Computational Algorithms and Numerical Dimensions

www.journal-cand.com

Com. Alg. Num. Dim. Vol. 3, No. 2 (2024) 132–149.

Paper Type: Original Article

Numerical Modelling of Rope Elasticity for Heave

Compensation Lifting in Offshore Crane Operations
Bassey Asanga1, Akanimo Ekpenyong1, Aniekan Ikpe 2,*
1 Department of Mechanical and Aerospace Engineering, University of Uyo, Uyo, Nigeria; [email protected];
[email protected]
2 Department of Mechanical Engineering Technology, Akwa Ibom State Polytechnic, Ikot Osurua, Nigeria;

[email protected]

Citation:

Asanga, B., Ekpenyong, A. & Ikpe, A. (2024). Numerical Modelling of

Received: 13 February 2024
Rope Elasticity for Heave Compensation Lifting in Offshore Crane
Revised: 9 March 2024
Operations. Computational algorithms and numerical dimensions,
Accepted: 11 May 2024
3(2), 132-149.

Abstract

Every Often time, maritime jobs are put off unduly while waiting for the weather to serene down. An attempt to
prolong and continue window operation during harsh weather condition can incur severe damages in the life of the
workers; equipment and machine thereby inflect the cost of production. To overcome this, a hydro-mechanical
approach encompassing the core constituents of the floating winch and lifting rig pitcher were modeled. This study
deals with the numerical modelling of rope elasticity for heave compensation system in offshore floating crane for
use in enhancing operation at Qua Iboe field. Real time data were collected using classy equipment / sensors. First,
a mathematical model for wire rope extension was developed using Newton / Euler’s approach when heave
compensation system (HCS) was turned off (WOC) and validated using associated wire rope physical properties.
Second, the performance of wire rope based on rope stiffness was evaluated when HCS was turned off (WOC) and
on (WC). The reciprocal of the slopes of the plots of extension against total tensile force on the wire rope regraded
as stiffness were compared. Thirdly, heave compensation system performance based on heave, roll and pitch motion
characteristics during WOC and WC was compared within 50 seconds of resonating time under varying loads and
subsequent computation of their % reduction in disturbance. The results showed that the developed mathematical
model for the wire rope extension (e) derived from second order differential equation found directly proportional to
the load applied but inversely proportional to the wire rope stiffness (β) during WOC and WC were 2.50 × 107
N.m-1 and 3.33 × 107 N.m-1, respectively. The heave, roll and pitch motions were observed to be a regular wave
pattern. The comparison of the variations of heave, roll and pitch (including their rates and accelerations) within
resonating time (50 seconds) during WOC with WC revealed that the heave compensation system could reduce heave,
roll and pitch motion.

Keywords: Numerical modeling, Lifting, Compensation, Rope elasticity, Heave motion.

Corresponding Author: [email protected]

https://doi.org/10.22105/cand.2024.472720.1099
Licensee System Analytics. This article is an open access article distributed under the terms and conditions of the Creative
Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0).
Numerical Modelling of Rope Elasticity for Heave Compensation Lifting in Offshore Crane Operations 133

1|Introduction
The The offshore environment can be pretty harsh due to tidal wave, high wind characterized by turbulence
unsteady flow particularly in ultra-deep water environment, as such, certain operations must be suspended
(put off) until the weather condition normalizes [1, 2]. Large reserves of oil and gas fields are still laying
untapped mostly in deep-water basins, indicating that a number of offshore activities will always be carried
out in these rough terrains particularly when this natural resources are yet to be harnessed [3]. Therefore,
sustaining various activities in the offshore regions require cost effective equipment that can enable operators
carry out duties effectively with little or no failure. Tasks, such as takeoff and retrieval of remotely operated
vehicles (ROVs) and lowering subsea connection parts to the seabed are principally defenseless. Therefore, it
will safe time, energy, resources and as well contribute to significant operations if the load encountered during
various operations are properly handled without causing failure or casualty of any form. A heave
compensation device enables this to be done successfully. It is an instrument used to counteract heave
motions rising from a floating winch pitcher, and can operate up to a depth of 2500 m on a loaded mass to
about 350 tonnes. In this case, motion of the vessel is measured, and the heave compensator provides
reciprocal of the attenuation of the said motion. A floating crane which is capable of carry payloads from one
ship to another is a common tool that enable operators successfully carryout the various take required in an
offshore environment. The ocean currents, wind velocity, tidal waves as well as turbulence motions around a
ship-mounted crane can influence a suspended load, which can subsequently result in a non-linear active
response that could likely cause accident. As a result of this, a number of transfer operations during the period
of high turbulence are postponed so as to avoid mishaps amongst loads and the vessel's deck, though will
extend the time frame for project completion and incur additional cost, among other things. Confrontational
weather conditions that are mostly austere can cause problems on installation systems, resulting in stoppage,
and in some cases affect hoisting and lifting activities. To bridge the gap between conventional techniques
and the future requirements, new technologies that are safer, more efficient and robust have to be developed.
Several studies have been carried out in this area by researchers in the 21st century. For example, Kang [4]
developed heave compensated drill twine model that was tested for offshore drilling. The tests revealed that
drill strings are regularly secluded from ship heave signal, therefore, allowing lengthier working windows and
greater wages. Due to its efficiency, heave compensation has become largely recognized in the drilling
industry, necessitating further studies and improvements. In the oil and gas industry, these enhancements
have largely been used to improve heave compensation systems; however, both active and passive heave
compensation are also used in remotely operated vehicles (ROVs), as confirmed by the work of Ni et al. [5]
and in payload transfer between vessels, as reported by Gu et al. [6]. Xu et al. [7] employed an oscillating water
column (OWC) method with quadratic power take-off to assess heave motions related to wave influence
removal of the device using both concrete and theoretical methods (PTO). The linearization of the quadratic
PTO model in numerical simulations was achieved through the use of Lorenz's notion of equivalent effort.
The effects of wave length and wave height on capture width ratio were effectively determined by the model.
Wei et al. [8] developed and tested a numerical model to examine the adaptability of multi-pump multi-piston
power take-off system of a passive heave compensator of a floating offshore crane in a wind turbine farm.
The diffraction and radiation effects, as well as the various degrees of freedom for the floater elements were
considered in the model. Difference between the dynamics of the floater and pistons in the model and the
experimental outcome were used to validate the model. In a 2D statistical wave tank, Kamath et al. [9]
employed a computational fluid dynamics (CFD) in the simulation of an active heave compensator of a
floating crane with an OWC. The PTO hampering the ruse slot was modeled using Darcy's law for flow over
permeable means. Having compared the model's forecasts to the experimental data, the model was establish
to be effective in solving problems on cavity stress, distinction of the permitted surface inside the chamber,
as well as perpendicular velocity of the free surface. Zhu and Collette [10] evaluated offshore crane models
for subsea maneuvers using Dynamic Bayesian Networks (DBNs) to model system performance. An
 134 Asanga et al. | Com. Alg. Num. Dim. 3(2) (2024) 132-149

