Journal of

Marine Science
and Engineering

Article
Time and Frequency Domain Dynamic Analysis of
Offshore Mooring
Shi He 1 and Aijun Wang 2, *

1 Department of Naval Architecture & Ocean Engineering, School of Ocean Science & Engineering,
Shanghai Maritime University, Shanghai 201306, China; [email protected]
2 Lloyd’s Register, London EC3M 4BS, UK
* Correspondence: [email protected]

Abstract: The numerical procedures for dynamic analysis of mooring lines in the time domain and
frequency domain were developed in this work. The lumped mass method was used to model the
mooring lines. In the time domain dynamic analysis, the modified Euler method was used to solve
the motion equation of mooring lines. The dynamic analyses of mooring lines under horizontal,
vertical, and combined harmonic excitations were carried out. The cases of single-component and
multicomponent mooring lines under these excitations were studied, respectively. The case consider-
ing the seabed contact was also included. The program was validated by comparing with the results
from commercial software, Orcaflex. For the frequency domain dynamic analysis, an improved frame
invariant stochastic linearization method was applied to the nonlinear hydrodynamic drag term. The
cases of single-component and multicomponent mooring lines were studied. The comparison of
results shows that frequency domain results agree well with nonlinear time domain results.

Keywords: offshore mooring; dynamic analysis; time domain; frequency domain







Citation: He, S.; Wang, A. Time and

Frequency Domain Dynamic Analysis 1. Introduction
of Offshore Mooring. J. Mar. Sci. Eng.
As offshore oilfield developments have been moving toward deeper water, floating
2021, 9, 781. https://doi.org/
structures are frequently used for drilling, well intervention, production, and storage at sea.
10.3390/jmse9070781
Under environmental loads such as wind, waves, and current, the floating structure exhibits
offsets different from the desired point for normal operations. Therefore, mooring systems
Academic Editor: Nagi Abdussamie
are used to maintain a floating structure on the station within a specified tolerance, typically
based on an offset limit determined from the configuration of the risers. If the mooring
Received: 20 June 2021
Accepted: 13 July 2021
lines fail, it will cause operation interruption, oil spills, even casualty, and environmental
Published: 19 July 2021
issues. Therefore, mooring analysis should be carried out to ensure it has adequate strength
against overloading.
Publisher’s Note: MDPI stays neutral
In deep water application, the quasi-static analysis method for mooring line is not
with regard to jurisdictional claims in
accurate and dynamic analysis, which accounts for the time-varying effects due to mass,
published maps and institutional affil- damping, and fluid acceleration should be carried out. The lumped mass method is a
iations. straightforward and efficient method for mooring line analysis and has greater versatility
than other methods [1,2]. Nakajima et al. [3] employed the lumped mass method for the
time domain dynamic analysis of 2D multicomponent mooring lines. They found time
histories of dynamic tension predicted by the lumped mass method have good agreement
Copyright: © 2021 by the authors.
with the experimental ones. Huang [1] carried out the dynamic analysis of cables using
Licensee MDPI, Basel, Switzerland.
the lumped mass method with the finite difference method and discussed the stability and
This article is an open access article
convergence of the numerical scheme.
distributed under the terms and The differential motion equations of mooring lines in the time domain can be solved
conditions of the Creative Commons by explicit or implicit numerical integration schemes. For the implicit method such as
Attribution (CC BY) license (https:// Newmark beta and Wilson theta method, it involves iteration process at each time step.
creativecommons.org/licenses/by/ The modified Euler method, whose simplicity is one of the distinguishing features, is a
4.0/). numerical procedure that can be effectively used for dynamic analyses [4,5]. Hahn [4]

J. Mar. Sci. Eng. 2021, 9, 781. https://doi.org/10.3390/jmse9070781 https://www.mdpi.com/journal/jmse

J. Mar. Sci. Eng. 2021, 9, 781 2 of 17

applied this method in the dynamic analysis of a structure and discussed its stability and
accuracy. The application showed that this method is efficient and easy to use. On the
other hand, the dynamic analysis of the mooring line in the time domain can consider the
nonlinearity such as the geometric nonlinearity and hydrodynamic drag force.
The frequency domain method requires linearization for the nonlinear terms since it
employs the linear principle of superposition. It is very efficient and useful for dynamic
response problems with less severe nonlinearity. The geometric nonlinearity can be consid-
ered by assuming that dynamic deflections around the static equilibrium position are small.
There are several linearization methods for the drag force. The linear form of drag force in
a regular wave can be obtained by the equivalent energy method [6]. In a random wave,
statistical linearization is often used [7–9]. It is based on the minimization of the expected
square error between the nonlinear drag force and linearized drag force. Wu [10] derived
the equivalent linear form for a one-dimensional drag force in a random sea with a current.
Additionally, the one-dimensional linearization is extended to a three-dimensional case
by linearizing each component with this equivalent linear form. Hamilton [11] pointed
out that this approach is not strictly frame invariant, i.e., it depends upon the choice of
reference axes. Langley [12] found that this linearization method can lead to a significant
underestimate of the drag force since coupling between perpendicular flow directions
is neglected.

2. Governing Equations and Formulations

The time- or frequency domain dynamic analysis can be carried out to estimate the
dynamic mooring line response. The mooring line is modeled as a set of concentrated
masses connected by massless springs on the basis of the lumped mass method. The
dynamical equations of mooring lines in the time domain and frequency domain are
derivated, respectively.
A mooring line element in the global coordinate is shown in Figure 1. The i-th node’s
position is ri = [xi , yi , zi ]T . ei+1/2 is the unit vector parallel to the centerline of the segment
between the i-th node and (i+1)-th node.

