This paper explores the impact of friction models on mooring line simulations. Seabed friction can play an important role in the determination of mooring loads of slack-moored floating offshore wind turbines. Most mooring models include a relatively simple seabed friction formulation, if any, and little examination of their accuracy is available in literature. Current implementations typically represent seabed contact as coulombic friction with ramping near zero velocity to mitigate instability in the numerical time integration. To assess the impact of this friction model’s use, we compare it against a more sophisticated friction model. This model differentiates between static and kinetic friction, where the former is dependent upon the forces acting on the line and the latter is a function of seabed’s normal response. Both friction models have been implemented into the MoorDyn mooring dynamics simulator and tested under a set of prescribed scenarios including snap loads and oscillatory motion, where the fairlead of a mooring line was driven along both linear and circular paths. Additionally, coupled floating wind turbine simulations using the OC4-DeepCwind semisubmersible show how the friction models affect the platform global response and the extreme and fatigue mooring loads. The results highlight practical differences between the models in terms of both loads prediction and simulation stability/consistency.

Using classic approaches of analytical mechanics, this paper addresses the general problem and provides an analytic and explicit formulation for the stiffness matrix of a generic mooring system layout. This is done around a generic offset position and heading of the floating unit, given the curves of tension vs displacement for each mooring line, for a frictionless seabed. The international benchmark of the Offshore Code Comparison Collaboration Continuation – OC4 is taken as a case study. The use of the analytical formulation is exemplified by systematically varying the mean offset position and heading of the platform, as well as the pretensioning of the mooring system.

This paper explores geometry optimization of an offshore wind turbine’s mooring system considering the minimization of the material cost and the cumulative fatigue damage. A comparison of time domain simulations against frequency domain simulations is made to explore the suitability of these methods to the design process. The efficient design options, the Pareto front, from the frequency domain study are also re-evaluated using time domain simulations and compared against the time domain Pareto front. Both the time and frequency domain results show optimal results utilizing similar design philosophies, however, the frequency domain methods severely under predict the fatigue loads in the mooring system and incorrectly class infeasible solutions as feasible. The frequency domain is therefore not suitable for optimization use without some external means of applying engineering constraints. Furthermore, re-evaluation of the frequency domain solutions provides guidance to the uncertainty and the necessary design fatigue factors required if implementing frequency domain methods in design.

Fatigue limit state design check based on S-N curve and Palmgren-Miner rule approach is required by design standards for floating wind turbines since floating wind turbines are subjected cyclically varying environmental loads. Fatigue damage over a given period could be considered as a summation of short-term fatigue damage of each stationary environmental condition multiplying by the number of occurrence of the environmental condition during the given period. In reality, environmental condition varies continuously. While fatigue damage due to transient load processes that are induced by startup and shutdown operations cannot be captured by this conventional approach. Large data bases of real-time measurements show shutdown and startup operations may appear in any operational conditions and the number of the operations could be considerable. Analysis for startup and shutdown operations induced fatigue damage is required by standards for offshore wind turbines. However, relevant publications addressing this issue are very limited in particular for floating wind turbines. In contrast to bottom fixed wind turbines, floating wind turbines have rigid-body motions in 6 d.o.f.s, while the floating wind turbine hulls are moored by mooring lines rather than directly mounted on sea bed or land. This paper focuses on shedding light on the importance of startup and shutdown induced transient load processes on fatigue damage in the tower of two MW-level horizontal axis semi-submersible wind turbines by comparing short-term fatigue damage in several environmental conditions with and without transient load processes induced by startup and shutdown of the wind turbines. In some situations, 4,600 seconds short-term fatigue damage may be dominated by the transient load process induced fatigue damage which may make the fatigue damage be increased by up to 300%, while in many cases, the fatigue damage may be increased by 10% to 100%. The importance of the transient load processes on long-term fatigue damage is related to occurrence frequency of startup and shutdown events and needs more analysis in future.

Floating offshore wind turbines (FOWT) have many pros and cons. Among the pros, we can mention the availability of more constant winds and a velocity more suitable to the use of turbines in their optimum efficiency. Among the cons, there are the high costs for installation, mooring lines and the large length of cables required for the energy transmission. In this context, saving structural weights of the floater is, certainly, very welcome. This paper describes the results of an experimental campaign of a 1/80th scale model FOWT performed in a wave basin. The model consists of a central column connected by pontoons to three equally spaced columns by an angle of 120 degrees. The offset columns are connected to the central tower by guywires. Being structurally light, both pontoons and guywires are subject to the effects of hydroelasticity. In these preliminary tests of the concept, only waves were considered, hence wind effects are not yet addressed. The analysis is based on the first order motions of the FOWT, the tension at the guywires, and the strain at the pontoons. The results are compared with numerical simulations obtained with the software NK-UTWind, developed at the University of Tokyo, and METiS - USP, currently being developed at the University of São Paulo. Furthermore, the floater motions are also analyzed using the commercial software WAMIT, to provide a better insight on the physics involved by using a different approach to the calculation of hydrodynamic forces.