algorithm that can dynamically partition the discretization interval on each duplication was developed and
validated using two flaw advance models. The findings revealed that similar amount of precision as static
discretization with fewer half a number of intervals can be achieve. Dong et al. [11] examined the provision
system for mission-based passive and semi-active heave compensator ship routing, considering multiple
performance criteria. A comprehensive decision-making criteria was established to perform a wide array of
chores, assessment of vessel structures' flexural and fatigue performance, with the use of multi-attribute utility
theory to evaluate ship mission performance. The present study centers on the modeling of rope elasticity of
heave compensation system in offshore floating crane at the Qua Iboe field. The objectives include simulating
a real-life offshore loaded crane operation at various interactive lifting masses (zero kg to 450kg) in a rough
sea fields, evaluating the rope kinematics criteria for efficient performance and test for its dynamic
performance in two loaded cases: vertical stabilization and gentle lowering to the seabed to ascertain
performance of the system in other to account for heave, pitch and roll motion and to ensure slight
adjustments during sea turbulence along sway, surge. Furthermore, emphasis is laid on the reduction of
bottlenecks during production in harsh sea conditions for enhancing productivity.

2|Methodology
The primary method used in this thesis is virtual prototype simulation and the primary goal was to build a
realistic real-time simulation model for marine operation. A virtual environment of maritime operation was
developed in the computer which allows users to interact with. Physical objects are being represented as
components with different functionality in the system. The system accept input from the user (e.g., wave
spectrum, vessel inertia matrix, hydrodynamic damping parameters, crane load data) and produce output to
the user (e.g., vessel motion during the operation, crane hydraulics performance, load motion in the water,
power output, mechanical behaviors). The parameters depend on field measurement but are also tuned for
better approximation to the reality. Each sub-system is modelled separately whose accuracy and applicability
are tested before being integrated into bigger system. During the simulation, variables are controlled to test
the influence of each. Hence, results are recorded and analyzed both theoretically and statistically.

2.1|Mateials
Motion reference units, wave sensor, weapon orientation module; attitude and heading reference systems key
performance; main components of a floating crane are: slewing bearing, slewing gearbox. And the main hoist
wire rope consists of: hoist rope sheaves and hook, auxiliary hoist wire rope, auxiliary hoist rope sheaves and
hooks. The control system comprises of the following connections: operator cabin controls, operator control
panel; radio remote control; safety devices and others.

2.2|Crane Rope Characteristics

Offshore crane cable is commonly cured as flexible body with vast notches of freedom. It has physical features
of elasticity and plasticity in both axial and radial direction. In drill, the external forces of offshore crane cable
may experience consist of concentrated force on both ends, gravity force along the entire length, buoyancy
force on the submerged part and damping forces caused by relative motion between cable and the fluid
around. Those external forces can cause axial tension, axial torque, radial shear and in extreme cases bending
moment in local area. Because of the compound material inside the rope, some may have non-linear elastic
modulus and unevenly distributed stress level in local area. There are four methods of solving the equations
of rope or cable motion namely: Characteristics method, finite element methods, linearization methods and
other methods, amongst which characteristics method is selected in this study.
Numerical Modelling of Rope Elasticity for Heave Compensation Lifting in Offshore Crane Operations 135

2.3|Modeling Rope Extension of an Offshore Lifting Crane

The presentation in this aspect will involve five steps, started with the presentation of differential equation
governing the extension of the crane rope, followed by mathematical solution of the system model and
particular solution by assuming relevant initial conditions, and fourthly verify the model by comparing with
the experimental results and finally draw conclusion with suggestion for developing further model. The
mathematical model was taken in part, one after the other. Figure 1 illustrates a 3D model of the rope profile
with load.

Figure 1: 3D model of the rope profile with load

2.3.1|Model Assumptions
The model formulation is established on the following simplifying assumptions:
i. The rope is homogeneous
ii. The rope assumes sinusoidal motion
iii. All physical properties of the rope are held constant
iv. The rope experiences elongation after several usage in offshore environment

2.3.2|Rope or Cable Model Formulation

Various components is considered in building a reliable procedure modeling frame work to give a better
control system development and validation, which is limited to the rope extension using Newton/Euler’s
method. This is expressed as:
𝑀𝑒𝑞 𝑍𝑝 + 𝐹𝑑𝑎𝑚𝑝 + 𝐹𝑠𝑝𝑟𝑖𝑛𝑔 = 0 (1)
Where, 𝑍𝑝 denotes load acceleration, 𝐹𝑑𝑎𝑚𝑝 and 𝐹𝑠𝑝𝑟𝑖𝑛𝑔 denotes the damping force and the rope dynamic
spring respectively. Again, in view of setting the rope into motion, the rope undergoes a forced vibration
represented by F(t), hence Equation 1 becomes:
𝑀𝑒𝑞 𝑍𝑝 + 𝐹𝑑𝑎𝑚𝑝 + 𝐹𝑠𝑝𝑟𝑖𝑛𝑔 = 𝐹(𝑡) (2)
This implies that:
𝑅𝑡 𝐴
Y = [1 -2𝑀𝑒𝑞] [c1 𝑐𝑜𝑠𝜔𝑡 + c2 sin𝜔𝑡] -𝑅𝑤 𝑐𝑜𝑠𝜔𝑡 (3)
 136 Asanga et al. | Com. Alg. Num. Dim. 3(2) (2024) 132-149