1
ei+1/2 = [ x i +1 − x i y i +1 − y i z i +1 − z i ] T (1)
li+1/2
e

li+1/2 is the length of the segment between the i-th node and (i+1)-th node.
where e
q
li+1/2 =
e ( x i +1 − x i )2 + ( y i +1 − y i )2 + ( z i +1 − z i )2 (2)

Figure 1. Mooring model in global coordinate.

J. Mar. Sci. Eng. 2021, 9, 781 3 of 17

All forces along the mooring lines are assumed to be concentrated at the node.
Tension forces at the i-th node include the tension forces in the line segments on either
side of the node i which are, respectively, indicated as Ti+1/2 and Ti −1/2 .
!
li±1/2
e
Ti±1/2 = EA −1 (3)
li±1/2

where E is the elastic module; A is the cross-sectional area; li+1/2 is the original length of
the segment between the i-th node and (i+1)-th node; li −1/2 is the original length of the
segment between the i-th node and (i−1)-th node.
The tension force at node i is expressed as follows:

Ti = Ti+1/2 ei+1/2 − Ti−1/2 ei−1/2 (4)

Wave forces on the mooring line are computed using the Morison equation, which
assumes the force to be linearly summation of inertia and drag forces. The wave–particle
n
velocity at node i is ui = [ux,i , uy,i , uz,i ]T . The normal wave–particle velocity ui,i +1/2 across
the half of the upper segment that connects the i-th node is
n
ui,i +1/2 = Ni +1/2 ui (5)

Ni+1/2 = 1 − ei+1/2 eTi+1/2 (6)

Similarly, the normal wave–particle acceleration across the half of the upper segment
that connects the i-th node is
.n .
ui, i+1/2 = Ni+1/2 ui (7)
The tangential wave particle velocity ui,τ i+1/2 across the half of the upper segment
that connects the i-th node is
τ
ui,i +1/2 = τi +1/2 ui (8)

τi+1/2 = ei+1/2 eTi+1/2 (9)

and the corresponding acceleration across the half of the upper segment that connects the
i-th node is
.τ .
ui, i+1/2 = τi+1/2 ui (10)
The inertia or drag forces are usually computed separately for directions normal and
tangent to the lines. As the tangential component is usually small and can be neglected, it
is assumed that the tangential inertia coefficient is zero. The inertia force on the upper and
lower half segment on the side of node i is as follows:

1 n .n
F I i,i±1/2 = πρD2 Cm li±1/2 ui, i±1/2 (11)
8
where Cmn is the normal and tangential inertia coefficient.

Then, the inertia forces on node i including two lines segments on either side of the
node are
.
F Ii = ( DIi+1/2 Ni+1/2 + DIi−1/2 Ni−1/2 )ui (12)
where DIi±1/2 = 81 πρD2 Cm nl n
i ±1/2 , and the normal inertia coefficient Cm = 2.
The structural acceleration is not included in inertia forces, and it is usually accounted
for by the inclusion of an added mass term in the mass matrix in the equation of motion.
..
F Ai = ( DAi+1/2 Ni+1/2 + DAi−1/2 Ni−1/2 )ri (13)

where DAi±1/2 = 81 πρD2 Can li±1/2 , and the normally added mass coefficient Can = Cm
n − 1.
J. Mar. Sci. Eng. 2021, 9, 781 4 of 17

The added mass on node i is

ma, i = DAi+1/2 Ni+1/2 + DAi−1/2 Ni−1/2 (14)

Therefore, the mass, including added mass matrix, is

Mi = mi + ma, i (15)

where mi represents the mass of two mooring line segments on each side of the i-th node.
Additionally, the force including weight and buoyancy is

Wi = [ 0 0 − mi g + f Bi ]T (16)

where the buoyancy is denoted by f Bi = 12 ρA(li+1/2 + li−1/2 ), and ρ is the density of seawater.
The drag force on the upper and lower half segment on the side of node i is calculated using
Morrison’s equation. The tangential drag is assumed to be neglected as it is usually small.

1 n
FDi,i±1/2 = ρC Dl Vn Vn (17)
4 D i±1/2 r i, i±1/2 r i, i±1/2
where CDn is the normal drag coefficient. Vn
ri,i +1/2 is the normal relative velocity to the
upper segment connected with node i, respectively.

Vrn i,i+1/2 = Ni+1/2 Vr i (18)

.
Vr i = u i − r i + V c i (19)
where V ri is the relative velocity between the water–particle velocity from wave ui and
.
current V ci at node i and the velocity of node ri .
The drag forces on the i-th node including two line segments on either side of the
node are

FD i = DTi+1/2 Vrn i, i+1/2 Vrn i, i+1/2 + DTi−1/2 Vrn i, i−1/2 Vrn i, i−1/2 (20)

where DTi±1/2 = 41 ρCD

n Dl
i ±1/2 .

