)
3FD
sin(wt)
+ Fi cos(wt) ]
m + 4c + 4kx = 2[
4
3
3FD
sin 3(wt )
+ 2[
sin(wt )
+ Fi cos(wt ) ]
4
3
While it is assumed the waves initiate at legs A and D, is zero, the phase angle at legs B & C can
be calculated as described in Section 2.5 below.

2.5 Phase Angle:
It is assumed that the waves are sinusoidal, initiating at legs A and D (phase angle equal to zero) and
steps through to the adjacent legs (B & C) 30m away as shown in Fig 05. The phase of the wave at
legs B&C is related to the distance of the legs, from the initiation of the wave (i.e. legs A and D) and
the wavelength of the wave stepping through the system. This relationship is determined by the
wave number (k) - the number of waves in a meter of distance and is calculated as k =
2
L
, where L
is the wavelength. The phase ( ) of the wave at Legs B&C is then determined by, = kx , where x
is the distance between the pairs of legs.
E.g. For a wave 2m in height, in 10m water depth:
Deep Water Wavelength, Lo =
Lo =
gT2
2
9.81x42
2
[Water depth < Wavelength therefore use
Lo = 24.98 m
intermediate wavelength]
2d
Intermediate Wavelength, L = Lo tanh(
Lo
)
2x10
L = 24.98xtanh(
L = 22.97 m
Wave Number, k =
k=
2
L
22.97
k = 0.27 rad/m
Phase Angle, = kx
= 0.27x30 = 8.2 rad
24.98

Similarly, the phase angle is calculated for the combinations of wave heights and water depths and is
summarized in Table 04 below. Deepwater wavelength is used in the calculation in cases where
water depth > wavelength, and intermediate used in where water depth < wavelength.
Wave
Height
H (m)
Wave
Period
T (s)
Wave
Depth
Range
d (m)
Water depth <

Wavelength
Intermediate water
Wavelength
L (m)
Wave
Number
k (rad/m)
Phase
Angle
(rad)
10
Yes
24.82
15
No
0.25
0.25
0.25
0.25
0.25
0.14
0.14
0.13
0.13
0.13
0.09
0.08
0.08
0.08
0.08
0.06
0.05
0.05
0.05
0.05
7.59
7.54
7.54
7.54
7.54
4.28
4.06
4.01
3.99
3.99
2.56
2.50
2.48
2.47
2.46
1.71
1.62
1.57
1.54
1.52
20
5.5
Deepwater
Wavelength
Lo (m)
24.98
No
30
No
10
Yes
15
Yes
20
47.22
25
Yes
30
No
20
Yes
25
Yes
30
76.49
Yes
35
Yes
40
No
20
Yes
30
44.03
46.36
46.99
No
25
6
No
25
Yes
126.45
35
Yes
Yes
40
Yes
73.68
75.25
75.94
76.25
110.17
116.32
120.19
122.61
124.10
Table 04 Phase Angle Summary
2.6 Maximum Amplitude:

The equation for amplitude can be derived using the modified equation of motion in Section 2.4. The
forcing function is divided into four (4) components, namely, sin (wt), cos (wt), sin3 (wt), cos3 (wt).
The amplitude is obtained for each component, and by superposition the amplitude of the system is
given by the expression given by the summation of the four (4) components. The amplitude is at a
maximum when the differential of the amplitude with respect to r is equal to zero, i.e.
= 0. Using
that expression, the maximum r can be obtained, which is then substituted in the equation for X
(amplitude) to derive the maximum amplitude. The expression for the amplitude of the system is
given as:
6
6
+ cos() 2 sin() + [2 + sin() + 2 cos()
4
4
4
=
(1 2 )2 + 4 2 2
6
6 6
cos(3)] + [
sin(3)]
[
4
12
12
+
(1 9 2 )2 + 36 2 2
This expression is derived are as follows:

E.g. For a wave 2m in height, in 10m water depth:

As previously calculated,
Stiffness, k = 4665kN/m
Natural Frequency, wn = 1.44rad/s
Wave Frequency, w = 1.57rad/s
Phase angle at legs B and C, = 7.59
Also, given,
Drag Force, FD=2.5kN

Inertia Force, FI = 40kN
rmax is determined as 0.99
Substituting these values into
6 6
+
cos() 2 sin() + [2 + sin() + 2 cos()
4
4
4
=
(1 2 )2 + 4 2 2
6
6 6
cos(3)] + [
sin(3)]
[
4
12
12
+
(1 9 2 )2 + 36 2 2
Gives, Xmax = 0.034m
Similarly, maximum amplitude for the combination wave heights and deck elevations are summarized
in Table 05 below. It is observed from the data, that as the deck height increases, the maximum
amplitude increases.

Inertia
Force
Fi (kN)
Damping
wn
(rad/s)
Drag
Force
Fd (kN)
Ratio
z
Phase
Angle at
B&C
(rad)
4665
1.44
40
0.1
7.59
25
2388
1.03
40
0.1
7.54
20
30
1382
0.78
40
0.1
7.54
1.57
25
35
870
0.62
40
0.1
7.54
1.57
30
40
583
0.51
40
0.1
7.54
1.14
10
20
4665
1.44
10
80
0.1
4.28
1.14
15
25
2388
1.03
10
80
0.1
4.06
1.14
20
30
1382
0.78
10
80
0.1
4.01
1.14
25
35
870
0.62
10
80
0.1
3.99
1.14
30
40
583
0.51
10
80
0.1
3.99
0.90
20
30
1382
0.78
30
135
0.1
2.56
0.90
25
35
870
0.62
30
135
0.1
2.50
0.90
30
40
583
0.51
30
135
0.1
2.48
0.90
35
45
410
0.43
30
135
0.1
2.47
0.90
40
50
299
0.36
30
135
0.1
2.46
0.70
20
30
1382
0.78
90
240
0.1
1.71
0.70
25
35
870
0.62
90
240
0.1
1.62
0.70
30
40
583
0.51
90
240
0.1
1.57
0.70
35
45
410
0.43
90
240
0.1
1.54
0.70
40
50
299
0.36
90
240
0.1
1.52
Wave
Height
H (m)
Wave
Natural
Leg
Length
l (m)
Stiffness
k (kN/m)
Frequency
w
(rad/s)
Water
Depth
d (m)
1.57
10
20
1.57
15
1.57
Frequency
Table 05 Maximum Amplitude Summary
Max
r(max)
Amplitude
0.98
0.034
0.98
0.077
0.98
0.133
0.98
0.212
0.98
0.316
0.99
0.251
0.99
0.389
0.99
0.626
0.99
0.969
0.99
1.446
0.98
-0.263
0.98
-0.419
0.98
-0.623
0.98
-0.886
0.98
-1.212
0.98
0.678
0.98
1.380
0.98
2.333
0.98
3.558
0.98
5.076
X(max)

Amplitude vs Deck Height

6
5
4
Amplitude
3
Wave Height = 2m
Wave Height = 3m
Wave Height = 4m
Wave Height = 6m
1
0
0
10
20
30
40
50
-1
-2
Deck Height (m)

Fig 06 Plot of Amplitude Vs Deck Height (Leg Length)
60

Structural Dynamics - Assignment2 - ShaniceMcAlister PDF

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Structural Dynamics - Assignment2 - ShaniceMcAlister PDF

Uploaded by

Copyright:

Available Formats

Structural Dynamics Assignment #2

Shanice McAlister - 51552631

1.0 Executive Summary:

1.2 Analysis Assumptions:

4. Damping ratio, z = 0.1

1.3 Analysis Procedure:

b) Each leg was modelled as having a stiffness, k and damping coefficient, c.

1.3.2 Natural Frequency:

The second moment of area was calculated as, I =

where do is the external diameter

for the varying leg lengths and is summarized in Table 01.

d) Wave frequency was calculated for the given waves as w =

and is summarized in Table