Equation 3 is the general solution of the model under study, which gives the displacement of the floating
rope. By differentiation, gives rise to the velocity of the rope from equilibrium position, hence:
𝑑𝑦 𝑅𝑡 𝑅 𝐴
V= 𝑑𝑡 = [1- 2𝑀𝑒𝑞][- wc1 sin 𝜔𝑡 + w c2 𝑐𝑜𝑠𝜔𝑡] - 2𝑀𝑒𝑞 [ c1 𝑐𝑜𝑠𝜔𝑡 + c2 sin 𝜔𝑡] +𝑅 sin 𝜔𝑡

(4)
𝐴𝑡
V = 2𝑀𝑒𝑞 sin 𝜔𝑡 (5)

For acceleration of the rope, differentiating Equation 5, gives:

𝒅𝒗 𝐴𝑤𝑡
𝒅𝒕
= acc = 2𝑀𝑒𝑞 cos 𝑤𝑡 (6)

2.3.3|Characteristics Method
The method of characteristics is a direct mathematical analysis of the physical behavior of the rope. A small
segment 𝑑𝑠 of it is considered with its parametric trajectory x (𝑠), y (𝑠), 𝑧 (𝑠) in terms of Cartesian coordinates
where 𝑠 is the trajectory curve length. 𝑑𝛿 is the upstretched length of 𝑑𝑠 so that 𝑑𝑠 = 𝑑𝛿 (1+𝜖) where 𝜖 is
the local strain. 𝑅 is the tension at the lower end of 𝑑𝑠, and the resolve components along x, y, z axes are:
𝑑𝑥 𝑑𝑦 𝑑𝑧
𝑅 ∗ 𝑑𝑠 , 𝑅 ∗ 𝑑𝑠 , 𝑅 ∗ 𝑑𝑠 (7)
The resolved tension components at the upper end are:
𝑑𝑥 𝑑 𝑑𝑥
𝑅 ∗ 𝑑𝑠 + 𝑑𝑠 (𝑅 ∗ 𝑑𝑠 ) 𝑑𝑠 (8)
The net tension force components thusly are:
𝑑 𝑑𝑥 𝑑𝑥
𝑑𝑠
(𝑅 ∗ 𝑑𝑠 ) 𝑑𝑠 = (𝑅 ∗ 𝑑𝑠 ) 𝑑𝛿, 𝑒𝑡𝑐. (9)

Let 𝑚 be the mass per unit length of upstretched cable, and 𝑋, Y, Z, external force components per unit of
unstretched length. Also, let 𝑢, v, w be the components of the segment velocity. The equations of motion can
then be written as:
𝜕𝑢 𝜕 𝑑𝑥
𝑚 ∗ 𝜕𝑡 = 𝜕𝛿 (𝑅 ∗ 𝑑𝑠 ) + 𝑋 (10)

2.4|Crane Model Formulations

This section, according to Chu [12], includes kinematics system, hydraulics system and control system.

2.4.1|Dynamic System
The 3D provides animation environment for rigid body dynamics modeling, where the crane can be modeled
as well as the vessel. The crane was firstly done in Solid-works and then transferred into 3D Mechanics by
using a converter called “COLLADA”, an inter application exchange file format.

2.4.2|CAD Modelling
SOLIDWORKS is a well-developed 3D modelling tool which supports many general formats and animation
window. SOLIDWORKS software, 2018 version was employed in modelling and simulation of the Vessel +
Crane Model shown in Figure 2. SOLIDWORKS is a solid modelling Computer Aided Design (CAD)
Numerical Modelling of Rope Elasticity for Heave Compensation Lifting in Offshore Crane Operations 137

software as well as Computer Aided Engineering (CAE) tool that runs mainly on Microsoft windows [13, 14].
In the current model, a “MacGregor” Crane model was simplified and modelled using SOLIDWORKS
software. This floating crane has eight assemblies’ parts; each assembly contains several sub-level associations
(parts), including deep sea crane, the barge crane, the pontoons and the foundation structure (connecting the
pontoons and supporting the barge and deep sea cranes). Solid-works combine those assemblies and parts to
form a complete structure.

a. Vessel b. Crane
Figure 2: CAD of the vessel and crane model
2.4.3|Control System
The control system of an offshore crane consists of two kinds namely: manual and auto control. The crane
can be controlled by solving its kinematic model. The resulting signal for each hydraulic system can be
inputted into hydraulic model hence the crane model.

2.5|Load Model
The load model is classified into the following subheadings under this section.

2.5.1|Lifting Operation
Offshore crane is designed to be multifunctional. The loading objects include subsea construction materials,
ROV, platform supplies, personnel carrier and all other different objects. Each loading object has its unique
physical property and installation requirement. The lifting operation can normally be divided in five phases
such as: Lift Off, in air, splashing, deeply submerged and landing.

2.5.2|Motion Function of the Load

When an object is deeply submerged, it experiences a concentrated/scattered lifting force from the cable, an
evenly distributed gravity force downwards and buoyancy force upwards under the premise of a constant
submerged volume. It also experiences hydrodynamic forces including the inertia force and the damping force
by the definition in the Morison equation. Similar to the ship motion equation, for a harmonically oscillating
object, the motion function of a submerged object in its own body fixed coordinate can be written as:
𝑀𝑅𝐵 ∙ 𝜂̈ (𝑡) + 𝑀𝐴 (𝜔, 𝜁) ∙ 𝜂̈ 𝑟 (𝑡) + 𝐶𝑅𝐵 ∙ 𝜂̇ (𝑡) + 𝐶𝐴 (𝜔, 𝜁) ∙ 𝜂̇ 𝑟 (𝑡) + 𝐵(𝜔, 𝜁) ∙
𝜂̇ 𝑟 (𝑡)|𝜂̇ 𝑟 (𝑡)| = 𝜏𝑙 + 𝜏𝑔 + 𝜏𝑏 (11)
Where, 𝑀𝑅𝐵 = rigid body inertia matrix of the object, 𝜔 = oscillation frequency of the object, 𝜁 = oscillation
amplitude of the object, (𝜔,) = added mass matrix for a specific 𝜔 and 𝜁, 𝐶𝑅𝐵 = coriolis force matrix of the
object, (𝜔,) = coriolis force matrix of the added mass for a specific 𝜔 and 𝜁, (𝑡) = object motion, (𝑡) = object
 138 Asanga et al. | Com. Alg. Num. Dim. 3(2) (2024) 132-149

relative motion to the fluid, (𝜔,) = damping force matrix for a specific 𝜔 and 𝜁, 𝜏𝑙 = lifting force from the
cable, 𝝉𝒈 = gravity force of the object, 𝝉𝒃 = buoyancy force of the object.