2.1. Dynamic Analysis in the Time Domain

The equation of motion is
..
Mr = T + F I + FD + W (21)
..
where M is the mass matrix of mooring lines including added mass, and r is the acceler-
ation. The force consists of tension forces T, inertia force FI , drag force FD , weight, and
buoyancy W.
The upper end connects with the vessel, and the bottom end is considered as a fixed
point. The motion equation of mooring lines can be solved using numerical integration
.j
schemes. Here, the modified Euler method is applied. r j and r are the known displacement
and velocity of the mooring line, respectively, at time t j = j∆t. The displacement and
. j +1
velocity of the line, r j+1 and r , at the time t j+1 = ( j + 1)∆t are evaluated as follows:

.. j
h i
r = M j −1 T j + F jI + FDj + W (22)

. j +1 .j .. j
r = r + r ∆t (23)
. j +1
r j +1 = r j + r ∆t (24)
J. Mar. Sci. Eng. 2021, 9, 781 5 of 17

where ∆t is the time step. The new displacements, velocities, and accelerations of all the
nodes can be evaluated easily according to this scheme.
It can be seen that the modified Euler method is very simple, and it can lead to
accurate response evaluations. It is explicit and straightforward, which is different from the
Newmark beta method, which needs iteration for each step. This method is conditionally
stable, and the time step should satisfy the condition of stability as follows:

T
∆t < (25)
π
where T is the natural period of vibration of the line system.

2.2. Dynamic Analysis in the Frequency Domain

The dynamic analysis in the frequency domain is based on the linear system. There
are nonlinear effects that can have an important influence on mooring line behavior. One is
geometric nonlinearity, which is associated with large changes in the shape of the mooring
line. The other is fluid loading, in which the Morrison equation is most frequently used
to represent its effects on mooring lines. The drag force on the line is proportional to the
square of the relative velocity between the water–particle velocity from the wave or current
and the line’s velocity and hence is nonlinear. In addition, the contact of the line with the
seabed is also nonlinear. These nonlinearities have to be linearized.
It is assumed that dynamic deflections around the static equilibrium position are small.
The tangent stiffness matrix for the upper segment for node i is

∂( Ti+1/2 ei+1/2 )
ki = (26)
∂ri

The drag force can be linearized by the statistical linearization method. The nonlinear
term in drag force is replaced by the linear form

Vn + Vcn Vn + Vcn = Ce Vn + Fm


(27)

where Ce is the equivalent linear coefficient, and Fm is a constant force vector. The normal
water–particle velocity from wave un is a Gaussian random process, the corresponding
.n .n
structure’s velocity r , and the relative velocity Vn = un − r is also a Gaussian random
process. The Ce and Fm can be estimated from the minimization of the expected square
error between the nonlinear and linearized forms. The expected square error is
h i
2
Vn + Vcn Vn + Vcn − (Ce Vn + Fm )


E (28)

Minimization of the error with respect to Ce and Fm leads to the following:

E[Vn · Vn + Vcn Vn + Vcn ]

Ce = (29)
E [Vn · Vn ]

Fm = E Vn + Vcn Vn + Vcn


(30)
Since the relative velocity Vn is normal to the centerline of the line, it has only two
nonzero components in a coordinate system that has the tangent to the centerline as a basis
vector. If the two components are uncorrelated, the evaluation of the expected values in the
above equations can be simplified. We can choose the coordinate based on the principal
directions of the relative velocity covariance matrix. One base vector of the coordinate
system, denoted as axis 1, is in the direction of the maximum velocity variance and the other,
denoted as axis 2, is in the direction of the minimum velocity variance. In this coordinate
system, the two components of the relative velocity Vn = [v1 , v2 ] are uncorrelated, i.e., the
covariance of vl and v2 is zero. Additionally, current velocity is Vc n = [Vc1 , Vc2 ] in this
coordinate system.
J. Mar. Sci. Eng. 2021, 9, 781 6 of 17

Therefore, the above equations can be rewritten as follows:

R∞ R∞ n n n

n n n
−∞ −∞ V · V + Vc V + Vc p (V ) dv1 dv2
Ce = R∞ R∞ n n n
(31)
−∞ −∞ (V · V ) p (V ) dv1 dv2
Z ∞ Z ∞
Vn + Vcn Vn + Vcn p(Vn )dv1 dv2


Fm = (32)
−∞ −∞
where p(Vn ) is the probability density function of Vn . Considering Vn is a Gaussian random
process and vl and v2 are uncorrelated, the probability density function is
v 2 v 2
1 − 1 [( 1 ) +( σ2 ) ]
p (Vn ) = e 2 σ1 2 (33)
2πσ1 σ2

The linearization needs the integration of double infinite integrals. Only a few spe-
cial cases have the closed form of integration. For the one-dimensional drag force, the
linearization results are
√
r  
8 1 Vc 2 Vc
Ce = σe− 2 ( σ ) + 2πVc er f ( ) (34)
π σ
r
2 1 Vc 2 Vc
Fm = σVc e− 2 ( σ ) + 2(Vc2 + σ2 )er f ( ) (35)
π σ
Rx 1 2
where er f ( x ) = √1 0 e− 2 t dt.
2π
If there is no current, then the linearization coefficient for one-dimensional drag force is
r
8
Ce = σ (36)
π
For the case in which the drag force is three dimensional, the integrals require nu-
merical integration. The infinite integrals can be transformed into finite integrals by
trigonometric functions, and the finite integrals are evaluated by trapezoidal rule [13].
Using the above linearization method, the linearized drag force at node i can be obtained
as follows:
1 .

