Skip to main content
SpringerLink
Log in

Numerical simulation of the spreading dynamic responses of the multibody system with a floating base

  • Published:
Journal of Marine Science and Application Aims and scope Submit manuscript

Abstract

To simulate the dynamic responses of the multibody system with a floating base when the upper parts spread with a certain sequence and relative speed, the homogeneous matrix method is employed to model and simulate a four-body system with a floating base and the motions are analyzed when the upper parts are spread sequentially or synchronously. The rolling, swaying and heaving temporal variations are obtained when the multibody system is under the conditions of the static water along with the wave loads and the mean wind loads or the single pulse wind loads, respectively. The moment variations of each joint under the single pulse wind load are also gained. The numerical results showed that the swaying of the floating base is almost not influenced by the spreading time or form when the upper parts spread sequentially or synchronously, while the rolling and the heaving mainly depend on the spreading time and forms. The swaying and heaving motions are influenced significantly by the mean wind loads. The single pulse wind load also has influences on the dynamic responses. The torque of joint 3 and joint 4 in the single pulse wind environment may be twice that in the windless environment when the system spreads with 60 s duration.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  • Cha JH, Roh MI, Lee KY (2010). Dynamic response simulation of a heavy cargo suspended by a floating crane based on multibody system dynamics. Ocean Engineering, 37(14-15), 1273–1291. DOI: 10.1016/j.oceaneng.2010.06.008

    Article  Google Scholar 

  • de Wilde J, Serraris JJ, de Ridder EJ, Becel ML, Fournier JR (2010). Model test investigation of LNG tandem offloading with dynamic positioned shuttle tankers. ASME, Shanghai, 453–460. DOI: 978-0-7918-4909-5

    Google Scholar 

  • Denavit J, Hartenberg RS (1955). A kinematics notation for lower-pair mechanisms based on matrices. Trans. ASME J. Appl. Mech., 22, 215–221.

    MATH  MathSciNet  Google Scholar 

  • Dostal L, Kreuzer E (2013). Surf-riding threshold of ships in random seas. Proceedings in Applied Mathematics and Mechanics, 13(1), 383–384. DOI: 10.1002/pamm.201310187

    Article  Google Scholar 

  • Du NJ, Shen YG, Zhang JH (2014). The dynamic response analysis of the multi-body system with Floating base based on the ADAMS. Applied Mechanics and Materials, 574, 58–61. DOI: 10.4028/www.scientific.net/AMM.574.58

    Article  Google Scholar 

  • Ellermann K, Kreuzer E (2003). Nonlinear dynamics in the motion of floating cranes. Multibody System Dynamics, 9(4), 377–387. DOI: 10.1023/a:1023361314261

    Article  MATH  MathSciNet  Google Scholar 

  • Ellermann K, Kreuzer E, Markiewicz M (2002). Nonlinear dynamics of floating cranes. Nonlinear Dynamics, 27(2), 107–183. DOI: 10.1023/a:1014256405213

    Article  MATH  Google Scholar 

  • Hu C, Kashiwagi M (2008). A CFD approach for extremely nonlinear wave-body interactions: development and validation. IUTAM Symposium on Fluid-Structure Interaction in Ocean Engineering, Hamburg, 8, 129–140. DOI: 10.1007/978-1-4020-8630-4_12

    Article  Google Scholar 

  • Jang JH, Kwon SH, Jeung ET (2012). Pendulation reduction on ship-mounted container crane via T-S fuzzy model. Journal of Central South University of Technology, 19(1), 163–167. DOI: 10.1007/s11771-012-0986-5

    Article  Google Scholar 

  • Jiang Z, Shen Q, Chen X, Zhao H (2010). Study on the application of the homogeneous matrix method of the multi-body system to the dynamic response of floating bridge. Chinese Journal of Computational Mechanics, 27(6), 1036–1041. (in Chinese)

    Google Scholar 

  • Kim BW, Sung HG, Kim JH, Hong SY (2013). Comparison of linear spring and nonlinear FEM methods in dynamic coupled analysis of floating structure and mooring system. Journal of Fluids and Structures, 42, 205–227. DOI: 10.1016/j.jfluidstructs.2013.07.002

    Article  MATH  Google Scholar 

  • Kim JH, Kim Y (2014). Numerical analysis on springing and whipping using fully-coupled FSI models. Ocean Engineering, 91(15), 28–50. DOI: 10.1016/j.oceaneng.2014.08.001

    Article  Google Scholar 

  • Kral R, Kreuzer E (1999). Multibody systems and fluid-structure interactions with application to floating structures. Multibody System Dynamics, 3(1), 65–83. DOI: 10.1023/a:1009710901886

    Article  MATH  Google Scholar 

  • Kreuzer E, Pick MA, Rapp C, Theis J (2014). Unscented Kalman filter for real-time load swing estimation of container cranes using rope forces. Journal of Dynamic Systems Measurement and Control–Transactions of the ASME, 136(4), 121–130. DOI: 10.1115/1.4026602

    Google Scholar 

  • Kreuzer E, Wilke U (2002). Mooring systems–A multibody dynamic approach. Multibody System Dynamics, 8(3), 279–297. DOI: 10.1023/a:1020917529011

    Article  MATH  Google Scholar 

  • Lee I, Choi H (2015). A discrete-forcing immersed boundary method for the fluid-structure interaction of an elastic slender body. Journal of Computational Physics, 280(1), 529–546. DOI:10.1016/j.jcp.2014.09.028

    Article  MathSciNet  Google Scholar 

  • Legnani G, Casolo F, Righettini P, Zappa B (1996a). A homogeneous matrix approach to 3D kinematics and dynamics. Part 2: applications. Mechanisms and Machine Theory, 31(5), 589–605.