2.5.3|Rope Elongation
The rope elongation in each section is determined by the difference in rotational displacement caused by the
sheaves within each rope section. In addition to this, the difference between the heave motion and the motion
of the combined payload is used to determine its magnitude.
𝐷𝑑𝑟𝑢𝑚
𝛿0 = ∅𝑑𝑟𝑢𝑚 − ∅1 𝑟1 (12)
2

Rope rate in each section is described by Equation 13:

𝐷
𝛿0̇ = ∅̇𝑑𝑟𝑢𝑚 𝑑𝑟𝑢𝑚 − ∅̇1 𝑟1 (13)
2

Rope tensions, T1 and T2 according to Khurmi and Gupta [15], the tension on the tight side of the rope is
given as: T1 = Tm - Tc . The tension ratio is given as:
T1 T
2.3 log [
T2
]= µ.ϴ cosec β° or [ T1 ]= e[µ.ϴ cosec β°] (14)
2

1
But cosec β° = sin β°
(15)
T1
T2 = 1 (16)
[µ.ϴ ( )]
e sin β°

2.6|Power and Energy Requirement for the Moving Crane

The pulley system power required to drive shaft of the moving crane according to Khurmi and Gupta [15]:
WT N
Wr =Vr . ρr .g; WT =Wp +Wr and Ps = 60
(17)

2.6.1|Calculation of forces due to Roll

The barge will roll about on its longitudinal axis and roll at the period of the waves. The most severe motion
will be when the period of waves is at or near the barge’s natural period.

2𝜋𝐾𝑋 1+𝑋𝐴
𝑇𝑟 = √ (18)
√𝑔 𝐺𝑀

2.6.2| Calculation of Forces due to Pitch

Forces due to pitch requires the expression of various equations in terms of longitudinal rather than
transverse.
2𝜋𝐾𝑝
𝑇𝑝 = √𝑔
(19)

4𝜋2 𝑌∅𝜋
𝐹(𝑇𝑝) = 𝑊 (𝑇 𝑠𝑖𝑛(∅)) (20)
𝑝2 𝑔180

And
Numerical Modelling of Rope Elasticity for Heave Compensation Lifting in Offshore Crane Operations 139

4𝜋2 𝑋∅𝜋
𝐹(𝑇𝑛) = 𝑊 ( 𝑐𝑜𝑠(∅)) (21)
𝑇𝑝2 𝑔180

Pitch angle 0 = 4 deg. for protected waters, 6 deg. at seas near coastlines and10 deg. in the open seas. The
rope model simulation and animation for (Vessel + Crane + Cable + Load) and (Dynamic behavior of rope
+ load) are presented in Figure 3a-b. The Figure displays simulated (Vessel + crane + rope + load) and
animated dynamic behavior of the rope + load to demonstrate the practical behavior in real life operation of
the system during harsh weather condition output movement, under 32 sec wave period, 200 heading and 2
m wave height.

a. Simulation b. Animation
(Vessel + crane + rope + load) (Dynamic behavior of rope + load)
Figure 3: Simulation and animation of rope model with load

2.7|Validation of Wire Rope Extension Model of an Offshore Lifting Crane

Based on data relating to wire rope physical properties used in this study such as wire rope elasticity
( 𝐸𝑟 =183.9 GPa = 1.839 × 1011 N.m-2, mass of wire rope per meter (MU = 0.24 kg.m-1 obtained from FTP-
FTK Load Cell), cross sectional area of the wire rope (𝐴𝑟 = 0.0047 m2 obtained from wire rope diameter
using digital Vernier calipers), nominal length of the wire rope (𝐿𝑟 = 30 m), and varying masses hung at the
end of wire rope (MP = 0, 200, 250, 300, 350 and 400 kg measured using FTP-FTK Load Cell), total mass of
the load (Meq ) and tensile force (FT ) exerted on the wire rope obtained from Cell X-J-Wire Rope Tension
Sensor Load Cell; the predicted wire rope extension (epred ) from the developed model were simulated
without turning on the heave compensation system (WOC). However, the corresponding measured wire rope
extensions (emead ) were obtained using WPS-R-L-6000 mm draw wire sensor cable extension transducer
when various masses were hung at the end of the wire rope. The array of values of epred and emead obtained
were used in validating the developed mathematical model for wire rope extension by carrying out the
following statistical analyses/ calculations.