ρCD Dli±1/2 PTi±1/2 Ce,i±1/2 Pi±1/2 Ni±1/2 ui − ri + Fm,i±1/2


FDi,i±1/2 = (37)
4

where PTi±1/2 is the orthogonal transformation from the local principal coordinate system to
the global coordinate system.
.

FDi = (Qi+1/2 + Qi−1/2 ) ui − r + Fmi (38)

where Qi±1/2 = DTi±1/2 PTi±1/2 Ce Pi±1/2 Ni±1/2

Fmi = DTi+1/2 PTi+1/2 Fm,i+1/2 + DTi−1/2 PTi−1/2 Fm,i−1/2
DTi±1/2 = 41 ρCD Dli±1/2
After linearization, the equation of motion of mooring lines is transformed into the
frequency domain in the form as follows:
.
(−ω 2 M + iωQ + K)r(ω ) = M I u(ω ) + Qu(ω ) (39)

Then, the right side of the equation of motion can be rewritten as G(ω)η(ω), where
G(ω) is the force transfer function. the displacement responses can be obtained as

r( ω ) = H( ω ) η ( ω ) (40)

where H(ω) is the transfer function and H(ω) = (−ω 2 M + iωQ + K)−1 G(ω).
J. Mar. Sci. Eng. 2021, 9, 781 7 of 17

Additionally, the velocity of lines is

.
r(ω ) = iωr(ω ) (41)

The response spectral of displacement and top tension are

Srr (ω ) = |H(ω )|2 Sηη (ω ) (42)

Mean square response of displacement and velocity are

Z ∞
σr2 = Srr (ω )dω (43)
0
Z ∞
σr2. = ω 2 Srr (ω )dω (44)
0
Top tension can be obtained as

T(ω ) = k N −1 [r N (ω ) − r N −1 (ω )] (45)

3. Numerical Case in the Time Domain

The codes for the dynamic analyses of mooring lines in the time domain were pro-
grammed using MATLAB. The numerical case analyses of single-component and multicom-
ponent mooring lines were carried out. To verify this program, the results were compared
with the results from commercial software, Orcaflex. The detailed properties of lines are
listed in Table 1. The harmonic excitations were applied on the top end of the lines. The
horizontal and vertical harmonic excitations represent the motions at wave frequency and
low frequency of a floating structure, respectively.

Table 1. Properties of the mooring line.

Weight kg/m
Type Diameter (mm) Axial Stiffness (kN)
Air Water
R4 Chain 157 3.35 ×106 491 426
Spiral Strand wire 144 1.893 × 106 106 84

Three test cases were carried out and compared with the results from Orcaflex. The
first case was a single-component mooring line only under harmonic excitation applied
on its top end. There were no environmental loads and no seabed contact. In the second
case, the environmental loads, wave, and current were applied to the line. The third case
addressed multicomponent mooring lines. The lines were subjected to wave, current, and
harmonic excitation. In addition, contact with seabed was also taken into account.

3.1. Single-Component Mooring Line under Harmonic Excitation

The dynamic response of a single-component mooring line, the R4 chain, was sim-
ulated. The mooring line was subjected to vertical, horizontal, and combined vertical
and horizontal harmonic excitations, respectively. The given harmonic excitations are
as follows:
x N (t) = 10 cos(0.02πt) (46)
z N (t) = 5 cos(0.2πt) (47)
The environmental loads were not taken into account here. The water depth is
400 m. The length of the line is 400 m. The top end is 10 m under the water surface. The
configuration of the mooring line is shown in Figure 2. Additionally, the results of dynamic
analysis were compared with Orcaflex’s. There are 20 segments. Figures 3–5 show the
dynamic response of a single-component mooring line under vertical, horizontal, and
 The environmental loads were not taken into account here. The water depth is 400
The environmental loads were not taken into account here. The water depth is 400
m. The length of the line is 400 m. The top end is 10 m under the water surface. The con-
m. The length of the line is 400 m. The top end is 10 m under the water surface. The con-
figuration of the mooring line is shown in Figure 2. Additionally, the results of dynamic
figuration of the mooring line is shown in Figure 2. Additionally, the results of dynamic
analysis were compared with Orcaflex’s. There are 20 segments. Figures 3–5 show the
J. Mar. Sci. Eng. 2021, 9, 781
analysis were compared with Orcaflex’s. There are 20 segments. Figures 3–5 show the
8 of 17
dynamic response of a single-component mooring line under vertical, horizontal, and
dynamic response of a single-component mooring line under vertical, horizontal, and
combined vertical and horizontal harmonic excitations. According to the results, the codes
combined vertical and horizontal harmonic excitations. According to the results, the codes
agree well with the outputs of Orcaflex, and the top tension range is 1% greater in Or-
agree well with the outputs of Orcaflex, and the top tension range is 1% greater in Or-
caflex.
combined vertical and horizontal harmonic excitations. According to the results, the codes
caflex.
agree well with the outputs of Orcaflex, and the top tension range is 1% greater in Orcaflex.

Figure
Figure 2. Configurationofofthe
the single mooring
line.line.
Figure 2. Configuration
2. Configuration of the single mooring
single mooring line.

J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW 9 of 18

Figure 3. Single mooring line under the vertical harmonic excitation.

Figure 3. Single mooring line under the vertical harmonic excitation.
Figure 3. Single mooring line under the vertical harmonic excitation.

Figure 4. Single mooring line under the horizontal harmonic excitation.

