Offshore Hydromechanics Module 1

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1 Offshore Hydromechanics Module 1 Dr. ir. Pepijn de Jong 1. Intro, Hydrostatics and Stability

2 Introduction OE4630d1 Offshore Hydromechanics Module 1 dr.ir. Pepijn de Jong Assistant Prof. at Ship Hydromechanics & Structures, 3mE Book: Offshore Hydromechanics by Journée and Massie At Marysa Dunant (secretary), or download at 2

3 Introduction OE4630d1 Offshore Hydromechanics Module 1 Communication via Blackboard Exam (date&place may be subject of change!) Formula sheet comes with exam, however... Closed book Don't forget to subscribe! 3

4 Introduction Overview Tutorial Lecture Online Assignments Week date time location topic date time location topic deadline topic 2 11-Sep 3 18-Sep 4 23-Sep 8:45-10:30 8:45-10:30 8:45-10:30 8:45-10:30 8:45-10:30 8:45-10:30 8:45-10:30 8:45-10:30 TN- TZ4.25 Hydrostatics, Stability 25-Sep 5 02-Oct 6 07-Oct 7 14-Oct 8:45-10:30 8:45-10:30 TN- TZ4.25 TN- TZ4.25 Potential Flows Real Flows 09-Oct 16-Oct 8 23-Oct Exam 30-Oct 9:00-12:00 TN- TZ4.25 3mE-CZ B DW-Room 2 Intro, Hydrostatics, Stability Hydrostatics, Stability 3mE-CZ B Potential Flows 27-Sep 3mE-CZ B Potential Flows Hydrostatics, Stability 3mE-CZ B Real Flows 11-Oct Potential Flows 3mE-CZ B Real Flows, Waves 18-Oct Real Flows 3mE-CZ B Waves 25-Oct Waves Exam 4

5 Introduction Assignments Online on Blackboard Automatic Feedback included 4 series with deadlines: Hydrostatics & Stability Potential Flow Real Flows Waves First series and details follow later this week Regular exercises and old exams on Blackboard 5

6 Introduction Topics of Module 1 Problems of interest Chapter 1 Hydrostatics Chapter 2 Floating stability Chapter 2 Constant potential flows Chapter 3 Constant real flows Chapter 4 Waves Chapter 5 6

7 Contents Lecture 1 Introduction Module 1 done Problems of interest (Chapter 1) next up Hydrostatics (Chapter 2) Floating stability (Chapter 2) 7

8 Learning Objectives Chapter 1 Describe the field of application for hydromechanics in the offshore industry Know the definition of ship motions 8

9 Chapter 1 Coordinate system and ship motions heave yaw sway O,G pitch roll surge 9

10 Contents Lecture 1 Introduction Module 1 done Problems of interest (Chapter 1) done Hydrostatics (Chapter 2) next up Floating stability (Chapter 2) 10

11 Learning Objectives Chapter 2 To carry out and analyse hydrostatic and floating stability computations at a superior knowledge level, including the effect of shifting loads and fluids in partially filled tanks 11

12 Hydrostatics Naming Conventions Ship Dimensions L Length T B Beam/width D Depth T Draft D L B 12

13 Hydrostatics Hydrostatic pressure p 0 dxdy dx dy p 0 dxdy + ρgzdxdy = pdxdy p = p 0 + ρgz W = ρgzdxdy z pdxdy 13

14 Hydrostatics Hydrostatic pressure p = ρgz z 14

15 Hydrostatics Hydrostatic pressure Which one has the largest pressure on its bottom? 15

16 Hydrostatics Hydrostatic paradox 16

17 Hydrostatics Hydrostatic paradox 17

18 Hydrostatics Hydrostatic paradox 18

19 Hydrostatics Archimedes Law and Buoyancy The weight of an floating body is equal to the weight of the fluid it displaces Displacement of a floating body: The amount of fluid the body displaces often expressed in terms of mass or volume: g Weight of displacement [N] g Gravity accel. [m/s 2 ] 9.81 Density [kg/m 3 ] 1025 Volume of displacement [m 3 ] 19

20 Hydrostatics Archimedes Law 'proof' Replace volume by solid body: z y x Horizontal forces cancel dx dy z p = ρgz F = ρgzdxdy F = ρg 20