2.8|Performance Evaluation of Wire Rope Based on its Kinematics

In order to assess wire rope performance with respect to its kinematics, models were developed to describe
its motion within the chosen resonating time from Equation 2. Assuming that the damping force is negligible,
the square of the damping coefficient is less than four times the product of the total mass and the rope
constant. Hence, Equation 2 becomes:
(Meq D2 + RD + K)y = Asin ωt (22)
(Meq D2 + RD + K)y = 0, and (Meq D2 + RD + K) = 0; Meq D2 + RD = −K (23)
 140 Asanga et al. | Com. Alg. Num. Dim. 3(2) (2024) 132-149

𝑅 −𝐾
D2 + M D=M (24)
eq eq

𝑗 Ar
Where, R = Lr
, j = damping constant, Ar = intersectional area of rope, Lr = overall nominal rope length
Er A r
and K = Lr
. Equation 24 becomes a quadratic equation given as:
𝑅 𝐾
D2 + M D+M =0 (25)
eq eq

Similar to:
aX2 + 𝑏X + 𝑐 = 0 (26)
𝑅 𝐾
Where, a =1, X = D, b = M and c = M
eq eq

For b2 – 4ac implies that:

𝑅2 𝐾 𝑅2 −4 𝐾Meq
2
𝑀𝑒𝑞
– 4(M ) = 2
𝑀𝑒𝑞
(27)
eq

Therefore,
− 𝑏 ± √𝑏2 − 4a𝑐
X= 2𝑎
(28)
Substituting the parameters in Equation (28), we have:

−𝑅 𝑅2 −4 𝐾Meq √𝑅2 −(4 Meq 𝐾)

±√ −𝑅
Meq 𝑀2𝑒𝑞 ±
Meq Meq
D= 2
= 2
(29)

− 𝑅 ± √𝑅2 −4Meq 𝐾
D=
2Meq
(30)

If R is small, then:
b2 – 4ac < 0
− 𝑏+𝑖 √4a𝑐 −𝑏2
X1 = 2𝑎
(31)
− 𝑏−𝑖 √4a𝑐 −𝑏2
X2 = 2𝑎
(32)
The general solution for complementary function is given as:
𝑏𝑡
√4a𝑐 −𝑏2 √4a𝑐 −𝑏2
X1 = 𝑒 − 2 𝑎 (C1 cos ( )𝑡 + C2 sin ( )𝑡 ) (33)
2𝑎 2𝑎

√4a𝑐 −𝑏2
Where, 2𝑎
= 𝑤 = angular frequency

Solution to Particular Integral is given as:

−𝐾
Xp = f(t) (34)
Meq

Again, to obtain the Particular Integral solution, we have:

Asin wt
P.I. = −M (35)
eq D+ R D+K

Asinwt
P.I. = −M 2 (36)
eq w + RD+K
Numerical Modelling of Rope Elasticity for Heave Compensation Lifting in Offshore Crane Operations 141

𝐾 1A sin wt
But, w2 =M and P. I= −K+ RD+K
eq

𝐴
And then, 𝑅𝐷 𝑠𝑖𝑛𝑤𝑡
𝐴
Integrating 𝑅 ∫ sin 𝑤𝑡𝑑𝑡
−𝐴
Hence, 𝑅𝑤
cos 𝑤𝑡

Thus, the complete solution is:

𝑅𝑡
− 𝐴
Y=𝑒 2𝑀𝑒𝑞 {C1 cos 𝑤𝑡 + C2 sin 𝑤𝑡} − 𝑅𝑤 cos 𝑤𝑡 (37)
This implies that:
𝑅𝑡 𝐴
Y = [1 - 2𝑀𝑒𝑞] [C1 𝑐𝑜𝑠𝜔𝑡 + C2 sin𝜔𝑡] - 𝑅𝑤 𝑐𝑜𝑠𝜔𝑡 (38)

Equation 38 is the general solution of the model under study, which gives the displacement of the rope. By
differentiating Equation 38, gives rise to the velocity of the rope from equilibrium position. Therefore,
𝑑𝑦 𝑅𝑡 𝑅 𝐴
V= 𝑑𝑡 = [1- 2𝑀𝑒𝑞][- w C1 sin 𝜔𝑡 + w C2 𝑐𝑜𝑠𝜔𝑡] - 2𝑀𝑒𝑞 [ C1 𝑐𝑜𝑠𝜔𝑡 + C2 sin 𝜔𝑡] + 𝑅 sin 𝜔𝑡 (39)

At equilibrium position, t = 0 and y = 0, putting this condition into Equation 38, gives:
𝐴
C1 = 𝑅𝑤 (40)
Putting Equation 40 into 39, we have:
𝑑𝑦 𝑅𝑡 𝐴 𝑅 𝐴
V= 𝑑𝑡 = [1- 2𝑀𝑒𝑞][- w 𝑅 𝑠𝑖𝑛𝜔𝑡 + w C2 𝑐𝑜𝑠𝜔𝑡] - 2𝑀𝑒𝑞 [ C1 𝑐𝑜𝑠𝜔𝑡 + C2 sin 𝜔𝑡] + 𝑅 sin 𝜔𝑡 (41)
𝑅 𝐴
Again, putting, t = 0 and v = 0 into Equation 41, becomes 0 = C2 w – [ ], and
2𝑀𝑒𝑞 𝑅𝑤

𝐴
C2 = 2𝑀𝑒𝑞𝑤 2 . Substituting C2 into Equation 40, we have:
𝑅 𝐴 𝐴 𝑅 𝐴
V = [1- 2𝑀𝑒𝑞][- 𝑅sin 𝜔𝑡 + 2𝑀𝑒𝑞𝑤 2 𝑐𝑜𝑠𝜔𝑡] - 2𝑀𝑒𝑞 [ c1 𝑐𝑜𝑠𝜔𝑡 + c2 sin 𝜔𝑡] + 𝑅 sin 𝜔𝑡 (42)

This can further be reduced to:

A 𝐴𝑅 𝑅𝐴
V = 2𝑀𝑒𝑞 sin 𝑤𝑡 - 4𝑀𝑒𝑞2 𝑤 cos 𝑤𝑡 - 4𝑀𝑒𝑞2 𝑤2 sin 𝑤𝑡 (43)
𝑅
But 𝑀𝑒𝑞
is small, due to damping force. Therefore,
𝐴
V = 2𝑀𝑒𝑞 sin 𝜔𝑡 (44)

Equation 44 is the velocity of the rope at every given time (t), during the motion of the rope and by integrating
𝑑𝑦 𝐴
Equation 44 as: ∬ 𝑉 =∬ 𝑑𝑡 = 2𝑀𝑒𝑞 ∬ sin 𝑤𝑡𝑑𝑡, and
𝐴
Y=- cos 𝑤𝑡 (45)
2𝑀𝑒𝑞𝑤

Again, differentiating Equation 44, we have acceleration of the rope at any given time (t).
𝑑𝑣 𝐴𝑤
𝑑𝑡
= acc = 2𝑀𝑒𝑞 cos 𝑤𝑡 (46)

Where, A = amplitude, w = angular frequency (rad/s).