Figure 4. Single mooring line under the horizontal harmonic excitation.
J. Mar. Sci. Eng. 2021, 9, 781 9 of 17

Figure 4. Single mooring line under the horizontal harmonic excitation.

Figure 5.
Figure Singlemooring
5. Single mooring line
line under
under the
the combined
combined vertical
vertical and
and horizontal
horizontal harmonic
harmonic excitations.
excitations.

3.2. Single-Component Mooring Line under Harmonic Excitation with Wave and Current
3.2. Single-Component Mooring Line under Harmonic Excitation with Wave and Current
In this case, the environmental loads from wave and current were applied to the lines.
In thisiscase,
The wave the wave
an airy environmental
that has a loads
wave from
heightwave
of 7.0and
m current were applied
and a period of 8.0 s. to
Thethe lines.
current
The wave is an airy wave that has a wave height of 7.0 m and a period of 8.0 s.
is 1 m/s in the x-direction and linear decay, along with the depth until zero at the seabed. The current
is 1 m/s in thethe
Additionally, x-direction
mooring and
line linear decay,
was still alongtowith
subjected threethe depth until
harmonic zero at i.e.,
excitations, the seabed.
vertical,
Additionally,
J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW the mooring line was still subjected to three harmonic excitations,
horizontal, and combined vertical and horizontal harmonic excitations. Both the results i.e.,
10 ofver-18
of
tical,
J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW horizontal, and combined vertical and horizontal harmonic excitations.
mooring line dynamic analysis by the in-house code and Orcaflex are shown in Figures 6–8. Both the
10 of re-
18
sults
It canofbemooring
seen thatline
thedynamic
agreement analysis
is well,by thethe
and in-house
differencecode and Orcaflex
is within 1%. are shown in
Figures 6–8. It can be seen that the agreement is well, and the difference is within 1%.

.
.
Figure
Figure 6. Single mooring line under vertical harmonic excitationwith
6. Single mooring line under vertical harmonic excitation with wave
wave and
and current.
current.
Figure 6. Single mooring line under vertical harmonic excitation with wave and current.

Figure 7. Single mooring line under horizontal harmonic excitation with wave and current.
Figure 7. Single mooring line under horizontal harmonic excitation with wave and current.
Figure 7. Single mooring line under horizontal harmonic excitation with wave and current.
J. Mar. Sci. Eng. 2021, 9, 781 10 of 17

Figure 7. Single mooring line under horizontal harmonic excitation with wave and current.

Single mooring
Figure8.8. Single
Figure mooring line
lineunder
undercombined
combinedvertical and
vertical horizontal
and harmonic
horizontal excitation
harmonic with with
excitation wave
and current.
wave and current.
3.3. Multicomponent Mooring Line
3.3. Multicomponent Mooring Line
This code can also carry out the dynamic analysis for multicomponent mooring lines.
Here,This code
a test canofalso
case carry out the dynamic
a multicomponent mooring analysis forchain-Spiral
line (R4 multicomponent
Strandmooring
wire-R4 lines.
chain)
Here, a test case of a multicomponent mooring line (R4 chain-Spiral Strand
was simulated. The line length is 100, 400, and 1480 m, respectively. The configurationwire-R4 chain)
was simulated.
of the The line length
multicomponent mooringis 100,
line400, and 1480
is shown in m, respectively.
Figure Thepart
9. The first configuration
of the 100ofm
the
R4 chain was divided into five segments, and the second part of the spiral m
multicomponent mooring line is shown in Figure 9. The first part of the 100 R4 chain
strand wire
was divided into six segments. The third part of the R4 chain considered the seabed
contraction, in which parts on the touch-down zone were meshed by 10 m per segment (in
total 58 segments), and other parts, always on the seabed, were coarsely meshed by 100 m
per segment. The given harmonic excitations are as follows:

x N (t) = 40 cos(0.02πt) (48)

z N (t) = 5 cos(0.2πt) (49)

Figure 9. Configuration of the multicomponent mooring line.

Wave and current were the same as used in the single-component mooring line. In
addition, seabed interaction was also considered. For the mooring line resting on the
seabed, a modified bilinear spring is used to model the vertical contact force Fs on a
node [14], which has the form in Equation (50). Friction effects are considered to be less
significant for the system analyzed and are neglected. A gradual transition is proposed to
account for numerical stability. The effects of wave and current are considered, using the
same parameters in the single line case.
 J. Mar. Sci. Eng. 2021, 9, 781 11 of 17

 
1 1
Fs = a −z + ln[cosh(bz + c)] + d (50)
2 b
where a, b, c, and d is suitably chosen constants. In particular, d should be the value such
that F is close to 0 when z is a suitable distance away from the seabed.
J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW s 12 of 18
Dynamic response of multicomponent mooring line under vertical, horizontal,
J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW
and
12 of 18
combined
J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW vertical and horizontal harmonic excitations are shown in Figures 10–12.
12 ofAc-
18
cording to the results of the dynamic analysis in the time domain, it can be seen that this
program can perform as well as the commercial software, and the difference is within 3%.

Figure 10. Multicomponent mooring line under the vertical harmonic excitation.
Figure 10. Multicomponent mooring line under the vertical harmonic excitation.
Figure 10. Multicomponent mooring line under the vertical harmonic excitation.
Figure 10. Multicomponent mooring line under the vertical harmonic excitation.