There are several challenges facing the design of mooring system of floating offshore wind turbines (FOWTs), including installation costs, stability of lightweight minimalistic platforms, and shallow water depths (50–300m). For station keeping of FOWTs, a proper mooring system is required in order to maintain the translational motions in surge and sway and the rotational motions in yaw of the platform within an adequate range. A combination of light pre-tension, shallow water depth and large platform motions in response to a survival storm condition can result in snap-type impact events on mooring lines, thus increasing the line tension dramatically. In this paper, we present a new snap load criterion applicable to a catenary mooring system and compare it with Det Norske Veritas’ criterion for marine operations. As a case study, we examine the extreme tension on a catenary mooring system of a semi-submersible FOWT exposed to a 100-year storm condition. The software OrcaFlex was used for numerical simulations of the mooring system. NREL’s FAST software was coupled to OrcaFlex to obtain aerodynamic loads along with hydrodynamic loads for FOWT analyses. Snap-type impact events were observed in the numerical simulations and were characterized by two criteria. Tension maxima were fitted using composite Weibull distributions (CWDs) and comparisons of probability exceedance were made for the two different snap load criteria.

Floating wind solutions have developed significantly in the recent years, moving from single demonstrators to having several floating wind pilot wind farms currently under development and even in operation. This is an important step for the industry allowing the market to gain confidence in these solutions for offshore wind. Ideol is a leading floating platform designer and they have been working on a demonstration project for their innovative platform in France. The Floatgen demonstration project consists of a 2MW wind turbine mounted on the Damping Pool platform. During the design phase of the project, the coupled analysis of the full system — turbine, tower, floating platform and moorings needs to be carried out to verify the loading on the turbine and platform, adapt the turbine controller for the floating application and re-design the tower and transition piece. For this project, DNV GL performed the aforementioned analysis in Bladed whilst Ideol performed parallel analysis in OrcaFlex, focusing on the platform and mooring design. It is crucial that both numerical models used in the different software tools and parallel analysis workflows are equivalent and lead to the same overall system behavior. This paper describes the numerical model used for coupled analysis in Bladed and its verification against Ideol’s OrcaFlex model, with emphasis on the aspects related to the platform modelling. For the hydrodynamic loading of the platform, boundary element method was considered together with global and local viscous drag terms. To compare and verify the coupled model results in Bladed to Ideol’s own numerical results, a set of static and dynamic tests were run and the resultant kinematics were compared. Ideol’s model was previously validated against tank test experiments giving confidence in its behavior. The viscous drag coefficients in the Bladed model were adjusted to ensure a good agreement between the kinematics of Ideol’s model of the system and the Bladed model. This paper summarizes the results of this verification exercise, along with some recommendations on areas of further research in the floating wind modelling domain.

This paper describes a fully coupled numerical simulation methodology which is tailored towards floating offshore wind turbines. The technique assembles three key components; an aerodynamic model of the applied wind loads based on blade element momentum theory, a structural model of the floating platform and its associated mooring lines based on the nonlinear finite element method, and a hydrodynamic model of the wave-induced forces based on potential flow theory. The simulation methodology has been implemented in a commercial software product called ‘Flexcom Wind’, and the technical validation involves comparisons with experimental data derived from model-scale tank test facilities. The validation process centres on an innovative floating wind turbine concept developed by Eolink. Unlike most wind turbines in industry which are supported by a single mast, this patented design uses four separate pillars to connect the turbine structure to the corners of the floating platform. This unique configuration offers several advantages over conventional designs, including a more even stress distribution in structural members, reduced dynamic vibration, smaller floater size and lower overall capital expenditure. Data obtained from the numerical simulations combined with the empirical tests is helping to optimise the device, with a view to further improving its structural design and performance.