 142
Asanga et al. | Com. Alg. Num. Dim. 3(2) (2024) 132-149

3|Results and Discussion

3.1|Data Presentation/Validation of Wire Rope Extension Model
Plot of predicted extension (epred ) versus measured extension (emead ) is presented in Figure 4.

1.40E-04
Predicted Values of Extension

R² = 0.9973
1.20E-04
1.00E-04
8.00E-05
(m)

6.00E-05
4.00E-05
2.00E-05
0.00E+00
0.00E+00 2.00E-05 4.00E-05 6.00E-05 8.00E-05 1.00E-04 1.20E-04 1.40E-04

Measured Value of Extension (m)

Figure 4: Plot of epred versus emead WOC

3.2|Heave, Roll and Pitch Motion during Different Loading Conditions

The plots of heave roll and pitch motion during WOC and WC at different loading conditions were made
and compared for % reduction of disturbance to ascertain the efficiency of AHC. These variations are shown
in Figures 5 to 13. Heave compensation lifting is a critical operation in offshore industries, particularly in the
oil and gas sector [16, 17]. This process involves lifting heavy loads from the seabed to the surface using a
system that compensates for the vertical movement of the vessel due to waves and currents. One of the key
factors that affect the efficiency and safety of heave compensation lifting is the elasticity of the lifting rope
[18]. The plot of heave displacement against resonating time in rope elasticity provides valuable insights into
the behavior of the lifting system under different conditions. The heave displacement refers to the vertical
movement of the load, while resonating time is the time taken for the rope to reach its maximum displacement
and return to its original position. By analyzing this plot, operators can determine the optimal settings for the
heave compensation system to ensure smooth and efficient lifting operations. The plot follows a sinusoidal
pattern (see Figure 5).

7.00 L0-WOC L0-WC

6.00
5.00
Heave (m)

4.00
3.00
2.00
1.00
0.00
0 10 20 30 40 50
Time (second)

Figure 5: Plot of heave displacement versus resonating time

As the load is lifted from the seabed, the rope stretches and absorbs the energy generated by the waves and
currents [19]. This results in a gradual increase in heave displacement, followed by a period of resonating time
as the rope oscillates back and forth. The amplitude and frequency of these oscillations depend on the
elasticity and length of the rope, as well as the weight of the load. By adjusting the parameters of the heave
Numerical Modelling of Rope Elasticity for Heave Compensation Lifting in Offshore Crane Operations 143

compensation system, operators can minimize the resonating time and reduce the risk of accidents during
lifting operations. For example, increasing the tension in the rope or using a shorter and stiffer rope can help
to dampen the oscillations and improve the stability of the lifting process (Wang et al., 2020) [20]. On the
other hand, using a longer and more elastic rope may be necessary in rough sea conditions to ensure that the
load is lifted safely and smoothly.
One important aspect of these systems is the behaviour of the rope elasticity, particularly in relation to the
roll angle against resonating time. The pattern of the plot of roll angle against resonating time in rope elasticity
can provide valuable insights into the performance of the heave compensation lifting system. As the roll angle
increases, the tension in the rope changes, leading to variations in the resonating time of the system.
Understanding this pattern is essential for optimizing the operation of the lifting system and ensuring the
safety of personnel and equipment [21]. The plot of roll angle against resonating time typically follows a
sinusoidal pattern (see Figure 6), with the resonating time increasing as the roll angle approaches its maximum
value. This pattern is influenced by a variety of factors, including the stiffness of the rope, the weight of the
load, and the speed of the vessel or platform. By analysing this plot, operators can identify potential issues
with the lifting system and make adjustments to improve its performance.

2.00 L0-WOC L0-WC

1.50
Roll (deg)

1.00

0.50

0.00
0 10 20 30 40 50
Time (second)

Figure 6: Plot of roll angle versus resonating time

In offshore operations, heave compensation lifting plays a crucial role in ensuring the safe and efficient
transfer of heavy loads between vessels and platforms. The relationship between the pitch angle of the ropes
and the resonating time during the lifting process is a critical aspect that needs to be carefully analyzed and
understood in order to optimize the performance of the lifting system. The pitch angle of the ropes refers to
the angle at which the ropes are wound around the drum of the winch during the lifting operation [22]. This
angle has a direct impact on the amount of tension and stress that the ropes are subjected to, as well as the
overall stability and efficiency of the lifting system. The resonating time, on the other hand, refers to the time
it takes for the ropes to reach a stable state of oscillation after being subjected to a sudden change in tension
or load [23]. The plot of pitch angle against resonating time typically follows a sinusoidal pattern (see Figure
7), which can provide valuable insights into the behavior of the lifting system under different operating
conditions. Maintaining a low pitch angle in the ropes reduces the amount of stress and tension that the ropes
are subjected to during the lifting process [24]. This can help to prolong the lifespan of the ropes and minimize
the risk of failure or breakage. Additionally, a lower pitch angle can also help to reduce the resonating time of
the ropes, leading to a more stable and controlled lifting operation. On the other hand, a higher pitch angle
in the ropes can provide greater stability and control during the lifting process, especially when dealing with
heavier loads or challenging operating conditions [25, 26]. A higher pitch angle can help to distribute the load
more evenly across the ropes, reducing the risk of overloading or uneven stress distribution.
 144 Asanga et al. | Com. Alg. Num. Dim. 3(2) (2024) 132-149

4.00
L0-WOC L0-WC
3.00

Pitch (deg)
2.00
1.00
0.00
-1.00 0 10 20 30 40 50

Time ( second)

Figure 7: Plot of pitch angle versus resonating time

The relationship between the speed of the heave and the resonating time of the rope has been a subject of
interest for researchers and engineers in the field [27, 28]. The pattern of the plot of heave speed against
resonating time in rope elasticity can be described as follows: as the heave speed increases, the resonating
time of the rope changes. This is due to the fact that the faster the heave, the more energy is transferred to
the rope, causing it to vibrate at a higher frequency. This vibration, or resonation, is a natural response of the
rope to the external forces acting on it during the lifting operation. The relationship between heave speed and
resonating time can be further understood by considering the properties of the rope itself. A stiffer rope will
have a shorter resonating time compared to a more elastic rope. This is because a stiffer rope will have a
higher natural frequency of vibration, leading to a quicker response to changes in heave speed [29, 30]. On
the other hand, a more elastic rope will have a longer resonating time as it takes longer for the energy to
dissipate through the material. The pattern of the plot of heave speed against resonating time in rope elasticity
is sinusoidal (see Figure 8), and can have significant implications for the design and operation of heave
compensation systems in offshore operations. Engineers must carefully consider the properties of the lifting
rope, such as its stiffness and elasticity, in order to optimize the performance of the system.