Figure 11. Multicomponent mooring line under the horizontal harmonic excitation.
Figure 11.
Figure Multicomponentmooring
11. Multicomponent mooringline
line under
under the
the horizontal
horizontal harmonic
harmonic excitation.
excitation.
Figure 11. Multicomponent mooring line under the horizontal harmonic excitation.

Figure
Figure 12.12. Multicomponentmooring
Multicomponent mooring line
line under
underthe
thecombined
combinedvertical andand
vertical horizontal harmonic
horizontal excitation.
harmonic ex-
citation.
Figure 12. Multicomponent mooring line under the combined vertical and horizontal harmonic ex-
Figure
citation.12. Multicomponent mooring line under the combined vertical and horizontal harmonic ex-
4.citation.
Numerical Case in the Frequency Domain
4. Numerical Case
The code for indynamic
the the Frequency Domain
analysis of mooring lines in the frequency domain was
4. Numerical Case in the Frequency Domain
The code for the dynamic analysis of mooring lines in the frequency domain was
J. Mar. Sci. Eng. 2021, 9, 781 12 of 17

J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW 13 of 18

4. Numerical
J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW Case in the Frequency Domain 13 of 18
The code for the dynamic analysis of mooring lines in the frequency domain was
programmed and compared with the results from Oraclex. Since Orcaflex cannot perform
the mooring lines were linearized using the aforementioned method. Additionally, cases
themooring
the dynamiclines
analysis
wereinlinearized
the frequency domain,
using thelines the dynamic responses
aforementioned in the time domain
method. Additionally, cases
of single-component and multicomponent were performed.
were transformed to responses in the frequency domain
of single-component and multicomponent lines were performed. using FFT. The nonlinearities in
the mooring lines were linearized using the aforementioned method. Additionally, cases of
4.1. Mooring Line under Harmonic Excitation and Regular Wave
single-component
4.1. Mooring and Harmonic
Line under multicomponent lines
Excitation andwere performed.
Regular Waveline, R4 chain, under different
The dynamic analyses of a single-component mooring
The
horizontaldynamic
surge
4.1. Mooring analyses
Lineharmonic of a single-component
excitation
under Harmonic were carried
Excitation mooring
out in
and Regular the
Wave line, R4 chain,
frequency under and
domain different
time
horizontal
domain, surge harmonic
respectively. The excitation were
configuration of carried
the out
mooringin the
linefrequency
is shown domain
in
The dynamic analyses of a single-component mooring line, R4 chain, under different
and
Figure 2. time
The
domain,
surge respectively.
motion The
amplitudes ofconfiguration
1 m, 5 m, and of the
10 m mooring
with a line
period is
ofshown
10 s in
were
horizontal surge harmonic excitation were carried out in the frequency domain and time Figure 2. The
investigated.
surge
Figure motion
13 showsamplitudes
the ratio of
of 1 m,
dynamic 5 m, and
tension 10 m with
amplitude a period
in the of 10 s
frequency were investigated.
domain
domain, respectively. The configuration of the mooring line is shown in Figure 2. The surge and time
Figure
motion13amplitudes
domain. shows the of
ratio of5dynamic
1 m, m, and 10 tension
m with amplitude
a period ofin10
thes frequency domain and
were investigated. Figuretime
13
domain.
shows the ratio of dynamic tension amplitude in the frequency domain and time domain.

Figure 13. The ratio of dynamic tension amplitude in the frequency domain and time domain under
Figure 13. The ratio of dynamic tension amplitude in the frequency domain and time domain under
harmonic
Figure 13. excitation.
The ratio of dynamic tension amplitude in the frequency domain and time domain under
harmonicexcitation.
harmonic excitation.
The frequency domain simulations of single-component mooring line under regular
The frequency domain simulations of single-component mooring line under regular
waveThe
werefrequency domain
carried out simulations
thereafter. of single-component
The wave height is 10 m, 15mooring line
m, and 20 m,under regular
respectively.
wave were carried out thereafter. The wave height is 10 m, 15 m, and 20 m, respectively.
waveratios
The wereof carried out tension
dynamic thereafter. The wave
amplitude in height is 10 m, domain
the frequency 15 m, and 20time
and m, respectively.
domain are
The ratios of dynamic tension amplitude in the frequency domain and time domain are
The ratiosFigure
shown of dynamic tension amplitude in the frequency domain and time domain are
showninin Figure14.
14.
shown in Figure 14.

Figure14.
Figure Theratio
14.The ratioofofdynamic
dynamictension
tensionamplitude
amplitudein
inthe
thefrequency
frequencydomain
domainand
andtime
timedomain
domainunder
under
a regular
aFigure
regular wave.
14.wave.
The ratio of dynamic tension amplitude in the frequency domain and time domain under
a regular wave.
Thedynamic
The dynamicanalyses
analysesofofmulticomponent
multicomponentmooring
mooringlines
linesunder
underdifferent
differentsurge
surgehar-
har-
monicTheexcitations were
dynamicwere also
analyses carried out in
of multicomponentthe frequency domain
mooringdomain and
lines under time domain,
different respec-
surge har-
monic excitations also carried out in the frequency and time domain, respec-
monic excitations were also carried out in the frequency domain and time domain,
tively. The configuration of the mooring line is shown in Figure 9. Figure 15 shows the respec-
tively.ofThe
ratio configuration
dynamic of the mooring
tension amplitude in theline is shown
frequency in Figure
domain and9.time
Figure 15 shows
domain with the
ratio of dynamic tension amplitude in the frequency domain and time domain with the
J. Mar. Sci. Eng. 2021, 9, 781 13 of 17
J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW 14 of 18
J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW 14 of 18