The mooring system for a floating offshore wind turbine ensures that the platform stays within pre-defined station keeping limits during operation, while it provides sufficient restraining forces in storm events to guarantee survival. This presents a challenge during the design process, since the cost of the mooring system is proportional to the peak loads, i.e. those that occur infrequently in extreme conditions. Mooring designs are governed by extreme and fatigue loads which determine the required Minimum Breaking Load (MBL) of the system. If uncertainties in the environmental loading or hydrodynamic coupled response exist, additional safety factors are required. This paper explores the application of a hydraulic based mooring system that enables a variable, non-linear line stiffness characteristic that cannot be achieved with conventional designs. This non-linear load-response behavior could function like a ‘shock absorber’ in the mooring system, and thus reduce the line tensions, enabling a more efficient mooring system that necessitates a lower MBL and thus lower cost. These claims are evaluated through numerical modelling of the NREL OC3 spar buoy and OC4 semi-submersible offshore wind platforms using the FAST-OrcaFlex interface. The simulations compare the dynamics with and without the inclusion of the hydraulic mooring component. The results suggest that mean mooring line loads can be reduced in the region of 9–17% through a combination of lower static and dynamic loads, while the peak loads observed in extreme conditions were reduced by 17–18%. These load reductions, however, come at the expense of some additional platform motion. The paper also provides an outlook to an upcoming physical test campaign that will aim to better understand the performance and reliability of the mooring component, which will provide the necessary evidence to support these load reduction claims.

Large-scale deployment of multiple structures within a Floating Offshore Wind Farm (FOWF) will place many challenges on both the approach to effective integrity management and the demand to reduce through-life operating costs. Additionally, wind farm designers and operators will need to consider the issues related to design robustness in the design of their systems, whereby rational robustness criteria are applied to address possible accidental conditions that are not explicitly addressed in code-specified design basis conditions. This paper will review the significant advances in the approach to integrity management that have been recently made in the mature offshore oil industry and relate them to the nascent offshore wind industry. In particular, the requirement for consideration across the full lifecycle of the potential for threat introduction and the application of controls to prevent or mitigate the evolution of those threats will be described. This includes threats that may be inadvertently introduced during the design, manufacturing and installation phases, in addition to the more traditional rate-based degradation mechanisms such as fatigue, corrosion and wear that occur once the facility is in operation. The challenges that commercial-scale wind farm developments will face relate particularly to integrity issues arising in the design, manufacturing and installation phases, where the focus needs to ensure that degradation threats are not being introduced into the deployment of multiple repeat-copy units. The issues of common cause/common mode degradation threats will have much higher significance for a commercial-scale wind farm, where rectification of a common issue across a large number of floating units could have significant impacts in terms of reliability, operating costs, insurance premiums and power purchase agreements. FOWF mooring system designs are also likely to be more optimized than that for a typical one-off offshore oil facility. This will require the wind farm designer to have a deep understanding of the fundamental dynamic behavior of the overall system and the local dynamic behaviors of the components within the mooring system in order to be able to fully identify the types of threats that may be present. This may also involve robustness considerations where there may be step changes in the dynamic behavior of the system, often termed as cliff-edge effects. The paper will outline issues that wind farm designers will need to consider in building integrity considerations into the design and execution phases of a development, as well as the opportunities that risk-based integrity management processes offer in terms of through-life condition verification and inspection optimization.

Industrial realization of both floating offshore wind and wave energy technologies requires reductions in the current high levelized cost of energy. Reducing mooring fatigue loads could decrease levelized cost of energy, as mooring is expected to be a major cost of these systems. Previous work on improving mooring reliability and costs has focused on material and design. In this exploratory study, we quantify how placing WECs in front of a FOWT could reduce fatigue damage incurred by FOWT mooring cables in long-crested wave conditions. We use SWAN to quantify the WEC-induced sea state modifications and obtain wave spectra at the FOWT location. The spectra are then input into WEC-Sim and MooDy to model the mooring cable behavior. Fatigue analysis with Rainflow Counting is used to quantify the fatigue loading on the mooring cables. Results from this study show a 8% reduction in fatigue damage to mooring cables over the lifetime of the structure. These results indicate that co-location could have a beneficial effect on FOWT mooring cable fatigue. In future work, these results will be leveraged to perform optimal O&M planning and reliability-based design optimization of floating offshore wind turbines.

Floating wind turbine facilities, which are installed in the deep sea area, plays an essential role to promote the green energy application. One of the problems associated with the commercialization of facilities installed in the deep sea is the reduction of the maintenance cost of mooring chain, because breaking of the mooring chain caused by the wear between links leads to enormous economic losses. Therefore, it is necessary to establish a quantitative wear evaluation method for mooring chains. Experimental facility to reproduce the wear caused by sliding between links in actual scale applied for floating wind turbine, which had been proposed by the authors, was updated and the wear tests was conducted by setting some tensile force conditions between the links. Besides, procedure of the nonlinear finite element analysis was improved to estimate the behaviour of wearing between links. From experiments and numerical analysis, it has been confirmed that the tensile force between links is an important factor of the wear amount between links.