6.00 L0-WOC L0-WC

Heave Speed (m/s)

4.00
2.00
0.00
-2.00 0 10 20 30 40 50
-4.00
-6.00
Time ( second)

Figure 8: Plot of heave speed versus resonating time

The plot of roll rate against resonating time in rope elasticity of heave compensation lifting during offshore
operations exhibits a distinct pattern that can be analyzed to understand the dynamics of the system. As the
resonating time increases, the roll rate of the lifting rope tends to change initially before reaching a plateau.
This pattern can be attributed to the inherent properties of the rope, such as its elasticity and damping
characteristics. The initial change in roll rate with increasing resonating time can be explained by the stretching
of the rope as it absorbs the energy of the heave motion [31, 32]. This stretching causes the rope to become
more compliant, reducing its tendency to oscillate and dampening the roll rate. However, as the resonating
time continues to increase, the rope reaches a point where it can no longer absorb additional energy, leading
to a plateau in the roll rate. The pattern of the plot of roll rate against resonating time in rope elasticity is
sinusoidal (see Figure 9), and can been used to optimize the design and operation of the system to maximize
efficiency and safety. For example, adjusting the tension in the rope or using different types of ropes with
varying elasticity properties can help improve the performance of the heave compensation system.
Numerical Modelling of Rope Elasticity for Heave Compensation Lifting in Offshore Crane Operations 145

1.50 L0-WOC L0-WC

1.00

Roll Rate
0.50

( deg/s)
0.00
-0.50 0 10 20 30 40 50
-1.00
-1.50
Time ( second)

Figure 9: Plot of roll rate versus resonating time

The relationship between pitch rate and resonating time in rope elasticity is a critical aspect that must be
carefully considered in order to optimize the lifting process. The pitch rate refers to the rate at which the
lifting rope twists or rotates during the lifting operation [33, 34]. This parameter is directly related to the
resonating time, which is the time it takes for the rope to return to its original position after being subjected
to a load. The pattern of the plot of pitch rate against resonating time provides valuable insights into the
behavior of the lifting rope under different loading conditions. The pattern of the plot of pitch rate against
resonating time in rope elasticity is sinusoidal (see Figure 10).

1.50 L0-WOC L0-WC

Pitch Rate ( deg/s)

1.00
0.50
0.00
-0.50 0 10 20 30 40 50
-1.00
-1.50
Time (second)

Figure 10: Plot of pitch rate versus resonating time

When analysing the plot of pitch rate against resonating time, several key patterns can be observed. Firstly, as
the pitch rate increases, the resonating time tends to change. This is because a higher pitch rate results in a
greater amount of energy being transferred to the rope, causing it to oscillate more rapidly. This can lead to
increased wear and tear on the rope, as well as a higher risk of failure. On the other hand, a lower pitch rate
typically results in a longer resonating time. This can be beneficial in certain situations where a slower, more
controlled lifting operation is required [35, 36]. However, it is important to strike a balance between pitch rate
and resonating time in order to ensure optimal performance of the heave compensation system.
The relationship between heave acceleration and resonating time in rope elasticity is a critical aspect that
needs to be understood in order to optimize the performance of heave compensation lifting systems. The
pattern of the plot of heave acceleration and resonating time in rope elasticity is sinusoidal and non-linear
(see Figure 11) under different operating conditions, and could indicate that the behaviour of the rope is
influenced by factors such as the tension in the rope, the weight of the load, and the speed of the lifting
operation. As the heave acceleration increases, the resonating time of the rope may also change, leading to
variations in the performance of the lifting system [37, 38]. By analysing the relationship between these two
variables, operators can make informed decisions about how to adjust the parameters of the lifting system to
achieve the desired level of performance. Understanding the nature of this relationship can help operators to
predict how the lifting system will respond to changes in operating conditions and make adjustments
accordingly. In events where the pattern of the plot exhibits a linear relationship between heave acceleration
and resonating time, this could suggest that the behaviour of the rope is more predictable and stable, making
it easier for operators to control the lifting system and achieve consistent performance. However, even in this
case, it is important to carefully analyse the data and consider other factors that may influence the behaviour
of the lifting system.
 146 Asanga et al. | Com. Alg. Num. Dim. 3(2) (2024) 132-149

6.00 L0-WOC L0-WC

Heave Acceleration
4.00
2.00

( m/s2)
0.00
-2.00 0 10 20 30 40 50
-4.00
-6.00
Time (second)

Figure 11: Plot of heave acceleration versus resonating time

One key aspect of heave compensation lifting is the use of ropes with a certain level of elasticity to absorb
the motion of the waves and maintain a stable position of the load. One important parameter that
characterizes the performance of ropes in heave compensation lifting is the roll acceleration against resonating
time. This parameter describes how the rope responds to the motion of the waves and how quickly it reaches
a stable position after being subjected to external forces. By analyzing the pattern of this parameter, operators
can gain valuable insights into the behavior of the ropes and make informed decisions about the lifting
process. The pattern of the plot of roll acceleration against resonating time in rope elasticity is sinusoidal (see
Figure 12) and typically exhibits a distinct pattern that can be divided into several phases. In the initial phase,
the roll acceleration is high as the rope responds to the motion of the waves and adjusts its position to
maintain stability [39, 40]. As the resonating time increases, the roll acceleration gradually decreases as the
rope reaches a stable position and absorbs the external forces. Finally, the plot reaches a plateau where the
roll acceleration remains constant, indicating that the rope has achieved a stable position and is effectively
compensating for the heave motion. This pattern of the plot of roll acceleration against resonating time is
influenced by several factors, including the elasticity of the rope, the weight of the load, and the amplitude of
the wave motion. A higher level of rope elasticity can lead to a smoother and more gradual decrease in roll
acceleration, while a heavier load may result in a more pronounced initial phase of high roll acceleration.
Additionally, larger wave amplitudes can cause more significant fluctuations in the roll acceleration, requiring
the rope to adjust its position more frequently.