tively. The configuration of the mooring line is shown in Figure 9. Figure 15 shows the
surge
ratio motion amplitudes
of dynamic tensionof 1 m, 5 m,in
amplitude and
the10frequency
m. The ratios of dynamic
domain and timetension
domainamplitude
with the
surge
in motion amplitudes
the frequency of 1time
domain and m, 5 m, and under
10 m. The ratios of dynamic tension
m, andamplitude
surge motion amplitudes of 1 m, 5domain wave
m, and 10 m. The height
ratios of of 10 m, 15
dynamic tension 20 m are
amplitude
in the frequency
shown domain and time domain under wave height of 10 m, 15 m, and 20 m are
in Figure 16.
in the frequency domain and time domain under wave height of 10 m, 15 m, and 20 m are
shown in Figure 16.
shown in Figure 16.

Figure
Figure15.
15.The
Theratio
ratioofofdynamic
dynamictension
tensionamplitude
amplitudeininthe
thefrequency
frequencydomain
domainand
andtime
timedomain
domainunder
under
Figure 15.excitation.
harmonic The ratio of dynamic tension amplitude in the frequency domain and time domain under
harmonic excitation.
harmonic excitation.

Figure16.
Figure Theratio
16.The ratioofofdynamic
dynamictension
tensionamplitude
amplitudeininthe
thefrequency
frequencydomain
domainand
andtime
timedomain
domainunder
under
Figure
a 16.
regular The
wave.
a regular wave. ratio of dynamic tension amplitude in the frequency domain and time domain under
a regular wave.
4.2. Single-Component Mooring Line under Random Wave with Current
4.2. Single-Component Mooring Line under Random Wave with Current
4.2. Single-Component Mooring
The dynamic analysis of aLine under Random Wave
single-component with Current
mooring line, R4 chain, was simulated
The dynamic analysis of a single-component mooring line, R4 chain, was simulated
under a random wave. The random wave is defined by the ISSC spectrum as follows. The
underThe dynamic
a random analysis
wave. of a single-component
The random wave is definedmooringby the ISSC line,spectrum
R4 chain,aswas simulated
follows. The
significant
under a randomwave height is 7.8 m, the peak period is 5.6 s, and the spectrum is shown in
significant wave wave.
heightThe random
is 7.8 m, thewavepeakisperiod
definedis by
5.6 the ISSCthe
s, and spectrum
spectrumas follows.
is shownThe in
Figure 17.
significant
Figure 17. wave height is 7.8 m, the peak period is5.6 s, and the
5 2 −5 5 ωp 4
 spectrum is shown in
Figure 17. Sη ( ω ) = H ω ω p exp − 4
(51)
16 s  4 ω ω 4 
5 2 −5 5
S (ω ) = 5 H s 2ω −5 ω p 44exp − 5 ω p  
p 4
The current velocity is 1Sηηm/s (51)
(ω ) =in H s ωx-direction.
16 the  ω configuration
ω p exp −4The   of the mooring(51)
16
line is shown in Figure 18. The length is 668.8 m, and 4
 the ω
 water   depth is 400 m. Both top
and The current
bottom are velocity
pinned, isthe1 m/s in at
top is the(366.89,
x-direction.
366.89,The configuration
390) and the bottom of theismooring line
at the origin
The
ispoint.
shown current
in Figure
After velocity
18. Theisand
linearization 1 m/s
lengththein the x-direction.
isfrequency
668.8 m, and theThe
analysis, configuration
water
the depth isdensity
spectral 400of m.
theof mooring
Both
toptop line
and
tension
is shown
bottom in Figure
are pinned,
is presented 18. The
the top
in Figure length is
is at dynamic
19. The 668.8 m,
(366.89, 366.89, and
analysis390)the water
in and depth
the bottom
the time domain is 400
is is m. Both
atsimulated top
the origin for and
point.
3h
bottom
After are pinned,
usinglinearization
Orcaflex, the the
as shown
and top isFigure
at (366.89,
infrequency 366.89,
20,analysis,
and thenthe390) and thedensity
transformed
spectral bottom
the response
ofis top
at the origin
totension
the ispoint.
frequencypre-
After
sented linearization
domain.in The
Figure 19.and
standard the frequency
deviation
The dynamic top analysis,
ofanalysis
tension isthe
in the spectral
shown
time density
in Table
domain ofdifference
is2.simulated
The top tension is pre-
for 3ish13.41%.
using
sented in Figure 19. The dynamic analysis in the time domain is simulated
Orcaflex, as shown in Figure 20, and then transformed the response to the frequency do- for 3 h using
Orcaflex,
main. The as shown deviation
standard in Figure 20, andtension
of top then transformed
is shown in the response
Table to the frequency
2. The difference is 13.41%. do-
main. The standard deviation of top tension is shown in Table 2. The difference is 13.41%.
J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW 15 of 18
J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW 15 of 18
J. Mar. Sci. Eng. 2021, 9, 781 14 of 17

Figure 17. Wave spectrum.

Figure 17.
Figure Wave spectrum.
17. Wave spectrum.

Figure
Figure 18.
18. Configuration
Configurationof
of the
the single
single mooring
mooring line.
line.
Figure 18. Configuration of the single mooring line.