21 Hydrostatics Archimedes Law and Buoyancy The weight of an floating body is equal to the weight of the fluid it displaces Displacement of a floating body: The amount of fluid the body displaces often expressed in terms of mass or volume: g Weight of displacement [N] g Gravity accel. [m/s 2 ] 9.81 Density [kg/m 3 ] 1025 Volume of displacement [m 3 ] 21

22 Hydrostatics Archimedes Law and Buoyancy Two ways of looking at buoyancy: 1. As distributed force Δ = ρg 2. The result of external (hydrostatic) pressure on the interfaces Illustration: drill string suspended in a well with mud 22

23 Hydrostatics Example: drill string in mud Steel drilling pipe ρ s Sea bed Drill hole filled with drilling mud L ρ m Drilling mud 23

24 Hydrostatics 2 Consider buoyancy result of pressures L z 24

25 Hydrostatics 1 Consider distributed buoyant force L z Steel drilling pipe Drilling mud ρ s ρ m T e = ρ s ga L z ρ m ga L z T e = ρ s ρ m ga L z 25

26 Hydrostatics 1 Consider distributed buoyant force 0 Force pressure L z z T eair T emud Do you agree with this situation?? T emud = ρ s ρ m ga L z T eair = ρ s ga L z 26

27 Hydrostatics 2 Consider buoyancy result of pressures L z 27

28 Hydrostatics 2 Consider buoyancy result of pressures L z T = ρ s ga L z ρ m gal F = ρ m gal 28

29 Hydrostatics Comparison T realmud = ρ s ga L z ρ m gal T emud = ρ s ρ m ga L z T eair = ρ s ga L z 0 Force pressure T realmud L z T eair T emud 29

30 Contents Lecture 1 Introduction Module 1 done Problems of interest (Chapter 1) done Hydrostatics (Chapter 2) done Floating stability (Chapter 2) next up 30

31 Floating stability Definition All properties that floating structures exhibit when perturbed from their equilibrium state A stable ship quickly restores its equilibrium when perturbation is removed Often we wish for: A stable working platform, i.e. a platform that does not move too much in waves Is this the same property? Do we always desire maximum stability? 31

32 Floating stability Example [1] 32

33 Floating stability Example [2] 33

34 Floating stability Example [3] 34

35 Floating stability Equilibrium states unstable negative indifferent neutral stable positive 35

36 Floating stability Equilibrium for floating structures vertical horizontal rotational 36

37 Floating stability Center of buoyancy and center of gravity B point about which first moment of submerged volume = 0 G point about which first moment of mass or weight = 0 37

38 Floating stability First moment of area/volume/mass/... y du u x 1 x 2 dx x 38

39 Floating stability First moment of area/volume/mass/... Area: da = ydx x 2 y du A = x 1 y dx u x 1 x 2 dx x 39

40 Floating stability First moment of area/volume/mass/... Static moment: y du u x 1 x 2 dx x ds x = ududx y ds x = u dudx = 1 2 y 2 dx o x 2 S x = 1 2 y 2 dx x 1 40

41 Floating stability First moment of area/volume/mass/... Static moment: ds y = xydx x 2 y du S y = x 1 x ydx u x 1 x 2 dx x 41

42 Floating stability First moment of area/volume/mass/... Center of area y A = S x A y du u x A = S y A x 1 x 2 dx x 42

43 Floating stability Center of buoyancy and center of gravity G D T B K KB =? KG =? 43

44 Floating stability Center of buoyancy and center of gravity B deck H deck Length: L G D T B leg B H leg B float H float KB =? K KG =? 44

45 Floating stability Stability moment φ G B K 45

46 Floating stability Stability moment φ Emerged wedge G B Immersed wedge K 46

47 Floating stab. Stability moment φ G B B φ B φ K 47

48 Floating stab. M, N φ Metacenter φ W G B B φ K ρg 48

49 Floating stab. Stability moment M, N φ Metacenter φ W G Z φ B B φ K ρg 49

50 Floating stab. Stability moment M, N φ φ M s = GZ φ ρg W GZ φ = GN φ sinφ G Z φ B B φ K ρg 50

51 Floating stab. Stability moment M, N φ φ M s = GZ φ ρg W GZ φ = GN φ sinφ G Z φ K B B φ ρg We need to find: GM, GN φ Metacenter height 51