Chain corrosion-fatigue often governs the design of the mooring systems of floating production units, and it is assessed based on a stress-life or S-N approach. For integrity management along the lifetime of the assets, a Fracture Mechanics (FM) approach can be more appropriate, especially if cracks were detected during in-service inspections. An essential parameter of FM is the Stress Intensity Factor (SIF), which becomes fundamental to evaluate the response of a cracked link. The aim of this paper is to present SIF results for chains under different combinations of cracks and loads. Analytic or handbook solutions exist and provide accurate SIFs for simple geometries and test specimens. However, the particular geometry of chain links makes the Finite Element Method (FEM) more appropriate. The authors utilized the contour integral method together with the general purpose nonlinear FEM code Abaqus, to carry out a large amount of analyses to obtain SIFs for different chain sizes, material grades, crack shapes, crack depths and crack locations along the links. In addition to this, SIFs were derived in combination with other degradation phenomena such as large pitting or interlink wear. As an outcome, empirical equations were developed to predict the SIFs of propagating cracks in mooring chains under a large variety of scenarios. This allows engineers to assess the criticality of fatigue cracks using suitable crack growth models, and hence evaluate their fitness-for-service or need to implement remedial actions.

Offshore wave conditions can be measured using wave buoys, which are generally designed for wind waves. Longer waves (swell or bound second-order waves) are very relevant for certain maritime structures. The accuracy of the instrumentation in a typical wave buoy in long and short waves was therefore studied, and it was investigated if the buoy can be applied in longer waves. A Waverider buoy was placed on a hexapod, which applied regular and irregular prescribed motions in multiple degrees of freedom. The hydrodynamic response of the buoy in waves and the effect of its mooring system were not evaluated; the buoy was assumed to follow the orbital motions of a wave and to rotate with its slope. The tests showed that the buoy sensors measure accelerations and rotations with periods between 1.5 and 35 s very well. Vertical displacements derived from the accelerations by the buoy are accurate for the period range of 2 to 20 s. In longer waves, the motions are significantly underestimated, even though the accelerations are accurately measured. This will not lead to large errors in normal operation, as the energy of such long waves is generally low. This explains why the buoy also performs well when it is subjected to irregular motions (less than 2% error in the significant wave height of a half-hour measurement in realistic irregular sea states with peak periods between 5 and 20 s can be expected). It can be concluded that the buoy accurately measures accelerations. The accuracy of the derived displacements decreases when very long swell wave energy (> 20 s) is present. Review of the internal integration procedure may be considered when there is a specific interest in measuring longer waves.

Considering the activities of floating systems pushing to the ultra-deepwater, the full scale mooring system needs to be truncated in order to carry out model tests in wave basin with reasonable model scale. In this paper, a Semi-Submersible moored by a catenary mooring system, which operates in 1500m water depth is truncated at 200m water depth. The mooring induced damping of truncated mooring system and prototype mooring system in 100 year typhoon condition in South China Sea are studied experimentally and numerically. The de-couple technique is applied to obtain truncated mooring damping, which is implemented by inputting the vessel six DOF motion responses and solving the mooring tensions, then decompose mooring tension in x, y and z directions. The vessel six DOF motion responses were measured in the model tests. For the full depth mooring system, the fully coupled dynamic analysis is carried out to study mooring induced damping. The results of truncated mooring damping will be compared with full depth mooring damping.

Most of the ocean energy technologies are considered to be in a pre-commercial phase and need technical development. This study focuses on design of mooring solutions and compares array systems of a specific floating point-absorbing wave energy converter (WEC) developed by the company Waves4Power. A full-scale prototype of the WEC is installed in Runde (Norway) where it is moored with three polyester mooring lines, each having one floater and one gravity anchor. Based on this reference installation, the method of systems engineering was used to propose twenty-two conceptual mooring solutions for different array systems. They were compared and reduced to four top concepts in a systematic elimination procedure using Pugh and Kesselring matrices. The top concepts were assessed in detail by means of LCOE (levelised cost of energy), LCA (life cycle analysis) and risk analyses. The fatigue life of the mooring lines and the energy capture were calculated using results obtained from coupled hydrodynamic and structure response analyses in the DNV-GL DeepC software. Two final concepts were proposed for the water depths 75 and 200 m.