    Google Scholar 

  • Legnani G, Casolo F, Zappa B, Righettini P (1996b). A homogeneous matrix approach to 3D kinematics and dynamics Part 1: theory. Mechanisms and Machine Theory, 31(5), 573–587.

    Article  Google Scholar 

  • Li H, Shun P, Ren H, Wang Y(2013). Dynamic coupling analysis of mooring systems for a spar platform in time-varying wind. Journal of Huazhong University of Science and Technology (Natural Science Edition), 41(2), 36–40. (in Chinese) DOI: 10.13245/j.hust.2013.02.020

    Google Scholar 

  • Rui XT, Kreuzer E, Rong B, He B (2012). Discrete time transfer matrix method for dynamics of multibody system with flexible beams moving in space. Acta Mechanica Sinica (English Series) 28(2), 490–504. DOI: 10.1007/s10409-012-0025-7

    Article  MATH  MathSciNet  Google Scholar 

  • Shen Q, Li Y, Chen X J (2003). Dynamic analysis of multibodies system with a floating-base for rolling of ro-ro ship caused by wave and slip of heavy load. Journal of Marine Science and Application, 2(2): 17–24. DOI: 10.1007/BF02918659

    Article  Google Scholar 

  • Surendran S, Lee SK, Reddy JVR, Lee G (2005). Non-linear roll dynamics of a ro-ro ship in waves. Ocean Engineering, 32(14-15), 1818–1828. DOI: 10.1016/j.oceaneng.2004.11.014

    Article  Google Scholar 

  • Wang Q, Sun LP, Ma S (2010). Time-domain analysis of FPSO-tanker responses in tandem offloading operation. Journal of Marine Science and Application, 9(2), 200–207. DOI: 10.1007/s11804-010-9070-4

    Article  Google Scholar 

  • Woodburn P, Gallagher P, Ferrant P, Borleteau JP (2003). EXPRO-CFD: Development and validation of CFD based co-simulation of spar/CALM buoy fluid structure interaction. In: Chung JS, Wardenier J, Frederking RMW, Koterayama W. eds. Proceedings of the Thirteenth International Offshore and Polar Engineering Conference, Honolulu, USA, 175–181.

  • Xia D, Ertekin RC, Kim JW (2008). Fluid-structure interaction between a two-dimensional mat-type VLFS and solitary waves by the Green-Naghdi theory. Journal of Fluids and Structures, 24(4), 527–540. DOI: 10.1016/j.jfluidstructs.2007.10.009

    Article  Google Scholar 

  • Yuan B, Ying HQ, Xu JW (2007). Simulation of turbulent wind velocity based on linear filter method and MATLAB Program Realization. Structural Engneers, 23(4), 55–61. DOI: 10.15935/j.cnki.jggcs.2007.04004

    Google Scholar 

  • Zhang J, Zhang K, Zhou A, Zhou T, Hu D, Ren J (2014). Analysis of nonlinear dynamic response of wind turbine blade under fluid-structure interaction and turbulence effect. Journal of Engineering for Gas Turbines and Power–Transactions of the ASME, 136(10): 26–30. DOI: 10.1115/1.4027965

    Google Scholar 

  • Zhang RY, Chen CH, Tang YG (2012). Study on the dynamic characteristic for spar type floating foundation of offshore wind turbine. Applied Mechanics and Materials, 170–173, 2316-2321. DOI: 10.4028/www.scientific.net/AMM.170-173.2316

    Google Scholar 

  • Zhang YL, Shen Q, Chen XJ (2006). Synchronous effect of slipping heavy loads on ro-ro ship rolling in waves. Applied Mathematics and Mechanics (English Edition), 27(7), 959–966. DOI: 10.1007/s10483-006-0712-y

    Article  Google Scholar 

  • Zhao W, Yang J, Hu Z, Xie B (2013). Hydrodynamics of an FLNG system in tandem offloading operation. Ocean Engineering, 57(1), 150–162. DOI: 10.1016/j.oceaneng.2012.09.015

    Article  Google Scholar 

  • Zhao WH, Yang JM, Hu ZQ, Tao LB (2014). Prediction of hydrodynamic performance of an FLNG system in side-by-side offloading operation. Journal of Fluids and Structures, 46, 89–110. DOI: 10.1016/j.jfluidstructs.2013.11.021

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. College of Field Engineering, PLA University of Science & Technology, Nanjing, 210007, China

    Zhaobing Jiang & Fei Shao

  2. State Key Laboratory of Disaster Prevention & Mitigation of Explosion & Impact, PLA University of Science & Technology, Nanjing, 210007, China

    Luzhong Shao

Authors
  1. Zhaobing Jiang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Luzhong Shao
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Fei Shao
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Zhaobing Jiang.

Additional information

Foundation item: Supported by the National Natural Science Foundation of China (Grant No. 51009147) and Major State Basic Research Development Program of China (973 Program) (Grant Nos. 2014CB046801 and 2014CB046804).

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Jiang, Z., Shao, L. & Shao, F. Numerical simulation of the spreading dynamic responses of the multibody system with a floating base. J. Marine. Sci. Appl. 14, 290–301 (2015). https://doi.org/10.1007/s11804-015-1302-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11804-015-1302-1

Keywords

Search

Navigation