52 Floating stab. Metacenter height M, N φ G Z φ B B φ K GM = KB + BM - KG 52

53 Floating stability Metacenter height KB en KG straightforward GM = KB + BM - KG BM more complicated: Determined by shift of B sideways and up Three 'methods': Initial stability: wall sided ship and sideways shift of B Scribanti: wall sided ship and B shifts sideways and up 'Real ship': determine GZ curve for actual shape 53

54 Floating stability Shift of mass or volume center y Total mass: m p G p0 G 0 G m p x 54

55 Floating stability Shift of mass or volume center y p p G p0 b d G p1 G 0 G 1 = p d m G 0 a G 1 G m p d G 0 G 1 x 55

56 Floating stab. N φ M BM, BN φ MN φ = B φ B φ BM = BB φ tanφ z e G B B φ B φ z i z i K 56

57 Floating stab. N φ M Working out on blackboard... BM, BN y φ y MN φ = B φ B φ BM = BB φ tanφ y tanφ z e G B B φ z i z i y tanφ B φ K 57

58 Floating stability BM, BN I t BB φ = 2 L y 3 dx tanφ B φ B φ = 1 2 L y 3 dx tan 2 φ BM = BB φ tanφ = I t MN φ = 1 2 tan2 φ I t 58

59 Floating stability Metacenter height For small heeling angles (<5 to 10 degrees): Initial stability For slightly larger heeling angles (5 to 15 degrees): Scribanti Exact? GM = KB + BM KG = KB + I t KG GM = KB + BN φ KG = KB + I t tan2 φ KG For large heeling angles (> 10 to 15 degrees) Need of more accurate description: GZ curve 59

60 Floating stability Second moment of area: moment of inertia of area di xx = u 2 dudx = 1 3 y 3 dx 0 y x 2 y du u I xx = x y 3 dx x 1 x 2 dx x 60

61 Floating stability Moment of inertia of water plane area y I t = 1 0 L 3 y 3 dx 0 L x 61

62 Floating stability Moment of inertia of water plane area y L 0 I t = y 3 dx L 0 x 62

63 Floating stability Moment of inertia of water plane area y B 2 0 L x B 2 I t = LB

64 Floating stability Moment of inertia of water plane area y 0 2b x 2a I t = π 6 ab3 64

65 Floating stability Moment of inertia of water plane area y R D = 2R 0 x I t = π 4 R4 = π 64 D4 65

66 Floating stability Moment of inertia of waterplane area y d Steiner's I t = 2 LB LBd2 theorem! 0 L B x d B 66

67 Floating stability Moment of inertia of water plane area y d B Etcetera 0 L x d B 67

68 Floating stability Questions How do submerged bodies remain stable? How to increase stability? Why shape semi-submersibles? [5] [4] 68

Sources images [1] Topside is skidded onto the HYSY229 launch barge, source: Dockwise Ltd.

at a water depth of 50m, picture credit: Principle Power [4] Pacific Ocean, (Jun 4, 1998) The

conducts an emergency surface training exercise, 35 miles off the coast of Oahu, HI., source: U.S.

69 Sources images [1] Topside is skidded onto the HYSY229 launch barge, source: Dockwise Ltd. [2] Topside, source: DTK offshore [3] The WindFloat prototype operating 5km offshore in Portugal at a water depth of 50m, picture credit: Principle Power [4] Pacific Ocean, (Jun 4, 1998) The attack submarine USS Columbus (SSN 762) home ported at Naval Station Pearl Harbor, Hawaii, conducts an emergency surface training exercise, 35 miles off the coast of Oahu, HI., source: U.S. Navy photo by Photographer's Mate 2nd Class David C. Duncan/Commons Wikimedia [5] Source: A.B.S. Model (S) Pte Ltd 69

SHIP BUOYANCY AND STABILITY. Lecture 03 Ship initial stability

SHIP BUOYANCY AND STABILITY. Lecture 03 Ship initial stability SHIP BUOYANCY AND STABILITY Lecture 3 Ship initial stability 1 Literature J. Matusiak: Laivan kelluvuus ja vakavuus Biran A. B., Ship Hydrostatics and Stability, 23 J. Matusiak: Short Introduction to Ship