1.50 L0-WOC LO-WC

Roll Accelerartion

1.00
0.50
( deg /s2)

0.00
-0.50 0 10 20 30 40 50

-1.00
-1.50
Time (second)

Figure 12: Plot of roll acceleration versus resonating time

The relationship between pitch acceleration and resonating time in rope elasticity is a critical aspect that needs
to be understood in order to optimize the lifting process. The pattern of the plot of pitch acceleration against
resonating time in rope elasticity can provide valuable insights into the behavior of the lifting system. As the
rope stretches and contracts in response to the movement of the load, it generates vibrations that can impact
the stability and control of the lifting operation [41, 42]. By analyzing the relationship between pitch
acceleration and resonating time, operators can identify potential issues and make adjustments to improve the
performance of the system. The pattern of the plot of pitch acceleration and resonating time in rope elasticity
is sinusoidal (see Figure 13) and typically exhibits a nonlinear pattern, with fluctuations in acceleration
corresponding to changes in the resonating time of the rope.
Numerical Modelling of Rope Elasticity for Heave Compensation Lifting in Offshore Crane Operations 147

1.50 L0-WOC L0-WC

Pitch Acceleration
1.00
0.50

(deg/s2)
0.00
-0.50 0 10 20 30 40 50
-1.00
-1.50
Time (second)

Figure 13: Plot of pitch acceleration versus resonating time

This pattern can be influenced by a variety of factors, including the weight of the load, the length and diameter
of the rope, and the speed and direction of the movement. By studying these patterns, operators can gain a
better understanding of how the lifting system responds to different conditions and make informed decisions
to optimize its performance. From Figures 5 to 13, the cycles of heave displacement, roll and pitch angles
observed when there was no loading and without heave compensation system turned on (WOC) were 1.98 –
6.0 m, 0.21 – 1.730 and -0.03 – 3.010. When the heave compensation system was turned on (WC), the heave
displacement, roll and pitch angles cycled within 2.22 – 4.67 m, 0.51 – 1.440 and 1.00 – 2.010. The maximum
heave speed, roll and pitch rates when WOC and zero loads at the end of the wire rope were 4 ms-1; 1.03
deg.s-1 and 1.01 deg.s-1, respectively while 2.54 m, 0.66 deg.s-1 and 0.52 deg.s-1 were recorded during WC.
Similarly, the maximum heave, roll and pitch accelerations recorded during WOC and when there was zero
load at the end of the wire rope were 4.03 m.s-2, 1.33 deg.s-2 and 1.01 deg.s-2, while 2.50 m.s-2, 0.64 deg.s-2 and
-0.58 deg.s-2 were obtained during WC. Similarly, when the wire rope was loaded with 200 kg, heave
displacement increased during WOC but was reduced to 4.67 m during WC. The roll and pitch angles during
WOC and the loading of 200 kg had maximum of 1.920 and 3.50, but during WC, recorded 1.430 and 2.120,
respectively. Meanwhile, maximum heave speed, roll and pitch rates at this condition were 3.5 m.s-1, 1.3 deg.s-
1 and 1.12 deg.s-1. During WC, their rates reduced to maximum values of 2.12 ms -1, 0.7 degs-1 and 0.61 deg.s-

1.

4|Conclusion
The numerical modelling of rope elasticity for heave compensation lifting in offshore crane operations is a
crucial aspect that must be carefully considered in order to ensure the safety and efficiency of such operations.
The study have shown that the inclusion of rope elasticity in numerical models can significantly improve the
accuracy of predictions, leading to more reliable and efficient crane operations. By accounting for the dynamic
behavior of ropes, operators can better control the movement of loads, reducing the risk of accidents and
improving overall productivity. Furthermore, the findings of this study also highlight the importance of
considering rope elasticity in the design and operation of offshore crane systems. By incorporating this factor
into numerical models, operators can improve the safety and efficiency of their operations, ultimately leading
to a more successful and productive offshore lifting environment. Based on the results of the findings, the
following conclusions were drawn: The developed mathematical model for the wire rope extension (e) derived
from second order differential equation was found directly proportional to the load applied but inversely
proportional the wire rope stiffness. The wire rope stiffness (β) during WOC and WC were 2.50 × 107
N.m-1 and 3.33 × 107 N.m-1. The developed wire rope kinematic models were typical sinusoidal wave models.
Active heave compensation system was capable of reducing the disturbance, and improved wire rope
acceleration. The heave, roll and pitch motions were observed to be a regular wave pattern which implies that
there was not much wave disturbance in the Qua Iboe filed which conforms to the critically damped nature
of the rope lifting system.
 148 Asanga et al. | Com. Alg. Num. Dim. 3(2) (2024) 132-149

Author Contribution
Bassey Asanga: Development of the software architecture and Numerical simulation, Ekpenyong Akanimo:
Writing, review and editing, Aniekan Ikpe: Methodology, conceptualization, and interpretation of results. All
authors contributed in their own capacity to ensure the successful completion of this research.

Funding
The authors declare that no external funding o support was received for this research paper, including
technical or administrative. All data supporting the reported findings in this research paper are provided in
the paper. All authors have read and agreed to the publication of this research work.

Conflicts of Interest
The authors declare that there is no conflict of interest with the findings derived from this research work.
There was no second or third party involved in the conceptualization, numerical simulation, analysis,
interpretation of results, or decision-making on the publication of this research.

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