J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW 16 of 18

Figure 19. Spectral density of top tension single mooring line.

Figure 19. Spectral density of top tension single mooring line.
Figure 19. Spectral density of top tension single mooring line.

Figure 20.Top
Figure20. Toptension
tension in
in time series(3
time series (3h)
h)of
ofsingle-component
single-component line.
line.

Table 2. The standard deviation of top tension for single-component case.

In-House Orcaflex
 Figure 20. Top tension in time series (3 h) of single-component line.

Table 2. The standard deviation of top tension for single-component case

J. Mar. Sci. Eng. 2021, 9, 781 15 of 17
In-House
Standard deviation of Top Tension (N) 368.3
Table 2. The standard deviation of top tension for single-component case.

4.3. Multicomponent Mooring Line under Random Wave

In-House with Current
Orcaflex
Standard deviation of Top Tension (N) 368.3 318.9
The frequency analysis for a multicomponent (R4 chain-Spira
mooring line Mooring
4.3. Multicomponent was also carried
Line under Random out under
Wave with the random waves. Th
Current

shownThe frequency
in Figureanalysis
21.forThe
a multicomponent
length is 100 (R4 chain-Spiral
m, 300 m, Strand
and wire-R4
268.8 chain)
m, respe
mooring line was also carried out under the random waves. The line configuration is
pinned, and21.positions
shown in Figure The length iswere them,same
100 m, 300 asm,the
and 268.8 single-component
respectively. Both ends were line
pinned, and positions were the same as the single-component line.

Figure 21. Configuration of the multicomponent mooring line.

Figure 21. Configuration of the multicomponent mooring line.
The dynamic analysis in the time domain was also simulated for 3 h using Orcaflex, as
shown in Figure 22. Additionally, the response of top tension in time series was transformed
The dynamic
to the frequency domain. Theanalysis
frequency in thefor
analysis time domain was
the multicomponent linealso simulated
was carried
as
outshown in spectral
to obtain the Figuredensity
22. Additionally,
of top tension, which the response
is presented of top
in Figure 23. tension
The i
standard deviation of top tension is shown in Table 3. The difference between them
formed
is 6.16%. to the frequency domain. The frequency analysis for the m
carried out to obtain the spectral density of top tension, which is
The standard deviation of top tension is shown in Table 3. The d
is 6.16%.

Figure 22. Top tension in time series (3 h) of multicomponent line.

J. Mar. Sci. Eng. 2021, 9, 781 16 of 17
Figure 22. Top tension in time series (3 h) of multicomponent line.

Figure 23. Spectral density of top tension multicomponent line.

Figure 23. Spectral density of top tension multicomponent line.
Table 3. The standard deviation of top tension for the multicomponent case.
Table 3. The standard deviation of top tension for the multicomponent case.
In-House Orcaflex
In-House Orcaflex
Standard deviation of Top Tension (N) 298.0 280.7
Standard deviation of Top Tension (N) 298.0 280.7
5. Conclusions
5. Conclusions
This paper developed a numerical scheme for dynamic analysis of mooring lines in the
timeThis paper
domain anddeveloped a numerical
frequency domain based on scheme for dynamic
the lumped mass method.analysis of mooring
The modified Eulerlines in
the time domain
method, a direct and simply
frequency domain
explicit basedwas
algorithm, on the lumped
employed tomass
carry method. The modified
out the dynamic
Euler method,
analysis a direct
of mooring linesand simply
in the explicitThe
time domain. algorithm,
mooring was
lines employed to carry
under horizontal, out the dy-
vertical,
and combined
namic analysis ofharmonic
mooring excitations were
lines in the studied.
time domain.TheThe
studied caseslines
mooring included
under single-
horizontal,
component and multicomponent mooring lines, and the seabed contact
vertical, and combined harmonic excitations were studied. The studied cases included was also taken
into account. An improved frame invariant stochastic linearization method was applied to
single-component and multicomponent mooring lines, and the seabed contact was also
the nonlinear hydrodynamic drag term for the frequency domain dynamic analysis. The
taken into account. An improved frame invariant stochastic linearization method was ap-
cases of single-component and multicomponent mooring lines were studied. The codes
plied
wereto the nonlinear
validated hydrodynamic
by comparison drag term
with commercial for the Orcaflex.
software, frequencyThe domain dynamic
comparison of anal-
ysis. Theshowed
results cases ofthat
single-component
time and frequency anddomain
multicomponent
results agree mooring
well withlines were studied.
nonlinear time The
codes were validated
domain results. by comparison with commercial software, Orcaflex. The comparison
of results showed that time and frequency domain results agree well with nonlinear time
Author Contributions:
domain results. Conceptualization, S.H. and A.W.; methodology, A.W.; software, A.W.;
validation, A.W.; formal analysis, A.W.; investigation, S.H.; resources, A.W.; data curation, A.W.;
writing—original draft preparation, A.W.; writing—review and editing, S.H. and A.W.; project
Author Contributions: Conceptualization, S.H. and A.W.; methodology, A.W.; software, A.W.; val-
administration, S.H.; funding acquisition, S.H. Both authors have read and agreed to the published
idation, A.W.; formal analysis, A.W.; investigation, S.H.; resources, A.W.; data curation, A.W.; writ-
version of the manuscript.
Funding: This research was funded by the National Natural Science Foundation of China, Grant
Number 51979157.
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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