As the demand for offshore wind energy continues to grow, the strive to understand the wave forces acting on the substructure of the wind turbines continues. In regard to wind turbine design, it is vital to consider not only the total wave force, but also the local wave forces. Local forces are particularly important for the design of secondary structures as e.g. mooring platforms. Typically, however, experimental studies mainly concern total forces or idealized local forces. We present here a rather simple way to measure local forces along a model monopile. The study is conducted in a wave flume of 28 m in length, in which waves are generated by a piston-type wave maker at a water depth of 0.515 m and shoal onto a bed of slope 1:25. A model monopile is installed and subjected to forcing from a series of both regular and irregular waves. In the experimental set-up, the model monopile is fixed at the bottom and the top and consists of seven independent cylindrical sections. The cylindrical sections are connected by force transducers which measure local shear, and so the associated local forces may be determined. The measured local forces are compared to the force distribution given by Morisons equation combined with linear theory and Wheeler stretching, which is a force estimate commonly used in the industry. This study shows that the total force is rather well captured by Morison’s equation. The force distribution estimated from Morison’s equation, however, shows larger discrepancies from the measured forces. This encourages for further measurements. In this study, we show that it is possible to measure force distribution on a model monopile in a simple and cost-effective manner. The aim is here to demonstrate the method and we will later present a larger body of work associated with the outcome of the measurements.

Mooring systems constitute an important element to secure the stability and survival of floating structures. In the last years, its use has increased potentially linked to the growth of marine renewable energies, about all, offshore wind and waves. Traditionally, fixed foundations such as gravity, monopiles or jackets have been installed. However, new alternatives have been developed based on floating structures looking to take advantage of the potential resource in deep waters. This paper involves an exhaustive mooring system study based on catenary configuration from different points of view. Physical modelling was performed by means of different experimental tests under different loading conditions including prescribed movements and natural forcing (waves and currents) considering two different types of seabed: a rigid seabed using the glass of the flume simulating a rocky bottom and a deformable seabed through sandy seabed. Different types of numerical approaches were implemented and they were validated with laboratory tests. Quasi-static and dynamic models were included. Also, a commercial software called SESAM was used to verify the results. Finally, the effect of wave groupiness on extreme loads was analysed using a Floating Offshore Wind Turbine (FOWT).

When conducting model tests in a water tank, available model sizes and wave conditions are determined for each tank, depending on measurement accuracy and tank specifications. For deep-water mooring of a floater, a mooring extent in model scale is presumably over 10 meters in depth, making it difficult to be conducted in small-sized tanks without mooring line truncation. The purpose of the research is to develop a device, which could be used as deep-water mooring system in small-sized tanks. Although the law of geometrical similarity is compelled to quit because of the line truncation, the law of mechanical similarity can be maintained by keeping the same restoring, damping and inertia characteristics as those of the full-scale mooring system obtained by numerical simulations. The mooring device consists of a cylinder, a piston, an orifice, springs, pulleys and weights. A spring attached to the mooring line is to generate required restoring force. The orifice, together with the piston, is to generate required damping forces. Inertia forces are generated by the motions of hanged weights, also by the motion of the fluid inside the cylinder. Even negative inertia forces can be given by adjusting natural frequencies of the weight-spring system. With all these examined elements, the mooring device works like the full-depth mooring system. Particulars of the elements of the device have been determined by numerical simulations of the floater moored in the full-depth condition. It has been confirmed that the mooring device behaves as expected in comparison with forced oscillation tests, where prescribed motions were given to the floater-side end point of the mooring line. A tank test has been conducted of a floater with a turret multipoint-moored with the devices and has been satisfactorily compared with numerical simulations of the full-depth system. With the present research it is verified that the mooring device can well simulate actual deep-water mooring system, which makes it possible for small water tanks to deal with deep water mooring experiments.

This paper presents a numerical model for the investigation of some hydroelastic issues related to floating systems used for the transportation and installation of components of offshore platforms, e.g., topsides. The system consists of two symmetric barges, linked together by the carried structure to form a catamaran-like layout. The flexibility of the transported structure may allow for proper excitation of the float-over system under oblique wave conditions at certain wave lengths, both during transportation and installation phases. The developed numerical code, based on multi-body dynamics and linear potential theory regarding the calculation of hydrodynamic loads, allows for a robust and fast description of the flexible floating system dynamics, including also the effect of mooring-line dynamics in the time-domain. Comparison with experimental data from a previous experimental campaign [1] shows that, notwithstanding the simplifying assumptions in the numerical model development, the amplitude of the relative pitch rotation between the barges due to the system flexibility can be properly described with the present approach.